Rebase on master

61 files changed, 1923 insertions, 1145 deletions

diff --git a/ci.sh b/ci.sh
index ae1b44281..69440ec36 100755
--- a/ci.sh
+++ b/ci.sh
@@ -58,6 +58,7 @@ cargo batch  \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits,log \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits \
     --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly \
+    --- build --release --manifest-path embassy-rp/Cargo.toml --target thumbv6m-none-eabi --features nightly,intrinsics \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f410tb,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f411ce,defmt,exti,time-driver-any,unstable-traits \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7em-none-eabi --features nightly,stm32f429zi,log,exti,time-driver-any,unstable-traits \
diff --git a/embassy-boot/boot/src/lib.rs b/embassy-boot/boot/src/lib.rs
index 96878ace9..8286601ec 100644
--- a/embassy-boot/boot/src/lib.rs
+++ b/embassy-boot/boot/src/lib.rs
@@ -604,6 +604,21 @@ impl FirmwareUpdater {
         self.dfu.len()
     }
 
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub async fn get_state<F: AsyncNorFlash>(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result<State, F::Error> {
+        flash.read(self.state.from as u32, aligned).await?;
+
+        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
     /// Mark to trigger firmware swap on next boot.
     ///
     /// # Safety
@@ -660,12 +675,6 @@ impl FirmwareUpdater {
     ) -> Result<(), F::Error> {
         assert!(data.len() >= F::ERASE_SIZE);
 
-        trace!(
-            "Writing firmware at offset 0x{:x} len {}",
-            self.dfu.from + offset,
-            data.len()
-        );
-
         flash
             .erase(
                 (self.dfu.from + offset) as u32,
@@ -679,7 +688,156 @@ impl FirmwareUpdater {
             self.dfu.from + offset + data.len()
         );
 
-        let mut write_offset = self.dfu.from + offset;
+        FirmwareWriter(self.dfu)
+            .write_block(offset, data, flash, block_size)
+            .await?;
+
+        Ok(())
+    }
+
+    /// Prepare for an incoming DFU update by erasing the entire DFU area and
+    /// returning a `FirmwareWriter`.
+    ///
+    /// Using this instead of `write_firmware` allows for an optimized API in
+    /// exchange for added complexity.
+    pub async fn prepare_update<F: AsyncNorFlash>(&mut self, flash: &mut F) -> Result<FirmwareWriter, F::Error> {
+        flash.erase((self.dfu.from) as u32, (self.dfu.to) as u32).await?;
+
+        trace!("Erased from {} to {}", self.dfu.from, self.dfu.to);
+
+        Ok(FirmwareWriter(self.dfu))
+    }
+
+    //
+    // Blocking API
+    //
+
+    /// Obtain the current state.
+    ///
+    /// This is useful to check if the bootloader has just done a swap, in order
+    /// to do verifications and self-tests of the new image before calling
+    /// `mark_booted`.
+    pub fn get_state_blocking<F: NorFlash>(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result<State, F::Error> {
+        flash.read(self.state.from as u32, aligned)?;
+
+        if !aligned.iter().any(|&b| b != SWAP_MAGIC) {
+            Ok(State::Swap)
+        } else {
+            Ok(State::Boot)
+        }
+    }
+
+    /// Mark to trigger firmware swap on next boot.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub fn mark_updated_blocking<F: NorFlash>(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result<(), F::Error> {
+        assert_eq!(aligned.len(), F::WRITE_SIZE);
+        self.set_magic_blocking(aligned, SWAP_MAGIC, flash)
+    }
+
+    /// Mark firmware boot successful and stop rollback on reset.
+    ///
+    /// # Safety
+    ///
+    /// The `aligned` buffer must have a size of F::WRITE_SIZE, and follow the alignment rules for the flash being written to.
+    pub fn mark_booted_blocking<F: NorFlash>(&mut self, flash: &mut F, aligned: &mut [u8]) -> Result<(), F::Error> {
+        assert_eq!(aligned.len(), F::WRITE_SIZE);
+        self.set_magic_blocking(aligned, BOOT_MAGIC, flash)
+    }
+
+    fn set_magic_blocking<F: NorFlash>(
+        &mut self,
+        aligned: &mut [u8],
+        magic: u8,
+        flash: &mut F,
+    ) -> Result<(), F::Error> {
+        flash.read(self.state.from as u32, aligned)?;
+
+        if aligned.iter().any(|&b| b != magic) {
+            aligned.fill(0);
+
+            flash.write(self.state.from as u32, aligned)?;
+            flash.erase(self.state.from as u32, self.state.to as u32)?;
+
+            aligned.fill(magic);
+            flash.write(self.state.from as u32, aligned)?;
+        }
+        Ok(())
+    }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub fn write_firmware_blocking<F: NorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), F::Error> {
+        assert!(data.len() >= F::ERASE_SIZE);
+
+        flash.erase(
+            (self.dfu.from + offset) as u32,
+            (self.dfu.from + offset + data.len()) as u32,
+        )?;
+
+        trace!(
+            "Erased from {} to {}",
+            self.dfu.from + offset,
+            self.dfu.from + offset + data.len()
+        );
+
+        FirmwareWriter(self.dfu).write_block_blocking(offset, data, flash, block_size)?;
+
+        Ok(())
+    }
+
+    /// Prepare for an incoming DFU update by erasing the entire DFU area and
+    /// returning a `FirmwareWriter`.
+    ///
+    /// Using this instead of `write_firmware_blocking` allows for an optimized
+    /// API in exchange for added complexity.
+    pub fn prepare_update_blocking<F: NorFlash>(&mut self, flash: &mut F) -> Result<FirmwareWriter, F::Error> {
+        flash.erase((self.dfu.from) as u32, (self.dfu.to) as u32)?;
+
+        trace!("Erased from {} to {}", self.dfu.from, self.dfu.to);
+
+        Ok(FirmwareWriter(self.dfu))
+    }
+}
+
+/// FirmwareWriter allows writing blocks to an already erased flash.
+pub struct FirmwareWriter(Partition);
+
+impl FirmwareWriter {
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub async fn write_block<F: AsyncNorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), F::Error> {
+        trace!(
+            "Writing firmware at offset 0x{:x} len {}",
+            self.0.from + offset,
+            data.len()
+        );
+
+        let mut write_offset = self.0.from + offset;
         for chunk in data.chunks(block_size) {
             trace!("Wrote chunk at {}: {:?}", write_offset, chunk);
             flash.write(write_offset as u32, chunk).await?;
@@ -702,6 +860,50 @@ impl FirmwareUpdater {
 
         Ok(())
     }
+
+    /// Write data to a flash page.
+    ///
+    /// The buffer must follow alignment requirements of the target flash and a multiple of page size big.
+    ///
+    /// # Safety
+    ///
+    /// Failing to meet alignment and size requirements may result in a panic.
+    pub fn write_block_blocking<F: NorFlash>(
+        &mut self,
+        offset: usize,
+        data: &[u8],
+        flash: &mut F,
+        block_size: usize,
+    ) -> Result<(), F::Error> {
+        trace!(
+            "Writing firmware at offset 0x{:x} len {}",
+            self.0.from + offset,
+            data.len()
+        );
+
+        let mut write_offset = self.0.from + offset;
+        for chunk in data.chunks(block_size) {
+            trace!("Wrote chunk at {}: {:?}", write_offset, chunk);
+            flash.write(write_offset as u32, chunk)?;
+            write_offset += chunk.len();
+        }
+        /*
+        trace!("Wrote data, reading back for verification");
+
+        let mut buf: [u8; 4096] = [0; 4096];
+        let mut data_offset = 0;
+        let mut read_offset = self.dfu.from + offset;
+        for chunk in buf.chunks_mut(block_size) {
+            flash.read(read_offset as u32, chunk).await?;
+            trace!("Read chunk at {}: {:?}", read_offset, chunk);
+            assert_eq!(&data[data_offset..data_offset + block_size], chunk);
+            read_offset += chunk.len();
+            data_offset += chunk.len();
+        }
+        */
+
+        Ok(())
+    }
 }
 
 #[cfg(test)]
diff --git a/embassy-lora/src/stm32wl/mod.rs b/embassy-lora/src/stm32wl/mod.rs
index e28fa2c1a..8d5d19531 100644
--- a/embassy-lora/src/stm32wl/mod.rs
+++ b/embassy-lora/src/stm32wl/mod.rs
@@ -234,15 +234,15 @@ fn configure_radio(radio: &mut SubGhz<'_, NoDma, NoDma>, config: SubGhzRadioConf
     Ok(())
 }
 
-impl<RS: RadioSwitch> PhyRxTx for SubGhzRadio<'static, RS> {
+impl<'d, RS: RadioSwitch> PhyRxTx for SubGhzRadio<'d, RS> {
     type PhyError = RadioError;
 
-    type TxFuture<'m> = impl Future<Output = Result<u32, Self::PhyError>> + 'm where RS: 'm;
+    type TxFuture<'m> = impl Future<Output = Result<u32, Self::PhyError>> + 'm where Self: 'm;
     fn tx<'m>(&'m mut self, config: TxConfig, buf: &'m [u8]) -> Self::TxFuture<'m> {
         async move { self.do_tx(config, buf).await }
     }
 
-    type RxFuture<'m> = impl Future<Output = Result<(usize, RxQuality), Self::PhyError>> + 'm  where RS: 'm;
+    type RxFuture<'m> = impl Future<Output = Result<(usize, RxQuality), Self::PhyError>> + 'm  where Self: 'm;
     fn rx<'m>(&'m mut self, config: RfConfig, buf: &'m mut [u8]) -> Self::RxFuture<'m> {
         async move { self.do_rx(config, buf).await }
     }
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 6fbbc8d9b..d80281fa3 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -18,10 +18,10 @@ flavors = [
 
 time = ["dep:embassy-time"]
 
-defmt = ["dep:defmt", "embassy-executor/defmt", "embassy-sync/defmt", "embassy-usb?/defmt", "embedded-io?/defmt", "embassy-embedded-hal/defmt"]
+defmt = ["dep:defmt", "embassy-executor/defmt", "embassy-sync/defmt", "embassy-usb-driver?/defmt", "embedded-io?/defmt", "embassy-embedded-hal/defmt"]
 
 # Enable nightly-only features
-nightly = ["embedded-hal-1", "embedded-hal-async", "embassy-usb", "embedded-storage-async", "dep:embedded-io", "embassy-embedded-hal/nightly"]
+nightly = ["embedded-hal-1", "embedded-hal-async", "dep:embassy-usb-driver", "embedded-storage-async", "dep:embedded-io", "embassy-embedded-hal/nightly"]
 
 # Reexport the PAC for the currently enabled chip at `embassy_nrf::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-nrf may major-bump (breaking) the PAC version.
@@ -70,7 +70,7 @@ embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
-embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional=true }
+embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optional=true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8", optional = true}
diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs
index fec875cb8..6e85a159f 100644
--- a/embassy-nrf/src/buffered_uarte.rs
+++ b/embassy-nrf/src/buffered_uarte.rs
@@ -26,7 +26,7 @@ use embassy_sync::waitqueue::WakerRegistration;
 // Re-export SVD variants to allow user to directly set values
 pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
 
-use crate::gpio::Pin as GpioPin;
+use crate::gpio::{self, Pin as GpioPin};
 use crate::interrupt::InterruptExt;
 use crate::ppi::{AnyConfigurableChannel, ConfigurableChannel, Event, Ppi, Task};
 use crate::timer::{Frequency, Instance as TimerInstance, Timer};
@@ -428,21 +428,23 @@ impl<'a, U: UarteInstance, T: TimerInstance> Drop for StateInner<'a, U, T> {
     fn drop(&mut self) {
         let r = U::regs();
 
-        // TODO this probably deadlocks. do like Uarte instead.
-
         self.timer.stop();
-        if let RxState::Receiving = self.rx_state {
-            r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
-        }
-        if let TxState::Transmitting(_) = self.tx_state {
-            r.tasks_stoptx.write(|w| unsafe { w.bits(1) });
-        }
-        if let RxState::Receiving = self.rx_state {
-            low_power_wait_until(|| r.events_endrx.read().bits() == 1);
-        }
-        if let TxState::Transmitting(_) = self.tx_state {
-            low_power_wait_until(|| r.events_endtx.read().bits() == 1);
-        }
+
+        r.inten.reset();
+        r.events_rxto.reset();
+        r.tasks_stoprx.write(|w| unsafe { w.bits(1) });
+        r.events_txstopped.reset();
+        r.tasks_stoptx.write(|w| unsafe { w.bits(1) });
+
+        while r.events_txstopped.read().bits() == 0 {}
+        while r.events_rxto.read().bits() == 0 {}
+
+        r.enable.write(|w| w.enable().disabled());
+
+        gpio::deconfigure_pin(r.psel.rxd.read().bits());
+        gpio::deconfigure_pin(r.psel.txd.read().bits());
+        gpio::deconfigure_pin(r.psel.rts.read().bits());
+        gpio::deconfigure_pin(r.psel.cts.read().bits());
     }
 }
 
@@ -548,13 +550,3 @@ impl<'a, U: UarteInstance, T: TimerInstance> PeripheralState for StateInner<'a,
         trace!("irq: end");
     }
 }
-
-/// Low power blocking wait loop using WFE/SEV.
-fn low_power_wait_until(mut condition: impl FnMut() -> bool) {
-    while !condition() {
-        // WFE might "eat" an event that would have otherwise woken the executor.
-        cortex_m::asm::wfe();
-    }
-    // Retrigger an event to be transparent to the executor.
-    cortex_m::asm::sev();
-}
diff --git a/embassy-nrf/src/usb.rs b/embassy-nrf/src/usb.rs
index 0685d419c..00da5c9dd 100644
--- a/embassy-nrf/src/usb.rs
+++ b/embassy-nrf/src/usb.rs
@@ -9,9 +9,8 @@ use core::task::Poll;
 use cortex_m::peripheral::NVIC;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-pub use embassy_usb;
-use embassy_usb::driver::{self, EndpointError, Event, Unsupported};
-use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
+use embassy_usb_driver as driver;
+use embassy_usb_driver::{Direction, EndpointAddress, EndpointError, EndpointInfo, EndpointType, Event, Unsupported};
 use pac::usbd::RegisterBlock;
 
 use crate::interrupt::{Interrupt, InterruptExt};
@@ -243,7 +242,7 @@ impl<'d, T: Instance, P: UsbSupply + 'd> driver::Driver<'d> for Driver<'d, T, P>
         interval: u8,
     ) -> Result<Self::EndpointIn, driver::EndpointAllocError> {
         let index = self.alloc_in.allocate(ep_type)?;
-        let ep_addr = EndpointAddress::from_parts(index, UsbDirection::In);
+        let ep_addr = EndpointAddress::from_parts(index, Direction::In);
         Ok(Endpoint::new(EndpointInfo {
             addr: ep_addr,
             ep_type,
@@ -259,7 +258,7 @@ impl<'d, T: Instance, P: UsbSupply + 'd> driver::Driver<'d> for Driver<'d, T, P>
         interval: u8,
     ) -> Result<Self::EndpointOut, driver::EndpointAllocError> {
         let index = self.alloc_out.allocate(ep_type)?;
-        let ep_addr = EndpointAddress::from_parts(index, UsbDirection::Out);
+        let ep_addr = EndpointAddress::from_parts(index, Direction::Out);
         Ok(Endpoint::new(EndpointInfo {
             addr: ep_addr,
             ep_type,
@@ -428,8 +427,8 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> {
         let regs = T::regs();
         let i = ep_addr.index();
         match ep_addr.direction() {
-            UsbDirection::Out => regs.halted.epout[i].read().getstatus().is_halted(),
-            UsbDirection::In => regs.halted.epin[i].read().getstatus().is_halted(),
+            Direction::Out => regs.halted.epout[i].read().getstatus().is_halted(),
+            Direction::In => regs.halted.epin[i].read().getstatus().is_halted(),
         }
     }
 
@@ -442,7 +441,7 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> {
         debug!("endpoint_set_enabled {:?} {}", ep_addr, enabled);
 
         match ep_addr.direction() {
-            UsbDirection::In => {
+            Direction::In => {
                 let mut was_enabled = false;
                 regs.epinen.modify(|r, w| {
                     let mut bits = r.bits();
@@ -466,7 +465,7 @@ impl<'d, T: Instance, P: UsbSupply> driver::Bus for Bus<'d, T, P> {
 
                 In::waker(i).wake();
             }
-            UsbDirection::Out => {
+            Direction::Out => {
                 regs.epouten.modify(|r, w| {
                     let mut bits = r.bits();
                     if enabled {
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index ce78acd3c..a7c2daa56 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -12,7 +12,7 @@ flavors = [
 ]
 
 [features]
-defmt = ["dep:defmt", "embassy-usb?/defmt"]
+defmt = ["dep:defmt", "embassy-usb-driver?/defmt"]
 
 # Reexport the PAC for the currently enabled chip at `embassy_rp::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-rp may major-bump (breaking) the PAC version.
@@ -23,11 +23,11 @@ unstable-pac = []
 time-driver = []
 
 rom-func-cache = []
-disable-intrinsics = []
+intrinsics = []
 rom-v2-intrinsics = []
 
