embassy-sync

Cargo.toml

@@ -32,6 +32,7 @@ embedded-hal = "=1.0.0-alpha.8"
 embedded-hal-0-2 = { package = "embedded-hal", version = "0.2.7", features = ["unproven"] }
 esp-idf-sys = { version = "0.31.9", optional = true, default-features = false, features = ["native"] }
 critical-section = { version = "1.1", optional = true }
+embassy-sync = { version = "0.1", optional = true, git = "https://github.com/ivmarkov/embassy" }
 embassy-time = { version = "0.1", optional = true, features = ["tick-hz-1_000_000"], git = "https://github.com/ivmarkov/embassy" }
 edge-executor = { version = "0.2", optional = true, default-features = false }
 

src/cs.rs

@@ -108,3 +108,35 @@ pub mod critical_section {
     #[cfg(feature = "critical-section-mutex")]
     critical_section::set_impl!(EspCriticalSection);
 }
+
+#[cfg(feature = "embassy-sync")]
+pub mod embassy_sync {
+    use embassy_sync::blocking_mutex::raw::RawMutex;
+
+    /// A mutex that allows borrowing data across executors but NOT accross interrupts.
+    ///
+    /// # Safety
+    ///
+    /// This mutex is safe to share between different executors.
+    pub struct CriticalSectionRawMutex(super::CriticalSection);
+
+    unsafe impl Send for CriticalSectionRawMutex {}
+    unsafe impl Sync for CriticalSectionRawMutex {}
+
+    impl CriticalSectionRawMutex {
+        /// Create a new `CriticalSectionRawMutex`.
+        pub const fn new() -> Self {
+            Self(super::CriticalSection::new())
+        }
+    }
+
+    unsafe impl RawMutex for CriticalSectionRawMutex {
+        const INIT: Self = Self::new();
+
+        fn lock<R>(&self, f: impl FnOnce() -> R) -> R {
+            let _guard = self.0.enter();
+
+            f()
+        }
+    }
+}

src/interrupt.rs

@@ -2,6 +2,8 @@ use core::sync::atomic::{AtomicU64, Ordering};
 
 use esp_idf_sys::*;
 
+pub(crate) static CS: CriticalSection = CriticalSection::new();
+
 /// Returns true if the currently active core is executing an ISR request
 #[inline(always)]
 #[link_section = ".iram1.interrupt_active"]
@@ -214,28 +216,60 @@ impl<'a> Drop for CriticalSectionGuard<'a> {
 #[inline(always)]
 #[link_section = ".iram1.interrupt_free"]
 pub fn free<R>(f: impl FnOnce() -> R) -> R {
-    let cs = CriticalSection::new();
+    let _guard = CS.enter();
-    let _guard = cs.enter();
 
     f()
 }
 
 #[cfg(feature = "critical-section")]
 pub mod critical_section {
-    static CS: super::CriticalSection = super::CriticalSection::new();
-
     pub struct EspCriticalSection {}
 
     unsafe impl critical_section::Impl for EspCriticalSection {
         unsafe fn acquire() {
-            super::enter(&CS);
+            super::enter(&super::CS);
         }
 
         unsafe fn release(_token: ()) {
-            super::exit(&CS);
+            super::exit(&super::CS);
         }
     }
 
     #[cfg(feature = "critical-section-interrupt")]
     critical_section::set_impl!(EspCriticalSection);
 }
+
+#[cfg(feature = "embassy-sync")]
+pub mod embassy_sync {
+    use core::marker::PhantomData;
+
+    use embassy_sync::blocking_mutex::raw::RawMutex;
+
+    /// A mutex that allows borrowing data across executors and interrupts.
+    ///
+    /// # Safety
+    ///
+    /// This mutex is safe to share between different executors and interrupts.
+    pub struct CriticalSectionRawMutex {
+        _phantom: PhantomData<()>,
+    }
+    unsafe impl Send for CriticalSectionRawMutex {}
+    unsafe impl Sync for CriticalSectionRawMutex {}
+
+    impl CriticalSectionRawMutex {
+        /// Create a new `CriticalSectionRawMutex`.
+        pub const fn new() -> Self {
+            Self {
+                _phantom: PhantomData,
+            }
+        }
+    }
+
+    unsafe impl RawMutex for CriticalSectionRawMutex {
+        const INIT: Self = Self::new();
+
+        fn lock<R>(&self, f: impl FnOnce() -> R) -> R {
+            super::free(f)
+        }
+    }
+}