Merge branch 'master' of https://github.com/embassy-rs/embassy into embassy-rp/dma

.github/workflows/rust.yml

@@ -69,4 +69,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: Test
-        run: cd embassy-util && cargo test
+        run: cd embassy-sync && cargo test

.vscode/settings.json

@@ -18,7 +18,7 @@
   "rust-analyzer.linkedProjects": [
     // Declare for the target you wish to develop
     //"embassy-executor/Cargo.toml",
-    //"embassy-util/Cargo.toml",
+    //"embassy-sync/Cargo.toml",
     "examples/nrf/Cargo.toml",
     // "examples/rp/Cargo.toml",
     // "examples/std/Cargo.toml",

embassy-boot/boot/Cargo.toml

@@ -14,7 +14,7 @@ target = "thumbv7em-none-eabi"
 [dependencies]
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4", optional = true  }
-embassy-util = { version = "0.1.0", path = "../../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../../embassy-sync" }
 embedded-storage = "0.3.0"
 embedded-storage-async = "0.3.0"
 

embassy-boot/nrf/Cargo.toml

@@ -15,7 +15,7 @@ target = "thumbv7em-none-eabi"
 [dependencies]
 defmt = { version = "0.3", optional = true }
 
-embassy-util = { path = "../../embassy-util" }
+embassy-sync = { path = "../../embassy-sync" }
 embassy-nrf = { path = "../../embassy-nrf", default-features = false, features = ["nightly"] }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }

embassy-boot/stm32/Cargo.toml

@@ -17,7 +17,7 @@ defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
 log = { version = "0.4", optional = true }
 
-embassy-util = { path = "../../embassy-util" }
+embassy-sync = { path = "../../embassy-sync" }
 embassy-stm32 = { path = "../../embassy-stm32", default-features = false, features = ["nightly"] }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }

embassy-cortex-m/Cargo.toml

@@ -35,7 +35,7 @@ prio-bits-8 = []
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-executor = { version = "0.1.0", path = "../embassy-executor"}
 embassy-macros = { version = "0.1.0", path = "../embassy-macros"}
 embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common"}

embassy-cortex-m/src/executor.rs

@@ -71,7 +71,7 @@ impl<I: Interrupt> InterruptExecutor<I> {
     /// Executor instance in a place where it'll live forever and grants you mutable
     /// access. There's a few ways to do this:
     ///
-    /// - a [Forever](embassy_util::Forever) (safe)
+    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
     /// - a `static mut` (unsafe)
     /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
     pub fn start(&'static mut self) -> SendSpawner {

embassy-embedded-hal/Cargo.toml

@@ -16,7 +16,7 @@ std = []
 nightly = ["embedded-hal-async", "embedded-storage-async"]
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
 embedded-hal-async = { version = "0.1.0-alpha.1", optional = true }

embassy-embedded-hal/src/shared_bus/asynch/i2c.rs

@@ -4,15 +4,15 @@
 //!
 //! ```rust
 //! use embassy_embedded_hal::shared_bus::i2c::I2cDevice;
-//! use embassy_util::mutex::Mutex;
+//! use embassy_sync::mutex::Mutex;
-//! use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
+//! use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 //!
-//! static I2C_BUS: Forever<Mutex::<ThreadModeRawMutex, Twim<TWISPI0>>> = Forever::new();
+//! static I2C_BUS: StaticCell<Mutex::<ThreadModeRawMutex, Twim<TWISPI0>>> = StaticCell::new();
 //! let config = twim::Config::default();
 //! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
 //! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, config);
 //! let i2c_bus = Mutex::<ThreadModeRawMutex, _>::new(i2c);
-//! let i2c_bus = I2C_BUS.put(i2c_bus);
+//! let i2c_bus = I2C_BUS.init(i2c_bus);
 //!
 //! // Device 1, using embedded-hal-async compatible driver for QMC5883L compass
 //! let i2c_dev1 = I2cDevice::new(i2c_bus);
@@ -24,8 +24,8 @@
 //! ```
 use core::future::Future;
 
-use embassy_util::blocking_mutex::raw::RawMutex;
+use embassy_sync::blocking_mutex::raw::RawMutex;
-use embassy_util::mutex::Mutex;
+use embassy_sync::mutex::Mutex;
 use embedded_hal_async::i2c;
 
 use crate::shared_bus::I2cDeviceError;

embassy-embedded-hal/src/shared_bus/asynch/spi.rs

@@ -4,16 +4,16 @@
 //!
 //! ```rust
 //! use embassy_embedded_hal::shared_bus::spi::SpiDevice;
-//! use embassy_util::mutex::Mutex;
+//! use embassy_sync::mutex::Mutex;
-//! use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
+//! use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 //!
-//! static SPI_BUS: Forever<Mutex<ThreadModeRawMutex, spim::Spim<SPI3>>> = Forever::new();
+//! static SPI_BUS: StaticCell<Mutex<ThreadModeRawMutex, spim::Spim<SPI3>>> = StaticCell::new();
 //! let mut config = spim::Config::default();
 //! config.frequency = spim::Frequency::M32;
 //! let irq = interrupt::take!(SPIM3);
 //! let spi = spim::Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, config);
 //! let spi_bus = Mutex::<ThreadModeRawMutex, _>::new(spi);
-//! let spi_bus = SPI_BUS.put(spi_bus);
+//! let spi_bus = SPI_BUS.init(spi_bus);
 //!
 //! // Device 1, using embedded-hal-async compatible driver for ST7735 LCD display
 //! let cs_pin1 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard);
@@ -27,8 +27,8 @@
 //! ```
 use core::future::Future;
 
-use embassy_util::blocking_mutex::raw::RawMutex;
+use embassy_sync::blocking_mutex::raw::RawMutex;
-use embassy_util::mutex::Mutex;
+use embassy_sync::mutex::Mutex;
 use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi::ErrorType;
 use embedded_hal_async::spi;

embassy-embedded-hal/src/shared_bus/blocking/i2c.rs

@@ -4,13 +4,13 @@
 //!
 //! ```rust
 //! use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
-//! use embassy_util::blocking_mutex::{NoopMutex, raw::NoopRawMutex};
+//! use embassy_sync::blocking_mutex::{NoopMutex, raw::NoopRawMutex};
 //!
-//! static I2C_BUS: Forever<NoopMutex<RefCell<Twim<TWISPI0>>>> = Forever::new();
+//! static I2C_BUS: StaticCell<NoopMutex<RefCell<Twim<TWISPI0>>>> = StaticCell::new();
 //! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
 //! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, Config::default());
 //! let i2c_bus = NoopMutex::new(RefCell::new(i2c));
-//! let i2c_bus = I2C_BUS.put(i2c_bus);
+//! let i2c_bus = I2C_BUS.init(i2c_bus);
 //!
 //! let i2c_dev1 = I2cDevice::new(i2c_bus);
 //! let mpu = Mpu6050::new(i2c_dev1);
@@ -18,8 +18,8 @@
 
 use core::cell::RefCell;
 
-use embassy_util::blocking_mutex::raw::RawMutex;
+use embassy_sync::blocking_mutex::raw::RawMutex;
-use embassy_util::blocking_mutex::Mutex;
+use embassy_sync::blocking_mutex::Mutex;
 use embedded_hal_1::i2c::blocking::{I2c, Operation};
 use embedded_hal_1::i2c::ErrorType;
 

embassy-embedded-hal/src/shared_bus/blocking/spi.rs

@@ -4,13 +4,13 @@
 //!
 //! ```rust
 //! use embassy_embedded_hal::shared_bus::blocking::spi::SpiDevice;
-//! use embassy_util::blocking_mutex::{NoopMutex, raw::NoopRawMutex};
+//! use embassy_sync::blocking_mutex::{NoopMutex, raw::NoopRawMutex};
 //!
-//! static SPI_BUS: Forever<NoopMutex<RefCell<Spim<SPI3>>>> = Forever::new();
+//! static SPI_BUS: StaticCell<NoopMutex<RefCell<Spim<SPI3>>>> = StaticCell::new();
 //! let irq = interrupt::take!(SPIM3);
 //! let spi = Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, Config::default());
 //! let spi_bus = NoopMutex::new(RefCell::new(spi));
-//! let spi_bus = SPI_BUS.put(spi_bus);
+//! let spi_bus = SPI_BUS.init(spi_bus);
 //!
 //! // Device 1, using embedded-hal compatible driver for ST7735 LCD display
 //! let cs_pin1 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard);
@@ -20,8 +20,8 @@
 
 use core::cell::RefCell;
 
-use embassy_util::blocking_mutex::raw::RawMutex;
+use embassy_sync::blocking_mutex::raw::RawMutex;
-use embassy_util::blocking_mutex::Mutex;
+use embassy_sync::blocking_mutex::Mutex;
 use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi;
 use embedded_hal_1::spi::blocking::SpiBusFlush;

embassy-executor/Cargo.toml

@@ -30,9 +30,13 @@ nightly = []
 
 integrated-timers = ["dep:embassy-time"]
 
+# Trace interrupt invocations with rtos-trace.
+rtos-trace-interrupt = ["rtos-trace"]
+
 [dependencies]
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
+rtos-trace = { version = "0.1.2", optional = true }
 
 futures-util = { version = "0.3.17", default-features = false }
 embassy-macros  = { version = "0.1.0", path = "../embassy-macros"}
@@ -40,6 +44,7 @@ embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
 atomic-polyfill = "1.0.1"
 critical-section = "1.1"
 cfg-if = "1.0.0"
+static_cell = "1.0"
 
