423 changed files with 1040 additions and 1340 deletions
--- a/.github/ci/build-nightly.sh
+++ b/.github/ci/build-nightly.sh
@ -7,7 +7,6 @@ set -euo pipefail
 export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
-mv rust-toolchain-nightly.toml rust-toolchain.toml

 # needed for "dumb HTTP" transport support
 # used when pointing stm32-metapac to a CI-built one.
@ -22,7 +21,9 @@ fi
 hashtime restore /ci/cache/filetime.json || true
 hashtime save /ci/cache/filetime.json

-./ci-nightly.sh
+sed -i 's/channel.*/channel = "beta"/g' rust-toolchain.toml
+
+./ci_stable.sh

 # Save lockfiles
 echo Saving lockfiles...
--- a/.github/ci/rustfmt.sh
+++ b/.github/ci/rustfmt.sh
@ -1,12 +0,0 @@
-#!/bin/bash
-## on push branch~=gh-readonly-queue/main/.*
-## on pull_request
-
-set -euo pipefail
-
-export RUSTUP_HOME=/ci/cache/rustup
-export CARGO_HOME=/ci/cache/cargo
-export CARGO_TARGET_DIR=/ci/cache/target
-mv rust-toolchain-nightly.toml rust-toolchain.toml
-
-find . -name '*.rs' -not -path '*target*' | xargs rustfmt --check  --skip-children --unstable-features --edition 2021
--- a/.github/ci/test-nightly.sh
+++ b/.github/ci/test-nightly.sh
@ -1,13 +0,0 @@
-#!/bin/bash
-## on push branch~=gh-readonly-queue/main/.*
-## on pull_request
-
-set -euo pipefail
-
-export RUSTUP_HOME=/ci/cache/rustup
-export CARGO_HOME=/ci/cache/cargo
-export CARGO_TARGET_DIR=/ci/cache/target
-mv rust-toolchain-nightly.toml rust-toolchain.toml
-
-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
--- a/.github/ci/test.sh
+++ b/.github/ci/test.sh
@ -8,6 +8,9 @@ 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
+
 cargo test --manifest-path ./embassy-sync/Cargo.toml 
 cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml 
 cargo test --manifest-path ./embassy-hal-internal/Cargo.toml 
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -15,10 +15,14 @@
  //"rust-analyzer.cargo.target": "thumbv7m-none-eabi",
  "rust-analyzer.cargo.target": "thumbv7em-none-eabi",
  //"rust-analyzer.cargo.target": "thumbv8m.main-none-eabihf",
+  "rust-analyzer.cargo.features": [
+    // Uncomment if the example has a "nightly" feature.
+    "nightly",
+  ],
  "rust-analyzer.linkedProjects": [
    // Uncomment ONE line for the chip you want to work on.
    // This makes rust-analyzer work on the example crate and all its dependencies.
-    "examples/stm32l4/Cargo.toml",
+    "examples/nrf52840/Cargo.toml",
    // "examples/nrf52840-rtic/Cargo.toml",
    // "examples/nrf5340/Cargo.toml",
    // "examples/nrf-rtos-trace/Cargo.toml",
--- a/ci-nightly.sh
+++ b/ci-nightly.sh
@ -1,30 +0,0 @@
-#!/bin/bash
-
-set -eo pipefail
-
-export RUSTFLAGS=-Dwarnings
-export DEFMT_LOG=trace,embassy_hal_internal=debug,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
-if [[ -z "${CARGO_TARGET_DIR}" ]]; then
-    export CARGO_TARGET_DIR=target_ci
-fi
-
-cargo batch  \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32 \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread,integrated-timers \
-    --- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \
-
--- a/ci.sh
+++ b/ci.sh
@ -15,24 +15,26 @@ if [ $TARGET = "x86_64-unknown-linux-gnu" ]; then
    BUILD_EXTRA="--- build --release --manifest-path examples/std/Cargo.toml --target $TARGET --out-dir out/examples/std"
 fi

+find . -name '*.rs' -not -path '*target*' | xargs rustfmt --check  --skip-children --unstable-features --edition 2021
+
 cargo batch  \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32 \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32 \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread,integrated-timers \
    --- build --release --manifest-path embassy-sync/Cargo.toml --target thumbv6m-none-eabi --features defmt \
    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features defmt,defmt-timestamp-uptime,tick-hz-32_768,generic-queue-8 \
    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet \
@ -89,12 +91,12 @@ cargo batch  \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f417zg,defmt,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f423zh,defmt,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f427zi,defmt,exti,time-driver-any,time \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,exti,time-driver-any,embedded-sdmmc,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f437zi,log,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f439zi,defmt,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f446ze,defmt,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f469zi,defmt,exti,time-driver-any,time \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f479zi,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f479zi,defmt,exti,time-driver-any,embedded-sdmmc,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f730i8,defmt,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h753zi,defmt,exti,time-driver-any,time \
    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h735zg,defmt,exti,time-driver-any,time \
@ -138,6 +140,7 @@ cargo batch  \
    --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
    --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
    --- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840 \
+    --- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \
    --- build --release --manifest-path examples/nrf5340/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf5340 \
    --- build --release --manifest-path examples/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/rp \
    --- build --release --manifest-path examples/stm32f0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32f0 \
--- a/ci_stable.sh
+++ b/ci_stable.sh
@ -0,0 +1,77 @@
+#!/bin/bash
+
+set -euo pipefail
+
+export RUSTFLAGS=-Dwarnings
+export DEFMT_LOG=trace
+
+cargo batch  \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
+    --- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi \
+    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52805,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52810,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52811,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52820,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52832,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52833,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160-s,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160-ns,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-app-s,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-app-ns,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-net,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,log,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,defmt,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features defmt \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features log \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features qspi-as-gpio \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g473cc,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585zi,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55vy,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55cc-cm4,defmt,exti,time-driver-any \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g473cc,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585zi,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55vy,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55cc-cm4,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l4r9zi,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303vc,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f411ce,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f411ce,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f410tb,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f410tb,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --no-default-features --out-dir out/examples/nrf52840 --bin raw_spawn \
+    --- build --release --manifest-path examples/stm32l0/Cargo.toml --target thumbv6m-none-eabi --no-default-features --out-dir out/examples/stm32l0 --bin raw_spawn \
--- a/docs/modules/ROOT/examples/basic/src/main.rs
+++ b/docs/modules/ROOT/examples/basic/src/main.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 use defmt::*;
 use embassy_executor::Spawner;
--- a/docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml
+++ b/docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml
@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x", "exti"]  }
-embassy-executor = { version = "0.4.0", features = ["arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.4.0", features = ["nightly", "arch-cortex-m", "executor-thread"] }

 defmt = "0.3.0"
 defmt-rtt = "0.3.0"
--- a/docs/modules/ROOT/examples/layer-by-layer/blinky-async/src/main.rs
+++ b/docs/modules/ROOT/examples/layer-by-layer/blinky-async/src/main.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 use embassy_executor::Spawner;
 use embassy_stm32::exti::ExtiInput;
--- a/docs/modules/ROOT/pages/faq.adoc
+++ b/docs/modules/ROOT/pages/faq.adoc
@ -35,7 +35,7 @@ For Cortex-M targets, consider making sure that ALL of the following features ar
 * `executor-thread`
 * `nightly`

-For ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].
+For Xtensa ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].

 == Why is my binary so big?

--- a/embassy-boot/boot/Cargo.toml
+++ b/embassy-boot/boot/Cargo.toml
@ -26,22 +26,25 @@ features = ["defmt"]
 defmt = { version = "0.3", optional = true }
 digest = "0.10"
 log = { version = "0.4", optional = true }
-ed25519-dalek = { version = "2", default_features = false, features = ["digest"], optional = true }
+ed25519-dalek = { version = "1.0.1", default_features = false, features = ["u32_backend"], optional = true }
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
 embassy-sync = { version = "0.5.0", path = "../../embassy-sync" }
 embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
-salty = { version = "0.3", optional = true }
-signature = { version = "2.0", default-features = false }
+salty = { git = "https://github.com/ycrypto/salty.git", rev = "a9f17911a5024698406b75c0fac56ab5ccf6a8c7", optional = true }
+signature = { version = "1.6.4", default-features = false }

 [dev-dependencies]
 log = "0.4"
 env_logger = "0.9"
-rand = "0.8"
+rand = "0.7" # ed25519-dalek v1.0.1 depends on this exact version
 futures = { version = "0.3", features = ["executor"] }
 sha1 = "0.10.5"
 critical-section = { version = "1.1.1", features = ["std"] }
-ed25519-dalek = { version = "2", default_features = false, features = ["std", "rand_core", "digest"]  }
+
+[dev-dependencies.ed25519-dalek]
+default_features = false
+features = ["rand", "std", "u32_backend"]

 [features]
 ed25519-dalek = ["dep:ed25519-dalek", "_verify"]
--- a/embassy-boot/boot/src/digest_adapters/ed25519_dalek.rs
+++ b/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;
+use ed25519_dalek::Digest as _;

 pub struct Sha512(ed25519_dalek::Sha512);

@ -12,7 +12,7 @@ impl Default for Sha512 {

 impl Update for Sha512 {
    fn update(&mut self, data: &[u8]) {
-        Digest::update(&mut self.0, data)
+        self.0.update(data)
    }
 }

--- a/embassy-boot/boot/src/firmware_updater/asynch.rs
+++ b/embassy-boot/boot/src/firmware_updater/asynch.rs
@ -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; 32],
-        _signature: &[u8; 64],
+        _public_key: &[u8],
+        _signature: &[u8],
        _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::{Signature, SignatureError, Verifier, VerifyingKey};
+            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};

            use crate::digest_adapters::ed25519_dalek::Sha512;

            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());

-            let public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
-            let signature = Signature::from_bytes(_signature);
+            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;

            let mut chunk_buf = [0; 2];
            let mut message = [0; 64];
@ -106,6 +106,7 @@ 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;
@ -114,8 +115,10 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
                FirmwareUpdaterError::Signature(signature::Error::default())
            }

-            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 public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
+            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;

            let mut message = [0; 64];
            let mut chunk_buf = [0; 2];
--- a/embassy-boot/boot/src/firmware_updater/blocking.rs
+++ b/embassy-boot/boot/src/firmware_updater/blocking.rs
@ -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; 32],
-        _signature: &[u8; 64],
+        _public_key: &[u8],
+        _signature: &[u8],
        _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::{Signature, SignatureError, Verifier, VerifyingKey};
+            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};

            use crate::digest_adapters::ed25519_dalek::Sha512;

            let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());

-            let public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
-            let signature = Signature::from_bytes(_signature);
+            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;

            let mut message = [0; 64];
            let mut chunk_buf = [0; 2];
@ -113,6 +113,7 @@ 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;
@ -121,8 +122,10 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
                FirmwareUpdaterError::Signature(signature::Error::default())
            }

-            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 public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
+            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;

            let mut message = [0; 64];
            let mut chunk_buf = [0; 2];
@ -184,12 +187,10 @@ impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE>
    ///
    /// Failing to meet alignment and size requirements may result in a panic.
    pub fn write_firmware(&mut self, offset: usize, data: &[u8]) -> Result<(), FirmwareUpdaterError> {
-        //assert!(data.len() >= DFU::ERASE_SIZE);
+        assert!(data.len() >= DFU::ERASE_SIZE);
        self.state.verify_booted()?;

-        if offset == 0 {
-            self.dfu.erase(0, self.dfu.capacity() as u32)?;
-        }
+        self.dfu.erase(offset as u32, (offset + data.len()) as u32)?;

        self.dfu.write(offset as u32, data)?;

--- a/embassy-boot/boot/src/lib.rs
+++ b/embassy-boot/boot/src/lib.rs
@ -275,19 +275,21 @@ mod tests {
        // The following key setup is based on:
        // https://docs.rs/ed25519-dalek/latest/ed25519_dalek/#example

-        use ed25519_dalek::{Digest, Sha512, Signature, Signer, SigningKey, VerifyingKey};
+        use ed25519_dalek::Keypair;
        use rand::rngs::OsRng;

        let mut csprng = OsRng {};
-        let keypair = SigningKey::generate(&mut csprng);
+        let keypair: Keypair = Keypair::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);

-        let public_key = keypair.verifying_key();
+        use ed25519_dalek::PublicKey;
+        let public_key: PublicKey = keypair.public;

        // Setup flash
        let flash = BlockingTestFlash::new(BootLoaderConfig {
--- a/embassy-boot/nrf/Cargo.toml
+++ b/embassy-boot/nrf/Cargo.toml
@ -4,12 +4,6 @@ name = "embassy-boot-nrf"
 version = "0.1.0"
 description = "Bootloader lib for nRF chips"
 license = "MIT OR Apache-2.0"
-repository = "https://github.com/embassy-rs/embassy"
-categories = [
-    "embedded",
-    "no-std",
-    "asynchronous",
-]

 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-nrf-v$VERSION/embassy-boot/nrf/src/"
@ -31,7 +25,7 @@ embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
 cfg-if = "1.0.0"

-nrf-softdevice-mbr = { version = "0.2.0", optional = true }
+nrf-softdevice-mbr = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-softdevice.git", branch = "master", optional = true }

 [features]
 defmt = [
--- a/embassy-boot/rp/Cargo.toml
+++ b/embassy-boot/rp/Cargo.toml
@ -4,12 +4,6 @@ name = "embassy-boot-rp"
 version = "0.1.0"
 description = "Bootloader lib for RP2040 chips"
 license = "MIT OR Apache-2.0"
-repository = "https://github.com/embassy-rs/embassy"
-categories = [
-    "embedded",
-    "no-std",
-    "asynchronous",
-]

 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-rp-v$VERSION/src/"
--- a/embassy-boot/stm32/Cargo.toml
+++ b/embassy-boot/stm32/Cargo.toml
@ -4,12 +4,6 @@ name = "embassy-boot-stm32"
 version = "0.1.0"
 description = "Bootloader lib for STM32 chips"
 license = "MIT OR Apache-2.0"
-repository = "https://github.com/embassy-rs/embassy"
-categories = [
-    "embedded",
-    "no-std",
-    "asynchronous",
-]

 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-nrf-v$VERSION/embassy-boot/stm32/src/"
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@ -14,7 +14,7 @@ categories = [
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-executor-v$VERSION/embassy-executor/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-executor/src/"
-features = ["defmt"]
+features = ["nightly", "defmt"]
 flavors = [
    { name = "std",             target = "x86_64-unknown-linux-gnu",     features = ["arch-std", "executor-thread"] },
    { name = "wasm",            target = "wasm32-unknown-unknown",       features = ["arch-wasm", "executor-thread"] },
@ -25,7 +25,7 @@ flavors = [
 [package.metadata.docs.rs]
 default-target = "thumbv7em-none-eabi"
 targets = ["thumbv7em-none-eabi"]
-features = ["defmt", "arch-cortex-m", "executor-thread", "executor-interrupt"]
+features = ["nightly", "defmt", "arch-cortex-m", "executor-thread", "executor-interrupt"]

 [dependencies]
 defmt = { version = "0.3", optional = true }
--- a/embassy-net-adin1110/Cargo.toml
+++ b/embassy-net-adin1110/Cargo.toml
@ -6,7 +6,8 @@ keywords = ["embedded", "ADIN1110", "embassy-net", "embedded-hal-async", "ethern
 categories = ["embedded", "hardware-support", "no-std", "network-programming", "async"]
 license = "MIT OR Apache-2.0"
 edition = "2021"
-repository = "https://github.com/embassy-rs/embassy"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

 [dependencies]
 heapless = "0.8"
--- a/embassy-net-adin1110/src/crc32.rs
+++ b/embassy-net-adin1110/src/crc32.rs
@ -1,4 +1,3 @@
-/// CRC32 lookup table.
 pub const CRC32R_LOOKUP_TABLE: [u32; 256] = [
    0x0000_0000,
    0x7707_3096,
@ -264,9 +263,8 @@ pub const CRC32R_LOOKUP_TABLE: [u32; 256] = [
 pub struct ETH_FCS(pub u32);

 impl ETH_FCS {
-    const CRC32_OK: u32 = 0x2144_df1c;
+    pub const CRC32_OK: u32 = 0x2144_df1c;

-    /// Create a new frame check sequence from `data`.
    #[must_use]
    pub fn new(data: &[u8]) -> Self {
        let fcs = data.iter().fold(u32::MAX, |crc, byte| {
@ -276,7 +274,6 @@ impl ETH_FCS {
        Self(fcs)
    }

-    /// Update the frame check sequence with `data`.
    #[must_use]
    pub fn update(self, data: &[u8]) -> Self {
        let fcs = data.iter().fold(self.0 ^ u32::MAX, |crc, byte| {
@ -286,19 +283,16 @@ impl ETH_FCS {
        Self(fcs)
    }

-    /// Check if the frame check sequence is correct.
    #[must_use]
    pub fn crc_ok(&self) -> bool {
        self.0 == Self::CRC32_OK
    }

