Add half duplex support

ci: use beta, add secondary nightly ci.

.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-nightly.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+mv rust-toolchain-nightly.toml rust-toolchain.toml
+
+# 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-nightly.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 +15,40 @@ 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 webroot/crates/embassy-boot/git.zup
-docserver-builder -i ./embassy-boot/boot -o crates/embassy-boot/git.zup
+docserver-builder -i ./embassy-boot/nrf -o webroot/crates/embassy-boot-nrf/git.zup
-docserver-builder -i ./embassy-boot/nrf -o 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/rp -o crates/embassy-boot-rp/git.zup
+docserver-builder -i ./embassy-boot/stm32 -o webroot/crates/embassy-boot-stm32/git.zup
-docserver-builder -i ./embassy-boot/stm32 -o crates/embassy-boot-stm32/git.zup
+docserver-builder -i ./embassy-embedded-hal -o webroot/crates/embassy-embedded-hal/git.zup
-docserver-builder -i ./embassy-embedded-hal -o crates/embassy-embedded-hal/git.zup
+docserver-builder -i ./embassy-executor -o webroot/crates/embassy-executor/git.zup
-docserver-builder -i ./embassy-executor -o crates/embassy-executor/git.zup
+docserver-builder -i ./embassy-futures -o webroot/crates/embassy-futures/git.zup
-docserver-builder -i ./embassy-futures -o crates/embassy-futures/git.zup
+docserver-builder -i ./embassy-net -o webroot/crates/embassy-net/git.zup
-docserver-builder -i ./embassy-lora -o crates/embassy-lora/git.zup
+docserver-builder -i ./embassy-net-driver -o webroot/crates/embassy-net-driver/git.zup
-docserver-builder -i ./embassy-net -o crates/embassy-net/git.zup
+docserver-builder -i ./embassy-net-driver-channel -o webroot/crates/embassy-net-driver-channel/git.zup
-docserver-builder -i ./embassy-net-driver -o crates/embassy-net-driver/git.zup
+docserver-builder -i ./embassy-nrf -o webroot/crates/embassy-nrf/git.zup
-docserver-builder -i ./embassy-net-driver-channel -o crates/embassy-net-driver-channel/git.zup
+docserver-builder -i ./embassy-rp -o webroot/crates/embassy-rp/git.zup
-docserver-builder -i ./embassy-nrf -o crates/embassy-nrf/git.zup
+docserver-builder -i ./embassy-sync -o webroot/crates/embassy-sync/git.zup
-docserver-builder -i ./embassy-rp -o crates/embassy-rp/git.zup
+docserver-builder -i ./embassy-time -o webroot/crates/embassy-time/git.zup
-docserver-builder -i ./embassy-sync -o crates/embassy-sync/git.zup
+docserver-builder -i ./embassy-usb -o webroot/crates/embassy-usb/git.zup
-docserver-builder -i ./embassy-time -o crates/embassy-time/git.zup
+docserver-builder -i ./embassy-usb-driver -o webroot/crates/embassy-usb-driver/git.zup
-docserver-builder -i ./embassy-usb -o crates/embassy-usb/git.zup
+docserver-builder -i ./embassy-usb-logger -o webroot/crates/embassy-usb-logger/git.zup
-docserver-builder -i ./embassy-usb-driver -o crates/embassy-usb-driver/git.zup
+docserver-builder -i ./cyw43 -o webroot/crates/cyw43/git.zup
-docserver-builder -i ./embassy-usb-logger -o crates/embassy-usb-logger/git.zup
+docserver-builder -i ./cyw43-pio -o webroot/crates/cyw43-pio/git.zup
-docserver-builder -i ./cyw43 -o crates/cyw43/git.zup
+docserver-builder -i ./embassy-net-wiznet -o webroot/crates/embassy-net-wiznet/git.zup
-docserver-builder -i ./cyw43-pio -o crates/cyw43-pio/git.zup
+docserver-builder -i ./embassy-net-enc28j60 -o webroot/crates/embassy-net-enc28j60/git.zup
-docserver-builder -i ./embassy-net-w5500 -o crates/embassy-net-w5500/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 crates/embassy-stm32-wpan/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/rustfmt.sh

@@ -7,10 +7,6 @@ set -euo pipefail
 export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
+mv rust-toolchain-nightly.toml rust-toolchain.toml
 
-hashtime restore /ci/cache/filetime.json || true
+find . -name '*.rs' -not -path '*target*' | xargs rustfmt --check  --skip-children --unstable-features --edition 2021
-hashtime save /ci/cache/filetime.json
-
-sed -i 's/channel.*/channel = "stable"/g' rust-toolchain.toml
-
-./ci_stable.sh

.github/ci/test-nightly.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+## on push branch~=gh-readonly-queue/main/.*
+## on pull_request
+
+set -euo pipefail
+
+export RUSTUP_HOME=/ci/cache/rustup
+export CARGO_HOME=/ci/cache/cargo
+export CARGO_TARGET_DIR=/ci/cache/target
+mv rust-toolchain-nightly.toml rust-toolchain.toml
+
+MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml
+MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml --features nightly

.github/ci/test.sh

@@ -8,23 +8,21 @@ export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
 
-hashtime restore /ci/cache/filetime.json || true
-hashtime save /ci/cache/filetime.json
-
 cargo test --manifest-path ./embassy-sync/Cargo.toml 
 cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml 
-cargo test --manifest-path ./embassy-hal-common/Cargo.toml 
+cargo test --manifest-path ./embassy-hal-internal/Cargo.toml 
 cargo test --manifest-path ./embassy-time/Cargo.toml --features generic-queue
 
 cargo test --manifest-path ./embassy-boot/boot/Cargo.toml
-cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly
+cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features ed25519-dalek
-cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly,ed25519-dalek
+cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features ed25519-salty
-cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly,ed25519-salty
 
-cargo test --manifest-path ./embassy-nrf/Cargo.toml --no-default-features --features nightly,nrf52840,time-driver-rtc1,gpiote
+cargo test --manifest-path ./embassy-nrf/Cargo.toml --no-default-features --features nrf52840,time-driver-rtc1,gpiote
 
-cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --features nightly,time-driver
+cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --features time-driver
 
-cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f429vg,exti,time-driver-any,exti
+cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features 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 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-stm32/Cargo.toml --no-default-features --features stm32f769ni,exti,time-driver-any,exti
+
+cargo test --manifest-path ./embassy-net-adin1110/Cargo.toml

.vscode/settings.json

@@ -3,19 +3,23 @@
   "[toml]": {
     "editor.formatOnSave": false
   },
+  "[markdown]": {
+    "editor.formatOnSave": false
+  },
   "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": [
-    "nightly",
-  ],
   "rust-analyzer.linkedProjects": [
-    // Declare for the target you wish to develop
+    // Uncomment ONE line for the chip you want to work on.
-    // "embassy-executor/Cargo.toml",
+    // This makes rust-analyzer work on the example crate and all its dependencies.
-    // "embassy-sync/Cargo.toml",
+    "examples/stm32l4/Cargo.toml",
-    "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 +29,7 @@
     // "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

@@ -33,9 +33,10 @@ 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.
+<a href="hthttps://github.com/lora-rs/lora-rs">The lora-rs project</a> provides an async LoRa and LoRaWAN stack that works well on Embassy.
 
 - **USB** - 
 <a href="https://docs.embassy.dev/embassy-usb/">embassy-usb</a> implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.
@@ -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-nightly.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+set -eo pipefail
+
+export RUSTFLAGS=-Dwarnings
+export DEFMT_LOG=trace,embassy_hal_internal=debug,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
+if [[ -z "${CARGO_TARGET_DIR}" ]]; then
+    export CARGO_TARGET_DIR=target_ci
+fi
+
+cargo batch  \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32 \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread,integrated-timers \
+    --- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \
+

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
+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
-# needed by wifi examples
+    export CARGO_TARGET_DIR=target_ci
-export WIFI_NETWORK=x
+fi
-export WIFI_PASSWORD=x
 
 TARGET=$(rustc -vV | sed -n 's|host: ||p')
 
@@ -16,85 +15,112 @@ if [ $TARGET = "x86_64-unknown-linux-gnu" ]; then
     BUILD_EXTRA="--- build --release --manifest-path examples/std/Cargo.toml --target $TARGET --out-dir out/examples/std"
 fi
 
-find . -name '*.rs' -not -path '*target*' | xargs rustfmt --check  --skip-children --unstable-features --edition 2021
-
 cargo batch  \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-sync/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
-    --- build --release --manifest-path embassy-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-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32 \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread,integrated-timers \
+    --- build --release --manifest-path embassy-sync/Cargo.toml --target thumbv6m-none-eabi --features defmt \
+    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features defmt,defmt-timestamp-uptime,tick-hz-32_768,generic-queue-8 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet \
+    --- 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,dhcpv4-hostname \
-    --- 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,proto-ipv6,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,unstable-traits,nightly \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-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 \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,nightly \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv6,medium-ethernet,unstable-traits,nightly \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet,unstable-traits \
+    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip \
-    --- 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-ip,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,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 \
-    --- 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 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 nrf52810,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52811,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52811,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52820,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52820,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52832,gpiote,time-driver-rtc1,reset-pin-as-gpio \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52832,gpiote,time-driver-rtc1,reset-pin-as-gpio \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52833,gpiote,time-driver-rtc1,unstable-traits,nfc-pins-as-gpio \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52833,gpiote,time-driver-rtc1,nfc-pins-as-gpio \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf9160-s,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160-s,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf9160-ns,gpiote,time-driver-rtc1,unstable-traits \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160-ns,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf5340-app-s,gpiote,time-driver-rtc1,unstable-traits \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-app-s,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf5340-app-ns,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-app-ns,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nightly,nrf5340-net,gpiote,time-driver-rtc1,unstable-traits \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-net,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52840,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52840,log,gpiote,time-driver-rtc1 \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,log,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nightly,nrf52840,defmt,gpiote,time-driver-rtc1,unstable-traits \
+    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,defmt,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits,defmt \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits,log \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features log \
-    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features intrinsics \
-    --- 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 qspi-as-gpio \
-    --- 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,time \
-    --- 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,time-driver-any,time \
-    --- 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,exti,time \
-    --- 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 \
-    --- 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,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,exti,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,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 thumbv7em-none-eabi --features stm32f401ve,defmt,exti,time-driver-any \
-    --- 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 thumbv7em-none-eabi --features stm32f405zg,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 thumbv7em-none-eabi --features stm32f407zg,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,unstable-traits \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f401ve,defmt,exti,time-driver-any,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 thumbv7em-none-eabi --features stm32f405zg,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32f407zg,defmt,exti,time-driver-any,time \
-    --- 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 stm32f410tb,defmt,exti,time-driver-any,time \
-    --- 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 stm32f411ce,defmt,exti,time-driver-any,time \
-    --- 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 stm32f412zg,defmt,exti,time-driver-any,time \
-    --- 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 stm32f413vh,defmt,exti,time-driver-any,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 \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f415zg,defmt,exti,time-driver-any,time \
-    --- 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 stm32f417zg,defmt,exti,time-driver-any,time \
-    --- 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 stm32f423zh,defmt,exti,time-driver-any,time \
-    --- 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 stm32f427zi,defmt,exti,time-driver-any,time \
-    --- 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 stm32f429zi,log,exti,time-driver-any,time \
-    --- 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 stm32f437zi,log,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32f439zi,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32f446ze,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32f469zi,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32f479zi,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32f730i8,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32h753zi,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32h735zg,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,exti,time-driver-any,time \
-    --- 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 stm32h725re,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32h7b3ai,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32l422cb,defmt,exti,time-driver-any,time \
-    --- 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 thumbv7em-none-eabi --features stm32wb15cc,defmt,exti,time-driver-any,time \
-    --- 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 thumbv6m-none-eabi --features stm32l072cz,defmt,exti,time-driver-any,time \
-    --- 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 thumbv6m-none-eabi --features stm32l041f6,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32l073cz,defmt,exti,time-driver-any,low-power,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 stm32f398ve,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f378cc,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32g0c1ve,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f217zg,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32l552ze,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32wl54jc-cm0p,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wle5jb,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g474pe,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f107vc,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103re,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f100c4,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32h503rb,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32h562ag,defmt,exti,time-driver-any,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' \
@@ -102,23 +128,23 @@ cargo batch  \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt,firmware-logs' \
     --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features '' \
     --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features 'overclock' \
-    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840,nightly \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
-    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns,nightly \
+    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
-    --- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi --features nightly \
+    --- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi \
-    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4,nightly \
+    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
     --- build --release --manifest-path docs/modules/ROOT/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-hal/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840 \
-    --- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \
     --- build --release --manifest-path examples/nrf5340/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf5340 \
     --- build --release --manifest-path examples/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/rp \
     --- build --release --manifest-path examples/stm32f0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32f0 \
     --- build --release --manifest-path examples/stm32f1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f1 \
     --- 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 +158,10 @@ 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 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/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/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 \
@@ -143,26 +170,55 @@ cargo batch  \
     --- build --release --manifest-path examples/boot/application/stm32l1/Cargo.toml --target thumbv7m-none-eabi --features skip-include --out-dir out/examples/boot/stm32l1 \
     --- build --release --manifest-path examples/boot/application/stm32l4/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32l4 \
     --- build --release --manifest-path examples/boot/application/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --features skip-include --out-dir out/examples/boot/stm32wl \
+    --- build --release --manifest-path examples/boot/application/stm32wb-dfu/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/boot/stm32wb-dfu \
     --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
     --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
     --- build --release --manifest-path examples/boot/bootloader/rp/Cargo.toml --target thumbv6m-none-eabi \
     --- build --release --manifest-path examples/boot/bootloader/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
+    --- build --release --manifest-path examples/boot/bootloader/stm32wb-dfu/Cargo.toml --target thumbv7em-none-eabihf \
     --- build --release --manifest-path examples/wasm/Cargo.toml --target wasm32-unknown-unknown --out-dir out/examples/wasm \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103c8 --out-dir out/tests/stm32f103c8 \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f429zi --out-dir out/tests/stm32f429zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f446re --out-dir out/tests/stm32f446re \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32g491re --out-dir out/tests/stm32g491re \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32g071rb --out-dir out/tests/stm32g071rb \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32c031c6 --out-dir out/tests/stm32c031c6 \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi --out-dir out/tests/stm32h755zi \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features 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
+
+# not in CI yet.
+rm -rf out/tests/stm32f446re
+
+# 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

@@ -1,73 +0,0 @@
-#!/bin/bash
-
-set -euo pipefail
-
-export RUSTFLAGS=-Dwarnings
-export DEFMT_LOG=trace
-
-cargo batch  \
-    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
-    --- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
-    --- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi \
-    --- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,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 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52820,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52832,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52833,gpiote,time-driver-rtc1,unstable-traits \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160-s,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160-ns,gpiote,time-driver-rtc1,unstable-traits \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-app-s,gpiote,time-driver-rtc1,unstable-traits \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-app-ns,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340-net,gpiote,time-driver-rtc1,unstable-traits \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,log,gpiote,time-driver-rtc1 \
-    --- build --release --manifest-path embassy-nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840,defmt,gpiote,time-driver-rtc1,unstable-traits \
-    --- 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-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 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/README.md

@@ -0,0 +1,17 @@
+# cyw43-pio
+
+RP2040 PIO driver for the nonstandard half-duplex SPI used in the Pico W. The PIO driver offloads SPI communication with the WiFi chip and improves throughput.
+
+## Minimum supported Rust version (MSRV)
+
+Embassy is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
+## License
+
+This work is licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  <http://www.apache.org/licenses/LICENSE-2.0>)
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
+
+at your option.

cyw43-pio/src/lib.rs

@@ -1,18 +1,19 @@
 #![no_std]
-#![allow(incomplete_features)]
+#![allow(async_fn_in_trait)]
-#![feature(async_fn_in_trait)]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
 
 use core::slice;
 
 use cyw43::SpiBusCyw43;
 use embassy_rp::dma::Channel;
 use embassy_rp::gpio::{Drive, Level, Output, Pin, Pull, SlewRate};
-use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::pio::{instr, Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
-use embassy_rp::relocate::RelocatedProgram;
+use embassy_rp::{Peripheral, PeripheralRef};
-use embassy_rp::{pio_instr_util, Peripheral, PeripheralRef};
 use fixed::FixedU32;
 use pio_proc::pio_asm;
 
+/// SPI comms driven by PIO.
 pub struct PioSpi<'d, CS: Pin, PIO: Instance, const SM: usize, DMA> {
     cs: Output<'d, CS>,
     sm: StateMachine<'d, PIO, SM>,
@@ -27,6 +28,7 @@ where
     CS: Pin,
     PIO: Instance,
 {
+    /// Create a new instance of PioSpi.
     pub fn new<DIO, CLK>(
         common: &mut Common<'d, PIO>,
         mut sm: StateMachine<'d, PIO, SM>,
@@ -88,8 +90,6 @@ 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 +102,8 @@ 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]);
@@ -142,10 +143,11 @@ where
             sm,
             irq,
             dma: dma.into_ref(),
-            wrap_target: relocated.wrap().target,
+            wrap_target: loaded_program.wrap.target,
         }
     }
 
