boot: update ed25519-dalek in dev-dependencies.

Enable missing doc warnings.

.github/ci/test.sh

@@ -4,6 +4,10 @@
 
 set -euo pipefail
 
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+
 MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml
 MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml --features nightly
 

ci.sh

@@ -173,10 +173,12 @@ cargo batch  \
     --- 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/application/stm32wb-dfu/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/boot/stm32wb-dfu \
     --- 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/boot/bootloader/stm32wb-dfu/Cargo.toml --target thumbv7em-none-eabihf \
     --- 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/stm32f103c8 \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi --out-dir out/tests/stm32f429zi \

cyw43-pio/README.md

@@ -0,0 +1,17 @@
+# cyw43-pio
+
+RP2040 PIO driver for the nonstandard half-duplex SPI used in the Pico W. The PIO driver offloads SPI communication with the WiFi chip and improves throughput.
+
+## Minimum supported Rust version (MSRV)
+
+Embassy 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.

cyw43-pio/src/lib.rs

@@ -1,16 +1,19 @@
 #![no_std]
 #![allow(async_fn_in_trait)]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
 
 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::{pio_instr_util, Peripheral, PeripheralRef};
+use embassy_rp::pio::{instr, Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::{Peripheral, PeripheralRef};
 use fixed::FixedU32;
 use pio_proc::pio_asm;
 
+/// SPI comms driven by PIO.
 pub struct PioSpi<'d, CS: Pin, PIO: Instance, const SM: usize, DMA> {
     cs: Output<'d, CS>,
     sm: StateMachine<'d, PIO, SM>,
@@ -25,6 +28,7 @@ where
     CS: Pin,
     PIO: Instance,
 {
+    /// Create a new instance of PioSpi.
     pub fn new<DIO, CLK>(
         common: &mut Common<'d, PIO>,
         mut sm: StateMachine<'d, PIO, SM>,
@@ -143,6 +147,7 @@ where
         }
     }
 
+    /// Write data to peripheral and return status.
     pub async fn write(&mut self, write: &[u32]) -> u32 {
         self.sm.set_enable(false);
         let write_bits = write.len() * 32 - 1;
@@ -152,10 +157,10 @@ where
         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);
+            instr::set_x(&mut self.sm, write_bits as u32);
+            instr::set_y(&mut self.sm, read_bits as u32);
+            instr::set_pindir(&mut self.sm, 0b1);
+            instr::exec_jmp(&mut self.sm, self.wrap_target);
         }
 
         self.sm.set_enable(true);
@@ -170,6 +175,7 @@ where
         status
     }
 
+    /// Send command and read response into buffer.
     pub async fn cmd_read(&mut self, cmd: u32, read: &mut [u32]) -> u32 {
         self.sm.set_enable(false);
         let write_bits = 31;
@@ -179,10 +185,10 @@ where
         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);
+            instr::set_y(&mut self.sm, read_bits as u32);
+            instr::set_x(&mut self.sm, write_bits as u32);
+            instr::set_pindir(&mut self.sm, 0b1);
+            instr::exec_jmp(&mut self.sm, self.wrap_target);
         }
 
         // self.cs.set_low();

cyw43/Cargo.toml

@@ -23,7 +23,7 @@ cortex-m = "0.7.6"
 cortex-m-rt = "0.7.0"
 futures = { version = "0.3.17", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
 
-embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-rc.2" }
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-rc.3" }
 num_enum = { version = "0.5.7", default-features = false }
 
 [package.metadata.embassy_docs]

