improve UART clock calculation

va108xx-hal/CHANGELOG.md

@@ -6,6 +6,15 @@ 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/).
 
+## [v0.7.0] 2024-07-04
+
+- Replace `uarta` and `uartb` `Uart` constructors by `new` constructor
+- Replace SPI `spia`, `spib` and `spic` constructors by `new` constructor
+- Replace I2C `i2ca`, `i2cb` constructors by `new` constructor. Update constructor
+  to fail on invalid fast I2C speed system clock values
+- Renamed `gpio::pins` to `gpio::pin` and `gpio::dynpins` to `gpio::dynpin`
+- Simplify UART clock divider calculations and remove `libm` dependency consequently
+
 ## [v0.6.0] 2024-06-16
 
 - Updated `embedded-hal` to v1

va108xx-hal/Cargo.toml

@@ -16,7 +16,6 @@ cortex-m-rt = "0.7"
 nb = "1"
 paste = "1"
 embedded-hal-nb = "1"
-libm = "0.2"
 embedded-io = "0.6"
 fugit = "0.3"
 typenum = "1"

va108xx-hal/src/uart.rs

@@ -7,7 +7,6 @@
 use core::{marker::PhantomData, ops::Deref};
 use embedded_hal_nb::serial::Read;
 use fugit::RateExtU32;
-use libm::floorf;
 
 pub use crate::IrqCfg;
 use crate::{
@@ -363,12 +362,19 @@ impl<UART: Instance> UartBase<UART> {
             false => 16,
             true => 8,
         };
+
+        // This is the calculation: (64.0 * (x - integer_part as f32) + 0.5) as u32 without floating
+        // point calculations.
+        let frac = ((sys_clk.raw() % (config.baudrate.raw() * 16)) * 64
+            + (config.baudrate.raw() * 8))
+            / (config.baudrate.raw() * 16);
+        // Calculations here are derived from chapter 10.4.4 (p.74) of the datasheet.
         let x = sys_clk.raw() as f32 / (config.baudrate.raw() * baud_multiplier) as f32;
-        let integer_part = floorf(x) as u32;
-        let frac = floorf(64.0 * (x - integer_part as f32) + 0.5) as u32;
-        self.uart
-            .clkscale()
-            .write(|w| unsafe { w.bits(integer_part * 64 + frac) });
+        let integer_part = x as u32;
+        self.uart.clkscale().write(|w| unsafe {
+            w.frac().bits(frac as u8);
+            w.int().bits(integer_part)
+        });
 
         let (paren, pareven) = match config.parity {
             Parity::None => (false, false),