Merge branch 'main' into add-rng

docs/pages/imxrt.adoc

@@ -9,5 +9,6 @@ The link: link:https://github.com/embassy-rs/embassy/tree/main/embassy-imxrt[Emb
 
 The following peripherals have a HAL implementation at present
 
+* CRC
 * GPIO
 * RNG

embassy-imxrt/src/crc.rs

@@ -0,0 +1,190 @@
+//! Cyclic Redundancy Check (CRC)
+
+use core::marker::PhantomData;
+
+use crate::clocks::{enable_and_reset, SysconPeripheral};
+pub use crate::pac::crc_engine::mode::CrcPolynomial as Polynomial;
+use crate::{peripherals, Peri, PeripheralType};
+
+/// CRC driver.
+pub struct Crc<'d> {
+    info: Info,
+    _config: Config,
+    _lifetime: PhantomData<&'d ()>,
+}
+
+/// CRC configuration
+pub struct Config {
+    /// Polynomial to be used
+    pub polynomial: Polynomial,
+
+    /// Reverse bit order of input?
+    pub reverse_in: bool,
+
+    /// 1's complement input?
+    pub complement_in: bool,
+
+    /// Reverse CRC bit order?
+    pub reverse_out: bool,
+
+    /// 1's complement CRC?
+    pub complement_out: bool,
+
+    /// CRC Seed
+    pub seed: u32,
+}
+
+impl Config {
+    /// Create a new CRC config.
+    #[must_use]
+    pub fn new(
+        polynomial: Polynomial,
+        reverse_in: bool,
+        complement_in: bool,
+        reverse_out: bool,
+        complement_out: bool,
+        seed: u32,
+    ) -> Self {
+        Config {
+            polynomial,
+            reverse_in,
+            complement_in,
+            reverse_out,
+            complement_out,
+            seed,
+        }
+    }
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            polynomial: Polynomial::CrcCcitt,
+            reverse_in: false,
+            complement_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff,
+        }
+    }
+}
+
+impl<'d> Crc<'d> {
+    /// Instantiates new CRC peripheral and initializes to default values.
+    pub fn new<T: Instance>(_peripheral: Peri<'d, T>, config: Config) -> Self {
+        // enable CRC clock
+        enable_and_reset::<T>();
+
+        let mut instance = Self {
+            info: T::info(),
+            _config: config,
+            _lifetime: PhantomData,
+        };
+
+        instance.reconfigure();
+        instance
+    }
+
+    /// Reconfigured the CRC peripheral.
+    fn reconfigure(&mut self) {
+        self.info.regs.mode().write(|w| {
+            w.crc_poly()
+                .variant(self._config.polynomial)
+                .bit_rvs_wr()
+                .variant(self._config.reverse_in)
+                .cmpl_wr()
+                .variant(self._config.complement_in)
+                .bit_rvs_sum()
+                .variant(self._config.reverse_out)
+                .cmpl_sum()
+                .variant(self._config.complement_out)
+        });
+
+        // Init CRC value
+        self.info
+            .regs
+            .seed()
+            .write(|w| unsafe { w.crc_seed().bits(self._config.seed) });
+    }
+
+    /// Feeds a byte into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_byte(&mut self, byte: u8) -> u32 {
+        self.info.regs.wr_data8().write(|w| unsafe { w.bits(byte) });
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds an slice of bytes into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_bytes(&mut self, bytes: &[u8]) -> u32 {
+        let (prefix, data, suffix) = unsafe { bytes.align_to::<u32>() };
+
+        for b in prefix {
+            self.info.regs.wr_data8().write(|w| unsafe { w.bits(*b) });
+        }
+
+        for d in data {
+            self.info.regs.wr_data32().write(|w| unsafe { w.bits(*d) });
+        }
+
+        for b in suffix {
+            self.info.regs.wr_data8().write(|w| unsafe { w.bits(*b) });
+        }
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds a halfword into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_halfword(&mut self, halfword: u16) -> u32 {
+        self.info.regs.wr_data16().write(|w| unsafe { w.bits(halfword) });
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds an slice of halfwords into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_halfwords(&mut self, halfwords: &[u16]) -> u32 {
+        for halfword in halfwords {
+            self.info.regs.wr_data16().write(|w| unsafe { w.bits(*halfword) });
+        }
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds a words into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_word(&mut self, word: u32) -> u32 {
+        self.info.regs.wr_data32().write(|w| unsafe { w.bits(word) });
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds an slice of words into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_words(&mut self, words: &[u32]) -> u32 {
+        for word in words {
+            self.info.regs.wr_data32().write(|w| unsafe { w.bits(*word) });
+        }
+
+        self.info.regs.sum().read().bits()
+    }
+}
+
+struct Info {
+    regs: crate::pac::CrcEngine,
+}
+
+trait SealedInstance {
+    fn info() -> Info;
+}
+
+/// CRC instance trait.
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance + PeripheralType + SysconPeripheral + 'static + Send {}
+
+impl Instance for peripherals::CRC {}
+
+impl SealedInstance for peripherals::CRC {
+    fn info() -> Info {
+        // SAFETY: safe from single executor
+        Info {
+            regs: unsafe { crate::pac::CrcEngine::steal() },
+        }
+    }
+}

embassy-imxrt/src/lib.rs

@@ -18,6 +18,7 @@ compile_error!(
 pub(crate) mod fmt;
 
 pub mod clocks;
+pub mod crc;
 pub mod gpio;
 pub mod iopctl;
 pub mod rng;

embassy-nrf/src/chips/nrf5340_app.rs

@@ -262,6 +262,9 @@ embassy_hal_internal::peripherals! {
     PPI_GROUP4,
     PPI_GROUP5,
 
+    // IPC
+    IPC,
+
     // GPIO port 0
     #[cfg(feature = "lfxo-pins-as-gpio")]
     P0_00,
@@ -327,6 +330,8 @@ embassy_hal_internal::peripherals! {
     EGU5,
 }
 
+impl_ipc!(IPC, IPC, IPC);
+
 impl_usb!(USBD, USBD, USBD);
 
 impl_uarte!(SERIAL0, UARTE0, SERIAL0);

embassy-nrf/src/chips/nrf5340_net.rs

@@ -141,6 +141,9 @@ embassy_hal_internal::peripherals! {
     PPI_GROUP4,
     PPI_GROUP5,
 
+    // IPC
+    IPC,
+
     // GPIO port 0
     P0_00,
     P0_01,
@@ -200,6 +203,8 @@ embassy_hal_internal::peripherals! {
     EGU0,
 }
 
+impl_ipc!(IPC, IPC, IPC);
+
 impl_uarte!(SERIAL0, UARTE0, SERIAL0);
 impl_spim!(SERIAL0, SPIM0, SERIAL0);
 impl_spis!(SERIAL0, SPIS0, SERIAL0);

