Merge branch 'main' of https://github.com/embassy-rs/embassy into fix_main

43 files changed, 301 insertions, 35 deletions

diff --git a/examples/boot/application/nrf/Cargo.toml b/examples/boot/application/nrf/Cargo.toml
index f0a710335..cf34bb7cf 100644
--- a/examples/boot/application/nrf/Cargo.toml
+++ b/examples/boot/application/nrf/Cargo.toml
@@ -25,3 +25,10 @@ cortex-m-rt = "0.7.0"
 ed25519-dalek = ["embassy-boot/ed25519-dalek"]
 ed25519-salty = ["embassy-boot/ed25519-salty"]
 skip-include = []
+defmt = [
+      "dep:defmt",
+      "dep:defmt-rtt",
+      "embassy-nrf/defmt",
+      "embassy-boot-nrf/defmt",
+      "embassy-sync/defmt",
+]
diff --git a/examples/boot/application/stm32f3/Cargo.toml b/examples/boot/application/stm32f3/Cargo.toml
index fe1a6f5b1..9b79b01ce 100644
--- a/examples/boot/application/stm32f3/Cargo.toml
+++ b/examples/boot/application/stm32f3/Cargo.toml
@@ -23,6 +23,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32f3/src/bin/a.rs b/examples/boot/application/stm32f3/src/bin/a.rs
index 8858ae3da..b608b2e01 100644
--- a/examples/boot/application/stm32f3/src/bin/a.rs
+++ b/examples/boot/application/stm32f3/src/bin/a.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_embedded_hal::adapter::BlockingAsync;
diff --git a/examples/boot/application/stm32f3/src/bin/b.rs b/examples/boot/application/stm32f3/src/bin/b.rs
index 22ba82d5e..b1a505631 100644
--- a/examples/boot/application/stm32f3/src/bin/b.rs
+++ b/examples/boot/application/stm32f3/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/application/stm32f7/Cargo.toml b/examples/boot/application/stm32f7/Cargo.toml
index 37e362824..0167dfb76 100644
--- a/examples/boot/application/stm32f7/Cargo.toml
+++ b/examples/boot/application/stm32f7/Cargo.toml
@@ -24,6 +24,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32f7/src/bin/a.rs b/examples/boot/application/stm32f7/src/bin/a.rs
index d3df11fe4..172b4c235 100644
--- a/examples/boot/application/stm32f7/src/bin/a.rs
+++ b/examples/boot/application/stm32f7/src/bin/a.rs
@@ -3,7 +3,7 @@
 
 use core::cell::RefCell;
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, BlockingFirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_executor::Spawner;
diff --git a/examples/boot/application/stm32f7/src/bin/b.rs b/examples/boot/application/stm32f7/src/bin/b.rs
index 190477204..6bc9c9ab8 100644
--- a/examples/boot/application/stm32f7/src/bin/b.rs
+++ b/examples/boot/application/stm32f7/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/application/stm32h7/Cargo.toml b/examples/boot/application/stm32h7/Cargo.toml
index 52cd0b546..61643d485 100644
--- a/examples/boot/application/stm32h7/Cargo.toml
+++ b/examples/boot/application/stm32h7/Cargo.toml
@@ -24,6 +24,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32h7/src/bin/a.rs b/examples/boot/application/stm32h7/src/bin/a.rs
index f61ac1f71..c1b1a267a 100644
--- a/examples/boot/application/stm32h7/src/bin/a.rs
+++ b/examples/boot/application/stm32h7/src/bin/a.rs
@@ -3,7 +3,7 @@
 
