Merge branch 'embassy-rs:main' into simplepwm-dma

15 files changed, 222 insertions, 50 deletions

diff --git a/README.md b/README.md
index 7ae40fe59..714104331 100644
--- a/README.md
+++ b/README.md
@@ -35,8 +35,7 @@ The <a href="https://docs.embassy.dev/embassy-net/">embassy-net</a> network stac
 The <a href="https://github.com/embassy-rs/nrf-softdevice">nrf-softdevice</a> crate provides Bluetooth Low Energy 4.x and 5.x support for nRF52 microcontrollers.
 The <a href="https://github.com/embassy-rs/embassy/tree/main/embassy-stm32-wpan">embassy-stm32-wpan</a> crate provides Bluetooth Low Energy 5.x support for stm32wb microcontrollers.
 
-- **LoRa** - 
-<a href="hthttps://github.com/lora-rs/lora-rs">The lora-rs project</a> provides an async LoRa and LoRaWAN stack that works well on Embassy.
+- **LoRa** - The <a href="https://github.com/lora-rs/lora-rs">lora-rs</a> project provides an async LoRa and LoRaWAN stack that works well on Embassy.
 
 - **USB** - 
 <a href="https://docs.embassy.dev/embassy-usb/">embassy-usb</a> implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.
diff --git a/ci.sh b/ci.sh
index 933e54a80..75640e384 100755
--- a/ci.sh
+++ b/ci.sh
@@ -207,6 +207,9 @@ cargo batch  \
     $BUILD_EXTRA
 
 
+# failed, a wire must've come loose, will check asap.
+rm out/tests/rpi-pico/i2c
+
 rm out/tests/stm32wb55rg/wpan_mac
 rm out/tests/stm32wb55rg/wpan_ble
 
diff --git a/docs/modules/ROOT/pages/index.adoc b/docs/modules/ROOT/pages/index.adoc
index 6fba80eda..e17adbbd7 100644
--- a/docs/modules/ROOT/pages/index.adoc
+++ b/docs/modules/ROOT/pages/index.adoc
@@ -41,7 +41,7 @@ The link:https://docs.embassy.dev/embassy-net/[embassy-net] network stack implem
 The link:https://github.com/embassy-rs/nrf-softdevice[nrf-softdevice] crate provides Bluetooth Low Energy 4.x and 5.x support for nRF52 microcontrollers.
 
 === LoRa
-link:https://github.com/embassy-rs/lora-phy[lora-phy] and link:https://docs.embassy.dev/embassy-lora/[embassy-lora] supports LoRa networking on a wide range of LoRa radios, fully integrated with a Rust link:https://github.com/ivajloip/rust-lorawan[LoRaWAN] implementation.
+link:https://github.com/lora-rs/lora-rs[lora-rs] supports LoRa networking on a wide range of LoRa radios, fully integrated with a Rust LoRaWAN implementation. It provides four crates — lora-phy, lora-modulation, lorawan-encoding, and lorawan-device — and basic examples for various development boards. It has support for STM32WL wireless microcontrollers or Semtech SX127x transceivers, among others.
 
 === USB
 link:https://docs.embassy.dev/embassy-usb/[embassy-usb] implements a device-side USB stack. Implementations for common classes such as USB serial (CDC ACM) and USB HID are available, and a rich builder API allows building your own.
diff --git a/embassy-executor-macros/src/macros/task.rs b/embassy-executor-macros/src/macros/task.rs
index 5161e1020..1efb2788b 100644
--- a/embassy-executor-macros/src/macros/task.rs
+++ b/embassy-executor-macros/src/macros/task.rs
@@ -49,7 +49,7 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
         },
     }
 
-    let mut arg_names = Vec::new();
+    let mut args = Vec::new();
     let mut fargs = f.sig.inputs.clone();
 
     for arg in fargs.iter_mut() {
@@ -59,8 +59,8 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
             }
             syn::FnArg::Typed(t) => match t.pat.as_mut() {
                 syn::Pat::Ident(id) => {
-                    arg_names.push(id.ident.clone());
                     id.mutability = None;
+                    args.push((id.clone(), t.attrs.clone()));
                 }
                 _ => {
                     ctxt.error_spanned_by(arg, "pattern matching in task arguments is not yet supported");
@@ -79,13 +79,24 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
     task_inner.vis = syn::Visibility::Inherited;
     task_inner.sig.ident = task_inner_ident.clone();
 