embassy-nrf/src/ipc.rs

@@ -0,0 +1,363 @@
+//! InterProcessor Communication (IPC)
+
+#![macro_use]
+
+use core::future::poll_fn;
+use core::marker::PhantomData;
+use core::task::Poll;
+
+use embassy_hal_internal::{Peri, PeripheralType};
+use embassy_sync::waitqueue::AtomicWaker;
+
+use crate::interrupt::typelevel::Interrupt;
+use crate::{interrupt, pac, ppi};
+
+const EVENT_COUNT: usize = 16;
+
+/// IPC Event
+#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub enum EventNumber {
+    /// IPC Event 0
+    Event0 = 0,
+    /// IPC Event 1
+    Event1 = 1,
+    /// IPC Event 2
+    Event2 = 2,
+    /// IPC Event 3
+    Event3 = 3,
+    /// IPC Event 4
+    Event4 = 4,
+    /// IPC Event 5
+    Event5 = 5,
+    /// IPC Event 6
+    Event6 = 6,
+    /// IPC Event 7
+    Event7 = 7,
+    /// IPC Event 8
+    Event8 = 8,
+    /// IPC Event 9
+    Event9 = 9,
+    /// IPC Event 10
+    Event10 = 10,
+    /// IPC Event 11
+    Event11 = 11,
+    /// IPC Event 12
+    Event12 = 12,
+    /// IPC Event 13
+    Event13 = 13,
+    /// IPC Event 14
+    Event14 = 14,
+    /// IPC Event 15
+    Event15 = 15,
+}
+
+const EVENTS: [EventNumber; EVENT_COUNT] = [
+    EventNumber::Event0,
+    EventNumber::Event1,
+    EventNumber::Event2,
+    EventNumber::Event3,
+    EventNumber::Event4,
+    EventNumber::Event5,
+    EventNumber::Event6,
+    EventNumber::Event7,
+    EventNumber::Event8,
+    EventNumber::Event9,
+    EventNumber::Event10,
+    EventNumber::Event11,
+    EventNumber::Event12,
+    EventNumber::Event13,
+    EventNumber::Event14,
+    EventNumber::Event15,
+];
+
+/// IPC Channel
+#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub enum IpcChannel {
+    /// IPC Channel 0
+    Channel0,
+    /// IPC Channel 1
+    Channel1,
+    /// IPC Channel 2
+    Channel2,
+    /// IPC Channel 3
+    Channel3,
+    /// IPC Channel 4
+    Channel4,
+    /// IPC Channel 5
+    Channel5,
+    /// IPC Channel 6
+    Channel6,
+    /// IPC Channel 7
+    Channel7,
+    /// IPC Channel 8
+    Channel8,
+    /// IPC Channel 9
+    Channel9,
+    /// IPC Channel 10
+    Channel10,
+    /// IPC Channel 11
+    Channel11,
+    /// IPC Channel 12
+    Channel12,
+    /// IPC Channel 13
+    Channel13,
+    /// IPC Channel 14
+    Channel14,
+    /// IPC Channel 15
+    Channel15,
+}
+
+impl IpcChannel {
+    fn mask(self) -> u32 {
+        1 << (self as u32)
+    }
+}
+
+/// Interrupt Handler
+pub struct InterruptHandler<T: Instance> {
+    _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        let regs = T::regs();
+
+        // Check if an event was generated, and if it was, trigger the corresponding waker
+        for event in EVENTS {
+            if regs.events_receive(event as usize).read() & 0x01 == 0x01 {
+                regs.intenclr().write(|w| w.0 = 0x01 << event as u32);
+                T::state().wakers[event as usize].wake();
+            }
+        }
+    }
+}
+
+/// IPC driver
+#[non_exhaustive]
+pub struct Ipc<'d, T: Instance> {
+    /// Event 0
+    pub event0: Event<'d, T>,
+    /// Event 1
+    pub event1: Event<'d, T>,
+    /// Event 2
+    pub event2: Event<'d, T>,
+    /// Event 3
+    pub event3: Event<'d, T>,
+    /// Event 4
+    pub event4: Event<'d, T>,
+    /// Event 5
+    pub event5: Event<'d, T>,
+    /// Event 6
+    pub event6: Event<'d, T>,
+    /// Event 7
+    pub event7: Event<'d, T>,
+    /// Event 8
+    pub event8: Event<'d, T>,
+    /// Event 9
+    pub event9: Event<'d, T>,
+    /// Event 10
+    pub event10: Event<'d, T>,
+    /// Event 11
+    pub event11: Event<'d, T>,
+    /// Event 12
+    pub event12: Event<'d, T>,
+    /// Event 13
+    pub event13: Event<'d, T>,
+    /// Event 14
+    pub event14: Event<'d, T>,
+    /// Event 15
+    pub event15: Event<'d, T>,
+}
+
+impl<'d, T: Instance> Ipc<'d, T> {
+    /// Create a new IPC driver.
+    pub fn new(
+        _p: Peri<'d, T>,
+        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+    ) -> Self {
+        T::Interrupt::unpend();
+        unsafe { T::Interrupt::enable() };
+
+        let _phantom = PhantomData;
+        #[rustfmt::skip]
+        let r = Self { // attributes on expressions are experimental
+            event0: Event { number: EventNumber::Event0, _phantom },
+            event1: Event { number: EventNumber::Event1, _phantom },
+            event2: Event { number: EventNumber::Event2, _phantom },
+            event3: Event { number: EventNumber::Event3, _phantom },
+            event4: Event { number: EventNumber::Event4, _phantom },
+            event5: Event { number: EventNumber::Event5, _phantom },
+            event6: Event { number: EventNumber::Event6, _phantom },
+            event7: Event { number: EventNumber::Event7, _phantom },
+            event8: Event { number: EventNumber::Event8, _phantom },
+            event9: Event { number: EventNumber::Event9, _phantom },
+            event10: Event { number: EventNumber::Event10, _phantom },
+            event11: Event { number: EventNumber::Event11, _phantom },
+            event12: Event { number: EventNumber::Event12, _phantom },
+            event13: Event { number: EventNumber::Event13, _phantom },
+            event14: Event { number: EventNumber::Event14, _phantom },
+            event15: Event { number: EventNumber::Event15, _phantom },
+        };
+        r
+    }
+}
+
+/// IPC event
+pub struct Event<'d, T: Instance> {
+    number: EventNumber,
+    _phantom: PhantomData<&'d T>,
+}
+
+impl<'d, T: Instance> Event<'d, T> {
+    /// Trigger the event.
+    pub fn trigger(&self) {
+        let nr = self.number;
+        T::regs().tasks_send(nr as usize).write_value(1);
+    }
+
+    /// Wait for the event to be triggered.
+    pub async fn wait(&mut self) {
+        let regs = T::regs();
+        let nr = self.number as usize;
+        regs.intenset().write(|w| w.0 = 1 << nr);
+        poll_fn(|cx| {
+            T::state().wakers[nr].register(cx.waker());
+
+            if regs.events_receive(nr).read() == 1 {
+                regs.events_receive(nr).write_value(0x00);
+                Poll::Ready(())
+            } else {
+                Poll::Pending
+            }
+        })
+        .await;
+    }
+
+    /// Returns the [`EventNumber`] of the event.
+    pub fn number(&self) -> EventNumber {
+        self.number
+    }
+
+    /// Create a handle that can trigger the event.
+    pub fn trigger_handle(&self) -> EventTrigger<'d, T> {
+        EventTrigger {
+            number: self.number,
+            _phantom: PhantomData,
+        }
+    }
+
+    /// Configure the channels the event will broadcast to
+    pub fn configure_trigger<I: IntoIterator<Item = IpcChannel>>(&mut self, channels: I) {
+        T::regs().send_cnf(self.number as usize).write(|w| {
+            for channel in channels {
+                w.0 |= channel.mask();
+            }
+        })
+    }
+
+    /// Configure the channels the event will listen on
+    pub fn configure_wait<I: IntoIterator<Item = IpcChannel>>(&mut self, channels: I) {
+        T::regs().receive_cnf(self.number as usize).write(|w| {
+            for channel in channels {
+                w.0 |= channel.mask();
+            }
+        });
+    }
+
+    /// Get the task for the IPC event to use with PPI.
+    pub fn task(&self) -> ppi::Task<'d> {
+        let nr = self.number as usize;
+        let regs = T::regs();
+        ppi::Task::from_reg(regs.tasks_send(nr))
+    }
+
+    /// Get the event for the IPC event to use with PPI.
+    pub fn event(&self) -> ppi::Event<'d> {
+        let nr = self.number as usize;
+        let regs = T::regs();
+        ppi::Event::from_reg(regs.events_receive(nr))
+    }
+
+    /// Reborrow into a "child" Event.
+    ///
+    /// `self` will stay borrowed until the child Event is dropped.
+    pub fn reborrow(&mut self) -> Event<'_, T> {
+        Self { ..*self }
+    }
+
+    /// Steal an IPC event by number.
+    ///
+    /// # Safety
+    ///
+    /// The event number must not be in use by another [`Event`].
+    pub unsafe fn steal(number: EventNumber) -> Self {
+        Self {
+            number,
+            _phantom: PhantomData,
+        }
+    }
+}
+
+/// A handle that can trigger an IPC event.
+///
+/// This `struct` is returned by [`Event::trigger_handle`].
+#[derive(Debug, Copy, Clone)]
+pub struct EventTrigger<'d, T: Instance> {
+    number: EventNumber,
+    _phantom: PhantomData<&'d T>,
+}
+
+impl<T: Instance> EventTrigger<'_, T> {
+    /// Trigger the event.
+    pub fn trigger(&self) {
+        let nr = self.number;
+        T::regs().tasks_send(nr as usize).write_value(1);
+    }
+
+    /// Returns the [`EventNumber`] of the event.
+    pub fn number(&self) -> EventNumber {
+        self.number
+    }
+}
+
+pub(crate) struct State {
+    wakers: [AtomicWaker; EVENT_COUNT],
+}
+
+impl State {
+    pub(crate) const fn new() -> Self {
+        Self {
+            wakers: [const { AtomicWaker::new() }; EVENT_COUNT],
+        }
+    }
+}
+
+pub(crate) trait SealedInstance {
+    fn regs() -> pac::ipc::Ipc;
+    fn state() -> &'static State;
+}
+
+/// IPC peripheral instance.
+#[allow(private_bounds)]
+pub trait Instance: PeripheralType + SealedInstance + 'static + Send {
+    /// Interrupt for this peripheral.
+    type Interrupt: interrupt::typelevel::Interrupt;
+}
+
+macro_rules! impl_ipc {
+    ($type:ident, $pac_type:ident, $irq:ident) => {
+        impl crate::ipc::SealedInstance for peripherals::$type {
+            fn regs() -> pac::ipc::Ipc {
+                pac::$pac_type
+            }
+
+            fn state() -> &'static crate::ipc::State {
+                static STATE: crate::ipc::State = crate::ipc::State::new();
+                &STATE
+            }
+        }
+        impl crate::ipc::Instance for peripherals::$type {
+            type Interrupt = crate::interrupt::typelevel::$irq;
+        }
+    };
+}

embassy-nrf/src/lib.rs

@@ -88,6 +88,8 @@ pub mod gpiote;
 #[cfg(not(feature = "_nrf54l"))] // TODO
 #[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
 pub mod i2s;
+#[cfg(feature = "_nrf5340")]
+pub mod ipc;
 #[cfg(not(feature = "_nrf54l"))] // TODO
 #[cfg(any(
     feature = "nrf52832",

embassy-rp/Cargo.toml

@@ -26,7 +26,10 @@ features = ["defmt", "unstable-pac", "time-driver", "rp2040"]
 
 [features]
 default = [ "rt" ]
-## Enable the rt feature of [`rp-pac`](https://docs.rs/rp-pac). This brings in the [`cortex-m-rt`](https://docs.rs/cortex-m-rt) crate, which adds startup code and minimal runtime initialization.
+
+## Enable the `rt` feature of [`rp-pac`](https://docs.rs/rp-pac).
+## With `rt` enabled the PAC provides interrupt vectors instead of letting [`cortex-m-rt`](https://docs.rs/cortex-m-rt) do that.
+## See <https://docs.rs/cortex-m-rt/latest/cortex_m_rt/#device> for more info.
 rt = [ "rp-pac/rt" ]
 
 ## Enable [defmt support](https://docs.rs/defmt) and enables `defmt` debug-log messages and formatting in embassy drivers.

embassy-rp/src/pio_programs/clock_divider.rs

@@ -0,0 +1,25 @@
+//! Helper functions for calculating PIO clock dividers
+
+use fixed::traits::ToFixed;
+use fixed::types::extra::U8;
+
+use crate::clocks::clk_sys_freq;
+
+/// Calculate a PIO clock divider value based on the desired target frequency.
+///
+/// # Arguments
+///
+/// * `target_hz` - The desired PIO clock frequency in Hz
+///
+/// # Returns
+///
+/// A fixed-point divider value suitable for use in a PIO state machine configuration
+#[inline]
+pub fn calculate_pio_clock_divider(target_hz: u32) -> fixed::FixedU32<U8> {
+    // Requires a non-zero frequency
+    assert!(target_hz > 0, "PIO clock frequency cannot be zero");
+
+    // Calculate the divider
+    let divider = (clk_sys_freq() + target_hz / 2) / target_hz;
+    divider.to_fixed()
+}

embassy-rp/src/pio_programs/hd44780.rs

@@ -5,6 +5,7 @@ use crate::pio::{
     Common, Config, Direction, FifoJoin, Instance, Irq, LoadedProgram, PioPin, ShiftConfig, ShiftDirection,
     StateMachine,
 };
+use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 use crate::Peri;
 
 /// This struct represents a HD44780 program that takes command words (<wait:24> <command:4> <0:4>)
@@ -134,7 +135,10 @@ impl<'l, P: Instance, const S: usize> PioHD44780<'l, P, S> {
 
         let mut cfg = Config::default();
         cfg.use_program(&word_prg.prg, &[&e]);
-        cfg.clock_divider = 125u8.into();
+
+        // Target 1 MHz PIO clock (each cycle is 1µs)
+        cfg.clock_divider = calculate_pio_clock_divider(1_000_000);
+
         cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
         cfg.shift_out = ShiftConfig {
             auto_fill: true,
@@ -160,7 +164,10 @@ impl<'l, P: Instance, const S: usize> PioHD44780<'l, P, S> {
 
         let mut cfg = Config::default();
         cfg.use_program(&seq_prg.prg, &[&e]);
-        cfg.clock_divider = 8u8.into(); // ~64ns/insn
+
+        // Target ~15.6 MHz PIO clock (~64ns/insn)
+        cfg.clock_divider = calculate_pio_clock_divider(15_600_000);
+
         cfg.set_jmp_pin(&db7);
         cfg.set_set_pins(&[&rs, &rw]);
         cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);

embassy-rp/src/pio_programs/mod.rs

@@ -1,5 +1,6 @@
 //! Pre-built pio programs for common interfaces
 
+pub mod clock_divider;
 pub mod hd44780;
 pub mod i2s;
 pub mod onewire;

embassy-rp/src/pio_programs/rotary_encoder.rs

@@ -1,11 +1,10 @@
 //! PIO backed quadrature encoder
 
-use fixed::traits::ToFixed;
-
 use crate::gpio::Pull;
 use crate::pio::{
     Common, Config, Direction as PioDirection, FifoJoin, Instance, LoadedProgram, PioPin, ShiftDirection, StateMachine,
 };
+use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 use crate::Peri;
 
