7 files changed, 816 insertions, 0 deletions
diff --git a/examples/rp2040_local_i2c_init/.cargo/config.toml b/examples/rp2040_local_i2c_init/.cargo/config.toml
new file mode 100644
index 0000000..c6e086a
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/.cargo/config.toml
@@ -0,0 +1,45 @@
+[target.thumbv6m-none-eabi]
+# uncomment this to make `cargo run` execute programs on QEMU
+# runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+
+rustflags = [
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-C", "link-arg=-Tlink.x",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# Pick ONE of these compilation targets
+target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"        # Cortex-M3
+# target = "thumbv7em-none-eabi"       # Cortex-M4 and Cortex-M7 (no FPU)
+# target = "thumbv7em-none-eabihf"     # Cortex-M4F and Cortex-M7F (with FPU)
+# target = "thumbv8m.base-none-eabi"   # Cortex-M23
+# target = "thumbv8m.main-none-eabi"   # Cortex-M33 (no FPU)
+# target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU)
+
+# thumbv7m-none-eabi is not coming with core and alloc, compile myself
+[unstable]
+mtime-on-use = true
+build-std = ["core", "alloc"]
diff --git a/examples/rp2040_local_i2c_init/Cargo.lock b/examples/rp2040_local_i2c_init/Cargo.lock
new file mode 100644
index 0000000..db81916
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/Cargo.lock
@@ -0,0 +1,533 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "arrayvec"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6"
+
+[[package]]
+name = "atomic-polyfill"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c314e70d181aa6053b26e3f7fbf86d1dfff84f816a6175b967666b3506ef7289"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+
+[[package]]
+name = "bare-metal"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
+dependencies = [
+ "rustc_version",
+]
+
+[[package]]
+name = "bare-metal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+
+[[package]]
+name = "bitfield"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "cortex-m"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
+dependencies = [
+ "bare-metal 0.2.5",
+ "bitfield",
+ "embedded-hal",
+ "volatile-register",
+]
+
+[[package]]
+name = "cortex-m-rt"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+dependencies = [
+ "cortex-m-rt-macros",
+]
+
+[[package]]
+name = "cortex-m-rt-macros"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "crc-any"
+version = "2.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "774646b687f63643eb0f4bf13dc263cb581c8c9e57973b6ddf78bda3994d88df"
+dependencies = [
+ "debug-helper",
+]
+
+[[package]]
+name = "critical-section"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+
+[[package]]
+name = "debug-helper"
+version = "0.3.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
+
+[[package]]
+name = "either"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
+
+[[package]]
+name = "embedded-dma"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
+dependencies = [
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
+dependencies = [
+ "nb 0.1.3",
+ "void",
+]
+
+[[package]]
+name = "fugit"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5"
+dependencies = [
+ "gcd",
+]
+
+[[package]]
+name = "futures-core"
+version = "0.3.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+
+[[package]]
+name = "futures-task"
+version = "0.3.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+
+[[package]]
+name = "futures-util"
+version = "0.3.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
+
+[[package]]
+name = "hashbrown"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+
+[[package]]
+name = "indexmap"
+version = "1.9.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99"
+dependencies = [
+ "autocfg",
+ "hashbrown",
+]
+
+[[package]]
+name = "itertools"
+version = "0.10.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473"
+dependencies = [
+ "either",
+]
+
+[[package]]
+name = "nb"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
+dependencies = [
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "nb"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
+
+[[package]]
+name = "num_enum"
+version = "0.5.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1f646caf906c20226733ed5b1374287eb97e3c2a5c227ce668c1f2ce20ae57c9"
+dependencies = [
+ "num_enum_derive",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.5.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dcbff9bc912032c62bf65ef1d5aea88983b420f4f839db1e9b0c281a25c9c799"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "panic-probe"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
+dependencies = [
+ "cortex-m",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
+[[package]]
+name = "pio"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "76e09694b50f89f302ed531c1f2a7569f0be5867aee4ab4f8f729bbeec0078e3"
+dependencies = [
+ "arrayvec",
