Merge branch 'master' of https://github.com/akiles/embassy into stm32f4

embassy-macros/src/lib.rs

@@ -98,3 +98,65 @@ pub fn task(args: TokenStream, item: TokenStream) -> TokenStream {
     };
     result.into()
 }
+
+#[proc_macro]
+pub fn interrupt_declare(item: TokenStream) -> TokenStream {
+    let name = syn::parse_macro_input!(item as syn::Ident);
+    let name = format_ident!("{}", name);
+    let name_interrupt = format_ident!("{}Interrupt", name);
+    let name_handler = format!("__EMBASSY_{}_HANDLER", name);
+
+    let result = quote! {
+        #[allow(non_camel_case_types)]
+        pub struct #name_interrupt(());
+        unsafe impl OwnedInterrupt for #name_interrupt {
+            type Priority = Priority;
+            fn number(&self) -> u8 {
+                Interrupt::#name as u8
+            }
+            unsafe fn __handler(&self) -> &'static ::core::sync::atomic::AtomicPtr<u32> {
+                #[export_name = #name_handler]
+                static HANDLER: ::core::sync::atomic::AtomicPtr<u32> = ::core::sync::atomic::AtomicPtr::new(::core::ptr::null_mut());
+                &HANDLER
+            }
+        }
+    };
+    result.into()
+}
+
+#[proc_macro]
+pub fn interrupt_take(item: TokenStream) -> TokenStream {
+    let name = syn::parse_macro_input!(item as syn::Ident);
+    let name = format!("{}", name);
+    let name_interrupt = format_ident!("{}Interrupt", name);
+    let name_handler = format!("__EMBASSY_{}_HANDLER", name);
+
+    let result = quote! {
+        {
+            #[allow(non_snake_case)]
+            #[export_name = #name]
+            pub unsafe extern "C" fn trampoline() {
+                extern "C" {
+                    #[link_name = #name_handler]
+                    static HANDLER: ::core::sync::atomic::AtomicPtr<u32>;
+                }
+
+                let p = HANDLER.load(::core::sync::atomic::Ordering::Acquire);
+                if !p.is_null() {
+                    let f: fn() = ::core::mem::transmute(p);
+                    f()
+                }
+            }
+
+            static TAKEN: ::core::sync::atomic::AtomicBool = ::core::sync::atomic::AtomicBool::new(false);
+
+            if TAKEN.compare_exchange(false, true, ::core::sync::atomic::Ordering::AcqRel, ::core::sync::atomic::Ordering::Acquire).is_err() {
+                panic!("IRQ Already taken");
+            }
+
+            let irq: interrupt::#name_interrupt = unsafe { ::core::mem::transmute(()) };
+            irq
+        }
+    };
+    result.into()
+}

embassy-nrf/Cargo.toml

@@ -26,6 +26,7 @@ log = { version = "0.4.11", optional = true }
 cortex-m-rt = "0.6.13"
 cortex-m        = { version = "0.6.4" }
 embedded-hal    = { version = "0.2.4" }
+embedded-dma    = { version = "0.1.2" }
 
 nrf52810-pac  = { version = "0.9.0", optional = true }
 nrf52811-pac  = { version = "0.9.1", optional = true }

