hack: disallow stalling in rp2040

Prepare some crate releases

.github/ci/book.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+## on push branch=main
+
+set -euxo pipefail
+
+make -C docs
+
+export KUBECONFIG=/ci/secrets/kubeconfig.yml
+POD=$(kubectl -n embassy get po -l app=website -o jsonpath={.items[0].metadata.name})
+
+mkdir -p build
+mv docs/book build/book
+tar -C build -cf book.tar book
+kubectl exec $POD -- mkdir -p /usr/share/nginx/html
+kubectl cp book.tar $POD:/usr/share/nginx/html/
+kubectl exec $POD -- find /usr/share/nginx/html
+kubectl exec $POD -- tar -C /usr/share/nginx/html -xvf /usr/share/nginx/html/book.tar

.github/ci/build.sh

@@ -7,7 +7,7 @@ set -euo pipefail
 export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
-if [ -f /ci/secrets/teleprobe-token.txt ]; then 
+if [ -f /ci/secrets/teleprobe-token.txt ]; then
     echo Got teleprobe token!
     export TELEPROBE_HOST=https://teleprobe.embassy.dev
     export TELEPROBE_TOKEN=$(cat /ci/secrets/teleprobe-token.txt)

.github/ci/doc.sh

@@ -38,6 +38,7 @@ docserver-builder -i ./embassy-usb -o webroot/crates/embassy-usb/git.zup
 docserver-builder -i ./embassy-usb-dfu -o webroot/crates/embassy-usb-dfu/git.zup
 docserver-builder -i ./embassy-usb-driver -o webroot/crates/embassy-usb-driver/git.zup
 docserver-builder -i ./embassy-usb-logger -o webroot/crates/embassy-usb-logger/git.zup
+docserver-builder -i ./embassy-usb-synopsys-otg -o webroot/crates/embassy-usb-synopsys-otg/git.zup
 
 docserver-builder -i ./embassy-net -o webroot/crates/embassy-net/git.zup
 docserver-builder -i ./embassy-net-driver -o webroot/crates/embassy-net-driver/git.zup

.github/ci/test-nightly.sh

@@ -11,3 +11,4 @@ mv rust-toolchain-nightly.toml rust-toolchain.toml
 
 MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml
 MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-executor/Cargo.toml --features nightly
+MIRIFLAGS=-Zmiri-ignore-leaks cargo miri test --manifest-path ./embassy-sync/Cargo.toml

.github/ci/test.sh

@@ -8,9 +8,10 @@ export RUSTUP_HOME=/ci/cache/rustup
 export CARGO_HOME=/ci/cache/cargo
 export CARGO_TARGET_DIR=/ci/cache/target
 
-cargo test --manifest-path ./embassy-sync/Cargo.toml 
+cargo test --manifest-path ./embassy-futures/Cargo.toml
-cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml 
+cargo test --manifest-path ./embassy-sync/Cargo.toml
-cargo test --manifest-path ./embassy-hal-internal/Cargo.toml 
+cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml
+cargo test --manifest-path ./embassy-hal-internal/Cargo.toml
 cargo test --manifest-path ./embassy-time/Cargo.toml --features generic-queue,mock-driver
 cargo test --manifest-path ./embassy-time-driver/Cargo.toml
 

.vscode/settings.json

@@ -9,21 +9,25 @@
   "rust-analyzer.check.noDefaultFeatures": true,
   "rust-analyzer.cargo.noDefaultFeatures": true,
   "rust-analyzer.showUnlinkedFileNotification": false,
-  // uncomment the target of your chip.
+  // Uncomment the target of your chip.
   //"rust-analyzer.cargo.target": "thumbv6m-none-eabi",
   //"rust-analyzer.cargo.target": "thumbv7m-none-eabi",
   "rust-analyzer.cargo.target": "thumbv7em-none-eabi",
+  //"rust-analyzer.cargo.target": "thumbv7em-none-eabihf",
   //"rust-analyzer.cargo.target": "thumbv8m.main-none-eabihf",
   "rust-analyzer.cargo.features": [
-    "stm32f103c8",
+    // Comment out these features when working on the examples. Most example crates do not have any cargo features.
+    "stm32f446re",
     "time-driver-any",
     "unstable-pac",
     "exti",
+    "rt",
   ],
   "rust-analyzer.linkedProjects": [
-    // Uncomment ONE line for the chip you want to work on.
-    // This makes rust-analyzer work on the example crate and all its dependencies.
     "embassy-stm32/Cargo.toml",
+    // To work on the examples, comment the line above and all of the cargo.features lines,
+    // then uncomment ONE line below to select the chip you want to work on.
+    // This makes rust-analyzer work on the example crate and all its dependencies.
     // "examples/nrf52840-rtic/Cargo.toml",
     // "examples/nrf5340/Cargo.toml",
     // "examples/nrf-rtos-trace/Cargo.toml",

LICENSE-CC-BY-SA

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NOTICE.md

@@ -12,5 +12,5 @@ listed source code repository logs.
 
 This program and the accompanying materials are made available under the terms
 of the Apache Software License 2.0 which is available at
-https://www.apache.org/licenses/LICENSE-2.0, or the MIT license which is 
+https://www.apache.org/licenses/LICENSE-2.0, or the MIT license which is
 available at https://opensource.org/licenses/MIT

README.md

@@ -2,12 +2,12 @@
 
 Embassy is the next-generation framework for embedded applications. Write safe, correct and energy-efficient embedded code faster, using the Rust programming language, its async facilities, and the Embassy libraries.
 
-## <a href="https://embassy.dev/book/dev/index.html">Documentation</a> - <a href="https://docs.embassy.dev/">API reference</a> - <a href="https://embassy.dev/">Website</a> - <a href="https://matrix.to/#/#embassy-rs:matrix.org">Chat</a>
+## <a href="https://embassy.dev/book/index.html">Documentation</a> - <a href="https://docs.embassy.dev/">API reference</a> - <a href="https://embassy.dev/">Website</a> - <a href="https://matrix.to/#/#embassy-rs:matrix.org">Chat</a>
 ## Rust + async ❤️ embedded
 
 The Rust programming language is blazingly fast and memory-efficient, with no runtime, garbage collector or OS. It catches a wide variety of bugs at compile time, thanks to its full memory- and thread-safety, and expressive type system. 
 
-Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows for unprecedently easy and efficient multitasking in embedded systems. Tasks get transformed at compile time into state machines that get run cooperatively. It requires no dynamic memory allocation, and runs on a single stack,  so no per-task stack size tuning is required. It obsoletes the need for a traditional RTOS with kernel context switching, and is <a href="https://tweedegolf.nl/en/blog/65/async-rust-vs-rtos-showdown">faster and smaller than one!</a>
+Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows for unprecedentedly easy and efficient multitasking in embedded systems. Tasks get transformed at compile time into state machines that get run cooperatively. It requires no dynamic memory allocation, and runs on a single stack,  so no per-task stack size tuning is required. It obsoletes the need for a traditional RTOS with kernel context switching, and is <a href="https://tweedegolf.nl/en/blog/65/async-rust-vs-rtos-showdown">faster and smaller than one!</a>
 
 ## Batteries included
 
@@ -18,6 +18,7 @@ Rust's <a href="https://rust-lang.github.io/async-book/">async/await</a> allows
   - <a href="https://github.com/esp-rs">esp-rs</a>, for the Espressif Systems ESP32 series of chips.
     - Embassy HAL support for Espressif chips is being developed in the [esp-rs/esp-hal](https://github.com/esp-rs/esp-hal) repository.
     - Async WiFi, Bluetooth and ESP-NOW is being developed in the [esp-rs/esp-wifi](https://github.com/esp-rs/esp-wifi) repository.
+  - <a href="https://github.com/ch32-rs/ch32-hal">ch32-hal</a>, for the WCH 32-bit RISC-V(CH32V) series of chips.
 
 - **Time that Just Works** - 
 No more messing with hardware timers. <a href="https://docs.embassy.dev/embassy-time">embassy_time</a> provides Instant, Duration and Timer types that are globally available and never overflow.
@@ -89,7 +90,7 @@ async fn main(spawner: Spawner) {
 
 ## Examples
 
-Examples are found in the `examples/` folder seperated by the chip manufacturer they are designed to run on. For example:
+Examples are found in the `examples/` folder separated by the chip manufacturer they are designed to run on. For example:
 
 *   `examples/nrf52840` run on the `nrf52840-dk` board (PCA10056) but should be easily adaptable to other nRF52 chips and boards.
 *   `examples/nrf5340` run on the `nrf5340-dk` board (PCA10095).
@@ -99,12 +100,7 @@ Examples are found in the `examples/` folder seperated by the chip manufacturer
 
