start to switch to embassy

.cargo/config.toml

@@ -1,8 +1,15 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+rustflags = [
+  "-C",
+  "link-arg=-Tlink.x",
+  "-C",
+  "link-arg=-Tdefmt.x",
+  "-C",
+  "link-arg=--nmagic",
+]
+
 [build]
 target = "thumbv7em-none-eabihf"
 
-[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+[env]
-rustflags = [
+DEFMT_LOG = "debug"
-  "-C", "link-arg=-Tlink.x",
-  "-C", "link-arg=--nmagic",
-]

Cargo.toml

@@ -1,74 +1,108 @@
 [workspace]
 members = ["tflite_demo"]
 
-[workspace.features]
+# [workspace.features]
-default = ["ble-l2cap", "ble-gatt-server", "ble-gatt-client", "ble-sec"]
+# default = ["ble-l2cap", "ble-gatt-server", "ble-gatt-client", "ble-sec"]
 
-ble-l2cap = ["nrf-softdevice/ble-l2cap"]
+# ble-l2cap = ["nrf-softdevice/ble-l2cap"]
-ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
+# ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
-ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
+# ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
-ble-sec = ["nrf-softdevice/ble-sec"]
+# ble-sec = ["nrf-softdevice/ble-sec"]
 
-nrf52840 = [
+# nrf52840 = [
-    "embassy-nrf/nrf52840",
+#     "embassy-nrf/nrf52840",
-    "nrf-softdevice/nrf52840",
+#     "nrf-softdevice/nrf52840",
-    "nrf-softdevice/s140",
+#     "nrf-softdevice/s140",
-    "dep:nrf-softdevice-s140",
+#     "dep:nrf-softdevice-s140",
-]
+# ]
 
 [workspace.dependencies]
-cortex-m = { version = "0.7.7", features = [
+cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
-    "critical-section-single-core",
+cortex-m-rt = "0.7.5"
-    "inline-asm",
+defmt = "0.3.10"
-] }
+defmt-rtt = "0.4.1"
-cortex-m-rt = "0.7.2"
+defmt-serial = "0.10.0"
-nrf52840-hal = "0.16.0"
+embassy-executor = { version = "0.7.0", features = [
-usb-device = "0.2.7"
-usbd-serial = "0.1.0"
-microflow = { path = "../microflow-rs" }
-# microflow = "0.1.3"
-nalgebra = { version = "0.33.2", default-features = false, features = [
-    "macros",
-] }
-libm = "0.2"
-panic-halt = "1.0.0"
-panic-probe = { version = "0.3.1", features = ["print-defmt"] }
-heapless = "0.8.0"
-lsm6ds3tr = { path = "../lsm6ds3tr-rs" }
-embassy-sync = { version = "0.5.0" }
-embassy-executor = { version = "0.5.0", features = [
     "arch-cortex-m",
+    "defmt",
     "executor-thread",
     "executor-interrupt",
-    "defmt",
-    "integrated-timers",
 ] }
-embassy-time = { version = "0.3.0", features = [
+embassy-futures = { version = "0.1.1", features = ["defmt"] }
+embassy-nrf = { version = "0.3.1", features = [
+    "defmt",
+    "gpiote",
+    "nrf52840",
+    "time",
+    "time-driver-rtc1",
+    "unstable-pac",
+] }
+embassy-sync = { version = "0.6.1", features = ["defmt"] }
+embassy-time = { version = "0.4.0", features = [
     "defmt",
     "defmt-timestamp-uptime",
 ] }
-embassy-nrf = { version = "0.1.0", features = [
+embassy-embedded-hal = "0.3.0"
-    "defmt",
+embassy-usb = "0.2.0"
-    "nrf52840",
+embassy-usb-logger = "0.2.0"
-    "time-driver-rtc1",
+panic-probe = { version = "0.3.2", features = ["print-defmt"] }
-    "gpiote",
+# cortex-m = { version = "0.7.7", features = [
-    "time",
+#     "critical-section-single-core",
-] }
+#     "inline-asm",
-defmt = "0.3.0"
+# ] }
-defmt-rtt = "0.4.0"
+# cortex-m-rt = "0.7.5"
-embedded-storage = "0.3.0"
+# nrf52840-hal = "0.16.0"
+# usb-device = "0.3.2"
+# usbd-serial = "0.2.2"
+# microflow = { path = "../microflow-rs" }
+# # microflow = "0.1.3"
+# nalgebra = { version = "0.33.2", default-features = false, features = [
+#     "macros",
+# ] }
+# libm = "0.2"
+# panic-halt = "1.0.0"
+# panic-probe = { version = "0.3.2", features = ["print-defmt"] }
+# heapless = "0.8.0"
+# lsm6ds3tr = { path = "../lsm6ds3tr-rs" }
+
+# embassy-sync = { version = "0.5.0" }
+# # embassy-embedded-hal = "0.3.0"
+# embassy-executor = { version = "0.5.0", features = [
+#     "arch-cortex-m",
+#     "executor-thread",
+#     "executor-interrupt",
+#     "defmt",
+#     "integrated-timers",
+# ] }
+# embassy-time = { version = "0.3.0", features = [
+#     "defmt",
+#     "defmt-timestamp-uptime",
+# ] }
+# embassy-nrf = { version = "0.1.0", features = [
+#     "defmt",
+#     "nrf52840",
+#     "time-driver-rtc1",
+#     "gpiote",
+#     "time",
+# ] }
+
+# defmt = "0.3.10"
+# defmt-rtt = "0.4.1"
+# embedded-storage = "0.3.0"
 embedded-hal = "1.0.0"
 embedded-hal-async = { version = "1.0.0" }
-embedded-alloc = "0.6.0"
+# embedded-hal-bus = { version = "0.2.0", features = ["async"] }
-nrf-softdevice = { version = "0.1.0", features = [
+# embedded-alloc = "0.6.0"
-    "defmt",
+# nrf-softdevice = { version = "0.1.0", features = [
-    "ble-peripheral",
+#     "defmt",
-    "ble-central",
+#     "ble-peripheral",
-    "critical-section-impl",
+#     "ble-central",
-    "nrf52840",
+#     "critical-section-impl",
-    "s140",
+#     "nrf52840",
-] }
+#     "s140",
-nrf-softdevice-s140 = { version = "0.1.1" }
+# ] }
+# nrf-softdevice-s140 = { version = "0.1.1" }
 fixed = "1.24.0"
 atomic-pool = "1.0.1"
 static_cell = "2.0.0"
+assign-resources = "0.4.1"

