Bugfix and improvements for async GPIO

README.md

@@ -148,13 +148,3 @@ example.
 The Segger RTT viewer can be used to display log messages received from the target. The base
 address for the RTT block placement is 0x10000000. It is recommended to use a search range of
 0x1000 around that base address when using the RTT viewer.
-
-## Learning (Embedded) Rust
-
-If you are unfamiliar with Rust on Embedded Systems or Rust in general, the following resources
-are recommended:
-
-- [Rust Book](https://doc.rust-lang.org/book/)
-- [Embedded Rust Book](https://docs.rust-embedded.org/book/)
-- [Embedded Rust Discovery](https://docs.rust-embedded.org/discovery/microbit/)
-- [Awesome Embedded Rust](https://github.com/rust-embedded/awesome-embedded-rust)

board-tests/Cargo.toml

@@ -14,6 +14,6 @@ embedded-hal-nb = "1"
 embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
-version = "0.11"
+path = "../va108xx-hal"
 features = ["rt"]
 

board-tests/src/main.rs

@@ -6,7 +6,10 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
+use embedded_hal::{
+    delay::DelayNs,
+    digital::{InputPin, OutputPin, StatefulOutputPin},
+};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
@@ -64,35 +67,35 @@ fn main() -> ! {
         TestCase::TestBasic => {
             // Tie PORTA[0] to PORTA[1] for these tests!
             let mut out = pinsa.pa0.into_readable_push_pull_output();
-            let input = pinsa.pa1.into_floating_input();
+            let mut input = pinsa.pa1.into_floating_input();
-            out.set_high();
+            out.set_high().unwrap();
-            assert!(input.is_high());
+            assert!(input.is_high().unwrap());
-            out.set_low();
+            out.set_low().unwrap();
-            assert!(input.is_low());
+            assert!(input.is_low().unwrap());
         }
         TestCase::TestPullup => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = pinsa.pa1.into_pull_up_input();
+            let mut input = pinsa.pa1.into_pull_up_input();
-            assert!(input.is_high());
+            assert!(input.is_high().unwrap());
             let mut out = pinsa.pa0.into_readable_push_pull_output();
-            out.set_low();
+            out.set_low().unwrap();
-            assert!(input.is_low());
+            assert!(input.is_low().unwrap());
-            out.set_high();
+            out.set_high().unwrap();
-            assert!(input.is_high());
+            assert!(input.is_high().unwrap());
             out.into_floating_input();
-            assert!(input.is_high());
+            assert!(input.is_high().unwrap());
         }
         TestCase::TestPulldown => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = pinsa.pa1.into_pull_down_input();
+            let mut input = pinsa.pa1.into_pull_down_input();
-            assert!(input.is_low());
+            assert!(input.is_low().unwrap());
             let mut out = pinsa.pa0.into_push_pull_output();
-            out.set_low();
+            out.set_low().unwrap();
-            assert!(input.is_low());
+            assert!(input.is_low().unwrap());
-            out.set_high();
+            out.set_high().unwrap();
-            assert!(input.is_high());
+            assert!(input.is_high().unwrap());
             out.into_floating_input();
-            assert!(input.is_low());
+            assert!(input.is_low().unwrap());
         }
         TestCase::TestMask => {
             // Tie PORTA[0] to PORTA[1] for these tests!
@@ -107,11 +110,11 @@ fn main() -> ! {
         TestCase::PortB => {
             // Tie PORTB[22] to PORTB[23] for these tests!
             let mut out = pinsb.pb22.into_readable_push_pull_output();
-            let input = pinsb.pb23.into_floating_input();
+            let mut input = pinsb.pb23.into_floating_input();
-            out.set_high();
+            out.set_high().unwrap();
-            assert!(input.is_high());
+            assert!(input.is_high().unwrap());
-            out.set_low();
+            out.set_low().unwrap();
-            assert!(input.is_low());
+            assert!(input.is_low().unwrap());
         }
         TestCase::Perid => {
             assert_eq!(PinsA::get_perid(), 0x004007e1);
@@ -121,15 +124,15 @@ fn main() -> ! {
             let mut output_pulsed = pinsa.pa0.into_push_pull_output();
             output_pulsed.configure_pulse_mode(true, PinState::Low);
             rprintln!("Pulsing high 10 times..");
-            output_pulsed.set_low();
+            output_pulsed.set_low().unwrap();
             for _ in 0..10 {
-                output_pulsed.set_high();
+                output_pulsed.set_high().unwrap();
                 cortex_m::asm::delay(25_000_000);
             }
             output_pulsed.configure_pulse_mode(true, PinState::High);
             rprintln!("Pulsing low 10 times..");
             for _ in 0..10 {
-                output_pulsed.set_low();
+                output_pulsed.set_low().unwrap();
                 cortex_m::asm::delay(25_000_000);
             }
         }
@@ -141,9 +144,9 @@ fn main() -> ! {
             let mut out_2 = pinsa.pa3.into_readable_push_pull_output();
             out_2.configure_delay(true, true);
             for _ in 0..20 {
-                out_0.toggle();
+                out_0.toggle().unwrap();
-                out_1.toggle();
+                out_1.toggle().unwrap();
-                out_2.toggle();
+                out_2.toggle().unwrap();
                 cortex_m::asm::delay(25_000_000);
             }
         }
@@ -156,18 +159,18 @@ fn main() -> ! {
                 dp.tim0,
             );
             for _ in 0..5 {
-                led1.toggle();
+                led1.toggle().ok();
                 ms_timer.delay_ms(500);
-                led1.toggle();
+                led1.toggle().ok();
                 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();
+                led1.toggle().ok();
                 delay_timer.delay_ms(500);
-                led1.toggle();
+                led1.toggle().ok();
                 delay_timer.delay_ms(500);
             }
             let ahb_freq: Hertz = 50.MHz();
@@ -175,13 +178,13 @@ fn main() -> ! {
             // Test usecond delay using both TIM peripheral and SYST. Use the release image if you
             // want to verify the timings!
             loop {
-                pa0.toggle();
+                pa0.toggle().ok();
                 delay_timer.delay_us(50);
-                pa0.toggle();
+                pa0.toggle().ok();
                 delay_timer.delay_us(50);
-                pa0.toggle();
+                pa0.toggle_with_toggle_reg();
                 syst_delay.delay_us(50);
-                pa0.toggle();
+                pa0.toggle_with_toggle_reg();
                 syst_delay.delay_us(50);
             }
         }
@@ -189,7 +192,7 @@ fn main() -> ! {
 
     rprintln!("Test success");
     loop {
-        led1.toggle();
+        led1.toggle().ok();
         cortex_m::asm::delay(25_000_000);
     }
 }

bootloader/Cargo.toml

@@ -15,10 +15,12 @@ num_enum = { version = "0.7", default-features = false }
 static_assertions = "1"
 
 [dependencies.va108xx-hal]
-version = "0.11"
+version = "0.9"
+# path = "../va108xx-hal"
 
 [dependencies.vorago-reb1]
-version = "0.8"
+version = "0.7"
+# path = "../vorago-reb1"
 
 [features]
 default = []

defmt-testapp/Cargo.toml

@@ -27,8 +27,10 @@ version = "1"
 features = ["cortex-m-systick"]
 
 [dependencies.va108xx-hal]
-version = "0.10"
+version = "0.6"
+path = "../va108xx-hal"
 features = ["rt", "defmt"]
 
 [dependencies.va108xx]
-version = "0.5"
+version = "0.3"
+path = "../va108xx"

examples/embassy/Cargo.toml

@@ -27,8 +27,8 @@ embassy-executor = { version = "0.7", features = [
   "executor-interrupt"
 ]}
 
-va108xx-hal = { version = "0.11" }
+va108xx-hal = { version = "0.9", path = "../../va108xx-hal" }
-va108xx-embassy = { version = "0.2" }
+va108xx-embassy = { version = "0.1", path = "../../va108xx-embassy" }
 
 [features]
 default = ["ticks-hz-1_000", "va108xx-embassy/irq-oc30-oc31"]

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

@@ -9,11 +9,14 @@ use embassy_executor::Spawner;
 use embassy_sync::channel::{Receiver, Sender};
 use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, channel::Channel};
 use embassy_time::{Duration, Instant, Timer};
+use embedded_hal::digital::{InputPin, OutputPin, StatefulOutputPin};
 use embedded_hal_async::digital::Wait;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
 use va108xx_hal::gpio::{
-    on_interrupt_for_async_gpio_for_port, InputDynPinAsync, InputPinAsync, PinsB, Port,
+    on_interrupt_for_async_gpio_port_a, on_interrupt_for_async_gpio_port_b, InputDynPinAsync,
+    InputPinAsync, PinsB,
 };
 use va108xx_hal::{
     gpio::{DynPin, PinsA},
@@ -64,13 +67,15 @@ async fn main(spawner: Spawner) {
     let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(
+    unsafe {
-        &mut dp.sysconfig,
+        embassy::init(
-        &dp.irqsel,
+            &mut dp.sysconfig,
-        SYSCLK_FREQ,
+            &dp.irqsel,
-        dp.tim23,
+            SYSCLK_FREQ,
-        dp.tim22,
+            dp.tim23,
-    );
+            dp.tim22,
+        )
+    };
 
     let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
     let portb = PinsB::new(&mut dp.sysconfig, dp.portb);
@@ -112,7 +117,7 @@ async fn main(spawner: Spawner) {
 
     rprintln!("Example done, toggling LED0");
     loop {
-        led0.toggle();
+        led0.toggle().unwrap();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
@@ -245,13 +250,13 @@ async fn output_task(
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC10() {
-    on_interrupt_for_async_gpio_for_port(Port::A);
+    on_interrupt_for_async_gpio_port_a();
-    on_interrupt_for_async_gpio_for_port(Port::B);
+    on_interrupt_for_async_gpio_port_b();
 }
 
 // This interrupt only handles PORT B interrupts.
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC11() {
-    on_interrupt_for_async_gpio_for_port(Port::B);
+    on_interrupt_for_async_gpio_port_b();
 }

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

@@ -18,19 +18,21 @@ use core::cell::RefCell;
 use critical_section::Mutex;
 use embassy_executor::Spawner;
 use embassy_time::Instant;
+use embedded_hal::digital::StatefulOutputPin;
 use embedded_io::Write;
 use embedded_io_async::Read;
 use heapless::spsc::{Consumer, Producer, Queue};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
 use va108xx_hal::{
     gpio::PinsA,
     pac::{self, interrupt},
     prelude::*,
     uart::{
-        self, on_interrupt_rx_overwriting,
+        self, on_interrupt_uart_b_overwriting,
-        rx_asynch::{on_interrupt_rx, RxAsync},
+        rx_asynch::{on_interrupt_uart_a, RxAsync},
-        Bank, RxAsyncOverwriting, Tx,
+        RxAsyncSharedConsumer, Tx,
     },
     InterruptConfig,
 };
@@ -55,13 +57,15 @@ async fn main(spawner: Spawner) {
     let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(
+    unsafe {
-        &mut dp.sysconfig,
+        embassy::init(
-        &dp.irqsel,
+            &mut dp.sysconfig,
-        SYSCLK_FREQ,
+            &dp.irqsel,
-        dp.tim23,
+            SYSCLK_FREQ,
-        dp.tim22,
+            dp.tim23,
-    );
+            dp.tim22,
+        );
+    }
 
     let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
     let mut led0 = porta.pa10.into_readable_push_pull_output();
@@ -102,16 +106,16 @@ async fn main(spawner: Spawner) {
         *CONSUMER_UART_B.borrow(cs).borrow_mut() = Some(cons_uart_b);
     });
     let mut async_rx_uart_a = RxAsync::new(rx_uart_a, cons_uart_a);
-    let async_rx_uart_b = RxAsyncOverwriting::new(rx_uart_b, &CONSUMER_UART_B);
+    let async_rx_uart_b = RxAsyncSharedConsumer::new(rx_uart_b, &CONSUMER_UART_B);
     spawner
         .spawn(uart_b_task(async_rx_uart_b, tx_uart_b))
         .unwrap();
     let mut buf = [0u8; 256];
     loop {
         rprintln!("Current time UART A: {}", Instant::now().as_secs());
-        led0.toggle();
+        led0.toggle().ok();
-        led1.toggle();
+        led1.toggle().ok();
-        led2.toggle();
+        led2.toggle().ok();
         let read_bytes = async_rx_uart_a.read(&mut buf).await.unwrap();
         let read_str = core::str::from_utf8(&buf[..read_bytes]).unwrap();
         rprintln!(
@@ -124,7 +128,7 @@ async fn main(spawner: Spawner) {
 }
 
 #[embassy_executor::task]
-async fn uart_b_task(mut async_rx: RxAsyncOverwriting<pac::Uartb, 256>, mut tx: Tx<pac::Uartb>) {
+async fn uart_b_task(mut async_rx: RxAsyncSharedConsumer<pac::Uartb, 256>, mut tx: Tx<pac::Uartb>) {
     let mut buf = [0u8; 256];
     loop {
         rprintln!("Current time UART B: {}", Instant::now().as_secs());
@@ -145,7 +149,7 @@ async fn uart_b_task(mut async_rx: RxAsyncOverwriting<pac::Uartb, 256>, mut tx:
 fn OC2() {
     let mut prod =
         critical_section::with(|cs| PRODUCER_UART_A.borrow(cs).borrow_mut().take().unwrap());
-    let errors = on_interrupt_rx(Bank::A, &mut prod);
+    let errors = on_interrupt_uart_a(&mut prod);
     critical_section::with(|cs| *PRODUCER_UART_A.borrow(cs).borrow_mut() = Some(prod));
     // In a production app, we could use a channel to send the errors to the main task.
     if let Err(errors) = errors {
@@ -158,7 +162,7 @@ fn OC2() {
 fn OC3() {
     let mut prod =
         critical_section::with(|cs| PRODUCER_UART_B.borrow(cs).borrow_mut().take().unwrap());
-    let errors = on_interrupt_rx_overwriting(Bank::B, &mut prod, &CONSUMER_UART_B);
+    let errors = on_interrupt_uart_b_overwriting(&mut prod, &CONSUMER_UART_B);
     critical_section::with(|cs| *PRODUCER_UART_B.borrow(cs).borrow_mut() = Some(prod));
     // In a production app, we could use a channel to send the errors to the main task.
     if let Err(errors) = errors {

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

@@ -12,14 +12,16 @@
 #![no_main]
 use embassy_executor::Spawner;
 use embassy_time::{Duration, Instant, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
 use embedded_io_async::Write;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
 use va108xx_hal::{
     gpio::PinsA,
     pac::{self, interrupt},
     prelude::*,
-    uart::{self, on_interrupt_tx, Bank, TxAsync},
+    uart::{self, on_interrupt_uart_a_tx, TxAsync},
     InterruptConfig,
 };
 
