rp/uart: use lockfree ringbuffer.

This gets rid of another PeripheralMutex usage.

embassy-hal-common/src/atomic_ring_buffer.rs

@@ -0,0 +1,331 @@
+use core::slice;
+use core::sync::atomic::{AtomicPtr, AtomicUsize, Ordering};
+
+/// Atomic reusable ringbuffer
+///
+/// This ringbuffer implementation is designed to be stored in a `static`,
+/// therefore all methods take `&self` and not `&mut self`.
+///
+/// It is "reusable": when created it has no backing buffer, you can give it
+/// one with `init` and take it back with `deinit`, and init it again in the
+/// future if needed. This is very non-idiomatic, but helps a lot when storing
+/// it in a `static`.
+///
+/// One concurrent writer and one concurrent reader are supported, even at
+/// different execution priorities (like main and irq).
+pub struct RingBuffer {
+    buf: AtomicPtr<u8>,
+    len: AtomicUsize,
+    start: AtomicUsize,
+    end: AtomicUsize,
+}
+
+pub struct Reader<'a>(&'a RingBuffer);
+pub struct Writer<'a>(&'a RingBuffer);
+
+impl RingBuffer {
+    /// Create a new empty ringbuffer.
+    pub const fn new() -> Self {
+        Self {
+            buf: AtomicPtr::new(core::ptr::null_mut()),
+            len: AtomicUsize::new(0),
+            start: AtomicUsize::new(0),
+            end: AtomicUsize::new(0),
+        }
+    }
+
+    /// Initialize the ring buffer with a buffer.
+    ///
+    /// # Safety
+    /// - The buffer (`buf .. buf+len`) must be valid memory until `deinit` is called.
+    /// - Must not be called concurrently with any other methods.
+    pub unsafe fn init(&self, buf: *mut u8, len: usize) {
+        // Ordering: it's OK to use `Relaxed` because this is not called
+        // concurrently with other methods.
+        self.buf.store(buf, Ordering::Relaxed);
+        self.len.store(len, Ordering::Relaxed);
+        self.start.store(0, Ordering::Relaxed);
+        self.end.store(0, Ordering::Relaxed);
+    }
+
+    /// Deinitialize the ringbuffer.
+    ///
+    /// After calling this, the ringbuffer becomes empty, as if it was
+    /// just created with `new()`.
+    ///
+    /// # Safety
+    /// - Must not be called concurrently with any other methods.
+    pub unsafe fn deinit(&self) {
+        // Ordering: it's OK to use `Relaxed` because this is not called
+        // concurrently with other methods.
+        self.len.store(0, Ordering::Relaxed);
+        self.start.store(0, Ordering::Relaxed);
+        self.end.store(0, Ordering::Relaxed);
+    }
+
+    /// Create a reader.
+    ///
+    /// # Safety
+    ///
+    /// Only one reader can exist at a time.
+    pub unsafe fn reader(&self) -> Reader<'_> {
+        Reader(self)
+    }
+
+    /// Create a writer.
+    ///
+    /// # Safety
+    ///
+    /// Only one writer can exist at a time.
+    pub unsafe fn writer(&self) -> Writer<'_> {
+        Writer(self)
+    }
+
+    pub fn is_full(&self) -> bool {
+        let start = self.start.load(Ordering::Relaxed);
+        let end = self.end.load(Ordering::Relaxed);
+
+        self.wrap(end + 1) == start
+    }
+
+    pub fn is_empty(&self) -> bool {
+        let start = self.start.load(Ordering::Relaxed);
+        let end = self.end.load(Ordering::Relaxed);
+
+        start == end
+    }
+
+    fn wrap(&self, n: usize) -> usize {
+        let len = self.len.load(Ordering::Relaxed);
+
+        assert!(n <= len);
+        if n == len {
+            0
+        } else {
+            n
+        }
+    }
+}
+
+impl<'a> Writer<'a> {
+    /// Push data into the buffer in-place.
+    ///
+    /// The closure `f` is called with a free part of the buffer, it must write
+    /// some data to it and return the amount of bytes written.
+    pub fn push(&mut self, f: impl FnOnce(&mut [u8]) -> usize) -> usize {
+        let (p, n) = self.push_buf();
+        let buf = unsafe { slice::from_raw_parts_mut(p, n) };
+        let n = f(buf);
+        self.push_done(n);
+        n
+    }
+
+    /// Push one data byte.
+    ///
+    /// Returns true if pushed succesfully.
+    pub fn push_one(&mut self, val: u8) -> bool {
+        let n = self.push(|f| match f {
+            [] => 0,
+            [x, ..] => {
+                *x = val;
+                1
+            }
+        });
+        n != 0
+    }
+
+    /// Get a buffer where data can be pushed to.
+    ///
+    /// Write data to the start of the buffer, then call `push_done` with
+    /// however many bytes you've pushed.
+    ///
+    /// The buffer is suitable to DMA to.
+    ///
+    /// If the ringbuf is full, size=0 will be returned.
+    ///
+    /// The buffer stays valid as long as no other `Writer` method is called
+    /// and `init`/`deinit` aren't called on the ringbuf.
+    pub fn push_buf(&mut self) -> (*mut u8, usize) {
+        // Ordering: popping writes `start` last, so we read `start` first.
+        // Read it with Acquire ordering, so that the next accesses can't be reordered up past it.
+        let start = self.0.start.load(Ordering::Acquire);
+        let buf = self.0.buf.load(Ordering::Relaxed);
+        let len = self.0.len.load(Ordering::Relaxed);
+        let end = self.0.end.load(Ordering::Relaxed);
+
+        let n = if start <= end {
+            len - end - (start == 0) as usize
+        } else {
+            start - end - 1
+        };
+
+        trace!("  ringbuf: push_buf {:?}..{:?}", end, end + n);
+        (unsafe { buf.add(end) }, n)
+    }
+
+    pub fn push_done(&mut self, n: usize) {
+        trace!("  ringbuf: push {:?}", n);
+        let end = self.0.end.load(Ordering::Relaxed);
