Merge branch 'embassy-rs:master' into flash-regions

embassy-boot/boot/src/boot_loader.rs

@@ -0,0 +1,526 @@
+use embedded_storage::nor_flash::{ErrorType, NorFlash, NorFlashError, NorFlashErrorKind, ReadNorFlash};
+
+use crate::{Partition, State, BOOT_MAGIC, SWAP_MAGIC};
+
+/// Errors returned by bootloader
+#[derive(PartialEq, Eq, Debug)]
+pub enum BootError {
+    /// Error from flash.
+    Flash(NorFlashErrorKind),
+    /// Invalid bootloader magic
+    BadMagic,
+}
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for BootError {
+    fn format(&self, fmt: defmt::Formatter) {
+        match self {
+            BootError::Flash(_) => defmt::write!(fmt, "BootError::Flash(_)"),
+            BootError::BadMagic => defmt::write!(fmt, "BootError::BadMagic"),
+        }
+    }
+}
+
+impl<E> From<E> for BootError
+where
+    E: NorFlashError,
+{
+    fn from(error: E) -> Self {
+        BootError::Flash(error.kind())
+    }
+}
+
+/// Extension of the embedded-storage flash type information with block size and erase value.
+pub trait Flash: NorFlash + ReadNorFlash {
+    /// The block size that should be used when writing to flash. For most builtin flashes, this is the same as the erase
+    /// size of the flash, but for external QSPI flash modules, this can be lower.
+    const BLOCK_SIZE: usize;
+    /// The erase value of the flash. Typically the default of 0xFF is used, but some flashes use a different value.
+    const ERASE_VALUE: u8 = 0xFF;
+}
+
+/// Trait defining the flash handles used for active and DFU partition
+pub trait FlashConfig {
+    /// Flash type used for the state partition.
+    type STATE: Flash;
+    /// Flash type used for the active partition.
+    type ACTIVE: Flash;
+    /// Flash type used for the dfu partition.
+    type DFU: Flash;
+
+    /// Return flash instance used to write/read to/from active partition.
+    fn active(&mut self) -> &mut Self::ACTIVE;
+    /// Return flash instance used to write/read to/from dfu partition.
+    fn dfu(&mut self) -> &mut Self::DFU;
+    /// Return flash instance used to write/read to/from bootloader state.
+    fn state(&mut self) -> &mut Self::STATE;
+}
+
+/// BootLoader works with any flash implementing embedded_storage and can also work with
+/// different page sizes and flash write sizes.
+pub struct BootLoader {
+    // Page with current state of bootloader. The state partition has the following format:
+    // | Range          | Description                                                                      |
+    // | 0 - WRITE_SIZE | Magic indicating bootloader state. BOOT_MAGIC means boot, SWAP_MAGIC means swap. |
+    // | WRITE_SIZE - N | Progress index used while swapping or reverting                                  |
+    state: Partition,
+    // Location of the partition which will be booted from
+    active: Partition,
+    // Location of the partition which will be swapped in when requested
+    dfu: Partition,
+}
+
+impl BootLoader {
+    /// Create a new instance of a bootloader with the given partitions.
+    ///
+    /// - All partitions must be aligned with the PAGE_SIZE const generic parameter.
+    /// - The dfu partition must be at least PAGE_SIZE bigger than the active partition.
+    pub fn new(active: Partition, dfu: Partition, state: Partition) -> Self {
+        Self { active, dfu, state }
+    }
+
+    /// Return the boot address for the active partition.
+    pub fn boot_address(&self) -> usize {
+        self.active.from
+    }
+
+    /// Perform necessary boot preparations like swapping images.
+    ///
+    /// The DFU partition is assumed to be 1 page bigger than the active partition for the swap
+    /// algorithm to work correctly.
+    ///
+    /// SWAPPING
+    ///
+    /// Assume a flash size of 3 pages for the active partition, and 4 pages for the DFU partition.
+    /// The swap index contains the copy progress, as to allow continuation of the copy process on
+    /// power failure. The index counter is represented within 1 or more pages (depending on total
+    /// flash size), where a page X is considered swapped if index at location (X + WRITE_SIZE)
+    /// contains a zero value. This ensures that index updates can be performed atomically and
+    /// avoid a situation where the wrong index value is set (page write size is "atomic").
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          0 |      1 |      2 |      3 |      - |
+    /// |       DFU |          0 |      3 |      2 |      1 |      X |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// The algorithm starts by copying 'backwards', and after the first step, the layout is
+    /// as follows:
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          1 |      1 |      2 |      1 |      - |
+    /// |       DFU |          1 |      3 |      2 |      1 |      3 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// The next iteration performs the same steps
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          2 |      1 |      2 |      1 |      - |
+    /// |       DFU |          2 |      3 |      2 |      2 |      3 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// And again until we're done
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          3 |      3 |      2 |      1 |      - |
+    /// |       DFU |          3 |      3 |      1 |      2 |      3 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// REVERTING
+    ///
+    /// The reverting algorithm uses the swap index to discover that images were swapped, but that
+    /// the application failed to mark the boot successful. In this case, the revert algorithm will
+    /// run.
+    ///
+    /// The revert index is located separately from the swap index, to ensure that revert can continue
+    /// on power failure.
+    ///
+    /// The revert algorithm works forwards, by starting copying into the 'unused' DFU page at the start.
+    ///
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    //*/
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |    Active |            3 |      1 |      2 |      1 |      - |
