[jsheard]

I was a bit taken aback when I realized that Embassy's low-level PAC crates expose all of the devices raw registers through "safe" interfaces though. I'm pretty sure that letting you configure DMA engines arbitrarily at any time is not in the spirit of safe Rust. AFAIK their high-level HAL crates do aim to be properly safe but their PAC approach makes me nervous.

https://docs.embassy.dev/rp-pac/git/default/dma/struct.Chann...

[bacon_waffle]

Usually the HAL is between the main firmware and the PAC, so whether the PAC methods are marked as unsafe could almost be considered an implementation detail.

But yes, there has been a lot of discussion around how to handle DMA peripherals - the embedded_dma crate offers some abstractions that I've found handy.