rp: add initial version

author: Dario Nieuwenhuis <[email protected]> 2021-03-29 04:11:32 +0200
committer: Dario Nieuwenhuis <[email protected]> 2021-03-29 21:35:25 +0200
commit: 2cd3bdc90cf5da6d07ddad91e875733b8e354dc5 (patch)
tree: 846d9ef3d4b3171a6fcf4febe1a79aefa23cd378
parent: 2bcd1aaebbf255de1ded97356c107df5bea04e57 (diff)
23 files changed, 1277 insertions, 7 deletions
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 58ef9d8af..9818e4f1d 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -5,8 +5,8 @@
  "rust-analyzer.cargo.allFeatures": false,
  "rust-analyzer.checkOnSave.allFeatures": false,
  "rust-analyzer.checkOnSave.allTargets": false,
-  "rust-analyzer.cargo.target": "thumbv7em-none-eabi",
+  "rust-analyzer.cargo.target": "thumbv6m-none-eabi",
-  "rust-analyzer.checkOnSave.target": "thumbv7em-none-eabi",
+  "rust-analyzer.checkOnSave.target": "thumbv6m-none-eabi",
  "rust-analyzer.procMacro.enable": true,
  "rust-analyzer.cargo.loadOutDirsFromCheck": true,
  "files.watcherExclude": {
diff --git a/Cargo.toml b/Cargo.toml
index d9fbeaf45..bc3fcdd37 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -19,6 +19,8 @@ members = [
 exclude = [
    "embassy-std",
    "embassy-std-examples",
+    "embassy-rp",
+    "embassy-rp-examples",
 ]
 [profile.dev]
@@ -52,3 +54,5 @@ debug = false
 debug-assertions = false
 opt-level = 0
 overflow-checks = false
+[patch.crates-io]
diff --git a/embassy-macros/Cargo.toml b/embassy-macros/Cargo.toml
index a3d2fd37c..20dc7c381 100644
--- a/embassy-macros/Cargo.toml
+++ b/embassy-macros/Cargo.toml
@@ -16,3 +16,4 @@ proc-macro = true
 [features]
 stm32 = []
 nrf = []
+rp = []
diff --git a/embassy-macros/src/chip/nrf.rs b/embassy-macros/src/chip/nrf.rs
index d89223415..b2d1c322f 100644
--- a/embassy-macros/src/chip/nrf.rs
+++ b/embassy-macros/src/chip/nrf.rs
@@ -58,5 +58,6 @@ pub fn generate(args: Args) -> TokenStream {
        unsafe { embassy::time::set_clock(rtc) };
        let alarm = unsafe { make_static(&mut alarm) };
+        executor.set_alarm(alarm);
    )
 }
diff --git a/embassy-macros/src/chip/rp.rs b/embassy-macros/src/chip/rp.rs
new file mode 100644
index 000000000..25c6705cd
--- /dev/null
+++ b/embassy-macros/src/chip/rp.rs
@@ -0,0 +1,16 @@
+use darling::FromMeta;
+use proc_macro2::TokenStream;
+use quote::{format_ident, quote};
+use syn::spanned::Spanned;
+#[derive(Debug, FromMeta)]
+pub struct Args {}
+pub fn generate(args: Args) -> TokenStream {
+    quote!(
+        use embassy_rp::{interrupt, peripherals};
+        let mut config = embassy_rp::system::Config::default();
+        unsafe { embassy_rp::system::configure(config) };
+    )
+}
diff --git a/embassy-macros/src/chip/stm32.rs b/embassy-macros/src/chip/stm32.rs
index e94c21a97..2476a9623 100644
--- a/embassy-macros/src/chip/stm32.rs
+++ b/embassy-macros/src/chip/stm32.rs
@@ -53,5 +53,6 @@ pub fn generate(args: Args) -> TokenStream {
        unsafe { embassy::time::set_clock(rtc) };
        let alarm = unsafe { make_static(&mut alarm) };
+        executor.set_alarm(alarm);
    )
 }
diff --git a/embassy-macros/src/lib.rs b/embassy-macros/src/lib.rs
index 145714f22..72f0b0eca 100644
--- a/embassy-macros/src/lib.rs
+++ b/embassy-macros/src/lib.rs
@@ -125,7 +125,7 @@ pub fn interrupt_declare(item: TokenStream) -> TokenStream {
            type Priority = crate::interrupt::Priority;
            fn number(&self) -> u16 {
                use cortex_m::interrupt::InterruptNumber;
-                let irq = crate::pac::interrupt::#name;
+                let irq = crate::pac::Interrupt::#name;
                irq.number() as u16
            }
            unsafe fn steal() -> Self {
@@ -199,7 +199,11 @@ mod chip;
 #[path = "chip/stm32.rs"]
 mod chip;
-#[cfg(any(feature = "nrf", feature = "stm32"))]
+#[cfg(feature = "rp")]
+#[path = "chip/rp.rs"]
+mod chip;
+#[cfg(any(feature = "nrf", feature = "stm32", feature = "rp"))]
 #[proc_macro_attribute]
 pub fn main(args: TokenStream, item: TokenStream) -> TokenStream {
    let macro_args = syn::parse_macro_input!(args as syn::AttributeArgs);
@@ -267,11 +271,10 @@ pub fn main(args: TokenStream, item: TokenStream) -> TokenStream {
                ::core::mem::transmute(t)
            }
-            #chip_setup
            let mut executor = ::embassy::executor::Executor::new();
            let executor = unsafe { make_static(&mut executor) };
-            executor.set_alarm(alarm);
+            #chip_setup
            executor.run(|spawner| {
                spawner.spawn(__embassy_main(spawner)).unwrap();
diff --git a/embassy-rp-examples/.cargo/config b/embassy-rp-examples/.cargo/config
new file mode 100644
index 000000000..1f6a94f88
--- /dev/null
+++ b/embassy-rp-examples/.cargo/config
@@ -0,0 +1,30 @@
+[unstable]
+build-std = ["core"]
+build-std-features = ["panic_immediate_abort"]
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-run-rp --chip RP2040"
+rustflags = [
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-C", "link-arg=--nmagic",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+  # Code-size optimizations.