+    /// |       DFU |            3 |      3 |      1 |      2 |      3 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    ///
+    ///
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |    Active |            3 |      1 |      2 |      1 |      - |
+    /// |       DFU |            3 |      3 |      2 |      2 |      3 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    ///
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |    Active |            3 |      1 |      2 |      3 |      - |
+    /// |       DFU |            3 |      3 |      2 |      1 |      3 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    ///
+    pub fn prepare_boot<P: FlashConfig>(
+        &mut self,
+        p: &mut P,
+        magic: &mut [u8],
+        page: &mut [u8],
+    ) -> Result<State, BootError> {
+        // Ensure we have enough progress pages to store copy progress
+        assert_partitions(self.active, self.dfu, self.state, page.len(), P::STATE::WRITE_SIZE);
+        assert_eq!(magic.len(), P::STATE::WRITE_SIZE);
+
+        // Copy contents from partition N to active
+        let state = self.read_state(p, magic)?;
+        if state == State::Swap {
+            //
+            // Check if we already swapped. If we're in the swap state, this means we should revert
+            // since the app has failed to mark boot as successful
+            //
+            if !self.is_swapped(p, magic, page)? {
+                trace!("Swapping");
+                self.swap(p, magic, page)?;
+                trace!("Swapping done");
+            } else {
+                trace!("Reverting");
+                self.revert(p, magic, page)?;
+
+                // Overwrite magic and reset progress
+                let fstate = p.state();
+                magic.fill(!P::STATE::ERASE_VALUE);
+                fstate.write(self.state.from as u32, magic)?;
+                fstate.erase(self.state.from as u32, self.state.to as u32)?;
+
+                magic.fill(BOOT_MAGIC);
+                fstate.write(self.state.from as u32, magic)?;
+            }
+        }
+        Ok(state)
+    }
+
+    fn is_swapped<P: FlashConfig>(&mut self, p: &mut P, magic: &mut [u8], page: &mut [u8]) -> Result<bool, BootError> {
+        let page_size = page.len();
+        let page_count = self.active.len() / page_size;
+        let progress = self.current_progress(p, magic)?;
+
+        Ok(progress >= page_count * 2)
+    }
+
+    fn current_progress<P: FlashConfig>(&mut self, config: &mut P, aligned: &mut [u8]) -> Result<usize, BootError> {
+        let write_size = aligned.len();
+        let max_index = ((self.state.len() - write_size) / write_size) - 1;
+        aligned.fill(!P::STATE::ERASE_VALUE);
+
+        let flash = config.state();
+        for i in 0..max_index {
+            flash.read((self.state.from + write_size + i * write_size) as u32, aligned)?;
+
+            if aligned.iter().any(|&b| b == P::STATE::ERASE_VALUE) {
+                return Ok(i);
+            }
+        }
+        Ok(max_index)
+    }
+
+    fn update_progress<P: FlashConfig>(&mut self, idx: usize, p: &mut P, magic: &mut [u8]) -> Result<(), BootError> {
+        let flash = p.state();
+        let write_size = magic.len();
+        let w = self.state.from + write_size + idx * write_size;
+
+        let aligned = magic;
+        aligned.fill(!P::STATE::ERASE_VALUE);
+        flash.write(w as u32, aligned)?;
+        Ok(())
+    }
+
+    fn active_addr(&self, n: usize, page_size: usize) -> usize {
+        self.active.from + n * page_size
+    }
+
+    fn dfu_addr(&self, n: usize, page_size: usize) -> usize {
+        self.dfu.from + n * page_size
+    }
+
+    fn copy_page_once_to_active<P: FlashConfig>(
+        &mut self,
+        idx: usize,
+        from_page: usize,
+        to_page: usize,
+        p: &mut P,
+        magic: &mut [u8],
+        page: &mut [u8],
+    ) -> Result<(), BootError> {
+        let buf = page;
+        if self.current_progress(p, magic)? <= idx {
+            let mut offset = from_page;
+            for chunk in buf.chunks_mut(P::DFU::BLOCK_SIZE) {
+                p.dfu().read(offset as u32, chunk)?;
+                offset += chunk.len();
+            }
+
+            p.active().erase(to_page as u32, (to_page + buf.len()) as u32)?;
+
+            let mut offset = to_page;
+            for chunk in buf.chunks(P::ACTIVE::BLOCK_SIZE) {
+                p.active().write(offset as u32, chunk)?;
+                offset += chunk.len();
+            }
+            self.update_progress(idx, p, magic)?;
+        }
+        Ok(())
+    }
+
+    fn copy_page_once_to_dfu<P: FlashConfig>(
+        &mut self,
+        idx: usize,
+        from_page: usize,
+        to_page: usize,
+        p: &mut P,
+        magic: &mut [u8],
+        page: &mut [u8],
+    ) -> Result<(), BootError> {
+        let buf = page;
+        if self.current_progress(p, magic)? <= idx {
+            let mut offset = from_page;
+            for chunk in buf.chunks_mut(P::ACTIVE::BLOCK_SIZE) {
+                p.active().read(offset as u32, chunk)?;
+                offset += chunk.len();
+            }
+
+            p.dfu().erase(to_page as u32, (to_page + buf.len()) as u32)?;
+
+            let mut offset = to_page;
+            for chunk in buf.chunks(P::DFU::BLOCK_SIZE) {
+                p.dfu().write(offset as u32, chunk)?;
+                offset += chunk.len();
+            }
+            self.update_progress(idx, p, magic)?;
+        }
+        Ok(())
+    }
+
+    fn swap<P: FlashConfig>(&mut self, p: &mut P, magic: &mut [u8], page: &mut [u8]) -> Result<(), BootError> {
+        let page_size = page.len();
+        let page_count = self.active.len() / page_size;
+        trace!("Page count: {}", page_count);
+        for page_num in 0..page_count {
+            trace!("COPY PAGE {}", page_num);
+            // Copy active page to the 'next' DFU page.
+            let active_page = self.active_addr(page_count - 1 - page_num, page_size);
+            let dfu_page = self.dfu_addr(page_count - page_num, page_size);
