stm32/i2c: WIP async i2cv1

.github/ci/build-stable.sh

@@ -12,19 +12,9 @@ export CARGO_TARGET_DIR=/ci/cache/target
 # used when pointing stm32-metapac to a CI-built one.
 export CARGO_NET_GIT_FETCH_WITH_CLI=true
 
-# Restore lockfiles
-if [ -f /ci/cache/lockfiles.tar ]; then
-    echo Restoring lockfiles...
-    tar xf /ci/cache/lockfiles.tar
-fi
-
 hashtime restore /ci/cache/filetime.json || true
 hashtime save /ci/cache/filetime.json
 
 sed -i 's/channel.*/channel = "stable"/g' rust-toolchain.toml
 
 ./ci_stable.sh
-
-# Save lockfiles
-echo Saving lockfiles...
-find . -type f -name Cargo.lock -exec tar -cf /ci/cache/lockfiles.tar '{}' \+

.github/ci/build.sh

@@ -18,17 +18,7 @@ fi
 # used when pointing stm32-metapac to a CI-built one.
 export CARGO_NET_GIT_FETCH_WITH_CLI=true
 
-# Restore lockfiles
-if [ -f /ci/cache/lockfiles.tar ]; then
-    echo Restoring lockfiles...
-    tar xf /ci/cache/lockfiles.tar
-fi
-
 hashtime restore /ci/cache/filetime.json || true
 hashtime save /ci/cache/filetime.json
 
 ./ci.sh
-
-# Save lockfiles
-echo Saving lockfiles...
-find . -type f -name Cargo.lock -exec tar -cf /ci/cache/lockfiles.tar '{}' \+

ci.sh

@@ -38,7 +38,6 @@ cargo batch  \
     --- build --release --manifest-path embassy-sync/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
     --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,defmt-timestamp-uptime,tick-hz-32_768,generic-queue-8 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,igmp,medium-ethernet \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,nightly,dhcpv4-hostname \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet \
@@ -111,7 +110,6 @@ cargo batch  \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h753zi,defmt,exti,time-driver-any,unstable-traits,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h735zg,defmt,exti,time-driver-any,unstable-traits,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h755zi-cm7,defmt,exti,time-driver-any,unstable-traits,time \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h725re,defmt,exti,time-driver-any,unstable-traits,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h7b3ai,defmt,exti,time-driver-any,unstable-traits,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l476vg,defmt,exti,time-driver-any,unstable-traits,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l422cb,defmt,exti,time-driver-any,unstable-traits,time \

docs/modules/ROOT/nav.adoc

@@ -10,4 +10,3 @@
 * xref:examples.adoc[Examples]
 * xref:developer.adoc[Developer]
 ** xref:developer_stm32.adoc[Developer: STM32]
-* xref:faq.adoc[Frequently Asked Questions]

docs/modules/ROOT/pages/faq.adoc

@@ -1,25 +0,0 @@
-= Frequently Asked Questions
-
-These are a list of unsorted, commonly asked questions and answers.
-
-Please feel free to add items to link:https://github.com/embassy-rs/embassy/edit/main/docs/modules/ROOT/pages/faq.adoc[this page], especially if someone in the chat answered a question for you!
-
-== Missing main macro
-
-If you see an error like this:
-
-[source,rust]
-----
-#[embassy_executor::main]
-|                   ^^^^ could not find `main` in `embassy_executor`
-----
-
-You are likely missing some features of the `embassy-executor` crate.
-
-For Cortex-M targets, consider making sure that ALL of the following features are active in your `Cargo.toml` for the `embassy-executor` crate:
-
-* `arch-cortex-m`
-* `executor-thread`
-* `nightly`
-
-For Xtensa ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].

embassy-net/src/lib.rs

@@ -616,11 +616,9 @@ impl<D: Driver> Stack<D> {
         let addr = addr.into();
 
         self.with_mut(|s, i| {
-            let (_hardware_addr, medium) = to_smoltcp_hardware_address(i.device.hardware_address());
             let mut smoldev = DriverAdapter {
                 cx: Some(cx),
                 inner: &mut i.device,
-                medium,
             };
 
             match s
@@ -655,11 +653,9 @@ impl<D: Driver> Stack<D> {
         let addr = addr.into();
 
         self.with_mut(|s, i| {
-            let (_hardware_addr, medium) = to_smoltcp_hardware_address(i.device.hardware_address());
             let mut smoldev = DriverAdapter {
                 cx: Some(cx),
                 inner: &mut i.device,
-                medium,
             };
 
             match s

embassy-stm32/Cargo.toml

@@ -58,7 +58,7 @@ rand_core = "0.6.3"
 sdio-host = "0.5.0"
 embedded-sdmmc = { git = "https://github.com/embassy-rs/embedded-sdmmc-rs", rev = "a4f293d3a6f72158385f79c98634cb8a14d0d2fc", optional = true }
 critical-section = "1.1"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-fbb8f77326dd066aa6c0d66b3b46e76a569dda8b" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-f6d1ffc1a25f208b5cd6b1024bff246592da1949" }
 vcell = "0.1.3"
 bxcan = "0.7.0"
 nb = "1.0.0"
@@ -76,7 +76,7 @@ critical-section = { version = "1.1", features = ["std"] }
 [build-dependencies]
 proc-macro2 = "1.0.36"
 quote = "1.0.15"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-fbb8f77326dd066aa6c0d66b3b46e76a569dda8b", default-features = false, features = ["metadata"]}
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-f6d1ffc1a25f208b5cd6b1024bff246592da1949", default-features = false, features = ["metadata"]}
 
 
 [features]

embassy-stm32/build.rs

@@ -61,7 +61,6 @@ fn main() {
     let mut singletons: Vec<String> = Vec::new();
     for p in METADATA.peripherals {
         if let Some(r) = &p.registers {
-            println!("cargo:rustc-cfg=peri_{}", p.name.to_ascii_lowercase());
             match r.kind {
                 // Generate singletons per pin, not per port
                 "gpio" => {
@@ -1138,6 +1137,23 @@ fn main() {
         }
     }
 
+    // ========
+    // Write peripheral_interrupts module.
+    let mut mt = TokenStream::new();
+    for p in METADATA.peripherals {
+        let mut pt = TokenStream::new();
+
+        for irq in p.interrupts {
+            let iname = format_ident!("{}", irq.interrupt);
+            let sname = format_ident!("{}", irq.signal);
+            pt.extend(quote!(pub type #sname = crate::interrupt::typelevel::#iname;));
+        }
+
+        let pname = format_ident!("{}", p.name);
+        mt.extend(quote!(pub mod #pname { #pt }));
+    }
+    g.extend(quote!(#[allow(non_camel_case_types)] pub mod peripheral_interrupts { #mt }));
+
     // ========
     // Write foreach_foo! macrotables
 
@@ -1296,6 +1312,9 @@ fn main() {
 
     let mut m = String::new();
 
+    // DO NOT ADD more macros like these.
+    // These turned to be a bad idea!
+    // Instead, make build.rs generate the final code.
     make_table(&mut m, "foreach_flash_region", &flash_regions_table);
     make_table(&mut m, "foreach_interrupt", &interrupts_table);
     make_table(&mut m, "foreach_peripheral", &peripherals_table);

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};
@@ -83,7 +84,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterrup
 }
 
 pub struct Can<'d, T: Instance> {
-    pub can: bxcan::Can<BxcanInstance<'d, T>>,
+    pub can: RefCell<bxcan::Can<BxcanInstance<'d, T>>>,
 }
 
 #[derive(Debug)]
@@ -174,12 +175,17 @@ 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();
     }
 
     /// Enables the peripheral and synchronizes with the bus.
@@ -187,7 +193,7 @@ impl<'d, T: Instance> Can<'d, T> {
     /// This will wait for 11 consecutive recessive bits (bus idle state).
     /// Contrary to enable method from bxcan library, this will not freeze the executor while waiting.
     pub async fn enable(&mut self) {
-        while self.enable_non_blocking().is_err() {
+        while self.borrow_mut().enable_non_blocking().is_err() {
             // SCE interrupt is only generated for entering sleep mode, but not leaving.
             // Yield to allow other tasks to execute while can bus is initializing.
             embassy_futures::yield_now().await;
@@ -196,46 +202,46 @@ impl<'d, T: Instance> Can<'d, T> {
 
     /// Queues the message to be sent but exerts backpressure
     pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
-        self.split().0.write(frame).await
+        CanTx { can: &self.can }.write(frame).await
     }
 
     /// Attempts to transmit a frame without blocking.
     ///
     /// Returns [Err(TryWriteError::Full)] if all transmit mailboxes are full.
     pub fn try_write(&mut self, frame: &Frame) -> Result<bxcan::TransmitStatus, TryWriteError> {
-        self.split().0.try_write(frame)
+        CanTx { can: &self.can }.try_write(frame)
     }
 
     /// Waits for a specific transmit mailbox to become empty
     pub async fn flush(&self, mb: bxcan::Mailbox) {
-        CanTx::<T>::flush_inner(mb).await
+        CanTx { can: &self.can }.flush(mb).await
     }
 
     /// Waits until any of the transmit mailboxes become empty
     pub async fn flush_any(&self) {
-        CanTx::<T>::flush_any_inner().await
+        CanTx { can: &self.can }.flush_any().await
     }
 
     /// Waits until all of the transmit mailboxes become empty
     pub async fn flush_all(&self) {
-        CanTx::<T>::flush_all_inner().await
+        CanTx { can: &self.can }.flush_all().await
     }
 
     /// Returns a tuple of the time the message was received and the message frame
     pub async fn read(&mut self) -> Result<Envelope, BusError> {
-        self.split().1.read().await
+        CanRx { can: &self.can }.read().await
     }
 
     /// Attempts to read a can frame without blocking.
     ///
     /// Returns [Err(TryReadError::Empty)] if there are no frames in the rx queue.
     pub fn try_read(&mut self) -> Result<Envelope, TryReadError> {
-        self.split().1.try_read()
+        CanRx { can: &self.can }.try_read()
     }
 
     /// Waits while receive queue is empty.
     pub async fn wait_not_empty(&mut self) {
-        self.split().1.wait_not_empty().await
+        CanRx { can: &self.can }.wait_not_empty().await
     }
 
     unsafe fn receive_fifo(fifo: RxFifo) {
@@ -379,25 +385,24 @@ impl<'d, T: Instance> Can<'d, T> {
         Some((sjw - 1) << 24 | (bs1 as u32 - 1) << 16 | (bs2 as u32 - 1) << 20 | (prescaler - 1))
     }
 
