Merge pull request #1601 from embassy-rs/net-release

Release embassy-net v0.1

.github/ci/build-stable.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+
+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

.github/ci/build.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+if [ -f /ci/secrets/teleprobe-token.txt ]; then 
+    echo Got teleprobe token!
+    export TELEPROBE_HOST=https://teleprobe.embassy.dev
+    export TELEPROBE_TOKEN=$(cat /ci/secrets/teleprobe-token.txt)
+fi
+
+hashtime restore /ci/cache/filetime.json || true
+hashtime save /ci/cache/filetime.json
+
+./ci.sh

.github/ci/doc.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+## on push branch=main
+
+set -euo pipefail
+
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+export BUILDER_THREADS=6
+export BUILDER_COMPRESS=true
+
+# force rustup to download the toolchain before starting building.
+# Otherwise, the docs builder is running multiple instances of cargo rustdoc concurrently.
+# They all see the toolchain is not installed and try to install it in parallel
+# which makes rustup very sad
+rustc --version > /dev/null
+
+docserver-builder -i ./embassy-stm32 -o crates/embassy-stm32/git.zup
+docserver-builder -i ./embassy-boot/boot -o crates/embassy-boot/git.zup
+docserver-builder -i ./embassy-boot/nrf -o crates/embassy-boot-nrf/git.zup
+docserver-builder -i ./embassy-boot/rp -o crates/embassy-boot-rp/git.zup
+docserver-builder -i ./embassy-boot/stm32 -o crates/embassy-boot-stm32/git.zup
+docserver-builder -i ./embassy-embedded-hal -o crates/embassy-embedded-hal/git.zup
+docserver-builder -i ./embassy-executor -o crates/embassy-executor/git.zup
+docserver-builder -i ./embassy-futures -o crates/embassy-futures/git.zup
+docserver-builder -i ./embassy-lora -o crates/embassy-lora/git.zup
+docserver-builder -i ./embassy-net -o crates/embassy-net/git.zup
+docserver-builder -i ./embassy-net-driver -o crates/embassy-net-driver/git.zup
+docserver-builder -i ./embassy-net-driver-channel -o crates/embassy-net-driver-channel/git.zup
+docserver-builder -i ./embassy-nrf -o crates/embassy-nrf/git.zup
+docserver-builder -i ./embassy-rp -o crates/embassy-rp/git.zup
+docserver-builder -i ./embassy-sync -o crates/embassy-sync/git.zup
+docserver-builder -i ./embassy-time -o crates/embassy-time/git.zup
+docserver-builder -i ./embassy-usb -o crates/embassy-usb/git.zup
+docserver-builder -i ./embassy-usb-driver -o crates/embassy-usb-driver/git.zup
+docserver-builder -i ./embassy-usb-logger -o crates/embassy-usb-logger/git.zup
+docserver-builder -i ./cyw43 -o crates/cyw43/git.zup
+docserver-builder -i ./cyw43-pio -o crates/cyw43-pio/git.zup
+docserver-builder -i ./embassy-net-w5500 -o crates/embassy-net-w5500/git.zup
+docserver-builder -i ./embassy-stm32-wpan -o crates/embassy-stm32-wpan/git.zup
+
+export KUBECONFIG=/ci/secrets/kubeconfig.yml
+POD=$(kubectl -n embassy get po -l app=docserver -o jsonpath={.items[0].metadata.name})
+kubectl cp crates $POD:/data

.github/ci/test.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+
+hashtime restore /ci/cache/filetime.json || true
+hashtime save /ci/cache/filetime.json
+
+cargo test --manifest-path ./embassy-sync/Cargo.toml 
+cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml 
+cargo test --manifest-path ./embassy-hal-common/Cargo.toml 
+cargo test --manifest-path ./embassy-time/Cargo.toml --features generic-queue
+
+cargo test --manifest-path ./embassy-boot/boot/Cargo.toml
+cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly
+cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly,ed25519-dalek
+cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly,ed25519-salty
+
+cargo test --manifest-path ./embassy-nrf/Cargo.toml --no-default-features --features nightly,nrf52840,time-driver-rtc1,gpiote
+
+cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --features nightly,time-driver
+
+cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f429vg,exti,time-driver-any,exti
+cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f732ze,exti,time-driver-any,exti
+cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f769ni,exti,time-driver-any,exti

.github/workflows/doc.yml

@@ -1,86 +0,0 @@
-name: Docs
-
-on:
-  push:
-    branches: [master]
-
-env:
-  BUILDER_THREADS: '1'
-
-jobs:
-  doc:
-    runs-on: ubuntu-latest
-
-    # Since stm32 crates take SO LONG to build, we split them
-    # into a separate job. This way it doesn't slow down updating
-    # the rest.
-    strategy:
-      matrix:
-        crates:
-          - stm32
-          - rest
-
-    # This will ensure at most one doc build job is running at a time
-    # (for stm32 and non-stm32 independently).
-    # If another job is already running, the new job will wait.
-    # If another job is already waiting, it'll be canceled.
-    # This means some commits will be skipped, but that's fine because
-    # we only care that the latest gets built.
-    concurrency: doc-${{ matrix.crates }}
-
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: true
-      - name: Install Rust targets
-        run: |
-          rustup target add x86_64-unknown-linux-gnu
-          rustup target add wasm32-unknown-unknown
-          rustup target add thumbv6m-none-eabi
-          rustup target add thumbv7m-none-eabi
-          rustup target add thumbv7em-none-eabi
-          rustup target add thumbv7em-none-eabihf
-          rustup target add thumbv8m.base-none-eabi
-          rustup target add thumbv8m.main-none-eabi
-          rustup target add thumbv8m.main-none-eabihf
-
-      - name: Install docserver
-        run: |
-          wget -q -O /usr/local/bin/builder "https://github.com/embassy-rs/docserver/releases/download/v0.3/builder"
-          chmod +x /usr/local/bin/builder
-
-      - name: build-stm32
-        if: ${{ matrix.crates=='stm32' }}
-        run: |
-          mkdir crates
-          builder ./embassy-stm32 crates/embassy-stm32/git.zup
-          builder ./stm32-metapac crates/stm32-metapac/git.zup
-
-      - name: build-rest
-        if: ${{ matrix.crates=='rest' }}
-        run: |
-          mkdir crates
-          builder ./embassy-boot/boot crates/embassy-boot/git.zup
-          builder ./embassy-boot/nrf crates/embassy-boot-nrf/git.zup
-          builder ./embassy-boot/stm32 crates/embassy-boot-stm32/git.zup
-          builder ./embassy-cortex-m crates/embassy-cortex-m/git.zup
-          builder ./embassy-embedded-hal crates/embassy-embedded-hal/git.zup
-          builder ./embassy-executor crates/embassy-executor/git.zup
-          builder ./embassy-futures crates/embassy-futures/git.zup
-          builder ./embassy-lora crates/embassy-lora/git.zup
-          builder ./embassy-net crates/embassy-net/git.zup
-          builder ./embassy-nrf crates/embassy-nrf/git.zup
-          builder ./embassy-rp crates/embassy-rp/git.zup
-          builder ./embassy-sync crates/embassy-sync/git.zup
-          builder ./embassy-time crates/embassy-time/git.zup
-          builder ./embassy-usb crates/embassy-usb/git.zup
-          builder ./embassy-usb-driver crates/embassy-usb-driver/git.zup
-
-      - name: upload
-        run: |
-          mkdir -p ~/.kube
-          echo "${{secrets.KUBECONFIG}}" > ~/.kube/config
-          POD=$(kubectl -n embassy get po -l app=docserver -o jsonpath={.items[0].metadata.name})
-          kubectl cp crates $POD:/data
-
-          

.github/workflows/rust.yml

@@ -1,72 +0,0 @@
-name: Rust
-
-on:
-  push:
-    branches: [staging, trying, master]
-  pull_request:
-    branches: [master]
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  all:
-    runs-on: ubuntu-latest
-    needs: [build-nightly, build-stable, test]
-    steps:
-      - name: Done
-        run: exit 0
-  build-nightly:
-    runs-on: ubuntu-latest
-    permissions:
-      id-token: write
-      contents: read
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: true
-      - name: Cache multiple paths
-        uses: actions/cache@v2
-        with:
-          path: |
-            ~/.cargo/bin/
-            ~/.cargo/registry/index/
-            ~/.cargo/registry/cache/
-            ~/.cargo/git/db/
-            target_ci
-          key: rust3-${{ runner.os }}-${{ hashFiles('rust-toolchain.toml') }}
-      - name: build
-        run: |
-          curl -L -o /usr/local/bin/cargo-batch https://github.com/embassy-rs/cargo-batch/releases/download/batch-0.3.0/cargo-batch
-          chmod +x /usr/local/bin/cargo-batch
-          ./ci.sh
-          rm -rf target_ci/*{,/release}/{build,deps,.fingerprint}/{lib,}{embassy,stm32}*
-  build-stable:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: true
-      - name: Cache multiple paths
-        uses: actions/cache@v2
-        with:
-          path: |
-            ~/.cargo/bin/
-            ~/.cargo/registry/index/
-            ~/.cargo/registry/cache/
-            ~/.cargo/git/db/
-            target_ci_stable
-          key: rust-stable-${{ runner.os }}-${{ hashFiles('rust-toolchain.toml') }}
-      - name: build
-        run: |
-          curl -L -o /usr/local/bin/cargo-batch https://github.com/embassy-rs/cargo-batch/releases/download/batch-0.3.0/cargo-batch
-          chmod +x /usr/local/bin/cargo-batch
-          ./ci_stable.sh
-          rm -rf target_ci_stable/*{,/release}/{build,deps,.fingerprint}/{lib,}{embassy,stm32}*
-
-  test:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: Test
-        run: cd embassy-sync && cargo test

.gitignore

@@ -4,8 +4,4 @@ target_ci_stable
 Cargo.lock
 third_party
 /Cargo.toml
-stm32-metapac-gen/out/
-stm32-metapac-backup
-stm32-metapac/src/chips
-stm32-metapac/src/peripherals
 out/

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "stm32-data"]
-	path = stm32-data
-	url = https://github.com/embassy-rs/stm32-data.git

.vscode/.gitignore

@@ -0,0 +1,4 @@
+*.cortex-debug.*.json
+launch.json
+tasks.json
+*.cfg

.vscode/extensions.json

@@ -0,0 +1,11 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"rust-lang.rust-analyzer",
+		"tamasfe.even-better-toml",
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": []
+}

.vscode/settings.json

@@ -1,28 +1,26 @@
 {
   "editor.formatOnSave": true,
-  "rust-analyzer.checkOnSave.allTargets": false,
-  "rust-analyzer.checkOnSave.noDefaultFeatures": true,
+  "[toml]": {
+    "editor.formatOnSave": false
+  },
+  "rust-analyzer.check.allTargets": false,
+  "rust-analyzer.check.noDefaultFeatures": true,
   "rust-analyzer.cargo.noDefaultFeatures": true,
-  "rust-analyzer.procMacro.enable": true,
-  "rust-analyzer.cargo.target": "thumbv7em-none-eabi",
+  "rust-analyzer.cargo.target": "thumbv7m-none-eabi",
+  //"rust-analyzer.cargo.target": "thumbv8m.main-none-eabihf",
   "rust-analyzer.cargo.features": [
-    // These are needed to prevent embassy-net from failing to build
-    //"embassy-net/medium-ethernet",
-    //"embassy-net/tcp",
-    //"embassy-net/pool-16",
-    //"time-tick-16mhz",
-    //"defmt-timestamp-uptime",
-    "nightly",
-    //"unstable-traits",
+    ///"nightly",
   ],
   "rust-analyzer.linkedProjects": [
     // Declare for the target you wish to develop
-    //"embassy-executor/Cargo.toml",
-    //"embassy-sync/Cargo.toml",
-    "examples/nrf/Cargo.toml",
+    // "embassy-executor/Cargo.toml",
+    // "embassy-sync/Cargo.toml",
+    "examples/stm32wl/Cargo.toml",
+    // "examples/nrf5340/Cargo.toml",
     // "examples/nrf-rtos-trace/Cargo.toml",
     // "examples/rp/Cargo.toml",
     // "examples/std/Cargo.toml",
+    // "examples/stm32c0/Cargo.toml",
     // "examples/stm32f0/Cargo.toml",
     // "examples/stm32f1/Cargo.toml",
     // "examples/stm32f2/Cargo.toml",
@@ -31,6 +29,7 @@
     // "examples/stm32f7/Cargo.toml",
     // "examples/stm32g0/Cargo.toml",
     // "examples/stm32g4/Cargo.toml",
+    // "examples/stm32h5/Cargo.toml",
     // "examples/stm32h7/Cargo.toml",
     // "examples/stm32l0/Cargo.toml",
     // "examples/stm32l1/Cargo.toml",
@@ -38,13 +37,7 @@
     // "examples/stm32l5/Cargo.toml",
     // "examples/stm32u5/Cargo.toml",
     // "examples/stm32wb/Cargo.toml",
-    // "examples/stm32wb55/Cargo.toml",
     // "examples/stm32wl/Cargo.toml",
-    // "examples/stm32wl55/Cargo.toml",
     // "examples/wasm/Cargo.toml",
   ],
-  "rust-analyzer.imports.granularity.enforce": true,
-  "rust-analyzer.imports.granularity.group": "module",
-  "rust-analyzer.cargo.buildScripts.enable": true,
-  "rust-analyzer.procMacro.attributes.enable": false,
 }

README.md

@@ -14,12 +14,16 @@ Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows
 - **Hardware Abstraction Layers** - HALs implement safe, idiomatic Rust APIs to use the hardware capabilities, so raw register manipulation is not needed. The Embassy project maintains HALs for select hardware, but you can still use HALs from other projects with Embassy.
   - <a href="https://docs.embassy.dev/embassy-stm32/">embassy-stm32</a>, for all STM32 microcontroller families.
   - <a href="https://docs.embassy.dev/embassy-nrf/">embassy-nrf</a>, for the Nordic Semiconductor nRF52, nRF53, nRF91 series.
+  - <a href="https://docs.embassy.dev/embassy-rp/">embassy-rp</a>, for the Raspberry Pi RP2040 microcontroller.
+  - <a href="https://github.com/esp-rs">esp-rs</a>, for the Espressif Systems ESP32 series of chips.
+    - Embassy HAL support for Espressif chips is being developed in the [esp-rs/esp-hal](https://github.com/esp-rs/esp-hal) repository.
+    - Async WiFi, Bluetooth and ESP-NOW is being developed in the [esp-rs/esp-wifi](https://github.com/esp-rs/esp-wifi) repository.
 
 - **Time that Just Works** - 
 No more messing with hardware timers. <a href="https://docs.embassy.dev/embassy-time">embassy_time</a> provides Instant, Duration and Timer types that are globally available and never overflow.
 
 - **Real-time ready** - 
-Tasks on the same async executor run cooperatively, but you can create multiple executors with different priorities, so that higher priority tasks preempt lower priority ones. See the <a href="https://github.com/embassy-rs/embassy/blob/master/examples/nrf/src/bin/multiprio.rs">example</a>.
+Tasks on the same async executor run cooperatively, but you can create multiple executors with different priorities, so that higher priority tasks preempt lower priority ones. See the <a href="https://github.com/embassy-rs/embassy/blob/master/examples/nrf52840/src/bin/multiprio.rs">example</a>.
 
 - **Low-power ready** - 
 Easily build devices with years of battery life. The async executor automatically puts the core to sleep when there's no work to do. Tasks are woken by interrupts, there is no busy-loop polling while waiting.
@@ -31,7 +35,7 @@ The <a href="https://docs.embassy.dev/embassy-net/">embassy-net</a> network stac
 The <a href="https://github.com/embassy-rs/nrf-softdevice">nrf-softdevice</a> crate provides Bluetooth Low Energy 4.x and 5.x support for nRF52 microcontrollers.
 
 - **LoRa** - 
-<a href="https://docs.embassy.dev/embassy-lora/">embassy-lora</a> supports LoRa networking on STM32WL wireless microcontrollers and Semtech SX126x and SX127x transceivers.
+<a href="https://docs.embassy.dev/embassy-lora/">embassy-lora</a> supports LoRa networking.
 
 - **USB** - 
 <a href="https://docs.embassy.dev/embassy-usb/">embassy-usb</a> implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.
@@ -87,30 +91,24 @@ async fn main(spawner: Spawner) {
 
 Examples are found in the `examples/` folder seperated by the chip manufacturer they are designed to run on. For example:
 
-*   `examples/nrf` run on the `nrf52840-dk` board (PCA10056) but should be easily adaptable to other nRF52 chips and boards.
+*   `examples/nrf52840` run on the `nrf52840-dk` board (PCA10056) but should be easily adaptable to other nRF52 chips and boards.
+*   `examples/nrf5340` run on the `nrf5340-dk` board (PCA10095).
 *   `examples/stm32xx` for the various STM32 families.
 *   `examples/rp` are for the RP2040 chip.
 *   `examples/std` are designed to run locally on your PC.
 
 ### Running examples
 
-- Setup git submodules (needed for STM32 examples)
+- Install `probe-rs`.
 
 ```bash
-git submodule init
-git submodule update
-```
-
-- Install `probe-run` with defmt support.
-
-```bash
-cargo install probe-run
+cargo install probe-rs --features cli
 ```
 
 - Change directory to the sample's base directory. For example:
 
 ```bash
-cd examples/nrf
+cd examples/nrf52840
 ```
 
 - Run the example
@@ -118,7 +116,7 @@ cd examples/nrf
 For example:
 
 ```bash
-cargo run --bin blinky
+cargo run --release --bin blinky
 ```
 
 ## Developing Embassy with Rust Analyzer based editors

ci.sh

@@ -2,50 +2,48 @@
 
 set -euo pipefail
 
-export CARGO_TARGET_DIR=$PWD/target_ci
 export RUSTFLAGS=-Dwarnings
-export DEFMT_LOG=trace
+export DEFMT_LOG=trace,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
+
+# needed by wifi examples
+export WIFI_NETWORK=x
+export WIFI_PASSWORD=x
 
 TARGET=$(rustc -vV | sed -n 's|host: ||p')
 
+BUILD_EXTRA=""
 if [ $TARGET = "x86_64-unknown-linux-gnu" ]; then
     BUILD_EXTRA="--- build --release --manifest-path examples/std/Cargo.toml --target $TARGET --out-dir out/examples/std"
-else
-    BUILD_EXTRA=""
 fi
 
-find . -name '*.rs' -not -path '*target*' -not -path '*stm32-metapac-gen/out/*' -not -path '*stm32-metapac/src/*' | xargs rustfmt --check  --skip-children --unstable-features --edition 2018
-
-# Generate stm32-metapac
-if [ ! -d "stm32-metapac-backup" ]
-then
-    cp -r stm32-metapac stm32-metapac-backup
-fi
-
-rm -rf stm32-metapac
-cp -r stm32-metapac-backup stm32-metapac
-
-# for some reason Cargo stomps the cache if we don't specify --target.
-# This happens with vanilla Cargo, not just cargo-batch. Bug?
-(cd stm32-metapac-gen; cargo run --release --target $TARGET)
-rm -rf stm32-metapac
-mv stm32-metapac-gen/out stm32-metapac
+find . -name '*.rs' -not -path '*target*' | xargs rustfmt --check  --skip-children --unstable-features --edition 2021
 
 cargo batch  \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16 \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16,unstable-traits \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16,nightly \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16,unstable-traits,nightly \
+    --- 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,unstable-traits,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,dhcpv4,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,unstable-traits \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,unstable-traits,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,unstable-traits \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,unstable-traits,nightly \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52805,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52810,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52811,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52820,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52832,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52833,gpiote,time-driver-rtc1,unstable-traits \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52832,gpiote,time-driver-rtc1,reset-pin-as-gpio \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52833,gpiote,time-driver-rtc1,unstable-traits,nfc-pins-as-gpio \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf9160-s,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf9160-ns,gpiote,time-driver-rtc1,unstable-traits \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf5340-app-s,gpiote,time-driver-rtc1,unstable-traits \
@@ -59,12 +57,29 @@ cargo batch  \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,intrinsics \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f410tb,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f411ce,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f429zi,log,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f413vh,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f429zi,log,exti,time-driver-any,unstable-traits,embedded-sdmmc \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f730i8,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h755zi-cm7,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h7b3ai,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l476vg,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l422cb,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wb15cc,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l072cz,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l041f6,defmt,exti,time-driver-any,unstable-traits \
@@ -74,18 +89,31 @@ cargo batch  \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f217zg,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,stm32l552ze,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32wl54jc-cm0p,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wle5ub,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wle5jb,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f107vc,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f103re,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f100c4,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
-    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32h503rb,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32h562ag,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features ''\
+    --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'log' \
+    --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt' \
+    --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'log,firmware-logs' \
+    --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt,firmware-logs' \
+    --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features '' \
+    --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features 'overclock' \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840,nightly \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns,nightly \
+    --- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi --features nightly \
+    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4,nightly \
     --- build --release --manifest-path docs/modules/ROOT/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-hal/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path examples/nrf/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf \
+    --- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840 \
+    --- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \
+    --- build --release --manifest-path examples/nrf5340/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf5340 \
     --- build --release --manifest-path examples/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/rp \
     --- build --release --manifest-path examples/stm32f0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32f0 \
     --- build --release --manifest-path examples/stm32f1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f1 \
@@ -93,8 +121,10 @@ cargo batch  \
     --- build --release --manifest-path examples/stm32f3/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f3 \
     --- build --release --manifest-path examples/stm32f4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f4 \
     --- build --release --manifest-path examples/stm32f7/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f7 \
+    --- build --release --manifest-path examples/stm32c0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32c0 \
     --- build --release --manifest-path examples/stm32g0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32g0 \
     --- build --release --manifest-path examples/stm32g4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32g4 \
+    --- build --release --manifest-path examples/stm32h5/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h5 \
     --- build --release --manifest-path examples/stm32h7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h7 \
     --- build --release --manifest-path examples/stm32l0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32l0 \
     --- build --release --manifest-path examples/stm32l1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32l1 \
@@ -103,55 +133,39 @@ cargo batch  \
     --- build --release --manifest-path examples/stm32u5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32u5 \
     --- build --release --manifest-path examples/stm32wb/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32wb \
     --- build --release --manifest-path examples/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32wl \
-    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/nrf --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32f3/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32f3 --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32f7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32f7 --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32h7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32h7 --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32l0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/boot/stm32l0 --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32l1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/boot/stm32l1 --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32l4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32l4 --bin b \
-    --- build --release --manifest-path examples/boot/application/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/boot/stm32wl --bin b \
+    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840,skip-include --out-dir out/examples/boot/nrf  \
+    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns,skip-include --out-dir out/examples/boot/nrf \
+    --- build --release --manifest-path examples/boot/application/rp/Cargo.toml --target thumbv6m-none-eabi --features skip-include --out-dir out/examples/boot/rp \
+    --- build --release --manifest-path examples/boot/application/stm32f3/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32f3 \
+    --- build --release --manifest-path examples/boot/application/stm32f7/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32f7 \
+    --- build --release --manifest-path examples/boot/application/stm32h7/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32h7 \
+    --- build --release --manifest-path examples/boot/application/stm32l0/Cargo.toml --target thumbv6m-none-eabi --features skip-include --out-dir out/examples/boot/stm32l0 \
+    --- build --release --manifest-path examples/boot/application/stm32l1/Cargo.toml --target thumbv7m-none-eabi --features skip-include --out-dir out/examples/boot/stm32l1 \
+    --- build --release --manifest-path examples/boot/application/stm32l4/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32l4 \
+    --- build --release --manifest-path examples/boot/application/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --features skip-include --out-dir out/examples/boot/stm32wl \
     --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
+    --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
+    --- build --release --manifest-path examples/boot/bootloader/rp/Cargo.toml --target thumbv6m-none-eabi \
     --- build --release --manifest-path examples/boot/bootloader/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
     --- build --release --manifest-path examples/wasm/Cargo.toml --target wasm32-unknown-unknown --out-dir out/examples/wasm \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103c8 --out-dir out/tests/bluepill-stm32f103c8 \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi --out-dir out/tests/nucleo-stm32f429zi \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re --out-dir out/tests/nucleo-stm32g491re \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32g071rb --out-dir out/tests/nucleo-stm32g071rb \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi --out-dir out/tests/nucleo-stm32h755zi \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55rg --out-dir out/tests/nucleo-stm32wb55rg \
-    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585ai --out-dir out/tests/iot-stm32u585ai \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103c8 --out-dir out/tests/stm32f103c8 \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi --out-dir out/tests/stm32f429zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re --out-dir out/tests/stm32g491re \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32g071rb --out-dir out/tests/stm32g071rb \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32c031c6 --out-dir out/tests/stm32c031c6 \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi --out-dir out/tests/stm32h755zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55rg --out-dir out/tests/stm32wb55rg \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h563zi --out-dir out/tests/stm32h563zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585ai --out-dir out/tests/stm32u585ai \
     --- build --release --manifest-path tests/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/tests/rpi-pico \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --out-dir out/tests/nrf52840-dk \
+    --- build --release --manifest-path tests/riscv32/Cargo.toml --target riscv32imac-unknown-none-elf \
     $BUILD_EXTRA
 
 
-function run_elf {
-    echo Running target=$1 elf=$2
-    STATUSCODE=$(
-        curl \
-            -sS \
-            --output /dev/stderr \
-            --write-out "%{http_code}" \
-            -H "Authorization: Bearer $TELEPROBE_TOKEN" \
-            https://teleprobe.embassy.dev/targets/$1/run --data-binary @$2
-    )
-    echo
-    echo HTTP Status code: $STATUSCODE
-    test "$STATUSCODE" -eq 200
-}
-
 if [[ -z "${TELEPROBE_TOKEN-}" ]]; then
-    if [[ -z "${ACTIONS_ID_TOKEN_REQUEST_TOKEN-}" ]]; then
-        echo No teleprobe token found, skipping running HIL tests
-        exit
-    fi
-
-    export TELEPROBE_TOKEN=$(curl -sS -H "Authorization: Bearer $ACTIONS_ID_TOKEN_REQUEST_TOKEN" "$ACTIONS_ID_TOKEN_REQUEST_URL" | jq -r '.value')
+    echo No teleprobe token found, skipping running HIL tests
+    exit
 fi
 
-for board in $(ls out/tests); do 
-    echo Running tests for board: $board
-    for elf in $(ls out/tests/$board); do 
-        run_elf $board out/tests/$board/$elf
-    done
-done
+teleprobe client run -r out/tests

ci_stable.sh

@@ -2,19 +2,23 @@
 
 set -euo pipefail
 
-export CARGO_TARGET_DIR=$PWD/target_ci_stable
 export RUSTFLAGS=-Dwarnings
 export DEFMT_LOG=trace
 
-sed -i 's/channel.*/channel = "stable"/g' rust-toolchain.toml
-
 cargo batch  \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
+    --- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi \
+    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16 \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16,unstable-traits \
+    --- 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,dhcpv4,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,unstable-traits \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52805,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52810,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52811,gpiote,time-driver-rtc1 \
@@ -36,7 +40,7 @@ cargo batch  \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585zi,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55vy,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55uc-cm4,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55cc-cm4,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l4r9zi,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303vc,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f411ce,defmt,time-driver-any \
@@ -65,5 +69,5 @@ cargo batch  \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path examples/nrf/Cargo.toml --target thumbv7em-none-eabi --no-default-features --out-dir out/examples/nrf --bin raw_spawn \
+    --- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --no-default-features --out-dir out/examples/nrf52840 --bin raw_spawn \
     --- build --release --manifest-path examples/stm32l0/Cargo.toml --target thumbv6m-none-eabi --no-default-features --out-dir out/examples/stm32l0 --bin raw_spawn \

cyw43-firmware/LICENSE-permissive-binary-license-1.0.txt

@@ -0,0 +1,49 @@
+Permissive Binary License
+
+Version 1.0, July 2019
+
+Redistribution.  Redistribution and use in binary form, without
+modification, are permitted provided that the following conditions are
+met:
+
+1) Redistributions must reproduce the above copyright notice and the
+   following disclaimer in the documentation and/or other materials
+   provided with the distribution.
+
+2) Unless to the extent explicitly permitted by law, no reverse
+   engineering, decompilation, or disassembly of this software is
+   permitted.
+
+3) Redistribution as part of a software development kit must include the
+   accompanying file named <20>DEPENDENCIES<45> and any dependencies listed in
+   that file.
+
+4) Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+Limited patent license. The copyright holders (and contributors) grant a
+worldwide, non-exclusive, no-charge, royalty-free patent license to
+make, have made, use, offer to sell, sell, import, and otherwise
+transfer this software, where such license applies only to those patent
+claims licensable by the copyright holders (and contributors) that are
+necessarily infringed by this software. This patent license shall not
+apply to any combinations that include this software.  No hardware is
+licensed hereunder.
+
+If you institute patent litigation against any entity (including a
+cross-claim or counterclaim in a lawsuit) alleging that the software
+itself infringes your patent(s), then your rights granted under this
+license shall terminate as of the date such litigation is filed.
+
+DISCLAIMER. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+CONTRIBUTORS "AS IS." ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT
+NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

cyw43-firmware/README.md

@@ -0,0 +1,5 @@
+# WiFi firmware
+
+Firmware obtained from https://github.com/Infineon/wifi-host-driver/tree/master/WiFi_Host_Driver/resources/firmware/COMPONENT_43439
+
+Licensed under the [Infineon Permissive Binary License](./LICENSE-permissive-binary-license-1.0.txt)

cyw43-pio/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "cyw43-pio"
+version = "0.1.0"
+edition = "2021"
+
+[features]
+# If disabled, SPI runs at 31.25MHz
+# If enabled, SPI runs at 62.5MHz, which is 25% higher than 50Mhz which is the maximum according to the CYW43439 datasheet.
+overclock = []
+
+[dependencies]
+cyw43 = { version = "0.1.0", path = "../cyw43" }
+embassy-rp = { version = "0.1.0", path = "../embassy-rp" }
+pio-proc = "0.2"
+pio = "0.2.1"
+fixed = "1.23.1"
+defmt = { version = "0.3", optional = true }
+
+[package.metadata.embassy_docs]
+src_base = "https://github.com/embassy-rs/embassy/blob/cyw43-pio-v$VERSION/cyw43-pio/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/cyw43-pio/src/"
+target = "thumbv6m-none-eabi"

cyw43-pio/src/lib.rs

@@ -0,0 +1,229 @@
+#![no_std]
+#![allow(incomplete_features)]
+#![feature(async_fn_in_trait)]
+
+use core::slice;
+
+use cyw43::SpiBusCyw43;
+use embassy_rp::dma::Channel;
+use embassy_rp::gpio::{Drive, Level, Output, Pin, Pull, SlewRate};
+use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::relocate::RelocatedProgram;
+use embassy_rp::{pio_instr_util, Peripheral, PeripheralRef};
+use fixed::FixedU32;
+use pio_proc::pio_asm;
+
+pub struct PioSpi<'d, CS: Pin, PIO: Instance, const SM: usize, DMA> {
+    cs: Output<'d, CS>,
+    sm: StateMachine<'d, PIO, SM>,
+    irq: Irq<'d, PIO, 0>,
+    dma: PeripheralRef<'d, DMA>,
+    wrap_target: u8,
+}
+
+impl<'d, CS, PIO, const SM: usize, DMA> PioSpi<'d, CS, PIO, SM, DMA>
+where
+    DMA: Channel,
+    CS: Pin,
+    PIO: Instance,
+{
+    pub fn new<DIO, CLK>(
+        common: &mut Common<'d, PIO>,
+        mut sm: StateMachine<'d, PIO, SM>,
+        irq: Irq<'d, PIO, 0>,
+        cs: Output<'d, CS>,
+        dio: DIO,
+        clk: CLK,
+        dma: impl Peripheral<P = DMA> + 'd,
+    ) -> Self
+    where
+        DIO: PioPin,
+        CLK: PioPin,
+    {
+        #[cfg(feature = "overclock")]
+        let program = pio_asm!(
+            ".side_set 1"
+
+            ".wrap_target"
+            // write out x-1 bits
+            "lp:"
+            "out pins, 1    side 0"
+            "jmp x-- lp     side 1"
+            // switch directions
+            "set pindirs, 0 side 0"
+            "nop            side 1"  // necessary for clkdiv=1.
+            "nop            side 0"
+            // read in y-1 bits
+            "lp2:"
+            "in pins, 1     side 1"
+            "jmp y-- lp2    side 0"
+
+            // wait for event and irq host
+            "wait 1 pin 0   side 0"
+            "irq 0          side 0"
+
+            ".wrap"
+        );
+        #[cfg(not(feature = "overclock"))]
+        let program = pio_asm!(
+            ".side_set 1"
+
+            ".wrap_target"
+            // write out x-1 bits
+            "lp:"
+            "out pins, 1    side 0"
+            "jmp x-- lp     side 1"
+            // switch directions
+            "set pindirs, 0 side 0"
+            "nop            side 0"
+            // read in y-1 bits
+            "lp2:"
+            "in pins, 1     side 1"
+            "jmp y-- lp2    side 0"
+
+            // wait for event and irq host
+            "wait 1 pin 0   side 0"
+            "irq 0          side 0"
+
+            ".wrap"
+        );
+
+        let relocated = RelocatedProgram::new(&program.program);
+
+        let mut pin_io: embassy_rp::pio::Pin<PIO> = common.make_pio_pin(dio);
+        pin_io.set_pull(Pull::None);
+        pin_io.set_schmitt(true);
+        pin_io.set_input_sync_bypass(true);
+        pin_io.set_drive_strength(Drive::_12mA);
+        pin_io.set_slew_rate(SlewRate::Fast);
+
+        let mut pin_clk = common.make_pio_pin(clk);
+        pin_clk.set_drive_strength(Drive::_12mA);
+        pin_clk.set_slew_rate(SlewRate::Fast);
+
+        let mut cfg = Config::default();
+        cfg.use_program(&common.load_program(&relocated), &[&pin_clk]);
+        cfg.set_out_pins(&[&pin_io]);
+        cfg.set_in_pins(&[&pin_io]);
+        cfg.set_set_pins(&[&pin_io]);
+        cfg.shift_out.direction = ShiftDirection::Left;
+        cfg.shift_out.auto_fill = true;
+        //cfg.shift_out.threshold = 32;
+        cfg.shift_in.direction = ShiftDirection::Left;
+        cfg.shift_in.auto_fill = true;
+        //cfg.shift_in.threshold = 32;
+
+        #[cfg(feature = "overclock")]
+        {
+            // 125mhz Pio => 62.5Mhz SPI Freq. 25% higher than theoretical maximum according to
+            // data sheet, but seems to work fine.
+            cfg.clock_divider = FixedU32::from_bits(0x0100);
+        }
+
+        #[cfg(not(feature = "overclock"))]
+        {
+            // same speed as pico-sdk, 62.5Mhz
+            // This is actually the fastest we can go without overclocking.
+            // According to data sheet, the theoretical maximum is 100Mhz Pio => 50Mhz SPI Freq.
+            // However, the PIO uses a fractional divider, which works by introducing jitter when
+            // the divider is not an integer. It does some clocks at 125mhz and others at 62.5mhz
+            // so that it averages out to the desired frequency of 100mhz. The 125mhz clock cycles
+            // violate the maximum from the data sheet.
+            cfg.clock_divider = FixedU32::from_bits(0x0200);
+        }
+
+        sm.set_config(&cfg);
+
+        sm.set_pin_dirs(Direction::Out, &[&pin_clk, &pin_io]);
+        sm.set_pins(Level::Low, &[&pin_clk, &pin_io]);
+
+        Self {
+            cs,
+            sm,
+            irq,
+            dma: dma.into_ref(),
+            wrap_target: relocated.wrap().target,
+        }
+    }
+
+    pub async fn write(&mut self, write: &[u32]) -> u32 {
+        self.sm.set_enable(false);
+        let write_bits = write.len() * 32 - 1;
+        let read_bits = 31;
+
+        #[cfg(feature = "defmt")]
+        defmt::trace!("write={} read={}", write_bits, read_bits);
+
+        unsafe {
+            pio_instr_util::set_x(&mut self.sm, write_bits as u32);
+            pio_instr_util::set_y(&mut self.sm, read_bits as u32);
+            pio_instr_util::set_pindir(&mut self.sm, 0b1);
+            pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+        }
+
+        self.sm.set_enable(true);
+
+        self.sm.tx().dma_push(self.dma.reborrow(), write).await;
+
+        let mut status = 0;
+        self.sm
+            .rx()
+            .dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
+            .await;
+        status
+    }
+
+    pub async fn cmd_read(&mut self, cmd: u32, read: &mut [u32]) -> u32 {
+        self.sm.set_enable(false);
+        let write_bits = 31;
+        let read_bits = read.len() * 32 + 32 - 1;
+
+        #[cfg(feature = "defmt")]
+        defmt::trace!("write={} read={}", write_bits, read_bits);
+
+        unsafe {
+            pio_instr_util::set_y(&mut self.sm, read_bits as u32);
+            pio_instr_util::set_x(&mut self.sm, write_bits as u32);
+            pio_instr_util::set_pindir(&mut self.sm, 0b1);
+            pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+        }
+
+        // self.cs.set_low();
+        self.sm.set_enable(true);
+
+        self.sm.tx().dma_push(self.dma.reborrow(), slice::from_ref(&cmd)).await;
+        self.sm.rx().dma_pull(self.dma.reborrow(), read).await;
+
+        let mut status = 0;
+        self.sm
+            .rx()
+            .dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
+            .await;
+        status
+    }
+}
+
+impl<'d, CS, PIO, const SM: usize, DMA> SpiBusCyw43 for PioSpi<'d, CS, PIO, SM, DMA>
+where
+    CS: Pin,
+    PIO: Instance,
+    DMA: Channel,
+{
+    async fn cmd_write(&mut self, write: &[u32]) -> u32 {
+        self.cs.set_low();
+        let status = self.write(write).await;
+        self.cs.set_high();
+        status
+    }
+
+    async fn cmd_read(&mut self, write: u32, read: &mut [u32]) -> u32 {
+        self.cs.set_low();
+        let status = self.cmd_read(write, read).await;
+        self.cs.set_high();
+        status
+    }
+
+    async fn wait_for_event(&mut self) {
+        self.irq.wait().await;
+    }
+}

cyw43/Cargo.toml

@@ -0,0 +1,34 @@
+[package]
+name = "cyw43"
+version = "0.1.0"
+edition = "2021"
+
+[features]
+defmt = ["dep:defmt"]
+log = ["dep:log"]
+
+# Fetch console logs from the WiFi firmware and forward them to `log` or `defmt`.
+firmware-logs = []
+
+[dependencies]
+embassy-time = { version = "0.1.0", path = "../embassy-time"}
+embassy-sync = { version = "0.2.0", path = "../embassy-sync"}
+embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
+embassy-net-driver-channel = { version = "0.1.0", path = "../embassy-net-driver-channel"}
+atomic-polyfill = "0.1.5"
+
+defmt = { version = "0.3", optional = true }
+log = { version = "0.4.17", optional = true }
+
+cortex-m = "0.7.6"
+cortex-m-rt = "0.7.0"
+futures = { version = "0.3.17", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
+
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.10" }
+num_enum = { version = "0.5.7", default-features = false }
+
+[package.metadata.embassy_docs]
+src_base = "https://github.com/embassy-rs/embassy/blob/cyw43-v$VERSION/cyw43/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/cyw43/src/"
+target = "thumbv6m-none-eabi"
+features = ["defmt", "firmware-logs"]

cyw43/README.md

@@ -0,0 +1,57 @@
+# cyw43
+
+Rust driver for the CYW43439 wifi chip, used in the Raspberry Pi Pico W. Implementation based on [Infineon/wifi-host-driver](https://github.com/Infineon/wifi-host-driver).
+
+## Current status
+
+Working:
+
+- Station mode (joining an AP).
+- AP mode (creating an AP)
+- Scanning
+- Sending and receiving Ethernet frames.
+- Using the default MAC address.
+- [`embassy-net`](https://embassy.dev) integration.
+- RP2040 PIO driver for the nonstandard half-duplex SPI used in the Pico W.
+- Using IRQ for device events
+- GPIO support (for LED on the Pico W)
+
+TODO:
+
+- Setting a custom MAC address.
+- Bus sleep (for power consumption optimization)
+
+## Running the examples
+
+- `cargo install probe-rs --features cli`
+- `cd examples/rp`
+### Example 1: Scan the wifi stations
+- `cargo run --release --bin wifi_scan`
+### Example 2: Create an access point (IP and credentials in the code)
+- `cargo run --release --bin wifi_ap_tcp_server`
+### Example 3: Connect to an existing network and create a server
+- `WIFI_NETWORK=MyWifiNetwork WIFI_PASSWORD=MyWifiPassword cargo run --release --bin wifi_tcp_server`
+
+After a few seconds, you should see that DHCP picks up an IP address like this
+```
+11.944489 DEBUG Acquired IP configuration:
+11.944517 DEBUG    IP address:      192.168.0.250/24
+11.944620 DEBUG    Default gateway: 192.168.0.33
+11.944722 DEBUG    DNS server 0:    192.168.0.33
+```
+This example implements a TCP echo server on port 1234. You can try connecting to it with:
+```
+nc 192.168.0.250 1234
+```
+Send it some data, you should see it echoed back and printed in the firmware's logs.
+
+## License
+
+This work is licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
+
+at your option.
+

cyw43/src/bus.rs

@@ -0,0 +1,328 @@
+use embassy_futures::yield_now;
+use embassy_time::{Duration, Timer};
+use embedded_hal_1::digital::OutputPin;
+use futures::FutureExt;
+
+use crate::consts::*;
+use crate::slice8_mut;
+
+/// Custom Spi Trait that _only_ supports the bus operation of the cyw43
+/// Implementors are expected to hold the CS pin low during an operation.
+pub trait SpiBusCyw43 {
+    /// Issues a write command on the bus
+    /// First 32 bits of `word` are expected to be a cmd word
+    async fn cmd_write(&mut self, write: &[u32]) -> u32;
+
+    /// Issues a read command on the bus
+    /// `write` is expected to be a 32 bit cmd word
+    /// `read` will contain the response of the device
+    /// Backplane reads have a response delay that produces one extra unspecified word at the beginning of `read`.
+    /// Callers that want to read `n` word from the backplane, have to provide a slice that is `n+1` words long.
+    async fn cmd_read(&mut self, write: u32, read: &mut [u32]) -> u32;
+
+    /// Wait for events from the Device. A typical implementation would wait for the IRQ pin to be high.
+    /// The default implementation always reports ready, resulting in active polling of the device.
+    async fn wait_for_event(&mut self) {
+        yield_now().await;
+    }
+}
+
+pub(crate) struct Bus<PWR, SPI> {
+    backplane_window: u32,
+    pwr: PWR,
+    spi: SPI,
+    status: u32,
+}
+
+impl<PWR, SPI> Bus<PWR, SPI>
+where
+    PWR: OutputPin,
+    SPI: SpiBusCyw43,
+{
+    pub(crate) fn new(pwr: PWR, spi: SPI) -> Self {
+        Self {
+            backplane_window: 0xAAAA_AAAA,
+            pwr,
+            spi,
+            status: 0,
+        }
+    }
+
+    pub async fn init(&mut self) {
+        // Reset
+        self.pwr.set_low().unwrap();
+        Timer::after(Duration::from_millis(20)).await;
+        self.pwr.set_high().unwrap();
+        Timer::after(Duration::from_millis(250)).await;
+
+        while self
+            .read32_swapped(REG_BUS_TEST_RO)
+            .inspect(|v| trace!("{:#x}", v))
+            .await
+            != FEEDBEAD
+        {}
+
+        self.write32_swapped(REG_BUS_TEST_RW, TEST_PATTERN).await;
+        let val = self.read32_swapped(REG_BUS_TEST_RW).await;
+        trace!("{:#x}", val);
+        assert_eq!(val, TEST_PATTERN);
+
+        let val = self.read32_swapped(REG_BUS_CTRL).await;
+        trace!("{:#010b}", (val & 0xff));
+
+        // 32-bit word length, little endian (which is the default endianess).
+        self.write32_swapped(
+            REG_BUS_CTRL,
+            WORD_LENGTH_32 | HIGH_SPEED | INTERRUPT_HIGH | WAKE_UP | STATUS_ENABLE | INTERRUPT_WITH_STATUS,
+        )
+        .await;
+
+        let val = self.read8(FUNC_BUS, REG_BUS_CTRL).await;
+        trace!("{:#b}", val);
+
+        let val = self.read32(FUNC_BUS, REG_BUS_TEST_RO).await;
+        trace!("{:#x}", val);
+        assert_eq!(val, FEEDBEAD);
+        let val = self.read32(FUNC_BUS, REG_BUS_TEST_RW).await;
+        trace!("{:#x}", val);
+        assert_eq!(val, TEST_PATTERN);
+    }
+
+    pub async fn wlan_read(&mut self, buf: &mut [u32], len_in_u8: u32) {
+        let cmd = cmd_word(READ, INC_ADDR, FUNC_WLAN, 0, len_in_u8);
+        let len_in_u32 = (len_in_u8 as usize + 3) / 4;
+
+        self.status = self.spi.cmd_read(cmd, &mut buf[..len_in_u32]).await;
+    }
+
+    pub async fn wlan_write(&mut self, buf: &[u32]) {
+        let cmd = cmd_word(WRITE, INC_ADDR, FUNC_WLAN, 0, buf.len() as u32 * 4);
+        //TODO try to remove copy?
+        let mut cmd_buf = [0_u32; 513];
+        cmd_buf[0] = cmd;
+        cmd_buf[1..][..buf.len()].copy_from_slice(buf);
+
+        self.status = self.spi.cmd_write(&cmd_buf).await;
+    }
+
+    #[allow(unused)]
+    pub async fn bp_read(&mut self, mut addr: u32, mut data: &mut [u8]) {
+        // It seems the HW force-aligns the addr
+        // to 2 if data.len() >= 2
+        // to 4 if data.len() >= 4
+        // To simplify, enforce 4-align for now.
+        assert!(addr % 4 == 0);
+
+        // Backplane read buffer has one extra word for the response delay.
+        let mut buf = [0u32; BACKPLANE_MAX_TRANSFER_SIZE / 4 + 1];
+
+        while !data.is_empty() {
+            // Ensure transfer doesn't cross a window boundary.
+            let window_offs = addr & BACKPLANE_ADDRESS_MASK;
+            let window_remaining = BACKPLANE_WINDOW_SIZE - window_offs as usize;
+
+            let len = data.len().min(BACKPLANE_MAX_TRANSFER_SIZE).min(window_remaining);
+
+            self.backplane_set_window(addr).await;
+
+            let cmd = cmd_word(READ, INC_ADDR, FUNC_BACKPLANE, window_offs, len as u32);
+
+            // round `buf` to word boundary, add one extra word for the response delay
+            self.status = self.spi.cmd_read(cmd, &mut buf[..(len + 3) / 4 + 1]).await;
+
+            // when writing out the data, we skip the response-delay byte
+            data[..len].copy_from_slice(&slice8_mut(&mut buf[1..])[..len]);
+
+            // Advance ptr.
+            addr += len as u32;
+            data = &mut data[len..];
+        }
+    }
+
+    pub async fn bp_write(&mut self, mut addr: u32, mut data: &[u8]) {
+        // It seems the HW force-aligns the addr
+        // to 2 if data.len() >= 2
+        // to 4 if data.len() >= 4
+        // To simplify, enforce 4-align for now.
+        assert!(addr % 4 == 0);
+
+        let mut buf = [0u32; BACKPLANE_MAX_TRANSFER_SIZE / 4 + 1];
+
+        while !data.is_empty() {
+            // Ensure transfer doesn't cross a window boundary.
+            let window_offs = addr & BACKPLANE_ADDRESS_MASK;
+            let window_remaining = BACKPLANE_WINDOW_SIZE - window_offs as usize;
+
+            let len = data.len().min(BACKPLANE_MAX_TRANSFER_SIZE).min(window_remaining);
+            slice8_mut(&mut buf[1..])[..len].copy_from_slice(&data[..len]);
+
+            self.backplane_set_window(addr).await;
+
+            let cmd = cmd_word(WRITE, INC_ADDR, FUNC_BACKPLANE, window_offs, len as u32);
+            buf[0] = cmd;
+
+            self.status = self.spi.cmd_write(&buf[..(len + 3) / 4 + 1]).await;
+
+            // Advance ptr.
+            addr += len as u32;
+            data = &data[len..];
+        }
+    }
+
+    pub async fn bp_read8(&mut self, addr: u32) -> u8 {
+        self.backplane_readn(addr, 1).await as u8
+    }
+
+    pub async fn bp_write8(&mut self, addr: u32, val: u8) {
+        self.backplane_writen(addr, val as u32, 1).await
+    }
+
+    pub async fn bp_read16(&mut self, addr: u32) -> u16 {
+        self.backplane_readn(addr, 2).await as u16
+    }
+
+    #[allow(unused)]
+    pub async fn bp_write16(&mut self, addr: u32, val: u16) {
+        self.backplane_writen(addr, val as u32, 2).await
+    }
+
+    #[allow(unused)]
+    pub async fn bp_read32(&mut self, addr: u32) -> u32 {
+        self.backplane_readn(addr, 4).await
+    }
+
+    pub async fn bp_write32(&mut self, addr: u32, val: u32) {
+        self.backplane_writen(addr, val, 4).await
+    }
+
+    async fn backplane_readn(&mut self, addr: u32, len: u32) -> u32 {
+        self.backplane_set_window(addr).await;
+
+        let mut bus_addr = addr & BACKPLANE_ADDRESS_MASK;
+        if len == 4 {
+            bus_addr |= BACKPLANE_ADDRESS_32BIT_FLAG
+        }
+        self.readn(FUNC_BACKPLANE, bus_addr, len).await
+    }
+
+    async fn backplane_writen(&mut self, addr: u32, val: u32, len: u32) {
+        self.backplane_set_window(addr).await;
+
+        let mut bus_addr = addr & BACKPLANE_ADDRESS_MASK;
+        if len == 4 {
+            bus_addr |= BACKPLANE_ADDRESS_32BIT_FLAG
+        }
+        self.writen(FUNC_BACKPLANE, bus_addr, val, len).await
+    }
+
+    async fn backplane_set_window(&mut self, addr: u32) {
+        let new_window = addr & !BACKPLANE_ADDRESS_MASK;
+
+        if (new_window >> 24) as u8 != (self.backplane_window >> 24) as u8 {
+            self.write8(
+                FUNC_BACKPLANE,
+                REG_BACKPLANE_BACKPLANE_ADDRESS_HIGH,
+                (new_window >> 24) as u8,
+            )
+            .await;
+        }
+        if (new_window >> 16) as u8 != (self.backplane_window >> 16) as u8 {
+            self.write8(
+                FUNC_BACKPLANE,
+                REG_BACKPLANE_BACKPLANE_ADDRESS_MID,
+                (new_window >> 16) as u8,
+            )
+            .await;
+        }
+        if (new_window >> 8) as u8 != (self.backplane_window >> 8) as u8 {
+            self.write8(
+                FUNC_BACKPLANE,
+                REG_BACKPLANE_BACKPLANE_ADDRESS_LOW,
+                (new_window >> 8) as u8,
+            )
+            .await;
+        }
+        self.backplane_window = new_window;
+    }
+
+    pub async fn read8(&mut self, func: u32, addr: u32) -> u8 {
+        self.readn(func, addr, 1).await as u8
+    }
+
+    pub async fn write8(&mut self, func: u32, addr: u32, val: u8) {
+        self.writen(func, addr, val as u32, 1).await
+    }
+
+    pub async fn read16(&mut self, func: u32, addr: u32) -> u16 {
+        self.readn(func, addr, 2).await as u16
+    }
+
+    #[allow(unused)]
+    pub async fn write16(&mut self, func: u32, addr: u32, val: u16) {
+        self.writen(func, addr, val as u32, 2).await
+    }
+
+    pub async fn read32(&mut self, func: u32, addr: u32) -> u32 {
+        self.readn(func, addr, 4).await
+    }
+
+    #[allow(unused)]
+    pub async fn write32(&mut self, func: u32, addr: u32, val: u32) {
+        self.writen(func, addr, val, 4).await
+    }
+
+    async fn readn(&mut self, func: u32, addr: u32, len: u32) -> u32 {
+        let cmd = cmd_word(READ, INC_ADDR, func, addr, len);
+        let mut buf = [0; 2];
+        // if we are reading from the backplane, we need an extra word for the response delay
+        let len = if func == FUNC_BACKPLANE { 2 } else { 1 };
+
+        self.status = self.spi.cmd_read(cmd, &mut buf[..len]).await;
+
+        // if we read from the backplane, the result is in the second word, after the response delay
+        if func == FUNC_BACKPLANE {
+            buf[1]
+        } else {
+            buf[0]
+        }
+    }
+
+    async fn writen(&mut self, func: u32, addr: u32, val: u32, len: u32) {
+        let cmd = cmd_word(WRITE, INC_ADDR, func, addr, len);
+
+        self.status = self.spi.cmd_write(&[cmd, val]).await;
+    }
+
+    async fn read32_swapped(&mut self, addr: u32) -> u32 {
+        let cmd = cmd_word(READ, INC_ADDR, FUNC_BUS, addr, 4);
+        let cmd = swap16(cmd);
+        let mut buf = [0; 1];
+
+        self.status = self.spi.cmd_read(cmd, &mut buf).await;
+
+        swap16(buf[0])
+    }
+
+    async fn write32_swapped(&mut self, addr: u32, val: u32) {
+        let cmd = cmd_word(WRITE, INC_ADDR, FUNC_BUS, addr, 4);
+        let buf = [swap16(cmd), swap16(val)];
+
+        self.status = self.spi.cmd_write(&buf).await;
+    }
+
+    pub async fn wait_for_event(&mut self) {
+        self.spi.wait_for_event().await;
+    }
+
+    pub fn status(&self) -> u32 {
+        self.status
+    }
+}
+
+fn swap16(x: u32) -> u32 {
+    x.rotate_left(16)
+}
+
+fn cmd_word(write: bool, incr: bool, func: u32, addr: u32, len: u32) -> u32 {
+    (write as u32) << 31 | (incr as u32) << 30 | (func & 0b11) << 28 | (addr & 0x1FFFF) << 11 | (len & 0x7FF)
+}