+  "-Z", "trap-unreachable=no",
+]
+[build]
+target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
diff --git a/embassy-rp-examples/Cargo.toml b/embassy-rp-examples/Cargo.toml
new file mode 100644
index 000000000..0744fa1e9
--- /dev/null
+++ b/embassy-rp-examples/Cargo.toml
@@ -0,0 +1,33 @@
+[package]
+authors = ["Dario Nieuwenhuis <[email protected]>"]
+edition = "2018"
+name = "embassy-rp-examples"
+version = "0.1.0"
+[features]
+default = [
+    "defmt-default",
+]
+defmt-default = []
+defmt-trace = []
+defmt-debug = []
+defmt-info = []
+defmt-warn = []
+defmt-error = []
+[dependencies]
+embassy = { version = "0.1.0", path = "../embassy", features = ["defmt", "defmt-trace"] }
+embassy-rp = { version = "0.1.0", path = "../embassy-rp", features = ["defmt", "defmt-trace"] }
+rp2040-boot2 = { git = "https://github.com/rp-rs/rp2040-boot2-rs", branch="main" }
+rp2040-pac2 = { git = "https://github.com/Dirbaio/rp2040-pac", rev="254f4677937801155ca3cb17c7bb9d38eb62683e" }
+atomic-polyfill = { version = "0.1.1" }
+defmt = "0.2.0"
+defmt-rtt = "0.2.0"
+cortex-m = { version = "0.7.1", features = ["inline-asm"] }
+cortex-m-rt = "0.6.13"
+embedded-hal    = { version = "0.2.4" }
+panic-probe = "0.1.0"
+futures = { version = "0.3.8", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
+\ No newline at end of file
diff --git a/embassy-rp-examples/build.rs b/embassy-rp-examples/build.rs
new file mode 100644
index 000000000..d534cc3df
--- /dev/null
+++ b/embassy-rp-examples/build.rs
@@ -0,0 +1,31 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+}
diff --git a/embassy-rp-examples/memory.x b/embassy-rp-examples/memory.x
new file mode 100644
index 000000000..0596611d2
--- /dev/null
+++ b/embassy-rp-examples/memory.x
@@ -0,0 +1,13 @@
+MEMORY {
+    BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+    FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
+    RAM   : ORIGIN = 0x20000000, LENGTH = 256K
+}
+SECTIONS {
+    /* ### Boot loader */
+    .boot2 ORIGIN(BOOT2) :
+    {
+        KEEP(*(.boot2));
+    } > BOOT2
+} INSERT BEFORE .text;
+\ No newline at end of file
diff --git a/embassy-rp-examples/src/main.rs b/embassy-rp-examples/src/main.rs
new file mode 100644
index 000000000..e1da77aa5
--- /dev/null
+++ b/embassy-rp-examples/src/main.rs
@@ -0,0 +1,72 @@
+#![no_std]
+#![no_main]
+#![feature(asm)]
+#![feature(min_type_alias_impl_trait)]
+#![feature(impl_trait_in_bindings)]
+#![feature(type_alias_impl_trait)]
+use core::sync::atomic::{AtomicUsize, Ordering};
+use defmt::{panic, *};
+use defmt_rtt as _;
+use embassy::executor::Spawner;
+use embassy::interrupt::InterruptExt;
+use embassy_rp::{dma, gpio, interrupt, uart, Peripherals};
+use embedded_hal::digital::v2::OutputPin;
+use panic_probe as _;
+use rp2040_pac2 as pac;
+#[link_section = ".boot2"]
+#[used]
+pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER;
+defmt::timestamp! {"{=u64}", {
+    static COUNT: AtomicUsize = AtomicUsize::new(0);
+    // NOTE(no-CAS) `timestamps` runs with interrupts disabled
+    let n = COUNT.load(Ordering::Relaxed);
+    COUNT.store(n + 1, Ordering::Relaxed);
+    n as u64
+}
+}
+#[embassy::main]
+async fn main(spanwer: Spawner) {
+    let p = unwrap!(Peripherals::take());
+    let mut config = uart::Config::default();
+    let mut uart = uart::Uart::new(p.UART0, p.PIN_0, p.PIN_1, p.PIN_2, p.PIN_3, config);
+    uart.send("Hello World!\r\n".as_bytes());
+    let mut led = gpio::Output::new(p.PIN_25, gpio::Level::Low);
+    let irq = interrupt::take!(DMA_IRQ_0);
+    unsafe {
+        //pac::DMA.inte0().write(|w| w.set_inte0(1 << 0));
+    }
+    irq.set_handler(dma_irq);
+    irq.unpend();
+    irq.enable();
+    let from: [u32; 4] = [1, 2, 3, 4];
+    let mut to: [u32; 4] = [9, 8, 7, 6];
+    info!("before dma: from = {:?}, to = {:?}", from, to);
+    cortex_m::asm::delay(4_000_000);
+    dma::Dma::copy(p.DMA_CH0, &from, &mut to);
+    cortex_m::asm::delay(4_000_000);
+    info!("after dma: from = {:?}, to = {:?}", from, to);
+    loop {
+        info!("led on!");
+        uart.send("ON!\r".as_bytes());
+        led.set_high().unwrap();
+        cortex_m::asm::delay(1_000_000);
+        info!("led off!");
+        uart.send("Off!\r".as_bytes());
+        led.set_low().unwrap();
+        cortex_m::asm::delay(4_000_000);
+    }
+}
+unsafe fn dma_irq(ctx: *mut ()) {
+    info!("DMA IRQ!");
+}
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
new file mode 100644
index 000000000..1d11fb0d7
--- /dev/null
+++ b/embassy-rp/Cargo.toml
@@ -0,0 +1,25 @@
+[package]
+name = "embassy-rp"
+version = "0.1.0"
+authors = ["Dario Nieuwenhuis <[email protected]>"]
+edition = "2018"
+[features]
+defmt-trace = [ ]
+defmt-debug = [ ]
+defmt-info = [ ]
+defmt-warn = [ ]
+defmt-error = [ ]
+[dependencies]
+embassy = { version = "0.1.0", path = "../embassy" }
+embassy-extras = {version = "0.1.0", path = "../embassy-extras" }
+embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]}
+defmt = { version = "0.2.0", optional = true }
+log = { version = "0.4.11", optional = true }
+cortex-m-rt = "0.6.13"
+cortex-m = "0.7.1"
+rp2040-pac2 = { git = "https://github.com/Dirbaio/rp2040-pac", rev="254f4677937801155ca3cb17c7bb9d38eb62683e", features = ["rt"] }
+embedded-hal = { version = "0.2.4", features = [ "unproven" ] }
diff --git a/embassy-rp/funcsel.txt b/embassy-rp/funcsel.txt
new file mode 100644
