Merge remote-tracking branch 'origin/main' into nrf-pdm

18 files changed, 1744 insertions, 6 deletions

diff --git a/tests/rp/src/bin/adc.rs b/tests/rp/src/bin/adc.rs
new file mode 100644
index 000000000..e659844ae
--- /dev/null
+++ b/tests/rp/src/bin/adc.rs
@@ -0,0 +1,86 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::adc::{Adc, Config, InterruptHandler, Pin};
+use embassy_rp::bind_interrupts;
+use embassy_rp::gpio::Pull;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    ADC_IRQ_FIFO => InterruptHandler;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_rp::init(Default::default());
+    let mut adc = Adc::new(p.ADC, Irqs, Config::default());
+
+    {
+        {
+            let mut p = Pin::new(&mut p.PIN_26, Pull::Down);
+            defmt::assert!(adc.blocking_read(&mut p).unwrap() < 0b01_0000_0000);
+            defmt::assert!(adc.read(&mut p).await.unwrap() < 0b01_0000_0000);
+        }
+        {
+            let mut p = Pin::new(&mut p.PIN_26, Pull::Up);
+            defmt::assert!(adc.blocking_read(&mut p).unwrap() > 0b11_0000_0000);
+            defmt::assert!(adc.read(&mut p).await.unwrap() > 0b11_0000_0000);
+        }
+    }
+    // not bothering with async reads from now on
+    {
+        {
+            let mut p = Pin::new(&mut p.PIN_27, Pull::Down);
+            defmt::assert!(adc.blocking_read(&mut p).unwrap() < 0b01_0000_0000);
+        }
+        {
+            let mut p = Pin::new(&mut p.PIN_27, Pull::Up);
+            defmt::assert!(adc.blocking_read(&mut p).unwrap() > 0b11_0000_0000);
+        }
+    }
+    {
+        {
+            let mut p = Pin::new(&mut p.PIN_28, Pull::Down);
+            defmt::assert!(adc.blocking_read(&mut p).unwrap() < 0b01_0000_0000);
+        }
+        {
+            let mut p = Pin::new(&mut p.PIN_28, Pull::Up);
+            defmt::assert!(adc.blocking_read(&mut p).unwrap() > 0b11_0000_0000);
+        }
+    }
+    {
+        // gp29 is connected to vsys through a 200k/100k divider,
+        // adding pulls should change the value
+        let low = {
+            let mut p = Pin::new(&mut p.PIN_29, Pull::Down);
+            adc.blocking_read(&mut p).unwrap()
+        };
+        let none = {
+            let mut p = Pin::new(&mut p.PIN_29, Pull::None);
+            adc.blocking_read(&mut p).unwrap()
+        };
+        let up = {
+            let mut p = Pin::new(&mut p.PIN_29, Pull::Up);
+            adc.blocking_read(&mut p).unwrap()
+        };
+        defmt::assert!(low < none);
+        defmt::assert!(none < up);
+    }
+
+    let temp = convert_to_celsius(adc.read_temperature().await.unwrap());
+    defmt::assert!(temp > 0.0);
+    defmt::assert!(temp < 60.0);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
+
+fn convert_to_celsius(raw_temp: u16) -> f32 {
+    // According to chapter 4.9.5. Temperature Sensor in RP2040 datasheet
+    27.0 - (raw_temp as f32 * 3.3 / 4096.0 - 0.706) / 0.001721 as f32
+}
diff --git a/tests/rp/src/bin/cyw43-perf.rs b/tests/rp/src/bin/cyw43-perf.rs
new file mode 100644
index 000000000..bc127e2e5
--- /dev/null
+++ b/tests/rp/src/bin/cyw43-perf.rs
@@ -0,0 +1,264 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use cyw43_pio::PioSpi;
+use defmt::{assert, panic, *};
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_net::tcp::TcpSocket;
+use embassy_net::{Config, Ipv4Address, Stack, StackResources};
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::pio::{InterruptHandler, Pio};
+use embassy_rp::{bind_interrupts, rom_data};
+use embassy_time::{with_timeout, Duration, Timer};
+use static_cell::make_static;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+teleprobe_meta::timeout!(120);
+
+#[embassy_executor::task]
+async fn wifi_task(
+    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
+) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::task]
+async fn net_task(stack: &'static Stack<cyw43::NetDriver<'static>>) -> ! {
+    stack.run().await
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    info!("Hello World!");
+    let p = embassy_rp::init(Default::default());
+
+    // needed for reading the firmware from flash via XIP.
+    unsafe {
+        rom_data::flash_exit_xip();
+        rom_data::flash_enter_cmd_xip();
+    }
+
+    // cyw43 firmware needs to be flashed manually:
+    //     probe-rs download 43439A0.bin     --format bin --chip RP2040 --base-address 0x101c0000
+    //     probe-rs download 43439A0_clm.bin --format bin --chip RP2040 --base-address 0x101f8000
+    let fw = unsafe { core::slice::from_raw_parts(0x101c0000 as *const u8, 224190) };
+    let clm = unsafe { core::slice::from_raw_parts(0x101f8000 as *const u8, 4752) };
+
+    let pwr = Output::new(p.PIN_23, Level::Low);
+    let cs = Output::new(p.PIN_25, Level::High);
+    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());
+    let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
+    unwrap!(spawner.spawn(wifi_task(runner)));
+
+    control.init(clm).await;
+    control
+        .set_power_management(cyw43::PowerManagementMode::PowerSave)
+        .await;
+
+    // Generate random seed
+    let seed = 0x0123_4567_89ab_cdef; // chosen by fair dice roll. guarenteed to be random.
+
+    // Init network stack
+    let stack = &*make_static!(Stack::new(
+        net_device,
+        Config::dhcpv4(Default::default()),
+        make_static!(StackResources::<2>::new()),
+        seed
+    ));
+
+    unwrap!(spawner.spawn(net_task(stack)));
+
+    loop {
+        match control.join_wpa2(WIFI_NETWORK, WIFI_PASSWORD).await {
+            Ok(_) => break,
+            Err(err) => {
+                panic!("join failed with status={}", err.status);
+            }
+        }
+    }
+
+    info!("Waiting for DHCP up...");
+    while stack.config_v4().is_none() {
+        Timer::after(Duration::from_millis(100)).await;
+    }
+    info!("IP addressing up!");
+
+    let down = test_download(stack).await;
+    let up = test_upload(stack).await;
+    let updown = test_upload_download(stack).await;
+
+    assert!(down > TEST_EXPECTED_DOWNLOAD_KBPS);
+    assert!(up > TEST_EXPECTED_UPLOAD_KBPS);
+    assert!(updown > TEST_EXPECTED_UPLOAD_DOWNLOAD_KBPS);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
+
+// Test-only wifi network, no internet access!