@@ -41,13 +43,15 @@ async fn main(_spawner: Spawner) {
     let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(
+    unsafe {
-        &mut dp.sysconfig,
+        embassy::init(
-        &dp.irqsel,
+            &mut dp.sysconfig,
-        SYSCLK_FREQ,
+            &dp.irqsel,
-        dp.tim23,
+            SYSCLK_FREQ,
-        dp.tim22,
+            dp.tim23,
-    );
+            dp.tim22,
+        );
+    }
 
     let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
     let mut led0 = porta.pa10.into_readable_push_pull_output();
@@ -71,9 +75,9 @@ async fn main(_spawner: Spawner) {
     let mut idx = 0;
     loop {
         rprintln!("Current time: {}", Instant::now().as_secs());
-        led0.toggle();
+        led0.toggle().ok();
-        led1.toggle();
+        led1.toggle().ok();
-        led2.toggle();
+        led2.toggle().ok();
         let _written = async_tx
             .write(STR_LIST[idx].as_bytes())
             .await
@@ -89,5 +93,5 @@ async fn main(_spawner: Spawner) {
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC2() {
-    on_interrupt_tx(Bank::A);
+    on_interrupt_uart_a_tx();
 }

examples/embassy/src/main.rs

@@ -2,8 +2,10 @@
 #![no_main]
 use embassy_executor::Spawner;
 use embassy_time::{Duration, Instant, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
 
 cfg_if::cfg_if! {
     if #[cfg(feature = "custom-irqs")] {
@@ -26,25 +28,27 @@ async fn main(_spawner: Spawner) {
     let mut dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    cfg_if::cfg_if! {
+    unsafe {
-        if #[cfg(not(feature = "custom-irqs"))] {
+        cfg_if::cfg_if! {
-            va108xx_embassy::init(
+            if #[cfg(not(feature = "custom-irqs"))] {
-                &mut dp.sysconfig,
+                embassy::init(
-                &dp.irqsel,
+                    &mut dp.sysconfig,
-                SYSCLK_FREQ,
+                    &dp.irqsel,
-                dp.tim23,
+                    SYSCLK_FREQ,
-                dp.tim22,
+                    dp.tim23,
-            );
+                    dp.tim22,
-        } else {
+                );
-            va108xx_embassy::init_with_custom_irqs(
+            } else {
-                &mut dp.sysconfig,
+                embassy::init_with_custom_irqs(
-                &dp.irqsel,
+                    &mut dp.sysconfig,
-                SYSCLK_FREQ,
+                    &dp.irqsel,
-                dp.tim23,
+                    SYSCLK_FREQ,
-                dp.tim22,
+                    dp.tim23,
-                pac::Interrupt::OC23,
+                    dp.tim22,
-                pac::Interrupt::OC24,
+                    pac::Interrupt::OC23,
-            );
+                    pac::Interrupt::OC24,
+                );
+            }
         }
     }
 
@@ -56,8 +60,8 @@ async fn main(_spawner: Spawner) {
     loop {
         ticker.next().await;
         rprintln!("Current time: {}", Instant::now().as_secs());
-        led0.toggle();
+        led0.toggle().ok();
-        led1.toggle();
+        led1.toggle().ok();
-        led2.toggle();
+        led2.toggle().ok();
     }
 }

examples/rtic/Cargo.toml

@@ -22,5 +22,5 @@ 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" }
+va108xx-hal = "0.9"
-vorago-reb1 = { version = "0.8" }
+vorago-reb1 = "0.7"

examples/rtic/src/bin/blinky-button-rtic.rs

@@ -69,16 +69,18 @@ mod app {
 
         // Configure an edge interrupt on the button and route it to interrupt vector 15
         let mut button = Button::new(pinsa.pa11.into_floating_input());
+        button.configure_edge_interrupt(
+            edge_irq,
+            InterruptConfig::new(pac::interrupt::OC15, true, true),
+            Some(&mut dp.sysconfig),
+            Some(&mut dp.irqsel),
+        );
 
         if mode == PressMode::Toggle {
             // This filter debounces the switch for edge based interrupts
             button.configure_filter_type(FilterType::FilterFourClockCycles, FilterClkSel::Clk1);
             set_clk_div_register(&mut dp.sysconfig, FilterClkSel::Clk1, 50_000);
         }
-        button.configure_and_enable_edge_interrupt(
-            edge_irq,
-            InterruptConfig::new(pac::interrupt::OC15, true, true),
-        );
         let mut leds = Leds::new(
             pinsa.pa10.into_push_pull_output(),
             pinsa.pa7.into_push_pull_output(),

examples/rtic/src/main.rs

@@ -5,6 +5,7 @@
 #[rtic::app(device = pac, dispatchers = [OC31, OC30, OC29])]
 mod app {
     use cortex_m::asm;
+    use embedded_hal::digital::StatefulOutputPin;
     use panic_rtt_target as _;
     use rtic_example::SYSCLK_FREQ;
     use rtic_monotonics::systick::prelude::*;
@@ -57,9 +58,9 @@ mod app {
     async fn blinky(cx: blinky::Context) {
         loop {
             rprintln!("toggling LEDs");
-            cx.local.led0.toggle();
+            cx.local.led0.toggle().ok();
-            cx.local.led1.toggle();
+            cx.local.led1.toggle().ok();
-            cx.local.led2.toggle();
+            cx.local.led2.toggle().ok();
             Mono::delay(1000.millis()).await;
         }
     }

examples/simple/Cargo.toml

@@ -16,8 +16,8 @@ embedded-io = "0.6"
 cortex-m-semihosting = "0.5.0"
 
 [dependencies.va108xx-hal]
-version = "0.11"
+version = "0.9"
 features = ["rt", "defmt"]
 
 [dependencies.vorago-reb1]
-version = "0.8"
+version = "0.7"

examples/simple/examples/blinky.rs

@@ -7,7 +7,10 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
+use embedded_hal::{
+    delay::DelayNs,
+    digital::{OutputPin, StatefulOutputPin},
+};
 use panic_halt as _;
 use va108xx_hal::{
     gpio::PinsA,
@@ -35,21 +38,21 @@ fn main() -> ! {
     let mut led2 = porta.pa7.into_readable_push_pull_output();
     let mut led3 = porta.pa6.into_readable_push_pull_output();
     for _ in 0..10 {
-        led1.set_low();
+        led1.set_low().ok();
-        led2.set_low();
+        led2.set_low().ok();
-        led3.set_low();
+        led3.set_low().ok();
         delay_ms.delay_ms(200);
-        led1.set_high();
+        led1.set_high().ok();
-        led2.set_high();
+        led2.set_high().ok();
-        led3.set_high();
+        led3.set_high().ok();
         delay_tim1.delay_ms(200);
     }
     loop {
-        led1.toggle();
+        led1.toggle().ok();
         delay_ms.delay_ms(200);
-        led2.toggle();
+        led2.toggle().ok();
         delay_tim1.delay_ms(200);
-        led3.toggle();
+        led3.toggle().ok();
         delay_ms.delay_ms(200);
     }
 }

examples/simple/examples/uart.rs

@@ -45,6 +45,9 @@ fn main() -> ! {
                     .expect("TX send error");
             }
             Err(nb::Error::WouldBlock) => (),
+            Err(nb::Error::Other(uart_error)) => {
+                rprintln!("UART receive error {:?}", uart_error);
+            }
         }
     }
 }

flashloader/Cargo.toml

@@ -29,7 +29,9 @@ rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
 rtic-sync = {version = "1", features = ["defmt-03"]}
 
 [dependencies.va108xx-hal]
-version = "0.11"
+version = "0.9"
+# path = "../va108xx-hal"
 
 [dependencies.vorago-reb1]
-version = "0.8"
+version = "0.7"
+# path = "../vorago-reb1"

flashloader/slot-a-blinky/Cargo.toml

@@ -11,7 +11,7 @@ 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 = { path = "../../va108xx-hal" }
 
 [profile.dev]
 codegen-units = 1

flashloader/slot-b-blinky/Cargo.toml

@@ -11,7 +11,7 @@ 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 = { path = "../../va108xx-hal" }
 
 [profile.dev]
 codegen-units = 1

va108xx-embassy/CHANGELOG.md

@@ -8,16 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.2.1] 2025-03-07
-
-- Bumped allowed va108xx-hal to v0.11
-
-## [v0.2.0] 2025-02-17
-
-- Bumped va108xx-hal to v0.10.0
-- Remove `embassy` module, expose public functions in library root directly
-
-
 ## [v0.1.2] and [v0.1.1] 2025-02-13
 
 Docs patch
@@ -25,7 +15,3 @@ Docs patch
 ## [v0.1.0] 2025-02-13
 
 Initial release
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.2.1...HEAD
-[v0.2.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.2.0...va10xx-embassy-v0.2.1
-[v0.2.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.1.2...va10xx-embassy-v0.2.0

va108xx-embassy/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-embassy"
-version = "0.2.1"
+version = "0.1.2"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = "Embassy-rs support for the Vorago VA108xx family of microcontrollers"
@@ -20,7 +20,7 @@ embassy-time-queue-utils = "0.1"
 
 once_cell = { version = "1", default-features = false, features = ["critical-section"] }
 
-va108xx-hal = { version = ">=0.10, <=0.11" }
+va108xx-hal = { version = "0.9", path = "../va108xx-hal" }
 
 [target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }

va108xx-embassy/src/lib.rs

@@ -1,17 +1,17 @@
 //! # Embassy-rs support for the Vorago VA108xx MCU family
 //!
-//! This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for
+//! This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
-//! the VA108xx family. Currently, it contains the time driver to allow using embassy-rs. It uses
+//! VA108xx family. Currently, it contains the time driver to allow using embassy-rs. It uses the TIM
-//! the TIM peripherals provided by the VA108xx family for this purpose.
+//! peripherals provided by the VA108xx family for this purpose.
 //!
 //! ## Usage
 //!
-//! This library exposes the [init] or the [init_with_custom_irqs] functions which set up the time
+//! This library only exposes the [embassy::init] method which sets up the time driver. This
-//! driver. This function must be called once at the start of the application.
+//! function must be called once at the start of the application.
 //!
 //! This implementation requires two TIM peripherals provided by the VA108xx device.
 //! The user can freely specify the two used TIM peripheral by passing the concrete TIM instances
-//! into the [init_with_custom_irqs] and [init] method.
+//! into the [embassy::init_with_custom_irqs] and [embassy::init] method.
 //!
 //! The application also requires two interrupt handlers to handle the timekeeper and alarm
 //! interrupts. By default, this library will define the interrupt handler inside the library
@@ -24,7 +24,7 @@
 //! You can disable the default features and then specify one of the features above to use the
 //! documented combination of IRQs. It is also possible to specify custom IRQs by importing and
 //! using the [embassy_time_driver_irqs] macro to declare the IRQ handlers in the
-//! application code. If this is done, [init_with_custom_irqs] must be used
+//! application code. If this is done, [embassy::init_with_custom_irqs] must be used
 //! method to pass the IRQ numbers to the library.
 //!
 //! ## Examples
@@ -76,7 +76,7 @@ macro_rules! embassy_time_driver_irqs {
         #[allow(non_snake_case)]
         fn $timekeeper_irq() {
             // Safety: We call it once here.
-            unsafe { $crate::time_driver().on_interrupt_timekeeping() }
+            unsafe { $crate::embassy::time_driver().on_interrupt_timekeeping() }
         }
 
         const ALARM_IRQ: pac::Interrupt = pac::Interrupt::$alarm_irq;
@@ -85,7 +85,7 @@ macro_rules! embassy_time_driver_irqs {
         #[allow(non_snake_case)]
         fn $alarm_irq() {
             // Safety: We call it once here.
-            unsafe { $crate::time_driver().on_interrupt_alarm() }
+            unsafe { $crate::embassy::time_driver().on_interrupt_alarm() }
         }
     };
 }
@@ -99,58 +99,71 @@ embassy_time_driver_irqs!(timekeeper_irq = OC30, alarm_irq = OC29);
 #[cfg(feature = "irq-oc28-oc29")]
 embassy_time_driver_irqs!(timekeeper_irq = OC29, alarm_irq = OC28);
 
-/// Expose the time driver so the user can specify the IRQ handlers themselves.
+pub mod embassy {
-pub fn time_driver() -> &'static TimerDriver {
+    use super::*;
-    &TIME_DRIVER
+    use va108xx_hal::{pac, timer::TimRegInterface};
-}
 
-/// Initialization method for embassy.
+    /// Expose the time driver so the user can specify the IRQ handlers themselves.
-///
+    pub fn time_driver() -> &'static TimerDriver {
-/// This should be used if the interrupt handler is provided by the library, which is the
+        &TIME_DRIVER
-/// default case.
+    }
-#[cfg(feature = "irqs-in-lib")]
-pub fn init<TimekeeperTim: TimRegInterface + ValidTim, AlarmTim: TimRegInterface + ValidTim>(
-    syscfg: &mut pac::Sysconfig,
-    irqsel: &pac::Irqsel,
-    sysclk: impl Into<Hertz>,
-    timekeeper_tim: TimekeeperTim,
-    alarm_tim: AlarmTim,
-) {
-    TIME_DRIVER.init(
-        syscfg,
-        irqsel,
-        sysclk,
-        timekeeper_tim,
-        alarm_tim,
-        TIMEKEEPER_IRQ,
-        ALARM_IRQ,
-    )
-}
 