 use core::cell::RefCell;
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, BlockingFirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_executor::Spawner;
diff --git a/examples/boot/application/stm32h7/src/bin/b.rs b/examples/boot/application/stm32h7/src/bin/b.rs
index 5f3f35207..13bdae1f1 100644
--- a/examples/boot/application/stm32h7/src/bin/b.rs
+++ b/examples/boot/application/stm32h7/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/application/stm32l0/Cargo.toml b/examples/boot/application/stm32l0/Cargo.toml
index 0f3cbe654..2990089ac 100644
--- a/examples/boot/application/stm32l0/Cargo.toml
+++ b/examples/boot/application/stm32l0/Cargo.toml
@@ -23,6 +23,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32l0/src/bin/a.rs b/examples/boot/application/stm32l0/src/bin/a.rs
index f066c1139..dcc10e5c6 100644
--- a/examples/boot/application/stm32l0/src/bin/a.rs
+++ b/examples/boot/application/stm32l0/src/bin/a.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_embedded_hal::adapter::BlockingAsync;
diff --git a/examples/boot/application/stm32l0/src/bin/b.rs b/examples/boot/application/stm32l0/src/bin/b.rs
index 6bf00f41a..a59c6f540 100644
--- a/examples/boot/application/stm32l0/src/bin/b.rs
+++ b/examples/boot/application/stm32l0/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/application/stm32l1/Cargo.toml b/examples/boot/application/stm32l1/Cargo.toml
index 3e964df9c..c07d71591 100644
--- a/examples/boot/application/stm32l1/Cargo.toml
+++ b/examples/boot/application/stm32l1/Cargo.toml
@@ -23,6 +23,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32l1/src/bin/a.rs b/examples/boot/application/stm32l1/src/bin/a.rs
index f066c1139..dcc10e5c6 100644
--- a/examples/boot/application/stm32l1/src/bin/a.rs
+++ b/examples/boot/application/stm32l1/src/bin/a.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_embedded_hal::adapter::BlockingAsync;
diff --git a/examples/boot/application/stm32l1/src/bin/b.rs b/examples/boot/application/stm32l1/src/bin/b.rs
index 6bf00f41a..a59c6f540 100644
--- a/examples/boot/application/stm32l1/src/bin/b.rs
+++ b/examples/boot/application/stm32l1/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/application/stm32l4/Cargo.toml b/examples/boot/application/stm32l4/Cargo.toml
index b154403ac..72b937ca7 100644
--- a/examples/boot/application/stm32l4/Cargo.toml
+++ b/examples/boot/application/stm32l4/Cargo.toml
@@ -23,6 +23,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32l4/src/bin/a.rs b/examples/boot/application/stm32l4/src/bin/a.rs
index a0079ee33..7f8015c04 100644
--- a/examples/boot/application/stm32l4/src/bin/a.rs
+++ b/examples/boot/application/stm32l4/src/bin/a.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_embedded_hal::adapter::BlockingAsync;
diff --git a/examples/boot/application/stm32l4/src/bin/b.rs b/examples/boot/application/stm32l4/src/bin/b.rs
index 22ba82d5e..b1a505631 100644
--- a/examples/boot/application/stm32l4/src/bin/b.rs
+++ b/examples/boot/application/stm32l4/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/application/stm32wb-dfu/src/main.rs b/examples/boot/application/stm32wb-dfu/src/main.rs
index 929d6802c..0ab99ff90 100644
--- a/examples/boot/application/stm32wb-dfu/src/main.rs
+++ b/examples/boot/application/stm32wb-dfu/src/main.rs
@@ -3,7 +3,7 @@
 
