ci: cache lockfiles

- Removes the slow "updating crates.io index, updating git" at start of the job.
- Avoids CI being randomly slower if a widely-used dep (like serde) gets bumped causing rebuilding everything.

.gitattributes

@@ -0,0 +1,41 @@
+* text=auto
+
+*.adoc     text
+*.html     text
+*.in       text
+*.json     text
+*.md       text
+*.proto    text
+*.py       text
+*.rs       text
+*.service  text
+*.sh       text
+*.toml     text
+*.txt      text
+*.x        text
+*.yml      text
+
+*.raw    binary
+*.bin    binary
+*.png    binary
+*.jpg    binary
+*.jpeg   binary
+*.gif    binary
+*.ico    binary
+*.mov    binary
+*.mp4    binary
+*.mp3    binary
+*.flv    binary
+*.fla    binary
+*.swf    binary
+*.gz     binary
+*.zip    binary
+*.7z     binary
+*.ttf    binary
+*.eot    binary
+*.woff   binary
+*.pyc    binary
+*.pdf    binary
+*.ez     binary
+*.bz2    binary
+*.swp    binary

.github/bors.toml

@@ -1,4 +0,0 @@
-status = [
-    "all",
-]
-delete_merged_branches = true

.github/ci/build-stable.sh

@@ -8,9 +8,23 @@ export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
 
+# needed for "dumb HTTP" transport support
+# used when pointing stm32-metapac to a CI-built one.
+export CARGO_NET_GIT_FETCH_WITH_CLI=true
+
+# Restore lockfiles
+if [ -f /ci/cache/lockfiles.tar ]; then
+    echo Restoring lockfiles...
+    tar xf /ci/cache/lockfiles.tar
+fi
+
 hashtime restore /ci/cache/filetime.json || true
 hashtime save /ci/cache/filetime.json
 
 sed -i 's/channel.*/channel = "stable"/g' rust-toolchain.toml
 
 ./ci_stable.sh
+
+# Save lockfiles
+echo Saving lockfiles...
+find . -type f -name Cargo.lock -exec tar -cf /ci/cache/lockfiles.tar '{}' \+

.github/ci/build.sh

@@ -11,9 +11,24 @@ if [ -f /ci/secrets/teleprobe-token.txt ]; then
     echo Got teleprobe token!
     export TELEPROBE_HOST=https://teleprobe.embassy.dev
     export TELEPROBE_TOKEN=$(cat /ci/secrets/teleprobe-token.txt)
+    export TELEPROBE_CACHE=/ci/cache/teleprobe_cache.json
+fi
+
+# needed for "dumb HTTP" transport support
+# used when pointing stm32-metapac to a CI-built one.
+export CARGO_NET_GIT_FETCH_WITH_CLI=true
+
+# Restore lockfiles
+if [ -f /ci/cache/lockfiles.tar ]; then
+    echo Restoring lockfiles...
+    tar xf /ci/cache/lockfiles.tar
 fi
 
 hashtime restore /ci/cache/filetime.json || true
 hashtime save /ci/cache/filetime.json
 
 ./ci.sh
+
+# Save lockfiles
+echo Saving lockfiles...
+find . -type f -name Cargo.lock -exec tar -cf /ci/cache/lockfiles.tar '{}' \+

.github/ci/crlf.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+FILES_WITH_CRLF=$(find  ! -path "./.git/*" -not -type d | xargs file -N | (grep " CRLF " || true))
+
+if [ -z "$FILES_WITH_CRLF" ]; then
+  echo -e "No files with CRLF endings found."
+  exit 0
+else
+  NR_FILES=$(echo "$FILES_WITH_CRLF" | wc -l)
+  echo -e "ERROR: Found ${NR_FILES} files with CRLF endings."
+  echo "$FILES_WITH_CRLF"
+  exit "$NR_FILES"
+fi

.github/ci/doc.sh

@@ -6,7 +6,7 @@ set -euo pipefail
 export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
-export BUILDER_THREADS=6
+export BUILDER_THREADS=4
 export BUILDER_COMPRESS=true
 
 # force rustup to download the toolchain before starting building.
@@ -15,30 +15,41 @@ export BUILDER_COMPRESS=true
 # which makes rustup very sad
 rustc --version > /dev/null
 
-docserver-builder -i ./embassy-stm32 -o crates/embassy-stm32/git.zup
-docserver-builder -i ./embassy-boot/boot -o crates/embassy-boot/git.zup
-docserver-builder -i ./embassy-boot/nrf -o crates/embassy-boot-nrf/git.zup
-docserver-builder -i ./embassy-boot/rp -o crates/embassy-boot-rp/git.zup
-docserver-builder -i ./embassy-boot/stm32 -o crates/embassy-boot-stm32/git.zup
-docserver-builder -i ./embassy-embedded-hal -o crates/embassy-embedded-hal/git.zup
-docserver-builder -i ./embassy-executor -o crates/embassy-executor/git.zup
-docserver-builder -i ./embassy-futures -o crates/embassy-futures/git.zup
-docserver-builder -i ./embassy-lora -o crates/embassy-lora/git.zup
-docserver-builder -i ./embassy-net -o crates/embassy-net/git.zup
-docserver-builder -i ./embassy-net-driver -o crates/embassy-net-driver/git.zup
-docserver-builder -i ./embassy-net-driver-channel -o crates/embassy-net-driver-channel/git.zup
-docserver-builder -i ./embassy-nrf -o crates/embassy-nrf/git.zup
-docserver-builder -i ./embassy-rp -o crates/embassy-rp/git.zup
-docserver-builder -i ./embassy-sync -o crates/embassy-sync/git.zup
-docserver-builder -i ./embassy-time -o crates/embassy-time/git.zup
-docserver-builder -i ./embassy-usb -o crates/embassy-usb/git.zup
-docserver-builder -i ./embassy-usb-driver -o crates/embassy-usb-driver/git.zup
-docserver-builder -i ./embassy-usb-logger -o crates/embassy-usb-logger/git.zup
-docserver-builder -i ./cyw43 -o crates/cyw43/git.zup
-docserver-builder -i ./cyw43-pio -o crates/cyw43-pio/git.zup
-docserver-builder -i ./embassy-net-w5500 -o crates/embassy-net-w5500/git.zup
-docserver-builder -i ./embassy-stm32-wpan -o crates/embassy-stm32-wpan/git.zup
+docserver-builder -i ./embassy-boot/boot -o webroot/crates/embassy-boot/git.zup
+docserver-builder -i ./embassy-boot/nrf -o webroot/crates/embassy-boot-nrf/git.zup
+docserver-builder -i ./embassy-boot/rp -o webroot/crates/embassy-boot-rp/git.zup
+docserver-builder -i ./embassy-boot/stm32 -o webroot/crates/embassy-boot-stm32/git.zup
+docserver-builder -i ./embassy-embedded-hal -o webroot/crates/embassy-embedded-hal/git.zup
+docserver-builder -i ./embassy-executor -o webroot/crates/embassy-executor/git.zup
+docserver-builder -i ./embassy-futures -o webroot/crates/embassy-futures/git.zup
+docserver-builder -i ./embassy-lora -o webroot/crates/embassy-lora/git.zup
+docserver-builder -i ./embassy-net -o webroot/crates/embassy-net/git.zup
+docserver-builder -i ./embassy-net-driver -o webroot/crates/embassy-net-driver/git.zup
+docserver-builder -i ./embassy-net-driver-channel -o webroot/crates/embassy-net-driver-channel/git.zup
+docserver-builder -i ./embassy-nrf -o webroot/crates/embassy-nrf/git.zup
+docserver-builder -i ./embassy-rp -o webroot/crates/embassy-rp/git.zup
+docserver-builder -i ./embassy-sync -o webroot/crates/embassy-sync/git.zup
+docserver-builder -i ./embassy-time -o webroot/crates/embassy-time/git.zup
+docserver-builder -i ./embassy-usb -o webroot/crates/embassy-usb/git.zup
+docserver-builder -i ./embassy-usb-driver -o webroot/crates/embassy-usb-driver/git.zup
+docserver-builder -i ./embassy-usb-logger -o webroot/crates/embassy-usb-logger/git.zup
+docserver-builder -i ./cyw43 -o webroot/crates/cyw43/git.zup
+docserver-builder -i ./cyw43-pio -o webroot/crates/cyw43-pio/git.zup
+docserver-builder -i ./embassy-net-wiznet -o webroot/crates/embassy-net-wiznet/git.zup
+docserver-builder -i ./embassy-net-enc28j60 -o webroot/crates/embassy-net-enc28j60/git.zup
+docserver-builder -i ./embassy-net-esp-hosted -o webroot/crates/embassy-net-esp-hosted/git.zup
+docserver-builder -i ./embassy-stm32-wpan -o webroot/crates/embassy-stm32-wpan/git.zup --output-static webroot/static
+docserver-builder -i ./embassy-net-adin1110 -o webroot/crates/embassy-net-adin1110/git.zup
 
 export KUBECONFIG=/ci/secrets/kubeconfig.yml
 POD=$(kubectl -n embassy get po -l app=docserver -o jsonpath={.items[0].metadata.name})
-kubectl cp crates $POD:/data
+kubectl cp webroot/crates $POD:/data
+kubectl cp webroot/static $POD:/data
+
+# build and upload stm32 last
+# so that it doesn't prevent other crates from getting docs updates when it breaks.
+
+rm -rf webroot
+docserver-builder -i ./embassy-stm32 -o webroot/crates/embassy-stm32/git.zup
+POD=$(kubectl -n embassy get po -l app=docserver -o jsonpath={.items[0].metadata.name})
+kubectl cp webroot/crates $POD:/data

.github/ci/test.sh

@@ -8,12 +8,16 @@ export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
 
+# needed for "dumb HTTP" transport support
+# used when pointing stm32-metapac to a CI-built one.
+export CARGO_NET_GIT_FETCH_WITH_CLI=true
+
 hashtime restore /ci/cache/filetime.json || true
 hashtime save /ci/cache/filetime.json
 
 cargo test --manifest-path ./embassy-sync/Cargo.toml 
 cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml 
-cargo test --manifest-path ./embassy-hal-common/Cargo.toml 
+cargo test --manifest-path ./embassy-hal-internal/Cargo.toml 
 cargo test --manifest-path ./embassy-time/Cargo.toml --features generic-queue
 
 cargo test --manifest-path ./embassy-boot/boot/Cargo.toml
@@ -28,3 +32,5 @@ cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --featu
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f429vg,exti,time-driver-any,exti
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f732ze,exti,time-driver-any,exti
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f769ni,exti,time-driver-any,exti
+
+cargo test --manifest-path ./embassy-net-adin1110/Cargo.toml

.vscode/settings.json

@@ -6,16 +6,21 @@
   "rust-analyzer.check.allTargets": false,
   "rust-analyzer.check.noDefaultFeatures": true,
   "rust-analyzer.cargo.noDefaultFeatures": true,
+  "rust-analyzer.showUnlinkedFileNotification": false,
+  // uncomment the target of your chip.
+  //"rust-analyzer.cargo.target": "thumbv6m-none-eabi",
+  //"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": [
-    // Declare for the target you wish to develop
-    // "embassy-executor/Cargo.toml",
-    // "embassy-sync/Cargo.toml",
+    // 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/nrf52840/Cargo.toml",
+    // "examples/nrf52840-rtic/Cargo.toml",
     // "examples/nrf5340/Cargo.toml",
     // "examples/nrf-rtos-trace/Cargo.toml",
     // "examples/rp/Cargo.toml",
@@ -25,6 +30,7 @@
     // "examples/stm32f1/Cargo.toml",
     // "examples/stm32f2/Cargo.toml",
     // "examples/stm32f3/Cargo.toml",
+    // "examples/stm32f334/Cargo.toml",
     // "examples/stm32f4/Cargo.toml",
     // "examples/stm32f7/Cargo.toml",
     // "examples/stm32g0/Cargo.toml",

README.md

@@ -33,6 +33,7 @@ The <a href="https://docs.embassy.dev/embassy-net/">embassy-net</a> network stac
 
 - **Bluetooth** - 
 The <a href="https://github.com/embassy-rs/nrf-softdevice">nrf-softdevice</a> crate provides Bluetooth Low Energy 4.x and 5.x support for nRF52 microcontrollers.
+The <a href="https://github.com/embassy-rs/embassy/tree/main/embassy-stm32-wpan">embassy-stm32-wpan</a> crate provides Bluetooth Low Energy 5.x support for stm32wb microcontrollers.
 
 - **LoRa** - 
 <a href="https://docs.embassy.dev/embassy-lora/">embassy-lora</a> supports LoRa networking.
@@ -61,9 +62,9 @@ async fn blink(pin: AnyPin) {
     loop {
         // Timekeeping is globally available, no need to mess with hardware timers.
         led.set_high();
-        Timer::after(Duration::from_millis(150)).await;
+        Timer::after_millis(150).await;
         led.set_low();
-        Timer::after(Duration::from_millis(150)).await;
+        Timer::after_millis(150).await;
     }
 }
 
@@ -99,10 +100,10 @@ Examples are found in the `examples/` folder seperated by the chip manufacturer
 
 ### Running examples
 
-- Install `probe-rs-cli` with defmt support.
+- Install `probe-rs`.
 
 ```bash
-cargo install probe-rs-cli
+cargo install probe-rs --features cli
 ```
 
 - Change directory to the sample's base directory. For example:
@@ -111,6 +112,12 @@ cargo install probe-rs-cli
 cd examples/nrf52840
 ```
 
+- Ensure `Cargo.toml` sets the right feature for the name of the chip you are programming.
+  If this name is incorrect, the example may fail to run or immediately crash
+  after being programmed.
+
+- Ensure `.cargo/config.toml` contains the name of the chip you are programming.
+
 - Run the example
 
 For example:
@@ -119,6 +126,8 @@ For example:
 cargo run --release --bin blinky
 ```
 
+For more help getting started, see [Getting Started][1] and [Running the Examples][2].
+
 ## Developing Embassy with Rust Analyzer based editors
 
 The [Rust Analyzer](https://rust-analyzer.github.io/) is used by [Visual Studio Code](https://code.visualstudio.com/)
@@ -151,3 +160,5 @@ This work is licensed under either of
 
 at your option.
 
+[1]: https://github.com/embassy-rs/embassy/wiki/Getting-Started
+[2]: https://github.com/embassy-rs/embassy/wiki/Running-the-Examples

ci.sh

@@ -1,13 +1,12 @@
 #!/bin/bash
 
-set -euo pipefail
+set -eo pipefail
 
 export RUSTFLAGS=-Dwarnings
-export DEFMT_LOG=trace,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
-
-# needed by wifi examples
-export WIFI_NETWORK=x
-export WIFI_PASSWORD=x
+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
 
 TARGET=$(rustc -vV | sed -n 's|host: ||p')
 
@@ -23,21 +22,34 @@ cargo batch  \
     --- 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 nightly,defmt \
-    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits,defmt,defmt-timestamp-uptime,tick-hz-32_768,generic-queue-8 \
+    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,defmt-timestamp-uptime,tick-hz-32_768,generic-queue-8 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,igmp,medium-ethernet \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,unstable-traits \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,nightly \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,unstable-traits,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,nightly,dhcpv4-hostname \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ieee802154 \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,medium-ieee802154 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,nightly \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits,nightly \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,unstable-traits \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,nightly \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,unstable-traits,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet,medium-ieee802154,nightly \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52805,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52810,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52811,gpiote,time-driver-rtc1 \
@@ -57,44 +69,70 @@ cargo batch  \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,intrinsics \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,qspi-as-gpio \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt,exti,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,nightly,defmt \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f410tb,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f411ce,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f413vh,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f429zi,log,exti,time-driver-any,unstable-traits,embedded-sdmmc \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f730i8,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h755zi-cm7,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h7b3ai,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l476vg,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l422cb,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wb15cc,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l072cz,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l041f6,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32l151cb-a,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f398ve,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32g0c1ve,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f217zg,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,stm32l552ze,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32wl54jc-cm0p,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wle5jb,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f107vc,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f103re,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f100c4,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32h503rb,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32h562ag,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f401ve,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f405zg,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f407zg,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f401ve,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f405zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f407zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f410tb,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f411ce,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f412zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f413vh,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f415zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f417zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f423zh,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f427zi,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f429zi,log,exti,time-driver-any,unstable-traits,embedded-sdmmc,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f437zi,log,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f439zi,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f446ze,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f469zi,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f479zi,defmt,exti,time-driver-any,unstable-traits,embedded-sdmmc,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f730i8,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h753zi,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h735zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h755zi-cm7,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h725re,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32h7b3ai,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l476vg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32l422cb,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wb15cc,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l072cz,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l041f6,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32l073cz,defmt,exti,time-driver-any,unstable-traits,low-power,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32l151cb-a,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f398ve,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f378cc,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32g0c1ve,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f217zg,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,stm32l552ze,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features nightly,stm32wl54jc-cm0p,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32wle5jb,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32g474pe,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f107vc,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f103re,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f100c4,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32h503rb,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32h562ag,defmt,exti,time-driver-any,unstable-traits,time \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features ''\
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'log' \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt' \
@@ -119,6 +157,7 @@ cargo batch  \
     --- build --release --manifest-path examples/stm32f1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f1 \
     --- build --release --manifest-path examples/stm32f2/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f2 \
     --- build --release --manifest-path examples/stm32f3/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f3 \
+    --- build --release --manifest-path examples/stm32f334/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f334 \
     --- build --release --manifest-path examples/stm32f4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f4 \
     --- build --release --manifest-path examples/stm32f7/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32f7 \
     --- build --release --manifest-path examples/stm32c0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32c0 \
@@ -132,9 +171,10 @@ cargo batch  \
     --- build --release --manifest-path examples/stm32l5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32l5 \
     --- build --release --manifest-path examples/stm32u5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32u5 \
     --- build --release --manifest-path examples/stm32wb/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32wb \
+    --- build --release --manifest-path examples/stm32wba/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32wba \
     --- build --release --manifest-path examples/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32wl \
-    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840,skip-include --out-dir out/examples/boot/nrf  \
-    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns,skip-include --out-dir out/examples/boot/nrf \
+    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840,skip-include --out-dir out/examples/boot/nrf52840  \
+    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns,skip-include --out-dir out/examples/boot/nrf9160 \
     --- build --release --manifest-path examples/boot/application/rp/Cargo.toml --target thumbv6m-none-eabi --features skip-include --out-dir out/examples/boot/rp \
     --- build --release --manifest-path examples/boot/application/stm32f3/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32f3 \
     --- build --release --manifest-path examples/boot/application/stm32f7/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32f7 \
@@ -154,15 +194,39 @@ cargo batch  \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32g071rb --out-dir out/tests/stm32g071rb \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32c031c6 --out-dir out/tests/stm32c031c6 \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi --out-dir out/tests/stm32h755zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h753zi --out-dir out/tests/stm32h753zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7a3zi --out-dir out/tests/stm32h7a3zi \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55rg --out-dir out/tests/stm32wb55rg \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h563zi --out-dir out/tests/stm32h563zi \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585ai --out-dir out/tests/stm32u585ai \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u5a5zj --out-dir out/tests/stm32u5a5zj \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wba52cg --out-dir out/tests/stm32wba52cg \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l073rz --out-dir out/tests/stm32l073rz \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l152re --out-dir out/tests/stm32l152re \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l4a6zg --out-dir out/tests/stm32l4a6zg \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l4r5zi --out-dir out/tests/stm32l4r5zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze --out-dir out/tests/stm32l552ze \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f767zi --out-dir out/tests/stm32f767zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f207zg --out-dir out/tests/stm32f207zg \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303ze --out-dir out/tests/stm32f303ze \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l496zg --out-dir out/tests/stm32l496zg \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55jc --out-dir out/tests/stm32wl55jc \
     --- build --release --manifest-path tests/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/tests/rpi-pico \
     --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --out-dir out/tests/nrf52840-dk \
     --- build --release --manifest-path tests/riscv32/Cargo.toml --target riscv32imac-unknown-none-elf \
     $BUILD_EXTRA
 
 
+rm out/tests/stm32wb55rg/wpan_mac
+rm out/tests/stm32wb55rg/wpan_ble
+
+
+# unstable, I think it's running out of RAM?
+rm out/tests/stm32f207zg/eth
+
+# doesn't work, gives "noise error", no idea why. usart_dma does pass.
+rm out/tests/stm32u5a5zj/usart
+
 if [[ -z "${TELEPROBE_TOKEN-}" ]]; then
     echo No teleprobe token found, skipping running HIL tests
     exit

ci_stable.sh

@@ -16,9 +16,7 @@ cargo batch  \
     --- 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,dhcpv4,medium-ethernet,unstable-traits \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52805,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52810,gpiote,time-driver-rtc1 \
     --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52811,gpiote,time-driver-rtc1 \
@@ -36,38 +34,44 @@ cargo batch  \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features unstable-traits,defmt \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features unstable-traits,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,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585zi,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55vy,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55cc-cm4,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l4r9zi,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303vc,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f411ce,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f411ce,defmt,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f410tb,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f410tb,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi,log,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l072cz,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32l151cb-a,defmt,exti,time-driver-any,unstable-traits \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any \
-    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g473cc,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32u585zi,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb55vy,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55cc-cm4,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l4r9zi,defmt,exti,time-driver-any,unstable-traits,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303vc,defmt,exti,time-driver-any,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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,unstable-traits,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 \

cyw43-firmware/README.md

@@ -3,3 +3,7 @@
 Firmware obtained from https://github.com/Infineon/wifi-host-driver/tree/master/WiFi_Host_Driver/resources/firmware/COMPONENT_43439
 