-    /// Switch byte order.
    #[must_use]
    pub fn hton_bytes(&self) -> [u8; 4] {
        self.0.to_le_bytes()
    }

-    /// Switch byte order as a u32.
    #[must_use]
    pub fn hton(&self) -> u32 {
        self.0.to_le()
--- a/embassy-net-adin1110/src/lib.rs
+++ b/embassy-net-adin1110/src/lib.rs
@ -5,7 +5,6 @@
 #![allow(clippy::missing_errors_doc)]
 #![allow(clippy::missing_panics_doc)]
 #![doc = include_str!("../README.md")]
-#![warn(missing_docs)]

 // must go first!
 mod fmt;
@ -27,9 +26,8 @@ use embedded_hal_async::digital::Wait;
 use embedded_hal_async::spi::{Error, Operation, SpiDevice};
 use heapless::Vec;
 pub use mdio::MdioBus;
-pub use phy::Phy10BaseT1x;
-use phy::{RegsC22, RegsC45};
-use regs::{Config0, Config2, SpiRegisters as sr, Status0, Status1};
+pub use phy::{Phy10BaseT1x, RegsC22, RegsC45};
+pub use regs::{Config0, Config2, SpiRegisters as sr, Status0, Status1};

 use crate::fmt::Bytes;
 use crate::regs::{LedCntrl, LedFunc, LedPol, LedPolarity, SpiHeader};
@ -448,7 +446,6 @@ pub struct Runner<'d, SPI, INT, RST> {
 }

 impl<'d, SPI: SpiDevice, INT: Wait, RST: OutputPin> Runner<'d, SPI, INT, RST> {
-    /// Run the driver.
    #[allow(clippy::too_many_lines)]
    pub async fn run(mut self) -> ! {
        loop {
--- a/embassy-net-adin1110/src/mdio.rs
+++ b/embassy-net-adin1110/src/mdio.rs
@ -39,7 +39,6 @@ enum Reg13Op {
 ///
 /// Clause 45 methodes are bases on <https://www.ieee802.org/3/efm/public/nov02/oam/pannell_oam_1_1102.pdf>
 pub trait MdioBus {
-    /// Error type.
    type Error;

    /// Read, Clause 22
--- a/embassy-net-adin1110/src/regs.rs
+++ b/embassy-net-adin1110/src/regs.rs
@ -2,7 +2,6 @@ use core::fmt::{Debug, Display};

 use bitfield::{bitfield, bitfield_bitrange, bitfield_fields};

-#[allow(missing_docs)]
 #[allow(non_camel_case_types)]
 #[derive(Debug, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
--- a/embassy-net-driver-channel/src/lib.rs
+++ b/embassy-net-driver-channel/src/lib.rs
@ -1,6 +1,5 @@
 #![no_std]
 #![doc = include_str!("../README.md")]
-#![warn(missing_docs)]

 // must go first!
 mod fmt;
@ -16,9 +15,6 @@ use embassy_sync::blocking_mutex::Mutex;
 use embassy_sync::waitqueue::WakerRegistration;
 use embassy_sync::zerocopy_channel;

-/// Channel state.
-///
-/// Holds a buffer of packets with size MTU, for both TX and RX.
 pub struct State<const MTU: usize, const N_RX: usize, const N_TX: usize> {
    rx: [PacketBuf<MTU>; N_RX],
    tx: [PacketBuf<MTU>; N_TX],
@ -28,7 +24,6 @@ pub struct State<const MTU: usize, const N_RX: usize, const N_TX: usize> {
 impl<const MTU: usize, const N_RX: usize, const N_TX: usize> State<MTU, N_RX, N_TX> {
    const NEW_PACKET: PacketBuf<MTU> = PacketBuf::new();

-    /// Create a new channel state.
    pub const fn new() -> Self {
        Self {
            rx: [Self::NEW_PACKET; N_RX],
@ -44,45 +39,33 @@ struct StateInner<'d, const MTU: usize> {
    shared: Mutex<NoopRawMutex, RefCell<Shared>>,
 }

+/// State of the LinkState
 struct Shared {
    link_state: LinkState,
    waker: WakerRegistration,
    hardware_address: driver::HardwareAddress,
 }

-/// Channel runner.
-///
-/// Holds the shared state and the lower end of channels for inbound and outbound packets.
 pub struct Runner<'d, const MTU: usize> {
    tx_chan: zerocopy_channel::Receiver<'d, NoopRawMutex, PacketBuf<MTU>>,
    rx_chan: zerocopy_channel::Sender<'d, NoopRawMutex, PacketBuf<MTU>>,
    shared: &'d Mutex<NoopRawMutex, RefCell<Shared>>,
 }

-/// State runner.
-///
-/// Holds the shared state of the channel such as link state.
 #[derive(Clone, Copy)]
 pub struct StateRunner<'d> {
    shared: &'d Mutex<NoopRawMutex, RefCell<Shared>>,
 }

-/// RX runner.
-///
-/// Holds the lower end of the channel for passing inbound packets up the stack.
 pub struct RxRunner<'d, const MTU: usize> {
    rx_chan: zerocopy_channel::Sender<'d, NoopRawMutex, PacketBuf<MTU>>,
 }

-/// TX runner.
-///
-/// Holds the lower end of the channel for passing outbound packets down the stack.
 pub struct TxRunner<'d, const MTU: usize> {
    tx_chan: zerocopy_channel::Receiver<'d, NoopRawMutex, PacketBuf<MTU>>,
 }

 impl<'d, const MTU: usize> Runner<'d, MTU> {
-    /// Split the runner into separate runners for controlling state, rx and tx.
    pub fn split(self) -> (StateRunner<'d>, RxRunner<'d, MTU>, TxRunner<'d, MTU>) {
        (
            StateRunner { shared: self.shared },
@ -91,7 +74,6 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        )
    }

-    /// Split the runner into separate runners for controlling state, rx and tx borrowing the underlying state.
    pub fn borrow_split(&mut self) -> (StateRunner<'_>, RxRunner<'_, MTU>, TxRunner<'_, MTU>) {
        (
            StateRunner { shared: self.shared },
@ -104,12 +86,10 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        )
    }

-    /// Create a state runner sharing the state channel.
    pub fn state_runner(&self) -> StateRunner<'d> {
        StateRunner { shared: self.shared }
    }

-    /// Set the link state.
    pub fn set_link_state(&mut self, state: LinkState) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -118,7 +98,6 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        });
    }

-    /// Set the hardware address.
    pub fn set_hardware_address(&mut self, address: driver::HardwareAddress) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -127,19 +106,16 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        });
    }

-    /// Wait until there is space for more inbound packets and return a slice they can be copied into.
    pub async fn rx_buf(&mut self) -> &mut [u8] {
        let p = self.rx_chan.send().await;
        &mut p.buf
    }

-    /// Check if there is space for more inbound packets right now.
    pub fn try_rx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.rx_chan.try_send()?;
        Some(&mut p.buf)
    }

-    /// Polling the inbound channel if there is space for packets.
    pub fn poll_rx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.rx_chan.poll_send(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf),
@ -147,26 +123,22 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        }
    }

-    /// Mark packet of len bytes as pushed to the inbound channel.
    pub fn rx_done(&mut self, len: usize) {
        let p = self.rx_chan.try_send().unwrap();
        p.len = len;
        self.rx_chan.send_done();
    }

-    /// Wait until there is space for more outbound packets and return a slice they can be copied into.
    pub async fn tx_buf(&mut self) -> &mut [u8] {
        let p = self.tx_chan.receive().await;
        &mut p.buf[..p.len]
    }

-    /// Check if there is space for more outbound packets right now.
    pub fn try_tx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.tx_chan.try_receive()?;
        Some(&mut p.buf[..p.len])
    }

-    /// Polling the outbound channel if there is space for packets.
    pub fn poll_tx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.tx_chan.poll_receive(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf[..p.len]),
@ -174,14 +146,12 @@ impl<'d, const MTU: usize> Runner<'d, MTU> {
        }
    }

-    /// Mark outbound packet as copied.
    pub fn tx_done(&mut self) {
        self.tx_chan.receive_done();
    }
 }

 impl<'d> StateRunner<'d> {
-    /// Set link state.
    pub fn set_link_state(&self, state: LinkState) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -190,7 +160,6 @@ impl<'d> StateRunner<'d> {
        });
    }

-    /// Set the hardware address.
    pub fn set_hardware_address(&self, address: driver::HardwareAddress) {
        self.shared.lock(|s| {
            let s = &mut *s.borrow_mut();
@ -201,19 +170,16 @@ impl<'d> StateRunner<'d> {
 }

 impl<'d, const MTU: usize> RxRunner<'d, MTU> {
-    /// Wait until there is space for more inbound packets and return a slice they can be copied into.
    pub async fn rx_buf(&mut self) -> &mut [u8] {
        let p = self.rx_chan.send().await;
        &mut p.buf
    }

-    /// Check if there is space for more inbound packets right now.
    pub fn try_rx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.rx_chan.try_send()?;
        Some(&mut p.buf)
    }

-    /// Polling the inbound channel if there is space for packets.
    pub fn poll_rx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.rx_chan.poll_send(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf),
@ -221,7 +187,6 @@ impl<'d, const MTU: usize> RxRunner<'d, MTU> {
        }
    }

-    /// Mark packet of len bytes as pushed to the inbound channel.
    pub fn rx_done(&mut self, len: usize) {
        let p = self.rx_chan.try_send().unwrap();
        p.len = len;
@ -230,19 +195,16 @@ impl<'d, const MTU: usize> RxRunner<'d, MTU> {
 }

 impl<'d, const MTU: usize> TxRunner<'d, MTU> {
-    /// Wait until there is space for more outbound packets and return a slice they can be copied into.
    pub async fn tx_buf(&mut self) -> &mut [u8] {
        let p = self.tx_chan.receive().await;
        &mut p.buf[..p.len]
    }

-    /// Check if there is space for more outbound packets right now.
    pub fn try_tx_buf(&mut self) -> Option<&mut [u8]> {
        let p = self.tx_chan.try_receive()?;
        Some(&mut p.buf[..p.len])
    }

-    /// Polling the outbound channel if there is space for packets.
    pub fn poll_tx_buf(&mut self, cx: &mut Context) -> Poll<&mut [u8]> {
        match self.tx_chan.poll_receive(cx) {
            Poll::Ready(p) => Poll::Ready(&mut p.buf[..p.len]),
@ -250,18 +212,11 @@ impl<'d, const MTU: usize> TxRunner<'d, MTU> {
        }
    }

-    /// Mark outbound packet as copied.
    pub fn tx_done(&mut self) {
        self.tx_chan.receive_done();
    }
 }

-/// Create a channel.
-///
-/// Returns a pair of handles for interfacing with the peripheral and the networking stack.
-///
-/// The runner is interfacing with the peripheral at the lower part of the stack.
-/// The device is interfacing with the networking stack on the layer above.
 pub fn new<'d, const MTU: usize, const N_RX: usize, const N_TX: usize>(
    state: &'d mut State<MTU, N_RX, N_TX>,
    hardware_address: driver::HardwareAddress,
@ -302,22 +257,17 @@ pub fn new<'d, const MTU: usize, const N_RX: usize, const N_TX: usize>(
    )
 }

-/// Represents a packet of size MTU.
 pub struct PacketBuf<const MTU: usize> {
    len: usize,
    buf: [u8; MTU],
 }

 impl<const MTU: usize> PacketBuf<MTU> {
-    /// Create a new packet buffer.
    pub const fn new() -> Self {
        Self { len: 0, buf: [0; MTU] }
    }
 }

-/// Channel device.
-///
-/// Holds the shared state and upper end of channels for inbound and outbound packets.
 pub struct Device<'d, const MTU: usize> {
    rx: zerocopy_channel::Receiver<'d, NoopRawMutex, PacketBuf<MTU>>,
    tx: zerocopy_channel::Sender<'d, NoopRawMutex, PacketBuf<MTU>>,
@ -364,9 +314,6 @@ impl<'d, const MTU: usize> embassy_net_driver::Driver for Device<'d, MTU> {
    }
 }

-/// A rx token.
-///
-/// Holds inbound receive channel and interfaces with embassy-net-driver.
 pub struct RxToken<'a, const MTU: usize> {
    rx: zerocopy_channel::Receiver<'a, NoopRawMutex, PacketBuf<MTU>>,
 }
@ -384,9 +331,6 @@ impl<'a, const MTU: usize> embassy_net_driver::RxToken for RxToken<'a, MTU> {
    }
 }

-/// A tx token.
-///
-/// Holds outbound transmit channel and interfaces with embassy-net-driver.
 pub struct TxToken<'a, const MTU: usize> {
    tx: zerocopy_channel::Sender<'a, NoopRawMutex, PacketBuf<MTU>>,
 }
--- a/embassy-net-esp-hosted/Cargo.toml
+++ b/embassy-net-esp-hosted/Cargo.toml
@ -2,10 +2,6 @@
 name = "embassy-net-esp-hosted"
 version = "0.1.0"
 edition = "2021"
-description = "embassy-net driver for ESP-Hosted"
-keywords = ["embedded", "esp-hosted", "embassy-net", "embedded-hal-async", "wifi", "async"]
-categories = ["embedded", "hardware-support", "no-std", "network-programming", "async"]
-license = "MIT OR Apache-2.0"

 [dependencies]
 defmt = { version = "0.3", optional = true }
@ -19,7 +15,8 @@ embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-
 embedded-hal = { version = "1.0.0-rc.3" }
 embedded-hal-async = { version = "=1.0.0-rc.3" }

-noproto = "0.1.0"
+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"] }
 heapless = "0.8"

 [package.metadata.embassy_docs]
--- a/embassy-net-esp-hosted/README.md
+++ b/embassy-net-esp-hosted/README.md
@ -1,27 +0,0 @@
-# ESP-Hosted `embassy-net` integration
-
-[`embassy-net`](https://crates.io/crates/embassy-net) integration for Espressif SoCs running the the ESP-Hosted stack.
-
-See [`examples`](https://github.com/embassy-rs/embassy/tree/main/examples/nrf52840) directory for usage examples with the nRF52840.
-
-## Supported chips
-
- W5500
- W5100S
-
-## Interoperability
-
-This crate can run on any executor.
-
-It supports any SPI driver implementing [`embedded-hal-async`](https://crates.io/crates/embedded-hal-async).
-
-
-## 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.
--- a/embassy-net-esp-hosted/src/control.rs
+++ b/embassy-net-esp-hosted/src/control.rs
@ -5,54 +5,38 @@ use heapless::String;
 use crate::ioctl::Shared;
 use crate::proto::{self, CtrlMsg};

-/// Errors reported by control.
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    /// The operation failed with the given error code.
    Failed(u32),
-    /// The operation timed out.
    Timeout,
-    /// Internal error.
    Internal,
 }

-/// Handle for managing the network and WiFI state.
 pub struct Control<'a> {
    state_ch: ch::StateRunner<'a>,
    shared: &'a Shared,
 }

-/// WiFi mode.
 #[allow(unused)]
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 enum WifiMode {
-    /// No mode.
    None = 0,
-    /// Client station.
    Sta = 1,
-    /// Access point mode.
    Ap = 2,
-    /// Repeater mode.
    ApSta = 3,
 }

 pub use proto::CtrlWifiSecProt as Security;

-/// WiFi status.
 #[derive(Clone, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Status {
-    /// Service Set Identifier.
    pub ssid: String<32>,
-    /// Basic Service Set Identifier.
    pub bssid: [u8; 6],
-    /// Received Signal Strength Indicator.
    pub rssi: i32,
-    /// WiFi channel.
    pub channel: u32,
-    /// Security mode.
    pub security: Security,
 }

@ -81,7 +65,6 @@ impl<'a> Control<'a> {
        Self { state_ch, shared }
    }

-    /// Initialize device.
    pub async fn init(&mut self) -> Result<(), Error> {
        debug!("wait for init event...");
        self.shared.init_wait().await;
@ -99,7 +82,6 @@ impl<'a> Control<'a> {
        Ok(())
    }

-    /// Get the current status.
    pub async fn get_status(&mut self) -> Result<Status, Error> {
        let req = proto::CtrlMsgReqGetApConfig {};
        ioctl!(self, ReqGetApConfig, RespGetApConfig, req, resp);
@ -113,7 +95,6 @@ impl<'a> Control<'a> {
        })
    }

-    /// Connect to the network identified by ssid using the provided password.
    pub async fn connect(&mut self, ssid: &str, password: &str) -> Result<(), Error> {
        let req = proto::CtrlMsgReqConnectAp {
            ssid: unwrap!(String::try_from(ssid)),
@ -127,7 +108,6 @@ impl<'a> Control<'a> {
        Ok(())
    }

