fix(embassy-init): move out peripherals required for drivers earlier

Previously, it would have been possible for user tasks to take
peripherals out of `OptionalPeripherals` *before* the required
peripherals had been extracted for drivers.
This now takes the peripherals before starting the user tasks, making
this scenario impossible.

src/riot-rs-embassy/src/arch/dummy/usb.rs

@@ -3,8 +3,6 @@ use embassy_usb::driver::{
     EndpointIn, EndpointInfo, EndpointOut, EndpointType, Event, Unsupported,
 };
 
-use crate::arch;
-
 pub struct UsbDriver;
 
 impl<'a> Driver<'a> for UsbDriver {
@@ -34,7 +32,9 @@ impl<'a> Driver<'a> for UsbDriver {
     }
 }
 
-pub fn driver(_peripherals: &mut arch::OptionalPeripherals) -> UsbDriver {
+crate::define_peripherals!(Peripherals {});
+
+pub fn driver(_peripherals: Peripherals) -> UsbDriver {
     unimplemented!();
 }
 

src/riot-rs-embassy/src/arch/nrf/usb.rs

@@ -7,8 +7,6 @@ use embassy_nrf::{
     },
 };
 
-use crate::arch;
-
 #[cfg(context = "nrf52")]
 bind_interrupts!(struct Irqs {
     USBD => usb::InterruptHandler<peripherals::USBD>;
@@ -23,7 +21,8 @@ bind_interrupts!(struct Irqs {
 
 pub type UsbDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
 
-pub fn driver(peripherals: &mut arch::OptionalPeripherals) -> UsbDriver {
-    let usbd = peripherals.USBD.take().unwrap();
-    Driver::new(usbd, Irqs, HardwareVbusDetect::new(Irqs))
+crate::define_peripherals!(Peripherals { usbd: USBD });
+
+pub fn driver(peripherals: Peripherals) -> UsbDriver {
+    Driver::new(peripherals.usbd, Irqs, HardwareVbusDetect::new(Irqs))
 }

src/riot-rs-embassy/src/arch/rp2040/usb.rs

@@ -3,15 +3,14 @@ use embassy_rp::{
     usb::{Driver, InterruptHandler},
 };
 
-use crate::arch;
-
 bind_interrupts!(struct Irqs {
     USBCTRL_IRQ => InterruptHandler<peripherals::USB>;
 });
 
 pub type UsbDriver = Driver<'static, peripherals::USB>;
 
-pub fn driver(peripherals: &mut arch::OptionalPeripherals) -> UsbDriver {
-    let usb = peripherals.USB.take().unwrap();
-    Driver::new(usb, Irqs)
+crate::define_peripherals!(Peripherals { usb: USB });
+
+pub fn driver(peripherals: Peripherals) -> UsbDriver {
+    Driver::new(peripherals.usb, Irqs)
 }

src/riot-rs-embassy/src/lib.rs

@@ -143,13 +143,23 @@ fn init() {
 
 #[embassy_executor::task]
 async fn init_task(mut peripherals: arch::OptionalPeripherals) {
+    use crate::define_peripherals::TakePeripherals;
+
     println!("riot-rs-embassy::init_task()");
 
     #[cfg(feature = "hwrng")]
     arch::hwrng::construct_rng(&mut peripherals);
     // Clock startup and entropy collection may lend themselves to parallelization, provided that
     // doesn't impact runtime RAM or flash use.
 
+    // Move out the peripherals required for drivers, so that tasks cannot mistakenly take them.
+    #[cfg(feature = "usb")]
+    let usb_peripherals: arch::usb::Peripherals = (&mut peripherals).take_peripherals();
+    #[cfg(feature = "wifi-cyw43")]
+    let wifi_cyw43_peripherals: wifi::cyw43::Peripherals = (&mut peripherals).take_peripherals();
+    #[cfg(feature = "wifi-esp")]
+    let esp_wifi_peripherals: wifi::esp_wifi::Peripherals = (&mut peripherals).take_peripherals();
+
     #[cfg(all(context = "nrf", feature = "usb"))]
     {
         // nrf52840
@@ -162,6 +172,8 @@ async fn init_task(mut peripherals: arch::OptionalPeripherals) {
 
     let spawner = Spawner::for_current_executor().await;
 
+    // Tasks have to be started before driver initializations so that the tasks are able to
+    // configure the drivers using hooks.
     for task in EMBASSY_TASKS {
         task(spawner, &mut peripherals);
     }
@@ -170,7 +182,7 @@ async fn init_task(mut peripherals: arch::OptionalPeripherals) {
     let mut usb_builder = {
         let usb_config = usb::config();
 
-        let usb_driver = arch::usb::driver(&mut peripherals);
+        let usb_driver = arch::usb::driver(usb_peripherals);
 