 ### Running examples
 
-- Install `probe-rs`.
+- Install `probe-rs` following the instructions at <https://probe.rs>.
-
-```bash
-cargo install probe-rs --features cli
-```
-
 - Change directory to the sample's base directory. For example:
 
 ```bash
@@ -130,8 +126,8 @@ For more help getting started, see [Getting Started][1] and [Running the Example
 ## Developing Embassy with Rust Analyzer based editors
 
 The [Rust Analyzer](https://rust-analyzer.github.io/) is used by [Visual Studio Code](https://code.visualstudio.com/)
-and others. Given the multiple targets that Embassy serves, there is no Cargo workspace file. Instead, the Rust Analyzer 
+and others. Given the multiple targets that Embassy serves, there is no Cargo workspace file. Instead, the Rust Analyzer
-must be told of the target project to work with. In the case of Visual Studio Code, 
+must be told of the target project to work with. In the case of Visual Studio Code,
 please refer to the `.vscode/settings.json` file's `rust-analyzer.linkedProjects`setting.
 
 ## Minimum supported Rust version (MSRV)

ci-nightly.sh

@@ -30,4 +30,3 @@ cargo batch  \
 
 cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,avr-device/atmega328p
 cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,integrated-timers,avr-device/atmega328p
-

ci.sh

@@ -2,6 +2,14 @@
 
 set -eo pipefail
 
+if ! command -v cargo-batch &> /dev/null; then
+    echo "cargo-batch could not be found. Install it with the following command:"
+    echo ""
+    echo "    cargo install --git https://github.com/embassy-rs/cargo-batch cargo --bin cargo-batch --locked"
+    echo ""
+    exit 1
+fi
+
 export RUSTFLAGS=-Dwarnings
 export DEFMT_LOG=trace,embassy_hal_internal=debug,embassy_net_esp_hosted=debug,cyw43=info,cyw43_pio=info,smoltcp=info
 if [[ -z "${CARGO_TARGET_DIR}" ]]; then
@@ -124,6 +132,11 @@ cargo batch \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h755zi-cm7,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h725re,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7b3ai,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7b3ai,defmt,exti,time-driver-tim1,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7r3z8,defmt,exti,time-driver-tim1,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7r7a8,defmt,exti,time-driver-tim1,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7s3a8,defmt,exti,time-driver-tim1,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7s7z8,defmt,exti,time-driver-tim1,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l431cb,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l476vg,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l422cb,defmt,exti,time-driver-any,time \
@@ -146,8 +159,15 @@ cargo batch \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103re,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f100c4,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h503rb,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h523cc,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h562ag,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32wba50ke,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32wba55ug,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32u5g9nj,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wb35ce,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u031r8,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u073mb,defmt,exti,time-driver-any,time \
+    --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u083rc,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features ''\
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'log' \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt' \
@@ -157,16 +177,20 @@ cargo batch \
     --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features 'overclock' \
     --- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
     --- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
+    --- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9120-ns \
     --- build --release --manifest-path embassy-boot-rp/Cargo.toml --target thumbv6m-none-eabi \
     --- build --release --manifest-path embassy-boot-stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
-    --- build --release --manifest-path docs/modules/ROOT/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path docs/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path docs/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-hal/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path docs/examples/layer-by-layer/blinky-hal/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path docs/examples/layer-by-layer/blinky-irq/Cargo.toml --target thumbv7em-none-eabi \
-    --- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path docs/examples/layer-by-layer/blinky-async/Cargo.toml --target thumbv7em-none-eabi \
+    --- build --release --manifest-path examples/nrf52810/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52810 \
     --- build --release --manifest-path examples/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840 \
     --- build --release --manifest-path examples/nrf5340/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf5340 \
     --- build --release --manifest-path examples/nrf9160/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf9160 \
+    --- build --release --manifest-path examples/nrf9151/s/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf9151/s \
+    --- build --release --manifest-path examples/nrf9151/ns/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf9151/ns \
     --- build --release --manifest-path examples/nrf51/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/nrf51 \
     --- build --release --manifest-path examples/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/rp \
     --- build --release --manifest-path examples/stm32f0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32f0 \
@@ -175,22 +199,27 @@ cargo batch \
     --- build --release --manifest-path examples/stm32f3/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f3 \
     --- build --release --manifest-path examples/stm32f334/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f334 \
     --- build --release --manifest-path examples/stm32f4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f4 \
+    --- build --release --manifest-path examples/stm32f469/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f469 \
     --- build --release --manifest-path examples/stm32f7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32f7 \
     --- build --release --manifest-path examples/stm32c0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32c0 \
     --- build --release --manifest-path examples/stm32g0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32g0 \
     --- build --release --manifest-path examples/stm32g4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32g4 \
     --- build --release --manifest-path examples/stm32h5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32h5 \
     --- build --release --manifest-path examples/stm32h7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h7 \
+    --- build --release --manifest-path examples/stm32h735/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h735 \
+    --- build --release --manifest-path examples/stm32h7rs/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32h7rs \
     --- build --release --manifest-path examples/stm32l0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32l0 \
     --- build --release --manifest-path examples/stm32l1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32l1 \
     --- build --release --manifest-path examples/stm32l4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32l4 \
     --- build --release --manifest-path examples/stm32l5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32l5 \
+    --- build --release --manifest-path examples/stm32u0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32u0 \
     --- build --release --manifest-path examples/stm32u5/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32u5 \
     --- build --release --manifest-path examples/stm32wb/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32wb \
     --- build --release --manifest-path examples/stm32wba/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/stm32wba \
     --- build --release --manifest-path examples/stm32wl/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/stm32wl \
     --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840,skip-include --out-dir out/examples/boot/nrf52840 \
     --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns,skip-include --out-dir out/examples/boot/nrf9160 \
+    --- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9120-ns,skip-include --out-dir out/examples/boot/nrf9120 \
     --- build --release --manifest-path examples/boot/application/rp/Cargo.toml --target thumbv6m-none-eabi --features skip-include --out-dir out/examples/boot/rp \
     --- build --release --manifest-path examples/boot/application/stm32f3/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32f3 \
     --- build --release --manifest-path examples/boot/application/stm32f7/Cargo.toml --target thumbv7em-none-eabi --features skip-include --out-dir out/examples/boot/stm32f7 \
@@ -202,6 +231,7 @@ cargo batch \
     --- build --release --manifest-path examples/boot/application/stm32wb-dfu/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32wb-dfu \
     --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
     --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
+    --- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9120-ns \
     --- build --release --manifest-path examples/boot/bootloader/rp/Cargo.toml --target thumbv6m-none-eabi \
     --- build --release --manifest-path examples/boot/bootloader/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
     --- build --release --manifest-path examples/boot/bootloader/stm32wb-dfu/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wb55rg \
@@ -231,11 +261,17 @@ cargo batch \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32f303ze --out-dir out/tests/stm32f303ze \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32l496zg --out-dir out/tests/stm32l496zg \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32wl55jc --out-dir out/tests/stm32wl55jc \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7em-none-eabi --features stm32h7s3l8 --out-dir out/tests/stm32h7s3l8 \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32f091rc --out-dir out/tests/stm32f091rc \
     --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv8m.main-none-eabihf --features stm32h503rb --out-dir out/tests/stm32h503rb \
+    --- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u083rc --out-dir out/tests/stm32u083rc \
     --- build --release --manifest-path tests/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/tests/rpi-pico \
-    --- build --release --manifest-path tests/nrf52840/Cargo.toml --target thumbv7em-none-eabi --out-dir out/tests/nrf52840-dk \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv6m-none-eabi --features nrf51422 --out-dir out/tests/nrf51422-dk \
-    --- build --release --manifest-path tests/nrf51422/Cargo.toml --target thumbv6m-none-eabi --out-dir out/tests/nrf51-dk \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52832 --out-dir out/tests/nrf52832-dk \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52833 --out-dir out/tests/nrf52833-dk \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv7em-none-eabi --features nrf52840 --out-dir out/tests/nrf52840-dk \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf5340 --out-dir out/tests/nrf5340-dk \
+    --- build --release --manifest-path tests/nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features nrf9160 --out-dir out/tests/nrf9160-dk \
     --- build --release --manifest-path tests/riscv32/Cargo.toml --target riscv32imac-unknown-none-elf \
     $BUILD_EXTRA
 
@@ -249,6 +285,9 @@ rm out/tests/stm32f207zg/eth
 # doesn't work, gives "noise error", no idea why. usart_dma does pass.
 rm out/tests/stm32u5a5zj/usart
 
+# flaky, perhaps bad wire
+rm out/tests/stm32l152re/usart_rx_ringbuffered
+
 if [[ -z "${TELEPROBE_TOKEN-}" ]]; then
     echo No teleprobe token found, skipping running HIL tests
     exit

cyw43-pio/Cargo.toml

@@ -16,7 +16,7 @@ overclock = []
 
 [dependencies]
 cyw43 = { version = "0.1.0", path = "../cyw43" }
-embassy-rp = { version = "0.1.0", path = "../embassy-rp" }
+embassy-rp = { version = "0.2.0", path = "../embassy-rp" }
 pio-proc = "0.2"
 pio = "0.2.1"
 fixed = "1.23.1"

cyw43/Cargo.toml

@@ -17,10 +17,10 @@ log = ["dep:log"]
 firmware-logs = []
 
 [dependencies]
-embassy-time = { version = "0.3.0", path = "../embassy-time"}
+embassy-time = { version = "0.3.2", path = "../embassy-time"}
-embassy-sync = { version = "0.5.0", path = "../embassy-sync"}
+embassy-sync = { version = "0.6.0", path = "../embassy-sync"}
 embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
-embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel"}
+embassy-net-driver-channel = { version = "0.3.0", path = "../embassy-net-driver-channel"}
 
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.17", optional = true }

cyw43/README.md

@@ -23,7 +23,7 @@ TODO:
 
 ## Running the examples
 
-- `cargo install probe-rs --features cli`
+- Install `probe-rs` following the instructions at <https://probe.rs>.
 - `cd examples/rp`
 ### Example 1: Scan the wifi stations
 - `cargo run --release --bin wifi_scan`

cyw43/src/control.rs

@@ -42,9 +42,11 @@ pub enum ScanType {
     Passive,
 }
 
+/// Scan options.
 #[derive(Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ScanOptions {
+    /// SSID to scan for.
     pub ssid: Option<heapless::String<32>>,
     /// If set to `None`, all APs will be returned. If set to `Some`, only APs
     /// with the specified BSSID will be returned.
@@ -124,8 +126,7 @@ impl<'a> Control<'a> {
         self.set_iovar_u32("apsta", 1).await;
 
         // read MAC addr.
-        let mut mac_addr = [0; 6];
+        let mac_addr = self.address().await;
-        assert_eq!(self.get_iovar("cur_etheraddr", &mut mac_addr).await, 6);
         debug!("mac addr: {:02x}", Bytes(&mac_addr));
 
         let country = countries::WORLD_WIDE_XX;
@@ -229,8 +230,8 @@ impl<'a> Control<'a> {
         self.wait_for_join(i).await
     }
 
-    /// Join an protected network with the provided ssid and passphrase.
+    /// Join a protected network with the provided ssid and [`PassphraseInfo`].
-    pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
+    async fn join_wpa2_passphrase_info(&mut self, ssid: &str, passphrase_info: &PassphraseInfo) -> Result<(), Error> {
         self.set_iovar_u32("ampdu_ba_wsize", 8).await;
 
         self.ioctl_set_u32(134, 0, 4).await; // wsec = wpa2
@@ -240,14 +241,13 @@ impl<'a> Control<'a> {
 
         Timer::after_millis(100).await;
 
-        let mut pfi = PassphraseInfo {
+        self.ioctl(
-            len: passphrase.len() as _,
+            IoctlType::Set,
-            flags: 1,
+            IOCTL_CMD_SET_PASSPHRASE,
-            passphrase: [0; 64],
+            0,
-        };
+            &mut passphrase_info.to_bytes(),
-        pfi.passphrase[..passphrase.len()].copy_from_slice(passphrase.as_bytes());
+        )
-        self.ioctl(IoctlType::Set, IOCTL_CMD_SET_PASSPHRASE, 0, &mut pfi.to_bytes())
+        .await; // WLC_SET_WSEC_PMK
-            .await; // WLC_SET_WSEC_PMK
 
         self.ioctl_set_u32(20, 0, 1).await; // set_infra = 1
         self.ioctl_set_u32(22, 0, 0).await; // set_auth = 0 (open)
@@ -262,6 +262,28 @@ impl<'a> Control<'a> {
         self.wait_for_join(i).await
     }
 
+    /// Join a protected network with the provided ssid and passphrase.
+    pub async fn join_wpa2(&mut self, ssid: &str, passphrase: &str) -> Result<(), Error> {
+        let mut pfi = PassphraseInfo {
+            len: passphrase.len() as _,
+            flags: 1,
+            passphrase: [0; 64],
+        };
+        pfi.passphrase[..passphrase.len()].copy_from_slice(passphrase.as_bytes());
+        self.join_wpa2_passphrase_info(ssid, &pfi).await
+    }
+
+    /// Join a protected network with the provided ssid and precomputed PSK.
+    pub async fn join_wpa2_psk(&mut self, ssid: &str, psk: &[u8; 32]) -> Result<(), Error> {
+        let mut pfi = PassphraseInfo {
+            len: psk.len() as _,
+            flags: 0,
+            passphrase: [0; 64],
+        };
+        pfi.passphrase[..psk.len()].copy_from_slice(psk);
+        self.join_wpa2_passphrase_info(ssid, &pfi).await
+    }
+
     async fn wait_for_join(&mut self, i: SsidInfo) -> Result<(), Error> {
         self.events.mask.enable(&[Event::SET_SSID, Event::AUTH]);
         let mut subscriber = self.events.queue.subscriber().unwrap();
@@ -373,6 +395,24 @@ impl<'a> Control<'a> {