-/// Initialization method for embassy when using custom IRQ handlers.
+    /// Initialization method for embassy
-///
+    ///
-/// Requires an explicit [pac::Interrupt] argument for the timekeeper and alarm IRQs.
+    /// # Safety
-pub fn init_with_custom_irqs<
+    ///
-    TimekeeperTim: TimRegInterface + ValidTim,
+    /// This has to be called once at initialization time to initiate the time driver for
-    AlarmTim: TimRegInterface + ValidTim,
+    /// embassy.
->(
+    #[cfg(feature = "irqs-in-lib")]
-    syscfg: &mut pac::Sysconfig,
+    pub unsafe fn init<
-    irqsel: &pac::Irqsel,
+        TimekeeperTim: TimRegInterface + ValidTim,
-    sysclk: impl Into<Hertz>,
+        AlarmTim: TimRegInterface + ValidTim,
-    timekeeper_tim: TimekeeperTim,
+    >(
-    alarm_tim: AlarmTim,
+        syscfg: &mut pac::Sysconfig,
-    timekeeper_irq: pac::Interrupt,
+        irqsel: &pac::Irqsel,
-    alarm_irq: pac::Interrupt,
+        sysclk: impl Into<Hertz>,
-) {
+        timekeeper_tim: TimekeeperTim,
-    TIME_DRIVER.init(
+        alarm_tim: AlarmTim,
-        syscfg,
+    ) {
-        irqsel,
+        TIME_DRIVER.init(
-        sysclk,
+            syscfg,
-        timekeeper_tim,
+            irqsel,
-        alarm_tim,
+            sysclk,
-        timekeeper_irq,
+            timekeeper_tim,
-        alarm_irq,
+            alarm_tim,
-    )
+            TIMEKEEPER_IRQ,
+            ALARM_IRQ,
+        )
+    }
+
+    /// Initialization method for embassy
+    ///
+    /// # Safety
+    ///
+    /// This has to be called once at initialization time to initiate the time driver for
+    /// embassy.
+    pub unsafe fn init_with_custom_irqs<
+        TimekeeperTim: TimRegInterface + ValidTim,
+        AlarmTim: TimRegInterface + ValidTim,
+    >(
+        syscfg: &mut pac::Sysconfig,
+        irqsel: &pac::Irqsel,
+        sysclk: impl Into<Hertz>,
+        timekeeper_tim: TimekeeperTim,
+        alarm_tim: AlarmTim,
+        timekeeper_irq: pac::Interrupt,
+        alarm_irq: pac::Interrupt,
+    ) {
+        TIME_DRIVER.init(
+            syscfg,
+            irqsel,
+            sysclk,
+            timekeeper_tim,
+            alarm_tim,
+            timekeeper_irq,
+            alarm_irq,
+        )
+    }
 }
 
 struct AlarmState {

va108xx-hal/CHANGELOG.md

@@ -8,25 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.11.1] 2025-03-10
+## [v0.10.0]
-
-## Fixed
-
-- Fix `embedded_io` UART implementation to implement the documented contract properly.
-  The implementation will now block until at least one byte is available or can be written, unless
-  the send or receive buffer is empty.
-
-## [v0.11.0] 2025-03-07
-
-## Changed
-
-- Bugfix for I2C `TimingCfg::reg`
-- Simplified UART error handling. All APIs are now infallible because writing to a FIFO or
-  reading from a FIFO never fails. Users can either poll errors using `Rx::poll_errors` or
-  `Uart::poll_rx_errors` / `UartBase::poll_rx_errors`, or detect errors using the provided
-  interrupt handlers.
-
-## [v0.10.0] 2025-02-17
 
 ## Added
 
@@ -34,19 +16,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changed
 
-- Larger refactoring of GPIO library. The edge and level interrupt configurator functions do not
+- Missing GPIO API replacements from `x` to `configure_x`
-  enable interrupts anymore. Instead, there are explicit `enbable_interrupt` and
+- Split up generic GPIO interrupt handler into `on_interrupt_for_asynch_gpio`
-  `disable_interrupt` methods
+  into port specific variants.
-- Renamed GPIO `DynGroup` to `Port`
-- Rename generic GPIO interrupt handler into `on_interrupt_for_asynch_gpio`
-  into `on_interrupt_for_async_gpio_for_port` which expects a Port argument
 
 ## Fixed
 
 - Bug in async GPIO interrupt handler where all enabled interrupts, even the ones which might
   be unrelated to the pin, were disabled.
 
-## [v0.9.0] 2025-02-13
+## [v0.9.0]
 
 ## Fixed
 
@@ -122,14 +101,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Updated `embedded-hal` to v1
 - Added optional `defmt` v0.3 feature and support.
 
-## v0.5.2 2024-06-16
+## [v0.5.2] 2024-06-16
 
 ## Fixed
 
 - Replaced usage to `ptr::write_volatile` in UART module which is denied on more recent Rust
   compilers.
 
-## v0.5.1
+## [v0.5.1]
 
 ### Changes
 
@@ -138,7 +117,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   - `once_cell` to 1.12.0
   - Other dependencies: Only revision has changed
 
-## v0.5.0
+## [v0.5.0]
 
 ### Added
 
@@ -151,14 +130,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Bugfix in UART code where RX and TX could not be enabled or disabled independently
 
-## v0.4.3
+## [v0.4.3]
 
 - Various smaller fixes for READMEs, update of links in documentation
 - Simplified CI for github, do not use `cross`
 - New `blinky-pac` example
 - Use HAL delay in `blinky` example
 
-## v0.4.2
+## [v0.4.2]
 
 ### Added
 
@@ -168,24 +147,24 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Clear TX and RX FIFO in SPI transfer function
 
-## v0.4.1
+## [v0.4.1]
 
 ### Fixed
 
 - Initial blockmode setting was not set in SPI constructor
 
-## v0.4.0
+## [v0.4.0]
 
 ### Changed
 
 - Replaced `Hertz` by `impl Into<Hertz>` completely and removed
   `+ Copy` where not necessary
 
-## v0.3.1
+## [v0.3.1]
 
 - Updated all links to point to new repository
 
-## v0.3.0
+## [v0.3.0]
 
 ### Added
 
@@ -197,7 +176,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Primary repository now hosted on IRS external git: https://egit.irs.uni-stuttgart.de/rust/va108xx-hal
 - Relicensed as Apache-2.0
 
-## v0.2.3
+## [0.2.3]
 
 ### Added
 
@@ -209,7 +188,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Improved Timer API. It is now possible to simply use `new` on `CountDownTimer`
 
-## v0.2.2
+## [0.2.2]
 
 ### Added
 
@@ -221,7 +200,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - API which expects values in Hertz now uses `impl Into<Hertz>` as input parameter
 
-## v0.2.1
+## [0.2.1]
 
 ### Added
 
@@ -235,7 +214,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Moved the `FilterClkSel` struct to the `clock` module, re-exporting in `gpio`
 - Clearing output state at initialization of Output pins
 
-## v0.2.0
+## [0.2.0]
 
 ### Changed
 
@@ -250,7 +229,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Some bugfixes for GPIO implementation
 - Rust edition updated to 2021
 
-## v0.1.0
+## [0.1.0]
 
 ### Added
 
@@ -259,12 +238,3 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - RTT example application
 - Added basic test binary in form of an example
 - README with basic instructions how to set up own binary crate
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.11.0...HEAD
-[v0.11.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.11.0...va108xx-hal-v0.11.1
-[v0.11.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.10.0...va108xx-hal-v0.11.0
-[v0.10.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.9.0...va108xx-hal-v0.10.0
-[v0.9.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.8.0...va108xx-hal-v0.9.0
-[v0.8.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.7.0...va108xx-hal-v0.8.0
-[v0.7.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.6.0...va108xx-hal-v0.7.0
-[v0.6.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/tag/va108xx-hal-v0.6.0

va108xx-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-hal"
-version = "0.11.1"
+version = "0.9.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
@@ -28,8 +28,8 @@ 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 }
+once_cell = {version = "1", default-features = false }
-va108xx = { version = "0.5", default-features = false, features = ["critical-section", "defmt"] }
+va108xx = { version = "0.5", path = "../va108xx", default-features = false, features = ["critical-section", "defmt"] }
 embassy-sync = "0.6"
 
 defmt = { version = "0.3", optional = true }

va108xx-hal/src/gpio/asynch.rs

@@ -3,9 +3,14 @@
 //! This module provides the [InputPinAsync] and [InputDynPinAsync] which both implement
 //! the [embedded_hal_async::digital::Wait] trait. These types allow for asynchronous waiting
 //! on GPIO pins. Please note that this module does not specify/declare the interrupt handlers
-//! which must be provided for async support to work. However, it provides the
+//! which must be provided for async support to work. However, it provides two generic interrupt
-//! [on_interrupt_for_async_gpio_for_port] generic interrupt handler. This should be called in all
+//! handlers:
-//! IRQ functions which handle any GPIO interrupts with the corresponding [Port] argument.
+//!
+//!  - [on_interrupt_for_async_gpio_port_a]
+//!  - [on_interrupt_for_async_gpio_port_b]
+//!
+//! Those should be called in the interrupt handlers which handle GPIO interrupts for port A
+//! and/or port B.
 //!
 //! # Example
 //!
@@ -13,14 +18,15 @@
 use core::future::Future;
 
 use embassy_sync::waitqueue::AtomicWaker;
+use embedded_hal::digital::InputPin;
 use embedded_hal_async::digital::Wait;
 use portable_atomic::AtomicBool;
-use va108xx::{self as pac};
+use va108xx::{self as pac, Irqsel, Sysconfig};
 
 use crate::InterruptConfig;
 
 use super::{
-    pin, DynPin, DynPinId, InputConfig, InterruptEdge, InvalidPinTypeError, Pin, PinId, Port,
+    pin, DynGroup, DynPin, DynPinId, InputConfig, InterruptEdge, InvalidPinTypeError, Pin, PinId,
     NUM_PINS_PORT_A, NUM_PINS_PORT_B,
 };
 
@@ -33,36 +39,51 @@ static EDGE_DETECTION_PORT_A: [AtomicBool; NUM_PINS_PORT_A] =
 static EDGE_DETECTION_PORT_B: [AtomicBool; NUM_PINS_PORT_B] =
     [const { AtomicBool::new(false) }; NUM_PINS_PORT_B];
 
-/// Generic interrupt handler for GPIO interrupts on a specific port to support async functionalities
+/// Generic interrupt handler for GPIO interrupts on PORT A to support the async functionalities.
 ///
-/// This function should be called in all interrupt handlers which handle any GPIO interrupts
+/// This function should be called in all interrupt hanflers which handle any PORT A GPIO
-/// matching the [Port] argument.
+/// interrupts.
-/// The handler will wake the corresponding wakers for the pins that triggered an interrupts
+///
-/// as well as update the static edge detection structures. This allows the pin future tocomplete
+/// This handler will wake the correspoding wakers for the pins which triggered an interrupt
-/// complete async operations.
+/// as well as updating the static edge detection structures. This allows the pin future to
-pub fn on_interrupt_for_async_gpio_for_port(port: Port) {
+/// complete async operations. The user should call this function in ALL interrupt handlers
+/// which handle any GPIO interrupts.
+#[inline]
+pub fn on_interrupt_for_async_gpio_port_a() {
     let periphs = unsafe { pac::Peripherals::steal() };
 
-    let (irq_enb, edge_status, wakers, edge_detection) = match port {
+    handle_interrupt_for_gpio_and_port(
-        Port::A => (
+        periphs.porta.irq_enb().read().bits(),
-            periphs.porta.irq_enb().read().bits(),
+        periphs.porta.edge_status().read().bits(),
-            periphs.porta.edge_status().read().bits(),
+        &WAKERS_FOR_PORT_A,
-            WAKERS_FOR_PORT_A.as_ref(),
+        &EDGE_DETECTION_PORT_A,
-            EDGE_DETECTION_PORT_A.as_ref(),
+    );
-        ),
-        Port::B => (
-            periphs.portb.irq_enb().read().bits(),
-            periphs.portb.edge_status().read().bits(),
-            WAKERS_FOR_PORT_B.as_ref(),
-            EDGE_DETECTION_PORT_B.as_ref(),
-        ),
-    };
-
-    on_interrupt_for_port(irq_enb, edge_status, wakers, edge_detection);
 }
 
+/// Generic interrupt handler for GPIO interrupts on PORT B to support the async functionalities.
+///
+/// This function should be called in all interrupt hanflers which handle any PORT B GPIO
+/// interrupts.
+///
+/// This handler will wake the correspoding wakers for the pins which triggered an interrupt
+/// as well as updating the static edge detection structures. This allows the pin future to
+/// complete async operations. The user should call this function in ALL interrupt handlers
+/// which handle any GPIO interrupts.
 #[inline]
-fn on_interrupt_for_port(
+pub fn on_interrupt_for_async_gpio_port_b() {
+    let periphs = unsafe { pac::Peripherals::steal() };
+
+    handle_interrupt_for_gpio_and_port(
+        periphs.portb.irq_enb().read().bits(),
+        periphs.portb.edge_status().read().bits(),
+        &WAKERS_FOR_PORT_B,
+        &EDGE_DETECTION_PORT_B,
+    );
+}
+
+// Uses the enabled interrupt register and the persistent edge status to capture all GPIO events.
+#[inline]
+fn handle_interrupt_for_gpio_and_port(
     mut irq_enb: u32,
     edge_status: u32,
     wakers: &'static [AtomicWaker],
@@ -95,13 +116,26 @@ pub struct InputPinFuture {
 }
 
 impl InputPinFuture {
-    #[inline]
+    /// # Safety
+    ///
+    /// This calls [Self::new_with_dyn_pin] but uses [pac::Peripherals::steal] to get the system configuration
+    /// and IRQ selection peripherals. Users must ensure that the registers and configuration
+    /// related to this input pin are not being used elsewhere concurrently.
+    pub unsafe fn new_unchecked_with_dyn_pin(
+        pin: &mut DynPin,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+    ) -> Result<Self, InvalidPinTypeError> {
+        let mut periphs = pac::Peripherals::steal();
+        Self::new_with_dyn_pin(pin, irq, edge, &mut periphs.sysconfig, &mut periphs.irqsel)
+    }
+
     pub fn pin_group_to_waker_and_edge_detection_group(
-        group: Port,
+        group: DynGroup,
     ) -> (&'static [AtomicWaker], &'static [AtomicBool]) {
         match group {
-            Port::A => (WAKERS_FOR_PORT_A.as_ref(), EDGE_DETECTION_PORT_A.as_ref()),
+            DynGroup::A => (WAKERS_FOR_PORT_A.as_ref(), EDGE_DETECTION_PORT_A.as_ref()),
-            Port::B => (WAKERS_FOR_PORT_B.as_ref(), EDGE_DETECTION_PORT_B.as_ref()),
+            DynGroup::B => (WAKERS_FOR_PORT_B.as_ref(), EDGE_DETECTION_PORT_B.as_ref()),
         }
     }
 
@@ -109,17 +143,24 @@ impl InputPinFuture {
         pin: &mut DynPin,
         irq: pac::Interrupt,
         edge: InterruptEdge,
+        sys_cfg: &mut Sysconfig,
+        irq_sel: &mut Irqsel,
     ) -> Result<Self, InvalidPinTypeError> {
         if !pin.is_input_pin() {
             return Err(InvalidPinTypeError(pin.mode()));
         }
 
         let (waker_group, edge_detection_group) =
-            Self::pin_group_to_waker_and_edge_detection_group(pin.id().port());
+            Self::pin_group_to_waker_and_edge_detection_group(pin.id().group);
-        edge_detection_group[pin.id().num() as usize]
+        edge_detection_group[pin.id().num as usize]
             .store(false, core::sync::atomic::Ordering::Relaxed);
-        pin.configure_edge_interrupt(edge).unwrap();
+        pin.configure_edge_interrupt(
-        pin.enable_interrupt(InterruptConfig::new(irq, true, true));
+            edge,
+            InterruptConfig::new(irq, true, true),
+            Some(sys_cfg),
+            Some(irq_sel),
+        )
+        .unwrap();
         Ok(Self {
             pin_id: pin.id(),
             waker_group,
@@ -127,17 +168,37 @@ impl InputPinFuture {
         })
     }
 
