Update and improve HAL library and docs

vorago-reb1/Cargo.toml

@@ -19,14 +19,14 @@ embedded-hal = "1"
 version = "0.3"
 
 [dependencies.va108xx-hal]
-version = "0.6"
+path = "../va108xx-hal"
+version = "0.7"
 features = ["rt"]
 
 [features]
 rt = ["va108xx-hal/rt"]
 
 [dev-dependencies]
-cortex-m-rtic = "1.1"
 panic-halt = "0.2"
 nb = "1"
 
@@ -36,6 +36,14 @@ version = "0.5"
 [dev-dependencies.panic-rtt-target]
 version = "0.1"
 
+[dev-dependencies.rtic]
+version = "2"
+features = ["thumbv6-backend"]
+
+[dev-dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
+
 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--generate-link-to-definition"]

vorago-reb1/examples/adt75-temp-sensor.rs

@@ -13,7 +13,7 @@ fn main() -> ! {
     rprintln!("-- Vorago Temperature Sensor and I2C Example --");
     let mut dp = pac::Peripherals::take().unwrap();
     let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
-    let mut temp_sensor = Adt75TempSensor::new(dp.i2ca, 50.MHz(), Some(&mut dp.sysconfig))
+    let mut temp_sensor = Adt75TempSensor::new(&mut dp.sysconfig, 50.MHz(), dp.i2ca)
         .expect("Creating temperature sensor struct failed");
     loop {
         let temp = temp_sensor

vorago-reb1/examples/adxl343-accelerometer.rs

@@ -52,12 +52,12 @@ fn main() -> ! {
         false,
         true,
     );
-    let mut spi = Spi::spib(
+    let mut spi = Spi::new(
+        &mut dp.sysconfig,
+        50.MHz(),
         dp.spib,
         (sck, miso, mosi),
-        50.MHz(),
         spi_cfg,
-        Some(&mut dp.sysconfig),
         Some(&transfer_cfg.downgrade()),
     );
 

vorago-reb1/examples/blinky-button-rtic.rs

@@ -5,6 +5,7 @@
 #[rtic::app(device = pac)]
 mod app {
     use panic_rtt_target as _;
+    use rtic_monotonics::systick::Systick;
     use rtt_target::{rprintln, rtt_init_default, set_print_channel};
     use va108xx_hal::{
         clock::{set_clk_div_register, FilterClkSel},
@@ -43,10 +44,18 @@ mod app {
     struct Shared {}
 
     #[init]
-    fn init(ctx: init::Context) -> (Shared, Local, init::Monotonics) {
+    fn init(ctx: init::Context) -> (Shared, Local) {
         let channels = rtt_init_default!();
         set_print_channel(channels.up.0);
         rprintln!("-- Vorago Button IRQ Example --");
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(
+            ctx.core.SYST,
+            Hertz::from(50.MHz()).raw(),
+            systick_mono_token,
+        );
+
         let mode = match CFG_MODE {
             // Ask mode from user via RTT
             CfgMode::Prompt => prompt_mode(channels.down.0),
@@ -90,7 +99,7 @@ mod app {
             50.MHz(),
             dp.tim0,
         );
-        (Shared {}, Local { leds, button, mode }, init::Monotonics())
+        (Shared {}, Local { leds, button, mode })
     }
 
     // `shared` cannot be accessed from this context

vorago-reb1/examples/blinky-leds.rs

@@ -10,7 +10,7 @@ use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
 use embedded_hal::digital::{OutputPin, StatefulOutputPin};
 use panic_halt as _;
-use va108xx_hal::{gpio::pins::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
+use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
 use vorago_reb1::leds::Leds;
 
 // REB LED pin definitions. All on port A

vorago-reb1/examples/max11619-adc.rs

@@ -1,4 +1,7 @@
-//! MAX11619 ADC example applikcation
+//! MAX11619 ADC example application.
+//!
+//! You can turn the potentiometer knob of the REB1 board to measure
+//! different ADC values.
 #![no_main]
 #![no_std]
 