+
+        // Ordering: write `end` last, with Release ordering.
+        // The ordering ensures no preceding memory accesses (such as writing
+        // the actual data in the buffer) can be reordered down past it, which
+        // will guarantee the reader sees them after reading from `end`.
+        self.0.end.store(self.0.wrap(end + n), Ordering::Release);
+    }
+}
+
+impl<'a> Reader<'a> {
+    /// Pop data from the buffer in-place.
+    ///
+    /// The closure `f` is called with the next data, it must process
+    /// some data from it and return the amount of bytes processed.
+    pub fn pop(&mut self, f: impl FnOnce(&[u8]) -> usize) -> usize {
+        let (p, n) = self.pop_buf();
+        let buf = unsafe { slice::from_raw_parts(p, n) };
+        let n = f(buf);
+        self.pop_done(n);
+        n
+    }
+
+    /// Pop one data byte.
+    ///
+    /// Returns true if popped succesfully.
+    pub fn pop_one(&mut self) -> Option<u8> {
+        let mut res = None;
+        self.pop(|f| match f {
+            &[] => 0,
+            &[x, ..] => {
+                res = Some(x);
+                1
+            }
+        });
+        res
+    }
+
+    /// Get a buffer where data can be popped from.
+    ///
+    /// Read data from the start of the buffer, then call `pop_done` with
+    /// however many bytes you've processed.
+    ///
+    /// The buffer is suitable to DMA from.
+    ///
+    /// If the ringbuf is empty, size=0 will be returned.
+    ///
+    /// The buffer stays valid as long as no other `Reader` method is called
+    /// and `init`/`deinit` aren't called on the ringbuf.
+    pub fn pop_buf(&mut self) -> (*mut u8, usize) {
+        // Ordering: pushing writes `end` last, so we read `end` first.
+        // Read it with Acquire ordering, so that the next accesses can't be reordered up past it.
+        // This is needed to guarantee we "see" the data written by the writer.
+        let end = self.0.end.load(Ordering::Acquire);
+        let buf = self.0.buf.load(Ordering::Relaxed);
+        let len = self.0.len.load(Ordering::Relaxed);
+        let start = self.0.start.load(Ordering::Relaxed);
+
+        let n = if end < start { len - start } else { end - start };
+
+        trace!("  ringbuf: pop_buf {:?}..{:?}", start, start + n);
+        (unsafe { buf.add(start) }, n)
+    }
+
+    pub fn pop_done(&mut self, n: usize) {
+        trace!("  ringbuf: pop {:?}", n);
+
+        let start = self.0.start.load(Ordering::Relaxed);
+
+        // Ordering: write `start` last, with Release ordering.
+        // The ordering ensures no preceding memory accesses (such as reading
+        // the actual data) can be reordered down past it. This is necessary
+        // because writing to `start` is effectively freeing the read part of the
+        // buffer, which "gives permission" to the writer to write to it again.
+        // Therefore, all buffer accesses must be completed before this.
+        self.0.start.store(self.0.wrap(start + n), Ordering::Release);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn push_pop() {
+        let mut b = [0; 4];
+        let rb = RingBuffer::new();
+        unsafe {
+            rb.init(b.as_mut_ptr(), 4);
+
+            assert_eq!(rb.is_empty(), true);
+            assert_eq!(rb.is_full(), false);
+
+            rb.writer().push(|buf| {
+                // If capacity is 4, we can fill it up to 3.
+                assert_eq!(3, buf.len());
+                buf[0] = 1;
+                buf[1] = 2;
+                buf[2] = 3;
+                3
+            });
+
+            assert_eq!(rb.is_empty(), false);
+            assert_eq!(rb.is_full(), true);
+
+            rb.writer().push(|buf| {
+                // If it's full, we can push 0 bytes.
+                assert_eq!(0, buf.len());
+                0
+            });
+
+            assert_eq!(rb.is_empty(), false);
+            assert_eq!(rb.is_full(), true);
+
+            rb.reader().pop(|buf| {
+                assert_eq!(3, buf.len());
+                assert_eq!(1, buf[0]);
+                1
+            });
+
+            assert_eq!(rb.is_empty(), false);
+            assert_eq!(rb.is_full(), false);
+
+            rb.reader().pop(|buf| {
+                assert_eq!(2, buf.len());
+                0
+            });
+
+            assert_eq!(rb.is_empty(), false);
+            assert_eq!(rb.is_full(), false);
+
+            rb.reader().pop(|buf| {
+                assert_eq!(2, buf.len());
+                assert_eq!(2, buf[0]);
+                assert_eq!(3, buf[1]);
+                2
+            });
+
+            assert_eq!(rb.is_empty(), true);
+            assert_eq!(rb.is_full(), false);
+
+            rb.reader().pop(|buf| {
+                assert_eq!(0, buf.len());
+                0
+            });
+
+            rb.writer().push(|buf| {
+                assert_eq!(1, buf.len());
+                buf[0] = 10;
+                1
+            });
+
+            rb.writer().push(|buf| {
+                assert_eq!(2, buf.len());
+                buf[0] = 11;
+                buf[1] = 12;
+                2
+            });
+
+            assert_eq!(rb.is_empty(), false);
+            assert_eq!(rb.is_full(), true);
+        }
+    }
+}

embassy-hal-common/src/lib.rs

@@ -4,6 +4,7 @@
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
+pub mod atomic_ring_buffer;
 pub mod drop;
 mod macros;
 mod peripheral;

embassy-rp/Cargo.toml

@@ -13,7 +13,7 @@ flavors = [
 ]
 
