Merge branch 'main' of https://github.com/embassy-rs/embassy into hrtim

.gitattributes

@@ -0,0 +1,41 @@
+* text=auto
+
+*.adoc     text
+*.html     text
+*.in       text
+*.json     text
+*.md       text
+*.proto    text
+*.py       text
+*.rs       text
+*.service  text
+*.sh       text
+*.toml     text
+*.txt      text
+*.x        text
+*.yml      text
+
+*.raw    binary
+*.bin    binary
+*.png    binary
+*.jpg    binary
+*.jpeg   binary
+*.gif    binary
+*.ico    binary
+*.mov    binary
+*.mp4    binary
+*.mp3    binary
+*.flv    binary
+*.fla    binary
+*.swf    binary
+*.gz     binary
+*.zip    binary
+*.7z     binary
+*.ttf    binary
+*.eot    binary
+*.woff   binary
+*.pyc    binary
+*.pdf    binary
+*.ez     binary
+*.bz2    binary
+*.swp    binary

.github/ci/crlf.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+FILES_WITH_CRLF=$(find  ! -path "./.git/*" -not -type d | xargs file -N | (grep " CRLF " || true))
+
+if [ -z "$FILES_WITH_CRLF" ]; then
+  echo -e "No files with CRLF endings found."
+  exit 0
+else
+  NR_FILES=$(echo "$FILES_WITH_CRLF" | wc -l)
+  echo -e "ERROR: Found ${NR_FILES} files with CRLF endings."
+  echo "$FILES_WITH_CRLF"
+  exit "$NR_FILES"
+fi

.github/ci/doc.sh

@@ -6,7 +6,7 @@ set -euo pipefail
 export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
-export BUILDER_THREADS=6
+export BUILDER_THREADS=4
 export BUILDER_COMPRESS=true
 
 # force rustup to download the toolchain before starting building.
@@ -15,30 +15,32 @@ export BUILDER_COMPRESS=true
 # which makes rustup very sad
 rustc --version > /dev/null
 
-docserver-builder -i ./embassy-stm32 -o crates/embassy-stm32/git.zup
+docserver-builder -i ./embassy-stm32 -o webroot/crates/embassy-stm32/git.zup
-docserver-builder -i ./embassy-boot/boot -o crates/embassy-boot/git.zup
+docserver-builder -i ./embassy-boot/boot -o webroot/crates/embassy-boot/git.zup
-docserver-builder -i ./embassy-boot/nrf -o crates/embassy-boot-nrf/git.zup
+docserver-builder -i ./embassy-boot/nrf -o webroot/crates/embassy-boot-nrf/git.zup
-docserver-builder -i ./embassy-boot/rp -o crates/embassy-boot-rp/git.zup
+docserver-builder -i ./embassy-boot/rp -o webroot/crates/embassy-boot-rp/git.zup
-docserver-builder -i ./embassy-boot/stm32 -o crates/embassy-boot-stm32/git.zup
+docserver-builder -i ./embassy-boot/stm32 -o webroot/crates/embassy-boot-stm32/git.zup
-docserver-builder -i ./embassy-embedded-hal -o crates/embassy-embedded-hal/git.zup
+docserver-builder -i ./embassy-embedded-hal -o webroot/crates/embassy-embedded-hal/git.zup
-docserver-builder -i ./embassy-executor -o crates/embassy-executor/git.zup
+docserver-builder -i ./embassy-executor -o webroot/crates/embassy-executor/git.zup
-docserver-builder -i ./embassy-futures -o crates/embassy-futures/git.zup
+docserver-builder -i ./embassy-futures -o webroot/crates/embassy-futures/git.zup
-docserver-builder -i ./embassy-lora -o crates/embassy-lora/git.zup
+docserver-builder -i ./embassy-lora -o webroot/crates/embassy-lora/git.zup
-docserver-builder -i ./embassy-net -o crates/embassy-net/git.zup
+docserver-builder -i ./embassy-net -o webroot/crates/embassy-net/git.zup
-docserver-builder -i ./embassy-net-driver -o crates/embassy-net-driver/git.zup
+docserver-builder -i ./embassy-net-driver -o webroot/crates/embassy-net-driver/git.zup
-docserver-builder -i ./embassy-net-driver-channel -o crates/embassy-net-driver-channel/git.zup
+docserver-builder -i ./embassy-net-driver-channel -o webroot/crates/embassy-net-driver-channel/git.zup
-docserver-builder -i ./embassy-nrf -o crates/embassy-nrf/git.zup
+docserver-builder -i ./embassy-nrf -o webroot/crates/embassy-nrf/git.zup
-docserver-builder -i ./embassy-rp -o crates/embassy-rp/git.zup
+docserver-builder -i ./embassy-rp -o webroot/crates/embassy-rp/git.zup
-docserver-builder -i ./embassy-sync -o crates/embassy-sync/git.zup
+docserver-builder -i ./embassy-sync -o webroot/crates/embassy-sync/git.zup
-docserver-builder -i ./embassy-time -o crates/embassy-time/git.zup
+docserver-builder -i ./embassy-time -o webroot/crates/embassy-time/git.zup
-docserver-builder -i ./embassy-usb -o crates/embassy-usb/git.zup
+docserver-builder -i ./embassy-usb -o webroot/crates/embassy-usb/git.zup
-docserver-builder -i ./embassy-usb-driver -o crates/embassy-usb-driver/git.zup
+docserver-builder -i ./embassy-usb-driver -o webroot/crates/embassy-usb-driver/git.zup
-docserver-builder -i ./embassy-usb-logger -o crates/embassy-usb-logger/git.zup
+docserver-builder -i ./embassy-usb-logger -o webroot/crates/embassy-usb-logger/git.zup
-docserver-builder -i ./cyw43 -o crates/cyw43/git.zup
+docserver-builder -i ./cyw43 -o webroot/crates/cyw43/git.zup
-docserver-builder -i ./cyw43-pio -o crates/cyw43-pio/git.zup
+docserver-builder -i ./cyw43-pio -o webroot/crates/cyw43-pio/git.zup
-docserver-builder -i ./embassy-net-w5500 -o crates/embassy-net-w5500/git.zup
+docserver-builder -i ./embassy-net-w5500 -o webroot/crates/embassy-net-w5500/git.zup
-docserver-builder -i ./embassy-stm32-wpan -o crates/embassy-stm32-wpan/git.zup
+docserver-builder -i ./embassy-net-esp-hosted -o webroot/crates/embassy-net-esp-hosted/git.zup
+docserver-builder -i ./embassy-stm32-wpan -o webroot/crates/embassy-stm32-wpan/git.zup --output-static webroot/static
 
 export KUBECONFIG=/ci/secrets/kubeconfig.yml
 POD=$(kubectl -n embassy get po -l app=docserver -o jsonpath={.items[0].metadata.name})
-kubectl cp crates $POD:/data
+kubectl cp webroot/crates $POD:/data
+kubectl cp webroot/static $POD:/data

ci.sh

@@ -5,10 +5,6 @@ set -euo pipefail
 export RUSTFLAGS=-Dwarnings
 export DEFMT_LOG=trace,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
 
-# needed by wifi examples
-export WIFI_NETWORK=x
-export WIFI_PASSWORD=x
-
 TARGET=$(rustc -vV | sed -n 's|host: ||p')
 
 BUILD_EXTRA=""

cyw43/Cargo.toml

@@ -11,7 +11,7 @@ log = ["dep:log"]
 firmware-logs = []
 
 [dependencies]
-embassy-time = { version = "0.1.0", path = "../embassy-time"}
+embassy-time = { version = "0.1.2", path = "../embassy-time"}
 embassy-sync = { version = "0.2.0", path = "../embassy-sync"}
 embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
 embassy-net-driver-channel = { version = "0.1.0", path = "../embassy-net-driver-channel"}
@@ -24,7 +24,7 @@ cortex-m = "0.7.6"
 cortex-m-rt = "0.7.0"
 futures = { version = "0.3.17", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
 
-embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.10" }
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.11" }
 num_enum = { version = "0.5.7", default-features = false }
 
 [package.metadata.embassy_docs]

cyw43/README.md

@@ -30,7 +30,7 @@ TODO:
 ### Example 2: Create an access point (IP and credentials in the code)
 - `cargo run --release --bin wifi_ap_tcp_server`
 ### Example 3: Connect to an existing network and create a server
-- `WIFI_NETWORK=MyWifiNetwork WIFI_PASSWORD=MyWifiPassword cargo run --release --bin wifi_tcp_server`
+- `cargo run --release --bin wifi_tcp_server`
 