+const WIFI_NETWORK: &str = "EmbassyTest";
+const WIFI_PASSWORD: &str = "V8YxhKt5CdIAJFud";
+
+const TEST_DURATION: usize = 10;
+const TEST_EXPECTED_DOWNLOAD_KBPS: usize = 300;
+const TEST_EXPECTED_UPLOAD_KBPS: usize = 300;
+const TEST_EXPECTED_UPLOAD_DOWNLOAD_KBPS: usize = 300;
+const RX_BUFFER_SIZE: usize = 4096;
+const TX_BUFFER_SIZE: usize = 4096;
+const SERVER_ADDRESS: Ipv4Address = Ipv4Address::new(192, 168, 2, 2);
+const DOWNLOAD_PORT: u16 = 4321;
+const UPLOAD_PORT: u16 = 4322;
+const UPLOAD_DOWNLOAD_PORT: u16 = 4323;
+
+async fn test_download(stack: &'static Stack<cyw43::NetDriver<'static>>) -> usize {
+    info!("Testing download...");
+
+    let mut rx_buffer = [0; RX_BUFFER_SIZE];
+    let mut tx_buffer = [0; TX_BUFFER_SIZE];
+    let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
+    socket.set_timeout(Some(Duration::from_secs(10)));
+
+    info!("connecting to {:?}:{}...", SERVER_ADDRESS, DOWNLOAD_PORT);
+    if let Err(e) = socket.connect((SERVER_ADDRESS, DOWNLOAD_PORT)).await {
+        error!("connect error: {:?}", e);
+        return 0;
+    }
+    info!("connected, testing...");
+
+    let mut rx_buf = [0; 4096];
+    let mut total: usize = 0;
+    with_timeout(Duration::from_secs(TEST_DURATION as _), async {
+        loop {
+            match socket.read(&mut rx_buf).await {
+                Ok(0) => {
+                    error!("read EOF");
+                    return 0;
+                }
+                Ok(n) => total += n,
+                Err(e) => {
+                    error!("read error: {:?}", e);
+                    return 0;
+                }
+            }
+        }
+    })
+    .await
+    .ok();
+
+    let kbps = (total + 512) / 1024 / TEST_DURATION;
+    info!("download: {} kB/s", kbps);
+    kbps
+}
+
+async fn test_upload(stack: &'static Stack<cyw43::NetDriver<'static>>) -> usize {
+    info!("Testing upload...");
+
+    let mut rx_buffer = [0; RX_BUFFER_SIZE];
+    let mut tx_buffer = [0; TX_BUFFER_SIZE];
+    let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
+    socket.set_timeout(Some(Duration::from_secs(10)));
+
+    info!("connecting to {:?}:{}...", SERVER_ADDRESS, UPLOAD_PORT);
+    if let Err(e) = socket.connect((SERVER_ADDRESS, UPLOAD_PORT)).await {
+        error!("connect error: {:?}", e);
+        return 0;
+    }
+    info!("connected, testing...");
+
+    let buf = [0; 4096];
+    let mut total: usize = 0;
+    with_timeout(Duration::from_secs(TEST_DURATION as _), async {
+        loop {
+            match socket.write(&buf).await {
+                Ok(0) => {
+                    error!("write zero?!??!?!");
+                    return 0;
+                }
+                Ok(n) => total += n,
+                Err(e) => {
+                    error!("write error: {:?}", e);
+                    return 0;
+                }
+            }
+        }
+    })
+    .await
+    .ok();
+
+    let kbps = (total + 512) / 1024 / TEST_DURATION;
+    info!("upload: {} kB/s", kbps);
+    kbps
+}
+
+async fn test_upload_download(stack: &'static Stack<cyw43::NetDriver<'static>>) -> usize {
+    info!("Testing upload+download...");
+
+    let mut rx_buffer = [0; RX_BUFFER_SIZE];
+    let mut tx_buffer = [0; TX_BUFFER_SIZE];
+    let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
+    socket.set_timeout(Some(Duration::from_secs(10)));
+
+    info!("connecting to {:?}:{}...", SERVER_ADDRESS, UPLOAD_DOWNLOAD_PORT);
+    if let Err(e) = socket.connect((SERVER_ADDRESS, UPLOAD_DOWNLOAD_PORT)).await {
+        error!("connect error: {:?}", e);
+        return 0;
+    }
+    info!("connected, testing...");
+
+    let (mut reader, mut writer) = socket.split();
+
+    let tx_buf = [0; 4096];
+    let mut rx_buf = [0; 4096];
+    let mut total: usize = 0;
+    let tx_fut = async {
+        loop {
+            match writer.write(&tx_buf).await {
+                Ok(0) => {
+                    error!("write zero?!??!?!");
+                    return 0;
+                }
+                Ok(_) => {}
+                Err(e) => {
+                    error!("write error: {:?}", e);
+                    return 0;
+                }
+            }
+        }
+    };
+
+    let rx_fut = async {
+        loop {
+            match reader.read(&mut rx_buf).await {
+                Ok(0) => {
+                    error!("read EOF");
+                    return 0;
+                }
+                Ok(n) => total += n,
+                Err(e) => {
+                    error!("read error: {:?}", e);
+                    return 0;
+                }
+            }
+        }
+    };
+
+    with_timeout(Duration::from_secs(TEST_DURATION as _), join(tx_fut, rx_fut))
+        .await
+        .ok();
+
+    let kbps = (total + 512) / 1024 / TEST_DURATION;
+    info!("upload+download: {} kB/s", kbps);
+    kbps
+}
diff --git a/tests/rp/src/bin/dma_copy_async.rs b/tests/rp/src/bin/dma_copy_async.rs
new file mode 100644
index 000000000..2c0b559a9
--- /dev/null
+++ b/tests/rp/src/bin/dma_copy_async.rs
@@ -0,0 +1,43 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::dma::copy;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    // Check `u8` copy
+    {
+        let data: [u8; 2] = [0xC0, 0xDE];
+        let mut buf = [0; 2];
+        unsafe { copy(p.DMA_CH0, &data, &mut buf).await };
+        assert_eq!(buf, data);
+    }
+
+    // Check `u16` copy
+    {
+        let data: [u16; 2] = [0xC0BE, 0xDEAD];
+        let mut buf = [0; 2];
+        unsafe { copy(p.DMA_CH1, &data, &mut buf).await };
+        assert_eq!(buf, data);
+    }
+
+    // Check `u32` copy
+    {
+        let data: [u32; 2] = [0xC0BEDEAD, 0xDEADAAFF];
+        let mut buf = [0; 2];
+        unsafe { copy(p.DMA_CH2, &data, &mut buf).await };
+        assert_eq!(buf, data);
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/flash.rs b/tests/rp/src/bin/flash.rs
new file mode 100644
index 000000000..cf9b86df5
--- /dev/null
+++ b/tests/rp/src/bin/flash.rs
@@ -0,0 +1,65 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::flash::{ERASE_SIZE, FLASH_BASE};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+const ADDR_OFFSET: u32 = 0x4000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    // add some delay to give an attached debug probe time to parse the
+    // defmt RTT header. Reading that header might touch flash memory, which
+    // interferes with flash write operations.
