Merge branch 'main' of github.com:embassy-rs/embassy into low-power

39 files changed, 272 insertions, 126 deletions

diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index d8cc3e8a7..8e36637a3 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -62,7 +62,6 @@ embassy-macros = { version = "0.2.1", path = "../embassy-macros" }
 embassy-time = { version = "0.1.5", path = "../embassy-time", optional = true}
 atomic-polyfill = "1.0.1"
 critical-section = "1.1"
-static_cell = "1.1"
 
 # arch-cortex-m dependencies
 cortex-m = { version = "0.7.6", optional = true }
diff --git a/embassy-executor/src/lib.rs b/embassy-executor/src/lib.rs
index 020f9095c..f2c86d8e6 100644
--- a/embassy-executor/src/lib.rs
+++ b/embassy-executor/src/lib.rs
@@ -47,7 +47,6 @@ pub use spawner::*;
 pub mod _export {
     #[cfg(feature = "rtos-trace")]
     pub use rtos_trace::trace;
-    pub use static_cell::StaticCell;
 
     /// Expands the given block of code when `embassy-executor` is compiled with
     /// the `rtos-trace-interrupt` feature.
diff --git a/embassy-macros/src/macros/main.rs b/embassy-macros/src/macros/main.rs
index 7c4d55163..3c0d58567 100644
--- a/embassy-macros/src/macros/main.rs
+++ b/embassy-macros/src/macros/main.rs
@@ -53,8 +53,7 @@ pub fn wasm() -> TokenStream {
     quote! {
         #[wasm_bindgen::prelude::wasm_bindgen(start)]
         pub fn main() -> Result<(), wasm_bindgen::JsValue> {
-            static EXECUTOR: ::embassy_executor::_export::StaticCell<::embassy_executor::Executor> = ::embassy_executor::_export::StaticCell::new();
-            let executor = EXECUTOR.init(::embassy_executor::Executor::new());
+            let executor = ::std::boxed::Box::leak(::std::boxed::Box::new(::embassy_executor::Executor::new()));
 
             executor.start(|spawner| {
                 spawner.spawn(__embassy_main(spawner)).unwrap();
diff --git a/embassy-net-adin1110/Cargo.toml b/embassy-net-adin1110/Cargo.toml
index a781f3bd0..08c6aabd3 100644
--- a/embassy-net-adin1110/Cargo.toml
+++ b/embassy-net-adin1110/Cargo.toml
@@ -22,9 +22,7 @@ embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 bitfield = "0.14.0"
 
 [dev-dependencies]
-# reenable when https://github.com/dbrgn/embedded-hal-mock/pull/86 is merged.
-#embedded-hal-mock = { git = "https://github.com/dbrgn/embedded-hal-mock", branch = "1-alpha", features = ["embedded-hal-async", "eh1"] }] }
-embedded-hal-mock = { git = "https://github.com/newAM/embedded-hal-mock", branch = "eh1-rc.1", features = ["embedded-hal-async", "eh1"] }
+embedded-hal-mock = { version = "=0.10.0-rc.1", features = ["embedded-hal-async", "eh1"] }
 crc = "3.0.1"
 env_logger = "0.10"
 critical-section = { version = "1.1.2", features = ["std"] }
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 5dc15c732..6be9f4bb0 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -95,4 +95,4 @@ rp2040-boot2 = "0.3"
 
 [dev-dependencies]
 embassy-executor = { version = "0.3.1", path = "../embassy-executor", features = ["nightly", "arch-std", "executor-thread"] }
-static_cell = "1.1"
+static_cell = { version = "2" }
diff --git a/embassy-stm32/src/low_power.rs b/embassy-stm32/src/low_power.rs
index 8e75f641a..20d8f9045 100644
--- a/embassy-stm32/src/low_power.rs
+++ b/embassy-stm32/src/low_power.rs
@@ -1,3 +1,50 @@
+/// The STM32 line of microcontrollers support various deep-sleep modes which exploit clock-gating
+/// to reduce power consumption. `embassy-stm32` provides a low-power executor, [`Executor`] which
+/// can use knowledge of which peripherals are currently blocked upon to transparently and safely
+/// enter such low-power modes (currently, only `STOP2`) when idle.
+///
+/// The executor determines which peripherals are active by their RCC state; consequently,
+/// low-power states can only be entered if all peripherals have been `drop`'d. There are a few
+/// exceptions to this rule:
+///
+///  * `GPIO`
+///  * `RCC`
+///
+/// Since entering and leaving low-power modes typically incurs a significant latency, the
+/// low-power executor will only attempt to enter when the next timer event is at least
+/// [`time_driver::MIN_STOP_PAUSE`] in the future.
+///
+/// Currently there is no macro analogous to `embassy_executor::main` for this executor;
+/// consequently one must define their entrypoint manually. Moveover, you must relinquish control
+/// of the `RTC` peripheral to the executor. This will typically look like
+///
+/// ```rust,no_run
+/// use embassy_executor::Spawner;
+/// use embassy_stm32::low_power::Executor;
+/// use embassy_stm32::rtc::{Rtc, RtcConfig};
+/// use static_cell::make_static;
+///
+/// #[cortex_m_rt::entry]
+/// fn main() -> ! {
+///     Executor::take().run(|spawner| {
+///         unwrap!(spawner.spawn(async_main(spawner)));
+///     });
+/// }
+///
+/// #[embassy_executor::task]
+/// async fn async_main(spawner: Spawner) {
+///     // initialize the platform...
+///     let mut config = embassy_stm32::Config::default();
+///     let p = embassy_stm32::init(config);
+///
+///     // give the RTC to the executor...
+///     let mut rtc = Rtc::new(p.RTC, RtcConfig::default());
+///     let rtc = make_static!(rtc);
+///     embassy_stm32::low_power::stop_with_rtc(rtc);
+///
+///     // your application here...
+/// }
+/// ```
 use core::arch::asm;
 use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
@@ -67,7 +114,7 @@ pub struct Executor {
 impl Executor {
     /// Create a new Executor.
     pub fn take() -> &'static mut Self {
-        unsafe {
+        critical_section::with(|_| unsafe {
             assert!(EXECUTOR.is_none());
 
