nxp: Add MIMXRT1011 GPIO and time driver

PIT is used for the time driver

.vscode/settings.json

@@ -36,6 +36,7 @@
     // "examples/nrf52840-rtic/Cargo.toml",
     // "examples/nrf5340/Cargo.toml",
     // "examples/nrf-rtos-trace/Cargo.toml",
+    // "examples/mimxrt1011/Cargo.toml",
     // "examples/rp/Cargo.toml",
     // "examples/std/Cargo.toml",
     // "examples/stm32c0/Cargo.toml",

ci.sh

@@ -181,6 +181,7 @@ cargo batch \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u073mb,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv6m-none-eabi --features stm32u083rc,defmt,exti,time-driver-any,time \
     --- build --release --manifest-path embassy-nxp/Cargo.toml --target thumbv8m.main-none-eabihf --features lpc55,defmt \
+    --- build --release --manifest-path embassy-nxp/Cargo.toml --target thumbv7em-none-eabihf --features mimxrt1011,defmt,time-driver-pit \
     --- build --release --manifest-path embassy-mspm0/Cargo.toml --target thumbv6m-none-eabi --features mspm0c1104dgs20,defmt,time-driver-any \
     --- build --release --manifest-path embassy-mspm0/Cargo.toml --target thumbv6m-none-eabi --features mspm0g3507pm,defmt,time-driver-any \
     --- build --release --manifest-path embassy-mspm0/Cargo.toml --target thumbv6m-none-eabi --features mspm0g3519pz,defmt,time-driver-any \
@@ -264,6 +265,7 @@ cargo batch \
     --- build --release --manifest-path examples/stm32wba/Cargo.toml --target thumbv8m.main-none-eabihf --artifact-dir out/examples/stm32wba \
     --- build --release --manifest-path examples/stm32wl/Cargo.toml --target thumbv7em-none-eabi --artifact-dir out/examples/stm32wl \
     --- build --release --manifest-path examples/lpc55s69/Cargo.toml --target thumbv8m.main-none-eabihf --artifact-dir out/examples/lpc55s69 \
+    --- build --release --manifest-path examples/mimxrt1011/Cargo.toml --target thumbv7em-none-eabihf --artifact-dir out/examples/mimxrt1011 \
     --- build --release --manifest-path examples/mspm0g3507/Cargo.toml --target thumbv6m-none-eabi --artifact-dir out/examples/mspm0g3507 \
     --- build --release --manifest-path examples/mspm0g3519/Cargo.toml --target thumbv6m-none-eabi --artifact-dir out/examples/mspm0g3519 \
     --- build --release --manifest-path examples/mspm0l1306/Cargo.toml --target thumbv6m-none-eabi --artifact-dir out/examples/mspm0l1306 \

embassy-nxp/Cargo.toml

@@ -11,22 +11,50 @@ embassy-hal-internal = { version = "0.3.0", path = "../embassy-hal-internal", fe
 embassy-sync = { version = "0.7.0", path = "../embassy-sync" }
 defmt = { version = "1", optional = true }
 log = { version = "0.4.27", optional = true }
+embassy-time = { version = "0.4.0", path = "../embassy-time", optional = true }
+embassy-time-driver = { version = "0.2", path = "../embassy-time-driver", optional = true }
+embassy-time-queue-utils = { version = "0.1", path = "../embassy-time-queue-utils", optional = true }
 
 ## Chip dependencies
 lpc55-pac = { version = "0.5.0", optional = true }
+nxp-pac = { version = "0.1.0", optional = true, git = "https://github.com/i509VCB/nxp-pac", rev = "1e010dbe75ab0e14dd908e4646391403414c8a8e" }
+
+imxrt-rt = { version = "0.1.7", optional = true, features = ["device"] }
+
+[build-dependencies]
+cfg_aliases = "0.2.1"
+nxp-pac = { version = "0.1.0", git = "https://github.com/i509VCB/nxp-pac", rev = "1e010dbe75ab0e14dd908e4646391403414c8a8e", features = ["metadata"], optional = true }
+proc-macro2 = "1.0.95"
+quote = "1.0.15"
 
 [features]
 default = ["rt"]
-# Enable PACs as optional dependencies, since some chip families will use different pac crates.
-rt = ["lpc55-pac?/rt"]
+# Enable PACs as optional dependencies, since some chip families will use different pac crates (temporarily).
+rt = ["lpc55-pac?/rt", "nxp-pac?/rt"]
 
 ## Enable [defmt support](https://docs.rs/defmt) and enables `defmt` debug-log messages and formatting in embassy drivers.
 defmt = ["dep:defmt", "embassy-hal-internal/defmt", "embassy-sync/defmt"]
+
+log = ["dep:log"]
+
+## Use Periodic Interrupt Timer (PIT) as the time driver for `embassy-time`, with a tick rate of 1 MHz
+time-driver-pit = ["_time_driver", "embassy-time?/tick-hz-1_000_000"]
+
 ## Reexport the PAC for the currently enabled chip at `embassy_nxp::pac` (unstable)
 unstable-pac = []
-# This is unstable because semver-minor (non-breaking) releases of embassy-nrf may major-bump (breaking) the PAC version.
+# This is unstable because semver-minor (non-breaking) releases of embassy-nxp may major-bump (breaking) the PAC version.
 # If this is an issue for you, you're encouraged to directly depend on a fixed version of the PAC.
 # There are no plans to make this stable.
 
+## internal use only
+#
+# This feature is unfortunately a hack around the fact that cfg_aliases cannot apply to the buildscript
+# that creates the aliases.
+_rt1xxx = []
+
+# A timer driver is enabled.
+_time_driver = ["dep:embassy-time-driver", "dep:embassy-time-queue-utils"]
+
 #! ### Chip selection features
-lpc55 = ["lpc55-pac"]
+lpc55 = ["dep:lpc55-pac"]
+mimxrt1011 = ["nxp-pac/mimxrt1011", "_rt1xxx", "dep:imxrt-rt"]

embassy-nxp/build.rs

@@ -0,0 +1,136 @@
+use std::io::Write;
+use std::path::{Path, PathBuf};
+use std::process::Command;
+use std::{env, fs};
+
+use cfg_aliases::cfg_aliases;
+#[cfg(feature = "_rt1xxx")]
+use nxp_pac::metadata;
+#[allow(unused)]
+use proc_macro2::TokenStream;
+#[allow(unused)]
+use quote::quote;
+
+#[path = "./build_common.rs"]
+mod common;
+
+fn main() {
+    let mut cfgs = common::CfgSet::new();
+    common::set_target_cfgs(&mut cfgs);
+
+    let chip_name = match env::vars()
+        .map(|(a, _)| a)
+        .filter(|x| x.starts_with("CARGO_FEATURE_MIMXRT") || x.starts_with("CARGO_FEATURE_LPC"))
+        .get_one()
+    {
+        Ok(x) => x,
+        Err(GetOneError::None) => panic!("No mimxrt/lpc Cargo feature enabled"),
+        Err(GetOneError::Multiple) => panic!("Multiple mimxrt/lpc Cargo features enabled"),
+    }
+    .strip_prefix("CARGO_FEATURE_")
+    .unwrap()
+    .to_ascii_lowercase();
+
+    cfg_aliases! {
+        rt1xxx: { feature = "mimxrt1011" },
+        gpio1: { feature = "mimxrt1011" },
+        gpio2: { feature = "mimxrt1011" },
+        gpio5: { feature = "mimxrt1011" },
+    }
+
+    eprintln!("chip: {chip_name}");
+
+    generate_code();
+}
+
+#[cfg(feature = "_rt1xxx")]
+fn generate_iomuxc() -> TokenStream {
+    use proc_macro2::{Ident, Span};
+
+    let pads = metadata::iomuxc::IOMUXC_REGISTERS.iter().map(|registers| {
+        let name = Ident::new(&registers.name, Span::call_site());
+        let address = registers.pad_ctl;
+
+        quote! {
+            pub const #name: u32 = #address;
+        }
+    });
+
+    let muxes = metadata::iomuxc::IOMUXC_REGISTERS.iter().map(|registers| {
+        let name = Ident::new(&registers.name, Span::call_site());
+        let address = registers.mux_ctl;
+
+        quote! {
+            pub const #name: u32 = #address;
+        }
+    });
+
+    quote! {
+        pub mod iomuxc {
+            pub mod pads {
+                #(#pads)*
+            }
+
+            pub mod muxes {
+                #(#muxes)*
+            }
+        }
+    }
+}
+
+fn generate_code() {
+    #[allow(unused)]
+    use std::fmt::Write;
+
+    let out_dir = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    #[allow(unused_mut)]
+    let mut output = String::new();
+
+    #[cfg(feature = "_rt1xxx")]
+    writeln!(&mut output, "{}", generate_iomuxc()).unwrap();
+
+    let out_file = out_dir.join("_generated.rs").to_string_lossy().to_string();
+    fs::write(&out_file, output).unwrap();
+    rustfmt(&out_file);
+}
+
+/// rustfmt a given path.
+/// Failures are logged to stderr and ignored.
+fn rustfmt(path: impl AsRef<Path>) {
+    let path = path.as_ref();
+    match Command::new("rustfmt").args([path]).output() {
+        Err(e) => {
+            eprintln!("failed to exec rustfmt {:?}: {:?}", path, e);
+        }
+        Ok(out) => {
+            if !out.status.success() {
+                eprintln!("rustfmt {:?} failed:", path);
+                eprintln!("=== STDOUT:");
+                std::io::stderr().write_all(&out.stdout).unwrap();
+                eprintln!("=== STDERR:");
+                std::io::stderr().write_all(&out.stderr).unwrap();
+            }
+        }
+    }
+}
+
+enum GetOneError {
+    None,
+    Multiple,
+}
+
+trait IteratorExt: Iterator {
+    fn get_one(self) -> Result<Self::Item, GetOneError>;
+}
+
+impl<T: Iterator> IteratorExt for T {
+    fn get_one(mut self) -> Result<Self::Item, GetOneError> {
+        match self.next() {
+            None => Err(GetOneError::None),
+            Some(res) => match self.next() {
+                Some(_) => Err(GetOneError::Multiple),
+                None => Ok(res),
+            },
+        }
+    }
+}

