Fix thread-mode executor on core1 not waking up

esp-hal-embassy/CHANGELOG.md

@@ -18,6 +18,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 
+- Fixed an issue with using thread-mode executors on both cores (#2924)
+
 ### Removed
 
 ## 0.5.0 - 2024-11-20

esp-hal-embassy/src/executor/thread.rs

@@ -3,9 +3,9 @@
 use core::marker::PhantomData;
 
 use embassy_executor::{raw, Spawner};
-use esp_hal::Cpu;
 #[cfg(multi_core)]
-use esp_hal::{interrupt::software::SoftwareInterrupt, macros::handler};
+use esp_hal::interrupt::software::SoftwareInterrupt;
+use esp_hal::{interrupt::Priority, Cpu};
 #[cfg(low_power_wait)]
 use portable_atomic::{AtomicBool, Ordering};
 
@@ -16,16 +16,6 @@ pub(crate) const THREAD_MODE_CONTEXT: usize = 16;
 static SIGNAL_WORK_THREAD_MODE: [AtomicBool; Cpu::COUNT] =
     [const { AtomicBool::new(false) }; Cpu::COUNT];
 
-#[cfg(all(multi_core, low_power_wait))]
-#[handler]
-fn software3_interrupt() {
-    // This interrupt is fired when the thread-mode executor's core needs to be
-    // woken. It doesn't matter which core handles this interrupt first, the
-    // point is just to wake up the core that is currently executing
-    // `waiti`.
-    unsafe { SoftwareInterrupt::<3>::steal().reset() };
-}
-
 pub(crate) fn pend_thread_mode(_core: usize) {
     #[cfg(low_power_wait)]
     {
@@ -68,11 +58,6 @@ impl Executor {
 This will use software-interrupt 3 which isn't available for anything else to wake the other core(s)."#
     )]
     pub fn new() -> Self {
-        #[cfg(all(multi_core, low_power_wait))]
-        unsafe {
-            SoftwareInterrupt::<3>::steal().set_interrupt_handler(software3_interrupt);
-        }
-
         Self {
             inner: raw::Executor::new((THREAD_MODE_CONTEXT + Cpu::current() as usize) as *mut ()),
             not_send: PhantomData,
@@ -100,6 +85,11 @@ This will use software-interrupt 3 which isn't available for anything else to wa
     ///
     /// This function never returns.
     pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+        unwrap!(esp_hal::interrupt::enable(
+            esp_hal::peripherals::Interrupt::FROM_CPU_INTR3,
+            Priority::min(),
+        ));
+
         init(self.inner.spawner());
 
         #[cfg(low_power_wait)]

esp-hal-embassy/src/lib.rs

@@ -158,5 +158,24 @@ impl_array!(4);
 /// # }
 /// ```
 pub fn init(time_driver: impl TimerCollection) {
+    #[cfg(all(feature = "executors", multi_core, low_power_wait))]
+    unsafe {
+        use esp_hal::interrupt::software::SoftwareInterrupt;
+
+        #[esp_hal::macros::ram]
+        extern "C" fn software3_interrupt() {
+            // This interrupt is fired when the thread-mode executor's core needs to be
+            // woken. It doesn't matter which core handles this interrupt first, the
+            // point is just to wake up the core that is currently executing
+            // `waiti`.
+            unsafe { SoftwareInterrupt::<3>::steal().reset() };
+        }
+
+        esp_hal::interrupt::bind_interrupt(
+            esp_hal::peripherals::Interrupt::FROM_CPU_INTR3,
+            software3_interrupt,
+        );
+    }
+
     EmbassyTimer::init(time_driver.timers())
 }

hil-test/tests/embassy_interrupt_executor.rs

@@ -18,6 +18,8 @@ use esp_hal::{
     },
     timer::AnyTimer,
 };
+#[cfg(multi_core)]
+use esp_hal_embassy::Executor;
 use esp_hal_embassy::InterruptExecutor;
 use hil_test as _;
 
@@ -31,10 +33,11 @@ macro_rules! mk_static {
 }
 
 #[embassy_executor::task]
-async fn interrupt_driven_task(
+async fn responder_task(
     signal: &'static Signal<CriticalSectionRawMutex, ()>,
     response: &'static Signal<CriticalSectionRawMutex, ()>,
 ) {
+    response.signal(());
     loop {
         signal.wait().await;
         response.signal(());
@@ -99,10 +102,9 @@ mod test {
 
         let spawner = interrupt_executor.start(Priority::Priority3);
 
-        spawner
-            .spawn(interrupt_driven_task(signal, response))
-            .unwrap();
+        spawner.spawn(responder_task(signal, response)).unwrap();
 
+        response.wait().await;
         for _ in 0..3 {
             signal.signal(());
             response.wait().await;
@@ -123,20 +125,44 @@ mod test {
 
                 let spawner = interrupt_executor.start(Priority::Priority3);
 
-                spawner
-                    .spawn(interrupt_driven_task(signal, response))
-                    .unwrap();
+                spawner.spawn(responder_task(signal, response)).unwrap();
 
                 loop {}
             }
         };
 
-        #[allow(static_mut_refs)]
         let _guard = ctx
             .cpu_control
             .start_app_core(app_core_stack, cpu1_fnctn)
             .unwrap();
 
+        response.wait().await;
+        for _ in 0..3 {
+            signal.signal(());
+            response.wait().await;
+        }
+    }
+
+    #[test]
+    #[cfg(multi_core)]
+    async fn run_thread_executor_test_on_core_1(mut ctx: Context) {
+        let app_core_stack = mk_static!(Stack<8192>, Stack::new());
+        let signal = mk_static!(Signal<CriticalSectionRawMutex, ()>, Signal::new());
+        let response = mk_static!(Signal<CriticalSectionRawMutex, ()>, Signal::new());
+
+        let cpu1_fnctn = || {
+            let executor = mk_static!(Executor, Executor::new());
+            executor.run(|spawner| {
+                spawner.spawn(responder_task(signal, response)).ok();
+            });
+        };
+
+        let _guard = ctx
+            .cpu_control
+            .start_app_core(app_core_stack, cpu1_fnctn)
+            .unwrap();
+
+        response.wait().await;
         for _ in 0..3 {
             signal.signal(());
             response.wait().await;