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index 0000000..f4a3b83
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+
+[patch.crates-io]
+embassy-stm32 = { path = "/home/tk/Downloads/src/embassy/embassy-stm32" }
+
+[profile.release]
+lto = true
+opt-level = "s"
+incremental = false
+codegen-units = 1
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diff --git a/LICENSE.md b/LICENSE.md
new file mode 100644
index 0000000..496acdb
--- /dev/null
+++ b/LICENSE.md
@@ -0,0 +1,675 @@
+# GNU GENERAL PUBLIC LICENSE
+
+Version 3, 29 June 2007
+
+Copyright (C) 2007 Free Software Foundation, Inc.
+<https://fsf.org/>
+
+Everyone is permitted to copy and distribute verbatim copies of this
+license document, but changing it is not allowed.
+
+## Preamble
+
+The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom
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+free software for all its users. We, the Free Software Foundation, use
+the GNU General Public License for most of our software; it applies
+also to any other work released this way by its authors. You can apply
+it to your programs, too.
+
+When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you
+have certain responsibilities if you distribute copies of the
+software, or if you modify it: responsibilities to respect the freedom
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+For example, if you distribute copies of such a program, whether
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+Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
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+Some devices are designed to deny users access to install or run
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+The precise terms and conditions for copying, distribution and
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+## TERMS AND CONDITIONS
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+### 7. Additional Terms.
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+When you convey a copy of a covered work, you may at your option
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+Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders
+of that material) supplement the terms of this License with terms:
+
+-   a) Disclaiming warranty or limiting liability differently from the
+    terms of sections 15 and 16 of this License; or
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+    author attributions in that material or in the Appropriate Legal
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+-   c) Prohibiting misrepresentation of the origin of that material,
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+-   d) Limiting the use for publicity purposes of names of licensors
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+-   f) Requiring indemnification of licensors and authors of that
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+    for any liability that these contractual assumptions directly
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+
+All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10. If the Program as you
+received it, or any part of it, contains a notice stating that it is
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+restriction, you may remove that term. If a license document contains
+a further restriction but permits relicensing or conveying under this
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+not survive such relicensing or conveying.
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+If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions; the
+above requirements apply either way.
+
+### 8. Termination.
+
+You may not propagate or modify a covered work except as expressly
+provided under this License. Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+However, if you cease all violation of this License, then your license
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+unless and until the copyright holder explicitly and finally
+terminates your license, and (b) permanently, if the copyright holder
+fails to notify you of the violation by some reasonable means prior to
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+
+Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
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+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+Termination of your rights under this section does not terminate the
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+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+### 9. Acceptance Not Required for Having Copies.
+
+You are not required to accept this License in order to receive or run
+a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
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+covered work, you indicate your acceptance of this License to do so.
+
+### 10. Automatic Licensing of Downstream Recipients.
+
+Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
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+
+You may not impose any further restrictions on the exercise of the
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+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+### 11. Patents.
+
+A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+A contributor's "essential patent claims" are all patent claims owned
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+hereafter acquired, that would be infringed by some manner, permitted
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+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
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+
+Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
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+propagate the contents of its contributor version.
+
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+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
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+patent against the party.
+
+If you convey a covered work, knowingly relying on a patent license,
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+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
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+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
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+
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+covered work, and grant a patent license to some of the parties
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+
+A patent license is "discriminatory" if it does not include within the
+scope of its coverage, prohibits the exercise of, or is conditioned on
+the non-exercise of one or more of the rights that are specifically
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+business of distributing software, under which you make payment to the
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+covered work, unless you entered into that arrangement, or that patent
+license was granted, prior to 28 March 2007.
+
+Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+### 12. No Surrender of Others' Freedom.
+
+If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under
+this License and any other pertinent obligations, then as a
+consequence you may not convey it at all. For example, if you agree to
+terms that obligate you to collect a royalty for further conveying
+from those to whom you convey the Program, the only way you could
+satisfy both those terms and this License would be to refrain entirely
+from conveying the Program.
+
+### 13. Use with the GNU Affero General Public License.
+
+Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+### 14. Revised Versions of this License.
+
+The Free Software Foundation may publish revised and/or new versions
+of the GNU General Public License from time to time. Such new versions
+will be similar in spirit to the present version, but may differ in
+detail to address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program
+specifies that a certain numbered version of the GNU General Public
+License "or any later version" applies to it, you have the option of
+following the terms and conditions either of that numbered version or
+of any later version published by the Free Software Foundation. If the
+Program does not specify a version number of the GNU General Public
+License, you may choose any version ever published by the Free
+Software Foundation.
