rp: remove take!, add bind_interrupts!

embassy-rp/src/adc.rs

@@ -3,12 +3,12 @@ use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
-use embassy_hal_common::into_ref;
+use embassy_cortex_m::interrupt::{Binding, Interrupt};
 use embassy_sync::waitqueue::AtomicWaker;
 use embedded_hal_02::adc::{Channel, OneShot};
 
 use crate::gpio::Pin;
-use crate::interrupt::{self, InterruptExt};
+use crate::interrupt::{self, InterruptExt, ADC_IRQ_FIFO};
 use crate::peripherals::ADC;
 use crate::{pac, peripherals, Peripheral};
 static WAKER: AtomicWaker = AtomicWaker::new();
@@ -47,10 +47,9 @@ impl<'d> Adc<'d> {
 
     pub fn new(
         _inner: impl Peripheral<P = ADC> + 'd,
-        irq: impl Peripheral<P = interrupt::ADC_IRQ_FIFO> + 'd,
+        _irq: impl Binding<ADC_IRQ_FIFO, InterruptHandler>,
         _config: Config,
     ) -> Self {
-        into_ref!(irq);
         unsafe {
             let reset = Self::reset();
             crate::reset::reset(reset);
@@ -63,14 +62,10 @@ impl<'d> Adc<'d> {
         }
 
         // Setup IRQ
-        irq.disable();
+        unsafe {
-        irq.set_handler(|_| unsafe {
+            ADC_IRQ_FIFO::steal().unpend();
-            let r = Self::regs();
+            ADC_IRQ_FIFO::steal().enable();
-            r.inte().write(|w| w.set_fifo(false));
+        };
-            WAKER.wake();
-        });
-        irq.unpend();
-        irq.enable();
 
         Self { phantom: PhantomData }
     }
@@ -165,6 +160,18 @@ macro_rules! impl_pin {
     };
 }
 
+pub struct InterruptHandler {
+    _empty: (),
+}
+
+impl interrupt::Handler<ADC_IRQ_FIFO> for InterruptHandler {
+    unsafe fn on_interrupt() {
+        let r = Adc::regs();
+        r.inte().write(|w| w.set_fifo(false));
+        WAKER.wake();
+    }
+}
+
 impl_pin!(PIN_26, 0);
 impl_pin!(PIN_27, 1);
 impl_pin!(PIN_28, 2);

embassy-rp/src/i2c.rs

@@ -2,7 +2,7 @@ use core::future;
 use core::marker::PhantomData;
 use core::task::Poll;
 
-use embassy_cortex_m::interrupt::InterruptExt;
+use embassy_cortex_m::interrupt::{self, Binding, Interrupt, InterruptExt};
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
 use pac::i2c;
@@ -75,23 +75,21 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
         peri: impl Peripheral<P = T> + 'd,
         scl: impl Peripheral<P = impl SclPin<T>> + 'd,
         sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        _irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
         config: Config,
     ) -> Self {
-        into_ref!(scl, sda, irq);
+        into_ref!(scl, sda);
 
         let i2c = Self::new_inner(peri, scl.map_into(), sda.map_into(), config);
 
-        irq.set_handler(Self::on_interrupt);
         unsafe {
             let i2c = T::regs();
 
             // mask everything initially
             i2c.ic_intr_mask().write_value(i2c::regs::IcIntrMask(0));
+            T::Interrupt::steal().unpend();
+            T::Interrupt::steal().enable();
         }
-        irq.unpend();
-        debug_assert!(!irq.is_pending());
-        irq.enable();
 
         i2c
     }
@@ -115,14 +113,6 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
         .await
     }
 
-    // Mask interrupts and wake any task waiting for this interrupt
-    unsafe fn on_interrupt(_: *mut ()) {
-        let i2c = T::regs();
-        i2c.ic_intr_mask().write_value(pac::i2c::regs::IcIntrMask::default());
-
-        T::waker().wake();
-    }
-
     async fn read_async_internal(&mut self, buffer: &mut [u8], restart: bool, send_stop: bool) -> Result<(), Error> {
         if buffer.is_empty() {
             return Err(Error::InvalidReadBufferLength);
@@ -320,6 +310,20 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
     }
 }
 
