Merge branch 'embassy-rs:main' into reset-at-after

50 files changed, 723 insertions, 136 deletions

diff --git a/examples/rp/src/bin/adc.rs b/examples/rp/src/bin/adc.rs
index a579be139..1bb7c2249 100644
--- a/examples/rp/src/bin/adc.rs
+++ b/examples/rp/src/bin/adc.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/blinky.rs b/examples/rp/src/bin/blinky.rs
index 66c8773fa..60fc45a70 100644
--- a/examples/rp/src/bin/blinky.rs
+++ b/examples/rp/src/bin/blinky.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/blinky_two_channels.rs b/examples/rp/src/bin/blinky_two_channels.rs
new file mode 100644
index 000000000..b2eec2a21
--- /dev/null
+++ b/examples/rp/src/bin/blinky_two_channels.rs
@@ -0,0 +1,50 @@
+#![no_std]
+#![no_main]
+/// This example demonstrates how to access a given pin from more than one embassy task
+/// The on-board LED is toggled by two tasks with slightly different periods, leading to the
+/// apparent duty cycle of the LED increasing, then decreasing, linearly. The phenomenon is similar
+/// to interference and the 'beats' you can hear if you play two frequencies close to one another
+/// [Link explaining it](https://www.physicsclassroom.com/class/sound/Lesson-3/Interference-and-Beats)
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::gpio;
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::channel::{Channel, Sender};
+use embassy_time::{Duration, Ticker};
+use gpio::{AnyPin, Level, Output};
+use {defmt_rtt as _, panic_probe as _};
+
+enum LedState {
+    Toggle,
+}
+static CHANNEL: Channel<ThreadModeRawMutex, LedState, 64> = Channel::new();
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let mut led = Output::new(AnyPin::from(p.PIN_25), Level::High);
+
+    let dt = 100 * 1_000_000;
+    let k = 1.003;
+
+    unwrap!(spawner.spawn(toggle_led(CHANNEL.sender(), Duration::from_nanos(dt))));
+    unwrap!(spawner.spawn(toggle_led(
+        CHANNEL.sender(),
+        Duration::from_nanos((dt as f64 * k) as u64)
+    )));
+
+    loop {
+        match CHANNEL.receive().await {
+            LedState::Toggle => led.toggle(),
+        }
+    }
+}
+
+#[embassy_executor::task(pool_size = 2)]
+async fn toggle_led(control: Sender<'static, ThreadModeRawMutex, LedState, 64>, delay: Duration) {
+    let mut ticker = Ticker::every(delay);
+    loop {
+        control.send(LedState::Toggle).await;
+        ticker.next().await;
+    }
+}
diff --git a/examples/rp/src/bin/blinky_two_tasks.rs b/examples/rp/src/bin/blinky_two_tasks.rs
new file mode 100644
index 000000000..a57b513d6
--- /dev/null
+++ b/examples/rp/src/bin/blinky_two_tasks.rs
@@ -0,0 +1,49 @@
+#![no_std]
+#![no_main]
+/// This example demonstrates how to access a given pin from more than one embassy task
+/// The on-board LED is toggled by two tasks with slightly different periods, leading to the
+/// apparent duty cycle of the LED increasing, then decreasing, linearly. The phenomenon is similar
+/// to interference and the 'beats' you can hear if you play two frequencies close to one another
+/// [Link explaining it](https://www.physicsclassroom.com/class/sound/Lesson-3/Interference-and-Beats)
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::gpio;
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::mutex::Mutex;
+use embassy_time::{Duration, Ticker};
+use gpio::{AnyPin, Level, Output};
+use {defmt_rtt as _, panic_probe as _};
+
+type LedType = Mutex<ThreadModeRawMutex, Option<Output<'static>>>;
+static LED: LedType = Mutex::new(None);
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    // set the content of the global LED reference to the real LED pin
+    let led = Output::new(AnyPin::from(p.PIN_25), Level::High);
+    // inner scope is so that once the mutex is written to, the MutexGuard is dropped, thus the
+    // Mutex is released
+    {
+        *(LED.lock().await) = Some(led);
+    }
+    let dt = 100 * 1_000_000;
+    let k = 1.003;
+
+    unwrap!(spawner.spawn(toggle_led(&LED, Duration::from_nanos(dt))));
+    unwrap!(spawner.spawn(toggle_led(&LED, Duration::from_nanos((dt as f64 * k) as u64))));
+}
+
+#[embassy_executor::task(pool_size = 2)]
+async fn toggle_led(led: &'static LedType, delay: Duration) {
+    let mut ticker = Ticker::every(delay);
+    loop {
+        {
+            let mut led_unlocked = led.lock().await;
+            if let Some(pin_ref) = led_unlocked.as_mut() {
+                pin_ref.toggle();
+            }
+        }
+        ticker.next().await;
+    }
+}
diff --git a/examples/rp/src/bin/button.rs b/examples/rp/src/bin/button.rs
index d7aa89410..4ad2ca3b7 100644
--- a/examples/rp/src/bin/button.rs
+++ b/examples/rp/src/bin/button.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
diff --git a/examples/rp/src/bin/debounce.rs b/examples/rp/src/bin/debounce.rs
new file mode 100644
index 000000000..0077f19fc
--- /dev/null
+++ b/examples/rp/src/bin/debounce.rs
@@ -0,0 +1,80 @@
+//! This example shows the ease of debouncing a button with async rust.
+//! Hook up a button or switch between pin 9 and ground.
+
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Input, Level, Pull};
+use embassy_time::{with_deadline, Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+pub struct Debouncer<'a> {
+    input: Input<'a>,
+    debounce: Duration,
+}
+
+impl<'a> Debouncer<'a> {
+    pub fn new(input: Input<'a>, debounce: Duration) -> Self {
+        Self { input, debounce }
+    }
+
+    pub async fn debounce(&mut self) -> Level {
+        loop {
+            let l1 = self.input.get_level();
+
+            self.input.wait_for_any_edge().await;
+
+            Timer::after(self.debounce).await;
+
+            let l2 = self.input.get_level();
+            if l1 != l2 {
+                break l2;
+            }
+        }
+    }
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let mut btn = Debouncer::new(Input::new(p.PIN_9, Pull::Up), Duration::from_millis(20));
+
+    info!("Debounce Demo");
+
+    loop {
+        // button pressed
+        btn.debounce().await;
+        let start = Instant::now();
+        info!("Button Press");
+
+        match with_deadline(start + Duration::from_secs(1), btn.debounce()).await {
+            // Button Released < 1s
+            Ok(_) => {
+                info!("Button pressed for: {}ms", start.elapsed().as_millis());
+                continue;
+            }
+            // button held for > 1s
+            Err(_) => {
+                info!("Button Held");
+            }
+        }
+
+        match with_deadline(start + Duration::from_secs(5), btn.debounce()).await {
+            // Button released <5s
+            Ok(_) => {
+                info!("Button pressed for: {}ms", start.elapsed().as_millis());
+                continue;
+            }
+            // button held for > >5s
+            Err(_) => {
+                info!("Button Long Held");
+            }
+        }
+
+        // wait for button release before handling another press
+        btn.debounce().await;
+        info!("Button pressed for: {}ms", start.elapsed().as_millis());
+    }
+}
diff --git a/examples/rp/src/bin/ethernet_w5500_multisocket.rs b/examples/rp/src/bin/ethernet_w5500_multisocket.rs
index c0fde62ab..bd52cadca 100644
--- a/examples/rp/src/bin/ethernet_w5500_multisocket.rs
+++ b/examples/rp/src/bin/ethernet_w5500_multisocket.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -14,13 +13,13 @@ use embassy_net_wiznet::chip::W5500;
 use embassy_net_wiznet::*;
 use embassy_rp::clocks::RoscRng;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
-use embassy_rp::peripherals::{PIN_17, PIN_20, PIN_21, SPI0};
+use embassy_rp::peripherals::SPI0;
 use embassy_rp::spi::{Async, Config as SpiConfig, Spi};
 use embassy_time::{Delay, Duration};
 use embedded_hal_bus::spi::ExclusiveDevice;
 use embedded_io_async::Write;
 use rand::RngCore;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::task]
@@ -28,9 +27,9 @@ async fn ethernet_task(
     runner: Runner<
         'static,
         W5500,
-        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static, PIN_17>, Delay>,
-        Input<'static, PIN_21>,
-        Output<'static, PIN_20>,
+        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static>, Delay>,
+        Input<'static>,
+        Output<'static>,
     >,
 ) -> ! {
     runner.run().await
@@ -55,7 +54,8 @@ async fn main(spawner: Spawner) {
     let w5500_reset = Output::new(p.PIN_20, Level::High);
 