             EXECUTOR = Some(Self {
@@ -78,7 +125,7 @@ impl Executor {
             });
 
             EXECUTOR.as_mut().unwrap()
-        }
+        })
     }
 
     unsafe fn on_wakeup_irq(&mut self) {
diff --git a/embassy-stm32/src/rcc/f4f7.rs b/embassy-stm32/src/rcc/f4f7.rs
index 3102600a1..2e4f95722 100644
--- a/embassy-stm32/src/rcc/f4f7.rs
+++ b/embassy-stm32/src/rcc/f4f7.rs
@@ -152,9 +152,9 @@ pub(crate) unsafe fn init(config: Config) {
         source: config.pll_src,
     };
     let pll = init_pll(PllInstance::Pll, config.pll, &pll_input);
-    #[cfg(any(all(stm32f4, not(any(stm32f410, stm32f429))), stm32f7))]
+    #[cfg(any(all(stm32f4, not(stm32f410)), stm32f7))]
     let _plli2s = init_pll(PllInstance::Plli2s, config.plli2s, &pll_input);
-    #[cfg(all(any(stm32f446, stm32f427, stm32f437, stm32f4x9, stm32f7), not(stm32f429)))]
+    #[cfg(any(stm32f446, stm32f427, stm32f437, stm32f4x9, stm32f7))]
     let _pllsai = init_pll(PllInstance::Pllsai, config.pllsai, &pll_input);
 
     // Configure sysclk
@@ -197,25 +197,15 @@ pub(crate) unsafe fn init(config: Config) {
         pclk2_tim,
         rtc,
         pll1_q: pll.q,
-        #[cfg(all(rcc_f4, not(any(stm32f410, stm32f429))))]
+        #[cfg(all(rcc_f4, not(stm32f410)))]
         plli2s1_q: _plli2s.q,
-        #[cfg(all(rcc_f4, not(any(stm32f410, stm32f429))))]
+        #[cfg(all(rcc_f4, not(stm32f410)))]
         plli2s1_r: _plli2s.r,
 
-        #[cfg(stm32f429)]
-        plli2s1_q: None,
-        #[cfg(stm32f429)]
-        plli2s1_r: None,
-
-        #[cfg(any(stm32f427, stm32f437, stm32f439, stm32f446, stm32f469, stm32f479))]
+        #[cfg(any(stm32f427, stm32f429, stm32f437, stm32f439, stm32f446, stm32f469, stm32f479))]
         pllsai1_q: _pllsai.q,
-        #[cfg(any(stm32f427, stm32f437, stm32f439, stm32f446, stm32f469, stm32f479))]
+        #[cfg(any(stm32f427, stm32f429, stm32f437, stm32f439, stm32f446, stm32f469, stm32f479))]
         pllsai1_r: _pllsai.r,
-
-        #[cfg(stm32f429)]
-        pllsai1_q: None,
-        #[cfg(stm32f429)]
-        pllsai1_r: None,
     });
 }
 
@@ -233,7 +223,6 @@ struct PllOutput {
     r: Option<Hertz>,
 }
 
-#[allow(dead_code)]
 #[derive(PartialEq, Eq, Clone, Copy)]
 enum PllInstance {
     Pll,
diff --git a/embassy-stm32/src/rtc/datetime.rs b/embassy-stm32/src/rtc/datetime.rs
index d897843dc..f3428108c 100644
--- a/embassy-stm32/src/rtc/datetime.rs
+++ b/embassy-stm32/src/rtc/datetime.rs
@@ -18,9 +18,13 @@ pub struct RtcInstant {
 }
 
 impl RtcInstant {
-    #[allow(dead_code)]
-    pub(super) fn from(second: u8, subsecond: u16) -> Result<Self, super::RtcError> {
-        Ok(Self { second, subsecond })
+    #[cfg(not(rtc_v2f2))]
+    pub(super) const fn from(second: u8, subsecond: u16) -> Result<Self, Error> {
+        if second > 59 {
+            Err(Error::InvalidSecond)
+        } else {
+            Ok(Self { second, subsecond })
+        }
     }
 }
 
