19 files changed, 127 insertions, 16 deletions

diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index 0554b7e06..f803adb03 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -48,7 +48,7 @@ defmt = "0.3"
 defmt-rtt = "0.4"
 
 fixed = "1.10.0"
-static_cell = "1.1"
+static_cell = { version = "2" }
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
diff --git a/examples/nrf5340/Cargo.toml b/examples/nrf5340/Cargo.toml
index 9c62508cd..4196d61ab 100644
--- a/examples/nrf5340/Cargo.toml
+++ b/examples/nrf5340/Cargo.toml
@@ -42,7 +42,7 @@ embedded-io-async = { version = "0.6.0" }
 defmt = "0.3"
 defmt-rtt = "0.4"
 
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index d020a0f5d..fbe7acae1 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -47,7 +47,8 @@ embedded-hal-async = "1.0.0-rc.1"
 embedded-hal-bus = { version = "0.1.0-rc.1", features = ["async"] }
 embedded-io-async = { version = "0.6.0", features = ["defmt-03"] }
 embedded-storage = { version = "0.3" }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
+portable-atomic = { version = "1.5", features = ["critical-section"] }
 log = "0.4"
 pio-proc = "0.2"
 pio = "0.2.1"
diff --git a/examples/rp/src/bin/pio_rotary_encoder.rs b/examples/rp/src/bin/pio_rotary_encoder.rs
new file mode 100644
index 000000000..6d9d59df6
--- /dev/null
+++ b/examples/rp/src/bin/pio_rotary_encoder.rs
@@ -0,0 +1,81 @@
+//! This example shows how to use the PIO module in the RP2040 to read a quadrature rotary encoder.
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::Pull;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::{bind_interrupts, pio};
+use fixed::traits::ToFixed;
+use pio::{Common, Config, FifoJoin, Instance, InterruptHandler, Pio, PioPin, ShiftDirection, StateMachine};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+pub struct PioEncoder<'d, T: Instance, const SM: usize> {
+    sm: StateMachine<'d, T, SM>,
+}
+
+impl<'d, T: Instance, const SM: usize> PioEncoder<'d, T, SM> {
+    pub fn new(
+        pio: &mut Common<'d, T>,
+        mut sm: StateMachine<'d, T, SM>,
+        pin_a: impl PioPin,
+        pin_b: impl PioPin,
+    ) -> Self {
+        let mut pin_a = pio.make_pio_pin(pin_a);
+        let mut pin_b = pio.make_pio_pin(pin_b);
+        pin_a.set_pull(Pull::Up);
+        pin_b.set_pull(Pull::Up);
+        sm.set_pin_dirs(pio::Direction::In, &[&pin_a, &pin_b]);
+
+        let prg = pio_proc::pio_asm!("wait 1 pin 1", "wait 0 pin 1", "in pins, 2", "push",);
+
+        let mut cfg = Config::default();
+        cfg.set_in_pins(&[&pin_a, &pin_b]);
+        cfg.fifo_join = FifoJoin::RxOnly;
+        cfg.shift_in.direction = ShiftDirection::Left;
+        cfg.clock_divider = 10_000.to_fixed();
+        cfg.use_program(&pio.load_program(&prg.program), &[]);
+        sm.set_config(&cfg);
+        sm.set_enable(true);
+        Self { sm }
+    }
+
+    pub async fn read(&mut self) -> Direction {
+        loop {
+            match self.sm.rx().wait_pull().await {
+                0 => return Direction::CounterClockwise,
+                1 => return Direction::Clockwise,
+                _ => {}
+            }
+        }
+    }
+}
+
+pub enum Direction {
+    Clockwise,
+    CounterClockwise,
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let Pio { mut common, sm0, .. } = Pio::new(p.PIO0, Irqs);
+
+    let mut encoder = PioEncoder::new(&mut common, sm0, p.PIN_4, p.PIN_5);
+
+    let mut count = 0;
+    loop {
+        info!("Count: {}", count);
+        count += match encoder.read().await {
+            Direction::Clockwise => 1,
+            Direction::CounterClockwise => -1,
+        };
+    }
+}
diff --git a/examples/rp/src/bin/pwm_input.rs b/examples/rp/src/bin/pwm_input.rs
new file mode 100644
index 000000000..0fc2e40c3
--- /dev/null
+++ b/examples/rp/src/bin/pwm_input.rs
@@ -0,0 +1,26 @@
+//! This example shows how to use the PWM module to measure the frequency of an input signal.
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::pwm::{Config, InputMode, Pwm};
+use embassy_time::{Duration, Ticker};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+
+    let cfg: Config = Default::default();
+    let pwm = Pwm::new_input(p.PWM_CH2, p.PIN_5, InputMode::RisingEdge, cfg);
+
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        info!("Input frequency: {} Hz", pwm.counter());
+        pwm.set_counter(0);
+        ticker.next().await;
+    }
+}
diff --git a/examples/std/Cargo.toml b/examples/std/Cargo.toml
index 12ec40fad..99511292f 100644
--- a/examples/std/Cargo.toml
+++ b/examples/std/Cargo.toml
@@ -24,7 +24,7 @@ nix = "0.26.2"
 clap = { version = "3.0.0-beta.5", features = ["derive"] }
 rand_core = { version = "0.6.3", features = ["std"] }
 heapless = { version = "0.7.5", default-features = false }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32f0/Cargo.toml b/examples/stm32f0/Cargo.toml
index 953fa5845..3f781d762 100644
--- a/examples/stm32f0/Cargo.toml
+++ b/examples/stm32f0/Cargo.toml
@@ -17,7 +17,8 @@ panic-probe = "0.3"
 embassy-sync = { version = "0.4.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.3.1", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
+portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32f3/Cargo.toml b/examples/stm32f3/Cargo.toml
index 548191ca6..0ab25c4c2 100644
--- a/examples/stm32f3/Cargo.toml
+++ b/examples/stm32f3/Cargo.toml
@@ -24,7 +24,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32f334/Cargo.toml b/examples/stm32f334/Cargo.toml
index b42cc9961..b3bfde441 100644
--- a/examples/stm32f334/Cargo.toml
+++ b/examples/stm32f334/Cargo.toml
@@ -23,4 +23,4 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
diff --git a/examples/stm32f4/Cargo.toml b/examples/stm32f4/Cargo.toml
index 916d0490b..fca182036 100644
--- a/examples/stm32f4/Cargo.toml
+++ b/examples/stm32f4/Cargo.toml
@@ -27,7 +27,7 @@ heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
 embedded-storage = "0.3.0"
 micromath = "2.0.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 chrono = { version = "^0.4", default-features = false}
 