     let mac_addr = [0x02, 0x00, 0x00, 0x00, 0x00, 0x00];
-    let state = make_static!(State::<8, 8>::new());
+    static STATE: StaticCell<State<8, 8>> = StaticCell::new();
+    let state = STATE.init(State::<8, 8>::new());
     let (device, runner) = embassy_net_wiznet::new(
         mac_addr,
         state,
@@ -70,11 +70,13 @@ async fn main(spawner: Spawner) {
     let seed = rng.next_u64();
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<Device<'static>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         device,
         embassy_net::Config::dhcpv4(Default::default()),
-        make_static!(StackResources::<3>::new()),
-        seed
+        RESOURCES.init(StackResources::<3>::new()),
+        seed,
     ));
 
     // Launch network task
diff --git a/examples/rp/src/bin/ethernet_w5500_tcp_client.rs b/examples/rp/src/bin/ethernet_w5500_tcp_client.rs
index b19362fc1..3e4fbd2e6 100644
--- a/examples/rp/src/bin/ethernet_w5500_tcp_client.rs
+++ b/examples/rp/src/bin/ethernet_w5500_tcp_client.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use core::str::FromStr;
 
@@ -16,13 +15,13 @@ use embassy_net_wiznet::chip::W5500;
 use embassy_net_wiznet::*;
 use embassy_rp::clocks::RoscRng;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
-use embassy_rp::peripherals::{PIN_17, PIN_20, PIN_21, SPI0};
+use embassy_rp::peripherals::SPI0;
 use embassy_rp::spi::{Async, Config as SpiConfig, Spi};
 use embassy_time::{Delay, Duration, Timer};
 use embedded_hal_bus::spi::ExclusiveDevice;
 use embedded_io_async::Write;
 use rand::RngCore;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::task]
@@ -30,9 +29,9 @@ async fn ethernet_task(
     runner: Runner<
         'static,
         W5500,
-        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static, PIN_17>, Delay>,
-        Input<'static, PIN_21>,
-        Output<'static, PIN_20>,
+        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static>, Delay>,
+        Input<'static>,
+        Output<'static>,
     >,
 ) -> ! {
     runner.run().await
@@ -58,7 +57,8 @@ async fn main(spawner: Spawner) {
     let w5500_reset = Output::new(p.PIN_20, Level::High);
 
     let mac_addr = [0x02, 0x00, 0x00, 0x00, 0x00, 0x00];
-    let state = make_static!(State::<8, 8>::new());
+    static STATE: StaticCell<State<8, 8>> = StaticCell::new();
+    let state = STATE.init(State::<8, 8>::new());
     let (device, runner) = embassy_net_wiznet::new(
         mac_addr,
         state,
@@ -73,11 +73,13 @@ async fn main(spawner: Spawner) {
     let seed = rng.next_u64();
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<Device<'static>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<2>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         device,
         embassy_net::Config::dhcpv4(Default::default()),
-        make_static!(StackResources::<2>::new()),
-        seed
+        RESOURCES.init(StackResources::<2>::new()),
+        seed,
     ));
 
     // Launch network task
diff --git a/examples/rp/src/bin/ethernet_w5500_tcp_server.rs b/examples/rp/src/bin/ethernet_w5500_tcp_server.rs
index c62caed7a..5532851f3 100644
--- a/examples/rp/src/bin/ethernet_w5500_tcp_server.rs
+++ b/examples/rp/src/bin/ethernet_w5500_tcp_server.rs
@@ -5,7 +5,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -15,13 +14,13 @@ use embassy_net_wiznet::chip::W5500;
 use embassy_net_wiznet::*;
 use embassy_rp::clocks::RoscRng;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
-use embassy_rp::peripherals::{PIN_17, PIN_20, PIN_21, SPI0};
+use embassy_rp::peripherals::SPI0;
 use embassy_rp::spi::{Async, Config as SpiConfig, Spi};
 use embassy_time::{Delay, Duration};
 use embedded_hal_bus::spi::ExclusiveDevice;
 use embedded_io_async::Write;
 use rand::RngCore;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::task]
@@ -29,9 +28,9 @@ async fn ethernet_task(
     runner: Runner<
         'static,
         W5500,
-        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static, PIN_17>, Delay>,
-        Input<'static, PIN_21>,
-        Output<'static, PIN_20>,
+        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static>, Delay>,
+        Input<'static>,
+        Output<'static>,
     >,
 ) -> ! {
     runner.run().await
@@ -57,7 +56,8 @@ async fn main(spawner: Spawner) {
     let w5500_reset = Output::new(p.PIN_20, Level::High);
 
     let mac_addr = [0x02, 0x00, 0x00, 0x00, 0x00, 0x00];
-    let state = make_static!(State::<8, 8>::new());
+    static STATE: StaticCell<State<8, 8>> = StaticCell::new();
+    let state = STATE.init(State::<8, 8>::new());
     let (device, runner) = embassy_net_wiznet::new(
         mac_addr,
         state,
@@ -72,11 +72,13 @@ async fn main(spawner: Spawner) {
     let seed = rng.next_u64();
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<Device<'static>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<2>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         device,
         embassy_net::Config::dhcpv4(Default::default()),
-        make_static!(StackResources::<2>::new()),
-        seed
+        RESOURCES.init(StackResources::<2>::new()),
+        seed,
     ));
 
