4 files changed, 47 insertions, 56 deletions

diff --git a/embassy-stm32/src/pwm/mod.rs b/embassy-stm32/src/pwm/mod.rs
index e8938ffae..c6edbc6c3 100644
--- a/embassy-stm32/src/pwm/mod.rs
+++ b/embassy-stm32/src/pwm/mod.rs
@@ -99,7 +99,7 @@ macro_rules! impl_compare_capable_16bit {
                 mode: OutputCompareMode,
             ) {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                let r = self.regs_gp16();
+                let r = Self::regs_gp16();
                 let raw_channel: usize = channel.raw();
                 r.ccmr_output(raw_channel / 2)
                     .modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
@@ -107,21 +107,21 @@ macro_rules! impl_compare_capable_16bit {
 
             unsafe fn enable_channel(&mut self, channel: Channel, enable: bool) {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                self.regs_gp16()
+                Self::regs_gp16()
                     .ccer()
                     .modify(|w| w.set_cce(channel.raw(), enable));
             }
 
             unsafe fn set_compare_value(&mut self, channel: Channel, value: u16) {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                self.regs_gp16()
+                Self::regs_gp16()
                     .ccr(channel.raw())
                     .modify(|w| w.set_ccr(value));
             }
 
             unsafe fn get_max_compare_value(&self) -> u16 {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                self.regs_gp16().arr().read().arr()
+                Self::regs_gp16().arr().read().arr()
             }
         }
     };
@@ -136,7 +136,7 @@ foreach_interrupt! {
                 mode: OutputCompareMode,
             ) {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                let r = self.regs_gp16();
+                let r = Self::regs_gp16();
                 let raw_channel: usize = channel.raw();
                 r.ccmr_output(raw_channel / 2)
                     .modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
@@ -144,21 +144,21 @@ foreach_interrupt! {
 
             unsafe fn enable_channel(&mut self, channel: Channel, enable: bool) {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                self.regs_gp16()
+                Self::regs_gp16()
                     .ccer()
                     .modify(|w| w.set_cce(channel.raw(), enable));
             }
 
             unsafe fn set_compare_value(&mut self, channel: Channel, value: u16) {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                self.regs_gp16()
+                Self::regs_gp16()
                     .ccr(channel.raw())
                     .modify(|w| w.set_ccr(value));
             }
 
             unsafe fn get_max_compare_value(&self) -> u16 {
                 use crate::timer::sealed::GeneralPurpose16bitInstance;
-                self.regs_gp16().arr().read().arr()
+                Self::regs_gp16().arr().read().arr()
             }
         }
 
@@ -177,22 +177,22 @@ foreach_interrupt! {
             ) {
                 use crate::timer::sealed::GeneralPurpose32bitInstance;
                 let raw_channel = channel.raw();
-                self.regs_gp32().ccmr_output(raw_channel / 2).modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
+                Self::regs_gp32().ccmr_output(raw_channel / 2).modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
             }
 
             unsafe fn enable_channel(&mut self, channel: Channel, enable: bool) {
                 use crate::timer::sealed::GeneralPurpose32bitInstance;
-                self.regs_gp32().ccer().modify(|w| w.set_cce(channel.raw(), enable));
+                Self::regs_gp32().ccer().modify(|w| w.set_cce(channel.raw(), enable));
             }
 
             unsafe fn set_compare_value(&mut self, channel: Channel, value: u32) {
                 use crate::timer::sealed::GeneralPurpose32bitInstance;
-                self.regs_gp32().ccr(channel.raw()).modify(|w| w.set_ccr(value));
+                Self::regs_gp32().ccr(channel.raw()).modify(|w| w.set_ccr(value));
             }
 
