update changelog and manifest file for v0.5.1

- Docs updated, internal architecture improvements

CHANGELOG.md

@@ -6,13 +6,28 @@ 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/).
 
+## [v0.5.1]
+
+### Changes
+
+- Updated dependencies:
+  - `cortex-m-rtic` (dev-depencency) to 1.1.2
+  - `once_cell` to 1.12.0
+  - Other depencies: Only revision has changed
+
 ## [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]
 
 - Various smaller fixes for READMEs, update of links in documentation

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-hal"
-version = "0.5.0"
+version = "0.5.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
@@ -8,30 +8,43 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-hal"
 repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-hal"
 license = "Apache-2.0"
 keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
-categories = ["embedded", "no-std", "hardware-support"]
+categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
+va108xx = "0.2.4"
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 nb = "1"
 paste = "1.0"
-embedded-hal = { features = ["unproven"], version = "0.2.6" }
-void = { version = "1.0", default-features = false }
-once_cell = { version = "1.8.0", default-features = false }
-libm = "0.2.1"
+libm = "0.2.2"
 
-[dependencies.va108xx]
-version = "0.2.4"
+[dependencies.embedded-hal]
+version = "0.2.7"
+features = ["unproven"]
+
+[dependencies.void]
+version = "1.0"
+default-features = false
+
+[dependencies.once_cell]
+version = "1.12.0"
+default-features = false
 
 [features]
 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"] }
+cortex-m-rtic = "1.1.2"
 panic-halt = "0.2"
 
+[dev-dependencies.rtt-target]
+version = "0.3"
+features = ["cortex-m"]
+
+[dev-dependencies.panic-rtt-target]
+version = "0.1"
+features = ["cortex-m"]
+
 [profile.dev]
 debug = true
 lto = false

examples/uart-irq-rtic.rs

@@ -1,5 +1,12 @@
-//! UART example application. Sends a test string over a UART and then enters
-//! echo mode
+//! More complex UART application
+//!
+//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
+//! a non-blocking way. You can send variably sized strings to the VA10820 which will be echoed
+//! back to the sender.
+//!
+//! This script was tested with an Arduino Due. You can find the test script in the
+//! [`/test/DueSerialTest`](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/test/DueSerialTest)
+//! folder.
 #![no_main]
 #![no_std]
 

src/uart.rs

@@ -2,7 +2,8 @@
 //!
 //! ## Examples
 //!
-//! - [UART example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/uart.rs)
+//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/uart.rs)
+//! - [UART with IRQ and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/uart-irq-rtic.rs)
 use core::{convert::Infallible, ptr};
 use core::{marker::PhantomData, ops::Deref};
 use libm::floorf;
@@ -177,7 +178,7 @@ impl From<Bps> for Config {
 // IRQ Definitions
 //==================================================================================================
 
-pub struct IrqInfo {
+struct IrqInfo {
     rx_len: usize,
     rx_idx: usize,
     irq_cfg: IrqCfg,
@@ -196,6 +197,7 @@ pub enum IrqResultMask {
     Unknown = 7,
 }
 
+/// This struct is used to return the default IRQ handler result to the user
 #[derive(Debug, Default)]
 pub struct IrqResult {
     raw_res: u32,
@@ -276,32 +278,36 @@ impl IrqResult {
 }
 
 #[derive(Debug, PartialEq)]
-pub enum IrqReceptionMode {
+enum IrqReceptionMode {
     Idle,
-    FixedLen,
-    VarLen,
+    Pending,
 }
 
 //==================================================================================================
 // UART implementation
 //==================================================================================================
 
+/// Type erased variant of a UART. Can be created with the [`Uart::downgrade`] function.
 pub struct UartBase<UART> {
     uart: UART,
     tx: Tx<UART>,
     rx: Rx<UART>,
 }
-/// Serial abstraction
+/// Serial abstraction. Entry point to create a new UART
 pub struct Uart<UART, PINS> {
     uart_base: UartBase<UART>,
     pins: PINS,
 }
 
+/// UART using the IRQ capabilities of the peripheral. Can be created with the
+/// [`Uart::into_uart_with_irq`] function.
 pub struct UartWithIrq<UART, PINS> {
     irq_base: UartWithIrqBase<UART>,
     pins: PINS,
 }
 
+/// Type-erased UART using the IRQ capabilities of the peripheral. Can be created with the
+/// [`UartWithIrq::downgrade`] function.
 pub struct UartWithIrqBase<UART> {
     pub uart: UartBase<UART>,
     irq_info: IrqInfo,
@@ -477,6 +483,8 @@ where
         self
     }
 
+    /// If the IRQ capabilities of the peripheral are used, the UART needs to be converted
+    /// with this function
     pub fn into_uart_with_irq(
         self,
         irq_cfg: IrqCfg,
@@ -631,6 +639,14 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         self
     }
 
+    /// This initializes a non-blocking read transfer using the IRQ capabilities of the UART
+    /// peripheral.
+    ///
+    /// The only required information is the maximum length for variable sized reception
+    /// or the expected length for fixed length reception. If variable sized packets are expected,
+    /// the timeout functionality of the IRQ should be enabled as well. After calling this function,
+    /// the [`irq_handler`](Self::irq_handler) function should be called in the user interrupt
+    /// handler to read the received packets and reinitiate another transfer if desired.
     pub fn read_fixed_len_using_irq(
         &mut self,
         max_len: usize,
@@ -639,6 +655,7 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         if self.irq_info.mode != IrqReceptionMode::Idle {
             return Err(Error::TransferPending);
         }
+        self.irq_info.mode = IrqReceptionMode::Pending;
         self.irq_info.rx_idx = 0;
         self.irq_info.rx_len = max_len;
         self.uart.enable_rx();
@@ -689,6 +706,10 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         self.irq_info.rx_len = 0;
     }
 
+    /// Default IRQ handler which can be used to read the packets arriving on the UART peripheral.
+    ///
+    /// If passed buffer is equal to or larger than the specified maximum length, an
+    /// [`Error::BufferTooShort`] will be returned
     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);
@@ -799,6 +820,7 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         res.bytes_read = self.irq_info.rx_idx;
         res.clear_result();
         res.set_result(IrqResultMask::Complete);
+        self.irq_info.mode = IrqReceptionMode::Idle;
         self.irq_info.rx_idx = 0;
         self.irq_info.rx_len = 0;
     }
@@ -809,6 +831,7 @@ impl<UART: Instance> UartWithIrqBase<UART> {
 }
 
 impl<UART: Instance, PINS> UartWithIrq<UART, PINS> {
+    /// See [`UartWithIrqBase::read_fixed_len_using_irq`] doc
     pub fn read_fixed_len_using_irq(
         &mut self,
         max_len: usize,
@@ -822,6 +845,7 @@ impl<UART: Instance, PINS> UartWithIrq<UART, PINS> {
         self.irq_base.cancel_transfer()
     }
 
+    /// See [`UartWithIrqBase::irq_handler`] doc
     pub fn irq_handler(&mut self, res: &mut IrqResult, buf: &mut [u8]) -> Result<(), Error> {
         self.irq_base.irq_handler(res, buf)
     }

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