5 files changed, 86 insertions, 28 deletions

diff --git a/embassy-extras/Cargo.toml b/embassy-extras/Cargo.toml
index 5d07901a9..8415e32ef 100644
--- a/embassy-extras/Cargo.toml
+++ b/embassy-extras/Cargo.toml
@@ -17,4 +17,5 @@ embassy = { version = "0.1.0", path = "../embassy" }
 defmt = { version = "0.2.0", optional = true }
 log = { version = "0.4.11", optional = true }
 cortex-m = "0.7.1"
+critical-section = "0.2.1"
 usb-device = "0.2.7"
diff --git a/embassy-extras/src/peripheral.rs b/embassy-extras/src/peripheral.rs
index 68972c543..e3e06d692 100644
--- a/embassy-extras/src/peripheral.rs
+++ b/embassy-extras/src/peripheral.rs
@@ -1,15 +1,38 @@
 use core::cell::UnsafeCell;
 use core::marker::{PhantomData, PhantomPinned};
 use core::pin::Pin;
+use core::ptr;
 
 use embassy::interrupt::{Interrupt, InterruptExt};
 
-pub trait PeripheralState {
+/// # Safety
+/// When types implementing this trait are used with `Peripheral` or `PeripheralMutex`,
+/// their lifetime must not end without first calling `Drop` on the `Peripheral` or `PeripheralMutex`.
+pub unsafe trait PeripheralStateUnchecked {
     type Interrupt: Interrupt;
     fn on_interrupt(&mut self);
 }
 
-pub struct PeripheralMutex<S: PeripheralState> {
+// `PeripheralMutex` is safe because `Pin` guarantees that the memory it references will not be invalidated or reused
+// without calling `Drop`. However, it provides no guarantees about references contained within the state still being valid,
+// so this `'static` bound is necessary.
+pub trait PeripheralState: 'static {
+    type Interrupt: Interrupt;
+    fn on_interrupt(&mut self);
+}
+
+// SAFETY: `T` has to live for `'static` to implement `PeripheralState`, thus its lifetime cannot end.
+unsafe impl<T> PeripheralStateUnchecked for T
+where
+    T: PeripheralState,
+{
+    type Interrupt = T::Interrupt;
+    fn on_interrupt(&mut self) {
+        self.on_interrupt()
+    }
+}
+
+pub struct PeripheralMutex<S: PeripheralStateUnchecked> {
     state: UnsafeCell<S>,
 
     irq_setup_done: bool,
@@ -19,7 +42,7 @@ pub struct PeripheralMutex<S: PeripheralState> {
     _pinned: PhantomPinned,
 }
 
-impl<S: PeripheralState> PeripheralMutex<S> {
+impl<S: PeripheralStateUnchecked> PeripheralMutex<S> {
     pub fn new(state: S, irq: S::Interrupt) -> Self {
         Self {
             irq,
@@ -39,11 +62,17 @@ impl<S: PeripheralState> PeripheralMutex<S> {
 
         this.irq.disable();
         this.irq.set_handler(|p| {
-            // Safety: it's OK to get a &mut to the state, since
-            // - We're in the IRQ, no one else can't preempt us
-            // - We can't have preempted a with() call because the irq is disabled during it.
-            let state = unsafe { &mut *(p as *mut S) };
-            state.on_interrupt();
+            critical_section::with(|_| {
+                if p.is_null() {
+                    // The state was dropped, so we can't operate on it.
+                    return;
+                }
+                // Safety: it's OK to get a &mut to the state, since
+                // - We're in a critical section, no one can preempt us (and call with())
+                // - We can't have preempted a with() call because the irq is disabled during it.
+                let state = unsafe { &mut *(p as *mut S) };
+                state.on_interrupt();
+            })
         });
         this.irq
             .set_handler_context((&mut this.state) as *mut _ as *mut ());
@@ -67,9 +96,12 @@ impl<S: PeripheralState> PeripheralMutex<S> {
     }
 }
 
-impl<S: PeripheralState> Drop for PeripheralMutex<S> {
+impl<S: PeripheralStateUnchecked> Drop for PeripheralMutex<S> {
     fn drop(&mut self) {
         self.irq.disable();
         self.irq.remove_handler();
+        // Set the context to null so that the interrupt will know we're dropped
+        // if we pre-empted it before it entered a critical section.
+        self.irq.set_handler_context(ptr::null_mut());
     }
 }
diff --git a/embassy-extras/src/peripheral_shared.rs b/embassy-extras/src/peripheral_shared.rs
index c62113396..a9fca8ca6 100644
--- a/embassy-extras/src/peripheral_shared.rs
+++ b/embassy-extras/src/peripheral_shared.rs
@@ -1,16 +1,27 @@
-use core::cell::UnsafeCell;
 use core::marker::{PhantomData, PhantomPinned};
 use core::pin::Pin;
+use core::ptr;
 
 use embassy::interrupt::{Interrupt, InterruptExt};
 
-pub trait PeripheralState {
+/// # Safety
+/// When types implementing this trait are used with `Peripheral` or `PeripheralMutex`,
+/// their lifetime must not end without first calling `Drop` on the `Peripheral` or `PeripheralMutex`.
+pub unsafe trait PeripheralStateUnchecked {
     type Interrupt: Interrupt;
     fn on_interrupt(&self);
 }
 