 use core::cell::RefCell;
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, BlockingFirmwareState, FirmwareUpdaterConfig};
 use embassy_executor::Spawner;
diff --git a/examples/boot/application/stm32wl/Cargo.toml b/examples/boot/application/stm32wl/Cargo.toml
index 93ead617c..a5160b797 100644
--- a/examples/boot/application/stm32wl/Cargo.toml
+++ b/examples/boot/application/stm32wl/Cargo.toml
@@ -23,6 +23,7 @@ cortex-m-rt = "0.7.0"
 [features]
 defmt = [
       "dep:defmt",
+      "dep:defmt-rtt",
       "embassy-stm32/defmt",
       "embassy-boot-stm32/defmt",
       "embassy-sync/defmt",
diff --git a/examples/boot/application/stm32wl/src/bin/a.rs b/examples/boot/application/stm32wl/src/bin/a.rs
index 2fb16bdc4..9f4f0b238 100644
--- a/examples/boot/application/stm32wl/src/bin/a.rs
+++ b/examples/boot/application/stm32wl/src/bin/a.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_boot_stm32::{AlignedBuffer, FirmwareUpdater, FirmwareUpdaterConfig};
 use embassy_embedded_hal::adapter::BlockingAsync;
diff --git a/examples/boot/application/stm32wl/src/bin/b.rs b/examples/boot/application/stm32wl/src/bin/b.rs
index 8dd15d8cd..e954d8b91 100644
--- a/examples/boot/application/stm32wl/src/bin/b.rs
+++ b/examples/boot/application/stm32wl/src/bin/b.rs
@@ -1,7 +1,7 @@
 #![no_std]
 #![no_main]
 
-#[cfg(feature = "defmt-rtt")]
+#[cfg(feature = "defmt")]
 use defmt_rtt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
diff --git a/examples/boot/bootloader/nrf/Cargo.toml b/examples/boot/bootloader/nrf/Cargo.toml
index 980149bea..9d5d51a13 100644
--- a/examples/boot/bootloader/nrf/Cargo.toml
+++ b/examples/boot/bootloader/nrf/Cargo.toml
@@ -19,13 +19,13 @@ cfg-if = "1.0.0"
 [features]
 defmt = [
     "dep:defmt",
+    "dep:defmt-rtt",
     "embassy-boot-nrf/defmt",
     "embassy-nrf/defmt",
 ]
 softdevice = [
     "embassy-boot-nrf/softdevice",
 ]
-debug = ["defmt-rtt", "defmt"]
 
 [profile.dev]
 debug = 2
diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml
index 7eec3df1b..c15c980ca 100644
--- a/examples/boot/bootloader/rp/Cargo.toml
+++ b/examples/boot/bootloader/rp/Cargo.toml
@@ -23,10 +23,10 @@ cfg-if = "1.0.0"
 [features]
 defmt = [
     "dep:defmt",
+    "dep:defmt-rtt",
     "embassy-boot-rp/defmt",
     "embassy-rp/defmt",
 ]
-debug = ["defmt-rtt", "defmt"]
 
 [profile.release]
 debug = true
diff --git a/examples/boot/bootloader/stm32-dual-bank/Cargo.toml b/examples/boot/bootloader/stm32-dual-bank/Cargo.toml
index 55adf84d7..b91b05412 100644
--- a/examples/boot/bootloader/stm32-dual-bank/Cargo.toml
+++ b/examples/boot/bootloader/stm32-dual-bank/Cargo.toml
@@ -22,8 +22,7 @@ embedded-storage-async = "0.4.0"
 cfg-if = "1.0.0"
 
 [features]
-defmt = ["dep:defmt", "embassy-boot-stm32/defmt", "embassy-stm32/defmt"]
-debug = ["defmt-rtt", "defmt"]
+defmt = ["dep:defmt", "dep:defmt-rtt", "embassy-boot-stm32/defmt", "embassy-stm32/defmt"]
 
 [profile.dev]
 debug = 2
diff --git a/examples/boot/bootloader/stm32/Cargo.toml b/examples/boot/bootloader/stm32/Cargo.toml
index ef2b99404..541186949 100644
--- a/examples/boot/bootloader/stm32/Cargo.toml
+++ b/examples/boot/bootloader/stm32/Cargo.toml
@@ -21,10 +21,10 @@ cfg-if = "1.0.0"
 [features]
 defmt = [
     "dep:defmt",
+    "dep:defmt-rtt",
     "embassy-boot-stm32/defmt",
     "embassy-stm32/defmt",
 ]
-debug = ["defmt-rtt", "defmt"]
 