+
+If the Program specifies that a proxy can decide which future versions
+of the GNU General Public License can be used, that proxy's public
+statement of acceptance of a version permanently authorizes you to
+choose that version for the Program.
+
+Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+### 15. Disclaimer of Warranty.
+
+THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT
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+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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+PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE
+DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR
+CORRECTION.
+
+### 16. Limitation of Liability.
+
+IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR
+CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES
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+NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR
+LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM
+TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER
+PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+
+### 17. Interpretation of Sections 15 and 16.
+
+If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+END OF TERMS AND CONDITIONS
+
+## How to Apply These Terms to Your New Programs
+
+If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these
+terms.
+
+To do so, attach the following notices to the program. It is safest to
+attach them to the start of each source file to most effectively state
+the exclusion of warranty; and each file should have at least the
+"copyright" line and a pointer to where the full notice is found.
+
+        <one line to give the program's name and a brief idea of what it does.>
+        Copyright (C) <year>  <name of author>
+
+        This program is free software: you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation, either version 3 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful,
+        but WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+        GNU General Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper
+mail.
+
+If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+        <program>  Copyright (C) <year>  <name of author>
+        This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+        This is free software, and you are welcome to redistribute it
+        under certain conditions; type `show c' for details.
+
+The hypothetical commands \`show w' and \`show c' should show the
+appropriate parts of the General Public License. Of course, your
+program's commands might be different; for a GUI interface, you would
+use an "about box".
+
+You should also get your employer (if you work as a programmer) or
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. For more information on this, and how to apply and follow
+the GNU GPL, see <https://www.gnu.org/licenses/>.
+
+The GNU General Public License does not permit incorporating your
+program into proprietary programs. If your program is a subroutine
+library, you may consider it more useful to permit linking proprietary
+applications with the library. If this is what you want to do, use the
+GNU Lesser General Public License instead of this License. But first,
+please read <https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/src/dual_hx711.rs b/src/dual_hx711.rs
new file mode 100644
index 0000000..13ec247
--- /dev/null
+++ b/src/dual_hx711.rs
@@ -0,0 +1,75 @@
+// SPDX-FileCopyrightText: 2025 Tomasz Kramkowski <tomasz@kramkow.ski>
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! Driver for reading from two HX711 ADCs with a shared clock.
+//!
+//! (Datasheet)[https://cdn.sparkfun.com/assets/b/f/5/a/e/hx711F_EN.pdf]
+//!
+//! Existing implementations could not handle a combined setup.
+
+use embassy_stm32::timer::GeneralInstance4Channel;
+use embedded_hal::digital::InputPin;
+use embedded_hal_async::digital::Wait;
+
+use crate::pulse::Pulse;
+
+/// Dual HX711 driver
+pub struct DualHx711<'a, T: GeneralInstance4Channel, A: InputPin + Wait, B: InputPin + Wait> {
+    clock: Pulse<'a, T>,
+    a: A,
+    b: B,
+}
+
+/// Sign extend a two's complement number stored in the low 24 bits of a u32 to
+/// an i32
+fn convert_c24_to_i32(n: u32) -> i32 {
+    ((n << 8) as i32) >> 8
+}
+
+impl<
+        'a,
+        T: GeneralInstance4Channel,
+        E,
+        A: InputPin<Error = E> + Wait,
+        B: InputPin<Error = E> + Wait,
+    > DualHx711<'a, T, A, B>
+{
+    /// Create a new driver from clock and data pins
+    ///
+    /// Clock pin must be a `Pulse` configured to produce an appropriately timed
+    /// clock signal. Refer to the HX711 datasheet for more details.