-    pub fn split<'c>(&'c mut self) -> (CanTx<'c, 'd, T>, CanRx<'c, 'd, T>) {
+    pub fn split<'c>(&'c self) -> (CanTx<'c, 'd, T>, CanRx<'c, 'd, T>) {
-        let (tx, rx0, rx1) = self.can.split_by_ref();
+        (CanTx { can: &self.can }, CanRx { can: &self.can })
-        (CanTx { tx }, CanRx { rx0, rx1 })
     }
 
-    pub fn as_mut(&mut self) -> &mut bxcan::Can<BxcanInstance<'d, T>> {
+    pub fn as_mut(&self) -> RefMut<'_, bxcan::Can<BxcanInstance<'d, T>>> {
-        &mut self.can
+        self.can.borrow_mut()
     }
 }
 
 pub struct CanTx<'c, 'd, T: Instance> {
-    tx: &'c mut bxcan::Tx<BxcanInstance<'d, T>>,
+    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.tx.transmit(frame) {
+            if let Ok(status) = self.can.borrow_mut().transmit(frame) {
                 return Poll::Ready(status);
             }
 
@@ -410,10 +415,11 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
     ///
     /// Returns [Err(TryWriteError::Full)] if all transmit mailboxes are full.
     pub fn try_write(&mut self, frame: &Frame) -> Result<bxcan::TransmitStatus, TryWriteError> {
-        self.tx.transmit(frame).map_err(|_| TryWriteError::Full)
+        self.can.borrow_mut().transmit(frame).map_err(|_| TryWriteError::Full)
     }
 
-    async fn flush_inner(mb: bxcan::Mailbox) {
+    /// Waits for a specific transmit mailbox to become empty
+    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()) {
@@ -425,12 +431,8 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
         .await;
     }
 
-    /// Waits for a specific transmit mailbox to become empty
+    /// Waits until any of the transmit mailboxes become empty
-    pub async fn flush(&self, mb: bxcan::Mailbox) {
+    pub async fn flush_any(&self) {
-        Self::flush_inner(mb).await
-    }
-
-    async fn flush_any_inner() {
         poll_fn(|cx| {
             T::state().tx_waker.register(cx.waker());
 
@@ -447,12 +449,8 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
         .await;
     }
 
-    /// Waits until any of the transmit mailboxes become empty
+    /// Waits until all of the transmit mailboxes become empty
-    pub async fn flush_any(&self) {
+    pub async fn flush_all(&self) {
-        Self::flush_any_inner().await
-    }
-
-    async fn flush_all_inner() {
         poll_fn(|cx| {
             T::state().tx_waker.register(cx.waker());
 
@@ -468,17 +466,11 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
         })
         .await;
     }
-
-    /// Waits until all of the transmit mailboxes become empty
-    pub async fn flush_all(&self) {
-        Self::flush_all_inner().await
-    }
 }
 
 #[allow(dead_code)]
 pub struct CanRx<'c, 'd, T: Instance> {
-    rx0: &'c mut bxcan::Rx0<BxcanInstance<'d, T>>,
+    can: &'c RefCell<bxcan::Can<BxcanInstance<'d, T>>>,
-    rx1: &'c mut bxcan::Rx1<BxcanInstance<'d, T>>,
 }
 
 impl<'c, 'd, T: Instance> CanRx<'c, 'd, T> {
@@ -546,7 +538,7 @@ 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/i2c/mod.rs

@@ -1,11 +1,14 @@
 #![macro_use]
 
+use core::marker::PhantomData;
+
 use crate::interrupt;
 
 #[cfg_attr(i2c_v1, path = "v1.rs")]
 #[cfg_attr(i2c_v2, path = "v2.rs")]
 mod _version;
 pub use _version::*;
+use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::peripherals;
 
@@ -23,6 +26,20 @@ pub enum Error {
 
 pub(crate) mod sealed {
     use super::*;
+
+    pub struct State {
+        #[allow(unused)]
+        pub waker: AtomicWaker,
+    }
+
+    impl State {
+        pub const fn new() -> Self {
+            Self {
+                waker: AtomicWaker::new(),
+            }
+        }
+    }
+
     pub trait Instance: crate::rcc::RccPeripheral {
         fn regs() -> crate::pac::i2c::I2c;
         fn state() -> &'static State;
@@ -30,7 +47,8 @@ pub(crate) mod sealed {
 }
 
 pub trait Instance: sealed::Instance + 'static {
-    type Interrupt: interrupt::typelevel::Interrupt;
+    type EventInterrupt: interrupt::typelevel::Interrupt;
+    type ErrorInterrupt: interrupt::typelevel::Interrupt;
 }
 
 pin_trait!(SclPin, Instance);
@@ -38,21 +56,148 @@ pin_trait!(SdaPin, Instance);
 dma_trait!(RxDma, Instance);
 dma_trait!(TxDma, Instance);
 
-foreach_interrupt!(
+/// Interrupt handler.
-    ($inst:ident, i2c, $block:ident, EV, $irq:ident) => {
+pub struct EventInterruptHandler<T: Instance> {
+    _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::EventInterrupt> for EventInterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        _version::on_interrupt::<T>()
+    }
+}
+
+pub struct ErrorInterruptHandler<T: Instance> {
+    _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::ErrorInterrupt> for ErrorInterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        _version::on_interrupt::<T>()
+    }
+}
+
+foreach_peripheral!(
+    (i2c, $inst:ident) => {
         impl sealed::Instance for peripherals::$inst {
             fn regs() -> crate::pac::i2c::I2c {
                 crate::pac::$inst
             }
 
-            fn state() -> &'static State {
+            fn state() -> &'static sealed::State {
-                static STATE: State = State::new();
+                static STATE: sealed::State = sealed::State::new();
                 &STATE
             }
         }
 
         impl Instance for peripherals::$inst {
-            type Interrupt = crate::interrupt::typelevel::$irq;
+            type EventInterrupt = crate::_generated::peripheral_interrupts::$inst::EV;
+            type ErrorInterrupt = crate::_generated::peripheral_interrupts::$inst::ER;
         }
     };
 );
+
+mod eh02 {
+    use super::*;
+
+    impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
+        type Error = Error;
+
+        fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_read(address, buffer)
+        }
+    }
+
+    impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
+        type Error = Error;
+
+        fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+            self.blocking_write(address, write)
+        }
+    }
+
+    impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
+        type Error = Error;
+
+        fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_write_read(address, write, read)
+        }
+    }
+}
+
+#[cfg(feature = "unstable-traits")]
+mod eh1 {
+    use super::*;
+    use crate::dma::NoDma;
+
+    impl embedded_hal_1::i2c::Error for Error {
+        fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
+            match *self {
+                Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
+                Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
+                Self::Nack => {
+                    embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
+                }
+                Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
+                Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
+                Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
+                Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
+            }
+        }
+    }
+
+    impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for I2c<'d, T, TXDMA, RXDMA> {
+        type Error = Error;
+    }
+
+    impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T, NoDma, NoDma> {
+        fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_read(address, read)
+        }
+
+        fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+            self.blocking_write(address, write)
+        }
+
+        fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_write_read(address, write, read)
+        }
+
+        fn transaction(
+            &mut self,
+            _address: u8,
+            _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
+        ) -> Result<(), Self::Error> {
+            todo!();
+        }
+    }
+}
+
+#[cfg(all(feature = "unstable-traits", feature = "nightly", feature = "time"))]
+mod eha {
+    use super::*;
+
+    impl<'d, T: Instance, TXDMA: TxDma<T>, RXDMA: RxDma<T>> embedded_hal_async::i2c::I2c for I2c<'d, T, TXDMA, RXDMA> {
+        async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+            self.read(address, read).await
+        }
+
+        async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+            self.write(address, write).await
+        }
+
+        async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+            self.write_read(address, write, read).await
+        }
+
+        async fn transaction(
+            &mut self,
+            address: u8,
+            operations: &mut [embedded_hal_1::i2c::Operation<'_>],
+        ) -> Result<(), Self::Error> {
+            let _ = address;
+            let _ = operations;
+            todo!()
+        }
+    }
+}

embassy-stm32/src/i2c/v1.rs

@@ -1,23 +1,33 @@
+use core::future::poll_fn;
 use core::marker::PhantomData;
+use core::task::Poll;
 
 use embassy_embedded_hal::SetConfig;
+use embassy_futures::select::{select, Either};
+use embassy_hal_internal::drop::OnDrop;
 use embassy_hal_internal::{into_ref, PeripheralRef};
 
-use crate::dma::NoDma;
+use super::*;
+use crate::dma::{NoDma, Transfer};
 use crate::gpio::sealed::AFType;
 use crate::gpio::Pull;
-use crate::i2c::{Error, Instance, SclPin, SdaPin};
+use crate::interrupt::typelevel::Interrupt;
 use crate::pac::i2c;
 use crate::time::Hertz;
 use crate::{interrupt, Peripheral};
 
-/// Interrupt handler.
+pub unsafe fn on_interrupt<T: Instance>() {
-pub struct InterruptHandler<T: Instance> {
+    let regs = T::regs();
-    _phantom: PhantomData<T>,
+    // i2c v2 only woke the task on transfer complete interrupts. v1 uses interrupts for a bunch of
-}
+    // other stuff, so we wake the task on every interrupt.
-
+    T::state().waker.wake();
-impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
+    critical_section::with(|_| {
-    unsafe fn on_interrupt() {}
+        // Clear event interrupt flag.
+        regs.cr2().modify(|w| {
+            w.set_itevten(false);
+            w.set_iterren(false);
+        });
+    });
 }
 
 #[non_exhaustive]
@@ -27,14 +37,6 @@ pub struct Config {
     pub scl_pullup: bool,
 }
 
-pub struct State {}
-
-impl State {
-    pub(crate) const fn new() -> Self {
-        Self {}
-    }
-}
-
 pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
     phantom: PhantomData<&'d mut T>,
     #[allow(dead_code)]
@@ -48,7 +50,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         _peri: impl Peripheral<P = T> + 'd,
         scl: impl Peripheral<P = impl SclPin<T>> + 'd,
         sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
-        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+        _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
+            + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
+            + 'd,
         tx_dma: impl Peripheral<P = TXDMA> + 'd,
         rx_dma: impl Peripheral<P = RXDMA> + 'd,
         freq: Hertz,
@@ -98,6 +102,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             reg.set_pe(true);
         });
 