 # Enable nightly-only features
-nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb"]
+nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb-driver", "dep:embedded-io"]
 
 # Implement embedded-hal 1.0 alpha traits.
 # Implement embedded-hal-async traits if `nightly` is set as well.
@@ -41,7 +41,7 @@ embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-2"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
-embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional = true }
+embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optional = true }
 atomic-polyfill = "1.0.1"
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
@@ -53,6 +53,7 @@ critical-section = "1.1"
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 chrono = { version = "0.4", default-features = false, optional = true }
 embedded-storage = { version = "0.3" }
+embedded-io = { version = "0.3.0", features = ["async"], optional = true }
 
 rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev="017e3c9007b2d3b6965f0d85b5bf8ce3fa6d7364", features = ["rt"] }
 #rp2040-pac2 = { path = "../../rp2040-pac2", features = ["rt"] }
diff --git a/embassy-rp/src/i2c.rs b/embassy-rp/src/i2c.rs
new file mode 100644
index 000000000..9596d661d
--- /dev/null
+++ b/embassy-rp/src/i2c.rs
@@ -0,0 +1,556 @@
+use core::marker::PhantomData;
+
+use embassy_hal_common::{into_ref, PeripheralRef};
+use pac::i2c;
+
+use crate::dma::AnyChannel;
+use crate::gpio::sealed::Pin;
+use crate::gpio::AnyPin;
+use crate::{pac, peripherals, Peripheral};
+
+/// I2C error abort reason
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum AbortReason {
+    /// A bus operation was not acknowledged, e.g. due to the addressed device
+    /// not being available on the bus or the device not being ready to process
+    /// requests at the moment
+    NoAcknowledge,
+    /// The arbitration was lost, e.g. electrical problems with the clock signal
+    ArbitrationLoss,
+    Other(u32),
+}
+
+/// I2C error
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Error {
+    /// I2C abort with error
+    Abort(AbortReason),
+    /// User passed in a read buffer that was 0 length
+    InvalidReadBufferLength,
+    /// User passed in a write buffer that was 0 length
+    InvalidWriteBufferLength,
+    /// Target i2c address is out of range
+    AddressOutOfRange(u16),
+    /// Target i2c address is reserved
+    AddressReserved(u16),
+}
+
+#[non_exhaustive]
+#[derive(Copy, Clone)]
+pub struct Config {
+    pub frequency: u32,
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self { frequency: 100_000 }
+    }
+}
+
+const FIFO_SIZE: u8 = 16;
+
+pub struct I2c<'d, T: Instance, M: Mode> {
+    _tx_dma: Option<PeripheralRef<'d, AnyChannel>>,
+    _rx_dma: Option<PeripheralRef<'d, AnyChannel>>,
+    _dma_buf: [u16; 256],
+    phantom: PhantomData<(&'d mut T, M)>,
+}
+
+impl<'d, T: Instance> I2c<'d, T, Blocking> {
+    pub fn new_blocking(
+        _peri: impl Peripheral<P = T> + 'd,
+        scl: impl Peripheral<P = impl SclPin<T>> + 'd,
+        sda: impl Peripheral<P = impl SdaPin<T>> + 'd,
+        config: Config,
+    ) -> Self {
+        into_ref!(scl, sda);
+        Self::new_inner(_peri, scl.map_into(), sda.map_into(), None, None, config)
+    }
+}
+
+impl<'d, T: Instance, M: Mode> I2c<'d, T, M> {
+    fn new_inner(
+        _peri: impl Peripheral<P = T> + 'd,
+        scl: PeripheralRef<'d, AnyPin>,
+        sda: PeripheralRef<'d, AnyPin>,
+        _tx_dma: Option<PeripheralRef<'d, AnyChannel>>,
+        _rx_dma: Option<PeripheralRef<'d, AnyChannel>>,
+        config: Config,
+    ) -> Self {
+        into_ref!(_peri);
+
+        assert!(config.frequency <= 1_000_000);
+        assert!(config.frequency > 0);
+
+        let p = T::regs();
+
+        unsafe {
+            p.ic_enable().write(|w| w.set_enable(false));
+
+            // Select controller mode & speed
+            p.ic_con().modify(|w| {
+                // Always use "fast" mode (<= 400 kHz, works fine for standard
+                // mode too)
+                w.set_speed(i2c::vals::Speed::FAST);
+                w.set_master_mode(true);
+                w.set_ic_slave_disable(true);
+                w.set_ic_restart_en(true);
+                w.set_tx_empty_ctrl(true);
+            });
+
+            // Set FIFO watermarks to 1 to make things simpler. This is encoded
+            // by a register value of 0.
+            p.ic_tx_tl().write(|w| w.set_tx_tl(0));
+            p.ic_rx_tl().write(|w| w.set_rx_tl(0));
+
+            // Configure SCL & SDA pins
+            scl.io().ctrl().write(|w| w.set_funcsel(3));
+            sda.io().ctrl().write(|w| w.set_funcsel(3));
+
+            scl.pad_ctrl().write(|w| {
+                w.set_schmitt(true);
+                w.set_ie(true);
+                w.set_od(false);
+                w.set_pue(true);
+                w.set_pde(false);
+            });
+            sda.pad_ctrl().write(|w| {
+                w.set_schmitt(true);
+                w.set_ie(true);
+                w.set_od(false);
+                w.set_pue(true);
+                w.set_pde(false);
+            });
+
+            // Configure baudrate
+
+            // There are some subtleties to I2C timing which we are completely
+            // ignoring here See:
+            // https://github.com/raspberrypi/pico-sdk/blob/bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7/src/rp2_common/hardware_i2c/i2c.c#L69
+            let clk_base = crate::clocks::clk_peri_freq();
+
+            let period = (clk_base + config.frequency / 2) / config.frequency;
+            let lcnt = period * 3 / 5; // spend 3/5 (60%) of the period low
+            let hcnt = period - lcnt; // and 2/5 (40%) of the period high
+
+            // Check for out-of-range divisors:
+            assert!(hcnt <= 0xffff);
+            assert!(lcnt <= 0xffff);
+            assert!(hcnt >= 8);
+            assert!(lcnt >= 8);
+
+            // Per I2C-bus specification a device in standard or fast mode must
+            // internally provide a hold time of at least 300ns for the SDA
+            // signal to bridge the undefined region of the falling edge of SCL.
+            // A smaller hold time of 120ns is used for fast mode plus.
+            let sda_tx_hold_count = if config.frequency < 1_000_000 {
+                // sda_tx_hold_count = clk_base [cycles/s] * 300ns * (1s /
+                // 1e9ns) Reduce 300/1e9 to 3/1e7 to avoid numbers that don't
+                // fit in uint. Add 1 to avoid division truncation.
+                ((clk_base * 3) / 10_000_000) + 1
+            } else {
+                // fast mode plus requires a clk_base > 32MHz
+                assert!(clk_base >= 32_000_000);
+
+                // sda_tx_hold_count = clk_base [cycles/s] * 120ns * (1s /
+                // 1e9ns) Reduce 120/1e9 to 3/25e6 to avoid numbers that don't
+                // fit in uint. Add 1 to avoid division truncation.
+                ((clk_base * 3) / 25_000_000) + 1
+            };
+            assert!(sda_tx_hold_count <= lcnt - 2);
+
+            p.ic_fs_scl_hcnt().write(|w| w.set_ic_fs_scl_hcnt(hcnt as u16));
+            p.ic_fs_scl_lcnt().write(|w| w.set_ic_fs_scl_lcnt(lcnt as u16));
+            p.ic_fs_spklen()
+                .write(|w| w.set_ic_fs_spklen(if lcnt < 16 { 1 } else { (lcnt / 16) as u8 }));
+            p.ic_sda_hold()
+                .modify(|w| w.set_ic_sda_tx_hold(sda_tx_hold_count as u16));
+
+            // Enable I2C block
+            p.ic_enable().write(|w| w.set_enable(true));
+        }
+
+        Self {
+            _tx_dma,
+            _rx_dma,
+            _dma_buf: [0; 256],
+            phantom: PhantomData,
+        }
+    }
+
+    fn setup(addr: u16) -> Result<(), Error> {
+        if addr >= 0x80 {
+            return Err(Error::AddressOutOfRange(addr));
+        }
+
+        if i2c_reserved_addr(addr) {
+            return Err(Error::AddressReserved(addr));
+        }
+
+        let p = T::regs();
+        unsafe {
+            p.ic_enable().write(|w| w.set_enable(false));
+            p.ic_tar().write(|w| w.set_ic_tar(addr));
+            p.ic_enable().write(|w| w.set_enable(true));
+        }
+        Ok(())
+    }
+
+    fn read_and_clear_abort_reason(&mut self) -> Result<(), Error> {
+        let p = T::regs();
+        unsafe {
+            let abort_reason = p.ic_tx_abrt_source().read();
+            if abort_reason.0 != 0 {
+                // Note clearing the abort flag also clears the reason, and this
+                // instance of flag is clear-on-read! Note also the
+                // IC_CLR_TX_ABRT register always reads as 0.
+                p.ic_clr_tx_abrt().read();
+
+                let reason = if abort_reason.abrt_7b_addr_noack()
+                    | abort_reason.abrt_10addr1_noack()
+                    | abort_reason.abrt_10addr2_noack()
+                {
+                    AbortReason::NoAcknowledge
+                } else if abort_reason.arb_lost() {
+                    AbortReason::ArbitrationLoss
+                } else {
+                    AbortReason::Other(abort_reason.0)
+                };
+
+                Err(Error::Abort(reason))
+            } else {
+                Ok(())
+            }
+        }
+    }
+
+    fn read_blocking_internal(&mut self, buffer: &mut [u8], restart: bool, send_stop: bool) -> Result<(), Error> {
+        if buffer.is_empty() {
+            return Err(Error::InvalidReadBufferLength);
+        }
+
+        let p = T::regs();
+        let lastindex = buffer.len() - 1;
+        for (i, byte) in buffer.iter_mut().enumerate() {
+            let first = i == 0;
+            let last = i == lastindex;
+
+            // NOTE(unsafe) We have &mut self
+            unsafe {
+                // wait until there is space in the FIFO to write the next byte
+                while p.ic_txflr().read().txflr() == FIFO_SIZE {}
+
+                p.ic_data_cmd().write(|w| {
+                    w.set_restart(restart && first);
+                    w.set_stop(send_stop && last);
+
+                    w.set_cmd(true);
+                });
+
+                while p.ic_rxflr().read().rxflr() == 0 {
+                    self.read_and_clear_abort_reason()?;
+                }
+
+                *byte = p.ic_data_cmd().read().dat();
+            }
+        }
+
+        Ok(())
+    }
+
+    fn write_blocking_internal(&mut self, bytes: &[u8], send_stop: bool) -> Result<(), Error> {
+        if bytes.is_empty() {
+            return Err(Error::InvalidWriteBufferLength);
+        }
+
+        let p = T::regs();
+
+        for (i, byte) in bytes.iter().enumerate() {
+            let last = i == bytes.len() - 1;
+
+            // NOTE(unsafe) We have &mut self
+            unsafe {
+                p.ic_data_cmd().write(|w| {
+                    w.set_stop(send_stop && last);
+                    w.set_dat(*byte);
+                });
+
+                // Wait until the transmission of the address/data from the
+                // internal shift register has completed. For this to function
+                // correctly, the TX_EMPTY_CTRL flag in IC_CON must be set. The
+                // TX_EMPTY_CTRL flag was set in i2c_init.
+                while !p.ic_raw_intr_stat().read().tx_empty() {}
+
+                let abort_reason = self.read_and_clear_abort_reason();
+
+                if abort_reason.is_err() || (send_stop && last) {
+                    // If the transaction was aborted or if it completed
+                    // successfully wait until the STOP condition has occured.
+
+                    while !p.ic_raw_intr_stat().read().stop_det() {}
+
+                    p.ic_clr_stop_det().read().clr_stop_det();
+                }
+
+                // Note the hardware issues a STOP automatically on an abort
+                // condition. Note also the hardware clears RX FIFO as well as
+                // TX on abort, ecause we set hwparam
+                // IC_AVOID_RX_FIFO_FLUSH_ON_TX_ABRT to 0.
+                abort_reason?;
+            }
+        }
+        Ok(())
+    }
+
+    // =========================
+    // Blocking public API
+    // =========================
+
+    pub fn blocking_read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error> {
+        Self::setup(address.into())?;
+        self.read_blocking_internal(buffer, true, true)
+        // Automatic Stop
+    }
+
+    pub fn blocking_write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Error> {
+        Self::setup(address.into())?;
+        self.write_blocking_internal(bytes, true)
+    }
+
+    pub fn blocking_write_read(&mut self, address: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Error> {
+        Self::setup(address.into())?;
+        self.write_blocking_internal(bytes, false)?;
+        self.read_blocking_internal(buffer, true, true)
+        // Automatic Stop
+    }
+}
+
+mod eh02 {
+    use super::*;
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::i2c::Read for I2c<'d, T, M> {
+        type Error = Error;
+
+        fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_read(address, buffer)
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::i2c::Write for I2c<'d, T, M> {
+        type Error = Error;
+
+        fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Self::Error> {
+            self.blocking_write(address, bytes)
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::i2c::WriteRead for I2c<'d, T, M> {
+        type Error = Error;
+
+        fn write_read(&mut self, address: u8, bytes: &[u8], buffer: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_write_read(address, bytes, buffer)
+        }
+    }
+}
+
+#[cfg(feature = "unstable-traits")]
+mod eh1 {
+    use super::*;
+
+    impl embedded_hal_1::i2c::Error for Error {
+        fn kind(&self) -> embedded_hal_1::i2c::ErrorKind {
+            match *self {
+                Self::Abort(AbortReason::ArbitrationLoss) => embedded_hal_1::i2c::ErrorKind::ArbitrationLoss,
+                Self::Abort(AbortReason::NoAcknowledge) => {
+                    embedded_hal_1::i2c::ErrorKind::NoAcknowledge(embedded_hal_1::i2c::NoAcknowledgeSource::Address)
+                }
+                Self::Abort(AbortReason::Other(_)) => embedded_hal_1::i2c::ErrorKind::Other,
+                Self::InvalidReadBufferLength => embedded_hal_1::i2c::ErrorKind::Other,
+                Self::InvalidWriteBufferLength => embedded_hal_1::i2c::ErrorKind::Other,
+                Self::AddressOutOfRange(_) => embedded_hal_1::i2c::ErrorKind::Other,
+                Self::AddressReserved(_) => embedded_hal_1::i2c::ErrorKind::Other,
+            }
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::i2c::ErrorType for I2c<'d, T, M> {
+        type Error = Error;
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::i2c::blocking::I2c for I2c<'d, T, M> {
+        fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_read(address, buffer)
+        }
+
+        fn write(&mut self, address: u8, buffer: &[u8]) -> Result<(), Self::Error> {
+            self.blocking_write(address, buffer)
+        }
+
+        fn write_iter<B>(&mut self, address: u8, bytes: B) -> Result<(), Self::Error>
+        where
+            B: IntoIterator<Item = u8>,
+        {
+            let mut peekable = bytes.into_iter().peekable();
+            Self::setup(address.into())?;
+
+            while let Some(tx) = peekable.next() {
+                self.write_blocking_internal(&[tx], peekable.peek().is_none())?;
+            }
+            Ok(())
+        }
+
+        fn write_iter_read<B>(&mut self, address: u8, bytes: B, buffer: &mut [u8]) -> Result<(), Self::Error>
+        where
+            B: IntoIterator<Item = u8>,
+        {
+            let peekable = bytes.into_iter().peekable();
+            Self::setup(address.into())?;
+
+            for tx in peekable {
+                self.write_blocking_internal(&[tx], false)?
+            }
+            self.read_blocking_internal(buffer, true, true)
+        }
+
+        fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Self::Error> {
+            self.blocking_write_read(address, wr_buffer, rd_buffer)
+        }
+
+        fn transaction<'a>(
+            &mut self,
+            address: u8,
+            operations: &mut [embedded_hal_1::i2c::blocking::Operation<'a>],
+        ) -> Result<(), Self::Error> {
+            Self::setup(address.into())?;
+            for i in 0..operations.len() {
+                let last = i == operations.len() - 1;
+                match &mut operations[i] {
+                    embedded_hal_1::i2c::blocking::Operation::Read(buf) => {
+                        self.read_blocking_internal(buf, false, last)?
+                    }
+                    embedded_hal_1::i2c::blocking::Operation::Write(buf) => self.write_blocking_internal(buf, last)?,
+                }
+            }
+            Ok(())
+        }
+
+        fn transaction_iter<'a, O>(&mut self, address: u8, operations: O) -> Result<(), Self::Error>
+        where
+            O: IntoIterator<Item = embedded_hal_1::i2c::blocking::Operation<'a>>,
+        {
+            Self::setup(address.into())?;
+            let mut peekable = operations.into_iter().peekable();
+            while let Some(operation) = peekable.next() {
+                let last = peekable.peek().is_none();
+                match operation {
+                    embedded_hal_1::i2c::blocking::Operation::Read(buf) => {
+                        self.read_blocking_internal(buf, false, last)?
+                    }
+                    embedded_hal_1::i2c::blocking::Operation::Write(buf) => self.write_blocking_internal(buf, last)?,
+                }
+            }
+            Ok(())
+        }
+    }
+}
+
+fn i2c_reserved_addr(addr: u16) -> bool {
+    (addr & 0x78) == 0 || (addr & 0x78) == 0x78
+}
+
+mod sealed {
+    use embassy_cortex_m::interrupt::Interrupt;
+
+    pub trait Instance {
+        const TX_DREQ: u8;
+        const RX_DREQ: u8;
+
+        type Interrupt: Interrupt;
+
+        fn regs() -> crate::pac::i2c::I2c;
+    }
+
+    pub trait Mode {}
+
+    pub trait SdaPin<T: Instance> {}
+    pub trait SclPin<T: Instance> {}
+}
+
+pub trait Mode: sealed::Mode {}
+
+macro_rules! impl_mode {
+    ($name:ident) => {
+        impl sealed::Mode for $name {}
+        impl Mode for $name {}
+    };
+}
+
+pub struct Blocking;
+pub struct Async;
+
+impl_mode!(Blocking);
+impl_mode!(Async);
+
+pub trait Instance: sealed::Instance {}
+
+macro_rules! impl_instance {
+    ($type:ident, $irq:ident, $tx_dreq:expr, $rx_dreq:expr) => {
+        impl sealed::Instance for peripherals::$type {
+            const TX_DREQ: u8 = $tx_dreq;
+            const RX_DREQ: u8 = $rx_dreq;
+
+            type Interrupt = crate::interrupt::$irq;
+
+            fn regs() -> pac::i2c::I2c {
+                pac::$type
+            }
+        }
+        impl Instance for peripherals::$type {}
+    };
+}
+
+impl_instance!(I2C0, I2C0_IRQ, 32, 33);
+impl_instance!(I2C1, I2C1_IRQ, 34, 35);
+
+pub trait SdaPin<T: Instance>: sealed::SdaPin<T> + crate::gpio::Pin {}
+pub trait SclPin<T: Instance>: sealed::SclPin<T> + crate::gpio::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, I2C0, SdaPin);
+impl_pin!(PIN_1, I2C0, SclPin);
+impl_pin!(PIN_2, I2C1, SdaPin);
+impl_pin!(PIN_3, I2C1, SclPin);
+impl_pin!(PIN_4, I2C0, SdaPin);
+impl_pin!(PIN_5, I2C0, SclPin);
+impl_pin!(PIN_6, I2C1, SdaPin);
+impl_pin!(PIN_7, I2C1, SclPin);
+impl_pin!(PIN_8, I2C0, SdaPin);
+impl_pin!(PIN_9, I2C0, SclPin);
+impl_pin!(PIN_10, I2C1, SdaPin);
+impl_pin!(PIN_11, I2C1, SclPin);
+impl_pin!(PIN_12, I2C0, SdaPin);
+impl_pin!(PIN_13, I2C0, SclPin);
+impl_pin!(PIN_14, I2C1, SdaPin);
+impl_pin!(PIN_15, I2C1, SclPin);
+impl_pin!(PIN_16, I2C0, SdaPin);
+impl_pin!(PIN_17, I2C0, SclPin);
+impl_pin!(PIN_18, I2C1, SdaPin);
+impl_pin!(PIN_19, I2C1, SclPin);
+impl_pin!(PIN_20, I2C0, SdaPin);
+impl_pin!(PIN_21, I2C0, SclPin);
+impl_pin!(PIN_22, I2C1, SdaPin);
+impl_pin!(PIN_23, I2C1, SclPin);
+impl_pin!(PIN_24, I2C0, SdaPin);
+impl_pin!(PIN_25, I2C0, SclPin);
+impl_pin!(PIN_26, I2C1, SdaPin);
+impl_pin!(PIN_27, I2C1, SclPin);
+impl_pin!(PIN_28, I2C0, SdaPin);
+impl_pin!(PIN_29, I2C0, SclPin);
diff --git a/embassy-rp/src/intrinsics.rs b/embassy-rp/src/intrinsics.rs
index 9e6624cf0..67e8202a4 100644
--- a/embassy-rp/src/intrinsics.rs
+++ b/embassy-rp/src/intrinsics.rs
@@ -1,4 +1,6 @@
 #![macro_use]
+// Credit: taken from `rp-hal` (also licensed Apache+MIT)
+// https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/intrinsics.rs
 