+    ///
+    /// Currently only implements CH.A, Gain:128 mode
+    pub fn new(clock: Pulse<'a, T>, a: A, b: B) -> Self {
+        Self { clock, a, b }
+    }
+
+    /// Read the next available conversion from both HX711s
+    pub async fn read(&mut self) -> Result<(i32, i32), E> {
+        self.a.wait_for_low().await?;
+        self.b.wait_for_low().await?;
+        let mut val = (0, 0);
+        for _ in 0..24 {
+            self.clock.trigger_and_wait().await;
+            val.0 <<= 1;
+            val.0 |= self.a.is_high()? as u32;
+            val.1 <<= 1;
+            val.1 |= self.b.is_high()? as u32;
+        }
+        // Only implement CH.A, Gain:128 mode
+        self.clock.trigger_and_wait().await;
+        Ok((convert_c24_to_i32(val.0), convert_c24_to_i32(val.1)))
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn convert_twos_complement() {
+        assert_eq!(convert_c24_to_i32(0), 0);
+        assert_eq!(convert_c24_to_i32(0x7fffff), 8388607);
+        assert_eq!(convert_c24_to_i32(0x800000), -8388608);
+        assert_eq!(convert_c24_to_i32(0xffffff), -1);
+    }
+}
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..dda8d22
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,128 @@
+// SPDX-FileCopyrightText: 2025 Tomasz Kramkowski <tomasz@kramkow.ski>
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#![no_main]
+#![no_std]
+
+mod dual_hx711;
+mod pulse;
+
+use embassy_stm32::{bind_interrupts, peripherals, timer};
+use {defmt_rtt as _, panic_probe as _};
+
+use rtic_monotonics::systick::prelude::*;
+
+systick_monotonic!(Mono);
+
+bind_interrupts!(struct Irqs {
+    TIM3 => timer::UpdateInterruptHandler<peripherals::TIM3>;
+});
+
+#[rtic::app(device = embassy_stm32, peripherals = true, dispatchers = [SDIO, USART6])]
+mod app {
+    use crate::pulse::CountingMode;
+
+    use super::*;
+    use embassy_stm32::{
+        exti::ExtiInput,
+        gpio::{Level, OutputOpenDrain, OutputType, Pull, Speed},
+        time::*,
+        timer::simple_pwm::PwmPin,
+        Config,
+    };
+    use pulse::Pulse;
+    #[shared]
+    struct Shared {}
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        defmt::trace!("init");
+
+        embassy_stm32::pac::FLASH.acr().modify(|w| {
+            w.set_prften(true);
+            w.set_icen(true);
+            w.set_dcen(true)
+        });
+
+        let mut config = Config::default();
+        {
+            use embassy_stm32::rcc::*;
+            config.rcc.hsi = false;
+            config.rcc.hse = Some(Hse {
+                freq: mhz(25),
+                mode: HseMode::Oscillator,
+            });
+            config.rcc.pll_src = PllSource::HSE;
+            config.rcc.pll = Some(Pll {
+                prediv: PllPreDiv::DIV13,
+                mul: PllMul::MUL104,
+                divp: Some(PllPDiv::DIV2),
+                divq: None,
+                divr: None,
+            });
+            config.rcc.ahb_pre = AHBPrescaler::DIV1;
+            config.rcc.apb1_pre = APBPrescaler::DIV2;
+            config.rcc.apb2_pre = APBPrescaler::DIV1;
+            config.rcc.sys = Sysclk::PLL1_P;
+        }
+
+        let p = embassy_stm32::init(config);
+
+        defmt::trace!("embassy_stm32::init done");
+
+        Mono::start(cx.core.SYST, 100_000_000);
+
+        let led = OutputOpenDrain::new(p.PC13, Level::High, Speed::Medium);
+
+        blink::spawn(led).ok();
+
+        // Create the clock pin
+        let tim3_ch3_pin = PwmPin::new(p.PB0, OutputType::OpenDrain);
+        let tim3_pulse = Pulse::new(
+            p.TIM3,
+            None,
+            None,
+            Some(tim3_ch3_pin),
+            None,
+            khz(500),
+            CountingMode::EdgeAlignedUp,
+            Irqs,
+        );
+
+        // Data pins
+        let left_lc = ExtiInput::new(p.PB8, p.EXTI8, Pull::None);
+        let right_lc = ExtiInput::new(p.PB9, p.EXTI9, Pull::None);
+
+        // Spawn test task
+        test::spawn(tim3_pulse, left_lc, right_lc).ok();
+
+        (Shared {}, Local {})
+    }
+
+    #[task()]
+    async fn test(
+        _cx: test::Context,
+        clk: Pulse<'static, peripherals::TIM3>,
+        a: ExtiInput<'static>,
+        b: ExtiInput<'static>,
+    ) {
+        // Create driver from peripherals
+        let mut scales = dual_hx711::DualHx711::new(clk, a, b);
+
+        // Keep reading forever
+        loop {