 /// This struct represents an Encoder program loaded into pio instruction memory.
@@ -48,7 +47,10 @@ impl<'d, T: Instance, const SM: usize> PioEncoder<'d, T, SM> {
         cfg.set_in_pins(&[&pin_a, &pin_b]);
         cfg.fifo_join = FifoJoin::RxOnly;
         cfg.shift_in.direction = ShiftDirection::Left;
-        cfg.clock_divider = 10_000.to_fixed();
+
+        // Target 12.5 KHz PIO clock
+        cfg.clock_divider = calculate_pio_clock_divider(12_500);
+
         cfg.use_program(&program.prg, &[]);
         sm.set_config(&cfg);
         sm.set_enable(true);

embassy-rp/src/pio_programs/stepper.rs

@@ -2,11 +2,8 @@
 
 use core::mem::{self, MaybeUninit};
 
-use fixed::traits::ToFixed;
-use fixed::types::extra::U8;
-use fixed::FixedU32;
-
 use crate::pio::{Common, Config, Direction, Instance, Irq, LoadedProgram, PioPin, StateMachine};
+use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 use crate::Peri;
 
 /// This struct represents a Stepper driver program loaded into pio instruction memory.
@@ -64,7 +61,9 @@ impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
         sm.set_pin_dirs(Direction::Out, &[&pin0, &pin1, &pin2, &pin3]);
         let mut cfg = Config::default();
         cfg.set_out_pins(&[&pin0, &pin1, &pin2, &pin3]);
-        cfg.clock_divider = (125_000_000 / (100 * 136)).to_fixed();
+
+        cfg.clock_divider = calculate_pio_clock_divider(100 * 136);
+
         cfg.use_program(&program.prg, &[]);
         sm.set_config(&cfg);
         sm.set_enable(true);
@@ -73,9 +72,11 @@ impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
 
     /// Set pulse frequency
     pub fn set_frequency(&mut self, freq: u32) {
-        let clock_divider: FixedU32<U8> = (125_000_000 / (freq * 136)).to_fixed();
+        let clock_divider = calculate_pio_clock_divider(freq * 136);
-        assert!(clock_divider <= 65536, "clkdiv must be <= 65536");
+        let divider_f32 = clock_divider.to_num::<f32>();
-        assert!(clock_divider >= 1, "clkdiv must be >= 1");
+        assert!(divider_f32 <= 65536.0, "clkdiv must be <= 65536");
+        assert!(divider_f32 >= 1.0, "clkdiv must be >= 1");
+
         self.sm.set_clock_divider(clock_divider);
         self.sm.clkdiv_restart();
     }

embassy-rp/src/uart/buffered.rs

@@ -34,28 +34,29 @@ impl State {
 }
 
 /// Buffered UART driver.
-pub struct BufferedUart<'d, T: Instance> {
+pub struct BufferedUart {
-    pub(crate) rx: BufferedUartRx<'d, T>,
+    pub(super) rx: BufferedUartRx,
-    pub(crate) tx: BufferedUartTx<'d, T>,
+    pub(super) tx: BufferedUartTx,
 }
 
 /// Buffered UART RX handle.
-pub struct BufferedUartRx<'d, T: Instance> {
+pub struct BufferedUartRx {
-    pub(crate) phantom: PhantomData<&'d mut T>,
+    pub(super) info: &'static Info,
+    pub(super) state: &'static State,
 }
 
 /// Buffered UART TX handle.
-pub struct BufferedUartTx<'d, T: Instance> {
+pub struct BufferedUartTx {
-    pub(crate) phantom: PhantomData<&'d mut T>,
+    pub(super) info: &'static Info,
+    pub(super) state: &'static State,
 }
 
-pub(crate) fn init_buffers<'d, T: Instance + 'd>(
+pub(super) fn init_buffers<'d>(
-    _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+    info: &Info,
+    state: &State,
     tx_buffer: Option<&'d mut [u8]>,
     rx_buffer: Option<&'d mut [u8]>,
 ) {
-    let state = T::buffered_state();
-
     if let Some(tx_buffer) = tx_buffer {
         let len = tx_buffer.len();
         unsafe { state.tx_buf.init(tx_buffer.as_mut_ptr(), len) };
@@ -76,61 +77,73 @@ pub(crate) fn init_buffers<'d, T: Instance + 'd>(
     // This means we can leave the interrupt enabled the whole time as long as
     // we clear it after it happens. The downside is that the we manually have
     // to pend the ISR when we want data transmission to start.
-    let regs = T::regs();
+    info.regs.uartimsc().write(|w| {
-    regs.uartimsc().write(|w| {
         w.set_rxim(true);
         w.set_rtim(true);
         w.set_txim(true);
     });
 
-    T::Interrupt::unpend();
+    info.interrupt.unpend();
-    unsafe { T::Interrupt::enable() };
+    unsafe { info.interrupt.enable() };
 }
 
-impl<'d, T: Instance> BufferedUart<'d, T> {
+impl BufferedUart {
     /// Create a buffered UART instance.
-    pub fn new(
+    pub fn new<'d, T: Instance>(
         _uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(Some(tx.into()), Some(rx.into()), None, None, config);
+        super::Uart::<'d, Async>::init(T::info(), Some(tx.into()), Some(rx.into()), None, None, config);
-        init_buffers::<T>(irq, Some(tx_buffer), Some(rx_buffer));
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), Some(rx_buffer));
 
         Self {
-            rx: BufferedUartRx { phantom: PhantomData },
+            rx: BufferedUartRx {
-            tx: BufferedUartTx { phantom: PhantomData },
+                info: T::info(),
+                state: T::buffered_state(),
+            },
+            tx: BufferedUartTx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
         }
     }
 
     /// Create a buffered UART instance with flow control.
-    pub fn new_with_rtscts(
+    pub fn new_with_rtscts<'d, T: Instance>(
         _uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
         rts: Peri<'d, impl RtsPin<T>>,
         cts: Peri<'d, impl CtsPin<T>>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(
+        super::Uart::<'d, Async>::init(
+            T::info(),
             Some(tx.into()),
             Some(rx.into()),
             Some(rts.into()),
             Some(cts.into()),
             config,
         );
-        init_buffers::<T>(irq, Some(tx_buffer), Some(rx_buffer));
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), Some(rx_buffer));
 
         Self {
-            rx: BufferedUartRx { phantom: PhantomData },
+            rx: BufferedUartRx {
-            tx: BufferedUartTx { phantom: PhantomData },
+                info: T::info(),
+                state: T::buffered_state(),
+            },
+            tx: BufferedUartTx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
         }
     }
 
@@ -160,68 +173,75 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
     }
 
     /// sets baudrate on runtime
-    pub fn set_baudrate(&mut self, baudrate: u32) {
+    pub fn set_baudrate<'d>(&mut self, baudrate: u32) {
-        super::Uart::<'d, T, Async>::set_baudrate_inner(baudrate);
+        super::Uart::<'d, Async>::set_baudrate_inner(self.rx.info, baudrate);
     }
 
     /// Split into separate RX and TX handles.
-    pub fn split(self) -> (BufferedUartTx<'d, T>, BufferedUartRx<'d, T>) {
+    pub fn split(self) -> (BufferedUartTx, BufferedUartRx) {
         (self.tx, self.rx)
     }
 
     /// Split the Uart into a transmitter and receiver by mutable reference,
     /// which is particularly useful when having two tasks correlating to
     /// transmitting and receiving.
-    pub fn split_ref(&mut self) -> (&mut BufferedUartTx<'d, T>, &mut BufferedUartRx<'d, T>) {
+    pub fn split_ref(&mut self) -> (&mut BufferedUartTx, &mut BufferedUartRx) {
         (&mut self.tx, &mut self.rx)
     }
 }
 
-impl<'d, T: Instance> BufferedUartRx<'d, T> {
+impl BufferedUartRx {
     /// Create a new buffered UART RX.
-    pub fn new(
+    pub fn new<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx: Peri<'d, impl RxPin<T>>,
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(None, Some(rx.into()), None, None, config);
+        super::Uart::<'d, Async>::init(T::info(), None, Some(rx.into()), None, None, config);
-        init_buffers::<T>(irq, None, Some(rx_buffer));
+        init_buffers(T::info(), T::buffered_state(), None, Some(rx_buffer));
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
     /// Create a new buffered UART RX with flow control.
-    pub fn new_with_rts(
+    pub fn new_with_rts<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx: Peri<'d, impl RxPin<T>>,
         rts: Peri<'d, impl RtsPin<T>>,
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(None, Some(rx.into()), Some(rts.into()), None, config);
+        super::Uart::<'d, Async>::init(T::info(), None, Some(rx.into()), Some(rts.into()), None, config);
-        init_buffers::<T>(irq, None, Some(rx_buffer));
+        init_buffers(T::info(), T::buffered_state(), None, Some(rx_buffer));
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
-    fn read<'a>(buf: &'a mut [u8]) -> impl Future<Output = Result<usize, Error>> + 'a
+    fn read<'a>(
-    where
+        info: &'static Info,
-        T: 'd,
+        state: &'static State,
-    {
+        buf: &'a mut [u8],
+    ) -> impl Future<Output = Result<usize, Error>> + 'a {
         poll_fn(move |cx| {
-            if let Poll::Ready(r) = Self::try_read(buf) {
+            if let Poll::Ready(r) = Self::try_read(info, state, buf) {
                 return Poll::Ready(r);
             }
-            T::buffered_state().rx_waker.register(cx.waker());
+            state.rx_waker.register(cx.waker());
             Poll::Pending
         })
     }
 
-    fn get_rx_error() -> Option<Error> {
+    fn get_rx_error(state: &State) -> Option<Error> {
-        let errs = T::buffered_state().rx_error.swap(0, Ordering::Relaxed);
+        let errs = state.rx_error.swap(0, Ordering::Relaxed);
         if errs & RXE_OVERRUN != 0 {
             Some(Error::Overrun)
         } else if errs & RXE_BREAK != 0 {
@@ -235,15 +255,11 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         }
     }
 