 # WASM dependencies
 wasm-bindgen = { version = "0.2.76", features = ["nightly"], optional = true }

embassy-executor/src/arch/cortex_m.rs

@@ -41,7 +41,7 @@ impl Executor {
     /// Executor instance in a place where it'll live forever and grants you mutable
     /// access. There's a few ways to do this:
     ///
-    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
     /// - a `static mut` (unsafe)
     /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
     ///

embassy-executor/src/arch/riscv32.rs

@@ -43,7 +43,7 @@ impl Executor {
     /// Executor instance in a place where it'll live forever and grants you mutable
     /// access. There's a few ways to do this:
     ///
-    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
     /// - a `static mut` (unsafe)
     /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
     ///

embassy-executor/src/arch/std.rs

@@ -40,7 +40,7 @@ impl Executor {
     /// Executor instance in a place where it'll live forever and grants you mutable
     /// access. There's a few ways to do this:
     ///
-    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
     /// - a `static mut` (unsafe)
     /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
     ///

embassy-executor/src/arch/wasm.rs

@@ -59,7 +59,7 @@ impl Executor {
     /// Executor instance in a place where it'll live forever and grants you mutable
     /// access. There's a few ways to do this:
     ///
-    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
     /// - a `static mut` (unsafe)
     /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
     pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {

embassy-executor/src/arch/xtensa.rs

@@ -43,7 +43,7 @@ impl Executor {
     /// Executor instance in a place where it'll live forever and grants you mutable
     /// access. There's a few ways to do this:
     ///
-    /// - a [Forever](crate::util::Forever) (safe)
+    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
     /// - a `static mut` (unsafe)
     /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
     ///

embassy-executor/src/lib.rs

@@ -38,7 +38,38 @@ cfg_if::cfg_if! {
     }
 }
 
+#[doc(hidden)]
+/// Implementation details for embassy macros. DO NOT USE.
+pub mod export {
+    #[cfg(feature = "rtos-trace")]
+    pub use rtos_trace::trace;
+
+    /// Expands the given block of code when `embassy-executor` is compiled with
+    /// the `rtos-trace-interrupt` feature.
+    #[doc(hidden)]
+    #[macro_export]
+    #[cfg(feature = "rtos-trace-interrupt")]
+    macro_rules! rtos_trace_interrupt {
+        ($($tt:tt)*) => { $($tt)* };
+    }
+
+    /// Does not expand the given block of code when `embassy-executor` is
+    /// compiled without the `rtos-trace-interrupt` feature.
+    #[doc(hidden)]
+    #[macro_export]
+    #[cfg(not(feature = "rtos-trace-interrupt"))]
+    macro_rules! rtos_trace_interrupt {
+        ($($tt:tt)*) => {};
+    }
+}
+
 pub mod raw;
 
 mod spawner;
 pub use spawner::*;
+
+/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
+#[doc(hidden)]
+pub mod _export {
+    pub use static_cell::StaticCell;
+}

embassy-executor/src/raw/mod.rs

@@ -5,7 +5,7 @@
 //! ## WARNING: here be dragons!
 //!
 //! Using this module requires respecting subtle safety contracts. If you can, prefer using the safe
-//! executor wrappers in [`executor`](crate::executor) and the [`embassy_executor::task`](embassy_macros::task) macro, which are fully safe.
+//! [executor wrappers](crate::Executor) and the [`embassy_executor::task`](embassy_macros::task) macro, which are fully safe.
 
 mod run_queue;
 #[cfg(feature = "integrated-timers")]
@@ -26,6 +26,8 @@ use critical_section::CriticalSection;
 use embassy_time::driver::{self, AlarmHandle};
 #[cfg(feature = "integrated-timers")]
 use embassy_time::Instant;
+#[cfg(feature = "rtos-trace")]
+use rtos_trace::trace;
 
 use self::run_queue::{RunQueue, RunQueueItem};
 use self::util::UninitCell;
@@ -247,7 +249,7 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
 ///
 /// This is the core of the Embassy executor. It is low-level, requiring manual
 /// handling of wakeups and task polling. If you can, prefer using one of the
-/// higher level executors in [`crate::executor`].
+/// [higher level executors](crate::Executor).
 ///
 /// The raw executor leaves it up to you to handle wakeups and scheduling:
 ///
@@ -306,6 +308,9 @@ impl Executor {
     /// - `task` must NOT be already enqueued (in this executor or another one).
     #[inline(always)]
     unsafe fn enqueue(&self, cs: CriticalSection, task: NonNull<TaskHeader>) {
+        #[cfg(feature = "rtos-trace")]
+        trace::task_ready_begin(task.as_ptr() as u32);
+
         if self.run_queue.enqueue(cs, task) {
             (self.signal_fn)(self.signal_ctx)
         }
@@ -323,6 +328,9 @@ impl Executor {
     pub(super) unsafe fn spawn(&'static self, task: NonNull<TaskHeader>) {
         task.as_ref().executor.set(self);
 
+        #[cfg(feature = "rtos-trace")]
+        trace::task_new(task.as_ptr() as u32);
+
         critical_section::with(|cs| {
             self.enqueue(cs, task);
         })
@@ -365,9 +373,15 @@ impl Executor {
                 return;
             }
 
+            #[cfg(feature = "rtos-trace")]
+            trace::task_exec_begin(p.as_ptr() as u32);
+
             // Run the task
             task.poll_fn.read()(p as _);
 
+            #[cfg(feature = "rtos-trace")]
+            trace::task_exec_end();
+
             // Enqueue or update into timer_queue
             #[cfg(feature = "integrated-timers")]
             self.timer_queue.update(p);
@@ -381,6 +395,9 @@ impl Executor {
             let next_expiration = self.timer_queue.next_expiration();
             driver::set_alarm(self.alarm, next_expiration.as_ticks());
         }
+
+        #[cfg(feature = "rtos-trace")]
+        trace::system_idle();
     }
 
     /// Get a spawner that spawns tasks in this executor.
@@ -426,3 +443,21 @@ unsafe fn _embassy_time_schedule_wake(at: Instant, waker: &core::task::Waker) {
     let expires_at = task.expires_at.get();
     task.expires_at.set(expires_at.min(at));
 }
+
+#[cfg(feature = "rtos-trace")]
+impl rtos_trace::RtosTraceOSCallbacks for Executor {
+    fn task_list() {
+        // We don't know what tasks exist, so we can't send them.
+    }
+    #[cfg(feature = "integrated-timers")]
+    fn time() -> u64 {
+        Instant::now().as_micros()
+    }
+    #[cfg(not(feature = "integrated-timers"))]
+    fn time() -> u64 {
+        0
+    }
+}
+
+#[cfg(feature = "rtos-trace")]
+rtos_trace::global_os_callbacks! {Executor}

embassy-futures/Cargo.toml

@@ -0,0 +1,14 @@
+[package]
+name = "embassy-futures"
+version = "0.1.0"
+edition = "2021"
+
+[package.metadata.embassy_docs]
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-futures-v$VERSION/embassy-futures/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-futures/src/"
+features = ["nightly"]
+target = "thumbv7em-none-eabi"
+
+[dependencies]
+defmt = { version = "0.3", optional = true }
+log = { version = "0.4.14", optional = true }

embassy-futures/src/lib.rs

@@ -0,0 +1,12 @@
+#![no_std]
+#![doc = include_str!("../../README.md")]
+#![warn(missing_docs)]
+
+// This mod MUST go first, so that the others see its macros.
+pub(crate) mod fmt;
+
+mod select;
+mod yield_now;
+
+pub use select::*;
+pub use yield_now::*;

embassy-lora/Cargo.toml

@@ -25,7 +25,7 @@ defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
 embassy-time = { version = "0.1.0", path = "../embassy-time" }
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32", default-features = false, optional = true }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
 embedded-hal-async = { version = "0.1.0-alpha.1" }

embassy-lora/src/stm32wl/mod.rs

@@ -12,7 +12,7 @@ use embassy_stm32::subghz::{
     Status, SubGhz, TcxoMode, TcxoTrim, Timeout, TxParams,
 };
 use embassy_stm32::Peripheral;
-use embassy_util::channel::signal::Signal;
+use embassy_sync::signal::Signal;
 use lorawan_device::async_device::radio::{Bandwidth, PhyRxTx, RfConfig, RxQuality, SpreadingFactor, TxConfig};
 use lorawan_device::async_device::Timings;
 

embassy-macros/src/macros/cortex_m_interrupt_take.rs

@@ -19,7 +19,13 @@ pub fn run(name: syn::Ident) -> Result<TokenStream, TokenStream> {
                 let func = HANDLER.func.load(interrupt::_export::atomic::Ordering::Relaxed);
                 let ctx = HANDLER.ctx.load(interrupt::_export::atomic::Ordering::Relaxed);
                 let func: fn(*mut ()) = ::core::mem::transmute(func);
-                func(ctx)
+                ::embassy_executor::rtos_trace_interrupt! {
+                    ::embassy_executor::export::trace::isr_enter();
+                }
+                func(ctx);
+                ::embassy_executor::rtos_trace_interrupt! {
+                    ::embassy_executor::export::trace::isr_exit();
+                }
             }
 
             static TAKEN: interrupt::_export::atomic::AtomicBool = interrupt::_export::atomic::AtomicBool::new(false);

embassy-macros/src/macros/main.rs

@@ -34,8 +34,8 @@ pub fn run(args: syn::AttributeArgs, f: syn::ItemFn) -> Result<TokenStream, Toke
     let main = quote! {
         #[wasm_bindgen::prelude::wasm_bindgen(start)]
         pub fn main() -> Result<(), wasm_bindgen::JsValue> {
-            static EXECUTOR: ::embassy_util::Forever<::embassy_executor::Executor> = ::embassy_util::Forever::new();
+            static EXECUTOR: ::embassy_executor::_export::StaticCell<::embassy_executor::Executor> = ::embassy_executor::_export::StaticCell::new();
-            let executor = EXECUTOR.put(::embassy_executor::Executor::new());
+            let executor = EXECUTOR.init(::embassy_executor::Executor::new());
 
             executor.start(|spawner| {
                 spawner.spawn(__embassy_main(spawner)).unwrap();

embassy-net/Cargo.toml

@@ -38,7 +38,7 @@ defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
 embassy-time = { version = "0.1.0", path = "../embassy-time" }
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embedded-io = { version = "0.3.0", features = [ "async" ] }
 
 managed = { version = "0.8.0", default-features = false, features = [ "map" ] }

embassy-net/src/stack.rs

@@ -2,8 +2,8 @@ use core::cell::UnsafeCell;
 use core::future::Future;
 use core::task::{Context, Poll};
 