+    // https://github.com/knurling-rs/defmt/pull/683
+    Timer::after(Duration::from_millis(10)).await;
+
+    let mut flash = embassy_rp::flash::Flash::<_, { 2 * 1024 * 1024 }>::new(p.FLASH);
+
+    // Get JEDEC id
+    let jedec = defmt::unwrap!(flash.jedec_id());
+    info!("jedec id: 0x{:x}", jedec);
+
+    // Get unique id
+    let mut uid = [0; 8];
+    defmt::unwrap!(flash.unique_id(&mut uid));
+    info!("unique id: {:?}", uid);
+
+    let mut buf = [0u8; ERASE_SIZE];
+    defmt::unwrap!(flash.read(ADDR_OFFSET, &mut buf));
+
+    info!("Addr of flash block is {:x}", ADDR_OFFSET + FLASH_BASE as u32);
+    info!("Contents start with {=[u8]}", buf[0..4]);
+
+    defmt::unwrap!(flash.erase(ADDR_OFFSET, ADDR_OFFSET + ERASE_SIZE as u32));
+
+    defmt::unwrap!(flash.read(ADDR_OFFSET, &mut buf));
+    info!("Contents after erase starts with {=[u8]}", buf[0..4]);
+    if buf.iter().any(|x| *x != 0xFF) {
+        defmt::panic!("unexpected");
+    }
+
+    for b in buf.iter_mut() {
+        *b = 0xDA;
+    }
+
+    defmt::unwrap!(flash.write(ADDR_OFFSET, &mut buf));
+
+    defmt::unwrap!(flash.read(ADDR_OFFSET, &mut buf));
+    info!("Contents after write starts with {=[u8]}", buf[0..4]);
+    if buf.iter().any(|x| *x != 0xDA) {
+        defmt::panic!("unexpected");
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/float.rs b/tests/rp/src/bin/float.rs
new file mode 100644
index 000000000..0e0de85fa
--- /dev/null
+++ b/tests/rp/src/bin/float.rs
@@ -0,0 +1,53 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::pac;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    const PI_F: f32 = 3.1415926535f32;
+    const PI_D: f64 = 3.14159265358979323846f64;
+
+    pac::BUSCTRL
+        .perfsel(0)
+        .write(|r| r.set_perfsel(pac::busctrl::vals::Perfsel::ROM));
+
+    for i in 0..=360 {
+        let rad_f = (i as f32) * PI_F / 180.0;
+        info!(
+            "{}° float: {=f32} / {=f32} / {=f32} / {=f32}",
+            i,
+            rad_f,
+            rad_f - PI_F,
+            rad_f + PI_F,
+            rad_f % PI_F
+        );
+        let rad_d = (i as f64) * PI_D / 180.0;
+        info!(
+            "{}° double: {=f64} / {=f64} / {=f64} / {=f64}",
+            i,
+            rad_d,
+            rad_d - PI_D,
+            rad_d + PI_D,
+            rad_d % PI_D
+        );
+        Timer::after(Duration::from_millis(10)).await;
+    }
+
+    let rom_accesses = pac::BUSCTRL.perfctr(0).read().perfctr();
+    // every float operation used here uses at least 10 cycles
+    defmt::assert!(rom_accesses >= 360 * 12 * 10);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/gpio.rs b/tests/rp/src/bin/gpio.rs
index af22fe27d..946b7dc88 100644
--- a/tests/rp/src/bin/gpio.rs
+++ b/tests/rp/src/bin/gpio.rs
@@ -1,6 +1,8 @@
 #![no_std]
 #![no_main]
 #![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
 
 use defmt::{assert, *};
 use embassy_executor::Spawner;
@@ -19,14 +21,46 @@ async fn main(_spawner: Spawner) {
         let b = Input::new(&mut b, Pull::None);
 
         {
-            let _a = Output::new(&mut a, Level::Low);
+            let a = Output::new(&mut a, Level::Low);
             delay();
             assert!(b.is_low());
+            assert!(!b.is_high());
+            assert!(a.is_set_low());
+            assert!(!a.is_set_high());
         }
         {
-            let _a = Output::new(&mut a, Level::High);
+            let mut a = Output::new(&mut a, Level::High);
             delay();
+            assert!(!b.is_low());
             assert!(b.is_high());
+            assert!(!a.is_set_low());
+            assert!(a.is_set_high());
+
+            // Test is_set_low / is_set_high
+            a.set_low();
+            delay();
+            assert!(b.is_low());
+            assert!(a.is_set_low());
+            assert!(!a.is_set_high());
+
+            a.set_high();
+            delay();
+            assert!(b.is_high());
+            assert!(!a.is_set_low());
+            assert!(a.is_set_high());
+
+            // Test toggle
+            a.toggle();
+            delay();
+            assert!(b.is_low());
+            assert!(a.is_set_low());
+            assert!(!a.is_set_high());
+
+            a.toggle();
+            delay();
+            assert!(b.is_high());
+            assert!(!a.is_set_low());
+            assert!(a.is_set_high());
         }
     }
 
@@ -78,6 +112,7 @@ async fn main(_spawner: Spawner) {
         a.set_as_input();
 
         // When an OutputOpenDrain is high, it doesn't drive the pin.
+        b.set_high();
         a.set_pull(Pull::Up);
         delay();
         assert!(a.is_high());
@@ -85,9 +120,8 @@ async fn main(_spawner: Spawner) {
         delay();
         assert!(a.is_low());
 
-        b.set_low();
-
         // When an OutputOpenDrain is low, it drives the pin low.
+        b.set_low();
         a.set_pull(Pull::Up);
         delay();
         assert!(a.is_low());
@@ -95,14 +129,36 @@ async fn main(_spawner: Spawner) {
         delay();
         assert!(a.is_low());
 
+        // Check high again
         b.set_high();
-
         a.set_pull(Pull::Up);
         delay();
         assert!(a.is_high());
         a.set_pull(Pull::Down);
         delay();
         assert!(a.is_low());
+
+        // When an OutputOpenDrain is high, it reads the input value in the pin.
+        b.set_high();
+        a.set_as_input();
+        a.set_pull(Pull::Up);
+        delay();
+        assert!(b.is_high());
+        a.set_as_output();
+        a.set_low();
+        delay();
+        assert!(b.is_low());
+
+        // When an OutputOpenDrain is low, it always reads low.
