Merge branch 'main' into add-rng

30 files changed, 2144 insertions, 335 deletions

diff --git a/docs/pages/imxrt.adoc b/docs/pages/imxrt.adoc
index 9fcb6725c..bbd65e494 100644
--- a/docs/pages/imxrt.adoc
+++ b/docs/pages/imxrt.adoc
@@ -9,5 +9,6 @@ The link: link:https://github.com/embassy-rs/embassy/tree/main/embassy-imxrt[Emb
 
 The following peripherals have a HAL implementation at present
 
+* CRC
 * GPIO
 * RNG
diff --git a/embassy-imxrt/src/crc.rs b/embassy-imxrt/src/crc.rs
new file mode 100644
index 000000000..24d6ba5bd
--- /dev/null
+++ b/embassy-imxrt/src/crc.rs
@@ -0,0 +1,190 @@
+//! Cyclic Redundancy Check (CRC)
+
+use core::marker::PhantomData;
+
+use crate::clocks::{enable_and_reset, SysconPeripheral};
+pub use crate::pac::crc_engine::mode::CrcPolynomial as Polynomial;
+use crate::{peripherals, Peri, PeripheralType};
+
+/// CRC driver.
+pub struct Crc<'d> {
+    info: Info,
+    _config: Config,
+    _lifetime: PhantomData<&'d ()>,
+}
+
+/// CRC configuration
+pub struct Config {
+    /// Polynomial to be used
+    pub polynomial: Polynomial,
+
+    /// Reverse bit order of input?
+    pub reverse_in: bool,
+
+    /// 1's complement input?
+    pub complement_in: bool,
+
+    /// Reverse CRC bit order?
+    pub reverse_out: bool,
+
+    /// 1's complement CRC?
+    pub complement_out: bool,
+
+    /// CRC Seed
+    pub seed: u32,
+}
+
+impl Config {
+    /// Create a new CRC config.
+    #[must_use]
+    pub fn new(
+        polynomial: Polynomial,
+        reverse_in: bool,
+        complement_in: bool,
+        reverse_out: bool,
+        complement_out: bool,
+        seed: u32,
+    ) -> Self {
+        Config {
+            polynomial,
+            reverse_in,
+            complement_in,
+            reverse_out,
+            complement_out,
+            seed,
+        }
+    }
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            polynomial: Polynomial::CrcCcitt,
+            reverse_in: false,
+            complement_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff,
+        }
+    }
+}
+
+impl<'d> Crc<'d> {
+    /// Instantiates new CRC peripheral and initializes to default values.
+    pub fn new<T: Instance>(_peripheral: Peri<'d, T>, config: Config) -> Self {
+        // enable CRC clock
+        enable_and_reset::<T>();
+
+        let mut instance = Self {
+            info: T::info(),
+            _config: config,
+            _lifetime: PhantomData,
+        };
+
+        instance.reconfigure();
+        instance
+    }
+
+    /// Reconfigured the CRC peripheral.
+    fn reconfigure(&mut self) {
+        self.info.regs.mode().write(|w| {
+            w.crc_poly()
+                .variant(self._config.polynomial)
+                .bit_rvs_wr()
+                .variant(self._config.reverse_in)
+                .cmpl_wr()
+                .variant(self._config.complement_in)
+                .bit_rvs_sum()
+                .variant(self._config.reverse_out)
+                .cmpl_sum()
+                .variant(self._config.complement_out)
+        });
+
+        // Init CRC value
+        self.info
+            .regs
+            .seed()
+            .write(|w| unsafe { w.crc_seed().bits(self._config.seed) });
+    }
+
+    /// Feeds a byte into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_byte(&mut self, byte: u8) -> u32 {
+        self.info.regs.wr_data8().write(|w| unsafe { w.bits(byte) });
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds an slice of bytes into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_bytes(&mut self, bytes: &[u8]) -> u32 {
+        let (prefix, data, suffix) = unsafe { bytes.align_to::<u32>() };
+
+        for b in prefix {
+            self.info.regs.wr_data8().write(|w| unsafe { w.bits(*b) });
+        }
+
+        for d in data {
+            self.info.regs.wr_data32().write(|w| unsafe { w.bits(*d) });
+        }
+
+        for b in suffix {
+            self.info.regs.wr_data8().write(|w| unsafe { w.bits(*b) });
+        }
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds a halfword into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_halfword(&mut self, halfword: u16) -> u32 {
+        self.info.regs.wr_data16().write(|w| unsafe { w.bits(halfword) });
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds an slice of halfwords into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_halfwords(&mut self, halfwords: &[u16]) -> u32 {
+        for halfword in halfwords {
+            self.info.regs.wr_data16().write(|w| unsafe { w.bits(*halfword) });
+        }
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds a words into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_word(&mut self, word: u32) -> u32 {
+        self.info.regs.wr_data32().write(|w| unsafe { w.bits(word) });
+
+        self.info.regs.sum().read().bits()
+    }
+
+    /// Feeds an slice of words into the CRC peripheral. Returns the computed checksum.
+    pub fn feed_words(&mut self, words: &[u32]) -> u32 {
+        for word in words {
+            self.info.regs.wr_data32().write(|w| unsafe { w.bits(*word) });
+        }
+
+        self.info.regs.sum().read().bits()
+    }
+}
+
+struct Info {
+    regs: crate::pac::CrcEngine,
+}
+
+trait SealedInstance {
+    fn info() -> Info;
+}
+
+/// CRC instance trait.
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance + PeripheralType + SysconPeripheral + 'static + Send {}
+
+impl Instance for peripherals::CRC {}
+
+impl SealedInstance for peripherals::CRC {
+    fn info() -> Info {
+        // SAFETY: safe from single executor
+        Info {
+            regs: unsafe { crate::pac::CrcEngine::steal() },
+        }
+    }
+}
diff --git a/embassy-imxrt/src/lib.rs b/embassy-imxrt/src/lib.rs
index f728ba060..b1183d8fc 100644
--- a/embassy-imxrt/src/lib.rs
+++ b/embassy-imxrt/src/lib.rs
@@ -18,6 +18,7 @@ compile_error!(
 pub(crate) mod fmt;
 
 pub mod clocks;
+pub mod crc;
 pub mod gpio;
 pub mod iopctl;
 pub mod rng;
diff --git a/embassy-nrf/src/chips/nrf5340_app.rs b/embassy-nrf/src/chips/nrf5340_app.rs
index 0103fa7ae..99cf29487 100644
--- a/embassy-nrf/src/chips/nrf5340_app.rs
+++ b/embassy-nrf/src/chips/nrf5340_app.rs
@@ -262,6 +262,9 @@ embassy_hal_internal::peripherals! {
     PPI_GROUP4,
     PPI_GROUP5,
 
+    // IPC
+    IPC,
+
     // GPIO port 0
     #[cfg(feature = "lfxo-pins-as-gpio")]
     P0_00,
@@ -327,6 +330,8 @@ embassy_hal_internal::peripherals! {
     EGU5,
 }
 
+impl_ipc!(IPC, IPC, IPC);
+
 impl_usb!(USBD, USBD, USBD);
 
 impl_uarte!(SERIAL0, UARTE0, SERIAL0);
diff --git a/embassy-nrf/src/chips/nrf5340_net.rs b/embassy-nrf/src/chips/nrf5340_net.rs
index 22d33d080..c2932be31 100644
--- a/embassy-nrf/src/chips/nrf5340_net.rs
+++ b/embassy-nrf/src/chips/nrf5340_net.rs
@@ -141,6 +141,9 @@ embassy_hal_internal::peripherals! {
     PPI_GROUP4,
     PPI_GROUP5,
 
+    // IPC
+    IPC,
+
     // GPIO port 0
     P0_00,
     P0_01,
@@ -200,6 +203,8 @@ embassy_hal_internal::peripherals! {
     EGU0,
 }
 
+impl_ipc!(IPC, IPC, IPC);
+
 impl_uarte!(SERIAL0, UARTE0, SERIAL0);
 impl_spim!(SERIAL0, SPIM0, SERIAL0);
 impl_spis!(SERIAL0, SPIS0, SERIAL0);
diff --git a/embassy-nrf/src/ipc.rs b/embassy-nrf/src/ipc.rs
new file mode 100644
index 000000000..a8a08c911
--- /dev/null
+++ b/embassy-nrf/src/ipc.rs
@@ -0,0 +1,363 @@
+//! InterProcessor Communication (IPC)
+
+#![macro_use]
+
+use core::future::poll_fn;
+use core::marker::PhantomData;
+use core::task::Poll;
+
+use embassy_hal_internal::{Peri, PeripheralType};
+use embassy_sync::waitqueue::AtomicWaker;
+
+use crate::interrupt::typelevel::Interrupt;
+use crate::{interrupt, pac, ppi};
+
+const EVENT_COUNT: usize = 16;
+
+/// IPC Event
+#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub enum EventNumber {
+    /// IPC Event 0
+    Event0 = 0,
+    /// IPC Event 1
+    Event1 = 1,
+    /// IPC Event 2
+    Event2 = 2,
+    /// IPC Event 3
+    Event3 = 3,
+    /// IPC Event 4
+    Event4 = 4,
+    /// IPC Event 5
+    Event5 = 5,
+    /// IPC Event 6
+    Event6 = 6,
+    /// IPC Event 7
+    Event7 = 7,
+    /// IPC Event 8
+    Event8 = 8,
+    /// IPC Event 9
+    Event9 = 9,
+    /// IPC Event 10
+    Event10 = 10,
+    /// IPC Event 11
+    Event11 = 11,
+    /// IPC Event 12
+    Event12 = 12,
+    /// IPC Event 13
+    Event13 = 13,
+    /// IPC Event 14
+    Event14 = 14,
+    /// IPC Event 15
+    Event15 = 15,
+}
+
+const EVENTS: [EventNumber; EVENT_COUNT] = [
+    EventNumber::Event0,
+    EventNumber::Event1,
+    EventNumber::Event2,
+    EventNumber::Event3,
+    EventNumber::Event4,
+    EventNumber::Event5,
+    EventNumber::Event6,
+    EventNumber::Event7,
+    EventNumber::Event8,
+    EventNumber::Event9,
+    EventNumber::Event10,
+    EventNumber::Event11,
+    EventNumber::Event12,
+    EventNumber::Event13,
+    EventNumber::Event14,
+    EventNumber::Event15,
+];
+
+/// IPC Channel
+#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub enum IpcChannel {
+    /// IPC Channel 0
+    Channel0,
+    /// IPC Channel 1
+    Channel1,
+    /// IPC Channel 2
+    Channel2,
+    /// IPC Channel 3
+    Channel3,
+    /// IPC Channel 4
+    Channel4,
+    /// IPC Channel 5
+    Channel5,
+    /// IPC Channel 6
+    Channel6,
+    /// IPC Channel 7
+    Channel7,
+    /// IPC Channel 8
+    Channel8,
+    /// IPC Channel 9
+    Channel9,
+    /// IPC Channel 10
+    Channel10,
+    /// IPC Channel 11
+    Channel11,
+    /// IPC Channel 12
+    Channel12,
+    /// IPC Channel 13
+    Channel13,
+    /// IPC Channel 14
+    Channel14,
+    /// IPC Channel 15
+    Channel15,
+}
+
+impl IpcChannel {
+    fn mask(self) -> u32 {
+        1 << (self as u32)
+    }
+}
+
+/// Interrupt Handler
+pub struct InterruptHandler<T: Instance> {
+    _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
+    unsafe fn on_interrupt() {
+        let regs = T::regs();
+
+        // Check if an event was generated, and if it was, trigger the corresponding waker
+        for event in EVENTS {
+            if regs.events_receive(event as usize).read() & 0x01 == 0x01 {
+                regs.intenclr().write(|w| w.0 = 0x01 << event as u32);
+                T::state().wakers[event as usize].wake();
+            }
+        }
+    }
+}
+
+/// IPC driver
+#[non_exhaustive]
+pub struct Ipc<'d, T: Instance> {
+    /// Event 0
+    pub event0: Event<'d, T>,
+    /// Event 1
+    pub event1: Event<'d, T>,
+    /// Event 2
+    pub event2: Event<'d, T>,
+    /// Event 3
+    pub event3: Event<'d, T>,
+    /// Event 4
+    pub event4: Event<'d, T>,
+    /// Event 5
+    pub event5: Event<'d, T>,
+    /// Event 6
+    pub event6: Event<'d, T>,
+    /// Event 7
+    pub event7: Event<'d, T>,
+    /// Event 8
+    pub event8: Event<'d, T>,
+    /// Event 9
+    pub event9: Event<'d, T>,
+    /// Event 10
+    pub event10: Event<'d, T>,
+    /// Event 11
+    pub event11: Event<'d, T>,
+    /// Event 12
+    pub event12: Event<'d, T>,
+    /// Event 13
+    pub event13: Event<'d, T>,
+    /// Event 14
+    pub event14: Event<'d, T>,
+    /// Event 15
+    pub event15: Event<'d, T>,
+}
+
+impl<'d, T: Instance> Ipc<'d, T> {
+    /// Create a new IPC driver.
+    pub fn new(
+        _p: Peri<'d, T>,
+        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+    ) -> Self {
+        T::Interrupt::unpend();
+        unsafe { T::Interrupt::enable() };
+
+        let _phantom = PhantomData;
+        #[rustfmt::skip]
+        let r = Self { // attributes on expressions are experimental
+            event0: Event { number: EventNumber::Event0, _phantom },
+            event1: Event { number: EventNumber::Event1, _phantom },
+            event2: Event { number: EventNumber::Event2, _phantom },
+            event3: Event { number: EventNumber::Event3, _phantom },
+            event4: Event { number: EventNumber::Event4, _phantom },
+            event5: Event { number: EventNumber::Event5, _phantom },
+            event6: Event { number: EventNumber::Event6, _phantom },
+            event7: Event { number: EventNumber::Event7, _phantom },
+            event8: Event { number: EventNumber::Event8, _phantom },
+            event9: Event { number: EventNumber::Event9, _phantom },
+            event10: Event { number: EventNumber::Event10, _phantom },
+            event11: Event { number: EventNumber::Event11, _phantom },
+            event12: Event { number: EventNumber::Event12, _phantom },
+            event13: Event { number: EventNumber::Event13, _phantom },
+            event14: Event { number: EventNumber::Event14, _phantom },
+            event15: Event { number: EventNumber::Event15, _phantom },
+        };
+        r
+    }
+}
+
+/// IPC event
+pub struct Event<'d, T: Instance> {
+    number: EventNumber,
+    _phantom: PhantomData<&'d T>,
+}
+
+impl<'d, T: Instance> Event<'d, T> {
+    /// Trigger the event.
+    pub fn trigger(&self) {
+        let nr = self.number;
+        T::regs().tasks_send(nr as usize).write_value(1);
+    }
+
+    /// Wait for the event to be triggered.
+    pub async fn wait(&mut self) {
+        let regs = T::regs();
+        let nr = self.number as usize;
+        regs.intenset().write(|w| w.0 = 1 << nr);
+        poll_fn(|cx| {
+            T::state().wakers[nr].register(cx.waker());
+
+            if regs.events_receive(nr).read() == 1 {
+                regs.events_receive(nr).write_value(0x00);
+                Poll::Ready(())
+            } else {
+                Poll::Pending
+            }
+        })
+        .await;
+    }
+
+    /// Returns the [`EventNumber`] of the event.
+    pub fn number(&self) -> EventNumber {
+        self.number
+    }
+
+    /// Create a handle that can trigger the event.
+    pub fn trigger_handle(&self) -> EventTrigger<'d, T> {
+        EventTrigger {
+            number: self.number,
+            _phantom: PhantomData,
+        }
+    }
+
+    /// Configure the channels the event will broadcast to
+    pub fn configure_trigger<I: IntoIterator<Item = IpcChannel>>(&mut self, channels: I) {
+        T::regs().send_cnf(self.number as usize).write(|w| {
+            for channel in channels {
+                w.0 |= channel.mask();
+            }
+        })
+    }
+
+    /// Configure the channels the event will listen on
+    pub fn configure_wait<I: IntoIterator<Item = IpcChannel>>(&mut self, channels: I) {
+        T::regs().receive_cnf(self.number as usize).write(|w| {
+            for channel in channels {
+                w.0 |= channel.mask();
+            }
+        });
+    }
+
+    /// Get the task for the IPC event to use with PPI.
+    pub fn task(&self) -> ppi::Task<'d> {
+        let nr = self.number as usize;
+        let regs = T::regs();
+        ppi::Task::from_reg(regs.tasks_send(nr))
+    }
+
+    /// Get the event for the IPC event to use with PPI.
+    pub fn event(&self) -> ppi::Event<'d> {
+        let nr = self.number as usize;
+        let regs = T::regs();
+        ppi::Event::from_reg(regs.events_receive(nr))
+    }
+
+    /// Reborrow into a "child" Event.
+    ///
+    /// `self` will stay borrowed until the child Event is dropped.
+    pub fn reborrow(&mut self) -> Event<'_, T> {
+        Self { ..*self }
+    }
+
+    /// Steal an IPC event by number.
+    ///
+    /// # Safety
+    ///
+    /// The event number must not be in use by another [`Event`].
+    pub unsafe fn steal(number: EventNumber) -> Self {
+        Self {
+            number,
+            _phantom: PhantomData,
+        }
+    }
+}
+
+/// A handle that can trigger an IPC event.
+///
+/// This `struct` is returned by [`Event::trigger_handle`].
+#[derive(Debug, Copy, Clone)]
+pub struct EventTrigger<'d, T: Instance> {
+    number: EventNumber,
+    _phantom: PhantomData<&'d T>,
+}
+
+impl<T: Instance> EventTrigger<'_, T> {
+    /// Trigger the event.
+    pub fn trigger(&self) {
+        let nr = self.number;
+        T::regs().tasks_send(nr as usize).write_value(1);
+    }
+
+    /// Returns the [`EventNumber`] of the event.
+    pub fn number(&self) -> EventNumber {
+        self.number
+    }
+}
+
+pub(crate) struct State {
+    wakers: [AtomicWaker; EVENT_COUNT],
+}
+
+impl State {
+    pub(crate) const fn new() -> Self {
+        Self {
+            wakers: [const { AtomicWaker::new() }; EVENT_COUNT],
+        }
+    }
+}
+
+pub(crate) trait SealedInstance {
+    fn regs() -> pac::ipc::Ipc;
+    fn state() -> &'static State;
+}
+
+/// IPC peripheral instance.
+#[allow(private_bounds)]
+pub trait Instance: PeripheralType + SealedInstance + 'static + Send {
+    /// Interrupt for this peripheral.
+    type Interrupt: interrupt::typelevel::Interrupt;
+}
+
+macro_rules! impl_ipc {
+    ($type:ident, $pac_type:ident, $irq:ident) => {
+        impl crate::ipc::SealedInstance for peripherals::$type {
+            fn regs() -> pac::ipc::Ipc {
+                pac::$pac_type
+            }
+
+            fn state() -> &'static crate::ipc::State {
+                static STATE: crate::ipc::State = crate::ipc::State::new();
+                &STATE
+            }
+        }
+        impl crate::ipc::Instance for peripherals::$type {
+            type Interrupt = crate::interrupt::typelevel::$irq;
+        }
+    };
+}
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 07ba2f6d4..5bce65a98 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -88,6 +88,8 @@ pub mod gpiote;
 #[cfg(not(feature = "_nrf54l"))] // TODO
 #[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
 pub mod i2s;
+#[cfg(feature = "_nrf5340")]
+pub mod ipc;
 #[cfg(not(feature = "_nrf54l"))] // TODO
 #[cfg(any(
     feature = "nrf52832",
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index b440591cf..8fb8a50fd 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -26,7 +26,10 @@ features = ["defmt", "unstable-pac", "time-driver", "rp2040"]
 