cyw43/README.md

@@ -45,6 +45,10 @@ nc 192.168.0.250 1234
 ```
 Send it some data, you should see it echoed back and printed in the firmware's logs.
 
+## Minimum supported Rust version (MSRV)
+
+Embassy 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

cyw43/src/control.rs

@@ -12,17 +12,23 @@ use crate::ioctl::{IoctlState, IoctlType};
 use crate::structs::*;
 use crate::{countries, events, PowerManagementMode};
 
+/// Control errors.
 #[derive(Debug)]
 pub struct Error {
+    /// Status code.
     pub status: u32,
 }
 
+/// Multicast errors.
 #[derive(Debug)]
 pub enum AddMulticastAddressError {
+    /// Not a multicast address.
     NotMulticast,
+    /// No free address slots.
     NoFreeSlots,
 }
 
+/// Control driver.
 pub struct Control<'a> {
     state_ch: ch::StateRunner<'a>,
     events: &'a Events,
@@ -38,6 +44,7 @@ impl<'a> Control<'a> {
         }
     }
 
+    /// Initialize WiFi controller.
     pub async fn init(&mut self, clm: &[u8]) {
         const CHUNK_SIZE: usize = 1024;
 
@@ -154,6 +161,7 @@ impl<'a> Control<'a> {
         self.ioctl(IoctlType::Set, IOCTL_CMD_DOWN, 0, &mut []).await;
     }
 
+    /// Set power management mode.
     pub async fn set_power_management(&mut self, mode: PowerManagementMode) {
         // power save mode
         let mode_num = mode.mode();
@@ -166,6 +174,7 @@ impl<'a> Control<'a> {
         self.ioctl_set_u32(86, 0, mode_num).await;
     }
 
+    /// Join an unprotected network with the provided ssid.
     pub async fn join_open(&mut self, ssid: &str) -> Result<(), Error> {
         self.set_iovar_u32("ampdu_ba_wsize", 8).await;
 
@@ -183,6 +192,7 @@ impl<'a> Control<'a> {
         self.wait_for_join(i).await
     }
 
+    /// Join an protected network with the provided ssid and passphrase.
     pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
         self.set_iovar_u32("ampdu_ba_wsize", 8).await;
 
@@ -250,16 +260,19 @@ impl<'a> Control<'a> {
         }
     }
 
+    /// Set GPIO pin on WiFi chip.
     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
     }
 
+    /// Start open access point.
     pub async fn start_ap_open(&mut self, ssid: &str, channel: u8) {
         self.start_ap(ssid, "", Security::OPEN, channel).await;
     }
 
+    /// Start WPA2 protected access point.
     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;
     }
@@ -494,13 +507,14 @@ impl<'a> Control<'a> {
     }
 }
 
+/// WiFi network scanner.
 pub struct Scanner<'a> {
     subscriber: EventSubscriber<'a>,
     events: &'a Events,
 }
 
 impl Scanner<'_> {
-    /// wait for the next found network
+    /// 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 {

cyw43/src/lib.rs

@@ -2,6 +2,8 @@
 #![no_main]
 #![allow(async_fn_in_trait)]
 #![deny(unused_must_use)]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
@@ -102,6 +104,7 @@ const CHIP: Chip = Chip {
     chanspec_ctl_sb_mask: 0x0700,
 };
 
+/// Driver state.
 pub struct State {
     ioctl_state: IoctlState,
     ch: ch::State<MTU, 4, 4>,
@@ -109,6 +112,7 @@ pub struct State {
 }
 
 impl State {
+    /// Create new driver state holder.
     pub fn new() -> Self {
         Self {
             ioctl_state: IoctlState::new(),
@@ -118,6 +122,7 @@ impl State {
     }
 }
 
+/// Power management modes.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum PowerManagementMode {
     /// Custom, officially unsupported mode. Use at your own risk.
@@ -203,8 +208,13 @@ impl PowerManagementMode {
     }
 }
 
+/// Embassy-net driver.
 pub type NetDriver<'a> = ch::Device<'a, MTU>;
 
+/// Create a new instance of the CYW43 driver.
+///
+/// Returns a handle to the network device, control handle and a runner for driving the low level
+/// stack.
 pub async fn new<'a, PWR, SPI>(
     state: &'a mut State,
     pwr: PWR,

cyw43/src/runner.rs

@@ -34,6 +34,7 @@ impl Default for LogState {
     }
 }
 
+/// Driver communicating with the WiFi chip.
 pub struct Runner<'a, PWR, SPI> {
     ch: ch::Runner<'a, MTU>,
     bus: Bus<PWR, SPI>,
@@ -222,6 +223,7 @@ where
         }
     }
 
+    /// Run the
     pub async fn run(mut self) -> ! {
         let mut buf = [0; 512];
         loop {

cyw43/src/structs.rs

@@ -4,13 +4,16 @@ use crate::fmt::Bytes;
 macro_rules! impl_bytes {
     ($t:ident) => {
         impl $t {
+            /// Bytes consumed by this type.
             pub const SIZE: usize = core::mem::size_of::<Self>();
 
+            /// Convert to byte array.
             #[allow(unused)]
             pub fn to_bytes(&self) -> [u8; Self::SIZE] {
                 unsafe { core::mem::transmute(*self) }
             }
 
+            /// Create from byte array.
             #[allow(unused)]
             pub fn from_bytes(bytes: &[u8; Self::SIZE]) -> &Self {
                 let alignment = core::mem::align_of::<Self>();
@@ -23,6 +26,7 @@ macro_rules! impl_bytes {
                 unsafe { core::mem::transmute(bytes) }
             }
 
+            /// Create from mutable byte array.
             #[allow(unused)]
             pub fn from_bytes_mut(bytes: &mut [u8; Self::SIZE]) -> &mut Self {
                 let alignment = core::mem::align_of::<Self>();
@@ -204,6 +208,7 @@ pub struct EthernetHeader {
 }
 
 impl EthernetHeader {
+    /// Swap endianness.
     pub fn byteswap(&mut self) {
         self.ether_type = self.ether_type.to_be();
     }
@@ -472,19 +477,26 @@ impl ScanResults {
 #[repr(C, packed(2))]
 #[non_exhaustive]
 pub struct BssInfo {
+    /// Version.
     pub version: u32,
+    /// Length.
     pub length: u32,
+    /// BSSID.
     pub bssid: [u8; 6],
+    /// Beacon period.
     pub beacon_period: u16,
+    /// Capability.
     pub capability: u16,
+    /// SSID length.
     pub ssid_len: u8,
+    /// SSID.
     pub ssid: [u8; 32],
     // there will be more stuff here
 }
 impl_bytes!(BssInfo);
 
 impl BssInfo {
-    pub fn parse(packet: &mut [u8]) -> Option<&mut Self> {
+    pub(crate) fn parse(packet: &mut [u8]) -> Option<&mut Self> {
         if packet.len() < BssInfo::SIZE {
             return None;
         }

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

@@ -9,7 +9,7 @@ use {defmt_rtt as _, panic_probe as _};
 fn main() -> ! {
     let p = embassy_stm32::init(Default::default());
     let mut led = Output::new(p.PB14, Level::High, Speed::VeryHigh);
-    let button = Input::new(p.PC13, Pull::Up);
+    let mut button = Input::new(p.PC13, Pull::Up);
 
     loop {
         if button.is_low() {

embassy-boot/boot/Cargo.toml

@@ -26,25 +26,22 @@ features = ["defmt"]
 defmt = { version = "0.3", optional = true }
 digest = "0.10"
 log = { version = "0.4", optional = true }
-ed25519-dalek = { version = "1.0.1", default_features = false, features = ["u32_backend"], optional = true }
+ed25519-dalek = { version = "2", default_features = false, features = ["digest"], optional = true }
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
 embassy-sync = { version = "0.5.0", path = "../../embassy-sync" }
 embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
-salty = { git = "https://github.com/ycrypto/salty.git", rev = "a9f17911a5024698406b75c0fac56ab5ccf6a8c7", optional = true }
-signature = { version = "1.6.4", default-features = false }
+salty = { version = "0.3", optional = true }
+signature = { version = "2.0", default-features = false }
 
 [dev-dependencies]
 log = "0.4"
 env_logger = "0.9"
-rand = "0.7" # ed25519-dalek v1.0.1 depends on this exact version
+rand = "0.8"
 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"]
+ed25519-dalek = { version = "2", default_features = false, features = ["std", "rand_core", "digest"]  }
 
 [features]
 ed25519-dalek = ["dep:ed25519-dalek", "_verify"]

embassy-boot/boot/src/boot_loader.rs

@@ -5,7 +5,7 @@ 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};
+use crate::{State, BOOT_MAGIC, DFU_DETACH_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
 
 /// Errors returned by bootloader
 #[derive(PartialEq, Eq, Debug)]
@@ -371,6 +371,8 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
 
         if !state_word.iter().any(|&b| b != SWAP_MAGIC) {
             Ok(State::Swap)
+        } else if !state_word.iter().any(|&b| b != DFU_DETACH_MAGIC) {
+            Ok(State::DfuDetach)
         } else {
             Ok(State::Boot)
         }

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

@@ -1,6 +1,6 @@
 use digest::typenum::U64;
 use digest::{FixedOutput, HashMarker, OutputSizeUser, Update};
-use ed25519_dalek::Digest as _;
+use ed25519_dalek::Digest;
 
 pub struct Sha512(ed25519_dalek::Sha512);
 
@@ -12,7 +12,7 @@ impl Default for Sha512 {
 
 impl Update for Sha512 {
     fn update(&mut self, data: &[u8]) {
-        self.0.update(data)
+        Digest::update(&mut self.0, data)
     }
 }
 

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

@@ -6,7 +6,7 @@ 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};
+use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, DFU_DETACH_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
@@ -79,8 +79,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
     #[cfg(feature = "_verify")]
     pub async fn verify_and_mark_updated(
         &mut self,
-        _public_key: &[u8],
-        _signature: &[u8],
+        _public_key: &[u8; 32],
+        _signature: &[u8; 64],
         _update_len: u32,
     ) -> Result<(), FirmwareUpdaterError> {
         assert!(_update_len <= self.dfu.capacity() as u32);
@@ -89,14 +89,14 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
 
         #[cfg(feature = "ed25519-dalek")]
         {
-            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+            use ed25519_dalek::{Signature, SignatureError, Verifier, VerifyingKey};
 
             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 public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature);
 
             let mut chunk_buf = [0; 2];
             let mut message = [0; 64];
@@ -106,7 +106,6 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
         }
         #[cfg(feature = "ed25519-salty")]
         {
-            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
             use salty::{PublicKey, Signature};
 
             use crate::digest_adapters::salty::Sha512;
@@ -115,10 +114,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
                 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 public_key = PublicKey::try_from(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::try_from(_signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
             let mut chunk_buf = [0; 2];
@@ -161,6 +158,12 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
         self.state.mark_updated().await
     }
 
+    /// Mark to trigger USB DFU on next boot.
+    pub async fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.verify_booted().await?;
+        self.state.mark_dfu().await
+    }
+
     /// Mark firmware boot successful and stop rollback on reset.
     pub async fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
         self.state.mark_booted().await
@@ -207,6 +210,16 @@ pub struct FirmwareState<'d, STATE> {
 }
 
 impl<'d, STATE: NorFlash> FirmwareState<'d, STATE> {
+    /// Create a firmware state instance from a FirmwareUpdaterConfig with a buffer for magic content and state partition.
+    ///
+    /// # 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.
+    pub fn from_config<DFU: NorFlash>(config: FirmwareUpdaterConfig<DFU, STATE>, aligned: &'d mut [u8]) -> Self {
+        Self::new(config.state, aligned)
+    }
+
     /// Create a firmware state instance with a buffer for magic content and state partition.
     ///
     /// # Safety
@@ -247,6 +260,11 @@ impl<'d, STATE: NorFlash> FirmwareState<'d, STATE> {
         self.set_magic(SWAP_MAGIC).await
     }
 
+    /// Mark to trigger USB DFU on next boot.
+    pub async fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(DFU_DETACH_MAGIC).await
+    }
+
     /// Mark firmware boot successful and stop rollback on reset.
     pub async fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
         self.set_magic(BOOT_MAGIC).await

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

@@ -6,7 +6,7 @@ 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};
+use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, DFU_DETACH_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
@@ -86,8 +86,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
     #[cfg(feature = "_verify")]
     pub fn verify_and_mark_updated(
         &mut self,
-        _public_key: &[u8],
-        _signature: &[u8],
+        _public_key: &[u8; 32],
+        _signature: &[u8; 64],
         _update_len: u32,
     ) -> Result<(), FirmwareUpdaterError> {
         assert!(_update_len <= self.dfu.capacity() as u32);
@@ -96,14 +96,14 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
 
         #[cfg(feature = "ed25519-dalek")]
         {
-            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+            use ed25519_dalek::{Signature, SignatureError, Verifier, VerifyingKey};
 
             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 public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature);
 
             let mut message = [0; 64];
             let mut chunk_buf = [0; 2];
@@ -113,7 +113,6 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
         }
         #[cfg(feature = "ed25519-salty")]
         {
-            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
             use salty::{PublicKey, Signature};
 
             use crate::digest_adapters::salty::Sha512;
@@ -122,10 +121,8 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
                 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 public_key = PublicKey::try_from(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::try_from(_signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
             let mut chunk_buf = [0; 2];
@@ -168,6 +165,12 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
         self.state.mark_updated()
     }
 
+    /// Mark to trigger USB DFU device on next boot.
+    pub fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.verify_booted()?;
+        self.state.mark_dfu()
+    }
+
     /// Mark firmware boot successful and stop rollback on reset.
     pub fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
         self.state.mark_booted()
@@ -213,6 +216,16 @@ pub struct BlockingFirmwareState<'d, STATE> {
 }
 
 impl<'d, STATE: NorFlash> BlockingFirmwareState<'d, STATE> {
+    /// Creates a firmware state instance from a FirmwareUpdaterConfig, with a buffer for magic content and state partition.
+    ///
+    /// # 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.
+    pub fn from_config<DFU: NorFlash>(config: FirmwareUpdaterConfig<DFU, STATE>, aligned: &'d mut [u8]) -> Self {
+        Self::new(config.state, aligned)
+    }
+
     /// Create a firmware state instance with a buffer for magic content and state partition.
     ///
     /// # Safety
@@ -226,7 +239,7 @@ impl<'d, STATE: NorFlash> BlockingFirmwareState<'d, STATE> {
 
     // Make sure we are running a booted firmware to avoid reverting to a bad state.
     fn verify_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
-        if self.get_state()? == State::Boot {
+        if self.get_state()? == State::Boot || self.get_state()? == State::DfuDetach {
             Ok(())
         } else {
             Err(FirmwareUpdaterError::BadState)
@@ -243,6 +256,8 @@ impl<'d, STATE: NorFlash> BlockingFirmwareState<'d, STATE> {
 
         if !self.aligned.iter().any(|&b| b != SWAP_MAGIC) {
             Ok(State::Swap)
+        } else if !self.aligned.iter().any(|&b| b != DFU_DETACH_MAGIC) {
+            Ok(State::DfuDetach)
         } else {
             Ok(State::Boot)
         }
@@ -253,6 +268,11 @@ impl<'d, STATE: NorFlash> BlockingFirmwareState<'d, STATE> {
         self.set_magic(SWAP_MAGIC)
     }
 
+    /// Mark to trigger USB DFU on next boot.
+    pub fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(DFU_DETACH_MAGIC)
+    }
+
     /// Mark firmware boot successful and stop rollback on reset.
     pub fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
         self.set_magic(BOOT_MAGIC)

embassy-boot/boot/src/lib.rs

@@ -23,6 +23,7 @@ pub use firmware_updater::{
 
 pub(crate) const BOOT_MAGIC: u8 = 0xD0;
 pub(crate) const SWAP_MAGIC: u8 = 0xF0;
+pub(crate) const DFU_DETACH_MAGIC: u8 = 0xE0;
 
 /// The state of the bootloader after running prepare.
 #[derive(PartialEq, Eq, Debug)]
@@ -32,6 +33,8 @@ pub enum State {
     Boot,
     /// Bootloader has swapped the active partition with the dfu partition and will attempt boot.
     Swap,
+    /// Application has received a request to reboot into DFU mode to apply an update.
+    DfuDetach,
 }
 
 /// Buffer aligned to 32 byte boundary, largest known alignment requirement for embassy-boot.
@@ -272,21 +275,19 @@ mod tests {
         // The following key setup is based on:
         // https://docs.rs/ed25519-dalek/latest/ed25519_dalek/#example
 
-        use ed25519_dalek::Keypair;
+        use ed25519_dalek::{Digest, Sha512, Signature, Signer, SigningKey, VerifyingKey};
         use rand::rngs::OsRng;
 
         let mut csprng = OsRng {};
-        let keypair: Keypair = Keypair::generate(&mut csprng);
+        let keypair = SigningKey::generate(&mut csprng);
 
-        use ed25519_dalek::{Digest, Sha512, Signature, Signer};
         let firmware: &[u8] = b"This are bytes that would otherwise be firmware bytes for DFU.";
         let mut digest = Sha512::new();
         digest.update(&firmware);
         let message = digest.finalize();
         let signature: Signature = keypair.sign(&message);
 
-        use ed25519_dalek::PublicKey;
-        let public_key: PublicKey = keypair.public;
+        let public_key = keypair.verifying_key();
 
         // Setup flash
         let flash = BlockingTestFlash::new(BootLoaderConfig {

embassy-boot/stm32/src/lib.rs

@@ -10,7 +10,10 @@ pub use embassy_boot::{
 use embedded_storage::nor_flash::NorFlash;
 
 /// A bootloader for STM32 devices.
-pub struct BootLoader;
+pub struct BootLoader {
+    /// The reported state of the bootloader after preparing for boot
+    pub state: State,
+}
 
 impl BootLoader {
     /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware
@@ -19,8 +22,8 @@ impl BootLoader {
     ) -> Self {
         let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
         let mut boot = embassy_boot::BootLoader::new(config);
-        boot.prepare_boot(aligned_buf.as_mut()).expect("Boot prepare error");
-        Self
+        let state = boot.prepare_boot(aligned_buf.as_mut()).expect("Boot prepare error");
+        Self { state }
     }
 
     /// Boots the application.

embassy-embedded-hal/Cargo.toml

@@ -23,8 +23,8 @@ embassy-time = { version = "0.2", path = "../embassy-time", optional = true }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
     "unproven",
 ] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
 embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
 nb = "1.0.0"

embassy-net-adin1110/Cargo.toml

@@ -13,16 +13,16 @@ edition = "2021"
 heapless = "0.8"
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4", default-features = false, optional = true }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
-embedded-hal-bus = { version = "=0.1.0-rc.2", features = ["async"] }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
+embedded-hal-bus = { version = "=0.1.0-rc.3", features = ["async"] }
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel" }
 embassy-time = { version = "0.2", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 bitfield = "0.14.0"
 
 [dev-dependencies]
-embedded-hal-mock = { git = "https://github.com/Dirbaio/embedded-hal-mock", rev = "c5c4dca18e043e6386aee02173f61a65fea3981e", features = ["embedded-hal-async", "eh1"] }
+embedded-hal-mock = { version = "0.10.0-rc.4", features = ["embedded-hal-async", "eh1"] }
 crc = "3.0.1"
 env_logger = "0.10"
 critical-section = { version = "1.1.2", features = ["std"] }

embassy-net-enc28j60/Cargo.toml

@@ -8,8 +8,8 @@ license = "MIT OR Apache-2.0"
 edition = "2021"
 
 [dependencies]
-embedded-hal = { version = "1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal = { version = "1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
 embassy-net-driver = { version = "0.2.0", path = "../embassy-net-driver" }
 embassy-time = { version = "0.2", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }

embassy-net-esp-hosted/Cargo.toml

@@ -12,8 +12,8 @@ embassy-sync = { version = "0.5.0", path = "../embassy-sync"}
 embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel"}
 
-embedded-hal = { version = "1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal = { version = "1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
 
 noproto = { git="https://github.com/embassy-rs/noproto", rev = "f5e6d1f325b6ad4e344f60452b09576e24671f62", default-features = false, features = ["derive"] }
 #noproto = { version = "0.1", path = "/home/dirbaio/noproto", default-features = false, features = ["derive"] }

embassy-net-wiznet/Cargo.toml

@@ -8,8 +8,8 @@ license = "MIT OR Apache-2.0"
 edition = "2021"
 
 [dependencies]
-embedded-hal = { version = "1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal = { version = "1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel" }
 embassy-time = { version = "0.2", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }

embassy-nrf/Cargo.toml

@@ -64,6 +64,11 @@ nfc-pins-as-gpio = []
 # nrf52820, nrf52833, nrf52840: P0_18
 reset-pin-as-gpio = []
 
+# Implements the MultiwriteNorFlash trait for QSPI. Should only be enabled if your external
+# flash supports the semantics described in
+# https://docs.rs/embedded-storage/0.3.1/embedded_storage/nor_flash/trait.MultiwriteNorFlash.html
+qspi-multiwrite-flash = []
+
 # Features starting with `_` are for internal use only. They're not intended
 # to be enabled by other crates, and are not covered by semver guarantees.
 
@@ -94,8 +99,8 @@ embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver" }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
 embedded-io = { version = "0.6.0" }
 embedded-io-async = { version = "0.6.1" }
 
@@ -120,4 +125,3 @@ nrf52840-pac = { version = "0.12.0", optional = true }
 nrf5340-app-pac = { version = "0.12.0", optional = true }
 nrf5340-net-pac = { version = "0.12.0", optional = true }
 nrf9160-pac = { version = "0.12.0", optional = true }
-

embassy-nrf/README.md

@@ -6,6 +6,8 @@ The Embassy nRF HAL targets the Nordic Semiconductor nRF family of hardware. The
 for many peripherals. The benefit of using the async APIs is that the HAL takes care of waiting for peripherals to
 complete operations in low power mod and handling interrupts, so that applications can focus on more important matters.
 
+NOTE: The Embassy HALs can be used both for non-async and async operations. For async, you can choose which runtime you want to use.
+
 ## EasyDMA considerations
 
 On nRF chips, peripherals can use the so called EasyDMA feature to offload the task of interacting

embassy-nrf/src/gpio.rs

@@ -50,21 +50,21 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
-    /// Test if current pin level is high.
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
-    /// Test if current pin level is low.
+    /// Get whether the pin input level is low.
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
-    /// Returns current pin level
+    /// Get the pin input level.
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
     }
 }
@@ -158,21 +158,21 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.set_level(level)
     }
 
-    /// Is the output pin set as high?
+    /// Get whether the output level is set to high.
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         self.pin.is_set_high()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_low()
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.pin.get_output_level()
     }
 }
@@ -275,21 +275,26 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.conf().reset();
     }
 
-    /// Test if current pin level is high.
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         !self.is_low()
     }
 
-    /// Test if current pin level is low.
+    /// Get whether the pin input level is low.
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub fn is_low(&mut self) -> bool {
+        self.ref_is_low()
+    }
+
+    #[inline]
+    pub(crate) fn ref_is_low(&self) -> bool {
         self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
     }
 
-    /// Returns current pin level
+    /// Get the pin input level.
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.is_high().into()
     }
 
@@ -314,21 +319,26 @@ impl<'d, T: Pin> Flex<'d, T> {
         }
     }
 
-    /// Is the output pin set as high?
+    /// Get whether the output level is set to high.
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         !self.is_set_low()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
+        self.ref_is_set_low()
+    }
+
+    #[inline]
+    pub(crate) fn ref_is_set_low(&self) -> bool {
         self.pin.block().out.read().bits() & (1 << self.pin.pin()) == 0
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.is_set_high().into()
     }
 }
@@ -498,11 +508,11 @@ mod eh02 {
         type Error = Infallible;
 
         fn is_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_high())
+            Ok(!self.pin.ref_is_low())
         }
 
         fn is_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_low())
+            Ok(self.pin.ref_is_low())
         }
     }
 
@@ -520,11 +530,11 @@ mod eh02 {
 
     impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Output<'d, T> {
         fn is_set_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_high())
+            Ok(!self.pin.ref_is_set_low())
         }
 
         fn is_set_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_low())
+            Ok(self.pin.ref_is_set_low())
         }
     }
 
@@ -535,11 +545,11 @@ mod eh02 {
         type Error = Infallible;
 
         fn is_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_high())
+            Ok(!self.ref_is_low())
         }
 
         fn is_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_low())
+            Ok(self.ref_is_low())
         }
     }
 
@@ -557,11 +567,11 @@ mod eh02 {
 
     impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Flex<'d, T> {
         fn is_set_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_high())
+            Ok(!self.ref_is_set_low())
         }
 
         fn is_set_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_low())
+            Ok(self.ref_is_set_low())
         }
     }
 }
@@ -571,11 +581,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Input<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for Input<'d, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -595,11 +605,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for Output<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Output<'d, T> {
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }
@@ -612,11 +622,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Flex<'d, T> {
 ///
 /// If the pin is not in input mode the result is unspecified.
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for Flex<'d, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -632,11 +642,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for Flex<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Flex<'d, T> {
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }

embassy-nrf/src/gpiote.rs

@@ -243,7 +243,7 @@ impl<'d, C: Channel, T: GpioPin> Drop for OutputChannel<'d, C, T> {
 
 impl<'d, C: Channel, T: GpioPin> OutputChannel<'d, C, T> {
     /// Create a new GPIOTE output channel driver.
-    pub fn new(ch: impl Peripheral<P = C> + 'd, pin: Output<'d, T>, polarity: OutputChannelPolarity) -> Self {
+    pub fn new(ch: impl Peripheral<P = C> + 'd, mut pin: Output<'d, T>, polarity: OutputChannelPolarity) -> Self {
         into_ref!(ch);
         let g = regs();
         let num = ch.number();
@@ -481,11 +481,11 @@ mod eh02 {
         type Error = Infallible;
 
         fn is_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.pin.is_high())
+            Ok(!self.pin.pin.ref_is_low())
         }
 
         fn is_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.pin.is_low())
+            Ok(self.pin.pin.ref_is_low())
         }
     }
 }
@@ -495,11 +495,11 @@ impl<'d, C: Channel, T: GpioPin> embedded_hal_1::digital::ErrorType for InputCha
 }
 
 impl<'d, C: Channel, T: GpioPin> embedded_hal_1::digital::InputPin for InputChannel<'d, C, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.pin.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.pin.is_low())
     }
 }

embassy-nrf/src/lib.rs

@@ -354,7 +354,11 @@ unsafe fn uicr_write_masked(address: *mut u32, value: u32, mask: u32) -> WriteRe
     WriteResult::Written
 }
 
-/// Initialize peripherals with the provided configuration. This should only be called once at startup.
+/// Initialize the `embassy-nrf` HAL with the provided configuration.
+///
+/// This returns the peripheral singletons that can be used for creating drivers.
+///
+/// This should only be called once at startup, otherwise it panics.
 pub fn init(config: config::Config) -> Peripherals {
     // Do this first, so that it panics if user is calling `init` a second time
     // before doing anything important.

embassy-nrf/src/qspi.rs

@@ -605,6 +605,9 @@ impl<'d, T: Instance> NorFlash for Qspi<'d, T> {
     }
 }
 
+#[cfg(feature = "qspi-multiwrite-flash")]
+impl<'d, T: Instance> embedded_storage::nor_flash::MultiwriteNorFlash for Qspi<'d, T> {}
+
 mod _eh1 {
     use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
 

embassy-rp/Cargo.toml

@@ -78,9 +78,9 @@ fixed = "1.23.1"
 rp-pac = { version = "6" }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
-embedded-hal-nb = { version = "=1.0.0-rc.2" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
+embedded-hal-nb = { version = "=1.0.0-rc.3" }
 
 pio-proc = {version= "0.2" }
 pio = {version= "0.2.1" }

embassy-rp/README.md

@@ -0,0 +1,23 @@
+# Embassy RP HAL
+
+HALs implement safe, idiomatic Rust APIs to use the hardware capabilities, so raw register manipulation is not needed.
+
+The Embassy RP HAL targets the Raspberry Pi 2040 family of hardware. The HAL implements both blocking and async APIs
+for many peripherals. The benefit of using the async APIs is that the HAL takes care of waiting for peripherals to
+complete operations in low power mod and handling interrupts, so that applications can focus on more important matters.
+
+NOTE: The Embassy HALs can be used both for non-async and async operations. For async, you can choose which runtime you want to use.
+
+## Minimum supported Rust version (MSRV)
+
+Embassy 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-rp/src/adc.rs

@@ -1,3 +1,4 @@
+//! ADC driver.
 use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::mem;
@@ -16,6 +17,7 @@ use crate::{dma, interrupt, pac, peripherals, Peripheral, RegExt};
 
 static WAKER: AtomicWaker = AtomicWaker::new();
 
+/// ADC config.
 #[non_exhaustive]
 pub struct Config {}
 
@@ -30,9 +32,11 @@ enum Source<'p> {
     TempSensor(PeripheralRef<'p, ADC_TEMP_SENSOR>),
 }
 
+/// ADC channel.
 pub struct Channel<'p>(Source<'p>);
 
 impl<'p> Channel<'p> {
+    /// Create a new ADC channel from pin with the provided [Pull] configuration.
     pub fn new_pin(pin: impl Peripheral<P = impl AdcPin + 'p> + 'p, pull: Pull) -> Self {
         into_ref!(pin);
         pin.pad_ctrl().modify(|w| {
@@ -49,6 +53,7 @@ impl<'p> Channel<'p> {
         Self(Source::Pin(pin.map_into()))
     }
 
+    /// Create a new ADC channel for the internal temperature sensor.
     pub fn new_temp_sensor(s: impl Peripheral<P = ADC_TEMP_SENSOR> + 'p) -> Self {
         let r = pac::ADC;
         r.cs().write_set(|w| w.set_ts_en(true));
@@ -83,35 +88,44 @@ impl<'p> Drop for Source<'p> {
     }
 }
 
+/// ADC sample.
 #[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Debug, Default)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(transparent)]
 pub struct Sample(u16);
 
 impl Sample {
+    /// Sample is valid.
     pub fn good(&self) -> bool {
         self.0 < 0x8000
     }
 
+    /// Sample value.
     pub fn value(&self) -> u16 {
         self.0 & !0x8000
     }
 }
 
+/// ADC error.
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// Error converting value.
     ConversionFailed,
 }
 
+/// ADC mode.
 pub trait Mode {}
 
+/// ADC async mode.
 pub struct Async;
 impl Mode for Async {}
 
+/// ADC blocking mode.
 pub struct Blocking;
 impl Mode for Blocking {}
 
+/// ADC driver.
 pub struct Adc<'d, M: Mode> {
     phantom: PhantomData<(&'d ADC, M)>,
 }
@@ -150,6 +164,7 @@ impl<'d, M: Mode> Adc<'d, M> {
         while !r.cs().read().ready() {}
     }
 
+    /// Sample a value from a channel in blocking mode.
     pub fn blocking_read(&mut self, ch: &mut Channel) -> Result<u16, Error> {
         let r = Self::regs();
         r.cs().modify(|w| {
@@ -166,6 +181,7 @@ impl<'d, M: Mode> Adc<'d, M> {
 }
 
 impl<'d> Adc<'d, Async> {
+    /// Create ADC driver in async mode.
     pub fn new(
         _inner: impl Peripheral<P = ADC> + 'd,
         _irq: impl Binding<interrupt::typelevel::ADC_IRQ_FIFO, InterruptHandler>,
@@ -194,6 +210,7 @@ impl<'d> Adc<'d, Async> {
         .await;
     }
 
+    /// Sample a value from a channel until completed.
     pub async fn read(&mut self, ch: &mut Channel<'_>) -> Result<u16, Error> {
         let r = Self::regs();
         r.cs().modify(|w| {
@@ -272,6 +289,7 @@ impl<'d> Adc<'d, Async> {
         }
     }
 
+    /// Sample multiple values from a channel using DMA.
     #[inline]
     pub async fn read_many<S: AdcSample>(
         &mut self,
@@ -283,6 +301,7 @@ impl<'d> Adc<'d, Async> {
         self.read_many_inner(ch, buf, false, div, dma).await
     }
 
+    /// Sample multiple values from a channel using DMA with errors inlined in samples.
     #[inline]
     pub async fn read_many_raw(
         &mut self,
@@ -299,6 +318,7 @@ impl<'d> Adc<'d, Async> {
 }
 
 impl<'d> Adc<'d, Blocking> {
+    /// Create ADC driver in blocking mode.
     pub fn new_blocking(_inner: impl Peripheral<P = ADC> + 'd, _config: Config) -> Self {
         Self::setup();
 
@@ -306,6 +326,7 @@ impl<'d> Adc<'d, Blocking> {
     }
 }
 
+/// Interrupt handler.
 pub struct InterruptHandler {
     _empty: (),
 }
@@ -324,6 +345,7 @@ mod sealed {
     pub trait AdcChannel {}
 }
 
+/// ADC sample.
 pub trait AdcSample: sealed::AdcSample {}
 
 impl sealed::AdcSample for u16 {}
@@ -332,7 +354,9 @@ impl AdcSample for u16 {}
 impl sealed::AdcSample for u8 {}
 impl AdcSample for u8 {}
 
+/// ADC channel.
 pub trait AdcChannel: sealed::AdcChannel {}
+/// ADC pin.
 pub trait AdcPin: AdcChannel + gpio::Pin {}
 
 macro_rules! impl_pin {

embassy-rp/src/clocks.rs

@@ -1,3 +1,4 @@
+//! Clock configuration for the RP2040
 use core::arch::asm;
 use core::marker::PhantomData;
 use core::sync::atomic::{AtomicU16, AtomicU32, Ordering};
@@ -44,34 +45,50 @@ static CLOCKS: Clocks = Clocks {
     rtc: AtomicU16::new(0),
 };
 
+/// Peripheral clock sources.
 #[repr(u8)]
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum PeriClkSrc {
+    /// SYS.
     Sys = ClkPeriCtrlAuxsrc::CLK_SYS as _,
+    /// PLL SYS.
     PllSys = ClkPeriCtrlAuxsrc::CLKSRC_PLL_SYS as _,
+    /// PLL USB.
     PllUsb = ClkPeriCtrlAuxsrc::CLKSRC_PLL_USB as _,
+    /// ROSC.
     Rosc = ClkPeriCtrlAuxsrc::ROSC_CLKSRC_PH as _,
+    /// XOSC.
     Xosc = ClkPeriCtrlAuxsrc::XOSC_CLKSRC as _,
     // Gpin0 = ClkPeriCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkPeriCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
 
+/// CLock configuration.
 #[non_exhaustive]
 pub struct ClockConfig {
+    /// Ring oscillator configuration.
     pub rosc: Option<RoscConfig>,
+    /// External oscillator configuration.
     pub xosc: Option<XoscConfig>,
+    /// Reference clock configuration.
     pub ref_clk: RefClkConfig,
+    /// System clock configuration.
     pub sys_clk: SysClkConfig,
+    /// Peripheral clock source configuration.
     pub peri_clk_src: Option<PeriClkSrc>,
+    /// USB clock configuration.
     pub usb_clk: Option<UsbClkConfig>,
+    /// ADC clock configuration.
     pub adc_clk: Option<AdcClkConfig>,
+    /// RTC clock configuration.
     pub rtc_clk: Option<RtcClkConfig>,
     // gpin0: Option<(u32, Gpin<'static, AnyPin>)>,
     // gpin1: Option<(u32, Gpin<'static, AnyPin>)>,
 }
 
 impl ClockConfig {
+    /// Clock configuration derived from external crystal.
     pub fn crystal(crystal_hz: u32) -> Self {
         Self {
             rosc: Some(RoscConfig {
@@ -130,6 +147,7 @@ impl ClockConfig {
         }
     }
 
+    /// Clock configuration from internal oscillator.
     pub fn rosc() -> Self {
         Self {
             rosc: Some(RoscConfig {
@@ -179,130 +197,190 @@ impl ClockConfig {
     // }
 }
 
+/// ROSC freq range.
 #[repr(u16)]
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum RoscRange {
+    /// Low range.
     Low = pac::rosc::vals::FreqRange::LOW.0,
+    /// Medium range (1.33x low)
     Medium = pac::rosc::vals::FreqRange::MEDIUM.0,
+    /// High range (2x low)
     High = pac::rosc::vals::FreqRange::HIGH.0,
+    /// Too high. Should not be used.
     TooHigh = pac::rosc::vals::FreqRange::TOOHIGH.0,
 }
 
+/// On-chip ring oscillator configuration.
 pub struct RoscConfig {
     /// Final frequency of the oscillator, after the divider has been applied.
     /// The oscillator has a nominal frequency of 6.5MHz at medium range with
     /// divider 16 and all drive strengths set to 0, other values should be
     /// measured in situ.
     pub hz: u32,
+    /// Oscillator range.
     pub range: RoscRange,
+    /// Drive strength for oscillator.
     pub drive_strength: [u8; 8],
+    /// Output divider.
     pub div: u16,
 }
 
+/// Crystal oscillator configuration.
 pub struct XoscConfig {
+    /// Final frequency of the oscillator.
     pub hz: u32,
+    /// Configuring PLL for the system clock.
     pub sys_pll: Option<PllConfig>,
+    /// Configuring PLL for the USB clock.
     pub usb_pll: Option<PllConfig>,
+    /// Multiplier for the startup delay.
     pub delay_multiplier: u32,
 }
 
+/// PLL configuration.
 pub struct PllConfig {
+    /// Reference divisor.
     pub refdiv: u8,
+    /// Feedback divisor.
     pub fbdiv: u16,
+    /// Output divisor 1.
     pub post_div1: u8,
+    /// Output divisor 2.
     pub post_div2: u8,
 }
 
+/// Reference clock config.
 pub struct RefClkConfig {
+    /// Reference clock source.
     pub src: RefClkSrc,
+    /// Reference clock divider.
     pub div: u8,
 }
 
+/// Reference clock source.
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum RefClkSrc {
-    // main sources
+    /// XOSC.
     Xosc,
+    /// ROSC.
     Rosc,
-    // aux sources
+    /// PLL USB.
     PllUsb,
     // Gpin0,
     // Gpin1,
 }
 
+/// SYS clock source.
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum SysClkSrc {
-    // main sources
+    /// REF.
     Ref,
-    // aux sources
+    /// PLL SYS.
     PllSys,
+    /// PLL USB.
     PllUsb,
+    /// ROSC.
     Rosc,
+    /// XOSC.
     Xosc,
     // Gpin0,
     // Gpin1,
 }
 
+/// SYS clock config.
 pub struct SysClkConfig {
+    /// SYS clock source.
     pub src: SysClkSrc,
+    /// SYS clock divider.
     pub div_int: u32,
+    /// SYS clock fraction.
     pub div_frac: u8,
 }
 
+/// USB clock source.
 #[repr(u8)]
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum UsbClkSrc {
+    /// PLL USB.
     PllUsb = ClkUsbCtrlAuxsrc::CLKSRC_PLL_USB as _,
+    /// PLL SYS.
     PllSys = ClkUsbCtrlAuxsrc::CLKSRC_PLL_SYS as _,
+    /// ROSC.
     Rosc = ClkUsbCtrlAuxsrc::ROSC_CLKSRC_PH as _,
+    /// XOSC.
     Xosc = ClkUsbCtrlAuxsrc::XOSC_CLKSRC as _,
     // Gpin0 = ClkUsbCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkUsbCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
 
+/// USB clock config.
 pub struct UsbClkConfig {
+    /// USB clock source.
     pub src: UsbClkSrc,
+    /// USB clock divider.
     pub div: u8,
+    /// USB clock phase.
     pub phase: u8,
 }
 
+/// ADC clock source.
 #[repr(u8)]
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum AdcClkSrc {
+    /// PLL USB.
     PllUsb = ClkAdcCtrlAuxsrc::CLKSRC_PLL_USB as _,
+    /// PLL SYS.
     PllSys = ClkAdcCtrlAuxsrc::CLKSRC_PLL_SYS as _,
+    /// ROSC.
     Rosc = ClkAdcCtrlAuxsrc::ROSC_CLKSRC_PH as _,
+    /// XOSC.
