time: replace dyn clock/alarm with a global Driver trait

.github/workflows/rust.yml

@@ -77,7 +77,7 @@ jobs:
             features: stm32l476vg,defmt
           - package: embassy-stm32
             target: thumbv6m-none-eabi
-            features: stm32l053r8,defmt
+            features: stm32l072cz,defmt
           - package: examples/stm32f4
             target: thumbv7em-none-eabi
           - package: examples/stm32l4

embassy-macros/src/chip/nrf.rs

@@ -3,22 +3,9 @@ use proc_macro2::TokenStream;
 use quote::quote;
 
 pub fn generate(embassy_prefix: &ModulePrefix, config: syn::Expr) -> TokenStream {
-    let embassy_path = embassy_prefix.append("embassy").path();
     let embassy_nrf_path = embassy_prefix.append("embassy_nrf").path();
 
     quote!(
-        use #embassy_nrf_path::{interrupt, peripherals, rtc};
-
         let p = #embassy_nrf_path::init(#config);
-
-        let mut rtc = rtc::RTC::new(unsafe { <peripherals::RTC1 as #embassy_path::util::Steal>::steal() }, interrupt::take!(RTC1));
-        let rtc = unsafe { make_static(&mut rtc) };
-        rtc.start();
-        let mut alarm = rtc.alarm0();
-
-        unsafe { #embassy_path::time::set_clock(rtc) };
-
-        let alarm = unsafe { make_static(&mut alarm) };
-        executor.set_alarm(alarm);
     )
 }

embassy-macros/src/chip/rp.rs

@@ -3,16 +3,8 @@ use proc_macro2::TokenStream;
 use quote::quote;
 
 pub fn generate(embassy_prefix: &ModulePrefix, config: syn::Expr) -> TokenStream {
-    let embassy_path = embassy_prefix.append("embassy").path();
     let embassy_rp_path = embassy_prefix.append("embassy_rp").path();
     quote!(
-        use #embassy_rp_path::{interrupt, peripherals};
-
         let p = #embassy_rp_path::init(#config);
-
-        let alarm = unsafe { <#embassy_rp_path::peripherals::TIMER_ALARM0 as #embassy_path::util::Steal>::steal() };
-        let mut alarm = #embassy_rp_path::timer::Alarm::new(alarm);
-        let alarm = unsafe { make_static(&mut alarm) };
-        executor.set_alarm(alarm);
     )
 }

embassy-macros/src/chip/stm32.rs

@@ -3,26 +3,9 @@ use proc_macro2::TokenStream;
 use quote::quote;
 
 pub fn generate(embassy_prefix: &ModulePrefix, config: syn::Expr) -> TokenStream {
-    let embassy_path = embassy_prefix.append("embassy").path();
     let embassy_stm32_path = embassy_prefix.append("embassy_stm32").path();
 
     quote!(
-        use #embassy_stm32_path::{interrupt, peripherals, clock::Clock, time::Hertz};
-
         let p = #embassy_stm32_path::init(#config);
-
-        let mut c = Clock::new(
-            unsafe { <peripherals::TIM3 as embassy::util::Steal>::steal() },
-            interrupt::take!(TIM3),
-        );
-        let clock = unsafe { make_static(&mut c) };
-
-        clock.start();
-
-        let mut alarm = clock.alarm1();
-        unsafe { #embassy_path::time::set_clock(clock) };
-
-        let alarm = unsafe { make_static(&mut alarm) };
-        executor.set_alarm(alarm);
     )
 }

embassy-nrf/src/lib.rs

@@ -23,6 +23,8 @@ compile_error!("No chip feature activated. You must activate exactly one of the
 pub(crate) mod fmt;
 pub(crate) mod util;
 
+mod time_driver;
+
 pub mod buffered_uarte;
 pub mod gpio;
 pub mod gpiote;
@@ -32,7 +34,6 @@ pub mod pwm;
 #[cfg(feature = "nrf52840")]
 pub mod qspi;
 pub mod rng;
-pub mod rtc;
 #[cfg(not(feature = "nrf52820"))]
 pub mod saadc;
 pub mod spim;
@@ -160,7 +161,10 @@ pub fn init(config: config::Config) -> Peripherals {
     while r.events_lfclkstarted.read().bits() == 0 {}
 
     // Init GPIOTE
-    crate::gpiote::init(config.gpiote_interrupt_priority);
+    gpiote::init(config.gpiote_interrupt_priority);
+
+    // init RTC time driver
+    time_driver::init();
 
     peripherals
 }

embassy-nrf/src/time_driver.rs

@@ -1,13 +1,17 @@
 use core::cell::Cell;
-use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
+use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
+use core::{mem, ptr};
 use critical_section::CriticalSection;
-use embassy::interrupt::InterruptExt;
+use embassy::interrupt::{Interrupt, InterruptExt};
-use embassy::time::Clock;
+use embassy::time::driver::{AlarmHandle, Driver};
-use embassy::util::{CriticalSectionMutex as Mutex, Unborrow};
+use embassy::util::CriticalSectionMutex as Mutex;
 
-use crate::interrupt::Interrupt;
+use crate::interrupt;
 use crate::pac;
-use crate::{interrupt, peripherals};
+
+fn rtc() -> &'static pac::rtc0::RegisterBlock {
+    unsafe { &*pac::RTC1::ptr() }
+}
 
 // RTC timekeeping works with something we call "periods", which are time intervals
 // of 2^23 ticks. The RTC counter value is 24 bits, so one "overflow cycle" is 2 periods.
@@ -57,46 +61,45 @@ mod test {
 
 struct AlarmState {
     timestamp: Cell<u64>,
-    callback: Cell<Option<(fn(*mut ()), *mut ())>>,
+
+    // This is really a Option<(fn(*mut ()), *mut ())>
+    // but fn pointers aren't allowed in const yet
+    callback: Cell<*const ()>,
+    ctx: Cell<*mut ()>,
 }
 
+unsafe impl Send for AlarmState {}
+
 impl AlarmState {
-    fn new() -> Self {
+    const fn new() -> Self {
         Self {
             timestamp: Cell::new(u64::MAX),
-            callback: Cell::new(None),
+            callback: Cell::new(ptr::null()),
+            ctx: Cell::new(ptr::null_mut()),
         }
     }
 }
 
 const ALARM_COUNT: usize = 3;
 
-pub struct RTC<T: Instance> {
+struct State {
-    rtc: T,
-    irq: T::Interrupt,
-
     /// Number of 2^23 periods elapsed since boot.
     period: AtomicU32,
-
+    alarm_count: AtomicU8,
     /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
     alarms: Mutex<[AlarmState; ALARM_COUNT]>,
 }
 
-unsafe impl<T: Instance> Send for RTC<T> {}
+const ALARM_STATE_NEW: AlarmState = AlarmState::new();
-unsafe impl<T: Instance> Sync for RTC<T> {}
+static STATE: State = State {
-
-impl<T: Instance> RTC<T> {
-    pub fn new(rtc: T, irq: T::Interrupt) -> Self {
-        Self {
-            rtc,
-            irq,
     period: AtomicU32::new(0),
-            alarms: Mutex::new([AlarmState::new(), AlarmState::new(), AlarmState::new()]),
+    alarm_count: AtomicU8::new(0),
-        }
+    alarms: Mutex::new([ALARM_STATE_NEW; ALARM_COUNT]),
-    }
+};
 
-    pub fn start(&'static self) {
+impl State {
-        let r = self.rtc.regs();
+    fn init(&'static self) {
+        let r = rtc();
         r.cc[3].write(|w| unsafe { w.bits(0x800000) });
 
         r.intenset.write(|w| {
@@ -111,17 +114,11 @@ impl<T: Instance> RTC<T> {
         // Wait for clear
         while r.counter.read().bits() != 0 {}
 
-        self.irq.set_handler(|ptr| unsafe {
+        unsafe { interrupt::RTC1::steal() }.enable();
-            let this = &*(ptr as *const () as *const Self);
-            this.on_interrupt();
-        });
-        self.irq.set_handler_context(self as *const _ as *mut _);
-        self.irq.unpend();
-        self.irq.enable();
     }
 
     fn on_interrupt(&self) {
-        let r = self.rtc.regs();
+        let r = rtc();
         if r.events_ovrflw.read().bits() == 1 {
             r.events_ovrflw.write(|w| w);
             self.next_period();
@@ -144,7 +141,7 @@ impl<T: Instance> RTC<T> {
 
     fn next_period(&self) {
         critical_section::with(|cs| {
-            let r = self.rtc.regs();
+            let r = rtc();
             let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
             let t = (period as u64) << 23;
 
@@ -152,38 +149,77 @@ impl<T: Instance> RTC<T> {
                 let alarm = &self.alarms.borrow(cs)[n];
                 let at = alarm.timestamp.get();
 
-                let diff = at - t;
+                if at < t + 0xc00000 {
-                if diff < 0xc00000 {
+                    // just enable it. `set_alarm` has already set the correct CC val.
-                    r.cc[n].write(|w| unsafe { w.bits(at as u32 & 0xFFFFFF) });
                     r.intenset.write(|w| unsafe { w.bits(compare_n(n)) });
                 }
             }
         })
     }
 