 [features]
 default = [ "rt" ]
-## Enable the rt feature of [`rp-pac`](https://docs.rs/rp-pac). This brings in the [`cortex-m-rt`](https://docs.rs/cortex-m-rt) crate, which adds startup code and minimal runtime initialization.
+
+## Enable the `rt` feature of [`rp-pac`](https://docs.rs/rp-pac).
+## With `rt` enabled the PAC provides interrupt vectors instead of letting [`cortex-m-rt`](https://docs.rs/cortex-m-rt) do that.
+## See <https://docs.rs/cortex-m-rt/latest/cortex_m_rt/#device> for more info.
 rt = [ "rp-pac/rt" ]
 
 ## Enable [defmt support](https://docs.rs/defmt) and enables `defmt` debug-log messages and formatting in embassy drivers.
diff --git a/embassy-rp/src/clocks.rs b/embassy-rp/src/clocks.rs
index 67aa5e540..6694aab66 100644
--- a/embassy-rp/src/clocks.rs
+++ b/embassy-rp/src/clocks.rs
@@ -1,4 +1,67 @@
-//! Clock configuration for the RP2040
+//! # Clock configuration for the RP2040 and RP235x microcontrollers.
+//!
+//! # Clock Configuration API
+//!
+//! This module provides both high-level convenience functions and low-level manual
+//! configuration options for the RP2040 clock system.
+//!
+//! ## High-Level Convenience Functions
+//!
+//! For most users, these functions provide an easy way to configure clocks:
+//!
+//! - `ClockConfig::system_freq(125_000_000)` - Set system clock to a specific frequency with automatic voltage scaling
+//! - `ClockConfig::crystal(12_000_000)` - Default configuration with 12MHz crystal giving 125MHz system clock
+//!
+//! ## Manual Configuration
+//!
+//! For advanced users who need precise control:
+//!
+//! ```rust,ignore
+//! // Start with default configuration and customize it
+//! let mut config = ClockConfig::default();
+//!
+//! // Set custom PLL parameters
+//! config.xosc = Some(XoscConfig {
+//!     hz: 12_000_000,
+//!     sys_pll: Some(PllConfig {
+//!         refdiv: 1,
+//!         fbdiv: 200,
+//!         post_div1: 6,
+//!         post_div2: 2,
+//!     }),
+//!     // ... other fields
+//! });
+//!
+//! // Set voltage for overclocking
+//! config.core_voltage = CoreVoltage::V1_15;
+//! ```
+//!
+//! ## Examples
+//!
+//! ### Standard 125MHz configuration
+//! ```rust,ignore
+//! let config = ClockConfig::crystal(12_000_000);
+//! ```
+//!
+//! Or using the default configuration:
+//! ```rust,ignore
+//! let config = ClockConfig::default();
+//! ```
+//!
+//! ### Overclock to 200MHz
+//! ```rust,ignore
+//! let config = ClockConfig::system_freq(200_000_000);
+//! ```
+//!
+//! ### Manual configuration for advanced scenarios
+//! ```rust,ignore
+//! use embassy_rp::clocks::{ClockConfig, XoscConfig, PllConfig, CoreVoltage};
+//!
+//! // Start with defaults and customize
+//! let mut config = ClockConfig::default();
+//! config.core_voltage = CoreVoltage::V1_15;
+//! // Set other parameters as needed...
+//! ```
 
 #[cfg(feature = "rp2040")]
 use core::arch::asm;
@@ -18,6 +81,7 @@ use crate::{pac, reset, Peri};
 // gpin is not usually safe to use during the boot init() call, so it won't
 // be very useful until we have runtime clock reconfiguration. once this
 // happens we can resurrect the commented-out gpin bits.
+
 struct Clocks {
     xosc: AtomicU32,
     sys: AtomicU32,
@@ -26,6 +90,7 @@ struct Clocks {
     pll_usb: AtomicU32,
     usb: AtomicU32,
     adc: AtomicU32,
+    // See above re gpin handling being commented out
     // gpin0: AtomicU32,
     // gpin1: AtomicU32,
     rosc: AtomicU32,
@@ -42,6 +107,7 @@ static CLOCKS: Clocks = Clocks {
     pll_usb: AtomicU32::new(0),
     usb: AtomicU32::new(0),
     adc: AtomicU32::new(0),
+    // See above re gpin handling being commented out
     // gpin0: AtomicU32::new(0),
     // gpin1: AtomicU32::new(0),
     rosc: AtomicU32::new(0),
@@ -65,10 +131,64 @@ pub enum PeriClkSrc {
     Rosc = ClkPeriCtrlAuxsrc::ROSC_CLKSRC_PH as _,
     /// XOSC.
     Xosc = ClkPeriCtrlAuxsrc::XOSC_CLKSRC as _,
+    // See above re gpin handling being commented out
     // Gpin0 = ClkPeriCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkPeriCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
 
+/// Core voltage regulator settings for RP2040.
+///
+/// The RP2040 voltage regulator can be configured for different output voltages.
+/// Higher voltages allow for higher clock frequencies but increase power consumption and heat.
+#[cfg(feature = "rp2040")]
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+#[repr(u8)]
+pub enum CoreVoltage {
+    /// 0.80V - Suitable for lower frequencies
+    V0_80 = 0b0000,
+    /// 0.85V
+    V0_85 = 0b0110,
+    /// 0.90V
+    V0_90 = 0b0111,
+    /// 0.95V
+    V0_95 = 0b1000,
+    /// 1.00V
+    V1_00 = 0b1001,
+    /// 1.05V
+    V1_05 = 0b1010,
+    /// 1.10V - Default voltage level
+    V1_10 = 0b1011,
+    /// 1.15V - Required for overclocking to 133-200MHz
+    V1_15 = 0b1100,
+    /// 1.20V
+    V1_20 = 0b1101,
+    /// 1.25V
+    V1_25 = 0b1110,
+    /// 1.30V
+    V1_30 = 0b1111,
+}
+
+#[cfg(feature = "rp2040")]
+impl CoreVoltage {
+    /// Get the recommended Brown-Out Detection (BOD) setting for this voltage.
+    /// Sets the BOD threshold to approximately 80% of the core voltage.
+    fn recommended_bod(self) -> u8 {
+        match self {
+            CoreVoltage::V0_80 => 0b0100, // 0.645V (~81% of 0.80V)
+            CoreVoltage::V0_85 => 0b0101, // 0.688V (~81% of 0.85V)
+            CoreVoltage::V0_90 => 0b0110, // 0.731V (~81% of 0.90V)
+            CoreVoltage::V0_95 => 0b0111, // 0.774V (~81% of 0.95V)
+            CoreVoltage::V1_00 => 0b1000, // 0.817V (~82% of 1.00V)
+            CoreVoltage::V1_05 => 0b1000, // 0.817V (~78% of 1.05V)
+            CoreVoltage::V1_10 => 0b1001, // 0.860V (~78% of 1.10V)
+            CoreVoltage::V1_15 => 0b1010, // 0.903V (~79% of 1.15V)
+            CoreVoltage::V1_20 => 0b1011, // 0.946V (~79% of 1.20V)
+            CoreVoltage::V1_25 => 0b1100, // 0.989V (~79% of 1.25V)
+            CoreVoltage::V1_30 => 0b1101, // 1.032V (~79% of 1.30V)
+        }
+    }
+}
+
 /// CLock configuration.
 #[non_exhaustive]
 pub struct ClockConfig {
@@ -89,12 +209,63 @@ pub struct ClockConfig {
     /// RTC clock configuration.
     #[cfg(feature = "rp2040")]
     pub rtc_clk: Option<RtcClkConfig>,
+    /// Core voltage scaling (RP2040 only). Defaults to 1.10V.
+    #[cfg(feature = "rp2040")]
+    pub core_voltage: CoreVoltage,
+    /// Voltage stabilization delay in microseconds.
+    /// If not set, defaults will be used based on voltage level.
+    #[cfg(feature = "rp2040")]
+    pub voltage_stabilization_delay_us: Option<u32>,
+    // See above re gpin handling being commented out
     // gpin0: Option<(u32, Gpin<'static, AnyPin>)>,
     // gpin1: Option<(u32, Gpin<'static, AnyPin>)>,
 }
 
+impl Default for ClockConfig {
+    /// Creates a minimal default configuration with safe values.
+    ///
+    /// This configuration uses the ring oscillator (ROSC) as the clock source
+    /// and sets minimal defaults that guarantee a working system. It's intended
+    /// as a starting point for manual configuration.
+    ///
+    /// Most users should use one of the more specific configuration functions:
+    /// - `ClockConfig::crystal()` - Standard configuration with external crystal
+    /// - `ClockConfig::rosc()` - Configuration using only the internal oscillator
+    /// - `ClockConfig::system_freq()` - Configuration for a specific system frequency
+    fn default() -> Self {
+        Self {
+            rosc: None,
+            xosc: None,
+            ref_clk: RefClkConfig {
+                src: RefClkSrc::Rosc,
+                div: 1,
+            },
+            sys_clk: SysClkConfig {
+                src: SysClkSrc::Rosc,
+                div_int: 1,
+                div_frac: 0,
+            },
+            peri_clk_src: None,
+            usb_clk: None,
+            adc_clk: None,
+            #[cfg(feature = "rp2040")]
+            rtc_clk: None,
+            #[cfg(feature = "rp2040")]
+            core_voltage: CoreVoltage::V1_10,
+            #[cfg(feature = "rp2040")]
+            voltage_stabilization_delay_us: None,
+            // See above re gpin handling being commented out
+            // gpin0: None,
+            // gpin1: None,
+        }
+    }
+}
+
 impl ClockConfig {
     /// Clock configuration derived from external crystal.
+    ///
+    /// This uses default settings for most parameters, suitable for typical use cases.
+    /// For manual control of PLL parameters, use `new_manual()` or modify the struct fields directly.
     pub fn crystal(crystal_hz: u32) -> Self {
         Self {
             rosc: Some(RoscConfig {
@@ -152,6 +323,11 @@ impl ClockConfig {
                 div_frac: 0,
                 phase: 0,
             }),
+            #[cfg(feature = "rp2040")]
+            core_voltage: CoreVoltage::V1_10, // Use hardware default (1.10V)
+            #[cfg(feature = "rp2040")]
+            voltage_stabilization_delay_us: None,
+            // See above re gpin handling being commented out
             // gpin0: None,
             // gpin1: None,
         }
@@ -192,20 +368,157 @@ impl ClockConfig {
                 div_frac: 171,
                 phase: 0,
             }),
+            #[cfg(feature = "rp2040")]
+            core_voltage: CoreVoltage::V1_10, // Use hardware default (1.10V)
+            #[cfg(feature = "rp2040")]
+            voltage_stabilization_delay_us: None,
+            // See above re gpin handling being commented out
             // gpin0: None,
             // gpin1: None,
         }
     }
 
-    // pub fn bind_gpin<P: GpinPin>(&mut self, gpin: Gpin<'static, P>, hz: u32) {
-    //     match P::NR {
-    //         0 => self.gpin0 = Some((hz, gpin.into())),
-    //         1 => self.gpin1 = Some((hz, gpin.into())),
-    //         _ => unreachable!(),
-    //     }
-    //     // pin is now provisionally bound. if the config is applied it must be forgotten,
-    //     // or Gpin::drop will deconfigure the clock input.
-    // }
+    /// Configure clocks derived from an external crystal with specific system frequency.
+    ///
+    /// This function calculates optimal PLL parameters to achieve the requested system
+    /// frequency. This only works for the usual 12MHz crystal. In case a different crystal is used,
+    /// You will have to set the PLL parameters manually.
+    ///
+    /// # Arguments
+    ///
+    /// * `sys_freq_hz` - The desired system clock frequency in Hz
+    ///
+    /// # Returns
+    ///
+    /// A ClockConfig configured to achieve the requested system frequency using the
+    /// the usual 12Mhz crystal, or panic if no valid parameters can be found.
+    ///
+    /// # Note on core voltage:
+    /// To date the only officially documented core voltages (see Datasheet section 2.15.3.1. Instances) are:
+    /// - Up to 133MHz: V1_10 (default)
+    /// - Above 133MHz: V1_15, but in the context of the datasheet covering reaching up to 200Mhz
+    /// That way all other frequencies below 133MHz or above 200MHz are not explicitly documented and not covered here.
+    /// In case You want to go below 133MHz or above 200MHz and want a different voltage, You will have to set that manually and with caution.
+    #[cfg(feature = "rp2040")]
+    pub fn system_freq(hz: u32) -> Self {
+        // Start with the standard configuration from crystal()
+        const DEFAULT_CRYSTAL_HZ: u32 = 12_000_000;
+        let mut config = Self::crystal(DEFAULT_CRYSTAL_HZ);
+
+        // No need to modify anything if target frequency is already 125MHz
+        // (which is what crystal() configures by default)
+        if hz == 125_000_000 {
+            return config;
+        }
+
+        // Find optimal PLL parameters for the requested frequency
+        let sys_pll_params = find_pll_params(DEFAULT_CRYSTAL_HZ, hz)
+            .unwrap_or_else(|| panic!("Could not find valid PLL parameters for system clock"));
+
+        // Replace the sys_pll configuration with our custom parameters
+        if let Some(xosc) = &mut config.xosc {
+            xosc.sys_pll = Some(sys_pll_params);
+        }
+
+        // Set the voltage scale based on the target frequency
+        // Higher frequencies require higher voltage
+        #[cfg(feature = "rp2040")]
+        {
+            config.core_voltage = match hz {
+                freq if freq > 133_000_000 => CoreVoltage::V1_15,
+                _ => CoreVoltage::V1_10, // Use default voltage (V1_10)
+            };
+        }
+
+        config
+    }
+
+    /// Configure with manual PLL settings for full control over system clock
+    ///
+    /// This method provides a simple way to configure the system with custom PLL parameters
+    /// without needing to understand the full nested configuration structure.
+    ///
+    /// # Arguments
+    ///
+    /// * `xosc_hz` - The frequency of the external crystal in Hz
+    /// * `pll_config` - The PLL configuration parameters to achieve desired frequency
+    /// * `core_voltage` - Voltage scaling for overclocking (required for >133MHz)
+    ///
+    /// # Returns
+    ///
+    /// A ClockConfig configured with the specified PLL parameters
+    ///
+    /// # Example
+    ///
+    /// ```rust,ignore
+    /// // Configure for 200MHz operation
+    /// let config = Config::default();
+    /// config.clocks = ClockConfig::manual_pll(
+    ///     12_000_000,
+    ///     PllConfig {
+    ///         refdiv: 1,    // Reference divider (12 MHz / 1 = 12 MHz)
+    ///         fbdiv: 100,   // Feedback divider (12 MHz * 100 = 1200 MHz VCO)
+    ///         post_div1: 3, // First post divider (1200 MHz / 3 = 400 MHz)
+    ///         post_div2: 2, // Second post divider (400 MHz / 2 = 200 MHz)
+    ///     },
+    ///     CoreVoltage::V1_15
+    /// );
+    /// ```
+    #[cfg(feature = "rp2040")]
+    pub fn manual_pll(xosc_hz: u32, pll_config: PllConfig, core_voltage: CoreVoltage) -> Self {
+        // Validate PLL parameters
+        assert!(pll_config.is_valid(xosc_hz), "Invalid PLL parameters");
+
+        let mut config = Self::default();
+
+        config.xosc = Some(XoscConfig {
+            hz: xosc_hz,
+            sys_pll: Some(pll_config),
+            usb_pll: Some(PllConfig {
+                refdiv: 1,
+                fbdiv: 120,
+                post_div1: 6,
+                post_div2: 5,
+            }),
+            delay_multiplier: 128,
+        });
+
+        config.ref_clk = RefClkConfig {
+            src: RefClkSrc::Xosc,
+            div: 1,
+        };
+
+        config.sys_clk = SysClkConfig {
+            src: SysClkSrc::PllSys,
+            div_int: 1,
+            div_frac: 0,
+        };
+
+        config.core_voltage = core_voltage;
+        config.peri_clk_src = Some(PeriClkSrc::Sys);
+
+        // Set reasonable defaults for other clocks
+        config.usb_clk = Some(UsbClkConfig {
+            src: UsbClkSrc::PllUsb,
+            div: 1,
+            phase: 0,
+        });
+
+        config.adc_clk = Some(AdcClkConfig {
+            src: AdcClkSrc::PllUsb,
+            div: 1,
+            phase: 0,
+        });
+
+        config.rtc_clk = Some(RtcClkConfig {
+            src: RtcClkSrc::PllUsb,
+            div_int: 1024,
+            div_frac: 0,
+            phase: 0,
+        });
+
+        config
+    }
 }
 