+        unsafe { T::EventInterrupt::enable() };
+        unsafe { T::ErrorInterrupt::enable() };
+
         Self {
             phantom: PhantomData,
             tx_dma,
@@ -105,40 +112,58 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         }
     }
 
-    fn check_and_clear_error_flags(&self) -> Result<i2c::regs::Sr1, Error> {
+    fn check_and_clear_error_flags() -> Result<i2c::regs::Sr1, Error> {
         // Note that flags should only be cleared once they have been registered. If flags are
         // cleared otherwise, there may be an inherent race condition and flags may be missed.
         let sr1 = T::regs().sr1().read();
 
         if sr1.timeout() {
-            T::regs().sr1().modify(|reg| reg.set_timeout(false));
+            T::regs().sr1().write(|reg| {
+                reg.0 = !0;
+                reg.set_timeout(false);
+            });
             return Err(Error::Timeout);
         }
 
         if sr1.pecerr() {
-            T::regs().sr1().modify(|reg| reg.set_pecerr(false));
+            T::regs().sr1().write(|reg| {
+                reg.0 = !0;
+                reg.set_pecerr(false);
+            });
             return Err(Error::Crc);
         }
 
         if sr1.ovr() {
-            T::regs().sr1().modify(|reg| reg.set_ovr(false));
+            T::regs().sr1().write(|reg| {
+                reg.0 = !0;
+                reg.set_ovr(false);
+            });
             return Err(Error::Overrun);
         }
 
         if sr1.af() {
-            T::regs().sr1().modify(|reg| reg.set_af(false));
+            T::regs().sr1().write(|reg| {
+                reg.0 = !0;
+                reg.set_af(false);
+            });
             return Err(Error::Nack);
         }
 
         if sr1.arlo() {
-            T::regs().sr1().modify(|reg| reg.set_arlo(false));
+            T::regs().sr1().write(|reg| {
+                reg.0 = !0;
+                reg.set_arlo(false);
+            });
             return Err(Error::Arbitration);
         }
 
         // The errata indicates that BERR may be incorrectly detected. It recommends ignoring and
         // clearing the BERR bit instead.
         if sr1.berr() {
-            T::regs().sr1().modify(|reg| reg.set_berr(false));
+            T::regs().sr1().write(|reg| {
+                reg.0 = !0;
+                reg.set_berr(false);
+            });
         }
 
         Ok(sr1)
@@ -157,13 +182,13 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         });
 
         // Wait until START condition was generated
-        while !self.check_and_clear_error_flags()?.start() {
+        while !Self::check_and_clear_error_flags()?.start() {
             check_timeout()?;
         }
 
         // Also wait until signalled we're master and everything is waiting for us
         while {
-            self.check_and_clear_error_flags()?;
+            Self::check_and_clear_error_flags()?;
 
             let sr2 = T::regs().sr2().read();
             !sr2.msl() && !sr2.busy()
@@ -177,7 +202,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         // Wait until address was sent
         // Wait for the address to be acknowledged
         // Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
-        while !self.check_and_clear_error_flags()?.addr() {
+        while !Self::check_and_clear_error_flags()?.addr() {
             check_timeout()?;
         }
 
@@ -197,7 +222,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         // Wait until we're ready for sending
         while {
             // Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
-            !self.check_and_clear_error_flags()?.txe()
+            !Self::check_and_clear_error_flags()?.txe()
         } {
             check_timeout()?;
         }
@@ -208,7 +233,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         // Wait until byte is transferred
         while {
             // Check for any potential error conditions.
-            !self.check_and_clear_error_flags()?.btf()
+            !Self::check_and_clear_error_flags()?.btf()
         } {
             check_timeout()?;
         }
@@ -219,7 +244,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     fn recv_byte(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<u8, Error> {
         while {
             // Check for any potential error conditions.
-            self.check_and_clear_error_flags()?;
+            Self::check_and_clear_error_flags()?;
 
             !T::regs().sr1().read().rxne()
         } {
@@ -244,7 +269,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             });
 
             // Wait until START condition was generated
-            while !self.check_and_clear_error_flags()?.start() {
+            while !Self::check_and_clear_error_flags()?.start() {
                 check_timeout()?;
             }
 
@@ -261,7 +286,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
             // Wait until address was sent
             // Wait for the address to be acknowledged
-            while !self.check_and_clear_error_flags()?.addr() {
+            while !Self::check_and_clear_error_flags()?.addr() {
                 check_timeout()?;
             }
 
@@ -336,6 +361,322 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     pub fn blocking_write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
         self.blocking_write_read_timeout(addr, write, read, || Ok(()))
     }
+
+    // Async
+
+    #[inline] // pretty sure this should always be inlined
+    fn enable_interrupts() -> () {
+        T::regs().cr2().modify(|w| {
+            w.set_iterren(true);
+            w.set_itevten(true);
+        });
+    }
+
+    pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
+    where
+        TXDMA: crate::i2c::TxDma<T>,
+    {
+        let dma_transfer = unsafe {
+            let regs = T::regs();
+            regs.cr2().modify(|w| {
+                // DMA mode can be enabled for transmission by setting the DMAEN bit in the I2C_CR2 register.
+                w.set_dmaen(true);
+                w.set_itbufen(false);
+            });
+            // Set the I2C_DR register address in the DMA_SxPAR register. The data will be moved to this address from the memory after each TxE event.
+            let dst = regs.dr().as_ptr() as *mut u8;
+
+            let ch = &mut self.tx_dma;
+            let request = ch.request();
+            Transfer::new_write(ch, request, write, dst, Default::default())
+        };
+
+        let on_drop = OnDrop::new(|| {
+            let regs = T::regs();
+            regs.cr2().modify(|w| {
+                w.set_dmaen(false);
+                w.set_iterren(false);
+                w.set_itevten(false);
+            })
+        });
+
+        Self::enable_interrupts();
+
+        // Send a START condition
+        T::regs().cr1().modify(|reg| {
+            reg.set_start(true);
+        });
+
+        let state = T::state();
+
+        // Wait until START condition was generated
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(sr1) => {
+                    if sr1.start() {
+                        Poll::Ready(Ok(()))
+                    } else {
+                        Poll::Pending
+                    }
+                }
+            }
+        })
+        .await?;
+
+        // Also wait until signalled we're master and everything is waiting for us
+        Self::enable_interrupts();
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(_) => {
+                    let sr2 = T::regs().sr2().read();
+                    if !sr2.msl() && !sr2.busy() {
+                        Poll::Pending
+                    } else {
+                        Poll::Ready(Ok(()))
+                    }
+                }
+            }
+        })
+        .await?;
+
+        // Set up current address, we're trying to talk to
+        T::regs().dr().write(|reg| reg.set_dr(address << 1));
+        Self::enable_interrupts();
+
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(sr1) => {
+                    if sr1.addr() {
+                        // Clear the ADDR condition by reading SR2.
+                        T::regs().sr2().read();
+                        Poll::Ready(Ok(()))
+                    } else {
+                        Poll::Pending
+                    }
+                }
+            }
+        })
+        .await?;
+
+        Self::enable_interrupts();
+        let poll_error = poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                // Unclear why the Err turbofish is necessary here? The compiler didn’t require it in the other
+                // identical poll_fn check_and_clear matches.
+                Err(e) => Poll::Ready(Err::<T, Error>(e)),
+                Ok(_) => Poll::Pending,
+            }
+        });
+
+        // Wait for either the DMA transfer to successfully finish, or an I2C error to occur.
+        match select(dma_transfer, poll_error).await {
+            Either::Second(Err(e)) => Err(e),
+            _ => Ok(()),
+        }?;
+
+        // The I2C transfer itself will take longer than the DMA transfer, so wait for that to finish too.
+
+        // 18.3.8 “Master transmitter: In the interrupt routine after the EOT interrupt, disable DMA
+        // requests then wait for a BTF event before programming the Stop condition.”
+
+        // TODO: If this has to be done “in the interrupt routine after the EOT interrupt”, where to put it?
+        T::regs().cr2().modify(|w| {
+            w.set_dmaen(false);
+        });
+
+        Self::enable_interrupts();
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(sr1) => {
+                    if sr1.btf() {
+                        T::regs().cr1().modify(|w| {
+                            w.set_stop(true);
+                        });
+                        Poll::Ready(Ok(()))
+                    } else {
+                        Poll::Pending
+                    }
+                }
+            }
+        })
+        .await?;
+        // Wait for STOP condition to transmit.
+        Self::enable_interrupts();
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            if T::regs().cr1().read().stop() {
+                Poll::Pending
+            } else {
+                Poll::Ready(Ok(()))
+            }
+        })
+        .await?;
+
+        drop(on_drop);
+
+        // Fallthrough is success
+        Ok(())
+    }
+
+    pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
+    where
+        RXDMA: crate::i2c::RxDma<T>,
+    {
+        let state = T::state();
+        let buffer_len = buffer.len();
+
+        let dma_transfer = unsafe {
+            let regs = T::regs();
+            regs.cr2().modify(|w| {
+                // DMA mode can be enabled for transmission by setting the DMAEN bit in the I2C_CR2 register.
+                w.set_itbufen(false);
+                w.set_dmaen(true);
+            });
+            // Set the I2C_DR register address in the DMA_SxPAR register. The data will be moved to this address from the memory after each TxE event.
+            let src = regs.dr().as_ptr() as *mut u8;
+
+            let ch = &mut self.rx_dma;
+            let request = ch.request();
+            Transfer::new_read(ch, request, src, buffer, Default::default())
+        };
+
+        let on_drop = OnDrop::new(|| {
+            let regs = T::regs();
+            regs.cr2().modify(|w| {
+                w.set_dmaen(false);
+                w.set_iterren(false);
+                w.set_itevten(false);
+            })
+        });
+
+        Self::enable_interrupts();
+
+        // Send a START condition and set ACK bit
+        T::regs().cr1().modify(|reg| {
+            reg.set_start(true);
+            reg.set_ack(true);
+        });
+
+        // Wait until START condition was generated
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(sr1) => {
+                    if sr1.start() {
+                        Poll::Ready(Ok(()))
+                    } else {
+                        Poll::Pending
+                    }
+                }
+            }
+        })
+        .await?;
+
+        // Also wait until signalled we're master and everything is waiting for us
+        Self::enable_interrupts();
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            // blocking read didn’t have a check_and_clear call here, but blocking write did so
+            // I’m adding it here in case that was an oversight.
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(_) => {
+                    let sr2 = T::regs().sr2().read();
+                    if !sr2.msl() && !sr2.busy() {
+                        Poll::Pending
+                    } else {
+                        Poll::Ready(Ok(()))
+                    }
+                }
+            }
+        })
+        .await?;
+
+        // Set up current address, we're trying to talk to
+        T::regs().dr().write(|reg| reg.set_dr((address << 1) + 1));
+
+        // Wait for the address to be acknowledged
+
+        Self::enable_interrupts();
+        poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err(e)),
+                Ok(sr1) => {
+                    if sr1.addr() {
+                        // 18.3.8: When a single byte must be received: the NACK must be programmed during EV6
+                        // event, i.e. program ACK=0 when ADDR=1, before clearing ADDR flag. Then the
+                        // user can program the STOP condition either after clearing ADDR flag, or in the
+                        // DMA Transfer Complete interrupt routine.
+                        if buffer_len == 1 {
+                            T::regs().cr1().modify(|w| {
+                                w.set_ack(false);
+                            });
+                        }
+                        Poll::Ready(Ok(()))
+                    } else {
+                        Poll::Pending
+                    }
+                }
+            }
+        })
+        .await?;
+
+        // Clear condition by reading SR2
+        T::regs().sr2().read();
+
+        // Wait for bytes to be received, or an error to occur.
+        Self::enable_interrupts();
+        let poll_error = poll_fn(|cx| {
+            state.waker.register(cx.waker());
+
+            match Self::check_and_clear_error_flags() {
+                Err(e) => Poll::Ready(Err::<T, Error>(e)),
+                _ => Poll::Pending,
+            }
+        });
+
+        match select(dma_transfer, poll_error).await {
+            Either::Second(Err(e)) => Err(e),
+            _ => Ok(()),
+        };
+
+        // v1 blocking waits for STOP to be written, the manual says to write the STOP bit yourself.
+        // what to do…
+        // Wait for the STOP to be sent.
+        // while T::regs().cr1().read().stop() {
+        //     check_timeout()?;
+        // }
+
+        // Fallthrough is success
+        Ok(())
+    }
+
+    pub async fn write_read(&mut self, _address: u8, _write: &[u8], _read: &mut [u8]) -> Result<(), Error>
+    where
+        RXDMA: crate::i2c::RxDma<T>,
+        TXDMA: crate::i2c::TxDma<T>,
+    {
+        todo!()
+    }
 }
 
 impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {
@@ -344,77 +685,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
-    type Error = Error;
-
-    fn read(&mut self, addr: u8, read: &mut [u8]) -> Result<(), Self::Error> {
-        self.blocking_read(addr, read)
-    }
-}
-
-impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
-    type Error = Error;
-
-    fn write(&mut self, addr: u8, write: &[u8]) -> Result<(), Self::Error> {
-        self.blocking_write(addr, write)
-    }
-}
-
-impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
-    type Error = Error;
-
-    fn write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-        self.blocking_write_read(addr, write, read)
-    }
-}
-
-#[cfg(feature = "unstable-traits")]
-mod eh1 {
-    use super::*;
-
-    impl embedded_hal_1::i2c::Error for Error {
-        fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
-            match *self {
-                Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
-                Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
-                Self::Nack => {
-                    embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
-                }
-                Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
-                Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
-                Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
-                Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
-            }
-        }
-    }
-
-    impl<'d, T: Instance> embedded_hal_1::i2c::ErrorType for I2c<'d, T> {
-        type Error = Error;
-    }
-
-    impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T> {
-        fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_read(address, read)
-        }
-
-        fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
-            self.blocking_write(address, write)
-        }
-
-        fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_write_read(address, write, read)
-        }
-
-        fn transaction(
-            &mut self,
-            _address: u8,
-            _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
-        ) -> Result<(), Self::Error> {
-            todo!();
-        }
-    }
-}
-
 enum Mode {
     Fast,
     Standard,

embassy-stm32/src/i2c/v2.rs

@@ -1,19 +1,17 @@
 use core::cmp;
 use core::future::poll_fn;
-use core::marker::PhantomData;
 use core::task::Poll;
 
 use embassy_embedded_hal::SetConfig;
 use embassy_hal_internal::drop::OnDrop;
 use embassy_hal_internal::{into_ref, PeripheralRef};
-use embassy_sync::waitqueue::AtomicWaker;
 #[cfg(feature = "time")]
 use embassy_time::{Duration, Instant};
 
+use super::*;
 use crate::dma::{NoDma, Transfer};
 use crate::gpio::sealed::AFType;
 use crate::gpio::Pull;
-use crate::i2c::{Error, Instance, SclPin, SdaPin};
 use crate::interrupt::typelevel::Interrupt;
 use crate::pac::i2c;
 use crate::time::Hertz;
@@ -36,25 +34,18 @@ pub fn no_timeout_fn() -> impl Fn() -> Result<(), Error> {
     move || Ok(())
 }
 
-/// Interrupt handler.
+pub unsafe fn on_interrupt<T: Instance>() {
-pub struct InterruptHandler<T: Instance> {
+    let regs = T::regs();
-    _phantom: PhantomData<T>,
+    let isr = regs.isr().read();
-}
 
-impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
+    if isr.tcr() || isr.tc() {
-    unsafe fn on_interrupt() {
+        T::state().waker.wake();
-        let regs = T::regs();
-        let isr = regs.isr().read();
-
-        if isr.tcr() || isr.tc() {
-            T::state().waker.wake();
-        }
-        // The flag can only be cleared by writting to nbytes, we won't do that here, so disable
-        // the interrupt
-        critical_section::with(|_| {
-            regs.cr1().modify(|w| w.set_tcie(false));
-        });
     }
+    // The flag can only be cleared by writting to nbytes, we won't do that here, so disable
+    // the interrupt
+    critical_section::with(|_| {
+        regs.cr1().modify(|w| w.set_tcie(false));
+    });
 }
 
 #[non_exhaustive]
@@ -77,18 +68,6 @@ impl Default for Config {
     }
 }
 
-pub struct State {
-    waker: AtomicWaker,
-}
-
-impl State {
-    pub(crate) const fn new() -> Self {
-        Self {
-            waker: AtomicWaker::new(),
-        }
-    }
-}
-
 pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
     _peri: PeripheralRef<'d, T>,
     #[allow(dead_code)]
@@ -104,7 +83,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         peri: impl Peripheral<P = T> + 'd,
         scl: impl Peripheral<P = impl SclPin<T>> + 'd,
         sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
-        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+        _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
+            + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
+            + 'd,
         tx_dma: impl Peripheral<P = TXDMA> + 'd,
         rx_dma: impl Peripheral<P = RXDMA> + 'd,
         freq: Hertz,
@@ -150,8 +131,8 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             reg.set_pe(true);
         });
 
-        T::Interrupt::unpend();
+        unsafe { T::EventInterrupt::enable() };
-        unsafe { T::Interrupt::enable() };
+        unsafe { T::ErrorInterrupt::enable() };
 
         Self {
             _peri: peri,
@@ -987,35 +968,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {
     }
 }
 
-#[cfg(feature = "time")]
-mod eh02 {
-    use super::*;
-
-    impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Read for I2c<'d, T> {
-        type Error = Error;
-
-        fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_read(address, buffer)
-        }
-    }
-
-    impl<'d, T: Instance> embedded_hal_02::blocking::i2c::Write for I2c<'d, T> {
-        type Error = Error;
-
-        fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
-            self.blocking_write(address, write)
-        }
-    }
-
-    impl<'d, T: Instance> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T> {
-        type Error = Error;
-
-        fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_write_read(address, write, read)
-        }
-    }
-}
-
 /// I2C Stop Configuration
 ///
 /// Peripheral options for generating the STOP condition
@@ -1140,83 +1092,6 @@ impl Timings {
     }
 }
 
-#[cfg(feature = "unstable-traits")]
-mod eh1 {
-    use super::*;
-
-    impl embedded_hal_1::i2c::Error for Error {
-        fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
-            match *self {
-                Self::Bus => embedded_hal_1::i2c::ErrorKind::Bus,
-                Self::Arbitration => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
-                Self::Nack => {
-                    embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Unknown)
-                }
-                Self::Timeout => embedded_hal_1::i2c::ErrorKind::Other,
-                Self::Crc => embedded_hal_1::i2c::ErrorKind::Other,
-                Self::Overrun => embedded_hal_1::i2c::ErrorKind::Overrun,
-                Self::ZeroLengthTransfer => embedded_hal_1::i2c::ErrorKind::Other,
-            }
-        }
-    }
-
-    impl<'d, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for I2c<'d, T, TXDMA, RXDMA> {
-        type Error = Error;
-    }
-
-    impl<'d, T: Instance> embedded_hal_1::i2c::I2c for I2c<'d, T, NoDma, NoDma> {
-        fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_read(address, read)
-        }
-
-        fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
-            self.blocking_write(address, write)
-        }
-
-        fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_write_read(address, write, read)
-        }
-
-        fn transaction(
-            &mut self,
-            _address: u8,
-            _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
-        ) -> Result<(), Self::Error> {
-            todo!();
-        }
-    }
-}
-
-#[cfg(all(feature = "unstable-traits", feature = "nightly", feature = "time"))]
-mod eha {
-    use super::super::{RxDma, TxDma};
-    use super::*;
-
-    impl<'d, T: Instance, TXDMA: TxDma<T>, RXDMA: RxDma<T>> embedded_hal_async::i2c::I2c for I2c<'d, T, TXDMA, RXDMA> {
-        async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
-            self.read(address, read).await
-        }
-
-        async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
-            self.write(address, write).await
-        }
-
-        async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-            self.write_read(address, write, read).await
-        }
-
-        async fn transaction(
-            &mut self,
-            address: u8,
-            operations: &mut [embedded_hal_1::i2c::Operation<'_>],
-        ) -> Result<(), Self::Error> {
-            let _ = address;
-            let _ = operations;
-            todo!()
-        }
-    }
-}
-
 impl<'d, T: Instance> SetConfig for I2c<'d, T> {
     type Config = Hertz;
     type ConfigError = ();

embassy-stm32/src/opamp.rs

@@ -31,9 +31,12 @@ impl From<OpAmpSpeed> for crate::pac::opamp::vals::OpampCsrOpahsm {
 
