Merge pull request 'IRQ Handling Update and UART IRQ Handler' (#5) from irq-handling-uart-update into main

Reviewed-on: #5

CHANGELOG.md

@@ -6,7 +6,18 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
-## [unreleased]
+## [v0.5.0]
+
+### Added
+
+- Reactored IRQ handling, so that `unmask` operations can be moved to HAL
+- Added UART IRQ handler. Right now, can only perform reception, TX still needs to be done in
+  a blocking manner
+- Added RTIC template and RTIC UART IRQ application
+
+### Fixed
+
+- Bugfix in UART code where RX and TX could not be enabled or disabled independently
 
 ## [v0.4.3]
 

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-hal"
-version = "0.4.3"
+version = "0.5.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
@@ -27,6 +27,7 @@ version = "0.2.4"
 rt = ["va108xx/rt"]
 
 [dev-dependencies]
+cortex-m-rtic = "0.6.0-rc.4"
 panic-rtt-target = { version = "0.1", features = ["cortex-m"] }
 rtt-target = { version = "0.3", features = ["cortex-m"] }
 panic-halt = "0.2"
@@ -55,9 +56,9 @@ name = "tests"
 required-features = ["rt"]
 
 [[example]]
-name = "pwm"
+name = "cascade"
 required-features = ["rt"]
 
 [[example]]
-name = "cascade"
+name = "uart-irq-rtic"
 required-features = ["rt"]

examples/blinky.rs

@@ -9,7 +9,7 @@
 use cortex_m_rt::entry;
 use embedded_hal::digital::v2::ToggleableOutputPin;
 use panic_halt as _;
-use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::set_up_ms_timer};
+use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountDownTimer};
 
 #[entry]
 fn main() -> ! {
@@ -18,13 +18,7 @@ fn main() -> ! {
     let mut led1 = porta.pa10.into_push_pull_output();
     let mut led2 = porta.pa7.into_push_pull_output();
     let mut led3 = porta.pa6.into_push_pull_output();
-    let mut delay = set_up_ms_timer(
+    let mut delay = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
-        &mut dp.SYSCONFIG,
-        &mut dp.IRQSEL,
-        50.mhz().into(),
-        dp.TIM0,
-        pac::Interrupt::OC0,
-    );
     for _ in 0..10 {
         led1.set_low().ok();
         led2.set_low().ok();

examples/cascade.rs

@@ -14,8 +14,8 @@ use va108xx_hal::{
     pac::{self, interrupt, TIM4, TIM5},
     prelude::*,
     timer::{
-        default_ms_irq_handler, set_up_ms_timer, CascadeCtrl, CascadeSource, CountDownTimer, Delay,
+        default_ms_irq_handler, set_up_ms_delay_provider, CascadeCtrl, CascadeSource,
-        Event,
+        CountDownTimer, Event, IrqCfg,
     },
 };
 
@@ -28,23 +28,16 @@ fn main() -> ! {
     rprintln!("-- VA108xx Cascade example application--");
 
     let mut dp = pac::Peripherals::take().unwrap();
-    let timer = set_up_ms_timer(
+    let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
-        &mut dp.SYSCONFIG,
-        &mut dp.IRQSEL,
-        50.mhz().into(),
-        dp.TIM0,
-        pac::Interrupt::OC0,
-    );
-    let mut delay = Delay::new(timer);
 
     // Will be started periodically to trigger a cascade
     let mut cascade_triggerer =
         CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM3).auto_disable(true);
     cascade_triggerer.listen(
         Event::TimeOut,
-        &mut dp.SYSCONFIG,
+        IrqCfg::new(va108xx::Interrupt::OC1, true, false),
-        &mut dp.IRQSEL,
+        Some(&mut dp.IRQSEL),
-        va108xx::Interrupt::OC1,
+        Some(&mut dp.SYSCONFIG),
     );
 
     // First target for cascade
@@ -63,9 +56,9 @@ fn main() -> ! {
     // the timer expires
     cascade_target_1.listen(
         Event::TimeOut,
-        &mut dp.SYSCONFIG,
+        IrqCfg::new(va108xx::Interrupt::OC2, true, false),
-        &mut dp.IRQSEL,
+        Some(&mut dp.IRQSEL),
-        va108xx::Interrupt::OC2,
+        Some(&mut dp.SYSCONFIG),
     );
     // The counter will only activate when the cascade signal is coming in so
     // it is okay to call start here to set the reset value
@@ -89,9 +82,9 @@ fn main() -> ! {
     // the timer expires
     cascade_target_2.listen(
         Event::TimeOut,
-        &mut dp.SYSCONFIG,
+        IrqCfg::new(va108xx::Interrupt::OC3, true, false),
-        &mut dp.IRQSEL,
+        Some(&mut dp.IRQSEL),
-        va108xx::Interrupt::OC3,
+        Some(&mut dp.SYSCONFIG),
     );
     // The counter will only activate when the cascade signal is coming in so
     // it is okay to call start here to set the reset value
@@ -112,7 +105,7 @@ fn main() -> ! {
     loop {
         rprintln!("-- Triggering cascade in 0.5 seconds --");
         cascade_triggerer.start(2.hz());
-        delay.delay_ms(5000);
+        delay.delay_ms(5000_u16);
     }
 }
 

examples/pwm.rs

@@ -8,10 +8,10 @@ use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
     gpio::PinsA,
-    pac::{self, interrupt},
+    pac,
     prelude::*,
     pwm::{self, get_duty_from_percent, ReducedPwmPin, PWMA, PWMB},
-    timer::{default_ms_irq_handler, set_up_ms_timer, Delay},
+    timer::set_up_ms_delay_provider,
 };
 
 #[entry]
@@ -26,17 +26,7 @@ fn main() -> ! {
         &mut dp.SYSCONFIG,
         10.hz(),
     );
-    let timer = set_up_ms_timer(
+    let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
-        &mut dp.SYSCONFIG,
-        &mut dp.IRQSEL,
-        50.mhz().into(),
-        dp.TIM0,
-        pac::Interrupt::OC0,
-    );
-    let mut delay = Delay::new(timer);
-    unsafe {
-        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
-    }
     let mut current_duty_cycle = 0.0;
     PwmPin::set_duty(&mut pwm, get_duty_from_percent(current_duty_cycle));
     PwmPin::enable(&mut pwm);
@@ -46,7 +36,7 @@ fn main() -> ! {
     loop {
         // Increase duty cycle continuously
         while current_duty_cycle < 1.0 {
-            delay.delay_ms(200);
+            delay.delay_ms(200_u16);
             current_duty_cycle += 0.02;
             PwmPin::set_duty(&mut reduced_pin, get_duty_from_percent(current_duty_cycle));
         }
@@ -60,7 +50,7 @@ fn main() -> ! {
         pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
         pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
         while lower_limit < 0.5 {
-            delay.delay_ms(200);
+            delay.delay_ms(200_u16);
             lower_limit += 0.01;
             upper_limit -= 0.01;
             pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
@@ -71,8 +61,3 @@ fn main() -> ! {
         reduced_pin = ReducedPwmPin::<PWMA>::from(pwmb);
     }
 }
-
-#[interrupt]
-fn OC0() {
-    default_ms_irq_handler()
-}