+use embassy_sync::waitqueue::WakerRegistration;
 use embassy_time::{Instant, Timer};
-use embassy_util::waitqueue::WakerRegistration;
 use futures::future::poll_fn;
 use futures::pin_mut;
 use heapless::Vec;

embassy-nrf/Cargo.toml

@@ -18,7 +18,7 @@ flavors = [
 
 time = ["dep:embassy-time"]
 
-defmt = ["dep:defmt", "embassy-executor/defmt", "embassy-util/defmt", "embassy-usb?/defmt", "embedded-io?/defmt", "embassy-embedded-hal/defmt"]
+defmt = ["dep:defmt", "embassy-executor/defmt", "embassy-sync/defmt", "embassy-usb?/defmt", "embedded-io?/defmt", "embassy-embedded-hal/defmt"]
 
 # Enable nightly-only features
 nightly = ["embedded-hal-1", "embedded-hal-async", "embassy-usb", "embedded-storage-async", "dep:embedded-io", "embassy-embedded-hal/nightly"]
@@ -66,7 +66,7 @@ _gpio-p1 = []
 [dependencies]
 embassy-executor = { version = "0.1.0", path = "../embassy-executor", optional = true }
 embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }

embassy-nrf/src/buffered_uarte.rs

@@ -21,7 +21,7 @@ use core::task::Poll;
 use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::ring_buffer::RingBuffer;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::WakerRegistration;
+use embassy_sync::waitqueue::WakerRegistration;
 use futures::future::poll_fn;
 // Re-export SVD variants to allow user to directly set values
 pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
@@ -45,8 +45,10 @@ enum TxState {
     Transmitting(usize),
 }
 
+/// A type for storing the state of the UARTE peripheral that can be stored in a static.
 pub struct State<'d, U: UarteInstance, T: TimerInstance>(StateStorage<StateInner<'d, U, T>>);
 impl<'d, U: UarteInstance, T: TimerInstance> State<'d, U, T> {
+    /// Create an instance for storing UARTE peripheral state.
     pub fn new() -> Self {
         Self(StateStorage::new())
     }
@@ -75,6 +77,12 @@ pub struct BufferedUarte<'d, U: UarteInstance, T: TimerInstance> {
 impl<'d, U: UarteInstance, T: TimerInstance> Unpin for BufferedUarte<'d, U, T> {}
 
 impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
+    /// Create a new instance of a BufferedUarte.
+    ///
+    /// See the [module documentation](crate::buffered_uarte) for more details about the intended use.
+    ///
+    /// The BufferedUarte uses the provided state to store the buffers and peripheral state. The timer and ppi channels are used to 'emulate' idle line detection so that read operations
+    /// can return early if there is no data to receive.
     pub fn new(
         state: &'d mut State<'d, U, T>,
         peri: impl Peripheral<P = U> + 'd,
@@ -178,6 +186,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
         }
     }
 
+    /// Adjust the baud rate to the provided value.
     pub fn set_baudrate(&mut self, baudrate: Baudrate) {
         self.inner.with(|state| {
             let r = U::regs();

embassy-nrf/src/gpio.rs

@@ -1,3 +1,4 @@
+//! General purpose input/output for nRF.
 #![macro_use]
 
 use core::convert::Infallible;
@@ -26,8 +27,11 @@ pub enum Port {
 #[derive(Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Pull {
+    /// No pull.
     None,
+    /// Internal pull-up resistor.
     Up,
+    /// Internal pull-down resistor.
     Down,
 }
 
@@ -37,6 +41,7 @@ pub struct Input<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Input<'d, T> {
+    /// Create GPIO input driver for a [Pin] with the provided [Pull] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
@@ -45,11 +50,13 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
+    /// Test if current pin level is high.
     #[inline]
     pub fn is_high(&self) -> bool {
         self.pin.is_high()
     }
 
+    /// Test if current pin level is low.
     #[inline]
     pub fn is_low(&self) -> bool {
         self.pin.is_low()
@@ -66,7 +73,9 @@ impl<'d, T: Pin> Input<'d, T> {
 #[derive(Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Level {
+    /// Logical low.
     Low,
+    /// Logical high.
     High,
 }
 
@@ -88,6 +97,7 @@ impl Into<bool> for Level {
     }
 }
 
+/// Drive strength settings for an output pin.
 // These numbers match DRIVE_A exactly so hopefully the compiler will unify them.
 #[derive(Clone, Copy, Debug, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -117,6 +127,7 @@ pub struct Output<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Output<'d, T> {
+    /// Create GPIO output driver for a [Pin] with the provided [Level] and [OutputDriver] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level, drive: OutputDrive) -> Self {
         let mut pin = Flex::new(pin);
@@ -264,11 +275,13 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.conf().reset();
     }
 
+    /// Test if current pin level is high.
     #[inline]
     pub fn is_high(&self) -> bool {
         !self.is_low()
     }
 
+    /// Test if current pin level is low.
     #[inline]
     pub fn is_low(&self) -> bool {
         self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
@@ -374,6 +387,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// Interface for a Pin that can be configured by an [Input] or [Output] driver, or converted to an [AnyPin].
 pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'static {
     /// Number of the pin within the port (0..31)
     #[inline]
@@ -392,6 +406,7 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
         }
     }
 
+    /// Peripheral port register value
     #[inline]
     fn psel_bits(&self) -> u32 {
         self.pin_port() as u32
@@ -406,12 +421,16 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
     }
 }
 
-// Type-erased GPIO pin
+/// Type-erased GPIO pin
 pub struct AnyPin {
     pin_port: u8,
 }
 
 impl AnyPin {
+    /// Create an [AnyPin] for a specific pin.
+    ///
+    /// # Safety
+    /// - `pin_port` should not in use by another driver.
     #[inline]
     pub unsafe fn steal(pin_port: u8) -> Self {
         Self { pin_port }

embassy-nrf/src/gpiote.rs

@@ -3,7 +3,7 @@ use core::future::Future;
 use core::task::{Context, Poll};
 
 use embassy_hal_common::{impl_peripheral, Peripheral, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::gpio::sealed::Pin as _;

embassy-nrf/src/nvmc.rs

@@ -1,4 +1,4 @@
-//! Nvmcerature sensor interface.
+//! Non-Volatile Memory Controller (NVMC) module.
 
 use core::{ptr, slice};
 
@@ -10,13 +10,19 @@ use embedded_storage::nor_flash::{
 use crate::peripherals::NVMC;
 use crate::{pac, Peripheral};
 
+/// Erase size of NVMC flash in bytes.
 pub const PAGE_SIZE: usize = 4096;
+
+/// Size of NVMC flash in bytes.
 pub const FLASH_SIZE: usize = crate::chip::FLASH_SIZE;
 
+/// Error type for NVMC operations.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// Opration using a location not in flash.
     OutOfBounds,
+    /// Unaligned operation or using unaligned buffers.
     Unaligned,
 }
 
@@ -29,11 +35,13 @@ impl NorFlashError for Error {
     }
 }
 
+/// Non-Volatile Memory Controller (NVMC) that implements the `embedded-storage` traits.
 pub struct Nvmc<'d> {
     _p: PeripheralRef<'d, NVMC>,
 }
 
 impl<'d> Nvmc<'d> {
+    /// Create Nvmc driver.
     pub fn new(_p: impl Peripheral<P = NVMC> + 'd) -> Self {
         into_ref!(_p);
         Self { _p }

embassy-nrf/src/ppi/mod.rs

@@ -26,6 +26,7 @@ mod dppi;
 #[cfg(feature = "_ppi")]
 mod ppi;
 
+/// An instance of the Programmable peripheral interconnect on nRF devices.
 pub struct Ppi<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize> {
     ch: PeripheralRef<'d, C>,
     #[cfg(feature = "_dppi")]
@@ -48,6 +49,7 @@ impl Task {
         Self(unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) })
     }
 
+    /// Address off subscription register for this task.
     pub fn subscribe_reg(&self) -> *mut u32 {
         unsafe { self.0.as_ptr().add(REGISTER_DPPI_CONFIG_OFFSET) }
     }
@@ -69,6 +71,7 @@ impl Event {
         Self(unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) })
     }
 
+    /// Address of publish register for this event.
     pub fn publish_reg(&self) -> *mut u32 {
         unsafe { self.0.as_ptr().add(REGISTER_DPPI_CONFIG_OFFSET) }
     }
@@ -87,21 +90,29 @@ pub(crate) mod sealed {
     pub trait Group {}
 }
 
