Rework library structure

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.

README.md

@@ -34,9 +34,6 @@ It also contains the following helper crates:
   [`RTIC`](https://rtic.rs/2/book/en/) and [`embassy`](https://github.com/embassy-rs/embassy)
   native Rust RTOSes.
 
-The majority of the HAL implementation and the Embassy-rs support are contained in the external
-[`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs) crate.
-
 ## Using the `.cargo/config.toml` file
 
 Use the following command to have a starting `config.toml` file

board-tests/Cargo.toml

@@ -4,11 +4,11 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 defmt = "1"
-defmt-rtt = "1"
+defmt-rtt = "0.4"
-panic-probe = { version = "1", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
 embedded-hal = "1"
 
 [dependencies.va108xx-hal]

board-tests/src/main.rs

@@ -35,7 +35,6 @@ enum TestCase {
     Pulse,
     // Tie PA0, PA1 and PA3 to an oscilloscope
     DelayGpio,
-    // PA0 can be checked with an oscillsope to verify timing correctness.
     DelayMs,
 }
 
@@ -122,6 +121,8 @@ fn main() -> ! {
             assert_eq!(mmio_porta.read_perid(), 0x004007e1);
         }
         TestCase::Pulse => {
+            // TODO: Fix
+            /*
             let mut output_pulsed = Output::new(pinsa.pa0, PinState::Low);
             output_pulsed.configure_pulse_mode(true, PinState::Low);
             defmt::info!("Pulsing high 10 times..");
@@ -131,18 +132,21 @@ fn main() -> ! {
                 cortex_m::asm::delay(25_000_000);
             }
             output_pulsed.configure_pulse_mode(true, PinState::High);
-            defmt::info!("Pulsing low 10 times..");
+            rprintln!("Pulsing low 10 times..");
             for _ in 0..10 {
                 output_pulsed.set_low();
                 cortex_m::asm::delay(25_000_000);
             }
+            */
         }
         TestCase::DelayGpio => {
-            let mut out_0 = Output::new(pinsa.pa0, PinState::Low);
+            // TODO: Fix
+            /*
+            let mut out_0 = pinsa.pa0.into_readable_push_pull_output();
             out_0.configure_delay(true, false);
-            let mut out_1 = Output::new(pinsa.pa1, PinState::Low);
+            let mut out_1 = pinsa.pa1.into_readable_push_pull_output();
             out_1.configure_delay(false, true);
-            let mut out_2 = Output::new(pinsa.pa3, PinState::Low);
+            let mut out_2 = pinsa.pa3.into_readable_push_pull_output();
             out_2.configure_delay(true, true);
             for _ in 0..20 {
                 out_0.toggle();
@@ -150,6 +154,7 @@ fn main() -> ! {
                 out_2.toggle();
                 cortex_m::asm::delay(25_000_000);
             }
+            */
         }
         TestCase::DelayMs => {
             let mut delay_timer = CountdownTimer::new(dp.tim1, 50.MHz());
@@ -162,16 +167,17 @@ fn main() -> ! {
             }
             let ahb_freq: Hertz = 50.MHz();
             let mut syst_delay = cortex_m::delay::Delay::new(cp.SYST, ahb_freq.raw());
-            // Release image should be used to verify timings for pin PA0
+            // Test usecond delay using both TIM peripheral and SYST. Use the release image if you
-            for _ in 0..5 {
+            // want to verify the timings!
-                pa0.toggle();
+            loop {
-                syst_delay.delay_us(50);
-                pa0.toggle();
-                syst_delay.delay_us(50);
                 pa0.toggle();
                 delay_timer.delay_us(50);
                 pa0.toggle();
                 delay_timer.delay_us(50);
+                pa0.toggle();
+                syst_delay.delay_us(50);
+                pa0.toggle();
+                syst_delay.delay_us(50);
             }
         }
     }

bootloader/Cargo.toml

@@ -7,7 +7,7 @@ edition = "2021"
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embedded-hal = "1"
-defmt-rtt = "1"
+defmt-rtt = "0.4"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
 crc = "3"

bootloader/README.md

@@ -12,8 +12,8 @@ The bootloader uses the following memory map:
 | 0x0 | Bootloader start | code up to 0x2FFE bytes |
 | 0x2FFE | Bootloader CRC | half-word |
 | 0x3000 | App image A start | code up to 0xE7F4 (~59K) bytes |
-| 0x117F4 | App image A CRC check length | word |
+| 0x117F8 | App image A CRC check length | word |
-| 0x117F8 | App image A CRC check value | word |
+| 0x117FC | App image A CRC check value | word |
 | 0x117FC | App image B start | code up to 0xE7F4 (~59K) bytes |
 | 0x1FFF0 | App image B CRC check length | word |
 | 0x1FFF4 | App image B CRC check value | word |

examples/embassy/Cargo.toml

@@ -5,7 +5,9 @@ edition = "2021"
 