 /// ROSC freq range.
@@ -251,6 +564,7 @@ pub struct XoscConfig {
 }
 
 /// PLL configuration.
+#[derive(Clone, Copy, Debug)]
 pub struct PllConfig {
     /// Reference divisor.
     pub refdiv: u8,
@@ -262,6 +576,50 @@ pub struct PllConfig {
     pub post_div2: u8,
 }
 
+impl PllConfig {
+    /// Calculate the output frequency for this PLL configuration
+    /// given an input frequency.
+    pub fn output_frequency(&self, input_hz: u32) -> u32 {
+        let ref_freq = input_hz / self.refdiv as u32;
+        let vco_freq = ref_freq * self.fbdiv as u32;
+        vco_freq / ((self.post_div1 * self.post_div2) as u32)
+    }
+
+    /// Check if this PLL configuration is valid for the given input frequency.
+    pub fn is_valid(&self, input_hz: u32) -> bool {
+        // Check divisor constraints
+        if self.refdiv < 1 || self.refdiv > 63 {
+            return false;
+        }
+        if self.fbdiv < 16 || self.fbdiv > 320 {
+            return false;
+        }
+        if self.post_div1 < 1 || self.post_div1 > 7 {
+            return false;
+        }
+        if self.post_div2 < 1 || self.post_div2 > 7 {
+            return false;
+        }
+        if self.post_div2 > self.post_div1 {
+            return false;
+        }
+
+        // Calculate reference frequency
+        let ref_freq = input_hz / self.refdiv as u32;
+
+        // Check reference frequency range
+        if ref_freq < 5_000_000 || ref_freq > 800_000_000 {
+            return false;
+        }
+
+        // Calculate VCO frequency
+        let vco_freq = ref_freq * self.fbdiv as u32;
+
+        // Check VCO frequency range
+        vco_freq >= 750_000_000 && vco_freq <= 1_800_000_000
+    }
+}
+
 /// Reference clock config.
 pub struct RefClkConfig {
     /// Reference clock source.
@@ -280,6 +638,7 @@ pub enum RefClkSrc {
     Rosc,
     /// PLL USB.
     PllUsb,
+    // See above re gpin handling being commented out
     // Gpin0,
     // Gpin1,
 }
@@ -298,6 +657,7 @@ pub enum SysClkSrc {
     Rosc,
     /// XOSC.
     Xosc,
+    // See above re gpin handling being commented out
     // Gpin0,
     // Gpin1,
 }
@@ -333,6 +693,7 @@ pub enum UsbClkSrc {
     Rosc = ClkUsbCtrlAuxsrc::ROSC_CLKSRC_PH as _,
     /// XOSC.
     Xosc = ClkUsbCtrlAuxsrc::XOSC_CLKSRC as _,
+    // See above re gpin handling being commented out
     // Gpin0 = ClkUsbCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkUsbCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
@@ -360,6 +721,7 @@ pub enum AdcClkSrc {
     Rosc = ClkAdcCtrlAuxsrc::ROSC_CLKSRC_PH as _,
     /// XOSC.
     Xosc = ClkAdcCtrlAuxsrc::XOSC_CLKSRC as _,
+    // See above re gpin handling being commented out
     // Gpin0 = ClkAdcCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkAdcCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
@@ -388,6 +750,7 @@ pub enum RtcClkSrc {
     Rosc = ClkRtcCtrlAuxsrc::ROSC_CLKSRC_PH as _,
     /// XOSC.
     Xosc = ClkRtcCtrlAuxsrc::XOSC_CLKSRC as _,
+    // See above re gpin handling being commented out
     // Gpin0 = ClkRtcCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkRtcCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
 }
@@ -405,6 +768,103 @@ pub struct RtcClkConfig {
     pub phase: u8,
 }
 
+/// Find valid PLL parameters (refdiv, fbdiv, post_div1, post_div2) for a target output frequency
+/// based on the input frequency.
+///
+/// This function searches for the best PLL configuration to achieve the requested target frequency
+/// while staying within the VCO frequency range of 750MHz to 1800MHz. It prioritizes stability
+/// over exact frequency matching by using larger divisors where possible.
+///
+/// # Parameters
+///
+/// * `input_hz`: The input frequency in Hz (typically the crystal frequency, e.g. 12MHz for th most common one used on rp2040 boards)
+/// * `target_hz`: The desired output frequency in Hz (e.g. 125MHz for standard RP2040 operation)
+///
+/// # Returns
+///
+/// * `Some(PllConfig)` if valid parameters were found
+/// * `None` if no valid parameters could be found for the requested combination
+///
+/// # Example
+///
+/// ```rust,ignore
+/// // Find parameters for 133MHz system clock from 12MHz crystal
+/// let pll_params = find_pll_params(12_000_000, 133_000_000).unwrap();
+/// ```
+#[cfg(feature = "rp2040")]
+fn find_pll_params(input_hz: u32, target_hz: u32) -> Option<PllConfig> {
+    // Fixed reference divider for system PLL
+    const PLL_SYS_REFDIV: u8 = 1;
+
+    // Calculate reference frequency
+    let reference_freq = input_hz as u64 / PLL_SYS_REFDIV as u64;
+
+    // Start from highest fbdiv for better stability (like SDK does)
+    for fbdiv in (16..=320).rev() {
+        let vco_freq = reference_freq * fbdiv;
+
+        // Check VCO frequency is within valid range
+        if vco_freq < 750_000_000 || vco_freq > 1_800_000_000 {
+            continue;
+        }
+
+        // Try all possible postdiv combinations starting from larger values
+        // (more conservative/stable approach)
+        for post_div1 in (1..=7).rev() {
+            for post_div2 in (1..=post_div1).rev() {
+                let out_freq = vco_freq / (post_div1 * post_div2);
+
+                // Check if we get the exact target frequency without remainder
+                if out_freq == target_hz as u64 && (vco_freq % (post_div1 * post_div2) == 0) {
+                    return Some(PllConfig {
+                        refdiv: PLL_SYS_REFDIV,
+                        fbdiv: fbdiv as u16,
+                        post_div1: post_div1 as u8,
+                        post_div2: post_div2 as u8,
+                    });
+                }
+            }
+        }
+    }
+
+    // If we couldn't find an exact match, find the closest match
+    let mut best_config = None;
+    let mut min_diff = u32::MAX;
+
+    for fbdiv in (16..=320).rev() {
+        let vco_freq = reference_freq * fbdiv;
+
+        if vco_freq < 750_000_000 || vco_freq > 1_800_000_000 {
+            continue;
+        }
+
+        for post_div1 in (1..=7).rev() {
+            for post_div2 in (1..=post_div1).rev() {
+                let out_freq = (vco_freq / (post_div1 * post_div2) as u64) as u32;
+                let diff = if out_freq > target_hz {
+                    out_freq - target_hz
+                } else {
+                    target_hz - out_freq
+                };
+
+                // If this is closer to the target, save it
+                if diff < min_diff {
+                    min_diff = diff;
+                    best_config = Some(PllConfig {
+                        refdiv: PLL_SYS_REFDIV,
+                        fbdiv: fbdiv as u16,
+                        post_div1: post_div1 as u8,
+                        post_div2: post_div2 as u8,
+                    });
+                }
+            }
+        }
+    }
+
+    // Return the closest match if we found one
+    best_config
+}
+
 /// safety: must be called exactly once at bootup
 pub(crate) unsafe fn init(config: ClockConfig) {
     // Reset everything except:
@@ -447,6 +907,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
     reset::reset(peris);
     reset::unreset_wait(peris);
 
+    // See above re gpin handling being commented out
     // let gpin0_freq = config.gpin0.map_or(0, |p| {
     //     core::mem::forget(p.1);
     //     p.0
@@ -464,19 +925,60 @@ pub(crate) unsafe fn init(config: ClockConfig) {
     };
     CLOCKS.rosc.store(rosc_freq, Ordering::Relaxed);
 
+    // Set Core Voltage (RP2040 only), if we have config for it and we're not using the default
+    #[cfg(feature = "rp2040")]
+    {
+        let voltage = config.core_voltage;
+        let vreg = pac::VREG_AND_CHIP_RESET;
+        let current_vsel = vreg.vreg().read().vsel();
+        let target_vsel = voltage as u8;
+
+        // If the target voltage is different from the current one, we need to change it
+        if target_vsel != current_vsel {
+            // Use modify() to preserve the HIZ and EN bits - otherwise we will disable the regulator when changing voltage
+            vreg.vreg().modify(|w| w.set_vsel(target_vsel));
+
+            // Wait for the voltage to stabilize. Use the provided delay or default based on voltage
+            let settling_time_us = config.voltage_stabilization_delay_us.unwrap_or_else(|| {
+                match voltage {
+                    CoreVoltage::V1_15 => 1000,                                           // 1ms for 1.15V
+                    CoreVoltage::V1_20 | CoreVoltage::V1_25 | CoreVoltage::V1_30 => 2000, // 2ms for higher voltages
+                    _ => 0,                                                               // no delay for all others
+                }
+            });
+
+            if settling_time_us != 0 {
+                // Delay in microseconds, using the ROSC frequency to calculate cycles
+                let cycles_per_us = rosc_freq / 1_000_000;
+                let delay_cycles = settling_time_us * cycles_per_us;
+                cortex_m::asm::delay(delay_cycles);
+            }
+
+            // Only now set the BOD level. At this point the voltage is considered stable.
+            vreg.bod().write(|w| {
+                w.set_vsel(voltage.recommended_bod());
+                w.set_en(true); // Enable brownout detection
+            });
+        }
+    }
+
     let (xosc_freq, pll_sys_freq, pll_usb_freq) = match config.xosc {
         Some(config) => {
             // start XOSC
-            // datasheet mentions support for clock inputs into XIN, but doesn't go into
-            // how this is achieved. pico-sdk doesn't support this at all.
             start_xosc(config.hz, config.delay_multiplier);
 
             let pll_sys_freq = match config.sys_pll {
-                Some(sys_pll_config) => configure_pll(pac::PLL_SYS, config.hz, sys_pll_config),
+                Some(sys_pll_config) => match configure_pll(pac::PLL_SYS, config.hz, sys_pll_config) {
+                    Ok(freq) => freq,
+                    Err(e) => panic!("Failed to configure PLL_SYS: {}", e),
+                },
                 None => 0,
             };
             let pll_usb_freq = match config.usb_pll {
-                Some(usb_pll_config) => configure_pll(pac::PLL_USB, config.hz, usb_pll_config),
+                Some(usb_pll_config) => match configure_pll(pac::PLL_USB, config.hz, usb_pll_config) {
+                    Ok(freq) => freq,
+                    Err(e) => panic!("Failed to configure PLL_USB: {}", e),
+                },
                 None => 0,
             };
 
@@ -484,6 +986,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
         }
         None => (0, 0, 0),
     };
+
     CLOCKS.xosc.store(xosc_freq, Ordering::Relaxed);
     CLOCKS.pll_sys.store(pll_sys_freq, Ordering::Relaxed);
     CLOCKS.pll_usb.store(pll_usb_freq, Ordering::Relaxed);
@@ -496,6 +999,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
             RefClkSrc::Xosc => (Src::XOSC_CLKSRC, Aux::CLKSRC_PLL_USB, xosc_freq / div),
             RefClkSrc::Rosc => (Src::ROSC_CLKSRC_PH, Aux::CLKSRC_PLL_USB, rosc_freq / div),
             RefClkSrc::PllUsb => (Src::CLKSRC_CLK_REF_AUX, Aux::CLKSRC_PLL_USB, pll_usb_freq / div),
+            // See above re gpin handling being commented out
             // RefClkSrc::Gpin0 => (Src::CLKSRC_CLK_REF_AUX, Aux::CLKSRC_GPIN0, gpin0_freq / div),
             // RefClkSrc::Gpin1 => (Src::CLKSRC_CLK_REF_AUX, Aux::CLKSRC_GPIN1, gpin1_freq / div),
         }
@@ -540,6 +1044,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
             SysClkSrc::PllUsb => (Src::CLKSRC_CLK_SYS_AUX, Aux::CLKSRC_PLL_USB, pll_usb_freq),
             SysClkSrc::Rosc => (Src::CLKSRC_CLK_SYS_AUX, Aux::ROSC_CLKSRC, rosc_freq),
             SysClkSrc::Xosc => (Src::CLKSRC_CLK_SYS_AUX, Aux::XOSC_CLKSRC, xosc_freq),
+            // See above re gpin handling being commented out
             // SysClkSrc::Gpin0 => (Src::CLKSRC_CLK_SYS_AUX, Aux::CLKSRC_GPIN0, gpin0_freq),
             // SysClkSrc::Gpin1 => (Src::CLKSRC_CLK_SYS_AUX, Aux::CLKSRC_GPIN1, gpin1_freq),
         };
@@ -583,6 +1088,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
             PeriClkSrc::PllUsb => pll_usb_freq,
             PeriClkSrc::Rosc => rosc_freq,
             PeriClkSrc::Xosc => xosc_freq,
+            // See above re gpin handling being commented out
             // PeriClkSrc::Gpin0 => gpin0_freq,
             // PeriClkSrc::Gpin1 => gpin1_freq,
         };
@@ -608,6 +1114,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
             UsbClkSrc::PllSys => pll_sys_freq,
             UsbClkSrc::Rosc => rosc_freq,
             UsbClkSrc::Xosc => xosc_freq,
+            // See above re gpin handling being commented out
             // UsbClkSrc::Gpin0 => gpin0_freq,
             // UsbClkSrc::Gpin1 => gpin1_freq,
         };
@@ -631,6 +1138,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
             AdcClkSrc::PllSys => pll_sys_freq,
             AdcClkSrc::Rosc => rosc_freq,
             AdcClkSrc::Xosc => xosc_freq,
+            // See above re gpin handling being commented out
             // AdcClkSrc::Gpin0 => gpin0_freq,
             // AdcClkSrc::Gpin1 => gpin1_freq,
         };
@@ -659,6 +1167,7 @@ pub(crate) unsafe fn init(config: ClockConfig) {
             RtcClkSrc::PllSys => pll_sys_freq,
             RtcClkSrc::Rosc => rosc_freq,
             RtcClkSrc::Xosc => xosc_freq,
+            // See above re gpin handling being commented out
             // RtcClkSrc::Gpin0 => gpin0_freq,
             // RtcClkSrc::Gpin1 => gpin1_freq,
         };
@@ -725,6 +1234,7 @@ pub fn xosc_freq() -> u32 {
     CLOCKS.xosc.load(Ordering::Relaxed)
 }
 
+// See above re gpin handling being commented out
 // pub fn gpin0_freq() -> u32 {
 //     CLOCKS.gpin0.load(Ordering::Relaxed)
 // }
@@ -783,46 +1293,100 @@ fn start_xosc(crystal_hz: u32, delay_multiplier: u32) {
     while !pac::XOSC.status().read().stable() {}
 }
 
+/// PLL (Phase-Locked Loop) configuration
 #[inline(always)]
-fn configure_pll(p: pac::pll::Pll, input_freq: u32, config: PllConfig) -> u32 {
+fn configure_pll(p: pac::pll::Pll, input_freq: u32, config: PllConfig) -> Result<u32, &'static str> {
+    // Calculate reference frequency
     let ref_freq = input_freq / config.refdiv as u32;
+
+    // Validate PLL parameters
+    // Feedback divider (FBDIV) must be between 16 and 320
     assert!(config.fbdiv >= 16 && config.fbdiv <= 320);
+
+    // Post divider 1 (POSTDIV1) must be between 1 and 7
     assert!(config.post_div1 >= 1 && config.post_div1 <= 7);
+
+    // Post divider 2 (POSTDIV2) must be between 1 and 7
     assert!(config.post_div2 >= 1 && config.post_div2 <= 7);
+
+    // Post divider 2 (POSTDIV2) must be less than or equal to post divider 1 (POSTDIV1)
+    assert!(config.post_div2 <= config.post_div1);
+
+    // Reference divider (REFDIV) must be between 1 and 63
     assert!(config.refdiv >= 1 && config.refdiv <= 63);
+
+    // Reference frequency (REF_FREQ) must be between 5MHz and 800MHz
     assert!(ref_freq >= 5_000_000 && ref_freq <= 800_000_000);
+
+    // Calculate VCO frequency
     let vco_freq = ref_freq.saturating_mul(config.fbdiv as u32);
+
+    // VCO (Voltage Controlled Oscillator) frequency must be between 750MHz and 1800MHz
     assert!(vco_freq >= 750_000_000 && vco_freq <= 1_800_000_000);
 