     Xosc = ClkAdcCtrlAuxsrc::XOSC_CLKSRC as _,
     // Gpin0 = ClkAdcCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkAdcCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
 
+/// ADC clock config.
 pub struct AdcClkConfig {
+    /// ADC clock source.
     pub src: AdcClkSrc,
+    /// ADC clock divider.
     pub div: u8,
+    /// ADC clock phase.
     pub phase: u8,
 }
 
+/// RTC clock source.
 #[repr(u8)]
 #[non_exhaustive]
 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum RtcClkSrc {
+    /// PLL USB.
     PllUsb = ClkRtcCtrlAuxsrc::CLKSRC_PLL_USB as _,
+    /// PLL SYS.
     PllSys = ClkRtcCtrlAuxsrc::CLKSRC_PLL_SYS as _,
+    /// ROSC.
     Rosc = ClkRtcCtrlAuxsrc::ROSC_CLKSRC_PH as _,
+    /// XOSC.
     Xosc = ClkRtcCtrlAuxsrc::XOSC_CLKSRC as _,
     // Gpin0 = ClkRtcCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkRtcCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
 
+/// RTC clock config.
 pub struct RtcClkConfig {
+    /// RTC clock source.
     pub src: RtcClkSrc,
+    /// RTC clock divider.
     pub div_int: u32,
+    /// RTC clock divider fraction.
     pub div_frac: u8,
+    /// RTC clock phase.
     pub phase: u8,
 }
 
@@ -579,10 +657,12 @@ fn configure_rosc(config: RoscConfig) -> u32 {
     config.hz
 }
 
+/// ROSC clock frequency.
 pub fn rosc_freq() -> u32 {
     CLOCKS.rosc.load(Ordering::Relaxed)
 }
 
+/// XOSC clock frequency.
 pub fn xosc_freq() -> u32 {
     CLOCKS.xosc.load(Ordering::Relaxed)
 }
@@ -594,34 +674,42 @@ pub fn xosc_freq() -> u32 {
 //     CLOCKS.gpin1.load(Ordering::Relaxed)
 // }
 
+/// PLL SYS clock frequency.
 pub fn pll_sys_freq() -> u32 {
     CLOCKS.pll_sys.load(Ordering::Relaxed)
 }
 
+/// PLL USB clock frequency.
 pub fn pll_usb_freq() -> u32 {
     CLOCKS.pll_usb.load(Ordering::Relaxed)
 }
 
+/// SYS clock frequency.
 pub fn clk_sys_freq() -> u32 {
     CLOCKS.sys.load(Ordering::Relaxed)
 }
 
+/// REF clock frequency.
 pub fn clk_ref_freq() -> u32 {
     CLOCKS.reference.load(Ordering::Relaxed)
 }
 
+/// Peripheral clock frequency.
 pub fn clk_peri_freq() -> u32 {
     CLOCKS.peri.load(Ordering::Relaxed)
 }
 
+/// USB clock frequency.
 pub fn clk_usb_freq() -> u32 {
     CLOCKS.usb.load(Ordering::Relaxed)
 }
 
+/// ADC clock frequency.
 pub fn clk_adc_freq() -> u32 {
     CLOCKS.adc.load(Ordering::Relaxed)
 }
 
+/// RTC clock frequency.
 pub fn clk_rtc_freq() -> u16 {
     CLOCKS.rtc.load(Ordering::Relaxed)
 }
@@ -682,7 +770,9 @@ fn configure_pll(p: pac::pll::Pll, input_freq: u32, config: PllConfig) -> u32 {
     vco_freq / ((config.post_div1 * config.post_div2) as u32)
 }
 
+/// General purpose input clock pin.
 pub trait GpinPin: crate::gpio::Pin {
+    /// Pin number.
     const NR: usize;
 }
 
@@ -697,12 +787,14 @@ macro_rules! impl_gpinpin {
 impl_gpinpin!(PIN_20, 20, 0);
 impl_gpinpin!(PIN_22, 22, 1);
 
+/// General purpose clock input driver.
 pub struct Gpin<'d, T: Pin> {
     gpin: PeripheralRef<'d, AnyPin>,
     _phantom: PhantomData<T>,
 }
 
 impl<'d, T: Pin> Gpin<'d, T> {
+    /// Create new gpin driver.
     pub fn new<P: GpinPin>(gpin: impl Peripheral<P = P> + 'd) -> Gpin<'d, P> {
         into_ref!(gpin);
 
@@ -728,7 +820,9 @@ impl<'d, T: Pin> Drop for Gpin<'d, T> {
     }
 }
 
+/// General purpose clock output pin.
 pub trait GpoutPin: crate::gpio::Pin {
+    /// Pin number.
     fn number(&self) -> usize;
 }
 
@@ -747,26 +841,38 @@ impl_gpoutpin!(PIN_23, 1);
 impl_gpoutpin!(PIN_24, 2);
 impl_gpoutpin!(PIN_25, 3);
 
+/// Gpout clock source.
 #[repr(u8)]
 pub enum GpoutSrc {
+    /// Sys PLL.
     PllSys = ClkGpoutCtrlAuxsrc::CLKSRC_PLL_SYS as _,
     // Gpin0 = ClkGpoutCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkGpoutCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
+    /// USB PLL.
     PllUsb = ClkGpoutCtrlAuxsrc::CLKSRC_PLL_USB as _,
+    /// ROSC.
     Rosc = ClkGpoutCtrlAuxsrc::ROSC_CLKSRC as _,
+    /// XOSC.
     Xosc = ClkGpoutCtrlAuxsrc::XOSC_CLKSRC as _,
+    /// SYS.
     Sys = ClkGpoutCtrlAuxsrc::CLK_SYS as _,
+    /// USB.
     Usb = ClkGpoutCtrlAuxsrc::CLK_USB as _,
+    /// ADC.
     Adc = ClkGpoutCtrlAuxsrc::CLK_ADC as _,
+    /// RTC.
     Rtc = ClkGpoutCtrlAuxsrc::CLK_RTC as _,
+    /// REF.
     Ref = ClkGpoutCtrlAuxsrc::CLK_REF as _,
 }
 
+/// General purpose clock output driver.
 pub struct Gpout<'d, T: GpoutPin> {
     gpout: PeripheralRef<'d, T>,
 }
 
 impl<'d, T: GpoutPin> Gpout<'d, T> {
+    /// Create new general purpose cloud output.
     pub fn new(gpout: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(gpout);
 
@@ -775,6 +881,7 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
         Self { gpout }
     }
 
+    /// Set clock divider.
     pub fn set_div(&self, int: u32, frac: u8) {
         let c = pac::CLOCKS;
         c.clk_gpout_div(self.gpout.number()).write(|w| {
@@ -783,6 +890,7 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
         });
     }
 
+    /// Set clock source.
     pub fn set_src(&self, src: GpoutSrc) {
         let c = pac::CLOCKS;
         c.clk_gpout_ctrl(self.gpout.number()).modify(|w| {
@@ -790,6 +898,7 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
         });
     }
 
+    /// Enable clock.
     pub fn enable(&self) {
         let c = pac::CLOCKS;
         c.clk_gpout_ctrl(self.gpout.number()).modify(|w| {
@@ -797,6 +906,7 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
         });
     }
 
+    /// Disable clock.
     pub fn disable(&self) {
         let c = pac::CLOCKS;
         c.clk_gpout_ctrl(self.gpout.number()).modify(|w| {
@@ -804,6 +914,7 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
         });
     }
 
+    /// Clock frequency.
     pub fn get_freq(&self) -> u32 {
         let c = pac::CLOCKS;
         let src = c.clk_gpout_ctrl(self.gpout.number()).read().auxsrc();

embassy-rp/src/dma.rs

@@ -38,6 +38,9 @@ pub(crate) unsafe fn init() {
     interrupt::DMA_IRQ_0.enable();
 }
 
+/// DMA read.
+///
+/// SAFETY: Slice must point to a valid location reachable by DMA.
 pub unsafe fn read<'a, C: Channel, W: Word>(
     ch: impl Peripheral<P = C> + 'a,
     from: *const W,
@@ -57,6 +60,9 @@ pub unsafe fn read<'a, C: Channel, W: Word>(
     )
 }
 
+/// DMA write.
+///
+/// SAFETY: Slice must point to a valid location reachable by DMA.
 pub unsafe fn write<'a, C: Channel, W: Word>(
     ch: impl Peripheral<P = C> + 'a,
     from: *const [W],
@@ -79,6 +85,9 @@ pub unsafe fn write<'a, C: Channel, W: Word>(
 // static mut so that this is allocated in RAM.
 static mut DUMMY: u32 = 0;
 
+/// DMA repeated write.
+///
+/// SAFETY: Slice must point to a valid location reachable by DMA.
 pub unsafe fn write_repeated<'a, C: Channel, W: Word>(
     ch: impl Peripheral<P = C> + 'a,
     to: *mut W,
@@ -97,6 +106,9 @@ pub unsafe fn write_repeated<'a, C: Channel, W: Word>(
     )
 }
 
+/// DMA copy between slices.
+///
+/// SAFETY: Slices must point to locations reachable by DMA.
 pub unsafe fn copy<'a, C: Channel, W: Word>(
     ch: impl Peripheral<P = C> + 'a,
     from: &[W],
@@ -152,6 +164,7 @@ fn copy_inner<'a, C: Channel>(
     Transfer::new(ch)
 }
 
+/// DMA transfer driver.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Transfer<'a, C: Channel> {
     channel: PeripheralRef<'a, C>,
@@ -201,19 +214,25 @@ mod sealed {
     pub trait Word {}
 }
 
+/// DMA channel interface.
 pub trait Channel: Peripheral<P = Self> + sealed::Channel + Into<AnyChannel> + Sized + 'static {
+    /// Channel number.
     fn number(&self) -> u8;
 
+    /// Channel registry block.
     fn regs(&self) -> pac::dma::Channel {
         pac::DMA.ch(self.number() as _)
     }
 
+    /// Convert into type-erased [AnyChannel].
     fn degrade(self) -> AnyChannel {
         AnyChannel { number: self.number() }
     }
 }
 
+/// DMA word.
 pub trait Word: sealed::Word {
+    /// Word size.
     fn size() -> vals::DataSize;
 }
 
@@ -238,6 +257,7 @@ impl Word for u32 {
     }
 }
 
+/// Type erased DMA channel.
 pub struct AnyChannel {
     number: u8,
 }

embassy-rp/src/flash.rs

@@ -1,3 +1,4 @@
+//! Flash driver.
 use core::future::Future;
 use core::marker::PhantomData;
 use core::pin::Pin;
@@ -13,9 +14,10 @@ use crate::dma::{AnyChannel, Channel, Transfer};
 use crate::pac;
 use crate::peripherals::FLASH;
 
+/// Flash base address.
 pub const FLASH_BASE: *const u32 = 0x10000000 as _;
 
-// If running from RAM, we might have no boot2. Use bootrom `flash_enter_cmd_xip` instead.
+/// If running from RAM, we might have no boot2. Use bootrom `flash_enter_cmd_xip` instead.
 // TODO: when run-from-ram is set, completely skip the "pause cores and jumpp to RAM" dance.
 pub const USE_BOOT2: bool = !cfg!(feature = "run-from-ram");
 
@@ -24,10 +26,15 @@ pub const USE_BOOT2: bool = !cfg!(feature = "run-from-ram");
 // These limitations are currently enforced because of using the
 // RP2040 boot-rom flash functions, that are optimized for flash compatibility
 // rather than performance.
+/// Flash page size.
 pub const PAGE_SIZE: usize = 256;
+/// Flash write size.
 pub const WRITE_SIZE: usize = 1;
+/// Flash read size.
 pub const READ_SIZE: usize = 1;
+/// Flash erase size.
 pub const ERASE_SIZE: usize = 4096;
+/// Flash DMA read size.
 pub const ASYNC_READ_SIZE: usize = 4;
 
 /// Error type for NVMC operations.
@@ -38,7 +45,9 @@ pub enum Error {
     OutOfBounds,
     /// Unaligned operation or using unaligned buffers.
     Unaligned,
+    /// Accessed from the wrong core.
     InvalidCore,
+    /// Other error
     Other,
 }
 
@@ -96,12 +105,18 @@ impl<'a, 'd, T: Instance, const FLASH_SIZE: usize> Drop for BackgroundRead<'a, '
     }
 }
 
+/// Flash driver.
 pub struct Flash<'d, T: Instance, M: Mode, const FLASH_SIZE: usize> {
     dma: Option<PeripheralRef<'d, AnyChannel>>,
     phantom: PhantomData<(&'d mut T, M)>,
 }
 
 impl<'d, T: Instance, M: Mode, const FLASH_SIZE: usize> Flash<'d, T, M, FLASH_SIZE> {
+    /// Blocking read.
+    ///
+    /// The offset and buffer must be aligned.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
     pub fn blocking_read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
         trace!(
             "Reading from 0x{:x} to 0x{:x}",
@@ -116,10 +131,14 @@ impl<'d, T: Instance, M: Mode, const FLASH_SIZE: usize> Flash<'d, T, M, FLASH_SI
         Ok(())
     }
 
+    /// Flash capacity.
     pub fn capacity(&self) -> usize {
         FLASH_SIZE
     }
 
+    /// Blocking erase.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
     pub fn blocking_erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
         check_erase(self, from, to)?;
 
@@ -136,6 +155,11 @@ impl<'d, T: Instance, M: Mode, const FLASH_SIZE: usize> Flash<'d, T, M, FLASH_SI
         Ok(())
     }
 
+    /// Blocking write.
+    ///
+    /// The offset and buffer must be aligned.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
     pub fn blocking_write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
         check_write(self, offset, bytes.len())?;
 
@@ -219,6 +243,7 @@ impl<'d, T: Instance, M: Mode, const FLASH_SIZE: usize> Flash<'d, T, M, FLASH_SI
 }
 
 impl<'d, T: Instance, const FLASH_SIZE: usize> Flash<'d, T, Blocking, FLASH_SIZE> {
+    /// Create a new flash driver in blocking mode.
     pub fn new_blocking(_flash: impl Peripheral<P = T> + 'd) -> Self {
         Self {
             dma: None,
@@ -228,6 +253,7 @@ impl<'d, T: Instance, const FLASH_SIZE: usize> Flash<'d, T, Blocking, FLASH_SIZE
 }
 
 impl<'d, T: Instance, const FLASH_SIZE: usize> Flash<'d, T, Async, FLASH_SIZE> {
+    /// Create a new flash driver in async mode.
     pub fn new(_flash: impl Peripheral<P = T> + 'd, dma: impl Peripheral<P = impl Channel> + 'd) -> Self {
         into_ref!(dma);
         Self {
@@ -236,6 +262,11 @@ impl<'d, T: Instance, const FLASH_SIZE: usize> Flash<'d, T, Async, FLASH_SIZE> {
         }
     }
 
+    /// Start a background read operation.
+    ///
+    /// The offset and buffer must be aligned.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
     pub fn background_read<'a>(
         &'a mut self,
         offset: u32,
@@ -279,6 +310,11 @@ impl<'d, T: Instance, const FLASH_SIZE: usize> Flash<'d, T, Async, FLASH_SIZE> {
         })
     }
 
+    /// Async read.
+    ///
+    /// The offset and buffer must be aligned.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
     pub async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
         use core::mem::MaybeUninit;
 
@@ -874,7 +910,9 @@ mod sealed {
     pub trait Mode {}
 }
 
+/// Flash instance.
 pub trait Instance: sealed::Instance {}
+/// Flash mode.
 pub trait Mode: sealed::Mode {}
 
 impl sealed::Instance for FLASH {}
@@ -887,7 +925,9 @@ macro_rules! impl_mode {
     };
 }
 
+/// Flash blocking mode.
 pub struct Blocking;
+/// Flash async mode.
 pub struct Async;
 
 impl_mode!(Blocking);

embassy-rp/src/gpio.rs

@@ -1,3 +1,4 @@
+//! GPIO driver.
 #![macro_use]
 use core::convert::Infallible;
 use core::future::Future;
@@ -23,7 +24,9 @@ static QSPI_WAKERS: [AtomicWaker; QSPI_PIN_COUNT] = [NEW_AW; QSPI_PIN_COUNT];
 /// Represents a digital input or output level.
 #[derive(Debug, Eq, PartialEq, Clone, Copy)]
 pub enum Level {
+    /// Logical low.
     Low,
+    /// Logical high.
     High,
 }
 
@@ -48,48 +51,66 @@ impl From<Level> for bool {
 /// Represents a pull setting for an input.
 #[derive(Debug, Clone, Copy, Eq, PartialEq)]
 pub enum Pull {
+    /// No pull.
     None,
+    /// Internal pull-up resistor.
     Up,
+    /// Internal pull-down resistor.
     Down,
 }
 
 /// Drive strength of an output
 #[derive(Debug, Eq, PartialEq)]
 pub enum Drive {
+    /// 2 mA drive.
     _2mA,
+    /// 4 mA drive.
     _4mA,
+    /// 8 mA drive.
     _8mA,
+    /// 1 2mA drive.
     _12mA,
 }
 /// Slew rate of an output
 #[derive(Debug, Eq, PartialEq)]
 pub enum SlewRate {
+    /// Fast slew rate.
     Fast,
+    /// Slow slew rate.
     Slow,
 }
 
 /// A GPIO bank with up to 32 pins.
 #[derive(Debug, Eq, PartialEq)]
 pub enum Bank {
+    /// Bank 0.
     Bank0 = 0,
+    /// QSPI.
     #[cfg(feature = "qspi-as-gpio")]
     Qspi = 1,
 }
 
+/// Dormant mode config.
 #[derive(Debug, Eq, PartialEq, Copy, Clone, Default)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct DormantWakeConfig {
+    /// Wake on edge high.
     pub edge_high: bool,
+    /// Wake on edge low.
     pub edge_low: bool,
+    /// Wake on level high.
     pub level_high: bool,
+    /// Wake on level low.
     pub level_low: bool,
 }
 
+/// GPIO input driver.
 pub struct Input<'d, T: Pin> {
     pin: Flex<'d, T>,
 }
 
 impl<'d, T: Pin> Input<'d, T> {
+    /// Create GPIO input driver for a [Pin] with the provided [Pull] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
@@ -104,47 +125,55 @@ impl<'d, T: Pin> Input<'d, T> {
         self.pin.set_schmitt(enable)
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
     /// Returns current pin level
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
     }
 
+    /// Wait until the pin is high. If it is already high, return immediately.
     #[inline]
     pub async fn wait_for_high(&mut self) {
         self.pin.wait_for_high().await;
     }
 
+    /// Wait until the pin is low. If it is already low, return immediately.
     #[inline]
     pub async fn wait_for_low(&mut self) {
         self.pin.wait_for_low().await;
     }
 
+    /// Wait for the pin to undergo a transition from low to high.
     #[inline]
     pub async fn wait_for_rising_edge(&mut self) {
         self.pin.wait_for_rising_edge().await;
     }
 
+    /// Wait for the pin to undergo a transition from high to low.
     #[inline]
     pub async fn wait_for_falling_edge(&mut self) {
         self.pin.wait_for_falling_edge().await;
     }
 
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to low.
     #[inline]
     pub async fn wait_for_any_edge(&mut self) {
         self.pin.wait_for_any_edge().await;
     }
 
+    /// Configure dormant wake.
     #[inline]
     pub fn dormant_wake(&mut self, cfg: DormantWakeConfig) -> DormantWake<T> {
         self.pin.dormant_wake(cfg)
@@ -155,10 +184,15 @@ impl<'d, T: Pin> Input<'d, T> {
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum InterruptTrigger {
+    /// Trigger on pin low.
     LevelLow,
+    /// Trigger on pin high.
     LevelHigh,
+    /// Trigger on high to low transition.
     EdgeLow,
+    /// Trigger on low to high transition.
     EdgeHigh,
+    /// Trigger on any transition.
     AnyEdge,
 }
 
@@ -226,6 +260,7 @@ struct InputFuture<'a, T: Pin> {
 }
 
 impl<'d, T: Pin> InputFuture<'d, T> {
+    /// Create a new future wiating for input trigger.
     pub fn new(pin: impl Peripheral<P = T> + 'd, level: InterruptTrigger) -> Self {
         into_ref!(pin);
         let pin_group = (pin.pin() % 8) as usize;
@@ -308,11 +343,13 @@ impl<'d, T: Pin> Future for InputFuture<'d, T> {
     }
 }
 
+/// GPIO output driver.
 pub struct Output<'d, T: Pin> {
     pin: Flex<'d, T>,
 }
 
 impl<'d, T: Pin> Output<'d, T> {
+    /// Create GPIO output driver for a [Pin] with the provided [Level].
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level) -> Self {
         let mut pin = Flex::new(pin);
@@ -331,7 +368,7 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.set_drive_strength(strength)
     }
 
-    // Set the pin's slew rate.
+    /// Set the pin's slew rate.
     #[inline]
     pub fn set_slew_rate(&mut self, slew_rate: SlewRate) {
         self.pin.set_slew_rate(slew_rate)
@@ -357,19 +394,19 @@ impl<'d, T: Pin> Output<'d, T> {
 
     /// Is the output pin set as high?
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         self.pin.is_set_high()
     }
 
     /// Is the output pin set as low?
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_low()
     }
 
     /// What level output is set to
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.pin.get_output_level()
     }
 
@@ -386,6 +423,7 @@ pub struct OutputOpenDrain<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> OutputOpenDrain<'d, T> {
+    /// Create GPIO output driver for a [Pin] in open drain mode with the provided [Level].
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level) -> Self {
         let mut pin = Flex::new(pin);
@@ -403,7 +441,7 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.set_drive_strength(strength)
     }
 
-    // Set the pin's slew rate.
+    /// Set the pin's slew rate.
     #[inline]
     pub fn set_slew_rate(&mut self, slew_rate: SlewRate) {
         self.pin.set_slew_rate(slew_rate)
@@ -434,19 +472,19 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
 
     /// Is the output level high?
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         !self.is_set_low()
     }
 
     /// Is the output level low?
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_as_output()
     }
 
     /// What level output is set to
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.is_set_high().into()
     }
 
@@ -456,42 +494,49 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.toggle_set_as_output()
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
     /// Returns current pin level
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.is_high().into()
     }
 
+    /// Wait until the pin is high. If it is already high, return immediately.
     #[inline]
     pub async fn wait_for_high(&mut self) {
         self.pin.wait_for_high().await;
     }
 
+    /// Wait until the pin is low. If it is already low, return immediately.
     #[inline]
     pub async fn wait_for_low(&mut self) {
         self.pin.wait_for_low().await;
     }
 
+    /// Wait for the pin to undergo a transition from low to high.
     #[inline]
     pub async fn wait_for_rising_edge(&mut self) {
         self.pin.wait_for_rising_edge().await;
     }
 
+    /// Wait for the pin to undergo a transition from high to low.
     #[inline]
     pub async fn wait_for_falling_edge(&mut self) {
         self.pin.wait_for_falling_edge().await;
     }
 
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to low.
     #[inline]
     pub async fn wait_for_any_edge(&mut self) {
         self.pin.wait_for_any_edge().await;
@@ -508,6 +553,10 @@ pub struct Flex<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Flex<'d, T> {
+    /// Wrap the pin in a `Flex`.
+    ///
+    /// The pin remains disconnected. The initial output level is unspecified, but can be changed
+    /// before the pin is put into output mode.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(pin);
@@ -556,7 +605,7 @@ impl<'d, T: Pin> Flex<'d, T> {
         });
     }
 
-    // Set the pin's slew rate.
+    /// Set the pin's slew rate.
     #[inline]
     pub fn set_slew_rate(&mut self, slew_rate: SlewRate) {
         self.pin.pad_ctrl().modify(|w| {
@@ -589,29 +638,43 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.sio_oe().value_set().write_value(self.bit())
     }
 
+    /// Set as output pin.
     #[inline]
-    fn is_set_as_output(&self) -> bool {
+    pub fn is_set_as_output(&mut self) -> bool {
+        self.ref_is_set_as_output()
+    }
+
+    #[inline]
+    pub(crate) fn ref_is_set_as_output(&self) -> bool {
         (self.pin.sio_oe().value().read() & self.bit()) != 0
     }
 
+    /// Toggle output pin.
     #[inline]
     pub fn toggle_set_as_output(&mut self) {
         self.pin.sio_oe().value_xor().write_value(self.bit())
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         !self.is_low()
     }
+    /// Get whether the pin input level is low.
+
+    #[inline]
+    pub fn is_low(&mut self) -> bool {
+        self.ref_is_low()
+    }
 
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub(crate) fn ref_is_low(&self) -> bool {
         self.pin.sio_in().read() & self.bit() == 0
     }
 
     /// Returns current pin level
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.is_high().into()
     }
 
@@ -638,19 +701,24 @@ impl<'d, T: Pin> Flex<'d, T> {
 
     /// Is the output level high?
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         !self.is_set_low()
     }
 
     /// Is the output level low?
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
+        self.ref_is_set_low()
+    }
+
+    #[inline]
+    pub(crate) fn ref_is_set_low(&self) -> bool {
         (self.pin.sio_out().value().read() & self.bit()) == 0
     }
 
     /// What level output is set to
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.is_set_high().into()
     }
 
@@ -660,31 +728,37 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.sio_out().value_xor().write_value(self.bit())
     }
 
+    /// Wait until the pin is high. If it is already high, return immediately.
     #[inline]
     pub async fn wait_for_high(&mut self) {
         InputFuture::new(&mut self.pin, InterruptTrigger::LevelHigh).await;
     }
 
+    /// Wait until the pin is low. If it is already low, return immediately.
     #[inline]
     pub async fn wait_for_low(&mut self) {
         InputFuture::new(&mut self.pin, InterruptTrigger::LevelLow).await;
     }
 
+    /// Wait for the pin to undergo a transition from low to high.
     #[inline]
     pub async fn wait_for_rising_edge(&mut self) {
         InputFuture::new(&mut self.pin, InterruptTrigger::EdgeHigh).await;
     }
 
+    /// Wait for the pin to undergo a transition from high to low.
     #[inline]
     pub async fn wait_for_falling_edge(&mut self) {
         InputFuture::new(&mut self.pin, InterruptTrigger::EdgeLow).await;
     }
 
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to low.
     #[inline]
     pub async fn wait_for_any_edge(&mut self) {
         InputFuture::new(&mut self.pin, InterruptTrigger::AnyEdge).await;
     }
 
+    /// Configure dormant wake.
     #[inline]
     pub fn dormant_wake(&mut self, cfg: DormantWakeConfig) -> DormantWake<T> {
         let idx = self.pin._pin() as usize;
@@ -722,6 +796,7 @@ impl<'d, T: Pin> Drop for Flex<'d, T> {
     }
 }
 
+/// Dormant wake driver.
 pub struct DormantWake<'w, T: Pin> {
     pin: PeripheralRef<'w, T>,
     cfg: DormantWakeConfig,
@@ -803,6 +878,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// Interface for a Pin that can be configured by an [Input] or [Output] driver, or converted to an [AnyPin].
 pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'static {
     /// Degrade to a generic pin struct
     fn degrade(self) -> AnyPin {
@@ -824,6 +900,7 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
     }
 }
 
+/// Type-erased GPIO pin
 pub struct AnyPin {
     pin_bank: u8,
 }
@@ -912,11 +989,11 @@ mod eh02 {
         type Error = Infallible;
 
         fn is_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_high())
+            Ok(!self.pin.ref_is_low())
         }
 
         fn is_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_low())
+            Ok(self.pin.ref_is_low())
         }
     }
 
@@ -934,11 +1011,11 @@ mod eh02 {
 
     impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Output<'d, T> {
         fn is_set_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_high())
+            Ok(!self.pin.ref_is_set_low())
         }
 
         fn is_set_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_low())
+            Ok(self.pin.ref_is_set_low())
         }
     }
 
@@ -954,11 +1031,11 @@ mod eh02 {
         type Error = Infallible;
 
         fn is_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_high())
+            Ok(!self.pin.ref_is_low())
         }
 
         fn is_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_low())
+            Ok(self.pin.ref_is_low())
         }
     }
 
@@ -978,11 +1055,11 @@ mod eh02 {
 
     impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for OutputOpenDrain<'d, T> {
         fn is_set_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_high())
+            Ok(!self.pin.ref_is_set_as_output())
         }
 
         fn is_set_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_low())
+            Ok(self.pin.ref_is_set_as_output())
         }
     }
 
@@ -998,11 +1075,11 @@ mod eh02 {
         type Error = Infallible;
 
         fn is_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_high())
+            Ok(!self.ref_is_low())
         }
 
         fn is_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_low())
+            Ok(self.ref_is_low())
         }
     }
 
@@ -1020,11 +1097,11 @@ mod eh02 {
 
     impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Flex<'d, T> {
         fn is_set_high(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_high())
+            Ok(!self.ref_is_set_low())
         }
 
         fn is_set_low(&self) -> Result<bool, Self::Error> {
-            Ok(self.is_set_low())
+            Ok(self.ref_is_set_low())
         }
     }
 
@@ -1042,11 +1119,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Input<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for Input<'d, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -1066,11 +1143,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for Output<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Output<'d, T> {
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }
@@ -1096,11 +1173,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for OutputOpenDrain<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for OutputOpenDrain<'d, T> {
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }
@@ -1112,11 +1189,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::ToggleableOutputPin for OutputOpenDrai
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for OutputOpenDrain<'d, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -1126,11 +1203,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Flex<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for Flex<'d, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -1146,11 +1223,11 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for Flex<'d, T> {
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Flex<'d, T> {
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }

embassy-rp/src/i2c.rs

@@ -1,3 +1,4 @@
+//! I2C driver.
 use core::future;
 use core::marker::PhantomData;
 use core::task::Poll;
@@ -22,6 +23,7 @@ pub enum AbortReason {
     ArbitrationLoss,
     /// Transmit ended with data still in fifo
     TxNotEmpty(u16),
+    /// Other reason.
     Other(u32),
 }
 
@@ -41,9 +43,11 @@ pub enum Error {
     AddressReserved(u16),
 }
 
+/// I2C config.
 #[non_exhaustive]
 #[derive(Copy, Clone)]
 pub struct Config {
+    /// Frequency.
     pub frequency: u32,
 }
 
@@ -53,13 +57,16 @@ impl Default for Config {
     }
 }
 
+/// Size of I2C FIFO.
 pub const FIFO_SIZE: u8 = 16;
 
+/// I2C driver.
 pub struct I2c<'d, T: Instance, M: Mode> {
     phantom: PhantomData<(&'d mut T, M)>,
 }
 
 impl<'d, T: Instance> I2c<'d, T, Blocking> {
+    /// Create a new driver instance in blocking mode.
     pub fn new_blocking(
         peri: impl Peripheral<P = T> + 'd,
         scl: impl Peripheral<P = impl SclPin<T>> + 'd,
@@ -72,6 +79,7 @@ impl<'d, T: Instance> I2c<'d, T, Blocking> {
 }
 
 impl<'d, T: Instance> I2c<'d, T, Async> {
+    /// Create a new driver instance in async mode.
     pub fn new_async(
         peri: impl Peripheral<P = T> + 'd,
         scl: impl Peripheral<P = impl SclPin<T>> + 'd,
@@ -292,16 +300,19 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
         }
     }
 
+    /// Read from address into buffer using DMA.
     pub async fn read_async(&mut self, addr: u16, buffer: &mut [u8]) -> Result<(), Error> {
         Self::setup(addr)?;
         self.read_async_internal(buffer, true, true).await
     }
 
+    /// Write to address from buffer using DMA.
     pub async fn write_async(&mut self, addr: u16, bytes: impl IntoIterator<Item = u8>) -> Result<(), Error> {
         Self::setup(addr)?;
         self.write_async_internal(bytes, true).await
     }
 
+    /// Write to address from bytes and read from address into buffer using DMA.
     pub async fn write_read_async(
         &mut self,
         addr: u16,
@@ -314,6 +325,7 @@ impl<'d, T: Instance> I2c<'d, T, Async> {
     }
 }
 
+/// Interrupt handler.
 pub struct InterruptHandler<T: Instance> {
     _uart: PhantomData<T>,
 }
@@ -569,17 +581,20 @@ impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
     // Blocking public API
     // =========================
 
+    /// Read from address into buffer blocking caller until done.
     pub fn blocking_read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Error> {
         Self::setup(address.into())?;
         self.read_blocking_internal(read, true, true)
         // Automatic Stop
     }
 
+    /// Write to address from buffer blocking caller until done.
     pub fn blocking_write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
         Self::setup(address.into())?;
         self.write_blocking_internal(write, true)
     }
 
+    /// Write to address from bytes and read from address into buffer blocking caller until done.
     pub fn blocking_write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
         Self::setup(address.into())?;
         self.write_blocking_internal(write, false)?;
@@ -742,6 +757,7 @@ where
     }
 }
 
+/// Check if address is reserved.
 pub fn i2c_reserved_addr(addr: u16) -> bool {
     ((addr & 0x78) == 0 || (addr & 0x78) == 0x78) && addr != 0
 }
@@ -768,6 +784,7 @@ mod sealed {
     pub trait SclPin<T: Instance> {}
 }
 
+/// Driver mode.
 pub trait Mode: sealed::Mode {}
 
 macro_rules! impl_mode {
@@ -777,12 +794,15 @@ macro_rules! impl_mode {
     };
 }
 
+/// Blocking mode.
 pub struct Blocking;
+/// Async mode.
 pub struct Async;
 
 impl_mode!(Blocking);
 impl_mode!(Async);
 
+/// I2C instance.
 pub trait Instance: sealed::Instance {}
 
 macro_rules! impl_instance {
@@ -819,7 +839,9 @@ macro_rules! impl_instance {
 impl_instance!(I2C0, I2C0_IRQ, set_i2c0, 32, 33);
 impl_instance!(I2C1, I2C1_IRQ, set_i2c1, 34, 35);
 
+/// SDA pin.
 pub trait SdaPin<T: Instance>: sealed::SdaPin<T> + crate::gpio::Pin {}
+/// SCL pin.
 pub trait SclPin<T: Instance>: sealed::SclPin<T> + crate::gpio::Pin {}
 
 macro_rules! impl_pin {

embassy-rp/src/i2c_slave.rs

@@ -1,3 +1,4 @@
+//! I2C slave driver.
 use core::future;
 use core::marker::PhantomData;
 use core::task::Poll;
@@ -63,11 +64,13 @@ impl Default for Config {
     }
 }
 
+/// I2CSlave driver.
 pub struct I2cSlave<'d, T: Instance> {
     phantom: PhantomData<&'d mut T>,
 }
 
 impl<'d, T: Instance> I2cSlave<'d, T> {
+    /// Create a new instance.
     pub fn new(
         _peri: impl Peripheral<P = T> + 'd,
         scl: impl Peripheral<P = impl SclPin<T>> + 'd,

embassy-rp/src/lib.rs

@@ -1,5 +1,7 @@
 #![no_std]
 #![allow(async_fn_in_trait)]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
@@ -31,9 +33,7 @@ pub mod usb;
 pub mod watchdog;
 
 // PIO
-// TODO: move `pio_instr_util` and `relocate` to inside `pio`
 pub mod pio;
-pub mod pio_instr_util;
 pub(crate) mod relocate;
 
 // Reexports
@@ -302,11 +302,14 @@ fn install_stack_guard(stack_bottom: *mut usize) -> Result<(), ()> {
     Ok(())
 }
 
+/// HAL configuration for RP.
 pub mod config {
     use crate::clocks::ClockConfig;
 
+    /// HAL configuration passed when initializing.
     #[non_exhaustive]
     pub struct Config {
+        /// Clock configuration.
         pub clocks: ClockConfig,
     }
 
@@ -319,12 +322,18 @@ pub mod config {
     }
 
     impl Config {
+        /// Create a new configuration with the provided clock config.
         pub fn new(clocks: ClockConfig) -> Self {
             Self { clocks }
         }
     }
 }
 
+/// Initialize the `embassy-rp` HAL with the provided configuration.
+///
+/// This returns the peripheral singletons that can be used for creating drivers.
+///
+/// This should only be called once at startup, otherwise it panics.
 pub fn init(config: config::Config) -> Peripherals {
     // Do this first, so that it panics if user is calling `init` a second time
     // before doing anything important.

embassy-rp/src/pio/instr.rs

@@ -1,7 +1,9 @@
+//! Instructions controlling the PIO.
 use pio::{InSource, InstructionOperands, JmpCondition, OutDestination, SetDestination};
 
 use crate::pio::{Instance, StateMachine};
 
+/// Set value of scratch register X.
 pub unsafe fn set_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, value: u32) {
     const OUT: u16 = InstructionOperands::OUT {
         destination: OutDestination::X,
@@ -12,6 +14,7 @@ pub unsafe fn set_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, S
     sm.exec_instr(OUT);
 }
 
+/// Get value of scratch register X.
 pub unsafe fn get_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>) -> u32 {
     const IN: u16 = InstructionOperands::IN {
         source: InSource::X,
@@ -22,6 +25,7 @@ pub unsafe fn get_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, S
     sm.rx().pull()
 }
 
+/// Set value of scratch register Y.
 pub unsafe fn set_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, value: u32) {
     const OUT: u16 = InstructionOperands::OUT {
         destination: OutDestination::Y,
@@ -32,6 +36,7 @@ pub unsafe fn set_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, S
     sm.exec_instr(OUT);
 }
 
+/// Get value of scratch register Y.
 pub unsafe fn get_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>) -> u32 {
     const IN: u16 = InstructionOperands::IN {
         source: InSource::Y,
@@ -43,6 +48,7 @@ pub unsafe fn get_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, S
     sm.rx().pull()
 }
 
+/// Set instruction for pindir destination.
 pub unsafe fn set_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u8) {
     let set: u16 = InstructionOperands::SET {
         destination: SetDestination::PINDIRS,
@@ -52,6 +58,7 @@ pub unsafe fn set_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<P
     sm.exec_instr(set);
 }
 
+/// Set instruction for pin destination.
 pub unsafe fn set_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u8) {
     let set: u16 = InstructionOperands::SET {
         destination: SetDestination::PINS,
@@ -61,6 +68,7 @@ pub unsafe fn set_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO,
     sm.exec_instr(set);
 }
 
+/// Out instruction for pin destination.
 pub unsafe fn set_out_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u32) {
     const OUT: u16 = InstructionOperands::OUT {
         destination: OutDestination::PINS,
@@ -70,6 +78,8 @@ pub unsafe fn set_out_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<
     sm.tx().push(data);
     sm.exec_instr(OUT);
 }
+
+/// Out instruction for pindir destination.
 pub unsafe fn set_out_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u32) {
     const OUT: u16 = InstructionOperands::OUT {
         destination: OutDestination::PINDIRS,
@@ -80,6 +90,7 @@ pub unsafe fn set_out_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachi
     sm.exec_instr(OUT);
 }
 
+/// Jump instruction to address.
 pub unsafe fn exec_jmp<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, to_addr: u8) {
     let jmp: u16 = InstructionOperands::JMP {
         address: to_addr,

embassy-rp/src/pio/mod.rs

@@ -1,3 +1,4 @@
+//! PIO driver.
 use core::future::Future;
 use core::marker::PhantomData;
 use core::pin::Pin as FuturePin;
@@ -19,8 +20,11 @@ use crate::gpio::{self, AnyPin, Drive, Level, Pull, SlewRate};
 use crate::interrupt::typelevel::{Binding, Handler, Interrupt};
 use crate::pac::dma::vals::TreqSel;
 use crate::relocate::RelocatedProgram;
-use crate::{pac, peripherals, pio_instr_util, RegExt};
+use crate::{pac, peripherals, RegExt};
 
+pub mod instr;
+
+/// Wakers for interrupts and FIFOs.
 pub struct Wakers([AtomicWaker; 12]);
 
 impl Wakers {
@@ -38,6 +42,7 @@ impl Wakers {
     }
 }
 
+/// FIFO config.
 #[derive(Clone, Copy, PartialEq, Eq, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
@@ -51,6 +56,8 @@ pub enum FifoJoin {
     TxOnly,
 }
 
+/// Shift direction.
+#[allow(missing_docs)]
 #[derive(Clone, Copy, PartialEq, Eq, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
@@ -60,6 +67,8 @@ pub enum ShiftDirection {
     Left = 0,
 }
 
+/// Pin direction.
+#[allow(missing_docs)]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
@@ -68,12 +77,15 @@ pub enum Direction {
     Out = 1,
 }
 
+/// Which fifo level to use in status check.
 #[derive(Clone, Copy, PartialEq, Eq, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[repr(u8)]
 pub enum StatusSource {
     #[default]
+    /// All-ones if TX FIFO level < N, otherwise all-zeroes.
     TxFifoLevel = 0,
+    /// All-ones if RX FIFO level < N, otherwise all-zeroes.
     RxFifoLevel = 1,
 }
 
@@ -81,6 +93,7 @@ const RXNEMPTY_MASK: u32 = 1 << 0;
 const TXNFULL_MASK: u32 = 1 << 4;
 const SMIRQ_MASK: u32 = 1 << 8;
 
+/// Interrupt handler for PIO.
 pub struct InterruptHandler<PIO: Instance> {
     _pio: PhantomData<PIO>,
 }
@@ -105,6 +118,7 @@ pub struct FifoOutFuture<'a, 'd, PIO: Instance, const SM: usize> {
 }
 
 impl<'a, 'd, PIO: Instance, const SM: usize> FifoOutFuture<'a, 'd, PIO, SM> {
+    /// Create a new future waiting for TX-FIFO to become writable.
     pub fn new(sm: &'a mut StateMachineTx<'d, PIO, SM>, value: u32) -> Self {
         FifoOutFuture { sm_tx: sm, value }
     }
@@ -136,13 +150,14 @@ impl<'a, 'd, PIO: Instance, const SM: usize> Drop for FifoOutFuture<'a, 'd, PIO,
     }
 }
 
-/// Future that waits for RX-FIFO to become readable
+/// Future that waits for RX-FIFO to become readable.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct FifoInFuture<'a, 'd, PIO: Instance, const SM: usize> {
     sm_rx: &'a mut StateMachineRx<'d, PIO, SM>,
 }
 
 impl<'a, 'd, PIO: Instance, const SM: usize> FifoInFuture<'a, 'd, PIO, SM> {
+    /// Create future that waits for RX-FIFO to become readable.
     pub fn new(sm: &'a mut StateMachineRx<'d, PIO, SM>) -> Self {
         FifoInFuture { sm_rx: sm }
     }
@@ -207,6 +222,7 @@ impl<'a, 'd, PIO: Instance> Drop for IrqFuture<'a, 'd, PIO> {
     }
 }
 
+/// Type representing a PIO pin.
 pub struct Pin<'l, PIO: Instance> {
     pin: PeripheralRef<'l, AnyPin>,
     pio: PhantomData<PIO>,
@@ -226,7 +242,7 @@ impl<'l, PIO: Instance> Pin<'l, PIO> {
         });
     }
 
-    // Set the pin's slew rate.
+    /// Set the pin's slew rate.
     #[inline]
     pub fn set_slew_rate(&mut self, slew_rate: SlewRate) {
         self.pin.pad_ctrl().modify(|w| {
@@ -251,6 +267,7 @@ impl<'l, PIO: Instance> Pin<'l, PIO> {
         });
     }
 
+    /// Set the pin's input sync bypass.
     pub fn set_input_sync_bypass<'a>(&mut self, bypass: bool) {
         let mask = 1 << self.pin();
         if bypass {
@@ -260,28 +277,34 @@ impl<'l, PIO: Instance> Pin<'l, PIO> {
         }
     }
 
+    /// Get the underlying pin number.
     pub fn pin(&self) -> u8 {
         self.pin._pin()
     }