+            //trace!("Copy active {} to dfu {}", active_page, dfu_page);
+            self.copy_page_once_to_dfu(page_num * 2, active_page, dfu_page, p, magic, page)?;
+
+            // Copy DFU page to the active page
+            let active_page = self.active_addr(page_count - 1 - page_num, page_size);
+            let dfu_page = self.dfu_addr(page_count - 1 - page_num, page_size);
+            //trace!("Copy dfy {} to active {}", dfu_page, active_page);
+            self.copy_page_once_to_active(page_num * 2 + 1, dfu_page, active_page, p, magic, page)?;
+        }
+
+        Ok(())
+    }
+
+    fn revert<P: FlashConfig>(&mut self, p: &mut P, magic: &mut [u8], page: &mut [u8]) -> Result<(), BootError> {
+        let page_size = page.len();
+        let page_count = self.active.len() / page_size;
+        for page_num in 0..page_count {
+            // Copy the bad active page to the DFU page
+            let active_page = self.active_addr(page_num, page_size);
+            let dfu_page = self.dfu_addr(page_num, page_size);
+            self.copy_page_once_to_dfu(page_count * 2 + page_num * 2, active_page, dfu_page, p, magic, page)?;
+
+            // Copy the DFU page back to the active page
+            let active_page = self.active_addr(page_num, page_size);
+            let dfu_page = self.dfu_addr(page_num + 1, page_size);
+            self.copy_page_once_to_active(page_count * 2 + page_num * 2 + 1, dfu_page, active_page, p, magic, page)?;
+        }
+
+        Ok(())
+    }
+
+    fn read_state<P: FlashConfig>(&mut self, config: &mut P, magic: &mut [u8]) -> Result<State, BootError> {
+        let flash = config.state();
+        flash.read(self.state.from as u32, magic)?;
+
+        if !magic.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+}
+
+fn assert_partitions(active: Partition, dfu: Partition, state: Partition, page_size: usize, write_size: usize) {
+    assert_eq!(active.len() % page_size, 0);
+    assert_eq!(dfu.len() % page_size, 0);
+    assert!(dfu.len() - active.len() >= page_size);
+    assert!(2 * (active.len() / page_size) <= (state.len() - write_size) / write_size);
+}
+
+/// A flash wrapper implementing the Flash and embedded_storage traits.
+pub struct BootFlash<F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8 = 0xFF>
+where
+    F: NorFlash + ReadNorFlash,
+{
+    flash: F,
+}
+
+impl<F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> BootFlash<F, BLOCK_SIZE, ERASE_VALUE>
+where
+    F: NorFlash + ReadNorFlash,
+{
+    /// Create a new instance of a bootable flash
+    pub fn new(flash: F) -> Self {
+        Self { flash }
+    }
+}
+
+impl<F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> Flash for BootFlash<F, BLOCK_SIZE, ERASE_VALUE>
+where
+    F: NorFlash + ReadNorFlash,
+{
+    const BLOCK_SIZE: usize = BLOCK_SIZE;
+    const ERASE_VALUE: u8 = ERASE_VALUE;
+}
+
+impl<F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> ErrorType for BootFlash<F, BLOCK_SIZE, ERASE_VALUE>
+where
+    F: ReadNorFlash + NorFlash,
+{
+    type Error = F::Error;
+}
+
+impl<F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> NorFlash for BootFlash<F, BLOCK_SIZE, ERASE_VALUE>
+where
+    F: ReadNorFlash + NorFlash,
+{
+    const WRITE_SIZE: usize = F::WRITE_SIZE;
+    const ERASE_SIZE: usize = F::ERASE_SIZE;
+
+    fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        F::erase(&mut self.flash, from, to)
+    }
+
+    fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        F::write(&mut self.flash, offset, bytes)
+    }
+}
+
+impl<F, const BLOCK_SIZE: usize, const ERASE_VALUE: u8> ReadNorFlash for BootFlash<F, BLOCK_SIZE, ERASE_VALUE>
+where
+    F: ReadNorFlash + NorFlash,
+{
+    const READ_SIZE: usize = F::READ_SIZE;
+
+    fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        F::read(&mut self.flash, offset, bytes)
+    }
+
+    fn capacity(&self) -> usize {
+        F::capacity(&self.flash)
+    }
+}
+
+/// Convenience provider that uses a single flash for all partitions.
+pub struct SingleFlashConfig<'a, F>
+where
+    F: Flash,
+{
+    flash: &'a mut F,
+}
+
+impl<'a, F> SingleFlashConfig<'a, F>
+where
+    F: Flash,
+{
+    /// Create a provider for a single flash.
+    pub fn new(flash: &'a mut F) -> Self {
+        Self { flash }
+    }
+}
+
+impl<'a, F> FlashConfig for SingleFlashConfig<'a, F>
+where
+    F: Flash,
+{
+    type STATE = F;
+    type ACTIVE = F;
+    type DFU = F;
+
+    fn active(&mut self) -> &mut Self::STATE {
+        self.flash
+    }
+    fn dfu(&mut self) -> &mut Self::ACTIVE {
+        self.flash
+    }
+    fn state(&mut self) -> &mut Self::DFU {
+        self.flash
+    }
+}
+
+/// Convenience flash provider that uses separate flash instances for each partition.
+pub struct MultiFlashConfig<'a, ACTIVE, STATE, DFU>
+where
+    ACTIVE: Flash,
+    STATE: Flash,
+    DFU: Flash,
+{
+    active: &'a mut ACTIVE,
+    state: &'a mut STATE,
+    dfu: &'a mut DFU,
+}
+
+impl<'a, ACTIVE, STATE, DFU> MultiFlashConfig<'a, ACTIVE, STATE, DFU>
+where
+    ACTIVE: Flash,
+    STATE: Flash,
+    DFU: Flash,
+{
+    /// Create a new flash provider with separate configuration for all three partitions.
+    pub fn new(active: &'a mut ACTIVE, state: &'a mut STATE, dfu: &'a mut DFU) -> Self {
+        Self { active, state, dfu }
+    }
+}
+
+impl<'a, ACTIVE, STATE, DFU> FlashConfig for MultiFlashConfig<'a, ACTIVE, STATE, DFU>
+where
+    ACTIVE: Flash,
+    STATE: Flash,
+    DFU: Flash,
+{
+    type STATE = STATE;
+    type ACTIVE = ACTIVE;
+    type DFU = DFU;
+
+    fn active(&mut self) -> &mut Self::ACTIVE {
+        self.active
+    }
+    fn dfu(&mut self) -> &mut Self::DFU {
+        self.dfu
+    }
+    fn state(&mut self) -> &mut Self::STATE {
+        self.state
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    #[should_panic]
+    fn test_range_asserts() {
+        const ACTIVE: Partition = Partition::new(4096, 4194304);
+        const DFU: Partition = Partition::new(4194304, 2 * 4194304);
+        const STATE: Partition = Partition::new(0, 4096);
+        assert_partitions(ACTIVE, DFU, STATE, 4096, 4);
+    }
+}