+    /// Write data to peripheral and return status.
     pub async fn write(&mut self, write: &[u32]) -> u32 {
         self.sm.set_enable(false);
         let write_bits = write.len() * 32 - 1;
@@ -155,10 +157,10 @@ where
         defmt::trace!("write={} read={}", write_bits, read_bits);
 
         unsafe {
-            pio_instr_util::set_x(&mut self.sm, write_bits as u32);
+            instr::set_x(&mut self.sm, write_bits as u32);
-            pio_instr_util::set_y(&mut self.sm, read_bits as u32);
+            instr::set_y(&mut self.sm, read_bits as u32);
-            pio_instr_util::set_pindir(&mut self.sm, 0b1);
+            instr::set_pindir(&mut self.sm, 0b1);
-            pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+            instr::exec_jmp(&mut self.sm, self.wrap_target);
         }
 
         self.sm.set_enable(true);
@@ -173,6 +175,7 @@ where
         status
     }
 
+    /// Send command and read response into buffer.
     pub async fn cmd_read(&mut self, cmd: u32, read: &mut [u32]) -> u32 {
         self.sm.set_enable(false);
         let write_bits = 31;
@@ -182,10 +185,10 @@ where
         defmt::trace!("write={} read={}", write_bits, read_bits);
 
         unsafe {
-            pio_instr_util::set_y(&mut self.sm, read_bits as u32);
+            instr::set_y(&mut self.sm, read_bits as u32);
-            pio_instr_util::set_x(&mut self.sm, write_bits as u32);
+            instr::set_x(&mut self.sm, write_bits as u32);
-            pio_instr_util::set_pindir(&mut self.sm, 0b1);
+            instr::set_pindir(&mut self.sm, 0b1);
-            pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+            instr::exec_jmp(&mut self.sm, self.wrap_target);
         }
 
         // self.cs.set_low();

cyw43/Cargo.toml

@@ -11,11 +11,10 @@ log = ["dep:log"]
 firmware-logs = []
 
 [dependencies]
-embassy-time = { version = "0.1.0", path = "../embassy-time"}
+embassy-time = { version = "0.2", path = "../embassy-time"}
-embassy-sync = { version = "0.2.0", path = "../embassy-sync"}
+embassy-sync = { version = "0.5.0", 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"}
+embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel"}
-atomic-polyfill = "0.1.5"
 
 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.3" }
 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`
+- `cargo install probe-rs --features cli`
-- `cd examples/rpi-pico-w`
+- `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
 ```
@@ -45,6 +45,10 @@ nc 192.168.0.250 1234
 ```
 Send it some data, you should see it echoed back and printed in the firmware's logs.
 
+## Minimum supported Rust version (MSRV)
+
+Embassy is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.
+
 ## License
 
 This work is licensed under either of

cyw43/src/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;
@@ -12,11 +12,23 @@ use crate::ioctl::{IoctlState, IoctlType};
 use crate::structs::*;
 use crate::{countries, events, PowerManagementMode};
 
+/// Control errors.
 #[derive(Debug)]
 pub struct Error {
+    /// Status code.
     pub status: u32,
 }
 
+/// Multicast errors.
+#[derive(Debug)]
+pub enum AddMulticastAddressError {
+    /// Not a multicast address.
+    NotMulticast,
+    /// No free address slots.
+    NoFreeSlots,
+}
+
+/// Control driver.
 pub struct Control<'a> {
     state_ch: ch::StateRunner<'a>,
     events: &'a Events,
@@ -32,6 +44,7 @@ impl<'a> Control<'a> {
         }
     }
 
+    /// Initialize WiFi controller.
     pub async fn init(&mut self, clm: &[u8]) {
         const CHUNK_SIZE: usize = 1024;
 
@@ -87,22 +100,22 @@ 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 +134,34 @@ 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;
+    }
+
+    /// Set power management mode.
     pub async fn set_power_management(&mut self, mode: PowerManagementMode) {
         // power save mode
         let mode_num = mode.mode();
@@ -150,6 +174,7 @@ impl<'a> Control<'a> {
         self.ioctl_set_u32(86, 0, mode_num).await;
     }
 
+    /// Join an unprotected network with the provided ssid.
     pub async fn join_open(&mut self, ssid: &str) -> Result<(), Error> {
         self.set_iovar_u32("ampdu_ba_wsize", 8).await;
 
@@ -167,6 +192,7 @@ impl<'a> Control<'a> {
         self.wait_for_join(i).await
     }
 
+    /// Join an protected network with the provided ssid and passphrase.
     pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
         self.set_iovar_u32("ampdu_ba_wsize", 8).await;
 
@@ -175,7 +201,7 @@ 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 _,
@@ -234,16 +260,19 @@ impl<'a> Control<'a> {
         }
     }
 
+    /// Set GPIO pin on WiFi chip.
     pub async fn gpio_set(&mut self, gpio_n: u8, gpio_en: bool) {
         assert!(gpio_n < 3);
         self.set_iovar_u32x2("gpioout", 1 << gpio_n, if gpio_en { 1 << gpio_n } else { 0 })
             .await
     }
 
+    /// Start open access point.
     pub async fn start_ap_open(&mut self, ssid: &str, channel: u8) {
         self.start_ap(ssid, "", Security::OPEN, channel).await;
     }
 
+    /// Start WPA2 protected access point.
     pub async fn start_ap_wpa2(&mut self, ssid: &str, passphrase: &str, channel: u8) {
         self.start_ap(ssid, passphrase, Security::WPA2_AES_PSK, channel).await;
     }
@@ -256,13 +285,13 @@ 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 +316,7 @@ 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 +336,54 @@ 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());
@@ -423,15 +500,21 @@ 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")
+    }
 }
 
+/// WiFi network scanner.
 pub struct Scanner<'a> {
     subscriber: EventSubscriber<'a>,
     events: &'a Events,
 }
 
 impl Scanner<'_> {
-    /// wait for the next found network
+    /// Wait for the next found network.
     pub async fn next(&mut self) -> Option<BssInfo> {
         let event = self.subscriber.next_message_pure().await;
         if event.header.status != EStatus::PARTIAL {

cyw43/src/fmt.rs

@@ -83,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
+        ::core::unreachable!($($x)*)
-            #[cfg(not(feature = "defmt"))]
+    };
-            ::core::unreachable!($($x)*);
+}
-            #[cfg(feature = "defmt")]
+
-            ::defmt::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

@@ -1,8 +1,9 @@
 #![no_std]
 #![no_main]
-#![allow(incomplete_features)]
+#![allow(async_fn_in_trait)]
-#![feature(async_fn_in_trait, type_alias_impl_trait, concat_bytes)]
 #![deny(unused_must_use)]
+#![doc = include_str!("../README.md")]
+#![warn(missing_docs)]
 
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
@@ -27,7 +28,7 @@ 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;
 
@@ -103,6 +104,7 @@ const CHIP: Chip = Chip {
     chanspec_ctl_sb_mask: 0x0700,
 };
 
+/// Driver state.
 pub struct State {
     ioctl_state: IoctlState,
     ch: ch::State<MTU, 4, 4>,
@@ -110,6 +112,7 @@ pub struct State {
 }
 
 impl State {
+    /// Create new driver state holder.
     pub fn new() -> Self {
         Self {
             ioctl_state: IoctlState::new(),
@@ -119,6 +122,7 @@ impl State {
     }
 }
 
+/// Power management modes.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum PowerManagementMode {
     /// Custom, officially unsupported mode. Use at your own risk.
@@ -204,8 +208,13 @@ impl PowerManagementMode {
     }
 }
 
+/// Embassy-net driver.
 pub type NetDriver<'a> = ch::Device<'a, MTU>;
 
+/// Create a new instance of the CYW43 driver.
+///
+/// Returns a handle to the network device, control handle and a runner for driving the low level
+/// stack.
 pub async fn new<'a, PWR, SPI>(
     state: &'a mut State,
     pwr: PWR,
@@ -216,7 +225,7 @@ 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/nvram.rs

@@ -1,54 +1,48 @@
-macro_rules! nvram {
+pub static NVRAM: &'static [u8] = b"
-    ($($s:literal,)*) => {
+    NVRAMRev=$Rev$\x00\
-        concat_bytes!($($s, b"\x00",)* b"\x00\x00")
+    manfid=0x2d0\x00\
-    };
+    prodid=0x0727\x00\
-}
+    vendid=0x14e4\x00\
-
+    devid=0x43e2\x00\
-pub static NVRAM: &'static [u8] = &*nvram!(
+    boardtype=0x0887\x00\
-    b"NVRAMRev=$Rev$",
+    boardrev=0x1100\x00\
-    b"manfid=0x2d0",
+    boardnum=22\x00\
-    b"prodid=0x0727",
+    macaddr=00:A0:50:b5:59:5e\x00\
-    b"vendid=0x14e4",
+    sromrev=11\x00\
-    b"devid=0x43e2",
+    boardflags=0x00404001\x00\
-    b"boardtype=0x0887",
+    boardflags3=0x04000000\x00\
-    b"boardrev=0x1100",
+    xtalfreq=37400\x00\
-    b"boardnum=22",
+    nocrc=1\x00\
-    b"macaddr=00:A0:50:b5:59:5e",
+    ag0=255\x00\
-    b"sromrev=11",
+    aa2g=1\x00\
-    b"boardflags=0x00404001",
+    ccode=ALL\x00\
-    b"boardflags3=0x04000000",
+    pa0itssit=0x20\x00\
-    b"xtalfreq=37400",
+    extpagain2g=0\x00\
-    b"nocrc=1",
+    pa2ga0=-168,6649,-778\x00\
-    b"ag0=255",
+    AvVmid_c0=0x0,0xc8\x00\
-    b"aa2g=1",
+    cckpwroffset0=5\x00\
-    b"ccode=ALL",
+    maxp2ga0=84\x00\
-    b"pa0itssit=0x20",
+    txpwrbckof=6\x00\
-    b"extpagain2g=0",
+    cckbw202gpo=0\x00\
-    b"pa2ga0=-168,6649,-778",
+    legofdmbw202gpo=0x66111111\x00\
-    b"AvVmid_c0=0x0,0xc8",
+    mcsbw202gpo=0x77711111\x00\
-    b"cckpwroffset0=5",
+    propbw202gpo=0xdd\x00\
-    b"maxp2ga0=84",
+    ofdmdigfilttype=18\x00\
-    b"txpwrbckof=6",
+    ofdmdigfilttypebe=18\x00\
-    b"cckbw202gpo=0",
+    papdmode=1\x00\
-    b"legofdmbw202gpo=0x66111111",
+    papdvalidtest=1\x00\
-    b"mcsbw202gpo=0x77711111",
+    pacalidx2g=45\x00\
-    b"propbw202gpo=0xdd",
+    papdepsoffset=-30\x00\
-    b"ofdmdigfilttype=18",
+    papdendidx=58\x00\
-    b"ofdmdigfilttypebe=18",
+    ltecxmux=0\x00\
-    b"papdmode=1",
+    ltecxpadnum=0x0102\x00\
-    b"papdvalidtest=1",
+    ltecxfnsel=0x44\x00\
-    b"pacalidx2g=45",
+    ltecxgcigpio=0x01\x00\
-    b"papdepsoffset=-30",
+    il0macaddr=00:90:4c:c5:12:38\x00\
-    b"papdendidx=58",
+    wl0id=0x431b\x00\
-    b"ltecxmux=0",
+    deadman_to=0xffffffff\x00\
-    b"ltecxpadnum=0x0102",
+    muxenab=0x100\x00\
-    b"ltecxfnsel=0x44",
+    spurconfig=0x3\x00\
-    b"ltecxgcigpio=0x01",
+    glitch_based_crsmin=1\x00\
-    b"il0macaddr=00:90:4c:c5:12:38",
+    btc_mode=1\x00\
-    b"wl0id=0x431b",
+    \x00";
-    b"deadman_to=0xffffffff",
-    b"muxenab=0x100",
-    b"spurconfig=0x3",
-    b"glitch_based_crsmin=1",
-    b"btc_mode=1",
-);

cyw43/src/runner.rs

@@ -34,6 +34,7 @@ impl Default for LogState {
     }
 }
 
+/// Driver communicating with the WiFi chip.
 pub struct Runner<'a, PWR, SPI> {
     ch: ch::Runner<'a, MTU>,
     bus: Bus<PWR, SPI>,
@@ -222,6 +223,7 @@ where
         }
     }
 
+    /// Run the
     pub async fn run(mut self) -> ! {
         let mut buf = [0; 512];
         loop {
@@ -345,7 +347,9 @@ 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 +357,9 @@ 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 +423,12 @@ 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)) = ScanResults::parse(evt_data) else {
-                            let Some(bss_info) = BssInfo::parse(bss_info) else { return };
+                                return;
+                            };
+                            let Some(bss_info) = BssInfo::parse(bss_info) else {
+                                return;
+                            };
                             events::Payload::BssInfo(*bss_info)
                         }
                         Event::ESCAN_RESULT => events::Payload::None,
@@ -439,7 +449,9 @@ 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 +557,14 @@ 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 {

cyw43/src/structs.rs

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

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

@@ -6,9 +6,9 @@ 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-executor = { version = "0.4.0", path = "../../../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
-embassy-time = { version = "0.1.0", path = "../../../../../embassy-time", features = ["defmt", "nightly"] }
+embassy-time = { version = "0.2.0", path = "../../../../../embassy-time", features = ["defmt"] }
-embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "nightly"] }
+embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }
 
 defmt = "0.3"
 defmt-rtt = "0.3"

docs/modules/ROOT/examples/basic/src/main.rs

@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;

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 = "0.4.0", features = ["arch-cortex-m", "executor-thread"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

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

@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use embassy_executor::Spawner;
 use embassy_stm32::exti::ExtiInput;

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

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

docs/modules/ROOT/nav.adoc

@@ -1,10 +1,18 @@
 * xref:getting_started.adoc[Getting started]
 ** xref:basic_application.adoc[Basic application]
-** xref:layer_by_layer.adoc[Layer by Layer]
+** xref:project_structure.adoc[Project Structure]
+** xref:new_project.adoc[Starting a new Embassy project]
+** xref:best_practices.adoc[Best Practices]
+* xref:layer_by_layer.adoc[Bare metal to async]
 * xref:runtime.adoc[Executor]
+* xref:delaying_a_task.adoc[Delaying a Task]
 * xref:hal.adoc[HAL]
 ** xref:nrf.adoc[nRF]
 ** xref:stm32.adoc[STM32]
 * xref:bootloader.adoc[Bootloader]
 
 * xref:examples.adoc[Examples]
+* xref:developer.adoc[Developer Docs]
+** xref:developer_stm32.adoc[Developer Docs: STM32]
+* xref:embassy_in_the_wild.adoc[Embassy in the wild]
+* xref:faq.adoc[Frequently Asked Questions]

docs/modules/ROOT/pages/basic_application.adoc

@@ -6,13 +6,24 @@ So you've got one of the xref:examples.adoc[examples] running, but what now? Let
 
 The full example can be found link:https://github.com/embassy-rs/embassy/tree/master/docs/modules/ROOT/examples/basic[here].
 
-=== Rust Nightly
+NOTE: If you’re using VS Code and rust-analyzer to view and edit the examples, you may need to make some changes to `.vscode/settings.json` to tell it which project we’re working on. Follow the instructions commented in that file to get rust-analyzer working correctly.
 
-The first thing you'll notice is a few declarations stating that Embassy requires some nightly features:
+=== Bare metal
+
+The first thing you’ll notice are two attributes at the top of the file. These tells the compiler that program has no access to std, and that there is no main function (because it is not run by an OS).
 
 [source,rust]
 ----
-include::example$basic/src/main.rs[lines="1..3"]
+include::example$basic/src/main.rs[lines="1..2"]
+----
+
+=== Rust Nightly
+
+The next declaration is a Rust Unstable feature, which means that Embassy requires Rust Nightly:
+
+[source,rust]
+----
+include::example$basic/src/main.rs[lines="3"]
 ----
 
 === Dealing with errors
@@ -39,19 +50,18 @@ NOTE: Notice that there is no busy waiting going on in this task. It is using th
 
 === Main
 
-The main entry point of an Embassy application is defined using the `#[embassy_executor::main]` macro. The entry point is also required to take a `Spawner` and a `Peripherals` argument.
+The main entry point of an Embassy application is defined using the `#[embassy_executor::main]` macro. The entry point is passed a `Spawner`, which it can use to spawn other tasks.
 