 [features]
-defmt = ["dep:defmt", "embassy-usb-driver?/defmt"]
+defmt = ["dep:defmt", "embassy-usb-driver?/defmt", "embassy-hal-common/defmt"]
 
 # Reexport the PAC for the currently enabled chip at `embassy_rp::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-rp may major-bump (breaking) the PAC version.

embassy-rp/src/uart/buffered.rs

@@ -1,337 +1,421 @@
-use core::future::poll_fn;
+use core::future::{poll_fn, Future};
-use core::task::{Poll, Waker};
+use core::slice;
+use core::task::Poll;
 
-use atomic_polyfill::{compiler_fence, Ordering};
+use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
-use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
+use embassy_hal_common::atomic_ring_buffer::RingBuffer;
-use embassy_hal_common::ring_buffer::RingBuffer;
+use embassy_sync::waitqueue::AtomicWaker;
-use embassy_sync::waitqueue::WakerRegistration;
 
 use super::*;
 
-pub struct State<'d, T: Instance>(StateStorage<FullStateInner<'d, T>>);
+pub struct State {
-impl<'d, T: Instance> State<'d, T> {
+    tx_waker: AtomicWaker,
+    tx_buf: RingBuffer,
+    rx_waker: AtomicWaker,
+    rx_buf: RingBuffer,
+}
+
+impl State {
     pub const fn new() -> Self {
-        Self(StateStorage::new())
+        Self {
+            rx_buf: RingBuffer::new(),
+            tx_buf: RingBuffer::new(),
+            rx_waker: AtomicWaker::new(),
+            tx_waker: AtomicWaker::new(),
+        }
     }
 }
 
-pub struct RxState<'d, T: Instance>(StateStorage<RxStateInner<'d, T>>);
-impl<'d, T: Instance> RxState<'d, T> {
-    pub const fn new() -> Self {
-        Self(StateStorage::new())
-    }
-}
-
-pub struct TxState<'d, T: Instance>(StateStorage<TxStateInner<'d, T>>);
-impl<'d, T: Instance> TxState<'d, T> {
-    pub const fn new() -> Self {
-        Self(StateStorage::new())
-    }
-}
-
-struct RxStateInner<'d, T: Instance> {
-    phantom: PhantomData<&'d mut T>,
-
-    waker: WakerRegistration,
-    buf: RingBuffer<'d>,
-}
-
-struct TxStateInner<'d, T: Instance> {
-    phantom: PhantomData<&'d mut T>,
-
-    waker: WakerRegistration,
-    buf: RingBuffer<'d>,
-}
-
-struct FullStateInner<'d, T: Instance> {
-    rx: RxStateInner<'d, T>,
-    tx: TxStateInner<'d, T>,
-}
-
-unsafe impl<'d, T: Instance> Send for RxStateInner<'d, T> {}
-unsafe impl<'d, T: Instance> Sync for RxStateInner<'d, T> {}
-
-unsafe impl<'d, T: Instance> Send for TxStateInner<'d, T> {}
-unsafe impl<'d, T: Instance> Sync for TxStateInner<'d, T> {}
-
-unsafe impl<'d, T: Instance> Send for FullStateInner<'d, T> {}
-unsafe impl<'d, T: Instance> Sync for FullStateInner<'d, T> {}
-
 pub struct BufferedUart<'d, T: Instance> {
-    inner: PeripheralMutex<'d, FullStateInner<'d, T>>,
+    phantom: PhantomData<&'d mut T>,
 }
 
 pub struct BufferedUartRx<'d, T: Instance> {
-    inner: PeripheralMutex<'d, RxStateInner<'d, T>>,
+    phantom: PhantomData<&'d mut T>,
 }
 
 pub struct BufferedUartTx<'d, T: Instance> {
-    inner: PeripheralMutex<'d, TxStateInner<'d, T>>,
+    phantom: PhantomData<&'d mut T>,
 }
 