-    fn try_read(buf: &mut [u8]) -> Poll<Result<usize, Error>>
+    fn try_read(info: &Info, state: &State, buf: &mut [u8]) -> Poll<Result<usize, Error>> {
-    where
-        T: 'd,
-    {
         if buf.is_empty() {
             return Poll::Ready(Ok(0));
         }
 
-        let state = T::buffered_state();
         let mut rx_reader = unsafe { state.rx_buf.reader() };
         let n = rx_reader.pop(|data| {
             let n = data.len().min(buf.len());
@@ -252,7 +268,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         });
 
         let result = if n == 0 {
-            match Self::get_rx_error() {
+            match Self::get_rx_error(state) {
                 None => return Poll::Pending,
                 Some(e) => Err(e),
             }
@@ -262,8 +278,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
 
         // (Re-)Enable the interrupt to receive more data in case it was
         // disabled because the buffer was full or errors were detected.
-        let regs = T::regs();
+        info.regs.uartimsc().write_set(|w| {
-        regs.uartimsc().write_set(|w| {
             w.set_rxim(true);
             w.set_rtim(true);
         });
@@ -274,23 +289,19 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
     /// Read from UART RX buffer blocking execution until done.
     pub fn blocking_read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
         loop {
-            match Self::try_read(buf) {
+            match Self::try_read(self.info, self.state, buf) {
                 Poll::Ready(res) => return res,
                 Poll::Pending => continue,
             }
         }
     }
 
-    fn fill_buf<'a>() -> impl Future<Output = Result<&'a [u8], Error>>
+    fn fill_buf<'a>(state: &'static State) -> impl Future<Output = Result<&'a [u8], Error>> {
-    where
-        T: 'd,
-    {
         poll_fn(move |cx| {
-            let state = T::buffered_state();
             let mut rx_reader = unsafe { state.rx_buf.reader() };
             let (p, n) = rx_reader.pop_buf();
             let result = if n == 0 {
-                match Self::get_rx_error() {
+                match Self::get_rx_error(state) {
                     None => {
                         state.rx_waker.register(cx.waker());
                         return Poll::Pending;
@@ -306,64 +317,70 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         })
     }
 
-    fn consume(amt: usize) {
+    fn consume(info: &Info, state: &State, amt: usize) {
-        let state = T::buffered_state();
         let mut rx_reader = unsafe { state.rx_buf.reader() };
         rx_reader.pop_done(amt);
 
         // (Re-)Enable the interrupt to receive more data in case it was
         // disabled because the buffer was full or errors were detected.
-        let regs = T::regs();
+        info.regs.uartimsc().write_set(|w| {
-        regs.uartimsc().write_set(|w| {
             w.set_rxim(true);
             w.set_rtim(true);
         });
     }
 
     /// we are ready to read if there is data in the buffer
-    fn read_ready() -> Result<bool, Error> {
+    fn read_ready(state: &State) -> Result<bool, Error> {
-        let state = T::buffered_state();
         Ok(!state.rx_buf.is_empty())
     }
 }
 
-impl<'d, T: Instance> BufferedUartTx<'d, T> {
+impl BufferedUartTx {
     /// Create a new buffered UART TX.
-    pub fn new(
+    pub fn new<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: Peri<'d, impl TxPin<T>>,
         tx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(Some(tx.into()), None, None, None, config);
+        super::Uart::<'d, Async>::init(T::info(), Some(tx.into()), None, None, None, config);
-        init_buffers::<T>(irq, Some(tx_buffer), None);
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), None);
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
     /// Create a new buffered UART TX with flow control.
-    pub fn new_with_cts(
+    pub fn new_with_cts<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: Peri<'d, impl TxPin<T>>,
         cts: Peri<'d, impl CtsPin<T>>,
         tx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(Some(tx.into()), None, None, Some(cts.into()), config);
+        super::Uart::<'d, Async>::init(T::info(), Some(tx.into()), None, None, Some(cts.into()), config);
-        init_buffers::<T>(irq, Some(tx_buffer), None);
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), None);
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
-    fn write(buf: &[u8]) -> impl Future<Output = Result<usize, Error>> + '_ {
+    fn write<'d>(
+        info: &'static Info,
+        state: &'static State,
+        buf: &'d [u8],
+    ) -> impl Future<Output = Result<usize, Error>> + 'd {
         poll_fn(move |cx| {
             if buf.is_empty() {
                 return Poll::Ready(Ok(0));
             }
 
-            let state = T::buffered_state();
             let mut tx_writer = unsafe { state.tx_buf.writer() };
             let n = tx_writer.push(|data| {
                 let n = data.len().min(buf.len());
@@ -379,14 +396,13 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
             // FIFO and the number of bytes drops below a threshold. When the
             // FIFO was empty we have to manually pend the interrupt to shovel
             // TX data from the buffer into the FIFO.
-            T::Interrupt::pend();
+            info.interrupt.pend();
             Poll::Ready(Ok(n))
         })
     }
 
-    fn flush() -> impl Future<Output = Result<(), Error>> {
+    fn flush(state: &'static State) -> impl Future<Output = Result<(), Error>> {
         poll_fn(move |cx| {
-            let state = T::buffered_state();
             if !state.tx_buf.is_empty() {
                 state.tx_waker.register(cx.waker());
                 return Poll::Pending;
@@ -403,8 +419,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         }
 
         loop {
-            let state = T::buffered_state();
+            let mut tx_writer = unsafe { self.state.tx_buf.writer() };
-            let mut tx_writer = unsafe { state.tx_buf.writer() };
             let n = tx_writer.push(|data| {
                 let n = data.len().min(buf.len());
                 data[..n].copy_from_slice(&buf[..n]);
@@ -416,7 +431,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
                 // FIFO and the number of bytes drops below a threshold. When the
                 // FIFO was empty we have to manually pend the interrupt to shovel
                 // TX data from the buffer into the FIFO.
-                T::Interrupt::pend();
+                self.info.interrupt.pend();
                 return Ok(n);
             }
         }
@@ -425,8 +440,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
         loop {
-            let state = T::buffered_state();
+            if self.state.tx_buf.is_empty() {
-            if state.tx_buf.is_empty() {
                 return Ok(());
             }
         }
@@ -434,7 +448,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
 
     /// Check if UART is busy.
     pub fn busy(&self) -> bool {
-        T::regs().uartfr().read().busy()
+        self.info.regs.uartfr().read().busy()
     }
 
     /// Assert a break condition after waiting for the transmit buffers to empty,
@@ -445,7 +459,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     /// This method may block for a long amount of time since it has to wait
     /// for the transmit fifo to empty, which may take a while on slow links.
     pub async fn send_break(&mut self, bits: u32) {
-        let regs = T::regs();
+        let regs = self.info.regs;
         let bits = bits.max({
             let lcr = regs.uartlcr_h().read();
             let width = lcr.wlen() as u32 + 5;
@@ -458,7 +472,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         let div_clk = clk_peri_freq() as u64 * 64;
         let wait_usecs = (1_000_000 * bits as u64 * divx64 * 16 + div_clk - 1) / div_clk;
 
-        Self::flush().await.unwrap();
+        Self::flush(self.state).await.unwrap();
         while self.busy() {}
         regs.uartlcr_h().write_set(|w| w.set_brk(true));
         Timer::after_micros(wait_usecs).await;
@@ -466,28 +480,26 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     }
 }
 
-impl<'d, T: Instance> Drop for BufferedUartRx<'d, T> {
+impl Drop for BufferedUartRx {
     fn drop(&mut self) {
-        let state = T::buffered_state();
+        unsafe { self.state.rx_buf.deinit() }
-        unsafe { state.rx_buf.deinit() }
 
         // TX is inactive if the buffer is not available.
         // We can now unregister the interrupt handler
-        if !state.tx_buf.is_available() {
+        if !self.state.tx_buf.is_available() {
-            T::Interrupt::disable();
+            self.info.interrupt.disable();
         }
     }
 }
 
-impl<'d, T: Instance> Drop for BufferedUartTx<'d, T> {
+impl Drop for BufferedUartTx {
     fn drop(&mut self) {
-        let state = T::buffered_state();
+        unsafe { self.state.tx_buf.deinit() }
-        unsafe { state.tx_buf.deinit() }
 
         // RX is inactive if the buffer is not available.
         // We can now unregister the interrupt handler
-        if !state.rx_buf.is_available() {
+        if !self.state.rx_buf.is_available() {
-            T::Interrupt::disable();
+            self.info.interrupt.disable();
         }
     }
 }
@@ -499,7 +511,7 @@ pub struct BufferedInterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for BufferedInterruptHandler<T> {
     unsafe fn on_interrupt() {
-        let r = T::regs();
+        let r = T::info().regs;
         if r.uartdmacr().read().rxdmae() {
             return;
         }
@@ -603,95 +615,95 @@ impl embedded_io::Error for Error {
     }
 }
 
-impl<'d, T: Instance> embedded_io_async::ErrorType for BufferedUart<'d, T> {
+impl embedded_io_async::ErrorType for BufferedUart {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io_async::ErrorType for BufferedUartRx<'d, T> {
+impl embedded_io_async::ErrorType for BufferedUartRx {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io_async::ErrorType for BufferedUartTx<'d, T> {
+impl embedded_io_async::ErrorType for BufferedUartTx {
     type Error = Error;
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Read for BufferedUart<'d, T> {
+impl embedded_io_async::Read for BufferedUart {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        BufferedUartRx::<'d, T>::read(buf).await
+        BufferedUartRx::read(self.rx.info, self.rx.state, buf).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Read for BufferedUartRx<'d, T> {
+impl embedded_io_async::Read for BufferedUartRx {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        Self::read(buf).await
+        Self::read(self.info, self.state, buf).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::ReadReady for BufferedUart<'d, T> {
+impl embedded_io_async::ReadReady for BufferedUart {
     fn read_ready(&mut self) -> Result<bool, Self::Error> {
-        BufferedUartRx::<'d, T>::read_ready()
+        BufferedUartRx::read_ready(self.rx.state)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::ReadReady for BufferedUartRx<'d, T> {
+impl embedded_io_async::ReadReady for BufferedUartRx {
     fn read_ready(&mut self) -> Result<bool, Self::Error> {
-        Self::read_ready()
+        Self::read_ready(self.state)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::BufRead for BufferedUart<'d, T> {
+impl embedded_io_async::BufRead for BufferedUart {
     async fn fill_buf(&mut self) -> Result<&[u8], Self::Error> {
-        BufferedUartRx::<'d, T>::fill_buf().await
+        BufferedUartRx::fill_buf(self.rx.state).await
     }
 