cyw43/src/consts.rs

@@ -0,0 +1,318 @@
+#![allow(unused)]
+
+pub(crate) const FUNC_BUS: u32 = 0;
+pub(crate) const FUNC_BACKPLANE: u32 = 1;
+pub(crate) const FUNC_WLAN: u32 = 2;
+pub(crate) const FUNC_BT: u32 = 3;
+
+pub(crate) const REG_BUS_CTRL: u32 = 0x0;
+pub(crate) const REG_BUS_INTERRUPT: u32 = 0x04; // 16 bits - Interrupt status
+pub(crate) const REG_BUS_INTERRUPT_ENABLE: u32 = 0x06; // 16 bits - Interrupt mask
+pub(crate) const REG_BUS_STATUS: u32 = 0x8;
+pub(crate) const REG_BUS_TEST_RO: u32 = 0x14;
+pub(crate) const REG_BUS_TEST_RW: u32 = 0x18;
+pub(crate) const REG_BUS_RESP_DELAY: u32 = 0x1c;
+pub(crate) const WORD_LENGTH_32: u32 = 0x1;
+pub(crate) const HIGH_SPEED: u32 = 0x10;
+pub(crate) const INTERRUPT_HIGH: u32 = 1 << 5;
+pub(crate) const WAKE_UP: u32 = 1 << 7;
+pub(crate) const STATUS_ENABLE: u32 = 1 << 16;
+pub(crate) const INTERRUPT_WITH_STATUS: u32 = 1 << 17;
+
+// SPI_STATUS_REGISTER bits
+pub(crate) const STATUS_DATA_NOT_AVAILABLE: u32 = 0x00000001;
+pub(crate) const STATUS_UNDERFLOW: u32 = 0x00000002;
+pub(crate) const STATUS_OVERFLOW: u32 = 0x00000004;
+pub(crate) const STATUS_F2_INTR: u32 = 0x00000008;
+pub(crate) const STATUS_F3_INTR: u32 = 0x00000010;
+pub(crate) const STATUS_F2_RX_READY: u32 = 0x00000020;
+pub(crate) const STATUS_F3_RX_READY: u32 = 0x00000040;
+pub(crate) const STATUS_HOST_CMD_DATA_ERR: u32 = 0x00000080;
+pub(crate) const STATUS_F2_PKT_AVAILABLE: u32 = 0x00000100;
+pub(crate) const STATUS_F2_PKT_LEN_MASK: u32 = 0x000FFE00;
+pub(crate) const STATUS_F2_PKT_LEN_SHIFT: u32 = 9;
+pub(crate) const STATUS_F3_PKT_AVAILABLE: u32 = 0x00100000;
+pub(crate) const STATUS_F3_PKT_LEN_MASK: u32 = 0xFFE00000;
+pub(crate) const STATUS_F3_PKT_LEN_SHIFT: u32 = 21;
+
+pub(crate) const REG_BACKPLANE_GPIO_SELECT: u32 = 0x10005;
+pub(crate) const REG_BACKPLANE_GPIO_OUTPUT: u32 = 0x10006;
+pub(crate) const REG_BACKPLANE_GPIO_ENABLE: u32 = 0x10007;
+pub(crate) const REG_BACKPLANE_FUNCTION2_WATERMARK: u32 = 0x10008;
+pub(crate) const REG_BACKPLANE_DEVICE_CONTROL: u32 = 0x10009;
+pub(crate) const REG_BACKPLANE_BACKPLANE_ADDRESS_LOW: u32 = 0x1000A;
+pub(crate) const REG_BACKPLANE_BACKPLANE_ADDRESS_MID: u32 = 0x1000B;
+pub(crate) const REG_BACKPLANE_BACKPLANE_ADDRESS_HIGH: u32 = 0x1000C;
+pub(crate) const REG_BACKPLANE_FRAME_CONTROL: u32 = 0x1000D;
+pub(crate) const REG_BACKPLANE_CHIP_CLOCK_CSR: u32 = 0x1000E;
+pub(crate) const REG_BACKPLANE_PULL_UP: u32 = 0x1000F;
+pub(crate) const REG_BACKPLANE_READ_FRAME_BC_LOW: u32 = 0x1001B;
+pub(crate) const REG_BACKPLANE_READ_FRAME_BC_HIGH: u32 = 0x1001C;
+pub(crate) const REG_BACKPLANE_WAKEUP_CTRL: u32 = 0x1001E;
+pub(crate) const REG_BACKPLANE_SLEEP_CSR: u32 = 0x1001F;
+
+pub(crate) const BACKPLANE_WINDOW_SIZE: usize = 0x8000;
+pub(crate) const BACKPLANE_ADDRESS_MASK: u32 = 0x7FFF;
+pub(crate) const BACKPLANE_ADDRESS_32BIT_FLAG: u32 = 0x08000;
+pub(crate) const BACKPLANE_MAX_TRANSFER_SIZE: usize = 64;
+// Active Low Power (ALP) clock constants
+pub(crate) const BACKPLANE_ALP_AVAIL_REQ: u8 = 0x08;
+pub(crate) const BACKPLANE_ALP_AVAIL: u8 = 0x40;
+
+// Broadcom AMBA (Advanced Microcontroller Bus Architecture) Interconnect
+// (AI) pub (crate) constants
+pub(crate) const AI_IOCTRL_OFFSET: u32 = 0x408;
+pub(crate) const AI_IOCTRL_BIT_FGC: u8 = 0x0002;
+pub(crate) const AI_IOCTRL_BIT_CLOCK_EN: u8 = 0x0001;
+pub(crate) const AI_IOCTRL_BIT_CPUHALT: u8 = 0x0020;
+
+pub(crate) const AI_RESETCTRL_OFFSET: u32 = 0x800;
+pub(crate) const AI_RESETCTRL_BIT_RESET: u8 = 1;
+
+pub(crate) const AI_RESETSTATUS_OFFSET: u32 = 0x804;
+
+pub(crate) const TEST_PATTERN: u32 = 0x12345678;
+pub(crate) const FEEDBEAD: u32 = 0xFEEDBEAD;
+
+// SPI_INTERRUPT_REGISTER and SPI_INTERRUPT_ENABLE_REGISTER Bits
+pub(crate) const IRQ_DATA_UNAVAILABLE: u16 = 0x0001; // Requested data not available; Clear by writing a "1"
+pub(crate) const IRQ_F2_F3_FIFO_RD_UNDERFLOW: u16 = 0x0002;
+pub(crate) const IRQ_F2_F3_FIFO_WR_OVERFLOW: u16 = 0x0004;
+pub(crate) const IRQ_COMMAND_ERROR: u16 = 0x0008; // Cleared by writing 1
+pub(crate) const IRQ_DATA_ERROR: u16 = 0x0010; // Cleared by writing 1
+pub(crate) const IRQ_F2_PACKET_AVAILABLE: u16 = 0x0020;
+pub(crate) const IRQ_F3_PACKET_AVAILABLE: u16 = 0x0040;
+pub(crate) const IRQ_F1_OVERFLOW: u16 = 0x0080; // Due to last write. Bkplane has pending write requests
+pub(crate) const IRQ_MISC_INTR0: u16 = 0x0100;
+pub(crate) const IRQ_MISC_INTR1: u16 = 0x0200;
+pub(crate) const IRQ_MISC_INTR2: u16 = 0x0400;
+pub(crate) const IRQ_MISC_INTR3: u16 = 0x0800;
+pub(crate) const IRQ_MISC_INTR4: u16 = 0x1000;
+pub(crate) const IRQ_F1_INTR: u16 = 0x2000;
+pub(crate) const IRQ_F2_INTR: u16 = 0x4000;
+pub(crate) const IRQ_F3_INTR: u16 = 0x8000;
+
+pub(crate) const IOCTL_CMD_UP: u32 = 2;
+pub(crate) const IOCTL_CMD_DOWN: u32 = 3;
+pub(crate) const IOCTL_CMD_SET_SSID: u32 = 26;
+pub(crate) const IOCTL_CMD_SET_CHANNEL: u32 = 30;
+pub(crate) const IOCTL_CMD_ANTDIV: u32 = 64;
+pub(crate) const IOCTL_CMD_SET_AP: u32 = 118;
+pub(crate) const IOCTL_CMD_SET_VAR: u32 = 263;
+pub(crate) const IOCTL_CMD_GET_VAR: u32 = 262;
+pub(crate) const IOCTL_CMD_SET_PASSPHRASE: u32 = 268;
+
+pub(crate) const CHANNEL_TYPE_CONTROL: u8 = 0;
+pub(crate) const CHANNEL_TYPE_EVENT: u8 = 1;
+pub(crate) const CHANNEL_TYPE_DATA: u8 = 2;
+
+// CYW_SPID command structure constants.
+pub(crate) const WRITE: bool = true;
+pub(crate) const READ: bool = false;
+pub(crate) const INC_ADDR: bool = true;
+pub(crate) const FIXED_ADDR: bool = false;
+
+pub(crate) const AES_ENABLED: u32 = 0x0004;
+pub(crate) const WPA2_SECURITY: u32 = 0x00400000;
+
+pub(crate) const MIN_PSK_LEN: usize = 8;
+pub(crate) const MAX_PSK_LEN: usize = 64;
+
+// Security type (authentication and encryption types are combined using bit mask)
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, PartialEq)]
+#[repr(u32)]
+pub(crate) enum Security {
+    OPEN = 0,
+    WPA2_AES_PSK = WPA2_SECURITY | AES_ENABLED,
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone)]
+#[repr(u8)]
+pub enum EStatus {
+    /// operation was successful
+    SUCCESS = 0,
+    /// operation failed
+    FAIL = 1,
+    /// operation timed out
+    TIMEOUT = 2,
+    /// failed due to no matching network found
+    NO_NETWORKS = 3,
+    /// operation was aborted
+    ABORT = 4,
+    /// protocol failure: packet not ack'd
+    NO_ACK = 5,
+    /// AUTH or ASSOC packet was unsolicited
+    UNSOLICITED = 6,
+    /// attempt to assoc to an auto auth configuration
+    ATTEMPT = 7,
+    /// scan results are incomplete
+    PARTIAL = 8,
+    /// scan aborted by another scan
+    NEWSCAN = 9,
+    /// scan aborted due to assoc in progress
+    NEWASSOC = 10,
+    /// 802.11h quiet period started
+    _11HQUIET = 11,
+    /// user disabled scanning (WLC_SET_SCANSUPPRESS)
+    SUPPRESS = 12,
+    /// no allowable channels to scan
+    NOCHANS = 13,
+    /// scan aborted due to CCX fast roam
+    CCXFASTRM = 14,
+    /// abort channel select
+    CS_ABORT = 15,
+}
+
+impl PartialEq<EStatus> for u32 {
+    fn eq(&self, other: &EStatus) -> bool {
+        *self == *other as Self
+    }
+}
+
+#[allow(dead_code)]
+pub(crate) struct FormatStatus(pub u32);
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for FormatStatus {
+    fn format(&self, fmt: defmt::Formatter) {
+        macro_rules! implm {
+            ($($name:ident),*) => {
+                $(
+                    if self.0 & $name > 0 {
+                        defmt::write!(fmt, " | {}", &stringify!($name)[7..]);
+                    }
+                )*
+            };
+        }
+
+        implm!(
+            STATUS_DATA_NOT_AVAILABLE,
+            STATUS_UNDERFLOW,
+            STATUS_OVERFLOW,
+            STATUS_F2_INTR,
+            STATUS_F3_INTR,
+            STATUS_F2_RX_READY,
+            STATUS_F3_RX_READY,
+            STATUS_HOST_CMD_DATA_ERR,
+            STATUS_F2_PKT_AVAILABLE,
+            STATUS_F3_PKT_AVAILABLE
+        );
+    }
+}
+
+#[cfg(feature = "log")]
+impl core::fmt::Debug for FormatStatus {
+    fn fmt(&self, fmt: &mut core::fmt::Formatter) -> core::fmt::Result {
+        macro_rules! implm {
+            ($($name:ident),*) => {
+                $(
+                    if self.0 & $name > 0 {
+                        core::write!(fmt, " | {}", &stringify!($name)[7..])?;
+                    }
+                )*
+            };
+        }
+
+        implm!(
+            STATUS_DATA_NOT_AVAILABLE,
+            STATUS_UNDERFLOW,
+            STATUS_OVERFLOW,
+            STATUS_F2_INTR,
+            STATUS_F3_INTR,
+            STATUS_F2_RX_READY,
+            STATUS_F3_RX_READY,
+            STATUS_HOST_CMD_DATA_ERR,
+            STATUS_F2_PKT_AVAILABLE,
+            STATUS_F3_PKT_AVAILABLE
+        );
+        Ok(())
+    }
+}
+
+#[cfg(feature = "log")]
+impl core::fmt::Display for FormatStatus {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        core::fmt::Debug::fmt(self, f)
+    }
+}
+
+#[allow(dead_code)]
+pub(crate) struct FormatInterrupt(pub u16);
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for FormatInterrupt {
+    fn format(&self, fmt: defmt::Formatter) {
+        macro_rules! implm {
+            ($($name:ident),*) => {
+                $(
+                    if self.0 & $name > 0 {
+                        defmt::write!(fmt, " | {}", &stringify!($name)[4..]);
+                    }
+                )*
+            };
+        }
+
+        implm!(
+            IRQ_DATA_UNAVAILABLE,
+            IRQ_F2_F3_FIFO_RD_UNDERFLOW,
+            IRQ_F2_F3_FIFO_WR_OVERFLOW,
+            IRQ_COMMAND_ERROR,
+            IRQ_DATA_ERROR,
+            IRQ_F2_PACKET_AVAILABLE,
+            IRQ_F3_PACKET_AVAILABLE,
+            IRQ_F1_OVERFLOW,
+            IRQ_MISC_INTR0,
+            IRQ_MISC_INTR1,
+            IRQ_MISC_INTR2,
+            IRQ_MISC_INTR3,
+            IRQ_MISC_INTR4,
+            IRQ_F1_INTR,
+            IRQ_F2_INTR,
+            IRQ_F3_INTR
+        );
+    }
+}
+
+#[cfg(feature = "log")]
+impl core::fmt::Debug for FormatInterrupt {
+    fn fmt(&self, fmt: &mut core::fmt::Formatter) -> core::fmt::Result {
+        macro_rules! implm {
+            ($($name:ident),*) => {
+                $(
+                    if self.0 & $name > 0 {
+                        core::write!(fmt, " | {}", &stringify!($name)[7..])?;
+                    }
+                )*
+            };
+        }
+
+        implm!(
+            IRQ_DATA_UNAVAILABLE,
+            IRQ_F2_F3_FIFO_RD_UNDERFLOW,
+            IRQ_F2_F3_FIFO_WR_OVERFLOW,
+            IRQ_COMMAND_ERROR,
+            IRQ_DATA_ERROR,
+            IRQ_F2_PACKET_AVAILABLE,
+            IRQ_F3_PACKET_AVAILABLE,
+            IRQ_F1_OVERFLOW,
+            IRQ_MISC_INTR0,
+            IRQ_MISC_INTR1,
+            IRQ_MISC_INTR2,
+            IRQ_MISC_INTR3,
+            IRQ_MISC_INTR4,
+            IRQ_F1_INTR,
+            IRQ_F2_INTR,
+            IRQ_F3_INTR
+        );
+        Ok(())
+    }
+}
+
+#[cfg(feature = "log")]
+impl core::fmt::Display for FormatInterrupt {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        core::fmt::Debug::fmt(self, f)
+    }
+}

cyw43/src/control.rs

@@ -0,0 +1,454 @@
+use core::cmp::{max, min};
+
+use ch::driver::LinkState;
+use embassy_net_driver_channel as ch;
+use embassy_time::{Duration, Timer};
+
+pub use crate::bus::SpiBusCyw43;
+use crate::consts::*;
+use crate::events::{Event, EventSubscriber, Events};
+use crate::fmt::Bytes;
+use crate::ioctl::{IoctlState, IoctlType};
+use crate::structs::*;
+use crate::{countries, events, PowerManagementMode};
+
+#[derive(Debug)]
+pub struct Error {
+    pub status: u32,
+}
+
+pub struct Control<'a> {
+    state_ch: ch::StateRunner<'a>,
+    events: &'a Events,
+    ioctl_state: &'a IoctlState,
+}
+
+impl<'a> Control<'a> {
+    pub(crate) fn new(state_ch: ch::StateRunner<'a>, event_sub: &'a Events, ioctl_state: &'a IoctlState) -> Self {
+        Self {
+            state_ch,
+            events: event_sub,
+            ioctl_state,
+        }
+    }
+
+    pub async fn init(&mut self, clm: &[u8]) {
+        const CHUNK_SIZE: usize = 1024;
+
+        debug!("Downloading CLM...");
+
+        let mut offs = 0;
+        for chunk in clm.chunks(CHUNK_SIZE) {
+            let mut flag = DOWNLOAD_FLAG_HANDLER_VER;
+            if offs == 0 {
+                flag |= DOWNLOAD_FLAG_BEGIN;
+            }
+            offs += chunk.len();
+            if offs == clm.len() {
+                flag |= DOWNLOAD_FLAG_END;
+            }
+
+            let header = DownloadHeader {
+                flag,
+                dload_type: DOWNLOAD_TYPE_CLM,
+                len: chunk.len() as _,
+                crc: 0,
+            };
+            let mut buf = [0; 8 + 12 + CHUNK_SIZE];
+            buf[0..8].copy_from_slice(b"clmload\x00");
+            buf[8..20].copy_from_slice(&header.to_bytes());
+            buf[20..][..chunk.len()].copy_from_slice(&chunk);
+            self.ioctl(IoctlType::Set, IOCTL_CMD_SET_VAR, 0, &mut buf[..8 + 12 + chunk.len()])
+                .await;
+        }
+
+        // check clmload ok
+        assert_eq!(self.get_iovar_u32("clmload_status").await, 0);
+
+        debug!("Configuring misc stuff...");
+
+        // Disable tx gloming which transfers multiple packets in one request.
+        // 'glom' is short for "conglomerate" which means "gather together into
+        // a compact mass".
+        self.set_iovar_u32("bus:txglom", 0).await;
+        self.set_iovar_u32("apsta", 1).await;
+
+        // read MAC addr.
+        let mut mac_addr = [0; 6];
+        assert_eq!(self.get_iovar("cur_etheraddr", &mut mac_addr).await, 6);
+        debug!("mac addr: {:02x}", Bytes(&mac_addr));
+
+        let country = countries::WORLD_WIDE_XX;
+        let country_info = CountryInfo {
+            country_abbrev: [country.code[0], country.code[1], 0, 0],
+            country_code: [country.code[0], country.code[1], 0, 0],
+            rev: if country.rev == 0 { -1 } else { country.rev as _ },
+        };
+        self.set_iovar("country", &country_info.to_bytes()).await;
+
+        // set country takes some time, next ioctls fail if we don't wait.
+        Timer::after(Duration::from_millis(100)).await;
+
+        // Set antenna to chip antenna
+        self.ioctl_set_u32(IOCTL_CMD_ANTDIV, 0, 0).await;
+
+        self.set_iovar_u32("bus:txglom", 0).await;
+        Timer::after(Duration::from_millis(100)).await;
+        //self.set_iovar_u32("apsta", 1).await; // this crashes, also we already did it before...??
+        //Timer::after(Duration::from_millis(100)).await;
+        self.set_iovar_u32("ampdu_ba_wsize", 8).await;
+        Timer::after(Duration::from_millis(100)).await;
+        self.set_iovar_u32("ampdu_mpdu", 4).await;
+        Timer::after(Duration::from_millis(100)).await;
+        //self.set_iovar_u32("ampdu_rx_factor", 0).await; // this crashes
+
+        //Timer::after(Duration::from_millis(100)).await;
+
+        // evts
+        let mut evts = EventMask {
+            iface: 0,
+            events: [0xFF; 24],
+        };
+
+        // Disable spammy uninteresting events.
+        evts.unset(Event::RADIO);
+        evts.unset(Event::IF);
+        evts.unset(Event::PROBREQ_MSG);
+        evts.unset(Event::PROBREQ_MSG_RX);
+        evts.unset(Event::PROBRESP_MSG);
+        evts.unset(Event::PROBRESP_MSG);
+        evts.unset(Event::ROAM);
+
+        self.set_iovar("bsscfg:event_msgs", &evts.to_bytes()).await;
+
+        Timer::after(Duration::from_millis(100)).await;
+
+        // set wifi up
+        self.ioctl(IoctlType::Set, IOCTL_CMD_UP, 0, &mut []).await;
+
+        Timer::after(Duration::from_millis(100)).await;
+
+        self.ioctl_set_u32(110, 0, 1).await; // SET_GMODE = auto
+        self.ioctl_set_u32(142, 0, 0).await; // SET_BAND = any
+
+        Timer::after(Duration::from_millis(100)).await;
+
+        self.state_ch.set_ethernet_address(mac_addr);
+
+        debug!("INIT DONE");
+    }
+
+    pub async fn set_power_management(&mut self, mode: PowerManagementMode) {
+        // power save mode
+        let mode_num = mode.mode();
+        if mode_num == 2 {
+            self.set_iovar_u32("pm2_sleep_ret", mode.sleep_ret_ms() as u32).await;
+            self.set_iovar_u32("bcn_li_bcn", mode.beacon_period() as u32).await;
+            self.set_iovar_u32("bcn_li_dtim", mode.dtim_period() as u32).await;
+            self.set_iovar_u32("assoc_listen", mode.assoc() as u32).await;
+        }
+        self.ioctl_set_u32(86, 0, mode_num).await;
+    }
+
+    pub async fn join_open(&mut self, ssid: &str) -> Result<(), Error> {
+        self.set_iovar_u32("ampdu_ba_wsize", 8).await;
+
+        self.ioctl_set_u32(134, 0, 0).await; // wsec = open
+        self.set_iovar_u32x2("bsscfg:sup_wpa", 0, 0).await;
+        self.ioctl_set_u32(20, 0, 1).await; // set_infra = 1
+        self.ioctl_set_u32(22, 0, 0).await; // set_auth = open (0)
+
+        let mut i = SsidInfo {
+            len: ssid.len() as _,
+            ssid: [0; 32],
+        };
+        i.ssid[..ssid.len()].copy_from_slice(ssid.as_bytes());
+
+        self.wait_for_join(i).await
+    }
+
+    pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
+        self.set_iovar_u32("ampdu_ba_wsize", 8).await;
+
+        self.ioctl_set_u32(134, 0, 4).await; // wsec = wpa2
+        self.set_iovar_u32x2("bsscfg:sup_wpa", 0, 1).await;
+        self.set_iovar_u32x2("bsscfg:sup_wpa2_eapver", 0, 0xFFFF_FFFF).await;
+        self.set_iovar_u32x2("bsscfg:sup_wpa_tmo", 0, 2500).await;
+
+        Timer::after(Duration::from_millis(100)).await;
+
+        let mut pfi = PassphraseInfo {
+            len: passphrase.len() as _,
+            flags: 1,
+            passphrase: [0; 64],
+        };
+        pfi.passphrase[..passphrase.len()].copy_from_slice(passphrase.as_bytes());
+        self.ioctl(IoctlType::Set, IOCTL_CMD_SET_PASSPHRASE, 0, &mut pfi.to_bytes())
+            .await; // WLC_SET_WSEC_PMK
+
+        self.ioctl_set_u32(20, 0, 1).await; // set_infra = 1
+        self.ioctl_set_u32(22, 0, 0).await; // set_auth = 0 (open)
+        self.ioctl_set_u32(165, 0, 0x80).await; // set_wpa_auth
+
+        let mut i = SsidInfo {
+            len: ssid.len() as _,
+            ssid: [0; 32],
+        };
+        i.ssid[..ssid.len()].copy_from_slice(ssid.as_bytes());
+
+        self.wait_for_join(i).await
+    }
+
+    async fn wait_for_join(&mut self, i: SsidInfo) -> Result<(), Error> {
+        self.events.mask.enable(&[Event::SET_SSID, Event::AUTH]);
+        let mut subscriber = self.events.queue.subscriber().unwrap();
+        // the actual join operation starts here
+        // we make sure to enable events before so we don't miss any
+
+        // set_ssid
+        self.ioctl(IoctlType::Set, IOCTL_CMD_SET_SSID, 0, &mut i.to_bytes())
+            .await;
+
+        // to complete the join, we wait for a SET_SSID event
+        // we also save the AUTH status for the user, it may be interesting
+        let mut auth_status = 0;
+        let status = loop {
+            let msg = subscriber.next_message_pure().await;
+            if msg.header.event_type == Event::AUTH && msg.header.status != EStatus::SUCCESS {
+                auth_status = msg.header.status;
+            } else if msg.header.event_type == Event::SET_SSID {
+                // join operation ends with SET_SSID event
+                break msg.header.status;
+            }
+        };
+
+        self.events.mask.disable_all();
+        if status == EStatus::SUCCESS {
+            // successful join
+            self.state_ch.set_link_state(LinkState::Up);
+            debug!("JOINED");
+            Ok(())
+        } else {
+            warn!("JOIN failed with status={} auth={}", status, auth_status);
+            Err(Error { status })
+        }
+    }
+
+    pub async fn gpio_set(&mut self, gpio_n: u8, gpio_en: bool) {
+        assert!(gpio_n < 3);
+        self.set_iovar_u32x2("gpioout", 1 << gpio_n, if gpio_en { 1 << gpio_n } else { 0 })
+            .await
+    }
+
+    pub async fn start_ap_open(&mut self, ssid: &str, channel: u8) {
+        self.start_ap(ssid, "", Security::OPEN, channel).await;
+    }
+
+    pub async fn start_ap_wpa2(&mut self, ssid: &str, passphrase: &str, channel: u8) {
+        self.start_ap(ssid, passphrase, Security::WPA2_AES_PSK, channel).await;
+    }
+
+    async fn start_ap(&mut self, ssid: &str, passphrase: &str, security: Security, channel: u8) {
+        if security != Security::OPEN
+            && (passphrase.as_bytes().len() < MIN_PSK_LEN || passphrase.as_bytes().len() > MAX_PSK_LEN)
+        {
+            panic!("Passphrase is too short or too long");
+        }
+
+        // Temporarily set wifi down
+        self.ioctl(IoctlType::Set, IOCTL_CMD_DOWN, 0, &mut []).await;
+
+        // Turn off APSTA mode
+        self.set_iovar_u32("apsta", 0).await;
+
+        // Set wifi up again
+        self.ioctl(IoctlType::Set, IOCTL_CMD_UP, 0, &mut []).await;
+
+        // Turn on AP mode
+        self.ioctl_set_u32(IOCTL_CMD_SET_AP, 0, 1).await;
+
+        // Set SSID
+        let mut i = SsidInfoWithIndex {
+            index: 0,
+            ssid_info: SsidInfo {
+                len: ssid.as_bytes().len() as _,
+                ssid: [0; 32],
+            },
+        };
+        i.ssid_info.ssid[..ssid.as_bytes().len()].copy_from_slice(ssid.as_bytes());
+        self.set_iovar("bsscfg:ssid", &i.to_bytes()).await;
+
+        // Set channel number
+        self.ioctl_set_u32(IOCTL_CMD_SET_CHANNEL, 0, channel as u32).await;
+
+        // Set security
+        self.set_iovar_u32x2("bsscfg:wsec", 0, (security as u32) & 0xFF).await;
+
+        if security != Security::OPEN {
+            self.set_iovar_u32x2("bsscfg:wpa_auth", 0, 0x0084).await; // wpa_auth = WPA2_AUTH_PSK | WPA_AUTH_PSK
+
+            Timer::after(Duration::from_millis(100)).await;
+
+            // Set passphrase
+            let mut pfi = PassphraseInfo {
+                len: passphrase.as_bytes().len() as _,
+                flags: 1, // WSEC_PASSPHRASE
+                passphrase: [0; 64],
+            };
+            pfi.passphrase[..passphrase.as_bytes().len()].copy_from_slice(passphrase.as_bytes());
+            self.ioctl(IoctlType::Set, IOCTL_CMD_SET_PASSPHRASE, 0, &mut pfi.to_bytes())
+                .await;
+        }
+
+        // Change mutlicast rate from 1 Mbps to 11 Mbps
+        self.set_iovar_u32("2g_mrate", 11000000 / 500000).await;
+
+        // Start AP
+        self.set_iovar_u32x2("bss", 0, 1).await; // bss = BSS_UP
+    }
+
+    async fn set_iovar_u32x2(&mut self, name: &str, val1: u32, val2: u32) {
+        let mut buf = [0; 8];
+        buf[0..4].copy_from_slice(&val1.to_le_bytes());
+        buf[4..8].copy_from_slice(&val2.to_le_bytes());
+        self.set_iovar(name, &buf).await
+    }
+
+    async fn set_iovar_u32(&mut self, name: &str, val: u32) {
+        self.set_iovar(name, &val.to_le_bytes()).await
+    }
+
+    async fn get_iovar_u32(&mut self, name: &str) -> u32 {
+        let mut buf = [0; 4];
+        let len = self.get_iovar(name, &mut buf).await;
+        assert_eq!(len, 4);
+        u32::from_le_bytes(buf)
+    }
+
+    async fn set_iovar(&mut self, name: &str, val: &[u8]) {
+        self.set_iovar_v::<64>(name, val).await
+    }
+
+    async fn set_iovar_v<const BUFSIZE: usize>(&mut self, name: &str, val: &[u8]) {
+        debug!("set {} = {:02x}", name, Bytes(val));
+
+        let mut buf = [0; BUFSIZE];
+        buf[..name.len()].copy_from_slice(name.as_bytes());
+        buf[name.len()] = 0;
+        buf[name.len() + 1..][..val.len()].copy_from_slice(val);
+
+        let total_len = name.len() + 1 + val.len();
+        self.ioctl(IoctlType::Set, IOCTL_CMD_SET_VAR, 0, &mut buf[..total_len])
+            .await;
+    }
+
+    // TODO this is not really working, it always returns all zeros.
+    async fn get_iovar(&mut self, name: &str, res: &mut [u8]) -> usize {
+        debug!("get {}", name);
+
+        let mut buf = [0; 64];
+        buf[..name.len()].copy_from_slice(name.as_bytes());
+        buf[name.len()] = 0;
+
+        let total_len = max(name.len() + 1, res.len());
+        let res_len = self
+            .ioctl(IoctlType::Get, IOCTL_CMD_GET_VAR, 0, &mut buf[..total_len])
+            .await;
+
+        let out_len = min(res.len(), res_len);
+        res[..out_len].copy_from_slice(&buf[..out_len]);
+        out_len
+    }
+
+    async fn ioctl_set_u32(&mut self, cmd: u32, iface: u32, val: u32) {
+        let mut buf = val.to_le_bytes();
+        self.ioctl(IoctlType::Set, cmd, iface, &mut buf).await;
+    }
+
+    async fn ioctl(&mut self, kind: IoctlType, cmd: u32, iface: u32, buf: &mut [u8]) -> usize {
+        struct CancelOnDrop<'a>(&'a IoctlState);
+
+        impl CancelOnDrop<'_> {
+            fn defuse(self) {
+                core::mem::forget(self);
+            }
+        }
+
+        impl Drop for CancelOnDrop<'_> {
+            fn drop(&mut self) {
+                self.0.cancel_ioctl();
+            }
+        }
+
+        let ioctl = CancelOnDrop(self.ioctl_state);
+        let resp_len = ioctl.0.do_ioctl(kind, cmd, iface, buf).await;
+        ioctl.defuse();
+
+        resp_len
+    }
+
+    /// Start a wifi scan
+    ///
+    /// Returns a `Stream` of networks found by the device
+    ///
+    /// # Note
+    /// Device events are currently implemented using a bounded queue.
+    /// To not miss any events, you should make sure to always await the stream.
+    pub async fn scan(&mut self) -> Scanner<'_> {
+        const SCANTYPE_PASSIVE: u8 = 1;
+
+        let scan_params = ScanParams {
+            version: 1,
+            action: 1,
+            sync_id: 1,
+            ssid_len: 0,
+            ssid: [0; 32],
+            bssid: [0xff; 6],
+            bss_type: 2,
+            scan_type: SCANTYPE_PASSIVE,
+            nprobes: !0,
+            active_time: !0,
+            passive_time: !0,
+            home_time: !0,
+            channel_num: 0,
+            channel_list: [0; 1],
+        };
+
+        self.events.mask.enable(&[Event::ESCAN_RESULT]);
+        let subscriber = self.events.queue.subscriber().unwrap();
+        self.set_iovar_v::<256>("escan", &scan_params.to_bytes()).await;
+
+        Scanner {
+            subscriber,
+            events: &self.events,
+        }
+    }
+}
+
+pub struct Scanner<'a> {
+    subscriber: EventSubscriber<'a>,
+    events: &'a Events,
+}
+
+impl Scanner<'_> {
+    /// wait for the next found network
+    pub async fn next(&mut self) -> Option<BssInfo> {
+        let event = self.subscriber.next_message_pure().await;
+        if event.header.status != EStatus::PARTIAL {
+            self.events.mask.disable_all();
+            return None;
+        }
+
+        if let events::Payload::BssInfo(bss) = event.payload {
+            Some(bss)
+        } else {
+            None
+        }
+    }
+}
+
+impl Drop for Scanner<'_> {
+    fn drop(&mut self) {
+        self.events.mask.disable_all();
+    }
+}