 After a few seconds, you should see that DHCP picks up an IP address like this
 ```

cyw43/src/runner.rs

@@ -345,7 +345,9 @@ where
     }
 
     fn rx(&mut self, packet: &mut [u8]) {
-        let Some((sdpcm_header, payload)) = SdpcmHeader::parse(packet) else { return };
+        let Some((sdpcm_header, payload)) = SdpcmHeader::parse(packet) else {
+            return;
+        };
 
         self.update_credit(&sdpcm_header);
 
@@ -353,7 +355,9 @@ where
 
         match channel {
             CHANNEL_TYPE_CONTROL => {
-                let Some((cdc_header, response)) = CdcHeader::parse(payload) else { return; };
+                let Some((cdc_header, response)) = CdcHeader::parse(payload) else {
+                    return;
+                };
                 trace!("    {:?}", cdc_header);
 
                 if cdc_header.id == self.ioctl_id {
@@ -417,8 +421,12 @@ where
                     let status = event_packet.msg.status;
                     let event_payload = match evt_type {
                         Event::ESCAN_RESULT if status == EStatus::PARTIAL => {
-                            let Some((_, bss_info)) = ScanResults::parse(evt_data) else { return };
+                            let Some((_, bss_info)) = ScanResults::parse(evt_data) else {
-                            let Some(bss_info) = BssInfo::parse(bss_info) else { return };
+                                return;
+                            };
+                            let Some(bss_info) = BssInfo::parse(bss_info) else {
+                                return;
+                            };
                             events::Payload::BssInfo(*bss_info)
                         }
                         Event::ESCAN_RESULT => events::Payload::None,
@@ -439,7 +447,9 @@ where
                 }
             }
             CHANNEL_TYPE_DATA => {
-                let Some((_, packet)) = BdcHeader::parse(payload) else { return };
+                let Some((_, packet)) = BdcHeader::parse(payload) else {
+                    return;
+                };
                 trace!("rx pkt {:02x}", Bytes(&packet[..packet.len().min(48)]));
 
                 match self.ch.try_rx_buf() {

embassy-embedded-hal/Cargo.toml

@@ -15,15 +15,18 @@ target = "x86_64-unknown-linux-gnu"
 std = []
 # Enable nightly-only features
 nightly = ["embassy-futures", "embedded-hal-async", "embedded-storage-async"]
+time = ["dep:embassy-time"]
+default = ["time"]
 
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../embassy-futures", optional = true }
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
+embassy-time = { version = "0.1.2", path = "../embassy-time", optional = true }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
     "unproven",
 ] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.11" }
-embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true }
+embedded-hal-async = { version = "=0.2.0-alpha.2", optional = true }
 embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
 nb = "1.0.0"

embassy-embedded-hal/src/adapter/blocking_async.rs

@@ -74,7 +74,21 @@ where
     E: embedded_hal_1::spi::Error + 'static,
     T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
 {
-    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
+    async fn flush(&mut self) -> Result<(), Self::Error> {
+        Ok(())
+    }
+
+    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(data)?;
+        Ok(())
+    }
+
+    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.transfer(data)?;
+        Ok(())
+    }
+
+    async fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
         // Ensure we write the expected bytes
         for i in 0..core::cmp::min(read.len(), write.len()) {
             read[i] = write[i].clone();
@@ -83,38 +97,7 @@ where
         Ok(())
     }
 
-    async fn transfer_in_place<'a>(&'a mut self, _: &'a mut [u8]) -> Result<(), Self::Error> {
+    async fn transfer_in_place(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
-        todo!()
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusFlush for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn flush(&mut self) -> Result<(), Self::Error> {
-        Ok(())
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusWrite<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
-        self.wrapped.write(data)?;
-        Ok(())
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusRead<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
         self.wrapped.transfer(data)?;
         Ok(())
     }

embassy-embedded-hal/src/adapter/yielding_async.rs

@@ -69,51 +69,36 @@ where
     type Error = T::Error;
 }
 
-impl<T> embedded_hal_async::spi::SpiBus<u8> for YieldingAsync<T>
+impl<T, Word: 'static + Copy> embedded_hal_async::spi::SpiBus<Word> for YieldingAsync<T>
 where
-    T: embedded_hal_async::spi::SpiBus,
+    T: embedded_hal_async::spi::SpiBus<Word>,
-{
-    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
-        self.wrapped.transfer(read, write).await?;
-        yield_now().await;
-        Ok(())
-    }
-
-    async fn transfer_in_place<'a>(&'a mut self, words: &'a mut [u8]) -> Result<(), Self::Error> {
-        self.wrapped.transfer_in_place(words).await?;
-        yield_now().await;
-        Ok(())
-    }
-}
-
-impl<T> embedded_hal_async::spi::SpiBusFlush for YieldingAsync<T>
-where
-    T: embedded_hal_async::spi::SpiBusFlush,
 {
     async fn flush(&mut self) -> Result<(), Self::Error> {
         self.wrapped.flush().await?;
         yield_now().await;
         Ok(())
     }
-}
 
-impl<T> embedded_hal_async::spi::SpiBusWrite<u8> for YieldingAsync<T>
+    async fn write(&mut self, data: &[Word]) -> Result<(), Self::Error> {
-where
-    T: embedded_hal_async::spi::SpiBusWrite<u8>,
-{
-    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
         self.wrapped.write(data).await?;
         yield_now().await;
         Ok(())
     }
+
+    async fn read(&mut self, data: &mut [Word]) -> Result<(), Self::Error> {
+        self.wrapped.read(data).await?;
+        yield_now().await;
+        Ok(())
     }
 
-impl<T> embedded_hal_async::spi::SpiBusRead<u8> for YieldingAsync<T>
+    async fn transfer(&mut self, read: &mut [Word], write: &[Word]) -> Result<(), Self::Error> {
-where
+        self.wrapped.transfer(read, write).await?;
-    T: embedded_hal_async::spi::SpiBusRead<u8>,
+        yield_now().await;
-{
+        Ok(())
-    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
+    }
-        self.wrapped.read(data).await?;
+
+    async fn transfer_in_place(&mut self, words: &mut [Word]) -> Result<(), Self::Error> {
+        self.wrapped.transfer_in_place(words).await?;
         yield_now().await;
         Ok(())
     }

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

@@ -56,62 +56,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS> spi::SpiDeviceRead for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusRead,
-    CS: OutputPin,
-{
-    async fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.read(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
-impl<M, BUS, CS> spi::SpiDeviceWrite for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusWrite,
-    CS: OutputPin,
-{
-    async fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.write(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
 impl<M, BUS, CS> spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -129,6 +73,12 @@ where
                     Operation::Write(buf) => bus.write(buf).await?,
                     Operation::Transfer(read, write) => bus.transfer(read, write).await?,
                     Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                    #[cfg(not(feature = "time"))]
+                    Operation::DelayUs(_) => return Err(SpiDeviceError::DelayUsNotSupported),
+                    #[cfg(feature = "time")]
+                    Operation::DelayUs(us) => {
+                        embassy_time::Timer::after(embassy_time::Duration::from_micros(*us as _)).await
+                    }
                 }
             }
         };
@@ -172,64 +122,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS> spi::SpiDeviceWrite for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusWrite + SetConfig,
-    CS: OutputPin,
-{
-    async fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.write(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
-impl<M, BUS, CS> spi::SpiDeviceRead for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusRead + SetConfig,
-    CS: OutputPin,
-{
-    async fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.read(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
 impl<M, BUS, CS> spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -248,6 +140,12 @@ where
                     Operation::Write(buf) => bus.write(buf).await?,
                     Operation::Transfer(read, write) => bus.transfer(read, write).await?,
                     Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                    #[cfg(not(feature = "time"))]
+                    Operation::DelayUs(_) => return Err(SpiDeviceError::DelayUsNotSupported),
+                    #[cfg(feature = "time")]
+                    Operation::DelayUs(us) => {
+                        embassy_time::Timer::after(embassy_time::Duration::from_micros(*us as _)).await
+                    }
                 }
             }
         };

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

@@ -22,7 +22,7 @@ use core::cell::RefCell;
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::blocking_mutex::Mutex;
 use embedded_hal_1::digital::OutputPin;
-use embedded_hal_1::spi::{self, Operation, SpiBus, SpiBusRead, SpiBusWrite};
+use embedded_hal_1::spi::{self, Operation, SpiBus};
 
 use crate::shared_bus::SpiDeviceError;
 use crate::SetConfig;
@@ -48,58 +48,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceRead for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusRead,
-    CS: OutputPin,
-{
-    fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter_mut().try_for_each(|buf| bus.read(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-
-            Ok(op_res)
-        })
-    }
-}
-
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceWrite for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusWrite,
-    CS: OutputPin,
-{
-    fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter().try_for_each(|buf| bus.write(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-
-            Ok(op_res)
-        })
-    }
-}
-
 impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -116,6 +64,13 @@ where
                 Operation::Write(buf) => bus.write(buf),
                 Operation::Transfer(read, write) => bus.transfer(read, write),
                 Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
+                #[cfg(not(feature = "time"))]
+                Operation::DelayUs(_) => Err(SpiDeviceError::DelayUsNotSupported),
+                #[cfg(feature = "time")]
+                Operation::DelayUs(us) => {
+                    embassy_time::block_for(embassy_time::Duration::from_micros(*us as _));
+                    Ok(())
+                }
             });
 
             // On failure, it's important to still flush and deassert CS.
@@ -199,58 +154,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceRead for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusRead + SetConfig,
-    CS: OutputPin,
-{
-    fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter_mut().try_for_each(|buf| bus.read(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(op_res)
-        })
-    }
-}
-
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceWrite for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusWrite + SetConfig,
-    CS: OutputPin,
-{
-    fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter().try_for_each(|buf| bus.write(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(op_res)
-        })
-    }
-}
-
 impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -268,6 +171,13 @@ where
                 Operation::Write(buf) => bus.write(buf),
                 Operation::Transfer(read, write) => bus.transfer(read, write),
                 Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
+                #[cfg(not(feature = "time"))]
+                Operation::DelayUs(_) => Err(SpiDeviceError::DelayUsNotSupported),
+                #[cfg(feature = "time")]
+                Operation::DelayUs(us) => {
+                    embassy_time::block_for(embassy_time::Duration::from_micros(*us as _));
+                    Ok(())
+                }
             });
 
             // On failure, it's important to still flush and deassert CS.

embassy-embedded-hal/src/shared_bus/mod.rs

@@ -30,11 +30,14 @@ where
 /// Error returned by SPI device implementations in this crate.
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
 pub enum SpiDeviceError<BUS, CS> {
     /// An operation on the inner SPI bus failed.
     Spi(BUS),
     /// Setting the value of the Chip Select (CS) pin failed.
     Cs(CS),
+    /// DelayUs operations are not supported when the `time` Cargo feature is not enabled.
+    DelayUsNotSupported,
 }
 
 impl<BUS, CS> spi::Error for SpiDeviceError<BUS, CS>
@@ -46,6 +49,7 @@ where
         match self {
             Self::Spi(e) => e.kind(),
             Self::Cs(_) => spi::ErrorKind::Other,
+            Self::DelayUsNotSupported => spi::ErrorKind::Other,
         }
     }
 }

embassy-executor/Cargo.toml

@@ -62,7 +62,7 @@ rtos-trace = { version = "0.1.2", optional = true }
 
 futures-util = { version = "0.3.17", default-features = false }
 embassy-macros = { version = "0.2.0", path = "../embassy-macros" }
-embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
+embassy-time = { version = "0.1.2", path = "../embassy-time", optional = true}
 atomic-polyfill = "1.0.1"
 critical-section = "1.1"
 static_cell = "1.1"

embassy-executor/src/raw/mod.rs

@@ -165,6 +165,9 @@ impl<F: Future + 'static> TaskStorage<F> {
             Poll::Ready(_) => {
                 this.future.drop_in_place();
                 this.raw.state.fetch_and(!STATE_SPAWNED, Ordering::AcqRel);
+
+                #[cfg(feature = "integrated-timers")]
+                this.raw.expires_at.set(Instant::MAX);
             }
             Poll::Pending => {}
         }

embassy-hal-common/src/peripheral.rs

@@ -161,7 +161,7 @@ pub trait Peripheral: Sized {
     }
 }
 
-impl<'b, T: Deref> Peripheral for T
+impl<'b, T: DerefMut> Peripheral for T
 where
     T::Target: Peripheral,
 {

embassy-lora/Cargo.toml

@@ -20,11 +20,11 @@ defmt = ["dep:defmt", "lorawan-device/defmt"]
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
-embassy-time = { version = "0.1.0", path = "../embassy-time" }
+embassy-time = { version = "0.1.2", path = "../embassy-time" }
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
 embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32", default-features = false, optional = true }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.11" }
-embedded-hal-async = { version = "=0.2.0-alpha.1" }
+embedded-hal-async = { version = "=0.2.0-alpha.2" }
 embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common", default-features = false }
 futures = { version = "0.3.17", default-features = false, features = [ "async-await" ] }
 embedded-hal = { version = "0.2", features = ["unproven"] }
@@ -32,3 +32,6 @@ bit_field = { version = "0.10" }
 
 lora-phy = { version = "1" }
 lorawan-device = { version = "0.10.0", default-features = false, features = ["async"] }
+
+[patch.crates-io]
+lora-phy = { git = "https://github.com/embassy-rs/lora-phy", rev = "ad289428fd44b02788e2fa2116445cc8f640a265" }

embassy-net-driver/src/lib.rs

@@ -164,6 +164,9 @@ pub enum Medium {
     ///
     /// Examples of devices of this type are the Linux `tun`, PPP interfaces, VPNs in tun (layer 3) mode.
     Ip,
+
+    /// IEEE 802_15_4 medium
+    Ieee802154,
 }
 
 impl Default for Medium {

embassy-net-esp-hosted/Cargo.toml

@@ -7,14 +7,20 @@ edition = "2021"
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
-embassy-time = { version = "0.1.0", path = "../embassy-time" }
+embassy-time = { version = "0.1.2", path = "../embassy-time" }
 embassy-sync = { version = "0.2.0", path = "../embassy-sync"}
 embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
 embassy-net-driver-channel = { version = "0.1.0", path = "../embassy-net-driver-channel"}
 
-embedded-hal = { version = "1.0.0-alpha.10" }
+embedded-hal = { version = "1.0.0-alpha.11" }
-embedded-hal-async = { version = "=0.2.0-alpha.1" }
+embedded-hal-async = { version = "=0.2.0-alpha.2" }
 
 noproto = { git="https://github.com/embassy-rs/noproto", default-features = false, features = ["derive"] }
 #noproto = { version = "0.1", path = "/home/dirbaio/noproto", default-features = false, features = ["derive"] }
 heapless = "0.7.16"
+
+[package.metadata.embassy_docs]
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-net-esp-hosted-v$VERSION/embassy-net-esp-hosted/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-net-esp-hosted/src/"
+target = "thumbv7em-none-eabi"
+features = ["defmt"]

embassy-net-esp-hosted/src/control.rs

@@ -54,7 +54,9 @@ impl<'a> Control<'a> {
             })),
         };
         let resp = self.ioctl(req).await;
-        let proto::CtrlMsgPayload::RespConnectAp(resp) = resp.payload.unwrap() else { panic!("unexpected resp") };
+        let proto::CtrlMsgPayload::RespConnectAp(resp) = resp.payload.unwrap() else {
+            panic!("unexpected resp")
+        };
         debug!("======= {:?}", Debug2Format(&resp));
         assert_eq!(resp.resp, 0);
         self.state_ch.set_link_state(LinkState::Up);
@@ -71,7 +73,9 @@ impl<'a> Control<'a> {
             )),
         };
         let resp = self.ioctl(req).await;
-        let proto::CtrlMsgPayload::RespGetMacAddress(resp) = resp.payload.unwrap() else { panic!("unexpected resp") };
+        let proto::CtrlMsgPayload::RespGetMacAddress(resp) = resp.payload.unwrap() else {
+            panic!("unexpected resp")
+        };
         assert_eq!(resp.resp, 0);
 
         // WHY IS THIS A STRING? WHYYYY
@@ -100,7 +104,9 @@ impl<'a> Control<'a> {
             payload: Some(proto::CtrlMsgPayload::ReqSetWifiMode(proto::CtrlMsgReqSetMode { mode })),
         };
         let resp = self.ioctl(req).await;
-        let proto::CtrlMsgPayload::RespSetWifiMode(resp) = resp.payload.unwrap() else { panic!("unexpected resp") };
+        let proto::CtrlMsgPayload::RespSetWifiMode(resp) = resp.payload.unwrap() else {
+            panic!("unexpected resp")
+        };
         assert_eq!(resp.resp, 0);
     }
 

embassy-net-esp-hosted/src/lib.rs

@@ -311,14 +311,14 @@ where
     fn handle_event(&self, data: &[u8]) {
         let Ok(event) = noproto::read::<CtrlMsg>(data) else {
             warn!("failed to parse event");
-            return
+            return;
         };
 
         debug!("event: {:?}", &event);
 
         let Some(payload) = &event.payload else {
             warn!("event without payload?");
-            return
+            return;
         };
 
         match payload {

embassy-net-w5500/Cargo.toml

@@ -8,11 +8,11 @@ license = "MIT OR Apache-2.0"
 edition = "2021"
 
 [dependencies]
-embedded-hal = { version = "1.0.0-alpha.10" }
+embedded-hal = { version = "1.0.0-alpha.11" }
-embedded-hal-async = { version = "=0.2.0-alpha.1" }
+embedded-hal-async = { version = "=0.2.0-alpha.2" }
 embassy-net-driver-channel = { version = "0.1.0", path = "../embassy-net-driver-channel" }
-embassy-time = { version = "0.1.0" }
+embassy-time = { version = "0.1.2", path = "../embassy-time" }
-embassy-futures = { version = "0.1.0" }
+embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 defmt = { version = "0.3", optional = true }
 
 [package.metadata.embassy_docs]

embassy-net-w5500/src/spi.rs

@@ -22,7 +22,11 @@ impl<SPI: SpiDevice> SpiInterface<SPI> {
         let address_phase = address.to_be_bytes();
         let control_phase = [(block as u8) << 3 | 0b0000_0100];
         let data_phase = data;
-        let operations = &[&address_phase[..], &control_phase, &data_phase];
+        let operations = &mut [
-        self.0.write_transaction(operations).await
+            Operation::Write(&address_phase[..]),
+            Operation::Write(&control_phase),
+            Operation::Write(&data_phase),
+        ];
+        self.0.transaction(operations).await
     }
 }

embassy-net/Cargo.toml

@@ -37,6 +37,7 @@ proto-ipv4 = ["smoltcp/proto-ipv4"]
 proto-ipv6 = ["smoltcp/proto-ipv6"]
 medium-ethernet = ["smoltcp/medium-ethernet"]
 medium-ip = ["smoltcp/medium-ip"]
+medium-ieee802154 = ["smoltcp/medium-ieee802154"]
 igmp = ["smoltcp/proto-igmp"]
 
 [dependencies]
@@ -50,7 +51,7 @@ smoltcp = { version = "0.10.0", default-features = false, features = [
 ] }
 
 embassy-net-driver = { version = "0.1.0", path = "../embassy-net-driver" }
-embassy-time = { version = "0.1.0", path = "../embassy-time" }
+embassy-time = { version = "0.1.2", path = "../embassy-time" }
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
 embedded-io = { version = "0.4.0", optional = true }
 

embassy-net/src/device.rs

@@ -51,6 +51,8 @@ where
             Medium::Ethernet => phy::Medium::Ethernet,
             #[cfg(feature = "medium-ip")]
             Medium::Ip => phy::Medium::Ip,
+            #[cfg(feature = "medium-ieee802154")]
+            Medium::Ieee802154 => phy::Medium::Ieee802154,
             #[allow(unreachable_patterns)]
             _ => panic!(
                 "Unsupported medium {:?}. Make sure to enable it in embassy-net's Cargo features.",

embassy-net/src/lib.rs

@@ -24,9 +24,11 @@ use embassy_net_driver::{Driver, LinkState, Medium};
 use embassy_sync::waitqueue::WakerRegistration;
 use embassy_time::{Instant, Timer};
 use futures::pin_mut;
+#[allow(unused_imports)]
 use heapless::Vec;
 #[cfg(feature = "igmp")]
 pub use smoltcp::iface::MulticastError;
+#[allow(unused_imports)]
 use smoltcp::iface::{Interface, SocketHandle, SocketSet, SocketStorage};
 #[cfg(feature = "dhcpv4")]
 use smoltcp::socket::dhcpv4::{self, RetryConfig};
@@ -34,7 +36,9 @@ use smoltcp::socket::dhcpv4::{self, RetryConfig};
 pub use smoltcp::wire::IpListenEndpoint;
 #[cfg(feature = "medium-ethernet")]
 pub use smoltcp::wire::{EthernetAddress, HardwareAddress};
-pub use smoltcp::wire::{IpAddress, IpCidr};
+#[cfg(feature = "medium-ieee802154")]
+pub use smoltcp::wire::{HardwareAddress, Ieee802154Address};
+pub use smoltcp::wire::{IpAddress, IpCidr, IpEndpoint};
 #[cfg(feature = "proto-ipv4")]
 pub use smoltcp::wire::{Ipv4Address, Ipv4Cidr};
 #[cfg(feature = "proto-ipv6")]
@@ -232,7 +236,7 @@ impl<D: Driver + 'static> Stack<D> {
         resources: &'static mut StackResources<SOCK>,
         random_seed: u64,
     ) -> Self {
-        #[cfg(feature = "medium-ethernet")]
+        #[cfg(any(feature = "medium-ethernet", feature = "medium-ieee802154"))]
         let medium = device.capabilities().medium;
 
         let hardware_addr = match medium {
@@ -240,6 +244,8 @@ impl<D: Driver + 'static> Stack<D> {
             Medium::Ethernet => HardwareAddress::Ethernet(EthernetAddress(device.ethernet_address())),
             #[cfg(feature = "medium-ip")]
             Medium::Ip => HardwareAddress::Ip,
+            #[cfg(feature = "medium-ieee802154")]
+            Medium::Ieee802154 => HardwareAddress::Ieee802154(Ieee802154Address::Absent),
             #[allow(unreachable_patterns)]
             _ => panic!(
                 "Unsupported medium {:?}. Make sure to enable it in embassy-net's Cargo features.",
@@ -262,6 +268,7 @@ impl<D: Driver + 'static> Stack<D> {
 
         let next_local_port = (random_seed % (LOCAL_PORT_MAX - LOCAL_PORT_MIN) as u64) as u16 + LOCAL_PORT_MIN;
 
+        #[cfg_attr(feature = "medium-ieee802154", allow(unused_mut))]
         let mut socket = SocketStack {
             sockets,
             iface,
@@ -269,6 +276,7 @@ impl<D: Driver + 'static> Stack<D> {
             next_local_port,
         };
 
+        #[cfg_attr(feature = "medium-ieee802154", allow(unused_mut))]
         let mut inner = Inner {
             device,
             link_up: false,
@@ -287,6 +295,9 @@ impl<D: Driver + 'static> Stack<D> {
             dns_waker: WakerRegistration::new(),
         };
 
+        #[cfg(feature = "medium-ieee802154")]
+        let _ = config;
+
         #[cfg(feature = "proto-ipv4")]
         match config.ipv4 {
             ConfigV4::Static(config) => {
@@ -479,30 +490,78 @@ impl<D: Driver + 'static> Stack<D> {
 }
 
 #[cfg(feature = "igmp")]
-impl<D: Driver + smoltcp::phy::Device + 'static> Stack<D> {
+impl<D: Driver + 'static> Stack<D> {
     /// Join a multicast group.
-    pub fn join_multicast_group<T>(&self, addr: T) -> Result<bool, MulticastError>
+    pub async fn join_multicast_group<T>(&self, addr: T) -> Result<bool, MulticastError>
+    where
+        T: Into<IpAddress>,
+    {
+        let addr = addr.into();
+
+        poll_fn(move |cx| self.poll_join_multicast_group(addr, cx)).await
+    }
+
+    /// Join a multicast group.
+    ///
+    /// When the send queue is full, this method will return `Poll::Pending`
+    /// and register the current task to be notified when the queue has space available.
+    pub fn poll_join_multicast_group<T>(&self, addr: T, cx: &mut Context<'_>) -> Poll<Result<bool, MulticastError>>
     where
         T: Into<IpAddress>,
     {
         let addr = addr.into();
 
         self.with_mut(|s, i| {
-            s.iface
+            let mut smoldev = DriverAdapter {
-                .join_multicast_group(&mut i.device, addr, instant_to_smoltcp(Instant::now()))
+                cx: Some(cx),
+                inner: &mut i.device,
+            };
+
+            match s
+                .iface
+                .join_multicast_group(&mut smoldev, addr, instant_to_smoltcp(Instant::now()))
+            {
+                Ok(announce_sent) => Poll::Ready(Ok(announce_sent)),
+                Err(MulticastError::Exhausted) => Poll::Pending,
+                Err(other) => Poll::Ready(Err(other)),
+            }
         })
     }
 
     /// Leave a multicast group.
-    pub fn leave_multicast_group<T>(&self, addr: T) -> Result<bool, MulticastError>
+    pub async fn leave_multicast_group<T>(&self, addr: T) -> Result<bool, MulticastError>
+    where
+        T: Into<IpAddress>,
+    {
+        let addr = addr.into();
+
+        poll_fn(move |cx| self.poll_leave_multicast_group(addr, cx)).await
+    }
+
+    /// Leave a multicast group.
+    ///
+    /// When the send queue is full, this method will return `Poll::Pending`
+    /// and register the current task to be notified when the queue has space available.
+    pub fn poll_leave_multicast_group<T>(&self, addr: T, cx: &mut Context<'_>) -> Poll<Result<bool, MulticastError>>
     where
         T: Into<IpAddress>,
     {
         let addr = addr.into();
 
         self.with_mut(|s, i| {
-            s.iface
+            let mut smoldev = DriverAdapter {
-                .leave_multicast_group(&mut i.device, addr, instant_to_smoltcp(Instant::now()))
+                cx: Some(cx),
+                inner: &mut i.device,
+            };
+
+            match s
+                .iface
+                .leave_multicast_group(&mut smoldev, addr, instant_to_smoltcp(Instant::now()))
+            {
+                Ok(leave_sent) => Poll::Ready(Ok(leave_sent)),
+                Err(MulticastError::Exhausted) => Poll::Pending,
+                Err(other) => Poll::Ready(Err(other)),
+            }
         })
     }
 
@@ -531,11 +590,14 @@ impl<D: Driver + 'static> Inner<D> {
 
         debug!("   IP address:      {}", config.address);
         s.iface.update_ip_addrs(|addrs| {
-            if addrs.is_empty() {
+            if let Some((index, _)) = addrs
-                addrs.push(IpCidr::Ipv4(config.address)).unwrap();
+                .iter()
-            } else {
+                .enumerate()
-                addrs[0] = IpCidr::Ipv4(config.address);
+                .find(|(_, &addr)| matches!(addr, IpCidr::Ipv4(_)))
+            {
+                addrs.remove(index);
             }
+            addrs.push(IpCidr::Ipv4(config.address)).unwrap();
         });
 
         #[cfg(feature = "medium-ethernet")]
@@ -570,11 +632,14 @@ impl<D: Driver + 'static> Inner<D> {
 
         debug!("   IP address:      {}", config.address);
         s.iface.update_ip_addrs(|addrs| {
-            if addrs.is_empty() {
+            if let Some((index, _)) = addrs
-                addrs.push(IpCidr::Ipv6(config.address)).unwrap();
+                .iter()
-            } else {
+                .enumerate()
-                addrs[0] = IpCidr::Ipv6(config.address);
+                .find(|(_, &addr)| matches!(addr, IpCidr::Ipv6(_)))
+            {
+                addrs.remove(index);
             }
+            addrs.push(IpCidr::Ipv6(config.address)).unwrap();
         });
 
         #[cfg(feature = "medium-ethernet")]
@@ -642,13 +707,21 @@ impl<D: Driver + 'static> Inner<D> {
         socket.set_retry_config(config.retry_config);
     }
 
-    #[allow(unused)] // used only with dhcp
+    #[cfg(feature = "dhcpv4")]
-    fn unapply_config(&mut self, s: &mut SocketStack) {
+    fn unapply_config_v4(&mut self, s: &mut SocketStack) {
         #[cfg(feature = "medium-ethernet")]
         let medium = self.device.capabilities().medium;
-
         debug!("Lost IP configuration");
-        s.iface.update_ip_addrs(|ip_addrs| ip_addrs.clear());
+        s.iface.update_ip_addrs(|ip_addrs| {
+            #[cfg(feature = "proto-ipv4")]
+            if let Some((index, _)) = ip_addrs
+                .iter()
+                .enumerate()
+                .find(|(_, &addr)| matches!(addr, IpCidr::Ipv4(_)))
+            {
+                ip_addrs.remove(index);
+            }
+        });
         #[cfg(feature = "medium-ethernet")]
         if medium == Medium::Ethernet {
             #[cfg(feature = "proto-ipv4")]
@@ -695,7 +768,7 @@ impl<D: Driver + 'static> Inner<D> {
             if self.link_up {
                 match socket.poll() {
                     None => {}
-                    Some(dhcpv4::Event::Deconfigured) => self.unapply_config(s),
+                    Some(dhcpv4::Event::Deconfigured) => self.unapply_config_v4(s),
                     Some(dhcpv4::Event::Configured(config)) => {
                         let config = StaticConfigV4 {
                             address: config.address,
@@ -707,7 +780,7 @@ impl<D: Driver + 'static> Inner<D> {
                 }
             } else if old_link_up {