             unsafe fn get_max_compare_value(&self) -> u32 {
                 use crate::timer::sealed::GeneralPurpose32bitInstance;
-                self.regs_gp32().arr().read().arr() as u32
+                Self::regs_gp32().arr().read().arr() as u32
             }
         }
         impl CaptureCompare16bitInstance for crate::peripherals::$inst {
@@ -211,7 +211,7 @@ foreach_interrupt! {
                 mode: OutputCompareMode,
             ) {
                 use crate::timer::sealed::AdvancedControlInstance;
-                let r = self.regs_advanced();
+                let r = Self::regs_advanced();
                 let raw_channel: usize = channel.raw();
                 r.ccmr_output(raw_channel / 2)
                     .modify(|w| w.set_ocm(raw_channel % 2, mode.into()));
@@ -219,21 +219,21 @@ foreach_interrupt! {
 
             unsafe fn enable_channel(&mut self, channel: Channel, enable: bool) {
                 use crate::timer::sealed::AdvancedControlInstance;
-                self.regs_advanced()
+                Self::regs_advanced()
                     .ccer()
                     .modify(|w| w.set_cce(channel.raw(), enable));
             }
 
             unsafe fn set_compare_value(&mut self, channel: Channel, value: u16) {
                 use crate::timer::sealed::AdvancedControlInstance;
-                self.regs_advanced()
+                Self::regs_advanced()
                     .ccr(channel.raw())
                     .modify(|w| w.set_ccr(value));
             }
 
             unsafe fn get_max_compare_value(&self) -> u16 {
                 use crate::timer::sealed::AdvancedControlInstance;
-                self.regs_advanced().arr().read().arr()
+                Self::regs_advanced().arr().read().arr()
             }
         }
 
diff --git a/embassy-stm32/src/time_driver.rs b/embassy-stm32/src/time_driver.rs
index 009c62030..08796acd5 100644
--- a/embassy-stm32/src/time_driver.rs
+++ b/embassy-stm32/src/time_driver.rs
@@ -103,7 +103,6 @@ impl AlarmState {
 }
 
 struct RtcDriver {
-    timer: T,
     /// Number of 2^15 periods elapsed since boot.
     period: AtomicU32,
     alarm_count: AtomicU8,
@@ -114,7 +113,6 @@ struct RtcDriver {
 const ALARM_STATE_NEW: AlarmState = AlarmState::new();
 
 embassy::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
-    timer: unsafe { core::mem::transmute(()) }, // steal is not const
     period: AtomicU32::new(0),
     alarm_count: AtomicU8::new(0),
     alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [ALARM_STATE_NEW; ALARM_COUNT]),
@@ -122,7 +120,7 @@ embassy::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
 
 impl RtcDriver {
     fn init(&'static self) {
-        let r = self.timer.regs_gp16();
+        let r = T::regs_gp16();
 
         <T as RccPeripheral>::enable();
         <T as RccPeripheral>::reset();
@@ -163,7 +161,7 @@ impl RtcDriver {
     }
 
     fn on_interrupt(&self) {
-        let r = self.timer.regs_gp16();
+        let r = T::regs_gp16();
 
         // NOTE(unsafe) Use critical section to access the methods
         // XXX: reduce the size of this critical section ?
@@ -194,7 +192,7 @@ impl RtcDriver {
     }
 
     fn next_period(&self) {
-        let r = self.timer.regs_gp16();
+        let r = T::regs_gp16();
 
         let period = self.period.fetch_add(1, Ordering::Relaxed) + 1;
         let t = (period as u64) << 15;
@@ -236,7 +234,7 @@ impl RtcDriver {
 
 impl Driver for RtcDriver {
     fn now(&self) -> u64 {
-        let r = self.timer.regs_gp16();
+        let r = T::regs_gp16();
 
         let period = self.period.load(Ordering::Relaxed);
         compiler_fence(Ordering::Acquire);
@@ -273,7 +271,7 @@ impl Driver for RtcDriver {
 
     fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
         critical_section::with(|cs| {
-            let r = self.timer.regs_gp16();
+            let r = T::regs_gp16();
 
             let n = alarm.id() as _;
             let alarm = self.get_alarm(cs, alarm);
diff --git a/embassy-stm32/src/timer/mod.rs b/embassy-stm32/src/timer/mod.rs
index 4c1eb946b..f9fefdf73 100644
--- a/embassy-stm32/src/timer/mod.rs
+++ b/embassy-stm32/src/timer/mod.rs
@@ -14,7 +14,7 @@ pub(crate) mod sealed {
     pub trait Basic16bitInstance: RccPeripheral {
         type Interrupt: Interrupt;
 