 [profile.dev]
 debug = 2
diff --git a/examples/boot/bootloader/stm32wb-dfu/Cargo.toml b/examples/boot/bootloader/stm32wb-dfu/Cargo.toml
index 93b5d8b34..9950ed7b6 100644
--- a/examples/boot/bootloader/stm32wb-dfu/Cargo.toml
+++ b/examples/boot/bootloader/stm32wb-dfu/Cargo.toml
@@ -24,12 +24,12 @@ embassy-futures = { version = "0.1.1", path = "../../../../embassy-futures" }
 [features]
 defmt = [
     "dep:defmt",
+    "dep:defmt-rtt",
     "embassy-boot-stm32/defmt",
     "embassy-stm32/defmt",
     "embassy-usb/defmt",
     "embassy-usb-dfu/defmt"
 ]
-debug = ["defmt-rtt", "defmt"]
 
 [profile.dev]
 debug = 2
diff --git a/examples/rp/src/bin/zerocopy.rs b/examples/rp/src/bin/zerocopy.rs
new file mode 100644
index 000000000..39f03c8e4
--- /dev/null
+++ b/examples/rp/src/bin/zerocopy.rs
@@ -0,0 +1,94 @@
+//! This example shows how to use `zerocopy_channel` from `embassy_sync` for
+//! sending large values between two tasks without copying.
+//! The example also shows how to use the RP2040 ADC with DMA.
+#![no_std]
+#![no_main]
+
+use core::sync::atomic::{AtomicU16, Ordering};
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::adc::{self, Adc, Async, Config, InterruptHandler};
+use embassy_rp::bind_interrupts;
+use embassy_rp::gpio::Pull;
+use embassy_rp::peripherals::DMA_CH0;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::zerocopy_channel::{Channel, Receiver, Sender};
+use embassy_time::{Duration, Ticker, Timer};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+type SampleBuffer = [u16; 512];
+
+bind_interrupts!(struct Irqs {
+    ADC_IRQ_FIFO => InterruptHandler;
+});
+
+const BLOCK_SIZE: usize = 512;
+const NUM_BLOCKS: usize = 2;
+static MAX: AtomicU16 = AtomicU16::new(0);
+
+struct AdcParts {
+    adc: Adc<'static, Async>,
+    pin: adc::Channel<'static>,
+    dma: DMA_CH0,
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Here we go!");
+
+    let adc_parts = AdcParts {
+        adc: Adc::new(p.ADC, Irqs, Config::default()),
+        pin: adc::Channel::new_pin(p.PIN_29, Pull::None),
+        dma: p.DMA_CH0,
+    };
+
+    static BUF: StaticCell<[SampleBuffer; NUM_BLOCKS]> = StaticCell::new();
+    let buf = BUF.init([[0; BLOCK_SIZE]; NUM_BLOCKS]);
+
+    static CHANNEL: StaticCell<Channel<'_, NoopRawMutex, SampleBuffer>> = StaticCell::new();
+    let channel = CHANNEL.init(Channel::new(buf));
+    let (sender, receiver) = channel.split();
+
+    spawner.must_spawn(consumer(receiver));
+    spawner.must_spawn(producer(sender, adc_parts));
+
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        ticker.next().await;
+        let max = MAX.load(Ordering::Relaxed);
+        info!("latest block's max value: {:?}", max);
+    }
+}
+
+#[embassy_executor::task]
+async fn producer(mut sender: Sender<'static, NoopRawMutex, SampleBuffer>, mut adc: AdcParts) {
+    loop {
+        // Obtain a free buffer from the channel
+        let buf = sender.send().await;
+
+        // Fill it with data
+        adc.adc.read_many(&mut adc.pin, buf, 1, &mut adc.dma).await.unwrap();
+
+        // Notify the channel that the buffer is now ready to be received
+        sender.send_done();
+    }
+}
+
+#[embassy_executor::task]
+async fn consumer(mut receiver: Receiver<'static, NoopRawMutex, SampleBuffer>) {
+    loop {
+        // Receive a buffer from the channel
+        let buf = receiver.receive().await;
+
+        // Simulate using the data, while the producer is filling up the next buffer
+        Timer::after_micros(1000).await;
+        let max = buf.iter().max().unwrap();
+        MAX.store(*max, Ordering::Relaxed);
+