     // Launch network task
diff --git a/examples/rp/src/bin/ethernet_w5500_udp.rs b/examples/rp/src/bin/ethernet_w5500_udp.rs
index 76dabce1c..adb1d8941 100644
--- a/examples/rp/src/bin/ethernet_w5500_udp.rs
+++ b/examples/rp/src/bin/ethernet_w5500_udp.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -15,12 +14,12 @@ use embassy_net_wiznet::chip::W5500;
 use embassy_net_wiznet::*;
 use embassy_rp::clocks::RoscRng;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
-use embassy_rp::peripherals::{PIN_17, PIN_20, PIN_21, SPI0};
+use embassy_rp::peripherals::SPI0;
 use embassy_rp::spi::{Async, Config as SpiConfig, Spi};
 use embassy_time::Delay;
 use embedded_hal_bus::spi::ExclusiveDevice;
 use rand::RngCore;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::task]
@@ -28,9 +27,9 @@ async fn ethernet_task(
     runner: Runner<
         'static,
         W5500,
-        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static, PIN_17>, Delay>,
-        Input<'static, PIN_21>,
-        Output<'static, PIN_20>,
+        ExclusiveDevice<Spi<'static, SPI0, Async>, Output<'static>, Delay>,
+        Input<'static>,
+        Output<'static>,
     >,
 ) -> ! {
     runner.run().await
@@ -55,7 +54,8 @@ async fn main(spawner: Spawner) {
     let w5500_reset = Output::new(p.PIN_20, Level::High);
 
     let mac_addr = [0x02, 0x00, 0x00, 0x00, 0x00, 0x00];
-    let state = make_static!(State::<8, 8>::new());
+    static STATE: StaticCell<State<8, 8>> = StaticCell::new();
+    let state = STATE.init(State::<8, 8>::new());
     let (device, runner) = embassy_net_wiznet::new(
         mac_addr,
         state,
@@ -70,11 +70,13 @@ async fn main(spawner: Spawner) {
     let seed = rng.next_u64();
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<Device<'static>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<2>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         device,
         embassy_net::Config::dhcpv4(Default::default()),
-        make_static!(StackResources::<2>::new()),
-        seed
+        RESOURCES.init(StackResources::<2>::new()),
+        seed,
     ));
 
     // Launch network task
diff --git a/examples/rp/src/bin/flash.rs b/examples/rp/src/bin/flash.rs
index 129a8497f..eb3e6a2b9 100644
--- a/examples/rp/src/bin/flash.rs
+++ b/examples/rp/src/bin/flash.rs
@@ -2,7 +2,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/gpio_async.rs b/examples/rp/src/bin/gpio_async.rs
index 98209fe41..b79fb2a15 100644
--- a/examples/rp/src/bin/gpio_async.rs
+++ b/examples/rp/src/bin/gpio_async.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/gpout.rs b/examples/rp/src/bin/gpout.rs
index 896cc15ee..011359253 100644
--- a/examples/rp/src/bin/gpout.rs
+++ b/examples/rp/src/bin/gpout.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/i2c_async.rs b/examples/rp/src/bin/i2c_async.rs
index 7b53aae72..e31cc894c 100644
--- a/examples/rp/src/bin/i2c_async.rs
+++ b/examples/rp/src/bin/i2c_async.rs
@@ -5,7 +5,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/i2c_blocking.rs b/examples/rp/src/bin/i2c_blocking.rs
index 9ddb48d69..c9c8a2760 100644
--- a/examples/rp/src/bin/i2c_blocking.rs
+++ b/examples/rp/src/bin/i2c_blocking.rs
@@ -5,7 +5,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/i2c_slave.rs b/examples/rp/src/bin/i2c_slave.rs
index 151b083a4..9fffb4646 100644
--- a/examples/rp/src/bin/i2c_slave.rs
+++ b/examples/rp/src/bin/i2c_slave.rs
@@ -1,7 +1,6 @@
 //! This example shows how to use the 2040 as an i2c slave.
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -27,7 +26,7 @@ async fn device_task(mut dev: i2c_slave::I2cSlave<'static, I2C1>) -> ! {
     loop {
         let mut buf = [0u8; 128];
         match dev.listen(&mut buf).await {
-            Ok(i2c_slave::Command::GeneralCall(len)) => info!("Device recieved general call write: {}", buf[..len]),
+            Ok(i2c_slave::Command::GeneralCall(len)) => info!("Device received general call write: {}", buf[..len]),
             Ok(i2c_slave::Command::Read) => loop {
                 match dev.respond_to_read(&[state]).await {
                     Ok(x) => match x {
@@ -41,9 +40,9 @@ async fn device_task(mut dev: i2c_slave::I2cSlave<'static, I2C1>) -> ! {
                     Err(e) => error!("error while responding {}", e),
                 }
             },
-            Ok(i2c_slave::Command::Write(len)) => info!("Device recieved write: {}", buf[..len]),
+            Ok(i2c_slave::Command::Write(len)) => info!("Device received write: {}", buf[..len]),
             Ok(i2c_slave::Command::WriteRead(len)) => {
-                info!("device recieved write read: {:x}", buf[..len]);
+                info!("device received write read: {:x}", buf[..len]);
                 match buf[0] {
                     // Set the state
                     0xC2 => {
@@ -111,7 +110,7 @@ async fn main(spawner: Spawner) {
     let c_sda = p.PIN_1;
     let c_scl = p.PIN_0;
     let mut config = i2c::Config::default();
-    config.frequency = 5_000;
+    config.frequency = 1_000_000;
     let controller = i2c::I2c::new_async(p.I2C0, c_sda, c_scl, Irqs, config);
 
     unwrap!(spawner.spawn(controller_task(controller)));
diff --git a/examples/rp/src/bin/multicore.rs b/examples/rp/src/bin/multicore.rs
index 43eaf8b0a..7cb546c91 100644
--- a/examples/rp/src/bin/multicore.rs
+++ b/examples/rp/src/bin/multicore.rs
@@ -4,13 +4,11 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Executor;
 use embassy_rp::gpio::{Level, Output};
 use embassy_rp::multicore::{spawn_core1, Stack};
-use embassy_rp::peripherals::PIN_25;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::Channel;
 use embassy_time::Timer;
@@ -32,10 +30,14 @@ fn main() -> ! {
     let p = embassy_rp::init(Default::default());
     let led = Output::new(p.PIN_25, Level::Low);
 