+            let (a, b) = scales.read().await.unwrap();
+            defmt::info!("scales read: {}, {}", a, b);
+        }
+    }
+
+    #[task()]
+    async fn blink(_cx: blink::Context, mut led: OutputOpenDrain<'static>) {
+        loop {
+            led.toggle();
+            Mono::delay(1.secs()).await;
+        }
+    }
+}
diff --git a/src/pulse.rs b/src/pulse.rs
new file mode 100644
index 0000000..0fbb409
--- /dev/null
+++ b/src/pulse.rs
@@ -0,0 +1,119 @@
+// SPDX-FileCopyrightText: 2024-2025 Tomasz Kramkowski <tomasz@kramkow.ski>
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+use embassy_stm32::{
+    interrupt::typelevel::{Binding, Interrupt},
+    pac::timer::vals,
+    time::Hertz,
+    timer::{
+        low_level::{self, mode, OutputCompareMode, OutputPolarity, Timer},
+        simple_pwm::PwmPin,
+        Ch1, Ch2, Ch3, Ch4, Channel, GeneralInstance4Channel, UpdateInterruptHandler,
+    },
+    Peri,
+};
+
+/// The counting mode setting for the timer
+pub enum CountingMode {
+    EdgeAlignedUp,
+    EdgeAlignedDown,
+}
+
+impl From<CountingMode> for low_level::CountingMode {
+    fn from(value: CountingMode) -> Self {
+        match value {
+            CountingMode::EdgeAlignedUp => low_level::CountingMode::EdgeAlignedUp,
+            CountingMode::EdgeAlignedDown => low_level::CountingMode::EdgeAlignedDown,
+        }
+    }
+}
+
+/// A clock pulse wrapper driver based on STM32 4ch Timers
+pub struct Pulse<'d, T: GeneralInstance4Channel> {
+    inner: Timer<'d, T, mode::WithIrq>,
+}
+
+impl<'d, T: GeneralInstance4Channel> Pulse<'d, T> {
+    /// Create a new Pulse driver from the timer, pin channels, and
+    /// configuration.
+    pub fn new(
+        tim: Peri<'d, T>,
+        ch1: Option<PwmPin<'d, T, Ch1>>,
+        ch2: Option<PwmPin<'d, T, Ch2>>,
+        ch3: Option<PwmPin<'d, T, Ch3>>,
+        ch4: Option<PwmPin<'d, T, Ch4>>,
+        period: Hertz,
+        counting_mode: CountingMode,
+        irq: impl Binding<T::UpdateInterrupt, UpdateInterruptHandler<T>> + Copy + 'd,
+    ) -> Self {
+        let this = Self {
+            inner: Timer::new_with_interrupt(tim, irq),
+        };
+
+        this.inner.set_counting_mode(counting_mode.into());
+
+        // Configure OPM
+        this.inner.regs_gp16().cr1().modify(|r| r.set_opm(true));
+
+        this.inner.set_frequency(period);
+
+        this.inner.enable_outputs();
+
+        // Calculate 50% duty
+        let half_duty = this.inner.get_max_compare_value().div_ceil(2);
+
+        // Enable channels
+        [
+            (Channel::Ch1, ch1.is_some()),
+            (Channel::Ch2, ch2.is_some()),
+            (Channel::Ch3, ch3.is_some()),
+            (Channel::Ch4, ch4.is_some()),
+        ]
+        .iter()
+        .filter_map(|(channel, present)| present.then_some(channel))
+        .for_each(|&channel| {
+            // In OPM, Mode1 + ActiveLow and Mode2 + ActiveHigh are identical
+            this.inner
+                .set_output_compare_mode(channel, OutputCompareMode::PwmMode1);
+            this.inner
+                .set_output_polarity(channel, OutputPolarity::ActiveLow);
+
+            // Configure duty cycle
+            this.inner.set_output_compare_preload(channel, true);
+            this.inner.set_compare_value(channel, half_duty);
+
+            this.inner.enable_channel(channel, true);
+        });
+
+        // Initialise the counter registers
+        {
+            let regs = this.inner.regs_core();
+            // Disable update interrupt generation
+            regs.cr1().modify(|r| r.set_urs(vals::Urs::COUNTER_ONLY));
+            // Force shadow registers to update
+            regs.egr().write(|r| r.set_ug(true));
+            // Re-enable interrupt generation
+            regs.cr1().modify(|r| r.set_urs(vals::Urs::ANY_EVENT));
+        }
+
+        // NVIC Configuration
+        T::UpdateInterrupt::unpend();
+        unsafe { T::UpdateInterrupt::enable() };
+
+        this
+    }
+
+    /// Trigger the pulse on all channel pins, wait for it to finish
+    pub async fn trigger_and_wait(&mut self) {
+        // TODO: Needed?
+        self.inner.clear_update_interrupt();
+        self.inner.start();
+        self.inner.wait_for_update().await;
+    }
+}
+
+impl<'d, T: GeneralInstance4Channel> Drop for Pulse<'d, T> {
+    fn drop(&mut self) {
+        T::UpdateInterrupt::disable()
+    }
+}