+        b.set_low();
+        a.set_as_input();
+        a.set_pull(Pull::Up);
+        delay();
+        assert!(b.is_low());
+        a.set_as_output();
+        a.set_low();
+        delay();
+        assert!(b.is_low());
     }
 
     // FLEX
diff --git a/tests/rp/src/bin/gpio_async.rs b/tests/rp/src/bin/gpio_async.rs
index 1eeaac1f6..532494de5 100644
--- a/tests/rp/src/bin/gpio_async.rs
+++ b/tests/rp/src/bin/gpio_async.rs
@@ -1,12 +1,14 @@
 #![no_std]
 #![no_main]
 #![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
 
 use defmt::{assert, *};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
 use embassy_time::{Duration, Instant, Timer};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/tests/rp/src/bin/gpio_multicore.rs b/tests/rp/src/bin/gpio_multicore.rs
new file mode 100644
index 000000000..780112bc1
--- /dev/null
+++ b/tests/rp/src/bin/gpio_multicore.rs
@@ -0,0 +1,65 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{info, unwrap};
+use embassy_executor::Executor;
+use embassy_executor::_export::StaticCell;
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_rp::multicore::{spawn_core1, Stack};
+use embassy_rp::peripherals::{PIN_0, PIN_1};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::Channel;
+use {defmt_rtt as _, panic_probe as _};
+
+static mut CORE1_STACK: Stack<1024> = Stack::new();
+static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
+static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
+static CHANNEL0: Channel<CriticalSectionRawMutex, (), 1> = Channel::new();
+static CHANNEL1: Channel<CriticalSectionRawMutex, (), 1> = Channel::new();
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    let p = embassy_rp::init(Default::default());
+    spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
+        let executor1 = EXECUTOR1.init(Executor::new());
+        executor1.run(|spawner| unwrap!(spawner.spawn(core1_task(p.PIN_1))));
+    });
+    let executor0 = EXECUTOR0.init(Executor::new());
+    executor0.run(|spawner| unwrap!(spawner.spawn(core0_task(p.PIN_0))));
+}
+
+#[embassy_executor::task]
+async fn core0_task(p: PIN_0) {
+    info!("CORE0 is running");
+
+    let mut pin = Output::new(p, Level::Low);
+
+    CHANNEL0.send(()).await;
+    CHANNEL1.recv().await;
+
+    pin.set_high();
+
+    CHANNEL1.recv().await;
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
+
+#[embassy_executor::task]
+async fn core1_task(p: PIN_1) {
+    info!("CORE1 is running");
+
+    CHANNEL0.recv().await;
+
+    let mut pin = Input::new(p, Pull::Down);
+    let wait = pin.wait_for_rising_edge();
+
+    CHANNEL1.send(()).await;
+
+    wait.await;
+
+    CHANNEL1.send(()).await;
+}
diff --git a/tests/rp/src/bin/multicore.rs b/tests/rp/src/bin/multicore.rs
new file mode 100644
index 000000000..114889dec
--- /dev/null
+++ b/tests/rp/src/bin/multicore.rs
@@ -0,0 +1,49 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{info, unwrap};
+use embassy_executor::Executor;
+use embassy_executor::_export::StaticCell;
+use embassy_rp::multicore::{spawn_core1, Stack};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::Channel;
+use {defmt_rtt as _, panic_probe as _};
+
+static mut CORE1_STACK: Stack<1024> = Stack::new();
+static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
+static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
+static CHANNEL0: Channel<CriticalSectionRawMutex, bool, 1> = Channel::new();
+static CHANNEL1: Channel<CriticalSectionRawMutex, bool, 1> = Channel::new();
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    let p = embassy_rp::init(Default::default());
+    spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
+        let executor1 = EXECUTOR1.init(Executor::new());
+        executor1.run(|spawner| unwrap!(spawner.spawn(core1_task())));
+    });
+    let executor0 = EXECUTOR0.init(Executor::new());
+    executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
+}
+
+#[embassy_executor::task]
+async fn core0_task() {
+    info!("CORE0 is running");
+    let ping = true;
+    CHANNEL0.send(ping).await;
+    let pong = CHANNEL1.recv().await;
+    assert_eq!(ping, pong);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
+
+#[embassy_executor::task]
+async fn core1_task() {
+    info!("CORE1 is running");
+    let ping = CHANNEL0.recv().await;
+    CHANNEL1.send(ping).await;
+}
diff --git a/tests/rp/src/bin/pio_irq.rs b/tests/rp/src/bin/pio_irq.rs
new file mode 100644
index 000000000..45004424a
--- /dev/null
+++ b/tests/rp/src/bin/pio_irq.rs
@@ -0,0 +1,55 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Config, InterruptHandler, Pio};
+use embassy_rp::relocate::RelocatedProgram;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let pio = p.PIO0;
+    let Pio {
+        mut common,
+        sm0: mut sm,
+        irq_flags,
+        ..
+    } = Pio::new(pio, Irqs);
+
+    let prg = pio_proc::pio_asm!(
+        "irq set 0",
+        "irq wait 0",
+        "irq set 1",
+        // pause execution here
+        "irq wait 1",
+    );
+
+    let relocated = RelocatedProgram::new(&prg.program);
+    let mut cfg = Config::default();
+    cfg.use_program(&common.load_program(&relocated), &[]);
+    sm.set_config(&cfg);
+    sm.set_enable(true);
+
+    // not using the wait futures on purpose because they clear the irq bits,
+    // and we want to see in which order they are set.
+    while !irq_flags.check(0) {}
+    cortex_m::asm::nop();
+    assert!(!irq_flags.check(1));
+    irq_flags.clear(0);
+    cortex_m::asm::nop();
+    assert!(irq_flags.check(1));
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/pwm.rs b/tests/rp/src/bin/pwm.rs
new file mode 100644
index 000000000..c71d21ef9
--- /dev/null
+++ b/tests/rp/src/bin/pwm.rs
@@ -0,0 +1,144 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert, assert_eq, assert_ne, *};
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_rp::pwm::{Config, InputMode, Pwm};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    // Connections on CI device: 6 -> 9, 7 -> 11
+    let (mut p6, mut p7, mut p9, mut p11) = (p.PIN_6, p.PIN_7, p.PIN_9, p.PIN_11);
+
+    let cfg = {
+        let mut c = Config::default();
+        c.divider = 125.into();
+        c.top = 10000;
+        c.compare_a = 5000;
+        c.compare_b = 5000;
+        c
+    };
+
+    // Test free-running clock
+    {
+        let pwm = Pwm::new_free(&mut p.PWM_CH3, cfg.clone());
+        cortex_m::asm::delay(125);
+        let ctr = pwm.counter();
+        assert!(ctr > 0);
+        assert!(ctr < 100);
+        cortex_m::asm::delay(125);
+        assert!(ctr < pwm.counter());
+    }
+
+    for invert_a in [false, true] {
+        info!("free-running, invert A: {}", invert_a);
+        let mut cfg = cfg.clone();
+        cfg.invert_a = invert_a;
+        cfg.invert_b = !invert_a;
+
+        // Test output from A
+        {
+            let pin1 = Input::new(&mut p9, Pull::None);
+            let _pwm = Pwm::new_output_a(&mut p.PWM_CH3, &mut p6, cfg.clone());
+            Timer::after(Duration::from_millis(1)).await;
+            assert_eq!(pin1.is_low(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_eq!(pin1.is_high(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_eq!(pin1.is_low(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_eq!(pin1.is_high(), invert_a);
+        }
+
+        // Test output from B
+        {
+            let pin2 = Input::new(&mut p11, Pull::None);
+            let _pwm = Pwm::new_output_b(&mut p.PWM_CH3, &mut p7, cfg.clone());
+            Timer::after(Duration::from_millis(1)).await;