 Licensed under the [Infineon Permissive Binary License](./LICENSE-permissive-binary-license-1.0.txt)
+
+## Changelog
+
+* 2023-07-28: synced with `ad3bad0` - Update 43439 fw from 7.95.55 ot 7.95.62

cyw43-pio/src/lib.rs

@@ -1,6 +1,6 @@
 #![no_std]
-#![allow(incomplete_features)]
 #![feature(async_fn_in_trait)]
+#![allow(stable_features, unknown_lints, async_fn_in_trait)]
 
 use core::slice;
 
@@ -8,7 +8,6 @@ use cyw43::SpiBusCyw43;
 use embassy_rp::dma::Channel;
 use embassy_rp::gpio::{Drive, Level, Output, Pin, Pull, SlewRate};
 use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
-use embassy_rp::relocate::RelocatedProgram;
 use embassy_rp::{pio_instr_util, Peripheral, PeripheralRef};
 use fixed::FixedU32;
 use pio_proc::pio_asm;
@@ -88,8 +87,6 @@ where
             ".wrap"
         );
 
-        let relocated = RelocatedProgram::new(&program.program);
-
         let mut pin_io: embassy_rp::pio::Pin<PIO> = common.make_pio_pin(dio);
         pin_io.set_pull(Pull::None);
         pin_io.set_schmitt(true);
@@ -102,7 +99,8 @@ where
         pin_clk.set_slew_rate(SlewRate::Fast);
 
         let mut cfg = Config::default();
-        cfg.use_program(&common.load_program(&relocated), &[&pin_clk]);
+        let loaded_program = common.load_program(&program.program);
+        cfg.use_program(&loaded_program, &[&pin_clk]);
         cfg.set_out_pins(&[&pin_io]);
         cfg.set_in_pins(&[&pin_io]);
         cfg.set_set_pins(&[&pin_io]);
@@ -142,7 +140,7 @@ where
             sm,
             irq,
             dma: dma.into_ref(),
-            wrap_target: relocated.wrap().target,
+            wrap_target: loaded_program.wrap.target,
         }
     }
 

cyw43/Cargo.toml

@@ -11,11 +11,10 @@ log = ["dep:log"]
 firmware-logs = []
 
 [dependencies]
-embassy-time = { version = "0.1.0", path = "../embassy-time"}
-embassy-sync = { version = "0.2.0", path = "../embassy-sync"}
+embassy-time = { version = "0.1.5", path = "../embassy-time"}
+embassy-sync = { version = "0.4.0", path = "../embassy-sync"}
 embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
-embassy-net-driver-channel = { version = "0.1.0", path = "../embassy-net-driver-channel"}
-atomic-polyfill = "0.1.5"
+embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel"}
 
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.17", optional = true }
@@ -24,7 +23,7 @@ cortex-m = "0.7.6"
 cortex-m-rt = "0.7.0"
 futures = { version = "0.3.17", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
 
-embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.10" }
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-rc.1" }
 num_enum = { version = "0.5.7", default-features = false }
 
 [package.metadata.embassy_docs]

cyw43/README.md

@@ -1,6 +1,6 @@
 # cyw43
 
-WIP driver for the CYW43439 wifi chip, used in the Raspberry Pi Pico W. Implementation based on [Infineon/wifi-host-driver](https://github.com/Infineon/wifi-host-driver).
+Rust driver for the CYW43439 wifi chip, used in the Raspberry Pi Pico W. Implementation based on [Infineon/wifi-host-driver](https://github.com/Infineon/wifi-host-driver).
 
 ## Current status
 
@@ -19,18 +19,18 @@ Working:
 TODO:
 
 - Setting a custom MAC address.
-- Bus sleep (unclear what the benefit is. Is it needed for IRQs? or is it just power consumption optimization?)
+- Bus sleep (for power consumption optimization)
 
 ## Running the examples
 
-- `cargo install probe-rs-cli`
-- `cd examples/rpi-pico-w`
+- `cargo install probe-rs --features cli`
+- `cd examples/rp`
 ### Example 1: Scan the wifi stations
 - `cargo run --release --bin wifi_scan`
 ### Example 2: Create an access point (IP and credentials in the code)
-- `cargo run --release --bin tcp_server_ap`
+- `cargo run --release --bin wifi_ap_tcp_server`
 ### Example 3: Connect to an existing network and create a server
-- `WIFI_NETWORK=MyWifiNetwork WIFI_PASSWORD=MyWifiPassword cargo run --release`
+- `cargo run --release --bin wifi_tcp_server`
 