+pub struct InterruptHandler<T: Instance> {
+    _uart: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::Handler<T::Interrupt> for InterruptHandler<T> {
+    // Mask interrupts and wake any task waiting for this interrupt
+    unsafe fn on_interrupt() {
+        let i2c = T::regs();
+        i2c.ic_intr_mask().write_value(pac::i2c::regs::IcIntrMask::default());
+
+        T::waker().wake();
+    }
+}
+
 impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
     fn new_inner(
         _peri: impl Peripheral<P = T> + 'd,

embassy-rp/src/interrupt.rs

@@ -1,11 +1,7 @@
-//! Interrupt management
+//! Interrupt definitions and macros to bind them.
-//!
+pub use cortex_m::interrupt::{CriticalSection, Mutex};
-//! This module implements an API for managing interrupts compatible with
-//! nrf_softdevice::interrupt. Intended for switching between the two at compile-time.
-
-// Re-exports
 use embassy_cortex_m::interrupt::_export::declare;
-pub use embassy_cortex_m::interrupt::*;
+pub use embassy_cortex_m::interrupt::{Binding, Handler, Interrupt, InterruptExt, Priority};
 
 use crate::pac::Interrupt as InterruptEnum;
 declare!(TIMER_IRQ_0);
@@ -40,3 +36,30 @@ declare!(SWI_IRQ_2);
 declare!(SWI_IRQ_3);
 declare!(SWI_IRQ_4);
 declare!(SWI_IRQ_5);
+
+/// Macro to bind interrupts to handlers.
+///
+/// This defines the right interrupt handlers, and creates a unit struct (like `struct Irqs;`)
+/// and implements the right [`Binding`]s for it. You can pass this struct to drivers to
+/// prove at compile-time that the right interrupts have been bound.
+// developer note: this macro can't be in `embassy-cortex-m` due to the use of `$crate`.
+#[macro_export]
+macro_rules! bind_interrupts {
+    ($vis:vis struct $name:ident { $($irq:ident => $($handler:ty),*;)* }) => {
+        $vis struct $name;
+
+        $(
+            #[allow(non_snake_case)]
+            #[no_mangle]
+            unsafe extern "C" fn $irq() {
+                $(
+                    <$handler as $crate::interrupt::Handler<$crate::interrupt::$irq>>::on_interrupt();
+                )*
+            }
+
+            $(
+                unsafe impl $crate::interrupt::Binding<$crate::interrupt::$irq, $handler> for $name {}
+            )*
+        )*
+    };
+}

embassy-rp/src/uart/buffered.rs

@@ -3,7 +3,7 @@ use core::slice;
 use core::task::Poll;
 
 use atomic_polyfill::{AtomicU8, Ordering};
-use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
+use embassy_cortex_m::interrupt::{self, Binding, Interrupt, InterruptExt};
 use embassy_hal_common::atomic_ring_buffer::RingBuffer;
 use embassy_sync::waitqueue::AtomicWaker;
 use embassy_time::{Duration, Timer};
@@ -52,7 +52,7 @@ pub struct BufferedUartTx<'d, T: Instance> {
 }
 
 pub(crate) fn init_buffers<'d, T: Instance + 'd>(
-    irq: PeripheralRef<'d, T::Interrupt>,
+    _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
     tx_buffer: &'d mut [u8],
     rx_buffer: &'d mut [u8],
 ) {
@@ -79,24 +79,23 @@ pub(crate) fn init_buffers<'d, T: Instance + 'd>(
             w.set_rtim(true);
             w.set_txim(true);
         });
-    };
 
-    irq.set_handler(on_interrupt::<T>);
+        T::Interrupt::steal().unpend();
-    irq.unpend();
+        T::Interrupt::steal().enable();
-    irq.enable();
+    };
 }
 
 impl<'d, T: Instance> BufferedUart<'d, T> {
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        into_ref!(irq, tx, rx);
+        into_ref!(tx, rx);
 
         super::Uart::<'d, T, Async>::init(Some(tx.map_into()), Some(rx.map_into()), None, None, config);
         init_buffers::<T>(irq, tx_buffer, rx_buffer);
@@ -109,7 +108,7 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
 
     pub fn new_with_rtscts(
         _uart: impl Peripheral<P = T> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         rts: impl Peripheral<P = impl RtsPin<T>> + 'd,
@@ -118,7 +117,7 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        into_ref!(irq, tx, rx, cts, rts);
+        into_ref!(tx, rx, cts, rts);
 
         super::Uart::<'d, T, Async>::init(
             Some(tx.map_into()),
@@ -163,12 +162,12 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
 impl<'d, T: Instance> BufferedUartRx<'d, T> {
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        into_ref!(irq, rx);
+        into_ref!(rx);
 
         super::Uart::<'d, T, Async>::init(None, Some(rx.map_into()), None, None, config);
         init_buffers::<T>(irq, &mut [], rx_buffer);
@@ -178,13 +177,13 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
 
     pub fn new_with_rts(
         _uart: impl Peripheral<P = T> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         rts: impl Peripheral<P = impl RtsPin<T>> + 'd,
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        into_ref!(irq, rx, rts);
+        into_ref!(rx, rts);
 
         super::Uart::<'d, T, Async>::init(None, Some(rx.map_into()), Some(rts.map_into()), None, config);
         init_buffers::<T>(irq, &mut [], rx_buffer);
@@ -312,12 +311,12 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
 impl<'d, T: Instance> BufferedUartTx<'d, T> {
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         tx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        into_ref!(irq, tx);
+        into_ref!(tx);
 
