Proof of concept of RTIC + Embassy on a Thingy:52

rtic-embassy-poc.rs

#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
#![feature(alloc_error_handler)]
#![allow(incomplete_features)]
#![macro_use]

use alloc_cortex_m::CortexMHeap;
use core::alloc::Layout;
use core::mem;
use core::sync::atomic::{AtomicUsize, Ordering};
use defmt::{info, panic, unreachable, *};
use embassy::executor::Executor;
use embassy::util::Forever;
use embassy_nrf as _;
use nrf_softdevice::ble::peripheral;
use nrf_softdevice::{raw, Softdevice};
use nrf_softdevice_defmt_rtt as _; // global logger
use panic_probe as _;

// this is the allocator the application will use
#[global_allocator]
static ALLOCATOR: CortexMHeap = CortexMHeap::empty();

// define what happens in an Out Of Memory (OOM) condition
#[alloc_error_handler]
fn alloc_error(_layout: Layout) -> ! {
    panic!("Alloc error");
}

// used by global logger to add timestamps
defmt::timestamp! {"{=u64}", {
        static COUNT: AtomicUsize = AtomicUsize::new(0);
        // NOTE(no-CAS) `timestamps` runs with interrupts disabled
        let n = COUNT.load(Ordering::Relaxed);
        COUNT.store(n + 1, Ordering::Relaxed);
        n as u64
    }
}

// declare global embassy executor
static EXECUTOR: Forever<Executor> = Forever::new();

#[embassy::task]
async fn embassy_task() {
    info!("hello from embassy_task");
}

#[embassy::task]
async fn softdevice_task(sd: &'static Softdevice) {
    sd.run().await;
}

#[embassy::task]
async fn bluetooth_task(sd: &'static Softdevice) {
    #[rustfmt::skip]
    let adv_data = &[
        0x02, 0x01, raw::BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE as u8,
        0x03, 0x03, 0x09, 0x18,
        0x0a, 0x09, b'H', b'e', b'l', b'l', b'o', b'R', b'u', b's', b't',
    ];
    #[rustfmt::skip]
    let scan_data = &[
        0x03, 0x03, 0x09, 0x18,
    ];

    let mut config = peripheral::Config::default();
    config.interval = 50;
    let adv = peripheral::NonconnectableAdvertisement::ScannableUndirected {
        adv_data,
        scan_data,
    };
    unwrap!(peripheral::advertise(sd, adv, &config).await);

    // advertise never returns
    unreachable!();
}

#[rtic::app(device = nrf52832_hal::pac, peripherals = true)]
const APP: () = {
    struct Resources {
        #[init(0)]
        shared: u32,
    }

    #[init(resources=[shared])]
    fn init(cx: init::Context) {
        info!("Starting Init function");
        let shared: &mut u32 = cx.resources.shared;
        info!("intial shared value is {:?}", shared);
        *shared += 1;
        info!(
            "shared value after incrementaion is {}",
            cx.resources.shared
        );
    }

    #[idle(spawn=[foo])]
    fn idle(cx: idle::Context) -> ! {
        info!("Starting Idle function");

        let config = nrf_softdevice::Config {
            clock: Some(raw::nrf_clock_lf_cfg_t {
                source: raw::NRF_CLOCK_LF_SRC_RC as u8,
                rc_ctiv: 4,
                rc_temp_ctiv: 2,
                accuracy: 7,
            }),
            conn_gap: Some(raw::ble_gap_conn_cfg_t {
                conn_count: 6,
                event_length: 24,
            }),
            conn_gatt: Some(raw::ble_gatt_conn_cfg_t { att_mtu: 256 }),
            gatts_attr_tab_size: Some(raw::ble_gatts_cfg_attr_tab_size_t {
                attr_tab_size: 8192,
            }),
            gap_role_count: Some(raw::ble_gap_cfg_role_count_t {
                adv_set_count: 1,
                periph_role_count: 3,
                central_role_count: 3,
                central_sec_count: 0,
                _bitfield_1: raw::ble_gap_cfg_role_count_t::new_bitfield_1(0),
            }),
            gap_device_name: Some(raw::ble_gap_cfg_device_name_t {
                p_value: b"HelloRust" as *const u8 as _,
                current_len: 9,
                max_len: 9,
                write_perm: unsafe { mem::zeroed() },
                _bitfield_1: raw::ble_gap_cfg_device_name_t::new_bitfield_1(
                    raw::BLE_GATTS_VLOC_STACK as u8,
                ),
            }),
            ..Default::default()
        };

        let sd = Softdevice::enable(&config);

        cx.spawn.foo().unwrap();

        let executor = EXECUTOR.put(Executor::new());
        executor.run(|spawner| {
            unwrap!(spawner.spawn(embassy_task()));
            unwrap!(spawner.spawn(softdevice_task(sd)));
            unwrap!(spawner.spawn(bluetooth_task(sd)));
        });
    }

    #[task(resources=[shared])]
    fn foo(cx: foo::Context) {
        info!("hello from rtic");
        info!("shared value seen by foo is {:?}", cx.resources.shared);
    }

    extern "C" {
        fn SWI0_EGU0();
    }
};