Merge branch 'master' into master

36 files changed, 242 insertions, 51 deletions

diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml
index 411b7589f..b4e225e64 100644
--- a/.github/workflows/doc.yml
+++ b/.github/workflows/doc.yml
@@ -29,7 +29,7 @@ jobs:
     concurrency: doc-${{ matrix.crates }}
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: true
       - name: Install Rust targets
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 79354fe70..47dc8fd7a 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -22,11 +22,11 @@ jobs:
       id-token: write
       contents: read
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: true
       - name: Cache multiple paths
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: |
             ~/.cargo/bin/
@@ -44,11 +44,11 @@ jobs:
   build-stable:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: true
       - name: Cache multiple paths
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: |
             ~/.cargo/bin/
@@ -67,7 +67,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Test boot
         working-directory: ./embassy-boot/boot
diff --git a/docs/modules/ROOT/pages/getting_started.adoc b/docs/modules/ROOT/pages/getting_started.adoc
index 9015d7845..881e449b6 100644
--- a/docs/modules/ROOT/pages/getting_started.adoc
+++ b/docs/modules/ROOT/pages/getting_started.adoc
@@ -49,7 +49,7 @@ cd examples/nrf52840
 cargo run --bin blinky --release
 ----
 
-== Whats next?
+== What's next?
 
 Congratulations, you have your first Embassy application running! Here are some alternatives on where to go from here:
 
diff --git a/embassy-hal-common/src/atomic_ring_buffer.rs b/embassy-hal-common/src/atomic_ring_buffer.rs
index afd3ce1de..0eb39cb33 100644
--- a/embassy-hal-common/src/atomic_ring_buffer.rs
+++ b/embassy-hal-common/src/atomic_ring_buffer.rs
@@ -133,7 +133,7 @@ impl<'a> Writer<'a> {
 
     /// Push one data byte.
     ///
-    /// Returns true if pushed succesfully.
+    /// Returns true if pushed successfully.
     pub fn push_one(&mut self, val: u8) -> bool {
         let n = self.push(|f| match f {
             [] => 0,
@@ -265,7 +265,7 @@ impl<'a> Reader<'a> {
 
     /// Pop one data byte.
     ///
-    /// Returns true if popped succesfully.
+    /// Returns true if popped successfully.
     pub fn pop_one(&mut self) -> Option<u8> {
         let mut res = None;
         self.pop(|f| match f {
diff --git a/embassy-nrf/src/nvmc.rs b/embassy-nrf/src/nvmc.rs
index 6f48853d5..91a5a272f 100644
--- a/embassy-nrf/src/nvmc.rs
+++ b/embassy-nrf/src/nvmc.rs
@@ -24,7 +24,7 @@ pub const FLASH_SIZE: usize = crate::chip::FLASH_SIZE;
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    /// Opration using a location not in flash.
+    /// Operation using a location not in flash.
     OutOfBounds,
     /// Unaligned operation or using unaligned buffers.
     Unaligned,
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index 9ae569609..cab36884f 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -336,7 +336,7 @@ impl<'d, T: Instance> Twim<'d, T> {
                 return Poll::Ready(());
             }
 
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
diff --git a/embassy-nrf/src/twis.rs b/embassy-nrf/src/twis.rs
index bfa30b044..f68a9940a 100644
--- a/embassy-nrf/src/twis.rs
+++ b/embassy-nrf/src/twis.rs
@@ -320,7 +320,7 @@ impl<'d, T: Instance> Twis<'d, T> {
     fn blocking_listen_wait_end(&mut self, status: Status) -> Result<Command, Error> {
         let r = T::regs();
         loop {
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -346,7 +346,7 @@ impl<'d, T: Instance> Twis<'d, T> {
     fn blocking_wait(&mut self) -> Result<usize, Error> {
         let r = T::regs();
         loop {
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -372,7 +372,7 @@ impl<'d, T: Instance> Twis<'d, T> {
         let r = T::regs();
         let deadline = Instant::now() + timeout;
         loop {
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -432,7 +432,7 @@ impl<'d, T: Instance> Twis<'d, T> {
         let r = T::regs();
         let deadline = Instant::now() + timeout;
         loop {
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -465,7 +465,7 @@ impl<'d, T: Instance> Twis<'d, T> {
 
             s.waker.register(cx.waker());
 