embassy-boot/boot/src/firmware_updater.rs

@@ -0,0 +1,537 @@
+use embedded_storage::nor_flash::{NorFlash, NorFlashError, NorFlashErrorKind};
+use embedded_storage_async::nor_flash::NorFlash as AsyncNorFlash;
+
+use crate::{FirmwareWriter, Partition, State, BOOT_MAGIC, SWAP_MAGIC};
+
+/// Errors returned by FirmwareUpdater
+#[derive(Debug)]
+pub enum FirmwareUpdaterError {
+    /// Error from flash.
+    Flash(NorFlashErrorKind),
+    /// Signature errors.
+    Signature(signature::Error),
+}
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for FirmwareUpdaterError {
+    fn format(&self, fmt: defmt::Formatter) {
+        match self {
+            FirmwareUpdaterError::Flash(_) => defmt::write!(fmt, "FirmwareUpdaterError::Flash(_)"),
+            FirmwareUpdaterError::Signature(_) => defmt::write!(fmt, "FirmwareUpdaterError::Signature(_)"),
+        }
+    }
+}
+
+impl<E> From<E> for FirmwareUpdaterError
+where
+    E: NorFlashError,
+{
+    fn from(error: E) -> Self {
+        FirmwareUpdaterError::Flash(error.kind())
+    }
+}
+
+/// FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
+/// 'mess up' the internal bootloader state
+pub struct FirmwareUpdater {
+    state: Partition,
+    dfu: Partition,
+}
+
+impl Default for FirmwareUpdater {
+    fn default() -> Self {
+        extern "C" {
+            static __bootloader_state_start: u32;
+            static __bootloader_state_end: u32;
+            static __bootloader_dfu_start: u32;
+            static __bootloader_dfu_end: u32;
+        }
+
+        let dfu = unsafe {
+            Partition::new(
+                &__bootloader_dfu_start as *const u32 as usize,
+                &__bootloader_dfu_end as *const u32 as usize,
+            )
+        };
+        let state = unsafe {
+            Partition::new(
+                &__bootloader_state_start as *const u32 as usize,
+                &__bootloader_state_end as *const u32 as usize,
+            )
+        };
+
+        trace!("DFU: 0x{:x} - 0x{:x}", dfu.from, dfu.to);
+        trace!("STATE: 0x{:x} - 0x{:x}", state.from, state.to);
+        FirmwareUpdater::new(dfu, state)
+    }
+}
+
+impl FirmwareUpdater {
+    /// Create a firmware updater instance with partition ranges for the update and state partitions.
+    pub const fn new(dfu: Partition, state: Partition) -> Self {
+        Self { dfu, state }
+    }
+
+    /// Return the length of the DFU area
+    pub fn firmware_len(&self) -> usize {
+        self.dfu.len()
+    }
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub async fn get_state<F: AsyncNorFlash>(
+        &mut self,
+        flash: &mut F,
+        aligned: &mut [u8],
+    ) -> Result<State, FirmwareUpdaterError> {
+        flash.read(self.state.from as u32, aligned).await?;
+
+        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Verify the DFU given a public key. If there is an error then DO NOT
+    /// proceed with updating the firmware as it must be signed with a
+    /// corresponding private key (otherwise it could be malicious firmware).
+    ///
+    /// Mark to trigger firmware swap on next boot if verify suceeds.
+    ///
+    /// If the "ed25519-salty" feature is set (or another similar feature) then the signature is expected to have
+    /// been generated from a SHA-512 digest of the firmware bytes.
+    ///
+    /// If no signature feature is set then this method will always return a
+    /// signature error.
+    ///
+    /// # Safety
+    ///
+    /// The `_aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    #[cfg(feature = "_verify")]
+    pub async fn verify_and_mark_updated<F: AsyncNorFlash>(
+        &mut self,
+        _flash: &mut F,
+        _public_key: &[u8],
+        _signature: &[u8],
+        _update_len: usize,
+        _aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        let _end = self.dfu.from + _update_len;
+        let _read_size = _aligned.len();
+
+        assert_eq!(_aligned.len(), F::WRITE_SIZE);
+        assert!(_end <= self.dfu.to);
+
+        #[cfg(feature = "ed25519-dalek")]
+        {
+            use ed25519_dalek::{Digest, PublicKey, Sha512, Signature, SignatureError, Verifier};
+
+            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());
+
+            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+
+            let mut digest = Sha512::new();
+
+            let mut offset = self.dfu.from;
+            let last_offset = _end / _read_size * _read_size;
+
+            while offset < last_offset {
+                _flash.read(offset as u32, _aligned).await?;
+                digest.update(&_aligned);
+                offset += _read_size;
+            }
+
+            let remaining = _end % _read_size;
+
+            if remaining > 0 {
+                _flash.read(last_offset as u32, _aligned).await?;
+                digest.update(&_aligned[0..remaining]);
+            }
+
+            public_key
+                .verify(&digest.finalize(), &signature)
+                .map_err(into_signature_error)?
+        }
+        #[cfg(feature = "ed25519-salty")]
+        {
+            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
+            use salty::{PublicKey, Sha512, Signature};
