6 files changed, 398 insertions, 8 deletions

diff --git a/examples/mimxrt6/Cargo.toml b/examples/mimxrt6/Cargo.toml
index b0c56f003..28de9d273 100644
--- a/examples/mimxrt6/Cargo.toml
+++ b/examples/mimxrt6/Cargo.toml
@@ -3,24 +3,24 @@ name = "embassy-imxrt-examples"
 version = "0.1.0"
 edition = "2021"
 license = "MIT or Apache-2.0"
+publish = false
 
 [dependencies]
 cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.3"
-defmt = "1.0"
-defmt-rtt = "1.0"
+defmt = "1.0.1"
+defmt-rtt = "1.0.0"
 
-embassy-executor = { version = "0.7.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
-embassy-futures = { version = "0.1.1", path = "../../embassy-futures" }
+embassy-executor = { version = "0.9.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
+embassy-futures = { version = "0.1.2", path = "../../embassy-futures" }
 embassy-imxrt = { version = "0.1.0", path = "../../embassy-imxrt", features = ["defmt", "mimxrt685s", "unstable-pac", "time", "time-driver-os-timer"] }
-embassy-time = { version = "0.4", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-sync = { version = "0.6.2", path = "../../embassy-sync", features = ["defmt"] }
+embassy-time = { version = "0.5.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-sync = { version = "0.7.2", path = "../../embassy-sync", features = ["defmt"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
 embedded-hal-async = "1.0.0"
 
 mimxrt600-fcb = "0.2.2"
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-rand = { version = "0.8.5", default-features = false }
+panic-probe = { version = "1.0.0", features = ["print-defmt"] }
 