@@ -226,7 +230,7 @@ impl From<DayOfWeek> for chrono::Weekday {
     }
 }
 
-fn day_of_week_from_u8(v: u8) -> Result<DayOfWeek, Error> {
+pub(super) const fn day_of_week_from_u8(v: u8) -> Result<DayOfWeek, Error> {
     Ok(match v {
         1 => DayOfWeek::Monday,
         2 => DayOfWeek::Tuesday,
@@ -239,24 +243,6 @@ fn day_of_week_from_u8(v: u8) -> Result<DayOfWeek, Error> {
     })
 }
 
-pub(super) fn day_of_week_to_u8(dotw: DayOfWeek) -> u8 {
+pub(super) const fn day_of_week_to_u8(dotw: DayOfWeek) -> u8 {
     dotw as u8
 }
-
-pub(super) fn validate_datetime(dt: &DateTime) -> Result<(), Error> {
-    if dt.year > 4095 {
-        Err(Error::InvalidYear)
-    } else if dt.month < 1 || dt.month > 12 {
-        Err(Error::InvalidMonth)
-    } else if dt.day < 1 || dt.day > 31 {
-        Err(Error::InvalidDay)
-    } else if dt.hour > 23 {
-        Err(Error::InvalidHour)
-    } else if dt.minute > 59 {
-        Err(Error::InvalidMinute)
-    } else if dt.second > 59 {
-        Err(Error::InvalidSecond)
-    } else {
-        Ok(())
-    }
-}
diff --git a/embassy-stm32/src/rtc/mod.rs b/embassy-stm32/src/rtc/mod.rs
index 68836be07..e94a58575 100644
--- a/embassy-stm32/src/rtc/mod.rs
+++ b/embassy-stm32/src/rtc/mod.rs
@@ -9,8 +9,11 @@ use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 #[cfg(feature = "low-power")]
 use embassy_sync::blocking_mutex::Mutex;
 
-pub use self::datetime::{DateTime, DayOfWeek, Error as DateTimeError, RtcInstant};
-use crate::rtc::datetime::day_of_week_to_u8;
+use self::datetime::day_of_week_to_u8;
+#[cfg(not(rtc_v2f2))]
+use self::datetime::RtcInstant;
+pub use self::datetime::{DateTime, DayOfWeek, Error as DateTimeError};
+use crate::pac::rtc::regs::{Dr, Tr};
 use crate::time::Hertz;
 
 /// refer to AN4759 to compare features of RTC2 and RTC3
@@ -31,11 +34,15 @@ use crate::peripherals::RTC;
 use crate::rtc::sealed::Instance;
 
 /// Errors that can occur on methods on [RtcClock]
+#[non_exhaustive]
 #[derive(Clone, Debug, PartialEq, Eq)]
 pub enum RtcError {
     /// An invalid DateTime was given or stored on the hardware.
     InvalidDateTime(DateTimeError),
 
+    /// The current time could not be read
+    ReadFailure,
+
     /// The RTC clock is not running
     NotRunning,
 }
@@ -45,48 +52,25 @@ pub struct RtcTimeProvider {
 }
 
 impl RtcTimeProvider {
+    #[cfg(not(rtc_v2f2))]
+    pub(crate) fn instant(&self) -> Result<RtcInstant, RtcError> {
+        self.read(|_, tr, ss| {
+            let second = bcd2_to_byte((tr.st(), tr.su()));
+
+            RtcInstant::from(second, ss).map_err(RtcError::InvalidDateTime)
+        })
+    }
+
     /// Return the current datetime.
     ///
     /// # Errors
     ///
     /// Will return an `RtcError::InvalidDateTime` if the stored value in the system is not a valid [`DayOfWeek`].
     pub fn now(&self) -> Result<DateTime, RtcError> {
-        // For RM0433 we use BYPSHAD=1 to work around errata ES0392 2.19.1
-        #[cfg(rcc_h7rm0433)]
-        loop {
-            let r = RTC::regs();
-            let ss = r.ssr().read().ss();
-            let dr = r.dr().read();
-            let tr = r.tr().read();
-
-            // If an RTCCLK edge occurs during read we may see inconsistent values
-            // so read ssr again and see if it has changed. (see RM0433 Rev 7 46.3.9)
-            let ss_after = r.ssr().read().ss();
-            if ss == ss_after {
-                let second = bcd2_to_byte((tr.st(), tr.su()));
-                let minute = bcd2_to_byte((tr.mnt(), tr.mnu()));
-                let hour = bcd2_to_byte((tr.ht(), tr.hu()));
-
-                let weekday = dr.wdu();
-                let day = bcd2_to_byte((dr.dt(), dr.du()));
-                let month = bcd2_to_byte((dr.mt() as u8, dr.mu()));
-                let year = bcd2_to_byte((dr.yt(), dr.yu())) as u16 + 1970_u16;
-
-                return DateTime::from(year, month, day, weekday, hour, minute, second)
-                    .map_err(RtcError::InvalidDateTime);
-            }
-        }
-
-        #[cfg(not(rcc_h7rm0433))]
-        {
-            let r = RTC::regs();
-            let tr = r.tr().read();
+        self.read(|dr, tr, _| {
             let second = bcd2_to_byte((tr.st(), tr.su()));
             let minute = bcd2_to_byte((tr.mnt(), tr.mnu()));
             let hour = bcd2_to_byte((tr.ht(), tr.hu()));
-            // Reading either RTC_SSR or RTC_TR locks the values in the higher-order
-            // calendar shadow registers until RTC_DR is read.
-            let dr = r.dr().read();
 