+    // assemble the original input arguments,
+    // including any attributes that may have
+    // been applied previously
+    let mut full_args = Vec::new();
+    for (arg, cfgs) in args {
+        full_args.push(quote!(
+            #(#cfgs)*
+            #arg
+        ));
+    }
+
     #[cfg(feature = "nightly")]
     let mut task_outer: ItemFn = parse_quote! {
         #visibility fn #task_ident(#fargs) -> ::embassy_executor::SpawnToken<impl Sized> {
             type Fut = impl ::core::future::Future + 'static;
             const POOL_SIZE: usize = #pool_size;
             static POOL: ::embassy_executor::raw::TaskPool<Fut, POOL_SIZE> = ::embassy_executor::raw::TaskPool::new();
-            unsafe { POOL._spawn_async_fn(move || #task_inner_ident(#(#arg_names,)*)) }
+            unsafe { POOL._spawn_async_fn(move || #task_inner_ident(#(#full_args,)*)) }
         }
     };
     #[cfg(not(feature = "nightly"))]
@@ -93,7 +104,7 @@ pub fn run(args: &[NestedMeta], f: syn::ItemFn) -> Result<TokenStream, TokenStre
         #visibility fn #task_ident(#fargs) -> ::embassy_executor::SpawnToken<impl Sized> {
             const POOL_SIZE: usize = #pool_size;
             static POOL: ::embassy_executor::_export::TaskPoolRef = ::embassy_executor::_export::TaskPoolRef::new();
-            unsafe { POOL.get::<_, POOL_SIZE>()._spawn_async_fn(move || #task_inner_ident(#(#arg_names,)*)) }
+            unsafe { POOL.get::<_, POOL_SIZE>()._spawn_async_fn(move || #task_inner_ident(#(#full_args,)*)) }
         }
     };
 
diff --git a/embassy-executor/tests/test.rs b/embassy-executor/tests/test.rs
index 0dbd391e8..2c2441dd5 100644
--- a/embassy-executor/tests/test.rs
+++ b/embassy-executor/tests/test.rs
@@ -135,3 +135,17 @@ fn executor_task_self_wake_twice() {
         ]
     )
 }
+
+#[test]
+fn executor_task_cfg_args() {
+    // simulate cfg'ing away argument c
+    #[task]
+    async fn task1(a: u32, b: u32, #[cfg(any())] c: u32) {
+        let (_, _) = (a, b);
+    }
+
+    #[task]
+    async fn task2(a: u32, b: u32, #[cfg(all())] c: u32) {
+        let (_, _, _) = (a, b, c);
+    }
+}
diff --git a/embassy-net/src/udp.rs b/embassy-net/src/udp.rs
index d9df5b29d..a22cd8827 100644
--- a/embassy-net/src/udp.rs
+++ b/embassy-net/src/udp.rs
@@ -222,6 +222,11 @@ impl<'a> UdpSocket<'a> {
     pub fn payload_send_capacity(&self) -> usize {
         self.with(|s, _| s.payload_send_capacity())
     }
+
+    /// Set the hop limit field in the IP header of sent packets.
+    pub fn set_hop_limit(&mut self, hop_limit: Option<u8>) {
+        self.with_mut(|s, _| s.set_hop_limit(hop_limit))
+    }
 }
 
 impl Drop for UdpSocket<'_> {
diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs
index 4ac622d34..2c620798d 100644
--- a/embassy-nrf/src/buffered_uarte.rs
+++ b/embassy-nrf/src/buffered_uarte.rs
@@ -342,6 +342,7 @@ impl<'d, U: UarteInstance, T: TimerInstance> BufferedUarte<'d, U, T> {
         s.tx_count.store(0, Ordering::Relaxed);
         s.rx_started_count.store(0, Ordering::Relaxed);
         s.rx_ended_count.store(0, Ordering::Relaxed);
+        s.rx_started.store(false, Ordering::Relaxed);
         let len = tx_buffer.len();
         unsafe { s.tx_buf.init(tx_buffer.as_mut_ptr(), len) };
         let len = rx_buffer.len();
diff --git a/embassy-nrf/src/gpio.rs b/embassy-nrf/src/gpio.rs
index a47fb8350..27c18383f 100644
--- a/embassy-nrf/src/gpio.rs
+++ b/embassy-nrf/src/gpio.rs
@@ -152,6 +152,12 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.set_low()
     }
 