 # cargo build/run
 [profile.dev]
@@ -59,3 +59,8 @@ incremental = false
 lto = 'fat'
 opt-level = 3 # <-
 overflow-checks = false # <-
+
+[package.metadata.embassy]
+build = [
+  { target = "thumbv8m.main-none-eabihf", artifact-dir = "out/examples/mimxrt6" }
+]
diff --git a/examples/mimxrt6/src/bin/button.rs b/examples/mimxrt6/src/bin/button.rs
new file mode 100644
index 000000000..efb7f14af
--- /dev/null
+++ b/examples/mimxrt6/src/bin/button.rs
@@ -0,0 +1,29 @@
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_futures::select::{select, Either};
+use embassy_imxrt::gpio;
+use {defmt_rtt as _, embassy_imxrt_examples as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_imxrt::init(Default::default());
+
+    let mut user1 = gpio::Input::new(p.PIO1_1, gpio::Pull::None, gpio::Inverter::Disabled);
+    let mut user2 = gpio::Input::new(p.PIO0_10, gpio::Pull::None, gpio::Inverter::Disabled);
+
+    loop {
+        let res = select(user1.wait_for_falling_edge(), user2.wait_for_falling_edge()).await;
+
+        match res {
+            Either::First(()) => {
+                info!("Button `USER1' pressed");
+            }
+            Either::Second(()) => {
+                info!("Button `USER2' pressed");
+            }
+        }
+    }
+}
diff --git a/examples/mimxrt6/src/bin/crc.rs b/examples/mimxrt6/src/bin/crc.rs
new file mode 100644
index 000000000..005a250e5
--- /dev/null
+++ b/examples/mimxrt6/src/bin/crc.rs
@@ -0,0 +1,175 @@
+#![no_std]
+#![no_main]
+
+extern crate embassy_imxrt_examples;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_imxrt::crc::{Config, Crc, Polynomial};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut p = embassy_imxrt::init(Default::default());
+    let data = b"123456789";
+
+    info!("Initializing CRC");
+
+    // CRC-CCITT
+    let mut crc = Crc::new(p.CRC.reborrow(), Default::default());
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x29b1);
+
+    // CRC16-ARC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xbb3d);
+
+    // CRC16-CMS
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xaee7);
+
+    // CRC16-DDS-110
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0x800d,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x9ecf);
+
+    // CRC16-MAXIM-DOW
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: true,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x44c2);
+
+    // CRC16-MODBUS
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc16,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0xffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x4b37);
+
+    // CRC32-BZIP2
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: true,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xfc89_1918);
+
+    // CRC32-CKSUM
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: true,
+            seed: 0,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x765e_7680);
+
+    // CRC32-ISO-HDLC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: true,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0xcbf4_3926);
+
+    // CRC32-JAMCRC
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: true,
+            reverse_out: true,
+            complement_out: false,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x340b_c6d9);
+
+    // CRC32-MPEG-2
+    let mut crc = Crc::new(
+        p.CRC.reborrow(),
+        Config {
+            polynomial: Polynomial::Crc32,
+            reverse_in: false,
+            reverse_out: false,
+            complement_out: false,
+            seed: 0xffff_ffff,
+            ..Default::default()
+        },
+    );
+    let output = crc.feed_bytes(data);
+    defmt::assert_eq!(output, 0x0376_e6e7);
+
+    info!("end program");
+    cortex_m::asm::bkpt();
+}
diff --git a/examples/mimxrt6/src/bin/rng.rs b/examples/mimxrt6/src/bin/rng.rs
new file mode 100644
index 000000000..9468dd109
--- /dev/null
+++ b/examples/mimxrt6/src/bin/rng.rs
@@ -0,0 +1,39 @@
+#![no_std]
+#![no_main]
+
+extern crate embassy_imxrt_examples;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_imxrt::rng::Rng;
+use embassy_imxrt::{bind_interrupts, peripherals, rng};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    RNG => rng::InterruptHandler<peripherals::RNG>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_imxrt::init(Default::default());
+
+    info!("Initializing RNG");
+    let mut rng = Rng::new(p.RNG, Irqs);
+    let mut buf = [0u8; 65];
+
+    // Async interface
+    unwrap!(rng.async_fill_bytes(&mut buf).await);
+    info!("random bytes: {:02x}", buf);
+
+    // RngCore interface
+    let mut random_bytes = [0; 16];
+
+    let random_u32 = rng.blocking_next_u32();
+    let random_u64 = rng.blocking_next_u64();
+
+    rng.blocking_fill_bytes(&mut random_bytes);
+
+    info!("random_u32 {}", random_u32);
+    info!("random_u64 {}", random_u64);
+    info!("random_bytes {}", random_bytes);
+}
diff --git a/examples/mimxrt6/src/bin/uart-async.rs b/examples/mimxrt6/src/bin/uart-async.rs
new file mode 100644
index 000000000..d808d755c
--- /dev/null
+++ b/examples/mimxrt6/src/bin/uart-async.rs
@@ -0,0 +1,87 @@
+#![no_std]
+#![no_main]
+
+extern crate embassy_imxrt_examples;
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_imxrt::flexcomm::uart::{self, Async, Uart};
+use embassy_imxrt::{bind_interrupts, peripherals};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    FLEXCOMM2 => uart::InterruptHandler<peripherals::FLEXCOMM2>;
+    FLEXCOMM4 => uart::InterruptHandler<peripherals::FLEXCOMM4>;
+});
+
+const BUFLEN: usize = 16;
+
+#[embassy_executor::task]
+async fn usart4_task(mut uart: Uart<'static, Async>) {
+    info!("RX Task");
+
+    loop {
+        let mut rx_buf = [0; BUFLEN];
+        uart.read(&mut rx_buf).await.unwrap();
+        info!("usart4: rx_buf {:02x}", rx_buf);
+
+        Timer::after_millis(10).await;
+
+        let tx_buf = [0xaa; BUFLEN];
+        uart.write(&tx_buf).await.unwrap();
+        info!("usart4: tx_buf {:02x}", tx_buf);
+    }
+}
+
+#[embassy_executor::task]
+async fn usart2_task(mut uart: Uart<'static, Async>) {
+    info!("TX Task");
+
+    loop {
+        let tx_buf = [0x55; BUFLEN];
+        uart.write(&tx_buf).await.unwrap();
+        info!("usart2: tx_buf {:02x}", tx_buf);
+
+        Timer::after_millis(10).await;
+
+        let mut rx_buf = [0x00; BUFLEN];
+        uart.read(&mut rx_buf).await.unwrap();
+        info!("usart2: rx_buf {:02x}", rx_buf);
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_imxrt::init(Default::default());
+
+    info!("UART test start");
+
+    let usart4 = Uart::new_with_rtscts(
+        p.FLEXCOMM4,
+        p.PIO0_29,
+        p.PIO0_30,
+        p.PIO1_0,
+        p.PIO0_31,
+        Irqs,
+        p.DMA0_CH9,
+        p.DMA0_CH8,
+        Default::default(),
+    )
+    .unwrap();
+    spawner.spawn(usart4_task(usart4).unwrap());
+
+    let usart2 = Uart::new_with_rtscts(
+        p.FLEXCOMM2,
+        p.PIO0_15,
+        p.PIO0_16,
+        p.PIO0_18,
+        p.PIO0_17,
+        Irqs,
+        p.DMA0_CH5,
+        p.DMA0_CH4,
+        Default::default(),
+    )
+    .unwrap();
+    spawner.spawn(usart2_task(usart2).unwrap());
+}
diff --git a/examples/mimxrt6/src/bin/uart.rs b/examples/mimxrt6/src/bin/uart.rs
new file mode 100644
index 000000000..1636c958f
--- /dev/null
+++ b/examples/mimxrt6/src/bin/uart.rs
@@ -0,0 +1,55 @@
+#![no_std]
+#![no_main]
+
+extern crate embassy_imxrt_examples;
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_imxrt::flexcomm::uart::{Blocking, Uart, UartRx, UartTx};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::task]
+async fn usart4_task(mut uart: UartRx<'static, Blocking>) {
+    info!("RX Task");
+
+    loop {
+        let mut buf = [0; 8];
+
+        Timer::after_millis(10).await;
+
+        uart.blocking_read(&mut buf).unwrap();
+
+        let s = core::str::from_utf8(&buf).unwrap();
+
+        info!("Received '{}'", s);
+    }
+}
+
+#[embassy_executor::task]
+async fn usart2_task(mut uart: UartTx<'static, Blocking>) {
+    info!("TX Task");
+
+    loop {
+        let buf = "Testing\0".as_bytes();
+
+        uart.blocking_write(buf).unwrap();
+
+        Timer::after_millis(10).await;
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_imxrt::init(Default::default());
+
+    info!("UART test start");
+
+    let usart4 = Uart::new_blocking(p.FLEXCOMM4, p.PIO0_29, p.PIO0_30, Default::default()).unwrap();
+
+    let (_, usart4) = usart4.split();
+    spawner.spawn(usart4_task(usart4).unwrap());
+
+    let usart2 = UartTx::new_blocking(p.FLEXCOMM2, p.PIO0_15, Default::default()).unwrap();
+    spawner.spawn(usart2_task(usart2).unwrap());
+}