-    pub fn new_with_pin<I: PinId, C: InputConfig>(
+    /// # Safety
+    ///
+    /// This calls [Self::new_with_pin] but uses [pac::Peripherals::steal] to get the system configuration
+    /// and IRQ selection peripherals. Users must ensure that the registers and configuration
+    /// related to this input pin are not being used elsewhere concurrently.
+    pub unsafe fn new_unchecked_with_pin<I: PinId, C: InputConfig>(
         pin: &mut Pin<I, pin::Input<C>>,
         irq: pac::Interrupt,
         edge: InterruptEdge,
+    ) -> Self {
+        let mut periphs = pac::Peripherals::steal();
+        Self::new_with_pin(pin, irq, edge, &mut periphs.sysconfig, &mut periphs.irqsel)
+    }
+
+    pub fn new_with_pin<I: PinId, C: InputConfig>(
+        pin: &mut Pin<I, pin::Input<C>>,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+        sys_cfg: &mut Sysconfig,
+        irq_sel: &mut Irqsel,
     ) -> Self {
         let (waker_group, edge_detection_group) =
-            Self::pin_group_to_waker_and_edge_detection_group(pin.id().port());
+            Self::pin_group_to_waker_and_edge_detection_group(pin.id().group);
-        edge_detection_group[pin.id().num() as usize]
+        edge_detection_group[pin.id().num as usize]
             .store(false, core::sync::atomic::Ordering::Relaxed);
-        pin.configure_edge_interrupt(edge);
+        pin.configure_edge_interrupt(
-        pin.enable_interrupt(InterruptConfig::new(irq, true, true));
+            edge,
+            InterruptConfig::new(irq, true, true),
+            Some(sys_cfg),
+            Some(irq_sel),
+        );
         Self {
             pin_id: pin.id(),
             edge_detection_group,
@@ -148,8 +209,18 @@ impl InputPinFuture {
 
 impl Drop for InputPinFuture {
     fn drop(&mut self) {
-        // The API ensures that we actually own the pin, so stealing it here is okay.
+        let periphs = unsafe { pac::Peripherals::steal() };
-        unsafe { DynPin::steal(self.pin_id) }.disable_interrupt(false);
+        if self.pin_id.group == DynGroup::A {
+            periphs
+                .porta
+                .irq_enb()
+                .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id.num)) });
+        } else {
+            periphs
+                .porta
+                .irq_enb()
+                .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id.num)) });
+        }
     }
 }
 
@@ -159,7 +230,7 @@ impl Future for InputPinFuture {
         self: core::pin::Pin<&mut Self>,
         cx: &mut core::task::Context<'_>,
     ) -> core::task::Poll<Self::Output> {
-        let idx = self.pin_id.num() as usize;
+        let idx = self.pin_id.num as usize;
         self.waker_group[idx].register(cx.waker());
         if self.edge_detection_group[idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
             return core::task::Poll::Ready(());
@@ -178,8 +249,8 @@ impl InputDynPinAsync {
     /// passed as well and is used to route and enable the interrupt.
     ///
     /// Please note that the interrupt handler itself must be provided by the user and the
-    /// generic [on_interrupt_for_async_gpio_for_port] function must be called inside that function
+    /// generic [on_interrupt_for_async_gpio_port_a] or [on_interrupt_for_async_gpio_port_b]
-    /// for the asynchronous functionality to work.
+    /// function must be called inside that function for the asynchronous functionality to work.
     pub fn new(pin: DynPin, irq: pac::Interrupt) -> Result<Self, InvalidPinTypeError> {
         if !pin.is_input_pin() {
             return Err(InvalidPinTypeError(pin.mode()));
@@ -191,10 +262,15 @@ impl InputDynPinAsync {
     ///
     /// This returns immediately if the pin is already high.
     pub async fn wait_for_high(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        let fut = unsafe {
-        let fut =
+            // Unwrap okay, checked pin in constructor.
-            InputPinFuture::new_with_dyn_pin(&mut self.pin, self.irq, InterruptEdge::LowToHigh)
+            InputPinFuture::new_unchecked_with_dyn_pin(
-                .unwrap();
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+            .unwrap()
+        };
         if self.pin.is_high().unwrap() {
             return;
         }
@@ -205,10 +281,15 @@ impl InputDynPinAsync {
     ///
     /// This returns immediately if the pin is already high.
     pub async fn wait_for_low(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        let fut = unsafe {
-        let fut =
+            // Unwrap okay, checked pin in constructor.
-            InputPinFuture::new_with_dyn_pin(&mut self.pin, self.irq, InterruptEdge::HighToLow)
+            InputPinFuture::new_unchecked_with_dyn_pin(
-                .unwrap();
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+            .unwrap()
+        };
         if self.pin.is_low().unwrap() {
             return;
         }
@@ -217,26 +298,44 @@ impl InputDynPinAsync {
 
     /// Asynchronously wait until the pin sees a falling edge.
     pub async fn wait_for_falling_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        unsafe {
-        InputPinFuture::new_with_dyn_pin(&mut self.pin, self.irq, InterruptEdge::HighToLow)
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
             .unwrap()
-            .await;
+        }
+        .await;
     }
 
     /// Asynchronously wait until the pin sees a rising edge.
     pub async fn wait_for_rising_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        unsafe {
-        InputPinFuture::new_with_dyn_pin(&mut self.pin, self.irq, InterruptEdge::LowToHigh)
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
             .unwrap()
-            .await;
+        }
+        .await;
     }
 
     /// Asynchronously wait until the pin sees any edge (either rising or falling).
     pub async fn wait_for_any_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        unsafe {
-        InputPinFuture::new_with_dyn_pin(&mut self.pin, self.irq, InterruptEdge::BothEdges)
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::BothEdges,
+            )
             .unwrap()
-            .await;
+        }
+        .await;
     }
 
     pub fn release(self) -> DynPin {
@@ -285,8 +384,8 @@ impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
     /// passed as well and is used to route and enable the interrupt.
     ///
     /// Please note that the interrupt handler itself must be provided by the user and the
-    /// generic [on_interrupt_for_async_gpio_for_port] function must be called inside that function
+    /// generic [on_interrupt_for_async_gpio_port_a] or [on_interrupt_for_async_gpio_port_b]
-    /// for the asynchronous functionality to work.
+    /// function must be called inside that function for the asynchronous functionality to work.
     pub fn new(pin: Pin<I, pin::Input<C>>, irq: pac::Interrupt) -> Self {
         Self { pin, irq }
     }
@@ -295,8 +394,14 @@ impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
     ///
     /// This returns immediately if the pin is already high.
     pub async fn wait_for_high(&mut self) {
-        let fut = InputPinFuture::new_with_pin(&mut self.pin, self.irq, InterruptEdge::LowToHigh);
+        let fut = unsafe {
-        if self.pin.is_high() {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+        };
+        if self.pin.is_high().unwrap() {
             return;
         }
         fut.await;
@@ -306,8 +411,14 @@ impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
     ///
     /// This returns immediately if the pin is already high.
     pub async fn wait_for_low(&mut self) {
-        let fut = InputPinFuture::new_with_pin(&mut self.pin, self.irq, InterruptEdge::HighToLow);
+        let fut = unsafe {
-        if self.pin.is_low() {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+        };
+        if self.pin.is_low().unwrap() {
             return;
         }
         fut.await;
@@ -315,19 +426,40 @@ impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
 
     /// Asynchronously wait until the pin sees falling edge.
     pub async fn wait_for_falling_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        unsafe {
-        InputPinFuture::new_with_pin(&mut self.pin, self.irq, InterruptEdge::HighToLow).await;
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+        }
+        .await;
     }
 
     /// Asynchronously wait until the pin sees rising edge.
     pub async fn wait_for_rising_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
+        unsafe {
-        InputPinFuture::new_with_pin(&mut self.pin, self.irq, InterruptEdge::LowToHigh).await;
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+        }
+        .await;
     }
 
     /// Asynchronously wait until the pin sees any edge (either rising or falling).
     pub async fn wait_for_any_edge(&mut self) {
-        InputPinFuture::new_with_pin(&mut self.pin, self.irq, InterruptEdge::BothEdges).await;
+        unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::BothEdges,
+            )
+        }
+        .await;
     }
 
     pub fn release(self) -> Pin<I, pin::Input<C>> {

va108xx-hal/src/gpio/dynpin.rs

@@ -57,10 +57,11 @@
 //! [InvalidPinTypeError].
 
 use super::{
-    pin::{FilterType, Pin, PinId, PinMode},
+    pin::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
-    InputDynPinAsync, InterruptEdge, InterruptLevel, IsMaskedError, PinState, Port,
+    reg::RegisterInterface,
+    InputDynPinAsync,
 };
-use crate::{clock::FilterClkSel, enable_nvic_interrupt, pac, FunSel};
+use crate::{clock::FilterClkSel, enable_nvic_interrupt, pac, FunSel, InterruptConfig};
 
 //==================================================================================================
 //  DynPinMode configurations
@@ -155,91 +156,55 @@ pub const DYN_ALT_FUNC_3: DynPinMode = DynPinMode::Alternate(DynAlternate::Sel3)
 //  DynGroup & DynPinId
 //==================================================================================================
 
-pub type DynGroup = Port;
+/// Value-level `enum` for pin groups
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum DynGroup {
+    A,
+    B,
+}
 
+/// Value-level `struct` representing pin IDs
 #[derive(Debug, PartialEq, Eq, Clone, Copy)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct DynPinId {
-    port: Port,
+    pub group: DynGroup,
-    num: u8,
+    pub num: u8,
-}
-
-impl DynPinId {
-    pub const fn new(port: Port, num: u8) -> Self {
-        DynPinId { port, num }
-    }
-
-    pub const fn port(&self) -> Port {
-        self.port
-    }
-    pub const fn num(&self) -> u8 {
-        self.num
-    }
 }
 
 //==================================================================================================
-//  ModeFields
+//  DynRegisters
 //==================================================================================================
 
-/// Collect all fields needed to set the [`PinMode`](super::PinMode)
+/// Provide a safe register interface for [`DynPin`]s
-#[derive(Default)]
+///
-struct ModeFields {
+/// This `struct` takes ownership of a [`DynPinId`] and provides an API to
-    dir: bool,
+/// access the corresponding regsiters.
-    opendrn: bool,
+#[derive(Debug)]
-    pull_en: bool,
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-    /// true for pullup, false for pulldown
+pub(crate) struct DynRegisters(DynPinId);
-    pull_dir: bool,
-    funsel: u8,
-    enb_input: bool,
-}
 
-impl From<DynPinMode> for ModeFields {
+// [`DynRegisters`] takes ownership of the [`DynPinId`], and [`DynPin`]
+// guarantees that each pin is a singleton, so this implementation is safe.
+unsafe impl RegisterInterface for DynRegisters {
     #[inline]
-    fn from(mode: DynPinMode) -> Self {
+    fn id(&self) -> DynPinId {
-        let mut fields = Self::default();
+        self.0
-        match mode {
-            DynPinMode::Input(config) => {
-                fields.dir = false;
-                fields.funsel = FunSel::Sel0 as u8;
-                match config {
-                    DynInput::Floating => (),
-                    DynInput::PullUp => {
-                        fields.pull_en = true;
-                        fields.pull_dir = true;
-                    }
-                    DynInput::PullDown => {
-                        fields.pull_en = true;
-                    }
-                }
-            }
-            DynPinMode::Output(config) => {
-                fields.dir = true;
-                fields.funsel = FunSel::Sel0 as u8;
-                match config {
-                    DynOutput::PushPull => (),
-                    DynOutput::OpenDrain => {
-                        fields.opendrn = true;
-                    }
-                    DynOutput::ReadableOpenDrain => {
-                        fields.enb_input = true;
-                        fields.opendrn = true;
-                    }
-                    DynOutput::ReadablePushPull => {
-                        fields.enb_input = true;
-                    }
-                }
-            }
-            DynPinMode::Alternate(config) => {
-                fields.funsel = config as u8;
-            }
-        }
-        fields
     }
 }
 
-/// Type definition to avoid confusion: These register blocks are identical
+impl DynRegisters {
-type PortRegisterBlock = pac::porta::RegisterBlock;
+    /// Create a new instance of [`DynRegisters`]
-pub type PortReg = pac::ioconfig::Porta;
+    ///
+    /// # Safety
+    ///
+    /// Users must never create two simultaneous instances of this `struct` with
+    /// the same [`DynPinId`]
+    #[inline]
+    unsafe fn new(id: DynPinId) -> Self {
+        DynRegisters(id)
+    }
+}
 
 //==================================================================================================
 //  DynPin
@@ -251,59 +216,46 @@ pub type PortReg = pac::ioconfig::Porta;
 /// by the same type, and pins are tracked and distinguished at run-time.
 #[derive(Debug)]
 pub struct DynPin {
-    id: DynPinId,
+    pub(crate) regs: DynRegisters,
     mode: DynPinMode,
 }
 
 impl DynPin {
-    /// Create a new [DynPin]
+    /// Create a new [`DynPin`]
     ///
     /// # Safety
     ///
-    /// Each [DynPin] must be a singleton. For a given [DynPinId], there
+    /// Each [`DynPin`] must be a singleton. For a given [`DynPinId`], there
     /// must be at most one corresponding [`DynPin`] in existence at any given
     /// time.  Violating this requirement is `unsafe`.
     #[inline]
-    pub(crate) const unsafe fn new(id: DynPinId, mode: DynPinMode) -> Self {
+    pub(crate) unsafe fn new(id: DynPinId, mode: DynPinMode) -> Self {
-        DynPin { id, mode }
-    }
-
-    /// Steals a new [DynPin].
-    ///
-    /// This function will simply set the internal mode to [DYN_FLOATING_INPUT] pin without
-    /// modifying any registers related to the behaviour of the pin. The user should call
-    /// [Self::into_mode] to ensure the correct mode of the pin.
-    ///
-    /// # Safety
-    ///
-    /// Circumvents the HAL's safety guarantees. The caller must ensure that the pin is not
-    /// used cocurrently somewhere else. The caller might also want to call [Self::into_mode]
-    /// to ensure the correct desired state of the pin. It is recommended to create the pin using
-    /// [Pin::downgrade] instead.
-    pub const unsafe fn steal(id: DynPinId) -> Self {
         DynPin {
-            id,
+            regs: DynRegisters::new(id),
-            mode: DYN_FLOATING_INPUT,
+            mode,
         }
     }
 