index 000000000..4dc893967
--- /dev/null
+++ b/embassy-rp/funcsel.txt
@@ -0,0 +1,30 @@
+0   SPI0 RX     UART0 TX     I2C0 SDA      PWM0 A      SIO       PIO0      PIO1                    USB OVCUR DET
+1   SPI0 CSn    UART0 RX     I2C0 SCL      PWM0 B      SIO       PIO0      PIO1                    USB VBUS DET
+2   SPI0 SCK    UART0 CTS    I2C1 SDA      PWM1 A      SIO       PIO0      PIO1                    USB VBUS EN
+3   SPI0 TX     UART0 RTS    I2C1 SCL      PWM1 B      SIO       PIO0      PIO1                    USB OVCUR DET
+4   SPI0 RX     UART1 TX     I2C0 SDA      PWM2 A      SIO       PIO0      PIO1                    USB VBUS DET
+5   SPI0 CSn    UART1 RX     I2C0 SCL      PWM2 B      SIO       PIO0      PIO1                    USB VBUS EN
+6   SPI0 SCK    UART1 CTS    I2C1 SDA      PWM3 A      SIO       PIO0      PIO1                    USB OVCUR DET
+7   SPI0 TX     UART1 RTS    I2C1 SCL      PWM3 B      SIO       PIO0      PIO1                    USB VBUS DET
+8   SPI1 RX     UART1 TX     I2C0 SDA      PWM4 A      SIO       PIO0      PIO1                    USB VBUS EN
+9   SPI1 CSn    UART1 RX     I2C0 SCL      PWM4 B      SIO       PIO0      PIO1                    USB OVCUR DET
+10  SPI1 SCK    UART1 CTS    I2C1 SDA      PWM5 A      SIO       PIO0      PIO1                    USB VBUS DET
+11  SPI1 TX     UART1 RTS    I2C1 SCL      PWM5 B      SIO       PIO0      PIO1                    USB VBUS EN
+12  SPI1 RX     UART0 TX     I2C0 SDA      PWM6 A      SIO       PIO0      PIO1                    USB OVCUR DET
+13  SPI1 CSn    UART0 RX     I2C0 SCL      PWM6 B      SIO       PIO0      PIO1                    USB VBUS DET
+14  SPI1 SCK    UART0 CTS    I2C1 SDA      PWM7 A      SIO       PIO0      PIO1                    USB VBUS EN
+15  SPI1 TX     UART0 RTS    I2C1 SCL      PWM7 B      SIO       PIO0      PIO1                    USB OVCUR DET
+16  SPI0 RX     UART0 TX     I2C0 SDA      PWM0 A      SIO       PIO0      PIO1                    USB VBUS DET
+17  SPI0 CSn    UART0 RX     I2C0 SCL      PWM0 B      SIO       PIO0      PIO1                    USB VBUS EN
+18  SPI0 SCK    UART0 CTS    I2C1 SDA      PWM1 A      SIO       PIO0      PIO1                    USB OVCUR DET
+19  SPI0 TX     UART0 RTS    I2C1 SCL      PWM1 B      SIO       PIO0      PIO1                    USB VBUS DET
+20  SPI0 RX     UART1 TX     I2C0 SDA      PWM2 A      SIO       PIO0      PIO1    CLOCK GPIN0     USB VBUS EN
+21  SPI0 CSn    UART1 RX     I2C0 SCL      PWM2 B      SIO       PIO0      PIO1    CLOCK GPOUT0    USB OVCUR DET
+22  SPI0 SCK    UART1 CTS    I2C1 SDA      PWM3 A      SIO       PIO0      PIO1    CLOCK GPIN1     USB VBUS DET
+23  SPI0 TX     UART1 RTS    I2C1 SCL      PWM3 B      SIO       PIO0      PIO1    CLOCK GPOUT1    USB VBUS EN
+24  SPI1 RX     UART1 TX     I2C0 SDA      PWM4 A      SIO       PIO0      PIO1    CLOCK GPOUT2    USB OVCUR DET
+25  SPI1 CSn    UART1 RX     I2C0 SCL      PWM4 B      SIO       PIO0      PIO1    CLOCK GPOUT3    USB VBUS DET
+26  SPI1 SCK    UART1 CTS    I2C1 SDA      PWM5 A      SIO       PIO0      PIO1                    USB VBUS EN
+27  SPI1 TX     UART1 RTS    I2C1 SCL      PWM5 B      SIO       PIO0      PIO1                    USB OVCUR DET
+28  SPI1 RX     UART0 TX     I2C0 SDA      PWM6 A      SIO       PIO0      PIO1                    USB VBUS DET
+29  SPI1 CSn    UART0 RX     I2C0 SCL      PWM6 B      SIO       PIO0      PIO1                    USB VBUS EN 
+\ No newline at end of file
diff --git a/embassy-rp/src/dma.rs b/embassy-rp/src/dma.rs
new file mode 100644
index 000000000..73be6d76c
--- /dev/null
+++ b/embassy-rp/src/dma.rs
@@ -0,0 +1,87 @@
+use core::sync::atomic::{compiler_fence, Ordering};
+use defmt::{assert, *};
+use crate::{pac, peripherals};
+use pac::dma::vals;
+pub struct Dma<T: Channel> {
+    inner: T,
+}
+impl<T: Channel> Dma<T> {
+    pub fn copy(inner: T, from: &[u32], to: &mut [u32]) {
+        assert!(from.len() == to.len());
+        unsafe {
+            let p = inner.regs();
+            p.read_addr().write_value(from.as_ptr() as u32);
+            p.write_addr().write_value(to.as_mut_ptr() as u32);
+            p.trans_count().write_value(from.len() as u32);
+            compiler_fence(Ordering::SeqCst);
+            p.ctrl_trig().write(|w| {
+                w.set_data_size(vals::DataSize::SIZE_WORD);
+                w.set_incr_read(true);
+                w.set_incr_write(true);
+                w.set_chain_to(inner.number());
+                w.set_en(true);
+            });
+            while p.ctrl_trig().read().busy() {}
+            compiler_fence(Ordering::SeqCst);
+        }
+    }
+}
+mod sealed {
+    use super::*;
+    pub trait Channel {
+        fn number(&self) -> u8;
+        fn regs(&self) -> pac::dma::Channel {
+            pac::DMA.ch(self.number() as _)
+        }
+    }
+}
+pub trait Channel: sealed::Channel {}
+pub struct AnyChannel {
+    number: u8,
+}
+impl Channel for AnyChannel {}
+impl sealed::Channel for AnyChannel {
+    fn number(&self) -> u8 {
+        self.number
+    }
+}
+macro_rules! channel {
+    ($type:ident, $num:expr) => {
+        impl Channel for peripherals::$type {}
+        impl sealed::Channel for peripherals::$type {
+            fn number(&self) -> u8 {
+                $num
+            }
+        }
+    };
+}
+channel!(DMA_CH0, 0);
+channel!(DMA_CH1, 1);