 }
 
+/// Type representing a state machine RX FIFO.
 pub struct StateMachineRx<'d, PIO: Instance, const SM: usize> {
     pio: PhantomData<&'d mut PIO>,
 }
 
 impl<'d, PIO: Instance, const SM: usize> StateMachineRx<'d, PIO, SM> {
+    /// Check if RX FIFO is empty.
     pub fn empty(&self) -> bool {
         PIO::PIO.fstat().read().rxempty() & (1u8 << SM) != 0
     }
 
+    /// Check if RX FIFO is full.
     pub fn full(&self) -> bool {
         PIO::PIO.fstat().read().rxfull() & (1u8 << SM) != 0
     }
 
+    /// Check RX FIFO level.
     pub fn level(&self) -> u8 {
         (PIO::PIO.flevel().read().0 >> (SM * 8 + 4)) as u8 & 0x0f
     }
 
+    /// Check if state machine has stalled on full RX FIFO.
     pub fn stalled(&self) -> bool {
         let fdebug = PIO::PIO.fdebug();
         let ret = fdebug.read().rxstall() & (1 << SM) != 0;
@@ -291,6 +314,7 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineRx<'d, PIO, SM> {
         ret
     }
 
+    /// Check if RX FIFO underflow (i.e. read-on-empty by the system) has occurred.
     pub fn underflowed(&self) -> bool {
         let fdebug = PIO::PIO.fdebug();
         let ret = fdebug.read().rxunder() & (1 << SM) != 0;
@@ -300,10 +324,12 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineRx<'d, PIO, SM> {
         ret
     }
 
+    /// Pull data from RX FIFO.
     pub fn pull(&mut self) -> u32 {
         PIO::PIO.rxf(SM).read()
     }
 
+    /// Attempt pulling data from RX FIFO.
     pub fn try_pull(&mut self) -> Option<u32> {
         if self.empty() {
             return None;
@@ -311,10 +337,12 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineRx<'d, PIO, SM> {
         Some(self.pull())
     }
 
+    /// Wait for RX FIFO readable.
     pub fn wait_pull<'a>(&'a mut self) -> FifoInFuture<'a, 'd, PIO, SM> {
         FifoInFuture::new(self)
     }
 
+    /// Prepare DMA transfer from RX FIFO.
     pub fn dma_pull<'a, C: Channel, W: Word>(
         &'a mut self,
         ch: PeripheralRef<'a, C>,
@@ -340,22 +368,28 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineRx<'d, PIO, SM> {
     }
 }
 
+/// Type representing a state machine TX FIFO.
 pub struct StateMachineTx<'d, PIO: Instance, const SM: usize> {
     pio: PhantomData<&'d mut PIO>,
 }
 
 impl<'d, PIO: Instance, const SM: usize> StateMachineTx<'d, PIO, SM> {
+    /// Check if TX FIFO is empty.
     pub fn empty(&self) -> bool {
         PIO::PIO.fstat().read().txempty() & (1u8 << SM) != 0
     }
+
+    /// Check if TX FIFO is full.
     pub fn full(&self) -> bool {
         PIO::PIO.fstat().read().txfull() & (1u8 << SM) != 0
     }
 
+    /// Check TX FIFO level.
     pub fn level(&self) -> u8 {
         (PIO::PIO.flevel().read().0 >> (SM * 8)) as u8 & 0x0f
     }
 
+    /// Check state machine has stalled on empty TX FIFO.
     pub fn stalled(&self) -> bool {
         let fdebug = PIO::PIO.fdebug();
         let ret = fdebug.read().txstall() & (1 << SM) != 0;
@@ -365,6 +399,7 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineTx<'d, PIO, SM> {
         ret
     }
 
+    /// Check if FIFO overflowed.
     pub fn overflowed(&self) -> bool {
         let fdebug = PIO::PIO.fdebug();
         let ret = fdebug.read().txover() & (1 << SM) != 0;
@@ -374,10 +409,12 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineTx<'d, PIO, SM> {
         ret
     }
 
+    /// Force push data to TX FIFO.
     pub fn push(&mut self, v: u32) {
         PIO::PIO.txf(SM).write_value(v);
     }
 
+    /// Attempt to push data to TX FIFO.
     pub fn try_push(&mut self, v: u32) -> bool {
         if self.full() {
             return false;
@@ -386,10 +423,12 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineTx<'d, PIO, SM> {
         true
     }
 
+    /// Wait until FIFO is ready for writing.
     pub fn wait_push<'a>(&'a mut self, value: u32) -> FifoOutFuture<'a, 'd, PIO, SM> {
         FifoOutFuture::new(self, value)
     }
 
+    /// Prepare a DMA transfer to TX FIFO.
     pub fn dma_push<'a, C: Channel, W: Word>(&'a mut self, ch: PeripheralRef<'a, C>, data: &'a [W]) -> Transfer<'a, C> {
         let pio_no = PIO::PIO_NO;
         let p = ch.regs();
@@ -411,6 +450,7 @@ impl<'d, PIO: Instance, const SM: usize> StateMachineTx<'d, PIO, SM> {
     }
 }
 
+/// A type representing a single PIO state machine.
 pub struct StateMachine<'d, PIO: Instance, const SM: usize> {
     rx: StateMachineRx<'d, PIO, SM>,
     tx: StateMachineTx<'d, PIO, SM>,
@@ -430,52 +470,78 @@ fn assert_consecutive<'d, PIO: Instance>(pins: &[&Pin<'d, PIO>]) {
     }
 }
 
+/// PIO Execution config.
 #[derive(Clone, Copy, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
 pub struct ExecConfig {
+    /// If true, the MSB of the Delay/Side-set instruction field is used as side-set enable, rather than a side-set data bit.
     pub side_en: bool,
+    /// If true, side-set data is asserted to pin directions, instead of pin values.
     pub side_pindir: bool,
+    /// Pin to trigger jump.
     pub jmp_pin: u8,
+    /// After reaching this address, execution is wrapped to wrap_bottom.
     pub wrap_top: u8,
+    /// After reaching wrap_top, execution is wrapped to this address.
     pub wrap_bottom: u8,
 }
 
+/// PIO shift register config for input or output.
 #[derive(Clone, Copy, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ShiftConfig {
+    /// Number of bits shifted out of OSR before autopull.
     pub threshold: u8,
+    /// Shift direction.
     pub direction: ShiftDirection,
+    /// For output: Pull automatically output shift register is emptied.
+    /// For input: Push automatically when the input shift register is filled.
     pub auto_fill: bool,
 }
 
+/// PIO pin config.
 #[derive(Clone, Copy, Default, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct PinConfig {
+    /// The number of MSBs of the Delay/Side-set instruction field which are used for side-set.
     pub sideset_count: u8,
+    /// The number of pins asserted by a SET. In the range 0 to 5 inclusive.
     pub set_count: u8,
+    /// The number of pins asserted by an OUT PINS, OUT PINDIRS or MOV PINS instruction. In the range 0 to 32 inclusive.
     pub out_count: u8,
+    /// The pin which is mapped to the least-significant bit of a state machine's IN data bus.
     pub in_base: u8,
+    /// The lowest-numbered pin that will be affected by a side-set operation.
     pub sideset_base: u8,
+    /// The lowest-numbered pin that will be affected by a SET PINS or SET PINDIRS instruction.
     pub set_base: u8,
+    /// The lowest-numbered pin that will be affected by an OUT PINS, OUT PINDIRS or MOV PINS instruction.
     pub out_base: u8,
 }
 
+/// PIO config.
 #[derive(Clone, Copy, Debug)]
 pub struct Config<'d, PIO: Instance> {
-    // CLKDIV
+    /// Clock divisor register for state machines.
     pub clock_divider: FixedU32<U8>,
-    // EXECCTRL
+    /// Which data bit to use for inline OUT enable.
     pub out_en_sel: u8,
+    /// Use a bit of OUT data as an auxiliary write enable When used in conjunction with OUT_STICKY.
     pub inline_out_en: bool,
+    /// Continuously assert the most recent OUT/SET to the pins.
     pub out_sticky: bool,
+    /// Which source to use for checking status.
     pub status_sel: StatusSource,
+    /// Status comparison level.
     pub status_n: u8,
     exec: ExecConfig,
     origin: Option<u8>,
-    // SHIFTCTRL
+    /// Configure FIFO allocation.
     pub fifo_join: FifoJoin,
+    /// Input shifting config.
     pub shift_in: ShiftConfig,
+    /// Output shifting config.
     pub shift_out: ShiftConfig,
     // PINCTRL
     pins: PinConfig,
@@ -505,16 +571,22 @@ impl<'d, PIO: Instance> Default for Config<'d, PIO> {
 }
 
 impl<'d, PIO: Instance> Config<'d, PIO> {
+    /// Get execution configuration.
     pub fn get_exec(&self) -> ExecConfig {
         self.exec
     }
+
+    /// Update execution configuration.
     pub unsafe fn set_exec(&mut self, e: ExecConfig) {
         self.exec = e;
     }
 
+    /// Get pin configuration.
     pub fn get_pins(&self) -> PinConfig {
         self.pins
     }
+
+    /// Update pin configuration.
     pub unsafe fn set_pins(&mut self, p: PinConfig) {
         self.pins = p;
     }
@@ -537,6 +609,7 @@ impl<'d, PIO: Instance> Config<'d, PIO> {
         self.origin = Some(prog.origin);
     }
 
+    /// Set pin used to signal jump.
     pub fn set_jmp_pin(&mut self, pin: &Pin<'d, PIO>) {
         self.exec.jmp_pin = pin.pin();
     }
@@ -571,6 +644,7 @@ impl<'d, PIO: Instance> Config<'d, PIO> {
 }
 
 impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
+    /// Set the config for a given PIO state machine.
     pub fn set_config(&mut self, config: &Config<'d, PIO>) {
         // sm expects 0 for 65536, truncation makes that happen
         assert!(config.clock_divider <= 65536, "clkdiv must be <= 65536");
@@ -617,7 +691,7 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
             w.set_out_base(config.pins.out_base);
         });
         if let Some(origin) = config.origin {
-            unsafe { pio_instr_util::exec_jmp(self, origin) }
+            unsafe { instr::exec_jmp(self, origin) }
         }
     }
 
@@ -626,10 +700,13 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
         PIO::PIO.sm(SM)
     }
 
+    /// Restart this state machine.
     pub fn restart(&mut self) {
         let mask = 1u8 << SM;
         PIO::PIO.ctrl().write_set(|w| w.set_sm_restart(mask));
     }
+
+    /// Enable state machine.
     pub fn set_enable(&mut self, enable: bool) {
         let mask = 1u8 << SM;
         if enable {
@@ -639,10 +716,12 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
         }
     }
 
+    /// Check if state machine is enabled.
     pub fn is_enabled(&self) -> bool {
         PIO::PIO.ctrl().read().sm_enable() & (1u8 << SM) != 0
     }
 
+    /// Restart a state machine's clock divider from an initial phase of 0.
     pub fn clkdiv_restart(&mut self) {
         let mask = 1u8 << SM;
         PIO::PIO.ctrl().write_set(|w| w.set_clkdiv_restart(mask));
@@ -690,6 +769,7 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
         });
     }
 
+    /// Flush FIFOs for state machine.
     pub fn clear_fifos(&mut self) {
         // Toggle FJOIN_RX to flush FIFOs
         let shiftctrl = Self::this_sm().shiftctrl();
@@ -701,21 +781,31 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
         });
     }
 
+    /// Instruct state machine to execute a given instructions
+    ///
+    /// SAFETY: The state machine must be in a state where executing
+    /// an arbitrary instruction does not crash it.
     pub unsafe fn exec_instr(&mut self, instr: u16) {
         Self::this_sm().instr().write(|w| w.set_instr(instr));
     }
 
+    /// Return a read handle for reading state machine outputs.
     pub fn rx(&mut self) -> &mut StateMachineRx<'d, PIO, SM> {
         &mut self.rx
     }
+
+    /// Return a handle for writing to inputs.
     pub fn tx(&mut self) -> &mut StateMachineTx<'d, PIO, SM> {
         &mut self.tx
     }
+
+    /// Return both read and write handles for the state machine.
     pub fn rx_tx(&mut self) -> (&mut StateMachineRx<'d, PIO, SM>, &mut StateMachineTx<'d, PIO, SM>) {
         (&mut self.rx, &mut self.tx)
     }
 }
 
+/// PIO handle.
 pub struct Common<'d, PIO: Instance> {
     instructions_used: u32,
     pio: PhantomData<&'d mut PIO>,
@@ -727,18 +817,25 @@ impl<'d, PIO: Instance> Drop for Common<'d, PIO> {
     }
 }
 
+/// Memory of PIO instance.
 pub struct InstanceMemory<'d, PIO: Instance> {
     used_mask: u32,
     pio: PhantomData<&'d mut PIO>,
 }
 
+/// A loaded PIO program.
 pub struct LoadedProgram<'d, PIO: Instance> {
+    /// Memory used by program.
     pub used_memory: InstanceMemory<'d, PIO>,
+    /// Program origin for loading.
     pub origin: u8,
+    /// Wrap controls what to do once program is done executing.
     pub wrap: Wrap,
+    /// Data for 'side' set instruction parameters.
     pub side_set: SideSet,
 }
 
+/// Errors loading a PIO program.
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum LoadError {
@@ -834,6 +931,7 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
         self.instructions_used &= !instrs.used_mask;
     }
 
+    /// Bypass flipflop synchronizer on GPIO inputs.
     pub fn set_input_sync_bypass<'a>(&'a mut self, bypass: u32, mask: u32) {
         // this can interfere with per-pin bypass functions. splitting the
         // modification is going to be fine since nothing that relies on
@@ -842,6 +940,7 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
         PIO::PIO.input_sync_bypass().write_clear(|w| *w = mask & !bypass);
     }
 
+    /// Get bypass configuration.
     pub fn get_input_sync_bypass(&self) -> u32 {
         PIO::PIO.input_sync_bypass().read()
     }
@@ -861,6 +960,7 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
         }
     }
 
+    /// Apply changes to all state machines in a batch.
     pub fn apply_sm_batch(&mut self, f: impl FnOnce(&mut PioBatch<'d, PIO>)) {
         let mut batch = PioBatch {
             clkdiv_restart: 0,
@@ -878,6 +978,7 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
     }
 }
 
+/// Represents multiple state machines in a single type.
 pub struct PioBatch<'a, PIO: Instance> {
     clkdiv_restart: u8,
     sm_restart: u8,
@@ -887,25 +988,25 @@ pub struct PioBatch<'a, PIO: Instance> {
 }
 
 impl<'a, PIO: Instance> PioBatch<'a, PIO> {
-    pub fn restart_clockdiv<const SM: usize>(&mut self, _sm: &mut StateMachine<'a, PIO, SM>) {
-        self.clkdiv_restart |= 1 << SM;
-    }
-
+    /// Restart a state machine's clock divider from an initial phase of 0.
     pub fn restart<const SM: usize>(&mut self, _sm: &mut StateMachine<'a, PIO, SM>) {
         self.clkdiv_restart |= 1 << SM;
     }
 
+    /// Enable a specific state machine.
     pub fn set_enable<const SM: usize>(&mut self, _sm: &mut StateMachine<'a, PIO, SM>, enable: bool) {
         self.sm_enable_mask |= 1 << SM;
         self.sm_enable |= (enable as u8) << SM;
     }
 }
 
+/// Type representing a PIO interrupt.
 pub struct Irq<'d, PIO: Instance, const N: usize> {
     pio: PhantomData<&'d mut PIO>,
 }
 
 impl<'d, PIO: Instance, const N: usize> Irq<'d, PIO, N> {
+    /// Wait for an IRQ to fire.
     pub fn wait<'a>(&'a mut self) -> IrqFuture<'a, 'd, PIO> {
         IrqFuture {
             pio: PhantomData,
@@ -914,59 +1015,79 @@ impl<'d, PIO: Instance, const N: usize> Irq<'d, PIO, N> {
     }
 }
 
+/// Interrupt flags for a PIO instance.
 #[derive(Clone)]
 pub struct IrqFlags<'d, PIO: Instance> {
     pio: PhantomData<&'d mut PIO>,
 }
 
 impl<'d, PIO: Instance> IrqFlags<'d, PIO> {
+    /// Check if interrupt fired.
     pub fn check(&self, irq_no: u8) -> bool {
         assert!(irq_no < 8);
         self.check_any(1 << irq_no)
     }
 
+    /// Check if any of the interrupts in the bitmap fired.
     pub fn check_any(&self, irqs: u8) -> bool {
         PIO::PIO.irq().read().irq() & irqs != 0
     }
 
+    /// Check if all interrupts have fired.
     pub fn check_all(&self, irqs: u8) -> bool {
         PIO::PIO.irq().read().irq() & irqs == irqs
     }
 
+    /// Clear interrupt for interrupt number.
     pub fn clear(&self, irq_no: usize) {
         assert!(irq_no < 8);
         self.clear_all(1 << irq_no);
     }
 
+    /// Clear all interrupts set in the bitmap.
     pub fn clear_all(&self, irqs: u8) {
         PIO::PIO.irq().write(|w| w.set_irq(irqs))
     }
 
+    /// Fire a given interrupt.
     pub fn set(&self, irq_no: usize) {
         assert!(irq_no < 8);
         self.set_all(1 << irq_no);
     }
 
+    /// Fire all interrupts.
     pub fn set_all(&self, irqs: u8) {
         PIO::PIO.irq_force().write(|w| w.set_irq_force(irqs))
     }
 }
 
+/// An instance of the PIO driver.
 pub struct Pio<'d, PIO: Instance> {
+    /// PIO handle.
     pub common: Common<'d, PIO>,
+    /// PIO IRQ flags.
     pub irq_flags: IrqFlags<'d, PIO>,
+    /// IRQ0 configuration.
     pub irq0: Irq<'d, PIO, 0>,
+    /// IRQ1 configuration.
     pub irq1: Irq<'d, PIO, 1>,
+    /// IRQ2 configuration.
     pub irq2: Irq<'d, PIO, 2>,
+    /// IRQ3 configuration.
     pub irq3: Irq<'d, PIO, 3>,
+    /// State machine 0 handle.
     pub sm0: StateMachine<'d, PIO, 0>,
+    /// State machine 1 handle.
     pub sm1: StateMachine<'d, PIO, 1>,
+    /// State machine 2 handle.
     pub sm2: StateMachine<'d, PIO, 2>,
+    /// State machine 3 handle.
     pub sm3: StateMachine<'d, PIO, 3>,
     _pio: PhantomData<&'d mut PIO>,
 }
 
 impl<'d, PIO: Instance> Pio<'d, PIO> {
+    /// Create a new instance of a PIO peripheral.
     pub fn new(_pio: impl Peripheral<P = PIO> + 'd, _irq: impl Binding<PIO::Interrupt, InterruptHandler<PIO>>) -> Self {
         PIO::state().users.store(5, Ordering::Release);
         PIO::state().used_pins.store(0, Ordering::Release);
@@ -1003,9 +1124,10 @@ impl<'d, PIO: Instance> Pio<'d, PIO> {
     }
 }
 
-// we need to keep a record of which pins are assigned to each PIO. make_pio_pin
-// notionally takes ownership of the pin it is given, but the wrapped pin cannot
-// be treated as an owned resource since dropping it would have to deconfigure
+/// Representation of the PIO state keeping a record of which pins are assigned to
+/// each PIO.
+// make_pio_pin notionally takes ownership of the pin it is given, but the wrapped pin
+// cannot be treated as an owned resource since dropping it would have to deconfigure
 // the pin, breaking running state machines in the process. pins are also shared
 // between all state machines, which makes ownership even messier to track any
 // other way.
@@ -1059,6 +1181,7 @@ mod sealed {
     }
 }
 
+/// PIO instance.
 pub trait Instance: sealed::Instance + Sized + Unpin {}
 
 macro_rules! impl_pio {
@@ -1076,6 +1199,7 @@ macro_rules! impl_pio {
 impl_pio!(PIO0, 0, PIO0, PIO0_0, PIO0_IRQ_0);
 impl_pio!(PIO1, 1, PIO1, PIO1_0, PIO1_IRQ_0);
 
+/// PIO pin.
 pub trait PioPin: sealed::PioPin + gpio::Pin {}
 
 macro_rules! impl_pio_pin {

embassy-rp/src/pwm.rs

@@ -61,9 +61,13 @@ impl Default for Config {
     }
 }
 
+/// PWM input mode.
 pub enum InputMode {
+    /// Level mode.
     Level,
+    /// Rising edge mode.
     RisingEdge,
+    /// Falling edge mode.
     FallingEdge,
 }
 
@@ -77,6 +81,7 @@ impl From<InputMode> for Divmode {
     }
 }
 
+/// PWM driver.
 pub struct Pwm<'d, T: Channel> {
     inner: PeripheralRef<'d, T>,
     pin_a: Option<PeripheralRef<'d, AnyPin>>,
@@ -114,11 +119,13 @@ impl<'d, T: Channel> Pwm<'d, T> {
         }
     }
 
+    /// Create PWM driver without any configured pins.
     #[inline]
     pub fn new_free(inner: impl Peripheral<P = T> + 'd, config: Config) -> Self {
         Self::new_inner(inner, None, None, config, Divmode::DIV)
     }
 
+    /// Create PWM driver with a single 'a' as output.
     #[inline]
     pub fn new_output_a(
         inner: impl Peripheral<P = T> + 'd,
@@ -129,6 +136,7 @@ impl<'d, T: Channel> Pwm<'d, T> {
         Self::new_inner(inner, Some(a.map_into()), None, config, Divmode::DIV)
     }
 
+    /// Create PWM driver with a single 'b' pin as output.
     #[inline]
     pub fn new_output_b(
         inner: impl Peripheral<P = T> + 'd,
@@ -139,6 +147,7 @@ impl<'d, T: Channel> Pwm<'d, T> {
         Self::new_inner(inner, None, Some(b.map_into()), config, Divmode::DIV)
     }
 
+    /// Create PWM driver with a 'a' and 'b' pins as output.
     #[inline]
     pub fn new_output_ab(
         inner: impl Peripheral<P = T> + 'd,
@@ -150,6 +159,7 @@ impl<'d, T: Channel> Pwm<'d, T> {
         Self::new_inner(inner, Some(a.map_into()), Some(b.map_into()), config, Divmode::DIV)
     }
 
+    /// Create PWM driver with a single 'b' as input pin.
     #[inline]
     pub fn new_input(
         inner: impl Peripheral<P = T> + 'd,
@@ -161,6 +171,7 @@ impl<'d, T: Channel> Pwm<'d, T> {
         Self::new_inner(inner, None, Some(b.map_into()), config, mode.into())
     }
 
+    /// Create PWM driver with a 'a' and 'b' pins in the desired input mode.
     #[inline]
     pub fn new_output_input(
         inner: impl Peripheral<P = T> + 'd,
@@ -173,6 +184,7 @@ impl<'d, T: Channel> Pwm<'d, T> {
         Self::new_inner(inner, Some(a.map_into()), Some(b.map_into()), config, mode.into())
     }
 
+    /// Set the PWM config.
     pub fn set_config(&mut self, config: &Config) {
         Self::configure(self.inner.regs(), config);
     }
@@ -216,28 +228,33 @@ impl<'d, T: Channel> Pwm<'d, T> {
         while p.csr().read().ph_ret() {}
     }
 
+    /// Read PWM counter.
     #[inline]
     pub fn counter(&self) -> u16 {
         self.inner.regs().ctr().read().ctr()
     }
 
+    /// Write PWM counter.
     #[inline]
     pub fn set_counter(&self, ctr: u16) {
         self.inner.regs().ctr().write(|w| w.set_ctr(ctr))
     }
 
+    /// Wait for channel interrupt.
     #[inline]
     pub fn wait_for_wrap(&mut self) {
         while !self.wrapped() {}
         self.clear_wrapped();
     }
 
+    /// Check if interrupt for channel is set.
     #[inline]
     pub fn wrapped(&mut self) -> bool {
         pac::PWM.intr().read().0 & self.bit() != 0
     }
 
     #[inline]
+    /// Clear interrupt flag.
     pub fn clear_wrapped(&mut self) {
         pac::PWM.intr().write_value(Intr(self.bit() as _));
     }
@@ -248,15 +265,18 @@ impl<'d, T: Channel> Pwm<'d, T> {
     }
 }
 
+/// Batch representation of PWM channels.
 pub struct PwmBatch(u32);
 
 impl PwmBatch {
     #[inline]
+    /// Enable a PWM channel in this batch.
     pub fn enable(&mut self, pwm: &Pwm<'_, impl Channel>) {
         self.0 |= pwm.bit();
     }
 
     #[inline]
+    /// Enable channels in this batch in a PWM.
     pub fn set_enabled(enabled: bool, batch: impl FnOnce(&mut PwmBatch)) {
         let mut en = PwmBatch(0);
         batch(&mut en);
@@ -284,9 +304,12 @@ mod sealed {
     pub trait Channel {}
 }
 
+/// PWM Channel.
 pub trait Channel: Peripheral<P = Self> + sealed::Channel + Sized + 'static {
+    /// Channel number.
     fn number(&self) -> u8;
 
+    /// Channel register block.
     fn regs(&self) -> pac::pwm::Channel {
         pac::PWM.ch(self.number() as _)
     }
@@ -312,7 +335,9 @@ channel!(PWM_CH5, 5);
 channel!(PWM_CH6, 6);
 channel!(PWM_CH7, 7);
 
+/// PWM Pin A.
 pub trait PwmPinA<T: Channel>: GpioPin {}
+/// PWM Pin B.
 pub trait PwmPinB<T: Channel>: GpioPin {}
 
 macro_rules! impl_pin {

embassy-rp/src/rtc/mod.rs

@@ -1,3 +1,4 @@
+//! RTC driver.
 mod filter;
 
 use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
@@ -194,6 +195,7 @@ mod sealed {
     }
 }
 
+/// RTC peripheral instance.
 pub trait Instance: sealed::Instance {}
 
 impl sealed::Instance for crate::peripherals::RTC {

embassy-rp/src/spi.rs

@@ -11,6 +11,7 @@ use crate::gpio::sealed::Pin as _;
 use crate::gpio::{AnyPin, Pin as GpioPin};
 use crate::{pac, peripherals, Peripheral};
 
+/// SPI errors.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@@ -18,11 +19,15 @@ pub enum Error {
     // No errors for now
 }
 
+/// SPI configuration.
 #[non_exhaustive]
 #[derive(Clone)]
 pub struct Config {
+    /// Frequency.
     pub frequency: u32,
+    /// Phase.
     pub phase: Phase,
+    /// Polarity.
     pub polarity: Polarity,
 }
 
@@ -36,6 +41,7 @@ impl Default for Config {
     }
 }
 
+/// SPI driver.
 pub struct Spi<'d, T: Instance, M: Mode> {
     inner: PeripheralRef<'d, T>,
     tx_dma: Option<PeripheralRef<'d, AnyChannel>>,
@@ -119,6 +125,7 @@ impl<'d, T: Instance, M: Mode> Spi<'d, T, M> {
         }
     }
 
+    /// Write data to SPI blocking execution until done.
     pub fn blocking_write(&mut self, data: &[u8]) -> Result<(), Error> {
         let p = self.inner.regs();
         for &b in data {
@@ -131,6 +138,7 @@ impl<'d, T: Instance, M: Mode> Spi<'d, T, M> {
         Ok(())
     }
 
+    /// Transfer data in place to SPI blocking execution until done.
     pub fn blocking_transfer_in_place(&mut self, data: &mut [u8]) -> Result<(), Error> {
         let p = self.inner.regs();
         for b in data {
@@ -143,6 +151,7 @@ impl<'d, T: Instance, M: Mode> Spi<'d, T, M> {
         Ok(())
     }
 
+    /// Read data from SPI blocking execution until done.
     pub fn blocking_read(&mut self, data: &mut [u8]) -> Result<(), Error> {
         let p = self.inner.regs();
         for b in data {
@@ -155,6 +164,7 @@ impl<'d, T: Instance, M: Mode> Spi<'d, T, M> {
         Ok(())
     }
 
+    /// Transfer data to SPI blocking execution until done.
     pub fn blocking_transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Error> {
         let p = self.inner.regs();
         let len = read.len().max(write.len());
@@ -172,12 +182,14 @@ impl<'d, T: Instance, M: Mode> Spi<'d, T, M> {
         Ok(())
     }
 
+    /// Block execution until SPI is done.
     pub fn flush(&mut self) -> Result<(), Error> {
         let p = self.inner.regs();
         while p.sr().read().bsy() {}
         Ok(())
     }
 
+    /// Set SPI frequency.
     pub fn set_frequency(&mut self, freq: u32) {
         let (presc, postdiv) = calc_prescs(freq);
         let p = self.inner.regs();
@@ -196,6 +208,7 @@ impl<'d, T: Instance, M: Mode> Spi<'d, T, M> {
 }
 
 impl<'d, T: Instance> Spi<'d, T, Blocking> {
+    /// Create an SPI driver in blocking mode.
     pub fn new_blocking(
         inner: impl Peripheral<P = T> + 'd,
         clk: impl Peripheral<P = impl ClkPin<T> + 'd> + 'd,
@@ -216,6 +229,7 @@ impl<'d, T: Instance> Spi<'d, T, Blocking> {
         )
     }
 
+    /// Create an SPI driver in blocking mode supporting writes only.
     pub fn new_blocking_txonly(
         inner: impl Peripheral<P = T> + 'd,
         clk: impl Peripheral<P = impl ClkPin<T> + 'd> + 'd,
@@ -235,6 +249,7 @@ impl<'d, T: Instance> Spi<'d, T, Blocking> {
         )
     }
 
+    /// Create an SPI driver in blocking mode supporting reads only.
     pub fn new_blocking_rxonly(
         inner: impl Peripheral<P = T> + 'd,
         clk: impl Peripheral<P = impl ClkPin<T> + 'd> + 'd,
@@ -256,6 +271,7 @@ impl<'d, T: Instance> Spi<'d, T, Blocking> {
 }
 
 impl<'d, T: Instance> Spi<'d, T, Async> {
+    /// Create an SPI driver in async mode supporting DMA operations.
     pub fn new(
         inner: impl Peripheral<P = T> + 'd,
         clk: impl Peripheral<P = impl ClkPin<T> + 'd> + 'd,
@@ -278,6 +294,7 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
         )
     }
 
+    /// Create an SPI driver in async mode supporting DMA write operations only.
     pub fn new_txonly(
         inner: impl Peripheral<P = T> + 'd,
         clk: impl Peripheral<P = impl ClkPin<T> + 'd> + 'd,
@@ -298,6 +315,7 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
         )
     }
 
+    /// Create an SPI driver in async mode supporting DMA read operations only.
     pub fn new_rxonly(
         inner: impl Peripheral<P = T> + 'd,
         clk: impl Peripheral<P = impl ClkPin<T> + 'd> + 'd,
@@ -318,6 +336,7 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
         )
     }
 
+    /// Write data to SPI using DMA.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         let tx_ch = self.tx_dma.as_mut().unwrap();
         let tx_transfer = unsafe {
@@ -340,6 +359,7 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
         Ok(())
     }
 
+    /// Read data from SPI using DMA.
     pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
         // Start RX first. Transfer starts when TX starts, if RX
         // is not started yet we might lose bytes.
@@ -365,10 +385,12 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
         Ok(())
     }
 
+    /// Transfer data to SPI using DMA.
     pub async fn transfer(&mut self, rx_buffer: &mut [u8], tx_buffer: &[u8]) -> Result<(), Error> {
         self.transfer_inner(rx_buffer, tx_buffer).await
     }
 
+    /// Transfer data in place to SPI using DMA.
     pub async fn transfer_in_place(&mut self, words: &mut [u8]) -> Result<(), Error> {
         self.transfer_inner(words, words).await
     }
@@ -434,7 +456,10 @@ mod sealed {
     }
 }
 
+/// Mode.
 pub trait Mode: sealed::Mode {}
+
+/// SPI instance trait.
 pub trait Instance: sealed::Instance {}
 
 macro_rules! impl_instance {
@@ -454,9 +479,13 @@ macro_rules! impl_instance {
 impl_instance!(SPI0, Spi0, 16, 17);
 impl_instance!(SPI1, Spi1, 18, 19);
 
+/// CLK pin.
 pub trait ClkPin<T: Instance>: GpioPin {}
+/// CS pin.
 pub trait CsPin<T: Instance>: GpioPin {}
+/// MOSI pin.
 pub trait MosiPin<T: Instance>: GpioPin {}
+/// MISO pin.
 pub trait MisoPin<T: Instance>: GpioPin {}
 
 macro_rules! impl_pin {
@@ -503,7 +532,9 @@ macro_rules! impl_mode {
     };
 }
 
+/// Blocking mode.
 pub struct Blocking;
+/// Async mode.
 pub struct Async;
 
 impl_mode!(Blocking);

embassy-rp/src/timer.rs

@@ -1,3 +1,4 @@
+//! Timer driver.
 use core::cell::Cell;
 
 use atomic_polyfill::{AtomicU8, Ordering};

embassy-rp/src/uart/buffered.rs

@@ -1,3 +1,4 @@
+//! Buffered UART driver.
 use core::future::{poll_fn, Future};
 use core::slice;
 use core::task::Poll;
@@ -38,15 +39,18 @@ impl State {
     }
 }
 
+/// Buffered UART driver.
 pub struct BufferedUart<'d, T: Instance> {
     pub(crate) rx: BufferedUartRx<'d, T>,
     pub(crate) tx: BufferedUartTx<'d, T>,
 }
 
+/// Buffered UART RX handle.
 pub struct BufferedUartRx<'d, T: Instance> {
     pub(crate) phantom: PhantomData<&'d mut T>,
 }
 
+/// Buffered UART TX handle.
 pub struct BufferedUartTx<'d, T: Instance> {
     pub(crate) phantom: PhantomData<&'d mut T>,
 }
@@ -84,6 +88,7 @@ pub(crate) fn init_buffers<'d, T: Instance + 'd>(
 }
 
 impl<'d, T: Instance> BufferedUart<'d, T> {
+    /// Create a buffered UART instance.
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -104,6 +109,7 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
         }
     }
 
+    /// Create a buffered UART instance with flow control.
     pub fn new_with_rtscts(
         _uart: impl Peripheral<P = T> + 'd,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -132,32 +138,39 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
         }
     }
 
+    /// Write to UART TX buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<usize, Error> {
         self.tx.blocking_write(buffer)
     }
 
+    /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
         self.tx.blocking_flush()
     }
 
+    /// Read from UART RX buffer blocking execution until done.
     pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<usize, Error> {
         self.rx.blocking_read(buffer)
     }
 
+    /// Check if UART is busy transmitting.
     pub fn busy(&self) -> bool {
         self.tx.busy()
     }
 
+    /// Wait until TX is empty and send break condition.
     pub async fn send_break(&mut self, bits: u32) {
         self.tx.send_break(bits).await
     }
 
+    /// Split into separate RX and TX handles.
     pub fn split(self) -> (BufferedUartRx<'d, T>, BufferedUartTx<'d, T>) {
         (self.rx, self.tx)
     }
 }
 
 impl<'d, T: Instance> BufferedUartRx<'d, T> {
+    /// Create a new buffered UART RX.
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -173,6 +186,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         Self { phantom: PhantomData }
     }
 
+    /// Create a new buffered UART RX with flow control.
     pub fn new_with_rts(
         _uart: impl Peripheral<P = T> + 'd,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -253,6 +267,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         Poll::Ready(result)
     }
 
+    /// Read from UART RX buffer blocking execution until done.
     pub fn blocking_read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
         loop {
             match Self::try_read(buf) {
@@ -303,6 +318,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
 }
 
 impl<'d, T: Instance> BufferedUartTx<'d, T> {
+    /// Create a new buffered UART TX.
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -318,6 +334,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         Self { phantom: PhantomData }
     }
 
+    /// Create a new buffered UART TX with flow control.
     pub fn new_with_cts(
         _uart: impl Peripheral<P = T> + 'd,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -373,6 +390,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         })
     }
 
+    /// Write to UART TX buffer blocking execution until done.
     pub fn blocking_write(&mut self, buf: &[u8]) -> Result<usize, Error> {
         if buf.is_empty() {
             return Ok(0);
@@ -398,6 +416,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         }
     }
 
+    /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
         loop {
             let state = T::buffered_state();
@@ -407,6 +426,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         }
     }
 
+    /// Check if UART is busy.
     pub fn busy(&self) -> bool {
         T::regs().uartfr().read().busy()
     }
@@ -466,6 +486,7 @@ impl<'d, T: Instance> Drop for BufferedUartTx<'d, T> {
     }
 }
 
+/// Interrupt handler.
 pub struct BufferedInterruptHandler<T: Instance> {
     _uart: PhantomData<T>,
 }

embassy-rp/src/uart/mod.rs

@@ -1,3 +1,4 @@
+//! UART driver.
 use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::task::Poll;
@@ -20,11 +21,16 @@ use crate::{interrupt, pac, peripherals, Peripheral, RegExt};
 mod buffered;
 pub use buffered::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx};
 
+/// Word length.
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub enum DataBits {
+    /// 5 bits.
     DataBits5,
+    /// 6 bits.
     DataBits6,
+    /// 7 bits.
     DataBits7,
+    /// 8 bits.
     DataBits8,
 }
 
@@ -39,13 +45,18 @@ impl DataBits {
     }
 }
 
+/// Parity bit.
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub enum Parity {
+    /// No parity.
     ParityNone,
+    /// Even parity.
     ParityEven,
+    /// Odd parity.
     ParityOdd,
 }
 
+/// Stop bits.
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub enum StopBits {
     #[doc = "1 stop bit"]
@@ -54,20 +65,25 @@ pub enum StopBits {
     STOP2,
 }
 
+/// UART config.
 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub struct Config {
+    /// Baud rate.
     pub baudrate: u32,
+    /// Word length.
     pub data_bits: DataBits,
+    /// Stop bits.
     pub stop_bits: StopBits,
+    /// Parity bit.
     pub parity: Parity,
     /// Invert the tx pin output
     pub invert_tx: bool,
     /// Invert the rx pin input
     pub invert_rx: bool,
-    // Invert the rts pin
+    /// Invert the rts pin
     pub invert_rts: bool,
-    // Invert the cts pin
+    /// Invert the cts pin
     pub invert_cts: bool,
 }
 
@@ -102,21 +118,25 @@ pub enum Error {
     Framing,
 }
 
+/// Internal DMA state of UART RX.
 pub struct DmaState {
     rx_err_waker: AtomicWaker,
     rx_errs: AtomicU16,
 }
 
+/// UART driver.
 pub struct Uart<'d, T: Instance, M: Mode> {
     tx: UartTx<'d, T, M>,
     rx: UartRx<'d, T, M>,
 }
 
+/// UART TX driver.
 pub struct UartTx<'d, T: Instance, M: Mode> {
     tx_dma: Option<PeripheralRef<'d, AnyChannel>>,
     phantom: PhantomData<(&'d mut T, M)>,
 }
 
+/// UART RX driver.
 pub struct UartRx<'d, T: Instance, M: Mode> {
     rx_dma: Option<PeripheralRef<'d, AnyChannel>>,
     phantom: PhantomData<(&'d mut T, M)>,
@@ -142,6 +162,7 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
         }
     }
 
+    /// Transmit the provided buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         let r = T::regs();
         for &b in buffer {
@@ -151,12 +172,14 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
         Ok(())
     }
 
+    /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
         let r = T::regs();
         while !r.uartfr().read().txfe() {}
         Ok(())
     }
 
+    /// Check if UART is busy transmitting.
     pub fn busy(&self) -> bool {
         T::regs().uartfr().read().busy()
     }
@@ -191,6 +214,8 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
 }
 
 impl<'d, T: Instance> UartTx<'d, T, Blocking> {
+    /// Convert this uart TX instance into a buffered uart using the provided
+    /// irq and transmit buffer.
     pub fn into_buffered(
         self,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -203,6 +228,7 @@ impl<'d, T: Instance> UartTx<'d, T, Blocking> {
 }
 
 impl<'d, T: Instance> UartTx<'d, T, Async> {
+    /// Write to UART TX from the provided buffer using DMA.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         let ch = self.tx_dma.as_mut().unwrap();
         let transfer = unsafe {
@@ -246,6 +272,7 @@ impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
         }
     }
 
+    /// Read from UART RX blocking execution until done.
     pub fn blocking_read(&mut self, mut buffer: &mut [u8]) -> Result<(), Error> {
         while buffer.len() > 0 {
             let received = self.drain_fifo(buffer)?;
@@ -294,6 +321,7 @@ impl<'d, T: Instance, M: Mode> Drop for UartRx<'d, T, M> {
 }
 
 impl<'d, T: Instance> UartRx<'d, T, Blocking> {
+    /// Create a new UART RX instance for blocking mode operations.
     pub fn new_blocking(
         _uart: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@@ -304,6 +332,8 @@ impl<'d, T: Instance> UartRx<'d, T, Blocking> {
         Self::new_inner(false, None)
     }
 
+    /// Convert this uart RX instance into a buffered uart using the provided
+    /// irq and receive buffer.
     pub fn into_buffered(
         self,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -315,6 +345,7 @@ impl<'d, T: Instance> UartRx<'d, T, Blocking> {
     }
 }
 
+/// Interrupt handler.
 pub struct InterruptHandler<T: Instance> {
     _uart: PhantomData<T>,
 }
@@ -338,6 +369,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
 }
 
 impl<'d, T: Instance> UartRx<'d, T, Async> {
+    /// Read from UART RX into the provided buffer.
     pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
         // clear error flags before we drain the fifo. errors that have accumulated
         // in the flags will also be present in the fifo.
@@ -458,6 +490,8 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
         )
     }
 
+    /// Convert this uart instance into a buffered uart using the provided
+    /// irq, transmit and receive buffers.
     pub fn into_buffered(
         self,
         irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
@@ -667,22 +701,27 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
 }
 
 impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
+    /// Transmit the provided buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         self.tx.blocking_write(buffer)
     }
 
+    /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
         self.tx.blocking_flush()
     }
 
+    /// Read from UART RX blocking execution until done.
     pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
         self.rx.blocking_read(buffer)
     }
 
+    /// Check if UART is busy transmitting.
     pub fn busy(&self) -> bool {
         self.tx.busy()
     }
 
+    /// Wait until TX is empty and send break condition.
     pub async fn send_break(&mut self, bits: u32) {
         self.tx.send_break(bits).await
     }
@@ -695,10 +734,12 @@ impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
 }
 
 impl<'d, T: Instance> Uart<'d, T, Async> {
+    /// Write to UART TX from the provided buffer.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         self.tx.write(buffer).await
     }
 
+    /// Read from UART RX into the provided buffer.
     pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
         self.rx.read(buffer).await
     }
@@ -820,6 +861,10 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for Uart<'d, T
 impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, T, M> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
         let r = T::regs();
+        if r.uartfr().read().rxfe() {
+            return Err(nb::Error::WouldBlock);
+        }
+
         let dr = r.uartdr().read();
 
         if dr.oe() {
@@ -830,10 +875,8 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, T, M
             Err(nb::Error::Other(Error::Parity))
         } else if dr.fe() {
             Err(nb::Error::Other(Error::Framing))
-        } else if dr.fe() {
-            Ok(dr.data())
         } else {
-            Err(nb::Error::WouldBlock)
+            Ok(dr.data())
         }
     }
 }
@@ -887,6 +930,7 @@ mod sealed {
     pub trait RtsPin<T: Instance> {}
 }
 
+/// UART mode.
 pub trait Mode: sealed::Mode {}
 
 macro_rules! impl_mode {
@@ -896,12 +940,15 @@ macro_rules! impl_mode {
     };
 }
 
+/// Blocking mode.
 pub struct Blocking;
+/// Async mode.
 pub struct Async;
 
 impl_mode!(Blocking);
 impl_mode!(Async);
 
+/// UART instance.
 pub trait Instance: sealed::Instance {}
 
