6 files changed, 479 insertions, 94 deletions

diff --git a/examples/rp/src/bin/usb_hid_mouse.rs b/examples/rp/src/bin/usb_hid_mouse.rs
new file mode 100644
index 000000000..afebd8813
--- /dev/null
+++ b/examples/rp/src/bin/usb_hid_mouse.rs
@@ -0,0 +1,182 @@
+#![no_std]
+#![no_main]
+
+use core::sync::atomic::{AtomicBool, Ordering};
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_rp::bind_interrupts;
+use embassy_rp::clocks::RoscRng;
+use embassy_rp::gpio::{Input, Pull};
+use embassy_rp::peripherals::USB;
+use embassy_rp::usb::{Driver, InterruptHandler};
+use embassy_time::Timer;
+use embassy_usb::class::hid::{HidReaderWriter, ReportId, RequestHandler, State};
+use embassy_usb::control::OutResponse;
+use embassy_usb::{Builder, Config, Handler};
+use rand::Rng;
+use usbd_hid::descriptor::{MouseReport, SerializedDescriptor};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    // Create the driver, from the HAL.
+    let driver = Driver::new(p.USB, Irqs);
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("HID keyboard example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut device_descriptor = [0; 256];
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    // You can also add a Microsoft OS descriptor.
+    let mut msos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
+    let request_handler = MyRequestHandler {};
+    let mut device_handler = MyDeviceHandler::new();
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut device_descriptor,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut msos_descriptor,
+        &mut control_buf,
+    );
+
+    builder.handler(&mut device_handler);
+
+    // Create classes on the builder.
+    let config = embassy_usb::class::hid::Config {
+        report_descriptor: MouseReport::desc(),
+        request_handler: Some(&request_handler),
+        poll_ms: 60,
+        max_packet_size: 64,
+    };
+    let hid = HidReaderWriter::<_, 1, 8>::new(&mut builder, &mut state, config);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Set up the signal pin that will be used to trigger the keyboard.
+    let mut signal_pin = Input::new(p.PIN_16, Pull::None);
+
+    // Enable the schmitt trigger to slightly debounce.
+    signal_pin.set_schmitt(true);
+
+    let (reader, mut writer) = hid.split();
+
+    // Do stuff with the class!
+    let in_fut = async {
+        let mut rng = RoscRng;
+
+        loop {
+            // every 1 second
+            _ = Timer::after_secs(1).await;
+            let report = MouseReport {
+                buttons: 0,
+                x: rng.gen_range(-100..100), // random small x movement
+                y: rng.gen_range(-100..100), // random small y movement
+                wheel: 0,
+                pan: 0,
+            };
+            // Send the report.
+            match writer.write_serialize(&report).await {
+                Ok(()) => {}
+                Err(e) => warn!("Failed to send report: {:?}", e),
+            }
+        }
+    };
+
+    let out_fut = async {
+        reader.run(false, &request_handler).await;
+    };
+
+    // Run everything concurrently.
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(usb_fut, join(in_fut, out_fut)).await;
+}
+
+struct MyRequestHandler {}
+
+impl RequestHandler for MyRequestHandler {
+    fn get_report(&self, id: ReportId, _buf: &mut [u8]) -> Option<usize> {
+        info!("Get report for {:?}", id);
+        None
+    }
+
+    fn set_report(&self, id: ReportId, data: &[u8]) -> OutResponse {
+        info!("Set report for {:?}: {=[u8]}", id, data);
+        OutResponse::Accepted
+    }
+
+    fn set_idle_ms(&self, id: Option<ReportId>, dur: u32) {
+        info!("Set idle rate for {:?} to {:?}", id, dur);
+    }
+
+    fn get_idle_ms(&self, id: Option<ReportId>) -> Option<u32> {
+        info!("Get idle rate for {:?}", id);
+        None
+    }
+}
+
+struct MyDeviceHandler {
+    configured: AtomicBool,
+}
+
+impl MyDeviceHandler {
+    fn new() -> Self {
+        MyDeviceHandler {
+            configured: AtomicBool::new(false),
+        }
+    }
+}
+
+impl Handler for MyDeviceHandler {
+    fn enabled(&mut self, enabled: bool) {
+        self.configured.store(false, Ordering::Relaxed);
+        if enabled {
+            info!("Device enabled");
+        } else {
+            info!("Device disabled");
+        }
+    }
+
+    fn reset(&mut self) {
+        self.configured.store(false, Ordering::Relaxed);
+        info!("Bus reset, the Vbus current limit is 100mA");
+    }
+
+    fn addressed(&mut self, addr: u8) {
+        self.configured.store(false, Ordering::Relaxed);
+        info!("USB address set to: {}", addr);
+    }
+
+    fn configured(&mut self, configured: bool) {
+        self.configured.store(configured, Ordering::Relaxed);
+        if configured {
+            info!("Device configured, it may now draw up to the configured current limit from Vbus.")
+        } else {
+            info!("Device is no longer configured, the Vbus current limit is 100mA.");
+        }
+    }
+}
diff --git a/examples/stm32g4/Cargo.toml b/examples/stm32g4/Cargo.toml
index 895ad3e7c..74ccfa3b0 100644
--- a/examples/stm32g4/Cargo.toml
+++ b/examples/stm32g4/Cargo.toml
@@ -20,9 +20,11 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
+embedded-can = { version = "0.4" }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.8", default-features = false }
+static_cell = "2.0.0"
 