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -495,7 +495,7 @@ impl<'d, T: Instance> Twis<'d, T> {
 
             s.waker.register(cx.waker());
 
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
@@ -522,7 +522,7 @@ impl<'d, T: Instance> Twis<'d, T> {
 
             s.waker.register(cx.waker());
 
-            // stop if an error occured
+            // stop if an error occurred
             if r.events_error.read().bits() != 0 {
                 r.events_error.reset();
                 r.tasks_stop.write(|w| unsafe { w.bits(1) });
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index a2eb6c581..e395a994f 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -30,6 +30,15 @@ rom-func-cache = []
 intrinsics = []
 rom-v2-intrinsics = []
 
+# boot2 flash chip support. if none of these is enabled we'll default to w25q080 (used on the pico)
+boot2-at25sf128a = []
+boot2-gd25q64cs = []
+boot2-generic-03h = []
+boot2-is25lp080 = []
+boot2-ram-memcpy = []
+boot2-w25q080 = []
+boot2-w25x10cl = []
+
 # Enable nightly-only features
 nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb-driver", "dep:embedded-io"]
 
@@ -71,3 +80,4 @@ embedded-hal-nb = { version = "=1.0.0-alpha.2", optional = true}
 paste = "1.0"
 pio-proc = {version= "0.2" }
 pio = {version= "0.2.1" }
+rp2040-boot2 = "0.3"
diff --git a/embassy-rp/src/boot2.bin b/embassy-rp/src/boot2.bin
deleted file mode 100644
index fdc1fc756..000000000
--- a/embassy-rp/src/boot2.bin
+++ /dev/null
diff --git a/embassy-rp/src/flash.rs b/embassy-rp/src/flash.rs
index 6ab05ff0b..51c7af913 100644
--- a/embassy-rp/src/flash.rs
+++ b/embassy-rp/src/flash.rs
@@ -25,7 +25,7 @@ pub const ERASE_SIZE: usize = 4096;
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    /// Opration using a location not in flash.
+    /// Operation using a location not in flash.
     OutOfBounds,
     /// Unaligned operation or using unaligned buffers.
     Unaligned,
diff --git a/embassy-rp/src/i2c.rs b/embassy-rp/src/i2c.rs
index cd5364393..d5dc94406 100644
--- a/embassy-rp/src/i2c.rs
+++ b/embassy-rp/src/i2c.rs
@@ -551,7 +551,7 @@ impl<'d, T: Instance + 'd, M: Mode> I2c<'d, T, M> {
 
                 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.
+                    // successfully wait until the STOP condition has occurred.
 
                     while !p.ic_raw_intr_stat().read().stop_det() {}
 
diff --git a/embassy-rp/src/interrupt.rs b/embassy-rp/src/interrupt.rs
index f21a5433b..989f5dc2d 100644
--- a/embassy-rp/src/interrupt.rs
+++ b/embassy-rp/src/interrupt.rs
@@ -34,3 +34,9 @@ declare!(ADC_IRQ_FIFO);
 declare!(I2C0_IRQ);
 declare!(I2C1_IRQ);
 declare!(RTC_IRQ);
+declare!(SWI_IRQ_0);
+declare!(SWI_IRQ_1);
+declare!(SWI_IRQ_2);
+declare!(SWI_IRQ_3);
+declare!(SWI_IRQ_4);
+declare!(SWI_IRQ_5);
diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs
index 118ce5237..980ebe7f4 100644
--- a/embassy-rp/src/lib.rs
+++ b/embassy-rp/src/lib.rs
@@ -131,9 +131,32 @@ embassy_hal_common::peripherals! {
     WATCHDOG,
 }
 