+
+            fn into_signature_error<E>(_: E) -> FirmwareUpdaterError {
+                FirmwareUpdaterError::Signature(signature::Error::default())
+            }
+
+            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
+            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
+
+            let mut digest = Sha512::new();
+
+            let mut offset = self.dfu.from;
+            let last_offset = _end / _read_size * _read_size;
+
+            while offset < last_offset {
+                _flash.read(offset as u32, _aligned).await?;
+                digest.update(&_aligned);
+                offset += _read_size;
+            }
+
+            let remaining = _end % _read_size;
+
+            if remaining > 0 {
+                _flash.read(last_offset as u32, _aligned).await?;
+                digest.update(&_aligned[0..remaining]);
+            }
+
+            let message = digest.finalize();
+            let r = public_key.verify(&message, &signature);
+            trace!(
+                "Verifying with public key {}, signature {} and message {} yields ok: {}",
+                public_key.to_bytes(),
+                signature.to_bytes(),
+                message,
+                r.is_ok()
+            );
+            r.map_err(into_signature_error)?
+        }
+
+        self.set_magic(_aligned, SWAP_MAGIC, _flash).await
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    #[cfg(not(feature = "_verify"))]
+    pub async fn mark_updated<F: AsyncNorFlash>(
+        &mut self,
+        flash: &mut F,
+        aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), F::WRITE_SIZE);
+        self.set_magic(aligned, SWAP_MAGIC, flash).await
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub async fn mark_booted<F: AsyncNorFlash>(
+        &mut self,
+        flash: &mut F,
+        aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), F::WRITE_SIZE);
+        self.set_magic(aligned, BOOT_MAGIC, flash).await
+    }
+
+    async fn set_magic<F: AsyncNorFlash>(
+        &mut self,
+        aligned: &mut [u8],
+        magic: u8,
+        flash: &mut F,
+    ) -> Result<(), FirmwareUpdaterError> {
+        flash.read(self.state.from as u32, aligned).await?;
+
+        if aligned.iter().any(|&b| b != magic) {
+            aligned.fill(0);
+
+            flash.write(self.state.from as u32, aligned).await?;
+            flash.erase(self.state.from as u32, self.state.to as u32).await?;
+
+            aligned.fill(magic);
+            flash.write(self.state.from as u32, aligned).await?;
+        }
+        Ok(())
+    }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub async fn write_firmware<F: AsyncNorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert!(data.len() >= F::ERASE_SIZE);
+
+        flash
+            .erase(
+                (self.dfu.from + offset) as u32,
+                (self.dfu.from + offset + data.len()) as u32,
+            )
+            .await?;
+
+        trace!(
+            "Erased from {} to {}",
+            self.dfu.from + offset,
+            self.dfu.from + offset + data.len()
+        );
+
+        FirmwareWriter(self.dfu)
+            .write_block(offset, data, flash, block_size)
+            .await?;
+
+        Ok(())
+    }
+
+    /// Prepare for an incoming DFU update by erasing the entire DFU area and
+    /// returning a `FirmwareWriter`.
+    ///
+    /// Using this instead of `write_firmware` allows for an optimized API in
+    /// exchange for added complexity.
+    pub async fn prepare_update<F: AsyncNorFlash>(
+        &mut self,
+        flash: &mut F,
+    ) -> Result<FirmwareWriter, FirmwareUpdaterError> {
+        flash.erase((self.dfu.from) as u32, (self.dfu.to) as u32).await?;
+
+        trace!("Erased from {} to {}", self.dfu.from, self.dfu.to);
+
+        Ok(FirmwareWriter(self.dfu))
+    }
+
+    //
+    // Blocking API
+    //
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub fn get_state_blocking<F: NorFlash>(
+        &mut self,
+        flash: &mut F,
+        aligned: &mut [u8],
+    ) -> Result<State, FirmwareUpdaterError> {
+        flash.read(self.state.from as u32, aligned)?;
+
+        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Verify the DFU given a public key. If there is an error then DO NOT
+    /// proceed with updating the firmware as it must be signed with a
+    /// corresponding private key (otherwise it could be malicious firmware).
+    ///
+    /// Mark to trigger firmware swap on next boot if verify suceeds.
+    ///
+    /// If the "ed25519-salty" feature is set (or another similar feature) then the signature is expected to have
+    /// been generated from a SHA-512 digest of the firmware bytes.
+    ///
+    /// If no signature feature is set then this method will always return a
+    /// signature error.
+    ///
+    /// # Safety
+    ///
+    /// The `_aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    #[cfg(feature = "_verify")]
+    pub fn verify_and_mark_updated_blocking<F: NorFlash>(
+        &mut self,
+        _flash: &mut F,
+        _public_key: &[u8],
+        _signature: &[u8],
+        _update_len: usize,