-    /// Disconnect from any currently connected network.
    pub async fn disconnect(&mut self) -> Result<(), Error> {
        let req = proto::CtrlMsgReqGetStatus {};
        ioctl!(self, ReqDisconnectAp, RespDisconnectAp, req, resp);
--- a/embassy-net-esp-hosted/src/lib.rs
+++ b/embassy-net-esp-hosted/src/lib.rs
@ -1,6 +1,4 @@
 #![no_std]
-#![doc = include_str!("../README.md")]
-#![warn(missing_docs)]

 use embassy_futures::select::{select4, Either4};
 use embassy_net_driver_channel as ch;
@ -99,14 +97,12 @@ enum InterfaceType {
 const MAX_SPI_BUFFER_SIZE: usize = 1600;
 const HEARTBEAT_MAX_GAP: Duration = Duration::from_secs(20);

-/// State for the esp-hosted driver.
 pub struct State {
    shared: Shared,
    ch: ch::State<MTU, 4, 4>,
 }

 impl State {
-    /// Create a new state.
    pub fn new() -> Self {
        Self {
            shared: Shared::new(),
@ -115,13 +111,8 @@ impl State {
    }
 }

-/// Type alias for network driver.
 pub type NetDriver<'a> = ch::Device<'a, MTU>;

-/// Create a new esp-hosted driver using the provided state, SPI peripheral and pins.
-///
-/// Returns a device handle for interfacing with embassy-net, a control handle for
-/// interacting with the driver, and a runner for communicating with the WiFi device.
 pub async fn new<'a, SPI, IN, OUT>(
    state: &'a mut State,
    spi: SPI,
@ -153,7 +144,6 @@ where
    (device, Control::new(state_ch, &state.shared), runner)
 }

-/// Runner for communicating with the WiFi device.
 pub struct Runner<'a, SPI, IN, OUT> {
    ch: ch::Runner<'a, MTU>,
    state_ch: ch::StateRunner<'a>,
@ -176,7 +166,6 @@ where
 {
    async fn init(&mut self) {}

-    /// Run the packet processing.
    pub async fn run(mut self) -> ! {
        debug!("resetting...");
        self.reset.set_low().unwrap();
--- a/embassy-net-esp-hosted/src/proto.rs
+++ b/embassy-net-esp-hosted/src/proto.rs
@ -4,7 +4,7 @@ use heapless::{String, Vec};

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct ScanResult {
+pub struct ScanResult {
    #[noproto(tag = "1")]
    pub ssid: String<32>,
    #[noproto(tag = "2")]
@ -19,7 +19,7 @@ pub(crate) struct ScanResult {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct ConnectedStaList {
+pub struct ConnectedStaList {
    #[noproto(tag = "1")]
    pub mac: String<32>,
    #[noproto(tag = "2")]
@ -29,14 +29,14 @@ pub(crate) struct ConnectedStaList {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqGetMacAddress {
+pub struct CtrlMsgReqGetMacAddress {
    #[noproto(tag = "1")]
    pub mode: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespGetMacAddress {
+pub struct CtrlMsgRespGetMacAddress {
    #[noproto(tag = "1")]
    pub mac: String<32>,
    #[noproto(tag = "2")]
@ -45,11 +45,11 @@ pub(crate) struct CtrlMsgRespGetMacAddress {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqGetMode {}
+pub struct CtrlMsgReqGetMode {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespGetMode {
+pub struct CtrlMsgRespGetMode {
    #[noproto(tag = "1")]
    pub mode: u32,
    #[noproto(tag = "2")]
@ -58,32 +58,32 @@ pub(crate) struct CtrlMsgRespGetMode {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqSetMode {
+pub struct CtrlMsgReqSetMode {
    #[noproto(tag = "1")]
    pub mode: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespSetMode {
+pub struct CtrlMsgRespSetMode {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqGetStatus {}
+pub struct CtrlMsgReqGetStatus {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespGetStatus {
+pub struct CtrlMsgRespGetStatus {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqSetMacAddress {
+pub struct CtrlMsgReqSetMacAddress {
    #[noproto(tag = "1")]
    pub mac: String<32>,
    #[noproto(tag = "2")]
@ -92,18 +92,18 @@ pub(crate) struct CtrlMsgReqSetMacAddress {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespSetMacAddress {
+pub struct CtrlMsgRespSetMacAddress {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqGetApConfig {}
+pub struct CtrlMsgReqGetApConfig {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespGetApConfig {
+pub struct CtrlMsgRespGetApConfig {
    #[noproto(tag = "1")]
    pub ssid: String<32>,
    #[noproto(tag = "2")]
@ -120,7 +120,7 @@ pub(crate) struct CtrlMsgRespGetApConfig {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqConnectAp {
+pub struct CtrlMsgReqConnectAp {
    #[noproto(tag = "1")]
    pub ssid: String<32>,
    #[noproto(tag = "2")]
@ -135,7 +135,7 @@ pub(crate) struct CtrlMsgReqConnectAp {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespConnectAp {
+pub struct CtrlMsgRespConnectAp {
    #[noproto(tag = "1")]
    pub resp: u32,
    #[noproto(tag = "2")]
@ -144,11 +144,11 @@ pub(crate) struct CtrlMsgRespConnectAp {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqGetSoftApConfig {}
+pub struct CtrlMsgReqGetSoftApConfig {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespGetSoftApConfig {
+pub struct CtrlMsgRespGetSoftApConfig {
    #[noproto(tag = "1")]
    pub ssid: String<32>,
    #[noproto(tag = "2")]
@ -169,7 +169,7 @@ pub(crate) struct CtrlMsgRespGetSoftApConfig {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqStartSoftAp {
+pub struct CtrlMsgReqStartSoftAp {
    #[noproto(tag = "1")]
    pub ssid: String<32>,
    #[noproto(tag = "2")]
@ -188,7 +188,7 @@ pub(crate) struct CtrlMsgReqStartSoftAp {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespStartSoftAp {
+pub struct CtrlMsgRespStartSoftAp {
    #[noproto(tag = "1")]
    pub resp: u32,
    #[noproto(tag = "2")]
@ -197,11 +197,11 @@ pub(crate) struct CtrlMsgRespStartSoftAp {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqScanResult {}
+pub struct CtrlMsgReqScanResult {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespScanResult {
+pub struct CtrlMsgRespScanResult {
    #[noproto(tag = "1")]
    pub count: u32,
    #[noproto(repeated, tag = "2")]
@ -212,11 +212,11 @@ pub(crate) struct CtrlMsgRespScanResult {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqSoftApConnectedSta {}
+pub struct CtrlMsgReqSoftApConnectedSta {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespSoftApConnectedSta {
+pub struct CtrlMsgRespSoftApConnectedSta {
    #[noproto(tag = "1")]
    pub num: u32,
    #[noproto(repeated, tag = "2")]
@ -227,43 +227,43 @@ pub(crate) struct CtrlMsgRespSoftApConnectedSta {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqOtaBegin {}
+pub struct CtrlMsgReqOtaBegin {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespOtaBegin {
+pub struct CtrlMsgRespOtaBegin {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqOtaWrite {
+pub struct CtrlMsgReqOtaWrite {
    #[noproto(tag = "1")]
    pub ota_data: Vec<u8, 1024>,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespOtaWrite {
+pub struct CtrlMsgRespOtaWrite {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqOtaEnd {}
+pub struct CtrlMsgReqOtaEnd {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespOtaEnd {
+pub struct CtrlMsgRespOtaEnd {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqVendorIeData {
+pub struct CtrlMsgReqVendorIeData {
    #[noproto(tag = "1")]
    pub element_id: u32,
    #[noproto(tag = "2")]
@ -278,7 +278,7 @@ pub(crate) struct CtrlMsgReqVendorIeData {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqSetSoftApVendorSpecificIe {
+pub struct CtrlMsgReqSetSoftApVendorSpecificIe {
    #[noproto(tag = "1")]
    pub enable: bool,
    #[noproto(tag = "2")]
@ -291,32 +291,32 @@ pub(crate) struct CtrlMsgReqSetSoftApVendorSpecificIe {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespSetSoftApVendorSpecificIe {
+pub struct CtrlMsgRespSetSoftApVendorSpecificIe {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqSetWifiMaxTxPower {
+pub struct CtrlMsgReqSetWifiMaxTxPower {
    #[noproto(tag = "1")]
    pub wifi_max_tx_power: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespSetWifiMaxTxPower {
+pub struct CtrlMsgRespSetWifiMaxTxPower {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqGetWifiCurrTxPower {}
+pub struct CtrlMsgReqGetWifiCurrTxPower {}

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespGetWifiCurrTxPower {
+pub struct CtrlMsgRespGetWifiCurrTxPower {
    #[noproto(tag = "1")]
    pub wifi_curr_tx_power: u32,
    #[noproto(tag = "2")]
@ -325,7 +325,7 @@ pub(crate) struct CtrlMsgRespGetWifiCurrTxPower {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgReqConfigHeartbeat {
+pub struct CtrlMsgReqConfigHeartbeat {
    #[noproto(tag = "1")]
    pub enable: bool,
    #[noproto(tag = "2")]
@ -334,7 +334,7 @@ pub(crate) struct CtrlMsgReqConfigHeartbeat {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgRespConfigHeartbeat {
+pub struct CtrlMsgRespConfigHeartbeat {
    #[noproto(tag = "1")]
    pub resp: u32,
 }
@ -342,28 +342,28 @@ pub(crate) struct CtrlMsgRespConfigHeartbeat {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgEventEspInit {
+pub struct CtrlMsgEventEspInit {
    #[noproto(tag = "1")]
    pub init_data: Vec<u8, 64>,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgEventHeartbeat {
+pub struct CtrlMsgEventHeartbeat {
    #[noproto(tag = "1")]
    pub hb_num: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgEventStationDisconnectFromAp {
+pub struct CtrlMsgEventStationDisconnectFromAp {
    #[noproto(tag = "1")]
    pub resp: u32,
 }

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsgEventStationDisconnectFromEspSoftAp {
+pub struct CtrlMsgEventStationDisconnectFromEspSoftAp {
    #[noproto(tag = "1")]
    pub resp: u32,
    #[noproto(tag = "2")]
@ -372,7 +372,7 @@ pub(crate) struct CtrlMsgEventStationDisconnectFromEspSoftAp {

 #[derive(Debug, Default, Clone, Eq, PartialEq, noproto::Message)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct CtrlMsg {
+pub struct CtrlMsg {
    /// msg_type could be req, resp or Event
    #[noproto(tag = "1")]
    pub msg_type: CtrlMsgType,
@ -390,7 +390,7 @@ pub(crate) struct CtrlMsg {
 /// union of all msg ids
 #[derive(Debug, Clone, Eq, PartialEq, noproto::Oneof)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlMsgPayload {
+pub enum CtrlMsgPayload {
    /// * Requests *
    #[noproto(tag = "101")]
    ReqGetMacAddress(CtrlMsgReqGetMacAddress),
@ -492,7 +492,7 @@ pub(crate) enum CtrlMsgPayload {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlVendorIeType {
+pub enum CtrlVendorIeType {
    #[default]
    Beacon = 0,
    ProbeReq = 1,
@ -504,7 +504,7 @@ pub(crate) enum CtrlVendorIeType {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlVendorIeid {
+pub enum CtrlVendorIeid {
    #[default]
    Id0 = 0,
    Id1 = 1,
@ -513,7 +513,7 @@ pub(crate) enum CtrlVendorIeid {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlWifiMode {
+pub enum CtrlWifiMode {
    #[default]
    None = 0,
    Sta = 1,
@ -524,7 +524,7 @@ pub(crate) enum CtrlWifiMode {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlWifiBw {
+pub enum CtrlWifiBw {
    #[default]
    BwInvalid = 0,
    Ht20 = 1,
@ -534,15 +534,13 @@ pub(crate) enum CtrlWifiBw {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlWifiPowerSave {
+pub enum CtrlWifiPowerSave {
    #[default]
    PsInvalid = 0,
    MinModem = 1,
    MaxModem = 2,
 }

-/// Wifi Security Settings
-#[allow(missing_docs)]
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@ -562,7 +560,7 @@ pub enum CtrlWifiSecProt {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlStatus {
+pub enum CtrlStatus {
    #[default]
    Connected = 0,
    NotConnected = 1,
@ -575,7 +573,7 @@ pub(crate) enum CtrlStatus {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlMsgType {
+pub enum CtrlMsgType {
    #[default]
    MsgTypeInvalid = 0,
    Req = 1,
@ -587,7 +585,7 @@ pub(crate) enum CtrlMsgType {
 #[derive(Debug, Default, Clone, Copy, Eq, PartialEq, Hash, PartialOrd, Ord, noproto::Enumeration)]
 #[repr(u32)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) enum CtrlMsgId {
+pub enum CtrlMsgId {
    #[default]
    MsgIdInvalid = 0,
    /// * Request Msgs *
--- a/embassy-net-tuntap/Cargo.toml
+++ b/embassy-net-tuntap/Cargo.toml
@ -6,7 +6,6 @@ keywords = ["embedded", "tuntap", "embassy-net", "embedded-hal-async", "ethernet
 categories = ["embedded", "hardware-support", "no-std", "network-programming", "async"]
 license = "MIT OR Apache-2.0"
 edition = "2021"
-repository = "https://github.com/embassy-rs/embassy"

 [dependencies]
 embassy-net-driver = { version = "0.2.0", path = "../embassy-net-driver" }
--- a/embassy-net-tuntap/src/lib.rs
+++ b/embassy-net-tuntap/src/lib.rs
@ -1,5 +1,3 @@
-#![warn(missing_docs)]
-#![doc = include_str!("../README.md")]
 use std::io;
 use std::io::{Read, Write};
 use std::os::unix::io::{AsRawFd, RawFd};
@ -9,19 +7,12 @@ use async_io::Async;
 use embassy_net_driver::{self, Capabilities, Driver, HardwareAddress, LinkState};
 use log::*;

-/// Get the MTU of the given interface.
 pub const SIOCGIFMTU: libc::c_ulong = 0x8921;
-/// Get the index of the given interface.
 pub const _SIOCGIFINDEX: libc::c_ulong = 0x8933;
-/// Capture all packages.
 pub const _ETH_P_ALL: libc::c_short = 0x0003;
-/// Set the interface flags.
 pub const TUNSETIFF: libc::c_ulong = 0x400454CA;
-/// TUN device.
 pub const _IFF_TUN: libc::c_int = 0x0001;
-/// TAP device.
 pub const IFF_TAP: libc::c_int = 0x0002;
-/// No packet information.
 pub const IFF_NO_PI: libc::c_int = 0x1000;

 const ETHERNET_HEADER_LEN: usize = 14;
@ -56,7 +47,6 @@ fn ifreq_ioctl(lower: libc::c_int, ifreq: &mut ifreq, cmd: libc::c_ulong) -> io:
    Ok(ifreq.ifr_data)
 }

-/// A TUN/TAP device.
 #[derive(Debug)]
 pub struct TunTap {
    fd: libc::c_int,
@ -70,7 +60,6 @@ impl AsRawFd for TunTap {
 }

 impl TunTap {
-    /// Create a new TUN/TAP device.
    pub fn new(name: &str) -> io::Result<TunTap> {
        unsafe {
            let fd = libc::open(
@ -137,13 +126,11 @@ impl io::Write for TunTap {
    }
 }

-/// A TUN/TAP device, wrapped in an async interface.
 pub struct TunTapDevice {
    device: Async<TunTap>,
 }

 impl TunTapDevice {
-    /// Create a new TUN/TAP device.
    pub fn new(name: &str) -> io::Result<TunTapDevice> {
        Ok(Self {
            device: Async::new(TunTap::new(name)?)?,
--- a/embassy-net-wiznet/Cargo.toml
+++ b/embassy-net-wiznet/Cargo.toml
@ -6,7 +6,6 @@ keywords = ["embedded", "wiznet", "embassy-net", "embedded-hal-async", "ethernet
 categories = ["embedded", "hardware-support", "no-std", "network-programming", "async"]
 license = "MIT OR Apache-2.0"
 edition = "2021"
-repository = "https://github.com/embassy-rs/embassy"

 [dependencies]
 embedded-hal = { version = "1.0.0-rc.3" }
--- a/embassy-net-wiznet/src/chip/mod.rs
+++ b/embassy-net-wiznet/src/chip/mod.rs
@ -1,4 +1,3 @@
-//! Wiznet W5100s and W5500 family driver.
 mod w5500;
 pub use w5500::W5500;
 mod w5100s;
@ -46,5 +45,4 @@ pub(crate) mod sealed {
    }
 }

-/// Trait for Wiznet chips.
 pub trait Chip: sealed::Chip {}
--- a/embassy-net-wiznet/src/chip/w5100s.rs
+++ b/embassy-net-wiznet/src/chip/w5100s.rs
@ -4,7 +4,6 @@ const SOCKET_BASE: u16 = 0x400;
 const TX_BASE: u16 = 0x4000;
 const RX_BASE: u16 = 0x6000;

-/// Wizard W5100S chip.
 pub enum W5100S {}

 impl super::Chip for W5100S {}
--- a/embassy-net-wiznet/src/chip/w5500.rs
+++ b/embassy-net-wiznet/src/chip/w5500.rs
@ -8,7 +8,6 @@ pub enum RegisterBlock {
    RxBuf = 0x03,
 }