 /// OpAmp external outputs, wired to a GPIO pad.
 ///
+/// The GPIO output pad is held by this struct to ensure it cannot be used elsewhere.
+///
 /// This struct can also be used as an ADC input.
-pub struct OpAmpOutput<'d, T: Instance> {
+pub struct OpAmpOutput<'d, 'p, T: Instance, P: OutputPin<T>> {
     _inner: &'d OpAmp<'d, T>,
+    _output: &'p mut P,
 }
 
 /// OpAmp internal outputs, wired directly to ADC inputs.
@@ -51,12 +54,19 @@ pub struct OpAmp<'d, T: Instance> {
 impl<'d, T: Instance> OpAmp<'d, T> {
     /// Create a new driver instance.
     ///
-    /// Does not enable the opamp, but does set the speed mode on some families.
+    /// Enables the OpAmp and configures the speed, but
+    /// does not set any other configuration.
     pub fn new(opamp: impl Peripheral<P = T> + 'd, #[cfg(opamp_g4)] speed: OpAmpSpeed) -> Self {
         into_ref!(opamp);
 
+        #[cfg(opamp_f3)]
+        T::regs().opampcsr().modify(|w| {
+            w.set_opampen(true);
+        });
+
         #[cfg(opamp_g4)]
         T::regs().opamp_csr().modify(|w| {
+            w.set_opaen(true);
             w.set_opahsm(speed.into());
         });
 
@@ -64,23 +74,24 @@ impl<'d, T: Instance> OpAmp<'d, T> {
     }
 
     /// Configure the OpAmp as a buffer for the provided input pin,
-    /// outputting to the provided output pin, and enable the opamp.
+    /// outputting to the provided output pin.
     ///
     /// The input pin is configured for analogue mode but not consumed,
     /// so it may subsequently be used for ADC or comparator inputs.
     ///
     /// The output pin is held within the returned [`OpAmpOutput`] struct,
     /// preventing it being used elsewhere. The `OpAmpOutput` can then be
-    /// directly used as an ADC input. The opamp will be disabled when the
+    /// directly used as an ADC input.
-    /// [`OpAmpOutput`] is dropped.
+    pub fn buffer_ext<'a, 'b, IP, OP>(
-    pub fn buffer_ext(
+        &'a mut self,
-        &'d mut self,
+        in_pin: &IP,
-        in_pin: impl Peripheral<P = impl NonInvertingPin<T> + crate::gpio::sealed::Pin>,
+        out_pin: &'b mut OP,
-        out_pin: impl Peripheral<P = impl OutputPin<T> + crate::gpio::sealed::Pin> + 'd,
         gain: OpAmpGain,
-    ) -> OpAmpOutput<'d, T> {
+    ) -> OpAmpOutput<'a, 'b, T, OP>
-        into_ref!(in_pin);
+    where
-        into_ref!(out_pin);
+        IP: NonInvertingPin<T> + crate::gpio::sealed::Pin,
+        OP: OutputPin<T> + crate::gpio::sealed::Pin,
+    {
         in_pin.set_as_analog();
         out_pin.set_as_analog();
 
@@ -111,24 +122,24 @@ impl<'d, T: Instance> OpAmp<'d, T> {
             w.set_opaen(true);
         });
 
-        OpAmpOutput { _inner: self }
+        OpAmpOutput {
+            _inner: self,
+            _output: out_pin,
+        }
     }
 
     /// Configure the OpAmp as a buffer for the provided input pin,
-    /// with the output only used internally, and enable the opamp.
+    /// with the output only used internally.
     ///
     /// The input pin is configured for analogue mode but not consumed,
     /// so it may be subsequently used for ADC or comparator inputs.
     ///
     /// The returned `OpAmpInternalOutput` struct may be used as an ADC input.
-    /// The opamp output will be disabled when it is dropped.
     #[cfg(opamp_g4)]
-    pub fn buffer_int(
+    pub fn buffer_int<'a, P>(&'a mut self, pin: &P, gain: OpAmpGain) -> OpAmpInternalOutput<'a, T>
-        &'d mut self,
+    where
-        pin: impl Peripheral<P = impl NonInvertingPin<T> + crate::gpio::sealed::Pin>,
+        P: NonInvertingPin<T> + crate::gpio::sealed::Pin,
-        gain: OpAmpGain,
+    {
-    ) -> OpAmpInternalOutput<'d, T> {
-        into_ref!(pin);
         pin.set_as_analog();
 
         let (vm_sel, pga_gain) = match gain {
@@ -152,21 +163,7 @@ impl<'d, T: Instance> OpAmp<'d, T> {
     }
 }
 
-impl<'d, T: Instance> Drop for OpAmpOutput<'d, T> {
+impl<'d, T: Instance> Drop for OpAmp<'d, T> {
-    fn drop(&mut self) {
-        #[cfg(opamp_f3)]
-        T::regs().opampcsr().modify(|w| {
-            w.set_opampen(false);
-        });
-
-        #[cfg(opamp_g4)]
-        T::regs().opamp_csr().modify(|w| {
-            w.set_opaen(false);
-        });
-    }
-}
-
-impl<'d, T: Instance> Drop for OpAmpInternalOutput<'d, T> {
     fn drop(&mut self) {
         #[cfg(opamp_f3)]
         T::regs().opampcsr().modify(|w| {
@@ -206,16 +203,16 @@ macro_rules! impl_opamp_external_output {
     ($inst:ident, $adc:ident, $ch:expr) => {
         foreach_adc!(
             ($adc, $common_inst:ident, $adc_clock:ident) => {
-                impl<'d> crate::adc::sealed::AdcPin<crate::peripherals::$adc>
+                impl<'d, 'p, P: OutputPin<crate::peripherals::$inst>> crate::adc::sealed::AdcPin<crate::peripherals::$adc>
-                    for OpAmpOutput<'d, crate::peripherals::$inst>
+                    for OpAmpOutput<'d, 'p, crate::peripherals::$inst, P>
                 {
                     fn channel(&self) -> u8 {
                         $ch
                     }
                 }
 
-                impl<'d> crate::adc::AdcPin<crate::peripherals::$adc>
+                impl<'d, 'p, P: OutputPin<crate::peripherals::$inst>> crate::adc::AdcPin<crate::peripherals::$adc>
-                    for OpAmpOutput<'d, crate::peripherals::$inst>
+                    for OpAmpOutput<'d, 'p, crate::peripherals::$inst, P>
                 {
                 }
             };

embassy-stm32/src/rcc/h.rs

@@ -168,12 +168,7 @@ impl Default for Config {
             apb4_pre: APBPrescaler::DIV1,
 
             per_clock_source: PerClockSource::HSI,
-
+            adc_clock_source: AdcClockSource::from_bits(0), // PLL2_P on H7, HCLK on H5
-            #[cfg(stm32h5)]
-            adc_clock_source: AdcClockSource::HCLK1,
-            #[cfg(stm32h7)]
-            adc_clock_source: AdcClockSource::PER,
-
             timer_prescaler: TimerPrescaler::DefaultX2,
             voltage_scale: VoltageScale::Scale0,
             ls: Default::default(),

embassy-stm32/src/sai/mod.rs

@@ -207,40 +207,27 @@ impl Protocol {
 }
 
 #[derive(Copy, Clone, PartialEq)]
-pub enum SyncInput {
+pub enum SyncEnable {
-    /// Not synced to any other SAI unit.
+    Asynchronous,
-    None,
     /// Syncs with the other A/B sub-block within the SAI unit
     Internal,
-    /// Syncs with a sub-block in the other SAI unit
+    /// Syncs with a sub-block in the other SAI unit - use set_sync_output() and set_sync_input()
-    #[cfg(sai_v4)]
+    #[cfg(any(sai_v4))]
-    External(SyncInputInstance),
+    External,
 }
 
-impl SyncInput {
+impl SyncEnable {
+    #[cfg(any(sai_v1, sai_v2, sai_v3, sai_v4))]
     pub const fn syncen(&self) -> vals::Syncen {
         match self {
-            SyncInput::None => vals::Syncen::ASYNCHRONOUS,
+            SyncEnable::Asynchronous => vals::Syncen::ASYNCHRONOUS,
-            SyncInput::Internal => vals::Syncen::INTERNAL,
+            SyncEnable::Internal => vals::Syncen::INTERNAL,
             #[cfg(any(sai_v4))]
-            SyncInput::External(_) => vals::Syncen::EXTERNAL,
+            SyncEnable::External => vals::Syncen::EXTERNAL,
         }
     }
 }
 
-#[cfg(sai_v4)]
-#[derive(Copy, Clone, PartialEq)]
-pub enum SyncInputInstance {
-    #[cfg(peri_sai1)]
-    Sai1 = 0,
-    #[cfg(peri_sai2)]
-    Sai2 = 1,
-    #[cfg(peri_sai3)]
-    Sai3 = 2,
-    #[cfg(peri_sai4)]
-    Sai4 = 3,
-}
-
 #[derive(Copy, Clone, PartialEq)]
 pub enum StereoMono {
     Stereo,
@@ -441,8 +428,8 @@ impl MasterClockDivider {
 pub struct Config {
     pub mode: Mode,
     pub tx_rx: TxRx,
-    pub sync_input: SyncInput,
+    pub sync_enable: SyncEnable,
-    pub sync_output: bool,
+    pub is_sync_output: bool,
     pub protocol: Protocol,
     pub slot_size: SlotSize,
     pub slot_count: word::U4,
@@ -472,8 +459,8 @@ impl Default for Config {
         Self {
             mode: Mode::Master,
             tx_rx: TxRx::Transmitter,
-            sync_output: false,
+            is_sync_output: false,
-            sync_input: SyncInput::None,
+            sync_enable: SyncEnable::Asynchronous,
             protocol: Protocol::Free,
             slot_size: SlotSize::DataSize,
             slot_count: word::U4(2),
@@ -621,18 +608,18 @@ impl<'d, T: Instance> Sai<'d, T> {
 
 fn update_synchronous_config(config: &mut Config) {
     config.mode = Mode::Slave;
-    config.sync_output = false;
+    config.is_sync_output = false;
 
     #[cfg(any(sai_v1, sai_v2, sai_v3))]
     {
-        config.sync_input = SyncInput::Internal;
+        config.sync_enable = SyncEnable::Internal;
     }
 
