diff --git a/embassy-stm32/src/timer/input_capture.rs b/embassy-stm32/src/timer/input_capture.rs
new file mode 100644
index 000000000..a1c1486f9
--- /dev/null
+++ b/embassy-stm32/src/timer/input_capture.rs
@@ -0,0 +1,233 @@
+//! Input capture driver.
+
+use core::future::Future;
+use core::marker::PhantomData;
+use core::pin::Pin;
+use core::task::{Context, Poll};
+
+use embassy_hal_internal::{into_ref, PeripheralRef};
+
+use super::low_level::{CountingMode, InputCaptureMode, InputTISelection, Timer};
+use super::{
+    CaptureCompareInterruptHandler, Channel, Channel1Pin, Channel2Pin, Channel3Pin, Channel4Pin,
+    GeneralInstance4Channel,
+};
+use crate::gpio::{AFType, AnyPin, Pull};
+use crate::interrupt::typelevel::{Binding, Interrupt};
+use crate::time::Hertz;
+use crate::Peripheral;
+
+/// Channel 1 marker type.
+pub enum Ch1 {}
+/// Channel 2 marker type.
+pub enum Ch2 {}
+/// Channel 3 marker type.
+pub enum Ch3 {}
+/// Channel 4 marker type.
+pub enum Ch4 {}
+
+/// Capture pin wrapper.
+///
+/// This wraps a pin to make it usable with capture.
+pub struct CapturePin<'d, T, C> {
+    _pin: PeripheralRef<'d, AnyPin>,
+    phantom: PhantomData<(T, C)>,
+}
+
+macro_rules! channel_impl {
+    ($new_chx:ident, $channel:ident, $pin_trait:ident) => {
+        impl<'d, T: GeneralInstance4Channel> CapturePin<'d, T, $channel> {
+            #[doc = concat!("Create a new ", stringify!($channel), " capture pin instance.")]
+            pub fn $new_chx(pin: impl Peripheral<P = impl $pin_trait<T>> + 'd, pull_type: Pull) -> Self {
+                into_ref!(pin);
+                critical_section::with(|_| {
+                    pin.set_as_af_pull(pin.af_num(), AFType::Input, pull_type);
+                    #[cfg(gpio_v2)]
+                    pin.set_speed(crate::gpio::Speed::VeryHigh);
+                });
+                CapturePin {
+                    _pin: pin.map_into(),
+                    phantom: PhantomData,
+                }
+            }
+        }
+    };
+}
+
+channel_impl!(new_ch1, Ch1, Channel1Pin);
+channel_impl!(new_ch2, Ch2, Channel2Pin);
+channel_impl!(new_ch3, Ch3, Channel3Pin);
+channel_impl!(new_ch4, Ch4, Channel4Pin);
+
+/// Input capture driver.
+pub struct InputCapture<'d, T: GeneralInstance4Channel> {
+    inner: Timer<'d, T>,
+}
+
+impl<'d, T: GeneralInstance4Channel> InputCapture<'d, T> {
+    /// Create a new input capture driver.
+    pub fn new(
+        tim: impl Peripheral<P = T> + 'd,
+        _ch1: Option<CapturePin<'d, T, Ch1>>,
+        _ch2: Option<CapturePin<'d, T, Ch2>>,
+        _ch3: Option<CapturePin<'d, T, Ch3>>,
+        _ch4: Option<CapturePin<'d, T, Ch4>>,
+        _irq: impl Binding<T::CaptureCompareInterrupt, CaptureCompareInterruptHandler<T>> + 'd,
+        freq: Hertz,
+        counting_mode: CountingMode,
+    ) -> Self {
+        Self::new_inner(tim, freq, counting_mode)
+    }
+
+    fn new_inner(tim: impl Peripheral<P = T> + 'd, freq: Hertz, counting_mode: CountingMode) -> Self {
+        let mut this = Self { inner: Timer::new(tim) };
+
+        this.inner.set_counting_mode(counting_mode);
+        this.set_tick_freq(freq);
+        this.inner.enable_outputs(); // Required for advanced timers, see GeneralInstance4Channel for details
+        this.inner.start();
+
+        // enable NVIC interrupt
+        T::CaptureCompareInterrupt::unpend();
+        unsafe { T::CaptureCompareInterrupt::enable() };
+
+        this
+    }
+
+    /// Enable the given channel.