embassy-nrf/src/buffered_uarte.rs

@@ -0,0 +1,557 @@
+//! HAL interface to the UARTE peripheral
+//!
+//! See product specification:
+//!
+//! - nrf52832: Section 35
+//! - nrf52840: Section 6.34
+use core::cell::UnsafeCell;
+use core::cmp::min;
+use core::marker::PhantomPinned;
+use core::ops::Deref;
+use core::pin::Pin;
+use core::ptr;
+use core::sync::atomic::{compiler_fence, Ordering};
+use core::task::{Context, Poll};
+
+use embedded_hal::digital::v2::OutputPin;
+
+use crate::hal::gpio::{Floating, Input, Output, Pin as GpioPin, Port as GpioPort, PushPull};
+use crate::interrupt;
+use crate::interrupt::{CriticalSection, OwnedInterrupt};
+#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+use crate::pac::UARTE1;
+use crate::pac::{uarte0, UARTE0};
+
+// Re-export SVD variants to allow user to directly set values
+pub use uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
+
+use embassy::io::{AsyncBufRead, AsyncWrite, Result};
+use embassy::util::WakerStore;
+
+use crate::fmt::{assert, panic, todo, *};
+
+//use crate::trace;
+
+const RINGBUF_SIZE: usize = 512;
+struct RingBuf {
+    buf: [u8; RINGBUF_SIZE],
+    start: usize,
+    end: usize,
+    empty: bool,
+}
+
+impl RingBuf {
+    fn new() -> Self {
+        RingBuf {
+            buf: [0; RINGBUF_SIZE],
+            start: 0,
+            end: 0,
+            empty: true,
+        }
+    }
+
+    fn push_buf(&mut self) -> &mut [u8] {
+        if self.start == self.end && !self.empty {
+            trace!("  ringbuf: push_buf empty");
+            return &mut self.buf[..0];
+        }
+
+        let n = if self.start <= self.end {
+            RINGBUF_SIZE - self.end
+        } else {
+            self.start - self.end
+        };
+
+        trace!("  ringbuf: push_buf {:?}..{:?}", self.end, self.end + n);
+        &mut self.buf[self.end..self.end + n]
+    }
+
+    fn push(&mut self, n: usize) {
+        trace!("  ringbuf: push {:?}", n);
+        if n == 0 {
+            return;
+        }
+
+        self.end = Self::wrap(self.end + n);
+        self.empty = false;
+    }
+
+    fn pop_buf(&mut self) -> &mut [u8] {
+        if self.empty {
+            trace!("  ringbuf: pop_buf empty");
+            return &mut self.buf[..0];
+        }
+
+        let n = if self.end <= self.start {
+            RINGBUF_SIZE - self.start
+        } else {
+            self.end - self.start
+        };
+
+        trace!("  ringbuf: pop_buf {:?}..{:?}", self.start, self.start + n);
+        &mut self.buf[self.start..self.start + n]
+    }
+
+    fn pop(&mut self, n: usize) {
+        trace!("  ringbuf: pop {:?}", n);
+        if n == 0 {
+            return;
+        }
+
+        self.start = Self::wrap(self.start + n);
+        self.empty = self.start == self.end;
+    }
+
+    fn wrap(n: usize) -> usize {
+        assert!(n <= RINGBUF_SIZE);
+        if n == RINGBUF_SIZE {
+            0
+        } else {
+            n
+        }
+    }
+}
+
+#[derive(Copy, Clone, Debug, PartialEq)]
+enum RxState {
+    Idle,
+    Receiving,
+    ReceivingReady,
+    Stopping,
+}
+#[derive(Copy, Clone, Debug, PartialEq)]
+enum TxState {
+    Idle,
+    Transmitting(usize),
+}
+
+/// Interface to a UARTE instance
+///
+/// This is a very basic interface that comes with the following limitations:
+/// - The UARTE instances share the same address space with instances of UART.
+///   You need to make sure that conflicting instances
+///   are disabled before using `Uarte`. See product specification:
+///     - nrf52832: Section 15.2
+///     - nrf52840: Section 6.1.2
+pub struct BufferedUarte<T: Instance> {
+    started: bool,
+    state: UnsafeCell<UarteState<T>>,
+}
+
+// public because it needs to be used in Instance::{get_state, set_state}, but
+// should not be used outside the module
+#[doc(hidden)]
+pub struct UarteState<T: Instance> {
+    inner: T,
+    irq: T::Interrupt,
+
+    rx: RingBuf,
+    rx_state: RxState,
+    rx_waker: WakerStore,
+
+    tx: RingBuf,
+    tx_state: TxState,
+    tx_waker: WakerStore,
+
+    _pin: PhantomPinned,
+}
+
+#[cfg(any(feature = "52833", feature = "52840"))]
+fn port_bit(port: GpioPort) -> bool {
+    match port {
+        GpioPort::Port0 => false,
+        GpioPort::Port1 => true,
+    }
+}
+
+impl<T: Instance> BufferedUarte<T> {
+    pub fn new(
+        uarte: T,
+        irq: T::Interrupt,
+        mut pins: Pins,
+        parity: Parity,
+        baudrate: Baudrate,
+    ) -> Self {
+        // Select pins
+        uarte.psel.rxd.write(|w| {
+            let w = unsafe { w.pin().bits(pins.rxd.pin()) };
+            #[cfg(any(feature = "52833", feature = "52840"))]
+            let w = w.port().bit(port_bit(pins.rxd.port()));
+            w.connect().connected()
+        });
+        pins.txd.set_high().unwrap();
+        uarte.psel.txd.write(|w| {
+            let w = unsafe { w.pin().bits(pins.txd.pin()) };
+            #[cfg(any(feature = "52833", feature = "52840"))]
+            let w = w.port().bit(port_bit(pins.txd.port()));
+            w.connect().connected()
+        });
+
+        // Optional pins
+        uarte.psel.cts.write(|w| {
+            if let Some(ref pin) = pins.cts {
+                let w = unsafe { w.pin().bits(pin.pin()) };
+                #[cfg(any(feature = "52833", feature = "52840"))]
+                let w = w.port().bit(port_bit(pin.port()));
+                w.connect().connected()
+            } else {
+                w.connect().disconnected()
+            }
+        });
+
+        uarte.psel.rts.write(|w| {
+            if let Some(ref pin) = pins.rts {
+                let w = unsafe { w.pin().bits(pin.pin()) };
+                #[cfg(any(feature = "52833", feature = "52840"))]
+                let w = w.port().bit(port_bit(pin.port()));
+                w.connect().connected()
+            } else {
+                w.connect().disconnected()
+            }
+        });
+
+        // Enable UARTE instance
+        uarte.enable.write(|w| w.enable().enabled());
+
+        // Enable interrupts
+        uarte.intenset.write(|w| w.endrx().set().endtx().set());
+
+        // Configure
+        let hardware_flow_control = pins.rts.is_some() && pins.cts.is_some();
+        uarte
+            .config
+            .write(|w| w.hwfc().bit(hardware_flow_control).parity().variant(parity));
+
+        // Configure frequency
+        uarte.baudrate.write(|w| w.baudrate().variant(baudrate));
+
+        BufferedUarte {
+            started: false,
+            state: UnsafeCell::new(UarteState {
+                inner: uarte,
+                irq,
+
+                rx: RingBuf::new(),
+                rx_state: RxState::Idle,
+                rx_waker: WakerStore::new(),
+
+                tx: RingBuf::new(),
+                tx_state: TxState::Idle,
+                tx_waker: WakerStore::new(),
+
+                _pin: PhantomPinned,
+            }),
+        }
+    }
+
+    fn with_state<'a, R>(
+        self: Pin<&'a mut Self>,
+        f: impl FnOnce(Pin<&'a mut UarteState<T>>) -> R,
+    ) -> R {
+        let Self { state, started } = unsafe { self.get_unchecked_mut() };
+
+        interrupt::free(|cs| {
+            let ptr = state.get();
+
+            if !*started {
+                T::set_state(cs, ptr);
+
+                *started = true;
+
+                // safety: safe because critical section ensures only one *mut UartState
+                // exists at the same time.
+                unsafe { Pin::new_unchecked(&mut *ptr) }.start();
+            }
+
+            // safety: safe because critical section ensures only one *mut UartState
+            // exists at the same time.
+            f(unsafe { Pin::new_unchecked(&mut *ptr) })
+        })
+    }
+}
+
+impl<T: Instance> Drop for BufferedUarte<T> {
+    fn drop(&mut self) {
+        // stop DMA before dropping, because DMA is using the buffer in `self`.
+        todo!()
+    }
+}
+
+impl<T: Instance> AsyncBufRead for BufferedUarte<T> {
+    fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
+        self.with_state(|s| s.poll_fill_buf(cx))
+    }
+
+    fn consume(self: Pin<&mut Self>, amt: usize) {
+        self.with_state(|s| s.consume(amt))
+    }
+}
+
+impl<T: Instance> AsyncWrite for BufferedUarte<T> {
+    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
+        self.with_state(|s| s.poll_write(cx, buf))
+    }
+}
+
+impl<T: Instance> UarteState<T> {
+    pub fn start(self: Pin<&mut Self>) {
+        self.irq.set_handler(|| unsafe {
+            interrupt::free(|cs| T::get_state(cs).as_mut().unwrap().on_interrupt());
+        });
+
+        self.irq.pend();
+        self.irq.enable();
+    }
+
+    fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
+        let this = unsafe { self.get_unchecked_mut() };
+
+        // Conservative compiler fence to prevent optimizations that do not
+        // take in to account actions by DMA. The fence has been placed here,
+        // before any DMA action has started
+        compiler_fence(Ordering::SeqCst);
+        trace!("poll_read");
+
+        // We have data ready in buffer? Return it.
+        let buf = this.rx.pop_buf();
+        if buf.len() != 0 {
+            trace!("  got {:?} {:?}", buf.as_ptr() as u32, buf.len());
+            return Poll::Ready(Ok(buf));
+        }
+
+        trace!("  empty");
+
+        if this.rx_state == RxState::ReceivingReady {
+            trace!("  stopping");
+            this.rx_state = RxState::Stopping;
+            this.inner.tasks_stoprx.write(|w| unsafe { w.bits(1) });
+        }
+
+        this.rx_waker.store(cx.waker());
+        Poll::Pending
+    }
+
+    fn consume(self: Pin<&mut Self>, amt: usize) {
+        let this = unsafe { self.get_unchecked_mut() };
+        trace!("consume {:?}", amt);
+        this.rx.pop(amt);
+        this.irq.pend();
+    }
+
+    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
+        let this = unsafe { self.get_unchecked_mut() };
+
+        trace!("poll_write: {:?}", buf.len());
+
+        let tx_buf = this.tx.push_buf();
+        if tx_buf.len() == 0 {
+            trace!("poll_write: pending");
+            this.tx_waker.store(cx.waker());
+            return Poll::Pending;
+        }
+
+        let n = min(tx_buf.len(), buf.len());
+        tx_buf[..n].copy_from_slice(&buf[..n]);
+        this.tx.push(n);
+
+        trace!("poll_write: queued {:?}", n);
+
+        // Conservative compiler fence to prevent optimizations that do not
+        // take in to account actions by DMA. The fence has been placed here,
+        // before any DMA action has started
+        compiler_fence(Ordering::SeqCst);
+
+        this.irq.pend();
+
+        Poll::Ready(Ok(n))
+    }
+
+    fn on_interrupt(&mut self) {
+        trace!("irq: start");
+        let mut more_work = true;
+        while more_work {
+            more_work = false;
+            match self.rx_state {
+                RxState::Idle => {
+                    trace!("  irq_rx: in state idle");
+
+                    if self.inner.events_rxdrdy.read().bits() != 0 {
+                        trace!("  irq_rx: rxdrdy?????");
+                        self.inner.events_rxdrdy.reset();
+                    }
+
+                    if self.inner.events_endrx.read().bits() != 0 {
+                        panic!("unexpected endrx");
+                    }
+
+                    let buf = self.rx.push_buf();
+                    if buf.len() != 0 {
+                        trace!("  irq_rx: starting {:?}", buf.len());
+                        self.rx_state = RxState::Receiving;
+
+                        // Set up the DMA read
+                        self.inner.rxd.ptr.write(|w|
+                            // The PTR field is a full 32 bits wide and accepts the full range
+                            // of values.
+                            unsafe { w.ptr().bits(buf.as_ptr() as u32) });
+                        self.inner.rxd.maxcnt.write(|w|
+                            // We're giving it the length of the buffer, so no danger of
+                            // accessing invalid memory. We have verified that the length of the
+                            // buffer fits in an `u8`, so the cast to `u8` is also fine.
+                            //
+                            // The MAXCNT field is at least 8 bits wide and accepts the full
+                            // range of values.
+                            unsafe { w.maxcnt().bits(buf.len() as _) });
+                        trace!("  irq_rx: buf {:?} {:?}", buf.as_ptr() as u32, buf.len());
+
+                        // Enable RXRDY interrupt.
+                        self.inner.events_rxdrdy.reset();
+                        self.inner.intenset.write(|w| w.rxdrdy().set());
+
+                        // Start UARTE Receive transaction
+                        self.inner.tasks_startrx.write(|w|
+                            // `1` is a valid value to write to task registers.
+                            unsafe { w.bits(1) });
+                    }
+                }
+                RxState::Receiving => {
+                    trace!("  irq_rx: in state receiving");
+                    if self.inner.events_rxdrdy.read().bits() != 0 {
+                        trace!("  irq_rx: rxdrdy");
+
+                        // Disable the RXRDY event interrupt
+                        // RXRDY is triggered for every byte, but we only care about whether we have
+                        // some bytes or not. So as soon as we have at least one, disable it, to avoid
+                        // wasting CPU cycles in interrupts.
+                        self.inner.intenclr.write(|w| w.rxdrdy().clear());
+
+                        self.inner.events_rxdrdy.reset();
+
+                        self.rx_waker.wake();
+                        self.rx_state = RxState::ReceivingReady;
+                        more_work = true; // in case we also have endrx pending
+                    }
+                }
+                RxState::ReceivingReady | RxState::Stopping => {
+                    trace!("  irq_rx: in state ReceivingReady");
+
+                    if self.inner.events_rxdrdy.read().bits() != 0 {
+                        trace!("  irq_rx: rxdrdy");
+                        self.inner.events_rxdrdy.reset();
+                    }
+
+                    if self.inner.events_endrx.read().bits() != 0 {
+                        let n: usize = self.inner.rxd.amount.read().amount().bits() as usize;
+                        trace!("  irq_rx: endrx {:?}", n);
+                        self.rx.push(n);
+
+                        self.inner.events_endrx.reset();
+
+                        self.rx_waker.wake();
+                        self.rx_state = RxState::Idle;
+                        more_work = true; // start another rx if possible
+                    }
+                }
+            }
+        }
+
+        more_work = true;
+        while more_work {
+            more_work = false;
+            match self.tx_state {
+                TxState::Idle => {
+                    trace!("  irq_tx: in state Idle");
+                    let buf = self.tx.pop_buf();
+                    if buf.len() != 0 {
+                        trace!("  irq_tx: starting {:?}", buf.len());
+                        self.tx_state = TxState::Transmitting(buf.len());
+
+                        // Set up the DMA write
+                        self.inner.txd.ptr.write(|w|
+                            // The PTR field is a full 32 bits wide and accepts the full range
+                            // of values.
+                            unsafe { w.ptr().bits(buf.as_ptr() as u32) });
+                        self.inner.txd.maxcnt.write(|w|
+                            // We're giving it the length of the buffer, so no danger of
+                            // accessing invalid memory. We have verified that the length of the
+                            // buffer fits in an `u8`, so the cast to `u8` is also fine.
+                            //
+                            // The MAXCNT field is 8 bits wide and accepts the full range of
+                            // values.
+                            unsafe { w.maxcnt().bits(buf.len() as _) });
+
+                        // Start UARTE Transmit transaction
+                        self.inner.tasks_starttx.write(|w|
+                            // `1` is a valid value to write to task registers.
+                            unsafe { w.bits(1) });
+                    }
+                }
+                TxState::Transmitting(n) => {
+                    trace!("  irq_tx: in state Transmitting");
+                    if self.inner.events_endtx.read().bits() != 0 {
+                        self.inner.events_endtx.reset();
+
+                        trace!("  irq_tx: endtx {:?}", n);
+                        self.tx.pop(n);
+                        self.tx_waker.wake();
+                        self.tx_state = TxState::Idle;
+                        more_work = true; // start another tx if possible
+                    }
+                }
+            }
+        }
+        trace!("irq: end");
+    }
+}
+
+pub struct Pins {
+    pub rxd: GpioPin<Input<Floating>>,
+    pub txd: GpioPin<Output<PushPull>>,
+    pub cts: Option<GpioPin<Input<Floating>>>,
+    pub rts: Option<GpioPin<Output<PushPull>>>,
+}
+
+mod private {
+    pub trait Sealed {}
+
+    impl Sealed for crate::pac::UARTE0 {}
+    #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+    impl Sealed for crate::pac::UARTE1 {}
+}
+
+pub trait Instance: Deref<Target = uarte0::RegisterBlock> + Sized + private::Sealed {
+    type Interrupt: OwnedInterrupt;
+
+    #[doc(hidden)]
+    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self>;
+
+    #[doc(hidden)]
+    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>);
+}
+
+static mut UARTE0_STATE: *mut UarteState<UARTE0> = ptr::null_mut();
+#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+static mut UARTE1_STATE: *mut UarteState<UARTE1> = ptr::null_mut();
+
+impl Instance for UARTE0 {
+    type Interrupt = interrupt::UARTE0_UART0Interrupt;
+
+    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self> {
+        unsafe { UARTE0_STATE } // Safe because of CriticalSection
+    }
+    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>) {
+        unsafe { UARTE0_STATE = state } // Safe because of CriticalSection
+    }
+}
+
+#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+impl Instance for UARTE1 {
+    type Interrupt = interrupt::UARTE1Interrupt;
+
+    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self> {
+        unsafe { UARTE1_STATE } // Safe because of CriticalSection
+    }
+    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>) {
+        unsafe { UARTE1_STATE = state } // Safe because of CriticalSection
+    }
+}

embassy-nrf/src/gpiote.rs

@@ -7,6 +7,7 @@ use embassy::util::Signal;
 
 use crate::hal::gpio::{Input, Level, Output, Pin, Port};
 use crate::interrupt;
+use crate::interrupt::OwnedInterrupt;
 use crate::pac::generic::Reg;
 use crate::pac::gpiote::_TASKS_OUT;
 #[cfg(any(feature = "52833", feature = "52840"))]
@@ -58,7 +59,7 @@ pub enum NewChannelError {
 }
 
 impl Gpiote {
-    pub fn new(gpiote: GPIOTE) -> Self {
+    pub fn new(gpiote: GPIOTE, irq: interrupt::GPIOTEInterrupt) -> Self {
         #[cfg(any(feature = "52833", feature = "52840"))]
         let ports = unsafe { &[&*P0::ptr(), &*P1::ptr()] };
         #[cfg(not(any(feature = "52833", feature = "52840")))]
@@ -74,8 +75,9 @@ impl Gpiote {
         // Enable interrupts
         gpiote.events_port.write(|w| w);
         gpiote.intenset.write(|w| w.port().set());
-        interrupt::unpend(interrupt::GPIOTE);
+        irq.set_handler(Self::on_irq);
-        interrupt::enable(interrupt::GPIOTE);
+        irq.unpend();
+        irq.enable();
 