-    // Load VCO-related dividers before starting VCO
+    // We follow the SDK's approach to PLL configuration which is:
+    // 1. Power down PLL
+    // 2. Configure the reference divider
+    // 3. Configure the feedback divider
+    // 4. Power up PLL and VCO
+    // 5. Wait for PLL to lock
+    // 6. Configure post-dividers
+    // 7. Enable post-divider output
+
+    // 1. Power down PLL before configuration
+    p.pwr().write(|w| {
+        w.set_pd(true); // Power down the PLL
+        w.set_vcopd(true); // Power down the VCO
+        w.set_postdivpd(true); // Power down the post divider
+        w.set_dsmpd(true); // Disable fractional mode
+        *w
+    });
+
+    // Short delay after powering down
+    cortex_m::asm::delay(10);
+
+    // 2. Configure reference divider first
     p.cs().write(|w| w.set_refdiv(config.refdiv as _));
+
+    // 3. Configure feedback divider
     p.fbdiv_int().write(|w| w.set_fbdiv_int(config.fbdiv));
 
-    // Turn on PLL
-    let pwr = p.pwr().write(|w| {
-        w.set_dsmpd(true); // "nothing is achieved by setting this low"
-        w.set_pd(false);
-        w.set_vcopd(false);
-        w.set_postdivpd(true);
+    // 4. Power up PLL and VCO, but keep post divider powered down during initial lock
+    p.pwr().write(|w| {
+        w.set_pd(false); // Power up the PLL
+        w.set_vcopd(false); // Power up the VCO
+        w.set_postdivpd(true); // Keep post divider powered down during initial lock
+        w.set_dsmpd(true); // Disable fractional mode (simpler configuration)
         *w
     });
 
-    // Wait for PLL to lock
-    while !p.cs().read().lock() {}
+    // 5. Wait for PLL to lock with a timeout
+    let mut timeout = 1_000_000;
+    while !p.cs().read().lock() {
+        timeout -= 1;
+        if timeout == 0 {
+            // PLL failed to lock, return 0 to indicate failure
+            return Err("PLL failed to lock");
+        }
+    }
 
-    // Set post-dividers
+    // 6. Configure post dividers after PLL is locked
     p.prim().write(|w| {
         w.set_postdiv1(config.post_div1);
         w.set_postdiv2(config.post_div2);
     });
 
-    // Turn on post divider
-    p.pwr().write(|w| {
-        *w = pwr;
-        w.set_postdivpd(false);
+    // 7. Enable the post divider output
+    p.pwr().modify(|w| {
+        w.set_postdivpd(false); // Power up post divider
+        *w
     });
 
-    vco_freq / ((config.post_div1 * config.post_div2) as u32)
+    // Final delay to ensure everything is stable
+    cortex_m::asm::delay(100);
+
+    // Calculate and return actual output frequency
+    Ok(vco_freq / ((config.post_div1 * config.post_div2) as u32))
 }
 
 /// General purpose input clock pin.
@@ -906,6 +1470,7 @@ impl_gpoutpin!(PIN_25, 3);
 pub enum GpoutSrc {
     /// Sys PLL.
     PllSys = ClkGpoutCtrlAuxsrc::CLKSRC_PLL_SYS as _,
+    // See above re gpin handling being commented out
     // Gpin0 = ClkGpoutCtrlAuxsrc::CLKSRC_GPIN0 as _ ,
     // Gpin1 = ClkGpoutCtrlAuxsrc::CLKSRC_GPIN1 as _ ,
     /// USB PLL.
@@ -1001,6 +1566,7 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
 
         let base = match src {
             ClkGpoutCtrlAuxsrc::CLKSRC_PLL_SYS => pll_sys_freq(),
+            // See above re gpin handling being commented out
             // ClkGpoutCtrlAuxsrc::CLKSRC_GPIN0 => gpin0_freq(),
             // ClkGpoutCtrlAuxsrc::CLKSRC_GPIN1 => gpin1_freq(),
             ClkGpoutCtrlAuxsrc::CLKSRC_PLL_USB => pll_usb_freq(),
@@ -1009,7 +1575,6 @@ impl<'d, T: GpoutPin> Gpout<'d, T> {
             ClkGpoutCtrlAuxsrc::CLK_SYS => clk_sys_freq(),
             ClkGpoutCtrlAuxsrc::CLK_USB => clk_usb_freq(),
             ClkGpoutCtrlAuxsrc::CLK_ADC => clk_adc_freq(),
-            //ClkGpoutCtrlAuxsrc::CLK_RTC => clk_rtc_freq() as _,
             ClkGpoutCtrlAuxsrc::CLK_REF => clk_ref_freq(),
             _ => unreachable!(),
         };
@@ -1069,6 +1634,7 @@ impl rand_core::RngCore for RoscRng {
         dest.fill_with(Self::next_u8)
     }
 }
+
 /// Enter the `DORMANT` sleep state. This will stop *all* internal clocks
 /// and can only be exited through resets, dormant-wake GPIO interrupts,
 /// and RTC interrupts. If RTC is clocked from an internal clock source
@@ -1197,3 +1763,196 @@ pub fn dormant_sleep() {
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[cfg(feature = "rp2040")]
+    #[test]
+    fn test_find_pll_params() {
+        #[cfg(feature = "rp2040")]
+        {
+            // Test standard 125 MHz configuration with 12 MHz crystal
+            let params = find_pll_params(12_000_000, 125_000_000).unwrap();
+            assert_eq!(params.refdiv, 1);
+            assert_eq!(params.fbdiv, 125);
+
+            // Test USB PLL configuration for 48MHz
+            // The algorithm may find different valid parameters than the SDK defaults
+            // We'll check that it generates a valid configuration that produces 48MHz
+            let params = find_pll_params(12_000_000, 48_000_000).unwrap();
+            assert_eq!(params.refdiv, 1);
+
+            // Calculate the actual output frequency
+            let ref_freq = 12_000_000 / params.refdiv as u32;
+            let vco_freq = ref_freq as u64 * params.fbdiv as u64;
+            let output_freq = (vco_freq / ((params.post_div1 * params.post_div2) as u64)) as u32;
+
+            // Verify the output frequency is correct
+            assert_eq!(output_freq, 48_000_000);
+
+            // Verify VCO frequency is in valid range
+            assert!(vco_freq >= 750_000_000 && vco_freq <= 1_800_000_000);
+
+            // Test overclocked configuration for 200 MHz
+            let params = find_pll_params(12_000_000, 200_000_000).unwrap();
+            assert_eq!(params.refdiv, 1);
+            let vco_freq = 12_000_000 as u64 * params.fbdiv as u64;
+            let output_freq = (vco_freq / ((params.post_div1 * params.post_div2) as u64)) as u32;
+            assert_eq!(output_freq, 200_000_000);
+            assert!(vco_freq >= 750_000_000 && vco_freq <= 1_800_000_000); // VCO in valid range
+
+            // Test non-standard crystal with 16 MHz
+            let params = find_pll_params(16_000_000, 125_000_000).unwrap();
+            let vco_freq = (16_000_000 / params.refdiv as u32) as u64 * params.fbdiv as u64;
+            let output_freq = (vco_freq / ((params.post_div1 * params.post_div2) as u64)) as u32;
+
+            // Test non-standard crystal with 15 MHz
+            let params = find_pll_params(15_000_000, 125_000_000).unwrap();
+            let vco_freq = (15_000_000 / params.refdiv as u32) as u64 * params.fbdiv as u64;
+            let output_freq = (vco_freq / ((params.post_div1 * params.post_div2) as u64)) as u32;
+
+            // With a 15 MHz crystal, we might not get exactly 125 MHz
+            // Check that it's close enough (within 0.2% margin)
+            let freq_diff = if output_freq > 125_000_000 {
+                output_freq - 125_000_000
+            } else {
+                125_000_000 - output_freq
+            };
+            let error_percentage = (freq_diff as f64 / 125_000_000.0) * 100.0;
+            assert!(
+                error_percentage < 0.2,
+                "Output frequency {} is not close enough to target 125 MHz. Error: {:.2}%",
+                output_freq,
+                error_percentage
+            );
+
+            assert!(vco_freq >= 750_000_000 && vco_freq <= 1_800_000_000);
+        }
+    }
+
+    #[cfg(feature = "rp2040")]
+    #[test]
+    fn test_pll_config_validation() {
+        // Test PLL configuration validation logic
+        let valid_config = PllConfig {
+            refdiv: 1,
+            fbdiv: 125,
+            post_div1: 6,
+            post_div2: 2,
+        };
+
+        // Valid configuration should pass validation
+        assert!(valid_config.is_valid(12_000_000));
+
+        // Test fbdiv constraints
+        let mut invalid_config = valid_config;
+        invalid_config.fbdiv = 15; // Below minimum of 16
+        assert!(!invalid_config.is_valid(12_000_000));
+
+        invalid_config.fbdiv = 321; // Above maximum of 320
+        assert!(!invalid_config.is_valid(12_000_000));
+
+        // Test post_div constraints
+        invalid_config = valid_config;
+        invalid_config.post_div1 = 0; // Below minimum of 1
+        assert!(!invalid_config.is_valid(12_000_000));
+
+        invalid_config = valid_config;
+        invalid_config.post_div1 = 8; // Above maximum of 7
+        assert!(!invalid_config.is_valid(12_000_000));
+
+        // Test post_div2 must be <= post_div1
+        invalid_config = valid_config;
+        invalid_config.post_div2 = 7;
+        invalid_config.post_div1 = 3;
+        assert!(!invalid_config.is_valid(12_000_000));
+
+        // Test reference frequency constraints
+        invalid_config = valid_config;
+        assert!(!invalid_config.is_valid(4_000_000)); // Below minimum of 5 MHz
+        assert!(!invalid_config.is_valid(900_000_000)); // Above maximum of 800 MHz
+
+        // Test VCO frequency constraints
+        invalid_config = valid_config;
+        invalid_config.fbdiv = 16;
+        assert!(!invalid_config.is_valid(12_000_000)); // VCO too low: 12MHz * 16 = 192MHz
+
+        // Test VCO frequency constraints - too high
+        invalid_config = valid_config;
+        invalid_config.fbdiv = 200;
+        invalid_config.refdiv = 1;
+        // This should be INVALID: 12MHz * 200 = 2400MHz exceeds max VCO of 1800MHz
+        assert!(!invalid_config.is_valid(12_000_000));
+
+        // Test a valid high VCO configuration
+        invalid_config.fbdiv = 150; // 12MHz * 150 = 1800MHz, exactly at the limit
+        assert!(invalid_config.is_valid(12_000_000));
+    }
+
+    #[cfg(feature = "rp2040")]
+    #[test]
+    fn test_manual_pll_helper() {
+        {
+            // Test the new manual_pll helper method
+            let config = ClockConfig::manual_pll(
+                12_000_000,
+                PllConfig {
+                    refdiv: 1,
+                    fbdiv: 100,
+                    post_div1: 3,
+                    post_div2: 2,
+                },
+                CoreVoltage::V1_15,
+            );
+
+            // Check voltage scale was set correctly
+            assert_eq!(config.core_voltage, CoreVoltage::V1_15);
+
+            // Check PLL config was set correctly
+            assert_eq!(config.xosc.as_ref().unwrap().sys_pll.as_ref().unwrap().refdiv, 1);
+            assert_eq!(config.xosc.as_ref().unwrap().sys_pll.as_ref().unwrap().fbdiv, 100);
+            assert_eq!(config.xosc.as_ref().unwrap().sys_pll.as_ref().unwrap().post_div1, 3);
+            assert_eq!(config.xosc.as_ref().unwrap().sys_pll.as_ref().unwrap().post_div2, 2);
+
+            // Check we get the expected frequency
+            assert_eq!(
+                config
+                    .xosc
+                    .as_ref()
+                    .unwrap()
+                    .sys_pll
+                    .as_ref()
+                    .unwrap()
+                    .output_frequency(12_000_000),
+                200_000_000
+            );
+        }
+    }
+
+    #[cfg(feature = "rp2040")]
+    #[test]
+    fn test_auto_voltage_scaling() {
+        {
+            // Test automatic voltage scaling based on frequency
+            // Under 133 MHz should use default voltage (V1_10)
+            let config = ClockConfig::system_freq(125_000_000);
+            assert_eq!(config.core_voltage, CoreVoltage::V1_10);
+
+            // 133-200 MHz should use V1_15
+            let config = ClockConfig::system_freq(150_000_000);
+            assert_eq!(config.core_voltage, CoreVoltage::V1_15);
+            let config = ClockConfig::system_freq(200_000_000);
+            assert_eq!(config.core_voltage, CoreVoltage::V1_15);
+
+            // Above 200 MHz should use V1_25
+            let config = ClockConfig::system_freq(250_000_000);
+            assert_eq!(config.core_voltage, CoreVoltage::V1_15);
+
+            // Below 125 MHz should use V1_10
+            let config = ClockConfig::system_freq(100_000_000);
+            assert_eq!(config.core_voltage, CoreVoltage::V1_10);
+        }
+    }
+}
diff --git a/embassy-rp/src/pio_programs/clock_divider.rs b/embassy-rp/src/pio_programs/clock_divider.rs
new file mode 100644
index 000000000..02e353f53
--- /dev/null
+++ b/embassy-rp/src/pio_programs/clock_divider.rs
@@ -0,0 +1,25 @@
+//! Helper functions for calculating PIO clock dividers
+
+use fixed::traits::ToFixed;
+use fixed::types::extra::U8;
+
+use crate::clocks::clk_sys_freq;
+
+/// Calculate a PIO clock divider value based on the desired target frequency.
+///
+/// # Arguments
+///
+/// * `target_hz` - The desired PIO clock frequency in Hz
+///
+/// # Returns
+///
+/// A fixed-point divider value suitable for use in a PIO state machine configuration
+#[inline]
+pub fn calculate_pio_clock_divider(target_hz: u32) -> fixed::FixedU32<U8> {
+    // Requires a non-zero frequency
+    assert!(target_hz > 0, "PIO clock frequency cannot be zero");
+
+    // Calculate the divider
+    let divider = (clk_sys_freq() + target_hz / 2) / target_hz;
+    divider.to_fixed()
+}
diff --git a/embassy-rp/src/pio_programs/hd44780.rs b/embassy-rp/src/pio_programs/hd44780.rs
index 5846a8027..546c85a89 100644
--- a/embassy-rp/src/pio_programs/hd44780.rs
+++ b/embassy-rp/src/pio_programs/hd44780.rs
@@ -5,6 +5,7 @@ use crate::pio::{
     Common, Config, Direction, FifoJoin, Instance, Irq, LoadedProgram, PioPin, ShiftConfig, ShiftDirection,
     StateMachine,
 };
+use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 use crate::Peri;
 
 /// This struct represents a HD44780 program that takes command words (<wait:24> <command:4> <0:4>)
@@ -134,7 +135,10 @@ impl<'l, P: Instance, const S: usize> PioHD44780<'l, P, S> {
 
         let mut cfg = Config::default();
         cfg.use_program(&word_prg.prg, &[&e]);
-        cfg.clock_divider = 125u8.into();
+
+        // Target 1 MHz PIO clock (each cycle is 1µs)
+        cfg.clock_divider = calculate_pio_clock_divider(1_000_000);
+
         cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
         cfg.shift_out = ShiftConfig {
             auto_fill: true,
@@ -160,7 +164,10 @@ impl<'l, P: Instance, const S: usize> PioHD44780<'l, P, S> {
 
         let mut cfg = Config::default();
         cfg.use_program(&seq_prg.prg, &[&e]);
-        cfg.clock_divider = 8u8.into(); // ~64ns/insn
+
+        // Target ~15.6 MHz PIO clock (~64ns/insn)
+        cfg.clock_divider = calculate_pio_clock_divider(15_600_000);
+
         cfg.set_jmp_pin(&db7);
         cfg.set_set_pins(&[&rs, &rw]);
         cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
diff --git a/embassy-rp/src/pio_programs/mod.rs b/embassy-rp/src/pio_programs/mod.rs
index 74537825b..8eac328b3 100644
--- a/embassy-rp/src/pio_programs/mod.rs
+++ b/embassy-rp/src/pio_programs/mod.rs
@@ -1,5 +1,6 @@
 //! Pre-built pio programs for common interfaces
 
+pub mod clock_divider;
 pub mod hd44780;
 pub mod i2s;
 pub mod onewire;
diff --git a/embassy-rp/src/pio_programs/rotary_encoder.rs b/embassy-rp/src/pio_programs/rotary_encoder.rs
index e520da8a3..70b3795e9 100644
--- a/embassy-rp/src/pio_programs/rotary_encoder.rs
+++ b/embassy-rp/src/pio_programs/rotary_encoder.rs
@@ -1,11 +1,10 @@
 //! PIO backed quadrature encoder
 