         super::Uart::<'d, T, Async>::init(Some(tx.map_into()), None, None, None, config);
         init_buffers::<T>(irq, tx_buffer, &mut []);
@@ -327,13 +326,13 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
 
     pub fn new_with_cts(
         _uart: impl Peripheral<P = T> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         cts: impl Peripheral<P = impl CtsPin<T>> + 'd,
         tx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        into_ref!(irq, tx, cts);
+        into_ref!(tx, cts);
 
         super::Uart::<'d, T, Async>::init(Some(tx.map_into()), None, None, Some(cts.map_into()), config);
         init_buffers::<T>(irq, tx_buffer, &mut []);
@@ -482,8 +481,17 @@ impl<'d, T: Instance> Drop for BufferedUartTx<'d, T> {
     }
 }
 
-pub(crate) unsafe fn on_interrupt<T: Instance>(_: *mut ()) {
+pub struct BufferedInterruptHandler<T: Instance> {
+    _uart: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::Handler<T::Interrupt> for BufferedInterruptHandler<T> {
+    unsafe fn on_interrupt() {
         let r = T::regs();
+        if r.uartdmacr().read().rxdmae() {
+            return;
+        }
+
         let s = T::buffered_state();
 
         unsafe {
@@ -574,6 +582,7 @@ pub(crate) unsafe fn on_interrupt<T: Instance>(_: *mut ()) {
             // crossed. No need to disable it when the buffer becomes empty
             // as it does re-trigger anymore once we have cleared it.
         }
+    }
 }
 
 impl embedded_io::Error for Error {

embassy-rp/src/uart/mod.rs

@@ -3,7 +3,7 @@ use core::marker::PhantomData;
 use core::task::Poll;
 
 use atomic_polyfill::{AtomicU16, Ordering};
-use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
+use embassy_cortex_m::interrupt::{self, Binding, Interrupt, InterruptExt};
 use embassy_futures::select::{select, Either};
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
@@ -20,7 +20,7 @@ use crate::{pac, peripherals, Peripheral, RegExt};
 #[cfg(feature = "nightly")]
 mod buffered;
 #[cfg(feature = "nightly")]
-pub use buffered::{BufferedUart, BufferedUartRx, BufferedUartTx};
+pub use buffered::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx};
 
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub enum DataBits {
@@ -203,11 +203,9 @@ impl<'d, T: Instance> UartTx<'d, T, Blocking> {
     #[cfg(feature = "nightly")]
     pub fn into_buffered(
         self,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
     ) -> BufferedUartTx<'d, T> {
-        into_ref!(irq);
-
         buffered::init_buffers::<T>(irq, tx_buffer, &mut []);
 
         BufferedUartTx { phantom: PhantomData }
@@ -235,25 +233,24 @@ impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        _irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
         rx_dma: impl Peripheral<P = impl Channel> + 'd,
         config: Config,
     ) -> Self {
-        into_ref!(rx, irq, rx_dma);
+        into_ref!(rx, rx_dma);
         Uart::<T, M>::init(None, Some(rx.map_into()), None, None, config);
-        Self::new_inner(Some(irq), Some(rx_dma.map_into()))
+        Self::new_inner(true, Some(rx_dma.map_into()))
     }
 
-    fn new_inner(irq: Option<PeripheralRef<'d, T::Interrupt>>, rx_dma: Option<PeripheralRef<'d, AnyChannel>>) -> Self {
+    fn new_inner(has_irq: bool, rx_dma: Option<PeripheralRef<'d, AnyChannel>>) -> Self {
-        debug_assert_eq!(irq.is_some(), rx_dma.is_some());
+        debug_assert_eq!(has_irq, rx_dma.is_some());
-        if let Some(irq) = irq {
+        if has_irq {
             unsafe {
                 // disable all error interrupts initially
                 T::regs().uartimsc().write(|w| w.0 = 0);
+                T::Interrupt::steal().unpend();
+                T::Interrupt::steal().enable();
             }
-            irq.set_handler(on_interrupt::<T>);
-            irq.unpend();
-            irq.enable();
         }
         Self {
             rx_dma,
@@ -299,6 +296,12 @@ impl<'d, T: Instance, M: Mode> Drop for UartRx<'d, T, M> {
         if let Some(_) = self.rx_dma {
             unsafe {
                 T::Interrupt::steal().disable();
+                // clear dma flags. irq handlers use these to disambiguate among themselves.
+                T::regs().uartdmacr().write_clear(|reg| {
+                    reg.set_rxdmae(true);
+                    reg.set_txdmae(true);
+                    reg.set_dmaonerr(true);
+                });
             }
         }
     }
@@ -312,25 +315,32 @@ impl<'d, T: Instance> UartRx<'d, T, Blocking> {
     ) -> Self {
         into_ref!(rx);
         Uart::<T, Blocking>::init(None, Some(rx.map_into()), None, None, config);
-        Self::new_inner(None, None)
+        Self::new_inner(false, None)
     }
 