     /// Return a copy of the pin ID
     #[inline]
-    pub const fn id(&self) -> DynPinId {
+    pub fn id(&self) -> DynPinId {
-        self.id
+        self.regs.0
     }
 
     /// Return a copy of the pin mode
     #[inline]
-    pub const fn mode(&self) -> DynPinMode {
+    pub fn mode(&self) -> DynPinMode {
         self.mode
     }
 
     /// Convert the pin to the requested [`DynPinMode`]
     #[inline]
     pub fn into_mode(&mut self, mode: DynPinMode) {
-        self.change_mode(mode);
+        // Only modify registers if we are actually changing pin mode
-        self.mode = mode;
+        if mode != self.mode {
+            self.regs.change_mode(mode);
+            self.mode = mode;
+        }
     }
 
     #[inline]
@@ -311,11 +263,6 @@ impl DynPin {
         matches!(self.mode, DynPinMode::Input(_))
     }
 
-    #[inline]
-    pub fn is_output_pin(&self) -> bool {
-        matches!(self.mode, DynPinMode::Output(_))
-    }
-
     #[inline]
     pub fn into_funsel_1(&mut self) {
         self.into_mode(DYN_ALT_FUNC_1);
@@ -373,170 +320,74 @@ impl DynPin {
         self.into_mode(DYN_RD_OPEN_DRAIN_OUTPUT);
     }
 
-    #[inline(always)]
-    pub fn is_low(&self) -> Result<bool, InvalidPinTypeError> {
-        self.read_internal().map(|v| !v)
-    }
-
-    #[inline(always)]
-    pub fn is_high(&self) -> Result<bool, InvalidPinTypeError> {
-        self.read_internal()
-    }
-
-    #[inline(always)]
-    pub fn set_low(&mut self) -> Result<(), InvalidPinTypeError> {
-        self.write_internal(false)
-    }
-
-    #[inline(always)]
-    pub fn set_high(&mut self) -> Result<(), InvalidPinTypeError> {
-        self.write_internal(true)
-    }
-
-    /// Toggle the logic level of an output pin
-    #[inline(always)]
-    pub fn toggle(&mut self) -> Result<(), InvalidPinTypeError> {
-        if !self.is_output_pin() {
-            return Err(InvalidPinTypeError(self.mode));
-        }
-        // Safety: TOGOUT is a "mask" register, and we only write the bit for
-        // this pin ID
-        unsafe { self.port_reg().togout().write(|w| w.bits(self.mask_32())) };
-        Ok(())
-    }
-
-    pub fn enable_interrupt(&mut self, irq_cfg: crate::InterruptConfig) {
-        if irq_cfg.route {
-            self.configure_irqsel(irq_cfg.id);
-        }
-        if irq_cfg.enable_in_nvic {
-            unsafe { enable_nvic_interrupt(irq_cfg.id) };
-        }
-
-        // We only manipulate our own bit.
-        self.port_reg()
-            .irq_enb()
-            .modify(|r, w| unsafe { w.bits(r.bits() | self.mask_32()) });
-    }
-
-    pub fn disable_interrupt(&mut self, reset_irqsel: bool) {
-        if reset_irqsel {
-            self.reset_irqsel();
-        }
-        // We only manipulate our own bit.
-        self.port_reg()
-            .irq_enb()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !self.mask_32()) });
-    }
-
-    /// Try to recreate a type-level [`Pin`] from a value-level [`DynPin`]
-    ///
-    /// There is no way for the compiler to know if the conversion will be
-    /// successful at compile-time. We must verify the conversion at run-time
-    /// or refuse to perform it.
     #[inline]
-    pub fn upgrade<I: PinId, M: PinMode>(self) -> Result<Pin<I, M>, InvalidPinTypeError> {
-        if self.id == I::DYN && self.mode == M::DYN {
-            // The `DynPin` is consumed, so it is safe to replace it with the
-            // corresponding `Pin`
-            return Ok(unsafe { Pin::new() });
-        }
-        Err(InvalidPinTypeError(self.mode))
-    }
-
-    /// Convert the pin into an async pin. The pin can be converted back by calling
-    /// [InputDynPinAsync::release]
-    pub fn into_async_input(
-        self,
-        irq: crate::pac::Interrupt,
-    ) -> Result<InputDynPinAsync, InvalidPinTypeError> {
-        InputDynPinAsync::new(self, irq)
-    }
-
-    /// Configure the IRQSEL peripheral for this particular pin with the given interrupt ID.
-    pub fn configure_irqsel(&mut self, id: pac::Interrupt) {
-        let mut syscfg = unsafe { pac::Sysconfig::steal() };
-        let irqsel = unsafe { pac::Irqsel::steal() };
-        crate::clock::enable_peripheral_clock(&mut syscfg, crate::clock::PeripheralClocks::Irqsel);
-        match self.id().port() {
-            // Set the correct interrupt number in the IRQSEL register
-            super::Port::A => {
-                irqsel
-                    .porta0(self.id().num() as usize)
-                    .write(|w| unsafe { w.bits(id as u32) });
-            }
-            super::Port::B => {
-                irqsel
-                    .portb0(self.id().num as usize)
-                    .write(|w| unsafe { w.bits(id as u32) });
-            }
-        }
-    }
-
-    /// Reset the IRQSEL peripheral value for this particular pin.
-    pub fn reset_irqsel(&mut self) {
-        let mut syscfg = unsafe { pac::Sysconfig::steal() };
-        let irqsel = unsafe { pac::Irqsel::steal() };
-        crate::clock::enable_peripheral_clock(&mut syscfg, crate::clock::PeripheralClocks::Irqsel);
-        match self.id().port() {
-            // Set the correct interrupt number in the IRQSEL register
-            super::Port::A => {
-                irqsel
-                    .porta0(self.id().num() as usize)
-                    .write(|w| unsafe { w.bits(u32::MAX) });
-            }
-            super::Port::B => {
-                irqsel
-                    .portb0(self.id().num as usize)
-                    .write(|w| unsafe { w.bits(u32::MAX) });
-            }
-        }
-    }
-
-    // Get DATAMASK bit for this particular pin
-    #[inline(always)]
     pub fn datamask(&self) -> bool {
-        (self.port_reg().datamask().read().bits() >> self.id().num) == 1
+        self.regs.datamask()
     }
 
-    /// Clear DATAMASK bit for this particular pin. This prevents access
+    #[inline]
-    /// of the corresponding bit for output and input operations
+    pub fn clear_datamask(&mut self) {
-    #[inline(always)]
+        self.regs.clear_datamask();
-    pub fn clear_datamask(&self) {
-        self.port_reg()
-            .datamask()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !self.mask_32()) });
     }
 
-    /// Set DATAMASK bit for this particular pin. 1 is the default
+    #[inline]
-    /// state of the bit and allows access of the corresponding bit
+    pub fn set_datamask(&mut self) {
-    #[inline(always)]
+        self.regs.set_datamask();
-    pub fn set_datamask(&self) {
-        self.port_reg()
-            .datamask()
-            .modify(|r, w| unsafe { w.bits(r.bits() | self.mask_32()) });
     }
 
     #[inline]
     pub fn is_high_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
-        self.read_pin_masked()
+        self.regs.read_pin_masked()
     }
 
     #[inline]
     pub fn is_low_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
-        self.read_pin_masked().map(|v| !v)
+        self.regs.read_pin_masked().map(|v| !v)
     }
 
     #[inline]
     pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-        self.write_pin_masked(true)
+        self.regs.write_pin_masked(true)
     }
 
     #[inline]
     pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-        self.write_pin_masked(false)
+        self.regs.write_pin_masked(false)
     }
 
+    pub(crate) fn irq_enb(
+        &mut self,
+        irq_cfg: crate::InterruptConfig,
+        syscfg: Option<&mut va108xx::Sysconfig>,
+        irqsel: Option<&mut va108xx::Irqsel>,
+    ) {
+        if let Some(syscfg) = syscfg {
+            crate::clock::enable_peripheral_clock(syscfg, crate::clock::PeripheralClocks::Irqsel);
+        }
+        self.regs.enable_irq();
+        if let Some(irqsel) = irqsel {
+            if irq_cfg.route {
+                match self.regs.id().group {
+                    // Set the correct interrupt number in the IRQSEL register
+                    DynGroup::A => {
+                        irqsel
+                            .porta0(self.regs.id().num as usize)
+                            .write(|w| unsafe { w.bits(irq_cfg.id as u32) });
+                    }
+                    DynGroup::B => {
+                        irqsel
+                            .portb0(self.regs.id().num as usize)
+                            .write(|w| unsafe { w.bits(irq_cfg.id as u32) });
+                    }
+                }
+            }
+        }
+        if irq_cfg.enable_in_nvic {
+            unsafe { enable_nvic_interrupt(irq_cfg.id) };
+        }
+    }
+
+    /// See p.53 of the programmers guide for more information.
     /// Possible delays in clock cycles:
     ///  - Delay 1: 1
     ///  - Delay 2: 2
@@ -549,13 +400,14 @@ impl DynPin {
     ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Output(_) => {
-                self.configure_delay_internal(delay_1, delay_2);
+                self.regs.configure_delay(delay_1, delay_2);
                 Ok(())
             }
             _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
+    /// See p.52 of the programmers guide for more information.
     /// When configured for pulse mode, a given pin will set the non-default state for exactly
     /// one clock cycle before returning to the configured default state
     #[inline]
@@ -566,7 +418,7 @@ impl DynPin {
     ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Output(_) => {
-                self.configure_pulse_mode_internal(enable, default_state);
+                self.regs.pulse_mode(enable, default_state);
                 Ok(())
             }
             _ => Err(InvalidPinTypeError(self.mode)),
@@ -582,102 +434,54 @@ impl DynPin {
     ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Input(_) => {
-                self.configure_filter_type_internal(filter, clksel);
+                self.regs.configure_filter_type(filter, clksel);
                 Ok(())
             }
             _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
+    #[inline]
     pub fn configure_edge_interrupt(
         &mut self,
         edge_type: InterruptEdge,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut pac::Sysconfig>,
+        irqsel: Option<&mut pac::Irqsel>,
     ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Input(_) | DynPinMode::Output(_) => {
-                self.configure_edge_interrupt_internal(edge_type);
+                self.regs.configure_edge_interrupt(edge_type);
+                self.irq_enb(irq_cfg, syscfg, irqsel);
                 Ok(())
             }
             _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
+    #[inline]
     pub fn configure_level_interrupt(
         &mut self,
         level_type: InterruptLevel,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut pac::Sysconfig>,
+        irqsel: Option<&mut pac::Irqsel>,
     ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Input(_) | DynPinMode::Output(_) => {
-                self.configure_level_interrupt_internal(level_type);
+                self.regs.configure_level_interrupt(level_type);
+                self.irq_enb(irq_cfg, syscfg, irqsel);
                 Ok(())
             }
             _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
-    /// Change the pin mode
     #[inline]
-    pub(crate) fn change_mode(&mut self, mode: DynPinMode) {
+    pub fn toggle_with_toggle_reg(&mut self) -> Result<(), InvalidPinTypeError> {
-        let ModeFields {
-            dir,
-            funsel,
-            opendrn,
-            pull_dir,
-            pull_en,
-            enb_input,
-        } = mode.into();
-        let (portreg, iocfg) = (self.port_reg(), self.iocfg_port());
-        iocfg.write(|w| {
-            w.opendrn().bit(opendrn);
-            w.pen().bit(pull_en);
-            w.plevel().bit(pull_dir);
-            w.iewo().bit(enb_input);
-            unsafe { w.funsel().bits(funsel) }
-        });
-        let mask = self.mask_32();
-        unsafe {
-            if dir {
-                portreg.dir().modify(|r, w| w.bits(r.bits() | mask));
-                // Clear output
-                portreg.clrout().write(|w| w.bits(mask));
-            } else {
-                portreg.dir().modify(|r, w| w.bits(r.bits() & !mask));
-            }
-        }
-    }
-
-    #[inline]
-    const fn port_reg(&self) -> &PortRegisterBlock {
-        match self.id().port() {
-            Port::A => unsafe { &(*pac::Porta::ptr()) },
-            Port::B => unsafe { &(*pac::Portb::ptr()) },
-        }
-    }
-
-    #[inline]
-    const fn iocfg_port(&self) -> &PortReg {
-        let ioconfig = unsafe { va108xx::Ioconfig::ptr().as_ref().unwrap() };
-        match self.id().port() {
-            Port::A => ioconfig.porta(self.id().num() as usize),
-            Port::B => ioconfig.portb0(self.id().num() as usize),
-        }
-    }
-
-    #[inline(always)]
-    fn read_internal(&self) -> Result<bool, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Input(_) | DYN_RD_OPEN_DRAIN_OUTPUT | DYN_RD_PUSH_PULL_OUTPUT => {
-                Ok(self.read_pin())
-            }
-            _ => Err(InvalidPinTypeError(self.mode)),
-        }
-    }
-
-    #[inline(always)]
-    fn write_internal(&mut self, bit: bool) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Output(_) => {
-                self.write_pin(bit);
+                self.regs.toggle();
                 Ok(())
             }
             _ => Err(InvalidPinTypeError(self.mode)),
@@ -685,190 +489,64 @@ impl DynPin {
     }
 