 [dependencies]
 cfg-if = "1"
+# cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
+# embedded-hal = "1"
 embedded-hal-async = "1"
 embedded-io = "0.6"
 embedded-io-async = "0.6"
@@ -13,12 +15,13 @@ heapless = "0.8"
 static_cell = "2"
 
 defmt = "1"
-defmt-rtt = "1"
+defmt-rtt = "0.4"
-panic-probe = { version = "1", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
 
 critical-section = "1"
+# portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
 
-embassy-sync = "0.7"
+embassy-sync = "0.6"
 embassy-time = "0.4"
 embassy-executor = { version = "0.7", features = [
   "arch-cortex-m",
@@ -27,7 +30,7 @@ embassy-executor = { version = "0.7", features = [
 ]}
 
 va108xx-hal = { version = "0.11", path = "../../va108xx-hal", features = ["defmt"] }
-va108xx-embassy = { version = "0.2", path = "../../va108xx-embassy" }
+va108xx-embassy = { version = "0.2" }
 
 [features]
 default = ["ticks-hz-1_000", "va108xx-embassy/irq-oc30-oc31"]

examples/embassy/src/bin/async-gpio.rs

@@ -59,10 +59,16 @@ static CHANNEL_PB22_TO_PB23: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::
 async fn main(spawner: Spawner) {
     defmt::println!("-- VA108xx Async GPIO Demo --");
 
-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );
 
     let porta = PinsA::new(dp.porta);
     let portb = PinsB::new(dp.portb);

examples/embassy/src/bin/async-uart-rx.rs

@@ -52,10 +52,16 @@ static CONSUMER_UART_B: Mutex<RefCell<Option<Consumer<u8, 256>>>> = Mutex::new(R
 async fn main(spawner: Spawner) {
     defmt::println!("-- VA108xx Async UART RX Demo --");
 
-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );
 
     let porta = PinsA::new(dp.porta);
     let mut led0 = Output::new(porta.pa10, PinState::Low);

examples/embassy/src/bin/async-uart-tx.rs

@@ -39,10 +39,16 @@ const STR_LIST: &[&str] = &[
 async fn main(_spawner: Spawner) {
     defmt::println!("-- VA108xx Async UART TX Demo --");
 
-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );
 
     let porta = PinsA::new(dp.porta);
 

examples/embassy/src/main.rs

@@ -26,21 +26,23 @@ const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
 async fn main(_spawner: Spawner) {
     defmt::println!("-- VA108xx Embassy Demo --");
 
-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
     cfg_if::cfg_if! {
         if #[cfg(not(feature = "custom-irqs"))] {
             va108xx_embassy::init(
+                &mut dp.sysconfig,
+                &dp.irqsel,
+                SYSCLK_FREQ,
                 dp.tim23,
                 dp.tim22,
-                SYSCLK_FREQ,
             );
         } else {
             va108xx_embassy::init_with_custom_irqs(
+                SYSCLK_FREQ,
                 dp.tim23,
                 dp.tim22,
-                SYSCLK_FREQ,
                 pac::Interrupt::OC23,
                 pac::Interrupt::OC24,
             );

examples/rtic/Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 embedded-io = "0.6"
-defmt-rtt = "1"
+defmt-rtt = "0.4"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
 rtic = { version = "2", features = ["thumbv6-backend"] }

examples/simple/Cargo.toml

@@ -7,7 +7,7 @@ edition = "2021"
 cortex-m = {version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rt = "0.7"
 panic-halt = "1"
-defmt-rtt = "1"
+defmt-rtt = "0.4"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
 embedded-hal = "1"