embassy-nxp/build_common.rs

@@ -0,0 +1,94 @@
+// NOTE: this file is copy-pasted between several Embassy crates, because there is no
+// straightforward way to share this code:
+// - it cannot be placed into the root of the repo and linked from each build.rs using `#[path =
+// "../build_common.rs"]`, because `cargo publish` requires that all files published with a crate
+// reside in the crate's directory,
+// - it cannot be symlinked from `embassy-xxx/build_common.rs` to `../build_common.rs`, because
+// symlinks don't work on Windows.
+
+use std::collections::HashSet;
+use std::env;
+
+/// Helper for emitting cargo instruction for enabling configs (`cargo:rustc-cfg=X`) and declaring
+/// them (`cargo:rust-check-cfg=cfg(X)`).
+#[derive(Debug)]
+pub struct CfgSet {
+    enabled: HashSet<String>,
+    declared: HashSet<String>,
+}
+
+impl CfgSet {
+    pub fn new() -> Self {
+        Self {
+            enabled: HashSet::new(),
+            declared: HashSet::new(),
+        }
+    }
+
+    /// Enable a config, which can then be used in `#[cfg(...)]` for conditional compilation.
+    ///
+    /// All configs that can potentially be enabled should be unconditionally declared using
+    /// [`Self::declare()`].
+    pub fn enable(&mut self, cfg: impl AsRef<str>) {
+        if self.enabled.insert(cfg.as_ref().to_owned()) {
+            println!("cargo:rustc-cfg={}", cfg.as_ref());
+        }
+    }
+
+    pub fn enable_all(&mut self, cfgs: &[impl AsRef<str>]) {
+        for cfg in cfgs.iter() {
+            self.enable(cfg.as_ref());
+        }
+    }
+
+    /// Declare a valid config for conditional compilation, without enabling it.
+    ///
+    /// This enables rustc to check that the configs in `#[cfg(...)]` attributes are valid.
+    pub fn declare(&mut self, cfg: impl AsRef<str>) {
+        if self.declared.insert(cfg.as_ref().to_owned()) {
+            println!("cargo:rustc-check-cfg=cfg({})", cfg.as_ref());
+        }
+    }
+
+    pub fn declare_all(&mut self, cfgs: &[impl AsRef<str>]) {
+        for cfg in cfgs.iter() {
+            self.declare(cfg.as_ref());
+        }
+    }
+
+    pub fn set(&mut self, cfg: impl Into<String>, enable: bool) {
+        let cfg = cfg.into();
+        if enable {
+            self.enable(cfg.clone());
+        }
+        self.declare(cfg);
+    }
+}
+
+/// Sets configs that describe the target platform.
+pub fn set_target_cfgs(cfgs: &mut CfgSet) {
+    let target = env::var("TARGET").unwrap();
+
+    if target.starts_with("thumbv6m-") {
+        cfgs.enable_all(&["cortex_m", "armv6m"]);
+    } else if target.starts_with("thumbv7m-") {
+        cfgs.enable_all(&["cortex_m", "armv7m"]);
+    } else if target.starts_with("thumbv7em-") {
+        cfgs.enable_all(&["cortex_m", "armv7m", "armv7em"]);
+    } else if target.starts_with("thumbv8m.base") {
+        cfgs.enable_all(&["cortex_m", "armv8m", "armv8m_base"]);
+    } else if target.starts_with("thumbv8m.main") {
+        cfgs.enable_all(&["cortex_m", "armv8m", "armv8m_main"]);
+    }
+    cfgs.declare_all(&[
+        "cortex_m",
+        "armv6m",
+        "armv7m",
+        "armv7em",
+        "armv8m",
+        "armv8m_base",
+        "armv8m_main",
+    ]);
+
+    cfgs.set("has_fpu", target.ends_with("-eabihf"));
+}

embassy-nxp/src/chips/mimxrt1011.rs

@@ -0,0 +1,113 @@
+// This must be imported so that __preinit is defined.
+use imxrt_rt as _;
+pub use nxp_pac as pac;
+
+embassy_hal_internal::peripherals! {
+    // External pins. These are not only GPIOs, they are multi-purpose pins and can be used by other
+    // peripheral types (e.g. I2C).
+    GPIO_00,
+    GPIO_01,
+    GPIO_02,
+    GPIO_03,
+    GPIO_04,
+    GPIO_05,
+    GPIO_06,
+    GPIO_07,
+    GPIO_08,
+    GPIO_09,
+    GPIO_10,
+    GPIO_11,
+    GPIO_12,
+    GPIO_13,
+    GPIO_AD_00,
+    GPIO_AD_01,
+    GPIO_AD_02,
+    GPIO_AD_03,
+    GPIO_AD_04,
+    GPIO_AD_05,
+    GPIO_AD_06,
+    GPIO_AD_07,
+    GPIO_AD_08,
+    GPIO_AD_09,
+    GPIO_AD_10,
+    GPIO_AD_11,
+    GPIO_AD_12,
+    GPIO_AD_13,
+    GPIO_AD_14,
+    GPIO_SD_00,
+    GPIO_SD_01,
+    GPIO_SD_02,
+    GPIO_SD_03,
+    GPIO_SD_04,
+    GPIO_SD_05,
+    GPIO_SD_06,
+    GPIO_SD_07,
+    GPIO_SD_08,
+    GPIO_SD_09,
+    GPIO_SD_10,
+    GPIO_SD_11,
+    GPIO_SD_12,
+    GPIO_SD_13,
+    PMIC_ON_REQ,
+}
+
+impl_gpio! {
+    // GPIO Bank 1
+    GPIO_00(Gpio1, 0);
+    GPIO_01(Gpio1, 1);
+    GPIO_02(Gpio1, 2);
+    GPIO_03(Gpio1, 3);
+    GPIO_04(Gpio1, 4);
+    GPIO_05(Gpio1, 5);
+    GPIO_06(Gpio1, 6);
+    GPIO_07(Gpio1, 7);
+    GPIO_08(Gpio1, 8);
+    GPIO_09(Gpio1, 9);
+    GPIO_10(Gpio1, 10);
+    GPIO_11(Gpio1, 11);
+    GPIO_12(Gpio1, 12);
+    GPIO_13(Gpio1, 13);
+    GPIO_AD_00(Gpio1, 14);
+    GPIO_AD_01(Gpio1, 15);
+    GPIO_AD_02(Gpio1, 16);
+    GPIO_AD_03(Gpio1, 17);
+    GPIO_AD_04(Gpio1, 18);
+    GPIO_AD_05(Gpio1, 19);
+    GPIO_AD_06(Gpio1, 20);
+    GPIO_AD_07(Gpio1, 21);
+    GPIO_AD_08(Gpio1, 22);
+    GPIO_AD_09(Gpio1, 23);
+    GPIO_AD_10(Gpio1, 24);
+    GPIO_AD_11(Gpio1, 25);
+    GPIO_AD_12(Gpio1, 26);
+    GPIO_AD_13(Gpio1, 27);
+    GPIO_AD_14(Gpio1, 28);
+
+    // GPIO Bank 2
+    GPIO_SD_00(Gpio2, 0);
+    GPIO_SD_01(Gpio2, 1);
+    GPIO_SD_02(Gpio2, 2);
+    GPIO_SD_03(Gpio2, 3);
+    GPIO_SD_04(Gpio2, 4);
+    GPIO_SD_05(Gpio2, 5);
+    GPIO_SD_06(Gpio2, 6);
+    GPIO_SD_07(Gpio2, 7);
+    GPIO_SD_08(Gpio2, 8);
+    GPIO_SD_09(Gpio2, 9);
+    GPIO_SD_10(Gpio2, 10);
+    GPIO_SD_11(Gpio2, 11);
+    GPIO_SD_12(Gpio2, 12);
+    GPIO_SD_13(Gpio2, 13);
+
+    // GPIO Bank 5
+    PMIC_ON_REQ(Gpio5, 0);
+}
+
+pub(crate) mod _generated {
+    #![allow(dead_code)]
+    #![allow(unused_imports)]
+    #![allow(non_snake_case)]
+    #![allow(missing_docs)]
+
+    include!(concat!(env!("OUT_DIR"), "/_generated.rs"));
+}