@@ -139,12 +142,12 @@ fn main() -> ! {
         .expect("Setting accelerometer chip select high failed");
 
     let transfer_cfg = TransferConfig::<NoneT>::new(3.MHz(), spi::MODE_0, None, true, false);
-    let spi = Spi::spib(
+    let spi = Spi::new(
+        &mut dp.sysconfig,
+        50.MHz(),
         dp.spib,
         (sck, miso, mosi),
-        50.MHz(),
         spi_cfg,
-        Some(&mut dp.sysconfig),
         Some(&transfer_cfg.downgrade()),
     )
     .downgrade();

vorago-reb1/src/button.rs

@@ -2,8 +2,8 @@
 //!
 //! ## Examples
 //!
-//! - [Button Blinky with IRQs](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-irq.rs)
-//! - [Button Blinky with IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-rtic.rs)
+//! - [Button Blinky with IRQs](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-irq.rs)
+//! - [Button Blinky with IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-rtic.rs)
 use embedded_hal::digital::InputPin;
 use va108xx_hal::{
     gpio::{FilterClkSel, FilterType, InputFloating, InterruptEdge, InterruptLevel, Pin, PA11},

vorago-reb1/src/leds.rs

@@ -2,13 +2,13 @@
 //!
 //! ## Examples
 //!
-//! - [LED example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-leds.rs)
-//! - [Button Blinky using IRQs](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-irq.rs)
-//! - [Button Blinky using IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-rtic.rs)
+//! - [LED example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-leds.rs)
+//! - [Button Blinky using IRQs](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-irq.rs)
+//! - [Button Blinky using IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-rtic.rs)
 use embedded_hal::digital::OutputPin;
 use va108xx_hal::{
-    gpio::dynpins::DynPin,
-    gpio::pins::{Pin, PushPullOutput, PA10, PA6, PA7},
+    gpio::dynpin::DynPin,
+    gpio::pin::{Pin, PushPullOutput, PA10, PA6, PA7},
 };
 
 pub type LD2 = Pin<PA10, PushPullOutput>;

vorago-reb1/src/max11619.rs

@@ -2,7 +2,7 @@
 //!
 //! ## Examples
 //!
-//! - [ADC example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/max11619-adc.rs)
+//! - [ADC example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/max11619-adc.rs)
 use core::convert::Infallible;
 use embedded_hal::spi::SpiDevice;
 use max116xx_10bit::{

vorago-reb1/src/temp_sensor.rs

@@ -4,10 +4,10 @@
 //!
 //! ## Examples
 //!
-//! - [Temperature Sensor example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/adt75-temp-sensor.rs)
+//! - [Temperature Sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs
 use embedded_hal::i2c::{I2c, SevenBitAddress};
 use va108xx_hal::{
-    i2c::{Error, I2cMaster, I2cSpeed, MasterConfig},
+    i2c::{Error, I2cMaster, I2cSpeed, InitError, MasterConfig},
     pac,
     time::Hertz,
 };
@@ -29,20 +29,40 @@ pub enum RegAddresses {
     OneShot = 0x04,
 }
 
+#[derive(Debug)]
+pub enum AdtInitError {
+    Init(InitError),
+    I2c(Error),
+}
+
+impl From<InitError> for AdtInitError {
+    fn from(value: InitError) -> Self {
+        Self::Init(value)
+    }
+}
+
+impl From<Error> for AdtInitError {
+    fn from(value: Error) -> Self {
+        Self::I2c(value)
+    }
+}
+
 impl Adt75TempSensor {
     pub fn new(
-        i2ca: pac::I2ca,
+        sys_cfg: &mut pac::Sysconfig,
         sys_clk: impl Into<Hertz> + Copy,
-        sys_cfg: Option<&mut pac::Sysconfig>,
+        i2ca: pac::I2ca,
     ) -> Result<Self, Error> {
         let mut sensor = Adt75TempSensor {
-            sensor_if: I2cMaster::i2ca(
+            // The master construction can not fail for regular I2C speed.
+            sensor_if: I2cMaster::new(
+                sys_cfg,
+                sys_clk,
                 i2ca,
                 MasterConfig::default(),
-                sys_clk,
                 I2cSpeed::Regular100khz,
-                sys_cfg,
-            ),
+            )
+            .unwrap(),
             cmd_buf: [RegAddresses::Temperature as u8],
             current_reg: RegAddresses::Temperature,
         };