-/// Wiznet W5500 chip.
 pub enum W5500 {}

 impl super::Chip for W5500 {}
--- a/embassy-net-wiznet/src/lib.rs
+++ b/embassy-net-wiznet/src/lib.rs
@ -1,7 +1,6 @@
 #![no_std]
 #![allow(async_fn_in_trait)]
 #![doc = include_str!("../README.md")]
-#![warn(missing_docs)]

 pub mod chip;
 mod device;
@ -48,7 +47,6 @@ pub struct Runner<'d, C: Chip, SPI: SpiDevice, INT: Wait, RST: OutputPin> {

 /// You must call this in a background task for the driver to operate.
 impl<'d, C: Chip, SPI: SpiDevice, INT: Wait, RST: OutputPin> Runner<'d, C, SPI, INT, RST> {
-    /// Run the driver.
    pub async fn run(mut self) -> ! {
        let (state_chan, mut rx_chan, mut tx_chan) = self.ch.split();
        let mut tick = Ticker::every(Duration::from_millis(500));
--- a/embassy-net/src/lib.rs
+++ b/embassy-net/src/lib.rs
@ -411,12 +411,10 @@ impl<D: Driver> Stack<D> {
    /// ```ignore
    /// let config = embassy_net::Config::dhcpv4(Default::default());
    ///// Init network stack
-    /// static RESOURCES: StaticCell<embassy_net::StackResources<2> = StaticCell::new();
-    /// static STACK: StaticCell<embassy_net::Stack> = StaticCell::new();
-    /// let stack = &*STACK.init(embassy_net::Stack::new(
+    /// let stack = &*make_static!(embassy_net::Stack::new(
    ///    device,
    ///    config,
-    ///    RESOURCES.init(embassy_net::StackResources::new()),
+    ///    make_static!(embassy_net::StackResources::<2>::new()),
    ///    seed
    /// ));
    /// // Launch network task that runs `stack.run().await`
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@ -87,5 +87,5 @@ pio = {version= "0.2.1" }
 rp2040-boot2 = "0.3"

 [dev-dependencies]
-embassy-executor = { version = "0.4.0", path = "../embassy-executor", features = ["arch-std", "executor-thread"] }
+embassy-executor = { version = "0.4.0", path = "../embassy-executor", features = ["nightly", "arch-std", "executor-thread"] }
 static_cell = { version = "2" }
--- a/embassy-rp/src/lib.rs
+++ b/embassy-rp/src/lib.rs
@ -247,6 +247,7 @@ select_bootloader! {
 /// # Usage
 ///
 /// ```no_run
+/// #![feature(type_alias_impl_trait)]
 /// use embassy_rp::install_core0_stack_guard;
 /// use embassy_executor::{Executor, Spawner};
 ///
--- a/embassy-rp/src/multicore.rs
+++ b/embassy-rp/src/multicore.rs
@ -11,6 +11,7 @@
 //! # Usage
 //!
 //! ```no_run
+//! # #![feature(type_alias_impl_trait)]
 //! use embassy_rp::multicore::Stack;
 //! use static_cell::StaticCell;
 //! use embassy_executor::Executor;
--- a/embassy-stm32-wpan/Cargo.toml
+++ b/embassy-stm32-wpan/Cargo.toml
@ -26,7 +26,7 @@ aligned = "0.4.1"

 bit_field = "0.10.2"
 stm32-device-signature = { version = "0.3.3", features = ["stm32wb5x"] }
-stm32wb-hci = { git = "https://github.com/Dirbaio/stm32wb-hci", rev = "0aff47e009c30c5fc5d520672625173d75f7505c", optional = true }
+stm32wb-hci = { version = "0.1.4", optional = true }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 bitflags = { version = "2.3.3", optional = true }

--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@ -56,8 +56,9 @@ cortex-m = "0.7.6"
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 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-2234f380f51d16d0398b8e547088b33ea623cc7c" }
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-91cee0d1fdcb4e447b65a09756b506f4af91b7e2" }
 vcell = "0.1.3"
 bxcan = "0.7.0"
 nb = "1.0.0"
@ -75,7 +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-2234f380f51d16d0398b8e547088b33ea623cc7c", default-features = false, features = ["metadata"]}
+stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-91cee0d1fdcb4e447b65a09756b506f4af91b7e2", default-features = false, features = ["metadata"]}


 [features]
--- a/embassy-stm32/src/dma/bdma.rs
+++ b/embassy-stm32/src/dma/bdma.rs
@ -23,10 +23,6 @@ use crate::pac::bdma::{regs, vals};
 #[non_exhaustive]
 pub struct TransferOptions {
    /// Enable circular DMA
-    ///
-    /// Note:
-    /// If you enable circular mode manually, you may want to build and `.await` the `Transfer` in a separate task.
-    /// Since DMA in circular mode need manually stop, `.await` in current task would block the task forever.
    pub circular: bool,
    /// Enable half transfer interrupt
    pub half_transfer_ir: bool,
@ -307,14 +303,20 @@ impl<'a, C: Channel> Transfer<'a, C> {
        ch.cr().write(|w| {
            w.set_psize(data_size.into());
            w.set_msize(data_size.into());
-            w.set_minc(incr_mem);
+            if incr_mem {
+                w.set_minc(vals::Inc::ENABLED);
+            } else {
+                w.set_minc(vals::Inc::DISABLED);
+            }
            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);
@ -350,7 +352,7 @@ impl<'a, C: Channel> Transfer<'a, C> {
    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();
+        let circular = ch.cr().read().circ() == vals::Circ::ENABLED;
        let tcif = STATE.complete_count[self.channel.index()].load(Ordering::Acquire) != 0;
        en && (circular || !tcif)
    }
@ -465,12 +467,12 @@ 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(true);
+        w.set_minc(vals::Inc::ENABLED);
        w.set_dir(dir.into());
        w.set_teie(true);
        w.set_htie(true);
        w.set_tcie(true);
-        w.set_circ(true);
+        w.set_circ(vals::Circ::ENABLED);
        w.set_pl(vals::Pl::VERYHIGH);
        w.set_en(true);

@ -623,12 +625,12 @@ 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(true);
+        w.set_minc(vals::Inc::ENABLED);
        w.set_dir(dir.into());
        w.set_teie(true);
        w.set_htie(true);
        w.set_tcie(true);
-        w.set_circ(true);
+        w.set_circ(vals::Circ::ENABLED);
        w.set_pl(vals::Pl::VERYHIGH);
        w.set_en(true);

--- a/embassy-stm32/src/dma/dma.rs
+++ b/embassy-stm32/src/dma/dma.rs
@ -30,10 +30,6 @@ pub struct TransferOptions {
    /// FIFO threshold for DMA FIFO mode. If none, direct mode is used.
    pub fifo_threshold: Option<FifoThreshold>,
    /// Enable circular DMA
-    ///
-    /// Note:
-    /// If you enable circular mode manually, you may want to build and `.await` the `Transfer` in a separate task.
-    /// Since DMA in circular mode need manually stop, `.await` in current task would block the task forever.
    pub circular: bool,
    /// Enable half transfer interrupt
    pub half_transfer_ir: bool,
@ -386,13 +382,18 @@ 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(incr_mem);
-            w.set_pinc(false);
+            w.set_minc(match incr_mem {
+                true => vals::Inc::INCREMENTED,
+                false => vals::Inc::FIXED,
+            });
+            w.set_pinc(vals::Inc::FIXED);
            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);
@ -544,8 +545,8 @@ 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(true);
-            w.set_pinc(false);
+            w.set_minc(vals::Inc::INCREMENTED);
+            w.set_pinc(vals::Inc::FIXED);
            w.set_teie(true);
            w.set_tcie(true);
            #[cfg(dma_v1)]
@ -702,12 +703,12 @@ 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(true);
-        w.set_pinc(false);
+        w.set_minc(vals::Inc::INCREMENTED);
+        w.set_pinc(vals::Inc::FIXED);
        w.set_teie(true);
        w.set_htie(options.half_transfer_ir);
        w.set_tcie(true);
-        w.set_circ(true);
+        w.set_circ(vals::Circ::ENABLED);
        #[cfg(dma_v1)]
        w.set_trbuff(true);
        #[cfg(dma_v2)]
@ -877,12 +878,12 @@ 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(true);
-        w.set_pinc(false);
+        w.set_minc(vals::Inc::INCREMENTED);
+        w.set_pinc(vals::Inc::FIXED);
        w.set_teie(true);
        w.set_htie(options.half_transfer_ir);
        w.set_tcie(true);
-        w.set_circ(true);
+        w.set_circ(vals::Circ::ENABLED);
        #[cfg(dma_v1)]
        w.set_trbuff(true);
        #[cfg(dma_v2)]
--- a/embassy-stm32/src/dma/gpdma.rs
+++ b/embassy-stm32/src/dma/gpdma.rs
@ -16,7 +16,6 @@ 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]
@ -114,13 +113,10 @@ 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 {}

@ -135,14 +131,12 @@ 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,
@ -153,7 +147,6 @@ 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,
@ -179,7 +172,6 @@ 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,
@ -190,7 +182,6 @@ 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,
@ -216,7 +207,6 @@ 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,
@ -307,9 +297,6 @@ 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| {
@ -317,10 +304,6 @@ 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();
@ -334,7 +317,6 @@ 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() {}

--- a/embassy-stm32/src/hrtim/mod.rs
+++ b/embassy-stm32/src/hrtim/mod.rs
@ -15,42 +15,38 @@ use crate::rcc::get_freqs;
 use crate::time::Hertz;
 use crate::Peripheral;

-/// HRTIM burst controller instance.
+pub enum Source {
+    Master,
+    ChA,
+    ChB,
+    ChC,
+    ChD,
+    ChE,
+    #[cfg(hrtim_v2)]
+    ChF,
+}
+
 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>,
@ -64,26 +60,22 @@ mod sealed {
    }
 }

-/// Advanced channel instance trait.
 pub trait AdvancedChannel<T: Instance>: sealed::AdvancedChannel<T> {}

-/// HRTIM PWM pin.
-pub struct PwmPin<'d, T, C> {
+pub struct PwmPin<'d, Perip, Channel> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(T, C)>,
+    phantom: PhantomData<(Perip, Channel)>,
 }

-/// HRTIM complementary PWM pin.
-pub struct ComplementaryPwmPin<'d, T, C> {
+pub struct ComplementaryPwmPin<'d, Perip, Channel> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(T, C)>,
+    phantom: PhantomData<(Perip, Channel)>,
 }

 macro_rules! advanced_channel_impl {
    ($new_chx:ident, $channel:tt, $ch_num:expr, $pin_trait:ident, $complementary_pin_trait:ident) => {
-        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 {
+        impl<'d, Perip: Instance> PwmPin<'d, Perip, $channel<Perip>> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -98,9 +90,8 @@ macro_rules! advanced_channel_impl {
            }
        }

-        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 {
+        impl<'d, Perip: Instance> ComplementaryPwmPin<'d, Perip, $channel<Perip>> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $complementary_pin_trait<Perip>> + 'd) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -135,29 +126,18 @@ 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>>>,
@ -220,7 +200,13 @@ impl<'d, T: Instance> AdvancedPwm<'d, T> {
    }
 }

-/// Fixed-frequency bridge converter driver.
+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
 ///
 /// 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
@ -239,7 +225,6 @@ 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};

@ -296,17 +281,14 @@ 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
@ -319,7 +301,6 @@ 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
@ -376,7 +357,7 @@ impl<T: Instance, C: AdvancedChannel<T>> BridgeConverter<T, C> {
    }
 }

-/// Variable-frequency resonant converter driver.
+/// Represents a variable-frequency resonant converter
 ///
 /// 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
@ -389,7 +370,6 @@ 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);

@ -428,7 +408,6 @@ 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);
--- a/embassy-stm32/src/hrtim/traits.rs
+++ b/embassy-stm32/src/hrtim/traits.rs
@ -125,6 +125,7 @@ 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();

@ -147,10 +148,13 @@ 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! {
--- a/embassy-stm32/src/ipcc.rs
+++ b/embassy-stm32/src/ipcc.rs
@ -1,5 +1,3 @@
-//! Inter-Process Communication Controller (IPCC)
-
 use core::future::poll_fn;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
@ -43,7 +41,6 @@ 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 {
@ -75,7 +72,6 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::IPCC_C1_TX> for Transmi
    }
 }

-/// IPCC config.
 #[non_exhaustive]
 #[derive(Clone, Copy, Default)]
 pub struct Config {
@ -83,8 +79,6 @@ pub struct Config {
    // reserved for future use
 }

-/// Channel.
-#[allow(missing_docs)]
 #[derive(Debug, Clone, Copy)]
 #[repr(C)]
 pub enum IpccChannel {
@ -96,11 +90,9 @@ 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);
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@ -1,6 +1,5 @@
 #![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>"#)]
@ -80,7 +79,6 @@ pub(crate) mod _generated {
    #![allow(dead_code)]
    #![allow(unused_imports)]
    #![allow(non_snake_case)]
-    #![allow(missing_docs)]

    include!(concat!(env!("OUT_DIR"), "/_generated.rs"));
 }
--- a/embassy-stm32/src/low_power.rs
+++ b/embassy-stm32/src/low_power.rs
@ -1,54 +1,50 @@
-//! 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::StaticCell;
-//!
-//! #[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());
-//!     static RTC: StaticCell<Rtc> = StaticCell::new();
-//!     let rtc = RTC.init(rtc);
-//!     embassy_stm32::low_power::stop_with_rtc(rtc);
-//!
-//!     // your application here...
-//! }
-//! ```
-
+/// 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};
@ -68,7 +64,6 @@ 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();
        }
@ -80,15 +75,10 @@ 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,
@ -97,13 +87,10 @@ pub fn stop_ready(stop_mode: StopMode) -> bool {
    }
 }

-/// Available stop modes.
 #[non_exhaustive]
 #[derive(PartialEq)]
 pub enum StopMode {
-    /// STOP 1
    Stop1,
-    /// STOP 2
    Stop2,
 }

--- a/embassy-stm32/src/opamp.rs
+++ b/embassy-stm32/src/opamp.rs
@ -1,12 +1,9 @@
-//! 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,
@ -16,8 +13,6 @@ pub enum OpAmpGain {
    Mul16,
 }

-/// Speed
-#[allow(missing_docs)]
 #[derive(Clone, Copy)]
 pub enum OpAmpSpeed {
    Normal,
@ -185,7 +180,6 @@ impl<'d, T: Instance> Drop for OpAmpInternalOutput<'d, T> {
    }
 }

-/// Opamp instance trait.
 pub trait Instance: sealed::Instance + 'static {}

 pub(crate) mod sealed {
@ -204,11 +198,8 @@ 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 {
--- a/embassy-stm32/src/qspi/enums.rs
+++ b/embassy-stm32/src/qspi/enums.rs
@ -1,5 +1,3 @@
-//! Enums used in QSPI configuration.
-
 #[allow(dead_code)]
 #[derive(Copy, Clone)]
 pub(crate) enum QspiMode {
--- a/embassy-stm32/src/qspi/mod.rs
+++ b/embassy-stm32/src/qspi/mod.rs
@ -14,7 +14,6 @@ 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,
@ -46,7 +45,6 @@ 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.
@ -73,7 +71,6 @@ impl Default for Config {
    }
 }

-/// QSPI driver.
 #[allow(dead_code)]
 pub struct Qspi<'d, T: Instance, Dma> {
    _peri: PeripheralRef<'d, T>,
@ -88,7 +85,6 @@ 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,
@ -129,7 +125,6 @@ impl<'d, T: Instance, Dma> Qspi<'d, T, Dma> {
        )
    }

-    /// 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,
@ -228,7 +223,6 @@ 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));
@ -238,7 +232,6 @@ 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));
@ -263,7 +256,6 @@ 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))]
@ -286,7 +278,6 @@ 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>,
@ -319,7 +310,6 @@ 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>,
@ -389,7 +379,6 @@ pub(crate) mod sealed {
    }
 }

-/// QSPI instance trait.
 pub trait Instance: Peripheral<P = Self> + sealed::Instance + RccPeripheral {}

 pin_trait!(SckPin, Instance);
--- a/embassy-stm32/src/rng.rs
+++ b/embassy-stm32/src/rng.rs
@ -80,7 +80,6 @@ impl<'d, T: Instance> Rng<'d, T> {
        let _ = self.next_u32();
    }

-    /// Reset the RNG.
    #[cfg(not(rng_v1))]
    pub fn reset(&mut self) {
        T::regs().cr().write(|reg| {
--- a/embassy-stm32/src/rtc/mod.rs
+++ b/embassy-stm32/src/rtc/mod.rs
@ -130,7 +130,7 @@ impl RtcTimeProvider {
            let weekday = day_of_week_from_u8(dr.wdu()).map_err(RtcError::InvalidDateTime)?;
            let day = bcd2_to_byte((dr.dt(), dr.du()));
            let month = bcd2_to_byte((dr.mt() as u8, dr.mu()));
-            let year = bcd2_to_byte((dr.yt(), dr.yu())) as u16 + 2000_u16;
+            let year = bcd2_to_byte((dr.yt(), dr.yu())) as u16 + 1970_u16;