embassy-nxp/src/gpio.rs

@@ -1,5 +1,7 @@
 //! General purpose input/output (GPIO) driver.
+#![macro_use]
 
 #[cfg_attr(feature = "lpc55", path = "./gpio/lpc55.rs")]
+#[cfg_attr(rt1xxx, path = "./gpio/rt1xxx.rs")]
 mod inner;
 pub use inner::*;

embassy-nxp/src/gpio/rt1xxx.rs

@@ -0,0 +1,895 @@
+#![macro_use]
+
+use core::future::Future;
+use core::ops::Not;
+use core::pin::Pin as FuturePin;
+use core::task::{Context, Poll};
+
+use embassy_hal_internal::{impl_peripheral, Peri, PeripheralType};
+use embassy_sync::waitqueue::AtomicWaker;
+use nxp_pac::gpio::vals::Icr;
+use nxp_pac::iomuxc::vals::Pus;
+
+use crate::chip::{mux_address, pad_address};
+use crate::pac::common::{Reg, RW};
+#[cfg(feature = "rt")]
+use crate::pac::interrupt;
+use crate::pac::iomuxc::regs::{Ctl, MuxCtl};
+#[cfg(gpio5)]
+use crate::pac::{self, gpio::Gpio};
+
+/// The GPIO pin level for pins set on "Digital" mode.
+#[derive(Debug, Eq, PartialEq, Clone, Copy)]
+pub enum Level {
+    /// Logical low. Corresponds to 0V.
+    Low,
+    /// Logical high. Corresponds to VDD.
+    High,
+}
+
+impl From<bool> for Level {
+    fn from(val: bool) -> Self {
+        match val {
+            true => Self::High,
+            false => Self::Low,
+        }
+    }
+}
+
+impl From<Level> for bool {
+    fn from(level: Level) -> bool {
+        match level {
+            Level::Low => false,
+            Level::High => true,
+        }
+    }
+}
+
+impl Not for Level {
+    type Output = Self;
+
+    fn not(self) -> Self::Output {
+        match self {
+            Level::Low => Level::High,
+            Level::High => Level::Low,
+        }
+    }
+}
+
+/// Pull setting for a GPIO input set on "Digital" mode.
+#[derive(Debug, Clone, Copy, Eq, PartialEq)]
+pub enum Pull {
+    /// No pull.
+    None,
+
+    // TODO: What Does PUE::KEEPER mean here?
+
+    // 22 kOhm pull-up resistor.
+    Up22K,
+
+    // 47 kOhm pull-up resistor.
+    Up47K,
+
+    // 100 kOhm pull-up resistor.
+    Up100K,
+
+    // 100 kOhm pull-down resistor.
+    Down100K,
+}
+
+/// Drive strength of an output
+#[derive(Copy, Clone, Debug, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Drive {
+    Disabled,
+    _150R,
+    _75R,
+    _50R,
+    _37R,
+    _30R,
+    _25R,
+    _20R,
+}
+
+/// Slew rate of an output
+#[derive(Copy, Clone, Debug, Eq, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum SlewRate {
+    Slow,
+
+    Fast,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+pub enum Bank {
+    /// Bank 1
+    #[cfg(gpio1)]
+    Gpio1,
+
+    /// Bank 2
+    #[cfg(gpio2)]
+    Gpio2,
+
+    /// Bank 5
+    #[cfg(gpio5)]
+    Gpio5,
+}
+
+/// GPIO flexible pin.
+///
+/// This pin can either be a disconnected, input, or output pin, or both. The level register bit will remain
+/// set while not in output mode, so the pin's level will be 'remembered' when it is not in output
+/// mode.
+pub struct Flex<'d> {
+    pub(crate) pin: Peri<'d, AnyPin>,
+}
+
+impl<'d> Flex<'d> {
+    /// Wrap the pin in a `Flex`.
+    ///
+    /// The pin remains disconnected. The initial output level is unspecified, but can be changed
+    /// before the pin is put into output mode.
+    #[inline]
+    pub fn new(pin: Peri<'d, impl Pin>) -> Self {
+        Self { pin: pin.into() }
+    }
+
+    /// Set the pin's pull.
+    #[inline]
+    pub fn set_pull(&mut self, pull: Pull) {
+        let (pke, pue, pus) = match pull {
+            Pull::None => (false, true, Pus::PUS_0_100K_OHM_PULL_DOWN),
+            Pull::Up22K => (true, true, Pus::PUS_3_22K_OHM_PULL_UP),
+            Pull::Up47K => (true, true, Pus::PUS_1_47K_OHM_PULL_UP),
+            Pull::Up100K => (true, true, Pus::PUS_2_100K_OHM_PULL_UP),
+            Pull::Down100K => (true, true, Pus::PUS_0_100K_OHM_PULL_DOWN),
+        };
+
+        self.pin.pad().modify(|w| {
+            w.set_pke(pke);
+            w.set_pue(pue);
+            w.set_pus(pus);
+        });
+    }
+
+    // Set the pin's slew rate.
+    #[inline]
+    pub fn set_slewrate(&mut self, rate: SlewRate) {
+        self.pin.pad().modify(|w| {
+            w.set_sre(match rate {
+                SlewRate::Slow => false,
+                SlewRate::Fast => true,
+            });
+        });
+    }
+
+    /// Set the pin's Schmitt trigger.
+    #[inline]
+    pub fn set_schmitt(&mut self, enable: bool) {
+        self.pin.pad().modify(|w| {
+            w.set_hys(enable);
+        });
+    }
+
+    /// Put the pin into input mode.
+    ///
+    /// The pull setting is left unchanged.
+    #[inline]
+    pub fn set_as_input(&mut self) {
+        self.pin.mux().modify(|w| {
+            w.set_mux_mode(GPIO_MUX_MODE);
+        });
+
+        // Setting direction is RMW
+        critical_section::with(|_cs| {
+            self.pin.block().gdir().modify(|w| {
+                w.set_gdir(self.pin.pin_number() as usize, false);
+            });
+        })
+    }
+
+    /// Put the pin into output mode.
+    ///
+    /// The pin level will be whatever was set before (or low by default). If you want it to begin
+    /// at a specific level, call `set_high`/`set_low` on the pin first.
+    #[inline]
+    pub fn set_as_output(&mut self) {
+        self.pin.mux().modify(|w| {
+            w.set_mux_mode(GPIO_MUX_MODE);
+        });
+
+        // Setting direction is RMW
+        critical_section::with(|_cs| {
+            self.pin.block().gdir().modify(|w| {
+                w.set_gdir(self.pin.pin_number() as usize, true);
+            });
+        })
+    }
+
+    /// Put the pin into input + open-drain output mode.
+    ///
+    /// The hardware will drive the line low if you set it to low, and will leave it floating if you set
+    /// it to high, in which case you can read the input to figure out whether another device
+    /// is driving the line low.
+    ///
+    /// The pin level will be whatever was set before (or low by default). If you want it to begin
+    /// at a specific level, call `set_high`/`set_low` on the pin first.
+    ///
+    /// The internal weak pull-up and pull-down resistors will be disabled.
+    #[inline]
+    pub fn set_as_input_output(&mut self) {
+        self.pin.pad().modify(|w| {
+            w.set_ode(true);
+        });
+    }
+
+    /// Set the pin as "disconnected", ie doing nothing and consuming the lowest
+    /// amount of power possible.
+    ///
+    /// This is currently the same as [`Self::set_as_analog()`] but is semantically different
+    /// really. Drivers should `set_as_disconnected()` pins when dropped.
+    ///
+    /// Note that this also disables the pull-up and pull-down resistors.
+    #[inline]
+    pub fn set_as_disconnected(&mut self) {
+        self.pin.pad().modify(|w| {
+            w.set_ode(false);
+            w.set_pke(false);
+            w.set_pue(false);
+            w.set_pus(Pus::PUS_0_100K_OHM_PULL_DOWN);
+        });
+    }
+
+    /// Get whether the pin input level is high.
+    #[inline]
+    pub fn is_high(&self) -> bool {
+        self.pin.block().psr().read().psr(self.pin.pin_number() as usize)
+    }
+
+    /// Get whether the pin input level is low.
+    #[inline]
+    pub fn is_low(&self) -> bool {
+        !self.is_high()
+    }
+
+    /// Returns current pin level
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.is_high().into()
+    }
+
+    /// Set the output as high.
+    #[inline]
+    pub fn set_high(&mut self) {
+        self.pin.block().dr_set().write(|w| {
+            w.set_dr_set(self.pin.pin_number() as usize, true);
+        });
+    }
+
+    /// Set the output as low.
+    #[inline]
+    pub fn set_low(&mut self) {
+        self.pin.block().dr_clear().write(|w| {
+            w.set_dr_clear(self.pin.pin_number() as usize, true);
+        });
+    }
+
+    /// Toggle pin output
+    #[inline]
+    pub fn toggle(&mut self) {
+        self.pin.block().dr_toggle().write(|w| {
+            w.set_dr_toggle(self.pin.pin_number() as usize, true);
+        });
+    }
+
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        match level {
+            Level::Low => self.set_low(),
+            Level::High => self.set_high(),
+        }
+    }
+
+    /// Get the current pin output level.
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.is_set_high().into()
+    }
+
+    /// Is the output level high?
+    ///
+    /// If the [`Flex`] is set as an input, then this is equivalent to [`Flex::is_high`].
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