-    spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
-        let executor1 = EXECUTOR1.init(Executor::new());
-        executor1.run(|spawner| unwrap!(spawner.spawn(core1_task(led))));
-    });
+    spawn_core1(
+        p.CORE1,
+        unsafe { &mut *core::ptr::addr_of_mut!(CORE1_STACK) },
+        move || {
+            let executor1 = EXECUTOR1.init(Executor::new());
+            executor1.run(|spawner| unwrap!(spawner.spawn(core1_task(led))));
+        },
+    );
 
     let executor0 = EXECUTOR0.init(Executor::new());
     executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
@@ -53,7 +55,7 @@ async fn core0_task() {
 }
 
 #[embassy_executor::task]
-async fn core1_task(mut led: Output<'static, PIN_25>) {
+async fn core1_task(mut led: Output<'static>) {
     info!("Hello from core 1");
     loop {
         match CHANNEL.receive().await {
diff --git a/examples/rp/src/bin/multiprio.rs b/examples/rp/src/bin/multiprio.rs
index 28f621437..26b80c11d 100644
--- a/examples/rp/src/bin/multiprio.rs
+++ b/examples/rp/src/bin/multiprio.rs
@@ -55,7 +55,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use cortex_m_rt::entry;
 use defmt::{info, unwrap};
diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index a6d6144be..ee248591b 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -2,7 +2,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs
index 86e5017ac..02700269c 100644
--- a/examples/rp/src/bin/pio_dma.rs
+++ b/examples/rp/src/bin/pio_dma.rs
@@ -2,7 +2,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_futures::join::join;
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index 5e5a6f9a3..3fab7b5f2 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use core::fmt::Write;
 
diff --git a/examples/rp/src/bin/pio_i2s.rs b/examples/rp/src/bin/pio_i2s.rs
new file mode 100644
index 000000000..cf60e5b30
--- /dev/null
+++ b/examples/rp/src/bin/pio_i2s.rs
@@ -0,0 +1,125 @@
+//! This example shows generating audio and sending it to a connected i2s DAC using the PIO
+//! module of the RP2040.
+//!
+//! Connect the i2s DAC as follows:
+//!   bclk : GPIO 18
+//!   lrc  : GPIO 19
+//!   din  : GPIO 20
+//! Then hold down the boot select button to trigger a rising triangle waveform.
+
+#![no_std]
+#![no_main]
+
+use core::mem;
+
+use embassy_executor::Spawner;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Config, FifoJoin, InterruptHandler, Pio, ShiftConfig, ShiftDirection};
+use embassy_rp::{bind_interrupts, Peripheral};
+use fixed::traits::ToFixed;
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+const SAMPLE_RATE: u32 = 48_000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_rp::init(Default::default());
+
+    // Setup pio state machine for i2s output
+    let mut pio = Pio::new(p.PIO0, Irqs);
+
+    #[rustfmt::skip]
+    let pio_program = pio_proc::pio_asm!(
+        ".side_set 2",
+        "    set x, 14          side 0b01", // side 0bWB - W = Word Clock, B = Bit Clock
+        "left_data:",
+        "    out pins, 1        side 0b00",
+        "    jmp x-- left_data  side 0b01",
+        "    out pins 1         side 0b10",
+        "    set x, 14          side 0b11",
+        "right_data:",
+        "    out pins 1         side 0b10",
+        "    jmp x-- right_data side 0b11",
+        "    out pins 1         side 0b00",
+    );
+
+    let bit_clock_pin = p.PIN_18;
+    let left_right_clock_pin = p.PIN_19;
+    let data_pin = p.PIN_20;
+
+    let data_pin = pio.common.make_pio_pin(data_pin);
+    let bit_clock_pin = pio.common.make_pio_pin(bit_clock_pin);
+    let left_right_clock_pin = pio.common.make_pio_pin(left_right_clock_pin);
+
+    let cfg = {
+        let mut cfg = Config::default();
+        cfg.use_program(
+            &pio.common.load_program(&pio_program.program),
+            &[&bit_clock_pin, &left_right_clock_pin],
+        );
+        cfg.set_out_pins(&[&data_pin]);
+        const BIT_DEPTH: u32 = 16;
+        const CHANNELS: u32 = 2;
+        let clock_frequency = SAMPLE_RATE * BIT_DEPTH * CHANNELS;
+        cfg.clock_divider = (125_000_000. / clock_frequency as f64 / 2.).to_fixed();
+        cfg.shift_out = ShiftConfig {
+            threshold: 32,
+            direction: ShiftDirection::Left,
+            auto_fill: true,
+        };
+        // join fifos to have twice the time to start the next dma transfer
+        cfg.fifo_join = FifoJoin::TxOnly;
+        cfg
+    };
+    pio.sm0.set_config(&cfg);
+    pio.sm0.set_pin_dirs(
+        embassy_rp::pio::Direction::Out,
+        &[&data_pin, &left_right_clock_pin, &bit_clock_pin],
+    );
+
+    // create two audio buffers (back and front) which will take turns being
+    // filled with new audio data and being sent to the pio fifo using dma
+    const BUFFER_SIZE: usize = 960;
+    static DMA_BUFFER: StaticCell<[u32; BUFFER_SIZE * 2]> = StaticCell::new();
+    let dma_buffer = DMA_BUFFER.init_with(|| [0u32; BUFFER_SIZE * 2]);
+    let (mut back_buffer, mut front_buffer) = dma_buffer.split_at_mut(BUFFER_SIZE);
+
+    // start pio state machine
+    pio.sm0.set_enable(true);
+    let tx = pio.sm0.tx();
+    let mut dma_ref = p.DMA_CH0.into_ref();
+
+    let mut fade_value: i32 = 0;
+    let mut phase: i32 = 0;
+
+    loop {
+        // trigger transfer of front buffer data to the pio fifo
+        // but don't await the returned future, yet
+        let dma_future = tx.dma_push(dma_ref.reborrow(), front_buffer);
+
+        // fade in audio when bootsel is pressed
+        let fade_target = if p.BOOTSEL.is_pressed() { i32::MAX } else { 0 };
+
+        // fill back buffer with fresh audio samples before awaiting the dma future
+        for s in back_buffer.iter_mut() {
+            // exponential approach of fade_value => fade_target
+            fade_value += (fade_target - fade_value) >> 14;
+            // generate triangle wave with amplitude and frequency based on fade value
+            phase = (phase + (fade_value >> 22)) & 0xffff;
+            let triangle_sample = (phase as i16 as i32).abs() - 16384;
+            let sample = (triangle_sample * (fade_value >> 15)) >> 16;
+            // duplicate mono sample into lower and upper half of dma word
+            *s = (sample as u16 as u32) * 0x10001;
+        }
+
+        // now await the dma future. once the dma finishes, the next buffer needs to be queued
+        // within DMA_DEPTH / SAMPLE_RATE = 8 / 48000 seconds = 166us
+        dma_future.await;
+        mem::swap(&mut back_buffer, &mut front_buffer);
+    }
+}
diff --git a/examples/rp/src/bin/pio_rotary_encoder.rs b/examples/rp/src/bin/pio_rotary_encoder.rs
index 6d9d59df6..58bdadbc0 100644
--- a/examples/rp/src/bin/pio_rotary_encoder.rs
+++ b/examples/rp/src/bin/pio_rotary_encoder.rs
@@ -2,7 +2,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::info;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/pio_stepper.rs b/examples/rp/src/bin/pio_stepper.rs
index 02fb20699..ab9ecf623 100644
--- a/examples/rp/src/bin/pio_stepper.rs
+++ b/examples/rp/src/bin/pio_stepper.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 use core::mem::{self, MaybeUninit};
 