+    pub fn enable(&mut self, channel: Channel) {
+        self.inner.enable_channel(channel, true);
+    }
+
+    /// Disable the given channel.
+    pub fn disable(&mut self, channel: Channel) {
+        self.inner.enable_channel(channel, false);
+    }
+
+    /// Check whether given channel is enabled
+    pub fn is_enabled(&self, channel: Channel) -> bool {
+        self.inner.get_channel_enable_state(channel)
+    }
+
+    /// Set tick frequency.
+    ///
+    /// Note: when you call this, the max period value changes
+    pub fn set_tick_freq(&mut self, freq: Hertz) {
+        let f = freq;
+        assert!(f.0 > 0);
+        let timer_f = self.inner.get_clock_frequency();
+
+        let pclk_ticks_per_timer_period = timer_f / f;
+        let psc: u16 = unwrap!((pclk_ticks_per_timer_period - 1).try_into());
+
+        let regs = self.inner.regs_core();
+        regs.psc().write_value(psc);
+
+        // Generate an Update Request
+        regs.egr().write(|r| r.set_ug(true));
+    }
+
+    /// Set the input capture mode for a given channel.
+    pub fn set_input_capture_mode(&mut self, channel: Channel, mode: InputCaptureMode) {
+        self.inner.set_input_capture_mode(channel, mode);
+    }
+
+    /// Set input TI selection.
+    pub fn set_input_ti_selection(&mut self, channel: Channel, tisel: InputTISelection) {
+        self.inner.set_input_ti_selection(channel, tisel)
+    }
+
+    /// Get capture value for a channel.
+    pub fn get_capture_value(&self, channel: Channel) -> u32 {
+        self.inner.get_capture_value(channel)
+    }
+
+    /// Get input interrupt.
+    pub fn get_input_interrupt(&self, channel: Channel) -> bool {
+        self.inner.get_input_interrupt(channel)
+    }
+
+    fn new_future(&self, channel: Channel, mode: InputCaptureMode, tisel: InputTISelection) -> InputCaptureFuture<T> {
+        self.inner.enable_channel(channel, true);
+        self.inner.set_input_capture_mode(channel, mode);
+        self.inner.set_input_ti_selection(channel, tisel);
+        self.inner.clear_input_interrupt(channel);
+        self.inner.enable_input_interrupt(channel, true);
+
+        InputCaptureFuture {
+            channel,
+            phantom: PhantomData,
+        }
+    }
+
+    /// Asynchronously wait until the pin sees a rising edge.
+    pub async fn wait_for_rising_edge(&mut self, channel: Channel) -> u32 {
+        self.new_future(channel, InputCaptureMode::Rising, InputTISelection::Normal)
+            .await
+    }
+
+    /// Asynchronously wait until the pin sees a falling edge.
+    pub async fn wait_for_falling_edge(&mut self, channel: Channel) -> u32 {
+        self.new_future(channel, InputCaptureMode::Falling, InputTISelection::Normal)
+            .await
+    }
+
+    /// Asynchronously wait until the pin sees any edge.
+    pub async fn wait_for_any_edge(&mut self, channel: Channel) -> u32 {
+        self.new_future(channel, InputCaptureMode::BothEdges, InputTISelection::Normal)
+            .await
+    }
+
+    /// Asynchronously wait until the (alternate) pin sees a rising edge.
+    pub async fn wait_for_rising_edge_alternate(&mut self, channel: Channel) -> u32 {
+        self.new_future(channel, InputCaptureMode::Rising, InputTISelection::Alternate)
+            .await
+    }
+
+    /// Asynchronously wait until the (alternate) pin sees a falling edge.
+    pub async fn wait_for_falling_edge_alternate(&mut self, channel: Channel) -> u32 {
+        self.new_future(channel, InputCaptureMode::Falling, InputTISelection::Alternate)
+            .await
+    }
+
+    /// Asynchronously wait until the (alternate) pin sees any edge.