 [profile.release]
 debug = 2
diff --git a/examples/stm32g4/src/bin/can.rs b/examples/stm32g4/src/bin/can.rs
index 727921fba..affa97039 100644
--- a/examples/stm32g4/src/bin/can.rs
+++ b/examples/stm32g4/src/bin/can.rs
@@ -5,6 +5,7 @@ use embassy_executor::Spawner;
 use embassy_stm32::peripherals::*;
 use embassy_stm32::{bind_interrupts, can, Config};
 use embassy_time::Timer;
+use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -18,39 +19,190 @@ async fn main(_spawner: Spawner) {
 
     let peripherals = embassy_stm32::init(config);
 
-    let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
+    let mut can = can::FdcanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
+
+    can.set_extended_filter(
+        can::fd::filter::ExtendedFilterSlot::_0,
+        can::fd::filter::ExtendedFilter::accept_all_into_fifo1(),
+    );
 
     // 250k bps
     can.set_bitrate(250_000);
 
+    let use_fd = false;
+
+    // 1M bps
+    if use_fd {
+        can.set_fd_data_bitrate(1_000_000, false);
+    }
+
     info!("Configured");
 
-    //let mut can = can.into_external_loopback_mode();
-    let mut can = can.into_normal_mode();
+    let mut can = can.start(match use_fd {
+        true => can::FdcanOperatingMode::InternalLoopbackMode,
+        false => can::FdcanOperatingMode::NormalOperationMode,
+    });
 
     let mut i = 0;
+    let mut last_read_ts = embassy_time::Instant::now();
+
     loop {
-        let frame = can::TxFrame::new(
-            can::TxFrameHeader {
-                len: 1,
-                frame_format: can::FrameFormat::Standard,
-                id: can::StandardId::new(0x123).unwrap().into(),
-                bit_rate_switching: false,
-                marker: None,
-            },
-            &[i],
-        )
-        .unwrap();
+        let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
         info!("Writing frame");
+
         _ = can.write(&frame).await;
 
         match can.read().await {
-            Ok(rx_frame) => info!("Rx: {}", rx_frame.data()[0]),
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {} {:02x} --- {}ms",
+                    rx_frame.header().len(),
+                    rx_frame.data()[0..rx_frame.header().len() as usize],
+                    delta,
+                )
+            }
             Err(_err) => error!("Error in frame"),
         }
 
         Timer::after_millis(250).await;
 