 After a few seconds, you should see that DHCP picks up an IP address like this
 ```

cyw43/src/bus.rs

@@ -1,5 +1,5 @@
 use embassy_futures::yield_now;
-use embassy_time::{Duration, Timer};
+use embassy_time::Timer;
 use embedded_hal_1::digital::OutputPin;
 use futures::FutureExt;
 
@@ -51,9 +51,9 @@ where
     pub async fn init(&mut self) {
         // Reset
         self.pwr.set_low().unwrap();
-        Timer::after(Duration::from_millis(20)).await;
+        Timer::after_millis(20).await;
         self.pwr.set_high().unwrap();
-        Timer::after(Duration::from_millis(250)).await;
+        Timer::after_millis(250).await;
 
         while self
             .read32_swapped(REG_BUS_TEST_RO)
@@ -102,7 +102,7 @@ where
         cmd_buf[0] = cmd;
         cmd_buf[1..][..buf.len()].copy_from_slice(buf);
 
-        self.status = self.spi.cmd_write(&cmd_buf).await;
+        self.status = self.spi.cmd_write(&cmd_buf[..buf.len() + 1]).await;
     }
 
     #[allow(unused)]

cyw43/src/consts.rs

@@ -96,6 +96,7 @@ pub(crate) const IOCTL_CMD_UP: u32 = 2;
 pub(crate) const IOCTL_CMD_DOWN: u32 = 3;
 pub(crate) const IOCTL_CMD_SET_SSID: u32 = 26;
 pub(crate) const IOCTL_CMD_SET_CHANNEL: u32 = 30;
+pub(crate) const IOCTL_CMD_DISASSOC: u32 = 52;
 pub(crate) const IOCTL_CMD_ANTDIV: u32 = 64;
 pub(crate) const IOCTL_CMD_SET_AP: u32 = 118;
 pub(crate) const IOCTL_CMD_SET_VAR: u32 = 263;

cyw43/src/control.rs

@@ -1,10 +1,10 @@
 use core::cmp::{max, min};
+use core::iter::zip;
 
-use ch::driver::LinkState;
 use embassy_net_driver_channel as ch;
-use embassy_time::{Duration, Timer};
+use embassy_net_driver_channel::driver::{HardwareAddress, LinkState};
+use embassy_time::Timer;
 
-pub use crate::bus::SpiBusCyw43;
 use crate::consts::*;
 use crate::events::{Event, EventSubscriber, Events};
 use crate::fmt::Bytes;
@@ -17,6 +17,12 @@ pub struct Error {
     pub status: u32,
 }
 
+#[derive(Debug)]
+pub enum AddMulticastAddressError {
+    NotMulticast,
+    NoFreeSlots,
+}
+
 pub struct Control<'a> {
     state_ch: ch::StateRunner<'a>,
     events: &'a Events,
@@ -87,22 +93,22 @@ impl<'a> Control<'a> {
         self.set_iovar("country", &country_info.to_bytes()).await;
 
         // set country takes some time, next ioctls fail if we don't wait.
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
 
         // Set antenna to chip antenna
         self.ioctl_set_u32(IOCTL_CMD_ANTDIV, 0, 0).await;
 
         self.set_iovar_u32("bus:txglom", 0).await;
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
         //self.set_iovar_u32("apsta", 1).await; // this crashes, also we already did it before...??
-        //Timer::after(Duration::from_millis(100)).await;
+        //Timer::after_millis(100).await;
         self.set_iovar_u32("ampdu_ba_wsize", 8).await;
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
         self.set_iovar_u32("ampdu_mpdu", 4).await;
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
         //self.set_iovar_u32("ampdu_rx_factor", 0).await; // this crashes
 
-        //Timer::after(Duration::from_millis(100)).await;
+        //Timer::after_millis(100).await;
 
         // evts
         let mut evts = EventMask {
@@ -121,23 +127,33 @@ impl<'a> Control<'a> {
 
         self.set_iovar("bsscfg:event_msgs", &evts.to_bytes()).await;
 
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
 
         // set wifi up
-        self.ioctl(IoctlType::Set, IOCTL_CMD_UP, 0, &mut []).await;
+        self.up().await;
 
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
 
         self.ioctl_set_u32(110, 0, 1).await; // SET_GMODE = auto
         self.ioctl_set_u32(142, 0, 0).await; // SET_BAND = any
 
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
 
-        self.state_ch.set_ethernet_address(mac_addr);
+        self.state_ch.set_hardware_address(HardwareAddress::Ethernet(mac_addr));
 
         debug!("INIT DONE");
     }
 
+    /// Set the WiFi interface up.
+    async fn up(&mut self) {
+        self.ioctl(IoctlType::Set, IOCTL_CMD_UP, 0, &mut []).await;
+    }
+
+    /// Set the interface down.
+    async fn down(&mut self) {
+        self.ioctl(IoctlType::Set, IOCTL_CMD_DOWN, 0, &mut []).await;
+    }
+
     pub async fn set_power_management(&mut self, mode: PowerManagementMode) {
         // power save mode
         let mode_num = mode.mode();
@@ -175,7 +191,7 @@ impl<'a> Control<'a> {
         self.set_iovar_u32x2("bsscfg:sup_wpa2_eapver", 0, 0xFFFF_FFFF).await;
         self.set_iovar_u32x2("bsscfg:sup_wpa_tmo", 0, 2500).await;
 
-        Timer::after(Duration::from_millis(100)).await;
+        Timer::after_millis(100).await;
 
         let mut pfi = PassphraseInfo {
             len: passphrase.len() as _,
@@ -256,13 +272,13 @@ impl<'a> Control<'a> {
         }
 
         // Temporarily set wifi down
-        self.ioctl(IoctlType::Set, IOCTL_CMD_DOWN, 0, &mut []).await;
+        self.down().await;
 
         // Turn off APSTA mode
         self.set_iovar_u32("apsta", 0).await;
 
         // Set wifi up again
-        self.ioctl(IoctlType::Set, IOCTL_CMD_UP, 0, &mut []).await;
+        self.up().await;
 
         // Turn on AP mode
         self.ioctl_set_u32(IOCTL_CMD_SET_AP, 0, 1).await;
@@ -287,7 +303,7 @@ impl<'a> Control<'a> {
         if security != Security::OPEN {
             self.set_iovar_u32x2("bsscfg:wpa_auth", 0, 0x0084).await; // wpa_auth = WPA2_AUTH_PSK | WPA_AUTH_PSK
 
-            Timer::after(Duration::from_millis(100)).await;
+            Timer::after_millis(100).await;
 
             // Set passphrase
             let mut pfi = PassphraseInfo {
@@ -307,6 +323,54 @@ impl<'a> Control<'a> {
         self.set_iovar_u32x2("bss", 0, 1).await; // bss = BSS_UP
     }
 
+    /// Add specified address to the list of hardware addresses the device
+    /// listens on. The address must be a Group address (I/G bit set). Up
+    /// to 10 addresses are supported by the firmware. Returns the number of
+    /// address slots filled after adding, or an error.
+    pub async fn add_multicast_address(&mut self, address: [u8; 6]) -> Result<usize, AddMulticastAddressError> {
+        // The firmware seems to ignore non-multicast addresses, so let's
+        // prevent the user from adding them and wasting space.
+        if address[0] & 0x01 != 1 {
+            return Err(AddMulticastAddressError::NotMulticast);
+        }
+
+        let mut buf = [0; 64];
+        self.get_iovar("mcast_list", &mut buf).await;
+
+        let n = u32::from_le_bytes(buf[..4].try_into().unwrap()) as usize;
+        let (used, free) = buf[4..].split_at_mut(n * 6);
+
+        if used.chunks(6).any(|a| a == address) {
+            return Ok(n);
+        }
+
+        if free.len() < 6 {
+            return Err(AddMulticastAddressError::NoFreeSlots);
+        }
+
+        free[..6].copy_from_slice(&address);
+        let n = n + 1;
+        buf[..4].copy_from_slice(&(n as u32).to_le_bytes());
+
+        self.set_iovar_v::<80>("mcast_list", &buf).await;
+        Ok(n)
+    }
+
+    /// Retrieve the list of configured multicast hardware addresses.
+    pub async fn list_mulistcast_addresses(&mut self, result: &mut [[u8; 6]; 10]) -> usize {
+        let mut buf = [0; 64];
+        self.get_iovar("mcast_list", &mut buf).await;
+
+        let n = u32::from_le_bytes(buf[..4].try_into().unwrap()) as usize;
+        let used = &buf[4..][..n * 6];
+
+        for (addr, output) in zip(used.chunks(6), result.iter_mut()) {
+            output.copy_from_slice(addr)
+        }
+
+        n
+    }
+
     async fn set_iovar_u32x2(&mut self, name: &str, val1: u32, val2: u32) {
         let mut buf = [0; 8];
         buf[0..4].copy_from_slice(&val1.to_le_bytes());
@@ -423,6 +487,11 @@ impl<'a> Control<'a> {
             events: &self.events,
         }
     }
+    /// Leave the wifi, with which we are currently associated.
+    pub async fn leave(&mut self) {
+        self.ioctl(IoctlType::Set, IOCTL_CMD_DISASSOC, 0, &mut []).await;
+        info!("Disassociated")
+    }
 }
 
 pub struct Scanner<'a> {

cyw43/src/fmt.rs

@@ -83,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -226,7 +229,8 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-pub struct Bytes<'a>(pub &'a [u8]);
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {

cyw43/src/lib.rs

@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
-#![allow(incomplete_features)]
 #![feature(async_fn_in_trait, type_alias_impl_trait, concat_bytes)]
+#![allow(stable_features, unknown_lints, async_fn_in_trait)]
 #![deny(unused_must_use)]
 
 // This mod MUST go first, so that the others see its macros.
@@ -27,7 +27,7 @@ use ioctl::IoctlState;
 
 use crate::bus::Bus;
 pub use crate::bus::SpiBusCyw43;
-pub use crate::control::{Control, Error as ControlError};
+pub use crate::control::{AddMulticastAddressError, Control, Error as ControlError, Scanner};
 pub use crate::runner::Runner;
 pub use crate::structs::BssInfo;
 
@@ -216,7 +216,7 @@ where
     PWR: OutputPin,
     SPI: SpiBusCyw43,
 {
-    let (ch_runner, device) = ch::new(&mut state.ch, [0; 6]);
+    let (ch_runner, device) = ch::new(&mut state.ch, ch::driver::HardwareAddress::Ethernet([0; 6]));
     let state_ch = ch_runner.state_runner();
 
     let mut runner = Runner::new(ch_runner, Bus::new(pwr, spi), &state.ioctl_state, &state.events);

cyw43/src/runner.rs

@@ -345,7 +345,9 @@ where
     }
 
     fn rx(&mut self, packet: &mut [u8]) {
-        let Some((sdpcm_header, payload)) = SdpcmHeader::parse(packet) else { return };
+        let Some((sdpcm_header, payload)) = SdpcmHeader::parse(packet) else {
+            return;
+        };
 
         self.update_credit(&sdpcm_header);
 
@@ -353,7 +355,9 @@ where
 
         match channel {
             CHANNEL_TYPE_CONTROL => {
-                let Some((cdc_header, response)) = CdcHeader::parse(payload) else { return; };
+                let Some((cdc_header, response)) = CdcHeader::parse(payload) else {
+                    return;
+                };
                 trace!("    {:?}", cdc_header);
 
                 if cdc_header.id == self.ioctl_id {
@@ -417,8 +421,12 @@ where
                     let status = event_packet.msg.status;
                     let event_payload = match evt_type {
                         Event::ESCAN_RESULT if status == EStatus::PARTIAL => {
-                            let Some((_, bss_info)) = ScanResults::parse(evt_data) else { return };
-                            let Some(bss_info) = BssInfo::parse(bss_info) else { return };
+                            let Some((_, bss_info)) = ScanResults::parse(evt_data) else {
+                                return;
+                            };
+                            let Some(bss_info) = BssInfo::parse(bss_info) else {
+                                return;
+                            };
                             events::Payload::BssInfo(*bss_info)
                         }
                         Event::ESCAN_RESULT => events::Payload::None,
@@ -439,7 +447,9 @@ where
                 }
             }
             CHANNEL_TYPE_DATA => {
-                let Some((_, packet)) = BdcHeader::parse(payload) else { return };
+                let Some((_, packet)) = BdcHeader::parse(payload) else {
+                    return;
+                };
                 trace!("rx pkt {:02x}", Bytes(&packet[..packet.len().min(48)]));
 
                 match self.ch.try_rx_buf() {
@@ -545,14 +555,14 @@ where
 
         self.bus.bp_write8(base + AI_RESETCTRL_OFFSET, 0).await;
 
-        Timer::after(Duration::from_millis(1)).await;
+        Timer::after_millis(1).await;
 
         self.bus
             .bp_write8(base + AI_IOCTRL_OFFSET, AI_IOCTRL_BIT_CLOCK_EN)
             .await;
         let _ = self.bus.bp_read8(base + AI_IOCTRL_OFFSET).await;
 
-        Timer::after(Duration::from_millis(1)).await;
+        Timer::after_millis(1).await;
     }
 
     async fn core_is_up(&mut self, core: Core) -> bool {

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

@@ -6,8 +6,8 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.2.0", path = "../../../../../embassy-executor", features = ["defmt", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
-embassy-time = { version = "0.1.0", path = "../../../../../embassy-time", features = ["defmt", "nightly"] }
+embassy-executor = { version = "0.3.0", path = "../../../../../embassy-executor", features = ["defmt", "nightly", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-time = { version = "0.1.4", path = "../../../../../embassy-time", features = ["defmt", "nightly"] }
 embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "nightly"] }
 
 defmt = "0.3"

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 = "0.2.0", features = ["nightly", "arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.3.0", features = ["nightly", "arch-cortex-m", "executor-thread"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

docs/modules/ROOT/nav.adoc

@@ -1,6 +1,6 @@
 * xref:getting_started.adoc[Getting started]
 ** xref:basic_application.adoc[Basic application]
-** xref:layer_by_layer.adoc[Layer by Layer]
+* xref:layer_by_layer.adoc[Bare metal to async]
 * xref:runtime.adoc[Executor]
 * xref:hal.adoc[HAL]
 ** xref:nrf.adoc[nRF]
@@ -8,3 +8,6 @@
 * xref:bootloader.adoc[Bootloader]
 
 * xref:examples.adoc[Examples]
+* xref:developer.adoc[Developer]
+** xref:developer_stm32.adoc[Developer: STM32]
+* xref:faq.adoc[Frequently Asked Questions]

docs/modules/ROOT/pages/basic_application.adoc

@@ -48,7 +48,7 @@ The `Spawner` is the way the main application spawns other tasks. The `Periphera
 include::example$basic/src/main.rs[lines="22..-1"]
 ----
 
-What happens when the `blinker` task has been spawned and main returns? Well, the main entry point is actually just like any other task, except that you can only have one and it takes some specific type arguments. The magic lies within the `#[embassy::main]` macro. The macro does the following:
+What happens when the `blinker` task has been spawned and main returns? Well, the main entry point is actually just like any other task, except that you can only have one and it takes some specific type arguments. The magic lies within the `#[embassy_executor::main]` macro. The macro does the following:
 
 . Creates an Embassy Executor
 . Initializes the microcontroller HAL to get the `Peripherals`

docs/modules/ROOT/pages/developer.adoc

@@ -0,0 +1 @@
+= Developer Documentation

docs/modules/ROOT/pages/developer_stm32.adoc

@@ -0,0 +1,79 @@
+= Developer Documentation: STM32
+
+== Understanding metapac
+
+When a project that imports `embassy-stm32` is compiled, that project selects the feature corresponding to the chip that project is using. Based on that feature, `embassy-stm32` selects supported link:https://anysilicon.com/ip-intellectual-property-core-semiconductors/[IP] for the chip, and enables the corresponding HAL implementations. But how does `embassy-stm32` know what IP the chip contains, out of the hundreds of chips that we support? It's a long story that starts with `stm32-data-sources`.
+
+== `stm32-data-sources`
+
+link:https://github.com/embassy-rs/stm32-data-sources[`stm32-data-sources`] is as mostly barren repository. It has no README, no documentation, and few watchers. But it's the core of what makes `embassy-stm32` possible. The data for every chip that we support is taken in part from a corresponding XML file like link:https://github.com/embassy-rs/stm32-data-sources/blob/b8b85202e22a954d6c59d4a43d9795d34cff05cf/cubedb/mcu/STM32F051K4Ux.xml[`STM32F051K4Ux.xml`]. In that file, you'll see lines like the following:
+
+[source,xml]
+----
+    <IP InstanceName="I2C1" Name="I2C" Version="i2c2_v1_1_Cube"/>
+    <!-- snip  -->
+    <IP ConfigFile="TIM-STM32F0xx" InstanceName="TIM1" Name="TIM1_8F0" Version="gptimer2_v2_x_Cube"/>
+----
+
+These lines indicate that this chip has an i2c, and that it's version is "v1_1". It also indicates that it has a general purpose timer that with a version of "v2_x". From this data, it's possible to determine which implementations should be included in `embassy-stm32`. But actually doing that is another matter.
+
+
+== `stm32-data`
+
+While all users of this project are familiar with `embassy-stm32`, fewer are familiar with the project that powers it: `stm32-data`. This project doesn't just aim to generate data for `embassy-stm32`, but for machine consumption in general. To acheive this, information from multiple files from the `stm32-data-sources` project are combined and parsed to assign register block implementations for each supported IP. The core of this matching resides in `chips.rs`:
+
+[source,rust]
+----
+    (".*:I2C:i2c2_v1_1", ("i2c", "v2", "I2C")),
+    // snip
+    (r".*TIM\d.*:gptimer.*", ("timer", "v1", "TIM_GP16")),
+----
+
+In this case, the i2c version corresponds to our "v2" and the general purpose timer version corresponds to our "v1". Therefore, the `i2c_v2.yaml` and `timer_v1.yaml` register block implementations are assigned to those IP, respectively. The result is that these lines arr generated in `STM32F051K4.json`:
+
+[source,json]
+----
+    {
+        "name": "I2C1",
+        "address": 1073763328,
+        "registers": {
+            "kind": "i2c",
+            "version": "v2",
+            "block": "I2C"
+        },
+        // snip
+    }
+    // snip
+    {
+        "name": "TIM1",
+        "address": 1073818624,
+        "registers": {
+            "kind": "timer",
+            "version": "v1",
+            "block": "TIM_ADV"
+        },
+        // snip
+    }
+----
+
+In addition to register blocks, data for pin and RCC mapping is also generated and consumed by `embassy-stm32`. `stm32-metapac-gen` is used to package and publish the data as a crate.
+
+
+== `embassy-stm32`
+
+In the `lib.rs` file located in the root of `embassy-stm32`, you'll see this line:
+
+[source,rust]
+----
+#[cfg(i2c)]
+pub mod i2c;
+----
+
+And in the `mod.rs` of the i2c mod, you'll see this:
+
+[source,rust]
+----
+#[cfg_attr(i2c_v2, path = "v2.rs")]
+----
+
+Because i2c is supported for STM32F051K4 and its version corresponds to our "v2", the `i2c` and `i2c_v2`, configuration directives will be present, and `embassy-stm32` will include these files, respectively. This and other configuration directives and tables are generated from the data for chip, allowing `embassy-stm32` to expressively and clearly adapt logic and implementations to what is required for each chip. Compared to other projects across the embedded ecosystem, `embassy-stm32` is the only project that can re-use code across the entire stm32 lineup and remove difficult-to-implement unsafe logic to the HAL.

docs/modules/ROOT/pages/faq.adoc

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

docs/modules/ROOT/pages/getting_started.adoc

@@ -3,7 +3,7 @@
 So you want to try Embassy, great! To get started, there are a few tools you need to install:
 
 * link:https://rustup.rs/[rustup] - the Rust toolchain is needed to compile Rust code.
-* link:https://crates.io/crates/probe-run[probe-run] - to flash the firmware on your device. If you already have other tools like `OpenOCD` setup, you can use that as well.
+* link:https://crates.io/crates/probe-rs[probe-rs] - to flash the firmware on your device. If you already have other tools like `OpenOCD` setup, you can use that as well.
 
 If you don't have any supported board, don't worry: you can also run embassy on your PC using the `std` examples.
 
@@ -30,6 +30,10 @@ Embassy supports many microcontroller families, but the easiest ways to get star
 
 * link:https://www.raspberrypi.com/products/raspberry-pi-pico/[Raspberry Pi Pico]
 
+=== ESP32
+
+* link:https://github.com/esp-rs/esp-rust-board[ESP32C3]
+
 == Running an example
 
 First you need to clone the [github repository];
@@ -38,7 +42,6 @@ First you need to clone the [github repository];
 ----
 git clone https://github.com/embassy-rs/embassy.git
 cd embassy
-git submodule update --init
 ----
 
 You can run an example by opening a terminal and entering the following commands:

docs/modules/ROOT/pages/hal.adoc

@@ -7,4 +7,6 @@ Embassy provides HALs for several microcontroller families:
 * `embassy-rp` for the Raspberry Pi RP2040 microcontrollers
 
 These HALs implement async/await functionality for most peripherals while also implementing the
-async traits in `embedded-hal-async`. You can also use these HALs with another executor.
+async traits in `embedded-hal` and `embedded-hal-async`. You can also use these HALs with another executor.
+
+For the ESP32 series, there is an link:https://github.com/esp-rs/esp-hal[esp-hal] which you can use.

docs/modules/ROOT/pages/index.adoc

@@ -4,14 +4,9 @@ Embassy is a project to make async/await a first-class option for embedded devel
 
 == What is async?
 
-Software written without async may block on I/O operations. In an std environment, such as a PC, software can handle this either by using threads or non-blocking operations.
+When handling I/O, software must call functions that block program execution until the I/O operation completes. When running inside of an OS such as Linux, such functions generally transfer control to the kernel so that another task, known as a thread, can be executed if available, or the CPU can be put to sleep until another such task is ready to perform more work. Because an OS cannot presume that threads will behave cooperatively, threads are relatively resource-intensive, and may be forcibly interrupted they do not transfer control back to the kernel within an allotted time. But if tasks could be presumed to behave cooperatively, or at least not maliciously, it would be possible to create tasks that appear to be almost free when compared to a traditional OS thread. In Rust, these lightweight tasks, known as 'coroutines' or 'goroutines' in other languages, are implemented with async.
 
-With threads, one thread blocks on an I/O operation, another is able to take its place. However, even on a PC, threads are relatively heavy, and therefore some programming languages, such as Go, have implemented a concept called coroutines or 'goroutines' that are much lighter and less-intensive than threads.
-
-The other way to handle blocking I/O operations is to support polling the state of the underlying peripherals to check whether it is available to perform the requested operation. In programming languages without builtin async support,
-this requires building a complex loop checking for events.
-
-In Rust, non-blocking operations can be implemented using async-await. Async-await works by transforming each async function into an object called a future. When a future blocks on I/O the future yields, and the scheduler, called an executor, can select a different future to execute. Compared to alternatives such as an RTOS, async can yield better performance and lower power consumption because the executor doesn't have to guess when a future is ready to execute. However, program size may be higher than other alternatives, which may be a problem for certain space-constrained devices with very low memory. On the devices Embassy supports, such as stm32 and nrf, memory is generally large enough to accommodate the modestly-increased program size.
+Async-await works by transforming each async function into an object called a future. When a future blocks on I/O the future yields, and the scheduler, called an executor, can select a different future to execute. Compared to alternatives such as an RTOS, async can yield better performance and lower power consumption because the executor doesn't have to guess when a future is ready to execute. However, program size may be higher than other alternatives, which may be a problem for certain space-constrained devices with very low memory. On the devices Embassy supports, such as stm32 and nrf, memory is generally large enough to accommodate the modestly-increased program size.
 
 == What is Embassy?
 
@@ -22,13 +17,26 @@ The Embassy project consists of several crates that you can use together or inde
 * **Hardware Abstraction Layers** - HALs implement safe, idiomatic Rust APIs to use the hardware capabilities, so raw register manipulation is not needed. The Embassy project maintains HALs for select hardware, but you can still use HALs from other projects with Embassy.
 ** link:https://docs.embassy.dev/embassy-stm32/[embassy-stm32], for all STM32 microcontroller families.
 ** link:https://docs.embassy.dev/embassy-nrf/[embassy-nrf], for the Nordic Semiconductor nRF52, nRF53, nRF91 series.
+** link:https://docs.embassy.dev/embassy-rp/[embassy-rp], for the Raspberry Pi RP2040 microcontroller.
+** link:https://github.com/esp-rs[esp-rs], for the Espressif Systems ESP32 series of chips.
++
+NOTE: A common question is if one can use the Embassy HALs standalone. Yes, it is possible! There are no dependency on the executor within the HALs. You can even use them without async,
+as they implement both the link:https://github.com/rust-embedded/embedded-hal[Embedded HAL] blocking and async traits.
 