-#[link_section = ".boot2"]
-#[used]
-static BOOT2: [u8; 256] = *include_bytes!("boot2.bin");
+macro_rules! select_bootloader {
+    ( $( $feature:literal => $loader:ident, )+ default => $default:ident ) => {
+        $(
+            #[cfg(feature = $feature)]
+            #[link_section = ".boot2"]
+            #[used]
+            static BOOT2: [u8; 256] = rp2040_boot2::$loader;
+        )*
+
+        #[cfg(not(any( $( feature = $feature),* )))]
+        #[link_section = ".boot2"]
+        #[used]
+        static BOOT2: [u8; 256] = rp2040_boot2::$default;
+    }
+}
+
+select_bootloader! {
+    "boot2-at25sf128a" => BOOT_LOADER_AT25SF128A,
+    "boot2-gd25q64cs" => BOOT_LOADER_GD25Q64CS,
+    "boot2-generic-03h" => BOOT_LOADER_GENERIC_03H,
+    "boot2-is25lp080" => BOOT_LOADER_IS25LP080,
+    "boot2-ram-memcpy" => BOOT_LOADER_RAM_MEMCPY,
+    "boot2-w25q080" => BOOT_LOADER_W25Q080,
+    "boot2-w25x10cl" => BOOT_LOADER_W25X10CL,
+    default => BOOT_LOADER_W25Q080
+}
 
 pub mod config {
     use crate::clocks::ClockConfig;
diff --git a/embassy-rp/src/uart/buffered.rs b/embassy-rp/src/uart/buffered.rs
index 59fec8f1b..9d3de1bd8 100644
--- a/embassy-rp/src/uart/buffered.rs
+++ b/embassy-rp/src/uart/buffered.rs
@@ -544,7 +544,7 @@ pub(crate) unsafe fn on_interrupt<T: Instance>(_: *mut ()) {
             s.rx_waker.wake();
         }
         // Disable any further RX interrupts when the buffer becomes full or
-        // errors have occured. this lets us buffer additional errors in the
+        // errors have occurred. This lets us buffer additional errors in the
         // fifo without needing more error storage locations, and most applications
         // will want to do a full reset of their uart state anyway once an error
         // has happened.
diff --git a/embassy-rp/src/uart/mod.rs b/embassy-rp/src/uart/mod.rs
index 4084c158a..a0ee6b4ce 100644
--- a/embassy-rp/src/uart/mod.rs
+++ b/embassy-rp/src/uart/mod.rs
@@ -231,7 +231,7 @@ impl<'d, T: Instance> UartTx<'d, T, Async> {
 }
 
 impl<'d, T: Instance, M: Mode> UartRx<'d, T, M> {
-    /// Create a new DMA-enabled UART which can only recieve data
+    /// Create a new DMA-enabled UART which can only receive data
     pub fn new(
         _uart: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@@ -690,7 +690,7 @@ impl<'d, T: Instance, M: Mode> Uart<'d, T, M> {
         self.tx.send_break(bits).await
     }
 
-    /// Split the Uart into a transmitter and receiver, which is particuarly
+    /// Split the Uart into a transmitter and receiver, which is particularly
     /// useful when having two tasks correlating to transmitting and receiving.
     pub fn split(self) -> (UartTx<'d, T, M>, UartRx<'d, T, M>) {
         (self.tx, self.rx)
diff --git a/embassy-stm32/src/time_driver.rs b/embassy-stm32/src/time_driver.rs
index 8e84570a4..d45c90dd8 100644
--- a/embassy-stm32/src/time_driver.rs
+++ b/embassy-stm32/src/time_driver.rs
@@ -250,7 +250,7 @@ impl RtcDriver {
         // Call after clearing alarm, so the callback can set another alarm.
 