cyw43/src/countries.rs

@@ -0,0 +1,481 @@
+#![allow(unused)]
+
+pub struct Country {
+    pub code: [u8; 2],
+    pub rev: u16,
+}
+
+/// AF Afghanistan
+pub const AFGHANISTAN: Country = Country { code: *b"AF", rev: 0 };
+/// AL Albania
+pub const ALBANIA: Country = Country { code: *b"AL", rev: 0 };
+/// DZ Algeria
+pub const ALGERIA: Country = Country { code: *b"DZ", rev: 0 };
+/// AS American_Samoa
+pub const AMERICAN_SAMOA: Country = Country { code: *b"AS", rev: 0 };
+/// AO Angola
+pub const ANGOLA: Country = Country { code: *b"AO", rev: 0 };
+/// AI Anguilla
+pub const ANGUILLA: Country = Country { code: *b"AI", rev: 0 };
+/// AG Antigua_and_Barbuda
+pub const ANTIGUA_AND_BARBUDA: Country = Country { code: *b"AG", rev: 0 };
+/// AR Argentina
+pub const ARGENTINA: Country = Country { code: *b"AR", rev: 0 };
+/// AM Armenia
+pub const ARMENIA: Country = Country { code: *b"AM", rev: 0 };
+/// AW Aruba
+pub const ARUBA: Country = Country { code: *b"AW", rev: 0 };
+/// AU Australia
+pub const AUSTRALIA: Country = Country { code: *b"AU", rev: 0 };
+/// AT Austria
+pub const AUSTRIA: Country = Country { code: *b"AT", rev: 0 };
+/// AZ Azerbaijan
+pub const AZERBAIJAN: Country = Country { code: *b"AZ", rev: 0 };
+/// BS Bahamas
+pub const BAHAMAS: Country = Country { code: *b"BS", rev: 0 };
+/// BH Bahrain
+pub const BAHRAIN: Country = Country { code: *b"BH", rev: 0 };
+/// 0B Baker_Island
+pub const BAKER_ISLAND: Country = Country { code: *b"0B", rev: 0 };
+/// BD Bangladesh
+pub const BANGLADESH: Country = Country { code: *b"BD", rev: 0 };
+/// BB Barbados
+pub const BARBADOS: Country = Country { code: *b"BB", rev: 0 };
+/// BY Belarus
+pub const BELARUS: Country = Country { code: *b"BY", rev: 0 };
+/// BE Belgium
+pub const BELGIUM: Country = Country { code: *b"BE", rev: 0 };
+/// BZ Belize
+pub const BELIZE: Country = Country { code: *b"BZ", rev: 0 };
+/// BJ Benin
+pub const BENIN: Country = Country { code: *b"BJ", rev: 0 };
+/// BM Bermuda
+pub const BERMUDA: Country = Country { code: *b"BM", rev: 0 };
+/// BT Bhutan
+pub const BHUTAN: Country = Country { code: *b"BT", rev: 0 };
+/// BO Bolivia
+pub const BOLIVIA: Country = Country { code: *b"BO", rev: 0 };
+/// BA Bosnia_and_Herzegovina
+pub const BOSNIA_AND_HERZEGOVINA: Country = Country { code: *b"BA", rev: 0 };
+/// BW Botswana
+pub const BOTSWANA: Country = Country { code: *b"BW", rev: 0 };
+/// BR Brazil
+pub const BRAZIL: Country = Country { code: *b"BR", rev: 0 };
+/// IO British_Indian_Ocean_Territory
+pub const BRITISH_INDIAN_OCEAN_TERRITORY: Country = Country { code: *b"IO", rev: 0 };
+/// BN Brunei_Darussalam
+pub const BRUNEI_DARUSSALAM: Country = Country { code: *b"BN", rev: 0 };
+/// BG Bulgaria
+pub const BULGARIA: Country = Country { code: *b"BG", rev: 0 };
+/// BF Burkina_Faso
+pub const BURKINA_FASO: Country = Country { code: *b"BF", rev: 0 };
+/// BI Burundi
+pub const BURUNDI: Country = Country { code: *b"BI", rev: 0 };
+/// KH Cambodia
+pub const CAMBODIA: Country = Country { code: *b"KH", rev: 0 };
+/// CM Cameroon
+pub const CAMEROON: Country = Country { code: *b"CM", rev: 0 };
+/// CA Canada
+pub const CANADA: Country = Country { code: *b"CA", rev: 0 };
+/// CA Canada Revision 950
+pub const CANADA_REV950: Country = Country { code: *b"CA", rev: 950 };
+/// CV Cape_Verde
+pub const CAPE_VERDE: Country = Country { code: *b"CV", rev: 0 };
+/// KY Cayman_Islands
+pub const CAYMAN_ISLANDS: Country = Country { code: *b"KY", rev: 0 };
+/// CF Central_African_Republic
+pub const CENTRAL_AFRICAN_REPUBLIC: Country = Country { code: *b"CF", rev: 0 };
+/// TD Chad
+pub const CHAD: Country = Country { code: *b"TD", rev: 0 };
+/// CL Chile
+pub const CHILE: Country = Country { code: *b"CL", rev: 0 };
+/// CN China
+pub const CHINA: Country = Country { code: *b"CN", rev: 0 };
+/// CX Christmas_Island
+pub const CHRISTMAS_ISLAND: Country = Country { code: *b"CX", rev: 0 };
+/// CO Colombia
+pub const COLOMBIA: Country = Country { code: *b"CO", rev: 0 };
+/// KM Comoros
+pub const COMOROS: Country = Country { code: *b"KM", rev: 0 };
+/// CG Congo
+pub const CONGO: Country = Country { code: *b"CG", rev: 0 };
+/// CD Congo,_The_Democratic_Republic_Of_The
+pub const CONGO_THE_DEMOCRATIC_REPUBLIC_OF_THE: Country = Country { code: *b"CD", rev: 0 };
+/// CR Costa_Rica
+pub const COSTA_RICA: Country = Country { code: *b"CR", rev: 0 };
+/// CI Cote_D'ivoire
+pub const COTE_DIVOIRE: Country = Country { code: *b"CI", rev: 0 };
+/// HR Croatia
+pub const CROATIA: Country = Country { code: *b"HR", rev: 0 };
+/// CU Cuba
+pub const CUBA: Country = Country { code: *b"CU", rev: 0 };
+/// CY Cyprus
+pub const CYPRUS: Country = Country { code: *b"CY", rev: 0 };
+/// CZ Czech_Republic
+pub const CZECH_REPUBLIC: Country = Country { code: *b"CZ", rev: 0 };
+/// DK Denmark
+pub const DENMARK: Country = Country { code: *b"DK", rev: 0 };
+/// DJ Djibouti
+pub const DJIBOUTI: Country = Country { code: *b"DJ", rev: 0 };
+/// DM Dominica
+pub const DOMINICA: Country = Country { code: *b"DM", rev: 0 };
+/// DO Dominican_Republic
+pub const DOMINICAN_REPUBLIC: Country = Country { code: *b"DO", rev: 0 };
+/// AU G'Day mate!
+pub const DOWN_UNDER: Country = Country { code: *b"AU", rev: 0 };
+/// EC Ecuador
+pub const ECUADOR: Country = Country { code: *b"EC", rev: 0 };
+/// EG Egypt
+pub const EGYPT: Country = Country { code: *b"EG", rev: 0 };
+/// SV El_Salvador
+pub const EL_SALVADOR: Country = Country { code: *b"SV", rev: 0 };
+/// GQ Equatorial_Guinea
+pub const EQUATORIAL_GUINEA: Country = Country { code: *b"GQ", rev: 0 };
+/// ER Eritrea
+pub const ERITREA: Country = Country { code: *b"ER", rev: 0 };
+/// EE Estonia
+pub const ESTONIA: Country = Country { code: *b"EE", rev: 0 };
+/// ET Ethiopia
+pub const ETHIOPIA: Country = Country { code: *b"ET", rev: 0 };
+/// FK Falkland_Islands_(Malvinas)
+pub const FALKLAND_ISLANDS_MALVINAS: Country = Country { code: *b"FK", rev: 0 };
+/// FO Faroe_Islands
+pub const FAROE_ISLANDS: Country = Country { code: *b"FO", rev: 0 };
+/// FJ Fiji
+pub const FIJI: Country = Country { code: *b"FJ", rev: 0 };
+/// FI Finland
+pub const FINLAND: Country = Country { code: *b"FI", rev: 0 };
+/// FR France
+pub const FRANCE: Country = Country { code: *b"FR", rev: 0 };
+/// GF French_Guina
+pub const FRENCH_GUINA: Country = Country { code: *b"GF", rev: 0 };
+/// PF French_Polynesia
+pub const FRENCH_POLYNESIA: Country = Country { code: *b"PF", rev: 0 };
+/// TF French_Southern_Territories
+pub const FRENCH_SOUTHERN_TERRITORIES: Country = Country { code: *b"TF", rev: 0 };
+/// GA Gabon
+pub const GABON: Country = Country { code: *b"GA", rev: 0 };
+/// GM Gambia
+pub const GAMBIA: Country = Country { code: *b"GM", rev: 0 };
+/// GE Georgia
+pub const GEORGIA: Country = Country { code: *b"GE", rev: 0 };
+/// DE Germany
+pub const GERMANY: Country = Country { code: *b"DE", rev: 0 };
+/// E0 European_Wide Revision 895
+pub const EUROPEAN_WIDE_REV895: Country = Country { code: *b"E0", rev: 895 };
+/// GH Ghana
+pub const GHANA: Country = Country { code: *b"GH", rev: 0 };
+/// GI Gibraltar
+pub const GIBRALTAR: Country = Country { code: *b"GI", rev: 0 };
+/// GR Greece
+pub const GREECE: Country = Country { code: *b"GR", rev: 0 };
+/// GD Grenada
+pub const GRENADA: Country = Country { code: *b"GD", rev: 0 };
+/// GP Guadeloupe
+pub const GUADELOUPE: Country = Country { code: *b"GP", rev: 0 };
+/// GU Guam
+pub const GUAM: Country = Country { code: *b"GU", rev: 0 };
+/// GT Guatemala
+pub const GUATEMALA: Country = Country { code: *b"GT", rev: 0 };
+/// GG Guernsey
+pub const GUERNSEY: Country = Country { code: *b"GG", rev: 0 };
+/// GN Guinea
+pub const GUINEA: Country = Country { code: *b"GN", rev: 0 };
+/// GW Guinea-bissau
+pub const GUINEA_BISSAU: Country = Country { code: *b"GW", rev: 0 };
+/// GY Guyana
+pub const GUYANA: Country = Country { code: *b"GY", rev: 0 };
+/// HT Haiti
+pub const HAITI: Country = Country { code: *b"HT", rev: 0 };
+/// VA Holy_See_(Vatican_City_State)
+pub const HOLY_SEE_VATICAN_CITY_STATE: Country = Country { code: *b"VA", rev: 0 };
+/// HN Honduras
+pub const HONDURAS: Country = Country { code: *b"HN", rev: 0 };
+/// HK Hong_Kong
+pub const HONG_KONG: Country = Country { code: *b"HK", rev: 0 };
+/// HU Hungary
+pub const HUNGARY: Country = Country { code: *b"HU", rev: 0 };
+/// IS Iceland
+pub const ICELAND: Country = Country { code: *b"IS", rev: 0 };
+/// IN India
+pub const INDIA: Country = Country { code: *b"IN", rev: 0 };
+/// ID Indonesia
+pub const INDONESIA: Country = Country { code: *b"ID", rev: 0 };
+/// IR Iran,_Islamic_Republic_Of
+pub const IRAN_ISLAMIC_REPUBLIC_OF: Country = Country { code: *b"IR", rev: 0 };
+/// IQ Iraq
+pub const IRAQ: Country = Country { code: *b"IQ", rev: 0 };
+/// IE Ireland
+pub const IRELAND: Country = Country { code: *b"IE", rev: 0 };
+/// IL Israel
+pub const ISRAEL: Country = Country { code: *b"IL", rev: 0 };
+/// IT Italy
+pub const ITALY: Country = Country { code: *b"IT", rev: 0 };
+/// JM Jamaica
+pub const JAMAICA: Country = Country { code: *b"JM", rev: 0 };
+/// JP Japan
+pub const JAPAN: Country = Country { code: *b"JP", rev: 0 };
+/// JE Jersey
+pub const JERSEY: Country = Country { code: *b"JE", rev: 0 };
+/// JO Jordan
+pub const JORDAN: Country = Country { code: *b"JO", rev: 0 };
+/// KZ Kazakhstan
+pub const KAZAKHSTAN: Country = Country { code: *b"KZ", rev: 0 };
+/// KE Kenya
+pub const KENYA: Country = Country { code: *b"KE", rev: 0 };
+/// KI Kiribati
+pub const KIRIBATI: Country = Country { code: *b"KI", rev: 0 };
+/// KR Korea,_Republic_Of
+pub const KOREA_REPUBLIC_OF: Country = Country { code: *b"KR", rev: 1 };
+/// 0A Kosovo
+pub const KOSOVO: Country = Country { code: *b"0A", rev: 0 };
+/// KW Kuwait
+pub const KUWAIT: Country = Country { code: *b"KW", rev: 0 };
+/// KG Kyrgyzstan
+pub const KYRGYZSTAN: Country = Country { code: *b"KG", rev: 0 };
+/// LA Lao_People's_Democratic_Repubic
+pub const LAO_PEOPLES_DEMOCRATIC_REPUBIC: Country = Country { code: *b"LA", rev: 0 };
+/// LV Latvia
+pub const LATVIA: Country = Country { code: *b"LV", rev: 0 };
+/// LB Lebanon
+pub const LEBANON: Country = Country { code: *b"LB", rev: 0 };
+/// LS Lesotho
+pub const LESOTHO: Country = Country { code: *b"LS", rev: 0 };
+/// LR Liberia
+pub const LIBERIA: Country = Country { code: *b"LR", rev: 0 };
+/// LY Libyan_Arab_Jamahiriya
+pub const LIBYAN_ARAB_JAMAHIRIYA: Country = Country { code: *b"LY", rev: 0 };
+/// LI Liechtenstein
+pub const LIECHTENSTEIN: Country = Country { code: *b"LI", rev: 0 };
+/// LT Lithuania
+pub const LITHUANIA: Country = Country { code: *b"LT", rev: 0 };
+/// LU Luxembourg
+pub const LUXEMBOURG: Country = Country { code: *b"LU", rev: 0 };
+/// MO Macao
+pub const MACAO: Country = Country { code: *b"MO", rev: 0 };
+/// MK Macedonia,_Former_Yugoslav_Republic_Of
+pub const MACEDONIA_FORMER_YUGOSLAV_REPUBLIC_OF: Country = Country { code: *b"MK", rev: 0 };
+/// MG Madagascar
+pub const MADAGASCAR: Country = Country { code: *b"MG", rev: 0 };
+/// MW Malawi
+pub const MALAWI: Country = Country { code: *b"MW", rev: 0 };
+/// MY Malaysia
+pub const MALAYSIA: Country = Country { code: *b"MY", rev: 0 };
+/// MV Maldives
+pub const MALDIVES: Country = Country { code: *b"MV", rev: 0 };
+/// ML Mali
+pub const MALI: Country = Country { code: *b"ML", rev: 0 };
+/// MT Malta
+pub const MALTA: Country = Country { code: *b"MT", rev: 0 };
+/// IM Man,_Isle_Of
+pub const MAN_ISLE_OF: Country = Country { code: *b"IM", rev: 0 };
+/// MQ Martinique
+pub const MARTINIQUE: Country = Country { code: *b"MQ", rev: 0 };
+/// MR Mauritania
+pub const MAURITANIA: Country = Country { code: *b"MR", rev: 0 };
+/// MU Mauritius
+pub const MAURITIUS: Country = Country { code: *b"MU", rev: 0 };
+/// YT Mayotte
+pub const MAYOTTE: Country = Country { code: *b"YT", rev: 0 };
+/// MX Mexico
+pub const MEXICO: Country = Country { code: *b"MX", rev: 0 };
+/// FM Micronesia,_Federated_States_Of
+pub const MICRONESIA_FEDERATED_STATES_OF: Country = Country { code: *b"FM", rev: 0 };
+/// MD Moldova,_Republic_Of
+pub const MOLDOVA_REPUBLIC_OF: Country = Country { code: *b"MD", rev: 0 };
+/// MC Monaco
+pub const MONACO: Country = Country { code: *b"MC", rev: 0 };
+/// MN Mongolia
+pub const MONGOLIA: Country = Country { code: *b"MN", rev: 0 };
+/// ME Montenegro
+pub const MONTENEGRO: Country = Country { code: *b"ME", rev: 0 };
+/// MS Montserrat
+pub const MONTSERRAT: Country = Country { code: *b"MS", rev: 0 };
+/// MA Morocco
+pub const MOROCCO: Country = Country { code: *b"MA", rev: 0 };
+/// MZ Mozambique
+pub const MOZAMBIQUE: Country = Country { code: *b"MZ", rev: 0 };
+/// MM Myanmar
+pub const MYANMAR: Country = Country { code: *b"MM", rev: 0 };
+/// NA Namibia
+pub const NAMIBIA: Country = Country { code: *b"NA", rev: 0 };
+/// NR Nauru
+pub const NAURU: Country = Country { code: *b"NR", rev: 0 };
+/// NP Nepal
+pub const NEPAL: Country = Country { code: *b"NP", rev: 0 };
+/// NL Netherlands
+pub const NETHERLANDS: Country = Country { code: *b"NL", rev: 0 };
+/// AN Netherlands_Antilles
+pub const NETHERLANDS_ANTILLES: Country = Country { code: *b"AN", rev: 0 };
+/// NC New_Caledonia
+pub const NEW_CALEDONIA: Country = Country { code: *b"NC", rev: 0 };
+/// NZ New_Zealand
+pub const NEW_ZEALAND: Country = Country { code: *b"NZ", rev: 0 };
+/// NI Nicaragua
+pub const NICARAGUA: Country = Country { code: *b"NI", rev: 0 };
+/// NE Niger
+pub const NIGER: Country = Country { code: *b"NE", rev: 0 };
+/// NG Nigeria
+pub const NIGERIA: Country = Country { code: *b"NG", rev: 0 };
+/// NF Norfolk_Island
+pub const NORFOLK_ISLAND: Country = Country { code: *b"NF", rev: 0 };
+/// MP Northern_Mariana_Islands
+pub const NORTHERN_MARIANA_ISLANDS: Country = Country { code: *b"MP", rev: 0 };
+/// NO Norway
+pub const NORWAY: Country = Country { code: *b"NO", rev: 0 };
+/// OM Oman
+pub const OMAN: Country = Country { code: *b"OM", rev: 0 };
+/// PK Pakistan
+pub const PAKISTAN: Country = Country { code: *b"PK", rev: 0 };
+/// PW Palau
+pub const PALAU: Country = Country { code: *b"PW", rev: 0 };
+/// PA Panama
+pub const PANAMA: Country = Country { code: *b"PA", rev: 0 };
+/// PG Papua_New_Guinea
+pub const PAPUA_NEW_GUINEA: Country = Country { code: *b"PG", rev: 0 };
+/// PY Paraguay
+pub const PARAGUAY: Country = Country { code: *b"PY", rev: 0 };
+/// PE Peru
+pub const PERU: Country = Country { code: *b"PE", rev: 0 };
+/// PH Philippines
+pub const PHILIPPINES: Country = Country { code: *b"PH", rev: 0 };
+/// PL Poland
+pub const POLAND: Country = Country { code: *b"PL", rev: 0 };
+/// PT Portugal
+pub const PORTUGAL: Country = Country { code: *b"PT", rev: 0 };
+/// PR Pueto_Rico
+pub const PUETO_RICO: Country = Country { code: *b"PR", rev: 0 };
+/// QA Qatar
+pub const QATAR: Country = Country { code: *b"QA", rev: 0 };
+/// RE Reunion
+pub const REUNION: Country = Country { code: *b"RE", rev: 0 };
+/// RO Romania
+pub const ROMANIA: Country = Country { code: *b"RO", rev: 0 };
+/// RU Russian_Federation
+pub const RUSSIAN_FEDERATION: Country = Country { code: *b"RU", rev: 0 };
+/// RW Rwanda
+pub const RWANDA: Country = Country { code: *b"RW", rev: 0 };
+/// KN Saint_Kitts_and_Nevis
+pub const SAINT_KITTS_AND_NEVIS: Country = Country { code: *b"KN", rev: 0 };
+/// LC Saint_Lucia
+pub const SAINT_LUCIA: Country = Country { code: *b"LC", rev: 0 };
+/// PM Saint_Pierre_and_Miquelon
+pub const SAINT_PIERRE_AND_MIQUELON: Country = Country { code: *b"PM", rev: 0 };
+/// VC Saint_Vincent_and_The_Grenadines
+pub const SAINT_VINCENT_AND_THE_GRENADINES: Country = Country { code: *b"VC", rev: 0 };
+/// WS Samoa
+pub const SAMOA: Country = Country { code: *b"WS", rev: 0 };
+/// MF Sanit_Martin_/_Sint_Marteen
+pub const SANIT_MARTIN_SINT_MARTEEN: Country = Country { code: *b"MF", rev: 0 };
+/// ST Sao_Tome_and_Principe
+pub const SAO_TOME_AND_PRINCIPE: Country = Country { code: *b"ST", rev: 0 };
+/// SA Saudi_Arabia
+pub const SAUDI_ARABIA: Country = Country { code: *b"SA", rev: 0 };
+/// SN Senegal
+pub const SENEGAL: Country = Country { code: *b"SN", rev: 0 };
+/// RS Serbia
+pub const SERBIA: Country = Country { code: *b"RS", rev: 0 };
+/// SC Seychelles
+pub const SEYCHELLES: Country = Country { code: *b"SC", rev: 0 };
+/// SL Sierra_Leone
+pub const SIERRA_LEONE: Country = Country { code: *b"SL", rev: 0 };
+/// SG Singapore
+pub const SINGAPORE: Country = Country { code: *b"SG", rev: 0 };
+/// SK Slovakia
+pub const SLOVAKIA: Country = Country { code: *b"SK", rev: 0 };
+/// SI Slovenia
+pub const SLOVENIA: Country = Country { code: *b"SI", rev: 0 };
+/// SB Solomon_Islands
+pub const SOLOMON_ISLANDS: Country = Country { code: *b"SB", rev: 0 };
+/// SO Somalia
+pub const SOMALIA: Country = Country { code: *b"SO", rev: 0 };
+/// ZA South_Africa
+pub const SOUTH_AFRICA: Country = Country { code: *b"ZA", rev: 0 };
+/// ES Spain
+pub const SPAIN: Country = Country { code: *b"ES", rev: 0 };
+/// LK Sri_Lanka
+pub const SRI_LANKA: Country = Country { code: *b"LK", rev: 0 };
+/// SR Suriname
+pub const SURINAME: Country = Country { code: *b"SR", rev: 0 };
+/// SZ Swaziland
+pub const SWAZILAND: Country = Country { code: *b"SZ", rev: 0 };
+/// SE Sweden
+pub const SWEDEN: Country = Country { code: *b"SE", rev: 0 };
+/// CH Switzerland
+pub const SWITZERLAND: Country = Country { code: *b"CH", rev: 0 };
+/// SY Syrian_Arab_Republic
+pub const SYRIAN_ARAB_REPUBLIC: Country = Country { code: *b"SY", rev: 0 };
+/// TW Taiwan,_Province_Of_China
+pub const TAIWAN_PROVINCE_OF_CHINA: Country = Country { code: *b"TW", rev: 0 };
+/// TJ Tajikistan
+pub const TAJIKISTAN: Country = Country { code: *b"TJ", rev: 0 };
+/// TZ Tanzania,_United_Republic_Of
+pub const TANZANIA_UNITED_REPUBLIC_OF: Country = Country { code: *b"TZ", rev: 0 };
+/// TH Thailand
+pub const THAILAND: Country = Country { code: *b"TH", rev: 0 };
+/// TG Togo
+pub const TOGO: Country = Country { code: *b"TG", rev: 0 };
+/// TO Tonga
+pub const TONGA: Country = Country { code: *b"TO", rev: 0 };
+/// TT Trinidad_and_Tobago
+pub const TRINIDAD_AND_TOBAGO: Country = Country { code: *b"TT", rev: 0 };
+/// TN Tunisia
+pub const TUNISIA: Country = Country { code: *b"TN", rev: 0 };
+/// TR Turkey
+pub const TURKEY: Country = Country { code: *b"TR", rev: 0 };
+/// TM Turkmenistan
+pub const TURKMENISTAN: Country = Country { code: *b"TM", rev: 0 };
+/// TC Turks_and_Caicos_Islands
+pub const TURKS_AND_CAICOS_ISLANDS: Country = Country { code: *b"TC", rev: 0 };
+/// TV Tuvalu
+pub const TUVALU: Country = Country { code: *b"TV", rev: 0 };
+/// UG Uganda
+pub const UGANDA: Country = Country { code: *b"UG", rev: 0 };
+/// UA Ukraine
+pub const UKRAINE: Country = Country { code: *b"UA", rev: 0 };
+/// AE United_Arab_Emirates
+pub const UNITED_ARAB_EMIRATES: Country = Country { code: *b"AE", rev: 0 };
+/// GB United_Kingdom
+pub const UNITED_KINGDOM: Country = Country { code: *b"GB", rev: 0 };
+/// US United_States
+pub const UNITED_STATES: Country = Country { code: *b"US", rev: 0 };
+/// US United_States Revision 4
+pub const UNITED_STATES_REV4: Country = Country { code: *b"US", rev: 4 };
+/// Q1 United_States Revision 931
+pub const UNITED_STATES_REV931: Country = Country { code: *b"Q1", rev: 931 };
+/// Q2 United_States_(No_DFS)
+pub const UNITED_STATES_NO_DFS: Country = Country { code: *b"Q2", rev: 0 };
+/// UM United_States_Minor_Outlying_Islands
+pub const UNITED_STATES_MINOR_OUTLYING_ISLANDS: Country = Country { code: *b"UM", rev: 0 };
+/// UY Uruguay
+pub const URUGUAY: Country = Country { code: *b"UY", rev: 0 };
+/// UZ Uzbekistan
+pub const UZBEKISTAN: Country = Country { code: *b"UZ", rev: 0 };
+/// VU Vanuatu
+pub const VANUATU: Country = Country { code: *b"VU", rev: 0 };
+/// VE Venezuela
+pub const VENEZUELA: Country = Country { code: *b"VE", rev: 0 };
+/// VN Viet_Nam
+pub const VIET_NAM: Country = Country { code: *b"VN", rev: 0 };
+/// VG Virgin_Islands,_British
+pub const VIRGIN_ISLANDS_BRITISH: Country = Country { code: *b"VG", rev: 0 };
+/// VI Virgin_Islands,_U.S.
+pub const VIRGIN_ISLANDS_US: Country = Country { code: *b"VI", rev: 0 };
+/// WF Wallis_and_Futuna
+pub const WALLIS_AND_FUTUNA: Country = Country { code: *b"WF", rev: 0 };
+/// 0C West_Bank
+pub const WEST_BANK: Country = Country { code: *b"0C", rev: 0 };
+/// EH Western_Sahara
+pub const WESTERN_SAHARA: Country = Country { code: *b"EH", rev: 0 };
+/// Worldwide Locale Revision 983
+pub const WORLD_WIDE_XV_REV983: Country = Country { code: *b"XV", rev: 983 };
+/// Worldwide Locale (passive Ch12-14)
+pub const WORLD_WIDE_XX: Country = Country { code: *b"XX", rev: 0 };
+/// Worldwide Locale (passive Ch12-14) Revision 17
+pub const WORLD_WIDE_XX_REV17: Country = Country { code: *b"XX", rev: 17 };
+/// YE Yemen
+pub const YEMEN: Country = Country { code: *b"YE", rev: 0 };
+/// ZM Zambia
+pub const ZAMBIA: Country = Country { code: *b"ZM", rev: 0 };
+/// ZW Zimbabwe
+pub const ZIMBABWE: Country = Country { code: *b"ZW", rev: 0 };

cyw43/src/events.rs

@@ -0,0 +1,400 @@
+#![allow(dead_code)]
+#![allow(non_camel_case_types)]
+
+use core::cell::RefCell;
+
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::pubsub::{PubSubChannel, Subscriber};
+
+use crate::structs::BssInfo;
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, num_enum::FromPrimitive)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Event {
+    #[num_enum(default)]
+    Unknown = 0xFF,
+    /// indicates status of set SSID
+    SET_SSID = 0,
+    /// differentiates join IBSS from found (START) IBSS
+    JOIN = 1,
+    /// STA founded an IBSS or AP started a BSS
+    START = 2,
+    /// 802.11 AUTH request
+    AUTH = 3,
+    /// 802.11 AUTH indication
+    AUTH_IND = 4,
+    /// 802.11 DEAUTH request
+    DEAUTH = 5,
+    /// 802.11 DEAUTH indication
+    DEAUTH_IND = 6,
+    /// 802.11 ASSOC request
+    ASSOC = 7,
+    /// 802.11 ASSOC indication
+    ASSOC_IND = 8,
+    /// 802.11 REASSOC request
+    REASSOC = 9,
+    /// 802.11 REASSOC indication
+    REASSOC_IND = 10,
+    /// 802.11 DISASSOC request
+    DISASSOC = 11,
+    /// 802.11 DISASSOC indication
+    DISASSOC_IND = 12,
+    /// 802.11h Quiet period started
+    QUIET_START = 13,
+    /// 802.11h Quiet period ended
+    QUIET_END = 14,
+    /// BEACONS received/lost indication
+    BEACON_RX = 15,
+    /// generic link indication
+    LINK = 16,
+    /// TKIP MIC error occurred
+    MIC_ERROR = 17,
+    /// NDIS style link indication
+    NDIS_LINK = 18,
+    /// roam attempt occurred: indicate status & reason
+    ROAM = 19,
+    /// change in dot11FailedCount (txfail)
+    TXFAIL = 20,
+    /// WPA2 pmkid cache indication
+    PMKID_CACHE = 21,
+    /// current AP's TSF value went backward
+    RETROGRADE_TSF = 22,
+    /// AP was pruned from join list for reason
+    PRUNE = 23,
+    /// report AutoAuth table entry match for join attempt
+    AUTOAUTH = 24,
+    /// Event encapsulating an EAPOL message
+    EAPOL_MSG = 25,
+    /// Scan results are ready or scan was aborted
+    SCAN_COMPLETE = 26,
+    /// indicate to host addts fail/success
+    ADDTS_IND = 27,
+    /// indicate to host delts fail/success
+    DELTS_IND = 28,
+    /// indicate to host of beacon transmit
+    BCNSENT_IND = 29,
+    /// Send the received beacon up to the host
+    BCNRX_MSG = 30,
+    /// indicate to host loss of beacon
+    BCNLOST_MSG = 31,
+    /// before attempting to roam
+    ROAM_PREP = 32,
+    /// PFN network found event
+    PFN_NET_FOUND = 33,
+    /// PFN network lost event
+    PFN_NET_LOST = 34,
+    RESET_COMPLETE = 35,
+    JOIN_START = 36,
+    ROAM_START = 37,
+    ASSOC_START = 38,
+    IBSS_ASSOC = 39,
+    RADIO = 40,
+    /// PSM microcode watchdog fired
+    PSM_WATCHDOG = 41,
+    /// CCX association start
+    CCX_ASSOC_START = 42,
+    /// CCX association abort
+    CCX_ASSOC_ABORT = 43,
+    /// probe request received
+    PROBREQ_MSG = 44,
+    SCAN_CONFIRM_IND = 45,
+    /// WPA Handshake
+    PSK_SUP = 46,
+    COUNTRY_CODE_CHANGED = 47,
+    /// WMMAC excedded medium time
+    EXCEEDED_MEDIUM_TIME = 48,
+    /// WEP ICV error occurred
+    ICV_ERROR = 49,
+    /// Unsupported unicast encrypted frame
+    UNICAST_DECODE_ERROR = 50,
+    /// Unsupported multicast encrypted frame
+    MULTICAST_DECODE_ERROR = 51,
+    TRACE = 52,
+    /// BT-AMP HCI event
+    BTA_HCI_EVENT = 53,
+    /// I/F change (for wlan host notification)
+    IF = 54,
+    /// P2P Discovery listen state expires
+    P2P_DISC_LISTEN_COMPLETE = 55,
+    /// indicate RSSI change based on configured levels
+    RSSI = 56,
+    /// PFN best network batching event
+    PFN_BEST_BATCHING = 57,
+    EXTLOG_MSG = 58,
+    /// Action frame reception
+    ACTION_FRAME = 59,
+    /// Action frame Tx complete
+    ACTION_FRAME_COMPLETE = 60,
+    /// assoc request received
+    PRE_ASSOC_IND = 61,
+    /// re-assoc request received
+    PRE_REASSOC_IND = 62,
+    /// channel adopted (xxx: obsoleted)
+    CHANNEL_ADOPTED = 63,
+    /// AP started
+    AP_STARTED = 64,
+    /// AP stopped due to DFS
+    DFS_AP_STOP = 65,
+    /// AP resumed due to DFS
+    DFS_AP_RESUME = 66,
+    /// WAI stations event
+    WAI_STA_EVENT = 67,
+    /// event encapsulating an WAI message
+    WAI_MSG = 68,
+    /// escan result event
+    ESCAN_RESULT = 69,
+    /// action frame off channel complete
+    ACTION_FRAME_OFF_CHAN_COMPLETE = 70,
+    /// probe response received
+    PROBRESP_MSG = 71,
+    /// P2P Probe request received
+    P2P_PROBREQ_MSG = 72,
+    DCS_REQUEST = 73,
+    /// credits for D11 FIFOs. [AC0,AC1,AC2,AC3,BC_MC,ATIM]
+    FIFO_CREDIT_MAP = 74,
+    /// Received action frame event WITH wl_event_rx_frame_data_t header
+    ACTION_FRAME_RX = 75,
+    /// Wake Event timer fired, used for wake WLAN test mode
+    WAKE_EVENT = 76,
+    /// Radio measurement complete
+    RM_COMPLETE = 77,
+    /// Synchronize TSF with the host
+    HTSFSYNC = 78,
+    /// request an overlay IOCTL/iovar from the host
+    OVERLAY_REQ = 79,
+    CSA_COMPLETE_IND = 80,
+    /// excess PM Wake Event to inform host
+    EXCESS_PM_WAKE_EVENT = 81,
+    /// no PFN networks around
+    PFN_SCAN_NONE = 82,
+    /// last found PFN network gets lost
+    PFN_SCAN_ALLGONE = 83,
+    GTK_PLUMBED = 84,
+    /// 802.11 ASSOC indication for NDIS only
+    ASSOC_IND_NDIS = 85,
+    /// 802.11 REASSOC indication for NDIS only
+    REASSOC_IND_NDIS = 86,
+    ASSOC_REQ_IE = 87,
+    ASSOC_RESP_IE = 88,
+    /// association recreated on resume
+    ASSOC_RECREATED = 89,
+    /// rx action frame event for NDIS only
+    ACTION_FRAME_RX_NDIS = 90,
+    /// authentication request received
+    AUTH_REQ = 91,
+    /// fast assoc recreation failed
+    SPEEDY_RECREATE_FAIL = 93,
+    /// port-specific event and payload (e.g. NDIS)
+    NATIVE = 94,
+    /// event for tx pkt delay suddently jump
+    PKTDELAY_IND = 95,
+    /// AWDL AW period starts
+    AWDL_AW = 96,
+    /// AWDL Master/Slave/NE master role event
+    AWDL_ROLE = 97,
+    /// Generic AWDL event
+    AWDL_EVENT = 98,
+    /// NIC AF txstatus
+    NIC_AF_TXS = 99,
+    /// NAN event
+    NAN = 100,
+    BEACON_FRAME_RX = 101,
+    /// desired service found
+    SERVICE_FOUND = 102,
+    /// GAS fragment received
+    GAS_FRAGMENT_RX = 103,
+    /// GAS sessions all complete
+    GAS_COMPLETE = 104,
+    /// New device found by p2p offload
+    P2PO_ADD_DEVICE = 105,
+    /// device has been removed by p2p offload
+    P2PO_DEL_DEVICE = 106,
+    /// WNM event to notify STA enter sleep mode
+    WNM_STA_SLEEP = 107,
+    /// Indication of MAC tx failures (exhaustion of 802.11 retries) exceeding threshold(s)
+    TXFAIL_THRESH = 108,
+    /// Proximity Detection event
+    PROXD = 109,
+    /// AWDL RX Probe response
+    AWDL_RX_PRB_RESP = 111,
+    /// AWDL RX Action Frames
+    AWDL_RX_ACT_FRAME = 112,
+    /// AWDL Wowl nulls
+    AWDL_WOWL_NULLPKT = 113,
+    /// AWDL Phycal status
+    AWDL_PHYCAL_STATUS = 114,
+    /// AWDL OOB AF status
+    AWDL_OOB_AF_STATUS = 115,
+    /// Interleaved Scan status
+    AWDL_SCAN_STATUS = 116,
+    /// AWDL AW Start
+    AWDL_AW_START = 117,
+    /// AWDL AW End
+    AWDL_AW_END = 118,
+    /// AWDL AW Extensions
+    AWDL_AW_EXT = 119,
+    AWDL_PEER_CACHE_CONTROL = 120,
+    CSA_START_IND = 121,
+    CSA_DONE_IND = 122,
+    CSA_FAILURE_IND = 123,
+    /// CCA based channel quality report
+    CCA_CHAN_QUAL = 124,
+    /// to report change in BSSID while roaming
+    BSSID = 125,
+    /// tx error indication
+    TX_STAT_ERROR = 126,
+    /// credit check for BCMC supported
+    BCMC_CREDIT_SUPPORT = 127,
+    /// psta primary interface indication
+    PSTA_PRIMARY_INTF_IND = 128,
+    /// Handover Request Initiated
+    BT_WIFI_HANDOVER_REQ = 130,
+    /// Southpaw TxInhibit notification
+    SPW_TXINHIBIT = 131,
+    /// FBT Authentication Request Indication
+    FBT_AUTH_REQ_IND = 132,
+    /// Enhancement addition for RSSI
+    RSSI_LQM = 133,
+    /// Full probe/beacon (IEs etc) results
+    PFN_GSCAN_FULL_RESULT = 134,
+    /// Significant change in rssi of bssids being tracked
+    PFN_SWC = 135,
+    /// a STA been authroized for traffic
+    AUTHORIZED = 136,
+    /// probe req with wl_event_rx_frame_data_t header
+    PROBREQ_MSG_RX = 137,
+    /// PFN completed scan of network list
+    PFN_SCAN_COMPLETE = 138,
+    /// RMC Event
+    RMC_EVENT = 139,
+    /// DPSTA interface indication
+    DPSTA_INTF_IND = 140,
+    /// RRM Event
+    RRM = 141,
+    /// ULP entry event
+    ULP = 146,
+    /// TCP Keep Alive Offload Event
+    TKO = 151,
+    /// authentication request received
+    EXT_AUTH_REQ = 187,
+    /// authentication request received
+    EXT_AUTH_FRAME_RX = 188,
+    /// mgmt frame Tx complete
+    MGMT_FRAME_TXSTATUS = 189,
+    /// highest val + 1 for range checking
+    LAST = 190,
+}
+
+// TODO this PubSub can probably be replaced with shared memory to make it a bit more efficient.
+pub type EventQueue = PubSubChannel<NoopRawMutex, Message, 2, 1, 1>;
+pub type EventSubscriber<'a> = Subscriber<'a, NoopRawMutex, Message, 2, 1, 1>;
+
+pub struct Events {
+    pub queue: EventQueue,
+    pub mask: SharedEventMask,
+}
+
+impl Events {
+    pub fn new() -> Self {
+        Self {
+            queue: EventQueue::new(),
+            mask: SharedEventMask::default(),
+        }
+    }
+}
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct Status {
+    pub event_type: Event,
+    pub status: u32,
+}
+
+#[derive(Clone, Copy)]
+pub enum Payload {
+    None,
+    BssInfo(BssInfo),
+}
+
+#[derive(Clone, Copy)]
+
+pub struct Message {
+    pub header: Status,
+    pub payload: Payload,
+}
+
+impl Message {
+    pub fn new(status: Status, payload: Payload) -> Self {
+        Self {
+            header: status,
+            payload,
+        }
+    }
+}
+
+#[derive(Default)]
+struct EventMask {
+    mask: [u32; Self::WORD_COUNT],
+}
+
+impl EventMask {
+    const WORD_COUNT: usize = ((Event::LAST as u32 + (u32::BITS - 1)) / u32::BITS) as usize;
+
+    fn enable(&mut self, event: Event) {
+        let n = event as u32;
+        let word = n / u32::BITS;
+        let bit = n % u32::BITS;
+
+        self.mask[word as usize] |= 1 << bit;
+    }
+
+    fn disable(&mut self, event: Event) {
+        let n = event as u32;
+        let word = n / u32::BITS;
+        let bit = n % u32::BITS;
+
+        self.mask[word as usize] &= !(1 << bit);
+    }
+
+    fn is_enabled(&self, event: Event) -> bool {
+        let n = event as u32;
+        let word = n / u32::BITS;
+        let bit = n % u32::BITS;
+
+        self.mask[word as usize] & (1 << bit) > 0
+    }
+}
+
+#[derive(Default)]
+
+pub struct SharedEventMask {
+    mask: RefCell<EventMask>,
+}
+
+impl SharedEventMask {
+    pub fn enable(&self, events: &[Event]) {
+        let mut mask = self.mask.borrow_mut();
+        for event in events {
+            mask.enable(*event);
+        }
+    }
+
+    #[allow(dead_code)]
+    pub fn disable(&self, events: &[Event]) {
+        let mut mask = self.mask.borrow_mut();
+        for event in events {
+            mask.disable(*event);
+        }
+    }
+
+    pub fn disable_all(&self) {
+        let mut mask = self.mask.borrow_mut();
+        mask.mask = Default::default();
+    }
+
+    pub fn is_enabled(&self, event: Event) -> bool {
+        let mask = self.mask.borrow();
+        mask.is_enabled(event)
+    }
+}

cyw43/src/fmt.rs

@@ -0,0 +1,254 @@
+#![macro_use]
+#![allow(unused_macros)]
+
+use core::fmt::{Debug, Display, LowerHex};
+
+#[cfg(all(feature = "defmt", feature = "log"))]
+compile_error!("You may not enable both `defmt` and `log` features.");
+
+macro_rules! assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! todo {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::todo!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::todo!($($x)*);
+        }
+    };
+}
+
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::unreachable!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
+        }
+    };
+}
+
+macro_rules! panic {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::panic!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::panic!($($x)*);
+        }
+    };
+}
+
+macro_rules! trace {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::trace!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::trace!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! debug {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::debug!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! info {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::info!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::info!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! warn {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::warn!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::warn!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! error {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::error!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::error!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unwrap {
+    ($($x:tt)*) => {
+        ::defmt::unwrap!($($x)*)
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unwrap {
+    ($arg:expr) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
+            }
+        }
+    };
+    ($arg:expr, $($msg:expr),+ $(,)? ) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
+            }
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+pub struct NoneError;
+
+pub trait Try {
+    type Ok;
+    type Error;
+    fn into_result(self) -> Result<Self::Ok, Self::Error>;
+}
+
+impl<T> Try for Option<T> {
+    type Ok = T;
+    type Error = NoneError;
+
+    #[inline]
+    fn into_result(self) -> Result<T, NoneError> {
+        self.ok_or(NoneError)
+    }
+}
+
+impl<T, E> Try for Result<T, E> {
+    type Ok = T;
+    type Error = E;
+
+    #[inline]
+    fn into_result(self) -> Self {
+        self
+    }
+}
+
+pub struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

cyw43/src/ioctl.rs

@@ -0,0 +1,126 @@
+use core::cell::{Cell, RefCell};
+use core::future::poll_fn;
+use core::task::{Poll, Waker};
+
+use embassy_sync::waitqueue::WakerRegistration;
+
+use crate::fmt::Bytes;
+
+#[derive(Clone, Copy)]
+pub enum IoctlType {
+    Get = 0,
+    Set = 2,
+}
+
+#[derive(Clone, Copy)]
+pub struct PendingIoctl {
+    pub buf: *mut [u8],
+    pub kind: IoctlType,
+    pub cmd: u32,
+    pub iface: u32,
+}
+
+#[derive(Clone, Copy)]
+enum IoctlStateInner {
+    Pending(PendingIoctl),
+    Sent { buf: *mut [u8] },
+    Done { resp_len: usize },
+}
+
+struct Wakers {
+    control: WakerRegistration,
+    runner: WakerRegistration,
+}
+
+impl Default for Wakers {
+    fn default() -> Self {
+        Self {
+            control: WakerRegistration::new(),
+            runner: WakerRegistration::new(),
+        }
+    }
+}
+
+pub struct IoctlState {
+    state: Cell<IoctlStateInner>,
+    wakers: RefCell<Wakers>,
+}
+
+impl IoctlState {
+    pub fn new() -> Self {
+        Self {
+            state: Cell::new(IoctlStateInner::Done { resp_len: 0 }),
+            wakers: Default::default(),
+        }
+    }
+
+    fn wake_control(&self) {
+        self.wakers.borrow_mut().control.wake();
+    }
+
+    fn register_control(&self, waker: &Waker) {
+        self.wakers.borrow_mut().control.register(waker);
+    }
+
+    fn wake_runner(&self) {
+        self.wakers.borrow_mut().runner.wake();
+    }
+
+    fn register_runner(&self, waker: &Waker) {
+        self.wakers.borrow_mut().runner.register(waker);
+    }
+
+    pub async fn wait_complete(&self) -> usize {
+        poll_fn(|cx| {
+            if let IoctlStateInner::Done { resp_len } = self.state.get() {
+                Poll::Ready(resp_len)
+            } else {
+                self.register_control(cx.waker());
+                Poll::Pending
+            }
+        })
+        .await
+    }
+
+    pub async fn wait_pending(&self) -> PendingIoctl {
+        let pending = poll_fn(|cx| {
+            if let IoctlStateInner::Pending(pending) = self.state.get() {
+                Poll::Ready(pending)
+            } else {
+                self.register_runner(cx.waker());
+                Poll::Pending
+            }
+        })
+        .await;
+
+        self.state.set(IoctlStateInner::Sent { buf: pending.buf });
+        pending
+    }
+
+    pub fn cancel_ioctl(&self) {
+        self.state.set(IoctlStateInner::Done { resp_len: 0 });
+    }
+
+    pub async fn do_ioctl(&self, kind: IoctlType, cmd: u32, iface: u32, buf: &mut [u8]) -> usize {
+        self.state
+            .set(IoctlStateInner::Pending(PendingIoctl { buf, kind, cmd, iface }));
+        self.wake_runner();
+        self.wait_complete().await
+    }
+
+    pub fn ioctl_done(&self, response: &[u8]) {
+        if let IoctlStateInner::Sent { buf } = self.state.get() {
+            trace!("IOCTL Response: {:02x}", Bytes(response));
+
+            // TODO fix this
+            (unsafe { &mut *buf }[..response.len()]).copy_from_slice(response);
+
+            self.state.set(IoctlStateInner::Done {
+                resp_len: response.len(),
+            });
+            self.wake_control();
+        } else {
+            warn!("IOCTL Response but no pending Ioctl");
+        }
+    }
+}

cyw43/src/lib.rs

@@ -0,0 +1,236 @@
+#![no_std]
+#![no_main]
+#![allow(incomplete_features)]
+#![feature(async_fn_in_trait, type_alias_impl_trait, concat_bytes)]
+#![deny(unused_must_use)]
+
+// This mod MUST go first, so that the others see its macros.
+pub(crate) mod fmt;
+
+mod bus;
+mod consts;
+mod countries;
+mod events;
+mod ioctl;
+mod structs;
+
+mod control;
+mod nvram;
+mod runner;
+
+use core::slice;
+
+use embassy_net_driver_channel as ch;
+use embedded_hal_1::digital::OutputPin;
+use events::Events;
+use ioctl::IoctlState;
+
+use crate::bus::Bus;
+pub use crate::bus::SpiBusCyw43;
+pub use crate::control::{Control, Error as ControlError};
+pub use crate::runner::Runner;
+pub use crate::structs::BssInfo;
+
+const MTU: usize = 1514;
+
+#[allow(unused)]
+#[derive(Clone, Copy, PartialEq, Eq)]
+enum Core {
+    WLAN = 0,
+    SOCSRAM = 1,
+    SDIOD = 2,
+}
+
+impl Core {
+    fn base_addr(&self) -> u32 {
+        match self {
+            Self::WLAN => CHIP.arm_core_base_address,
+            Self::SOCSRAM => CHIP.socsram_wrapper_base_address,
+            Self::SDIOD => CHIP.sdiod_core_base_address,
+        }
+    }
+}
+
+#[allow(unused)]
+struct Chip {
+    arm_core_base_address: u32,
+    socsram_base_address: u32,
+    socsram_wrapper_base_address: u32,
+    sdiod_core_base_address: u32,
+    pmu_base_address: u32,
+    chip_ram_size: u32,
+    atcm_ram_base_address: u32,
+    socram_srmem_size: u32,
+    chanspec_band_mask: u32,
+    chanspec_band_2g: u32,
+    chanspec_band_5g: u32,
+    chanspec_band_shift: u32,
+    chanspec_bw_10: u32,
+    chanspec_bw_20: u32,
+    chanspec_bw_40: u32,
+    chanspec_bw_mask: u32,
+    chanspec_bw_shift: u32,
+    chanspec_ctl_sb_lower: u32,
+    chanspec_ctl_sb_upper: u32,
+    chanspec_ctl_sb_none: u32,
+    chanspec_ctl_sb_mask: u32,
+}
+
+const WRAPPER_REGISTER_OFFSET: u32 = 0x100000;
+
+// Data for CYW43439
+const CHIP: Chip = Chip {
+    arm_core_base_address: 0x18003000 + WRAPPER_REGISTER_OFFSET,
+    socsram_base_address: 0x18004000,
+    socsram_wrapper_base_address: 0x18004000 + WRAPPER_REGISTER_OFFSET,
+    sdiod_core_base_address: 0x18002000,
+    pmu_base_address: 0x18000000,
+    chip_ram_size: 512 * 1024,
+    atcm_ram_base_address: 0,
+    socram_srmem_size: 64 * 1024,
+    chanspec_band_mask: 0xc000,
+    chanspec_band_2g: 0x0000,
+    chanspec_band_5g: 0xc000,
+    chanspec_band_shift: 14,
+    chanspec_bw_10: 0x0800,
+    chanspec_bw_20: 0x1000,
+    chanspec_bw_40: 0x1800,
+    chanspec_bw_mask: 0x3800,
+    chanspec_bw_shift: 11,
+    chanspec_ctl_sb_lower: 0x0000,
+    chanspec_ctl_sb_upper: 0x0100,
+    chanspec_ctl_sb_none: 0x0000,
+    chanspec_ctl_sb_mask: 0x0700,
+};
+
+pub struct State {
+    ioctl_state: IoctlState,
+    ch: ch::State<MTU, 4, 4>,
+    events: Events,
+}
+
+impl State {
+    pub fn new() -> Self {
+        Self {
+            ioctl_state: IoctlState::new(),
+            ch: ch::State::new(),
+            events: Events::new(),
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum PowerManagementMode {
+    /// Custom, officially unsupported mode. Use at your own risk.
+    /// All power-saving features set to their max at only a marginal decrease in power consumption
+    /// as oppposed to `Aggressive`.
+    SuperSave,
+
+    /// Aggressive power saving mode.
+    Aggressive,
+
+    /// The default mode.
+    PowerSave,
+
+    /// Performance is prefered over power consumption but still some power is conserved as opposed to
+    /// `None`.
+    Performance,
+
+    /// Unlike all the other PM modes, this lowers the power consumption at all times at the cost of
+    /// a much lower throughput.
+    ThroughputThrottling,
+
+    /// No power management is configured. This consumes the most power.
+    None,
+}
+
+impl Default for PowerManagementMode {
+    fn default() -> Self {
+        Self::PowerSave
+    }
+}
+
+impl PowerManagementMode {
+    fn sleep_ret_ms(&self) -> u16 {
+        match self {
+            PowerManagementMode::SuperSave => 2000,
+            PowerManagementMode::Aggressive => 2000,
+            PowerManagementMode::PowerSave => 200,
+            PowerManagementMode::Performance => 20,
+            PowerManagementMode::ThroughputThrottling => 0, // value doesn't matter
+            PowerManagementMode::None => 0,                 // value doesn't matter
+        }
+    }
+
+    fn beacon_period(&self) -> u8 {
+        match self {
+            PowerManagementMode::SuperSave => 255,
+            PowerManagementMode::Aggressive => 1,
+            PowerManagementMode::PowerSave => 1,
+            PowerManagementMode::Performance => 1,
+            PowerManagementMode::ThroughputThrottling => 0, // value doesn't matter
+            PowerManagementMode::None => 0,                 // value doesn't matter
+        }
+    }
+
+    fn dtim_period(&self) -> u8 {
+        match self {
+            PowerManagementMode::SuperSave => 255,
+            PowerManagementMode::Aggressive => 1,
+            PowerManagementMode::PowerSave => 1,
+            PowerManagementMode::Performance => 1,
+            PowerManagementMode::ThroughputThrottling => 0, // value doesn't matter
+            PowerManagementMode::None => 0,                 // value doesn't matter
+        }
+    }
+
+    fn assoc(&self) -> u8 {
+        match self {
+            PowerManagementMode::SuperSave => 255,
+            PowerManagementMode::Aggressive => 10,
+            PowerManagementMode::PowerSave => 10,
+            PowerManagementMode::Performance => 1,
+            PowerManagementMode::ThroughputThrottling => 0, // value doesn't matter
+            PowerManagementMode::None => 0,                 // value doesn't matter
+        }
+    }
+
+    fn mode(&self) -> u32 {
+        match self {
+            PowerManagementMode::ThroughputThrottling => 1,
+            PowerManagementMode::None => 0,
+            _ => 2,
+        }
+    }
+}
+
+pub type NetDriver<'a> = ch::Device<'a, MTU>;
+
+pub async fn new<'a, PWR, SPI>(
+    state: &'a mut State,
+    pwr: PWR,
+    spi: SPI,
+    firmware: &[u8],
+) -> (NetDriver<'a>, Control<'a>, Runner<'a, PWR, SPI>)
+where
+    PWR: OutputPin,
+    SPI: SpiBusCyw43,
+{
+    let (ch_runner, device) = ch::new(&mut state.ch, [0; 6]);
+    let state_ch = ch_runner.state_runner();
+
+    let mut runner = Runner::new(ch_runner, Bus::new(pwr, spi), &state.ioctl_state, &state.events);
+
+    runner.init(firmware).await;
+
+    (
+        device,
+        Control::new(state_ch, &state.events, &state.ioctl_state),
+        runner,
+    )
+}
+
+fn slice8_mut(x: &mut [u32]) -> &mut [u8] {
+    let len = x.len() * 4;
+    unsafe { slice::from_raw_parts_mut(x.as_mut_ptr() as _, len) }
+}

cyw43/src/nvram.rs

@@ -0,0 +1,54 @@
+macro_rules! nvram {
+    ($($s:literal,)*) => {
+        concat_bytes!($($s, b"\x00",)* b"\x00\x00")
+    };
+}
+
+pub static NVRAM: &'static [u8] = &*nvram!(
+    b"NVRAMRev=$Rev$",
+    b"manfid=0x2d0",
+    b"prodid=0x0727",
+    b"vendid=0x14e4",
+    b"devid=0x43e2",
+    b"boardtype=0x0887",
+    b"boardrev=0x1100",
+    b"boardnum=22",
+    b"macaddr=00:A0:50:b5:59:5e",
+    b"sromrev=11",
+    b"boardflags=0x00404001",
+    b"boardflags3=0x04000000",
+    b"xtalfreq=37400",
+    b"nocrc=1",
+    b"ag0=255",
+    b"aa2g=1",
+    b"ccode=ALL",
+    b"pa0itssit=0x20",
+    b"extpagain2g=0",
+    b"pa2ga0=-168,6649,-778",
+    b"AvVmid_c0=0x0,0xc8",
+    b"cckpwroffset0=5",
+    b"maxp2ga0=84",
+    b"txpwrbckof=6",
+    b"cckbw202gpo=0",
+    b"legofdmbw202gpo=0x66111111",
+    b"mcsbw202gpo=0x77711111",
+    b"propbw202gpo=0xdd",
+    b"ofdmdigfilttype=18",
+    b"ofdmdigfilttypebe=18",
+    b"papdmode=1",
+    b"papdvalidtest=1",
+    b"pacalidx2g=45",
+    b"papdepsoffset=-30",
+    b"papdendidx=58",
+    b"ltecxmux=0",
+    b"ltecxpadnum=0x0102",
+    b"ltecxfnsel=0x44",
+    b"ltecxgcigpio=0x01",
+    b"il0macaddr=00:90:4c:c5:12:38",
+    b"wl0id=0x431b",
+    b"deadman_to=0xffffffff",
+    b"muxenab=0x100",
+    b"spurconfig=0x3",
+    b"glitch_based_crsmin=1",
+    b"btc_mode=1",
+);