+    /// Toggle the output level.
+    #[inline]
+    pub fn toggle(&mut self) {
+        self.pin.toggle()
+    }
+
     /// Set the output level.
     #[inline]
     pub fn set_level(&mut self, level: Level) {
@@ -310,6 +316,16 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.set_low()
     }
 
+    /// Toggle the output level.
+    #[inline]
+    pub fn toggle(&mut self) {
+        if self.is_set_low() {
+            self.set_high()
+        } else {
+            self.set_low()
+        }
+    }
+
     /// Set the output level.
     #[inline]
     pub fn set_level(&mut self, level: Level) {
@@ -538,6 +554,15 @@ mod eh02 {
         }
     }
 
+    impl<'d, T: Pin> embedded_hal_02::digital::v2::ToggleableOutputPin for Output<'d, T> {
+        type Error = Infallible;
+        #[inline]
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            self.toggle();
+            Ok(())
+        }
+    }
+
     /// Implement [`embedded_hal_02::digital::v2::InputPin`] for [`Flex`];
     ///
     /// If the pin is not in input mode the result is unspecified.
@@ -574,6 +599,15 @@ mod eh02 {
             Ok(self.ref_is_set_low())
         }
     }
+
+    impl<'d, T: Pin> embedded_hal_02::digital::v2::ToggleableOutputPin for Flex<'d, T> {
+        type Error = Infallible;
+        #[inline]
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            self.toggle();
+            Ok(())
+        }
+    }
 }
 
 impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Input<'d, T> {
diff --git a/embassy-stm32/src/i2c/v1.rs b/embassy-stm32/src/i2c/v1.rs
index df5b44c2d..cbbc201de 100644
--- a/embassy-stm32/src/i2c/v1.rs
+++ b/embassy-stm32/src/i2c/v1.rs
@@ -1,3 +1,9 @@
+//! # I2Cv1
+//!
+//! This implementation is used for STM32F1, STM32F2, STM32F4, and STM32L1 devices.
+//!
+//! All other devices (as of 2023-12-28) use [`v2`](super::v2) instead.
+
 use core::future::poll_fn;
 use core::task::Poll;
 
@@ -10,6 +16,17 @@ use crate::dma::Transfer;
 use crate::pac::i2c;
 use crate::time::Hertz;
 
+// /!\                      /!\
+// /!\ Implementation note! /!\
+// /!\                      /!\
+//
+// It's somewhat unclear whether using interrupts here in a *strictly* one-shot style is actually
+// what we want! If you are looking in this file because you are doing async I2C and your code is
+// just totally hanging (sometimes), maybe swing by this issue:
+// <https://github.com/embassy-rs/embassy/issues/2372>.
+//
+// There's some more details there, and we might have a fix for you. But please let us know if you
+// hit a case like this!
 pub unsafe fn on_interrupt<T: Instance>() {
     let regs = T::regs();
     // i2c v2 only woke the task on transfer complete interrupts. v1 uses interrupts for a bunch of
@@ -375,6 +392,9 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
                         T::regs().sr2().read();
                         Poll::Ready(Ok(()))
                     } else {
+                        // If we need to go around, then re-enable the interrupts, otherwise nothing
+                        // can wake us up and we'll hang.
+                        Self::enable_interrupts();
                         Poll::Pending
                     }
                 }
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index 207f7ed8f..f10e9d50d 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -208,32 +208,30 @@ pub fn init(config: Config) -> Peripherals {
         let p = Peripherals::take_with_cs(cs);
 
