cleaned up dependencies

Changed:

- Move most library components to new [`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs)
  which is mostly re-exported in this crate.
- All HAL API constructors now have a more consistent argument order: PAC structures and resource
  management structures first, then clock configuration, then any other configuration.
- Overhaul and simplification of several HAL APIs. The system configuration and IRQ router
  peripheral instance generally does not need to be passed to HAL API anymore.
- All HAL drivers are now type erased. The constructors will still expect and consume the PAC
  singleton component for resource management purposes, but are not cached anymore.
- Refactoring of GPIO library to be more inline with embassy GPIO API.

Added:

- I2C clock timeout feature support.

board-tests/Cargo.toml

@@ -6,13 +6,14 @@ edition = "2021"
 [dependencies]
 cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "1"
-defmt-rtt = "0.4"
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+panic-halt = "1"
+rtt-target = "0.6"
+panic-rtt-target = "0.2"
 embedded-hal = "1"
+embedded-hal-nb = "1"
+embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
 version = "0.11"
 features = ["rt"]
-path = "../va108xx-hal"
 

board-tests/src/main.rs

@@ -7,21 +7,18 @@
 
 use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
-// Logging provider
-use defmt_rtt as _;
-// Panic provider
-use panic_probe as _;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
-    gpio::{regs::Gpio, Input, Output, PinState, Pull},
-    pac,
-    pins::{PinsA, PinsB, Port},
+    gpio::{PinState, PinsA, PinsB},
+    pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::CountdownTimer,
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, InterruptConfig},
 };
 
 #[allow(dead_code)]
-#[derive(Debug, defmt::Format)]
+#[derive(Debug)]
 enum TestCase {
     // Tie PORTA[0] to PORTA[1] for these tests!
     TestBasic,
@@ -40,12 +37,13 @@ enum TestCase {
 
 #[entry]
 fn main() -> ! {
-    defmt::println!("-- VA108xx Test Application --");
-    let dp = pac::Peripherals::take().unwrap();
+    rtt_init_print!();
+    rprintln!("-- VA108xx Test Application --");
+    let mut dp = pac::Peripherals::take().unwrap();
     let cp = cortex_m::Peripherals::take().unwrap();
-    let pinsa = PinsA::new(dp.porta);
-    let pinsb = PinsB::new(dp.portb);
-    let mut led1 = Output::new(pinsa.pa10, PinState::Low);
+    let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let pinsb = PinsB::new(&mut dp.sysconfig, dp.portb);
+    let mut led1 = pinsa.pa10.into_readable_push_pull_output();
     let test_case = TestCase::DelayMs;
 