         self.set_iovar_u32x2("bss", 0, 1).await; // bss = BSS_UP
     }
 
+    /// Closes access point.
+    pub async fn close_ap(&mut self) {
+        // Stop AP
+        self.set_iovar_u32x2("bss", 0, 0).await; // bss = BSS_DOWN
+
+        // Turn off AP mode
+        self.ioctl_set_u32(IOCTL_CMD_SET_AP, 0, 0).await;
+
+        // Temporarily set wifi down
+        self.down().await;
+
+        // Turn on APSTA mode
+        self.set_iovar_u32("apsta", 1).await;
+
+        // Set wifi up again
+        self.up().await;
+    }
+
     /// Add specified address to the list of hardware addresses the device
     /// listens on. The address must be a Group address (I/G bit set). Up
     /// to 10 addresses are supported by the firmware. Returns the number of
@@ -574,6 +614,13 @@ impl<'a> Control<'a> {
         self.ioctl(IoctlType::Set, IOCTL_CMD_DISASSOC, 0, &mut []).await;
         info!("Disassociated")
     }
+
+    /// Gets the MAC address of the device
+    pub async fn address(&mut self) -> [u8; 6] {
+        let mut mac_addr = [0; 6];
+        assert_eq!(self.get_iovar("cur_etheraddr", &mut mac_addr).await, 6);
+        mac_addr
+    }
 }
 
 /// WiFi network scanner.

cyw43/src/fmt.rs

@@ -1,11 +1,12 @@
 #![macro_use]
-#![allow(unused_macros)]
+#![allow(unused)]
 
 use core::fmt::{Debug, Display, LowerHex};
 
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert {
     ($($x:tt)*) => {
         {
@@ -17,6 +18,7 @@ macro_rules! assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_eq {
     ($($x:tt)*) => {
         {
@@ -28,6 +30,7 @@ macro_rules! assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_ne {
     ($($x:tt)*) => {
         {
@@ -39,6 +42,7 @@ macro_rules! assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert {
     ($($x:tt)*) => {
         {
@@ -50,6 +54,7 @@ macro_rules! debug_assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_eq {
     ($($x:tt)*) => {
         {
@@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_ne {
     ($($x:tt)*) => {
         {
@@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! todo {
     ($($x:tt)*) => {
         {
@@ -83,20 +90,19 @@ macro_rules! todo {
     };
 }
 
-#[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        ::core::unreachable!($($x)*)
+        {
-    };
+            #[cfg(not(feature = "defmt"))]
-}
+            ::core::unreachable!($($x)*);
-
+            #[cfg(feature = "defmt")]
-#[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
-macro_rules! unreachable {
+        }
-    ($($x:tt)*) => {
-        ::defmt::unreachable!($($x)*)
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! panic {
     ($($x:tt)*) => {
         {
@@ -108,6 +114,7 @@ macro_rules! panic {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! trace {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -121,6 +128,7 @@ macro_rules! trace {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -134,6 +142,7 @@ macro_rules! debug {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! info {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -147,6 +156,7 @@ macro_rules! info {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! warn {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -160,6 +170,7 @@ macro_rules! warn {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! error {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -174,6 +185,7 @@ macro_rules! error {
 }
 
 #[cfg(feature = "defmt")]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($($x:tt)*) => {
         ::defmt::unwrap!($($x)*)
@@ -181,6 +193,7 @@ macro_rules! unwrap {
 }
 
 #[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($arg:expr) => {
         match $crate::fmt::Try::into_result($arg) {
@@ -229,7 +242,6 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-#[allow(unused)]
 pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {

cyw43/src/lib.rs

@@ -28,7 +28,7 @@ use ioctl::IoctlState;
 
 use crate::bus::Bus;
 pub use crate::bus::SpiBusCyw43;
-pub use crate::control::{AddMulticastAddressError, Control, Error as ControlError, Scanner};
+pub use crate::control::{AddMulticastAddressError, Control, Error as ControlError, ScanOptions, Scanner};
 pub use crate::runner::Runner;
 pub use crate::structs::BssInfo;
 

cyw43/src/runner.rs

@@ -1,6 +1,5 @@
 use embassy_futures::select::{select3, Either3};
 use embassy_net_driver_channel as ch;
-use embassy_sync::pubsub::PubSubBehavior;
 use embassy_time::{block_for, Duration, Timer};
 use embedded_hal_1::digital::OutputPin;
 
@@ -438,13 +437,16 @@ where
                     // publish() is a deadlock risk in the current design as awaiting here prevents ioctls
                     // The `Runner` always yields when accessing the device, so consumers always have a chance to receive the event
                     // (if they are actively awaiting the queue)
-                    self.events.queue.publish_immediate(events::Message::new(
+                    self.events
-                        Status {
+                        .queue
-                            event_type: evt_type,
+                        .immediate_publisher()
-                            status,
+                        .publish_immediate(events::Message::new(
-                        },
+                            Status {
-                        event_payload,
+                                event_type: evt_type,
-                    ));
+                                status,
+                            },
+                            event_payload,
+                        ));
                 }
             }
             CHANNEL_TYPE_DATA => {

docs/Makefile

@@ -0,0 +1,8 @@
+all:
+	asciidoctor -d book -D book/ index.adoc
+	cp -r images book
+
+clean:
+	rm -rf book
+
+.PHONY: all clean

docs/README.md

@@ -1,4 +1,29 @@
 # embassy docs
 
-The documentation hosted at [https://embassy.dev/book](https://embassy.dev/book). Building the documentation requires
+The documentation hosted at [https://embassy.dev/book](https://embassy.dev/book). Building the documentation requires the [asciidoctor](https://asciidoctor.org/) tool, and can built running `make` in this folder:
-cloning the [embassy-book](https://github.com/embassy-rs/embassy-book) repository and following the instructions.
+
+```
+make
+```
+
+Then open the generated file `thebook/index.html`.
+
+## License
+
+The Embassy Docs (this folder) is distributed under the following licenses:
+
+* The code samples and free-standing Cargo projects contained within these docs are licensed under the terms of both the [MIT License] and the [Apache License v2.0].
+* The written prose contained within these docs are licensed under the terms of the Creative Commons [CC-BY-SA v4.0] license.
+
+Copies of the licenses used by this project may also be found here:
+
+* [MIT License Hosted]
+* [Apache License v2.0 Hosted]
+* [CC-BY-SA v4.0 Hosted]
+
+[MIT License]: ./../LICENSE-MIT
+[Apache License v2.0]: ./../LICENSE-APACHE
+[CC-BY-SA v4.0]: ./../LICENSE-CC-BY-SA
+[MIT License Hosted]: https://opensource.org/licenses/MIT
+[Apache License v2.0 Hosted]: http://www.apache.org/licenses/LICENSE-2.0
+[CC-BY-SA v4.0 Hosted]: https://creativecommons.org/licenses/by-sa/4.0/legalcode

docs/antora.yml

@@ -1,5 +0,0 @@
-name: ROOT
-title: Embassy
-version: dev
-nav:
-  - modules/ROOT/nav.adoc

docs/examples/basic/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
+edition = "2018"
+name = "embassy-basic-example"
+version = "0.1.0"
+license = "MIT OR Apache-2.0"
+
+[dependencies]
+embassy-executor = { version = "0.6.0", path = "../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-time = { version = "0.3.2", path = "../../../embassy-time", features = ["defmt"] }
+embassy-nrf = { version = "0.2.0", path = "../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }
+
+defmt = "0.3"
+defmt-rtt = "0.3"
+
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+panic-probe = { version = "0.3", features = ["print-defmt"] }

docs/examples/examples

@@ -0,0 +1 @@
+../../examples

docs/examples/layer-by-layer/Cargo.toml

@@ -8,8 +8,8 @@ members = [
 ]
 
 [patch.crates-io]
-embassy-executor = { path = "../../../../../embassy-executor" }
+embassy-executor = { path = "../../../embassy-executor" }
-embassy-stm32 = { path = "../../../../../embassy-stm32" }
+embassy-stm32 = { path = "../../../embassy-stm32" }
 
 [profile.release]
 codegen-units = 1

docs/examples/layer-by-layer/blinky-async/Cargo.toml

@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embassy-stm32 = { version = "0.1.0", features = ["stm32l475vg", "memory-x", "exti"]  }
-embassy-executor = { version = "0.5.0", features = ["arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.6.0", features = ["arch-cortex-m", "executor-thread"] }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

docs/index.adoc

@@ -0,0 +1,16 @@
+:description: Embassy Book
+:sectanchors:
+:doctype: book
+:toc:
+:toc-placement: left
+:toclevels: 2
+:imagesdir: images
+
+# Embassy Book
+
+Welcome to the Embassy Book. The Embassy Book is for everyone who wants to use Embassy and understand how Embassy works.
+
+include::pages/overview.adoc[leveloffset = 1]
+include::pages/beginners.adoc[leveloffset = 1]
+include::pages/system.adoc[leveloffset = 1]
+include::pages/faq.adoc[leveloffset = 1]

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

@@ -1,18 +0,0 @@
-[package]
-authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
-edition = "2018"
-name = "embassy-basic-example"
-version = "0.1.0"
-license = "MIT OR Apache-2.0"
-
-[dependencies]
-embassy-executor = { version = "0.5.0", path = "../../../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
-embassy-time = { version = "0.3.0", path = "../../../../../embassy-time", features = ["defmt"] }
-embassy-nrf = { version = "0.1.0", path = "../../../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }
-
-defmt = "0.3"
-defmt-rtt = "0.3"
-
-cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
-cortex-m-rt = "0.7.0"
-panic-probe = { version = "0.3", features = ["print-defmt"] }

docs/modules/ROOT/examples/examples

@@ -1 +0,0 @@
-../../../../examples

docs/modules/ROOT/nav.adoc

@@ -1,19 +0,0 @@
-* xref:getting_started.adoc[Getting started]
-** xref:basic_application.adoc[Basic application]
-** xref:project_structure.adoc[Project Structure]
-** xref:new_project.adoc[Starting a new Embassy project]
-** xref:best_practices.adoc[Best Practices]
-* xref:runtime.adoc[Executor]
-* xref::time_keeping.adoc[Time-keeping]
-* xref:sharing_peripherals.adoc[Sharing peripherals]
-* xref:hal.adoc[HAL]
-** xref:layer_by_layer.adoc[Anatomy of an async HAL]
-** xref:nrf.adoc[nRF]
-** xref:stm32.adoc[STM32]
-* xref:bootloader.adoc[Bootloader]
-
-* xref:examples.adoc[Examples]
-* xref:developer.adoc[Developer Docs]
-** xref:developer_stm32.adoc[Developer Docs: STM32]
-* xref:embassy_in_the_wild.adoc[Embassy in the wild]
-* xref:faq.adoc[Frequently Asked Questions]

docs/modules/ROOT/pages/embassy_in_the_wild.adoc

@@ -1,11 +0,0 @@
-= Embassy in the wild!
-
-Here are known examples of real-world projects which make use of Embassy. Feel free to link:https://github.com/embassy-rs/embassy/blob/main/docs/modules/ROOT/pages/embassy_in_the_wild.adoc[add more]!
-
-* link:https://github.com/cbruiz/printhor/[Printhor: The highly reliable but not necessarily functional 3D printer firmware]
-** Targets some STM32 MCUs
-* link:https://github.com/card-io-ecg/card-io-fw[Card/IO firmware] - firmware for an open source ECG device
-** Targets the ESP32-S3 or ESP32-C6 MCU
-* The link:https://github.com/lora-rs/lora-rs[lora-rs] project includes link:https://github.com/lora-rs/lora-rs/tree/main/examples/stm32l0/src/bin[various standalone examples] for NRF52840, RP2040, STM32L0 and STM32WL
-** link:https://github.com/matoushybl/air-force-one[Air force one: A simple air quality monitoring system]
-*** Targets nRF52 and uses nrf-softdevice

docs/modules/ROOT/pages/faq.adoc

@@ -1,210 +0,0 @@
-= Frequently Asked Questions
-
-These are a list of unsorted, commonly asked questions and answers.
-
-Please feel free to add items to link:https://github.com/embassy-rs/embassy/edit/main/docs/modules/ROOT/pages/faq.adoc[this page], especially if someone in the chat answered a question for you!
-
-== How to deploy to RP2040 without a debugging probe.
-
-Install link:https://github.com/JoNil/elf2uf2-rs[elf2uf2-rs] for converting the generated elf binary into a uf2 file.
-
-Configure the runner to use this tool, add this to `.cargo/config.toml`:
-[source,toml]
-----
-[target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "elf2uf2-rs --deploy --serial --verbose"
-----
-
-The command-line parameters `--deploy` will detect your device and upload the binary, `--serial` starts a serial connection. See the documentation for more info.
-
-== Missing main macro
-
-If you see an error like this:
-
-[source,rust]
-----
-#[embassy_executor::main]
-|                   ^^^^ could not find `main` in `embassy_executor`
-----
-
-You are likely missing some features of the `embassy-executor` crate.
-
-For Cortex-M targets, check whether ALL of the following features are enabled in your `Cargo.toml` for the `embassy-executor` crate:
-
-* `arch-cortex-m`
-* `executor-thread`
-
-For ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].
-
-== Why is my binary so big?
-
-The first step to managing your binary size is to set up your link:https://doc.rust-lang.org/cargo/reference/profiles.html[profiles].
-
-[source,toml]
-----
-[profile.release]
-lto = true
-opt-level = "s"
-incremental = false
-codegen-units = 1
-# note: debug = true is okay - debuginfo isn't flashed to the device!
-debug = true
-----
-
-All of these flags are elaborated on in the Rust Book page linked above.
-
-=== My binary is still big... filled with `std::fmt` stuff!
-
-This means your code is sufficiently complex that `panic!` invocation's formatting requirements could not be optimized out, despite your usage of `panic-halt` or `panic-reset`.
-
-You can remedy this by adding the following to your `.cargo/config.toml`:
-
-[source,toml]
-----
-[unstable]
-build-std = ["core"]
-build-std-features = ["panic_immediate_abort"]
-----
-
-This replaces all panics with a `UDF` (undefined) instruction.
-
-Depending on your chipset, this will exhibit different behavior.
-
-Refer to the spec for your chipset, but for `thumbv6m`, it results in a hardfault. Which can be configured like so:
-
-[source,rust]
-----
-#[exception]
-unsafe fn HardFault(_frame: &ExceptionFrame) -> ! {
-    SCB::sys_reset() // <- you could do something other than reset
-}
-----
-
-Refer to cortex-m's link:https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.exception.html[exception handling] for more info.
-
-== `embassy-time` throws linker errors
-
-If you see linker error like this:
-
-[source,text]
-----
-  = note: rust-lld: error: undefined symbol: _embassy_time_now
-          >>> referenced by driver.rs:127 (src/driver.rs:127)
-          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::now::hefb1f99d6e069842) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
-
-          rust-lld: error: undefined symbol: _embassy_time_allocate_alarm
-          >>> referenced by driver.rs:134 (src/driver.rs:134)
-          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::allocate_alarm::hf5145b6bd46706b2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
-
-          rust-lld: error: undefined symbol: _embassy_time_set_alarm_callback
-          >>> referenced by driver.rs:139 (src/driver.rs:139)
-          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm_callback::h24f92388d96eafd2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
-
-          rust-lld: error: undefined symbol: _embassy_time_set_alarm
-          >>> referenced by driver.rs:144 (src/driver.rs:144)
-          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm::h530a5b1f444a6d5b) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
-----
-
-You probably need to enable a time driver for your HAL (not in `embassy-time`!). For example with `embassy-stm32`, you might need to enable `time-driver-any`:
-
-[source,toml]
-----
-[dependencies.embassy-stm32]
-version = "0.1.0"
-features = [
-    # ...
-    "time-driver-any", # Add this line!
-    # ...
-]
-----
-
-If you are in the early project setup phase and not using anything from the HAL, make sure the HAL is explicitly used to prevent the linker removing it as dead code by adding this line to your source:
-
-[source,rust]
-----
-use embassy_stm32 as _;
-----
-
-== Error: `Only one package in the dependency graph may specify the same links value.`
-
-You have multiple versions of the same crate in your dependency tree. This means that some of your
-embassy crates are coming from crates.io, and some from git, each of them pulling in a different set