 use defmt::info;
diff --git a/examples/rp/src/bin/pio_uart.rs b/examples/rp/src/bin/pio_uart.rs
index c0ea23607..a07f1c180 100644
--- a/examples/rp/src/bin/pio_uart.rs
+++ b/examples/rp/src/bin/pio_uart.rs
@@ -8,7 +8,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 #![allow(async_fn_in_trait)]
 
 use defmt::{info, panic, trace};
diff --git a/examples/rp/src/bin/pio_ws2812.rs b/examples/rp/src/bin/pio_ws2812.rs
index 7b3259538..ac145933c 100644
--- a/examples/rp/src/bin/pio_ws2812.rs
+++ b/examples/rp/src/bin/pio_ws2812.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -13,7 +12,7 @@ use embassy_rp::pio::{
     Common, Config, FifoJoin, Instance, InterruptHandler, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine,
 };
 use embassy_rp::{bind_interrupts, clocks, into_ref, Peripheral, PeripheralRef};
-use embassy_time::Timer;
+use embassy_time::{Duration, Ticker, Timer};
 use fixed::types::U24F8;
 use fixed_macro::fixed;
 use smart_leds::RGB8;
@@ -108,6 +107,8 @@ impl<'d, P: Instance, const S: usize, const N: usize> Ws2812<'d, P, S, N> {
 
         // DMA transfer
         self.sm.tx().dma_push(self.dma.reborrow(), &words).await;
+
+        Timer::after_micros(55).await;
     }
 }
 
@@ -144,6 +145,7 @@ async fn main(_spawner: Spawner) {
     let mut ws2812 = Ws2812::new(&mut common, sm0, p.DMA_CH0, p.PIN_16);
 
     // Loop forever making RGB values and pushing them out to the WS2812.
+    let mut ticker = Ticker::every(Duration::from_millis(10));
     loop {
         for j in 0..(256 * 5) {
             debug!("New Colors:");
@@ -153,7 +155,7 @@ async fn main(_spawner: Spawner) {
             }
             ws2812.write(&data).await;
 
-            Timer::after_millis(10).await;
+            ticker.next().await;
         }
     }
 }
diff --git a/examples/rp/src/bin/pwm.rs b/examples/rp/src/bin/pwm.rs
index a99e88003..4fb62546d 100644
--- a/examples/rp/src/bin/pwm.rs
+++ b/examples/rp/src/bin/pwm.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/pwm_input.rs b/examples/rp/src/bin/pwm_input.rs
index 0fc2e40c3..e7bcbfbd4 100644
--- a/examples/rp/src/bin/pwm_input.rs
+++ b/examples/rp/src/bin/pwm_input.rs
@@ -2,7 +2,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/rosc.rs b/examples/rp/src/bin/rosc.rs
index f841043b6..942b72319 100644
--- a/examples/rp/src/bin/rosc.rs
+++ b/examples/rp/src/bin/rosc.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/rtc.rs b/examples/rp/src/bin/rtc.rs
index 667876db5..e9a5e43a8 100644
--- a/examples/rp/src/bin/rtc.rs
+++ b/examples/rp/src/bin/rtc.rs
@@ -2,7 +2,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/spi.rs b/examples/rp/src/bin/spi.rs
index 602348f7a..4cc4f5210 100644
--- a/examples/rp/src/bin/spi.rs
+++ b/examples/rp/src/bin/spi.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/spi_async.rs b/examples/rp/src/bin/spi_async.rs
index f5a2d334e..266584efc 100644
--- a/examples/rp/src/bin/spi_async.rs
+++ b/examples/rp/src/bin/spi_async.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/spi_display.rs b/examples/rp/src/bin/spi_display.rs
index 26c258e1c..e937b9d0a 100644
--- a/examples/rp/src/bin/spi_display.rs
+++ b/examples/rp/src/bin/spi_display.rs
@@ -5,7 +5,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use core::cell::RefCell;
 
diff --git a/examples/rp/src/bin/uart.rs b/examples/rp/src/bin/uart.rs
index 451c3c396..6a2816cd0 100644
--- a/examples/rp/src/bin/uart.rs
+++ b/examples/rp/src/bin/uart.rs
@@ -6,7 +6,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use embassy_executor::Spawner;
 use embassy_rp::uart;
diff --git a/examples/rp/src/bin/uart_buffered_split.rs b/examples/rp/src/bin/uart_buffered_split.rs
index 14e8810a4..fac61aa04 100644
--- a/examples/rp/src/bin/uart_buffered_split.rs
+++ b/examples/rp/src/bin/uart_buffered_split.rs
@@ -6,7 +6,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -15,7 +14,7 @@ use embassy_rp::peripherals::UART0;
 use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config};
 use embassy_time::Timer;
 use embedded_io_async::{Read, Write};
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -27,8 +26,10 @@ async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
     let (tx_pin, rx_pin, uart) = (p.PIN_0, p.PIN_1, p.UART0);
 