+    fn now(&self) -> u64 {
+        // `period` MUST be read before `counter`, see comment at the top for details.
+        let period = self.period.load(Ordering::Relaxed);
+        compiler_fence(Ordering::Acquire);
+        let counter = rtc().counter.read().bits();
+        calc_now(period, counter)
+    }
+
+    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
+        // safety: we're allowed to assume the AlarmState is created by us, and
+        // we never create one that's out of bounds.
+        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
+    }
+
     fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
-        let r = self.rtc.regs();
+        let r = rtc();
         r.intenclr.write(|w| unsafe { w.bits(compare_n(n)) });
 
         let alarm = &self.alarms.borrow(cs)[n];
         alarm.timestamp.set(u64::MAX);
 
         // Call after clearing alarm, so the callback can set another alarm.
-        if let Some((f, ctx)) = alarm.callback.get() {
+
-            f(ctx);
+        // safety:
+        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
+        // - other than that we only store valid function pointers into alarm.callback
+        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
+        f(alarm.ctx.get());
+    }
+
+    fn allocate_alarm(&self) -> Option<AlarmHandle> {
+        let id = self
+            .alarm_count
+            .fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
+                if x < ALARM_COUNT as u8 {
+                    Some(x + 1)
+                } else {
+                    None
+                }
+            });
+
+        match id {
+            Ok(id) => Some(unsafe { AlarmHandle::new(id) }),
+            Err(_) => None,
         }
     }
 
-    fn set_alarm_callback(&self, n: usize, callback: fn(*mut ()), ctx: *mut ()) {
+    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
         critical_section::with(|cs| {
-            let alarm = &self.alarms.borrow(cs)[n];
+            let alarm = self.get_alarm(cs, alarm);
-            alarm.callback.set(Some((callback, ctx)));
+
+            // safety: it's OK to transmute a fn pointer into a raw pointer
+            let callback_ptr: *const () = unsafe { mem::transmute(callback) };
+
+            alarm.callback.set(callback_ptr);
+            alarm.ctx.set(ctx);
         })
     }
 
-    fn set_alarm(&self, n: usize, timestamp: u64) {
+    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
         critical_section::with(|cs| {
-            let alarm = &self.alarms.borrow(cs)[n];
+            let n = alarm.id() as _;
+            let alarm = self.get_alarm(cs, alarm);
             alarm.timestamp.set(timestamp);
 
             let t = self.now();
@@ -194,11 +230,13 @@ impl<T: Instance> RTC<T> {
                 return;
             }
 
-            let r = self.rtc.regs();
+            let r = rtc();
 
             // If it hasn't triggered yet, setup it in the compare channel.
-            let diff = timestamp - t;
+
-            if diff < 0xc00000 {
+            // Write the CC value regardless of whether we're going to enable it now or not.
+            // This way, when we enable it later, the right value is already set.
+
             // nrf52 docs say:
             //    If the COUNTER is N, writing N or N+1 to a CC register may not trigger a COMPARE event.
             // To workaround this, we never write a timestamp smaller than N+3.
@@ -213,6 +251,9 @@ impl<T: Instance> RTC<T> {
             // and we don't do that here.
             let safe_timestamp = timestamp.max(t + 3);
             r.cc[n].write(|w| unsafe { w.bits(safe_timestamp as u32 & 0xFFFFFF) });
+
+            let diff = timestamp - t;
+            if diff < 0xc00000 {
                 r.intenset.write(|w| unsafe { w.bits(compare_n(n)) });
             } else {
                 // If it's too far in the future, don't setup the compare channel yet.
@@ -221,74 +262,34 @@ impl<T: Instance> RTC<T> {
             }
         })
     }
+}
 
-    pub fn alarm0(&'static self) -> Alarm<T> {
+struct RtcDriver;
-        Alarm { n: 0, rtc: self }
+embassy::time_driver_impl!(RtcDriver);
+
+impl Driver for RtcDriver {
+    fn now() -> u64 {
+        STATE.now()
     }
-    pub fn alarm1(&'static self) -> Alarm<T> {
+
-        Alarm { n: 1, rtc: self }
+    unsafe fn allocate_alarm() -> Option<AlarmHandle> {
+        STATE.allocate_alarm()
     }
-    pub fn alarm2(&'static self) -> Alarm<T> {
+
-        Alarm { n: 2, rtc: self }
+    fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
+        STATE.set_alarm_callback(alarm, callback, ctx)
+    }
+
+    fn set_alarm(alarm: AlarmHandle, timestamp: u64) {
+        STATE.set_alarm(alarm, timestamp)
     }
 }
 
-impl<T: Instance> embassy::time::Clock for RTC<T> {
+#[interrupt]
-    fn now(&self) -> u64 {
+fn RTC1() {
-        // `period` MUST be read before `counter`, see comment at the top for details.
+    STATE.on_interrupt()
-        let period = self.period.load(Ordering::Relaxed);
-        compiler_fence(Ordering::Acquire);
-        let counter = self.rtc.regs().counter.read().bits();
-        calc_now(period, counter)
-    }
 }
 
-pub struct Alarm<T: Instance> {
+pub(crate) fn init() {
-    n: usize,
+    STATE.init()
-    rtc: &'static RTC<T>,
 }
-
-impl<T: Instance> embassy::time::Alarm for Alarm<T> {
-    fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ()) {
-        self.rtc.set_alarm_callback(self.n, callback, ctx);
-    }
-
-    fn set(&self, timestamp: u64) {
-        self.rtc.set_alarm(self.n, timestamp);
-    }
-
-    fn clear(&self) {
-        self.rtc.set_alarm(self.n, u64::MAX);
-    }
-}
-
-mod sealed {
-    use super::*;
-    pub trait Instance {
-        fn regs(&self) -> &pac::rtc0::RegisterBlock;
-    }
-}
-
-macro_rules! impl_instance {
-    ($type:ident, $irq:ident) => {
-        impl sealed::Instance for peripherals::$type {
-            fn regs(&self) -> &pac::rtc0::RegisterBlock {
-                unsafe { &*pac::$type::ptr() }
-            }
-        }
-        impl Instance for peripherals::$type {
-            type Interrupt = interrupt::$irq;
-        }
-    };
-}
-
-/// Implemented by all RTC instances.
-pub trait Instance: Unborrow<Target = Self> + sealed::Instance + 'static {
-    /// The interrupt associated with this RTC instance.
-    type Interrupt: Interrupt;
-}
-
-impl_instance!(RTC0, RTC0);
-impl_instance!(RTC1, RTC1);
-#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
-impl_instance!(RTC2, RTC2);

embassy-rp/Cargo.toml

@@ -22,7 +22,7 @@ defmt-error = [ ]
 embassy = { version = "0.1.0", path = "../embassy", features = [ "time-tick-1mhz" ] }
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]}
-
+atomic-polyfill = { version = "0.1.2" }
 defmt = { version = "0.2.0", optional = true }
 log = { version = "0.4.11", optional = true }
 cortex-m-rt = "0.6.13"

embassy-rp/src/lib.rs

@@ -69,11 +69,6 @@ embassy_hal_common::peripherals! {
     SPI0,
     SPI1,
 
-    TIMER_ALARM0,
-    TIMER_ALARM1,
-    TIMER_ALARM2,
-    TIMER_ALARM3,
-
     DMA_CH0,
     DMA_CH1,
     DMA_CH2,

embassy-rp/src/timer.rs

@@ -1,6 +1,8 @@
+use atomic_polyfill::{AtomicU8, Ordering};
 use core::cell::Cell;
 use critical_section::CriticalSection;
 use embassy::interrupt::{Interrupt, InterruptExt};
+use embassy::time::driver::{AlarmHandle, Driver};
 use embassy::util::CriticalSectionMutex as Mutex;
 
 use crate::{interrupt, pac};
@@ -18,6 +20,7 @@ const DUMMY_ALARM: AlarmState = AlarmState {
 };
 
 static ALARMS: Mutex<[AlarmState; ALARM_COUNT]> = Mutex::new([DUMMY_ALARM; ALARM_COUNT]);
+static NEXT_ALARM: AtomicU8 = AtomicU8::new(0);
 
 fn now() -> u64 {
     loop {
@@ -32,60 +35,39 @@ fn now() -> u64 {
     }
 }
 
-struct Timer;
+struct TimerDriver;
-impl embassy::time::Clock for Timer {
+embassy::time_driver_impl!(TimerDriver);
-    fn now(&self) -> u64 {
+
+impl Driver for TimerDriver {
+    fn now() -> u64 {
         now()
     }
-}
 
-pub trait AlarmInstance {
+    unsafe fn allocate_alarm() -> Option<AlarmHandle> {
-    fn alarm_num(&self) -> usize;
+        let id = NEXT_ALARM.fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
-}
+            if x < ALARM_COUNT as u8 {
+                Some(x + 1)
+            } else {
+                None
+            }
+        });
 
-impl AlarmInstance for crate::peripherals::TIMER_ALARM0 {
+        match id {
-    fn alarm_num(&self) -> usize {
+            Ok(id) => Some(AlarmHandle::new(id)),
-        0
+            Err(_) => None,
         }
-}
-impl AlarmInstance for crate::peripherals::TIMER_ALARM1 {
-    fn alarm_num(&self) -> usize {
-        1
     }
-}
-impl AlarmInstance for crate::peripherals::TIMER_ALARM2 {
-    fn alarm_num(&self) -> usize {
-        2
-    }
-}
-impl AlarmInstance for crate::peripherals::TIMER_ALARM3 {
-    fn alarm_num(&self) -> usize {
-        3
-    }
-}
 