-of dependencies.
-
-To resolve this issue, make sure to only use a single source for all your embassy crates!
-To do this, you should patch your dependencies to use git sources using `[patch.crates.io]`
-and maybe `[patch.'https://github.com/embassy-rs/embassy.git']`.
-
-Example:
-
-[source,toml]
-----
-[patch.crates-io]
-embassy-time-queue-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
-embassy-time-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
-# embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
-----
-
-Note that the git revision should match any other embassy patches or git dependencies that you are using!
-
-== How can I optimize the speed of my embassy-stm32 program?
-
-* Make sure RCC is set up to go as fast as possible
-* Make sure link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html[flash cache] is enabled
-* build with `--release`
-* Set the following keys for the release profile in your `Cargo.toml`:
-    ** `opt-level = "s"`
-    ** `lto = "fat"`
-* Set the following keys in the `[unstable]` section of your `.cargo/config.toml`
-    ** `build-std = ["core"]`
-    ** `build-std-features = ["panic_immediate_abort"]`
-* Enable feature `embassy-time/generic-queue`, disable feature `embassy-executor/integrated-timers`
-* When using `InterruptExecutor`:
-    ** disable `executor-thread`
-    ** make `main`` spawn everything, then enable link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html#method.set_sleeponexit[SCB.SLEEPONEXIT] and `loop { cortex_m::asm::wfi() }`
-    ** *Note:*  If you need 2 priority levels, using 2 interrupt executors is better than 1 thread executor + 1 interrupt executor.
-
-== How do I set up the task arenas on stable?
-
-When you aren't using the `nightly` feature of `embassy-executor`, the executor uses a bump allocator, which may require configuration.
-
-Something like this error will occur at **compile time** if the task arena is *too large* for the target's RAM:
-
-[source,plain]
-----
-rust-lld: error: section '.bss' will not fit in region 'RAM': overflowed by _ bytes
-rust-lld: error: section '.uninit' will not fit in region 'RAM': overflowed by _ bytes
-----
-
-And this message will appear at **runtime** if the task arena is *too small* for the tasks running:
-
-[source,plain]
-----
-ERROR panicked at 'embassy-executor: task arena is full. You must increase the arena size, see the documentation for details: https://docs.embassy.dev/embassy-executor/'
-----
-
-NOTE: If all tasks are spawned at startup, this panic will occur immediately.
-
-Check out link:https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena[Task Arena Documentation] for more details.
-
-== Can I use manual ISRs alongside Embassy?
-
-Yes! This can be useful if you need to respond to an event as fast as possible, and the latency caused by the usual “ISR, wake, return from ISR, context switch to woken task” flow is too much for your application. Simply define a `#[interrupt] fn INTERRUPT_NAME() {}` handler as you would link:https://docs.rust-embedded.org/book/start/interrupts.html[in any other embedded rust project].
-
-== How can I measure resource usage (CPU, RAM, etc.)?
-
-=== For CPU Usage:
-
-There are a couple techniques that have been documented, generally you want to measure how long you are spending in the idle or low priority loop.
-
-We need to document specifically how to do this in embassy, but link:https://blog.japaric.io/cpu-monitor/[this older post] describes the general process.
-
-If you end up doing this, please update this section with more specific examples!
-
-=== For Static Memory Usage
-
-Tools like `cargo size` and `cargo nm` can tell you the size of any globals or other static usage. Specifically you will want to see the size of the `.data` and `.bss` sections, which together make up the total global/static memory usage.
-
-=== For Max Stack Usage
-
-Check out link:https://github.com/Dirbaio/cargo-call-stack/[`cargo-call-stack`] for statically calculating worst-case stack usage. There are some caveats and inaccuracies possible with this, but this is a good way to get the general idea. See link:https://github.com/dirbaio/cargo-call-stack#known-limitations[the README] for more details.

docs/pages/basic_application.adoc

@@ -1,10 +1,10 @@
 = A basic Embassy application
 
-So you've got one of the xref:examples.adoc[examples] running, but what now? Let's go through a simple Embassy application for the nRF52 DK to understand it better.
+So you've got one of the examples running, but what now? Let's go through a simple Embassy application for the nRF52 DK to understand it better.
 
 == Main
 
-The full example can be found link:https://github.com/embassy-rs/embassy/tree/master/docs/modules/ROOT/examples/basic[here].
+The full example can be found link:https://github.com/embassy-rs/embassy/tree/main/docs/examples/basic[here].
 
 NOTE: If you’re using VS Code and rust-analyzer to view and edit the examples, you may need to make some changes to `.vscode/settings.json` to tell it which project we’re working on. Follow the instructions commented in that file to get rust-analyzer working correctly.
 
@@ -14,7 +14,7 @@ The first thing you’ll notice are two attributes at the top of the file. These
 
 [source,rust]
 ----
-include::example$basic/src/main.rs[lines="1..2"]
+include::../examples/basic/src/main.rs[lines="1..2"]
 ----
 
 === Dealing with errors
@@ -23,7 +23,7 @@ Then, what follows are some declarations on how to deal with panics and faults.
 
 [source,rust]
 ----
-include::example$basic/src/main.rs[lines="8"]
+include::../examples/basic/src/main.rs[lines="8"]
 ----
 
 === Task declaration
@@ -32,7 +32,7 @@ After a bit of import declaration, the tasks run by the application should be de
 
 [source,rust]
 ----
-include::example$basic/src/main.rs[lines="10..18"]
+include::../examples/basic/src/main.rs[lines="10..18"]
 ----
 
 An embassy task must be declared `async`, and may NOT take generic arguments. In this case, we are handed the LED that should be blinked and the interval of the blinking.
@@ -47,7 +47,7 @@ We then initialize the HAL with a default config, which gives us a `Peripherals`
 
 [source,rust]
 ----
-include::example$basic/src/main.rs[lines="20..-1"]
+include::../examples/basic/src/main.rs[lines="20..-1"]
 ----
 
 What happens when the `blinker` task has been spawned and main returns? Well, the main entry point is actually just like any other task, except that you can only have one and it takes some specific type arguments. The magic lies within the `#[embassy_executor::main]` macro. The macro does the following:
@@ -64,7 +64,7 @@ The project definition needs to contain the embassy dependencies:
 
 [source,toml]
 ----
-include::example$basic/Cargo.toml[lines="9..11"]
+include::../examples/basic/Cargo.toml[lines="9..11"]
 ----
 
 Depending on your microcontroller, you may need to replace `embassy-nrf` with something else (`embassy-stm32` for STM32. Remember to update feature flags as well).

docs/pages/beginners.adoc

@@ -0,0 +1,11 @@
+= For beginners
+
+The articles in this section are primarily aimed at users new to Embassy,
+showing how to get started, how to structure your project and other best practices.
+
+include::getting_started.adoc[leveloffset = 2]
+include::basic_application.adoc[leveloffset = 2]
+include::project_structure.adoc[leveloffset = 2]
+include::new_project.adoc[leveloffset = 2]
+include::best_practices.adoc[leveloffset = 2]
+include::layer_by_layer.adoc[leveloffset = 2]

docs/pages/embassy_in_the_wild.adoc

@@ -0,0 +1,22 @@
+= Embassy in the wild!
+
+Here are known examples of real-world projects which make use of Embassy. Feel free to link:https://github.com/embassy-rs/embassy/blob/main/docs/pages/embassy_in_the_wild.adoc[add more]!
+
+* link:https://github.com/haobogu/rmk/[RMK: A feature-rich Rust keyboard firmware]
+** RMK has built-in layer support, wireless(BLE) support, real-time key editing support using vial, and more! 
+** Targets STM32, RP2040, nRF52 and ESP32 MCUs
+* link:https://github.com/cbruiz/printhor/[Printhor: The highly reliable but not necessarily functional 3D printer firmware]
+** Targets some STM32 MCUs
+* link:https://github.com/card-io-ecg/card-io-fw[Card/IO firmware] - firmware for an open source ECG device
+** Targets the ESP32-S3 or ESP32-C6 MCU
+* The link:https://github.com/lora-rs/lora-rs[lora-rs] project includes link:https://github.com/lora-rs/lora-rs/tree/main/examples/stm32l0/src/bin[various standalone examples] for NRF52840, RP2040, STM32L0 and STM32WL
+* link:https://github.com/matoushybl/air-force-one[Air force one: A simple air quality monitoring system]
+** Targets nRF52 and uses nrf-softdevice
+
+* link:https://github.com/schmettow/ylab-edge-go[YLab Edge Go] and link:https://github.com/schmettow/ylab-edge-pro[YLab Edge Pro] projects develop 
+firmware (RP2040, STM32) for capturing physiological data in behavioural science research. Included so far are:
+** biopotentials (analog ports)
+** motion capture (6-axis accelerometers)
+** air quality (CO2, Temp, Humidity)
+** comes with an app for capturing and visualizing data [link:https://github.com/schmettow/ystudio-zero[Ystudio]]
+

docs/pages/examples.adoc

@@ -7,5 +7,5 @@ Main loop example
 
 [source,rust]
 ----
-include::example$examples/std/src/bin/tick.rs[]
+include::../examples/examples/std/src/bin/tick.rs[]
 ----

docs/pages/faq.adoc

@@ -0,0 +1,364 @@
+= Frequently Asked Questions
+
+These are a list of unsorted, commonly asked questions and answers.
+
+Please feel free to add items to link:https://github.com/embassy-rs/embassy/edit/main/docs/pages/faq.adoc[this page], especially if someone in the chat answered a question for you!
+
+== How to deploy to RP2040 without a debugging probe.
+
+Install link:https://github.com/JoNil/elf2uf2-rs[elf2uf2-rs] for converting the generated elf binary into a uf2 file.
+
+Configure the runner to use this tool, add this to `.cargo/config.toml`:
+[source,toml]
+----
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "elf2uf2-rs --deploy --serial --verbose"
+----
+
+The command-line parameters `--deploy` will detect your device and upload the binary, `--serial` starts a serial connection. See the documentation for more info.
+
+== Missing main macro
+
+If you see an error like this:
+
+[source,rust]
+----
+#[embassy_executor::main]
+|                   ^^^^ could not find `main` in `embassy_executor`
+----
+
+You are likely missing some features of the `embassy-executor` crate.
+
+For Cortex-M targets, check whether ALL of the following features are enabled in your `Cargo.toml` for the `embassy-executor` crate:
+
+* `arch-cortex-m`
+* `executor-thread`
+
+For ESP32, consider using the executors and `#[main]` macro provided by your appropriate link:https://crates.io/crates/esp-hal-common[HAL crate].
+
+== Why is my binary so big?
+
+The first step to managing your binary size is to set up your link:https://doc.rust-lang.org/cargo/reference/profiles.html[profiles].
+
+[source,toml]
+----
+[profile.release]
+lto = true
+opt-level = "s"
+incremental = false
+codegen-units = 1
+# note: debug = true is okay - debuginfo isn't flashed to the device!
+debug = true
+----
+
+All of these flags are elaborated on in the Rust Book page linked above.
+
+=== My binary is still big... filled with `std::fmt` stuff!
+
+This means your code is sufficiently complex that `panic!` invocation's formatting requirements could not be optimized out, despite your usage of `panic-halt` or `panic-reset`.
+
+You can remedy this by adding the following to your `.cargo/config.toml`:
+
+[source,toml]
+----
+[unstable]
+build-std = ["core"]
+build-std-features = ["panic_immediate_abort"]
+----
+
+This replaces all panics with a `UDF` (undefined) instruction.
+
+Depending on your chipset, this will exhibit different behavior.
+
+Refer to the spec for your chipset, but for `thumbv6m`, it results in a hardfault. Which can be configured like so:
+
+[source,rust]
+----
+#[exception]
+unsafe fn HardFault(_frame: &ExceptionFrame) -> ! {
+    SCB::sys_reset() // <- you could do something other than reset
+}
+----
+
+Refer to cortex-m's link:https://docs.rs/cortex-m-rt/latest/cortex_m_rt/attr.exception.html[exception handling] for more info.
+
+== `embassy-time` throws linker errors
+
+If you see linker error like this:
+
+[source,text]
+----
+  = note: rust-lld: error: undefined symbol: _embassy_time_now
+          >>> referenced by driver.rs:127 (src/driver.rs:127)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::now::hefb1f99d6e069842) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+
+          rust-lld: error: undefined symbol: _embassy_time_allocate_alarm
+          >>> referenced by driver.rs:134 (src/driver.rs:134)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::allocate_alarm::hf5145b6bd46706b2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+
+          rust-lld: error: undefined symbol: _embassy_time_set_alarm_callback
+          >>> referenced by driver.rs:139 (src/driver.rs:139)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm_callback::h24f92388d96eafd2) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+
+          rust-lld: error: undefined symbol: _embassy_time_set_alarm
+          >>> referenced by driver.rs:144 (src/driver.rs:144)
+          >>>               embassy_time-846f66f1620ad42c.embassy_time.4f6a638abb75dd4c-cgu.0.rcgu.o:(embassy_time::driver::set_alarm::h530a5b1f444a6d5b) in archive Devel/Embedded/pogodyna/target/thumbv7em-none-eabihf/debug/deps/libembassy_time-846f66f1620ad42c.rlib
+----
+
+You probably need to enable a time driver for your HAL (not in `embassy-time`!). For example with `embassy-stm32`, you might need to enable `time-driver-any`:
+
+[source,toml]
+----
+[dependencies.embassy-stm32]
+version = "0.1.0"
+features = [
+    # ...
+    "time-driver-any", # Add this line!
+    # ...
+]
+----
+
+If you are in the early project setup phase and not using anything from the HAL, make sure the HAL is explicitly used to prevent the linker removing it as dead code by adding this line to your source:
+
+[source,rust]
+----
+use embassy_stm32 as _;
+----
+
+== Error: `Only one package in the dependency graph may specify the same links value.`
+
+You have multiple versions of the same crate in your dependency tree. This means that some of your
+embassy crates are coming from crates.io, and some from git, each of them pulling in a different set
+of dependencies.
+
+To resolve this issue, make sure to only use a single source for all your embassy crates!
+To do this, you should patch your dependencies to use git sources using `[patch.crates.io]`
+and maybe `[patch.'https://github.com/embassy-rs/embassy.git']`.
+
+Example:
+
+[source,toml]
+----
+[patch.crates-io]
+embassy-time-queue-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
+embassy-time-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
+# embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "e5fdd35" }
+----
+
+Note that the git revision should match any other embassy patches or git dependencies that you are using!
+
+== How can I optimize the speed of my embassy-stm32 program?
+
+* Make sure RCC is set up to go as fast as possible
+* Make sure link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html[flash cache] is enabled
+* build with `--release`
+* Set the following keys for the release profile in your `Cargo.toml`:
+    ** `opt-level = "s"`
+    ** `lto = "fat"`
+* Set the following keys in the `[unstable]` section of your `.cargo/config.toml`
+    ** `build-std = ["core"]`
+    ** `build-std-features = ["panic_immediate_abort"]`
+* Enable feature `embassy-time/generic-queue`, disable feature `embassy-executor/integrated-timers`
+* When using `InterruptExecutor`:
+    ** disable `executor-thread`
+    ** make `main`` spawn everything, then enable link:https://docs.rs/cortex-m/latest/cortex_m/peripheral/struct.SCB.html#method.set_sleeponexit[SCB.SLEEPONEXIT] and `loop { cortex_m::asm::wfi() }`
+    ** *Note:*  If you need 2 priority levels, using 2 interrupt executors is better than 1 thread executor + 1 interrupt executor.
+
+== How do I set up the task arenas on stable?
+
+When you aren't using the `nightly` feature of `embassy-executor`, the executor uses a bump allocator, which may require configuration.
+
+Something like this error will occur at **compile time** if the task arena is *too large* for the target's RAM:
+
+[source,plain]
+----
+rust-lld: error: section '.bss' will not fit in region 'RAM': overflowed by _ bytes
+rust-lld: error: section '.uninit' will not fit in region 'RAM': overflowed by _ bytes
+----
+
+And this message will appear at **runtime** if the task arena is *too small* for the tasks running:
+
+[source,plain]
+----