-    let tx_buf = &mut make_static!([0u8; 16])[..];
-    let rx_buf = &mut make_static!([0u8; 16])[..];
+    static TX_BUF: StaticCell<[u8; 16]> = StaticCell::new();
+    let tx_buf = &mut TX_BUF.init([0; 16])[..];
+    static RX_BUF: StaticCell<[u8; 16]> = StaticCell::new();
+    let rx_buf = &mut RX_BUF.init([0; 16])[..];
     let uart = BufferedUart::new(uart, Irqs, tx_pin, rx_pin, tx_buf, rx_buf, Config::default());
     let (rx, mut tx) = uart.split();
 
diff --git a/examples/rp/src/bin/uart_unidir.rs b/examples/rp/src/bin/uart_unidir.rs
index 42c8b432e..a45f40756 100644
--- a/examples/rp/src/bin/uart_unidir.rs
+++ b/examples/rp/src/bin/uart_unidir.rs
@@ -7,7 +7,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/usb_ethernet.rs b/examples/rp/src/bin/usb_ethernet.rs
index cc63029fb..01f0d5967 100644
--- a/examples/rp/src/bin/usb_ethernet.rs
+++ b/examples/rp/src/bin/usb_ethernet.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
@@ -17,7 +16,7 @@ use embassy_usb::class::cdc_ncm::embassy_net::{Device, Runner, State as NetState
 use embassy_usb::class::cdc_ncm::{CdcNcmClass, State};
 use embassy_usb::{Builder, Config, UsbDevice};
 use embedded_io_async::Write;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -65,14 +64,18 @@ async fn main(spawner: Spawner) {
     config.device_protocol = 0x01;
 
     // Create embassy-usb DeviceBuilder using the driver and config.
+    static DEVICE_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static CONFIG_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static BOS_DESC: StaticCell<[u8; 256]> = StaticCell::new();
+    static CONTROL_BUF: StaticCell<[u8; 128]> = StaticCell::new();
     let mut builder = Builder::new(
         driver,
         config,
-        &mut make_static!([0; 256])[..],
-        &mut make_static!([0; 256])[..],
-        &mut make_static!([0; 256])[..],
+        &mut DEVICE_DESC.init([0; 256])[..],
+        &mut CONFIG_DESC.init([0; 256])[..],
+        &mut BOS_DESC.init([0; 256])[..],
         &mut [], // no msos descriptors
-        &mut make_static!([0; 128])[..],
+        &mut CONTROL_BUF.init([0; 128])[..],
     );
 
     // Our MAC addr.
@@ -81,14 +84,16 @@ async fn main(spawner: Spawner) {
     let host_mac_addr = [0x88, 0x88, 0x88, 0x88, 0x88, 0x88];
 
     // Create classes on the builder.
-    let class = CdcNcmClass::new(&mut builder, make_static!(State::new()), host_mac_addr, 64);
+    static STATE: StaticCell<State> = StaticCell::new();
+    let class = CdcNcmClass::new(&mut builder, STATE.init(State::new()), host_mac_addr, 64);
 
     // Build the builder.
     let usb = builder.build();
 
     unwrap!(spawner.spawn(usb_task(usb)));
 
-    let (runner, device) = class.into_embassy_net_device::<MTU, 4, 4>(make_static!(NetState::new()), our_mac_addr);
+    static NET_STATE: StaticCell<NetState<MTU, 4, 4>> = StaticCell::new();
+    let (runner, device) = class.into_embassy_net_device::<MTU, 4, 4>(NET_STATE.init(NetState::new()), our_mac_addr);
     unwrap!(spawner.spawn(usb_ncm_task(runner)));
 
     let config = embassy_net::Config::dhcpv4(Default::default());
@@ -102,11 +107,13 @@ async fn main(spawner: Spawner) {
     let seed = 1234; // guaranteed random, chosen by a fair dice roll
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<Device<'static, MTU>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<2>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         device,
         config,
-        make_static!(StackResources::<2>::new()),
-        seed
+        RESOURCES.init(StackResources::<2>::new()),
+        seed,
     ));
 
     unwrap!(spawner.spawn(net_task(stack)));
diff --git a/examples/rp/src/bin/usb_hid_keyboard.rs b/examples/rp/src/bin/usb_hid_keyboard.rs
index 569c9b12b..b5ac16245 100644
--- a/examples/rp/src/bin/usb_hid_keyboard.rs
+++ b/examples/rp/src/bin/usb_hid_keyboard.rs
@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use core::sync::atomic::{AtomicBool, Ordering};
 