     #[cfg(any(sai_v4))]
     {
         //this must either be Internal or External
-        //The asynchronous sub-block on the same SAI needs to enable sync_output
+        //The asynchronous sub-block on the same SAI needs to enable is_sync_output
-        assert!(config.sync_input != SyncInput::None);
+        assert!(config.sync_enable != SyncEnable::Asynchronous);
     }
 }
 
@@ -879,13 +866,20 @@ impl<'d, T: Instance, C: Channel, W: word::Word> SubBlock<'d, T, C, W> {
 
         #[cfg(any(sai_v4))]
         {
-            if let SyncInput::External(i) = config.sync_input {
+            // Not totally clear from the datasheet if this is right
-                T::REGS.gcr().modify(|w| {
+            // This is only used if using SyncEnable::External on the other SAI unit
-                    w.set_syncin(i as u8);
+            // Syncing from SAIX subblock A to subblock B does not require this
-                });
+            // Only syncing from SAI1 subblock A/B to SAI2 subblock A/B
-            }
+            let value: u8 = if T::REGS.as_ptr() == stm32_metapac::SAI1.as_ptr() {
+                1 //this is SAI1, so sync with SAI2
+            } else {
+                0 //this is SAI2, so sync with SAI1
+            };
+            T::REGS.gcr().modify(|w| {
+                w.set_syncin(value);
+            });
 
-            if config.sync_output {
+            if config.is_sync_output {
                 let syncout: u8 = match sub_block {
                     WhichSubBlock::A => 0b01,
                     WhichSubBlock::B => 0b10,
@@ -909,7 +903,7 @@ impl<'d, T: Instance, C: Channel, W: word::Word> SubBlock<'d, T, C, W> {
                 w.set_ds(config.data_size.ds());
                 w.set_lsbfirst(config.bit_order.lsbfirst());
                 w.set_ckstr(config.clock_strobe.ckstr());
-                w.set_syncen(config.sync_input.syncen());
+                w.set_syncen(config.sync_enable.syncen());
                 w.set_mono(config.stereo_mono.mono());
                 w.set_outdriv(config.output_drive.outdriv());
                 w.set_mckdiv(config.master_clock_divider.mckdiv());

embassy-sync/README.md

@@ -5,7 +5,6 @@ An [Embassy](https://embassy.dev) project.
 Synchronization primitives and data structures with async support:
 
 - [`Channel`](channel::Channel) - A Multiple Producer Multiple Consumer (MPMC) channel. Each message is only received by a single consumer.
-- [`PriorityChannel`](channel::priority::PriorityChannel) - A Multiple Producer Multiple Consumer (MPMC) channel. Each message is only received by a single consumer. Higher priority items are sifted to the front of the channel.
 - [`PubSubChannel`](pubsub::PubSubChannel) - A broadcast channel (publish-subscribe) channel. Each message is received by all consumers.
 - [`Signal`](signal::Signal) - Signalling latest value to a single consumer.
 - [`Mutex`](mutex::Mutex) - Mutex for synchronizing state between asynchronous tasks.

embassy-sync/src/channel.rs

@@ -76,7 +76,7 @@ where
 
 /// Send-only access to a [`Channel`] without knowing channel size.
 pub struct DynamicSender<'ch, T> {
-    pub(crate) channel: &'ch dyn DynamicChannel<T>,
+    channel: &'ch dyn DynamicChannel<T>,
 }
 
 impl<'ch, T> Clone for DynamicSender<'ch, T> {
@@ -176,7 +176,7 @@ where
 
 /// Receive-only access to a [`Channel`] without knowing channel size.
 pub struct DynamicReceiver<'ch, T> {
-    pub(crate) channel: &'ch dyn DynamicChannel<T>,
+    channel: &'ch dyn DynamicChannel<T>,
 }
 
 impl<'ch, T> Clone for DynamicReceiver<'ch, T> {
@@ -321,7 +321,7 @@ impl<'ch, T> Future for DynamicSendFuture<'ch, T> {
 
 impl<'ch, T> Unpin for DynamicSendFuture<'ch, T> {}
 
-pub(crate) trait DynamicChannel<T> {
+trait DynamicChannel<T> {
     fn try_send_with_context(&self, message: T, cx: Option<&mut Context<'_>>) -> Result<(), TrySendError<T>>;
 
     fn try_receive_with_context(&self, cx: Option<&mut Context<'_>>) -> Result<T, TryReceiveError>;

embassy-sync/src/lib.rs

@@ -15,7 +15,6 @@ pub mod blocking_mutex;
 pub mod channel;
 pub mod mutex;
 pub mod pipe;
-pub mod priority_channel;
 pub mod pubsub;
 pub mod signal;
 pub mod waitqueue;