+            assert_ne!(pin2.is_low(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_ne!(pin2.is_high(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_ne!(pin2.is_low(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_ne!(pin2.is_high(), invert_a);
+        }
+
+        // Test output from A+B
+        {
+            let pin1 = Input::new(&mut p9, Pull::None);
+            let pin2 = Input::new(&mut p11, Pull::None);
+            let _pwm = Pwm::new_output_ab(&mut p.PWM_CH3, &mut p6, &mut p7, cfg.clone());
+            Timer::after(Duration::from_millis(1)).await;
+            assert_eq!(pin1.is_low(), invert_a);
+            assert_ne!(pin2.is_low(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_eq!(pin1.is_high(), invert_a);
+            assert_ne!(pin2.is_high(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_eq!(pin1.is_low(), invert_a);
+            assert_ne!(pin2.is_low(), invert_a);
+            Timer::after(Duration::from_millis(5)).await;
+            assert_eq!(pin1.is_high(), invert_a);
+            assert_ne!(pin2.is_high(), invert_a);
+        }
+    }
+
+    // Test level-gated
+    {
+        let mut pin2 = Output::new(&mut p11, Level::Low);
+        let pwm = Pwm::new_input(&mut p.PWM_CH3, &mut p7, InputMode::Level, cfg.clone());
+        assert_eq!(pwm.counter(), 0);
+        Timer::after(Duration::from_millis(5)).await;
+        assert_eq!(pwm.counter(), 0);
+        pin2.set_high();
+        Timer::after(Duration::from_millis(1)).await;
+        pin2.set_low();
+        let ctr = pwm.counter();
+        assert!(ctr >= 1000);
+        Timer::after(Duration::from_millis(1)).await;
+        assert_eq!(pwm.counter(), ctr);
+    }
+
+    // Test rising-gated
+    {
+        let mut pin2 = Output::new(&mut p11, Level::Low);
+        let pwm = Pwm::new_input(&mut p.PWM_CH3, &mut p7, InputMode::RisingEdge, cfg.clone());
+        assert_eq!(pwm.counter(), 0);
+        Timer::after(Duration::from_millis(5)).await;
+        assert_eq!(pwm.counter(), 0);
+        pin2.set_high();
+        Timer::after(Duration::from_millis(1)).await;
+        pin2.set_low();
+        assert_eq!(pwm.counter(), 1);
+        Timer::after(Duration::from_millis(1)).await;
+        assert_eq!(pwm.counter(), 1);
+    }
+
+    // Test falling-gated
+    {
+        let mut pin2 = Output::new(&mut p11, Level::High);
+        let pwm = Pwm::new_input(&mut p.PWM_CH3, &mut p7, InputMode::FallingEdge, cfg.clone());
+        assert_eq!(pwm.counter(), 0);
+        Timer::after(Duration::from_millis(5)).await;
+        assert_eq!(pwm.counter(), 0);
+        pin2.set_low();
+        Timer::after(Duration::from_millis(1)).await;
+        pin2.set_high();
+        assert_eq!(pwm.counter(), 1);
+        Timer::after(Duration::from_millis(1)).await;
+        assert_eq!(pwm.counter(), 1);
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/spi.rs b/tests/rp/src/bin/spi.rs
new file mode 100644
index 000000000..84dfa5a2c
--- /dev/null
+++ b/tests/rp/src/bin/spi.rs
@@ -0,0 +1,30 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::spi::{Config, Spi};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let clk = p.PIN_2;
+    let mosi = p.PIN_3;
+    let miso = p.PIN_4;
+
+    let mut spi = Spi::new_blocking(p.SPI0, clk, mosi, miso, Config::default());
+
+    let tx_buf = [1_u8, 2, 3, 4, 5, 6];
+    let mut rx_buf = [0_u8; 6];
+    spi.blocking_transfer(&mut rx_buf, &tx_buf).unwrap();
+    assert_eq!(rx_buf, tx_buf);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/spi_async.rs b/tests/rp/src/bin/spi_async.rs
new file mode 100644
index 000000000..a4080b03d
--- /dev/null
+++ b/tests/rp/src/bin/spi_async.rs
@@ -0,0 +1,86 @@
+//! Make sure to connect GPIO pins 3 (`PIN_3`) and 4 (`PIN_4`) together
+//! to run this test.
+//!
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::spi::{Config, Spi};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let clk = p.PIN_2;
+    let mosi = p.PIN_3;
+    let miso = p.PIN_4;
+
+    let mut spi = Spi::new(p.SPI0, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
+
+    // equal rx & tx buffers
+    {
+        let tx_buf = [1_u8, 2, 3, 4, 5, 6];
+        let mut rx_buf = [0_u8; 6];
+        spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+        assert_eq!(rx_buf, tx_buf);
+    }
+
+    // tx > rx buffer
+    {
+        let tx_buf = [7_u8, 8, 9, 10, 11, 12];
+
+        let mut rx_buf = [0_u8; 3];
+        spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+        assert_eq!(rx_buf, tx_buf[..3]);
+
+        defmt::info!("tx > rx buffer - OK");
+    }
+
+    // we make sure to that clearing FIFO works after the uneven buffers
+
+    // equal rx & tx buffers
+    {
+        let tx_buf = [13_u8, 14, 15, 16, 17, 18];
+        let mut rx_buf = [0_u8; 6];
+        spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+        assert_eq!(rx_buf, tx_buf);
+
+        defmt::info!("buffer rx length == tx length - OK");
+    }
+
+    // rx > tx buffer
+    {
+        let tx_buf = [19_u8, 20, 21];
+        let mut rx_buf = [0_u8; 6];
+
+        // we should have written dummy data to tx buffer to sync clock.
+        spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+
+        assert_eq!(
+            rx_buf[..3],
+            tx_buf,
+            "only the first 3 TX bytes should have been received in the RX buffer"
+        );
+        assert_eq!(rx_buf[3..], [0, 0, 0], "the rest of the RX bytes should be empty");
+        defmt::info!("buffer rx length > tx length - OK");
+    }
+
+    // equal rx & tx buffers
+    {
+        let tx_buf = [22_u8, 23, 24, 25, 26, 27];
+        let mut rx_buf = [0_u8; 6];
+        spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+
+        assert_eq!(rx_buf, tx_buf);
+        defmt::info!("buffer rx length = tx length - OK");
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/uart.rs b/tests/rp/src/bin/uart.rs
new file mode 100644
index 000000000..2331c7d36
--- /dev/null
+++ b/tests/rp/src/bin/uart.rs
@@ -0,0 +1,171 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::uart::{Blocking, Config, Error, Instance, Parity, Uart, UartRx};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Blocking>) -> Result<[u8; N], Error> {
+    let mut buf = [255; N];
+    uart.blocking_read(&mut buf)?;
+    Ok(buf)
+}
+
+fn read1<const N: usize>(uart: &mut UartRx<'_, impl Instance, Blocking>) -> Result<[u8; N], Error> {
+    let mut buf = [255; N];
+    uart.blocking_read(&mut buf)?;
+    Ok(buf)
+}
+
+async fn send(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: Option<bool>) {
+    pin.set_low();
+    Timer::after(Duration::from_millis(1)).await;
+    for i in 0..8 {
+        if v & (1 << i) == 0 {
+            pin.set_low();
+        } else {
+            pin.set_high();
+        }
+        Timer::after(Duration::from_millis(1)).await;
+    }
+    if let Some(b) = parity {
+        if b {
+            pin.set_high();
+        } else {
+            pin.set_low();
+        }
+        Timer::after(Duration::from_millis(1)).await;
+    }
+    pin.set_high();
+    Timer::after(Duration::from_millis(1)).await;
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let (mut tx, mut rx, mut uart) = (p.PIN_0, p.PIN_1, p.UART0);
+
+    {
+        let config = Config::default();
+        let mut uart = Uart::new_blocking(&mut uart, &mut tx, &mut rx, config);
+
+        // We can't send too many bytes, they have to fit in the FIFO.
+        // This is because we aren't sending+receiving at the same time.