tflite_demo/Cargo.toml

@@ -6,27 +6,42 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-cortex-m.workspace = true
-cortex-m-rt.workspace = true
-nrf52840-hal.workspace = true
-usb-device.workspace = true
-usbd-serial.workspace = true
-microflow.workspace = true
-libm.workspace = true
-nalgebra.workspace = true
-heapless.workspace = true
-lsm6ds3tr.workspace = true
-defmt.workspace = true
-defmt-rtt.workspace = true
-embedded-alloc.workspace = true
-embedded-hal.workspace = true
-embedded-hal-async.workspace = true
-nrf-softdevice.workspace = true
-nrf-softdevice-s140.workspace = true
 embassy-nrf.workspace = true
-embassy-time.workspace = true
+# embassy-time.workspace = true
 embassy-executor.workspace = true
 embassy-sync.workspace = true
+embassy-embedded-hal.workspace = true
+embassy-futures.workspace = true
+embassy-usb.workspace = true
+embassy-usb-logger.workspace = true
+
+# embedded-alloc.workspace = true
+embedded-hal.workspace = true
+embedded-hal-async.workspace = true
+
+cortex-m.workspace = true
+cortex-m-rt.workspace = true
+
+defmt.workspace = true
+defmt-rtt.workspace = true
+
+# nrf52840-hal.workspace = true
+# usb-device.workspace = true
+# usbd-serial.workspace = true
+
+# microflow.workspace = true
+# libm.workspace = true
+# nalgebra.workspace = true
+
+# heapless.workspace = true
+# lsm6ds3tr.workspace = true
+# nrf-softdevice.workspace = true
+# nrf-softdevice-s140.workspace = true
 fixed.workspace = true
 atomic-pool.workspace = true
+
+panic-probe.workspace = true
+defmt-serial.workspace = true
 static_cell.workspace = true
+assign-resources.workspace = true
+# embassy-embedded-hal.workspace = true

