WIP: implement USB OUT bulk transfers using OTG-HS's DMA

docs/pages/embassy_in_the_wild.adoc

@@ -4,14 +4,16 @@ Here are known examples of real-world projects which make use of Embassy. Feel f
 
 _newer entries at the top_
 
+* link:https://github.com/1-rafael-1/air-quality-monitor[Air Quality Monitor]
+** Air Quality Monitor based on rp2350 board, ens160 and aht21 sensors and ssd1306 display. Code and 3D printable enclosure included.
 * link:https://github.com/CarlKCarlK/clock[Embassy Clock: Layered, modular bare-metal clock with emulation]
 ** A `no_std` Raspberry Pi Pico clock demonstrating layered Embassy tasks (Display->Blinker->Clock) for clean separation of multiplexing, blinking, and UI logic. Features single-button HH:MM/MM:SS time-set UI, heapless data structures, and a Renode emulator for hardware-free testing. See link:https://medium.com/@carlmkadie/how-rust-embassy-shine-on-embedded-devices-part-2-aad1adfccf72[this article] for details.
 * link:https://github.com/1-rafael-1/simple-robot[A simple tracked robot based on Raspberry Pi Pico 2]
 ** A hobbyist project building a tracked robot with basic autonomous and manual drive mode.
 * link:https://github.com/1-rafael-1/pi-pico-alarmclock-rust[A Raspberry Pi Pico W Alarmclock]
 ** A hobbyist project building an alarm clock around a Pi Pico W complete with code, components list and enclosure design files.
 * link:https://github.com/haobogu/rmk/[RMK: A feature-rich Rust keyboard firmware]
-** RMK has built-in layer support, wireless(BLE) support, real-time key editing support using vial, and more! 
+** RMK has built-in layer support, wireless(BLE) support, real-time key editing support using vial, and more!
 ** Targets STM32, RP2040, nRF52 and ESP32 MCUs
 * link:https://github.com/cbruiz/printhor/[Printhor: The highly reliable but not necessarily functional 3D printer firmware]
 ** Targets some STM32 MCUs
@@ -21,10 +23,9 @@ _newer entries at the top_
 * link:https://github.com/matoushybl/air-force-one[Air force one: A simple air quality monitoring system]
 ** Targets nRF52 and uses nrf-softdevice
 
-* link:https://github.com/schmettow/ylab-edge-go[YLab Edge Go] and link:https://github.com/schmettow/ylab-edge-pro[YLab Edge Pro] projects develop 
+* link:https://github.com/schmettow/ylab-edge-go[YLab Edge Go] and link:https://github.com/schmettow/ylab-edge-pro[YLab Edge Pro] projects develop
 firmware (RP2040, STM32) for capturing physiological data in behavioural science research. Included so far are:
 ** biopotentials (analog ports)
 ** motion capture (6-axis accelerometers)
 ** air quality (CO2, Temp, Humidity)
 ** comes with an app for capturing and visualizing data [link:https://github.com/schmettow/ystudio-zero[Ystudio]]
-

embassy-executor/CHANGELOG.md

@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Upgraded rtos-trace
 - Added optional "highest priority" scheduling
 - Added optional "earliest deadline first" EDF scheduling
+- Bump `cortex-ar` to v0.3
 
 ## 0.9.1 - 2025-08-31
 

embassy-executor/Cargo.toml

@@ -98,7 +98,7 @@ portable-atomic = { version = "1.5", optional = true }
 cortex-m = { version = "0.7.6", optional = true }
 
 # arch-cortex-ar dependencies
-cortex-ar = { version = "0.2", optional = true }
+cortex-ar = { version = "0.3", optional = true }
 
 # arch-wasm dependencies
 wasm-bindgen = { version = "0.2.82", optional = true }

embassy-nrf/CHANGELOG.md

@@ -7,6 +7,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 <!-- next-header -->
 ## Unreleased - ReleaseDate
+- changed: apply trimming values from FICR.TRIMCNF on nrf53/54l
 