     match test_case {
@@ -53,20 +51,20 @@ fn main() -> ! {
         | TestCase::TestPulldown
         | TestCase::TestPullup
         | TestCase::TestMask => {
-            defmt::info!(
+            rprintln!(
                 "Test case {:?}. Make sure to tie PORTA[0] to PORTA[1]",
                 test_case
             );
         }
         _ => {
-            defmt::info!("Test case {:?}", test_case);
+            rprintln!("Test case {:?}", test_case);
         }
     }
     match test_case {
         TestCase::TestBasic => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let mut out = Output::new(pinsa.pa0, PinState::Low);
-            let input = Input::new_floating(pinsa.pa1);
+            let mut out = pinsa.pa0.into_readable_push_pull_output();
+            let input = pinsa.pa1.into_floating_input();
             out.set_high();
             assert!(input.is_high());
             out.set_low();
@@ -74,58 +72,55 @@ fn main() -> ! {
         }
         TestCase::TestPullup => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = Input::new_with_pull(pinsa.pa1, Pull::Up);
+            let input = pinsa.pa1.into_pull_up_input();
             assert!(input.is_high());
-            let mut out = Output::new(pinsa.pa0, PinState::Low);
+            let mut out = pinsa.pa0.into_readable_push_pull_output();
             out.set_low();
             assert!(input.is_low());
             out.set_high();
             assert!(input.is_high());
+            out.into_floating_input();
+            assert!(input.is_high());
         }
         TestCase::TestPulldown => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = Input::new_with_pull(pinsa.pa1, Pull::Down);
+            let input = pinsa.pa1.into_pull_down_input();
             assert!(input.is_low());
-            let mut out = Output::new(pinsa.pa0, PinState::Low);
+            let mut out = pinsa.pa0.into_push_pull_output();
             out.set_low();
             assert!(input.is_low());
             out.set_high();
             assert!(input.is_high());
+            out.into_floating_input();
+            assert!(input.is_low());
         }
         TestCase::TestMask => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            // Need to test this low-level..
-            /*
-            let mut input = Input::new_with_pull(pinsa.pa1, Pull::Down);
+            let mut input = pinsa.pa1.into_pull_down_input();
             input.clear_datamask();
             assert!(!input.datamask());
             let mut out = pinsa.pa0.into_push_pull_output();
             out.clear_datamask();
             assert!(input.is_low_masked().is_err());
             assert!(out.set_high_masked().is_err());
-            */
         }
         TestCase::PortB => {
             // Tie PORTB[22] to PORTB[23] for these tests!
-            let mut out = Output::new(pinsb.pb22, PinState::Low);
-            let input = Input::new_floating(pinsb.pb23);
+            let mut out = pinsb.pb22.into_readable_push_pull_output();
+            let input = pinsb.pb23.into_floating_input();
             out.set_high();
             assert!(input.is_high());
             out.set_low();
             assert!(input.is_low());
         }
         TestCase::Perid => {
-            let mmio_porta = Gpio::new_mmio(Port::A);
-            assert_eq!(mmio_porta.read_perid(), 0x004007e1);
-            let mmio_porta = Gpio::new_mmio(Port::B);
-            assert_eq!(mmio_porta.read_perid(), 0x004007e1);
+            assert_eq!(PinsA::get_perid(), 0x004007e1);
+            assert_eq!(PinsB::get_perid(), 0x004007e1);
         }
         TestCase::Pulse => {
-            // TODO: Fix
-            /*
-            let mut output_pulsed = Output::new(pinsa.pa0, PinState::Low);
+            let mut output_pulsed = pinsa.pa0.into_push_pull_output();
             output_pulsed.configure_pulse_mode(true, PinState::Low);
-            defmt::info!("Pulsing high 10 times..");
+            rprintln!("Pulsing high 10 times..");
             output_pulsed.set_low();
             for _ in 0..10 {
                 output_pulsed.set_high();
@@ -137,11 +132,8 @@ fn main() -> ! {
                 output_pulsed.set_low();
                 cortex_m::asm::delay(25_000_000);
             }
-            */
         }
         TestCase::DelayGpio => {
-            // TODO: Fix
-            /*
             let mut out_0 = pinsa.pa0.into_readable_push_pull_output();
             out_0.configure_delay(true, false);
             let mut out_1 = pinsa.pa1.into_readable_push_pull_output();
@@ -154,11 +146,24 @@ fn main() -> ! {
                 out_2.toggle();
                 cortex_m::asm::delay(25_000_000);
             }
-            */
         }
         TestCase::DelayMs => {
-            let mut delay_timer = CountdownTimer::new(dp.tim1, 50.MHz());
-            let mut pa0 = Output::new(pinsa.pa0, PinState::Low);
+            let mut ms_timer = set_up_ms_tick(
+                InterruptConfig::new(pac::Interrupt::OC0, true, true),
+                &mut dp.sysconfig,
+                Some(&mut dp.irqsel),
+                50.MHz(),
+                dp.tim0,
+            );
+            for _ in 0..5 {
+                led1.toggle();
+                ms_timer.delay_ms(500);
+                led1.toggle();
+                ms_timer.delay_ms(500);
+            }
+
+            let mut delay_timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
+            let mut pa0 = pinsa.pa0.into_readable_push_pull_output();
             for _ in 0..5 {
                 led1.toggle();
                 delay_timer.delay_ms(500);
@@ -182,9 +187,15 @@ fn main() -> ! {
         }
     }
 
-    defmt::info!("Test success");
+    rprintln!("Test success");
     loop {
         led1.toggle();
         cortex_m::asm::delay(25_000_000);
     }
 }
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC0() {
+    default_ms_irq_handler()
+}

examples/embassy/Cargo.toml

@@ -5,9 +5,9 @@ edition = "2021"
 