 /// Generate a series of aliases for an intrinsic function.
 macro_rules! intrinsics_aliases {
@@ -14,7 +16,7 @@ macro_rules! intrinsics_aliases {
         $alias:ident
         $($rest:ident)*
     ) => {
-        #[cfg(all(target_arch = "arm", not(feature = "disable-intrinsics")))]
+        #[cfg(all(target_arch = "arm", feature = "intrinsics"))]
         intrinsics! {
             extern $abi fn $alias( $($argname: $ty),* ) -> $ret {
                 $name($($argname),*)
@@ -32,7 +34,7 @@ macro_rules! intrinsics_aliases {
         $alias:ident
         $($rest:ident)*
     ) => {
-        #[cfg(all(target_arch = "arm", not(feature = "disable-intrinsics")))]
+        #[cfg(all(target_arch = "arm", feature = "intrinsics"))]
         intrinsics! {
             unsafe extern $abi fn $alias( $($argname: $ty),* ) -> $ret {
                 $name($($argname),*)
@@ -52,7 +54,7 @@ macro_rules! intrinsics_aliases {
 /// is to abstract anything special that needs to be done to override an
 /// intrinsic function.  Intrinsic generation is disabled for non-ARM targets
 /// so things like CI and docs generation do not have problems.  Additionally
-/// they can be disabled with the crate feature `disable-intrinsics` for
+/// they can be disabled by disabling the crate feature `intrinsics` for
 /// testing or comparing performance.
 ///
 /// Like the compiler-builtins macro, it accepts a series of functions that
@@ -211,13 +213,13 @@ macro_rules! intrinsics {
 
         $($rest:tt)*
     ) => {
-        #[cfg(all(target_arch = "arm", not(feature = "disable-intrinsics")))]
+        #[cfg(all(target_arch = "arm", feature = "intrinsics"))]
         $(#[$($attr)*])*
         extern $abi fn $name( $($argname: $ty),* ) -> $ret {
             $($body)*
         }
 
-        #[cfg(all(target_arch = "arm", not(feature = "disable-intrinsics")))]
+        #[cfg(all(target_arch = "arm", feature = "intrinsics"))]
         mod $name {
             #[no_mangle]
             $(#[$($attr)*])*
@@ -228,7 +230,7 @@ macro_rules! intrinsics {
 
         // Not exported, but defined so the actual implementation is
         // considered used
-        #[cfg(not(all(target_arch = "arm", not(feature = "disable-intrinsics"))))]
+        #[cfg(not(all(target_arch = "arm", feature = "intrinsics")))]
         #[allow(dead_code)]
         fn $name( $($argname: $ty),* ) -> $ret {
             $($body)*
@@ -245,13 +247,13 @@ macro_rules! intrinsics {
 
         $($rest:tt)*
     ) => {
-        #[cfg(all(target_arch = "arm", not(feature = "disable-intrinsics")))]
+        #[cfg(all(target_arch = "arm", feature = "intrinsics"))]
         $(#[$($attr)*])*
         unsafe extern $abi fn $name( $($argname: $ty),* ) -> $ret {
             $($body)*
         }
 
-        #[cfg(all(target_arch = "arm", not(feature = "disable-intrinsics")))]
+        #[cfg(all(target_arch = "arm", feature = "intrinsics"))]
         mod $name {
             #[no_mangle]
             $(#[$($attr)*])*
@@ -262,7 +264,7 @@ macro_rules! intrinsics {
 
         // Not exported, but defined so the actual implementation is
         // considered used
-        #[cfg(not(all(target_arch = "arm", not(feature = "disable-intrinsics"))))]
+        #[cfg(not(all(target_arch = "arm", feature = "intrinsics")))]
         #[allow(dead_code)]
         unsafe fn $name( $($argname: $ty),* ) -> $ret {
             $($body)*
diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs
index ce013b09c..445639618 100644
--- a/embassy-rp/src/lib.rs
+++ b/embassy-rp/src/lib.rs
@@ -8,6 +8,7 @@ mod intrinsics;
 
 pub mod dma;
 pub mod gpio;
+pub mod i2c;
 pub mod interrupt;
 pub mod rom_data;
 pub mod rtc;
@@ -76,6 +77,9 @@ embassy_hal_common::peripherals! {
     SPI0,
     SPI1,
 
+    I2C0,
+    I2C1,
+
     DMA_CH0,
     DMA_CH1,
     DMA_CH2,
diff --git a/embassy-rp/src/rom_data.rs b/embassy-rp/src/rom_data.rs
index 93a3632a5..8e953dcf2 100644
--- a/embassy-rp/src/rom_data.rs
+++ b/embassy-rp/src/rom_data.rs
@@ -7,6 +7,8 @@
 //! > on the device, as well as highly optimized versions of certain key
 //! > functionality that would otherwise have to take up space in most user
 //! > binaries.
+// Credit: taken from `rp-hal` (also licensed Apache+MIT)
+// https://github.com/rp-rs/rp-hal/blob/main/rp2040-hal/src/rom_data.rs
 
 /// A bootrom function table code.
 pub type RomFnTableCode = [u8; 2];
diff --git a/embassy-rp/src/uart/buffered.rs b/embassy-rp/src/uart/buffered.rs
new file mode 100644
index 000000000..87e16f0eb
--- /dev/null
+++ b/embassy-rp/src/uart/buffered.rs
@@ -0,0 +1,489 @@
+use core::future::{poll_fn, Future};
+use core::task::{Poll, Waker};
+
+use atomic_polyfill::{compiler_fence, Ordering};
+use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
+use embassy_hal_common::ring_buffer::RingBuffer;
+use embassy_sync::waitqueue::WakerRegistration;
+
+use super::*;
+
+pub struct State<'d, T: Instance>(StateStorage<FullStateInner<'d, T>>);
+impl<'d, T: Instance> State<'d, T> {
+    pub const fn new() -> Self {
+        Self(StateStorage::new())
+    }
+}
+
+pub struct RxState<'d, T: Instance>(StateStorage<RxStateInner<'d, T>>);
+impl<'d, T: Instance> RxState<'d, T> {
+    pub const fn new() -> Self {
+        Self(StateStorage::new())
+    }
+}
+
+pub struct TxState<'d, T: Instance>(StateStorage<TxStateInner<'d, T>>);
+impl<'d, T: Instance> TxState<'d, T> {
+    pub const fn new() -> Self {
+        Self(StateStorage::new())
+    }
+}
+
+struct RxStateInner<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+
+    waker: WakerRegistration,
+    buf: RingBuffer<'d>,
+}
+
+struct TxStateInner<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+
+    waker: WakerRegistration,
+    buf: RingBuffer<'d>,
+}
+
+struct FullStateInner<'d, T: Instance> {
+    rx: RxStateInner<'d, T>,
+    tx: TxStateInner<'d, T>,
+}
+
+unsafe impl<'d, T: Instance> Send for RxStateInner<'d, T> {}
+unsafe impl<'d, T: Instance> Sync for RxStateInner<'d, T> {}
+
+unsafe impl<'d, T: Instance> Send for TxStateInner<'d, T> {}
+unsafe impl<'d, T: Instance> Sync for TxStateInner<'d, T> {}
+
+unsafe impl<'d, T: Instance> Send for FullStateInner<'d, T> {}
+unsafe impl<'d, T: Instance> Sync for FullStateInner<'d, T> {}
+
+pub struct BufferedUart<'d, T: Instance> {
+    inner: PeripheralMutex<'d, FullStateInner<'d, T>>,
+}
+
+pub struct BufferedUartRx<'d, T: Instance> {
+    inner: PeripheralMutex<'d, RxStateInner<'d, T>>,
+}
+
+pub struct BufferedUartTx<'d, T: Instance> {
+    inner: PeripheralMutex<'d, TxStateInner<'d, T>>,
+}
+
+impl<'d, T: Instance> Unpin for BufferedUart<'d, T> {}
+impl<'d, T: Instance> Unpin for BufferedUartRx<'d, T> {}
+impl<'d, T: Instance> Unpin for BufferedUartTx<'d, T> {}
+
+impl<'d, T: Instance> BufferedUart<'d, T> {
+    pub fn new<M: Mode>(
+        state: &'d mut State<'d, T>,
+        _uart: Uart<'d, T, M>,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        tx_buffer: &'d mut [u8],
+        rx_buffer: &'d mut [u8],
+    ) -> BufferedUart<'d, T> {
+        into_ref!(irq);
+
+        let r = T::regs();
+        unsafe {
+            r.uartimsc().modify(|w| {
+                w.set_rxim(true);
+                w.set_rtim(true);
+                w.set_txim(true);
+            });
+        }
+
+        Self {
+            inner: PeripheralMutex::new(irq, &mut state.0, move || FullStateInner {
+                tx: TxStateInner {
+                    phantom: PhantomData,
+                    waker: WakerRegistration::new(),
+                    buf: RingBuffer::new(tx_buffer),
+                },
+                rx: RxStateInner {
+                    phantom: PhantomData,
+                    waker: WakerRegistration::new(),
+                    buf: RingBuffer::new(rx_buffer),
+                },
+            }),
+        }
+    }
+}
+
+impl<'d, T: Instance> BufferedUartRx<'d, T> {
+    pub fn new<M: Mode>(
+        state: &'d mut RxState<'d, T>,
+        _uart: UartRx<'d, T, M>,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        rx_buffer: &'d mut [u8],
+    ) -> BufferedUartRx<'d, T> {
+        into_ref!(irq);
+
+        let r = T::regs();
+        unsafe {
+            r.uartimsc().modify(|w| {
+                w.set_rxim(true);
+                w.set_rtim(true);
+            });
+        }
+
+        Self {
+            inner: PeripheralMutex::new(irq, &mut state.0, move || RxStateInner {
+                phantom: PhantomData,
+
+                buf: RingBuffer::new(rx_buffer),
+                waker: WakerRegistration::new(),
+            }),
+        }
+    }
+}
+
+impl<'d, T: Instance> BufferedUartTx<'d, T> {
+    pub fn new<M: Mode>(
+        state: &'d mut TxState<'d, T>,
+        _uart: UartTx<'d, T, M>,
+        irq: impl Peripheral<P = T::Interrupt> + 'd,
+        tx_buffer: &'d mut [u8],
+    ) -> BufferedUartTx<'d, T> {
+        into_ref!(irq);
+
+        let r = T::regs();
+        unsafe {
+            r.uartimsc().modify(|w| {
+                w.set_txim(true);
+            });
+        }
+
+        Self {
+            inner: PeripheralMutex::new(irq, &mut state.0, move || TxStateInner {
+                phantom: PhantomData,
+
+                buf: RingBuffer::new(tx_buffer),
+                waker: WakerRegistration::new(),
+            }),
+        }
+    }
+}
+
+impl<'d, T: Instance> PeripheralState for FullStateInner<'d, T>
+where
+    Self: 'd,
+{
+    type Interrupt = T::Interrupt;
+    fn on_interrupt(&mut self) {
+        self.rx.on_interrupt();
+        self.tx.on_interrupt();
+    }
+}
+
+impl<'d, T: Instance> RxStateInner<'d, T>
+where
+    Self: 'd,
+{
+    fn read(&mut self, buf: &mut [u8], waker: &Waker) -> (Poll<Result<usize, Error>>, bool) {
+        // We have data ready in buffer? Return it.
+        let mut do_pend = false;
+        let data = self.buf.pop_buf();
+        if !data.is_empty() {
+            let len = data.len().min(buf.len());
+            buf[..len].copy_from_slice(&data[..len]);
+
+            if self.buf.is_full() {
+                do_pend = true;
+            }
+            self.buf.pop(len);
+
+            return (Poll::Ready(Ok(len)), do_pend);
+        }
+
+        self.waker.register(waker);
+        (Poll::Pending, do_pend)
+    }
+
+    fn fill_buf<'a>(&mut self, waker: &Waker) -> Poll<Result<&'a [u8], Error>> {
+        // We have data ready in buffer? Return it.
+        let buf = self.buf.pop_buf();
+        if !buf.is_empty() {
+            let buf: &[u8] = buf;
+            // Safety: buffer lives as long as uart
+            let buf: &[u8] = unsafe { core::mem::transmute(buf) };
+            return Poll::Ready(Ok(buf));
+        }
+
+        self.waker.register(waker);
+        Poll::Pending
+    }
+
+    fn consume(&mut self, amt: usize) -> bool {
+        let full = self.buf.is_full();
+        self.buf.pop(amt);
+        full
+    }
+}
+
+impl<'d, T: Instance> PeripheralState for RxStateInner<'d, T>
+where
+    Self: 'd,
+{
+    type Interrupt = T::Interrupt;
+    fn on_interrupt(&mut self) {
+        let r = T::regs();
+        unsafe {
+            let ris = r.uartris().read();
+            // Clear interrupt flags
+            r.uarticr().modify(|w| {
+                w.set_rxic(true);
+                w.set_rtic(true);
+            });
+
+            if ris.peris() {
+                warn!("Parity error");
+                r.uarticr().modify(|w| {
+                    w.set_peic(true);
+                });
+            }
+            if ris.feris() {
+                warn!("Framing error");
+                r.uarticr().modify(|w| {
+                    w.set_feic(true);
+                });
+            }
+            if ris.beris() {
+                warn!("Break error");
+                r.uarticr().modify(|w| {
+                    w.set_beic(true);
+                });
+            }
+            if ris.oeris() {
+                warn!("Overrun error");
+                r.uarticr().modify(|w| {
+                    w.set_oeic(true);
+                });
+            }
+
+            if !r.uartfr().read().rxfe() {
+                let buf = self.buf.push_buf();
+                if !buf.is_empty() {
+                    buf[0] = r.uartdr().read().data();
+                    self.buf.push(1);
+                } else {
+                    warn!("RX buffer full, discard received byte");
+                }
+
+                if self.buf.is_full() {
+                    self.waker.wake();
+                }
+            }
+
+            if ris.rtris() {
+                self.waker.wake();
+            };
+        }
+    }
+}
+
+impl<'d, T: Instance> TxStateInner<'d, T>
+where
+    Self: 'd,
+{
+    fn write(&mut self, buf: &[u8], waker: &Waker) -> (Poll<Result<usize, Error>>, bool) {
+        let empty = self.buf.is_empty();
+        let tx_buf = self.buf.push_buf();
+        if tx_buf.is_empty() {
+            self.waker.register(waker);
+            return (Poll::Pending, empty);
+        }
+
+        let n = core::cmp::min(tx_buf.len(), buf.len());
+        tx_buf[..n].copy_from_slice(&buf[..n]);
+        self.buf.push(n);
+
+        (Poll::Ready(Ok(n)), empty)
+    }
+
+    fn flush(&mut self, waker: &Waker) -> Poll<Result<(), Error>> {
+        if !self.buf.is_empty() {
+            self.waker.register(waker);
+            return Poll::Pending;
+        }
+
+        Poll::Ready(Ok(()))
+    }
+}
+
+impl<'d, T: Instance> PeripheralState for TxStateInner<'d, T>
+where
+    Self: 'd,
+{
+    type Interrupt = T::Interrupt;
+    fn on_interrupt(&mut self) {
+        let r = T::regs();
+        unsafe {
+            let buf = self.buf.pop_buf();
+            if !buf.is_empty() {
+                r.uartimsc().modify(|w| {
+                    w.set_txim(true);
+                });
+                r.uartdr().write(|w| w.set_data(buf[0].into()));
+                self.buf.pop(1);
+                self.waker.wake();
+            } else {
+                // Disable interrupt until we have something to transmit again
+                r.uartimsc().modify(|w| {
+                    w.set_txim(false);
+                });
+            }
+        }
+    }
+}
+
+impl embedded_io::Error for Error {
+    fn kind(&self) -> embedded_io::ErrorKind {
+        embedded_io::ErrorKind::Other
+    }
+}
+
+impl<'d, T: Instance> embedded_io::Io for BufferedUart<'d, T> {
+    type Error = Error;
+}
+
+impl<'d, T: Instance> embedded_io::Io for BufferedUartRx<'d, T> {
+    type Error = Error;
+}
+
+impl<'d, T: Instance> embedded_io::Io for BufferedUartTx<'d, T> {
+    type Error = Error;
+}
+
+impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUart<'d, T> {
+    type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
+    where
+        Self: 'a;
+
+    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
+        poll_fn(move |cx| {
+            let (res, do_pend) = self.inner.with(|state| {
+                compiler_fence(Ordering::SeqCst);
+                state.rx.read(buf, cx.waker())
+            });
+
+            if do_pend {
+                self.inner.pend();
+            }
+
+            res
+        })
+    }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::asynch::Read for BufferedUartRx<'d, T> {
+    type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
+    where
+        Self: 'a;
+
+    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
+        poll_fn(move |cx| {
+            let (res, do_pend) = self.inner.with(|state| {
+                compiler_fence(Ordering::SeqCst);
+                state.read(buf, cx.waker())
+            });
+
+            if do_pend {
+                self.inner.pend();
+            }
+
+            res
+        })
+    }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUart<'d, T> {
+    type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
+    where
+        Self: 'a;
+
+    fn fill_buf<'a>(&'a mut self) -> Self::FillBufFuture<'a> {
+        poll_fn(move |cx| {
+            self.inner.with(|state| {
+                compiler_fence(Ordering::SeqCst);
+                state.rx.fill_buf(cx.waker())
+            })
+        })
+    }
+
+    fn consume(&mut self, amt: usize) {
+        let signal = self.inner.with(|state| state.rx.consume(amt));
+        if signal {
+            self.inner.pend();
+        }
+    }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::asynch::BufRead for BufferedUartRx<'d, T> {
+    type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
+    where
+        Self: 'a;
+
+    fn fill_buf<'a>(&'a mut self) -> Self::FillBufFuture<'a> {
+        poll_fn(move |cx| {
+            self.inner.with(|state| {
+                compiler_fence(Ordering::SeqCst);
+                state.fill_buf(cx.waker())
+            })
+        })
+    }
+
+    fn consume(&mut self, amt: usize) {
+        let signal = self.inner.with(|state| state.consume(amt));
+        if signal {
+            self.inner.pend();
+        }
+    }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUart<'d, T> {
+    type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
+    where
+        Self: 'a;
+
+    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
+        poll_fn(move |cx| {
+            let (poll, empty) = self.inner.with(|state| state.tx.write(buf, cx.waker()));
+            if empty {
+                self.inner.pend();
+            }
+            poll
+        })
+    }
+
+    type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
+    where
+        Self: 'a;
+
+    fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
+        poll_fn(move |cx| self.inner.with(|state| state.tx.flush(cx.waker())))
+    }
+}
+
+impl<'d, T: Instance + 'd> embedded_io::asynch::Write for BufferedUartTx<'d, T> {
+    type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
+    where
+        Self: 'a;
+
+    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
+        poll_fn(move |cx| {
+            let (poll, empty) = self.inner.with(|state| state.write(buf, cx.waker()));
+            if empty {
+                self.inner.pend();
+            }
+            poll
+        })
+    }
+
+    type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
+    where
+        Self: 'a;
+
+    fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
+        poll_fn(move |cx| self.inner.with(|state| state.flush(cx.waker())))
+    }
+}
diff --git a/embassy-rp/src/uart.rs b/embassy-rp/src/uart/mod.rs
index 987b716b4..567c79db3 100644
--- a/embassy-rp/src/uart.rs
+++ b/embassy-rp/src/uart/mod.rs
@@ -346,6 +346,11 @@ impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
                 w.set_fen(true);
             });
 