+ "num_enum",
+ "paste",
+]
+
+[[package]]
+name = "proc-macro-error"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+dependencies = [
+ "proc-macro-error-attr",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro-error-attr"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.56"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b63bdb0cd06f1f4dedf69b254734f9b45af66e4a031e42a7480257d9898b435"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.26"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4424af4bf778aae2051a77b60283332f386554255d722233d09fbfc7e30da2fc"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
+
+[[package]]
+name = "rp-pico"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aab28f6f4e19cec2d61b64cdd685e69794b81c579fd3b765579c46018fe616d0"
+dependencies = [
+ "cortex-m",
+ "cortex-m-rt",
+ "fugit",
+ "rp2040-boot2",
+ "rp2040-hal",
+ "usb-device",
+]
+
+[[package]]
+name = "rp2040-boot2"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c773ec49b836077aa144b58dc7654a243e1eecdb6cf0d25361ae7c7600fabd8"
+dependencies = [
+ "crc-any",
+]
+
+[[package]]
+name = "rp2040-hal"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bd64ea14218eaa350e5cf1023b7a84c267f092e4a64b69129dc460e53412bed8"
+dependencies = [
+ "cortex-m",
+ "critical-section",
+ "embedded-dma",
+ "embedded-hal",
+ "fugit",
+ "itertools",
+ "nb 1.1.0",
+ "paste",
+ "pio",
+ "rand_core",
+ "rp2040-hal-macros",
+ "rp2040-pac",
+ "usb-device",
+ "vcell",
+ "void",
+]
+
+[[package]]
+name = "rp2040-hal-macros"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "86479063e497efe1ae81995ef9071f54fd1c7427e04d6c5b84cde545ff672a5e"
+dependencies = [
+ "cortex-m-rt",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "rp2040-pac"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9192cafbb40d717c9e0ddf767aaf9c69fee1b4e48d22ed853b57b11f6d9f3d7e"
+dependencies = [
+ "cortex-m",
+ "cortex-m-rt",
+ "vcell",
+]
+
+[[package]]
+name = "rp2040_local_i2c_init"
+version = "0.1.0"
+dependencies = [
+ "cortex-m",
+ "embedded-hal",
+ "fugit",
+ "panic-probe",
+ "rp-pico",
+ "rtic",
+ "rtic-monotonics",
+]
+
+[[package]]
+name = "rtic"
+version = "2.0.0-alpha.1"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0-alpha.0"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "rtic-core"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
+
+[[package]]
+name = "rtic-macros"
+version = "2.0.0-alpha.0"
+dependencies = [
+ "indexmap",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.0.0-alpha.1"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "cortex-m",
+ "fugit",
+ "rp2040-pac",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.0.0-alpha.1"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+dependencies = [
+ "semver",
+]
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5464a87b239f13a63a501f2701565754bae92d243d4bb7eb12f6d57d2269bf4"
+
+[[package]]
+name = "usb-device"
+version = "0.2.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+dependencies = [
+ "vcell",
+]
diff --git a/examples/rp2040_local_i2c_init/Cargo.toml b/examples/rp2040_local_i2c_init/Cargo.toml
new file mode 100644
index 0000000..c8e475a
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/Cargo.toml
@@ -0,0 +1,38 @@
+[package]
+name = "rp2040_local_i2c_init"
+categories = ["embedded", "no-std"]
+description = "Example task local initialized resources for Raspberry Pi Pico"
+license = "MIT OR Apache-2.0"
+version = "0.1.0"
+edition = "2021"
+
+[workspace]
+
+[dependencies.rtic]
+path = "../../rtic"
+version = "=2.0.0-alpha.1"
+features = ["thumbv6-backend"]
+
+[dependencies.rtic-monotonics]
+path = "../../rtic-monotonics"
+version = "=1.0.0-alpha.1"
+features = ["rp2040"]
+
+[dependencies]
+cortex-m = "0.7"
+embedded-hal = { version = "0.2.7", features = ["unproven"] }
+fugit = "0.3"
+rp-pico = "0.7.0"
+panic-probe = "0.3"
+
+[profile.dev]
+opt-level = 1
+codegen-units = 16
+debug = true
+lto = false
+
+[profile.release]
+opt-level = "s"   # optimize for size
+codegen-units = 1 # better optimizations
+debug = true      # symbols are nice and they don't increase the size on Flash
+lto = true        # better optimzations
diff --git a/examples/rp2040_local_i2c_init/Embed.toml b/examples/rp2040_local_i2c_init/Embed.toml
new file mode 100644
index 0000000..0e6edc0
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/Embed.toml
@@ -0,0 +1,39 @@
+[default.probe]
+protocol = "Swd"
+speed = 20000
+# If you only have one probe cargo embed will pick automatically
+# Otherwise: add your probe's VID/PID/serial to filter
+
+## rust-dap
+# usb_vid = "6666"
+# usb_pid = "4444"
+# serial = "test"
+
+
+[default.flashing]
+enabled = true
+
+[default.reset]
+enabled = true
+halt_afterwards = false
+
+[default.general]
+chip = "RP2040"
+log_level = "WARN"
+# RP2040 does not support connect_under_reset
+connect_under_reset = false
+
+[default.rtt]
+enabled = true