-        fn regs(&self) -> crate::pac::timer::TimBasic;
+        fn regs() -> crate::pac::timer::TimBasic;
 
         fn start(&mut self);
 
@@ -30,17 +30,17 @@ pub(crate) mod sealed {
     }
 
     pub trait GeneralPurpose16bitInstance: Basic16bitInstance {
-        fn regs_gp16(&self) -> crate::pac::timer::TimGp16;
+        fn regs_gp16() -> crate::pac::timer::TimGp16;
     }
 
     pub trait GeneralPurpose32bitInstance: GeneralPurpose16bitInstance {
-        fn regs_gp32(&self) -> crate::pac::timer::TimGp32;
+        fn regs_gp32() -> crate::pac::timer::TimGp32;
 
         fn set_frequency<F: Into<Hertz>>(&mut self, frequency: F);
     }
 
     pub trait AdvancedControlInstance: Basic16bitInstance {
-        fn regs_advanced(&self) -> crate::pac::timer::TimAdv;
+        fn regs_advanced() -> crate::pac::timer::TimAdv;
     }
 }
 
@@ -58,26 +58,25 @@ macro_rules! impl_basic_16bit_timer {
         impl sealed::Basic16bitInstance for crate::peripherals::$inst {
             type Interrupt = crate::interrupt::$irq;
 
-            fn regs(&self) -> crate::pac::timer::TimBasic {
+            fn regs() -> crate::pac::timer::TimBasic {
                 crate::pac::timer::TimBasic(crate::pac::$inst.0)
             }
 
             fn start(&mut self) {
                 unsafe {
-                    self.regs().cr1().modify(|r| r.set_cen(true));
+                    Self::regs().cr1().modify(|r| r.set_cen(true));
                 }
             }
 
             fn stop(&mut self) {
-                let regs = self.regs();
                 unsafe {
-                    regs.cr1().modify(|r| r.set_cen(false));
+                    Self::regs().cr1().modify(|r| r.set_cen(false));
                 }
             }
 
             fn reset(&mut self) {
                 unsafe {
-                    self.regs().cnt().write(|r| r.set_cnt(0));
+                    Self::regs().cnt().write(|r| r.set_cnt(0));
                 }
             }
 
@@ -90,7 +89,7 @@ macro_rules! impl_basic_16bit_timer {
                 let arr: u16 =
                     unwrap!((pclk_ticks_per_timer_period / (u32::from(psc) + 1)).try_into());
 
-                let regs = self.regs();
+                let regs = Self::regs();
                 unsafe {
                     regs.psc().write(|r| r.set_psc(psc));
                     regs.arr().write(|r| r.set_arr(arr));
@@ -102,10 +101,11 @@ macro_rules! impl_basic_16bit_timer {
             }
 
             fn clear_update_interrupt(&mut self) -> bool {
+                let regs = Self::regs();
                 unsafe {
-                    let sr = self.regs().sr().read();
+                    let sr = regs.sr().read();
                     if sr.uif() {
-                        self.regs().sr().modify(|r| {
+                        regs.sr().modify(|r| {
                             r.set_uif(false);
                         });
                         true
@@ -117,7 +117,7 @@ macro_rules! impl_basic_16bit_timer {
 
             fn enable_update_interrupt(&mut self, enable: bool) {
                 unsafe {
-                    self.regs().dier().write(|r| r.set_uie(enable));
+                    Self::regs().dier().write(|r| r.set_uie(enable));
                 }
             }
         }
@@ -128,7 +128,7 @@ macro_rules! impl_basic_16bit_timer {
 macro_rules! impl_32bit_timer {
     ($inst:ident) => {
         impl sealed::GeneralPurpose32bitInstance for crate::peripherals::$inst {
-            fn regs_gp32(&self) -> crate::pac::timer::TimGp32 {
+            fn regs_gp32() -> crate::pac::timer::TimGp32 {
                 crate::pac::$inst
             }
 