embassy-sync/src/priority_channel.rs

@@ -1,613 +0,0 @@
-//! A queue for sending values between asynchronous tasks.
-//!
-//! Similar to a [`Channel`](crate::channel::Channel), however [`PriorityChannel`] sifts higher priority items to the front of the queue.
-//! Priority is determined by the `Ord` trait. Priority behavior is determined by the [`Kind`](heapless::binary_heap::Kind) parameter of the channel.
-
-use core::cell::RefCell;
-use core::future::Future;
-use core::pin::Pin;
-use core::task::{Context, Poll};
-
-pub use heapless::binary_heap::{Kind, Max, Min};
-use heapless::BinaryHeap;
-
-use crate::blocking_mutex::raw::RawMutex;
-use crate::blocking_mutex::Mutex;
-use crate::channel::{DynamicChannel, DynamicReceiver, DynamicSender, TryReceiveError, TrySendError};
-use crate::waitqueue::WakerRegistration;
-
-/// Send-only access to a [`PriorityChannel`].
-pub struct Sender<'ch, M, T, K, const N: usize>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    channel: &'ch PriorityChannel<M, T, K, N>,
-}
-
-impl<'ch, M, T, K, const N: usize> Clone for Sender<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    fn clone(&self) -> Self {
-        Sender { channel: self.channel }
-    }
-}
-
-impl<'ch, M, T, K, const N: usize> Copy for Sender<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-}
-
-impl<'ch, M, T, K, const N: usize> Sender<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    /// Sends a value.
-    ///
-    /// See [`PriorityChannel::send()`]
-    pub fn send(&self, message: T) -> SendFuture<'ch, M, T, K, N> {
-        self.channel.send(message)
-    }
-
-    /// Attempt to immediately send a message.
-    ///
-    /// See [`PriorityChannel::send()`]
-    pub fn try_send(&self, message: T) -> Result<(), TrySendError<T>> {
-        self.channel.try_send(message)
-    }
-
-    /// Allows a poll_fn to poll until the channel is ready to send
-    ///
-    /// See [`PriorityChannel::poll_ready_to_send()`]
-    pub fn poll_ready_to_send(&self, cx: &mut Context<'_>) -> Poll<()> {
-        self.channel.poll_ready_to_send(cx)
-    }
-}
-
-impl<'ch, M, T, K, const N: usize> From<Sender<'ch, M, T, K, N>> for DynamicSender<'ch, T>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    fn from(s: Sender<'ch, M, T, K, N>) -> Self {
-        Self { channel: s.channel }
-    }
-}
-
-/// Receive-only access to a [`PriorityChannel`].
-pub struct Receiver<'ch, M, T, K, const N: usize>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    channel: &'ch PriorityChannel<M, T, K, N>,
-}
-
-impl<'ch, M, T, K, const N: usize> Clone for Receiver<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    fn clone(&self) -> Self {
-        Receiver { channel: self.channel }
-    }
-}
-
-impl<'ch, M, T, K, const N: usize> Copy for Receiver<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-}
-
-impl<'ch, M, T, K, const N: usize> Receiver<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    /// Receive the next value.
-    ///
-    /// See [`PriorityChannel::receive()`].
-    pub fn receive(&self) -> ReceiveFuture<'_, M, T, K, N> {
-        self.channel.receive()
-    }
-
-    /// Attempt to immediately receive the next value.
-    ///
-    /// See [`PriorityChannel::try_receive()`]
-    pub fn try_receive(&self) -> Result<T, TryReceiveError> {
-        self.channel.try_receive()
-    }
-
-    /// Allows a poll_fn to poll until the channel is ready to receive
-    ///
-    /// See [`PriorityChannel::poll_ready_to_receive()`]
-    pub fn poll_ready_to_receive(&self, cx: &mut Context<'_>) -> Poll<()> {
-        self.channel.poll_ready_to_receive(cx)
-    }
-
-    /// Poll the channel for the next item
-    ///
-    /// See [`PriorityChannel::poll_receive()`]
-    pub fn poll_receive(&self, cx: &mut Context<'_>) -> Poll<T> {
-        self.channel.poll_receive(cx)
-    }
-}
-
-impl<'ch, M, T, K, const N: usize> From<Receiver<'ch, M, T, K, N>> for DynamicReceiver<'ch, T>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    fn from(s: Receiver<'ch, M, T, K, N>) -> Self {
-        Self { channel: s.channel }
-    }
-}
-
-/// Future returned by [`PriorityChannel::receive`] and  [`Receiver::receive`].
-#[must_use = "futures do nothing unless you `.await` or poll them"]
-pub struct ReceiveFuture<'ch, M, T, K, const N: usize>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    channel: &'ch PriorityChannel<M, T, K, N>,
-}
-
-impl<'ch, M, T, K, const N: usize> Future for ReceiveFuture<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    type Output = T;
-
-    fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<T> {
-        self.channel.poll_receive(cx)
-    }
-}
-
-/// Future returned by [`PriorityChannel::send`] and  [`Sender::send`].
-#[must_use = "futures do nothing unless you `.await` or poll them"]
-pub struct SendFuture<'ch, M, T, K, const N: usize>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    channel: &'ch PriorityChannel<M, T, K, N>,
-    message: Option<T>,
-}
-
-impl<'ch, M, T, K, const N: usize> Future for SendFuture<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    type Output = ();
-
-    fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
-        match self.message.take() {
-            Some(m) => match self.channel.try_send_with_context(m, Some(cx)) {
-                Ok(..) => Poll::Ready(()),
-                Err(TrySendError::Full(m)) => {
-                    self.message = Some(m);
-                    Poll::Pending
-                }
-            },
-            None => panic!("Message cannot be None"),
-        }
-    }
-}
-
-impl<'ch, M, T, K, const N: usize> Unpin for SendFuture<'ch, M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-}
-
-struct ChannelState<T, K, const N: usize> {
-    queue: BinaryHeap<T, K, N>,
-    receiver_waker: WakerRegistration,
-    senders_waker: WakerRegistration,
-}
-
-impl<T, K, const N: usize> ChannelState<T, K, N>
-where
-    T: Ord,
-    K: Kind,
-{
-    const fn new() -> Self {
-        ChannelState {
-            queue: BinaryHeap::new(),
-            receiver_waker: WakerRegistration::new(),
-            senders_waker: WakerRegistration::new(),
-        }
-    }
-
-    fn try_receive(&mut self) -> Result<T, TryReceiveError> {
-        self.try_receive_with_context(None)
-    }
-
-    fn try_receive_with_context(&mut self, cx: Option<&mut Context<'_>>) -> Result<T, TryReceiveError> {
-        if self.queue.len() == self.queue.capacity() {
-            self.senders_waker.wake();
-        }
-
-        if let Some(message) = self.queue.pop() {
-            Ok(message)
-        } else {
-            if let Some(cx) = cx {
-                self.receiver_waker.register(cx.waker());
-            }
-            Err(TryReceiveError::Empty)
-        }
-    }
-
-    fn poll_receive(&mut self, cx: &mut Context<'_>) -> Poll<T> {
-        if self.queue.len() == self.queue.capacity() {
-            self.senders_waker.wake();
-        }
-
-        if let Some(message) = self.queue.pop() {
-            Poll::Ready(message)
-        } else {
-            self.receiver_waker.register(cx.waker());
-            Poll::Pending
-        }
-    }
-
-    fn poll_ready_to_receive(&mut self, cx: &mut Context<'_>) -> Poll<()> {
-        self.receiver_waker.register(cx.waker());
-
-        if !self.queue.is_empty() {
-            Poll::Ready(())
-        } else {
-            Poll::Pending
-        }
-    }
-
-    fn try_send(&mut self, message: T) -> Result<(), TrySendError<T>> {
-        self.try_send_with_context(message, None)
-    }
-
-    fn try_send_with_context(&mut self, message: T, cx: Option<&mut Context<'_>>) -> Result<(), TrySendError<T>> {
-        match self.queue.push(message) {
-            Ok(()) => {
-                self.receiver_waker.wake();
-                Ok(())
-            }
-            Err(message) => {
-                if let Some(cx) = cx {
-                    self.senders_waker.register(cx.waker());
-                }
-                Err(TrySendError::Full(message))
-            }
-        }
-    }
-
-    fn poll_ready_to_send(&mut self, cx: &mut Context<'_>) -> Poll<()> {
-        self.senders_waker.register(cx.waker());
-
-        if !self.queue.len() == self.queue.capacity() {
-            Poll::Ready(())
-        } else {
-            Poll::Pending
-        }
-    }
-}
-
-/// A bounded channel for communicating between asynchronous tasks
-/// with backpressure.
-///
-/// The channel will buffer up to the provided number of messages.  Once the
-/// buffer is full, attempts to `send` new messages will wait until a message is
-/// received from the channel.
-///
-/// Sent data may be reordered based on their priorty within the channel.
-/// For example, in a [`Max`](heapless::binary_heap::Max) [`PriorityChannel`]
-/// containing `u32`'s, data sent in the following order `[1, 2, 3]` will be recieved as `[3, 2, 1]`.
-pub struct PriorityChannel<M, T, K, const N: usize>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    inner: Mutex<M, RefCell<ChannelState<T, K, N>>>,
-}
-
-impl<M, T, K, const N: usize> PriorityChannel<M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    /// Establish a new bounded channel. For example, to create one with a NoopMutex:
-    ///
-    /// ```
-    /// use embassy_sync::priority_channel::{PriorityChannel, Max};
-    /// use embassy_sync::blocking_mutex::raw::NoopRawMutex;
-    ///
-    /// // Declare a bounded channel of 3 u32s.
-    /// let mut channel = PriorityChannel::<NoopRawMutex, u32, Max, 3>::new();
-    /// ```
-    pub const fn new() -> Self {
-        Self {
-            inner: Mutex::new(RefCell::new(ChannelState::new())),
-        }
-    }
-
-    fn lock<R>(&self, f: impl FnOnce(&mut ChannelState<T, K, N>) -> R) -> R {
-        self.inner.lock(|rc| f(&mut *unwrap!(rc.try_borrow_mut())))
-    }
-
-    fn try_receive_with_context(&self, cx: Option<&mut Context<'_>>) -> Result<T, TryReceiveError> {
-        self.lock(|c| c.try_receive_with_context(cx))
-    }
-
-    /// Poll the channel for the next message
-    pub fn poll_receive(&self, cx: &mut Context<'_>) -> Poll<T> {
-        self.lock(|c| c.poll_receive(cx))
-    }
-
-    fn try_send_with_context(&self, m: T, cx: Option<&mut Context<'_>>) -> Result<(), TrySendError<T>> {
-        self.lock(|c| c.try_send_with_context(m, cx))
-    }
-
-    /// Allows a poll_fn to poll until the channel is ready to receive
-    pub fn poll_ready_to_receive(&self, cx: &mut Context<'_>) -> Poll<()> {
-        self.lock(|c| c.poll_ready_to_receive(cx))
-    }
-
-    /// Allows a poll_fn to poll until the channel is ready to send
-    pub fn poll_ready_to_send(&self, cx: &mut Context<'_>) -> Poll<()> {
-        self.lock(|c| c.poll_ready_to_send(cx))
-    }
-
-    /// Get a sender for this channel.
-    pub fn sender(&self) -> Sender<'_, M, T, K, N> {
-        Sender { channel: self }
-    }
-
-    /// Get a receiver for this channel.
-    pub fn receiver(&self) -> Receiver<'_, M, T, K, N> {
-        Receiver { channel: self }
-    }
-
-    /// Send a value, waiting until there is capacity.
-    ///
-    /// Sending completes when the value has been pushed to the channel's queue.
-    /// This doesn't mean the value has been received yet.
-    pub fn send(&self, message: T) -> SendFuture<'_, M, T, K, N> {
-        SendFuture {
-            channel: self,
-            message: Some(message),
-        }
-    }
-
-    /// Attempt to immediately send a message.
-    ///
-    /// This method differs from [`send`](PriorityChannel::send) by returning immediately if the channel's
-    /// buffer is full, instead of waiting.
-    ///
-    /// # Errors
-    ///
-    /// If the channel capacity has been reached, i.e., the channel has `n`
-    /// buffered values where `n` is the argument passed to [`PriorityChannel`], then an
-    /// error is returned.
-    pub fn try_send(&self, message: T) -> Result<(), TrySendError<T>> {
-        self.lock(|c| c.try_send(message))
-    }
-
-    /// Receive the next value.
-    ///
-    /// If there are no messages in the channel's buffer, this method will
-    /// wait until a message is sent.
-    pub fn receive(&self) -> ReceiveFuture<'_, M, T, K, N> {
-        ReceiveFuture { channel: self }
-    }
-
-    /// Attempt to immediately receive a message.
-    ///
-    /// This method will either receive a message from the channel immediately or return an error
-    /// if the channel is empty.
-    pub fn try_receive(&self) -> Result<T, TryReceiveError> {
-        self.lock(|c| c.try_receive())
-    }
-}
-
-/// Implements the DynamicChannel to allow creating types that are unaware of the queue size with the
-/// tradeoff cost of dynamic dispatch.
-impl<M, T, K, const N: usize> DynamicChannel<T> for PriorityChannel<M, T, K, N>
-where
-    T: Ord,
-    K: Kind,
-    M: RawMutex,
-{
-    fn try_send_with_context(&self, m: T, cx: Option<&mut Context<'_>>) -> Result<(), TrySendError<T>> {
-        PriorityChannel::try_send_with_context(self, m, cx)
-    }
-
-    fn try_receive_with_context(&self, cx: Option<&mut Context<'_>>) -> Result<T, TryReceiveError> {
-        PriorityChannel::try_receive_with_context(self, cx)
-    }
-
-    fn poll_ready_to_send(&self, cx: &mut Context<'_>) -> Poll<()> {
-        PriorityChannel::poll_ready_to_send(self, cx)
-    }
-
-    fn poll_ready_to_receive(&self, cx: &mut Context<'_>) -> Poll<()> {
-        PriorityChannel::poll_ready_to_receive(self, cx)
-    }
-
-    fn poll_receive(&self, cx: &mut Context<'_>) -> Poll<T> {
-        PriorityChannel::poll_receive(self, cx)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use core::time::Duration;
-
-    use futures_executor::ThreadPool;
-    use futures_timer::Delay;
-    use futures_util::task::SpawnExt;
-    use heapless::binary_heap::{Kind, Max};
-    use static_cell::StaticCell;
-
-    use super::*;
-    use crate::blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex};
-
-    fn capacity<T, K, const N: usize>(c: &ChannelState<T, K, N>) -> usize
-    where
-        T: Ord,
-        K: Kind,
-    {
-        c.queue.capacity() - c.queue.len()
-    }
-
-    #[test]
-    fn sending_once() {
-        let mut c = ChannelState::<u32, Max, 3>::new();
-        assert!(c.try_send(1).is_ok());
-        assert_eq!(capacity(&c), 2);
-    }
-
-    #[test]
-    fn sending_when_full() {
-        let mut c = ChannelState::<u32, Max, 3>::new();
-        let _ = c.try_send(1);
-        let _ = c.try_send(1);
-        let _ = c.try_send(1);
-        match c.try_send(2) {
-            Err(TrySendError::Full(2)) => assert!(true),
-            _ => assert!(false),
-        }
-        assert_eq!(capacity(&c), 0);
-    }
-
-    #[test]
-    fn send_priority() {
-        // Prio channel with kind `Max` sifts larger numbers to the front of the queue
-        let mut c = ChannelState::<u32, Max, 3>::new();
-        assert!(c.try_send(1).is_ok());
-        assert!(c.try_send(2).is_ok());
-        assert!(c.try_send(3).is_ok());
-        assert_eq!(c.try_receive().unwrap(), 3);
-        assert_eq!(c.try_receive().unwrap(), 2);
-        assert_eq!(c.try_receive().unwrap(), 1);
-    }
-
-    #[test]
-    fn receiving_once_with_one_send() {
-        let mut c = ChannelState::<u32, Max, 3>::new();
-        assert!(c.try_send(1).is_ok());
-        assert_eq!(c.try_receive().unwrap(), 1);
-        assert_eq!(capacity(&c), 3);
-    }
-
-    #[test]
-    fn receiving_when_empty() {
-        let mut c = ChannelState::<u32, Max, 3>::new();
-        match c.try_receive() {
-            Err(TryReceiveError::Empty) => assert!(true),
-            _ => assert!(false),
-        }
-        assert_eq!(capacity(&c), 3);
-    }
-
-    #[test]
-    fn simple_send_and_receive() {
-        let c = PriorityChannel::<NoopRawMutex, u32, Max, 3>::new();
-        assert!(c.try_send(1).is_ok());
-        assert_eq!(c.try_receive().unwrap(), 1);
-    }
-
-    #[test]
-    fn cloning() {
-        let c = PriorityChannel::<NoopRawMutex, u32, Max, 3>::new();
-        let r1 = c.receiver();
-        let s1 = c.sender();
-
-        let _ = r1.clone();
-        let _ = s1.clone();
-    }
-
-    #[test]
-    fn dynamic_dispatch() {
-        let c = PriorityChannel::<NoopRawMutex, u32, Max, 3>::new();
-        let s: DynamicSender<'_, u32> = c.sender().into();
-        let r: DynamicReceiver<'_, u32> = c.receiver().into();
-
-        assert!(s.try_send(1).is_ok());
-        assert_eq!(r.try_receive().unwrap(), 1);
-    }
-
-    #[futures_test::test]
-    async fn receiver_receives_given_try_send_async() {
-        let executor = ThreadPool::new().unwrap();
-
-        static CHANNEL: StaticCell<PriorityChannel<CriticalSectionRawMutex, u32, Max, 3>> = StaticCell::new();
-        let c = &*CHANNEL.init(PriorityChannel::new());
-        let c2 = c;
-        assert!(executor
-            .spawn(async move {
-                assert!(c2.try_send(1).is_ok());
-            })
-            .is_ok());
-        assert_eq!(c.receive().await, 1);
-    }
-
-    #[futures_test::test]
-    async fn sender_send_completes_if_capacity() {
-        let c = PriorityChannel::<CriticalSectionRawMutex, u32, Max, 1>::new();
-        c.send(1).await;
-        assert_eq!(c.receive().await, 1);
-    }
-
-    #[futures_test::test]
-    async fn senders_sends_wait_until_capacity() {
-        let executor = ThreadPool::new().unwrap();
-
-        static CHANNEL: StaticCell<PriorityChannel<CriticalSectionRawMutex, u32, Max, 1>> = StaticCell::new();
-        let c = &*CHANNEL.init(PriorityChannel::new());
-        assert!(c.try_send(1).is_ok());
-
-        let c2 = c;
-        let send_task_1 = executor.spawn_with_handle(async move { c2.send(2).await });
-        let c2 = c;
-        let send_task_2 = executor.spawn_with_handle(async move { c2.send(3).await });
-        // Wish I could think of a means of determining that the async send is waiting instead.
-        // However, I've used the debugger to observe that the send does indeed wait.
-        Delay::new(Duration::from_millis(500)).await;
-        assert_eq!(c.receive().await, 1);
-        assert!(executor
-            .spawn(async move {
-                loop {
-                    c.receive().await;
-                }
-            })
-            .is_ok());
-        send_task_1.unwrap().await;
-        send_task_2.unwrap().await;
-    }
-}