         Self {
             inner: gpiote,
@@ -293,6 +295,39 @@ impl Gpiote {
             })
         })
     }
+
+    unsafe fn on_irq() {
+        let s = &(*INSTANCE);
+
+        for i in 0..8 {
+            if s.inner.events_in[i].read().bits() != 0 {
+                s.inner.events_in[i].write(|w| w);
+                s.channel_signals[i].signal(());
+            }
+        }
+
+        if s.inner.events_port.read().bits() != 0 {
+            s.inner.events_port.write(|w| w);
+
+            #[cfg(any(feature = "52833", feature = "52840"))]
+            let ports = &[&*P0::ptr(), &*P1::ptr()];
+            #[cfg(not(any(feature = "52833", feature = "52840")))]
+            let ports = &[&*P0::ptr()];
+
+            let mut work = true;
+            while work {
+                work = false;
+                for (port, &p) in ports.iter().enumerate() {
+                    for pin in BitIter(p.latch.read().bits()) {
+                        work = true;
+                        p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled());
+                        p.latch.write(|w| w.bits(1 << pin));
+                        s.port_signals[port * 32 + pin as usize].signal(());
+                    }
+                }
+            }
+        }
+    }
 }
 
 pub struct PortInputFuture<'a, T> {
@@ -413,40 +448,6 @@ impl<'a> OutputChannel<'a> {
     }
 }
 
-#[interrupt]
-unsafe fn GPIOTE() {
-    let s = &(*INSTANCE);
-
-    for i in 0..8 {
-        if s.inner.events_in[i].read().bits() != 0 {
-            s.inner.events_in[i].write(|w| w);
-            s.channel_signals[i].signal(());
-        }
-    }
-
-    if s.inner.events_port.read().bits() != 0 {
-        s.inner.events_port.write(|w| w);
-
-        #[cfg(any(feature = "52833", feature = "52840"))]
-        let ports = &[&*P0::ptr(), &*P1::ptr()];
-        #[cfg(not(any(feature = "52833", feature = "52840")))]
-        let ports = &[&*P0::ptr()];
-
-        let mut work = true;
-        while work {
-            work = false;
-            for (port, &p) in ports.iter().enumerate() {
-                for pin in BitIter(p.latch.read().bits()) {
-                    work = true;
-                    p.pin_cnf[pin as usize].modify(|_, w| w.sense().disabled());
-                    p.latch.write(|w| w.bits(1 << pin));
-                    s.port_signals[port * 32 + pin as usize].signal(());
-                }
-            }
-        }
-    }
-}
-
 struct BitIter(u32);
 
 impl Iterator for BitIter {

embassy-nrf/src/interrupt.rs

@@ -5,12 +5,13 @@
 
 use core::sync::atomic::{compiler_fence, Ordering};
 
-use crate::pac::{NVIC, NVIC_PRIO_BITS};
+use crate::pac::NVIC_PRIO_BITS;
 
 // Re-exports
 pub use crate::pac::Interrupt;
 pub use crate::pac::Interrupt::*; // needed for cortex-m-rt #[interrupt]
 pub use cortex_m::interrupt::{CriticalSection, Mutex};
+pub use embassy::interrupt::{declare, take, OwnedInterrupt};
 
 #[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -26,14 +27,8 @@ pub enum Priority {
     Level7 = 7,
 }
 
-impl Priority {
+impl From<u8> for Priority {
-    #[inline]
+    fn from(priority: u8) -> Self {
-    fn to_nvic(self) -> u8 {
-        (self as u8) << (8 - NVIC_PRIO_BITS)
-    }
-
-    #[inline]
-    fn from_nvic(priority: u8) -> Self {
         match priority >> (8 - NVIC_PRIO_BITS) {
             0 => Self::Level0,
             1 => Self::Level1,
@@ -48,6 +43,12 @@ impl Priority {
     }
 }
 
+impl From<Priority> for u8 {
+    fn from(p: Priority) -> Self {
+        (p as u8) << (8 - NVIC_PRIO_BITS)
+    }
+}
+
 #[inline]
 pub fn free<F, R>(f: F) -> R
 where
@@ -77,53 +78,204 @@ where
     }
 }
 
-#[inline]
+#[cfg(feature = "52810")]
-pub fn enable(irq: Interrupt) {
+mod irqs {
-    unsafe {
+    use super::*;
-        NVIC::unmask(irq);
+    declare!(POWER_CLOCK);
-    }
+    declare!(RADIO);
+    declare!(UARTE0_UART0);
+    declare!(TWIM0_TWIS0_TWI0);
+    declare!(SPIM0_SPIS0_SPI0);
+    declare!(GPIOTE);
+    declare!(SAADC);
+    declare!(TIMER0);
+    declare!(TIMER1);
+    declare!(TIMER2);
+    declare!(RTC0);
+    declare!(TEMP);
+    declare!(RNG);
+    declare!(ECB);
+    declare!(CCM_AAR);
+    declare!(WDT);
+    declare!(RTC1);
+    declare!(QDEC);
+    declare!(COMP);
+    declare!(SWI0_EGU0);
+    declare!(SWI1_EGU1);
+    declare!(SWI2);
+    declare!(SWI3);
+    declare!(SWI4);
+    declare!(SWI5);
+    declare!(PWM0);
+    declare!(PDM);
 }
 
-#[inline]
+#[cfg(feature = "52811")]
-pub fn disable(irq: Interrupt) {
+mod irqs {
-    NVIC::mask(irq);
+    use super::*;
+    declare!(POWER_CLOCK);
+    declare!(RADIO);
+    declare!(UARTE0_UART0);
+    declare!(TWIM0_TWIS0_TWI0_SPIM1_SPIS1_SPI1);
+    declare!(SPIM0_SPIS0_SPI0);
+    declare!(GPIOTE);
+    declare!(SAADC);
+    declare!(TIMER0);
+    declare!(TIMER1);
+    declare!(TIMER2);
+    declare!(RTC0);
+    declare!(TEMP);
+    declare!(RNG);
+    declare!(ECB);
+    declare!(CCM_AAR);
+    declare!(WDT);
+    declare!(RTC1);
+    declare!(QDEC);
+    declare!(COMP);
+    declare!(SWI0_EGU0);
+    declare!(SWI1_EGU1);
+    declare!(SWI2);
+    declare!(SWI3);
+    declare!(SWI4);
+    declare!(SWI5);
+    declare!(PWM0);
+    declare!(PDM);
 }
 
-#[inline]
+#[cfg(feature = "52832")]
-pub fn is_active(irq: Interrupt) -> bool {
+mod irqs {
-    NVIC::is_active(irq)
+    use super::*;
+    declare!(POWER_CLOCK);
+    declare!(RADIO);
+    declare!(UARTE0_UART0);
+    declare!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+    declare!(SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+    declare!(NFCT);
+    declare!(GPIOTE);
+    declare!(SAADC);
+    declare!(TIMER0);
+    declare!(TIMER1);
+    declare!(TIMER2);
+    declare!(RTC0);
+    declare!(TEMP);
+    declare!(RNG);
+    declare!(ECB);
+    declare!(CCM_AAR);
+    declare!(WDT);
+    declare!(RTC1);
+    declare!(QDEC);
+    declare!(COMP_LPCOMP);
+    declare!(SWI0_EGU0);
+    declare!(SWI1_EGU1);
+    declare!(SWI2_EGU2);
+    declare!(SWI3_EGU3);
+    declare!(SWI4_EGU4);
+    declare!(SWI5_EGU5);
+    declare!(TIMER3);
+    declare!(TIMER4);
+    declare!(PWM0);
+    declare!(PDM);
+    declare!(MWU);
+    declare!(PWM1);
+    declare!(PWM2);
+    declare!(SPIM2_SPIS2_SPI2);
+    declare!(RTC2);
+    declare!(I2S);
+    declare!(FPU);
 }
 
-#[inline]
+#[cfg(feature = "52833")]
-pub fn is_enabled(irq: Interrupt) -> bool {
+mod irqs {
-    NVIC::is_enabled(irq)
+    use super::*;
+    declare!(POWER_CLOCK);
+    declare!(RADIO);
+    declare!(UARTE0_UART0);
+    declare!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+    declare!(SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+    declare!(NFCT);
+    declare!(GPIOTE);
+    declare!(SAADC);
+    declare!(TIMER0);
+    declare!(TIMER1);
+    declare!(TIMER2);
+    declare!(RTC0);
+    declare!(TEMP);
+    declare!(RNG);
+    declare!(ECB);
+    declare!(CCM_AAR);
+    declare!(WDT);
+    declare!(RTC1);
+    declare!(QDEC);
+    declare!(COMP_LPCOMP);
+    declare!(SWI0_EGU0);
+    declare!(SWI1_EGU1);
+    declare!(SWI2_EGU2);
+    declare!(SWI3_EGU3);
+    declare!(SWI4_EGU4);
+    declare!(SWI5_EGU5);
+    declare!(TIMER3);
+    declare!(TIMER4);
+    declare!(PWM0);
+    declare!(PDM);
+    declare!(MWU);
+    declare!(PWM1);
+    declare!(PWM2);
+    declare!(SPIM2_SPIS2_SPI2);
+    declare!(RTC2);
+    declare!(I2S);
+    declare!(FPU);
+    declare!(USBD);
+    declare!(UARTE1);
+    declare!(PWM3);
+    declare!(SPIM3);
 }
 
-#[inline]
+#[cfg(feature = "52840")]
-pub fn is_pending(irq: Interrupt) -> bool {
+mod irqs {
-    NVIC::is_pending(irq)
+    use super::*;
+    declare!(POWER_CLOCK);
+    declare!(RADIO);
+    declare!(UARTE0_UART0);
+    declare!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+    declare!(SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1);
+    declare!(NFCT);
+    declare!(GPIOTE);
+    declare!(SAADC);
+    declare!(TIMER0);
+    declare!(TIMER1);
+    declare!(TIMER2);
+    declare!(RTC0);
+    declare!(TEMP);
+    declare!(RNG);
+    declare!(ECB);
+    declare!(CCM_AAR);
+    declare!(WDT);
+    declare!(RTC1);
+    declare!(QDEC);
+    declare!(COMP_LPCOMP);
+    declare!(SWI0_EGU0);
+    declare!(SWI1_EGU1);
+    declare!(SWI2_EGU2);
+    declare!(SWI3_EGU3);
+    declare!(SWI4_EGU4);
+    declare!(SWI5_EGU5);
+    declare!(TIMER3);
+    declare!(TIMER4);
+    declare!(PWM0);
+    declare!(PDM);
+    declare!(MWU);
+    declare!(PWM1);
+    declare!(PWM2);
+    declare!(SPIM2_SPIS2_SPI2);
+    declare!(RTC2);
+    declare!(I2S);
+    declare!(FPU);
+    declare!(USBD);
+    declare!(UARTE1);
+    declare!(QSPI);
+    declare!(CRYPTOCELL);
+    declare!(PWM3);
+    declare!(SPIM3);
 }
 