            DateTime::from(year, month, day, weekday, hour, minute, second).map_err(RtcError::InvalidDateTime)
        })
@ -261,7 +261,7 @@ impl Rtc {
            let (dt, du) = byte_to_bcd2(t.day() as u8);
            let (mt, mu) = byte_to_bcd2(t.month() as u8);
            let yr = t.year() as u16;
-            let yr_offset = (yr - 2000_u16) as u8;
+            let yr_offset = (yr - 1970_u16) as u8;
            let (yt, yu) = byte_to_bcd2(yr_offset);

            use crate::pac::rtc::vals::Ampm;
--- a/embassy-stm32/src/sdmmc/mod.rs
+++ b/embassy-stm32/src/sdmmc/mod.rs
@ -54,7 +54,6 @@ const SD_INIT_FREQ: Hertz = Hertz(400_000);

 /// The signalling scheme used on the SDMMC bus
 #[non_exhaustive]
-#[allow(missing_docs)]
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Signalling {
@ -71,9 +70,6 @@ impl Default for Signalling {
    }
 }

-/// Aligned data block for SDMMC transfers.
-///
-/// This is a 512-byte array, aligned to 4 bytes to satisfy DMA requirements.
 #[repr(align(4))]
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@ -98,23 +94,17 @@ impl DerefMut for DataBlock {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    /// Timeout reported by the hardware
    Timeout,
-    /// Timeout reported by the software driver.
    SoftwareTimeout,
-    /// Unsupported card version.
    UnsupportedCardVersion,
-    /// Unsupported card type.
    UnsupportedCardType,
-    /// CRC error.
    Crc,
-    /// No card inserted.
+    DataCrcFail,
+    RxOverFlow,
    NoCard,
-    /// Bad clock supplied to the SDMMC peripheral.
    BadClock,
-    /// Signaling switch failed.
    SignalingSwitchFailed,
-    /// ST bit error.
+    PeripheralBusy,
    #[cfg(sdmmc_v1)]
    StBitErr,
 }
@ -293,7 +283,6 @@ pub struct Sdmmc<'d, T: Instance, Dma: SdmmcDma<T> = NoDma> {

 #[cfg(sdmmc_v1)]
 impl<'d, T: Instance, Dma: SdmmcDma<T>> Sdmmc<'d, T, Dma> {
-    /// Create a new SDMMC driver, with 1 data lane.
    pub fn new_1bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -328,7 +317,6 @@ impl<'d, T: Instance, Dma: SdmmcDma<T>> Sdmmc<'d, T, Dma> {
        )
    }

-    /// Create a new SDMMC driver, with 4 data lanes.
    pub fn new_4bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -375,7 +363,6 @@ impl<'d, T: Instance, Dma: SdmmcDma<T>> Sdmmc<'d, T, Dma> {

 #[cfg(sdmmc_v2)]
 impl<'d, T: Instance> Sdmmc<'d, T, NoDma> {
-    /// Create a new SDMMC driver, with 1 data lane.
    pub fn new_1bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -409,7 +396,6 @@ impl<'d, T: Instance> Sdmmc<'d, T, NoDma> {
        )
    }

-    /// Create a new SDMMC driver, with 4 data lanes.
    pub fn new_4bit(
        sdmmc: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -511,7 +497,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Data transfer is in progress
-    #[inline]
+    #[inline(always)]
    fn data_active() -> bool {
        let regs = T::regs();

@ -523,7 +509,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Coammand transfer is in progress
-    #[inline]
+    #[inline(always)]
    fn cmd_active() -> bool {
        let regs = T::regs();

@ -535,7 +521,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Wait idle on CMDACT, RXACT and TXACT (v1) or DOSNACT and CPSMACT (v2)
-    #[inline]
+    #[inline(always)]
    fn wait_idle() {
        while Self::data_active() || Self::cmd_active() {}
    }
@ -851,7 +837,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    }

    /// Clear flags in interrupt clear register
-    #[inline]
+    #[inline(always)]
    fn clear_interrupt_flags() {
        let regs = T::regs();
        regs.icr().write(|w| {
@ -1166,8 +1152,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
        Ok(())
    }

-    /// Read a data block.
-    #[inline]
+    #[inline(always)]
    pub async fn read_block(&mut self, block_idx: u32, buffer: &mut DataBlock) -> Result<(), Error> {
        let card_capacity = self.card()?.card_type;

@ -1219,7 +1204,6 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
        res
    }

-    /// Write a data block.
    pub async fn write_block(&mut self, block_idx: u32, buffer: &DataBlock) -> Result<(), Error> {
        let card = self.card.as_mut().ok_or(Error::NoCard)?;

@ -1299,7 +1283,7 @@ impl<'d, T: Instance, Dma: SdmmcDma<T> + 'd> Sdmmc<'d, T, Dma> {
    ///
    /// Returns Error::NoCard if [`init_card`](#method.init_card)
    /// has not previously succeeded
-    #[inline]
+    #[inline(always)]
    pub fn card(&self) -> Result<&Card, Error> {
        self.card.as_ref().ok_or(Error::NoCard)
    }
@ -1435,9 +1419,7 @@ pub(crate) mod sealed {
    pub trait Pins<T: Instance> {}
 }

-/// SDMMC instance trait.
 pub trait Instance: sealed::Instance + RccPeripheral + 'static {}
-
 pin_trait!(CkPin, Instance);
 pin_trait!(CmdPin, Instance);
 pin_trait!(D0Pin, Instance);
@ -1452,10 +1434,7 @@ pin_trait!(D7Pin, Instance);
 #[cfg(sdmmc_v1)]
 dma_trait!(SdmmcDma, Instance);

-/// DMA instance trait.
-///
-/// This is only implemented for `NoDma`, since SDMMCv2 has DMA built-in, instead of
-/// using ST's system-wide DMA peripheral.
+// SDMMCv2 uses internal DMA
 #[cfg(sdmmc_v2)]
 pub trait SdmmcDma<T: Instance> {}
 #[cfg(sdmmc_v2)]
@ -1538,3 +1517,53 @@ foreach_peripheral!(
        impl Instance for peripherals::$inst {}
    };
 );
+
+#[cfg(feature = "embedded-sdmmc")]
+mod sdmmc_rs {
+    use embedded_sdmmc::{Block, BlockCount, BlockDevice, BlockIdx};
+
+    use super::*;
+
+    impl<'d, T: Instance, Dma: SdmmcDma<T>> BlockDevice for Sdmmc<'d, T, Dma> {
+        type Error = Error;
+
+        async fn read(
+            &mut self,
+            blocks: &mut [Block],
+            start_block_idx: BlockIdx,
+            _reason: &str,
+        ) -> Result<(), Self::Error> {
+            let mut address = start_block_idx.0;
+
+            for block in blocks.iter_mut() {
+                let block: &mut [u8; 512] = &mut block.contents;
+
+                // NOTE(unsafe) Block uses align(4)
+                let block = unsafe { &mut *(block as *mut _ as *mut DataBlock) };
+                self.read_block(address, block).await?;
+                address += 1;
+            }
+            Ok(())
+        }
+
+        async fn write(&mut self, blocks: &[Block], start_block_idx: BlockIdx) -> Result<(), Self::Error> {
+            let mut address = start_block_idx.0;
+
+            for block in blocks.iter() {
+                let block: &[u8; 512] = &block.contents;
+
+                // NOTE(unsafe) DataBlock uses align 4
+                let block = unsafe { &*(block as *const _ as *const DataBlock) };
+                self.write_block(address, block).await?;
+                address += 1;
+            }
+            Ok(())
+        }
+
+        fn num_blocks(&self) -> Result<BlockCount, Self::Error> {
+            let card = self.card()?;
+            let count = card.csd.block_count();
+            Ok(BlockCount(count))
+        }
+    }
+}
--- a/embassy-stm32/src/spi/mod.rs
+++ b/embassy-stm32/src/spi/mod.rs
@ -16,38 +16,27 @@ use crate::rcc::RccPeripheral;
 use crate::time::Hertz;
 use crate::{peripherals, Peripheral};

-/// SPI error.
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    /// Invalid framing.
    Framing,
-    /// CRC error (only if hardware CRC checking is enabled).
    Crc,
-    /// Mode fault
    ModeFault,
-    /// Overrun.
    Overrun,
 }

-/// SPI bit order
+// TODO move upwards in the tree
 #[derive(Copy, Clone)]
 pub enum BitOrder {
-    /// Least significant bit first.
    LsbFirst,
-    /// Most significant bit first.
    MsbFirst,
 }

-/// SPI configuration.
 #[non_exhaustive]
 #[derive(Copy, Clone)]
 pub struct Config {
-    /// SPI mode.
    pub mode: Mode,
-    /// Bit order.
    pub bit_order: BitOrder,
-    /// Clock frequency.
    pub frequency: Hertz,
 }

@ -84,7 +73,6 @@ impl Config {
    }
 }

-/// SPI driver.
 pub struct Spi<'d, T: Instance, Tx, Rx> {
    _peri: PeripheralRef<'d, T>,
    sck: Option<PeripheralRef<'d, AnyPin>>,
@ -96,7 +84,6 @@ pub struct Spi<'d, T: Instance, Tx, Rx> {
 }

 impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
-    /// Create a new SPI driver.
    pub fn new(
        peri: impl Peripheral<P = T> + 'd,
        sck: impl Peripheral<P = impl SckPin<T>> + 'd,
@ -131,7 +118,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        )
    }

-    /// Create a new SPI driver, in RX-only mode (only MISO pin, no MOSI).
    pub fn new_rxonly(
        peri: impl Peripheral<P = T> + 'd,
        sck: impl Peripheral<P = impl SckPin<T>> + 'd,
@ -157,7 +143,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        )
    }

-    /// Create a new SPI driver, in TX-only mode (only MOSI pin, no MISO).
    pub fn new_txonly(
        peri: impl Peripheral<P = T> + 'd,
        sck: impl Peripheral<P = impl SckPin<T>> + 'd,
@ -183,9 +168,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        )
    }

-    /// Create a new SPI driver, in TX-only mode, without SCK pin.
-    ///
-    /// This can be useful for bit-banging non-SPI protocols.
    pub fn new_txonly_nosck(
        peri: impl Peripheral<P = T> + 'd,
        mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
@ -373,7 +355,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

-    /// Get current SPI configuration.
    pub fn get_current_config(&self) -> Config {
        #[cfg(any(spi_v1, spi_f1, spi_v2))]
        let cfg = T::REGS.cr1().read();
@ -463,7 +444,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        self.current_word_size = word_size;
    }

-    /// SPI write, using DMA.
    pub async fn write<W: Word>(&mut self, data: &[W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -497,7 +477,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

-    /// SPI read, using DMA.
    pub async fn read<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -601,12 +580,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

-    /// Bidirectional transfer, using DMA.
-    ///
-    /// This transfers both buffers at the same time, so it is NOT equivalent to `write` followed by `read`.
-    ///
-    /// The transfer runs for `max(read.len(), write.len())` bytes. If `read` is shorter extra bytes are ignored.
-    /// If `write` is shorter it is padded with zero bytes.
    pub async fn transfer<W: Word>(&mut self, read: &mut [W], write: &[W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -615,9 +588,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        self.transfer_inner(read, write).await
    }

-    /// In-place bidirectional transfer, using DMA.
-    ///
-    /// This writes the contents of `data` on MOSI, and puts the received data on MISO in `data`, at the same time.
    pub async fn transfer_in_place<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error>
    where
        Tx: TxDma<T>,
@ -626,7 +596,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        self.transfer_inner(data, data).await
    }

-    /// Blocking write.
    pub fn blocking_write<W: Word>(&mut self, words: &[W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -637,7 +606,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

-    /// Blocking read.
    pub fn blocking_read<W: Word>(&mut self, words: &mut [W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -648,9 +616,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

-    /// Blocking in-place bidirectional transfer.
-    ///
-    /// This writes the contents of `data` on MOSI, and puts the received data on MISO in `data`, at the same time.
    pub fn blocking_transfer_in_place<W: Word>(&mut self, words: &mut [W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -661,12 +626,6 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
        Ok(())
    }

-    /// Blocking bidirectional transfer.
-    ///
-    /// This transfers both buffers at the same time, so it is NOT equivalent to `write` followed by `read`.
-    ///
-    /// The transfer runs for `max(read.len(), write.len())` bytes. If `read` is shorter extra bytes are ignored.
-    /// If `write` is shorter it is padded with zero bytes.
    pub fn blocking_transfer<W: Word>(&mut self, read: &mut [W], write: &[W]) -> Result<(), Error> {
        T::REGS.cr1().modify(|w| w.set_spe(true));
        flush_rx_fifo(T::REGS);
@ -987,7 +946,6 @@ pub(crate) mod sealed {
    }
 }

-/// Word sizes usable for SPI.
 pub trait Word: word::Word + sealed::Word {}

 macro_rules! impl_word {
@ -1067,9 +1025,7 @@ mod word_impl {
    impl_word!(u32, 32 - 1);
 }

-/// SPI instance trait.
 pub trait Instance: Peripheral<P = Self> + sealed::Instance + RccPeripheral {}
-
 pin_trait!(SckPin, Instance);
 pin_trait!(MosiPin, Instance);
 pin_trait!(MisoPin, Instance);
--- a/embassy-stm32/src/time.rs
+++ b/embassy-stm32/src/time.rs
@ -8,17 +8,14 @@ use core::ops::{Div, Mul};
 pub struct Hertz(pub u32);

 impl Hertz {
-    /// Create a `Hertz` from the given hertz.
    pub const fn hz(hertz: u32) -> Self {
        Self(hertz)
    }

-    /// Create a `Hertz` from the given kilohertz.
    pub const fn khz(kilohertz: u32) -> Self {
        Self(kilohertz * 1_000)
    }

-    /// Create a `Hertz` from the given megahertz.
    pub const fn mhz(megahertz: u32) -> Self {
        Self(megahertz * 1_000_000)
    }
--- a/embassy-stm32/src/timer/complementary_pwm.rs
+++ b/embassy-stm32/src/timer/complementary_pwm.rs
@ -13,19 +13,15 @@ use crate::gpio::{AnyPin, OutputType};
 use crate::time::Hertz;
 use crate::Peripheral;

-/// Complementary PWM pin wrapper.
-///
-/// This wraps a pin to make it usable with PWM.
-pub struct ComplementaryPwmPin<'d, T, C> {
+pub struct ComplementaryPwmPin<'d, Perip, Channel> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(T, C)>,
+    phantom: PhantomData<(Perip, Channel)>,
 }

 macro_rules! complementary_channel_impl {
    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
-        impl<'d, T: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, T, $channel> {
-            #[doc = concat!("Create a new ", stringify!($channel), " complementary PWM pin instance.")]
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, output_type: OutputType) -> Self {
+        impl<'d, Perip: CaptureCompare16bitInstance> ComplementaryPwmPin<'d, Perip, $channel> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd, output_type: OutputType) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -47,13 +43,11 @@ complementary_channel_impl!(new_ch2, Ch2, Channel2ComplementaryPin);
 complementary_channel_impl!(new_ch3, Ch3, Channel3ComplementaryPin);
 complementary_channel_impl!(new_ch4, Ch4, Channel4ComplementaryPin);

-/// PWM driver with support for standard and complementary outputs.
 pub struct ComplementaryPwm<'d, T> {
    inner: PeripheralRef<'d, T>,
 }

 impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
-    /// Create a new complementary PWM driver.
    pub fn new(
        tim: impl Peripheral<P = T> + 'd,
        _ch1: Option<PwmPin<'d, T, Ch1>>,
@ -78,7 +72,7 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
        let mut this = Self { inner: tim };

        this.inner.set_counting_mode(counting_mode);
-        this.set_frequency(freq);
+        this.set_freq(freq);
        this.inner.start();

        this.inner.enable_outputs();
@ -94,23 +88,17 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
        this
    }

-    /// Enable the given channel.
    pub fn enable(&mut self, channel: Channel) {
        self.inner.enable_channel(channel, true);
        self.inner.enable_complementary_channel(channel, true);
    }

-    /// Disable the given channel.
    pub fn disable(&mut self, channel: Channel) {
        self.inner.enable_complementary_channel(channel, false);
        self.inner.enable_channel(channel, false);
    }

-    /// Set PWM frequency.
-    ///
-    /// Note: when you call this, the max duty value changes, so you will have to
-    /// call `set_duty` on all channels with the duty calculated based on the new max duty.
-    pub fn set_frequency(&mut self, freq: Hertz) {
+    pub fn set_freq(&mut self, freq: Hertz) {
        let multiplier = if self.inner.get_counting_mode().is_center_aligned() {
            2u8
        } else {
@ -119,22 +107,15 @@ impl<'d, T: ComplementaryCaptureCompare16bitInstance> ComplementaryPwm<'d, T> {
        self.inner.set_frequency(freq * multiplier);
    }