tflite_demo/src/common.rs

@@ -1,4 +0,0 @@
-#![macro_use]
-
-use defmt_rtt as _; // global logger
-use embassy_nrf as _; // time driver

tflite_demo/src/i2c.rs

@@ -1,16 +0,0 @@
-// Hypothetical I2C implementation (replace with your actual hardware I2C)
-// struct MyI2c;
-
-// impl I2c for MyI2c {
-//     // type Error = I2cError;
-
-//     fn read(&mut self, _address: u8, _buffer: &mut [u8]) -> Result<(), Self::Error> {
-//         // Simulate reading data
-//         Ok(())
-//     }
-
-//     fn write(&mut self, _address: u8, _bytes: &[u8]) -> Result<(), Self::Error> {
-//         // Simulate writing data
-//         Ok(())
-//     }
-// }

tflite_demo/src/lsm6ds3tr/registers/addresses.rs

@@ -277,264 +277,3 @@ impl<const BITS_NUM: u8, const BITS_POS: u8> From<bool> for RegisterBits<BITS_NU
         Self::from(value as u8)
     }
 }
-
-#[cfg(test)]
-mod tests {
-    use super::{RegisterBits, RegisterValue};
-
-    #[test]
-    fn new_1_0() {
-        const BITS: u8 = 1;
-        const POS: u8 = 0;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b1);
-    }
-
-    #[test]
-    fn new_1_1() {
-        const BITS: u8 = 1;
-        const POS: u8 = 1;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b1);
-    }
-
-    #[test]
-    fn new_1_2() {
-        const BITS: u8 = 1;
-        const POS: u8 = 2;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b1);
-    }
-
-    #[test]
-    fn new_2_0() {
-        const BITS: u8 = 2;
-        const POS: u8 = 0;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b11);
-    }
-
-    #[test]
-    fn new_2_1() {
-        const BITS: u8 = 2;
-        const POS: u8 = 1;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b11);
-    }
-
-    #[test]
-    fn new_2_2() {
-        const BITS: u8 = 2;
-        const POS: u8 = 2;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b11);
-    }
-
-    #[test]
-    fn shifted_1_0() {
-        const BITS: u8 = 1;
-        const POS: u8 = 0;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b1);
-    }
-
-    #[test]
-    fn shifted_1_1() {
-        const BITS: u8 = 1;
-        const POS: u8 = 1;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b10);
-    }
-
-    #[test]
-    fn shifted_1_2() {
-        const BITS: u8 = 1;
-        const POS: u8 = 2;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b100);
-    }
-
-    #[test]
-    fn shifted_2_1() {
-        const BITS: u8 = 2;
-        const POS: u8 = 1;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b110);
-    }
-
-    #[test]
-    fn shifted_2_2() {
-        const BITS: u8 = 2;
-        const POS: u8 = 2;
-        let rb = RegisterBits::<BITS, POS>::new(0b11111111);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b1100);
-    }
-
-    #[test]
-    fn new_from_reg_1_0() {
-        const BITS: u8 = 1;
-        const POS: u8 = 0;
-        let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b1);
-    }
-
-    #[test]
-    fn new_from_reg_1_1() {
-        const BITS: u8 = 1;
-        const POS: u8 = 1;
-        let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b10);
-    }
-
-    #[test]
-    fn new_from_reg_2_0() {
-        const BITS: u8 = 2;
-        const POS: u8 = 0;
-        let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b11);
-    }
-
-    #[test]
-    fn new_from_reg_2_1() {
-        const BITS: u8 = 2;
-        const POS: u8 = 1;
-        let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b110);
-    }
-
-    #[test]
-    fn new_from_reg_2_2() {
-        const BITS: u8 = 2;
-        const POS: u8 = 2;
-        let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b1100);
-    }
-
-    #[test]
-    fn from_reg_1_0() {
-        const BITS: u8 = 1;
-        const POS: u8 = 0;
-        let mut rb = RegisterBits::<BITS, POS>::default();
-        let reg: u8 = 0b11111111;
-        rb.set_from_reg(reg);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b1);
-    }
-
-    #[test]
-    fn from_reg_1_1() {
-        const BITS: u8 = 1;
-        const POS: u8 = 1;
-        let mut rb = RegisterBits::<BITS, POS>::default();
-        let reg: u8 = 0b11111111;
-        rb.set_from_reg(reg);
-        assert_eq!(rb.value, 0b1);
-        assert_eq!(rb.shifted(), 0b10);
-    }
-
-    #[test]
-    fn from_reg_2_0() {
-        const BITS: u8 = 2;
-        const POS: u8 = 0;
-        let mut rb = RegisterBits::<BITS, POS>::default();
-        let reg: u8 = 0b11111111;
-        rb.set_from_reg(reg);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b11);
-    }
-
-    #[test]
-    fn from_reg_2_1() {
-        const BITS: u8 = 2;
-        const POS: u8 = 1;
-        let mut rb = RegisterBits::<BITS, POS>::default();
-        let reg: u8 = 0b11111111;
-        rb.set_from_reg(reg);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b110);
-    }
-
-    #[test]
-    fn from_reg_2_2() {
-        const BITS: u8 = 2;
-        const POS: u8 = 2;
-        let mut rb = RegisterBits::<BITS, POS>::default();
-        let reg: u8 = 0b11111111;
-        rb.set_from_reg(reg);
-        assert_eq!(rb.value, 0b11);
-        assert_eq!(rb.shifted(), 0b1100);
-    }
-
-    #[test]
-    fn bit_mask_1_0() {
-        const BITS: u8 = 1;
-        const POS: u8 = 0;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_mask(), 0b1);
-    }
-
-    #[test]
-    fn bit_mask_2_0() {
-        const BITS: u8 = 2;
-        const POS: u8 = 0;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_mask(), 0b11);
-    }
-
-    #[test]
-    fn bit_mask_3_0() {
-        const BITS: u8 = 3;
-        const POS: u8 = 0;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_mask(), 0b111);
-    }
-
-    #[test]
-    fn bit_shifted_mask_1_0() {
-        const BITS: u8 = 1;
-        const POS: u8 = 0;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b1);
-    }
-
-    #[test]
-    fn bit_shifted_mask_1_1() {
-        const BITS: u8 = 1;
-        const POS: u8 = 1;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b10);
-    }
-
-    #[test]
-    fn bit_shifted_mask_2_0() {
-        const BITS: u8 = 2;
-        const POS: u8 = 0;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b11);
-    }
-
-    #[test]
-    fn bit_shifted_mask_2_1() {
-        const BITS: u8 = 2;
-        const POS: u8 = 1;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b110);
-    }
-
-    #[test]
-    fn bit_shifted_mask_3_0() {
-        const BITS: u8 = 3;
-        const POS: u8 = 0;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b111);
-    }
-
-    #[test]
-    fn bit_shifted_mask_3_1() {
-        const BITS: u8 = 3;
-        const POS: u8 = 1;
-        assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b1110);
-    }
-}