+            r.uartifls().write(|w| {
+                w.set_rxiflsel(0b000);
+                w.set_txiflsel(0b000);
+            });
+
             r.uartcr().write(|w| {
                 w.set_uarten(true);
                 w.set_rxe(true);
@@ -423,9 +428,11 @@ mod eh02 {
 
     impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for UartTx<'d, T, M> {
         type Error = Error;
+
         fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
             self.blocking_write(buffer)
         }
+
         fn bflush(&mut self) -> Result<(), Self::Error> {
             self.blocking_flush()
         }
@@ -433,6 +440,7 @@ mod eh02 {
 
     impl<'d, T: Instance, M: Mode> embedded_hal_02::serial::Read<u8> for Uart<'d, T, M> {
         type Error = Error;
+
         fn read(&mut self) -> Result<u8, nb::Error<Self::Error>> {
             embedded_hal_02::serial::Read::read(&mut self.rx)
         }
@@ -440,9 +448,11 @@ mod eh02 {
 
     impl<'d, T: Instance, M: Mode> embedded_hal_02::blocking::serial::Write<u8> for Uart<'d, T, M> {
         type Error = Error;
+
         fn bwrite_all(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
             self.blocking_write(buffer)
         }
+
         fn bflush(&mut self) -> Result<(), Self::Error> {
             self.blocking_flush()
         }
@@ -475,6 +485,75 @@ mod eh1 {
     impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::ErrorType for UartRx<'d, T, M> {
         type Error = Error;
     }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Read for UartRx<'d, T, M> {
+        fn read(&mut self) -> nb::Result<u8, Self::Error> {
+            let r = T::regs();
+            unsafe {
+                let dr = r.uartdr().read();
+
+                if dr.oe() {
+                    Err(nb::Error::Other(Error::Overrun))
+                } else if dr.be() {
+                    Err(nb::Error::Other(Error::Break))
+                } else if dr.pe() {
+                    Err(nb::Error::Other(Error::Parity))
+                } else if dr.fe() {
+                    Err(nb::Error::Other(Error::Framing))
+                } else if dr.fe() {
+                    Ok(dr.data())
+                } else {
+                    Err(nb::Error::WouldBlock)
+                }
+            }
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::blocking::Write for UartTx<'d, T, M> {
+        fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
+            self.blocking_write(buffer)
+        }
+
+        fn flush(&mut self) -> Result<(), Self::Error> {
+            self.blocking_flush()
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Write for UartTx<'d, T, M> {
+        fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
+            self.blocking_write(&[char]).map_err(nb::Error::Other)
+        }
+
+        fn flush(&mut self) -> nb::Result<(), Self::Error> {
+            self.blocking_flush().map_err(nb::Error::Other)
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Read for Uart<'d, T, 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_1::serial::blocking::Write for Uart<'d, T, M> {
+        fn write(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
+            self.blocking_write(buffer)
+        }
+
+        fn flush(&mut self) -> Result<(), Self::Error> {
+            self.blocking_flush()
+        }
+    }
+
+    impl<'d, T: Instance, M: Mode> embedded_hal_1::serial::nb::Write for Uart<'d, T, M> {
+        fn write(&mut self, char: u8) -> nb::Result<(), Self::Error> {
+            self.blocking_write(&[char]).map_err(nb::Error::Other)
+        }
+
+        fn flush(&mut self) -> nb::Result<(), Self::Error> {
+            self.blocking_flush().map_err(nb::Error::Other)
+        }
+    }
 }
 
 #[cfg(all(
@@ -532,6 +611,11 @@ mod eha {
     }
 }
 
+#[cfg(feature = "nightly")]
+mod buffered;
+#[cfg(feature = "nightly")]
+pub use buffered::*;
+
 mod sealed {
     use super::*;
 
@@ -541,6 +625,8 @@ mod sealed {
         const TX_DREQ: u8;
         const RX_DREQ: u8;
 
+        type Interrupt: crate::interrupt::Interrupt;
+
         fn regs() -> pac::uart::Uart;
     }
     pub trait TxPin<T: Instance> {}
@@ -572,6 +658,8 @@ macro_rules! impl_instance {
             const TX_DREQ: u8 = $tx_dreq;
             const RX_DREQ: u8 = $rx_dreq;
 
+            type Interrupt = crate::interrupt::$irq;
+
             fn regs() -> pac::uart::Uart {
                 pac::$inst
             }
@@ -580,8 +668,8 @@ macro_rules! impl_instance {
     };
 }
 
-impl_instance!(UART0, UART0, 20, 21);
-impl_instance!(UART1, UART1, 22, 23);
+impl_instance!(UART0, UART0_IRQ, 20, 21);
+impl_instance!(UART1, UART1_IRQ, 22, 23);
 
 pub trait TxPin<T: Instance>: sealed::TxPin<T> + crate::gpio::Pin {}
 pub trait RxPin<T: Instance>: sealed::RxPin<T> + crate::gpio::Pin {}
diff --git a/embassy-rp/src/usb.rs b/embassy-rp/src/usb.rs
index a7ec5fb79..0a904aab3 100644
--- a/embassy-rp/src/usb.rs
+++ b/embassy-rp/src/usb.rs
@@ -7,8 +7,10 @@ use core::task::Poll;
 use atomic_polyfill::compiler_fence;
 use embassy_hal_common::into_ref;
 use embassy_sync::waitqueue::AtomicWaker;
-use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};
-use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
+use embassy_usb_driver as driver;
+use embassy_usb_driver::{
+    Direction, EndpointAddress, EndpointAllocError, EndpointError, EndpointInfo, EndpointType, Event, Unsupported,
+};
 
 use crate::interrupt::{Interrupt, InterruptExt};
 use crate::{pac, peripherals, Peripheral, RegExt};
@@ -204,8 +206,8 @@ impl<'d, T: Instance> Driver<'d, T> {
         );
 
         let alloc = match D::dir() {
-            UsbDirection::Out => &mut self.ep_out,
-            UsbDirection::In => &mut self.ep_in,
+            Direction::Out => &mut self.ep_out,
+            Direction::In => &mut self.ep_in,
         };
 
         let index = alloc.iter_mut().enumerate().find(|(i, ep)| {
@@ -254,7 +256,7 @@ impl<'d, T: Instance> Driver<'d, T> {
         };
 
         match D::dir() {
-            UsbDirection::Out => unsafe {
+            Direction::Out => unsafe {
                 T::dpram().ep_out_control(index - 1).write(|w| {
                     w.set_enable(false);
                     w.set_buffer_address(addr);
@@ -262,7 +264,7 @@ impl<'d, T: Instance> Driver<'d, T> {
                     w.set_endpoint_type(ep_type_reg);
                 })
             },
-            UsbDirection::In => unsafe {
+            Direction::In => unsafe {
                 T::dpram().ep_in_control(index - 1).write(|w| {
                     w.set_enable(false);
                     w.set_buffer_address(addr);
@@ -429,14 +431,14 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
 
         let n = ep_addr.index();
         match ep_addr.direction() {
-            UsbDirection::In => unsafe {
+            Direction::In => unsafe {
                 T::dpram().ep_in_control(n - 1).modify(|w| w.set_enable(enabled));
                 T::dpram().ep_in_buffer_control(ep_addr.index()).write(|w| {
                     w.set_pid(0, true); // first packet is DATA0, but PID is flipped before
                 });
                 EP_IN_WAKERS[n].wake();
             },
-            UsbDirection::Out => unsafe {
+            Direction::Out => unsafe {
                 T::dpram().ep_out_control(n - 1).modify(|w| w.set_enable(enabled));
 
                 T::dpram().ep_out_buffer_control(ep_addr.index()).write(|w| {
@@ -474,14 +476,14 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
 }
 
 trait Dir {
-    fn dir() -> UsbDirection;
+    fn dir() -> Direction;
     fn waker(i: usize) -> &'static AtomicWaker;
 }
 
 pub enum In {}
 impl Dir for In {
-    fn dir() -> UsbDirection {
-        UsbDirection::In
+    fn dir() -> Direction {
+        Direction::In
     }
 
     #[inline]
@@ -492,8 +494,8 @@ impl Dir for In {
 
 pub enum Out {}
 impl Dir for Out {
-    fn dir() -> UsbDirection {
-        UsbDirection::Out
+    fn dir() -> Direction {
+        Direction::Out
     }
 
     #[inline]
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 484496f24..a4a232f51 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -39,7 +39,7 @@ embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features =
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-net = { version = "0.1.0", path = "../embassy-net", optional = true }
-embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional = true }
+embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optional = true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8", optional = true}
@@ -73,7 +73,7 @@ quote = "1.0.15"
 stm32-metapac = { version = "0.1.0", path = "../stm32-metapac", default-features = false, features = ["metadata"]}
 
 [features]
-defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-executor/defmt", "embassy-embedded-hal/defmt", "embedded-io?/defmt", "embassy-usb?/defmt"]
+defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-executor/defmt", "embassy-embedded-hal/defmt", "embedded-io?/defmt", "embassy-usb-driver?/defmt"]
 sdmmc-rs = ["embedded-sdmmc"]
 net = ["embassy-net" ]
 memory-x = ["stm32-metapac/memory-x"]
@@ -92,7 +92,7 @@ time-driver-tim12 = ["_time-driver"]
 time-driver-tim15 = ["_time-driver"]
 
 # Enable nightly-only features
-nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embedded-storage-async", "dep:embedded-io", "dep:embassy-usb", "embassy-embedded-hal/nightly"]
+nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embedded-storage-async", "dep:embedded-io", "dep:embassy-usb-driver", "embassy-embedded-hal/nightly"]
 
 # Reexport stm32-metapac at `embassy_stm32::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-stm32 may major-bump (breaking) the stm32-metapac version.
diff --git a/embassy-stm32/src/can/bxcan.rs b/embassy-stm32/src/can/bxcan.rs
index c0bd44e0f..bd92b35a0 100644
--- a/embassy-stm32/src/can/bxcan.rs
+++ b/embassy-stm32/src/can/bxcan.rs
@@ -12,6 +12,7 @@ pub struct Can<'d, T: Instance> {
 }
 
 impl<'d, T: Instance> Can<'d, T> {
+    /// Creates a new Bxcan instance, blocking for 11 recessive bits to sync with the CAN bus.
     pub fn new(
         peri: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@@ -31,6 +32,28 @@ impl<'d, T: Instance> Can<'d, T> {
             can: bxcan::Can::builder(BxcanInstance(peri)).enable(),
         }
     }
+
+    /// Creates a new Bxcan instance, keeping the peripheral in sleep mode.
+    /// You must call [Can::enable_non_blocking] to use the peripheral.
+    pub fn new_disabled(
+        peri: impl Peripheral<P = T> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
+    ) -> Self {
+        into_ref!(peri, rx, tx);
+
+        unsafe {
+            rx.set_as_af(rx.af_num(), AFType::Input);
+            tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
+        }
+
+        T::enable();
+        T::reset();
+
+        Self {
+            can: bxcan::Can::builder(BxcanInstance(peri)).leave_disabled(),
+        }
+    }
 }
 
 impl<'d, T: Instance> Drop for Can<'d, T> {
diff --git a/embassy-stm32/src/usart/buffered.rs b/embassy-stm32/src/usart/buffered.rs
index 46c49a997..2a711bc06 100644
--- a/embassy-stm32/src/usart/buffered.rs
+++ b/embassy-stm32/src/usart/buffered.rs
@@ -1,3 +1,4 @@
+use core::cell::RefCell;
 use core::future::{poll_fn, Future};
 use core::task::Poll;
 