+ERROR panicked at 'embassy-executor: task arena is full. You must increase the arena size, see the documentation for details: https://docs.embassy.dev/embassy-executor/'
+----
+
+NOTE: If all tasks are spawned at startup, this panic will occur immediately.
+
+Check out link:https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena[Task Arena Documentation] for more details.
+
+== Can I use manual ISRs alongside Embassy?
+
+Yes! This can be useful if you need to respond to an event as fast as possible, and the latency caused by the usual “ISR, wake, return from ISR, context switch to woken task” flow is too much for your application. Simply define a `#[interrupt] fn INTERRUPT_NAME() {}` handler as you would link:https://docs.rust-embedded.org/book/start/interrupts.html[in any other embedded rust project].
+
+== How can I measure resource usage (CPU, RAM, etc.)?
+
+=== For CPU Usage:
+
+There are a couple techniques that have been documented, generally you want to measure how long you are spending in the idle or low priority loop.
+
+We need to document specifically how to do this in embassy, but link:https://blog.japaric.io/cpu-monitor/[this older post] describes the general process.
+
+If you end up doing this, please update this section with more specific examples!
+
+=== For Static Memory Usage
+
+Tools like `cargo size` and `cargo nm` can tell you the size of any globals or other static usage. Specifically you will want to see the size of the `.data` and `.bss` sections, which together make up the total global/static memory usage.
+
+=== For Max Stack Usage
+
+Check out link:https://github.com/Dirbaio/cargo-call-stack/[`cargo-call-stack`] for statically calculating worst-case stack usage. There are some caveats and inaccuracies possible with this, but this is a good way to get the general idea. See link:https://github.com/dirbaio/cargo-call-stack#known-limitations[the README] for more details.
+
+== The memory definition for my STM chip seems wrong, how do I define a `memory.x` file?
+
+It could happen that your project compiles, flashes but fails to run. The following situation can be true for your setup:
+
+The `memory.x` is generated automatically when enabling the `memory-x` feature on the `embassy-stm32` crate in the `Cargo.toml` file.
+This, in turn, uses `stm32-metapac` to generate the `memory.x` file for you. Unfortunately, more often than not this memory definition is not correct.
+
+You can override this by adding your own `memory.x` file. Such a file could look like this:
+```
+MEMORY
+{
+  FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
+  RAM (xrw)  : ORIGIN = 0x20000000, LENGTH = 320K
+}
+
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+```
+
+Please refer to the STM32 documentation for the specific values suitable for your board and setup. The STM32 Cube examples often contain a linker script `.ld` file. 
+Look for the `MEMORY` section and try to determine the FLASH and RAM sizes and section start.
+
+If you find a case where the memory.x is wrong, please report it on [this Github issue](https://github.com/embassy-rs/stm32-data/issues/301) so other users are not caught by surprise.
+
+== The USB examples are not working on my board, is there anything else I need to configure?
+
+If you are trying out the USB examples and your device doesn not connect, the most common issues are listed below.
+
+=== Incorrect RCC config
+
+Check your board and crystal/oscillator, in particular make sure that `HSE` is set to the correct value, e.g. `8_000_000` Hertz if your board does indeed run on a 8 MHz oscillator.
+
+=== VBUS detection on STM32 platform
+
+The USB specification requires that all USB devices monitor the bus for detection of plugging/unplugging actions. The devices must pull-up the D+ or D- lane as soon as the host supplies VBUS.
+
+See the docs, for example at link:https://docs.embassy.dev/embassy-stm32/git/stm32f401vc/usb/struct.Config.html[`usb/struct.Config.html`] for information on how to enable/disable `vbus_detection`.
+
+When the device is powered only from the USB bus that simultaneously serves as the data connection, this is optional. (If there's no power in VBUS the device would be off anyway, so it's safe to always assume there's power in VBUS, i.e. the USB cable is always plugged in). If your device doesn't have the required connections in place to allow VBUS sensing (see below), then this option needs to be set to `false` to work.
+
+When the device is powered from another power source and therefore can stay powered through USB cable plug/unplug events, then this must be implemented and `vbus_detection` MUST be set to `true`.
+
+If your board is powered from the USB and you are unsure whether it supports `vbus_detection`, consult the schematics of your board to see if VBUS is connected to PA9 for USB Full Speed or PB13 for USB High Speed, vice versa, possibly with a voltage divider. When designing your own hardware, see ST application note AN4879 (in particular section 2.6) and the reference manual of your specific chip for more details.
+
+== Known issues (details and/or mitigations)
+
+These are issues that are commonly reported. Help wanted fixing them, or improving the UX when possible!
+
+=== STM32H5 and STM32H7 power issues
+
+STM32 chips with built-in power management (SMPS and LDO) settings often cause user problems when the configuration does not match how the board was designed.
+
+Settings from the examples, or even from other working boards, may not work on YOUR board, because they are wired differently.
+
+Additionally, some PWR settings require a full device reboot (and enough time to discharge any power capacitors!), making this hard to troubleshoot. Also, some
+"wrong" power settings will ALMOST work, meaning it will sometimes work on some boots, or for a while, but crash unexpectedly.
+
+There is not a fix for this yet, as it is board/hardware dependant. See link:https://github.com/embassy-rs/embassy/issues/2806[this tracking issue] for more details
+
+=== STM32 BDMA only working out of some RAM regions
+
+The STM32 BDMA controller included in some STM32H7 chips has to be configured to use only certain regions of RAM,
+otherwise the transfer will fail.
+
+If you see errors that look like this:
+
+[source,plain]
+----
+DMA: error on BDMA@1234ABCD channel 4
+----
+
+You need to set up your linker script to define a special region for this area and copy data to that region before using with BDMA.
+
+General steps:
+
+1. Find out which memory region BDMA has access to. You can get this information from the bus matrix and the memory mapping table in the STM32 datasheet.
+2. Add the memory region to `memory.x`, you can modify the generated one from https://github.com/embassy-rs/stm32-data-generated/tree/main/data/chips.
+3. You might need to modify `build.rs` to make cargo pick up the modified `memory.x`.
+4. In your code, access the defined memory region using `#[link_section = ".xxx"]`
+5. Copy data to that region before using BDMA.
+
+See link:https://github.com/embassy-rs/embassy/blob/main/examples/stm32h7/src/bin/spi_bdma.rs[SMT32H7 SPI BDMA example] for more details.
+
+== How do I switch to the `main` branch?
+
+Sometimes to test new changes or fixes, you'll want to switch your project to using a version from GitHub.
+
+You can add a section to your `Cargo.toml` file like this, you'll need to patch ALL embassy crates to the same revision:
+
+Using `patch` will replace all direct AND indirect dependencies.
+
+See the link:https://embassy.dev/book/#_starting_a_new_project[new project docs] for more details on this approach.
+
+[source,toml]
+----
+[patch.crates-io]
+# make sure to get the latest git rev from github, you can see the latest one here:
+# https://github.com/embassy-rs/embassy/commits/main/
+embassy-embedded-hal = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+embassy-executor     = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+embassy-rp           = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+embassy-sync         = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+embassy-time         = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+embassy-usb          = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+embassy-usb-driver   = { git = "https://github.com/embassy-rs/embassy",     rev = "4cade64ebd34bf93458f17cfe85c5f710d0ff13c" }
+----
+
+== How do I add support for a new microcontroller to embassy?
+
+This is particularly for cortex-m, and potentially risc-v, where there is already support for basics like interrupt handling, or even already embassy-executor support for your architecture.
+
+This is a *much harder path* than just using Embassy on an already supported chip. If you are a beginner, consider using embassy on an existing, well supported chip for a while, before you decide to write drivers from scratch. It's also worth reading the existing source of supported Embassy HALs, to get a feel for how drivers are implemented for various chips. You should already be comfortable reading and writing unsafe code, and understanding the responsibilities of writing safe abstractions for users of your HAL.
+
+This is not the only possible approach, but if you are looking for where to start, this is a reasonable way to tackle the task:
+
+1. First, drop by the Matrix room or search around to see if someone has already started writing drivers, either in Embassy or otherwise in Rust. You might not have to start from scratch!
+2. Make sure the target is supported in probe-rs, it likely is, and if not, there is likely a cmsis-pack you can use to add support so that flashing and debugging is possible. You will definitely appreciate being able to debug with SWD or JTAG when writing drivers!
+3. See if there is an SVD (or SVDs, if it's a family) available, if it is, run it through chiptool to create a PAC for low level register access. If not, there are other ways (like scraping the PDF datasheets or existing C header files), but these are more work than starting from the SVD file to define peripheral memory locations necessary for writing drivers.
+4. Either make a fork of embassy repo, and add your target there, or make a repo that just contains the PAC and an empty HAL. It doesn't necessarily have to live in the embassy repo at first.
+5. Get a hello world binary working on your chip, either with minimal HAL or just PAC access, use delays and blink a light or send some raw data on some interface, make sure it works and you can flash, debug with defmt + RTT, write a proper linker script, etc.
+6. Get basic timer operations and timer interrupts working, upgrade your blinking application to use hardware timers and interrupts, and ensure they are accurate (with a logic analyzer or oscilloscope, if possible).
+7. Implement the embassy-time driver API with your timer and timer interrupt code, so that you can use embassy-time operations in your drivers and applications.
+8. Then start implementing whatever peripherals you need, like GPIOs, UART, SPI, I2C, etc. This is the largest part of the work, and will likely continue for a while! Don't feel like you need 100% coverage of all peripherals at first, this is likely to be an ongoing process over time.
+9. Start implementing the embedded-hal, embedded-io, and embedded-hal-async traits on top of your HAL drivers, once you start having more features completed. This will allow users to use standard external device drivers (e.g. sensors, actuators, displays, etc.) with your HAL.
+10. Discuss upstreaming the PAC/HAL for embassy support, or make sure your drivers are added to the awesome-embedded-rust list so that people can find it.
+
+== Multiple Tasks, or one task with multiple futures?
+
+Some examples end like this in main:
+
+[source,rust]
+----
+// Run everything concurrently.
+// If we had made everything `'static` above instead, we could do this using separate tasks instead.
+join(usb_fut, join(echo_fut, log_fut)).await;
+----
+
+There are two main ways to handle concurrency in Embassy:
+
+1. Spawn multiple tasks, e.g. with `#[embassy_executor::task]`
+2. Manage multiple futures inside ONE task using `join()` or `select()` (as shown above)
+
+In general, either of these approaches will work. The main differences of these approaches are:
+
+When using **separate tasks**, each task needs its own RAM allocation, so there's a little overhead for each task, so one task that does three things will likely be a little bit smaller than three tasks that do one thing (not a lot, probably a couple dozen bytes). In contrast, with **multiple futures in one task**, you don't need multiple task allocations, and it will generally be easier to share data, or use borrowed resources, inside of a single task. 
+An example showcasing some methods for sharing things between tasks link:https://github.com/embassy-rs/embassy/blob/main/examples/rp/src/bin/sharing.rs[can be found here].
+
+But when it comes to "waking" tasks, for example when a data transfer is complete or a button is pressed, it's faster to wake a dedicated task, because that task does not need to check which future is actually ready. `join` and `select` must check ALL of the futures they are managing to see which one (or which ones) are ready to do more work. This is because all Rust executors (like Embassy or Tokio) only have the ability to wake tasks, not specific futures. This means you will use slightly less CPU time juggling futures when using dedicated tasks.
+
+Practically, there's not a LOT of difference either way - so go with what makes it easier for you and your code first, but there will be some details that are slightly different in each case.
+
+== splitting peripherals resources between tasks
+
+There are two ways to split resources between tasks, either manually assigned or by a convenient macro. See link:https://github.com/embassy-rs/embassy/blob/main/examples/rp/src/bin/assign_resources.rs[this example]

docs/pages/getting_started.adoc

@@ -131,13 +131,16 @@ If you’re using a raspberry pi pico-w, make sure you’re running `+cargo run
 
 If you’re using an rp2040 debug probe (e.g. the pico probe) and are having issues after running `probe-rs info`, unplug and reconnect the probe, letting it power cycle. Running `probe-rs info` is link:https://github.com/probe-rs/probe-rs/issues/1849[known to put the pico probe into an unusable state].
 
-If you’re still having problems, check the link:https://embassy.dev/book/dev/faq.html[FAQ], or ask for help in the link:https://matrix.to/#/#embassy-rs:matrix.org[Embassy Chat Room].
+:embassy-dev-faq-link-with-hash: https://embassy.dev/book/#_frequently_asked_questions
+:embassy-matrix-channel: https://matrix.to/#/#embassy-rs:matrix.org
+
+If you’re still having problems, check the {embassy-dev-faq-link-with-hash}[FAQ], or ask for help in the {embassy-matrix-channel}[Embassy Chat Room].
 
 == What's next?
 
 Congratulations, you have your first Embassy application running! Here are some suggestions for where to go from here:
 
-* Read more about the xref:runtime.adoc[executor].
+* Read more about the xref:_embassy_executor[executor].
-* Read more about the xref:hal.adoc[HAL].
+* Read more about the xref:_hardware_abstraction_layer_hal[HAL].
-* Start xref:basic_application.adoc[writing your application].
+* Start xref:_a_basic_embassy_application[writing your application].
-* Learn how to xref:new_project.adoc[start a new embassy project by adapting an example].
+* Learn how to xref:_starting_a_new_project[start a new embassy project by adapting an example].

docs/pages/hal.adoc

@@ -10,3 +10,5 @@ These HALs implement async/await functionality for most peripherals while also i
 async traits in `embedded-hal` and `embedded-hal-async`. You can also use these HALs with another executor.
 
 For the ESP32 series, there is an link:https://github.com/esp-rs/esp-hal[esp-hal] which you can use.
+
+For the WCH 32-bit RISC-V series, there is an link:https://github.com/ch32-rs/ch32-hal[ch32-hal], which you can use.

docs/pages/layer_by_layer.adoc

@@ -16,7 +16,7 @@ The blinky app using PAC is shown below:
 
 [source,rust]
 ----
-include::example$layer-by-layer/blinky-pac/src/main.rs[]
+include::../examples/layer-by-layer/blinky-pac/src/main.rs[]
 ----
 
 As you can see, a lot of code is needed to enable the peripheral clocks and to configure the input pins and the output pins of the application.
@@ -35,7 +35,7 @@ The HAL example is shown below:
 
 [source,rust]
 ----
-include::example$layer-by-layer/blinky-hal/src/main.rs[]
+include::../examples/layer-by-layer/blinky-hal/src/main.rs[]
 ----
 
 As you can see, the application becomes a lot simpler, even without using any async code. The `Input` and `Output` types hide all the details of accessing the GPIO registers and allow you to use a much simpler API for querying the state of the button and toggling the LED output.