tflite_demo/src/main.rs

@@ -1,265 +1,147 @@
 #![no_main]
 #![no_std]
 
-mod common;
+mod lsm6ds3tr;
-mod i2c;
-mod lsm6ds;
 
-use core::fmt::Write;
+use defmt::{info, panic};
-use embedded_alloc::LlffHeap;
+use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
-use libm::sinf;
+use embassy_executor::Spawner;
-use lsm6ds::Lsm6ds33;
+use embassy_futures::join::join;
-// use lsm6ds3tr::{
+use embassy_nrf::peripherals::TWISPI0;
-//     interface::{I2cInterface, SpiInterface},
+use embassy_nrf::twim::Twim;
-//     LsmSettings, LSM6DS3TR,
+use embassy_nrf::usb::vbus_detect::{HardwareVbusDetect, VbusDetect};
-// };
+use embassy_nrf::usb::{Driver, Instance};
-// use lsm6ds3tr::{interface::SpiInterface, AccelScale, LsmSettings, LSM6DS3TR};
+use embassy_nrf::{bind_interrupts, pac, peripherals, twim, usb};
-use microflow::model;
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
-use nalgebra::matrix;
+use embassy_sync::mutex::Mutex;
-use nrf52840_hal::{self as hal, twim, Spim, Twim};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
-// use nrf_softdevice::{
+use embassy_usb::driver::EndpointError;
-//     ble::{EncryptionInfo, IdentityKey, MasterId, Uuid},
+use embassy_usb::{Builder, Config};
-//     Softdevice,
-// };
-use usb_device::class_prelude::UsbBusAllocator;
 