 ## 0.8.0 - 2025-09-30
 

embassy-nrf/src/chips/nrf54l15_app.rs

@@ -94,6 +94,7 @@ pub mod pac {
     #[cfg(feature = "_s")]
     #[doc(no_inline)]
     pub use nrf_pac::{
+        FICR_NS as FICR,
         SICR_S as SICR,
         ICACHEDATA_S as ICACHEDATA,
         ICACHEINFO_S as ICACHEINFO,

embassy-nrf/src/lib.rs

@@ -406,16 +406,19 @@ pub mod config {
     /// Settings for the internal capacitors.
     #[cfg(feature = "nrf5340-app-s")]
     pub struct InternalCapacitors {
-        /// Config for the internal capacitors on pins XC1 and XC2.
+        /// Config for the internal capacitors on pins XC1 and XC2. Pass `None` to not touch it.
         pub hfxo: Option<HfxoCapacitance>,
-        /// Config for the internal capacitors between pins XL1 and XL2.
+        /// Config for the internal capacitors between pins XL1 and XL2. Pass `None` to not touch
+        /// it.
         pub lfxo: Option<LfxoCapacitance>,
     }
 
     /// Internal capacitance value for the HFXO.
     #[cfg(feature = "nrf5340-app-s")]
     #[derive(Copy, Clone)]
     pub enum HfxoCapacitance {
+        /// Use external capacitors
+        External,
         /// 7.0 pF
         _7_0pF,
         /// 7.5 pF
@@ -475,8 +478,9 @@ pub mod config {
     #[cfg(feature = "nrf5340-app-s")]
     impl HfxoCapacitance {
         /// The capacitance value times two.
-        pub(crate) const fn value2(self) -> i32 {
+        pub(crate) fn value2(self) -> i32 {
             match self {
+                HfxoCapacitance::External => unreachable!(),
                 HfxoCapacitance::_7_0pF => 14,
                 HfxoCapacitance::_7_5pF => 15,
                 HfxoCapacitance::_8_0pF => 16,
@@ -506,11 +510,17 @@ pub mod config {
                 HfxoCapacitance::_20_0pF => 40,
             }
         }
+
+        pub(crate) fn external(self) -> bool {
+            matches!(self, Self::External)
+        }
     }
 
     /// Internal capacitance value for the LFXO.
     #[cfg(feature = "nrf5340-app-s")]
     pub enum LfxoCapacitance {
+        /// Use external capacitors
+        External = 0,
         /// 6 pF
         _6pF = 1,
         /// 7 pF
@@ -523,6 +533,7 @@ pub mod config {
     impl From<LfxoCapacitance> for super::pac::oscillators::vals::Intcap {
         fn from(t: LfxoCapacitance) -> Self {
             match t {
+                LfxoCapacitance::External => Self::EXTERNAL,
                 LfxoCapacitance::_6pF => Self::C6PF,
                 LfxoCapacitance::_7pF => Self::C7PF,
                 LfxoCapacitance::_9pF => Self::C9PF,
@@ -720,6 +731,29 @@ pub fn init(config: config::Config) -> Peripherals {
         }
     }
 