flashloader/Cargo.toml

@@ -8,13 +8,13 @@ cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rt = "0.7"
 embedded-io = "0.6"
 defmt = "1"
-defmt-rtt = { version = "1" }
+defmt-rtt = { version = "0.4" }
-panic-probe = { version = "1", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
 num_enum = { version = "0.7", default-features = false }
-cobs = { version = "0.4", default-features = false }
+cobs = { version = "0.3", default-features = false }
-satrs = { version = "0.3.0-alpha.1", default-features = false }
+satrs = { version = "0.2", default-features = false }
 ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
-spacepackets = { version = "0.15", default-features = false, features = ["defmt"] }
+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.
 portable-atomic = {version = "1", features = ["unsafe-assume-single-core"]}

flashloader/slot-a-blinky/Cargo.toml

@@ -10,7 +10,7 @@ cortex-m-rt = "0.7"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
 embedded-hal = "1"
-va108xx-hal = { version = "0.11" }
+va108xx-hal = { version = "0.10.0" }
 
 [profile.dev]
 codegen-units = 1

flashloader/slot-a-blinky/src/main.rs

@@ -3,7 +3,7 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
+use embedded_hal::{delay::DelayNs, digital::StatefulOutputPin};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountdownTimer};
@@ -15,11 +15,11 @@ fn main() -> ! {
 
     let mut dp = pac::Peripherals::take().unwrap();
     let mut timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim0);
-    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
     let mut led1 = porta.pa10.into_readable_push_pull_output();
 
     loop {
-        led1.toggle();
+        led1.toggle().ok();
         timer.delay_ms(500);
     }
 }

flashloader/slot-b-blinky/Cargo.toml

@@ -10,7 +10,7 @@ cortex-m-rt = "0.7"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
 embedded-hal = "1"
-va108xx-hal = { version = "0.11" }
+va108xx-hal = { version = "0.10.0" }
 
 [profile.dev]
 codegen-units = 1

flashloader/slot-b-blinky/src/main.rs

@@ -3,7 +3,7 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
+use embedded_hal::{delay::DelayNs, digital::StatefulOutputPin};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountdownTimer};
@@ -15,11 +15,11 @@ fn main() -> ! {
 
     let mut dp = pac::Peripherals::take().unwrap();
     let mut timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim0);
-    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
     let mut led2 = porta.pa7.into_readable_push_pull_output();
 
     loop {
-        led2.toggle();
+        led2.toggle().ok();
         timer.delay_ms(1000);
     }
 }

flashloader/src/main.rs

@@ -270,7 +270,7 @@ mod app {
             defmt::warn!("PUS TC error: {}", pus_tc.unwrap_err());
             return;
         }
-        let pus_tc = pus_tc.unwrap();
+        let (pus_tc, _) = pus_tc.unwrap();
         let mut write_and_send = |tm: &PusTmCreator| {
             let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
             cx.shared.tm_rb.lock(|prod| {
@@ -278,18 +278,18 @@ mod app {
                 prod.buf.push_slice(&cx.local.verif_buf[0..written_size]);
             });
         };
-        let request_id = VerificationReportCreator::read_request_id_from_tc(&pus_tc);
+        let token = cx.local.verif_reporter.add_tc(&pus_tc);
-        let tm = cx
+        let (tm, accepted_token) = cx
             .local
             .verif_reporter
-            .acceptance_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+            .acceptance_success(cx.local.src_data_buf, token, 0, 0, &[])
             .expect("acceptance success failed");
         write_and_send(&tm);
 
-        let tm = cx
+        let (tm, started_token) = cx
             .local
             .verif_reporter
-            .start_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+            .start_success(cx.local.src_data_buf, accepted_token, 0, 0, &[])
             .expect("acceptance success failed");
         write_and_send(&tm);
 