             let weekday = dr.wdu();
             let day = bcd2_to_byte((dr.dt(), dr.du()));
@@ -94,7 +78,33 @@ impl RtcTimeProvider {
             let year = bcd2_to_byte((dr.yt(), dr.yu())) as u16 + 1970_u16;
 
             DateTime::from(year, month, day, weekday, hour, minute, second).map_err(RtcError::InvalidDateTime)
+        })
+    }
+
+    fn read<R>(&self, mut f: impl FnMut(Dr, Tr, u16) -> Result<R, RtcError>) -> Result<R, RtcError> {
+        let r = RTC::regs();
+
+        #[cfg(not(rtc_v2f2))]
+        let read_ss = || r.ssr().read().ss();
+        #[cfg(rtc_v2f2)]
+        let read_ss = || 0;
+
+        let mut ss = read_ss();
+        for _ in 0..5 {
+            let tr = r.tr().read();
+            let dr = r.dr().read();
+            let ss_after = read_ss();
+
+            // If an RTCCLK edge occurs during read we may see inconsistent values
+            // so read ssr again and see if it has changed. (see RM0433 Rev 7 46.3.9)
+            if ss == ss_after {
+                return f(dr, tr, ss.try_into().unwrap());
+            } else {
+                ss = ss_after
+            }
         }
+
+        return Err(RtcError::ReadFailure);
     }
 }
 
@@ -158,6 +168,14 @@ impl Rtc {
 
         this.configure(async_psc, sync_psc);
 
+        // Wait for the clock to update after initialization
+        #[cfg(not(rtc_v2f2))]
+        {
+            let now = this.instant().unwrap();
+
+            while this.instant().unwrap().subsecond == now.subsecond {}
+        }
+
         this
     }
 
@@ -177,7 +195,6 @@ impl Rtc {
     ///
     /// Will return `RtcError::InvalidDateTime` if the datetime is not a valid range.
     pub fn set_datetime(&mut self, t: DateTime) -> Result<(), RtcError> {
-        self::datetime::validate_datetime(&t).map_err(RtcError::InvalidDateTime)?;
         self.write(true, |rtc| {
             let (ht, hu) = byte_to_bcd2(t.hour() as u8);
             let (mnt, mnu) = byte_to_bcd2(t.minute() as u8);
@@ -217,16 +234,8 @@ impl Rtc {
 
     #[cfg(not(rtc_v2f2))]
     /// Return the current instant.
-    pub fn instant(&self) -> Result<RtcInstant, RtcError> {
-        let r = RTC::regs();
-        let tr = r.tr().read();
-        let subsecond = r.ssr().read().ss();
-        let second = bcd2_to_byte((tr.st(), tr.su()));
-
-        // Unlock the registers
-        r.dr().read();
-
-        RtcInstant::from(second, subsecond.try_into().unwrap())
+    fn instant(&self) -> Result<RtcInstant, RtcError> {
+        self.time_provider().instant()
     }
 
     /// Return the current datetime.
diff --git a/embassy-stm32/src/rtc/v2.rs b/embassy-stm32/src/rtc/v2.rs
index b6ab9b209..006fd63f4 100644
--- a/embassy-stm32/src/rtc/v2.rs
+++ b/embassy-stm32/src/rtc/v2.rs
@@ -150,14 +150,14 @@ impl super::Rtc {
     pub(super) fn configure(&mut self, async_psc: u8, sync_psc: u16) {
         self.write(true, |rtc| {
             rtc.cr().modify(|w| {
+                #[cfg(not(rtc_v2f2))]
+                w.set_bypshad(true);
                 #[cfg(rtc_v2f2)]
                 w.set_fmt(false);
                 #[cfg(not(rtc_v2f2))]
                 w.set_fmt(stm32_metapac::rtc::vals::Fmt::TWENTY_FOUR_HOUR);
                 w.set_osel(Osel::DISABLED);
                 w.set_pol(Pol::HIGH);
-                #[cfg(rcc_h7rm0433)]
-                w.set_bypshad(true);
             });
 