     #[inline]
-    /// Read the logic level of an output pin
+    fn _read(&self) -> Result<bool, InvalidPinTypeError> {
-    pub(crate) fn read_pin(&self) -> bool {
+        match self.mode {
-        let portreg = self.port_reg();
+            DynPinMode::Input(_) | DYN_RD_OPEN_DRAIN_OUTPUT | DYN_RD_PUSH_PULL_OUTPUT => {
-        ((portreg.datainraw().read().bits() >> self.id().num) & 0x01) == 1
+                Ok(self.regs.read_pin())
-    }
-
-    /// Read a pin but use the masked version but check whether the datamask for the pin is
-    /// cleared as well
-    #[inline(always)]
-    fn read_pin_masked(&self) -> Result<bool, IsMaskedError> {
-        if !self.datamask() {
-            Err(IsMaskedError)
-        } else {
-            Ok(((self.port_reg().datain().read().bits() >> self.id().num) & 0x01) == 1)
-        }
-    }
-
-    /// Write the logic level of an output pin
-    #[inline(always)]
-    pub(crate) fn write_pin(&mut self, bit: bool) {
-        // Safety: SETOUT is a "mask" register, and we only write the bit for
-        // this pin ID
-        unsafe {
-            if bit {
-                self.port_reg().setout().write(|w| w.bits(self.mask_32()));
-            } else {
-                self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
             }
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
-
-    /// Write the logic level of an output pin but check whether the datamask for the pin is
-    /// cleared as well
     #[inline]
-    fn write_pin_masked(&mut self, bit: bool) -> Result<(), IsMaskedError> {
+    fn _write(&mut self, bit: bool) -> Result<(), InvalidPinTypeError> {
-        if !self.datamask() {
+        match self.mode {
-            Err(IsMaskedError)
+            DynPinMode::Output(_) => {
-        } else {
+                self.regs.write_pin(bit);
-            // Safety: SETOUT is a "mask" register, and we only write the bit for
-            // this pin ID
-            unsafe {
-                if bit {
-                    self.port_reg().setout().write(|w| w.bits(self.mask_32()));
-                } else {
-                    self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
-                }
                 Ok(())
             }
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
-    /// Toggle the logic level of an output pin
+    #[inline]
-    #[inline(always)]
+    fn _is_low(&self) -> Result<bool, InvalidPinTypeError> {
-    pub fn toggle_with_togout_reg(&mut self) {
+        self._read().map(|v| !v)
-        // Safety: TOGOUT is a "mask" register, and we only write the bit for
+    }
-        // this pin ID
+    #[inline]
-        unsafe { self.port_reg().togout().write(|w| w.bits(self.mask_32())) };
+    fn _is_high(&self) -> Result<bool, InvalidPinTypeError> {
+        self._read()
+    }
+    #[inline]
+    fn _set_low(&mut self) -> Result<(), InvalidPinTypeError> {
+        self._write(false)
+    }
+    #[inline]
+    fn _set_high(&mut self) -> Result<(), InvalidPinTypeError> {
+        self._write(true)
     }
 
-    /// Only useful for interrupt pins. Configure whether to use edges or level as interrupt soure
+    /// Try to recreate a type-level [`Pin`] from a value-level [`DynPin`]
-    /// When using edge mode, it is possible to generate interrupts on both edges as well
+    ///
+    /// There is no way for the compiler to know if the conversion will be
+    /// successful at compile-time. We must verify the conversion at run-time
+    /// or refuse to perform it.
     #[inline]
-    fn configure_edge_interrupt_internal(&mut self, edge_type: InterruptEdge) {
+    pub fn upgrade<I: PinId, M: PinMode>(self) -> Result<Pin<I, M>, InvalidPinTypeError> {
-        unsafe {
+        if self.regs.0 == I::DYN && self.mode == M::DYN {
-            self.port_reg()
+            // The `DynPin` is consumed, so it is safe to replace it with the
-                .irq_sen()
+            // corresponding `Pin`
-                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            return Ok(unsafe { Pin::new() });
-            match edge_type {
-                InterruptEdge::HighToLow => {
-                    self.port_reg()
-                        .irq_evt()
-                        .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-                }
-                InterruptEdge::LowToHigh => {
-                    self.port_reg()
-                        .irq_evt()
-                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-                }
-                InterruptEdge::BothEdges => {
-                    self.port_reg()
-                        .irq_edge()
-                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-                }
-            }
         }
+        Err(InvalidPinTypeError(self.mode))
     }
 
-    /// Configure which edge or level type triggers an interrupt
+    /// Convert the pin into an async pin. The pin can be converted back by calling
-    #[inline]
+    /// [InputDynPinAsync::release]
-    fn configure_level_interrupt_internal(&mut self, level: InterruptLevel) {
+    pub fn into_async_input(
-        unsafe {
+        self,
-            self.port_reg()
+        irq: crate::pac::Interrupt,
-                .irq_sen()
+    ) -> Result<InputDynPinAsync, InvalidPinTypeError> {
-                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+        InputDynPinAsync::new(self, irq)
-            if level == InterruptLevel::Low {
-                self.port_reg()
-                    .irq_evt()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            } else {
-                self.port_reg()
-                    .irq_evt()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            }
-        }
-    }
-
-    /// Only useful for input pins
-    #[inline]
-    fn configure_filter_type_internal(&mut self, filter: FilterType, clksel: FilterClkSel) {
-        self.iocfg_port().modify(|_, w| {
-            // Safety: Only write to register for this Pin ID
-            unsafe {
-                w.flttype().bits(filter as u8);
-                w.fltclk().bits(clksel as u8)
-            }
-        });
-    }
-
-    #[inline]
-    fn configure_pulse_mode_internal(&mut self, enable: bool, default_state: PinState) {
-        let portreg = self.port_reg();
-        unsafe {
-            if enable {
-                portreg
-                    .pulse()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            } else {
-                portreg
-                    .pulse()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            }
-            if default_state == PinState::Low {
-                portreg
-                    .pulsebase()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            } else {
-                portreg
-                    .pulsebase()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            }
-        }
-    }
-
-    /// Only useful for output pins
-    #[inline]
-    fn configure_delay_internal(&mut self, delay_1: bool, delay_2: bool) {
-        let portreg = self.port_reg();
-        unsafe {
-            if delay_1 {
-                portreg
-                    .delay1()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            } else {
-                portreg
-                    .delay1()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            }
-            if delay_2 {
-                portreg
-                    .delay2()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            } else {
-                portreg
-                    .delay2()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            }
-        }
-    }
-
-    // Only serves disambiguation purposes for the Embedded HAL impl
-    #[inline(always)]
-    fn is_low_mut(&mut self) -> Result<bool, InvalidPinTypeError> {
-        self.is_low()
-    }
-
-    // Only serves disambiguation purposes for the Embedded HAL impl
-    #[inline(always)]
-    fn is_high_mut(&mut self) -> Result<bool, InvalidPinTypeError> {
-        self.is_high()
-    }
-
-    #[inline(always)]
-    const fn mask_32(&self) -> u32 {
-        1 << self.id().num()
     }
 }
 
@@ -910,38 +588,33 @@ impl embedded_hal::digital::ErrorType for DynPin {
 impl embedded_hal::digital::OutputPin for DynPin {
     #[inline]
     fn set_high(&mut self) -> Result<(), Self::Error> {
-        self.set_high()
+        self._set_high()
     }
     #[inline]
     fn set_low(&mut self) -> Result<(), Self::Error> {
-        self.set_low()
+        self._set_low()
     }
 }
 
 impl embedded_hal::digital::InputPin for DynPin {
     #[inline]
     fn is_high(&mut self) -> Result<bool, Self::Error> {
-        self.is_high_mut()
+        self._is_high()
     }
     #[inline]
     fn is_low(&mut self) -> Result<bool, Self::Error> {
-        self.is_low_mut()
+        self._is_low()
     }
 }
 
 impl embedded_hal::digital::StatefulOutputPin for DynPin {
     #[inline]
     fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        self.is_high_mut()
+        self._is_high()
     }
 
     #[inline]
     fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        self.is_low_mut()
+        self._is_low()
-    }
-
-    #[inline]
-    fn toggle(&mut self) -> Result<(), Self::Error> {
-        self.toggle()
     }
 }

va108xx-hal/src/gpio/mod.rs

@@ -22,47 +22,14 @@
 //!
 //! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
 
-//==================================================================================================
-//  Errors, Definitions and Constants
-//==================================================================================================
-
-pub const NUM_PINS_PORT_A: usize = 32;
-pub const NUM_PINS_PORT_B: usize = 24;
-pub const NUM_GPIO_PINS: usize = NUM_PINS_PORT_A + NUM_PINS_PORT_B;
-
 #[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[error("The pin is masked")]
 pub struct IsMaskedError;
 
-#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+pub const NUM_PINS_PORT_A: usize = 32;
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub const NUM_PINS_PORT_B: usize = 24;
-pub enum Port {
+pub const NUM_GPIO_PINS: usize = NUM_PINS_PORT_A + NUM_PINS_PORT_B;
-    A,
-    B,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum InterruptEdge {
-    HighToLow,
-    LowToHigh,
-    BothEdges,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum InterruptLevel {
-    Low = 0,
-    High = 1,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum PinState {
-    Low = 0,
-    High = 1,
-}
 
 pub mod dynpin;
 pub use dynpin::*;
@@ -72,3 +39,5 @@ pub use pin::*;
 
 pub mod asynch;
 pub use asynch::*;
+
+mod reg;

va108xx-hal/src/gpio/pin.rs

@@ -68,19 +68,48 @@
 //! # Embedded HAL traits
 //!
 //! This module implements all of the embedded HAL GPIO traits for each [`Pin`]
-//! in the corresponding [`PinMode`]s, namely: [embedded_hal::digital::InputPin],
+//! in the corresponding [`PinMode`]s, namely: [`InputPin`], [`OutputPin`],
-//! [embedded_hal::digital::OutputPin] and [embedded_hal::digital::StatefulOutputPin].
+//! and [`StatefulOutputPin`].
-use super::dynpin::{DynAlternate, DynInput, DynOutput, DynPinId, DynPinMode};
+use super::dynpin::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
-use super::{DynPin, InputPinAsync, InterruptEdge, InterruptLevel, PinState, Port};
+use super::reg::RegisterInterface;
+use super::{DynPin, InputPinAsync};
 use crate::{
-    pac::{Porta, Portb},
+    pac::{Irqsel, Porta, Portb, Sysconfig},
     typelevel::Sealed,
+    InterruptConfig,
 };
 use core::convert::Infallible;
 use core::marker::PhantomData;
 use core::mem::transmute;
+use embedded_hal::digital::{InputPin, OutputPin, StatefulOutputPin};
 use paste::paste;
 
+//==================================================================================================
+//  Errors and Definitions
+//==================================================================================================
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum InterruptEdge {
+    HighToLow,
+    LowToHigh,
+    BothEdges,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum InterruptLevel {
+    Low = 0,
+    High = 1,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum PinState {
+    Low = 0,
+    High = 1,
+}
+
 //==================================================================================================
 // Input configuration
 //==================================================================================================
@@ -291,7 +320,10 @@ macro_rules! pin_id {
             pub enum $Id {}
             impl Sealed for $Id {}
             impl PinId for $Id {
-                const DYN: DynPinId = DynPinId::new(Port::$Group, $NUM);
+                const DYN: DynPinId = DynPinId {
+                    group: DynGroup::$Group,
+                    num: $NUM,
+                };
             }
         }
     };
@@ -317,7 +349,7 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
     /// at most one corresponding [Pin] in existence at any given time.
     /// Violating this requirement is `unsafe`.
     #[inline]
-    pub(crate) const unsafe fn new() -> Pin<I, M> {
+    pub(crate) unsafe fn new() -> Pin<I, M> {
         Pin {
             inner: DynPin::new(I::DYN, M::DYN),
             phantom: PhantomData,
@@ -325,7 +357,7 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
     }
 
     #[inline]
-    pub const fn id(&self) -> DynPinId {
+    pub fn id(&self) -> DynPinId {
         self.inner.id()
     }
 
@@ -335,7 +367,7 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
         // Only modify registers if we are actually changing pin mode
         // This check should compile away
         if N::DYN != M::DYN {
-            self.inner.change_mode(N::DYN);
+            self.inner.regs.change_mode(N::DYN);
         }
         // Safe because we drop the existing Pin
         unsafe { Pin::new() }
@@ -395,16 +427,6 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
         self.into_mode()
     }
 
-    #[inline]
-    pub fn is_low(&self) -> bool {
-        !self.inner.read_pin()
-    }
-
-    #[inline]
-    pub fn is_high(&self) -> bool {
-        self.inner.read_pin()
-    }
-
     #[inline]
     pub fn datamask(&self) -> bool {
         self.inner.datamask()
@@ -430,41 +452,48 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
         self.inner.is_low_masked()
     }
 
+    #[inline]
+    pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
+        self.inner.set_high_masked()
+    }
+
+    #[inline]
+    pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
+        self.inner.set_low_masked()
+    }
+
     #[inline]
     pub fn downgrade(self) -> DynPin {
         self.inner
     }
 
-    // Those only serve for the embedded HAL implementations which have different mutability.
+    fn irq_enb(
-
+        &mut self,
-    #[inline]
+        irq_cfg: crate::InterruptConfig,
-    fn is_low_mut(&mut self) -> bool {
+        syscfg: Option<&mut va108xx::Sysconfig>,
-        self.is_low()
+        irqsel: Option<&mut va108xx::Irqsel>,
+    ) {
+        self.inner.irq_enb(irq_cfg, syscfg, irqsel);
     }
 
     #[inline]
-    fn is_high_mut(&mut self) -> bool {
+    pub(crate) fn _set_high(&mut self) {
-        self.is_high()
+        self.inner.regs.write_pin(true)
     }
 
     #[inline]
-    pub fn enable_interrupt(&mut self, irq_cfg: crate::InterruptConfig) {
+    pub(crate) fn _set_low(&mut self) {
-        self.inner.enable_interrupt(irq_cfg);
+        self.inner.regs.write_pin(false)
     }
 
     #[inline]
-    pub fn disable_interrupt(&mut self, reset_irqsel: bool) {
+    pub(crate) fn _is_low(&self) -> bool {
-        self.inner.disable_interrupt(reset_irqsel);
+        !self.inner.regs.read_pin()
     }
 
-    /// Configure the pin for an edge interrupt but does not enable the interrupt.
+    #[inline]
-    pub fn configure_edge_interrupt(&mut self, edge_type: InterruptEdge) {
+    pub(crate) fn _is_high(&self) -> bool {
-        self.inner.configure_edge_interrupt(edge_type).unwrap();
+        self.inner.regs.read_pin()
-    }
-
-    /// Configure the pin for a level interrupt but does not enable the interrupt.
-    pub fn configure_level_interrupt(&mut self, level_type: InterruptLevel) {
-        self.inner.configure_level_interrupt(level_type).unwrap();
     }
 }
 
@@ -561,34 +590,31 @@ impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
     pub fn into_async_input(self, irq: crate::pac::Interrupt) -> InputPinAsync<I, C> {
         InputPinAsync::new(self, irq)
     }
+
+    pub fn configure_edge_interrupt(
+        &mut self,
+        edge_type: InterruptEdge,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.inner.regs.configure_edge_interrupt(edge_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
+    }
+
+    pub fn configure_level_interrupt(
+        &mut self,
+        level_type: InterruptLevel,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.inner.regs.configure_level_interrupt(level_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
+    }
 }
 
 impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
-    #[inline]
-    pub fn set_high(&mut self) {
-        self.inner.write_pin(true)
-    }
-
-    #[inline]
-    pub fn set_low(&mut self) {
-        self.inner.write_pin(false)
-    }
-
-    #[inline]
-    pub fn toggle(&mut self) {
-        self.inner.toggle().unwrap()
-    }
-
-    #[inline]
-    pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-        self.inner.set_high_masked()
-    }
-
-    #[inline]
-    pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-        self.inner.set_low_masked()
-    }
-
     /// See p.53 of the programmers guide for more information.
     /// Possible delays in clock cycles:
     ///  - Delay 1: 1
@@ -596,17 +622,78 @@ impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
     ///  - Delay 1 + Delay 2: 3
     #[inline]
     pub fn configure_delay(&mut self, delay_1: bool, delay_2: bool) {
-        self.inner.configure_delay(delay_1, delay_2).unwrap();
+        self.inner.regs.configure_delay(delay_1, delay_2);
+    }
+
+    #[inline]
+    pub fn toggle_with_toggle_reg(&mut self) {
+        self.inner.regs.toggle()
+    }
+
+    #[deprecated(
+        since = "0.9.0",
+        note = "Please use the `configure_pulse_mode` method instead"
+    )]
+    pub fn pulse_mode(&mut self, enable: bool, default_state: PinState) {
+        self.configure_pulse_mode(enable, default_state);
     }
 