-impl<'d, T: Instance> Unpin for BufferedUart<'d, T> {}
-impl<'d, T: Instance> Unpin for BufferedUartRx<'d, T> {}
-impl<'d, T: Instance> Unpin for BufferedUartTx<'d, T> {}
-
 impl<'d, T: Instance> BufferedUart<'d, T> {
-    pub fn new<M: Mode>(
+    pub fn new(
-        state: &'d mut State<'d, T>,
+        _uart: impl Peripheral<P = T> + 'd,
-        _uart: Uart<'d, T, M>,
         irq: impl Peripheral<P = T::Interrupt> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
-    ) -> BufferedUart<'d, T> {
+        config: Config,
-        into_ref!(irq);
+    ) -> Self {
+        into_ref!(tx, rx);
+        Self::new_inner(
+            irq,
+            tx.map_into(),
+            rx.map_into(),
+            None,
+            None,
+            tx_buffer,
+            rx_buffer,
+            config,
+        )
+    }
+
+    pub fn new_with_rtscts(
+        _uart: impl Peripheral<P = T> + 'd,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
+        rts: impl Peripheral<P = impl RtsPin<T>> + 'd,
+        cts: impl Peripheral<P = impl CtsPin<T>> + 'd,
+        tx_buffer: &'d mut [u8],
+        rx_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(tx, rx, cts, rts);
+        Self::new_inner(
+            irq,
+            tx.map_into(),
+            rx.map_into(),
+            Some(rts.map_into()),
+            Some(cts.map_into()),
+            tx_buffer,
+            rx_buffer,
+            config,
+        )
+    }
+
+    fn new_inner(
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        mut tx: PeripheralRef<'d, AnyPin>,
+        mut rx: PeripheralRef<'d, AnyPin>,
+        mut rts: Option<PeripheralRef<'d, AnyPin>>,
+        mut cts: Option<PeripheralRef<'d, AnyPin>>,
+        tx_buffer: &'d mut [u8],
+        rx_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(irq);
+        super::Uart::<'d, T, Async>::init(
+            Some(tx.reborrow()),
+            Some(rx.reborrow()),
+            rts.as_mut().map(|x| x.reborrow()),
+            cts.as_mut().map(|x| x.reborrow()),
+            config,
+        );
+
+        let state = T::state();
+        let regs = T::regs();
+
+        let len = tx_buffer.len();
+        unsafe { state.tx_buf.init(tx_buffer.as_mut_ptr(), len) };
+        let len = rx_buffer.len();
+        unsafe { state.rx_buf.init(rx_buffer.as_mut_ptr(), len) };
 
-        let r = T::regs();
         unsafe {
-            r.uartimsc().modify(|w| {
+            regs.uartimsc().modify(|w| {
                 w.set_rxim(true);
                 w.set_rtim(true);
                 w.set_txim(true);
             });
         }
 
-        Self {
+        irq.set_handler(on_interrupt::<T>);
-            inner: PeripheralMutex::new(irq, &mut state.0, move || FullStateInner {
+        irq.unpend();
-                tx: TxStateInner {
+        irq.enable();
-                    phantom: PhantomData,
+
-                    waker: WakerRegistration::new(),
+        Self { phantom: PhantomData }
-                    buf: RingBuffer::new(tx_buffer),
-                },
-                rx: RxStateInner {
-                    phantom: PhantomData,
-                    waker: WakerRegistration::new(),
-                    buf: RingBuffer::new(rx_buffer),
-                },
-            }),
-        }
     }
 }
 
 impl<'d, T: Instance> BufferedUartRx<'d, T> {
-    pub fn new<M: Mode>(
+    pub fn new(
-        state: &'d mut RxState<'d, T>,
+        _uart: impl Peripheral<P = T> + 'd,
-        _uart: UartRx<'d, T, M>,
         irq: impl Peripheral<P = T::Interrupt> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         rx_buffer: &'d mut [u8],
-    ) -> BufferedUartRx<'d, T> {
+        config: Config,
-        into_ref!(irq);
+    ) -> Self {
+        into_ref!(rx);
+        Self::new_inner(irq, rx.map_into(), None, rx_buffer, config)
+    }
+
+    pub fn new_with_rts(
+        _uart: impl Peripheral<P = T> + 'd,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
+        rts: impl Peripheral<P = impl RtsPin<T>> + 'd,
+        rx_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(rx, rts);
+        Self::new_inner(irq, rx.map_into(), Some(rts.map_into()), rx_buffer, config)
+    }
+
+    fn new_inner(
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        mut rx: PeripheralRef<'d, AnyPin>,
+        mut rts: Option<PeripheralRef<'d, AnyPin>>,
+        rx_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(irq);
+        super::Uart::<'d, T, Async>::init(
+            None,
+            Some(rx.reborrow()),
+            rts.as_mut().map(|x| x.reborrow()),
+            None,
+            config,
+        );
+
+        let state = T::state();
+        let regs = T::regs();
+
+        let len = rx_buffer.len();
+        unsafe { state.rx_buf.init(rx_buffer.as_mut_ptr(), len) };
 
-        let r = T::regs();
         unsafe {
-            r.uartimsc().modify(|w| {
+            regs.uartimsc().modify(|w| {
                 w.set_rxim(true);
                 w.set_rtim(true);
             });
         }
 
-        Self {
+        irq.set_handler(on_interrupt::<T>);
-            inner: PeripheralMutex::new(irq, &mut state.0, move || RxStateInner {
+        irq.unpend();
-                phantom: PhantomData,
+        irq.enable();
 
-                buf: RingBuffer::new(rx_buffer),
+        Self { phantom: PhantomData }
-                waker: WakerRegistration::new(),
+    }
-            }),
+
-        }
+    fn read<'a>(buf: &'a mut [u8]) -> impl Future<Output = Result<usize, Error>> + 'a {
+        poll_fn(move |cx| {
+            let state = T::state();
+            let mut rx_reader = unsafe { state.rx_buf.reader() };
+            let n = rx_reader.pop(|data| {
+                let n = data.len().min(buf.len());
+                buf[..n].copy_from_slice(&data[..n]);
+                n
+            });
+            if n == 0 {
+                state.rx_waker.register(cx.waker());
+                return Poll::Pending;
+            }
+
+            Poll::Ready(Ok(n))
+        })
+    }
+
+    fn fill_buf<'a>() -> impl Future<Output = Result<&'a [u8], Error>> {
+        poll_fn(move |cx| {
+            let state = T::state();
+            let mut rx_reader = unsafe { state.rx_buf.reader() };
+            let (p, n) = rx_reader.pop_buf();
+            if n == 0 {
+                state.rx_waker.register(cx.waker());
+                return Poll::Pending;
+            }
+
+            let buf = unsafe { slice::from_raw_parts(p, n) };
+            Poll::Ready(Ok(buf))
+        })
+    }
+
+    fn consume(amt: usize) {
+        let state = T::state();
+        let mut rx_reader = unsafe { state.rx_buf.reader() };
+        rx_reader.pop_done(amt)
     }
 }
 