examples/boot/application/rp/memory.x

@@ -5,19 +5,7 @@ MEMORY
   BOOTLOADER_STATE                  : ORIGIN = 0x10006000, LENGTH = 4K
   FLASH                             : ORIGIN = 0x10007000, LENGTH = 512K
   DFU                               : ORIGIN = 0x10087000, LENGTH = 516K
-
+  RAM                               : ORIGIN = 0x20000000, LENGTH = 256K
-  /* Pick one of the two options for RAM layout     */
-
-  /* OPTION A: Use all RAM banks as one big block   */
-  /* Reasonable, unless you are doing something     */
-  /* really particular with DMA or other concurrent */
-  /* access that would benefit from striping        */
-  RAM   : ORIGIN = 0x20000000, LENGTH = 264K
-
-  /* OPTION B: Keep the unstriped sections separate */
-  /* RAM: ORIGIN = 0x20000000, LENGTH = 256K        */
-  /* SCRATCH_A: ORIGIN = 0x20040000, LENGTH = 4K    */
-  /* SCRATCH_B: ORIGIN = 0x20041000, LENGTH = 4K    */
 }
 
 __bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);

examples/boot/bootloader/rp/memory.x

@@ -6,19 +6,7 @@ MEMORY
   BOOTLOADER_STATE                  : ORIGIN = 0x10006000, LENGTH = 4K
   ACTIVE                            : ORIGIN = 0x10007000, LENGTH = 512K
   DFU                               : ORIGIN = 0x10087000, LENGTH = 516K
-
+  RAM                               : ORIGIN = 0x20000000, LENGTH = 256K
-  /* Pick one of the two options for RAM layout     */
-
-  /* OPTION A: Use all RAM banks as one big block   */
-  /* Reasonable, unless you are doing something     */
-  /* really particular with DMA or other concurrent */
-  /* access that would benefit from striping        */
-  RAM   : ORIGIN = 0x20000000, LENGTH = 264K
-
-  /* OPTION B: Keep the unstriped sections separate */
-  /* RAM: ORIGIN = 0x20000000, LENGTH = 256K        */
-  /* SCRATCH_A: ORIGIN = 0x20040000, LENGTH = 4K    */
-  /* SCRATCH_B: ORIGIN = 0x20041000, LENGTH = 4K    */
 }
 
 __bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);

examples/rp/memory.x

@@ -1,17 +1,5 @@
 MEMORY {
     BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
     FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
-
+    RAM   : ORIGIN = 0x20000000, LENGTH = 256K
-    /* Pick one of the two options for RAM layout     */
+}
-
-    /* OPTION A: Use all RAM banks as one big block   */
-    /* Reasonable, unless you are doing something     */
-    /* really particular with DMA or other concurrent */
-    /* access that would benefit from striping        */
-    RAM   : ORIGIN = 0x20000000, LENGTH = 264K
-
-    /* OPTION B: Keep the unstriped sections separate */
-    /* RAM: ORIGIN = 0x20000000, LENGTH = 256K        */
-    /* SCRATCH_A: ORIGIN = 0x20040000, LENGTH = 4K    */
-    /* SCRATCH_B: ORIGIN = 0x20041000, LENGTH = 4K    */
-}

examples/stm32f334/src/bin/opamp.rs

@@ -39,7 +39,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     let mut vrefint = adc.enable_vref(&mut Delay);
     let mut temperature = adc.enable_temperature();
-    let mut buffer = opamp.buffer_ext(&mut p.PA7, &mut p.PA6, OpAmpGain::Mul1);
+    let mut buffer = opamp.buffer_ext(&p.PA7, &mut p.PA6, OpAmpGain::Mul1);
 
     loop {
         let vref = adc.read(&mut vrefint).await;

examples/stm32f4/src/bin/i2c.rs

@@ -14,7 +14,8 @@ const ADDRESS: u8 = 0x5F;
 const WHOAMI: u8 = 0x0F;
 
 bind_interrupts!(struct Irqs {
-    I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+    I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+    I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
 });
 
 #[embassy_executor::main]

examples/stm32h5/src/bin/i2c.rs

@@ -13,7 +13,8 @@ const ADDRESS: u8 = 0x5F;
 const WHOAMI: u8 = 0x0F;
 
 bind_interrupts!(struct Irqs {
-    I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+    I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+    I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
 });
 
 #[embassy_executor::main]

examples/stm32h7/src/bin/camera.rs

@@ -19,7 +19,8 @@ const HEIGHT: usize = 100;
 static mut FRAME: [u32; WIDTH * HEIGHT / 2] = [0u32; WIDTH * HEIGHT / 2];
 
 bind_interrupts!(struct Irqs {
-    I2C1_EV => i2c::InterruptHandler<peripherals::I2C1>;
+    I2C1_EV => i2c::EventInterruptHandler<peripherals::I2C1>;
+    I2C1_ER => i2c::ErrorInterruptHandler<peripherals::I2C1>;
     DCMI => dcmi::InterruptHandler<peripherals::DCMI>;
 });
 

examples/stm32h7/src/bin/i2c.rs

@@ -13,7 +13,8 @@ const ADDRESS: u8 = 0x5F;
 const WHOAMI: u8 = 0x0F;
 
 bind_interrupts!(struct Irqs {
-    I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+    I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+    I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
 });
 
 #[embassy_executor::main]

examples/stm32l4/src/bin/i2c.rs

@@ -14,7 +14,8 @@ const ADDRESS: u8 = 0x5F;
 const WHOAMI: u8 = 0x0F;
 
 bind_interrupts!(struct Irqs {
-    I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+    I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+    I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
 });
 
 #[embassy_executor::main]

examples/stm32l4/src/bin/i2c_blocking_async.rs

@@ -16,7 +16,8 @@ const ADDRESS: u8 = 0x5F;
 const WHOAMI: u8 = 0x0F;
 
 bind_interrupts!(struct Irqs {
-    I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+    I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+    I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
 });
 
 #[embassy_executor::main]

examples/stm32l4/src/bin/i2c_dma.rs

@@ -13,7 +13,8 @@ const ADDRESS: u8 = 0x5F;
 const WHOAMI: u8 = 0x0F;
 
 bind_interrupts!(struct Irqs {
-    I2C2_EV => i2c::InterruptHandler<peripherals::I2C2>;
+    I2C2_EV => i2c::EventInterruptHandler<peripherals::I2C2>;
+    I2C2_ER => i2c::ErrorInterruptHandler<peripherals::I2C2>;
 });
 
 #[embassy_executor::main]

examples/stm32l4/src/bin/spe_adin1110_http_server.rs

@@ -40,7 +40,8 @@ use static_cell::make_static;
 use {embassy_stm32 as hal, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
-    I2C3_EV => i2c::InterruptHandler<peripherals::I2C3>;
+    I2C3_EV => i2c::EventInterruptHandler<peripherals::I2C3>;
+    I2C3_ER => i2c::ErrorInterruptHandler<peripherals::I2C3>;
     RNG => rng::InterruptHandler<peripherals::RNG>;
 });