+up_mode = "NoBlockSkip"
+channels = [
+    { up = 0, down = 0, name = "name", up_mode = "NoBlockSkip", format = "Defmt" },
+]
+timeout = 3000
+show_timestamps = true
+log_enabled = false
+log_path = "./logs"
+
+[default.gdb]
+enabled = true
+gdb_connection_string = "127.0.0.1:2345"
diff --git a/examples/rp2040_local_i2c_init/build.rs b/examples/rp2040_local_i2c_init/build.rs
new file mode 100644
index 0000000..d534cc3
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/build.rs
@@ -0,0 +1,31 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+}
diff --git a/examples/rp2040_local_i2c_init/memory.x b/examples/rp2040_local_i2c_init/memory.x
new file mode 100644
index 0000000..4077aab
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/memory.x
@@ -0,0 +1,15 @@
+MEMORY {
+    BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+    FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
+    RAM   : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+EXTERN(BOOT2_FIRMWARE)
+
+SECTIONS {
+    /* ### Boot loader */
+    .boot2 ORIGIN(BOOT2) :
+    {
+        KEEP(*(.boot2));
+    } > BOOT2
+} INSERT BEFORE .text;
diff --git a/examples/rp2040_local_i2c_init/src/main.rs b/examples/rp2040_local_i2c_init/src/main.rs
new file mode 100644
index 0000000..6776892
--- /dev/null
+++ b/examples/rp2040_local_i2c_init/src/main.rs
@@ -0,0 +1,115 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[rtic::app(
+    device = rp_pico::hal::pac,
+    dispatchers = [TIMER_IRQ_1]
+)]
+mod app {
+    use rp_pico::hal::{
+        clocks, gpio,
+        gpio::pin::bank0::{Gpio2, Gpio25, Gpio3},
+        gpio::pin::PushPullOutput,
+        pac,
+        sio::Sio,
+        watchdog::Watchdog,
+        I2C,
+    };
+    use rp_pico::XOSC_CRYSTAL_FREQ;
+
+    use core::mem::MaybeUninit;
+    use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
+    use fugit::RateExtU32;
+    use rtic_monotonics::rp2040::*;
+
+    use panic_probe as _;
+
+    type I2CBus = I2C<
+        pac::I2C1,
+        (
+            gpio::Pin<Gpio2, gpio::FunctionI2C>,
+            gpio::Pin<Gpio3, gpio::FunctionI2C>,
+        ),
+    >;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        led: gpio::Pin<Gpio25, PushPullOutput>,
+        i2c: &'static mut I2CBus,
+    }
+
+    #[init(local=[
+        // Task local initialized resources are static
+        // Here we use MaybeUninit to allow for initialization in init()
+        // This enables its usage in driver initialization
+        i2c_ctx: MaybeUninit<I2CBus> = MaybeUninit::uninit()
+    ])]
+    fn init(mut ctx: init::Context) -> (Shared, Local) {
+        // Initialize the interrupt for the RP2040 timer and obtain the token
+        // proving that we have.
+        let rp2040_timer_token = rtic_monotonics::create_rp2040_monotonic_token!();
+        // Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
+        Timer::start(ctx.device.TIMER, &mut ctx.device.RESETS, rp2040_timer_token); // default rp2040 clock-rate is 125MHz
+        let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
+        let clocks = clocks::init_clocks_and_plls(
+            XOSC_CRYSTAL_FREQ,
+            ctx.device.XOSC,
+            ctx.device.CLOCKS,
+            ctx.device.PLL_SYS,
+            ctx.device.PLL_USB,
+            &mut ctx.device.RESETS,
+            &mut watchdog,
+        )
+        .ok()
+        .unwrap();
+
+        // Init LED pin
+        let sio = Sio::new(ctx.device.SIO);
+        let gpioa = rp_pico::Pins::new(
+            ctx.device.IO_BANK0,
+            ctx.device.PADS_BANK0,
+            sio.gpio_bank0,
+            &mut ctx.device.RESETS,
+        );
+        let mut led = gpioa.led.into_push_pull_output();
+        led.set_low().unwrap();
+
+        // Init I2C pins
+        let sda_pin = gpioa.gpio2.into_mode::<gpio::FunctionI2C>();
+        let scl_pin = gpioa.gpio3.into_mode::<gpio::FunctionI2C>();
+
+        // Init I2C itself, using MaybeUninit to overwrite the previously
+        // uninitialized i2c_ctx variable without dropping its value
+        // (i2c_ctx definined in init local resources above)
+        let i2c_tmp: &'static mut _ = ctx.local.i2c_ctx.write(I2C::i2c1(
+            ctx.device.I2C1,
+            sda_pin,
+            scl_pin,
+            100.kHz(),
+            &mut ctx.device.RESETS,
+            &clocks.system_clock,
+        ));
+
+        // Spawn heartbeat task
+        heartbeat::spawn().ok();
+
+        // Return resources and timer
+        (Shared {}, Local { led, i2c: i2c_tmp })
+    }
+
+    #[task(local = [i2c, led])]
+    async fn heartbeat(ctx: heartbeat::Context) {
+        // Flicker the built-in LED
+        _ = ctx.local.led.toggle();
+
+        // Congrats, you can use your i2c and have access to it here,
+        // now to do something with it!
+
+        // Re-spawn this task after 1 second
+        Timer::delay(1000.millis()).await;
+    }
+}