 [dependencies]
 cfg-if = "1"
-# cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-# embedded-hal = "1"
+embedded-hal = "1"
 embedded-hal-async = "1"
 embedded-io = "0.6"
 embedded-io-async = "0.6"
@@ -19,7 +19,7 @@ defmt-rtt = "0.4"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 
 critical-section = "1"
-# portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
 
 embassy-sync = "0.6"
 embassy-time = "0.4"
@@ -37,6 +37,3 @@ default = ["ticks-hz-1_000", "va108xx-embassy/irq-oc30-oc31"]
 custom-irqs = []
 ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
 ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]
-
-[package.metadata.cargo-machete]
-ignored = ["cortex-m-rt"]

examples/rtic/Cargo.toml

@@ -5,12 +5,22 @@ edition = "2021"
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
 embedded-io = "0.6"
 defmt-rtt = "0.4"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
+
+# Even though we do not use this directly, we need to activate this feature explicitely
+# so that RTIC compiles because thumv6 does not have CAS operations natively.
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+
 rtic = { version = "2", features = ["thumbv6-backend"] }
 rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
+rtic-sync = { version = "1.3", features = ["defmt-03"] }
+
+once_cell = {version = "1", default-features = false, features = ["critical-section"]}
 ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
 
 va108xx-hal = { version = "0.11", path = "../../va108xx-hal" }

examples/simple/Cargo.toml

@@ -7,15 +7,21 @@ edition = "2021"
 cortex-m = {version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rt = "0.7"
 panic-halt = "1"
+critical-section = "1"
 defmt-rtt = "0.4"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
+cortex-m-semihosting = "0.5.0"
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }
 
 [dependencies.va108xx-hal]
 version = "0.11"
 path = "../../va108xx-hal"
 features = ["defmt"]
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"
+version = "0.8"

flashloader/Cargo.toml

@@ -4,16 +4,20 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
+cortex-m = "0.7"
 cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-hal-nb = "1"
 embedded-io = "0.6"
 defmt = "1"
 defmt-rtt = { version = "0.4" }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 num_enum = { version = "0.7", default-features = false }
+crc = "3"
 cobs = { version = "0.3", default-features = false }
 satrs = { version = "0.2", default-features = false }
 ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
+once_cell = { version = "1", default-features = false, features = ["critical-section"] }
 spacepackets = { version = "0.11", default-features = false, features = ["defmt"] }
 # Even though we do not use this directly, we need to activate this feature explicitely
 # so that RTIC compiles because thumv6 does not have CAS operations natively.
@@ -21,6 +25,7 @@ portable-atomic = {version = "1", features = ["unsafe-assume-single-core"]}
 
 rtic = { version = "2", features = ["thumbv6-backend"] }
 rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
+rtic-sync = {version = "1", features = ["defmt-03"]}
 
 [dependencies.va108xx-hal]
 version = "0.11"
@@ -29,6 +34,3 @@ features = ["defmt"]
 
 [dependencies.vorago-reb1]
 version = "0.8"
-
-[package.metadata.cargo-machete]
-ignored = ["portable-atomic", "cortex-m-rt"]

flashloader/slot-a-blinky/Cargo.toml

@@ -9,6 +9,7 @@ edition = "2021"
 cortex-m-rt = "0.7"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 embedded-hal = "1"
 va108xx-hal = { version = "0.10.0" }
 

flashloader/slot-b-blinky/Cargo.toml

@@ -9,6 +9,7 @@ edition = "2021"
 cortex-m-rt = "0.7"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 embedded-hal = "1"
 va108xx-hal = { version = "0.10.0" }
 

va108xx-hal/Cargo.toml

@@ -12,6 +12,7 @@ categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
+cortex-m-rt = "0.7"
 vorago-shared-periphs = { path = "../../vorago-shared-periphs", features = ["vor1x"] }
 fugit = "0.3"
 thiserror = { version = "2", default-features = false }
@@ -31,6 +32,3 @@ defmt = ["dep:defmt", "vorago-shared-periphs/defmt"]
 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--generate-link-to-definition"]
-
-[package.metadata.cargo-machete]
-ignored = ["cortex-m"]