-* **Networking** - The link:https://docs.embassy.dev/embassy-net/[embassy-net] network stack implements extensive networking functionality, including Ethernet, IP, TCP, UDP, ICMP and DHCP. Async drastically simplifies managing timeouts and serving multiple connections concurrently.
+* **Networking** - The link:https://docs.embassy.dev/embassy-net/[embassy-net] network stack implements extensive networking functionality, including Ethernet, IP, TCP, UDP, ICMP and DHCP. Async drastically simplifies managing timeouts and serving multiple connections concurrently. Several drivers for WiFi and Ethernet chips can be found.
 
 * **Bluetooth** - The link:https://github.com/embassy-rs/nrf-softdevice[nrf-softdevice] crate provides Bluetooth Low Energy 4.x and 5.x support for nRF52 microcontrollers.
 
-* **LoRa** - link:https://docs.embassy.dev/embassy-lora/[embassy-lora] supports LoRa networking on STM32WL wireless microcontrollers and Semtech SX127x transceivers.
+* **LoRa** - link:https://github.com/embassy-rs/lora-phy[lora-phy] and link:https://docs.embassy.dev/embassy-lora/[embassy-lora] supports LoRa networking on a wide range of LoRa radios, fully integrated with a Rust link:https://github.com/ivajloip/rust-lorawan[LoRaWAN] implementation.
 
 * **USB** - link:https://docs.embassy.dev/embassy-usb/[embassy-usb] implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.
 
 * **Bootloader and DFU** - link:https://github.com/embassy-rs/embassy/tree/master/embassy-boot[embassy-boot] is a lightweight bootloader supporting firmware application upgrades in a power-fail-safe way, with trial boots and rollbacks.
+
+== Resources
+
+For more reading material on async Rust and Embassy:
+
+* link:https://tweedegolf.nl/en/blog/65/async-rust-vs-rtos-showdown[Comparsion of FreeRTOS and Embassy]
+* link:https://dev.to/apollolabsbin/series/20707[Tutorials]
+* link:https://blog.drogue.io/firmware-updates-part-1/[Firmware Updates with Embassy]

docs/modules/ROOT/pages/layer_by_layer.adoc

@@ -1,4 +1,4 @@
-= Embassy layer by layer
+= From bare metal to async Rust
 
 If you're new to Embassy, it can be overwhelming to grasp all the terminology and concepts. This guide aims to clarify the different layers in Embassy, which problem each layer solves for the application writer.
 
@@ -8,8 +8,7 @@ The application we'll write is a simple 'push button, blink led' application, wh
 
 == PAC version
 
-The PAC is the lowest API for accessing peripherals and registers, if you don't count reading/writing directly to memory addresses. It provides distinct types
-to make accessing peripheral registers easier, but it does not prevent you from writing unsafe code.
+The PAC is the lowest API for accessing peripherals and registers, if you don't count reading/writing directly to memory addresses. It provides distinct types to make accessing peripheral registers easier, but it does not prevent you from writing unsafe code.
 
 Writing an application using the PAC directly is therefore not recommended, but if the functionality you want to use is not exposed in the upper layers, that's what you need to use.
 

docs/modules/ROOT/pages/nrf.adoc

@@ -8,7 +8,7 @@ The nRF timer driver operates at 32768 Hz by default.
 
 == Peripherals
 
-The following peripherals have a HAL implementation at present:
+The following peripherals have a HAL implementation at present
 
 * PWM
 * SPIM
@@ -23,3 +23,7 @@ The following peripherals have a HAL implementation at present:
 * UARTE
 * TWIM
 * SAADC
+
+== Bluetooth
+
+For bluetooth, you can use the link:https://github.com/embassy-rs/nrf-softdevice[nrf-softdevice] crate.

docs/modules/ROOT/pages/runtime.adoc

@@ -6,11 +6,11 @@ The Embassy executor is an async/await executor designed for embedded usage alon
 
 * No `alloc`, no heap needed. Task are statically allocated.
 * No "fixed capacity" data structures, executor works with 1 or 1000 tasks without needing config/tuning.
-* Integrated timer queue: sleeping is easy, just do `Timer::after(Duration::from_secs(1)).await;`.
+* Integrated timer queue: sleeping is easy, just do `Timer::after_secs(1).await;`.
 * No busy-loop polling: CPU sleeps when there's no work to do, using interrupts or `WFE/SEV`.
 * Efficient polling: a wake will only poll the woken task, not all of them.
 * Fair: a task can't monopolize CPU time even if it's constantly being woken. All other tasks get a chance to run before a given task gets polled for the second time.
-* Creating multiple executor instances is supported, to run tasks with multiple priority levels. This allows higher-priority tasks to preempt lower-priority tasks.
+* Creating multiple executor instances is supported, to run tasks at different priority levels. This allows higher-priority tasks to preempt lower-priority tasks.
 
 == Executor
 

embassy-boot/boot/Cargo.toml

@@ -28,7 +28,7 @@ digest = "0.10"
 log = { version = "0.4", 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 = "0.2.0", path = "../../embassy-sync" }
+embassy-sync = { version = "0.4.0", path = "../../embassy-sync" }
 embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
 salty = { git = "https://github.com/ycrypto/salty.git", rev = "a9f17911a5024698406b75c0fac56ab5ccf6a8c7", optional = true }

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

@@ -10,9 +10,9 @@ use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAG
 
 /// FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
 /// 'mess up' the internal bootloader state
-pub struct FirmwareUpdater<DFU: NorFlash, STATE: NorFlash> {
+pub struct FirmwareUpdater<'d, DFU: NorFlash, STATE: NorFlash> {
     dfu: DFU,
-    state: STATE,
+    state: FirmwareState<'d, STATE>,
 }
 
 #[cfg(target_os = "none")]
@@ -47,22 +47,12 @@ impl<'a, FLASH: NorFlash>
     }
 }
 
-impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
+impl<'d, DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<'d, DFU, STATE> {
     /// Create a firmware updater instance with partition ranges for the update and state partitions.
-    pub fn new(config: FirmwareUpdaterConfig<DFU, STATE>) -> Self {
+    pub fn new(config: FirmwareUpdaterConfig<DFU, STATE>, aligned: &'d mut [u8]) -> Self {
         Self {
             dfu: config.dfu,
-            state: config.state,
-        }
-    }
-
-    // Make sure we are running a booted firmware to avoid reverting to a bad state.
-    async fn verify_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        if self.get_state(aligned).await? == State::Boot {
-            Ok(())
-        } else {
-            Err(FirmwareUpdaterError::BadState)
+            state: FirmwareState::new(config.state, aligned),
         }
     }
 
@@ -71,14 +61,8 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
     /// This is useful to check if the bootloader has just done a swap, in order
     /// to do verifications and self-tests of the new image before calling
     /// `mark_booted`.
-    pub async fn get_state(&mut self, aligned: &mut [u8]) -> Result<State, FirmwareUpdaterError> {
-        self.state.read(0, aligned).await?;
-
-        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
-            Ok(State::Swap)
-        } else {
-            Ok(State::Boot)
-        }
+    pub async fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
+        self.state.get_state().await
     }
 
     /// Verify the DFU given a public key. If there is an error then DO NOT
@@ -92,23 +76,16 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
     ///
     /// If no signature feature is set then this method will always return a
     /// signature error.
-    ///
-    /// # Safety
-    ///
-    /// The `_aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
-    /// and written to.
     #[cfg(feature = "_verify")]
     pub async fn verify_and_mark_updated(
         &mut self,
         _public_key: &[u8],
         _signature: &[u8],
         _update_len: u32,
-        _aligned: &mut [u8],
     ) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(_aligned.len(), STATE::WRITE_SIZE);
         assert!(_update_len <= self.dfu.capacity() as u32);
 
-        self.verify_booted(_aligned).await?;
+        self.state.verify_booted().await?;
 
         #[cfg(feature = "ed25519-dalek")]
         {
@@ -121,8 +98,9 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
             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];
-            self.hash::<Sha512>(_update_len, _aligned, &mut message).await?;
+            self.hash::<Sha512>(_update_len, &mut chunk_buf, &mut message).await?;
 
             public_key.verify(&message, &signature).map_err(into_signature_error)?
         }
@@ -143,7 +121,8 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
             let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
-            self.hash::<Sha512>(_update_len, _aligned, &mut message).await?;
+            let mut chunk_buf = [0; 2];
+            self.hash::<Sha512>(_update_len, &mut chunk_buf, &mut message).await?;
 
             let r = public_key.verify(&message, &signature);
             trace!(
@@ -156,7 +135,7 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
             r.map_err(into_signature_error)?
         }
 
-        self.set_magic(_aligned, SWAP_MAGIC).await
+        self.state.mark_updated().await
     }
 
     /// Verify the update in DFU with any digest.
@@ -177,49 +156,14 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
     }
 
     /// Mark to trigger firmware swap on next boot.
-    ///
-    /// # Safety
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
     #[cfg(not(feature = "_verify"))]
-    pub async fn mark_updated(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.set_magic(aligned, SWAP_MAGIC).await
+    pub async fn mark_updated(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.mark_updated().await
     }
 
     /// Mark firmware boot successful and stop rollback on reset.
-    ///
-    /// # Safety
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub async fn mark_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.set_magic(aligned, BOOT_MAGIC).await
-    }
-
-    async fn set_magic(&mut self, aligned: &mut [u8], magic: u8) -> Result<(), FirmwareUpdaterError> {
-        self.state.read(0, aligned).await?;
-
-        if aligned.iter().any(|&b| b != magic) {
-            // Read progress validity
-            self.state.read(STATE::WRITE_SIZE as u32, aligned).await?;
-
-            if aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
-                // The current progress validity marker is invalid
-            } else {
-                // Invalidate progress
-                aligned.fill(!STATE_ERASE_VALUE);
-                self.state.write(STATE::WRITE_SIZE as u32, aligned).await?;
-            }
-
-            // Clear magic and progress
-            self.state.erase(0, self.state.capacity() as u32).await?;
-
-            // Set magic
-            aligned.fill(magic);
-            self.state.write(0, aligned).await?;
-        }
-        Ok(())
+    pub async fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.mark_booted().await
     }
 
     /// Write data to a flash page.
@@ -229,16 +173,10 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
     /// # Safety
     ///
     /// Failing to meet alignment and size requirements may result in a panic.
-    pub async fn write_firmware(
-        &mut self,
-        aligned: &mut [u8],
-        offset: usize,
-        data: &[u8],
-    ) -> Result<(), FirmwareUpdaterError> {
+    pub async fn write_firmware(&mut self, offset: usize, data: &[u8]) -> Result<(), FirmwareUpdaterError> {
         assert!(data.len() >= DFU::ERASE_SIZE);
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
 
-        self.verify_booted(aligned).await?;
+        self.state.verify_booted().await?;
 
         self.dfu.erase(offset as u32, (offset + data.len()) as u32).await?;
 
@@ -252,20 +190,94 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
     ///
     /// Using this instead of `write_firmware` allows for an optimized API in
     /// exchange for added complexity.
-    ///
-    /// # Safety
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub async fn prepare_update(&mut self, aligned: &mut [u8]) -> Result<&mut DFU, FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.verify_booted(aligned).await?;
-
+    pub async fn prepare_update(&mut self) -> Result<&mut DFU, FirmwareUpdaterError> {
+        self.state.verify_booted().await?;
         self.dfu.erase(0, self.dfu.capacity() as u32).await?;
 
         Ok(&mut self.dfu)
     }
 }
 
+/// Manages the state partition of the firmware update.
+///
+/// Can be used standalone for more fine grained control, or as part of the updater.
+pub struct FirmwareState<'d, STATE> {
+    state: STATE,
+    aligned: &'d mut [u8],
+}
+
+impl<'d, STATE: NorFlash> FirmwareState<'d, STATE> {
+    /// Create a firmware state instance with a buffer for magic content and state partition.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    pub fn new(state: STATE, aligned: &'d mut [u8]) -> Self {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        Self { state, aligned }
+    }
+
+    // Make sure we are running a booted firmware to avoid reverting to a bad state.
+    async fn verify_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        if self.get_state().await? == State::Boot {
+            Ok(())
+        } else {
+            Err(FirmwareUpdaterError::BadState)
+        }
+    }
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub async fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
+        self.state.read(0, &mut self.aligned).await?;
+
+        if !self.aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    pub async fn mark_updated(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(SWAP_MAGIC).await
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    pub async fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(BOOT_MAGIC).await
+    }
+
+    async fn set_magic(&mut self, magic: u8) -> Result<(), FirmwareUpdaterError> {
+        self.state.read(0, &mut self.aligned).await?;
+
+        if self.aligned.iter().any(|&b| b != magic) {
+            // Read progress validity
+            self.state.read(STATE::WRITE_SIZE as u32, &mut self.aligned).await?;
+
+            if self.aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
+                // The current progress validity marker is invalid
+            } else {
+                // Invalidate progress
+                self.aligned.fill(!STATE_ERASE_VALUE);
+                self.state.write(STATE::WRITE_SIZE as u32, &self.aligned).await?;
+            }
+
+            // Clear magic and progress
+            self.state.erase(0, self.state.capacity() as u32).await?;
+
+            // Set magic
+            self.aligned.fill(magic);
+            self.state.write(0, &self.aligned).await?;
+        }
+        Ok(())
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use embassy_embedded_hal::flash::partition::Partition;
@@ -288,8 +300,8 @@ mod tests {
         let mut to_write = [0; 4096];
         to_write[..7].copy_from_slice(update.as_slice());
 
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state });
-        block_on(updater.write_firmware(&mut aligned, 0, to_write.as_slice())).unwrap();
+        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state }, &mut aligned);
+        block_on(updater.write_firmware(0, to_write.as_slice())).unwrap();
         let mut chunk_buf = [0; 2];
         let mut hash = [0; 20];
         block_on(updater.hash::<Sha1>(update.len() as u32, &mut chunk_buf, &mut hash)).unwrap();

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

@@ -10,9 +10,9 @@ use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAG
 
 /// Blocking FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
 /// 'mess up' the internal bootloader state
-pub struct BlockingFirmwareUpdater<DFU: NorFlash, STATE: NorFlash> {
+pub struct BlockingFirmwareUpdater<'d, DFU: NorFlash, STATE: NorFlash> {
     dfu: DFU,
-    state: STATE,
+    state: BlockingFirmwareState<'d, STATE>,
 }
 
 #[cfg(target_os = "none")]
@@ -49,22 +49,17 @@ impl<'a, FLASH: NorFlash>
     }
 }
 
-impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
+impl<'d, DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<'d, DFU, STATE> {
     /// Create a firmware updater instance with partition ranges for the update and state partitions.
-    pub fn new(config: FirmwareUpdaterConfig<DFU, STATE>) -> Self {
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    pub fn new(config: FirmwareUpdaterConfig<DFU, STATE>, aligned: &'d mut [u8]) -> Self {
         Self {
             dfu: config.dfu,
-            state: config.state,
-        }
-    }
-
-    // Make sure we are running a booted firmware to avoid reverting to a bad state.
-    fn verify_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        if self.get_state(aligned)? == State::Boot {
-            Ok(())
-        } else {
-            Err(FirmwareUpdaterError::BadState)
+            state: BlockingFirmwareState::new(config.state, aligned),
         }
     }
 
@@ -73,14 +68,8 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
     /// This is useful to check if the bootloader has just done a swap, in order
     /// to do verifications and self-tests of the new image before calling
     /// `mark_booted`.
-    pub fn get_state(&mut self, aligned: &mut [u8]) -> Result<State, FirmwareUpdaterError> {
-        self.state.read(0, aligned)?;
-
-        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
-            Ok(State::Swap)
-        } else {
-            Ok(State::Boot)
-        }
+    pub fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
+        self.state.get_state()
     }
 
     /// Verify the DFU given a public key. If there is an error then DO NOT
@@ -94,23 +83,16 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
     ///
     /// If no signature feature is set then this method will always return a
     /// signature error.
-    ///
-    /// # Safety
-    ///
-    /// The `_aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
-    /// and written to.
     #[cfg(feature = "_verify")]
     pub fn verify_and_mark_updated(
         &mut self,
         _public_key: &[u8],
         _signature: &[u8],
         _update_len: u32,
-        _aligned: &mut [u8],
     ) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(_aligned.len(), STATE::WRITE_SIZE);
         assert!(_update_len <= self.dfu.capacity() as u32);
 
-        self.verify_booted(_aligned)?;
+        self.state.verify_booted()?;
 
         #[cfg(feature = "ed25519-dalek")]
         {
@@ -124,7 +106,8 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
             let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
-            self.hash::<Sha512>(_update_len, _aligned, &mut message)?;
+            let mut chunk_buf = [0; 2];
+            self.hash::<Sha512>(_update_len, &mut chunk_buf, &mut message)?;
 
             public_key.verify(&message, &signature).map_err(into_signature_error)?
         }
@@ -145,7 +128,8 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
             let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
-            self.hash::<Sha512>(_update_len, _aligned, &mut message)?;
+            let mut chunk_buf = [0; 2];
+            self.hash::<Sha512>(_update_len, &mut chunk_buf, &mut message)?;
 
             let r = public_key.verify(&message, &signature);
             trace!(
@@ -158,7 +142,7 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
             r.map_err(into_signature_error)?
         }
 
-        self.set_magic(_aligned, SWAP_MAGIC)
+        self.state.mark_updated()
     }
 
     /// Verify the update in DFU with any digest.
@@ -179,49 +163,14 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
     }
 
     /// Mark to trigger firmware swap on next boot.
-    ///
-    /// # Safety
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
     #[cfg(not(feature = "_verify"))]
-    pub fn mark_updated(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.set_magic(aligned, SWAP_MAGIC)
+    pub fn mark_updated(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.mark_updated()
     }
 
     /// Mark firmware boot successful and stop rollback on reset.
-    ///
-    /// # Safety
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub fn mark_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.set_magic(aligned, BOOT_MAGIC)
-    }
-
-    fn set_magic(&mut self, aligned: &mut [u8], magic: u8) -> Result<(), FirmwareUpdaterError> {
-        self.state.read(0, aligned)?;
-
-        if aligned.iter().any(|&b| b != magic) {
-            // Read progress validity
-            self.state.read(STATE::WRITE_SIZE as u32, aligned)?;
-
-            if aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
-                // The current progress validity marker is invalid
-            } else {
-                // Invalidate progress
-                aligned.fill(!STATE_ERASE_VALUE);
-                self.state.write(STATE::WRITE_SIZE as u32, aligned)?;
-            }
-
-            // Clear magic and progress
-            self.state.erase(0, self.state.capacity() as u32)?;
-
-            // Set magic
-            aligned.fill(magic);
-            self.state.write(0, aligned)?;
-        }
-        Ok(())
+    pub fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.mark_booted()
     }
 
     /// Write data to a flash page.
@@ -231,15 +180,9 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
     /// # Safety
     ///
     /// Failing to meet alignment and size requirements may result in a panic.
-    pub fn write_firmware(
-        &mut self,
-        aligned: &mut [u8],
-        offset: usize,
-        data: &[u8],
-    ) -> Result<(), FirmwareUpdaterError> {
+    pub fn write_firmware(&mut self, offset: usize, data: &[u8]) -> Result<(), FirmwareUpdaterError> {
         assert!(data.len() >= DFU::ERASE_SIZE);
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.verify_booted(aligned)?;
+        self.state.verify_booted()?;
 
         self.dfu.erase(offset as u32, (offset + data.len()) as u32)?;
 
@@ -253,19 +196,94 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
     ///
     /// Using this instead of `write_firmware` allows for an optimized API in
     /// exchange for added complexity.
-    ///
-    /// # Safety
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub fn prepare_update(&mut self, aligned: &mut [u8]) -> Result<&mut DFU, FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.verify_booted(aligned)?;
+    pub fn prepare_update(&mut self) -> Result<&mut DFU, FirmwareUpdaterError> {
+        self.state.verify_booted()?;
         self.dfu.erase(0, self.dfu.capacity() as u32)?;
 
         Ok(&mut self.dfu)
     }
 }
 
+/// Manages the state partition of the firmware update.
+///
+/// Can be used standalone for more fine grained control, or as part of the updater.
+pub struct BlockingFirmwareState<'d, STATE> {
+    state: STATE,
+    aligned: &'d mut [u8],
+}
+
+impl<'d, STATE: NorFlash> BlockingFirmwareState<'d, STATE> {
+    /// Create a firmware state instance with a buffer for magic content and state partition.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    pub fn new(state: STATE, aligned: &'d mut [u8]) -> Self {
+        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        Self { state, aligned }
+    }
+
+    // Make sure we are running a booted firmware to avoid reverting to a bad state.
+    fn verify_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        if self.get_state()? == State::Boot {
+            Ok(())
+        } else {
+            Err(FirmwareUpdaterError::BadState)
+        }
+    }
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
+        self.state.read(0, &mut self.aligned)?;
+
+        if !self.aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    pub fn mark_updated(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(SWAP_MAGIC)
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    pub fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(BOOT_MAGIC)
+    }
+
+    fn set_magic(&mut self, magic: u8) -> Result<(), FirmwareUpdaterError> {
+        self.state.read(0, &mut self.aligned)?;
+
+        if self.aligned.iter().any(|&b| b != magic) {
+            // Read progress validity
+            self.state.read(STATE::WRITE_SIZE as u32, &mut self.aligned)?;
+
+            if self.aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
+                // The current progress validity marker is invalid
+            } else {
+                // Invalidate progress
+                self.aligned.fill(!STATE_ERASE_VALUE);
+                self.state.write(STATE::WRITE_SIZE as u32, &self.aligned)?;
+            }
+
+            // Clear magic and progress
+            self.state.erase(0, self.state.capacity() as u32)?;
+
+            // Set magic
+            self.aligned.fill(magic);
+            self.state.write(0, &self.aligned)?;
+        }
+        Ok(())
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use core::cell::RefCell;
@@ -283,14 +301,14 @@ mod tests {