 impl<'d, T: Instance> BufferedUartTx<'d, T> {
-    pub fn new<M: Mode>(
+    pub fn new(
-        state: &'d mut TxState<'d, T>,
+        _uart: impl Peripheral<P = T> + 'd,
-        _uart: UartTx<'d, T, M>,
         irq: impl Peripheral<P = T::Interrupt> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         tx_buffer: &'d mut [u8],
-    ) -> BufferedUartTx<'d, T> {
+        config: Config,
-        into_ref!(irq);
+    ) -> Self {
+        into_ref!(tx);
+        Self::new_inner(irq, tx.map_into(), None, tx_buffer, config)
+    }
+
+    pub fn new_with_cts(
+        _uart: impl Peripheral<P = T> + 'd,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
+        cts: impl Peripheral<P = impl CtsPin<T>> + 'd,
+        tx_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(tx, cts);
+        Self::new_inner(irq, tx.map_into(), Some(cts.map_into()), tx_buffer, config)
+    }
+
+    fn new_inner(
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        mut tx: PeripheralRef<'d, AnyPin>,
+        mut cts: Option<PeripheralRef<'d, AnyPin>>,
+        tx_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(irq);
+        super::Uart::<'d, T, Async>::init(
+            Some(tx.reborrow()),
+            None,
+            None,
+            cts.as_mut().map(|x| x.reborrow()),
+            config,
+        );
+
+        let state = T::state();
+        let regs = T::regs();
+
+        let len = tx_buffer.len();
+        unsafe { state.tx_buf.init(tx_buffer.as_mut_ptr(), len) };
 
-        let r = T::regs();
         unsafe {
-            r.uartimsc().modify(|w| {
+            regs.uartimsc().modify(|w| {
                 w.set_txim(true);
             });
         }
 
-        Self {
+        irq.set_handler(on_interrupt::<T>);
-            inner: PeripheralMutex::new(irq, &mut state.0, move || TxStateInner {
+        irq.unpend();
-                phantom: PhantomData,
+        irq.enable();
 
-                buf: RingBuffer::new(tx_buffer),
+        Self { phantom: PhantomData }
-                waker: WakerRegistration::new(),
-            }),
-        }
-    }
-}
-
-impl<'d, T: Instance> PeripheralState for FullStateInner<'d, T>
-where
-    Self: 'd,
-{
-    type Interrupt = T::Interrupt;
-    fn on_interrupt(&mut self) {
-        self.rx.on_interrupt();
-        self.tx.on_interrupt();
-    }
-}
-
-impl<'d, T: Instance> RxStateInner<'d, T>
-where
-    Self: 'd,
-{
-    fn read(&mut self, buf: &mut [u8], waker: &Waker) -> (Poll<Result<usize, Error>>, bool) {
-        // We have data ready in buffer? Return it.
-        let mut do_pend = false;
-        let data = self.buf.pop_buf();
-        if !data.is_empty() {
-            let len = data.len().min(buf.len());
-            buf[..len].copy_from_slice(&data[..len]);
-
-            if self.buf.is_full() {
-                do_pend = true;
-            }
-            self.buf.pop(len);
-
-            return (Poll::Ready(Ok(len)), do_pend);
-        }
-
-        self.waker.register(waker);
-        (Poll::Pending, do_pend)
     }
 