-The `Spawner` is the way the main application spawns other tasks. The `Peripherals` type comes from the HAL and holds all peripherals that the application may use. In this case, we want to configure one of the pins as a GPIO output driving the LED:
+We then initialize the HAL with a default config, which gives us a `Peripherals` struct we can use to access the MCU’s various peripherals. In this case, we want to configure one of the pins as a GPIO output driving the LED:
 
 [source,rust]
 ----
 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`
 . Defines a main task for the entry point
 . Runs the executor spawning the main task
 

docs/modules/ROOT/pages/best_practices.adoc

@@ -0,0 +1,53 @@
+= Best Practices
+
+Over time, a couple of best practices have emerged. The following list should serve as a guideline for developers writing embedded software in _Rust_, especially in the context of the _Embassy_ framework.
+
+== Passing Buffers by Reference
+It may be tempting to pass arrays or wrappers, like link:https://docs.rs/heapless/latest/heapless/[`heapless::Vec`], to a function or return one just like you would with a `std::Vec`. However, in most embedded applications you don't want to spend ressources on an allocator and end up placing buffers on the stack.
+This, however, can easily blow up your stack if you are not careful.
+
+Consider the following example:
+[,rust]
+----
+fn process_buffer(mut buf: [u8; 1024]) -> [u8; 1024] {
+    // do stuff and return new buffer
+    for elem in buf.iter_mut() {
+        *elem = 0;
+    }
+    buf
+}
+
+pub fn main() -> () {
+    let buf = [1u8; 1024];
+    let buf_new = process_buffer(buf);
+    // do stuff with buf_new
+    ()
+}
+----
+When calling `process_buffer` in your program, a copy of the buffer you pass to the function will be created,
+consuming another 1024 bytes.
+After the processing, another 1024 byte buffer will be placed on the stack to be returned to the caller.
+(You can check the assembly, there will be two memcopy operations, e.g., `bl __aeabi_memcpy` when compiling for a Cortex-M processor.)
+
+*Possible Solution:*
+
+Pass the data by reference and not by value on both, the way in and the way out.
+For example, you could return a slice of the input buffer as the output.
+Requiring the lifetime of the input slice and the output slice to be the same, the memory safetly of this procedure will be enforced by the compiler.
+
+[,rust]
+----
+fn process_buffer<'a>(buf: &'a mut [u8]) -> &'a mut[u8] {
+    for elem in buf.iter_mut() {
+        *elem = 0;
+    }
+    buf
+}
+
+pub fn main() -> () {
+    let mut buf = [1u8; 1024];
+    let buf_new = process_buffer(&mut buf);
+    // do stuff with buf_new
+    ()
+}
+----

docs/modules/ROOT/pages/bootloader.adoc

@@ -45,6 +45,8 @@ The BOOTLOADER_STATE partition must be big enough to store one word per page in
 
 The bootloader has a platform-agnostic part, which implements the power fail safe swapping algorithm given the boundaries set by the partitions. The platform-specific part is a minimal shim that provides additional functionality such as watchdogs or supporting the nRF52 softdevice.
 
+NOTE: The linker scripts for the application and bootloader look similar, but the FLASH region must point to the BOOTLOADER partition for the bootloader, and the ACTIVE partition for the application.
+
 === FirmwareUpdater
 
 The `FirmwareUpdater` is an object for conveniently flashing firmware to the DFU partition and subsequently marking it as being ready for swapping with the active partition on the next reset. Its principle methods are `write_firmware`, which is called once per the size of the flash "write block" (typically 4KiB), and `mark_updated`, which is the final call.

docs/modules/ROOT/pages/delaying_a_task.adoc

@@ -0,0 +1,28 @@
+= Delaying a Task
+
+In an embedded program, delaying a task is one of the most common actions taken. In an event loop, delays will need to be inserted to ensure
+that other tasks have a chance to run before the next iteration of the loop is called, if no other I/O is performed. Embassy provides an abstraction
+to delay the current task for a specified interval of time.
+
+Timing is serviced by the `embassy::time::Timer` struct, which provides two timing methods.
+
+`Timer::at` creates a future that completes at the specified `Instant`, relative to the system boot time.
+`Timer::after` creates a future that completes after the specified `Duration`, relative to when the future was created.
+
+An example of a delay is provided as follows:
+
+[,rust]
+----
+use embassy::executor::{task, Executor};
+use embassy::time::{Duration, Timer};
+
+#[task]
+/// Task that ticks periodically
+async fn tick_periodic() -> ! {
+    loop {
+        rprintln!("tick!");
+        // async sleep primitive, suspends the task for 500ms.
+        Timer::after(Duration::from_millis(500)).await;
+    }
+}
+----

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/embassy_in_the_wild.adoc

@@ -0,0 +1,9 @@
+= Embassy in the wild!
+
+Here are known examples of real-world projects which make use of Embassy. Feel free to link:https://github.com/embassy-rs/embassy/blob/main/docs/modules/ROOT/pages/embassy_in_the_wild.adoc[add more]!
+
+* link:https://github.com/cbruiz/printhor/[Printhor: The highly reliable but not necessarily functional 3D printer firmware]
+** Targets some STM32 MCUs
+* link:https://github.com/card-io-ecg/card-io-fw[Card/IO firmware] - firmware for an open source ECG device
+** Targets the ESP32-S3 or ESP32-C6 MCU
+* The link:https://github.com/lora-rs/lora-rs[lora-rs] project includes link:https://github.com/lora-rs/lora-rs/tree/main/examples/stm32l0/src/bin[various standalone examples] for NRF52840, RP2040, STM32L0 and STM32WL

docs/modules/ROOT/pages/faq.adoc

@@ -0,0 +1,155 @@
+= 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!
+
+== How to deploy to RP2040 without a debugging probe.
+
+Install link:https://github.com/JoNil/elf2uf2-rs[elf2uf2-rs] for converting the generated elf binary into a uf2 file.
+
+Configure the runner to use this tool, add this to `.cargo/config.toml`:
+[source,toml]
+----
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "elf2uf2-rs --deploy --serial --verbose"
+----
+
+The command-line parameters `--deploy` will detect your device and upload the binary, `--serial` starts a serial connection. See the documentation for more info.
+
+== 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 ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].
+
+== Why is my binary so big?
+
+The first step to managing your binary size is to set up your link:https://doc.rust-lang.org/cargo/reference/profiles.html[profiles].
+
+[source,toml]
+----
+[profile.release]
+debug = false
+lto = true
+opt-level = "s"
+incremental = false
+codegen-units = 1
+----
+
+All of these flags are elaborated on in the Rust Book page linked above.
+
+=== My binary is still big... filled with `std::fmt` stuff!
+
+This means your code is sufficiently complex that `panic!` invocation's formatting requirements could not be optimized out, despite your usage of `panic-halt` or `panic-reset`.
+
+You can remedy this by adding the following to your `.cargo/config.toml`:
+
+[source,toml]
+----
+[unstable]
+build-std = ["core"]
+build-std-features = ["panic_immediate_abort"]
+----
+
+This replaces all panics with a `UDF` (undefined) instruction.
+
+Depending on your chipset, this will exhibit different behavior.
+
+Refer to the spec for your chipset, but for `thumbv6m`, it results in a hardfault. Which can be configured like so:
+
+[source,rust]
+----
+#[exception]
+unsafe fn HardFault(_frame: &ExceptionFrame) -> ! {
+    SCB::sys_reset() // <- you could do something other than reset
+}
+----
+
+Refer to cortex-m's link:https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.exception.html[exception handling] for more info.
+
+== `embassy-time` throws linker errors
+
+If you see linker error like this:
+
+[source,text]
+----
+  = note: rust-lld: error: undefined symbol: _embassy_time_now
+          >>> referenced by driver.rs:127 (src/driver.rs:127)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::now::hefb1f99d6e069842) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+
+          rust-lld: error: undefined symbol: _embassy_time_allocate_alarm
+          >>> referenced by driver.rs:134 (src/driver.rs:134)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::allocate_alarm::hf5145b6bd46706b2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+
+          rust-lld: error: undefined symbol: _embassy_time_set_alarm_callback
+          >>> referenced by driver.rs:139 (src/driver.rs:139)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm_callback::h24f92388d96eafd2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+
+          rust-lld: error: undefined symbol: _embassy_time_set_alarm
+          >>> referenced by driver.rs:144 (src/driver.rs:144)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm::h530a5b1f444a6d5b) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+----
+
+You probably need to enable a time driver for your HAL (not in `embassy-time`!). For example with `embassy-stm32`, you might need to enable `time-driver-any`:
+
+[source,toml]
+----
+[dependencies.embassy-stm32]
+version = "0.1.0"
+features = [
+    # ...
+    "time-driver-any", # Add this line!
+    # ...
+]
+----
+
+== Error: `Only one package in the dependency graph may specify the same links value.`
+
+You have multiple versions of the same crate in your dependency tree. This means that some of your
+embassy crates are coming from crates.io, and some from git, each of them pulling in a different set
+of dependencies.
+
+To resolve this issue, make sure to only use a single source for all your embassy crates! To do this,
+you should patch your dependencies to use git sources using `[patch.crates.io]` and maybe `[patch.'https://github.com/embassy-rs/embassy.git']`.
+
+Example:
+
+[source,toml]
+----
+[patch.crates-io]
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
+----
+
+Note that the git revision should match any other embassy patches or git dependencies that you are using!
+
+== How can I optimize the speed of my embassy-stm32 program?
+
+* Make sure RCC is set up to go as fast as possible
+* Make sure link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html[flash cache] is enabled
+* build with `--release`
+* Set the following keys for the release profile in your `Cargo.toml`:
+    ** `opt-level = "s"`
+    ** `lto = "fat"`
+* Set the following keys in the `[unstable]` section of your `.cargo/config.toml`
+    ** `build-std = ["core"]`
+    ** `build-std-features = ["panic_immediate_abort"]`
+* Enable feature `embassy-time/generic-queue`, disable feature `embassy-executor/integrated-timers`
+* When using `InterruptExecutor`:
+    ** disable `executor-thread`
+    ** make `main`` spawn everything, then enable link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html#method.set_sleeponexit[SCB.SLEEPONEXIT] and `loop { cortex_m::asm::wfi() }`
+    ** *Note:*  If you need 2 priority levels, using 2 interrupt executors is better than 1 thread executor + 1 interrupt executor.

docs/modules/ROOT/pages/getting_started.adoc

@@ -3,13 +3,15 @@
 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.
 
 == Getting a board with examples
 
-Embassy supports many microcontroller families, but the easiest ways to get started is if you have one of the more common development kits.
+Embassy supports many microcontroller families, but the quickest way to get started is by using a board which Embassy has existing example code for.
+
+This list is non-exhaustive. If your board isn’t included here, check the link:https://github.com/embassy-rs/embassy/tree/main/examples[examples folder] to see if example code has been written for it.
 
 === nRF kits
 
@@ -30,28 +32,94 @@ 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];
+First you need to clone the link:https://github.com/embassy-rs/embassy[github repository];
 
 [source, bash]
 ----
 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:
+Once you have a copy of the repository, find examples folder for your board and, and build an example program. `blinky` is a good choice as all it does is blink an LED – the embedded world’s equivalent of “Hello World”.
 
 [source, bash]
 ----
 cd examples/nrf52840
+cargo build --bin blinky --release
+----
+
+Once you’ve confirmed you can build the example, connect your computer to your board with a debug probe and run it on hardware:
+
+[source, bash]
+----
 cargo run --bin blinky --release
 ----
 
+If everything worked correctly, you should see a blinking LED on your board, and debug output similar to this on your computer:
+
+[source]
+----
+    Finished dev [unoptimized + debuginfo] target(s) in 1m 56s
+     Running `probe-run --chip STM32F407VGTx target/thumbv7em-none-eabi/debug/blinky`
+(HOST) INFO  flashing program (71.36 KiB)
+(HOST) INFO  success!
+────────────────────────────────────────────────────────────────────────────────
+0 INFO  Hello World!
+└─ blinky::__embassy_main::task::{generator#0} @ src/bin/blinky.rs:18
+1 INFO  high
+└─ blinky::__embassy_main::task::{generator#0} @ src/bin/blinky.rs:23
+2 INFO  low
+└─ blinky::__embassy_main::task::{generator#0} @ src/bin/blinky.rs:27
+3 INFO  high
+└─ blinky::__embassy_main::task::{generator#0} @ src/bin/blinky.rs:23
+4 INFO  low
+└─ blinky::__embassy_main::task::{generator#0} @ src/bin/blinky.rs:27
+----
+
+NOTE: How does the `cargo run` command know how to connect to our board and program it? In each `examples` folder, there’s a `.cargo/config.toml` file which tells cargo to use link:https://probe.rs/[probe-rs] as the runner for ARM binaries in that folder. probe-rs handles communication with the debug probe and MCU. In order for this to work, probe-rs needs to know which chip it’s programming, so you’ll have to edit this file if you want to run examples on other chips.
+
+=== It didn’t work!
+
+If you hare having issues when running `cargo run --release`, please check the following:
+
+* You are specifying the correct `--chip on the command line``, OR
+* You have set `.cargo/config.toml`'s run line to the correct chip, AND
+* You have changed `examples/Cargo.toml`'s HAL (e.g. embassy-stm32) dependency's feature to use the correct chip (replace the existing stm32xxxx feature)
+
+At this point the project should run. If you do not see a blinky LED for blinky, for example, be sure to check the code is toggling your board's LED pin.
+
+If you are trying to run an example with `cargo run --release` and you see the following output:
+[source]
+----
+0.000000 INFO Hello World!
+└─ <invalid location: defmt frame-index: 14>
+0.000000 DEBUG rcc: Clocks { sys: Hertz(80000000), apb1: Hertz(80000000), apb1_tim: Hertz(80000000), apb2: Hertz(80000000), apb2_tim: Hertz(80000000), ahb1: Hertz(80000000), ahb2: Hertz(80000000), ahb3: Hertz(80000000) }
+└─ <invalid location: defmt frame-index: 124>
+0.000061 TRACE allocating type=Interrupt mps=8 interval_ms=255, dir=In
+└─ <invalid location: defmt frame-index: 68>
+0.000091 TRACE   index=1
+└─ <invalid location: defmt frame-index: 72>
+----
+
+To get rid of the frame-index error add the following to your `Cargo.toml`:
+
+[source,toml]
+----
+[profile.release]
+debug = 2
+----
+
+If you’re still having problems, check the link:https://embassy.dev/book/dev/faq.html[FAQ], or ask for help in the link:https://matrix.to/#/#embassy-rs:matrix.org[Embassy Chat Room].
+
 == What's next?
 
-Congratulations, you have your first Embassy application running! Here are some alternatives on where to go from here:
+Congratulations, you have your first Embassy application running! Here are some suggestions for where to go from here:
 
 * Read more about the xref:runtime.adoc[executor].
 * Read more about the xref:hal.adoc[HAL].

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

@@ -4,31 +4,61 @@ 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 task is ready.
 
-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.
+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. 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.
 
-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,
+In other programming languages, these lightweight tasks are known as “coroutines” or ”goroutines”. In Rust, they are implemented with async. 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.
-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.
+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?
 
 The Embassy project consists of several crates that you can use together or independently:
 
-* **Executor** - The link:https://docs.embassy.dev/embassy-executor/[embassy-executor] is an async/await executor that generally executes a fixed number of tasks, allocated at startup, though more can be added later. The HAL is an API that you can use to access peripherals, such as USART, UART, I2C, SPI, CAN, and USB. Embassy provides implementations of both async and blocking APIs where it makes sense. DMA (Direct Memory Access) is an example where async is a good fit, whereas GPIO states are a better fit for a blocking API. The executor may also provide a system timer that you can use for both async and blocking delays. For less than one microsecond, blocking delays should be used because the cost of context-switching is too high and the executor will be unable to provide accurate timing.
+=== Executor
+The link:https://docs.embassy.dev/embassy-executor/[embassy-executor] is an async/await executor that generally executes a fixed number of tasks, allocated at startup, though more can be added later.  The executor may also provide a system timer that you can use for both async and blocking delays. For less than one microsecond, blocking delays should be used because the cost of context-switching is too high and the executor will be unable to provide accurate timing.
 
-* **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.
+=== Hardware Abstraction Layers
-** link:https://docs.embassy.dev/embassy-stm32/[embassy-stm32], for all STM32 microcontroller families.
+HALs implement safe Rust API which let you use peripherals such as USART, UART, I2C, SPI, CAN, and USB without having to directly manipulate registers.
-** link:https://docs.embassy.dev/embassy-nrf/[embassy-nrf], for the Nordic Semiconductor nRF52, nRF53, nRF91 series.
 
-* **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.
+Embassy provides implementations of both async and blocking APIs where it makes sense. DMA (Direct Memory Access) is an example where async is a good fit, whereas GPIO states are a better fit for a blocking API.
 
-* **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.
+The Embassy project maintains HALs for select hardware, but you can still use HALs from other projects with Embassy.
 
-* **LoRa** - link:https://docs.embassy.dev/embassy-lora/[embassy-lora] supports LoRa networking on STM32WL wireless microcontrollers and Semtech SX127x transceivers.
+* 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.
 
-* **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.
+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.
 