@@ -29,7 +30,15 @@ unsafe impl<'d, T: BasicInstance> Send for StateInner<'d, T> {}
 unsafe impl<'d, T: BasicInstance> Sync for StateInner<'d, T> {}
 
 pub struct BufferedUart<'d, T: BasicInstance> {
-    inner: PeripheralMutex<'d, StateInner<'d, T>>,
+    inner: RefCell<PeripheralMutex<'d, StateInner<'d, T>>>,
+}
+
+pub struct BufferedUartTx<'u, 'd, T: BasicInstance> {
+    inner: &'u BufferedUart<'d, T>,
+}
+
+pub struct BufferedUartRx<'u, 'd, T: BasicInstance> {
+    inner: &'u BufferedUart<'d, T>,
 }
 
 impl<'d, T: BasicInstance> Unpin for BufferedUart<'d, T> {}
@@ -53,14 +62,124 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
         }
 
         Self {
-            inner: PeripheralMutex::new(irq, &mut state.0, move || StateInner {
+            inner: RefCell::new(PeripheralMutex::new(irq, &mut state.0, move || StateInner {
                 phantom: PhantomData,
                 tx: RingBuffer::new(tx_buffer),
                 tx_waker: WakerRegistration::new(),
 
                 rx: RingBuffer::new(rx_buffer),
                 rx_waker: WakerRegistration::new(),
-            }),
+            })),
+        }
+    }
+
+    pub fn split<'u>(&'u mut self) -> (BufferedUartRx<'u, 'd, T>, BufferedUartTx<'u, 'd, T>) {
+        (BufferedUartRx { inner: self }, BufferedUartTx { inner: self })
+    }
+
+    async fn inner_read<'a>(&'a self, buf: &'a mut [u8]) -> Result<usize, Error> {
+        poll_fn(move |cx| {
+            let mut do_pend = false;
+            let mut inner = self.inner.borrow_mut();
+            let res = inner.with(|state| {
+                compiler_fence(Ordering::SeqCst);
+
+                // We have data ready in buffer? Return it.
+                let data = state.rx.pop_buf();
+                if !data.is_empty() {
+                    let len = data.len().min(buf.len());
+                    buf[..len].copy_from_slice(&data[..len]);
+
+                    if state.rx.is_full() {
+                        do_pend = true;
+                    }
+                    state.rx.pop(len);
+
+                    return Poll::Ready(Ok(len));
+                }
+
+                state.rx_waker.register(cx.waker());
+                Poll::Pending
+            });
+
+            if do_pend {
+                inner.pend();
+            }
+
+            res
+        })
+        .await
+    }
+
+    async fn inner_write<'a>(&'a self, buf: &'a [u8]) -> Result<usize, Error> {
+        poll_fn(move |cx| {
+            let mut inner = self.inner.borrow_mut();
+            let (poll, empty) = inner.with(|state| {
+                let empty = state.tx.is_empty();
+                let tx_buf = state.tx.push_buf();
+                if tx_buf.is_empty() {
+                    state.tx_waker.register(cx.waker());
+                    return (Poll::Pending, empty);
+                }
+
+                let n = core::cmp::min(tx_buf.len(), buf.len());
+                tx_buf[..n].copy_from_slice(&buf[..n]);
+                state.tx.push(n);
+
+                (Poll::Ready(Ok(n)), empty)
+            });
+            if empty {
+                inner.pend();
+            }
+            poll
+        })
+        .await
+    }
+
+    async fn inner_flush<'a>(&'a self) -> Result<(), Error> {
+        poll_fn(move |cx| {
+            self.inner.borrow_mut().with(|state| {
+                if !state.tx.is_empty() {
+                    state.tx_waker.register(cx.waker());
+                    return Poll::Pending;
+                }
+
+                Poll::Ready(Ok(()))
+            })
+        })
+        .await
+    }
+
+    async fn inner_fill_buf<'a>(&'a self) -> Result<&'a [u8], Error> {
+        poll_fn(move |cx| {
+            self.inner.borrow_mut().with(|state| {
+                compiler_fence(Ordering::SeqCst);
+
+                // We have data ready in buffer? Return it.
+                let buf = state.rx.pop_buf();
+                if !buf.is_empty() {
+                    let buf: &[u8] = buf;
+                    // Safety: buffer lives as long as uart
+                    let buf: &[u8] = unsafe { core::mem::transmute(buf) };
+                    return Poll::Ready(Ok(buf));
+                }
+
+                state.rx_waker.register(cx.waker());
+                Poll::<Result<&[u8], Error>>::Pending
+            })
+        })
+        .await
+    }
+
+    fn inner_consume(&self, amt: usize) {
+        let mut inner = self.inner.borrow_mut();
+        let signal = inner.with(|state| {
+            let full = state.rx.is_full();
+            state.rx.pop(amt);
+            full
+        });
+        if signal {
+            inner.pend();
         }
     }
 }
@@ -155,41 +274,31 @@ impl<'d, T: BasicInstance> embedded_io::Io for BufferedUart<'d, T> {
     type Error = Error;
 }
 
+impl<'u, 'd, T: BasicInstance> embedded_io::Io for BufferedUartRx<'u, 'd, T> {
+    type Error = Error;
+}
+
+impl<'u, 'd, T: BasicInstance> embedded_io::Io for BufferedUartTx<'u, 'd, T> {
+    type Error = Error;
+}
+
 impl<'d, T: BasicInstance> embedded_io::asynch::Read for BufferedUart<'d, T> {
     type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
     where
         Self: 'a;
 
     fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
-        poll_fn(move |cx| {
-            let mut do_pend = false;
-            let res = self.inner.with(|state| {
-                compiler_fence(Ordering::SeqCst);
-
-                // We have data ready in buffer? Return it.
-                let data = state.rx.pop_buf();
-                if !data.is_empty() {
-                    let len = data.len().min(buf.len());
-                    buf[..len].copy_from_slice(&data[..len]);
-
-                    if state.rx.is_full() {
-                        do_pend = true;
-                    }
-                    state.rx.pop(len);
-
-                    return Poll::Ready(Ok(len));
-                }
-
-                state.rx_waker.register(cx.waker());
-                Poll::Pending
-            });
+        self.inner_read(buf)
+    }
+}
 
-            if do_pend {
-                self.inner.pend();
-            }
+impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Read for BufferedUartRx<'u, 'd, T> {
+    type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
+    where
+        Self: 'a;
 
-            res
-        })
+    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
+        self.inner.inner_read(buf)
     }
 }
 
@@ -199,34 +308,25 @@ impl<'d, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUart<'d, T>
         Self: 'a;
 
     fn fill_buf<'a>(&'a mut self) -> Self::FillBufFuture<'a> {
-        poll_fn(move |cx| {
-            self.inner.with(|state| {
-                compiler_fence(Ordering::SeqCst);
+        self.inner_fill_buf()
+    }
 
-                // We have data ready in buffer? Return it.
-                let buf = state.rx.pop_buf();
-                if !buf.is_empty() {
-                    let buf: &[u8] = buf;
-                    // Safety: buffer lives as long as uart
-                    let buf: &[u8] = unsafe { core::mem::transmute(buf) };
-                    return Poll::Ready(Ok(buf));
-                }
+    fn consume(&mut self, amt: usize) {
+        self.inner_consume(amt)
+    }
+}
 
-                state.rx_waker.register(cx.waker());
-                Poll::<Result<&[u8], Self::Error>>::Pending
-            })
-        })
+impl<'u, 'd, T: BasicInstance> embedded_io::asynch::BufRead for BufferedUartRx<'u, 'd, T> {
+    type FillBufFuture<'a> = impl Future<Output = Result<&'a [u8], Self::Error>>
+    where
+        Self: 'a;
+
+    fn fill_buf<'a>(&'a mut self) -> Self::FillBufFuture<'a> {
+        self.inner.inner_fill_buf()
     }
 
     fn consume(&mut self, amt: usize) {
-        let signal = self.inner.with(|state| {
-            let full = state.rx.is_full();
-            state.rx.pop(amt);
-            full
-        });
-        if signal {
-            self.inner.pend();
-        }
+        self.inner.inner_consume(amt)
     }
 }
 
@@ -236,26 +336,25 @@ impl<'d, T: BasicInstance> embedded_io::asynch::Write for BufferedUart<'d, T> {
         Self: 'a;
 
     fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
-        poll_fn(move |cx| {
-            let (poll, empty) = self.inner.with(|state| {
-                let empty = state.tx.is_empty();
-                let tx_buf = state.tx.push_buf();
-                if tx_buf.is_empty() {
-                    state.tx_waker.register(cx.waker());
-                    return (Poll::Pending, empty);
-                }
+        self.inner_write(buf)
+    }
 
-                let n = core::cmp::min(tx_buf.len(), buf.len());
-                tx_buf[..n].copy_from_slice(&buf[..n]);
-                state.tx.push(n);
+    type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
+    where
+        Self: 'a;
 
-                (Poll::Ready(Ok(n)), empty)
-            });
-            if empty {
-                self.inner.pend();
-            }
-            poll
-        })
+    fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
+        self.inner_flush()
+    }
+}
+
+impl<'u, 'd, T: BasicInstance> embedded_io::asynch::Write for BufferedUartTx<'u, 'd, T> {
+    type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>>
+    where
+        Self: 'a;
+
+    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
+        self.inner.inner_write(buf)
     }
 
     type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>>
@@ -263,15 +362,6 @@ impl<'d, T: BasicInstance> embedded_io::asynch::Write for BufferedUart<'d, T> {
         Self: 'a;
 
     fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
-        poll_fn(move |cx| {
-            self.inner.with(|state| {
-                if !state.tx.is_empty() {
-                    state.tx_waker.register(cx.waker());
-                    return Poll::Pending;
-                }
-
-                Poll::Ready(Ok(()))
-            })
-        })
+        self.inner.inner_flush()
     }
 }
diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs
index e5ee1181c..2654f156a 100644
--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@@ -9,8 +9,10 @@ use atomic_polyfill::{AtomicBool, AtomicU8};
 use embassy_hal_common::into_ref;
 use embassy_sync::waitqueue::AtomicWaker;
 use embassy_time::{block_for, Duration};
-use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};
-use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
+use embassy_usb_driver as driver;
+use embassy_usb_driver::{
+    Direction, EndpointAddress, EndpointAllocError, EndpointError, EndpointInfo, EndpointType, Event, Unsupported,
+};
 use pac::common::{Reg, RW};
 use pac::usb::vals::{EpType, Stat};
 
@@ -279,8 +281,8 @@ impl<'d, T: Instance> Driver<'d, T> {
             }
             let used = ep.used_out || ep.used_in;
             let used_dir = match D::dir() {
-                UsbDirection::Out => ep.used_out,
-                UsbDirection::In => ep.used_in,
+                Direction::Out => ep.used_out,
+                Direction::In => ep.used_in,
             };
             !used || (ep.ep_type == ep_type && !used_dir)
         });
@@ -293,7 +295,7 @@ impl<'d, T: Instance> Driver<'d, T> {
         ep.ep_type = ep_type;
 
         let buf = match D::dir() {
-            UsbDirection::Out => {
+            Direction::Out => {
                 assert!(!ep.used_out);
                 ep.used_out = true;
 
@@ -312,7 +314,7 @@ impl<'d, T: Instance> Driver<'d, T> {
                     _phantom: PhantomData,
                 }
             }
-            UsbDirection::In => {
+            Direction::In => {
                 assert!(!ep.used_in);
                 ep.used_in = true;
 
@@ -504,7 +506,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
         // This can race, so do a retry loop.
         let reg = T::regs().epr(ep_addr.index() as _);
         match ep_addr.direction() {
-            UsbDirection::In => {
+            Direction::In => {
                 loop {
                     let r = unsafe { reg.read() };
                     match r.stat_tx() {
@@ -523,7 +525,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
                 }
                 EP_IN_WAKERS[ep_addr.index()].wake();
             }
-            UsbDirection::Out => {
+            Direction::Out => {
                 loop {
                     let r = unsafe { reg.read() };
                     match r.stat_rx() {
@@ -549,8 +551,8 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
         let regs = T::regs();
         let epr = unsafe { regs.epr(ep_addr.index() as _).read() };
         match ep_addr.direction() {
-            UsbDirection::In => epr.stat_tx() == Stat::STALL,
-            UsbDirection::Out => epr.stat_rx() == Stat::STALL,
+            Direction::In => epr.stat_tx() == Stat::STALL,
+            Direction::Out => epr.stat_rx() == Stat::STALL,
         }
     }
 
@@ -560,7 +562,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
         let reg = T::regs().epr(ep_addr.index() as _);
         trace!("EPR before: {:04x}", unsafe { reg.read() }.0);
         match ep_addr.direction() {
-            UsbDirection::In => {
+            Direction::In => {
                 loop {
                     let want_stat = match enabled {
                         false => Stat::DISABLED,
@@ -576,7 +578,7 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
                 }
                 EP_IN_WAKERS[ep_addr.index()].wake();
             }
-            UsbDirection::Out => {
+            Direction::Out => {
                 loop {
                     let want_stat = match enabled {
                         false => Stat::DISABLED,
@@ -616,14 +618,14 @@ impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
 }
 
 trait Dir {
-    fn dir() -> UsbDirection;
+    fn dir() -> Direction;
     fn waker(i: usize) -> &'static AtomicWaker;
 }
 
 pub enum In {}
 impl Dir for In {
-    fn dir() -> UsbDirection {
-        UsbDirection::In
+    fn dir() -> Direction {
+        Direction::In
     }
 
     #[inline]
@@ -634,8 +636,8 @@ impl Dir for In {
 
 pub enum Out {}
 impl Dir for Out {
-    fn dir() -> UsbDirection {
-        UsbDirection::Out
+    fn dir() -> Direction {
+        Direction::Out
     }
 
     #[inline]
diff --git a/embassy-sync/src/signal.rs b/embassy-sync/src/signal.rs
index b4d99513a..c3c10a8af 100644
--- a/embassy-sync/src/signal.rs
+++ b/embassy-sync/src/signal.rs
@@ -1,9 +1,11 @@
 //! A synchronization primitive for passing the latest value to a task.
-use core::cell::UnsafeCell;
+use core::cell::Cell;
 use core::future::{poll_fn, Future};
-use core::mem;
 use core::task::{Context, Poll, Waker};
 
+use crate::blocking_mutex::raw::RawMutex;
+use crate::blocking_mutex::Mutex;
+
 /// Single-slot signaling primitive.
 ///
 /// This is similar to a [`Channel`](crate::channel::Channel) with a buffer size of 1, except
@@ -20,16 +22,20 @@ use core::task::{Context, Poll, Waker};
 ///
 /// ```
 /// use embassy_sync::signal::Signal;
+/// use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 ///
 /// enum SomeCommand {
 ///   On,
 ///   Off,
 /// }
 ///
-/// static SOME_SIGNAL: Signal<SomeCommand> = Signal::new();
+/// static SOME_SIGNAL: Signal<CriticalSectionRawMutex, SomeCommand> = Signal::new();
 /// ```
-pub struct Signal<T> {
-    state: UnsafeCell<State<T>>,
+pub struct Signal<M, T>
+where
+    M: RawMutex,
+{
+    state: Mutex<M, Cell<State<T>>>,
 }
 
 enum State<T> {
@@ -38,24 +44,27 @@ enum State<T> {
     Signaled(T),
 }
 
-unsafe impl<T: Send> Send for Signal<T> {}
-unsafe impl<T: Send> Sync for Signal<T> {}
-
-impl<T> Signal<T> {
+impl<M, T> Signal<M, T>
+where
+    M: RawMutex,
+{
     /// Create a new `Signal`.
     pub const fn new() -> Self {
         Self {
-            state: UnsafeCell::new(State::None),
+            state: Mutex::new(Cell::new(State::None)),
         }
     }
 }
 
-impl<T: Send> Signal<T> {
+impl<M, T: Send> Signal<M, T>
+where
+    M: RawMutex,
+{
     /// Mark this Signal as signaled.
     pub fn signal(&self, val: T) {
-        critical_section::with(|_| unsafe {
-            let state = &mut *self.state.get();
-            if let State::Waiting(waker) = mem::replace(state, State::Signaled(val)) {
+        self.state.lock(|cell| {
+            let state = cell.replace(State::Signaled(val));
+            if let State::Waiting(waker) = state {
                 waker.wake();
             }
         })
@@ -63,31 +72,27 @@ impl<T: Send> Signal<T> {
 