-#[inline]
+pub use irqs::*;
-pub fn pend(irq: Interrupt) {
-    NVIC::pend(irq)
-}
-
-#[inline]
-pub fn unpend(irq: Interrupt) {
-    NVIC::unpend(irq)
-}
-
-#[inline]
-pub fn get_priority(irq: Interrupt) -> Priority {
-    Priority::from_nvic(NVIC::get_priority(irq))
-}
-
-#[inline]
-pub fn set_priority(irq: Interrupt, prio: Priority) {
-    unsafe {
-        cortex_m::peripheral::Peripherals::steal()
-            .NVIC
-            .set_priority(irq, prio.to_nvic())
-    }
-}

embassy-nrf/src/lib.rs

@@ -51,6 +51,7 @@ pub use nrf52840_hal as hal;
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
+pub mod buffered_uarte;
 pub mod gpiote;
 pub mod interrupt;
 #[cfg(feature = "52840")]

embassy-nrf/src/qspi.rs

@@ -2,6 +2,7 @@ use crate::fmt::{assert, assert_eq, panic, *};
 use core::future::Future;
 
 use crate::hal::gpio::{Output, Pin as GpioPin, Port as GpioPort, PushPull};
+use crate::interrupt::{OwnedInterrupt, QSPIInterrupt};
 use crate::pac::{Interrupt, QSPI};
 
 pub use crate::pac::qspi::ifconfig0::ADDRMODE_A as AddressMode;
@@ -22,8 +23,6 @@ pub use crate::pac::qspi::ifconfig0::WRITEOC_A as WriteOpcode;
 use embassy::flash::{Error, Flash};
 use embassy::util::{DropBomb, Signal};
 
-use crate::interrupt;
-
 pub struct Pins {
     pub sck: GpioPin<Output<PushPull>>,
     pub csn: GpioPin<Output<PushPull>>,
@@ -59,7 +58,7 @@ fn port_bit(port: GpioPort) -> bool {
 }
 
 impl Qspi {
-    pub fn new(qspi: QSPI, config: Config) -> Self {
+    pub fn new(qspi: QSPI, irq: QSPIInterrupt, config: Config) -> Self {
         qspi.psel.sck.write(|w| {
             let pin = &config.pins.sck;
             let w = unsafe { w.pin().bits(pin.pin()) };
@@ -146,9 +145,10 @@ impl Qspi {
         // Enable READY interrupt
         SIGNAL.reset();
         qspi.intenset.write(|w| w.ready().set());
-        interrupt::set_priority(Interrupt::QSPI, interrupt::Priority::Level7);
+
-        interrupt::unpend(Interrupt::QSPI);
+        irq.set_handler(irq_handler);
-        interrupt::enable(Interrupt::QSPI);
+        irq.unpend();
+        irq.enable();
 
         Self { inner: qspi }
     }
@@ -347,8 +347,7 @@ impl Flash for Qspi {
 
 static SIGNAL: Signal<()> = Signal::new();
 
-#[interrupt]
+unsafe fn irq_handler() {
-unsafe fn QSPI() {
     let p = crate::pac::Peripherals::steal().QSPI;
     if p.events_ready.read().events_ready().bit_is_set() {
         p.events_ready.reset();

embassy-nrf/src/rtc.rs

@@ -2,10 +2,10 @@ use core::cell::Cell;
 use core::ops::Deref;
 use core::sync::atomic::{AtomicU32, Ordering};
 
-use embassy::time::Clock;
+use embassy::time::{Clock, Instant};
 
 use crate::interrupt;
-use crate::interrupt::{CriticalSection, Mutex};
+use crate::interrupt::{CriticalSection, Mutex, OwnedInterrupt};
 use crate::pac::{rtc0, Interrupt, RTC0, RTC1};
 
 #[cfg(any(feature = "52832", feature = "52833", feature = "52840"))]
@@ -56,8 +56,9 @@ impl AlarmState {
 
 const ALARM_COUNT: usize = 3;
 
-pub struct RTC<T> {
+pub struct RTC<T: Instance> {
     rtc: T,
+    irq: T::Interrupt,
 
     /// Number of 2^23 periods elapsed since boot.
     ///
@@ -75,13 +76,14 @@ pub struct RTC<T> {
     alarms: Mutex<[AlarmState; ALARM_COUNT]>,
 }
 
-unsafe impl<T> Send for RTC<T> {}
+unsafe impl<T: Instance> Send for RTC<T> {}
-unsafe impl<T> Sync for RTC<T> {}
+unsafe impl<T: Instance> Sync for RTC<T> {}
 
 impl<T: Instance> RTC<T> {
-    pub fn new(rtc: T) -> Self {
+    pub fn new(rtc: T, irq: T::Interrupt) -> Self {
         Self {
             rtc,
+            irq,
             period: AtomicU32::new(0),
             alarms: Mutex::new([AlarmState::new(), AlarmState::new(), AlarmState::new()]),
         }
@@ -103,7 +105,10 @@ impl<T: Instance> RTC<T> {
         while self.rtc.counter.read().bits() != 0 {}
 
         T::set_rtc_instance(self);
-        interrupt::enable(T::INTERRUPT);
+        self.irq
+            .set_handler(|| T::get_rtc_instance().on_interrupt());
+        self.irq.unpend();
+        self.irq.enable();
     }
 
     fn on_interrupt(&self) {
@@ -234,18 +239,18 @@ impl<T: Instance> embassy::time::Alarm for Alarm<T> {
 /// Implemented by all RTC instances.
 pub trait Instance: Deref<Target = rtc0::RegisterBlock> + Sized + 'static {
     /// The interrupt associated with this RTC instance.
-    const INTERRUPT: Interrupt;
+    type Interrupt: OwnedInterrupt;
 
     fn set_rtc_instance(rtc: &'static RTC<Self>);
     fn get_rtc_instance() -> &'static RTC<Self>;
 }
 
 macro_rules! impl_instance {
-    ($name:ident, $static_name:ident) => {
+    ($name:ident, $irq_name:path, $static_name:ident) => {
         static mut $static_name: Option<&'static RTC<$name>> = None;
 
         impl Instance for $name {
-            const INTERRUPT: Interrupt = Interrupt::$name;
+            type Interrupt = $irq_name;
             fn set_rtc_instance(rtc: &'static RTC<Self>) {
                 unsafe { $static_name = Some(rtc) }
             }
@@ -253,16 +258,11 @@ macro_rules! impl_instance {
                 unsafe { $static_name.unwrap() }
             }
         }
-
-        #[interrupt]
-        fn $name() {
-            $name::get_rtc_instance().on_interrupt();
-        }
     };
 }
 
-impl_instance!(RTC0, RTC0_INSTANCE);
+impl_instance!(RTC0, interrupt::RTC0Interrupt, RTC0_INSTANCE);
-impl_instance!(RTC1, RTC1_INSTANCE);
+impl_instance!(RTC1, interrupt::RTC1Interrupt, RTC1_INSTANCE);
 
 #[cfg(any(feature = "52832", feature = "52833", feature = "52840"))]
-impl_instance!(RTC2, RTC2_INSTANCE);
+impl_instance!(RTC2, interrupt::RTC2Interrupt, RTC2_INSTANCE);

embassy-nrf/src/uarte.rs

@@ -1,160 +1,46 @@
-//! HAL interface to the UARTE peripheral
+//! Async low power UARTE.
 //!
-//! See product specification:
+//! The peripheral is automatically enabled and disabled as required to save power.
-//!
+//! Lowest power consumption can only be guaranteed if the send receive futures
-//! - nrf52832: Section 35
+//! are dropped correctly (e.g. not using `mem::forget()`).
-//! - nrf52840: Section 6.34
+
-use core::cell::UnsafeCell;
+use core::future::Future;
-use core::cmp::min;
-use core::marker::PhantomPinned;
 use core::ops::Deref;
-use core::pin::Pin;
-use core::ptr;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::{Context, Poll};
 
-use embedded_hal::digital::v2::OutputPin;
+use embassy::util::Signal;
+use embedded_dma::{ReadBuffer, WriteBuffer};
 
-use crate::hal::gpio::{Floating, Input, Output, Pin as GpioPin, Port as GpioPort, PushPull};
+use crate::fmt::{assert, *};
+#[cfg(any(feature = "52833", feature = "52840"))]
+use crate::hal::gpio::Port as GpioPort;
+use crate::hal::pac;
+use crate::hal::prelude::*;
+use crate::hal::target_constants::EASY_DMA_SIZE;
 use crate::interrupt;
-use crate::interrupt::CriticalSection;
+use crate::interrupt::OwnedInterrupt;
-#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
-use crate::pac::UARTE1;
-use crate::pac::{uarte0, Interrupt, UARTE0};
 
-// Re-export SVD variants to allow user to directly set values
+pub use crate::hal::uarte::Pins;
-pub use uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
+// Re-export SVD variants to allow user to directly set values.
+pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
 
-use embassy::io::{AsyncBufRead, AsyncWrite, Result};
+/// Interface to the UARTE peripheral
-use embassy::util::WakerStore;
+pub struct Uarte<T>
-
+where
-use crate::fmt::{assert, panic, todo, *};
+    T: Instance,
-
+{
-//use crate::trace;
+    instance: T,
-
+    irq: T::Interrupt,
-const RINGBUF_SIZE: usize = 512;
+    pins: Pins,
-struct RingBuf {
-    buf: [u8; RINGBUF_SIZE],
-    start: usize,
-    end: usize,
-    empty: bool,
 }
 
-impl RingBuf {
+pub struct State {
-    fn new() -> Self {
+    tx_done: Signal<()>,
-        RingBuf {
+    rx_done: Signal<u32>,
-            buf: [0; RINGBUF_SIZE],
-            start: 0,
-            end: 0,
-            empty: true,
-        }
-    }
-
-    fn push_buf(&mut self) -> &mut [u8] {
-        if self.start == self.end && !self.empty {
-            trace!("  ringbuf: push_buf empty");
-            return &mut self.buf[..0];
-        }
-
-        let n = if self.start <= self.end {
-            RINGBUF_SIZE - self.end
-        } else {
-            self.start - self.end
-        };
-
-        trace!("  ringbuf: push_buf {:?}..{:?}", self.end, self.end + n);
-        &mut self.buf[self.end..self.end + n]
-    }
-
-    fn push(&mut self, n: usize) {
-        trace!("  ringbuf: push {:?}", n);
-        if n == 0 {
-            return;
-        }
-
-        self.end = Self::wrap(self.end + n);
-        self.empty = false;
-    }
-
-    fn pop_buf(&mut self) -> &mut [u8] {
-        if self.empty {
-            trace!("  ringbuf: pop_buf empty");
-            return &mut self.buf[..0];
-        }
-
-        let n = if self.end <= self.start {
-            RINGBUF_SIZE - self.start
-        } else {
-            self.end - self.start
-        };
-
-        trace!("  ringbuf: pop_buf {:?}..{:?}", self.start, self.start + n);
-        &mut self.buf[self.start..self.start + n]
-    }
-
-    fn pop(&mut self, n: usize) {
-        trace!("  ringbuf: pop {:?}", n);
-        if n == 0 {
-            return;
-        }
-
-        self.start = Self::wrap(self.start + n);
-        self.empty = self.start == self.end;
-    }
-
-    fn wrap(n: usize) -> usize {
-        assert!(n <= RINGBUF_SIZE);
-        if n == RINGBUF_SIZE {
-            0
-        } else {
-            n
-        }
-    }
-}
-
-#[derive(Copy, Clone, Debug, PartialEq)]
-enum RxState {
-    Idle,
-    Receiving,
-    ReceivingReady,
-    Stopping,
-}
-#[derive(Copy, Clone, Debug, PartialEq)]
-enum TxState {
-    Idle,
-    Transmitting(usize),
-}
-
-/// Interface to a UARTE instance
-///
-/// This is a very basic interface that comes with the following limitations:
-/// - The UARTE instances share the same address space with instances of UART.
-///   You need to make sure that conflicting instances
-///   are disabled before using `Uarte`. See product specification:
-///     - nrf52832: Section 15.2
-///     - nrf52840: Section 6.1.2
-pub struct Uarte<T: Instance> {
-    started: bool,
-    state: UnsafeCell<UarteState<T>>,
-}
-
-// public because it needs to be used in Instance::{get_state, set_state}, but
-// should not be used outside the module
-#[doc(hidden)]
-pub struct UarteState<T> {
-    inner: T,
-
-    rx: RingBuf,
-    rx_state: RxState,
-    rx_waker: WakerStore,
-
-    tx: RingBuf,
-    tx_state: TxState,
-    tx_waker: WakerStore,
-
-    _pin: PhantomPinned,
 }
 