         // safety:
-        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
+        // - we can ignore the possibility of `f` being unset (null) because of the safety contract of `allocate_alarm`.
         // - other than that we only store valid function pointers into alarm.callback
         let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
         f(alarm.ctx.get());
diff --git a/embassy-stm32/src/usart/mod.rs b/embassy-stm32/src/usart/mod.rs
index dbce668c2..e946762af 100644
--- a/embassy-stm32/src/usart/mod.rs
+++ b/embassy-stm32/src/usart/mod.rs
@@ -112,7 +112,7 @@ pub struct UartRx<'d, T: BasicInstance, RxDma = NoDma> {
 }
 
 impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
-    /// usefull if you only want Uart Tx. It saves 1 pin and consumes a little less power
+    /// Useful if you only want Uart Tx. It saves 1 pin and consumes a little less power.
     pub fn new(
         peri: impl Peripheral<P = T> + 'd,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
@@ -210,7 +210,7 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
 }
 
 impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
-    /// usefull if you only want Uart Rx. It saves 1 pin and consumes a little less power
+    /// Useful if you only want Uart Rx. It saves 1 pin and consumes a little less power.
     pub fn new(
         peri: impl Peripheral<P = T> + 'd,
         irq: impl Peripheral<P = T::Interrupt> + 'd,
@@ -757,7 +757,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
     }
 
     /// Split the Uart into a transmitter and receiver, which is
-    /// particuarly useful when having two tasks correlating to
+    /// particularly useful when having two tasks correlating to
     /// transmitting and receiving.
     pub fn split(self) -> (UartTx<'d, T, TxDma>, UartRx<'d, T, RxDma>) {
         (self.tx, self.rx)
diff --git a/embassy-usb-driver/src/lib.rs b/embassy-usb-driver/src/lib.rs
index e8f71a2dc..2c05f94f7 100644
--- a/embassy-usb-driver/src/lib.rs
+++ b/embassy-usb-driver/src/lib.rs
@@ -97,7 +97,7 @@ impl EndpointAddress {
     }
 }
 
-/// Infomation for an endpoint.
+/// Information for an endpoint.
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct EndpointInfo {
diff --git a/embassy-usb/src/class/cdc_ncm/mod.rs b/embassy-usb/src/class/cdc_ncm/mod.rs
index 262499ccb..d5556dd0b 100644
--- a/embassy-usb/src/class/cdc_ncm/mod.rs
+++ b/embassy-usb/src/class/cdc_ncm/mod.rs
@@ -370,7 +370,7 @@ pub struct Sender<'d, D: Driver<'d>> {
 impl<'d, D: Driver<'d>> Sender<'d, D> {
     /// Write a packet.
     ///
-    /// This waits until the packet is succesfully stored in the CDC-NCM endpoint buffers.
+    /// This waits until the packet is successfully stored in the CDC-NCM endpoint buffers.
     pub async fn write_packet(&mut self, data: &[u8]) -> Result<(), EndpointError> {
         let seq = self.seq;
         self.seq = self.seq.wrapping_add(1);
@@ -436,7 +436,7 @@ pub struct Receiver<'d, D: Driver<'d>> {
 impl<'d, D: Driver<'d>> Receiver<'d, D> {
     /// Write a network packet.
     ///
-    /// This waits until a packet is succesfully received from the endpoint buffers.
+    /// This waits until a packet is successfully received from the endpoint buffers.
     pub async fn read_packet(&mut self, buf: &mut [u8]) -> Result<usize, EndpointError> {
         // Retry loop
         loop {
diff --git a/embassy-usb/src/class/hid.rs b/embassy-usb/src/class/hid.rs
index 03e4c1dbb..889d66ec5 100644
--- a/embassy-usb/src/class/hid.rs
+++ b/embassy-usb/src/class/hid.rs
@@ -165,7 +165,7 @@ impl<'d, D: Driver<'d>, const READ_N: usize, const WRITE_N: usize> HidReaderWrit
         }
     }
 