-* **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.
+=== 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://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.
+
+== What is DMA?
+
+For most I/O in embedded devices, the peripheral doesn't directly support the transmission of multiple bits at once, with CAN being a notable exception. Instead, the MCU must write each byte, one at a time, and then wait until the peripheral is ready to send the next. For high I/O rates, this can pose a problem if the MCU must devote an increasing portion of its time handling each byte. The solution to this problem is to use the Direct Memory Access controller.
+
+The Direct Memory Access controller (DMA) is a controller that is present in MCUs that Embassy supports, including stm32 and nrf. The DMA allows the MCU to set up a transfer, either send or receive, and then wait for the transfer to complete. With DMA, once started, no MCU intervention is required until the transfer is complete, meaning that the MCU can perform other computation, or set up other I/O while the transfer is in progress. For high I/O rates, DMA can cut the time that the MCU spends handling I/O by over half. However, because DMA is more complex to set-up, it is less widely used in the embedded community. Embassy aims to change that by making DMA the first choice rather than the last. Using Embassy, there's no additional tuning required once I/O rates increase because your application is already set-up to handle them.
+
+== 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
+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.
-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/new_project.adoc

@@ -0,0 +1,178 @@
+= Starting a new Embassy project
+
+Once you’ve successfully xref:getting_started.adoc[run some example projects], the next step is to make a standalone Embassy project. The easiest way to do this is to adapt an example for a similar chip to the one you’re targeting.
+
+As an example, let’s create a new embassy project from scratch for a STM32G474. The same instructions are applicable for any supported chip with some minor changes.
+
+Run:
+
+[source,bash]
+----
+cargo new stm32g474-example
+cd stm32g474-example
+----
+
+to create an empty rust project:
+
+[source]
+----
+stm32g474-example
+├── Cargo.toml
+└── src
+    └── main.rs
+----
+
+Looking in link:https://github.com/embassy-rs/embassy/tree/main/examples[the Embassy examples], we can see there’s a `stm32g4` folder. Find `src/blinky.rs` and copy its contents into our `src/main.rs`.
+
+== .cargo/config.toml
+
+Currently, we’d need to provide cargo with a target triple every time we run `cargo build` or `cargo run`. Let’s spare ourselves that work by copying `.cargo/config.toml` from `examples/stm32g4` into our project.
+
+[source]
+----
+stm32g474-example
+├── .cargo
+│   └── config.toml
+├── Cargo.toml
+└── src
+    └── main.rs
+----
+
+In addition to a target triple, `.cargo/config.toml` contains a `runner` key which allows us to conveniently run our project on hardware with `cargo run` via probe-rs. In order for this to work, we need to provide the correct chip ID. We can do this by checking `probe-rs chip list`:
+
+[source,bash]
+----
+$ probe-rs chip list | grep -i stm32g474re
+        STM32G474RETx
+----
+
+and copying `STM32G474RETx` into `.cargo/config.toml` as so:
+
+[source,toml]
+----
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# replace STM32G071C8Rx with your chip as listed in `probe-rs chip list`
+runner = "probe-rs run --chip STM32G474RETx"
+----
+
+== Cargo.toml
+
+Now that cargo knows what target to compile for (and probe-rs knows what chip to run it on), we’re ready to add some dependencies.
+
+Looking in `examples/stm32g4/Cargo.toml`, we can see that the examples require a number of embassy crates. For blinky, we’ll only need three of them: `embassy-stm32`, `embassy-executor` and `embassy-time`.
+
+At the time of writing, the latest version of embassy isn‘t available on crates.io, so we need to install it straight from the git repository. The recommended way of doing so is as follows:
+
+* Copy the required `embassy-*` lines from the example `Cargo.toml`
+* Make any necessary changes to `features`, e.g. requiring the `stm32g474re` feature of `embassy-stm32`
+* Remove the `path = ""` keys in the `embassy-*` entries
+* Create a `[patch.crates-io]` section, with entries for each embassy crate we need. These should all contain identical values: a link to the git repository, and a reference to the commit we’re checking out. Assuming you want the latest commit, you can find it by running `git ls-remote https://github.com/embassy-rs/embassy.git HEAD`
+
+NOTE: When using this method, it’s necessary that the `version` keys in `[dependencies]` match up with the versions defined in each crate’s `Cargo.toml` in the specificed `rev` under `[patch.crates.io]`. This means that when updating, you have to a pick a new revision, change everything in `[patch.crates.io]` to match it, and then correct any versions under `[dependencies]` which have changed. Hopefully this will no longer be necessary once embassy is released on crates.io!
+
+At the time of writing, this method produces the following results:
+
+[source,toml]
+----
+[dependencies]
+embassy-stm32 = {version = "0.1.0", features =  ["defmt", "time-driver-any", "stm32g474re", "memory-x", "unstable-pac", "exti"]}
+embassy-executor = { version = "0.3.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-time = { version = "0.2", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
+
+[patch.crates-io]
+embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "7703f47c1ecac029f603033b7977d9a2becef48c" }
+embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "7703f47c1ecac029f603033b7977d9a2becef48c" }
+embassy-stm32 = { git = "https://github.com/embassy-rs/embassy", rev = "7703f47c1ecac029f603033b7977d9a2becef48c" }
+----
+
+There are a few other dependencies we need to build the project, but fortunately they’re much simpler to install. Copy their lines from the example `Cargo.toml` to the the `[dependencies]` section in the new `Cargo.toml`:
+
+[source,toml]
+----
+defmt = "0.3.5"
+defmt-rtt = "0.4.0"
+cortex-m = {version = "0.7.7", features = ["critical-section-single-core"]}
+cortex-m-rt = "0.7.3"
+panic-probe = "0.3.1"
+----
+
+These are the bare minimum dependencies required to run `blinky.rs`, but it’s worth taking a look at the other dependencies specified in the example `Cargo.toml`, and noting what features are required for use with embassy – for example `futures = { version = "0.3.17", default-features = false, features = ["async-await"] }`.
+
+Finally, copy the `[profile.release]` section from the example `Cargo.toml` into ours.
+
+[source,toml]
+----
+[profile.release]
+debug = 2
+----
+
+== rust-toolchain.toml
+
+Before we can build our project, we need to add an additional file to tell cargo to use the nightly toolchain. Copy the `rust-toolchain.toml` from the embassy repo to ours, and trim the list of targets down to only the target triple relevent for our project — in this case, `thumbv7em-none-eabi`:
+
+[source]
+----
+stm32g474-example
+├── .cargo
+│   └── config.toml
+├── Cargo.toml
+├── rust-toolchain.toml
+└── src
+    └── main.rs
+----
+
+[source,toml]
+----
+# Before upgrading check that everything is available on all tier1 targets here:
+# https://rust-lang.github.io/rustup-components-history
+[toolchain]
+channel = "nightly-2023-11-01"
+components = [ "rust-src", "rustfmt", "llvm-tools", "miri" ]
+targets = ["thumbv7em-none-eabi"]
+----
+
+== build.rs
+
+In order to produce a working binary for our target, cargo requires a custom build script. Copy `build.rs` from the example to our project:
+
+[source]
+----
+stm32g474-example
+├── build.rs
+├── .cargo
+│   └── config.toml
+├── Cargo.toml
+├── rust-toolchain.toml
+└── src
+    └── main.rs
+----
+
+== Building and running
+
+At this point, we‘re finally ready to build and run our project! Connect your board via a debug probe and run:
+
+[source,bash]
+----
+cargo run --release
+----
+
+should result in a blinking LED (if there’s one attached to the pin in `src/main.rs` – change it if not!) and the following output:
+
+[source]
+----
+   Compiling stm32g474-example v0.1.0 (/home/you/stm32g474-example)
+    Finished release [optimized + debuginfo] target(s) in 0.22s
+     Running `probe-rs run --chip STM32G474RETx target/thumbv7em-none-eabi/release/stm32g474-example`
+     Erasing sectors ✔ [00:00:00] [#########################################################] 18.00 KiB/18.00 KiB @ 54.09 KiB/s (eta 0s )
+ Programming pages   ✔ [00:00:00] [#########################################################] 17.00 KiB/17.00 KiB @ 35.91 KiB/s (eta 0s )    Finished in 0.817s
+0.000000 TRACE BDCR configured: 00008200
+└─ embassy_stm32::rcc::bd::{impl#3}::init::{closure#4} @ /home/you/.cargo/git/checkouts/embassy-9312dcb0ed774b29/7703f47/embassy-stm32/src/fmt.rs:117 
+0.000000 DEBUG rcc: Clocks { sys: Hertz(16000000), pclk1: Hertz(16000000), pclk1_tim: Hertz(16000000), pclk2: Hertz(16000000), pclk2_tim: Hertz(16000000), hclk1: Hertz(16000000), hclk2: Hertz(16000000), pll1_p: None, adc: None, adc34: None, rtc: Some(Hertz(32000)) }
+└─ embassy_stm32::rcc::set_freqs @ /home/you/.cargo/git/checkouts/embassy-9312dcb0ed774b29/7703f47/embassy-stm32/src/fmt.rs:130 
+0.000000 INFO  Hello World!
+└─ embassy_stm32g474::____embassy_main_task::{async_fn#0} @ src/main.rs:14  
+0.000091 INFO  high
+└─ embassy_stm32g474::____embassy_main_task::{async_fn#0} @ src/main.rs:19  
+0.300201 INFO  low
+└─ embassy_stm32g474::____embassy_main_task::{async_fn#0} @ src/main.rs:23  
+----

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/project_structure.adoc

@@ -0,0 +1,80 @@
+= Project Structure
+
+There are many ways to configure embassy and its components for your exact application. The link:https://github.com/embassy-rs/embassy/tree/main/examples[examples] directory for each chipset demonstrates how your project structure should look. Let's break it down:
+
+The toplevel file structure of your project should look like this:
+[source,plain]
+----
+{} = Maybe
+
+my-project
+|- .cargo
+|  |- config.toml
+|- src
+|  |- main.rs
+|- build.rs
+|- Cargo.toml
+|- {memory.x}
+|- rust-toolchain.toml
+----
+
+=== .cargo/config.toml
+
+This directory/file describes what platform you're on, and configures link:https://github.com/probe-rs/probe-rs[probe-rs] to deploy to your device.
+
+Here is a minimal example:
+
+[source,toml]
+----
+[target.thumbv6m-none-eabi] # <-change for your platform
+runner = 'probe-rs run --chip STM32F031K6Tx' # <- change for your chip
+
+[build]
+target = "thumbv6m-none-eabi" # <-change for your platform
+
+[env]
+DEFMT_LOG = "trace" # <- can change to info, warn, or error
+----
+
+=== build.rs
+
+This is the build script for your project. It links defmt (what is defmt?) and the `memory.x` file if needed. This file is pretty specific for each chipset, just copy and paste from the corresponding link:https://github.com/embassy-rs/embassy/tree/main/examples[example].
+
+=== Cargo.toml
+
+This is your manifest file, where you can configure all of the embassy components to use the features you need.
+
+TODO: someone should exhaustively describe every feature for every component!
+
+=== memory.x
+
+This file outlines the flash/ram usage of your program. It is especially useful when using link:https://github.com/embassy-rs/nrf-softdevice[nrf-softdevice] on an nRF5x.
+
+Here is an example for using S140 with an nRF52840:
+
+[source,x]
+----
+MEMORY
+{
+  /* NOTE 1 K = 1 KiBi = 1024 bytes */
+  /* These values correspond to the NRF52840 with Softdevices S140 7.0.1 */
+  FLASH : ORIGIN = 0x00027000, LENGTH = 868K
+  RAM : ORIGIN = 0x20020000, LENGTH = 128K
+}
+----
+
+=== rust-toolchain.toml
+
+This file configures the rust version and configuration to use.
+
+A minimal example:
+
+[source,toml]
+----
+[toolchain]
+channel = "nightly-2023-08-19" # <- as of writing, this is the exact rust version embassy uses
+components = [ "rust-src", "rustfmt" ] # <- optionally add "llvm-tools-preview" for some extra features like "cargo size"
+targets = [
+    "thumbv6m-none-eabi" # <-change for your platform
+]
+----

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
 
@@ -27,7 +27,7 @@ If you use the `#[embassy_executor::main]` macro in your application, it creates
 
 Interrupts are a common way for peripherals to signal completion of some operation and fits well with the async execution model. The following diagram describes a typical application flow where (1) a task is polled and is attempting to make progress. The task then (2) instructs the peripheral to perform some operation, and awaits. After some time has passed, (3) an interrupt is raised, marking the completion of the operation.
 
-The peripheral HAL then (4) ensures that interrupt signals are routed to to the peripheral and updating the peripheral state with the results of the operation. The executor is then (5) notified that the task should be polled, which it will do.
+The peripheral HAL then (4) ensures that interrupt signals are routed to the peripheral and updating the peripheral state with the results of the operation. The executor is then (5) notified that the task should be polled, which it will do.
 
 image::embassy_irq.png[Interrupt handling]
 

embassy-boot/boot/Cargo.toml

@@ -25,32 +25,27 @@ features = ["defmt"]
 [dependencies]
 defmt = { version = "0.3", optional = true }
 digest = "0.10"
-log = { version = "0.4", optional = true  }
+log = { version = "0.4", optional = true }
-ed25519-dalek = { version = "1.0.1", default_features = false, features = ["u32_backend"], optional = true }
+ed25519-dalek = { version = "2", default_features = false, features = ["digest"], optional = true }
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
-embassy-sync = { version = "0.2.0", path = "../../embassy-sync" }
+embassy-sync = { version = "0.5.0", path = "../../embassy-sync" }
-embedded-storage = "0.3.0"
+embedded-storage = "0.3.1"
-embedded-storage-async = { version = "0.4.0", optional = true }
+embedded-storage-async = { version = "0.4.1" }
-salty = { git = "https://github.com/ycrypto/salty.git", rev = "a9f17911a5024698406b75c0fac56ab5ccf6a8c7", optional = true }
+salty = { version = "0.3", optional = true }
-signature = { version = "1.6.4", default-features = false }
+signature = { version = "2.0", default-features = false }
 
 [dev-dependencies]
 log = "0.4"
 env_logger = "0.9"
-rand = "0.7" # ed25519-dalek v1.0.1 depends on this exact version
+rand = "0.8"
 futures = { version = "0.3", features = ["executor"] }
 sha1 = "0.10.5"
 critical-section = { version = "1.1.1", features = ["std"] }
-
+ed25519-dalek = { version = "2", default_features = false, features = ["std", "rand_core", "digest"]  }
-[dev-dependencies.ed25519-dalek]
-default_features = false
-features = ["rand", "std", "u32_backend"]
 
 [features]
 ed25519-dalek = ["dep:ed25519-dalek", "_verify"]
 ed25519-salty = ["dep:salty", "_verify"]
 
-nightly = ["dep:embedded-storage-async", "embassy-embedded-hal/nightly"]
-
 #Internal features
 _verify = []

embassy-boot/boot/README.md

@@ -8,6 +8,24 @@ The bootloader can be used either as a library or be flashed directly with the d
 
 By design, the bootloader does not provide any network capabilities. Networking capabilities for fetching new firmware can be provided by the user application, using the bootloader as a library for updating the firmware, or by using the bootloader as a library and adding this capability yourself.
 
+## Overview
+
+The bootloader divides the storage into 4 main partitions, configurable when creating the bootloader instance or via linker scripts:
+
+* BOOTLOADER - Where the bootloader is placed. The bootloader itself consumes about 8kB of flash, but if you need to debug it and have space available, increasing this to 24kB will allow you to run the bootloader with probe-rs.
+* ACTIVE - Where the main application is placed. The bootloader will attempt to load the application at the start of this partition. The minimum size required for this partition is the size of your application.
+* DFU - Where the application-to-be-swapped is placed. This partition is written to by the application. This partition must be at least 1 page bigger than the ACTIVE partition.
+* BOOTLOADER STATE - Where the bootloader stores the current state describing if the active and dfu partitions need to be swapped. 
+
+For any partition, the following preconditions are required:
+
+* Partitions must be aligned on the page size.
+* Partitions must be a multiple of the page size.
+
+The linker scripts for the application and bootloader look similar, but the FLASH region must point to the BOOTLOADER partition for the bootloader, and the ACTIVE partition for the application.
+
+For more details on the bootloader, see [the documentation](https://embassy.dev/book/dev/bootloader.html).
+
 ## Hardware support
 
 The bootloader supports different hardware in separate crates:
@@ -16,6 +34,7 @@ The bootloader supports different hardware in separate crates:
 * `embassy-boot-rp` - for the RP2040 microcontrollers.
 * `embassy-boot-stm32` - for the STM32 microcontrollers.
 