-    /// Get max duty value.
-    ///
-    /// This value depends on the configured frequency and the timer's clock rate from RCC.
    pub fn get_max_duty(&self) -> u16 {
        self.inner.get_max_compare_value() + 1
    }

-    /// Set the duty for a given channel.
-    ///
-    /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
    pub fn set_duty(&mut self, channel: Channel, duty: u16) {
        assert!(duty <= self.get_max_duty());
        self.inner.set_compare_value(channel, duty)
    }

-    /// Set the output polarity for a given channel.
    pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
        self.inner.set_output_polarity(channel, polarity);
        self.inner.set_complementary_output_polarity(channel, polarity);
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@ -17,27 +17,17 @@ pub mod low_level {
 }

 pub(crate) mod sealed {
-    use super::*;

-    /// Basic 16-bit timer instance.
+    use super::*;
    pub trait Basic16bitInstance: RccPeripheral {
-        /// Interrupt for this timer.
        type Interrupt: interrupt::typelevel::Interrupt;

-        /// Get access to the basic 16bit timer registers.
-        ///
-        /// Note: This works even if the timer is more capable, because registers
-        /// for the less capable timers are a subset. This allows writing a driver
-        /// for a given set of capabilities, and having it transparently work with
-        /// more capable timers.
        fn regs() -> crate::pac::timer::TimBasic;

-        /// Start the timer.
        fn start(&mut self) {
            Self::regs().cr1().modify(|r| r.set_cen(true));
        }

-        /// Stop the timer.
        fn stop(&mut self) {
            Self::regs().cr1().modify(|r| r.set_cen(false));
        }
@ -73,9 +63,6 @@ pub(crate) mod sealed {
            regs.cr1().modify(|r| r.set_urs(vals::Urs::ANYEVENT));
        }

-        /// Clear update interrupt.
-        ///
-        /// Returns whether the update interrupt flag was set.
        fn clear_update_interrupt(&mut self) -> bool {
            let regs = Self::regs();
            let sr = regs.sr().read();
@ -89,17 +76,14 @@ pub(crate) mod sealed {
            }
        }

-        /// Enable/disable the update interrupt.
        fn enable_update_interrupt(&mut self, enable: bool) {
            Self::regs().dier().write(|r| r.set_uie(enable));
        }

-        /// Enable/disable autoreload preload.
        fn set_autoreload_preload(&mut self, enable: bool) {
            Self::regs().cr1().modify(|r| r.set_arpe(enable));
        }

-        /// Get the timer frequency.
        fn get_frequency(&self) -> Hertz {
            let timer_f = Self::frequency();

@ -111,17 +95,9 @@ pub(crate) mod sealed {
        }
    }

-    /// Gneral-purpose 16-bit timer instance.
    pub trait GeneralPurpose16bitInstance: Basic16bitInstance {
-        /// Get access to the general purpose 16bit timer registers.
-        ///
-        /// Note: This works even if the timer is more capable, because registers
-        /// for the less capable timers are a subset. This allows writing a driver
-        /// for a given set of capabilities, and having it transparently work with
-        /// more capable timers.
        fn regs_gp16() -> crate::pac::timer::TimGp16;

-        /// Set counting mode.
        fn set_counting_mode(&mut self, mode: CountingMode) {
            let (cms, dir) = mode.into();

@ -134,29 +110,19 @@ pub(crate) mod sealed {
            Self::regs_gp16().cr1().modify(|r| r.set_cms(cms))
        }

-        /// Get counting mode.
        fn get_counting_mode(&self) -> CountingMode {
            let cr1 = Self::regs_gp16().cr1().read();
            (cr1.cms(), cr1.dir()).into()
        }

-        /// Set clock divider.
        fn set_clock_division(&mut self, ckd: vals::Ckd) {
            Self::regs_gp16().cr1().modify(|r| r.set_ckd(ckd));
        }
    }

-    /// Gneral-purpose 32-bit timer instance.
    pub trait GeneralPurpose32bitInstance: GeneralPurpose16bitInstance {
-        /// Get access to the general purpose 32bit timer registers.
-        ///
-        /// Note: This works even if the timer is more capable, because registers
-        /// for the less capable timers are a subset. This allows writing a driver
-        /// for a given set of capabilities, and having it transparently work with
-        /// more capable timers.
        fn regs_gp32() -> crate::pac::timer::TimGp32;

-        /// Set timer frequency.
        fn set_frequency(&mut self, frequency: Hertz) {
            let f = frequency.0;
            assert!(f > 0);
@ -174,7 +140,6 @@ pub(crate) mod sealed {
            regs.cr1().modify(|r| r.set_urs(vals::Urs::ANYEVENT));
        }

-        /// Get timer frequency.
        fn get_frequency(&self) -> Hertz {
            let timer_f = Self::frequency();

@ -186,177 +151,141 @@ pub(crate) mod sealed {
        }
    }

-    /// Advanced control timer instance.
    pub trait AdvancedControlInstance: GeneralPurpose16bitInstance {
-        /// Get access to the advanced timer registers.
        fn regs_advanced() -> crate::pac::timer::TimAdv;
    }

-    /// Capture/Compare 16-bit timer instance.
    pub trait CaptureCompare16bitInstance: GeneralPurpose16bitInstance {
-        /// Set input capture filter.
        fn set_input_capture_filter(&mut self, channel: Channel, icf: vals::Icf) {
-            let raw_channel = channel.index();
+            let raw_channel = channel.raw();
            Self::regs_gp16()
                .ccmr_input(raw_channel / 2)
                .modify(|r| r.set_icf(raw_channel % 2, icf));
        }

-        /// Clear input interrupt.
        fn clear_input_interrupt(&mut self, channel: Channel) {
-            Self::regs_gp16().sr().modify(|r| r.set_ccif(channel.index(), false));
+            Self::regs_gp16().sr().modify(|r| r.set_ccif(channel.raw(), false));
        }

-        /// Enable input interrupt.
        fn enable_input_interrupt(&mut self, channel: Channel, enable: bool) {
-            Self::regs_gp16().dier().modify(|r| r.set_ccie(channel.index(), enable));
+            Self::regs_gp16().dier().modify(|r| r.set_ccie(channel.raw(), enable));
        }
-
-        /// Set input capture prescaler.
        fn set_input_capture_prescaler(&mut self, channel: Channel, factor: u8) {
-            let raw_channel = channel.index();
+            let raw_channel = channel.raw();
            Self::regs_gp16()
                .ccmr_input(raw_channel / 2)
                .modify(|r| r.set_icpsc(raw_channel % 2, factor));
        }

-        /// Set input TI selection.
        fn set_input_ti_selection(&mut self, channel: Channel, tisel: InputTISelection) {
-            let raw_channel = channel.index();
+            let raw_channel = channel.raw();
            Self::regs_gp16()
                .ccmr_input(raw_channel / 2)
                .modify(|r| r.set_ccs(raw_channel % 2, tisel.into()));
        }
-
-        /// Set input capture mode.
        fn set_input_capture_mode(&mut self, channel: Channel, mode: InputCaptureMode) {
            Self::regs_gp16().ccer().modify(|r| match mode {
                InputCaptureMode::Rising => {
-                    r.set_ccnp(channel.index(), false);
-                    r.set_ccp(channel.index(), false);
+                    r.set_ccnp(channel.raw(), false);
+                    r.set_ccp(channel.raw(), false);
                }
                InputCaptureMode::Falling => {
-                    r.set_ccnp(channel.index(), false);
-                    r.set_ccp(channel.index(), true);
+                    r.set_ccnp(channel.raw(), false);
+                    r.set_ccp(channel.raw(), true);
                }
                InputCaptureMode::BothEdges => {
-                    r.set_ccnp(channel.index(), true);
-                    r.set_ccp(channel.index(), true);
+                    r.set_ccnp(channel.raw(), true);
+                    r.set_ccp(channel.raw(), true);
                }
            });
        }
-
-        /// Enable timer outputs.
        fn enable_outputs(&mut self);

-        /// Set output compare mode.
        fn set_output_compare_mode(&mut self, channel: Channel, mode: OutputCompareMode) {
            let r = Self::regs_gp16();
-            let raw_channel: usize = channel.index();
+            let raw_channel: usize = channel.raw();
            r.ccmr_output(raw_channel / 2)
                .modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
        }

-        /// Set output polarity.
        fn set_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
            Self::regs_gp16()
                .ccer()
-                .modify(|w| w.set_ccp(channel.index(), polarity.into()));
+                .modify(|w| w.set_ccp(channel.raw(), polarity.into()));
        }

-        /// Enable/disable a channel.
        fn enable_channel(&mut self, channel: Channel, enable: bool) {
-            Self::regs_gp16().ccer().modify(|w| w.set_cce(channel.index(), enable));
+            Self::regs_gp16().ccer().modify(|w| w.set_cce(channel.raw(), enable));
        }

-        /// Set compare value for a channel.
        fn set_compare_value(&mut self, channel: Channel, value: u16) {
-            Self::regs_gp16().ccr(channel.index()).modify(|w| w.set_ccr(value));
+            Self::regs_gp16().ccr(channel.raw()).modify(|w| w.set_ccr(value));
        }

-        /// Get capture value for a channel.
        fn get_capture_value(&mut self, channel: Channel) -> u16 {
-            Self::regs_gp16().ccr(channel.index()).read().ccr()
+            Self::regs_gp16().ccr(channel.raw()).read().ccr()
        }

-        /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
        fn get_max_compare_value(&self) -> u16 {
            Self::regs_gp16().arr().read().arr()
        }

-        /// Get compare value for a channel.
        fn get_compare_value(&self, channel: Channel) -> u16 {
-            Self::regs_gp16().ccr(channel.index()).read().ccr()
+            Self::regs_gp16().ccr(channel.raw()).read().ccr()
        }
    }

-    /// Capture/Compare 16-bit timer instance with complementary pin support.
    pub trait ComplementaryCaptureCompare16bitInstance: CaptureCompare16bitInstance + AdvancedControlInstance {
-        /// Set complementary output polarity.
        fn set_complementary_output_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
            Self::regs_advanced()
                .ccer()
-                .modify(|w| w.set_ccnp(channel.index(), polarity.into()));
+                .modify(|w| w.set_ccnp(channel.raw(), polarity.into()));
        }

-        /// Set clock divider for the dead time.
        fn set_dead_time_clock_division(&mut self, value: vals::Ckd) {
            Self::regs_advanced().cr1().modify(|w| w.set_ckd(value));
        }

-        /// Set dead time, as a fraction of the max duty value.
        fn set_dead_time_value(&mut self, value: u8) {
            Self::regs_advanced().bdtr().modify(|w| w.set_dtg(value));
        }

-        /// Enable/disable a complementary channel.
        fn enable_complementary_channel(&mut self, channel: Channel, enable: bool) {
            Self::regs_advanced()
                .ccer()
-                .modify(|w| w.set_ccne(channel.index(), enable));
+                .modify(|w| w.set_ccne(channel.raw(), enable));
        }
    }

-    /// Capture/Compare 32-bit timer instance.
    pub trait CaptureCompare32bitInstance: GeneralPurpose32bitInstance + CaptureCompare16bitInstance {
-        /// Set comapre value for a channel.
        fn set_compare_value(&mut self, channel: Channel, value: u32) {
-            Self::regs_gp32().ccr(channel.index()).modify(|w| w.set_ccr(value));
+            Self::regs_gp32().ccr(channel.raw()).modify(|w| w.set_ccr(value));
        }

-        /// Get capture value for a channel.
        fn get_capture_value(&mut self, channel: Channel) -> u32 {
-            Self::regs_gp32().ccr(channel.index()).read().ccr()
+            Self::regs_gp32().ccr(channel.raw()).read().ccr()
        }

-        /// Get max compare value. This depends on the timer frequency and the clock frequency from RCC.
        fn get_max_compare_value(&self) -> u32 {
            Self::regs_gp32().arr().read().arr()
        }

-        /// Get compare value for a channel.
        fn get_compare_value(&self, channel: Channel) -> u32 {
-            Self::regs_gp32().ccr(channel.index()).read().ccr()
+            Self::regs_gp32().ccr(channel.raw()).read().ccr()
        }
    }
 }

-/// Timer channel.
 #[derive(Clone, Copy)]
 pub enum Channel {
-    /// Channel 1.
    Ch1,
-    /// Channel 2.
    Ch2,
-    /// Channel 3.
    Ch3,
-    /// Channel 4.
    Ch4,
 }

 impl Channel {
-    /// Get the channel index (0..3)
-    pub fn index(&self) -> usize {
+    pub fn raw(&self) -> usize {
        match self {
            Channel::Ch1 => 0,
            Channel::Ch2 => 1,
@ -366,25 +295,17 @@ impl Channel {
    }
 }

-/// Input capture mode.
 #[derive(Clone, Copy)]
 pub enum InputCaptureMode {
-    /// Rising edge only.
    Rising,
-    /// Falling edge only.
    Falling,
-    /// Both rising or falling edges.
    BothEdges,
 }

-/// Input TI selection.
 #[derive(Clone, Copy)]
 pub enum InputTISelection {
-    /// Normal
    Normal,
-    /// Alternate
    Alternate,
-    /// TRC
    TRC,
 }

@ -398,7 +319,6 @@ impl From<InputTISelection> for stm32_metapac::timer::vals::CcmrInputCcs {
    }
 }

-/// Timer counting mode.
 #[repr(u8)]
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
 pub enum CountingMode {
@ -425,7 +345,6 @@ pub enum CountingMode {
 }

 impl CountingMode {
-    /// Return whether this mode is edge-aligned (up or down).
    pub fn is_edge_aligned(&self) -> bool {
        match self {
            CountingMode::EdgeAlignedUp | CountingMode::EdgeAlignedDown => true,
@ -433,7 +352,6 @@ impl CountingMode {
        }
    }

-    /// Return whether this mode is center-aligned.
    pub fn is_center_aligned(&self) -> bool {
        match self {
            CountingMode::CenterAlignedDownInterrupts
@ -468,34 +386,16 @@ impl From<(vals::Cms, vals::Dir)> for CountingMode {
    }
 }

-/// Output compare mode.
 #[derive(Clone, Copy)]
 pub enum OutputCompareMode {
-    /// The comparison between the output compare register TIMx_CCRx and
-    /// the counter TIMx_CNT has no effect on the outputs.
-    /// (this mode is used to generate a timing base).
    Frozen,
-    /// Set channel to active level on match. OCxREF signal is forced high when the
-    /// counter TIMx_CNT matches the capture/compare register x (TIMx_CCRx).
    ActiveOnMatch,
-    /// Set channel to inactive level on match. OCxREF signal is forced low when the
-    /// counter TIMx_CNT matches the capture/compare register x (TIMx_CCRx).
    InactiveOnMatch,
-    /// Toggle - OCxREF toggles when TIMx_CNT=TIMx_CCRx.
    Toggle,
-    /// Force inactive level - OCxREF is forced low.
    ForceInactive,
-    /// Force active level - OCxREF is forced high.
    ForceActive,
-    /// PWM mode 1 - In upcounting, channel is active as long as TIMx_CNT<TIMx_CCRx
-    /// else inactive. In downcounting, channel is inactive (OCxREF=0) as long as
-    /// TIMx_CNT>TIMx_CCRx else active (OCxREF=1).
    PwmMode1,
-    /// PWM mode 2 - In upcounting, channel is inactive as long as
-    /// TIMx_CNT<TIMx_CCRx else active. In downcounting, channel is active as long as
-    /// TIMx_CNT>TIMx_CCRx else inactive.
    PwmMode2,
-    // TODO: there's more modes here depending on the chip family.
 }

 impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
@ -513,12 +413,9 @@ impl From<OutputCompareMode> for stm32_metapac::timer::vals::Ocm {
    }
 }

-/// Timer output pin polarity.
 #[derive(Clone, Copy)]
 pub enum OutputPolarity {
-    /// Active high (higher duty value makes the pin spend more time high).
    ActiveHigh,
-    /// Active low (higher duty value makes the pin spend more time low).
    ActiveLow,
 }

@ -531,31 +428,24 @@ impl From<OutputPolarity> for bool {
    }
 }

-/// Basic 16-bit timer instance.
 pub trait Basic16bitInstance: sealed::Basic16bitInstance + 'static {}

-/// Gneral-purpose 16-bit timer instance.
 pub trait GeneralPurpose16bitInstance: sealed::GeneralPurpose16bitInstance + 'static {}

-/// Gneral-purpose 32-bit timer instance.
 pub trait GeneralPurpose32bitInstance: sealed::GeneralPurpose32bitInstance + 'static {}

-/// Advanced control timer instance.
 pub trait AdvancedControlInstance: sealed::AdvancedControlInstance + 'static {}

-/// Capture/Compare 16-bit timer instance.
 pub trait CaptureCompare16bitInstance:
    sealed::CaptureCompare16bitInstance + GeneralPurpose16bitInstance + 'static
 {
 }

-/// Capture/Compare 16-bit timer instance with complementary pin support.
 pub trait ComplementaryCaptureCompare16bitInstance:
    sealed::ComplementaryCaptureCompare16bitInstance + AdvancedControlInstance + 'static
 {
 }