-pub struct Alarm<T: AlarmInstance> {
+    fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-    inner: T,
+        let n = alarm.id() as usize;
-}
-
-impl<T: AlarmInstance> Alarm<T> {
-    pub fn new(inner: T) -> Self {
-        Self { inner }
-    }
-}
-
-impl<T: AlarmInstance> embassy::time::Alarm for Alarm<T> {
-    fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ()) {
-        let n = self.inner.alarm_num();
         critical_section::with(|cs| {
             let alarm = &ALARMS.borrow(cs)[n];
             alarm.callback.set(Some((callback, ctx)));
         })
     }
 
-    fn set(&self, timestamp: u64) {
+    fn set_alarm(alarm: AlarmHandle, timestamp: u64) {
-        let n = self.inner.alarm_num();
+        let n = alarm.id() as usize;
-
         critical_section::with(|cs| {
             let alarm = &ALARMS.borrow(cs)[n];
             alarm.timestamp.set(timestamp);
@@ -105,10 +87,6 @@ impl<T: AlarmInstance> embassy::time::Alarm for Alarm<T> {
             }
         })
     }
-
-    fn clear(&self) {
-        self.set(u64::MAX);
-    }
 }
 
 fn check_alarm(n: usize) {
@@ -162,8 +140,6 @@ pub unsafe fn init() {
     interrupt::TIMER_IRQ_1::steal().enable();
     interrupt::TIMER_IRQ_2::steal().enable();
     interrupt::TIMER_IRQ_3::steal().enable();
-
-    embassy::time::set_clock(&Timer);
 }
 
 #[interrupt]

embassy-std/src/lib.rs

@@ -1,6 +1,6 @@
 use embassy::executor::{raw, Spawner};
+use embassy::time::driver::{AlarmHandle, Driver};
 use embassy::time::TICKS_PER_SECOND;
-use embassy::time::{Alarm, Clock};
 use std::marker::PhantomData;
 use std::mem::MaybeUninit;
 use std::ptr;
@@ -8,28 +8,31 @@ use std::sync::{Condvar, Mutex};
 use std::time::{Duration as StdDuration, Instant as StdInstant};
 
 static mut CLOCK_ZERO: MaybeUninit<StdInstant> = MaybeUninit::uninit();
-struct StdClock;
+
-impl Clock for StdClock {
+static mut ALARM_AT: u64 = u64::MAX;
-    fn now(&self) -> u64 {
+static mut NEXT_ALARM_ID: u8 = 0;
+
+struct TimeDriver;
+embassy::time_driver_impl!(TimeDriver);
+
+impl Driver for TimeDriver {
+    fn now() -> u64 {
         let zero = unsafe { CLOCK_ZERO.as_ptr().read() };
         let dur = StdInstant::now().duration_since(zero);
         dur.as_secs() * (TICKS_PER_SECOND as u64)
             + (dur.subsec_nanos() as u64) * (TICKS_PER_SECOND as u64) / 1_000_000_000
     }
-}
 
-static mut ALARM_AT: u64 = u64::MAX;
+    unsafe fn allocate_alarm() -> Option<AlarmHandle> {
-
+        let r = NEXT_ALARM_ID;
-pub struct StdAlarm;
+        NEXT_ALARM_ID += 1;
-impl Alarm for StdAlarm {
+        Some(AlarmHandle::new(r))
-    fn set_callback(&self, _callback: fn(*mut ()), _ctx: *mut ()) {}
-
-    fn set(&self, timestamp: u64) {
-        unsafe { ALARM_AT = timestamp }
     }
 
-    fn clear(&self) {
+    fn set_alarm_callback(_alarm: AlarmHandle, _callback: fn(*mut ()), _ctx: *mut ()) {}
-        unsafe { ALARM_AT = u64::MAX }
+
+    fn set_alarm(_alarm: AlarmHandle, timestamp: u64) {
+        unsafe { ALARM_AT = ALARM_AT.min(timestamp) }
     }
 }
 
@@ -53,7 +56,8 @@ impl Signaler {
             if alarm_at == u64::MAX {
                 signaled = self.condvar.wait(signaled).unwrap();
             } else {
-                let now = StdClock.now();
+                unsafe { ALARM_AT = u64::MAX };
+                let now = TimeDriver::now();
                 if now >= alarm_at {
                     break;
                 }
@@ -92,7 +96,6 @@ impl Executor {
     pub fn new() -> Self {
         unsafe {
             CLOCK_ZERO.as_mut_ptr().write(StdInstant::now());
-            embassy::time::set_clock(&StdClock);
         }
 
         Self {
@@ -107,7 +110,6 @@ impl Executor {
     /// This function never returns.
     pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
         self.inner.set_signal_ctx(&self.signaler as *const _ as _);
-        self.inner.set_alarm(&StdAlarm);
 
         init(unsafe { self.inner.spawner() });
 