-use nrf52840_hal::{
+use lsm6ds3tr::interface::i2c::I2cInterface;
-    gpio::Level,
+// use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
-    prelude::{OutputPin, PinState, _embedded_hal_timer_CountDown},
+use static_cell::StaticCell;
-    uarte::{Baudrate, Parity, Pins, Uarte},
-    Rtc,
-};
 
-use heapless::String;
+use {defmt_serial as _, panic_probe as _};
 
-// const BATTERY_SERVICE: Uuid = Uuid::new_16(0x180f);
+static I2C_BUS: StaticCell<Mutex<NoopRawMutex, Twim<TWISPI0>>> = StaticCell::new();
-// const BATTERY_LEVEL: Uuid = Uuid::new_16(0x2a19);
 
-// const LED_SERVICE_UUID: Uuid = Uuid::new_16(0x112f);
+bind_interrupts!(struct Irqs {
-// const LED_CONTROL_CHAR_UUID: Uuid = Uuid::new_16(0x321f);
+    USBD => usb::InterruptHandler<peripherals::USBD>;
+    CLOCK_POWER => usb::vbus_detect::InterruptHandler;
+});
 
-const RTC_FREQ_MHZ: f32 = 0.032_768;
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_nrf::init(Default::default());
 
-#[global_allocator]
+    info!("Enabling ext hfosc...");
-static HEAP: LlffHeap = LlffHeap::empty();
+    pac::CLOCK.tasks_hfclkstart().write_value(1);
+    while pac::CLOCK.events_hfclkstarted().read() != 1 {}
 
-// #[embassy_executor::task]
+    // Create the driver, from the HAL.
-// async fn softdevice_task(sd: &'static Softdevice) {
+    let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));
-//     sd.run().await;
-// }
 
-// #[derive(Debug, Clone, Copy)]
+    // Create embassy-usb Config
-// struct Peer {
+    let mut config = Config::new(0xc0de, 0xcafe);
-//     master_id: MasterId,
+    config.manufacturer = Some("Embassy");
-//     key: EncryptionInfo,
+    config.product = Some("USB-serial example");
-//     peer_id: IdentityKey,
+    config.serial_number = Some("12345678");
-// }
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
 
-#[panic_handler] // panicking behavior
+    // Create embassy-usb DeviceBuilder using the driver and config.
-fn panic(_: &core::panic::PanicInfo) -> ! {
+    // It needs some buffers for building the descriptors.
-    reset_into_dfu();
+    let mut config_descriptor = [0; 256];
-}
+    let mut bos_descriptor = [0; 256];
+    let mut msos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
 
-#[model("tflite_demo/models/sine.tflite")]
+    let mut state = State::new();
-struct Sine;
 
-#[model("tflite_demo/models/speech.tflite")]
+    let mut builder = Builder::new(
-struct Speech;
+        driver,
+        config,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut msos_descriptor,
+        &mut control_buf,
+    );
 
-/// Resets the device into Device Firmware Update mode (DFU).
+    // Create classes on the builder.
-fn reset_into_dfu() -> ! {
+    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
-    // Via https://devzone.nordicsemi.com/f/nordic-q-a/50839/start-dfu-mode-or-open_bootloader-from-application-by-function-call
+
-    unsafe {
+    // Build the builder.
-        (*hal::pac::POWER::PTR).gpregret.write(|w| w.bits(0xB1));
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Do stuff with the class!
+    let echo_fut = async {
+        loop {
+            class.wait_connection().await;
+            info!("Connected");
+            let _ = echo(&mut class).await;
+            info!("Disconnected");
+        }
     };
 
-    hal::pac::SCB::sys_reset()
+    // Run everything concurrently.
-}
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(usb_fut, echo_fut).await;
 
-#[derive(Clone, Copy)]
+    // let config = twim::Config::default();
-enum LightState {
+    // let i2c = embassy_nrf::twim::Twim::new(p.TWISPI0, Irqs2, p.P0_07, p.P0_27, config);
-    Red = 0,
-    Green = 1,
-    Blue = 2,
-}
 