+        self.pin.block().dr().read().dr(self.pin.pin_number() as usize)
+    }
+
+    /// Is the output level low?
+    ///
+    /// If the [`Flex`] is set as an input, then this is equivalent to [`Flex::is_low`].
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
+        !self.is_set_high()
+    }
+
+    /// Wait until the pin is high. If it is already high, return immediately.
+    #[inline]
+    pub async fn wait_for_high(&mut self) {
+        InputFuture::new(self.pin.reborrow(), InterruptConfiguration::High).await
+    }
+
+    /// Wait until the pin is low. If it is already low, return immediately.
+    #[inline]
+    pub async fn wait_for_low(&mut self) {
+        InputFuture::new(self.pin.reborrow(), InterruptConfiguration::Low).await
+    }
+
+    /// Wait for the pin to undergo a transition from low to high.
+    #[inline]
+    pub async fn wait_for_rising_edge(&mut self) {
+        InputFuture::new(self.pin.reborrow(), InterruptConfiguration::RisingEdge).await
+    }
+
+    /// Wait for the pin to undergo a transition from high to low.
+    #[inline]
+    pub async fn wait_for_falling_edge(&mut self) {
+        InputFuture::new(self.pin.reborrow(), InterruptConfiguration::FallingEdge).await
+    }
+
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to low.
+    #[inline]
+    pub async fn wait_for_any_edge(&mut self) {
+        InputFuture::new(self.pin.reborrow(), InterruptConfiguration::AnyEdge).await
+    }
+}
+
+impl<'d> Drop for Flex<'d> {
+    fn drop(&mut self) {
+        self.set_as_disconnected();
+    }
+}
+
+/// GPIO input driver.
+pub struct Input<'d> {
+    pin: Flex<'d>,
+}
+
+impl<'d> Input<'d> {
+    /// Create GPIO input driver for a [Pin] with the provided [Pull] configuration.
+    #[inline]
+    pub fn new(pin: Peri<'d, impl Pin>, pull: Pull) -> Self {
+        let mut pin = Flex::new(pin);
+        pin.set_as_input();
+        pin.set_pull(pull);
+        Self { pin }
+    }
+
+    /// Get whether the pin input level is high.
+    #[inline]
+    pub fn is_high(&self) -> bool {
+        self.pin.is_high()
+    }
+
+    /// Get whether the pin input level is low.
+    #[inline]
+    pub fn is_low(&self) -> bool {
+        self.pin.is_low()
+    }
+
+    /// Get the current pin input level.
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.pin.get_level()
+    }
+
+    /// Wait until the pin is high. If it is already high, return immediately.
+    #[inline]
+    pub async fn wait_for_high(&mut self) {
+        self.pin.wait_for_high().await
+    }
+
+    /// Wait until the pin is low. If it is already low, return immediately.
+    #[inline]
+    pub async fn wait_for_low(&mut self) {
+        self.pin.wait_for_low().await
+    }
+
+    /// Wait for the pin to undergo a transition from low to high.
+    #[inline]
+    pub async fn wait_for_rising_edge(&mut self) {
+        self.pin.wait_for_rising_edge().await
+    }
+
+    /// Wait for the pin to undergo a transition from high to low.
+    #[inline]
+    pub async fn wait_for_falling_edge(&mut self) {
+        self.pin.wait_for_falling_edge().await
+    }
+
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to low.
+    #[inline]
+    pub async fn wait_for_any_edge(&mut self) {
+        self.pin.wait_for_any_edge().await
+    }
+}
+
+/// GPIO output driver.
+///
+/// Note that pins will **return to their floating state** when `Output` is dropped.
+/// If pins should retain their state indefinitely, either keep ownership of the
+/// `Output`, or pass it to [`core::mem::forget`].
+pub struct Output<'d> {
+    pin: Flex<'d>,
+}
+
+impl<'d> Output<'d> {
+    /// Create GPIO output driver for a [Pin] with the provided [Level] configuration.
+    #[inline]
+    pub fn new(pin: Peri<'d, impl Pin>, initial_output: Level) -> Self {
+        let mut pin = Flex::new(pin);
+        pin.set_as_output();
+        pin.set_level(initial_output);
+        Self { pin }
+    }
+
+    /// Set the output as high.
+    #[inline]
+    pub fn set_high(&mut self) {
+        self.pin.set_high();
+    }
+
+    /// Set the output as low.
+    #[inline]
+    pub fn set_low(&mut self) {
+        self.pin.set_low();
+    }
+
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        self.pin.set_level(level)
+    }
+
+    /// Is the output pin set as high?
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
+        self.pin.is_set_high()
+    }
+
+    /// Is the output pin set as low?
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
+        self.pin.is_set_low()
+    }
+
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.pin.get_output_level()
+    }
+
+    /// Toggle pin output
+    #[inline]
+    pub fn toggle(&mut self) {
+        self.pin.toggle();
+    }
+}
+
+/// GPIO output open-drain driver.
+///
+/// Note that pins will **return to their floating state** when `OutputOpenDrain` is dropped.
+/// If pins should retain their state indefinitely, either keep ownership of the
+/// `OutputOpenDrain`, or pass it to [`core::mem::forget`].
+pub struct OutputOpenDrain<'d> {
+    pin: Flex<'d>,
+}
+
+impl<'d> OutputOpenDrain<'d> {
+    /// Create a new GPIO open drain output driver for a [Pin] with the provided [Level].
+    #[inline]
+    pub fn new(pin: Peri<'d, impl Pin>, initial_output: Level) -> Self {
+        let mut pin = Flex::new(pin);
+        pin.set_level(initial_output);
+        pin.set_as_input_output();
+        Self { pin }
+    }
+
+    /// Get whether the pin input level is high.
+    #[inline]
+    pub fn is_high(&self) -> bool {
+        !self.pin.is_low()
+    }
+
+    /// Get whether the pin input level is low.
+    #[inline]
+    pub fn is_low(&self) -> bool {
+        self.pin.is_low()
+    }
+
+    /// Get the current pin input level.
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.pin.get_level()
+    }
+
+    /// Set the output as high.
+    #[inline]
+    pub fn set_high(&mut self) {
+        self.pin.set_high();
+    }
+
+    /// Set the output as low.
+    #[inline]
+    pub fn set_low(&mut self) {
+        self.pin.set_low();
+    }
+
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        self.pin.set_level(level);
+    }
+
+    /// Get whether the output level is set to high.
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
+        self.pin.is_set_high()
+    }
+
+    /// Get whether the output level is set to low.
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
+        self.pin.is_set_low()
+    }
+
+    /// Get the current output level.
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.pin.get_output_level()
+    }
+
+    /// Toggle pin output
+    #[inline]
+    pub fn toggle(&mut self) {
+        self.pin.toggle()
+    }
+
+    /// Wait until the pin is high. If it is already high, return immediately.
+    #[inline]
+    pub async fn wait_for_high(&mut self) {
+        self.pin.wait_for_high().await
+    }
+
+    /// Wait until the pin is low. If it is already low, return immediately.
+    #[inline]
+    pub async fn wait_for_low(&mut self) {
+        self.pin.wait_for_low().await
+    }
+
+    /// Wait for the pin to undergo a transition from low to high.
+    #[inline]
+    pub async fn wait_for_rising_edge(&mut self) {
+        self.pin.wait_for_rising_edge().await
+    }
+
+    /// Wait for the pin to undergo a transition from high to low.
+    #[inline]
+    pub async fn wait_for_falling_edge(&mut self) {
+        self.pin.wait_for_falling_edge().await
+    }
+
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to low.
+    #[inline]
+    pub async fn wait_for_any_edge(&mut self) {
+        self.pin.wait_for_any_edge().await
+    }
+}
+
+#[allow(private_bounds)]
+pub trait Pin: PeripheralType + Into<AnyPin> + SealedPin + Sized + 'static {
+    /// Returns the pin number within a bank
+    #[inline]
+    fn pin(&self) -> u8 {
+        self.pin_number()
+    }
+
+    #[inline]
+    fn bank(&self) -> Bank {
+        self._bank()
+    }
+}
+
+/// Type-erased GPIO pin.
+pub struct AnyPin {
+    pub(crate) pin_number: u8,
+    pub(crate) bank: Bank,
+}
+
+impl AnyPin {
+    /// Unsafely create a new type-erased pin.
+    ///
+    /// # Safety
+    ///
+    /// You must ensure that you’re only using one instance of this type at a time.
+    pub unsafe fn steal(bank: Bank, pin_number: u8) -> Peri<'static, Self> {
+        Peri::new_unchecked(Self { pin_number, bank })
+    }
+}
+
+impl_peripheral!(AnyPin);
+
+impl Pin for AnyPin {}
+impl SealedPin for AnyPin {