-use fixed::traits::ToFixed;
-
 use crate::gpio::Pull;
 use crate::pio::{
     Common, Config, Direction as PioDirection, FifoJoin, Instance, LoadedProgram, PioPin, ShiftDirection, StateMachine,
 };
+use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 use crate::Peri;
 
 /// This struct represents an Encoder program loaded into pio instruction memory.
@@ -48,7 +47,10 @@ impl<'d, T: Instance, const SM: usize> PioEncoder<'d, T, SM> {
         cfg.set_in_pins(&[&pin_a, &pin_b]);
         cfg.fifo_join = FifoJoin::RxOnly;
         cfg.shift_in.direction = ShiftDirection::Left;
-        cfg.clock_divider = 10_000.to_fixed();
+
+        // Target 12.5 KHz PIO clock
+        cfg.clock_divider = calculate_pio_clock_divider(12_500);
+
         cfg.use_program(&program.prg, &[]);
         sm.set_config(&cfg);
         sm.set_enable(true);
diff --git a/embassy-rp/src/pio_programs/stepper.rs b/embassy-rp/src/pio_programs/stepper.rs
index 495191659..0e9a8daf9 100644
--- a/embassy-rp/src/pio_programs/stepper.rs
+++ b/embassy-rp/src/pio_programs/stepper.rs
@@ -2,11 +2,8 @@
 
 use core::mem::{self, MaybeUninit};
 
-use fixed::traits::ToFixed;
-use fixed::types::extra::U8;
-use fixed::FixedU32;
-
 use crate::pio::{Common, Config, Direction, Instance, Irq, LoadedProgram, PioPin, StateMachine};
+use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
 use crate::Peri;
 
 /// This struct represents a Stepper driver program loaded into pio instruction memory.
@@ -64,7 +61,9 @@ impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
         sm.set_pin_dirs(Direction::Out, &[&pin0, &pin1, &pin2, &pin3]);
         let mut cfg = Config::default();
         cfg.set_out_pins(&[&pin0, &pin1, &pin2, &pin3]);
-        cfg.clock_divider = (125_000_000 / (100 * 136)).to_fixed();
+
+        cfg.clock_divider = calculate_pio_clock_divider(100 * 136);
+
         cfg.use_program(&program.prg, &[]);
         sm.set_config(&cfg);
         sm.set_enable(true);
@@ -73,9 +72,11 @@ impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
 
     /// Set pulse frequency
     pub fn set_frequency(&mut self, freq: u32) {
-        let clock_divider: FixedU32<U8> = (125_000_000 / (freq * 136)).to_fixed();
-        assert!(clock_divider <= 65536, "clkdiv must be <= 65536");
-        assert!(clock_divider >= 1, "clkdiv must be >= 1");
+        let clock_divider = calculate_pio_clock_divider(freq * 136);
+        let divider_f32 = clock_divider.to_num::<f32>();
+        assert!(divider_f32 <= 65536.0, "clkdiv must be <= 65536");
+        assert!(divider_f32 >= 1.0, "clkdiv must be >= 1");
+
         self.sm.set_clock_divider(clock_divider);
         self.sm.clkdiv_restart();
     }
diff --git a/embassy-rp/src/uart/buffered.rs b/embassy-rp/src/uart/buffered.rs
index da18138b5..02649ad81 100644
--- a/embassy-rp/src/uart/buffered.rs
+++ b/embassy-rp/src/uart/buffered.rs
@@ -34,28 +34,29 @@ impl State {
 }
 
 /// Buffered UART driver.
-pub struct BufferedUart<'d, T: Instance> {
-    pub(crate) rx: BufferedUartRx<'d, T>,
-    pub(crate) tx: BufferedUartTx<'d, T>,
+pub struct BufferedUart {
+    pub(super) rx: BufferedUartRx,
+    pub(super) tx: BufferedUartTx,
 }
 
 /// Buffered UART RX handle.
-pub struct BufferedUartRx<'d, T: Instance> {
-    pub(crate) phantom: PhantomData<&'d mut T>,
+pub struct BufferedUartRx {
+    pub(super) info: &'static Info,
+    pub(super) state: &'static State,
 }
 
 /// Buffered UART TX handle.
-pub struct BufferedUartTx<'d, T: Instance> {
-    pub(crate) phantom: PhantomData<&'d mut T>,
+pub struct BufferedUartTx {
+    pub(super) info: &'static Info,
+    pub(super) state: &'static State,
 }
 
-pub(crate) fn init_buffers<'d, T: Instance + 'd>(
-    _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+pub(super) fn init_buffers<'d>(
+    info: &Info,
+    state: &State,
     tx_buffer: Option<&'d mut [u8]>,
     rx_buffer: Option<&'d mut [u8]>,
 ) {
-    let state = T::buffered_state();
-
     if let Some(tx_buffer) = tx_buffer {
         let len = tx_buffer.len();
         unsafe { state.tx_buf.init(tx_buffer.as_mut_ptr(), len) };
@@ -76,61 +77,73 @@ pub(crate) fn init_buffers<'d, T: Instance + 'd>(
     // This means we can leave the interrupt enabled the whole time as long as
     // we clear it after it happens. The downside is that the we manually have
     // to pend the ISR when we want data transmission to start.
-    let regs = T::regs();
-    regs.uartimsc().write(|w| {
+    info.regs.uartimsc().write(|w| {
         w.set_rxim(true);
         w.set_rtim(true);
         w.set_txim(true);
     });
 
-    T::Interrupt::unpend();
-    unsafe { T::Interrupt::enable() };
+    info.interrupt.unpend();
+    unsafe { info.interrupt.enable() };
 }
 
-impl<'d, T: Instance> BufferedUart<'d, T> {
+impl BufferedUart {
     /// Create a buffered UART instance.
-    pub fn new(
+    pub fn new<'d, T: Instance>(
         _uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(Some(tx.into()), Some(rx.into()), None, None, config);
-        init_buffers::<T>(irq, Some(tx_buffer), Some(rx_buffer));
+        super::Uart::<'d, Async>::init(T::info(), Some(tx.into()), Some(rx.into()), None, None, config);
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), Some(rx_buffer));
 
         Self {
-            rx: BufferedUartRx { phantom: PhantomData },
-            tx: BufferedUartTx { phantom: PhantomData },
+            rx: BufferedUartRx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
+            tx: BufferedUartTx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
         }
     }
 
     /// Create a buffered UART instance with flow control.
-    pub fn new_with_rtscts(
+    pub fn new_with_rtscts<'d, T: Instance>(
         _uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
         rts: Peri<'d, impl RtsPin<T>>,
         cts: Peri<'d, impl CtsPin<T>>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(
+        super::Uart::<'d, Async>::init(
+            T::info(),
             Some(tx.into()),
             Some(rx.into()),
             Some(rts.into()),
             Some(cts.into()),
             config,
         );
-        init_buffers::<T>(irq, Some(tx_buffer), Some(rx_buffer));
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), Some(rx_buffer));
 
         Self {
-            rx: BufferedUartRx { phantom: PhantomData },
-            tx: BufferedUartTx { phantom: PhantomData },
+            rx: BufferedUartRx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
+            tx: BufferedUartTx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
         }
     }
 
@@ -160,68 +173,75 @@ impl<'d, T: Instance> BufferedUart<'d, T> {
     }
 
     /// sets baudrate on runtime
-    pub fn set_baudrate(&mut self, baudrate: u32) {
-        super::Uart::<'d, T, Async>::set_baudrate_inner(baudrate);
+    pub fn set_baudrate<'d>(&mut self, baudrate: u32) {
+        super::Uart::<'d, Async>::set_baudrate_inner(self.rx.info, baudrate);
     }
 
     /// Split into separate RX and TX handles.
-    pub fn split(self) -> (BufferedUartTx<'d, T>, BufferedUartRx<'d, T>) {
+    pub fn split(self) -> (BufferedUartTx, BufferedUartRx) {
         (self.tx, self.rx)
     }
 
     /// Split the Uart into a transmitter and receiver by mutable reference,
     /// which is particularly useful when having two tasks correlating to
     /// transmitting and receiving.
-    pub fn split_ref(&mut self) -> (&mut BufferedUartTx<'d, T>, &mut BufferedUartRx<'d, T>) {
+    pub fn split_ref(&mut self) -> (&mut BufferedUartTx, &mut BufferedUartRx) {
         (&mut self.tx, &mut self.rx)
     }
 }
 
-impl<'d, T: Instance> BufferedUartRx<'d, T> {
+impl BufferedUartRx {
     /// Create a new buffered UART RX.
-    pub fn new(
+    pub fn new<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx: Peri<'d, impl RxPin<T>>,
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(None, Some(rx.into()), None, None, config);
-        init_buffers::<T>(irq, None, Some(rx_buffer));
+        super::Uart::<'d, Async>::init(T::info(), None, Some(rx.into()), None, None, config);
+        init_buffers(T::info(), T::buffered_state(), None, Some(rx_buffer));
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
     /// Create a new buffered UART RX with flow control.
-    pub fn new_with_rts(
+    pub fn new_with_rts<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx: Peri<'d, impl RxPin<T>>,
         rts: Peri<'d, impl RtsPin<T>>,
         rx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(None, Some(rx.into()), Some(rts.into()), None, config);
-        init_buffers::<T>(irq, None, Some(rx_buffer));
+        super::Uart::<'d, Async>::init(T::info(), None, Some(rx.into()), Some(rts.into()), None, config);
+        init_buffers(T::info(), T::buffered_state(), None, Some(rx_buffer));
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
-    fn read<'a>(buf: &'a mut [u8]) -> impl Future<Output = Result<usize, Error>> + 'a
-    where
-        T: 'd,
-    {
+    fn read<'a>(
+        info: &'static Info,
+        state: &'static State,
+        buf: &'a mut [u8],
+    ) -> impl Future<Output = Result<usize, Error>> + 'a {
         poll_fn(move |cx| {
-            if let Poll::Ready(r) = Self::try_read(buf) {
+            if let Poll::Ready(r) = Self::try_read(info, state, buf) {
                 return Poll::Ready(r);
             }
-            T::buffered_state().rx_waker.register(cx.waker());
+            state.rx_waker.register(cx.waker());
             Poll::Pending
         })
     }
 
-    fn get_rx_error() -> Option<Error> {
-        let errs = T::buffered_state().rx_error.swap(0, Ordering::Relaxed);
+    fn get_rx_error(state: &State) -> Option<Error> {
+        let errs = state.rx_error.swap(0, Ordering::Relaxed);
         if errs & RXE_OVERRUN != 0 {
             Some(Error::Overrun)
         } else if errs & RXE_BREAK != 0 {
@@ -235,15 +255,11 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         }
     }
 
-    fn try_read(buf: &mut [u8]) -> Poll<Result<usize, Error>>
-    where
-        T: 'd,
-    {
+    fn try_read(info: &Info, state: &State, buf: &mut [u8]) -> Poll<Result<usize, Error>> {
         if buf.is_empty() {
             return Poll::Ready(Ok(0));
         }
 
-        let state = T::buffered_state();
         let mut rx_reader = unsafe { state.rx_buf.reader() };
         let n = rx_reader.pop(|data| {
             let n = data.len().min(buf.len());
@@ -252,7 +268,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         });
 
         let result = if n == 0 {
-            match Self::get_rx_error() {
+            match Self::get_rx_error(state) {
                 None => return Poll::Pending,
                 Some(e) => Err(e),
             }
@@ -262,8 +278,7 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
 
         // (Re-)Enable the interrupt to receive more data in case it was
         // disabled because the buffer was full or errors were detected.
-        let regs = T::regs();
-        regs.uartimsc().write_set(|w| {
+        info.regs.uartimsc().write_set(|w| {
             w.set_rxim(true);
             w.set_rtim(true);
         });
@@ -274,23 +289,19 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
     /// Read from UART RX buffer blocking execution until done.
     pub fn blocking_read(&mut self, buf: &mut [u8]) -> Result<usize, Error> {
         loop {
-            match Self::try_read(buf) {
+            match Self::try_read(self.info, self.state, buf) {
                 Poll::Ready(res) => return res,
                 Poll::Pending => continue,
             }
         }
     }
 
-    fn fill_buf<'a>() -> impl Future<Output = Result<&'a [u8], Error>>
-    where
-        T: 'd,
-    {
+    fn fill_buf<'a>(state: &'static State) -> impl Future<Output = Result<&'a [u8], Error>> {
         poll_fn(move |cx| {
-            let state = T::buffered_state();
             let mut rx_reader = unsafe { state.rx_buf.reader() };
             let (p, n) = rx_reader.pop_buf();
             let result = if n == 0 {
-                match Self::get_rx_error() {
+                match Self::get_rx_error(state) {
                     None => {
                         state.rx_waker.register(cx.waker());
                         return Poll::Pending;
@@ -306,64 +317,70 @@ impl<'d, T: Instance> BufferedUartRx<'d, T> {
         })
     }
 
-    fn consume(amt: usize) {
-        let state = T::buffered_state();
+    fn consume(info: &Info, state: &State, amt: usize) {
         let mut rx_reader = unsafe { state.rx_buf.reader() };
         rx_reader.pop_done(amt);
 
         // (Re-)Enable the interrupt to receive more data in case it was
         // disabled because the buffer was full or errors were detected.
-        let regs = T::regs();
-        regs.uartimsc().write_set(|w| {
+        info.regs.uartimsc().write_set(|w| {
             w.set_rxim(true);
             w.set_rtim(true);
         });
     }
 
     /// we are ready to read if there is data in the buffer
-    fn read_ready() -> Result<bool, Error> {
-        let state = T::buffered_state();
+    fn read_ready(state: &State) -> Result<bool, Error> {
         Ok(!state.rx_buf.is_empty())
     }
 }
 
-impl<'d, T: Instance> BufferedUartTx<'d, T> {
+impl BufferedUartTx {
     /// Create a new buffered UART TX.
-    pub fn new(
+    pub fn new<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: Peri<'d, impl TxPin<T>>,
         tx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(Some(tx.into()), None, None, None, config);
-        init_buffers::<T>(irq, Some(tx_buffer), None);
+        super::Uart::<'d, Async>::init(T::info(), Some(tx.into()), None, None, None, config);
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), None);
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
     /// Create a new buffered UART TX with flow control.
-    pub fn new_with_cts(
+    pub fn new_with_cts<'d, T: Instance>(
         _uart: Peri<'d, T>,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx: Peri<'d, impl TxPin<T>>,
         cts: Peri<'d, impl CtsPin<T>>,
         tx_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
-        super::Uart::<'d, T, Async>::init(Some(tx.into()), None, None, Some(cts.into()), config);
-        init_buffers::<T>(irq, Some(tx_buffer), None);
+        super::Uart::<'d, Async>::init(T::info(), Some(tx.into()), None, None, Some(cts.into()), config);
+        init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), None);
 
-        Self { phantom: PhantomData }
+        Self {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 
-    fn write(buf: &[u8]) -> impl Future<Output = Result<usize, Error>> + '_ {
+    fn write<'d>(
+        info: &'static Info,
+        state: &'static State,
+        buf: &'d [u8],
+    ) -> impl Future<Output = Result<usize, Error>> + 'd {
         poll_fn(move |cx| {
             if buf.is_empty() {
                 return Poll::Ready(Ok(0));
             }
 
-            let state = T::buffered_state();
             let mut tx_writer = unsafe { state.tx_buf.writer() };
             let n = tx_writer.push(|data| {
                 let n = data.len().min(buf.len());
@@ -379,14 +396,13 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
             // FIFO and the number of bytes drops below a threshold. When the
             // FIFO was empty we have to manually pend the interrupt to shovel
             // TX data from the buffer into the FIFO.
-            T::Interrupt::pend();
+            info.interrupt.pend();
             Poll::Ready(Ok(n))
         })
     }
 
-    fn flush() -> impl Future<Output = Result<(), Error>> {
+    fn flush(state: &'static State) -> impl Future<Output = Result<(), Error>> {
         poll_fn(move |cx| {
-            let state = T::buffered_state();
             if !state.tx_buf.is_empty() {
                 state.tx_waker.register(cx.waker());
                 return Poll::Pending;
@@ -403,8 +419,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         }
 
         loop {
-            let state = T::buffered_state();
-            let mut tx_writer = unsafe { state.tx_buf.writer() };
+            let mut tx_writer = unsafe { self.state.tx_buf.writer() };
             let n = tx_writer.push(|data| {
                 let n = data.len().min(buf.len());
                 data[..n].copy_from_slice(&buf[..n]);
@@ -416,7 +431,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
                 // FIFO and the number of bytes drops below a threshold. When the
                 // FIFO was empty we have to manually pend the interrupt to shovel
                 // TX data from the buffer into the FIFO.
-                T::Interrupt::pend();
+                self.info.interrupt.pend();
                 return Ok(n);
             }
         }
@@ -425,8 +440,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
         loop {
-            let state = T::buffered_state();
-            if state.tx_buf.is_empty() {
+            if self.state.tx_buf.is_empty() {
                 return Ok(());
             }
         }
@@ -434,7 +448,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
 
     /// Check if UART is busy.
     pub fn busy(&self) -> bool {
-        T::regs().uartfr().read().busy()
+        self.info.regs.uartfr().read().busy()
     }
 