examples/rtic-empty.rs

@@ -0,0 +1,29 @@
+//! Empty RTIC project template
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac)]
+mod app {
+    use panic_rtt_target as _;
+    use rtt_target::{rprintln, rtt_init_default};
+    use va108xx_hal::pac;
+
+    #[local]
+    struct Local {}
+
+    #[shared]
+    struct Shared {}
+
+    #[init]
+    fn init(_ctx: init::Context) -> (Shared, Local, init::Monotonics) {
+        rtt_init_default!();
+        rprintln!("-- Vorago RTIC template --");
+        (Shared {}, Local {}, init::Monotonics())
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {}
+    }
+}

examples/tests.rs

@@ -14,7 +14,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Delay},
+    timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Delay, IrqCfg},
 };
 
 #[allow(dead_code)]
@@ -146,15 +146,12 @@ fn main() -> ! {
         }
         TestCase::DelayMs => {
             let ms_timer = set_up_ms_timer(
+                IrqCfg::new(pac::Interrupt::OC0, true, true),
                 &mut dp.SYSCONFIG,
-                &mut dp.IRQSEL,
+                Some(&mut dp.IRQSEL),
-                50.mhz().into(),
+                50.mhz(),
                 dp.TIM0,
-                pac::Interrupt::OC0,
             );
-            unsafe {
-                cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
-            }
             let mut delay = Delay::new(ms_timer);
             for _ in 0..5 {
                 led1.toggle().ok();
@@ -163,7 +160,7 @@ fn main() -> ! {
                 delay.delay_ms(500);
             }
 
-            let mut delay_timer = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz().into(), dp.TIM1);
+            let mut delay_timer = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM1);
             let mut pa0 = pinsa.pa0.into_push_pull_output();
             for _ in 0..5 {
                 led1.toggle().ok();

examples/timer-ticks.rs

@@ -12,7 +12,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Event, MS_COUNTER},
+    timer::{default_ms_irq_handler, set_up_ms_timer, CountDownTimer, Event, IrqCfg, MS_COUNTER},
 };
 
 #[allow(dead_code)]
@@ -65,22 +65,21 @@ fn main() -> ! {
         }
         LibType::Hal => {
             set_up_ms_timer(
+                IrqCfg::new(interrupt::OC0, true, true),
                 &mut dp.SYSCONFIG,
-                &mut dp.IRQSEL,
+                Some(&mut dp.IRQSEL),
-                50.mhz().into(),
+                50.mhz(),
                 dp.TIM0,
-                interrupt::OC0,
             );
             let mut second_timer =
                 CountDownTimer::new(&mut dp.SYSCONFIG, get_sys_clock().unwrap(), dp.TIM1);
             second_timer.listen(
                 Event::TimeOut,
-                &mut dp.SYSCONFIG,
+                IrqCfg::new(interrupt::OC1, true, true),
-                &mut dp.IRQSEL,
+                Some(&mut dp.IRQSEL),
-                interrupt::OC1,
+                Some(&mut dp.SYSCONFIG),
             );
             second_timer.start(1.hz());
-            unmask_irqs();
         }
     }
     loop {

examples/uart-irq-rtic.rs

@@ -0,0 +1,119 @@
+//! UART example application. Sends a test string over a UART and then enters
+//! echo mode
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac, dispatchers = [OC4])]
+mod app {
+    use core::fmt::Write;
+    use panic_rtt_target as _;
+    use rtt_target::{rprintln, rtt_init_default, set_print_channel};
+    use va108xx_hal::{
+        gpio::PinsB,
+        pac,
+        prelude::*,
+        uart::{self, IrqCfg, IrqResult, UartWithIrqBase},
+    };
+
+    #[local]
+    struct Local {}
+
+    #[shared]
+    struct Shared {
+        irq_uart: UartWithIrqBase<pac::UARTB>,
+        rx_buf: [u8; 64],
+    }
+
+    #[init]
+    fn init(ctx: init::Context) -> (Shared, Local, init::Monotonics) {
+        let channels = rtt_init_default!();
+        set_print_channel(channels.up.0);
+        rprintln!("-- VA108xx UART IRQ example application--");
+        let mut dp = ctx.device;
+        let gpiob = PinsB::new(&mut dp.SYSCONFIG, Some(dp.IOCONFIG), dp.PORTB);
+        let tx = gpiob.pb21.into_funsel_1();
+        let rx = gpiob.pb20.into_funsel_1();
+
+        let irq_cfg = IrqCfg::new(pac::interrupt::OC3, true, true);
+        let (mut irq_uart, _) = uart::Uart::uartb(
+            dp.UARTB,
+            (tx, rx),
+            115200.bps(),
+            &mut dp.SYSCONFIG,
+            50.mhz(),
+        )
+        .into_uart_with_irq(irq_cfg, Some(&mut dp.SYSCONFIG), Some(&mut dp.IRQSEL))
+        .downgrade();
+        irq_uart
+            .read_fixed_len_using_irq(64, true)
+            .expect("Read initialization failed");
+        let rx_buf: [u8; 64] = [0; 64];
+        (Shared { irq_uart, rx_buf }, Local {}, init::Monotonics())
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {}
+    }
+
+    #[task(
+        binds = OC3,
+        shared = [irq_uart, rx_buf],
+        local = [cnt: u32 = 0, result: IrqResult = IrqResult::new()],
+        priority = 4
+    )]
+    fn reception_task(cx: reception_task::Context) {
+        let result = cx.local.result;
+        let cnt: &mut u32 = cx.local.cnt;
+        let irq_uart = cx.shared.irq_uart;
+        let rx_buf = cx.shared.rx_buf;
+        let (completed, end_idx) = (irq_uart, rx_buf).lock(|irq_uart, rx_buf| {
+            match irq_uart.irq_handler(result, rx_buf) {
+                Ok(_) => {
+                    if result.complete() {
+                        // Initiate next transfer immediately
+                        irq_uart
+                            .read_fixed_len_using_irq(64, true)
+                            .expect("Read operation init failed");
+
+                        let mut end_idx = 0;
+                        for idx in 0..rx_buf.len() {
+                            if (rx_buf[idx] as char) == '\n' {
+                                end_idx = idx;
+                                break;
+                            }
+                        }
+                        (true, end_idx)
+                    } else {
+                        (false, 0)
+                    }
+                }
+                Err(e) => {
+                    rprintln!("Reception Error {:?}", e);
+                    (false, 0)
+                }
+            }
+        });
+        if completed {
+            rprintln!("Counter: {}", cnt);
+            reply_handler::spawn(result.bytes_read, end_idx, result.timeout()).unwrap();
+        }
+        *cnt += 1;
+    }
+
+    #[task(shared = [irq_uart, rx_buf], priority = 3)]
+    fn reply_handler(cx: reply_handler::Context, bytes_read: usize, end_idx: usize, timeout: bool) {
+        let irq_uart = cx.shared.irq_uart;
+        let rx_buf = cx.shared.rx_buf;
+        (irq_uart, rx_buf).lock(|irq_uart, rx_buf| {
+            rprintln!("Reception success, {} bytes read", bytes_read);
+            if timeout {
+                rprintln!("Timeout occured");
+            }
+            let string = core::str::from_utf8(&rx_buf[0..end_idx]).expect("Invalid string format");
+            rprintln!("Read string: {}", string);
+            writeln!(irq_uart.uart, "{}", string).expect("Sending reply failed");
+        });
+    }
+}