embassy-stm32/src/clock.rs

@@ -1,372 +0,0 @@
-#![macro_use]
-
-use core::cell::Cell;
-use core::convert::TryInto;
-use core::sync::atomic::{compiler_fence, Ordering};
-
-use atomic_polyfill::AtomicU32;
-use embassy::interrupt::InterruptExt;
-use embassy::time::{Clock as EmbassyClock, TICKS_PER_SECOND};
-
-use crate::interrupt::{CriticalSection, Interrupt, Mutex};
-use crate::pac::timer::TimGp16;
-use crate::peripherals;
-use crate::rcc::RccPeripheral;
-use crate::time::Hertz;
-
-// Clock timekeeping works with something we call "periods", which are time intervals
-// of 2^15 ticks. The Clock counter value is 16 bits, so one "overflow cycle" is 2 periods.
-//
-// A `period` count is maintained in parallel to the Timer hardware `counter`, like this:
-// - `period` and `counter` start at 0
-// - `period` is incremented on overflow (at counter value 0)
-// - `period` is incremented "midway" between overflows (at counter value 0x8000)
-//
-// Therefore, when `period` is even, counter is in 0..0x7FFF. When odd, counter is in 0x8000..0xFFFF
-// This allows for now() to return the correct value even if it races an overflow.
-//
-// To get `now()`, `period` is read first, then `counter` is read. If the counter value matches
-// the expected range for the `period` parity, we're done. If it doesn't, this means that
-// a new period start has raced us between reading `period` and `counter`, so we assume the `counter` value
-// corresponds to the next period.
-//
-// `period` is a 32bit integer, so It overflows on 2^32 * 2^15 / 32768 seconds of uptime, which is 136 years.
-fn calc_now(period: u32, counter: u16) -> u64 {
-    ((period as u64) << 15) + ((counter as u32 ^ ((period & 1) << 15)) as u64)
-}
-
-struct AlarmState {
-    timestamp: Cell<u64>,
-    #[allow(clippy::type_complexity)]
-    callback: Cell<Option<(fn(*mut ()), *mut ())>>,
-}
-
-impl AlarmState {
-    fn new() -> Self {
-        Self {
-            timestamp: Cell::new(u64::MAX),
-            callback: Cell::new(None),
-        }
-    }
-}
-
-const ALARM_COUNT: usize = 3;
-
-/// Clock timer that can be used by the executor and to set alarms.
-///
-/// It can work with Timers 2, 3, 4, 5. This timer works internally with a unit of 2^15 ticks, which
-/// means that if a call to [`embassy::time::Clock::now`] is blocked for that amount of ticks the
-/// returned value will be wrong (an old value). The current default tick rate is 32768 ticks per
-/// second.
-pub struct Clock<T: Instance> {
-    _inner: T,
-    irq: T::Interrupt,
-    /// Number of 2^23 periods elapsed since boot.
-    period: AtomicU32,
-    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
-    alarms: Mutex<[AlarmState; ALARM_COUNT]>,
-}
-
-impl<T: Instance> Clock<T> {
-    pub fn new(peripheral: T, irq: T::Interrupt) -> Self {
-        Self {
-            _inner: peripheral,
-            irq,
-            period: AtomicU32::new(0),
-            alarms: Mutex::new([AlarmState::new(), AlarmState::new(), AlarmState::new()]),
-        }
-    }
-
-    pub fn start(&'static self) {
-        let inner = T::inner();
-
-        T::enable();
-        T::reset();
-
-        let timer_freq = T::frequency();
-
-        // NOTE(unsafe) Critical section to use the unsafe methods
-        critical_section::with(|_| {
-            unsafe {
-                inner.prepare(timer_freq);
-            }
-
-            self.irq.set_handler_context(self as *const _ as *mut _);
-            self.irq.set_handler(|ptr| unsafe {
-                let this = &*(ptr as *const () as *const Self);
-                this.on_interrupt();
-            });
-            self.irq.unpend();
-            self.irq.enable();
-
-            unsafe {
-                inner.start_counter();
-            }
-        })
-    }
-
-    fn on_interrupt(&self) {
-        let inner = T::inner();
-
-        // NOTE(unsafe) Use critical section to access the methods
-        // XXX: reduce the size of this critical section ?
-        critical_section::with(|cs| unsafe {
-            if inner.overflow_interrupt_status() {
-                inner.overflow_clear_flag();
-                self.next_period();
-            }
-
-            // Half overflow
-            if inner.compare_interrupt_status(0) {
-                inner.compare_clear_flag(0);
-                self.next_period();
-            }
-
-            for n in 1..=ALARM_COUNT {
-                if inner.compare_interrupt_status(n) {
-                    inner.compare_clear_flag(n);
-                    self.trigger_alarm(n, cs);
-                }
-            }
-        })
-    }
-
-    fn next_period(&self) {
-        let inner = T::inner();
-
-        let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
-        let t = (period as u64) << 15;
-
-        critical_section::with(move |cs| {
-            for n in 1..=ALARM_COUNT {
-                let alarm = &self.alarms.borrow(cs)[n - 1];
-                let at = alarm.timestamp.get();
-
-                let diff = at - t;
-                if diff < 0xc000 {
-                    inner.set_compare(n, at as u16);
-                    // NOTE(unsafe) We're in a critical section
-                    unsafe {
-                        inner.set_compare_interrupt(n, true);
-                    }
-                }
-            }
-        })
-    }
-
-    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
-        let inner = T::inner();
-        // NOTE(unsafe) We have a critical section
-        unsafe {
-            inner.set_compare_interrupt(n, false);
-        }
-
-        let alarm = &self.alarms.borrow(cs)[n - 1];
-        alarm.timestamp.set(u64::MAX);
-
-        // Call after clearing alarm, so the callback can set another alarm.
-        if let Some((f, ctx)) = alarm.callback.get() {
-            f(ctx);
-        }
-    }
-
-    fn set_alarm_callback(&self, n: usize, callback: fn(*mut ()), ctx: *mut ()) {
-        critical_section::with(|cs| {
-            let alarm = &self.alarms.borrow(cs)[n - 1];
-            alarm.callback.set(Some((callback, ctx)));
-        })
-    }
-
-    fn set_alarm(&self, n: usize, timestamp: u64) {
-        critical_section::with(|cs| {
-            let inner = T::inner();
-
-            let alarm = &self.alarms.borrow(cs)[n - 1];
-            alarm.timestamp.set(timestamp);
-
-            let t = self.now();
-            if timestamp <= t {
-                self.trigger_alarm(n, cs);
-                return;
-            }
-
-            let diff = timestamp - t;
-            if diff < 0xc000 {
-                let safe_timestamp = timestamp.max(t + 3);
-                inner.set_compare(n, safe_timestamp as u16);
-
-                // NOTE(unsafe) We're in a critical section
-                unsafe {
-                    inner.set_compare_interrupt(n, true);
-                }
-            } else {
-                unsafe {
-                    inner.set_compare_interrupt(n, false);
-                }
-            }
-        })
-    }
-
-    pub fn alarm1(&'static self) -> Alarm<T> {
-        Alarm { n: 1, rtc: self }
-    }
-    pub fn alarm2(&'static self) -> Alarm<T> {
-        Alarm { n: 2, rtc: self }
-    }
-    pub fn alarm3(&'static self) -> Alarm<T> {
-        Alarm { n: 3, rtc: self }
-    }
-}
-
-impl<T: Instance> EmbassyClock for Clock<T> {
-    fn now(&self) -> u64 {
-        let inner = T::inner();
-
-        let period = self.period.load(Ordering::Relaxed);
-        compiler_fence(Ordering::Acquire);
-        let counter = inner.counter();
-        calc_now(period, counter)
-    }
-}
-
-pub struct Alarm<T: Instance> {
-    n: usize,
-    rtc: &'static Clock<T>,
-}
-
-impl<T: Instance> embassy::time::Alarm for Alarm<T> {
-    fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ()) {
-        self.rtc.set_alarm_callback(self.n, callback, ctx);
-    }
-
-    fn set(&self, timestamp: u64) {
-        self.rtc.set_alarm(self.n, timestamp);
-    }
-
-    fn clear(&self) {
-        self.rtc.set_alarm(self.n, u64::MAX);
-    }
-}
-
-pub struct TimerInner(pub(crate) TimGp16);
-
-impl TimerInner {
-    unsafe fn prepare(&self, timer_freq: Hertz) {
-        self.stop_and_reset();
-
-        let psc = timer_freq.0 / TICKS_PER_SECOND as u32 - 1;
-        let psc: u16 = psc.try_into().unwrap();
-
-        self.set_psc_arr(psc, u16::MAX);
-        // Mid-way point
-        self.set_compare(0, 0x8000);
-        self.set_compare_interrupt(0, true);
-    }
-
-    unsafe fn start_counter(&self) {
-        self.0.cr1().modify(|w| w.set_cen(true));
-    }
-
-    unsafe fn stop_and_reset(&self) {
-        let regs = self.0;
-
-        regs.cr1().modify(|w| w.set_cen(false));
-        regs.cnt().write(|w| w.set_cnt(0));
-    }
-
-    fn overflow_interrupt_status(&self) -> bool {
-        // NOTE(unsafe) Atomic read with no side-effects
-        unsafe { self.0.sr().read().uif() }
-    }
-
-    unsafe fn overflow_clear_flag(&self) {
-        self.0.sr().modify(|w| w.set_uif(false));
-    }
-
-    unsafe fn set_psc_arr(&self, psc: u16, arr: u16) {
-        use crate::pac::timer::vals::Urs;
-
-        let regs = self.0;
-
-        regs.psc().write(|w| w.set_psc(psc));
-        regs.arr().write(|w| w.set_arr(arr));
-
-        // Set URS, generate update and clear URS
-        regs.cr1().modify(|w| w.set_urs(Urs::COUNTERONLY));
-        regs.egr().write(|w| w.set_ug(true));
-        regs.cr1().modify(|w| w.set_urs(Urs::ANYEVENT));
-    }
-
-    fn compare_interrupt_status(&self, n: usize) -> bool {
-        if n > 3 {
-            false
-        } else {
-            // NOTE(unsafe) Atomic read with no side-effects
-            unsafe { self.0.sr().read().ccif(n) }
-        }
-    }
-
-    unsafe fn compare_clear_flag(&self, n: usize) {
-        if n > 3 {
-            return;
-        }
-        self.0.sr().modify(|w| w.set_ccif(n, false));
-    }
-
-    fn set_compare(&self, n: usize, value: u16) {
-        if n > 3 {
-            return;
-        }
-        // NOTE(unsafe) Atomic write
-        unsafe {
-            self.0.ccr(n).write(|w| w.set_ccr(value));
-        }
-    }
-
-    unsafe fn set_compare_interrupt(&self, n: usize, enable: bool) {
-        if n > 3 {
-            return;
-        }
-        self.0.dier().modify(|w| w.set_ccie(n, enable));
-    }
-
-    fn counter(&self) -> u16 {
-        // NOTE(unsafe) Atomic read with no side-effects
-        unsafe { self.0.cnt().read().cnt() }
-    }
-}
-
-// ------------------------------------------------------
-
-pub(crate) mod sealed {
-    use super::*;
-    pub trait Instance {
-        type Interrupt: Interrupt;
-
-        fn inner() -> TimerInner;
-    }
-}
-
-pub trait Instance: sealed::Instance + Sized + RccPeripheral + 'static {}
-
-macro_rules! impl_timer {
-    ($inst:ident) => {
-        impl sealed::Instance for peripherals::$inst {
-            type Interrupt = crate::interrupt::$inst;
-
-            fn inner() -> crate::clock::TimerInner {
-                const INNER: TimerInner = TimerInner(crate::pac::$inst);
-                INNER
-            }
-        }
-
-        impl Instance for peripherals::$inst {}
-    };
-}
-
-crate::pac::peripherals!(
-    (timer, TIM2) => { impl_timer!(TIM2); };
-    (timer, TIM3) => { impl_timer!(TIM3); };
-    (timer, TIM4) => { impl_timer!(TIM4); };
-    (timer, TIM5) => { impl_timer!(TIM5); };
-);

embassy-stm32/src/lib.rs

@@ -20,13 +20,12 @@ pub mod time;
 pub mod dma;
 pub mod gpio;
 pub mod rcc;
+mod time_driver;
 