+// TODO: Remove when https://github.com/nrf-rs/nrf-hal/pull/276 has landed
 #[cfg(any(feature = "52833", feature = "52840"))]
 fn port_bit(port: GpioPort) -> bool {
     match port {
@@ -163,15 +49,35 @@ fn port_bit(port: GpioPort) -> bool {
     }
 }
 
-impl<T: Instance> Uarte<T> {
+impl<T> Uarte<T>
-    pub fn new(uarte: T, mut pins: Pins, parity: Parity, baudrate: Baudrate) -> Self {
+where
-        // Select pins
+    T: Instance,
+{
+    /// Creates the interface to a UARTE instance.
+    /// Sets the baud rate, parity and assigns the pins to the UARTE peripheral.
+    ///
+    /// # Unsafe
+    ///
+    /// The returned API is safe unless you use `mem::forget` (or similar safe mechanisms)
+    /// on stack allocated buffers which which have been passed to [`send()`](Uarte::send)
+    /// or [`receive`](Uarte::receive).
+    #[allow(unused_unsafe)]
+    pub unsafe fn new(
+        uarte: T,
+        irq: T::Interrupt,
+        mut pins: Pins,
+        parity: Parity,
+        baudrate: Baudrate,
+    ) -> Self {
+        assert!(uarte.enable.read().enable().is_disabled());
+
         uarte.psel.rxd.write(|w| {
             let w = unsafe { w.pin().bits(pins.rxd.pin()) };
             #[cfg(any(feature = "52833", feature = "52840"))]
             let w = w.port().bit(port_bit(pins.rxd.port()));
             w.connect().connected()
         });
+
         pins.txd.set_high().unwrap();
         uarte.psel.txd.write(|w| {
             let w = unsafe { w.pin().bits(pins.txd.pin()) };
@@ -203,359 +109,310 @@ impl<T: Instance> Uarte<T> {
             }
         });
 
-        // Enable UARTE instance
+        uarte.baudrate.write(|w| w.baudrate().variant(baudrate));
-        uarte.enable.write(|w| w.enable().enabled());
+        uarte.config.write(|w| w.parity().variant(parity));
 
         // Enable interrupts
-        uarte.intenset.write(|w| w.endrx().set().endtx().set());
+        uarte.events_endtx.reset();
-
+        uarte.events_endrx.reset();
-        // Configure
-        let hardware_flow_control = pins.rts.is_some() && pins.cts.is_some();
         uarte
-            .config
+            .intenset
-            .write(|w| w.hwfc().bit(hardware_flow_control).parity().variant(parity));
+            .write(|w| w.endtx().set().txstopped().set().endrx().set().rxto().set());
 
-        // Configure frequency
+        // Register ISR
-        uarte.baudrate.write(|w| w.baudrate().variant(baudrate));
+        irq.set_handler(Self::on_irq);
+        irq.unpend();
+        irq.enable();
 
         Uarte {
-            started: false,
+            instance: uarte,
-            state: UnsafeCell::new(UarteState {
+            irq,
-                inner: uarte,
+            pins,
-
-                rx: RingBuf::new(),
-                rx_state: RxState::Idle,
-                rx_waker: WakerStore::new(),
-
-                tx: RingBuf::new(),
-                tx_state: TxState::Idle,
-                tx_waker: WakerStore::new(),
-
-                _pin: PhantomPinned,
-            }),
         }
     }
 
-    fn with_state<'a, R>(
+    pub fn free(self) -> (T, T::Interrupt, Pins) {
-        self: Pin<&'a mut Self>,
+        (self.instance, self.irq, self.pins)
-        f: impl FnOnce(Pin<&'a mut UarteState<T>>) -> R,
-    ) -> R {
-        let Self { state, started } = unsafe { self.get_unchecked_mut() };
-
-        interrupt::free(|cs| {
-            let ptr = state.get();
-
-            if !*started {
-                T::set_state(cs, ptr);
-
-                *started = true;
-
-                // safety: safe because critical section ensures only one *mut UartState
-                // exists at the same time.
-                unsafe { Pin::new_unchecked(&mut *ptr) }.start();
     }
 
-            // safety: safe because critical section ensures only one *mut UartState
+    fn enable(&mut self) {
-            // exists at the same time.
+        trace!("enable");
-            f(unsafe { Pin::new_unchecked(&mut *ptr) })
+        self.instance.enable.write(|w| w.enable().enabled());
-        })
-    }
-}
-
-impl<T: Instance> Drop for Uarte<T> {
-    fn drop(&mut self) {
-        // stop DMA before dropping, because DMA is using the buffer in `self`.
-        todo!()
-    }
-}
-
-impl<T: Instance> AsyncBufRead for Uarte<T> {
-    fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
-        self.with_state(|s| s.poll_fill_buf(cx))
     }
 
-    fn consume(self: Pin<&mut Self>, amt: usize) {
+    /// Sends serial data.
-        self.with_state(|s| s.consume(amt))
+    ///
-    }
+    /// `tx_buffer` is marked as static as per `embedded-dma` requirements.
-}
+    /// It it safe to use a buffer with a non static lifetime if memory is not
+    /// reused until the future has finished.
+    pub fn send<'a, B>(&'a mut self, tx_buffer: B) -> SendFuture<'a, T, B>
+    where
+        B: ReadBuffer<Word = u8>,
+    {
+        // Panic if TX is running which can happen if the user has called
+        // `mem::forget()` on a previous future after polling it once.
+        assert!(!self.tx_started());
 
-impl<T: Instance> AsyncWrite for Uarte<T> {
+        self.enable();
-    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
-        self.with_state(|s| s.poll_write(cx, buf))
-    }
-}
 
-impl<T: Instance> UarteState<T> {
+        SendFuture {
-    pub fn start(self: Pin<&mut Self>) {
+            uarte: self,
-        interrupt::set_priority(T::interrupt(), interrupt::Priority::Level7);
+            buf: tx_buffer,
-        interrupt::enable(T::interrupt());
+        }
-        interrupt::pend(T::interrupt());
     }
 
-    fn poll_fill_buf(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Result<&[u8]>> {
+    fn tx_started(&self) -> bool {
-        let this = unsafe { self.get_unchecked_mut() };
+        self.instance.events_txstarted.read().bits() != 0
+    }
 
-        // Conservative compiler fence to prevent optimizations that do not
+    /// Receives serial data.
-        // take in to account actions by DMA. The fence has been placed here,
+    ///
-        // before any DMA action has started
+    /// The future is pending until the buffer is completely filled.
+    /// A common pattern is to use [`stop()`](ReceiveFuture::stop) to cancel
+    /// unfinished transfers after a timeout to prevent lockup when no more data
+    /// is incoming.
+    ///
+    /// `rx_buffer` is marked as static as per `embedded-dma` requirements.
+    /// It it safe to use a buffer with a non static lifetime if memory is not
+    /// reused until the future has finished.
+    pub fn receive<'a, B>(&'a mut self, rx_buffer: B) -> ReceiveFuture<'a, T, B>
+    where
+        B: WriteBuffer<Word = u8>,
+    {
+        // Panic if RX is running which can happen if the user has called
+        // `mem::forget()` on a previous future after polling it once.
+        assert!(!self.rx_started());
+
+        self.enable();
+
+        ReceiveFuture {
+            uarte: self,
+            buf: Some(rx_buffer),
+        }
+    }
+
+    fn rx_started(&self) -> bool {
+        self.instance.events_rxstarted.read().bits() != 0
+    }
+
+    unsafe fn on_irq() {
+        let uarte = &*pac::UARTE0::ptr();
+
+        let mut try_disable = false;
+
+        if uarte.events_endtx.read().bits() != 0 {
+            uarte.events_endtx.reset();
+            trace!("endtx");
             compiler_fence(Ordering::SeqCst);
-        trace!("poll_read");
+            T::state().tx_done.signal(());
-
-        // We have data ready in buffer? Return it.
-        let buf = this.rx.pop_buf();
-        if buf.len() != 0 {
-            trace!("  got {:?} {:?}", buf.as_ptr() as u32, buf.len());
-            return Poll::Ready(Ok(buf));
         }
 
-        trace!("  empty");
+        if uarte.events_txstopped.read().bits() != 0 {
-
+            uarte.events_txstopped.reset();
-        if this.rx_state == RxState::ReceivingReady {
+            trace!("txstopped");
-            trace!("  stopping");
+            try_disable = true;
-            this.rx_state = RxState::Stopping;
-            this.inner.tasks_stoprx.write(|w| unsafe { w.bits(1) });
         }
 
-        this.rx_waker.store(cx.waker());
+        if uarte.events_endrx.read().bits() != 0 {
-        Poll::Pending
+            uarte.events_endrx.reset();
-    }
+            trace!("endrx");
-
+            let len = uarte.rxd.amount.read().bits();
-    fn consume(self: Pin<&mut Self>, amt: usize) {
-        let this = unsafe { self.get_unchecked_mut() };
-        trace!("consume {:?}", amt);
-        this.rx.pop(amt);
-        interrupt::pend(T::interrupt());
-    }
-
-    fn poll_write(self: Pin<&mut Self>, cx: &mut Context<'_>, buf: &[u8]) -> Poll<Result<usize>> {
-        let this = unsafe { self.get_unchecked_mut() };
-
-        trace!("poll_write: {:?}", buf.len());
-
-        let tx_buf = this.tx.push_buf();
-        if tx_buf.len() == 0 {
-            trace!("poll_write: pending");
-            this.tx_waker.store(cx.waker());
-            return Poll::Pending;
-        }
-
-        let n = min(tx_buf.len(), buf.len());
-        tx_buf[..n].copy_from_slice(&buf[..n]);
-        this.tx.push(n);
-
-        trace!("poll_write: queued {:?}", n);
-
-        // Conservative compiler fence to prevent optimizations that do not
-        // take in to account actions by DMA. The fence has been placed here,
-        // before any DMA action has started
             compiler_fence(Ordering::SeqCst);
-
+            T::state().rx_done.signal(len);
-        interrupt::pend(T::interrupt());
-
-        Poll::Ready(Ok(n))
         }
 