                 socket.reset();
-                self.unapply_config(s);
+                self.unapply_config_v4(s);
             }
         }
         //if old_link_up || self.link_up {

embassy-net/src/udp.rs

@@ -3,7 +3,7 @@
 use core::cell::RefCell;
 use core::future::poll_fn;
 use core::mem;
-use core::task::Poll;
+use core::task::{Context, Poll};
 
 use embassy_net_driver::Driver;
 use smoltcp::iface::{Interface, SocketHandle};
@@ -102,7 +102,17 @@ impl<'a> UdpSocket<'a> {
     ///
     /// Returns the number of bytes received and the remote endpoint.
     pub async fn recv_from(&self, buf: &mut [u8]) -> Result<(usize, IpEndpoint), Error> {
-        poll_fn(move |cx| {
+        poll_fn(move |cx| self.poll_recv_from(buf, cx)).await
+    }
+
+    /// Receive a datagram.
+    ///
+    /// When no datagram is available, this method will return `Poll::Pending` and
+    /// register the current task to be notified when a datagram is received.
+    ///
+    /// When a datagram is received, this method will return `Poll::Ready` with the
+    /// number of bytes received and the remote endpoint.
+    pub fn poll_recv_from(&self, buf: &mut [u8], cx: &mut Context<'_>) -> Poll<Result<(usize, IpEndpoint), Error>> {
         self.with_mut(|s, _| match s.recv_slice(buf) {
             Ok((n, meta)) => Poll::Ready(Ok((n, meta.endpoint))),
             // No data ready
@@ -111,17 +121,33 @@ impl<'a> UdpSocket<'a> {
                 Poll::Pending
             }
         })
-        })
-        .await
     }
 
     /// Send a datagram to the specified remote endpoint.
+    ///
+    /// This method will wait until the datagram has been sent.
+    ///
+    /// When the remote endpoint is not reachable, this method will return `Err(Error::NoRoute)`
     pub async fn send_to<T>(&self, buf: &[u8], remote_endpoint: T) -> Result<(), Error>
     where
         T: Into<IpEndpoint>,
     {
-        let remote_endpoint = remote_endpoint.into();
+        let remote_endpoint: IpEndpoint = remote_endpoint.into();
-        poll_fn(move |cx| {
+        poll_fn(move |cx| self.poll_send_to(buf, remote_endpoint, cx)).await
+    }
+
+    /// Send a datagram to the specified remote endpoint.
+    ///
+    /// When the datagram has been sent, this method will return `Poll::Ready(Ok())`.
+    ///
+    /// When the socket's send buffer is full, this method will return `Poll::Pending`
+    /// and register the current task to be notified when the buffer has space available.
+    ///
+    /// When the remote endpoint is not reachable, this method will return `Poll::Ready(Err(Error::NoRoute))`.
+    pub fn poll_send_to<T>(&self, buf: &[u8], remote_endpoint: T, cx: &mut Context<'_>) -> Poll<Result<(), Error>>
+    where
+        T: Into<IpEndpoint>,
+    {
         self.with_mut(|s, _| match s.send_slice(buf, remote_endpoint) {
             // Entire datagram has been sent
             Ok(()) => Poll::Ready(Ok(())),
@@ -131,8 +157,6 @@ impl<'a> UdpSocket<'a> {
             }
             Err(udp::SendError::Unaddressable) => Poll::Ready(Err(Error::NoRoute)),
         })
-        })
-        .await
     }
 
     /// Returns the local endpoint of the socket.

embassy-nrf/Cargo.toml

@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-nrf-v$VERSION/embassy-nrf/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-nrf/src/"
 
-features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "gpiote", "time-driver-rtc1"]
+features = ["nightly", "time", "defmt", "unstable-pac", "unstable-traits", "gpiote", "time-driver-rtc1"]
 flavors = [
     { regex_feature = "nrf52.*", target = "thumbv7em-none-eabihf" },
     { regex_feature = "nrf53.*", target = "thumbv8m.main-none-eabihf" },
@@ -91,15 +91,15 @@ _dppi = []
 _gpio-p1 = []
 
 [dependencies]
-embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
+embassy-time = { version = "0.1.2", path = "../embassy-time", optional = true }
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common", features = ["cortex-m", "prio-bits-3"] }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optional=true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.11", optional = true}
-embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true}
+embedded-hal-async = { version = "=0.2.0-alpha.2", optional = true}
 embedded-io = { version = "0.4.0", features = ["async"], optional = true }
 
 defmt = { version = "0.3", optional = true }

embassy-nrf/src/gpiote.rs

@@ -221,7 +221,7 @@ impl<'d, C: Channel, T: GpioPin> InputChannel<'d, C, T> {
     }
 
     /// Returns the IN event, for use with PPI.
-    pub fn event_in(&self) -> Event {
+    pub fn event_in(&self) -> Event<'d> {
         let g = regs();
         Event::from_reg(&g.events_in[self.ch.number()])
     }
@@ -292,21 +292,21 @@ impl<'d, C: Channel, T: GpioPin> OutputChannel<'d, C, T> {
     }
 
     /// Returns the OUT task, for use with PPI.
-    pub fn task_out(&self) -> Task {
+    pub fn task_out(&self) -> Task<'d> {
         let g = regs();
         Task::from_reg(&g.tasks_out[self.ch.number()])
     }
 
     /// Returns the CLR task, for use with PPI.
     #[cfg(not(feature = "nrf51"))]
-    pub fn task_clr(&self) -> Task {
+    pub fn task_clr(&self) -> Task<'d> {
         let g = regs();
         Task::from_reg(&g.tasks_clr[self.ch.number()])
     }
 
     /// Returns the SET task, for use with PPI.
     #[cfg(not(feature = "nrf51"))]
-    pub fn task_set(&self) -> Task {
+    pub fn task_set(&self) -> Task<'d> {
         let g = regs();
         Task::from_reg(&g.tasks_set[self.ch.number()])
     }

embassy-nrf/src/pdm.rs

@@ -8,12 +8,22 @@ use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
+use fixed::types::I7F1;
 use futures::future::poll_fn;
 
 use crate::chip::EASY_DMA_SIZE;
 use crate::gpio::sealed::Pin;
 use crate::gpio::{AnyPin, Pin as GpioPin};
 use crate::interrupt::typelevel::Interrupt;
+use crate::pac::pdm::mode::{EDGE_A, OPERATION_A};
+pub use crate::pac::pdm::pdmclkctrl::FREQ_A as Frequency;
+#[cfg(any(
+    feature = "nrf52840",
+    feature = "nrf52833",
+    feature = "_nrf5340-app",
+    feature = "_nrf9160",
+))]
+pub use crate::pac::pdm::ratio::RATIO_A as Ratio;
 use crate::{interrupt, Peripheral};
 
 /// Interrupt handler.
@@ -23,7 +33,20 @@ pub struct InterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
     unsafe fn on_interrupt() {
-        T::regs().intenclr.write(|w| w.end().clear());
+        let r = T::regs();
+
+        if r.events_end.read().bits() != 0 {
+            r.intenclr.write(|w| w.end().clear());
+        }
+
+        if r.events_started.read().bits() != 0 {
+            r.intenclr.write(|w| w.started().clear());
+        }
+
+        if r.events_stopped.read().bits() != 0 {
+            r.intenclr.write(|w| w.stopped().clear());
+        }
+
         T::state().waker.wake();
     }
 }
@@ -44,10 +67,24 @@ pub enum Error {
     BufferZeroLength,
     /// PDM is not running
     NotRunning,
+    /// PDM is already running
+    AlreadyRunning,
 }
 
 static DUMMY_BUFFER: [i16; 1] = [0; 1];
 
+/// The state of a continuously running sampler. While it reflects
+/// the progress of a sampler, it also signals what should be done
+/// next. For example, if the sampler has stopped then the Pdm implementation
+/// can then tear down its infrastructure.
+#[derive(PartialEq)]
+pub enum SamplerState {
+    /// The sampler processed the samples and is ready for more.
+    Sampled,
+    /// The sampler is done processing samples.
+    Stopped,
+}
+
 impl<'d, T: Instance> Pdm<'d, T> {
     /// Create PDM driver
     pub fn new(
@@ -79,18 +116,24 @@ impl<'d, T: Instance> Pdm<'d, T> {
         r.psel.clk.write(|w| unsafe { w.bits(clk.psel_bits()) });
 
         // configure
-        // use default for
+        r.pdmclkctrl.write(|w| w.freq().variant(config.frequency));
-        // - gain right
+        #[cfg(any(
-        // - gain left
+            feature = "nrf52840",
-        // - clk
+            feature = "nrf52833",
-        // - ratio
+            feature = "_nrf5340-app",
+            feature = "_nrf9160",
+        ))]
+        r.ratio.write(|w| w.ratio().variant(config.ratio));
         r.mode.write(|w| {
-            w.edge().bit(config.edge == Edge::LeftRising);
+            w.operation().variant(config.operation_mode.into());
-            w.operation().bit(config.operation_mode == OperationMode::Mono);
+            w.edge().variant(config.edge.into());
             w
         });
-        r.gainl.write(|w| w.gainl().default_gain());
+
-        r.gainr.write(|w| w.gainr().default_gain());
+        Self::_set_gain(r, config.gain_left, config.gain_right);
+
+        // Disable all events interrupts
+        r.intenclr.write(|w| unsafe { w.bits(0x003F_FFFF) });
 
         // IRQ
         T::Interrupt::unpend();
@@ -101,6 +144,25 @@ impl<'d, T: Instance> Pdm<'d, T> {
         Self { _peri: pdm }
     }
 
+    fn _set_gain(r: &crate::pac::pdm::RegisterBlock, gain_left: I7F1, gain_right: I7F1) {
+        let gain_left = gain_left
+            .saturating_add(I7F1::from_bits(40))
+            .saturating_to_num::<u8>()
+            .clamp(0, 0x50);
+        let gain_right = gain_right
+            .saturating_add(I7F1::from_bits(40))
+            .saturating_to_num::<u8>()
+            .clamp(0, 0x50);
+
+        r.gainl.write(|w| unsafe { w.gainl().bits(gain_left) });
+        r.gainr.write(|w| unsafe { w.gainr().bits(gain_right) });
+    }
+
+    /// Adjust the gain of the PDM microphone on the fly
+    pub fn set_gain(&mut self, gain_left: I7F1, gain_right: I7F1) {
+        Self::_set_gain(T::regs(), gain_left, gain_right)
+    }
+
     /// Start sampling microphon data into a dummy buffer
     /// Usefull to start the microphon and keep it active between recording samples
     pub async fn start(&mut self) {
@@ -198,6 +260,108 @@ impl<'d, T: Instance> Pdm<'d, T> {
 
         compiler_fence(Ordering::SeqCst);
     }
+
+    /// Continuous sampling with double buffers.
+    ///
+    /// A sampler closure is provided that receives the buffer of samples, noting
+    /// that the size of this buffer can be less than the original buffer's size.
+    /// A command is return from the closure that indicates whether the sampling
+    /// should continue or stop.
+    ///
+    /// NOTE: The time spent within the callback supplied should not exceed the time
+    /// taken to acquire the samples into a single buffer. You should measure the
+    /// time taken by the callback and set the sample buffer size accordingly.
+    /// Exceeding this time can lead to samples becoming dropped.
+    pub async fn run_task_sampler<S, const N: usize>(
+        &mut self,
+        bufs: &mut [[i16; N]; 2],
+        mut sampler: S,
+    ) -> Result<(), Error>
+    where
+        S: FnMut(&[i16; N]) -> SamplerState,
+    {
+        let r = T::regs();
+
+        if r.events_started.read().bits() != 0 {
+            return Err(Error::AlreadyRunning);
+        }
+
+        r.sample
+            .ptr
+            .write(|w| unsafe { w.sampleptr().bits(bufs[0].as_mut_ptr() as u32) });
+        r.sample.maxcnt.write(|w| unsafe { w.buffsize().bits(N as _) });
+
+        // Reset and enable the events
+        r.events_end.reset();
+        r.events_started.reset();
+        r.events_stopped.reset();
+        r.intenset.write(|w| {
+            w.end().set();
+            w.started().set();
+            w.stopped().set();
+            w
+        });
+
+        // Don't reorder the start event before the previous writes. Hopefully self
+        // wouldn't happen anyway.
+        compiler_fence(Ordering::SeqCst);
+
+        r.tasks_start.write(|w| unsafe { w.bits(1) });
+
+        let mut current_buffer = 0;
+
+        let mut done = false;
+
+        let drop = OnDrop::new(|| {
+            r.tasks_stop.write(|w| unsafe { w.bits(1) });
+            // N.B. It would be better if this were async, but Drop only support sync code.
+            while r.events_stopped.read().bits() != 0 {}
+        });
+
+        // Wait for events and complete when the sampler indicates it has had enough.
+        poll_fn(|cx| {
+            let r = T::regs();
+
+            T::state().waker.register(cx.waker());
+
+            if r.events_end.read().bits() != 0 {
+                compiler_fence(Ordering::SeqCst);
+
+                r.events_end.reset();
+                r.intenset.write(|w| w.end().set());
+
+                if !done {
+                    // Discard the last buffer after the user requested a stop.
+                    if sampler(&bufs[current_buffer]) == SamplerState::Sampled {
+                        let next_buffer = 1 - current_buffer;
+                        current_buffer = next_buffer;
+                    } else {
+                        r.tasks_stop.write(|w| unsafe { w.bits(1) });
+                        done = true;
+                    };
+                };
+            }
+
+            if r.events_started.read().bits() != 0 {
+                r.events_started.reset();
+                r.intenset.write(|w| w.started().set());
+
+                let next_buffer = 1 - current_buffer;
+                r.sample
+                    .ptr
+                    .write(|w| unsafe { w.sampleptr().bits(bufs[next_buffer].as_mut_ptr() as u32) });
+            }
+
+            if r.events_stopped.read().bits() != 0 {
+                return Poll::Ready(());
+            }
+
+            Poll::Pending
+        })
+        .await;
+        drop.defuse();
+        Ok(())
+    }
 }
 
 /// PDM microphone driver Config
@@ -206,6 +370,20 @@ pub struct Config {
     pub operation_mode: OperationMode,
     /// On which edge the left channel should be samples
     pub edge: Edge,
+    /// Clock frequency
+    pub frequency: Frequency,
+    /// Clock ratio
+    #[cfg(any(
+        feature = "nrf52840",
+        feature = "nrf52833",
+        feature = "_nrf5340-app",
+        feature = "_nrf9160",
+    ))]
+    pub ratio: Ratio,
+    /// Gain left in dB
+    pub gain_left: I7F1,
+    /// Gain right in dB
+    pub gain_right: I7F1,
 }
 
 impl Default for Config {
@@ -213,6 +391,16 @@ impl Default for Config {
         Self {
             operation_mode: OperationMode::Mono,
             edge: Edge::LeftFalling,
+            frequency: Frequency::DEFAULT,
+            #[cfg(any(
+                feature = "nrf52840",
+                feature = "nrf52833",
+                feature = "_nrf5340-app",
+                feature = "_nrf9160",
+            ))]
+            ratio: Ratio::RATIO80,
+            gain_left: I7F1::ZERO,
+            gain_right: I7F1::ZERO,
         }
     }
 }
@@ -226,6 +414,15 @@ pub enum OperationMode {
     Stereo,
 }
 
+impl From<OperationMode> for OPERATION_A {
+    fn from(mode: OperationMode) -> Self {
+        match mode {
+            OperationMode::Mono => OPERATION_A::MONO,
+            OperationMode::Stereo => OPERATION_A::STEREO,
+        }
+    }
+}
+
 /// PDM edge polarity
 #[derive(PartialEq)]
 pub enum Edge {
@@ -235,6 +432,15 @@ pub enum Edge {
     LeftFalling,
 }
 
+impl From<Edge> for EDGE_A {
+    fn from(edge: Edge) -> Self {
+        match edge {
+            Edge::LeftRising => EDGE_A::LEFT_RISING,
+            Edge::LeftFalling => EDGE_A::LEFT_FALLING,
+        }
+    }
+}
+
 impl<'d, T: Instance> Drop for Pdm<'d, T> {
     fn drop(&mut self) {
         let r = T::regs();

embassy-nrf/src/ppi/dppi.rs

@@ -12,14 +12,14 @@ pub(crate) fn regs() -> &'static pac::dppic::RegisterBlock {
 
 impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
     /// Configure PPI channel to trigger `task` on `event`.
-    pub fn new_one_to_one(ch: impl Peripheral<P = C> + 'd, event: Event, task: Task) -> Self {
+    pub fn new_one_to_one(ch: impl Peripheral<P = C> + 'd, event: Event<'d>, task: Task<'d>) -> Self {
         Ppi::new_many_to_many(ch, [event], [task])
     }
 }
 
 impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 2> {
     /// Configure PPI channel to trigger both `task1` and `task2` on `event`.
-    pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event, task1: Task, task2: Task) -> Self {
+    pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event<'d>, task1: Task<'d>, task2: Task<'d>) -> Self {
         Ppi::new_many_to_many(ch, [event], [task1, task2])
     }
 }
@@ -30,8 +30,8 @@ impl<'d, C: ConfigurableChannel, const EVENT_COUNT: usize, const TASK_COUNT: usi
     /// Configure a DPPI channel to trigger all `tasks` when any of the `events` fires.
     pub fn new_many_to_many(
         ch: impl Peripheral<P = C> + 'd,
-        events: [Event; EVENT_COUNT],
+        events: [Event<'d>; EVENT_COUNT],
-        tasks: [Task; TASK_COUNT],
+        tasks: [Task<'d>; TASK_COUNT],
     ) -> Self {
         into_ref!(ch);
 

embassy-nrf/src/ppi/mod.rs

@@ -15,6 +15,7 @@
 //! many tasks and events, but any single task or event can only be coupled with one channel.
 //!
 
+use core::marker::PhantomData;
 use core::ptr::NonNull;
 
 use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef};
@@ -30,9 +31,9 @@ pub(crate) use _version::*;
 pub struct Ppi<'d, C: Channel, const EVENT_COUNT: usize, const TASK_COUNT: usize> {
     ch: PeripheralRef<'d, C>,
     #[cfg(feature = "_dppi")]
-    events: [Event; EVENT_COUNT],
+    events: [Event<'d>; EVENT_COUNT],
     #[cfg(feature = "_dppi")]
-    tasks: [Task; TASK_COUNT],
+    tasks: [Task<'d>; TASK_COUNT],
 }
 
 /// PPI channel group driver.
@@ -95,7 +96,7 @@ impl<'d, G: Group> PpiGroup<'d, G> {
     /// Get a reference to the "enable all" task.
     ///
     /// When triggered, it will enable all the channels in this group.
-    pub fn task_enable_all(&self) -> Task {
+    pub fn task_enable_all(&self) -> Task<'d> {
         let n = self.g.number();
         Task::from_reg(&regs().tasks_chg[n].en)
     }
@@ -103,7 +104,7 @@ impl<'d, G: Group> PpiGroup<'d, G> {
     /// Get a reference to the "disable all" task.
     ///
     /// When triggered, it will disable all the channels in this group.
-    pub fn task_disable_all(&self) -> Task {
+    pub fn task_disable_all(&self) -> Task<'d> {
         let n = self.g.number();
         Task::from_reg(&regs().tasks_chg[n].dis)
     }
@@ -125,16 +126,16 @@ const REGISTER_DPPI_CONFIG_OFFSET: usize = 0x80 / core::mem::size_of::<u32>();
 /// When a task is subscribed to a PPI channel, it will run when the channel is triggered by
 /// a published event.
 #[derive(PartialEq, Eq, Clone, Copy)]
-pub struct Task(NonNull<u32>);
+pub struct Task<'d>(NonNull<u32>, PhantomData<&'d ()>);
 
-impl Task {
+impl<'d> Task<'d> {
     /// Create a new `Task` from a task register pointer
     ///
     /// # Safety
     ///
     /// `ptr` must be a pointer to a valid `TASKS_*` register from an nRF peripheral.
     pub unsafe fn new_unchecked(ptr: NonNull<u32>) -> Self {
-        Self(ptr)
+        Self(ptr, PhantomData)
     }
 
     /// Triggers this task.
@@ -143,7 +144,10 @@ impl Task {
     }
 
     pub(crate) fn from_reg<T>(reg: &T) -> Self {
-        Self(unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) })
+        Self(
+            unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) },
+            PhantomData,
+        )
     }
 
     /// Address of subscription register for this task.
@@ -156,26 +160,29 @@ impl Task {
 /// # Safety
 ///
 /// NonNull is not send, but this event is only allowed to point at registers and those exist in any context on the same core.
-unsafe impl Send for Task {}
+unsafe impl Send for Task<'_> {}
 
 /// Represents an event that a peripheral can publish.
 ///
 /// An event can be set to publish on a PPI channel when the event happens.
 #[derive(PartialEq, Eq, Clone, Copy)]
-pub struct Event(NonNull<u32>);
+pub struct Event<'d>(NonNull<u32>, PhantomData<&'d ()>);
 
-impl Event {
+impl<'d> Event<'d> {
     /// Create a new `Event` from an event register pointer
     ///
     /// # Safety
     ///
     /// `ptr` must be a pointer to a valid `EVENTS_*` register from an nRF peripheral.
     pub unsafe fn new_unchecked(ptr: NonNull<u32>) -> Self {
-        Self(ptr)
+        Self(ptr, PhantomData)
     }
 
-    pub(crate) fn from_reg<T>(reg: &T) -> Self {
+    pub(crate) fn from_reg<T>(reg: &'d T) -> Self {
-        Self(unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) })
+        Self(
+            unsafe { NonNull::new_unchecked(reg as *const _ as *mut _) },
+            PhantomData,
+        )
     }
 
     /// Describes whether this Event is currently in a triggered state.
@@ -198,7 +205,7 @@ impl Event {
 /// # Safety
 ///
 /// NonNull is not send, but this event is only allowed to point at registers and those exist in any context on the same core.
-unsafe impl Send for Event {}
+unsafe impl Send for Event<'_> {}
 
 // ======================
 //       traits

embassy-nrf/src/ppi/ppi.rs

@@ -3,12 +3,12 @@ use embassy_hal_common::into_ref;
 use super::{Channel, ConfigurableChannel, Event, Ppi, StaticChannel, Task};
 use crate::{pac, Peripheral};
 
-impl Task {
+impl<'d> Task<'d> {
     fn reg_val(&self) -> u32 {
         self.0.as_ptr() as _
     }
 }
-impl Event {
+impl<'d> Event<'d> {
     fn reg_val(&self) -> u32 {
         self.0.as_ptr() as _
     }
@@ -34,7 +34,7 @@ impl<'d, C: StaticChannel> Ppi<'d, C, 0, 1> {
 
 impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
     /// Configure PPI channel to trigger `task` on `event`.
-    pub fn new_one_to_one(ch: impl Peripheral<P = C> + 'd, event: Event, task: Task) -> Self {
+    pub fn new_one_to_one(ch: impl Peripheral<P = C> + 'd, event: Event<'d>, task: Task<'d>) -> Self {
         into_ref!(ch);
 
         let r = regs();
@@ -49,7 +49,7 @@ impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 1> {
 #[cfg(not(feature = "nrf51"))] // Not for nrf51 because of the fork task
 impl<'d, C: ConfigurableChannel> Ppi<'d, C, 1, 2> {
     /// Configure PPI channel to trigger both `task1` and `task2` on `event`.
-    pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event, task1: Task, task2: Task) -> Self {
+    pub fn new_one_to_two(ch: impl Peripheral<P = C> + 'd, event: Event<'d>, task1: Task<'d>, task2: Task<'d>) -> Self {
         into_ref!(ch);
 
         let r = regs();

embassy-nrf/src/pwm.rs

@@ -181,7 +181,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `Stopped` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_stopped(&self) -> Event {
+    pub fn event_stopped(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_stopped)
@@ -189,7 +189,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `LoopsDone` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_loops_done(&self) -> Event {
+    pub fn event_loops_done(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_loopsdone)
@@ -197,7 +197,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `PwmPeriodEnd` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_pwm_period_end(&self) -> Event {
+    pub fn event_pwm_period_end(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_pwmperiodend)
@@ -205,7 +205,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `Seq0 End` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_seq_end(&self) -> Event {
+    pub fn event_seq_end(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_seqend[0])
@@ -213,7 +213,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `Seq1 End` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_seq1_end(&self) -> Event {
+    pub fn event_seq1_end(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_seqend[1])
@@ -221,7 +221,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `Seq0 Started` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_seq0_started(&self) -> Event {
+    pub fn event_seq0_started(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_seqstarted[0])
@@ -229,7 +229,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
 
     /// Returns reference to `Seq1 Started` event endpoint for PPI.
     #[inline(always)]
-    pub fn event_seq1_started(&self) -> Event {
+    pub fn event_seq1_started(&self) -> Event<'d> {
         let r = T::regs();
 
         Event::from_reg(&r.events_seqstarted[1])
@@ -240,7 +240,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
     ///
     /// Interacting with the sequence while it runs puts it in an unknown state
     #[inline(always)]
-    pub unsafe fn task_start_seq0(&self) -> Task {
+    pub unsafe fn task_start_seq0(&self) -> Task<'d> {
         let r = T::regs();
 
         Task::from_reg(&r.tasks_seqstart[0])
@@ -251,7 +251,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
     ///
     /// Interacting with the sequence while it runs puts it in an unknown state
     #[inline(always)]
-    pub unsafe fn task_start_seq1(&self) -> Task {
+    pub unsafe fn task_start_seq1(&self) -> Task<'d> {
         let r = T::regs();
 
         Task::from_reg(&r.tasks_seqstart[1])
@@ -262,7 +262,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
     ///
     /// Interacting with the sequence while it runs puts it in an unknown state
     #[inline(always)]
-    pub unsafe fn task_next_step(&self) -> Task {
+    pub unsafe fn task_next_step(&self) -> Task<'d> {
         let r = T::regs();
 
         Task::from_reg(&r.tasks_nextstep)
@@ -273,7 +273,7 @@ impl<'d, T: Instance> SequencePwm<'d, T> {
     ///
     /// Interacting with the sequence while it runs puts it in an unknown state
     #[inline(always)]
-    pub unsafe fn task_stop(&self) -> Task {
+    pub unsafe fn task_stop(&self) -> Task<'d> {
         let r = T::regs();
 
         Task::from_reg(&r.tasks_stop)

embassy-nrf/src/saadc.rs

@@ -320,7 +320,9 @@ impl<'d, const N: usize> Saadc<'d, N> {
         timer.cc(0).write(sample_counter);
         timer.cc(0).short_compare_clear();
 
-        let mut sample_ppi = Ppi::new_one_to_one(ppi_ch2, timer.cc(0).event_compare(), Task::from_reg(&r.tasks_sample));
+        let timer_cc = timer.cc(0);
+
+        let mut sample_ppi = Ppi::new_one_to_one(ppi_ch2, timer_cc.event_compare(), Task::from_reg(&r.tasks_sample));
 
         timer.start();
 

embassy-nrf/src/spim.rs

@@ -468,25 +468,19 @@ mod eh1 {
         type Error = Error;
     }
 
-    impl<'d, T: Instance> embedded_hal_1::spi::SpiBusFlush for Spim<'d, T> {
+    impl<'d, T: Instance> embedded_hal_1::spi::SpiBus<u8> for Spim<'d, T> {
         fn flush(&mut self) -> Result<(), Self::Error> {
             Ok(())
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_1::spi::SpiBusRead<u8> for Spim<'d, T> {
         fn read(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
             self.blocking_transfer(words, &[])
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_1::spi::SpiBusWrite<u8> for Spim<'d, T> {
         fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
             self.blocking_write(words)
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_1::spi::SpiBus<u8> for Spim<'d, T> {
         fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
             self.blocking_transfer(read, write)
         }
@@ -502,25 +496,19 @@ mod eha {
 
     use super::*;
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBusFlush for Spim<'d, T> {
+    impl<'d, T: Instance> embedded_hal_async::spi::SpiBus<u8> for Spim<'d, T> {
         async fn flush(&mut self) -> Result<(), Error> {
             Ok(())
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBusRead<u8> for Spim<'d, T> {
         async fn read(&mut self, words: &mut [u8]) -> Result<(), Error> {
             self.read(words).await
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBusWrite<u8> for Spim<'d, T> {
         async fn write(&mut self, data: &[u8]) -> Result<(), Error> {
             self.write(data).await
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBus<u8> for Spim<'d, T> {
         async fn transfer(&mut self, rx: &mut [u8], tx: &[u8]) -> Result<(), Error> {
             self.transfer(rx, tx).await
         }

embassy-nrf/src/timer.rs

@@ -168,21 +168,21 @@ impl<'d, T: Instance> Timer<'d, T> {
     /// Returns the START task, for use with PPI.
     ///
     /// When triggered, this task starts the timer.
-    pub fn task_start(&self) -> Task {
+    pub fn task_start(&self) -> Task<'d> {
         Task::from_reg(&T::regs().tasks_start)
     }
 
     /// Returns the STOP task, for use with PPI.
     ///
     /// When triggered, this task stops the timer.
-    pub fn task_stop(&self) -> Task {
+    pub fn task_stop(&self) -> Task<'d> {
         Task::from_reg(&T::regs().tasks_stop)
     }
 
     /// Returns the CLEAR task, for use with PPI.
     ///
     /// When triggered, this task resets the timer's counter to 0.
-    pub fn task_clear(&self) -> Task {
+    pub fn task_clear(&self) -> Task<'d> {
         Task::from_reg(&T::regs().tasks_clear)
     }
 
@@ -190,7 +190,7 @@ impl<'d, T: Instance> Timer<'d, T> {
     ///
     /// When triggered, this task increments the timer's counter by 1.
     /// Only works in counter mode.
-    pub fn task_count(&self) -> Task {
+    pub fn task_count(&self) -> Task<'d> {
         Task::from_reg(&T::regs().tasks_count)
     }
 
@@ -258,14 +258,14 @@ impl<'d, T: Instance> Cc<'d, T> {
     /// Returns this CC register's CAPTURE task, for use with PPI.
     ///
     /// When triggered, this task will capture the current value of the timer's counter in this register.
-    pub fn task_capture(&self) -> Task {
+    pub fn task_capture(&self) -> Task<'d> {
         Task::from_reg(&T::regs().tasks_capture)
     }
 
     /// Returns this CC register's COMPARE event, for use with PPI.
     ///
     /// This event will fire when the timer's counter reaches the value in this CC register.
-    pub fn event_compare(&self) -> Event {
+    pub fn event_compare(&self) -> Event<'d> {
         Event::from_reg(&T::regs().events_compare[self.n])
     }
 

embassy-rp/Cargo.toml

@@ -56,7 +56,7 @@ unstable-traits = ["embedded-hal-1", "embedded-hal-nb"]
 
 [dependencies]
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
-embassy-time = { version = "0.1.0", path = "../embassy-time", features = [ "tick-hz-1_000_000" ] }
+embassy-time = { version = "0.1.2", path = "../embassy-time", features = [ "tick-hz-1_000_000" ] }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common", features = ["cortex-m", "prio-bits-2"] }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
@@ -79,9 +79,9 @@ fixed = "1.23.1"
 rp-pac = { version = "6" }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.11", optional = true}
-embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true}
+embedded-hal-async = { version = "=0.2.0-alpha.2", optional = true}
-embedded-hal-nb = { version = "=1.0.0-alpha.2", optional = true}