-pub struct Peripheral<S: PeripheralState> {
-    state: UnsafeCell<S>,
+// `Peripheral` is safe because `Pin` guarantees that the memory it references will not be invalidated or reused
+// without calling `Drop`. However, it provides no guarantees about references contained within the state still being valid,
+// so this `'static` bound is necessary.
+pub trait PeripheralState: 'static {
+    type Interrupt: Interrupt;
+    fn on_interrupt(&self);
+}
+
+pub struct Peripheral<S: PeripheralStateUnchecked> {
+    state: S,
 
     irq_setup_done: bool,
     irq: S::Interrupt,
@@ -19,13 +30,13 @@ pub struct Peripheral<S: PeripheralState> {
     _pinned: PhantomPinned,
 }
 
-impl<S: PeripheralState> Peripheral<S> {
+impl<S: PeripheralStateUnchecked> Peripheral<S> {
     pub fn new(irq: S::Interrupt, state: S) -> Self {
         Self {
             irq,
             irq_setup_done: false,
 
-            state: UnsafeCell::new(state),
+            state,
             _not_send: PhantomData,
             _pinned: PhantomPinned,
         }
@@ -39,8 +50,16 @@ impl<S: PeripheralState> Peripheral<S> {
 
         this.irq.disable();
         this.irq.set_handler(|p| {
-            let state = unsafe { &*(p as *const S) };
-            state.on_interrupt();
+            // We need to be in a critical section so that no one can preempt us
+            // and drop the state after we check whether `p.is_null()`.
+            critical_section::with(|_| {
+                if p.is_null() {
+                    // The state was dropped, so we can't operate on it.
+                    return;
+                }
+                let state = unsafe { &*(p as *const S) };
+                state.on_interrupt();
+            });
         });
         this.irq
             .set_handler_context((&this.state) as *const _ as *mut ());
@@ -49,15 +68,17 @@ impl<S: PeripheralState> Peripheral<S> {
         this.irq_setup_done = true;
     }
 
-    pub fn state(self: Pin<&mut Self>) -> &S {
-        let this = unsafe { self.get_unchecked_mut() };
-        unsafe { &*this.state.get() }
+    pub fn state<'a>(self: Pin<&'a mut Self>) -> &'a S {
+        &self.into_ref().get_ref().state
     }
 }
 
-impl<S: PeripheralState> Drop for Peripheral<S> {
+impl<S: PeripheralStateUnchecked> Drop for Peripheral<S> {
     fn drop(&mut self) {
         self.irq.disable();
         self.irq.remove_handler();
+        // Set the context to null so that the interrupt will know we're dropped
+        // if we pre-empted it before it entered a critical section.
+        self.irq.set_handler_context(ptr::null_mut());
     }
 }
diff --git a/embassy-extras/src/usb/mod.rs b/embassy-extras/src/usb/mod.rs
index 182cd87d0..330eb9220 100644
--- a/embassy-extras/src/usb/mod.rs
+++ b/embassy-extras/src/usb/mod.rs
@@ -9,7 +9,7 @@ use usb_device::device::UsbDevice;
 mod cdc_acm;
 pub mod usb_serial;
 
-use crate::peripheral::{PeripheralMutex, PeripheralState};
+use crate::peripheral::{PeripheralMutex, PeripheralStateUnchecked};
 use embassy::interrupt::Interrupt;
 use usb_serial::{ReadInterface, UsbSerial, WriteInterface};
 
@@ -55,10 +55,12 @@ where
         }
     }
 
-    pub fn start(self: Pin<&mut Self>) {
-        let this = unsafe { self.get_unchecked_mut() };
+    /// # Safety
+    /// The `UsbDevice` passed to `Self::new` must not be dropped without calling `Drop` on this `Usb` first.
+    pub unsafe fn start(self: Pin<&mut Self>) {
+        let this = self.get_unchecked_mut();
         let mut mutex = this.inner.borrow_mut();
-        let mutex = unsafe { Pin::new_unchecked(&mut *mutex) };
+        let mutex = Pin::new_unchecked(&mut *mutex);
 
         // Use inner to register the irq
         mutex.register_interrupt();
@@ -125,7 +127,8 @@ where
     }
 }
 
-impl<'bus, B, T, I> PeripheralState for State<'bus, B, T, I>
+// SAFETY: The safety contract of `PeripheralStateUnchecked` is forwarded to `Usb::start`.
+unsafe impl<'bus, B, T, I> PeripheralStateUnchecked for State<'bus, B, T, I>
 where
     B: UsbBus,
     T: ClassSet<B>,
diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs
index a5a37b982..1fa98a6b2 100644
--- a/embassy-nrf/src/buffered_uarte.rs
+++ b/embassy-nrf/src/buffered_uarte.rs
@@ -7,7 +7,7 @@ use core::task::{Context, Poll};
 use embassy::interrupt::InterruptExt;
 use embassy::io::{AsyncBufRead, AsyncWrite, Result};
 use embassy::util::{Unborrow, WakerRegistration};
-use embassy_extras::peripheral::{PeripheralMutex, PeripheralState};
+use embassy_extras::peripheral::{PeripheralMutex, PeripheralStateUnchecked};
 use embassy_extras::ring_buffer::RingBuffer;
 use embassy_extras::{low_power_wait_until, unborrow};
 
@@ -283,7 +283,8 @@ impl<'a, U: UarteInstance, T: TimerInstance> Drop for State<'a, U, T> {
     }
 }
 
-impl<'a, U: UarteInstance, T: TimerInstance> PeripheralState for State<'a, U, T> {
+// SAFETY: the safety contract of `PeripheralStateUnchecked` is forwarded to `BufferedUarte::new`.
+unsafe impl<'a, U: UarteInstance, T: TimerInstance> PeripheralStateUnchecked for State<'a, U, T> {
     type Interrupt = U::Interrupt;
     fn on_interrupt(&mut self) {
         trace!("irq: start");