diff --git a/examples/rp/src/bin/usb_hid_mouse.rs b/examples/rp/src/bin/usb_hid_mouse.rs
new file mode 100644
index 000000000..afebd8813
--- /dev/null
+++ b/examples/rp/src/bin/usb_hid_mouse.rs
@@ -0,0 +1,182 @@
+#![no_std]
+#![no_main]
+
+use core::sync::atomic::{AtomicBool, Ordering};
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_rp::bind_interrupts;
+use embassy_rp::clocks::RoscRng;
+use embassy_rp::gpio::{Input, Pull};
+use embassy_rp::peripherals::USB;
+use embassy_rp::usb::{Driver, InterruptHandler};
+use embassy_time::Timer;
+use embassy_usb::class::hid::{HidReaderWriter, ReportId, RequestHandler, State};
+use embassy_usb::control::OutResponse;
+use embassy_usb::{Builder, Config, Handler};
+use rand::Rng;
+use usbd_hid::descriptor::{MouseReport, SerializedDescriptor};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    // Create the driver, from the HAL.
+    let driver = Driver::new(p.USB, Irqs);
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("HID keyboard example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut device_descriptor = [0; 256];
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    // You can also add a Microsoft OS descriptor.
+    let mut msos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
+    let request_handler = MyRequestHandler {};
+    let mut device_handler = MyDeviceHandler::new();
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut device_descriptor,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut msos_descriptor,
+        &mut control_buf,
+    );
+
+    builder.handler(&mut device_handler);
+
+    // Create classes on the builder.
+    let config = embassy_usb::class::hid::Config {
+        report_descriptor: MouseReport::desc(),
+        request_handler: Some(&request_handler),
+        poll_ms: 60,
+        max_packet_size: 64,
+    };
+    let hid = HidReaderWriter::<_, 1, 8>::new(&mut builder, &mut state, config);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Set up the signal pin that will be used to trigger the keyboard.
+    let mut signal_pin = Input::new(p.PIN_16, Pull::None);
+
+    // Enable the schmitt trigger to slightly debounce.
+    signal_pin.set_schmitt(true);
+
+    let (reader, mut writer) = hid.split();
+
+    // Do stuff with the class!
+    let in_fut = async {
+        let mut rng = RoscRng;
+
+        loop {
+            // every 1 second
+            _ = Timer::after_secs(1).await;
+            let report = MouseReport {
+                buttons: 0,
+                x: rng.gen_range(-100..100), // random small x movement
+                y: rng.gen_range(-100..100), // random small y movement
+                wheel: 0,
+                pan: 0,
+            };
+            // Send the report.
+            match writer.write_serialize(&report).await {
+                Ok(()) => {}
+                Err(e) => warn!("Failed to send report: {:?}", e),
+            }
+        }
+    };
+
+    let out_fut = async {
+        reader.run(false, &request_handler).await;
+    };
+
+    // Run everything concurrently.
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(usb_fut, join(in_fut, out_fut)).await;
+}
+
+struct MyRequestHandler {}
+
+impl RequestHandler for MyRequestHandler {
+    fn get_report(&self, id: ReportId, _buf: &mut [u8]) -> Option<usize> {
+        info!("Get report for {:?}", id);
+        None
+    }
+
+    fn set_report(&self, id: ReportId, data: &[u8]) -> OutResponse {
+        info!("Set report for {:?}: {=[u8]}", id, data);
+        OutResponse::Accepted
+    }
+
+    fn set_idle_ms(&self, id: Option<ReportId>, dur: u32) {
+        info!("Set idle rate for {:?} to {:?}", id, dur);
+    }
+
+    fn get_idle_ms(&self, id: Option<ReportId>) -> Option<u32> {
+        info!("Get idle rate for {:?}", id);
+        None
+    }
+}
+
+struct MyDeviceHandler {
+    configured: AtomicBool,
+}
+
+impl MyDeviceHandler {
+    fn new() -> Self {
+        MyDeviceHandler {
+            configured: AtomicBool::new(false),
+        }
+    }
+}
+
+impl Handler for MyDeviceHandler {
+    fn enabled(&mut self, enabled: bool) {
+        self.configured.store(false, Ordering::Relaxed);
+        if enabled {
+            info!("Device enabled");
+        } else {
+            info!("Device disabled");
+        }
+    }
+
+    fn reset(&mut self) {
+        self.configured.store(false, Ordering::Relaxed);
+        info!("Bus reset, the Vbus current limit is 100mA");
+    }
+
+    fn addressed(&mut self, addr: u8) {
+        self.configured.store(false, Ordering::Relaxed);
+        info!("USB address set to: {}", addr);
+    }
+
+    fn configured(&mut self, configured: bool) {
+        self.configured.store(configured, Ordering::Relaxed);
+        if configured {
+            info!("Device configured, it may now draw up to the configured current limit from Vbus.")
+        } else {
+            info!("Device is no longer configured, the Vbus current limit is 100mA.");
+        }
+    }
+}
diff --git a/examples/rp/src/bin/usb_logger.rs b/examples/rp/src/bin/usb_logger.rs
index 791f15e56..af401ed63 100644
--- a/examples/rp/src/bin/usb_logger.rs
+++ b/examples/rp/src/bin/usb_logger.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
diff --git a/examples/rp/src/bin/usb_midi.rs b/examples/rp/src/bin/usb_midi.rs
index d5cdae319..95306a35c 100644
--- a/examples/rp/src/bin/usb_midi.rs
+++ b/examples/rp/src/bin/usb_midi.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::{info, panic};
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/usb_raw.rs b/examples/rp/src/bin/usb_raw.rs
index f59262e5c..a6c8a5b2e 100644
--- a/examples/rp/src/bin/usb_raw.rs
+++ b/examples/rp/src/bin/usb_raw.rs
@@ -48,7 +48,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::info;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/usb_raw_bulk.rs b/examples/rp/src/bin/usb_raw_bulk.rs
index 288be5a4e..0dc8e9f72 100644
--- a/examples/rp/src/bin/usb_raw_bulk.rs
+++ b/examples/rp/src/bin/usb_raw_bulk.rs
@@ -26,7 +26,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::info;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/usb_serial.rs b/examples/rp/src/bin/usb_serial.rs
index 30347d920..ab24a994c 100644
--- a/examples/rp/src/bin/usb_serial.rs
+++ b/examples/rp/src/bin/usb_serial.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::{info, panic};
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/usb_serial_with_logger.rs b/examples/rp/src/bin/usb_serial_with_logger.rs
new file mode 100644
index 000000000..4ba4fc25c
--- /dev/null
+++ b/examples/rp/src/bin/usb_serial_with_logger.rs
@@ -0,0 +1,117 @@
+//! This example shows how to use USB (Universal Serial Bus) in the RP2040 chip as well as how to create multiple usb classes for one device
+//!
+//! This creates a USB serial port that echos. It will also print out logging information on a separate serial device
+
+#![no_std]
+#![no_main]
+
+use defmt::{info, panic};
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_rp::bind_interrupts;
+use embassy_rp::peripherals::USB;
+use embassy_rp::usb::{Driver, Instance, InterruptHandler};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Hello there!");
+
+    let p = embassy_rp::init(Default::default());
+
+    // Create the driver, from the HAL.
+    let driver = Driver::new(p.USB, Irqs);
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-serial example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // 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;
+    config.device_protocol = 0x01;
+    config.composite_with_iads = true;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut device_descriptor = [0; 256];
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
+
+    let mut state = State::new();
+    let mut logger_state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut device_descriptor,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut [], // no msos descriptors
+        &mut control_buf,
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
+
+    // Create a class for the logger
+    let logger_class = CdcAcmClass::new(&mut builder, &mut logger_state, 64);
+
+    // Creates the logger and returns the logger future
+    // Note: You'll need to use log::info! afterwards instead of info! for this to work (this also applies to all the other log::* macros)
+    let log_fut = embassy_usb_logger::with_class!(1024, log::LevelFilter::Info, logger_class);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Do stuff with the class!
+    let echo_fut = async {
+        loop {
+            class.wait_connection().await;
+            log::info!("Connected");
+            let _ = echo(&mut class).await;
+            log::info!("Disconnected");
+        }
+    };
+
+    // Run everything concurrently.
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(usb_fut, join(echo_fut, log_fut)).await;
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn echo<'d, T: Instance + 'd>(class: &mut CdcAcmClass<'d, Driver<'d, T>>) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        info!("data: {:x}", data);
+        class.write_packet(data).await?;
+    }
+}
diff --git a/examples/rp/src/bin/watchdog.rs b/examples/rp/src/bin/watchdog.rs
index b6af518af..b9d4ef22f 100644
--- a/examples/rp/src/bin/watchdog.rs
+++ b/examples/rp/src/bin/watchdog.rs
@@ -4,7 +4,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::info;
 use embassy_executor::Spawner;
diff --git a/examples/rp/src/bin/wifi_ap_tcp_server.rs b/examples/rp/src/bin/wifi_ap_tcp_server.rs
index ad1fa6462..b60852359 100644
--- a/examples/rp/src/bin/wifi_ap_tcp_server.rs
+++ b/examples/rp/src/bin/wifi_ap_tcp_server.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 #![allow(async_fn_in_trait)]
 
 use core::str::from_utf8;
@@ -15,11 +14,11 @@ use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, Stack, StackResources};
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::peripherals::{DMA_CH0, PIO0};
 use embassy_rp::pio::{InterruptHandler, Pio};
 use embassy_time::Duration;
 use embedded_io_async::Write;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -27,9 +26,7 @@ bind_interrupts!(struct Irqs {
 });
 