     /// See p.52 of the programmers guide for more information.
-    ///
     /// When configured for pulse mode, a given pin will set the non-default state for exactly
     /// one clock cycle before returning to the configured default state
     pub fn configure_pulse_mode(&mut self, enable: bool, default_state: PinState) {
-        self.inner
+        self.inner.regs.pulse_mode(enable, default_state);
-            .configure_pulse_mode(enable, default_state)
+    }
-            .unwrap();
+
+    #[deprecated(
+        since = "0.9.0",
+        note = "Please use the `configure_edge_interrupt` method instead"
+    )]
+    pub fn interrupt_edge(
+        &mut self,
+        edge_type: InterruptEdge,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.inner.regs.configure_edge_interrupt(edge_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
+    }
+
+    pub fn configure_edge_interrupt(
+        &mut self,
+        edge_type: InterruptEdge,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.inner.regs.configure_edge_interrupt(edge_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
+    }
+
+    #[deprecated(
+        since = "0.9.0",
+        note = "Please use the `configure_level_interrupt` method instead"
+    )]
+    pub fn level_interrupt(
+        &mut self,
+        level_type: InterruptLevel,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.configure_level_interrupt(level_type, irq_cfg, syscfg, irqsel);
+    }
+
+    pub fn configure_level_interrupt(
+        &mut self,
+        level_type: InterruptLevel,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.inner.regs.configure_level_interrupt(level_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
     }
 }
 
@@ -614,7 +701,7 @@ impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
     /// See p.37 and p.38 of the programmers guide for more information.
     #[inline]
     pub fn configure_filter_type(&mut self, filter: FilterType, clksel: FilterClkSel) {
-        self.inner.configure_filter_type(filter, clksel).unwrap();
+        self.inner.regs.configure_filter_type(filter, clksel);
     }
 }
 
@@ -630,53 +717,63 @@ where
     type Error = Infallible;
 }
 
-impl<I: PinId, C: OutputConfig> embedded_hal::digital::OutputPin for Pin<I, Output<C>> {
+impl<I: PinId, C: OutputConfig> OutputPin for Pin<I, Output<C>> {
     #[inline]
     fn set_high(&mut self) -> Result<(), Self::Error> {
-        self.set_high();
+        self._set_high();
         Ok(())
     }
 
     #[inline]
     fn set_low(&mut self) -> Result<(), Self::Error> {
-        self.set_low();
+        self._set_low();
         Ok(())
     }
 }
 
-impl<I, C> embedded_hal::digital::InputPin for Pin<I, Input<C>>
+impl<I, C> InputPin for Pin<I, Input<C>>
 where
     I: PinId,
     C: InputConfig,
 {
     #[inline]
     fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_high_mut())
+        Ok(self._is_high())
     }
     #[inline]
     fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_low_mut())
+        Ok(self._is_low())
     }
 }
 
-impl<I, C> embedded_hal::digital::StatefulOutputPin for Pin<I, Output<C>>
+impl<I, C> StatefulOutputPin for Pin<I, Output<C>>
 where
     I: PinId,
     C: OutputConfig + ReadableOutput,
 {
     #[inline]
     fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_high())
+        Ok(self._is_high())
     }
     #[inline]
     fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_low())
+        Ok(self._is_low())
+    }
+}
+
+impl<I, C> InputPin for Pin<I, Output<C>>
+where
+    I: PinId,
+    C: OutputConfig + ReadableOutput,
+{
+    #[inline]
+    fn is_high(&mut self) -> Result<bool, Self::Error> {
+        Ok(self._is_high())
     }
 
     #[inline]
-    fn toggle(&mut self) -> Result<(), Self::Error> {
+    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        self.toggle();
+        Ok(self._is_low())
-        Ok(())
     }
 }
 

va108xx-hal/src/gpio/reg.rs

@@ -0,0 +1,375 @@
+use super::dynpin::{self, DynGroup, DynPinId, DynPinMode};
+use super::pin::{FilterType, InterruptEdge, InterruptLevel, PinState};
+use super::IsMaskedError;
+use crate::clock::FilterClkSel;
+use va108xx::{ioconfig, porta};
+
+/// Type definition to avoid confusion: These register blocks are identical
+type PortRegisterBlock = porta::RegisterBlock;
+
+//==================================================================================================
+//  ModeFields
+//==================================================================================================
+
+/// Collect all fields needed to set the [`PinMode`](super::PinMode)
+#[derive(Default)]
+struct ModeFields {
+    dir: bool,
+    opendrn: bool,
+    pull_en: bool,
+    /// true for pullup, false for pulldown
+    pull_dir: bool,
+    funsel: u8,
+    enb_input: bool,
+}
+
+impl From<DynPinMode> for ModeFields {
+    #[inline]
+    fn from(mode: DynPinMode) -> Self {
+        let mut fields = Self::default();
+        use DynPinMode::*;
+        match mode {
+            Input(config) => {
+                use dynpin::DynInput::*;
+                fields.dir = false;
+                match config {
+                    Floating => (),
+                    PullUp => {
+                        fields.pull_en = true;
+                        fields.pull_dir = true;
+                    }
+                    PullDown => {
+                        fields.pull_en = true;
+                    }
+                }
+            }
+            Output(config) => {
+                use dynpin::DynOutput::*;
+                fields.dir = true;
+                match config {
+                    PushPull => (),
+                    OpenDrain => {
+                        fields.opendrn = true;
+                    }
+                    ReadableOpenDrain => {
+                        fields.enb_input = true;
+                        fields.opendrn = true;
+                    }
+                    ReadablePushPull => {
+                        fields.enb_input = true;
+                    }
+                }
+            }
+            Alternate(config) => {
+                fields.funsel = config as u8;
+            }
+        }
+        fields
+    }
+}
+
+//==================================================================================================
+// Register Interface
+//==================================================================================================
+
+pub type PortReg = ioconfig::Porta;
+
+/// Provide a safe register interface for pin objects
+///
+/// [`PORTA`] and [`PORTB`], like every PAC `struct`, is [`Send`] but not [`Sync`], because it
+/// points to a `RegisterBlock` of `VolatileCell`s. Unfortunately, such an
+/// interface is quite restrictive. Instead, it would be ideal if we could split
+/// the [`PORT`] into independent pins that are both [`Send`] and [`Sync`].
+///
+/// [`PORT`] is a single, zero-sized marker `struct` that provides access to
+/// every [`PORT`] register. Instead, we would like to create zero-sized marker
+/// `struct`s for every pin, where each pin is only allowed to control its own
+/// registers. Furthermore, each pin `struct` should be a singleton, so that
+/// exclusive access to the `struct` also guarantees exclusive access to the
+/// corresponding registers. Finally, the pin `struct`s should not have any
+/// interior mutability. Together, these requirements would allow the pin
+/// `struct`s to be both [`Send`] and [`Sync`].
+///
+/// This trait creates a safe API for accomplishing these goals. Implementers
+/// supply a pin ID through the [`id`] function. The remaining functions provide
+/// a safe API for accessing the registers associated with that pin ID. Any
+/// modification of the registers requires `&mut self`, which destroys interior
+/// mutability.
+///
+/// # Safety
+///
+/// Users should only implement the [`id`] function. No default function
+/// implementations should be overridden. The implementing type must also have
+/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
+/// pin ID is a singleton.
+///
+/// [`id`]: Self::id
+pub(super) unsafe trait RegisterInterface {
+    /// Provide a [`DynPinId`] identifying the set of registers controlled by
+    /// this type.
+    fn id(&self) -> DynPinId;
+
+    const PORTA: *const PortRegisterBlock = va108xx::Porta::ptr();
+    const PORTB: *const PortRegisterBlock = va108xx::Portb::ptr();
+
+    /// Change the pin mode
+    #[inline]
+    fn change_mode(&mut self, mode: DynPinMode) {
+        let ModeFields {
+            dir,
+            funsel,
+            opendrn,
+            pull_dir,
+            pull_en,
+            enb_input,
+        } = mode.into();
+        let (portreg, iocfg) = (self.port_reg(), self.iocfg_port());
+        iocfg.write(|w| {
+            w.opendrn().bit(opendrn);
+            w.pen().bit(pull_en);
+            w.plevel().bit(pull_dir);
+            w.iewo().bit(enb_input);
+            unsafe { w.funsel().bits(funsel) }
+        });
+        let mask = self.mask_32();
+        unsafe {
+            if dir {
+                portreg.dir().modify(|r, w| w.bits(r.bits() | mask));
+                // Clear output
+                portreg.clrout().write(|w| w.bits(mask));
+            } else {
+                portreg.dir().modify(|r, w| w.bits(r.bits() & !mask));
+            }
+        }
+    }
+
+    #[inline]
+    fn port_reg(&self) -> &PortRegisterBlock {
+        match self.id().group {
+            DynGroup::A => unsafe { &(*Self::PORTA) },
+            DynGroup::B => unsafe { &(*Self::PORTB) },
+        }
+    }
+    fn iocfg_port(&self) -> &PortReg {
+        let ioconfig = unsafe { va108xx::Ioconfig::ptr().as_ref().unwrap() };
+        match self.id().group {
+            DynGroup::A => ioconfig.porta(self.id().num as usize),
+            DynGroup::B => ioconfig.portb0(self.id().num as usize),
+        }
+    }
+
+    #[inline]
+    fn mask_32(&self) -> u32 {
+        1 << self.id().num
+    }
+
+    #[inline]
+    fn enable_irq(&self) {
+        self.port_reg()
+            .irq_enb()
+            .modify(|r, w| unsafe { w.bits(r.bits() | self.mask_32()) });
+    }
+
+    #[inline]
+    /// Read the logic level of an output pin
+    fn read_pin(&self) -> bool {
+        let portreg = self.port_reg();
+        ((portreg.datainraw().read().bits() >> self.id().num) & 0x01) == 1
+    }
+
+    // Get DATAMASK bit for this particular pin
+    #[inline(always)]
+    fn datamask(&self) -> bool {
+        let portreg = self.port_reg();
+        (portreg.datamask().read().bits() >> self.id().num) == 1
+    }
+
+    /// Read a pin but use the masked version but check whether the datamask for the pin is
+    /// cleared as well
+    #[inline(always)]
+    fn read_pin_masked(&self) -> Result<bool, IsMaskedError> {
+        if !self.datamask() {
+            Err(IsMaskedError)
+        } else {
+            Ok(((self.port_reg().datain().read().bits() >> self.id().num) & 0x01) == 1)
+        }
+    }
+
+    /// Write the logic level of an output pin
+    #[inline(always)]
+    fn write_pin(&mut self, bit: bool) {
+        // Safety: SETOUT is a "mask" register, and we only write the bit for
+        // this pin ID
+        unsafe {
+            if bit {
+                self.port_reg().setout().write(|w| w.bits(self.mask_32()));
+            } else {
+                self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
+            }
+        }
+    }
+
+    /// Write the logic level of an output pin but check whether the datamask for the pin is
+    /// cleared as well
+    #[inline]
+    fn write_pin_masked(&mut self, bit: bool) -> Result<(), IsMaskedError> {
+        if !self.datamask() {
+            Err(IsMaskedError)
+        } else {
+            // Safety: SETOUT is a "mask" register, and we only write the bit for
+            // this pin ID
+            unsafe {
+                if bit {
+                    self.port_reg().setout().write(|w| w.bits(self.mask_32()));
+                } else {
+                    self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
+                }
+                Ok(())
+            }
+        }
+    }
+
+    /// Toggle the logic level of an output pin
+    #[inline(always)]
+    fn toggle(&mut self) {
+        // Safety: TOGOUT is a "mask" register, and we only write the bit for
+        // this pin ID
+        unsafe { self.port_reg().togout().write(|w| w.bits(self.mask_32())) };
+    }
+
+    /// Only useful for interrupt pins. Configure whether to use edges or level as interrupt soure
+    /// When using edge mode, it is possible to generate interrupts on both edges as well
+    #[inline]
+    fn configure_edge_interrupt(&mut self, edge_type: InterruptEdge) {
+        unsafe {
+            self.port_reg()
+                .irq_sen()
+                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            match edge_type {
+                InterruptEdge::HighToLow => {
+                    self.port_reg()
+                        .irq_evt()
+                        .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+                }
+                InterruptEdge::LowToHigh => {
+                    self.port_reg()
+                        .irq_evt()
+                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+                }
+                InterruptEdge::BothEdges => {
+                    self.port_reg()
+                        .irq_edge()
+                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+                }
+            }
+        }
+    }
+
+    /// Configure which edge or level type triggers an interrupt
+    #[inline]
+    fn configure_level_interrupt(&mut self, level: InterruptLevel) {
+        unsafe {
+            self.port_reg()
+                .irq_sen()
+                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            if level == InterruptLevel::Low {
+                self.port_reg()
+                    .irq_evt()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            } else {
+                self.port_reg()
+                    .irq_evt()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            }
+        }
+    }
+
+    /// Only useful for input pins
+    #[inline]
+    fn configure_filter_type(&mut self, filter: FilterType, clksel: FilterClkSel) {
+        self.iocfg_port().modify(|_, w| {
+            // Safety: Only write to register for this Pin ID
+            unsafe {
+                w.flttype().bits(filter as u8);
+                w.fltclk().bits(clksel as u8)
+            }
+        });
+    }
+
+    /// Set DATAMASK bit for this particular pin. 1 is the default
+    /// state of the bit and allows access of the corresponding bit
+    #[inline(always)]
+    fn set_datamask(&self) {
+        let portreg = self.port_reg();
+        unsafe {
+            portreg
+                .datamask()
+                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+        }
+    }
+
+    /// Clear DATAMASK bit for this particular pin. This prevents access
+    /// of the corresponding bit for output and input operations
+    #[inline(always)]
+    fn clear_datamask(&self) {
+        let portreg = self.port_reg();
+        unsafe {
+            portreg
+                .datamask()
+                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+        }
+    }
+
+    /// Only useful for output pins
+    /// See p.52 of the programmers guide for more information.
+    /// When configured for pulse mode, a given pin will set the non-default state for exactly
+    /// one clock cycle before returning to the configured default state
+    fn pulse_mode(&mut self, enable: bool, default_state: PinState) {
+        let portreg = self.port_reg();
+        unsafe {
+            if enable {
+                portreg
+                    .pulse()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            } else {
+                portreg
+                    .pulse()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            }
+            if default_state == PinState::Low {
+                portreg
+                    .pulsebase()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            } else {
+                portreg
+                    .pulsebase()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            }
+        }
+    }
+
+    /// Only useful for output pins
+    fn configure_delay(&mut self, delay_1: bool, delay_2: bool) {
+        let portreg = self.port_reg();
+        unsafe {
+            if delay_1 {
+                portreg
+                    .delay1()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            } else {
+                portreg
+                    .delay1()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            }
+            if delay_2 {
+                portreg
+                    .delay2()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            } else {
+                portreg
+                    .delay2()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            }
+        }
+    }
+}