         // Create embassy-usb DeviceBuilder using the driver and config.
         let builder = usb::UsbBuilder::new(
@@ -226,13 +238,10 @@ async fn init_task(mut peripherals: arch::OptionalPeripherals) {
     }
 
     #[cfg(feature = "wifi-cyw43")]
-    let (device, control) = {
-        let (net_device, control) = wifi::cyw43::device(&mut peripherals, &spawner).await;
-        (net_device, control)
-    };
+    let (device, control) = wifi::cyw43::init(wifi_cyw43_peripherals, &spawner).await;
 
     #[cfg(feature = "wifi-esp")]
-    let device = wifi::esp_wifi::init(&mut peripherals, spawner);
+    let device = wifi::esp_wifi::init(esp_wifi_peripherals, spawner);
 
     #[cfg(feature = "net")]
     {

src/riot-rs-embassy/src/wifi/cyw43.rs

@@ -9,8 +9,10 @@ use embassy_rp::{
 
 use riot_rs_debug::println;
 
-use self::rpi_pico_w::{Cyw43Periphs, CywSpi, Irqs};
-use crate::{arch::OptionalPeripherals, make_static};
+use self::rpi_pico_w::{CywSpi, Irqs};
+use crate::make_static;
+
+pub use rpi_pico_w::Cyw43Periphs as Peripherals;
 
 pub type NetworkDevice = cyw43::NetDriver<'static>;
 
@@ -34,14 +36,10 @@ async fn wifi_cyw43_task(runner: Runner<'static, Output<'static>, CywSpi>) -> !
     runner.run().await
 }
 
-pub async fn device<'a, 'b: 'a>(
-    mut p: &'a mut OptionalPeripherals,
+pub async fn init<'a>(
+    periperals: Peripherals,
     spawner: &crate::Spawner,
-) -> (embassy_net_driver_channel::Device<'b, 1514>, Control<'b>) {
-    use crate::define_peripherals::TakePeripherals;
-
-    let pins: Cyw43Periphs = p.take_peripherals();
-
+) -> (embassy_net_driver_channel::Device<'a, 1514>, Control<'a>) {
     let fw = include_bytes!("cyw43/firmware/43439A0.bin");
     let clm = include_bytes!("cyw43/firmware/43439A0_clm.bin");
 
@@ -52,17 +50,17 @@ pub async fn device<'a, 'b: 'a>(
     //let fw = unsafe { core::slice::from_raw_parts(0x10100000 as *const u8, 230321) };
     //let clm = unsafe { core::slice::from_raw_parts(0x10140000 as *const u8, 4752) };
 
-    let pwr = Output::new(pins.pwr, Level::Low);
-    let cs = Output::new(pins.cs, Level::High);
-    let mut pio = Pio::new(pins.pio, Irqs);
+    let pwr = Output::new(periperals.pwr, Level::Low);
+    let cs = Output::new(periperals.cs, Level::High);
+    let mut pio = Pio::new(periperals.pio, Irqs);
     let spi = CywSpi::new(
         &mut pio.common,
         pio.sm0,
         pio.irq0,
         cs,
-        pins.dio,
-        pins.clk,
-        pins.dma,
+        periperals.dio,
+        periperals.clk,
+        periperals.dma,
     );
 
     let state = make_static!(cyw43::State::new());

src/riot-rs-embassy/src/wifi/esp_wifi.rs

@@ -1,9 +1,11 @@
-use esp_wifi::{wifi::WifiStaDevice, EspWifiInitialization};
+use esp_hal::peripherals;
+use esp_wifi::{
+    wifi::{WifiController, WifiDevice, WifiStaDevice},
+    EspWifiInitialization,
+};
 use once_cell::sync::OnceCell;
 
-use crate::{arch::OptionalPeripherals, Spawner};
-
-use esp_wifi::wifi::{WifiController, WifiDevice};
+use crate::Spawner;
 
 pub type NetworkDevice = WifiDevice<'static, WifiStaDevice>;
 
@@ -14,8 +16,10 @@ pub type NetworkDevice = WifiDevice<'static, WifiStaDevice>;
 // sure.
 pub static WIFI_INIT: OnceCell<EspWifiInitialization> = OnceCell::new();
 
-pub fn init(peripherals: &mut OptionalPeripherals, spawner: Spawner) -> NetworkDevice {
-    let wifi = peripherals.WIFI.take().unwrap();
+crate::define_peripherals!(Peripherals { wifi: WIFI });
+
+pub fn init(peripherals: Peripherals, spawner: Spawner) -> NetworkDevice {
+    let wifi = peripherals.wifi;
     let init = WIFI_INIT.get().unwrap();
     let (device, controller) = esp_wifi::wifi::new_with_mode(init, wifi, WifiStaDevice).unwrap();