 #[embassy_executor::task]
-async fn wifi_task(
-    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
-) -> ! {
+async fn wifi_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
     runner.run().await
 }
 
@@ -59,7 +56,8 @@ async fn main(spawner: Spawner) {
     let mut pio = Pio::new(p.PIO0, Irqs);
     let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
-    let state = make_static!(cyw43::State::new());
+    static STATE: StaticCell<cyw43::State> = StaticCell::new();
+    let state = STATE.init(cyw43::State::new());
     let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
     unwrap!(spawner.spawn(wifi_task(runner)));
 
@@ -79,11 +77,13 @@ async fn main(spawner: Spawner) {
     let seed = 0x0123_4567_89ab_cdef; // chosen by fair dice roll. guarenteed to be random.
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<cyw43::NetDriver<'static>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<2>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         net_device,
         config,
-        make_static!(StackResources::<2>::new()),
-        seed
+        RESOURCES.init(StackResources::<2>::new()),
+        seed,
     ));
 
     unwrap!(spawner.spawn(net_task(stack)));
diff --git a/examples/rp/src/bin/wifi_blinky.rs b/examples/rp/src/bin/wifi_blinky.rs
index 14ace74e9..18eefe41f 100644
--- a/examples/rp/src/bin/wifi_blinky.rs
+++ b/examples/rp/src/bin/wifi_blinky.rs
@@ -4,17 +4,16 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use cyw43_pio::PioSpi;
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::peripherals::{DMA_CH0, PIO0};
 use embassy_rp::pio::{InterruptHandler, Pio};
 use embassy_time::{Duration, Timer};
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -22,9 +21,7 @@ bind_interrupts!(struct Irqs {
 });
 
 #[embassy_executor::task]
-async fn wifi_task(
-    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
-) -> ! {
+async fn wifi_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
     runner.run().await
 }
 
@@ -46,7 +43,8 @@ async fn main(spawner: Spawner) {
     let mut pio = Pio::new(p.PIO0, Irqs);
     let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
-    let state = make_static!(cyw43::State::new());
+    static STATE: StaticCell<cyw43::State> = StaticCell::new();
+    let state = STATE.init(cyw43::State::new());
     let (_net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
     unwrap!(spawner.spawn(wifi_task(runner)));
 
diff --git a/examples/rp/src/bin/wifi_scan.rs b/examples/rp/src/bin/wifi_scan.rs
index 7adf52b88..e0f85a6b0 100644
--- a/examples/rp/src/bin/wifi_scan.rs
+++ b/examples/rp/src/bin/wifi_scan.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 #![allow(async_fn_in_trait)]
 
 use core::str;
@@ -14,9 +13,9 @@ use embassy_executor::Spawner;
 use embassy_net::Stack;
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::peripherals::{DMA_CH0, PIO0};
 use embassy_rp::pio::{InterruptHandler, Pio};
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -24,9 +23,7 @@ bind_interrupts!(struct Irqs {
 });
 
 #[embassy_executor::task]
-async fn wifi_task(
-    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
-) -> ! {
+async fn wifi_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
     runner.run().await
 }
 
@@ -56,7 +53,8 @@ async fn main(spawner: Spawner) {
     let mut pio = Pio::new(p.PIO0, Irqs);
     let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
-    let state = make_static!(cyw43::State::new());
+    static STATE: StaticCell<cyw43::State> = StaticCell::new();
+    let state = STATE.init(cyw43::State::new());
     let (_net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
     unwrap!(spawner.spawn(wifi_task(runner)));
 
@@ -65,7 +63,7 @@ async fn main(spawner: Spawner) {
         .set_power_management(cyw43::PowerManagementMode::PowerSave)
         .await;
 
-    let mut scanner = control.scan().await;
+    let mut scanner = control.scan(Default::default()).await;
     while let Some(bss) = scanner.next().await {
         if let Ok(ssid_str) = str::from_utf8(&bss.ssid) {
             info!("scanned {} == {:x}", ssid_str, bss.bssid);
diff --git a/examples/rp/src/bin/wifi_tcp_server.rs b/examples/rp/src/bin/wifi_tcp_server.rs
index ec6b4ee74..f1afc4a00 100644
--- a/examples/rp/src/bin/wifi_tcp_server.rs
+++ b/examples/rp/src/bin/wifi_tcp_server.rs
@@ -3,7 +3,6 @@
 
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 #![allow(async_fn_in_trait)]
 
 use core::str::from_utf8;
@@ -15,11 +14,11 @@ use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, Stack, StackResources};
 use embassy_rp::bind_interrupts;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::peripherals::{DMA_CH0, PIO0};
 use embassy_rp::pio::{InterruptHandler, Pio};
 use embassy_time::{Duration, Timer};
 use embedded_io_async::Write;
-use static_cell::make_static;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -30,9 +29,7 @@ const WIFI_NETWORK: &str = "EmbassyTest";
 const WIFI_PASSWORD: &str = "V8YxhKt5CdIAJFud";
 
 #[embassy_executor::task]
-async fn wifi_task(
-    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
-) -> ! {
+async fn wifi_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
     runner.run().await
 }
 
@@ -62,7 +59,8 @@ async fn main(spawner: Spawner) {
     let mut pio = Pio::new(p.PIO0, Irqs);
     let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
-    let state = make_static!(cyw43::State::new());
+    static STATE: StaticCell<cyw43::State> = StaticCell::new();
+    let state = STATE.init(cyw43::State::new());
     let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
     unwrap!(spawner.spawn(wifi_task(runner)));
 
@@ -82,11 +80,13 @@ async fn main(spawner: Spawner) {
     let seed = 0x0123_4567_89ab_cdef; // chosen by fair dice roll. guarenteed to be random.
 
     // Init network stack
-    let stack = &*make_static!(Stack::new(
+    static STACK: StaticCell<Stack<cyw43::NetDriver<'static>>> = StaticCell::new();
+    static RESOURCES: StaticCell<StackResources<2>> = StaticCell::new();
+    let stack = &*STACK.init(Stack::new(
         net_device,
         config,
-        make_static!(StackResources::<2>::new()),
-        seed
+        RESOURCES.init(StackResources::<2>::new()),
+        seed,
     ));
 
     unwrap!(spawner.spawn(net_task(stack)));