+        // Notify the channel that the buffer is now ready to be reused
+        receiver.receive_done();
+    }
+}
diff --git a/examples/stm32f1/src/bin/input_capture.rs b/examples/stm32f1/src/bin/input_capture.rs
new file mode 100644
index 000000000..5e2dab9e6
--- /dev/null
+++ b/examples/stm32f1/src/bin/input_capture.rs
@@ -0,0 +1,52 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Pull, Speed};
+use embassy_stm32::time::khz;
+use embassy_stm32::timer::input_capture::{CapturePin, InputCapture};
+use embassy_stm32::timer::{self, Channel};
+use embassy_stm32::{bind_interrupts, peripherals};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+/// Connect PA2 and PC13 with a 1k Ohm resistor
+
+#[embassy_executor::task]
+async fn blinky(led: peripherals::PC13) {
+    let mut led = Output::new(led, Level::High, Speed::Low);
+
+    loop {
+        info!("high");
+        led.set_high();
+        Timer::after_millis(300).await;
+
+        info!("low");
+        led.set_low();
+        Timer::after_millis(300).await;
+    }
+}
+
+bind_interrupts!(struct Irqs {
+    TIM2 => timer::CaptureCompareInterruptHandler<peripherals::TIM2>;
+});
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_stm32::init(Default::default());
+    info!("Hello World!");
+
+    unwrap!(spawner.spawn(blinky(p.PC13)));
+
+    let ch3 = CapturePin::new_ch3(p.PA2, Pull::None);
+    let mut ic = InputCapture::new(p.TIM2, None, None, Some(ch3), None, Irqs, khz(1000), Default::default());
+
+    loop {
+        info!("wait for rising edge");
+        ic.wait_for_rising_edge(Channel::Ch3).await;
+
+        let capture_value = ic.get_capture_value(Channel::Ch3);
+        info!("new capture! {}", capture_value);
+    }
+}
diff --git a/examples/stm32f1/src/bin/pwm_input.rs b/examples/stm32f1/src/bin/pwm_input.rs
new file mode 100644
index 000000000..f74853d4e
--- /dev/null
+++ b/examples/stm32f1/src/bin/pwm_input.rs
@@ -0,0 +1,54 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Pull, Speed};
+use embassy_stm32::time::khz;
+use embassy_stm32::timer::pwm_input::PwmInput;
+use embassy_stm32::{bind_interrupts, peripherals, timer};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+/// Connect PA0 and PC13 with a 1k Ohm resistor
+
+#[embassy_executor::task]
+async fn blinky(led: peripherals::PC13) {
+    let mut led = Output::new(led, Level::High, Speed::Low);
+
+    loop {
+        info!("high");
+        led.set_high();
+        Timer::after_millis(300).await;
+
+        info!("low");
+        led.set_low();
+        Timer::after_millis(300).await;
+    }
+}
+
+bind_interrupts!(struct Irqs {
+    TIM2 => timer::CaptureCompareInterruptHandler<peripherals::TIM2>;
+});
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_stm32::init(Default::default());
+    info!("Hello World!");
+
+    unwrap!(spawner.spawn(blinky(p.PC13)));
+
+    let mut pwm_input = PwmInput::new(p.TIM2, p.PA0, Pull::None, khz(10));
+    pwm_input.enable();
+
+    loop {
+        Timer::after_millis(500).await;
+        let period = pwm_input.get_period_ticks();
+        let width = pwm_input.get_width_ticks();
+        let duty_cycle = pwm_input.get_duty_cycle();
+        info!(
+            "period ticks: {} width ticks: {} duty cycle: {}",
+            period, width, duty_cycle
+        );
+    }
+}
diff --git a/examples/stm32f4/src/bin/i2s_dma.rs b/examples/stm32f4/src/bin/i2s_dma.rs
index 97a04b2aa..27b165f1b 100644
--- a/examples/stm32f4/src/bin/i2s_dma.rs
+++ b/examples/stm32f4/src/bin/i2s_dma.rs
@@ -15,14 +15,13 @@ async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
     info!("Hello World!");
 