+
 ## Minimum supported Rust version (MSRV)
 
 `embassy-boot` is guaranteed to compile on the latest stable Rust version at the time of release. It might compile with older versions but that may change in any new patch release.

embassy-boot/boot/src/boot_loader.rs

@@ -5,7 +5,7 @@ use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::blocking_mutex::Mutex;
 use embedded_storage::nor_flash::{NorFlash, NorFlashError, NorFlashErrorKind};
 
-use crate::{State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
+use crate::{State, BOOT_MAGIC, DFU_DETACH_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
 
 /// Errors returned by bootloader
 #[derive(PartialEq, Eq, Debug)]
@@ -135,51 +135,44 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
     /// The provided aligned_buf argument must satisfy any alignment requirements
     /// given by the partition flashes. All flash operations will use this buffer.
     ///
-    /// SWAPPING
+    /// ## SWAPPING
     ///
     /// Assume a flash size of 3 pages for the active partition, and 4 pages for the DFU partition.
     /// The swap index contains the copy progress, as to allow continuation of the copy process on
     /// power failure. The index counter is represented within 1 or more pages (depending on total
-    /// flash size), where a page X is considered swapped if index at location (X + WRITE_SIZE)
+    /// flash size), where a page X is considered swapped if index at location (`X + WRITE_SIZE`)
     /// contains a zero value. This ensures that index updates can be performed atomically and
     /// avoid a situation where the wrong index value is set (page write size is "atomic").
     ///
-    /// +-----------+------------+--------+--------+--------+--------+
+    ///
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    /// +-----------+------------+--------+--------+--------+--------+
+    /// |-----------|------------|--------|--------|--------|--------|
     /// |    Active |          0 |      1 |      2 |      3 |      - |
     /// |       DFU |          0 |      3 |      2 |      1 |      X |
-    /// +-----------+------------+--------+--------+--------+--------+
     ///
     /// The algorithm starts by copying 'backwards', and after the first step, the layout is
     /// as follows:
     ///
-    /// +-----------+------------+--------+--------+--------+--------+
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    /// +-----------+------------+--------+--------+--------+--------+
+    /// |-----------|------------|--------|--------|--------|--------|
     /// |    Active |          1 |      1 |      2 |      1 |      - |
     /// |       DFU |          1 |      3 |      2 |      1 |      3 |
-    /// +-----------+------------+--------+--------+--------+--------+
     ///
     /// The next iteration performs the same steps
     ///
-    /// +-----------+------------+--------+--------+--------+--------+
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    /// +-----------+------------+--------+--------+--------+--------+
+    /// |-----------|------------|--------|--------|--------|--------|
     /// |    Active |          2 |      1 |      2 |      1 |      - |
     /// |       DFU |          2 |      3 |      2 |      2 |      3 |
-    /// +-----------+------------+--------+--------+--------+--------+
     ///
     /// And again until we're done
     ///
-    /// +-----------+------------+--------+--------+--------+--------+
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    /// +-----------+------------+--------+--------+--------+--------+
+    /// |-----------|------------|--------|--------|--------|--------|
     /// |    Active |          3 |      3 |      2 |      1 |      - |
     /// |       DFU |          3 |      3 |      1 |      2 |      3 |
-    /// +-----------+------------+--------+--------+--------+--------+
     ///
-    /// REVERTING
+    /// ## REVERTING
     ///
     /// The reverting algorithm uses the swap index to discover that images were swapped, but that
     /// the application failed to mark the boot successful. In this case, the revert algorithm will
@@ -190,28 +183,21 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
     ///
     /// The revert algorithm works forwards, by starting copying into the 'unused' DFU page at the start.
     ///
-    /// +-----------+--------------+--------+--------+--------+--------+
     /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    //*/
+    /// |-----------|--------------|--------|--------|--------|--------|
-    /// +-----------+--------------+--------+--------+--------+--------+
     /// |    Active |            3 |      1 |      2 |      1 |      - |
     /// |       DFU |            3 |      3 |      1 |      2 |      3 |
-    /// +-----------+--------------+--------+--------+--------+--------+
     ///
     ///
-    /// +-----------+--------------+--------+--------+--------+--------+
     /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |-----------|--------------|--------|--------|--------|--------|
     /// |    Active |            3 |      1 |      2 |      1 |      - |
     /// |       DFU |            3 |      3 |      2 |      2 |      3 |
-    /// +-----------+--------------+--------+--------+--------+--------+
     ///
-    /// +-----------+--------------+--------+--------+--------+--------+
     /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
-    /// +-----------+--------------+--------+--------+--------+--------+
+    /// |-----------|--------------|--------|--------|--------|--------|
     /// |    Active |            3 |      1 |      2 |      3 |      - |
     /// |       DFU |            3 |      3 |      2 |      1 |      3 |
-    /// +-----------+--------------+--------+--------+--------+--------+
     ///
     pub fn prepare_boot(&mut self, aligned_buf: &mut [u8]) -> Result<State, BootError> {
         // Ensure we have enough progress pages to store copy progress
@@ -224,6 +210,7 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
         assert_eq!(0, aligned_buf.len() % ACTIVE::WRITE_SIZE);
         assert_eq!(0, aligned_buf.len() % DFU::WRITE_SIZE);
 
+        // Ensure our partitions are able to handle boot operations
         assert_partitions(&self.active, &self.dfu, &self.state, Self::PAGE_SIZE);
 
         // Copy contents from partition N to active
@@ -384,6 +371,8 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
 
         if !state_word.iter().any(|&b| b != SWAP_MAGIC) {
             Ok(State::Swap)
+        } else if !state_word.iter().any(|&b| b != DFU_DETACH_MAGIC) {
+            Ok(State::DfuDetach)
         } else {
             Ok(State::Boot)
         }
@@ -398,6 +387,7 @@ fn assert_partitions<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
 ) {
     assert_eq!(active.capacity() as u32 % page_size, 0);
     assert_eq!(dfu.capacity() as u32 % page_size, 0);
+    // DFU partition has to be bigger than ACTIVE partition to handle swap algorithm
     assert!(dfu.capacity() as u32 - active.capacity() as u32 >= page_size);
     assert!(2 + 2 * (active.capacity() as u32 / page_size) <= state.capacity() as u32 / STATE::WRITE_SIZE as u32);
 }

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

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

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

@@ -6,13 +6,13 @@ use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embedded_storage_async::nor_flash::NorFlash;
 
 use super::FirmwareUpdaterConfig;
-use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
+use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, DFU_DETACH_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
 
 /// FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
 /// 'mess up' the internal bootloader state
-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,
+            state: FirmwareState::new(config.state, aligned),
-        }
-    }
-
-    // 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)
         }
     }
 
@@ -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> {
+    pub async fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
-        self.state.read(0, aligned).await?;
+        self.state.get_state().await
-
-        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
-            Ok(State::Swap)
-        } else {
-            Ok(State::Boot)
-        }
     }
 
     /// Verify the DFU given a public key. If there is an error then DO NOT
@@ -92,43 +76,36 @@ 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],
+        _public_key: &[u8; 32],
-        _signature: &[u8],
+        _signature: &[u8; 64],
         _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")]
         {
-            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+            use ed25519_dalek::{Signature, SignatureError, Verifier, VerifyingKey};
 
             use crate::digest_adapters::ed25519_dalek::Sha512;
 
             let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());
 
-            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
-            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature);
 
+            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)?
         }
         #[cfg(feature = "ed25519-salty")]
         {
-            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
             use salty::{PublicKey, Signature};
 
             use crate::digest_adapters::salty::Sha512;
@@ -137,13 +114,12 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
                 FirmwareUpdaterError::Signature(signature::Error::default())
             }
 
-            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(_public_key).map_err(into_signature_error)?;
-            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature = Signature::try_from(_signature).map_err(into_signature_error)?;
-            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
-            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
-            self.hash::<Sha512>(_update_len, _aligned, &mut message).await?;
+            let 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 +132,7 @@ 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 +153,20 @@ 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> {
+    pub async fn mark_updated(&mut self) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.state.mark_updated().await
-        self.set_magic(aligned, SWAP_MAGIC).await
+    }
+
+    /// Mark to trigger USB DFU on next boot.
+    pub async fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.verify_booted().await?;
+        self.state.mark_dfu().await
     }
 
     /// Mark firmware boot successful and stop rollback on reset.
-    ///
+    pub async fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
-    /// # Safety
+        self.state.mark_booted().await
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub async fn mark_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.set_magic(aligned, BOOT_MAGIC).await
-    }
-
-    async fn set_magic(&mut self, aligned: &mut [u8], magic: u8) -> Result<(), FirmwareUpdaterError> {
-        self.state.read(0, aligned).await?;
-
-        if aligned.iter().any(|&b| b != magic) {
-            // Read progress validity
-            self.state.read(STATE::WRITE_SIZE as u32, aligned).await?;
-
-            if aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
-                // The current progress validity marker is invalid
-            } else {
-                // Invalidate progress
-                aligned.fill(!STATE_ERASE_VALUE);
-                self.state.write(STATE::WRITE_SIZE as u32, aligned).await?;
-            }
-
-            // Clear magic and progress
-            self.state.erase(0, self.state.capacity() as u32).await?;
-
-            // Set magic
-            aligned.fill(magic);
-            self.state.write(0, aligned).await?;
-        }
-        Ok(())
     }
 
     /// Write data to a flash page.
@@ -229,16 +176,10 @@ 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(
+    pub async fn write_firmware(&mut self, offset: usize, data: &[u8]) -> Result<(), FirmwareUpdaterError> {
-        &mut self,
-        aligned: &mut [u8],
-        offset: usize,
-        data: &[u8],
-    ) -> Result<(), FirmwareUpdaterError> {
         assert!(data.len() >= DFU::ERASE_SIZE);
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
 
-        self.verify_booted(aligned).await?;
+        self.state.verify_booted().await?;
 
         self.dfu.erase(offset as u32, (offset + data.len()) as u32).await?;
 
@@ -252,20 +193,109 @@ impl<DFU: NorFlash, STATE: NorFlash> FirmwareUpdater<DFU, STATE> {
     ///
     /// Using this instead of `write_firmware` allows for an optimized API in
     /// exchange for added complexity.
-    ///
+    pub async fn prepare_update(&mut self) -> Result<&mut DFU, FirmwareUpdaterError> {
-    /// # Safety
+        self.state.verify_booted().await?;
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub async fn prepare_update(&mut self, aligned: &mut [u8]) -> Result<&mut DFU, FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.verify_booted(aligned).await?;
-
         self.dfu.erase(0, self.dfu.capacity() as u32).await?;
 
         Ok(&mut self.dfu)
     }
 }
 
+/// 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 from a FirmwareUpdaterConfig with a buffer for magic content and state partition.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    pub fn from_config<DFU: NorFlash>(config: FirmwareUpdaterConfig<DFU, STATE>, aligned: &'d mut [u8]) -> Self {
+        Self::new(config.state, aligned)
+    }
+
+    /// Create a firmware state instance with a buffer for magic content and state partition.
+    ///
+    /// # Safety
+    ///
+    /// 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 to trigger USB DFU on next boot.
+    pub async fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(DFU_DETACH_MAGIC).await
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    pub async fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(BOOT_MAGIC).await
+    }
+
+    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 +318,8 @@ 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 });
+        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state }, &mut aligned);
-        block_on(updater.write_firmware(&mut aligned, 0, to_write.as_slice())).unwrap();
+        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

@@ -6,13 +6,13 @@ use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embedded_storage::nor_flash::NorFlash;
 
 use super::FirmwareUpdaterConfig;
-use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
+use crate::{FirmwareUpdaterError, State, BOOT_MAGIC, DFU_DETACH_MAGIC, STATE_ERASE_VALUE, SWAP_MAGIC};
 
 /// Blocking FirmwareUpdater is an application API for interacting with the BootLoader without the ability to
 /// 'mess up' the internal bootloader state
-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,
+            state: BlockingFirmwareState::new(config.state, aligned),
-        }
-    }
-
-    // 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)
         }
     }
 
@@ -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> {
+    pub fn get_state(&mut self) -> Result<State, FirmwareUpdaterError> {
-        self.state.read(0, aligned)?;
+        self.state.get_state()
-
-        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
-            Ok(State::Swap)
-        } else {
-            Ok(State::Boot)
-        }
     }
 
     /// Verify the DFU given a public key. If there is an error then DO NOT
@@ -94,43 +83,36 @@ 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],
+        _public_key: &[u8; 32],
-        _signature: &[u8],
+        _signature: &[u8; 64],
         _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")]
         {
-            use ed25519_dalek::{PublicKey, Signature, SignatureError, Verifier};
+            use ed25519_dalek::{Signature, SignatureError, Verifier, VerifyingKey};
 
             use crate::digest_adapters::ed25519_dalek::Sha512;
 
             let into_signature_error = |e: SignatureError| FirmwareUpdaterError::Signature(e.into());
 
-            let public_key = PublicKey::from_bytes(_public_key).map_err(into_signature_error)?;
+            let public_key = VerifyingKey::from_bytes(_public_key).map_err(into_signature_error)?;
-            let signature = Signature::from_bytes(_signature).map_err(into_signature_error)?;
+            let signature = Signature::from_bytes(_signature);
 
             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)?
         }
         #[cfg(feature = "ed25519-salty")]
         {
-            use salty::constants::{PUBLICKEY_SERIALIZED_LENGTH, SIGNATURE_SERIALIZED_LENGTH};
             use salty::{PublicKey, Signature};
 
             use crate::digest_adapters::salty::Sha512;
@@ -139,13 +121,12 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
                 FirmwareUpdaterError::Signature(signature::Error::default())
             }
 
-            let public_key: [u8; PUBLICKEY_SERIALIZED_LENGTH] = _public_key.try_into().map_err(into_signature_error)?;
+            let public_key = PublicKey::try_from(_public_key).map_err(into_signature_error)?;
-            let public_key = PublicKey::try_from(&public_key).map_err(into_signature_error)?;
+            let signature = Signature::try_from(_signature).map_err(into_signature_error)?;
-            let signature: [u8; SIGNATURE_SERIALIZED_LENGTH] = _signature.try_into().map_err(into_signature_error)?;
-            let signature = Signature::try_from(&signature).map_err(into_signature_error)?;
 
             let mut message = [0; 64];
-            self.hash::<Sha512>(_update_len, _aligned, &mut message)?;
+            let 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 +139,7 @@ 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 +160,20 @@ 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> {
+    pub fn mark_updated(&mut self) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
+        self.state.mark_updated()
-        self.set_magic(aligned, SWAP_MAGIC)
+    }
+
+    /// Mark to trigger USB DFU device on next boot.
+    pub fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.state.verify_booted()?;
+        self.state.mark_dfu()
     }
 
     /// Mark firmware boot successful and stop rollback on reset.
-    ///
+    pub fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
-    /// # Safety
+        self.state.mark_booted()
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub fn mark_booted(&mut self, aligned: &mut [u8]) -> Result<(), FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.set_magic(aligned, BOOT_MAGIC)
-    }
-
-    fn set_magic(&mut self, aligned: &mut [u8], magic: u8) -> Result<(), FirmwareUpdaterError> {
-        self.state.read(0, aligned)?;
-
-        if aligned.iter().any(|&b| b != magic) {
-            // Read progress validity
-            self.state.read(STATE::WRITE_SIZE as u32, aligned)?;
-
-            if aligned.iter().any(|&b| b != STATE_ERASE_VALUE) {
-                // The current progress validity marker is invalid
-            } else {
-                // Invalidate progress
-                aligned.fill(!STATE_ERASE_VALUE);
-                self.state.write(STATE::WRITE_SIZE as u32, aligned)?;
-            }
-
-            // Clear magic and progress
-            self.state.erase(0, self.state.capacity() as u32)?;
-
-            // Set magic
-            aligned.fill(magic);
-            self.state.write(0, aligned)?;
-        }
-        Ok(())
     }
 
     /// Write data to a flash page.
@@ -231,17 +183,13 @@ 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(
+    pub fn write_firmware(&mut self, offset: usize, data: &[u8]) -> Result<(), FirmwareUpdaterError> {
-        &mut self,
+        //assert!(data.len() >= DFU::ERASE_SIZE);
-        aligned: &mut [u8],
+        self.state.verify_booted()?;
-        offset: usize,
-        data: &[u8],
-    ) -> Result<(), FirmwareUpdaterError> {
-        assert!(data.len() >= DFU::ERASE_SIZE);
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.verify_booted(aligned)?;
 
-        self.dfu.erase(offset as u32, (offset + data.len()) as u32)?;
+        if offset == 0 {
+            self.dfu.erase(0, self.dfu.capacity() as u32)?;
+        }
 
         self.dfu.write(offset as u32, data)?;
 
@@ -253,19 +201,111 @@ impl<DFU: NorFlash, STATE: NorFlash> BlockingFirmwareUpdater<DFU, STATE> {
     ///
     /// Using this instead of `write_firmware` allows for an optimized API in
     /// exchange for added complexity.
-    ///
+    pub fn prepare_update(&mut self) -> Result<&mut DFU, FirmwareUpdaterError> {
-    /// # Safety
+        self.state.verify_booted()?;
-    ///
-    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being written to.
-    pub fn prepare_update(&mut self, aligned: &mut [u8]) -> Result<&mut DFU, FirmwareUpdaterError> {
-        assert_eq!(aligned.len(), STATE::WRITE_SIZE);
-        self.verify_booted(aligned)?;
         self.dfu.erase(0, self.dfu.capacity() as u32)?;
 