             rtc.prer().modify(|w| {
diff --git a/embassy-stm32/src/rtc/v3.rs b/embassy-stm32/src/rtc/v3.rs
index a6b2655d8..7bf757e7d 100644
--- a/embassy-stm32/src/rtc/v3.rs
+++ b/embassy-stm32/src/rtc/v3.rs
@@ -11,6 +11,7 @@ impl super::Rtc {
     pub(super) fn configure(&mut self, async_psc: u8, sync_psc: u16) {
         self.write(true, |rtc| {
             rtc.cr().modify(|w| {
+                w.set_bypshad(true);
                 w.set_fmt(Fmt::TWENTYFOURHOUR);
                 w.set_osel(Osel::DISABLED);
                 w.set_pol(Pol::HIGH);
diff --git a/embassy-stm32/src/time_driver.rs b/embassy-stm32/src/time_driver.rs
index add8be831..564c9d086 100644
--- a/embassy-stm32/src/time_driver.rs
+++ b/embassy-stm32/src/time_driver.rs
@@ -346,6 +346,10 @@ impl RtcDriver {
     }
 
     #[cfg(feature = "low-power")]
+    /// The minimum pause time beyond which the executor will enter a low-power state.
+    pub(crate) const MIN_STOP_PAUSE: embassy_time::Duration = embassy_time::Duration::from_millis(250);
+
+    #[cfg(feature = "low-power")]
     /// Pause the timer if ready; return err if not
     pub(crate) fn pause_time(&self) -> Result<(), ()> {
         critical_section::with(|cs| {
@@ -357,7 +361,7 @@ impl RtcDriver {
             self.stop_wakeup_alarm(cs);
 
             let time_until_next_alarm = self.time_until_next_alarm(cs);
-            if time_until_next_alarm < embassy_time::Duration::from_millis(250) {
+            if time_until_next_alarm < Self::MIN_STOP_PAUSE {
                 Err(())
             } else {
                 self.rtc
diff --git a/embassy-sync/Cargo.toml b/embassy-sync/Cargo.toml
index 81aeafae2..9a47fa212 100644
--- a/embassy-sync/Cargo.toml
+++ b/embassy-sync/Cargo.toml
@@ -45,4 +45,4 @@ futures-util = { version = "0.3.17", features = [ "channel" ] }
 
 # Enable critical-section implementation for std, for tests
 critical-section = { version = "1.1", features = ["std"] }
-static_cell = "1.1"
+static_cell = { version = "2" }
diff --git a/embassy-usb-logger/Cargo.toml b/embassy-usb-logger/Cargo.toml
index 29a8e421a..48b8bbcc6 100644
--- a/embassy-usb-logger/Cargo.toml
+++ b/embassy-usb-logger/Cargo.toml
@@ -13,6 +13,6 @@ embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
 embassy-sync = { version = "0.4.0", path = "../embassy-sync" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 futures = { version = "0.3", default-features = false }
-static_cell = "1"
+static_cell = { version = "2" }
 usbd-hid = "0.6.0"
 log = "0.4"
diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index 0554b7e06..f803adb03 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -48,7 +48,7 @@ defmt = "0.3"
 defmt-rtt = "0.4"
 
 fixed = "1.10.0"
-static_cell = "1.1"
+static_cell = { version = "2" }
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
diff --git a/examples/nrf5340/Cargo.toml b/examples/nrf5340/Cargo.toml
index 9c62508cd..4196d61ab 100644
--- a/examples/nrf5340/Cargo.toml
+++ b/examples/nrf5340/Cargo.toml
@@ -42,7 +42,7 @@ embedded-io-async = { version = "0.6.0" }
 defmt = "0.3"
 defmt-rtt = "0.4"
 