@@ -52,7 +52,7 @@ Given Embassy focus on async Rust (which we'll come back to after this example),
 
 [source,rust]
 ----
-include::example$layer-by-layer/blinky-irq/src/main.rs[lines="1..57"]
+include::../examples/layer-by-layer/blinky-irq/src/main.rs[lines="1..57"]
 ----
 
 The simple application is now more complex again, primarily because of the need to keep the button and LED states in the global scope where it is accessible by the main application loop, as well as the interrupt handler.
@@ -63,11 +63,11 @@ Luckily, there is an elegant solution to this problem when using Embassy.
 
 == Async version
 
-It's time to use the Embassy capabilities to its fullest. At the core, Embassy has an async excecutor, or a runtime for async tasks if you will. The executor polls a set of tasks (defined at compile time), and whenever a task `blocks`, the executor will run another task, or put the microcontroller to sleep.
+It's time to use the Embassy capabilities to its fullest. At the core, Embassy has an async executor, or a runtime for async tasks if you will. The executor polls a set of tasks (defined at compile time), and whenever a task `blocks`, the executor will run another task, or put the microcontroller to sleep.
 
 [source,rust]
 ----
-include::example$layer-by-layer/blinky-async/src/main.rs[]
+include::../examples/layer-by-layer/blinky-async/src/main.rs[]
 ----
 
 The async version looks very similar to the HAL version, apart from a few minor details:
@@ -76,7 +76,7 @@ The async version looks very similar to the HAL version, apart from a few minor
 * The peripheral initialization is done by the main macro, and is handed to the main task.
 * Before checking the button state, the application is awaiting a transition in the pin state (low -> high or high -> low).
 
-When `button.await_for_any_edge().await` is called, the executor will pause the main task and put the microcontroller in sleep mode, unless there are other tasks that can run. Internally, the Embassy HAL has configured the interrupt handler for the button (in `ExtiButton`), so that whenever an interrupt is raised, the task awaiting the button will be woken up.
+When `button.await_for_any_edge().await` is called, the executor will pause the main task and put the microcontroller in sleep mode, unless there are other tasks that can run. Internally, the Embassy HAL has configured the interrupt handler for the button (in `ExtiInput`), so that whenever an interrupt is raised, the task awaiting the button will be woken up.
 
 The minimal overhead of the executor and the ability to run multiple tasks "concurrently" combined with the enormous simplification of the application, makes `async` a great fit for embedded.
 

docs/pages/new_project.adoc

@@ -1,17 +1,18 @@
-= Starting a new Embassy project
+= Starting a new project
 
-Once you’ve successfully xref:getting_started.adoc[run some example projects], the next step is to make a standalone Embassy project.
+Once you’ve successfully xref:#_getting_started[run some example projects], the next step is to make a standalone Embassy project.
 
-There are some tools for generating Embassy projects: (WIP)
+== Tools for generating Embassy projects
 
-==== CLI
+=== CLI
 - link:https://github.com/adinack/cargo-embassy[cargo-embassy] (STM32 and NRF)
 
-==== cargo-generate
+=== cargo-generate
 - link:https://github.com/lulf/embassy-template[embassy-template] (STM32, NRF, and RP)
 - link:https://github.com/bentwire/embassy-rp2040-template[embassy-rp2040-template] (RP)
 
-But if you want to start from scratch:
+
+== Starting a project from scratch
 
 As an example, let’s create a new embassy project from scratch for a STM32G474. The same instructions are applicable for any supported chip with some minor changes.
 
@@ -35,7 +36,7 @@ stm32g474-example
 
 Looking in link:https://github.com/embassy-rs/embassy/tree/main/examples[the Embassy examples], we can see there’s a `stm32g4` folder. Find `src/blinky.rs` and copy its contents into our `src/main.rs`.
 
-== .cargo/config.toml
+=== The .cargo/config.toml
 
 Currently, we’d need to provide cargo with a target triple every time we run `cargo build` or `cargo run`. Let’s spare ourselves that work by copying `.cargo/config.toml` from `examples/stm32g4` into our project.
 
@@ -66,7 +67,7 @@ and copying `STM32G474RETx` into `.cargo/config.toml` as so:
 runner = "probe-rs run --chip STM32G474RETx"
 ----
 
-== Cargo.toml
+=== Cargo.toml
 
 Now that cargo knows what target to compile for (and probe-rs knows what chip to run it on), we’re ready to add some dependencies.
 
@@ -117,7 +118,7 @@ Finally, copy the `[profile.release]` section from the example `Cargo.toml` into
 debug = 2
 ----
 
-== rust-toolchain.toml
+=== rust-toolchain.toml
 
 Before we can build our project, we need to add an additional file to tell cargo to use the nightly toolchain. Copy the `rust-toolchain.toml` from the embassy repo to ours, and trim the list of targets down to only the target triple relevent for our project — in this case, `thumbv7em-none-eabi`:
 
@@ -142,7 +143,7 @@ components = [ "rust-src", "rustfmt", "llvm-tools", "miri" ]
 targets = ["thumbv7em-none-eabi"]
 ----
 
-== build.rs
+=== build.rs
 
 In order to produce a working binary for our target, cargo requires a custom build script. Copy `build.rs` from the example to our project:
 
@@ -158,7 +159,7 @@ stm32g474-example
     └── main.rs
 ----
 
-== Building and running
+=== Building and running
 
 At this point, we‘re finally ready to build and run our project! Connect your board via a debug probe and run:
 

docs/pages/nrf.adoc

@@ -1,6 +1,6 @@
 = Embassy nRF HAL
 
-The link:https://github.com/embassy-rs/embassy/tree/master/embassy-nrf[Embassy nRF HAL] is based on the PACs (Peripheral Access Crate) from link:https://github.com/nrf-rs/[nrf-rs].
+The link:https://github.com/embassy-rs/embassy/tree/main/embassy-nrf[Embassy nRF HAL] is based on the PACs (Peripheral Access Crate) from link:https://github.com/nrf-rs/[nrf-rs].
 
 == Timer driver
 

docs/pages/overview.adoc

@@ -1,4 +1,4 @@
-= Embassy
+= Introduction
 
 Embassy is a project to make async/await a first-class option for embedded development.
 
@@ -30,6 +30,7 @@ The Embassy project maintains HALs for select hardware, but you can still use HA
 * link:https://docs.embassy.dev/embassy-nrf/[embassy-nrf], for the Nordic Semiconductor nRF52, nRF53, nRF91 series.
 * link:https://docs.embassy.dev/embassy-rp/[embassy-rp], for the Raspberry Pi RP2040 microcontroller.
 * link:https://github.com/esp-rs[esp-rs], for the Espressif Systems ESP32 series of chips.
+* link:https://github.com/ch32-rs/ch32-hal[ch32-hal], for the WCH 32-bit RISC-V(CH32V) series of chips.
 
 NOTE: A common question is if one can use the Embassy HALs standalone. Yes, it is possible! There are no dependency on the executor within the HALs. You can even use them without async,
 as they implement both the link:https://github.com/rust-embedded/embedded-hal[Embedded HAL] blocking and async traits.
@@ -47,7 +48,7 @@ link:https://github.com/lora-rs/lora-rs[lora-rs] supports LoRa networking on a w
 link:https://docs.embassy.dev/embassy-usb/[embassy-usb] implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.
 
 === Bootloader and DFU
-link:https://github.com/embassy-rs/embassy/tree/master/embassy-boot[embassy-boot] is a lightweight bootloader supporting firmware application upgrades in a power-fail-safe way, with trial boots and rollbacks.
+link:https://github.com/embassy-rs/embassy/tree/main/embassy-boot[embassy-boot] is a lightweight bootloader supporting firmware application upgrades in a power-fail-safe way, with trial boots and rollbacks.
 
 == What is DMA?
 
@@ -55,6 +56,20 @@ For most I/O in embedded devices, the peripheral doesn't directly support the tr
 
 The Direct Memory Access controller (DMA) is a controller that is present in MCUs that Embassy supports, including stm32 and nrf. The DMA allows the MCU to set up a transfer, either send or receive, and then wait for the transfer to complete. With DMA, once started, no MCU intervention is required until the transfer is complete, meaning that the MCU can perform other computation, or set up other I/O while the transfer is in progress. For high I/O rates, DMA can cut the time that the MCU spends handling I/O by over half. However, because DMA is more complex to set-up, it is less widely used in the embedded community. Embassy aims to change that by making DMA the first choice rather than the last. Using Embassy, there's no additional tuning required once I/O rates increase because your application is already set-up to handle them.
 
+== Examples
+
+Embassy provides examples for all HALs supported. You can find them in the `examples/` folder.
+
+
+Main loop example
+
+[source,rust]
+----
+include::../examples/examples/std/src/bin/tick.rs[]
+----
+
+include::embassy_in_the_wild.adoc[leveloffset = 2]
+
 == Resources
 
 For more reading material on async Rust and Embassy:

docs/pages/project_structure.adoc

@@ -18,6 +18,7 @@ my-project
 |- rust-toolchain.toml
 ----
 
+[discrete]
 == .cargo/config.toml
 
 This directory/file describes what platform you're on, and configures link:https://github.com/probe-rs/probe-rs[probe-rs] to deploy to your device.
@@ -36,21 +37,27 @@ target = "thumbv6m-none-eabi" # <-change for your platform
 DEFMT_LOG = "trace" # <- can change to info, warn, or error
 ----
 
+[discrete]
 == build.rs
 
 This is the build script for your project. It links defmt (what is link:https://defmt.ferrous-systems.com[defmt]?) and the `memory.x` file if needed. This file is pretty specific for each chipset, just copy and paste from the corresponding link:https://github.com/embassy-rs/embassy/tree/main/examples[example].
 
+[discrete]
 == Cargo.toml
 
 This is your manifest file, where you can configure all of the embassy components to use the features you need.
 
-==== Features
+[discrete]
-===== Time
+=== Features
+
+[discrete]
+==== Time
 - tick-hz-x: Configures the tick rate of `embassy-time`. Higher tick rate means higher precision, and higher CPU wakes.
 - defmt-timestamp-uptime: defmt log entries will display the uptime in seconds.
 
 ...more to come
 
+[discrete]
 == memory.x
 
 This file outlines the flash/ram usage of your program. It is especially useful when using link:https://github.com/embassy-rs/nrf-softdevice[nrf-softdevice] on an nRF5x.
@@ -68,6 +75,7 @@ MEMORY
 }
 ----
 
+[discrete]
 == rust-toolchain.toml
 
 This file configures the rust version and configuration to use.

docs/pages/sharing_peripherals.adoc

@@ -8,6 +8,7 @@ The following examples shows different ways to use the on-board LED on a Raspber
 
 Using mutual exclusion is the simplest way to share a peripheral.
 
+TIP: Dependencies needed to run this example link:#_the_cargo_toml[can be found here].
 [,rust]
 ----
 use defmt::*;
@@ -77,6 +78,7 @@ To indicate that the pin will be set to an Output. The `AnyPin` could have been
 
 A channel is another way to ensure exclusive access to a resource. Using a channel is great in the cases where the access can happen at a later point in time, allowing you to enqueue operations and do other things.
 
+TIP: Dependencies needed to run this example link:#_the_cargo_toml[can be found here].
 [,rust]
 ----
 use defmt::*;
@@ -123,4 +125,10 @@ async fn toggle_led(control: Sender<'static, ThreadModeRawMutex, LedState, 64>,
 ----
 
 This example replaces the Mutex with a Channel, and uses another task (the main loop) to drive the LED. The advantage of this approach is that only a single task references the peripheral, separating concerns. However, using a Mutex has a lower overhead and might be necessary if you need to ensure
-that the operation is ecompleted before continuing to do other work in your task.
+that the operation is completed before continuing to do other work in your task.
+
+An example showcasing more methods for sharing link:https://github.com/embassy-rs/embassy/blob/main/examples/rp/src/bin/sharing.rs[can be found here].
+
+== Sharing an I2C or SPI bus between multiple devices
+
+An example of how to deal with multiple devices sharing a common I2C or SPI bus link:https://github.com/embassy-rs/embassy/blob/main/examples/rp/src/bin/shared_bus.rs[can be found here].

docs/pages/stm32.adoc

@@ -1,6 +1,6 @@
 = Embassy STM32 HAL
 
-The link:https://github.com/embassy-rs/embassy/tree/master/embassy-stm32[Embassy STM32 HAL] is based on the `stm32-metapac` project.
+The link:https://github.com/embassy-rs/embassy/tree/main/embassy-stm32[Embassy STM32 HAL] is based on the `stm32-metapac` project.
 
 == The infinite variant problem
 

docs/pages/system.adoc

@@ -0,0 +1,13 @@
+= System description
+
+This section describes different parts of Embassy in more detail.
+
+include::runtime.adoc[leveloffset = 2]
+include::bootloader.adoc[leveloffset = 2]
+include::time_keeping.adoc[leveloffset = 2]
+include::hal.adoc[leveloffset = 2]
+include::nrf.adoc[leveloffset = 2]
+include::stm32.adoc[leveloffset = 2]
+include::sharing_peripherals.adoc[leveloffset = 2]
+include::developer.adoc[leveloffset = 2]
+include::developer_stm32.adoc[leveloffset = 2]

docs/pages/time_keeping.adoc

@@ -16,6 +16,7 @@ The `embassy::time::Timer` type provides two timing methods.
 
 An example of a delay is provided as follows:
 
+TIP: Dependencies needed to run this example link:#_the_cargo_toml[can be found here].
 [,rust]
 ----
 use embassy::executor::{task, Executor};
@@ -40,6 +41,7 @@ that expect a generic delay implementation to be provided.
 
 An example of how this can be used:
 
+TIP: Dependencies needed to run this example link:#_the_cargo_toml[can be found here].
 [,rust]
 ----
 use embassy::executor::{task, Executor};

embassy-boot-nrf/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 edition = "2021"
 name = "embassy-boot-nrf"
-version = "0.2.0"
+version = "0.3.0"
 description = "Bootloader lib for nRF chips"
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/embassy-rs/embassy"
@@ -22,10 +22,11 @@ target = "thumbv7em-none-eabi"
 
 [dependencies]
 defmt = { version = "0.3", optional = true }
+log = { version = "0.4.17", optional = true }
 
-embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
-embassy-nrf = { version = "0.1.0", path = "../embassy-nrf", default-features = false }
+embassy-nrf = { version = "0.2.0", path = "../embassy-nrf", default-features = false }
-embassy-boot = { version = "0.2.0", path = "../embassy-boot" }
+embassy-boot = { version = "0.3.0", path = "../embassy-boot" }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
 embedded-storage = "0.3.1"

embassy-boot-nrf/README.md

@@ -2,7 +2,7 @@
 
 An [Embassy](https://embassy.dev) project.
 
-An adaptation of `embassy-boot` for nRF. 
+An adaptation of `embassy-boot` for nRF.
 
 ## Features
 

embassy-boot-nrf/src/fmt.rs

@@ -1,11 +1,12 @@
 #![macro_use]
-#![allow(unused_macros)]
+#![allow(unused)]
 
 use core::fmt::{Debug, Display, LowerHex};
 
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert {
     ($($x:tt)*) => {
         {
@@ -17,6 +18,7 @@ macro_rules! assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_eq {
     ($($x:tt)*) => {
         {
@@ -28,6 +30,7 @@ macro_rules! assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_ne {
     ($($x:tt)*) => {
         {
@@ -39,6 +42,7 @@ macro_rules! assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert {
     ($($x:tt)*) => {
         {
@@ -50,6 +54,7 @@ macro_rules! debug_assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_eq {
     ($($x:tt)*) => {
         {
@@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_ne {
     ($($x:tt)*) => {
         {
@@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! todo {
     ($($x:tt)*) => {
         {
@@ -83,20 +90,19 @@ macro_rules! todo {
     };
 }
 
-#[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        ::core::unreachable!($($x)*)
+        {
-    };
+            #[cfg(not(feature = "defmt"))]
-}
+            ::core::unreachable!($($x)*);
-
+            #[cfg(feature = "defmt")]
-#[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
-macro_rules! unreachable {
+        }
-    ($($x:tt)*) => {
-        ::defmt::unreachable!($($x)*)
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! panic {
     ($($x:tt)*) => {
         {
@@ -108,6 +114,7 @@ macro_rules! panic {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! trace {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -121,6 +128,7 @@ macro_rules! trace {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -134,6 +142,7 @@ macro_rules! debug {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! info {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -147,6 +156,7 @@ macro_rules! info {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! warn {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -160,6 +170,7 @@ macro_rules! warn {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! error {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -174,6 +185,7 @@ macro_rules! error {