+    // Apply trimming values from the FICR.
+    #[cfg(any(
+        all(feature = "_nrf5340-app", feature = "_s"),
+        all(feature = "_nrf54l", feature = "_s"),
+        feature = "_nrf5340-net",
+    ))]
+    {
+        #[cfg(feature = "_nrf5340")]
+        let n = 32;
+        #[cfg(feature = "_nrf54l")]
+        let n = 64;
+        for i in 0..n {
+            let info = pac::FICR.trimcnf(i);
+            let addr = info.addr().read();
+            if addr == 0 || addr == 0xFFFF_FFFF {
+                break;
+            }
+            unsafe {
+                (addr as *mut u32).write_volatile(info.data().read());
+            }
+        }
+    }
+
     // GLITCHDET is only accessible for secure code
     #[cfg(all(feature = "_nrf54l", feature = "_s"))]
     {
@@ -953,17 +987,21 @@ pub fn init(config: config::Config) -> Peripherals {
     #[cfg(feature = "nrf5340-app-s")]
     {
         if let Some(cap) = config.internal_capacitors.hfxo {
-            let mut slope = pac::FICR.xosc32mtrim().read().slope() as i32;
-            let offset = pac::FICR.xosc32mtrim().read().offset() as i32;
-            // slope is a signed 5-bit integer
-            if slope >= 16 {
-                slope -= 32;
+            if cap.external() {
+                pac::OSCILLATORS.xosc32mcaps().write(|w| w.set_enable(false));
+            } else {
+                let mut slope = pac::FICR.xosc32mtrim().read().slope() as i32;
+                let offset = pac::FICR.xosc32mtrim().read().offset() as i32;
+                // slope is a signed 5-bit integer
+                if slope >= 16 {
+                    slope -= 32;
+                }
+                let capvalue = (((slope + 56) * (cap.value2() - 14)) + ((offset - 8) << 4) + 32) >> 6;
+                pac::OSCILLATORS.xosc32mcaps().write(|w| {
+                    w.set_capvalue(capvalue as u8);
+                    w.set_enable(true);
+                });
             }
-            let capvalue = (((slope + 56) * (cap.value2() - 14)) + ((offset - 8) << 4) + 32) >> 6;
-            pac::OSCILLATORS.xosc32mcaps().write(|w| {
-                w.set_capvalue(capvalue as u8);
-                w.set_enable(true);
-            });
         }
         if let Some(cap) = config.internal_capacitors.lfxo {
             pac::OSCILLATORS.xosc32ki().intcap().write(|w| w.set_intcap(cap.into()));

embassy-nrf/src/radio/ieee802154.rs

@@ -52,6 +52,7 @@ impl<'d> Radio<'d> {
         // Disable and enable to reset peripheral
         r.power().write(|w| w.set_power(false));
         r.power().write(|w| w.set_power(true));
+        errata::post_power();
 
         // Enable 802.15.4 mode
         r.mode().write(|w| w.set_mode(vals::Mode::IEEE802154_250KBIT));
@@ -541,3 +542,19 @@ fn dma_start_fence() {
 fn dma_end_fence() {
     compiler_fence(Ordering::Acquire);
 }
+
+mod errata {
+    pub fn post_power() {
+        // Workaround for anomaly 158
+        #[cfg(feature = "_nrf5340-net")]
+        for i in 0..32 {
+            let info = crate::pac::FICR.trimcnf(i);
+            let addr = info.addr().read();
+            if addr & 0xFFFF_F000 == crate::pac::RADIO.as_ptr() as u32 {
+                unsafe {
+                    (addr as *mut u32).write_volatile(info.data().read());
+                }
+            }
+        }
+    }
+}

embassy-stm32/src/usb/otg.rs

@@ -26,7 +26,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
     unsafe fn on_interrupt() {
         let r = T::regs();
         let state = T::state();
-        on_interrupt_impl(r, state, T::ENDPOINT_COUNT);
+        on_interrupt_impl(r, state);
     }
 }
 
@@ -44,7 +44,7 @@ macro_rules! config_ulpi_pins {
 // This calculation doesn't correspond to one in a Reference Manual.
 // In fact, the required number of words is higher than indicated in RM.
 // The following numbers are pessimistic and were figured out empirically.
-const RX_FIFO_EXTRA_SIZE_WORDS: u16 = 30;
+const RX_FIFO_EXTRA_SIZE_WORDS: u16 = 256;
 
 /// USB driver.
 pub struct Driver<'d, T: Instance> {
@@ -54,18 +54,11 @@ pub struct Driver<'d, T: Instance> {
 
 impl<'d, T: Instance> Driver<'d, T> {
     /// Initializes USB OTG peripheral with internal Full-Speed PHY.
-    ///
-    /// # Arguments
-    ///
-    /// * `ep_out_buffer` - An internal buffer used to temporarily store received packets.
-    /// Must be large enough to fit all OUT endpoint max packet sizes.
-    /// Endpoint allocation will fail if it is too small.
     pub fn new_fs(
         _peri: Peri<'d, T>,
         _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
         dp: Peri<'d, impl DpPin<T>>,
         dm: Peri<'d, impl DmPin<T>>,
-        ep_out_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
         set_as_af!(dp, AfType::output(OutputType::PushPull, Speed::VeryHigh));
@@ -84,24 +77,17 @@ impl<'d, T: Instance> Driver<'d, T> {
         };
 