-    fn on_interrupt(&mut self) {
+        if uarte.events_rxto.read().bits() != 0 {
-        trace!("irq: start");
+            uarte.events_rxto.reset();
-        let mut more_work = true;
+            trace!("rxto");
-        while more_work {
+            try_disable = true;
-            more_work = false;
-            match self.rx_state {
-                RxState::Idle => {
-                    trace!("  irq_rx: in state idle");
-
-                    if self.inner.events_rxdrdy.read().bits() != 0 {
-                        trace!("  irq_rx: rxdrdy?????");
-                        self.inner.events_rxdrdy.reset();
         }
 
-                    if self.inner.events_endrx.read().bits() != 0 {
+        // Disable the peripheral if not active.
-                        panic!("unexpected endrx");
+        if try_disable
+            && uarte.events_txstarted.read().bits() == 0
+            && uarte.events_rxstarted.read().bits() == 0
+        {
+            trace!("disable");
+            uarte.enable.write(|w| w.enable().disabled());
         }
-
-                    let buf = self.rx.push_buf();
-                    if buf.len() != 0 {
-                        trace!("  irq_rx: starting {:?}", buf.len());
-                        self.rx_state = RxState::Receiving;
-
-                        // Set up the DMA read
-                        self.inner.rxd.ptr.write(|w|
-                            // The PTR field is a full 32 bits wide and accepts the full range
-                            // of values.
-                            unsafe { w.ptr().bits(buf.as_ptr() as u32) });
-                        self.inner.rxd.maxcnt.write(|w|
-                            // We're giving it the length of the buffer, so no danger of
-                            // accessing invalid memory. We have verified that the length of the
-                            // buffer fits in an `u8`, so the cast to `u8` is also fine.
-                            //
-                            // The MAXCNT field is at least 8 bits wide and accepts the full
-                            // range of values.
-                            unsafe { w.maxcnt().bits(buf.len() as _) });
-                        trace!("  irq_rx: buf {:?} {:?}", buf.as_ptr() as u32, buf.len());
-
-                        // Enable RXRDY interrupt.
-                        self.inner.events_rxdrdy.reset();
-                        self.inner.intenset.write(|w| w.rxdrdy().set());
-
-                        // Start UARTE Receive transaction
-                        self.inner.tasks_startrx.write(|w|
-                            // `1` is a valid value to write to task registers.
-                            unsafe { w.bits(1) });
-                    }
-                }
-                RxState::Receiving => {
-                    trace!("  irq_rx: in state receiving");
-                    if self.inner.events_rxdrdy.read().bits() != 0 {
-                        trace!("  irq_rx: rxdrdy");
-
-                        // Disable the RXRDY event interrupt
-                        // RXRDY is triggered for every byte, but we only care about whether we have
-                        // some bytes or not. So as soon as we have at least one, disable it, to avoid
-                        // wasting CPU cycles in interrupts.
-                        self.inner.intenclr.write(|w| w.rxdrdy().clear());
-
-                        self.inner.events_rxdrdy.reset();
-
-                        self.rx_waker.wake();
-                        self.rx_state = RxState::ReceivingReady;
-                        more_work = true; // in case we also have endrx pending
-                    }
-                }
-                RxState::ReceivingReady | RxState::Stopping => {
-                    trace!("  irq_rx: in state ReceivingReady");
-
-                    if self.inner.events_rxdrdy.read().bits() != 0 {
-                        trace!("  irq_rx: rxdrdy");
-                        self.inner.events_rxdrdy.reset();
-                    }
-
-                    if self.inner.events_endrx.read().bits() != 0 {
-                        let n: usize = self.inner.rxd.amount.read().amount().bits() as usize;
-                        trace!("  irq_rx: endrx {:?}", n);
-                        self.rx.push(n);
-
-                        self.inner.events_endrx.reset();
-
-                        self.rx_waker.wake();
-                        self.rx_state = RxState::Idle;
-                        more_work = true; // start another rx if possible
-                    }
-                }
-            }
-        }
-
-        more_work = true;
-        while more_work {
-            more_work = false;
-            match self.tx_state {
-                TxState::Idle => {
-                    trace!("  irq_tx: in state Idle");
-                    let buf = self.tx.pop_buf();
-                    if buf.len() != 0 {
-                        trace!("  irq_tx: starting {:?}", buf.len());
-                        self.tx_state = TxState::Transmitting(buf.len());
-
-                        // Set up the DMA write
-                        self.inner.txd.ptr.write(|w|
-                            // The PTR field is a full 32 bits wide and accepts the full range
-                            // of values.
-                            unsafe { w.ptr().bits(buf.as_ptr() as u32) });
-                        self.inner.txd.maxcnt.write(|w|
-                            // We're giving it the length of the buffer, so no danger of
-                            // accessing invalid memory. We have verified that the length of the
-                            // buffer fits in an `u8`, so the cast to `u8` is also fine.
-                            //
-                            // The MAXCNT field is 8 bits wide and accepts the full range of
-                            // values.
-                            unsafe { w.maxcnt().bits(buf.len() as _) });
-
-                        // Start UARTE Transmit transaction
-                        self.inner.tasks_starttx.write(|w|
-                            // `1` is a valid value to write to task registers.
-                            unsafe { w.bits(1) });
-                    }
-                }
-                TxState::Transmitting(n) => {
-                    trace!("  irq_tx: in state Transmitting");
-                    if self.inner.events_endtx.read().bits() != 0 {
-                        self.inner.events_endtx.reset();
-
-                        trace!("  irq_tx: endtx {:?}", n);
-                        self.tx.pop(n);
-                        self.tx_waker.wake();
-                        self.tx_state = TxState::Idle;
-                        more_work = true; // start another tx if possible
-                    }
-                }
-            }
-        }
-        trace!("irq: end");
     }
 }
 
-pub struct Pins {
+/// Future for the [`Uarte::send()`] method.
-    pub rxd: GpioPin<Input<Floating>>,
+pub struct SendFuture<'a, T, B>
-    pub txd: GpioPin<Output<PushPull>>,
+where
-    pub cts: Option<GpioPin<Input<Floating>>>,
+    T: Instance,
-    pub rts: Option<GpioPin<Output<PushPull>>>,
+{
+    uarte: &'a Uarte<T>,
+    buf: B,
+}
+
+impl<'a, T, B> Drop for SendFuture<'a, T, B>
+where
+    T: Instance,
+{
+    fn drop(self: &mut Self) {
+        if self.uarte.tx_started() {
+            trace!("stoptx");
+
+            // Stop the transmitter to minimize the current consumption.
+            self.uarte.instance.events_txstarted.reset();
+            self.uarte
+                .instance
+                .tasks_stoptx
+                .write(|w| unsafe { w.bits(1) });
+            T::state().tx_done.blocking_wait();
+        }
+    }
+}
+
+impl<'a, T, B> Future for SendFuture<'a, T, B>
+where
+    T: Instance,
+    B: ReadBuffer<Word = u8>,
+{
+    type Output = ();
+
+    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<()> {
+        let Self { uarte, buf } = unsafe { self.get_unchecked_mut() };
+
+        if !uarte.tx_started() {
+            let uarte = &uarte.instance;
+
+            T::state().tx_done.reset();
+
+            let (ptr, len) = unsafe { buf.read_buffer() };
+            assert!(len <= EASY_DMA_SIZE);
+            // TODO: panic if buffer is not in SRAM
+
+            compiler_fence(Ordering::SeqCst);
+            uarte.txd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
+            uarte
+                .txd
+                .maxcnt
+                .write(|w| unsafe { w.maxcnt().bits(len as _) });
+
+            trace!("starttx");
+            uarte.tasks_starttx.write(|w| unsafe { w.bits(1) });
+        }
+
+        T::state().tx_done.poll_wait(cx)
+    }
+}
+
+/// Future for the [`Uarte::receive()`] method.
+pub struct ReceiveFuture<'a, T, B>
+where
+    T: Instance,
+{
+    uarte: &'a Uarte<T>,
+    buf: Option<B>,
+}
+
+impl<'a, T, B> Drop for ReceiveFuture<'a, T, B>
+where
+    T: Instance,
+{
+    fn drop(self: &mut Self) {
+        if self.uarte.rx_started() {
+            trace!("stoprx");
+
+            self.uarte.instance.events_rxstarted.reset();
+            self.uarte
+                .instance
+                .tasks_stoprx
+                .write(|w| unsafe { w.bits(1) });
+            T::state().rx_done.blocking_wait();
+        }
+    }
+}
+
+impl<'a, T, B> Future for ReceiveFuture<'a, T, B>
+where
+    T: Instance,
+    B: WriteBuffer<Word = u8>,
+{
+    type Output = B;
+
+    fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<B> {
+        let Self { uarte, buf } = unsafe { self.get_unchecked_mut() };
+
+        if !uarte.rx_started() {
+            let uarte = &uarte.instance;
+
+            T::state().rx_done.reset();
+
+            let (ptr, len) = unsafe { buf.as_mut().unwrap().write_buffer() };
+            assert!(len <= EASY_DMA_SIZE);
+
+            compiler_fence(Ordering::SeqCst);
+            uarte.rxd.ptr.write(|w| unsafe { w.ptr().bits(ptr as u32) });
+            uarte
+                .rxd
+                .maxcnt
+                .write(|w| unsafe { w.maxcnt().bits(len as _) });
+
+            trace!("startrx");
+            uarte.tasks_startrx.write(|w| unsafe { w.bits(1) });
+        }
+
+        T::state()
+            .rx_done
+            .poll_wait(cx)
+            .map(|_| buf.take().unwrap())
+    }
+}
+
+/// Future for the [`receive()`] method.
+impl<'a, T, B> ReceiveFuture<'a, T, B>
+where
+    T: Instance,
+{
+    /// Stops the ongoing reception and returns the number of bytes received.
+    pub async fn stop(mut self) -> (B, usize) {
+        let buf = self.buf.take().unwrap();
+        drop(self);
+        let len = T::state().rx_done.wait().await;
+        (buf, len as _)
+    }
 }
 
 mod private {
     pub trait Sealed {}
-
-    impl Sealed for crate::pac::UARTE0 {}
-    #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
-    impl Sealed for crate::pac::UARTE1 {}
 }
 
-pub trait Instance: Deref<Target = uarte0::RegisterBlock> + Sized + private::Sealed {
+pub trait Instance: Deref<Target = pac::uarte0::RegisterBlock> + Sized + private::Sealed {
-    fn interrupt() -> Interrupt;
+    type Interrupt: OwnedInterrupt;
 
     #[doc(hidden)]
-    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self>;
+    fn state() -> &'static State;
-
-    #[doc(hidden)]
-    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>);
 }
 