+        _aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        let _end = self.dfu.from + _update_len;
+        let _read_size = _aligned.len();
+
+        assert_eq!(_aligned.len(), F::WRITE_SIZE);
+        assert!(_end <= self.dfu.to);
+
+        #[cfg(feature = "ed25519-dalek")]
+        {
+            use ed25519_dalek::{Digest, PublicKey, Sha512, Signature, SignatureError, Verifier};
+
+            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());
+
+            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+
+            let mut digest = Sha512::new();
+
+            let mut offset = self.dfu.from;
+            let last_offset = _end / _read_size * _read_size;
+
+            while offset < last_offset {
+                _flash.read(offset as u32, _aligned)?;
+                digest.update(&_aligned);
+                offset += _read_size;
+            }
+
+            let remaining = _end % _read_size;
+
+            if remaining > 0 {
+                _flash.read(last_offset as u32, _aligned)?;
+                digest.update(&_aligned[0..remaining]);
+            }
+
+            public_key
+                .verify(&digest.finalize(), &signature)
+                .map_err(into_signature_error)?
+        }
+        #[cfg(feature = "ed25519-salty")]
+        {
+            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
+            use salty::{PublicKey, Sha512, Signature};
+
+            fn into_signature_error<E>(_: E) -> FirmwareUpdaterError {
+                FirmwareUpdaterError::Signature(signature::Error::default())
+            }
+
+            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
+            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
+
+            let mut digest = Sha512::new();
+
+            let mut offset = self.dfu.from;
+            let last_offset = _end / _read_size * _read_size;
+
+            while offset < last_offset {
+                _flash.read(offset as u32, _aligned)?;
+                digest.update(&_aligned);
+                offset += _read_size;
+            }
+
+            let remaining = _end % _read_size;
+
+            if remaining > 0 {
+                _flash.read(last_offset as u32, _aligned)?;
+                digest.update(&_aligned[0..remaining]);
+            }
+
+            let message = digest.finalize();
+            let r = public_key.verify(&message, &signature);
+            trace!(
+                "Verifying with public key {}, signature {} and message {} yields ok: {}",
+                public_key.to_bytes(),
+                signature.to_bytes(),
+                message,
+                r.is_ok()
+            );
+            r.map_err(into_signature_error)?
+        }
+
+        self.set_magic_blocking(_aligned, SWAP_MAGIC, _flash)
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    #[cfg(not(feature = "_verify"))]
+    pub fn mark_updated_blocking<F: NorFlash>(
+        &mut self,
+        flash: &mut F,
+        aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), F::WRITE_SIZE);
+        self.set_magic_blocking(aligned, SWAP_MAGIC, flash)
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub fn mark_booted_blocking<F: NorFlash>(
+        &mut self,
+        flash: &mut F,
+        aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), F::WRITE_SIZE);
+        self.set_magic_blocking(aligned, BOOT_MAGIC, flash)
+    }
+
+    fn set_magic_blocking<F: NorFlash>(
+        &mut self,
+        aligned: &mut [u8],
+        magic: u8,
+        flash: &mut F,
+    ) -> Result<(), FirmwareUpdaterError> {
+        flash.read(self.state.from as u32, aligned)?;
+
+        if aligned.iter().any(|&b| b != magic) {
+            aligned.fill(0);
+
+            flash.write(self.state.from as u32, aligned)?;
+            flash.erase(self.state.from as u32, self.state.to as u32)?;
+
+            aligned.fill(magic);
+            flash.write(self.state.from as u32, aligned)?;
+        }
+        Ok(())
+    }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub fn write_firmware_blocking<F: NorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert!(data.len() >= F::ERASE_SIZE);
+
+        flash.erase(
+            (self.dfu.from + offset) as u32,
+            (self.dfu.from + offset + data.len()) as u32,
+        )?;
+
+        trace!(
+            "Erased from {} to {}",
+            self.dfu.from + offset,
+            self.dfu.from + offset + data.len()
+        );
+
+        FirmwareWriter(self.dfu).write_block_blocking(offset, data, flash, block_size)?;
+
+        Ok(())
+    }
+
+    /// Prepare for an incoming DFU update by erasing the entire DFU area and
+    /// returning a `FirmwareWriter`.
+    ///
+    /// Using this instead of `write_firmware_blocking` allows for an optimized
+    /// API in exchange for added complexity.
+    pub fn prepare_update_blocking<F: NorFlash>(
+        &mut self,
+        flash: &mut F,
+    ) -> Result<FirmwareWriter, FirmwareUpdaterError> {
+        flash.erase((self.dfu.from) as u32, (self.dfu.to) as u32)?;
+
+        trace!("Erased from {} to {}", self.dfu.from, self.dfu.to);
+
+        Ok(FirmwareWriter(self.dfu))
+    }
+}