 macro_rules! impl_instance {
@@ -936,9 +983,13 @@ macro_rules! impl_instance {
 impl_instance!(UART0, UART0_IRQ, 20, 21);
 impl_instance!(UART1, UART1_IRQ, 22, 23);
 
+/// Trait for TX pins.
 pub trait TxPin<T: Instance>: sealed::TxPin<T> + crate::gpio::Pin {}
+/// Trait for RX pins.
 pub trait RxPin<T: Instance>: sealed::RxPin<T> + crate::gpio::Pin {}
+/// Trait for Clear To Send (CTS) pins.
 pub trait CtsPin<T: Instance>: sealed::CtsPin<T> + crate::gpio::Pin {}
+/// Trait for Request To Send (RTS) pins.
 pub trait RtsPin<T: Instance>: sealed::RtsPin<T> + crate::gpio::Pin {}
 
 macro_rules! impl_pin {

embassy-rp/src/usb.rs

@@ -1,3 +1,4 @@
+//! USB driver.
 use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::slice;
@@ -20,7 +21,9 @@ pub(crate) mod sealed {
     }
 }
 
+/// USB peripheral instance.
 pub trait Instance: sealed::Instance + 'static {
+    /// Interrupt for this peripheral.
     type Interrupt: interrupt::typelevel::Interrupt;
 }
 
@@ -96,6 +99,7 @@ impl EndpointData {
     }
 }
 
+/// RP2040 USB driver handle.
 pub struct Driver<'d, T: Instance> {
     phantom: PhantomData<&'d mut T>,
     ep_in: [EndpointData; EP_COUNT],
@@ -104,6 +108,7 @@ pub struct Driver<'d, T: Instance> {
 }
 
 impl<'d, T: Instance> Driver<'d, T> {
+    /// Create a new USB driver.
     pub fn new(_usb: impl Peripheral<P = T> + 'd, _irq: impl Binding<T::Interrupt, InterruptHandler<T>>) -> Self {
         T::Interrupt::unpend();
         unsafe { T::Interrupt::enable() };
@@ -240,6 +245,7 @@ impl<'d, T: Instance> Driver<'d, T> {
     }
 }
 
+/// USB interrupt handler.
 pub struct InterruptHandler<T: Instance> {
     _uart: PhantomData<T>,
 }
@@ -342,6 +348,7 @@ impl<'d, T: Instance> driver::Driver<'d> for Driver<'d, T> {
     }
 }
 
+/// Type representing the RP USB bus.
 pub struct Bus<'d, T: Instance> {
     phantom: PhantomData<&'d mut T>,
     ep_out: [EndpointData; EP_COUNT],
@@ -363,7 +370,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
             let siestatus = regs.sie_status().read();
             let intrstatus = regs.intr().read();
 
-            if siestatus.resume() {
+            if siestatus.resume() || intrstatus.dev_resume_from_host() {
                 regs.sie_status().write(|w| w.set_resume(true));
                 return Poll::Ready(Event::Resume);
             }
@@ -461,6 +468,7 @@ trait Dir {
     fn waker(i: usize) -> &'static AtomicWaker;
 }
 
+/// Type for In direction.
 pub enum In {}
 impl Dir for In {
     fn dir() -> Direction {
@@ -473,6 +481,7 @@ impl Dir for In {
     }
 }
 
+/// Type for Out direction.
 pub enum Out {}
 impl Dir for Out {
     fn dir() -> Direction {
@@ -485,6 +494,7 @@ impl Dir for Out {
     }
 }
 
+/// Endpoint for RP USB driver.
 pub struct Endpoint<'d, T: Instance, D> {
     _phantom: PhantomData<(&'d mut T, D)>,
     info: EndpointInfo,
@@ -616,6 +626,7 @@ impl<'d, T: Instance> driver::EndpointIn for Endpoint<'d, T, In> {
     }
 }
 
+/// Control pipe for RP USB driver.
 pub struct ControlPipe<'d, T: Instance> {
     _phantom: PhantomData<&'d mut T>,
     max_packet_size: u16,

embassy-stm32/Cargo.toml

@@ -42,9 +42,9 @@ embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver" }
 embassy-executor = { version = "0.4.0", path = "../embassy-executor", optional = true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
-embedded-hal-async = { version = "=1.0.0-rc.2" }
-embedded-hal-nb = { version = "=1.0.0-rc.2" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.3" }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
+embedded-hal-nb = { version = "=1.0.0-rc.3" }
 
 embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
@@ -58,7 +58,7 @@ rand_core = "0.6.3"
 sdio-host = "0.5.0"
 embedded-sdmmc = { git = "https://github.com/embassy-rs/embedded-sdmmc-rs", rev = "a4f293d3a6f72158385f79c98634cb8a14d0d2fc", optional = true }
 critical-section = "1.1"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-91cee0d1fdcb4e447b65a09756b506f4af91b7e2" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-2234f380f51d16d0398b8e547088b33ea623cc7c" }
 vcell = "0.1.3"
 bxcan = "0.7.0"
 nb = "1.0.0"
@@ -76,7 +76,7 @@ critical-section = { version = "1.1", features = ["std"] }
 [build-dependencies]
 proc-macro2 = "1.0.36"
 quote = "1.0.15"
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-91cee0d1fdcb4e447b65a09756b506f4af91b7e2", default-features = false, features = ["metadata"]}
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-2234f380f51d16d0398b8e547088b33ea623cc7c", default-features = false, features = ["metadata"]}
 
 
 [features]

embassy-stm32/build.rs

@@ -672,14 +672,14 @@ fn main() {
         (("lpuart", "RTS"), quote!(crate::usart::RtsPin)),
         (("lpuart", "CK"), quote!(crate::usart::CkPin)),
         (("lpuart", "DE"), quote!(crate::usart::DePin)),
-        (("sai", "SCK_A"), quote!(crate::sai::SckAPin)),
-        (("sai", "SCK_B"), quote!(crate::sai::SckBPin)),
-        (("sai", "FS_A"), quote!(crate::sai::FsAPin)),
-        (("sai", "FS_B"), quote!(crate::sai::FsBPin)),
-        (("sai", "SD_A"), quote!(crate::sai::SdAPin)),
-        (("sai", "SD_B"), quote!(crate::sai::SdBPin)),
-        (("sai", "MCLK_A"), quote!(crate::sai::MclkAPin)),
-        (("sai", "MCLK_B"), quote!(crate::sai::MclkBPin)),
+        (("sai", "SCK_A"), quote!(crate::sai::SckPin<A>)),
+        (("sai", "SCK_B"), quote!(crate::sai::SckPin<B>)),
+        (("sai", "FS_A"), quote!(crate::sai::FsPin<A>)),
+        (("sai", "FS_B"), quote!(crate::sai::FsPin<B>)),
+        (("sai", "SD_A"), quote!(crate::sai::SdPin<A>)),
+        (("sai", "SD_B"), quote!(crate::sai::SdPin<B>)),
+        (("sai", "MCLK_A"), quote!(crate::sai::MclkPin<A>)),
+        (("sai", "MCLK_B"), quote!(crate::sai::MclkPin<B>)),
         (("sai", "WS"), quote!(crate::sai::WsPin)),
         (("spi", "SCK"), quote!(crate::spi::SckPin)),
         (("spi", "MOSI"), quote!(crate::spi::MosiPin)),
@@ -995,8 +995,8 @@ fn main() {
         (("usart", "TX"), quote!(crate::usart::TxDma)),
         (("lpuart", "RX"), quote!(crate::usart::RxDma)),
         (("lpuart", "TX"), quote!(crate::usart::TxDma)),
-        (("sai", "A"), quote!(crate::sai::DmaA)),
-        (("sai", "B"), quote!(crate::sai::DmaB)),
+        (("sai", "A"), quote!(crate::sai::Dma<A>)),
+        (("sai", "B"), quote!(crate::sai::Dma<B>)),
         (("spi", "RX"), quote!(crate::spi::RxDma)),
         (("spi", "TX"), quote!(crate::spi::TxDma)),
         (("i2c", "RX"), quote!(crate::i2c::RxDma)),

embassy-stm32/src/adc/mod.rs

@@ -1,4 +1,7 @@
+//! Analog to Digital Converter (ADC)
+
 #![macro_use]
+#![allow(missing_docs)] // TODO
 
 #[cfg(not(adc_f3_v2))]
 #[cfg_attr(adc_f1, path = "f1.rs")]
@@ -24,6 +27,7 @@ pub use sample_time::SampleTime;
 
 use crate::peripherals;
 
+/// Analog to Digital driver.
 pub struct Adc<'d, T: Instance> {
     #[allow(unused)]
     adc: crate::PeripheralRef<'d, T>,
@@ -75,12 +79,16 @@ pub(crate) mod sealed {
     }
 }
 
+/// ADC instance.
 #[cfg(not(any(adc_f1, adc_v1, adc_v2, adc_v3, adc_v4, adc_f3, adc_f3_v1_1, adc_g0)))]
 pub trait Instance: sealed::Instance + crate::Peripheral<P = Self> {}
+/// ADC instance.
 #[cfg(any(adc_f1, adc_v1, adc_v2, adc_v3, adc_v4, adc_f3, adc_f3_v1_1, adc_g0))]
 pub trait Instance: sealed::Instance + crate::Peripheral<P = Self> + crate::rcc::RccPeripheral {}
 
+/// ADC pin.
 pub trait AdcPin<T: Instance>: sealed::AdcPin<T> {}
+/// ADC internal channel.
 pub trait InternalChannel<T>: sealed::InternalChannel<T> {}
 
 foreach_adc!(

embassy-stm32/src/adc/resolution.rs

@@ -1,3 +1,5 @@
+/// ADC resolution
+#[allow(missing_docs)]
 #[cfg(any(adc_v1, adc_v2, adc_v3, adc_g0, adc_f3, adc_f3_v1_1))]
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -8,6 +10,8 @@ pub enum Resolution {
     SixBit,
 }
 
+/// ADC resolution
+#[allow(missing_docs)]
 #[cfg(adc_v4)]
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -49,6 +53,9 @@ impl From<Resolution> for crate::pac::adc::vals::Res {
 }
 
 impl Resolution {
+    /// Get the maximum reading value for this resolution.
+    ///
+    /// This is `2**n - 1`.
     pub fn to_max_count(&self) -> u32 {
         match self {
             #[cfg(adc_v4)]

embassy-stm32/src/adc/v4.rs

@@ -32,6 +32,7 @@ const TEMP_CHANNEL: u8 = 18;
 const VBAT_CHANNEL: u8 = 17;
 
 // NOTE: Vrefint/Temperature/Vbat are not available on all ADCs, this currently cannot be modeled with stm32-data, so these are available from the software on all ADCs
+/// Internal voltage reference channel.
 pub struct VrefInt;
 impl<T: Instance> InternalChannel<T> for VrefInt {}
 impl<T: Instance> super::sealed::InternalChannel<T> for VrefInt {
@@ -40,6 +41,7 @@ impl<T: Instance> super::sealed::InternalChannel<T> for VrefInt {
     }
 }
 
+/// Internal temperature channel.
 pub struct Temperature;
 impl<T: Instance> InternalChannel<T> for Temperature {}
 impl<T: Instance> super::sealed::InternalChannel<T> for Temperature {
@@ -48,6 +50,7 @@ impl<T: Instance> super::sealed::InternalChannel<T> for Temperature {
     }
 }
 
+/// Internal battery voltage channel.
 pub struct Vbat;
 impl<T: Instance> InternalChannel<T> for Vbat {}
 impl<T: Instance> super::sealed::InternalChannel<T> for Vbat {
@@ -125,6 +128,7 @@ impl Prescaler {
 }
 
 impl<'d, T: Instance> Adc<'d, T> {
+    /// Create a new ADC driver.
     pub fn new(adc: impl Peripheral<P = T> + 'd, delay: &mut impl DelayUs<u16>) -> Self {
         embassy_hal_internal::into_ref!(adc);
         T::enable_and_reset();
@@ -212,6 +216,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         });
     }
 
+    /// Enable reading the voltage reference internal channel.
     pub fn enable_vrefint(&self) -> VrefInt {
         T::common_regs().ccr().modify(|reg| {
             reg.set_vrefen(true);
@@ -220,6 +225,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         VrefInt {}
     }
 
+    /// Enable reading the temperature internal channel.
     pub fn enable_temperature(&self) -> Temperature {
         T::common_regs().ccr().modify(|reg| {
             reg.set_vsenseen(true);
@@ -228,6 +234,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         Temperature {}
     }
 
+    /// Enable reading the vbat internal channel.
     pub fn enable_vbat(&self) -> Vbat {
         T::common_regs().ccr().modify(|reg| {
             reg.set_vbaten(true);
@@ -236,10 +243,12 @@ impl<'d, T: Instance> Adc<'d, T> {
         Vbat {}
     }
 
+    /// Set the ADC sample time.
     pub fn set_sample_time(&mut self, sample_time: SampleTime) {
         self.sample_time = sample_time;
     }
 
+    /// Set the ADC resolution.
     pub fn set_resolution(&mut self, resolution: Resolution) {
         T::regs().cfgr().modify(|reg| reg.set_res(resolution.into()));
     }
@@ -263,6 +272,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         T::regs().dr().read().0 as u16
     }
 
+    /// Read an ADC pin.
     pub fn read<P>(&mut self, pin: &mut P) -> u16
     where
         P: AdcPin<T>,
@@ -273,6 +283,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         self.read_channel(pin.channel())
     }
 
+    /// Read an ADC internal channel.
     pub fn read_internal(&mut self, channel: &mut impl InternalChannel<T>) -> u16 {
         self.read_channel(channel.channel())
     }

embassy-stm32/src/can/bxcan.rs

@@ -21,8 +21,10 @@ use crate::{interrupt, peripherals, Peripheral};
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Envelope {
+    /// Reception time.
     #[cfg(feature = "time")]
     pub ts: embassy_time::Instant,
+    /// The actual CAN frame.
     pub frame: bxcan::Frame,
 }
 
@@ -43,6 +45,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::TXInterrupt> for TxInterruptH
     }
 }
 
+/// RX0 interrupt handler.
 pub struct Rx0InterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }
@@ -54,6 +57,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::RX0Interrupt> for Rx0Interrup
     }
 }
 
+/// RX1 interrupt handler.
 pub struct Rx1InterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }
@@ -65,6 +69,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::RX1Interrupt> for Rx1Interrup
     }
 }
 
+/// SCE interrupt handler.
 pub struct SceInterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }
@@ -82,10 +87,13 @@ impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterrup
     }
 }
 
+/// CAN driver
 pub struct Can<'d, T: Instance> {
-    pub can: bxcan::Can<BxcanInstance<'d, T>>,
+    can: bxcan::Can<BxcanInstance<'d, T>>,
 }
 
+/// CAN bus error
+#[allow(missing_docs)]
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum BusError {
@@ -101,6 +109,7 @@ pub enum BusError {
     BusWarning,
 }
 
+/// Error returned by `try_read`
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum TryReadError {
@@ -110,6 +119,7 @@ pub enum TryReadError {
     Empty,
 }
 
+/// Error returned by `try_write`
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum TryWriteError {
@@ -177,6 +187,7 @@ impl<'d, T: Instance> Can<'d, T> {
         Self { can }
     }
 
+    /// Set CAN bit rate.
     pub fn set_bitrate(&mut self, bitrate: u32) {
         let bit_timing = Self::calc_bxcan_timings(T::frequency(), bitrate).unwrap();
         self.can.modify_config().set_bit_timing(bit_timing).leave_disabled();
@@ -194,7 +205,9 @@ impl<'d, T: Instance> Can<'d, T> {
         }
     }
 
-    /// Queues the message to be sent but exerts backpressure
+    /// Queues the message to be sent.
+    ///
+    /// If the TX queue is full, this will wait until there is space, therefore exerting backpressure.
     pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
         self.split().0.write(frame).await
     }
@@ -221,12 +234,16 @@ impl<'d, T: Instance> Can<'d, T> {
         CanTx::<T>::flush_all_inner().await
     }
 
+    /// Read a CAN frame.
+    ///
+    /// If no CAN frame is in the RX buffer, this will wait until there is one.
+    ///
     /// Returns a tuple of the time the message was received and the message frame
     pub async fn read(&mut self) -> Result<Envelope, BusError> {
         self.split().1.read().await
     }
 
-    /// Attempts to read a can frame without blocking.
+    /// Attempts to read a CAN frame without blocking.
     ///
     /// Returns [Err(TryReadError::Empty)] if there are no frames in the rx queue.
     pub fn try_read(&mut self) -> Result<Envelope, TryReadError> {
@@ -288,7 +305,7 @@ impl<'d, T: Instance> Can<'d, T> {
         }
     }
 
-    pub const fn calc_bxcan_timings(periph_clock: Hertz, can_bitrate: u32) -> Option<u32> {
+    const fn calc_bxcan_timings(periph_clock: Hertz, can_bitrate: u32) -> Option<u32> {
         const BS1_MAX: u8 = 16;
         const BS2_MAX: u8 = 8;
         const MAX_SAMPLE_POINT_PERMILL: u16 = 900;
@@ -379,21 +396,29 @@ impl<'d, T: Instance> Can<'d, T> {
         Some((sjw - 1) << 24 | (bs1 as u32 - 1) << 16 | (bs2 as u32 - 1) << 20 | (prescaler - 1))
     }
 
+    /// Split the CAN driver into transmit and receive halves.
+    ///
+    /// Useful for doing separate transmit/receive tasks.
     pub fn split<'c>(&'c mut self) -> (CanTx<'c, 'd, T>, CanRx<'c, 'd, T>) {
         let (tx, rx0, rx1) = self.can.split_by_ref();
         (CanTx { tx }, CanRx { rx0, rx1 })
     }
 
+    /// Get mutable access to the lower-level driver from the `bxcan` crate.
     pub fn as_mut(&mut self) -> &mut bxcan::Can<BxcanInstance<'d, T>> {
         &mut self.can
     }
 }
 
+/// CAN driver, transmit half.
 pub struct CanTx<'c, 'd, T: Instance> {
     tx: &'c mut bxcan::Tx<BxcanInstance<'d, T>>,
 }
 
 impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
+    /// Queues the message to be sent.
+    ///
+    /// If the TX queue is full, this will wait until there is space, therefore exerting backpressure.
     pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
         poll_fn(|cx| {
             T::state().tx_waker.register(cx.waker());
@@ -475,6 +500,7 @@ impl<'c, 'd, T: Instance> CanTx<'c, 'd, T> {
     }
 }
 
+/// CAN driver, receive half.
 #[allow(dead_code)]
 pub struct CanRx<'c, 'd, T: Instance> {
     rx0: &'c mut bxcan::Rx0<BxcanInstance<'d, T>>,
@@ -482,6 +508,11 @@ pub struct CanRx<'c, 'd, T: Instance> {
 }
 
 impl<'c, 'd, T: Instance> CanRx<'c, 'd, T> {
+    /// Read a CAN frame.
+    ///
+    /// If no CAN frame is in the RX buffer, this will wait until there is one.
+    ///
+    /// Returns a tuple of the time the message was received and the message frame
     pub async fn read(&mut self) -> Result<Envelope, BusError> {
         poll_fn(|cx| {
             T::state().err_waker.register(cx.waker());
@@ -585,30 +616,24 @@ pub(crate) mod sealed {
     pub trait Instance {
         const REGISTERS: *mut bxcan::RegisterBlock;
 
-        fn regs() -> &'static crate::pac::can::Can;
+        fn regs() -> crate::pac::can::Can;
         fn state() -> &'static State;
     }
 }
 
-pub trait TXInstance {
+/// CAN instance trait.
+pub trait Instance: sealed::Instance + RccPeripheral + 'static {
+    /// TX interrupt for this instance.
     type TXInterrupt: crate::interrupt::typelevel::Interrupt;
-}
-
-pub trait RX0Instance {
+    /// RX0 interrupt for this instance.
     type RX0Interrupt: crate::interrupt::typelevel::Interrupt;
-}
-
-pub trait RX1Instance {
+    /// RX1 interrupt for this instance.
     type RX1Interrupt: crate::interrupt::typelevel::Interrupt;
-}
-
-pub trait SCEInstance {
+    /// SCE interrupt for this instance.
     type SCEInterrupt: crate::interrupt::typelevel::Interrupt;
 }
 
-pub trait InterruptableInstance: TXInstance + RX0Instance + RX1Instance + SCEInstance {}
-pub trait Instance: sealed::Instance + RccPeripheral + InterruptableInstance + 'static {}
-
+/// BXCAN instance newtype.
 pub struct BxcanInstance<'a, T>(PeripheralRef<'a, T>);
 
 unsafe impl<'d, T: Instance> bxcan::Instance for BxcanInstance<'d, T> {
@@ -620,8 +645,8 @@ foreach_peripheral!(
         impl sealed::Instance for peripherals::$inst {
             const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.as_ptr() as *mut _;
 
-            fn regs() -> &'static crate::pac::can::Can {
-                &crate::pac::$inst
+            fn regs() -> crate::pac::can::Can {
+                crate::pac::$inst
             }
 
             fn state() -> &'static sealed::State {
@@ -630,32 +655,12 @@ foreach_peripheral!(
             }
         }
 
-        impl Instance for peripherals::$inst {}
-
-        foreach_interrupt!(
-            ($inst,can,CAN,TX,$irq:ident) => {
-                impl TXInstance for peripherals::$inst {
-                    type TXInterrupt = crate::interrupt::typelevel::$irq;
-                }
-            };
-            ($inst,can,CAN,RX0,$irq:ident) => {
-                impl RX0Instance for peripherals::$inst {
-                    type RX0Interrupt = crate::interrupt::typelevel::$irq;
-                }
-            };
-            ($inst,can,CAN,RX1,$irq:ident) => {
-                impl RX1Instance for peripherals::$inst {
-                    type RX1Interrupt = crate::interrupt::typelevel::$irq;
-                }
-            };
-            ($inst,can,CAN,SCE,$irq:ident) => {
-                impl SCEInstance for peripherals::$inst {
-                    type SCEInterrupt = crate::interrupt::typelevel::$irq;
-                }
-            };
-        );
-
-        impl InterruptableInstance for peripherals::$inst {}
+        impl Instance for peripherals::$inst {
+            type TXInterrupt = crate::_generated::peripheral_interrupts::$inst::TX;
+            type RX0Interrupt = crate::_generated::peripheral_interrupts::$inst::RX0;
+            type RX1Interrupt = crate::_generated::peripheral_interrupts::$inst::RX1;
+            type SCEInterrupt = crate::_generated::peripheral_interrupts::$inst::SCE;
+        }
     };
 );
 

embassy-stm32/src/can/fdcan.rs

@@ -1,6 +1,3 @@
-pub use bxcan;
-use embassy_hal_internal::PeripheralRef;
-
 use crate::peripherals;
 
 pub(crate) mod sealed {
@@ -25,27 +22,19 @@ pub(crate) mod sealed {
     }
 
     pub trait Instance {
-        const REGISTERS: *mut bxcan::RegisterBlock;
-
         fn regs() -> &'static crate::pac::can::Fdcan;
         fn state() -> &'static State;
     }
 }
 
+/// Interruptable FDCAN instance.
 pub trait InterruptableInstance {}
+/// FDCAN instance.
 pub trait Instance: sealed::Instance + InterruptableInstance + 'static {}
 
-pub struct BxcanInstance<'a, T>(PeripheralRef<'a, T>);
-
-unsafe impl<'d, T: Instance> bxcan::Instance for BxcanInstance<'d, T> {
-    const REGISTERS: *mut bxcan::RegisterBlock = T::REGISTERS;
-}
-
 foreach_peripheral!(
     (can, $inst:ident) => {
         impl sealed::Instance for peripherals::$inst {
-            const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.as_ptr() as *mut _;
-
             fn regs() -> &'static crate::pac::can::Fdcan {
                 &crate::pac::$inst
             }

embassy-stm32/src/can/mod.rs

@@ -1,3 +1,4 @@
+//! Controller Area Network (CAN)
 #![macro_use]
 
 #[cfg_attr(can_bxcan, path = "bxcan.rs")]

embassy-stm32/src/crc/mod.rs

@@ -1,3 +1,4 @@
+//! Cyclic Redundancy Check (CRC)
 #[cfg_attr(crc_v1, path = "v1.rs")]
 #[cfg_attr(crc_v2, path = "v2v3.rs")]
 #[cfg_attr(crc_v3, path = "v2v3.rs")]

embassy-stm32/src/crc/v1.rs

@@ -5,6 +5,7 @@ use crate::peripherals::CRC;
 use crate::rcc::sealed::RccPeripheral;
 use crate::Peripheral;
 
+/// CRC driver.
 pub struct Crc<'d> {
     _peri: PeripheralRef<'d, CRC>,
 }
@@ -34,6 +35,7 @@ impl<'d> Crc<'d> {
         PAC_CRC.dr().write_value(word);
         self.read()
     }
+
     /// Feed a slice of words to the peripheral and return the result.
     pub fn feed_words(&mut self, words: &[u32]) -> u32 {
         for word in words {
@@ -42,6 +44,8 @@ impl<'d> Crc<'d> {
 
         self.read()
     }
+
+    /// Read the CRC result value.
     pub fn read(&self) -> u32 {
         PAC_CRC.dr().read()
     }

embassy-stm32/src/crc/v2v3.rs

@@ -6,15 +6,19 @@ use crate::peripherals::CRC;
 use crate::rcc::sealed::RccPeripheral;
 use crate::Peripheral;
 
+/// CRC driver.
 pub struct Crc<'d> {
     _peripheral: PeripheralRef<'d, CRC>,
     _config: Config,
 }
 
+/// CRC configuration errlr
 pub enum ConfigError {
+    /// The selected polynomial is invalid.
     InvalidPolynomial,
 }
 
+/// CRC configuration
 pub struct Config {
     reverse_in: InputReverseConfig,
     reverse_out: bool,
@@ -25,14 +29,20 @@ pub struct Config {
     crc_poly: u32,
 }
 
+/// Input reverse configuration.
 pub enum InputReverseConfig {
+    /// Don't reverse anything
     None,
+    /// Reverse bytes
     Byte,
+    /// Reverse 16-bit halfwords.
     Halfword,
+    /// Reverse 32-bit words.
     Word,
 }
 
 impl Config {
+    /// Create a new CRC config.
     pub fn new(
         reverse_in: InputReverseConfig,
         reverse_out: bool,
@@ -57,7 +67,9 @@ impl Config {
     }
 }
 
+/// Polynomial size
 #[cfg(crc_v3)]
+#[allow(missing_docs)]
 pub enum PolySize {
     Width7,
     Width8,
@@ -81,6 +93,7 @@ impl<'d> Crc<'d> {
         instance
     }
 
+    /// Reset the CRC engine.
     pub fn reset(&mut self) {
         PAC_CRC.cr().modify(|w| w.set_reset(true));
     }

embassy-stm32/src/dac/mod.rs

@@ -1,4 +1,4 @@
-//! Provide access to the STM32 digital-to-analog converter (DAC).
+//! Digital to Analog Converter (DAC)
 #![macro_use]
 
 use core::marker::PhantomData;
@@ -62,11 +62,11 @@ impl Mode {
 ///
 /// 12-bit values outside the permitted range are silently truncated.
 pub enum Value {
-    // 8 bit value
+    /// 8 bit value
     Bit8(u8),
-    // 12 bit value stored in a u16, left-aligned
+    /// 12 bit value stored in a u16, left-aligned
     Bit12Left(u16),
-    // 12 bit value stored in a u16, right-aligned
+    /// 12 bit value stored in a u16, right-aligned
     Bit12Right(u16),
 }
 
@@ -76,11 +76,11 @@ pub enum Value {
 ///
 /// 12-bit values outside the permitted range are silently truncated.
 pub enum DualValue {
-    // 8 bit value
+    /// 8 bit value
     Bit8(u8, u8),
-    // 12 bit value stored in a u16, left-aligned
+    /// 12 bit value stored in a u16, left-aligned
     Bit12Left(u16, u16),
-    // 12 bit value stored in a u16, right-aligned
+    /// 12 bit value stored in a u16, right-aligned
     Bit12Right(u16, u16),
 }
 
@@ -88,11 +88,11 @@ pub enum DualValue {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 /// Array variant of [`Value`].
 pub enum ValueArray<'a> {
-    // 8 bit values
+    /// 8 bit values
     Bit8(&'a [u8]),
-    // 12 bit value stored in a u16, left-aligned
+    /// 12 bit value stored in a u16, left-aligned
     Bit12Left(&'a [u16]),
-    // 12 bit values stored in a u16, right-aligned
+    /// 12 bit values stored in a u16, right-aligned
     Bit12Right(&'a [u16]),
 }
 
@@ -106,7 +106,9 @@ pub struct DacChannel<'d, T: Instance, const N: u8, DMA = NoDma> {
     dma: PeripheralRef<'d, DMA>,
 }
 
+/// DAC channel 1 type alias.
 pub type DacCh1<'d, T, DMA = NoDma> = DacChannel<'d, T, 1, DMA>;
+/// DAC channel 2 type alias.
 pub type DacCh2<'d, T, DMA = NoDma> = DacChannel<'d, T, 2, DMA>;
 
 impl<'d, T: Instance, const N: u8, DMA> DacChannel<'d, T, N, DMA> {
@@ -492,6 +494,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// DAC instance.
 pub trait Instance: sealed::Instance + RccPeripheral + 'static {}
 dma_trait!(DacDma1, Instance);
 dma_trait!(DacDma2, Instance);

embassy-stm32/src/dac/tsel.rs

@@ -1,3 +1,5 @@
+#![allow(missing_docs)]
+
 /// Trigger selection for STM32F0.
 #[cfg(stm32f0)]
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]

embassy-stm32/src/dcmi.rs

@@ -1,3 +1,4 @@
+//! Digital Camera Interface (DCMI)
 use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::task::Poll;
@@ -36,6 +37,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
 }
 
 /// The level on the VSync pin when the data is not valid on the parallel interface.
+#[allow(missing_docs)]
 #[derive(Clone, Copy, PartialEq)]
 pub enum VSyncDataInvalidLevel {
     Low,
@@ -43,6 +45,7 @@ pub enum VSyncDataInvalidLevel {
 }
 
 /// The level on the VSync pin when the data is not valid on the parallel interface.
+#[allow(missing_docs)]
 #[derive(Clone, Copy, PartialEq)]
 pub enum HSyncDataInvalidLevel {
     Low,
@@ -50,14 +53,16 @@ pub enum HSyncDataInvalidLevel {
 }
 
 #[derive(Clone, Copy, PartialEq)]
+#[allow(missing_docs)]
 pub enum PixelClockPolarity {
     RisingEdge,
     FallingEdge,
 }
 
-pub struct State {
+struct State {
     waker: AtomicWaker,
 }
+
 impl State {
     const fn new() -> State {
         State {
@@ -68,18 +73,25 @@ impl State {
 
 static STATE: State = State::new();
 
+/// DCMI error.
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
 pub enum Error {
+    /// Overrun error: the hardware generated data faster than we could read it.
     Overrun,
+    /// Internal peripheral error.
     PeripheralError,
 }
 
+/// DCMI configuration.
 #[non_exhaustive]
 pub struct Config {
+    /// VSYNC level.
     pub vsync_level: VSyncDataInvalidLevel,
+    /// HSYNC level.
     pub hsync_level: HSyncDataInvalidLevel,
+    /// PIXCLK polarity.
     pub pixclk_polarity: PixelClockPolarity,
 }
 
@@ -105,6 +117,7 @@ macro_rules! config_pins {
     };
 }
 
+/// DCMI driver.
 pub struct Dcmi<'d, T: Instance, Dma: FrameDma<T>> {
     inner: PeripheralRef<'d, T>,
     dma: PeripheralRef<'d, Dma>,
@@ -115,6 +128,7 @@ where
     T: Instance,
     Dma: FrameDma<T>,
 {
+    /// Create a new DCMI driver with 8 data bits.
     pub fn new_8bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -139,6 +153,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b00)
     }
 
+    /// Create a new DCMI driver with 10 data bits.
     pub fn new_10bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -165,6 +180,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b01)
     }
 
+    /// Create a new DCMI driver with 12 data bits.
     pub fn new_12bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -193,6 +209,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b10)
     }
 
+    /// Create a new DCMI driver with 14 data bits.
     pub fn new_14bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -223,6 +240,7 @@ where
         Self::new_inner(peri, dma, config, false, 0b11)
     }
 
+    /// Create a new DCMI driver with 8 data bits, with embedded synchronization.
     pub fn new_es_8bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -245,6 +263,7 @@ where
         Self::new_inner(peri, dma, config, true, 0b00)
     }
 
+    /// Create a new DCMI driver with 10 data bits, with embedded synchronization.
     pub fn new_es_10bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -269,6 +288,7 @@ where
         Self::new_inner(peri, dma, config, true, 0b01)
     }
 
+    /// Create a new DCMI driver with 12 data bits, with embedded synchronization.
     pub fn new_es_12bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -295,6 +315,7 @@ where
         Self::new_inner(peri, dma, config, true, 0b10)
     }
 
+    /// Create a new DCMI driver with 14 data bits, with embedded synchronization.
     pub fn new_es_14bit(
         peri: impl Peripheral<P = T> + 'd,
         dma: impl Peripheral<P = Dma> + 'd,
@@ -538,7 +559,9 @@ mod sealed {
     }
 }
 
+/// DCMI instance.
 pub trait Instance: sealed::Instance + 'static {
+    /// Interrupt for this instance.
     type Interrupt: interrupt::typelevel::Interrupt;
 }
 

embassy-stm32/src/dma/bdma.rs

@@ -1,4 +1,4 @@
-#![macro_use]
+//! Basic Direct Memory Acccess (BDMA)
 
 use core::future::Future;
 use core::pin::Pin;
@@ -17,6 +17,7 @@ use crate::interrupt::Priority;
 use crate::pac;
 use crate::pac::bdma::{regs, vals};
 
+/// BDMA transfer options.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@@ -140,13 +141,17 @@ pub(crate) unsafe fn on_irq_inner(dma: pac::bdma::Dma, channel_num: usize, index
     STATE.ch_wakers[index].wake();
 }
 
+/// DMA request type alias.
 #[cfg(any(bdma_v2, dmamux))]
 pub type Request = u8;
+/// DMA request type alias.
 #[cfg(not(any(bdma_v2, dmamux)))]
 pub type Request = ();
 
+/// DMA channel.
 #[cfg(dmamux)]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static + super::dmamux::MuxChannel {}
+/// DMA channel.
 #[cfg(not(dmamux))]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static {}
 
@@ -161,12 +166,14 @@ pub(crate) mod sealed {
     }
 }
 
+/// DMA transfer.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Transfer<'a, C: Channel> {
     channel: PeripheralRef<'a, C>,
 }
 
 impl<'a, C: Channel> Transfer<'a, C> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -177,6 +184,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_read_raw(channel, request, peri_addr, buf, options)
     }
 
+    /// Create a new read DMA transfer (peripheral to memory), using raw pointers.
     pub unsafe fn new_read_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -202,6 +210,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral).
     pub unsafe fn new_write<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -212,6 +221,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_write_raw(channel, request, buf, peri_addr, options)
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), using raw pointers.
     pub unsafe fn new_write_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -237,6 +247,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), writing the same value repeatedly.
     pub unsafe fn new_write_repeated<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -292,20 +303,14 @@ impl<'a, C: Channel> Transfer<'a, C> {
         ch.cr().write(|w| {
             w.set_psize(data_size.into());
             w.set_msize(data_size.into());
-            if incr_mem {
-                w.set_minc(vals::Inc::ENABLED);
-            } else {
-                w.set_minc(vals::Inc::DISABLED);
-            }
+            w.set_minc(incr_mem);
             w.set_dir(dir.into());
             w.set_teie(true);
             w.set_tcie(options.complete_transfer_ir);
             w.set_htie(options.half_transfer_ir);
+            w.set_circ(options.circular);
             if options.circular {
-                w.set_circ(vals::Circ::ENABLED);
                 debug!("Setting circular mode");
-            } else {
-                w.set_circ(vals::Circ::DISABLED);
             }
             w.set_pl(vals::Pl::VERYHIGH);
             w.set_en(true);
@@ -321,6 +326,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
 
@@ -331,21 +339,27 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         let en = ch.cr().read().en();
-        let circular = ch.cr().read().circ() == vals::Circ::ENABLED;
+        let circular = ch.cr().read().circ();
         let tcif = STATE.complete_count[self.channel.index()].load(Ordering::Acquire) != 0;
         en && (circular || !tcif)
     }
 
-    /// Gets the total remaining transfers for the channel
-    /// Note: this will be zero for transfers that completed without cancellation.
+    /// Get the total remaining transfers for the channel.
+    ///
+    /// This will be zero for transfers that completed instead of being canceled with [`request_stop`](Self::request_stop).
     pub fn get_remaining_transfers(&self) -> u16 {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.ndtr().read().ndt()
     }
 
+    /// Blocking wait until the transfer finishes.
     pub fn blocking_wait(mut self) {
         while self.is_running() {}
         self.request_stop();
@@ -411,6 +425,7 @@ impl<'a, C: Channel> DmaCtrl for DmaCtrlImpl<'a, C> {
     }
 }
 
+/// Ringbuffer for reading data using DMA circular mode.
 pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -418,7 +433,8 @@ pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
-    pub unsafe fn new_read(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -445,12 +461,12 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         let mut w = regs::Cr(0);
         w.set_psize(data_size.into());
         w.set_msize(data_size.into());
-        w.set_minc(vals::Inc::ENABLED);
+        w.set_minc(true);
         w.set_dir(dir.into());
         w.set_teie(true);
         w.set_htie(true);
         w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
         w.set_pl(vals::Pl::VERYHIGH);
         w.set_en(true);
 
@@ -473,11 +489,15 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().write_value(self.cr)
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -509,10 +529,11 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
     }
 
     /// The capacity of the ringbuffer.
-    pub const fn cap(&self) -> usize {
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is received.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -526,6 +547,9 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
 
@@ -539,6 +563,10 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().read().en()
@@ -555,6 +583,7 @@ impl<'a, C: Channel, W: Word> Drop for ReadableRingBuffer<'a, C, W> {
     }
 }
 
+/// Ringbuffer for writing data using DMA circular mode.
 pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -562,7 +591,8 @@ pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
-    pub unsafe fn new_write(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -589,12 +619,12 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         let mut w = regs::Cr(0);
         w.set_psize(data_size.into());
         w.set_msize(data_size.into());
-        w.set_minc(vals::Inc::ENABLED);
+        w.set_minc(true);
         w.set_dir(dir.into());
         w.set_teie(true);
         w.set_htie(true);
         w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
         w.set_pl(vals::Pl::VERYHIGH);
         w.set_en(true);
 
@@ -617,11 +647,15 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().write_value(self.cr)
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -640,10 +674,11 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
     }
 
     /// The capacity of the ringbuffer.
-    pub const fn cap(&self) -> usize {
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is sent.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -657,6 +692,9 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
 
@@ -670,6 +708,10 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().read().en()

embassy-stm32/src/dma/dma.rs

@@ -16,6 +16,7 @@ use crate::interrupt::Priority;
 use crate::pac::dma::{regs, vals};
 use crate::{interrupt, pac};
 
+/// DMA transfer options.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@@ -69,6 +70,7 @@ impl From<Dir> for vals::Dir {
     }
 }
 
+/// DMA transfer burst setting.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Burst {
@@ -93,6 +95,7 @@ impl From<Burst> for vals::Burst {
     }
 }
 
+/// DMA flow control setting.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FlowControl {
@@ -111,6 +114,7 @@ impl From<FlowControl> for vals::Pfctrl {
     }
 }
 
+/// DMA FIFO threshold.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FifoThreshold {
@@ -208,13 +212,17 @@ pub(crate) unsafe fn on_irq_inner(dma: pac::dma::Dma, channel_num: usize, index:
     STATE.ch_wakers[index].wake();
 }
 
+/// DMA request type alias. (also known as DMA channel number in some chips)
 #[cfg(any(dma_v2, dmamux))]
 pub type Request = u8;
+/// DMA request type alias. (also known as DMA channel number in some chips)
 #[cfg(not(any(dma_v2, dmamux)))]
 pub type Request = ();
 
+/// DMA channel.
 #[cfg(dmamux)]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static + super::dmamux::MuxChannel {}
+/// DMA channel.
 #[cfg(not(dmamux))]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static {}
 
@@ -229,12 +237,14 @@ pub(crate) mod sealed {
     }
 }
 
+/// DMA transfer.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Transfer<'a, C: Channel> {
     channel: PeripheralRef<'a, C>,
 }
 
 impl<'a, C: Channel> Transfer<'a, C> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -245,6 +255,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_read_raw(channel, request, peri_addr, buf, options)
     }
 
+    /// Create a new read DMA transfer (peripheral to memory), using raw pointers.
     pub unsafe fn new_read_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -270,6 +281,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral).
     pub unsafe fn new_write<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -280,6 +292,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_write_raw(channel, request, buf, peri_addr, options)
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), using raw pointers.
     pub unsafe fn new_write_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -305,6 +318,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), writing the same value repeatedly.
     pub unsafe fn new_write_repeated<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -368,18 +382,13 @@ impl<'a, C: Channel> Transfer<'a, C> {
             w.set_msize(data_size.into());
             w.set_psize(data_size.into());
             w.set_pl(vals::Pl::VERYHIGH);
-            w.set_minc(match incr_mem {
-                true => vals::Inc::INCREMENTED,
-                false => vals::Inc::FIXED,
-            });
-            w.set_pinc(vals::Inc::FIXED);
+            w.set_minc(incr_mem);
+            w.set_pinc(false);
             w.set_teie(true);
             w.set_tcie(options.complete_transfer_ir);
+            w.set_circ(options.circular);
             if options.circular {
-                w.set_circ(vals::Circ::ENABLED);
                 debug!("Setting circular mode");
-            } else {
-                w.set_circ(vals::Circ::DISABLED);
             }
             #[cfg(dma_v1)]
             w.set_trbuff(true);
@@ -407,6 +416,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -417,6 +429,10 @@ impl<'a, C: Channel> Transfer<'a, C> {
         });
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
@@ -429,6 +445,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         ch.ndtr().read().ndt()
     }
 
+    /// Blocking wait until the transfer finishes.
     pub fn blocking_wait(mut self) {
         while self.is_running() {}
 
@@ -465,12 +482,14 @@ impl<'a, C: Channel> Future for Transfer<'a, C> {
 
 // ==================================
 
+/// Double-buffered DMA transfer.
 pub struct DoubleBuffered<'a, C: Channel, W: Word> {
     channel: PeripheralRef<'a, C>,
     _phantom: PhantomData<W>,
 }
 
 impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
@@ -521,8 +540,8 @@ impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
             w.set_msize(data_size.into());
             w.set_psize(data_size.into());
             w.set_pl(vals::Pl::VERYHIGH);
-            w.set_minc(vals::Inc::INCREMENTED);
-            w.set_pinc(vals::Inc::FIXED);