         Ok(&mut self.dfu)
     }
 }
 
+/// 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> {
+    /// Creates a firmware state instance from a FirmwareUpdaterConfig, with a buffer for magic content and state partition.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of STATE::WRITE_SIZE, and follow the alignment rules for the flash being read from
+    /// and written to.
+    pub fn from_config<DFU: NorFlash>(config: FirmwareUpdaterConfig<DFU, STATE>, aligned: &'d mut [u8]) -> Self {
+        Self::new(config.state, aligned)
+    }
+
+    /// Create a firmware state instance with a buffer for magic content and state partition.
+    ///
+    /// # Safety
+    ///
+    /// 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 || self.get_state()? == State::DfuDetach {
+            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 if !self.aligned.iter().any(|&b| b != DFU_DETACH_MAGIC) {
+            Ok(State::DfuDetach)
+        } 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 to trigger USB DFU on next boot.
+    pub fn mark_dfu(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(DFU_DETACH_MAGIC)
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    pub fn mark_booted(&mut self) -> Result<(), FirmwareUpdaterError> {
+        self.set_magic(BOOT_MAGIC)
+    }
+
+    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 +323,14 @@ 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 updater = BlockingFirmwareUpdater::new(FirmwareUpdaterConfig { dfu, state }, &mut aligned);
-        let mut aligned = [0; 8];
+        updater.write_firmware(0, to_write.as_slice()).unwrap();
-        updater.write_firmware(&mut aligned, 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

@@ -1,10 +1,8 @@
-#[cfg(feature = "nightly")]
 mod asynch;
 mod blocking;
 
-#[cfg(feature = "nightly")]
+pub use asynch::{FirmwareState, FirmwareUpdater};
-pub use asynch::FirmwareUpdater;
+pub use blocking::{BlockingFirmwareState, BlockingFirmwareUpdater};
-pub use blocking::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)*) => {
-        {
+        ::core::unreachable!($($x)*)
-            #[cfg(not(feature = "defmt"))]
+    };
-            ::core::unreachable!($($x)*);
+}
-            #[cfg(feature = "defmt")]
+
-            ::defmt::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

@@ -1,5 +1,5 @@
-#![cfg_attr(feature = "nightly", feature(async_fn_in_trait))]
 #![no_std]
+#![allow(async_fn_in_trait)]
 #![warn(missing_docs)]
 #![doc = include_str!("../README.md")]
 mod fmt;
@@ -16,12 +16,14 @@ 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};
-#[cfg(feature = "nightly")]
+pub use firmware_updater::{
-pub use firmware_updater::FirmwareUpdater;
+    BlockingFirmwareState, BlockingFirmwareUpdater, FirmwareState, FirmwareUpdater, FirmwareUpdaterConfig,
-pub use firmware_updater::{BlockingFirmwareUpdater, FirmwareUpdaterConfig, FirmwareUpdaterError};
+    FirmwareUpdaterError,
+};
 
 pub(crate) const BOOT_MAGIC: u8 = 0xD0;
 pub(crate) const SWAP_MAGIC: u8 = 0xF0;
+pub(crate) const DFU_DETACH_MAGIC: u8 = 0xE0;
 
 /// The state of the bootloader after running prepare.
 #[derive(PartialEq, Eq, Debug)]
@@ -31,6 +33,8 @@ pub enum State {
     Boot,
     /// Bootloader has swapped the active partition with the dfu partition and will attempt boot.
     Swap,
+    /// Application has received a request to reboot into DFU mode to apply an update.
+    DfuDetach,
 }
 
 /// Buffer aligned to 32 byte boundary, largest known alignment requirement for embassy-boot.
@@ -54,7 +58,6 @@ mod tests {
     #![allow(unused_imports)]
 
     use embedded_storage::nor_flash::{NorFlash, ReadNorFlash};
-    #[cfg(feature = "nightly")]
     use embedded_storage_async::nor_flash::NorFlash as AsyncNorFlash;
     use futures::executor::block_on;
 
@@ -62,9 +65,7 @@ mod tests {
     use crate::boot_loader::BootLoaderConfig;
     use crate::firmware_updater::FirmwareUpdaterConfig;
     use crate::mem_flash::MemFlash;
-    #[cfg(feature = "nightly")]
+    use crate::test_flash::{AsyncTestFlash, BlockingTestFlash};
-    use crate::test_flash::AsyncTestFlash;
-    use crate::test_flash::BlockingTestFlash;
 
     /*
     #[test]
@@ -102,7 +103,7 @@ mod tests {
     }
 
     #[test]
-    #[cfg(all(feature = "nightly", not(feature = "_verify")))]
+    #[cfg(not(feature = "_verify"))]
     fn test_swap_state() {
         const FIRMWARE_SIZE: usize = 57344;
         let flash = AsyncTestFlash::new(BootLoaderConfig {
@@ -118,15 +119,18 @@ 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(
-            dfu: flash.dfu(),
+            FirmwareUpdaterConfig {
-            state: flash.state(),
+                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 +162,14 @@ mod tests {
 
         // Mark as booted
         let flash = flash.into_async();
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
+        let mut updater = FirmwareUpdater::new(
-            dfu: flash.dfu(),
+            FirmwareUpdaterConfig {
-            state: flash.state(),
+                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 {
@@ -174,7 +181,7 @@ mod tests {
     }
 
     #[test]
-    #[cfg(all(feature = "nightly", not(feature = "_verify")))]
+    #[cfg(not(feature = "_verify"))]
     fn test_swap_state_active_page_biggest() {
         const FIRMWARE_SIZE: usize = 12288;
         let flash = AsyncTestFlash::new(BootLoaderConfig {
@@ -190,12 +197,15 @@ 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(
-            dfu: flash.dfu(),
+            FirmwareUpdaterConfig {
-            state: flash.state(),
+                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 {
@@ -216,7 +226,7 @@ mod tests {
     }
 
     #[test]
-    #[cfg(all(feature = "nightly", not(feature = "_verify")))]
+    #[cfg(not(feature = "_verify"))]
     fn test_swap_state_dfu_page_biggest() {
         const FIRMWARE_SIZE: usize = 12288;
         let flash = AsyncTestFlash::new(BootLoaderConfig {
@@ -232,12 +242,15 @@ 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(
-            dfu: flash.dfu(),
+            FirmwareUpdaterConfig {
-            state: flash.state(),
+                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 {
@@ -257,26 +270,24 @@ mod tests {
     }
 
     #[test]
-    #[cfg(all(feature = "nightly", feature = "_verify"))]
+    #[cfg(feature = "_verify")]
     fn test_verify() {
         // The following key setup is based on:
         // https://docs.rs/ed25519-dalek/latest/ed25519_dalek/#example
 
-        use ed25519_dalek::Keypair;
+        use ed25519_dalek::{Digest, Sha512, Signature, Signer, SigningKey, VerifyingKey};
         use rand::rngs::OsRng;
 
         let mut csprng = OsRng {};
-        let keypair: Keypair = Keypair::generate(&mut csprng);
+        let keypair = SigningKey::generate(&mut csprng);
 
-        use ed25519_dalek::{Digest, Sha512, Signature, Signer};
         let firmware: &[u8] = b"This are bytes that would otherwise be firmware bytes for DFU.";
         let mut digest = Sha512::new();
         digest.update(&firmware);
         let message = digest.finalize();
         let signature: Signature = keypair.sign(&message);
 
-        use ed25519_dalek::PublicKey;
+        let public_key = keypair.verifying_key();
-        let public_key: PublicKey = keypair.public;
 
         // Setup flash
         let flash = BlockingTestFlash::new(BootLoaderConfig {
@@ -293,18 +304,19 @@ mod tests {
 
         // On with the test
         let flash = flash.into_async();
-        let mut updater = FirmwareUpdater::new(FirmwareUpdaterConfig {
-            dfu: flash.dfu(),
-            state: flash.state(),
-        });
-
         let mut aligned = [0; 4];
+        let mut updater = FirmwareUpdater::new(
+            FirmwareUpdaterConfig {
+                dfu: flash.dfu(),
+                state: flash.state(),
+            },
+            &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/boot/src/mem_flash.rs

@@ -3,7 +3,6 @@
 use core::ops::{Bound, Range, RangeBounds};
 
 use embedded_storage::nor_flash::{ErrorType, NorFlash, NorFlashError, NorFlashErrorKind, ReadNorFlash};
-#[cfg(feature = "nightly")]
 use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
 
 pub struct MemFlash<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> {
@@ -141,7 +140,6 @@ impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> NorFla
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncReadNorFlash
     for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
 {
@@ -156,7 +154,6 @@ impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncR
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncNorFlash
     for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
 {

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

@@ -51,7 +51,6 @@ where
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<ACTIVE, DFU, STATE> BlockingTestFlash<ACTIVE, DFU, STATE>
 where
     ACTIVE: NorFlash + embedded_storage_async::nor_flash::NorFlash,

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

@@ -1,7 +1,5 @@
-#[cfg(feature = "nightly")]
 mod asynch;
 mod blocking;
 
-#[cfg(feature = "nightly")]
 pub(crate) use asynch::AsyncTestFlash;
 pub(crate) use blocking::BlockingTestFlash;

embassy-boot/nrf/Cargo.toml

@@ -4,6 +4,12 @@ name = "embassy-boot-nrf"
 version = "0.1.0"
 description = "Bootloader lib for nRF chips"
 license = "MIT OR Apache-2.0"
+repository = "https://github.com/embassy-rs/embassy"
+categories = [
+    "embedded",
+    "no-std",
+    "asynchronous",
+]
 
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-nrf-v$VERSION/embassy-boot/nrf/src/"
@@ -16,16 +22,16 @@ target = "thumbv7em-none-eabi"
 [dependencies]
 defmt = { version = "0.3", optional = true }
 
-embassy-sync = { path = "../../embassy-sync" }
+embassy-sync = { version = "0.5.0", path = "../../embassy-sync" }
 embassy-nrf = { path = "../../embassy-nrf" }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
-embedded-storage = "0.3.0"
+embedded-storage = "0.3.1"
-embedded-storage-async = { version = "0.4.0", optional = true }
+embedded-storage-async = { version = "0.4.1" }
 cfg-if = "1.0.0"
 
-nrf-softdevice-mbr = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-softdevice.git", branch = "master", optional = true }
+nrf-softdevice-mbr = { version = "0.2.0", optional = true }
 
 [features]
 defmt = [
@@ -36,8 +42,3 @@ defmt = [
 softdevice = [
     "nrf-softdevice-mbr",
 ]
-nightly = [
-    "dep:embedded-storage-async",
-    "embassy-boot/nightly",
-    "embassy-nrf/nightly"
-]

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)*) => {
-        {
+        ::core::unreachable!($($x)*)
-            #[cfg(not(feature = "defmt"))]
+    };
-            ::core::unreachable!($($x)*);
+}
-            #[cfg(feature = "defmt")]
+
-            ::defmt::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 +3,27 @@
 #![doc = include_str!("../README.md")]
 mod fmt;
 
-#[cfg(feature = "nightly")]
+pub use embassy_boot::{
-pub use embassy_boot::FirmwareUpdater;
+    AlignedBuffer, BlockingFirmwareState, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareState, FirmwareUpdater,
-pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig};
+    FirmwareUpdaterConfig,
-use embassy_nrf::nvmc::{Nvmc, PAGE_SIZE};
+};
+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> {
+pub struct BootLoader<const BUFFER_SIZE: usize = PAGE_SIZE>;
-    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
-    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
-}
 
-impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
+impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
-    BootLoader<ACTIVE, DFU, STATE, 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>(
-    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
+        config: BootLoaderConfig<ACTIVE, DFU, STATE>,
-    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+    ) -> Self {
-        Self {
+        let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
-            boot: embassy_boot::BootLoader::new(config),
+        let mut boot = embassy_boot::BootLoader::new(config);
-            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
+        boot.prepare_boot(&mut aligned_buf.0).expect("Boot prepare error");
-        }
+        Self
-    }
-
-    /// 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");
     }
 
     /// Boots the application without softdevice mechanisms.
@@ -43,8 +33,6 @@ 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 +45,7 @@ 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 +92,15 @@ 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.
+/// A flash implementation that wraps any flash and will pet a watchdog when touching flash.
-pub struct WatchdogFlash<'d> {
+pub struct WatchdogFlash<FLASH> {
-    flash: Nvmc<'d>,
+    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 +115,13 @@ impl<'d> WatchdogFlash<'d> {
     }
 }
 
-impl<'d> ErrorType for WatchdogFlash<'d> {
+impl<FLASH: ErrorType> ErrorType for WatchdogFlash<FLASH> {
-    type Error = <Nvmc<'d> as ErrorType>::Error;
+    type Error = FLASH::Error;
 }
 
-impl<'d> NorFlash for WatchdogFlash<'d> {
+impl<FLASH: NorFlash> NorFlash for WatchdogFlash<FLASH> {
-    const WRITE_SIZE: usize = <Nvmc<'d> as NorFlash>::WRITE_SIZE;
+    const WRITE_SIZE: usize = FLASH::WRITE_SIZE;
-    const ERASE_SIZE: usize = <Nvmc<'d> as NorFlash>::ERASE_SIZE;
+    const ERASE_SIZE: usize = FLASH::ERASE_SIZE;
 
     fn erase(&mut self, from: u32, to: u32) -> Result<(), Self::Error> {
         self.wdt.pet();
@@ -145,8 +133,8 @@ impl<'d> NorFlash for WatchdogFlash<'d> {
     }
 }
 
-impl<'d> ReadNorFlash for WatchdogFlash<'d> {
+impl<FLASH: ReadNorFlash> ReadNorFlash for WatchdogFlash<FLASH> {
-    const READ_SIZE: usize = <Nvmc<'d> as ReadNorFlash>::READ_SIZE;
+    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

@@ -4,6 +4,12 @@ name = "embassy-boot-rp"
 version = "0.1.0"
 description = "Bootloader lib for RP2040 chips"
 license = "MIT OR Apache-2.0"
+repository = "https://github.com/embassy-rs/embassy"
+categories = [
+    "embedded",
+    "no-std",
+    "asynchronous",
+]
 
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-rp-v$VERSION/src/"
@@ -17,15 +23,15 @@ 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 = "0.5.0", path = "../../embassy-sync" }
 embassy-rp = { path = "../../embassy-rp", default-features = false }
 embassy-boot = { path = "../boot", default-features = false }
 embassy-time = { path = "../../embassy-time" }
 
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
-embedded-storage = "0.3.0"
+embedded-storage = "0.3.1"
-embedded-storage-async = { version = "0.4.0", optional = true }
+embedded-storage-async = { version = "0.4.1" }
 cfg-if = "1.0.0"
 
 [features]
@@ -40,12 +46,6 @@ log = [
     "embassy-rp/log",
 ]
 debug = ["defmt-rtt"]
-nightly = [
-    "dep:embedded-storage-async",
-    "embassy-boot/nightly",
-    "embassy-rp/nightly",
-    "embassy-time/nightly"
-]
 
 [profile.dev]
 debug = 2

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)*) => {
-        {
+        ::core::unreachable!($($x)*)
-            #[cfg(not(feature = "defmt"))]
+    };
-            ::core::unreachable!($($x)*);
+}
-            #[cfg(feature = "defmt")]
+
-            ::defmt::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 +3,28 @@
 #![doc = include_str!("../README.md")]
 mod fmt;
 
-#[cfg(feature = "nightly")]
+pub use embassy_boot::{
-pub use embassy_boot::FirmwareUpdater;
+    AlignedBuffer, BlockingFirmwareState, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareState, FirmwareUpdater,
-pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State};
+    FirmwareUpdaterConfig, State,
-use embassy_rp::flash::{Flash, ERASE_SIZE};
+};
+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> {
+pub struct BootLoader<const BUFFER_SIZE: usize = ERASE_SIZE>;
-    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
-    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
-}
 
-impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
+impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
-    BootLoader<ACTIVE, DFU, STATE, 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>(
-    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
+        config: BootLoaderConfig<ACTIVE, DFU, STATE>,
-    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+    ) -> Self {
-        Self {
+        let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
-            boot: embassy_boot::BootLoader::new(config),
+        let mut boot = embassy_boot::BootLoader::new(config);
-            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
+        boot.prepare_boot(aligned_buf.as_mut()).expect("Boot prepare error");
-        }
+        Self
-    }
-
-    /// Inspect the bootloader state and perform actions required before booting, such as swapping
-    /// firmware.
-    pub fn prepare(&mut self) {
-        self.boot
-            .prepare_boot(self.aligned_buf.as_mut())
-            .expect("Boot prepare error");
     }
 
     /// Boots the application.
@@ -43,8 +33,6 @@ 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 +46,14 @@ 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 +61,28 @@ 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 WRITE_SIZE: usize = <Flash<'d, FLASH, Blocking, SIZE> as NorFlash>::WRITE_SIZE;
-    const ERASE_SIZE: usize = <Flash<'d, FLASH, SIZE> as NorFlash>::ERASE_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

@@ -4,6 +4,12 @@ name = "embassy-boot-stm32"
 version = "0.1.0"
 description = "Bootloader lib for STM32 chips"
 license = "MIT OR Apache-2.0"
+repository = "https://github.com/embassy-rs/embassy"
+categories = [
+    "embedded",
+    "no-std",
+    "asynchronous",
+]
 
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-nrf-v$VERSION/embassy-boot/stm32/src/"
@@ -18,32 +24,19 @@ 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 = "0.5.0", path = "../../embassy-sync" }
 embassy-stm32 = { path = "../../embassy-stm32", default-features = false }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
-embedded-storage = "0.3.0"
+embedded-storage = "0.3.1"
-embedded-storage-async = { version = "0.4.0", optional = true }
+embedded-storage-async = { version = "0.4.1" }
 cfg-if = "1.0.0"
 