 }
 
 #[cfg(feature = "defmt")]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($($x:tt)*) => {
         ::defmt::unwrap!($($x)*)
@@ -181,6 +193,7 @@ macro_rules! unwrap {
 }
 
 #[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($arg:expr) => {
         match $crate::fmt::Try::into_result($arg) {
@@ -229,7 +242,6 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-#[allow(unused)]
 pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {

embassy-boot-nrf/src/lib.rs

@@ -20,7 +20,13 @@ impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
     pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
         config: BootLoaderConfig<ACTIVE, DFU, STATE>,
     ) -> Self {
-        Self::try_prepare::<ACTIVE, DFU, STATE>(config).expect("Boot prepare error")
+        if let Ok(loader) = Self::try_prepare::<ACTIVE, DFU, STATE>(config) {
+            loader
+        } else {
+            // Use explicit panic instead of .expect() to ensure this gets routed via defmt/etc.
+            // properly
+            panic!("Boot prepare error")
+        }
     }
 
     /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware

embassy-boot-rp/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 edition = "2021"
 name = "embassy-boot-rp"
-version = "0.2.0"
+version = "0.3.0"
 description = "Bootloader lib for RP2040 chips"
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/embassy-rs/embassy"
@@ -21,13 +21,12 @@ target = "thumbv6m-none-eabi"
 
 [dependencies]
 defmt = { version = "0.3", optional = true }
-defmt-rtt = { version = "0.4", optional = true }
 log = { version = "0.4", optional = true }
 
-embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
-embassy-rp = { version = "0.1.0", path = "../embassy-rp", default-features = false }
+embassy-rp = { version = "0.2.0", path = "../embassy-rp", default-features = false }
-embassy-boot = { version = "0.2.0", path = "../embassy-boot" }
+embassy-boot = { version = "0.3.0", path = "../embassy-boot" }
-embassy-time = { version = "0.3.0", path = "../embassy-time" }
+embassy-time = { version = "0.3.2", path = "../embassy-time" }
 
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
@@ -46,7 +45,6 @@ log = [
     "embassy-boot/log",
     "embassy-rp/log",
 ]
-debug = ["defmt-rtt"]
 
 [profile.dev]
 debug = 2

embassy-boot-rp/build.rs

@@ -5,4 +5,5 @@ fn main() {
     if target.starts_with("thumbv6m-") {
         println!("cargo:rustc-cfg=armv6m");
     }
+    println!("cargo:rustc-check-cfg=cfg(armv6m)");
 }

embassy-boot-rp/src/fmt.rs

@@ -1,11 +1,12 @@
 #![macro_use]
-#![allow(unused_macros)]
+#![allow(unused)]
 
 use core::fmt::{Debug, Display, LowerHex};
 
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert {
     ($($x:tt)*) => {
         {
@@ -17,6 +18,7 @@ macro_rules! assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_eq {
     ($($x:tt)*) => {
         {
@@ -28,6 +30,7 @@ macro_rules! assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_ne {
     ($($x:tt)*) => {
         {
@@ -39,6 +42,7 @@ macro_rules! assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert {
     ($($x:tt)*) => {
         {
@@ -50,6 +54,7 @@ macro_rules! debug_assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_eq {
     ($($x:tt)*) => {
         {
@@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_ne {
     ($($x:tt)*) => {
         {
@@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! todo {
     ($($x:tt)*) => {
         {
@@ -83,20 +90,19 @@ macro_rules! todo {
     };
 }
 
-#[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        ::core::unreachable!($($x)*)
+        {
-    };
+            #[cfg(not(feature = "defmt"))]
-}
+            ::core::unreachable!($($x)*);
-
+            #[cfg(feature = "defmt")]
-#[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
-macro_rules! unreachable {
+        }
-    ($($x:tt)*) => {
-        ::defmt::unreachable!($($x)*)
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! panic {
     ($($x:tt)*) => {
         {
@@ -108,6 +114,7 @@ macro_rules! panic {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! trace {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -121,6 +128,7 @@ macro_rules! trace {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -134,6 +142,7 @@ macro_rules! debug {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! info {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -147,6 +156,7 @@ macro_rules! info {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! warn {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -160,6 +170,7 @@ macro_rules! warn {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! error {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -174,6 +185,7 @@ macro_rules! error {
 }
 
 #[cfg(feature = "defmt")]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($($x:tt)*) => {
         ::defmt::unwrap!($($x)*)
@@ -181,6 +193,7 @@ macro_rules! unwrap {
 }
 
 #[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($arg:expr) => {
         match $crate::fmt::Try::into_result($arg) {
@@ -229,7 +242,6 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-#[allow(unused)]
 pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {

embassy-boot-rp/src/lib.rs

@@ -21,7 +21,13 @@ impl<const BUFFER_SIZE: usize> BootLoader<BUFFER_SIZE> {
     pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash>(
         config: BootLoaderConfig<ACTIVE, DFU, STATE>,
     ) -> Self {
-        Self::try_prepare::<ACTIVE, DFU, STATE>(config).expect("Boot prepare error")
+        if let Ok(loader) = Self::try_prepare::<ACTIVE, DFU, STATE>(config) {
+            loader
+        } else {
+            // Use explicit panic instead of .expect() to ensure this gets routed via defmt/etc.
+            // properly
+            panic!("Boot prepare error")
+        }
     }
 
     /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware

embassy-boot-stm32/Cargo.toml

@@ -13,7 +13,7 @@ categories = [
 ]
 
 [package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-nrf-v$VERSION/embassy-boot-stm32/src/"
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-stm32-v$VERSION/embassy-boot-stm32/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-boot-stm32/src/"
 features = ["embassy-stm32/stm32f429zi"]
 target = "thumbv7em-none-eabi"
@@ -22,12 +22,11 @@ target = "thumbv7em-none-eabi"
 
 [dependencies]
 defmt = { version = "0.3", optional = true }
-defmt-rtt = { version = "0.4", optional = true }
 log = { version = "0.4", optional = true }
 
-embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
 embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32", default-features = false }
-embassy-boot = { version = "0.2.0", path = "../embassy-boot" }
+embassy-boot = { version = "0.3.0", path = "../embassy-boot" }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
 embedded-storage = "0.3.1"
@@ -37,7 +36,6 @@ cfg-if = "1.0.0"
 [features]
 defmt = ["dep:defmt", "embassy-boot/defmt", "embassy-stm32/defmt"]
 log = ["dep:log", "embassy-boot/log", "embassy-stm32/log"]
-debug = ["defmt-rtt"]
 
 [profile.dev]
 debug = 2

embassy-boot-stm32/build.rs

@@ -5,4 +5,5 @@ fn main() {
     if target.starts_with("thumbv6m-") {
         println!("cargo:rustc-cfg=armv6m");
     }
+    println!("cargo:rustc-check-cfg=cfg(armv6m)");
 }

embassy-boot-stm32/src/fmt.rs

@@ -1,11 +1,12 @@
 #![macro_use]
-#![allow(unused_macros)]
+#![allow(unused)]
 
 use core::fmt::{Debug, Display, LowerHex};
 
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert {
     ($($x:tt)*) => {
         {
@@ -17,6 +18,7 @@ macro_rules! assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_eq {
     ($($x:tt)*) => {
         {
@@ -28,6 +30,7 @@ macro_rules! assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_ne {
     ($($x:tt)*) => {
         {
@@ -39,6 +42,7 @@ macro_rules! assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert {
     ($($x:tt)*) => {
         {
@@ -50,6 +54,7 @@ macro_rules! debug_assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_eq {
     ($($x:tt)*) => {
         {
@@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_ne {
     ($($x:tt)*) => {
         {
@@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! todo {
     ($($x:tt)*) => {
         {
@@ -83,20 +90,19 @@ macro_rules! todo {
     };
 }
 
-#[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        ::core::unreachable!($($x)*)
+        {
-    };
+            #[cfg(not(feature = "defmt"))]
-}
+            ::core::unreachable!($($x)*);
-
+            #[cfg(feature = "defmt")]
-#[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
-macro_rules! unreachable {
+        }
-    ($($x:tt)*) => {
-        ::defmt::unreachable!($($x)*)
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! panic {
     ($($x:tt)*) => {
         {
@@ -108,6 +114,7 @@ macro_rules! panic {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! trace {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -121,6 +128,7 @@ macro_rules! trace {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -134,6 +142,7 @@ macro_rules! debug {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! info {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -147,6 +156,7 @@ macro_rules! info {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! warn {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -160,6 +170,7 @@ macro_rules! warn {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! error {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -174,6 +185,7 @@ macro_rules! error {
 }
 
 #[cfg(feature = "defmt")]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($($x:tt)*) => {
         ::defmt::unwrap!($($x)*)
@@ -181,6 +193,7 @@ macro_rules! unwrap {
 }
 
 #[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($arg:expr) => {
         match $crate::fmt::Try::into_result($arg) {
@@ -229,7 +242,6 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-#[allow(unused)]
 pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {

embassy-boot-stm32/src/lib.rs

@@ -20,7 +20,13 @@ impl BootLoader {
     pub fn prepare<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash, const BUFFER_SIZE: usize>(
         config: BootLoaderConfig<ACTIVE, DFU, STATE>,
     ) -> Self {
-        Self::try_prepare::<ACTIVE, DFU, STATE, BUFFER_SIZE>(config).expect("Boot prepare error")
+        if let Ok(loader) = Self::try_prepare::<ACTIVE, DFU, STATE, BUFFER_SIZE>(config) {
+            loader
+        } else {
+            // Use explicit panic instead of .expect() to ensure this gets routed via defmt/etc.
+            // properly
+            panic!("Boot prepare error")
+        }
     }
 
     /// Inspect the bootloader state and perform actions required before booting, such as swapping firmware

embassy-boot/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 edition = "2021"
 name = "embassy-boot"
-version = "0.2.0"
+version = "0.3.0"
 description = "A lightweight bootloader supporting firmware updates in a power-fail-safe way, with trial boots and rollbacks."
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/embassy-rs/embassy"
@@ -28,8 +28,8 @@ defmt = { version = "0.3", optional = true }
 digest = "0.10"
 log = { version = "0.4", optional = true }
 ed25519-dalek = { version = "2", default_features = false, features = ["digest"], optional = true }
-embassy-embedded-hal = { version = "0.1.0", path = "../embassy-embedded-hal" }
+embassy-embedded-hal = { version = "0.2.0", path = "../embassy-embedded-hal" }
-embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
 embedded-storage = "0.3.1"
 embedded-storage-async = { version = "0.4.1" }
 salty = { version = "0.3", optional = true }

embassy-boot/README.md

@@ -15,7 +15,7 @@ The bootloader divides the storage into 4 main partitions, configurable when cre
 * BOOTLOADER - Where the bootloader is placed. The bootloader itself consumes about 8kB of flash, but if you need to debug it and have space available, increasing this to 24kB will allow you to run the bootloader with probe-rs.
 * ACTIVE - Where the main application is placed. The bootloader will attempt to load the application at the start of this partition. The minimum size required for this partition is the size of your application.
 * DFU - Where the application-to-be-swapped is placed. This partition is written to by the application. This partition must be at least 1 page bigger than the ACTIVE partition.
-* BOOTLOADER STATE - Where the bootloader stores the current state describing if the active and dfu partitions need to be swapped. 
+* BOOTLOADER STATE - Where the bootloader stores the current state describing if the active and dfu partitions need to be swapped.
 
 For any partition, the following preconditions are required:
 
@@ -24,7 +24,7 @@ For any partition, the following preconditions are required:
 
 The linker scripts for the application and bootloader look similar, but the FLASH region must point to the BOOTLOADER partition for the bootloader, and the ACTIVE partition for the application.
 
-For more details on the bootloader, see [the documentation](https://embassy.dev/book/dev/bootloader.html).
+For more details on the bootloader, see [the documentation](https://embassy.dev/book/#_bootloader).
 
 ## Hardware support
 

embassy-boot/src/boot_loader.rs

@@ -183,29 +183,29 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|------------|--------|--------|--------|--------|
     /// |    Active |          0 |      1 |      2 |      3 |      - |
-    /// |       DFU |          0 |      3 |      2 |      1 |      X |
+    /// |       DFU |          0 |      4 |      5 |      6 |      X |
     ///
     /// The algorithm starts by copying 'backwards', and after the first step, the layout is
     /// as follows:
     ///
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|------------|--------|--------|--------|--------|
-    /// |    Active |          1 |      1 |      2 |      1 |      - |
+    /// |    Active |          1 |      1 |      2 |      6 |      - |
-    /// |       DFU |          1 |      3 |      2 |      1 |      3 |
+    /// |       DFU |          1 |      4 |      5 |      6 |      3 |
     ///
     /// The next iteration performs the same steps
     ///
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|------------|--------|--------|--------|--------|
-    /// |    Active |          2 |      1 |      2 |      1 |      - |
+    /// |    Active |          2 |      1 |      5 |      6 |      - |
-    /// |       DFU |          2 |      3 |      2 |      2 |      3 |
+    /// |       DFU |          2 |      4 |      5 |      2 |      3 |
     ///
     /// And again until we're done
     ///
     /// | Partition | Swap Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|------------|--------|--------|--------|--------|
-    /// |    Active |          3 |      3 |      2 |      1 |      - |
+    /// |    Active |          3 |      4 |      5 |      6 |      - |
-    /// |       DFU |          3 |      3 |      1 |      2 |      3 |
+    /// |       DFU |          3 |      4 |      1 |      2 |      3 |
     ///
     /// ## REVERTING
     ///
@@ -220,27 +220,30 @@ impl<ACTIVE: NorFlash, DFU: NorFlash, STATE: NorFlash> BootLoader<ACTIVE, DFU, S
     ///
     /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|--------------|--------|--------|--------|--------|
-    /// |    Active |            3 |      1 |      2 |      1 |      - |
+    /// |    Active |            3 |      1 |      5 |      6 |      - |
-    /// |       DFU |            3 |      3 |      1 |      2 |      3 |
+    /// |       DFU |            3 |      4 |      1 |      2 |      3 |
     ///
     ///
     /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|--------------|--------|--------|--------|--------|
-    /// |    Active |            3 |      1 |      2 |      1 |      - |
+    /// |    Active |            3 |      1 |      2 |      6 |      - |
-    /// |       DFU |            3 |      3 |      2 |      2 |      3 |
+    /// |       DFU |            3 |      4 |      5 |      2 |      3 |
     ///
     /// | Partition | Revert Index | Page 0 | Page 1 | Page 3 | Page 4 |
     /// |-----------|--------------|--------|--------|--------|--------|
     /// |    Active |            3 |      1 |      2 |      3 |      - |
-    /// |       DFU |            3 |      3 |      2 |      1 |      3 |
+    /// |       DFU |            3 |      4 |      5 |      6 |      3 |
     ///
     pub fn prepare_boot(&mut self, aligned_buf: &mut [u8]) -> Result<State, BootError> {