     #[cfg(feature = "nightly")]
     pub fn into_buffered(
         self,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx_buffer: &'d mut [u8],
     ) -> BufferedUartRx<'d, T> {
-        into_ref!(irq);
-
         buffered::init_buffers::<T>(irq, &mut [], rx_buffer);
 
         BufferedUartRx { phantom: PhantomData }
     }
 }
 
-unsafe fn on_interrupt<T: Instance>(_: *mut ()) {
+pub struct InterruptHandler<T: Instance> {
+    _uart: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::Handler<T::Interrupt> for InterruptHandler<T> {
+    unsafe fn on_interrupt() {
         let uart = T::regs();
+        if !uart.uartdmacr().read().rxdmae() {
+            return;
+        }
+
         let state = T::dma_state();
         let errs = uart.uartris().read();
         state.rx_errs.store(errs.0 as u16, Ordering::Relaxed);
@@ -339,6 +349,7 @@ unsafe fn on_interrupt<T: Instance>(_: *mut ()) {
         // flags would allow the dma transfer to continue, potentially signaling
         // completion before we can check for errors that happened *during* the transfer.
         uart.uartimsc().write_clear(|w| w.0 = errs.0);
+    }
 }
 
 impl<'d, T: Instance> UartRx<'d, T, Async> {
@@ -428,7 +439,17 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
         config: Config,
     ) -> Self {
         into_ref!(tx, rx);
-        Self::new_inner(uart, tx.map_into(), rx.map_into(), None, None, None, None, None, config)
+        Self::new_inner(
+            uart,
+            tx.map_into(),
+            rx.map_into(),
+            None,
+            None,
+            false,
+            None,
+            None,
+            config,
+        )
     }
 
     /// Create a new UART with hardware flow control (RTS/CTS)
@@ -447,7 +468,7 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
             rx.map_into(),
             Some(rts.map_into()),
             Some(cts.map_into()),
-            None,
+            false,
             None,
             None,
             config,
@@ -457,12 +478,10 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
     #[cfg(feature = "nightly")]
     pub fn into_buffered(
         self,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
     ) -> BufferedUart<'d, T> {
-        into_ref!(irq);
-
         buffered::init_buffers::<T>(irq, tx_buffer, rx_buffer);
 
         BufferedUart {
@@ -478,19 +497,19 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
         uart: impl Peripheral<P = T> + 'd,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        _irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
         tx_dma: impl Peripheral<P = impl Channel> + 'd,
         rx_dma: impl Peripheral<P = impl Channel> + 'd,
         config: Config,
     ) -> Self {
-        into_ref!(tx, rx, irq, tx_dma, rx_dma);
+        into_ref!(tx, rx, tx_dma, rx_dma);
         Self::new_inner(
             uart,
             tx.map_into(),
             rx.map_into(),
             None,
             None,
-            Some(irq),
+            true,
             Some(tx_dma.map_into()),
             Some(rx_dma.map_into()),
             config,
@@ -504,19 +523,19 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         rts: impl Peripheral<P = impl RtsPin<T>> + 'd,
         cts: impl Peripheral<P = impl CtsPin<T>> + 'd,
-        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        _irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
         tx_dma: impl Peripheral<P = impl Channel> + 'd,
         rx_dma: impl Peripheral<P = impl Channel> + 'd,
         config: Config,
     ) -> Self {
-        into_ref!(tx, rx, cts, rts, irq, tx_dma, rx_dma);
+        into_ref!(tx, rx, cts, rts, tx_dma, rx_dma);
         Self::new_inner(
             uart,
             tx.map_into(),
             rx.map_into(),
             Some(rts.map_into()),
             Some(cts.map_into()),
-            Some(irq),
+            true,
             Some(tx_dma.map_into()),
             Some(rx_dma.map_into()),
             config,
@@ -531,7 +550,7 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         mut rx: PeripheralRef<'d, AnyPin>,
         mut rts: Option<PeripheralRef<'d, AnyPin>>,
         mut cts: Option<PeripheralRef<'d, AnyPin>>,
-        irq: Option<PeripheralRef<'d, T::Interrupt>>,
+        has_irq: bool,
         tx_dma: Option<PeripheralRef<'d, AnyChannel>>,
         rx_dma: Option<PeripheralRef<'d, AnyChannel>>,
         config: Config,
@@ -546,7 +565,7 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
 