cyw43/src/runner.rs

@@ -0,0 +1,575 @@
+use embassy_futures::select::{select3, Either3};
+use embassy_net_driver_channel as ch;
+use embassy_sync::pubsub::PubSubBehavior;
+use embassy_time::{block_for, Duration, Timer};
+use embedded_hal_1::digital::OutputPin;
+
+use crate::bus::Bus;
+pub use crate::bus::SpiBusCyw43;
+use crate::consts::*;
+use crate::events::{Event, Events, Status};
+use crate::fmt::Bytes;
+use crate::ioctl::{IoctlState, IoctlType, PendingIoctl};
+use crate::nvram::NVRAM;
+use crate::structs::*;
+use crate::{events, slice8_mut, Core, CHIP, MTU};
+
+#[cfg(feature = "firmware-logs")]
+struct LogState {
+    addr: u32,
+    last_idx: usize,
+    buf: [u8; 256],
+    buf_count: usize,
+}
+
+#[cfg(feature = "firmware-logs")]
+impl Default for LogState {
+    fn default() -> Self {
+        Self {
+            addr: Default::default(),
+            last_idx: Default::default(),
+            buf: [0; 256],
+            buf_count: Default::default(),
+        }
+    }
+}
+
+pub struct Runner<'a, PWR, SPI> {
+    ch: ch::Runner<'a, MTU>,
+    bus: Bus<PWR, SPI>,
+
+    ioctl_state: &'a IoctlState,
+    ioctl_id: u16,
+    sdpcm_seq: u8,
+    sdpcm_seq_max: u8,
+
+    events: &'a Events,
+
+    #[cfg(feature = "firmware-logs")]
+    log: LogState,
+}
+
+impl<'a, PWR, SPI> Runner<'a, PWR, SPI>
+where
+    PWR: OutputPin,
+    SPI: SpiBusCyw43,
+{
+    pub(crate) fn new(
+        ch: ch::Runner<'a, MTU>,
+        bus: Bus<PWR, SPI>,
+        ioctl_state: &'a IoctlState,
+        events: &'a Events,
+    ) -> Self {
+        Self {
+            ch,
+            bus,
+            ioctl_state,
+            ioctl_id: 0,
+            sdpcm_seq: 0,
+            sdpcm_seq_max: 1,
+            events,
+            #[cfg(feature = "firmware-logs")]
+            log: LogState::default(),
+        }
+    }
+
+    pub(crate) async fn init(&mut self, firmware: &[u8]) {
+        self.bus.init().await;
+
+        // Init ALP (Active Low Power) clock
+        self.bus
+            .write8(FUNC_BACKPLANE, REG_BACKPLANE_CHIP_CLOCK_CSR, BACKPLANE_ALP_AVAIL_REQ)
+            .await;
+        debug!("waiting for clock...");
+        while self.bus.read8(FUNC_BACKPLANE, REG_BACKPLANE_CHIP_CLOCK_CSR).await & BACKPLANE_ALP_AVAIL == 0 {}
+        debug!("clock ok");
+
+        let chip_id = self.bus.bp_read16(0x1800_0000).await;
+        debug!("chip ID: {}", chip_id);
+
+        // Upload firmware.
+        self.core_disable(Core::WLAN).await;
+        self.core_reset(Core::SOCSRAM).await;
+        self.bus.bp_write32(CHIP.socsram_base_address + 0x10, 3).await;
+        self.bus.bp_write32(CHIP.socsram_base_address + 0x44, 0).await;
+
+        let ram_addr = CHIP.atcm_ram_base_address;
+
+        debug!("loading fw");
+        self.bus.bp_write(ram_addr, firmware).await;
+
+        debug!("loading nvram");
+        // Round up to 4 bytes.
+        let nvram_len = (NVRAM.len() + 3) / 4 * 4;
+        self.bus
+            .bp_write(ram_addr + CHIP.chip_ram_size - 4 - nvram_len as u32, NVRAM)
+            .await;
+
+        let nvram_len_words = nvram_len as u32 / 4;
+        let nvram_len_magic = (!nvram_len_words << 16) | nvram_len_words;
+        self.bus
+            .bp_write32(ram_addr + CHIP.chip_ram_size - 4, nvram_len_magic)
+            .await;
+
+        // Start core!
+        debug!("starting up core...");
+        self.core_reset(Core::WLAN).await;
+        assert!(self.core_is_up(Core::WLAN).await);
+
+        while self.bus.read8(FUNC_BACKPLANE, REG_BACKPLANE_CHIP_CLOCK_CSR).await & 0x80 == 0 {}
+
+        // "Set up the interrupt mask and enable interrupts"
+        // self.bus.bp_write32(CHIP.sdiod_core_base_address + 0x24, 0xF0).await;
+
+        self.bus
+            .write16(FUNC_BUS, REG_BUS_INTERRUPT_ENABLE, IRQ_F2_PACKET_AVAILABLE)
+            .await;
+
+        // "Lower F2 Watermark to avoid DMA Hang in F2 when SD Clock is stopped."
+        // Sounds scary...
+        self.bus
+            .write8(FUNC_BACKPLANE, REG_BACKPLANE_FUNCTION2_WATERMARK, 32)
+            .await;
+
+        // wait for wifi startup
+        debug!("waiting for wifi init...");
+        while self.bus.read32(FUNC_BUS, REG_BUS_STATUS).await & STATUS_F2_RX_READY == 0 {}
+
+        // Some random configs related to sleep.
+        // These aren't needed if we don't want to sleep the bus.
+        // TODO do we need to sleep the bus to read the irq line, due to
+        // being on the same pin as MOSI/MISO?
+
+        /*
+        let mut val = self.bus.read8(FUNC_BACKPLANE, REG_BACKPLANE_WAKEUP_CTRL).await;
+        val |= 0x02; // WAKE_TILL_HT_AVAIL
+        self.bus.write8(FUNC_BACKPLANE, REG_BACKPLANE_WAKEUP_CTRL, val).await;
+        self.bus.write8(FUNC_BUS, 0xF0, 0x08).await; // SDIOD_CCCR_BRCM_CARDCAP.CMD_NODEC = 1
+        self.bus.write8(FUNC_BACKPLANE, REG_BACKPLANE_CHIP_CLOCK_CSR, 0x02).await; // SBSDIO_FORCE_HT
+
+        let mut val = self.bus.read8(FUNC_BACKPLANE, REG_BACKPLANE_SLEEP_CSR).await;
+        val |= 0x01; // SBSDIO_SLPCSR_KEEP_SDIO_ON
+        self.bus.write8(FUNC_BACKPLANE, REG_BACKPLANE_SLEEP_CSR, val).await;
+         */
+
+        // clear pulls
+        self.bus.write8(FUNC_BACKPLANE, REG_BACKPLANE_PULL_UP, 0).await;
+        let _ = self.bus.read8(FUNC_BACKPLANE, REG_BACKPLANE_PULL_UP).await;
+
+        // start HT clock
+        //self.bus.write8(FUNC_BACKPLANE, REG_BACKPLANE_CHIP_CLOCK_CSR, 0x10).await;
+        //debug!("waiting for HT clock...");
+        //while self.bus.read8(FUNC_BACKPLANE, REG_BACKPLANE_CHIP_CLOCK_CSR).await & 0x80 == 0 {}
+        //debug!("clock ok");
+
+        #[cfg(feature = "firmware-logs")]
+        self.log_init().await;
+
+        debug!("wifi init done");
+    }
+
+    #[cfg(feature = "firmware-logs")]
+    async fn log_init(&mut self) {
+        // Initialize shared memory for logging.
+
+        let addr = CHIP.atcm_ram_base_address + CHIP.chip_ram_size - 4 - CHIP.socram_srmem_size;
+        let shared_addr = self.bus.bp_read32(addr).await;
+        debug!("shared_addr {:08x}", shared_addr);
+
+        let mut shared = [0; SharedMemData::SIZE];
+        self.bus.bp_read(shared_addr, &mut shared).await;
+        let shared = SharedMemData::from_bytes(&shared);
+
+        self.log.addr = shared.console_addr + 8;
+    }
+
+    #[cfg(feature = "firmware-logs")]
+    async fn log_read(&mut self) {
+        // Read log struct
+        let mut log = [0; SharedMemLog::SIZE];
+        self.bus.bp_read(self.log.addr, &mut log).await;
+        let log = SharedMemLog::from_bytes(&log);
+
+        let idx = log.idx as usize;
+
+        // If pointer hasn't moved, no need to do anything.
+        if idx == self.log.last_idx {
+            return;
+        }
+
+        // Read entire buf for now. We could read only what we need, but then we
+        // run into annoying alignment issues in `bp_read`.
+        let mut buf = [0; 0x400];
+        self.bus.bp_read(log.buf, &mut buf).await;
+
+        while self.log.last_idx != idx as usize {
+            let b = buf[self.log.last_idx];
+            if b == b'\r' || b == b'\n' {
+                if self.log.buf_count != 0 {
+                    let s = unsafe { core::str::from_utf8_unchecked(&self.log.buf[..self.log.buf_count]) };
+                    debug!("LOGS: {}", s);
+                    self.log.buf_count = 0;
+                }
+            } else if self.log.buf_count < self.log.buf.len() {
+                self.log.buf[self.log.buf_count] = b;
+                self.log.buf_count += 1;
+            }
+
+            self.log.last_idx += 1;
+            if self.log.last_idx == 0x400 {
+                self.log.last_idx = 0;
+            }
+        }
+    }
+
+    pub async fn run(mut self) -> ! {
+        let mut buf = [0; 512];
+        loop {
+            #[cfg(feature = "firmware-logs")]
+            self.log_read().await;
+
+            if self.has_credit() {
+                let ioctl = self.ioctl_state.wait_pending();
+                let tx = self.ch.tx_buf();
+                let ev = self.bus.wait_for_event();
+
+                match select3(ioctl, tx, ev).await {
+                    Either3::First(PendingIoctl {
+                        buf: iobuf,
+                        kind,
+                        cmd,
+                        iface,
+                    }) => {
+                        self.send_ioctl(kind, cmd, iface, unsafe { &*iobuf }).await;
+                        self.check_status(&mut buf).await;
+                    }
+                    Either3::Second(packet) => {
+                        trace!("tx pkt {:02x}", Bytes(&packet[..packet.len().min(48)]));
+
+                        let mut buf = [0; 512];
+                        let buf8 = slice8_mut(&mut buf);
+
+                        // There MUST be 2 bytes of padding between the SDPCM and BDC headers.
+                        // And ONLY for data packets!
+                        // No idea why, but the firmware will append two zero bytes to the tx'd packets
+                        // otherwise. If the packet is exactly 1514 bytes (the max MTU), this makes it
+                        // be oversized and get dropped.
+                        // WHD adds it here https://github.com/Infineon/wifi-host-driver/blob/c04fcbb6b0d049304f376cf483fd7b1b570c8cd5/WiFi_Host_Driver/src/include/whd_sdpcm.h#L90
+                        // and adds it to the header size her https://github.com/Infineon/wifi-host-driver/blob/c04fcbb6b0d049304f376cf483fd7b1b570c8cd5/WiFi_Host_Driver/src/whd_sdpcm.c#L597
+                        // ¯\_(ツ)_/¯
+                        const PADDING_SIZE: usize = 2;
+                        let total_len = SdpcmHeader::SIZE + PADDING_SIZE + BdcHeader::SIZE + packet.len();
+
+                        let seq = self.sdpcm_seq;
+                        self.sdpcm_seq = self.sdpcm_seq.wrapping_add(1);
+
+                        let sdpcm_header = SdpcmHeader {
+                            len: total_len as u16, // TODO does this len need to be rounded up to u32?
+                            len_inv: !total_len as u16,
+                            sequence: seq,
+                            channel_and_flags: CHANNEL_TYPE_DATA,
+                            next_length: 0,
+                            header_length: (SdpcmHeader::SIZE + PADDING_SIZE) as _,
+                            wireless_flow_control: 0,
+                            bus_data_credit: 0,
+                            reserved: [0, 0],
+                        };
+
+                        let bdc_header = BdcHeader {
+                            flags: BDC_VERSION << BDC_VERSION_SHIFT,
+                            priority: 0,
+                            flags2: 0,
+                            data_offset: 0,
+                        };
+                        trace!("tx {:?}", sdpcm_header);
+                        trace!("    {:?}", bdc_header);
+
+                        buf8[0..SdpcmHeader::SIZE].copy_from_slice(&sdpcm_header.to_bytes());
+                        buf8[SdpcmHeader::SIZE + PADDING_SIZE..][..BdcHeader::SIZE]
+                            .copy_from_slice(&bdc_header.to_bytes());
+                        buf8[SdpcmHeader::SIZE + PADDING_SIZE + BdcHeader::SIZE..][..packet.len()]
+                            .copy_from_slice(packet);
+
+                        let total_len = (total_len + 3) & !3; // round up to 4byte
+
+                        trace!("    {:02x}", Bytes(&buf8[..total_len.min(48)]));
+
+                        self.bus.wlan_write(&buf[..(total_len / 4)]).await;
+                        self.ch.tx_done();
+                        self.check_status(&mut buf).await;
+                    }
+                    Either3::Third(()) => {
+                        self.handle_irq(&mut buf).await;
+                    }
+                }
+            } else {
+                warn!("TX stalled");
+                self.bus.wait_for_event().await;
+                self.handle_irq(&mut buf).await;
+            }
+        }
+    }
+
+    /// Wait for IRQ on F2 packet available
+    async fn handle_irq(&mut self, buf: &mut [u32; 512]) {
+        // Receive stuff
+        let irq = self.bus.read16(FUNC_BUS, REG_BUS_INTERRUPT).await;
+        trace!("irq{}", FormatInterrupt(irq));
+
+        if irq & IRQ_F2_PACKET_AVAILABLE != 0 {
+            self.check_status(buf).await;
+        }
+
+        if irq & IRQ_DATA_UNAVAILABLE != 0 {
+            // TODO what should we do here?
+            warn!("IRQ DATA_UNAVAILABLE, clearing...");
+            self.bus.write16(FUNC_BUS, REG_BUS_INTERRUPT, 1).await;
+        }
+    }
+
+    /// Handle F2 events while status register is set
+    async fn check_status(&mut self, buf: &mut [u32; 512]) {
+        loop {
+            let status = self.bus.status();
+            trace!("check status{}", FormatStatus(status));
+
+            if status & STATUS_F2_PKT_AVAILABLE != 0 {
+                let len = (status & STATUS_F2_PKT_LEN_MASK) >> STATUS_F2_PKT_LEN_SHIFT;
+                self.bus.wlan_read(buf, len).await;
+                trace!("rx {:02x}", Bytes(&slice8_mut(buf)[..(len as usize).min(48)]));
+                self.rx(&mut slice8_mut(buf)[..len as usize]);
+            } else {
+                break;
+            }
+        }
+    }
+
+    fn rx(&mut self, packet: &mut [u8]) {
+        let Some((sdpcm_header, payload)) = SdpcmHeader::parse(packet) else { return };
+
+        self.update_credit(&sdpcm_header);
+
+        let channel = sdpcm_header.channel_and_flags & 0x0f;
+
+        match channel {
+            CHANNEL_TYPE_CONTROL => {
+                let Some((cdc_header, response)) = CdcHeader::parse(payload) else { return; };
+                trace!("    {:?}", cdc_header);
+
+                if cdc_header.id == self.ioctl_id {
+                    if cdc_header.status != 0 {
+                        // TODO: propagate error instead
+                        panic!("IOCTL error {}", cdc_header.status as i32);
+                    }
+
+                    self.ioctl_state.ioctl_done(response);
+                }
+            }
+            CHANNEL_TYPE_EVENT => {
+                let Some((_, bdc_packet)) = BdcHeader::parse(payload) else {
+                    warn!("BDC event, incomplete header");
+                    return;
+                };
+
+                let Some((event_packet, evt_data)) = EventPacket::parse(bdc_packet) else {
+                    warn!("BDC event, incomplete data");
+                    return;
+                };
+
+                const ETH_P_LINK_CTL: u16 = 0x886c; // HPNA, wlan link local tunnel, according to linux if_ether.h
+                if event_packet.eth.ether_type != ETH_P_LINK_CTL {
+                    warn!(
+                        "unexpected ethernet type 0x{:04x}, expected Broadcom ether type 0x{:04x}",
+                        event_packet.eth.ether_type, ETH_P_LINK_CTL
+                    );
+                    return;
+                }
+                const BROADCOM_OUI: &[u8] = &[0x00, 0x10, 0x18];
+                if event_packet.hdr.oui != BROADCOM_OUI {
+                    warn!(
+                        "unexpected ethernet OUI {:02x}, expected Broadcom OUI {:02x}",
+                        Bytes(&event_packet.hdr.oui),
+                        Bytes(BROADCOM_OUI)
+                    );
+                    return;
+                }
+                const BCMILCP_SUBTYPE_VENDOR_LONG: u16 = 32769;
+                if event_packet.hdr.subtype != BCMILCP_SUBTYPE_VENDOR_LONG {
+                    warn!("unexpected subtype {}", event_packet.hdr.subtype);
+                    return;
+                }
+
+                const BCMILCP_BCM_SUBTYPE_EVENT: u16 = 1;
+                if event_packet.hdr.user_subtype != BCMILCP_BCM_SUBTYPE_EVENT {
+                    warn!("unexpected user_subtype {}", event_packet.hdr.subtype);
+                    return;
+                }
+
+                let evt_type = events::Event::from(event_packet.msg.event_type as u8);
+                debug!(
+                    "=== EVENT {:?}: {:?} {:02x}",
+                    evt_type,
+                    event_packet.msg,
+                    Bytes(evt_data)
+                );
+
+                if self.events.mask.is_enabled(evt_type) {
+                    let status = event_packet.msg.status;
+                    let event_payload = match evt_type {
+                        Event::ESCAN_RESULT if status == EStatus::PARTIAL => {
+                            let Some((_, bss_info)) = ScanResults::parse(evt_data) else { return };
+                            let Some(bss_info) = BssInfo::parse(bss_info) else { return };
+                            events::Payload::BssInfo(*bss_info)
+                        }
+                        Event::ESCAN_RESULT => events::Payload::None,
+                        _ => events::Payload::None,
+                    };
+
+                    // this intentionally uses the non-blocking publish immediate
+                    // publish() is a deadlock risk in the current design as awaiting here prevents ioctls
+                    // The `Runner` always yields when accessing the device, so consumers always have a chance to receive the event
+                    // (if they are actively awaiting the queue)
+                    self.events.queue.publish_immediate(events::Message::new(
+                        Status {
+                            event_type: evt_type,
+                            status,
+                        },
+                        event_payload,
+                    ));
+                }
+            }
+            CHANNEL_TYPE_DATA => {
+                let Some((_, packet)) = BdcHeader::parse(payload) else { return };
+                trace!("rx pkt {:02x}", Bytes(&packet[..packet.len().min(48)]));
+
+                match self.ch.try_rx_buf() {
+                    Some(buf) => {
+                        buf[..packet.len()].copy_from_slice(packet);
+                        self.ch.rx_done(packet.len())
+                    }
+                    None => warn!("failed to push rxd packet to the channel."),
+                }
+            }
+            _ => {}
+        }
+    }
+
+    fn update_credit(&mut self, sdpcm_header: &SdpcmHeader) {
+        if sdpcm_header.channel_and_flags & 0xf < 3 {
+            let mut sdpcm_seq_max = sdpcm_header.bus_data_credit;
+            if sdpcm_seq_max.wrapping_sub(self.sdpcm_seq) > 0x40 {
+                sdpcm_seq_max = self.sdpcm_seq + 2;
+            }
+            self.sdpcm_seq_max = sdpcm_seq_max;
+        }
+    }
+
+    fn has_credit(&self) -> bool {
+        self.sdpcm_seq != self.sdpcm_seq_max && self.sdpcm_seq_max.wrapping_sub(self.sdpcm_seq) & 0x80 == 0
+    }
+
+    async fn send_ioctl(&mut self, kind: IoctlType, cmd: u32, iface: u32, data: &[u8]) {
+        let mut buf = [0; 512];
+        let buf8 = slice8_mut(&mut buf);
+
+        let total_len = SdpcmHeader::SIZE + CdcHeader::SIZE + data.len();
+
+        let sdpcm_seq = self.sdpcm_seq;
+        self.sdpcm_seq = self.sdpcm_seq.wrapping_add(1);
+        self.ioctl_id = self.ioctl_id.wrapping_add(1);
+
+        let sdpcm_header = SdpcmHeader {
+            len: total_len as u16, // TODO does this len need to be rounded up to u32?
+            len_inv: !total_len as u16,
+            sequence: sdpcm_seq,
+            channel_and_flags: CHANNEL_TYPE_CONTROL,
+            next_length: 0,
+            header_length: SdpcmHeader::SIZE as _,
+            wireless_flow_control: 0,
+            bus_data_credit: 0,
+            reserved: [0, 0],
+        };
+
+        let cdc_header = CdcHeader {
+            cmd: cmd,
+            len: data.len() as _,
+            flags: kind as u16 | (iface as u16) << 12,
+            id: self.ioctl_id,
+            status: 0,
+        };
+        trace!("tx {:?}", sdpcm_header);
+        trace!("    {:?}", cdc_header);
+
+        buf8[0..SdpcmHeader::SIZE].copy_from_slice(&sdpcm_header.to_bytes());
+        buf8[SdpcmHeader::SIZE..][..CdcHeader::SIZE].copy_from_slice(&cdc_header.to_bytes());
+        buf8[SdpcmHeader::SIZE + CdcHeader::SIZE..][..data.len()].copy_from_slice(data);
+
+        let total_len = (total_len + 3) & !3; // round up to 4byte
+
+        trace!("    {:02x}", Bytes(&buf8[..total_len.min(48)]));
+
+        self.bus.wlan_write(&buf[..total_len / 4]).await;
+    }
+
+    async fn core_disable(&mut self, core: Core) {
+        let base = core.base_addr();
+
+        // Dummy read?
+        let _ = self.bus.bp_read8(base + AI_RESETCTRL_OFFSET).await;
+
+        // Check it isn't already reset
+        let r = self.bus.bp_read8(base + AI_RESETCTRL_OFFSET).await;
+        if r & AI_RESETCTRL_BIT_RESET != 0 {
+            return;
+        }
+
+        self.bus.bp_write8(base + AI_IOCTRL_OFFSET, 0).await;
+        let _ = self.bus.bp_read8(base + AI_IOCTRL_OFFSET).await;
+
+        block_for(Duration::from_millis(1));
+
+        self.bus
+            .bp_write8(base + AI_RESETCTRL_OFFSET, AI_RESETCTRL_BIT_RESET)
+            .await;
+        let _ = self.bus.bp_read8(base + AI_RESETCTRL_OFFSET).await;
+    }
+
+    async fn core_reset(&mut self, core: Core) {
+        self.core_disable(core).await;
+
+        let base = core.base_addr();
+        self.bus
+            .bp_write8(base + AI_IOCTRL_OFFSET, AI_IOCTRL_BIT_FGC | AI_IOCTRL_BIT_CLOCK_EN)
+            .await;
+        let _ = self.bus.bp_read8(base + AI_IOCTRL_OFFSET).await;
+
+        self.bus.bp_write8(base + AI_RESETCTRL_OFFSET, 0).await;
+
+        Timer::after(Duration::from_millis(1)).await;
+
+        self.bus
+            .bp_write8(base + AI_IOCTRL_OFFSET, AI_IOCTRL_BIT_CLOCK_EN)
+            .await;
+        let _ = self.bus.bp_read8(base + AI_IOCTRL_OFFSET).await;
+
+        Timer::after(Duration::from_millis(1)).await;
+    }
+
+    async fn core_is_up(&mut self, core: Core) -> bool {
+        let base = core.base_addr();
+
+        let io = self.bus.bp_read8(base + AI_IOCTRL_OFFSET).await;
+        if io & (AI_IOCTRL_BIT_FGC | AI_IOCTRL_BIT_CLOCK_EN) != AI_IOCTRL_BIT_CLOCK_EN {
+            debug!("core_is_up: returning false due to bad ioctrl {:02x}", io);
+            return false;
+        }
+
+        let r = self.bus.bp_read8(base + AI_RESETCTRL_OFFSET).await;
+        if r & (AI_RESETCTRL_BIT_RESET) != 0 {
+            debug!("core_is_up: returning false due to bad resetctrl {:02x}", r);
+            return false;
+        }
+
+        true
+    }
+}

cyw43/src/structs.rs

@@ -0,0 +1,496 @@
+use crate::events::Event;
+use crate::fmt::Bytes;
+
+macro_rules! impl_bytes {
+    ($t:ident) => {
+        impl $t {
+            pub const SIZE: usize = core::mem::size_of::<Self>();
+
+            #[allow(unused)]
+            pub fn to_bytes(&self) -> [u8; Self::SIZE] {
+                unsafe { core::mem::transmute(*self) }
+            }
+
+            #[allow(unused)]
+            pub fn from_bytes(bytes: &[u8; Self::SIZE]) -> &Self {
+                let alignment = core::mem::align_of::<Self>();
+                assert_eq!(
+                    bytes.as_ptr().align_offset(alignment),
+                    0,
+                    "{} is not aligned",
+                    core::any::type_name::<Self>()
+                );
+                unsafe { core::mem::transmute(bytes) }
+            }
+
+            #[allow(unused)]
+            pub fn from_bytes_mut(bytes: &mut [u8; Self::SIZE]) -> &mut Self {
+                let alignment = core::mem::align_of::<Self>();
+                assert_eq!(
+                    bytes.as_ptr().align_offset(alignment),
+                    0,
+                    "{} is not aligned",
+                    core::any::type_name::<Self>()
+                );
+
+                unsafe { core::mem::transmute(bytes) }
+            }
+        }
+    };
+}
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct SharedMemData {
+    pub flags: u32,
+    pub trap_addr: u32,
+    pub assert_exp_addr: u32,
+    pub assert_file_addr: u32,
+    pub assert_line: u32,
+    pub console_addr: u32,
+    pub msgtrace_addr: u32,
+    pub fwid: u32,
+}
+impl_bytes!(SharedMemData);
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct SharedMemLog {
+    pub buf: u32,
+    pub buf_size: u32,
+    pub idx: u32,
+    pub out_idx: u32,
+}
+impl_bytes!(SharedMemLog);
+
+#[derive(Debug, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct SdpcmHeader {
+    pub len: u16,
+    pub len_inv: u16,
+    /// Rx/Tx sequence number
+    pub sequence: u8,
+    ///  4 MSB Channel number, 4 LSB arbitrary flag
+    pub channel_and_flags: u8,
+    /// Length of next data frame, reserved for Tx
+    pub next_length: u8,
+    /// Data offset
+    pub header_length: u8,
+    /// Flow control bits, reserved for Tx
+    pub wireless_flow_control: u8,
+    /// Maximum Sequence number allowed by firmware for Tx
+    pub bus_data_credit: u8,
+    /// Reserved
+    pub reserved: [u8; 2],
+}
+impl_bytes!(SdpcmHeader);
+
+impl SdpcmHeader {
+    pub fn parse(packet: &mut [u8]) -> Option<(&mut Self, &mut [u8])> {
+        let packet_len = packet.len();
+        if packet_len < Self::SIZE {
+            warn!("packet too short, len={}", packet.len());
+            return None;
+        }
+        let (sdpcm_header, sdpcm_packet) = packet.split_at_mut(Self::SIZE);
+        let sdpcm_header = Self::from_bytes_mut(sdpcm_header.try_into().unwrap());
+        trace!("rx {:?}", sdpcm_header);
+
+        if sdpcm_header.len != !sdpcm_header.len_inv {
+            warn!("len inv mismatch");
+            return None;
+        }
+
+        if sdpcm_header.len as usize != packet_len {
+            warn!("len from header doesn't match len from spi");
+            return None;
+        }
+
+        let sdpcm_packet = &mut sdpcm_packet[(sdpcm_header.header_length as usize - Self::SIZE)..];
+        Some((sdpcm_header, sdpcm_packet))
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+#[repr(C, packed(2))]
+pub struct CdcHeader {
+    pub cmd: u32,
+    pub len: u32,
+    pub flags: u16,
+    pub id: u16,
+    pub status: u32,
+}
+impl_bytes!(CdcHeader);
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for CdcHeader {
+    fn format(&self, fmt: defmt::Formatter) {
+        fn copy<T: Copy>(t: T) -> T {
+            t
+        }
+
+        defmt::write!(
+            fmt,
+            "CdcHeader{{cmd: {=u32:08x}, len: {=u32:08x}, flags: {=u16:04x}, id: {=u16:04x}, status: {=u32:08x}}}",
+            copy(self.cmd),
+            copy(self.len),
+            copy(self.flags),
+            copy(self.id),
+            copy(self.status),
+        )
+    }
+}
+
+impl CdcHeader {
+    pub fn parse(packet: &mut [u8]) -> Option<(&mut Self, &mut [u8])> {
+        if packet.len() < Self::SIZE {
+            warn!("payload too short, len={}", packet.len());
+            return None;
+        }
+
+        let (cdc_header, payload) = packet.split_at_mut(Self::SIZE);
+        let cdc_header = Self::from_bytes_mut(cdc_header.try_into().unwrap());
+
+        let payload = &mut payload[..cdc_header.len as usize];
+        Some((cdc_header, payload))
+    }
+}
+
+pub const BDC_VERSION: u8 = 2;
+pub const BDC_VERSION_SHIFT: u8 = 4;
+
+#[derive(Debug, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct BdcHeader {
+    pub flags: u8,
+    /// 802.1d Priority (low 3 bits)
+    pub priority: u8,
+    pub flags2: u8,
+    /// Offset from end of BDC header to packet data, in 4-uint8_t words. Leaves room for optional headers.
+    pub data_offset: u8,
+}
+impl_bytes!(BdcHeader);
+
+impl BdcHeader {
+    pub fn parse(packet: &mut [u8]) -> Option<(&mut Self, &mut [u8])> {
+        if packet.len() < Self::SIZE {
+            return None;
+        }
+
+        let (bdc_header, bdc_packet) = packet.split_at_mut(Self::SIZE);
+        let bdc_header = Self::from_bytes_mut(bdc_header.try_into().unwrap());
+        trace!("    {:?}", bdc_header);
+
+        let packet_start = 4 * bdc_header.data_offset as usize;
+
+        let bdc_packet = bdc_packet.get_mut(packet_start..)?;
+        trace!("    {:02x}", Bytes(&bdc_packet[..bdc_packet.len().min(36)]));
+
+        Some((bdc_header, bdc_packet))
+    }
+}
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct EthernetHeader {
+    pub destination_mac: [u8; 6],
+    pub source_mac: [u8; 6],
+    pub ether_type: u16,
+}
+
+impl EthernetHeader {
+    pub fn byteswap(&mut self) {
+        self.ether_type = self.ether_type.to_be();
+    }
+}
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct EventHeader {
+    pub subtype: u16,
+    pub length: u16,
+    pub version: u8,
+    pub oui: [u8; 3],
+    pub user_subtype: u16,
+}
+
+impl EventHeader {
+    pub fn byteswap(&mut self) {
+        self.subtype = self.subtype.to_be();
+        self.length = self.length.to_be();
+        self.user_subtype = self.user_subtype.to_be();
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+// #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C, packed(2))]
+pub struct EventMessage {
+    /// version   
+    pub version: u16,
+    /// see flags below
+    pub flags: u16,
+    /// Message (see below)
+    pub event_type: u32,
+    /// Status code (see below)
+    pub status: u32,
+    /// Reason code (if applicable)
+    pub reason: u32,
+    /// WLC_E_AUTH
+    pub auth_type: u32,
+    /// data buf
+    pub datalen: u32,
+    /// Station address (if applicable)
+    pub addr: [u8; 6],
+    /// name of the incoming packet interface
+    pub ifname: [u8; 16],
+    /// destination OS i/f index
+    pub ifidx: u8,
+    /// source bsscfg index
+    pub bsscfgidx: u8,
+}
+impl_bytes!(EventMessage);
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for EventMessage {
+    fn format(&self, fmt: defmt::Formatter) {
+        let event_type = self.event_type;
+        let status = self.status;
+        let reason = self.reason;
+        let auth_type = self.auth_type;
+        let datalen = self.datalen;
+
+        defmt::write!(
+            fmt,
+            "EventMessage {{ \
+            version: {=u16}, \
+            flags: {=u16}, \
+            event_type: {=u32}, \
+            status: {=u32}, \
+            reason: {=u32}, \
+            auth_type: {=u32}, \
+            datalen: {=u32}, \
+            addr: {=[u8; 6]:x}, \
+            ifname: {=[u8; 16]:x}, \
+            ifidx: {=u8}, \
+            bsscfgidx: {=u8}, \
+        }} ",
+            self.version,
+            self.flags,
+            event_type,
+            status,
+            reason,
+            auth_type,
+            datalen,
+            self.addr,
+            self.ifname,
+            self.ifidx,
+            self.bsscfgidx
+        );
+    }
+}
+
+impl EventMessage {
+    pub fn byteswap(&mut self) {
+        self.version = self.version.to_be();
+        self.flags = self.flags.to_be();
+        self.event_type = self.event_type.to_be();
+        self.status = self.status.to_be();
+        self.reason = self.reason.to_be();
+        self.auth_type = self.auth_type.to_be();
+        self.datalen = self.datalen.to_be();
+    }
+}
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C, packed(2))]
+pub struct EventPacket {
+    pub eth: EthernetHeader,
+    pub hdr: EventHeader,
+    pub msg: EventMessage,
+}
+impl_bytes!(EventPacket);
+
+impl EventPacket {
+    pub fn parse(packet: &mut [u8]) -> Option<(&mut Self, &mut [u8])> {
+        if packet.len() < Self::SIZE {
+            return None;
+        }
+
+        let (event_header, event_packet) = packet.split_at_mut(Self::SIZE);
+        let event_header = Self::from_bytes_mut(event_header.try_into().unwrap());
+        // warn!("event_header {:x}", event_header as *const _);
+        event_header.byteswap();
+
+        let event_packet = event_packet.get_mut(..event_header.msg.datalen as usize)?;
+
+        Some((event_header, event_packet))
+    }
+
+    pub fn byteswap(&mut self) {
+        self.eth.byteswap();
+        self.hdr.byteswap();
+        self.msg.byteswap();
+    }
+}
+
+#[derive(Clone, Copy)]
+#[repr(C)]
+pub struct DownloadHeader {
+    pub flag: u16, //
+    pub dload_type: u16,
+    pub len: u32,
+    pub crc: u32,
+}
+impl_bytes!(DownloadHeader);
+
+#[allow(unused)]
+pub const DOWNLOAD_FLAG_NO_CRC: u16 = 0x0001;
+pub const DOWNLOAD_FLAG_BEGIN: u16 = 0x0002;
+pub const DOWNLOAD_FLAG_END: u16 = 0x0004;
+pub const DOWNLOAD_FLAG_HANDLER_VER: u16 = 0x1000;
+
+// Country Locale Matrix (CLM)
+pub const DOWNLOAD_TYPE_CLM: u16 = 2;
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct CountryInfo {
+    pub country_abbrev: [u8; 4],
+    pub rev: i32,
+    pub country_code: [u8; 4],
+}
+impl_bytes!(CountryInfo);
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct SsidInfo {
+    pub len: u32,
+    pub ssid: [u8; 32],
+}
+impl_bytes!(SsidInfo);
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct PassphraseInfo {
+    pub len: u16,
+    pub flags: u16,
+    pub passphrase: [u8; 64],
+}
+impl_bytes!(PassphraseInfo);
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct SsidInfoWithIndex {
+    pub index: u32,
+    pub ssid_info: SsidInfo,
+}
+impl_bytes!(SsidInfoWithIndex);
+
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct EventMask {
+    pub iface: u32,
+    pub events: [u8; 24],
+}
+impl_bytes!(EventMask);
+
+impl EventMask {
+    pub fn unset(&mut self, evt: Event) {
+        let evt = evt as u8 as usize;
+        self.events[evt / 8] &= !(1 << (evt % 8));
+    }
+}
+
+/// Parameters for a wifi scan
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C)]
+pub struct ScanParams {
+    pub version: u32,
+    pub action: u16,
+    pub sync_id: u16,
+    pub ssid_len: u32,
+    pub ssid: [u8; 32],
+    pub bssid: [u8; 6],
+    pub bss_type: u8,
+    pub scan_type: u8,
+    pub nprobes: u32,
+    pub active_time: u32,
+    pub passive_time: u32,
+    pub home_time: u32,
+    pub channel_num: u32,
+    pub channel_list: [u16; 1],
+}
+impl_bytes!(ScanParams);
+
+/// Wifi Scan Results Header, followed by `bss_count` `BssInfo`
+#[derive(Clone, Copy)]
+// #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C, packed(2))]
+pub struct ScanResults {
+    pub buflen: u32,
+    pub version: u32,
+    pub sync_id: u16,
+    pub bss_count: u16,
+}
+impl_bytes!(ScanResults);
+
+impl ScanResults {
+    pub fn parse(packet: &mut [u8]) -> Option<(&mut ScanResults, &mut [u8])> {
+        if packet.len() < ScanResults::SIZE {
+            return None;
+        }
+
+        let (scan_results, bssinfo) = packet.split_at_mut(ScanResults::SIZE);
+        let scan_results = ScanResults::from_bytes_mut(scan_results.try_into().unwrap());
+
+        if scan_results.bss_count > 0 && bssinfo.len() < BssInfo::SIZE {
+            warn!("Scan result, incomplete BssInfo");
+            return None;
+        }
+
+        Some((scan_results, bssinfo))
+    }
+}
+
+/// Wifi Scan Result
+#[derive(Clone, Copy)]
+// #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(C, packed(2))]
+#[non_exhaustive]
+pub struct BssInfo {
+    pub version: u32,
+    pub length: u32,
+    pub bssid: [u8; 6],
+    pub beacon_period: u16,
+    pub capability: u16,
+    pub ssid_len: u8,
+    pub ssid: [u8; 32],
+    // there will be more stuff here
+}
+impl_bytes!(BssInfo);
+
+impl BssInfo {
+    pub fn parse(packet: &mut [u8]) -> Option<&mut Self> {
+        if packet.len() < BssInfo::SIZE {
+            return None;
+        }
+
+        Some(BssInfo::from_bytes_mut(
+            packet[..BssInfo::SIZE].as_mut().try_into().unwrap(),
+        ))
+    }
+}

docs/modules/ROOT/examples/basic/Cargo.toml

@@ -6,7 +6,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.1.0", path = "../../../../../embassy-executor", features = ["defmt", "nightly", "integrated-timers"] }
+embassy-executor = { version = "0.2.0", path = "../../../../../embassy-executor", features = ["defmt", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.1.0", path = "../../../../../embassy-time", features = ["defmt", "nightly"] }
 embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "nightly"] }
 

docs/modules/ROOT/examples/layer-by-layer/Cargo.toml

@@ -10,7 +10,6 @@ members = [
 [patch.crates-io]
 embassy-executor = { path = "../../../../../embassy-executor" }
 embassy-stm32 = { path = "../../../../../embassy-stm32" }
-stm32-metapac = { path = "../../../../../stm32-metapac" }
 
 [profile.release]
 codegen-units = 1

docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml

@@ -7,8 +7,8 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
-embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x", "exti"], default-features = false  }
-embassy-executor = { version = "0.1.0", default-features = false, features = ["nightly"] }
+embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x", "exti"]  }
+embassy-executor = { version = "0.2.0", features = ["nightly", "arch-cortex-m", "executor-thread"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

docs/modules/ROOT/examples/layer-by-layer/blinky-hal/Cargo.toml

@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
-embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x"], default-features = false  }
+embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

docs/modules/ROOT/examples/layer-by-layer/blinky-irq/src/main.rs

@@ -20,13 +20,13 @@ fn main() -> ! {
     let led = Output::new(p.PB14, Level::Low, Speed::Low);
     let mut button = Input::new(p.PC13, Pull::Up);
 
-    cortex_m::interrupt::free(|cs| unsafe {
+    cortex_m::interrupt::free(|cs| {
         enable_interrupt(&mut button);
 
         LED.borrow(cs).borrow_mut().replace(led);
         BUTTON.borrow(cs).borrow_mut().replace(button);
 
-        NVIC::unmask(pac::Interrupt::EXTI15_10);
+        unsafe { NVIC::unmask(pac::Interrupt::EXTI15_10) };
     });
 
     loop {
@@ -64,25 +64,21 @@ const PORT: u8 = 2;
 const PIN: usize = 13;
 fn check_interrupt<P: Pin>(_pin: &mut Input<'static, P>) -> bool {
     let exti = pac::EXTI;
-    unsafe {
-        let pin = PIN;
-        let lines = exti.pr(0).read();
-        lines.line(pin)
-    }
+    let pin = PIN;
+    let lines = exti.pr(0).read();
+    lines.line(pin)
 }
 
 fn clear_interrupt<P: Pin>(_pin: &mut Input<'static, P>) {
     let exti = pac::EXTI;
-    unsafe {
-        let pin = PIN;
-        let mut lines = exti.pr(0).read();
-        lines.set_line(pin, true);
-        exti.pr(0).write_value(lines);
-    }
+    let pin = PIN;
+    let mut lines = exti.pr(0).read();
+    lines.set_line(pin, true);
+    exti.pr(0).write_value(lines);
 }
 
 fn enable_interrupt<P: Pin>(_pin: &mut Input<'static, P>) {
-    cortex_m::interrupt::free(|_| unsafe {
+    cortex_m::interrupt::free(|_| {
         let rcc = pac::RCC;
         rcc.apb2enr().modify(|w| w.set_syscfgen(true));
 

docs/modules/ROOT/examples/layer-by-layer/blinky-pac/Cargo.toml

@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
-stm32-metapac = { version = "0.1.0", features = ["stm32l475vg", "memory-x"] }
+stm32-metapac = { version = "1", features = ["stm32l475vg", "memory-x"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

docs/modules/ROOT/pages/bootloader.adoc

@@ -6,7 +6,7 @@ The bootloader can be used either as a library or be flashed directly if you are
 
 By design, the bootloader does not provide any network capabilities. Networking capabilities for fetching new firmware can be provided by the user application, using the bootloader as a library for updating the firmware, or by using the bootloader as a library and adding this capability yourself.
 
-The bootloader supports both internal and external flash by relying on the `embedded-storage` traits.
+The bootloader supports both internal and external flash by relying on the `embedded-storage` traits. The bootloader optionally supports the verification of firmware that has been digitally signed (recommended).
 
 
 == Hardware support
@@ -15,6 +15,7 @@ The bootloader supports
 
 * nRF52 with and without softdevice
 * STM32 L4, WB, WL, L1, L0, F3, F7 and H7
+* Raspberry Pi: RP2040
 
 In general, the bootloader works on any platform that implements the `embedded-storage` traits for its internal flash, but may require custom initialization code to work.
 
@@ -43,3 +44,51 @@ The partitions for ACTIVE (+BOOTLOADER), DFU and BOOTLOADER_STATE may be placed
 The BOOTLOADER_STATE partition must be big enough to store one word per page in the ACTIVE and DFU partitions combined.
 
 The bootloader has a platform-agnostic part, which implements the power fail safe swapping algorithm given the boundaries set by the partitions. The platform-specific part is a minimal shim that provides additional functionality such as watchdogs or supporting the nRF52 softdevice.
+
+=== FirmwareUpdater
+
+The `FirmwareUpdater` is an object for conveniently flashing firmware to the DFU partition and subsequently marking it as being ready for swapping with the active partition on the next reset. Its principle methods are `write_firmware`, which is called once per the size of the flash "write block" (typically 4KiB), and `mark_updated`, which is the final call.
+
+=== Verification
+
+The bootloader supports the verification of firmware that has been flashed to the DFU partition. Verification requires that firmware has been signed digitally using link:https://ed25519.cr.yp.to/[`ed25519`] signatures. With verification enabled, the `FirmwareUpdater::verify_and_mark_updated` method is called in place of `mark_updated`. A public key and signature are required, along with the actual length of the firmware that has been flashed. If verification fails then the firmware will not be marked as updated and therefore be rejected.
+
+Signatures are normally conveyed with the firmware to be updated and not written to flash. How signatures are provided is a firmware responsibility.
+
+To enable verification use either the `ed25519-dalek` or `ed25519-salty` features when depending on the `embassy-boot` crate. We recommend `ed25519-salty` at this time due to its small size.
+
+==== Tips on keys and signing with ed25519
+
+Ed25519 is a public key signature system where you are responsible for keeping the private key secure. We recommend embedding the *public* key in your program so that it can be easily passed to `verify_and_mark_updated`. An example declaration of the public key in your firmware:
+
+[source, rust]
+----
+static PUBLIC_SIGNING_KEY: &[u8] = include_bytes!("key.pub");
+----
+
+Signatures are often conveyed along with firmware by appending them.
+
+Ed25519 keys can be generated by a variety of tools. We recommend link:https://man.openbsd.org/signify[`signify`] as it is in wide use to sign and verify OpenBSD distributions, and is straightforward to use.
+
+The following set of Bash commands can be used to generate public and private keys on Unix platforms, and also generate a local `key.pub` file with the `signify` file headers removed. Declare a `SECRETS_DIR` environment variable in a secure location.
+
+[source, bash]
+----
+signify -G -n -p $SECRETS_DIR/key.pub -s $SECRETS_DIR/key.sec
+tail -n1 $SECRETS_DIR/key.pub | base64 -d -i - | dd ibs=10 skip=1 > key.pub
+chmod 700 $SECRETS_DIR/key.sec
+export SECRET_SIGNING_KEY=$(tail -n1 $SECRETS_DIR/key.sec)
+----
+
+Then, to sign your firmware given a declaration of `FIRMWARE_DIR` and a firmware filename of `myfirmware`:
+
+[source, bash]
+----
+shasum -a 512 -b $FIRMWARE_DIR/myfirmware > $SECRETS_DIR/message.txt
+cat $SECRETS_DIR/message.txt | dd ibs=128 count=1 | xxd -p -r > $SECRETS_DIR/message.txt
+signify -S -s $SECRETS_DIR/key.sec -m $SECRETS_DIR/message.txt -x $SECRETS_DIR/message.txt.sig
+cp $FIRMWARE_DIR/myfirmware $FIRMWARE_DIR/myfirmware+signed
+tail -n1 $SECRETS_DIR/message.txt.sig | base64 -d -i - | dd ibs=10 skip=1 >> $FIRMWARE_DIR/myfirmware+signed
+----
+
+Remember, guard the `$SECRETS_DIR/key.sec` key as compromising it means that another party can sign your firmware.

docs/modules/ROOT/pages/getting_started.adoc

@@ -45,11 +45,11 @@ You can run an example by opening a terminal and entering the following commands
 
 [source, bash]
 ----
-cd examples/nrf
+cd examples/nrf52840
 cargo run --bin blinky --release
 ----
 
-== Whats next?
+== What's next?
 