@@ -141,7 +141,7 @@ macro_rules! impl_32bit_timer {
                 let arr: u32 =
                     unwrap!(((pclk_ticks_per_timer_period / (psc as u64 + 1)).try_into()));
 
-                let regs = self.regs_gp32();
+                let regs = Self::regs_gp32();
                 unsafe {
                     regs.psc().write(|r| r.set_psc(psc));
                     regs.arr().write(|r| r.set_arr(arr));
@@ -169,7 +169,7 @@ foreach_interrupt! {
         }
 
         impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
-            fn regs_gp16(&self) -> crate::pac::timer::TimGp16 {
+            fn regs_gp16() -> crate::pac::timer::TimGp16 {
                 crate::pac::$inst
             }
         }
@@ -185,7 +185,7 @@ foreach_interrupt! {
         }
 
         impl sealed::GeneralPurpose16bitInstance for crate::peripherals::$inst {
-            fn regs_gp16(&self) -> crate::pac::timer::TimGp16 {
+            fn regs_gp16() -> crate::pac::timer::TimGp16 {
                 crate::pac::timer::TimGp16(crate::pac::$inst.0)
             }
         }
@@ -206,7 +206,7 @@ foreach_interrupt! {
         }
 
         impl sealed::AdvancedControlInstance for crate::peripherals::$inst {
-            fn regs_advanced(&self) -> crate::pac::timer::TimAdv {
+            fn regs_advanced() -> crate::pac::timer::TimAdv {
                 crate::pac::$inst
             }
         }
diff --git a/examples/stm32h7/src/bin/low_level_timer_api.rs b/examples/stm32h7/src/bin/low_level_timer_api.rs
index 0c99b0941..3a47dc22b 100644
--- a/examples/stm32h7/src/bin/low_level_timer_api.rs
+++ b/examples/stm32h7/src/bin/low_level_timer_api.rs
@@ -90,20 +90,16 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
         this.inner.start();
 
         unsafe {
-            this.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccmr_output(0)
                 .modify(|w| w.set_ocm(0, OutputCompareMode::PwmMode1.into()));
-            this.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccmr_output(0)
                 .modify(|w| w.set_ocm(1, OutputCompareMode::PwmMode1.into()));
-            this.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccmr_output(1)
                 .modify(|w| w.set_ocm(0, OutputCompareMode::PwmMode1.into()));
-            this.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccmr_output(1)
                 .modify(|w| w.set_ocm(1, OutputCompareMode::PwmMode1.into()));
         }
@@ -112,8 +108,7 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
 
     pub fn enable(&mut self, channel: Channel) {
         unsafe {
-            self.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccer()
                 .modify(|w| w.set_cce(channel.raw(), true));
         }
@@ -121,8 +116,7 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
 
     pub fn disable(&mut self, channel: Channel) {
         unsafe {
-            self.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccer()
                 .modify(|w| w.set_cce(channel.raw(), false));
         }
@@ -136,14 +130,13 @@ impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
     }
 
     pub fn get_max_duty(&self) -> u32 {
-        unsafe { self.inner.regs_gp32().arr().read().arr() }
+        unsafe { T::regs_gp32().arr().read().arr() }
     }
 
     pub fn set_duty(&mut self, channel: Channel, duty: u32) {
         defmt::assert!(duty < self.get_max_duty());
         unsafe {
-            self.inner
-                .regs_gp32()
+            T::regs_gp32()
                 .ccr(channel.raw())
                 .modify(|w| w.set_ccr(duty))
         }