@@ -308,7 +308,7 @@ mod app {
                 let tm = cx
                     .local
                     .verif_reporter
-                    .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                     .expect("completion success failed");
                 write_and_send(&tm);
             };
@@ -339,7 +339,7 @@ mod app {
                 let tm = cx
                     .local
                     .verif_reporter
-                    .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                     .expect("completion success failed");
                 write_and_send(&tm);
             }
@@ -349,7 +349,7 @@ mod app {
             let tm = cx
                 .local
                 .verif_reporter
-                .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                 .expect("completion success failed");
             write_and_send(&tm);
         } else if pus_tc.service() == PusServiceId::MemoryManagement as u8 {
@@ -358,7 +358,7 @@ mod app {
                 .verif_reporter
                 .step_success(
                     cx.local.src_data_buf,
-                    &request_id,
+                    &started_token,
                     0,
                     0,
                     &[],
@@ -408,7 +408,7 @@ mod app {
                         .verif_reporter
                         .completion_failure(
                             cx.local.src_data_buf,
-                            &request_id,
+                            started_token,
                             0,
                             0,
                             FailParams::new(&[], &EcssEnumU8::new(0), &[]),
@@ -417,7 +417,7 @@ mod app {
                 } else {
                     cx.local
                         .verif_reporter
-                        .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                        .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                         .expect("completion success failed")
                 };
                 write_and_send(&tm);

va108xx-embassy/Cargo.toml

@@ -11,7 +11,7 @@ keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
-vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", features = ["vor1x"] }
+vorago-shared-periphs = { path = "../../vorago-shared-periphs", features = ["vor1x"] }
 va108xx-hal = { path = "../va108xx-hal" }
 
 [features]

va108xx-embassy/src/lib.rs

@@ -88,9 +88,9 @@ embassy_time_driver_irqs!(timekeeper_irq = OC29, alarm_irq = OC28);
 /// default case.
 #[cfg(feature = "irqs-in-lib")]
 pub fn init<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
+    sysclk: Hertz,
     timekeeper_tim: TimekeeperTim,
     alarm_tim: AlarmTim,
-    sysclk: Hertz,
 ) {
     time_driver().__init(sysclk, timekeeper_tim, alarm_tim, TIMEKEEPER_IRQ, ALARM_IRQ)
 }
@@ -99,9 +99,9 @@ pub fn init<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
 ///
 /// Requires an explicit [pac::Interrupt] argument for the timekeeper and alarm IRQs.
 pub fn init_with_custom_irqs<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
+    sysclk: Hertz,
     timekeeper_tim: TimekeeperTim,
     alarm_tim: AlarmTim,
-    sysclk: Hertz,
     timekeeper_irq: pac::Interrupt,
     alarm_irq: pac::Interrupt,
 ) {

va108xx-hal/Cargo.toml

@@ -12,11 +12,11 @@ categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
-vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", features = ["vor1x"] }
+vorago-shared-periphs = { path = "../../vorago-shared-periphs", features = ["vor1x"] }
 fugit = "0.3"
 thiserror = { version = "2", default-features = false }
 va108xx = { version = "0.5", default-features = false, features = ["critical-section", "defmt"] }
-defmt = { version = "1", optional = true }
+defmt = { version = "0.3", optional = true }
 
 [target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }

va108xx-hal/src/spi/mod.rs

@@ -1,8 +1,8 @@
 //! API for the SPI peripheral.
 //!
 //! The main abstraction provided by this module is the [Spi] an structure.
-//! It provides the [SpiBus trait](https://docs.rs/embedded-hal/latest/embedded_hal/spi/trait.SpiBus.html),
+//! It provides the [embedded_hal::spi] traits, but also offer a low level interface
-//! but also offer a low level interface via the [SpiLowLevel] trait.
+//! via the [SpiLowLevel] trait.
 //!
 //! ## Examples
 //!

va108xx/CHANGELOG.md

@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.5.1] 2025-07-22
-
-defmt version v1
-
 ## [v0.5.0] 2025-02-17
 
 - Re-generated PAC with `svd2rust` v0.35.0 and added optional `defmt` and `Debug` implementations
@@ -59,7 +55,7 @@ defmt version v1
 
 ### Fixed
 
-- Generated with patched version of `svd2rust`: See
+- Generated with patched version of `svd2rust`: See 
   https://github.com/rust-embedded/svd2rust/pull/549 for more details.
   Some bitmasks were missing from register reader definitions.
 
@@ -83,7 +79,3 @@ defmt version v1
 
 - First version of the PAC which builds. Uses a patched version
   of `svd2rust`: https://github.com/rust-embedded/svd2rust
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.5.1...HEAD
-[v0.5.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.5.0...va108xx-v0.5.1
-[v0.5.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.4.0...va108xx-v0.5.0

va108xx/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx"
-version = "0.5.1"
+version = "0.5.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA108xx family of microcontrollers"