init new shared periph crate

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

@@ -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"
+panic-halt = "1"
-defmt-rtt = "0.4"
+rtt-target = "0.6"
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+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 panic_rtt_target as _;
-use defmt_rtt as _;
+use rtt_target::{rprintln, rtt_init_print};
-// Panic provider
-use panic_probe as _;
 use va108xx_hal::{
-    gpio::{regs::Gpio, Input, Output, PinState, Pull},
+    gpio::{PinState, PinsA, PinsB},
-    pac,
+    pac::{self, interrupt},
-    pins::{PinsA, PinsB, Port},
     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,
@@ -35,18 +32,18 @@ enum TestCase {
     Pulse,
     // Tie PA0, PA1 and PA3 to an oscilloscope
     DelayGpio,
-    // PA0 can be checked with an oscillsope to verify timing correctness.
     DelayMs,
 }
 
 #[entry]
 fn main() -> ! {
-    defmt::println!("-- VA108xx Test Application --");
+    rtt_init_print!();
-    let dp = pac::Peripherals::take().unwrap();
+    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 pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
-    let pinsb = PinsB::new(dp.portb);
+    let pinsb = PinsB::new(&mut dp.sysconfig, dp.portb);
-    let mut led1 = Output::new(pinsa.pa10, PinState::Low);
+    let mut led1 = pinsa.pa10.into_readable_push_pull_output();
     let test_case = TestCase::DelayMs;
 
     match test_case {
@@ -54,20 +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 mut out = pinsa.pa0.into_readable_push_pull_output();
-            let input = Input::new_floating(pinsa.pa1);
+            let input = pinsa.pa1.into_floating_input();
             out.set_high();
             assert!(input.is_high());
             out.set_low();
@@ -75,74 +72,73 @@ 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 = pinsa.pa1.into_pull_down_input();
-            /*
-            let mut input = Input::new_with_pull(pinsa.pa1, Pull::Down);
             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 mut out = pinsb.pb22.into_readable_push_pull_output();
-            let input = Input::new_floating(pinsb.pb23);
+            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!(PinsA::get_perid(), 0x004007e1);
-            assert_eq!(mmio_porta.read_perid(), 0x004007e1);
+            assert_eq!(PinsB::get_perid(), 0x004007e1);
-            let mmio_porta = Gpio::new_mmio(Port::B);
-            assert_eq!(mmio_porta.read_perid(), 0x004007e1);
         }
         TestCase::Pulse => {
-            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();
                 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);
+            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();
@@ -152,8 +148,22 @@ fn main() -> ! {
             }
         }
         TestCase::DelayMs => {
-            let mut delay_timer = CountdownTimer::new(dp.tim1, 50.MHz());
+            let mut ms_timer = set_up_ms_tick(
-            let mut pa0 = Output::new(pinsa.pa0, PinState::Low);
+                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);
@@ -162,23 +172,30 @@ 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);
             }
         }
     }
 
-    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()
+}

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

@@ -5,9 +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"
@@ -30,13 +30,10 @@ 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"]
 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/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

@@ -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"

examples/simple/examples/timer-ticks.rs

@@ -10,6 +10,7 @@ use panic_probe as _;
 use defmt_rtt as _;
 use portable_atomic::AtomicU32;
 use va108xx_hal::{
+    clock::{get_sys_clock, set_sys_clock},
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
@@ -31,6 +32,7 @@ fn main() -> ! {
     let mut delay = CountdownTimer::new(dp.tim2, 50.MHz());
     let mut last_ms = 0;
     defmt::info!("-- Vorago system ticks using timers --");
+    set_sys_clock(50.MHz());
     let lib_type = LibType::Hal;
     match lib_type {
         LibType::Pac => {
@@ -65,10 +67,10 @@ fn main() -> ! {
             }
         }
         LibType::Hal => {
-            let mut ms_timer = CountdownTimer::new(dp.tim0, 50.MHz());
+            let mut ms_timer = CountdownTimer::new(dp.tim0, get_sys_clock().unwrap());
             ms_timer.enable_interrupt(InterruptConfig::new(interrupt::OC0, true, true));
             ms_timer.start(1.kHz());
-            let mut second_timer = CountdownTimer::new(dp.tim1, 50.MHz());
+            let mut second_timer = CountdownTimer::new(dp.tim1, get_sys_clock().unwrap());
             second_timer.enable_interrupt(InterruptConfig::new(interrupt::OC1, true, true));
             second_timer.start(1.Hz());
         }

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

@@ -9,8 +9,9 @@ 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 = "0.11" }
+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

@@ -9,8 +9,9 @@ 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 = "0.11" }
+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);
     }
 }

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 = { version = "0.1", path = "../../vorago-shared-periphs" }
 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

@@ -12,10 +12,28 @@ 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"] }
+cortex-m-rt = "0.7"
+nb = "1"
+paste = "1"
+#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"] }
+embedded-hal = "1"
+embedded-hal-async = "1"
+embedded-hal-nb = "1"
+embedded-io = "0.6"
+embedded-io-async = "0.6"
 fugit = "0.3"
+typenum = "1"
+critical-section = "1"
+delegate = ">=0.12, <=0.13"
+heapless = "0.8"
+static_cell = "2"
 thiserror = { version = "2", default-features = false }
+void = { version = "1", default-features = false }
+once_cell = { version = "1", default-features = false }
 va108xx = { version = "0.5", default-features = false, features = ["critical-section", "defmt"] }
+embassy-sync = "0.6"
+
 defmt = { version = "0.3", optional = true }
 
 [target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
@@ -26,11 +44,8 @@ portable-atomic = "1"
 [features]
 default = ["rt"]
 rt = ["va108xx/rt"]
-defmt = ["dep:defmt", "vorago-shared-periphs/defmt"]
+defmt = ["dep:defmt", "fugit/defmt", "embedded-hal/defmt-03", "vorago-shared-periphs/defmt"]
 
 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--generate-link-to-definition"]
-
-[package.metadata.cargo-machete]
-ignored = ["cortex-m"]

va108xx-hal/src/clock.rs

@@ -1,9 +1,29 @@
 //! # API for clock related functionality
 //!
 //! This also includes functionality to enable the peripheral clocks
+use crate::time::Hertz;
+use cortex_m::interrupt::{self, Mutex};
+use once_cell::unsync::OnceCell;
+
 pub use vorago_shared_periphs::gpio::FilterClkSel;
 pub use vorago_shared_periphs::sysconfig::{disable_peripheral_clock, enable_peripheral_clock};
 
+static SYS_CLOCK: Mutex<OnceCell<Hertz>> = Mutex::new(OnceCell::new());
+
+/// The Vorago in powered by an external clock which might have different frequencies.
+/// The clock can be set here so it can be used by other software components as well.
+/// The clock can be set exactly once
+pub fn set_sys_clock(freq: impl Into<Hertz>) {
+    interrupt::free(|cs| {
+        SYS_CLOCK.borrow(cs).set(freq.into()).ok();
+    })
+}
+
+/// Returns the configured system clock
+pub fn get_sys_clock() -> Option<Hertz> {
+    interrupt::free(|cs| SYS_CLOCK.borrow(cs).get().copied())
+}
+
 pub fn set_clk_div_register(syscfg: &mut va108xx::Sysconfig, clk_sel: FilterClkSel, div: u32) {
     match clk_sel {
         FilterClkSel::SysClk => (),

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
 //!