-    let mut i2s = I2S::new(
+    let mut i2s = I2S::new_txonly(
         p.SPI2,
         p.PC3,  // sd
         p.PB12, // ws
         p.PB10, // ck
         p.PC6,  // mck
         p.DMA1_CH4,
-        p.DMA1_CH3,
         Hertz(1_000_000),
         Config::default(),
     );
diff --git a/examples/stm32f4/src/bin/pwm_input.rs b/examples/stm32f4/src/bin/pwm_input.rs
new file mode 100644
index 000000000..ce200549d
--- /dev/null
+++ b/examples/stm32f4/src/bin/pwm_input.rs
@@ -0,0 +1,54 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Pull, Speed};
+use embassy_stm32::time::khz;
+use embassy_stm32::timer::pwm_input::PwmInput;
+use embassy_stm32::{bind_interrupts, peripherals, timer};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+/// Connect PB2 and PA6 with a 1k Ohm resistor
+
+#[embassy_executor::task]
+async fn blinky(led: peripherals::PB2) {
+    let mut led = Output::new(led, Level::High, Speed::Low);
+
+    loop {
+        info!("high");
+        led.set_high();
+        Timer::after_millis(300).await;
+
+        info!("low");
+        led.set_low();
+        Timer::after_millis(300).await;
+    }
+}
+
+bind_interrupts!(struct Irqs {
+    TIM2 => timer::CaptureCompareInterruptHandler<peripherals::TIM2>;
+});
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_stm32::init(Default::default());
+    info!("Hello World!");
+
+    unwrap!(spawner.spawn(blinky(p.PB2)));
+
+    let mut pwm_input = PwmInput::new(p.TIM3, p.PA6, Pull::None, khz(10));
+    pwm_input.enable();
+
+    loop {
+        Timer::after_millis(500).await;
+        let period = pwm_input.get_period_ticks();
+        let width = pwm_input.get_width_ticks();
+        let duty_cycle = pwm_input.get_duty_cycle();
+        info!(
+            "period ticks: {} width ticks: {} duty cycle: {}",
+            period, width, duty_cycle
+        );
+    }
+}
diff --git a/examples/stm32f4/src/bin/usb_ethernet.rs b/examples/stm32f4/src/bin/usb_ethernet.rs
index 19ae16e8b..b398c35da 100644
--- a/examples/stm32f4/src/bin/usb_ethernet.rs
+++ b/examples/stm32f4/src/bin/usb_ethernet.rs
@@ -43,7 +43,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
diff --git a/examples/stm32f4/src/bin/usb_hid_keyboard.rs b/examples/stm32f4/src/bin/usb_hid_keyboard.rs
index 537ff63ea..1270995c4 100644
--- a/examples/stm32f4/src/bin/usb_hid_keyboard.rs
+++ b/examples/stm32f4/src/bin/usb_hid_keyboard.rs
@@ -24,7 +24,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
diff --git a/examples/stm32f4/src/bin/usb_hid_mouse.rs b/examples/stm32f4/src/bin/usb_hid_mouse.rs
index df4b7426c..45136f965 100644
--- a/examples/stm32f4/src/bin/usb_hid_mouse.rs
+++ b/examples/stm32f4/src/bin/usb_hid_mouse.rs
@@ -21,7 +21,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
diff --git a/examples/stm32f4/src/bin/usb_raw.rs b/examples/stm32f4/src/bin/usb_raw.rs
index 1452e7c5f..b2d706208 100644
--- a/examples/stm32f4/src/bin/usb_raw.rs
+++ b/examples/stm32f4/src/bin/usb_raw.rs
@@ -72,7 +72,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
diff --git a/examples/stm32f4/src/bin/usb_serial.rs b/examples/stm32f4/src/bin/usb_serial.rs
index b2bd390b6..328b5effe 100644
--- a/examples/stm32f4/src/bin/usb_serial.rs
+++ b/examples/stm32f4/src/bin/usb_serial.rs
@@ -19,7 +19,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
diff --git a/examples/stm32f7/src/bin/can.rs b/examples/stm32f7/src/bin/can.rs
index e32b4d3df..a82e335a9 100644
--- a/examples/stm32f7/src/bin/can.rs
+++ b/examples/stm32f7/src/bin/can.rs
@@ -24,7 +24,7 @@ bind_interrupts!(struct Irqs {
 });
 