+embedded-hal-nb = { version = "=1.0.0-alpha.3", optional = true}
 
 paste = "1.0"
 pio-proc = {version= "0.2" }

embassy-rp/src/adc.rs

@@ -3,22 +3,17 @@ use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
+use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use embedded_hal_02::adc::{Channel, OneShot};
 
-use crate::gpio::Pin;
+use crate::gpio::sealed::Pin as GpioPin;
+use crate::gpio::{self, AnyPin, Pull};
 use crate::interrupt::typelevel::Binding;
 use crate::interrupt::InterruptExt;
 use crate::peripherals::ADC;
 use crate::{interrupt, pac, peripherals, Peripheral};
-static WAKER: AtomicWaker = AtomicWaker::new();
 
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+static WAKER: AtomicWaker = AtomicWaker::new();
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[non_exhaustive]
-pub enum Error {
-    // No errors for now
-}
 
 #[non_exhaustive]
 pub struct Config {}
@@ -28,11 +23,75 @@ impl Default for Config {
         Self {}
     }
 }
-pub struct Adc<'d> {
+
-    phantom: PhantomData<&'d ADC>,
+pub struct Pin<'p> {
+    pin: PeripheralRef<'p, AnyPin>,
 }
 
-impl<'d> Adc<'d> {
+impl<'p> Pin<'p> {
+    pub fn new(pin: impl Peripheral<P = impl AdcPin + 'p> + 'p, pull: Pull) -> Self {
+        into_ref!(pin);
+        pin.pad_ctrl().modify(|w| {
+            // manual says:
+            //
+            // > When using an ADC input shared with a GPIO pin, the pin’s
+            // > digital functions must be disabled by setting IE low and OD
+            // > high in the pin’s pad control register
+            w.set_ie(false);
+            w.set_od(true);
+            w.set_pue(pull == Pull::Up);
+            w.set_pde(pull == Pull::Down);
+        });
+        Self { pin: pin.map_into() }
+    }
+
+    fn channel(&self) -> u8 {
+        // this requires adc pins to be sequential and matching the adc channels,
+        // which is the case for rp2040
+        self.pin._pin() - 26
+    }
+}
+
+impl<'d> Drop for Pin<'d> {
+    fn drop(&mut self) {
+        self.pin.pad_ctrl().modify(|w| {
+            w.set_ie(true);
+            w.set_od(false);
+            w.set_pue(false);
+            w.set_pde(true);
+        });
+    }
+}
+
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Error {
+    ConversionFailed,
+}
+
+pub trait Mode {}
+
+pub struct Async;
+impl Mode for Async {}
+
+pub struct Blocking;
+impl Mode for Blocking {}
+
+pub struct Adc<'d, M: Mode> {
+    phantom: PhantomData<(&'d ADC, M)>,
+}
+
+impl<'d, M: Mode> Drop for Adc<'d, M> {
+    fn drop(&mut self) {
+        let r = Self::regs();
+        // disable ADC. leaving it enabled comes with a ~150µA static
+        // current draw. the temperature sensor has already been disabled
+        // by the temperature-reading methods, so we don't need to touch that.
+        r.cs().write(|w| w.set_en(false));
+    }
+}
+
+impl<'d, M: Mode> Adc<'d, M> {
     #[inline]
     fn regs() -> pac::adc::Adc {
         pac::ADC
@@ -45,11 +104,7 @@ impl<'d> Adc<'d> {
         ret
     }
 
-    pub fn new(
+    fn setup() {
-        _inner: impl Peripheral<P = ADC> + 'd,
-        _irq: impl Binding<interrupt::typelevel::ADC_IRQ_FIFO, InterruptHandler>,
-        _config: Config,
-    ) -> Self {
         let reset = Self::reset();
         crate::reset::reset(reset);
         crate::reset::unreset_wait(reset);
@@ -58,6 +113,43 @@ impl<'d> Adc<'d> {
         r.cs().write(|w| w.set_en(true));
         // Wait for ADC ready
         while !r.cs().read().ready() {}
+    }
+
+    fn sample_blocking(channel: u8) -> Result<u16, Error> {
+        let r = Self::regs();
+        r.cs().modify(|w| {
+            w.set_ainsel(channel);
+            w.set_start_once(true);
+            w.set_err(true);
+        });
+        while !r.cs().read().ready() {}
+        match r.cs().read().err() {
+            true => Err(Error::ConversionFailed),
+            false => Ok(r.result().read().result().into()),
+        }
+    }
+
+    pub fn blocking_read(&mut self, pin: &mut Pin) -> Result<u16, Error> {
+        Self::sample_blocking(pin.channel())
+    }
+
+    pub fn blocking_read_temperature(&mut self) -> Result<u16, Error> {
+        let r = Self::regs();
+        r.cs().modify(|w| w.set_ts_en(true));
+        while !r.cs().read().ready() {}
+        let result = Self::sample_blocking(4);
+        r.cs().modify(|w| w.set_ts_en(false));
+        result
+    }
+}
+
+impl<'d> Adc<'d, Async> {
+    pub fn new(
+        _inner: impl Peripheral<P = ADC> + 'd,
+        _irq: impl Binding<interrupt::typelevel::ADC_IRQ_FIFO, InterruptHandler>,
+        _config: Config,
+    ) -> Self {
+        Self::setup();
 
         // Setup IRQ
         interrupt::ADC_IRQ_FIFO.unpend();
@@ -80,77 +172,43 @@ impl<'d> Adc<'d> {
         .await;
     }
 
-    pub async fn read<PIN: Channel<Adc<'d>, ID = u8> + Pin>(&mut self, pin: &mut PIN) -> u16 {
+    async fn sample_async(channel: u8) -> Result<u16, Error> {
         let r = Self::regs();
-        // disable pull-down and pull-up resistors
-        // pull-down resistors are enabled by default
-        pin.pad_ctrl().modify(|w| {
-            w.set_ie(true);
-            let (pu, pd) = (false, false);
-            w.set_pue(pu);
-            w.set_pde(pd);
-        });
         r.cs().modify(|w| {
-            w.set_ainsel(PIN::channel());
+            w.set_ainsel(channel);
-            w.set_start_once(true)
+            w.set_start_once(true);
+            w.set_err(true);
         });
         Self::wait_for_ready().await;
-        r.result().read().result().into()
+        match r.cs().read().err() {
+            true => Err(Error::ConversionFailed),
+            false => Ok(r.result().read().result().into()),
+        }
     }
 
-    pub async fn read_temperature(&mut self) -> u16 {
+    pub async fn read(&mut self, pin: &mut Pin<'_>) -> Result<u16, Error> {
+        Self::sample_async(pin.channel()).await
+    }
+
+    pub async fn read_temperature(&mut self) -> Result<u16, Error> {
         let r = Self::regs();
         r.cs().modify(|w| w.set_ts_en(true));
         if !r.cs().read().ready() {
             Self::wait_for_ready().await;
         }
-        r.cs().modify(|w| {
+        let result = Self::sample_async(4).await;
-            w.set_ainsel(4);
+        r.cs().modify(|w| w.set_ts_en(false));
-            w.set_start_once(true)
+        result
-        });
-        Self::wait_for_ready().await;
-        r.result().read().result().into()
-    }
-
-    pub fn blocking_read<PIN: Channel<Adc<'d>, ID = u8> + Pin>(&mut self, pin: &mut PIN) -> u16 {
-        let r = Self::regs();
-        pin.pad_ctrl().modify(|w| {
-            w.set_ie(true);
-            let (pu, pd) = (false, false);
-            w.set_pue(pu);
-            w.set_pde(pd);
-        });
-        r.cs().modify(|w| {
-            w.set_ainsel(PIN::channel());
-            w.set_start_once(true)
-        });
-        while !r.cs().read().ready() {}
-        r.result().read().result().into()
-    }
-
-    pub fn blocking_read_temperature(&mut self) -> u16 {
-        let r = Self::regs();
-        r.cs().modify(|w| w.set_ts_en(true));
-        while !r.cs().read().ready() {}
-        r.cs().modify(|w| {
-            w.set_ainsel(4);
-            w.set_start_once(true)
-        });
-        while !r.cs().read().ready() {}
-        r.result().read().result().into()
     }
 }
 
-macro_rules! impl_pin {
+impl<'d> Adc<'d, Blocking> {
-    ($pin:ident, $channel:expr) => {
+    pub fn new_blocking(_inner: impl Peripheral<P = ADC> + 'd, _config: Config) -> Self {
-        impl Channel<Adc<'static>> for peripherals::$pin {
+        Self::setup();
-            type ID = u8;
+
-            fn channel() -> u8 {
+        Self { phantom: PhantomData }
-                $channel
     }
 }
-    };
-}
 
 pub struct InterruptHandler {
     _empty: (),
@@ -158,24 +216,33 @@ pub struct InterruptHandler {
 
 impl interrupt::typelevel::Handler<interrupt::typelevel::ADC_IRQ_FIFO> for InterruptHandler {
     unsafe fn on_interrupt() {
-        let r = Adc::regs();
+        let r = Adc::<Async>::regs();
         r.inte().write(|w| w.set_fifo(false));
         WAKER.wake();
     }
 }
 
+mod sealed {
+    pub trait AdcPin: crate::gpio::sealed::Pin {
+        fn channel(&mut self) -> u8;
+    }
+}
+
+pub trait AdcPin: sealed::AdcPin + gpio::Pin {}
+
+macro_rules! impl_pin {
+    ($pin:ident, $channel:expr) => {
+        impl sealed::AdcPin for peripherals::$pin {
+            fn channel(&mut self) -> u8 {
+                $channel
+            }
+        }
+
+        impl AdcPin for peripherals::$pin {}
+    };
+}
+
 impl_pin!(PIN_26, 0);
 impl_pin!(PIN_27, 1);
 impl_pin!(PIN_28, 2);
 impl_pin!(PIN_29, 3);
-
-impl<WORD, PIN> OneShot<Adc<'static>, WORD, PIN> for Adc<'static>
-where
-    WORD: From<u16>,
-    PIN: Channel<Adc<'static>, ID = u8> + Pin,
-{
-    type Error = ();
-    fn read(&mut self, pin: &mut PIN) -> nb::Result<WORD, Self::Error> {
-        Ok(self.blocking_read(pin).into())
-    }
-}

embassy-rp/src/clocks.rs

@@ -308,6 +308,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
     // - QSPI (we're using it to run this code!)
     // - PLLs (it may be suicide if that's what's clocking us)
     // - USB, SYSCFG (breaks usb-to-swd on core1)
+    // - RTC (else there would be no more time...)
     let mut peris = reset::ALL_PERIPHERALS;
     peris.set_io_qspi(false);
     // peris.set_io_bank0(false); // might be suicide if we're clocked from gpin
@@ -317,6 +318,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
     // TODO investigate if usb should be unreset here
     peris.set_usbctrl(false);
     peris.set_syscfg(false);
+    peris.set_rtc(false);
     reset::reset(peris);
 
     // Disable resus that may be enabled from previous software

embassy-rp/src/gpio.rs

@@ -41,7 +41,7 @@ impl From<Level> for bool {
 }
 
 /// Represents a pull setting for an input.
-#[derive(Debug, Eq, PartialEq)]
+#[derive(Debug, Clone, Copy, Eq, PartialEq)]
 pub enum Pull {
     None,
     Up,
@@ -566,13 +566,13 @@ impl<'d, T: Pin> Flex<'d, T> {
     /// Is the output level high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
-        (self.pin.sio_out().value().read() & self.bit()) == 0
+        !self.is_set_low()
     }
 
     /// Is the output level low?
     #[inline]
     pub fn is_set_low(&self) -> bool {
-        !self.is_set_high()
+        (self.pin.sio_out().value().read() & self.bit()) == 0
     }
 
     /// What level output is set to

embassy-rp/src/i2c.rs

@@ -716,6 +716,9 @@ mod nightly {
         async fn transaction(&mut self, address: A, operations: &mut [Operation<'_>]) -> Result<(), Self::Error> {
             let addr: u16 = address.into();
 
+            if operations.len() > 0 {
+                Self::setup(addr)?;
+            }
             let mut iterator = operations.iter_mut();
 
             while let Some(op) = iterator.next() {
@@ -723,11 +726,9 @@ mod nightly {
 
                 match op {
                     Operation::Read(buffer) => {
-                        Self::setup(addr)?;
                         self.read_async_internal(buffer, false, last).await?;
                     }
                     Operation::Write(buffer) => {
-                        Self::setup(addr)?;
                         self.write_async_internal(buffer.into_iter().cloned(), last).await?;
                     }
                 }

embassy-rp/src/lib.rs

@@ -252,7 +252,6 @@ pub fn init(config: config::Config) -> Peripherals {
         #[cfg(feature = "time-driver")]
         timer::init();
         dma::init();
-        pio::init();
         gpio::init();
     }
 

embassy-rp/src/pio.rs

@@ -16,12 +16,12 @@ use pio::{SideSet, Wrap};
 use crate::dma::{Channel, Transfer, Word};
 use crate::gpio::sealed::Pin as SealedPin;
 use crate::gpio::{self, AnyPin, Drive, Level, Pull, SlewRate};
-use crate::interrupt::InterruptExt;
+use crate::interrupt::typelevel::{Binding, Handler, Interrupt};
 use crate::pac::dma::vals::TreqSel;
 use crate::relocate::RelocatedProgram;
-use crate::{interrupt, pac, peripherals, pio_instr_util, RegExt};
+use crate::{pac, peripherals, pio_instr_util, RegExt};
 
-struct Wakers([AtomicWaker; 12]);
+pub struct Wakers([AtomicWaker; 12]);
 
 impl Wakers {
     #[inline(always)]
@@ -38,10 +38,6 @@ impl Wakers {
     }
 }
 
-const NEW_AW: AtomicWaker = AtomicWaker::new();
-const PIO_WAKERS_INIT: Wakers = Wakers([NEW_AW; 12]);
-static WAKERS: [Wakers; 2] = [PIO_WAKERS_INIT; 2];
-
 #[derive(Clone, Copy, PartialEq, Eq, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
@@ -85,42 +81,20 @@ const RXNEMPTY_MASK: u32 = 1 << 0;
 const TXNFULL_MASK: u32 = 1 << 4;
 const SMIRQ_MASK: u32 = 1 << 8;
 
-#[cfg(feature = "rt")]
+pub struct InterruptHandler<PIO: Instance> {
-#[interrupt]
+    _pio: PhantomData<PIO>,
-fn PIO0_IRQ_0() {
+}
-    use crate::pac;
+
-    let ints = pac::PIO0.irqs(0).ints().read().0;
+impl<PIO: Instance> Handler<PIO::Interrupt> for InterruptHandler<PIO> {
+    unsafe fn on_interrupt() {
+        let ints = PIO::PIO.irqs(0).ints().read().0;
         for bit in 0..12 {
             if ints & (1 << bit) != 0 {
-            WAKERS[0].0[bit].wake();
+                PIO::wakers().0[bit].wake();
             }
         }
-    pac::PIO0.irqs(0).inte().write_clear(|m| m.0 = ints);
+        PIO::PIO.irqs(0).inte().write_clear(|m| m.0 = ints);
     }
-
-#[cfg(feature = "rt")]
-#[interrupt]
-fn PIO1_IRQ_0() {
-    use crate::pac;
-    let ints = pac::PIO1.irqs(0).ints().read().0;
-    for bit in 0..12 {
-        if ints & (1 << bit) != 0 {
-            WAKERS[1].0[bit].wake();
-        }
-    }
-    pac::PIO1.irqs(0).inte().write_clear(|m| m.0 = ints);
-}
-
-pub(crate) unsafe fn init() {
-    interrupt::PIO0_IRQ_0.disable();
-    interrupt::PIO0_IRQ_0.set_priority(interrupt::Priority::P3);
-    pac::PIO0.irqs(0).inte().write(|m| m.0 = 0);
-    interrupt::PIO0_IRQ_0.enable();
-
-    interrupt::PIO1_IRQ_0.disable();
-    interrupt::PIO1_IRQ_0.set_priority(interrupt::Priority::P3);
-    pac::PIO1.irqs(0).inte().write(|m| m.0 = 0);
-    interrupt::PIO1_IRQ_0.enable();
 }
 
 /// Future that waits for TX-FIFO to become writable
@@ -144,7 +118,7 @@ impl<'a, 'd, PIO: Instance, const SM: usize> Future for FifoOutFuture<'a, 'd, PI
         if self.get_mut().sm_tx.try_push(value) {
             Poll::Ready(())
         } else {
-            WAKERS[PIO::PIO_NO as usize].fifo_out()[SM].register(cx.waker());
+            PIO::wakers().fifo_out()[SM].register(cx.waker());
             PIO::PIO.irqs(0).inte().write_set(|m| {
                 m.0 = TXNFULL_MASK << SM;
             });
@@ -181,7 +155,7 @@ impl<'a, 'd, PIO: Instance, const SM: usize> Future for FifoInFuture<'a, 'd, PIO
         if let Some(v) = self.sm_rx.try_pull() {
             Poll::Ready(v)
         } else {
-            WAKERS[PIO::PIO_NO as usize].fifo_in()[SM].register(cx.waker());
+            PIO::wakers().fifo_in()[SM].register(cx.waker());
             PIO::PIO.irqs(0).inte().write_set(|m| {
                 m.0 = RXNEMPTY_MASK << SM;
             });
@@ -217,7 +191,7 @@ impl<'a, 'd, PIO: Instance> Future for IrqFuture<'a, 'd, PIO> {
             return Poll::Ready(());
         }
 
-        WAKERS[PIO::PIO_NO as usize].irq()[self.irq_no as usize].register(cx.waker());
+        PIO::wakers().irq()[self.irq_no as usize].register(cx.waker());
         PIO::PIO.irqs(0).inte().write_set(|m| {
             m.0 = SMIRQ_MASK << self.irq_no;
         });
@@ -949,9 +923,11 @@ pub struct Pio<'d, PIO: Instance> {
 }
 
 impl<'d, PIO: Instance> Pio<'d, PIO> {
-    pub fn new(_pio: impl Peripheral<P = PIO> + 'd) -> Self {
+    pub fn new(_pio: impl Peripheral<P = PIO> + 'd, _irq: impl Binding<PIO::Interrupt, InterruptHandler<PIO>>) -> Self {
         PIO::state().users.store(5, Ordering::Release);
         PIO::state().used_pins.store(0, Ordering::Release);
+        PIO::Interrupt::unpend();
+        unsafe { PIO::Interrupt::enable() };
         Self {
             common: Common {
                 instructions_used: 0,
@@ -1017,6 +993,15 @@ mod sealed {
         const PIO_NO: u8;
         const PIO: &'static crate::pac::pio::Pio;
         const FUNCSEL: crate::pac::io::vals::Gpio0ctrlFuncsel;
+        type Interrupt: crate::interrupt::typelevel::Interrupt;
+
+        #[inline]
+        fn wakers() -> &'static Wakers {
+            const NEW_AW: AtomicWaker = AtomicWaker::new();
+            static WAKERS: Wakers = Wakers([NEW_AW; 12]);
+
+            &WAKERS
+        }
 
         #[inline]
         fn state() -> &'static State {
@@ -1033,18 +1018,19 @@ mod sealed {
 pub trait Instance: sealed::Instance + Sized + Unpin {}
 
 macro_rules! impl_pio {
-    ($name:ident, $pio:expr, $pac:ident, $funcsel:ident) => {
+    ($name:ident, $pio:expr, $pac:ident, $funcsel:ident, $irq:ident) => {
         impl sealed::Instance for peripherals::$name {
             const PIO_NO: u8 = $pio;
             const PIO: &'static pac::pio::Pio = &pac::$pac;
             const FUNCSEL: pac::io::vals::Gpio0ctrlFuncsel = pac::io::vals::Gpio0ctrlFuncsel::$funcsel;
+            type Interrupt = crate::interrupt::typelevel::$irq;
         }
         impl Instance for peripherals::$name {}
     };
 }
 
-impl_pio!(PIO0, 0, PIO0, PIO0_0);
+impl_pio!(PIO0, 0, PIO0, PIO0_0, PIO0_IRQ_0);
-impl_pio!(PIO1, 1, PIO1, PIO1_0);
+impl_pio!(PIO1, 1, PIO1, PIO1_0, PIO1_IRQ_0);
 
 pub trait PioPin: sealed::PioPin + gpio::Pin {}
 

embassy-rp/src/rtc/datetime_no_deps.rs

@@ -25,6 +25,7 @@ pub enum Error {
 }
 
 /// Structure containing date and time information
+#[derive(Clone, Debug)]
 pub struct DateTime {
     /// 0..4095
     pub year: u16,

embassy-rp/src/rtc/mod.rs

@@ -12,26 +12,24 @@ pub use self::datetime::{DateTime, DayOfWeek, Error as DateTimeError};
 use crate::clocks::clk_rtc_freq;
 
 /// A reference to the real time clock of the system
-pub struct RealTimeClock<'d, T: Instance> {
+pub struct Rtc<'d, T: Instance> {
     inner: PeripheralRef<'d, T>,
 }
 
-impl<'d, T: Instance> RealTimeClock<'d, T> {
+impl<'d, T: Instance> Rtc<'d, T> {
     /// Create a new instance of the real time clock, with the given date as an initial value.
     ///
     /// # Errors
     ///
     /// Will return `RtcError::InvalidDateTime` if the datetime is not a valid range.
-    pub fn new(inner: impl Peripheral<P = T> + 'd, initial_date: DateTime) -> Result<Self, RtcError> {
+    pub fn new(inner: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(inner);
 
         // Set the RTC divider
         inner.regs().clkdiv_m1().write(|w| w.set_clkdiv_m1(clk_rtc_freq() - 1));
 
-        let mut result = Self { inner };
+        let result = Self { inner };
-        result.set_leap_year_check(true); // should be on by default, make sure this is the case.
+        result
-        result.set_datetime(initial_date)?;
-        Ok(result)
     }
 
     /// Enable or disable the leap year check. The rp2040 chip will always add a Feb 29th on every year that is divisable by 4, but this may be incorrect (e.g. on century years). This function allows you to disable this check.
@@ -43,7 +41,37 @@ impl<'d, T: Instance> RealTimeClock<'d, T> {
         });
     }
 
-    /// Checks to see if this RealTimeClock is running
+    /// Set the time from internal format
+    pub fn restore(&mut self, ymd: rp_pac::rtc::regs::Rtc1, hms: rp_pac::rtc::regs::Rtc0) {
+        // disable RTC while we configure it
+        self.inner.regs().ctrl().modify(|w| w.set_rtc_enable(false));
+        while self.inner.regs().ctrl().read().rtc_active() {
+            core::hint::spin_loop();
+        }
+
+        self.inner.regs().setup_0().write(|w| {
+            *w = rp_pac::rtc::regs::Setup0(ymd.0);
+        });
+        self.inner.regs().setup_1().write(|w| {
+            *w = rp_pac::rtc::regs::Setup1(hms.0);
+        });
+
+        // Load the new datetime and re-enable RTC
+        self.inner.regs().ctrl().write(|w| w.set_load(true));
+        self.inner.regs().ctrl().write(|w| w.set_rtc_enable(true));
+        while !self.inner.regs().ctrl().read().rtc_active() {
+            core::hint::spin_loop();
+        }
+    }
+
+    /// Get the time in internal format
+    pub fn save(&mut self) -> (rp_pac::rtc::regs::Rtc1, rp_pac::rtc::regs::Rtc0) {
+        let rtc_0: rp_pac::rtc::regs::Rtc0 = self.inner.regs().rtc_0().read();
+        let rtc_1 = self.inner.regs().rtc_1().read();
+        (rtc_1, rtc_0)
+    }
+
+    /// Checks to see if this Rtc is running
     pub fn is_running(&self) -> bool {
         self.inner.regs().ctrl().read().rtc_active()
     }
@@ -113,8 +141,8 @@ impl<'d, T: Instance> RealTimeClock<'d, T> {
     /// # fn main() { }
     /// # #[cfg(not(feature = "chrono"))]
     /// # fn main() {
-    /// # use embassy_rp::rtc::{RealTimeClock, DateTimeFilter};
+    /// # use embassy_rp::rtc::{Rtc, DateTimeFilter};
-    /// # let mut real_time_clock: RealTimeClock<embassy_rp::peripherals::RTC> = unsafe { core::mem::zeroed() };
+    /// # let mut real_time_clock: Rtc<embassy_rp::peripherals::RTC> = unsafe { core::mem::zeroed() };
     /// let now = real_time_clock.now().unwrap();
     /// real_time_clock.schedule_alarm(
     ///     DateTimeFilter::default()
@@ -150,7 +178,7 @@ impl<'d, T: Instance> RealTimeClock<'d, T> {
     }
 }
 
-/// Errors that can occur on methods on [RealTimeClock]
+/// Errors that can occur on methods on [Rtc]
 #[derive(Clone, Debug, PartialEq, Eq)]
 pub enum RtcError {
     /// An invalid DateTime was given or stored on the hardware.

embassy-rp/src/spi.rs

@@ -545,25 +545,19 @@ mod eh1 {
         type Error = Error;
     }
 
-    impl<'d, T: Instance, M: Mode> embedded_hal_1::spi::SpiBusFlush for Spi<'d, T, M> {
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::spi::SpiBus<u8> for Spi<'d, T, M> {
         fn flush(&mut self) -> Result<(), Self::Error> {
             Ok(())
         }
-    }
 
-    impl<'d, T: Instance, M: Mode> embedded_hal_1::spi::SpiBusRead<u8> for Spi<'d, T, M> {
         fn read(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
             self.blocking_transfer(words, &[])
         }
-    }
 
-    impl<'d, T: Instance, M: Mode> embedded_hal_1::spi::SpiBusWrite<u8> for Spi<'d, T, M> {
         fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
             self.blocking_write(words)
         }
-    }
 
-    impl<'d, T: Instance, M: Mode> embedded_hal_1::spi::SpiBus<u8> for Spi<'d, T, M> {
         fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
             self.blocking_transfer(read, write)
         }
@@ -578,30 +572,24 @@ mod eh1 {
 mod eha {
     use super::*;
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBusFlush for Spi<'d, T, Async> {
+    impl<'d, T: Instance> embedded_hal_async::spi::SpiBus<u8> for Spi<'d, T, Async> {
         async fn flush(&mut self) -> Result<(), Self::Error> {
             Ok(())
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBusWrite<u8> for Spi<'d, T, Async> {
         async fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
             self.write(words).await
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBusRead<u8> for Spi<'d, T, Async> {
         async fn read(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
             self.read(words).await
         }
-    }
 
-    impl<'d, T: Instance> embedded_hal_async::spi::SpiBus<u8> for Spi<'d, T, Async> {
+        async fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
-        async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
             self.transfer(read, write).await
         }
 
-        async fn transfer_in_place<'a>(&'a mut self, words: &'a mut [u8]) -> Result<(), Self::Error> {
+        async fn transfer_in_place(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
             self.transfer_in_place(words).await
         }
     }

embassy-rp/src/usb.rs

@@ -361,6 +361,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
 
             let regs = T::regs();
             let siestatus = regs.sie_status().read();
+            let intrstatus = regs.intr().read();
 
             if siestatus.resume() {
                 regs.sie_status().write(|w| w.set_resume(true));
@@ -389,7 +390,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
                 return Poll::Ready(Event::Reset);
             }
 
-            if siestatus.suspended() {
+            if siestatus.suspended() && intrstatus.dev_suspend() {
                 regs.sie_status().write(|w| w.set_suspended(true));
                 return Poll::Ready(Event::Suspend);
             }

embassy-rp/src/watchdog.rs

@@ -107,4 +107,36 @@ impl Watchdog {
             w.set_trigger(true);
         })
     }
+
+    /// Store data in scratch register
+    pub fn set_scratch(&mut self, index: usize, value: u32) {
+        let watchdog = pac::WATCHDOG;
+        match index {
+            0 => watchdog.scratch0().write(|w| *w = value),
+            1 => watchdog.scratch1().write(|w| *w = value),
+            2 => watchdog.scratch2().write(|w| *w = value),
+            3 => watchdog.scratch3().write(|w| *w = value),
+            4 => watchdog.scratch4().write(|w| *w = value),
+            5 => watchdog.scratch5().write(|w| *w = value),
+            6 => watchdog.scratch6().write(|w| *w = value),
+            7 => watchdog.scratch7().write(|w| *w = value),
+            _ => panic!("Invalid watchdog scratch index"),
+        }
+    }
+
+    /// Read data from scratch register
+    pub fn get_scratch(&mut self, index: usize) -> u32 {
+        let watchdog = pac::WATCHDOG;
+        match index {
+            0 => watchdog.scratch0().read(),
+            1 => watchdog.scratch1().read(),
+            2 => watchdog.scratch2().read(),
+            3 => watchdog.scratch3().read(),
+            4 => watchdog.scratch4().read(),
+            5 => watchdog.scratch5().read(),
+            6 => watchdog.scratch6().read(),
+            7 => watchdog.scratch7().read(),
+            _ => panic!("Invalid watchdog scratch index"),
+        }
+    }
 }

embassy-stm32-wpan/Cargo.toml

@@ -5,18 +5,19 @@ edition = "2021"
 license = "MIT OR Apache-2.0"
 
 [package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-stm32-wpan-v$VERSION/embassy-stm32-wpan/src"
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-stm32-wpan-v$VERSION/embassy-stm32-wpan/src/"
-src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-stm32-wpan/src"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-stm32-wpan/src/"
 target = "thumbv7em-none-eabihf"
 features = ["stm32wb55rg"]
 
 [dependencies]
 embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32" }
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
-embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
+embassy-time = { version = "0.1.2", path = "../embassy-time", optional = true }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = { version = "0.1.0", path = "../embassy-embedded-hal" }
+embassy-net-driver = { version = "0.1.0", path = "../embassy-net-driver", optional=true }
 
 defmt = { version = "0.3", optional = true }
 cortex-m = "0.7.6"
@@ -25,13 +26,15 @@ aligned = "0.4.1"
 
 bit_field = "0.10.2"
 stm32-device-signature = { version = "0.3.3", features = ["stm32wb5x"] }
-stm32wb-hci = { version = "0.1.2", features = ["version-5-0"], optional = true }
+stm32wb-hci = { version = "0.1.3", optional = true }
+futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
+bitflags = { version = "2.3.3", optional = true }
 
 [features]
-defmt = ["dep:defmt", "embassy-sync/defmt", "embassy-embedded-hal/defmt", "embassy-hal-common/defmt"]
+defmt = ["dep:defmt", "embassy-sync/defmt", "embassy-embedded-hal/defmt", "embassy-hal-common/defmt", "stm32wb-hci?/defmt"]
 
 ble = ["dep:stm32wb-hci"]
-mac = []
+mac = ["dep:bitflags", "dep:embassy-net-driver" ]
 
 stm32wb10cc = [ "embassy-stm32/stm32wb10cc" ]
 stm32wb15cc = [ "embassy-stm32/stm32wb15cc" ]

embassy-stm32-wpan/src/cmd.rs

@@ -37,7 +37,7 @@ pub struct CmdSerialStub {
 }
 
 #[derive(Copy, Clone, Default)]
-#[repr(C, packed(4))]
+#[repr(C, packed)]
 pub struct CmdPacket {
     pub header: PacketHeader,
     pub cmdserial: CmdSerial,

embassy-stm32-wpan/src/consts.rs

@@ -6,6 +6,8 @@ use crate::PacketHeader;
 #[derive(Debug)]
 #[repr(C)]
 pub enum TlPacketType {
+    MacCmd = 0x00,
+
     BleCmd = 0x01,
     AclData = 0x02,
     BleEvt = 0x04,
@@ -79,6 +81,7 @@ pub const CFG_TL_BLE_MOST_EVENT_PAYLOAD_SIZE: usize = 255;
 pub const TL_BLE_EVENT_FRAME_SIZE: usize = TL_EVT_HEADER_SIZE + CFG_TL_BLE_MOST_EVENT_PAYLOAD_SIZE;
 
 pub const POOL_SIZE: usize = CFG_TL_BLE_EVT_QUEUE_LENGTH * 4 * divc(TL_PACKET_HEADER_SIZE + TL_BLE_EVENT_FRAME_SIZE, 4);
+pub const C_SIZE_CMD_STRING: usize = 256;
 
 pub const fn divc(x: usize, y: usize) -> usize {
     (x + y - 1) / y

embassy-stm32-wpan/src/lib.rs

@@ -1,5 +1,6 @@
 #![no_std]
-#![cfg_attr(feature = "ble", feature(async_fn_in_trait))]
+#![cfg_attr(any(feature = "ble", feature = "mac"), feature(async_fn_in_trait))]
+#![cfg_attr(feature = "mac", feature(type_alias_impl_trait, concat_bytes))]
 
 // This must go FIRST so that all the other modules see its macros.
 pub mod fmt;
@@ -26,6 +27,9 @@ pub mod sub;
 pub mod tables;
 pub mod unsafe_linked_list;
 
+#[cfg(feature = "mac")]
+pub mod mac;
+
 #[cfg(feature = "ble")]
 pub use crate::sub::ble::hci;
 
@@ -60,9 +64,9 @@ impl<'d> TlMbox<'d> {
                 mem_manager_table: TL_MEM_MANAGER_TABLE.as_ptr(),
                 traces_table: TL_TRACES_TABLE.as_ptr(),
                 mac_802_15_4_table: TL_MAC_802_15_4_TABLE.as_ptr(),
-                // zigbee_table: TL_ZIGBEE_TABLE.as_ptr(),
+                zigbee_table: TL_ZIGBEE_TABLE.as_ptr(),
-                // lld_tests_table: TL_LLD_TESTS_TABLE.as_ptr(),
+                lld_tests_table: TL_LLD_TESTS_TABLE.as_ptr(),
-                // ble_lld_table: TL_BLE_LLD_TABLE.as_ptr(),
+                ble_lld_table: TL_BLE_LLD_TABLE.as_ptr(),
             });
 
             TL_SYS_TABLE
@@ -87,15 +91,15 @@ impl<'d> TlMbox<'d> {
             TL_MAC_802_15_4_TABLE
                 .as_mut_ptr()
                 .write_volatile(MaybeUninit::zeroed().assume_init());
-            //            TL_ZIGBEE_TABLE
+            TL_ZIGBEE_TABLE
-            //                .as_mut_ptr()
+                .as_mut_ptr()
-            //                .write_volatile(MaybeUninit::zeroed().assume_init());
+                .write_volatile(MaybeUninit::zeroed().assume_init());
-            //            TL_LLD_TESTS_TABLE
+            TL_LLD_TESTS_TABLE
-            //                .as_mut_ptr()
+                .as_mut_ptr()
-            //                .write_volatile(MaybeUninit::zeroed().assume_init());