-    fn fill_buf<'a>(&mut self, waker: &Waker) -> Poll<Result<&'a [u8], Error>> {
+    fn write<'a>(buf: &'a [u8]) -> impl Future<Output = Result<usize, Error>> + 'a {
-        // We have data ready in buffer? Return it.
+        poll_fn(move |cx| {
-        let buf = self.buf.pop_buf();
+            let state = T::state();
-        if !buf.is_empty() {
+            let mut tx_writer = unsafe { state.tx_buf.writer() };
-            let buf: &[u8] = buf;
+            let n = tx_writer.push(|data| {
-            // Safety: buffer lives as long as uart
+                let n = data.len().min(buf.len());
-            let buf: &[u8] = unsafe { core::mem::transmute(buf) };
+                data[..n].copy_from_slice(&buf[..n]);
-            return Poll::Ready(Ok(buf));
+                n
-        }
-
-        self.waker.register(waker);
-        Poll::Pending
-    }
-
-    fn consume(&mut self, amt: usize) -> bool {
-        let full = self.buf.is_full();
-        self.buf.pop(amt);
-        full
-    }
-}
-
-impl<'d, T: Instance> PeripheralState for RxStateInner<'d, T>
-where
-    Self: 'd,
-{
-    type Interrupt = T::Interrupt;
-    fn on_interrupt(&mut self) {
-        let r = T::regs();
-        unsafe {
-            let ris = r.uartris().read();
-            // Clear interrupt flags
-            r.uarticr().modify(|w| {
-                w.set_rxic(true);
-                w.set_rtic(true);
             });
-
+            if n == 0 {
-            if ris.peris() {
+                state.tx_waker.register(cx.waker());
-                warn!("Parity error");
+                return Poll::Pending;
-                r.uarticr().modify(|w| {
-                    w.set_peic(true);
-                });
-            }
-            if ris.feris() {
-                warn!("Framing error");
-                r.uarticr().modify(|w| {
-                    w.set_feic(true);
-                });
-            }
-            if ris.beris() {
-                warn!("Break error");
-                r.uarticr().modify(|w| {
-                    w.set_beic(true);
-                });
-            }
-            if ris.oeris() {
-                warn!("Overrun error");
-                r.uarticr().modify(|w| {
-                    w.set_oeic(true);
-                });
-            }
-
-            if !r.uartfr().read().rxfe() {
-                let buf = self.buf.push_buf();
-                if !buf.is_empty() {
-                    buf[0] = r.uartdr().read().data();
-                    self.buf.push(1);
-                } else {
-                    warn!("RX buffer full, discard received byte");
-                }
-
-                if self.buf.is_full() {
-                    self.waker.wake();
-                }
-            }
-
-            if ris.rtris() {
-                self.waker.wake();
-            };
-        }
-    }
-}
-
-impl<'d, T: Instance> TxStateInner<'d, T>
-where
-    Self: 'd,
-{
-    fn write(&mut self, buf: &[u8], waker: &Waker) -> (Poll<Result<usize, Error>>, bool) {
-        let empty = self.buf.is_empty();
-        let tx_buf = self.buf.push_buf();
-        if tx_buf.is_empty() {
-            self.waker.register(waker);
-            return (Poll::Pending, empty);
-        }
-
-        let n = core::cmp::min(tx_buf.len(), buf.len());
-        tx_buf[..n].copy_from_slice(&buf[..n]);
-        self.buf.push(n);
-
-        (Poll::Ready(Ok(n)), empty)
-    }
-
-    fn flush(&mut self, waker: &Waker) -> Poll<Result<(), Error>> {
-        if !self.buf.is_empty() {
-            self.waker.register(waker);
-            return Poll::Pending;
-        }
-
-        Poll::Ready(Ok(()))
-    }
-}
-
-impl<'d, T: Instance> PeripheralState for TxStateInner<'d, T>
-where
-    Self: 'd,
-{
-    type Interrupt = T::Interrupt;
-    fn on_interrupt(&mut self) {
-        let r = T::regs();
-        unsafe {
-            let buf = self.buf.pop_buf();
-            if !buf.is_empty() {
-                r.uartimsc().modify(|w| {
-                    w.set_txim(true);
-                });
-                r.uartdr().write(|w| w.set_data(buf[0].into()));
-                self.buf.pop(1);
-                self.waker.wake();
             } else {
-                // Disable interrupt until we have something to transmit again
+                unsafe { T::Interrupt::steal() }.pend();
-                r.uartimsc().modify(|w| {
-                    w.set_txim(false);
-                });
             }
+
+            Poll::Ready(Ok(n))
+        })
+    }
+
+    fn flush() -> impl Future<Output = Result<(), Error>> {
+        poll_fn(move |cx| {
+            let state = T::state();
+            if !state.tx_buf.is_empty() {
+                state.tx_waker.register(cx.waker());
+                return Poll::Pending;
+            }
+
+            Poll::Ready(Ok(()))
+        })
+    }
+}
+
+impl<'d, T: Instance> Drop for BufferedUart<'d, T> {
+    fn drop(&mut self) {
+        unsafe {
+            T::Interrupt::steal().disable();
+            let state = T::state();
+            state.tx_buf.deinit();
+            state.rx_buf.deinit();
+        }
+    }
+}
+
+impl<'d, T: Instance> Drop for BufferedUartRx<'d, T> {
+    fn drop(&mut self) {
+        unsafe {
+            T::Interrupt::steal().disable();
+            let state = T::state();
+            state.tx_buf.deinit();
+            state.rx_buf.deinit();
+        }
+    }
+}
+
+impl<'d, T: Instance> Drop for BufferedUartTx<'d, T> {
+    fn drop(&mut self) {
+        unsafe {
+            T::Interrupt::steal().disable();
+            let state = T::state();
+            state.tx_buf.deinit();
+            state.rx_buf.deinit();
+        }
+    }
+}
+
+pub(crate) unsafe fn on_interrupt<T: Instance>(_: *mut ()) {
+    trace!("on_interrupt");
+
+    let r = T::regs();
+    let s = T::state();
+
+    unsafe {
+        // RX
+
+        let ris = r.uartris().read();
+        // Clear interrupt flags
+        r.uarticr().write(|w| {
+            w.set_rxic(true);
+            w.set_rtic(true);
+        });
+
+        if ris.peris() {
+            warn!("Parity error");
+            r.uarticr().write(|w| {
+                w.set_peic(true);
+            });
+        }
+        if ris.feris() {
+            warn!("Framing error");
+            r.uarticr().write(|w| {
+                w.set_feic(true);
+            });
+        }
+        if ris.beris() {
+            warn!("Break error");
+            r.uarticr().write(|w| {
+                w.set_beic(true);
+            });
+        }
+        if ris.oeris() {
+            warn!("Overrun error");
+            r.uarticr().write(|w| {
+                w.set_oeic(true);
+            });
+        }
+
+        let mut rx_writer = s.rx_buf.writer();
+        if !r.uartfr().read().rxfe() {
+            let val = r.uartdr().read().data();
+            if !rx_writer.push_one(val) {
+                warn!("RX buffer full, discard received byte");
+            }
+            s.rx_waker.wake();
+        }
+
+        // TX
+        let mut tx_reader = s.tx_buf.reader();
+        if let Some(val) = tx_reader.pop_one() {
+            r.uartimsc().modify(|w| {
+                w.set_txim(true);
+            });
+            r.uartdr().write(|w| w.set_data(val));
+            s.tx_waker.wake();
+        } else {
+            // Disable interrupt until we have something to transmit again
+            r.uartimsc().modify(|w| {
+                w.set_txim(false);
+            });
         }
     }
 }
@@ -356,108 +440,52 @@ impl<'d, T: Instance> embedded_io::Io for BufferedUartTx<'d, T> {
 
 impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUart<'d, T> {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        poll_fn(move |cx| {
+        BufferedUartRx::<'d, T>::read(buf).await
-            let (res, do_pend) = self.inner.with(|state| {
-                compiler_fence(Ordering::SeqCst);
-                state.rx.read(buf, cx.waker())
-            });
-
-            if do_pend {
-                self.inner.pend();
-            }
-
-            res
-        })
-        .await
     }
 }
 
 impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUartRx<'d, T> {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        poll_fn(move |cx| {
+        Self::read(buf).await
-            let (res, do_pend) = self.inner.with(|state| {
-                compiler_fence(Ordering::SeqCst);
-                state.read(buf, cx.waker())
-            });
-
-            if do_pend {
-                self.inner.pend();
-            }
-
-            res
-        })
-        .await
     }
 }
 
 impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
     async fn fill_buf(&mut self) -> Result<&[u8], Self::Error> {
-        poll_fn(move |cx| {
+        BufferedUartRx::<'d, T>::fill_buf().await
-            self.inner.with(|state| {
-                compiler_fence(Ordering::SeqCst);
-                state.rx.fill_buf(cx.waker())
-            })
-        })
-        .await
     }
 
     fn consume(&mut self, amt: usize) {
-        let signal = self.inner.with(|state| state.rx.consume(amt));
+        BufferedUartRx::<'d, T>::consume(amt)
-        if signal {
-            self.inner.pend();
-        }
     }
 }
 
 impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUartRx<'d, T> {
     async fn fill_buf(&mut self) -> Result<&[u8], Self::Error> {
-        poll_fn(move |cx| {
+        Self::fill_buf().await
-            self.inner.with(|state| {
-                compiler_fence(Ordering::SeqCst);
-                state.fill_buf(cx.waker())
-            })
-        })
-        .await
     }
 
     fn consume(&mut self, amt: usize) {
-        let signal = self.inner.with(|state| state.consume(amt));
+        Self::consume(amt)
-        if signal {
-            self.inner.pend();
-        }
     }
 }
 
 impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUart<'d, T> {
     async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        poll_fn(move |cx| {
+        BufferedUartTx::<'d, T>::write(buf).await
-            let (poll, empty) = self.inner.with(|state| state.tx.write(buf, cx.waker()));
-            if empty {
-                self.inner.pend();
-            }
-            poll
-        })
-        .await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {
-        poll_fn(move |cx| self.inner.with(|state| state.tx.flush(cx.waker()))).await
+        BufferedUartTx::<'d, T>::flush().await
     }
 }
 
 impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUartTx<'d, T> {
     async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        poll_fn(move |cx| {
+        Self::write(buf).await
-            let (poll, empty) = self.inner.with(|state| state.write(buf, cx.waker()));
-            if empty {
-                self.inner.pend();
-            }
-            poll
-        })
-        .await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {
-        poll_fn(move |cx| self.inner.with(|state| state.flush(cx.waker()))).await
+        Self::flush().await
     }
 }

embassy-rp/src/uart/mod.rs

@@ -7,6 +7,11 @@ use crate::gpio::sealed::Pin;
 use crate::gpio::AnyPin;
 use crate::{pac, peripherals, Peripheral};
 
+#[cfg(feature = "nightly")]
+mod buffered;
+#[cfg(feature = "nightly")]
+pub use buffered::{BufferedUart, BufferedUartRx, BufferedUartTx};
+
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub enum DataBits {
     DataBits5,
@@ -196,7 +201,7 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
         config: Config,
     ) -> Self {
         into_ref!(tx, rx);
-        Self::new_inner(uart, rx.map_into(), tx.map_into(), None, None, None, None, config)
+        Self::new_inner(uart, tx.map_into(), rx.map_into(), None, None, None, None, config)
     }
 
     /// Create a new UART with hardware flow control (RTS/CTS)
@@ -211,8 +216,8 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
         into_ref!(tx, rx, cts, rts);
         Self::new_inner(
             uart,
-            rx.map_into(),
             tx.map_into(),
+            rx.map_into(),
             Some(rts.map_into()),
             Some(cts.map_into()),
             None,
@@ -235,8 +240,8 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
         into_ref!(tx, rx, tx_dma, rx_dma);
         Self::new_inner(
             uart,
-            rx.map_into(),
             tx.map_into(),
+            rx.map_into(),
             None,
             None,
             Some(tx_dma.map_into()),
@@ -259,8 +264,8 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
         into_ref!(tx, rx, cts, rts, tx_dma, rx_dma);
         Self::new_inner(
             uart,
-            rx.map_into(),
             tx.map_into(),
+            rx.map_into(),
             Some(rts.map_into()),
             Some(cts.map_into()),
             Some(tx_dma.map_into()),
@@ -273,41 +278,52 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
 impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
     fn new_inner(
         _uart: impl Peripheral<P = T> + 'd,
-        tx: PeripheralRef<'d, AnyPin>,
+        mut tx: PeripheralRef<'d, AnyPin>,
-        rx: PeripheralRef<'d, AnyPin>,
+        mut rx: PeripheralRef<'d, AnyPin>,
-        rts: Option<PeripheralRef<'d, AnyPin>>,
+        mut rts: Option<PeripheralRef<'d, AnyPin>>,
-        cts: Option<PeripheralRef<'d, AnyPin>>,
+        mut cts: Option<PeripheralRef<'d, AnyPin>>,
         tx_dma: Option<PeripheralRef<'d, AnyChannel>>,
         rx_dma: Option<PeripheralRef<'d, AnyChannel>>,
         config: Config,
     ) -> Self {
-        into_ref!(_uart);
+        Self::init(
+            Some(tx.reborrow()),
+            Some(rx.reborrow()),
+            rts.as_mut().map(|x| x.reborrow()),
+            cts.as_mut().map(|x| x.reborrow()),
+            config,
+        );
 