 // Sometimes-present hardware
 
 #[cfg(adc)]
 pub mod adc;
-#[cfg(timer)]
-pub mod clock;
 #[cfg(dac)]
 pub mod dac;
 #[cfg(dbgmcu)]
@@ -87,6 +86,9 @@ pub fn init(config: Config) -> Peripherals {
         exti::init();
 
         rcc::init(config.rcc);
+
+        // must be after rcc init
+        time_driver::init();
     }
 
     p

embassy-stm32/src/time_driver.rs

@@ -0,0 +1,319 @@
+use atomic_polyfill::{AtomicU32, AtomicU8};
+use core::cell::Cell;
+use core::convert::TryInto;
+use core::sync::atomic::{compiler_fence, Ordering};
+use core::{mem, ptr};
+use embassy::interrupt::InterruptExt;
+use embassy::time::driver::{AlarmHandle, Driver};
+use embassy::time::TICKS_PER_SECOND;
+use stm32_metapac::timer::regs;
+
+use crate::interrupt;
+use crate::interrupt::{CriticalSection, Interrupt, Mutex};
+use crate::pac::timer::{vals, TimGp16};
+use crate::peripherals;
+use crate::rcc::sealed::RccPeripheral;
+
+use self::sealed::Instance as _;
+
+const ALARM_COUNT: usize = 3;
+type T = peripherals::TIM3;
+
+// Clock timekeeping works with something we call "periods", which are time intervals
+// of 2^15 ticks. The Clock counter value is 16 bits, so one "overflow cycle" is 2 periods.
+//
+// A `period` count is maintained in parallel to the Timer hardware `counter`, like this:
+// - `period` and `counter` start at 0
+// - `period` is incremented on overflow (at counter value 0)
+// - `period` is incremented "midway" between overflows (at counter value 0x8000)
+//
+// Therefore, when `period` is even, counter is in 0..0x7FFF. When odd, counter is in 0x8000..0xFFFF
+// This allows for now() to return the correct value even if it races an overflow.
+//
+// To get `now()`, `period` is read first, then `counter` is read. If the counter value matches
+// the expected range for the `period` parity, we're done. If it doesn't, this means that
+// a new period start has raced us between reading `period` and `counter`, so we assume the `counter` value
+// corresponds to the next period.
+//
+// `period` is a 32bit integer, so It overflows on 2^32 * 2^15 / 32768 seconds of uptime, which is 136 years.
+fn calc_now(period: u32, counter: u16) -> u64 {
+    ((period as u64) << 15) + ((counter as u32 ^ ((period & 1) << 15)) as u64)
+}
+
+struct AlarmState {
+    timestamp: Cell<u64>,
+
+    // This is really a Option<(fn(*mut ()), *mut ())>
+    // but fn pointers aren't allowed in const yet
+    callback: Cell<*const ()>,
+    ctx: Cell<*mut ()>,
+}
+
+unsafe impl Send for AlarmState {}
+
+impl AlarmState {
+    const fn new() -> Self {
+        Self {
+            timestamp: Cell::new(u64::MAX),
+            callback: Cell::new(ptr::null()),
+            ctx: Cell::new(ptr::null_mut()),
+        }
+    }
+}
+
+struct State {
+    /// Number of 2^15 periods elapsed since boot.
+    period: AtomicU32,
+    alarm_count: AtomicU8,
+    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
+    alarms: Mutex<[AlarmState; ALARM_COUNT]>,
+}
+
+const ALARM_STATE_NEW: AlarmState = AlarmState::new();
+static STATE: State = State {
+    period: AtomicU32::new(0),
+    alarm_count: AtomicU8::new(0),
+    alarms: Mutex::new([ALARM_STATE_NEW; ALARM_COUNT]),
+};
+
+impl State {
+    fn init(&'static self) {
+        let r = T::regs();
+
+        T::enable();
+        T::reset();
+
+        let timer_freq = T::frequency();
+
+        // NOTE(unsafe) Critical section to use the unsafe methods
+        critical_section::with(|_| unsafe {
+            r.cr1().modify(|w| w.set_cen(false));
+            r.cnt().write(|w| w.set_cnt(0));
+
+            let psc = timer_freq.0 / TICKS_PER_SECOND as u32 - 1;
+            let psc: u16 = psc.try_into().unwrap();
+
+            r.psc().write(|w| w.set_psc(psc));
+            r.arr().write(|w| w.set_arr(u16::MAX));
+
+            // Set URS, generate update and clear URS
+            r.cr1().modify(|w| w.set_urs(vals::Urs::COUNTERONLY));
+            r.egr().write(|w| w.set_ug(true));
+            r.cr1().modify(|w| w.set_urs(vals::Urs::ANYEVENT));
+
+            // Mid-way point
+            r.ccr(0).write(|w| w.set_ccr(0x8000));
+
+            // Enable CC0, disable others
+            r.dier().write(|w| w.set_ccie(0, true));
+
+            let irq: <T as sealed::Instance>::Interrupt = core::mem::transmute(());
+            irq.unpend();
+            irq.enable();
+
+            r.cr1().modify(|w| w.set_cen(true));
+        })
+    }
+
+    fn on_interrupt(&self) {
+        let r = T::regs();
+
+        // NOTE(unsafe) Use critical section to access the methods
+        // XXX: reduce the size of this critical section ?
+        critical_section::with(|cs| unsafe {
+            let sr = r.sr().read();
+            let dier = r.dier().read();
+
+            // Clear all interrupt flags. Bits in SR are "write 0 to clear", so write the bitwise NOT.
+            // Other approaches such as writing all zeros, or RMWing won't work, they can
+            // miss interrupts.
+            r.sr().write_value(regs::SrGp(!sr.0));
+
+            if sr.uif() {
+                self.next_period();
+            }
+
+            // Half overflow
+            if sr.ccif(0) {
+                self.next_period();
+            }
+
+            for n in 0..ALARM_COUNT {
+                if sr.ccif(n + 1) && dier.ccie(n + 1) {
+                    self.trigger_alarm(n, cs);
+                }
+            }
+        })
+    }
+
+    fn next_period(&self) {
+        let r = T::regs();
+
+        let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
+        let t = (period as u64) << 15;
+
+        critical_section::with(move |cs| unsafe {
+            r.dier().modify(move |w| {
+                for n in 0..ALARM_COUNT {
+                    let alarm = &self.alarms.borrow(cs)[n];
+                    let at = alarm.timestamp.get();
+
+                    if at < t + 0xc000 {
+                        // just enable it. `set_alarm` has already set the correct CCR val.
+                        w.set_ccie(n + 1, true);
+                    }
+                }
+            })
+        })
+    }
+
+    fn now(&self) -> u64 {
+        let r = T::regs();
+
+        let period = self.period.load(Ordering::Relaxed);
+        compiler_fence(Ordering::Acquire);
+        // NOTE(unsafe) Atomic read with no side-effects
+        let counter = unsafe { r.cnt().read().cnt() };
+        calc_now(period, counter)
+    }
+
+    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
+        // safety: we're allowed to assume the AlarmState is created by us, and
+        // we never create one that's out of bounds.
+        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
+    }
+
+    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
+        let alarm = &self.alarms.borrow(cs)[n];
+        alarm.timestamp.set(u64::MAX);
+
+        // Call after clearing alarm, so the callback can set another alarm.
+
+        // safety:
+        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
+        // - other than that we only store valid function pointers into alarm.callback
+        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
+        f(alarm.ctx.get());
+    }
+
+    fn allocate_alarm(&self) -> Option<AlarmHandle> {
+        let id = self
+            .alarm_count
+            .fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
+                if x < ALARM_COUNT as u8 {
+                    Some(x + 1)
+                } else {
+                    None
+                }
+            });
+
+        match id {
+            Ok(id) => Some(unsafe { AlarmHandle::new(id) }),
+            Err(_) => None,
+        }
+    }
+
+    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
+        critical_section::with(|cs| {
+            let alarm = self.get_alarm(cs, alarm);
+
+            // safety: it's OK to transmute a fn pointer into a raw pointer
+            let callback_ptr: *const () = unsafe { mem::transmute(callback) };
+
+            alarm.callback.set(callback_ptr);
+            alarm.ctx.set(ctx);
+        })
+    }
+
+    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
+        critical_section::with(|cs| {
+            let r = T::regs();
+
+            let n = alarm.id() as _;
+            let alarm = self.get_alarm(cs, alarm);
+            alarm.timestamp.set(timestamp);
+
+            let t = self.now();
+            if timestamp <= t {
+                unsafe { r.dier().modify(|w| w.set_ccie(n + 1, false)) };
+                self.trigger_alarm(n, cs);
+                return;
+            }
+
+            let safe_timestamp = timestamp.max(t + 3);
+
+            // Write the CCR value regardless of whether we're going to enable it now or not.
+            // This way, when we enable it later, the right value is already set.
+            unsafe { r.ccr(n + 1).write(|w| w.set_ccr(safe_timestamp as u16)) };
+
+            // Enable it if it'll happen soon. Otherwise, `next_period` will enable it.
+            let diff = timestamp - t;
+            // NOTE(unsafe) We're in a critical section
+            unsafe { r.dier().modify(|w| w.set_ccie(n + 1, diff < 0xc000)) };
+        })
+    }
+}
+
+struct RtcDriver;
+embassy::time_driver_impl!(RtcDriver);
+
+impl Driver for RtcDriver {
+    fn now() -> u64 {
+        STATE.now()
+    }
+
+    unsafe fn allocate_alarm() -> Option<AlarmHandle> {
+        STATE.allocate_alarm()
+    }
+
+    fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
+        STATE.set_alarm_callback(alarm, callback, ctx)
+    }
+
+    fn set_alarm(alarm: AlarmHandle, timestamp: u64) {
+        STATE.set_alarm(alarm, timestamp)
+    }
+}
+
+#[interrupt]
+fn TIM3() {
+    STATE.on_interrupt()
+}
+
+pub(crate) fn init() {
+    STATE.init()
+}
+
+// ------------------------------------------------------
+
+pub(crate) mod sealed {
+    use super::*;
+    pub trait Instance {
+        type Interrupt: Interrupt;
+
+        fn regs() -> TimGp16;
+    }
+}
+
+pub trait Instance: sealed::Instance + Sized + RccPeripheral + 'static {}
+
+macro_rules! impl_timer {
+    ($inst:ident) => {
+        impl sealed::Instance for peripherals::$inst {
+            type Interrupt = crate::interrupt::$inst;
+
+            fn regs() -> TimGp16 {
+                crate::pac::$inst
+            }
+        }
+
+        impl Instance for peripherals::$inst {}
+    };
+}
+
+crate::pac::peripherals!(
+    (timer, TIM2) => { impl_timer!(TIM2); };
+    (timer, TIM3) => { impl_timer!(TIM3); };
+    (timer, TIM4) => { impl_timer!(TIM4); };
+    (timer, TIM5) => { impl_timer!(TIM5); };
+);

embassy/src/executor/mod.rs

@@ -109,18 +109,13 @@ pub struct Executor {
 }
 
 impl Executor {
-    pub const fn new() -> Self {
+    pub fn new() -> Self {
         Self {
             inner: raw::Executor::new(|_| cortex_m::asm::sev(), ptr::null_mut()),
             not_send: PhantomData,
         }
     }
 