+            w.set_minc(true);
+            w.set_pinc(false);
             w.set_teie(true);
             w.set_tcie(true);
             #[cfg(dma_v1)]
@@ -554,25 +573,36 @@ impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
         });
     }
 
+    /// Set the first buffer address.
+    ///
+    /// You may call this while DMA is transferring the other buffer.
     pub unsafe fn set_buffer0(&mut self, buffer: *mut W) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.m0ar().write_value(buffer as _);
     }
 
+    /// Set the second buffer address.
+    ///
+    /// You may call this while DMA is transferring the other buffer.
     pub unsafe fn set_buffer1(&mut self, buffer: *mut W) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.m1ar().write_value(buffer as _);
     }
 
+    /// Returh whether buffer0 is accessible (i.e. whether DMA is transferring buffer1 now)
     pub fn is_buffer0_accessible(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().ct() == vals::Ct::MEMORY1
     }
 
+    /// Set a waker to be woken when one of the buffers is being transferred.
     pub fn set_waker(&mut self, waker: &Waker) {
         STATE.ch_wakers[self.channel.index()].register(waker);
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -583,6 +613,10 @@ impl<'a, C: Channel, W: Word> DoubleBuffered<'a, C, W> {
         });
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
@@ -629,6 +663,7 @@ impl<'a, C: Channel> DmaCtrl for DmaCtrlImpl<'a, C> {
     }
 }
 
+/// Ringbuffer for receiving data using DMA circular mode.
 pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -636,7 +671,8 @@ pub struct ReadableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
-    pub unsafe fn new_read(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -662,12 +698,12 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         w.set_msize(data_size.into());
         w.set_psize(data_size.into());
         w.set_pl(vals::Pl::VERYHIGH);
-        w.set_minc(vals::Inc::INCREMENTED);
-        w.set_pinc(vals::Inc::FIXED);
+        w.set_minc(true);
+        w.set_pinc(false);
         w.set_teie(true);
         w.set_htie(options.half_transfer_ir);
         w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
         #[cfg(dma_v1)]
         w.set_trbuff(true);
         #[cfg(dma_v2)]
@@ -706,11 +742,15 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().write_value(self.cr);
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -741,11 +781,12 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
             .await
     }
 
-    // The capacity of the ringbuffer
-    pub const fn cap(&self) -> usize {
+    /// The capacity of the ringbuffer
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is received.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -763,6 +804,9 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -774,6 +818,10 @@ impl<'a, C: Channel, W: Word> ReadableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()
@@ -790,6 +838,7 @@ impl<'a, C: Channel, W: Word> Drop for ReadableRingBuffer<'a, C, W> {
     }
 }
 
+/// Ringbuffer for writing data using DMA circular mode.
 pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
     cr: regs::Cr,
     channel: PeripheralRef<'a, C>,
@@ -797,7 +846,8 @@ pub struct WritableRingBuffer<'a, C: Channel, W: Word> {
 }
 
 impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
-    pub unsafe fn new_write(
+    /// Create a new ring buffer.
+    pub unsafe fn new(
         channel: impl Peripheral<P = C> + 'a,
         _request: Request,
         peri_addr: *mut W,
@@ -823,12 +873,12 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         w.set_msize(data_size.into());
         w.set_psize(data_size.into());
         w.set_pl(vals::Pl::VERYHIGH);
-        w.set_minc(vals::Inc::INCREMENTED);
-        w.set_pinc(vals::Inc::FIXED);
+        w.set_minc(true);
+        w.set_pinc(false);
         w.set_teie(true);
         w.set_htie(options.half_transfer_ir);
         w.set_tcie(true);
-        w.set_circ(vals::Circ::ENABLED);
+        w.set_circ(true);
         #[cfg(dma_v1)]
         w.set_trbuff(true);
         #[cfg(dma_v2)]
@@ -867,11 +917,15 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         this
     }
 
+    /// Start the ring buffer operation.
+    ///
+    /// You must call this after creating it for it to work.
     pub fn start(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().write_value(self.cr);
     }
 
+    /// Clear all data in the ring buffer.
     pub fn clear(&mut self) {
         self.ringbuf.clear(&mut DmaCtrlImpl(self.channel.reborrow()));
     }
@@ -889,11 +943,12 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
             .await
     }
 
-    // The capacity of the ringbuffer
-    pub const fn cap(&self) -> usize {
+    /// The capacity of the ringbuffer
+    pub const fn capacity(&self) -> usize {
         self.ringbuf.cap()
     }
 
+    /// Set a waker to be woken when at least one byte is received.
     pub fn set_waker(&mut self, waker: &Waker) {
         DmaCtrlImpl(self.channel.reborrow()).set_waker(waker);
     }
@@ -911,6 +966,9 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Request DMA to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().st(self.channel.num());
 
@@ -922,6 +980,10 @@ impl<'a, C: Channel, W: Word> WritableRingBuffer<'a, C, W> {
         });
     }
 
+    /// Return whether DMA is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().st(self.channel.num());
         ch.cr().read().en()

embassy-stm32/src/dma/dmamux.rs

@@ -22,11 +22,15 @@ pub(crate) mod dmamux_sealed {
     }
 }
 
+/// DMAMUX1 instance.
 pub struct DMAMUX1;
+/// DMAMUX2 instance.
 #[cfg(stm32h7)]
 pub struct DMAMUX2;
 
+/// DMAMUX channel trait.
 pub trait MuxChannel: dmamux_sealed::MuxChannel {
+    /// DMAMUX instance this channel is on.
     type Mux;
 }
 

embassy-stm32/src/dma/gpdma.rs

@@ -16,6 +16,7 @@ use crate::interrupt::Priority;
 use crate::pac;
 use crate::pac::gpdma::vals;
 
+/// GPDMA transfer options.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[non_exhaustive]
@@ -113,10 +114,13 @@ pub(crate) unsafe fn on_irq_inner(dma: pac::gpdma::Gpdma, channel_num: usize, in
     }
 }
 
+/// DMA request type alias. (also known as DMA channel number in some chips)
 pub type Request = u8;
 
+/// DMA channel.
 #[cfg(dmamux)]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static + super::dmamux::MuxChannel {}
+/// DMA channel.
 #[cfg(not(dmamux))]
 pub trait Channel: sealed::Channel + Peripheral<P = Self> + 'static {}
 
@@ -131,12 +135,14 @@ pub(crate) mod sealed {
     }
 }
 
+/// DMA transfer.
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Transfer<'a, C: Channel> {
     channel: PeripheralRef<'a, C>,
 }
 
 impl<'a, C: Channel> Transfer<'a, C> {
+    /// Create a new read DMA transfer (peripheral to memory).
     pub unsafe fn new_read<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -147,6 +153,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_read_raw(channel, request, peri_addr, buf, options)
     }
 
+    /// Create a new read DMA transfer (peripheral to memory), using raw pointers.
     pub unsafe fn new_read_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -172,6 +179,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral).
     pub unsafe fn new_write<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -182,6 +190,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         Self::new_write_raw(channel, request, buf, peri_addr, options)
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), using raw pointers.
     pub unsafe fn new_write_raw<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -207,6 +216,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         )
     }
 
+    /// Create a new write DMA transfer (memory to peripheral), writing the same value repeatedly.
     pub unsafe fn new_write_repeated<W: Word>(
         channel: impl Peripheral<P = C> + 'a,
         request: Request,
@@ -297,6 +307,9 @@ impl<'a, C: Channel> Transfer<'a, C> {
         this
     }
 
+    /// Request the transfer to stop.
+    ///
+    /// This doesn't immediately stop the transfer, you have to wait until [`is_running`](Self::is_running) returns false.
     pub fn request_stop(&mut self) {
         let ch = self.channel.regs().ch(self.channel.num());
         ch.cr().modify(|w| {
@@ -304,6 +317,10 @@ impl<'a, C: Channel> Transfer<'a, C> {
         })
     }
 
+    /// Return whether this transfer is still running.
+    ///
+    /// If this returns `false`, it can be because either the transfer finished, or
+    /// it was requested to stop early with [`request_stop`](Self::request_stop).
     pub fn is_running(&mut self) -> bool {
         let ch = self.channel.regs().ch(self.channel.num());
         let sr = ch.sr().read();
@@ -317,6 +334,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
         ch.br1().read().bndt()
     }
 
+    /// Blocking wait until the transfer finishes.
     pub fn blocking_wait(mut self) {
         while self.is_running() {}
 

embassy-stm32/src/dma/mod.rs

@@ -1,3 +1,5 @@
+//! Direct Memory Access (DMA)
+
 #[cfg(dma)]
 pub(crate) mod dma;
 #[cfg(dma)]
@@ -39,6 +41,13 @@ enum Dir {
     PeripheralToMemory,
 }
 
+/// "No DMA" placeholder.
+///
+/// You may pass this in place of a real DMA channel when creating a driver
+/// to indicate it should not use DMA.
+///
+/// This often causes async functionality to not be available on the instance,
+/// leaving only blocking functionality.
 pub struct NoDma;
 
 impl_peripheral!(NoDma);

embassy-stm32/src/dma/word.rs

@@ -1,3 +1,6 @@
+//! DMA word sizes.
+
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum WordSize {
@@ -7,6 +10,7 @@ pub enum WordSize {
 }
 
 impl WordSize {
+    /// Amount of bytes of this word size.
     pub fn bytes(&self) -> usize {
         match self {
             Self::OneByte => 1,
@@ -20,8 +24,13 @@ mod sealed {
     pub trait Word {}
 }
 
+/// DMA word trait.
+///
+/// This is implemented for u8, u16, u32, etc.
 pub trait Word: sealed::Word + Default + Copy + 'static {
+    /// Word size
     fn size() -> WordSize;
+    /// Amount of bits of this word size.
     fn bits() -> usize;
 }
 
@@ -40,6 +49,7 @@ macro_rules! impl_word {
     ($T:ident, $uX:ident, $bits:literal, $size:ident) => {
         #[repr(transparent)]
         #[derive(Copy, Clone, Default)]
+        #[doc = concat!(stringify!($T), " word size")]
         pub struct $T(pub $uX);
         impl_word!(_, $T, $bits, $size);
     };

embassy-stm32/src/eth/generic_smi.rs

@@ -102,6 +102,7 @@ unsafe impl PHY for GenericSMI {
 
 /// Public functions for the PHY
 impl GenericSMI {
+    /// Set the SMI polling interval.
     #[cfg(feature = "time")]
     pub fn set_poll_interval(&mut self, poll_interval: Duration) {
         self.poll_interval = poll_interval

embassy-stm32/src/eth/mod.rs

@@ -1,3 +1,4 @@
+//! Ethernet (ETH)
 #![macro_use]
 
 #[cfg_attr(any(eth_v1a, eth_v1b, eth_v1c), path = "v1/mod.rs")]
@@ -22,6 +23,14 @@ const RX_BUFFER_SIZE: usize = 1536;
 #[derive(Copy, Clone)]
 pub(crate) struct Packet<const N: usize>([u8; N]);
 
+/// Ethernet packet queue.
+///
+/// This struct owns the memory used for reading and writing packets.
+///
+/// `TX` is the number of packets in the transmit queue, `RX` in the receive
+/// queue. A bigger queue allows the hardware to receive more packets while the
+/// CPU is busy doing other things, which may increase performance (especially for RX)
+/// at the cost of more RAM usage.
 pub struct PacketQueue<const TX: usize, const RX: usize> {
     tx_desc: [TDes; TX],
     rx_desc: [RDes; RX],
@@ -30,6 +39,7 @@ pub struct PacketQueue<const TX: usize, const RX: usize> {
 }
 
 impl<const TX: usize, const RX: usize> PacketQueue<TX, RX> {
+    /// Create a new packet queue.
     pub const fn new() -> Self {
         const NEW_TDES: TDes = TDes::new();
         const NEW_RDES: RDes = RDes::new();
@@ -41,7 +51,18 @@ impl<const TX: usize, const RX: usize> PacketQueue<TX, RX> {
         }
     }
 
-    // Allow to initialize a Self without requiring it to go on the stack
+    /// Initialize a packet queue in-place.
+    ///
+    /// This can be helpful to avoid accidentally stack-allocating the packet queue in the stack. The
+    /// Rust compiler can sometimes be a bit dumb when working with large owned values: if you call `new()`
+    /// and then store the returned PacketQueue in its final place (like a `static`), the compiler might
+    /// place it temporarily on the stack then move it. Since this struct is quite big, it may result
+    /// in a stack overflow.
+    ///
+    /// With this function, you can create an uninitialized `static` with type `MaybeUninit<PacketQueue<...>>`
+    /// and initialize it in-place, guaranteeing no stack usage.
+    ///
+    /// After calling this function, calling `assume_init` on the MaybeUninit is guaranteed safe.
     pub fn init(this: &mut MaybeUninit<Self>) {
         unsafe {
             this.as_mut_ptr().write_bytes(0u8, 1);
@@ -93,6 +114,7 @@ impl<'d, T: Instance, P: PHY> embassy_net_driver::Driver for Ethernet<'d, T, P>
     }
 }
 
+/// `embassy-net` RX token.
 pub struct RxToken<'a, 'd> {
     rx: &'a mut RDesRing<'d>,
 }
@@ -110,6 +132,7 @@ impl<'a, 'd> embassy_net_driver::RxToken for RxToken<'a, 'd> {
     }
 }
 
+/// `embassy-net` TX token.
 pub struct TxToken<'a, 'd> {
     tx: &'a mut TDesRing<'d>,
 }
@@ -159,6 +182,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// Ethernet instance.
 pub trait Instance: sealed::Instance + Send + 'static {}
 
 impl sealed::Instance for crate::peripherals::ETH {

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

@@ -43,6 +43,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::ETH> for InterruptHandl
     }
 }
 
+/// Ethernet driver.
 pub struct Ethernet<'d, T: Instance, P: PHY> {
     _peri: PeripheralRef<'d, T>,
     pub(crate) tx: TDesRing<'d>,
@@ -266,6 +267,7 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
     }
 }
 
+/// Ethernet station management interface.
 pub struct EthernetStationManagement<T: Instance> {
     peri: PhantomData<T>,
     clock_range: Cr,

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

@@ -34,6 +34,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::ETH> for InterruptHandl
     }
 }
 
+/// Ethernet driver.
 pub struct Ethernet<'d, T: Instance, P: PHY> {
     _peri: PeripheralRef<'d, T>,
     pub(crate) tx: TDesRing<'d>,
@@ -56,6 +57,7 @@ macro_rules! config_pins {
 }
 
 impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
+    /// Create a new Ethernet driver.
     pub fn new<const TX: usize, const RX: usize>(
         queue: &'d mut PacketQueue<TX, RX>,
         peri: impl Peripheral<P = T> + 'd,
@@ -237,6 +239,7 @@ impl<'d, T: Instance, P: PHY> Ethernet<'d, T, P> {
     }
 }
 
+/// Ethernet SMI driver.
 pub struct EthernetStationManagement<T: Instance> {
     peri: PhantomData<T>,
     clock_range: u8,

embassy-stm32/src/exti.rs

@@ -1,3 +1,4 @@
+//! External Interrupts (EXTI)
 use core::convert::Infallible;
 use core::future::Future;
 use core::marker::PhantomData;
@@ -39,7 +40,7 @@ fn exticr_regs() -> pac::afio::Afio {
     pac::AFIO
 }
 
-pub unsafe fn on_irq() {
+unsafe fn on_irq() {
     #[cfg(feature = "low-power")]
     crate::low_power::on_wakeup_irq();
 
@@ -85,7 +86,13 @@ impl Iterator for BitIter {
     }
 }
 
-/// EXTI input driver
+/// EXTI input driver.
+///
+/// This driver augments a GPIO `Input` with EXTI functionality. EXTI is not
+/// built into `Input` itself because it needs to take ownership of the corresponding
+/// EXTI channel, which is a limited resource.
+///
+/// Pins PA5, PB5, PC5... all use EXTI channel 5, so you can't use EXTI on, say, PA5 and PC5 at the same time.
 pub struct ExtiInput<'d, T: GpioPin> {
     pin: Input<'d, T>,
 }
@@ -93,23 +100,30 @@ pub struct ExtiInput<'d, T: GpioPin> {
 impl<'d, T: GpioPin> Unpin for ExtiInput<'d, T> {}
 
 impl<'d, T: GpioPin> ExtiInput<'d, T> {
+    /// Create an EXTI input.
     pub fn new(pin: Input<'d, T>, _ch: impl Peripheral<P = T::ExtiChannel> + 'd) -> Self {
         Self { pin }
     }
 
-    pub fn is_high(&self) -> bool {
+    /// Get whether the pin is high.
+    pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
-    pub fn is_low(&self) -> bool {
+    /// Get whether the pin is low.
+    pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
-    pub fn get_level(&self) -> Level {
+    /// Get the pin level.
+    pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
     }
 
-    pub async fn wait_for_high<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin is high.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_high(&mut self) {
         let fut = ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, false);
         if self.is_high() {
             return;
@@ -117,7 +131,10 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
         fut.await
     }
 
-    pub async fn wait_for_low<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin is low.
+    ///
+    /// This returns immediately if the pin is already low.
+    pub async fn wait_for_low(&mut self) {
         let fut = ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), false, true);
         if self.is_low() {
             return;
@@ -125,15 +142,22 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
         fut.await
     }
 
-    pub async fn wait_for_rising_edge<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin sees a rising edge.
+    ///
+    /// If the pin is already high, it will wait for it to go low then back high.
+    pub async fn wait_for_rising_edge(&mut self) {
         ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, false).await
     }
 
-    pub async fn wait_for_falling_edge<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin sees a falling edge.
+    ///
+    /// If the pin is already low, it will wait for it to go high then back low.
+    pub async fn wait_for_falling_edge(&mut self) {
         ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), false, true).await
     }
 
-    pub async fn wait_for_any_edge<'a>(&'a mut self) {
+    /// Asynchronously wait until the pin sees any edge (either rising or falling).
+    pub async fn wait_for_any_edge(&mut self) {
         ExtiInputFuture::new(self.pin.pin.pin.pin(), self.pin.pin.pin.port(), true, true).await
     }
 }
@@ -142,11 +166,11 @@ impl<'d, T: GpioPin> embedded_hal_02::digital::v2::InputPin for ExtiInput<'d, T>
     type Error = Infallible;
 
     fn is_high(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_high())
+        Ok(!self.pin.pin.ref_is_low())
     }
 
     fn is_low(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_low())
+        Ok(self.pin.pin.ref_is_low())
     }
 }
 
@@ -155,11 +179,11 @@ impl<'d, T: GpioPin> embedded_hal_1::digital::ErrorType for ExtiInput<'d, T> {
 }
 
 impl<'d, T: GpioPin> embedded_hal_1::digital::InputPin for ExtiInput<'d, T> {
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -284,6 +308,7 @@ macro_rules! foreach_exti_irq {
 
 macro_rules! impl_irq {
     ($e:ident) => {
+        #[allow(non_snake_case)]
         #[cfg(feature = "rt")]
         #[interrupt]
         unsafe fn $e() {
@@ -298,8 +323,16 @@ pub(crate) mod sealed {
     pub trait Channel {}
 }
 
+/// EXTI channel trait.
 pub trait Channel: sealed::Channel + Sized {
+    /// Get the EXTI channel number.
     fn number(&self) -> usize;
+
+    /// Type-erase (degrade) this channel into an `AnyChannel`.
+    ///
+    /// This converts EXTI channel singletons (`EXTI0`, `EXTI1`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of channels, or avoiding generics.
     fn degrade(self) -> AnyChannel {
         AnyChannel {
             number: self.number() as u8,
@@ -307,9 +340,13 @@ pub trait Channel: sealed::Channel + Sized {
     }
 }
 
+/// Type-erased (degraded) EXTI channel.
+///
+/// This represents ownership over any EXTI channel, known at runtime.
 pub struct AnyChannel {
     number: u8,
 }
+
 impl_peripheral!(AnyChannel);
 impl sealed::Channel for AnyChannel {}
 impl Channel for AnyChannel {

embassy-stm32/src/flash/asynch.rs

@@ -17,6 +17,7 @@ use crate::{interrupt, Peripheral};
 pub(super) static REGION_ACCESS: Mutex<CriticalSectionRawMutex, ()> = Mutex::new(());
 
 impl<'d> Flash<'d, Async> {
+    /// Create a new flash driver with async capabilities.
     pub fn new(
         p: impl Peripheral<P = FLASH> + 'd,
         _irq: impl interrupt::typelevel::Binding<crate::interrupt::typelevel::FLASH, InterruptHandler> + 'd,
@@ -32,15 +33,26 @@ impl<'d> Flash<'d, Async> {
         }
     }
 
+    /// Split this flash driver into one instance per flash memory region.
+    ///
+    /// See module-level documentation for details on how memory regions work.
     pub fn into_regions(self) -> FlashLayout<'d, Async> {
         assert!(family::is_default_layout());
         FlashLayout::new(self.inner)
     }
 
+    /// Async write.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+    /// For example, to write address `0x0800_1234` you have to use offset `0x1234`.
     pub async fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
         unsafe { write_chunked(FLASH_BASE as u32, FLASH_SIZE as u32, offset, bytes).await }
     }
 
+    /// Async erase.
+    ///
+    /// NOTE: `from` and `to` are offsets from the flash start, NOT an absolute address.
+    /// For example, to erase address `0x0801_0000` you have to use offset `0x1_0000`.
     pub async fn erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
         unsafe { erase_sectored(FLASH_BASE as u32, from, to).await }
     }
@@ -59,7 +71,7 @@ impl embedded_storage_async::nor_flash::ReadNorFlash for Flash<'_, Async> {
     const READ_SIZE: usize = super::READ_SIZE;
 
     async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
-        self.read(offset, bytes)
+        self.blocking_read(offset, bytes)
     }
 
     fn capacity(&self) -> usize {
@@ -141,15 +153,20 @@ pub(super) async unsafe fn erase_sectored(base: u32, from: u32, to: u32) -> Resu
 foreach_flash_region! {
     ($type_name:ident, $write_size:literal, $erase_size:literal) => {
         impl crate::_generated::flash_regions::$type_name<'_, Async> {
+            /// Async read.
+            ///
+            /// Note: reading from flash can't actually block, so this is the same as `blocking_read`.
             pub async fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
                 blocking_read(self.0.base, self.0.size, offset, bytes)
             }
 
+            /// Async write.
             pub async fn write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
                 let _guard = REGION_ACCESS.lock().await;
                 unsafe { write_chunked(self.0.base, self.0.size, offset, bytes).await }
             }
 
+            /// Async erase.
             pub async fn erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
                 let _guard = REGION_ACCESS.lock().await;
                 unsafe { erase_sectored(self.0.base, from, to).await }

embassy-stm32/src/flash/common.rs

@@ -12,12 +12,14 @@ use super::{
 use crate::peripherals::FLASH;
 use crate::Peripheral;
 
+/// Internal flash memory driver.
 pub struct Flash<'d, MODE = Async> {
     pub(crate) inner: PeripheralRef<'d, FLASH>,
     pub(crate) _mode: PhantomData<MODE>,
 }
 
 impl<'d> Flash<'d, Blocking> {
+    /// Create a new flash driver, usable in blocking mode.
     pub fn new_blocking(p: impl Peripheral<P = FLASH> + 'd) -> Self {
         into_ref!(p);
 
@@ -29,15 +31,26 @@ impl<'d> Flash<'d, Blocking> {
 }
 
 impl<'d, MODE> Flash<'d, MODE> {
+    /// Split this flash driver into one instance per flash memory region.
+    ///
+    /// See module-level documentation for details on how memory regions work.
     pub fn into_blocking_regions(self) -> FlashLayout<'d, Blocking> {
         assert!(family::is_default_layout());
         FlashLayout::new(self.inner)
     }
 
-    pub fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
+    /// Blocking read.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+    /// For example, to read address `0x0800_1234` you have to use offset `0x1234`.
+    pub fn blocking_read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
         blocking_read(FLASH_BASE as u32, FLASH_SIZE as u32, offset, bytes)
     }
 
+    /// Blocking write.
+    ///
+    /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+    /// For example, to write address `0x0800_1234` you have to use offset `0x1234`.
     pub fn blocking_write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
         unsafe {
             blocking_write(
@@ -50,6 +63,10 @@ impl<'d, MODE> Flash<'d, MODE> {
         }
     }
 
+    /// Blocking erase.
+    ///
+    /// NOTE: `from` and `to` are offsets from the flash start, NOT an absolute address.
+    /// For example, to erase address `0x0801_0000` you have to use offset `0x1_0000`.
     pub fn blocking_erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
         unsafe { blocking_erase(FLASH_BASE as u32, from, to, erase_sector_unlocked) }
     }
@@ -206,7 +223,7 @@ impl<MODE> embedded_storage::nor_flash::ReadNorFlash for Flash<'_, MODE> {
     const READ_SIZE: usize = READ_SIZE;
 
     fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Self::Error> {
-        self.read(offset, bytes)
+        self.blocking_read(offset, bytes)
     }
 
     fn capacity(&self) -> usize {
@@ -230,16 +247,28 @@ impl<MODE> embedded_storage::nor_flash::NorFlash for Flash<'_, MODE> {
 foreach_flash_region! {
     ($type_name:ident, $write_size:literal, $erase_size:literal) => {
         impl<MODE> crate::_generated::flash_regions::$type_name<'_, MODE> {
+            /// Blocking read.
+            ///
+            /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+            /// For example, to read address `0x0800_1234` you have to use offset `0x1234`.
             pub fn blocking_read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
                 blocking_read(self.0.base, self.0.size, offset, bytes)
             }
         }
 
         impl crate::_generated::flash_regions::$type_name<'_, Blocking> {
+            /// Blocking write.
+            ///
+            /// NOTE: `offset` is an offset from the flash start, NOT an absolute address.
+            /// For example, to write address `0x0800_1234` you have to use offset `0x1234`.
             pub fn blocking_write(&mut self, offset: u32, bytes: &[u8]) -> Result<(), Error> {
                 unsafe { blocking_write(self.0.base, self.0.size, offset, bytes, write_chunk_with_critical_section) }
             }
 
+            /// Blocking erase.
+            ///
+            /// NOTE: `from` and `to` are offsets from the flash start, NOT an absolute address.
+            /// For example, to erase address `0x0801_0000` you have to use offset `0x1_0000`.
             pub fn blocking_erase(&mut self, from: u32, to: u32) -> Result<(), Error> {
                 unsafe { blocking_erase(self.0.base, from, to, erase_sector_with_critical_section) }
             }

embassy-stm32/src/flash/f0.rs

@@ -6,11 +6,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
@@ -79,7 +79,7 @@ pub(crate) unsafe fn blocking_erase_sector(sector: &FlashSector) -> Result<(), E
 
 pub(crate) unsafe fn clear_all_err() {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     pac::FLASH.sr().modify(|_| {});
 }
 

embassy-stm32/src/flash/f3.rs

@@ -6,11 +6,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
@@ -79,7 +79,7 @@ pub(crate) unsafe fn blocking_erase_sector(sector: &FlashSector) -> Result<(), E
 
 pub(crate) unsafe fn clear_all_err() {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     pac::FLASH.sr().modify(|_| {});
 }
 

embassy-stm32/src/flash/f4.rs

@@ -9,7 +9,7 @@ use pac::FLASH_SIZE;
 use super::{FlashBank, FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
-
+#[allow(missing_docs)] // TODO
 #[cfg(any(stm32f427, stm32f429, stm32f437, stm32f439, stm32f469, stm32f479))]
 mod alt_regions {
     use core::marker::PhantomData;
@@ -337,7 +337,7 @@ pub(crate) unsafe fn blocking_erase_sector(sector: &FlashSector) -> Result<(), E
 
 pub(crate) fn clear_all_err() {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     pac::FLASH.sr().modify(|_| {});
 }
 

embassy-stm32/src/flash/f7.rs

@@ -6,11 +6,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
@@ -69,7 +69,7 @@ pub(crate) unsafe fn blocking_erase_sector(sector: &FlashSector) -> Result<(), E
 
 pub(crate) unsafe fn clear_all_err() {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     pac::FLASH.sr().modify(|_| {});
 }
 

embassy-stm32/src/flash/g.rs

@@ -8,11 +8,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
@@ -92,6 +92,6 @@ pub(crate) unsafe fn wait_ready_blocking() -> Result<(), Error> {
 
 pub(crate) unsafe fn clear_all_err() {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     pac::FLASH.sr().modify(|_| {});
 }

embassy-stm32/src/flash/h7.rs

@@ -6,7 +6,7 @@ use super::{FlashRegion, FlashSector, BANK1_REGION, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
@@ -14,7 +14,7 @@ const fn is_dual_bank() -> bool {
     FLASH_REGIONS.len() >= 2
 }
 
-pub fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
@@ -113,7 +113,7 @@ pub(crate) unsafe fn clear_all_err() {
 
 unsafe fn bank_clear_all_err(bank: pac::flash::Bank) {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     bank.sr().modify(|_| {});
 }
 

embassy-stm32/src/flash/l.rs

@@ -5,11 +5,11 @@ use super::{FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 use crate::flash::Error;
 use crate::pac;
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 
@@ -120,7 +120,7 @@ pub(crate) unsafe fn blocking_erase_sector(sector: &FlashSector) -> Result<(), E
 
 pub(crate) unsafe fn clear_all_err() {
     // read and write back the same value.
-    // This clears all "write 0 to clear" bits.
+    // This clears all "write 1 to clear" bits.
     pac::FLASH.sr().modify(|_| {});
 }
 

embassy-stm32/src/flash/mod.rs

@@ -1,3 +1,4 @@
+//! Flash memory (FLASH)
 use embedded_storage::nor_flash::{NorFlashError, NorFlashErrorKind};
 
 #[cfg(flash_f4)]
@@ -14,62 +15,96 @@ pub use crate::_generated::flash_regions::*;
 pub use crate::_generated::MAX_ERASE_SIZE;
 pub use crate::pac::{FLASH_BASE, FLASH_SIZE, WRITE_SIZE};
 
+/// Get whether the default flash layout is being used.
+///
+/// In some chips, dual-bank is not default. This will then return `false`
+/// when dual-bank is enabled.
+pub fn is_default_layout() -> bool {
+    family::is_default_layout()
+}
+
+/// Get all flash regions.
+pub fn get_flash_regions() -> &'static [&'static FlashRegion] {
+    family::get_flash_regions()
+}
+
+/// Read size (always 1)
 pub const READ_SIZE: usize = 1;
 
-pub struct Blocking;
-pub struct Async;
+/// Blocking flash mode typestate.
+pub enum Blocking {}
+/// Async flash mode typestate.
+pub enum Async {}
 
+/// Flash memory region
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct FlashRegion {
+    /// Bank number.
     pub bank: FlashBank,
+    /// Absolute base address.
     pub base: u32,
+    /// Size in bytes.
     pub size: u32,
+    /// Erase size (sector size).
     pub erase_size: u32,
+    /// Minimum write size.
     pub write_size: u32,
+    /// Erase value (usually `0xFF`, but is `0x00` in some chips)
     pub erase_value: u8,
     pub(crate) _ensure_internal: (),
 }
 
-#[derive(Debug, PartialEq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct FlashSector {
-    pub bank: FlashBank,
-    pub index_in_bank: u8,
-    pub start: u32,
-    pub size: u32,
-}
-
-#[derive(Clone, Copy, Debug, PartialEq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum FlashBank {
-    Bank1 = 0,
-    Bank2 = 1,
-    Otp,
-}
-
 impl FlashRegion {
+    /// Absolute end address.
     pub const fn end(&self) -> u32 {
         self.base + self.size
     }
 
+    /// Number of sectors in the region.
     pub const fn sectors(&self) -> u8 {
         (self.size / self.erase_size) as u8
     }
 }
 
+/// Flash sector.
+#[derive(Debug, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct FlashSector {
+    /// Bank number.
+    pub bank: FlashBank,
+    /// Sector number within the bank.
+    pub index_in_bank: u8,
+    /// Absolute start address.
+    pub start: u32,
+    /// Size in bytes.
+    pub size: u32,
+}
+
+/// Flash bank.
+#[derive(Clone, Copy, Debug, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum FlashBank {
+    /// Bank 1
+    Bank1 = 0,
+    /// Bank 2
+    Bank2 = 1,
+    /// OTP region
+    Otp,
+}
+
 #[cfg_attr(any(flash_l0, flash_l1, flash_l4, flash_wl, flash_wb), path = "l.rs")]
 #[cfg_attr(flash_f0, path = "f0.rs")]
 #[cfg_attr(flash_f3, path = "f3.rs")]
 #[cfg_attr(flash_f4, path = "f4.rs")]
 #[cfg_attr(flash_f7, path = "f7.rs")]
-#[cfg_attr(flash_g0, path = "g0.rs")]
+#[cfg_attr(any(flash_g0, flash_g4), path = "g.rs")]
 #[cfg_attr(flash_h7, path = "h7.rs")]
 #[cfg_attr(flash_h7ab, path = "h7.rs")]
 #[cfg_attr(
     not(any(
-        flash_l0, flash_l1, flash_l4, flash_wl, flash_wb, flash_f0, flash_f3, flash_f4, flash_f7, flash_g0, flash_h7,
-        flash_h7ab
+        flash_l0, flash_l1, flash_l4, flash_wl, flash_wb, flash_f0, flash_f3, flash_f4, flash_f7, flash_g0, flash_g4,
+        flash_h7, flash_h7ab
     )),
     path = "other.rs"
 )]
@@ -78,6 +113,10 @@ mod family;
 #[allow(unused_imports)]
 pub use family::*;
 
+/// Flash error
+///
+/// See STM32 Reference Manual for your chip for details.
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {

embassy-stm32/src/flash/other.rs

@@ -2,11 +2,11 @@
 
 use super::{Error, FlashRegion, FlashSector, FLASH_REGIONS, WRITE_SIZE};
 
-pub const fn is_default_layout() -> bool {
+pub(crate) const fn is_default_layout() -> bool {
     true
 }
 
-pub const fn get_flash_regions() -> &'static [&'static FlashRegion] {
+pub(crate) const fn get_flash_regions() -> &'static [&'static FlashRegion] {
     &FLASH_REGIONS
 }
 

embassy-stm32/src/fmc.rs

@@ -1,3 +1,4 @@
+//! Flexible Memory Controller (FMC) / Flexible Static Memory Controller (FSMC)
 use core::marker::PhantomData;
 
 use embassy_hal_internal::into_ref;
@@ -6,6 +7,7 @@ use crate::gpio::sealed::AFType;
 use crate::gpio::{Pull, Speed};
 use crate::Peripheral;
 
+/// FMC driver
 pub struct Fmc<'d, T: Instance> {
     peri: PhantomData<&'d mut T>,
 }
@@ -38,6 +40,7 @@ where
         T::REGS.bcr1().modify(|r| r.set_fmcen(true));
     }
 
+    /// Get the kernel clock currently in use for this FMC instance.
     pub fn source_clock_hz(&self) -> u32 {
         <T as crate::rcc::sealed::RccPeripheral>::frequency().0
     }
@@ -85,6 +88,7 @@ macro_rules! fmc_sdram_constructor {
         nbl: [$(($nbl_pin_name:ident: $nbl_signal:ident)),*],
         ctrl: [$(($ctrl_pin_name:ident: $ctrl_signal:ident)),*]
     )) => {
+        /// Create a new FMC instance.
         pub fn $name<CHIP: stm32_fmc::SdramChip>(
             _instance: impl Peripheral<P = T> + 'd,
             $($addr_pin_name: impl Peripheral<P = impl $addr_signal<T>> + 'd),*,
@@ -199,6 +203,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// FMC instance trait.
 pub trait Instance: sealed::Instance + 'static {}
 
 foreach_peripheral!(

embassy-stm32/src/gpio.rs

@@ -1,3 +1,5 @@
+//! General-purpose Input/Output (GPIO)
+
 #![macro_use]
 use core::convert::Infallible;
 
@@ -29,6 +31,11 @@ impl<'d, T: Pin> Flex<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Flex<'d, AnyPin> {
         // Safety: We are about to drop the other copy of this pin, so
@@ -141,40 +148,55 @@ impl<'d, T: Pin> Flex<'d, T> {
         });
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
-        !self.is_low()
+    pub fn is_high(&mut self) -> bool {
+        !self.ref_is_low()
+    }
+
+    /// Get whether the pin input level is low.
+    #[inline]
+    pub fn is_low(&mut self) -> bool {
+        self.ref_is_low()
     }
 
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub(crate) fn ref_is_low(&self) -> bool {
         let state = self.pin.block().idr().read().idr(self.pin.pin() as _);
         state == vals::Idr::LOW
     }
 
+    /// Get the current pin input level.
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.is_high().into()
     }
 
+    /// Get whether the output level is set to high.
     #[inline]
-    pub fn is_set_high(&self) -> bool {
-        !self.is_set_low()
+    pub fn is_set_high(&mut self) -> bool {
+        !self.ref_is_set_low()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
+        self.ref_is_set_low()
+    }
+
+    #[inline]
+    pub(crate) fn ref_is_set_low(&self) -> bool {
         let state = self.pin.block().odr().read().odr(self.pin.pin() as _);
         state == vals::Odr::LOW
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.is_set_high().into()
     }
 
+    /// Set the output as high.
     #[inline]
     pub fn set_high(&mut self) {
         self.pin.set_high();
@@ -186,6 +208,7 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.set_low();
     }
 
+    /// Set the output level.
     #[inline]
     pub fn set_level(&mut self, level: Level) {
         match level {
@@ -194,7 +217,7 @@ impl<'d, T: Pin> Flex<'d, T> {
         }
     }
 
-    /// Toggle pin output
+    /// Toggle the output level.
     #[inline]
     pub fn toggle(&mut self) {
         if self.is_set_low() {
@@ -232,8 +255,11 @@ impl<'d, T: Pin> Drop for Flex<'d, T> {
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Pull {
+    /// No pull
     None,
+    /// Pull up
     Up,
+    /// Pull down
     Down,
 }
 
@@ -251,6 +277,9 @@ impl From<Pull> for vals::Pupdr {
 }
 
 /// Speed settings
+///
+/// These vary dpeending on the chip, ceck the reference manual or datasheet for details.
+#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Speed {
@@ -295,6 +324,7 @@ pub struct Input<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Input<'d, T> {
+    /// Create GPIO input driver for a [Pin] with the provided [Pull] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
@@ -302,6 +332,11 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Input<'d, AnyPin> {
         Input {
@@ -309,18 +344,21 @@ impl<'d, T: Pin> Input<'d, T> {
         }
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         self.pin.is_high()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
+    /// Get the current pin input level.
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
     }
 }
@@ -329,7 +367,9 @@ impl<'d, T: Pin> Input<'d, T> {
 #[derive(Debug, Eq, PartialEq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Level {
+    /// Low
     Low,
+    /// High
     High,
 }
 
@@ -361,6 +401,7 @@ pub struct Output<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Output<'d, T> {
+    /// Create GPIO output driver for a [Pin] with the provided [Level] and [Speed] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level, speed: Speed) -> Self {
         let mut pin = Flex::new(pin);
@@ -372,6 +413,11 @@ impl<'d, T: Pin> Output<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Output<'d, AnyPin> {
         Output {
@@ -399,19 +445,19 @@ impl<'d, T: Pin> Output<'d, T> {
 
     /// Is the output pin set as high?
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         self.pin.is_set_high()
     }
 
     /// Is the output pin set as low?
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_low()
     }
 
     /// What level output is set to
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.pin.get_output_level()
     }
 
@@ -432,6 +478,7 @@ pub struct OutputOpenDrain<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> OutputOpenDrain<'d, T> {
+    /// Create a new GPIO open drain output driver for a [Pin] with the provided [Level] and [Speed], [Pull] configuration.
     #[inline]
     pub fn new(pin: impl Peripheral<P = T> + 'd, initial_output: Level, speed: Speed, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
@@ -445,6 +492,11 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         Self { pin }
     }
 
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     pub fn degrade(self) -> Output<'d, AnyPin> {
         Output {
@@ -452,19 +504,21 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         }
     }
 
+    /// Get whether the pin input level is high.
     #[inline]
-    pub fn is_high(&self) -> bool {
+    pub fn is_high(&mut self) -> bool {
         !self.pin.is_low()
     }
 
+    /// Get whether the pin input level is low.
     #[inline]
-    pub fn is_low(&self) -> bool {
+    pub fn is_low(&mut self) -> bool {
         self.pin.is_low()
     }
 