         let flash = Mutex::<NoopRawMutex, _>::new(RefCell::new(MemFlash::<131072, 4096, 8>::default()));
         let state = BlockingPartition::new(&flash, 0, 4096);
         let dfu = BlockingPartition::new(&flash, 65536, 65536);
+        let mut aligned = [0; 8];
 
         let update = [0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66];
         let mut to_write = [0; 4096];
         to_write[..7].copy_from_slice(update.as_slice());
 
-        let mut updater = BlockingFirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state });
-        let mut aligned = [0; 8];
-        updater.write_firmware(&mut aligned, 0, to_write.as_slice()).unwrap();
+        let mut updater = BlockingFirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state }, &mut aligned);
+        updater.write_firmware(0, to_write.as_slice()).unwrap();
         let mut chunk_buf = [0; 2];
         let mut hash = [0; 20];
         updater

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

@@ -3,8 +3,8 @@ mod asynch;
 mod blocking;
 
 #[cfg(feature = "nightly")]
-pub use asynch::FirmwareUpdater;
-pub use blocking::BlockingFirmwareUpdater;
+pub use asynch::{FirmwareState, FirmwareUpdater};
+pub use blocking::{BlockingFirmwareState, BlockingFirmwareUpdater};
 use embedded_storage::nor_flash::{NorFlashError, NorFlashErrorKind};
 
 /// Firmware updater flash configuration holding the two flashes used by the updater

embassy-boot/boot/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-boot/boot/src/lib.rs

@@ -1,4 +1,5 @@
 #![cfg_attr(feature = "nightly", feature(async_fn_in_trait))]
+#![cfg_attr(feature = "nightly", allow(stable_features, unknown_lints, async_fn_in_trait))]
 #![no_std]
 #![warn(missing_docs)]
 #![doc = include_str!("../README.md")]
@@ -16,9 +17,11 @@ mod test_flash;
 // TODO: Use the value provided by NorFlash when available
 pub(crate) const STATE_ERASE_VALUE: u8 = 0xFF;
 pub use boot_loader::{BootError, BootLoader, BootLoaderConfig};
+pub use firmware_updater::{
+    BlockingFirmwareState, BlockingFirmwareUpdater, FirmwareUpdaterConfig, FirmwareUpdaterError,
+};
 #[cfg(feature = "nightly")]
-pub use firmware_updater::FirmwareUpdater;
-pub use firmware_updater::{BlockingFirmwareUpdater, FirmwareUpdaterConfig, FirmwareUpdaterError};
+pub use firmware_updater::{FirmwareState, FirmwareUpdater};
 
 pub(crate) const BOOT_MAGIC: u8 = 0xD0;
 pub(crate) const SWAP_MAGIC: u8 = 0xF0;
@@ -118,15 +121,18 @@ mod tests {
         block_on(flash.active().erase(0, ORIGINAL.len() as u32)).unwrap();
         block_on(flash.active().write(0, &ORIGINAL)).unwrap();
 
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
+        let mut updater = FirmwareUpdater::new(
+            FirmwareUpdaterConfig {
                 dfu: flash.dfu(),
                 state: flash.state(),
-        });
-        block_on(updater.write_firmware(&mut aligned, 0, &UPDATE)).unwrap();
-        block_on(updater.mark_updated(&mut aligned)).unwrap();
+            },
+            &mut aligned,
+        );
+        block_on(updater.write_firmware(0, &UPDATE)).unwrap();
+        block_on(updater.mark_updated()).unwrap();
 
         // Writing after marking updated is not allowed until marked as booted.
-        let res: Result<(), FirmwareUpdaterError> = block_on(updater.write_firmware(&mut aligned, 0, &UPDATE));
+        let res: Result<(), FirmwareUpdaterError> = block_on(updater.write_firmware(0, &UPDATE));
         assert!(matches!(res, Err::<(), _>(FirmwareUpdaterError::BadState)));
 
         let flash = flash.into_blocking();
@@ -158,11 +164,14 @@ mod tests {
 
         // Mark as booted
         let flash = flash.into_async();
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
+        let mut updater = FirmwareUpdater::new(
+            FirmwareUpdaterConfig {
                 dfu: flash.dfu(),
                 state: flash.state(),
-        });
-        block_on(updater.mark_booted(&mut aligned)).unwrap();
+            },
+            &mut aligned,
+        );
+        block_on(updater.mark_booted()).unwrap();
 
         let flash = flash.into_blocking();
         let mut bootloader = BootLoader::new(BootLoaderConfig {
@@ -190,12 +199,15 @@ mod tests {
         block_on(flash.active().erase(0, ORIGINAL.len() as u32)).unwrap();
         block_on(flash.active().write(0, &ORIGINAL)).unwrap();
 
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
+        let mut updater = FirmwareUpdater::new(
+            FirmwareUpdaterConfig {
                 dfu: flash.dfu(),
                 state: flash.state(),
-        });
-        block_on(updater.write_firmware(&mut aligned, 0, &UPDATE)).unwrap();
-        block_on(updater.mark_updated(&mut aligned)).unwrap();
+            },
+            &mut aligned,
+        );
+        block_on(updater.write_firmware(0, &UPDATE)).unwrap();
+        block_on(updater.mark_updated()).unwrap();
 
         let flash = flash.into_blocking();
         let mut bootloader = BootLoader::new(BootLoaderConfig {
@@ -232,12 +244,15 @@ mod tests {
         block_on(flash.active().erase(0, ORIGINAL.len() as u32)).unwrap();
         block_on(flash.active().write(0, &ORIGINAL)).unwrap();
 
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
+        let mut updater = FirmwareUpdater::new(
+            FirmwareUpdaterConfig {
                 dfu: flash.dfu(),
                 state: flash.state(),
-        });
-        block_on(updater.write_firmware(&mut aligned, 0, &UPDATE)).unwrap();
-        block_on(updater.mark_updated(&mut aligned)).unwrap();
+            },
+            &mut aligned,
+        );
+        block_on(updater.write_firmware(0, &UPDATE)).unwrap();
+        block_on(updater.mark_updated()).unwrap();
 
         let flash = flash.into_blocking();
         let mut bootloader = BootLoader::new(BootLoaderConfig {
@@ -293,18 +308,19 @@ mod tests {
 
         // On with the test
         let flash = flash.into_async();
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
+        let mut aligned = [0; 4];
+        let mut updater = FirmwareUpdater::new(
+            FirmwareUpdaterConfig {
                 dfu: flash.dfu(),
                 state: flash.state(),
-        });
-
-        let mut aligned = [0; 4];
+            },
+            &mut aligned,
+        );
 
         assert!(block_on(updater.verify_and_mark_updated(
             &public_key.to_bytes(),
             &signature.to_bytes(),
             firmware_len as u32,
-            &mut aligned,
         ))
         .is_ok());
     }

embassy-boot/nrf/Cargo.toml

@@ -16,7 +16,7 @@ target = "thumbv7em-none-eabi"
 [dependencies]
 defmt = { version = "0.3", optional = true }
 
-embassy-sync = { path = "../../embassy-sync" }
+embassy-sync = { version = "0.4.0", path = "../../embassy-sync" }
 embassy-nrf = { path = "../../embassy-nrf" }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }

embassy-boot/nrf/README.md

@@ -6,7 +6,7 @@ An adaptation of `embassy-boot` for nRF.
 
 ## Features
 
-* Load applications with our without the softdevice.
+* Load applications with or without the softdevice.
 * Configure bootloader partitions based on linker script.
 * Using watchdog timer to detect application failure.
 

embassy-boot/nrf/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-boot/nrf/src/lib.rs

@@ -3,37 +3,28 @@
 #![doc = include_str!("../README.md")]
 mod fmt;
 
+pub use embassy_boot::{
+    AlignedBuffer, BlockingFirmwareState, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig,
+};
 #[cfg(feature = "nightly")]
-pub use embassy_boot::FirmwareUpdater;
-pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig};
-use embassy_nrf::nvmc::{Nvmc, PAGE_SIZE};
+pub use embassy_boot::{FirmwareState, FirmwareUpdater};
+use embassy_nrf::nvmc::PAGE_SIZE;
 use embassy_nrf::peripherals::WDT;
 use embassy_nrf::wdt;
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
 
 /// A bootloader for nRF devices.
-pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize = PAGE_SIZE> {
-    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
-    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
-}
+pub struct BootLoader<const BUFFER_SIZE: usize = PAGE_SIZE>;
 
-impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
-    BootLoader<ACTIVE, DFU, STATE, BUFFER_SIZE>
-{
-    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
-    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
-        Self {
-            boot: embassy_boot::BootLoader::new(config),
-            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
-        }
-    }
-
-    /// Inspect the bootloader state and perform actions required before booting, such as swapping
-    /// firmware.
-    pub fn prepare(&mut self) {
-        self.boot
-            .prepare_boot(&mut self.aligned_buf.0)
-            .expect("Boot prepare error");
+impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
+    /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware.
+    pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
+        config: BootLoaderConfig<ACTIVE, DFU, STATE>,
+    ) -> Self {
+        let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
+        let mut boot = embassy_boot::BootLoader::new(config);
+        boot.prepare_boot(&mut aligned_buf.0).expect("Boot prepare error");
+        Self
     }
 
     /// Boots the application without softdevice mechanisms.
@@ -43,8 +34,6 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
     #[cfg(not(feature = "softdevice"))]
     pub unsafe fn load(self, start: u32) -> ! {
-        core::mem::drop(self.boot);
-
         let mut p = cortex_m::Peripherals::steal();
         p.SCB.invalidate_icache();
         p.SCB.vtor.write(start);
@@ -57,7 +46,7 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
     ///
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
     #[cfg(feature = "softdevice")]
-    pub unsafe fn load(&mut self, _app: u32) -> ! {
+    pub unsafe fn load(self, _app: u32) -> ! {
         use nrf_softdevice_mbr as mbr;
         const NRF_SUCCESS: u32 = 0;
 
@@ -104,15 +93,15 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
     }
 }
 
-/// A flash implementation that wraps NVMC and will pet a watchdog when touching flash.
-pub struct WatchdogFlash<'d> {
-    flash: Nvmc<'d>,
+/// A flash implementation that wraps any flash and will pet a watchdog when touching flash.
+pub struct WatchdogFlash<FLASH> {
+    flash: FLASH,
     wdt: wdt::WatchdogHandle,
 }
 
-impl<'d> WatchdogFlash<'d> {
+impl<FLASH> WatchdogFlash<FLASH> {
     /// Start a new watchdog with a given flash and WDT peripheral and a timeout
-    pub fn start(flash: Nvmc<'d>, wdt: WDT, config: wdt::Config) -> Self {
+    pub fn start(flash: FLASH, wdt: WDT, config: wdt::Config) -> Self {
         let (_wdt, [wdt]) = match wdt::Watchdog::try_new(wdt, config) {
             Ok(x) => x,
             Err(_) => {
@@ -127,13 +116,13 @@ impl<'d> WatchdogFlash<'d> {
     }
 }
 
-impl<'d> ErrorType for WatchdogFlash<'d> {
-    type Error = <Nvmc<'d> as ErrorType>::Error;
+impl<FLASH: ErrorType> ErrorType for WatchdogFlash<FLASH> {
+    type Error = FLASH::Error;
 }
 
-impl<'d> NorFlash for WatchdogFlash<'d> {
-    const WRITE_SIZE: usize = <Nvmc<'d> as NorFlash>::WRITE_SIZE;
-    const ERASE_SIZE: usize = <Nvmc<'d> as NorFlash>::ERASE_SIZE;
+impl<FLASH: NorFlash> NorFlash for WatchdogFlash<FLASH> {
+    const WRITE_SIZE: usize = FLASH::WRITE_SIZE;
+    const ERASE_SIZE: usize = FLASH::ERASE_SIZE;
 
     fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
         self.wdt.pet();
@@ -145,8 +134,8 @@ impl<'d> NorFlash for WatchdogFlash<'d> {
     }
 }
 
-impl<'d> ReadNorFlash for WatchdogFlash<'d> {
-    const READ_SIZE: usize = <Nvmc<'d> as ReadNorFlash>::READ_SIZE;
+impl<FLASH: ReadNorFlash> ReadNorFlash for WatchdogFlash<FLASH> {
+    const READ_SIZE: usize = FLASH::READ_SIZE;
     fn read(&mut self, offset: u32, data: &mut [u8]) -> Result<(), Self::Error> {
         self.wdt.pet();
         self.flash.read(offset, data)

embassy-boot/rp/Cargo.toml

@@ -17,7 +17,7 @@ defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.4", optional = true }
 log = { version = "0.4", optional = true }
 
-embassy-sync = { path = "../../embassy-sync" }
+embassy-sync = { version = "0.4.0", path = "../../embassy-sync" }
 embassy-rp = { path = "../../embassy-rp", default-features = false }
 embassy-boot = { path = "../boot", default-features = false }
 embassy-time = { path = "../../embassy-time" }

embassy-boot/rp/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-boot/rp/src/lib.rs

@@ -3,38 +3,29 @@
 #![doc = include_str!("../README.md")]
 mod fmt;
 
+pub use embassy_boot::{
+    AlignedBuffer, BlockingFirmwareState, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State,
+};
 #[cfg(feature = "nightly")]
-pub use embassy_boot::FirmwareUpdater;
-pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State};
-use embassy_rp::flash::{Flash, ERASE_SIZE};
+pub use embassy_boot::{FirmwareState, FirmwareUpdater};
+use embassy_rp::flash::{Blocking, Flash, ERASE_SIZE};
 use embassy_rp::peripherals::{FLASH, WATCHDOG};
 use embassy_rp::watchdog::Watchdog;
 use embassy_time::Duration;
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
 
 /// A bootloader for RP2040 devices.
-pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize = ERASE_SIZE> {
-    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
-    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
-}
+pub struct BootLoader<const BUFFER_SIZE: usize = ERASE_SIZE>;
 
-impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
-    BootLoader<ACTIVE, DFU, STATE, BUFFER_SIZE>
-{
-    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
-    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
-        Self {
-            boot: embassy_boot::BootLoader::new(config),
-            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
-        }
-    }
-
-    /// Inspect the bootloader state and perform actions required before booting, such as swapping
-    /// firmware.
-    pub fn prepare(&mut self) {
-        self.boot
-            .prepare_boot(self.aligned_buf.as_mut())
-            .expect("Boot prepare error");
+impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
+    /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware
+    pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
+        config: BootLoaderConfig<ACTIVE, DFU, STATE>,
+    ) -> Self {
+        let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
+        let mut boot = embassy_boot::BootLoader::new(config);
+        boot.prepare_boot(aligned_buf.as_mut()).expect("Boot prepare error");
+        Self
     }
 
     /// Boots the application.
@@ -43,8 +34,6 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
     ///
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
     pub unsafe fn load(self, start: u32) -> ! {
-        core::mem::drop(self.boot);
-
         trace!("Loading app at 0x{:x}", start);
         #[allow(unused_mut)]
         let mut p = cortex_m::Peripherals::steal();
@@ -58,14 +47,14 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
 
 /// A flash implementation that will feed a watchdog when touching flash.
 pub struct WatchdogFlash<'d, const SIZE: usize> {
-    flash: Flash<'d, FLASH, SIZE>,
+    flash: Flash<'d, FLASH, Blocking, SIZE>,
     watchdog: Watchdog,
 }
 
 impl<'d, const SIZE: usize> WatchdogFlash<'d, SIZE> {
     /// Start a new watchdog with a given flash and watchdog peripheral and a timeout
     pub fn start(flash: FLASH, watchdog: WATCHDOG, timeout: Duration) -> Self {
-        let flash: Flash<'_, FLASH, SIZE> = Flash::new(flash);
+        let flash = Flash::<_, Blocking, SIZE>::new_blocking(flash);
         let mut watchdog = Watchdog::new(watchdog);
         watchdog.start(timeout);
         Self { flash, watchdog }
@@ -73,28 +62,28 @@ impl<'d, const SIZE: usize> WatchdogFlash<'d, SIZE> {
 }
 
 impl<'d, const SIZE: usize> ErrorType for WatchdogFlash<'d, SIZE> {
-    type Error = <Flash<'d, FLASH, SIZE> as ErrorType>::Error;
+    type Error = <Flash<'d, FLASH, Blocking, SIZE> as ErrorType>::Error;
 }
 
 impl<'d, const SIZE: usize> NorFlash for WatchdogFlash<'d, SIZE> {
-    const WRITE_SIZE: usize = <Flash<'d, FLASH, SIZE> as NorFlash>::WRITE_SIZE;
-    const ERASE_SIZE: usize = <Flash<'d, FLASH, SIZE> as NorFlash>::ERASE_SIZE;
+    const WRITE_SIZE: usize = <Flash<'d, FLASH, Blocking, SIZE> as NorFlash>::WRITE_SIZE;
+    const ERASE_SIZE: usize = <Flash<'d, FLASH, Blocking, SIZE> as NorFlash>::ERASE_SIZE;
 
     fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
         self.watchdog.feed();
-        self.flash.erase(from, to)
+        self.flash.blocking_erase(from, to)
     }
     fn write(&mut self, offset: u32, data: &[u8]) -> Result<(), Self::Error> {
         self.watchdog.feed();
-        self.flash.write(offset, data)
+        self.flash.blocking_write(offset, data)
     }
 }
 
 impl<'d, const SIZE: usize> ReadNorFlash for WatchdogFlash<'d, SIZE> {
-    const READ_SIZE: usize = <Flash<'d, FLASH, SIZE> as ReadNorFlash>::READ_SIZE;
+    const READ_SIZE: usize = <Flash<'d, FLASH, Blocking, SIZE> as ReadNorFlash>::READ_SIZE;
     fn read(&mut self, offset: u32, data: &mut [u8]) -> Result<(), Self::Error> {
         self.watchdog.feed();
-        self.flash.read(offset, data)
+        self.flash.blocking_read(offset, data)
     }
     fn capacity(&self) -> usize {
         self.flash.capacity()

embassy-boot/stm32/Cargo.toml

@@ -18,7 +18,7 @@ defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.4", optional = true }
 log = { version = "0.4", optional = true }
 
-embassy-sync = { path = "../../embassy-sync" }
+embassy-sync = { version = "0.4.0", path = "../../embassy-sync" }
 embassy-stm32 = { path = "../../embassy-stm32", default-features = false }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }

embassy-boot/stm32/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-boot/stm32/src/lib.rs

@@ -3,34 +3,25 @@
 #![doc = include_str!("../README.md")]
 mod fmt;
 
+pub use embassy_boot::{
+    AlignedBuffer, BlockingFirmwareState, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State,
+};
 #[cfg(feature = "nightly")]
-pub use embassy_boot::FirmwareUpdater;
-pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State};
+pub use embassy_boot::{FirmwareState, FirmwareUpdater};
 use embedded_storage::nor_flash::NorFlash;
 
 /// A bootloader for STM32 devices.
-pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize> {
-    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
-    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
-}
+pub struct BootLoader;
 
-impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
-    BootLoader<ACTIVE, DFU, STATE, BUFFER_SIZE>
-{
-    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
-    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
-        Self {
-            boot: embassy_boot::BootLoader::new(config),
-            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
-        }
-    }
-
-    /// Inspect the bootloader state and perform actions required before booting, such as swapping
-    /// firmware.
-    pub fn prepare(&mut self) {
-        self.boot
-            .prepare_boot(self.aligned_buf.as_mut())
-            .expect("Boot prepare error");
+impl BootLoader {
+    /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware
+    pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>(
+        config: BootLoaderConfig<ACTIVE, DFU, STATE>,
+    ) -> Self {
+        let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
+        let mut boot = embassy_boot::BootLoader::new(config);
+        boot.prepare_boot(aligned_buf.as_mut()).expect("Boot prepare error");
+        Self
     }
 
     /// Boots the application.
@@ -39,8 +30,6 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
     ///
     /// This modifies the stack pointer and reset vector and will run code placed in the active partition.
     pub unsafe fn load(self, start: u32) -> ! {
-        core::mem::drop(self.boot);
-
         trace!("Loading app at 0x{:x}", start);
         #[allow(unused_mut)]
         let mut p = cortex_m::Peripherals::steal();

embassy-embedded-hal/Cargo.toml

@@ -15,15 +15,18 @@ target = "x86_64-unknown-linux-gnu"
 std = []
 # Enable nightly-only features
 nightly = ["embassy-futures", "embedded-hal-async", "embedded-storage-async"]
+time = ["dep:embassy-time"]
+default = ["time"]
 
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../embassy-futures", optional = true }
-embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.4.0", path = "../embassy-sync" }
+embassy-time = { version = "0.1.5", path = "../embassy-time", optional = true }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
     "unproven",
 ] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
-embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
+embedded-hal-async = { version = "=1.0.0-rc.1", optional = true }
 embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
 nb = "1.0.0"

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

@@ -1,4 +1,4 @@
-use embedded_hal_02::{blocking, serial};
+use embedded_hal_02::blocking;
 
 /// Wrapper that implements async traits using blocking implementations.
 ///
@@ -74,7 +74,21 @@ where
     E: embedded_hal_1::spi::Error + 'static,
     T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
 {
-    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
+    async fn flush(&mut self) -> Result<(), Self::Error> {
+        Ok(())
+    }
+
+    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
+        self.wrapped.write(data)?;
+        Ok(())
+    }
+
+    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
+        self.wrapped.transfer(data)?;
+        Ok(())
+    }
+
+    async fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
         // Ensure we write the expected bytes
         for i in 0..core::cmp::min(read.len(), write.len()) {
             read[i] = write[i].clone();
@@ -83,52 +97,12 @@ where
         Ok(())
     }
 
-    async fn transfer_in_place<'a>(&'a mut self, _: &'a mut [u8]) -> Result<(), Self::Error> {
-        todo!()
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusFlush for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn flush(&mut self) -> Result<(), Self::Error> {
-        Ok(())
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusWrite<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
-        self.wrapped.write(data)?;
-        Ok(())
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusRead<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
+    async fn transfer_in_place(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
         self.wrapped.transfer(data)?;
         Ok(())
     }
 }
 
-// Uart implementatinos
-impl<T, E> embedded_hal_1::serial::ErrorType for BlockingAsync<T>
-where
-    T: serial::Read<u8, Error = E>,
-    E: embedded_hal_1::serial::Error + 'static,
-{
-    type Error = E;
-}
-
 /// NOR flash wrapper
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
 use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};

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

@@ -69,51 +69,36 @@ where
     type Error = T::Error;
 }
 
-impl<T> embedded_hal_async::spi::SpiBus<u8> for YieldingAsync<T>
+impl<T, Word: 'static + Copy> embedded_hal_async::spi::SpiBus<Word> for YieldingAsync<T>
 where
-    T: embedded_hal_async::spi::SpiBus,
-{
-    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
-        self.wrapped.transfer(read, write).await?;
-        yield_now().await;
-        Ok(())
-    }
-
-    async fn transfer_in_place<'a>(&'a mut self, words: &'a mut [u8]) -> Result<(), Self::Error> {
-        self.wrapped.transfer_in_place(words).await?;
-        yield_now().await;
-        Ok(())
-    }
-}
-
-impl<T> embedded_hal_async::spi::SpiBusFlush for YieldingAsync<T>
-where
-    T: embedded_hal_async::spi::SpiBusFlush,
+    T: embedded_hal_async::spi::SpiBus<Word>,
 {
     async fn flush(&mut self) -> Result<(), Self::Error> {
         self.wrapped.flush().await?;
         yield_now().await;
         Ok(())
     }
-}
 
-impl<T> embedded_hal_async::spi::SpiBusWrite<u8> for YieldingAsync<T>
-where
-    T: embedded_hal_async::spi::SpiBusWrite<u8>,
-{
-    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
+    async fn write(&mut self, data: &[Word]) -> Result<(), Self::Error> {
         self.wrapped.write(data).await?;
         yield_now().await;
         Ok(())
     }
+
+    async fn read(&mut self, data: &mut [Word]) -> Result<(), Self::Error> {
+        self.wrapped.read(data).await?;
+        yield_now().await;
+        Ok(())
     }
 
-impl<T> embedded_hal_async::spi::SpiBusRead<u8> for YieldingAsync<T>
-where
-    T: embedded_hal_async::spi::SpiBusRead<u8>,
-{
-    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
-        self.wrapped.read(data).await?;
+    async fn transfer(&mut self, read: &mut [Word], write: &[Word]) -> Result<(), Self::Error> {
+        self.wrapped.transfer(read, write).await?;
+        yield_now().await;
+        Ok(())
+    }
+
+    async fn transfer_in_place(&mut self, words: &mut [Word]) -> Result<(), Self::Error> {