-/// Capture/Compare 32-bit timer instance.
 pub trait CaptureCompare32bitInstance:
    sealed::CaptureCompare32bitInstance + CaptureCompare16bitInstance + GeneralPurpose32bitInstance + 'static
 {
--- a/embassy-stm32/src/timer/qei.rs
+++ b/embassy-stm32/src/timer/qei.rs
@ -9,30 +9,23 @@ use crate::gpio::sealed::AFType;
 use crate::gpio::AnyPin;
 use crate::Peripheral;

-/// Counting direction
 pub enum Direction {
-    /// Counting up.
    Upcounting,
-    /// Counting down.
    Downcounting,
 }

-/// Channel 1 marker type.
-pub enum Ch1 {}
-/// Channel 2 marker type.
-pub enum Ch2 {}
+pub struct Ch1;
+pub struct Ch2;

-/// Wrapper for using a pin with QEI.
-pub struct QeiPin<'d, T, Channel> {
+pub struct QeiPin<'d, Perip, Channel> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(T, Channel)>,
+    phantom: PhantomData<(Perip, Channel)>,
 }

 macro_rules! channel_impl {
    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
-        impl<'d, T: CaptureCompare16bitInstance> QeiPin<'d, T, $channel> {
-            #[doc = concat!("Create a new ", stringify!($channel), " QEI pin instance.")]
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd) -> Self {
+        impl<'d, Perip: CaptureCompare16bitInstance> QeiPin<'d, Perip, $channel> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -52,13 +45,11 @@ macro_rules! channel_impl {
 channel_impl!(new_ch1, Ch1, Channel1Pin);
 channel_impl!(new_ch2, Ch2, Channel2Pin);

-/// Quadrature decoder driver.
 pub struct Qei<'d, T> {
    _inner: PeripheralRef<'d, T>,
 }

 impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
-    /// Create a new quadrature decoder driver.
    pub fn new(tim: impl Peripheral<P = T> + 'd, _ch1: QeiPin<'d, T, Ch1>, _ch2: QeiPin<'d, T, Ch2>) -> Self {
        Self::new_inner(tim)
    }
@ -93,7 +84,6 @@ impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
        Self { _inner: tim }
    }

-    /// Get direction.
    pub fn read_direction(&self) -> Direction {
        match T::regs_gp16().cr1().read().dir() {
            vals::Dir::DOWN => Direction::Downcounting,
@ -101,7 +91,6 @@ impl<'d, T: CaptureCompare16bitInstance> Qei<'d, T> {
        }
    }

-    /// Get count.
    pub fn count(&self) -> u16 {
        T::regs_gp16().cnt().read().cnt()
    }
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@ -11,28 +11,20 @@ use crate::gpio::{AnyPin, OutputType};
 use crate::time::Hertz;
 use crate::Peripheral;

-/// Channel 1 marker type.
-pub enum Ch1 {}
-/// Channel 2 marker type.
-pub enum Ch2 {}
-/// Channel 3 marker type.
-pub enum Ch3 {}
-/// Channel 4 marker type.
-pub enum Ch4 {}
+pub struct Ch1;
+pub struct Ch2;
+pub struct Ch3;
+pub struct Ch4;

-/// PWM pin wrapper.
-///
-/// This wraps a pin to make it usable with PWM.
-pub struct PwmPin<'d, T, C> {
+pub struct PwmPin<'d, Perip, Channel> {
    _pin: PeripheralRef<'d, AnyPin>,
-    phantom: PhantomData<(T, C)>,
+    phantom: PhantomData<(Perip, Channel)>,
 }

 macro_rules! channel_impl {
    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
-        impl<'d, T: CaptureCompare16bitInstance> PwmPin<'d, T, $channel> {
-            #[doc = concat!("Create a new ", stringify!($channel), " PWM pin instance.")]
-            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, output_type: OutputType) -> Self {
+        impl<'d, Perip: CaptureCompare16bitInstance> PwmPin<'d, Perip, $channel> {
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<Perip>> + 'd, output_type: OutputType) -> Self {
                into_ref!(pin);
                critical_section::with(|_| {
                    pin.set_low();
@ -54,13 +46,11 @@ channel_impl!(new_ch2, Ch2, Channel2Pin);
 channel_impl!(new_ch3, Ch3, Channel3Pin);
 channel_impl!(new_ch4, Ch4, Channel4Pin);

-/// Simple PWM driver.
 pub struct SimplePwm<'d, T> {
    inner: PeripheralRef<'d, T>,
 }

 impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
-    /// Create a new simple PWM driver.
    pub fn new(
        tim: impl Peripheral<P = T> + 'd,
        _ch1: Option<PwmPin<'d, T, Ch1>>,
@ -81,7 +71,7 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
        let mut this = Self { inner: tim };

        this.inner.set_counting_mode(counting_mode);
-        this.set_frequency(freq);
+        this.set_freq(freq);
        this.inner.start();

        this.inner.enable_outputs();
@ -97,21 +87,15 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
        this
    }

-    /// Enable the given channel.
    pub fn enable(&mut self, channel: Channel) {
        self.inner.enable_channel(channel, true);
    }

-    /// Disable the given channel.
    pub fn disable(&mut self, channel: Channel) {
        self.inner.enable_channel(channel, false);
    }

-    /// Set PWM frequency.
-    ///
-    /// Note: when you call this, the max duty value changes, so you will have to
-    /// call `set_duty` on all channels with the duty calculated based on the new max duty.
-    pub fn set_frequency(&mut self, freq: Hertz) {
+    pub fn set_freq(&mut self, freq: Hertz) {
        let multiplier = if self.inner.get_counting_mode().is_center_aligned() {
            2u8
        } else {
@ -120,22 +104,15 @@ impl<'d, T: CaptureCompare16bitInstance> SimplePwm<'d, T> {
        self.inner.set_frequency(freq * multiplier);
    }

-    /// Get max duty value.
-    ///
-    /// This value depends on the configured frequency and the timer's clock rate from RCC.
    pub fn get_max_duty(&self) -> u16 {
        self.inner.get_max_compare_value() + 1
    }

-    /// Set the duty for a given channel.
-    ///
-    /// The value ranges from 0 for 0% duty, to [`get_max_duty`](Self::get_max_duty) for 100% duty, both included.
    pub fn set_duty(&mut self, channel: Channel, duty: u16) {
        assert!(duty <= self.get_max_duty());
        self.inner.set_compare_value(channel, duty)
    }

-    /// Set the output polarity for a given channel.
    pub fn set_polarity(&mut self, channel: Channel, polarity: OutputPolarity) {
        self.inner.set_output_polarity(channel, polarity);
    }
--- a/embassy-stm32/src/usart/buffered.rs
+++ b/embassy-stm32/src/usart/buffered.rs
@ -82,7 +82,6 @@ impl<T: BasicInstance> interrupt::typelevel::Handler<T::Interrupt> for Interrupt
    }
 }

-/// Buffered UART State
 pub struct State {
    rx_waker: AtomicWaker,
    rx_buf: RingBuffer,
@ -92,7 +91,6 @@ pub struct State {
 }

 impl State {
-    /// Create new state
    pub const fn new() -> Self {
        Self {
            rx_buf: RingBuffer::new(),
@ -103,18 +101,15 @@ impl State {
    }
 }

-/// Bidirectional buffered UART
 pub struct BufferedUart<'d, T: BasicInstance> {
    rx: BufferedUartRx<'d, T>,
    tx: BufferedUartTx<'d, T>,
 }

-/// Tx-only buffered UART
 pub struct BufferedUartTx<'d, T: BasicInstance> {
    phantom: PhantomData<&'d mut T>,
 }

-/// Rx-only buffered UART
 pub struct BufferedUartRx<'d, T: BasicInstance> {
    phantom: PhantomData<&'d mut T>,
 }
@ -147,7 +142,6 @@ impl<'d, T: BasicInstance> SetConfig for BufferedUartTx<'d, T> {
 }

 impl<'d, T: BasicInstance> BufferedUart<'d, T> {
-    /// Create a new bidirectional buffered UART driver
    pub fn new(
        peri: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -164,7 +158,6 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
        Self::new_inner(peri, rx, tx, tx_buffer, rx_buffer, config)
    }

-    /// Create a new bidirectional buffered UART driver with request-to-send and clear-to-send pins
    pub fn new_with_rtscts(
        peri: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -192,7 +185,6 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
        Self::new_inner(peri, rx, tx, tx_buffer, rx_buffer, config)
    }

-    /// Create a new bidirectional buffered UART driver with a driver-enable pin
    #[cfg(not(any(usart_v1, usart_v2)))]
    pub fn new_with_de(
        peri: impl Peripheral<P = T> + 'd,
@ -254,12 +246,10 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
        })
    }

-    /// Split the driver into a Tx and Rx part (useful for sending to separate tasks)
    pub fn split(self) -> (BufferedUartTx<'d, T>, BufferedUartRx<'d, T>) {
        (self.tx, self.rx)
    }

-    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)?;

@ -347,7 +337,6 @@ impl<'d, T: BasicInstance> BufferedUartRx<'d, T> {
        }
    }

-    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)?;

@ -429,7 +418,6 @@ impl<'d, T: BasicInstance> BufferedUartTx<'d, T> {
        }
    }

-    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)?;

--- a/embassy-stm32/src/usart/mod.rs
+++ b/embassy-stm32/src/usart/mod.rs
@ -1,6 +1,5 @@
 //! Universal Synchronous/Asynchronous Receiver Transmitter (USART, UART, LPUART)
 #![macro_use]
-#![warn(missing_docs)]

 use core::future::poll_fn;
 use core::marker::PhantomData;
@ -78,29 +77,21 @@ impl<T: BasicInstance> interrupt::typelevel::Handler<T::Interrupt> for Interrupt

 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-/// Number of data bits
 pub enum DataBits {
-    /// 8 Data Bits
    DataBits8,
-    /// 9 Data Bits
    DataBits9,
 }

 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-/// Parity
 pub enum Parity {
-    /// No parity
    ParityNone,
-    /// Even Parity
    ParityEven,
-    /// Odd Parity
    ParityOdd,
 }

 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-/// Number of stop bits
 pub enum StopBits {
    #[doc = "1 stop bit"]
    STOP1,
@ -115,37 +106,26 @@ pub enum StopBits {
 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-/// Config Error
 pub enum ConfigError {
-    /// Baudrate too low
    BaudrateTooLow,
-    /// Baudrate too high
    BaudrateTooHigh,
-    /// Rx or Tx not enabled
    RxOrTxNotEnabled,
 }

 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
-/// Config
 pub struct Config {
-    /// Baud rate
    pub baudrate: u32,
-    /// Number of data bits
    pub data_bits: DataBits,
-    /// Number of stop bits
    pub stop_bits: StopBits,
-    /// Parity type
    pub parity: Parity,
-
-    /// If true: on a read-like method, if there is a latent error pending,
-    /// the read will abort and the error will be reported and cleared
-    ///
-    /// If false: the error is ignored and cleared
+    /// if true, on read-like method, if there is a latent error pending,
+    /// read will abort, the error reported and cleared
+    /// if false, the error is ignored and cleared
    pub detect_previous_overrun: bool,

    /// Set this to true if the line is considered noise free.
-    /// This will increase the receiver’s tolerance to clock deviations,
+    /// This will increase the receivers tolerance to clock deviations,
    /// but will effectively disable noise detection.
    #[cfg(not(usart_v1))]
    pub assume_noise_free: bool,
@ -161,10 +141,6 @@ pub struct Config {
    /// Set this to true to invert RX pin signal values (V<sub>DD</sub> =0/mark, Gnd = 1/idle).
    #[cfg(any(usart_v3, usart_v4))]
    pub invert_rx: bool,
-
-    /// enable single wire half duplex communication. Only the tx pin is used. Needs an external
-    /// pull up
-    pub half_duplex: bool,
 }

 impl Default for Config {
@ -184,7 +160,6 @@ impl Default for Config {
            invert_tx: false,
            #[cfg(any(usart_v3, usart_v4))]
            invert_rx: false,
-            half_duplex: false,
        }
    }
 }
@ -213,7 +188,6 @@ enum ReadCompletionEvent {
    Idle(usize),
 }

-/// Bidirectional UART Driver
 pub struct Uart<'d, T: BasicInstance, TxDma = NoDma, RxDma = NoDma> {
    tx: UartTx<'d, T, TxDma>,
    rx: UartRx<'d, T, RxDma>,
@ -229,7 +203,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> SetConfig for Uart<'d, T, TxDma, RxDma>
    }
 }

-/// Tx-only UART Driver
 pub struct UartTx<'d, T: BasicInstance, TxDma = NoDma> {
    phantom: PhantomData<&'d mut T>,
    tx_dma: PeripheralRef<'d, TxDma>,
@ -244,7 +217,6 @@ impl<'d, T: BasicInstance, TxDma> SetConfig for UartTx<'d, T, TxDma> {
    }
 }

-/// Rx-only UART Driver
 pub struct UartRx<'d, T: BasicInstance, RxDma = NoDma> {
    _peri: PeripheralRef<'d, T>,
    rx_dma: PeripheralRef<'d, RxDma>,
@ -275,7 +247,6 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        Self::new_inner(peri, tx, tx_dma, config)
    }

-    /// Create a new tx-only UART with a clear-to-send pin
    pub fn new_with_cts(
        peri: impl Peripheral<P = T> + 'd,
        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
@ -317,12 +288,10 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        })
    }

-    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)
    }

-    /// Initiate an asynchronous UART write
    pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error>
    where
        TxDma: crate::usart::TxDma<T>,
@ -339,7 +308,6 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        Ok(())
    }

-    /// Perform a blocking UART write
    pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
        let r = T::regs();
        for &b in buffer {
@ -349,7 +317,6 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
        Ok(())
    }

-    /// Block until transmission complete
    pub fn blocking_flush(&mut self) -> Result<(), Error> {
        let r = T::regs();
        while !sr(r).read().tc() {}
@ -371,7 +338,6 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Self::new_inner(peri, rx, rx_dma, config)
    }

-    /// Create a new rx-only UART with a request-to-send pin
    pub fn new_with_rts(
        peri: impl Peripheral<P = T> + 'd,
        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -421,7 +387,6 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        })
    }

-    /// Reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        reconfigure::<T>(config)
    }
@ -479,7 +444,6 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Ok(sr.rxne())
    }

-    /// Initiate an asynchronous UART read
    pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -489,7 +453,6 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Ok(())
    }

-    /// Read a single u8 if there is one available, otherwise return WouldBlock
    pub fn nb_read(&mut self) -> Result<u8, nb::Error<Error>> {
        let r = T::regs();
        if self.check_rx_flags()? {
@ -499,7 +462,6 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        }
    }

-    /// Perform a blocking read into `buffer`
    pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
        let r = T::regs();
        for b in buffer {
@ -509,7 +471,6 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
        Ok(())
    }

-    /// Initiate an asynchronous read with idle line detection enabled
    pub async fn read_until_idle(&mut self, buffer: &mut [u8]) -> Result<usize, Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -734,7 +695,6 @@ impl<'d, T: BasicInstance, TxDma> Drop for UartRx<'d, T, TxDma> {
 }

 impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
-    /// Create a new bidirectional UART
    pub fn new(
        peri: impl Peripheral<P = T> + 'd,
        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -751,7 +711,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        Self::new_inner(peri, rx, tx, tx_dma, rx_dma, config)
    }

-    /// Create a new bidirectional UART with request-to-send and clear-to-send pins
    pub fn new_with_rtscts(
        peri: impl Peripheral<P = T> + 'd,
        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -779,7 +738,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
    }

    #[cfg(not(any(usart_v1, usart_v2)))]
-    /// Create a new bidirectional UART with a driver-enable pin
    pub fn new_with_de(
        peri: impl Peripheral<P = T> + 'd,
        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -816,13 +774,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        let r = T::regs();

        // Some chips do not have swap_rx_tx bit
-        if config.half_duplex {
-            if config.swap_rx_tx {
-                rx.set_as_af(rx.af_num(), AFType::OutputOpenDrain);
-            } else {
-                tx.set_as_af(tx.af_num(), AFType::OutputOpenDrain);
-            }
-        } else {
        cfg_if::cfg_if! {
            if #[cfg(any(usart_v3, usart_v4))] {
                if config.swap_rx_tx {
@ -838,7 +789,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
                tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
            }
        }
-        }

        configure(r, &config, T::frequency(), T::KIND, true, true)?;

@ -863,7 +813,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        })
    }

-    /// Initiate an asynchronous write
    pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error>
    where
        TxDma: crate::usart::TxDma<T>,
@ -871,17 +820,14 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        self.tx.write(buffer).await
    }

-    /// Perform a blocking write
    pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
        self.tx.blocking_write(buffer)
    }

-    /// Block until transmission complete
    pub fn blocking_flush(&mut self) -> Result<(), Error> {
        self.tx.blocking_flush()
    }