         #[cfg(dbgmcu)]
-        if config.enable_debug_during_sleep {
-            crate::pac::DBGMCU.cr().modify(|cr| {
-                #[cfg(any(dbgmcu_f0, dbgmcu_c0, dbgmcu_g0, dbgmcu_u5, dbgmcu_wba))]
-                {
-                    cr.set_dbg_stop(true);
-                    cr.set_dbg_standby(true);
-                }
-                #[cfg(any(
-                    dbgmcu_f1, dbgmcu_f2, dbgmcu_f3, dbgmcu_f4, dbgmcu_f7, dbgmcu_g4, dbgmcu_f7, dbgmcu_l0, dbgmcu_l1,
-                    dbgmcu_l4, dbgmcu_wb, dbgmcu_wl
-                ))]
-                {
-                    cr.set_dbg_sleep(true);
-                    cr.set_dbg_stop(true);
-                    cr.set_dbg_standby(true);
-                }
-                #[cfg(dbgmcu_h7)]
-                {
-                    cr.set_d1dbgcken(true);
-                    cr.set_d3dbgcken(true);
-                    cr.set_dbgsleep_d1(true);
-                    cr.set_dbgstby_d1(true);
-                    cr.set_dbgstop_d1(true);
-                }
-            });
-        }
+        crate::pac::DBGMCU.cr().modify(|cr| {
+            #[cfg(any(dbgmcu_f0, dbgmcu_c0, dbgmcu_g0, dbgmcu_u5, dbgmcu_wba))]
+            {
+                cr.set_dbg_stop(config.enable_debug_during_sleep);
+                cr.set_dbg_standby(config.enable_debug_during_sleep);
+            }
+            #[cfg(any(
+                dbgmcu_f1, dbgmcu_f2, dbgmcu_f3, dbgmcu_f4, dbgmcu_f7, dbgmcu_g4, dbgmcu_f7, dbgmcu_l0, dbgmcu_l1,
+                dbgmcu_l4, dbgmcu_wb, dbgmcu_wl
+            ))]
+            {
+                cr.set_dbg_sleep(config.enable_debug_during_sleep);
+                cr.set_dbg_stop(config.enable_debug_during_sleep);
+                cr.set_dbg_standby(config.enable_debug_during_sleep);
+            }
+            #[cfg(dbgmcu_h7)]
+            {
+                cr.set_d1dbgcken(config.enable_debug_during_sleep);
+                cr.set_d3dbgcken(config.enable_debug_during_sleep);
+                cr.set_dbgsleep_d1(config.enable_debug_during_sleep);
+                cr.set_dbgstby_d1(config.enable_debug_during_sleep);
+                cr.set_dbgstop_d1(config.enable_debug_during_sleep);
+            }
+        });
 
         #[cfg(not(any(stm32f1, stm32wb, stm32wl)))]
         peripherals::SYSCFG::enable_and_reset_with_cs(cs);
diff --git a/embassy-stm32/src/rtc/mod.rs b/embassy-stm32/src/rtc/mod.rs
index 65e8713f0..1ffb567b3 100644
--- a/embassy-stm32/src/rtc/mod.rs
+++ b/embassy-stm32/src/rtc/mod.rs
@@ -24,7 +24,7 @@ use crate::time::Hertz;
     ),
     path = "v2.rs"
 )]
-#[cfg_attr(any(rtc_v3, rtc_v3u5), path = "v3.rs")]
+#[cfg_attr(any(rtc_v3, rtc_v3u5, rtc_v3l5), path = "v3.rs")]
 mod _version;
 #[allow(unused_imports)]
 pub use _version::*;
@@ -43,7 +43,7 @@ pub(crate) enum WakeupPrescaler {
     Div16 = 16,
 }
 
-#[cfg(any(stm32wb, stm32f4, stm32l0, stm32g4))]
+#[cfg(any(stm32wb, stm32f4, stm32l0, stm32g4, stm32l5))]
 impl From<WakeupPrescaler> for crate::pac::rtc::vals::Wucksel {
     fn from(val: WakeupPrescaler) -> Self {
         use crate::pac::rtc::vals::Wucksel;
@@ -57,7 +57,7 @@ impl From<WakeupPrescaler> for crate::pac::rtc::vals::Wucksel {
     }
 }
 
-#[cfg(any(stm32wb, stm32f4, stm32l0, stm32g4))]
+#[cfg(any(stm32wb, stm32f4, stm32l0, stm32g4, stm32l5))]
 impl From<crate::pac::rtc::vals::Wucksel> for WakeupPrescaler {
     fn from(val: crate::pac::rtc::vals::Wucksel) -> Self {
         use crate::pac::rtc::vals::Wucksel;
@@ -348,7 +348,7 @@ impl Rtc {
     ) {
         use embassy_time::{Duration, TICK_HZ};
 
-        #[cfg(any(rtc_v3, rtc_v3u5))]
+        #[cfg(any(rtc_v3, rtc_v3u5, rtc_v3l5))]
         use crate::pac::rtc::vals::Calrf;
 
         // Panic if the rcc mod knows we're not using low-power rtc
@@ -375,7 +375,7 @@ impl Rtc {
                 while !regs.isr().read().wutwf() {}
             }
 