+channel!(DMA_CH2, 2);
+channel!(DMA_CH3, 3);
+channel!(DMA_CH4, 4);
+channel!(DMA_CH5, 5);
+channel!(DMA_CH6, 6);
+channel!(DMA_CH7, 7);
+channel!(DMA_CH8, 8);
+channel!(DMA_CH9, 9);
+channel!(DMA_CH10, 10);
+channel!(DMA_CH11, 11);
diff --git a/embassy-rp/src/fmt.rs b/embassy-rp/src/fmt.rs
new file mode 100644
index 000000000..4da69766c
--- /dev/null
+++ b/embassy-rp/src/fmt.rs
@@ -0,0 +1,118 @@
+#![macro_use]
+#[cfg(all(feature = "defmt", feature = "log"))]
+compile_error!("You may not enable both `defmt` and `log` features.");
+pub use fmt::*;
+#[cfg(feature = "defmt")]
+mod fmt {
+    pub use defmt::{
+        assert, assert_eq, assert_ne, debug, debug_assert, debug_assert_eq, debug_assert_ne, error,
+        info, panic, todo, trace, unreachable, unwrap, warn,
+    };
+}
+#[cfg(feature = "log")]
+mod fmt {
+    pub use core::{
+        assert, assert_eq, assert_ne, debug_assert, debug_assert_eq, debug_assert_ne, panic, todo,
+        unreachable,
+    };
+    pub use log::{debug, error, info, trace, warn};
+}
+#[cfg(not(any(feature = "defmt", feature = "log")))]
+mod fmt {
+    #![macro_use]
+    pub use core::{
+        assert, assert_eq, assert_ne, debug_assert, debug_assert_eq, debug_assert_ne, panic, todo,
+        unreachable,
+    };
+    #[macro_export]
+    macro_rules! trace {
+        ($($msg:expr),+ $(,)?) => {
+            ()
+        };
+    }
+    #[macro_export]
+    macro_rules! debug {
+        ($($msg:expr),+ $(,)?) => {
+            ()
+        };
+    }
+    #[macro_export]
+    macro_rules! info {
+        ($($msg:expr),+ $(,)?) => {
+            ()
+        };
+    }
+    #[macro_export]
+    macro_rules! warn {
+        ($($msg:expr),+ $(,)?) => {
+            ()
+        };
+    }
+    #[macro_export]
+    macro_rules! error {
+        ($($msg:expr),+ $(,)?) => {
+            ()
+        };
+    }
+}
+#[cfg(not(feature = "defmt"))]
+#[macro_export]
+macro_rules! unwrap {
+    ($arg:expr) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
+            }
+        }
+    };
+    ($arg:expr, $($msg:expr),+ $(,)? ) => {
+        match $crate::fmt::Try::into_result($arg) {
+            ::core::result::Result::Ok(t) => t,
+            ::core::result::Result::Err(e) => {
+                ::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
+            }
+        }
+    }
+}
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+pub struct NoneError;
+pub trait Try {
+    type Ok;
+    type Error;
+    fn into_result(self) -> Result<Self::Ok, Self::Error>;
+}
+impl<T> Try for Option<T> {
+    type Ok = T;
+    type Error = NoneError;
+    #[inline]
+    fn into_result(self) -> Result<T, NoneError> {
+        self.ok_or(NoneError)
+    }
+}
+impl<T, E> Try for Result<T, E> {
+    type Ok = T;
+    type Error = E;
+    #[inline]
+    fn into_result(self) -> Self {
+        self
+    }
+}
diff --git a/embassy-rp/src/gpio.rs b/embassy-rp/src/gpio.rs
new file mode 100644
index 000000000..3ab35ee3a
--- /dev/null
+++ b/embassy-rp/src/gpio.rs
@@ -0,0 +1,250 @@
+use core::marker::PhantomData;
+use crate::pac;
+use crate::pac::generic::{Reg, RW};
+use crate::pac::SIO;
+use crate::peripherals;
+use embassy::util::PeripheralBorrow;
+use embassy_extras::{impl_unborrow, unborrow};
+use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin};
+/// Represents a digital input or output level.
+#[derive(Debug, Eq, PartialEq)]
+pub enum Level {
+    Low,
+    High,
+}
+/// Represents a pull setting for an input.
+#[derive(Debug, Eq, PartialEq)]
+pub enum Pull {
+    None,
+    Up,
+    Down,
+}
+/// A GPIO bank with up to 32 pins.
+#[derive(Debug, Eq, PartialEq)]
+pub enum Bank {
+    Bank0 = 0,
+    Qspi = 1,
+}
+pub struct Input<'d, T: Pin> {
+    pin: T,
+    phantom: PhantomData<&'d mut T>,
+}
+impl<'d, T: Pin> Input<'d, T> {
+    pub fn new(pin: impl PeripheralBorrow<Target = T> + 'd, pull: Pull) -> Self {
+        unborrow!(pin);
+        // todo
+        Self {
+            pin,
+            phantom: PhantomData,
+        }
+    }
+}
+impl<'d, T: Pin> Drop for Input<'d, T> {
+    fn drop(&mut self) {
+        // todo
+    }
+}
+impl<'d, T: Pin> InputPin for Input<'d, T> {
+    type Error = !;
+    fn is_high(&self) -> Result<bool, Self::Error> {
+        self.is_low().map(|v| !v)
+    }
+    fn is_low(&self) -> Result<bool, Self::Error> {
+        // todo
+        Ok(true)
+    }
+}
+pub struct Output<'d, T: Pin> {
+    pin: T,
+    phantom: PhantomData<&'d mut T>,
+}
+impl<'d, T: Pin> Output<'d, T> {
+    // TODO opendrain
+    pub fn new(pin: impl PeripheralBorrow<Target = T> + 'd, initial_output: Level) -> Self {
+        unborrow!(pin);
+        unsafe {
+            match initial_output {
+                Level::High => pin.sio_out().value_set().write_value(1 << pin.pin()),
+                Level::Low => pin.sio_out().value_clr().write_value(1 << pin.pin()),
+            }
+            pin.sio_oe().value_set().write_value(1 << pin.pin());
+            pin.io().ctrl().write(|w| {
+                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
+            });
+        }
+        Self {
+            pin,
+            phantom: PhantomData,
+        }
+    }
+}
+impl<'d, T: Pin> Drop for Output<'d, T> {
+    fn drop(&mut self) {
+        // todo
+    }
+}
+impl<'d, T: Pin> OutputPin for Output<'d, T> {
+    type Error = !;
+    /// Set the output as high.
+    fn set_high(&mut self) -> Result<(), Self::Error> {
+        let val = 1 << self.pin.pin();
+        unsafe { self.pin.sio_out().value_set().write_value(val) };
+        Ok(())
+    }
+    /// Set the output as low.
+    fn set_low(&mut self) -> Result<(), Self::Error> {
+        let val = 1 << self.pin.pin();
+        unsafe { self.pin.sio_out().value_clr().write_value(val) };
+        Ok(())
+    }
+}
+impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
+    /// Is the output pin set as high?
+    fn is_set_high(&self) -> Result<bool, Self::Error> {
+        self.is_set_low().map(|v| !v)
+    }
+    /// Is the output pin set as low?
+    fn is_set_low(&self) -> Result<bool, Self::Error> {
+        // todo
+        Ok(true)
+    }
+}
+pub(crate) mod sealed {
+    use super::*;
+    pub trait Pin: Sized {
+        fn pin_bank(&self) -> u8;
+        #[inline]
+        fn pin(&self) -> u8 {
+            self.pin_bank() & 0x1f
+        }
+        #[inline]
+        fn bank(&self) -> Bank {
+            if self.pin_bank() & 0x20 == 0 {
+                Bank::Bank0
+            } else {
+                Bank::Qspi
+            }
+        }
+        fn io(&self) -> pac::io::Gpio {
+            let block = match self.bank() {
+                Bank::Bank0 => crate::pac::IO_BANK0,
+                Bank::Qspi => crate::pac::IO_QSPI,
+            };
+            block.gpio(self.pin() as _)
+        }
+        fn pad_ctrl(&self) -> Reg<pac::pads::regs::GpioCtrl, RW> {
+            let block = match self.bank() {
+                Bank::Bank0 => crate::pac::PADS_BANK0,
+                Bank::Qspi => crate::pac::PADS_QSPI,
+            };
+            block.gpio(self.pin() as _)
+        }
+        fn sio_out(&self) -> pac::sio::Gpio {
+            SIO.gpio_out(self.bank() as _)
+        }
+        fn sio_oe(&self) -> pac::sio::Gpio {
+            SIO.gpio_oe(self.bank() as _)
+        }
+        fn sio_in(&self) -> Reg<u32, RW> {
+            SIO.gpio_in(self.bank() as _)
+        }
+    }
+}
+pub trait Pin: sealed::Pin {
+    /// Degrade to a generic pin struct
+    fn degrade(self) -> AnyPin {
+        AnyPin {
+            pin_bank: self.pin_bank(),
+        }
+    }
+}
+pub struct AnyPin {
+    pin_bank: u8,
+}
+impl_unborrow!(AnyPin);
+impl Pin for AnyPin {}
+impl sealed::Pin for AnyPin {
+    fn pin_bank(&self) -> u8 {
+        self.pin_bank
+    }
+}
+macro_rules! impl_pin {
+    ($name:ident, $bank:expr, $pin_num:expr) => {
+        impl Pin for peripherals::$name {}
+        impl sealed::Pin for peripherals::$name {
+            fn pin_bank(&self) -> u8 {
+                ($bank as u8) * 32 + $pin_num
+            }
+        }
+    };
+}
+impl_pin!(PIN_0, Bank::Bank0, 0);
+impl_pin!(PIN_1, Bank::Bank0, 1);
+impl_pin!(PIN_2, Bank::Bank0, 2);
+impl_pin!(PIN_3, Bank::Bank0, 3);
+impl_pin!(PIN_4, Bank::Bank0, 4);
+impl_pin!(PIN_5, Bank::Bank0, 5);
+impl_pin!(PIN_6, Bank::Bank0, 6);
+impl_pin!(PIN_7, Bank::Bank0, 7);
+impl_pin!(PIN_8, Bank::Bank0, 8);
+impl_pin!(PIN_9, Bank::Bank0, 9);
+impl_pin!(PIN_10, Bank::Bank0, 10);
+impl_pin!(PIN_11, Bank::Bank0, 11);
+impl_pin!(PIN_12, Bank::Bank0, 12);
+impl_pin!(PIN_13, Bank::Bank0, 13);
+impl_pin!(PIN_14, Bank::Bank0, 14);
+impl_pin!(PIN_15, Bank::Bank0, 15);
+impl_pin!(PIN_16, Bank::Bank0, 16);
+impl_pin!(PIN_17, Bank::Bank0, 17);
+impl_pin!(PIN_18, Bank::Bank0, 18);
+impl_pin!(PIN_19, Bank::Bank0, 19);
+impl_pin!(PIN_20, Bank::Bank0, 20);
+impl_pin!(PIN_21, Bank::Bank0, 21);
+impl_pin!(PIN_22, Bank::Bank0, 22);
+impl_pin!(PIN_23, Bank::Bank0, 23);
+impl_pin!(PIN_24, Bank::Bank0, 24);
+impl_pin!(PIN_25, Bank::Bank0, 25);
+impl_pin!(PIN_26, Bank::Bank0, 26);
+impl_pin!(PIN_27, Bank::Bank0, 27);
+impl_pin!(PIN_28, Bank::Bank0, 28);
+impl_pin!(PIN_29, Bank::Bank0, 29);
+impl_pin!(PIN_QSPI_SCLK, Bank::Qspi, 0);
+impl_pin!(PIN_QSPI_SS, Bank::Qspi, 1);
+impl_pin!(PIN_QSPI_SD0, Bank::Qspi, 2);
+impl_pin!(PIN_QSPI_SD1, Bank::Qspi, 3);
+impl_pin!(PIN_QSPI_SD2, Bank::Qspi, 4);
+impl_pin!(PIN_QSPI_SD3, Bank::Qspi, 5);
diff --git a/embassy-rp/src/interrupt.rs b/embassy-rp/src/interrupt.rs
new file mode 100644
index 000000000..a913ea60c
--- /dev/null
+++ b/embassy-rp/src/interrupt.rs
@@ -0,0 +1,110 @@
+//! Interrupt management
+//!
+//! This module implements an API for managing interrupts compatible with
+//! nrf_softdevice::interrupt. Intended for switching between the two at compile-time.
+use core::sync::atomic::{compiler_fence, Ordering};
+use crate::pac::NVIC_PRIO_BITS;
+// Re-exports
+pub use cortex_m::interrupt::{CriticalSection, Mutex};
+pub use embassy::interrupt::{declare, take, Interrupt};
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum Priority {
+    Level0 = 0,
+    Level1 = 1,
+    Level2 = 2,
+    Level3 = 3,
+    Level4 = 4,
+    Level5 = 5,
+    Level6 = 6,
+    Level7 = 7,
+}
+impl From<u8> for Priority {
+    fn from(priority: u8) -> Self {
+        match priority >> (8 - NVIC_PRIO_BITS) {
+            0 => Self::Level0,
+            1 => Self::Level1,
+            2 => Self::Level2,
+            3 => Self::Level3,
+            4 => Self::Level4,
+            5 => Self::Level5,
+            6 => Self::Level6,
+            7 => Self::Level7,
+            _ => unreachable!(),
+        }
+    }
+}
+impl From<Priority> for u8 {
+    fn from(p: Priority) -> Self {
+        (p as u8) << (8 - NVIC_PRIO_BITS)
+    }
+}
+#[inline]
+pub fn free<F, R>(f: F) -> R
+where
+    F: FnOnce(&CriticalSection) -> R,
+{
+    unsafe {
+        // TODO: assert that we're in privileged level
+        // Needed because disabling irqs in non-privileged level is a noop, which would break safety.
+        let primask: u32;
+        asm!("mrs {}, PRIMASK", out(reg) primask);
+        asm!("cpsid i");
+        // Prevent compiler from reordering operations inside/outside the critical section.
+        compiler_fence(Ordering::SeqCst);
+        let r = f(&CriticalSection::new());
+        compiler_fence(Ordering::SeqCst);
+        if primask & 1 == 0 {
+            asm!("cpsie i");
+        }
+        r
+    }
+}
+mod irqs {
+    use super::*;
+    declare!(TIMER_IRQ_0);
+    declare!(TIMER_IRQ_1);
+    declare!(TIMER_IRQ_2);
+    declare!(TIMER_IRQ_3);
+    declare!(PWM_IRQ_WRAP);
+    declare!(USBCTRL_IRQ);
+    declare!(XIP_IRQ);
+    declare!(PIO0_IRQ_0);
+    declare!(PIO0_IRQ_1);
+    declare!(PIO1_IRQ_0);
+    declare!(PIO1_IRQ_1);
+    declare!(DMA_IRQ_0);
+    declare!(DMA_IRQ_1);
+    declare!(IO_IRQ_BANK0);
+    declare!(IO_IRQ_QSPI);
+    declare!(SIO_IRQ_PROC0);
+    declare!(SIO_IRQ_PROC1);
+    declare!(CLOCKS_IRQ);
+    declare!(SPI0_IRQ);
+    declare!(SPI1_IRQ);
+    declare!(UART0_IRQ);
+    declare!(UART1_IRQ);
+    declare!(ADC_IRQ_FIFO);
+    declare!(I2C0_IRQ);
+    declare!(I2C1_IRQ);
+    declare!(RTC_IRQ);
+}
+pub use irqs::*;
diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs
new file mode 100644
index 000000000..f64464d13
--- /dev/null
+++ b/embassy-rp/src/lib.rs
@@ -0,0 +1,74 @@
+#![no_std]
+#![feature(generic_associated_types)]
+#![feature(asm)]
+#![feature(type_alias_impl_trait)]
+#![feature(never_type)]
+pub use rp2040_pac2 as pac;
+// This mod MUST go first, so that the others see its macros.
+pub(crate) mod fmt;
+pub mod interrupt;
+pub mod dma;
+pub mod gpio;
+pub mod pll;
+pub mod resets;
+pub mod system;
+pub mod uart;
+embassy_extras::peripherals! {
+    PIN_0,
+    PIN_1,
+    PIN_2,
+    PIN_3,
+    PIN_4,
+    PIN_5,
+    PIN_6,
+    PIN_7,
+    PIN_8,
+    PIN_9,
+    PIN_10,
+    PIN_11,
+    PIN_12,
+    PIN_13,
+    PIN_14,
+    PIN_15,
+    PIN_16,
+    PIN_17,
+    PIN_18,
+    PIN_19,
+    PIN_20,
+    PIN_21,
+    PIN_22,
+    PIN_23,
+    PIN_24,
+    PIN_25,
+    PIN_26,
+    PIN_27,
+    PIN_28,
+    PIN_29,
+    PIN_QSPI_SCLK,
+    PIN_QSPI_SS,
+    PIN_QSPI_SD0,
+    PIN_QSPI_SD1,
+    PIN_QSPI_SD2,
+    PIN_QSPI_SD3,
+    UART0,
+    UART1,
+    DMA_CH0,
+    DMA_CH1,
+    DMA_CH2,
+    DMA_CH3,
+    DMA_CH4,
+    DMA_CH5,
+    DMA_CH6,
+    DMA_CH7,
+    DMA_CH8,
+    DMA_CH9,
+    DMA_CH10,
+    DMA_CH11,
+}
diff --git a/embassy-rp/src/pll.rs b/embassy-rp/src/pll.rs
new file mode 100644
index 000000000..2726367e7
--- /dev/null
+++ b/embassy-rp/src/pll.rs
@@ -0,0 +1,79 @@
+use core::ops::Deref;
+use defmt::{assert, *};
+use crate::pac;
+const XOSC_MHZ: u32 = 12;
+pub struct PLL<T: Instance> {
+    inner: T,
+}
+impl<T: Instance> PLL<T> {
+    pub fn new(inner: T) -> Self {
+        Self { inner }
+    }
+    pub fn configure(&mut self, refdiv: u32, vco_freq: u32, post_div1: u8, post_div2: u8) {
+        unsafe {
+            let p = self.inner.regs();
+            // Power off in case it's already running
+            p.pwr().write(|w| {
+                w.set_vcopd(true);
+                w.set_postdivpd(true);
+                w.set_dsmpd(true);