-#[interrupt]
+static UARTE0_STATE: State = State {
-unsafe fn UARTE0_UART0() {
+    tx_done: Signal::new(),
-    interrupt::free(|cs| UARTE0::get_state(cs).as_mut().unwrap().on_interrupt());
+    rx_done: Signal::new(),
-}
+};
+impl private::Sealed for pac::UARTE0 {}
+impl Instance for pac::UARTE0 {
+    type Interrupt = interrupt::UARTE0_UART0Interrupt;
 
-#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+    fn state() -> &'static State {
-#[interrupt]
+        &UARTE0_STATE
-unsafe fn UARTE1() {
-    interrupt::free(|cs| UARTE1::get_state(cs).as_mut().unwrap().on_interrupt());
-}
-
-static mut UARTE0_STATE: *mut UarteState<UARTE0> = ptr::null_mut();
-#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
-static mut UARTE1_STATE: *mut UarteState<UARTE1> = ptr::null_mut();
-
-impl Instance for UARTE0 {
-    fn interrupt() -> Interrupt {
-        Interrupt::UARTE0_UART0
-    }
-
-    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self> {
-        unsafe { UARTE0_STATE } // Safe because of CriticalSection
-    }
-    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>) {
-        unsafe { UARTE0_STATE = state } // Safe because of CriticalSection
     }
 }
 
 #[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
-impl Instance for UARTE1 {
+static UARTE1_STATE: State = State {
-    fn interrupt() -> Interrupt {
+    tx_done: Signal::new(),
-        Interrupt::UARTE1
+    rx_done: Signal::new(),
-    }
+};
+#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+impl private::Sealed for pac::UARTE1 {}
+#[cfg(any(feature = "52833", feature = "52840", feature = "9160"))]
+impl Instance for pac::UARTE1 {
+    type Interrupt = interrupt::UARTE1Interrupt;
 
-    fn get_state(_cs: &CriticalSection) -> *mut UarteState<Self> {
+    fn state() -> &'static State {
-        unsafe { UARTE1_STATE } // Safe because of CriticalSection
+        &UARTE1_STATE
-    }
-    fn set_state(_cs: &CriticalSection, state: *mut UarteState<Self>) {
-        unsafe { UARTE1_STATE = state } // Safe because of CriticalSection
     }
 }

embassy/src/executor/mod.rs

@@ -105,8 +105,8 @@ impl<F: Future + 'static> Task<F> {
             if task
                 .header
                 .state
-                .compare_and_swap(0, state, Ordering::AcqRel)
+                .compare_exchange(0, state, Ordering::AcqRel, Ordering::Acquire)
-                == 0
+                .is_ok()
             {
                 // Initialize the task
                 task.header.poll_fn.write(Self::poll);
@@ -214,9 +214,12 @@ impl Executor {
     /// Runs the executor until the queue is empty.
     pub fn run(&self) {
         unsafe {
+            if self.alarm.is_some() {
                 self.timer_queue.dequeue_expired(Instant::now(), |p| {
-                self.enqueue(p);
+                    let header = &*p;
+                    header.enqueue();
                 });
+            }
 
             self.run_queue.dequeue_all(|p| {
                 let header = &*p;

embassy/src/executor/timer.rs

@@ -7,16 +7,21 @@ use crate::time::{Duration, Instant};
 
 pub struct Timer {
     expires_at: Instant,
+    yielded_once: bool,
 }
 
 impl Timer {
     pub fn at(expires_at: Instant) -> Self {
-        Self { expires_at }
+        Self {
+            expires_at,
+            yielded_once: false,
+        }
     }
 
     pub fn after(duration: Duration) -> Self {
         Self {
             expires_at: Instant::now() + duration,
+            yielded_once: false,
         }
     }
 }
@@ -25,11 +30,12 @@ impl Unpin for Timer {}
 
 impl Future for Timer {
     type Output = ();
-    fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+    fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
-        if self.expires_at <= Instant::now() {
+        if self.yielded_once && self.expires_at <= Instant::now() {
             Poll::Ready(())
         } else {
             unsafe { super::register_timer(self.expires_at, cx.waker()) };
+            self.yielded_once = true;
             Poll::Pending
         }
     }

embassy/src/interrupt.rs

@@ -0,0 +1,76 @@
+use core::mem;
+use core::ptr;
+use core::sync::atomic::{AtomicBool, AtomicPtr, Ordering};
+use cortex_m::peripheral::NVIC;
+
+pub use embassy_macros::interrupt_declare as declare;
+pub use embassy_macros::interrupt_take as take;
+
+struct NrWrap(u8);
+unsafe impl cortex_m::interrupt::Nr for NrWrap {
+    fn nr(&self) -> u8 {
+        self.0
+    }
+}
+
+pub unsafe trait OwnedInterrupt {
+    type Priority: From<u8> + Into<u8> + Copy;
+    fn number(&self) -> u8;
+    #[doc(hidden)]
+    unsafe fn __handler(&self) -> &'static AtomicPtr<u32>;
+
+    fn set_handler(&self, handler: unsafe fn()) {
+        unsafe { self.__handler() }.store(handler as *mut u32, Ordering::Release);
+    }
+
+    #[inline]
+    fn enable(&self) {
+        unsafe {
+            NVIC::unmask(NrWrap(self.number()));
+        }
+    }
+
+    #[inline]
+    fn disable(&self) {
+        NVIC::mask(NrWrap(self.number()));
+    }
+
+    #[inline]
+    fn is_active(&self) -> bool {
+        NVIC::is_active(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn is_enabled(&self) -> bool {
+        NVIC::is_enabled(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn is_pending(&self) -> bool {
+        NVIC::is_pending(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn pend(&self) {
+        NVIC::pend(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn unpend(&self) {
+        NVIC::unpend(NrWrap(self.number()))
+    }
+
+    #[inline]
+    fn get_priority(&self) -> Self::Priority {
+        Self::Priority::from(NVIC::get_priority(NrWrap(self.number())))
+    }
+
+    #[inline]
+    fn set_priority(&self, prio: Self::Priority) {
+        unsafe {
+            cortex_m::peripheral::Peripherals::steal()
+                .NVIC
+                .set_priority(NrWrap(self.number()), prio.into())
+        }
+    }
+}

embassy/src/lib.rs

@@ -9,6 +9,7 @@ pub(crate) mod fmt;
 
 pub mod executor;
 pub mod flash;
+pub mod interrupt;
 pub mod io;
 pub mod rand;
 pub mod time;

embassy/src/util/forever.rs

@@ -19,7 +19,11 @@ impl<T> Forever<T> {
     }
 
     pub fn put(&'static self, val: T) -> &'static mut T {
-        if self.used.compare_and_swap(false, true, Ordering::SeqCst) {
+        if self
+            .used
+            .compare_exchange(false, true, Ordering::AcqRel, Ordering::Acquire)
+            .is_err()
+        {
             panic!("Forever.put() called multiple times");
         }
 

embassy/src/util/signal.rs

@@ -62,4 +62,13 @@ impl<T: Send> Signal<T> {
     pub fn wait(&self) -> impl Future<Output = T> + '_ {
         futures::future::poll_fn(move |cx| self.poll_wait(cx))
     }
+
+    /// Blocks until the signal has been received.
+    ///
+    /// Returns immediately when [`poll_wait()`] has not been called before.
+    pub fn blocking_wait(&self) {
+        while cortex_m::interrupt::free(|_| {
+            matches!(unsafe { &*self.state.get() }, State::Waiting(_))
+        }) {}
+    }
 }

examples/src/bin/buffered_uart.rs

@@ -0,0 +1,84 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+use example_common::*;
+
+use cortex_m_rt::entry;
+use defmt::panic;
+use futures::pin_mut;
+use nrf52840_hal::gpio;
+
+use embassy::executor::{task, Executor};
+use embassy::io::{AsyncBufRead, AsyncBufReadExt, AsyncWrite, AsyncWriteExt};
+use embassy::util::Forever;
+use embassy_nrf::buffered_uarte;
+use embassy_nrf::interrupt;
+
+#[task]
+async fn run() {
+    let p = unwrap!(embassy_nrf::pac::Peripherals::take());
+
+    let port0 = gpio::p0::Parts::new(p.P0);
+
+    let pins = buffered_uarte::Pins {
+        rxd: port0.p0_08.into_floating_input().degrade(),
+        txd: port0
+            .p0_06
+            .into_push_pull_output(gpio::Level::Low)
+            .degrade(),
+        cts: None,
+        rts: None,
+    };
+
+    let irq = interrupt::take!(UARTE0_UART0);
+    let u = buffered_uarte::BufferedUarte::new(
+        p.UARTE0,
+        irq,
+        pins,
+        buffered_uarte::Parity::EXCLUDED,
+        buffered_uarte::Baudrate::BAUD115200,
+    );
+    pin_mut!(u);
+
+    info!("uarte initialized!");
+
+    unwrap!(u.write_all(b"Hello!\r\n").await);
+    info!("wrote hello in uart!");
+
+    // Simple demo, reading 8-char chunks and echoing them back reversed.
+    loop {
+        info!("reading...");
+        let mut buf = [0u8; 8];
+        unwrap!(u.read_exact(&mut buf).await);
+        info!("read done, got {:[u8]}", buf);
+
+        // Reverse buf
+        for i in 0..4 {
+            let tmp = buf[i];
+            buf[i] = buf[7 - i];
+            buf[7 - i] = tmp;
+        }
+
+        info!("writing...");
+        unwrap!(u.write_all(&buf).await);
+        info!("write done");
+    }
+}
+
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[entry]
+fn main() -> ! {
+    info!("Hello World!");
+
+    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev));
+    unwrap!(executor.spawn(run()));
+
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
+    }
+}

examples/src/bin/executor_fairness_test.rs

@@ -0,0 +1,74 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+use example_common::*;
+
+use core::task::Poll;
+use cortex_m_rt::entry;
+use defmt::panic;
+use embassy::executor::{task, Executor};
+use embassy::time::{Duration, Instant, Timer};
+use embassy::util::Forever;
+use embassy_nrf::pac;
+use embassy_nrf::{interrupt, rtc};
+use nrf52840_hal::clocks;
+
+#[task]
+async fn run1() {
+    loop {
+        info!("DING DONG");
+        Timer::after(Duration::from_ticks(16000)).await;
+    }
+}
+
+#[task]
+async fn run2() {
+    loop {
+        Timer::at(Instant::from_ticks(0)).await;
+    }
+}
+
+#[task]
+async fn run3() {
+    futures::future::poll_fn(|cx| {
+        cx.waker().wake_by_ref();
+        Poll::<()>::Pending
+    })
+    .await;
+}
+
+static RTC: Forever<rtc::RTC<pac::RTC1>> = Forever::new();
+static ALARM: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[entry]
+fn main() -> ! {
+    info!("Hello World!");
+
+    let p = unwrap!(embassy_nrf::pac::Peripherals::take());
+
+    clocks::Clocks::new(p.CLOCK)
+        .enable_ext_hfosc()
+        .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass)
+        .start_lfclk();
+
+    let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1)));
+    rtc.start();
+
+    unsafe { embassy::time::set_clock(rtc) };
+
+    let alarm = ALARM.put(rtc.alarm0());
+    let executor = EXECUTOR.put(Executor::new_with_alarm(alarm, cortex_m::asm::sev));
+
+    unwrap!(executor.spawn(run1()));
+    unwrap!(executor.spawn(run2()));
+    unwrap!(executor.spawn(run3()));
+
+    loop {
+        executor.run();
+        cortex_m::asm::wfe();
+    }
+}

examples/src/bin/gpiote.rs

@@ -7,18 +7,20 @@ mod example_common;
 use example_common::*;
 
 use cortex_m_rt::entry;
+use defmt::panic;
 use nrf52840_hal::gpio;
 
 use embassy::executor::{task, Executor};
 use embassy::util::Forever;
 use embassy_nrf::gpiote;
+use embassy_nrf::interrupt;
 
