├── .gitignore
├── .cargo
    └── Config.toml
├── README.md
├── Cargo.toml
├── src
    ├── main.rs
    └── preempt.rs
└── Cargo.lock


/.gitignore:
--------------------------------------------------------------------------------
1 | /target
2 | 


--------------------------------------------------------------------------------
/.cargo/Config.toml:
--------------------------------------------------------------------------------
 1 | [target.xtensa-esp32-none-elf]
 2 | runner = "espflash --monitor"
 3 | 
 4 | [build]
 5 | rustflags = [
 6 |   "-C", "link-arg=-nostartfiles",
 7 |   "-C", "link-arg=-Wl,-Tlinkall.x",
 8 | ]
 9 | target = "xtensa-esp32-none-elf"
10 | 
11 | [unstable]
12 | build-std = ["core"]
13 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # Experiment for preemtive multitasking on ESP32 in bare-metal Rust
2 | 
3 | This is just a small experiment having a main task and two additional tasks running on ESP32.
4 | 
5 | The code is meant to be as simple as possible to make it easy to understand.
6 | 
7 | Please note: Since this uses simple `for`-loops as delays it won't work in release mode!
8 | 


--------------------------------------------------------------------------------
/Cargo.toml:
--------------------------------------------------------------------------------
 1 | [package]
 2 | name = "esp32-preemt-experiment"
 3 | version = "0.1.0"
 4 | edition = "2021"
 5 | 
 6 | # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 7 | 
 8 | [dependencies]
 9 | esp32-hal = { git = "https://github.com/esp-rs/esp-hal", package = "esp32-hal" }
10 | xtensa-lx-rt = { version = "0.10.0", features = ["esp32"] }
11 | xtensa-lx    = { version = "0.6.0", features = ["esp32"] }
12 | 


--------------------------------------------------------------------------------
/src/main.rs:
--------------------------------------------------------------------------------
  1 | #![no_std]
  2 | #![no_main]
  3 | 
  4 | use core::{cell::RefCell, fmt::Write};
  5 | 
  6 | use esp32_hal::{interrupt, Cpu};
  7 | use esp32_hal::{
  8 |     pac::{self, Peripherals, TIMG1, UART0},
  9 |     prelude::*,
 10 |     RtcCntl, Serial, Timer,
 11 | };
 12 | use xtensa_lx::mutex::{Mutex, SpinLockMutex};
 13 | use xtensa_lx_rt::entry;
 14 | use xtensa_lx_rt::exception::Context;
 15 | 
 16 | mod preempt;
 17 | use preempt::*;
 18 | 
 19 | static mut SERIAL: SpinLockMutex<RefCell<Option<Serial<UART0>>>> =
 20 |     SpinLockMutex::new(RefCell::new(None));
 21 | static mut TIMER1: SpinLockMutex<RefCell<Option<Timer<TIMG1>>>> =
 22 |     SpinLockMutex::new(RefCell::new(None));
 23 | 
 24 | const TIMER_DELAY: u64 = 10_000u64;
 25 | 
 26 | #[entry]
 27 | fn main() -> ! {
 28 |     let peripherals = Peripherals::take().unwrap();
 29 | 
 30 |     // Disable the TIMG watchdog timer.