src/gpio/dynpins.rs

@@ -66,8 +66,8 @@ use super::{
 };
 use crate::{
     clock::FilterClkSel,
-    pac::{self, IRQSEL, SYSCONFIG},
+    pac::{IRQSEL, SYSCONFIG},
-    utility::Funsel,
+    utility::{Funsel, IrqCfg},
 };
 use embedded_hal::digital::v2::{InputPin, OutputPin, ToggleableOutputPin};
 use paste::paste;
@@ -344,14 +344,14 @@ impl DynPin {
     pub fn interrupt_edge(
         mut self,
         edge_type: InterruptEdge,
+        irq_cfg: IrqCfg,
         syscfg: Option<&mut SYSCONFIG>,
-        irqsel: &mut IRQSEL,
+        irqsel: Option<&mut IRQSEL>,
-        interrupt: pac::Interrupt,
     ) -> Result<Self, PinError> {
         match self.mode {
             DynPinMode::Input(_) | DynPinMode::Output(_) => {
-                self._irq_enb(syscfg, irqsel, interrupt);
                 self.regs.interrupt_edge(edge_type);
+                self.irq_enb(irq_cfg, syscfg, irqsel);
                 Ok(self)
             }
             _ => Err(PinError::InvalidPinType),
@@ -361,14 +361,14 @@ impl DynPin {
     pub fn interrupt_level(
         mut self,
         level_type: InterruptLevel,
+        irq_cfg: IrqCfg,
         syscfg: Option<&mut SYSCONFIG>,
-        irqsel: &mut IRQSEL,
+        irqsel: Option<&mut IRQSEL>,
-        interrupt: crate::pac::Interrupt,
     ) -> Result<Self, PinError> {
         match self.mode {
             DynPinMode::Input(_) | DynPinMode::Output(_) => {
-                self._irq_enb(syscfg, irqsel, interrupt);
                 self.regs.interrupt_level(level_type);
+                self.irq_enb(irq_cfg, syscfg, irqsel);
                 Ok(self)
             }
             _ => Err(PinError::InvalidPinType),

src/gpio/pins.rs

@@ -92,8 +92,9 @@
 use super::dynpins::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
 use super::reg::RegisterInterface;
 use crate::{
-    pac::{self, IOCONFIG, IRQSEL, PORTA, PORTB, SYSCONFIG},
+    pac::{IOCONFIG, IRQSEL, PORTA, PORTB, SYSCONFIG},
     typelevel::Is,
+    utility::IrqCfg,
     Sealed,
 };
 use core::convert::Infallible;
@@ -397,11 +398,11 @@ macro_rules! common_reg_if_functions {
                 self.regs.write_pin_masked(false)
             }
 
-            fn _irq_enb(
+            fn irq_enb(
                 &mut self,
+                irq_cfg: crate::utility::IrqCfg,
                 syscfg: Option<&mut va108xx::SYSCONFIG>,
-                irqsel: &mut va108xx::IRQSEL,
+                irqsel: Option<&mut va108xx::IRQSEL>,
-                interrupt: va108xx::Interrupt,
             ) {
                 if syscfg.is_some() {
                     crate::clock::enable_peripheral_clock(
@@ -410,15 +411,19 @@ macro_rules! common_reg_if_functions {
                     );
                 }
                 self.regs.enable_irq();
+                if let Some(irqsel) = irqsel {
+                    if irq_cfg.route {
                         match self.regs.id().group {
                             // Set the correct interrupt number in the IRQSEL register
                             DynGroup::A => {
                                 irqsel.porta[self.regs.id().num as usize]
-                            .write(|w| unsafe { w.bits(interrupt as u32) });
+                                    .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
                             }
                             DynGroup::B => {
                                 irqsel.portb[self.regs.id().num as usize]
-                            .write(|w| unsafe { w.bits(interrupt as u32) });
+                                    .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
+                            }
+                        }
                     }
                 }
             }
@@ -577,24 +582,24 @@ impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
     pub fn interrupt_edge(
         mut self,
         edge_type: InterruptEdge,
+        irq_cfg: IrqCfg,
         syscfg: Option<&mut SYSCONFIG>,
-        irqsel: &mut IRQSEL,
+        irqsel: Option<&mut IRQSEL>,
-        interrupt: pac::Interrupt,
     ) -> Self {
-        self._irq_enb(syscfg, irqsel, interrupt);
         self.regs.interrupt_edge(edge_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
         self
     }
 
     pub fn interrupt_level(
         mut self,
         level_type: InterruptLevel,
+        irq_cfg: IrqCfg,
         syscfg: Option<&mut SYSCONFIG>,
-        irqsel: &mut IRQSEL,
+        irqsel: Option<&mut IRQSEL>,
-        interrupt: pac::Interrupt,
     ) -> Self {
-        self._irq_enb(syscfg, irqsel, interrupt);
         self.regs.interrupt_level(level_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
         self
     }
 }
@@ -622,24 +627,24 @@ impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
     pub fn interrupt_edge(
         mut self,
         edge_type: InterruptEdge,
+        irq_cfg: IrqCfg,
         syscfg: Option<&mut SYSCONFIG>,
-        irqsel: &mut IRQSEL,
+        irqsel: Option<&mut IRQSEL>,
-        interrupt: pac::Interrupt,
     ) -> Self {
-        self._irq_enb(syscfg, irqsel, interrupt);
         self.regs.interrupt_edge(edge_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
         self
     }
 
     pub fn interrupt_level(
         mut self,
         level_type: InterruptLevel,
+        irq_cfg: IrqCfg,
         syscfg: Option<&mut SYSCONFIG>,
-        irqsel: &mut IRQSEL,
+        irqsel: Option<&mut IRQSEL>,
-        interrupt: pac::Interrupt,
     ) -> Self {
-        self._irq_enb(syscfg, irqsel, interrupt);
         self.regs.interrupt_level(level_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
         self
     }
 }