-            #[cfg(any(rtc_v3, rtc_v3u5))]
+            #[cfg(any(rtc_v3, rtc_v3u5, rtc_v3l5))]
             {
                 regs.scr().write(|w| w.set_cwutf(Calrf::CLEAR));
                 while !regs.icsr().read().wutwf() {}
@@ -404,7 +404,7 @@ impl Rtc {
     /// was called, otherwise none
     pub(crate) fn stop_wakeup_alarm(&self, cs: critical_section::CriticalSection) -> Option<embassy_time::Duration> {
         use crate::interrupt::typelevel::Interrupt;
-        #[cfg(any(rtc_v3, rtc_v3u5))]
+        #[cfg(any(rtc_v3, rtc_v3u5, rtc_v3l5))]
         use crate::pac::rtc::vals::Calrf;
 
         let instant = self.instant().unwrap();
@@ -420,13 +420,19 @@ impl Rtc {
                 ))]
                 regs.isr().modify(|w| w.set_wutf(false));
 
-                #[cfg(any(rtc_v3, rtc_v3u5))]
+                #[cfg(any(rtc_v3, rtc_v3u5, rtc_v3l5))]
                 regs.scr().write(|w| w.set_cwutf(Calrf::CLEAR));
 
+                #[cfg(not(stm32l5))]
                 crate::pac::EXTI
                     .pr(0)
                     .modify(|w| w.set_line(RTC::EXTI_WAKEUP_LINE, true));
 
+                #[cfg(stm32l5)]
+                crate::pac::EXTI
+                    .fpr(0)
+                    .modify(|w| w.set_line(RTC::EXTI_WAKEUP_LINE, true));
+
                 <RTC as crate::rtc::sealed::Instance>::WakeupInterrupt::unpend();
             });
         }
diff --git a/embassy-stm32/src/rtc/v3.rs b/embassy-stm32/src/rtc/v3.rs
index 902776b0a..114141b64 100644
--- a/embassy-stm32/src/rtc/v3.rs
+++ b/embassy-stm32/src/rtc/v3.rs
@@ -135,6 +135,12 @@ impl sealed::Instance for crate::peripherals::RTC {
     #[cfg(all(feature = "low-power", stm32g4))]
     type WakeupInterrupt = crate::interrupt::typelevel::RTC_WKUP;
 
+    #[cfg(all(feature = "low-power", stm32l5))]
+    const EXTI_WAKEUP_LINE: usize = 17;
+
+    #[cfg(all(feature = "low-power", stm32l5))]
+    type WakeupInterrupt = crate::interrupt::typelevel::RTC;
+
     fn read_backup_register(_rtc: &Rtc, register: usize) -> Option<u32> {
         #[allow(clippy::if_same_then_else)]
         if register < Self::BACKUP_REGISTER_COUNT {
diff --git a/embassy-stm32/src/usart/mod.rs b/embassy-stm32/src/usart/mod.rs
index 8a0c85d2c..ea727b010 100644
--- a/embassy-stm32/src/usart/mod.rs
+++ b/embassy-stm32/src/usart/mod.rs
@@ -743,7 +743,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
         T::enable_and_reset();
         T::enable_and_reset();
 
-        Self::new_inner(peri, rx, tx, tx_dma, rx_dma, config)
+        Self::new_inner_configure(peri, rx, tx, tx_dma, rx_dma, config)
     }
 
     /// Create a new bidirectional UART with request-to-send and clear-to-send pins
@@ -770,7 +770,7 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
             w.set_rtse(true);
             w.set_ctse(true);
         });
-        Self::new_inner(peri, rx, tx, tx_dma, rx_dma, config)
+        Self::new_inner_configure(peri, rx, tx, tx_dma, rx_dma, config)
     }
 
     #[cfg(not(any(usart_v1, usart_v2)))]
@@ -795,10 +795,76 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
         T::regs().cr3().write(|w| {
             w.set_dem(true);
         });
-        Self::new_inner(peri, rx, tx, tx_dma, rx_dma, config)
+        Self::new_inner_configure(peri, rx, tx, tx_dma, rx_dma, config)
     }
 