 31 |     let mut timer0 = Timer::new(peripherals.TIMG0);
 32 |     let mut timer1 = Timer::new(peripherals.TIMG1);
 33 |     let serial0 = Serial::new(peripherals.UART0).unwrap();
 34 |     let mut rtc_cntl = RtcCntl::new(peripherals.RTC_CNTL);
 35 | 
 36 |     // Disable MWDT and RWDT (Watchdog) flash boot protection
 37 |     timer0.disable();
 38 |     timer1.disable();
 39 |     rtc_cntl.set_wdt_global_enable(false);
 40 | 
 41 |     interrupt::enable(
 42 |         Cpu::ProCpu,
 43 |         pac::Interrupt::TG1_T0_LEVEL,
 44 |         interrupt::CpuInterrupt::Interrupt20LevelPriority2,
 45 |     );
 46 |     timer1.start(TIMER_DELAY);
 47 |     timer1.listen();
 48 | 
 49 |     unsafe {
 50 |         (&SERIAL).lock(|data| (*data).replace(Some(serial0)));
 51 |         (&TIMER1).lock(|data| (*data).replace(Some(timer1)));
 52 |     }
 53 | 
 54 |     task_create(worker_task1);
 55 |     task_create(worker_task2);
 56 | 
 57 |     unsafe {
 58 |         xtensa_lx::interrupt::disable();
 59 |         xtensa_lx::interrupt::enable_mask(
 60 |             xtensa_lx_rt::interrupt::CpuInterruptLevel::Level2.mask(),
 61 |         );
 62 |     }
 63 | 
 64 |     let mut z = 0;
 65 |     loop {
 66 |         unsafe {
 67 |             (&SERIAL).lock(|data| {
 68 |                 let mut serial = data.borrow_mut();
 69 |                 let serial = serial.as_mut().unwrap();
 70 |                 writeln!(serial, "Task Main {}", z).ok();
 71 |             });
 72 |         }
 73 | 
 74 |         for _ in 0..200_000 {}
 75 |         z += 1;
 76 |     }
 77 | }
 78 | 
 79 | pub extern "C" fn worker_task1() {
 80 |     let mut cnt = 0;
 81 | 
 82 |     loop {
 83 |         unsafe {
 84 |             (&SERIAL).lock(|data| {
 85 |                 let mut serial = data.borrow_mut();
 86 |                 let serial = serial.as_mut().unwrap();
 87 |                 writeln!(serial, "Task A: {}", cnt).ok();
 88 |             });
 89 |         }
 90 | 
 91 |         cnt += 1;
 92 | 
 93 |         for _ in 0..100_000 {}
 94 |     }
 95 | }
 96 | 
 97 | pub extern "C" fn worker_task2() {
 98 |     let mut cnt = 0;
 99 | 
100 |     loop {
101 |         unsafe {
102 |             (&SERIAL).lock(|data| {
103 |                 let mut serial = data.borrow_mut();
104 |                 let serial = serial.as_mut().unwrap();
105 |                 writeln!(serial, "Task B: {}", cnt).ok();
106 |             });
107 |         }
108 | 
109 |         cnt += 1;
110 | 
111 |         for _ in 0..50_000 {}
112 |     }
113 | }
114 | 
115 | #[no_mangle]
116 | pub fn level2_interrupt(context: &mut Context) {
117 |     interrupt::clear(
118 |         Cpu::ProCpu,
119 |         interrupt::CpuInterrupt::Interrupt20LevelPriority2,
120 |     );
121 | 
122 |     unsafe {
123 |         (&TIMER1).lock(|data| {
124 |             let mut timer1 = data.borrow_mut();
125 |             let timer1 = timer1.as_mut().unwrap();
126 |             timer1.clear_interrupt();
127 |             timer1.start(TIMER_DELAY);
128 |         });
129 |     }
130 | 
131 |     task_switch(context);
132 | }
133 | 
134 | #[panic_handler]
135 | fn panic(info: &core::panic::PanicInfo) -> ! {
136 |     unsafe {
137 |         (&SERIAL).lock(|data| {
138 |             let mut serial = data.borrow_mut();
139 |             let serial = serial.as_mut().unwrap();
140 |             writeln!(serial, "\n\n*** {:?}", info).ok();
141 |         });
142 |     }
143 | 
144 |     loop {}
145 | }
146 | 


--------------------------------------------------------------------------------
/src/preempt.rs:
--------------------------------------------------------------------------------
  1 | use xtensa_lx_rt::exception::Context;
  2 | 
  3 | #[derive(Debug, Clone, Copy)]
  4 | pub struct TaskContext {
  5 |     trap_frame: Context,
  6 | }
  7 | 
  8 | pub const STACK_SIZE: usize = 8192;
  9 | const MAX_TASK: usize = 4;
 10 | 
 11 | pub static mut TASK_STACK: [u8; STACK_SIZE * MAX_TASK] = [0x0u8; STACK_SIZE * MAX_TASK];
 12 | 
 13 | pub static mut FIRST_SWITCH: bool = true;
 14 | 
 15 | pub static mut TASK_TOP: usize = 0;
 16 | 
 17 | pub static mut CTX_NOW: usize = 0;
 18 | 
 19 | pub static mut CTX_TASKS: [TaskContext; MAX_TASK] = [TaskContext {
 20 |     trap_frame: Context {
 21 |         PC: 0,
 22 |         PS: 0,
 23 |         A0: 0,
 24 |         A1: 0,
 25 |         A2: 0,
 26 |         A3: 0,
 27 |         A4: 0,
 28 |         A5: 0,
 29 |         A6: 0,
 30 |         A7: 0,
 31 |         A8: 0,
 32 |         A9: 0,
 33 |         A10: 0,
 34 |         A11: 0,
 35 |         A12: 0,
 36 |         A13: 0,
 37 |         A14: 0,
 38 |         A15: 0,
 39 |         SAR: 0,
 40 |         EXCCAUSE: 0,
 41 |         EXCVADDR: 0,
 42 |         LBEG: 0,
 43 |         LEND: 0,
 44 |         LCOUNT: 0,
 45 |         THREADPTR: 0,
 46 |         SCOMPARE1: 0,
 47 |         BR: 0,
 48 |         ACCLO: 0,
 49 |         ACCHI: 0,
 50 |         M0: 0,
 51 |         M1: 0,
 52 |         M2: 0,
 53 |         M3: 0,
 54 |         F64R_LO: 0,
 55 |         F64R_HI: 0,
 56 |         F64S: 0,
 57 |         FCR: 0,
 58 |         FSR: 0,
 59 |         F0: 0,
 60 |         F1: 0,
 61 |         F2: 0,
 62 |         F3: 0,
 63 |         F4: 0,
 64 |         F5: 0,
 65 |         F6: 0,
 66 |         F7: 0,
 67 |         F8: 0,
 68 |         F9: 0,
 69 |         F10: 0,
 70 |         F11: 0,
 71 |         F12: 0,
 72 |         F13: 0,
 73 |         F14: 0,
 74 |         F15: 0,
 75 |     },
 76 | }; MAX_TASK];
 77 | 
 78 | pub fn task_create(task: extern "C" fn()) -> usize {
 79 |     unsafe {
 80 |         let i = TASK_TOP;
 81 |         TASK_TOP += 1;
 82 | 
 83 |         CTX_TASKS[i].trap_frame.PC = task as u32;
 84 | 
 85 |         // stack must be aligned by 16
 86 |         let task_stack_ptr = (&TASK_STACK as *const _ as usize
 87 |             + (STACK_SIZE as usize * i as usize)
 88 |             + STACK_SIZE as usize
 89 |             - 4) as u32;
 90 |         let stack_ptr = task_stack_ptr - (task_stack_ptr % 0x10);
 91 |         CTX_TASKS[i].trap_frame.A1 = stack_ptr;
 92 | 
 93 |         CTX_TASKS[i].trap_frame.PS = 0x00040000 | (1 & 3) << 16; // For windowed ABI set WOE and CALLINC (pretend task was 'call4'd).
 94 | 
 95 |         CTX_TASKS[i].trap_frame.A0 = 0;
 96 | 
 97 |         *((task_stack_ptr - 4) as *mut u32) = 0;
 98 |         *((task_stack_ptr - 8) as *mut u32) = 0;
 99 |         *((task_stack_ptr - 12) as *mut u32) = 0;
100 |         *((task_stack_ptr - 16) as *mut u32) = 0;
101 | 
102 |         CTX_NOW = i;
103 |         i
104 |     }
105 | }
106 | 
107 | pub fn task_to_trap_frame(id: usize, trap_frame: &mut Context) {
108 |     unsafe {
109 |         trap_frame.PC = CTX_TASKS[id].trap_frame.PC;
110 |         trap_frame.PS = CTX_TASKS[id].trap_frame.PS;
111 |         trap_frame.A0 = CTX_TASKS[id].trap_frame.A0;
112 |         trap_frame.A1 = CTX_TASKS[id].trap_frame.A1;
113 |         trap_frame.A2 = CTX_TASKS[id].trap_frame.A2;
114 |         trap_frame.A3 = CTX_TASKS[id].trap_frame.A3;
115 |         trap_frame.A4 = CTX_TASKS[id].trap_frame.A4;
116 |         trap_frame.A5 = CTX_TASKS[id].trap_frame.A5;
117 |         trap_frame.A6 = CTX_TASKS[id].trap_frame.A6;
118 |         trap_frame.A7 = CTX_TASKS[id].trap_frame.A7;
119 |         trap_frame.A8 = CTX_TASKS[id].trap_frame.A8;
120 |         trap_frame.A9 = CTX_TASKS[id].trap_frame.A9;
121 |         trap_frame.A10 = CTX_TASKS[id].trap_frame.A10;
122 |         trap_frame.A11 = CTX_TASKS[id].trap_frame.A11;
123 |         trap_frame.A12 = CTX_TASKS[id].trap_frame.A12;
124 |         trap_frame.A13 = CTX_TASKS[id].trap_frame.A13;
125 |         trap_frame.A14 = CTX_TASKS[id].trap_frame.A14;
126 |         trap_frame.A15 = CTX_TASKS[id].trap_frame.A15;
127 |         trap_frame.SAR = CTX_TASKS[id].trap_frame.SAR;
128 |         trap_frame.EXCCAUSE = CTX_TASKS[id].trap_frame.EXCCAUSE;
129 |         trap_frame.EXCVADDR = CTX_TASKS[id].trap_frame.EXCVADDR;
130 |         trap_frame.LBEG = CTX_TASKS[id].trap_frame.LBEG;
131 |         trap_frame.LEND = CTX_TASKS[id].trap_frame.LEND;
132 |         trap_frame.LCOUNT = CTX_TASKS[id].trap_frame.LCOUNT;
133 |         trap_frame.THREADPTR = CTX_TASKS[id].trap_frame.THREADPTR;
134 |         trap_frame.SCOMPARE1 = CTX_TASKS[id].trap_frame.SCOMPARE1;
135 |         trap_frame.BR = CTX_TASKS[id].trap_frame.BR;
136 |         trap_frame.ACCLO = CTX_TASKS[id].trap_frame.ACCLO;
137 |         trap_frame.ACCHI = CTX_TASKS[id].trap_frame.ACCHI;
138 |         trap_frame.M0 = CTX_TASKS[id].trap_frame.M0;
139 |         trap_frame.M1 = CTX_TASKS[id].trap_frame.M1;
140 |         trap_frame.M2 = CTX_TASKS[id].trap_frame.M2;
141 |         trap_frame.M3 = CTX_TASKS[id].trap_frame.M3;
142 |         trap_frame.F64R_LO = CTX_TASKS[id].trap_frame.F64R_LO;
143 |         trap_frame.F64R_HI = CTX_TASKS[id].trap_frame.F64R_HI;
144 |         trap_frame.F64S = CTX_TASKS[id].trap_frame.F64S;
145 |         trap_frame.FCR = CTX_TASKS[id].trap_frame.FCR;
146 |         trap_frame.FSR = CTX_TASKS[id].trap_frame.FSR;
147 |         trap_frame.F0 = CTX_TASKS[id].trap_frame.F0;
148 |         trap_frame.F1 = CTX_TASKS[id].trap_frame.F1;
149 |         trap_frame.F2 = CTX_TASKS[id].trap_frame.F2;
150 |         trap_frame.F3 = CTX_TASKS[id].trap_frame.F3;
151 |         trap_frame.F4 = CTX_TASKS[id].trap_frame.F4;
152 |         trap_frame.F5 = CTX_TASKS[id].trap_frame.F5;
153 |         trap_frame.F6 = CTX_TASKS[id].trap_frame.F6;
154 |         trap_frame.F7 = CTX_TASKS[id].trap_frame.F7;
155 |         trap_frame.F8 = CTX_TASKS[id].trap_frame.F8;
156 |         trap_frame.F9 = CTX_TASKS[id].trap_frame.F9;
157 |         trap_frame.F10 = CTX_TASKS[id].trap_frame.F10;
158 |         trap_frame.F11 = CTX_TASKS[id].trap_frame.F11;
159 |         trap_frame.F12 = CTX_TASKS[id].trap_frame.F12;
160 |         trap_frame.F13 = CTX_TASKS[id].trap_frame.F13;
161 |         trap_frame.F14 = CTX_TASKS[id].trap_frame.F14;
162 |         trap_frame.F15 = CTX_TASKS[id].trap_frame.F15;
163 |     }
164 | }
165 | 
166 | pub fn trap_frame_to_task(id: usize, trap_frame: &Context) {
167 |     unsafe {
168 |         CTX_TASKS[id].trap_frame.PC = trap_frame.PC;
169 |         CTX_TASKS[id].trap_frame.PS = trap_frame.PS;
170 |         CTX_TASKS[id].trap_frame.A0 = trap_frame.A0;
171 |         CTX_TASKS[id].trap_frame.A1 = trap_frame.A1;
172 |         CTX_TASKS[id].trap_frame.A2 = trap_frame.A2;
173 |         CTX_TASKS[id].trap_frame.A3 = trap_frame.A3;
174 |         CTX_TASKS[id].trap_frame.A4 = trap_frame.A4;
175 |         CTX_TASKS[id].trap_frame.A5 = trap_frame.A5;
176 |         CTX_TASKS[id].trap_frame.A6 = trap_frame.A6;
177 |         CTX_TASKS[id].trap_frame.A7 = trap_frame.A7;
178 |         CTX_TASKS[id].trap_frame.A8 = trap_frame.A8;
179 |         CTX_TASKS[id].trap_frame.A9 = trap_frame.A9;
180 |         CTX_TASKS[id].trap_frame.A10 = trap_frame.A10;
181 |         CTX_TASKS[id].trap_frame.A11 = trap_frame.A11;
182 |         CTX_TASKS[id].trap_frame.A12 = trap_frame.A12;
183 |         CTX_TASKS[id].trap_frame.A13 = trap_frame.A13;
184 |         CTX_TASKS[id].trap_frame.A14 = trap_frame.A14;
185 |         CTX_TASKS[id].trap_frame.A15 = trap_frame.A15;
186 |         CTX_TASKS[id].trap_frame.SAR = trap_frame.SAR;
187 |         CTX_TASKS[id].trap_frame.EXCCAUSE = trap_frame.EXCCAUSE;
188 |         CTX_TASKS[id].trap_frame.EXCVADDR = trap_frame.EXCVADDR;
189 |         CTX_TASKS[id].trap_frame.LBEG = trap_frame.LBEG;
190 |         CTX_TASKS[id].trap_frame.LEND = trap_frame.LEND;
191 |         CTX_TASKS[id].trap_frame.LCOUNT = trap_frame.LCOUNT;
192 |         CTX_TASKS[id].trap_frame.THREADPTR = trap_frame.THREADPTR;
193 |         CTX_TASKS[id].trap_frame.SCOMPARE1 = trap_frame.SCOMPARE1;
194 |         CTX_TASKS[id].trap_frame.BR = trap_frame.BR;
195 |         CTX_TASKS[id].trap_frame.ACCLO = trap_frame.ACCLO;
196 |         CTX_TASKS[id].trap_frame.ACCHI = trap_frame.ACCHI;
197 |         CTX_TASKS[id].trap_frame.M0 = trap_frame.M0;
198 |         CTX_TASKS[id].trap_frame.M1 = trap_frame.M1;
199 |         CTX_TASKS[id].trap_frame.M2 = trap_frame.M2;
200 |         CTX_TASKS[id].trap_frame.M3 = trap_frame.M3;
201 |         CTX_TASKS[id].trap_frame.F64R_LO = trap_frame.F64R_LO;
202 |         CTX_TASKS[id].trap_frame.F64R_HI = trap_frame.F64R_HI;
203 |         CTX_TASKS[id].trap_frame.F64S = trap_frame.F64S;
204 |         CTX_TASKS[id].trap_frame.FCR = trap_frame.FCR;
205 |         CTX_TASKS[id].trap_frame.FSR = trap_frame.FSR;
206 |         CTX_TASKS[id].trap_frame.F0 = trap_frame.F0;
207 |         CTX_TASKS[id].trap_frame.F1 = trap_frame.F1;
208 |         CTX_TASKS[id].trap_frame.F2 = trap_frame.F2;
209 |         CTX_TASKS[id].trap_frame.F3 = trap_frame.F3;
210 |         CTX_TASKS[id].trap_frame.F4 = trap_frame.F4;
211 |         CTX_TASKS[id].trap_frame.F5 = trap_frame.F5;
212 |         CTX_TASKS[id].trap_frame.F6 = trap_frame.F6;
213 |         CTX_TASKS[id].trap_frame.F7 = trap_frame.F7;
214 |         CTX_TASKS[id].trap_frame.F8 = trap_frame.F8;
215 |         CTX_TASKS[id].trap_frame.F9 = trap_frame.F9;
216 |         CTX_TASKS[id].trap_frame.F10 = trap_frame.F10;
217 |         CTX_TASKS[id].trap_frame.F11 = trap_frame.F11;
218 |         CTX_TASKS[id].trap_frame.F12 = trap_frame.F12;
219 |         CTX_TASKS[id].trap_frame.F13 = trap_frame.F13;
220 |         CTX_TASKS[id].trap_frame.F14 = trap_frame.F14;
221 |         CTX_TASKS[id].trap_frame.F15 = trap_frame.F15;
222 |     }
223 | }
224 | 
225 | pub fn next_task() {
226 |     unsafe {
227 |         CTX_NOW = (CTX_NOW + 1) % TASK_TOP;
228 |     }
229 | }
230 | 
231 | pub fn task_switch(trap_frame: &mut Context) {
232 |     unsafe {
233 |         if FIRST_SWITCH {
234 |             FIRST_SWITCH = false;
235 |             TASK_TOP += 1;
236 |             CTX_NOW = TASK_TOP - 1;
237 |         }
238 | 
239 |         trap_frame_to_task(CTX_NOW, trap_frame);
240 |         next_task();
241 |         task_to_trap_frame(CTX_NOW, trap_frame);
242 |     }
243 | }
244 | 


--------------------------------------------------------------------------------
/Cargo.lock:
--------------------------------------------------------------------------------
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 63 |  "proc-macro2",
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