+/// Interface for PPI channels.
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + Sized {
     /// Returns the number of the channel
     fn number(&self) -> usize;
 }
 
+/// Interface for PPI channels that can be configured.
 pub trait ConfigurableChannel: Channel + Into<AnyConfigurableChannel> {
+    /// Convert into a type erased configurable channel.
     fn degrade(self) -> AnyConfigurableChannel;
 }
 
+/// Interface for PPI channels that cannot be configured.
 pub trait StaticChannel: Channel + Into<AnyStaticChannel> {
+    /// Convert into a type erased static channel.
     fn degrade(self) -> AnyStaticChannel;
 }
 
+/// Interface for a group of PPI channels.
 pub trait Group: sealed::Group + Sized {
+    /// Returns the number of the group.
     fn number(&self) -> usize;
+    /// Convert into a type erased group.
     fn degrade(self) -> AnyGroup {
         AnyGroup {
             number: self.number() as u8,
@@ -196,6 +207,7 @@ macro_rules! impl_ppi_channel {
 // ======================
 //       groups
 
+/// A type erased PPI group.
 pub struct AnyGroup {
     number: u8,
 }

embassy-nrf/src/ppi/ppi.rs

@@ -20,6 +20,7 @@ fn regs() -> &'static pac::ppi::RegisterBlock {
 
 #[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
 impl<'d, C: StaticChannel> Ppi<'d, C, 0, 1> {
+    /// Configure PPI channel to trigger `task`.
     pub fn new_zero_to_one(ch: impl Peripheral<P = C> + 'd, task: Task) -> Self {
         into_ref!(ch);
 
@@ -32,6 +33,7 @@ impl<'d, C: StaticChannel> Ppi<'d, C, 0, 1> {
 }
 
 impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
+    /// Configure PPI channel to trigger `task` on `event`.
     pub fn new_one_to_one(ch: impl Peripheral<P = C> + 'd, event: Event, task: Task) -> Self {
         into_ref!(ch);
 
@@ -46,6 +48,7 @@ impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
 
 #[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
 impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 2> {
+    /// Configure PPI channel to trigger `task1` and `task2` on `event`.
     pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event, task1: Task, task2: Task) -> Self {
         into_ref!(ch);
 

embassy-nrf/src/qdec.rs

@@ -3,7 +3,7 @@
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::gpio::sealed::Pin as _;

embassy-nrf/src/qspi.rs

@@ -526,7 +526,7 @@ cfg_if::cfg_if! {
 }
 
 pub(crate) mod sealed {
-    use embassy_util::waitqueue::AtomicWaker;
+    use embassy_sync::waitqueue::AtomicWaker;
 
     use super::*;
 

embassy-nrf/src/rng.rs

@@ -4,7 +4,7 @@ use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::interrupt::InterruptExt;

embassy-nrf/src/saadc.rs

@@ -4,7 +4,7 @@ use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
 use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 use pac::{saadc, SAADC};
 use saadc::ch::config::{GAIN_A, REFSEL_A, RESP_A, TACQ_A};

embassy-nrf/src/spim.rs

@@ -363,7 +363,7 @@ impl<'d, T: Instance> Drop for Spim<'d, T> {
 }
 
 pub(crate) mod sealed {
-    use embassy_util::waitqueue::AtomicWaker;
+    use embassy_sync::waitqueue::AtomicWaker;
 
     use super::*;
 

embassy-nrf/src/temp.rs

@@ -4,7 +4,7 @@ use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use fixed::types::I30F2;
 use futures::future::poll_fn;
 

embassy-nrf/src/time_driver.rs

@@ -3,9 +3,9 @@ use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
 use core::{mem, ptr};
 
 use critical_section::CriticalSection;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::CriticalSectionMutex as Mutex;
 use embassy_time::driver::{AlarmHandle, Driver};
-use embassy_util::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_util::blocking_mutex::CriticalSectionMutex as Mutex;
 
 use crate::interrupt::{Interrupt, InterruptExt};
 use crate::{interrupt, pac};

embassy-nrf/src/timer.rs

@@ -5,7 +5,7 @@ use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::interrupt::{Interrupt, InterruptExt};
@@ -40,8 +40,8 @@ macro_rules! impl_timer {
             fn regs() -> &'static pac::timer0::RegisterBlock {
                 unsafe { &*(pac::$pac_type::ptr() as *const pac::timer0::RegisterBlock) }
             }
-            fn waker(n: usize) -> &'static ::embassy_util::waitqueue::AtomicWaker {
+            fn waker(n: usize) -> &'static ::embassy_sync::waitqueue::AtomicWaker {
-                use ::embassy_util::waitqueue::AtomicWaker;
+                use ::embassy_sync::waitqueue::AtomicWaker;
                 const NEW_AW: AtomicWaker = AtomicWaker::new();
                 static WAKERS: [AtomicWaker; $ccs] = [NEW_AW; $ccs];
                 &WAKERS[n]

embassy-nrf/src/twim.rs

@@ -13,9 +13,9 @@ use core::task::Poll;
 
 use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::{into_ref, PeripheralRef};
+use embassy_sync::waitqueue::AtomicWaker;
 #[cfg(feature = "time")]
 use embassy_time::{Duration, Instant};
-use embassy_util::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};

embassy-nrf/src/uarte.rs

@@ -932,7 +932,7 @@ impl<'d, U: Instance, T: TimerInstance> UarteRxWithIdle<'d, U, T> {
 pub(crate) mod sealed {
     use core::sync::atomic::AtomicU8;
 
-    use embassy_util::waitqueue::AtomicWaker;
+    use embassy_sync::waitqueue::AtomicWaker;
 
     use super::*;
 

embassy-nrf/src/usb.rs

@@ -7,10 +7,10 @@ use core::task::Poll;
 
 use cortex_m::peripheral::NVIC;
 use embassy_hal_common::{into_ref, PeripheralRef};
+use embassy_sync::waitqueue::AtomicWaker;
 pub use embassy_usb;
 use embassy_usb::driver::{self, EndpointError, Event, Unsupported};
 use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
-use embassy_util::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 use futures::Future;
 use pac::usbd::RegisterBlock;

embassy-rp/Cargo.toml

@@ -27,10 +27,10 @@ nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "
 unstable-traits = ["embedded-hal-1"]
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-executor = { version = "0.1.0", path = "../embassy-executor" }
 embassy-time = { version = "0.1.0", path = "../embassy-time", features = [ "tick-1mhz" ] }
-embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
+embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-2"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 atomic-polyfill = "1.0.1"

embassy-rp/src/gpio.rs

@@ -5,7 +5,7 @@ use core::task::{Context, Poll};
 
 use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
 use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::pac::common::{Reg, RW};
 use crate::pac::SIO;
@@ -189,7 +189,7 @@ impl<'d, T: Pin> InputFuture<'d, T> {
         unsafe {
             let irq = interrupt::IO_IRQ_BANK0::steal();
             irq.disable();
-            irq.set_priority(interrupt::Priority::P6);
+            irq.set_priority(interrupt::Priority::P3);
 
             // Each INTR register is divided into 8 groups, one group for each
             // pin, and each group consists of LEVEL_LOW, LEVEL_HIGH, EDGE_LOW,

embassy-rp/src/timer.rs

@@ -2,9 +2,9 @@ use core::cell::Cell;
 
 use atomic_polyfill::{AtomicU8, Ordering};
 use critical_section::CriticalSection;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
 use embassy_time::driver::{AlarmHandle, Driver};
-use embassy_util::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_util::blocking_mutex::Mutex;
 
 use crate::interrupt::{Interrupt, InterruptExt};
 use crate::{interrupt, pac};

embassy-stm32/Cargo.toml

@@ -31,7 +31,7 @@ flavors = [
 ]
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-executor = { version = "0.1.0", path = "../embassy-executor" }
 embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-4"]}
@@ -72,7 +72,7 @@ quote = "1.0.15"
 stm32-metapac = { version = "0.1.0", path = "../stm32-metapac", default-features = false, features = ["metadata"]}
 