     fn consume(&mut self, amt: usize) {
-        BufferedUartRx::<'d, T>::consume(amt)
+        BufferedUartRx::consume(self.rx.info, self.rx.state, amt)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::BufRead for BufferedUartRx<'d, T> {
+impl embedded_io_async::BufRead for BufferedUartRx {
     async fn fill_buf(&mut self) -> Result<&[u8], Self::Error> {
-        Self::fill_buf().await
+        Self::fill_buf(self.state).await
     }
 
     fn consume(&mut self, amt: usize) {
-        Self::consume(amt)
+        Self::consume(self.info, self.state, amt)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Write for BufferedUart<'d, T> {
+impl embedded_io_async::Write for BufferedUart {
     async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        BufferedUartTx::<'d, T>::write(buf).await
+        BufferedUartTx::write(self.tx.info, self.tx.state, buf).await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {
-        BufferedUartTx::<'d, T>::flush().await
+        BufferedUartTx::flush(self.tx.state).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Write for BufferedUartTx<'d, T> {
+impl embedded_io_async::Write for BufferedUartTx {
     async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        Self::write(buf).await
+        Self::write(self.info, self.state, buf).await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {
-        Self::flush().await
+        Self::flush(self.state).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Read for BufferedUart<'d, T> {
+impl embedded_io::Read for BufferedUart {
     fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
         self.rx.blocking_read(buf)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Read for BufferedUartRx<'d, T> {
+impl embedded_io::Read for BufferedUartRx {
     fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
         self.blocking_read(buf)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUart<'d, T> {
+impl embedded_io::Write for BufferedUart {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.tx.blocking_write(buf)
     }
@@ -701,7 +713,7 @@ impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUart<'d, T> {
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUartTx<'d, T> {
+impl embedded_io::Write for BufferedUartTx {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.blocking_write(buf)
     }
@@ -711,11 +723,11 @@ impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUartTx<'d, T> {
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUartRx<'d, T> {
+impl embedded_hal_02::serial::Read<u8> for BufferedUartRx {
     type Error = Error;
 
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().rxfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -736,7 +748,7 @@ impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUartRx<'d, T
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedUartTx<'d, T> {
+impl embedded_hal_02::blocking::serial::Write<u8> for BufferedUartTx {
     type Error = Error;
 
     fn bwrite_all(&mut self, mut buffer: &[u8]) -> Result<(), Self::Error> {
@@ -755,7 +767,7 @@ impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedU
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUart<'d, T> {
+impl embedded_hal_02::serial::Read<u8> for BufferedUart {
     type Error = Error;
 
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
@@ -763,7 +775,7 @@ impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUart<'d, T>
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedUart<'d, T> {
+impl embedded_hal_02::blocking::serial::Write<u8> for BufferedUart {
     type Error = Error;
 
     fn bwrite_all(&mut self, mut buffer: &[u8]) -> Result<(), Self::Error> {
@@ -782,25 +794,25 @@ impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedU
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::ErrorType for BufferedUartRx<'d, T> {
+impl embedded_hal_nb::serial::ErrorType for BufferedUartRx {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::ErrorType for BufferedUartTx<'d, T> {
+impl embedded_hal_nb::serial::ErrorType for BufferedUartTx {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::ErrorType for BufferedUart<'d, T> {
+impl embedded_hal_nb::serial::ErrorType for BufferedUart {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Read for BufferedUartRx<'d, T> {
+impl embedded_hal_nb::serial::Read for BufferedUartRx {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
         embedded_hal_02::serial::Read::read(self)
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUartTx<'d, T> {
+impl embedded_hal_nb::serial::Write for BufferedUartTx {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map(drop).map_err(nb::Error::Other)
     }
@@ -810,13 +822,13 @@ impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUartTx<'d, T> {
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Read for BufferedUart<'d, T> {
+impl embedded_hal_nb::serial::Read for BufferedUart {
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
         embedded_hal_02::serial::Read::read(&mut self.rx)
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUart<'d, T> {
+impl embedded_hal_nb::serial::Write for BufferedUart {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map(drop).map_err(nb::Error::Other)
     }

embassy-rp/src/uart/mod.rs

@@ -13,7 +13,8 @@ use pac::uart::regs::Uartris;
 use crate::clocks::clk_peri_freq;
 use crate::dma::{AnyChannel, Channel};
 use crate::gpio::{AnyPin, SealedPin};
-use crate::interrupt::typelevel::{Binding, Interrupt};
+use crate::interrupt::typelevel::{Binding, Interrupt as _};
+use crate::interrupt::{Interrupt, InterruptExt};
 use crate::pac::io::vals::{Inover, Outover};
 use crate::{interrupt, pac, peripherals, RegExt};
 
@@ -135,37 +136,41 @@ pub struct DmaState {
 }
 
 /// UART driver.
-pub struct Uart<'d, T: Instance, M: Mode> {
+pub struct Uart<'d, M: Mode> {
-    tx: UartTx<'d, T, M>,
+    tx: UartTx<'d, M>,
-    rx: UartRx<'d, T, M>,
+    rx: UartRx<'d, M>,
 }
 
 /// UART TX driver.
-pub struct UartTx<'d, T: Instance, M: Mode> {
+pub struct UartTx<'d, M: Mode> {
+    info: &'static Info,
     tx_dma: Option<Peri<'d, AnyChannel>>,
-    phantom: PhantomData<(&'d mut T, M)>,
+    phantom: PhantomData<M>,
 }
 
 /// UART RX driver.
-pub struct UartRx<'d, T: Instance, M: Mode> {
+pub struct UartRx<'d, M: Mode> {
+    info: &'static Info,
+    dma_state: &'static DmaState,
     rx_dma: Option<Peri<'d, AnyChannel>>,
-    phantom: PhantomData<(&'d mut T, M)>,
+    phantom: PhantomData<M>,
 }
 
-impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
+impl<'d, M: Mode> UartTx<'d, M> {
     /// Create a new DMA-enabled UART which can only send data
-    pub fn new(
+    pub fn new<T: Instance>(
         _uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         tx_dma: Peri<'d, impl Channel>,
         config: Config,
     ) -> Self {
-        Uart::<T, M>::init(Some(tx.into()), None, None, None, config);
+        Uart::<M>::init(T::info(), Some(tx.into()), None, None, None, config);
-        Self::new_inner(Some(tx_dma.into()))
+        Self::new_inner(T::info(), Some(tx_dma.into()))
     }
 
-    fn new_inner(tx_dma: Option<Peri<'d, AnyChannel>>) -> Self {
+    fn new_inner(info: &'static Info, tx_dma: Option<Peri<'d, AnyChannel>>) -> Self {
         Self {
+            info,
             tx_dma,
             phantom: PhantomData,
         }
@@ -173,7 +178,7 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
 
     /// Transmit the provided buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
-        let r = T::regs();
+        let r = self.info.regs;
         for &b in buffer {
             while r.uartfr().read().txff() {}
             r.uartdr().write(|w| w.set_data(b));
@@ -183,14 +188,13 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
 
     /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
-        let r = T::regs();
+        while !self.info.regs.uartfr().read().txfe() {}
-        while !r.uartfr().read().txfe() {}
         Ok(())
     }
 
     /// Check if UART is busy transmitting.
     pub fn busy(&self) -> bool {
-        T::regs().uartfr().read().busy()
+        self.info.regs.uartfr().read().busy()
     }
 
     /// Assert a break condition after waiting for the transmit buffers to empty,
@@ -201,7 +205,7 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
     /// This method may block for a long amount of time since it has to wait
     /// for the transmit fifo to empty, which may take a while on slow links.
     pub async fn send_break(&mut self, bits: u32) {
-        let regs = T::regs();
+        let regs = self.info.regs;
         let bits = bits.max({
             let lcr = regs.uartlcr_h().read();
             let width = lcr.wlen() as u32 + 5;
@@ -222,65 +226,80 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
     }
 }
 
-impl<'d, T: Instance> UartTx<'d, T, Blocking> {
+impl<'d> UartTx<'d, Blocking> {
     /// Create a new UART TX instance for blocking mode operations.
-    pub fn new_blocking(_uart: Peri<'d, T>, tx: Peri<'d, impl TxPin<T>>, config: Config) -> Self {
+    pub fn new_blocking<T: Instance>(_uart: Peri<'d, T>, tx: Peri<'d, impl TxPin<T>>, config: Config) -> Self {
-        Uart::<T, Blocking>::init(Some(tx.into()), None, None, None, config);
+        Uart::<Blocking>::init(T::info(), Some(tx.into()), None, None, None, config);
-        Self::new_inner(None)
+        Self::new_inner(T::info(), None)
     }
 
     /// Convert this uart TX instance into a buffered uart using the provided
     /// irq and transmit buffer.
-    pub fn into_buffered(
+    pub fn into_buffered<T: Instance>(
         self,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
-    ) -> BufferedUartTx<'d, T> {
+    ) -> BufferedUartTx {
-        buffered::init_buffers::<T>(irq, Some(tx_buffer), None);
+        buffered::init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), None);
 
-        BufferedUartTx { phantom: PhantomData }
+        BufferedUartTx {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 }
 
-impl<'d, T: Instance> UartTx<'d, T, Async> {
+impl<'d> UartTx<'d, Async> {
     /// Write to UART TX from the provided buffer using DMA.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         let ch = self.tx_dma.as_mut().unwrap().reborrow();
         let transfer = unsafe {
-            T::regs().uartdmacr().write_set(|reg| {
+            self.info.regs.uartdmacr().write_set(|reg| {
                 reg.set_txdmae(true);
             });
             // If we don't assign future to a variable, the data register pointer
             // is held across an await and makes the future non-Send.
-            crate::dma::write(ch, buffer, T::regs().uartdr().as_ptr() as *mut _, T::TX_DREQ.into())
+            crate::dma::write(
+                ch,
+                buffer,
+                self.info.regs.uartdr().as_ptr() as *mut _,
+                self.info.tx_dreq.into(),
+            )
         };
         transfer.await;
         Ok(())
     }
 }
 
-impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
+impl<'d, M: Mode> UartRx<'d, M> {
     /// Create a new DMA-enabled UART which can only receive data
-    pub fn new(
+    pub fn new<T: Instance>(
         _uart: Peri<'d, T>,
         rx: Peri<'d, impl RxPin<T>>,
         _irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
         rx_dma: Peri<'d, impl Channel>,
         config: Config,
     ) -> Self {
-        Uart::<T, M>::init(None, Some(rx.into()), None, None, config);
+        Uart::<M>::init(T::info(), None, Some(rx.into()), None, None, config);
-        Self::new_inner(true, Some(rx_dma.into()))
+        Self::new_inner(T::info(), T::dma_state(), true, Some(rx_dma.into()))
     }
 