 Congratulations, you have your first Embassy application running! Here are some alternatives on where to go from here:
 

embassy-boot/boot/Cargo.toml

@@ -1,26 +1,56 @@
 [package]
 edition = "2021"
 name = "embassy-boot"
-version = "0.1.0"
-description = "Bootloader using Embassy"
+version = "0.1.1"
+description = "A lightweight bootloader supporting firmware updates in a power-fail-safe way, with trial boots and rollbacks."
 license = "MIT OR Apache-2.0"
+repository = "https://github.com/embassy-rs/embassy"
+categories = [
+    "embedded",
+    "no-std",
+    "asynchronous",
+]
 
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-v$VERSION/embassy-boot/boot/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-boot/boot/src/"
 target = "thumbv7em-none-eabi"
+features = ["defmt"]
+
+[package.metadata.docs.rs]
+features = ["defmt"]
 
 [lib]
 
 [dependencies]
 defmt = { version = "0.3", optional = true }
+digest = "0.10"
 log = { version = "0.4", optional = true  }
-embassy-sync = { version = "0.1.0", path = "../../embassy-sync" }
+ed25519-dalek = { version = "1.0.1", default_features = false, features = ["u32_backend"], optional = true }
+embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
+embassy-sync = { version = "0.2.0", path = "../../embassy-sync" }
 embedded-storage = "0.3.0"
-embedded-storage-async = "0.3.0"
+embedded-storage-async = { version = "0.4.0", optional = true }
+salty = { git = "https://github.com/ycrypto/salty.git", rev = "a9f17911a5024698406b75c0fac56ab5ccf6a8c7", optional = true }
+signature = { version = "1.6.4", default-features = false }
 
 [dev-dependencies]
 log = "0.4"
 env_logger = "0.9"
-rand = "0.8"
+rand = "0.7" # ed25519-dalek v1.0.1 depends on this exact version
 futures = { version = "0.3", features = ["executor"] }
+sha1 = "0.10.5"
+critical-section = { version = "1.1.1", features = ["std"] }
+
+[dev-dependencies.ed25519-dalek]
+default_features = false
+features = ["rand", "std", "u32_backend"]
+
+[features]
+ed25519-dalek = ["dep:ed25519-dalek", "_verify"]
+ed25519-salty = ["dep:salty", "_verify"]
+
+nightly = ["dep:embedded-storage-async", "embassy-embedded-hal/nightly"]
+
+#Internal features
+_verify = []

embassy-boot/boot/README.md

@@ -13,11 +13,12 @@ By design, the bootloader does not provide any network capabilities. Networking
 The bootloader supports different hardware in separate crates:
 
 * `embassy-boot-nrf` - for the nRF microcontrollers.
+* `embassy-boot-rp` - for the RP2040 microcontrollers.
 * `embassy-boot-stm32` - for the STM32 microcontrollers.
 
 ## Minimum supported Rust version (MSRV)
 
-`embassy-boot` requires Rust nightly to compile as it relies on async traits for interacting with the flash peripherals.
+`embassy-boot` is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
 
 ## License
 

embassy-boot/boot/src/boot_loader.rs

@@ -0,0 +1,421 @@
+use core::cell::RefCell;
+
+use embassy_embedded_hal::flash::partition::BlockingPartition;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+use embedded_storage::nor_flash::{NorFlash, NorFlashError, NorFlashErrorKind};
+
+use crate::{State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
+
+/// Errors returned by bootloader
+#[derive(PartialEq, Eq, Debug)]
+pub enum BootError {
+    /// Error from flash.
+    Flash(NorFlashErrorKind),
+    /// Invalid bootloader magic
+    BadMagic,
+}
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for BootError {
+    fn format(&self, fmt: defmt::Formatter) {
+        match self {
+            BootError::Flash(_) => defmt::write!(fmt, "BootError::Flash(_)"),
+            BootError::BadMagic => defmt::write!(fmt, "BootError::BadMagic"),
+        }
+    }
+}
+
+impl<E> From<E> for BootError
+where
+    E: NorFlashError,
+{
+    fn from(error: E) -> Self {
+        BootError::Flash(error.kind())
+    }
+}
+
+/// Bootloader flash configuration holding the three flashes used by the bootloader
+///
+/// If only a single flash is actually used, then that flash should be partitioned into three partitions before use.
+/// The easiest way to do this is to use [`BootLoaderConfig::from_linkerfile_blocking`] which will partition
+/// the provided flash according to symbols defined in the linkerfile.
+pub struct BootLoaderConfig<ACTIVE, DFU, STATE> {
+    /// Flash type used for the active partition - the partition which will be booted from.
+    pub active: ACTIVE,
+    /// Flash type used for the dfu partition - the partition which will be swapped in when requested.
+    pub dfu: DFU,
+    /// Flash type used for the state partition.
+    pub state: STATE,
+}
+
+impl<'a, FLASH: NorFlash>
+    BootLoaderConfig<
+        BlockingPartition<'a, NoopRawMutex, FLASH>,
+        BlockingPartition<'a, NoopRawMutex, FLASH>,
+        BlockingPartition<'a, NoopRawMutex, FLASH>,
+    >
+{
+    /// Create a bootloader config from the flash and address symbols defined in the linkerfile
+    // #[cfg(target_os = "none")]
+    pub fn from_linkerfile_blocking(flash: &'a Mutex<NoopRawMutex, RefCell<FLASH>>) -> Self {
+        extern "C" {
+            static __bootloader_state_start: u32;
+            static __bootloader_state_end: u32;
+            static __bootloader_active_start: u32;
+            static __bootloader_active_end: u32;
+            static __bootloader_dfu_start: u32;
+            static __bootloader_dfu_end: u32;
+        }
+
+        let active = unsafe {
+            let start = &__bootloader_active_start as *const u32 as u32;
+            let end = &__bootloader_active_end as *const u32 as u32;
+            trace!("ACTIVE: 0x{:x} - 0x{:x}", start, end);
+
+            BlockingPartition::new(flash, start, end - start)
+        };
+        let dfu = unsafe {
+            let start = &__bootloader_dfu_start as *const u32 as u32;
+            let end = &__bootloader_dfu_end as *const u32 as u32;
+            trace!("DFU: 0x{:x} - 0x{:x}", start, end);
+
+            BlockingPartition::new(flash, start, end - start)
+        };
+        let state = unsafe {
+            let start = &__bootloader_state_start as *const u32 as u32;
+            let end = &__bootloader_state_end as *const u32 as u32;
+            trace!("STATE: 0x{:x} - 0x{:x}", start, end);
+
+            BlockingPartition::new(flash, start, end - start)
+        };
+
+        Self { active, dfu, state }
+    }
+}
+
+/// BootLoader works with any flash implementing embedded_storage.
+pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> {
+    active: ACTIVE,
+    dfu: DFU,
+    /// The state partition has the following format:
+    /// All ranges are in multiples of WRITE_SIZE bytes.
+    /// | Range    | Description                                                                      |
+    /// | 0..1     | Magic indicating bootloader state. BOOT_MAGIC means boot, SWAP_MAGIC means swap. |
+    /// | 1..2     | Progress validity. ERASE_VALUE means valid, !ERASE_VALUE means invalid.          |
+    /// | 2..2 + N | Progress index used while swapping or reverting      
+    state: STATE,
+}
+
+impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, STATE> {
+    /// Get the page size which is the "unit of operation" within the bootloader.
+    const PAGE_SIZE: u32 = if ACTIVE::ERASE_SIZE > DFU::ERASE_SIZE {
+        ACTIVE::ERASE_SIZE as u32
+    } else {
+        DFU::ERASE_SIZE as u32
+    };
+
+    /// Create a new instance of a bootloader with the flash partitions.
+    ///
+    /// - All partitions must be aligned with the PAGE_SIZE const generic parameter.
+    /// - The dfu partition must be at least PAGE_SIZE bigger than the active partition.
+    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+        Self {
+            active: config.active,
+            dfu: config.dfu,
+            state: config.state,
+        }
+    }
+
+    /// Perform necessary boot preparations like swapping images.
+    ///
+    /// The DFU partition is assumed to be 1 page bigger than the active partition for the swap
+    /// algorithm to work correctly.
+    ///
+    /// The provided aligned_buf argument must satisfy any alignment requirements
+    /// given by the partition flashes. All flash operations will use this buffer.
+    ///
+    /// SWAPPING
+    ///
+    /// Assume a flash size of 3 pages for the active partition, and 4 pages for the DFU partition.
+    /// The swap index contains the copy progress, as to allow continuation of the copy process on
+    /// power failure. The index counter is represented within 1 or more pages (depending on total
+    /// flash size), where a page X is considered swapped if index at location (X + WRITE_SIZE)
+    /// contains a zero value. This ensures that index updates can be performed atomically and
+    /// avoid a situation where the wrong index value is set (page write size is "atomic").
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          0 |      1 |      2 |      3 |      - |
+    /// |       DFU |          0 |      3 |      2 |      1 |      X |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// The algorithm starts by copying 'backwards', and after the first step, the layout is
+    /// as follows:
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          1 |      1 |      2 |      1 |      - |
+    /// |       DFU |          1 |      3 |      2 |      1 |      3 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// The next iteration performs the same steps
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          2 |      1 |      2 |      1 |      - |
+    /// |       DFU |          2 |      3 |      2 |      2 |      3 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// And again until we're done
+    ///
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    /// |    Active |          3 |      3 |      2 |      1 |      - |
+    /// |       DFU |          3 |      3 |      1 |      2 |      3 |
+    /// +-----------+------------+--------+--------+--------+--------+
+    ///
+    /// REVERTING
+    ///
+    /// The reverting algorithm uses the swap index to discover that images were swapped, but that
+    /// the application failed to mark the boot successful. In this case, the revert algorithm will
+    /// run.
+    ///
+    /// The revert index is located separately from the swap index, to ensure that revert can continue
+    /// on power failure.
+    ///
+    /// The revert algorithm works forwards, by starting copying into the 'unused' DFU page at the start.
+    ///
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    //*/
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |    Active |            3 |      1 |      2 |      1 |      - |
+    /// |       DFU |            3 |      3 |      1 |      2 |      3 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    ///
+    ///
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |    Active |            3 |      1 |      2 |      1 |      - |
+    /// |       DFU |            3 |      3 |      2 |      2 |      3 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    ///
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |    Active |            3 |      1 |      2 |      3 |      - |
+    /// |       DFU |            3 |      3 |      2 |      1 |      3 |
+    /// +-----------+--------------+--------+--------+--------+--------+
+    ///
+    pub fn prepare_boot(&mut self, aligned_buf: &mut [u8]) -> Result<State, BootError> {
+        // Ensure we have enough progress pages to store copy progress
+        assert_eq!(0, Self::PAGE_SIZE % aligned_buf.len() as u32);
+        assert_eq!(0, Self::PAGE_SIZE % ACTIVE::WRITE_SIZE as u32);
+        assert_eq!(0, Self::PAGE_SIZE % ACTIVE::ERASE_SIZE as u32);
+        assert_eq!(0, Self::PAGE_SIZE % DFU::WRITE_SIZE as u32);
+        assert_eq!(0, Self::PAGE_SIZE % DFU::ERASE_SIZE as u32);
+        assert!(aligned_buf.len() >= STATE::WRITE_SIZE);
+        assert_eq!(0, aligned_buf.len() % ACTIVE::WRITE_SIZE);
+        assert_eq!(0, aligned_buf.len() % DFU::WRITE_SIZE);
+
+        assert_partitions(&self.active, &self.dfu, &self.state, Self::PAGE_SIZE);
+
+        // Copy contents from partition N to active
+        let state = self.read_state(aligned_buf)?;
+        if state == State::Swap {
+            //
+            // Check if we already swapped. If we're in the swap state, this means we should revert
+            // since the app has failed to mark boot as successful
+            //
+            if !self.is_swapped(aligned_buf)? {
+                trace!("Swapping");
+                self.swap(aligned_buf)?;
+                trace!("Swapping done");
+            } else {
+                trace!("Reverting");
+                self.revert(aligned_buf)?;
+
+                let state_word = &mut aligned_buf[..STATE::WRITE_SIZE];
+
+                // Invalidate progress
+                state_word.fill(!STATE_ERASE_VALUE);
+                self.state.write(STATE::WRITE_SIZE as u32, state_word)?;
+
+                // Clear magic and progress
+                self.state.erase(0, self.state.capacity() as u32)?;
+
+                // Set magic
+                state_word.fill(BOOT_MAGIC);
+                self.state.write(0, state_word)?;
+            }
+        }
+        Ok(state)
+    }
+
+    fn is_swapped(&mut self, aligned_buf: &mut [u8]) -> Result<bool, BootError> {
+        let page_count = self.active.capacity() / Self::PAGE_SIZE as usize;
+        let progress = self.current_progress(aligned_buf)?;
+
+        Ok(progress >= page_count * 2)
+    }
+
+    fn current_progress(&mut self, aligned_buf: &mut [u8]) -> Result<usize, BootError> {
+        let write_size = STATE::WRITE_SIZE as u32;
+        let max_index = ((self.state.capacity() - STATE::WRITE_SIZE) / STATE::WRITE_SIZE) - 2;
+        let state_word = &mut aligned_buf[..write_size as usize];
+
+        self.state.read(write_size, state_word)?;
+        if state_word.iter().any(|&b| b != STATE_ERASE_VALUE) {
+            // Progress is invalid
+            return Ok(max_index);
+        }
+
+        for index in 0..max_index {
+            self.state.read((2 + index) as u32 * write_size, state_word)?;
+
+            if state_word.iter().any(|&b| b == STATE_ERASE_VALUE) {
+                return Ok(index);
+            }
+        }
+        Ok(max_index)
+    }
+
+    fn update_progress(&mut self, progress_index: usize, aligned_buf: &mut [u8]) -> Result<(), BootError> {
+        let state_word = &mut aligned_buf[..STATE::WRITE_SIZE];
+        state_word.fill(!STATE_ERASE_VALUE);
+        self.state
+            .write((2 + progress_index) as u32 * STATE::WRITE_SIZE as u32, state_word)?;
+        Ok(())
+    }
+
+    fn copy_page_once_to_active(
+        &mut self,
+        progress_index: usize,
+        from_offset: u32,
+        to_offset: u32,
+        aligned_buf: &mut [u8],
+    ) -> Result<(), BootError> {
+        if self.current_progress(aligned_buf)? <= progress_index {
+            let page_size = Self::PAGE_SIZE as u32;
+
+            self.active.erase(to_offset, to_offset + page_size)?;
+
+            for offset_in_page in (0..page_size).step_by(aligned_buf.len()) {
+                self.dfu.read(from_offset + offset_in_page as u32, aligned_buf)?;
+                self.active.write(to_offset + offset_in_page as u32, aligned_buf)?;
+            }
+
+            self.update_progress(progress_index, aligned_buf)?;
+        }
+        Ok(())
+    }
+
+    fn copy_page_once_to_dfu(
+        &mut self,
+        progress_index: usize,
+        from_offset: u32,
+        to_offset: u32,
+        aligned_buf: &mut [u8],
+    ) -> Result<(), BootError> {
+        if self.current_progress(aligned_buf)? <= progress_index {
+            let page_size = Self::PAGE_SIZE as u32;
+
+            self.dfu.erase(to_offset as u32, to_offset + page_size)?;
+
+            for offset_in_page in (0..page_size).step_by(aligned_buf.len()) {
+                self.active.read(from_offset + offset_in_page as u32, aligned_buf)?;
+                self.dfu.write(to_offset + offset_in_page as u32, aligned_buf)?;
+            }
+
+            self.update_progress(progress_index, aligned_buf)?;
+        }
+        Ok(())
+    }
+
+    fn swap(&mut self, aligned_buf: &mut [u8]) -> Result<(), BootError> {
+        let page_count = self.active.capacity() as u32 / Self::PAGE_SIZE;
+        for page_num in 0..page_count {
+            let progress_index = (page_num * 2) as usize;
+
+            // Copy active page to the 'next' DFU page.
+            let active_from_offset = (page_count - 1 - page_num) * Self::PAGE_SIZE;
+            let dfu_to_offset = (page_count - page_num) * Self::PAGE_SIZE;
+            //trace!("Copy active {} to dfu {}", active_from_offset, dfu_to_offset);
+            self.copy_page_once_to_dfu(progress_index, active_from_offset, dfu_to_offset, aligned_buf)?;
+
+            // Copy DFU page to the active page
+            let active_to_offset = (page_count - 1 - page_num) * Self::PAGE_SIZE;
+            let dfu_from_offset = (page_count - 1 - page_num) * Self::PAGE_SIZE;
+            //trace!("Copy dfy {} to active {}", dfu_from_offset, active_to_offset);
+            self.copy_page_once_to_active(progress_index + 1, dfu_from_offset, active_to_offset, aligned_buf)?;
+        }
+
+        Ok(())
+    }
+
+    fn revert(&mut self, aligned_buf: &mut [u8]) -> Result<(), BootError> {
+        let page_count = self.active.capacity() as u32 / Self::PAGE_SIZE;
+        for page_num in 0..page_count {
+            let progress_index = (page_count * 2 + page_num * 2) as usize;
+
+            // Copy the bad active page to the DFU page
+            let active_from_offset = page_num * Self::PAGE_SIZE;
+            let dfu_to_offset = page_num * Self::PAGE_SIZE;
+            self.copy_page_once_to_dfu(progress_index, active_from_offset, dfu_to_offset, aligned_buf)?;
+
+            // Copy the DFU page back to the active page
+            let active_to_offset = page_num * Self::PAGE_SIZE;
+            let dfu_from_offset = (page_num + 1) * Self::PAGE_SIZE;
+            self.copy_page_once_to_active(progress_index + 1, dfu_from_offset, active_to_offset, aligned_buf)?;
+        }
+
+        Ok(())
+    }
+
+    fn read_state(&mut self, aligned_buf: &mut [u8]) -> Result<State, BootError> {
+        let state_word = &mut aligned_buf[..STATE::WRITE_SIZE];
+        self.state.read(0, state_word)?;
+
+        if !state_word.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+}
+
+fn assert_partitions<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
+    active: &ACTIVE,
+    dfu: &DFU,
+    state: &STATE,
+    page_size: u32,
+) {
+    assert_eq!(active.capacity() as u32 % page_size, 0);
+    assert_eq!(dfu.capacity() as u32 % page_size, 0);
+    assert!(dfu.capacity() as u32 - active.capacity() as u32 >= page_size);
+    assert!(2 + 2 * (active.capacity() as u32 / page_size) <= state.capacity() as u32 / STATE::WRITE_SIZE as u32);
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::mem_flash::MemFlash;
+
+    #[test]
+    #[should_panic]
+    fn test_range_asserts() {
+        const ACTIVE_SIZE: usize = 4194304 - 4096;
+        const DFU_SIZE: usize = 4194304;
+        const STATE_SIZE: usize = 4096;
+        static ACTIVE: MemFlash<ACTIVE_SIZE, 4, 4> = MemFlash::new(0xFF);
+        static DFU: MemFlash<DFU_SIZE, 4, 4> = MemFlash::new(0xFF);
+        static STATE: MemFlash<STATE_SIZE, 4, 4> = MemFlash::new(0xFF);
+        assert_partitions(&ACTIVE, &DFU, &STATE, 4096);
+    }
+}

embassy-boot/boot/src/digest_adapters/ed25519_dalek.rs

@@ -0,0 +1,30 @@
+use digest::typenum::U64;
+use digest::{FixedOutput, HashMarker, OutputSizeUser, Update};
+use ed25519_dalek::Digest as _;
+
+pub struct Sha512(ed25519_dalek::Sha512);
+
+impl Default for Sha512 {
+    fn default() -> Self {
+        Self(ed25519_dalek::Sha512::new())
+    }
+}
+
+impl Update for Sha512 {
+    fn update(&mut self, data: &[u8]) {
+        self.0.update(data)
+    }
+}
+
+impl FixedOutput for Sha512 {
+    fn finalize_into(self, out: &mut digest::Output<Self>) {
+        let result = self.0.finalize();
+        out.as_mut_slice().copy_from_slice(result.as_slice())
+    }
+}
+
+impl OutputSizeUser for Sha512 {
+    type OutputSize = U64;
+}
+
+impl HashMarker for Sha512 {}

embassy-boot/boot/src/digest_adapters/mod.rs

@@ -0,0 +1,5 @@
+#[cfg(feature = "ed25519-dalek")]
+pub(crate) mod ed25519_dalek;
+
+#[cfg(feature = "ed25519-salty")]
+pub(crate) mod salty;

embassy-boot/boot/src/digest_adapters/salty.rs

@@ -0,0 +1,29 @@
+use digest::typenum::U64;
+use digest::{FixedOutput, HashMarker, OutputSizeUser, Update};
+
+pub struct Sha512(salty::Sha512);
+
+impl Default for Sha512 {
+    fn default() -> Self {
+        Self(salty::Sha512::new())
+    }
+}
+
+impl Update for Sha512 {
+    fn update(&mut self, data: &[u8]) {
+        self.0.update(data)
+    }
+}
+
+impl FixedOutput for Sha512 {
+    fn finalize_into(self, out: &mut digest::Output<Self>) {
+        let result = self.0.finalize();
+        out.as_mut_slice().copy_from_slice(result.as_slice())
+    }
+}
+
+impl OutputSizeUser for Sha512 {
+    type OutputSize = U64;
+}
+
+impl HashMarker for Sha512 {}

embassy-boot/boot/src/firmware_updater/asynch.rs

@@ -0,0 +1,299 @@
+use digest::Digest;
+#[cfg(target_os = "none")]
+use embassy_embedded_hal::flash::partition::Partition;
+#[cfg(target_os = "none")]
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embedded_storage_async::nor_flash::NorFlash;
+
+use super::FirmwareUpdaterConfig;
+use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
+
+/// FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
+/// 'mess up' the internal bootloader state
+pub struct FirmwareUpdater<DFU: NorFlash, STATE: NorFlash> {
+    dfu: DFU,
+    state: STATE,
+}
+
+#[cfg(target_os = "none")]
+impl<'a, FLASH: NorFlash>
+    FirmwareUpdaterConfig<Partition<'a, NoopRawMutex, FLASH>, Partition<'a, NoopRawMutex, FLASH>>
+{
+    /// Create a firmware updater config from the flash and address symbols defined in the linkerfile
+    pub fn from_linkerfile(flash: &'a embassy_sync::mutex::Mutex<NoopRawMutex, FLASH>) -> Self {
+        extern "C" {
+            static __bootloader_state_start: u32;
+            static __bootloader_state_end: u32;
+            static __bootloader_dfu_start: u32;
+            static __bootloader_dfu_end: u32;
+        }
+
+        let dfu = unsafe {
+            let start = &__bootloader_dfu_start as *const u32 as u32;
+            let end = &__bootloader_dfu_end as *const u32 as u32;
+            trace!("DFU: 0x{:x} - 0x{:x}", start, end);
+
+            Partition::new(flash, start, end - start)
+        };
+        let state = unsafe {
+            let start = &__bootloader_state_start as *const u32 as u32;
+            let end = &__bootloader_state_end as *const u32 as u32;
+            trace!("STATE: 0x{:x} - 0x{:x}", start, end);
+
+            Partition::new(flash, start, end - start)
+        };
+
+        Self { dfu, state }
+    }
+}
+
+impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
+    /// Create a firmware updater instance with partition ranges for the update and state partitions.
+    pub fn new(config: FirmwareUpdaterConfig<DFU, STATE>) -> Self {
+        Self {
+            dfu: config.dfu,
+            state: config.state,
+        }
+    }
+
+    // Make sure we are running a booted firmware to avoid reverting to a bad state.
+    async fn verify_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        if self.get_state(aligned).await? == State::Boot {
+            Ok(())
+        } else {
+            Err(FirmwareUpdaterError::BadState)
+        }
+    }
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub async fn get_state(&mut self, aligned: &mut [u8]) -> Result<State, FirmwareUpdaterError> {
+        self.state.read(0, aligned).await?;
+
+        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Verify the DFU given a public key. If there is an error then DO NOT
+    /// proceed with updating the firmware as it must be signed with a
+    /// corresponding private key (otherwise it could be malicious firmware).
+    ///
+    /// Mark to trigger firmware swap on next boot if verify suceeds.
+    ///
+    /// If the "ed25519-salty" feature is set (or another similar feature) then the signature is expected to have
+    /// been generated from a SHA-512 digest of the firmware bytes.
+    ///
+    /// If no signature feature is set then this method will always return a
+    /// signature error.
+    ///
+    /// # Safety
+    ///
+    /// The `_aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    #[cfg(feature = "_verify")]
+    pub async fn verify_and_mark_updated(
+        &mut self,
+        _public_key: &[u8],
+        _signature: &[u8],
+        _update_len: u32,
+        _aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(_aligned.len(), STATE::WRITE_SIZE);
+        assert!(_update_len <= self.dfu.capacity() as u32);
+
+        self.verify_booted(_aligned).await?;
+
+        #[cfg(feature = "ed25519-dalek")]
+        {
+            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+
+            use crate::digest_adapters::ed25519_dalek::Sha512;
+
+            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());
+
+            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+
+            let mut message = [0; 64];
+            self.hash::<Sha512>(_update_len, _aligned, &mut message).await?;
+
+            public_key.verify(&message, &signature).map_err(into_signature_error)?
+        }
+        #[cfg(feature = "ed25519-salty")]
+        {
+            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
+            use salty::{PublicKey, Signature};
+
+            use crate::digest_adapters::salty::Sha512;
+
+            fn into_signature_error<E>(_: E) -> FirmwareUpdaterError {
+                FirmwareUpdaterError::Signature(signature::Error::default())
+            }
+
+            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
+            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
+
+            let mut message = [0; 64];
+            self.hash::<Sha512>(_update_len, _aligned, &mut message).await?;
+
+            let r = public_key.verify(&message, &signature);
+            trace!(
+                "Verifying with public key {}, signature {} and message {} yields ok: {}",
+                public_key.to_bytes(),
+                signature.to_bytes(),
+                message,
+                r.is_ok()
+            );
+            r.map_err(into_signature_error)?
+        }
+
+        self.set_magic(_aligned, SWAP_MAGIC).await
+    }
+
+    /// Verify the update in DFU with any digest.
+    pub async fn hash<D: Digest>(
+        &mut self,
+        update_len: u32,
+        chunk_buf: &mut [u8],
+        output: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        let mut digest = D::new();
+        for offset in (0..update_len).step_by(chunk_buf.len()) {
+            self.dfu.read(offset, chunk_buf).await?;
+            let len = core::cmp::min((update_len - offset) as usize, chunk_buf.len());
+            digest.update(&chunk_buf[..len]);
+        }
+        output.copy_from_slice(digest.finalize().as_slice());
+        Ok(())
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    #[cfg(not(feature = "_verify"))]
+    pub async fn mark_updated(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.set_magic(aligned, SWAP_MAGIC).await
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub async fn mark_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.set_magic(aligned, BOOT_MAGIC).await
+    }
+
+    async fn set_magic(&mut self, aligned: &mut [u8], magic: u8) -> Result<(), FirmwareUpdaterError> {
+        self.state.read(0, aligned).await?;
+
+        if aligned.iter().any(|&b| b != magic) {
+            // Read progress validity
+            self.state.read(STATE::WRITE_SIZE as u32, aligned).await?;
+
+            if aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
+                // The current progress validity marker is invalid
+            } else {
+                // Invalidate progress
+                aligned.fill(!STATE_ERASE_VALUE);
+                self.state.write(STATE::WRITE_SIZE as u32, aligned).await?;
+            }
+
+            // Clear magic and progress
+            self.state.erase(0, self.state.capacity() as u32).await?;
+
+            // Set magic
+            aligned.fill(magic);
+            self.state.write(0, aligned).await?;
+        }
+        Ok(())
+    }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub async fn write_firmware(
+        &mut self,
+        aligned: &mut [u8],
+        offset: usize,
+        data: &[u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert!(data.len() >= DFU::ERASE_SIZE);
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+
+        self.verify_booted(aligned).await?;
+
+        self.dfu.erase(offset as u32, (offset + data.len()) as u32).await?;
+
+        self.dfu.write(offset as u32, data).await?;
+
+        Ok(())
+    }
+
+    /// Prepare for an incoming DFU update by erasing the entire DFU area and
+    /// returning its `Partition`.
+    ///
+    /// Using this instead of `write_firmware` allows for an optimized API in
+    /// exchange for added complexity.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub async fn prepare_update(&mut self, aligned: &mut [u8]) -> Result<&mut DFU, FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.verify_booted(aligned).await?;
+
+        self.dfu.erase(0, self.dfu.capacity() as u32).await?;
+
+        Ok(&mut self.dfu)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use embassy_embedded_hal::flash::partition::Partition;
+    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+    use embassy_sync::mutex::Mutex;
+    use futures::executor::block_on;
+    use sha1::{Digest, Sha1};
+
+    use super::*;
+    use crate::mem_flash::MemFlash;
+
+    #[test]
+    fn can_verify_sha1() {
+        let flash = Mutex::<NoopRawMutex, _>::new(MemFlash::<131072, 4096, 8>::default());
+        let state = Partition::new(&flash, 0, 4096);
+        let dfu = Partition::new(&flash, 65536, 65536);
+        let mut aligned = [0; 8];
+
+        let update = [0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66];
+        let mut to_write = [0; 4096];
+        to_write[..7].copy_from_slice(update.as_slice());
+
+        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state });
+        block_on(updater.write_firmware(&mut aligned, 0, to_write.as_slice())).unwrap();
+        let mut chunk_buf = [0; 2];
+        let mut hash = [0; 20];
+        block_on(updater.hash::<Sha1>(update.len() as u32, &mut chunk_buf, &mut hash)).unwrap();
+
+        assert_eq!(Sha1::digest(update).as_slice(), hash);
+    }
+}

embassy-boot/boot/src/firmware_updater/blocking.rs

@@ -0,0 +1,302 @@
+use digest::Digest;
+#[cfg(target_os = "none")]
+use embassy_embedded_hal::flash::partition::BlockingPartition;
+#[cfg(target_os = "none")]
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embedded_storage::nor_flash::NorFlash;
+
+use super::FirmwareUpdaterConfig;
+use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
+
+/// Blocking FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
+/// 'mess up' the internal bootloader state
+pub struct BlockingFirmwareUpdater<DFU: NorFlash, STATE: NorFlash> {
+    dfu: DFU,
+    state: STATE,
+}
+
+#[cfg(target_os = "none")]
+impl<'a, FLASH: NorFlash>
+    FirmwareUpdaterConfig<BlockingPartition<'a, NoopRawMutex, FLASH>, BlockingPartition<'a, NoopRawMutex, FLASH>>
+{
+    /// Create a firmware updater config from the flash and address symbols defined in the linkerfile
+    pub fn from_linkerfile_blocking(
+        flash: &'a embassy_sync::blocking_mutex::Mutex<NoopRawMutex, core::cell::RefCell<FLASH>>,
+    ) -> Self {
+        extern "C" {
+            static __bootloader_state_start: u32;
+            static __bootloader_state_end: u32;
+            static __bootloader_dfu_start: u32;
+            static __bootloader_dfu_end: u32;
+        }
+
+        let dfu = unsafe {
+            let start = &__bootloader_dfu_start as *const u32 as u32;
+            let end = &__bootloader_dfu_end as *const u32 as u32;
+            trace!("DFU: 0x{:x} - 0x{:x}", start, end);
+
+            BlockingPartition::new(flash, start, end - start)
+        };
+        let state = unsafe {
+            let start = &__bootloader_state_start as *const u32 as u32;
+            let end = &__bootloader_state_end as *const u32 as u32;
+            trace!("STATE: 0x{:x} - 0x{:x}", start, end);
+
+            BlockingPartition::new(flash, start, end - start)
+        };
+
+        Self { dfu, state }
+    }
+}
+
+impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
+    /// Create a firmware updater instance with partition ranges for the update and state partitions.
+    pub fn new(config: FirmwareUpdaterConfig<DFU, STATE>) -> Self {
+        Self {
+            dfu: config.dfu,
+            state: config.state,
+        }
+    }
+
+    // Make sure we are running a booted firmware to avoid reverting to a bad state.
+    fn verify_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        if self.get_state(aligned)? == State::Boot {
+            Ok(())
+        } else {
+            Err(FirmwareUpdaterError::BadState)
+        }
+    }
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub fn get_state(&mut self, aligned: &mut [u8]) -> Result<State, FirmwareUpdaterError> {
+        self.state.read(0, aligned)?;
+
+        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Verify the DFU given a public key. If there is an error then DO NOT
+    /// proceed with updating the firmware as it must be signed with a
+    /// corresponding private key (otherwise it could be malicious firmware).
+    ///
+    /// Mark to trigger firmware swap on next boot if verify suceeds.
+    ///
+    /// If the "ed25519-salty" feature is set (or another similar feature) then the signature is expected to have
+    /// been generated from a SHA-512 digest of the firmware bytes.
+    ///
+    /// If no signature feature is set then this method will always return a
+    /// signature error.
+    ///
+    /// # Safety
+    ///
+    /// The `_aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    #[cfg(feature = "_verify")]
+    pub fn verify_and_mark_updated(
+        &mut self,
+        _public_key: &[u8],
+        _signature: &[u8],
+        _update_len: u32,
+        _aligned: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(_aligned.len(), STATE::WRITE_SIZE);
+        assert!(_update_len <= self.dfu.capacity() as u32);
+
+        self.verify_booted(_aligned)?;
+
+        #[cfg(feature = "ed25519-dalek")]
+        {
+            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+
+            use crate::digest_adapters::ed25519_dalek::Sha512;
+
+            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());
+
+            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+
+            let mut message = [0; 64];
+            self.hash::<Sha512>(_update_len, _aligned, &mut message)?;
+
+            public_key.verify(&message, &signature).map_err(into_signature_error)?
+        }
+        #[cfg(feature = "ed25519-salty")]
+        {
+            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
+            use salty::{PublicKey, Signature};
+
+            use crate::digest_adapters::salty::Sha512;
+
+            fn into_signature_error<E>(_: E) -> FirmwareUpdaterError {
+                FirmwareUpdaterError::Signature(signature::Error::default())
+            }
+
+            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
+            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
+
+            let mut message = [0; 64];
+            self.hash::<Sha512>(_update_len, _aligned, &mut message)?;
+
+            let r = public_key.verify(&message, &signature);
+            trace!(
+                "Verifying with public key {}, signature {} and message {} yields ok: {}",
+                public_key.to_bytes(),
+                signature.to_bytes(),
+                message,
+                r.is_ok()
+            );
+            r.map_err(into_signature_error)?
+        }
+
+        self.set_magic(_aligned, SWAP_MAGIC)
+    }
+
+    /// Verify the update in DFU with any digest.
+    pub fn hash<D: Digest>(
+        &mut self,
+        update_len: u32,
+        chunk_buf: &mut [u8],
+        output: &mut [u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        let mut digest = D::new();
+        for offset in (0..update_len).step_by(chunk_buf.len()) {
+            self.dfu.read(offset, chunk_buf)?;
+            let len = core::cmp::min((update_len - offset) as usize, chunk_buf.len());
+            digest.update(&chunk_buf[..len]);
+        }
+        output.copy_from_slice(digest.finalize().as_slice());
+        Ok(())
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    #[cfg(not(feature = "_verify"))]
+    pub fn mark_updated(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.set_magic(aligned, SWAP_MAGIC)
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub fn mark_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.set_magic(aligned, BOOT_MAGIC)
+    }
+
+    fn set_magic(&mut self, aligned: &mut [u8], magic: u8) -> Result<(), FirmwareUpdaterError> {
+        self.state.read(0, aligned)?;
+
+        if aligned.iter().any(|&b| b != magic) {
+            // Read progress validity
+            self.state.read(STATE::WRITE_SIZE as u32, aligned)?;
+
+            if aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
+                // The current progress validity marker is invalid
+            } else {
+                // Invalidate progress
+                aligned.fill(!STATE_ERASE_VALUE);
+                self.state.write(STATE::WRITE_SIZE as u32, aligned)?;
+            }
+
+            // Clear magic and progress
+            self.state.erase(0, self.state.capacity() as u32)?;
+
+            // Set magic
+            aligned.fill(magic);
+            self.state.write(0, aligned)?;
+        }
+        Ok(())
+    }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub fn write_firmware(
+        &mut self,
+        aligned: &mut [u8],
+        offset: usize,
+        data: &[u8],
+    ) -> Result<(), FirmwareUpdaterError> {
+        assert!(data.len() >= DFU::ERASE_SIZE);
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.verify_booted(aligned)?;
+
+        self.dfu.erase(offset as u32, (offset + data.len()) as u32)?;
+
+        self.dfu.write(offset as u32, data)?;
+
+        Ok(())
+    }
+
+    /// Prepare for an incoming DFU update by erasing the entire DFU area and
+    /// returning its `Partition`.
+    ///
+    /// Using this instead of `write_firmware` allows for an optimized API in
+    /// exchange for added complexity.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub fn prepare_update(&mut self, aligned: &mut [u8]) -> Result<&mut DFU, FirmwareUpdaterError> {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.verify_booted(aligned)?;
+        self.dfu.erase(0, self.dfu.capacity() as u32)?;
+
+        Ok(&mut self.dfu)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use core::cell::RefCell;
+
+    use embassy_embedded_hal::flash::partition::BlockingPartition;
+    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+    use embassy_sync::blocking_mutex::Mutex;
+    use sha1::{Digest, Sha1};
+
+    use super::*;
+    use crate::mem_flash::MemFlash;
+
+    #[test]
+    fn can_verify_sha1() {
+        let flash = Mutex::<NoopRawMutex, _>::new(RefCell::new(MemFlash::<131072, 4096, 8>::default()));
+        let state = BlockingPartition::new(&flash, 0, 4096);
+        let dfu = BlockingPartition::new(&flash, 65536, 65536);
+
+        let update = [0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66];
+        let mut to_write = [0; 4096];
+        to_write[..7].copy_from_slice(update.as_slice());
+
+        let mut updater = BlockingFirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state });
+        let mut aligned = [0; 8];
+        updater.write_firmware(&mut aligned, 0, to_write.as_slice()).unwrap();
+        let mut chunk_buf = [0; 2];
+        let mut hash = [0; 20];
+        updater
+            .hash::<Sha1>(update.len() as u32, &mut chunk_buf, &mut hash)
+            .unwrap();
+
+        assert_eq!(Sha1::digest(update).as_slice(), hash);
+    }
+}

embassy-boot/boot/src/firmware_updater/mod.rs

@@ -0,0 +1,51 @@
+#[cfg(feature = "nightly")]
+mod asynch;
+mod blocking;
+
+#[cfg(feature = "nightly")]
+pub use asynch::FirmwareUpdater;
+pub use blocking::BlockingFirmwareUpdater;
+use embedded_storage::nor_flash::{NorFlashError, NorFlashErrorKind};
+
+/// Firmware updater flash configuration holding the two flashes used by the updater
+///
+/// If only a single flash is actually used, then that flash should be partitioned into two partitions before use.
+/// The easiest way to do this is to use [`FirmwareUpdaterConfig::from_linkerfile`] or [`FirmwareUpdaterConfig::from_linkerfile_blocking`] which will partition
+/// the provided flash according to symbols defined in the linkerfile.
+pub struct FirmwareUpdaterConfig<DFU, STATE> {
+    /// The dfu flash partition
+    pub dfu: DFU,
+    /// The state flash partition
+    pub state: STATE,
+}
+
+/// Errors returned by FirmwareUpdater
+#[derive(Debug)]
+pub enum FirmwareUpdaterError {
+    /// Error from flash.
+    Flash(NorFlashErrorKind),
+    /// Signature errors.
+    Signature(signature::Error),
+    /// Bad state.
+    BadState,
+}
+
+#[cfg(feature = "defmt")]
+impl defmt::Format for FirmwareUpdaterError {
+    fn format(&self, fmt: defmt::Formatter) {
+        match self {
+            FirmwareUpdaterError::Flash(_) => defmt::write!(fmt, "FirmwareUpdaterError::Flash(_)"),
+            FirmwareUpdaterError::Signature(_) => defmt::write!(fmt, "FirmwareUpdaterError::Signature(_)"),
+            FirmwareUpdaterError::BadState => defmt::write!(fmt, "FirmwareUpdaterError::BadState"),
+        }
+    }
+}
+
+impl<E> From<E> for FirmwareUpdaterError
+where
+    E: NorFlashError,
+{
+    fn from(error: E) -> Self {
+        FirmwareUpdaterError::Flash(error.kind())
+    }
+}

embassy-boot/boot/src/mem_flash.rs

@@ -0,0 +1,173 @@
+#![allow(unused)]
+
+use core::ops::{Bound, Range, RangeBounds};
+
+use embedded_storage::nor_flash::{ErrorType, NorFlash, NorFlashError, NorFlashErrorKind, ReadNorFlash};
+#[cfg(feature = "nightly")]
+use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
+
+pub struct MemFlash<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> {
+    pub mem: [u8; SIZE],
+    pub pending_write_successes: Option<usize>,
+}
+
+#[derive(Debug)]
+pub struct MemFlashError;
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE> {
+    pub const fn new(fill: u8) -> Self {
+        Self {
+            mem: [fill; SIZE],
+            pending_write_successes: None,
+        }
+    }
+
+    #[cfg(test)]
+    pub fn random() -> Self {
+        let mut mem = [0; SIZE];
+        for byte in mem.iter_mut() {
+            *byte = rand::random::<u8>();
+        }
+        Self {
+            mem,
+            pending_write_successes: None,
+        }
+    }
+
+    fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), MemFlashError> {
+        let len = bytes.len();
+        bytes.copy_from_slice(&self.mem[offset as usize..offset as usize + len]);
+        Ok(())
+    }
+
+    fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), MemFlashError> {
+        let offset = offset as usize;
+        assert!(bytes.len() % WRITE_SIZE == 0);
+        assert!(offset % WRITE_SIZE == 0);
+        assert!(offset + bytes.len() <= SIZE);
+
+        if let Some(pending_successes) = self.pending_write_successes {
+            if pending_successes > 0 {
+                self.pending_write_successes = Some(pending_successes - 1);
+            } else {
+                return Err(MemFlashError);
+            }
+        }
+
+        for ((offset, mem_byte), new_byte) in self
+            .mem
+            .iter_mut()
+            .enumerate()
+            .skip(offset)
+            .take(bytes.len())
+            .zip(bytes)
+        {
+            assert_eq!(0xFF, *mem_byte, "Offset {} is not erased", offset);
+            *mem_byte = *new_byte;
+        }
+
+        Ok(())
+    }
+
+    fn erase(&mut self, from: u32, to: u32) -> Result<(), MemFlashError> {
+        let from = from as usize;
+        let to = to as usize;
+        assert!(from % ERASE_SIZE == 0);
+        assert!(to % ERASE_SIZE == 0, "To: {}, erase size: {}", to, ERASE_SIZE);
+        for i in from..to {
+            self.mem[i] = 0xFF;
+        }
+        Ok(())
+    }
+
+    pub fn program(&mut self, offset: u32, bytes: &[u8]) -> Result<(), MemFlashError> {
+        let offset = offset as usize;
+        assert!(bytes.len() % WRITE_SIZE == 0);
+        assert!(offset % WRITE_SIZE == 0);
+        assert!(offset + bytes.len() <= SIZE);
+
+        self.mem[offset..offset + bytes.len()].copy_from_slice(bytes);
+
+        Ok(())
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> Default
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    fn default() -> Self {
+        Self::new(0xFF)
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> ErrorType
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    type Error = MemFlashError;
+}
+
+impl NorFlashError for MemFlashError {
+    fn kind(&self) -> NorFlashErrorKind {
+        NorFlashErrorKind::Other
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> ReadNorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const READ_SIZE: usize = 1;
+
+    fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        self.read(offset, bytes)
+    }
+
+    fn capacity(&self) -> usize {
+        SIZE
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> NorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const WRITE_SIZE: usize = WRITE_SIZE;
+    const ERASE_SIZE: usize = ERASE_SIZE;
+
+    fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.write(offset, bytes)
+    }
+
+    fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        self.erase(from, to)
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncReadNorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const READ_SIZE: usize = 1;
+
+    async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        self.read(offset, bytes)
+    }
+
+    fn capacity(&self) -> usize {
+        SIZE
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncNorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const WRITE_SIZE: usize = WRITE_SIZE;
+    const ERASE_SIZE: usize = ERASE_SIZE;
+
+    async fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.write(offset, bytes)
+    }
+
+    async fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        self.erase(from, to)
+    }
+}

embassy-boot/boot/src/test_flash/asynch.rs

@@ -0,0 +1,64 @@
+use embassy_embedded_hal::flash::partition::Partition;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::mutex::Mutex;
+use embedded_storage_async::nor_flash::NorFlash;
+
+use crate::BootLoaderConfig;
+
+pub struct AsyncTestFlash<ACTIVE, DFU, STATE>
+where
+    ACTIVE: NorFlash,
+    DFU: NorFlash,
+    STATE: NorFlash,
+{
+    active: Mutex<NoopRawMutex, ACTIVE>,
+    dfu: Mutex<NoopRawMutex, DFU>,
+    state: Mutex<NoopRawMutex, STATE>,
+}
+
+impl<ACTIVE, DFU, STATE> AsyncTestFlash<ACTIVE, DFU, STATE>
+where
+    ACTIVE: NorFlash,
+    DFU: NorFlash,
+    STATE: NorFlash,
+{
+    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+        Self {
+            active: Mutex::new(config.active),
+            dfu: Mutex::new(config.dfu),
+            state: Mutex::new(config.state),
+        }
+    }
+
+    pub fn active(&self) -> Partition<NoopRawMutex, ACTIVE> {
+        Self::create_partition(&self.active)
+    }
+
+    pub fn dfu(&self) -> Partition<NoopRawMutex, DFU> {
+        Self::create_partition(&self.dfu)
+    }
+
+    pub fn state(&self) -> Partition<NoopRawMutex, STATE> {
+        Self::create_partition(&self.state)
+    }
+
+    fn create_partition<T: NorFlash>(mutex: &Mutex<NoopRawMutex, T>) -> Partition<NoopRawMutex, T> {
+        Partition::new(mutex, 0, mutex.try_lock().unwrap().capacity() as u32)
+    }
+}
+
+impl<ACTIVE, DFU, STATE> AsyncTestFlash<ACTIVE, DFU, STATE>
+where
+    ACTIVE: NorFlash + embedded_storage::nor_flash::NorFlash,
+    DFU: NorFlash + embedded_storage::nor_flash::NorFlash,
+    STATE: NorFlash + embedded_storage::nor_flash::NorFlash,
+{
+    pub fn into_blocking(self) -> super::BlockingTestFlash<ACTIVE, DFU, STATE> {
+        let config = BootLoaderConfig {
+            active: self.active.into_inner(),
+            dfu: self.dfu.into_inner(),
+            state: self.state.into_inner(),
+        };
+        super::BlockingTestFlash::new(config)
+    }
+}

embassy-boot/boot/src/test_flash/blocking.rs

@@ -0,0 +1,69 @@
+use core::cell::RefCell;
+
+use embassy_embedded_hal::flash::partition::BlockingPartition;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+use embedded_storage::nor_flash::NorFlash;
+
+use crate::BootLoaderConfig;
+
+pub struct BlockingTestFlash<ACTIVE, DFU, STATE>
+where
+    ACTIVE: NorFlash,
+    DFU: NorFlash,
+    STATE: NorFlash,
+{
+    active: Mutex<NoopRawMutex, RefCell<ACTIVE>>,
+    dfu: Mutex<NoopRawMutex, RefCell<DFU>>,
+    state: Mutex<NoopRawMutex, RefCell<STATE>>,
+}
+
+impl<ACTIVE, DFU, STATE> BlockingTestFlash<ACTIVE, DFU, STATE>
+where
+    ACTIVE: NorFlash,
+    DFU: NorFlash,
+    STATE: NorFlash,
+{
+    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+        Self {
+            active: Mutex::new(RefCell::new(config.active)),
+            dfu: Mutex::new(RefCell::new(config.dfu)),
+            state: Mutex::new(RefCell::new(config.state)),
+        }
+    }
+
+    pub fn active(&self) -> BlockingPartition<NoopRawMutex, ACTIVE> {
+        Self::create_partition(&self.active)
+    }
+
+    pub fn dfu(&self) -> BlockingPartition<NoopRawMutex, DFU> {
+        Self::create_partition(&self.dfu)
+    }
+
+    pub fn state(&self) -> BlockingPartition<NoopRawMutex, STATE> {
+        Self::create_partition(&self.state)
+    }
+
+    pub fn create_partition<T: NorFlash>(
+        mutex: &Mutex<NoopRawMutex, RefCell<T>>,
+    ) -> BlockingPartition<NoopRawMutex, T> {
+        BlockingPartition::new(mutex, 0, mutex.lock(|f| f.borrow().capacity()) as u32)
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<ACTIVE, DFU, STATE> BlockingTestFlash<ACTIVE, DFU, STATE>
+where
+    ACTIVE: NorFlash + embedded_storage_async::nor_flash::NorFlash,
+    DFU: NorFlash + embedded_storage_async::nor_flash::NorFlash,
+    STATE: NorFlash + embedded_storage_async::nor_flash::NorFlash,
+{
+    pub fn into_async(self) -> super::AsyncTestFlash<ACTIVE, DFU, STATE> {
+        let config = BootLoaderConfig {
+            active: self.active.into_inner().into_inner(),
+            dfu: self.dfu.into_inner().into_inner(),
+            state: self.state.into_inner().into_inner(),
+        };
+        super::AsyncTestFlash::new(config)
+    }
+}

embassy-boot/boot/src/test_flash/mod.rs

@@ -0,0 +1,7 @@
+#[cfg(feature = "nightly")]
+mod asynch;
+mod blocking;
+
+#[cfg(feature = "nightly")]
+pub(crate) use asynch::AsyncTestFlash;
+pub(crate) use blocking::BlockingTestFlash;

embassy-boot/nrf/Cargo.toml

@@ -17,12 +17,12 @@ target = "thumbv7em-none-eabi"
 defmt = { version = "0.3", optional = true }
 
 embassy-sync = { path = "../../embassy-sync" }
-embassy-nrf = { path = "../../embassy-nrf", default-features = false, features = ["nightly"] }
+embassy-nrf = { path = "../../embassy-nrf" }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
 embedded-storage = "0.3.0"
-embedded-storage-async = "0.3.0"
+embedded-storage-async = { version = "0.4.0", optional = true }
 cfg-if = "1.0.0"
 
 nrf-softdevice-mbr = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-softdevice.git", branch = "master", optional = true }
@@ -36,3 +36,8 @@ defmt = [
 softdevice = [
     "nrf-softdevice-mbr",
 ]
+nightly = [
+    "dep:embedded-storage-async",
+    "embassy-boot/nightly",
+    "embassy-nrf/nightly"
+]

embassy-boot/nrf/README.md

@@ -0,0 +1,26 @@
+# embassy-boot-nrf
+
+An [Embassy](https://embassy.dev) project.
+
+An adaptation of `embassy-boot` for nRF. 
+
+## Features
+
+* Load applications with or without the softdevice.
+* Configure bootloader partitions based on linker script.
+* Using watchdog timer to detect application failure.
+
+
+## Minimum supported Rust version (MSRV)
+
+`embassy-boot-nrf` is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
+## License
+
+This work is licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
+
+at your option.