 [features]
-defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-util/defmt", "embassy-executor/defmt", "embassy-embedded-hal/defmt", "embedded-io?/defmt", "embassy-usb?/defmt"]
+defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-executor/defmt", "embassy-embedded-hal/defmt", "embedded-io?/defmt", "embassy-usb?/defmt"]
 sdmmc-rs = ["embedded-sdmmc"]
 net = ["embassy-net" ]
 memory-x = ["stm32-metapac/memory-x"]

embassy-stm32/build.rs

@@ -244,11 +244,11 @@ fn main() {
         (("usart", "CTS"), quote!(crate::usart::CtsPin)),
         (("usart", "RTS"), quote!(crate::usart::RtsPin)),
         (("usart", "CK"), quote!(crate::usart::CkPin)),
-        (("usart", "TX"), quote!(crate::usart::TxPin)),
+        (("lpuart", "TX"), quote!(crate::usart::TxPin)),
-        (("usart", "RX"), quote!(crate::usart::RxPin)),
+        (("lpuart", "RX"), quote!(crate::usart::RxPin)),
-        (("usart", "CTS"), quote!(crate::usart::CtsPin)),
+        (("lpuart", "CTS"), quote!(crate::usart::CtsPin)),
-        (("usart", "RTS"), quote!(crate::usart::RtsPin)),
+        (("lpuart", "RTS"), quote!(crate::usart::RtsPin)),
-        (("usart", "CK"), quote!(crate::usart::CkPin)),
+        (("lpuart", "CK"), quote!(crate::usart::CkPin)),
         (("spi", "SCK"), quote!(crate::spi::SckPin)),
         (("spi", "MOSI"), quote!(crate::spi::MosiPin)),
         (("spi", "MISO"), quote!(crate::spi::MisoPin)),
@@ -497,6 +497,8 @@ fn main() {
         // (kind, signal) => trait
         (("usart", "RX"), quote!(crate::usart::RxDma)),
         (("usart", "TX"), quote!(crate::usart::TxDma)),
+        (("lpuart", "RX"), quote!(crate::usart::RxDma)),
+        (("lpuart", "TX"), quote!(crate::usart::TxDma)),
         (("spi", "RX"), quote!(crate::spi::RxDma)),
         (("spi", "TX"), quote!(crate::spi::TxDma)),
         (("i2c", "RX"), quote!(crate::i2c::RxDma)),

embassy-stm32/src/dcmi.rs

@@ -1,7 +1,7 @@
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::gpio::sealed::AFType;

embassy-stm32/src/dma/bdma.rs

@@ -3,7 +3,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use super::{TransferOptions, Word, WordSize};
 use crate::_generated::BDMA_CHANNEL_COUNT;

embassy-stm32/src/dma/dma.rs

@@ -1,7 +1,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use super::{Burst, FlowControl, Request, TransferOptions, Word, WordSize};
 use crate::_generated::DMA_CHANNEL_COUNT;

embassy-stm32/src/dma/gpdma.rs

@@ -1,7 +1,7 @@
 use core::sync::atomic::{fence, Ordering};
 use core::task::Waker;
 
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use super::{Request, TransferOptions, Word, WordSize};
 use crate::_generated::GPDMA_CHANNEL_COUNT;

embassy-stm32/src/eth/v1/mod.rs

@@ -7,7 +7,7 @@ use core::task::Waker;
 use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_net::{Device, DeviceCapabilities, LinkState, PacketBuf, MTU};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::gpio::sealed::{AFType, Pin as __GpioPin};
 use crate::gpio::{AnyPin, Speed};

embassy-stm32/src/eth/v2/mod.rs

@@ -5,7 +5,7 @@ use core::task::Waker;
 use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_net::{Device, DeviceCapabilities, LinkState, PacketBuf, MTU};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::gpio::sealed::{AFType, Pin as _};
 use crate::gpio::{AnyPin, Speed};

embassy-stm32/src/exti.rs

@@ -4,7 +4,7 @@ use core::pin::Pin;
 use core::task::{Context, Poll};
 
 use embassy_hal_common::impl_peripheral;
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::gpio::{AnyPin, Input, Pin as GpioPin};
 use crate::pac::exti::regs::Lines;

embassy-stm32/src/i2c/v2.rs

@@ -5,7 +5,7 @@ use atomic_polyfill::{AtomicUsize, Ordering};
 use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 
 use crate::dma::NoDma;

embassy-stm32/src/rng.rs

@@ -3,7 +3,7 @@
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 use rand_core::{CryptoRng, RngCore};
 

embassy-stm32/src/sdmmc/mod.rs

@@ -5,7 +5,7 @@ use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use embassy_util::waitqueue::AtomicWaker;
+use embassy_sync::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 use sdio_host::{BusWidth, CardCapacity, CardStatus, CurrentState, SDStatus, CID, CSD, OCR, SCR};
 
@@ -1514,8 +1514,8 @@ foreach_peripheral!(
                 INNER
             }
 
-            fn state() -> &'static ::embassy_util::waitqueue::AtomicWaker {
+            fn state() -> &'static ::embassy_sync::waitqueue::AtomicWaker {
-                static WAKER: ::embassy_util::waitqueue::AtomicWaker = ::embassy_util::waitqueue::AtomicWaker::new();
+                static WAKER: ::embassy_sync::waitqueue::AtomicWaker = ::embassy_sync::waitqueue::AtomicWaker::new();
                 &WAKER
             }
         }

embassy-stm32/src/time_driver.rs

@@ -4,10 +4,10 @@ use core::sync::atomic::{compiler_fence, Ordering};
 use core::{mem, ptr};
 
 use atomic_polyfill::{AtomicU32, AtomicU8};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
 use embassy_time::driver::{AlarmHandle, Driver};
 use embassy_time::TICKS_PER_SECOND;
-use embassy_util::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_util::blocking_mutex::Mutex;
 use stm32_metapac::timer::regs;
 
 use crate::interrupt::{CriticalSection, InterruptExt};

embassy-stm32/src/usart/buffered.rs

@@ -4,19 +4,19 @@ use core::task::Poll;
 use atomic_polyfill::{compiler_fence, Ordering};
 use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::ring_buffer::RingBuffer;
-use embassy_util::waitqueue::WakerRegistration;
+use embassy_sync::waitqueue::WakerRegistration;
 use futures::future::poll_fn;
 
 use super::*;
 
-pub struct State<'d, T: Instance>(StateStorage<StateInner<'d, T>>);
+pub struct State<'d, T: BasicInstance>(StateStorage<StateInner<'d, T>>);
-impl<'d, T: Instance> State<'d, T> {
+impl<'d, T: BasicInstance> State<'d, T> {
     pub fn new() -> Self {
         Self(StateStorage::new())
     }
 }
 
-struct StateInner<'d, T: Instance> {
+struct StateInner<'d, T: BasicInstance> {
     phantom: PhantomData<&'d mut T>,
 
     rx_waker: WakerRegistration,
@@ -26,16 +26,16 @@ struct StateInner<'d, T: Instance> {
     tx: RingBuffer<'d>,
 }
 
-unsafe impl<'d, T: Instance> Send for StateInner<'d, T> {}
+unsafe impl<'d, T: BasicInstance> Send for StateInner<'d, T> {}
-unsafe impl<'d, T: Instance> Sync for StateInner<'d, T> {}
+unsafe impl<'d, T: BasicInstance> Sync for StateInner<'d, T> {}
 
-pub struct BufferedUart<'d, T: Instance> {
+pub struct BufferedUart<'d, T: BasicInstance> {
     inner: PeripheralMutex<'d, StateInner<'d, T>>,
 }
 
-impl<'d, T: Instance> Unpin for BufferedUart<'d, T> {}
+impl<'d, T: BasicInstance> Unpin for BufferedUart<'d, T> {}
 
-impl<'d, T: Instance> BufferedUart<'d, T> {
+impl<'d, T: BasicInstance> BufferedUart<'d, T> {
     pub fn new(
         state: &'d mut State<'d, T>,
         _uart: Uart<'d, T, NoDma, NoDma>,
@@ -66,7 +66,7 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
     }
 }
 
-impl<'d, T: Instance> StateInner<'d, T>
+impl<'d, T: BasicInstance> StateInner<'d, T>
 where
     Self: 'd,
 {
@@ -135,7 +135,7 @@ where
     }
 }
 
-impl<'d, T: Instance> PeripheralState for StateInner<'d, T>
+impl<'d, T: BasicInstance> PeripheralState for StateInner<'d, T>
 where
     Self: 'd,
 {
@@ -152,11 +152,11 @@ impl embedded_io::Error for Error {
     }
 }
 
-impl<'d, T: Instance> embedded_io::Io for BufferedUart<'d, T> {
+impl<'d, T: BasicInstance> embedded_io::Io for BufferedUart<'d, T> {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io::asynch::Read for BufferedUart<'d, T> {
+impl<'d, T: BasicInstance> embedded_io::asynch::Read for BufferedUart<'d, T> {
     type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
     where
         Self: 'a;
@@ -194,7 +194,7 @@ impl<'d, T: Instance> embedded_io::asynch::Read for BufferedUart<'d, T> {
     }
 }
 
-impl<'d, T: Instance> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
+impl<'d, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
     type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
     where
         Self: 'a;
@@ -231,7 +231,7 @@ impl<'d, T: Instance> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
     }
 }
 
-impl<'d, T: Instance> embedded_io::asynch::Write for BufferedUart<'d, T> {
+impl<'d, T: BasicInstance> embedded_io::asynch::Write for BufferedUart<'d, T> {
     type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
     where
         Self: 'a;

embassy-stm32/src/usart/mod.rs

@@ -6,9 +6,10 @@ use embassy_hal_common::{into_ref, PeripheralRef};
 
 use crate::dma::NoDma;
 use crate::gpio::sealed::AFType;
-use crate::interrupt::Interrupt;
+#[cfg(any(lpuart_v1, lpuart_v2))]
-use crate::pac::usart::{regs, vals};
+use crate::pac::lpuart::{regs, vals, Lpuart as Regs};
-use crate::rcc::RccPeripheral;
+#[cfg(not(any(lpuart_v1, lpuart_v2)))]
+use crate::pac::usart::{regs, vals, Usart as Regs};
 use crate::{peripherals, Peripheral};
 
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
@@ -71,22 +72,23 @@ pub enum Error {
     Parity,
 }
 
-pub struct Uart<'d, T: Instance, TxDma = NoDma, RxDma = NoDma> {
+pub struct Uart<'d, T: BasicInstance, TxDma = NoDma, RxDma = NoDma> {
+    phantom: PhantomData<&'d mut T>,
     tx: UartTx<'d, T, TxDma>,
     rx: UartRx<'d, T, RxDma>,
 }
 
-pub struct UartTx<'d, T: Instance, TxDma = NoDma> {
+pub struct UartTx<'d, T: BasicInstance, TxDma = NoDma> {
     phantom: PhantomData<&'d mut T>,
     tx_dma: PeripheralRef<'d, TxDma>,
 }
 