-    fn new_inner(has_irq: bool, rx_dma: Option<Peri<'d, AnyChannel>>) -> Self {
+    fn new_inner(
+        info: &'static Info,
+        dma_state: &'static DmaState,
+        has_irq: bool,
+        rx_dma: Option<Peri<'d, AnyChannel>>,
+    ) -> Self {
         debug_assert_eq!(has_irq, rx_dma.is_some());
         if has_irq {
             // disable all error interrupts initially
-            T::regs().uartimsc().write(|w| w.0 = 0);
+            info.regs.uartimsc().write(|w| w.0 = 0);
-            T::Interrupt::unpend();
+            info.interrupt.unpend();
-            unsafe { T::Interrupt::enable() };
+            unsafe { info.interrupt.enable() };
         }
         Self {
+            info,
+            dma_state,
             rx_dma,
             phantom: PhantomData,
         }
@@ -299,7 +318,7 @@ impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
     /// encountered. in both cases, `len` is the number of *good* bytes copied into
     /// `buffer`.
     fn drain_fifo(&mut self, buffer: &mut [u8]) -> Result<usize, (usize, Error)> {
-        let r = T::regs();
+        let r = self.info.regs;
         for (i, b) in buffer.iter_mut().enumerate() {
             if r.uartfr().read().rxfe() {
                 return Ok(i);
@@ -323,12 +342,12 @@ impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
     }
 }
 
-impl<'d, T: Instance, M: Mode> Drop for UartRx<'d, T, M> {
+impl<'d, M: Mode> Drop for UartRx<'d, M> {
     fn drop(&mut self) {
         if self.rx_dma.is_some() {
-            T::Interrupt::disable();
+            self.info.interrupt.disable();
             // clear dma flags. irq handlers use these to disambiguate among themselves.
-            T::regs().uartdmacr().write_clear(|reg| {
+            self.info.regs.uartdmacr().write_clear(|reg| {
                 reg.set_rxdmae(true);
                 reg.set_txdmae(true);
                 reg.set_dmaonerr(true);
@@ -337,23 +356,26 @@ impl<'d, T: Instance, M: Mode> Drop for UartRx<'d, T, M> {
     }
 }
 
-impl<'d, T: Instance> UartRx<'d, T, Blocking> {
+impl<'d> UartRx<'d, Blocking> {
     /// Create a new UART RX instance for blocking mode operations.
-    pub fn new_blocking(_uart: Peri<'d, T>, rx: Peri<'d, impl RxPin<T>>, config: Config) -> Self {
+    pub fn new_blocking<T: Instance>(_uart: Peri<'d, T>, rx: Peri<'d, impl RxPin<T>>, config: Config) -> Self {
-        Uart::<T, Blocking>::init(None, Some(rx.into()), None, None, config);
+        Uart::<Blocking>::init(T::info(), None, Some(rx.into()), None, None, config);
-        Self::new_inner(false, None)
+        Self::new_inner(T::info(), T::dma_state(), false, None)
     }
 
     /// Convert this uart RX instance into a buffered uart using the provided
     /// irq and receive buffer.
-    pub fn into_buffered(
+    pub fn into_buffered<T: Instance>(
         self,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx_buffer: &'d mut [u8],
-    ) -> BufferedUartRx<'d, T> {
+    ) -> BufferedUartRx {
-        buffered::init_buffers::<T>(irq, None, Some(rx_buffer));
+        buffered::init_buffers(T::info(), T::buffered_state(), None, Some(rx_buffer));
 
-        BufferedUartRx { phantom: PhantomData }
+        BufferedUartRx {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 }
 
@@ -364,7 +386,7 @@ pub struct InterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
     unsafe fn on_interrupt() {
-        let uart = T::regs();
+        let uart = T::info().regs;
         if !uart.uartdmacr().read().rxdmae() {
             return;
         }
@@ -380,13 +402,13 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
     }
 }
 
-impl<'d, T: Instance> UartRx<'d, T, Async> {
+impl<'d> UartRx<'d, Async> {
     /// Read from UART RX into the provided buffer.
     pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
         // clear error flags before we drain the fifo. errors that have accumulated
         // in the flags will also be present in the fifo.
-        T::dma_state().rx_errs.store(0, Ordering::Relaxed);
+        self.dma_state.rx_errs.store(0, Ordering::Relaxed);
-        T::regs().uarticr().write(|w| {
+        self.info.regs.uarticr().write(|w| {
             w.set_oeic(true);
             w.set_beic(true);
             w.set_peic(true);
@@ -408,28 +430,33 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
         // interrupt flags will have been raised, and those will be picked up immediately
         // by the interrupt handler.
         let ch = self.rx_dma.as_mut().unwrap().reborrow();
-        T::regs().uartimsc().write_set(|w| {
+        self.info.regs.uartimsc().write_set(|w| {
             w.set_oeim(true);
             w.set_beim(true);
             w.set_peim(true);
             w.set_feim(true);
         });
-        T::regs().uartdmacr().write_set(|reg| {
+        self.info.regs.uartdmacr().write_set(|reg| {
             reg.set_rxdmae(true);
             reg.set_dmaonerr(true);
         });
         let transfer = unsafe {
             // If we don't assign future to a variable, the data register pointer
             // is held across an await and makes the future non-Send.
-            crate::dma::read(ch, T::regs().uartdr().as_ptr() as *const _, buffer, T::RX_DREQ.into())
+            crate::dma::read(
+                ch,
+                self.info.regs.uartdr().as_ptr() as *const _,
+                buffer,
+                self.info.rx_dreq.into(),
+            )
         };
 
         // wait for either the transfer to complete or an error to happen.
         let transfer_result = select(
             transfer,
             poll_fn(|cx| {
-                T::dma_state().rx_err_waker.register(cx.waker());
+                self.dma_state.rx_err_waker.register(cx.waker());
-                match T::dma_state().rx_errs.swap(0, Ordering::Relaxed) {
+                match self.dma_state.rx_errs.swap(0, Ordering::Relaxed) {
                     0 => Poll::Pending,
                     e => Poll::Ready(Uartris(e as u32)),
                 }
@@ -441,7 +468,7 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
             Either::First(()) => {
                 // We're here because the DMA finished, BUT if an error occurred on the LAST
                 // byte, then we may still need to grab the error state!
-                Uartris(T::dma_state().rx_errs.swap(0, Ordering::Relaxed) as u32)
+                Uartris(self.dma_state.rx_errs.swap(0, Ordering::Relaxed) as u32)
             }
             Either::Second(e) => {
                 // We're here because we errored, which means this is the error that
@@ -521,8 +548,8 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
     ) -> Result<usize, ReadToBreakError> {
         // clear error flags before we drain the fifo. errors that have accumulated
         // in the flags will also be present in the fifo.
-        T::dma_state().rx_errs.store(0, Ordering::Relaxed);
+        self.dma_state.rx_errs.store(0, Ordering::Relaxed);
-        T::regs().uarticr().write(|w| {
+        self.info.regs.uarticr().write(|w| {
             w.set_oeic(true);
             w.set_beic(true);
             w.set_peic(true);
@@ -555,13 +582,13 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
         // interrupt flags will have been raised, and those will be picked up immediately
         // by the interrupt handler.
         let ch = self.rx_dma.as_mut().unwrap();
-        T::regs().uartimsc().write_set(|w| {
+        self.info.regs.uartimsc().write_set(|w| {
             w.set_oeim(true);
             w.set_beim(true);
             w.set_peim(true);
             w.set_feim(true);
         });
-        T::regs().uartdmacr().write_set(|reg| {
+        self.info.regs.uartdmacr().write_set(|reg| {
             reg.set_rxdmae(true);
             reg.set_dmaonerr(true);
         });
@@ -572,9 +599,9 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
                 // is held across an await and makes the future non-Send.
                 crate::dma::read(
                     ch.reborrow(),
-                    T::regs().uartdr().as_ptr() as *const _,
+                    self.info.regs.uartdr().as_ptr() as *const _,
                     sbuffer,
-                    T::RX_DREQ.into(),
+                    self.info.rx_dreq.into(),
                 )
             };
 
@@ -582,8 +609,8 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
             let transfer_result = select(
                 transfer,
                 poll_fn(|cx| {
-                    T::dma_state().rx_err_waker.register(cx.waker());
+                    self.dma_state.rx_err_waker.register(cx.waker());
-                    match T::dma_state().rx_errs.swap(0, Ordering::Relaxed) {
+                    match self.dma_state.rx_errs.swap(0, Ordering::Relaxed) {
                         0 => Poll::Pending,
                         e => Poll::Ready(Uartris(e as u32)),
                     }
@@ -596,7 +623,7 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
                 Either::First(()) => {
                     // We're here because the DMA finished, BUT if an error occurred on the LAST
                     // byte, then we may still need to grab the error state!
-                    Uartris(T::dma_state().rx_errs.swap(0, Ordering::Relaxed) as u32)
+                    Uartris(self.dma_state.rx_errs.swap(0, Ordering::Relaxed) as u32)
                 }
                 Either::Second(e) => {
                     // We're here because we errored, which means this is the error that
@@ -635,7 +662,7 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
                     continue;
                 }
 
-                let regs = T::regs();
+                let regs = self.info.regs;
                 let all_full = next_addr == eval;
 
                 // NOTE: This is off label usage of RSR! See the issue below for
@@ -685,9 +712,9 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
     }
 }
 
-impl<'d, T: Instance> Uart<'d, T, Blocking> {
+impl<'d> Uart<'d, Blocking> {
     /// Create a new UART without hardware flow control
-    pub fn new_blocking(
+    pub fn new_blocking<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -697,7 +724,7 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
     }
 
     /// Create a new UART with hardware flow control (RTS/CTS)
-    pub fn new_with_rtscts_blocking(
+    pub fn new_with_rtscts_blocking<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -720,24 +747,30 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
 
     /// Convert this uart instance into a buffered uart using the provided
     /// irq, transmit and receive buffers.
-    pub fn into_buffered(
+    pub fn into_buffered<T: Instance>(
         self,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
-    ) -> BufferedUart<'d, T> {
+    ) -> BufferedUart {
-        buffered::init_buffers::<T>(irq, Some(tx_buffer), Some(rx_buffer));
+        buffered::init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), Some(rx_buffer));
 
         BufferedUart {
-            rx: BufferedUartRx { phantom: PhantomData },
+            rx: BufferedUartRx {
-            tx: BufferedUartTx { phantom: PhantomData },
+                info: T::info(),
+                state: T::buffered_state(),
+            },
+            tx: BufferedUartTx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
         }
     }
 }
 
-impl<'d, T: Instance> Uart<'d, T, Async> {
+impl<'d> Uart<'d, Async> {
     /// Create a new DMA enabled UART without hardware flow control
-    pub fn new(
+    pub fn new<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -760,7 +793,7 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
     }
 