embassy-boot/boot/src/firmware_writer.rs

@@ -0,0 +1,97 @@
+use embedded_storage::nor_flash::NorFlash;
+use embedded_storage_async::nor_flash::NorFlash as AsyncNorFlash;
+
+use crate::Partition;
+
+/// FirmwareWriter allows writing blocks to an already erased flash.
+pub struct FirmwareWriter(pub(crate) Partition);
+
+impl FirmwareWriter {
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub async fn write_block<F: AsyncNorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), F::Error> {
+        trace!(
+            "Writing firmware at offset 0x{:x} len {}",
+            self.0.from + offset,
+            data.len()
+        );
+
+        let mut write_offset = self.0.from + offset;
+        for chunk in data.chunks(block_size) {
+            trace!("Wrote chunk at {}: {:?}", write_offset, chunk);
+            flash.write(write_offset as u32, chunk).await?;
+            write_offset += chunk.len();
+        }
+        /*
+        trace!("Wrote data, reading back for verification");
+
+        let mut buf: [u8; 4096] = [0; 4096];
+        let mut data_offset = 0;
+        let mut read_offset = self.dfu.from + offset;
+        for chunk in buf.chunks_mut(block_size) {
+            flash.read(read_offset as u32, chunk).await?;
+            trace!("Read chunk at {}: {:?}", read_offset, chunk);
+            assert_eq!(&data[data_offset..data_offset + block_size], chunk);
+            read_offset += chunk.len();
+            data_offset += chunk.len();
+        }
+        */
+
+        Ok(())
+    }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub fn write_block_blocking<F: NorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), F::Error> {
+        trace!(
+            "Writing firmware at offset 0x{:x} len {}",
+            self.0.from + offset,
+            data.len()
+        );
+
+        let mut write_offset = self.0.from + offset;
+        for chunk in data.chunks(block_size) {
+            trace!("Wrote chunk at {}: {:?}", write_offset, chunk);
+            flash.write(write_offset as u32, chunk)?;
+            write_offset += chunk.len();
+        }
+        /*
+        trace!("Wrote data, reading back for verification");
+
+        let mut buf: [u8; 4096] = [0; 4096];
+        let mut data_offset = 0;
+        let mut read_offset = self.dfu.from + offset;
+        for chunk in buf.chunks_mut(block_size) {
+            flash.read(read_offset as u32, chunk).await?;
+            trace!("Read chunk at {}: {:?}", read_offset, chunk);
+            assert_eq!(&data[data_offset..data_offset + block_size], chunk);
+            read_offset += chunk.len();
+            data_offset += chunk.len();
+        }
+        */
+
+        Ok(())
+    }
+}

embassy-boot/boot/src/partition.rs

@@ -0,0 +1,22 @@
+/// A region in flash used by the bootloader.
+#[derive(Copy, Clone, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct Partition {
+    /// Start of the flash region.
+    pub from: usize,
+    /// End of the flash region.
+    pub to: usize,
+}
+
+impl Partition {
+    /// Create a new partition with the provided range
+    pub const fn new(from: usize, to: usize) -> Self {
+        Self { from, to }
+    }
+
+    /// Return the length of the partition
+    #[allow(clippy::len_without_is_empty)]
+    pub const fn len(&self) -> usize {
+        self.to - self.from
+    }
+}

embassy-executor/Cargo.toml

@@ -38,6 +38,8 @@ wasm = ["dep:wasm-bindgen", "dep:js-sys"]
 # Enable nightly-only features
 nightly = []
 
+turbowakers = []
+
 integrated-timers = ["dep:embassy-time"]
 
 # Trace interrupt invocations with rtos-trace.

embassy-executor/src/raw/mod.rs

@@ -11,6 +11,7 @@ mod run_queue;
 #[cfg(feature = "integrated-timers")]
 mod timer_queue;
 pub(crate) mod util;
+#[cfg_attr(feature = "turbowakers", path = "waker_turbo.rs")]
 mod waker;
 
 use core::future::Future;

embassy-executor/src/raw/waker_turbo.rs

@@ -0,0 +1,34 @@
+use core::ptr::NonNull;
+use core::task::Waker;
+
+use super::{wake_task, TaskHeader, TaskRef};
+
+pub(crate) unsafe fn from_task(p: TaskRef) -> Waker {
+    Waker::from_turbo_ptr(NonNull::new_unchecked(p.as_ptr() as _))
+}
+
+/// Get a task pointer from a waker.
+///
+/// This can be used as an optimization in wait queues to store task pointers
+/// (1 word) instead of full Wakers (2 words). This saves a bit of RAM and helps
+/// avoid dynamic dispatch.
+///
+/// You can use the returned task pointer to wake the task with [`wake_task`](super::wake_task).
+///
+/// # Panics
+///
+/// Panics if the waker is not created by the Embassy executor.
+pub fn task_from_waker(waker: &Waker) -> TaskRef {
+    let ptr = waker.as_turbo_ptr().as_ptr();
+
+    // safety: our wakers are always created with `TaskRef::as_ptr`
+    unsafe { TaskRef::from_ptr(ptr as *const TaskHeader) }
+}
+
+#[inline(never)]
+#[no_mangle]
+fn _turbo_wake(ptr: NonNull<()>) {
+    // safety: our wakers are always created with `TaskRef::as_ptr`
+    let task = unsafe { TaskRef::from_ptr(ptr.as_ptr() as *const TaskHeader) };
+    wake_task(task)
+}

embassy-rp/src/uart/buffered.rs

@@ -175,6 +175,10 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
 
     fn read<'a>(buf: &'a mut [u8]) -> impl Future<Output = Result<usize, Error>> + 'a {
         poll_fn(move |cx| {
+            if buf.is_empty() {
+                return Poll::Ready(Ok(0));
+            }
+
             let state = T::state();
             let mut rx_reader = unsafe { state.rx_buf.reader() };
             let n = rx_reader.pop(|data| {
@@ -202,6 +206,10 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
     }
 
     pub fn blocking_read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
+        if buf.is_empty() {
+            return Ok(0);
+        }
+
         loop {
             let state = T::state();
             let mut rx_reader = unsafe { state.rx_buf.reader() };
@@ -293,6 +301,10 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
 
     fn write<'a>(buf: &'a [u8]) -> impl Future<Output = Result<usize, Error>> + 'a {
         poll_fn(move |cx| {
+            if buf.is_empty() {
+                return Poll::Ready(Ok(0));
+            }
+
             let state = T::state();
             let mut tx_writer = unsafe { state.tx_buf.writer() };
             let n = tx_writer.push(|data| {
@@ -327,6 +339,10 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     }
 
     pub fn blocking_write(&mut self, buf: &[u8]) -> Result<usize, Error> {
+        if buf.is_empty() {
+            return Ok(0);
+        }
+
         loop {
             let state = T::state();
             let mut tx_writer = unsafe { state.tx_buf.writer() };

embassy-rp/src/uart/mod.rs

@@ -405,10 +405,6 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
                 Parity::ParityEven => (true, true),
             };
 