src/timer.rs

@@ -4,6 +4,7 @@
 //!
 //! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/timer-ticks.rs)
 //! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/cascade.rs)
+pub use crate::utility::IrqCfg;
 use crate::{
     clock::{enable_peripheral_clock, PeripheralClocks},
     gpio::{
@@ -20,6 +21,7 @@ use crate::{
     private::Sealed,
     time::Hertz,
     timer,
+    utility::unmask_irq,
 };
 use core::cell::Cell;
 use cortex_m::interrupt::Mutex;
@@ -27,7 +29,7 @@ use embedded_hal::{
     blocking::delay,
     timer::{Cancel, CountDown, Periodic},
 };
-use va108xx::{Interrupt, IRQSEL, SYSCONFIG};
+use va108xx::{IRQSEL, SYSCONFIG};
 use void::Void;
 
 const IRQ_DST_NONE: u32 = 0xffffffff;
@@ -386,6 +388,7 @@ unsafe impl TimPinInterface for TimDynRegister {
 pub struct CountDownTimer<TIM: ValidTim> {
     tim: TimRegister<TIM>,
     curr_freq: Hertz,
+    irq_cfg: Option<IrqCfg>,
     sys_clk: Hertz,
     rst_val: u32,
     last_cnt: u32,
@@ -482,6 +485,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         let cd_timer = CountDownTimer {
             tim: unsafe { TimRegister::new(tim) },
             sys_clk: sys_clk.into(),
+            irq_cfg: None,
             rst_val: 0,
             curr_freq: 0.hz(),
             listening: false,
@@ -491,21 +495,28 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         cd_timer
     }
 
-    /// Listen for events. This also actives the IRQ in the IRQSEL register
+    /// Listen for events. Depending on the IRQ configuration, this also activates the IRQ in the
-    /// for the provided interrupt. It also actives the peripheral clock for
+    /// IRQSEL peripheral for the provided interrupt and unmasks the interrupt
-    /// IRQSEL
     pub fn listen(
         &mut self,
         event: Event,
-        syscfg: &mut SYSCONFIG,
+        irq_cfg: IrqCfg,
-        irqsel: &mut IRQSEL,
+        irq_sel: Option<&mut IRQSEL>,
-        interrupt: Interrupt,
+        sys_cfg: Option<&mut SYSCONFIG>,
     ) {
         match event {
             Event::TimeOut => {
-                enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
+                cortex_m::peripheral::NVIC::mask(irq_cfg.irq);
-                irqsel.tim[TIM::TIM_ID as usize].write(|w| unsafe { w.bits(interrupt as u32) });
+                self.irq_cfg = Some(irq_cfg);
-                self.enable_interrupt();
+                if irq_cfg.route {
+                    if let Some(sys_cfg) = sys_cfg {
+                        enable_peripheral_clock(sys_cfg, PeripheralClocks::Irqsel);
+                    }
+                    if let Some(irq_sel) = irq_sel {
+                        irq_sel.tim[TIM::TIM_ID as usize]
+                            .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
+                    }
+                }
                 self.listening = true;
             }
         }
@@ -554,6 +565,12 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
     #[inline(always)]
     pub fn enable(&mut self) {
         self.tim.reg().ctrl.modify(|_, w| w.enable().set_bit());
+        if let Some(irq_cfg) = self.irq_cfg {
+            self.enable_interrupt();
+            if irq_cfg.enable {
+                unmask_irq(irq_cfg.irq);
+            }
+        }
     }
 
     #[inline(always)]
@@ -720,19 +737,29 @@ impl<TIM: ValidTim> embedded_hal::blocking::delay::DelayMs<u8> for CountDownTime
 
 // Set up a millisecond timer on TIM0. Please note that you still need to unmask the related IRQ
 // and provide an IRQ handler yourself
-pub fn set_up_ms_timer(
+pub fn set_up_ms_timer<TIM: ValidTim>(
-    syscfg: &mut pac::SYSCONFIG,
+    irq_cfg: IrqCfg,
-    irqsel: &mut pac::IRQSEL,
+    sys_cfg: &mut pac::SYSCONFIG,
-    sys_clk: Hertz,
+    irq_sel: Option<&mut pac::IRQSEL>,
-    tim0: TIM0,
+    sys_clk: impl Into<Hertz>,
-    irq: pac::Interrupt,
+    tim0: TIM,
-) -> CountDownTimer<TIM0> {
+) -> CountDownTimer<TIM> {
-    let mut ms_timer = CountDownTimer::new(syscfg, sys_clk, tim0);
+    let mut ms_timer = CountDownTimer::new(sys_cfg, sys_clk, tim0);
-    ms_timer.listen(timer::Event::TimeOut, syscfg, irqsel, irq);
+    ms_timer.listen(timer::Event::TimeOut, irq_cfg, irq_sel, Some(sys_cfg));
     ms_timer.start(1000.hz());
     ms_timer
 }
 
+pub fn set_up_ms_delay_provider<TIM: ValidTim>(
+    sys_cfg: &mut pac::SYSCONFIG,
+    sys_clk: impl Into<Hertz>,
+    tim: TIM,
+) -> CountDownTimer<TIM> {
+    let mut provider = CountDownTimer::new(sys_cfg, sys_clk, tim);
+    provider.start(1000.hz());
+    provider
+}
+
 /// This function can be called in a specified interrupt handler to increment
 /// the MS counter
 pub fn default_ms_irq_handler() {
@@ -763,6 +790,7 @@ impl Delay {
 }
 
 /// This assumes that the user has already set up a MS tick timer in TIM0 as a system tick
+/// with [`set_up_ms_delay_provider`]
 impl embedded_hal::blocking::delay::DelayMs<u32> for Delay {
     fn delay_ms(&mut self, ms: u32) {
         if self.cd_tim.curr_freq() != 1000.hz() || !self.cd_tim.listening() {

src/uart.rs

@@ -7,20 +7,25 @@ use core::{convert::Infallible, ptr};
 use core::{marker::PhantomData, ops::Deref};
 use libm::floorf;
 
-use crate::clock::enable_peripheral_clock;
+pub use crate::utility::IrqCfg;
 use crate::{
-    clock,
+    clock::{self, enable_peripheral_clock, PeripheralClocks},
     gpio::pins::{
         AltFunc1, AltFunc2, AltFunc3, Pin, PA16, PA17, PA18, PA19, PA2, PA26, PA27, PA3, PA30,
         PA31, PA8, PA9, PB18, PB19, PB20, PB21, PB22, PB23, PB6, PB7, PB8, PB9,
     },
-    pac::{uarta as uart_base, SYSCONFIG, UARTA, UARTB},
+    pac::{uarta as uart_base, IRQSEL, SYSCONFIG, UARTA, UARTB},
     prelude::*,
     time::{Bps, Hertz},
+    utility::unmask_irq,
 };
 
 use embedded_hal::{blocking, serial};
 
+//==================================================================================================
+// Type-Level support
+//==================================================================================================
+
 pub trait Pins<UART> {}
 
 impl Pins<UARTA> for (Pin<PA9, AltFunc2>, Pin<PA8, AltFunc2>) {}
@@ -38,12 +43,20 @@ impl Pins<UARTB> for (Pin<PB7, AltFunc1>, Pin<PB6, AltFunc1>) {}
 impl Pins<UARTB> for (Pin<PB19, AltFunc2>, Pin<PB18, AltFunc2>) {}
 impl Pins<UARTB> for (Pin<PB21, AltFunc1>, Pin<PB20, AltFunc1>) {}
 