-    /// Returns current pin level
+    /// Get the current pin input level.
     #[inline]
-    pub fn get_level(&self) -> Level {
+    pub fn get_level(&mut self) -> Level {
         self.pin.get_level()
     }
 
@@ -486,21 +540,21 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.set_level(level);
     }
 
-    /// Is the output pin set as high?
+    /// Get whether the output level is set to high.
     #[inline]
-    pub fn is_set_high(&self) -> bool {
+    pub fn is_set_high(&mut self) -> bool {
         self.pin.is_set_high()
     }
 
-    /// Is the output pin set as low?
+    /// Get whether the output level is set to low.
     #[inline]
-    pub fn is_set_low(&self) -> bool {
+    pub fn is_set_low(&mut self) -> bool {
         self.pin.is_set_low()
     }
 
-    /// What level output is set to
+    /// Get the current output level.
     #[inline]
-    pub fn get_output_level(&self) -> Level {
+    pub fn get_output_level(&mut self) -> Level {
         self.pin.get_output_level()
     }
 
@@ -511,8 +565,11 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
     }
 }
 
+/// GPIO output type
 pub enum OutputType {
+    /// Drive the pin both high or low.
     PushPull,
+    /// Drive the pin low, or don't drive it at all if the output level is high.
     OpenDrain,
 }
 
@@ -525,6 +582,7 @@ impl From<OutputType> for sealed::AFType {
     }
 }
 
+#[allow(missing_docs)]
 pub(crate) mod sealed {
     use super::*;
 
@@ -532,8 +590,11 @@ pub(crate) mod sealed {
     #[derive(Debug, Copy, Clone)]
     #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub enum AFType {
+        /// Input
         Input,
+        /// Output, drive the pin both high or low.
         OutputPushPull,
+        /// Output, drive the pin low, or don't drive it at all if the output level is high.
         OutputOpenDrain,
     }
 
@@ -676,7 +737,11 @@ pub(crate) mod sealed {
     }
 }
 
+/// GPIO pin trait.
 pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'static {
+    /// EXTI channel assigned to this pin.
+    ///
+    /// For example, PC4 uses EXTI4.
     #[cfg(feature = "exti")]
     type ExtiChannel: crate::exti::Channel;
 
@@ -692,7 +757,11 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
         self._port()
     }
 
-    /// Convert from concrete pin type PX_XX to type erased `AnyPin`.
+    /// Type-erase (degrade) this pin into an `AnyPin`.
+    ///
+    /// This converts pin singletons (`PA5`, `PB6`, ...), which
+    /// are all different types, into the same type. It is useful for
+    /// creating arrays of pins, or avoiding generics.
     #[inline]
     fn degrade(self) -> AnyPin {
         AnyPin {
@@ -701,12 +770,15 @@ pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'stat
     }
 }
 
-// Type-erased GPIO pin
+/// Type-erased GPIO pin
 pub struct AnyPin {
     pin_port: u8,
 }
 
 impl AnyPin {
+    /// Unsafely create an `AnyPin` from a pin+port number.
+    ///
+    /// `pin_port` is `port_num * 16 + pin_num`, where `port_num` is 0 for port `A`, 1 for port `B`, etc...
     #[inline]
     pub unsafe fn steal(pin_port: u8) -> Self {
         Self { pin_port }
@@ -717,6 +789,8 @@ impl AnyPin {
         self.pin_port / 16
     }
 
+    /// Get the GPIO register block for this pin.
+    #[cfg(feature = "unstable-pac")]
     #[inline]
     pub fn block(&self) -> gpio::Gpio {
         pac::GPIO(self._port() as _)
@@ -777,12 +851,12 @@ impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Input<'d, T> {
 
     #[inline]
     fn is_high(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_high())
+        Ok(!self.pin.ref_is_low())
     }
 
     #[inline]
     fn is_low(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_low())
+        Ok(self.pin.ref_is_low())
     }
 }
 
@@ -805,13 +879,13 @@ impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for Output<'d, T> {
 impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Output<'d, T> {
     #[inline]
     fn is_set_high(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_set_high())
+        Ok(!self.pin.ref_is_set_low())
     }
 
     /// Is the output pin set as low?
     #[inline]
     fn is_set_low(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_set_low())
+        Ok(self.pin.ref_is_set_low())
     }
 }
 
@@ -843,13 +917,13 @@ impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for OutputOpenDrain<'d,
 impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for OutputOpenDrain<'d, T> {
     #[inline]
     fn is_set_high(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_set_high())
+        Ok(!self.pin.ref_is_set_low())
     }
 
     /// Is the output pin set as low?
     #[inline]
     fn is_set_low(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_set_low())
+        Ok(self.pin.ref_is_set_low())
     }
 }
 
@@ -867,12 +941,12 @@ impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Flex<'d, T> {
 
     #[inline]
     fn is_high(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_high())
+        Ok(!self.ref_is_low())
     }
 
     #[inline]
     fn is_low(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_low())
+        Ok(self.ref_is_low())
     }
 }
 
@@ -895,13 +969,13 @@ impl<'d, T: Pin> embedded_hal_02::digital::v2::OutputPin for Flex<'d, T> {
 impl<'d, T: Pin> embedded_hal_02::digital::v2::StatefulOutputPin for Flex<'d, T> {
     #[inline]
     fn is_set_high(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_set_high())
+        Ok(!self.ref_is_set_low())
     }
 
     /// Is the output pin set as low?
     #[inline]
     fn is_set_low(&self) -> Result<bool, Self::Error> {
-        Ok(self.is_set_low())
+        Ok(self.ref_is_set_low())
     }
 }
 
@@ -920,12 +994,12 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Input<'d, T> {
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for Input<'d, T> {
     #[inline]
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
     #[inline]
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -948,13 +1022,13 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for Output<'d, T> {
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Output<'d, T> {
     #[inline]
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
     /// Is the output pin set as low?
     #[inline]
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }
@@ -972,12 +1046,12 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for OutputOpenDrain<'d, T> {
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for OutputOpenDrain<'d, T> {
     #[inline]
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
     #[inline]
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -996,13 +1070,13 @@ impl<'d, T: Pin> embedded_hal_1::digital::OutputPin for OutputOpenDrain<'d, T> {
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for OutputOpenDrain<'d, T> {
     #[inline]
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
     /// Is the output pin set as low?
     #[inline]
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }
@@ -1016,12 +1090,12 @@ impl<'d, T: Pin> embedded_hal_1::digital::ToggleableOutputPin for OutputOpenDrai
 
 impl<'d, T: Pin> embedded_hal_1::digital::InputPin for Flex<'d, T> {
     #[inline]
-    fn is_high(&self) -> Result<bool, Self::Error> {
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_high())
     }
 
     #[inline]
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_low())
     }
 }
@@ -1051,17 +1125,18 @@ impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Flex<'d, T> {
 
 impl<'d, T: Pin> embedded_hal_1::digital::StatefulOutputPin for Flex<'d, T> {
     #[inline]
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_high())
     }
 
     /// Is the output pin set as low?
     #[inline]
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         Ok(self.is_set_low())
     }
 }
 
+/// Low-level GPIO manipulation.
 #[cfg(feature = "unstable-pac")]
 pub mod low_level {
     pub use super::sealed::*;

embassy-stm32/src/hrtim/mod.rs

@@ -1,3 +1,5 @@
+//! High Resolution Timer (HRTIM)
+
 mod traits;
 
 use core::marker::PhantomData;
@@ -13,38 +15,42 @@ use crate::rcc::get_freqs;
 use crate::time::Hertz;
 use crate::Peripheral;
 
-pub enum Source {
-    Master,
-    ChA,
-    ChB,
-    ChC,
-    ChD,
-    ChE,
-    #[cfg(hrtim_v2)]
-    ChF,
-}
-
+/// HRTIM burst controller instance.
 pub struct BurstController<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM master instance.
 pub struct Master<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM channel A instance.
 pub struct ChA<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM channel B instance.
 pub struct ChB<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM channel C instance.
 pub struct ChC<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM channel D instance.
 pub struct ChD<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM channel E instance.
 pub struct ChE<T: Instance> {
     phantom: PhantomData<T>,
 }
+
+/// HRTIM channel F instance.
 #[cfg(hrtim_v2)]
 pub struct ChF<T: Instance> {
     phantom: PhantomData<T>,
@@ -58,22 +64,26 @@ mod sealed {
     }
 }
 
+/// Advanced channel instance trait.
 pub trait AdvancedChannel<T: Instance>: sealed::AdvancedChannel<T> {}
 
-pub struct PwmPin<'d, Perip, Channel> {
+/// HRTIM PWM pin.
+pub struct PwmPin<'d, T, C> {
     _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, C)>,
 }
 
-pub struct ComplementaryPwmPin<'d, Perip, Channel> {
+/// HRTIM complementary PWM pin.
+pub struct ComplementaryPwmPin<'d, T, C> {
     _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(Perip, Channel)>,
+    phantom: PhantomData<(T, C)>,
 }
 
 macro_rules! advanced_channel_impl {
     ($new_chx:ident, $channel:tt, $ch_num:expr, $pin_trait:ident, $complementary_pin_trait:ident) => {
-        impl<'d, Perip: Instance> PwmPin<'d, Perip, $channel<Perip>> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
+        impl<'d, T: Instance> PwmPin<'d, T, $channel<T>> {
+            #[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self {
                 into_ref!(pin);
                 critical_section::with(|_| {
                     pin.set_low();
@@ -88,8 +98,9 @@ macro_rules! advanced_channel_impl {
             }
         }
 
-        impl<'d, Perip: Instance> ComplementaryPwmPin<'d, Perip, $channel<Perip>> {
-            pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
+        impl<'d, T: Instance> ComplementaryPwmPin<'d, T, $channel<T>> {
+            #[doc = concat!("Create a new ", stringify!($channel), " complementary PWM pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<T>> + 'd) -> Self {
                 into_ref!(pin);
                 critical_section::with(|_| {
                     pin.set_low();
@@ -124,18 +135,29 @@ advanced_channel_impl!(new_chf, ChF, 5, ChannelFPin, ChannelFComplementaryPin);
 /// Struct used to divide a high resolution timer into multiple channels
 pub struct AdvancedPwm<'d, T: Instance> {
     _inner: PeripheralRef<'d, T>,
+    /// Master instance.
     pub master: Master<T>,
+    /// Burst controller.
     pub burst_controller: BurstController<T>,
+    /// Channel A.
     pub ch_a: ChA<T>,
+    /// Channel B.
     pub ch_b: ChB<T>,
+    /// Channel C.
     pub ch_c: ChC<T>,
+    /// Channel D.
     pub ch_d: ChD<T>,
+    /// Channel E.
     pub ch_e: ChE<T>,
+    /// Channel F.
     #[cfg(hrtim_v2)]
     pub ch_f: ChF<T>,
 }
 
 impl<'d, T: Instance> AdvancedPwm<'d, T> {
+    /// Create a new HRTIM driver.
+    ///
+    /// This splits the HRTIM into its constituent parts, which you can then use individually.
     pub fn new(
         tim: impl Peripheral<P = T> + 'd,
         _cha: Option<PwmPin<'d, T, ChA<T>>>,
@@ -198,13 +220,7 @@ impl<'d, T: Instance> AdvancedPwm<'d, T> {
     }
 }
 
-impl<T: Instance> BurstController<T> {
-    pub fn set_source(&mut self, _source: Source) {
-        todo!("burst mode control registers not implemented")
-    }
-}
-
-/// Represents a fixed-frequency bridge converter
+/// Fixed-frequency bridge converter driver.
 ///
 /// Our implementation of the bridge converter uses a single channel and three compare registers,
 /// allowing implementation of a synchronous buck or boost converter in continuous or discontinuous
@@ -223,6 +239,7 @@ pub struct BridgeConverter<T: Instance, C: AdvancedChannel<T>> {
 }
 
 impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
+    /// Create a new HRTIM bridge converter driver.
     pub fn new(_channel: C, frequency: Hertz) -> Self {
         use crate::pac::hrtim::vals::{Activeeffect, Inactiveeffect};
 
@@ -279,14 +296,17 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
         }
     }
 
+    /// Start HRTIM.
     pub fn start(&mut self) {
         T::regs().mcr().modify(|w| w.set_tcen(C::raw(), true));
     }
 
+    /// Stop HRTIM.
     pub fn stop(&mut self) {
         T::regs().mcr().modify(|w| w.set_tcen(C::raw(), false));
     }
 
+    /// Enable burst mode.
     pub fn enable_burst_mode(&mut self) {
         T::regs().tim(C::raw()).outr().modify(|w| {
             // Enable Burst Mode
@@ -299,6 +319,7 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
         })
     }
 
+    /// Disable burst mode.
     pub fn disable_burst_mode(&mut self) {
         T::regs().tim(C::raw()).outr().modify(|w| {
             // Disable Burst Mode
@@ -355,7 +376,7 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
     }
 }
 
-/// Represents a variable-frequency resonant converter
+/// Variable-frequency resonant converter driver.
 ///
 /// This implementation of a resonsant converter is appropriate for a half or full bridge,
 /// but does not include secondary rectification, which is appropriate for applications
@@ -368,6 +389,7 @@ pub struct ResonantConverter<T: Instance, C: AdvancedChannel<T>> {
 }
 
 impl<T: Instance, C: AdvancedChannel<T>> ResonantConverter<T, C> {
+    /// Create a new variable-frequency resonant converter driver.
     pub fn new(_channel: C, min_frequency: Hertz, max_frequency: Hertz) -> Self {
         T::set_channel_frequency(C::raw(), min_frequency);
 
@@ -406,6 +428,7 @@ impl<T: Instance, C: AdvancedChannel<T>> ResonantConverter<T, C> {
         T::set_channel_dead_time(C::raw(), value);
     }
 
+    /// Set the timer period.
     pub fn set_period(&mut self, period: u16) {
         assert!(period < self.max_period);
         assert!(period > self.min_period);

embassy-stm32/src/hrtim/traits.rs

@@ -125,7 +125,6 @@ pub(crate) mod sealed {
         }
 
         /// Set the dead time as a proportion of max_duty
-
         fn set_channel_dead_time(channel: usize, dead_time: u16) {
             let regs = Self::regs();
 
@@ -148,13 +147,10 @@ pub(crate) mod sealed {
                 w.set_dtr(dt_val as u16);
             });
         }
-
-        //        fn enable_outputs(enable: bool);
-        //
-        //        fn enable_channel(&mut self, channel: usize, enable: bool);
     }
 }
 
+/// HRTIM instance trait.
 pub trait Instance: sealed::Instance + 'static {}
 
 foreach_interrupt! {

embassy-stm32/src/i2c/mod.rs

@@ -1,30 +1,180 @@
+//! Inter-Integrated-Circuit (I2C)
 #![macro_use]
 
-use core::marker::PhantomData;
-
-use crate::dma::NoDma;
-use crate::interrupt;
-
 #[cfg_attr(i2c_v1, path = "v1.rs")]
 #[cfg_attr(i2c_v2, path = "v2.rs")]
 mod _version;
-pub use _version::*;
+
+use core::future::Future;
+use core::marker::PhantomData;
+
+use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
+#[cfg(feature = "time")]
+use embassy_time::{Duration, Instant};
 
-use crate::peripherals;
+use crate::dma::NoDma;
+use crate::gpio::sealed::AFType;
+use crate::gpio::Pull;
+use crate::interrupt::typelevel::Interrupt;
+use crate::time::Hertz;
+use crate::{interrupt, peripherals};
 
+/// I2C error.
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
+    /// Bus error
     Bus,
+    /// Arbitration lost
     Arbitration,
+    /// ACK not received (either to the address or to a data byte)
     Nack,
+    /// Timeout
     Timeout,
+    /// CRC error
     Crc,
+    /// Overrun error
     Overrun,
+    /// Zero-length transfers are not allowed.
     ZeroLengthTransfer,
 }
 
+/// I2C config
+#[non_exhaustive]
+#[derive(Copy, Clone)]
+pub struct Config {
+    /// Enable internal pullup on SDA.
+    ///
+    /// Using external pullup resistors is recommended for I2C. If you do
+    /// have external pullups you should not enable this.
+    pub sda_pullup: bool,
+    /// Enable internal pullup on SCL.
+    ///
+    /// Using external pullup resistors is recommended for I2C. If you do
+    /// have external pullups you should not enable this.
+    pub scl_pullup: bool,
+    /// Timeout.
+    #[cfg(feature = "time")]
+    pub timeout: embassy_time::Duration,
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            sda_pullup: false,
+            scl_pullup: false,
+            #[cfg(feature = "time")]
+            timeout: embassy_time::Duration::from_millis(1000),
+        }
+    }
+}
+
+/// I2C driver.
+pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
+    _peri: PeripheralRef<'d, T>,
+    #[allow(dead_code)]
+    tx_dma: PeripheralRef<'d, TXDMA>,
+    #[allow(dead_code)]
+    rx_dma: PeripheralRef<'d, RXDMA>,
+    #[cfg(feature = "time")]
+    timeout: Duration,
+}
+
+impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
+    /// Create a new I2C driver.
+    pub fn new(
+        peri: impl Peripheral<P = T> + 'd,
+        scl: impl Peripheral<P = impl SclPin<T>> + 'd,
+        sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
+        _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
+            + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
+            + 'd,
+        tx_dma: impl Peripheral<P = TXDMA> + 'd,
+        rx_dma: impl Peripheral<P = RXDMA> + 'd,
+        freq: Hertz,
+        config: Config,
+    ) -> Self {
+        into_ref!(peri, scl, sda, tx_dma, rx_dma);
+
+        T::enable_and_reset();
+
+        scl.set_as_af_pull(
+            scl.af_num(),
+            AFType::OutputOpenDrain,
+            match config.scl_pullup {
+                true => Pull::Up,
+                false => Pull::None,
+            },
+        );
+        sda.set_as_af_pull(
+            sda.af_num(),
+            AFType::OutputOpenDrain,
+            match config.sda_pullup {
+                true => Pull::Up,
+                false => Pull::None,
+            },
+        );
+
+        unsafe { T::EventInterrupt::enable() };
+        unsafe { T::ErrorInterrupt::enable() };
+
+        let mut this = Self {
+            _peri: peri,
+            tx_dma,
+            rx_dma,
+            #[cfg(feature = "time")]
+            timeout: config.timeout,
+        };
+
+        this.init(freq, config);
+
+        this
+    }
+
+    fn timeout(&self) -> Timeout {
+        Timeout {
+            #[cfg(feature = "time")]
+            deadline: Instant::now() + self.timeout,
+        }
+    }
+}
+
+#[derive(Copy, Clone)]
+struct Timeout {
+    #[cfg(feature = "time")]
+    deadline: Instant,
+}
+
+#[allow(dead_code)]
+impl Timeout {
+    #[inline]
+    fn check(self) -> Result<(), Error> {
+        #[cfg(feature = "time")]
+        if Instant::now() > self.deadline {
+            return Err(Error::Timeout);
+        }
+
+        Ok(())
+    }
+
+    #[inline]
+    fn with<R>(self, fut: impl Future<Output = Result<R, Error>>) -> impl Future<Output = Result<R, Error>> {
+        #[cfg(feature = "time")]
+        {
+            use futures::FutureExt;
+
+            embassy_futures::select::select(embassy_time::Timer::at(self.deadline), fut).map(|r| match r {
+                embassy_futures::select::Either::First(_) => Err(Error::Timeout),
+                embassy_futures::select::Either::Second(r) => r,
+            })
+        }
+
+        #[cfg(not(feature = "time"))]
+        fut
+    }
+}
+
 pub(crate) mod sealed {
     use super::*;
 
@@ -47,8 +197,11 @@ pub(crate) mod sealed {
     }
 }
 
+/// I2C peripheral instance
 pub trait Instance: sealed::Instance + 'static {
+    /// Event interrupt for this instance
     type EventInterrupt: interrupt::typelevel::Interrupt;
+    /// Error interrupt for this instance
     type ErrorInterrupt: interrupt::typelevel::Interrupt;
 }
 
@@ -57,7 +210,7 @@ pin_trait!(SdaPin, Instance);
 dma_trait!(RxDma, Instance);
 dma_trait!(TxDma, Instance);
 
-/// Interrupt handler.
+/// Event interrupt handler.
 pub struct EventInterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }
@@ -68,6 +221,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::EventInterrupt> for EventInte
     }
 }
 
+/// Error interrupt handler.
 pub struct ErrorInterruptHandler<T: Instance> {
     _phantom: PhantomData<T>,
 }

embassy-stm32/src/i2c/v1.rs

@@ -1,20 +1,14 @@
 use core::future::poll_fn;
-use core::marker::PhantomData;
 use core::task::Poll;
 
 use embassy_embedded_hal::SetConfig;
 use embassy_futures::select::{select, Either};
 use embassy_hal_internal::drop::OnDrop;
-use embassy_hal_internal::{into_ref, PeripheralRef};
 
 use super::*;
-use crate::dma::{NoDma, Transfer};
-use crate::gpio::sealed::AFType;
-use crate::gpio::Pull;
-use crate::interrupt::typelevel::Interrupt;
+use crate::dma::Transfer;
 use crate::pac::i2c;
 use crate::time::Hertz;
-use crate::{interrupt, Peripheral};
 
 pub unsafe fn on_interrupt<T: Instance>() {
     let regs = T::regs();
@@ -30,55 +24,8 @@ pub unsafe fn on_interrupt<T: Instance>() {
     });
 }
 
-#[non_exhaustive]
-#[derive(Copy, Clone, Default)]
-pub struct Config {
-    pub sda_pullup: bool,
-    pub scl_pullup: bool,
-}
-
-pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
-    phantom: PhantomData<&'d mut T>,
-    #[allow(dead_code)]
-    tx_dma: PeripheralRef<'d, TXDMA>,
-    #[allow(dead_code)]
-    rx_dma: PeripheralRef<'d, RXDMA>,
-}
-
 impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
-    pub fn new(
-        _peri: impl Peripheral<P = T> + 'd,
-        scl: impl Peripheral<P = impl SclPin<T>> + 'd,
-        sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
-        _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
-            + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
-            + 'd,
-        tx_dma: impl Peripheral<P = TXDMA> + 'd,
-        rx_dma: impl Peripheral<P = RXDMA> + 'd,
-        freq: Hertz,
-        config: Config,
-    ) -> Self {
-        into_ref!(scl, sda, tx_dma, rx_dma);
-
-        T::enable_and_reset();
-
-        scl.set_as_af_pull(
-            scl.af_num(),
-            AFType::OutputOpenDrain,
-            match config.scl_pullup {
-                true => Pull::Up,
-                false => Pull::None,
-            },
-        );
-        sda.set_as_af_pull(
-            sda.af_num(),
-            AFType::OutputOpenDrain,
-            match config.sda_pullup {
-                true => Pull::Up,
-                false => Pull::None,
-            },
-        );
-
+    pub(crate) fn init(&mut self, freq: Hertz, _config: Config) {
         T::regs().cr1().modify(|reg| {
             reg.set_pe(false);
             //reg.set_anfoff(false);
@@ -101,15 +48,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         T::regs().cr1().modify(|reg| {
             reg.set_pe(true);
         });
-
-        unsafe { T::EventInterrupt::enable() };
-        unsafe { T::ErrorInterrupt::enable() };
-
-        Self {
-            phantom: PhantomData,
-            tx_dma,
-            rx_dma,
-        }
     }
 
     fn check_and_clear_error_flags() -> Result<i2c::regs::Sr1, Error> {
@@ -169,12 +107,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(sr1)
     }
 
-    fn write_bytes(
-        &mut self,
-        addr: u8,
-        bytes: &[u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    fn write_bytes(&mut self, addr: u8, bytes: &[u8], timeout: Timeout) -> Result<(), Error> {
         // Send a START condition
 
         T::regs().cr1().modify(|reg| {
@@ -183,7 +116,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
         // Wait until START condition was generated
         while !Self::check_and_clear_error_flags()?.start() {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         // Also wait until signalled we're master and everything is waiting for us
@@ -193,7 +126,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             let sr2 = T::regs().sr2().read();
             !sr2.msl() && !sr2.busy()
         } {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         // Set up current address, we're trying to talk to
@@ -203,7 +136,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         // Wait for the address to be acknowledged
         // Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
         while !Self::check_and_clear_error_flags()?.addr() {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         // Clear condition by reading SR2
@@ -211,20 +144,20 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
         // Send bytes
         for c in bytes {
-            self.send_byte(*c, &check_timeout)?;
+            self.send_byte(*c, timeout)?;
         }
 
         // Fallthrough is success
         Ok(())
     }
 
-    fn send_byte(&self, byte: u8, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
+    fn send_byte(&self, byte: u8, timeout: Timeout) -> Result<(), Error> {
         // Wait until we're ready for sending
         while {
             // Check for any I2C errors. If a NACK occurs, the ADDR bit will never be set.
             !Self::check_and_clear_error_flags()?.txe()
         } {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         // Push out a byte of data
@@ -235,32 +168,27 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             // Check for any potential error conditions.
             !Self::check_and_clear_error_flags()?.btf()
         } {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         Ok(())
     }
 
-    fn recv_byte(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<u8, Error> {
+    fn recv_byte(&self, timeout: Timeout) -> Result<u8, Error> {
         while {
             // Check for any potential error conditions.
             Self::check_and_clear_error_flags()?;
 
             !T::regs().sr1().read().rxne()
         } {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         let value = T::regs().dr().read().dr();
         Ok(value)
     }
 
-    pub fn blocking_read_timeout(
-        &mut self,
-        addr: u8,
-        buffer: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    fn blocking_read_timeout(&mut self, addr: u8, buffer: &mut [u8], timeout: Timeout) -> Result<(), Error> {
         if let Some((last, buffer)) = buffer.split_last_mut() {
             // Send a START condition and set ACK bit
             T::regs().cr1().modify(|reg| {
@@ -270,7 +198,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
             // Wait until START condition was generated
             while !Self::check_and_clear_error_flags()?.start() {
-                check_timeout()?;
+                timeout.check()?;
             }
 
             // Also wait until signalled we're master and everything is waiting for us
@@ -278,7 +206,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                 let sr2 = T::regs().sr2().read();
                 !sr2.msl() && !sr2.busy()
             } {
-                check_timeout()?;
+                timeout.check()?;
             }
 
             // Set up current address, we're trying to talk to
@@ -287,7 +215,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             // Wait until address was sent
             // Wait for the address to be acknowledged
             while !Self::check_and_clear_error_flags()?.addr() {
-                check_timeout()?;
+                timeout.check()?;
             }
 
             // Clear condition by reading SR2
@@ -295,7 +223,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
             // Receive bytes into buffer
             for c in buffer {
-                *c = self.recv_byte(&check_timeout)?;
+                *c = self.recv_byte(timeout)?;
             }
 
             // Prepare to send NACK then STOP after next byte
@@ -305,11 +233,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             });
 
             // Receive last byte
-            *last = self.recv_byte(&check_timeout)?;
+            *last = self.recv_byte(timeout)?;
 
             // Wait for the STOP to be sent.
             while T::regs().cr1().read().stop() {
-                check_timeout()?;
+                timeout.check()?;
             }
 
             // Fallthrough is success
@@ -319,49 +247,37 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         }
     }
 
+    /// Blocking read.
     pub fn blocking_read(&mut self, addr: u8, read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_read_timeout(addr, read, || Ok(()))
+        self.blocking_read_timeout(addr, read, self.timeout())
     }
 
-    pub fn blocking_write_timeout(
-        &mut self,
-        addr: u8,
-        write: &[u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.write_bytes(addr, write, &check_timeout)?;
+    /// Blocking write.
+    pub fn blocking_write(&mut self, addr: u8, write: &[u8]) -> Result<(), Error> {
+        let timeout = self.timeout();
+
+        self.write_bytes(addr, write, timeout)?;
         // Send a STOP condition
         T::regs().cr1().modify(|reg| reg.set_stop(true));
         // Wait for STOP condition to transmit.
         while T::regs().cr1().read().stop() {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         // Fallthrough is success
         Ok(())
     }
 
-    pub fn blocking_write(&mut self, addr: u8, write: &[u8]) -> Result<(), Error> {
-        self.blocking_write_timeout(addr, write, || Ok(()))
-    }
+    /// Blocking write, restart, read.
+    pub fn blocking_write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
+        let timeout = self.timeout();
 
-    pub fn blocking_write_read_timeout(
-        &mut self,
-        addr: u8,
-        write: &[u8],
-        read: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.write_bytes(addr, write, &check_timeout)?;
-        self.blocking_read_timeout(addr, read, &check_timeout)?;
+        self.write_bytes(addr, write, timeout)?;
+        self.blocking_read_timeout(addr, read, timeout)?;
 
         Ok(())
     }
 
-    pub fn blocking_write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_write_read_timeout(addr, write, read, || Ok(()))
-    }
-
     // Async
 
     #[inline] // pretty sure this should always be inlined
@@ -522,6 +438,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(())
     }
 
+    /// Write.
     pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
     where
         TXDMA: crate::i2c::TxDma<T>,
@@ -544,6 +461,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(())
     }
 
+    /// Read.
     pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
     where
         RXDMA: crate::i2c::RxDma<T>,
@@ -703,6 +621,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(())
     }
 
+    /// Write, restart, read.
     pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
     where
         RXDMA: crate::i2c::RxDma<T>,

embassy-stm32/src/i2c/v2.rs

@@ -4,37 +4,13 @@ use core::task::Poll;
 
 use embassy_embedded_hal::SetConfig;
 use embassy_hal_internal::drop::OnDrop;
-use embassy_hal_internal::{into_ref, PeripheralRef};
-#[cfg(feature = "time")]
-use embassy_time::{Duration, Instant};
 
 use super::*;
-use crate::dma::{NoDma, Transfer};
-use crate::gpio::sealed::AFType;
-use crate::gpio::Pull;
-use crate::interrupt::typelevel::Interrupt;
+use crate::dma::Transfer;
 use crate::pac::i2c;
 use crate::time::Hertz;
-use crate::{interrupt, Peripheral};
 
-#[cfg(feature = "time")]
-fn timeout_fn(timeout: Duration) -> impl Fn() -> Result<(), Error> {
-    let deadline = Instant::now() + timeout;
-    move || {
-        if Instant::now() > deadline {
-            Err(Error::Timeout)
-        } else {
-            Ok(())
-        }
-    }
-}
-
-#[cfg(not(feature = "time"))]
-pub fn no_timeout_fn() -> impl Fn() -> Result<(), Error> {
-    move || Ok(())
-}
-
-pub unsafe fn on_interrupt<T: Instance>() {
+pub(crate) unsafe fn on_interrupt<T: Instance>() {
     let regs = T::regs();
     let isr = regs.isr().read();
 
@@ -48,70 +24,8 @@ pub unsafe fn on_interrupt<T: Instance>() {
     });
 }
 
-#[non_exhaustive]
-#[derive(Copy, Clone)]
-pub struct Config {
-    pub sda_pullup: bool,
-    pub scl_pullup: bool,
-    #[cfg(feature = "time")]
-    pub transaction_timeout: Duration,
-}
-
-impl Default for Config {
-    fn default() -> Self {
-        Self {
-            sda_pullup: false,
-            scl_pullup: false,
-            #[cfg(feature = "time")]
-            transaction_timeout: Duration::from_millis(100),
-        }
-    }
-}
-
-pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
-    _peri: PeripheralRef<'d, T>,
-    #[allow(dead_code)]
-    tx_dma: PeripheralRef<'d, TXDMA>,
-    #[allow(dead_code)]
-    rx_dma: PeripheralRef<'d, RXDMA>,
-    #[cfg(feature = "time")]
-    timeout: Duration,
-}
-
 impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
-    pub fn new(
-        peri: impl Peripheral<P = T> + 'd,
-        scl: impl Peripheral<P = impl SclPin<T>> + 'd,
-        sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
-        _irq: impl interrupt::typelevel::Binding<T::EventInterrupt, EventInterruptHandler<T>>
-            + interrupt::typelevel::Binding<T::ErrorInterrupt, ErrorInterruptHandler<T>>
-            + 'd,
-        tx_dma: impl Peripheral<P = TXDMA> + 'd,
-        rx_dma: impl Peripheral<P = RXDMA> + 'd,
-        freq: Hertz,
-        config: Config,
-    ) -> Self {
-        into_ref!(peri, scl, sda, tx_dma, rx_dma);
-
-        T::enable_and_reset();
-
-        scl.set_as_af_pull(
-            scl.af_num(),
-            AFType::OutputOpenDrain,
-            match config.scl_pullup {
-                true => Pull::Up,
-                false => Pull::None,
-            },
-        );
-        sda.set_as_af_pull(
-            sda.af_num(),
-            AFType::OutputOpenDrain,
-            match config.sda_pullup {
-                true => Pull::Up,
-                false => Pull::None,
-            },
-        );
-
+    pub(crate) fn init(&mut self, freq: Hertz, _config: Config) {
         T::regs().cr1().modify(|reg| {
             reg.set_pe(false);
             reg.set_anfoff(false);
@@ -130,17 +44,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         T::regs().cr1().modify(|reg| {
             reg.set_pe(true);
         });
-
-        unsafe { T::EventInterrupt::enable() };
-        unsafe { T::ErrorInterrupt::enable() };
-
-        Self {
-            _peri: peri,
-            tx_dma,
-            rx_dma,
-            #[cfg(feature = "time")]
-            timeout: config.transaction_timeout,
-        }
     }
 
     fn master_stop(&mut self) {
@@ -153,7 +56,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         stop: Stop,
         reload: bool,
         restart: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
+        timeout: Timeout,
     ) -> Result<(), Error> {
         assert!(length < 256);
 
@@ -162,7 +65,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             // automatically. This could be up to 50% of a bus
             // cycle (ie. up to 0.5/freq)
             while T::regs().cr2().read().start() {
-                check_timeout()?;
+                timeout.check()?;
             }
         }
 
@@ -189,20 +92,14 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(())
     }
 
-    fn master_write(
-        address: u8,
-        length: usize,
-        stop: Stop,
-        reload: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    fn master_write(address: u8, length: usize, stop: Stop, reload: bool, timeout: Timeout) -> Result<(), Error> {
         assert!(length < 256);
 
         // Wait for any previous address sequence to end
         // automatically. This could be up to 50% of a bus
         // cycle (ie. up to 0.5/freq)
         while T::regs().cr2().read().start() {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         let reload = if reload {
@@ -227,15 +124,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(())
     }
 
-    fn master_continue(
-        length: usize,
-        reload: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    fn master_continue(length: usize, reload: bool, timeout: Timeout) -> Result<(), Error> {
         assert!(length < 256 && length > 0);
 
         while !T::regs().isr().read().tcr() {
-            check_timeout()?;
+            timeout.check()?;
         }
 
         let reload = if reload {
@@ -261,7 +154,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         }
     }
 
-    fn wait_txe(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
+    fn wait_txe(&self, timeout: Timeout) -> Result<(), Error> {
         loop {
             let isr = T::regs().isr().read();
             if isr.txe() {
@@ -278,11 +171,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                 return Err(Error::Nack);
             }
 
-            check_timeout()?;
+            timeout.check()?;
         }
     }
 
-    fn wait_rxne(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
+    fn wait_rxne(&self, timeout: Timeout) -> Result<(), Error> {
         loop {
             let isr = T::regs().isr().read();
             if isr.rxne() {
@@ -299,11 +192,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                 return Err(Error::Nack);
             }
 
-            check_timeout()?;
+            timeout.check()?;
         }
     }
 
-    fn wait_tc(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
+    fn wait_tc(&self, timeout: Timeout) -> Result<(), Error> {
         loop {
             let isr = T::regs().isr().read();
             if isr.tc() {
@@ -320,17 +213,11 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                 return Err(Error::Nack);
             }
 
-            check_timeout()?;
+            timeout.check()?;
         }
     }
 
-    fn read_internal(
-        &mut self,
-        address: u8,
-        read: &mut [u8],
-        restart: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    fn read_internal(&mut self, address: u8, read: &mut [u8], restart: bool, timeout: Timeout) -> Result<(), Error> {
         let completed_chunks = read.len() / 255;
         let total_chunks = if completed_chunks * 255 == read.len() {
             completed_chunks
@@ -345,17 +232,17 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             Stop::Automatic,
             last_chunk_idx != 0,
             restart,
-            &check_timeout,
+            timeout,
         )?;
 
         for (number, chunk) in read.chunks_mut(255).enumerate() {
             if number != 0 {
-                Self::master_continue(chunk.len(), number != last_chunk_idx, &check_timeout)?;
+                Self::master_continue(chunk.len(), number != last_chunk_idx, timeout)?;
             }
 
             for byte in chunk {
                 // Wait until we have received something
-                self.wait_rxne(&check_timeout)?;
+                self.wait_rxne(timeout)?;
 
                 *byte = T::regs().rxdr().read().rxdata();
             }
@@ -363,13 +250,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         Ok(())
     }
 
-    fn write_internal(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        send_stop: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    fn write_internal(&mut self, address: u8, write: &[u8], send_stop: bool, timeout: Timeout) -> Result<(), Error> {
         let completed_chunks = write.len() / 255;
         let total_chunks = if completed_chunks * 255 == write.len() {
             completed_chunks
@@ -386,7 +267,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             write.len().min(255),
             Stop::Software,
             last_chunk_idx != 0,
-            &check_timeout,
+            timeout,
         ) {
             if send_stop {
                 self.master_stop();
@@ -396,14 +277,14 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
         for (number, chunk) in write.chunks(255).enumerate() {
             if number != 0 {
-                Self::master_continue(chunk.len(), number != last_chunk_idx, &check_timeout)?;
+                Self::master_continue(chunk.len(), number != last_chunk_idx, timeout)?;
             }
 
             for byte in chunk {
                 // Wait until we are allowed to send data
                 // (START has been ACKed or last byte when