+                .write_volatile(MaybeUninit::zeroed().assume_init());
-            //            TL_BLE_LLD_TABLE
+            TL_BLE_LLD_TABLE
-            //                .as_mut_ptr()
+                .as_mut_ptr()
-            //                .write_volatile(MaybeUninit::zeroed().assume_init());
+                .write_volatile(MaybeUninit::zeroed().assume_init());
 
             EVT_POOL
                 .as_mut_ptr()
@@ -103,18 +107,30 @@ impl<'d> TlMbox<'d> {
             SYS_SPARE_EVT_BUF
                 .as_mut_ptr()
                 .write_volatile(MaybeUninit::zeroed().assume_init());
+            CS_BUFFER
+                .as_mut_ptr()
+                .write_volatile(MaybeUninit::zeroed().assume_init());
+
+            #[cfg(feature = "ble")]
+            {
                 BLE_SPARE_EVT_BUF
                     .as_mut_ptr()
                     .write_volatile(MaybeUninit::zeroed().assume_init());
 
-            {
                 BLE_CMD_BUFFER
                     .as_mut_ptr()
                     .write_volatile(MaybeUninit::zeroed().assume_init());
                 HCI_ACL_DATA_BUFFER
                     .as_mut_ptr()
                     .write_volatile(MaybeUninit::zeroed().assume_init());
-                CS_BUFFER
+            }
+
+            #[cfg(feature = "mac")]
+            {
+                MAC_802_15_4_CMD_BUFFER
+                    .as_mut_ptr()
+                    .write_volatile(MaybeUninit::zeroed().assume_init());
+                MAC_802_15_4_NOTIF_RSP_EVT_BUFFER
                     .as_mut_ptr()
                     .write_volatile(MaybeUninit::zeroed().assume_init());
             }

embassy-stm32-wpan/src/mac/commands.rs

@@ -0,0 +1,476 @@
+use core::{mem, slice};
+
+use super::opcodes::OpcodeM4ToM0;
+use super::typedefs::{
+    AddressMode, Capabilities, DisassociationReason, GtsCharacteristics, KeyIdMode, MacAddress, MacChannel, MacStatus,
+    PanId, PibId, ScanType, SecurityLevel,
+};
+
+pub trait MacCommand: Sized {
+    const OPCODE: OpcodeM4ToM0;
+
+    fn payload<'a>(&'a self) -> &'a [u8] {
+        unsafe { slice::from_raw_parts(self as *const _ as *const u8, mem::size_of::<Self>()) }
+    }
+}
+
+/// MLME ASSOCIATE Request used to request an association
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct AssociateRequest {
+    /// the logical channel on which to attempt association
+    pub channel_number: MacChannel,
+    /// the channel page on which to attempt association
+    pub channel_page: u8,
+    /// coordinator addressing mode
+    pub coord_addr_mode: AddressMode,
+    /// operational capabilities of the associating device
+    pub capability_information: Capabilities,
+    /// the identifier of the PAN with which to associate
+    pub coord_pan_id: PanId,
+    /// the security level to be used
+    pub security_level: SecurityLevel,
+    /// the mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+    /// Coordinator address
+    pub coord_address: MacAddress,
+    /// the index of the key to be used
+    pub key_index: u8,
+}
+
+impl MacCommand for AssociateRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeAssociateReq;
+}
+
+/// MLME DISASSOCIATE Request sed to request a disassociation
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DisassociateRequest {
+    /// device addressing mode used
+    pub device_addr_mode: AddressMode,
+    /// the identifier of the PAN of the device
+    pub device_pan_id: PanId,
+    /// the reason for the disassociation
+    pub disassociation_reason: DisassociationReason,
+    /// device address
+    pub device_address: MacAddress,
+    /// `true` if the disassociation notification command is to be sent indirectly
+    pub tx_indirect: bool,
+    /// the security level to be used
+    pub security_level: SecurityLevel,
+    /// the mode to be used to indetify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the index of the key to be used
+    pub key_index: u8,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+}
+
+impl MacCommand for DisassociateRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeDisassociateReq;
+}
+
+/// MLME GET Request used to request a PIB value
+#[repr(C)]
+#[derive(Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct GetRequest {
+    /// the name of the PIB attribute to read
+    pub pib_attribute: PibId,
+
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 3],
+}
+
+impl MacCommand for GetRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeGetReq;
+}
+
+/// MLME GTS Request used to request and maintain GTSs
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct GtsRequest {
+    /// the characteristics of the GTS
+    pub characteristics: GtsCharacteristics,
+    /// the security level to be used
+    pub security_level: SecurityLevel,
+    /// the mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the index of the key to be used
+    pub key_index: u8,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+}
+
+impl MacCommand for GtsRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeGetReq;
+}
+
+#[repr(C)]
+#[derive(Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ResetRequest {
+    /// MAC PIB attributes are set to their default values or not during reset
+    pub set_default_pib: bool,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 3],
+}
+
+impl MacCommand for ResetRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeResetReq;
+}
+
+/// MLME RX ENABLE Request used to request that the receiver is either enabled
+/// for a finite period of time or disabled
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct RxEnableRequest {
+    /// the request operation can be deferred or not
+    pub defer_permit: bool,
+    /// configure the transceiver to RX with ranging for a value of
+    /// RANGING_ON or to not enable ranging for RANGING_OFF
+    pub ranging_rx_control: u8,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 2],
+    /// number of symbols measured before the receiver is to be enabled or disabled
+    pub rx_on_time: [u8; 4],
+    /// number of symbols for which the receiver is to be enabled
+    pub rx_on_duration: [u8; 4],
+}
+
+impl MacCommand for RxEnableRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeRxEnableReq;
+}
+
+/// MLME SCAN Request used to initiate a channel scan over a given list of channels
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ScanRequest {
+    /// the type of scan to be performed
+    pub scan_type: ScanType,
+    /// the time spent on scanning each channel
+    pub scan_duration: u8,
+    /// channel page on which to perform the scan
+    pub channel_page: u8,
+    /// security level to be used
+    pub security_level: SecurityLevel,
+    /// indicate which channels are to be scanned
+    pub scan_channels: [u8; 4],
+    /// originator the key to be used
+    pub key_source: [u8; 8],
+    /// mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// index of the key to be used
+    pub key_index: u8,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 2],
+}
+
+impl MacCommand for ScanRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeScanReq;
+}
+
+/// MLME SET Request used to attempt to write the given value to the indicated PIB attribute
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SetRequest {
+    /// the pointer to the value of the PIB attribute to set
+    pub pib_attribute_ptr: *const u8,
+    /// the name of the PIB attribute to set
+    pub pib_attribute: PibId,
+}
+
+impl MacCommand for SetRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeSetReq;
+}
+
+/// MLME START Request used by the FFDs to intiate a new PAN or to begin using a new superframe
+/// configuration
+#[repr(C)]
+#[derive(Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct StartRequest {
+    /// PAN indentifier to used by the device
+    pub pan_id: PanId,
+    /// logical channel on which to begin
+    pub channel_number: MacChannel,
+    /// channel page on which to begin
+    pub channel_page: u8,
+    /// time at which to begin transmitting beacons
+    pub start_time: [u8; 4],
+    /// indicated how often the beacon is to be transmitted
+    pub beacon_order: u8,
+    /// length of the active portion of the superframe
+    pub superframe_order: u8,
+    /// indicated wheter the device is a PAN coordinator or not
+    pub pan_coordinator: bool,
+    /// indicates if the receiver of the beaconing device is disabled or not
+    pub battery_life_extension: bool,
+    /// indicated if the coordinator realignment command is to be trasmitted
+    pub coord_realignment: u8,
+    /// indicated if the coordinator realignment command is to be trasmitted
+    pub coord_realign_security_level: SecurityLevel,
+    /// index of the key to be used
+    pub coord_realign_key_id_index: u8,
+    /// originator of the key to be used
+    pub coord_realign_key_source: [u8; 8],
+    /// security level to be used for beacon frames
+    pub beacon_security_level: SecurityLevel,
+    /// mode used to identify the key to be used
+    pub beacon_key_id_mode: KeyIdMode,
+    /// index of the key to be used
+    pub beacon_key_index: u8,
+    /// originator of the key to be used
+    pub beacon_key_source: [u8; 8],
+}
+
+impl MacCommand for StartRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeStartReq;
+}
+
+/// MLME SYNC Request used to synchronize with the coordinator by acquiring and, if
+/// specified, tracking its beacons
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SyncRequest {
+    /// the channel number on which to attempt coordinator synchronization
+    pub channel_number: MacChannel,
+    /// the channel page on which to attempt coordinator synchronization
+    pub channel_page: u8,
+    /// `true` if the MLME is to synchronize with the next beacon and attempts
+    /// to track all future beacons.
+    ///
+    /// `false` if the MLME is to synchronize with only the next beacon
+    pub track_beacon: bool,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 1],
+}
+
+impl MacCommand for SyncRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeSyncReq;
+}
+
+/// MLME POLL Request propmts the device to request data from the coordinator
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PollRequest {
+    /// addressing mode of the coordinator
+    pub coord_addr_mode: AddressMode,
+    /// security level to be used
+    pub security_level: SecurityLevel,
+    /// mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// index of the key to be used
+    pub key_index: u8,
+    /// coordinator address
+    pub coord_address: MacAddress,
+    /// originator of the key to be used
+    pub key_source: [u8; 8],
+    /// PAN identifier of the coordinator
+    pub coord_pan_id: PanId,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 2],
+}
+
+impl MacCommand for PollRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmePollReq;
+}
+
+/// MLME DPS Request allows the next higher layer to request that the PHY utilize a
+/// given pair of preamble codes for a single use pending expiration of the DPSIndexDuration
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DpsRequest {
+    /// the index value for the transmitter
+    tx_dps_index: u8,
+    /// the index value of the receiver
+    rx_dps_index: u8,
+    /// the number of symbols for which the transmitter and receiver will utilize the
+    /// respective DPS indices
+    dps_index_duration: u8,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 1],
+}
+
+impl MacCommand for DpsRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeDpsReq;
+}
+
+/// MLME SOUNDING request primitive which is used by the next higher layer to request that
+/// the PHY respond with channel sounding information
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SoundingRequest {
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 4],
+}
+
+impl MacCommand for SoundingRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeSoundingReq;
+}
+
+/// MLME CALIBRATE request primitive which used  to obtain the results of a ranging
+/// calibration request from an RDEV
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct CalibrateRequest {
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 4],
+}
+
+impl MacCommand for CalibrateRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeCalibrateReq;
+}
+
+/// MCPS DATA Request used for MAC data related requests from the application
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DataRequest {
+    /// the handle assocated with the MSDU to be transmitted
+    pub msdu_ptr: *const u8,
+    /// source addressing mode used
+    pub src_addr_mode: AddressMode,
+    /// destination addressing mode used
+    pub dst_addr_mode: AddressMode,
+    /// destination PAN Id
+    pub dst_pan_id: PanId,
+    /// destination address
+    pub dst_address: MacAddress,
+    /// the number of octets contained in the MSDU
+    pub msdu_length: u8,
+    /// the handle assocated with the MSDU to be transmitted
+    pub msdu_handle: u8,
+    /// the ACK transmittion options for the MSDU
+    pub ack_tx: u8,
+    /// `true` if a GTS is to be used for transmission
+    ///
+    /// `false` indicates that the CAP will be used
+    pub gts_tx: bool,
+    /// the pending bit transmission options for the MSDU
+    pub indirect_tx: u8,
+    /// the security level to be used
+    pub security_level: SecurityLevel,
+    /// the mode used to indentify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the index of the key to be used
+    pub key_index: u8,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+    /// 2011 - the pulse repitition value
+    pub uwbprf: u8,
+    /// 2011 - the ranging configuration
+    pub ranging: u8,
+    /// 2011 - the preamble symbol repititions
+    pub uwb_preamble_symbol_repetitions: u8,
+    /// 2011 - indicates the data rate
+    pub datrate: u8,
+}
+
+impl DataRequest {
+    pub fn set_buffer<'a>(&'a mut self, buf: &'a [u8]) -> &mut Self {
+        self.msdu_ptr = buf as *const _ as *const u8;
+        self.msdu_length = buf.len() as u8;
+
+        self
+    }
+}
+
+impl Default for DataRequest {
+    fn default() -> Self {
+        Self {
+            msdu_ptr: 0 as *const u8,
+            src_addr_mode: AddressMode::NoAddress,
+            dst_addr_mode: AddressMode::NoAddress,
+            dst_pan_id: PanId([0, 0]),
+            dst_address: MacAddress { short: [0, 0] },
+            msdu_length: 0,
+            msdu_handle: 0,
+            ack_tx: 0,
+            gts_tx: false,
+            indirect_tx: 0,
+            security_level: SecurityLevel::Unsecure,
+            key_id_mode: KeyIdMode::Implicite,
+            key_index: 0,
+            key_source: [0u8; 8],
+            uwbprf: 0,
+            ranging: 0,
+            uwb_preamble_symbol_repetitions: 0,
+            datrate: 0,
+        }
+    }
+}
+
+impl MacCommand for DataRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::McpsDataReq;
+}
+
+/// for MCPS PURGE Request used to purge an MSDU from the transaction queue
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PurgeRequest {
+    /// the handle associated with the MSDU to be purged from the transaction
+    /// queue
+    pub msdu_handle: u8,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 3],
+}
+
+impl MacCommand for PurgeRequest {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::McpsPurgeReq;
+}
+
+/// MLME ASSOCIATE Response used to initiate a response to an MLME-ASSOCIATE.indication
+#[repr(C)]
+#[derive(Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct AssociateResponse {
+    /// extended address of the device requesting association
+    pub device_address: [u8; 8],
+    /// 16-bitshort device address allocated by the coordinator on successful
+    /// association
+    pub assoc_short_address: [u8; 2],
+    /// status of the association attempt
+    pub status: MacStatus,
+    /// security level to be used
+    pub security_level: SecurityLevel,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+    /// the mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the index of the key to be used
+    pub key_index: u8,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 2],
+}
+
+impl MacCommand for AssociateResponse {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeAssociateRes;
+}
+
+/// MLME ORPHAN Response used to respond to the MLME ORPHAN Indication
+#[repr(C)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct OrphanResponse {
+    /// extended address of the orphaned device
+    pub orphan_address: [u8; 8],
+    /// short address allocated to the orphaned device
+    pub short_address: [u8; 2],
+    /// if the orphaned device is associated with coordinator or not
+    pub associated_member: bool,
+    /// security level to be used
+    pub security_level: SecurityLevel,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+    /// the mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the index of the key to be used
+    pub key_index: u8,
+    /// byte stuffing to keep 32 bit alignment
+    pub a_stuffing: [u8; 2],
+}
+
+impl MacCommand for OrphanResponse {
+    const OPCODE: OpcodeM4ToM0 = OpcodeM4ToM0::MlmeOrphanRes;
+}

embassy-stm32-wpan/src/mac/consts.rs

@@ -0,0 +1,4 @@
+pub const MAX_PAN_DESC_SUPPORTED: usize = 6;
+pub const MAX_SOUNDING_LIST_SUPPORTED: usize = 6;
+pub const MAX_PENDING_ADDRESS: usize = 7;
+pub const MAX_ED_SCAN_RESULTS_SUPPORTED: usize = 16;

embassy-stm32-wpan/src/mac/control.rs

@@ -0,0 +1,95 @@
+use core::future::Future;
+use core::task;
+use core::task::Poll;
+
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::mutex::MutexGuard;
+use embassy_sync::signal::Signal;
+use futures::FutureExt;
+
+use super::commands::MacCommand;
+use super::event::MacEvent;
+use super::typedefs::MacError;
+use crate::mac::runner::Runner;
+
+pub struct Control<'a> {
+    runner: &'a Runner<'a>,
+}
+
+impl<'a> Control<'a> {
+    pub(crate) fn new(runner: &'a Runner<'a>) -> Self {
+        Self { runner: runner }
+    }
+
+    pub async fn send_command<T>(&self, cmd: &T) -> Result<(), MacError>
+    where
+        T: MacCommand,
+    {
+        let _wm = self.runner.write_mutex.lock().await;
+
+        self.runner.mac_subsystem.send_command(cmd).await
+    }
+
+    pub async fn send_command_and_get_response<T>(&self, cmd: &T) -> Result<EventToken<'a>, MacError>
+    where
+        T: MacCommand,
+    {
+        let rm = self.runner.read_mutex.lock().await;
+        let _wm = self.runner.write_mutex.lock().await;
+        let token = EventToken::new(self.runner, rm);
+
+        self.runner.mac_subsystem.send_command(cmd).await?;
+
+        Ok(token)
+    }
+}
+
+pub struct EventToken<'a> {
+    runner: &'a Runner<'a>,
+    _mutex_guard: MutexGuard<'a, CriticalSectionRawMutex, ()>,
+}
+
+impl<'a> EventToken<'a> {
+    pub(crate) fn new(runner: &'a Runner<'a>, mutex_guard: MutexGuard<'a, CriticalSectionRawMutex, ()>) -> Self {
+        // Enable event receiving
+        runner.rx_event_channel.lock(|s| {
+            *s.borrow_mut() = Some(Signal::new());
+        });
+
+        Self {
+            runner: runner,
+            _mutex_guard: mutex_guard,
+        }
+    }
+}
+
+impl<'a> Future for EventToken<'a> {
+    type Output = MacEvent<'a>;
+
+    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut task::Context<'_>) -> Poll<Self::Output> {
+        self.get_mut().runner.rx_event_channel.lock(|s| {
+            let signal = s.borrow_mut();
+            let signal = match &*signal {
+                Some(s) => s,
+                _ => unreachable!(),
+            };
+
+            let result = match signal.wait().poll_unpin(cx) {
+                Poll::Ready(mac_event) => Poll::Ready(mac_event),
+                Poll::Pending => Poll::Pending,
+            };
+
+            result
+        })
+    }
+}
+
+impl<'a> Drop for EventToken<'a> {
+    fn drop(&mut self) {
+        // Disable event receiving
+        // This will also drop the contained event, if it exists, and will free up receiving the next event
+        self.runner.rx_event_channel.lock(|s| {
+            *s.borrow_mut() = None;
+        });
+    }
+}

embassy-stm32-wpan/src/mac/driver.rs

@@ -0,0 +1,122 @@
+#![allow(incomplete_features)]
+#![deny(unused_must_use)]
+
+use core::task::Context;
+
+use embassy_net_driver::{Capabilities, LinkState, Medium};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::Channel;
+
+use crate::mac::event::MacEvent;
+use crate::mac::runner::Runner;
+use crate::mac::MTU;
+
+pub struct Driver<'d> {
+    runner: &'d Runner<'d>,
+}
+
+impl<'d> Driver<'d> {
+    pub(crate) fn new(runner: &'d Runner<'d>) -> Self {
+        Self { runner: runner }
+    }
+}
+
+impl<'d> embassy_net_driver::Driver for Driver<'d> {
+    // type RxToken<'a> = RxToken<'a, 'd> where Self: 'a;
+    // type TxToken<'a> = TxToken<'a, 'd> where Self: 'a;
+    type RxToken<'a> = RxToken<'d> where Self: 'a;
+    type TxToken<'a> = TxToken<'d> where Self: 'a;
+
+    fn receive(&mut self, cx: &mut Context) -> Option<(Self::RxToken<'_>, Self::TxToken<'_>)> {
+        if self.runner.rx_channel.poll_ready_to_receive(cx) && self.runner.tx_buf_channel.poll_ready_to_receive(cx) {
+            Some((
+                RxToken {
+                    rx: &self.runner.rx_channel,
+                },
+                TxToken {
+                    tx: &self.runner.tx_channel,
+                    tx_buf: &self.runner.tx_buf_channel,
+                },
+            ))
+        } else {
+            None
+        }
+    }
+
+    fn transmit(&mut self, cx: &mut Context) -> Option<Self::TxToken<'_>> {
+        if self.runner.tx_buf_channel.poll_ready_to_receive(cx) {
+            Some(TxToken {
+                tx: &self.runner.tx_channel,
+                tx_buf: &self.runner.tx_buf_channel,
+            })
+        } else {
+            None
+        }
+    }
+
+    fn capabilities(&self) -> Capabilities {
+        let mut caps = Capabilities::default();
+        caps.max_transmission_unit = MTU;
+        // caps.max_burst_size = Some(self.tx.len());
+
+        caps.medium = Medium::Ieee802154;
+        caps
+    }
+
+    fn link_state(&mut self, _cx: &mut Context) -> LinkState {
+        //        if self.phy.poll_link(&mut self.station_management, cx) {
+        //            LinkState::Up
+        //        } else {
+        //            LinkState::Down
+        //        }
+
+        LinkState::Down
+    }
+
+    fn ethernet_address(&self) -> [u8; 6] {
+        // self.mac_addr
+
+        [0; 6]
+    }
+}
+
+pub struct RxToken<'d> {
+    rx: &'d Channel<CriticalSectionRawMutex, MacEvent<'d>, 1>,
+}
+
+impl<'d> embassy_net_driver::RxToken for RxToken<'d> {
+    fn consume<R, F>(self, f: F) -> R
+    where
+        F: FnOnce(&mut [u8]) -> R,
+    {
+        // Only valid data events should be put into the queue
+
+        let data_event = match self.rx.try_recv().unwrap() {
+            MacEvent::McpsDataInd(data_event) => data_event,
+            _ => unreachable!(),
+        };
+
+        f(&mut data_event.payload())
+    }
+}
+
+pub struct TxToken<'d> {
+    tx: &'d Channel<CriticalSectionRawMutex, (&'d mut [u8; MTU], usize), 5>,
+    tx_buf: &'d Channel<CriticalSectionRawMutex, &'d mut [u8; MTU], 5>,
+}
+
+impl<'d> embassy_net_driver::TxToken for TxToken<'d> {
+    fn consume<R, F>(self, len: usize, f: F) -> R
+    where
+        F: FnOnce(&mut [u8]) -> R,
+    {
+        // Only valid tx buffers should be put into the queue
+        let buf = self.tx_buf.try_recv().unwrap();
+        let r = f(&mut buf[..len]);
+
+        // The tx channel should always be of equal capacity to the tx_buf channel
+        self.tx.try_send((buf, len)).unwrap();
+
+        r
+    }
+}

embassy-stm32-wpan/src/mac/event.rs

@@ -0,0 +1,153 @@
+use core::{mem, ptr};
+
+use super::indications::{
+    AssociateIndication, BeaconNotifyIndication, CommStatusIndication, DataIndication, DisassociateIndication,
+    DpsIndication, GtsIndication, OrphanIndication, PollIndication, SyncLossIndication,
+};
+use super::responses::{
+    AssociateConfirm, CalibrateConfirm, DataConfirm, DisassociateConfirm, DpsConfirm, GetConfirm, GtsConfirm,
+    PollConfirm, PurgeConfirm, ResetConfirm, RxEnableConfirm, ScanConfirm, SetConfirm, SoundingConfirm, StartConfirm,
+};
+use crate::evt::{EvtBox, MemoryManager};
+use crate::mac::opcodes::OpcodeM0ToM4;
+use crate::sub::mac::{self, Mac};
+
+pub(crate) trait ParseableMacEvent: Sized {
+    fn from_buffer<'a>(buf: &'a [u8]) -> Result<&'a Self, ()> {
+        if buf.len() < mem::size_of::<Self>() {
+            Err(())
+        } else {
+            Ok(unsafe { &*(buf as *const _ as *const Self) })
+        }
+    }
+}
+
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Debug)]
+pub enum MacEvent<'a> {
+    MlmeAssociateCnf(&'a AssociateConfirm),
+    MlmeDisassociateCnf(&'a DisassociateConfirm),
+    MlmeGetCnf(&'a GetConfirm),
+    MlmeGtsCnf(&'a GtsConfirm),
+    MlmeResetCnf(&'a ResetConfirm),
+    MlmeRxEnableCnf(&'a RxEnableConfirm),
+    MlmeScanCnf(&'a ScanConfirm),
+    MlmeSetCnf(&'a SetConfirm),
+    MlmeStartCnf(&'a StartConfirm),
+    MlmePollCnf(&'a PollConfirm),
+    MlmeDpsCnf(&'a DpsConfirm),
+    MlmeSoundingCnf(&'a SoundingConfirm),
+    MlmeCalibrateCnf(&'a CalibrateConfirm),
+    McpsDataCnf(&'a DataConfirm),
+    McpsPurgeCnf(&'a PurgeConfirm),
+    MlmeAssociateInd(&'a AssociateIndication),
+    MlmeDisassociateInd(&'a DisassociateIndication),
+    MlmeBeaconNotifyInd(&'a BeaconNotifyIndication),
+    MlmeCommStatusInd(&'a CommStatusIndication),
+    MlmeGtsInd(&'a GtsIndication),
+    MlmeOrphanInd(&'a OrphanIndication),
+    MlmeSyncLossInd(&'a SyncLossIndication),
+    MlmeDpsInd(&'a DpsIndication),
+    McpsDataInd(&'a DataIndication),
+    MlmePollInd(&'a PollIndication),
+}
+
+impl<'a> MacEvent<'a> {
+    pub(crate) fn new(event_box: EvtBox<Mac>) -> Result<Self, ()> {
+        let payload = event_box.payload();
+        let opcode = u16::from_le_bytes(payload[0..2].try_into().unwrap());
+
+        let opcode = OpcodeM0ToM4::try_from(opcode)?;
+        let buf = &payload[2..];
+
+        // To avoid re-parsing the opcode, we store the result of the parse
+        // this requires use of unsafe because rust cannot assume that a reference will become
+        // invalid when the underlying result is moved. However, because we refer to a "heap"
+        // allocation, the underlying reference will not move until the struct is dropped.
+
+        let mac_event = match opcode {
+            OpcodeM0ToM4::MlmeAssociateCnf => {
+                MacEvent::MlmeAssociateCnf(unsafe { &*(AssociateConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeDisassociateCnf => {
+                MacEvent::MlmeDisassociateCnf(unsafe { &*(DisassociateConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeGetCnf => MacEvent::MlmeGetCnf(unsafe { &*(GetConfirm::from_buffer(buf)? as *const _) }),
+            OpcodeM0ToM4::MlmeGtsCnf => MacEvent::MlmeGtsCnf(unsafe { &*(GtsConfirm::from_buffer(buf)? as *const _) }),
+            OpcodeM0ToM4::MlmeResetCnf => {
+                MacEvent::MlmeResetCnf(unsafe { &*(ResetConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeRxEnableCnf => {
+                MacEvent::MlmeRxEnableCnf(unsafe { &*(RxEnableConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeScanCnf => {
+                MacEvent::MlmeScanCnf(unsafe { &*(ScanConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeSetCnf => MacEvent::MlmeSetCnf(unsafe { &*(SetConfirm::from_buffer(buf)? as *const _) }),
+            OpcodeM0ToM4::MlmeStartCnf => {
+                MacEvent::MlmeStartCnf(unsafe { &*(StartConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmePollCnf => {
+                MacEvent::MlmePollCnf(unsafe { &*(PollConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeDpsCnf => MacEvent::MlmeDpsCnf(unsafe { &*(DpsConfirm::from_buffer(buf)? as *const _) }),
+            OpcodeM0ToM4::MlmeSoundingCnf => {
+                MacEvent::MlmeSoundingCnf(unsafe { &*(SoundingConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeCalibrateCnf => {
+                MacEvent::MlmeCalibrateCnf(unsafe { &*(CalibrateConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::McpsDataCnf => {
+                MacEvent::McpsDataCnf(unsafe { &*(DataConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::McpsPurgeCnf => {
+                MacEvent::McpsPurgeCnf(unsafe { &*(PurgeConfirm::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeAssociateInd => {
+                MacEvent::MlmeAssociateInd(unsafe { &*(AssociateIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeDisassociateInd => {
+                MacEvent::MlmeDisassociateInd(unsafe { &*(DisassociateIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeBeaconNotifyInd => {
+                MacEvent::MlmeBeaconNotifyInd(unsafe { &*(BeaconNotifyIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeCommStatusInd => {
+                MacEvent::MlmeCommStatusInd(unsafe { &*(CommStatusIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeGtsInd => {
+                MacEvent::MlmeGtsInd(unsafe { &*(GtsIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeOrphanInd => {
+                MacEvent::MlmeOrphanInd(unsafe { &*(OrphanIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeSyncLossInd => {
+                MacEvent::MlmeSyncLossInd(unsafe { &*(SyncLossIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmeDpsInd => {
+                MacEvent::MlmeDpsInd(unsafe { &*(DpsIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::McpsDataInd => {
+                MacEvent::McpsDataInd(unsafe { &*(DataIndication::from_buffer(buf)? as *const _) })
+            }
+            OpcodeM0ToM4::MlmePollInd => {
+                MacEvent::MlmePollInd(unsafe { &*(PollIndication::from_buffer(buf)? as *const _) })
+            }
+        };
+
+        // Forget the event box so that drop isn't called
+        // We want to handle the lifetime ourselves
+
+        mem::forget(event_box);
+
+        Ok(mac_event)
+    }
+}
+
+unsafe impl<'a> Send for MacEvent<'a> {}
+
+impl<'a> Drop for MacEvent<'a> {
+    fn drop(&mut self) {
+        unsafe { mac::Mac::drop_event_packet(ptr::null_mut()) };
+    }
+}

embassy-stm32-wpan/src/mac/indications.rs

@@ -0,0 +1,265 @@
+use core::slice;
+
+use super::consts::MAX_PENDING_ADDRESS;
+use super::event::ParseableMacEvent;
+use super::typedefs::{
+    AddressMode, Capabilities, DisassociationReason, KeyIdMode, MacAddress, MacChannel, MacStatus, PanDescriptor,
+    PanId, SecurityLevel,
+};
+
+/// MLME ASSOCIATE Indication which will be used by the MAC