         Self {
             tx: UartTx::new_inner(tx_dma),
-            rx: UartRx::new_inner(irq, rx_dma),
+            rx: UartRx::new_inner(has_irq, rx_dma),
         }
     }
 

embassy-rp/src/usb.rs

@@ -4,7 +4,7 @@ use core::slice;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
-use embassy_hal_common::into_ref;
+use embassy_cortex_m::interrupt::{self, Binding};
 use embassy_sync::waitqueue::AtomicWaker;
 use embassy_usb_driver as driver;
 use embassy_usb_driver::{
@@ -105,11 +105,11 @@ pub struct Driver<'d, T: Instance> {
 }
 
 impl<'d, T: Instance> Driver<'d, T> {
-    pub fn new(_usb: impl Peripheral<P = T> + 'd, irq: impl Peripheral<P = T::Interrupt> + 'd) -> Self {
+    pub fn new(_usb: impl Peripheral<P = T> + 'd, _irq: impl Binding<T::Interrupt, InterruptHandler<T>>) -> Self {
-        into_ref!(irq);
+        unsafe {
-        irq.set_handler(Self::on_interrupt);
+            T::Interrupt::steal().unpend();
-        irq.unpend();
+            T::Interrupt::steal().enable();
-        irq.enable();
+        }
 
         let regs = T::regs();
         unsafe {
@@ -149,47 +149,6 @@ impl<'d, T: Instance> Driver<'d, T> {
         }
     }
 
-    fn on_interrupt(_: *mut ()) {
-        unsafe {
-            let regs = T::regs();
-            //let x = regs.istr().read().0;
-            //trace!("USB IRQ: {:08x}", x);
-
-            let ints = regs.ints().read();
-
-            if ints.bus_reset() {
-                regs.inte().write_clear(|w| w.set_bus_reset(true));
-                BUS_WAKER.wake();
-            }
-            if ints.dev_resume_from_host() {
-                regs.inte().write_clear(|w| w.set_dev_resume_from_host(true));
-                BUS_WAKER.wake();
-            }
-            if ints.dev_suspend() {
-                regs.inte().write_clear(|w| w.set_dev_suspend(true));
-                BUS_WAKER.wake();
-            }
-            if ints.setup_req() {
-                regs.inte().write_clear(|w| w.set_setup_req(true));
-                EP_OUT_WAKERS[0].wake();
-            }
-
-            if ints.buff_status() {
-                let s = regs.buff_status().read();
-                regs.buff_status().write_value(s);
-
-                for i in 0..EP_COUNT {
-                    if s.ep_in(i) {
-                        EP_IN_WAKERS[i].wake();
-                    }
-                    if s.ep_out(i) {
-                        EP_OUT_WAKERS[i].wake();
-                    }
-                }
-            }
-        }
-    }
-
     fn alloc_endpoint<D: Dir>(
         &mut self,
         ep_type: EndpointType,
@@ -288,6 +247,51 @@ impl<'d, T: Instance> Driver<'d, T> {
     }
 }
 
+pub struct InterruptHandler<T: Instance> {
+    _uart: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::Handler<T::Interrupt> for InterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        let regs = T::regs();
+        //let x = regs.istr().read().0;
+        //trace!("USB IRQ: {:08x}", x);
+
+        let ints = regs.ints().read();
+
+        if ints.bus_reset() {
+            regs.inte().write_clear(|w| w.set_bus_reset(true));
+            BUS_WAKER.wake();
+        }
+        if ints.dev_resume_from_host() {
+            regs.inte().write_clear(|w| w.set_dev_resume_from_host(true));
+            BUS_WAKER.wake();
+        }
+        if ints.dev_suspend() {
+            regs.inte().write_clear(|w| w.set_dev_suspend(true));
+            BUS_WAKER.wake();
+        }
+        if ints.setup_req() {
+            regs.inte().write_clear(|w| w.set_setup_req(true));
+            EP_OUT_WAKERS[0].wake();
+        }
+
+        if ints.buff_status() {
+            let s = regs.buff_status().read();
+            regs.buff_status().write_value(s);
+
+            for i in 0..EP_COUNT {
+                if s.ep_in(i) {
+                    EP_IN_WAKERS[i].wake();
+                }
+                if s.ep_out(i) {
+                    EP_OUT_WAKERS[i].wake();
+                }
+            }
+        }
+    }
+}
+
 impl<'d, T: Instance> driver::Driver<'d> for Driver<'d, T> {
     type EndpointOut = Endpoint<'d, T, Out>;
     type EndpointIn = Endpoint<'d, T, In>;