 [features]
-defmt = [
+defmt = ["dep:defmt", "embassy-boot/defmt", "embassy-stm32/defmt"]
-    "dep:defmt",
+log = ["dep:log", "embassy-boot/log", "embassy-stm32/log"]
-    "embassy-boot/defmt",
-    "embassy-stm32/defmt",
-]
-log = [
-    "dep:log",
-    "embassy-boot/log",
-    "embassy-stm32/log",
-]
 debug = ["defmt-rtt"]
-nightly = [
-    "dep:embedded-storage-async",
-    "embassy-boot/nightly",
-    "embassy-stm32/nightly"
-]
 
 [profile.dev]
 debug = 2

embassy-boot/stm32/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)*) => {
-        {
+        ::core::unreachable!($($x)*)
-            #[cfg(not(feature = "defmt"))]
+    };
-            ::core::unreachable!($($x)*);
+}
-            #[cfg(feature = "defmt")]
+
-            ::defmt::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 +3,27 @@
 #![doc = include_str!("../README.md")]
 mod fmt;
 
-#[cfg(feature = "nightly")]
+pub use embassy_boot::{
-pub use embassy_boot::FirmwareUpdater;
+    AlignedBuffer, BlockingFirmwareState, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareState, FirmwareUpdater,
-pub use embassy_boot::{AlignedBuffer, BlockingFirmwareUpdater, BootLoaderConfig, FirmwareUpdaterConfig, State};
+    FirmwareUpdaterConfig, State,
+};
 use embedded_storage::nor_flash::NorFlash;
 
 /// A bootloader for STM32 devices.
-pub struct BootLoader<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize> {
+pub struct BootLoader {
-    boot: embassy_boot::BootLoader<ACTIVE, DFU, STATE>,
+    /// The reported state of the bootloader after preparing for boot
-    aligned_buf: AlignedBuffer<BUFFER_SIZE>,
+    pub state: State,
 }
 
-impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>
+impl BootLoader {
-    BootLoader<ACTIVE, DFU, STATE, 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, const BUFFER_SIZE: usize>(
-    /// Create a new bootloader instance using the supplied partitions for active, dfu and state.
+        config: BootLoaderConfig<ACTIVE, DFU, STATE>,
-    pub fn new(config: BootLoaderConfig<ACTIVE, DFU, STATE>) -> Self {
+    ) -> Self {
-        Self {
+        let mut aligned_buf = AlignedBuffer([0; BUFFER_SIZE]);
-            boot: embassy_boot::BootLoader::new(config),
+        let mut boot = embassy_boot::BootLoader::new(config);
-            aligned_buf: AlignedBuffer([0; BUFFER_SIZE]),
+        let state = boot.prepare_boot(aligned_buf.as_mut()).expect("Boot prepare error");
-        }
+        Self { state }
-    }
-
-    /// Inspect the bootloader state and perform actions required before booting, such as swapping
-    /// firmware.
-    pub fn prepare(&mut self) {
-        self.boot
-            .prepare_boot(self.aligned_buf.as_mut())
-            .expect("Boot prepare error");
     }
 
     /// Boots the application.
@@ -39,8 +32,6 @@ 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

@@ -8,24 +8,25 @@ license = "MIT OR Apache-2.0"
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-embedded-hal-v$VERSION/embassy-embedded-hal/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-embedded-hal/src/"
-features = ["nightly", "std"]
+features = ["std"]
 target = "x86_64-unknown-linux-gnu"
 
 [features]
 std = []
-# Enable nightly-only features
+time = ["dep:embassy-time"]
-nightly = ["embassy-futures", "embedded-hal-async", "embedded-storage-async"]
+default = ["time"]
 
 [dependencies]
-embassy-futures = { version = "0.1.0", path = "../embassy-futures", optional = true }
+embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
-embassy-sync = { version = "0.2.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
+embassy-time = { version = "0.2", path = "../embassy-time", optional = true }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
     "unproven",
 ] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.3" }
-embedded-hal-async = { version = "=0.2.0-alpha.1", optional = true }
+embedded-hal-async = { version = "=1.0.0-rc.3" }
-embedded-storage = "0.3.0"
+embedded-storage = "0.3.1"
-embedded-storage-async = { version = "0.4.0", optional = true }
+embedded-storage-async = { version = "0.4.1" }
 nb = "1.0.0"
 
 defmt = { version = "0.3", optional = true }

embassy-embedded-hal/build.rs

@@ -0,0 +1,18 @@
+use std::env;
+use std::ffi::OsString;
+use std::process::Command;
+
+fn main() {
+    println!("cargo:rerun-if-changed=build.rs");
+
+    let rustc = env::var_os("RUSTC").unwrap_or_else(|| OsString::from("rustc"));
+
+    let output = Command::new(rustc)
+        .arg("--version")
+        .output()
+        .expect("failed to run `rustc --version`");
+
+    if String::from_utf8_lossy(&output.stdout).contains("nightly") {
+        println!("cargo:rustc-cfg=nightly");
+    }
+}

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> {
+    async fn transfer_in_place(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
-        todo!()
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusFlush for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn flush(&mut self) -> Result<(), Self::Error> {
-        Ok(())
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusWrite<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
-        self.wrapped.write(data)?;
-        Ok(())
-    }
-}
-
-impl<T, E> embedded_hal_async::spi::SpiBusRead<u8> for BlockingAsync<T>
-where
-    E: embedded_hal_1::spi::Error + 'static,
-    T: blocking::spi::Transfer<u8, Error = E> + blocking::spi::Write<u8, Error = E>,
-{
-    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
         self.wrapped.transfer(data)?;
         Ok(())
     }
 }
 
-// Uart implementatinos
-impl<T, E> embedded_hal_1::serial::ErrorType for BlockingAsync<T>
-where
-    T: serial::Read<u8, Error = E>,
-    E: embedded_hal_1::serial::Error + 'static,
-{
-    type Error = E;
-}
-
 /// NOR flash wrapper
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
 use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};

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

@@ -69,54 +69,39 @@ 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,
+    T: embedded_hal_async::spi::SpiBus<Word>,
-{
-    async fn transfer<'a>(&'a mut self, read: &'a mut [u8], write: &'a [u8]) -> Result<(), Self::Error> {
-        self.wrapped.transfer(read, write).await?;
-        yield_now().await;
-        Ok(())
-    }
-
-    async fn transfer_in_place<'a>(&'a mut self, words: &'a mut [u8]) -> Result<(), Self::Error> {
-        self.wrapped.transfer_in_place(words).await?;
-        yield_now().await;
-        Ok(())
-    }
-}
-
-impl<T> embedded_hal_async::spi::SpiBusFlush for YieldingAsync<T>
-where
-    T: embedded_hal_async::spi::SpiBusFlush,
 {
     async fn flush(&mut self) -> Result<(), Self::Error> {
         self.wrapped.flush().await?;
         yield_now().await;
         Ok(())
     }
-}
 
-impl<T> embedded_hal_async::spi::SpiBusWrite<u8> for YieldingAsync<T>
+    async fn write(&mut self, data: &[Word]) -> Result<(), Self::Error> {
-where
-    T: embedded_hal_async::spi::SpiBusWrite<u8>,
-{
-    async fn write(&mut self, data: &[u8]) -> Result<(), Self::Error> {
         self.wrapped.write(data).await?;
         yield_now().await;
         Ok(())
     }
-}
 
-impl<T> embedded_hal_async::spi::SpiBusRead<u8> for YieldingAsync<T>
+    async fn read(&mut self, data: &mut [Word]) -> Result<(), Self::Error> {
-where
-    T: embedded_hal_async::spi::SpiBusRead<u8>,
-{
-    async fn read(&mut self, data: &mut [u8]) -> Result<(), Self::Error> {
         self.wrapped.read(data).await?;
         yield_now().await;
         Ok(())
     }
+
+    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/concat_flash.rs

@@ -1,5 +1,4 @@
 use embedded_storage::nor_flash::{ErrorType, NorFlash, NorFlashError, ReadNorFlash};
-#[cfg(feature = "nightly")]
 use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
 
 /// Convenience helper for concatenating two consecutive flashes into one.
@@ -117,7 +116,6 @@ where
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<First, Second, E> AsyncReadNorFlash for ConcatFlash<First, Second>
 where
     First: AsyncReadNorFlash<Error = E>,
@@ -146,7 +144,6 @@ where
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<First, Second, E> AsyncNorFlash for ConcatFlash<First, Second>
 where
     First: AsyncNorFlash<Error = E>,

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

@@ -1,7 +1,6 @@
 use alloc::vec::Vec;
 
 use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
-#[cfg(feature = "nightly")]
 use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
 
 extern crate alloc;
@@ -93,7 +92,6 @@ impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> NorFla
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncReadNorFlash
     for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
 {
@@ -109,7 +107,6 @@ impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncR
     }
 }
 
-#[cfg(feature = "nightly")]
 impl<const SIZE: usize, const ERASE_SIZE: usize, const WRITE_SIZE: usize> AsyncNorFlash
     for MemFlash<SIZE, ERASE_SIZE, WRITE_SIZE>
 {

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

@@ -2,16 +2,14 @@
 
 use embedded_storage::nor_flash::{NorFlashError, NorFlashErrorKind};
 
-#[cfg(feature = "nightly")]
 mod asynch;
 mod blocking;
 
-#[cfg(feature = "nightly")]
 pub use asynch::Partition;
 pub use blocking::BlockingPartition;
 
 /// Partition error
-#[derive(Debug)]
+#[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

@@ -1,14 +1,13 @@
 #![cfg_attr(not(feature = "std"), no_std)]
-#![cfg_attr(feature = "nightly", feature(async_fn_in_trait, impl_trait_projections, try_blocks))]
+#![cfg_attr(nightly, feature(async_fn_in_trait, impl_trait_projections))]
+#![cfg_attr(nightly, allow(stable_features, unknown_lints))]
+#![allow(async_fn_in_trait)]
 #![warn(missing_docs)]
 
 //! Utilities to use `embedded-hal` traits with Embassy.
 
-#[cfg(feature = "nightly")]
 pub mod adapter;
-
 pub mod flash;
-
 pub mod shared_bus;
 
 /// Set the configuration of a peripheral driver.
@@ -26,6 +25,18 @@ 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

@@ -2,16 +2,15 @@
 //!
 //! # Example (nrf52)
 //!
-//! ```rust
+//! ```rust,ignore
-//! use embassy_embedded_hal::shared_bus::i2c::I2cDevice;
+//! use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
 //! use embassy_sync::mutex::Mutex;
-//! use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+//! use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 //!
-//! static I2C_BUS: StaticCell<Mutex::<ThreadModeRawMutex, Twim<TWISPI0>>> = StaticCell::new();
+//! static I2C_BUS: StaticCell<Mutex<NoopRawMutex, Twim<TWISPI0>>> = StaticCell::new();
 //! let config = twim::Config::default();
-//! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+//! let i2c = Twim::new(p.TWISPI0, Irqs, p.P0_03, p.P0_04, config);
-//! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, config);
+//! let i2c_bus = Mutex::new(i2c);
-//! let i2c_bus = Mutex::<ThreadModeRawMutex, _>::new(i2c);
 //! let i2c_bus = I2C_BUS.init(i2c_bus);
 //!
 //! // Device 1, using embedded-hal-async compatible driver for QMC5883L compass
@@ -125,14 +124,14 @@ 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 +143,7 @@ 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 +152,7 @@ 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

@@ -2,17 +2,16 @@
 //!
 //! # Example (nrf52)
 //!
-//! ```rust
+//! ```rust,ignore
 //! use embassy_embedded_hal::shared_bus::spi::SpiDevice;
 //! use embassy_sync::mutex::Mutex;
-//! use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+//! use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 //!
-//! static SPI_BUS: StaticCell<Mutex<ThreadModeRawMutex, spim::Spim<SPI3>>> = StaticCell::new();
+//! static SPI_BUS: StaticCell<Mutex<NoopRawMutex, spim::Spim<SPI3>>> = StaticCell::new();
 //! let mut config = spim::Config::default();
 //! config.frequency = spim::Frequency::M32;
-//! let irq = interrupt::take!(SPIM3);
+//! let spi = spim::Spim::new_txonly(p.SPI3, Irqs, p.P0_15, p.P0_18, config);
-//! let spi = spim::Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, config);
+//! let spi_bus = Mutex::new(spi);
-//! let spi_bus = Mutex::<ThreadModeRawMutex, _>::new(spi);
 //! let spi_bus = SPI_BUS.init(spi_bus);
 //!
 //! // Device 1, using embedded-hal-async compatible driver for ST7735 LCD display
@@ -56,62 +55,6 @@ 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,
@@ -119,18 +62,36 @@ where
     CS: OutputPin,
 {
     async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
+        }
+
         let mut bus = self.bus.lock().await;
         self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
-        let op_res: Result<(), BUS::Error> = try {
+        let op_res = 'ops: {
             for op in operations {
-                match op {
+                let res = match op {
-                    Operation::Read(buf) => bus.read(buf).await?,
+                    Operation::Read(buf) => bus.read(buf).await,
-                    Operation::Write(buf) => bus.write(buf).await?,
+                    Operation::Write(buf) => bus.write(buf).await,
-                    Operation::Transfer(read, write) => bus.transfer(read, write).await?,
+                    Operation::Transfer(read, write) => bus.transfer(read, write).await,
-                    Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                    Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await,
+                    #[cfg(not(feature = "time"))]
+                    Operation::DelayNs(_) => unreachable!(),
+                    #[cfg(feature = "time")]
+                    Operation::DelayNs(ns) => match bus.flush().await {
+                        Err(e) => Err(e),
+                        Ok(()) => {
+                            embassy_time::Timer::after_nanos(*ns as _).await;
+                            Ok(())
+                        }
+                    },
+                };
+                if let Err(e) = res {
+                    break 'ops Err(e);
                 }
             }
+            Ok(())
         };
 
         // On failure, it's important to still flush and deassert CS.
@@ -172,64 +133,6 @@ 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,
@@ -237,19 +140,37 @@ where
     CS: OutputPin,
 {
     async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
+        }
+
         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 {
+        let op_res = 'ops: {
             for op in operations {
-                match op {
+                let res = match op {
-                    Operation::Read(buf) => bus.read(buf).await?,
+                    Operation::Read(buf) => bus.read(buf).await,
-                    Operation::Write(buf) => bus.write(buf).await?,
+                    Operation::Write(buf) => bus.write(buf).await,
-                    Operation::Transfer(read, write) => bus.transfer(read, write).await?,
+                    Operation::Transfer(read, write) => bus.transfer(read, write).await,
-                    Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await?,
+                    Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await,
+                    #[cfg(not(feature = "time"))]
+                    Operation::DelayNs(_) => unreachable!(),
+                    #[cfg(feature = "time")]
+                    Operation::DelayNs(ns) => match bus.flush().await {
+                        Err(e) => Err(e),
+                        Ok(()) => {
+                            embassy_time::Timer::after_nanos(*ns as _).await;
+                            Ok(())
+                        }
+                    },
+                };
+                if let Err(e) = res {
+                    break 'ops Err(e);
                 }
             }
+            Ok(())
         };
 
         // On failure, it's important to still flush and deassert CS.

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,
@@ -107,6 +55,10 @@ where
     CS: OutputPin,
 {
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
+        }
+
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
@@ -116,6 +68,13 @@ 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::DelayNs(_) => unreachable!(),
+                #[cfg(feature = "time")]
+                Operation::DelayNs(ns) => {
+                    embassy_time::block_for(embassy_time::Duration::from_nanos(*ns as _));
+                    Ok(())
+                }
             });
 
             // On failure, it's important to still flush and deassert CS.
@@ -199,58 +158,6 @@ 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,
@@ -258,9 +165,13 @@ where
     CS: OutputPin,
 {
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
+        }
+
         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 +179,13 @@ 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::DelayNs(_) => unreachable!(),
+                #[cfg(feature = "time")]
+                Operation::DelayNs(ns) => {
+                    embassy_time::block_for(embassy_time::Duration::from_nanos(*ns as _));
+                    Ok(())
+                }
             });
 
             // On failure, it's important to still flush and deassert CS.