+    #[inline]
+    fn pin_number(&self) -> u8 {
+        self.pin_number
+    }
+
+    #[inline]
+    fn _bank(&self) -> Bank {
+        self.bank
+    }
+}
+
+// Impl details
+
+/// Mux mode for GPIO pins. This is constant across all RT1xxx parts.
+const GPIO_MUX_MODE: u8 = 0b101;
+
+// FIXME: These don't always need to be 32 entries. GPIO5 on RT1101 contains a single pin and GPIO2 only 14.
+#[cfg(gpio1)]
+static GPIO1_WAKERS: [AtomicWaker; 32] = [const { AtomicWaker::new() }; 32];
+#[cfg(gpio2)]
+static GPIO2_WAKERS: [AtomicWaker; 32] = [const { AtomicWaker::new() }; 32];
+#[cfg(gpio5)]
+static GPIO5_WAKERS: [AtomicWaker; 32] = [const { AtomicWaker::new() }; 32];
+
+/// Sealed trait for pins. This trait is sealed and cannot be implemented outside of this crate.
+pub(crate) trait SealedPin: Sized {
+    fn pin_number(&self) -> u8;
+
+    fn _bank(&self) -> Bank;
+
+    #[inline]
+    fn block(&self) -> Gpio {
+        match self._bank() {
+            #[cfg(gpio1)]
+            Bank::Gpio1 => pac::GPIO1,
+            #[cfg(gpio2)]
+            Bank::Gpio2 => pac::GPIO2,
+            #[cfg(gpio5)]
+            Bank::Gpio5 => pac::GPIO5,
+        }
+    }
+
+    #[inline]
+    fn mux(&self) -> Reg<MuxCtl, RW> {
+        // SAFETY: The generated mux address table is valid since it is generated from the SVD files.
+        let address = unsafe { mux_address(self._bank(), self.pin_number()).unwrap_unchecked() };
+
+        // SAFETY: The register at the address is an instance of MuxCtl.
+        unsafe { Reg::from_ptr(address as *mut _) }
+    }
+
+    #[inline]
+    fn pad(&self) -> Reg<Ctl, RW> {
+        // SAFETY: The generated pad address table is valid since it is generated from the SVD files.
+        let address = unsafe { pad_address(self._bank(), self.pin_number()).unwrap_unchecked() };
+
+        // SAFETY: The register at the address is an instance of Ctl.
+        unsafe { Reg::from_ptr(address as *mut _) }
+    }
+
+    fn waker(&self) -> &AtomicWaker {
+        match self._bank() {
+            #[cfg(gpio1)]
+            Bank::Gpio1 => &GPIO1_WAKERS[self.pin_number() as usize],
+            #[cfg(gpio2)]
+            Bank::Gpio2 => &GPIO2_WAKERS[self.pin_number() as usize],
+            #[cfg(gpio5)]
+            Bank::Gpio5 => &GPIO5_WAKERS[self.pin_number() as usize],
+        }
+    }
+}
+
+/// This enum matches the layout of Icr.
+enum InterruptConfiguration {
+    Low,
+    High,
+    RisingEdge,
+    FallingEdge,
+    AnyEdge,
+}
+
+#[must_use = "futures do nothing unless you `.await` or poll them"]
+struct InputFuture<'d> {
+    pin: Peri<'d, AnyPin>,
+}
+
+impl<'d> InputFuture<'d> {
+    fn new(pin: Peri<'d, AnyPin>, config: InterruptConfiguration) -> Self {
+        let block = pin.block();
+
+        let (icr, edge_sel) = match config {
+            InterruptConfiguration::Low => (Icr::LOW_LEVEL, false),
+            InterruptConfiguration::High => (Icr::HIGH_LEVEL, false),
+            InterruptConfiguration::RisingEdge => (Icr::RISING_EDGE, false),
+            InterruptConfiguration::FallingEdge => (Icr::FALLING_EDGE, false),
+            InterruptConfiguration::AnyEdge => (Icr::FALLING_EDGE, true),
+        };
+
+        let index = if pin.pin_number() > 15 { 1 } else { 0 };
+
+        // Interrupt configuration performs RMW
+        critical_section::with(|_cs| {
+            // Disable interrupt so a level/edge detection change does not cause ISR to be set.
+            block.imr().modify(|w| {
+                w.set_imr(pin.pin_number() as usize, false);
+            });
+
+            block.icr(index).modify(|w| {
+                w.set_pin(pin.pin_number() as usize, icr);
+            });
+
+            block.edge_sel().modify(|w| {
+                w.set_edge_sel(pin.pin_number() as usize, edge_sel);
+            });
+
+            // Clear the previous interrupt.
+            block.isr().modify(|w| {
+                // "Status flags are cleared by writing a 1 to the corresponding bit position."
+                w.set_isr(pin.pin_number() as usize, true);
+            });
+        });
+
+        Self { pin }
+    }
+}
+
+impl<'d> Future for InputFuture<'d> {
+    type Output = ();
+
+    fn poll(self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+        // We need to register/re-register the waker for each poll because any
+        // calls to wake will deregister the waker.
+        let waker = self.pin.waker();
+        waker.register(cx.waker());
+
+        // Enabling interrupt is RMW
+        critical_section::with(|_cs| {
+            self.pin.block().imr().modify(|w| {
+                w.set_imr(self.pin.pin_number() as usize, true);
+            });
+        });
+
+        let isr = self.pin.block().isr().read();
+
+        if isr.isr(self.pin.pin_number() as usize) {
+            return Poll::Ready(());
+        }
+
+        Poll::Pending
+    }
+}
+
+/// A macro to generate all GPIO pins.
+///
+/// This generates a lookup table for IOMUX register addresses.
+macro_rules! impl_gpio {
+    (
+        $($name: ident($bank: ident, $pin_number: expr);)*
+    ) => {
+        #[inline]
+        pub(crate) const fn pad_address(bank: crate::gpio::Bank, pin: u8) -> Option<u32> {
+            match (bank, pin) {
+                $(
+                    (crate::gpio::Bank::$bank, $pin_number) => Some(crate::chip::_generated::iomuxc::pads::$name),
+                )*
+                _ => None
+            }
+        }
+
+        #[inline]
+        pub(crate) const fn mux_address(bank: crate::gpio::Bank, pin: u8) -> Option<u32> {
+            match (bank, pin) {
+                $(
+                    (crate::gpio::Bank::$bank, $pin_number) => Some(crate::chip::_generated::iomuxc::muxes::$name),
+                )*
+                _ => None
+            }
+        }
+
+        $(
+            impl_pin!($name, $bank, $pin_number);
+        )*
+    };
+}
+
+macro_rules! impl_pin {
+    ($name: ident, $bank: ident, $pin_num: expr) => {
+        impl crate::gpio::Pin for crate::peripherals::$name {}
+        impl crate::gpio::SealedPin for crate::peripherals::$name {
+            #[inline]
+            fn pin_number(&self) -> u8 {
+                $pin_num
+            }
+
+            #[inline]
+            fn _bank(&self) -> crate::gpio::Bank {
+                crate::gpio::Bank::$bank
+            }
+        }
+
+        impl From<peripherals::$name> for crate::gpio::AnyPin {
+            fn from(val: peripherals::$name) -> Self {
+                use crate::gpio::SealedPin;
+
+                Self {
+                    pin_number: val.pin_number(),
+                    bank: val._bank(),
+                }
+            }
+        }
+    };
+}
+
+pub(crate) fn init() {
+    #[cfg(feature = "rt")]
+    unsafe {
+        use embassy_hal_internal::interrupt::InterruptExt;
+
+        pac::Interrupt::GPIO1_COMBINED_0_15.enable();
+        pac::Interrupt::GPIO1_COMBINED_16_31.enable();
+        pac::Interrupt::GPIO2_COMBINED_0_15.enable();
+        pac::Interrupt::GPIO5_COMBINED_0_15.enable();
+    }
+}
+
+/// IRQ handler for GPIO pins.
+///
+/// If `high_bits` is false, then the interrupt is for pins 0 through 15. If true, then the interrupt
+/// is for pins 16 through 31
+#[cfg(feature = "rt")]
+fn irq_handler(block: Gpio, wakers: &[AtomicWaker; 32], high_bits: bool) {
+    use crate::BitIter;
+
+    let isr = block.isr().read().0;
+    let imr = block.imr().read().0;
+    let mask = if high_bits { 0xFFFF_0000 } else { 0x0000_FFFF };
+    let bits = isr & imr & mask;
+
+    for bit in BitIter(bits) {
+        wakers[bit as usize].wake();
+
+        // Disable further interrupts for this pin. The input future will check ISR (which is kept
+        // until reset).
+        block.imr().modify(|w| {
+            w.set_imr(bit as usize, false);
+        });
+    }
+}
+
+#[cfg(all(feature = "mimxrt1011", feature = "rt"))]
+#[interrupt]
+fn GPIO1_COMBINED_0_15() {
+    irq_handler(pac::GPIO1, &GPIO1_WAKERS, false);
+}
+
+#[cfg(all(feature = "mimxrt1011", feature = "rt"))]
+#[interrupt]
+fn GPIO1_COMBINED_16_31() {
+    irq_handler(pac::GPIO1, &GPIO1_WAKERS, true);
+}
+
+#[cfg(all(feature = "mimxrt1011", feature = "rt"))]
+#[interrupt]
+fn GPIO2_COMBINED_0_15() {
+    irq_handler(pac::GPIO2, &GPIO2_WAKERS, false);
+}
+
+#[cfg(all(feature = "mimxrt1011", feature = "rt"))]
+#[interrupt]
+fn GPIO5_COMBINED_0_15() {
+    irq_handler(pac::GPIO5, &GPIO5_WAKERS, false);
+}