examples/rp/src/bin/adc.rs

@@ -4,16 +4,19 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_rp::adc::{Adc, Config};
+use embassy_rp::adc::{Adc, Config, InterruptHandler};
-use embassy_rp::interrupt;
+use embassy_rp::bind_interrupts;
 use embassy_time::{Duration, Timer};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    ADC_IRQ_FIFO => InterruptHandler;
+});
+
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
-    let irq = interrupt::take!(ADC_IRQ_FIFO);
+    let mut adc = Adc::new(p.ADC, Irqs, Config::default());
-    let mut adc = Adc::new(p.ADC, irq, Config::default());
 
     let mut p26 = p.PIN_26;
     let mut p27 = p.PIN_27;

examples/rp/src/bin/i2c_async.rs

@@ -4,12 +4,17 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_rp::i2c::{self, Config};
+use embassy_rp::bind_interrupts;
-use embassy_rp::interrupt;
+use embassy_rp::i2c::{self, Config, InterruptHandler};
+use embassy_rp::peripherals::I2C1;
 use embassy_time::{Duration, Timer};
 use embedded_hal_async::i2c::I2c;
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    I2C1_IRQ => InterruptHandler<I2C1>;
+});
+
 #[allow(dead_code)]
 mod mcp23017 {
     pub const ADDR: u8 = 0x20; // default addr
@@ -64,10 +69,9 @@ async fn main(_spawner: Spawner) {
 
     let sda = p.PIN_14;
     let scl = p.PIN_15;
-    let irq = interrupt::take!(I2C1_IRQ);
 
     info!("set up i2c ");
-    let mut i2c = i2c::I2c::new_async(p.I2C1, scl, sda, irq, Config::default());
+    let mut i2c = i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, Config::default());
 
     use mcp23017::*;
 

examples/rp/src/bin/uart_buffered_split.rs

@@ -5,13 +5,17 @@
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_executor::_export::StaticCell;
-use embassy_rp::interrupt;
+use embassy_rp::bind_interrupts;
 use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{BufferedUart, BufferedUartRx, Config};
+use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config};
 use embassy_time::{Duration, Timer};
 use embedded_io::asynch::{Read, Write};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => BufferedInterruptHandler<UART0>;
+});
+
 macro_rules! singleton {
     ($val:expr) => {{
         type T = impl Sized;
@@ -26,10 +30,9 @@ async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
     let (tx_pin, rx_pin, uart) = (p.PIN_0, p.PIN_1, p.UART0);
 
-    let irq = interrupt::take!(UART0_IRQ);
     let tx_buf = &mut singleton!([0u8; 16])[..];
     let rx_buf = &mut singleton!([0u8; 16])[..];
-    let uart = BufferedUart::new(uart, irq, tx_pin, rx_pin, tx_buf, rx_buf, Config::default());
+    let uart = BufferedUart::new(uart, Irqs, tx_pin, rx_pin, tx_buf, rx_buf, Config::default());
     let (rx, mut tx) = uart.split();
 
     unwrap!(spawner.spawn(reader(rx)));

examples/rp/src/bin/uart_unidir.rs

@@ -7,24 +7,22 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_rp::interrupt;
+use embassy_rp::bind_interrupts;
 use embassy_rp::peripherals::UART1;
-use embassy_rp::uart::{Async, Config, UartRx, UartTx};
+use embassy_rp::uart::{Async, Config, InterruptHandler, UartRx, UartTx};
 use embassy_time::{Duration, Timer};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    UART1_IRQ => InterruptHandler<UART1>;
+});
+
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
 
     let mut uart_tx = UartTx::new(p.UART0, p.PIN_0, p.DMA_CH0, Config::default());
-    let uart_rx = UartRx::new(
+    let uart_rx = UartRx::new(p.UART1, p.PIN_5, Irqs, p.DMA_CH1, Config::default());
-        p.UART1,
-        p.PIN_5,
-        interrupt::take!(UART1_IRQ),
-        p.DMA_CH1,
-        Config::default(),
-    );
 
     unwrap!(spawner.spawn(reader(uart_rx)));
 

examples/rp/src/bin/usb_ethernet.rs

@@ -6,8 +6,9 @@ use defmt::*;
 use embassy_executor::Spawner;
 use embassy_net::tcp::TcpSocket;
 use embassy_net::{Stack, StackResources};
-use embassy_rp::usb::Driver;
+use embassy_rp::peripherals::USB;
-use embassy_rp::{interrupt, peripherals};
+use embassy_rp::usb::{Driver, InterruptHandler};
+use embassy_rp::{bind_interrupts, peripherals};
 use embassy_usb::class::cdc_ncm::embassy_net::{Device, Runner, State as NetState};
 use embassy_usb::class::cdc_ncm::{CdcNcmClass, State};
 use embassy_usb::{Builder, Config, UsbDevice};
@@ -15,6 +16,10 @@ use embedded_io::asynch::Write;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
 type MyDriver = Driver<'static, peripherals::USB>;
 
 macro_rules! singleton {
@@ -48,8 +53,7 @@ async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
 