embassy-boot/nrf/src/lib.rs

@@ -1,78 +1,39 @@
 #![no_std]
-#![feature(type_alias_impl_trait)]
 #![warn(missing_docs)]
-#![doc = include_str!("../../README.md")]
+#![doc = include_str!("../README.md")]
 mod fmt;
 
-pub use embassy_boot::{AlignedBuffer, BootFlash, FirmwareUpdater, FlashConfig, Partition, SingleFlashConfig};
+#[cfg(feature = "nightly")]
+pub use embassy_boot::FirmwareUpdater;
+pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig};
 use embassy_nrf::nvmc::{Nvmc, PAGE_SIZE};
 use embassy_nrf::peripherals::WDT;
 use embassy_nrf::wdt;
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
 
 /// A bootloader for nRF devices.
-pub struct BootLoader {
-    boot: embassy_boot::BootLoader,
-    magic: AlignedBuffer<4>,
-    page: AlignedBuffer<PAGE_SIZE>,
+pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize = PAGE_SIZE> {
+    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
+    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
 }
 
-impl Default for BootLoader {
-    /// Create a new bootloader instance using parameters from linker script
-    fn default() -> Self {
-        extern "C" {
-            static __bootloader_state_start: u32;
-            static __bootloader_state_end: u32;
-            static __bootloader_active_start: u32;
-            static __bootloader_active_end: u32;
-            static __bootloader_dfu_start: u32;
-            static __bootloader_dfu_end: u32;
-        }
-
-        let active = unsafe {
-            Partition::new(
-                &__bootloader_active_start as *const u32 as usize,
-                &__bootloader_active_end as *const u32 as usize,
-            )
-        };
-        let dfu = unsafe {
-            Partition::new(
-                &__bootloader_dfu_start as *const u32 as usize,
-                &__bootloader_dfu_end as *const u32 as usize,
-            )
-        };
-        let state = unsafe {
-            Partition::new(
-                &__bootloader_state_start as *const u32 as usize,
-                &__bootloader_state_end as *const u32 as usize,
-            )
-        };
-
-        trace!("ACTIVE: 0x{:x} - 0x{:x}", active.from, active.to);
-        trace!("DFU: 0x{:x} - 0x{:x}", dfu.from, dfu.to);
-        trace!("STATE: 0x{:x} - 0x{:x}", state.from, state.to);
-
-        Self::new(active, dfu, state)
-    }
-}
-
-impl BootLoader {
+impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
+    BootLoader<ACTIVE, DFU, STATE, BUFFER_SIZE>
+{
     /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
-    pub fn new(active: Partition, dfu: Partition, state: Partition) -> Self {
+    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
         Self {
-            boot: embassy_boot::BootLoader::new(active, dfu, state),
-            magic: AlignedBuffer([0; 4]),
-            page: AlignedBuffer([0; PAGE_SIZE]),
+            boot: embassy_boot::BootLoader::new(config),
+            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
         }
     }
 
     /// Inspect the bootloader state and perform actions required before booting, such as swapping
     /// firmware.
-    pub fn prepare<F: FlashConfig>(&mut self, flash: &mut F) -> usize {
-        match self.boot.prepare_boot(flash, &mut self.magic.0, &mut self.page.0) {
-            Ok(_) => self.boot.boot_address(),
-            Err(_) => panic!("boot prepare error!"),
-        }
+    pub fn prepare(&mut self) {
+        self.boot
+            .prepare_boot(&mut self.aligned_buf.0)
+            .expect("Boot prepare error");
     }
 
     /// Boots the application without softdevice mechanisms.
@@ -81,10 +42,12 @@ impl BootLoader {
     ///
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
     #[cfg(not(feature = "softdevice"))]
-    pub unsafe fn load(&mut self, start: usize) -> ! {
+    pub unsafe fn load(self, start: u32) -> ! {
+        core::mem::drop(self.boot);
+
         let mut p = cortex_m::Peripherals::steal();
         p.SCB.invalidate_icache();
-        p.SCB.vtor.write(start as u32);
+        p.SCB.vtor.write(start);
         cortex_m::asm::bootload(start as *const u32)
     }
 
@@ -94,7 +57,7 @@ impl BootLoader {
     ///
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
     #[cfg(feature = "softdevice")]
-    pub unsafe fn load(&mut self, _app: usize) -> ! {
+    pub unsafe fn load(&mut self, _app: u32) -> ! {
         use nrf_softdevice_mbr as mbr;
         const NRF_SUCCESS: u32 = 0;
 
@@ -149,11 +112,7 @@ pub struct WatchdogFlash<'d> {
 
 impl<'d> WatchdogFlash<'d> {
     /// Start a new watchdog with a given flash and WDT peripheral and a timeout
-    pub fn start(flash: Nvmc<'d>, wdt: WDT, timeout: u32) -> Self {
-        let mut config = wdt::Config::default();
-        config.timeout_ticks = 32768 * timeout; // timeout seconds
-        config.run_during_sleep = true;
-        config.run_during_debug_halt = false;
+    pub fn start(flash: Nvmc<'d>, wdt: WDT, config: wdt::Config) -> Self {
         let (_wdt, [wdt]) = match wdt::Watchdog::try_new(wdt, config) {
             Ok(x) => x,
             Err(_) => {

embassy-boot/rp/Cargo.toml

@@ -0,0 +1,79 @@
+[package]
+edition = "2021"
+name = "embassy-boot-rp"
+version = "0.1.0"
+description = "Bootloader lib for RP2040 chips"
+license = "MIT OR Apache-2.0"
+
+[package.metadata.embassy_docs]
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-rp-v$VERSION/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-boot/rp/src/"
+target = "thumbv6m-none-eabi"
+
+[lib]
+
+[dependencies]
+defmt = { version = "0.3", optional = true }
+defmt-rtt = { version = "0.4", optional = true }
+log = { version = "0.4", optional = true }
+
+embassy-sync = { path = "../../embassy-sync" }
+embassy-rp = { path = "../../embassy-rp", default-features = false }
+embassy-boot = { path = "../boot", default-features = false }
+embassy-time = { path = "../../embassy-time" }
+
+cortex-m = { version = "0.7.6" }
+cortex-m-rt = { version = "0.7" }
+embedded-storage = "0.3.0"
+embedded-storage-async = { version = "0.4.0", optional = true }
+cfg-if = "1.0.0"
+
+[features]
+defmt = [
+    "dep:defmt",
+    "embassy-boot/defmt",
+    "embassy-rp/defmt",
+]
+log = [
+    "dep:log",
+    "embassy-boot/log",
+    "embassy-rp/log",
+]
+debug = ["defmt-rtt"]
+nightly = [
+    "dep:embedded-storage-async",
+    "embassy-boot/nightly",
+    "embassy-rp/nightly",
+    "embassy-time/nightly"
+]
+
+[profile.dev]
+debug = 2
+debug-assertions = true
+incremental = false
+opt-level = 'z'
+overflow-checks = true
+
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false
+incremental = false
+lto = 'fat'
+opt-level = 'z'
+overflow-checks = false
+
+# do not optimize proc-macro crates = faster builds from scratch
+[profile.dev.build-override]
+codegen-units = 8
+debug = false
+debug-assertions = false
+opt-level = 0
+overflow-checks = false
+
+[profile.release.build-override]
+codegen-units = 8
+debug = false
+debug-assertions = false
+opt-level = 0
+overflow-checks = false

embassy-boot/rp/README.md

@@ -0,0 +1,26 @@
+# embassy-boot-rp
+
+An [Embassy](https://embassy.dev) project.
+
+An adaptation of `embassy-boot` for RP2040.
+
+NOTE: The applications using this bootloader should not link with the `link-rp.x` linker script.
+
+## Features
+
+* Configure bootloader partitions based on linker script.
+* Load applications from active partition.
+
+## Minimum supported Rust version (MSRV)
+
+`embassy-boot-rp` is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
+## License
+
+This work is licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
+
+at your option.

embassy-boot/rp/build.rs

@@ -0,0 +1,8 @@
+use std::env;
+
+fn main() {
+    let target = env::var("TARGET").unwrap();
+    if target.starts_with("thumbv6m-") {
+        println!("cargo:rustc-cfg=armv6m");
+    }
+}

embassy-boot/rp/src/fmt.rs

@@ -195,9 +195,6 @@ macro_rules! unwrap {
     }
 }
 
-#[cfg(feature = "defmt-timestamp-uptime")]
-defmt::timestamp! {"{=u64:us}", crate::time::Instant::now().as_micros() }
-
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]
 pub struct NoneError;
 

embassy-boot/rp/src/lib.rs

@@ -0,0 +1,102 @@
+#![no_std]
+#![warn(missing_docs)]
+#![doc = include_str!("../README.md")]
+mod fmt;
+
+#[cfg(feature = "nightly")]
+pub use embassy_boot::FirmwareUpdater;
+pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State};
+use embassy_rp::flash::{Flash, ERASE_SIZE};
+use embassy_rp::peripherals::{FLASH, WATCHDOG};
+use embassy_rp::watchdog::Watchdog;
+use embassy_time::Duration;
+use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
+
+/// A bootloader for RP2040 devices.
+pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize = ERASE_SIZE> {
+    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
+    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
+}
+
+impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
+    BootLoader<ACTIVE, DFU, STATE, BUFFER_SIZE>
+{
+    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
+    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+        Self {
+            boot: embassy_boot::BootLoader::new(config),
+            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
+        }
+    }
+
+    /// Inspect the bootloader state and perform actions required before booting, such as swapping
+    /// firmware.
+    pub fn prepare(&mut self) {
+        self.boot
+            .prepare_boot(self.aligned_buf.as_mut())
+            .expect("Boot prepare error");
+    }
+
+    /// Boots the application.
+    ///
+    /// # Safety
+    ///
+    /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
+    pub unsafe fn load(self, start: u32) -> ! {
+        core::mem::drop(self.boot);
+
+        trace!("Loading app at 0x{:x}", start);
+        #[allow(unused_mut)]
+        let mut p = cortex_m::Peripherals::steal();
+        #[cfg(not(armv6m))]
+        p.SCB.invalidate_icache();
+        p.SCB.vtor.write(start);
+
+        cortex_m::asm::bootload(start as *const u32)
+    }
+}
+
+/// A flash implementation that will feed a watchdog when touching flash.
+pub struct WatchdogFlash<'d, const SIZE: usize> {
+    flash: Flash<'d, FLASH, SIZE>,
+    watchdog: Watchdog,
+}
+
+impl<'d, const SIZE: usize> WatchdogFlash<'d, SIZE> {
+    /// Start a new watchdog with a given flash and watchdog peripheral and a timeout
+    pub fn start(flash: FLASH, watchdog: WATCHDOG, timeout: Duration) -> Self {
+        let flash: Flash<'_, FLASH, SIZE> = Flash::new(flash);
+        let mut watchdog = Watchdog::new(watchdog);
+        watchdog.start(timeout);
+        Self { flash, watchdog }
+    }
+}
+
+impl<'d, const SIZE: usize> ErrorType for WatchdogFlash<'d, SIZE> {
+    type Error = <Flash<'d, FLASH, SIZE> as ErrorType>::Error;
+}
+
+impl<'d, const SIZE: usize> NorFlash for WatchdogFlash<'d, SIZE> {
+    const WRITE_SIZE: usize = <Flash<'d, FLASH, SIZE> as NorFlash>::WRITE_SIZE;
+    const ERASE_SIZE: usize = <Flash<'d, FLASH, SIZE> as NorFlash>::ERASE_SIZE;
+
+    fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        self.watchdog.feed();
+        self.flash.erase(from, to)
+    }
+    fn write(&mut self, offset: u32, data: &[u8]) -> Result<(), Self::Error> {
+        self.watchdog.feed();
+        self.flash.write(offset, data)
+    }
+}
+
+impl<'d, const SIZE: usize> ReadNorFlash for WatchdogFlash<'d, SIZE> {
+    const READ_SIZE: usize = <Flash<'d, FLASH, SIZE> as ReadNorFlash>::READ_SIZE;
+    fn read(&mut self, offset: u32, data: &mut [u8]) -> Result<(), Self::Error> {
+        self.watchdog.feed();
+        self.flash.read(offset, data)
+    }
+    fn capacity(&self) -> usize {
+        self.flash.capacity()
+    }
+}

embassy-boot/stm32/Cargo.toml

@@ -15,16 +15,16 @@ target = "thumbv7em-none-eabi"
 
 [dependencies]
 defmt = { version = "0.3", optional = true }
-defmt-rtt = { version = "0.3", optional = true }
+defmt-rtt = { version = "0.4", optional = true }
 log = { version = "0.4", optional = true }
 
 embassy-sync = { path = "../../embassy-sync" }
-embassy-stm32 = { path = "../../embassy-stm32", default-features = false, features = ["nightly"] }
+embassy-stm32 = { path = "../../embassy-stm32", default-features = false }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
 embedded-storage = "0.3.0"
-embedded-storage-async = "0.3.0"
+embedded-storage-async = { version = "0.4.0", optional = true }
 cfg-if = "1.0.0"
 
 [features]
@@ -39,6 +39,11 @@ log = [
     "embassy-stm32/log",
 ]
 debug = ["defmt-rtt"]
+nightly = [
+    "dep:embedded-storage-async",
+    "embassy-boot/nightly",
+    "embassy-stm32/nightly"
+]
 
 [profile.dev]
 debug = 2

embassy-boot/stm32/README.md

@@ -1,11 +1,24 @@
-# Bootloader for STM32
+# embassy-boot-stm32
 
-The bootloader uses `embassy-boot` to interact with the flash.
+An [Embassy](https://embassy.dev) project.
 
-# Usage
+An adaptation of `embassy-boot` for STM32.
 
-Flash the bootloader
+## Features
 
-```
-cargo flash --features embassy-stm32/stm32wl55jc-cm4 --release --chip STM32WLE5JCIx
-```
+* Configure bootloader partitions based on linker script.
+* Load applications from active partition.
+
+## Minimum supported Rust version (MSRV)
+
+`embassy-boot-stm32` is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
+## License
+
+This work is licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
+
+at your option.

embassy-boot/stm32/src/lib.rs

@@ -1,35 +1,36 @@
 #![no_std]
-#![feature(type_alias_impl_trait)]
 #![warn(missing_docs)]
-#![doc = include_str!("../../README.md")]
+#![doc = include_str!("../README.md")]
 mod fmt;
 
-pub use embassy_boot::{AlignedBuffer, BootFlash, FirmwareUpdater, FlashConfig, Partition, SingleFlashConfig, State};
+#[cfg(feature = "nightly")]
+pub use embassy_boot::FirmwareUpdater;
+pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State};
+use embedded_storage::nor_flash::NorFlash;
 
 /// A bootloader for STM32 devices.
-pub struct BootLoader<const PAGE_SIZE: usize, const WRITE_SIZE: usize> {
-    boot: embassy_boot::BootLoader,
-    magic: AlignedBuffer<WRITE_SIZE>,
-    page: AlignedBuffer<PAGE_SIZE>,
+pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize> {
+    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
+    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
 }
 
-impl<const PAGE_SIZE: usize, const WRITE_SIZE: usize> BootLoader<PAGE_SIZE, WRITE_SIZE> {
+impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
+    BootLoader<ACTIVE, DFU, STATE, BUFFER_SIZE>
+{
     /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
-    pub fn new(active: Partition, dfu: Partition, state: Partition) -> Self {
+    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
         Self {
-            boot: embassy_boot::BootLoader::new(active, dfu, state),
-            magic: AlignedBuffer([0; WRITE_SIZE]),
-            page: AlignedBuffer([0; PAGE_SIZE]),
+            boot: embassy_boot::BootLoader::new(config),
+            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
         }
     }
 
     /// Inspect the bootloader state and perform actions required before booting, such as swapping
     /// firmware.
-    pub fn prepare<F: FlashConfig>(&mut self, flash: &mut F) -> usize {
-        match self.boot.prepare_boot(flash, self.magic.as_mut(), self.page.as_mut()) {
-            Ok(_) => embassy_stm32::flash::FLASH_BASE + self.boot.boot_address(),
-            Err(_) => panic!("boot prepare error!"),
-        }
+    pub fn prepare(&mut self) {
+        self.boot
+            .prepare_boot(self.aligned_buf.as_mut())
+            .expect("Boot prepare error");
     }
 
     /// Boots the application.
@@ -37,53 +38,16 @@ impl<const PAGE_SIZE: usize, const WRITE_SIZE: usize> BootLoader<PAGE_SIZE, WRIT
     /// # Safety
     ///
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
-    pub unsafe fn load(&mut self, start: usize) -> ! {
+    pub unsafe fn load(self, start: u32) -> ! {
+        core::mem::drop(self.boot);
+
         trace!("Loading app at 0x{:x}", start);
         #[allow(unused_mut)]
         let mut p = cortex_m::Peripherals::steal();
         #[cfg(not(armv6m))]
         p.SCB.invalidate_icache();
-        p.SCB.vtor.write(start as u32);
+        p.SCB.vtor.write(start);
 
         cortex_m::asm::bootload(start as *const u32)
     }
 }
-
-impl<const PAGE_SIZE: usize, const WRITE_SIZE: usize> Default for BootLoader<PAGE_SIZE, WRITE_SIZE> {
-    /// Create a new bootloader instance using parameters from linker script
-    fn default() -> Self {
-        extern "C" {
-            static __bootloader_state_start: u32;
-            static __bootloader_state_end: u32;
-            static __bootloader_active_start: u32;
-            static __bootloader_active_end: u32;
-            static __bootloader_dfu_start: u32;
-            static __bootloader_dfu_end: u32;
-        }
-
-        let active = unsafe {
-            Partition::new(
-                &__bootloader_active_start as *const u32 as usize,
-                &__bootloader_active_end as *const u32 as usize,
-            )
-        };
-        let dfu = unsafe {
-            Partition::new(
-                &__bootloader_dfu_start as *const u32 as usize,
-                &__bootloader_dfu_end as *const u32 as usize,
-            )
-        };
-        let state = unsafe {
-            Partition::new(
-                &__bootloader_state_start as *const u32 as usize,
-                &__bootloader_state_end as *const u32 as usize,
-            )
-        };
-
-        trace!("ACTIVE: 0x{:x} - 0x{:x}", active.from, active.to);
-        trace!("DFU: 0x{:x} - 0x{:x}", dfu.from, dfu.to);
-        trace!("STATE: 0x{:x} - 0x{:x}", state.from, state.to);
-
-        Self::new(active, dfu, state)
-    }
-}

embassy-cortex-m/Cargo.toml

@@ -1,47 +0,0 @@
-[package]
-name = "embassy-cortex-m"
-version = "0.1.0"
-edition = "2021"
-license = "MIT OR Apache-2.0"
-
-[package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-cortex-m-v$VERSION/embassy-cortex-m/src/"
-src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-cortex-m/src/"
-features = ["prio-bits-3"]
-flavors = [
-    { name = "thumbv6m-none-eabi",        target = "thumbv6m-none-eabi",         features = [] },
-    { name = "thumbv7m-none-eabi",        target = "thumbv7m-none-eabi",         features = [] },
-    { name = "thumbv7em-none-eabi",       target = "thumbv7em-none-eabi",        features = [] },
-    { name = "thumbv7em-none-eabihf",     target = "thumbv7em-none-eabihf",      features = [] },
-    { name = "thumbv8m.base-none-eabi",   target = "thumbv8m.base-none-eabi",    features = [] },
-    { name = "thumbv8m.main-none-eabi",   target = "thumbv8m.main-none-eabi",    features = [] },
-    { name = "thumbv8m.main-none-eabihf", target = "thumbv8m.main-none-eabihf",  features = [] },
-]
-
-[features]
-default = []
-
-# Define the number of NVIC priority bits.
-prio-bits-0 = []
-prio-bits-1 = []
-prio-bits-2 = []
-prio-bits-3 = []
-prio-bits-4 = []
-prio-bits-5 = []
-prio-bits-6 = []
-prio-bits-7 = []
-prio-bits-8 = []
-
-[dependencies]
-defmt = { version = "0.3", optional = true }
-log = { version = "0.4.14", optional = true }
-
-embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
-embassy-executor = { version = "0.1.0", path = "../embassy-executor"}
-embassy-macros = { version = "0.1.0", path = "../embassy-macros"}
-embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common"}
-atomic-polyfill = "1.0.1"
-critical-section = "1.1"
-cfg-if = "1.0.0"
-cortex-m = "0.7.6"
-

embassy-cortex-m/src/executor.rs

@@ -1,89 +0,0 @@
-//! Executor specific to cortex-m devices.
-use core::marker::PhantomData;
-
-pub use embassy_executor::*;
-
-use crate::interrupt::{Interrupt, InterruptExt};
-
-fn pend_by_number(n: u16) {
-    #[derive(Clone, Copy)]
-    struct N(u16);
-    unsafe impl cortex_m::interrupt::InterruptNumber for N {
-        fn number(self) -> u16 {
-            self.0
-        }
-    }
-    cortex_m::peripheral::NVIC::pend(N(n))
-}
-
-/// Interrupt mode executor.
-///
-/// This executor runs tasks in interrupt mode. The interrupt handler is set up
-/// to poll tasks, and when a task is woken the interrupt is pended from software.
-///
-/// This allows running async tasks at a priority higher than thread mode. One
-/// use case is to leave thread mode free for non-async tasks. Another use case is
-/// to run multiple executors: one in thread mode for low priority tasks and another in
-/// interrupt mode for higher priority tasks. Higher priority tasks will preempt lower
-/// priority ones.
-///
-/// It is even possible to run multiple interrupt mode executors at different priorities,
-/// by assigning different priorities to the interrupts. For an example on how to do this,
-/// See the 'multiprio' example for 'embassy-nrf'.
-///
-/// To use it, you have to pick an interrupt that won't be used by the hardware.
-/// Some chips reserve some interrupts for this purpose, sometimes named "software interrupts" (SWI).
-/// If this is not the case, you may use an interrupt from any unused peripheral.
-///
-/// It is somewhat more complex to use, it's recommended to use the thread-mode
-/// [`Executor`] instead, if it works for your use case.
-pub struct InterruptExecutor<I: Interrupt> {
-    irq: I,
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
-
-impl<I: Interrupt> InterruptExecutor<I> {
-    /// Create a new Executor.
-    pub fn new(irq: I) -> Self {
-        let ctx = irq.number() as *mut ();
-        Self {
-            irq,
-            inner: raw::Executor::new(|ctx| pend_by_number(ctx as u16), ctx),
-            not_send: PhantomData,
-        }
-    }
-
-    /// Start the executor.
-    ///
-    /// This initializes the executor, configures and enables the interrupt, and returns.
-    /// The executor keeps running in the background through the interrupt.
-    ///
-    /// This returns a [`SendSpawner`] you can use to spawn tasks on it. A [`SendSpawner`]
-    /// is returned instead of a [`Spawner`](embassy_executor::Spawner) because the executor effectively runs in a
-    /// different "thread" (the interrupt), so spawning tasks on it is effectively
-    /// sending them.
-    ///
-    /// To obtain a [`Spawner`](embassy_executor::Spawner) for this executor, use [`Spawner::for_current_executor()`](embassy_executor::Spawner::for_current_executor()) from
-    /// a task running in it.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    pub fn start(&'static mut self) -> SendSpawner {
-        self.irq.disable();
-
-        self.irq.set_handler(|ctx| unsafe {
-            let executor = &*(ctx as *const raw::Executor);
-            executor.poll();
-        });
-        self.irq.set_handler_context(&self.inner as *const _ as _);
-        self.irq.enable();
-
-        self.inner.spawner().make_send()
-    }
-}

embassy-cortex-m/src/lib.rs

@@ -1,10 +0,0 @@
-//! Embassy executor and interrupt handling specific to cortex-m devices.
-#![no_std]
-#![warn(missing_docs)]
-
-// This mod MUST go first, so that the others see its macros.
-pub(crate) mod fmt;
-
-pub mod executor;
-pub mod interrupt;
-pub mod peripheral;

embassy-cortex-m/src/peripheral.rs

@@ -1,144 +0,0 @@
-//! Peripheral interrupt handling specific to cortex-m devices.
-use core::mem::MaybeUninit;
-
-use cortex_m::peripheral::scb::VectActive;
-use cortex_m::peripheral::{NVIC, SCB};
-use embassy_hal_common::{into_ref, Peripheral, PeripheralRef};
-
-use crate::interrupt::{Interrupt, InterruptExt, Priority};
-
-/// A type which can be used as state with `PeripheralMutex`.
-///
-/// It needs to be `Send` because `&mut` references are sent back and forth between the 'thread' which owns the `PeripheralMutex` and the interrupt,
-/// and `&mut T` is only `Send` where `T: Send`.
-pub trait PeripheralState: Send {
-    /// The interrupt that is used for this peripheral.
-    type Interrupt: Interrupt;
-
-    /// The interrupt handler that should be invoked for the peripheral. Implementations need to clear the appropriate interrupt flags to ensure the handle will not be called again.
-    fn on_interrupt(&mut self);
-}
-
-/// A type for storing the state of a peripheral that can be stored in a static.
-pub struct StateStorage<S>(MaybeUninit<S>);
-
-impl<S> StateStorage<S> {
-    /// Create a new instance for storing peripheral state.
-    pub const fn new() -> Self {
-        Self(MaybeUninit::uninit())
-    }
-}
-
-/// A type for a peripheral that keeps the state of a peripheral that can be accessed from thread mode and an interrupt handler in
-/// a safe way.
-pub struct PeripheralMutex<'a, S: PeripheralState> {
-    state: *mut S,
-    irq: PeripheralRef<'a, S::Interrupt>,
-}
-
-/// Whether `irq` can be preempted by the current interrupt.
-pub(crate) fn can_be_preempted(irq: &impl Interrupt) -> bool {
-    match SCB::vect_active() {
-        // Thread mode can't preempt anything.
-        VectActive::ThreadMode => false,
-        // Exceptions don't always preempt interrupts,
-        // but there isn't much of a good reason to be keeping a `PeripheralMutex` in an exception anyway.
-        VectActive::Exception(_) => true,
-        VectActive::Interrupt { irqn } => {
-            #[derive(Clone, Copy)]
-            struct NrWrap(u16);
-            unsafe impl cortex_m::interrupt::InterruptNumber for NrWrap {
-                fn number(self) -> u16 {
-                    self.0
-                }
-            }
-            NVIC::get_priority(NrWrap(irqn.into())) < irq.get_priority().into()
-        }
-    }
-}
-
-impl<'a, S: PeripheralState> PeripheralMutex<'a, S> {
-    /// Create a new `PeripheralMutex` wrapping `irq`, with `init` initializing the initial state.
-    ///
-    /// Registers `on_interrupt` as the `irq`'s handler, and enables it.
-    pub fn new(
-        irq: impl Peripheral<P = S::Interrupt> + 'a,
-        storage: &'a mut StateStorage<S>,
-        init: impl FnOnce() -> S,
-    ) -> Self {
-        into_ref!(irq);
-
-        if can_be_preempted(&*irq) {
-            panic!(
-                "`PeripheralMutex` cannot be created in an interrupt with higher priority than the interrupt it wraps"
-            );
-        }
-
-        let state_ptr = storage.0.as_mut_ptr();
-
-        // Safety: The pointer is valid and not used by anyone else
-        // because we have the `&mut StateStorage`.
-        unsafe { state_ptr.write(init()) };
-
-        irq.disable();
-        irq.set_handler(|p| unsafe {
-            // Safety: it's OK to get a &mut to the state, since
-            // - We checked that the thread owning the `PeripheralMutex` can't preempt us in `new`.
-            //   Interrupts' priorities can only be changed with raw embassy `Interrupts`,
-            //   which can't safely store a `PeripheralMutex` across invocations.
-            // - We can't have preempted a with() call because the irq is disabled during it.
-            let state = &mut *(p as *mut S);
-            state.on_interrupt();
-        });
-        irq.set_handler_context(state_ptr as *mut ());
-        irq.enable();
-
-        Self { irq, state: state_ptr }
-    }
-
-    /// Access the peripheral state ensuring interrupts are disabled so that the state can be
-    /// safely accessed.
-    pub fn with<R>(&mut self, f: impl FnOnce(&mut S) -> R) -> R {
-        self.irq.disable();
-
-        // Safety: it's OK to get a &mut to the state, since the irq is disabled.
-        let state = unsafe { &mut *self.state };
-        let r = f(state);
-
-        self.irq.enable();
-
-        r
-    }
-
-    /// Returns whether the wrapped interrupt is currently in a pending state.
-    pub fn is_pending(&self) -> bool {
-        self.irq.is_pending()
-    }
-
-    /// Forces the wrapped interrupt into a pending state.
-    pub fn pend(&self) {
-        self.irq.pend()
-    }
-
-    /// Forces the wrapped interrupt out of a pending state.
-    pub fn unpend(&self) {
-        self.irq.unpend()
-    }
-
-    /// Gets the priority of the wrapped interrupt.
-    pub fn priority(&self) -> Priority {
-        self.irq.get_priority()
-    }
-}
-
-impl<'a, S: PeripheralState> Drop for PeripheralMutex<'a, S> {
-    fn drop(&mut self) {
-        self.irq.disable();
-        self.irq.remove_handler();
-
-        // safety:
-        // - we initialized the state in `new`, so we know it's initialized.
-        // - the irq is disabled, so it won't preempt us while dropping.
-        unsafe { self.state.drop_in_place() }
-    }
-}

embassy-embedded-hal/Cargo.toml

@@ -14,15 +14,22 @@ target = "x86_64-unknown-linux-gnu"
 [features]
 std = []
 # Enable nightly-only features
-nightly = ["embedded-hal-async", "embedded-storage-async"]
+nightly = ["embassy-futures", "embedded-hal-async", "embedded-storage-async"]
 
 [dependencies]
-embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
-embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9" }
-embedded-hal-async = { version = "=0.1.0-alpha.3", optional = true }
+embassy-futures = { version = "0.1.0", path = "../embassy-futures", optional = true }
+embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
+embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
+    "unproven",
+] }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
+embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true }
 embedded-storage = "0.3.0"
-embedded-storage-async = { version = "0.3.0", optional = true }
+embedded-storage-async = { version = "0.4.0", optional = true }
 nb = "1.0.0"
 
 defmt = { version = "0.3", optional = true }
+
+[dev-dependencies]
+critical-section = { version = "1.1.1", features = ["std"] }
+futures-test = "0.3.17"

embassy-embedded-hal/src/adapter.rs

@@ -1,242 +0,0 @@
-//! Adapters between embedded-hal traits.
-
-use core::future::Future;
-
-use embedded_hal_02::{blocking, serial};
-
-/// Wrapper that implements async traits using blocking implementations.
-///
-/// This allows driver writers to depend on the async traits while still supporting embedded-hal peripheral implementations.
-///
-/// BlockingAsync will implement any async trait that maps to embedded-hal traits implemented for the wrapped driver.
-///
-/// Driver users are then free to choose which implementation that is available to them.
-pub struct BlockingAsync<T> {
-    wrapped: T,
-}
-
-impl<T> BlockingAsync<T> {
-    /// Create a new instance of a wrapper for a given peripheral.
-    pub fn new(wrapped: T) -> Self {
-        Self { wrapped }
-    }
-}
-
-//
-// I2C implementations
-//
-impl<T, E> embedded_hal_1::i2c::ErrorType for BlockingAsync<T>
-where
-    E: embedded_hal_1::i2c::Error + 'static,
-    T: blocking::i2c::WriteRead<Error = E> + blocking::i2c::Read<Error = E> + blocking::i2c::Write<Error = E>,
-{
-    type Error = E;
-}
-
-impl<T, E> embedded_hal_async::i2c::I2c for BlockingAsync<T>
-where
-    E: embedded_hal_1::i2c::Error + 'static,
-    T: blocking::i2c::WriteRead<Error = E> + blocking::i2c::Read<Error = E> + blocking::i2c::Write<Error = E>,
-{
-    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-    type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        async move { self.wrapped.read(address, buffer) }
-    }
-
-    fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
-        async move { self.wrapped.write(address, bytes) }
-    }
-
-    fn write_read<'a>(&'a mut self, address: u8, bytes: &'a [u8], buffer: &'a mut [u8]) -> Self::WriteReadFuture<'a> {
-        async move { self.wrapped.write_read(address, bytes, buffer) }
-    }
-
-    type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
-
-    fn transaction<'a, 'b>(
-        &'a mut self,
-        address: u8,
-        operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
-    ) -> Self::TransactionFuture<'a, 'b> {
-        let _ = address;
-        let _ = operations;
-        async move { todo!() }
-    }
-}
-
-//
-// SPI implementatinos
-//
-
-impl<T, E> embedded_hal_async::spi::ErrorType for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    type Error = E;
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBus<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    type TransferFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Self::TransferFuture<'a> {
-        async move {
-            // Ensure we write the expected bytes
-            for i in 0..core::cmp::min(read.len(), write.len()) {
-                read[i] = write[i].clone();
-            }
-            self.wrapped.transfer(read)?;
-            Ok(())
-        }
-    }
-
-    type TransferInPlaceFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn transfer_in_place<'a>(&'a mut self, _: &'a mut [u8]) -> Self::TransferInPlaceFuture<'a> {
-        async move { todo!() }
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusFlush for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
-        async move { Ok(()) }
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusWrite<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn write<'a>(&'a mut self, data: &'a [u8]) -> Self::WriteFuture<'a> {
-        async move {
-            self.wrapped.write(data)?;
-            Ok(())
-        }
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusRead<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn read<'a>(&'a mut self, data: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        async move {
-            self.wrapped.transfer(data)?;
-            Ok(())
-        }
-    }
-}
-
-// Uart implementatinos
-impl<T, E> embedded_hal_1::serial::ErrorType for BlockingAsync<T>
-where
-    T: serial::Read<u8, Error = E>,
-    E: embedded_hal_1::serial::Error + 'static,
-{
-    type Error = E;
-}
-
-#[cfg(feature = "_todo_embedded_hal_serial")]
-impl<T, E> embedded_hal_async::serial::Read for BlockingAsync<T>
-where
-    T: serial::Read<u8, Error = E>,
-    E: embedded_hal_1::serial::Error + 'static,
-{
-    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where T: 'a;
-    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        async move {
-            let mut pos = 0;
-            while pos < buf.len() {
-                match self.wrapped.read() {
-                    Err(nb::Error::WouldBlock) => {}
-                    Err(nb::Error::Other(e)) => return Err(e),
-                    Ok(b) => {
-                        buf[pos] = b;
-                        pos += 1;
-                    }
-                }
-            }
-            Ok(())
-        }
-    }
-}
-
-#[cfg(feature = "_todo_embedded_hal_serial")]
-impl<T, E> embedded_hal_async::serial::Write for BlockingAsync<T>
-where
-    T: blocking::serial::Write<u8, Error = E> + serial::Read<u8, Error = E>,
-    E: embedded_hal_1::serial::Error + 'static,
-{
-    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where T: 'a;
-    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
-        async move { self.wrapped.bwrite_all(buf) }
-    }
-
-    type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where T: 'a;
-    fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
-        async move { self.wrapped.bflush() }
-    }
-}
-
-/// NOR flash wrapper
-use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
-use embedded_storage_async::nor_flash::{AsyncNorFlash, AsyncReadNorFlash};
-
-impl<T> ErrorType for BlockingAsync<T>
-where
-    T: ErrorType,
-{
-    type Error = T::Error;
-}
-
-impl<T> AsyncNorFlash for BlockingAsync<T>
-where
-    T: NorFlash,
-{
-    const WRITE_SIZE: usize = <T as NorFlash>::WRITE_SIZE;
-    const ERASE_SIZE: usize = <T as NorFlash>::ERASE_SIZE;
-
-    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-    fn write<'a>(&'a mut self, offset: u32, data: &'a [u8]) -> Self::WriteFuture<'a> {
-        async move { self.wrapped.write(offset, data) }
-    }
-
-    type EraseFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-    fn erase<'a>(&'a mut self, from: u32, to: u32) -> Self::EraseFuture<'a> {
-        async move { self.wrapped.erase(from, to) }
-    }
-}
-
-impl<T> AsyncReadNorFlash for BlockingAsync<T>
-where
-    T: ReadNorFlash,
-{
-    const READ_SIZE: usize = <T as ReadNorFlash>::READ_SIZE;
-    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-    fn read<'a>(&'a mut self, address: u32, data: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        async move { self.wrapped.read(address, data) }
-    }
-
-    fn capacity(&self) -> usize {
-        self.wrapped.capacity()
-    }
-}

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

@@ -0,0 +1,171 @@
+use embedded_hal_02::{blocking, serial};
+
+/// Wrapper that implements async traits using blocking implementations.
+///
+/// This allows driver writers to depend on the async traits while still supporting embedded-hal peripheral implementations.
+///
+/// BlockingAsync will implement any async trait that maps to embedded-hal traits implemented for the wrapped driver.
+///
+/// Driver users are then free to choose which implementation that is available to them.
+pub struct BlockingAsync<T> {
+    wrapped: T,
+}
+
+impl<T> BlockingAsync<T> {
+    /// Create a new instance of a wrapper for a given peripheral.
+    pub fn new(wrapped: T) -> Self {
+        Self { wrapped }
+    }
+}
+
+//
+// I2C implementations
+//
+impl<T, E> embedded_hal_1::i2c::ErrorType for BlockingAsync<T>
+where
+    E: embedded_hal_1::i2c::Error + 'static,
+    T: blocking::i2c::WriteRead<Error = E> + blocking::i2c::Read<Error = E> + blocking::i2c::Write<Error = E>,
+{
+    type Error = E;
+}
+
+impl<T, E> embedded_hal_async::i2c::I2c for BlockingAsync<T>
+where
+    E: embedded_hal_1::i2c::Error + 'static,
+    T: blocking::i2c::WriteRead<Error = E> + blocking::i2c::Read<Error = E> + blocking::i2c::Write<Error = E>,
+{
+    async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.read(address, read)
+    }
+
+    async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(address, write)
+    }
+
+    async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.write_read(address, write, read)
+    }
+
+    async fn transaction(
+        &mut self,
+        address: u8,
+        operations: &mut [embedded_hal_1::i2c::Operation<'_>],
+    ) -> Result<(), Self::Error> {
+        let _ = address;
+        let _ = operations;
+        todo!()
+    }
+}
+
+//
+// SPI implementatinos
+//
+
+impl<T, E> embedded_hal_async::spi::ErrorType for BlockingAsync<T>
+where
+    E: embedded_hal_1::spi::Error,
+    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
+{
+    type Error = E;
+}
+
+impl<T, E> embedded_hal_async::spi::SpiBus<u8> for BlockingAsync<T>
+where
+    E: embedded_hal_1::spi::Error + 'static,
+    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
+{
+    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
+        // Ensure we write the expected bytes
+        for i in 0..core::cmp::min(read.len(), write.len()) {
+            read[i] = write[i].clone();
+        }
+        self.wrapped.transfer(read)?;
+        Ok(())
+    }
+
+    async fn transfer_in_place<'a>(&'a mut self, _: &'a mut [u8]) -> Result<(), Self::Error> {
+        todo!()
+    }
+}
+
+impl<T, E> embedded_hal_async::spi::SpiBusFlush for BlockingAsync<T>
+where
+    E: embedded_hal_1::spi::Error + 'static,
+    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
+{
+    async fn flush(&mut self) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+impl<T, E> embedded_hal_async::spi::SpiBusWrite<u8> for BlockingAsync<T>
+where
+    E: embedded_hal_1::spi::Error + 'static,
+    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
+{
+    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(data)?;
+        Ok(())
+    }
+}
+
+impl<T, E> embedded_hal_async::spi::SpiBusRead<u8> for BlockingAsync<T>
+where
+    E: embedded_hal_1::spi::Error + 'static,
+    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
+{
+    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.transfer(data)?;
+        Ok(())
+    }
+}
+
+// Uart implementatinos
+impl<T, E> embedded_hal_1::serial::ErrorType for BlockingAsync<T>
+where
+    T: serial::Read<u8, Error = E>,
+    E: embedded_hal_1::serial::Error + 'static,
+{
+    type Error = E;
+}
+
+/// NOR flash wrapper
+use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
+use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
+
+impl<T> ErrorType for BlockingAsync<T>
+where
+    T: ErrorType,
+{
+    type Error = T::Error;
+}
+
+impl<T> AsyncNorFlash for BlockingAsync<T>
+where
+    T: NorFlash,
+{
+    const WRITE_SIZE: usize = <T as NorFlash>::WRITE_SIZE;
+    const ERASE_SIZE: usize = <T as NorFlash>::ERASE_SIZE;
+
+    async fn write(&mut self, offset: u32, data: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(offset, data)
+    }
+
+    async fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        self.wrapped.erase(from, to)
+    }
+}
+
+impl<T> AsyncReadNorFlash for BlockingAsync<T>
+where
+    T: ReadNorFlash,
+{
+    const READ_SIZE: usize = <T as ReadNorFlash>::READ_SIZE;
+    async fn read(&mut self, address: u32, data: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.read(address, data)
+    }
+
+    fn capacity(&self) -> usize {
+        self.wrapped.capacity()
+    }
+}

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

@@ -0,0 +1,7 @@
+//! Adapters between embedded-hal traits.
+
+mod blocking_async;
+mod yielding_async;
+
+pub use blocking_async::BlockingAsync;
+pub use yielding_async::YieldingAsync;