+    pub async fn wait_for_any_edge_alternate(&mut self, channel: Channel) -> u32 {
+        self.new_future(channel, InputCaptureMode::BothEdges, InputTISelection::Alternate)
+            .await
+    }
+}
+
+#[must_use = "futures do nothing unless you `.await` or poll them"]
+struct InputCaptureFuture<T: GeneralInstance4Channel> {
+    channel: Channel,
+    phantom: PhantomData<T>,
+}
+
+impl<T: GeneralInstance4Channel> Drop for InputCaptureFuture<T> {
+    fn drop(&mut self) {
+        critical_section::with(|_| {
+            let regs = unsafe { crate::pac::timer::TimGp16::from_ptr(T::regs()) };
+
+            // disable interrupt enable
+            regs.dier().modify(|w| w.set_ccie(self.channel.index(), false));
+        });
+    }
+}
+
+impl<T: GeneralInstance4Channel> Future for InputCaptureFuture<T> {
+    type Output = u32;
+
+    fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+        T::state().cc_waker[self.channel.index()].register(cx.waker());
+
+        let regs = unsafe { crate::pac::timer::TimGp16::from_ptr(T::regs()) };
+
+        let dier = regs.dier().read();
+        if !dier.ccie(self.channel.index()) {
+            let val = regs.ccr(self.channel.index()).read().0;
+            Poll::Ready(val)
+        } else {
+            Poll::Pending
+        }
+    }
+}
diff --git a/embassy-stm32/src/timer/low_level.rs b/embassy-stm32/src/timer/low_level.rs
index aa73986ea..7f533b75c 100644
--- a/embassy-stm32/src/timer/low_level.rs
+++ b/embassy-stm32/src/timer/low_level.rs
@@ -448,6 +448,11 @@ impl<'d, T: GeneralInstance4Channel> Timer<'d, T> {
         self.regs_gp16().sr().modify(|r| r.set_ccif(channel.index(), false));
     }
 
+    /// Get input interrupt.
+    pub fn get_input_interrupt(&self, channel: Channel) -> bool {
+        self.regs_gp16().sr().read().ccif(channel.index())
+    }
+
     /// Enable input interrupt.
     pub fn enable_input_interrupt(&self, channel: Channel, enable: bool) {
         self.regs_gp16().dier().modify(|r| r.set_ccie(channel.index(), enable));
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 346127005..314b6006b 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -1,7 +1,12 @@
 //! Timers, PWM, quadrature decoder.
 
+use core::marker::PhantomData;
+
+use embassy_sync::waitqueue::AtomicWaker;
+
 #[cfg(not(stm32l0))]
 pub mod complementary_pwm;
+pub mod input_capture;
 pub mod low_level;
 pub mod qei;
 pub mod simple_pwm;
@@ -45,8 +50,29 @@ pub enum TimerBits {
     Bits32,
 }
 
+struct State {
+    up_waker: AtomicWaker,
+    cc_waker: [AtomicWaker; 4],
+}
+
+impl State {
+    const fn new() -> Self {
+        const NEW_AW: AtomicWaker = AtomicWaker::new();
+        Self {
+            up_waker: NEW_AW,
+            cc_waker: [NEW_AW; 4],
+        }
+    }
+}
+
+trait SealedInstance: RccPeripheral {
+    /// Async state for this timer
+    fn state() -> &'static State;
+}
+
 /// Core timer instance.
-pub trait CoreInstance: RccPeripheral + 'static {
+#[allow(private_bounds)]
+pub trait CoreInstance: SealedInstance + 'static {
     /// Update Interrupt for this timer.
     type UpdateInterrupt: interrupt::typelevel::Interrupt;
 
@@ -143,6 +169,13 @@ dma_trait!(Ch4Dma, GeneralInstance4Channel);
 #[allow(unused)]
 macro_rules! impl_core_timer {
     ($inst:ident, $bits:expr) => {
+        impl SealedInstance for crate::peripherals::$inst {
+            fn state() -> &'static State {
+                static STATE: State = State::new();
+                &STATE
+            }
+        }
+
         impl CoreInstance for crate::peripherals::$inst {
             type UpdateInterrupt = crate::_generated::peripheral_interrupts::$inst::UP;
 
@@ -285,3 +318,63 @@ foreach_interrupt! {
         impl AdvancedInstance4Channel for crate::peripherals::$inst {}
     };
 }
+
+/// Update interrupt handler.