+/// to indicate the reception of an association request command
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct AssociateIndication {
+    /// Extended address of the device requesting association
+    pub device_address: [u8; 8],
+    /// Operational capabilities of the device requesting association
+    pub capability_information: Capabilities,
+    /// Security level purportedly used by the received MAC command frame
+    pub security_level: SecurityLevel,
+    /// The mode used to identify the key used by the originator of frame
+    pub key_id_mode: KeyIdMode,
+    /// Index of the key used by the originator of the received frame
+    pub key_index: u8,
+    /// The originator of the key used by the originator of the received frame
+    pub key_source: [u8; 8],
+}
+
+impl ParseableMacEvent for AssociateIndication {}
+
+/// MLME DISASSOCIATE indication which will be used to send
+/// disassociation indication to the application.
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DisassociateIndication {
+    /// Extended address of the device requesting association
+    pub device_address: [u8; 8],
+    /// The reason for the disassociation
+    pub disassociation_reason: DisassociationReason,
+    /// The security level to be used
+    pub security_level: SecurityLevel,
+    /// The mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// The index of the key to be used
+    pub key_index: u8,
+    /// The originator of the key to be used
+    pub key_source: [u8; 8],
+}
+
+impl ParseableMacEvent for DisassociateIndication {}
+
+/// MLME BEACON NOTIIFY Indication which is used to send parameters contained
+/// within a beacon frame received by the MAC to the application
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct BeaconNotifyIndication {
+    /// he set of octets comprising the beacon payload to be transferred
+    /// from the MAC sublayer entity to the next higher layer
+    pub sdu_ptr: *const u8,
+    /// The PAN Descriptor for the received beacon
+    pub pan_descriptor: PanDescriptor,
+    /// The list of addresses of the devices
+    pub addr_list: [MacAddress; MAX_PENDING_ADDRESS],
+    /// Beacon Sequence Number
+    pub bsn: u8,
+    /// The beacon pending address specification
+    pub pend_addr_spec: u8,
+    /// Number of octets contained in the beacon payload of the beacon frame
+    pub sdu_length: u8,
+}
+
+impl ParseableMacEvent for BeaconNotifyIndication {}
+
+/// MLME COMM STATUS Indication which is used by the MAC to indicate a communications status
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct CommStatusIndication {
+    /// The 16-bit PAN identifier of the device from which the frame
+    /// was received or to which the frame was being sent
+    pub pan_id: PanId,
+    /// Source addressing mode
+    pub src_addr_mode: AddressMode,
+    /// Destination addressing mode
+    pub dst_addr_mode: AddressMode,
+    /// Source address
+    pub src_address: MacAddress,
+    /// Destination address
+    pub dst_address: MacAddress,
+    /// The communications status
+    pub status: MacStatus,
+    /// Security level to be used
+    pub security_level: SecurityLevel,
+    /// Mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// Index of the key to be used
+    pub key_index: u8,
+    /// Originator of the key to be used
+    pub key_source: [u8; 8],
+}
+
+impl ParseableMacEvent for CommStatusIndication {}
+
+/// MLME GTS Indication indicates that a GTS has been allocated or that a
+/// previously allocated GTS has been deallocated
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct GtsIndication {
+    /// The short address of the device that has been allocated or deallocated a GTS
+    pub device_address: [u8; 2],
+    /// The characteristics of the GTS
+    pub gts_characteristics: u8,
+    /// Security level to be used
+    pub security_level: SecurityLevel,
+    /// Mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// Index of the key to be used
+    pub key_index: u8,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 2],
+    /// Originator of the key to be used
+    pub key_source: [u8; 8],
+}
+
+impl ParseableMacEvent for GtsIndication {}
+
+/// MLME ORPHAN Indication which is used by the coordinator to notify the
+/// application of the presence of an orphaned device
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct OrphanIndication {
+    /// Extended address of the orphaned device
+    pub orphan_address: [u8; 8],
+    /// Originator of the key used by the originator of the received frame
+    pub key_source: [u8; 8],
+    /// Security level purportedly used by the received MAC command frame
+    pub security_level: SecurityLevel,
+    /// Mode used to identify the key used by originator of received frame
+    pub key_id_mode: KeyIdMode,
+    /// Index of the key used by the originator of the received frame
+    pub key_index: u8,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 1],
+}
+
+impl ParseableMacEvent for OrphanIndication {}
+
+/// MLME SYNC LOSS Indication which is used by the MAC to indicate the loss
+/// of synchronization with the coordinator
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SyncLossIndication {
+    /// The PAN identifier with which the device lost synchronization or to which it was realigned
+    pub pan_id: PanId,
+    /// The reason that synchronization was lost
+    pub loss_reason: u8,
+    /// The logical channel on which the device lost synchronization or to whi
+    pub channel_number: MacChannel,
+    /// The channel page on which the device lost synchronization or to which
+    pub channel_page: u8,
+    /// The security level used by the received MAC frame
+    pub security_level: SecurityLevel,
+    /// Mode used to identify the key used by originator of received frame
+    pub key_id_mode: KeyIdMode,
+    /// Index of the key used by the originator of the received frame
+    pub key_index: u8,
+    /// Originator of the key used by the originator of the received frame
+    pub key_source: [u8; 8],
+}
+
+impl ParseableMacEvent for SyncLossIndication {}
+
+/// MLME DPS Indication which indicates the expiration of the DPSIndexDuration
+///  and the resetting of the DPS values in the PHY
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DpsIndication {
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 4],
+}
+
+impl ParseableMacEvent for DpsIndication {}
+
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DataIndication {
+    /// Pointer to the set of octets forming the MSDU being indicated  
+    pub msdu_ptr: *const u8,
+    /// Source addressing mode used  
+    pub src_addr_mode: AddressMode,
+    /// Source PAN ID   
+    pub src_pan_id: PanId,
+    /// Source address  
+    pub src_address: MacAddress,
+    /// Destination addressing mode used  
+    pub dst_addr_mode: AddressMode,
+    /// Destination PAN ID   
+    pub dst_pan_id: PanId,
+    /// Destination address  
+    pub dst_address: MacAddress,
+    /// The number of octets contained in the MSDU being indicated  
+    pub msdu_length: u8,
+    /// QI value measured during reception of the MPDU
+    pub mpdu_link_quality: u8,
+    /// The data sequence number of the received data frame  
+    pub dsn: u8,
+    /// The time, in symbols, at which the data were received  
+    pub time_stamp: [u8; 4],
+    /// The security level purportedly used by the received data frame  
+    security_level: SecurityLevel,
+    /// Mode used to identify the key used by originator of received frame  
+    key_id_mode: KeyIdMode,
+    /// The originator of the key  
+    pub key_source: [u8; 8],
+    /// The index of the key  
+    pub key_index: u8,
+    /// he pulse repetition value of the received PPDU
+    pub uwbprf: u8,
+    /// The preamble symbol repetitions of the UWB PHY frame  
+    pub uwn_preamble_symbol_repetitions: u8,
+    /// Indicates the data rate
+    pub datrate: u8,
+    /// time units corresponding to an RMARKER at the antenna at the end of a ranging exchange,  
+    pub ranging_received: u8,
+    pub ranging_counter_start: u32,
+    pub ranging_counter_stop: u32,
+    /// ime units in a message exchange over which the tracking offset was measured
+    pub ranging_tracking_interval: u32,
+    /// time units slipped or advanced by the radio tracking system  
+    pub ranging_offset: u32,
+    /// The FoM characterizing the ranging measurement
+    pub ranging_fom: u8,
+    /// The Received Signal Strength Indicator measured
+    pub rssi: u8,
+}
+
+impl ParseableMacEvent for DataIndication {}
+
+impl DataIndication {
+    pub fn payload<'a>(&'a self) -> &'a mut [u8] {
+        unsafe { slice::from_raw_parts_mut(self.msdu_ptr as *mut _, self.msdu_length as usize) }
+    }
+}
+
+/// MLME POLL Indication which will be used for indicating the Data Request
+/// reception to upper layer as defined in Zigbee r22 - D.8.2
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PollIndication {
+    /// addressing mode used
+    pub addr_mode: AddressMode,
+    /// Poll requester address
+    pub request_address: MacAddress,
+}
+
+impl ParseableMacEvent for PollIndication {}

embassy-stm32-wpan/src/mac/macros.rs

@@ -0,0 +1,32 @@
+#[macro_export]
+macro_rules! numeric_enum {
+    (#[repr($repr:ident)]
+     $(#$attrs:tt)* $vis:vis enum $name:ident {
+        $($(#$enum_attrs:tt)* $enum:ident = $constant:expr),* $(,)?
+    } ) => {
+        #[repr($repr)]
+        $(#$attrs)*
+        $vis enum $name {
+            $($(#$enum_attrs)* $enum = $constant),*
+        }
+
+        impl ::core::convert::TryFrom<$repr> for $name {
+            type Error = ();
+
+            fn try_from(value: $repr) -> ::core::result::Result<Self, ()> {
+                match value {
+                    $($constant => Ok( $name :: $enum ),)*
+                    _ => Err(())
+                }
+            }
+        }
+
+        impl ::core::convert::From<$name> for $repr {
+            fn from(value: $name) -> $repr {
+                match value {
+                    $($name :: $enum => $constant,)*
+                }
+            }
+        }
+    }
+}

embassy-stm32-wpan/src/mac/mod.rs

@@ -0,0 +1,21 @@
+pub mod commands;
+mod consts;
+pub mod control;
+mod driver;
+pub mod event;
+pub mod indications;
+mod macros;
+mod opcodes;
+pub mod responses;
+pub mod runner;
+pub mod typedefs;
+
+pub use crate::mac::control::Control;
+use crate::mac::driver::Driver;
+pub use crate::mac::runner::Runner;
+
+const MTU: usize = 127;
+
+pub async fn new<'a>(runner: &'a Runner<'a>) -> (Control<'a>, Driver<'a>) {
+    (Control::new(runner), Driver::new(runner))
+}

embassy-stm32-wpan/src/mac/opcodes.rs

@@ -0,0 +1,92 @@
+const ST_VENDOR_OGF: u16 = 0x3F;
+const MAC_802_15_4_CMD_OPCODE_OFFSET: u16 = 0x280;
+
+const fn opcode(ocf: u16) -> isize {
+    ((ST_VENDOR_OGF << 9) | (MAC_802_15_4_CMD_OPCODE_OFFSET + ocf)) as isize
+}
+
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum OpcodeM4ToM0 {
+    MlmeAssociateReq = opcode(0x00),
+    MlmeAssociateRes = opcode(0x01),
+    MlmeDisassociateReq = opcode(0x02),
+    MlmeGetReq = opcode(0x03),
+    MlmeGtsReq = opcode(0x04),
+    MlmeOrphanRes = opcode(0x05),
+    MlmeResetReq = opcode(0x06),
+    MlmeRxEnableReq = opcode(0x07),
+    MlmeScanReq = opcode(0x08),
+    MlmeSetReq = opcode(0x09),
+    MlmeStartReq = opcode(0x0A),
+    MlmeSyncReq = opcode(0x0B),
+    MlmePollReq = opcode(0x0C),
+    MlmeDpsReq = opcode(0x0D),
+    MlmeSoundingReq = opcode(0x0E),
+    MlmeCalibrateReq = opcode(0x0F),
+    McpsDataReq = opcode(0x10),
+    McpsPurgeReq = opcode(0x11),
+}
+
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum OpcodeM0ToM4 {
+    MlmeAssociateCnf = 0x00,
+    MlmeDisassociateCnf,
+    MlmeGetCnf,
+    MlmeGtsCnf,
+    MlmeResetCnf,
+    MlmeRxEnableCnf,
+    MlmeScanCnf,
+    MlmeSetCnf,
+    MlmeStartCnf,
+    MlmePollCnf,
+    MlmeDpsCnf,
+    MlmeSoundingCnf,
+    MlmeCalibrateCnf,
+    McpsDataCnf,
+    McpsPurgeCnf,
+    MlmeAssociateInd,
+    MlmeDisassociateInd,
+    MlmeBeaconNotifyInd,
+    MlmeCommStatusInd,
+    MlmeGtsInd,
+    MlmeOrphanInd,
+    MlmeSyncLossInd,
+    MlmeDpsInd,
+    McpsDataInd,
+    MlmePollInd,
+}
+
+impl TryFrom<u16> for OpcodeM0ToM4 {
+    type Error = ();
+
+    fn try_from(value: u16) -> Result<Self, Self::Error> {
+        match value {
+            0 => Ok(Self::MlmeAssociateCnf),
+            1 => Ok(Self::MlmeDisassociateCnf),
+            2 => Ok(Self::MlmeGetCnf),
+            3 => Ok(Self::MlmeGtsCnf),
+            4 => Ok(Self::MlmeResetCnf),
+            5 => Ok(Self::MlmeRxEnableCnf),
+            6 => Ok(Self::MlmeScanCnf),
+            7 => Ok(Self::MlmeSetCnf),
+            8 => Ok(Self::MlmeStartCnf),
+            9 => Ok(Self::MlmePollCnf),
+            10 => Ok(Self::MlmeDpsCnf),
+            11 => Ok(Self::MlmeSoundingCnf),
+            12 => Ok(Self::MlmeCalibrateCnf),
+            13 => Ok(Self::McpsDataCnf),
+            14 => Ok(Self::McpsPurgeCnf),
+            15 => Ok(Self::MlmeAssociateInd),
+            16 => Ok(Self::MlmeDisassociateInd),
+            17 => Ok(Self::MlmeBeaconNotifyInd),
+            18 => Ok(Self::MlmeCommStatusInd),
+            19 => Ok(Self::MlmeGtsInd),
+            20 => Ok(Self::MlmeOrphanInd),
+            21 => Ok(Self::MlmeSyncLossInd),
+            22 => Ok(Self::MlmeDpsInd),
+            23 => Ok(Self::McpsDataInd),
+            24 => Ok(Self::MlmePollInd),
+            _ => Err(()),
+        }
+    }
+}

embassy-stm32-wpan/src/mac/responses.rs

@@ -0,0 +1,273 @@
+use super::consts::{MAX_ED_SCAN_RESULTS_SUPPORTED, MAX_PAN_DESC_SUPPORTED, MAX_SOUNDING_LIST_SUPPORTED};
+use super::event::ParseableMacEvent;
+use super::typedefs::{
+    AddressMode, AssociationStatus, KeyIdMode, MacAddress, MacStatus, PanDescriptor, PanId, PibId, ScanType,
+    SecurityLevel,
+};
+
+/// MLME ASSOCIATE Confirm used to inform of the initiating device whether
+/// its request to associate was successful or unsuccessful
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct AssociateConfirm {
+    /// short address allocated by the coordinator on successful association
+    pub assoc_short_address: [u8; 2],
+    /// status of the association request
+    pub status: AssociationStatus,
+    /// security level to be used
+    pub security_level: SecurityLevel,
+    /// the originator of the key to be used
+    pub key_source: [u8; 8],
+    /// the mode used to identify the key to be used
+    pub key_id_mode: KeyIdMode,
+    /// the index of the key to be used
+    pub key_index: u8,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 2],
+}
+
+impl ParseableMacEvent for AssociateConfirm {}
+
+/// MLME DISASSOCIATE Confirm used to send disassociation Confirmation to the application.
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DisassociateConfirm {
+    /// status of the disassociation attempt
+    pub status: MacStatus,
+    /// device addressing mode used
+    pub device_addr_mode: AddressMode,
+    /// the identifier of the PAN of the device
+    pub device_pan_id: PanId,
+    /// device address
+    pub device_address: MacAddress,
+}
+
+impl ParseableMacEvent for DisassociateConfirm {}
+
+///  MLME GET Confirm which requests information about a given PIB attribute
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct GetConfirm {
+    /// The pointer to the value of the PIB attribute attempted to read
+    pub pib_attribute_value_ptr: *const u8,
+    /// Status of the GET attempt
+    pub status: MacStatus,
+    /// The name of the PIB attribute attempted to read
+    pub pib_attribute: PibId,
+    /// The lenght of the PIB attribute Value return
+    pub pib_attribute_value_len: u8,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 1],
+}
+
+impl ParseableMacEvent for GetConfirm {}
+
+/// MLME GTS Confirm which eports the results of a request to allocate a new GTS
+/// or to deallocate an existing GTS
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct GtsConfirm {
+    /// The characteristics of the GTS
+    pub gts_characteristics: u8,
+    /// The status of the GTS reques
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 2],
+}
+
+impl ParseableMacEvent for GtsConfirm {}
+
+/// MLME RESET Confirm which is used to report the results of the reset operation
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ResetConfirm {
+    /// The result of the reset operation
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+}
+
+impl ParseableMacEvent for ResetConfirm {}
+
+/// MLME RX ENABLE Confirm which is used to report the results of the attempt
+/// to enable or disable the receiver
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct RxEnableConfirm {
+    /// Result of the request to enable or disable the receiver
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+}
+
+impl ParseableMacEvent for RxEnableConfirm {}
+
+/// MLME SCAN Confirm which is used to report the result of the channel scan request
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ScanConfirm {
+    /// Status of the scan request
+    pub status: MacStatus,
+    /// The type of scan performed
+    pub scan_type: ScanType,
+    /// Channel page on which the scan was performed
+    pub channel_page: u8,
+    /// Channels given in the request which were not scanned
+    pub unscanned_channels: [u8; 4],
+    /// Number of elements returned in the appropriate result lists
+    pub result_list_size: u8,
+    /// List of energy measurements
+    pub energy_detect_list: [u8; MAX_ED_SCAN_RESULTS_SUPPORTED],
+    /// List of PAN descriptors
+    pub pan_descriptor_list: [PanDescriptor; MAX_PAN_DESC_SUPPORTED],
+    /// Categorization of energy detected in channel
+    pub detected_category: u8,
+    ///  For UWB PHYs, the list of energy measurements taken
+    pub uwb_energy_detect_list: [u8; MAX_ED_SCAN_RESULTS_SUPPORTED],
+}
+
+impl ParseableMacEvent for ScanConfirm {}
+
+/// MLME SET Confirm which reports the result of an attempt to write a value to a PIB attribute
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SetConfirm {
+    /// The result of the set operation
+    pub status: MacStatus,
+    /// The name of the PIB attribute that was written
+    pub pin_attribute: PibId,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 2],
+}
+
+impl ParseableMacEvent for SetConfirm {}
+
+/// MLME START Confirm which is used to report the results of the attempt to
+/// start using a new superframe configuration
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct StartConfirm {
+    /// Result of the attempt to start using an updated superframe configuration
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+}
+
+impl ParseableMacEvent for StartConfirm {}
+
+/// MLME POLL Confirm which is used to report the result of a request to poll the coordinator for data
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PollConfirm {
+    /// The status of the data request
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+}
+
+impl ParseableMacEvent for PollConfirm {}
+
+/// MLME DPS Confirm which  reports the results of the attempt to enable or disable the DPS
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DpsConfirm {
+    /// The status of the DPS request
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+}
+
+impl ParseableMacEvent for DpsConfirm {}
+
+/// MLME SOUNDING Confirm which  reports the result of a request to the PHY to provide
+/// channel sounding information
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SoundingConfirm {
+    /// Results of the sounding measurement
+    pub sounding_list: [u8; MAX_SOUNDING_LIST_SUPPORTED],
+
+    status: u8,
+}
+
+impl ParseableMacEvent for SoundingConfirm {}
+
+/// MLME CALIBRATE Confirm which reports the result of a request to the PHY
+/// to provide internal propagation path information
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct CalibrateConfirm {
+    /// The status of the attempt to return sounding data
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+    /// A count of the propagation time from the ranging counter
+    /// to the transmit antenna
+    pub cal_tx_rmaker_offset: u32,
+    /// A count of the propagation time from the receive antenna
+    /// to the ranging counter
+    pub cal_rx_rmaker_offset: u32,
+}
+
+impl ParseableMacEvent for CalibrateConfirm {}
+
+/// MCPS DATA Confirm which will be used for reporting the results of
+/// MAC data related requests from the application
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct DataConfirm {
+    /// The handle associated with the MSDU being confirmed
+    pub msdu_handle: u8,
+    /// The time, in symbols, at which the data were transmitted
+    pub time_stamp: [u8; 4],
+    /// ranging status
+    pub ranging_received: u8,
+    /// The status of the last MSDU transmission
+    pub status: MacStatus,
+    /// time units corresponding to an RMARKER at the antenna at
+    /// the beginning of a ranging exchange
+    pub ranging_counter_start: u32,
+    /// time units corresponding to an RMARKER at the antenna
+    /// at the end of a ranging exchange
+    pub ranging_counter_stop: u32,
+    /// time units in a message exchange over which the tracking offset was measured
+    pub ranging_tracking_interval: u32,
+    /// time units slipped or advanced by the radio tracking system
+    pub ranging_offset: u32,
+    /// The FoM characterizing the ranging measurement
+    pub ranging_fom: u8,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 3],
+}
+
+impl ParseableMacEvent for DataConfirm {}
+
+/// MCPS PURGE Confirm which will be used by the  MAC to notify the application of
+/// the status of its request to purge an MSDU from the transaction queue
+#[repr(C)]
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PurgeConfirm {
+    /// Handle associated with the MSDU requested to be purged from the transaction queue
+    pub msdu_handle: u8,
+    /// The status of the request
+    pub status: MacStatus,
+    /// byte stuffing to keep 32 bit alignment
+    a_stuffing: [u8; 2],
+}
+
+impl ParseableMacEvent for PurgeConfirm {}

embassy-stm32-wpan/src/mac/runner.rs

@@ -0,0 +1,109 @@
+use core::cell::RefCell;
+
+use embassy_futures::join;
+use embassy_sync::blocking_mutex;
+use embassy_sync::blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex};
+use embassy_sync::channel::Channel;
+use embassy_sync::mutex::Mutex;
+use embassy_sync::signal::Signal;
+
+use crate::mac::commands::DataRequest;
+use crate::mac::event::MacEvent;
+use crate::mac::typedefs::{AddressMode, MacAddress, PanId, SecurityLevel};
+use crate::mac::MTU;
+use crate::sub::mac::Mac;
+
+type ZeroCopyPubSub<M, T> = blocking_mutex::Mutex<M, RefCell<Option<Signal<NoopRawMutex, T>>>>;
+
+pub struct Runner<'a> {
+    pub(crate) mac_subsystem: Mac,
+    // rx event backpressure is already provided through the MacEvent drop mechanism
+    // therefore, we don't need to worry about overwriting events
+    pub(crate) rx_event_channel: ZeroCopyPubSub<CriticalSectionRawMutex, MacEvent<'a>>,
+    pub(crate) read_mutex: Mutex<CriticalSectionRawMutex, ()>,
+    pub(crate) write_mutex: Mutex<CriticalSectionRawMutex, ()>,
+    pub(crate) rx_channel: Channel<CriticalSectionRawMutex, MacEvent<'a>, 1>,
+    pub(crate) tx_channel: Channel<CriticalSectionRawMutex, (&'a mut [u8; MTU], usize), 5>,
+    pub(crate) tx_buf_channel: Channel<CriticalSectionRawMutex, &'a mut [u8; MTU], 5>,
+}
+
+impl<'a> Runner<'a> {
+    pub fn new(mac: Mac, tx_buf_queue: [&'a mut [u8; MTU]; 5]) -> Self {
+        let this = Self {
+            mac_subsystem: mac,
+            rx_event_channel: blocking_mutex::Mutex::new(RefCell::new(None)),
+            read_mutex: Mutex::new(()),
+            write_mutex: Mutex::new(()),
+            rx_channel: Channel::new(),
+            tx_channel: Channel::new(),
+            tx_buf_channel: Channel::new(),
+        };
+
+        for buf in tx_buf_queue {
+            this.tx_buf_channel.try_send(buf).unwrap();
+        }
+
+        this
+    }
+
+    pub async fn run(&'a self) -> ! {
+        join::join(
+            async {
+                loop {
+                    if let Ok(mac_event) = self.mac_subsystem.read().await {
+                        match mac_event {
+                            MacEvent::McpsDataInd(_) => {
+                                self.rx_channel.send(mac_event).await;
+                            }
+                            _ => {
+                                self.rx_event_channel.lock(|s| {
+                                    match &*s.borrow() {
+                                        Some(signal) => {
+                                            signal.signal(mac_event);
+                                        }
+                                        None => {}
+                                    };
+                                });
+                            }
+                        }
+                    }
+                }
+            },
+            async {
+                let mut msdu_handle = 0x02;
+
+                loop {
+                    let (buf, len) = self.tx_channel.recv().await;
+                    let _wm = self.write_mutex.lock().await;
+
+                    // The mutex should be dropped on the next loop iteration
+                    self.mac_subsystem
+                        .send_command(
+                            DataRequest {
+                                src_addr_mode: AddressMode::Short,
+                                dst_addr_mode: AddressMode::Short,
+                                dst_pan_id: PanId([0x1A, 0xAA]),
+                                dst_address: MacAddress::BROADCAST,
+                                msdu_handle: msdu_handle,
+                                ack_tx: 0x00,
+                                gts_tx: false,
+                                security_level: SecurityLevel::Unsecure,
+                                ..Default::default()
+                            }
+                            .set_buffer(&buf[..len]),
+                        )
+                        .await
+                        .unwrap();
+
+                    msdu_handle = msdu_handle.wrapping_add(1);
+
+                    // The tx channel should always be of equal capacity to the tx_buf channel
+                    self.tx_buf_channel.try_send(buf).unwrap();
+                }
+            },
+        )
+        .await;
+
+        loop {}
+    }
+}

embassy-stm32-wpan/src/mac/typedefs.rs

@@ -0,0 +1,381 @@
+use core::fmt::Debug;
+
+use crate::numeric_enum;
+
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum MacError {
+    Error = 0x01,
+    NotImplemented = 0x02,
+    NotSupported = 0x03,
+    HardwareNotSupported = 0x04,
+    Undefined = 0x05,
+}
+
+impl From<u8> for MacError {
+    fn from(value: u8) -> Self {
+        match value {
+            0x01 => Self::Error,
+            0x02 => Self::NotImplemented,
+            0x03 => Self::NotSupported,
+            0x04 => Self::HardwareNotSupported,
+            0x05 => Self::Undefined,
+            _ => Self::Undefined,
+        }
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Debug, Default)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum MacStatus {
+        #[default]
+        Success = 0x00,
+        Failure = 0xFF
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    /// this enum contains all the MAC PIB Ids
+    #[derive(Default, Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum PibId {
+        // PHY
+        #[default]
+        CurrentChannel = 0x00,
+        ChannelsSupported = 0x01,
+        TransmitPower = 0x02,
+        CCAMode = 0x03,
+        CurrentPage = 0x04,
+        MaxFrameDuration = 0x05,
+        SHRDuration = 0x06,
+        SymbolsPerOctet = 0x07,
+
+        // MAC
+        AckWaitDuration = 0x40,
+        AssociationPermit = 0x41,
+        AutoRequest = 0x42,
+        BeaconPayload = 0x45,
+        BeaconPayloadLength = 0x46,
+        BeaconOrder = 0x47,
+        Bsn = 0x49,
+        CoordExtendedAdddress = 0x4A,
+        CoordShortAddress = 0x4B,
+        Dsn = 0x4C,
+        MaxFrameTotalWaitTime = 0x58,
+        MaxFrameRetries = 0x59,
+        PanId = 0x50,
+        ResponseWaitTime = 0x5A,
+        RxOnWhenIdle = 0x52,
+        SecurityEnabled = 0x5D,
+        ShortAddress = 0x53,
+        SuperframeOrder = 0x54,
+        TimestampSupported = 0x5C,
+        TransactionPersistenceTime = 0x55,
+        MaxBe = 0x57,
+        LifsPeriod = 0x5E,
+        SifsPeriod = 0x5F,
+        MaxCsmaBackoffs = 0x4E,
+        MinBe = 0x4F,
+        PanCoordinator = 0x10,
+        AssocPanCoordinator = 0x11,
+        ExtendedAddress = 0x6F,
+        AclEntryDescriptor = 0x70,
+        AclEntryDescriptorSize = 0x71,
+        DefaultSecurity = 0x72,
+        DefaultSecurityMaterialLength = 0x73,
+        DefaultSecurityMaterial = 0x74,
+        DefaultSecuritySuite = 0x75,
+        SecurityMode = 0x76,
+        CurrentAclEntries = 0x80,
+        DefaultSecurityExtendedAddress = 0x81,
+        AssociatedPanCoordinator = 0x56,
+        PromiscuousMode = 0x51,
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Default, Clone, Copy, Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum AddressMode {
+        #[default]
+        NoAddress = 0x00,
+        Reserved = 0x01,
+        Short = 0x02,
+        Extended = 0x03,
+}
+}
+
+#[derive(Clone, Copy)]
+pub union MacAddress {
+    pub short: [u8; 2],
+    pub extended: [u8; 8],
+}
+
+impl Debug for MacAddress {
+    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        unsafe {
+            write!(
+                fmt,
+                "MacAddress {{ short: {:?}, extended: {:?} }}",
+                self.short, self.extended
+            )
+        }
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for MacAddress {
+    fn format(&self, fmt: defmt::Formatter) {
+        unsafe {
+            defmt::write!(
+                fmt,
+                "MacAddress {{ short: {}, extended: {} }}",
+                self.short,
+                self.extended
+            )
+        }
+    }
+}
+
+impl Default for MacAddress {
+    fn default() -> Self {
+        Self { short: [0, 0] }
+    }
+}
+
+impl MacAddress {
+    pub const BROADCAST: Self = Self { short: [0xFF, 0xFF] };
+}
+
+impl TryFrom<&[u8]> for MacAddress {
+    type Error = ();
+
+    fn try_from(buf: &[u8]) -> Result<Self, Self::Error> {
+        const SIZE: usize = 8;
+        if buf.len() < SIZE {
+            return Err(());
+        }
+
+        Ok(Self {
+            extended: [buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], buf[6], buf[7]],