     // Create the driver, from the HAL.
-    let irq = interrupt::take!(USBCTRL_IRQ);
+    let driver = Driver::new(p.USB, Irqs);
-    let driver = Driver::new(p.USB, irq);
 
     // Create embassy-usb Config
     let mut config = Config::new(0xc0de, 0xcafe);

examples/rp/src/bin/usb_logger.rs

@@ -3,12 +3,16 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_executor::Spawner;
-use embassy_rp::interrupt;
+use embassy_rp::bind_interrupts;
 use embassy_rp::peripherals::USB;
-use embassy_rp::usb::Driver;
+use embassy_rp::usb::{Driver, InterruptHandler};
 use embassy_time::{Duration, Timer};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
 #[embassy_executor::task]
 async fn logger_task(driver: Driver<'static, USB>) {
     embassy_usb_logger::run!(1024, log::LevelFilter::Info, driver);
@@ -17,8 +21,7 @@ async fn logger_task(driver: Driver<'static, USB>) {
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
-    let irq = interrupt::take!(USBCTRL_IRQ);
+    let driver = Driver::new(p.USB, Irqs);
-    let driver = Driver::new(p.USB, irq);
     spawner.spawn(logger_task(driver)).unwrap();
 
     let mut counter = 0;

examples/rp/src/bin/usb_serial.rs

@@ -5,13 +5,18 @@
 use defmt::{info, panic};
 use embassy_executor::Spawner;
 use embassy_futures::join::join;
-use embassy_rp::interrupt;
+use embassy_rp::bind_interrupts;
-use embassy_rp::usb::{Driver, Instance};
+use embassy_rp::peripherals::USB;
+use embassy_rp::usb::{Driver, Instance, InterruptHandler};
 use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::{Builder, Config};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     info!("Hello there!");
@@ -19,8 +24,7 @@ async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
 
     // Create the driver, from the HAL.
-    let irq = interrupt::take!(USBCTRL_IRQ);
+    let driver = Driver::new(p.USB, Irqs);
-    let driver = Driver::new(p.USB, irq);
 
     // Create embassy-usb Config
     let mut config = Config::new(0xc0de, 0xcafe);

tests/rp/src/bin/uart_buffered.rs

@@ -4,13 +4,18 @@
 
 use defmt::{assert_eq, panic, *};
 use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::interrupt;
+use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{BufferedUart, BufferedUartRx, Config, Error, Instance, Parity};
+use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config, Error, Instance, Parity};
 use embassy_time::{Duration, Timer};
 use embedded_io::asynch::{Read, ReadExactError, Write};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => BufferedInterruptHandler<UART0>;
+});
+
 async fn read<const N: usize>(uart: &mut BufferedUart<'_, impl Instance>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     match uart.read_exact(&mut buf).await {
@@ -60,13 +65,12 @@ async fn main(_spawner: Spawner) {
     info!("Hello World!");
 
     let (mut tx, mut rx, mut uart) = (p.PIN_0, p.PIN_1, p.UART0);
-    let mut irq = interrupt::take!(UART0_IRQ);
 
     {
         let config = Config::default();
         let tx_buf = &mut [0u8; 16];
         let rx_buf = &mut [0u8; 16];
-        let mut uart = BufferedUart::new(&mut uart, &mut irq, &mut tx, &mut rx, tx_buf, rx_buf, config);
+        let mut uart = BufferedUart::new(&mut uart, Irqs, &mut tx, &mut rx, tx_buf, rx_buf, config);
 
         // Make sure we send more bytes than fits in the FIFO, to test the actual
         // bufferedUart.
@@ -86,7 +90,7 @@ async fn main(_spawner: Spawner) {
         let config = Config::default();
         let tx_buf = &mut [0u8; 16];
         let rx_buf = &mut [0u8; 16];
-        let mut uart = BufferedUart::new(&mut uart, &mut irq, &mut tx, &mut rx, tx_buf, rx_buf, config);
+        let mut uart = BufferedUart::new(&mut uart, Irqs, &mut tx, &mut rx, tx_buf, rx_buf, config);
 
         // Make sure we send more bytes than fits in the FIFO, to test the actual
         // bufferedUart.
@@ -121,7 +125,7 @@ async fn main(_spawner: Spawner) {
         config.baudrate = 1000;
         let tx_buf = &mut [0u8; 16];
         let rx_buf = &mut [0u8; 16];
-        let mut uart = BufferedUart::new(&mut uart, &mut irq, &mut tx, &mut rx, tx_buf, rx_buf, config);
+        let mut uart = BufferedUart::new(&mut uart, Irqs, &mut tx, &mut rx, tx_buf, rx_buf, config);
 