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

@@ -3,9 +3,7 @@ use core::fmt::Debug;
 
 use embedded_hal_1::{i2c, spi};
 
-#[cfg(feature = "nightly")]
 pub mod asynch;
-
 pub mod blocking;
 
 /// Error returned by I2C device implementations in this crate.
@@ -14,6 +12,8 @@ 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 +23,7 @@ where
     fn kind(&self) -> i2c::ErrorKind {
         match self {
             Self::I2c(e) => e.kind(),
+            Self::Config => i2c::ErrorKind::Other,
         }
     }
 }
@@ -30,11 +31,16 @@ 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),
+    /// Delay operations are not supported when the `time` Cargo feature is not enabled.
+    DelayNotSupported,
+    /// The SPI bus could not be configured.
+    Config,
 }
 
 impl<BUS, CS> spi::Error for SpiDeviceError<BUS, CS>
@@ -46,6 +52,8 @@ where
         match self {
             Self::Spi(e) => e.kind(),
             Self::Cs(_) => spi::ErrorKind::Other,
+            Self::DelayNotSupported => spi::ErrorKind::Other,
+            Self::Config => spi::ErrorKind::Other,
         }
     }
 }

embassy-executor-macros/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
-name = "embassy-macros"
+name = "embassy-executor-macros"
-version = "0.2.0"
+version = "0.4.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "macros for creating the entry point and tasks for embassy-executor"
@@ -21,5 +21,4 @@ proc-macro2 = "1.0.29"
 proc-macro = true
 
 [features]
-# Enabling this cause interrupt::take! to require embassy-executor
+nightly = []
-rtos-trace-interrupt = []

embassy-executor-macros/README.md

@@ -0,0 +1,15 @@
+# embassy-executor-macros
+
+An [Embassy](https://embassy.dev) project.
+
+NOTE: Do not use this crate directly. The macros are re-exported by `embassy-executor`.
+
+## 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-executor-macros/src/macros/main.rs

@@ -53,8 +53,7 @@ pub fn wasm() -> TokenStream {
     quote! {
         #[wasm_bindgen::prelude::wasm_bindgen(start)]
         pub fn main() -> Result<(), wasm_bindgen::JsValue> {
-            static EXECUTOR: ::embassy_executor::_export::StaticCell<::embassy_executor::Executor> = ::embassy_executor::_export::StaticCell::new();
+            let executor = ::std::boxed::Box::leak(::std::boxed::Box::new(::embassy_executor::Executor::new()));
-            let executor = EXECUTOR.init(::embassy_executor::Executor::new());
 
             executor.start(|spawner| {
                 spawner.spawn(__embassy_main(spawner)).unwrap();

embassy-executor-macros/src/macros/task.rs

@@ -79,6 +79,7 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
     task_inner.vis = syn::Visibility::Inherited;
     task_inner.sig.ident = task_inner_ident.clone();
 
+    #[cfg(feature = "nightly")]
     let mut task_outer: ItemFn = parse_quote! {
         #visibility fn #task_ident(#fargs) -> ::embassy_executor::SpawnToken<impl Sized> {
             type Fut = impl ::core::future::Future + 'static;
@@ -87,6 +88,14 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
             unsafe { POOL._spawn_async_fn(move || #task_inner_ident(#(#arg_names,)*)) }
         }
     };
+    #[cfg(not(feature = "nightly"))]
+    let mut task_outer: ItemFn = parse_quote! {
+        #visibility fn #task_ident(#fargs) -> ::embassy_executor::SpawnToken<impl Sized> {
+            const POOL_SIZE: usize = #pool_size;
+            static POOL: ::embassy_executor::_export::TaskPoolRef = ::embassy_executor::_export::TaskPoolRef::new();
+            unsafe { POOL.get::<_, POOL_SIZE>()._spawn_async_fn(move || #task_inner_ident(#(#arg_names,)*)) }
+        }
+    };
 
     task_outer.attrs.append(&mut task_inner.attrs.clone());
 

embassy-executor/CHANGELOG.md

@@ -5,6 +5,41 @@ 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).
 
+## Unreleased
+
+## 0.4.0 - 2023-12-05
+
+- Removed `arch-xtensa`. Use the executor provided by the HAL crate (`esp-hal`, `esp32s3-hal`, etc...) instead.
+- Added an arena allocator for tasks, allowing using the `main` and `task` macros on Rust 1.75 stable. (it is only used if the `nightly` feature is not enabled. When `nightly` is enabled, `type_alias_impl_trait` is used to statically allocate tasks, as before).
+
+## 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 = "0.4.0"
 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 = ["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"] },
@@ -25,47 +25,20 @@ 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 = ["defmt", "arch-cortex-m", "executor-thread", "executor-interrupt"]
-
-[features]
-
-# Architecture
-_arch = [] # some arch was picked
-arch-std = ["_arch", "critical-section/std"]
-arch-cortex-m = ["_arch", "dep:cortex-m"]
-arch-xtensa = ["_arch"]
-arch-riscv32 = ["_arch"]
-arch-wasm = ["_arch", "dep:wasm-bindgen", "dep:js-sys"]
-
-# Enable creating a `Pender` from an arbitrary function pointer callback.
-pender-callback = []
-
-# Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
-executor-thread = []
-# Enable the interrupt-mode executor (available in Cortex-M only)
-executor-interrupt = []
-
-# Enable nightly-only features
-nightly = []
-
-turbowakers = []
-
-integrated-timers = ["dep:embassy-time"]
-
-# Trace interrupt invocations with rtos-trace.
-rtos-trace-interrupt = ["rtos-trace", "embassy-macros/rtos-trace-interrupt"]
 
 [dependencies]
 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-executor-macros = { version = "0.4.0", path = "../embassy-executor-macros" }
-embassy-macros  = { version = "0.2.0", path = "../embassy-macros" }
+embassy-time = { version = "0.2", path = "../embassy-time", optional = true}
-embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
-atomic-polyfill = "1.0.1"
 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 }
@@ -73,3 +46,73 @@ cortex-m = { version = "0.7.6", optional = true }
 # arch-wasm dependencies
 wasm-bindgen = { version = "0.2.82", optional = true }
 js-sys = { version = "0.3", optional = true }
+
+[dev-dependencies]
+critical-section = { version = "1.1", features = ["std"] }
+
+
+[features]
+
+# Architecture
+_arch = [] # some arch was picked
+arch-std = ["_arch", "critical-section/std"]
+arch-cortex-m = ["_arch", "dep:cortex-m"]
+arch-riscv32 = ["_arch", "dep:portable-atomic"]
+arch-wasm = ["_arch", "dep:wasm-bindgen", "dep:js-sys"]
+
+# Enable the thread-mode executor (using WFE/SEV in Cortex-M, WFI in other embedded archs)
+executor-thread = []
+# Enable the interrupt-mode executor (available in Cortex-M only)
+executor-interrupt = []
+
+# Enable nightly-only features
+nightly = ["embassy-executor-macros/nightly"]
+
+turbowakers = []
+
+integrated-timers = ["dep:embassy-time"]
+
+# BEGIN AUTOGENERATED CONFIG FEATURES
+# Generated by gen_config.py. DO NOT EDIT.
+task-arena-size-64 = []
+task-arena-size-128 = []
+task-arena-size-192 = []
+task-arena-size-256 = []
+task-arena-size-320 = []
+task-arena-size-384 = []
+task-arena-size-512 = []
+task-arena-size-640 = []
+task-arena-size-768 = []
+task-arena-size-1024 = []
+task-arena-size-1280 = []
+task-arena-size-1536 = []
+task-arena-size-2048 = []
+task-arena-size-2560 = []
+task-arena-size-3072 = []
+task-arena-size-4096 = [] # Default
+task-arena-size-5120 = []
+task-arena-size-6144 = []
+task-arena-size-8192 = []
+task-arena-size-10240 = []
+task-arena-size-12288 = []
+task-arena-size-16384 = []
+task-arena-size-20480 = []
+task-arena-size-24576 = []
+task-arena-size-32768 = []
+task-arena-size-40960 = []
+task-arena-size-49152 = []
+task-arena-size-65536 = []
+task-arena-size-81920 = []
+task-arena-size-98304 = []
+task-arena-size-131072 = []
+task-arena-size-163840 = []
+task-arena-size-196608 = []
+task-arena-size-262144 = []
+task-arena-size-327680 = []
+task-arena-size-393216 = []
+task-arena-size-524288 = []
+task-arena-size-655360 = []
+task-arena-size-786432 = []
+task-arena-size-1048576 = []
+
+# END AUTOGENERATED CONFIG FEATURES

embassy-executor/README.md

@@ -2,10 +2,36 @@
 
 An async/await executor designed for embedded usage.
 
-- No `alloc`, no heap needed. Task futures are statically allocated.
+- No `alloc`, no heap needed.
+- With nightly Rust, task futures can be fully 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.
+
+## Task arena
+
+When the `nightly` Cargo feature is not enabled, `embassy-executor` allocates tasks out of an arena (a very simple bump allocator).
+
+If the task arena gets full, the program will panic at runtime. To guarantee this doesn't happen, you must set the size to the sum of sizes of all tasks.
+
+Tasks are allocated from the arena when spawned for the first time. If the task exists, the allocation is not released to the arena, but can be reused to spawn the task again. For multiple-instance tasks (like `#[embassy_executor::task(pool_size = 4)]`), the first spawn will allocate memory for all instances. This is done for performance and to increase predictability (for example, spawning at least 1 instance of every task at boot guarantees an immediate panic if the arena is too small, while allocating instances on-demand could delay the panic to only when the program is under load).
+
+The arena size can be configured in two ways:
+
+- Via Cargo features: enable a Cargo feature like `task-arena-size-8192`. Only a selection of values
+  is available, check `Cargo.toml` for the list.
+- Via environment variables at build time: set the variable named `EMBASSY_EXECUTOR_TASK_ARENA_SIZE`. For example
+  `EMBASSY_EXECUTOR_TASK_ARENA_SIZE=4321 cargo build`. You can also set them in the `[env]` section of `.cargo/config.toml`.
+  Any value can be set, unlike with Cargo features.
+
+Environment variables take precedence over Cargo features. If two Cargo features are enabled for the same setting
+with different values, compilation fails.
+
+## Statically allocating tasks
+
+When using nightly Rust, enable the `nightly` Cargo feature. This will make `embassy-executor` use the `type_alias_impl_trait` feature to allocate all tasks in `static`s. Each task gets its own `static`, with the exact size to hold the task (or multiple instances of it, if using `pool_size`) calculated automatically at compile time. If tasks don't fit in RAM, this is detected at compile time by the linker. Runtime panics due to running out of memory are not possible.
+
+The configured arena size is ignored, no arena is used at all.

embassy-executor/build.rs

@@ -1,6 +1,97 @@
-use std::env;
+use std::collections::HashMap;
+use std::fmt::Write;
+use std::path::PathBuf;
+use std::{env, fs};
+
+static CONFIGS: &[(&str, usize)] = &[
+    // BEGIN AUTOGENERATED CONFIG FEATURES
+    // Generated by gen_config.py. DO NOT EDIT.
+    ("TASK_ARENA_SIZE", 4096),
+    // END AUTOGENERATED CONFIG FEATURES
+];
+
+struct ConfigState {
+    value: usize,
+    seen_feature: bool,
+    seen_env: bool,
+}
 
 fn main() {
+    let crate_name = env::var("CARGO_PKG_NAME")
+        .unwrap()
+        .to_ascii_uppercase()
+        .replace('-', "_");
+
+    // only rebuild if build.rs changed. Otherwise Cargo will rebuild if any
+    // other file changed.
+    println!("cargo:rerun-if-changed=build.rs");
+
+    // Rebuild if config envvar changed.
+    for (name, _) in CONFIGS {
+        println!("cargo:rerun-if-env-changed={crate_name}_{name}");
+    }
+
+    let mut configs = HashMap::new();
+    for (name, default) in CONFIGS {
+        configs.insert(
+            *name,
+            ConfigState {
+                value: *default,
+                seen_env: false,
+                seen_feature: false,
+            },
+        );
+    }
+
+    let prefix = format!("{crate_name}_");
+    for (var, value) in env::vars() {
+        if let Some(name) = var.strip_prefix(&prefix) {
+            let Some(cfg) = configs.get_mut(name) else {
+                panic!("Unknown env var {name}")
+            };
+
+            let Ok(value) = value.parse::<usize>() else {
+                panic!("Invalid value for env var {name}: {value}")
+            };
+
+            cfg.value = value;
+            cfg.seen_env = true;
+        }
+
+        if let Some(feature) = var.strip_prefix("CARGO_FEATURE_") {
+            if let Some(i) = feature.rfind('_') {
+                let name = &feature[..i];
+                let value = &feature[i + 1..];
+                if let Some(cfg) = configs.get_mut(name) {
+                    let Ok(value) = value.parse::<usize>() else {
+                        panic!("Invalid value for feature {name}: {value}")
+                    };
+
+                    // envvars take priority.
+                    if !cfg.seen_env {
+                        if cfg.seen_feature {
+                            panic!("multiple values set for feature {}: {} and {}", name, cfg.value, value);
+                        }
+
+                        cfg.value = value;
+                        cfg.seen_feature = true;
+                    }
+                }
+            }
+        }
+    }
+
+    let mut data = String::new();
+
+    for (name, cfg) in &configs {
+        writeln!(&mut data, "pub const {}: usize = {};", name, cfg.value).unwrap();
+    }
+
+    let out_dir = PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    let out_file = out_dir.join("config.rs").to_string_lossy().to_string();
+    fs::write(out_file, data).unwrap();
+
+    // cortex-m targets
     let target = env::var("TARGET").unwrap();
 
     if target.starts_with("thumbv6m-") {

embassy-executor/gen_config.py

@@ -0,0 +1,82 @@
+import os
+
+abspath = os.path.abspath(__file__)
+dname = os.path.dirname(abspath)
+os.chdir(dname)
+
+features = []
+
+
+def feature(name, default, min=None, max=None, pow2=None, vals=None, factors=[]):
+    if vals is None:
+        assert min is not None
+        assert max is not None
+
+        vals = set()
+        val = min
+        while val <= max:
+            vals.add(val)
+            for f in factors:
+                if val * f <= max:
+                    vals.add(val * f)
+            if (pow2 == True or (isinstance(pow2, int) and val >= pow2)) and val > 0:
+                val *= 2
+            else:
+                val += 1
+        vals.add(default)
+        vals = sorted(list(vals))
+
+    features.append(
+        {
+            "name": name,
+            "default": default,
+            "vals": vals,
+        }
+    )
+
+
+feature(
+    "task_arena_size", default=4096, min=64, max=1024 * 1024, pow2=True, factors=[3, 5]
+)
+
+# ========= Update Cargo.toml
+
+things = ""
+for f in features:
+    name = f["name"].replace("_", "-")
+    for val in f["vals"]:
+        things += f"{name}-{val} = []"
+        if val == f["default"]:
+            things += " # Default"
+        things += "\n"
+    things += "\n"
+
+SEPARATOR_START = "# BEGIN AUTOGENERATED CONFIG FEATURES\n"
+SEPARATOR_END = "# END AUTOGENERATED CONFIG FEATURES\n"
+HELP = "# Generated by gen_config.py. DO NOT EDIT.\n"
+with open("Cargo.toml", "r") as f:
+    data = f.read()
+before, data = data.split(SEPARATOR_START, maxsplit=1)
+_, after = data.split(SEPARATOR_END, maxsplit=1)
+data = before + SEPARATOR_START + HELP + things + SEPARATOR_END + after
+with open("Cargo.toml", "w") as f:
+    f.write(data)
+
+
+# ========= Update build.rs
+
+things = ""
+for f in features:
+    name = f["name"].upper()
+    things += f'    ("{name}", {f["default"]}),\n'
+
+SEPARATOR_START = "// BEGIN AUTOGENERATED CONFIG FEATURES\n"
+SEPARATOR_END = "// END AUTOGENERATED CONFIG FEATURES\n"
+HELP = "    // Generated by gen_config.py. DO NOT EDIT.\n"
+with open("build.rs", "r") as f:
+    data = f.read()
+before, data = data.split(SEPARATOR_START, maxsplit=1)
+_, after = data.split(SEPARATOR_END, maxsplit=1)
+data = before + SEPARATOR_START + HELP + things + "    " + SEPARATOR_END + after
+with open("build.rs", "w") as f:
+    f.write(data)

embassy-executor/src/arch/cortex_m.rs

@@ -1,25 +1,60 @@
+#[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_executor_macros::main_cortex_m as main;
-    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 +74,7 @@ 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 +114,14 @@ 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};
+    use crate::raw;
-
-    #[derive(Clone, Copy)]
-    pub(crate) struct InterruptPender(u16);
-
-    impl InterruptPender {
-        pub(crate) fn pend(self) {
-            // STIR is faster, but is only available in v7 and higher.
-            #[cfg(not(armv6m))]
-            {
-                let mut nvic: cortex_m::peripheral::NVIC = unsafe { core::mem::transmute(()) };
-                nvic.request(self);
-            }
-
-            #[cfg(armv6m)]
-            cortex_m::peripheral::NVIC::pend(self);
-        }
-    }
-
-    unsafe impl cortex_m::interrupt::InterruptNumber for InterruptPender {
-        fn number(self) -> u16 {
-            self.0
-        }
-    }
 
     /// Interrupt mode executor.
     ///
@@ -133,7 +145,7 @@ 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 +157,7 @@ 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 +166,8 @@ 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 +196,14 @@ mod interrupt {
         /// do it after.
         ///
         pub fn start(&'static self, irq: impl InterruptNumber) -> crate::SendSpawner {
-            if self
+            if critical_section::with(|cs| self.started.borrow(cs).replace(true)) {
-                .started
-                .compare_exchange(false, true, Ordering::Acquire, Ordering::Relaxed)
-                .is_err()
-            {
                 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(
+                    .write(raw::Executor::new(irq.number() as *mut ()))
-                        irq.number(),
-                    )))))
             }
 
             let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
@@ -211,10 +218,10 @@ 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() };