+        })
+    }
+}
+
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct GtsCharacteristics {
+    pub fields: u8,
+}
+
+/// MAC PAN Descriptor which contains the network details of the device from
+/// which the beacon is received
+#[derive(Default, Clone, Copy, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PanDescriptor {
+    /// PAN identifier of the coordinator
+    pub coord_pan_id: PanId,
+    /// Coordinator addressing mode
+    pub coord_addr_mode: AddressMode,
+    /// The current logical channel occupied by the network
+    pub logical_channel: MacChannel,
+    /// Coordinator address
+    pub coord_addr: MacAddress,
+    /// The current channel page occupied by the network
+    pub channel_page: u8,
+    /// PAN coordinator is accepting GTS requests or not
+    pub gts_permit: bool,
+    /// Superframe specification as specified in the received beacon frame
+    pub superframe_spec: [u8; 2],
+    /// The time at which the beacon frame was received, in symbols
+    pub time_stamp: [u8; 4],
+    /// The LQI at which the network beacon was received
+    pub link_quality: u8,
+    /// Security level purportedly used by the received beacon frame
+    pub security_level: u8,
+}
+
+impl TryFrom<&[u8]> for PanDescriptor {
+    type Error = ();
+
+    fn try_from(buf: &[u8]) -> Result<Self, Self::Error> {
+        const SIZE: usize = 22;
+        if buf.len() < SIZE {
+            return Err(());
+        }
+
+        let coord_addr_mode = AddressMode::try_from(buf[2])?;
+        let coord_addr = match coord_addr_mode {
+            AddressMode::NoAddress => MacAddress { short: [0, 0] },
+            AddressMode::Reserved => MacAddress { short: [0, 0] },
+            AddressMode::Short => MacAddress {
+                short: [buf[4], buf[5]],
+            },
+            AddressMode::Extended => MacAddress {
+                extended: [buf[4], buf[5], buf[6], buf[7], buf[8], buf[9], buf[10], buf[11]],
+            },
+        };
+
+        Ok(Self {
+            coord_pan_id: PanId([buf[0], buf[1]]),
+            coord_addr_mode,
+            logical_channel: MacChannel::try_from(buf[3])?,
+            coord_addr,
+            channel_page: buf[12],
+            gts_permit: buf[13] != 0,
+            superframe_spec: [buf[14], buf[15]],
+            time_stamp: [buf[16], buf[17], buf[18], buf[19]],
+            link_quality: buf[20],
+            security_level: buf[21],
+            // 2 byte stuffing
+        })
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Default, Clone, Copy, Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    /// Building wireless applications with STM32WB series MCUs - Application note 13.10.3
+    pub enum MacChannel {
+        Channel11 = 0x0B,
+        Channel12 = 0x0C,
+        Channel13 = 0x0D,
+        Channel14 = 0x0E,
+        Channel15 = 0x0F,
+        #[default]
+        Channel16 = 0x10,
+        Channel17 = 0x11,
+        Channel18 = 0x12,
+        Channel19 = 0x13,
+        Channel20 = 0x14,
+        Channel21 = 0x15,
+        Channel22 = 0x16,
+        Channel23 = 0x17,
+        Channel24 = 0x18,
+        Channel25 = 0x19,
+        Channel26 = 0x1A,
+    }
+}
+
+#[cfg(not(feature = "defmt"))]
+bitflags::bitflags! {
+    pub struct Capabilities: u8 {
+        /// 1 if the device is capabaleof becoming a PAN coordinator
+        const IS_COORDINATOR_CAPABLE = 0b00000001;
+        /// 1 if the device is an FFD, 0 if it is an RFD
+        const IS_FFD = 0b00000010;
+        /// 1 if the device is receiving power from mains, 0 if it is battery-powered
+        const IS_MAINS_POWERED = 0b00000100;
+        /// 1 if the device does not disable its receiver to conserver power during idle periods
+        const RECEIVER_ON_WHEN_IDLE = 0b00001000;
+        // 0b00010000 reserved
+        // 0b00100000 reserved
+        /// 1 if the device is capable of sending and receiving secured MAC frames
+        const IS_SECURE = 0b01000000;
+        /// 1 if the device wishes the coordinator to allocate a short address as a result of the association
+        const ALLOCATE_ADDRESS = 0b10000000;
+    }
+}
+
+#[cfg(feature = "defmt")]
+defmt::bitflags! {
+    pub struct Capabilities: u8 {
+        /// 1 if the device is capabaleof becoming a PAN coordinator
+        const IS_COORDINATOR_CAPABLE = 0b00000001;
+        /// 1 if the device is an FFD, 0 if it is an RFD
+        const IS_FFD = 0b00000010;
+        /// 1 if the device is receiving power from mains, 0 if it is battery-powered
+        const IS_MAINS_POWERED = 0b00000100;
+        /// 1 if the device does not disable its receiver to conserver power during idle periods
+        const RECEIVER_ON_WHEN_IDLE = 0b00001000;
+        // 0b00010000 reserved
+        // 0b00100000 reserved
+        /// 1 if the device is capable of sending and receiving secured MAC frames
+        const IS_SECURE = 0b01000000;
+        /// 1 if the device wishes the coordinator to allocate a short address as a result of the association
+        const ALLOCATE_ADDRESS = 0b10000000;
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Default, Clone, Copy, Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum KeyIdMode {
+        #[default]
+        /// the key is determined implicitly from the originator and recipient(s) of the frame
+        Implicite = 0x00,
+        /// the key is determined explicitly using a 1 bytes key source and a 1 byte key index
+        Explicite1Byte = 0x01,
+        /// the key is determined explicitly using a 4 bytes key source and a 1 byte key index
+        Explicite4Byte = 0x02,
+        /// the key is determined explicitly using a 8 bytes key source and a 1 byte key index
+        Explicite8Byte = 0x03,
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum AssociationStatus {
+        /// Association successful
+        Success = 0x00,
+        /// PAN at capacity
+        PanAtCapacity = 0x01,
+        /// PAN access denied
+        PanAccessDenied = 0x02
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Clone, Copy, Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum DisassociationReason {
+        /// The coordinator wishes the device to leave the PAN.
+        CoordRequested = 0x01,
+        /// The device wishes to leave the PAN.
+        DeviceRequested = 0x02,
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Default, Clone, Copy, Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum SecurityLevel {
+        /// MAC Unsecured Mode Security
+        #[default]
+        Unsecure = 0x00,
+        /// MAC ACL Mode Security
+        AclMode = 0x01,
+        /// MAC Secured Mode Security
+        Secured = 0x02,
+    }
+}
+
+numeric_enum! {
+    #[repr(u8)]
+    #[derive(Debug)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+    pub enum ScanType {
+        EdScan = 0x00,
+        Active = 0x01,
+        Passive = 0x02,
+        Orphan = 0x03
+    }
+}
+
+/// newtype for Pan Id
+#[derive(Default, Clone, Copy, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct PanId(pub [u8; 2]);
+
+impl PanId {
+    pub const BROADCAST: Self = Self([0xFF, 0xFF]);
+}

embassy-stm32-wpan/src/sub/mac.rs

@@ -11,9 +11,10 @@ use embassy_sync::waitqueue::AtomicWaker;
 use crate::cmd::CmdPacket;
 use crate::consts::TlPacketType;
 use crate::evt::{EvtBox, EvtPacket};
-use crate::tables::{
+use crate::mac::commands::MacCommand;
-    Mac802_15_4Table, MAC_802_15_4_CMD_BUFFER, MAC_802_15_4_NOTIF_RSP_EVT_BUFFER, TL_MAC_802_15_4_TABLE,
+use crate::mac::event::MacEvent;
-};
+use crate::mac::typedefs::MacError;
+use crate::tables::{MAC_802_15_4_CMD_BUFFER, MAC_802_15_4_NOTIF_RSP_EVT_BUFFER};
 use crate::{channels, evt};
 
 static MAC_WAKER: AtomicWaker = AtomicWaker::new();
@@ -25,21 +26,13 @@ pub struct Mac {
 
 impl Mac {
     pub(crate) fn new() -> Self {
-        unsafe {
-            TL_MAC_802_15_4_TABLE.as_mut_ptr().write_volatile(Mac802_15_4Table {
-                p_cmdrsp_buffer: MAC_802_15_4_CMD_BUFFER.as_mut_ptr().cast(),
-                p_notack_buffer: MAC_802_15_4_NOTIF_RSP_EVT_BUFFER.as_mut_ptr().cast(),
-                evt_queue: ptr::null_mut(),
-            });
-        }
-
         Self { phantom: PhantomData }
     }
 
     /// `HW_IPCC_MAC_802_15_4_EvtNot`
     ///
     /// This function will stall if the previous `EvtBox` has not been dropped
-    pub async fn read(&self) -> EvtBox<Self> {
+    pub async fn tl_read(&self) -> EvtBox<Self> {
         // Wait for the last event box to be dropped
         poll_fn(|cx| {
             MAC_WAKER.register(cx.waker());
@@ -63,9 +56,9 @@ impl Mac {
     }
 
     /// `HW_IPCC_MAC_802_15_4_CmdEvtNot`
-    pub async fn write_and_get_response(&self, opcode: u16, payload: &[u8]) -> u8 {
+    pub async fn tl_write_and_get_response(&self, opcode: u16, payload: &[u8]) -> u8 {
-        self.write(opcode, payload).await;
+        self.tl_write(opcode, payload).await;
-        Ipcc::flush(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL).await;
+        Ipcc::flush(channels::cpu1::IPCC_MAC_802_15_4_CMD_RSP_CHANNEL).await;
 
         unsafe {
             let p_event_packet = MAC_802_15_4_CMD_BUFFER.as_ptr() as *const EvtPacket;
@@ -76,22 +69,41 @@ impl Mac {
     }
 
     /// `TL_MAC_802_15_4_SendCmd`
-    pub async fn write(&self, opcode: u16, payload: &[u8]) {
+    pub async fn tl_write(&self, opcode: u16, payload: &[u8]) {
         Ipcc::send(channels::cpu1::IPCC_MAC_802_15_4_CMD_RSP_CHANNEL, || unsafe {
             CmdPacket::write_into(
                 MAC_802_15_4_CMD_BUFFER.as_mut_ptr(),
-                TlPacketType::OtCmd,
+                TlPacketType::MacCmd,
                 opcode,
                 payload,
             );
         })
         .await;
     }
+
+    pub async fn send_command<T>(&self, cmd: &T) -> Result<(), MacError>
+    where
+        T: MacCommand,
+    {
+        let response = self.tl_write_and_get_response(T::OPCODE as u16, cmd.payload()).await;
+
+        if response == 0x00 {
+            Ok(())
+        } else {
+            Err(MacError::from(response))
+        }
+    }
+
+    pub async fn read(&self) -> Result<MacEvent<'_>, ()> {
+        MacEvent::new(self.tl_read().await)
+    }
 }
 
 impl evt::MemoryManager for Mac {
     /// SAFETY: passing a pointer to something other than a managed event packet is UB
     unsafe fn drop_event_packet(_: *mut EvtPacket) {
+        trace!("mac drop event");
+
         // Write the ack
         CmdPacket::write_into(
             MAC_802_15_4_NOTIF_RSP_EVT_BUFFER.as_mut_ptr() as *mut _,
@@ -101,7 +113,7 @@ impl evt::MemoryManager for Mac {
         );
 
         // Clear the rx flag
-        let _ = poll_once(Ipcc::receive::<bool>(
+        let _ = poll_once(Ipcc::receive::<()>(
             channels::cpu2::IPCC_MAC_802_15_4_NOTIFICATION_ACK_CHANNEL,
             || None,
         ));

embassy-stm32-wpan/src/sub/mm.rs

@@ -4,20 +4,21 @@ use core::marker::PhantomData;
 use core::mem::MaybeUninit;
 use core::task::Poll;
 
+use aligned::{Aligned, A4};
 use cortex_m::interrupt;
 use embassy_stm32::ipcc::Ipcc;
 use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::consts::POOL_SIZE;
 use crate::evt::EvtPacket;
-use crate::tables::{
+#[cfg(feature = "ble")]
-    MemManagerTable, BLE_SPARE_EVT_BUF, EVT_POOL, FREE_BUF_QUEUE, SYS_SPARE_EVT_BUF, TL_MEM_MANAGER_TABLE,
+use crate::tables::BLE_SPARE_EVT_BUF;
-};
+use crate::tables::{MemManagerTable, EVT_POOL, FREE_BUF_QUEUE, SYS_SPARE_EVT_BUF, TL_MEM_MANAGER_TABLE};
 use crate::unsafe_linked_list::LinkedListNode;
 use crate::{channels, evt};
 
 static MM_WAKER: AtomicWaker = AtomicWaker::new();
-static mut LOCAL_FREE_BUF_QUEUE: MaybeUninit<LinkedListNode> = MaybeUninit::uninit();
+static mut LOCAL_FREE_BUF_QUEUE: Aligned<A4, MaybeUninit<LinkedListNode>> = Aligned(MaybeUninit::uninit());
 
 pub struct MemoryManager {
     phantom: PhantomData<MemoryManager>,
@@ -30,7 +31,10 @@ impl MemoryManager {
             LinkedListNode::init_head(LOCAL_FREE_BUF_QUEUE.as_mut_ptr());
 
             TL_MEM_MANAGER_TABLE.as_mut_ptr().write_volatile(MemManagerTable {
+                #[cfg(feature = "ble")]
                 spare_ble_buffer: BLE_SPARE_EVT_BUF.as_ptr().cast(),
+                #[cfg(not(feature = "ble"))]
+                spare_ble_buffer: core::ptr::null(),
                 spare_sys_buffer: SYS_SPARE_EVT_BUF.as_ptr().cast(),
                 blepool: EVT_POOL.as_ptr().cast(),
                 blepoolsize: POOL_SIZE as u32,

embassy-stm32-wpan/src/sub/sys.rs

@@ -50,7 +50,7 @@ impl Sys {
     }
 
     /// `HW_IPCC_SYS_CmdEvtNot`
-    pub async fn write_and_get_response(&self, opcode: ShciOpcode, payload: &[u8]) -> SchiCommandStatus {
+    pub async fn write_and_get_response(&self, opcode: ShciOpcode, payload: &[u8]) -> Result<SchiCommandStatus, ()> {
         self.write(opcode, payload).await;
         Ipcc::flush(channels::cpu1::IPCC_SYSTEM_CMD_RSP_CHANNEL).await;
 
@@ -59,17 +59,36 @@ impl Sys {
             let p_command_event = &((*p_event_packet).evt_serial.evt.payload) as *const _ as *const CcEvt;
             let p_payload = &((*p_command_event).payload) as *const u8;
 
-            ptr::read_volatile(p_payload).try_into().unwrap()
+            ptr::read_volatile(p_payload).try_into()
         }
     }
 
     #[cfg(feature = "mac")]
-    pub async fn shci_c2_mac_802_15_4_init(&self) -> SchiCommandStatus {
+    pub async fn shci_c2_mac_802_15_4_init(&self) -> Result<SchiCommandStatus, ()> {
+        use crate::tables::{
+            Mac802_15_4Table, TracesTable, MAC_802_15_4_CMD_BUFFER, MAC_802_15_4_NOTIF_RSP_EVT_BUFFER,
+            TL_MAC_802_15_4_TABLE, TL_TRACES_TABLE, TRACES_EVT_QUEUE,
+        };
+
+        unsafe {
+            LinkedListNode::init_head(TRACES_EVT_QUEUE.as_mut_ptr() as *mut _);
+
+            TL_TRACES_TABLE.as_mut_ptr().write_volatile(TracesTable {
+                traces_queue: TRACES_EVT_QUEUE.as_ptr() as *const _,
+            });
+
+            TL_MAC_802_15_4_TABLE.as_mut_ptr().write_volatile(Mac802_15_4Table {
+                p_cmdrsp_buffer: MAC_802_15_4_CMD_BUFFER.as_mut_ptr().cast(),
+                p_notack_buffer: MAC_802_15_4_NOTIF_RSP_EVT_BUFFER.as_mut_ptr().cast(),
+                evt_queue: core::ptr::null_mut(),
+            });
+        };
+
         self.write_and_get_response(ShciOpcode::Mac802_15_4Init, &[]).await
     }
 
     #[cfg(feature = "ble")]
-    pub async fn shci_c2_ble_init(&self, param: ShciBleInitCmdParam) -> SchiCommandStatus {
+    pub async fn shci_c2_ble_init(&self, param: ShciBleInitCmdParam) -> Result<SchiCommandStatus, ()> {
         self.write_and_get_response(ShciOpcode::BleInit, param.payload()).await
     }
 

embassy-stm32-wpan/src/tables.rs

@@ -4,6 +4,8 @@ use aligned::{Aligned, A4};
 use bit_field::BitField;
 
 use crate::cmd::{AclDataPacket, CmdPacket};
+#[cfg(feature = "mac")]
+use crate::consts::C_SIZE_CMD_STRING;
 use crate::consts::{POOL_SIZE, TL_CS_EVT_SIZE, TL_EVT_HEADER_SIZE, TL_PACKET_HEADER_SIZE};
 use crate::unsafe_linked_list::LinkedListNode;
 
@@ -80,7 +82,7 @@ impl WirelessFwInfoTable {
 }
 
 #[derive(Debug, Clone)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct DeviceInfoTable {
     pub safe_boot_info_table: SafeBootInfoTable,
     pub rss_info_table: RssInfoTable,
@@ -88,7 +90,7 @@ pub struct DeviceInfoTable {
 }
 
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct BleTable {
     pub pcmd_buffer: *mut CmdPacket,
     pub pcs_buffer: *const u8,
@@ -97,16 +99,15 @@ pub struct BleTable {
 }
 
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct ThreadTable {
     pub nostack_buffer: *const u8,
     pub clicmdrsp_buffer: *const u8,
     pub otcmdrsp_buffer: *const u8,
 }
 
-// TODO: use later
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct LldTestsTable {
     pub clicmdrsp_buffer: *const u8,
     pub m0cmd_buffer: *const u8,
@@ -114,7 +115,7 @@ pub struct LldTestsTable {
 
 // TODO: use later
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct BleLldTable {
     pub cmdrsp_buffer: *const u8,
     pub m0cmd_buffer: *const u8,
@@ -122,7 +123,7 @@ pub struct BleLldTable {
 
 // TODO: use later
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct ZigbeeTable {
     pub notif_m0_to_m4_buffer: *const u8,
     pub appli_cmd_m4_to_m0_bufer: *const u8,
@@ -130,14 +131,14 @@ pub struct ZigbeeTable {
 }
 
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct SysTable {
     pub pcmd_buffer: *mut CmdPacket,
     pub sys_queue: *const LinkedListNode,
 }
 
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct MemManagerTable {
     pub spare_ble_buffer: *const u8,
     pub spare_sys_buffer: *const u8,
@@ -152,13 +153,13 @@ pub struct MemManagerTable {
 }
 
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct TracesTable {
     pub traces_queue: *const u8,
 }
 
 #[derive(Debug)]
-#[repr(C, align(4))]
+#[repr(C)]
 pub struct Mac802_15_4Table {
     pub p_cmdrsp_buffer: *const u8,
     pub p_notack_buffer: *const u8,
@@ -176,6 +177,9 @@ pub struct RefTable {
     pub mem_manager_table: *const MemManagerTable,
     pub traces_table: *const TracesTable,
     pub mac_802_15_4_table: *const Mac802_15_4Table,
+    pub zigbee_table: *const ZigbeeTable,
+    pub lld_tests_table: *const LldTestsTable,
+    pub ble_lld_table: *const BleLldTable,
 }
 
 // --------------------- ref table ---------------------
@@ -183,57 +187,57 @@ pub struct RefTable {
 pub static mut TL_REF_TABLE: MaybeUninit<RefTable> = MaybeUninit::uninit();
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_DEVICE_INFO_TABLE: MaybeUninit<DeviceInfoTable> = MaybeUninit::uninit();
+pub static mut TL_DEVICE_INFO_TABLE: Aligned<A4, MaybeUninit<DeviceInfoTable>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_BLE_TABLE: MaybeUninit<BleTable> = MaybeUninit::uninit();
+pub static mut TL_BLE_TABLE: Aligned<A4, MaybeUninit<BleTable>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_THREAD_TABLE: MaybeUninit<ThreadTable> = MaybeUninit::uninit();
+pub static mut TL_THREAD_TABLE: Aligned<A4, MaybeUninit<ThreadTable>> = Aligned(MaybeUninit::uninit());
-
-// #[link_section = "MB_MEM1"]
-// pub static mut TL_LLD_TESTS_TABLE: MaybeUninit<LldTestTable> = MaybeUninit::uninit();
-
-// #[link_section = "MB_MEM1"]
-// pub static mut TL_BLE_LLD_TABLE: MaybeUninit<BleLldTable> = MaybeUninit::uninit();
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_SYS_TABLE: MaybeUninit<SysTable> = MaybeUninit::uninit();
+pub static mut TL_LLD_TESTS_TABLE: Aligned<A4, MaybeUninit<LldTestsTable>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_MEM_MANAGER_TABLE: MaybeUninit<MemManagerTable> = MaybeUninit::uninit();
+pub static mut TL_BLE_LLD_TABLE: Aligned<A4, MaybeUninit<BleLldTable>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_TRACES_TABLE: MaybeUninit<TracesTable> = MaybeUninit::uninit();
+pub static mut TL_SYS_TABLE: Aligned<A4, MaybeUninit<SysTable>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM1"]
-pub static mut TL_MAC_802_15_4_TABLE: MaybeUninit<Mac802_15_4Table> = MaybeUninit::uninit();
+pub static mut TL_MEM_MANAGER_TABLE: Aligned<A4, MaybeUninit<MemManagerTable>> = Aligned(MaybeUninit::uninit());
 
-// #[link_section = "MB_MEM1"]
+#[link_section = "MB_MEM1"]
-// pub static mut TL_ZIGBEE_TABLE: MaybeUninit<ZigbeeTable> = MaybeUninit::uninit();
+pub static mut TL_TRACES_TABLE: Aligned<A4, MaybeUninit<TracesTable>> = Aligned(MaybeUninit::uninit());
+
+#[link_section = "MB_MEM1"]
+pub static mut TL_MAC_802_15_4_TABLE: Aligned<A4, MaybeUninit<Mac802_15_4Table>> = Aligned(MaybeUninit::uninit());
+
+#[link_section = "MB_MEM1"]
+pub static mut TL_ZIGBEE_TABLE: Aligned<A4, MaybeUninit<ZigbeeTable>> = Aligned(MaybeUninit::uninit());
 
 // --------------------- tables ---------------------
 #[link_section = "MB_MEM1"]
-pub static mut FREE_BUF_QUEUE: MaybeUninit<LinkedListNode> = MaybeUninit::uninit();
+pub static mut FREE_BUF_QUEUE: Aligned<A4, MaybeUninit<LinkedListNode>> = Aligned(MaybeUninit::uninit());
 
 #[allow(dead_code)]
 #[link_section = "MB_MEM1"]
-pub static mut TRACES_EVT_QUEUE: MaybeUninit<LinkedListNode> = MaybeUninit::uninit();
+pub static mut TRACES_EVT_QUEUE: Aligned<A4, MaybeUninit<LinkedListNode>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM2"]
-pub static mut CS_BUFFER: MaybeUninit<Aligned<A4, [u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE]>> =
+pub static mut CS_BUFFER: Aligned<A4, MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + TL_CS_EVT_SIZE]>> =
-    MaybeUninit::uninit();
+    Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM2"]
-pub static mut EVT_QUEUE: MaybeUninit<LinkedListNode> = MaybeUninit::uninit();
+pub static mut EVT_QUEUE: Aligned<A4, MaybeUninit<LinkedListNode>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM2"]
-pub static mut SYSTEM_EVT_QUEUE: MaybeUninit<LinkedListNode> = MaybeUninit::uninit();
+pub static mut SYSTEM_EVT_QUEUE: Aligned<A4, MaybeUninit<LinkedListNode>> = Aligned(MaybeUninit::uninit());
 
 // --------------------- app tables ---------------------
 #[cfg(feature = "mac")]
 #[link_section = "MB_MEM2"]
-pub static mut MAC_802_15_4_CMD_BUFFER: MaybeUninit<CmdPacket> = MaybeUninit::uninit();
+pub static mut MAC_802_15_4_CMD_BUFFER: Aligned<A4, MaybeUninit<CmdPacket>> = Aligned(MaybeUninit::uninit());
 
 #[cfg(feature = "mac")]
 #[link_section = "MB_MEM2"]
@@ -242,23 +246,31 @@ pub static mut MAC_802_15_4_NOTIF_RSP_EVT_BUFFER: MaybeUninit<
 > = MaybeUninit::uninit();
 
 #[link_section = "MB_MEM2"]
-pub static mut EVT_POOL: MaybeUninit<Aligned<A4, [u8; POOL_SIZE]>> = MaybeUninit::uninit();
+pub static mut EVT_POOL: Aligned<A4, MaybeUninit<[u8; POOL_SIZE]>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM2"]
-pub static mut SYS_CMD_BUF: MaybeUninit<CmdPacket> = MaybeUninit::uninit();
+pub static mut SYS_CMD_BUF: Aligned<A4, MaybeUninit<CmdPacket>> = Aligned(MaybeUninit::uninit());
 
 #[link_section = "MB_MEM2"]
-pub static mut SYS_SPARE_EVT_BUF: MaybeUninit<Aligned<A4, [u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]>> =
+pub static mut SYS_SPARE_EVT_BUF: Aligned<A4, MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]>> =
-    MaybeUninit::uninit();
+    Aligned(MaybeUninit::uninit());
 
+#[cfg(feature = "mac")]
+#[link_section = "MB_MEM2"]
+pub static mut MAC_802_15_4_CNFINDNOT: Aligned<A4, MaybeUninit<[u8; C_SIZE_CMD_STRING]>> =
+    Aligned(MaybeUninit::uninit());
+
+#[cfg(feature = "ble")]
 #[link_section = "MB_MEM1"]
-pub static mut BLE_CMD_BUFFER: MaybeUninit<CmdPacket> = MaybeUninit::uninit();
+pub static mut BLE_CMD_BUFFER: Aligned<A4, MaybeUninit<CmdPacket>> = Aligned(MaybeUninit::uninit());
 
+#[cfg(feature = "ble")]
 #[link_section = "MB_MEM2"]
-pub static mut BLE_SPARE_EVT_BUF: MaybeUninit<Aligned<A4, [u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]>> =
+pub static mut BLE_SPARE_EVT_BUF: Aligned<A4, MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + TL_EVT_HEADER_SIZE + 255]>> =
-    MaybeUninit::uninit();
+    Aligned(MaybeUninit::uninit());
 
+#[cfg(feature = "ble")]
 #[link_section = "MB_MEM2"]
 //                                 fuck these "magic" numbers from ST ---v---v
-pub static mut HCI_ACL_DATA_BUFFER: MaybeUninit<Aligned<A4, [u8; TL_PACKET_HEADER_SIZE + 5 + 251]>> =
+pub static mut HCI_ACL_DATA_BUFFER: Aligned<A4, MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + 5 + 251]>> =
-    MaybeUninit::uninit();
+    Aligned(MaybeUninit::uninit());

embassy-stm32/Cargo.toml

@@ -32,7 +32,7 @@ flavors = [
 
 [dependencies]
 embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
-embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
+embassy-time = { version = "0.1.2", path = "../embassy-time", optional = true }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common", features = ["cortex-m", "prio-bits-4"] }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
@@ -40,9 +40,9 @@ embassy-net-driver = { version = "0.1.0", path = "../embassy-net-driver" }
 embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optional = true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.11", optional = true}
-embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true}
+embedded-hal-async = { version = "=0.2.0-alpha.2", optional = true}
-embedded-hal-nb = { version = "=1.0.0-alpha.2", optional = true}
+embedded-hal-nb = { version = "=1.0.0-alpha.3", optional = true}
 
 embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
@@ -57,7 +57,7 @@ sdio-host = "0.5.0"
 embedded-sdmmc = { git = "https://github.com/embassy-rs/embedded-sdmmc-rs", rev = "a4f293d3a6f72158385f79c98634cb8a14d0d2fc", optional = true }
 critical-section = "1.1"
 atomic-polyfill = "1.0.1"
-stm32-metapac = "12"
+stm32-metapac = "13"
 vcell = "0.1.3"
 bxcan = "0.7.0"
 nb = "1.0.0"
@@ -74,7 +74,7 @@ critical-section = { version = "1.1", features = ["std"] }
 [build-dependencies]
 proc-macro2 = "1.0.36"
 quote = "1.0.15"
-stm32-metapac = { version = "12", default-features = false, features = ["metadata"]}
+stm32-metapac = { version = "13", default-features = false, features = ["metadata"]}
 
 [features]
 default = ["rt"]

embassy-stm32/build.rs

@@ -348,9 +348,7 @@ fn main() {
             g.extend(quote! {
                 impl crate::rcc::sealed::RccPeripheral for peripherals::#pname {
                     fn frequency() -> crate::time::Hertz {
-                        critical_section::with(|_| unsafe {
+                        unsafe { crate::rcc::get_freqs().#clk }
-                            crate::rcc::get_freqs().#clk
-                        })
                     }
                     fn enable() {
                         critical_section::with(|_| {

embassy-stm32/src/adc/mod.rs

@@ -1,5 +1,6 @@
 #![macro_use]
 
+#[cfg(not(adc_f3))]
 #[cfg_attr(adc_f1, path = "f1.rs")]
 #[cfg_attr(adc_v1, path = "v1.rs")]
 #[cfg_attr(adc_v2, path = "v2.rs")]
@@ -7,14 +8,16 @@
 #[cfg_attr(adc_v4, path = "v4.rs")]
 mod _version;
 
-#[cfg(not(adc_f1))]
+#[cfg(not(any(adc_f1, adc_f3)))]
 mod resolution;
 mod sample_time;
 
+#[cfg(not(adc_f3))]
 #[allow(unused)]
 pub use _version::*;
-#[cfg(not(adc_f1))]
+#[cfg(not(any(adc_f1, adc_f3)))]
 pub use resolution::Resolution;
+#[cfg(not(adc_f3))]
 pub use sample_time::SampleTime;
 
 use crate::peripherals;
@@ -22,13 +25,14 @@ use crate::peripherals;
 pub struct Adc<'d, T: Instance> {
     #[allow(unused)]
     adc: crate::PeripheralRef<'d, T>,
+    #[cfg(not(adc_f3))]
     sample_time: SampleTime,
 }
 
 pub(crate) mod sealed {
     pub trait Instance {
         fn regs() -> crate::pac::adc::Adc;
-        #[cfg(all(not(adc_f1), not(adc_v1)))]
+        #[cfg(not(any(adc_f1, adc_v1, adc_f3)))]
         fn common_regs() -> crate::pac::adccommon::AdcCommon;
     }
 
@@ -56,7 +60,7 @@ foreach_peripheral!(
             fn regs() -> crate::pac::adc::Adc {
                 crate::pac::$inst
             }
-            #[cfg(all(not(adc_f1), not(adc_v1)))]
+            #[cfg(not(any(adc_f1, adc_v1, adc_f3)))]
             fn common_regs() -> crate::pac::adccommon::AdcCommon {
                 foreach_peripheral!{
                     (adccommon, $common_inst:ident) => {

embassy-stm32/src/adc/sample_time.rs

@@ -1,3 +1,4 @@
+#[cfg(not(adc_f3))]
 macro_rules! impl_sample_time {
     ($default_doc:expr, $default:ident, ($(($doc:expr, $variant:ident, $pac_variant:ident)),*)) => {
         #[doc = concat!("ADC sample time\n\nThe default setting is ", $default_doc, " ADC clock cycles.")]

embassy-stm32/src/can/bxcan.rs

@@ -1,3 +1,4 @@
+use core::cell::{RefCell, RefMut};
 use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::ops::{Deref, DerefMut};
@@ -72,7 +73,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterrup
 }
 
 pub struct Can<'d, T: Instance> {
-    can: bxcan::Can<BxcanInstance<'d, T>>,
+    pub can: RefCell<bxcan::Can<BxcanInstance<'d, T>>>,
 }
 
 #[derive(Debug)]
@@ -147,19 +148,24 @@ impl<'d, T: Instance> Can<'d, T> {
         tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
 
         let can = bxcan::Can::builder(BxcanInstance(peri)).leave_disabled();
-        Self { can }
+        let can_ref_cell = RefCell::new(can);
+        Self { can: can_ref_cell }
     }
 
     pub fn set_bitrate(&mut self, bitrate: u32) {
         let bit_timing = Self::calc_bxcan_timings(T::frequency(), bitrate).unwrap();
-        self.can.modify_config().set_bit_timing(bit_timing).leave_disabled();
+        self.can
+            .borrow_mut()
+            .modify_config()
+            .set_bit_timing(bit_timing)
+            .leave_disabled();
     }
 
     /// Queues the message to be sent but exerts backpressure
     pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
         poll_fn(|cx| {
             T::state().tx_waker.register(cx.waker());
-            if let Ok(status) = self.can.transmit(frame) {
+            if let Ok(status) = self.can.borrow_mut().transmit(frame) {
                 return Poll::Ready(status);
             }
 
@@ -341,6 +347,79 @@ impl<'d, T: Instance> Can<'d, T> {
         // Pack into BTR register values
         Some((sjw - 1) << 24 | (bs1 as u32 - 1) << 16 | (bs2 as u32 - 1) << 20 | (prescaler as u32 - 1))
     }
+
+    pub fn split<'c>(&'c self) -> (CanTx<'c, 'd, T>, CanRx<'c, 'd, T>) {
+        (CanTx { can: &self.can }, CanRx { can: &self.can })
+    }
+
+    pub fn as_mut(&self) -> RefMut<'_, bxcan::Can<BxcanInstance<'d, T>>> {
+        self.can.borrow_mut()
+    }
+}
+
+pub struct CanTx<'c, 'd, T: Instance> {
+    can: &'c RefCell<bxcan::Can<BxcanInstance<'d, T>>>,
+}
+
+impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
+    pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
+        poll_fn(|cx| {
+            T::state().tx_waker.register(cx.waker());
+            if let Ok(status) = self.can.borrow_mut().transmit(frame) {
+                return Poll::Ready(status);
+            }
+
+            Poll::Pending
+        })
+        .await
+    }
+
+    pub async fn flush(&self, mb: bxcan::Mailbox) {
+        poll_fn(|cx| {
+            T::state().tx_waker.register(cx.waker());
+            if T::regs().tsr().read().tme(mb.index()) {
+                return Poll::Ready(());
+            }
+
+            Poll::Pending
+        })
+        .await;
+    }
+}
+
+#[allow(dead_code)]
+pub struct CanRx<'c, 'd, T: Instance> {
+    can: &'c RefCell<bxcan::Can<BxcanInstance<'d, T>>>,
+}
+
+impl<'c, 'd, T: Instance> CanRx<'c, 'd, T> {
+    pub async fn read(&mut self) -> Result<(u16, bxcan::Frame), BusError> {
+        poll_fn(|cx| {
+            T::state().err_waker.register(cx.waker());
+            if let Poll::Ready((time, frame)) = T::state().rx_queue.recv().poll_unpin(cx) {