-#[cortex_m_rt::entry]
+    let i2c_bus = {
-fn main() -> ! {
+        use embassy_nrf::{
-    {
+            bind_interrupts,
-        use core::mem::MaybeUninit;
+            peripherals::{self},
-        const HEAP_SIZE: usize = 1024;
+        };
-        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+        // bind_interrupts!(struct Irqs {
-        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
+        //     SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => twim::InterruptHandler<peripherals::TWISPI0>;
-    }
+        // });
+        bind_interrupts!(struct Irqs2 {
+            TWISPI0 => twim::InterruptHandler<peripherals::TWISPI0>;
+        });
+        let config = twim::Config::default();
+        let i2c = Twim::new(p.TWISPI0, Irqs2, p.P0_07, p.P0_27, config);
+        let i2c_bus = Mutex::<NoopRawMutex, _>::new(i2c);
+        I2C_BUS.init(i2c_bus)
+    };
 
-    let p = hal::pac::Peripherals::take().unwrap();
+    let i2c = I2cDevice::new(i2c_bus);
-    let port0 = hal::gpio::p0::Parts::new(p.P0);
-    let mut led_red = port0.p0_26.into_push_pull_output(Level::Low);
-    let mut led_green = port0.p0_30.into_push_pull_output(Level::Low);
-    let mut led_blue = port0.p0_06.into_push_pull_output(Level::Low);
 
-    let clocks = hal::clocks::Clocks::new(p.CLOCK);
+    let interface = I2cInterface::new(i2c);
-    let clocks = clocks.enable_ext_hfosc();
+    let imu = lsm6ds3tr::LSM6DS3TR::new(interface);
-    let usb_peripheral = hal::usbd::UsbPeripheral::new(p.USBD, &clocks);
-    let usb_bus = UsbBusAllocator::new(hal::usbd::Usbd::new(usb_peripheral));
-    let mut serial_port = usbd_serial::SerialPort::new(&usb_bus);
 
-    // let spiclk = port0.p0_24.into_push_pull_output(Level::Low).degrade();
+    // let mut serial_port = usbd_serial::SerialPort::new(&usb);
-    // let spimosi = port0.p0_23.into_push_pull_output(Level::Low).degrade();
-    // let spimiso = port0.p0_22.into_floating_input().degrade();
-
-    // let pins = nrf52840_hal::spim::Pins {
-    //     sck: Some(spiclk),
-    //     miso: Some(spimiso),
-    //     mosi: Some(spimosi),
-    // };
-
-    // let spim = Spim::new(
-    //     p.SPIM2,
-    //     pins,
-    //     nrf52840_hal::spim::Frequency::K125,
-    //     nrf52840_hal::spim::MODE_0,
-    //     0,
-    // );
-
-    // let spi_interface = SpiInterface::new(spim);
-
-    // let settings = LsmSettings::basic();
-    // let mut imu = LSM6DS3TR::new(spi_interface);
-    // imu.init().expect("Couldn't initialize the LSM6 sensor!");
-
-    // let scl = port0.p0_27.into_floating_input().degrade();
-    // let sda = port0.p0_07.into_floating_input().degrade();
-
-    // let pins = twim::Pins { scl: scl, sda: sda };
-
-    // let i2c = Twim::new(p.TWIM0, pins, twim::Frequency::K100);
-
-    // let i2c_interface = I2cInterface::new(i2c);
-
-    // let mut imu = LSM6DS3TR::new(I2cInterface::new(""));
-
-    // let mut imu = Lsm6ds33::new(i2c, addr);
-
-    let rtc = Rtc::new(p.RTC0, 0).unwrap();
-    rtc.enable_counter();
-
-    let mut usb_device = usb_device::device::UsbDeviceBuilder::new(
-        &usb_bus,
-        usb_device::device::UsbVidPid(0x16c0, 0x27dd),
-    )
-    .manufacturer("HSRW")
-    .product("HSRW Pet Tracker nRF52840")
-    .serial_number("pet1")
-    .device_class(usbd_serial::USB_CLASS_CDC)
-    .max_packet_size_0(64) // makes control transfers 8x faster says https://github.com/nrf-rs/nrf-hal/blob/master/examples/usb/src/bin/serial.rs
-    .build();
-
-    let x = 0.5;
-    let start = rtc.get_counter();
-    let y_predicted = Sine::predict(matrix![x])[0];
-    let end = rtc.get_counter();
-    let y_exact = sinf(x);
-
-    // TIMER0 is reserved by Softdevice
-    // https://devzone.nordicsemi.com/f/nordic-q-a/1160/soft-device-and-timers---how-do-they-work-together
-    let mut timer = hal::Timer::new(p.TIMER1).into_periodic();
-    timer.start(hal::Timer::<hal::pac::TIMER0>::TICKS_PER_SECOND);
-
-    let mut light = LightState::Red;
 