+        const {
+            core::assert!(Self::PAGE_SIZE % ACTIVE::WRITE_SIZE as u32 == 0);
+            core::assert!(Self::PAGE_SIZE % ACTIVE::ERASE_SIZE as u32 == 0);
+            core::assert!(Self::PAGE_SIZE % DFU::WRITE_SIZE as u32 == 0);
+            core::assert!(Self::PAGE_SIZE % DFU::ERASE_SIZE as u32 == 0);
+        }
+
         // Ensure we have enough progress pages to store copy progress
         assert_eq!(0, Self::PAGE_SIZE % aligned_buf.len() as u32);
-        assert_eq!(0, Self::PAGE_SIZE % ACTIVE::WRITE_SIZE as u32);
-        assert_eq!(0, Self::PAGE_SIZE % ACTIVE::ERASE_SIZE as u32);
-        assert_eq!(0, Self::PAGE_SIZE % DFU::WRITE_SIZE as u32);
-        assert_eq!(0, Self::PAGE_SIZE % DFU::ERASE_SIZE as u32);
         assert!(aligned_buf.len() >= STATE::WRITE_SIZE);
         assert_eq!(0, aligned_buf.len() % ACTIVE::WRITE_SIZE);
         assert_eq!(0, aligned_buf.len() % DFU::WRITE_SIZE);

embassy-boot/src/fmt.rs

@@ -1,11 +1,12 @@
 #![macro_use]
-#![allow(unused_macros)]
+#![allow(unused)]
 
 use core::fmt::{Debug, Display, LowerHex};
 
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert {
     ($($x:tt)*) => {
         {
@@ -17,6 +18,7 @@ macro_rules! assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_eq {
     ($($x:tt)*) => {
         {
@@ -28,6 +30,7 @@ macro_rules! assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! assert_ne {
     ($($x:tt)*) => {
         {
@@ -39,6 +42,7 @@ macro_rules! assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert {
     ($($x:tt)*) => {
         {
@@ -50,6 +54,7 @@ macro_rules! debug_assert {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_eq {
     ($($x:tt)*) => {
         {
@@ -61,6 +66,7 @@ macro_rules! debug_assert_eq {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug_assert_ne {
     ($($x:tt)*) => {
         {
@@ -72,6 +78,7 @@ macro_rules! debug_assert_ne {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! todo {
     ($($x:tt)*) => {
         {
@@ -83,20 +90,19 @@ macro_rules! todo {
     };
 }
 
-#[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        ::core::unreachable!($($x)*)
+        {
-    };
+            #[cfg(not(feature = "defmt"))]
-}
+            ::core::unreachable!($($x)*);
-
+            #[cfg(feature = "defmt")]
-#[cfg(feature = "defmt")]
+            ::defmt::unreachable!($($x)*);
-macro_rules! unreachable {
+        }
-    ($($x:tt)*) => {
-        ::defmt::unreachable!($($x)*)
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! panic {
     ($($x:tt)*) => {
         {
@@ -108,6 +114,7 @@ macro_rules! panic {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! trace {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -121,6 +128,7 @@ macro_rules! trace {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! debug {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -134,6 +142,7 @@ macro_rules! debug {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! info {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -147,6 +156,7 @@ macro_rules! info {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! warn {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -160,6 +170,7 @@ macro_rules! warn {
     };
 }
 
+#[collapse_debuginfo(yes)]
 macro_rules! error {
     ($s:literal $(, $x:expr)* $(,)?) => {
         {
@@ -174,6 +185,7 @@ macro_rules! error {
 }
 
 #[cfg(feature = "defmt")]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($($x:tt)*) => {
         ::defmt::unwrap!($($x)*)
@@ -181,6 +193,7 @@ macro_rules! unwrap {
 }
 
 #[cfg(not(feature = "defmt"))]
+#[collapse_debuginfo(yes)]
 macro_rules! unwrap {
     ($arg:expr) => {
         match $crate::fmt::Try::into_result($arg) {
@@ -229,7 +242,6 @@ impl<T, E> Try for Result<T, E> {
     }
 }
 
-#[allow(unused)]
 pub(crate) struct Bytes<'a>(pub &'a [u8]);
 
 impl<'a> Debug for Bytes<'a> {

embassy-boot/src/test_flash/asynch.rs

@@ -43,7 +43,7 @@ where
     }
 
     fn create_partition<T: NorFlash>(mutex: &Mutex<NoopRawMutex, T>) -> Partition<NoopRawMutex, T> {
-        Partition::new(mutex, 0, mutex.try_lock().unwrap().capacity() as u32)
+        Partition::new(mutex, 0, unwrap!(mutex.try_lock()).capacity() as u32)
     }
 }
 

embassy-embedded-hal/CHANGELOG.md

@@ -0,0 +1,21 @@
+# Changelog for embassy-embedded-hal
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+## 0.2.0 - 2024-08-05
+
+- Add Clone derive to flash Partition in embassy-embedded-hal
+- Add support for all word sizes to async shared spi
+- Add Copy and 'static constraint to Word type in SPI structs
+- Improve flexibility by introducing SPI word size as a generic parameter
+- Allow changing Spi/I2cDeviceWithConfig's config at runtime
+- Impl `MultiwriteNorFlash` for `BlockingAsync`
+
+## 0.1.0 - 2024-01-10
+
+- First release

embassy-embedded-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "embassy-embedded-hal"
-version = "0.1.0"
+version = "0.2.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "Collection of utilities to use `embedded-hal` and `embedded-storage` traits with Embassy."
@@ -28,8 +28,8 @@ default = ["time"]
 
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
-embassy-sync = { version = "0.5.0", path = "../embassy-sync" }
+embassy-sync = { version = "0.6.0", path = "../embassy-sync" }
-embassy-time = { version = "0.3.0", path = "../embassy-time", optional = true }
+embassy-time = { version = "0.3.2", path = "../embassy-time", optional = true }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
     "unproven",
 ] }

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

@@ -104,8 +104,10 @@ where
 }
 
 /// NOR flash wrapper
-use embedded_storage::nor_flash::{ErrorType, NorFlash, ReadNorFlash};
+use embedded_storage::nor_flash::{ErrorType, MultiwriteNorFlash, NorFlash, ReadNorFlash};
-use embedded_storage_async::nor_flash::{NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash};
+use embedded_storage_async::nor_flash::{
+    MultiwriteNorFlash as AsyncMultiwriteNorFlash, NorFlash as AsyncNorFlash, ReadNorFlash as AsyncReadNorFlash,
+};
 
 impl<T> ErrorType for BlockingAsync<T>
 where
@@ -143,3 +145,5 @@ where
         self.wrapped.capacity()
     }
 }
+
+impl<T> AsyncMultiwriteNorFlash for BlockingAsync<T> where T: MultiwriteNorFlash {}

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

@@ -18,6 +18,16 @@ pub struct Partition<'a, M: RawMutex, T: NorFlash> {
     size: u32,
 }
 
+impl<'a, M: RawMutex, T: NorFlash> Clone for Partition<'a, M, T> {
+    fn clone(&self) -> Self {
+        Self {
+            flash: self.flash,
+            offset: self.offset,
+            size: self.size,
+        }
+    }
+}
+
 impl<'a, M: RawMutex, T: NorFlash> Partition<'a, M, T> {
     /// Create a new partition
     pub const fn new(flash: &'a Mutex<M, T>, offset: u32, size: u32) -> Self {

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

@@ -19,6 +19,16 @@ pub struct BlockingPartition<'a, M: RawMutex, T: NorFlash> {
     size: u32,
 }
 
+impl<'a, M: RawMutex, T: NorFlash> Clone for BlockingPartition<'a, M, T> {
+    fn clone(&self) -> Self {
+        Self {
+            flash: self.flash,
+            offset: self.offset,
+            size: self.size,
+        }
+    }
+}
+
 impl<'a, M: RawMutex, T: NorFlash> BlockingPartition<'a, M, T> {
     /// Create a new partition
     pub const fn new(flash: &'a Mutex<M, RefCell<T>>, offset: u32, size: u32) -> Self {

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

@@ -106,6 +106,11 @@ impl<'a, M: RawMutex, BUS: SetConfig> I2cDeviceWithConfig<'a, M, BUS> {
     pub fn new(bus: &'a Mutex<M, BUS>, config: BUS::Config) -> Self {
         Self { bus, config }
     }
+
+    /// Change the device's config at runtime
+    pub fn set_config(&mut self, config: BUS::Config) {
+        self.config = config;
+    }
 }
 
 impl<'a, M, BUS> i2c::ErrorType for I2cDeviceWithConfig<'a, M, BUS>

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

@@ -55,13 +55,14 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS> spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
+impl<M, BUS, CS, Word> spi::SpiDevice<Word> for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: spi::SpiBus,
+    BUS: spi::SpiBus<Word>,
     CS: OutputPin,
+    Word: Copy + 'static,
 {
-    async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+    async fn transaction(&mut self, operations: &mut [spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
         if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
             return Err(SpiDeviceError::DelayNotSupported);
         }
@@ -122,6 +123,11 @@ impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiDeviceWithConfig<'a, M, BUS, CS> {
     pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: BUS::Config) -> Self {
         Self { bus, cs, config }
     }
+
+    /// Change the device's config at runtime
+    pub fn set_config(&mut self, config: BUS::Config) {
+        self.config = config;
+    }
 }
 
 impl<'a, M, BUS, CS> spi::ErrorType for SpiDeviceWithConfig<'a, M, BUS, CS>
@@ -133,13 +139,14 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS> spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
+impl<M, BUS, CS, Word> spi::SpiDevice<Word> for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: spi::SpiBus + SetConfig,
+    BUS: spi::SpiBus<Word> + SetConfig,
     CS: OutputPin,
+    Word: Copy + 'static,
 {
-    async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+    async fn transaction(&mut self, operations: &mut [spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
         if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
             return Err(SpiDeviceError::DelayNotSupported);
         }

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

@@ -67,9 +67,11 @@ where
     }
 
     fn transaction<'a>(&mut self, address: u8, operations: &mut [Operation<'a>]) -> Result<(), Self::Error> {
-        let _ = address;
+        self.bus.lock(|bus| {
-        let _ = operations;
+            bus.borrow_mut()
-        todo!()
+                .transaction(address, operations)
+                .map_err(I2cDeviceError::I2c)
+        })
     }
 }
 
@@ -130,6 +132,11 @@ impl<'a, M: RawMutex, BUS: SetConfig> I2cDeviceWithConfig<'a, M, BUS> {
     pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: BUS::Config) -> Self {
         Self { bus, config }
     }
+
+    /// Change the device's config at runtime
+    pub fn set_config(&mut self, config: BUS::Config) {
+        self.config = config;
+    }
 }
 
 impl<'a, M, BUS> ErrorType for I2cDeviceWithConfig<'a, M, BUS>
@@ -171,8 +178,10 @@ where
     }
 
     fn transaction<'a>(&mut self, address: u8, operations: &mut [Operation<'a>]) -> Result<(), Self::Error> {
-        let _ = address;
+        self.bus.lock(|bus| {
-        let _ = operations;
+            let mut bus = bus.borrow_mut();
-        todo!()
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
+            bus.transaction(address, operations).map_err(I2cDeviceError::I2c)
+        })
     }
 }

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

@@ -48,13 +48,14 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDevice<'_, M, BUS, CS>
+impl<BUS, M, CS, Word> embedded_hal_1::spi::SpiDevice<Word> for SpiDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: SpiBus,
+    BUS: SpiBus<Word>,
     CS: OutputPin,
+    Word: Copy + 'static,
 {
-    fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
+    fn transaction(&mut self, operations: &mut [embedded_hal_1::spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
         if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
             return Err(SpiDeviceError::DelayNotSupported);
         }
@@ -90,47 +91,6 @@ where
     }
 }
 
-impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::spi::Transfer<u8, Error = BusErr>,
-    CS: OutputPin<Error = CsErr>,
-{
-    type Error = SpiDeviceError<BusErr, CsErr>;
-    fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-            let op_res = bus.transfer(words);
-            let cs_res = self.cs.set_high();
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(op_res)
-        })
-    }
-}
-
-impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Write<u8> for SpiDevice<'_, M, BUS, CS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::spi::Write<u8, Error = BusErr>,
-    CS: OutputPin<Error = CsErr>,
-{
-    type Error = SpiDeviceError<BusErr, CsErr>;
-
-    fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            self.cs.set_low().map_err(SpiDeviceError::Cs)?;
-            let op_res = bus.write(words);
-            let cs_res = self.cs.set_high();
-            let op_res = op_res.map_err(SpiDeviceError::Spi)?;
-            cs_res.map_err(SpiDeviceError::Cs)?;
-            Ok(op_res)
-        })
-    }
-}
-
 /// SPI device on a shared bus, with its own configuration.
 ///
 /// This is like [`SpiDevice`], with an additional bus configuration that's applied
@@ -147,6 +107,11 @@ impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiDeviceWithConfig<'a, M, BUS, CS> {
     pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: BUS::Config) -> Self {
         Self { bus, cs, config }
     }
+
+    /// Change the device's config at runtime
+    pub fn set_config(&mut self, config: BUS::Config) {
+        self.config = config;
+    }
 }
 
 impl<'a, M, BUS, CS> spi::ErrorType for SpiDeviceWithConfig<'a, M, BUS, CS>
@@ -158,13 +123,14 @@ where
     type Error = SpiDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, M, CS> embedded_hal_1::spi::SpiDevice for SpiDeviceWithConfig<'_, M, BUS, CS>
+impl<BUS, M, CS, Word> embedded_hal_1::spi::SpiDevice<Word> for SpiDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex,
-    BUS: SpiBus + SetConfig,
+    BUS: SpiBus<Word> + SetConfig,
     CS: OutputPin,
+    Word: Copy + 'static,
 {
-    fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
+    fn transaction(&mut self, operations: &mut [embedded_hal_1::spi::Operation<'_, Word>]) -> Result<(), Self::Error> {
         if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
             return Err(SpiDeviceError::DelayNotSupported);
         }

embassy-executor-macros/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "embassy-executor-macros"
-version = "0.4.1"
+version = "0.5.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 description = "macros for creating the entry point and tasks for embassy-executor"

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

@@ -70,7 +70,7 @@ pub fn wasm() -> TokenStream {
             let executor = ::std::boxed::Box::leak(::std::boxed::Box::new(::embassy_executor::Executor::new()));
 
             executor.start(|spawner| {
-                spawner.spawn(__embassy_main(spawner)).unwrap();
+                spawner.must_spawn(__embassy_main(spawner));
             });
 
             Ok(())

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

@@ -93,10 +93,21 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
     #[cfg(feature = "nightly")]
     let mut task_outer: ItemFn = parse_quote! {
         #visibility fn #task_ident(#fargs) -> ::embassy_executor::SpawnToken<impl Sized> {
-            type Fut = impl ::core::future::Future + 'static;
+            trait _EmbassyInternalTaskTrait {
+                type Fut: ::core::future::Future + 'static;
+                fn construct(#fargs) -> Self::Fut;
+            }
+
+            impl _EmbassyInternalTaskTrait for () {
+                type Fut = impl core::future::Future + 'static;
+                fn construct(#fargs) -> Self::Fut {
+                    #task_inner_ident(#(#full_args,)*)
+                }
+            }
+
             const POOL_SIZE: usize = #pool_size;
-            static POOL: ::embassy_executor::raw::TaskPool<Fut, POOL_SIZE> = ::embassy_executor::raw::TaskPool::new();
+            static POOL: ::embassy_executor::raw::TaskPool<<() as _EmbassyInternalTaskTrait>::Fut, POOL_SIZE> = ::embassy_executor::raw::TaskPool::new();
-            unsafe { POOL._spawn_async_fn(move || #task_inner_ident(#(#full_args,)*)) }
+            unsafe { POOL._spawn_async_fn(move || <() as _EmbassyInternalTaskTrait>::construct(#(#full_args,)*)) }
         }
     };
     #[cfg(not(feature = "nightly"))]

embassy-executor-macros/src/util/ctxt.rs

@@ -7,7 +7,6 @@ use std::thread;
 
 use proc_macro2::TokenStream;
 use quote::{quote, ToTokens};
-use syn;
 
 /// A type to collect errors together and format them.
 ///

embassy-executor/CHANGELOG.md

@@ -7,6 +7,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+## 0.6.0 - 2024-08-05
+
+- Add collapse_debuginfo to fmt.rs macros.
+- initial support for avr
+- use nightly waker_getters APIs 
+
 ## 0.5.0 - 2024-01-11
 
 - Updated to `embassy-time-driver 0.1`, `embassy-time-queue-driver 0.1`, compatible with `embassy-time v0.3` and higher.