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index d020a0f5d..fbe7acae1 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -47,7 +47,8 @@ embedded-hal-async = "1.0.0-rc.1"
 embedded-hal-bus = { version = "0.1.0-rc.1", features = ["async"] }
 embedded-io-async = { version = "0.6.0", features = ["defmt-03"] }
 embedded-storage = { version = "0.3" }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
+portable-atomic = { version = "1.5", features = ["critical-section"] }
 log = "0.4"
 pio-proc = "0.2"
 pio = "0.2.1"
diff --git a/examples/rp/src/bin/pio_rotary_encoder.rs b/examples/rp/src/bin/pio_rotary_encoder.rs
new file mode 100644
index 000000000..6d9d59df6
--- /dev/null
+++ b/examples/rp/src/bin/pio_rotary_encoder.rs
@@ -0,0 +1,81 @@
+//! This example shows how to use the PIO module in the RP2040 to read a quadrature rotary encoder.
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::Pull;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::{bind_interrupts, pio};
+use fixed::traits::ToFixed;
+use pio::{Common, Config, FifoJoin, Instance, InterruptHandler, Pio, PioPin, ShiftDirection, StateMachine};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+pub struct PioEncoder<'d, T: Instance, const SM: usize> {
+    sm: StateMachine<'d, T, SM>,
+}
+
+impl<'d, T: Instance, const SM: usize> PioEncoder<'d, T, SM> {
+    pub fn new(
+        pio: &mut Common<'d, T>,
+        mut sm: StateMachine<'d, T, SM>,
+        pin_a: impl PioPin,
+        pin_b: impl PioPin,
+    ) -> Self {
+        let mut pin_a = pio.make_pio_pin(pin_a);
+        let mut pin_b = pio.make_pio_pin(pin_b);
+        pin_a.set_pull(Pull::Up);
+        pin_b.set_pull(Pull::Up);
+        sm.set_pin_dirs(pio::Direction::In, &[&pin_a, &pin_b]);
+
+        let prg = pio_proc::pio_asm!("wait 1 pin 1", "wait 0 pin 1", "in pins, 2", "push",);
+
+        let mut cfg = Config::default();
+        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();
+        cfg.use_program(&pio.load_program(&prg.program), &[]);
+        sm.set_config(&cfg);
+        sm.set_enable(true);
+        Self { sm }
+    }
+
+    pub async fn read(&mut self) -> Direction {
+        loop {
+            match self.sm.rx().wait_pull().await {
+                0 => return Direction::CounterClockwise,
+                1 => return Direction::Clockwise,
+                _ => {}
+            }
+        }
+    }
+}
+
+pub enum Direction {
+    Clockwise,
+    CounterClockwise,
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let Pio { mut common, sm0, .. } = Pio::new(p.PIO0, Irqs);
+
+    let mut encoder = PioEncoder::new(&mut common, sm0, p.PIN_4, p.PIN_5);
+
+    let mut count = 0;
+    loop {
+        info!("Count: {}", count);
+        count += match encoder.read().await {
+            Direction::Clockwise => 1,
+            Direction::CounterClockwise => -1,
+        };
+    }
+}
diff --git a/examples/rp/src/bin/pwm_input.rs b/examples/rp/src/bin/pwm_input.rs
new file mode 100644
index 000000000..0fc2e40c3
--- /dev/null
+++ b/examples/rp/src/bin/pwm_input.rs
@@ -0,0 +1,26 @@
+//! This example shows how to use the PWM module to measure the frequency of an input signal.
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::pwm::{Config, InputMode, Pwm};
+use embassy_time::{Duration, Ticker};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+
+    let cfg: Config = Default::default();
+    let pwm = Pwm::new_input(p.PWM_CH2, p.PIN_5, InputMode::RisingEdge, cfg);
+
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        info!("Input frequency: {} Hz", pwm.counter());
+        pwm.set_counter(0);
+        ticker.next().await;
+    }
+}
diff --git a/examples/std/Cargo.toml b/examples/std/Cargo.toml
index 12ec40fad..99511292f 100644
--- a/examples/std/Cargo.toml
+++ b/examples/std/Cargo.toml
@@ -24,7 +24,7 @@ nix = "0.26.2"
 clap = { version = "3.0.0-beta.5", features = ["derive"] }
 rand_core = { version = "0.6.3", features = ["std"] }
 heapless = { version = "0.7.5", default-features = false }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32f0/Cargo.toml b/examples/stm32f0/Cargo.toml
index 953fa5845..3f781d762 100644
--- a/examples/stm32f0/Cargo.toml
+++ b/examples/stm32f0/Cargo.toml
@@ -17,7 +17,8 @@ panic-probe = "0.3"
 embassy-sync = { version = "0.4.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.3.1", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
+portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32f3/Cargo.toml b/examples/stm32f3/Cargo.toml
index 548191ca6..0ab25c4c2 100644
--- a/examples/stm32f3/Cargo.toml
+++ b/examples/stm32f3/Cargo.toml
@@ -24,7 +24,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32f334/Cargo.toml b/examples/stm32f334/Cargo.toml
index b42cc9961..b3bfde441 100644
--- a/examples/stm32f334/Cargo.toml
+++ b/examples/stm32f334/Cargo.toml
@@ -23,4 +23,4 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
diff --git a/examples/stm32f4/Cargo.toml b/examples/stm32f4/Cargo.toml
index 916d0490b..fca182036 100644
--- a/examples/stm32f4/Cargo.toml
+++ b/examples/stm32f4/Cargo.toml
@@ -27,7 +27,7 @@ heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
 embedded-storage = "0.3.0"
 micromath = "2.0.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 chrono = { version = "^0.4", default-features = false}
 