         i += 1;
+        if i > 2 {
+            break;
+        }
+    }
+
+    // Use the FD API's even if we don't get FD packets.
+
+    loop {
+        if use_fd {
+            let frame = can::frame::FdFrame::new_extended(0x123456F, &[i; 16]).unwrap();
+            info!("Writing frame using FD API");
+            _ = can.write_fd(&frame).await;
+        } else {
+            let frame = can::frame::FdFrame::new_extended(0x123456F, &[i; 8]).unwrap();
+            info!("Writing frame using FD API");
+            _ = can.write_fd(&frame).await;
+        }
+
+        match can.read_fd().await {
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {} {:02x} --- using FD API {}ms",
+                    rx_frame.header().len(),
+                    rx_frame.data()[0..rx_frame.header().len() as usize],
+                    delta,
+                )
+            }
+            Err(_err) => error!("Error in frame"),
+        }
+
+        Timer::after_millis(250).await;
+
+        i += 1;
+        if i > 4 {
+            break;
+        }
+    }
+    i = 0;
+    let (mut tx, mut rx) = can.split();
+    // With split
+    loop {
+        let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
+        info!("Writing frame");
+        _ = tx.write(&frame).await;
+
+        match rx.read().await {
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {} {:02x} --- {}ms",
+                    rx_frame.header().len(),
+                    rx_frame.data()[0..rx_frame.header().len() as usize],
+                    delta,
+                )
+            }
+            Err(_err) => error!("Error in frame"),
+        }
+
+        Timer::after_millis(250).await;
+
+        i += 1;
+
+        if i > 2 {
+            break;
+        }
+    }
+
+    let can = can::Fdcan::join(tx, rx);
+
+    info!("\n\n\nBuffered\n");
+    if use_fd {
+        static TX_BUF: StaticCell<can::TxFdBuf<8>> = StaticCell::new();
+        static RX_BUF: StaticCell<can::RxFdBuf<10>> = StaticCell::new();
+        let mut can = can.buffered_fd(
+            TX_BUF.init(can::TxFdBuf::<8>::new()),
+            RX_BUF.init(can::RxFdBuf::<10>::new()),
+        );
+        loop {
+            let frame = can::frame::FdFrame::new_extended(0x123456F, &[i; 16]).unwrap();
+            info!("Writing frame");
+
+            _ = can.write(frame).await;
+
+            match can.read().await {
+                Ok((rx_frame, ts)) => {
+                    let delta = (ts - last_read_ts).as_millis();
+                    last_read_ts = ts;
+                    info!(
+                        "Rx: {} {:02x} --- {}ms",
+                        rx_frame.header().len(),
+                        rx_frame.data()[0..rx_frame.header().len() as usize],
+                        delta,
+                    )
+                }
+                Err(_err) => error!("Error in frame"),
+            }
+
+            Timer::after_millis(250).await;
+
+            i += 1;
+        }
+    } else {
+        static TX_BUF: StaticCell<can::TxBuf<8>> = StaticCell::new();
+        static RX_BUF: StaticCell<can::RxBuf<10>> = StaticCell::new();
+        let mut can = can.buffered(
+            TX_BUF.init(can::TxBuf::<8>::new()),
+            RX_BUF.init(can::RxBuf::<10>::new()),
+        );
+        loop {
+            let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
+            info!("Writing frame");
+
+            _ = can.write(frame).await;
+
+            match can.read().await {
+                Ok((rx_frame, ts)) => {
+                    let delta = (ts - last_read_ts).as_millis();
+                    last_read_ts = ts;
+                    info!(
+                        "Rx: {} {:02x} --- {}ms",
+                        rx_frame.header().len(),
+                        rx_frame.data()[0..rx_frame.header().len() as usize],
+                        delta,
+                    )
+                }
+                Err(_err) => error!("Error in frame"),
+            }
+
+            Timer::after_millis(250).await;
+
+            i += 1;
+        }
     }
 }
diff --git a/examples/stm32h5/src/bin/can.rs b/examples/stm32h5/src/bin/can.rs
index 2906d1576..e5ccfe4f7 100644
--- a/examples/stm32h5/src/bin/can.rs
+++ b/examples/stm32h5/src/bin/can.rs
@@ -16,54 +16,76 @@ bind_interrupts!(struct Irqs {
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let mut config = Config::default();
-
-    // configure FDCAN to use PLL1_Q at 64 MHz
-    config.rcc.pll1 = Some(rcc::Pll {
-        source: rcc::PllSource::HSI,
-        prediv: rcc::PllPreDiv::DIV4,
-        mul: rcc::PllMul::MUL8,
-        divp: None,
-        divq: Some(rcc::PllDiv::DIV2),
-        divr: None,
+    config.rcc.hse = Some(rcc::Hse {
+        freq: embassy_stm32::time::Hertz(25_000_000),
+        mode: rcc::HseMode::Oscillator,
     });
-    config.rcc.fdcan_clock_source = rcc::FdCanClockSource::PLL1_Q;
+    config.rcc.fdcan_clock_source = rcc::FdCanClockSource::HSE;
 
     let peripherals = embassy_stm32::init(config);
 