-            // PL011 needs a (dummy) line control register write to latch in the
-            // divisors. We don't want to actually change LCR contents here.
-            r.uartlcr_h().modify(|_| {});
-
             r.uartlcr_h().write(|w| {
                 w.set_wlen(config.data_bits.bits());
                 w.set_stp2(config.stop_bits == StopBits::STOP2);
@@ -458,6 +454,10 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
             // Load PL011's baud divisor registers
             r.uartibrd().write_value(pac::uart::regs::Uartibrd(baud_ibrd));
             r.uartfbrd().write_value(pac::uart::regs::Uartfbrd(baud_fbrd));
+
+            // PL011 needs a (dummy) line control register write to latch in the
+            // divisors. We don't want to actually change LCR contents here.
+            r.uartlcr_h().modify(|_| {});
         }
     }
 }

embassy-sync/Cargo.toml

@@ -25,6 +25,7 @@ features = ["nightly"]
 [features]
 nightly = ["embedded-io/async"]
 std = []
+turbowakers = []
 
 [dependencies]
 defmt = { version = "0.3", optional = true }

embassy-sync/src/waitqueue/atomic_waker.rs

@@ -0,0 +1,41 @@
+use core::cell::Cell;
+use core::task::Waker;
+
+use crate::blocking_mutex::raw::CriticalSectionRawMutex;
+use crate::blocking_mutex::Mutex;
+
+/// Utility struct to register and wake a waker.
+pub struct AtomicWaker {
+    waker: Mutex<CriticalSectionRawMutex, Cell<Option<Waker>>>,
+}
+
+impl AtomicWaker {
+    /// Create a new `AtomicWaker`.
+    pub const fn new() -> Self {
+        Self {
+            waker: Mutex::const_new(CriticalSectionRawMutex::new(), Cell::new(None)),
+        }
+    }
+
+    /// Register a waker. Overwrites the previous waker, if any.
+    pub fn register(&self, w: &Waker) {
+        critical_section::with(|cs| {
+            let cell = self.waker.borrow(cs);
+            cell.set(match cell.replace(None) {
+                Some(w2) if (w2.will_wake(w)) => Some(w2),
+                _ => Some(w.clone()),
+            })
+        })
+    }
+
+    /// Wake the registered waker, if any.
+    pub fn wake(&self) {
+        critical_section::with(|cs| {
+            let cell = self.waker.borrow(cs);
+            if let Some(w) = cell.replace(None) {
+                w.wake_by_ref();
+                cell.set(Some(w));
+            }
+        })
+    }
+}

embassy-sync/src/waitqueue/atomic_waker_turbo.rs

@@ -0,0 +1,30 @@
+use core::ptr;
+use core::ptr::NonNull;
+use core::sync::atomic::{AtomicPtr, Ordering};
+use core::task::Waker;
+
+/// Utility struct to register and wake a waker.
+pub struct AtomicWaker {
+    waker: AtomicPtr<()>,
+}
+
+impl AtomicWaker {
+    /// Create a new `AtomicWaker`.
+    pub const fn new() -> Self {
+        Self {
+            waker: AtomicPtr::new(ptr::null_mut()),
+        }
+    }
+
+    /// Register a waker. Overwrites the previous waker, if any.
+    pub fn register(&self, w: &Waker) {
+        self.waker.store(w.as_turbo_ptr().as_ptr() as _, Ordering::Release);
+    }
+
+    /// Wake the registered waker, if any.
+    pub fn wake(&self) {
+        if let Some(ptr) = NonNull::new(self.waker.load(Ordering::Acquire)) {
+            unsafe { Waker::from_turbo_ptr(ptr) }.wake();
+        }
+    }
+}

embassy-sync/src/waitqueue/mod.rs

@@ -1,7 +1,11 @@
 //! Async low-level wait queues
 
-mod waker;
+#[cfg_attr(feature = "turbowakers", path = "atomic_waker_turbo.rs")]
-pub use waker::*;
+mod atomic_waker;
+pub use atomic_waker::*;
+
+mod waker_registration;
+pub use waker_registration::*;
 
 mod multi_waker;
 pub use multi_waker::*;

embassy-sync/src/waitqueue/waker_registration.rs

@@ -1,10 +1,6 @@
-use core::cell::Cell;
 use core::mem;
 use core::task::Waker;
 
-use crate::blocking_mutex::raw::CriticalSectionRawMutex;
-use crate::blocking_mutex::Mutex;
-
 /// Utility struct to register and wake a waker.
 #[derive(Debug, Default)]
 pub struct WakerRegistration {
@@ -54,39 +50,3 @@ impl WakerRegistration {
         self.waker.is_some()
     }
 }
-
-/// Utility struct to register and wake a waker.
-pub struct AtomicWaker {
-    waker: Mutex<CriticalSectionRawMutex, Cell<Option<Waker>>>,
-}
-
-impl AtomicWaker {
-    /// Create a new `AtomicWaker`.
-    pub const fn new() -> Self {
-        Self {
-            waker: Mutex::const_new(CriticalSectionRawMutex::new(), Cell::new(None)),
-        }
-    }
-
-    /// Register a waker. Overwrites the previous waker, if any.
-    pub fn register(&self, w: &Waker) {
-        critical_section::with(|cs| {
-            let cell = self.waker.borrow(cs);
-            cell.set(match cell.replace(None) {
-                Some(w2) if (w2.will_wake(w)) => Some(w2),
-                _ => Some(w.clone()),
-            })
-        })
-    }
-
-    /// Wake the registered waker, if any.
-    pub fn wake(&self) {
-        critical_section::with(|cs| {
-            let cell = self.waker.borrow(cs);
-            if let Some(w) = cell.replace(None) {
-                w.wake_by_ref();
-                cell.set(Some(w));
-            }
-        })
-    }
-}