                 // through)
-                if let Err(err) = self.wait_txe(&check_timeout) {
+                if let Err(err) = self.wait_txe(timeout) {
                     if send_stop {
                         self.master_stop();
                     }
@@ -414,7 +295,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             }
         }
         // Wait until the write finishes
-        let result = self.wait_tc(&check_timeout);
+        let result = self.wait_tc(timeout);
         if send_stop {
             self.master_stop();
         }
@@ -427,7 +308,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         write: &[u8],
         first_slice: bool,
         last_slice: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
+        timeout: Timeout,
     ) -> Result<(), Error>
     where
         TXDMA: crate::i2c::TxDma<T>,
@@ -473,10 +354,10 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                         total_len.min(255),
                         Stop::Software,
                         (total_len > 255) || !last_slice,
-                        &check_timeout,
+                        timeout,
                     )?;
                 } else {
-                    Self::master_continue(total_len.min(255), (total_len > 255) || !last_slice, &check_timeout)?;
+                    Self::master_continue(total_len.min(255), (total_len > 255) || !last_slice, timeout)?;
                     T::regs().cr1().modify(|w| w.set_tcie(true));
                 }
             } else if !(isr.tcr() || isr.tc()) {
@@ -487,7 +368,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             } else {
                 let last_piece = (remaining_len <= 255) && last_slice;
 
-                if let Err(e) = Self::master_continue(remaining_len.min(255), !last_piece, &check_timeout) {
+                if let Err(e) = Self::master_continue(remaining_len.min(255), !last_piece, timeout) {
                     return Poll::Ready(Err(e));
                 }
                 T::regs().cr1().modify(|w| w.set_tcie(true));
@@ -502,7 +383,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
         if last_slice {
             // This should be done already
-            self.wait_tc(&check_timeout)?;
+            self.wait_tc(timeout)?;
             self.master_stop();
         }
 
@@ -516,7 +397,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         address: u8,
         buffer: &mut [u8],
         restart: bool,
-        check_timeout: impl Fn() -> Result<(), Error>,
+        timeout: Timeout,
     ) -> Result<(), Error>
     where
         RXDMA: crate::i2c::RxDma<T>,
@@ -558,7 +439,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                     Stop::Software,
                     total_len > 255,
                     restart,
-                    &check_timeout,
+                    timeout,
                 )?;
             } else if !(isr.tcr() || isr.tc()) {
                 // poll_fn was woken without an interrupt present
@@ -568,7 +449,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             } else {
                 let last_piece = remaining_len <= 255;
 
-                if let Err(e) = Self::master_continue(remaining_len.min(255), !last_piece, &check_timeout) {
+                if let Err(e) = Self::master_continue(remaining_len.min(255), !last_piece, timeout) {
                     return Poll::Ready(Err(e));
                 }
                 T::regs().cr1().modify(|w| w.set_tcie(true));
@@ -582,7 +463,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         dma_transfer.await;
 
         // This should be done already
-        self.wait_tc(&check_timeout)?;
+        self.wait_tc(timeout)?;
         self.master_stop();
 
         drop(on_drop);
@@ -592,41 +473,31 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
 
     // =========================
     //  Async public API
-    #[cfg(feature = "time")]
-    pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
-    where
-        TXDMA: crate::i2c::TxDma<T>,
-    {
-        if write.is_empty() {
-            self.write_internal(address, write, true, timeout_fn(self.timeout))
-        } else {
-            embassy_time::with_timeout(
-                self.timeout,
-                self.write_dma_internal(address, write, true, true, timeout_fn(self.timeout)),
-            )
-            .await
-            .unwrap_or(Err(Error::Timeout))
-        }
-    }
 
-    #[cfg(not(feature = "time"))]
+    /// Write.
     pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
     where
         TXDMA: crate::i2c::TxDma<T>,
     {
+        let timeout = self.timeout();
         if write.is_empty() {
-            self.write_internal(address, write, true, no_timeout_fn())
+            self.write_internal(address, write, true, timeout)
         } else {
-            self.write_dma_internal(address, write, true, true, no_timeout_fn())
+            timeout
+                .with(self.write_dma_internal(address, write, true, true, timeout))
                 .await
         }
     }
 
-    #[cfg(feature = "time")]
+    /// Write multiple buffers.
+    ///
+    /// The buffers are concatenated in a single write transaction.
     pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error>
     where
         TXDMA: crate::i2c::TxDma<T>,
     {
+        let timeout = self.timeout();
+
         if write.is_empty() {
             return Err(Error::ZeroLengthTransfer);
         }
@@ -638,123 +509,49 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             let next = iter.next();
             let is_last = next.is_none();
 
-            embassy_time::with_timeout(
-                self.timeout,
-                self.write_dma_internal(address, c, first, is_last, timeout_fn(self.timeout)),
-            )
-            .await
-            .unwrap_or(Err(Error::Timeout))?;
+            let fut = self.write_dma_internal(address, c, first, is_last, timeout);
+            timeout.with(fut).await?;
             first = false;
             current = next;
         }
         Ok(())
     }
 
-    #[cfg(not(feature = "time"))]
-    pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error>
-    where
-        TXDMA: crate::i2c::TxDma<T>,
-    {
-        if write.is_empty() {
-            return Err(Error::ZeroLengthTransfer);
-        }
-        let mut iter = write.iter();
-
-        let mut first = true;
-        let mut current = iter.next();
-        while let Some(c) = current {
-            let next = iter.next();
-            let is_last = next.is_none();
-
-            self.write_dma_internal(address, c, first, is_last, no_timeout_fn())
-                .await?;
-            first = false;
-            current = next;
-        }
-        Ok(())
-    }
-
-    #[cfg(feature = "time")]
+    /// Read.
     pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
     where
         RXDMA: crate::i2c::RxDma<T>,
     {
+        let timeout = self.timeout();
+
         if buffer.is_empty() {
-            self.read_internal(address, buffer, false, timeout_fn(self.timeout))
+            self.read_internal(address, buffer, false, timeout)
         } else {
-            embassy_time::with_timeout(
-                self.timeout,
-                self.read_dma_internal(address, buffer, false, timeout_fn(self.timeout)),
-            )
-            .await
-            .unwrap_or(Err(Error::Timeout))
+            let fut = self.read_dma_internal(address, buffer, false, timeout);
+            timeout.with(fut).await
         }
     }
 
-    #[cfg(not(feature = "time"))]
-    pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
-    where
-        RXDMA: crate::i2c::RxDma<T>,
-    {
-        if buffer.is_empty() {
-            self.read_internal(address, buffer, false, no_timeout_fn())
-        } else {
-            self.read_dma_internal(address, buffer, false, no_timeout_fn()).await
-        }
-    }
-
-    #[cfg(feature = "time")]
+    /// Write, restart, read.
     pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
     where
         TXDMA: super::TxDma<T>,
         RXDMA: super::RxDma<T>,
     {
-        let start_instant = Instant::now();
-        let check_timeout = timeout_fn(self.timeout);
+        let timeout = self.timeout();
+
         if write.is_empty() {
-            self.write_internal(address, write, false, &check_timeout)?;
+            self.write_internal(address, write, false, timeout)?;
         } else {
-            embassy_time::with_timeout(
-                self.timeout,
-                self.write_dma_internal(address, write, true, true, &check_timeout),
-            )
-            .await
-            .unwrap_or(Err(Error::Timeout))?;
-        }
-
-        let time_left_until_timeout = self.timeout - Instant::now().duration_since(start_instant);
-
-        if read.is_empty() {
-            self.read_internal(address, read, true, &check_timeout)?;
-        } else {
-            embassy_time::with_timeout(
-                time_left_until_timeout,
-                self.read_dma_internal(address, read, true, &check_timeout),
-            )
-            .await
-            .unwrap_or(Err(Error::Timeout))?;
-        }
-
-        Ok(())
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
-    where
-        TXDMA: super::TxDma<T>,
-        RXDMA: super::RxDma<T>,
-    {
-        let no_timeout = no_timeout_fn();
-        if write.is_empty() {
-            self.write_internal(address, write, false, &no_timeout)?;
-        } else {
-            self.write_dma_internal(address, write, true, true, &no_timeout).await?;
+            let fut = self.write_dma_internal(address, write, true, true, timeout);
+            timeout.with(fut).await?;
         }
 
         if read.is_empty() {
-            self.read_internal(address, read, true, &no_timeout)?;
+            self.read_internal(address, read, true, timeout)?;
         } else {
-            self.read_dma_internal(address, read, true, &no_timeout).await?;
+            let fut = self.read_dma_internal(address, read, true, timeout);
+            timeout.with(fut).await?;
         }
 
         Ok(())
@@ -763,105 +560,35 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     // =========================
     //  Blocking public API
 
-    #[cfg(feature = "time")]
-    pub fn blocking_read_timeout(&mut self, address: u8, read: &mut [u8], timeout: Duration) -> Result<(), Error> {
-        self.read_internal(address, read, false, timeout_fn(timeout))
-        // Automatic Stop
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_read_timeout(
-        &mut self,
-        address: u8,
-        read: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.read_internal(address, read, false, check_timeout)
-        // Automatic Stop
-    }
-
-    #[cfg(feature = "time")]
+    /// Blocking read.
     pub fn blocking_read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_read_timeout(address, read, self.timeout)
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_read_timeout(address, read, || Ok(()))
-    }
-
-    #[cfg(feature = "time")]
-    pub fn blocking_write_timeout(&mut self, address: u8, write: &[u8], timeout: Duration) -> Result<(), Error> {
-        self.write_internal(address, write, true, timeout_fn(timeout))
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_write_timeout(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.write_internal(address, write, true, check_timeout)
-    }
-
-    #[cfg(feature = "time")]
-    pub fn blocking_write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
-        self.blocking_write_timeout(address, write, self.timeout)
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
-        self.blocking_write_timeout(address, write, || Ok(()))
-    }
-
-    #[cfg(feature = "time")]
-    pub fn blocking_write_read_timeout(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        read: &mut [u8],
-        timeout: Duration,
-    ) -> Result<(), Error> {
-        let check_timeout = timeout_fn(timeout);
-        self.write_internal(address, write, false, &check_timeout)?;
-        self.read_internal(address, read, true, &check_timeout)
+        self.read_internal(address, read, false, self.timeout())
         // Automatic Stop
     }
 
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_write_read_timeout(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        read: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.write_internal(address, write, false, &check_timeout)?;
-        self.read_internal(address, read, true, &check_timeout)
+    /// Blocking write.
+    pub fn blocking_write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
+        self.write_internal(address, write, true, self.timeout())
+    }
+
+    /// Blocking write, restart, read.
+    pub fn blocking_write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
+        let timeout = self.timeout();
+        self.write_internal(address, write, false, timeout)?;
+        self.read_internal(address, read, true, timeout)
         // Automatic Stop
     }
 
-    #[cfg(feature = "time")]
-    pub fn blocking_write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_write_read_timeout(address, write, read, self.timeout)
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_write_read_timeout(address, write, read, || Ok(()))
-    }
-
-    fn blocking_write_vectored_with_timeout(
-        &mut self,
-        address: u8,
-        write: &[&[u8]],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
+    /// Blocking write multiple buffers.
+    ///
+    /// The buffers are concatenated in a single write transaction.
+    pub fn blocking_write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {
         if write.is_empty() {
             return Err(Error::ZeroLengthTransfer);
         }
 
+        let timeout = self.timeout();
+
         let first_length = write[0].len();
         let last_slice_index = write.len() - 1;
 
@@ -870,7 +597,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             first_length.min(255),
             Stop::Software,
             (first_length > 255) || (last_slice_index != 0),
-            &check_timeout,
+            timeout,
         ) {
             self.master_stop();
             return Err(err);
@@ -890,7 +617,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                 if let Err(err) = Self::master_continue(
                     slice_len.min(255),
                     (idx != last_slice_index) || (slice_len > 255),
-                    &check_timeout,
+                    timeout,
                 ) {
                     self.master_stop();
                     return Err(err);
@@ -902,7 +629,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                     if let Err(err) = Self::master_continue(
                         chunk.len(),
                         (number != last_chunk_idx) || (idx != last_slice_index),
-                        &check_timeout,
+                        timeout,
                     ) {
                         self.master_stop();
                         return Err(err);
@@ -913,7 +640,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                     // Wait until we are allowed to send data
                     // (START has been ACKed or last byte when
                     // through)
-                    if let Err(err) = self.wait_txe(&check_timeout) {
+                    if let Err(err) = self.wait_txe(timeout) {
                         self.master_stop();
                         return Err(err);
                     }
@@ -925,41 +652,10 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             }
         }
         // Wait until the write finishes
-        let result = self.wait_tc(&check_timeout);
+        let result = self.wait_tc(timeout);
         self.master_stop();
         result
     }
-
-    #[cfg(feature = "time")]
-    pub fn blocking_write_vectored_timeout(
-        &mut self,
-        address: u8,
-        write: &[&[u8]],
-        timeout: Duration,
-    ) -> Result<(), Error> {
-        let check_timeout = timeout_fn(timeout);
-        self.blocking_write_vectored_with_timeout(address, write, check_timeout)
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_write_vectored_timeout(
-        &mut self,
-        address: u8,
-        write: &[&[u8]],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.blocking_write_vectored_with_timeout(address, write, check_timeout)
-    }
-
-    #[cfg(feature = "time")]
-    pub fn blocking_write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {
-        self.blocking_write_vectored_timeout(address, write, self.timeout)
-    }
-
-    #[cfg(not(feature = "time"))]
-    pub fn blocking_write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {
-        self.blocking_write_vectored_timeout(address, write, || Ok(()))
-    }
 }
 
 impl<'d, T: Instance, TXDMA, RXDMA> Drop for I2c<'d, T, TXDMA, RXDMA> {

embassy-stm32/src/i2s.rs

@@ -1,3 +1,4 @@
+//! Inter-IC Sound (I2S)
 use embassy_hal_internal::into_ref;
 
 use crate::gpio::sealed::{AFType, Pin as _};
@@ -8,30 +9,42 @@ use crate::spi::{Config as SpiConfig, *};
 use crate::time::Hertz;
 use crate::{Peripheral, PeripheralRef};
 
+/// I2S mode
 #[derive(Copy, Clone)]
 pub enum Mode {
+    /// Master mode
     Master,
+    /// Slave mode
     Slave,
 }
 
+/// I2S function
 #[derive(Copy, Clone)]
 pub enum Function {
+    /// Transmit audio data
     Transmit,
+    /// Receive audio data
     Receive,
 }
 
+/// I2C standard
 #[derive(Copy, Clone)]
 pub enum Standard {
+    /// Philips
     Philips,
+    /// Most significant bit first.
     MsbFirst,
+    /// Least significant bit first.
     LsbFirst,
+    /// PCM with long sync.
     PcmLongSync,
+    /// PCM with short sync.
     PcmShortSync,
 }
 
 impl Standard {
     #[cfg(any(spi_v1, spi_f1))]
-    pub const fn i2sstd(&self) -> vals::I2sstd {
+    const fn i2sstd(&self) -> vals::I2sstd {
         match self {
             Standard::Philips => vals::I2sstd::PHILIPS,
             Standard::MsbFirst => vals::I2sstd::MSB,
@@ -42,7 +55,7 @@ impl Standard {
     }
 
     #[cfg(any(spi_v1, spi_f1))]
-    pub const fn pcmsync(&self) -> vals::Pcmsync {
+    const fn pcmsync(&self) -> vals::Pcmsync {
         match self {
             Standard::PcmLongSync => vals::Pcmsync::LONG,
             _ => vals::Pcmsync::SHORT,
@@ -50,6 +63,7 @@ impl Standard {
     }
 }
 
+/// I2S data format.
 #[derive(Copy, Clone)]
 pub enum Format {
     /// 16 bit data length on 16 bit wide channel
@@ -64,7 +78,7 @@ pub enum Format {
 
 impl Format {
     #[cfg(any(spi_v1, spi_f1))]
-    pub const fn datlen(&self) -> vals::Datlen {
+    const fn datlen(&self) -> vals::Datlen {
         match self {
             Format::Data16Channel16 => vals::Datlen::SIXTEENBIT,
             Format::Data16Channel32 => vals::Datlen::SIXTEENBIT,
@@ -74,7 +88,7 @@ impl Format {
     }
 
     #[cfg(any(spi_v1, spi_f1))]
-    pub const fn chlen(&self) -> vals::Chlen {
+    const fn chlen(&self) -> vals::Chlen {
         match self {
             Format::Data16Channel16 => vals::Chlen::SIXTEENBIT,
             Format::Data16Channel32 => vals::Chlen::THIRTYTWOBIT,
@@ -84,15 +98,18 @@ impl Format {
     }
 }
 
+/// Clock polarity
 #[derive(Copy, Clone)]
 pub enum ClockPolarity {
+    /// Low on idle.
     IdleLow,
+    /// High on idle.
     IdleHigh,
 }
 
 impl ClockPolarity {
     #[cfg(any(spi_v1, spi_f1))]
-    pub const fn ckpol(&self) -> vals::Ckpol {
+    const fn ckpol(&self) -> vals::Ckpol {
         match self {
             ClockPolarity::IdleHigh => vals::Ckpol::IDLEHIGH,
             ClockPolarity::IdleLow => vals::Ckpol::IDLELOW,
@@ -109,11 +126,17 @@ impl ClockPolarity {
 #[non_exhaustive]
 #[derive(Copy, Clone)]
 pub struct Config {
+    /// Mode
     pub mode: Mode,
+    /// Function (transmit, receive)
     pub function: Function,
+    /// Which I2S standard to use.
     pub standard: Standard,
+    /// Data format.
     pub format: Format,
+    /// Clock polarity.
     pub clock_polarity: ClockPolarity,
+    /// True to eanble master clock output from this instance.
     pub master_clock: bool,
 }
 
@@ -130,6 +153,7 @@ impl Default for Config {
     }
 }
 
+/// I2S driver.
 pub struct I2S<'d, T: Instance, Tx, Rx> {
     _peri: Spi<'d, T, Tx, Rx>,
     sd: Option<PeripheralRef<'d, AnyPin>>,
@@ -242,6 +266,7 @@ impl<'d, T: Instance, Tx, Rx> I2S<'d, T, Tx, Rx> {
         }
     }
 
+    /// Write audio data.
     pub async fn write<W: Word>(&mut self, data: &[W]) -> Result<(), Error>
     where
         Tx: TxDma<T>,
@@ -249,6 +274,7 @@ impl<'d, T: Instance, Tx, Rx> I2S<'d, T, Tx, Rx> {
         self._peri.write(data).await
     }
 
+    /// Read audio data.
     pub async fn read<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error>
     where
         Tx: TxDma<T>,

embassy-stm32/src/ipcc.rs

@@ -1,3 +1,5 @@
+//! Inter-Process Communication Controller (IPCC)
+
 use core::future::poll_fn;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
@@ -41,6 +43,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_RX> for Receive
     }
 }
 
+/// TX interrupt handler.
 pub struct TransmitInterruptHandler {}
 
 impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_TX> for TransmitInterruptHandler {
@@ -72,6 +75,7 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_TX> for Transmi
     }
 }
 
+/// IPCC config.
 #[non_exhaustive]
 #[derive(Clone, Copy, Default)]
 pub struct Config {
@@ -79,6 +83,8 @@ pub struct Config {
     // reserved for future use
 }
 
+/// Channel.
+#[allow(missing_docs)]
 #[derive(Debug, Clone, Copy)]
 #[repr(C)]
 pub enum IpccChannel {
@@ -90,9 +96,11 @@ pub enum IpccChannel {
     Channel6 = 5,
 }
 
+/// IPCC driver.
 pub struct Ipcc;
 
 impl Ipcc {
+    /// Enable IPCC.
     pub fn enable(_config: Config) {
         IPCC::enable_and_reset();
         IPCC::set_cpu2(true);

embassy-stm32/src/lib.rs

@@ -1,5 +1,6 @@
 #![cfg_attr(not(test), no_std)]
 #![allow(async_fn_in_trait)]
+#![warn(missing_docs)]
 
 //! ## Feature flags
 #![doc = document_features::document_features!(feature_label = r#"<span class="stab portability"><code>{feature}</code></span>"#)]
@@ -79,6 +80,7 @@ pub(crate) mod _generated {
     #![allow(dead_code)]
     #![allow(unused_imports)]
     #![allow(non_snake_case)]
+    #![allow(missing_docs)]
 
     include!(concat!(env!("OUT_DIR"), "/_generated.rs"));
 }
@@ -149,15 +151,33 @@ use crate::interrupt::Priority;
 pub use crate::pac::NVIC_PRIO_BITS;
 use crate::rcc::sealed::RccPeripheral;
 
+/// `embassy-stm32` global configuration.
 #[non_exhaustive]
 pub struct Config {
+    /// RCC config.
     pub rcc: rcc::Config,
+
+    /// Enable debug during sleep.
+    ///
+    /// May incrase power consumption. Defaults to true.
     #[cfg(dbgmcu)]
     pub enable_debug_during_sleep: bool,
+
+    /// BDMA interrupt priority.
+    ///
+    /// Defaults to P0 (highest).
     #[cfg(bdma)]
     pub bdma_interrupt_priority: Priority,
+
+    /// DMA interrupt priority.
+    ///
+    /// Defaults to P0 (highest).
     #[cfg(dma)]
     pub dma_interrupt_priority: Priority,
+
+    /// GPDMA interrupt priority.
+    ///
+    /// Defaults to P0 (highest).
     #[cfg(gpdma)]
     pub gpdma_interrupt_priority: Priority,
 }
@@ -178,7 +198,11 @@ impl Default for Config {
     }
 }
 
-/// Initialize embassy.
+/// Initialize the `embassy-stm32` HAL with the provided configuration.
+///
+/// This returns the peripheral singletons that can be used for creating drivers.
+///
+/// This should only be called once at startup, otherwise it panics.
 pub fn init(config: Config) -> Peripherals {
     critical_section::with(|cs| {
         let p = Peripherals::take_with_cs(cs);

embassy-stm32/src/low_power.rs

@@ -1,50 +1,53 @@
-/// The STM32 line of microcontrollers support various deep-sleep modes which exploit clock-gating
-/// to reduce power consumption. `embassy-stm32` provides a low-power executor, [`Executor`] which
-/// can use knowledge of which peripherals are currently blocked upon to transparently and safely
-/// enter such low-power modes (currently, only `STOP2`) when idle.
-///
-/// The executor determines which peripherals are active by their RCC state; consequently,
-/// low-power states can only be entered if all peripherals have been `drop`'d. There are a few
-/// exceptions to this rule:
-///
-///  * `GPIO`
-///  * `RCC`
-///
-/// Since entering and leaving low-power modes typically incurs a significant latency, the
-/// low-power executor will only attempt to enter when the next timer event is at least
-/// [`time_driver::MIN_STOP_PAUSE`] in the future.
-///
-/// Currently there is no macro analogous to `embassy_executor::main` for this executor;
-/// consequently one must define their entrypoint manually. Moveover, you must relinquish control
-/// of the `RTC` peripheral to the executor. This will typically look like
-///
-/// ```rust,no_run
-/// use embassy_executor::Spawner;
-/// use embassy_stm32::low_power::Executor;
-/// use embassy_stm32::rtc::{Rtc, RtcConfig};
-/// use static_cell::make_static;
-///
-/// #[cortex_m_rt::entry]
-/// fn main() -> ! {
-///     Executor::take().run(|spawner| {
-///         unwrap!(spawner.spawn(async_main(spawner)));
-///     });
-/// }
-///
-/// #[embassy_executor::task]
-/// async fn async_main(spawner: Spawner) {
-///     // initialize the platform...
-///     let mut config = embassy_stm32::Config::default();
-///     let p = embassy_stm32::init(config);
-///
-///     // give the RTC to the executor...
-///     let mut rtc = Rtc::new(p.RTC, RtcConfig::default());
-///     let rtc = make_static!(rtc);
-///     embassy_stm32::low_power::stop_with_rtc(rtc);
-///
-///     // your application here...
-/// }
-/// ```
+//! Low-power support.
+//!
+//! The STM32 line of microcontrollers support various deep-sleep modes which exploit clock-gating
+//! to reduce power consumption. `embassy-stm32` provides a low-power executor, [`Executor`] which
+//! can use knowledge of which peripherals are currently blocked upon to transparently and safely
+//! enter such low-power modes (currently, only `STOP2`) when idle.
+//!
+//! The executor determines which peripherals are active by their RCC state; consequently,
+//! low-power states can only be entered if all peripherals have been `drop`'d. There are a few
+//! exceptions to this rule:
+//!
+//!  * `GPIO`
+//!  * `RCC`
+//!
+//! Since entering and leaving low-power modes typically incurs a significant latency, the
+//! low-power executor will only attempt to enter when the next timer event is at least
+//! [`time_driver::MIN_STOP_PAUSE`] in the future.
+//!
+//! Currently there is no macro analogous to `embassy_executor::main` for this executor;
+//! consequently one must define their entrypoint manually. Moveover, you must relinquish control
+//! of the `RTC` peripheral to the executor. This will typically look like
+//!
+//! ```rust,no_run
+//! use embassy_executor::Spawner;
+//! use embassy_stm32::low_power::Executor;
+//! use embassy_stm32::rtc::{Rtc, RtcConfig};
+//! use static_cell::make_static;
+//!
+//! #[cortex_m_rt::entry]
+//! fn main() -> ! {
+//!     Executor::take().run(|spawner| {
+//!         unwrap!(spawner.spawn(async_main(spawner)));
+//!     });
+//! }
+//!
+//! #[embassy_executor::task]
+//! async fn async_main(spawner: Spawner) {
+//!     // initialize the platform...
+//!     let mut config = embassy_stm32::Config::default();
+//!     let p = embassy_stm32::init(config);
+//!
+//!     // give the RTC to the executor...
+//!     let mut rtc = Rtc::new(p.RTC, RtcConfig::default());
+//!     let rtc = make_static!(rtc);
+//!     embassy_stm32::low_power::stop_with_rtc(rtc);
+//!
+//!     // your application here...
+//! }
+//! ```
+
 use core::arch::asm;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
@@ -64,6 +67,7 @@ static mut EXECUTOR: Option<Executor> = None;
 foreach_interrupt! {
     (RTC, rtc, $block:ident, WKUP, $irq:ident) => {
         #[interrupt]
+        #[allow(non_snake_case)]
         unsafe fn $irq() {
             EXECUTOR.as_mut().unwrap().on_wakeup_irq();
         }
@@ -75,10 +79,15 @@ pub(crate) unsafe fn on_wakeup_irq() {
     EXECUTOR.as_mut().unwrap().on_wakeup_irq();
 }
 
+/// Configure STOP mode with RTC.
 pub fn stop_with_rtc(rtc: &'static Rtc) {
     unsafe { EXECUTOR.as_mut().unwrap() }.stop_with_rtc(rtc)
 }
 
+/// Get whether the core is ready to enter the given stop mode.
+///
+/// This will return false if some peripheral driver is in use that
+/// prevents entering the given stop mode.
 pub fn stop_ready(stop_mode: StopMode) -> bool {
     match unsafe { EXECUTOR.as_mut().unwrap() }.stop_mode() {
         Some(StopMode::Stop2) => true,
@@ -87,10 +96,13 @@ pub fn stop_ready(stop_mode: StopMode) -> bool {
     }
 }
 
+/// Available stop modes.
 #[non_exhaustive]
 #[derive(PartialEq)]
 pub enum StopMode {
+    /// STOP 1
     Stop1,
+    /// STOP 2
     Stop2,
 }
 

embassy-stm32/src/opamp.rs

@@ -1,9 +1,12 @@
+//! Operational Amplifier (OPAMP)
 #![macro_use]
 
 use embassy_hal_internal::{into_ref, PeripheralRef};
 
 use crate::Peripheral;
 
+/// Gain
+#[allow(missing_docs)]
 #[derive(Clone, Copy)]
 pub enum OpAmpGain {
     Mul1,
@@ -13,6 +16,8 @@ pub enum OpAmpGain {
     Mul16,
 }
 
+/// Speed
+#[allow(missing_docs)]
 #[derive(Clone, Copy)]
 pub enum OpAmpSpeed {
     Normal,
@@ -180,6 +185,7 @@ impl<'d, T: Instance> Drop for OpAmpInternalOutput<'d, T> {
     }
 }
 
+/// Opamp instance trait.
 pub trait Instance: sealed::Instance + 'static {}
 
 pub(crate) mod sealed {
@@ -198,8 +204,11 @@ pub(crate) mod sealed {
     pub trait OutputPin<T: Instance> {}
 }
 
+/// Non-inverting pin trait.
 pub trait NonInvertingPin<T: Instance>: sealed::NonInvertingPin<T> {}
+/// Inverting pin trait.
 pub trait InvertingPin<T: Instance>: sealed::InvertingPin<T> {}
+/// Output pin trait.
 pub trait OutputPin<T: Instance>: sealed::OutputPin<T> {}
 
 macro_rules! impl_opamp_external_output {

embassy-stm32/src/qspi/enums.rs

@@ -1,3 +1,5 @@
+//! Enums used in QSPI configuration.
+
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub(crate) enum QspiMode {
@@ -18,12 +20,17 @@ impl Into<u8> for QspiMode {
     }
 }
 
+/// QSPI lane width
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub enum QspiWidth {
+    /// None
     NONE,
+    /// Single lane
     SING,
+    /// Dual lanes
     DUAL,
+    /// Quad lanes
     QUAD,
 }
 
@@ -38,10 +45,13 @@ impl Into<u8> for QspiWidth {
     }
 }
 
+/// Flash bank selection
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub enum FlashSelection {
+    /// Bank 1
     Flash1,
+    /// Bank 2
     Flash2,
 }
 
@@ -54,6 +64,8 @@ impl Into<bool> for FlashSelection {
     }
 }
 
+/// QSPI memory size.
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
 pub enum MemorySize {
     _1KiB,
@@ -113,11 +125,16 @@ impl Into<u8> for MemorySize {
     }
 }
 
+/// QSPI Address size
 #[derive(Copy, Clone)]
 pub enum AddressSize {
+    /// 8-bit address
     _8Bit,
+    /// 16-bit address
     _16Bit,
+    /// 24-bit address
     _24bit,
+    /// 32-bit address
     _32bit,
 }
 
@@ -132,8 +149,10 @@ impl Into<u8> for AddressSize {
     }
 }
 
+/// Time the Chip Select line stays high.
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
-pub enum ChipSelectHightTime {
+pub enum ChipSelectHighTime {
     _1Cycle,
     _2Cycle,
     _3Cycle,
@@ -144,21 +163,23 @@ pub enum ChipSelectHightTime {
     _8Cycle,
 }
 
-impl Into<u8> for ChipSelectHightTime {
+impl Into<u8> for ChipSelectHighTime {
     fn into(self) -> u8 {
         match self {
-            ChipSelectHightTime::_1Cycle => 0,
-            ChipSelectHightTime::_2Cycle => 1,
-            ChipSelectHightTime::_3Cycle => 2,
-            ChipSelectHightTime::_4Cycle => 3,
-            ChipSelectHightTime::_5Cycle => 4,
-            ChipSelectHightTime::_6Cycle => 5,
-            ChipSelectHightTime::_7Cycle => 6,
-            ChipSelectHightTime::_8Cycle => 7,
+            ChipSelectHighTime::_1Cycle => 0,
+            ChipSelectHighTime::_2Cycle => 1,
+            ChipSelectHighTime::_3Cycle => 2,
+            ChipSelectHighTime::_4Cycle => 3,
+            ChipSelectHighTime::_5Cycle => 4,
+            ChipSelectHighTime::_6Cycle => 5,
+            ChipSelectHighTime::_7Cycle => 6,
+            ChipSelectHighTime::_8Cycle => 7,
         }
     }
 }
 
+/// FIFO threshold.
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
 pub enum FIFOThresholdLevel {
     _1Bytes,
@@ -234,6 +255,8 @@ impl Into<u8> for FIFOThresholdLevel {
     }
 }
 
+/// Dummy cycle count
+#[allow(missing_docs)]
 #[derive(Copy, Clone)]
 pub enum DummyCycles {
     _0,

embassy-stm32/src/qspi/mod.rs

@@ -1,3 +1,5 @@
+//! Quad Serial Peripheral Interface (QSPI)
+
 #![macro_use]
 
 pub mod enums;
@@ -12,6 +14,7 @@ use crate::pac::quadspi::Quadspi as Regs;
 use crate::rcc::RccPeripheral;
 use crate::{peripherals, Peripheral};
 
+/// QSPI transfer configuration.
 pub struct TransferConfig {
     /// Instraction width (IMODE)
     pub iwidth: QspiWidth,
@@ -43,6 +46,7 @@ impl Default for TransferConfig {
     }
 }
 
+/// QSPI driver configuration.
 pub struct Config {
     /// Flash memory size representend as 2^[0-32], as reasonable minimum 1KiB(9) was chosen.
     /// If you need other value the whose predefined use `Other` variant.
@@ -54,7 +58,7 @@ pub struct Config {
     /// Number of bytes to trigger FIFO threshold flag.
     pub fifo_threshold: FIFOThresholdLevel,
     /// Minimum number of cycles that chip select must be high between issued commands
-    pub cs_high_time: ChipSelectHightTime,
+    pub cs_high_time: ChipSelectHighTime,
 }
 
 impl Default for Config {
@@ -64,11 +68,12 @@ impl Default for Config {
             address_size: AddressSize::_24bit,
             prescaler: 128,
             fifo_threshold: FIFOThresholdLevel::_17Bytes,
-            cs_high_time: ChipSelectHightTime::_5Cycle,
+            cs_high_time: ChipSelectHighTime::_5Cycle,
         }
     }
 }
 
+/// QSPI driver.
 #[allow(dead_code)]
 pub struct Qspi<'d, T: Instance, Dma> {
     _peri: PeripheralRef<'d, T>,
@@ -83,6 +88,7 @@ pub struct Qspi<'d, T: Instance, Dma> {
 }
 
 impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
+    /// Create a new QSPI driver for bank 1.
     pub fn new_bk1(
         peri: impl Peripheral<P = T> + 'd,
         d0: impl Peripheral<P = impl BK1D0Pin<T>> + 'd,
@@ -119,10 +125,11 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
             Some(nss.map_into()),
             dma,
             config,
-            FlashSelection::Flash2,
+            FlashSelection::Flash1,
         )
     }
 
+    /// Create a new QSPI driver for bank 2.
     pub fn new_bk2(
         peri: impl Peripheral<P = T> + 'd,
         d0: impl Peripheral<P = impl BK2D0Pin<T>> + 'd,
@@ -221,6 +228,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
         }
     }
 
+    /// Do a QSPI command.
     pub fn command(&mut self, transaction: TransferConfig) {
         #[cfg(not(stm32h7))]
         T::REGS.cr().modify(|v| v.set_dmaen(false));
@@ -230,6 +238,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
         T::REGS.fcr().modify(|v| v.set_ctcf(true));
     }
 
+    /// Blocking read data.
     pub fn blocking_read(&mut self, buf: &mut [u8], transaction: TransferConfig) {
         #[cfg(not(stm32h7))]
         T::REGS.cr().modify(|v| v.set_dmaen(false));
@@ -254,6 +263,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
         T::REGS.fcr().modify(|v| v.set_ctcf(true));
     }
 
+    /// Blocking write data.
     pub fn blocking_write(&mut self, buf: &[u8], transaction: TransferConfig) {
         // STM32H7 does not have dmaen
         #[cfg(not(stm32h7))]
@@ -276,6 +286,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
         T::REGS.fcr().modify(|v| v.set_ctcf(true));
     }
 
+    /// Blocking read data, using DMA.
     pub fn blocking_read_dma(&mut self, buf: &mut [u8], transaction: TransferConfig)
     where
         Dma: QuadDma<T>,
@@ -308,6 +319,7 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
         transfer.blocking_wait();
     }
 
+    /// Blocking write data, using DMA.
     pub fn blocking_write_dma(&mut self, buf: &[u8], transaction: TransferConfig)
     where
         Dma: QuadDma<T>,
@@ -377,6 +389,7 @@ pub(crate) mod sealed {
     }
 }
 
+/// QSPI instance trait.
 pub trait Instance: Peripheral<P = Self> + sealed::Instance + RccPeripheral {}
 
 pin_trait!(SckPin, Instance);

embassy-stm32/src/rcc/h.rs

@@ -70,7 +70,9 @@ pub struct Pll {
     pub mul: PllMul,
 
     /// PLL P division factor. If None, PLL P output is disabled.
-    /// On PLL1, it must be even (in particular, it cannot be 1.)
+    /// On PLL1, it must be even for most series (in particular,
+    /// it cannot be 1 in series other than STM32H723/733,
+    /// STM32H725/735 and STM32H730.)
     pub divp: Option<PllDiv>,
     /// PLL Q division factor. If None, PLL Q output is disabled.
     pub divq: Option<PllDiv>,
@@ -476,7 +478,14 @@ pub(crate) unsafe fn init(config: Config) {
         VoltageScale::Scale2 => (Hertz(160_000_000), Hertz(160_000_000), Hertz(80_000_000)),
         VoltageScale::Scale3 => (Hertz(88_000_000), Hertz(88_000_000), Hertz(44_000_000)),
     };
-    #[cfg(all(stm32h7, not(pwr_h7rm0455)))]
+    #[cfg(pwr_h7rm0468)]
+    let (d1cpre_clk_max, hclk_max, pclk_max) = match config.voltage_scale {
+        VoltageScale::Scale0 => (Hertz(520_000_000), Hertz(275_000_000), Hertz(137_500_000)),
+        VoltageScale::Scale1 => (Hertz(400_000_000), Hertz(200_000_000), Hertz(100_000_000)),
+        VoltageScale::Scale2 => (Hertz(300_000_000), Hertz(150_000_000), Hertz(75_000_000)),
+        VoltageScale::Scale3 => (Hertz(170_000_000), Hertz(85_000_000), Hertz(42_500_000)),
+    };
+    #[cfg(all(stm32h7, not(any(pwr_h7rm0455, pwr_h7rm0468))))]
     let (d1cpre_clk_max, hclk_max, pclk_max) = match config.voltage_scale {
         VoltageScale::Scale0 => (Hertz(480_000_000), Hertz(240_000_000), Hertz(120_000_000)),
         VoltageScale::Scale1 => (Hertz(400_000_000), Hertz(200_000_000), Hertz(100_000_000)),
@@ -729,9 +738,12 @@ fn init_pll(num: usize, config: Option<Pll>, input: &PllInput) -> PllOutput {
 
     let p = config.divp.map(|div| {
         if num == 0 {
-            // on PLL1, DIVP must be even.
+            // on PLL1, DIVP must be even for most series.
             // The enum value is 1 less than the divider, so check it's odd.
+            #[cfg(not(pwr_h7rm0468))]
             assert!(div.to_bits() % 2 == 1);
+            #[cfg(pwr_h7rm0468)]
+            assert!(div.to_bits() % 2 == 1 || div.to_bits() == 0);
         }
 
         vco_clk / div
@@ -820,7 +832,7 @@ fn flash_setup(clk: Hertz, vos: VoltageScale) {
         _ => unreachable!(),
     };
 
-    #[cfg(flash_h7)]
+    #[cfg(all(flash_h7, not(pwr_h7rm0468)))]
     let (latency, wrhighfreq) = match (vos, clk.0) {
         // VOS 0 range VCORE 1.26V - 1.40V
         (VoltageScale::Scale0, ..=70_000_000) => (0, 0),
@@ -849,6 +861,30 @@ fn flash_setup(clk: Hertz, vos: VoltageScale) {
         _ => unreachable!(),
     };
 
+    // See RM0468 Rev 3 Table 16. FLASH recommended number of wait
+    // states and programming delay
+    #[cfg(all(flash_h7, pwr_h7rm0468))]
+    let (latency, wrhighfreq) = match (vos, clk.0) {
+        // VOS 0 range VCORE 1.26V - 1.40V
+        (VoltageScale::Scale0, ..=70_000_000) => (0, 0),
+        (VoltageScale::Scale0, ..=140_000_000) => (1, 1),
+        (VoltageScale::Scale0, ..=210_000_000) => (2, 2),
+        (VoltageScale::Scale0, ..=275_000_000) => (3, 3),
+        // VOS 1 range VCORE 1.15V - 1.26V
+        (VoltageScale::Scale1, ..=67_000_000) => (0, 0),
+        (VoltageScale::Scale1, ..=133_000_000) => (1, 1),
+        (VoltageScale::Scale1, ..=200_000_000) => (2, 2),
+        // VOS 2 range VCORE 1.05V - 1.15V
+        (VoltageScale::Scale2, ..=50_000_000) => (0, 0),
+        (VoltageScale::Scale2, ..=100_000_000) => (1, 1),
+        (VoltageScale::Scale2, ..=150_000_000) => (2, 2),
+        // VOS 3 range VCORE 0.95V - 1.05V
+        (VoltageScale::Scale3, ..=35_000_000) => (0, 0),
+        (VoltageScale::Scale3, ..=70_000_000) => (1, 1),
+        (VoltageScale::Scale3, ..=85_000_000) => (2, 2),
+        _ => unreachable!(),
+    };
+
     // See RM0455 Rev 10 Table 16. FLASH recommended number of wait
     // states and programming delay
     #[cfg(flash_h7ab)]

embassy-stm32/src/rcc/mod.rs

@@ -1,4 +1,7 @@
+//! Reset and Clock Control (RCC)
+
 #![macro_use]
+#![allow(missing_docs)] // TODO
 
 use core::mem::MaybeUninit;