 [profile.release]
diff --git a/examples/stm32f7/Cargo.toml b/examples/stm32f7/Cargo.toml
index 35757e623..0a567d046 100644
--- a/examples/stm32f7/Cargo.toml
+++ b/examples/stm32f7/Cargo.toml
@@ -27,7 +27,7 @@ nb = "1.0.0"
 rand_core = "0.6.3"
 critical-section = "1.1"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32g0/Cargo.toml b/examples/stm32g0/Cargo.toml
index fb7f780f9..42d7d328f 100644
--- a/examples/stm32g0/Cargo.toml
+++ b/examples/stm32g0/Cargo.toml
@@ -20,6 +20,7 @@ embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
+portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32h5/Cargo.toml b/examples/stm32h5/Cargo.toml
index c4f41d1cf..db56b685a 100644
--- a/examples/stm32h5/Cargo.toml
+++ b/examples/stm32h5/Cargo.toml
@@ -31,7 +31,7 @@ critical-section = "1.1"
 micromath = "2.0.0"
 stm32-fmc = "0.3.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 # cargo build/run
 [profile.dev]
diff --git a/examples/stm32h7/Cargo.toml b/examples/stm32h7/Cargo.toml
index d6b14a602..c300c8644 100644
--- a/examples/stm32h7/Cargo.toml
+++ b/examples/stm32h7/Cargo.toml
@@ -31,7 +31,7 @@ critical-section = "1.1"
 micromath = "2.0.0"
 stm32-fmc = "0.3.0"
 embedded-storage = "0.3.0"
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 chrono = { version = "^0.4", default-features = false }
 
 # cargo build/run
diff --git a/examples/stm32l0/Cargo.toml b/examples/stm32l0/Cargo.toml
index edd1d0261..e294d0422 100644
--- a/examples/stm32l0/Cargo.toml
+++ b/examples/stm32l0/Cargo.toml
@@ -33,7 +33,8 @@ panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
 embedded-hal = "0.2.6"
-static_cell = "1.1"
+static_cell = { version = "2" }
+portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32l4/Cargo.toml b/examples/stm32l4/Cargo.toml
index 2fbba4634..5d79cf1ed 100644
--- a/examples/stm32l4/Cargo.toml
+++ b/examples/stm32l4/Cargo.toml
@@ -32,7 +32,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 chrono = { version = "^0.4", default-features = false }
 rand = { version = "0.8.5", default-features = false }
-static_cell = {version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 micromath = "2.0.0"
 
diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml
index 2457b40d7..1cd32892d 100644
--- a/examples/stm32l5/Cargo.toml
+++ b/examples/stm32l5/Cargo.toml
@@ -26,7 +26,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 heapless = { version = "0.7.5", default-features = false }
 rand_core = { version = "0.6.3", default-features = false }
 embedded-io-async = { version = "0.6.0" }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32wb/Cargo.toml b/examples/stm32wb/Cargo.toml
index 5864906d0..daacc11c4 100644
--- a/examples/stm32wb/Cargo.toml
+++ b/examples/stm32wb/Cargo.toml
@@ -22,7 +22,7 @@ embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [features]
 default = ["ble", "mac"]
diff --git a/examples/stm32wba/Cargo.toml b/examples/stm32wba/Cargo.toml
index 12e0e5ab0..c52848500 100644
--- a/examples/stm32wba/Cargo.toml
+++ b/examples/stm32wba/Cargo.toml
@@ -20,7 +20,7 @@ embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
 debug = 2