     /// Remove the queued value in this `Signal`, if any.
     pub fn reset(&self) {
-        critical_section::with(|_| unsafe {
-            let state = &mut *self.state.get();
-            *state = State::None
-        })
+        self.state.lock(|cell| cell.set(State::None));
     }
 
-    /// Manually poll the Signal future.
-    pub fn poll_wait(&self, cx: &mut Context<'_>) -> Poll<T> {
-        critical_section::with(|_| unsafe {
-            let state = &mut *self.state.get();
+    fn poll_wait(&self, cx: &mut Context<'_>) -> Poll<T> {
+        self.state.lock(|cell| {
+            let state = cell.replace(State::None);
             match state {
                 State::None => {
-                    *state = State::Waiting(cx.waker().clone());
+                    cell.set(State::Waiting(cx.waker().clone()));
+                    Poll::Pending
+                }
+                State::Waiting(w) if w.will_wake(cx.waker()) => {
+                    cell.set(State::Waiting(w));
                     Poll::Pending
                 }
-                State::Waiting(w) if w.will_wake(cx.waker()) => Poll::Pending,
                 State::Waiting(w) => {
-                    let w = mem::replace(w, cx.waker().clone());
+                    cell.set(State::Waiting(cx.waker().clone()));
                     w.wake();
                     Poll::Pending
                 }
-                State::Signaled(_) => match mem::replace(state, State::None) {
-                    State::Signaled(res) => Poll::Ready(res),
-                    _ => unreachable!(),
-                },
+                State::Signaled(res) => Poll::Ready(res),
             }
         })
     }
@@ -99,6 +104,14 @@ impl<T: Send> Signal<T> {
 
     /// non-blocking method to check whether this signal has been signaled.
     pub fn signaled(&self) -> bool {
-        critical_section::with(|_| matches!(unsafe { &*self.state.get() }, State::Signaled(_)))
+        self.state.lock(|cell| {
+            let state = cell.replace(State::None);
+
+            let res = matches!(state, State::Signaled(_));
+
+            cell.set(state);
+
+            res
+        })
     }
 }
diff --git a/embassy-usb-ncm/Cargo.toml b/embassy-usb-driver/Cargo.toml
index 15d3db96f..b525df337 100644
--- a/embassy-usb-ncm/Cargo.toml
+++ b/embassy-usb-driver/Cargo.toml
@@ -1,17 +1,16 @@
 [package]
-name = "embassy-usb-ncm"
+name = "embassy-usb-driver"
 version = "0.1.0"
 edition = "2021"
 
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
 [package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-ncm-v$VERSION/embassy-usb-ncm/src/"
-src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-ncm/src/"
+src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-driver-v$VERSION/embassy-usb/src/"
+src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-driver/src/"
 features = ["defmt"]
 target = "thumbv7em-none-eabi"
 
 [dependencies]
-embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
-embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
-
 defmt = { version = "0.3", optional = true }
-log = { version = "0.4.14", optional = true }
+log = { version = "0.4.14", optional = true }
\ No newline at end of file
diff --git a/embassy-usb/src/driver.rs b/embassy-usb-driver/src/lib.rs
index 7888f1639..fc29786fc 100644
--- a/embassy-usb/src/driver.rs
+++ b/embassy-usb-driver/src/lib.rs
@@ -1,6 +1,104 @@
+#![no_std]
+
 use core::future::Future;
 
-use super::types::*;
+/// Direction of USB traffic. Note that in the USB standard the direction is always indicated from
+/// the perspective of the host, which is backward for devices, but the standard directions are used
+/// for consistency.
+///
+/// The values of the enum also match the direction bit used in endpoint addresses and control
+/// request types.
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Direction {
+    /// Host to device (OUT)
+    Out,
+    /// Device to host (IN)
+    In,
+}
+
+/// USB endpoint transfer type. The values of this enum can be directly cast into `u8` to get the
+/// transfer bmAttributes transfer type bits.
+#[repr(u8)]
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum EndpointType {
+    /// Control endpoint. Used for device management. Only the host can initiate requests. Usually
+    /// used only endpoint 0.
+    Control = 0b00,
+    /// Isochronous endpoint. Used for time-critical unreliable data. Not implemented yet.
+    Isochronous = 0b01,
+    /// Bulk endpoint. Used for large amounts of best-effort reliable data.
+    Bulk = 0b10,
+    /// Interrupt endpoint. Used for small amounts of time-critical reliable data.
+    Interrupt = 0b11,
+}
+
+/// Type-safe endpoint address.
+#[derive(Debug, Clone, Copy, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct EndpointAddress(u8);
+
+impl From<u8> for EndpointAddress {
+    #[inline]
+    fn from(addr: u8) -> EndpointAddress {
+        EndpointAddress(addr)
+    }
+}
+
+impl From<EndpointAddress> for u8 {
+    #[inline]
+    fn from(addr: EndpointAddress) -> u8 {
+        addr.0
+    }
+}
+
+impl EndpointAddress {
+    const INBITS: u8 = Direction::In as u8;
+
+    /// Constructs a new EndpointAddress with the given index and direction.
+    #[inline]
+    pub fn from_parts(index: usize, dir: Direction) -> Self {
+        EndpointAddress(index as u8 | dir as u8)
+    }
+
+    /// Gets the direction part of the address.
+    #[inline]
+    pub fn direction(&self) -> Direction {
+        if (self.0 & Self::INBITS) != 0 {
+            Direction::In
+        } else {
+            Direction::Out
+        }
+    }
+
+    /// Returns true if the direction is IN, otherwise false.
+    #[inline]
+    pub fn is_in(&self) -> bool {
+        (self.0 & Self::INBITS) != 0
+    }
+
+    /// Returns true if the direction is OUT, otherwise false.
+    #[inline]
+    pub fn is_out(&self) -> bool {
+        (self.0 & Self::INBITS) == 0
+    }
+
+    /// Gets the index part of the endpoint address.
+    #[inline]
+    pub fn index(&self) -> usize {
+        (self.0 & !Self::INBITS) as usize
+    }
+}
+
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct EndpointInfo {
+    pub addr: EndpointAddress,
+    pub ep_type: EndpointType,
+    pub max_packet_size: u16,
+    pub interval: u8,
+}
 
 /// Driver for a specific USB peripheral. Implement this to add support for a new hardware
 /// platform.
diff --git a/embassy-usb-hid/Cargo.toml b/embassy-usb-hid/Cargo.toml
deleted file mode 100644
index 2f7733dc6..000000000
--- a/embassy-usb-hid/Cargo.toml
+++ /dev/null
@@ -1,24 +0,0 @@
-[package]
-name = "embassy-usb-hid"
-version = "0.1.0"
-edition = "2021"
-
-[package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-hid-v$VERSION/embassy-usb-hid/src/"
-src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-hid/src/"
-features = ["defmt"]
-target = "thumbv7em-none-eabi"
-
-[features]
-default = ["usbd-hid"]
-usbd-hid = ["dep:usbd-hid", "ssmarshal"]
-
-[dependencies]
-embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
-embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
-
-defmt = { version = "0.3", optional = true }
-log = { version = "0.4.14", optional = true }
-usbd-hid = { version = "0.6.0", optional = true }
-ssmarshal = { version = "1.0", default-features = false, optional = true }
-futures-util = { version = "0.3.21", default-features = false }
diff --git a/embassy-usb-hid/src/fmt.rs b/embassy-usb-hid/src/fmt.rs
deleted file mode 100644
index 066970813..000000000
--- a/embassy-usb-hid/src/fmt.rs
+++ /dev/null
@@ -1,225 +0,0 @@
-#![macro_use]
-#![allow(unused_macros)]
-
-#[cfg(all(feature = "defmt", feature = "log"))]
-compile_error!("You may not enable both `defmt` and `log` features.");
-
-macro_rules! assert {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert!($($x)*);
-        }
-    };
-}
-
-macro_rules! assert_eq {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert_eq!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert_eq!($($x)*);
-        }
-    };
-}
-
-macro_rules! assert_ne {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert_ne!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert_ne!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert_eq {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert_eq!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert_eq!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert_ne {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert_ne!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert_ne!($($x)*);
-        }
-    };
-}
-
-macro_rules! todo {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::todo!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::todo!($($x)*);
-        }
-    };
-}
-
-macro_rules! unreachable {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
-        }
-    };
-}
-
-macro_rules! panic {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::panic!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::panic!($($x)*);
-        }
-    };
-}
-
-macro_rules! trace {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::trace!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::trace!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! debug {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::debug!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! info {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::info!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::info!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! warn {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::warn!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::warn!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! error {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::error!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::error!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-#[cfg(feature = "defmt")]
-macro_rules! unwrap {
-    ($($x:tt)*) => {
-        ::defmt::unwrap!($($x)*)
-    };
-}
-
-#[cfg(not(feature = "defmt"))]
-macro_rules! unwrap {
-    ($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!($arg), ::core::format_args!($($msg,)*), e);
-            }
-        }
-    }
-}
-
-#[derive(Debug, Copy, Clone, Eq, PartialEq)]
-pub struct NoneError;
-
-pub trait Try {
-    type Ok;
-    type Error;
-    fn into_result(self) -> Result<Self::Ok, Self::Error>;
-}
-
-impl<T> Try for Option<T> {
-    type Ok = T;
-    type Error = NoneError;
-
-    #[inline]
-    fn into_result(self) -> Result<T, NoneError> {
-        self.ok_or(NoneError)
-    }
-}
-
-impl<T, E> Try for Result<T, E> {
-    type Ok = T;
-    type Error = E;
-
-    #[inline]
-    fn into_result(self) -> Self {
-        self
-    }
-}
diff --git a/embassy-usb-ncm/src/fmt.rs b/embassy-usb-ncm/src/fmt.rs
deleted file mode 100644
index 066970813..000000000
--- a/embassy-usb-ncm/src/fmt.rs
+++ /dev/null
@@ -1,225 +0,0 @@
-#![macro_use]
-#![allow(unused_macros)]
-
-#[cfg(all(feature = "defmt", feature = "log"))]
-compile_error!("You may not enable both `defmt` and `log` features.");
-
-macro_rules! assert {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert!($($x)*);
-        }
-    };
-}
-
-macro_rules! assert_eq {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert_eq!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert_eq!($($x)*);
-        }
-    };
-}
-
-macro_rules! assert_ne {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert_ne!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert_ne!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert_eq {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert_eq!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert_eq!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert_ne {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert_ne!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert_ne!($($x)*);
-        }
-    };
-}
-
-macro_rules! todo {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::todo!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::todo!($($x)*);
-        }
-    };
-}
-
-macro_rules! unreachable {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
-        }
-    };
-}
-
-macro_rules! panic {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::panic!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::panic!($($x)*);
-        }
-    };
-}
-
-macro_rules! trace {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::trace!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::trace!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! debug {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::debug!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! info {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::info!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::info!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! warn {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::warn!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::warn!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! error {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::error!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::error!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-#[cfg(feature = "defmt")]
-macro_rules! unwrap {
-    ($($x:tt)*) => {
-        ::defmt::unwrap!($($x)*)
-    };
-}
-
-#[cfg(not(feature = "defmt"))]
-macro_rules! unwrap {
-    ($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!($arg), ::core::format_args!($($msg,)*), e);
-            }
-        }
-    }
-}
-
-#[derive(Debug, Copy, Clone, Eq, PartialEq)]
-pub struct NoneError;
-
-pub trait Try {
-    type Ok;
-    type Error;
-    fn into_result(self) -> Result<Self::Ok, Self::Error>;
-}
-
-impl<T> Try for Option<T> {
-    type Ok = T;
-    type Error = NoneError;
-
-    #[inline]
-    fn into_result(self) -> Result<T, NoneError> {
-        self.ok_or(NoneError)
-    }
-}
-
-impl<T, E> Try for Result<T, E> {
-    type Ok = T;
-    type Error = E;
-
-    #[inline]
-    fn into_result(self) -> Self {
-        self
-    }
-}
diff --git a/embassy-usb-serial/Cargo.toml b/embassy-usb-serial/Cargo.toml
deleted file mode 100644
index 9788588e9..000000000
--- a/embassy-usb-serial/Cargo.toml
+++ /dev/null
@@ -1,17 +0,0 @@
-[package]
-name = "embassy-usb-serial"
-version = "0.1.0"
-edition = "2021"
-
-[package.metadata.embassy_docs]
-src_base = "https://github.com/embassy-rs/embassy/blob/embassy-usb-serial-v$VERSION/embassy-usb-serial/src/"
-src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb-serial/src/"
-features = ["defmt"]
-target = "thumbv7em-none-eabi"
-
-[dependencies]
-embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
-embassy-usb = { version = "0.1.0", path = "../embassy-usb" }
-
-defmt = { version = "0.3", optional = true }
-log = { version = "0.4.14", optional = true }
diff --git a/embassy-usb-serial/src/fmt.rs b/embassy-usb-serial/src/fmt.rs
deleted file mode 100644
index 066970813..000000000
--- a/embassy-usb-serial/src/fmt.rs
+++ /dev/null
@@ -1,225 +0,0 @@
-#![macro_use]
-#![allow(unused_macros)]
-
-#[cfg(all(feature = "defmt", feature = "log"))]
-compile_error!("You may not enable both `defmt` and `log` features.");
-
-macro_rules! assert {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert!($($x)*);
-        }
-    };
-}
-
-macro_rules! assert_eq {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert_eq!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert_eq!($($x)*);
-        }
-    };
-}
-
-macro_rules! assert_ne {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::assert_ne!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::assert_ne!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert_eq {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert_eq!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert_eq!($($x)*);
-        }
-    };
-}
-
-macro_rules! debug_assert_ne {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::debug_assert_ne!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug_assert_ne!($($x)*);
-        }
-    };
-}
-
-macro_rules! todo {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::todo!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::todo!($($x)*);
-        }
-    };
-}
-
-macro_rules! unreachable {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
-        }
-    };
-}
-
-macro_rules! panic {
-    ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::panic!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::panic!($($x)*);
-        }
-    };
-}
-
-macro_rules! trace {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::trace!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::trace!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! debug {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::debug!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::debug!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! info {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::info!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::info!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! warn {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::warn!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::warn!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-macro_rules! error {
-    ($s:literal $(, $x:expr)* $(,)?) => {
-        {
-            #[cfg(feature = "log")]
-            ::log::error!($s $(, $x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::error!($s $(, $x)*);
-            #[cfg(not(any(feature = "log", feature="defmt")))]
-            let _ = ($( & $x ),*);
-        }
-    };
-}
-
-#[cfg(feature = "defmt")]
-macro_rules! unwrap {
-    ($($x:tt)*) => {
-        ::defmt::unwrap!($($x)*)
-    };
-}
-
-#[cfg(not(feature = "defmt"))]
-macro_rules! unwrap {
-    ($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!($arg), ::core::format_args!($($msg,)*), e);
-            }
-        }
-    }
-}
-
-#[derive(Debug, Copy, Clone, Eq, PartialEq)]
-pub struct NoneError;
-
-pub trait Try {
-    type Ok;
-    type Error;
-    fn into_result(self) -> Result<Self::Ok, Self::Error>;
-}
-
-impl<T> Try for Option<T> {
-    type Ok = T;
-    type Error = NoneError;
-
-    #[inline]
-    fn into_result(self) -> Result<T, NoneError> {
-        self.ok_or(NoneError)
-    }
-}
-
-impl<T, E> Try for Result<T, E> {
-    type Ok = T;
-    type Error = E;
-
-    #[inline]
-    fn into_result(self) -> Self {
-        self
-    }
-}
diff --git a/embassy-usb/Cargo.toml b/embassy-usb/Cargo.toml
index 8cad4d314..aad54dbaf 100644
--- a/embassy-usb/Cargo.toml
+++ b/embassy-usb/Cargo.toml
@@ -9,9 +9,20 @@ src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-usb/s
 features = ["defmt"]
 target = "thumbv7em-none-eabi"
 
+[features]
+defmt = ["dep:defmt", "embassy-usb-driver/defmt"]
+usbd-hid = ["dep:usbd-hid", "dep:ssmarshal"]
+default = ["usbd-hid"]
+
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
+embassy-usb-driver = { version = "0.1.0", path = "../embassy-usb-driver" }
+embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
-heapless = "0.7.10"
\ No newline at end of file
+heapless = "0.7.10"
+
+# for HID
+usbd-hid = { version = "0.6.0", optional = true }
+ssmarshal = { version = "1.0", default-features = false, optional = true }
diff --git a/embassy-usb/src/builder.rs b/embassy-usb/src/builder.rs
index 6be88bc76..87a8333bb 100644
--- a/embassy-usb/src/builder.rs
+++ b/embassy-usb/src/builder.rs
@@ -1,11 +1,10 @@
 use heapless::Vec;
 