+
+        let data = [0xC0, 0xDE];
+        uart.blocking_write(&data).unwrap();
+        assert_eq!(read(&mut uart).unwrap(), data);
+    }
+
+    info!("test overflow detection");
+    {
+        let config = Config::default();
+        let mut uart = Uart::new_blocking(&mut uart, &mut tx, &mut rx, config);
+
+        let data = [
+            1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+            30, 31, 32,
+        ];
+        let overflow = [
+            101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116,
+        ];
+        uart.blocking_write(&data).unwrap();
+        uart.blocking_write(&overflow).unwrap();
+        while uart.busy() {}
+
+        // prefix in fifo is valid
+        assert_eq!(read(&mut uart).unwrap(), data);
+        // next received character causes overrun error and is discarded
+        uart.blocking_write(&[1, 2, 3]).unwrap();
+        assert_eq!(read::<1>(&mut uart).unwrap_err(), Error::Overrun);
+        assert_eq!(read(&mut uart).unwrap(), [2, 3]);
+    }
+
+    info!("test break detection");
+    {
+        let config = Config::default();
+        let mut uart = Uart::new_blocking(&mut uart, &mut tx, &mut rx, config);
+
+        // break on empty fifo
+        uart.send_break(20).await;
+        uart.blocking_write(&[64]).unwrap();
+        assert_eq!(read::<1>(&mut uart).unwrap_err(), Error::Break);
+        assert_eq!(read(&mut uart).unwrap(), [64]);
+
+        // break on partially filled fifo
+        uart.blocking_write(&[65; 2]).unwrap();
+        uart.send_break(20).await;
+        uart.blocking_write(&[66]).unwrap();
+        assert_eq!(read(&mut uart).unwrap(), [65; 2]);
+        assert_eq!(read::<1>(&mut uart).unwrap_err(), Error::Break);
+        assert_eq!(read(&mut uart).unwrap(), [66]);
+    }
+
+    // parity detection. here we bitbang to not require two uarts.
+    info!("test parity error detection");
+    {
+        let mut pin = Output::new(&mut tx, Level::High);
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        config.parity = Parity::ParityEven;
+        let mut uart = UartRx::new_blocking(&mut uart, &mut rx, config);
+
+        async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: u8) {
+            send(pin, v, Some(parity != 0)).await;
+        }
+
+        // first check that we can send correctly
+        chr(&mut pin, 64, 1).await;
+        assert_eq!(read1(&mut uart).unwrap(), [64]);
+
+        // all good, check real errors
+        chr(&mut pin, 2, 1).await;
+        chr(&mut pin, 3, 0).await;
+        chr(&mut pin, 4, 0).await;
+        chr(&mut pin, 5, 0).await;
+        assert_eq!(read1(&mut uart).unwrap(), [2, 3]);
+        assert_eq!(read1::<1>(&mut uart).unwrap_err(), Error::Parity);
+        assert_eq!(read1(&mut uart).unwrap(), [5]);
+    }
+
+    // framing error detection. here we bitbang because there's no other way.
+    info!("test framing error detection");
+    {
+        let mut pin = Output::new(&mut tx, Level::High);
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        let mut uart = UartRx::new_blocking(&mut uart, &mut rx, config);
+
+        async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, good: bool) {
+            if good {
+                send(pin, v, None).await;
+            } else {
+                send(pin, v, Some(false)).await;
+            }
+        }
+
+        // first check that we can send correctly
+        chr(&mut pin, 64, true).await;
+        assert_eq!(read1(&mut uart).unwrap(), [64]);
+
+        // all good, check real errors
+        chr(&mut pin, 2, true).await;
+        chr(&mut pin, 3, true).await;
+        chr(&mut pin, 4, false).await;
+        chr(&mut pin, 5, true).await;
+        assert_eq!(read1(&mut uart).unwrap(), [2, 3]);
+        assert_eq!(read1::<1>(&mut uart).unwrap_err(), Error::Framing);
+        assert_eq!(read1(&mut uart).unwrap(), [5]);
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/uart_buffered.rs b/tests/rp/src/bin/uart_buffered.rs
new file mode 100644
index 000000000..e74e9986c
--- /dev/null
+++ b/tests/rp/src/bin/uart_buffered.rs
@@ -0,0 +1,256 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, panic, *};
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::peripherals::UART0;
+use embassy_rp::uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config, Error, Instance, Parity};
+use embassy_time::{Duration, Timer};
+use embedded_io::asynch::{Read, ReadExactError, Write};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => BufferedInterruptHandler<UART0>;
+});
+
+async fn read<const N: usize>(uart: &mut BufferedUart<'_, impl Instance>) -> Result<[u8; N], Error> {
+    let mut buf = [255; N];
+    match uart.read_exact(&mut buf).await {
+        Ok(()) => Ok(buf),
+        // we should not ever produce an Eof condition
+        Err(ReadExactError::UnexpectedEof) => panic!(),
+        Err(ReadExactError::Other(e)) => Err(e),
+    }
+}
+
+async fn read1<const N: usize>(uart: &mut BufferedUartRx<'_, impl Instance>) -> Result<[u8; N], Error> {
+    let mut buf = [255; N];
+    match uart.read_exact(&mut buf).await {
+        Ok(()) => Ok(buf),
+        // we should not ever produce an Eof condition
+        Err(ReadExactError::UnexpectedEof) => panic!(),
+        Err(ReadExactError::Other(e)) => Err(e),
+    }
+}
+
+async fn send(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: Option<bool>) {
+    pin.set_low();
+    Timer::after(Duration::from_millis(1)).await;
+    for i in 0..8 {
+        if v & (1 << i) == 0 {
+            pin.set_low();
+        } else {
+            pin.set_high();
+        }
+        Timer::after(Duration::from_millis(1)).await;
+    }
+    if let Some(b) = parity {
+        if b {
+            pin.set_high();
+        } else {
+            pin.set_low();
+        }
+        Timer::after(Duration::from_millis(1)).await;
+    }
+    pin.set_high();
+    Timer::after(Duration::from_millis(1)).await;
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let (mut tx, mut rx, mut uart) = (p.PIN_0, p.PIN_1, p.UART0);
+
+    {
+        let config = Config::default();
+        let tx_buf = &mut [0u8; 16];
+        let rx_buf = &mut [0u8; 16];
+        let mut uart = BufferedUart::new(&mut uart, Irqs, &mut tx, &mut rx, tx_buf, rx_buf, config);
+
+        // Make sure we send more bytes than fits in the FIFO, to test the actual
+        // bufferedUart.
+
+        let data = [
+            1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+            30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48,
+        ];
+        uart.write_all(&data).await.unwrap();
+        info!("Done writing");
+
+        assert_eq!(read(&mut uart).await.unwrap(), data);
+    }
+
+    info!("test overflow detection");
+    {
+        let config = Config::default();
+        let tx_buf = &mut [0u8; 16];
+        let rx_buf = &mut [0u8; 16];
+        let mut uart = BufferedUart::new(&mut uart, Irqs, &mut tx, &mut rx, tx_buf, rx_buf, config);
+
+        // Make sure we send more bytes than fits in the FIFO, to test the actual
+        // bufferedUart.
+
+        let data = [
+            1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+            30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48,
+        ];
+        let overflow = [
+            101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116,
+        ];
+        // give each block time to settle into the fifo. we want the overrun to occur at a well-defined point.