     /// Assert a break condition after waiting for the transmit buffers to empty,
@@ -445,7 +459,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     /// This method may block for a long amount of time since it has to wait
     /// for the transmit fifo to empty, which may take a while on slow links.
     pub async fn send_break(&mut self, bits: u32) {
-        let regs = T::regs();
+        let regs = self.info.regs;
         let bits = bits.max({
             let lcr = regs.uartlcr_h().read();
             let width = lcr.wlen() as u32 + 5;
@@ -458,7 +472,7 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
         let div_clk = clk_peri_freq() as u64 * 64;
         let wait_usecs = (1_000_000 * bits as u64 * divx64 * 16 + div_clk - 1) / div_clk;
 
-        Self::flush().await.unwrap();
+        Self::flush(self.state).await.unwrap();
         while self.busy() {}
         regs.uartlcr_h().write_set(|w| w.set_brk(true));
         Timer::after_micros(wait_usecs).await;
@@ -466,28 +480,26 @@ impl<'d, T: Instance> BufferedUartTx<'d, T> {
     }
 }
 
-impl<'d, T: Instance> Drop for BufferedUartRx<'d, T> {
+impl Drop for BufferedUartRx {
     fn drop(&mut self) {
-        let state = T::buffered_state();
-        unsafe { state.rx_buf.deinit() }
+        unsafe { self.state.rx_buf.deinit() }
 
         // TX is inactive if the buffer is not available.
         // We can now unregister the interrupt handler
-        if !state.tx_buf.is_available() {
-            T::Interrupt::disable();
+        if !self.state.tx_buf.is_available() {
+            self.info.interrupt.disable();
         }
     }
 }
 
-impl<'d, T: Instance> Drop for BufferedUartTx<'d, T> {
+impl Drop for BufferedUartTx {
     fn drop(&mut self) {
-        let state = T::buffered_state();
-        unsafe { state.tx_buf.deinit() }
+        unsafe { self.state.tx_buf.deinit() }
 
         // RX is inactive if the buffer is not available.
         // We can now unregister the interrupt handler
-        if !state.rx_buf.is_available() {
-            T::Interrupt::disable();
+        if !self.state.rx_buf.is_available() {
+            self.info.interrupt.disable();
         }
     }
 }
@@ -499,7 +511,7 @@ pub struct BufferedInterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for BufferedInterruptHandler<T> {
     unsafe fn on_interrupt() {
-        let r = T::regs();
+        let r = T::info().regs;
         if r.uartdmacr().read().rxdmae() {
             return;
         }
@@ -603,95 +615,95 @@ impl embedded_io::Error for Error {
     }
 }
 
-impl<'d, T: Instance> embedded_io_async::ErrorType for BufferedUart<'d, T> {
+impl embedded_io_async::ErrorType for BufferedUart {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io_async::ErrorType for BufferedUartRx<'d, T> {
+impl embedded_io_async::ErrorType for BufferedUartRx {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io_async::ErrorType for BufferedUartTx<'d, T> {
+impl embedded_io_async::ErrorType for BufferedUartTx {
     type Error = Error;
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Read for BufferedUart<'d, T> {
+impl embedded_io_async::Read for BufferedUart {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        BufferedUartRx::<'d, T>::read(buf).await
+        BufferedUartRx::read(self.rx.info, self.rx.state, buf).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Read for BufferedUartRx<'d, T> {
+impl embedded_io_async::Read for BufferedUartRx {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        Self::read(buf).await
+        Self::read(self.info, self.state, buf).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::ReadReady for BufferedUart<'d, T> {
+impl embedded_io_async::ReadReady for BufferedUart {
     fn read_ready(&mut self) -> Result<bool, Self::Error> {
-        BufferedUartRx::<'d, T>::read_ready()
+        BufferedUartRx::read_ready(self.rx.state)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::ReadReady for BufferedUartRx<'d, T> {
+impl embedded_io_async::ReadReady for BufferedUartRx {
     fn read_ready(&mut self) -> Result<bool, Self::Error> {
-        Self::read_ready()
+        Self::read_ready(self.state)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::BufRead for BufferedUart<'d, T> {
+impl embedded_io_async::BufRead for BufferedUart {
     async fn fill_buf(&mut self) -> Result<&[u8], Self::Error> {
-        BufferedUartRx::<'d, T>::fill_buf().await
+        BufferedUartRx::fill_buf(self.rx.state).await
     }
 
     fn consume(&mut self, amt: usize) {
-        BufferedUartRx::<'d, T>::consume(amt)
+        BufferedUartRx::consume(self.rx.info, self.rx.state, amt)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::BufRead for BufferedUartRx<'d, T> {
+impl embedded_io_async::BufRead for BufferedUartRx {
     async fn fill_buf(&mut self) -> Result<&[u8], Self::Error> {
-        Self::fill_buf().await
+        Self::fill_buf(self.state).await
     }
 
     fn consume(&mut self, amt: usize) {
-        Self::consume(amt)
+        Self::consume(self.info, self.state, amt)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Write for BufferedUart<'d, T> {
+impl embedded_io_async::Write for BufferedUart {
     async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        BufferedUartTx::<'d, T>::write(buf).await
+        BufferedUartTx::write(self.tx.info, self.tx.state, buf).await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {
-        BufferedUartTx::<'d, T>::flush().await
+        BufferedUartTx::flush(self.tx.state).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io_async::Write for BufferedUartTx<'d, T> {
+impl embedded_io_async::Write for BufferedUartTx {
     async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        Self::write(buf).await
+        Self::write(self.info, self.state, buf).await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {
-        Self::flush().await
+        Self::flush(self.state).await
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Read for BufferedUart<'d, T> {
+impl embedded_io::Read for BufferedUart {
     fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
         self.rx.blocking_read(buf)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Read for BufferedUartRx<'d, T> {
+impl embedded_io::Read for BufferedUartRx {
     fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
         self.blocking_read(buf)
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUart<'d, T> {
+impl embedded_io::Write for BufferedUart {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.tx.blocking_write(buf)
     }
@@ -701,7 +713,7 @@ impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUart<'d, T> {
     }
 }
 
-impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUartTx<'d, T> {
+impl embedded_io::Write for BufferedUartTx {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.blocking_write(buf)
     }
@@ -711,11 +723,11 @@ impl<'d, T: Instance + 'd> embedded_io::Write for BufferedUartTx<'d, T> {
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUartRx<'d, T> {
+impl embedded_hal_02::serial::Read<u8> for BufferedUartRx {
     type Error = Error;
 
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().rxfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -736,7 +748,7 @@ impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUartRx<'d, T
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedUartTx<'d, T> {
+impl embedded_hal_02::blocking::serial::Write<u8> for BufferedUartTx {
     type Error = Error;
 
     fn bwrite_all(&mut self, mut buffer: &[u8]) -> Result<(), Self::Error> {
@@ -755,7 +767,7 @@ impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedU
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUart<'d, T> {
+impl embedded_hal_02::serial::Read<u8> for BufferedUart {
     type Error = Error;
 
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
@@ -763,7 +775,7 @@ impl<'d, T: Instance> embedded_hal_02::serial::Read<u8> for BufferedUart<'d, T>
     }
 }
 
-impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedUart<'d, T> {
+impl embedded_hal_02::blocking::serial::Write<u8> for BufferedUart {
     type Error = Error;
 
     fn bwrite_all(&mut self, mut buffer: &[u8]) -> Result<(), Self::Error> {
@@ -782,25 +794,25 @@ impl<'d, T: Instance> embedded_hal_02::blocking::serial::Write<u8> for BufferedU
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::ErrorType for BufferedUartRx<'d, T> {
+impl embedded_hal_nb::serial::ErrorType for BufferedUartRx {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::ErrorType for BufferedUartTx<'d, T> {
+impl embedded_hal_nb::serial::ErrorType for BufferedUartTx {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::ErrorType for BufferedUart<'d, T> {
+impl embedded_hal_nb::serial::ErrorType for BufferedUart {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Read for BufferedUartRx<'d, T> {
+impl embedded_hal_nb::serial::Read for BufferedUartRx {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
         embedded_hal_02::serial::Read::read(self)
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUartTx<'d, T> {
+impl embedded_hal_nb::serial::Write for BufferedUartTx {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map(drop).map_err(nb::Error::Other)
     }
@@ -810,13 +822,13 @@ impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUartTx<'d, T> {
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Read for BufferedUart<'d, T> {
+impl embedded_hal_nb::serial::Read for BufferedUart {
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
         embedded_hal_02::serial::Read::read(&mut self.rx)
     }
 }
 
-impl<'d, T: Instance> embedded_hal_nb::serial::Write for BufferedUart<'d, T> {
+impl embedded_hal_nb::serial::Write for BufferedUart {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map(drop).map_err(nb::Error::Other)
     }
diff --git a/embassy-rp/src/uart/mod.rs b/embassy-rp/src/uart/mod.rs
index 7ce074a3f..c3a15fda5 100644
--- a/embassy-rp/src/uart/mod.rs
+++ b/embassy-rp/src/uart/mod.rs
@@ -13,7 +13,8 @@ use pac::uart::regs::Uartris;
 use crate::clocks::clk_peri_freq;
 use crate::dma::{AnyChannel, Channel};
 use crate::gpio::{AnyPin, SealedPin};
-use crate::interrupt::typelevel::{Binding, Interrupt};
+use crate::interrupt::typelevel::{Binding, Interrupt as _};
+use crate::interrupt::{Interrupt, InterruptExt};
 use crate::pac::io::vals::{Inover, Outover};
 use crate::{interrupt, pac, peripherals, RegExt};
 
@@ -135,37 +136,41 @@ pub struct DmaState {
 }
 
 /// UART driver.
-pub struct Uart<'d, T: Instance, M: Mode> {
-    tx: UartTx<'d, T, M>,
-    rx: UartRx<'d, T, M>,
+pub struct Uart<'d, M: Mode> {
+    tx: UartTx<'d, M>,
+    rx: UartRx<'d, M>,
 }
 
 /// UART TX driver.
-pub struct UartTx<'d, T: Instance, M: Mode> {
+pub struct UartTx<'d, M: Mode> {
+    info: &'static Info,
     tx_dma: Option<Peri<'d, AnyChannel>>,
-    phantom: PhantomData<(&'d mut T, M)>,
+    phantom: PhantomData<M>,
 }
 
 /// UART RX driver.
-pub struct UartRx<'d, T: Instance, M: Mode> {
+pub struct UartRx<'d, M: Mode> {
+    info: &'static Info,
+    dma_state: &'static DmaState,
     rx_dma: Option<Peri<'d, AnyChannel>>,
-    phantom: PhantomData<(&'d mut T, M)>,
+    phantom: PhantomData<M>,
 }
 
-impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
+impl<'d, M: Mode> UartTx<'d, M> {
     /// Create a new DMA-enabled UART which can only send data
-    pub fn new(
+    pub fn new<T: Instance>(
         _uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         tx_dma: Peri<'d, impl Channel>,
         config: Config,
     ) -> Self {
-        Uart::<T, M>::init(Some(tx.into()), None, None, None, config);
-        Self::new_inner(Some(tx_dma.into()))
+        Uart::<M>::init(T::info(), Some(tx.into()), None, None, None, config);
+        Self::new_inner(T::info(), Some(tx_dma.into()))
     }
 
-    fn new_inner(tx_dma: Option<Peri<'d, AnyChannel>>) -> Self {
+    fn new_inner(info: &'static Info, tx_dma: Option<Peri<'d, AnyChannel>>) -> Self {
         Self {
+            info,
             tx_dma,
             phantom: PhantomData,
         }
@@ -173,7 +178,7 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
 
     /// Transmit the provided buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
-        let r = T::regs();
+        let r = self.info.regs;
         for &b in buffer {
             while r.uartfr().read().txff() {}
             r.uartdr().write(|w| w.set_data(b));
@@ -183,14 +188,13 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
 
     /// Flush UART TX blocking execution until done.
     pub fn blocking_flush(&mut self) -> Result<(), Error> {
-        let r = T::regs();
-        while !r.uartfr().read().txfe() {}
+        while !self.info.regs.uartfr().read().txfe() {}
         Ok(())
     }
 
     /// Check if UART is busy transmitting.
     pub fn busy(&self) -> bool {
-        T::regs().uartfr().read().busy()
+        self.info.regs.uartfr().read().busy()
     }
 
     /// Assert a break condition after waiting for the transmit buffers to empty,
@@ -201,7 +205,7 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
     /// This method may block for a long amount of time since it has to wait
     /// for the transmit fifo to empty, which may take a while on slow links.
     pub async fn send_break(&mut self, bits: u32) {
-        let regs = T::regs();
+        let regs = self.info.regs;
         let bits = bits.max({
             let lcr = regs.uartlcr_h().read();
             let width = lcr.wlen() as u32 + 5;
@@ -222,65 +226,80 @@ impl<'d, T: Instance, M: Mode> UartTx<'d, T, M> {
     }
 }
 
-impl<'d, T: Instance> UartTx<'d, T, Blocking> {
+impl<'d> UartTx<'d, Blocking> {
     /// Create a new UART TX instance for blocking mode operations.
-    pub fn new_blocking(_uart: Peri<'d, T>, tx: Peri<'d, impl TxPin<T>>, config: Config) -> Self {
-        Uart::<T, Blocking>::init(Some(tx.into()), None, None, None, config);
-        Self::new_inner(None)
+    pub fn new_blocking<T: Instance>(_uart: Peri<'d, T>, tx: Peri<'d, impl TxPin<T>>, config: Config) -> Self {
+        Uart::<Blocking>::init(T::info(), Some(tx.into()), None, None, None, config);
+        Self::new_inner(T::info(), None)
     }
 
     /// Convert this uart TX instance into a buffered uart using the provided
     /// irq and transmit buffer.
-    pub fn into_buffered(
+    pub fn into_buffered<T: Instance>(
         self,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
-    ) -> BufferedUartTx<'d, T> {
-        buffered::init_buffers::<T>(irq, Some(tx_buffer), None);
+    ) -> BufferedUartTx {
+        buffered::init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), None);
 
-        BufferedUartTx { phantom: PhantomData }
+        BufferedUartTx {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 }
 
-impl<'d, T: Instance> UartTx<'d, T, Async> {
+impl<'d> UartTx<'d, Async> {
     /// Write to UART TX from the provided buffer using DMA.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         let ch = self.tx_dma.as_mut().unwrap().reborrow();
         let transfer = unsafe {
-            T::regs().uartdmacr().write_set(|reg| {
+            self.info.regs.uartdmacr().write_set(|reg| {
                 reg.set_txdmae(true);
             });
             // If we don't assign future to a variable, the data register pointer
             // is held across an await and makes the future non-Send.
-            crate::dma::write(ch, buffer, T::regs().uartdr().as_ptr() as *mut _, T::TX_DREQ.into())
+            crate::dma::write(
+                ch,
+                buffer,
+                self.info.regs.uartdr().as_ptr() as *mut _,
+                self.info.tx_dreq.into(),
+            )
         };
         transfer.await;
         Ok(())
     }
 }
 
-impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
+impl<'d, M: Mode> UartRx<'d, M> {
     /// Create a new DMA-enabled UART which can only receive data
-    pub fn new(
+    pub fn new<T: Instance>(
         _uart: Peri<'d, T>,
         rx: Peri<'d, impl RxPin<T>>,
         _irq: impl Binding<T::Interrupt, InterruptHandler<T>>,
         rx_dma: Peri<'d, impl Channel>,
         config: Config,
     ) -> Self {
-        Uart::<T, M>::init(None, Some(rx.into()), None, None, config);
-        Self::new_inner(true, Some(rx_dma.into()))
+        Uart::<M>::init(T::info(), None, Some(rx.into()), None, None, config);
+        Self::new_inner(T::info(), T::dma_state(), true, Some(rx_dma.into()))
     }
 
-    fn new_inner(has_irq: bool, rx_dma: Option<Peri<'d, AnyChannel>>) -> Self {
+    fn new_inner(
+        info: &'static Info,
+        dma_state: &'static DmaState,
+        has_irq: bool,
+        rx_dma: Option<Peri<'d, AnyChannel>>,
+    ) -> Self {
         debug_assert_eq!(has_irq, rx_dma.is_some());
         if has_irq {
             // disable all error interrupts initially
-            T::regs().uartimsc().write(|w| w.0 = 0);
-            T::Interrupt::unpend();
-            unsafe { T::Interrupt::enable() };
+            info.regs.uartimsc().write(|w| w.0 = 0);
+            info.interrupt.unpend();
+            unsafe { info.interrupt.enable() };
         }
         Self {
+            info,
+            dma_state,
             rx_dma,
             phantom: PhantomData,
         }
@@ -299,7 +318,7 @@ impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
     /// encountered. in both cases, `len` is the number of *good* bytes copied into
     /// `buffer`.
     fn drain_fifo(&mut self, buffer: &mut [u8]) -> Result<usize, (usize, Error)> {
-        let r = T::regs();
+        let r = self.info.regs;
         for (i, b) in buffer.iter_mut().enumerate() {
             if r.uartfr().read().rxfe() {
                 return Ok(i);
@@ -323,12 +342,12 @@ impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
     }
 }
 
-impl<'d, T: Instance, M: Mode> Drop for UartRx<'d, T, M> {
+impl<'d, M: Mode> Drop for UartRx<'d, M> {
     fn drop(&mut self) {
         if self.rx_dma.is_some() {
-            T::Interrupt::disable();
+            self.info.interrupt.disable();
             // clear dma flags. irq handlers use these to disambiguate among themselves.
-            T::regs().uartdmacr().write_clear(|reg| {
+            self.info.regs.uartdmacr().write_clear(|reg| {
                 reg.set_rxdmae(true);
                 reg.set_txdmae(true);
                 reg.set_dmaonerr(true);
@@ -337,23 +356,26 @@ impl<'d, T: Instance, M: Mode> Drop for UartRx<'d, T, M> {
     }
 }
 