-    /// Splits into seperate readers/writers for input and output reports.
+    /// Splits into separate readers/writers for input and output reports.
     pub fn split(self) -> (HidReader<'d, D, READ_N>, HidWriter<'d, D, WRITE_N>) {
         (self.reader, self.writer)
     }
diff --git a/embassy-usb/src/msos.rs b/embassy-usb/src/msos.rs
index 218d9931a..187b2ff8e 100644
--- a/embassy-usb/src/msos.rs
+++ b/embassy-usb/src/msos.rs
@@ -186,7 +186,7 @@ impl<'d> MsOsDescriptorWriter<'d> {
             capability_type::PLATFORM,
             &[
                 0, // reserved
-                // platform capability UUID, Microsoft OS 2.0 platform compabitility
+                // platform capability UUID, Microsoft OS 2.0 platform compatibility
                 0xdf,
                 0x60,
                 0xdd,
diff --git a/examples/nrf52840/src/bin/pubsub.rs b/examples/nrf52840/src/bin/pubsub.rs
index 688e6d075..cca60ebc9 100644
--- a/examples/nrf52840/src/bin/pubsub.rs
+++ b/examples/nrf52840/src/bin/pubsub.rs
@@ -74,9 +74,9 @@ async fn fast_logger(mut messages: Subscriber<'static, ThreadModeRawMutex, Messa
 }
 