-use super::control::ControlHandler;
-use super::descriptor::{BosWriter, DescriptorWriter};
-use super::driver::{Driver, Endpoint};
-use super::types::*;
-use super::{DeviceStateHandler, UsbDevice, MAX_INTERFACE_COUNT};
-use crate::{Interface, STRING_INDEX_CUSTOM_START};
+use crate::control::ControlHandler;
+use crate::descriptor::{BosWriter, DescriptorWriter};
+use crate::driver::{Driver, Endpoint, EndpointType};
+use crate::types::*;
+use crate::{DeviceStateHandler, Interface, UsbDevice, MAX_INTERFACE_COUNT, STRING_INDEX_CUSTOM_START};
 
 #[derive(Debug, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
diff --git a/embassy-usb-serial/src/lib.rs b/embassy-usb/src/class/cdc_acm.rs
index 27b536a6b..09bb1cc8d 100644
--- a/embassy-usb-serial/src/lib.rs
+++ b/embassy-usb/src/class/cdc_acm.rs
@@ -1,18 +1,13 @@
-#![no_std]
-#![feature(type_alias_impl_trait)]
-
-// This mod MUST go first, so that the others see its macros.
-pub(crate) mod fmt;
-
 use core::cell::Cell;
 use core::mem::{self, MaybeUninit};
 use core::sync::atomic::{AtomicBool, Ordering};
 
 use embassy_sync::blocking_mutex::CriticalSectionMutex;
-use embassy_usb::control::{self, ControlHandler, InResponse, OutResponse, Request};
-use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
-use embassy_usb::types::*;
-use embassy_usb::Builder;
+
+use crate::control::{self, ControlHandler, InResponse, OutResponse, Request};
+use crate::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
+use crate::types::*;
+use crate::Builder;
 
 /// This should be used as `device_class` when building the `UsbDevice`.
 pub const USB_CLASS_CDC: u8 = 0x02;
@@ -268,7 +263,7 @@ impl<'d, D: Driver<'d>> CdcAcmClass<'d, D> {
 }
 
 /// Number of stop bits for LineCoding
-#[derive(Copy, Clone, PartialEq, Eq)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum StopBits {
     /// 1 stop bit
@@ -292,7 +287,7 @@ impl From<u8> for StopBits {
 }
 
 /// Parity for LineCoding
-#[derive(Copy, Clone, PartialEq, Eq)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum ParityType {
     None = 0,
@@ -316,7 +311,7 @@ impl From<u8> for ParityType {
 ///
 /// This is provided by the host for specifying the standard UART parameters such as baud rate. Can
 /// be ignored if you don't plan to interface with a physical UART.
-#[derive(Clone, Copy)]
+#[derive(Clone, Copy, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct LineCoding {
     stop_bits: StopBits,
diff --git a/embassy-usb-ncm/src/lib.rs b/embassy-usb/src/class/cdc_ncm.rs
index e796af28f..a39b87e9b 100644
--- a/embassy-usb-ncm/src/lib.rs
+++ b/embassy-usb/src/class/cdc_ncm.rs
@@ -1,15 +1,10 @@
-#![no_std]
-
-// This mod MUST go first, so that the others see its macros.
-pub(crate) mod fmt;
-
 use core::intrinsics::copy_nonoverlapping;
 use core::mem::{size_of, MaybeUninit};
 
-use embassy_usb::control::{self, ControlHandler, InResponse, OutResponse, Request};
-use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
-use embassy_usb::types::*;
-use embassy_usb::Builder;
+use crate::control::{self, ControlHandler, InResponse, OutResponse, Request};
+use crate::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
+use crate::types::*;
+use crate::Builder;
 
 /// This should be used as `device_class` when building the `UsbDevice`.
 pub const USB_CLASS_CDC: u8 = 0x02;
diff --git a/embassy-usb-hid/src/lib.rs b/embassy-usb/src/class/hid.rs
index 8b181aec8..4d1fa995f 100644
--- a/embassy-usb-hid/src/lib.rs
+++ b/embassy-usb/src/class/hid.rs
@@ -1,23 +1,16 @@
-#![no_std]
-#![feature(type_alias_impl_trait)]
-
-//! Implements HID functionality for a usb-device device.
-
-// This mod MUST go first, so that the others see its macros.
-pub(crate) mod fmt;
-
 use core::mem::MaybeUninit;
 use core::ops::Range;
 use core::sync::atomic::{AtomicUsize, Ordering};
 
-use embassy_usb::control::{ControlHandler, InResponse, OutResponse, Request, RequestType};
-use embassy_usb::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
-use embassy_usb::Builder;
 #[cfg(feature = "usbd-hid")]
 use ssmarshal::serialize;
 #[cfg(feature = "usbd-hid")]
 use usbd_hid::descriptor::AsInputReport;
 
+use crate::control::{ControlHandler, InResponse, OutResponse, Request, RequestType};
+use crate::driver::{Driver, Endpoint, EndpointError, EndpointIn, EndpointOut};
+use crate::Builder;
+
 const USB_CLASS_HID: u8 = 0x03;
 const USB_SUBCLASS_NONE: u8 = 0x00;
 const USB_PROTOCOL_NONE: u8 = 0x00;
@@ -204,9 +197,9 @@ pub enum ReadError {
     Sync(Range<usize>),
 }
 
-impl From<embassy_usb::driver::EndpointError> for ReadError {
-    fn from(val: embassy_usb::driver::EndpointError) -> Self {
-        use embassy_usb::driver::EndpointError::*;
+impl From<EndpointError> for ReadError {
+    fn from(val: EndpointError) -> Self {
+        use EndpointError::*;
         match val {
             BufferOverflow => ReadError::BufferOverflow,
             Disabled => ReadError::Disabled,
@@ -437,7 +430,7 @@ impl<'d> ControlHandler for Control<'d> {
         }
     }
 
-    fn control_out(&mut self, req: embassy_usb::control::Request, data: &[u8]) -> OutResponse {
+    fn control_out(&mut self, req: Request, data: &[u8]) -> OutResponse {
         trace!("HID control_out {:?} {=[u8]:x}", req, data);
         if let RequestType::Class = req.request_type {
             match req.request {
diff --git a/embassy-usb/src/class/mod.rs b/embassy-usb/src/class/mod.rs
new file mode 100644
index 000000000..af27577a6
--- /dev/null
+++ b/embassy-usb/src/class/mod.rs
@@ -0,0 +1,3 @@
+pub mod cdc_acm;
+pub mod cdc_ncm;
+pub mod hid;
diff --git a/embassy-usb/src/control.rs b/embassy-usb/src/control.rs
index 3e5749a01..d6d0c6565 100644
--- a/embassy-usb/src/control.rs
+++ b/embassy-usb/src/control.rs
@@ -1,7 +1,8 @@
 //! USB control data types.
 use core::mem;
 
-use super::types::*;
+use crate::driver::Direction;
+use crate::types::StringIndex;
 
 /// Control request type.
 #[repr(u8)]
@@ -42,7 +43,7 @@ pub enum Recipient {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Request {
     /// Direction of the request.
-    pub direction: UsbDirection,
+    pub direction: Direction,
     /// Type of the request.
     pub request_type: RequestType,
     /// Recipient of the request.
@@ -105,7 +106,7 @@ impl Request {
         let recipient = rt & 0b11111;
 
         Request {
-            direction: rt.into(),
+            direction: if rt & 0x80 == 0 { Direction::Out } else { Direction::In },
             request_type: unsafe { mem::transmute((rt >> 5) & 0b11) },
             recipient: if recipient <= 3 {
                 unsafe { mem::transmute(recipient) }
diff --git a/embassy-usb/src/descriptor.rs b/embassy-usb/src/descriptor.rs
index b94a4b161..497f03196 100644
--- a/embassy-usb/src/descriptor.rs
+++ b/embassy-usb/src/descriptor.rs
@@ -1,6 +1,7 @@
-use super::builder::Config;
-use super::types::*;
-use super::CONFIGURATION_VALUE;
+use crate::builder::Config;
+use crate::driver::EndpointInfo;
+use crate::types::*;
+use crate::CONFIGURATION_VALUE;
 
 /// Standard descriptor types
 #[allow(missing_docs)]
diff --git a/embassy-usb/src/descriptor_reader.rs b/embassy-usb/src/descriptor_reader.rs
index 0a12b566c..d64bcb73b 100644
--- a/embassy-usb/src/descriptor_reader.rs
+++ b/embassy-usb/src/descriptor_reader.rs
@@ -1,5 +1,5 @@
 use crate::descriptor::descriptor_type;
-use crate::types::EndpointAddress;
+use crate::driver::EndpointAddress;
 
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
diff --git a/embassy-usb/src/lib.rs b/embassy-usb/src/lib.rs
index ca7dde627..661b84119 100644
--- a/embassy-usb/src/lib.rs
+++ b/embassy-usb/src/lib.rs
@@ -4,23 +4,24 @@
 // This mod MUST go first, so that the others see its macros.
 pub(crate) mod fmt;
 
+pub use embassy_usb_driver as driver;
+
 mod builder;
+pub mod class;
 pub mod control;
 pub mod descriptor;
 mod descriptor_reader;
-pub mod driver;
 pub mod types;
 
 use embassy_futures::select::{select, Either};
 use heapless::Vec;
 
-pub use self::builder::{Builder, Config};
-use self::control::*;
-use self::descriptor::*;
-use self::driver::{Bus, Driver, Event};
-use self::types::*;
+pub use crate::builder::{Builder, Config};
+use crate::control::*;
+use crate::descriptor::*;
 use crate::descriptor_reader::foreach_endpoint;
-use crate::driver::ControlPipe;
+use crate::driver::{Bus, ControlPipe, Direction, Driver, EndpointAddress, Event};
+use crate::types::*;
 
 /// The global state of the USB device.
 ///
@@ -247,11 +248,11 @@ impl<'d, D: Driver<'d>> UsbDevice<'d, D> {
     async fn handle_control(&mut self, req: [u8; 8]) {
         let req = Request::parse(&req);
 
-        trace!("control request: {:02x}", req);
+        trace!("control request: {:?}", req);
 
         match req.direction {
-            UsbDirection::In => self.handle_control_in(req).await,
-            UsbDirection::Out => self.handle_control_out(req).await,
+            Direction::In => self.handle_control_in(req).await,
+            Direction::Out => self.handle_control_out(req).await,
         }
 
         if self.inner.set_address_pending {
diff --git a/embassy-usb/src/types.rs b/embassy-usb/src/types.rs
index b8717ffa9..aeab063d1 100644
--- a/embassy-usb/src/types.rs
+++ b/embassy-usb/src/types.rs
@@ -1,108 +1,3 @@
-/// Direction of USB traffic. Note that in the USB standard the direction is always indicated from
-/// the perspective of the host, which is backward for devices, but the standard directions are used
-/// for consistency.
-///
-/// The values of the enum also match the direction bit used in endpoint addresses and control
-/// request types.
-#[repr(u8)]
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum UsbDirection {
-    /// Host to device (OUT)
-    Out = 0x00,
-    /// Device to host (IN)
-    In = 0x80,
-}
-
-impl From<u8> for UsbDirection {
-    fn from(value: u8) -> Self {
-        unsafe { core::mem::transmute(value & 0x80) }
-    }
-}
-
-/// USB endpoint transfer type. The values of this enum can be directly cast into `u8` to get the
-/// transfer bmAttributes transfer type bits.
-#[repr(u8)]
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum EndpointType {
-    /// Control endpoint. Used for device management. Only the host can initiate requests. Usually
-    /// used only endpoint 0.
-    Control = 0b00,
-    /// Isochronous endpoint. Used for time-critical unreliable data. Not implemented yet.
-    Isochronous = 0b01,
-    /// Bulk endpoint. Used for large amounts of best-effort reliable data.
-    Bulk = 0b10,
-    /// Interrupt endpoint. Used for small amounts of time-critical reliable data.
-    Interrupt = 0b11,
-}
-
-/// Type-safe endpoint address.
-#[derive(Debug, Clone, Copy, Eq, PartialEq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct EndpointAddress(u8);
-
-impl From<u8> for EndpointAddress {
-    #[inline]
-    fn from(addr: u8) -> EndpointAddress {
-        EndpointAddress(addr)
-    }
-}
-
-impl From<EndpointAddress> for u8 {
-    #[inline]
-    fn from(addr: EndpointAddress) -> u8 {
-        addr.0
-    }
-}
-
-impl EndpointAddress {
-    const INBITS: u8 = UsbDirection::In as u8;
-
-    /// Constructs a new EndpointAddress with the given index and direction.
-    #[inline]
-    pub fn from_parts(index: usize, dir: UsbDirection) -> Self {
-        EndpointAddress(index as u8 | dir as u8)
-    }
-
-    /// Gets the direction part of the address.
-    #[inline]
-    pub fn direction(&self) -> UsbDirection {
-        if (self.0 & Self::INBITS) != 0 {
-            UsbDirection::In
-        } else {
-            UsbDirection::Out
-        }
-    }
-
-    /// Returns true if the direction is IN, otherwise false.
-    #[inline]
-    pub fn is_in(&self) -> bool {
-        (self.0 & Self::INBITS) != 0
-    }
-
-    /// Returns true if the direction is OUT, otherwise false.
-    #[inline]
-    pub fn is_out(&self) -> bool {
-        (self.0 & Self::INBITS) == 0
-    }
-
-    /// Gets the index part of the endpoint address.
-    #[inline]
-    pub fn index(&self) -> usize {
-        (self.0 & !Self::INBITS) as usize
-    }
-}
-
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct EndpointInfo {
-    pub addr: EndpointAddress,
-    pub ep_type: EndpointType,
-    pub max_packet_size: u16,
-    pub interval: u8,
-}
-
 /// A handle for a USB interface that contains its number.
 #[derive(Copy, Clone, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
diff --git a/examples/boot/application/stm32f7/src/bin/a.rs b/examples/boot/application/stm32f7/src/bin/a.rs
index c08880fb3..77b897b0f 100644
--- a/examples/boot/application/stm32f7/src/bin/a.rs
+++ b/examples/boot/application/stm32f7/src/bin/a.rs
@@ -5,7 +5,6 @@
 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater};
-use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_executor::Spawner;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::{Flash, WRITE_SIZE};
@@ -17,8 +16,7 @@ static APP_B: &[u8] = include_bytes!("../../b.bin");
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
-    let flash = Flash::unlock(p.FLASH);
-    let mut flash = BlockingAsync::new(flash);
+    let mut flash = Flash::unlock(p.FLASH);
 
     let button = Input::new(p.PC13, Pull::Down);
     let mut button = ExtiInput::new(button, p.EXTI13);
@@ -27,16 +25,19 @@ async fn main(_spawner: Spawner) {
     led.set_high();
 
     let mut updater = FirmwareUpdater::default();
+    let mut writer = updater.prepare_update_blocking(&mut flash).unwrap();
     button.wait_for_rising_edge().await;
     let mut offset = 0;
-    let mut buf: [u8; 256 * 1024] = [0; 256 * 1024];
-    for chunk in APP_B.chunks(256 * 1024) {
-        buf[..chunk.len()].copy_from_slice(chunk);
-        updater.write_firmware(offset, &buf, &mut flash, 2048).await.unwrap();
+    let mut buf = AlignedBuffer([0; 4096]);
+    for chunk in APP_B.chunks(4096) {
+        buf.as_mut()[..chunk.len()].copy_from_slice(chunk);
+        writer
+            .write_block_blocking(offset, buf.as_ref(), &mut flash, chunk.len())
+            .unwrap();
         offset += chunk.len();
     }
     let mut magic = AlignedBuffer([0; WRITE_SIZE]);
-    updater.mark_updated(&mut flash, magic.as_mut()).await.unwrap();
+    updater.mark_updated_blocking(&mut flash, magic.as_mut()).unwrap();
     led.set_low();
     cortex_m::peripheral::SCB::sys_reset();
 }
diff --git a/examples/boot/application/stm32h7/src/bin/a.rs b/examples/boot/application/stm32h7/src/bin/a.rs
index f5a8fdb61..0fe598a5d 100644
--- a/examples/boot/application/stm32h7/src/bin/a.rs
+++ b/examples/boot/application/stm32h7/src/bin/a.rs
@@ -5,7 +5,6 @@
 #[cfg(feature = "defmt-rtt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater};
-use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_executor::Spawner;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::{Flash, WRITE_SIZE};
@@ -17,8 +16,7 @@ static APP_B: &[u8] = include_bytes!("../../b.bin");
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
-    let flash = Flash::unlock(p.FLASH);
-    let mut flash = BlockingAsync::new(flash);
+    let mut flash = Flash::unlock(p.FLASH);
 
     let button = Input::new(p.PC13, Pull::Down);
     let mut button = ExtiInput::new(button, p.EXTI13);
@@ -27,19 +25,20 @@ async fn main(_spawner: Spawner) {
     led.set_high();
 
     let mut updater = FirmwareUpdater::default();
+
+    let mut writer = updater.prepare_update_blocking(&mut flash).unwrap();
     button.wait_for_rising_edge().await;
     let mut offset = 0;
-    let mut buf = AlignedBuffer([0; 128 * 1024]);
-    for chunk in APP_B.chunks(128 * 1024) {
+    let mut buf = AlignedBuffer([0; 4096]);
+    for chunk in APP_B.chunks(4096) {
         buf.as_mut()[..chunk.len()].copy_from_slice(chunk);
-        updater
-            .write_firmware(offset, buf.as_ref(), &mut flash, 2048)
-            .await
+        writer
+            .write_block_blocking(offset, buf.as_ref(), &mut flash, 4096)
             .unwrap();
         offset += chunk.len();
     }
     let mut magic = AlignedBuffer([0; WRITE_SIZE]);
-    updater.mark_updated(&mut flash, magic.as_mut()).await.unwrap();
+    updater.mark_updated_blocking(&mut flash, magic.as_mut()).unwrap();
     led.set_low();
     cortex_m::peripheral::SCB::sys_reset();
 }
diff --git a/examples/nrf/Cargo.toml b/examples/nrf/Cargo.toml
index dbc659cda..a5d340c69 100644
--- a/examples/nrf/Cargo.toml
+++ b/examples/nrf/Cargo.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 
 [features]
 default = ["nightly"]
-nightly = ["embassy-executor/nightly", "embassy-nrf/nightly", "embassy-net/nightly", "embassy-nrf/unstable-traits", "embassy-usb", "embassy-usb-serial", "embassy-usb-hid", "embassy-usb-ncm", "embedded-io/async", "embassy-net"]
+nightly = ["embassy-executor/nightly", "embassy-nrf/nightly", "embassy-net/nightly", "embassy-nrf/unstable-traits", "embassy-usb", "embedded-io/async", "embassy-net"]
 