+        self.wrapped.transfer_in_place(words).await?;
         yield_now().await;
         Ok(())
     }

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

@@ -11,7 +11,7 @@ pub use asynch::Partition;
 pub use blocking::BlockingPartition;
 
 /// Partition error
-#[derive(Debug)]
+#[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error<T> {
     /// The requested flash area is outside the partition

embassy-embedded-hal/src/lib.rs

@@ -1,5 +1,6 @@
 #![cfg_attr(not(feature = "std"), no_std)]
 #![cfg_attr(feature = "nightly", feature(async_fn_in_trait, impl_trait_projections, try_blocks))]
+#![cfg_attr(feature = "nightly", allow(stable_features, unknown_lints, async_fn_in_trait))]
 #![warn(missing_docs)]
 
 //! Utilities to use `embedded-hal` traits with Embassy.
@@ -26,6 +27,18 @@ pub trait SetConfig {
     /// The configuration type used by this driver.
     type Config;
 
+    /// The error type that can occur if `set_config` fails.
+    type ConfigError;
+
     /// Set the configuration of the driver.
-    fn set_config(&mut self, config: &Self::Config);
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), Self::ConfigError>;
+}
+
+/// Get the configuration of a peripheral driver.
+pub trait GetConfig {
+    /// The configuration type used by this driver.
+    type Config;
+
+    /// Get the configuration of the driver.
+    fn get_config(&self) -> Self::Config;
 }

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

@@ -125,14 +125,14 @@ where
 {
     async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.read(address, buffer).await.map_err(I2cDeviceError::I2c)?;
         Ok(())
     }
 
     async fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.write(address, bytes).await.map_err(I2cDeviceError::I2c)?;
         Ok(())
     }
@@ -144,7 +144,7 @@ where
         rd_buffer: &mut [u8],
     ) -> Result<(), I2cDeviceError<BUS::Error>> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.write_read(address, wr_buffer, rd_buffer)
             .await
             .map_err(I2cDeviceError::I2c)?;
@@ -153,7 +153,7 @@ where
 
     async fn transaction(&mut self, address: u8, operations: &mut [i2c::Operation<'_>]) -> Result<(), Self::Error> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.transaction(address, operations)
             .await
             .map_err(I2cDeviceError::I2c)?;

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

@@ -56,62 +56,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS> spi::SpiDeviceRead for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusRead,
-    CS: OutputPin,
-{
-    async fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.read(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
-impl<M, BUS, CS> spi::SpiDeviceWrite for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusWrite,
-    CS: OutputPin,
-{
-    async fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.write(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
 impl<M, BUS, CS> spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -129,6 +73,10 @@ where
                     Operation::Write(buf) => bus.write(buf).await?,
                     Operation::Transfer(read, write) => bus.transfer(read, write).await?,
                     Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                    #[cfg(not(feature = "time"))]
+                    Operation::DelayUs(_) => return Err(SpiDeviceError::DelayUsNotSupported),
+                    #[cfg(feature = "time")]
+                    Operation::DelayUs(us) => embassy_time::Timer::after_micros(*us as _).await,
                 }
             }
         };
@@ -172,64 +120,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS> spi::SpiDeviceWrite for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusWrite + SetConfig,
-    CS: OutputPin,
-{
-    async fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.write(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
-impl<M, BUS, CS> spi::SpiDeviceRead for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: spi::SpiBusRead + SetConfig,
-    CS: OutputPin,
-{
-    async fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
-        self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-        let op_res: Result<(), BUS::Error> = try {
-            for buf in operations {
-                bus.read(buf).await?;
-            }
-        };
-
-        // On failure, it's important to still flush and deassert CS.
-        let flush_res = bus.flush().await;
-        let cs_res = self.cs.set_high();
-
-        let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-        flush_res.map_err(SpiDeviceError::Spi)?;
-        cs_res.map_err(SpiDeviceError::Cs)?;
-
-        Ok(op_res)
-    }
-}
-
 impl<M, BUS, CS> spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -238,7 +128,7 @@ where
 {
     async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| SpiDeviceError::Config)?;
         self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
         let op_res: Result<(), BUS::Error> = try {
@@ -248,6 +138,10 @@ where
                     Operation::Write(buf) => bus.write(buf).await?,
                     Operation::Transfer(read, write) => bus.transfer(read, write).await?,
                     Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                    #[cfg(not(feature = "time"))]
+                    Operation::DelayUs(_) => return Err(SpiDeviceError::DelayUsNotSupported),
+                    #[cfg(feature = "time")]
+                    Operation::DelayUs(us) => embassy_time::Timer::after_micros(*us as _).await,
                 }
             }
         };

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

@@ -148,7 +148,7 @@ where
     fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
             bus.read(address, buffer).map_err(I2cDeviceError::I2c)
         })
     }
@@ -156,7 +156,7 @@ where
     fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
             bus.write(address, bytes).map_err(I2cDeviceError::I2c)
         })
     }
@@ -164,7 +164,7 @@ where
     fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
             bus.write_read(address, wr_buffer, rd_buffer)
                 .map_err(I2cDeviceError::I2c)
         })

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

@@ -22,7 +22,7 @@ use core::cell::RefCell;
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::blocking_mutex::Mutex;
 use embedded_hal_1::digital::OutputPin;
-use embedded_hal_1::spi::{self, Operation, SpiBus, SpiBusRead, SpiBusWrite};
+use embedded_hal_1::spi::{self, Operation, SpiBus};
 
 use crate::shared_bus::SpiDeviceError;
 use crate::SetConfig;
@@ -48,58 +48,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceRead for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusRead,
-    CS: OutputPin,
-{
-    fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter_mut().try_for_each(|buf| bus.read(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-
-            Ok(op_res)
-        })
-    }
-}
-
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceWrite for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusWrite,
-    CS: OutputPin,
-{
-    fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter().try_for_each(|buf| bus.write(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-
-            Ok(op_res)
-        })
-    }
-}
-
 impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -116,6 +64,13 @@ where
                 Operation::Write(buf) => bus.write(buf),
                 Operation::Transfer(read, write) => bus.transfer(read, write),
                 Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
+                #[cfg(not(feature = "time"))]
+                Operation::DelayUs(_) => Err(SpiDeviceError::DelayUsNotSupported),
+                #[cfg(feature = "time")]
+                Operation::DelayUs(us) => {
+                    embassy_time::block_for(embassy_time::Duration::from_micros(*us as _));
+                    Ok(())
+                }
             });
 
             // On failure, it's important to still flush and deassert CS.
@@ -199,58 +154,6 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceRead for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusRead + SetConfig,
-    CS: OutputPin,
-{
-    fn read_transaction(&mut self, operations: &mut [&mut [u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter_mut().try_for_each(|buf| bus.read(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(op_res)
-        })
-    }
-}
-
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDeviceWrite for SpiDeviceWithConfig<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: SpiBusWrite + SetConfig,
-    CS: OutputPin,
-{
-    fn write_transaction(&mut self, operations: &[&[u8]]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-
-            let op_res = operations.iter().try_for_each(|buf| bus.write(buf));
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            flush_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(op_res)
-        })
-    }
-}
-
 impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -260,7 +163,7 @@ where
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| SpiDeviceError::Config)?;
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
             let op_res = operations.iter_mut().try_for_each(|op| match op {
@@ -268,6 +171,13 @@ where
                 Operation::Write(buf) => bus.write(buf),
                 Operation::Transfer(read, write) => bus.transfer(read, write),
                 Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
+                #[cfg(not(feature = "time"))]
+                Operation::DelayUs(_) => Err(SpiDeviceError::DelayUsNotSupported),
+                #[cfg(feature = "time")]
+                Operation::DelayUs(us) => {
+                    embassy_time::block_for(embassy_time::Duration::from_micros(*us as _));
+                    Ok(())
+                }
             });
 
             // On failure, it's important to still flush and deassert CS.

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

@@ -14,6 +14,8 @@ pub mod blocking;
 pub enum I2cDeviceError<BUS> {
     /// An operation on the inner I2C bus failed.
     I2c(BUS),
+    /// Configuration of the inner I2C bus failed.
+    Config,
 }
 
 impl<BUS> i2c::Error for I2cDeviceError<BUS>
@@ -23,6 +25,7 @@ where
     fn kind(&self) -> i2c::ErrorKind {
         match self {
             Self::I2c(e) => e.kind(),
+            Self::Config => i2c::ErrorKind::Other,
         }
     }
 }
@@ -30,11 +33,16 @@ where
 /// Error returned by SPI device implementations in this crate.
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
 pub enum SpiDeviceError<BUS, CS> {
     /// An operation on the inner SPI bus failed.
     Spi(BUS),
     /// Setting the value of the Chip Select (CS) pin failed.
     Cs(CS),
+    /// DelayUs operations are not supported when the `time` Cargo feature is not enabled.
+    DelayUsNotSupported,
+    /// The SPI bus could not be configured.
+    Config,
 }
 
 impl<BUS, CS> spi::Error for SpiDeviceError<BUS, CS>
@@ -46,6 +54,8 @@ where
         match self {
             Self::Spi(e) => e.kind(),
             Self::Cs(_) => spi::ErrorKind::Other,
+            Self::DelayUsNotSupported => spi::ErrorKind::Other,
+            Self::Config => spi::ErrorKind::Other,
         }
     }
 }

embassy-executor/CHANGELOG.md

@@ -5,6 +5,34 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## 0.3.3 - 2023-11-15
+
+- Add `main` macro reexport for Xtensa arch.
+- Remove use of `atomic-polyfill`. The executor now has multiple implementations of its internal data structures for cases where the target supports atomics or doesn't.
+
+## 0.3.2 - 2023-11-06
+
+- Use `atomic-polyfill` for `riscv32`
+- Removed unused dependencies (static_cell, futures-util)
+
+## 0.3.1 - 2023-11-01
+
+- Fix spurious "Found waker not created by the Embassy executor" error in recent nightlies.
+
+## 0.3.0 - 2023-08-25
+
+- Replaced Pender. Implementations now must define an extern function called `__pender`.
+- Made `raw::AvailableTask` public
+- Made `SpawnToken::new_failed` public
+- You can now use arbitrary expressions to specify `#[task(pool_size = X)]`
+
+## 0.2.1 - 2023-08-10
+
+- Avoid calling `pend()` when waking expired timers
+- Properly reset finished task state with `integrated-timers` enabled
+- Introduce `InterruptExecutor::spawner()`
+- Fix incorrect critical section in Xtensa executor
+
 ## 0.2.0 - 2023-04-27
 
 - Replace unnecessary atomics in runqueue

embassy-executor/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "embassy-executor"
-version = "0.2.0"
+version = "0.3.3"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "async/await executor designed for embedded usage"
@@ -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 = ["nightly", "defmt", "pender-callback"]
+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 = ["nightly", "defmt", "pender-callback", "arch-cortex-m", "executor-thread", "executor-interrupt"]
+features = ["nightly", "defmt", "arch-cortex-m", "executor-thread", "executor-interrupt"]
 
 [features]
 
@@ -34,12 +34,9 @@ _arch = [] # some arch was picked
 arch-std = ["_arch", "critical-section/std"]
 arch-cortex-m = ["_arch", "dep:cortex-m"]
 arch-xtensa = ["_arch"]
-arch-riscv32 = ["_arch"]
+arch-riscv32 = ["_arch", "dep:portable-atomic"]
 arch-wasm = ["_arch", "dep:wasm-bindgen", "dep:js-sys"]
 
-# Enable creating a `Pender` from an arbitrary function pointer callback.
-pender-callback = []
-
 # Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
 executor-thread = []
 # Enable the interrupt-mode executor (available in Cortex-M only)
@@ -60,12 +57,13 @@ defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 rtos-trace = { version = "0.1.2", optional = true }
 
-futures-util = { version = "0.3.17", default-features = false }
-embassy-macros  = { version = "0.2.0", path = "../embassy-macros" }
-embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
-atomic-polyfill = "1.0.1"
+embassy-macros = { version = "0.2.1", path = "../embassy-macros" }
+embassy-time = { version = "0.1.5", path = "../embassy-time", optional = true}
 critical-section = "1.1"
-static_cell = "1.1"
+
+# needed for riscv
+# remove when https://github.com/rust-lang/rust/pull/114499 is merged
+portable-atomic = { version = "1.5", optional = true }
 
 # arch-cortex-m dependencies
 cortex-m = { version = "0.7.6", optional = true }

embassy-executor/README.md

@@ -4,7 +4,7 @@ An async/await executor designed for embedded usage.
 
 - No `alloc`, no heap needed. Task futures are statically allocated.
 - No "fixed capacity" data structures, executor works with 1 or 1000 tasks without needing config/tuning.
-- Integrated timer queue: sleeping is easy, just do `Timer::after(Duration::from_secs(1)).await;`.
+- Integrated timer queue: sleeping is easy, just do `Timer::after_secs(1).await;`.
 - No busy-loop polling: CPU sleeps when there's no work to do, using interrupts or `WFE/SEV`.
 - Efficient polling: a wake will only poll the woken task, not all of them.
 - Fair: a task can't monopolize CPU time even if it's constantly being woken. All other tasks get a chance to run before a given task gets polled for the second time.

embassy-executor/src/arch/cortex_m.rs

@@ -1,25 +1,61 @@
+#[export_name = "__pender"]
+#[cfg(any(feature = "executor-thread", feature = "executor-interrupt"))]
+fn __pender(context: *mut ()) {
+    unsafe {
+        // Safety: `context` is either `usize::MAX` created by `Executor::run`, or a valid interrupt
+        // request number given to `InterruptExecutor::start`.
+
+        let context = context as usize;
+
+        #[cfg(feature = "executor-thread")]
+        // Try to make Rust optimize the branching away if we only use thread mode.
+        if !cfg!(feature = "executor-interrupt") || context == THREAD_PENDER {
+            core::arch::asm!("sev");
+            return;
+        }
+
+        #[cfg(feature = "executor-interrupt")]
+        {
+            use cortex_m::interrupt::InterruptNumber;
+            use cortex_m::peripheral::NVIC;
+
+            #[derive(Clone, Copy)]
+            struct Irq(u16);
+            unsafe impl InterruptNumber for Irq {
+                fn number(self) -> u16 {
+                    self.0
+                }
+            }
+
+            let irq = Irq(context as u16);
+
+            // STIR is faster, but is only available in v7 and higher.
+            #[cfg(not(armv6m))]
+            {
+                let mut nvic: NVIC = core::mem::transmute(());
+                nvic.request(irq);
+            }
+
+            #[cfg(armv6m)]
+            NVIC::pend(irq);
+        }
+    }
+}
+
 #[cfg(feature = "executor-thread")]
 pub use thread::*;
 #[cfg(feature = "executor-thread")]
 mod thread {
+    pub(super) const THREAD_PENDER: usize = usize::MAX;
+
     use core::arch::asm;
     use core::marker::PhantomData;
 
     #[cfg(feature = "nightly")]
     pub use embassy_macros::main_cortex_m as main;
 
-    use crate::raw::{Pender, PenderInner};
     use crate::{raw, Spawner};
 
-    #[derive(Copy, Clone)]
-    pub(crate) struct ThreadPender;
-
-    impl ThreadPender {
-        pub(crate) fn pend(self) {
-            unsafe { core::arch::asm!("sev") }
-        }
-    }
-
     /// Thread mode executor, using WFE/SEV.
     ///
     /// This is the simplest and most common kind of executor. It runs on
@@ -39,7 +75,7 @@ mod thread {
         /// Create a new Executor.
         pub fn new() -> Self {
             Self {
-                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                inner: raw::Executor::new(THREAD_PENDER as *mut ()),
                 not_send: PhantomData,
             }
         }
@@ -79,37 +115,14 @@ mod thread {
 pub use interrupt::*;
 #[cfg(feature = "executor-interrupt")]
 mod interrupt {
-    use core::cell::UnsafeCell;
+    use core::cell::{Cell, UnsafeCell};
     use core::mem::MaybeUninit;
 
-    use atomic_polyfill::{AtomicBool, Ordering};
     use cortex_m::interrupt::InterruptNumber;
     use cortex_m::peripheral::NVIC;
+    use critical_section::Mutex;
 
-    use crate::raw::{self, Pender, PenderInner};
-
-    #[derive(Clone, Copy)]
-    pub(crate) struct InterruptPender(u16);
-
-    impl InterruptPender {
-        pub(crate) fn pend(self) {
-            // STIR is faster, but is only available in v7 and higher.
-            #[cfg(not(armv6m))]
-            {
-                let mut nvic: cortex_m::peripheral::NVIC = unsafe { core::mem::transmute(()) };
-                nvic.request(self);
-            }
-
-            #[cfg(armv6m)]
-            cortex_m::peripheral::NVIC::pend(self);
-        }
-    }
-
-    unsafe impl cortex_m::interrupt::InterruptNumber for InterruptPender {
-        fn number(self) -> u16 {
-            self.0
-        }
-    }
+    use crate::raw;
 
     /// Interrupt mode executor.
     ///
@@ -133,7 +146,7 @@ mod interrupt {
     /// It is somewhat more complex to use, it's recommended to use the thread-mode
     /// [`Executor`] instead, if it works for your use case.
     pub struct InterruptExecutor {
-        started: AtomicBool,
+        started: Mutex<Cell<bool>>,
         executor: UnsafeCell<MaybeUninit<raw::Executor>>,
     }
 
@@ -145,7 +158,7 @@ mod interrupt {
         #[inline]
         pub const fn new() -> Self {
             Self {
-                started: AtomicBool::new(false),
+                started: Mutex::new(Cell::new(false)),
                 executor: UnsafeCell::new(MaybeUninit::uninit()),
             }
         }
@@ -154,7 +167,8 @@ mod interrupt {
         ///
         /// # Safety
         ///
-        /// You MUST call this from the interrupt handler, and from nowhere else.
+        /// - You MUST call this from the interrupt handler, and from nowhere else.
+        /// - You must not call this before calling `start()`.
         pub unsafe fn on_interrupt(&'static self) {
             let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
             executor.poll();
@@ -183,20 +197,14 @@ mod interrupt {
         /// do it after.
         ///
         pub fn start(&'static self, irq: impl InterruptNumber) -> crate::SendSpawner {
-            if self
-                .started
-                .compare_exchange(false, true, Ordering::Acquire, Ordering::Relaxed)
-                .is_err()
-            {
+            if critical_section::with(|cs| self.started.borrow(cs).replace(true)) {
                 panic!("InterruptExecutor::start() called multiple times on the same executor.");
             }
 
             unsafe {
                 (&mut *self.executor.get())
                     .as_mut_ptr()
-                    .write(raw::Executor::new(Pender(PenderInner::Interrupt(InterruptPender(
-                        irq.number(),
-                    )))))
+                    .write(raw::Executor::new(irq.number() as *mut ()))
             }
 
             let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
@@ -211,10 +219,10 @@ mod interrupt {
         /// This returns a [`SendSpawner`] you can use to spawn tasks on this
         /// executor.
         ///
-        /// This MUST only be called on an executor that has already been spawned.
+        /// This MUST only be called on an executor that has already been started.
         /// The function will panic otherwise.
         pub fn spawner(&'static self) -> crate::SendSpawner {
-            if !self.started.load(Ordering::Acquire) {
+            if !critical_section::with(|cs| self.started.borrow(cs).get()) {
                 panic!("InterruptExecutor::spawner() called on uninitialized executor.");
             }
             let executor = unsafe { (&*self.executor.get()).assume_init_ref() };

embassy-executor/src/arch/riscv32.rs

@@ -6,27 +6,21 @@ pub use thread::*;
 #[cfg(feature = "executor-thread")]
 mod thread {
     use core::marker::PhantomData;
-    use core::sync::atomic::{AtomicBool, Ordering};
 
     #[cfg(feature = "nightly")]
     pub use embassy_macros::main_riscv as main;
+    use portable_atomic::{AtomicBool, Ordering};
 
-    use crate::raw::{Pender, PenderInner};
     use crate::{raw, Spawner};
 
-    #[derive(Copy, Clone)]
-    pub(crate) struct ThreadPender;
-
-    impl ThreadPender {
-        #[allow(unused)]
-        pub(crate) fn pend(self) {
-            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
-        }
-    }
-
     /// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
     static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
 
+    #[export_name = "__pender"]
+    fn __pender(_context: *mut ()) {
+        SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
+    }
+
     /// RISCV32 Executor
     pub struct Executor {
         inner: raw::Executor,
@@ -37,7 +31,7 @@ mod thread {
         /// Create a new Executor.
         pub fn new() -> Self {
             Self {
-                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                inner: raw::Executor::new(core::ptr::null_mut()),
                 not_send: PhantomData,
             }
         }

embassy-executor/src/arch/std.rs

@@ -11,17 +11,12 @@ mod thread {
     #[cfg(feature = "nightly")]
     pub use embassy_macros::main_std as main;
 
-    use crate::raw::{Pender, PenderInner};
     use crate::{raw, Spawner};
 
-    #[derive(Copy, Clone)]
-    pub(crate) struct ThreadPender(&'static Signaler);
-
-    impl ThreadPender {
-        #[allow(unused)]
-        pub(crate) fn pend(self) {
-            self.0.signal()
-        }
+    #[export_name = "__pender"]
+    fn __pender(context: *mut ()) {
+        let signaler: &'static Signaler = unsafe { std::mem::transmute(context) };
+        signaler.signal()
     }
 
     /// Single-threaded std-based executor.
@@ -34,9 +29,9 @@ mod thread {
     impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
-            let signaler = &*Box::leak(Box::new(Signaler::new()));
+            let signaler = Box::leak(Box::new(Signaler::new()));
             Self {
-                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(signaler)))),
+                inner: raw::Executor::new(signaler as *mut Signaler as *mut ()),
                 not_send: PhantomData,
                 signaler,
             }

embassy-executor/src/arch/wasm.rs

@@ -14,14 +14,12 @@ mod thread {
     use wasm_bindgen::prelude::*;
 
     use crate::raw::util::UninitCell;
-    use crate::raw::{Pender, PenderInner};
     use crate::{raw, Spawner};
 
-    /// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
-    pub struct Executor {
-        inner: raw::Executor,
-        ctx: &'static WasmContext,
-        not_send: PhantomData<*mut ()>,
+    #[export_name = "__pender"]
+    fn __pender(context: *mut ()) {
+        let signaler: &'static WasmContext = unsafe { std::mem::transmute(context) };
+        let _ = signaler.promise.then(unsafe { signaler.closure.as_mut() });
     }
 
     pub(crate) struct WasmContext {
@@ -29,16 +27,6 @@ mod thread {
         closure: UninitCell<Closure<dyn FnMut(JsValue)>>,
     }
 
-    #[derive(Copy, Clone)]