+        Self {
+            tx: UartTx::new(tx_dma),
+            rx: UartRx::new(rx_dma),
+        }
+    }
+
+    fn init(
+        tx: Option<PeripheralRef<'_, AnyPin>>,
+        rx: Option<PeripheralRef<'_, AnyPin>>,
+        rts: Option<PeripheralRef<'_, AnyPin>>,
+        cts: Option<PeripheralRef<'_, AnyPin>>,
+        config: Config,
+    ) {
+        let r = T::regs();
         unsafe {
-            let r = T::regs();
+            if let Some(pin) = &tx {
-
+                pin.io().ctrl().write(|w| w.set_funcsel(2));
-            tx.io().ctrl().write(|w| w.set_funcsel(2));
+                pin.pad_ctrl().write(|w| w.set_ie(true));
-            rx.io().ctrl().write(|w| w.set_funcsel(2));
+            }
-
+            if let Some(pin) = &rx {
-            tx.pad_ctrl().write(|w| {
+                pin.io().ctrl().write(|w| w.set_funcsel(2));
-                w.set_ie(true);
+                pin.pad_ctrl().write(|w| w.set_ie(true));
-            });
+            }
-
-            rx.pad_ctrl().write(|w| {
-                w.set_ie(true);
-            });
-
             if let Some(pin) = &cts {
                 pin.io().ctrl().write(|w| w.set_funcsel(2));
-                pin.pad_ctrl().write(|w| {
+                pin.pad_ctrl().write(|w| w.set_ie(true));
-                    w.set_ie(true);
-                });
             }
             if let Some(pin) = &rts {
                 pin.io().ctrl().write(|w| w.set_funcsel(2));
-                pin.pad_ctrl().write(|w| {
+                pin.pad_ctrl().write(|w| w.set_ie(true));
-                    w.set_ie(true);
-                });
             }
 
             let clk_base = crate::clocks::clk_peri_freq();
@@ -359,11 +375,6 @@ impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
                 w.set_rtsen(rts.is_some());
             });
         }
-
-        Self {
-            tx: UartTx::new(tx_dma),
-            rx: UartRx::new(rx_dma),
-        }
     }
 }
 
@@ -611,11 +622,6 @@ mod eha {
     }
 }
 
-#[cfg(feature = "nightly")]
-mod buffered;
-#[cfg(feature = "nightly")]
-pub use buffered::*;
-
 mod sealed {
     use super::*;
 
@@ -628,6 +634,9 @@ mod sealed {
         type Interrupt: crate::interrupt::Interrupt;
 
         fn regs() -> pac::uart::Uart;
+
+        #[cfg(feature = "nightly")]
+        fn state() -> &'static buffered::State;
     }
     pub trait TxPin<T: Instance> {}
     pub trait RxPin<T: Instance> {}
@@ -663,6 +672,12 @@ macro_rules! impl_instance {
             fn regs() -> pac::uart::Uart {
                 pac::$inst
             }
+
+            #[cfg(feature = "nightly")]
+            fn state() -> &'static buffered::State {
+                static STATE: buffered::State = buffered::State::new();
+                &STATE
+            }
         }
         impl Instance for peripherals::$inst {}
     };

tests/rp/src/bin/uart_buffered.rs

@@ -5,7 +5,7 @@
 use defmt::{assert_eq, *};
 use embassy_executor::Spawner;
 use embassy_rp::interrupt;
-use embassy_rp::uart::{BufferedUart, Config, State, Uart};
+use embassy_rp::uart::{BufferedUart, Config};
 use embedded_io::asynch::{Read, Write};
 use {defmt_rtt as _, panic_probe as _};
 
@@ -17,25 +17,22 @@ async fn main(_spawner: Spawner) {
     let (tx, rx, uart) = (p.PIN_0, p.PIN_1, p.UART0);
 
     let config = Config::default();
-    let uart = Uart::new_blocking(uart, tx, rx, config);
-
     let irq = interrupt::take!(UART0_IRQ);
     let tx_buf = &mut [0u8; 16];
     let rx_buf = &mut [0u8; 16];
-    let mut state = State::new();
+    let mut uart = BufferedUart::new(uart, irq, tx, rx, tx_buf, rx_buf, config);
-    let mut uart = BufferedUart::new(&mut state, uart, irq, tx_buf, rx_buf);
 
     // Make sure we send more bytes than fits in the FIFO, to test the actual
     // bufferedUart.
 
     let data = [
-        1_u8, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+        1u8, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
-        30, 31, 32,
+        30, 31,
     ];
     uart.write_all(&data).await.unwrap();
     info!("Done writing");
 
-    let mut buf = [0; 32];
+    let mut buf = [0; 31];
     uart.read_exact(&mut buf).await.unwrap();
     assert_eq!(buf, data);