+        uart.write_all(&data).await.unwrap();
+        uart.blocking_flush().unwrap();
+        while uart.busy() {}
+        uart.write_all(&overflow).await.unwrap();
+        uart.blocking_flush().unwrap();
+        while uart.busy() {}
+
+        // already buffered/fifod prefix is valid
+        assert_eq!(read(&mut uart).await.unwrap(), data);
+        // next received character causes overrun error and is discarded
+        uart.write_all(&[1, 2, 3]).await.unwrap();
+        uart.blocking_flush().unwrap();
+        assert_eq!(read::<1>(&mut uart).await.unwrap_err(), Error::Overrun);
+        assert_eq!(read(&mut uart).await.unwrap(), [2, 3]);
+    }
+
+    info!("test break detection");
+    {
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        let tx_buf = &mut [0u8; 16];
+        let rx_buf = &mut [0u8; 16];
+        let mut uart = BufferedUart::new(&mut uart, Irqs, &mut tx, &mut rx, tx_buf, rx_buf, config);
+
+        // break on empty buffer
+        uart.send_break(20).await;
+        assert_eq!(read::<1>(&mut uart).await.unwrap_err(), Error::Break);
+        uart.write_all(&[64]).await.unwrap();
+        assert_eq!(read(&mut uart).await.unwrap(), [64]);
+
+        // break on partially filled buffer
+        uart.write_all(&[65; 2]).await.unwrap();
+        uart.send_break(20).await;
+        uart.write_all(&[66]).await.unwrap();
+        assert_eq!(read(&mut uart).await.unwrap(), [65; 2]);
+        assert_eq!(read::<1>(&mut uart).await.unwrap_err(), Error::Break);
+        assert_eq!(read(&mut uart).await.unwrap(), [66]);
+
+        // break on full buffer
+        uart.write_all(&[64; 16]).await.unwrap();
+        uart.send_break(20).await;
+        uart.write_all(&[65]).await.unwrap();
+        assert_eq!(read(&mut uart).await.unwrap(), [64; 16]);
+        assert_eq!(read::<1>(&mut uart).await.unwrap_err(), Error::Break);
+        assert_eq!(read(&mut uart).await.unwrap(), [65]);
+    }
+
+    // parity detection. here we bitbang to not require two uarts.
+    info!("test parity error detection");
+    {
+        let mut pin = Output::new(&mut tx, Level::High);
+        // choose a very slow baud rate to make tests reliable even with O0
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        config.parity = Parity::ParityEven;
+        let rx_buf = &mut [0u8; 16];
+        let mut uart = BufferedUartRx::new(&mut uart, Irqs, &mut rx, rx_buf, config);
+
+        async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: u32) {
+            send(pin, v, Some(parity != 0)).await;
+        }
+
+        // first check that we can send correctly
+        chr(&mut pin, 64, 1).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [64]);
+
+        // parity on empty buffer
+        chr(&mut pin, 64, 0).await;
+        chr(&mut pin, 4, 1).await;
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Parity);
+        assert_eq!(read1(&mut uart).await.unwrap(), [4]);
+
+        // parity on partially filled buffer
+        chr(&mut pin, 64, 1).await;
+        chr(&mut pin, 32, 1).await;
+        chr(&mut pin, 64, 0).await;
+        chr(&mut pin, 65, 0).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [64, 32]);
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Parity);
+        assert_eq!(read1(&mut uart).await.unwrap(), [65]);
+
+        // parity on full buffer
+        for i in 0..16 {
+            chr(&mut pin, i, i.count_ones() % 2).await;
+        }
+        chr(&mut pin, 64, 0).await;
+        chr(&mut pin, 65, 0).await;
+        assert_eq!(
+            read1(&mut uart).await.unwrap(),
+            [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
+        );
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Parity);
+        assert_eq!(read1(&mut uart).await.unwrap(), [65]);
+    }
+
+    // framing error detection. here we bitbang because there's no other way.
+    info!("test framing error detection");
+    {
+        let mut pin = Output::new(&mut tx, Level::High);
+        // choose a very slow baud rate to make tests reliable even with O0
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        let rx_buf = &mut [0u8; 16];
+        let mut uart = BufferedUartRx::new(&mut uart, Irqs, &mut rx, rx_buf, config);
+
+        async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, good: bool) {
+            if good {
+                send(pin, v, None).await;
+            } else {
+                send(pin, v, Some(false)).await;
+            }
+        }
+
+        // first check that we can send correctly
+        chr(&mut pin, 64, true).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [64]);
+
+        // framing on empty buffer
+        chr(&mut pin, 64, false).await;
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Framing);
+        chr(&mut pin, 65, true).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [65]);
+
+        // framing on partially filled buffer
+        chr(&mut pin, 64, true).await;
+        chr(&mut pin, 32, true).await;
+        chr(&mut pin, 64, false).await;
+        chr(&mut pin, 65, true).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [64, 32]);
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Framing);
+        assert_eq!(read1(&mut uart).await.unwrap(), [65]);
+
+        // framing on full buffer
+        for i in 0..16 {
+            chr(&mut pin, i, true).await;
+        }
+        chr(&mut pin, 64, false).await;
+        chr(&mut pin, 65, true).await;
+        assert_eq!(
+            read1(&mut uart).await.unwrap(),
+            [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
+        );
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Framing);
+        assert_eq!(read1(&mut uart).await.unwrap(), [65]);
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/uart_dma.rs b/tests/rp/src/bin/uart_dma.rs
new file mode 100644
index 000000000..fee6c825d
--- /dev/null
+++ b/tests/rp/src/bin/uart_dma.rs
@@ -0,0 +1,252 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::peripherals::UART0;
+use embassy_rp::uart::{Async, Config, Error, Instance, InterruptHandler, Parity, Uart, UartRx};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => InterruptHandler<UART0>;
+});
+
+async fn read<const N: usize>(uart: &mut Uart<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
+    let mut buf = [255; N];
+    uart.read(&mut buf).await?;
+    Ok(buf)
+}
+
+async fn read1<const N: usize>(uart: &mut UartRx<'_, impl Instance, Async>) -> Result<[u8; N], Error> {
+    let mut buf = [255; N];
+    uart.read(&mut buf).await?;
+    Ok(buf)
+}
+
+async fn send(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: Option<bool>) {
+    pin.set_low();
+    Timer::after(Duration::from_millis(1)).await;
+    for i in 0..8 {
+        if v & (1 << i) == 0 {
+            pin.set_low();
+        } else {
+            pin.set_high();
+        }
+        Timer::after(Duration::from_millis(1)).await;
+    }
+    if let Some(b) = parity {
+        if b {
+            pin.set_high();
+        } else {
+            pin.set_low();
+        }
+        Timer::after(Duration::from_millis(1)).await;
+    }
+    pin.set_high();
+    Timer::after(Duration::from_millis(1)).await;
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let (mut tx, mut rx, mut uart) = (p.PIN_0, p.PIN_1, p.UART0);
+
+    // We can't send too many bytes, they have to fit in the FIFO.
+    // This is because we aren't sending+receiving at the same time.