 #[embassy_executor::task]
-pub async fn send_can_message(tx: &'static mut CanTx<'static, CAN3>) {
+pub async fn send_can_message(tx: &'static mut CanTx<'static>) {
     loop {
         let frame = Frame::new_data(unwrap!(StandardId::new(0 as _)), &[0]).unwrap();
         tx.write(&frame).await;
@@ -45,7 +45,7 @@ async fn main(spawner: Spawner) {
     let rx_pin = Input::new(&mut p.PA15, Pull::Up);
     core::mem::forget(rx_pin);
 
-    static CAN: StaticCell<Can<'static, CAN3>> = StaticCell::new();
+    static CAN: StaticCell<Can<'static>> = StaticCell::new();
     let can = CAN.init(Can::new(p.CAN3, p.PA8, p.PA15, Irqs));
     can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
 
@@ -62,7 +62,7 @@ async fn main(spawner: Spawner) {
 
     let (tx, mut rx) = can.split();
 
-    static CAN_TX: StaticCell<CanTx<'static, CAN3>> = StaticCell::new();
+    static CAN_TX: StaticCell<CanTx<'static>> = StaticCell::new();
     let tx = CAN_TX.init(tx);
     spawner.spawn(send_can_message(tx)).unwrap();
 
diff --git a/examples/stm32f7/src/bin/usb_serial.rs b/examples/stm32f7/src/bin/usb_serial.rs
index 0e5cc7c5c..1906b28ed 100644
--- a/examples/stm32f7/src/bin/usb_serial.rs
+++ b/examples/stm32f7/src/bin/usb_serial.rs
@@ -19,7 +19,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
diff --git a/examples/stm32g0/src/bin/spi_neopixel.rs b/examples/stm32g0/src/bin/spi_neopixel.rs
index 2deee271d..edcae74f7 100644
--- a/examples/stm32g0/src/bin/spi_neopixel.rs
+++ b/examples/stm32g0/src/bin/spi_neopixel.rs
@@ -76,7 +76,7 @@ async fn main(_spawner: Spawner) {
 
     let mut config = Config::default();
     config.frequency = Hertz(4_000_000);
-    let mut spi = Spi::new_txonly_nosck(p.SPI1, p.PB5, p.DMA1_CH3, config);
+    let mut spi = Spi::new_txonly(p.SPI1, p.PB3, p.PB5, p.DMA1_CH3, config); // SCK is unused.
 
     let mut neopixels = Ws2812::new();
 
diff --git a/examples/stm32h7/src/bin/usb_serial.rs b/examples/stm32h7/src/bin/usb_serial.rs
index 1c50fc1c8..65ae597d4 100644
--- a/examples/stm32h7/src/bin/usb_serial.rs
+++ b/examples/stm32h7/src/bin/usb_serial.rs
@@ -18,7 +18,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
diff --git a/examples/stm32l4/src/bin/usb_serial.rs b/examples/stm32l4/src/bin/usb_serial.rs
index ed9671d0f..c3b1211d8 100644
--- a/examples/stm32l4/src/bin/usb_serial.rs
+++ b/examples/stm32l4/src/bin/usb_serial.rs
@@ -19,7 +19,7 @@ bind_interrupts!(struct Irqs {
 // If you are trying this and your USB device doesn't connect, the most
 // common issues are the RCC config and vbus_detection
 //
-// See https://embassy.dev/book/dev/faq.html#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
 // for more information.
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {