Move to using embassy tasks instead of a single async join in main #6
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Pull Request Overview
This PR refactors the firmware to use Embassy's task-based architecture instead of manually joining async functions in main. The changes move from a monolithic main function using join4 to individual Embassy tasks that are spawned independently.
Key changes:
- Replace peripheral structs with "Claims" pattern for better ownership management
- Add Embassy tasks for USB, IMU, ACM echo, and CRC test functionality
- Introduce static buffer management using
static_cellfor USB operations - Add conditional compilation features for debug applications
Reviewed Changes
Copilot reviewed 12 out of 13 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| src/main.rs | Refactored from join-based concurrency to Embassy task spawning pattern |
| src/peripherals/usb_system.rs | Added USB task, static buffers, and renamed struct to UsbClaims |
| src/peripherals/acm.rs | Restructured ACM state management with static allocation |
| src/peripherals/spi.rs | Renamed SpiPeripherals to SpiClaims for consistency |
| src/drivers/imu/driver.rs | Added IMU task wrapper with error recovery |
| src/apps/*.rs | Converted applications to Embassy tasks with renamed structs |
| Cargo.toml | Updated Embassy timer configuration and added feature flags |
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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Moves to using Tasks as embassy intends.