+    {
+        let config = Config::default();
+        let mut uart = Uart::new(
+            &mut uart,
+            &mut tx,
+            &mut rx,
+            Irqs,
+            &mut p.DMA_CH0,
+            &mut p.DMA_CH1,
+            config,
+        );
+
+        let data = [0xC0, 0xDE];
+        uart.write(&data).await.unwrap();
+
+        let mut buf = [0; 2];
+        uart.read(&mut buf).await.unwrap();
+        assert_eq!(buf, data);
+    }
+
+    info!("test overflow detection");
+    {
+        let config = Config::default();
+        let mut uart = Uart::new(
+            &mut uart,
+            &mut tx,
+            &mut rx,
+            Irqs,
+            &mut p.DMA_CH0,
+            &mut p.DMA_CH1,
+            config,
+        );
+
+        uart.blocking_write(&[42; 32]).unwrap();
+        uart.blocking_write(&[1, 2, 3]).unwrap();
+        uart.blocking_flush().unwrap();
+
+        // can receive regular fifo contents
+        assert_eq!(read(&mut uart).await, Ok([42; 16]));
+        assert_eq!(read(&mut uart).await, Ok([42; 16]));
+        // receiving the rest fails with overrun
+        assert_eq!(read::<16>(&mut uart).await, Err(Error::Overrun));
+        // new data is accepted, latest overrunning byte first
+        assert_eq!(read(&mut uart).await, Ok([3]));
+        uart.blocking_write(&[8, 9]).unwrap();
+        Timer::after(Duration::from_millis(1)).await;
+        assert_eq!(read(&mut uart).await, Ok([8, 9]));
+    }
+
+    info!("test break detection");
+    {
+        let config = Config::default();
+        let (mut tx, mut rx) = Uart::new(
+            &mut uart,
+            &mut tx,
+            &mut rx,
+            Irqs,
+            &mut p.DMA_CH0,
+            &mut p.DMA_CH1,
+            config,
+        )
+        .split();
+
+        // break before read
+        tx.send_break(20).await;
+        tx.write(&[64]).await.unwrap();
+        assert_eq!(read1::<1>(&mut rx).await.unwrap_err(), Error::Break);
+        assert_eq!(read1(&mut rx).await.unwrap(), [64]);
+
+        // break during read
+        {
+            let r = read1::<2>(&mut rx);
+            tx.write(&[2]).await.unwrap();
+            tx.send_break(20).await;
+            tx.write(&[3]).await.unwrap();
+            assert_eq!(r.await.unwrap_err(), Error::Break);
+            assert_eq!(read1(&mut rx).await.unwrap(), [3]);
+        }
+
+        // break after read
+        {
+            let r = read1(&mut rx);
+            tx.write(&[2]).await.unwrap();
+            tx.send_break(20).await;
+            tx.write(&[3]).await.unwrap();
+            assert_eq!(r.await.unwrap(), [2]);
+            assert_eq!(read1::<1>(&mut rx).await.unwrap_err(), Error::Break);
+            assert_eq!(read1(&mut rx).await.unwrap(), [3]);
+        }
+    }
+
+    // parity detection. here we bitbang to not require two uarts.
+    info!("test parity error detection");
+    {
+        let mut pin = Output::new(&mut tx, Level::High);
+        // choose a very slow baud rate to make tests reliable even with O0
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        config.parity = Parity::ParityEven;
+        let mut uart = UartRx::new(&mut uart, &mut rx, Irqs, &mut p.DMA_CH0, config);
+
+        async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, parity: u32) {
+            send(pin, v, Some(parity != 0)).await;
+        }
+
+        // first check that we can send correctly
+        chr(&mut pin, 32, 1).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [32]);
+
+        // parity error before read
+        chr(&mut pin, 32, 0).await;
+        chr(&mut pin, 31, 1).await;
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Parity);
+        assert_eq!(read1(&mut uart).await.unwrap(), [31]);
+
+        // parity error during read
+        {
+            let r = read1::<2>(&mut uart);
+            chr(&mut pin, 2, 1).await;
+            chr(&mut pin, 32, 0).await;
+            chr(&mut pin, 3, 0).await;
+            assert_eq!(r.await.unwrap_err(), Error::Parity);
+            assert_eq!(read1(&mut uart).await.unwrap(), [3]);
+        }
+
+        // parity error after read
+        {
+            let r = read1(&mut uart);
+            chr(&mut pin, 2, 1).await;
+            chr(&mut pin, 32, 0).await;
+            chr(&mut pin, 3, 0).await;
+            assert_eq!(r.await.unwrap(), [2]);
+            assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Parity);
+            assert_eq!(read1(&mut uart).await.unwrap(), [3]);
+        }
+    }
+
+    // framing error detection. here we bitbang because there's no other way.
+    info!("test framing error detection");
+    {
+        let mut pin = Output::new(&mut tx, Level::High);
+        // choose a very slow baud rate to make tests reliable even with O0
+        let mut config = Config::default();
+        config.baudrate = 1000;
+        let mut uart = UartRx::new(&mut uart, &mut rx, Irqs, &mut p.DMA_CH0, config);
+
+        async fn chr(pin: &mut Output<'_, impl embassy_rp::gpio::Pin>, v: u8, good: bool) {
+            if good {
+                send(pin, v, None).await;
+            } else {
+                send(pin, v, Some(false)).await;
+            }
+        }
+
+        // first check that we can send correctly
+        chr(&mut pin, 32, true).await;
+        assert_eq!(read1(&mut uart).await.unwrap(), [32]);
+
+        // parity error before read
+        chr(&mut pin, 32, false).await;
+        chr(&mut pin, 31, true).await;
+        assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Framing);
+        assert_eq!(read1(&mut uart).await.unwrap(), [31]);
+
+        // parity error during read
+        {
+            let r = read1::<2>(&mut uart);
+            chr(&mut pin, 2, true).await;
+            chr(&mut pin, 32, false).await;
+            chr(&mut pin, 3, true).await;
+            assert_eq!(r.await.unwrap_err(), Error::Framing);
+            assert_eq!(read1(&mut uart).await.unwrap(), [3]);
+        }
+
+        // parity error after read
+        {
+            let r = read1(&mut uart);
+            chr(&mut pin, 2, true).await;
+            chr(&mut pin, 32, false).await;
+            chr(&mut pin, 3, true).await;
+            assert_eq!(r.await.unwrap(), [2]);
+            assert_eq!(read1::<1>(&mut uart).await.unwrap_err(), Error::Framing);
+            assert_eq!(read1(&mut uart).await.unwrap(), [3]);
+        }
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/bin/uart_upgrade.rs b/tests/rp/src/bin/uart_upgrade.rs
new file mode 100644
index 000000000..760e53954
--- /dev/null
+++ b/tests/rp/src/bin/uart_upgrade.rs
@@ -0,0 +1,60 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::{assert_eq, *};
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::peripherals::UART0;
+use embassy_rp::uart::{BufferedInterruptHandler, Config, Uart};
+use embedded_io::asynch::{Read, Write};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    UART0_IRQ => BufferedInterruptHandler<UART0>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    info!("Hello World!");
+
+    let (tx, rx, uart) = (p.PIN_0, p.PIN_1, p.UART0);
+
+    let config = Config::default();
+    let mut uart = Uart::new_blocking(uart, tx, rx, config);
+
+    // We can't send too many bytes, they have to fit in the FIFO.
+    // This is because we aren't sending+receiving at the same time.
+
+    let data = [0xC0, 0xDE];
+    uart.blocking_write(&data).unwrap();
+
+    let mut buf = [0; 2];
+    uart.blocking_read(&mut buf).unwrap();
+    assert_eq!(buf, data);
+
+    let tx_buf = &mut [0u8; 16];
+    let rx_buf = &mut [0u8; 16];
+
+    let mut uart = uart.into_buffered(Irqs, tx_buf, rx_buf);
+
+    // Make sure we send more bytes than fits in the FIFO, to test the actual
+    // bufferedUart.
+
+    let data = [
+        1u8, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+        30, 31,
+    ];
+    uart.write_all(&data).await.unwrap();
+    info!("Done writing");
+
+    let mut buf = [0; 31];
+    uart.read_exact(&mut buf).await.unwrap();
+    assert_eq!(buf, data);
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}
diff --git a/tests/rp/src/common.rs b/tests/rp/src/common.rs
new file mode 100644
index 000000000..955674f27
--- /dev/null
+++ b/tests/rp/src/common.rs
@@ -0,0 +1 @@
+teleprobe_meta::target!(b"rpi-pico");