     loop {
-        light = match light {
+        info!("Hello, world!");
-            LightState::Red => LightState::Green,
+    }
-            LightState::Green => LightState::Blue,
+}
-            LightState::Blue => LightState::Red,
-        };
-        match light {
-            LightState::Red => {
-                led_red.set_state(PinState::Low).unwrap();
-                led_green.set_state(PinState::High).unwrap();
-                led_blue.set_state(PinState::High).unwrap();
-            }
-            LightState::Green => {
-                led_red.set_state(PinState::High).unwrap();
-                led_green.set_state(PinState::Low).unwrap();
-                led_blue.set_state(PinState::High).unwrap();
-            }
-            LightState::Blue => {
-                led_red.set_state(PinState::High).unwrap();
-                led_green.set_state(PinState::High).unwrap();
-                led_blue.set_state(PinState::Low).unwrap();
-                //reset_into_dfu();
-            }
-        }
 
-        // if !usb_dev.poll(&mut [&mut serial]) {
+struct Disconnected {}
-        //     continue;
-        // }
 
-        let mut buf = [0u8; 64];
+impl From<EndpointError> for Disconnected {
-
+    fn from(val: EndpointError) -> Self {
-        match serial_port.read(&mut buf) {
+        match val {
-            Ok(count) if count > 0 => {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
-                // Check if received data equals to 'reset'
+            EndpointError::Disabled => Disconnected {},
-                for i in 0..count - 4 {
-                    if buf[i] == b'r'
-                        && buf[i + 1] == b'e'
-                        && buf[i + 2] == b's'
-                        && buf[i + 3] == b'e'
-                        && buf[i + 4] == b't'
-                    {
-                        reset_into_dfu();
-                    }
-                }
-
-                if buf[..12].iter().all(|&x| x == 0) {
-                    reset_into_dfu();
-                }
-
-                // Echo back in upper case
-                for c in buf[0..count].iter_mut() {
-                    if 0x61 <= *c && *c <= 0x7a {
-                        *c &= !0x20;
-                    }
-                }
-
-                let mut write_offset = 0;
-                while write_offset < count {
-                    match serial_port.write(&buf[write_offset..count]) {
-                        Ok(len) if len > 0 => {
-                            write_offset += len;
-                        }
-                        _ => {}
-                    }
-                }
-            }
-            _ => {}
-        }
-
-        let text = y_predicted.to_bits();
-        let mut data = String::<32>::new();
-
-        let text2 = y_exact.to_bits();
-        let mut data2 = String::<32>::new();
-
-        let _ = serial_port.write("Hello World\n".as_bytes());
-
-        let _ = serial_port.write("Predicted Y: ".as_bytes());
-        let _ = write!(data, "data:{text}");
-        let _ = serial_port.write(data.as_bytes());
-        let _ = serial_port.write("\n".as_bytes());
-
-        let _ = serial_port.write("Exact Y: ".as_bytes());
-        let _ = write!(data2, "data:{text2}");
-        let _ = serial_port.write(data2.as_bytes());
-        let _ = serial_port.write("\n".as_bytes());
-
-        while timer.wait().is_err() {
-            // TODO: sleep.
-            // Spec says poll needs to be called at least every 10ms.
-            usb_device.poll(&mut [&mut serial_port]);
-            continue;
         }
     }
 }
+
+async fn echo<'d, T: Instance + 'd, P: VbusDetect + 'd>(
+    class: &mut CdcAcmClass<'d, Driver<'d, T, P>>,
+) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        info!("data: {:x}", data);
+        class.write_packet(data).await?;
+    }
+}