+//==================================================================================================
+// Regular Definitions
+//==================================================================================================
+
 #[derive(Debug)]
 pub enum Error {
     Overrun,
     FramingError,
     ParityError,
     BreakCondition,
+    TransferPending,
+    BufferTooShort,
+    /// Can be a combination of overrun, framing or parity error
+    IrqError,
 }
 
 #[derive(Debug, PartialEq, Copy, Clone)]
@@ -160,13 +173,139 @@ impl From<Bps> for Config {
     }
 }
 
-/// Serial abstraction
+//==================================================================================================
-pub struct Uart<UART, PINS> {
+// IRQ Definitions
+//==================================================================================================
+
+pub struct IrqInfo {
+    rx_len: usize,
+    rx_idx: usize,
+    irq_cfg: IrqCfg,
+    mode: IrqReceptionMode,
+}
+
+pub enum IrqResultMask {
+    Complete = 0,
+    Overflow = 1,
+    FramingError = 2,
+    ParityError = 3,
+    Break = 4,
+    Timeout = 5,
+    Addr9 = 6,
+    /// Should not happen
+    Unknown = 7,
+}
+
+#[derive(Debug, Default)]
+pub struct IrqResult {
+    raw_res: u32,
+    pub bytes_read: usize,
+}
+
+impl IrqResult {
+    pub const fn new() -> Self {
+        IrqResult {
+            raw_res: 0,
+            bytes_read: 0,
+        }
+    }
+}
+
+impl IrqResult {
+    #[inline]
+    pub fn raw_result(&self) -> u32 {
+        self.raw_res
+    }
+
+    #[inline]
+    pub(crate) fn clear_result(&mut self) {
+        self.raw_res = 0;
+    }
+    #[inline]
+    pub(crate) fn set_result(&mut self, flag: IrqResultMask) {
+        self.raw_res |= 1 << flag as u32;
+    }
+
+    #[inline]
+    pub fn complete(&self) -> bool {
+        if ((self.raw_res >> IrqResultMask::Complete as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
+    }
+
+    #[inline]
+    pub fn error(&self) -> bool {
+        if self.overflow_error() || self.framing_error() || self.parity_error() {
+            return true;
+        }
+        false
+    }
+
+    #[inline]
+    pub fn overflow_error(&self) -> bool {
+        if ((self.raw_res >> IrqResultMask::Overflow as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
+    }
+
+    #[inline]
+    pub fn framing_error(&self) -> bool {
+        if ((self.raw_res >> IrqResultMask::FramingError as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
+    }
+
+    #[inline]
+    pub fn parity_error(&self) -> bool {
+        if ((self.raw_res >> IrqResultMask::ParityError as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
+    }
+
+    #[inline]
+    pub fn timeout(&self) -> bool {
+        if ((self.raw_res >> IrqResultMask::Timeout as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
+    }
+}
+
+#[derive(Debug, PartialEq)]
+pub enum IrqReceptionMode {
+    Idle,
+    FixedLen,
+    VarLen,
+}
+
+//==================================================================================================
+// UART implementation
+//==================================================================================================
+
+pub struct UartBase<UART> {
     uart: UART,
-    pins: PINS,
     tx: Tx<UART>,
     rx: Rx<UART>,
 }
+/// Serial abstraction
+pub struct Uart<UART, PINS> {
+    uart_base: UartBase<UART>,
+    pins: PINS,
+}
+
+pub struct UartWithIrq<UART, PINS> {
+    irq_base: UartWithIrqBase<UART>,
+    pins: PINS,
+}
+
+pub struct UartWithIrqBase<UART> {
+    pub uart: UartBase<UART>,
+    irq_info: IrqInfo,
+}
 
 /// Serial receiver
 pub struct Rx<UART> {
@@ -196,12 +335,10 @@ impl<UART> Tx<UART> {
 
 pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
     fn ptr() -> *const uart_base::RegisterBlock;
+    const IDX: u8;
 }
 
-impl<UART, PINS> Uart<UART, PINS>
+impl<UART: Instance> UartBase<UART> {
-where
-    UART: Instance,
-{
     /// This function assumes that the peripheral clock was alredy enabled
     /// in the SYSCONFIG register
     fn init(self, config: Config, sys_clk: Hertz) -> Self {
@@ -247,7 +384,47 @@ where
         self
     }
 
-    pub fn listen(self, event: Event) -> Self {
+    #[inline]
+    pub fn enable_rx(&mut self) {
+        self.uart.enable.modify(|_, w| w.rxenable().set_bit());
+    }
+
+    #[inline]
+    pub fn disable_rx(&mut self) {
+        self.uart.enable.modify(|_, w| w.rxenable().clear_bit());
+    }
+
+    #[inline]
+    pub fn enable_tx(&mut self) {
+        self.uart.enable.modify(|_, w| w.txenable().set_bit());
+    }
+
+    #[inline]
+    pub fn disable_tx(&mut self) {
+        self.uart.enable.modify(|_, w| w.txenable().clear_bit());
+    }
+
+    #[inline]
+    pub fn clear_rx_fifo(&mut self) {
+        self.uart.fifo_clr.write(|w| w.rxfifo().set_bit());
+    }
+
+    #[inline]
+    pub fn clear_tx_fifo(&mut self) {
+        self.uart.fifo_clr.write(|w| w.txfifo().set_bit());
+    }
+
+    #[inline]
+    pub fn clear_rx_status(&mut self) {
+        self.uart.fifo_clr.write(|w| w.rxsts().set_bit());
+    }
+
+    #[inline]
+    pub fn clear_tx_status(&mut self) {
+        self.uart.fifo_clr.write(|w| w.txsts().set_bit());
+    }
+
+    pub fn listen(&self, event: Event) {
         self.uart.irq_enb.modify(|_, w| match event {
             Event::RxError => w.irq_rx_status().set_bit(),
             Event::RxFifoHalfFull => w.irq_rx().set_bit(),
@@ -257,10 +434,9 @@ where
             Event::TxFifoHalfFull => w.irq_tx().set_bit(),
             Event::TxCts => w.irq_tx_cts().set_bit(),
         });
-        self
     }
 
-    pub fn unlisten(self, event: Event) -> Self {
+    pub fn unlisten(&self, event: Event) {
         self.uart.irq_enb.modify(|_, w| match event {
             Event::RxError => w.irq_rx_status().clear_bit(),
             Event::RxFifoHalfFull => w.irq_rx().clear_bit(),
@@ -270,10 +446,9 @@ where
             Event::TxFifoHalfFull => w.irq_tx().clear_bit(),
             Event::TxCts => w.irq_tx_cts().clear_bit(),
         });
-        self
     }
 