+                w.set_pd(true);
+            });
+            p.fbdiv_int().write(|w| w.set_fbdiv_int(0));
+            let ref_mhz = XOSC_MHZ / refdiv;
+            p.cs().write(|w| w.set_refdiv(ref_mhz as _));
+            let fbdiv = vco_freq / (ref_mhz * 1_000_000);
+            assert!(fbdiv >= 16 && fbdiv <= 520);
+            assert!((post_div1 >= 1 && post_div1 <= 7) && (post_div2 >= 1 && post_div2 <= 7));
+            assert!(post_div2 <= post_div1);
+            assert!(ref_mhz <= (vco_freq / 16));
+            p.fbdiv_int().write(|w| w.set_fbdiv_int(fbdiv as _));
+            p.pwr().modify(|w| {
+                w.set_pd(false);
+                w.set_vcopd(false);
+            });
+            while !p.cs().read().lock() {}
+            p.prim().write(|w| {
+                w.set_postdiv1(post_div1);
+                w.set_postdiv2(post_div2);
+            });
+            p.pwr().modify(|w| w.set_postdivpd(false));
+        }
+    }
+}
+mod sealed {
+    pub trait Instance {}
+    impl Instance for super::PllSys {}
+    impl Instance for super::PllUsb {}
+}
+// todo make owned
+pub struct PllSys;
+pub struct PllUsb;
+pub trait Instance {
+    fn regs(&self) -> pac::pll::Pll;
+}
+impl Instance for PllSys {
+    fn regs(&self) -> pac::pll::Pll {
+        pac::PLL_SYS
+    }
+}
+impl Instance for PllUsb {
+    fn regs(&self) -> pac::pll::Pll {
+        pac::PLL_USB
+    }
+}
diff --git a/embassy-rp/src/resets.rs b/embassy-rp/src/resets.rs
new file mode 100644
index 000000000..29610e202
--- /dev/null
+++ b/embassy-rp/src/resets.rs
@@ -0,0 +1,29 @@
+use crate::pac;
+pub use pac::resets::regs::Peripherals;
+pub const ALL_PERIPHERALS: Peripherals = Peripherals(0x01ffffff);
+pub struct Resets {}
+impl Resets {
+    pub fn new() -> Self {
+        Self {}
+    }
+    pub fn reset(&self, peris: Peripherals) {
+        unsafe {
+            pac::RESETS.reset().write_value(peris);
+        }
+    }
+    pub fn unreset_wait(&self, peris: Peripherals) {
+        unsafe {
+            // TODO use the "atomic clear" register version
+            pac::RESETS
+                .reset()
+                .modify(|v| *v = Peripherals(v.0 & !peris.0));
+            while ((!pac::RESETS.reset_done().read().0) & peris.0) != 0 {}
+        }
+    }
+}
diff --git a/embassy-rp/src/system.rs b/embassy-rp/src/system.rs
new file mode 100644
index 000000000..200f88d63
--- /dev/null
+++ b/embassy-rp/src/system.rs
@@ -0,0 +1,90 @@
+use crate::{pac, pll, resets};
+#[non_exhaustive]
+pub struct Config {}
+impl Default for Config {
+    fn default() -> Self {
+        Self {}
+    }
+}
+/// safety: must only call once.
+pub unsafe fn configure(_config: Config) {
+    // Now reset all the peripherals, except QSPI and XIP (we're using those
+    // to execute from external flash!)
+    let resets = resets::Resets::new();
+    // Reset everything except:
+    // - QSPI (we're using it to run this code!)
+    // - PLLs (it may be suicide if that's what's clocking us)
+    let mut peris = resets::ALL_PERIPHERALS;
+    peris.set_io_qspi(false);
+    peris.set_pads_qspi(false);
+    peris.set_pll_sys(false);
+    peris.set_pll_usb(false);
+    resets.reset(peris);
+    let mut peris = resets::ALL_PERIPHERALS;
+    peris.set_adc(false);
+    peris.set_rtc(false);
+    peris.set_spi0(false);
+    peris.set_spi1(false);
+    peris.set_uart0(false);
+    peris.set_uart1(false);
+    peris.set_usbctrl(false);
+    resets.unreset_wait(peris);
+    // xosc 12 mhz
+    pac::WATCHDOG.tick().write(|w| {
+        w.set_cycles(XOSC_MHZ as u16);
+        w.set_enable(true);
+    });
+    pac::CLOCKS
+        .clk_sys_resus_ctrl()
+        .write_value(pac::clocks::regs::ClkSysResusCtrl(0));
+    // Enable XOSC
+    // TODO extract to HAL module
+    const XOSC_MHZ: u32 = 12;
+    pac::XOSC
+        .ctrl()
+        .write(|w| w.set_freq_range(pac::xosc::vals::CtrlFreqRange::_1_15MHZ));
+    let startup_delay = (((XOSC_MHZ * 1_000_000) / 1000) + 128) / 256;
+    pac::XOSC
+        .startup()
+        .write(|w| w.set_delay(startup_delay as u16));
+    pac::XOSC.ctrl().write(|w| {
+        w.set_freq_range(pac::xosc::vals::CtrlFreqRange::_1_15MHZ);
+        w.set_enable(pac::xosc::vals::CtrlEnable::ENABLE);
+    });
+    while !pac::XOSC.status().read().stable() {}
+    // Before we touch PLLs, switch sys and ref cleanly away from their aux sources.