-pub struct UartRx<'d, T: Instance, RxDma = NoDma> {
+pub struct UartRx<'d, T: BasicInstance, RxDma = NoDma> {
     phantom: PhantomData<&'d mut T>,
     rx_dma: PeripheralRef<'d, RxDma>,
 }
 
-impl<'d, T: Instance, TxDma> UartTx<'d, T, TxDma> {
+impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
     fn new(tx_dma: PeripheralRef<'d, TxDma>) -> Self {
         Self {
             tx_dma,
@@ -132,7 +134,7 @@ impl<'d, T: Instance, TxDma> UartTx<'d, T, TxDma> {
     }
 }
 
-impl<'d, T: Instance, RxDma> UartRx<'d, T, RxDma> {
+impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
     fn new(rx_dma: PeripheralRef<'d, RxDma>) -> Self {
         Self {
             rx_dma,
@@ -187,7 +189,7 @@ impl<'d, T: Instance, RxDma> UartRx<'d, T, RxDma> {
     }
 }
 
-impl<'d, T: Instance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
+impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
     pub fn new(
         _inner: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@@ -203,7 +205,7 @@ impl<'d, T: Instance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
         let pclk_freq = T::frequency();
 
         // TODO: better calculation, including error checking and OVER8 if possible.
-        let div = (pclk_freq.0 + (config.baudrate / 2)) / config.baudrate;
+        let div = (pclk_freq.0 + (config.baudrate / 2)) / config.baudrate * T::MULTIPLIER;
 
         let r = T::regs();
 
@@ -235,6 +237,7 @@ impl<'d, T: Instance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
         Self {
             tx: UartTx::new(tx_dma),
             rx: UartRx::new(rx_dma),
+            phantom: PhantomData {},
         }
     }
 
@@ -275,7 +278,7 @@ impl<'d, T: Instance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
 mod eh02 {
     use super::*;
 
-    impl<'d, T: Instance, RxDma> embedded_hal_02::serial::Read<u8> for UartRx<'d, T, RxDma> {
+    impl<'d, T: BasicInstance, RxDma> embedded_hal_02::serial::Read<u8> for UartRx<'d, T, RxDma> {
         type Error = Error;
         fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
             let r = T::regs();
@@ -302,7 +305,7 @@ mod eh02 {
         }
     }
 
-    impl<'d, T: Instance, TxDma> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, T, TxDma> {
+    impl<'d, T: BasicInstance, TxDma> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, T, TxDma> {
         type Error = Error;
         fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
             self.blocking_write(buffer)
@@ -312,14 +315,14 @@ mod eh02 {
         }
     }
 
-    impl<'d, T: Instance, TxDma, RxDma> embedded_hal_02::serial::Read<u8> for Uart<'d, T, TxDma, RxDma> {
+    impl<'d, T: BasicInstance, TxDma, RxDma> embedded_hal_02::serial::Read<u8> for Uart<'d, T, TxDma, RxDma> {
         type Error = Error;
         fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
             embedded_hal_02::serial::Read::read(&mut self.rx)
         }
     }
 
-    impl<'d, T: Instance, TxDma, RxDma> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, T, TxDma, RxDma> {
+    impl<'d, T: BasicInstance, TxDma, RxDma> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, T, TxDma, RxDma> {
         type Error = Error;
         fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
             self.blocking_write(buffer)
@@ -345,15 +348,15 @@ mod eh1 {
         }
     }
 
-    impl<'d, T: Instance, TxDma, RxDma> embedded_hal_1::serial::ErrorType for Uart<'d, T, TxDma, RxDma> {
+    impl<'d, T: BasicInstance, TxDma, RxDma> embedded_hal_1::serial::ErrorType for Uart<'d, T, TxDma, RxDma> {
         type Error = Error;
     }
 
-    impl<'d, T: Instance, TxDma> embedded_hal_1::serial::ErrorType for UartTx<'d, T, TxDma> {
+    impl<'d, T: BasicInstance, TxDma> embedded_hal_1::serial::ErrorType for UartTx<'d, T, TxDma> {
         type Error = Error;
     }
 
-    impl<'d, T: Instance, RxDma> embedded_hal_1::serial::ErrorType for UartRx<'d, T, RxDma> {
+    impl<'d, T: BasicInstance, RxDma> embedded_hal_1::serial::ErrorType for UartRx<'d, T, RxDma> {
         type Error = Error;
     }
 }
@@ -362,7 +365,7 @@ cfg_if::cfg_if! {
     if #[cfg(all(feature = "unstable-traits", feature = "nightly", feature = "_todo_embedded_hal_serial"))] {
         use core::future::Future;
 
-        impl<'d, T: Instance, TxDma> embedded_hal_async::serial::Write for UartTx<'d, T, TxDma>
+        impl<'d, T: BasicInstance, TxDma> embedded_hal_async::serial::Write for UartTx<'d, T, TxDma>
         where
             TxDma: crate::usart::TxDma<T>,
         {
@@ -379,7 +382,7 @@ cfg_if::cfg_if! {
             }
         }
 
-        impl<'d, T: Instance, RxDma> embedded_hal_async::serial::Read for UartRx<'d, T, RxDma>
+        impl<'d, T: BasicInstance, RxDma> embedded_hal_async::serial::Read for UartRx<'d, T, RxDma>
         where
             RxDma: crate::usart::RxDma<T>,
         {
@@ -390,7 +393,7 @@ cfg_if::cfg_if! {
             }
         }
 
-        impl<'d, T: Instance, TxDma, RxDma> embedded_hal_async::serial::Write for Uart<'d, T, TxDma, RxDma>
+        impl<'d, T: BasicInstance, TxDma, RxDma> embedded_hal_async::serial::Write for Uart<'d, T, TxDma, RxDma>
         where
             TxDma: crate::usart::TxDma<T>,
         {
@@ -407,7 +410,7 @@ cfg_if::cfg_if! {
             }
         }
 
-        impl<'d, T: Instance, TxDma, RxDma> embedded_hal_async::serial::Read for Uart<'d, T, TxDma, RxDma>
+        impl<'d, T: BasicInstance, TxDma, RxDma> embedded_hal_async::serial::Read for Uart<'d, T, TxDma, RxDma>
         where
             RxDma: crate::usart::RxDma<T>,
         {
@@ -442,60 +445,90 @@ fn sr(r: crate::pac::usart::Usart) -> crate::pac::common::Reg<regs::Sr, crate::p
 
 #[cfg(usart_v1)]
 #[allow(unused)]
-unsafe fn clear_interrupt_flags(_r: crate::pac::usart::Usart, _sr: regs::Sr) {
+unsafe fn clear_interrupt_flags(_r: Regs, _sr: regs::Sr) {
     // On v1 the flags are cleared implicitly by reads and writes to DR.
 }
 
 #[cfg(usart_v2)]
-fn tdr(r: crate::pac::usart::Usart) -> *mut u8 {
+fn tdr(r: Regs) -> *mut u8 {
     r.tdr().ptr() as _
 }
 
 #[cfg(usart_v2)]
-fn rdr(r: crate::pac::usart::Usart) -> *mut u8 {
+fn rdr(r: Regs) -> *mut u8 {
     r.rdr().ptr() as _
 }
 
 #[cfg(usart_v2)]
-fn sr(r: crate::pac::usart::Usart) -> crate::pac::common::Reg<regs::Ixr, crate::pac::common::R> {
+fn sr(r: Regs) -> crate::pac::common::Reg<regs::Isr, crate::pac::common::R> {
     r.isr()
 }
 
 #[cfg(usart_v2)]
 #[allow(unused)]
-unsafe fn clear_interrupt_flags(r: crate::pac::usart::Usart, sr: regs::Ixr) {
+unsafe fn clear_interrupt_flags(r: Regs, sr: regs::Isr) {
-    r.icr().write(|w| *w = sr);
+    r.icr().write(|w| *w = regs::Icr(sr.0));
 }
 
 pub(crate) mod sealed {
-    pub trait Instance {
+    use super::*;
-        fn regs() -> crate::pac::usart::Usart;
+
+    pub trait BasicInstance: crate::rcc::RccPeripheral {
+        const MULTIPLIER: u32;
+        type Interrupt: crate::interrupt::Interrupt;
+
+        fn regs() -> Regs;
+    }
+
+    pub trait FullInstance: BasicInstance {
+        fn regs_uart() -> crate::pac::usart::Usart;
     }
 }
 
-pub trait Instance: sealed::Instance + RccPeripheral {
+pub trait BasicInstance: sealed::BasicInstance {}
-    type Interrupt: Interrupt;
+
+pub trait FullInstance: sealed::FullInstance {}
+
+pin_trait!(RxPin, BasicInstance);
+pin_trait!(TxPin, BasicInstance);
+pin_trait!(CtsPin, BasicInstance);
+pin_trait!(RtsPin, BasicInstance);
+pin_trait!(CkPin, BasicInstance);
+
+dma_trait!(TxDma, BasicInstance);
+dma_trait!(RxDma, BasicInstance);
+
+macro_rules! impl_lpuart {
+    ($inst:ident, $irq:ident, $mul:expr) => {
+        impl sealed::BasicInstance for crate::peripherals::$inst {
+            const MULTIPLIER: u32 = $mul;
+            type Interrupt = crate::interrupt::$irq;
+
+            fn regs() -> Regs {
+                Regs(crate::pac::$inst.0)
+            }
+        }
+
+        impl BasicInstance for peripherals::$inst {}
+    };
 }
 