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
@@ -15,9 +15,6 @@ embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["de
 embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "pool-16"], optional = true }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"], optional = true }
-embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"], optional = true }
-embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"], optional = true }
-embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"], optional = true }
 embedded-io = "0.3.0"
 
 defmt = "0.3"
diff --git a/examples/nrf/src/bin/usb_ethernet.rs b/examples/nrf/src/bin/usb_ethernet.rs
index 33ca380ff..de93a2b45 100644
--- a/examples/nrf/src/bin/usb_ethernet.rs
+++ b/examples/nrf/src/bin/usb_ethernet.rs
@@ -15,8 +15,8 @@ use embassy_nrf::usb::{Driver, PowerUsb};
 use embassy_nrf::{interrupt, pac, peripherals};
 use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 use embassy_sync::channel::Channel;
+use embassy_usb::class::cdc_ncm::{CdcNcmClass, Receiver, Sender, State};
 use embassy_usb::{Builder, Config, UsbDevice};
-use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State};
 use embedded_io::asynch::Write;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
diff --git a/examples/nrf/src/bin/usb_hid_keyboard.rs b/examples/nrf/src/bin/usb_hid_keyboard.rs
index 70318b78f..76e198719 100644
--- a/examples/nrf/src/bin/usb_hid_keyboard.rs
+++ b/examples/nrf/src/bin/usb_hid_keyboard.rs
@@ -12,10 +12,11 @@ use embassy_futures::select::{select, Either};
 use embassy_nrf::gpio::{Input, Pin, Pull};
 use embassy_nrf::usb::{Driver, PowerUsb};
 use embassy_nrf::{interrupt, pac};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::signal::Signal;
+use embassy_usb::class::hid::{HidReaderWriter, ReportId, RequestHandler, State};
 use embassy_usb::control::OutResponse;
 use embassy_usb::{Builder, Config, DeviceStateHandler};
-use embassy_usb_hid::{HidReaderWriter, ReportId, RequestHandler, State};
 use usbd_hid::descriptor::{KeyboardReport, SerializedDescriptor};
 use {defmt_rtt as _, panic_probe as _};
 
@@ -66,7 +67,7 @@ async fn main(_spawner: Spawner) {
     );
 
     // Create classes on the builder.
-    let config = embassy_usb_hid::Config {
+    let config = embassy_usb::class::hid::Config {
         report_descriptor: KeyboardReport::desc(),
         request_handler: Some(&request_handler),
         poll_ms: 60,
@@ -77,7 +78,7 @@ async fn main(_spawner: Spawner) {
     // Build the builder.
     let mut usb = builder.build();
 
-    let remote_wakeup = Signal::new();
+    let remote_wakeup: Signal<CriticalSectionRawMutex, _> = Signal::new();
 
     // Run the USB device.
     let usb_fut = async {
diff --git a/examples/nrf/src/bin/usb_hid_mouse.rs b/examples/nrf/src/bin/usb_hid_mouse.rs
index 65fbda1cf..4916a38d4 100644
--- a/examples/nrf/src/bin/usb_hid_mouse.rs
+++ b/examples/nrf/src/bin/usb_hid_mouse.rs
@@ -10,9 +10,9 @@ use embassy_futures::join::join;
 use embassy_nrf::usb::{Driver, PowerUsb};
 use embassy_nrf::{interrupt, pac};
 use embassy_time::{Duration, Timer};
+use embassy_usb::class::hid::{HidWriter, ReportId, RequestHandler, State};
 use embassy_usb::control::OutResponse;
 use embassy_usb::{Builder, Config};
-use embassy_usb_hid::{HidWriter, ReportId, RequestHandler, State};
 use usbd_hid::descriptor::{MouseReport, SerializedDescriptor};
 use {defmt_rtt as _, panic_probe as _};
 
@@ -59,7 +59,7 @@ async fn main(_spawner: Spawner) {
     );
 
     // Create classes on the builder.
-    let config = embassy_usb_hid::Config {
+    let config = embassy_usb::class::hid::Config {
         report_descriptor: MouseReport::desc(),
         request_handler: Some(&request_handler),
         poll_ms: 60,
diff --git a/examples/nrf/src/bin/usb_serial.rs b/examples/nrf/src/bin/usb_serial.rs
index a740b4e0a..7c9c4184b 100644
--- a/examples/nrf/src/bin/usb_serial.rs
+++ b/examples/nrf/src/bin/usb_serial.rs
@@ -9,9 +9,9 @@ use embassy_executor::Spawner;
 use embassy_futures::join::join;
 use embassy_nrf::usb::{Driver, Instance, PowerUsb, UsbSupply};
 use embassy_nrf::{interrupt, pac};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::{Builder, Config};
-use embassy_usb_serial::{CdcAcmClass, State};
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/nrf/src/bin/usb_serial_multitask.rs b/examples/nrf/src/bin/usb_serial_multitask.rs
index c646c0bbd..93efc2fe6 100644
--- a/examples/nrf/src/bin/usb_serial_multitask.rs
+++ b/examples/nrf/src/bin/usb_serial_multitask.rs
@@ -8,9 +8,9 @@ use defmt::{info, panic, unwrap};
 use embassy_executor::Spawner;
 use embassy_nrf::usb::{Driver, PowerUsb};
 use embassy_nrf::{interrupt, pac, peripherals};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::{Builder, Config, UsbDevice};
-use embassy_usb_serial::{CdcAcmClass, State};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 24c3cdd67..3c8f923e7 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -10,9 +10,7 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver"] }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
-embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] }
-embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3"
diff --git a/examples/rp/src/bin/usb_ethernet.rs b/examples/rp/src/bin/usb_ethernet.rs
index 166ffe175..1057fe7fd 100644
--- a/examples/rp/src/bin/usb_ethernet.rs
+++ b/examples/rp/src/bin/usb_ethernet.rs
@@ -13,8 +13,8 @@ use embassy_rp::usb::Driver;
 use embassy_rp::{interrupt, peripherals};
 use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 use embassy_sync::channel::Channel;
+use embassy_usb::class::cdc_ncm::{CdcNcmClass, Receiver, Sender, State};
 use embassy_usb::{Builder, Config, UsbDevice};
-use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State};
 use embedded_io::asynch::Write;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
diff --git a/examples/rp/src/bin/usb_serial.rs b/examples/rp/src/bin/usb_serial.rs
index bf92a1636..b7d6493b4 100644
--- a/examples/rp/src/bin/usb_serial.rs
+++ b/examples/rp/src/bin/usb_serial.rs
@@ -7,9 +7,9 @@ use embassy_executor::Spawner;
 use embassy_futures::join::join;
 use embassy_rp::interrupt;
 use embassy_rp::usb::{Driver, Instance};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::{Builder, Config};
-use embassy_usb_serial::{CdcAcmClass, State};
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32f1/Cargo.toml b/examples/stm32f1/Cargo.toml
index 895e043dd..e6553789a 100644
--- a/examples/stm32f1/Cargo.toml
+++ b/examples/stm32f1/Cargo.toml
@@ -9,7 +9,6 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
-embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3"
diff --git a/examples/stm32f1/src/bin/usb_serial.rs b/examples/stm32f1/src/bin/usb_serial.rs
index a14e728ba..ad92cdeb2 100644
--- a/examples/stm32f1/src/bin/usb_serial.rs
+++ b/examples/stm32f1/src/bin/usb_serial.rs
@@ -10,9 +10,9 @@ use embassy_stm32::time::Hertz;
 use embassy_stm32::usb::{Driver, Instance};
 use embassy_stm32::{interrupt, Config};
 use embassy_time::{Duration, Timer};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::Builder;
-use embassy_usb_serial::{CdcAcmClass, State};
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32f3/Cargo.toml b/examples/stm32f3/Cargo.toml
index 27f5c260a..f5b0b880c 100644
--- a/examples/stm32f3/Cargo.toml
+++ b/examples/stm32f3/Cargo.toml
@@ -9,8 +9,6 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f303ze", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
-embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
-embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3"
diff --git a/examples/stm32f3/src/bin/usb_serial.rs b/examples/stm32f3/src/bin/usb_serial.rs
index b9fd20e2b..f6d27c860 100644
--- a/examples/stm32f3/src/bin/usb_serial.rs
+++ b/examples/stm32f3/src/bin/usb_serial.rs
@@ -10,9 +10,9 @@ use embassy_stm32::time::mhz;
 use embassy_stm32::usb::{Driver, Instance};
 use embassy_stm32::{interrupt, Config};
 use embassy_time::{Duration, Timer};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::Builder;
-use embassy_usb_serial::{CdcAcmClass, State};
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32h7/src/bin/signal.rs b/examples/stm32h7/src/bin/signal.rs
index cc3e4e3ca..6d7c168d5 100644
--- a/examples/stm32h7/src/bin/signal.rs
+++ b/examples/stm32h7/src/bin/signal.rs
@@ -4,11 +4,12 @@
 
 use defmt::{info, unwrap};
 use embassy_executor::Spawner;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::signal::Signal;
 use embassy_time::{Duration, Timer};
 use {defmt_rtt as _, panic_probe as _};
 
-static SIGNAL: Signal<u32> = Signal::new();
+static SIGNAL: Signal<CriticalSectionRawMutex, u32> = Signal::new();
 
 #[embassy_executor::task]
 async fn my_sending_task() {
diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml
index 05945f6bf..9ebab6476 100644
--- a/examples/stm32l5/Cargo.toml
+++ b/examples/stm32l5/Cargo.toml
@@ -11,9 +11,6 @@ embassy-executor = { version = "0.1.0", path = "../../embassy-executor", feature
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l552ze", "time-driver-any", "exti", "unstable-traits", "memory-x"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
-embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
-embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"] }
-embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 usbd-hid = "0.6.0"
diff --git a/examples/stm32l5/src/bin/usb_ethernet.rs b/examples/stm32l5/src/bin/usb_ethernet.rs
index c96a83ead..4f36d3f5a 100644
--- a/examples/stm32l5/src/bin/usb_ethernet.rs
+++ b/examples/stm32l5/src/bin/usb_ethernet.rs
@@ -15,8 +15,8 @@ use embassy_stm32::usb::Driver;
 use embassy_stm32::{interrupt, Config};
 use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 use embassy_sync::channel::Channel;
+use embassy_usb::class::cdc_ncm::{CdcNcmClass, Receiver, Sender, State};
 use embassy_usb::{Builder, UsbDevice};
-use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State};
 use embedded_io::asynch::Write;
 use rand_core::RngCore;
 use static_cell::StaticCell;
diff --git a/examples/stm32l5/src/bin/usb_hid_mouse.rs b/examples/stm32l5/src/bin/usb_hid_mouse.rs
index fa92ceae3..d38ed7496 100644
--- a/examples/stm32l5/src/bin/usb_hid_mouse.rs
+++ b/examples/stm32l5/src/bin/usb_hid_mouse.rs
@@ -9,9 +9,9 @@ use embassy_stm32::rcc::*;
 use embassy_stm32::usb::Driver;
 use embassy_stm32::{interrupt, Config};
 use embassy_time::{Duration, Timer};
+use embassy_usb::class::hid::{HidWriter, ReportId, RequestHandler, State};
 use embassy_usb::control::OutResponse;
 use embassy_usb::Builder;
-use embassy_usb_hid::{HidWriter, ReportId, RequestHandler, State};
 use usbd_hid::descriptor::{MouseReport, SerializedDescriptor};
 use {defmt_rtt as _, panic_probe as _};
 
@@ -55,7 +55,7 @@ async fn main(_spawner: Spawner) {
     );
 
     // Create classes on the builder.
-    let config = embassy_usb_hid::Config {
+    let config = embassy_usb::class::hid::Config {
         report_descriptor: MouseReport::desc(),
         request_handler: Some(&request_handler),
         poll_ms: 60,
diff --git a/examples/stm32l5/src/bin/usb_serial.rs b/examples/stm32l5/src/bin/usb_serial.rs
index 7484dc832..7562a4e96 100644
--- a/examples/stm32l5/src/bin/usb_serial.rs
+++ b/examples/stm32l5/src/bin/usb_serial.rs
@@ -8,9 +8,9 @@ use embassy_futures::join::join;
 use embassy_stm32::rcc::*;
 use embassy_stm32::usb::{Driver, Instance};
 use embassy_stm32::{interrupt, Config};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::Builder;
-use embassy_usb_serial::{CdcAcmClass, State};
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32wl/src/bin/subghz.rs b/examples/stm32wl/src/bin/subghz.rs
index 3c60a8de4..32c8b5515 100644
--- a/examples/stm32wl/src/bin/subghz.rs
+++ b/examples/stm32wl/src/bin/subghz.rs
@@ -12,6 +12,7 @@ use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::interrupt;
 use embassy_stm32::interrupt::{Interrupt, InterruptExt};
 use embassy_stm32::subghz::*;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::signal::Signal;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -64,7 +65,7 @@ async fn main(_spawner: Spawner) {
     let button = Input::new(p.PA0, Pull::Up);
     let mut pin = ExtiInput::new(button, p.EXTI0);
 
-    static IRQ_SIGNAL: Signal<()> = Signal::new();
+    static IRQ_SIGNAL: Signal<CriticalSectionRawMutex, ()> = Signal::new();
     let radio_irq = interrupt::take!(SUBGHZ_RADIO);
     radio_irq.set_handler(|_| {
         IRQ_SIGNAL.signal(());
diff --git a/tests/rp/.cargo/config.toml b/tests/rp/.cargo/config.toml
index 0330025e4..9611db3a0 100644
--- a/tests/rp/.cargo/config.toml
+++ b/tests/rp/.cargo/config.toml
@@ -3,7 +3,7 @@ build-std = ["core"]
 build-std-features = ["panic_immediate_abort"]
 
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-#runner = "teleprobe client run --target bluepill-stm32f103c8 --elf"
+#runner = "teleprobe client run --target rpi-pico --elf"
 runner = "teleprobe local run --chip RP2040 --elf"
 
 rustflags = [
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index 11ecb9169..503373759 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -7,7 +7,7 @@ version = "0.1.0"
 embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt"] }
-embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["nightly", "defmt", "unstable-pac", "unstable-traits"]  }
+embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "time-driver"]  }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3.0"
@@ -20,6 +20,7 @@ embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
 embedded-hal-async = { version = "0.1.0-alpha.1" }
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
+embedded-io = { version = "0.3.0", features = ["async"] }
 
 [profile.dev]
 debug = 2
diff --git a/tests/rp/src/bin/uart_buffered.rs b/tests/rp/src/bin/uart_buffered.rs
new file mode 100644
index 000000000..9cc20bb98
--- /dev/null
+++ b/tests/rp/src/bin/uart_buffered.rs
@@ -0,0 +1,44 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::interrupt;
+use embassy_rp::uart::{BufferedUart, Config, State, Uart};
+use embedded_io::asynch::{Read, Write};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let (tx, rx, uart) = (p.PIN_0, p.PIN_1, p.UART0);
+
+    let config = Config::default();
+    let uart = Uart::new_blocking(uart, tx, rx, config);
+
+    let irq = interrupt::take!(UART0_IRQ);
+    let tx_buf = &mut [0u8; 16];
+    let rx_buf = &mut [0u8; 16];
+    let mut state = State::new();
+    let mut uart = BufferedUart::new(&mut state, uart, irq, tx_buf, rx_buf);
+
+    // Make sure we send more bytes than fits in the FIFO, to test the actual
+    // bufferedUart.
+
+    let data = [
+        1_u8, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+        30, 31, 32,
+    ];
+    uart.write_all(&data).await.unwrap();
+    info!("Done writing");
+
+    let mut buf = [0; 32];
+    uart.read_exact(&mut buf).await.unwrap();
+    assert_eq!(buf, data);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}