-    #[cfg(feature = "time")]
-    pub fn set_alarm(&mut self, alarm: &'static dyn crate::time::Alarm) {
-        self.inner.set_alarm(alarm);
-    }
-
     /// Runs the executor.
     ///
     /// This function never returns.
@@ -161,11 +156,6 @@ impl<I: Interrupt> InterruptExecutor<I> {
         }
     }
 
-    #[cfg(feature = "time")]
-    pub fn set_alarm(&mut self, alarm: &'static dyn crate::time::Alarm) {
-        self.inner.set_alarm(alarm);
-    }
-
     /// Start the executor.
     ///
     /// `init` is called in the interrupt context, then the interrupt is

embassy/src/executor/raw.rs

@@ -15,7 +15,9 @@ use super::SpawnToken;
 #[cfg(feature = "time")]
 use super::timer_queue::{TimerQueue, TimerQueueItem};
 #[cfg(feature = "time")]
-use crate::time::{Alarm, Instant};
+use crate::time::driver::{self, AlarmHandle};
+#[cfg(feature = "time")]
+use crate::time::Instant;
 
 /// Task is spawned (has a future)
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
@@ -169,11 +171,16 @@ pub struct Executor {
     #[cfg(feature = "time")]
     timer_queue: TimerQueue,
     #[cfg(feature = "time")]
-    alarm: Option<&'static dyn Alarm>,
+    alarm: AlarmHandle,
 }
 
 impl Executor {
-    pub const fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+    pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+        #[cfg(feature = "time")]
+        let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
+        #[cfg(feature = "time")]
+        driver::set_alarm_callback(alarm, signal_fn, signal_ctx);
+
         Self {
             run_queue: RunQueue::new(),
             signal_fn,
@@ -182,15 +189,10 @@ impl Executor {
             #[cfg(feature = "time")]
             timer_queue: TimerQueue::new(),
             #[cfg(feature = "time")]
-            alarm: None,
+            alarm,
         }
     }
 
-    #[cfg(feature = "time")]
-    pub fn set_alarm(&mut self, alarm: &'static dyn Alarm) {
-        self.alarm = Some(alarm);
-    }
-
     pub fn set_signal_ctx(&mut self, signal_ctx: *mut ()) {
         self.signal_ctx = signal_ctx;
     }
@@ -209,11 +211,9 @@ impl Executor {
 
     pub unsafe fn run_queued(&'static self) {
         #[cfg(feature = "time")]
-        if self.alarm.is_some() {
         self.timer_queue.dequeue_expired(Instant::now(), |p| {
             p.as_ref().enqueue();
         });
-        }
 
         self.run_queue.dequeue_all(|p| {
             let task = p.as_ref();
@@ -239,13 +239,12 @@ impl Executor {
             self.timer_queue.update(p);
         });
 
+        #[cfg(feature = "time")]
+        {
             // If this is in the past, set_alarm will immediately trigger the alarm,
             // which will make the wfe immediately return so we do another loop iteration.
-        #[cfg(feature = "time")]
-        if let Some(alarm) = self.alarm {
             let next_expiration = self.timer_queue.next_expiration();
-            alarm.set_callback(self.signal_fn, self.signal_ctx);
+            driver::set_alarm(self.alarm, next_expiration.as_ticks());
-            alarm.set(next_expiration.as_ticks());
         }
     }
 

embassy/src/time/driver.rs

@@ -0,0 +1,118 @@
+/// Alarm handle, assigned by the driver.
+#[derive(Clone, Copy)]
+pub struct AlarmHandle {
+    id: u8,
+}
+
+impl AlarmHandle {
+    /// Create an AlarmHandle
+    ///
+    /// Safety: May only be called by the current global Driver impl.
+    /// The impl is allowed to rely on the fact that all `AlarmHandle` instances
+    /// are created by itself in unsafe code (e.g. indexing operations)
+    pub unsafe fn new(id: u8) -> Self {
+        Self { id }
+    }
+
+    /// Get the ID of the AlarmHandle.
+    pub fn id(&self) -> u8 {
+        self.id
+    }
+}
+
+/// Time driver
+pub trait Driver {
+    /// Return the current timestamp in ticks.
+    /// This is guaranteed to be monotonic, i.e. a call to now() will always return
+    /// a greater or equal value than earler calls.
+    fn now() -> u64;
+
+    /// Try allocating an alarm handle. Returns None if no alarms left.
+    /// Initially the alarm has no callback set, and a null `ctx` pointer.
+    ///
+    /// # Safety
+    /// It is UB to make the alarm fire before setting a callback.
+    unsafe fn allocate_alarm() -> Option<AlarmHandle>;
+
+    /// Sets the callback function to be called when the alarm triggers.
+    /// The callback may be called from any context (interrupt or thread mode).
+    fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ());
+
+    /// Sets an alarm at the given timestamp. When the current timestamp reaches that
+    /// timestamp, the provided callback funcion will be called.
+    ///
+    /// When callback is called, it is guaranteed that now() will return a value greater or equal than timestamp.
+    ///
+    /// Only one alarm can be active at a time. This overwrites any previously-set alarm if any.
+    fn set_alarm(alarm: AlarmHandle, timestamp: u64);
+}
+
+extern "Rust" {
+    fn _embassy_time_now() -> u64;
+    fn _embassy_time_allocate_alarm() -> Option<AlarmHandle>;
+    fn _embassy_time_set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ());
+    fn _embassy_time_set_alarm(alarm: AlarmHandle, timestamp: u64);
+}
+
+pub(crate) fn now() -> u64 {
+    unsafe { _embassy_time_now() }
+}
+/// Safety: it is UB to make the alarm fire before setting a callback.
+pub(crate) unsafe fn allocate_alarm() -> Option<AlarmHandle> {
+    _embassy_time_allocate_alarm()
+}
+pub(crate) fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
+    unsafe { _embassy_time_set_alarm_callback(alarm, callback, ctx) }
+}
+pub(crate) fn set_alarm(alarm: AlarmHandle, timestamp: u64) {
+    unsafe { _embassy_time_set_alarm(alarm, timestamp) }
+}
+
+/// Set the time Driver implementation.
+///
+/// # Example
+///
+/// ```
+/// struct MyDriver;
+/// embassy::time_driver_impl!(MyDriver);
+///
+/// unsafe impl embassy::time::driver::Driver for MyDriver {
+///     fn now() -> u64 {
+///         todo!()
+///     }
+///     unsafe fn allocate_alarm() -> Option<AlarmHandle> {
+///         todo!()
+///     }
+///     fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
+///         todo!()
+///     }
+///     fn set_alarm(alarm: AlarmHandle, timestamp: u64) {
+///         todo!()
+///     }
+/// }
+///
+#[macro_export]
+macro_rules! time_driver_impl {
+    ($t: ty) => {
+        #[no_mangle]
+        fn _embassy_time_now() -> u64 {
+            <$t as $crate::time::driver::Driver>::now()
+        }
+        #[no_mangle]
+        unsafe fn _embassy_time_allocate_alarm() -> Option<AlarmHandle> {
+            <$t as $crate::time::driver::Driver>::allocate_alarm()
+        }
+        #[no_mangle]
+        fn _embassy_time_set_alarm_callback(
+            alarm: AlarmHandle,
+            callback: fn(*mut ()),
+            ctx: *mut (),
+        ) {
+            <$t as $crate::time::driver::Driver>::set_alarm_callback(alarm, callback, ctx)
+        }
+        #[no_mangle]
+        fn _embassy_time_set_alarm(alarm: AlarmHandle, timestamp: u64) {
+            <$t as $crate::time::driver::Driver>::set_alarm(alarm, timestamp)
+        }
+    };
+}

embassy/src/time/instant.rs

@@ -1,8 +1,7 @@
 use core::fmt;
 use core::ops::{Add, AddAssign, Sub, SubAssign};
 
-use super::TICKS_PER_SECOND;
+use super::{driver, Duration, TICKS_PER_SECOND};
-use super::{now, Duration};
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq, PartialOrd, Ord)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -17,7 +16,9 @@ impl Instant {
 
     /// Returns an Instant representing the current time.
     pub fn now() -> Instant {
-        Instant { ticks: now() }
+        Instant {
+            ticks: driver::now(),
+        }
     }
 
     /// Instant as clock ticks since MCU start.