+                return Poll::Ready(Ok((time, frame)));
+            } else if let Some(err) = self.curr_error() {
+                return Poll::Ready(Err(err));
+            }
+
+            Poll::Pending
+        })
+        .await
+    }
+
+    fn curr_error(&self) -> Option<BusError> {
+        let err = { T::regs().esr().read() };
+        if err.boff() {
+            return Some(BusError::BusOff);
+        } else if err.epvf() {
+            return Some(BusError::BusPassive);
+        } else if err.ewgf() {
+            return Some(BusError::BusWarning);
+        } else if let Some(err) = err.lec().into_bus_err() {
+            return Some(err);
+        }
+        None
+    }
 }
 
 enum RxFifo {
@@ -358,7 +437,7 @@ impl<'d, T: Instance> Drop for Can<'d, T> {
 }
 
 impl<'d, T: Instance> Deref for Can<'d, T> {
-    type Target = bxcan::Can<BxcanInstance<'d, T>>;
+    type Target = RefCell<bxcan::Can<BxcanInstance<'d, T>>>;
 
     fn deref(&self) -> &Self::Target {
         &self.can

embassy-stm32/src/can/fdcan.rs

@@ -0,0 +1,66 @@
+pub use bxcan;
+use embassy_hal_common::PeripheralRef;
+
+use crate::peripherals;
+
+pub(crate) mod sealed {
+    use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+    use embassy_sync::channel::Channel;
+    use embassy_sync::waitqueue::AtomicWaker;
+
+    pub struct State {
+        pub tx_waker: AtomicWaker,
+        pub err_waker: AtomicWaker,
+        pub rx_queue: Channel<CriticalSectionRawMutex, (u16, bxcan::Frame), 32>,
+    }
+
+    impl State {
+        pub const fn new() -> Self {
+            Self {
+                tx_waker: AtomicWaker::new(),
+                err_waker: AtomicWaker::new(),
+                rx_queue: Channel::new(),
+            }
+        }
+    }
+
+    pub trait Instance {
+        const REGISTERS: *mut bxcan::RegisterBlock;
+
+        fn regs() -> &'static crate::pac::can::Fdcan;
+        fn state() -> &'static State;
+    }
+}
+
+pub trait InterruptableInstance {}
+pub trait Instance: sealed::Instance + InterruptableInstance + 'static {}
+
+pub struct BxcanInstance<'a, T>(PeripheralRef<'a, T>);
+
+unsafe impl<'d, T: Instance> bxcan::Instance for BxcanInstance<'d, T> {
+    const REGISTERS: *mut bxcan::RegisterBlock = T::REGISTERS;
+}
+
+foreach_peripheral!(
+    (can, $inst:ident) => {
+        impl sealed::Instance for peripherals::$inst {
+            const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.as_ptr() as *mut _;
+
+            fn regs() -> &'static crate::pac::can::Fdcan {
+                &crate::pac::$inst
+            }
+
+            fn state() -> &'static sealed::State {
+                static STATE: sealed::State = sealed::State::new();
+                &STATE
+            }
+        }
+
+        impl Instance for peripherals::$inst {}
+
+        impl InterruptableInstance for peripherals::$inst {}
+    };
+);
+
+pin_trait!(RxPin, Instance);
+pin_trait!(TxPin, Instance);

embassy-stm32/src/can/mod.rs

@@ -1,5 +1,6 @@
 #![macro_use]
 
 #[cfg_attr(can_bxcan, path = "bxcan.rs")]
+#[cfg_attr(can_fdcan, path = "fdcan.rs")]
 mod _version;
 pub use _version::*;

embassy-stm32/src/dac/mod.rs

@@ -51,7 +51,10 @@ impl Ch1Trigger {
     fn tsel(&self) -> dac::vals::Tsel1 {
         match self {
             Ch1Trigger::Tim6 => dac::vals::Tsel1::TIM6_TRGO,
+            #[cfg(not(dac_v3))]
             Ch1Trigger::Tim3 => dac::vals::Tsel1::TIM3_TRGO,
+            #[cfg(dac_v3)]
+            Ch1Trigger::Tim3 => dac::vals::Tsel1::TIM1_TRGO,
             Ch1Trigger::Tim7 => dac::vals::Tsel1::TIM7_TRGO,
             Ch1Trigger::Tim15 => dac::vals::Tsel1::TIM15_TRGO,
             Ch1Trigger::Tim2 => dac::vals::Tsel1::TIM2_TRGO,
@@ -264,7 +267,7 @@ impl<'d, T: Instance, Tx> DacCh1<'d, T, Tx> {
         });
 
         let tx_request = self.dma.request();
-        let dma_channel = &self.dma;
+        let dma_channel = &mut self.dma;
 
         let tx_options = crate::dma::TransferOptions {
             circular,
@@ -376,7 +379,7 @@ impl<'d, T: Instance, Tx> DacCh2<'d, T, Tx> {
         });
 
         let tx_request = self.dma.request();
-        let dma_channel = &self.dma;
+        let dma_channel = &mut self.dma;
 
         let tx_options = crate::dma::TransferOptions {
             circular,

embassy-stm32/src/dma/dma.rs

@@ -1,10 +1,9 @@
 use core::future::Future;
 use core::marker::PhantomData;
 use core::pin::Pin;
-use core::sync::atomic::{fence, Ordering};
+use core::sync::atomic::{fence, AtomicUsize, Ordering};
 use core::task::{Context, Poll, Waker};
 
-use atomic_polyfill::AtomicUsize;
 use embassy_hal_common::{into_ref, Peripheral, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
 

embassy-stm32/src/eth/generic_smi.rs

@@ -1,5 +1,11 @@
 //! Generic SMI Ethernet PHY
 
+#[cfg(feature = "time")]
+use embassy_time::{Duration, Timer};
+use futures::task::Context;
+#[cfg(feature = "time")]
+use futures::FutureExt;
+
 use super::{StationManagement, PHY};
 
 #[allow(dead_code)]
@@ -36,25 +42,47 @@ mod phy_consts {
 use self::phy_consts::*;
 
 /// Generic SMI Ethernet PHY
-pub struct GenericSMI;
+pub struct GenericSMI {
+    #[cfg(feature = "time")]
+    poll_interval: Duration,
+    #[cfg(not(feature = "time"))]
+    _private: (),
+}
+
+impl GenericSMI {
+    pub fn new() -> Self {
+        Self {
+            #[cfg(feature = "time")]
+            poll_interval: Duration::from_millis(500),
+            #[cfg(not(feature = "time"))]
+            _private: (),
+        }
+    }
+}
 
 unsafe impl PHY for GenericSMI {
     /// Reset PHY and wait for it to come out of reset.
-    fn phy_reset<S: StationManagement>(sm: &mut S) {
+    fn phy_reset<S: StationManagement>(&mut self, sm: &mut S) {
         sm.smi_write(PHY_REG_BCR, PHY_REG_BCR_RESET);
         while sm.smi_read(PHY_REG_BCR) & PHY_REG_BCR_RESET == PHY_REG_BCR_RESET {}
     }
 
     /// PHY initialisation.
-    fn phy_init<S: StationManagement>(sm: &mut S) {
+    fn phy_init<S: StationManagement>(&mut self, sm: &mut S) {
         // Clear WU CSR
-        Self::smi_write_ext(sm, PHY_REG_WUCSR, 0);
+        self.smi_write_ext(sm, PHY_REG_WUCSR, 0);
 
         // Enable auto-negotiation
         sm.smi_write(PHY_REG_BCR, PHY_REG_BCR_AN | PHY_REG_BCR_ANRST | PHY_REG_BCR_100M);
     }
 
-    fn poll_link<S: StationManagement>(sm: &mut S) -> bool {
+    fn poll_link<S: StationManagement>(&mut self, sm: &mut S, cx: &mut Context) -> bool {
+        #[cfg(not(feature = "time"))]
+        cx.waker().wake_by_ref();
+
+        #[cfg(feature = "time")]
+        let _ = Timer::after(self.poll_interval).poll_unpin(cx);
+
         let bsr = sm.smi_read(PHY_REG_BSR);
 
         // No link without autonegotiate
@@ -73,8 +101,13 @@ unsafe impl PHY for GenericSMI {
 
 /// Public functions for the PHY
 impl GenericSMI {
+    #[cfg(feature = "time")]
+    pub fn set_poll_interval(&mut self, poll_interval: Duration) {
+        self.poll_interval = poll_interval
+    }
+
     // Writes a value to an extended PHY register in MMD address space
-    fn smi_write_ext<S: StationManagement>(sm: &mut S, reg_addr: u16, reg_data: u16) {
+    fn smi_write_ext<S: StationManagement>(&mut self, sm: &mut S, reg_addr: u16, reg_data: u16) {
         sm.smi_write(PHY_REG_CTL, 0x0003); // set address
         sm.smi_write(PHY_REG_ADDAR, reg_addr);
         sm.smi_write(PHY_REG_CTL, 0x4003); // set data

embassy-stm32/src/eth/mod.rs

@@ -81,9 +81,7 @@ impl<'d, T: Instance, P: PHY> embassy_net_driver::Driver for Ethernet<'d, T, P>
     }
 
     fn link_state(&mut self, cx: &mut Context) -> LinkState {
-        // TODO: wake cx.waker on link state change
+        if self.phy.poll_link(&mut self.station_management, cx) {
-        cx.waker().wake_by_ref();
-        if P::poll_link(self) {
             LinkState::Up
         } else {
             LinkState::Down
@@ -148,11 +146,11 @@ pub unsafe trait StationManagement {
 /// The methods cannot move S
 pub unsafe trait PHY {
     /// Reset PHY and wait for it to come out of reset.
-    fn phy_reset<S: StationManagement>(sm: &mut S);
+    fn phy_reset<S: StationManagement>(&mut self, sm: &mut S);
     /// PHY initialisation.
-    fn phy_init<S: StationManagement>(sm: &mut S);
+    fn phy_init<S: StationManagement>(&mut self, sm: &mut S);
     /// Poll link to see if it is up and FD with 100Mbps
-    fn poll_link<S: StationManagement>(sm: &mut S) -> bool;
+    fn poll_link<S: StationManagement>(&mut self, sm: &mut S, cx: &mut Context) -> bool;
 }
 
 pub(crate) mod sealed {

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

@@ -3,6 +3,7 @@
 mod rx_desc;
 mod tx_desc;
 
+use core::marker::PhantomData;
 use core::sync::atomic::{fence, Ordering};
 
 use embassy_hal_common::{into_ref, PeripheralRef};
@@ -48,9 +49,8 @@ pub struct Ethernet<'d, T: Instance, P: PHY> {
     pub(crate) rx: RDesRing<'d>,
 
     pins: [PeripheralRef<'d, AnyPin>; 9],
-    _phy: P,
+    pub(crate) phy: P,
-    clock_range: Cr,
+    pub(crate) station_management: EthernetStationManagement<T>,
-    phy_addr: u8,
     pub(crate) mac_addr: [u8; 6],
 }
 
@@ -224,9 +224,12 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
         let mut this = Self {
             _peri: peri,
             pins,
-            _phy: phy,
+            phy: phy,
-            clock_range,
+            station_management: EthernetStationManagement {
-            phy_addr,
+                peri: PhantomData,
+                clock_range: clock_range,
+                phy_addr: phy_addr,
+            },
             mac_addr,
             tx: TDesRing::new(&mut queue.tx_desc, &mut queue.tx_buf),
             rx: RDesRing::new(&mut queue.rx_desc, &mut queue.rx_buf),
@@ -256,8 +259,8 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
             w.set_tie(true);
         });
 
-        P::phy_reset(&mut this);
+        this.phy.phy_reset(&mut this.station_management);
-        P::phy_init(&mut this);
+        this.phy.phy_init(&mut this.station_management);
 
         interrupt::ETH.unpend();
         unsafe { interrupt::ETH.enable() };
@@ -266,7 +269,13 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
     }
 }
 
-unsafe impl<'d, T: Instance, P: PHY> StationManagement for Ethernet<'d, T, P> {
+pub struct EthernetStationManagement<T: Instance> {
+    peri: PhantomData<T>,
+    clock_range: Cr,
+    phy_addr: u8,
+}
+
+unsafe impl<T: Instance> StationManagement for EthernetStationManagement<T> {
     fn smi_read(&mut self, reg: u8) -> u16 {
         let mac = ETH.ethernet_mac();
 

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

@@ -1,5 +1,6 @@
 mod descriptors;
 
+use core::marker::PhantomData;
 use core::sync::atomic::{fence, Ordering};
 
 use embassy_hal_common::{into_ref, PeripheralRef};
@@ -40,9 +41,8 @@ pub struct Ethernet<'d, T: Instance, P: PHY> {
     pub(crate) tx: TDesRing<'d>,
     pub(crate) rx: RDesRing<'d>,
     pins: [PeripheralRef<'d, AnyPin>; 9],
-    _phy: P,
+    pub(crate) phy: P,
-    clock_range: u8,
+    pub(crate) station_management: EthernetStationManagement<T>,
-    phy_addr: u8,
     pub(crate) mac_addr: [u8; 6],
 }
 
@@ -201,9 +201,12 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
             tx: TDesRing::new(&mut queue.tx_desc, &mut queue.tx_buf),
             rx: RDesRing::new(&mut queue.rx_desc, &mut queue.rx_buf),
             pins,
-            _phy: phy,
+            phy: phy,
-            clock_range,
+            station_management: EthernetStationManagement {
-            phy_addr,
+                peri: PhantomData,
+                clock_range: clock_range,
+                phy_addr: phy_addr,
+            },
             mac_addr,
         };
 
@@ -229,8 +232,8 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
             w.set_tie(true);
         });
 
-        P::phy_reset(&mut this);
+        this.phy.phy_reset(&mut this.station_management);
-        P::phy_init(&mut this);
+        this.phy.phy_init(&mut this.station_management);
 
         interrupt::ETH.unpend();
         unsafe { interrupt::ETH.enable() };
@@ -239,7 +242,13 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
     }
 }
 
-unsafe impl<'d, T: Instance, P: PHY> StationManagement for Ethernet<'d, T, P> {
+pub struct EthernetStationManagement<T: Instance> {
+    peri: PhantomData<T>,
+    clock_range: u8,
+    phy_addr: u8,
+}
+
+unsafe impl<T: Instance> StationManagement for EthernetStationManagement<T> {
     fn smi_read(&mut self, reg: u8) -> u16 {
         let mac = ETH.ethernet_mac();
 

embassy-stm32/src/flash/asynch.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
+use core::sync::atomic::{fence, Ordering};
 
-use atomic_polyfill::{fence, Ordering};
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::into_ref;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;

embassy-stm32/src/flash/common.rs

@@ -1,6 +1,6 @@
 use core::marker::PhantomData;
+use core::sync::atomic::{fence, Ordering};
 
-use atomic_polyfill::{fence, Ordering};
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use stm32_metapac::FLASH_BASE;

embassy-stm32/src/flash/f0.rs

@@ -1,7 +1,6 @@
 use core::convert::TryInto;
 use core::ptr::write_volatile;
-
+use core::sync::atomic::{fence, Ordering};
-use atomic_polyfill::{fence, Ordering};
 
 use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;

embassy-stm32/src/flash/f3.rs

@@ -1,7 +1,6 @@
 use core::convert::TryInto;
 use core::ptr::write_volatile;
-
+use core::sync::atomic::{fence, Ordering};
-use atomic_polyfill::{fence, Ordering};
 
 use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;

embassy-stm32/src/flash/f4.rs

@@ -1,8 +1,7 @@
 use core::convert::TryInto;
 use core::ptr::write_volatile;
-use core::sync::atomic::{fence, Ordering};
+use core::sync::atomic::{fence, AtomicBool, Ordering};
 
-use atomic_polyfill::AtomicBool;
 use embassy_sync::waitqueue::AtomicWaker;
 use pac::flash::regs::Sr;
 use pac::FLASH_SIZE;

embassy-stm32/src/flash/h7.rs

@@ -1,7 +1,6 @@
 use core::convert::TryInto;
 use core::ptr::write_volatile;
-
+use core::sync::atomic::{fence, Ordering};
-use atomic_polyfill::{fence, Ordering};
 
 use super::{FlashRegion, FlashSector, BANK1_REGION, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;

embassy-stm32/src/flash/l.rs

@@ -1,6 +1,5 @@
 use core::ptr::write_volatile;
-
+use core::sync::atomic::{fence, Ordering};
-use atomic_polyfill::{fence, Ordering};
 
 use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;

embassy-stm32/src/fmc.rs

@@ -86,6 +86,24 @@ macro_rules! fmc_sdram_constructor {
 }
 
 impl<'d, T: Instance> Fmc<'d, T> {
+    fmc_sdram_constructor!(sdram_a12bits_d16bits_4banks_bank1: (
+        bank: stm32_fmc::SdramTargetBank::Bank1,
+        addr: [
+            (a0: A0Pin), (a1: A1Pin), (a2: A2Pin), (a3: A3Pin), (a4: A4Pin), (a5: A5Pin), (a6: A6Pin), (a7: A7Pin), (a8: A8Pin), (a9: A9Pin), (a10: A10Pin), (a11: A11Pin)
+        ],
+        ba: [(ba0: BA0Pin), (ba1: BA1Pin)],
+        d: [
+            (d0: D0Pin), (d1: D1Pin), (d2: D2Pin), (d3: D3Pin), (d4: D4Pin), (d5: D5Pin), (d6: D6Pin), (d7: D7Pin),
+            (d8: D8Pin), (d9: D9Pin), (d10: D10Pin), (d11: D11Pin), (d12: D12Pin), (d13: D13Pin), (d14: D14Pin), (d15: D15Pin)
+        ],
+        nbl: [
+            (nbl0: NBL0Pin), (nbl1: NBL1Pin)
+        ],
+        ctrl: [
+            (sdcke: SDCKE0Pin), (sdclk: SDCLKPin), (sdncas: SDNCASPin), (sdne: SDNE0Pin), (sdnras: SDNRASPin), (sdnwe: SDNWEPin)
+        ]
+    ));
+
     fmc_sdram_constructor!(sdram_a12bits_d32bits_4banks_bank1: (
         bank: stm32_fmc::SdramTargetBank::Bank1,
         addr: [

embassy-stm32/src/i2c/v2.rs

@@ -382,13 +382,18 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         // I2C start
         //
         // ST SAD+W
-        Self::master_write(
+        if let Err(err) = Self::master_write(
             address,
             write.len().min(255),
             Stop::Software,
             last_chunk_idx != 0,
             &check_timeout,
-        )?;
+        ) {
+            if send_stop {
+                self.master_stop();
+            }
+            return Err(err);
+        }
 
         for (number, chunk) in write.chunks(255).enumerate() {
             if number != 0 {
@@ -399,18 +404,22 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                 // Wait until we are allowed to send data
                 // (START has been ACKed or last byte when
                 // through)
-                self.wait_txe(&check_timeout)?;
+                if let Err(err) = self.wait_txe(&check_timeout) {
+                    if send_stop {
+                        self.master_stop();
+                    }
+                    return Err(err);
+                }
 
                 T::regs().txdr().write(|w| w.set_txdata(*byte));
             }
         }
         // Wait until the write finishes
-        self.wait_tc(&check_timeout)?;
+        let result = self.wait_tc(&check_timeout);
-
         if send_stop {
             self.master_stop();
         }
-        Ok(())
+        result
     }
 
     async fn write_dma_internal(
@@ -707,13 +716,16 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         let first_length = write[0].len();
         let last_slice_index = write.len() - 1;
 
-        Self::master_write(
+        if let Err(err) = Self::master_write(
             address,
             first_length.min(255),
             Stop::Software,
             (first_length > 255) || (last_slice_index != 0),
             &check_timeout,
-        )?;
+        ) {
+            self.master_stop();
+            return Err(err);
+        }
 
         for (idx, slice) in write.iter().enumerate() {
             let slice_len = slice.len();
@@ -726,27 +738,36 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             let last_chunk_idx = total_chunks.saturating_sub(1);
 
             if idx != 0 {
-                Self::master_continue(
+                if let Err(err) = Self::master_continue(
                     slice_len.min(255),
                     (idx != last_slice_index) || (slice_len > 255),
                     &check_timeout,
-                )?;
+                ) {
+                    self.master_stop();
+                    return Err(err);
+                }
             }
 
             for (number, chunk) in slice.chunks(255).enumerate() {
                 if number != 0 {
-                    Self::master_continue(
+                    if let Err(err) = Self::master_continue(
                         chunk.len(),
                         (number != last_chunk_idx) || (idx != last_slice_index),
                         &check_timeout,
-                    )?;
+                    ) {
+                        self.master_stop();
+                        return Err(err);
+                    }
                 }
 
                 for byte in chunk {
                     // Wait until we are allowed to send data
                     // (START has been ACKed or last byte when
                     // through)
-                    self.wait_txe(&check_timeout)?;
+                    if let Err(err) = self.wait_txe(&check_timeout) {
+                        self.master_stop();
+                        return Err(err);
+                    }
 
                     // Put byte on the wire
                     //self.i2c.txdr.write(|w| w.txdata().bits(*byte));
@@ -755,10 +776,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             }
         }
         // Wait until the write finishes
-        self.wait_tc(&check_timeout)?;
+        let result = self.wait_tc(&check_timeout);
         self.master_stop();
-
+        result
-        Ok(())
     }
 
     pub fn blocking_write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {

embassy-stm32/src/ipcc.rs

@@ -1,8 +1,7 @@
 use core::future::poll_fn;
+use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
-use atomic_polyfill::{compiler_fence, Ordering};
-
 use self::sealed::Instance;
 use crate::interrupt;
 use crate::interrupt::typelevel::Interrupt;

embassy-stm32/src/rcc/h5.rs

@@ -477,7 +477,7 @@ fn init_pll(num: usize, config: Option<Pll>, input: &PllInput) -> PllOutput {
             p: None,
             q: None,
             r: None,
-        }
+        };
     };
 
     assert!(1 <= config.prediv && config.prediv <= 63);

embassy-stm32/src/rcc/h7.rs

@@ -740,7 +740,7 @@ mod pll {
             }
         };
 
-        let vco_ck = output + pll_x_p;
+        let vco_ck = output * pll_x_p;
 
         assert!(pll_x_p < 128);
         assert!(vco_ck >= VCO_MIN);

embassy-stm32/src/rcc/l4.rs

@@ -1,6 +1,7 @@
 use core::marker::PhantomData;
 
 use embassy_hal_common::into_ref;
+use stm32_metapac::rcc::regs::Cfgr;
 use stm32_metapac::rcc::vals::{Lsedrv, Mcopre, Mcosel};
 
 use crate::gpio::sealed::AFType;
@@ -439,6 +440,26 @@ impl<'d, T: McoInstance> Mco<'d, T> {
 }
 
 pub(crate) unsafe fn init(config: Config) {
+    // Switch to MSI to prevent problems with PLL configuration.
+    if !RCC.cr().read().msion() {
+        // Turn on MSI and configure it to 4MHz.
+        RCC.cr().modify(|w| {
+            w.set_msirgsel(true); // MSI Range is provided by MSIRANGE[3:0].
+            w.set_msirange(MSIRange::default().into());
+            w.set_msipllen(false);
+            w.set_msion(true)
+        });
+
+        // Wait until MSI is running
+        while !RCC.cr().read().msirdy() {}
+    }
+    if RCC.cfgr().read().sws() != Sw::MSI {
+        // Set MSI as a clock source, reset prescalers.
+        RCC.cfgr().write_value(Cfgr::default());
+        // Wait for clock switch status bits to change.
+        while RCC.cfgr().read().sws() != Sw::MSI {}
+    }
+
     match config.rtc_mux {
         RtcClockSource::LSE32 => {
             // 1. Unlock the backup domain
@@ -660,6 +681,8 @@ pub(crate) unsafe fn init(config: Config) {
         }
     };
 
+    RCC.apb1enr1().modify(|w| w.set_pwren(true));
+
     set_freqs(Clocks {
         sys: Hertz(sys_clk),
         ahb1: Hertz(ahb_freq),

embassy-stm32/src/rcc/mod.rs

@@ -83,12 +83,12 @@ static mut CLOCK_FREQS: MaybeUninit<Clocks> = MaybeUninit::uninit();
 /// Safety: Sets a mutable global.
 pub(crate) unsafe fn set_freqs(freqs: Clocks) {
     debug!("rcc: {:?}", freqs);
-    CLOCK_FREQS.as_mut_ptr().write(freqs);
+    CLOCK_FREQS = MaybeUninit::new(freqs);
 }
 
 /// Safety: Reads a mutable global.
 pub(crate) unsafe fn get_freqs() -> &'static Clocks {
-    &*CLOCK_FREQS.as_ptr()
+    CLOCK_FREQS.assume_init_ref()
 }
 
 #[cfg(feature = "unstable-pac")]

embassy-stm32/src/rcc/wl.rs

@@ -1,4 +1,5 @@
-use crate::pac::{FLASH, RCC};
+use crate::pac::pwr::vals::Dbp;
+use crate::pac::{FLASH, PWR, RCC};
 use crate::rcc::{set_freqs, Clocks};
 use crate::time::Hertz;
 
@@ -184,6 +185,8 @@ pub struct Config {
     pub apb1_pre: APBPrescaler,
     pub apb2_pre: APBPrescaler,
     pub enable_lsi: bool,
+    pub enable_rtc_apb: bool,
+    pub rtc_mux: RtcClockSource,
 }
 
 impl Default for Config {
@@ -196,10 +199,25 @@ impl Default for Config {
             apb1_pre: APBPrescaler::NotDivided,
             apb2_pre: APBPrescaler::NotDivided,
             enable_lsi: false,
+            enable_rtc_apb: false,
+            rtc_mux: RtcClockSource::LSI32,
         }
     }
 }
 
+pub enum RtcClockSource {
+    LSE32,
+    LSI32,
+}
+
+#[repr(u8)]
+pub enum Lsedrv {
+    Low = 0,
+    MediumLow = 1,
+    MediumHigh = 2,
+    High = 3,
+}
+
 pub(crate) unsafe fn init(config: Config) {
     let (sys_clk, sw, vos) = match config.mux {
         ClockSrc::HSI16 => (HSI_FREQ.0, 0x01, VoltageScale::Range2),
@@ -266,6 +284,32 @@ pub(crate) unsafe fn init(config: Config) {
 
     while FLASH.acr().read().latency() != ws {}
 
+    match config.rtc_mux {
+        RtcClockSource::LSE32 => {
+            // 1. Unlock the backup domain
+            PWR.cr1().modify(|w| w.set_dbp(Dbp::ENABLED));
+
+            // 2. Setup the LSE
+            RCC.bdcr().modify(|w| {
+                // Enable LSE
+                w.set_lseon(true);
+                // Max drive strength
+                // TODO: should probably be settable
+                w.set_lsedrv(Lsedrv::High as u8); //---// PAM - should not be commented
+            });
+
+            // Wait until LSE is running
+            while !RCC.bdcr().read().lserdy() {}
+        }
+        RtcClockSource::LSI32 => {
+            // Turn on the internal 32 kHz LSI oscillator
+            RCC.csr().modify(|w| w.set_lsion(true));
+
+            // Wait until LSI is running
+            while !RCC.csr().read().lsirdy() {}
+        }
+    }
+
     match config.mux {
         ClockSrc::HSI16 => {
             // Enable HSI16
@@ -287,11 +331,26 @@ pub(crate) unsafe fn init(config: Config) {
                 w.set_msirgsel(true);
                 w.set_msirange(range.into());
                 w.set_msion(true);
+
+                if let RtcClockSource::LSE32 = config.rtc_mux {
+                    // If LSE is enabled, enable calibration of MSI
+                    w.set_msipllen(true);
+                } else {
+                    w.set_msipllen(false);
+                }
             });
             while !RCC.cr().read().msirdy() {}
         }
     }
 
+    if config.enable_rtc_apb {
+        // enable peripheral clock for communication
+        crate::pac::RCC.apb1enr1().modify(|w| w.set_rtcapben(true));
+
+        // read to allow the pwr clock to enable
+        crate::pac::PWR.cr1().read();
+    }
+
     RCC.extcfgr().modify(|w| {
         if config.shd_ahb_pre == AHBPrescaler::NotDivided {
             w.set_shdhpre(0);

embassy-stm32/src/rtc/v3.rs

@@ -172,6 +172,7 @@ impl sealed::Instance for crate::peripherals::RTC {
     const BACKUP_REGISTER_COUNT: usize = 32;
 
     fn read_backup_register(_rtc: &Rtc, register: usize) -> Option<u32> {
+        #[allow(clippy::if_same_then_else)]
         if register < Self::BACKUP_REGISTER_COUNT {
             //Some(rtc.bkpr()[register].read().bits())
             None // RTC3 backup registers come from the TAMP peripe=heral, not RTC. Not() even in the L412 PAC

embassy-stm32/src/spi/mod.rs

@@ -852,25 +852,19 @@ mod eh1 {
         type Error = Error;
     }
 
-    impl<'d, T: Instance, Tx, Rx> embedded_hal_1::spi::SpiBusFlush for Spi<'d, T, Tx, Rx> {
+    impl<'d, T: Instance, W: Word, Tx, Rx> embedded_hal_1::spi::SpiBus<W> for Spi<'d, T, Tx, Rx> {
         fn flush(&mut self) -> Result<(), Self::Error> {
             Ok(())
         }
-    }
 
-    impl<'d, T: Instance, W: Word, Tx, Rx> embedded_hal_1::spi::SpiBusRead<W> for Spi<'d, T, Tx, Rx> {
         fn read(&mut self, words: &mut [W]) -> Result<(), Self::Error> {
             self.blocking_read(words)
         }
-    }
 
-    impl<'d, T: Instance, W: Word, Tx, Rx> embedded_hal_1::spi::SpiBusWrite<W> for Spi<'d, T, Tx, Rx> {
         fn write(&mut self, words: &[W]) -> Result<(), Self::Error> {
             self.blocking_write(words)
         }
-    }
 
-    impl<'d, T: Instance, W: Word, Tx, Rx> embedded_hal_1::spi::SpiBus<W> for Spi<'d, T, Tx, Rx> {
         fn transfer(&mut self, read: &mut [W], write: &[W]) -> Result<(), Self::Error> {
             self.blocking_transfer(read, write)
         }
@@ -895,32 +889,25 @@ mod eh1 {
 #[cfg(all(feature = "unstable-traits", feature = "nightly"))]
 mod eha {
     use super::*;
-    impl<'d, T: Instance, Tx, Rx> embedded_hal_async::spi::SpiBusFlush for Spi<'d, T, Tx, Rx> {
+
+    impl<'d, T: Instance, Tx: TxDma<T>, Rx: RxDma<T>, W: Word> embedded_hal_async::spi::SpiBus<W> for Spi<'d, T, Tx, Rx> {
         async fn flush(&mut self) -> Result<(), Self::Error> {
             Ok(())
         }
-    }
 
-    impl<'d, T: Instance, Tx: TxDma<T>, Rx, W: Word> embedded_hal_async::spi::SpiBusWrite<W> for Spi<'d, T, Tx, Rx> {
         async fn write(&mut self, words: &[W]) -> Result<(), Self::Error> {
             self.write(words).await
         }
-    }
 
-    impl<'d, T: Instance, Tx: TxDma<T>, Rx: RxDma<T>, W: Word> embedded_hal_async::spi::SpiBusRead<W>
-        for Spi<'d, T, Tx, Rx>
-    {
         async fn read(&mut self, words: &mut [W]) -> Result<(), Self::Error> {
             self.read(words).await
         }
-    }
 
-    impl<'d, T: Instance, Tx: TxDma<T>, Rx: RxDma<T>, W: Word> embedded_hal_async::spi::SpiBus<W> for Spi<'d, T, Tx, Rx> {
+        async fn transfer(&mut self, read: &mut [W], write: &[W]) -> Result<(), Self::Error> {
-        async fn transfer<'a>(&'a mut self, read: &'a mut [W], write: &'a [W]) -> Result<(), Self::Error> {
             self.transfer(read, write).await
         }
 
-        async fn transfer_in_place<'a>(&'a mut self, words: &'a mut [W]) -> Result<(), Self::Error> {
+        async fn transfer_in_place(&mut self, words: &mut [W]) -> Result<(), Self::Error> {
             self.transfer_in_place(words).await
         }
     }

embassy-stm32/src/usart/mod.rs

@@ -116,6 +116,10 @@ pub struct Config {
     /// but will effectively disable noise detection.
     #[cfg(not(usart_v1))]
     pub assume_noise_free: bool,
+
+    /// Set this to true to swap the RX and TX pins.
+    #[cfg(any(usart_v3, usart_v4))]
+    pub swap_rx_tx: bool,
 }
 
 impl Default for Config {
@@ -129,6 +133,8 @@ impl Default for Config {
             detect_previous_overrun: false,
             #[cfg(not(usart_v1))]
             assume_noise_free: false,
+            #[cfg(any(usart_v3, usart_v4))]
+            swap_rx_tx: false,
         }
     }
 }
@@ -688,8 +694,22 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
 
         let r = T::regs();
 
+        // Some chips do not have swap_rx_tx bit
+        cfg_if::cfg_if! {
+            if #[cfg(any(usart_v3, usart_v4))] {
+                if config.swap_rx_tx {
+                    let (rx, tx) = (tx, rx);
                     rx.set_as_af(rx.af_num(), AFType::Input);
                     tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
+                } else {
+                    rx.set_as_af(rx.af_num(), AFType::Input);
+                    tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
+                }
+            } else {
+                rx.set_as_af(rx.af_num(), AFType::Input);
+                tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
+            }
+        }
 
         configure(r, &config, T::frequency(), T::KIND, true, true);
 
@@ -847,6 +867,9 @@ fn configure(r: Regs, config: &Config, pclk_freq: Hertz, kind: Kind, enable_rx:
             StopBits::STOP1P5 => vals::Stop::STOP1P5,
             StopBits::STOP2 => vals::Stop::STOP2,
         });
+
+        #[cfg(any(usart_v3, usart_v4))]
+        w.set_swap(config.swap_rx_tx);
     });
     r.cr1().write(|w| {
         // enable uart