-pin_trait!(RxPin, Instance);
-pin_trait!(TxPin, Instance);
-pin_trait!(CtsPin, Instance);
-pin_trait!(RtsPin, Instance);
-pin_trait!(CkPin, Instance);
-
-dma_trait!(TxDma, Instance);
-dma_trait!(RxDma, Instance);
-
 foreach_interrupt!(
+    ($inst:ident, lpuart, $block:ident, $signal_name:ident, $irq:ident) => {
+        impl_lpuart!($inst, $irq, 255);
+    };
+
     ($inst:ident, usart, $block:ident, $signal_name:ident, $irq:ident) => {
-        impl sealed::Instance for peripherals::$inst {
+        impl_lpuart!($inst, $irq, 1);
-            fn regs() -> crate::pac::usart::Usart {
+
+        impl sealed::FullInstance for peripherals::$inst {
+
+            fn regs_uart() -> crate::pac::usart::Usart {
                 crate::pac::$inst
             }
         }
 
-        impl Instance for peripherals::$inst {
+        impl FullInstance for peripherals::$inst {
-            type Interrupt = crate::interrupt::$irq;
         }
     };
 );

embassy-stm32/src/usb/usb.rs

@@ -6,10 +6,10 @@ use core::task::Poll;
 
 use atomic_polyfill::{AtomicBool, AtomicU8};
 use embassy_hal_common::into_ref;
+use embassy_sync::waitqueue::AtomicWaker;
 use embassy_time::{block_for, Duration};
 use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};
 use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
-use embassy_util::waitqueue::AtomicWaker;
 use futures::future::poll_fn;
 use futures::Future;
 use pac::common::{Reg, RW};

embassy-sync/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
-name = "embassy-util"
+name = "embassy-sync"
 version = "0.1.0"
 edition = "2021"
 
 [package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-util-v$VERSION/embassy-util/src/"
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-sync-v$VERSION/embassy-sync/src/"
-src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-util/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-sync/src/"
 features = ["nightly"]
 target = "thumbv7em-none-eabi"
 
@@ -31,3 +31,4 @@ futures-util = { version = "0.3.17", features = [ "channel" ] }
 
 # Enable critical-section implementation for std, for tests
 critical-section = { version = "1.1", features = ["std"] }
+static_cell = "1.0"

embassy-sync/src/channel.rs

@@ -373,8 +373,8 @@ where
     /// Establish a new bounded channel. For example, to create one with a NoopMutex:
     ///
     /// ```
-    /// use embassy_util::channel::mpmc::Channel;
+    /// use embassy_sync::channel::Channel;
-    /// use embassy_util::blocking_mutex::raw::NoopRawMutex;
+    /// use embassy_sync::blocking_mutex::raw::NoopRawMutex;
     ///
     /// // Declare a bounded channel of 3 u32s.
     /// let mut channel = Channel::<NoopRawMutex, u32, 3>::new();
@@ -471,10 +471,10 @@ mod tests {
     use futures_executor::ThreadPool;
     use futures_timer::Delay;
     use futures_util::task::SpawnExt;
+    use static_cell::StaticCell;
 
     use super::*;
     use crate::blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex};
-    use crate::Forever;
 
     fn capacity<T, const N: usize>(c: &ChannelState<T, N>) -> usize {
         c.queue.capacity() - c.queue.len()
@@ -549,8 +549,8 @@ mod tests {
     async fn receiver_receives_given_try_send_async() {
         let executor = ThreadPool::new().unwrap();
 
-        static CHANNEL: Forever<Channel<CriticalSectionRawMutex, u32, 3>> = Forever::new();
+        static CHANNEL: StaticCell<Channel<CriticalSectionRawMutex, u32, 3>> = StaticCell::new();
-        let c = &*CHANNEL.put(Channel::new());
+        let c = &*CHANNEL.init(Channel::new());
         let c2 = c;
         assert!(executor
             .spawn(async move {
@@ -571,8 +571,8 @@ mod tests {
     async fn senders_sends_wait_until_capacity() {
         let executor = ThreadPool::new().unwrap();
 
-        static CHANNEL: Forever<Channel<CriticalSectionRawMutex, u32, 1>> = Forever::new();
+        static CHANNEL: StaticCell<Channel<CriticalSectionRawMutex, u32, 1>> = StaticCell::new();
-        let c = &*CHANNEL.put(Channel::new());
+        let c = &*CHANNEL.init(Channel::new());
         assert!(c.try_send(1).is_ok());
 
         let c2 = c;

embassy-sync/src/fmt.rs

@@ -0,0 +1,228 @@
+#![macro_use]
+#![allow(unused_macros)]
+
+#[cfg(all(feature = "defmt", feature = "log"))]
+compile_error!("You may not enable both `defmt` and `log` features.");
+
+macro_rules! assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! todo {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::todo!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::todo!($($x)*);
+        }
+    };
+}
+
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::unreachable!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
+        }
+    };
+}
+
+macro_rules! panic {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::panic!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::panic!($($x)*);
+        }
+    };
+}
+
+macro_rules! trace {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::trace!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::trace!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! debug {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::debug!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! info {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::info!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::info!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! warn {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::warn!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::warn!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! error {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::error!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::error!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unwrap {
+    ($($x:tt)*) => {
+        ::defmt::unwrap!($($x)*)
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unwrap {
+    ($arg:expr) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
+            }
+        }
+    };
+    ($arg:expr, $($msg:expr),+ $(,)? ) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
+            }
+        }
+    }
+}
+
+#[cfg(feature = "defmt-timestamp-uptime")]
+defmt::timestamp! {"{=u64:us}", crate::time::Instant::now().as_micros() }
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+pub struct NoneError;
+
+pub trait Try {
+    type Ok;
+    type Error;
+    fn into_result(self) -> Result<Self::Ok, Self::Error>;
+}
+
+impl<T> Try for Option<T> {
+    type Ok = T;
+    type Error = NoneError;
+
+    #[inline]
+    fn into_result(self) -> Result<T, NoneError> {
+        self.ok_or(NoneError)
+    }
+}
+
+impl<T, E> Try for Result<T, E> {
+    type Ok = T;
+    type Error = E;
+
+    #[inline]
+    fn into_result(self) -> Self {
+        self
+    }
+}

embassy-sync/src/lib.rs

@@ -14,12 +14,6 @@ pub mod blocking_mutex;
 pub mod channel;
 pub mod mutex;
 pub mod pipe;
+pub mod pubsub;
+pub mod signal;
 pub mod waitqueue;
-
-mod forever;
-mod select;
-mod yield_now;
-
-pub use forever::*;
-pub use select::*;
-pub use yield_now::*;

embassy-sync/src/pipe.rs

@@ -241,8 +241,8 @@ where
     /// Establish a new bounded pipe. For example, to create one with a NoopMutex:
     ///
     /// ```
-    /// use embassy_util::pipe::Pipe;
+    /// use embassy_sync::pipe::Pipe;
-    /// use embassy_util::blocking_mutex::raw::NoopRawMutex;
+    /// use embassy_sync::blocking_mutex::raw::NoopRawMutex;
     ///
     /// // Declare a bounded pipe, with a buffer of 256 bytes.
     /// let mut pipe = Pipe::<NoopRawMutex, 256>::new();
@@ -461,10 +461,10 @@ mod io_impls {
 mod tests {
     use futures_executor::ThreadPool;
     use futures_util::task::SpawnExt;
+    use static_cell::StaticCell;
 
     use super::*;
     use crate::blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex};
-    use crate::Forever;
 
     fn capacity<const N: usize>(c: &PipeState<N>) -> usize {
         N - c.buffer.len()
@@ -528,8 +528,8 @@ mod tests {
     async fn receiver_receives_given_try_write_async() {
         let executor = ThreadPool::new().unwrap();
 
-        static CHANNEL: Forever<Pipe<CriticalSectionRawMutex, 3>> = Forever::new();
+        static CHANNEL: StaticCell<Pipe<CriticalSectionRawMutex, 3>> = StaticCell::new();
-        let c = &*CHANNEL.put(Pipe::new());
+        let c = &*CHANNEL.init(Pipe::new());
         let c2 = c;
         let f = async move {
             assert_eq!(c2.try_write(&[42]), Ok(1));

embassy-sync/src/pubsub/mod.rs

@@ -33,9 +33,9 @@ pub use subscriber::{DynSubscriber, Subscriber};
 /// ## Example
 ///
 /// ```
-/// # use embassy_util::blocking_mutex::raw::NoopRawMutex;
+/// # use embassy_sync::blocking_mutex::raw::NoopRawMutex;
-/// # use embassy_util::channel::pubsub::WaitResult;
+/// # use embassy_sync::pubsub::WaitResult;
-/// # use embassy_util::channel::pubsub::PubSubChannel;
+/// # use embassy_sync::pubsub::PubSubChannel;
 /// # use futures_executor::block_on;
 /// # let test = async {
 /// // Create the channel. This can be static as well

embassy-sync/src/signal.rs

@@ -19,7 +19,7 @@ use core::task::{Context, Poll, Waker};
 /// Signals are generally declared as `static`s and then borrowed as required.
 ///
 /// ```
-/// use embassy_util::channel::signal::Signal;
+/// use embassy_sync::signal::Signal;
 ///
 /// enum SomeCommand {
 ///   On,

embassy-time/src/driver.rs

@@ -6,7 +6,7 @@
 //!
 //! - Define a struct `MyDriver`
 //! - Implement [`Driver`] for it
-//! - Register it as the global driver with [`time_driver_impl`].
+//! - Register it as the global driver with [`time_driver_impl`](crate::time_driver_impl).
 //! - Enable the Cargo features `embassy-executor/time` and one of `embassy-time/tick-*` corresponding to the
 //!   tick rate of your driver.
 //!