embassy/src/time/mod.rs

@@ -1,17 +1,15 @@
 //! Time abstractions
-//! To use these abstractions, first call `set_clock` with an instance of an [Clock](trait.Clock.html).
+
-//!
 mod delay;
+pub mod driver;
 mod duration;
 mod instant;
 mod timer;
-mod traits;
 
 pub use delay::{block_for, Delay};
 pub use duration::Duration;
 pub use instant::Instant;
 pub use timer::{with_timeout, Ticker, TimeoutError, Timer};
-pub use traits::*;
 
 #[cfg(feature = "time-tick-1000hz")]
 pub const TICKS_PER_SECOND: u64 = 1_000;
@@ -21,19 +19,3 @@ pub const TICKS_PER_SECOND: u64 = 32_768;
 
 #[cfg(feature = "time-tick-1mhz")]
 pub const TICKS_PER_SECOND: u64 = 1_000_000;
-
-static mut CLOCK: Option<&'static dyn Clock> = None;
-
-/// Sets the clock used for the timing abstractions
-///
-/// Safety: Sets a mutable global.
-pub unsafe fn set_clock(clock: &'static dyn Clock) {
-    CLOCK = Some(clock);
-}
-
-/// Return the current timestamp in ticks.
-/// This is guaranteed to be monotonic, i.e. a call to now() will always return
-/// a greater or equal value than earler calls.
-pub(crate) fn now() -> u64 {
-    unsafe { unwrap!(CLOCK, "No clock set").now() }
-}

embassy/src/time/traits.rs

@@ -1,32 +0,0 @@
-/// Monotonic clock
-pub trait Clock {
-    /// Return the current timestamp in ticks.
-    /// This is guaranteed to be monotonic, i.e. a call to now() will always return
-    /// a greater or equal value than earler calls.
-    fn now(&self) -> u64;
-}
-
-impl<T: Clock + ?Sized> Clock for &T {
-    fn now(&self) -> u64 {
-        T::now(self)
-    }
-}
-
-/// Trait to register a callback at a given timestamp.
-pub trait Alarm {
-    /// Sets the callback function to be called when the alarm triggers.
-    /// The callback may be called from any context (interrupt or thread mode).
-    fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ());
-
-    /// Sets an alarm at the given timestamp. When the clock reaches that
-    /// timestamp, the provided callback funcion will be called.
-    ///
-    /// When callback is called, it is guaranteed that now() will return a value greater or equal than timestamp.
-    ///
-    /// Only one alarm can be active at a time. This overwrites any previously-set alarm if any.
-    fn set(&self, timestamp: u64);
-
-    /// Clears the previously-set alarm.
-    /// If no alarm was set, this is a noop.
-    fn clear(&self);
-}

examples/nrf/src/bin/blinky.rs

@@ -6,7 +6,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_nrf::gpio::{Level, Output, OutputDrive};

examples/nrf/src/bin/executor_fairness_test.rs

@@ -8,10 +8,9 @@ mod example_common;
 use example_common::*;
 
 use core::task::Poll;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Instant, Timer};
-use embassy_nrf::{interrupt, Peripherals};
+use embassy_nrf::Peripherals;
 
 #[embassy::task]
 async fn run1() {

examples/nrf/src/bin/gpiote_channel.rs

@@ -7,11 +7,10 @@
 mod example_common;
 use example_common::*;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_nrf::gpio::{Input, Pull};
 use embassy_nrf::gpiote::{InputChannel, InputChannelPolarity};
-use embassy_nrf::{interrupt, Peripherals};
+use embassy_nrf::Peripherals;
 
 #[embassy::main]
 async fn main(_spawner: Spawner, p: Peripherals) {

examples/nrf/src/bin/gpiote_port.rs

@@ -6,12 +6,10 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::traits::gpio::{WaitForHigh, WaitForLow};
 use embassy_nrf::gpio::{AnyPin, Input, Pin as _, Pull};
 use embassy_nrf::gpiote::PortInput;
-use embassy_nrf::interrupt;
 use embassy_nrf::Peripherals;
 use example_common::*;
 

examples/nrf/src/bin/mpsc.rs

@@ -6,7 +6,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy::util::mpsc::TryRecvError;

examples/nrf/src/bin/multiprio.rs

@@ -68,7 +68,7 @@ use embassy::executor::{Executor, InterruptExecutor};
 use embassy::interrupt::InterruptExt;
 use embassy::time::{Duration, Instant, Timer};
 use embassy::util::Forever;
-use embassy_nrf::{interrupt, peripherals, rtc};
+use embassy_nrf::interrupt;
 
 #[embassy::task]
 async fn run_high() {
@@ -112,30 +112,20 @@ async fn run_low() {
     }
 }
 
-static RTC: Forever<rtc::RTC<peripherals::RTC1>> = Forever::new();
-static ALARM_HIGH: Forever<rtc::Alarm<peripherals::RTC1>> = Forever::new();
 static EXECUTOR_HIGH: Forever<InterruptExecutor<interrupt::SWI1_EGU1>> = Forever::new();
-static ALARM_MED: Forever<rtc::Alarm<peripherals::RTC1>> = Forever::new();
 static EXECUTOR_MED: Forever<InterruptExecutor<interrupt::SWI0_EGU0>> = Forever::new();
-static ALARM_LOW: Forever<rtc::Alarm<peripherals::RTC1>> = Forever::new();
 static EXECUTOR_LOW: Forever<Executor> = Forever::new();
 
 #[entry]
 fn main() -> ! {
     info!("Hello World!");
 
-    let p = embassy_nrf::init(Default::default());
+    let _p = embassy_nrf::init(Default::default());
-
-    let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1)));
-    rtc.start();
-    unsafe { embassy::time::set_clock(rtc) };
 
     // High-priority executor: SWI1_EGU1, priority level 6
     let irq = interrupt::take!(SWI1_EGU1);
     irq.set_priority(interrupt::Priority::P6);
-    let alarm = ALARM_HIGH.put(rtc.alarm2());
     let executor = EXECUTOR_HIGH.put(InterruptExecutor::new(irq));
-    executor.set_alarm(alarm);
     executor.start(|spawner| {
         unwrap!(spawner.spawn(run_high()));
     });
@@ -143,17 +133,13 @@ fn main() -> ! {
     // Medium-priority executor: SWI0_EGU0, priority level 7
     let irq = interrupt::take!(SWI0_EGU0);
     irq.set_priority(interrupt::Priority::P7);
-    let alarm = ALARM_MED.put(rtc.alarm1());
     let executor = EXECUTOR_MED.put(InterruptExecutor::new(irq));
-    executor.set_alarm(alarm);
     executor.start(|spawner| {
         unwrap!(spawner.spawn(run_med()));
     });
 
     // Low priority executor: runs in thread mode, using WFE/SEV
-    let alarm = ALARM_LOW.put(rtc.alarm0());
     let executor = EXECUTOR_LOW.put(Executor::new());
-    executor.set_alarm(alarm);
     executor.run(|spawner| {
         unwrap!(spawner.spawn(run_low()));
     });

examples/nrf/src/bin/ppi.rs

@@ -8,12 +8,11 @@ mod example_common;
 use example_common::*;
 
 use core::future::pending;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_nrf::gpio::{Input, Level, Output, OutputDrive, Pull};
 use embassy_nrf::gpiote::{self, InputChannel, InputChannelPolarity};
 use embassy_nrf::ppi::Ppi;
-use embassy_nrf::{interrupt, Peripherals};
+use embassy_nrf::Peripherals;
 use gpiote::{OutputChannel, OutputChannelPolarity};
 
 #[embassy::main]

examples/nrf/src/bin/pwm.rs

@@ -5,11 +5,11 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use defmt::{panic, *};
+use defmt::*;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_nrf::pwm::{Prescaler, Pwm};
-use embassy_nrf::{interrupt, Peripherals};
+use embassy_nrf::Peripherals;
 
 // for i in range(1024): print(int((math.sin(i/512*math.pi)*0.4+0.5)**2*32767), ', ', end='')
 static DUTY: [u16; 1024] = [

examples/nrf/src/bin/raw_spawn.rs

@@ -7,13 +7,11 @@ use example_common::*;
 
 use core::mem;
 use cortex_m_rt::entry;
-use defmt::panic;
+
 use embassy::executor::raw::Task;
 use embassy::executor::Executor;
 use embassy::time::{Duration, Timer};
 use embassy::util::Forever;
-use embassy_nrf::peripherals;
-use embassy_nrf::{interrupt, rtc};
 
 async fn run1() {
     loop {
@@ -29,23 +27,14 @@ async fn run2() {
     }
 }
 
-static RTC: Forever<rtc::RTC<peripherals::RTC1>> = Forever::new();
-static ALARM: Forever<rtc::Alarm<peripherals::RTC1>> = Forever::new();
 static EXECUTOR: Forever<Executor> = Forever::new();
 
 #[entry]
 fn main() -> ! {
     info!("Hello World!");
 