embassy-nxp/src/lib.rs

@@ -1,12 +1,19 @@
 #![no_std]
 
-pub mod fmt;
+// This mod MUST go first, so that the others see its macros.
+pub(crate) mod fmt;
+
 pub mod gpio;
 #[cfg(feature = "lpc55")]
 pub mod pint;
 
+#[cfg(feature = "_time_driver")]
+#[cfg_attr(feature = "time-driver-pit", path = "time_driver/pit.rs")]
+mod time_driver;
+
 // This mod MUST go last, so that it sees all the `impl_foo!` macros
 #[cfg_attr(feature = "lpc55", path = "chips/lpc55.rs")]
+#[cfg_attr(feature = "mimxrt1011", path = "chips/mimxrt1011.rs")]
 mod chip;
 
 #[cfg(feature = "unstable-pac")]
@@ -22,13 +29,66 @@ pub use embassy_hal_internal::{Peri, PeripheralType};
 ///
 /// This should only be called once and at startup, otherwise it panics.
 pub fn init(_config: config::Config) -> Peripherals {
-    #[cfg(feature = "lpc55")]
+    // Do this first, so that it panics if user is calling `init` a second time
+    // before doing anything important.
+    let peripherals = Peripherals::take();
+
+    #[cfg(feature = "mimxrt1011")]
     {
-        gpio::init();
-        pint::init();
+        // The RT1010 Reference manual states that core clock root must be switched before
+        // reprogramming PLL2.
+        pac::CCM.cbcdr().modify(|w| {
+            w.set_periph_clk_sel(pac::ccm::vals::PeriphClkSel::PERIPH_CLK_SEL_1);
+        });
+
+        while matches!(
+            pac::CCM.cdhipr().read().periph_clk_sel_busy(),
+            pac::ccm::vals::PeriphClkSelBusy::PERIPH_CLK_SEL_BUSY_1
+        ) {}
+
+        info!("Core clock root switched");
+
+        // 480 * 18 / 24 = 360
+        pac::CCM_ANALOG.pfd_480().modify(|x| x.set_pfd2_frac(12));
+
+        //480*18/24(pfd0)/4
+        pac::CCM_ANALOG.pfd_480().modify(|x| x.set_pfd0_frac(24));
+        pac::CCM.cscmr1().modify(|x| x.set_flexspi_podf(3.into()));
+
+        // CPU Core
+        pac::CCM_ANALOG.pfd_528().modify(|x| x.set_pfd3_frac(18));
+        cortex_m::asm::delay(500_000);
+
+        // Clock core clock with PLL 2.
+        pac::CCM
+            .cbcdr()
+            .modify(|x| x.set_periph_clk_sel(pac::ccm::vals::PeriphClkSel::PERIPH_CLK_SEL_0)); // false
+
+        while matches!(
+            pac::CCM.cdhipr().read().periph_clk_sel_busy(),
+            pac::ccm::vals::PeriphClkSelBusy::PERIPH_CLK_SEL_BUSY_1
+        ) {}
+
+        pac::CCM
+            .cbcmr()
+            .write(|v| v.set_pre_periph_clk_sel(pac::ccm::vals::PrePeriphClkSel::PRE_PERIPH_CLK_SEL_0));
+
+        // TODO: Some for USB PLLs
+
+        // DCDC clock?
+        pac::CCM.ccgr6().modify(|v| v.set_cg0(1));
     }
 
-    crate::Peripherals::take()
+    #[cfg(any(feature = "lpc55", rt1xxx))]
+    gpio::init();
+
+    #[cfg(feature = "lpc55")]
+    pint::init();
+
+    #[cfg(feature = "_time_driver")]
+    time_driver::init();
+
+    peripherals
 }
 