-    fn new_inner(
+    /// Create a single-wire half-duplex Uart transceiver on a single Tx pin.
+    ///
+    /// See [`new_half_duplex_on_rx`][`Self::new_half_duplex_on_rx`] if you would prefer to use an Rx pin.
+    /// There is no functional difference between these methods, as both allow bidirectional communication.
+    ///
+    /// The pin is always released when no data is transmitted. Thus, it acts as a standard
+    /// I/O in idle or in reception.
+    /// Apart from this, the communication protocol is similar to normal USART mode. Any conflict
+    /// on the line must be managed by software (for instance by using a centralized arbiter).
+    #[cfg(not(any(usart_v1, usart_v2)))]
+    #[doc(alias("HDSEL"))]
+    pub fn new_half_duplex(
+        peri: impl Peripheral<P = T> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
+        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+        tx_dma: impl Peripheral<P = TxDma> + 'd,
+        rx_dma: impl Peripheral<P = RxDma> + 'd,
+        mut config: Config,
+    ) -> Result<Self, ConfigError> {
+        // UartRx and UartTx have one refcount ea.
+        T::enable_and_reset();
+        T::enable_and_reset();
+
+        config.swap_rx_tx = false;
+
+        into_ref!(peri, tx, tx_dma, rx_dma);
+
+        T::regs().cr3().write(|w| w.set_hdsel(true));
+        tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
+
+        Self::new_inner(peri, tx_dma, rx_dma, config)
+    }
+
+    /// Create a single-wire half-duplex Uart transceiver on a single Rx pin.
+    ///
+    /// See [`new_half_duplex`][`Self::new_half_duplex`] if you would prefer to use an Tx pin.
+    /// There is no functional difference between these methods, as both allow bidirectional communication.
+    ///
+    /// The pin is always released when no data is transmitted. Thus, it acts as a standard
+    /// I/O in idle or in reception.
+    /// Apart from this, the communication protocol is similar to normal USART mode. Any conflict
+    /// on the line must be managed by software (for instance by using a centralized arbiter).
+    #[cfg(not(any(usart_v1, usart_v2)))]
+    #[doc(alias("HDSEL"))]
+    pub fn new_half_duplex_on_rx(
+        peri: impl Peripheral<P = T> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
+        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+        tx_dma: impl Peripheral<P = TxDma> + 'd,
+        rx_dma: impl Peripheral<P = RxDma> + 'd,
+        mut config: Config,
+    ) -> Result<Self, ConfigError> {
+        // UartRx and UartTx have one refcount ea.
+        T::enable_and_reset();
+        T::enable_and_reset();
+
+        config.swap_rx_tx = true;
+
+        into_ref!(peri, rx, tx_dma, rx_dma);
+
+        T::regs().cr3().write(|w| w.set_hdsel(true));
+        rx.set_as_af(rx.af_num(), AFType::OutputPushPull);
+
+        Self::new_inner(peri, tx_dma, rx_dma, config)
+    }
+
+    fn new_inner_configure(
         peri: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
@@ -808,8 +874,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
     ) -> Result<Self, ConfigError> {
         into_ref!(peri, rx, tx, tx_dma, rx_dma);
 
-        let r = T::regs();
-
         // Some chips do not have swap_rx_tx bit
         cfg_if::cfg_if! {
             if #[cfg(any(usart_v3, usart_v4))] {
@@ -827,6 +891,17 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
             }
         }
 
+        Self::new_inner(peri, tx_dma, rx_dma, config)
+    }
+
+    fn new_inner(
+        peri: PeripheralRef<'d, T>,
+        tx_dma: PeripheralRef<'d, TxDma>,
+        rx_dma: PeripheralRef<'d, RxDma>,
+        config: Config,
+    ) -> Result<Self, ConfigError> {
+        let r = T::regs();
+
         configure(r, &config, T::frequency(), T::KIND, true, true)?;
 
         T::Interrupt::unpend();
diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs
index a8aebfe1f..04b1b35e8 100644
--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@@ -701,10 +701,10 @@ impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, In> {
     }
 
     async fn wait_enabled(&mut self) {
-        trace!("wait_enabled OUT WAITING");
+        trace!("wait_enabled IN WAITING");
         let index = self.info.addr.index();
         poll_fn(|cx| {
-            EP_OUT_WAKERS[index].register(cx.waker());
+            EP_IN_WAKERS[index].register(cx.waker());
             let regs = T::regs();
             if regs.epr(index).read().stat_tx() == Stat::DISABLED {
                 Poll::Pending
@@ -713,7 +713,7 @@ impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, In> {
             }
         })
         .await;
-        trace!("wait_enabled OUT OK");
+        trace!("wait_enabled IN OK");
     }
 }
 
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
index e1af0b647..a6fe52ee2 100644
--- a/rust-toolchain.toml
+++ b/rust-toolchain.toml
@@ -1,5 +1,5 @@
 [toolchain]
-channel = "beta-2023-12-17"
+channel = "1.75"
 components = [ "rust-src", "rustfmt", "llvm-tools" ]
 targets = [
     "thumbv7em-none-eabi",