     /// Create a new DMA enabled UART with hardware flow control (RTS/CTS)
-    pub fn new_with_rtscts(
+    pub fn new_with_rtscts<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -785,8 +818,8 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
     }
 }
 
-impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
+impl<'d, M: Mode> Uart<'d, M> {
-    fn new_inner(
+    fn new_inner<T: Instance>(
         _uart: Peri<'d, T>,
         mut tx: Peri<'d, AnyPin>,
         mut rx: Peri<'d, AnyPin>,
@@ -798,6 +831,7 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         config: Config,
     ) -> Self {
         Self::init(
+            T::info(),
             Some(tx.reborrow()),
             Some(rx.reborrow()),
             rts.as_mut().map(|x| x.reborrow()),
@@ -806,19 +840,20 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         );
 
         Self {
-            tx: UartTx::new_inner(tx_dma),
+            tx: UartTx::new_inner(T::info(), tx_dma),
-            rx: UartRx::new_inner(has_irq, rx_dma),
+            rx: UartRx::new_inner(T::info(), T::dma_state(), has_irq, rx_dma),
         }
     }
 
     fn init(
+        info: &Info,
         tx: Option<Peri<'_, AnyPin>>,
         rx: Option<Peri<'_, AnyPin>>,
         rts: Option<Peri<'_, AnyPin>>,
         cts: Option<Peri<'_, AnyPin>>,
         config: Config,
     ) {
-        let r = T::regs();
+        let r = info.regs;
         if let Some(pin) = &tx {
             let funcsel = {
                 let pin_number = ((pin.gpio().as_ptr() as u32) & 0x1FF) / 8;
@@ -896,7 +931,7 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
             });
         }
 
-        Self::set_baudrate_inner(config.baudrate);
+        Self::set_baudrate_inner(info, config.baudrate);
 
         let (pen, eps) = match config.parity {
             Parity::ParityNone => (false, false),
@@ -926,8 +961,8 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         });
     }
 
-    fn lcr_modify<R>(f: impl FnOnce(&mut crate::pac::uart::regs::UartlcrH) -> R) -> R {
+    fn lcr_modify<R>(info: &Info, f: impl FnOnce(&mut crate::pac::uart::regs::UartlcrH) -> R) -> R {
-        let r = T::regs();
+        let r = info.regs;
 
         // Notes from PL011 reference manual:
         //
@@ -978,11 +1013,11 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
 
     /// sets baudrate on runtime
     pub fn set_baudrate(&mut self, baudrate: u32) {
-        Self::set_baudrate_inner(baudrate);
+        Self::set_baudrate_inner(self.tx.info, baudrate);
     }
 
-    fn set_baudrate_inner(baudrate: u32) {
+    fn set_baudrate_inner(info: &Info, baudrate: u32) {
-        let r = T::regs();
+        let r = info.regs;
 
         let clk_base = crate::clocks::clk_peri_freq();
 
@@ -1002,11 +1037,11 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         r.uartibrd().write_value(pac::uart::regs::Uartibrd(baud_ibrd));
         r.uartfbrd().write_value(pac::uart::regs::Uartfbrd(baud_fbrd));
 
-        Self::lcr_modify(|_| {});
+        Self::lcr_modify(info, |_| {});
     }
 }
 
-impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
+impl<'d, M: Mode> Uart<'d, M> {
     /// Transmit the provided buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         self.tx.blocking_write(buffer)
@@ -1034,19 +1069,19 @@ impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
 
     /// Split the Uart into a transmitter and receiver, which is particularly
     /// useful when having two tasks correlating to transmitting and receiving.
-    pub fn split(self) -> (UartTx<'d, T, M>, UartRx<'d, T, M>) {
+    pub fn split(self) -> (UartTx<'d, M>, UartRx<'d, M>) {
         (self.tx, self.rx)
     }
 
     /// Split the Uart into a transmitter and receiver by mutable reference,
     /// which is particularly useful when having two tasks correlating to
     /// transmitting and receiving.
-    pub fn split_ref(&mut self) -> (&mut UartTx<'d, T, M>, &mut UartRx<'d, T, M>) {
+    pub fn split_ref(&mut self) -> (&mut UartTx<'d, M>, &mut UartRx<'d, M>) {
         (&mut self.tx, &mut self.rx)
     }
 }
 
-impl<'d, T: Instance> Uart<'d, T, Async> {
+impl<'d> Uart<'d, Async> {
     /// Write to UART TX from the provided buffer.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         self.tx.write(buffer).await
@@ -1076,10 +1111,10 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for UartRx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Read<u8> for UartRx<'d, M> {
     type Error = Error;
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().rxfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1100,11 +1135,11 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for UartRx<'d,
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d, M> {
     type Error = Error;
 
     fn write(&mut self, word: u8) -> Result<(), nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().txff() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1114,7 +1149,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d,
     }
 
     fn flush(&mut self) -> Result<(), nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if !r.uartfr().read().txfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1122,7 +1157,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d,
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, M> {
     type Error = Error;
 
     fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
@@ -1134,7 +1169,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, M> {
     type Error = Error;
 
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
@@ -1142,7 +1177,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, T,
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Write<u8> for Uart<'d, M> {
     type Error = Error;
 
     fn write(&mut self, word: u8) -> Result<(), nb::Error<Self::Error>> {
@@ -1154,7 +1189,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for Uart<'d, T
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, M> {
     type Error = Error;
 
     fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
@@ -1177,21 +1212,21 @@ impl embedded_hal_nb::serial::Error for Error {
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for UartRx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::ErrorType for UartRx<'d, M> {
     type Error = Error;
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::ErrorType for UartTx<'d, M> {
     type Error = Error;
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::ErrorType for Uart<'d, M> {
     type Error = Error;
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, M> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().rxfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1212,7 +1247,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, T, M
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, M> {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map_err(nb::Error::Other)
     }
@@ -1222,11 +1257,11 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, T,
     }
 }
 
-impl<'d, T: Instance> embedded_io::ErrorType for UartTx<'d, T, Blocking> {
+impl<'d> embedded_io::ErrorType for UartTx<'d, Blocking> {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io::Write for UartTx<'d, T, Blocking> {
+impl<'d> embedded_io::Write for UartTx<'d, Blocking> {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.blocking_write(buf).map(|_| buf.len())
     }
@@ -1236,13 +1271,13 @@ impl<'d, T: Instance> embedded_io::Write for UartTx<'d, T, Blocking> {
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Read for Uart<'d, M> {
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
         embedded_hal_02::serial::Read::read(&mut self.rx)
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, M> {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map_err(nb::Error::Other)
     }
@@ -1252,11 +1287,11 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, T, M>
     }
 }
 
-impl<'d, T: Instance> embedded_io::ErrorType for Uart<'d, T, Blocking> {
+impl<'d> embedded_io::ErrorType for Uart<'d, Blocking> {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io::Write for Uart<'d, T, Blocking> {
+impl<'d> embedded_io::Write for Uart<'d, Blocking> {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.blocking_write(buf).map(|_| buf.len())
     }
@@ -1266,13 +1301,17 @@ impl<'d, T: Instance> embedded_io::Write for Uart<'d, T, Blocking> {
     }
 }
 
+struct Info {
+    regs: pac::uart::Uart,
+    tx_dreq: pac::dma::vals::TreqSel,
+    rx_dreq: pac::dma::vals::TreqSel,
+    interrupt: Interrupt,
+}
+
 trait SealedMode {}
 
 trait SealedInstance {
-    const TX_DREQ: pac::dma::vals::TreqSel;
+    fn info() -> &'static Info;
-    const RX_DREQ: pac::dma::vals::TreqSel;
-
-    fn regs() -> pac::uart::Uart;
 
     fn buffered_state() -> &'static buffered::State;
 
@@ -1308,11 +1347,14 @@ pub trait Instance: SealedInstance + PeripheralType {
 macro_rules! impl_instance {
     ($inst:ident, $irq:ident, $tx_dreq:expr, $rx_dreq:expr) => {
         impl SealedInstance for peripherals::$inst {
-            const TX_DREQ: pac::dma::vals::TreqSel = $tx_dreq;
+            fn info() -> &'static Info {
-            const RX_DREQ: pac::dma::vals::TreqSel = $rx_dreq;
+                static INFO: Info = Info {
-
+                    regs: pac::$inst,
-            fn regs() -> pac::uart::Uart {
+                    tx_dreq: $tx_dreq,
-                pac::$inst
+                    rx_dreq: $rx_dreq,
+                    interrupt: crate::interrupt::typelevel::$irq::IRQ,
+                };
+                &INFO
             }
 
             fn buffered_state() -> &'static buffered::State {

embassy-stm32/src/timer/simple_pwm.rs

@@ -31,6 +31,8 @@ pub struct PwmPin<'d, T, C> {
 /// PWM pin config
 ///
 /// This configures the pwm pin settings
+#[derive(Debug, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct PwmPinConfig {
     /// PWM Pin output type
     pub output_type: OutputType,

examples/mimxrt6/src/bin/crc.rs

@@ -0,0 +1,175 @@
+#![no_std]
+#![no_main]
+
+extern crate embassy_imxrt_examples;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_imxrt::crc::{Config, Crc, Polynomial};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_imxrt::init(Default::default());
+    let data = b"123456789";
+
+    info!("Initializing CRC");
+
+    // CRC-CCITT
+    let mut crc = Crc::new(p.CRC.reborrow(), Default::default());
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x29b1);
+
+    // CRC16-ARC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xbb3d);
+
+    // CRC16-CMS
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xaee7);
+
+    // CRC16-DDS-110
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0x800d,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x9ecf);
+
+    // CRC16-MAXIM-DOW
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: true,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x44c2);
+
+    // CRC16-MODBUS
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0xffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x4b37);
+
+    // CRC32-BZIP2
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: true,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xfc89_1918);
+
+    // CRC32-CKSUM
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: true,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x765e_7680);
+
+    // CRC32-ISO-HDLC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: true,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xcbf4_3926);
+
+    // CRC32-JAMCRC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x340b_c6d9);
+
+    // CRC32-MPEG-2
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x0376_e6e7);
+
+    info!("end program");
+    cortex_m::asm::bkpt();
+}