 [profile.release]
diff --git a/examples/stm32f7/Cargo.toml b/examples/stm32f7/Cargo.toml
index 35757e623..0a567d046 100644
--- a/examples/stm32f7/Cargo.toml
+++ b/examples/stm32f7/Cargo.toml
@@ -27,7 +27,7 @@ nb = "1.0.0"
 rand_core = "0.6.3"
 critical-section = "1.1"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32g0/Cargo.toml b/examples/stm32g0/Cargo.toml
index fb7f780f9..42d7d328f 100644
--- a/examples/stm32g0/Cargo.toml
+++ b/examples/stm32g0/Cargo.toml
@@ -20,6 +20,7 @@ embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
+portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32h5/Cargo.toml b/examples/stm32h5/Cargo.toml
index c4f41d1cf..db56b685a 100644
--- a/examples/stm32h5/Cargo.toml
+++ b/examples/stm32h5/Cargo.toml
@@ -31,7 +31,7 @@ critical-section = "1.1"
 micromath = "2.0.0"
 stm32-fmc = "0.3.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 # cargo build/run
 [profile.dev]
diff --git a/examples/stm32h7/Cargo.toml b/examples/stm32h7/Cargo.toml
index d6b14a602..c300c8644 100644
--- a/examples/stm32h7/Cargo.toml
+++ b/examples/stm32h7/Cargo.toml
@@ -31,7 +31,7 @@ critical-section = "1.1"
 micromath = "2.0.0"
 stm32-fmc = "0.3.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 chrono = { version = "^0.4", default-features = false }
 
 # cargo build/run
diff --git a/examples/stm32l0/Cargo.toml b/examples/stm32l0/Cargo.toml
index edd1d0261..e294d0422 100644
--- a/examples/stm32l0/Cargo.toml
+++ b/examples/stm32l0/Cargo.toml
@@ -33,7 +33,8 @@ panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
 embedded-hal = "0.2.6"
-static_cell = "1.1"
+static_cell = { version = "2" }
+portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32l4/Cargo.toml b/examples/stm32l4/Cargo.toml
index 2fbba4634..5d79cf1ed 100644
--- a/examples/stm32l4/Cargo.toml
+++ b/examples/stm32l4/Cargo.toml
@@ -32,7 +32,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 chrono = { version = "^0.4", default-features = false }
 rand = { version = "0.8.5", default-features = false }
-static_cell = {version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 micromath = "2.0.0"
 
diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml
index 2457b40d7..1cd32892d 100644
--- a/examples/stm32l5/Cargo.toml
+++ b/examples/stm32l5/Cargo.toml
@@ -26,7 +26,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 rand_core = { version = "0.6.3", default-features = false }
 embedded-io-async = { version = "0.6.0" }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32wb/Cargo.toml b/examples/stm32wb/Cargo.toml
index 5864906d0..daacc11c4 100644
--- a/examples/stm32wb/Cargo.toml
+++ b/examples/stm32wb/Cargo.toml
@@ -22,7 +22,7 @@ embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [features]
 default = ["ble", "mac"]
diff --git a/examples/stm32wba/Cargo.toml b/examples/stm32wba/Cargo.toml
index 12e0e5ab0..c52848500 100644
--- a/examples/stm32wba/Cargo.toml
+++ b/examples/stm32wba/Cargo.toml
@@ -20,7 +20,7 @@ embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/tests/nrf/Cargo.toml b/tests/nrf/Cargo.toml
index 6441d5c30..f7a104090 100644
--- a/tests/nrf/Cargo.toml
+++ b/tests/nrf/Cargo.toml
@@ -18,7 +18,7 @@ embassy-net-esp-hosted = { version = "0.1.0", path = "../../embassy-net-esp-host
 embassy-net-enc28j60 = { version = "0.1.0", path = "../../embassy-net-enc28j60", features = ["defmt"] }
 embedded-hal-async = { version = "1.0.0-rc.1" }
 embedded-hal-bus = { version = "0.1.0-rc.1", features = ["async"] }
-static_cell = { version = "1.1", features = [ "nightly" ] }
+static_cell = { version = "2", features = [ "nightly" ] }
 perf-client = { path = "../perf-client" }
 
 defmt = "0.3"
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index d947568ba..1bf149c90 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -31,7 +31,8 @@ panic-probe = { version = "0.3.0", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 embedded-io-async = { version = "0.6.0" }
 embedded-storage = { version = "0.3" }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
+portable-atomic = { version = "1.5", features = ["critical-section"] }
 pio = "0.2"
 pio-proc = "0.2"
 rand = { version = "0.8.5", default-features = false }
diff --git a/tests/rp/src/bin/gpio_multicore.rs b/tests/rp/src/bin/gpio_multicore.rs
index 6ab7f6717..a4923b6ba 100644
--- a/tests/rp/src/bin/gpio_multicore.rs
+++ b/tests/rp/src/bin/gpio_multicore.rs
@@ -5,12 +5,12 @@ teleprobe_meta::target!(b"rpi-pico");
 