-    let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
+    let mut can = can::FdcanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
 
-    can.can.apply_config(
-        can::config::FdCanConfig::default().set_nominal_bit_timing(can::config::NominalBitTiming {
-            sync_jump_width: 1.try_into().unwrap(),
-            prescaler: 8.try_into().unwrap(),
-            seg1: 13.try_into().unwrap(),
-            seg2: 2.try_into().unwrap(),
-        }),
-    );
+    // 250k bps
+    can.set_bitrate(250_000);
 
-    info!("Configured");
+    //let mut can = can.into_internal_loopback_mode();
+    let mut can = can.into_normal_mode();
 
-    let mut can = can.into_external_loopback_mode();
-    //let mut can = can.into_normal_mode();
+    info!("CAN Configured");
 
     let mut i = 0;
+    let mut last_read_ts = embassy_time::Instant::now();
+
     loop {
-        let frame = can::TxFrame::new(
-            can::TxFrameHeader {
-                len: 1,
-                frame_format: can::FrameFormat::Standard,
-                id: can::StandardId::new(0x123).unwrap().into(),
-                bit_rate_switching: false,
-                marker: None,
-            },
-            &[i],
-        )
-        .unwrap();
+        let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
         info!("Writing frame");
         _ = can.write(&frame).await;
 
         match can.read().await {
-            Ok(rx_frame) => info!("Rx: {}", rx_frame.data()[0]),
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {:x} {:x} {:x} {:x} --- NEW {}",
+                    rx_frame.data()[0],
+                    rx_frame.data()[1],
+                    rx_frame.data()[2],
+                    rx_frame.data()[3],
+                    delta,
+                )
+            }
+            Err(_err) => error!("Error in frame"),
+        }
+
+        Timer::after_millis(250).await;
+
+        i += 1;
+        if i > 3 {
+            break;
+        }
+    }
+
+    let (mut tx, mut rx) = can.split();
+    // With split
+    loop {
+        let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
+        info!("Writing frame");
+        _ = tx.write(&frame).await;
+
+        match rx.read().await {
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {:x} {:x} {:x} {:x} --- NEW {}",
+                    rx_frame.data()[0],
+                    rx_frame.data()[1],
+                    rx_frame.data()[2],
+                    rx_frame.data()[3],
+                    delta,
+                )
+            }
             Err(_err) => error!("Error in frame"),
         }
 
diff --git a/examples/stm32h7/src/bin/can.rs b/examples/stm32h7/src/bin/can.rs
index 2906d1576..e5ccfe4f7 100644
--- a/examples/stm32h7/src/bin/can.rs
+++ b/examples/stm32h7/src/bin/can.rs
@@ -16,54 +16,76 @@ bind_interrupts!(struct Irqs {
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let mut config = Config::default();
-
-    // configure FDCAN to use PLL1_Q at 64 MHz
-    config.rcc.pll1 = Some(rcc::Pll {
-        source: rcc::PllSource::HSI,
-        prediv: rcc::PllPreDiv::DIV4,
-        mul: rcc::PllMul::MUL8,
-        divp: None,
-        divq: Some(rcc::PllDiv::DIV2),
-        divr: None,
+    config.rcc.hse = Some(rcc::Hse {
+        freq: embassy_stm32::time::Hertz(25_000_000),
+        mode: rcc::HseMode::Oscillator,
     });
-    config.rcc.fdcan_clock_source = rcc::FdCanClockSource::PLL1_Q;
+    config.rcc.fdcan_clock_source = rcc::FdCanClockSource::HSE;
 
     let peripherals = embassy_stm32::init(config);
 
-    let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
+    let mut can = can::FdcanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
 
-    can.can.apply_config(
-        can::config::FdCanConfig::default().set_nominal_bit_timing(can::config::NominalBitTiming {
-            sync_jump_width: 1.try_into().unwrap(),
-            prescaler: 8.try_into().unwrap(),
-            seg1: 13.try_into().unwrap(),
-            seg2: 2.try_into().unwrap(),
-        }),
-    );
+    // 250k bps
+    can.set_bitrate(250_000);
 
-    info!("Configured");
+    //let mut can = can.into_internal_loopback_mode();
+    let mut can = can.into_normal_mode();
 