         // break on empty buffer
         uart.send_break(20).await;
@@ -155,7 +159,7 @@ async fn main(_spawner: Spawner) {
         config.baudrate = 1000;
         config.parity = Parity::ParityEven;
         let rx_buf = &mut [0u8; 16];
-        let mut uart = BufferedUartRx::new(&mut uart, &mut irq, &mut rx, rx_buf, config);
+        let mut uart = BufferedUartRx::new(&mut uart, Irqs, &mut rx, rx_buf, config);
 
         async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: u32) {
             send(pin, v, Some(parity != 0)).await;
@@ -202,7 +206,7 @@ async fn main(_spawner: Spawner) {
         let mut config = Config::default();
         config.baudrate = 1000;
         let rx_buf = &mut [0u8; 16];
-        let mut uart = BufferedUartRx::new(&mut uart, &mut irq, &mut rx, rx_buf, config);
+        let mut uart = BufferedUartRx::new(&mut uart, Irqs, &mut rx, rx_buf, config);
 
         async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, good: bool) {
             if good {

tests/rp/src/bin/uart_dma.rs

@@ -4,12 +4,17 @@
 
 use defmt::{assert_eq, *};
 use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::interrupt;
+use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{Async, Config, Error, Instance, Parity, Uart, UartRx};
+use embassy_rp::uart::{Async, Config, Error, Instance, InterruptHandler, Parity, Uart, UartRx};
 use embassy_time::{Duration, Timer};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => InterruptHandler<UART0>;
+});
+
 async fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.read(&mut buf).await?;
@@ -51,7 +56,6 @@ async fn main(_spawner: Spawner) {
     info!("Hello World!");
 
     let (mut tx, mut rx, mut uart) = (p.PIN_0, p.PIN_1, p.UART0);
-    let mut irq = interrupt::take!(UART0_IRQ);
 
     // We can't send too many bytes, they have to fit in the FIFO.
     // This is because we aren't sending+receiving at the same time.
@@ -61,7 +65,7 @@ async fn main(_spawner: Spawner) {
             &mut uart,
             &mut tx,
             &mut rx,
-            &mut irq,
+            Irqs,
             &mut p.DMA_CH0,
             &mut p.DMA_CH1,
             config,
@@ -82,7 +86,7 @@ async fn main(_spawner: Spawner) {
             &mut uart,
             &mut tx,
             &mut rx,
-            &mut irq,
+            Irqs,
             &mut p.DMA_CH0,
             &mut p.DMA_CH1,
             config,
@@ -111,7 +115,7 @@ async fn main(_spawner: Spawner) {
             &mut uart,
             &mut tx,
             &mut rx,
-            &mut irq,
+            Irqs,
             &mut p.DMA_CH0,
             &mut p.DMA_CH1,
             config,
@@ -154,7 +158,7 @@ async fn main(_spawner: Spawner) {
         let mut config = Config::default();
         config.baudrate = 1000;
         config.parity = Parity::ParityEven;
-        let mut uart = UartRx::new(&mut uart, &mut rx, &mut irq, &mut p.DMA_CH0, config);
+        let mut uart = UartRx::new(&mut uart, &mut rx, Irqs, &mut p.DMA_CH0, config);
 
         async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: u32) {
             send(pin, v, Some(parity != 0)).await;
@@ -199,7 +203,7 @@ async fn main(_spawner: Spawner) {
         // choose a very slow baud rate to make tests reliable even with O0
         let mut config = Config::default();
         config.baudrate = 1000;
-        let mut uart = UartRx::new(&mut uart, &mut rx, &mut irq, &mut p.DMA_CH0, config);
+        let mut uart = UartRx::new(&mut uart, &mut rx, Irqs, &mut p.DMA_CH0, config);
 
         async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, good: bool) {
             if good {

tests/rp/src/bin/uart_upgrade.rs

@@ -4,11 +4,16 @@
 
 use defmt::{assert_eq, *};
 use embassy_executor::Spawner;
-use embassy_rp::interrupt;
+use embassy_rp::bind_interrupts;
-use embassy_rp::uart::{Config, Uart};
+use embassy_rp::peripherals::UART0;
+use embassy_rp::uart::{BufferedInterruptHandler, Config, Uart};
 use embedded_io::asynch::{Read, Write};
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => BufferedInterruptHandler<UART0>;
+});
+
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
@@ -29,11 +34,10 @@ async fn main(_spawner: Spawner) {
     uart.blocking_read(&mut buf).unwrap();
     assert_eq!(buf, data);
 
-    let irq = interrupt::take!(UART0_IRQ);
     let tx_buf = &mut [0u8; 16];
     let rx_buf = &mut [0u8; 16];
 
-    let mut uart = uart.into_buffered(irq, tx_buf, rx_buf);
+    let mut uart = uart.into_buffered(Irqs, tx_buf, rx_buf);
 
     // Make sure we send more bytes than fits in the FIFO, to test the actual
     // bufferedUart.