 use defmt::{info, unwrap};
 use embassy_executor::Executor;
-use embassy_executor::_export::StaticCell;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
 use embassy_rp::multicore::{spawn_core1, Stack};
 use embassy_rp::peripherals::{PIN_0, PIN_1};
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::Channel;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 static mut CORE1_STACK: Stack<1024> = Stack::new();
diff --git a/tests/rp/src/bin/i2c.rs b/tests/rp/src/bin/i2c.rs
index 425f2d086..7ddb71c7d 100644
--- a/tests/rp/src/bin/i2c.rs
+++ b/tests/rp/src/bin/i2c.rs
@@ -5,12 +5,12 @@ teleprobe_meta::target!(b"rpi-pico");
 
 use defmt::{assert_eq, info, panic, unwrap};
 use embassy_executor::Executor;
-use embassy_executor::_export::StaticCell;
 use embassy_rp::multicore::{spawn_core1, Stack};
 use embassy_rp::peripherals::{I2C0, I2C1};
 use embassy_rp::{bind_interrupts, i2c, i2c_slave};
 use embedded_hal_1::i2c::Operation;
 use embedded_hal_async::i2c::I2c;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _, panic_probe as _, panic_probe as _};
 
 static mut CORE1_STACK: Stack<1024> = Stack::new();
diff --git a/tests/rp/src/bin/multicore.rs b/tests/rp/src/bin/multicore.rs
index f4188135e..6560b6c8d 100644
--- a/tests/rp/src/bin/multicore.rs
+++ b/tests/rp/src/bin/multicore.rs
@@ -5,10 +5,10 @@ teleprobe_meta::target!(b"rpi-pico");
 
 use defmt::{info, unwrap};
 use embassy_executor::Executor;
-use embassy_executor::_export::StaticCell;
 use embassy_rp::multicore::{spawn_core1, Stack};
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::Channel;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 static mut CORE1_STACK: Stack<1024> = Stack::new();
diff --git a/tests/stm32/Cargo.toml b/tests/stm32/Cargo.toml
index db265daae..4b769b1cb 100644
--- a/tests/stm32/Cargo.toml
+++ b/tests/stm32/Cargo.toml
@@ -8,8 +8,8 @@ autobins = false
 [features]
 stm32f103c8 = ["embassy-stm32/stm32f103c8", "not-gpdma"]
 stm32f429zi = ["embassy-stm32/stm32f429zi", "chrono", "eth", "stop", "can", "not-gpdma", "dac-adc-pin", "rng"]
-stm32g071rb = ["embassy-stm32/stm32g071rb", "not-gpdma", "dac-adc-pin"]
-stm32c031c6 = ["embassy-stm32/stm32c031c6", "not-gpdma"]
+stm32g071rb = ["embassy-stm32/stm32g071rb", "cm0", "not-gpdma", "dac-adc-pin"]
+stm32c031c6 = ["embassy-stm32/stm32c031c6", "cm0", "not-gpdma"]
 stm32g491re = ["embassy-stm32/stm32g491re", "chrono", "not-gpdma", "rng"]
 stm32h755zi = ["embassy-stm32/stm32h755zi-cm7", "chrono", "not-gpdma", "eth", "dac-adc-pin", "rng"]
 stm32h753zi = ["embassy-stm32/stm32h753zi", "chrono", "not-gpdma", "eth", "rng"]
@@ -19,7 +19,7 @@ stm32h563zi = ["embassy-stm32/stm32h563zi", "chrono", "eth", "rng"]
 stm32u585ai = ["embassy-stm32/stm32u585ai", "chrono", "rng"]
 stm32u5a5zj = ["embassy-stm32/stm32u5a5zj", "chrono", "rng"]
 stm32wba52cg = ["embassy-stm32/stm32wba52cg", "chrono", "rng"]
-stm32l073rz = ["embassy-stm32/stm32l073rz", "not-gpdma", "rng"]
+stm32l073rz = ["embassy-stm32/stm32l073rz", "cm0", "not-gpdma", "rng"]
 stm32l152re = ["embassy-stm32/stm32l152re", "chrono", "not-gpdma"]
 stm32l4a6zg = ["embassy-stm32/stm32l4a6zg", "chrono", "not-gpdma", "rng"]
 stm32l4r5zi = ["embassy-stm32/stm32l4r5zi", "chrono", "not-gpdma", "rng"]
@@ -42,6 +42,8 @@ embassy-stm32-wpan = []
 not-gpdma = []
 dac-adc-pin = []
 
+cm0 = ["portable-atomic/unsafe-assume-single-core"]
+
 [dependencies]
 teleprobe-meta = "1"
 
@@ -66,7 +68,8 @@ micromath = "2.0.0"
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
 rand_core = { version = "0.6", default-features = false }
 rand_chacha = { version = "0.3", default-features = false }
-static_cell = {version = "1.1", features = ["nightly"] }
+static_cell = { version = "2", features = ["nightly"] }
+portable-atomic = { version = "1.5", features = [] }
 
 chrono = { version = "^0.4", default-features = false, optional = true}