 /// HAL configuration for the NXP board.
@@ -36,3 +96,20 @@ pub mod config {
     #[derive(Default)]
     pub struct Config {}
 }
+
+#[allow(unused)]
+struct BitIter(u32);
+
+impl Iterator for BitIter {
+    type Item = u32;
+
+    fn next(&mut self) -> Option<Self::Item> {
+        match self.0.trailing_zeros() {
+            32 => None,
+            b => {
+                self.0 &= !(1 << b);
+                Some(b)
+            }
+        }
+    }
+}

embassy-nxp/src/time_driver/pit.rs

@@ -0,0 +1,187 @@
+//! Time driver using Periodic Interrupt Timer (PIT)
+//!
+//! This driver is used with the iMXRT1xxx parts.
+//!
+//! The PIT is run in lifetime mode. Timer 1 is chained to timer 0 to provide a free-running 64-bit timer.
+//! The 64-bit timer is used to track how many ticks since boot.
+//!
+//! Timer 2 counts how many ticks there are within the current u32::MAX tick period. Timer 2 is restarted when
+//! a new alarm is set (or every u32::MAX ticks). One caveat is that an alarm could be a few ticks late due to
+//! restart. However the Cortex-M7 cores run at 500 MHz easily and the PIT will generally run at 1 MHz or lower.
+//! Along with the fact that scheduling an alarm takes a critical section worst case an alarm may be a few
+//! microseconds late.
+//!
+//! All PIT timers are clocked in lockstep, so the late start will not cause the now() count to drift.
+
+use core::cell::{Cell, RefCell};
+use core::task::Waker;
+
+use critical_section::{CriticalSection, Mutex};
+use embassy_hal_internal::interrupt::InterruptExt;
+use embassy_time_driver::Driver as _;
+use embassy_time_queue_utils::Queue;
+
+use crate::pac::{self, interrupt};
+
+struct Driver {
+    alarm: Mutex<Cell<u64>>,
+    queue: Mutex<RefCell<Queue>>,
+}
+
+impl embassy_time_driver::Driver for Driver {
+    fn now(&self) -> u64 {
+        loop {
+            // Even though reading LTMR64H will latch LTMR64L if another thread preempts between any of the
+            // three reads and calls now() then the value in LTMR64L will be wrong when execution returns to
+            // thread which was preempted.
+            let hi = pac::PIT.ltmr64h().read().lth();
+            let lo = pac::PIT.ltmr64l().read().ltl();
+            let hi2 = pac::PIT.ltmr64h().read().lth();
+
+            if hi == hi2 {
+                // PIT timers always count down.
+                return u64::MAX - ((hi as u64) << 32 | (lo as u64));
+            }
+        }
+    }
+
+    fn schedule_wake(&self, at: u64, waker: &Waker) {
+        critical_section::with(|cs| {
+            let mut queue = self.queue.borrow(cs).borrow_mut();
+
+            if queue.schedule_wake(at, waker) {
+                let mut next = queue.next_expiration(self.now());
+
+                while !self.set_alarm(cs, next) {
+                    next = queue.next_expiration(self.now());
+                }
+            }
+        })
+    }
+}
+
+impl Driver {
+    fn init(&'static self) {
+        // Disable PIT clock during mux configuration.
+        pac::CCM.ccgr1().modify(|r| r.set_cg6(0b00));
+
+        // TODO: This forces the PIT to be driven by the oscillator. However that isn't the only option as you
+        // could divide the clock root by up to 64.
+        pac::CCM.cscmr1().modify(|r| {
+            // 1 MHz
+            r.set_perclk_podf(pac::ccm::vals::PerclkPodf::DIVIDE_24);
+            r.set_perclk_clk_sel(pac::ccm::vals::PerclkClkSel::PERCLK_CLK_SEL_1);
+        });
+
+        pac::CCM.ccgr1().modify(|r| r.set_cg6(0b11));
+
+        // Disable clock during init.
+        //
+        // It is important that the PIT clock is prepared to not exceed limit (50 MHz on RT1011), or else
+        // you will need to recover the device with boot mode switches when using any PIT registers.
+        pac::PIT.mcr().modify(|w| {
+            w.set_mdis(true);
+        });
+
+        pac::PIT.timer(0).ldval().write_value(u32::MAX);
+        pac::PIT.timer(1).ldval().write_value(u32::MAX);
+        pac::PIT.timer(2).ldval().write_value(0);
+        pac::PIT.timer(3).ldval().write_value(0);
+
+        pac::PIT.timer(1).tctrl().write(|w| {
+            // In lifetime mode, timer 1 is chained to timer 0 to form a 64-bit timer.
+            w.set_chn(true);
+            w.set_ten(true);
+            w.set_tie(false);
+        });
+
+        pac::PIT.timer(0).tctrl().write(|w| {
+            w.set_chn(false);
+            w.set_ten(true);
+            w.set_tie(false);
+        });
+
+        pac::PIT.timer(2).tctrl().write(|w| {
+            w.set_tie(true);
+        });
+
+        unsafe { interrupt::PIT.enable() };
+
+        pac::PIT.mcr().write(|w| {
+            w.set_mdis(false);
+        });
+    }
+
+    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
+        let alarm = self.alarm.borrow(cs);
+        alarm.set(timestamp);
+
+        let timer = pac::PIT.timer(2);
+        let now = self.now();
+
+        if timestamp <= now {
+            alarm.set(u64::MAX);
+
+            return false;
+        }
+
+        timer.tctrl().modify(|x| x.set_ten(false));
+        timer.tflg().modify(|x| x.set_tif(true));
+
+        // If the next alarm happens in more than u32::MAX cycles then the alarm will be restarted later.
+        timer.ldval().write_value((timestamp - now) as u32);
+        timer.tctrl().modify(|x| x.set_ten(true));
+
+        true
+    }
+
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        let mut next = self.queue.borrow_ref_mut(cs).next_expiration(self.now());
+
+        while !self.set_alarm(cs, next) {
+            next = self.queue.borrow_ref_mut(cs).next_expiration(self.now());
+        }
+    }
+
+    fn on_interrupt(&self) {
+        critical_section::with(|cs| {
+            let timer = pac::PIT.timer(2);
+            let alarm = self.alarm.borrow(cs);
+            let interrupted = timer.tflg().read().tif();
+            timer.tflg().write(|r| r.set_tif(true));
+
+            if interrupted {
+                // A new load value will not apply until the next timer expiration.
+                //
+                // The expiry may be up to u32::MAX cycles away, so the timer must be restarted.
+                timer.tctrl().modify(|r| r.set_ten(false));
+
+                let now = self.now();
+                let timestamp = alarm.get();
+
+                if timestamp <= now {
+                    self.trigger_alarm(cs);
+                } else {
+                    // The alarm is not ready. Wait for u32::MAX cycles and check again or set the next alarm.
+                    timer.ldval().write_value((timestamp - now) as u32);
+                    timer.tctrl().modify(|r| r.set_ten(true));
+                }
+            }
+        });
+    }
+}
+
+embassy_time_driver::time_driver_impl!(static DRIVER: Driver = Driver {
+    alarm: Mutex::new(Cell::new(0)),
+    queue: Mutex::new(RefCell::new(Queue::new()))
+});
+
+pub(crate) fn init() {
+    DRIVER.init();
+}
+
+#[cfg(feature = "rt")]
+#[interrupt]
+fn PIT() {
+    DRIVER.on_interrupt();
+}

examples/mimxrt1011/.cargo/config.toml

@@ -0,0 +1,8 @@
+[target.thumbv7em-none-eabihf]
+runner = 'probe-rs run --chip MIMXRT1010'
+
+[build]
+target = "thumbv7em-none-eabihf" # Cortex-M7
+
+[env]
+DEFMT_LOG = "trace"

examples/mimxrt1011/Cargo.toml

@@ -0,0 +1,29 @@
+[package]
+name = "embassy-imxrt1011-examples"
+version = "0.1.0"
+edition = "2021"
+license = "MIT or Apache-2.0"
+
+[dependencies]
+cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = "0.7.3"
+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-nxp = { version = "0.1.0", path = "../../embassy-nxp", features = ["defmt", "mimxrt1011", "unstable-pac", "time-driver-pit"] }
+embassy-time = { version = "0.4", path = "../../embassy-time", features = ["defmt", ] } # "defmt-timestamp-uptime" # RT1011 hard faults currently with this enabled.
+embassy-sync = { version = "0.7.0", path = "../../embassy-sync", features = ["defmt"] }
+embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
+embedded-hal-async = "1.0.0"
+
+imxrt-boot-gen = { version = "0.3.4", features = ["imxrt1010"] }
+panic-probe = { version = "1.0.0", features = ["print-defmt"] }
+panic-semihosting = "0.6.0"
+
+[build-dependencies]
+imxrt-rt = { version = "0.1.7", features = ["device"] }
+
+[profile.release]
+debug = 2

examples/mimxrt1011/build.rs

@@ -0,0 +1,14 @@
+use imxrt_rt::{Family, RuntimeBuilder};
+
+fn main() {
+    // The IMXRT1010-EVK technically has 128M of flash, but we only ever use 8MB so that the examples
+    // will build fine on the Adafruit Metro M7 boards.
+    RuntimeBuilder::from_flexspi(Family::Imxrt1010, 8 * 1024 * 1024)
+        .build()
+        .unwrap();
+
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+    // Not link.x, as imxrt-rt needs to do some special things
+    println!("cargo:rustc-link-arg-bins=-Timxrt-link.x");
+}