-    let p = embassy_nrf::init(Default::default());
+    let _p = embassy_nrf::init(Default::default());
-
-    let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1)));
-    rtc.start();
-    unsafe { embassy::time::set_clock(rtc) };
-
-    let alarm = ALARM.put(rtc.alarm0());
     let executor = EXECUTOR.put(Executor::new());
-    executor.set_alarm(alarm);
 
     let run1_task = Task::new();
     let run2_task = Task::new();

examples/nrf/src/bin/timer.rs

@@ -8,7 +8,6 @@ mod example_common;
 use embassy_nrf::Peripherals;
 use example_common::*;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 

examples/stm32f4/src/bin/blinky.rs

@@ -6,7 +6,6 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::dbgmcu::Dbgmcu;

examples/stm32f4/src/bin/button_exti.rs

@@ -6,7 +6,6 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::exti::ExtiInput;

examples/stm32f4/src/bin/hello.rs

@@ -4,7 +4,7 @@
 #![feature(type_alias_impl_trait)]
 #![allow(incomplete_features)]
 
-use defmt::{info, panic};
+use defmt::info;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::time::Hertz;

examples/stm32f4/src/bin/spi_dma.rs

@@ -8,7 +8,6 @@
 mod example_common;
 use core::fmt::Write;
 use core::str::from_utf8;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::spi::{Config, Spi};

examples/stm32f4/src/bin/usart_dma.rs

@@ -7,7 +7,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 use core::fmt::Write;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::dma::NoDma;

examples/stm32h7/src/bin/blinky.rs

@@ -6,30 +6,29 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
+use embassy::executor::Spawner;
+use embassy::time::{Duration, Timer};
+use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::gpio::{Level, Output, Speed};
+use embassy_stm32::Peripherals;
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
-use cortex_m_rt::entry;
+#[embassy::main]
-use embassy_stm32::dbgmcu::Dbgmcu;
+async fn main(_spawner: Spawner, p: Peripherals) {
-
-#[entry]
-fn main() -> ! {
     info!("Hello World!");
 
     unsafe { Dbgmcu::enable_all() };
 
-    let p = embassy_stm32::init(Default::default());
-
     let mut led = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
         info!("high");
         led.set_high().unwrap();
-        cortex_m::asm::delay(10_000_000);
+        Timer::after(Duration::from_millis(500)).await;
 
         info!("low");
         led.set_low().unwrap();
-        cortex_m::asm::delay(10_000_000);
+        Timer::after(Duration::from_millis(500)).await;
     }
 }

examples/stm32h7/src/bin/eth.rs

@@ -19,7 +19,6 @@ use embassy_macros::interrupt_take;
 use embassy_net::{
     Config as NetConfig, Ipv4Address, Ipv4Cidr, StackResources, StaticConfigurator, TcpSocket,
 };
-use embassy_stm32::clock::{Alarm, Clock};
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::eth::lan8742a::LAN8742A;
 use embassy_stm32::eth::{Ethernet, State};
@@ -27,7 +26,7 @@ use embassy_stm32::rng::Random;
 use embassy_stm32::{interrupt, peripherals};
 use heapless::Vec;
 use panic_probe as _;
-use peripherals::{RNG, TIM2};
+use peripherals::RNG;
 
 #[embassy::task]
 async fn main_task(
@@ -86,8 +85,6 @@ fn _embassy_rand(buf: &mut [u8]) {
 static mut RNG_INST: Option<Random<RNG>> = None;
 
 static EXECUTOR: Forever<Executor> = Forever::new();
-static TIMER_RTC: Forever<Clock<TIM2>> = Forever::new();
-static ALARM: Forever<Alarm<TIM2>> = Forever::new();
 static STATE: Forever<State<'static, 4, 4>> = Forever::new();
 static ETH: Forever<Ethernet<'static, LAN8742A, 4, 4>> = Forever::new();
 static CONFIG: Forever<StaticConfigurator> = Forever::new();
@@ -105,13 +102,6 @@ fn main() -> ! {
 
     let p = embassy_stm32::init(config());
 
-    let rtc_int = interrupt_take!(TIM2);
-    let rtc = TIMER_RTC.put(Clock::new(p.TIM2, rtc_int));
-    rtc.start();
-    let alarm = ALARM.put(rtc.alarm1());
-
-    unsafe { embassy::time::set_clock(rtc) };
-
     let rng = Random::new(p.RNG);
     unsafe {
         RNG_INST.replace(rng);
@@ -136,7 +126,6 @@ fn main() -> ! {
     let config = CONFIG.put(config);
 
     let executor = EXECUTOR.put(Executor::new());
-    executor.set_alarm(alarm);
 
     executor.run(move |spawner| {
         unwrap!(spawner.spawn(main_task(eth, config, spawner)));

examples/stm32h7/src/bin/spi.rs

@@ -9,7 +9,6 @@ mod example_common;
 
 use core::fmt::Write;
 use embassy::executor::Executor;
-use embassy::time::Clock;
 use embassy::util::Forever;
 use embassy_stm32::dma::NoDma;
 use embassy_stm32::spi;
@@ -38,14 +37,6 @@ async fn main_task(mut spi: spi::Spi<'static, SPI3, NoDma, NoDma>) {
     }
 }
 
-struct ZeroClock;
-
-impl Clock for ZeroClock {
-    fn now(&self) -> u64 {
-        0
-    }
-}
-
 static EXECUTOR: Forever<Executor> = Forever::new();
 
 #[entry]
@@ -69,7 +60,6 @@ fn main() -> ! {
         spi::Config::default(),
     );
 
-    unsafe { embassy::time::set_clock(&ZeroClock) };
     let executor = EXECUTOR.put(Executor::new());
 
     executor.run(|spawner| {

examples/stm32h7/src/bin/spi_dma.rs

@@ -9,7 +9,6 @@ mod example_common;
 
 use core::fmt::Write;
 use embassy::executor::Executor;
-use embassy::time::Clock;
 use embassy::util::Forever;
 use embassy_stm32::time::U32Ext;
 use embassy_traits::spi::FullDuplex;
@@ -34,14 +33,6 @@ async fn main_task(mut spi: spi::Spi<'static, SPI3, DMA1_CH3, DMA1_CH4>) {
     }
 }
 
-struct ZeroClock;
-
-impl Clock for ZeroClock {
-    fn now(&self) -> u64 {
-        0
-    }
-}
-
 static EXECUTOR: Forever<Executor> = Forever::new();
 
 #[entry]
@@ -65,7 +56,6 @@ fn main() -> ! {
         spi::Config::default(),
     );
 
-    unsafe { embassy::time::set_clock(&ZeroClock) };
     let executor = EXECUTOR.put(Executor::new());
 
     executor.run(|spawner| {

examples/stm32h7/src/bin/usart.rs

@@ -8,7 +8,6 @@
 mod example_common;
 use cortex_m::prelude::_embedded_hal_blocking_serial_Write;
 use embassy::executor::Executor;
-use embassy::time::Clock;
 use embassy::util::Forever;
 use embassy_stm32::dma::NoDma;
 use embassy_stm32::usart::{Config, Uart};
@@ -34,14 +33,6 @@ async fn main_task() {
     }
 }
 
-struct ZeroClock;
-
-impl Clock for ZeroClock {
-    fn now(&self) -> u64 {
-        0
-    }
-}
-
 static EXECUTOR: Forever<Executor> = Forever::new();
 
 #[entry]
@@ -52,8 +43,6 @@ fn main() -> ! {
         Dbgmcu::enable_all();
     }
 
-    unsafe { embassy::time::set_clock(&ZeroClock) };
-
     let executor = EXECUTOR.put(Executor::new());
 
     executor.run(|spawner| {

examples/stm32h7/src/bin/usart_dma.rs

@@ -8,7 +8,6 @@
 mod example_common;
 use core::fmt::Write;
 use embassy::executor::Executor;
-use embassy::time::Clock;
 use embassy::util::Forever;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::dma::NoDma;
@@ -36,14 +35,6 @@ async fn main_task() {
     }
 }
 
-struct ZeroClock;
-
-impl Clock for ZeroClock {
-    fn now(&self) -> u64 {
-        0
-    }
-}
-
 static EXECUTOR: Forever<Executor> = Forever::new();
 
 #[entry]
@@ -54,8 +45,6 @@ fn main() -> ! {
         Dbgmcu::enable_all();
     }
 
-    unsafe { embassy::time::set_clock(&ZeroClock) };
-
     let executor = EXECUTOR.put(Executor::new());
 
     executor.run(|spawner| {

examples/stm32l0/src/bin/blinky.rs

@@ -7,7 +7,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};

examples/stm32l0/src/bin/button_exti.rs

@@ -7,7 +7,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::gpio::{Input, Pull};

examples/stm32l0/src/bin/usart_dma.rs

@@ -9,7 +9,6 @@ mod example_common;
 
 use example_common::*;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::usart::{Config, Uart};
 use embassy_stm32::{rcc, Peripherals};

examples/stm32l4/src/bin/blinky.rs

@@ -6,7 +6,6 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::dbgmcu::Dbgmcu;

examples/stm32l4/src/bin/button_exti.rs

@@ -6,7 +6,6 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::exti::ExtiInput;

examples/stm32l4/src/bin/spi_dma.rs

@@ -7,7 +7,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};

examples/stm32l4/src/bin/usart_dma.rs

@@ -7,7 +7,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 use core::fmt::Write;
-use defmt::panic;
 use embassy::executor::Spawner;
 use embassy_stm32::dbgmcu::Dbgmcu;
 use embassy_stm32::dma::NoDma;