examples/rp/src/bin/overclock.rs

@@ -0,0 +1,64 @@
+//! # Overclocking the RP2040 to 200 MHz
+//!
+//! This example demonstrates how to configure the RP2040 to run at 200 MHz.
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::clocks::{clk_sys_freq, ClockConfig};
+use embassy_rp::config::Config;
+use embassy_rp::gpio::{Level, Output};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+const COUNT_TO: i64 = 10_000_000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    // Set up for clock frequency of 200 MHz, setting all necessary defaults.
+    let config = Config::new(ClockConfig::system_freq(200_000_000));
+
+    // Show the voltage scale for verification
+    info!("System core voltage: {}", Debug2Format(&config.clocks.core_voltage));
+
+    // Initialize the peripherals
+    let p = embassy_rp::init(config);
+
+    // Show CPU frequency for verification
+    let sys_freq = clk_sys_freq();
+    info!("System clock frequency: {} MHz", sys_freq / 1_000_000);
+
+    // LED to indicate the system is running
+    let mut led = Output::new(p.PIN_25, Level::Low);
+
+    loop {
+        // Reset the counter at the start of measurement period
+        let mut counter = 0;
+
+        // Turn LED on while counting
+        led.set_high();
+
+        let start = Instant::now();
+
+        // This is a busy loop that will take some time to complete
+        while counter < COUNT_TO {
+            counter += 1;
+        }
+
+        let elapsed = Instant::now() - start;
+
+        // Report the elapsed time
+        led.set_low();
+        info!(
+            "At {}Mhz: Elapsed time to count to {}: {}ms",
+            sys_freq / 1_000_000,
+            counter,
+            elapsed.as_millis()
+        );
+
+        // Wait 2 seconds before starting the next measurement
+        Timer::after(Duration::from_secs(2)).await;
+    }
+}

examples/rp/src/bin/overclock_manual.rs

@@ -0,0 +1,79 @@
+//! # Overclocking the RP2040 to 200 MHz manually
+//!
+//! This example demonstrates how to manually configure the RP2040 to run at 200 MHz.
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::clocks;
+use embassy_rp::clocks::{ClockConfig, CoreVoltage, PllConfig};
+use embassy_rp::config::Config;
+use embassy_rp::gpio::{Level, Output};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+const COUNT_TO: i64 = 10_000_000;
+
+/// Configure the RP2040 for 200 MHz operation by manually specifying the PLL settings.
+fn configure_manual_overclock() -> Config {
+    // Set the PLL configuration manually, starting from default values
+    let mut config = Config::default();
+
+    // Set the system clock to 200 MHz
+    config.clocks = ClockConfig::manual_pll(
+        12_000_000, // Crystal frequency, 12 MHz is common. If using custom, set to your value.
+        PllConfig {
+            refdiv: 1,    // Reference divider
+            fbdiv: 100,   // Feedback divider
+            post_div1: 3, // Post divider 1
+            post_div2: 2, // Post divider 2
+        },
+        CoreVoltage::V1_15, // Core voltage, should be set to V1_15 for 200 MHz
+    );
+
+    config
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    // Initialize with our manual overclock configuration
+    let p = embassy_rp::init(configure_manual_overclock());
+
+    // Verify the actual system clock frequency
+    let sys_freq = clocks::clk_sys_freq();
+    info!("System clock frequency: {} MHz", sys_freq / 1_000_000);
+
+    // LED to indicate the system is running
+    let mut led = Output::new(p.PIN_25, Level::Low);
+
+    loop {
+        // Reset the counter at the start of measurement period
+        let mut counter = 0;
+
+        // Turn LED on while counting
+        led.set_high();
+
+        let start = Instant::now();
+
+        // This is a busy loop that will take some time to complete
+        while counter < COUNT_TO {
+            counter += 1;
+        }
+
+        let elapsed = Instant::now() - start;
+
+        // Report the elapsed time
+        led.set_low();
+        info!(
+            "At {}Mhz: Elapsed time to count to {}: {}ms",
+            sys_freq / 1_000_000,
+            counter,
+            elapsed.as_millis()
+        );
+
+        // Wait 2 seconds before starting the next measurement
+        Timer::after(Duration::from_secs(2)).await;
+    }
+}

examples/rp/src/bin/sharing.rs

@@ -31,7 +31,7 @@ use rand::RngCore;
 use static_cell::{ConstStaticCell, StaticCell};
 use {defmt_rtt as _, panic_probe as _};
 
-type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, UART0, uart::Async>>;
+type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, uart::Async>>;
 
 struct MyType {
     inner: u32,

examples/rp/src/bin/uart_buffered_split.rs

@@ -48,7 +48,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: BufferedUartRx<'static, UART0>) {
+async fn reader(mut rx: BufferedUartRx) {
     info!("Reading...");
     loop {
         let mut buf = [0; 31];

examples/rp/src/bin/uart_unidir.rs

@@ -39,7 +39,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: UartRx<'static, UART1, Async>) {
+async fn reader(mut rx: UartRx<'static, Async>) {
     info!("Reading...");
     loop {
         // read a total of 4 transmissions (32 / 8) and then print the result

examples/rp235x/src/bin/sharing.rs

@@ -31,7 +31,7 @@ use rand::RngCore;
 use static_cell::{ConstStaticCell, StaticCell};
 use {defmt_rtt as _, panic_probe as _};
 
-type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, UART0, uart::Async>>;
+type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, uart::Async>>;
 
 struct MyType {
     inner: u32,

examples/rp235x/src/bin/uart_buffered_split.rs

@@ -48,7 +48,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: BufferedUartRx<'static, UART0>) {
+async fn reader(mut rx: BufferedUartRx) {
     info!("Reading...");
     loop {
         let mut buf = [0; 31];

examples/rp235x/src/bin/uart_unidir.rs

@@ -39,7 +39,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: UartRx<'static, UART1, Async>) {
+async fn reader(mut rx: UartRx<'static, Async>) {
     info!("Reading...");
     loop {
         // read a total of 4 transmissions (32 / 8) and then print the result

tests/rp/src/bin/overclock.rs

@@ -0,0 +1,70 @@
+#![no_std]
+#![no_main]
+
+#[cfg(feature = "rp2040")]
+teleprobe_meta::target!(b"rpi-pico");
+#[cfg(feature = "rp235xb")]
+teleprobe_meta::target!(b"pimoroni-pico-plus-2");
+
+use defmt::info;
+#[cfg(feature = "rp2040")]
+use defmt::{assert, assert_eq};
+use embassy_executor::Spawner;
+use embassy_rp::clocks;
+#[cfg(feature = "rp2040")]
+use embassy_rp::clocks::ClockConfig;
+#[cfg(feature = "rp2040")]
+use embassy_rp::clocks::CoreVoltage;
+use embassy_rp::config::Config;
+use embassy_time::Instant;
+use {defmt_rtt as _, panic_probe as _};
+
+const COUNT_TO: i64 = 10_000_000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    #[cfg(feature = "rp2040")]
+    let mut config = Config::default();
+    #[cfg(not(feature = "rp2040"))]
+    let config = Config::default();
+
+    // Initialize with 200MHz clock configuration for RP2040, other chips will use default clock
+    #[cfg(feature = "rp2040")]
+    {
+        config.clocks = ClockConfig::system_freq(200_000_000);
+        let voltage = config.clocks.core_voltage;
+        assert!(matches!(voltage, CoreVoltage::V1_15), "Expected voltage scale V1_15");
+    }
+
+    let _p = embassy_rp::init(config);
+
+    // Test the system speed
+    let (time_elapsed, clk_sys_freq) = {
+        let mut counter = 0;
+        let start = Instant::now();
+        while counter < COUNT_TO {
+            counter += 1;
+        }
+        let elapsed = Instant::now() - start;
+
+        (elapsed.as_millis(), clocks::clk_sys_freq())
+    };
+
+    // Report the elapsed time, so that the compiler doesn't optimize it away for chips other than RP2040
+    info!(
+        "At {}Mhz: Elapsed time to count to {}: {}ms",
+        clk_sys_freq / 1_000_000,
+        COUNT_TO,
+        time_elapsed
+    );
+
+    #[cfg(feature = "rp2040")]
+    {
+        // we should be at 200MHz
+        assert_eq!(clk_sys_freq, 200_000_000, "System clock frequency is not 200MHz");
+        // At 200MHz, the time to count to 10_000_000 should be at 600ms, testing with 1% margin
+        assert!(time_elapsed <= 606, "Elapsed time is too long");
+    }
+
+    cortex_m::asm::bkpt();
+}

tests/rp/src/bin/uart.rs

@@ -8,17 +8,17 @@ teleprobe_meta::target!(b"pimoroni-pico-plus-2");
 use defmt::{assert_eq, *};
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::uart::{Blocking, Config, Error, Instance, Parity, Uart, UartRx};
+use embassy_rp::uart::{Blocking, Config, Error, Parity, Uart, UartRx};
 use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
-fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Blocking>) -> Result<[u8; N], Error> {
+fn read<const N: usize>(uart: &mut Uart<'_, Blocking>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.blocking_read(&mut buf)?;
     Ok(buf)
 }
 
-fn read1<const N: usize>(uart: &mut UartRx<'_, impl Instance, Blocking>) -> Result<[u8; N], Error> {
+fn read1<const N: usize>(uart: &mut UartRx<'_, Blocking>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.blocking_read(&mut buf)?;
     Ok(buf)

tests/rp/src/bin/uart_buffered.rs

@@ -10,7 +10,7 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
 use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config, Error, Instance, Parity};
+use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config, Error, Parity};
 use embassy_time::Timer;
 use embedded_io_async::{Read, ReadExactError, Write};
 use {defmt_rtt as _, panic_probe as _};
@@ -19,7 +19,7 @@ bind_interrupts!(struct Irqs {
     UART0_IRQ => BufferedInterruptHandler<UART0>;
 });
 
-async fn read<const N: usize>(uart: &mut BufferedUart<'_, impl Instance>) -> Result<[u8; N], Error> {
+async fn read<const N: usize>(uart: &mut BufferedUart) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     match uart.read_exact(&mut buf).await {
         Ok(()) => Ok(buf),
@@ -29,7 +29,7 @@ async fn read<const N: usize>(uart: &mut BufferedUart<'_, impl Instance>) -> Res
     }
 }
 
-async fn read1<const N: usize>(uart: &mut BufferedUartRx<'_, impl Instance>) -> Result<[u8; N], Error> {
+async fn read1<const N: usize>(uart: &mut BufferedUartRx) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     match uart.read_exact(&mut buf).await {
         Ok(()) => Ok(buf),

tests/rp/src/bin/uart_dma.rs

@@ -10,7 +10,7 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
 use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{Async, Config, Error, Instance, InterruptHandler, Parity, Uart, UartRx};
+use embassy_rp::uart::{Async, Config, Error, InterruptHandler, Parity, Uart, UartRx};
 use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -18,13 +18,13 @@ bind_interrupts!(struct Irqs {
     UART0_IRQ => InterruptHandler<UART0>;
 });
 
-async fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
+async fn read<const N: usize>(uart: &mut Uart<'_, Async>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.read(&mut buf).await?;
     Ok(buf)
 }
 
-async fn read1<const N: usize>(uart: &mut UartRx<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
+async fn read1<const N: usize>(uart: &mut UartRx<'_, Async>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.read(&mut buf).await?;
     Ok(buf)