-    pub(crate) struct ThreadPender(&'static WasmContext);
-
-    impl ThreadPender {
-        #[allow(unused)]
-        pub(crate) fn pend(self) {
-            let _ = self.0.promise.then(unsafe { self.0.closure.as_mut() });
-        }
-    }
-
     impl WasmContext {
         pub fn new() -> Self {
             Self {
@@ -48,14 +36,21 @@ mod thread {
         }
     }
 
+    /// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
+    pub struct Executor {
+        inner: raw::Executor,
+        ctx: &'static WasmContext,
+        not_send: PhantomData<*mut ()>,
+    }
+
     impl Executor {
         /// Create a new Executor.
         pub fn new() -> Self {
-            let ctx = &*Box::leak(Box::new(WasmContext::new()));
+            let ctx = Box::leak(Box::new(WasmContext::new()));
             Self {
-                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(ctx)))),
-                not_send: PhantomData,
+                inner: raw::Executor::new(ctx as *mut WasmContext as *mut ()),
                 ctx,
+                not_send: PhantomData,
             }
         }
 
@@ -78,9 +73,10 @@ mod thread {
         pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {
             unsafe {
                 let executor = &self.inner;
-                self.ctx.closure.write(Closure::new(move |_| {
+                let future = Closure::new(move |_| {
                     executor.poll();
-                }));
+                });
+                self.ctx.closure.write_in_place(|| future);
                 init(self.inner.spawner());
             }
         }

embassy-executor/src/arch/xtensa.rs

@@ -8,22 +8,19 @@ mod thread {
     use core::marker::PhantomData;
     use core::sync::atomic::{AtomicBool, Ordering};
 
-    use crate::raw::{Pender, PenderInner};
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_riscv as main;
+
     use crate::{raw, Spawner};
 
-    #[derive(Copy, Clone)]
-    pub(crate) struct ThreadPender;
-
-    impl ThreadPender {
-        #[allow(unused)]
-        pub(crate) fn pend(self) {
-            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
-        }
-    }
-
     /// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
     static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
 
+    #[export_name = "__pender"]
+    fn __pender(_context: *mut ()) {
+        SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
+    }
+
     /// Xtensa Executor
     pub struct Executor {
         inner: raw::Executor,
@@ -34,7 +31,7 @@ mod thread {
         /// Create a new Executor.
         pub fn new() -> Self {
             Self {
-                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                inner: raw::Executor::new(core::ptr::null_mut()),
                 not_send: PhantomData,
             }
         }

embassy-executor/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-executor/src/lib.rs

@@ -33,6 +33,7 @@ check_at_most_one!("arch-cortex-m", "arch-riscv32", "arch-xtensa", "arch-std", "
 mod arch;
 
 #[cfg(feature = "_arch")]
+#[allow(unused_imports)] // don't warn if the module is empty.
 pub use arch::*;
 
 pub mod raw;
@@ -46,7 +47,6 @@ pub use spawner::*;
 pub mod _export {
     #[cfg(feature = "rtos-trace")]
     pub use rtos_trace::trace;
-    pub use static_cell::StaticCell;
 
     /// Expands the given block of code when `embassy-executor` is compiled with
     /// the `rtos-trace-interrupt` feature.

embassy-executor/src/raw/mod.rs

@@ -7,7 +7,15 @@
 //! Using this module requires respecting subtle safety contracts. If you can, prefer using the safe
 //! [executor wrappers](crate::Executor) and the [`embassy_executor::task`](embassy_macros::task) macro, which are fully safe.
 
+#[cfg_attr(target_has_atomic = "ptr", path = "run_queue_atomics.rs")]
+#[cfg_attr(not(target_has_atomic = "ptr"), path = "run_queue_critical_section.rs")]
 mod run_queue;
+
+#[cfg_attr(all(cortex_m, target_has_atomic = "8"), path = "state_atomics_arm.rs")]
+#[cfg_attr(all(not(cortex_m), target_has_atomic = "8"), path = "state_atomics.rs")]
+#[cfg_attr(not(target_has_atomic = "8"), path = "state_critical_section.rs")]
+mod state;
+
 #[cfg(feature = "integrated-timers")]
 mod timer_queue;
 pub(crate) mod util;
@@ -21,7 +29,6 @@ use core::pin::Pin;
 use core::ptr::NonNull;
 use core::task::{Context, Poll};
 
-use atomic_polyfill::{AtomicU32, Ordering};
 #[cfg(feature = "integrated-timers")]
 use embassy_time::driver::{self, AlarmHandle};
 #[cfg(feature = "integrated-timers")]
@@ -30,21 +37,14 @@ use embassy_time::Instant;
 use rtos_trace::trace;
 
 use self::run_queue::{RunQueue, RunQueueItem};
+use self::state::State;
 use self::util::{SyncUnsafeCell, UninitCell};
 pub use self::waker::task_from_waker;
 use super::SpawnToken;
 
-/// Task is spawned (has a future)
-pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
-/// Task is in the executor run queue
-pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
-/// Task is in the executor timer queue
-#[cfg(feature = "integrated-timers")]
-pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
-
 /// Raw task header for use in task pointers.
 pub(crate) struct TaskHeader {
-    pub(crate) state: AtomicU32,
+    pub(crate) state: State,
     pub(crate) run_queue_item: RunQueueItem,
     pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
     poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
@@ -116,7 +116,7 @@ impl<F: Future + 'static> TaskStorage<F> {
     pub const fn new() -> Self {
         Self {
             raw: TaskHeader {
-                state: AtomicU32::new(0),
+                state: State::new(),
                 run_queue_item: RunQueueItem::new(),
                 executor: SyncUnsafeCell::new(None),
                 // Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
@@ -147,10 +147,7 @@ impl<F: Future + 'static> TaskStorage<F> {
     pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
         let task = AvailableTask::claim(self);
         match task {
-            Some(task) => {
-                let task = task.initialize(future);
-                unsafe { SpawnToken::<F>::new(task) }
-            }
+            Some(task) => task.initialize(future),
             None => SpawnToken::new_failed(),
         }
     }
@@ -164,7 +161,10 @@ impl<F: Future + 'static> TaskStorage<F> {
         match future.poll(&mut cx) {
             Poll::Ready(_) => {
                 this.future.drop_in_place();
-                this.raw.state.fetch_and(!STATE_SPAWNED, Ordering::AcqRel);
+                this.raw.state.despawn();
+
+                #[cfg(feature = "integrated-timers")]
+                this.raw.expires_at.set(Instant::MAX);
             }
             Poll::Pending => {}
         }
@@ -183,74 +183,43 @@ impl<F: Future + 'static> TaskStorage<F> {
     }
 }
 
-struct AvailableTask<F: Future + 'static> {
+/// An uninitialized [`TaskStorage`].
+pub struct AvailableTask<F: Future + 'static> {
     task: &'static TaskStorage<F>,
 }
 
 impl<F: Future + 'static> AvailableTask<F> {
-    fn claim(task: &'static TaskStorage<F>) -> Option<Self> {
-        task.raw
-            .state
-            .compare_exchange(0, STATE_SPAWNED | STATE_RUN_QUEUED, Ordering::AcqRel, Ordering::Acquire)
-            .ok()
-            .map(|_| Self { task })
+    /// Try to claim a [`TaskStorage`].
+    ///
+    /// This function returns `None` if a task has already been spawned and has not finished running.
+    pub fn claim(task: &'static TaskStorage<F>) -> Option<Self> {
+        task.raw.state.spawn().then(|| Self { task })
     }
 
-    fn initialize(self, future: impl FnOnce() -> F) -> TaskRef {
+    fn initialize_impl<S>(self, future: impl FnOnce() -> F) -> SpawnToken<S> {
         unsafe {
             self.task.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
-            self.task.future.write(future());
-        }
-        TaskRef::new(self.task)
+            self.task.future.write_in_place(future);
+
+            let task = TaskRef::new(self.task);
+
+            SpawnToken::new(task)
         }
     }
 
-/// Raw storage that can hold up to N tasks of the same type.
-///
-/// This is essentially a `[TaskStorage<F>; N]`.
-pub struct TaskPool<F: Future + 'static, const N: usize> {
-    pool: [TaskStorage<F>; N],
+    /// Initialize the [`TaskStorage`] to run the given future.
+    pub fn initialize(self, future: impl FnOnce() -> F) -> SpawnToken<F> {
+        self.initialize_impl::<F>(future)
     }
 
-impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
-    /// Create a new TaskPool, with all tasks in non-spawned state.
-    pub const fn new() -> Self {
-        Self {
-            pool: [TaskStorage::NEW; N],
-        }
-    }
-
-    /// Try to spawn a task in the pool.
+    /// Initialize the [`TaskStorage`] to run the given future.
     ///
-    /// See [`TaskStorage::spawn()`] for details.
+    /// # Safety
     ///
-    /// This will loop over the pool and spawn the task in the first storage that
-    /// is currently free. If none is free, a "poisoned" SpawnToken is returned,
-    /// which will cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
-    pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
-        let task = self.pool.iter().find_map(AvailableTask::claim);
-        match task {
-            Some(task) => {
-                let task = task.initialize(future);
-                unsafe { SpawnToken::<F>::new(task) }
-            }
-            None => SpawnToken::new_failed(),
-        }
-    }
-
-    /// Like spawn(), but allows the task to be send-spawned if the args are Send even if
-    /// the future is !Send.
-    ///
-    /// Not covered by semver guarantees. DO NOT call this directly. Intended to be used
-    /// by the Embassy macros ONLY.
-    ///
-    /// SAFETY: `future` must be a closure of the form `move || my_async_fn(args)`, where `my_async_fn`
+    /// `future` must be a closure of the form `move || my_async_fn(args)`, where `my_async_fn`
     /// is an `async fn`, NOT a hand-written `Future`.
     #[doc(hidden)]
-    pub unsafe fn _spawn_async_fn<FutFn>(&'static self, future: FutFn) -> SpawnToken<impl Sized>
-    where
-        FutFn: FnOnce() -> F,
-    {
+    pub unsafe fn __initialize_async_fn<FutFn>(self, future: impl FnOnce() -> F) -> SpawnToken<FutFn> {
         // When send-spawning a task, we construct the future in this thread, and effectively
         // "send" it to the executor thread by enqueuing it in its queue. Therefore, in theory,
         // send-spawning should require the future `F` to be `Send`.
@@ -276,66 +245,73 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
         //
         // This ONLY holds for `async fn` futures. The other `spawn` methods can be called directly
         // by the user, with arbitrary hand-implemented futures. This is why these return `SpawnToken<F>`.
-
-        let task = self.pool.iter().find_map(AvailableTask::claim);
-        match task {
-            Some(task) => {
-                let task = task.initialize(future);
-                unsafe { SpawnToken::<FutFn>::new(task) }
+        self.initialize_impl::<FutFn>(future)
     }
+}
+
+/// Raw storage that can hold up to N tasks of the same type.
+///
+/// This is essentially a `[TaskStorage<F>; N]`.
+pub struct TaskPool<F: Future + 'static, const N: usize> {
+    pool: [TaskStorage<F>; N],
+}
+
+impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
+    /// Create a new TaskPool, with all tasks in non-spawned state.
+    pub const fn new() -> Self {
+        Self {
+            pool: [TaskStorage::NEW; N],
+        }
+    }
+
+    fn spawn_impl<T>(&'static self, future: impl FnOnce() -> F) -> SpawnToken<T> {
+        match self.pool.iter().find_map(AvailableTask::claim) {
+            Some(task) => task.initialize_impl::<T>(future),
             None => SpawnToken::new_failed(),
         }
     }
+
+    /// Try to spawn a task in the pool.
+    ///
+    /// See [`TaskStorage::spawn()`] for details.
+    ///
+    /// This will loop over the pool and spawn the task in the first storage that
+    /// is currently free. If none is free, a "poisoned" SpawnToken is returned,
+    /// which will cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
+    pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
+        self.spawn_impl::<F>(future)
+    }
+
+    /// Like spawn(), but allows the task to be send-spawned if the args are Send even if
+    /// the future is !Send.
+    ///
+    /// Not covered by semver guarantees. DO NOT call this directly. Intended to be used
+    /// by the Embassy macros ONLY.
+    ///
+    /// SAFETY: `future` must be a closure of the form `move || my_async_fn(args)`, where `my_async_fn`
+    /// is an `async fn`, NOT a hand-written `Future`.
+    #[doc(hidden)]
+    pub unsafe fn _spawn_async_fn<FutFn>(&'static self, future: FutFn) -> SpawnToken<impl Sized>
+    where
+        FutFn: FnOnce() -> F,
+    {
+        // See the comment in AvailableTask::__initialize_async_fn for explanation.
+        self.spawn_impl::<FutFn>(future)
+    }
 }
 
 #[derive(Clone, Copy)]
-pub(crate) enum PenderInner {
-    #[cfg(feature = "executor-thread")]
-    Thread(crate::arch::ThreadPender),
-    #[cfg(feature = "executor-interrupt")]
-    Interrupt(crate::arch::InterruptPender),
-    #[cfg(feature = "pender-callback")]
-    Callback { func: fn(*mut ()), context: *mut () },
-}
+pub(crate) struct Pender(*mut ());
 
-unsafe impl Send for PenderInner {}
-unsafe impl Sync for PenderInner {}
-
-/// Platform/architecture-specific action executed when an executor has pending work.
-///
-/// When a task within an executor is woken, the `Pender` is called. This does a
-/// platform/architecture-specific action to signal there is pending work in the executor.
-/// When this happens, you must arrange for [`Executor::poll`] to be called.
-///
-/// You can think of it as a waker, but for the whole executor.
-pub struct Pender(pub(crate) PenderInner);
+unsafe impl Send for Pender {}
+unsafe impl Sync for Pender {}
 
 impl Pender {
-    /// Create a `Pender` that will call an arbitrary function pointer.
-    ///
-    /// # Arguments
-    ///
-    /// - `func`: The function pointer to call.
-    /// - `context`: Opaque context pointer, that will be passed to the function pointer.
-    #[cfg(feature = "pender-callback")]
-    pub fn new_from_callback(func: fn(*mut ()), context: *mut ()) -> Self {
-        Self(PenderInner::Callback {
-            func,
-            context: context.into(),
-        })
-    }
-}
-
-impl Pender {
-    pub(crate) fn pend(&self) {
-        match self.0 {
-            #[cfg(feature = "executor-thread")]
-            PenderInner::Thread(x) => x.pend(),
-            #[cfg(feature = "executor-interrupt")]
-            PenderInner::Interrupt(x) => x.pend(),
-            #[cfg(feature = "pender-callback")]
-            PenderInner::Callback { func, context } => func(context),
+    pub(crate) fn pend(self) {
+        extern "Rust" {
+            fn __pender(context: *mut ());
         }
+        unsafe { __pender(self.0) };
     }
 }
 
@@ -406,7 +382,7 @@ impl SyncExecutor {
         #[allow(clippy::never_loop)]
         loop {
             #[cfg(feature = "integrated-timers")]
-            self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
+            self.timer_queue.dequeue_expired(Instant::now(), wake_task_no_pend);
 
             self.run_queue.dequeue_all(|p| {
                 let task = p.header();
@@ -414,8 +390,7 @@ impl SyncExecutor {
                 #[cfg(feature = "integrated-timers")]
                 task.expires_at.set(Instant::MAX);
 
-                let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
-                if state & STATE_SPAWNED == 0 {
+                if !task.state.run_dequeue() {
                     // If task is not running, ignore it. This can happen in the following scenario:
                     //   - Task gets dequeued, poll starts
                     //   - While task is being polled, it gets woken. It gets placed in the queue.
@@ -469,15 +444,31 @@ impl SyncExecutor {
 ///
 /// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
 ///   that "want to run").
-/// - You must supply a [`Pender`]. The executor will call it to notify you it has work
-///   to do. You must arrange for `poll()` to be called as soon as possible.
+/// - You must supply a pender function, as shown below. The executor will call it to notify you
+///   it has work to do. You must arrange for `poll()` to be called as soon as possible.
+/// - Enabling `arch-xx` features will define a pender function for you. This means that you
+///   are limited to using the executors provided to you by the architecture/platform
+///   implementation. If you need a different executor, you must not enable `arch-xx` features.
 ///
-/// The [`Pender`] can be called from *any* context: any thread, any interrupt priority
+/// The pender can be called from *any* context: any thread, any interrupt priority
 /// level, etc. It may be called synchronously from any `Executor` method call as well.
 /// You must deal with this correctly.
 ///
 /// In particular, you must NOT call `poll` directly from the pender callback, as this violates
 /// the requirement for `poll` to not be called reentrantly.
+///
+/// The pender function must be exported with the name `__pender` and have the following signature:
+///
+/// ```rust
+/// #[export_name = "__pender"]
+/// fn pender(context: *mut ()) {
+///    // schedule `poll()` to be called
+/// }
+/// ```
+///
+/// The `context` argument is a piece of arbitrary data the executor will pass to the pender.
+/// You can set the `context` when calling [`Executor::new()`]. You can use it to, for example,
+/// differentiate between executors, or to pass a pointer to a callback that should be called.
 #[repr(transparent)]
 pub struct Executor {
     pub(crate) inner: SyncExecutor,
@@ -492,12 +483,12 @@ impl Executor {
 
     /// Create a new executor.
     ///
-    /// When the executor has work to do, it will call the [`Pender`].
+    /// When the executor has work to do, it will call the pender function and pass `context` to it.
     ///
-    /// See [`Executor`] docs for details on `Pender`.
-    pub fn new(pender: Pender) -> Self {
+    /// See [`Executor`] docs for details on the pender.
+    pub fn new(context: *mut ()) -> Self {
         Self {
-            inner: SyncExecutor::new(pender),
+            inner: SyncExecutor::new(Pender(context)),
             _not_sync: PhantomData,
         }
     }
@@ -520,16 +511,16 @@ impl Executor {
     /// This loops over all tasks that are queued to be polled (i.e. they're
     /// freshly spawned or they've been woken). Other tasks are not polled.
     ///
-    /// You must call `poll` after receiving a call to the [`Pender`]. It is OK
-    /// to call `poll` even when not requested by the `Pender`, but it wastes
+    /// You must call `poll` after receiving a call to the pender. It is OK
+    /// to call `poll` even when not requested by the pender, but it wastes
     /// energy.
     ///
     /// # Safety
     ///
     /// You must NOT call `poll` reentrantly on the same executor.
     ///
-    /// In particular, note that `poll` may call the `Pender` synchronously. Therefore, you
-    /// must NOT directly call `poll()` from the `Pender` callback. Instead, the callback has to
+    /// In particular, note that `poll` may call the pender synchronously. Therefore, you
+    /// must NOT directly call `poll()` from the pender callback. Instead, the callback has to
     /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
     /// no `poll()` already running.
     pub unsafe fn poll(&'static self) {
@@ -550,18 +541,7 @@ impl Executor {
 /// You can obtain a `TaskRef` from a `Waker` using [`task_from_waker`].
 pub fn wake_task(task: TaskRef) {
     let header = task.header();
-
-    let res = header.state.fetch_update(Ordering::SeqCst, Ordering::SeqCst, |state| {
-        // If already scheduled, or if not started,
-        if (state & STATE_RUN_QUEUED != 0) || (state & STATE_SPAWNED == 0) {
-            None
-        } else {
-            // Mark it as scheduled
-            Some(state | STATE_RUN_QUEUED)
-        }
-    });
-
-    if res.is_ok() {
+    if header.state.run_enqueue() {
         // We have just marked the task as scheduled, so enqueue it.
         unsafe {
             let executor = header.executor.get().unwrap_unchecked();
@@ -570,6 +550,20 @@ pub fn wake_task(task: TaskRef) {
     }
 }
 
+/// Wake a task by `TaskRef` without calling pend.
+///
+/// You can obtain a `TaskRef` from a `Waker` using [`task_from_waker`].
+pub fn wake_task_no_pend(task: TaskRef) {
+    let header = task.header();
+    if header.state.run_enqueue() {
+        // We have just marked the task as scheduled, so enqueue it.
+        unsafe {
+            let executor = header.executor.get().unwrap_unchecked();
+            executor.run_queue.enqueue(task);
+        }
+    }
+}
+
 #[cfg(feature = "integrated-timers")]
 struct TimerQueue;
 

embassy-executor/src/raw/run_queue_atomics.rs

@@ -1,7 +1,6 @@
 use core::ptr;
 use core::ptr::NonNull;
-
-use atomic_polyfill::{AtomicPtr, Ordering};
+use core::sync::atomic::{AtomicPtr, Ordering};
 
 use super::{TaskHeader, TaskRef};
 use crate::raw::util::SyncUnsafeCell;

embassy-executor/src/raw/run_queue_critical_section.rs

@@ -0,0 +1,75 @@
+use core::cell::Cell;
+
+use critical_section::{CriticalSection, Mutex};
+
+use super::TaskRef;
+
+pub(crate) struct RunQueueItem {
+    next: Mutex<Cell<Option<TaskRef>>>,
+}
+
+impl RunQueueItem {
+    pub const fn new() -> Self {
+        Self {
+            next: Mutex::new(Cell::new(None)),
+        }
+    }
+}
+
+/// Atomic task queue using a very, very simple lock-free linked-list queue:
+///
+/// To enqueue a task, task.next is set to the old head, and head is atomically set to task.
+///
+/// Dequeuing is done in batches: the queue is emptied by atomically replacing head with
+/// null. Then the batch is iterated following the next pointers until null is reached.
+///
+/// Note that batches will be iterated in the reverse order as they were enqueued. This is OK
+/// for our purposes: it can't create fairness problems since the next batch won't run until the
+/// current batch is completely processed, so even if a task enqueues itself instantly (for example
+/// by waking its own waker) can't prevent other tasks from running.
+pub(crate) struct RunQueue {
+    head: Mutex<Cell<Option<TaskRef>>>,
+}
+
+impl RunQueue {
+    pub const fn new() -> Self {
+        Self {
+            head: Mutex::new(Cell::new(None)),
+        }
+    }
+
+    /// Enqueues an item. Returns true if the queue was empty.
+    ///
+    /// # Safety
+    ///
+    /// `item` must NOT be already enqueued in any queue.
+    #[inline(always)]
+    pub(crate) unsafe fn enqueue(&self, task: TaskRef) -> bool {
+        critical_section::with(|cs| {
+            let prev = self.head.borrow(cs).replace(Some(task));
+            task.header().run_queue_item.next.borrow(cs).set(prev);
+
+            prev.is_none()
+        })
+    }
+
+    /// Empty the queue, then call `on_task` for each task that was in the queue.
+    /// NOTE: It is OK for `on_task` to enqueue more tasks. In this case they're left in the queue
+    /// and will be processed by the *next* call to `dequeue_all`, *not* the current one.
+    pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
+        // Atomically empty the queue.
+        let mut next = critical_section::with(|cs| self.head.borrow(cs).take());
+
+        // Iterate the linked list of tasks that were previously in the queue.
+        while let Some(task) = next {
+            // If the task re-enqueues itself, the `next` pointer will get overwritten.
+            // Therefore, first read the next pointer, and only then process the task.
+
+            // safety: we know if the task is enqueued, no one else will touch the `next` pointer.
+            let cs = unsafe { CriticalSection::new() };
+            next = task.header().run_queue_item.next.borrow(cs).get();
+
+            on_task(task);
+        }
+    }
+}

embassy-executor/src/raw/state_atomics.rs

@@ -0,0 +1,73 @@
+use core::sync::atomic::{AtomicU32, Ordering};
+
+/// Task is spawned (has a future)
+pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
+/// Task is in the executor run queue
+pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
+/// Task is in the executor timer queue
+#[cfg(feature = "integrated-timers")]
+pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
+
+pub(crate) struct State {
+    state: AtomicU32,
+}
+
+impl State {
+    pub const fn new() -> State {
+        Self {
+            state: AtomicU32::new(0),
+        }
+    }
+
+    /// If task is idle, mark it as spawned + run_queued and return true.
+    #[inline(always)]
+    pub fn spawn(&self) -> bool {
+        self.state
+            .compare_exchange(0, STATE_SPAWNED | STATE_RUN_QUEUED, Ordering::AcqRel, Ordering::Acquire)
+            .is_ok()
+    }