+pub struct UpdateInterruptHandler<T: CoreInstance> {
+    _phantom: PhantomData<T>,
+}
+
+impl<T: CoreInstance> interrupt::typelevel::Handler<T::UpdateInterrupt> for UpdateInterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        #[cfg(feature = "low-power")]
+        crate::low_power::on_wakeup_irq();
+
+        let regs = crate::pac::timer::TimCore::from_ptr(T::regs());
+
+        // Read TIM interrupt flags.
+        let sr = regs.sr().read();
+
+        // Mask relevant interrupts (UIE).
+        let bits = sr.0 & 0x00000001;
+
+        // Mask all the channels that fired.
+        regs.dier().modify(|w| w.0 &= !bits);
+
+        // Wake the tasks
+        if sr.uif() {
+            T::state().up_waker.wake();
+        }
+    }
+}
+
+/// Capture/Compare interrupt handler.
+pub struct CaptureCompareInterruptHandler<T: GeneralInstance1Channel> {
+    _phantom: PhantomData<T>,
+}
+
+impl<T: GeneralInstance1Channel> interrupt::typelevel::Handler<T::CaptureCompareInterrupt>
+    for CaptureCompareInterruptHandler<T>
+{
+    unsafe fn on_interrupt() {
+        #[cfg(feature = "low-power")]
+        crate::low_power::on_wakeup_irq();
+
+        let regs = crate::pac::timer::TimGp16::from_ptr(T::regs());
+
+        // Read TIM interrupt flags.
+        let sr = regs.sr().read();
+
+        // Mask relevant interrupts (CCIE).
+        let bits = sr.0 & 0x0000001E;
+
+        // Mask all the channels that fired.
+        regs.dier().modify(|w| w.0 &= !bits);
+
+        // Wake the tasks
+        for ch in 0..4 {
+            if sr.ccif(ch) {
+                T::state().cc_waker[ch].wake();
+            }
+        }
+    }
+}
diff --git a/examples/stm32f4/src/bin/input_capture.rs b/examples/stm32f4/src/bin/input_capture.rs
new file mode 100644
index 000000000..49de33d2b
--- /dev/null
+++ b/examples/stm32f4/src/bin/input_capture.rs
@@ -0,0 +1,52 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Pull, Speed};
+use embassy_stm32::time::khz;
+use embassy_stm32::timer::input_capture::{CapturePin, InputCapture};
+use embassy_stm32::timer::{self, Channel};
+use embassy_stm32::{bind_interrupts, peripherals};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+/// Connect PB2 and PB10 with a 1k Ohm resistor
+
+#[embassy_executor::task]
+async fn blinky(led: peripherals::PB2) {
+    let mut led = Output::new(led, Level::High, Speed::Low);
+
+    loop {
+        info!("high");
+        led.set_high();
+        Timer::after_millis(300).await;
+
+        info!("low");
+        led.set_low();
+        Timer::after_millis(300).await;
+    }
+}
+
+bind_interrupts!(struct Irqs {
+    TIM2 => timer::CaptureCompareInterruptHandler<peripherals::TIM2>;
+});
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_stm32::init(Default::default());
+    info!("Hello World!");
+
+    unwrap!(spawner.spawn(blinky(p.PB2)));
+
+    let ch3 = CapturePin::new_ch3(p.PB10, Pull::None);
+    let mut ic = InputCapture::new(p.TIM2, None, None, Some(ch3), None, Irqs, khz(1000), Default::default());
+
+    loop {
+        info!("wait for risign edge");
+        ic.wait_for_rising_edge(Channel::Ch3).await;
+
+        let capture_value = ic.get_capture_value(Channel::Ch3);
+        info!("new capture! {}", capture_value);
+    }
+}