-    pub fn release(self) -> (UART, PINS) {
+    pub fn release(self) -> UART {
         // Clear the FIFO
         self.uart.fifo_clr.write(|w| {
             w.rxfifo().set_bit();
@@ -283,7 +458,7 @@ where
             w.rxenable().clear_bit();
             w.txenable().clear_bit()
         });
-        (self.uart, self.pins)
+        self.uart
     }
 
     pub fn split(self) -> (Tx<UART>, Rx<UART>) {
@@ -291,14 +466,130 @@ where
     }
 }
 
+impl<UART, PINS> Uart<UART, PINS>
+where
+    UART: Instance,
+{
+    /// This function assumes that the peripheral clock was alredy enabled
+    /// in the SYSCONFIG register
+    fn init(mut self, config: Config, sys_clk: Hertz) -> Self {
+        self.uart_base = self.uart_base.init(config, sys_clk);
+        self
+    }
+
+    pub fn into_uart_with_irq(
+        self,
+        irq_cfg: IrqCfg,
+        sys_cfg: Option<&mut SYSCONFIG>,
+        irq_sel: Option<&mut IRQSEL>,
+    ) -> UartWithIrq<UART, PINS> {
+        let (uart, pins) = self.downgrade_internal();
+        UartWithIrq {
+            pins,
+            irq_base: UartWithIrqBase {
+                uart,
+                irq_info: IrqInfo {
+                    rx_len: 0,
+                    rx_idx: 0,
+                    irq_cfg,
+                    mode: IrqReceptionMode::Idle,
+                },
+            }
+            .init(sys_cfg, irq_sel),
+        }
+    }
+
+    #[inline]
+    pub fn enable_rx(&mut self) {
+        self.uart_base.enable_rx();
+    }
+
+    #[inline]
+    pub fn disable_rx(&mut self) {
+        self.uart_base.enable_rx();
+    }
+
+    #[inline]
+    pub fn enable_tx(&mut self) {
+        self.uart_base.enable_tx();
+    }
+
+    #[inline]
+    pub fn disable_tx(&mut self) {
+        self.uart_base.disable_tx();
+    }
+
+    #[inline]
+    pub fn clear_rx_fifo(&mut self) {
+        self.uart_base.clear_rx_fifo();
+    }
+
+    #[inline]
+    pub fn clear_tx_fifo(&mut self) {
+        self.uart_base.clear_tx_fifo();
+    }
+
+    #[inline]
+    pub fn clear_rx_status(&mut self) {
+        self.uart_base.clear_rx_status();
+    }
+
+    #[inline]
+    pub fn clear_tx_status(&mut self) {
+        self.uart_base.clear_tx_status();
+    }
+
+    pub fn listen(&self, event: Event) {
+        self.uart_base.listen(event);
+    }
+
+    pub fn unlisten(&self, event: Event) {
+        self.uart_base.unlisten(event);
+    }
+
+    pub fn release(self) -> (UART, PINS) {
+        (self.uart_base.release(), self.pins)
+    }
+
+    fn downgrade_internal(self) -> (UartBase<UART>, PINS) {
+        let base = UartBase {
+            uart: self.uart_base.uart,
+            tx: self.uart_base.tx,
+            rx: self.uart_base.rx,
+        };
+        (base, self.pins)
+    }
+
+    pub fn downgrade(self) -> UartBase<UART> {
+        UartBase {
+            uart: self.uart_base.uart,
+            tx: self.uart_base.tx,
+            rx: self.uart_base.rx,
+        }
+    }
+
+    pub fn split(self) -> (Tx<UART>, Rx<UART>) {
+        self.uart_base.split()
+    }
+}
+
+impl Instance for UARTA {
+    fn ptr() -> *const uart_base::RegisterBlock {
+        UARTA::ptr() as *const _
+    }
+    const IDX: u8 = 0;
+}
+
+impl Instance for UARTB {
+    fn ptr() -> *const uart_base::RegisterBlock {
+        UARTB::ptr() as *const _
+    }
+    const IDX: u8 = 1;
+}
+
 macro_rules! uart_impl {
     ($($UARTX:ident: ($uartx:ident, $clk_enb_enum:path),)+) => {
         $(
-            impl Instance for $UARTX {
-                fn ptr() -> *const uart_base::RegisterBlock {
-                    $UARTX::ptr() as *const _
-                }
-            }
 
             impl<PINS: Pins<$UARTX>> Uart<$UARTX, PINS> {
                 pub fn $uartx(
@@ -310,15 +601,240 @@ macro_rules! uart_impl {
                 ) -> Self
                 {
                     enable_peripheral_clock(syscfg, $clk_enb_enum);
-                    Uart { uart, pins, tx: Tx::new(), rx: Rx::new() }.init(
+                    Uart {
-                        config.into(), sys_clk.into()
+                        uart_base: UartBase {
-                    )
+                            uart,
+                            tx: Tx::new(),
+                            rx: Rx::new(),
+                        },
+                        pins,
+                    }
+                    .init(config.into(), sys_clk.into())
                 }
             }
+
         )+
     }
 }
 