 #[task]
 async fn run() {
     let p = unwrap!(embassy_nrf::pac::Peripherals::take());
     let port0 = gpio::p0::Parts::new(p.P0);
 
-    let g = gpiote::Gpiote::new(p.GPIOTE);
+    let g = gpiote::Gpiote::new(p.GPIOTE, interrupt::take!(GPIOTE));
 
     info!("Starting!");
 

examples/src/bin/gpiote_port.rs

@@ -8,11 +8,13 @@ use example_common::*;
 
 use core::mem;
 use cortex_m_rt::entry;
+use defmt::panic;
 use nrf52840_hal::gpio;
 
 use embassy::executor::{task, Executor};
 use embassy::util::Forever;
 use embassy_nrf::gpiote::{Gpiote, PortInputPolarity};
+use embassy_nrf::interrupt;
 
 async fn button(g: &Gpiote, n: usize, pin: gpio::Pin<gpio::Input<gpio::PullUp>>) {
     loop {
@@ -28,7 +30,7 @@ async fn run() {
     let p = unwrap!(embassy_nrf::pac::Peripherals::take());
     let port0 = gpio::p0::Parts::new(p.P0);
 
-    let g = Gpiote::new(p.GPIOTE);
+    let g = Gpiote::new(p.GPIOTE, interrupt::take!(GPIOTE));
     info!(
         "sizeof Signal<()> = {:usize}",
         mem::size_of::<embassy::util::Signal<()>>()

examples/src/bin/multiprio.rs

@@ -61,7 +61,9 @@
 mod example_common;
 use example_common::*;
 
+use cortex_m::peripheral::NVIC;
 use cortex_m_rt::entry;
+use defmt::panic;
 use nrf52840_hal::clocks;
 
 use embassy::executor::{task, Executor};
@@ -130,7 +132,7 @@ fn main() -> ! {
         .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass)
         .start_lfclk();
 
-    let rtc = RTC.put(rtc::RTC::new(p.RTC1));
+    let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1)));
     rtc.start();
     unsafe { embassy::time::set_clock(rtc) };
 
@@ -138,17 +140,20 @@ fn main() -> ! {
     let executor_low = EXECUTOR_LOW.put(Executor::new_with_alarm(alarm_low, cortex_m::asm::sev));
     let alarm_med = ALARM_MED.put(rtc.alarm1());
     let executor_med = EXECUTOR_MED.put(Executor::new_with_alarm(alarm_med, || {
-        interrupt::pend(interrupt::SWI0_EGU0)
+        NVIC::pend(interrupt::SWI0_EGU0)
     }));
     let alarm_high = ALARM_HIGH.put(rtc.alarm2());
     let executor_high = EXECUTOR_HIGH.put(Executor::new_with_alarm(alarm_high, || {
-        interrupt::pend(interrupt::SWI1_EGU1)
+        NVIC::pend(interrupt::SWI1_EGU1)
     }));
 
-    interrupt::set_priority(interrupt::SWI0_EGU0, interrupt::Priority::Level7);
+    unsafe {
-    interrupt::set_priority(interrupt::SWI1_EGU1, interrupt::Priority::Level6);
+        let mut nvic: NVIC = core::mem::transmute(());
-    interrupt::enable(interrupt::SWI0_EGU0);
+        nvic.set_priority(interrupt::SWI0_EGU0, 7 << 5);
-    interrupt::enable(interrupt::SWI1_EGU1);
+        nvic.set_priority(interrupt::SWI1_EGU1, 6 << 5);
+        NVIC::unmask(interrupt::SWI0_EGU0);
+        NVIC::unmask(interrupt::SWI1_EGU1);
+    }
 
     unwrap!(executor_low.spawn(run_low()));
     unwrap!(executor_med.spawn(run_med()));

examples/src/bin/qspi.rs

@@ -13,7 +13,7 @@ use nrf52840_hal::gpio;
 use embassy::executor::{task, Executor};
 use embassy::flash::Flash;
 use embassy::util::Forever;
-use embassy_nrf::qspi;
+use embassy_nrf::{interrupt, qspi};
 
 const PAGE_SIZE: usize = 4096;
 
@@ -68,7 +68,8 @@ async fn run() {
         deep_power_down: None,
     };
 
-    let mut q = qspi::Qspi::new(p.QSPI, config);
+    let irq = interrupt::take!(QSPI);
+    let mut q = qspi::Qspi::new(p.QSPI, irq, config);
 
     let mut id = [1; 3];
     q.custom_instruction(0x9F, &[], &mut id).await.unwrap();

examples/src/bin/rtc_async.rs

@@ -8,13 +8,13 @@ use example_common::*;
 
 use core::mem::MaybeUninit;
 use cortex_m_rt::entry;
-use nrf52840_hal::clocks;
+use defmt::panic;
-
 use embassy::executor::{task, Executor};
 use embassy::time::{Clock, Duration, Timer};
 use embassy::util::Forever;
 use embassy_nrf::pac;
-use embassy_nrf::rtc;
+use embassy_nrf::{interrupt, rtc};
+use nrf52840_hal::clocks;
 
 #[task]
 async fn run1() {
@@ -47,7 +47,7 @@ fn main() -> ! {
         .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass)
         .start_lfclk();
 
-    let rtc = RTC.put(rtc::RTC::new(p.RTC1));
+    let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1)));
     rtc.start();
 
     unsafe { embassy::time::set_clock(rtc) };

examples/src/bin/rtc_raw.rs

@@ -8,8 +8,9 @@ use example_common::*;
 
 use core::mem::MaybeUninit;
 use cortex_m_rt::entry;
+use defmt::panic;
 use embassy::time::{Alarm, Clock};
-use embassy_nrf::rtc;
+use embassy_nrf::{interrupt, rtc};
 use nrf52840_hal::clocks;
 
 static mut RTC: MaybeUninit<rtc::RTC<embassy_nrf::pac::RTC1>> = MaybeUninit::uninit();
@@ -25,9 +26,11 @@ fn main() -> ! {
         .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass)
         .start_lfclk();
 
+    let irq = interrupt::take!(RTC1);
+
     let rtc: &'static _ = unsafe {
         let ptr = RTC.as_mut_ptr();
-        ptr.write(rtc::RTC::new(p.RTC1));
+        ptr.write(rtc::RTC::new(p.RTC1, irq));
         &*ptr
     };
 

examples/src/bin/uart.rs

@@ -7,18 +7,74 @@ mod example_common;
 use example_common::*;
 
 use cortex_m_rt::entry;
-use futures::pin_mut;
+use defmt::panic;
+use embassy::executor::{task, Executor};
+use embassy::time::{Duration, Timer};
+use embassy::util::Forever;
+use embassy_nrf::{interrupt, pac, rtc, uarte};
+use futures::future::{select, Either};
+use nrf52840_hal::clocks;
 use nrf52840_hal::gpio;
 
-use embassy::executor::{task, Executor};
-use embassy::io::{AsyncBufRead, AsyncBufReadExt, AsyncWrite, AsyncWriteExt};
-use embassy::util::Forever;
-use embassy_nrf::uarte;
-
 #[task]
-async fn run() {
+async fn run(mut uart: uarte::Uarte<pac::UARTE0>) {
+    info!("uarte initialized!");
+
+    // Message must be in SRAM
+    let mut buf = [0; 8];
+    buf.copy_from_slice(b"Hello!\r\n");
+
+    uart.send(&buf).await;
+    info!("wrote hello in uart!");
+
+    info!("reading...");
+    loop {
+        let received = match select(
+            uart.receive(&mut buf),
+            Timer::after(Duration::from_millis(10)),
+        )
+        .await
+        {
+            Either::Left((buf, _)) => buf,
+            Either::Right((_, read)) => {
+                let (buf, n) = read.stop().await;
+                &buf[..n]
+            }
+        };
+
+        if received.len() > 0 {
+            info!("read done, got {:[u8]}", received);
+
+            // Echo back received data
+            uart.send(received).await;
+        }
+    }
+}
+
+static RTC: Forever<rtc::RTC<pac::RTC1>> = Forever::new();
+static ALARM: Forever<rtc::Alarm<pac::RTC1>> = Forever::new();
+static EXECUTOR: Forever<Executor> = Forever::new();
+
+#[entry]
+fn main() -> ! {
+    info!("Hello World!");
+
     let p = unwrap!(embassy_nrf::pac::Peripherals::take());
 
+    clocks::Clocks::new(p.CLOCK)
+        .enable_ext_hfosc()
+        .set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass)
+        .start_lfclk();
+
+    let rtc = RTC.put(rtc::RTC::new(p.RTC1, interrupt::take!(RTC1)));
+    rtc.start();
+
+    unsafe { embassy::time::set_clock(rtc) };
+
+    let alarm = ALARM.put(rtc.alarm0());
+    let executor = EXECUTOR.put(Executor::new_with_alarm(alarm, cortex_m::asm::sev));
+
+    // Init UART
     let port0 = gpio::p0::Parts::new(p.P0);
 
     let pins = uarte::Pins {
@@ -31,47 +87,18 @@ async fn run() {
         rts: None,
     };
 
-    let u = uarte::Uarte::new(
+    // NOTE(unsafe): Safe becasue we do not use `mem::forget` anywhere.
+    let uart = unsafe {
+        uarte::Uarte::new(
             p.UARTE0,
+            interrupt::take!(UARTE0_UART0),
             pins,
             uarte::Parity::EXCLUDED,
             uarte::Baudrate::BAUD115200,
-    );
+        )
-    pin_mut!(u);
+    };
 
-    info!("uarte initialized!");
+    unwrap!(executor.spawn(run(uart)));
-
-    unwrap!(u.write_all(b"Hello!\r\n").await);
-    info!("wrote hello in uart!");
-
-    // Simple demo, reading 8-char chunks and echoing them back reversed.
-    loop {
-        info!("reading...");
-        let mut buf = [0u8; 8];
-        unwrap!(u.read_exact(&mut buf).await);
-        info!("read done, got {:[u8]}", buf);
-
-        // Reverse buf
-        for i in 0..4 {
-            let tmp = buf[i];
-            buf[i] = buf[7 - i];
-            buf[7 - i] = tmp;
-        }
-
-        info!("writing...");
-        unwrap!(u.write_all(&buf).await);
-        info!("write done");
-    }
-}
-
-static EXECUTOR: Forever<Executor> = Forever::new();
-
-#[entry]
-fn main() -> ! {
-    info!("Hello World!");
-
-    let executor = EXECUTOR.put(Executor::new(cortex_m::asm::sev));
-    unwrap!(executor.spawn(run()));
 
     loop {
         executor.run();