-impl<'d, T: Instance> UartRx<'d, T, Blocking> {
+impl<'d> UartRx<'d, Blocking> {
     /// Create a new UART RX instance for blocking mode operations.
-    pub fn new_blocking(_uart: Peri<'d, T>, rx: Peri<'d, impl RxPin<T>>, config: Config) -> Self {
-        Uart::<T, Blocking>::init(None, Some(rx.into()), None, None, config);
-        Self::new_inner(false, None)
+    pub fn new_blocking<T: Instance>(_uart: Peri<'d, T>, rx: Peri<'d, impl RxPin<T>>, config: Config) -> Self {
+        Uart::<Blocking>::init(T::info(), None, Some(rx.into()), None, None, config);
+        Self::new_inner(T::info(), T::dma_state(), false, None)
     }
 
     /// Convert this uart RX instance into a buffered uart using the provided
     /// irq and receive buffer.
-    pub fn into_buffered(
+    pub fn into_buffered<T: Instance>(
         self,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         rx_buffer: &'d mut [u8],
-    ) -> BufferedUartRx<'d, T> {
-        buffered::init_buffers::<T>(irq, None, Some(rx_buffer));
+    ) -> BufferedUartRx {
+        buffered::init_buffers(T::info(), T::buffered_state(), None, Some(rx_buffer));
 
-        BufferedUartRx { phantom: PhantomData }
+        BufferedUartRx {
+            info: T::info(),
+            state: T::buffered_state(),
+        }
     }
 }
 
@@ -364,7 +386,7 @@ pub struct InterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
     unsafe fn on_interrupt() {
-        let uart = T::regs();
+        let uart = T::info().regs;
         if !uart.uartdmacr().read().rxdmae() {
             return;
         }
@@ -380,13 +402,13 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
     }
 }
 
-impl<'d, T: Instance> UartRx<'d, T, Async> {
+impl<'d> UartRx<'d, Async> {
     /// Read from UART RX into the provided buffer.
     pub async fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
         // clear error flags before we drain the fifo. errors that have accumulated
         // in the flags will also be present in the fifo.
-        T::dma_state().rx_errs.store(0, Ordering::Relaxed);
-        T::regs().uarticr().write(|w| {
+        self.dma_state.rx_errs.store(0, Ordering::Relaxed);
+        self.info.regs.uarticr().write(|w| {
             w.set_oeic(true);
             w.set_beic(true);
             w.set_peic(true);
@@ -408,28 +430,33 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
         // interrupt flags will have been raised, and those will be picked up immediately
         // by the interrupt handler.
         let ch = self.rx_dma.as_mut().unwrap().reborrow();
-        T::regs().uartimsc().write_set(|w| {
+        self.info.regs.uartimsc().write_set(|w| {
             w.set_oeim(true);
             w.set_beim(true);
             w.set_peim(true);
             w.set_feim(true);
         });
-        T::regs().uartdmacr().write_set(|reg| {
+        self.info.regs.uartdmacr().write_set(|reg| {
             reg.set_rxdmae(true);
             reg.set_dmaonerr(true);
         });
         let transfer = unsafe {
             // If we don't assign future to a variable, the data register pointer
             // is held across an await and makes the future non-Send.
-            crate::dma::read(ch, T::regs().uartdr().as_ptr() as *const _, buffer, T::RX_DREQ.into())
+            crate::dma::read(
+                ch,
+                self.info.regs.uartdr().as_ptr() as *const _,
+                buffer,
+                self.info.rx_dreq.into(),
+            )
         };
 
         // wait for either the transfer to complete or an error to happen.
         let transfer_result = select(
             transfer,
             poll_fn(|cx| {
-                T::dma_state().rx_err_waker.register(cx.waker());
-                match T::dma_state().rx_errs.swap(0, Ordering::Relaxed) {
+                self.dma_state.rx_err_waker.register(cx.waker());
+                match self.dma_state.rx_errs.swap(0, Ordering::Relaxed) {
                     0 => Poll::Pending,
                     e => Poll::Ready(Uartris(e as u32)),
                 }
@@ -441,7 +468,7 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
             Either::First(()) => {
                 // We're here because the DMA finished, BUT if an error occurred on the LAST
                 // byte, then we may still need to grab the error state!
-                Uartris(T::dma_state().rx_errs.swap(0, Ordering::Relaxed) as u32)
+                Uartris(self.dma_state.rx_errs.swap(0, Ordering::Relaxed) as u32)
             }
             Either::Second(e) => {
                 // We're here because we errored, which means this is the error that
@@ -521,8 +548,8 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
     ) -> Result<usize, ReadToBreakError> {
         // clear error flags before we drain the fifo. errors that have accumulated
         // in the flags will also be present in the fifo.
-        T::dma_state().rx_errs.store(0, Ordering::Relaxed);
-        T::regs().uarticr().write(|w| {
+        self.dma_state.rx_errs.store(0, Ordering::Relaxed);
+        self.info.regs.uarticr().write(|w| {
             w.set_oeic(true);
             w.set_beic(true);
             w.set_peic(true);
@@ -555,13 +582,13 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
         // interrupt flags will have been raised, and those will be picked up immediately
         // by the interrupt handler.
         let ch = self.rx_dma.as_mut().unwrap();
-        T::regs().uartimsc().write_set(|w| {
+        self.info.regs.uartimsc().write_set(|w| {
             w.set_oeim(true);
             w.set_beim(true);
             w.set_peim(true);
             w.set_feim(true);
         });
-        T::regs().uartdmacr().write_set(|reg| {
+        self.info.regs.uartdmacr().write_set(|reg| {
             reg.set_rxdmae(true);
             reg.set_dmaonerr(true);
         });
@@ -572,9 +599,9 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
                 // is held across an await and makes the future non-Send.
                 crate::dma::read(
                     ch.reborrow(),
-                    T::regs().uartdr().as_ptr() as *const _,
+                    self.info.regs.uartdr().as_ptr() as *const _,
                     sbuffer,
-                    T::RX_DREQ.into(),
+                    self.info.rx_dreq.into(),
                 )
             };
 
@@ -582,8 +609,8 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
             let transfer_result = select(
                 transfer,
                 poll_fn(|cx| {
-                    T::dma_state().rx_err_waker.register(cx.waker());
-                    match T::dma_state().rx_errs.swap(0, Ordering::Relaxed) {
+                    self.dma_state.rx_err_waker.register(cx.waker());
+                    match self.dma_state.rx_errs.swap(0, Ordering::Relaxed) {
                         0 => Poll::Pending,
                         e => Poll::Ready(Uartris(e as u32)),
                     }
@@ -596,7 +623,7 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
                 Either::First(()) => {
                     // We're here because the DMA finished, BUT if an error occurred on the LAST
                     // byte, then we may still need to grab the error state!
-                    Uartris(T::dma_state().rx_errs.swap(0, Ordering::Relaxed) as u32)
+                    Uartris(self.dma_state.rx_errs.swap(0, Ordering::Relaxed) as u32)
                 }
                 Either::Second(e) => {
                     // We're here because we errored, which means this is the error that
@@ -635,7 +662,7 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
                     continue;
                 }
 
-                let regs = T::regs();
+                let regs = self.info.regs;
                 let all_full = next_addr == eval;
 
                 // NOTE: This is off label usage of RSR! See the issue below for
@@ -685,9 +712,9 @@ impl<'d, T: Instance> UartRx<'d, T, Async> {
     }
 }
 
-impl<'d, T: Instance> Uart<'d, T, Blocking> {
+impl<'d> Uart<'d, Blocking> {
     /// Create a new UART without hardware flow control
-    pub fn new_blocking(
+    pub fn new_blocking<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -697,7 +724,7 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
     }
 
     /// Create a new UART with hardware flow control (RTS/CTS)
-    pub fn new_with_rtscts_blocking(
+    pub fn new_with_rtscts_blocking<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -720,24 +747,30 @@ impl<'d, T: Instance> Uart<'d, T, Blocking> {
 
     /// Convert this uart instance into a buffered uart using the provided
     /// irq, transmit and receive buffers.
-    pub fn into_buffered(
+    pub fn into_buffered<T: Instance>(
         self,
-        irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
+        _irq: impl Binding<T::Interrupt, BufferedInterruptHandler<T>>,
         tx_buffer: &'d mut [u8],
         rx_buffer: &'d mut [u8],
-    ) -> BufferedUart<'d, T> {
-        buffered::init_buffers::<T>(irq, Some(tx_buffer), Some(rx_buffer));
+    ) -> BufferedUart {
+        buffered::init_buffers(T::info(), T::buffered_state(), Some(tx_buffer), Some(rx_buffer));
 
         BufferedUart {
-            rx: BufferedUartRx { phantom: PhantomData },
-            tx: BufferedUartTx { phantom: PhantomData },
+            rx: BufferedUartRx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
+            tx: BufferedUartTx {
+                info: T::info(),
+                state: T::buffered_state(),
+            },
         }
     }
 }
 
-impl<'d, T: Instance> Uart<'d, T, Async> {
+impl<'d> Uart<'d, Async> {
     /// Create a new DMA enabled UART without hardware flow control
-    pub fn new(
+    pub fn new<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -760,7 +793,7 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
     }
 
     /// Create a new DMA enabled UART with hardware flow control (RTS/CTS)
-    pub fn new_with_rtscts(
+    pub fn new_with_rtscts<T: Instance>(
         uart: Peri<'d, T>,
         tx: Peri<'d, impl TxPin<T>>,
         rx: Peri<'d, impl RxPin<T>>,
@@ -785,8 +818,8 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
     }
 }
 
-impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
-    fn new_inner(
+impl<'d, M: Mode> Uart<'d, M> {
+    fn new_inner<T: Instance>(
         _uart: Peri<'d, T>,
         mut tx: Peri<'d, AnyPin>,
         mut rx: Peri<'d, AnyPin>,
@@ -798,6 +831,7 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         config: Config,
     ) -> Self {
         Self::init(
+            T::info(),
             Some(tx.reborrow()),
             Some(rx.reborrow()),
             rts.as_mut().map(|x| x.reborrow()),
@@ -806,19 +840,20 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         );
 
         Self {
-            tx: UartTx::new_inner(tx_dma),
-            rx: UartRx::new_inner(has_irq, rx_dma),
+            tx: UartTx::new_inner(T::info(), tx_dma),
+            rx: UartRx::new_inner(T::info(), T::dma_state(), has_irq, rx_dma),
         }
     }
 
     fn init(
+        info: &Info,
         tx: Option<Peri<'_, AnyPin>>,
         rx: Option<Peri<'_, AnyPin>>,
         rts: Option<Peri<'_, AnyPin>>,
         cts: Option<Peri<'_, AnyPin>>,
         config: Config,
     ) {
-        let r = T::regs();
+        let r = info.regs;
         if let Some(pin) = &tx {
             let funcsel = {
                 let pin_number = ((pin.gpio().as_ptr() as u32) & 0x1FF) / 8;
@@ -896,7 +931,7 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
             });
         }
 
-        Self::set_baudrate_inner(config.baudrate);
+        Self::set_baudrate_inner(info, config.baudrate);
 
         let (pen, eps) = match config.parity {
             Parity::ParityNone => (false, false),
@@ -926,8 +961,8 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         });
     }
 
-    fn lcr_modify<R>(f: impl FnOnce(&mut crate::pac::uart::regs::UartlcrH) -> R) -> R {
-        let r = T::regs();
+    fn lcr_modify<R>(info: &Info, f: impl FnOnce(&mut crate::pac::uart::regs::UartlcrH) -> R) -> R {
+        let r = info.regs;
 
         // Notes from PL011 reference manual:
         //
@@ -978,11 +1013,11 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
 
     /// sets baudrate on runtime
     pub fn set_baudrate(&mut self, baudrate: u32) {
-        Self::set_baudrate_inner(baudrate);
+        Self::set_baudrate_inner(self.tx.info, baudrate);
     }
 
-    fn set_baudrate_inner(baudrate: u32) {
-        let r = T::regs();
+    fn set_baudrate_inner(info: &Info, baudrate: u32) {
+        let r = info.regs;
 
         let clk_base = crate::clocks::clk_peri_freq();
 
@@ -1002,11 +1037,11 @@ impl<'d, T: Instance + 'd, M: Mode> Uart<'d, T, M> {
         r.uartibrd().write_value(pac::uart::regs::Uartibrd(baud_ibrd));
         r.uartfbrd().write_value(pac::uart::regs::Uartfbrd(baud_fbrd));
 
-        Self::lcr_modify(|_| {});
+        Self::lcr_modify(info, |_| {});
     }
 }
 
-impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
+impl<'d, M: Mode> Uart<'d, M> {
     /// Transmit the provided buffer blocking execution until done.
     pub fn blocking_write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         self.tx.blocking_write(buffer)
@@ -1034,19 +1069,19 @@ impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
 
     /// Split the Uart into a transmitter and receiver, which is particularly
     /// useful when having two tasks correlating to transmitting and receiving.
-    pub fn split(self) -> (UartTx<'d, T, M>, UartRx<'d, T, M>) {
+    pub fn split(self) -> (UartTx<'d, M>, UartRx<'d, M>) {
         (self.tx, self.rx)
     }
 
     /// Split the Uart into a transmitter and receiver by mutable reference,
     /// which is particularly useful when having two tasks correlating to
     /// transmitting and receiving.
-    pub fn split_ref(&mut self) -> (&mut UartTx<'d, T, M>, &mut UartRx<'d, T, M>) {
+    pub fn split_ref(&mut self) -> (&mut UartTx<'d, M>, &mut UartRx<'d, M>) {
         (&mut self.tx, &mut self.rx)
     }
 }
 
-impl<'d, T: Instance> Uart<'d, T, Async> {
+impl<'d> Uart<'d, Async> {
     /// Write to UART TX from the provided buffer.
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error> {
         self.tx.write(buffer).await
@@ -1076,10 +1111,10 @@ impl<'d, T: Instance> Uart<'d, T, Async> {
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for UartRx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Read<u8> for UartRx<'d, M> {
     type Error = Error;
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().rxfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1100,11 +1135,11 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for UartRx<'d,
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d, M> {
     type Error = Error;
 
     fn write(&mut self, word: u8) -> Result<(), nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().txff() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1114,7 +1149,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d,
     }
 
     fn flush(&mut self) -> Result<(), nb::Error<Self::Error>> {
-        let r = T::regs();
+        let r = self.info.regs;
         if !r.uartfr().read().txfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1122,7 +1157,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for UartTx<'d,
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, M> {
     type Error = Error;
 
     fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
@@ -1134,7 +1169,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, M> {
     type Error = Error;
 
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
@@ -1142,7 +1177,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, T,
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::serial::Write<u8> for Uart<'d, M> {
     type Error = Error;
 
     fn write(&mut self, word: u8) -> Result<(), nb::Error<Self::Error>> {
@@ -1154,7 +1189,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Write<u8> for Uart<'d, T
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, M> {
     type Error = Error;
 
     fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
@@ -1177,21 +1212,21 @@ impl embedded_hal_nb::serial::Error for Error {
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for UartRx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::ErrorType for UartRx<'d, M> {
     type Error = Error;
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::ErrorType for UartTx<'d, M> {
     type Error = Error;
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::ErrorType for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::ErrorType for Uart<'d, M> {
     type Error = Error;
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, M> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
-        let r = T::regs();
+        let r = self.info.regs;
         if r.uartfr().read().rxfe() {
             return Err(nb::Error::WouldBlock);
         }
@@ -1212,7 +1247,7 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for UartRx<'d, T, M
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, M> {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map_err(nb::Error::Other)
     }
@@ -1222,11 +1257,11 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for UartTx<'d, T,
     }
 }
 
-impl<'d, T: Instance> embedded_io::ErrorType for UartTx<'d, T, Blocking> {
+impl<'d> embedded_io::ErrorType for UartTx<'d, Blocking> {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io::Write for UartTx<'d, T, Blocking> {
+impl<'d> embedded_io::Write for UartTx<'d, Blocking> {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.blocking_write(buf).map(|_| buf.len())
     }
@@ -1236,13 +1271,13 @@ impl<'d, T: Instance> embedded_io::Write for UartTx<'d, T, Blocking> {
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Read for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Read for Uart<'d, M> {
     fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
         embedded_hal_02::serial::Read::read(&mut self.rx)
     }
 }
 
-impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, T, M> {
+impl<'d, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, M> {
     fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
         self.blocking_write(&[char]).map_err(nb::Error::Other)
     }
@@ -1252,11 +1287,11 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, T, M>
     }
 }
 
-impl<'d, T: Instance> embedded_io::ErrorType for Uart<'d, T, Blocking> {
+impl<'d> embedded_io::ErrorType for Uart<'d, Blocking> {
     type Error = Error;
 }
 
-impl<'d, T: Instance> embedded_io::Write for Uart<'d, T, Blocking> {
+impl<'d> embedded_io::Write for Uart<'d, Blocking> {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
         self.blocking_write(buf).map(|_| buf.len())
     }
@@ -1266,13 +1301,17 @@ impl<'d, T: Instance> embedded_io::Write for Uart<'d, T, Blocking> {
     }
 }
 