 /// A logger task that awaits the messages, but also does some other work.
-/// Because of this, depeding on how the messages were published, the subscriber might miss some messages
+/// Because of this, depending on how the messages were published, the subscriber might miss some messages.
 ///
-/// This takes the dynamic `DynSubscriber`. This is not as performant as the generic version, but let's you ignore some of the generics
+/// This takes the dynamic `DynSubscriber`. This is not as performant as the generic version, but let's you ignore some of the generics.
 #[embassy_executor::task]
 async fn slow_logger(mut messages: DynSubscriber<'static, Message>) {
     loop {
diff --git a/examples/nrf52840/src/bin/usb_serial.rs b/examples/nrf52840/src/bin/usb_serial.rs
index 9727a4f57..dc95cde84 100644
--- a/examples/nrf52840/src/bin/usb_serial.rs
+++ b/examples/nrf52840/src/bin/usb_serial.rs
@@ -40,7 +40,7 @@ async fn main(_spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/nrf52840/src/bin/usb_serial_multitask.rs b/examples/nrf52840/src/bin/usb_serial_multitask.rs
index 6da2c2a2f..ac22d9499 100644
--- a/examples/nrf52840/src/bin/usb_serial_multitask.rs
+++ b/examples/nrf52840/src/bin/usb_serial_multitask.rs
@@ -66,7 +66,7 @@ async fn main(spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/nrf52840/src/bin/usb_serial_winusb.rs b/examples/nrf52840/src/bin/usb_serial_winusb.rs
index 6e4f71a48..1d39d3841 100644
--- a/examples/nrf52840/src/bin/usb_serial_winusb.rs
+++ b/examples/nrf52840/src/bin/usb_serial_winusb.rs
@@ -45,7 +45,7 @@ async fn main(_spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index d2829df99..ffeb69f15 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal", features = ["defmt"] }
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["nightly", "unstable-traits", "defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "critical-section-impl"] }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/rp/src/bin/multiprio.rs b/examples/rp/src/bin/multiprio.rs
new file mode 100644
index 000000000..2f79ba49e
--- /dev/null
+++ b/examples/rp/src/bin/multiprio.rs
@@ -0,0 +1,152 @@
+//! This example showcases how to create multiple Executor instances to run tasks at
+//! different priority levels.
+//!
+//! Low priority executor runs in thread mode (not interrupt), and uses `sev` for signaling
+//! there's work in the queue, and `wfe` for waiting for work.
+//!
+//! Medium and high priority executors run in two interrupts with different priorities.
+//! Signaling work is done by pending the interrupt. No "waiting" needs to be done explicitly, since
+//! when there's work the interrupt will trigger and run the executor.
+//!
+//! Sample output below. Note that high priority ticks can interrupt everything else, and
+//! medium priority computations can interrupt low priority computations, making them to appear
+//! to take significantly longer time.
+//!
+//! ```not_rust
+//!     [med] Starting long computation
+//!     [med] done in 992 ms
+//!         [high] tick!
+//! [low] Starting long computation
+//!     [med] Starting long computation
+//!         [high] tick!
+//!         [high] tick!
+//!     [med] done in 993 ms
+//!     [med] Starting long computation
+//!         [high] tick!
+//!         [high] tick!
+//!     [med] done in 993 ms
+//! [low] done in 3972 ms
+//!     [med] Starting long computation
+//!         [high] tick!
+//!         [high] tick!
+//!     [med] done in 993 ms
+//! ```
+//!
+//! For comparison, try changing the code so all 3 tasks get spawned on the low priority executor.
+//! You will get an output like the following. Note that no computation is ever interrupted.
+//!
+//! ```not_rust
+//!         [high] tick!
+//!     [med] Starting long computation
+//!     [med] done in 496 ms
+//! [low] Starting long computation
+//! [low] done in 992 ms
+//!     [med] Starting long computation
+//!     [med] done in 496 ms
+//!         [high] tick!
+//! [low] Starting long computation
+//! [low] done in 992 ms
+//!         [high] tick!
+//!     [med] Starting long computation
+//!     [med] done in 496 ms
+//!         [high] tick!
+//! ```
+//!
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::mem;
+
+use cortex_m::peripheral::NVIC;
+use cortex_m_rt::entry;
+use defmt::{info, unwrap};
+use embassy_rp::executor::{Executor, InterruptExecutor};
+use embassy_rp::interrupt;
+use embassy_rp::pac::Interrupt;
+use embassy_time::{Duration, Instant, Timer, TICK_HZ};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::task]
+async fn run_high() {
+    loop {
+        info!("        [high] tick!");
+        Timer::after(Duration::from_ticks(673740)).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn run_med() {
+    loop {
+        let start = Instant::now();
+        info!("    [med] Starting long computation");
+
+        // Spin-wait to simulate a long CPU computation
+        cortex_m::asm::delay(125_000_000); // ~1 second
+
+        let end = Instant::now();
+        let ms = end.duration_since(start).as_ticks() * 1000 / TICK_HZ;
+        info!("    [med] done in {} ms", ms);
+
+        Timer::after(Duration::from_ticks(53421)).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn run_low() {
+    loop {
+        let start = Instant::now();
+        info!("[low] Starting long computation");
+
+        // Spin-wait to simulate a long CPU computation
+        cortex_m::asm::delay(250_000_000); // ~2 seconds
+
+        let end = Instant::now();
+        let ms = end.duration_since(start).as_ticks() * 1000 / TICK_HZ;
+        info!("[low] done in {} ms", ms);
+
+        Timer::after(Duration::from_ticks(82983)).await;
+    }
+}
+
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
+
+#[interrupt]
+unsafe fn SWI_IRQ_1() {
+    EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn SWI_IRQ_0() {
+    EXECUTOR_MED.on_interrupt()
+}
+
+#[entry]
+fn main() -> ! {
+    info!("Hello World!");
+
+    let _p = embassy_rp::init(Default::default());
+    let mut nvic: NVIC = unsafe { mem::transmute(()) };
+
+    // High-priority executor: SWI_IRQ_1, priority level 2
+    unsafe { nvic.set_priority(Interrupt::SWI_IRQ_1, 2 << 6) };
+    info!("bla: {}", NVIC::get_priority(Interrupt::SWI_IRQ_1));
+    let spawner = EXECUTOR_HIGH.start(Interrupt::SWI_IRQ_1);
+    unwrap!(spawner.spawn(run_high()));
+
+    // Medium-priority executor: SWI_IRQ_0, priority level 3
+    unsafe { nvic.set_priority(Interrupt::SWI_IRQ_0, 3 << 6) };
+    info!("bla: {}", NVIC::get_priority(Interrupt::SWI_IRQ_0));
+    let spawner = EXECUTOR_MED.start(Interrupt::SWI_IRQ_0);
+    unwrap!(spawner.spawn(run_med()));
+
+    // Low priority executor: runs in thread mode, using WFE/SEV
+    let executor = EXECUTOR_LOW.init(Executor::new());
+    executor.run(|spawner| {
+        unwrap!(spawner.spawn(run_low()));
+    });
+}
diff --git a/examples/rp/src/bin/usb_serial.rs b/examples/rp/src/bin/usb_serial.rs
index a991082ee..8160a1875 100644
--- a/examples/rp/src/bin/usb_serial.rs
+++ b/examples/rp/src/bin/usb_serial.rs
@@ -30,7 +30,7 @@ async fn main(_spawner: Spawner) {
     config.max_power = 100;
     config.max_packet_size_0 = 64;
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32f0/src/bin/button_controlled_blink.rs b/examples/stm32f0/src/bin/button_controlled_blink.rs
index e1f223433..f362c53f5 100644
--- a/examples/stm32f0/src/bin/button_controlled_blink.rs
+++ b/examples/stm32f0/src/bin/button_controlled_blink.rs
@@ -17,8 +17,8 @@ static BLINK_MS: AtomicU32 = AtomicU32::new(0);
 