embassy-usb-hid/Cargo.toml

@@ -14,7 +14,7 @@ default = ["usbd-hid"]
 usbd-hid = ["dep:usbd-hid", "ssmarshal"]
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
 
 defmt = { version = "0.3", optional = true }

embassy-usb-ncm/Cargo.toml

@@ -10,7 +10,7 @@ features = ["defmt"]
 target = "thumbv7em-none-eabi"
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
 
 defmt = { version = "0.3", optional = true }

embassy-usb-serial/Cargo.toml

@@ -10,7 +10,7 @@ features = ["defmt"]
 target = "thumbv7em-none-eabi"
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
 
 defmt = { version = "0.3", optional = true }

embassy-usb-serial/src/lib.rs

@@ -9,11 +9,11 @@ use core::cell::Cell;
 use core::mem::{self, MaybeUninit};
 use core::sync::atomic::{AtomicBool, Ordering};
 
+use embassy_sync::blocking_mutex::CriticalSectionMutex;
 use embassy_usb::control::{self, ControlHandler, InResponse, OutResponse, Request};
 use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
 use embassy_usb::types::*;
 use embassy_usb::Builder;
-use embassy_util::blocking_mutex::CriticalSectionMutex;
 
 /// This should be used as `device_class` when building the `UsbDevice`.
 pub const USB_CLASS_CDC: u8 = 0x02;

embassy-usb/Cargo.toml

@@ -10,7 +10,7 @@ features = ["defmt"]
 target = "thumbv7em-none-eabi"
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../embassy-util" }
+embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }

embassy-usb/src/builder.rs

@@ -10,6 +10,7 @@ use crate::{Interface, STRING_INDEX_CUSTOM_START};
 #[derive(Debug, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
+/// Configuration used when creating [UsbDevice].
 pub struct Config<'a> {
     pub(crate) vendor_id: u16,
     pub(crate) product_id: u16,
@@ -96,6 +97,7 @@ pub struct Config<'a> {
 }
 
 impl<'a> Config<'a> {
+    /// Create default configuration with the provided vid and pid values.
     pub fn new(vid: u16, pid: u16) -> Self {
         Self {
             device_class: 0x00,

embassy-usb/src/control.rs

@@ -1,3 +1,4 @@
+//! USB control data types.
 use core::mem;
 
 use super::types::*;
@@ -8,7 +9,7 @@ use super::types::*;
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum RequestType {
     /// Request is a USB standard request. Usually handled by
-    /// [`UsbDevice`](crate::device::UsbDevice).
+    /// [`UsbDevice`](crate::UsbDevice).
     Standard = 0,
     /// Request is intended for a USB class.
     Class = 1,

embassy-usb/src/driver.rs

@@ -12,7 +12,7 @@ pub trait Driver<'a> {
 
     /// Allocates an endpoint and specified endpoint parameters. This method is called by the device
     /// and class implementations to allocate endpoints, and can only be called before
-    /// [`start`](UsbBus::start) is called.
+    /// [`start`](Self::start) is called.
     ///
     /// # Arguments
     ///
@@ -95,7 +95,7 @@ pub trait Bus {
     ///
     /// # Errors
     ///
-    /// * [`Unsupported`](crate::UsbError::Unsupported) - This UsbBus implementation doesn't support
+    /// * [`Unsupported`](crate::driver::Unsupported) - This UsbBus implementation doesn't support
     ///   simulating a disconnect or it has not been enabled at creation time.
     fn force_reset(&mut self) -> Result<(), Unsupported> {
         Err(Unsupported)
@@ -105,7 +105,7 @@ pub trait Bus {
     ///
     /// # Errors
     ///
-    /// * [`Unsupported`](crate::UsbError::Unsupported) - This UsbBus implementation doesn't support
+    /// * [`Unsupported`](crate::driver::Unsupported) - This UsbBus implementation doesn't support
     ///   remote wakeup or it has not been enabled at creation time.
     fn remote_wakeup(&mut self) -> Self::RemoteWakeupFuture<'_>;
 }

embassy-usb/src/lib.rs

@@ -12,7 +12,7 @@ mod descriptor_reader;
 pub mod driver;
 pub mod types;
 
-use embassy_util::{select, Either};
+use embassy_futures::{select, Either};
 use heapless::Vec;
 
 pub use self::builder::{Builder, Config};

embassy-util/src/channel/mod.rs

@@ -1,5 +0,0 @@
-//! Async channels
-
-pub mod mpmc;
-pub mod pubsub;
-pub mod signal;

embassy-util/src/forever.rs

@@ -1,95 +0,0 @@
-use core::cell::UnsafeCell;
-use core::mem::MaybeUninit;
-
-use atomic_polyfill::{AtomicBool, Ordering};
-
-/// Type with static lifetime that may be written to once at runtime.
-///
-/// This may be used to initialize static objects at runtime, typically in the init routine.
-/// This is useful for objects such as Embassy's RTC, which cannot be initialized in a const
-/// context.
-///
-/// Note: IF a global mutable variable is desired, use a CriticalSectionMutex or ThreadModeMutex instead.
-///
-/// ```
-/// use embassy_util::Forever;
-/// // Using an integer for the sake of keeping this example self-contained,
-/// // see https://github.com/embassy-rs/embassy/wiki/Getting-Started for a more "proper" example.
-/// static SOME_INT: Forever<u32> =Forever::new();
-///
-/// // put returns a mutable pointer to the object stored in the forever, which may then be passed
-/// // around.
-/// let mut x = SOME_INT.put(42);
-/// assert_eq!(*x, 42);
-/// ```
-pub struct Forever<T> {
-    used: AtomicBool,
-    t: UnsafeCell<MaybeUninit<T>>,
-}
-
-unsafe impl<T> Send for Forever<T> {}
-unsafe impl<T> Sync for Forever<T> {}
-
-impl<T> Forever<T> {
-    /// Create a new `Forever`.
-    #[inline(always)]
-    pub const fn new() -> Self {
-        Self {
-            used: AtomicBool::new(false),
-            t: UnsafeCell::new(MaybeUninit::uninit()),
-        }
-    }
-
-    /// Store a value in this `Forever`, returning a mutable reference to it.
-    ///
-    /// Using this method, the compiler usually constructs `val` in the stack and then moves
-    /// it into the `Forever`. If `T` is big, this is likely to cause stack overflows.
-    /// Considering using [`Signal::put_with`] instead, which will construct it in-place inside the `Forever`.
-    ///
-    /// # Panics
-    ///
-    /// Panics if this `Forever` already has a value stored in it.
-    #[inline(always)]
-    #[allow(clippy::mut_from_ref)]
-    pub fn put(&'static self, val: T) -> &'static mut T {
-        self.put_with(|| val)
-    }
-
-    /// Store the closure return value in this `Forever`, returning a mutable reference to it.
-    ///
-    /// The advantage over [`Forever::put`] is that this method allows the closure to construct
-    /// the `T` value in-place directly inside the `Forever`, saving stack space.
-    ///
-    /// # Panics
-    ///
-    /// Panics if this `Forever` already has a value stored in it.
-    #[inline(always)]
-    #[allow(clippy::mut_from_ref)]
-    pub fn put_with(&'static self, val: impl FnOnce() -> T) -> &'static mut T {
-        if self
-            .used
-            .compare_exchange(false, true, Ordering::Relaxed, Ordering::Relaxed)
-            .is_err()
-        {
-            panic!("Forever.put() called multiple times");
-        }
-
-        let p: &'static mut MaybeUninit<T> = unsafe { &mut *self.t.get() };
-        p.write(val())
-    }
-
-    /// Unsafely get a mutable reference to the contents of this Forever.
-    ///
-    /// # Safety
-    ///
-    /// This is undefined behavior if:
-    ///
-    /// - The `Forever` has not been initialized yet (with `put' or `put_with`), or
-    /// - A reference to the contents (mutable or not) already exists.
-    #[inline(always)]
-    #[allow(clippy::mut_from_ref)]
-    pub unsafe fn steal(&self) -> &mut T {
-        let p: &mut MaybeUninit<T> = &mut *self.t.get();
-        p.assume_init_mut()
-    }
-}

examples/boot/application/nrf/Cargo.toml

@@ -4,7 +4,7 @@ name = "embassy-boot-nrf-examples"
 version = "0.1.0"
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../../../../embassy-util" }
+embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync" }
 embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly"] }
 embassy-nrf = { version = "0.1.0", path = "../../../../embassy-nrf", features = ["time-driver-rtc1", "gpiote", "nightly", "nrf52840"] }

examples/boot/application/stm32f3/Cargo.toml

@@ -4,7 +4,7 @@ name = "embassy-boot-stm32f3-examples"
 version = "0.1.0"
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../../../../embassy-util", features = ["defmt"] }
+embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-32768hz"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f303re", "time-driver-any", "exti"]  }

examples/boot/application/stm32f7/Cargo.toml

@@ -4,7 +4,7 @@ name = "embassy-boot-stm32f7-examples"
 version = "0.1.0"
 
 [dependencies]
-embassy-util = { version = "0.1.0", path = "../../../../embassy-util", features = ["defmt"] }
+embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly", "tick-32768hz"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f767zi", "time-driver-any", "exti"]  }