+impl<UART: Instance> UartWithIrqBase<UART> {
+    fn init(self, sys_cfg: Option<&mut SYSCONFIG>, irq_sel: Option<&mut IRQSEL>) -> Self {
+        if let Some(sys_cfg) = sys_cfg {
+            enable_peripheral_clock(sys_cfg, PeripheralClocks::Irqsel)
+        }
+        if let Some(irq_sel) = irq_sel {
+            if self.irq_info.irq_cfg.route {
+                irq_sel.uart[UART::IDX as usize]
+                    .write(|w| unsafe { w.bits(self.irq_info.irq_cfg.irq as u32) });
+            }
+        }
+        self
+    }
+
+    pub fn read_fixed_len_using_irq(
+        &mut self,
+        max_len: usize,
+        enb_timeout_irq: bool,
+    ) -> Result<(), Error> {
+        if self.irq_info.mode != IrqReceptionMode::Idle {
+            return Err(Error::TransferPending);
+        }
+        self.irq_info.rx_idx = 0;
+        self.irq_info.rx_len = max_len;
+        self.uart.enable_rx();
+        self.uart.enable_tx();
+        self.enable_rx_irq_sources(enb_timeout_irq);
+        if self.irq_info.irq_cfg.enable {
+            unmask_irq(self.irq_info.irq_cfg.irq);
+        }
+        Ok(())
+    }
+
+    #[inline]
+    fn enable_rx_irq_sources(&mut self, timeout: bool) {
+        self.uart.uart.irq_enb.modify(|_, w| {
+            if timeout {
+                w.irq_rx_to().set_bit();
+            }
+            w.irq_rx_status().set_bit();
+            w.irq_rx().set_bit()
+        });
+    }
+
+    #[inline]
+    fn disable_rx_irq_sources(&mut self) {
+        self.uart.uart.irq_enb.modify(|_, w| {
+            w.irq_rx_to().clear_bit();
+            w.irq_rx_status().clear_bit();
+            w.irq_rx().clear_bit()
+        });
+    }
+
+    #[inline]
+    pub fn enable_tx(&mut self) {
+        self.uart.enable_tx()
+    }
+
+    #[inline]
+    pub fn disable_tx(&mut self) {
+        self.uart.disable_tx()
+    }
+
+    pub fn cancel_transfer(&mut self) {
+        // Disable IRQ
+        cortex_m::peripheral::NVIC::mask(self.irq_info.irq_cfg.irq);
+        self.disable_rx_irq_sources();
+        self.uart.clear_tx_fifo();
+        self.irq_info.rx_idx = 0;
+        self.irq_info.rx_len = 0;
+    }
+
+    pub fn irq_handler(&mut self, res: &mut IrqResult, buf: &mut [u8]) -> Result<(), Error> {
+        if buf.len() < self.irq_info.rx_len {
+            return Err(Error::BufferTooShort);
+        }
+
+        let irq_end = self.uart.uart.irq_end.read();
+        let enb_status = self.uart.uart.enable.read();
+        let rx_enabled = enb_status.rxenable().bit_is_set();
+        let _tx_enabled = enb_status.txenable().bit_is_set();
+        let read_handler =
+            |res: &mut IrqResult, read_res: nb::Result<u8, Error>| -> Result<Option<u8>, Error> {
+                match read_res {
+                    Ok(byte) => Ok(Some(byte)),
+                    Err(nb::Error::WouldBlock) => Ok(None),
+                    Err(nb::Error::Other(e)) => match e {
+                        Error::Overrun => {
+                            res.set_result(IrqResultMask::Overflow);
+                            Err(Error::IrqError)
+                        }
+                        Error::FramingError => {
+                            res.set_result(IrqResultMask::FramingError);
+                            Err(Error::IrqError)
+                        }
+                        Error::ParityError => {
+                            res.set_result(IrqResultMask::ParityError);
+                            Err(Error::IrqError)
+                        }
+                        _ => {
+                            res.set_result(IrqResultMask::Unknown);
+                            Err(Error::IrqError)
+                        }
+                    },
+                }
+            };
+        if irq_end.irq_rx().bit_is_set() {
+            // If this interrupt bit is set, the trigger level is available at the very least.
+            // Read everything as fast as possible
+            for _ in 0..core::cmp::min(
+                self.uart.uart.rxfifoirqtrg.read().bits() as usize,
+                self.irq_info.rx_len,
+            ) {
+                buf[self.irq_info.rx_idx] = (self.uart.uart.data.read().bits() & 0xff) as u8;
+                self.irq_info.rx_idx += 1;
+            }
+
+            // While there is data in the FIFO, write it into the reception buffer
+            loop {
+                if self.irq_info.rx_idx == self.irq_info.rx_len {
+                    self.irq_completion_handler(res);
+                    return Ok(());
+                }
+                if let Some(byte) = read_handler(res, self.uart.read())? {
+                    buf[self.irq_info.rx_idx] = byte;
+                    self.irq_info.rx_idx += 1;
+                } else {
+                    break;
+                }
+            }
+        }
+
+        // RX transfer not complete, check for RX errors
+        if (self.irq_info.rx_idx < self.irq_info.rx_len) && rx_enabled {
+            // Read status register again, might have changed since reading received data
+            let rx_status = self.uart.uart.rxstatus.read();
+            res.clear_result();
+            if rx_status.rxovr().bit_is_set() {
+                res.set_result(IrqResultMask::Overflow);
+            }
+            if rx_status.rxfrm().bit_is_set() {
+                res.set_result(IrqResultMask::FramingError);
+            }
+            if rx_status.rxpar().bit_is_set() {
+                res.set_result(IrqResultMask::ParityError);
+            }
+            if rx_status.rxbrk().bit_is_set() {
+                res.set_result(IrqResultMask::Break);
+            }
+            if rx_status.rxto().bit_is_set() {
+                // A timeout has occured but there might be some leftover data in the FIFO,
+                // so read that data as well
+                while let Some(byte) = read_handler(res, self.uart.read())? {
+                    buf[self.irq_info.rx_idx] = byte;
+                    self.irq_info.rx_idx += 1;
+                }
+                self.irq_completion_handler(res);
+                res.set_result(IrqResultMask::Timeout);
+                return Ok(());
+            }
+
+            // If it is not a timeout, it's an error
+            if res.raw_res != 0 {
+                self.disable_rx_irq_sources();
+                return Err(Error::IrqError);
+            }
+        }
+
+        // Clear the interrupt status bits
+        self.uart
+            .uart
+            .irq_clr
+            .write(|w| unsafe { w.bits(irq_end.bits()) });
+        Ok(())
+    }
+
+    fn irq_completion_handler(&mut self, res: &mut IrqResult) {
+        self.disable_rx_irq_sources();
+        self.uart.disable_rx();
+        res.bytes_read = self.irq_info.rx_idx;
+        res.clear_result();
+        res.set_result(IrqResultMask::Complete);
+        self.irq_info.rx_idx = 0;
+        self.irq_info.rx_len = 0;
+    }
+
+    pub fn release(self) -> UART {
+        self.uart.release()
+    }
+}
+
+impl<UART: Instance, PINS> UartWithIrq<UART, PINS> {
+    pub fn read_fixed_len_using_irq(
+        &mut self,
+        max_len: usize,
+        enb_timeout_irq: bool,
+    ) -> Result<(), Error> {
+        self.irq_base
+            .read_fixed_len_using_irq(max_len, enb_timeout_irq)
+    }
+
+    pub fn cancel_transfer(&mut self) {
+        self.irq_base.cancel_transfer()
+    }
+
+    pub fn irq_handler(&mut self, res: &mut IrqResult, buf: &mut [u8]) -> Result<(), Error> {
+        self.irq_base.irq_handler(res, buf)
+    }
+
+    pub fn release(self) -> (UART, PINS) {
+        (self.irq_base.release(), self.pins)
+    }
+
+    pub fn downgrade(self) -> (UartWithIrqBase<UART>, PINS) {
+        (self.irq_base, self.pins)
+    }
+}
+
 uart_impl! {
     UARTA: (uarta, clock::PeripheralClocks::Uart0),
     UARTB: (uartb, clock::PeripheralClocks::Uart1),
@@ -326,10 +842,7 @@ uart_impl! {
 
 impl<UART> Tx<UART> where UART: Instance {}
 
-impl<UART, PINS> serial::Write<u8> for Uart<UART, PINS>
+impl<UART: Instance> serial::Write<u8> for UartBase<UART> {
-where
-    UART: Instance,
-{
     type Error = Infallible;
     fn write(&mut self, word: u8) -> nb::Result<(), Self::Error> {
         self.tx.write(word)
@@ -339,6 +852,19 @@ where
     }
 }
 