         Self {
-            inner: OtgDriver::new(ep_out_buffer, instance, config),
+            inner: OtgDriver::new(instance, config),
             phantom: PhantomData,
         }
     }
 
     /// Initializes USB OTG peripheral with internal High-Speed PHY.
-    ///
-    /// # Arguments
-    ///
-    /// * `ep_out_buffer` - An internal buffer used to temporarily store received packets.
-    /// Must be large enough to fit all OUT endpoint max packet sizes.
-    /// Endpoint allocation will fail if it is too small.
     pub fn new_hs(
         _peri: Peri<'d, T>,
         _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
         _dp: Peri<'d, impl DpPin<T>>,
         _dm: Peri<'d, impl DmPin<T>>,
-        ep_out_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
         // For STM32U5 High speed pins need to be left in analog mode
@@ -122,18 +108,12 @@ impl<'d, T: Instance> Driver<'d, T> {
         };
 
         Self {
-            inner: OtgDriver::new(ep_out_buffer, instance, config),
+            inner: OtgDriver::new(instance, config),
             phantom: PhantomData,
         }
     }
 
     /// Initializes USB OTG peripheral with external Full-speed PHY (usually, a High-speed PHY in Full-speed mode).
-    ///
-    /// # Arguments
-    ///
-    /// * `ep_out_buffer` - An internal buffer used to temporarily store received packets.
-    /// Must be large enough to fit all OUT endpoint max packet sizes.
-    /// Endpoint allocation will fail if it is too small.
     pub fn new_fs_ulpi(
         _peri: Peri<'d, T>,
         _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@@ -149,7 +129,6 @@ impl<'d, T: Instance> Driver<'d, T> {
         ulpi_d5: Peri<'d, impl UlpiD5Pin<T>>,
         ulpi_d6: Peri<'d, impl UlpiD6Pin<T>>,
         ulpi_d7: Peri<'d, impl UlpiD7Pin<T>>,
-        ep_out_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
         config_ulpi_pins!(
@@ -168,18 +147,12 @@ impl<'d, T: Instance> Driver<'d, T> {
         };
 
         Self {
-            inner: OtgDriver::new(ep_out_buffer, instance, config),
+            inner: OtgDriver::new(instance, config),
             phantom: PhantomData,
         }
     }
 
     /// Initializes USB OTG peripheral with external High-Speed PHY.
-    ///
-    /// # Arguments
-    ///
-    /// * `ep_out_buffer` - An internal buffer used to temporarily store received packets.
-    /// Must be large enough to fit all OUT endpoint max packet sizes.
-    /// Endpoint allocation will fail if it is too small.
     pub fn new_hs_ulpi(
         _peri: Peri<'d, T>,
         _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
@@ -195,7 +168,6 @@ impl<'d, T: Instance> Driver<'d, T> {
         ulpi_d5: Peri<'d, impl UlpiD5Pin<T>>,
         ulpi_d6: Peri<'d, impl UlpiD6Pin<T>>,
         ulpi_d7: Peri<'d, impl UlpiD7Pin<T>>,
-        ep_out_buffer: &'d mut [u8],
         config: Config,
     ) -> Self {
         assert!(T::HIGH_SPEED == true, "Peripheral is not capable of high-speed USB");
@@ -216,7 +188,7 @@ impl<'d, T: Instance> Driver<'d, T> {
         };
 
         Self {
-            inner: OtgDriver::new(ep_out_buffer, instance, config),
+            inner: OtgDriver::new(instance, config),
             phantom: PhantomData,
         }
     }