-    let mut can = can.into_external_loopback_mode();
-    //let mut can = can.into_normal_mode();
+    info!("CAN Configured");
 
     let mut i = 0;
+    let mut last_read_ts = embassy_time::Instant::now();
+
     loop {
-        let frame = can::TxFrame::new(
-            can::TxFrameHeader {
-                len: 1,
-                frame_format: can::FrameFormat::Standard,
-                id: can::StandardId::new(0x123).unwrap().into(),
-                bit_rate_switching: false,
-                marker: None,
-            },
-            &[i],
-        )
-        .unwrap();
+        let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
         info!("Writing frame");
         _ = can.write(&frame).await;
 
         match can.read().await {
-            Ok(rx_frame) => info!("Rx: {}", rx_frame.data()[0]),
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {:x} {:x} {:x} {:x} --- NEW {}",
+                    rx_frame.data()[0],
+                    rx_frame.data()[1],
+                    rx_frame.data()[2],
+                    rx_frame.data()[3],
+                    delta,
+                )
+            }
+            Err(_err) => error!("Error in frame"),
+        }
+
+        Timer::after_millis(250).await;
+
+        i += 1;
+        if i > 3 {
+            break;
+        }
+    }
+
+    let (mut tx, mut rx) = can.split();
+    // With split
+    loop {
+        let frame = can::frame::ClassicFrame::new_extended(0x123456F, &[i; 8]).unwrap();
+        info!("Writing frame");
+        _ = tx.write(&frame).await;
+
+        match rx.read().await {
+            Ok((rx_frame, ts)) => {
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {:x} {:x} {:x} {:x} --- NEW {}",
+                    rx_frame.data()[0],
+                    rx_frame.data()[1],
+                    rx_frame.data()[2],
+                    rx_frame.data()[3],
+                    delta,
+                )
+            }
             Err(_err) => error!("Error in frame"),
         }
 
diff --git a/examples/stm32u5/src/bin/usb_serial.rs b/examples/stm32u5/src/bin/usb_serial.rs
index dca34fd0e..99cdeacc9 100644
--- a/examples/stm32u5/src/bin/usb_serial.rs
+++ b/examples/stm32u5/src/bin/usb_serial.rs
@@ -4,7 +4,6 @@
 use defmt::{panic, *};
 use defmt_rtt as _; // global logger
 use embassy_executor::Spawner;
-use embassy_stm32::rcc::*;
 use embassy_stm32::usb_otg::{Driver, Instance};
 use embassy_stm32::{bind_interrupts, peripherals, usb_otg, Config};
 use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
@@ -22,22 +21,28 @@ async fn main(_spawner: Spawner) {
     info!("Hello World!");
 
     let mut config = Config::default();
-    config.rcc.mux = ClockSrc::PLL1_R(PllConfig {
-        source: PllSource::HSI,
-        m: Pllm::DIV2,
-        n: Plln::MUL10,
-        p: Plldiv::DIV1,
-        q: Plldiv::DIV1,
-        r: Plldiv::DIV1,
-    });
-    config.rcc.hsi48 = Some(Hsi48Config { sync_from_usb: true }); // needed for USB
+    {
+        use embassy_stm32::rcc::*;
+        config.rcc.hsi = true;
+        config.rcc.pll1 = Some(Pll {
+            source: PllSource::HSI, // 16 MHz
+            prediv: PllPreDiv::DIV1,
+            mul: PllMul::MUL10,
+            divp: None,
+            divq: None,
+            divr: Some(PllDiv::DIV1), // 160 MHz
+        });
+        config.rcc.mux = ClockSrc::PLL1_R;
+        config.rcc.voltage_range = VoltageScale::RANGE1;
+        config.rcc.hsi48 = Some(Hsi48Config { sync_from_usb: true }); // needed for USB
+    }
 
     let p = embassy_stm32::init(config);
 
     // Create the driver, from the HAL.
     let mut ep_out_buffer = [0u8; 256];
     let mut config = embassy_stm32::usb_otg::Config::default();
-    config.vbus_detection = true;
+    config.vbus_detection = false;
     let driver = Driver::new_fs(p.USB_OTG_FS, Irqs, p.PA12, p.PA11, &mut ep_out_buffer, config);
 
     // Create embassy-usb Config