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

@@ -0,0 +1,184 @@
+use embassy_futures::yield_now;
+
+/// Wrapper that yields for each operation to the wrapped instance
+///
+/// This can be used in combination with BlockingAsync<T> to enforce yields
+/// between long running blocking operations.
+pub struct YieldingAsync<T> {
+    wrapped: T,
+}
+
+impl<T> YieldingAsync<T> {
+    /// Create a new instance of a wrapper that yields after each operation.
+    pub fn new(wrapped: T) -> Self {
+        Self { wrapped }
+    }
+}
+
+//
+// I2C implementations
+//
+impl<T> embedded_hal_1::i2c::ErrorType for YieldingAsync<T>
+where
+    T: embedded_hal_1::i2c::ErrorType,
+{
+    type Error = T::Error;
+}
+
+impl<T> embedded_hal_async::i2c::I2c for YieldingAsync<T>
+where
+    T: embedded_hal_async::i2c::I2c,
+{
+    async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.read(address, read).await?;
+        yield_now().await;
+        Ok(())
+    }
+
+    async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(address, write).await?;
+        yield_now().await;
+        Ok(())
+    }
+
+    async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.write_read(address, write, read).await?;
+        yield_now().await;
+        Ok(())
+    }
+
+    async fn transaction(
+        &mut self,
+        address: u8,
+        operations: &mut [embedded_hal_1::i2c::Operation<'_>],
+    ) -> Result<(), Self::Error> {
+        self.wrapped.transaction(address, operations).await?;
+        yield_now().await;
+        Ok(())
+    }
+}
+
+//
+// SPI implementations
+//
+
+impl<T> embedded_hal_async::spi::ErrorType for YieldingAsync<T>
+where
+    T: embedded_hal_async::spi::ErrorType,
+{
+    type Error = T::Error;
+}
+
+impl<T> embedded_hal_async::spi::SpiBus<u8> for YieldingAsync<T>
+where
+    T: embedded_hal_async::spi::SpiBus,
+{
+    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
+        self.wrapped.transfer(read, write).await?;
+        yield_now().await;
+        Ok(())
+    }
+
+    async fn transfer_in_place<'a>(&'a mut self, words: &'a mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.transfer_in_place(words).await?;
+        yield_now().await;
+        Ok(())
+    }
+}
+
+impl<T> embedded_hal_async::spi::SpiBusFlush for YieldingAsync<T>
+where
+    T: embedded_hal_async::spi::SpiBusFlush,
+{
+    async fn flush(&mut self) -> Result<(), Self::Error> {
+        self.wrapped.flush().await?;
+        yield_now().await;
+        Ok(())
+    }
+}
+
+impl<T> embedded_hal_async::spi::SpiBusWrite<u8> for YieldingAsync<T>
+where
+    T: embedded_hal_async::spi::SpiBusWrite<u8>,
+{
+    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(data).await?;
+        yield_now().await;
+        Ok(())
+    }
+}
+
+impl<T> embedded_hal_async::spi::SpiBusRead<u8> for YieldingAsync<T>
+where
+    T: embedded_hal_async::spi::SpiBusRead<u8>,
+{
+    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.read(data).await?;
+        yield_now().await;
+        Ok(())
+    }
+}
+
+///
+/// NOR flash implementations
+///
+impl<T: embedded_storage::nor_flash::ErrorType> embedded_storage::nor_flash::ErrorType for YieldingAsync<T> {
+    type Error = T::Error;
+}
+
+impl<T: embedded_storage_async::nor_flash::ReadNorFlash> embedded_storage_async::nor_flash::ReadNorFlash
+    for YieldingAsync<T>
+{
+    const READ_SIZE: usize = T::READ_SIZE;
+
+    async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.read(offset, bytes).await?;
+        Ok(())
+    }
+
+    fn capacity(&self) -> usize {
+        self.wrapped.capacity()
+    }
+}
+
+impl<T: embedded_storage_async::nor_flash::NorFlash> embedded_storage_async::nor_flash::NorFlash for YieldingAsync<T> {
+    const WRITE_SIZE: usize = T::WRITE_SIZE;
+    const ERASE_SIZE: usize = T::ERASE_SIZE;
+
+    async fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(offset, bytes).await?;
+        yield_now().await;
+        Ok(())
+    }
+
+    async fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        // Yield between each actual erase
+        for from in (from..to).step_by(T::ERASE_SIZE) {
+            let to = core::cmp::min(from + T::ERASE_SIZE as u32, to);
+            self.wrapped.erase(from, to).await?;
+            yield_now().await;
+        }
+        Ok(())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use embedded_storage_async::nor_flash::NorFlash;
+
+    use super::*;
+    use crate::flash::mem_flash::MemFlash;
+
+    #[futures_test::test]
+    async fn can_erase() {
+        let flash = MemFlash::<1024, 128, 4>::new(0x00);
+        let mut yielding = YieldingAsync::new(flash);
+
+        yielding.erase(0, 256).await.unwrap();
+
+        let flash = yielding.wrapped;
+        assert_eq!(2, flash.erases.len());
+        assert_eq!((0, 128), flash.erases[0]);
+        assert_eq!((128, 256), flash.erases[1]);
+    }
+}

embassy-embedded-hal/src/flash/concat_flash.rs

@@ -0,0 +1,228 @@
+use embedded_storage::nor_flash::{ErrorType, NorFlash, NorFlashError, ReadNorFlash};
+#[cfg(feature = "nightly")]
+use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
+
+/// Convenience helper for concatenating two consecutive flashes into one.
+/// This is especially useful if used with "flash regions", where one may
+/// want to concatenate multiple regions into one larger region.
+pub struct ConcatFlash<First, Second>(First, Second);
+
+impl<First, Second> ConcatFlash<First, Second> {
+    /// Create a new flash that concatenates two consecutive flashes.
+    pub fn new(first: First, second: Second) -> Self {
+        Self(first, second)
+    }
+}
+
+const fn get_read_size(first_read_size: usize, second_read_size: usize) -> usize {
+    if first_read_size != second_read_size {
+        panic!("The read size for the concatenated flashes must be the same");
+    }
+    first_read_size
+}
+
+const fn get_write_size(first_write_size: usize, second_write_size: usize) -> usize {
+    if first_write_size != second_write_size {
+        panic!("The write size for the concatenated flashes must be the same");
+    }
+    first_write_size
+}
+
+const fn get_max_erase_size(first_erase_size: usize, second_erase_size: usize) -> usize {
+    let max_erase_size = if first_erase_size > second_erase_size {
+        first_erase_size
+    } else {
+        second_erase_size
+    };
+    if max_erase_size % first_erase_size != 0 || max_erase_size % second_erase_size != 0 {
+        panic!("The erase sizes for the concatenated flashes must have have a gcd equal to the max erase size");
+    }
+    max_erase_size
+}
+
+impl<First, Second, E> ErrorType for ConcatFlash<First, Second>
+where
+    First: ErrorType<Error = E>,
+    Second: ErrorType<Error = E>,
+    E: NorFlashError,
+{
+    type Error = E;
+}
+
+impl<First, Second, E> ReadNorFlash for ConcatFlash<First, Second>
+where
+    First: ReadNorFlash<Error = E>,
+    Second: ReadNorFlash<Error = E>,
+    E: NorFlashError,
+{
+    const READ_SIZE: usize = get_read_size(First::READ_SIZE, Second::READ_SIZE);
+
+    fn read(&mut self, mut offset: u32, mut bytes: &mut [u8]) -> Result<(), E> {
+        if offset < self.0.capacity() as u32 {
+            let len = core::cmp::min(self.0.capacity() - offset as usize, bytes.len());
+            self.0.read(offset, &mut bytes[..len])?;
+            offset += len as u32;
+            bytes = &mut bytes[len..];
+        }
+
+        if !bytes.is_empty() {
+            self.1.read(offset - self.0.capacity() as u32, bytes)?;
+        }
+
+        Ok(())
+    }
+
+    fn capacity(&self) -> usize {
+        self.0.capacity() + self.1.capacity()
+    }
+}
+
+impl<First, Second, E> NorFlash for ConcatFlash<First, Second>
+where
+    First: NorFlash<Error = E>,
+    Second: NorFlash<Error = E>,
+    E: NorFlashError,
+{
+    const WRITE_SIZE: usize = get_write_size(First::WRITE_SIZE, Second::WRITE_SIZE);
+    const ERASE_SIZE: usize = get_max_erase_size(First::ERASE_SIZE, Second::ERASE_SIZE);
+
+    fn write(&mut self, mut offset: u32, mut bytes: &[u8]) -> Result<(), E> {
+        if offset < self.0.capacity() as u32 {
+            let len = core::cmp::min(self.0.capacity() - offset as usize, bytes.len());
+            self.0.write(offset, &bytes[..len])?;
+            offset += len as u32;
+            bytes = &bytes[len..];
+        }
+
+        if !bytes.is_empty() {
+            self.1.write(offset - self.0.capacity() as u32, bytes)?;
+        }
+
+        Ok(())
+    }
+
+    fn erase(&mut self, mut from: u32, to: u32) -> Result<(), E> {
+        if from < self.0.capacity() as u32 {
+            let to = core::cmp::min(self.0.capacity() as u32, to);
+            self.0.erase(from, to)?;
+            from = self.0.capacity() as u32;
+        }
+
+        if from < to {
+            self.1
+                .erase(from - self.0.capacity() as u32, to - self.0.capacity() as u32)?;
+        }
+
+        Ok(())
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<First, Second, E> AsyncReadNorFlash for ConcatFlash<First, Second>
+where
+    First: AsyncReadNorFlash<Error = E>,
+    Second: AsyncReadNorFlash<Error = E>,
+    E: NorFlashError,
+{
+    const READ_SIZE: usize = get_read_size(First::READ_SIZE, Second::READ_SIZE);
+
+    async fn read(&mut self, mut offset: u32, mut bytes: &mut [u8]) -> Result<(), E> {
+        if offset < self.0.capacity() as u32 {
+            let len = core::cmp::min(self.0.capacity() - offset as usize, bytes.len());
+            self.0.read(offset, &mut bytes[..len]).await?;
+            offset += len as u32;
+            bytes = &mut bytes[len..];
+        }
+
+        if !bytes.is_empty() {
+            self.1.read(offset - self.0.capacity() as u32, bytes).await?;
+        }
+
+        Ok(())
+    }
+
+    fn capacity(&self) -> usize {
+        self.0.capacity() + self.1.capacity()
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<First, Second, E> AsyncNorFlash for ConcatFlash<First, Second>
+where
+    First: AsyncNorFlash<Error = E>,
+    Second: AsyncNorFlash<Error = E>,
+    E: NorFlashError,
+{
+    const WRITE_SIZE: usize = get_write_size(First::WRITE_SIZE, Second::WRITE_SIZE);
+    const ERASE_SIZE: usize = get_max_erase_size(First::ERASE_SIZE, Second::ERASE_SIZE);
+
+    async fn write(&mut self, mut offset: u32, mut bytes: &[u8]) -> Result<(), E> {
+        if offset < self.0.capacity() as u32 {
+            let len = core::cmp::min(self.0.capacity() - offset as usize, bytes.len());
+            self.0.write(offset, &bytes[..len]).await?;
+            offset += len as u32;
+            bytes = &bytes[len..];
+        }
+
+        if !bytes.is_empty() {
+            self.1.write(offset - self.0.capacity() as u32, bytes).await?;
+        }
+
+        Ok(())
+    }
+
+    async fn erase(&mut self, mut from: u32, to: u32) -> Result<(), E> {
+        if from < self.0.capacity() as u32 {
+            let to = core::cmp::min(self.0.capacity() as u32, to);
+            self.0.erase(from, to).await?;
+            from = self.0.capacity() as u32;
+        }
+
+        if from < to {
+            self.1
+                .erase(from - self.0.capacity() as u32, to - self.0.capacity() as u32)
+                .await?;
+        }
+
+        Ok(())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use embedded_storage::nor_flash::{NorFlash, ReadNorFlash};
+
+    use super::ConcatFlash;
+    use crate::flash::mem_flash::MemFlash;
+
+    #[test]
+    fn can_write_and_read_across_flashes() {
+        let first = MemFlash::<64, 16, 4>::default();
+        let second = MemFlash::<64, 64, 4>::default();
+        let mut f = ConcatFlash::new(first, second);
+
+        f.write(60, &[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88]).unwrap();
+
+        assert_eq!(&[0x11, 0x22, 0x33, 0x44], &f.0.mem[60..]);
+        assert_eq!(&[0x55, 0x66, 0x77, 0x88], &f.1.mem[0..4]);
+
+        let mut read_buf = [0; 8];
+        f.read(60, &mut read_buf).unwrap();
+
+        assert_eq!(&[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88], &read_buf);
+    }
+
+    #[test]
+    fn can_erase_across_flashes() {
+        let first = MemFlash::<128, 16, 4>::new(0x00);
+        let second = MemFlash::<128, 64, 4>::new(0x00);
+        let mut f = ConcatFlash::new(first, second);
+
+        f.erase(64, 192).unwrap();
+
+        assert_eq!(&[0x00; 64], &f.0.mem[0..64]);
+        assert_eq!(&[0xff; 64], &f.0.mem[64..128]);
+        assert_eq!(&[0xff; 64], &f.1.mem[0..64]);
+        assert_eq!(&[0x00; 64], &f.1.mem[64..128]);
+    }
+}

embassy-embedded-hal/src/flash/mem_flash.rs

@@ -0,0 +1,128 @@
+use alloc::vec::Vec;
+
+use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
+#[cfg(feature = "nightly")]
+use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
+
+extern crate alloc;
+
+pub(crate) struct MemFlash<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> {
+    pub mem: [u8; SIZE],
+    pub writes: Vec<(u32, usize)>,
+    pub erases: Vec<(u32, u32)>,
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE> {
+    #[allow(unused)]
+    pub const fn new(fill: u8) -> Self {
+        Self {
+            mem: [fill; SIZE],
+            writes: Vec::new(),
+            erases: Vec::new(),
+        }
+    }
+
+    fn read(&mut self, offset: u32, bytes: &mut [u8]) {
+        let len = bytes.len();
+        bytes.copy_from_slice(&self.mem[offset as usize..offset as usize + len]);
+    }
+
+    fn write(&mut self, offset: u32, bytes: &[u8]) {
+        self.writes.push((offset, bytes.len()));
+        let offset = offset as usize;
+        assert_eq!(0, bytes.len() % WRITE_SIZE);
+        assert_eq!(0, offset % WRITE_SIZE);
+        assert!(offset + bytes.len() <= SIZE);
+
+        self.mem[offset..offset + bytes.len()].copy_from_slice(bytes);
+    }
+
+    fn erase(&mut self, from: u32, to: u32) {
+        self.erases.push((from, to));
+        let from = from as usize;
+        let to = to as usize;
+        assert_eq!(0, from % ERASE_SIZE);
+        assert_eq!(0, to % ERASE_SIZE);
+        self.mem[from..to].fill(0xff);
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> Default
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    fn default() -> Self {
+        Self::new(0xff)
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> ErrorType
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    type Error = core::convert::Infallible;
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> ReadNorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const READ_SIZE: usize = 1;
+
+    fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        self.read(offset, bytes);
+        Ok(())
+    }
+
+    fn capacity(&self) -> usize {
+        SIZE
+    }
+}
+
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> NorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const WRITE_SIZE: usize = WRITE_SIZE;
+    const ERASE_SIZE: usize = ERASE_SIZE;
+
+    fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.write(offset, bytes);
+        Ok(())
+    }
+
+    fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        self.erase(from, to);
+        Ok(())
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncReadNorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const READ_SIZE: usize = 1;
+
+    async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        self.read(offset, bytes);
+        Ok(())
+    }
+
+    fn capacity(&self) -> usize {
+        SIZE
+    }
+}
+
+#[cfg(feature = "nightly")]
+impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncNorFlash
+    for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
+{
+    const WRITE_SIZE: usize = WRITE_SIZE;
+    const ERASE_SIZE: usize = ERASE_SIZE;
+
+    async fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.write(offset, bytes);
+        Ok(())
+    }
+
+    async fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        self.erase(from, to);
+        Ok(())
+    }
+}

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

@@ -0,0 +1,8 @@
+//! Utilities related to flash.
+
+mod concat_flash;
+#[cfg(test)]
+pub(crate) mod mem_flash;
+pub mod partition;
+
+pub use concat_flash::ConcatFlash;

embassy-embedded-hal/src/flash/partition/asynch.rs

@@ -0,0 +1,139 @@
+use embassy_sync::blocking_mutex::raw::RawMutex;
+use embassy_sync::mutex::Mutex;
+use embedded_storage::nor_flash::ErrorType;
+use embedded_storage_async::nor_flash::{NorFlash, ReadNorFlash};
+
+use super::Error;
+
+/// A logical partition of an underlying shared flash
+///
+/// A partition holds an offset and a size of the flash,
+/// and is restricted to operate with that range.
+/// There is no guarantee that muliple partitions on the same flash
+/// operate on mutually exclusive ranges - such a separation is up to
+/// the user to guarantee.
+pub struct Partition<'a, M: RawMutex, T: NorFlash> {
+    flash: &'a Mutex<M, T>,
+    offset: u32,
+    size: u32,
+}
+
+impl<'a, M: RawMutex, T: NorFlash> Partition<'a, M, T> {
+    /// Create a new partition
+    pub const fn new(flash: &'a Mutex<M, T>, offset: u32, size: u32) -> Self {
+        if offset % T::READ_SIZE as u32 != 0 || offset % T::WRITE_SIZE as u32 != 0 || offset % T::ERASE_SIZE as u32 != 0
+        {
+            panic!("Partition offset must be a multiple of read, write and erase size");
+        }
+        if size % T::READ_SIZE as u32 != 0 || size % T::WRITE_SIZE as u32 != 0 || size % T::ERASE_SIZE as u32 != 0 {
+            panic!("Partition size must be a multiple of read, write and erase size");
+        }
+        Self { flash, offset, size }
+    }
+
+    /// Get the partition offset within the flash
+    pub const fn offset(&self) -> u32 {
+        self.offset
+    }
+
+    /// Get the partition size
+    pub const fn size(&self) -> u32 {
+        self.size
+    }
+}
+
+impl<M: RawMutex, T: NorFlash> ErrorType for Partition<'_, M, T> {
+    type Error = Error<T::Error>;
+}
+
+impl<M: RawMutex, T: NorFlash> ReadNorFlash for Partition<'_, M, T> {
+    const READ_SIZE: usize = T::READ_SIZE;
+
+    async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        if offset + bytes.len() as u32 > self.size {
+            return Err(Error::OutOfBounds);
+        }
+
+        let mut flash = self.flash.lock().await;
+        flash.read(self.offset + offset, bytes).await.map_err(Error::Flash)
+    }
+
+    fn capacity(&self) -> usize {
+        self.size as usize
+    }
+}
+
+impl<M: RawMutex, T: NorFlash> NorFlash for Partition<'_, M, T> {
+    const WRITE_SIZE: usize = T::WRITE_SIZE;
+    const ERASE_SIZE: usize = T::ERASE_SIZE;
+
+    async fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        if offset + bytes.len() as u32 > self.size {
+            return Err(Error::OutOfBounds);
+        }
+
+        let mut flash = self.flash.lock().await;
+        flash.write(self.offset + offset, bytes).await.map_err(Error::Flash)
+    }
+
+    async fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        if to > self.size {
+            return Err(Error::OutOfBounds);
+        }
+
+        let mut flash = self.flash.lock().await;
+        flash
+            .erase(self.offset + from, self.offset + to)
+            .await
+            .map_err(Error::Flash)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+
+    use super::*;
+    use crate::flash::mem_flash::MemFlash;
+
+    #[futures_test::test]
+    async fn can_read() {
+        let mut flash = MemFlash::<1024, 128, 4>::default();
+        flash.mem[132..132 + 8].fill(0xAA);
+
+        let flash = Mutex::<NoopRawMutex, _>::new(flash);
+        let mut partition = Partition::new(&flash, 128, 256);
+
+        let mut read_buf = [0; 8];
+        partition.read(4, &mut read_buf).await.unwrap();
+
+        assert!(read_buf.iter().position(|&x| x != 0xAA).is_none());
+    }
+
+    #[futures_test::test]
+    async fn can_write() {
+        let flash = MemFlash::<1024, 128, 4>::default();
+
+        let flash = Mutex::<NoopRawMutex, _>::new(flash);
+        let mut partition = Partition::new(&flash, 128, 256);
+
+        let write_buf = [0xAA; 8];
+        partition.write(4, &write_buf).await.unwrap();
+
+        let flash = flash.try_lock().unwrap();
+        assert!(flash.mem[132..132 + 8].iter().position(|&x| x != 0xAA).is_none());
+    }
+
+    #[futures_test::test]
+    async fn can_erase() {
+        let flash = MemFlash::<1024, 128, 4>::new(0x00);
+
+        let flash = Mutex::<NoopRawMutex, _>::new(flash);
+        let mut partition = Partition::new(&flash, 128, 256);
+
+        partition.erase(0, 128).await.unwrap();
+
+        let flash = flash.try_lock().unwrap();
+        assert!(flash.mem[128..256].iter().position(|&x| x != 0xFF).is_none());
+    }
+}

embassy-embedded-hal/src/flash/partition/blocking.rs

@@ -0,0 +1,149 @@
+use core::cell::RefCell;
+
+use embassy_sync::blocking_mutex::raw::RawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
+
+use super::Error;
+
+/// A logical partition of an underlying shared flash
+///
+/// A partition holds an offset and a size of the flash,
+/// and is restricted to operate with that range.
+/// There is no guarantee that muliple partitions on the same flash
+/// operate on mutually exclusive ranges - such a separation is up to
+/// the user to guarantee.
+pub struct BlockingPartition<'a, M: RawMutex, T: NorFlash> {
+    flash: &'a Mutex<M, RefCell<T>>,
+    offset: u32,
+    size: u32,
+}
+
+impl<'a, M: RawMutex, T: NorFlash> BlockingPartition<'a, M, T> {
+    /// Create a new partition
+    pub const fn new(flash: &'a Mutex<M, RefCell<T>>, offset: u32, size: u32) -> Self {
+        if offset % T::READ_SIZE as u32 != 0 || offset % T::WRITE_SIZE as u32 != 0 || offset % T::ERASE_SIZE as u32 != 0
+        {
+            panic!("Partition offset must be a multiple of read, write and erase size");
+        }
+        if size % T::READ_SIZE as u32 != 0 || size % T::WRITE_SIZE as u32 != 0 || size % T::ERASE_SIZE as u32 != 0 {
+            panic!("Partition size must be a multiple of read, write and erase size");
+        }
+        Self { flash, offset, size }
+    }
+
+    /// Get the partition offset within the flash
+    pub const fn offset(&self) -> u32 {
+        self.offset
+    }
+
+    /// Get the partition size
+    pub const fn size(&self) -> u32 {
+        self.size
+    }
+}
+
+impl<M: RawMutex, T: NorFlash> ErrorType for BlockingPartition<'_, M, T> {
+    type Error = Error<T::Error>;
+}
+
+impl<M: RawMutex, T: NorFlash> ReadNorFlash for BlockingPartition<'_, M, T> {
+    const READ_SIZE: usize = T::READ_SIZE;
+
+    fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
+        if offset + bytes.len() as u32 > self.size {
+            return Err(Error::OutOfBounds);
+        }
+
+        self.flash.lock(|flash| {
+            flash
+                .borrow_mut()
+                .read(self.offset + offset, bytes)
+                .map_err(Error::Flash)
+        })
+    }
+
+    fn capacity(&self) -> usize {
+        self.size as usize
+    }
+}
+
+impl<M: RawMutex, T: NorFlash> NorFlash for BlockingPartition<'_, M, T> {
+    const WRITE_SIZE: usize = T::WRITE_SIZE;
+    const ERASE_SIZE: usize = T::ERASE_SIZE;
+
+    fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Self::Error> {
+        if offset + bytes.len() as u32 > self.size {
+            return Err(Error::OutOfBounds);
+        }
+
+        self.flash.lock(|flash| {
+            flash
+                .borrow_mut()
+                .write(self.offset + offset, bytes)
+                .map_err(Error::Flash)
+        })
+    }
+
+    fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
+        if to > self.size {
+            return Err(Error::OutOfBounds);
+        }
+
+        self.flash.lock(|flash| {
+            flash
+                .borrow_mut()
+                .erase(self.offset + from, self.offset + to)
+                .map_err(Error::Flash)
+        })
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+
+    use super::*;
+    use crate::flash::mem_flash::MemFlash;
+
+    #[test]
+    fn can_read() {
+        let mut flash = MemFlash::<1024, 128, 4>::default();
+        flash.mem[132..132 + 8].fill(0xAA);
+
+        let flash = Mutex::<NoopRawMutex, _>::new(RefCell::new(flash));
+        let mut partition = BlockingPartition::new(&flash, 128, 256);
+
+        let mut read_buf = [0; 8];
+        partition.read(4, &mut read_buf).unwrap();
+
+        assert!(read_buf.iter().position(|&x| x != 0xAA).is_none());
+    }
+
+    #[test]
+    fn can_write() {
+        let flash = MemFlash::<1024, 128, 4>::default();
+
+        let flash = Mutex::<NoopRawMutex, _>::new(RefCell::new(flash));
+        let mut partition = BlockingPartition::new(&flash, 128, 256);
+
+        let write_buf = [0xAA; 8];
+        partition.write(4, &write_buf).unwrap();
+
+        let flash = flash.into_inner().take();
+        assert!(flash.mem[132..132 + 8].iter().position(|&x| x != 0xAA).is_none());
+    }
+
+    #[test]
+    fn can_erase() {
+        let flash = MemFlash::<1024, 128, 4>::new(0x00);
+
+        let flash = Mutex::<NoopRawMutex, _>::new(RefCell::new(flash));
+        let mut partition = BlockingPartition::new(&flash, 128, 256);
+
+        partition.erase(0, 128).unwrap();
+
+        let flash = flash.into_inner().take();
+        assert!(flash.mem[128..256].iter().position(|&x| x != 0xFF).is_none());
+    }
+}

embassy-embedded-hal/src/flash/partition/mod.rs

@@ -0,0 +1,30 @@
+//! Flash Partition utilities
+
+use embedded_storage::nor_flash::{NorFlashError, NorFlashErrorKind};
+
+#[cfg(feature = "nightly")]
+mod asynch;
+mod blocking;
+
+#[cfg(feature = "nightly")]
+pub use asynch::Partition;
+pub use blocking::BlockingPartition;
+
+/// Partition error
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Error<T> {
+    /// The requested flash area is outside the partition
+    OutOfBounds,
+    /// Underlying flash error
+    Flash(T),
+}
+
+impl<T: NorFlashError> NorFlashError for Error<T> {
+    fn kind(&self) -> NorFlashErrorKind {
+        match self {
+            Error::OutOfBounds => NorFlashErrorKind::OutOfBounds,
+            Error::Flash(f) => f.kind(),
+        }
+    }
+}

embassy-embedded-hal/src/lib.rs

@@ -1,5 +1,5 @@
 #![cfg_attr(not(feature = "std"), no_std)]
-#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))]
+#![cfg_attr(feature = "nightly", feature(async_fn_in_trait, impl_trait_projections, try_blocks))]
 #![warn(missing_docs)]
 
 //! Utilities to use `embedded-hal` traits with Embassy.
@@ -7,6 +7,8 @@
 #[cfg(feature = "nightly")]
 pub mod adapter;
 
+pub mod flash;
+
 pub mod shared_bus;
 
 /// Set the configuration of a peripheral driver.

embassy-embedded-hal/src/shared_bus/asynch/i2c.rs

@@ -22,7 +22,6 @@
 //! let i2c_dev2 = I2cDevice::new(i2c_bus);
 //! let mpu = Mpu6050::new(i2c_dev2);
 //! ```
-use core::future::Future;
 
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::mutex::Mutex;
@@ -55,53 +54,41 @@ where
     M: RawMutex + 'static,
     BUS: i2c::I2c + 'static,
 {
-    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.read(address, buffer).await.map_err(I2cDeviceError::I2c)?;
-            Ok(())
-        }
+    async fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.read(address, read).await.map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 
-    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.write(address, bytes).await.map_err(I2cDeviceError::I2c)?;
-            Ok(())
-        }
+    async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.write(address, write).await.map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 
-    type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn write_read<'a>(
-        &'a mut self,
+    async fn write_read(
+        &mut self,
         address: u8,
-        wr_buffer: &'a [u8],
-        rd_buffer: &'a mut [u8],
-    ) -> Self::WriteReadFuture<'a> {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.write_read(address, wr_buffer, rd_buffer)
-                .await
-                .map_err(I2cDeviceError::I2c)?;
-            Ok(())
-        }
+        write: &[u8],
+        read: &mut [u8],
+    ) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.write_read(address, write, read)
+            .await
+            .map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 
-    type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
-
-    fn transaction<'a, 'b>(
-        &'a mut self,
+    async fn transaction(
+        &mut self,
         address: u8,
-        operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
-    ) -> Self::TransactionFuture<'a, 'b> {
-        let _ = address;
-        let _ = operations;
-        async move { todo!() }
+        operations: &mut [embedded_hal_async::i2c::Operation<'_>],
+    ) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.transaction(address, operations)
+            .await
+            .map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 }
 
@@ -136,55 +123,40 @@ where
     M: RawMutex + 'static,
     BUS: i2c::I2c + SetConfig + 'static,
 {
-    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.set_config(&self.config);
-            bus.read(address, buffer).await.map_err(I2cDeviceError::I2c)?;
-            Ok(())
-        }
+    async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        bus.read(address, buffer).await.map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 
-    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.set_config(&self.config);
-            bus.write(address, bytes).await.map_err(I2cDeviceError::I2c)?;
-            Ok(())
-        }
+    async fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        bus.write(address, bytes).await.map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 
-    type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-    fn write_read<'a>(
-        &'a mut self,
+    async fn write_read(
+        &mut self,
         address: u8,
-        wr_buffer: &'a [u8],
-        rd_buffer: &'a mut [u8],
-    ) -> Self::WriteReadFuture<'a> {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.set_config(&self.config);
-            bus.write_read(address, wr_buffer, rd_buffer)
-                .await
-                .map_err(I2cDeviceError::I2c)?;
-            Ok(())
-        }
+        wr_buffer: &[u8],
+        rd_buffer: &mut [u8],
+    ) -> Result<(), I2cDeviceError<BUS::Error>> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        bus.write_read(address, wr_buffer, rd_buffer)
+            .await
+            .map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 
-    type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
-
-    fn transaction<'a, 'b>(
-        &'a mut self,
-        address: u8,
-        operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
-    ) -> Self::TransactionFuture<'a, 'b> {
-        let _ = address;
-        let _ = operations;
-        async move { todo!() }
+    async fn transaction(&mut self, address: u8, operations: &mut [i2c::Operation<'_>]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        bus.transaction(address, operations)
+            .await
+            .map_err(I2cDeviceError::I2c)?;
+        Ok(())
     }
 }

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

@@ -25,12 +25,11 @@
 //! let spi_dev2 = SpiDevice::new(spi_bus, cs_pin2);
 //! let display2 = ST7735::new(spi_dev2, dc2, rst2, Default::default(), 160, 128);
 //! ```
-use core::future::Future;
 
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::mutex::Mutex;
 use embedded_hal_1::digital::OutputPin;
-use embedded_hal_1::spi::ErrorType;
+use embedded_hal_1::spi::Operation;
 use embedded_hal_async::spi;
 
 use crate::shared_bus::SpiDeviceError;
@@ -57,41 +56,92 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-unsafe impl<M, BUS, CS> spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
+impl<M, BUS, CS> spi::SpiDeviceRead for SpiDevice<'_, M, BUS, CS>
 where
-    M: RawMutex + 'static,
-    BUS: spi::SpiBusFlush + 'static,
+    M: RawMutex,
+    BUS: spi::SpiBusRead,
     CS: OutputPin,
 {
-    type Bus = BUS;
+    async fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
-    type TransactionFuture<'a, R, F, Fut> = impl Future<Output = Result<R, Self::Error>> + 'a
-    where
-        Self: 'a, R: 'a, F: FnOnce(*mut Self::Bus) -> Fut + 'a,
-        Fut: Future<Output =  Result<R, <Self::Bus as ErrorType>::Error>> + 'a;
+        let op_res: Result<(), BUS::Error> = try {
+            for buf in operations {
+                bus.read(buf).await?;
+            }
+        };
 
-    fn transaction<'a, R, F, Fut>(&'a mut self, f: F) -> Self::TransactionFuture<'a, R, F, Fut>
-    where
-        R: 'a,
-        F: FnOnce(*mut Self::Bus) -> Fut + 'a,
-        Fut: Future<Output = Result<R, <Self::Bus as ErrorType>::Error>> + 'a,
-    {
-        async move {
-            let mut bus = self.bus.lock().await;
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+        // On failure, it's important to still flush and deassert CS.
+        let flush_res = bus.flush().await;
+        let cs_res = self.cs.set_high();
 
-            let f_res = f(&mut *bus).await;
+        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+        flush_res.map_err(SpiDeviceError::Spi)?;
+        cs_res.map_err(SpiDeviceError::Cs)?;
 
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush().await;
-            let cs_res = self.cs.set_high();
+        Ok(op_res)
+    }
+}
 
-            let f_res = f_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
+impl<M, BUS, CS> spi::SpiDeviceWrite for SpiDevice<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: spi::SpiBusWrite,
+    CS: OutputPin,
+{
+    async fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
-            Ok(f_res)
-        }
+        let op_res: Result<(), BUS::Error> = try {
+            for buf in operations {
+                bus.write(buf).await?;
+            }
+        };
+
+        // On failure, it's important to still flush and deassert CS.
+        let flush_res = bus.flush().await;
+        let cs_res = self.cs.set_high();
+
+        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+        flush_res.map_err(SpiDeviceError::Spi)?;
+        cs_res.map_err(SpiDeviceError::Cs)?;
+
+        Ok(op_res)
+    }
+}
+
+impl<M, BUS, CS> spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: spi::SpiBus,
+    CS: OutputPin,
+{
+    async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+        let op_res: Result<(), BUS::Error> = try {
+            for op in operations {
+                match op {
+                    Operation::Read(buf) => bus.read(buf).await?,
+                    Operation::Write(buf) => bus.write(buf).await?,
+                    Operation::Transfer(read, write) => bus.transfer(read, write).await?,
+                    Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                }
+            }
+        };
+
+        // On failure, it's important to still flush and deassert CS.
+        let flush_res = bus.flush().await;
+        let cs_res = self.cs.set_high();
+
+        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+        flush_res.map_err(SpiDeviceError::Spi)?;
+        cs_res.map_err(SpiDeviceError::Cs)?;
+
+        Ok(op_res)
     }
 }
 
@@ -122,41 +172,94 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-unsafe impl<M, BUS, CS> spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
+impl<M, BUS, CS> spi::SpiDeviceWrite for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
-    M: RawMutex + 'static,
-    BUS: spi::SpiBusFlush + SetConfig + 'static,
+    M: RawMutex,
+    BUS: spi::SpiBusWrite + SetConfig,
     CS: OutputPin,
 {
-    type Bus = BUS;
+    async fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
-    type TransactionFuture<'a, R, F, Fut> = impl Future<Output = Result<R, Self::Error>> + 'a
-    where
-        Self: 'a, R: 'a, F: FnOnce(*mut Self::Bus) -> Fut + 'a,
-        Fut: Future<Output =  Result<R, <Self::Bus as ErrorType>::Error>> + 'a;
+        let op_res: Result<(), BUS::Error> = try {
+            for buf in operations {
+                bus.write(buf).await?;
+            }
+        };
 
-    fn transaction<'a, R, F, Fut>(&'a mut self, f: F) -> Self::TransactionFuture<'a, R, F, Fut>
-    where
-        R: 'a,
-        F: FnOnce(*mut Self::Bus) -> Fut + 'a,
-        Fut: Future<Output = Result<R, <Self::Bus as ErrorType>::Error>> + 'a,
-    {
-        async move {
-            let mut bus = self.bus.lock().await;
-            bus.set_config(&self.config);
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+        // On failure, it's important to still flush and deassert CS.
+        let flush_res = bus.flush().await;
+        let cs_res = self.cs.set_high();
 
-            let f_res = f(&mut *bus).await;
+        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+        flush_res.map_err(SpiDeviceError::Spi)?;
+        cs_res.map_err(SpiDeviceError::Cs)?;
 
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush().await;
-            let cs_res = self.cs.set_high();
-
-            let f_res = f_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-
-            Ok(f_res)
-        }
+        Ok(op_res)
+    }
+}
+
+impl<M, BUS, CS> spi::SpiDeviceRead for SpiDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: spi::SpiBusRead + SetConfig,
+    CS: OutputPin,
+{
+    async fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+        let op_res: Result<(), BUS::Error> = try {
+            for buf in operations {
+                bus.read(buf).await?;
+            }
+        };
+
+        // On failure, it's important to still flush and deassert CS.
+        let flush_res = bus.flush().await;
+        let cs_res = self.cs.set_high();
+
+        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+        flush_res.map_err(SpiDeviceError::Spi)?;
+        cs_res.map_err(SpiDeviceError::Cs)?;
+
+        Ok(op_res)
+    }
+}
+
+impl<M, BUS, CS> spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: spi::SpiBus + SetConfig,
+    CS: OutputPin,
+{
+    async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+        let mut bus = self.bus.lock().await;
+        bus.set_config(&self.config);
+        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+        let op_res: Result<(), BUS::Error> = try {
+            for op in operations {
+                match op {
+                    Operation::Read(buf) => bus.read(buf).await?,
+                    Operation::Write(buf) => bus.write(buf).await?,
+                    Operation::Transfer(read, write) => bus.transfer(read, write).await?,
+                    Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                }
+            }
+        };
+
+        // On failure, it's important to still flush and deassert CS.
+        let flush_res = bus.flush().await;
+        let cs_res = self.cs.set_high();
+
+        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+        flush_res.map_err(SpiDeviceError::Spi)?;
+        cs_res.map_err(SpiDeviceError::Cs)?;
+
+        Ok(op_res)
     }
 }

embassy-embedded-hal/src/shared_bus/blocking/i2c.rs

@@ -2,13 +2,12 @@
 //!
 //! # Example (nrf52)
 //!
-//! ```rust
+//! ```rust,ignore
 //! use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
 //! use embassy_sync::blocking_mutex::{NoopMutex, raw::NoopRawMutex};
 //!
 //! static I2C_BUS: StaticCell<NoopMutex<RefCell<Twim<TWISPI0>>>> = StaticCell::new();
-//! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
-//! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, Config::default());
+//! let i2c = Twim::new(p.TWISPI0, Irqs, p.P0_03, p.P0_04, Config::default());
 //! let i2c_bus = NoopMutex::new(RefCell::new(i2c));
 //! let i2c_bus = I2C_BUS.init(i2c_bus);
 //!
@@ -72,34 +71,6 @@ where
         let _ = operations;
         todo!()
     }
-
-    fn write_iter<B: IntoIterator<Item = u8>>(&mut self, addr: u8, bytes: B) -> Result<(), Self::Error> {
-        let _ = addr;
-        let _ = bytes;
-        todo!()
-    }
-
-    fn write_iter_read<B: IntoIterator<Item = u8>>(
-        &mut self,
-        addr: u8,
-        bytes: B,
-        buffer: &mut [u8],
-    ) -> Result<(), Self::Error> {
-        let _ = addr;
-        let _ = bytes;
-        let _ = buffer;
-        todo!()
-    }
-
-    fn transaction_iter<'a, O: IntoIterator<Item = Operation<'a>>>(
-        &mut self,
-        address: u8,
-        operations: O,
-    ) -> Result<(), Self::Error> {
-        let _ = address;
-        let _ = operations;
-        todo!()
-    }
 }
 
 impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cDevice<'_, M, BUS>
@@ -204,32 +175,4 @@ where
         let _ = operations;
         todo!()
     }
-
-    fn write_iter<B: IntoIterator<Item = u8>>(&mut self, addr: u8, bytes: B) -> Result<(), Self::Error> {
-        let _ = addr;
-        let _ = bytes;
-        todo!()
-    }
-
-    fn write_iter_read<B: IntoIterator<Item = u8>>(
-        &mut self,
-        addr: u8,
-        bytes: B,
-        buffer: &mut [u8],
-    ) -> Result<(), Self::Error> {
-        let _ = addr;
-        let _ = bytes;
-        let _ = buffer;
-        todo!()
-    }
-
-    fn transaction_iter<'a, O: IntoIterator<Item = Operation<'a>>>(
-        &mut self,
-        address: u8,
-        operations: O,
-    ) -> Result<(), Self::Error> {
-        let _ = address;
-        let _ = operations;
-        todo!()
-    }
 }

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

@@ -2,13 +2,12 @@
 //!
 //! # Example (nrf52)
 //!
-//! ```rust
+//! ```rust,ignore
 //! use embassy_embedded_hal::shared_bus::blocking::spi::SpiDevice;
 //! use embassy_sync::blocking_mutex::{NoopMutex, raw::NoopRawMutex};
 //!
 //! static SPI_BUS: StaticCell<NoopMutex<RefCell<Spim<SPI3>>>> = StaticCell::new();
-//! let irq = interrupt::take!(SPIM3);
-//! let spi = Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, Config::default());
+//! let spi = Spim::new_txonly(p.SPI3, Irqs, p.P0_15, p.P0_18, Config::default());
 //! let spi_bus = NoopMutex::new(RefCell::new(spi));
 //! let spi_bus = SPI_BUS.init(spi_bus);
 //!
@@ -23,8 +22,7 @@ use core::cell::RefCell;
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::blocking_mutex::Mutex;
 use embedded_hal_1::digital::OutputPin;
-use embedded_hal_1::spi;
-use embedded_hal_1::spi::SpiBusFlush;
+use embedded_hal_1::spi::{self, Operation, SpiBus, SpiBusRead, SpiBusWrite};
 
 use crate::shared_bus::SpiDeviceError;
 use crate::SetConfig;
@@ -50,30 +48,85 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
+impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceRead for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: SpiBusFlush,
+    BUS: SpiBusRead,
     CS: OutputPin,
 {
-    type Bus = BUS;
-
-    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
+    fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
-            let f_res = f(&mut bus);
+            let op_res = operations.iter_mut().try_for_each(|buf| bus.read(buf));
 
             // On failure, it's important to still flush and deassert CS.
             let flush_res = bus.flush();
             let cs_res = self.cs.set_high();
 
-            let f_res = f_res.map_err(SpiDeviceError::Spi)?;
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
             flush_res.map_err(SpiDeviceError::Spi)?;
             cs_res.map_err(SpiDeviceError::Cs)?;
 
-            Ok(f_res)
+            Ok(op_res)
+        })
+    }
+}
+
+impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceWrite for SpiDevice<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBusWrite,
+    CS: OutputPin,
+{
+    fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+            let op_res = operations.iter().try_for_each(|buf| bus.write(buf));
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
+            let cs_res = self.cs.set_high();
+
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+            flush_res.map_err(SpiDeviceError::Spi)?;
+            cs_res.map_err(SpiDeviceError::Cs)?;
+
+            Ok(op_res)
+        })
+    }
+}
+
+impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBus,
+    CS: OutputPin,
+{
+    fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+            let op_res = operations.iter_mut().try_for_each(|op| match op {
+                Operation::Read(buf) => bus.read(buf),
+                Operation::Write(buf) => bus.write(buf),
+                Operation::Transfer(read, write) => bus.transfer(read, write),
+                Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
+            });
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
+            let cs_res = self.cs.set_high();
+
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+            flush_res.map_err(SpiDeviceError::Spi)?;
+            cs_res.map_err(SpiDeviceError::Cs)?;
+
+            Ok(op_res)
         })
     }
 }
@@ -89,11 +142,11 @@ where
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-            let f_res = bus.transfer(words);
+            let op_res = bus.transfer(words);
             let cs_res = self.cs.set_high();
-            let f_res = f_res.map_err(SpiDeviceError::Spi)?;
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
             cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(f_res)
+            Ok(op_res)
         })
     }
 }
@@ -110,11 +163,11 @@ where
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-            let f_res = bus.write(words);
+            let op_res = bus.write(words);
             let cs_res = self.cs.set_high();
-            let f_res = f_res.map_err(SpiDeviceError::Spi)?;
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
             cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(f_res)
+            Ok(op_res)
         })
     }
 }
@@ -146,30 +199,85 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
+impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceRead for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: SpiBusFlush + SetConfig,
+    BUS: SpiBusRead + SetConfig,
     CS: OutputPin,
 {
-    type Bus = BUS;
-
-    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
+    fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
             bus.set_config(&self.config);
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
-            let f_res = f(&mut bus);
+            let op_res = operations.iter_mut().try_for_each(|buf| bus.read(buf));
 
             // On failure, it's important to still flush and deassert CS.
             let flush_res = bus.flush();
             let cs_res = self.cs.set_high();
 
-            let f_res = f_res.map_err(SpiDeviceError::Spi)?;
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
             flush_res.map_err(SpiDeviceError::Spi)?;
             cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(f_res)
+            Ok(op_res)
+        })
+    }
+}
+
+impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceWrite for SpiDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBusWrite + SetConfig,
+    CS: OutputPin,
+{
+    fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+            let op_res = operations.iter().try_for_each(|buf| bus.write(buf));
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
+            let cs_res = self.cs.set_high();
+
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+            flush_res.map_err(SpiDeviceError::Spi)?;
+            cs_res.map_err(SpiDeviceError::Cs)?;
+            Ok(op_res)
+        })
+    }
+}
+
+impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBus + SetConfig,
+    CS: OutputPin,
+{
+    fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
+
+            let op_res = operations.iter_mut().try_for_each(|op| match op {
+                Operation::Read(buf) => bus.read(buf),
+                Operation::Write(buf) => bus.write(buf),
+                Operation::Transfer(read, write) => bus.transfer(read, write),
+                Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
+            });
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
+            let cs_res = self.cs.set_high();
+
+            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
+            flush_res.map_err(SpiDeviceError::Spi)?;
+            cs_res.map_err(SpiDeviceError::Cs)?;
+            Ok(op_res)
         })
     }
 }

embassy-executor/CHANGELOG.md

@@ -0,0 +1,23 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## 0.2.0 - 2023-04-27
+
+- Replace unnecessary atomics in runqueue
+- add Pender, rework Cargo features.
+- add support for turbo-wakers.
+- Allow TaskStorage to auto-implement `Sync`
+- Use AtomicPtr for signal_ctx, removes 1 unsafe.
+- Replace unsound critical sections with atomics
+
+## 0.1.1 - 2022-11-23
+
+- Fix features for documentation
+
+## 0.1.0 - 2022-11-23
+
+- First release

embassy-executor/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "embassy-executor"
-version = "0.1.1"
+version = "0.2.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "async/await executor designed for embedded usage"
@@ -14,30 +14,42 @@ categories = [
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-executor-v$VERSION/embassy-executor/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-executor/src/"
-features = ["nightly", "defmt"]
+features = ["nightly", "defmt", "pender-callback"]
 flavors = [
-    { name = "std",                       target = "x86_64-unknown-linux-gnu",   features = ["std"] },
-    { name = "wasm",                      target = "wasm32-unknown-unknown",     features = ["wasm"] },
-    { name = "thumbv6m-none-eabi",        target = "thumbv6m-none-eabi",         features = [] },
-    { name = "thumbv7m-none-eabi",        target = "thumbv7m-none-eabi",         features = [] },
-    { name = "thumbv7em-none-eabi",       target = "thumbv7em-none-eabi",        features = [] },
-    { name = "thumbv7em-none-eabihf",     target = "thumbv7em-none-eabihf",      features = [] },
-    { name = "thumbv8m.base-none-eabi",   target = "thumbv8m.base-none-eabi",    features = [] },
-    { name = "thumbv8m.main-none-eabi",   target = "thumbv8m.main-none-eabi",    features = [] },
-    { name = "thumbv8m.main-none-eabihf", target = "thumbv8m.main-none-eabihf",  features = [] },
+    { name = "std",             target = "x86_64-unknown-linux-gnu",     features = ["arch-std", "executor-thread"] },
+    { name = "wasm",            target = "wasm32-unknown-unknown",       features = ["arch-wasm", "executor-thread"] },
+    { name = "cortex-m",        target = "thumbv7em-none-eabi",          features = ["arch-cortex-m", "executor-thread", "executor-interrupt"] },
+    { name = "riscv32",         target = "riscv32imac-unknown-none-elf", features = ["arch-riscv32", "executor-thread"] },
 ]
 
 [package.metadata.docs.rs]
-features = ["std", "nightly", "defmt"]
+default-target = "thumbv7em-none-eabi"
+targets = ["thumbv7em-none-eabi"]
+features = ["nightly", "defmt", "pender-callback", "arch-cortex-m", "executor-thread", "executor-interrupt"]
 
 [features]
-default = []
-std = ["critical-section/std"]
-wasm = ["dep:wasm-bindgen", "dep:js-sys"]
+
+# Architecture
+_arch = [] # some arch was picked
+arch-std = ["_arch", "critical-section/std"]
+arch-cortex-m = ["_arch", "dep:cortex-m"]
+arch-xtensa = ["_arch"]
+arch-riscv32 = ["_arch"]
+arch-wasm = ["_arch", "dep:wasm-bindgen", "dep:js-sys"]
+
+# Enable creating a `Pender` from an arbitrary function pointer callback.
+pender-callback = []
+
+# Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
+executor-thread = []
+# Enable the interrupt-mode executor (available in Cortex-M only)
+executor-interrupt = []
 
 # Enable nightly-only features
 nightly = []
 
+turbowakers = []
+
 integrated-timers = ["dep:embassy-time"]
 
 # Trace interrupt invocations with rtos-trace.
@@ -49,13 +61,15 @@ log = { version = "0.4.14", optional = true }
 rtos-trace = { version = "0.1.2", optional = true }
 
 futures-util = { version = "0.3.17", default-features = false }
-embassy-macros  = { version = "0.1.0", path = "../embassy-macros" }
+embassy-macros  = { version = "0.2.0", path = "../embassy-macros" }
 embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
 atomic-polyfill = "1.0.1"
 critical-section = "1.1"
-cfg-if = "1.0.0"
-static_cell = "1.0"
+static_cell = "1.1"
 
-# WASM dependencies
+# arch-cortex-m dependencies
+cortex-m = { version = "0.7.6", optional = true }
+
+# arch-wasm dependencies
 wasm-bindgen = { version = "0.2.82", optional = true }
 js-sys = { version = "0.3", optional = true }

embassy-executor/src/arch/cortex_m.rs

@@ -1,59 +1,224 @@
-use core::arch::asm;
-use core::marker::PhantomData;
-use core::ptr;
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::arch::asm;
+    use core::marker::PhantomData;
 
-use super::{raw, Spawner};
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_cortex_m as main;
 
-/// Thread mode executor, using WFE/SEV.
-///
-/// This is the simplest and most common kind of executor. It runs on
-/// thread mode (at the lowest priority level), and uses the `WFE` ARM instruction
-/// to sleep when it has no more work to do. When a task is woken, a `SEV` instruction
-/// is executed, to make the `WFE` exit from sleep and poll the task.
-///
-/// This executor allows for ultra low power consumption for chips where `WFE`
-/// triggers low-power sleep without extra steps. If your chip requires extra steps,
-/// you may use [`raw::Executor`] directly to program custom behavior.
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        Self {
-            inner: raw::Executor::new(|_| unsafe { asm!("sev") }, ptr::null_mut()),
-            not_send: PhantomData,
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender;
+
+    impl ThreadPender {
+        pub(crate) fn pend(self) {
+            unsafe { core::arch::asm!("sev") }
         }
     }
 