-    /// Initiate an asynchronous read into `buffer`
    pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -889,17 +835,14 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
        self.rx.read(buffer).await
    }

-    /// Read a single `u8` or return `WouldBlock`
    pub fn nb_read(&mut self) -> Result<u8, nb::Error<Error>> {
        self.rx.nb_read()
    }

-    /// Perform a blocking read into `buffer`
    pub fn blocking_read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
        self.rx.blocking_read(buffer)
    }

-    /// Initiate an an asynchronous read with idle line detection enabled
    pub async fn read_until_idle(&mut self, buffer: &mut [u8]) -> Result<usize, Error>
    where
        RxDma: crate::usart::RxDma<T>,
@ -1052,7 +995,6 @@ fn configure(
    #[cfg(not(usart_v1))]
    r.cr3().modify(|w| {
        w.set_onebit(config.assume_noise_free);
-        w.set_hdsel(config.half_duplex);
    });

    r.cr1().write(|w| {
@ -1350,10 +1292,8 @@ pub(crate) mod sealed {
    }
 }

-/// Basic UART driver instance
 pub trait BasicInstance: Peripheral<P = Self> + sealed::BasicInstance + 'static + Send {}

-/// Full UART driver instance
 pub trait FullInstance: sealed::FullInstance {}

 pin_trait!(RxPin, BasicInstance);
--- a/embassy-stm32/src/usart/ringbuffered.rs
+++ b/embassy-stm32/src/usart/ringbuffered.rs
@ -11,7 +11,6 @@ use super::{clear_interrupt_flags, rdr, reconfigure, sr, BasicInstance, Config,
 use crate::dma::ReadableRingBuffer;
 use crate::usart::{Regs, Sr};

-/// Rx-only Ring-buffered UART Driver
 pub struct RingBufferedUartRx<'d, T: BasicInstance, RxDma: super::RxDma<T>> {
    _peri: PeripheralRef<'d, T>,
    ring_buf: ReadableRingBuffer<'d, RxDma, u8>,
@ -28,8 +27,8 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> SetConfig for RingBufferedUar

 impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> UartRx<'d, T, RxDma> {
    /// Turn the `UartRx` into a buffered uart which can continously receive in the background
-    /// without the possibility of losing bytes. The `dma_buf` is a buffer registered to the
-    /// DMA controller, and must be large enough to prevent overflows.
+    /// without the possibility of loosing bytes. The `dma_buf` is a buffer registered to the
+    /// DMA controller, and must be sufficiently large, such that it will not overflow.
    pub fn into_ring_buffered(self, dma_buf: &'d mut [u8]) -> RingBufferedUartRx<'d, T, RxDma> {
        assert!(!dma_buf.is_empty() && dma_buf.len() <= 0xFFFF);

@ -50,7 +49,6 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> UartRx<'d, T, RxDma> {
 }

 impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> RingBufferedUartRx<'d, T, RxDma> {
-    /// Clear the ring buffer and start receiving in the background
    pub fn start(&mut self) -> Result<(), Error> {
        // Clear the ring buffer so that it is ready to receive data
        self.ring_buf.clear();
@ -66,7 +64,6 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> RingBufferedUartRx<'d, T, RxD
        Err(err)
    }

-    /// Cleanly stop and reconfigure the driver
    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
        self.teardown_uart();
        reconfigure::<T>(config)
--- a/embassy-stm32/src/usb/mod.rs
+++ b/embassy-stm32/src/usb/mod.rs
@ -1,5 +1,3 @@
-//! Universal Serial Bus (USB)
-
 use crate::interrupt;
 use crate::rcc::RccPeripheral;

@ -12,9 +10,7 @@ pub(crate) mod sealed {
    }
 }

-/// USB instance trait.
 pub trait Instance: sealed::Instance + RccPeripheral + 'static {
-    /// Interrupt for this USB instance.
    type Interrupt: interrupt::typelevel::Interrupt;
 }

--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@ -244,7 +244,6 @@ struct EndpointData {
    used_out: bool,
 }

-/// USB driver.
 pub struct Driver<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
    alloc: [EndpointData; EP_COUNT],
@ -252,7 +251,6 @@ 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 interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@ -467,7 +465,6 @@ impl<'d, T: Instance> driver::Driver<'d> for Driver<'d, T> {
    }
 }

-/// USB bus.
 pub struct Bus<'d, T: Instance> {
    phantom: PhantomData<&'d mut T>,
    ep_types: [EpType; EP_COUNT - 1],
@ -643,7 +640,6 @@ trait Dir {
    fn waker(i: usize) -> &'static AtomicWaker;
 }

-/// Marker type for the "IN" direction.
 pub enum In {}
 impl Dir for In {
    fn dir() -> Direction {
@ -656,7 +652,6 @@ impl Dir for In {
    }
 }

-/// Marker type for the "OUT" direction.
 pub enum Out {}
 impl Dir for Out {
    fn dir() -> Direction {
@ -669,7 +664,6 @@ impl Dir for Out {
    }
 }

-/// USB endpoint.
 pub struct Endpoint<'d, T: Instance, D> {
    _phantom: PhantomData<(&'d mut T, D)>,
    info: EndpointInfo,
@ -819,7 +813,6 @@ impl<'d, T: Instance> driver::EndpointIn for Endpoint<'d, T, In> {
    }
 }

-/// USB control pipe.
 pub struct ControlPipe<'d, T: Instance> {
    _phantom: PhantomData<&'d mut T>,
    max_packet_size: u16,
--- a/embassy-stm32/src/usb_otg/mod.rs
+++ b/embassy-stm32/src/usb_otg/mod.rs
@ -20,9 +20,7 @@ pub(crate) mod sealed {
    }
 }

-/// USB OTG instance.
 pub trait Instance: sealed::Instance + RccPeripheral {
-    /// Interrupt for this USB OTG instance.
    type Interrupt: interrupt::typelevel::Interrupt;
 }

--- a/embassy-stm32/src/usb_otg/usb.rs
+++ b/embassy-stm32/src/usb_otg/usb.rs
@ -204,7 +204,6 @@ pub enum PhyType {
 }

 impl PhyType {
-    /// Get whether this PHY is any of the internal types.
    pub fn internal(&self) -> bool {
        match self {
            PhyType::InternalFullSpeed | PhyType::InternalHighSpeed => true,
@ -212,7 +211,6 @@ impl PhyType {
        }
    }

-    /// Get whether this PHY is any of the high-speed types.
    pub fn high_speed(&self) -> bool {
        match self {
            PhyType::InternalFullSpeed => false,
@ -220,7 +218,7 @@ impl PhyType {
        }
    }

-    fn to_dspd(&self) -> vals::Dspd {
+    pub fn to_dspd(&self) -> vals::Dspd {
        match self {
            PhyType::InternalFullSpeed => vals::Dspd::FULL_SPEED_INTERNAL,
            PhyType::InternalHighSpeed => vals::Dspd::HIGH_SPEED,
@ -232,7 +230,6 @@ impl PhyType {
 /// Indicates that [State::ep_out_buffers] is empty.
 const EP_OUT_BUFFER_EMPTY: u16 = u16::MAX;

-/// USB OTG driver state.
 pub struct State<const EP_COUNT: usize> {
    /// Holds received SETUP packets. Available if [State::ep0_setup_ready] is true.
    ep0_setup_data: UnsafeCell<[u8; 8]>,
@ -250,7 +247,6 @@ unsafe impl<const EP_COUNT: usize> Send for State<EP_COUNT> {}
 unsafe impl<const EP_COUNT: usize> Sync for State<EP_COUNT> {}

 impl<const EP_COUNT: usize> State<EP_COUNT> {
-    /// Create a new State.
    pub const fn new() -> Self {
        const NEW_AW: AtomicWaker = AtomicWaker::new();
        const NEW_BUF: UnsafeCell<*mut u8> = UnsafeCell::new(0 as _);
@ -275,7 +271,6 @@ struct EndpointData {
    fifo_size_words: u16,
 }

-/// USB driver config.
 #[non_exhaustive]
 #[derive(Clone, Copy, PartialEq, Eq, Debug)]
 pub struct Config {
@ -302,7 +297,6 @@ impl Default for Config {
    }
 }

-/// USB driver.
 pub struct Driver<'d, T: Instance> {
    config: Config,
    phantom: PhantomData<&'d mut T>,
@ -533,7 +527,6 @@ impl<'d, T: Instance> embassy_usb_driver::Driver<'d> for Driver<'d, T> {
    }
 }

-/// USB bus.
 pub struct Bus<'d, T: Instance> {
    config: Config,
    phantom: PhantomData<&'d mut T>,
@ -1099,7 +1092,6 @@ trait Dir {
    fn dir() -> Direction;
 }

-/// Marker type for the "IN" direction.
 pub enum In {}
 impl Dir for In {
    fn dir() -> Direction {
@ -1107,7 +1099,6 @@ impl Dir for In {
    }
 }

-/// Marker type for the "OUT" direction.
 pub enum Out {}
 impl Dir for Out {
    fn dir() -> Direction {
@ -1115,7 +1106,6 @@ impl Dir for Out {
    }
 }

-/// USB endpoint.
 pub struct Endpoint<'d, T: Instance, D> {
    _phantom: PhantomData<(&'d mut T, D)>,
    info: EndpointInfo,
@ -1309,7 +1299,6 @@ impl<'d, T: Instance> embassy_usb_driver::EndpointIn for Endpoint<'d, T, In> {
    }
 }

-/// USB control pipe.
 pub struct ControlPipe<'d, T: Instance> {
    _phantom: PhantomData<&'d mut T>,
    max_packet_size: u16,
--- a/embassy-stm32/src/wdg/mod.rs
+++ b/embassy-stm32/src/wdg/mod.rs
@ -6,7 +6,6 @@ use stm32_metapac::iwdg::vals::{Key, Pr};

 use crate::rcc::LSI_FREQ;

-/// Independent watchdog (IWDG) driver.
 pub struct IndependentWatchdog<'d, T: Instance> {
    wdg: PhantomData<&'d mut T>,
 }
@ -65,12 +64,10 @@ impl<'d, T: Instance> IndependentWatchdog<'d, T> {
        IndependentWatchdog { wdg: PhantomData }
    }

-    /// Unleash (start) the watchdog.
    pub fn unleash(&mut self) {
        T::regs().kr().write(|w| w.set_key(Key::START));
    }

-    /// Pet (reload, refresh) the watchdog.
    pub fn pet(&mut self) {
        T::regs().kr().write(|w| w.set_key(Key::RESET));
    }
@ -82,7 +79,6 @@ mod sealed {
    }
 }

-/// IWDG instance trait.
 pub trait Instance: sealed::Instance {}

 foreach_peripheral!(
--- a/embassy-sync/src/signal.rs
+++ b/embassy-sync/src/signal.rs
@ -111,20 +111,6 @@ where
        poll_fn(move |cx| self.poll_wait(cx))
    }

-    /// non-blocking method to try and take the signal value.
-    pub fn try_take(&self) -> Option<T> {
-        self.state.lock(|cell| {
-            let state = cell.replace(State::None);
-            match state {
-                State::Signaled(res) => Some(res),
-                state => {
-                    cell.set(state);
-                    None
-                }
-            }
-        })
-    }
-
    /// non-blocking method to check whether this signal has been signaled.
    pub fn signaled(&self) -> bool {
        self.state.lock(|cell| {
--- a/embassy-time/src/timer.rs
+++ b/embassy-time/src/timer.rs
@ -47,6 +47,9 @@ impl Timer {
    ///
    /// Example:
    /// ``` no_run
+    /// # #![feature(type_alias_impl_trait)]
+    /// #
+    /// # fn foo() {}
    /// use embassy_time::{Duration, Timer};
    ///
    /// #[embassy_executor::task]
@ -129,6 +132,8 @@ impl Future for Timer {
 ///
 /// For instance, consider the following code fragment.
 /// ``` no_run
+/// # #![feature(type_alias_impl_trait)]
+/// #
 /// use embassy_time::{Duration, Timer};
 /// # fn foo() {}
 ///
@ -147,6 +152,8 @@ impl Future for Timer {
 /// Example using ticker, which will consistently call `foo` once a second.
 ///
 /// ``` no_run
+/// # #![feature(type_alias_impl_trait)]
+/// #
 /// use embassy_time::{Duration, Ticker};
 /// # fn foo(){}
 ///
--- a/embassy-usb-dfu/src/application.rs
+++ b/embassy-usb-dfu/src/application.rs
@ -73,8 +73,6 @@ impl<'d, STATE: NorFlash, RST: Reset> Handler for Control<'d, STATE, RST> {
                self.detach_start = Some(Instant::now());
                self.timeout = Some(Duration::from_millis(req.value as u64));
                self.state = State::AppDetach;
-                // hack to make it work together with usb serial logging
-                self.reset();
                Some(OutResponse::Accepted)
            }
            _ => None,
--- a/examples/boot/application/nrf/Cargo.toml
+++ b/examples/boot/application/nrf/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [] }
 embassy-nrf = { version = "0.1.0", path = "../../../../embassy-nrf", features = ["time-driver-rtc1", "gpiote", ] }
 embassy-boot = { version = "0.1.0", path = "../../../../embassy-boot/boot", features = [] }
--- a/examples/boot/application/nrf/src/bin/a.rs
+++ b/examples/boot/application/nrf/src/bin/a.rs
@ -1,6 +1,7 @@
 #![no_std]
 #![no_main]
 #![macro_use]
+#![feature(type_alias_impl_trait)]

 use embassy_boot_nrf::{FirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_embedded_hal::adapter::BlockingAsync;
--- a/examples/boot/application/nrf/src/bin/b.rs
+++ b/examples/boot/application/nrf/src/bin/b.rs
@ -1,6 +1,7 @@
 #![no_std]
 #![no_main]
 #![macro_use]
+#![feature(type_alias_impl_trait)]

 use embassy_executor::Spawner;
 use embassy_nrf::gpio::{Level, Output, OutputDrive};
--- a/examples/boot/application/rp/Cargo.toml
+++ b/examples/boot/application/rp/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [] }
 embassy-rp = { version = "0.1.0", path = "../../../../embassy-rp", features = ["time-driver", ] }
 embassy-boot-rp = { version = "0.1.0", path = "../../../../embassy-boot/rp", features = [] }
--- a/examples/boot/application/rp/src/bin/a.rs
+++ b/examples/boot/application/rp/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 use core::cell::RefCell;

--- a/examples/boot/application/rp/src/bin/b.rs
+++ b/examples/boot/application/rp/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 use embassy_executor::Spawner;
 use embassy_rp::gpio;
--- a/examples/boot/application/stm32f3/Cargo.toml
+++ b/examples/boot/application/stm32f3/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32f303re", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32" }
--- a/examples/boot/application/stm32f3/src/bin/a.rs
+++ b/examples/boot/application/stm32f3/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32f3/src/bin/b.rs
+++ b/examples/boot/application/stm32f3/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32f7/Cargo.toml
+++ b/examples/boot/application/stm32f7/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32f767zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32", features = [] }
--- a/examples/boot/application/stm32f7/src/bin/a.rs
+++ b/examples/boot/application/stm32f7/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 use core::cell::RefCell;

--- a/examples/boot/application/stm32f7/src/bin/b.rs
+++ b/examples/boot/application/stm32f7/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32h7/Cargo.toml
+++ b/examples/boot/application/stm32h7/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32h743zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32", features = [] }
--- a/examples/boot/application/stm32h7/src/bin/a.rs
+++ b/examples/boot/application/stm32h7/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 use core::cell::RefCell;

--- a/examples/boot/application/stm32h7/src/bin/b.rs
+++ b/examples/boot/application/stm32h7/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32l0/Cargo.toml
+++ b/examples/boot/application/stm32l0/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32l072cz", "time-driver-any", "exti", "memory-x"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32", features = [] }
--- a/examples/boot/application/stm32l0/src/bin/a.rs
+++ b/examples/boot/application/stm32l0/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32l0/src/bin/b.rs
+++ b/examples/boot/application/stm32l0/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32l1/Cargo.toml
+++ b/examples/boot/application/stm32l1/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32l151cb-a", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32", features = [] }
--- a/examples/boot/application/stm32l1/src/bin/a.rs
+++ b/examples/boot/application/stm32l1/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32l1/src/bin/b.rs
+++ b/examples/boot/application/stm32l1/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32l4/Cargo.toml
+++ b/examples/boot/application/stm32l4/Cargo.toml
@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"

 [dependencies]
 embassy-sync = { version = "0.5.0", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.4.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "nightly", "integrated-timers"] }
 embassy-time = { version = "0.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32l475vg", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../../embassy-boot/stm32", features = [] }
--- a/examples/boot/application/stm32l4/src/bin/a.rs
+++ b/examples/boot/application/stm32l4/src/bin/a.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/examples/boot/application/stm32l4/src/bin/b.rs
+++ b/examples/boot/application/stm32l4/src/bin/b.rs
@ -1,5 +1,6 @@
 #![no_std]
 #![no_main]
+#![feature(type_alias_impl_trait)]

 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
--- a/Show More
+++ b/Show More