+impl<UART, PINS> serial::Write<u8> for Uart<UART, PINS>
+where
+    UART: Instance,
+{
+    type Error = Infallible;
+    fn write(&mut self, word: u8) -> nb::Result<(), Self::Error> {
+        self.uart_base.write(word)
+    }
+    fn flush(&mut self) -> nb::Result<(), Self::Error> {
+        self.uart_base.flush()
+    }
+}
+
 impl<UART: Instance, PINS> blocking::serial::write::Default<u8> for Uart<UART, PINS> {}
 
 impl<UART: Instance> serial::Write<u8> for Tx<UART> {
@@ -370,7 +896,7 @@ impl<UART: Instance> serial::Write<u8> for Tx<UART> {
     }
 }
 
-impl<UART: Instance, PINS> serial::Read<u8> for Uart<UART, PINS> {
+impl<UART: Instance> serial::Read<u8> for UartBase<UART> {
     type Error = Error;
 
     fn read(&mut self) -> nb::Result<u8, Error> {
@@ -378,6 +904,14 @@ impl<UART: Instance, PINS> serial::Read<u8> for Uart<UART, PINS> {
     }
 }
 
+impl<UART: Instance, PINS> serial::Read<u8> for Uart<UART, PINS> {
+    type Error = Error;
+
+    fn read(&mut self) -> nb::Result<u8, Error> {
+        self.uart_base.read()
+    }
+}
+
 impl<UART: Instance> serial::Read<u8> for Rx<UART> {
     type Error = Error;
 
@@ -409,7 +943,7 @@ impl<UART: Instance> serial::Read<u8> for Rx<UART> {
     }
 }
 
-impl<UART> core::fmt::Write for Tx<UART>
+impl<UART: Instance> core::fmt::Write for Tx<UART>
 where
     Tx<UART>: embedded_hal::serial::Write<u8>,
 {
@@ -420,3 +954,12 @@ where
             .map_err(|_| core::fmt::Error)
     }
 }
+
+impl<UART: Instance> core::fmt::Write for UartBase<UART>
+where
+    UartBase<UART>: embedded_hal::serial::Write<u8>,
+{
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
+        self.tx.write_str(s)
+    }
+}

src/utility.rs

@@ -3,6 +3,7 @@
 //! Some more information about the recommended scrub rates can be found on the
 //! [Vorago White Paper website](https://www.voragotech.com/resources) in the
 //! application note AN1212
+use crate::pac;
 use va108xx::{IOCONFIG, SYSCONFIG};
 
 #[derive(PartialEq, Debug)]
@@ -41,6 +42,26 @@ pub enum PeripheralSelect {
     Gpio = 24,
 }
 
+/// Generic IRQ config which can be used to specify whether the HAL driver will
+/// use the IRQSEL register to route an interrupt, and whether the IRQ will be unmasked in the
+/// Cortex-M0 NVIC. Both are generally necessary for IRQs to work, but the user might perform
+/// this steps themselves
+#[derive(Debug, PartialEq, Clone, Copy)]
+pub struct IrqCfg {
+    /// Interrupt target vector. Should always be set, might be required for disabling IRQs
+    pub irq: pac::Interrupt,
+    /// Specfiy whether IRQ should be routed to an IRQ vector using the IRQSEL peripheral
+    pub route: bool,
+    /// Specify whether the IRQ is unmasked in the Cortex-M NVIC
+    pub enable: bool,
+}
+
+impl IrqCfg {
+    pub fn new(irq: pac::Interrupt, route: bool, enable: bool) -> Self {
+        IrqCfg { irq, route, enable }
+    }
+}
+
 /// Enable scrubbing for the ROM
 ///
 /// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0
@@ -111,3 +132,13 @@ pub fn port_mux(
         }
     }
 }
+
+/// Unmask and enable an IRQ with the given interrupt number
+///
+/// ## Safety
+///
+/// The unmask function can break mask-based critical sections
+#[inline]
+pub(crate) fn unmask_irq(irq: pac::Interrupt) {
+    unsafe { cortex_m::peripheral::NVIC::unmask(irq) };
+}

test/DueSerialTest/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

test/DueSerialTest/.vscode/extensions.json

@@ -0,0 +1,7 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}

test/DueSerialTest/README.md

@@ -0,0 +1,2 @@
+This is a Platform IO test script for the Arduino Due which can be used to sent different kind
+of strings via the serial interface (RX1 and TX1) to the Vorago board.

test/DueSerialTest/include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

test/DueSerialTest/lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

test/DueSerialTest/platformio.ini

@@ -0,0 +1,15 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:due]
+platform = atmelsam
+board = due
+framework = arduino
+monitor_speed = 115200

test/DueSerialTest/src/main.cpp

@@ -0,0 +1,78 @@
+#include <Arduino.h>
+
+enum SendModes {
+  ECHO,
+  ONLY_WRITE,
+  ONLY_READ,
+  WRITE_READ
+};
+
+enum StringModes {
+  FIXED,
+  VARIABLE
+};
+
+// Configure the test application here
+SendModes SEND_MODE = SendModes::WRITE_READ;
+StringModes STRING_MODE = StringModes::VARIABLE;
+uint8_t STRING_IDX = 0;
+
+String STRINGS[4] = {
+  "$Hi\n",
+  "$Hello\n",
+  "$Hello World\n",
+  "$Hello and Merry Christmas to all of you!\n"
+};
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  Serial.println("Starting Arduino Serial Test script..");
+  Serial1.begin(115200);
+  if(STRING_MODE == StringModes::VARIABLE) {
+    STRING_IDX = 0;
+  }
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+void loop() {
+  static byte ICOMING_BYTE = 0;
+  static uint32_t GLOBAL_IDX = 0;
+  digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+  // put your main code here, to run repeatedly:
+  // send data only when you receive data:
+  if (SEND_MODE == SendModes::ONLY_WRITE or SEND_MODE == SendModes::WRITE_READ) {
+    Serial.println("Sending string..");
+    Serial1.write(STRINGS[STRING_IDX].c_str());
+    if(STRING_MODE == StringModes::VARIABLE) {
+      STRING_IDX += 1;
+      if(STRING_IDX > 3) {
+        STRING_IDX = 0;
+      }
+    }
+  }
+  if(
+    SEND_MODE == SendModes::WRITE_READ or
+    SEND_MODE == SendModes::ONLY_READ or
+    SEND_MODE == SendModes::ECHO
+  ) {
+    if (Serial1.available() > 0) {
+      // read the incoming byte:
+      String readString = Serial1.readStringUntil('\n');
+
+      Serial.print(GLOBAL_IDX);
+      Serial.print(" - ");
+      GLOBAL_IDX++;
+      // say what you got:
+      Serial.print("I received: ");
+      Serial.println(readString);
+      if(SEND_MODE == SendModes::ECHO) {
+        delay(200);
+        Serial.println("Sending back echo message");
+        String sendBack = readString + '\n';
+        Serial1.write(sendBack.c_str());
+      }
+    }
+  }
+  delay(3000);
+}

test/DueSerialTest/test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html