examples/mimxrt1011/src/bin/blinky.rs

@@ -0,0 +1,48 @@
+//! This example works on the following boards:
+//! - IMXRT1010-EVK
+//! - Adafruit Metro M7 (with microSD or with AirLift), requires an external button
+//! - Makerdiary iMX RT1011 Nano Kit (TODO: currently untested, please change this)
+//!
+//! Although beware you will need to change the GPIO pins being used (scroll down).
+
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_nxp::gpio::{Level, Output};
+use embassy_time::Timer;
+// Must include `embassy_imxrt1011_examples` to ensure the FCB gets linked.
+use {defmt_rtt as _, embassy_imxrt1011_examples as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    let p = embassy_nxp::init(Default::default());
+    info!("Hello world!");
+
+    /* Pick the pins to use depending on your board. */
+
+    // IMXRT1010-EVK
+    //
+    // LED (D25)
+    let led = p.GPIO_11;
+
+    // Adafruit Metro M7 (both microSD and AirLift variants)
+    //
+    // The LED is connected to D13 on the board.
+    // let led = p.GPIO_03;
+
+    // Makerdiary iMX RT1011 Nano Kit
+    //
+    // LED0
+    // let led = p.GPIO_SD_04;
+
+    let mut led = Output::new(led, Level::Low);
+
+    loop {
+        Timer::after_millis(500).await;
+
+        info!("Toggle");
+        led.toggle();
+    }
+}

examples/mimxrt1011/src/bin/button.rs

@@ -0,0 +1,62 @@
+//! This example works on the following boards:
+//! - IMXRT1010-EVK
+//! - Adafruit Metro M7 (with microSD or with AirLift), requires an external button
+//! - Makerdiary iMX RT1011 Nano Kit (TODO: currently untested, please change this)
+//!
+//! Although beware you will need to change the GPIO pins being used (scroll down).
+
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_nxp::gpio::{Input, Level, Output, Pull};
+// Must include `embassy_imxrt1011_examples` to ensure the FCB gets linked.
+use {defmt_rtt as _, embassy_imxrt1011_examples as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) -> ! {
+    let p = embassy_nxp::init(Default::default());
+    info!("Hello world!");
+
+    /* Pick the pins to use depending on your board. */
+
+    // IMXRT1010-EVK
+    //
+    // LED (D25) and user button (SW4)
+    let (led, button) = (p.GPIO_11, p.GPIO_SD_05);
+
+    // Adafruit Metro M7 (both microSD and AirLift variants)
+    //
+    // The LED is connected to D13 on the board.
+    //
+    // In particular the Metro M7 has no board user buttons, so you will need to connect a button.
+    // Any other GPIO pin can be used. GPIO_04 is used for example since it is on pin D12.
+    // let (led, button) = (p.GPIO_03, p.GPIO_04);
+
+    // Makerdiary iMX RT1011 Nano Kit
+    //
+    // LED0 and user button.
+    // let (led, button) = (p.GPIO_SD_04, p.GPIO_SD_03);
+
+    let mut button = Input::new(button, Pull::Up100K);
+    let mut led = Output::new(led, Level::Low);
+    led.set_high();
+
+    loop {
+        button.wait_for_falling_edge().await;
+
+        info!("Toggled");
+        led.toggle();
+
+        // The RT1010EVK has a 100 nF debouncing capacitor which results in false positive events
+        // when listening for a falling edge in a loop, wait for the rising edge and then wait for
+        // stabilization.
+        button.wait_for_rising_edge().await;
+
+        // Stabilization.
+        for _ in 0..100_000 {
+            cortex_m::asm::nop();
+        }
+    }
+}

examples/mimxrt1011/src/lib.rs

@@ -0,0 +1,75 @@
+//! FlexSPI configuration block (FCB) for iMXRT1011 boards.
+//!
+//! This is a generic FCB that should work with most QSPI flash.
+
+#![no_std]
+
+use imxrt_boot_gen::flexspi;
+use imxrt_boot_gen::flexspi::opcodes::sdr::*;
+use imxrt_boot_gen::flexspi::{
+    ColumnAddressWidth, Command, DeviceModeConfiguration, FlashPadType, Instr, LookupTable, Pads,
+    ReadSampleClockSource, Sequence, SequenceBuilder, SerialClockFrequency, SerialFlashRegion,
+    WaitTimeConfigurationCommands,
+};
+use imxrt_boot_gen::serial_flash::nor;
+
+/// While the IMXRT1010-EVK and Makerdiary iMX RT1011 Nano Kit have 128MBit of flash we limit to 64Mbit
+/// to allow the Metro M7 boards to use the same FCB configuration.
+const DENSITY_BITS: u32 = 64 * 1024 * 1024;
+const DENSITY_BYTES: u32 = DENSITY_BITS / 8;
+
+const SEQ_READ: Sequence = SequenceBuilder::new()
+    .instr(Instr::new(CMD, Pads::One, 0xEB))
+    .instr(Instr::new(RADDR, Pads::Four, 0x18))
+    .instr(Instr::new(DUMMY, Pads::Four, 0x06))
+    .instr(Instr::new(READ, Pads::Four, 0x04))
+    .build();
+
+const SEQ_READ_STATUS: Sequence = SequenceBuilder::new()
+    .instr(Instr::new(CMD, Pads::One, 0x05))
+    .instr(Instr::new(READ, Pads::One, 0x01))
+    .build();
+
+const SEQ_WRITE_ENABLE: Sequence = SequenceBuilder::new().instr(Instr::new(CMD, Pads::One, 0x06)).build();
+
+const SEQ_ERASE_SECTOR: Sequence = SequenceBuilder::new()
+    .instr(Instr::new(CMD, Pads::One, 0x20))
+    .instr(Instr::new(RADDR, Pads::One, 0x18))
+    .build();
+
+const SEQ_PAGE_PROGRAM: Sequence = SequenceBuilder::new()
+    .instr(Instr::new(CMD, Pads::One, 0x02))
+    .instr(Instr::new(RADDR, Pads::One, 0x18))
+    .instr(Instr::new(WRITE, Pads::One, 0x04))
+    .build();
+
+const SEQ_CHIP_ERASE: Sequence = SequenceBuilder::new().instr(Instr::new(CMD, Pads::One, 0x60)).build();
+
+const LUT: LookupTable = LookupTable::new()
+    .command(Command::Read, SEQ_READ)
+    .command(Command::ReadStatus, SEQ_READ_STATUS)
+    .command(Command::WriteEnable, SEQ_WRITE_ENABLE)
+    .command(Command::EraseSector, SEQ_ERASE_SECTOR)
+    .command(Command::PageProgram, SEQ_PAGE_PROGRAM)
+    .command(Command::ChipErase, SEQ_CHIP_ERASE);
+
+const COMMON_CONFIGURATION_BLOCK: flexspi::ConfigurationBlock = flexspi::ConfigurationBlock::new(LUT)
+    .read_sample_clk_src(ReadSampleClockSource::LoopbackFromDQSPad)
+    .cs_hold_time(0x03)
+    .cs_setup_time(0x03)
+    .column_address_width(ColumnAddressWidth::OtherDevices)
+    .device_mode_configuration(DeviceModeConfiguration::Disabled)
+    .wait_time_cfg_commands(WaitTimeConfigurationCommands::disable())
+    .flash_size(SerialFlashRegion::A1, DENSITY_BYTES)
+    .serial_clk_freq(SerialClockFrequency::MHz120)
+    .serial_flash_pad_type(FlashPadType::Quad);
+
+pub const SERIAL_NOR_CONFIGURATION_BLOCK: nor::ConfigurationBlock =
+    nor::ConfigurationBlock::new(COMMON_CONFIGURATION_BLOCK)
+        .page_size(256)
+        .sector_size(4096)
+        .ip_cmd_serial_clk_freq(nor::SerialClockFrequency::MHz30);
+
+#[unsafe(no_mangle)]
+#[cfg_attr(all(target_arch = "arm", target_os = "none"), link_section = ".fcb")]
+pub static FLEXSPI_CONFIGURATION_BLOCK: nor::ConfigurationBlock = SERIAL_NOR_CONFIGURATION_BLOCK;