+
+    /// Unmark the task as spawned.
+    #[inline(always)]
+    pub fn despawn(&self) {
+        self.state.fetch_and(!STATE_SPAWNED, Ordering::AcqRel);
+    }
+
+    /// Mark the task as run-queued if it's spawned and isn't already run-queued. Return true on success.
+    #[inline(always)]
+    pub fn run_enqueue(&self) -> bool {
+        self.state
+            .fetch_update(Ordering::SeqCst, Ordering::SeqCst, |state| {
+                // If already scheduled, or if not started,
+                if (state & STATE_RUN_QUEUED != 0) || (state & STATE_SPAWNED == 0) {
+                    None
+                } else {
+                    // Mark it as scheduled
+                    Some(state | STATE_RUN_QUEUED)
+                }
+            })
+            .is_ok()
+    }
+
+    /// Unmark the task as run-queued. Return whether the task is spawned.
+    #[inline(always)]
+    pub fn run_dequeue(&self) -> bool {
+        let state = self.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
+        state & STATE_SPAWNED != 0
+    }
+
+    /// Mark the task as timer-queued. Return whether it was newly queued (i.e. not queued before)
+    #[cfg(feature = "integrated-timers")]
+    #[inline(always)]
+    pub fn timer_enqueue(&self) -> bool {
+        let old_state = self.state.fetch_or(STATE_TIMER_QUEUED, Ordering::AcqRel);
+        old_state & STATE_TIMER_QUEUED == 0
+    }
+
+    /// Unmark the task as timer-queued.
+    #[cfg(feature = "integrated-timers")]
+    #[inline(always)]
+    pub fn timer_dequeue(&self) {
+        self.state.fetch_and(!STATE_TIMER_QUEUED, Ordering::AcqRel);
+    }
+}

embassy-executor/src/raw/state_atomics_arm.rs

@@ -0,0 +1,103 @@
+use core::arch::asm;
+use core::sync::atomic::{compiler_fence, AtomicBool, AtomicU32, Ordering};
+
+// Must be kept in sync with the layout of `State`!
+pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
+pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 8;
+
+#[repr(C, align(4))]
+pub(crate) struct State {
+    /// Task is spawned (has a future)
+    spawned: AtomicBool,
+    /// Task is in the executor run queue
+    run_queued: AtomicBool,
+    /// Task is in the executor timer queue
+    timer_queued: AtomicBool,
+    pad: AtomicBool,
+}
+
+impl State {
+    pub const fn new() -> State {
+        Self {
+            spawned: AtomicBool::new(false),
+            run_queued: AtomicBool::new(false),
+            timer_queued: AtomicBool::new(false),
+            pad: AtomicBool::new(false),
+        }
+    }
+
+    fn as_u32(&self) -> &AtomicU32 {
+        unsafe { &*(self as *const _ as *const AtomicU32) }
+    }
+
+    /// If task is idle, mark it as spawned + run_queued and return true.
+    #[inline(always)]
+    pub fn spawn(&self) -> bool {
+        compiler_fence(Ordering::Release);
+        let r = self
+            .as_u32()
+            .compare_exchange(
+                0,
+                STATE_SPAWNED | STATE_RUN_QUEUED,
+                Ordering::Relaxed,
+                Ordering::Relaxed,
+            )
+            .is_ok();
+        compiler_fence(Ordering::Acquire);
+        r
+    }
+
+    /// Unmark the task as spawned.
+    #[inline(always)]
+    pub fn despawn(&self) {
+        compiler_fence(Ordering::Release);
+        self.spawned.store(false, Ordering::Relaxed);
+    }
+
+    /// Mark the task as run-queued if it's spawned and isn't already run-queued. Return true on success.
+    #[inline(always)]
+    pub fn run_enqueue(&self) -> bool {
+        unsafe {
+            loop {
+                let state: u32;
+                asm!("ldrex {}, [{}]", out(reg) state, in(reg) self, options(nostack));
+
+                if (state & STATE_RUN_QUEUED != 0) || (state & STATE_SPAWNED == 0) {
+                    asm!("clrex", options(nomem, nostack));
+                    return false;
+                }
+
+                let outcome: usize;
+                let new_state = state | STATE_RUN_QUEUED;
+                asm!("strex {}, {}, [{}]", out(reg) outcome, in(reg) new_state, in(reg) self, options(nostack));
+                if outcome == 0 {
+                    return true;
+                }
+            }
+        }
+    }
+
+    /// Unmark the task as run-queued. Return whether the task is spawned.
+    #[inline(always)]
+    pub fn run_dequeue(&self) -> bool {
+        compiler_fence(Ordering::Release);
+
+        let r = self.spawned.load(Ordering::Relaxed);
+        self.run_queued.store(false, Ordering::Relaxed);
+        r
+    }
+
+    /// Mark the task as timer-queued. Return whether it was newly queued (i.e. not queued before)
+    #[cfg(feature = "integrated-timers")]
+    #[inline(always)]
+    pub fn timer_enqueue(&self) -> bool {
+        !self.timer_queued.swap(true, Ordering::Relaxed)
+    }
+
+    /// Unmark the task as timer-queued.
+    #[cfg(feature = "integrated-timers")]
+    #[inline(always)]
+    pub fn timer_dequeue(&self) {
+        self.timer_queued.store(false, Ordering::Relaxed);
+    }
+}

embassy-executor/src/raw/state_critical_section.rs

@@ -0,0 +1,93 @@
+use core::cell::Cell;
+
+use critical_section::Mutex;
+
+/// Task is spawned (has a future)
+pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
+/// Task is in the executor run queue
+pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
+/// Task is in the executor timer queue
+#[cfg(feature = "integrated-timers")]
+pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
+
+pub(crate) struct State {
+    state: Mutex<Cell<u32>>,
+}
+
+impl State {
+    pub const fn new() -> State {
+        Self {
+            state: Mutex::new(Cell::new(0)),
+        }
+    }
+
+    fn update<R>(&self, f: impl FnOnce(&mut u32) -> R) -> R {
+        critical_section::with(|cs| {
+            let s = self.state.borrow(cs);
+            let mut val = s.get();
+            let r = f(&mut val);
+            s.set(val);
+            r
+        })
+    }
+
+    /// If task is idle, mark it as spawned + run_queued and return true.
+    #[inline(always)]
+    pub fn spawn(&self) -> bool {
+        self.update(|s| {
+            if *s == 0 {
+                *s = STATE_SPAWNED | STATE_RUN_QUEUED;
+                true
+            } else {
+                false
+            }
+        })
+    }
+
+    /// Unmark the task as spawned.
+    #[inline(always)]
+    pub fn despawn(&self) {
+        self.update(|s| *s &= !STATE_SPAWNED);
+    }
+
+    /// Mark the task as run-queued if it's spawned and isn't already run-queued. Return true on success.
+    #[inline(always)]
+    pub fn run_enqueue(&self) -> bool {
+        self.update(|s| {
+            if (*s & STATE_RUN_QUEUED != 0) || (*s & STATE_SPAWNED == 0) {
+                false
+            } else {
+                *s |= STATE_RUN_QUEUED;
+                true
+            }
+        })
+    }
+
+    /// Unmark the task as run-queued. Return whether the task is spawned.
+    #[inline(always)]
+    pub fn run_dequeue(&self) -> bool {
+        self.update(|s| {
+            let ok = *s & STATE_SPAWNED != 0;
+            *s &= !STATE_RUN_QUEUED;
+            ok
+        })
+    }
+
+    /// Mark the task as timer-queued. Return whether it was newly queued (i.e. not queued before)
+    #[cfg(feature = "integrated-timers")]
+    #[inline(always)]
+    pub fn timer_enqueue(&self) -> bool {
+        self.update(|s| {
+            let ok = *s & STATE_TIMER_QUEUED == 0;
+            *s |= STATE_TIMER_QUEUED;
+            ok
+        })
+    }
+
+    /// Unmark the task as timer-queued.
+    #[cfg(feature = "integrated-timers")]
+    #[inline(always)]
+    pub fn timer_dequeue(&self) {
+        self.update(|s| *s &= !STATE_TIMER_QUEUED);
+    }
+}

embassy-executor/src/raw/timer_queue.rs

@@ -1,9 +1,8 @@
 use core::cmp::min;
 
-use atomic_polyfill::Ordering;
 use embassy_time::Instant;
 
-use super::{TaskRef, STATE_TIMER_QUEUED};
+use super::TaskRef;
 use crate::raw::util::SyncUnsafeCell;
 
 pub(crate) struct TimerQueueItem {
@@ -32,10 +31,7 @@ impl TimerQueue {
     pub(crate) unsafe fn update(&self, p: TaskRef) {
         let task = p.header();
         if task.expires_at.get() != Instant::MAX {
-            let old_state = task.state.fetch_or(STATE_TIMER_QUEUED, Ordering::AcqRel);
-            let is_new = old_state & STATE_TIMER_QUEUED == 0;
-
-            if is_new {
+            if task.state.timer_enqueue() {
                 task.timer_queue_item.next.set(self.head.get());
                 self.head.set(Some(p));
             }
@@ -75,7 +71,7 @@ impl TimerQueue {
             } else {
                 // Remove it
                 prev.set(task.timer_queue_item.next.get());
-                task.state.fetch_and(!STATE_TIMER_QUEUED, Ordering::AcqRel);
+                task.state.timer_dequeue();
             }
         }
     }

embassy-executor/src/raw/util.rs

@@ -17,8 +17,9 @@ impl<T> UninitCell<T> {
         &mut *self.as_mut_ptr()
     }
 
-    pub unsafe fn write(&self, val: T) {
-        ptr::write(self.as_mut_ptr(), val)
+    #[inline(never)]
+    pub unsafe fn write_in_place(&self, func: impl FnOnce() -> T) {
+        ptr::write(self.as_mut_ptr(), func())
     }
 
     pub unsafe fn drop_in_place(&self) {

embassy-executor/src/raw/waker.rs

@@ -3,7 +3,7 @@ use core::task::{RawWaker, RawWakerVTable, Waker};
 
 use super::{wake_task, TaskHeader, TaskRef};
 
-const VTABLE: RawWakerVTable = RawWakerVTable::new(clone, wake, wake, drop);
+static VTABLE: RawWakerVTable = RawWakerVTable::new(clone, wake, wake, drop);
 
 unsafe fn clone(p: *const ()) -> RawWaker {
     RawWaker::new(p, &VTABLE)

embassy-executor/src/spawner.rs

@@ -33,7 +33,8 @@ impl<S> SpawnToken<S> {
         }
     }
 
-    pub(crate) fn new_failed() -> Self {
+    /// Return a SpawnToken that represents a failed spawn.
+    pub fn new_failed() -> Self {
         Self {
             raw_task: None,
             phantom: PhantomData,

embassy-futures/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "embassy-futures"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 description = "no-std, no-alloc utilities for working with futures"
 repository = "https://github.com/embassy-rs/embassy"

embassy-futures/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-hal-common/src/ring_buffer.rs

@@ -1,136 +0,0 @@
-pub struct RingBuffer<'a> {
-    buf: &'a mut [u8],
-    start: usize,
-    end: usize,
-    empty: bool,
-}
-
-impl<'a> RingBuffer<'a> {
-    pub fn new(buf: &'a mut [u8]) -> Self {
-        Self {
-            buf,
-            start: 0,
-            end: 0,
-            empty: true,
-        }
-    }
-
-    pub fn push_buf(&mut self) -> &mut [u8] {
-        if self.start == self.end && !self.empty {
-            trace!("  ringbuf: push_buf empty");
-            return &mut self.buf[..0];
-        }
-
-        let n = if self.start <= self.end {
-            self.buf.len() - self.end
-        } else {
-            self.start - self.end
-        };
-
-        trace!("  ringbuf: push_buf {:?}..{:?}", self.end, self.end + n);
-        &mut self.buf[self.end..self.end + n]
-    }
-
-    pub fn push(&mut self, n: usize) {
-        trace!("  ringbuf: push {:?}", n);
-        if n == 0 {
-            return;
-        }
-
-        self.end = self.wrap(self.end + n);
-        self.empty = false;
-    }
-
-    pub fn pop_buf(&mut self) -> &mut [u8] {
-        if self.empty {
-            trace!("  ringbuf: pop_buf empty");
-            return &mut self.buf[..0];
-        }
-
-        let n = if self.end <= self.start {
-            self.buf.len() - self.start
-        } else {
-            self.end - self.start
-        };
-
-        trace!("  ringbuf: pop_buf {:?}..{:?}", self.start, self.start + n);
-        &mut self.buf[self.start..self.start + n]
-    }
-
-    pub fn pop(&mut self, n: usize) {
-        trace!("  ringbuf: pop {:?}", n);
-        if n == 0 {
-            return;
-        }
-
-        self.start = self.wrap(self.start + n);
-        self.empty = self.start == self.end;
-    }
-
-    pub fn is_full(&self) -> bool {
-        self.start == self.end && !self.empty
-    }
-
-    pub fn is_empty(&self) -> bool {
-        self.empty
-    }
-
-    pub fn clear(&mut self) {
-        self.start = 0;
-        self.end = 0;
-        self.empty = true;
-    }
-
-    fn wrap(&self, n: usize) -> usize {
-        assert!(n <= self.buf.len());
-        if n == self.buf.len() {
-            0
-        } else {
-            n
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn push_pop() {
-        let mut b = [0; 4];
-        let mut rb = RingBuffer::new(&mut b);
-        let buf = rb.push_buf();
-        assert_eq!(4, buf.len());
-        buf[0] = 1;
-        buf[1] = 2;
-        buf[2] = 3;
-        buf[3] = 4;
-        rb.push(4);
-
-        let buf = rb.pop_buf();
-        assert_eq!(4, buf.len());
-        assert_eq!(1, buf[0]);
-        rb.pop(1);
-
-        let buf = rb.pop_buf();
-        assert_eq!(3, buf.len());
-        assert_eq!(2, buf[0]);
-        rb.pop(1);
-
-        let buf = rb.pop_buf();
-        assert_eq!(2, buf.len());
-        assert_eq!(3, buf[0]);
-        rb.pop(1);
-
-        let buf = rb.pop_buf();
-        assert_eq!(1, buf.len());
-        assert_eq!(4, buf[0]);
-        rb.pop(1);
-
-        let buf = rb.pop_buf();
-        assert_eq!(0, buf.len());
-
-        let buf = rb.push_buf();
-        assert_eq!(4, buf.len());
-    }
-}

embassy-hal-internal/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "embassy-hal-common"
+name = "embassy-hal-internal"
 version = "0.1.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"

embassy-hal-internal/README.md

@@ -0,0 +1,16 @@
+# embassy-hal-internal
+
+An [Embassy](https://embassy.dev) project.
+
+Internal implementation details for Embassy HALs. DO NOT USE DIRECTLY. Embassy HALs (`embassy-nrf`, `embassy-stm32`, `embassy-rp`) already reexport
+everything you need to use them effectively.
+
+## License
+
+This work is licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
+
+at your option.

embassy-hal-internal/src/fmt.rs

@@ -0,0 +1,258 @@
+#![macro_use]
+#![allow(unused_macros)]
+
+use core::fmt::{Debug, Display, LowerHex};
+
+#[cfg(all(feature = "defmt", feature = "log"))]
+compile_error!("You may not enable both `defmt` and `log` features.");
+
+macro_rules! assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_eq {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_eq!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_eq!($($x)*);
+        }
+    };
+}
+
+macro_rules! debug_assert_ne {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::debug_assert_ne!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug_assert_ne!($($x)*);
+        }
+    };
+}
+
+macro_rules! todo {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::todo!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::todo!($($x)*);
+        }
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::core::unreachable!($($x)*)
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
+    };
+}
+
+macro_rules! panic {
+    ($($x:tt)*) => {
+        {
+            #[cfg(not(feature = "defmt"))]
+            ::core::panic!($($x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::panic!($($x)*);
+        }
+    };
+}
+
+macro_rules! trace {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::trace!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::trace!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! debug {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::debug!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::debug!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! info {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::info!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::info!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! warn {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::warn!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::warn!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+macro_rules! error {
+    ($s:literal $(, $x:expr)* $(,)?) => {
+        {
+            #[cfg(feature = "log")]
+            ::log::error!($s $(, $x)*);
+            #[cfg(feature = "defmt")]
+            ::defmt::error!($s $(, $x)*);
+            #[cfg(not(any(feature = "log", feature="defmt")))]
+            let _ = ($( & $x ),*);
+        }
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unwrap {
+    ($($x:tt)*) => {
+        ::defmt::unwrap!($($x)*)
+    };
+}
+
+#[cfg(not(feature = "defmt"))]
+macro_rules! unwrap {
+    ($arg:expr) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
+            }
+        }
+    };
+    ($arg:expr, $($msg:expr),+ $(,)? ) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
+            }
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+pub struct NoneError;
+
+pub trait Try {
+    type Ok;
+    type Error;
+    fn into_result(self) -> Result<Self::Ok, Self::Error>;
+}
+
+impl<T> Try for Option<T> {
+    type Ok = T;
+    type Error = NoneError;
+
+    #[inline]
+    fn into_result(self) -> Result<T, NoneError> {
+        self.ok_or(NoneError)
+    }
+}
+
+impl<T, E> Try for Result<T, E> {
+    type Ok = T;
+    type Error = E;
+
+    #[inline]
+    fn into_result(self) -> Self {
+        self
+    }
+}
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-hal-internal/src/interrupt.rs

@@ -4,6 +4,7 @@ use core::sync::atomic::{compiler_fence, Ordering};
 
 use cortex_m::interrupt::InterruptNumber;
 use cortex_m::peripheral::NVIC;
+use critical_section::CriticalSection;
 
 /// Generate a standard `mod interrupt` for a HAL.
 #[macro_export]
@@ -91,6 +92,12 @@ macro_rules! interrupt_mod {
                     fn set_priority(prio: crate::interrupt::Priority) {
                         Self::IRQ.set_priority(prio)
                     }
+
+                    /// Set the interrupt priority with an already-acquired critical section
+                    #[inline]
+                    fn set_priority_with_cs(cs: critical_section::CriticalSection, prio: crate::interrupt::Priority) {
+                        Self::IRQ.set_priority_with_cs(cs, prio)
+                    }
                 }
 
                 $(
@@ -195,10 +202,29 @@ pub unsafe trait InterruptExt: InterruptNumber + Copy {
     /// Set the interrupt priority.
     #[inline]
     fn set_priority(self, prio: Priority) {
-        critical_section::with(|_| unsafe {
+        unsafe {
             let mut nvic: cortex_m::peripheral::NVIC = mem::transmute(());
-            nvic.set_priority(self, prio.into())
-        })
+
+            // On thumbv6, set_priority must do a RMW to change 8bit in a 32bit reg.
+            #[cfg(armv6m)]
+            critical_section::with(|_| nvic.set_priority(self, prio.into()));
+            // On thumbv7+, set_priority does an atomic 8bit write, so no CS needed.
+            #[cfg(not(armv6m))]
+            nvic.set_priority(self, prio.into());
+        }
+    }
+
+    /// Set the interrupt priority with an already-acquired critical section
+    ///
+    /// Equivalent to `set_priority`, except you pass a `CriticalSection` to prove
+    /// you've already acquired a critical section. This prevents acquiring another
+    /// one, which saves code size.
+    #[inline]
+    fn set_priority_with_cs(self, _cs: CriticalSection, prio: Priority) {
+        unsafe {
+            let mut nvic: cortex_m::peripheral::NVIC = mem::transmute(());
+            nvic.set_priority(self, prio.into());
+        }
     }
 }
 

embassy-hal-internal/src/lib.rs

@@ -1,5 +1,6 @@
 #![no_std]
 #![allow(clippy::new_without_default)]
+#![doc = include_str!("../README.md")]
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
@@ -9,7 +10,6 @@ pub mod drop;
 mod macros;
 mod peripheral;
 pub mod ratio;
-pub mod ring_buffer;
 pub use peripheral::{Peripheral, PeripheralRef};
 
 #[cfg(feature = "cortex-m")]

embassy-hal-internal/src/macros.rs

@@ -48,17 +48,23 @@ macro_rules! peripherals_struct {
             ///Returns all the peripherals *once*
             #[inline]
             pub(crate) fn take() -> Self {
+                critical_section::with(Self::take_with_cs)
+            }
 
+            ///Returns all the peripherals *once*
+            #[inline]
+            pub(crate) fn take_with_cs(_cs: critical_section::CriticalSection) -> Self {
                 #[no_mangle]
                 static mut _EMBASSY_DEVICE_PERIPHERALS: bool = false;
 
-                critical_section::with(|_| unsafe {
+                // safety: OK because we're inside a CS.
+                unsafe {
                     if _EMBASSY_DEVICE_PERIPHERALS {
                         panic!("init called more than once!")
                     }
                     _EMBASSY_DEVICE_PERIPHERALS = true;
                     Self::steal()
-                })
+                }
             }
         }
 
@@ -116,6 +122,7 @@ macro_rules! impl_peripheral {
 
             #[inline]
             unsafe fn clone_unchecked(&self) -> Self::P {
+                #[allow(clippy::needless_update)]
                 $type { ..*self }
             }
         }

embassy-hal-internal/src/peripheral.rs

@@ -161,7 +161,7 @@ pub trait Peripheral: Sized {
     }
 }
 
-impl<'b, T: Deref> Peripheral for T
+impl<'b, T: DerefMut> Peripheral for T
 where
     T::Target: Peripheral,
 {

embassy-lora/Cargo.toml

@@ -12,7 +12,7 @@ target = "thumbv7em-none-eabi"
 
 [features]
 stm32wl = ["dep:embassy-stm32"]
-time = []
+time = ["embassy-time", "lorawan-device"]
 defmt = ["dep:defmt", "lorawan-device/defmt"]
 
 [dependencies]
@@ -20,15 +20,12 @@ defmt = ["dep:defmt", "lorawan-device/defmt"]
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
-embassy-time = { version = "0.1.0", path = "../embassy-time" }
-embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
+embassy-time = { version = "0.1.5", path = "../embassy-time", optional = true }
+embassy-sync = { version = "0.4.0", path = "../embassy-sync" }
 embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32", default-features = false, optional = true }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
-embedded-hal-async = { version = "=0.2.0-alpha.1" }
-embassy-hal-common = { version = "0.1.0", path = "../embassy-hal-common", default-features = false }
-futures = { version = "0.3.17", default-features = false, features = [ "async-await" ] }
+embedded-hal-async = { version = "=1.0.0-rc.1" }
 embedded-hal = { version = "0.2", features = ["unproven"] }
-bit_field = { version = "0.10" }
 
-lora-phy = { version = "1" }
-lorawan-device = { version = "0.10.0", default-features = false, features = ["async"] }
+futures = { version = "0.3.17", default-features = false, features = [ "async-await" ] }
+lora-phy = { version = "2" }
+lorawan-device = { version = "0.11.0", default-features = false, features = ["async"], optional = true }

embassy-lora/src/fmt.rs

@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
+        ::core::unreachable!($($x)*)
+    };
 }
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}

embassy-lora/src/iv.rs

@@ -67,24 +67,20 @@ where
         self.board_type = board_type;
     }
     async fn set_nss_low(&mut self) -> Result<(), RadioError> {
-        let pwr = pac::PWR;
-        pwr.subghzspicr().modify(|w| w.set_nss(pac::pwr::vals::Nss::LOW));
+        pac::PWR.subghzspicr().modify(|w| w.set_nss(false));
         Ok(())
     }
     async fn set_nss_high(&mut self) -> Result<(), RadioError> {
-        let pwr = pac::PWR;
-        pwr.subghzspicr().modify(|w| w.set_nss(pac::pwr::vals::Nss::HIGH));
+        pac::PWR.subghzspicr().modify(|w| w.set_nss(true));
         Ok(())
     }
     async fn reset(&mut self, _delay: &mut impl DelayUs) -> Result<(), RadioError> {
-        let rcc = pac::RCC;
-        rcc.csr().modify(|w| w.set_rfrst(true));
-        rcc.csr().modify(|w| w.set_rfrst(false));
+        pac::RCC.csr().modify(|w| w.set_rfrst(true));
+        pac::RCC.csr().modify(|w| w.set_rfrst(false));
         Ok(())
     }
     async fn wait_on_busy(&mut self) -> Result<(), RadioError> {
-        let pwr = pac::PWR;
-        while pwr.sr2().read().rfbusys() == pac::pwr::vals::Rfbusys::BUSY {}
+        while pac::PWR.sr2().read().rfbusys() {}
         Ok(())
     }
 
@@ -284,11 +280,7 @@ where
         self.busy.wait_for_low().await.map_err(|_| Busy)
     }
     async fn await_irq(&mut self) -> Result<(), RadioError> {
-        if self.board_type != BoardType::RpPicoWaveshareSx1262 {
         self.dio1.wait_for_high().await.map_err(|_| DIO1)?;
-        } else {
-            self.dio1.wait_for_rising_edge().await.map_err(|_| DIO1)?;
-        }
         Ok(())
     }
 

embassy-lora/src/lib.rs

@@ -1,5 +1,6 @@
 #![no_std]
 #![feature(async_fn_in_trait, impl_trait_projections)]
+#![allow(stable_features, unknown_lints, async_fn_in_trait)]
 //! embassy-lora holds LoRa-specific functionality.
 
 pub(crate) mod fmt;
@@ -34,6 +35,6 @@ impl lorawan_device::async_device::radio::Timer for LoraTimer {
     }
 
     async fn delay_ms(&mut self, millis: u64) {
-        Timer::after(Duration::from_millis(millis)).await
+        Timer::after_millis(millis).await
     }
 }