 #[embassy_executor::task]
 async fn led_task(led: AnyPin) {
-    // Configure the LED pin as a push pull ouput and obtain handler.
-    // On the Nucleo F091RC theres an on-board LED connected to pin PA5.
+    // Configure the LED pin as a push pull output and obtain handler.
+    // On the Nucleo F091RC there's an on-board LED connected to pin PA5.
     let mut led = Output::new(led, Level::Low, Speed::Low);
 
     loop {
diff --git a/examples/stm32f4/src/bin/usb_serial.rs b/examples/stm32f4/src/bin/usb_serial.rs
index baabc1a2d..d2b1dca43 100644
--- a/examples/stm32f4/src/bin/usb_serial.rs
+++ b/examples/stm32f4/src/bin/usb_serial.rs
@@ -34,7 +34,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32f7/src/bin/usb_serial.rs b/examples/stm32f7/src/bin/usb_serial.rs
index 5fd9d2ec9..dca90d9cb 100644
--- a/examples/stm32f7/src/bin/usb_serial.rs
+++ b/examples/stm32f7/src/bin/usb_serial.rs
@@ -35,7 +35,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32h5/src/bin/usb_serial.rs b/examples/stm32h5/src/bin/usb_serial.rs
index 6af269c1d..4f987cbd1 100644
--- a/examples/stm32h5/src/bin/usb_serial.rs
+++ b/examples/stm32h5/src/bin/usb_serial.rs
@@ -57,7 +57,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32h7/src/bin/usb_serial.rs b/examples/stm32h7/src/bin/usb_serial.rs
index 9ef520ae2..475af116d 100644
--- a/examples/stm32h7/src/bin/usb_serial.rs
+++ b/examples/stm32h7/src/bin/usb_serial.rs
@@ -34,7 +34,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32l4/src/bin/usb_serial.rs b/examples/stm32l4/src/bin/usb_serial.rs
index 663f60d52..bdb290e63 100644
--- a/examples/stm32l4/src/bin/usb_serial.rs
+++ b/examples/stm32l4/src/bin/usb_serial.rs
@@ -36,7 +36,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32u5/src/bin/usb_serial.rs b/examples/stm32u5/src/bin/usb_serial.rs
index 8cd3bf2f4..4882cd2e0 100644
--- a/examples/stm32u5/src/bin/usb_serial.rs
+++ b/examples/stm32u5/src/bin/usb_serial.rs
@@ -36,7 +36,7 @@ async fn main(_spawner: Spawner) {
     config.product = Some("USB-serial example");
     config.serial_number = Some("12345678");
 
-    // Required for windows compatiblity.
+    // Required for windows compatibility.
     // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
     config.device_class = 0xEF;
     config.device_sub_class = 0x02;
diff --git a/examples/stm32wl/src/bin/uart_async.rs b/examples/stm32wl/src/bin/uart_async.rs
index f12fec4c8..ac8766af6 100644
--- a/examples/stm32wl/src/bin/uart_async.rs
+++ b/examples/stm32wl/src/bin/uart_async.rs
@@ -48,7 +48,7 @@ async fn main(_spawner: Spawner) {
                         //Write suc.
                     }
                     Err(..) => {
-                        //Wasnt able to write
+                        //Wasn't able to write
                     }
                 }
             }