-    /// Run the executor.
+    /// Thread mode executor, using WFE/SEV.
     ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
+    /// This is the simplest and most common kind of executor. It runs on
+    /// thread mode (at the lowest priority level), and uses the `WFE` ARM instruction
+    /// to sleep when it has no more work to do. When a task is woken, a `SEV` instruction
+    /// is executed, to make the `WFE` exit from sleep and poll the task.
     ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// This executor allows for ultra low power consumption for chips where `WFE`
+    /// triggers low-power sleep without extra steps. If your chip requires extra steps,
+    /// you may use [`raw::Executor`] directly to program custom behavior.
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe {
+                    self.inner.poll();
+                    asm!("wfe");
+                };
+            }
+        }
+    }
+}
+
+#[cfg(feature = "executor-interrupt")]
+pub use interrupt::*;
+#[cfg(feature = "executor-interrupt")]
+mod interrupt {
+    use core::cell::UnsafeCell;
+    use core::mem::MaybeUninit;
+
+    use atomic_polyfill::{AtomicBool, Ordering};
+    use cortex_m::interrupt::InterruptNumber;
+    use cortex_m::peripheral::NVIC;
+
+    use crate::raw::{self, Pender, PenderInner};
+
+    #[derive(Clone, Copy)]
+    pub(crate) struct InterruptPender(u16);
+
+    impl InterruptPender {
+        pub(crate) fn pend(self) {
+            // STIR is faster, but is only available in v7 and higher.
+            #[cfg(not(armv6m))]
+            {
+                let mut nvic: cortex_m::peripheral::NVIC = unsafe { core::mem::transmute(()) };
+                nvic.request(self);
+            }
+
+            #[cfg(armv6m)]
+            cortex_m::peripheral::NVIC::pend(self);
+        }
+    }
+
+    unsafe impl cortex_m::interrupt::InterruptNumber for InterruptPender {
+        fn number(self) -> u16 {
+            self.0
+        }
+    }
+
+    /// Interrupt mode executor.
+    ///
+    /// This executor runs tasks in interrupt mode. The interrupt handler is set up
+    /// to poll tasks, and when a task is woken the interrupt is pended from software.
+    ///
+    /// This allows running async tasks at a priority higher than thread mode. One
+    /// use case is to leave thread mode free for non-async tasks. Another use case is
+    /// to run multiple executors: one in thread mode for low priority tasks and another in
+    /// interrupt mode for higher priority tasks. Higher priority tasks will preempt lower
+    /// priority ones.
+    ///
+    /// It is even possible to run multiple interrupt mode executors at different priorities,
+    /// by assigning different priorities to the interrupts. For an example on how to do this,
+    /// See the 'multiprio' example for 'embassy-nrf'.
+    ///
+    /// To use it, you have to pick an interrupt that won't be used by the hardware.
+    /// Some chips reserve some interrupts for this purpose, sometimes named "software interrupts" (SWI).
+    /// If this is not the case, you may use an interrupt from any unused peripheral.
+    ///
+    /// It is somewhat more complex to use, it's recommended to use the thread-mode
+    /// [`Executor`] instead, if it works for your use case.
+    pub struct InterruptExecutor {
+        started: AtomicBool,
+        executor: UnsafeCell<MaybeUninit<raw::Executor>>,
+    }
+
+    unsafe impl Send for InterruptExecutor {}
+    unsafe impl Sync for InterruptExecutor {}
+
+    impl InterruptExecutor {
+        /// Create a new, not started `InterruptExecutor`.
+        #[inline]
+        pub const fn new() -> Self {
+            Self {
+                started: AtomicBool::new(false),
+                executor: UnsafeCell::new(MaybeUninit::uninit()),
+            }
+        }
+
+        /// Executor interrupt callback.
+        ///
+        /// # Safety
+        ///
+        /// You MUST call this from the interrupt handler, and from nowhere else.
+        pub unsafe fn on_interrupt(&'static self) {
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+            executor.poll();
+        }
+
+        /// Start the executor.
+        ///
+        /// This initializes the executor, enables the interrupt, and returns.
+        /// The executor keeps running in the background through the interrupt.
+        ///
+        /// This returns a [`SendSpawner`] you can use to spawn tasks on it. A [`SendSpawner`]
+        /// is returned instead of a [`Spawner`](embassy_executor::Spawner) because the executor effectively runs in a
+        /// different "thread" (the interrupt), so spawning tasks on it is effectively
+        /// sending them.
+        ///
+        /// To obtain a [`Spawner`](embassy_executor::Spawner) for this executor, use [`Spawner::for_current_executor()`](embassy_executor::Spawner::for_current_executor()) from
+        /// a task running in it.
+        ///
+        /// # Interrupt requirements
+        ///
+        /// You must write the interrupt handler yourself, and make it call [`on_interrupt()`](Self::on_interrupt).
+        ///
+        /// This method already enables (unmasks) the interrupt, you must NOT do it yourself.
+        ///
+        /// You must set the interrupt priority before calling this method. You MUST NOT
+        /// do it after.
+        ///
+        pub fn start(&'static self, irq: impl InterruptNumber) -> crate::SendSpawner {
+            if self
+                .started
+                .compare_exchange(false, true, Ordering::Acquire, Ordering::Relaxed)
+                .is_err()
+            {
+                panic!("InterruptExecutor::start() called multiple times on the same executor.");
+            }
 
-        loop {
             unsafe {
-                self.inner.poll();
-                asm!("wfe");
-            };
+                (&mut *self.executor.get())
+                    .as_mut_ptr()
+                    .write(raw::Executor::new(Pender(PenderInner::Interrupt(InterruptPender(
+                        irq.number(),
+                    )))))
+            }
+
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+
+            unsafe { NVIC::unmask(irq) }
+
+            executor.spawner().make_send()
+        }
+
+        /// Get a SendSpawner for this executor
+        ///
+        /// This returns a [`SendSpawner`] you can use to spawn tasks on this
+        /// executor.
+        ///
+        /// This MUST only be called on an executor that has already been spawned.
+        /// The function will panic otherwise.
+        pub fn spawner(&'static self) -> crate::SendSpawner {
+            if !self.started.load(Ordering::Acquire) {
+                panic!("InterruptExecutor::spawner() called on uninitialized executor.");
+            }
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+            executor.spawner().make_send()
         }
     }
 }

embassy-executor/src/arch/riscv32.rs

@@ -1,73 +1,86 @@
-use core::marker::PhantomData;
-use core::ptr;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-riscv32`.");
 
-use atomic_polyfill::{AtomicBool, Ordering};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
-use super::{raw, Spawner};
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_riscv as main;
 
-/// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
-///
-static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-/// RISCV32 Executor
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender;
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        Self {
-            // use Signal_Work_Thread_Mode as substitute for local interrupt register
-            inner: raw::Executor::new(
-                |_| {
-                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
-                },
-                ptr::null_mut(),
-            ),
-            not_send: PhantomData,
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
 
-        loop {
-            unsafe {
-                self.inner.poll();
-                // we do not care about race conditions between the load and store operations, interrupts
-                //will only set this value to true.
-                critical_section::with(|_| {
-                    // if there is work to do, loop back to polling
-                    // TODO can we relax this?
-                    if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
-                        SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
-                    }
-                    // if not, wait for interrupt
-                    else {
-                        core::arch::asm!("wfi");
-                    }
-                });
-                // if an interrupt occurred while waiting, it will be serviced here
+    /// RISCV32 Executor
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe {
+                    self.inner.poll();
+                    // we do not care about race conditions between the load and store operations, interrupts
+                    //will only set this value to true.
+                    critical_section::with(|_| {
+                        // if there is work to do, loop back to polling
+                        // TODO can we relax this?
+                        if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
+                            SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
+                        }
+                        // if not, wait for interrupt
+                        else {
+                            core::arch::asm!("wfi");
+                        }
+                    });
+                    // if an interrupt occurred while waiting, it will be serviced here
+                }
             }
         }
     }

embassy-executor/src/arch/std.rs

@@ -1,84 +1,100 @@
-use std::marker::PhantomData;
-use std::sync::{Condvar, Mutex};
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-std`.");
 
-use super::{raw, Spawner};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use std::marker::PhantomData;
+    use std::sync::{Condvar, Mutex};
 
-/// Single-threaded std-based executor.
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-    signaler: &'static Signaler,
-}
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_std as main;
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        let signaler = &*Box::leak(Box::new(Signaler::new()));
-        Self {
-            inner: raw::Executor::new(
-                |p| unsafe {
-                    let s = &*(p as *const () as *const Signaler);
-                    s.signal()
-                },
-                signaler as *const _ as _,
-            ),
-            not_send: PhantomData,
-            signaler,
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
+
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender(&'static Signaler);
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            self.0.signal()
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
-
-        loop {
-            unsafe { self.inner.poll() };
-            self.signaler.wait()
-        }
+    /// Single-threaded std-based executor.
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+        signaler: &'static Signaler,
     }
-}
 
-struct Signaler {
-    mutex: Mutex<bool>,
-    condvar: Condvar,
-}
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            let signaler = &*Box::leak(Box::new(Signaler::new()));
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(signaler)))),
+                not_send: PhantomData,
+                signaler,
+            }
+        }
 
-impl Signaler {
-    fn new() -> Self {
-        Self {
-            mutex: Mutex::new(false),
-            condvar: Condvar::new(),
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe { self.inner.poll() };
+                self.signaler.wait()
+            }
         }
     }
 
-    fn wait(&self) {
-        let mut signaled = self.mutex.lock().unwrap();
-        while !*signaled {
-            signaled = self.condvar.wait(signaled).unwrap();
-        }
-        *signaled = false;
+    struct Signaler {
+        mutex: Mutex<bool>,
+        condvar: Condvar,
     }
 
-    fn signal(&self) {
-        let mut signaled = self.mutex.lock().unwrap();
-        *signaled = true;
-        self.condvar.notify_one();
+    impl Signaler {
+        fn new() -> Self {
+            Self {
+                mutex: Mutex::new(false),
+                condvar: Condvar::new(),
+            }
+        }
+
+        fn wait(&self) {
+            let mut signaled = self.mutex.lock().unwrap();
+            while !*signaled {
+                signaled = self.condvar.wait(signaled).unwrap();
+            }
+            *signaled = false;
+        }
+
+        fn signal(&self) {
+            let mut signaled = self.mutex.lock().unwrap();
+            *signaled = true;
+            self.condvar.notify_one();
+        }
     }
 }

embassy-executor/src/arch/wasm.rs

@@ -1,74 +1,88 @@
-use core::marker::PhantomData;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-wasm`.");
 
-use js_sys::Promise;
-use wasm_bindgen::prelude::*;
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
 
-use super::raw::util::UninitCell;
-use super::raw::{self};
-use super::Spawner;
+    use core::marker::PhantomData;
 
-/// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
-pub struct Executor {
-    inner: raw::Executor,
-    ctx: &'static WasmContext,
-    not_send: PhantomData<*mut ()>,
-}
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_wasm as main;
+    use js_sys::Promise;
+    use wasm_bindgen::prelude::*;
 
-pub(crate) struct WasmContext {
-    promise: Promise,
-    closure: UninitCell<Closure<dyn FnMut(JsValue)>>,
-}
+    use crate::raw::util::UninitCell;
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-impl WasmContext {
-    pub fn new() -> Self {
-        Self {
-            promise: Promise::resolve(&JsValue::undefined()),
-            closure: UninitCell::uninit(),
-        }
+    /// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
+    pub struct Executor {
+        inner: raw::Executor,
+        ctx: &'static WasmContext,
+        not_send: PhantomData<*mut ()>,
     }
-}
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        let ctx = &*Box::leak(Box::new(WasmContext::new()));
-        let inner = raw::Executor::new(
-            |p| unsafe {
-                let ctx = &*(p as *const () as *const WasmContext);
-                let _ = ctx.promise.then(ctx.closure.as_mut());
-            },
-            ctx as *const _ as _,
-        );
-        Self {
-            inner,
-            not_send: PhantomData,
-            ctx,
+    pub(crate) struct WasmContext {
+        promise: Promise,
+        closure: UninitCell<Closure<dyn FnMut(JsValue)>>,
+    }
+
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender(&'static WasmContext);
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            let _ = self.0.promise.then(unsafe { self.0.closure.as_mut() });
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {
-        unsafe {
-            let executor = &self.inner;
-            self.ctx.closure.write(Closure::new(move |_| {
-                executor.poll();
-            }));
-            init(self.inner.spawner());
+    impl WasmContext {
+        pub fn new() -> Self {
+            Self {
+                promise: Promise::resolve(&JsValue::undefined()),
+                closure: UninitCell::uninit(),
+            }
+        }
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            let ctx = &*Box::leak(Box::new(WasmContext::new()));
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(ctx)))),
+                not_send: PhantomData,
+                ctx,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {
+            unsafe {
+                let executor = &self.inner;
+                self.ctx.closure.write(Closure::new(move |_| {
+                    executor.poll();
+                }));
+                init(self.inner.spawner());
+            }
         }
     }
 }

embassy-executor/src/arch/xtensa.rs

@@ -1,66 +1,84 @@
-use core::marker::PhantomData;
-use core::ptr;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-xtensa`.");
 
-use atomic_polyfill::{AtomicBool, Ordering};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
-use super::{raw, Spawner};
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-/// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
-///
-static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender;
 
-/// Xtensa Executor
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
-
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        Self {
-            // use Signal_Work_Thread_Mode as substitute for local interrupt register
-            inner: raw::Executor::new(
-                |_| {
-                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
-                },
-                ptr::null_mut(),
-            ),
-            not_send: PhantomData,
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
 
-        loop {
-            unsafe {
-                self.inner.poll();
-                // we do not care about race conditions between the load and store operations, interrupts
-                // will only set this value to true.
-                // if there is work to do, loop back to polling
-                // TODO can we relax this?
-                critical_section::with(|_| {
+    /// Xtensa Executor
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe {
+                    self.inner.poll();
+
+                    // Manual critical section implementation that only masks interrupts handlers.
+                    // We must not acquire the cross-core on dual-core systems because that would
+                    // prevent the other core from doing useful work while this core is sleeping.
+                    let token: critical_section::RawRestoreState;
+                    core::arch::asm!("rsil {0}, 5", out(reg) token);
+
+                    // we do not care about race conditions between the load and store operations, interrupts
+                    // will only set this value to true.
+                    // if there is work to do, loop back to polling
                     if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
                         SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
+
+                        core::arch::asm!(
+                            "wsr.ps {0}",
+                            "rsync", in(reg) token)
                     } else {
                         // waiti sets the PS.INTLEVEL when slipping into sleep
                         // because critical sections in Xtensa are implemented via increasing
@@ -68,7 +86,7 @@ impl Executor {
                         // take care not add code after `waiti` if it needs to be inside the CS
                         core::arch::asm!("waiti 0"); // critical section ends here
                     }
-                });
+                }
             }
         }
     }

embassy-executor/src/lib.rs

@@ -1,5 +1,5 @@
-#![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
-#![cfg_attr(all(feature = "nightly", target_arch = "xtensa"), feature(asm_experimental_arch))]
+#![cfg_attr(not(any(feature = "arch-std", feature = "arch-wasm")), no_std)]
+#![cfg_attr(all(feature = "nightly", feature = "arch-xtensa"), feature(asm_experimental_arch))]
 #![allow(clippy::new_without_default)]
 #![doc = include_str!("../README.md")]
 #![warn(missing_docs)]
@@ -10,47 +10,43 @@ pub(crate) mod fmt;
 #[cfg(feature = "nightly")]
 pub use embassy_macros::task;
 
-cfg_if::cfg_if! {
-    if #[cfg(cortex_m)] {
-        #[path="arch/cortex_m.rs"]
-        mod arch;
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_cortex_m as main;
-    }
-    else if #[cfg(target_arch="riscv32")] {
-        #[path="arch/riscv32.rs"]
-        mod arch;
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_riscv as main;
-    }
-    else if #[cfg(all(target_arch="xtensa", feature = "nightly"))] {
-        #[path="arch/xtensa.rs"]
-        mod arch;
-        pub use arch::*;
-    }
-    else if #[cfg(feature="wasm")] {
-        #[path="arch/wasm.rs"]
-        mod arch;
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_wasm as main;
-    }
-    else if #[cfg(feature="std")] {
-        #[path="arch/std.rs"]
-        mod arch;
-        pub use arch::*;
-        #[cfg(feature = "nightly")]
-        pub use embassy_macros::main_std as main;
-    }
+macro_rules! check_at_most_one {
+    (@amo [$($feats:literal)*] [] [$($res:tt)*]) => {
+        #[cfg(any($($res)*))]
+        compile_error!(concat!("At most one of these features can be enabled at the same time:", $(" `", $feats, "`",)*));
+    };
+    (@amo $feats:tt [$curr:literal $($rest:literal)*] [$($res:tt)*]) => {
+        check_at_most_one!(@amo $feats [$($rest)*] [$($res)* $(all(feature=$curr, feature=$rest),)*]);
+    };
+    ($($f:literal),*$(,)?) => {
+        check_at_most_one!(@amo [$($f)*] [$($f)*] []);
+    };
 }
+check_at_most_one!("arch-cortex-m", "arch-riscv32", "arch-xtensa", "arch-std", "arch-wasm",);
 
+#[cfg(feature = "_arch")]
+#[cfg_attr(feature = "arch-cortex-m", path = "arch/cortex_m.rs")]
+#[cfg_attr(feature = "arch-riscv32", path = "arch/riscv32.rs")]
+#[cfg_attr(feature = "arch-xtensa", path = "arch/xtensa.rs")]
+#[cfg_attr(feature = "arch-std", path = "arch/std.rs")]
+#[cfg_attr(feature = "arch-wasm", path = "arch/wasm.rs")]
+mod arch;
+
+#[cfg(feature = "_arch")]
+pub use arch::*;
+
+pub mod raw;
+
+mod spawner;
+pub use spawner::*;
+
+/// Implementation details for embassy macros.
+/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
 #[doc(hidden)]
-/// Implementation details for embassy macros. DO NOT USE.
-pub mod export {
+pub mod _export {
     #[cfg(feature = "rtos-trace")]
     pub use rtos_trace::trace;
+    pub use static_cell::StaticCell;
 
     /// Expands the given block of code when `embassy-executor` is compiled with
     /// the `rtos-trace-interrupt` feature.
@@ -70,14 +66,3 @@ pub mod export {
         ($($tt:tt)*) => {};
     }
 }
-
-pub mod raw;
-
-mod spawner;
-pub use spawner::*;
-
-/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
-#[doc(hidden)]
-pub mod _export {
-    pub use static_cell::StaticCell;
-}

embassy-executor/src/raw/mod.rs

@@ -11,17 +11,17 @@ mod run_queue;
 #[cfg(feature = "integrated-timers")]
 mod timer_queue;
 pub(crate) mod util;
+#[cfg_attr(feature = "turbowakers", path = "waker_turbo.rs")]
 mod waker;
 
-use core::cell::Cell;
 use core::future::Future;
+use core::marker::PhantomData;
+use core::mem;
 use core::pin::Pin;
 use core::ptr::NonNull;
 use core::task::{Context, Poll};
-use core::{mem, ptr};
 
 use atomic_polyfill::{AtomicU32, Ordering};
-use critical_section::CriticalSection;
 #[cfg(feature = "integrated-timers")]
 use embassy_time::driver::{self, AlarmHandle};
 #[cfg(feature = "integrated-timers")]
@@ -30,7 +30,7 @@ use embassy_time::Instant;
 use rtos_trace::trace;
 
 use self::run_queue::{RunQueue, RunQueueItem};
-use self::util::UninitCell;
+use self::util::{SyncUnsafeCell, UninitCell};
 pub use self::waker::task_from_waker;
 use super::SpawnToken;
 
@@ -43,35 +43,49 @@ pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
 pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
 
 /// Raw task header for use in task pointers.
-///
-/// This is an opaque struct, used for raw pointers to tasks, for use
-/// with funtions like [`wake_task`] and [`task_from_waker`].
-pub struct TaskHeader {
+pub(crate) struct TaskHeader {
     pub(crate) state: AtomicU32,
     pub(crate) run_queue_item: RunQueueItem,
-    pub(crate) executor: Cell<*const Executor>, // Valid if state != 0
-    pub(crate) poll_fn: UninitCell<unsafe fn(NonNull<TaskHeader>)>, // Valid if STATE_SPAWNED
+    pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
+    poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
     #[cfg(feature = "integrated-timers")]
-    pub(crate) expires_at: Cell<Instant>,
+    pub(crate) expires_at: SyncUnsafeCell<Instant>,
     #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
 }
 
-impl TaskHeader {
-    pub(crate) const fn new() -> Self {
-        Self {
-            state: AtomicU32::new(0),
-            run_queue_item: RunQueueItem::new(),
-            executor: Cell::new(ptr::null()),
-            poll_fn: UninitCell::uninit(),
+/// This is essentially a `&'static TaskStorage<F>` where the type of the future has been erased.
+#[derive(Clone, Copy)]
+pub struct TaskRef {
+    ptr: NonNull<TaskHeader>,
+}
 
-            #[cfg(feature = "integrated-timers")]
-            expires_at: Cell::new(Instant::from_ticks(0)),
-            #[cfg(feature = "integrated-timers")]
-            timer_queue_item: timer_queue::TimerQueueItem::new(),
+unsafe impl Send for TaskRef where &'static TaskHeader: Send {}
+unsafe impl Sync for TaskRef where &'static TaskHeader: Sync {}
+
+impl TaskRef {
+    fn new<F: Future + 'static>(task: &'static TaskStorage<F>) -> Self {
+        Self {
+            ptr: NonNull::from(task).cast(),
         }
     }
+
+    /// Safety: The pointer must have been obtained with `Task::as_ptr`
+    pub(crate) unsafe fn from_ptr(ptr: *const TaskHeader) -> Self {
+        Self {
+            ptr: NonNull::new_unchecked(ptr as *mut TaskHeader),
+        }
+    }
+
+    pub(crate) fn header(self) -> &'static TaskHeader {
+        unsafe { self.ptr.as_ref() }
+    }
+
+    /// The returned pointer is valid for the entire TaskStorage.
+    pub(crate) fn as_ptr(self) -> *const TaskHeader {
+        self.ptr.as_ptr()
+    }
 }
 
 /// Raw storage in which a task can be spawned.
@@ -101,7 +115,18 @@ impl<F: Future + 'static> TaskStorage<F> {
     /// Create a new TaskStorage, in not-spawned state.
     pub const fn new() -> Self {
         Self {
-            raw: TaskHeader::new(),
+            raw: TaskHeader {
+                state: AtomicU32::new(0),
+                run_queue_item: RunQueueItem::new(),
+                executor: SyncUnsafeCell::new(None),
+                // Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
+                poll_fn: SyncUnsafeCell::new(None),
+
+                #[cfg(feature = "integrated-timers")]
+                expires_at: SyncUnsafeCell::new(Instant::from_ticks(0)),
+                #[cfg(feature = "integrated-timers")]
+                timer_queue_item: timer_queue::TimerQueueItem::new(),
+            },
             future: UninitCell::uninit(),
         }
     }
@@ -120,29 +145,17 @@ impl<F: Future + 'static> TaskStorage<F> {
     /// Once the task has finished running, you may spawn it again. It is allowed to spawn it
     /// on a different executor.
     pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
-        if self.spawn_mark_used() {
-            return unsafe { SpawnToken::<F>::new(self.spawn_initialize(future)) };
+        let task = AvailableTask::claim(self);
+        match task {
+            Some(task) => {
+                let task = task.initialize(future);
+                unsafe { SpawnToken::<F>::new(task) }
+            }
+            None => SpawnToken::new_failed(),
         }
-
-        SpawnToken::<F>::new_failed()
     }
 
-    fn spawn_mark_used(&'static self) -> bool {
-        let state = STATE_SPAWNED | STATE_RUN_QUEUED;
-        self.raw
-            .state
-            .compare_exchange(0, state, Ordering::AcqRel, Ordering::Acquire)
-            .is_ok()
-    }
-
-    unsafe fn spawn_initialize(&'static self, future: impl FnOnce() -> F) -> NonNull<TaskHeader> {
-        // Initialize the task
-        self.raw.poll_fn.write(Self::poll);
-        self.future.write(future());
-        NonNull::new_unchecked(self as *const TaskStorage<F> as *const TaskHeader as *mut TaskHeader)
-    }
-
-    unsafe fn poll(p: NonNull<TaskHeader>) {
+    unsafe fn poll(p: TaskRef) {
         let this = &*(p.as_ptr() as *const TaskStorage<F>);
 
         let future = Pin::new_unchecked(this.future.as_mut());
@@ -160,9 +173,37 @@ impl<F: Future + 'static> TaskStorage<F> {
         // it's a noop for our waker.
         mem::forget(waker);
     }
+
+    #[doc(hidden)]
+    #[allow(dead_code)]
+    fn _assert_sync(self) {
+        fn assert_sync<T: Sync>(_: T) {}
+
+        assert_sync(self)
+    }
 }
 
-unsafe impl<F: Future + 'static> Sync for TaskStorage<F> {}
+struct AvailableTask<F: Future + 'static> {
+    task: &'static TaskStorage<F>,
+}
+
+impl<F: Future + 'static> AvailableTask<F> {
+    fn claim(task: &'static TaskStorage<F>) -> Option<Self> {
+        task.raw
+            .state
+            .compare_exchange(0, STATE_SPAWNED | STATE_RUN_QUEUED, Ordering::AcqRel, Ordering::Acquire)
+            .ok()
+            .map(|_| Self { task })
+    }
+
+    fn initialize(self, future: impl FnOnce() -> F) -> TaskRef {
+        unsafe {
+            self.task.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
+            self.task.future.write(future());
+        }
+        TaskRef::new(self.task)
+    }
+}
 
 /// Raw storage that can hold up to N tasks of the same type.
 ///
@@ -187,13 +228,14 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
     /// is currently free. If none is free, a "poisoned" SpawnToken is returned,
     /// which will cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
     pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
-        for task in &self.pool {
-            if task.spawn_mark_used() {
-                return unsafe { SpawnToken::<F>::new(task.spawn_initialize(future)) };
+        let task = self.pool.iter().find_map(AvailableTask::claim);
+        match task {
+            Some(task) => {
+                let task = task.initialize(future);
+                unsafe { SpawnToken::<F>::new(task) }
             }
+            None => SpawnToken::new_failed(),
         }
-
-        SpawnToken::<F>::new_failed()
     }
 
     /// Like spawn(), but allows the task to be send-spawned if the args are Send even if
@@ -235,39 +277,71 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
         // This ONLY holds for `async fn` futures. The other `spawn` methods can be called directly
         // by the user, with arbitrary hand-implemented futures. This is why these return `SpawnToken<F>`.
 
-        for task in &self.pool {
-            if task.spawn_mark_used() {
-                return SpawnToken::<FutFn>::new(task.spawn_initialize(future));
+        let task = self.pool.iter().find_map(AvailableTask::claim);
+        match task {
+            Some(task) => {
+                let task = task.initialize(future);
+                unsafe { SpawnToken::<FutFn>::new(task) }
             }
+            None => SpawnToken::new_failed(),
         }
-
-        SpawnToken::<FutFn>::new_failed()
     }
 }
 
-/// Raw executor.
+#[derive(Clone, Copy)]
+pub(crate) enum PenderInner {
+    #[cfg(feature = "executor-thread")]
+    Thread(crate::arch::ThreadPender),
+    #[cfg(feature = "executor-interrupt")]
+    Interrupt(crate::arch::InterruptPender),
+    #[cfg(feature = "pender-callback")]
+    Callback { func: fn(*mut ()), context: *mut () },
+}
+
+unsafe impl Send for PenderInner {}
+unsafe impl Sync for PenderInner {}
+
+/// Platform/architecture-specific action executed when an executor has pending work.
 ///
-/// This is the core of the Embassy executor. It is low-level, requiring manual
-/// handling of wakeups and task polling. If you can, prefer using one of the
-/// [higher level executors](crate::Executor).
+/// When a task within an executor is woken, the `Pender` is called. This does a
+/// platform/architecture-specific action to signal there is pending work in the executor.
+/// When this happens, you must arrange for [`Executor::poll`] to be called.
 ///
-/// The raw executor leaves it up to you to handle wakeups and scheduling:
-///
-/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
-///   that "want to run").
-/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
-///   to do. You must arrange for `poll()` to be called as soon as possible.
-///
-/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
-/// level, etc. It may be called synchronously from any `Executor` method call as well.
-/// You must deal with this correctly.
-///
-/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
-/// the requirement for `poll` to not be called reentrantly.
-pub struct Executor {
+/// You can think of it as a waker, but for the whole executor.
+pub struct Pender(pub(crate) PenderInner);
+
+impl Pender {
+    /// Create a `Pender` that will call an arbitrary function pointer.
+    ///
+    /// # Arguments
+    ///
+    /// - `func`: The function pointer to call.
+    /// - `context`: Opaque context pointer, that will be passed to the function pointer.
+    #[cfg(feature = "pender-callback")]
+    pub fn new_from_callback(func: fn(*mut ()), context: *mut ()) -> Self {
+        Self(PenderInner::Callback {
+            func,
+            context: context.into(),
+        })
+    }
+}
+
+impl Pender {
+    pub(crate) fn pend(&self) {
+        match self.0 {
+            #[cfg(feature = "executor-thread")]
+            PenderInner::Thread(x) => x.pend(),
+            #[cfg(feature = "executor-interrupt")]
+            PenderInner::Interrupt(x) => x.pend(),
+            #[cfg(feature = "pender-callback")]
+            PenderInner::Callback { func, context } => func(context),
+        }
+    }
+}
+
+pub(crate) struct SyncExecutor {
     run_queue: RunQueue,
-    signal_fn: fn(*mut ()),
-    signal_ctx: *mut (),
+    pender: Pender,
 
     #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue: timer_queue::TimerQueue,
@@ -275,23 +349,14 @@ pub struct Executor {
     alarm: AlarmHandle,
 }
 
-impl Executor {
-    /// Create a new executor.
-    ///
-    /// When the executor has work to do, it will call `signal_fn` with
-    /// `signal_ctx` as argument.
-    ///
-    /// See [`Executor`] docs for details on `signal_fn`.
-    pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+impl SyncExecutor {
+    pub(crate) fn new(pender: Pender) -> Self {
         #[cfg(feature = "integrated-timers")]
         let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
-        #[cfg(feature = "integrated-timers")]
-        driver::set_alarm_callback(alarm, signal_fn, signal_ctx);
 
         Self {
             run_queue: RunQueue::new(),
-            signal_fn,
-            signal_ctx,
+            pender,
 
             #[cfg(feature = "integrated-timers")]
             timer_queue: timer_queue::TimerQueue::new(),
@@ -307,59 +372,44 @@ impl Executor {
     /// - `task` must be set up to run in this executor.
     /// - `task` must NOT be already enqueued (in this executor or another one).
     #[inline(always)]
-    unsafe fn enqueue(&self, cs: CriticalSection, task: NonNull<TaskHeader>) {
+    unsafe fn enqueue(&self, task: TaskRef) {
         #[cfg(feature = "rtos-trace")]
         trace::task_ready_begin(task.as_ptr() as u32);
 
-        if self.run_queue.enqueue(cs, task) {
-            (self.signal_fn)(self.signal_ctx)
+        if self.run_queue.enqueue(task) {
+            self.pender.pend();
         }
     }
 
-    /// Spawn a task in this executor.
-    ///
-    /// # Safety
-    ///
-    /// `task` must be a valid pointer to an initialized but not-already-spawned task.
-    ///
-    /// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
-    /// In this case, the task's Future must be Send. This is because this is effectively
-    /// sending the task to the executor thread.
-    pub(super) unsafe fn spawn(&'static self, task: NonNull<TaskHeader>) {
-        task.as_ref().executor.set(self);
+    #[cfg(feature = "integrated-timers")]
+    fn alarm_callback(ctx: *mut ()) {
+        let this: &Self = unsafe { &*(ctx as *const Self) };
+        this.pender.pend();
+    }
+
+    pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
+        task.header().executor.set(Some(self));
 
         #[cfg(feature = "rtos-trace")]
         trace::task_new(task.as_ptr() as u32);
 
-        critical_section::with(|cs| {
-            self.enqueue(cs, task);
-        })
+        self.enqueue(task);
     }
 
-    /// Poll all queued tasks in this executor.
-    ///
-    /// This loops over all tasks that are queued to be polled (i.e. they're
-    /// freshly spawned or they've been woken). Other tasks are not polled.
-    ///
-    /// You must call `poll` after receiving a call to `signal_fn`. It is OK
-    /// to call `poll` even when not requested by `signal_fn`, but it wastes
-    /// energy.
-    ///
     /// # Safety
     ///
-    /// You must NOT call `poll` reentrantly on the same executor.
-    ///
-    /// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
-    /// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
-    /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
-    /// no `poll()` already running.
-    pub unsafe fn poll(&'static self) {
+    /// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
+    pub(crate) unsafe fn poll(&'static self) {
+        #[cfg(feature = "integrated-timers")]
+        driver::set_alarm_callback(self.alarm, Self::alarm_callback, self as *const _ as *mut ());
+
+        #[allow(clippy::never_loop)]
         loop {
             #[cfg(feature = "integrated-timers")]
             self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
 
             self.run_queue.dequeue_all(|p| {
-                let task = p.as_ref();
+                let task = p.header();
 
                 #[cfg(feature = "integrated-timers")]
                 task.expires_at.set(Instant::MAX);
@@ -378,7 +428,7 @@ impl Executor {
                 trace::task_exec_begin(p.as_ptr() as u32);
 
                 // Run the task
-                task.poll_fn.read()(p as _);
+                task.poll_fn.get().unwrap_unchecked()(p);
 
                 #[cfg(feature = "rtos-trace")]
                 trace::task_exec_end();
@@ -407,6 +457,84 @@ impl Executor {
         #[cfg(feature = "rtos-trace")]
         trace::system_idle();
     }
+}
+
+/// Raw executor.
+///
+/// This is the core of the Embassy executor. It is low-level, requiring manual
+/// handling of wakeups and task polling. If you can, prefer using one of the
+/// [higher level executors](crate::Executor).
+///
+/// The raw executor leaves it up to you to handle wakeups and scheduling:
+///
+/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
+///   that "want to run").
+/// - You must supply a [`Pender`]. The executor will call it to notify you it has work
+///   to do. You must arrange for `poll()` to be called as soon as possible.
+///
+/// The [`Pender`] can be called from *any* context: any thread, any interrupt priority
+/// level, etc. It may be called synchronously from any `Executor` method call as well.
+/// You must deal with this correctly.
+///
+/// In particular, you must NOT call `poll` directly from the pender callback, as this violates
+/// the requirement for `poll` to not be called reentrantly.
+#[repr(transparent)]
+pub struct Executor {
+    pub(crate) inner: SyncExecutor,
+
+    _not_sync: PhantomData<*mut ()>,
+}
+
+impl Executor {
+    pub(crate) unsafe fn wrap(inner: &SyncExecutor) -> &Self {
+        mem::transmute(inner)
+    }
+
+    /// Create a new executor.
+    ///
+    /// When the executor has work to do, it will call the [`Pender`].
+    ///
+    /// See [`Executor`] docs for details on `Pender`.
+    pub fn new(pender: Pender) -> Self {
+        Self {
+            inner: SyncExecutor::new(pender),
+            _not_sync: PhantomData,
+        }
+    }
+
+    /// Spawn a task in this executor.
+    ///
+    /// # Safety
+    ///
+    /// `task` must be a valid pointer to an initialized but not-already-spawned task.
+    ///
+    /// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
+    /// In this case, the task's Future must be Send. This is because this is effectively
+    /// sending the task to the executor thread.
+    pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
+        self.inner.spawn(task)
+    }
+
+    /// Poll all queued tasks in this executor.
+    ///
+    /// This loops over all tasks that are queued to be polled (i.e. they're
+    /// freshly spawned or they've been woken). Other tasks are not polled.
+    ///
+    /// You must call `poll` after receiving a call to the [`Pender`]. It is OK
+    /// to call `poll` even when not requested by the `Pender`, but it wastes
+    /// energy.
+    ///
+    /// # Safety
+    ///
+    /// You must NOT call `poll` reentrantly on the same executor.
+    ///
+    /// In particular, note that `poll` may call the `Pender` synchronously. Therefore, you
+    /// must NOT directly call `poll()` from the `Pender` callback. Instead, the callback has to
+    /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
+    /// no `poll()` already running.
+    pub unsafe fn poll(&'static self) {
+        self.inner.poll()
+    }
 
     /// Get a spawner that spawns tasks in this executor.
     ///
@@ -417,30 +545,29 @@ impl Executor {
     }
 }
 
-/// Wake a task by raw pointer.
+/// Wake a task by `TaskRef`.
 ///
-/// You can obtain task pointers from `Waker`s using [`task_from_waker`].
-///
-/// # Safety
-///
-/// `task` must be a valid task pointer obtained from [`task_from_waker`].
-pub unsafe fn wake_task(task: NonNull<TaskHeader>) {
-    critical_section::with(|cs| {
-        let header = task.as_ref();
-        let state = header.state.load(Ordering::Relaxed);
+/// You can obtain a `TaskRef` from a `Waker` using [`task_from_waker`].
+pub fn wake_task(task: TaskRef) {
+    let header = task.header();
 
+    let res = header.state.fetch_update(Ordering::SeqCst, Ordering::SeqCst, |state| {
         // If already scheduled, or if not started,
         if (state & STATE_RUN_QUEUED != 0) || (state & STATE_SPAWNED == 0) {
-            return;
+            None
+        } else {
+            // Mark it as scheduled
+            Some(state | STATE_RUN_QUEUED)
         }
+    });
 
-        // Mark it as scheduled
-        header.state.store(state | STATE_RUN_QUEUED, Ordering::Relaxed);
-
+    if res.is_ok() {
         // We have just marked the task as scheduled, so enqueue it.
-        let executor = &*header.executor.get();
-        executor.enqueue(cs, task);
-    })
+        unsafe {
+            let executor = header.executor.get().unwrap_unchecked();
+            executor.enqueue(task);
+        }
+    }
 }
 
 #[cfg(feature = "integrated-timers")]
@@ -450,9 +577,11 @@ struct TimerQueue;
 impl embassy_time::queue::TimerQueue for TimerQueue {
     fn schedule_wake(&'static self, at: Instant, waker: &core::task::Waker) {
         let task = waker::task_from_waker(waker);
-        let task = unsafe { task.as_ref() };
-        let expires_at = task.expires_at.get();
-        task.expires_at.set(expires_at.min(at));
+        let task = task.header();
+        unsafe {
+            let expires_at = task.expires_at.get();
+            task.expires_at.set(expires_at.min(at));
+        }
     }
 }
 

embassy-executor/src/raw/run_queue.rs

@@ -2,18 +2,18 @@ use core::ptr;
 use core::ptr::NonNull;
 
 use atomic_polyfill::{AtomicPtr, Ordering};
-use critical_section::CriticalSection;
 
-use super::TaskHeader;
+use super::{TaskHeader, TaskRef};
+use crate::raw::util::SyncUnsafeCell;
 
 pub(crate) struct RunQueueItem {
-    next: AtomicPtr<TaskHeader>,
+    next: SyncUnsafeCell<Option<TaskRef>>,
 }
 
 impl RunQueueItem {
     pub const fn new() -> Self {
         Self {
-            next: AtomicPtr::new(ptr::null_mut()),
+            next: SyncUnsafeCell::new(None),
         }
     }
 }
@@ -46,29 +46,43 @@ impl RunQueue {
     ///
     /// `item` must NOT be already enqueued in any queue.
     #[inline(always)]
-    pub(crate) unsafe fn enqueue(&self, _cs: CriticalSection, task: NonNull<TaskHeader>) -> bool {
-        let prev = self.head.load(Ordering::Relaxed);
-        task.as_ref().run_queue_item.next.store(prev, Ordering::Relaxed);
-        self.head.store(task.as_ptr(), Ordering::Relaxed);
-        prev.is_null()
+    pub(crate) unsafe fn enqueue(&self, task: TaskRef) -> bool {
+        let mut was_empty = false;
+
+        self.head
+            .fetch_update(Ordering::SeqCst, Ordering::SeqCst, |prev| {
+                was_empty = prev.is_null();
+                unsafe {
+                    // safety: the pointer is either null or valid
+                    let prev = NonNull::new(prev).map(|ptr| TaskRef::from_ptr(ptr.as_ptr()));
+                    // safety: there are no concurrent accesses to `next`
+                    task.header().run_queue_item.next.set(prev);
+                }
+                Some(task.as_ptr() as *mut _)
+            })
+            .ok();
+
+        was_empty
     }
 
     /// Empty the queue, then call `on_task` for each task that was in the queue.
     /// NOTE: It is OK for `on_task` to enqueue more tasks. In this case they're left in the queue
     /// and will be processed by the *next* call to `dequeue_all`, *not* the current one.
-    pub(crate) fn dequeue_all(&self, on_task: impl Fn(NonNull<TaskHeader>)) {
+    pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
         // Atomically empty the queue.
-        let mut ptr = self.head.swap(ptr::null_mut(), Ordering::AcqRel);
+        let ptr = self.head.swap(ptr::null_mut(), Ordering::AcqRel);
+
+        // safety: the pointer is either null or valid
+        let mut next = unsafe { NonNull::new(ptr).map(|ptr| TaskRef::from_ptr(ptr.as_ptr())) };
 
         // Iterate the linked list of tasks that were previously in the queue.
-        while let Some(task) = NonNull::new(ptr) {
+        while let Some(task) = next {
             // If the task re-enqueues itself, the `next` pointer will get overwritten.
             // Therefore, first read the next pointer, and only then process the task.
-            let next = unsafe { task.as_ref() }.run_queue_item.next.load(Ordering::Relaxed);
+            // safety: there are no concurrent accesses to `next`
+            next = unsafe { task.header().run_queue_item.next.get() };
 
             on_task(task);
-
-            ptr = next
         }
     }
 }

embassy-executor/src/raw/timer_queue.rs

@@ -1,45 +1,43 @@
-use core::cell::Cell;
 use core::cmp::min;
-use core::ptr;
-use core::ptr::NonNull;
 
 use atomic_polyfill::Ordering;
 use embassy_time::Instant;
 
-use super::{TaskHeader, STATE_TIMER_QUEUED};
+use super::{TaskRef, STATE_TIMER_QUEUED};
+use crate::raw::util::SyncUnsafeCell;
 
 pub(crate) struct TimerQueueItem {
-    next: Cell<*mut TaskHeader>,
+    next: SyncUnsafeCell<Option<TaskRef>>,
 }
 
 impl TimerQueueItem {
     pub const fn new() -> Self {
         Self {
-            next: Cell::new(ptr::null_mut()),
+            next: SyncUnsafeCell::new(None),
         }
     }
 }
 
 pub(crate) struct TimerQueue {
-    head: Cell<*mut TaskHeader>,
+    head: SyncUnsafeCell<Option<TaskRef>>,
 }
 
 impl TimerQueue {
     pub const fn new() -> Self {
         Self {
-            head: Cell::new(ptr::null_mut()),
+            head: SyncUnsafeCell::new(None),
         }
     }
 
-    pub(crate) unsafe fn update(&self, p: NonNull<TaskHeader>) {
-        let task = p.as_ref();
+    pub(crate) unsafe fn update(&self, p: TaskRef) {
+        let task = p.header();
         if task.expires_at.get() != Instant::MAX {
             let old_state = task.state.fetch_or(STATE_TIMER_QUEUED, Ordering::AcqRel);
             let is_new = old_state & STATE_TIMER_QUEUED == 0;
 
             if is_new {
                 task.timer_queue_item.next.set(self.head.get());
-                self.head.set(p.as_ptr());
+                self.head.set(Some(p));
             }
         }
     }
@@ -47,7 +45,7 @@ impl TimerQueue {
     pub(crate) unsafe fn next_expiration(&self) -> Instant {
         let mut res = Instant::MAX;
         self.retain(|p| {
-            let task = p.as_ref();
+            let task = p.header();
             let expires = task.expires_at.get();
             res = min(res, expires);
             expires != Instant::MAX
@@ -55,9 +53,9 @@ impl TimerQueue {
         res
     }
 
-    pub(crate) unsafe fn dequeue_expired(&self, now: Instant, on_task: impl Fn(NonNull<TaskHeader>)) {
+    pub(crate) unsafe fn dequeue_expired(&self, now: Instant, on_task: impl Fn(TaskRef)) {
         self.retain(|p| {
-            let task = p.as_ref();
+            let task = p.header();
             if task.expires_at.get() <= now {
                 on_task(p);
                 false
@@ -67,11 +65,10 @@ impl TimerQueue {
         });
     }
 
-    pub(crate) unsafe fn retain(&self, mut f: impl FnMut(NonNull<TaskHeader>) -> bool) {
+    pub(crate) unsafe fn retain(&self, mut f: impl FnMut(TaskRef) -> bool) {
         let mut prev = &self.head;
-        while !prev.get().is_null() {
-            let p = NonNull::new_unchecked(prev.get());
-            let task = &*p.as_ptr();
+        while let Some(p) = prev.get() {
+            let task = p.header();
             if f(p) {
                 // Skip to next
                 prev = &task.timer_queue_item.next;

embassy-executor/src/raw/util.rs

@@ -26,8 +26,31 @@ impl<T> UninitCell<T> {
     }
 }
 
-impl<T: Copy> UninitCell<T> {
-    pub unsafe fn read(&self) -> T {
-        ptr::read(self.as_mut_ptr())
+unsafe impl<T> Sync for UninitCell<T> {}
+
+#[repr(transparent)]
+pub struct SyncUnsafeCell<T> {
+    value: UnsafeCell<T>,
+}
+
+unsafe impl<T: Sync> Sync for SyncUnsafeCell<T> {}
+
+impl<T> SyncUnsafeCell<T> {
+    #[inline]
+    pub const fn new(value: T) -> Self {
+        Self {
+            value: UnsafeCell::new(value),
+        }
+    }
+
+    pub unsafe fn set(&self, value: T) {
+        *self.value.get() = value;
+    }
+
+    pub unsafe fn get(&self) -> T
+    where
+        T: Copy,
+    {
+        *self.value.get()
     }
 }

embassy-executor/src/raw/waker.rs

@@ -1,8 +1,7 @@
 use core::mem;
-use core::ptr::NonNull;
 use core::task::{RawWaker, RawWakerVTable, Waker};
 
-use super::{wake_task, TaskHeader};
+use super::{wake_task, TaskHeader, TaskRef};
 
 const VTABLE: RawWakerVTable = RawWakerVTable::new(clone, wake, wake, drop);
 
@@ -11,14 +10,14 @@ unsafe fn clone(p: *const ()) -> RawWaker {
 }
 
 unsafe fn wake(p: *const ()) {
-    wake_task(NonNull::new_unchecked(p as *mut TaskHeader))
+    wake_task(TaskRef::from_ptr(p as *const TaskHeader))
 }
 
 unsafe fn drop(_: *const ()) {
     // nop
 }
 
-pub(crate) unsafe fn from_task(p: NonNull<TaskHeader>) -> Waker {
+pub(crate) unsafe fn from_task(p: TaskRef) -> Waker {
     Waker::from_raw(RawWaker::new(p.as_ptr() as _, &VTABLE))
 }
 
@@ -33,7 +32,7 @@ pub(crate) unsafe fn from_task(p: NonNull<TaskHeader>) -> Waker {
 /// # Panics
 ///
 /// Panics if the waker is not created by the Embassy executor.
-pub fn task_from_waker(waker: &Waker) -> NonNull<TaskHeader> {
+pub fn task_from_waker(waker: &Waker) -> TaskRef {
     // safety: OK because WakerHack has the same layout as Waker.
     // This is not really guaranteed because the structs are `repr(Rust)`, it is
     // indeed the case in the current implementation.
@@ -43,8 +42,8 @@ pub fn task_from_waker(waker: &Waker) -> NonNull<TaskHeader> {
         panic!("Found waker not created by the Embassy executor. `embassy_time::Timer` only works with the Embassy executor.")
     }
 
-    // safety: we never create a waker with a null data pointer.
-    unsafe { NonNull::new_unchecked(hack.data as *mut TaskHeader) }
+    // safety: our wakers are always created with `TaskRef::as_ptr`
+    unsafe { TaskRef::from_ptr(hack.data as *const TaskHeader) }
 }
 
 struct WakerHack {

embassy-executor/src/raw/waker_turbo.rs

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