+struct Info {
+    regs: pac::uart::Uart,
+    tx_dreq: pac::dma::vals::TreqSel,
+    rx_dreq: pac::dma::vals::TreqSel,
+    interrupt: Interrupt,
+}
+
 trait SealedMode {}
 
 trait SealedInstance {
-    const TX_DREQ: pac::dma::vals::TreqSel;
-    const RX_DREQ: pac::dma::vals::TreqSel;
-
-    fn regs() -> pac::uart::Uart;
+    fn info() -> &'static Info;
 
     fn buffered_state() -> &'static buffered::State;
 
@@ -1308,11 +1347,14 @@ pub trait Instance: SealedInstance + PeripheralType {
 macro_rules! impl_instance {
     ($inst:ident, $irq:ident, $tx_dreq:expr, $rx_dreq:expr) => {
         impl SealedInstance for peripherals::$inst {
-            const TX_DREQ: pac::dma::vals::TreqSel = $tx_dreq;
-            const RX_DREQ: pac::dma::vals::TreqSel = $rx_dreq;
-
-            fn regs() -> pac::uart::Uart {
-                pac::$inst
+            fn info() -> &'static Info {
+                static INFO: Info = Info {
+                    regs: pac::$inst,
+                    tx_dreq: $tx_dreq,
+                    rx_dreq: $rx_dreq,
+                    interrupt: crate::interrupt::typelevel::$irq::IRQ,
+                };
+                &INFO
             }
 
             fn buffered_state() -> &'static buffered::State {
diff --git a/embassy-stm32/src/timer/simple_pwm.rs b/embassy-stm32/src/timer/simple_pwm.rs
index 54ab7d0d5..8fd7e8df4 100644
--- a/embassy-stm32/src/timer/simple_pwm.rs
+++ b/embassy-stm32/src/timer/simple_pwm.rs
@@ -31,6 +31,8 @@ pub struct PwmPin<'d, T, C> {
 /// PWM pin config
 ///
 /// This configures the pwm pin settings
+#[derive(Debug, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct PwmPinConfig {
     /// PWM Pin output type
     pub output_type: OutputType,
diff --git a/examples/mimxrt6/src/bin/crc.rs b/examples/mimxrt6/src/bin/crc.rs
new file mode 100644
index 000000000..005a250e5
--- /dev/null
+++ b/examples/mimxrt6/src/bin/crc.rs
@@ -0,0 +1,175 @@
+#![no_std]
+#![no_main]
+
+extern crate embassy_imxrt_examples;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_imxrt::crc::{Config, Crc, Polynomial};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_imxrt::init(Default::default());
+    let data = b"123456789";
+
+    info!("Initializing CRC");
+
+    // CRC-CCITT
+    let mut crc = Crc::new(p.CRC.reborrow(), Default::default());
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x29b1);
+
+    // CRC16-ARC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xbb3d);
+
+    // CRC16-CMS
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xaee7);
+
+    // CRC16-DDS-110
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0x800d,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x9ecf);
+
+    // CRC16-MAXIM-DOW
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: true,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x44c2);
+
+    // CRC16-MODBUS
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0xffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x4b37);
+
+    // CRC32-BZIP2
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: true,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xfc89_1918);
+
+    // CRC32-CKSUM
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: true,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x765e_7680);
+
+    // CRC32-ISO-HDLC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: true,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xcbf4_3926);
+
+    // CRC32-JAMCRC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x340b_c6d9);
+
+    // CRC32-MPEG-2
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x0376_e6e7);
+
+    info!("end program");
+    cortex_m::asm::bkpt();
+}
diff --git a/examples/rp/src/bin/overclock.rs b/examples/rp/src/bin/overclock.rs
new file mode 100644
index 000000000..9c78e0c9d
--- /dev/null
+++ b/examples/rp/src/bin/overclock.rs
@@ -0,0 +1,64 @@
+//! # Overclocking the RP2040 to 200 MHz
+//!
+//! This example demonstrates how to configure the RP2040 to run at 200 MHz.
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::clocks::{clk_sys_freq, ClockConfig};
+use embassy_rp::config::Config;
+use embassy_rp::gpio::{Level, Output};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+const COUNT_TO: i64 = 10_000_000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    // Set up for clock frequency of 200 MHz, setting all necessary defaults.
+    let config = Config::new(ClockConfig::system_freq(200_000_000));
+
+    // Show the voltage scale for verification
+    info!("System core voltage: {}", Debug2Format(&config.clocks.core_voltage));
+
+    // Initialize the peripherals
+    let p = embassy_rp::init(config);
+
+    // Show CPU frequency for verification
+    let sys_freq = clk_sys_freq();
+    info!("System clock frequency: {} MHz", sys_freq / 1_000_000);
+
+    // LED to indicate the system is running
+    let mut led = Output::new(p.PIN_25, Level::Low);
+
+    loop {
+        // Reset the counter at the start of measurement period
+        let mut counter = 0;
+
+        // Turn LED on while counting
+        led.set_high();
+
+        let start = Instant::now();
+
+        // This is a busy loop that will take some time to complete
+        while counter < COUNT_TO {
+            counter += 1;
+        }
+
+        let elapsed = Instant::now() - start;
+
+        // Report the elapsed time
+        led.set_low();
+        info!(
+            "At {}Mhz: Elapsed time to count to {}: {}ms",
+            sys_freq / 1_000_000,
+            counter,
+            elapsed.as_millis()
+        );
+
+        // Wait 2 seconds before starting the next measurement
+        Timer::after(Duration::from_secs(2)).await;
+    }
+}
diff --git a/examples/rp/src/bin/overclock_manual.rs b/examples/rp/src/bin/overclock_manual.rs
new file mode 100644
index 000000000..35160b250
--- /dev/null
+++ b/examples/rp/src/bin/overclock_manual.rs
@@ -0,0 +1,79 @@
+//! # Overclocking the RP2040 to 200 MHz manually
+//!
+//! This example demonstrates how to manually configure the RP2040 to run at 200 MHz.
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::clocks;
+use embassy_rp::clocks::{ClockConfig, CoreVoltage, PllConfig};
+use embassy_rp::config::Config;
+use embassy_rp::gpio::{Level, Output};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+const COUNT_TO: i64 = 10_000_000;
+
+/// Configure the RP2040 for 200 MHz operation by manually specifying the PLL settings.
+fn configure_manual_overclock() -> Config {
+    // Set the PLL configuration manually, starting from default values
+    let mut config = Config::default();
+
+    // Set the system clock to 200 MHz
+    config.clocks = ClockConfig::manual_pll(
+        12_000_000, // Crystal frequency, 12 MHz is common. If using custom, set to your value.
+        PllConfig {
+            refdiv: 1,    // Reference divider
+            fbdiv: 100,   // Feedback divider
+            post_div1: 3, // Post divider 1
+            post_div2: 2, // Post divider 2
+        },
+        CoreVoltage::V1_15, // Core voltage, should be set to V1_15 for 200 MHz
+    );
+
+    config
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    // Initialize with our manual overclock configuration
+    let p = embassy_rp::init(configure_manual_overclock());
+
+    // Verify the actual system clock frequency
+    let sys_freq = clocks::clk_sys_freq();
+    info!("System clock frequency: {} MHz", sys_freq / 1_000_000);
+
+    // LED to indicate the system is running
+    let mut led = Output::new(p.PIN_25, Level::Low);
+
+    loop {
+        // Reset the counter at the start of measurement period
+        let mut counter = 0;
+
+        // Turn LED on while counting
+        led.set_high();
+
+        let start = Instant::now();
+
+        // This is a busy loop that will take some time to complete
+        while counter < COUNT_TO {
+            counter += 1;
+        }
+
+        let elapsed = Instant::now() - start;
+
+        // Report the elapsed time
+        led.set_low();
+        info!(
+            "At {}Mhz: Elapsed time to count to {}: {}ms",
+            sys_freq / 1_000_000,
+            counter,
+            elapsed.as_millis()
+        );
+
+        // Wait 2 seconds before starting the next measurement
+        Timer::after(Duration::from_secs(2)).await;
+    }
+}
diff --git a/examples/rp/src/bin/sharing.rs b/examples/rp/src/bin/sharing.rs
index 5416e20ce..497c4f845 100644
--- a/examples/rp/src/bin/sharing.rs
+++ b/examples/rp/src/bin/sharing.rs
@@ -31,7 +31,7 @@ use rand::RngCore;
 use static_cell::{ConstStaticCell, StaticCell};
 use {defmt_rtt as _, panic_probe as _};
 
-type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, UART0, uart::Async>>;
+type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, uart::Async>>;
 
 struct MyType {
     inner: u32,
diff --git a/examples/rp/src/bin/uart_buffered_split.rs b/examples/rp/src/bin/uart_buffered_split.rs
index da7e94139..3adbc18ab 100644
--- a/examples/rp/src/bin/uart_buffered_split.rs
+++ b/examples/rp/src/bin/uart_buffered_split.rs
@@ -48,7 +48,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: BufferedUartRx<'static, UART0>) {
+async fn reader(mut rx: BufferedUartRx) {
     info!("Reading...");
     loop {
         let mut buf = [0; 31];
diff --git a/examples/rp/src/bin/uart_unidir.rs b/examples/rp/src/bin/uart_unidir.rs
index a45f40756..c2c8dfad8 100644
--- a/examples/rp/src/bin/uart_unidir.rs
+++ b/examples/rp/src/bin/uart_unidir.rs
@@ -39,7 +39,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: UartRx<'static, UART1, Async>) {
+async fn reader(mut rx: UartRx<'static, Async>) {
     info!("Reading...");
     loop {
         // read a total of 4 transmissions (32 / 8) and then print the result
diff --git a/examples/rp235x/src/bin/sharing.rs b/examples/rp235x/src/bin/sharing.rs
index 5416e20ce..497c4f845 100644
--- a/examples/rp235x/src/bin/sharing.rs
+++ b/examples/rp235x/src/bin/sharing.rs
@@ -31,7 +31,7 @@ use rand::RngCore;
 use static_cell::{ConstStaticCell, StaticCell};
 use {defmt_rtt as _, panic_probe as _};
 
-type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, UART0, uart::Async>>;
+type UartAsyncMutex = mutex::Mutex<CriticalSectionRawMutex, UartTx<'static, uart::Async>>;
 
 struct MyType {
     inner: u32,
diff --git a/examples/rp235x/src/bin/uart_buffered_split.rs b/examples/rp235x/src/bin/uart_buffered_split.rs
index f707c4b5e..7cad09f9b 100644
--- a/examples/rp235x/src/bin/uart_buffered_split.rs
+++ b/examples/rp235x/src/bin/uart_buffered_split.rs
@@ -48,7 +48,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: BufferedUartRx<'static, UART0>) {
+async fn reader(mut rx: BufferedUartRx) {
     info!("Reading...");
     loop {
         let mut buf = [0; 31];
diff --git a/examples/rp235x/src/bin/uart_unidir.rs b/examples/rp235x/src/bin/uart_unidir.rs
index 4e98f9e1e..45c9c8407 100644
--- a/examples/rp235x/src/bin/uart_unidir.rs
+++ b/examples/rp235x/src/bin/uart_unidir.rs
@@ -39,7 +39,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn reader(mut rx: UartRx<'static, UART1, Async>) {
+async fn reader(mut rx: UartRx<'static, Async>) {
     info!("Reading...");
     loop {
         // read a total of 4 transmissions (32 / 8) and then print the result
diff --git a/tests/rp/src/bin/overclock.rs b/tests/rp/src/bin/overclock.rs
new file mode 100644
index 000000000..be8e85a3f
--- /dev/null
+++ b/tests/rp/src/bin/overclock.rs
@@ -0,0 +1,70 @@
+#![no_std]
+#![no_main]
+
+#[cfg(feature = "rp2040")]
+teleprobe_meta::target!(b"rpi-pico");
+#[cfg(feature = "rp235xb")]
+teleprobe_meta::target!(b"pimoroni-pico-plus-2");
+
+use defmt::info;
+#[cfg(feature = "rp2040")]
+use defmt::{assert, assert_eq};
+use embassy_executor::Spawner;
+use embassy_rp::clocks;
+#[cfg(feature = "rp2040")]
+use embassy_rp::clocks::ClockConfig;
+#[cfg(feature = "rp2040")]
+use embassy_rp::clocks::CoreVoltage;
+use embassy_rp::config::Config;
+use embassy_time::Instant;
+use {defmt_rtt as _, panic_probe as _};
+
+const COUNT_TO: i64 = 10_000_000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    #[cfg(feature = "rp2040")]
+    let mut config = Config::default();
+    #[cfg(not(feature = "rp2040"))]
+    let config = Config::default();
+
+    // Initialize with 200MHz clock configuration for RP2040, other chips will use default clock
+    #[cfg(feature = "rp2040")]
+    {
+        config.clocks = ClockConfig::system_freq(200_000_000);
+        let voltage = config.clocks.core_voltage;
+        assert!(matches!(voltage, CoreVoltage::V1_15), "Expected voltage scale V1_15");
+    }
+
+    let _p = embassy_rp::init(config);
+
+    // Test the system speed
+    let (time_elapsed, clk_sys_freq) = {
+        let mut counter = 0;
+        let start = Instant::now();
+        while counter < COUNT_TO {
+            counter += 1;
+        }
+        let elapsed = Instant::now() - start;
+
+        (elapsed.as_millis(), clocks::clk_sys_freq())
+    };
+
+    // Report the elapsed time, so that the compiler doesn't optimize it away for chips other than RP2040
+    info!(
+        "At {}Mhz: Elapsed time to count to {}: {}ms",
+        clk_sys_freq / 1_000_000,
+        COUNT_TO,
+        time_elapsed
+    );
+
+    #[cfg(feature = "rp2040")]
+    {
+        // we should be at 200MHz
+        assert_eq!(clk_sys_freq, 200_000_000, "System clock frequency is not 200MHz");
+        // At 200MHz, the time to count to 10_000_000 should be at 600ms, testing with 1% margin
+        assert!(time_elapsed <= 606, "Elapsed time is too long");
+    }
+
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/uart.rs b/tests/rp/src/bin/uart.rs
index 84744ab77..80230f3fe 100644
--- a/tests/rp/src/bin/uart.rs
+++ b/tests/rp/src/bin/uart.rs
@@ -8,17 +8,17 @@ teleprobe_meta::target!(b"pimoroni-pico-plus-2");
 use defmt::{assert_eq, *};
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::uart::{Blocking, Config, Error, Instance, Parity, Uart, UartRx};
+use embassy_rp::uart::{Blocking, Config, Error, Parity, Uart, UartRx};
 use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
-fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Blocking>) -> Result<[u8; N], Error> {
+fn read<const N: usize>(uart: &mut Uart<'_, Blocking>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.blocking_read(&mut buf)?;
     Ok(buf)
 }
 
-fn read1<const N: usize>(uart: &mut UartRx<'_, impl Instance, Blocking>) -> Result<[u8; N], Error> {
+fn read1<const N: usize>(uart: &mut UartRx<'_, Blocking>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.blocking_read(&mut buf)?;
     Ok(buf)
diff --git a/tests/rp/src/bin/uart_buffered.rs b/tests/rp/src/bin/uart_buffered.rs
index d5f655e9b..cb78fc142 100644
--- a/tests/rp/src/bin/uart_buffered.rs
+++ b/tests/rp/src/bin/uart_buffered.rs
@@ -10,7 +10,7 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
 use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config, Error, Instance, Parity};
+use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config, Error, Parity};
 use embassy_time::Timer;
 use embedded_io_async::{Read, ReadExactError, Write};
 use {defmt_rtt as _, panic_probe as _};
@@ -19,7 +19,7 @@ bind_interrupts!(struct Irqs {
     UART0_IRQ => BufferedInterruptHandler<UART0>;
 });
 
-async fn read<const N: usize>(uart: &mut BufferedUart<'_, impl Instance>) -> Result<[u8; N], Error> {
+async fn read<const N: usize>(uart: &mut BufferedUart) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     match uart.read_exact(&mut buf).await {
         Ok(()) => Ok(buf),
@@ -29,7 +29,7 @@ async fn read<const N: usize>(uart: &mut BufferedUart<'_, impl Instance>) -> Res
     }
 }
 
-async fn read1<const N: usize>(uart: &mut BufferedUartRx<'_, impl Instance>) -> Result<[u8; N], Error> {
+async fn read1<const N: usize>(uart: &mut BufferedUartRx) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     match uart.read_exact(&mut buf).await {
         Ok(()) => Ok(buf),
diff --git a/tests/rp/src/bin/uart_dma.rs b/tests/rp/src/bin/uart_dma.rs
index a09101223..a7af81f5f 100644
--- a/tests/rp/src/bin/uart_dma.rs
+++ b/tests/rp/src/bin/uart_dma.rs
@@ -10,7 +10,7 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
 use embassy_rp::peripherals::UART0;
-use embassy_rp::uart::{Async, Config, Error, Instance, InterruptHandler, Parity, Uart, UartRx};
+use embassy_rp::uart::{Async, Config, Error, InterruptHandler, Parity, Uart, UartRx};
 use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -18,13 +18,13 @@ bind_interrupts!(struct Irqs {
     UART0_IRQ => InterruptHandler<UART0>;
 });
 
-async fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
+async fn read<const N: usize>(uart: &mut Uart<'_, Async>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.read(&mut buf).await?;
     Ok(buf)
 }
 
-async fn read1<const N: usize>(uart: &mut UartRx<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
+async fn read1<const N: usize>(uart: &mut UartRx<'_, Async>) -> Result<[u8; N], Error> {
     let mut buf = [255; N];
     uart.read(&mut buf).await?;
     Ok(buf)