+    pac::CLOCKS
+        .clk_sys_ctrl()
+        .modify(|w| w.set_src(pac::clocks::vals::ClkSysCtrlSrc::CLK_REF));
+    while pac::CLOCKS.clk_sys_selected().read() != 1 {}
+    pac::CLOCKS
+        .clk_ref_ctrl()
+        .modify(|w| w.set_src(pac::clocks::vals::ClkRefCtrlSrc::ROSC_CLKSRC_PH));
+    while pac::CLOCKS.clk_ref_selected().read() != 1 {}
+    let mut peris = resets::Peripherals(0);
+    peris.set_pll_sys(true);
+    peris.set_pll_usb(true);
+    resets.reset(peris);
+    resets.unreset_wait(peris);
+    pll::PLL::new(pll::PllSys).configure(1, 1500_000_000, 6, 2);
+    pll::PLL::new(pll::PllUsb).configure(1, 480_000_000, 5, 2);
+    // Activate peripheral clock and take external oscillator as input
+    pac::CLOCKS.clk_peri_ctrl().write(|w| {
+        w.set_enable(true);
+        w.set_auxsrc(pac::clocks::vals::ClkPeriCtrlAuxsrc::XOSC_CLKSRC);
+    });
+}
diff --git a/embassy-rp/src/uart.rs b/embassy-rp/src/uart.rs
new file mode 100644
index 000000000..3eb768a7d
--- /dev/null
+++ b/embassy-rp/src/uart.rs
@@ -0,0 +1,173 @@
+use core::marker::PhantomData;
+use embassy::util::PeripheralBorrow;
+use embassy_extras::unborrow;
+use gpio::Pin;
+use crate::{gpio, pac, peripherals};
+#[non_exhaustive]
+pub struct Config {
+    pub baudrate: u32,
+    pub data_bits: u8,
+    pub stop_bits: u8,
+}
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            baudrate: 115200,
+            data_bits: 8,
+            stop_bits: 1,
+        }
+    }
+}
+pub struct Uart<'d, T: Instance> {
+    inner: T,
+    phantom: PhantomData<&'d mut T>,
+}
+impl<'d, T: Instance> Uart<'d, T> {
+    pub fn new(
+        inner: impl PeripheralBorrow<Target = T>,
+        tx: impl PeripheralBorrow<Target = impl TxPin<T>>,
+        rx: impl PeripheralBorrow<Target = impl RxPin<T>>,
+        cts: impl PeripheralBorrow<Target = impl CtsPin<T>>,
+        rts: impl PeripheralBorrow<Target = impl RtsPin<T>>,
+        config: Config,
+    ) -> Self {
+        unborrow!(inner, tx, rx, cts, rts);
+        unsafe {
+            let p = inner.regs();
+            // todo get this from somewhere
+            let clk_base = 12_000_000;
+            let baud_rate_div = (8 * clk_base) / config.baudrate;
+            let mut baud_ibrd = baud_rate_div >> 7;
+            let mut baud_fbrd = ((baud_rate_div & 0x7f) + 1) / 2;
+            if baud_ibrd == 0 {
+                baud_ibrd = 1;
+                baud_fbrd = 0;
+            } else if baud_ibrd >= 65535 {
+                baud_ibrd = 65535;
+                baud_fbrd = 0;
+            }
+            // Load PL011's baud divisor registers
+            p.uartibrd()
+                .write_value(pac::uart::regs::Uartibrd(baud_ibrd));
+            p.uartfbrd()
+                .write_value(pac::uart::regs::Uartfbrd(baud_fbrd));
+            p.uartlcr_h().write(|w| {
+                w.set_wlen(config.data_bits - 5);
+                w.set_stp2(config.stop_bits == 2);
+                w.set_pen(false);
+                w.set_eps(false);
+                w.set_fen(true);
+            });
+            p.uartcr().write(|w| {
+                w.set_uarten(true);
+                w.set_rxe(true);
+                w.set_txe(true);
+            });
+            tx.io().ctrl().write(|w| w.set_funcsel(2));
+            rx.io().ctrl().write(|w| w.set_funcsel(2));
+            cts.io().ctrl().write(|w| w.set_funcsel(2));
+            rts.io().ctrl().write(|w| w.set_funcsel(2));
+        }
+        Self {
+            inner,
+            phantom: PhantomData,
+        }
+    }
+    pub fn send(&mut self, data: &[u8]) {
+        unsafe {
+            let p = self.inner.regs();
+            for &byte in data {
+                if !p.uartfr().read().txff() {
+                    p.uartdr().write(|w| w.set_data(byte));
+                }
+            }
+        }
+    }
+}
+mod sealed {
+    use super::*;
+    pub trait Instance {
+        fn regs(&self) -> pac::uart::Uart;
+    }
+    pub trait TxPin<T: Instance> {}
+    pub trait RxPin<T: Instance> {}
+    pub trait CtsPin<T: Instance> {}
+    pub trait RtsPin<T: Instance> {}
+}
+pub trait Instance: sealed::Instance {}
+macro_rules! impl_instance {
+    ($type:ident, $irq:ident) => {
+        impl sealed::Instance for peripherals::$type {
+            fn regs(&self) -> pac::uart::Uart {
+                pac::$type
+            }
+        }
+        impl Instance for peripherals::$type {}
+    };
+}
+impl_instance!(UART0, UART0);
+impl_instance!(UART1, UART1);
+pub trait TxPin<T: Instance>: sealed::TxPin<T> + Pin {}
+pub trait RxPin<T: Instance>: sealed::RxPin<T> + Pin {}
+pub trait CtsPin<T: Instance>: sealed::CtsPin<T> + Pin {}
+pub trait RtsPin<T: Instance>: sealed::RtsPin<T> + Pin {}
+macro_rules! impl_pin {
+    ($pin:ident, $instance:ident, $function:ident) => {
+        impl sealed::$function<peripherals::$instance> for peripherals::$pin {}
+        impl $function<peripherals::$instance> for peripherals::$pin {}
+    };
+}
+impl_pin!(PIN_0, UART0, TxPin);
+impl_pin!(PIN_1, UART0, RxPin);
+impl_pin!(PIN_2, UART0, CtsPin);
+impl_pin!(PIN_3, UART0, RtsPin);
+impl_pin!(PIN_4, UART1, TxPin);
+impl_pin!(PIN_5, UART1, RxPin);
+impl_pin!(PIN_6, UART1, CtsPin);
+impl_pin!(PIN_7, UART1, RtsPin);
+impl_pin!(PIN_8, UART1, TxPin);
+impl_pin!(PIN_9, UART1, RxPin);
+impl_pin!(PIN_10, UART1, CtsPin);
+impl_pin!(PIN_11, UART1, RtsPin);
+impl_pin!(PIN_12, UART0, TxPin);
+impl_pin!(PIN_13, UART0, RxPin);
+impl_pin!(PIN_14, UART0, CtsPin);
+impl_pin!(PIN_15, UART0, RtsPin);
+impl_pin!(PIN_16, UART0, TxPin);
+impl_pin!(PIN_17, UART0, RxPin);
+impl_pin!(PIN_18, UART0, CtsPin);
+impl_pin!(PIN_19, UART0, RtsPin);
+impl_pin!(PIN_20, UART1, TxPin);
+impl_pin!(PIN_21, UART1, RxPin);
+impl_pin!(PIN_22, UART1, CtsPin);
+impl_pin!(PIN_23, UART1, RtsPin);
+impl_pin!(PIN_24, UART1, TxPin);
+impl_pin!(PIN_25, UART1, RxPin);
+impl_pin!(PIN_26, UART1, CtsPin);
+impl_pin!(PIN_27, UART1, RtsPin);
+impl_pin!(PIN_28, UART0, TxPin);
+impl_pin!(PIN_29, UART0, RxPin);
author	Dario Nieuwenhuis <[email protected]>	2021-03-29 04:11:32 +0200
committer	Dario Nieuwenhuis <[email protected]>	2021-03-29 21:35:25 +0200
commit	2cd3bdc90cf5da6d07ddad91e875733b8e354dc5 (patch)
tree	846d9ef3d4b3171a6fcf4febe1a79aefa23cd378
parent	2bcd1aaebbf255de1ded97356c107df5bea04e57 (diff)