va108xx-hal/src/i2c.rs

@@ -198,13 +198,13 @@ impl TimingCfg {
     }
 
     pub fn reg(&self) -> u32 {
-        ((self.tbuf as u32) << 28)
+        (self.tbuf as u32) << 28
-            | ((self.thd_sta as u32) << 24)
+            | (self.thd_sta as u32) << 24
-            | ((self.tsu_sta as u32) << 20)
+            | (self.tsu_sta as u32) << 20
-            | ((self.tsu_sto as u32) << 16)
+            | (self.tsu_sto as u32) << 16
-            | ((self.tlow as u32) << 12)
+            | (self.tlow as u32) << 12
-            | ((self.thigh as u32) << 8)
+            | (self.thigh as u32) << 8
-            | ((self.tf as u32) << 4)
+            | (self.tf as u32) << 4
             | (self.tr as u32)
     }
 }
@@ -376,7 +376,7 @@ impl<I2c: Instance> I2cBase<I2c> {
         if let Some(max_words) = max_words {
             self.i2c
                 .s0_maxwords()
-                .write(|w| unsafe { w.bits((1 << 31) | max_words as u32) });
+                .write(|w| unsafe { w.bits(1 << 31 | max_words as u32) });
         }
         let (addr, addr_mode_mask) = Self::unwrap_addr(sl_cfg.addr);
         // The first bit is the read/write value. Normally, both read and write are matched
@@ -437,7 +437,7 @@ impl<I2c: Instance> I2cBase<I2c> {
         let clk_div = self.calc_clk_div(speed_mode)?;
         self.i2c
             .clkscale()
-            .write(|w| unsafe { w.bits(((speed_mode as u32) << 31) | clk_div as u32) });
+            .write(|w| unsafe { w.bits((speed_mode as u32) << 31 | clk_div as u32) });
         Ok(())
     }
 

va108xx-hal/src/lib.rs

@@ -1,7 +1,6 @@
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_auto_cfg))]
 
-use gpio::Port;
 pub use va108xx;
 pub use va108xx as pac;
 
@@ -20,12 +19,18 @@ pub mod uart;
 #[derive(Debug, Eq, Copy, Clone, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FunSel {
-    Sel0 = 0b00,
     Sel1 = 0b01,
     Sel2 = 0b10,
     Sel3 = 0b11,
 }
 
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum PortSel {
+    PortA,
+    PortB,
+}
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum PeripheralSelect {
@@ -72,33 +77,37 @@ impl InterruptConfig {
 
 pub type IrqCfg = InterruptConfig;
 
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("invalid pin with number {0}")]
+pub struct InvalidPin(pub(crate) ());
-pub struct InvalidPinError(u8);
 
-/// Can be used to manually manipulate the function select of port pins.
+/// Can be used to manually manipulate the function select of port pins
-///
-/// The function selection table can be found on p.36 of the programmers guide. Please note
-/// that most of the structures and APIs in this library will automatically correctly configure
-/// the pin or statically expect the correct pin type.
 pub fn port_function_select(
     ioconfig: &mut pac::Ioconfig,
-    port: Port,
+    port: PortSel,
     pin: u8,
     funsel: FunSel,
-) -> Result<(), InvalidPinError> {
+) -> Result<(), InvalidPin> {
-    if (port == Port::A && pin >= 32) || (port == Port::B && pin >= 24) {
+    match port {
-        return Err(InvalidPinError(pin));
+        PortSel::PortA => {
+            if pin > 31 {
+                return Err(InvalidPin(()));
+            }
+            ioconfig
+                .porta(pin as usize)
+                .modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
+            Ok(())
+        }
+        PortSel::PortB => {
+            if pin > 23 {
+                return Err(InvalidPin(()));
+            }
+            ioconfig
+                .portb0(pin as usize)
+                .modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
+            Ok(())
+        }
     }
-
-    let reg_block = match port {
-        Port::A => ioconfig.porta(pin as usize),
-        Port::B => ioconfig.portb0(pin as usize),
-    };
-
-    reg_block.modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
-    Ok(())
 }
 
 /// Enable a specific interrupt using the NVIC peripheral.

va108xx-hal/src/uart/mod.rs

@@ -1,12 +1,5 @@
 //! # API for the UART peripheral
 //!
-//! The core of this API are the [Uart], [UartBase], [Rx] and [Tx] structures.
-//! The RX structure also has a dedicated [RxWithInterrupt] variant which allows reading the receiver
-//! using interrupts.
-//!
-//! The [rx_asynch] and [tx_asynch] modules provide an asynchronous non-blocking API for the UART
-//! peripheral.
-//!
 //! ## Examples
 //!
 //! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/uart.rs)
@@ -29,7 +22,7 @@ use crate::{
 };
 use embedded_hal_nb::serial::Read;
 
-#[derive(Debug, Clone, Copy)]
+#[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Bank {
     A = 0,
@@ -71,6 +64,55 @@ pub struct NoInterruptIdWasSet;
 #[error("transer is pending")]
 pub struct TransferPendingError;
 
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum RxError {
+    #[error("overrun error")]
+    Overrun,
+    #[error("framing error")]
+    Framing,
+    #[error("parity error")]
+    Parity,
+}
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Error {
+    #[error("rx error: {0}")]
+    Rx(#[from] RxError),
+    #[error("break condition")]
+    BreakCondition,
+}
+
+impl embedded_io::Error for Error {
+    fn kind(&self) -> embedded_io::ErrorKind {
+        embedded_io::ErrorKind::Other
+    }
+}
+
+impl embedded_io::Error for RxError {
+    fn kind(&self) -> embedded_io::ErrorKind {
+        embedded_io::ErrorKind::Other
+    }
+}
+impl embedded_hal_nb::serial::Error for RxError {
+    fn kind(&self) -> embedded_hal_nb::serial::ErrorKind {
+        match self {
+            RxError::Overrun => embedded_hal_nb::serial::ErrorKind::Overrun,
+            RxError::Framing => embedded_hal_nb::serial::ErrorKind::FrameFormat,
+            RxError::Parity => embedded_hal_nb::serial::ErrorKind::Parity,
+        }
+    }
+}
+
+impl embedded_hal_nb::serial::Error for Error {
+    fn kind(&self) -> embedded_hal_nb::serial::ErrorKind {
+        match self {
+            Error::Rx(rx_error) => embedded_hal_nb::serial::Error::kind(rx_error),
+            Error::BreakCondition => embedded_hal_nb::serial::ErrorKind::Other,
+        }
+    }
+}
+
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Event {
@@ -321,7 +363,7 @@ impl UartErrors {
 impl UartErrors {
     #[inline(always)]
     pub fn error(&self) -> bool {
-        self.overflow || self.framing || self.parity || self.other
+        self.overflow || self.framing || self.parity
     }
 }
 
@@ -339,7 +381,6 @@ pub struct BufferTooShortError {
 pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
     const IDX: u8;
     const PERIPH_SEL: PeripheralSelect;
-    const PTR: *const uart_base::RegisterBlock;
 
     /// Retrieve the peripheral structure.
     ///
@@ -347,11 +388,7 @@ pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
     ///
     /// This circumvents the safety guarantees of the HAL.
     unsafe fn steal() -> Self;
-
+    fn ptr() -> *const uart_base::RegisterBlock;
-    #[inline(always)]
-    fn ptr() -> *const uart_base::RegisterBlock {
-        Self::PTR
-    }
 
     /// Retrieve the type erased peripheral register block.
     ///
@@ -368,11 +405,14 @@ impl Instance for pac::Uarta {
     const IDX: u8 = 0;
 
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart0;
-    const PTR: *const uart_base::RegisterBlock = Self::PTR;
 
     #[inline(always)]
     unsafe fn steal() -> Self {
-        Self::steal()
+        pac::Peripherals::steal().uarta
+    }
+    #[inline(always)]
+    fn ptr() -> *const uart_base::RegisterBlock {
+        Self::ptr() as *const _
     }
 }
 
@@ -380,25 +420,14 @@ impl Instance for pac::Uartb {
     const IDX: u8 = 1;
 
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart1;
-    const PTR: *const uart_base::RegisterBlock = Self::PTR;
 
     #[inline(always)]
     unsafe fn steal() -> Self {
-        Self::steal()
+        pac::Peripherals::steal().uartb
     }
-}
+    #[inline(always)]
-
+    fn ptr() -> *const uart_base::RegisterBlock {
-impl Bank {
+        Self::ptr() as *const _
-    /// Retrieve the peripheral register block.
-    ///
-    /// # Safety
-    ///
-    /// Circumvents the HAL safety guarantees.
-    pub unsafe fn reg_block(&self) -> &'static uart_base::RegisterBlock {
-        match self {
-            Bank::A => unsafe { pac::Uarta::reg_block() },
-            Bank::B => unsafe { pac::Uartb::reg_block() },
-        }
     }
 }
 
@@ -543,27 +572,22 @@ impl<Uart: Instance> UartBase<Uart> {
         self.uart
     }
 
-    /// Poll receiver errors.
-    pub fn poll_rx_errors(&self) -> Option<UartErrors> {
-        self.rx.poll_errors()
-    }
-
     pub fn split(self) -> (Tx<Uart>, Rx<Uart>) {
         (self.tx, self.rx)
     }
 }
 
 impl<UartInstance> embedded_io::ErrorType for UartBase<UartInstance> {
-    type Error = Infallible;
+    type Error = Error;
 }
 
 impl<UartInstance> embedded_hal_nb::serial::ErrorType for UartBase<UartInstance> {
-    type Error = Infallible;
+    type Error = Error;
 }
 
 impl<Uart: Instance> embedded_hal_nb::serial::Read<u8> for UartBase<Uart> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
-        self.rx.read()
+        self.rx.read().map_err(|e| e.map(Error::Rx))
     }
 }
 
@@ -674,11 +698,6 @@ where
         self
     }
 
-    /// Poll receiver errors.
-    pub fn poll_rx_errors(&self) -> Option<UartErrors> {
-        self.inner.poll_rx_errors()
-    }
-
     #[inline]
     pub fn enable_rx(&mut self) {
         self.inner.enable_rx();
@@ -775,12 +794,14 @@ pub fn disable_rx_interrupts(uart: &uart_base::RegisterBlock) {
 /// Serial receiver.
 ///
 /// Can be created by using the [Uart::split] or [UartBase::split] API.
-pub struct Rx<Uart>(Uart);
+pub struct Rx<Uart> {
+    uart: Uart,
+}
 
 impl<Uart: Instance> Rx<Uart> {
     #[inline(always)]
-    const fn new(uart: Uart) -> Self {
+    fn new(uart: Uart) -> Self {
-        Self(uart)
+        Self { uart }
     }
 
     /// Direct access to the peripheral structure.
@@ -789,30 +810,13 @@ impl<Uart: Instance> Rx<Uart> {
     ///
     /// You must ensure that only registers related to the operation of the RX side are used.
     #[inline(always)]
-    pub const unsafe fn uart(&self) -> &Uart {
+    pub unsafe fn uart(&self) -> &Uart {
-        &self.0
+        &self.uart
-    }
-
-    pub fn poll_errors(&self) -> Option<UartErrors> {
-        let mut errors = UartErrors::default();
-
-        let uart = unsafe { &(*Uart::ptr()) };
-        let status_reader = uart.rxstatus().read();
-        if status_reader.rxovr().bit_is_set() {
-            errors.overflow = true;
-        } else if status_reader.rxfrm().bit_is_set() {
-            errors.framing = true;
-        } else if status_reader.rxpar().bit_is_set() {
-            errors.parity = true;
-        } else {
-            return None;
-        };
-        Some(errors)
     }
 
     #[inline]
     pub fn clear_fifo(&self) {
-        self.0.fifo_clr().write(|w| w.rxfifo().set_bit());
+        self.uart.fifo_clr().write(|w| w.rxfifo().set_bit());
     }
 
     #[inline]
@@ -842,7 +846,7 @@ impl<Uart: Instance> Rx<Uart> {
     /// value if you use the manual parity mode. See chapter 4.6.2 for more information.
     #[inline(always)]
     pub fn read_fifo(&self) -> nb::Result<u32, Infallible> {
-        if self.0.rxstatus().read().rdavl().bit_is_clear() {
+        if self.uart.rxstatus().read().rdavl().bit_is_clear() {
             return Err(nb::Error::WouldBlock);
         }
         Ok(self.read_fifo_unchecked())
@@ -858,7 +862,7 @@ impl<Uart: Instance> Rx<Uart> {
     /// value if you use the manual parity mode. See chapter 4.6.2 for more information.
     #[inline(always)]
     pub fn read_fifo_unchecked(&self) -> u32 {
-        self.0.data().read().bits()
+        self.uart.data().read().bits()
     }
 
     pub fn into_rx_with_irq(self) -> RxWithInterrupt<Uart> {
@@ -867,20 +871,39 @@ impl<Uart: Instance> Rx<Uart> {
 
     #[inline(always)]
     pub fn release(self) -> Uart {
-        self.0
+        self.uart
     }
 }
 
 impl<Uart> embedded_io::ErrorType for Rx<Uart> {
-    type Error = Infallible;
+    type Error = RxError;
 }
 
 impl<Uart> embedded_hal_nb::serial::ErrorType for Rx<Uart> {
-    type Error = Infallible;
+    type Error = RxError;
 }
 
 impl<Uart: Instance> embedded_hal_nb::serial::Read<u8> for Rx<Uart> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
+        let uart = unsafe { &(*Uart::ptr()) };
+        let status_reader = uart.rxstatus().read();
+        let err = if status_reader.rxovr().bit_is_set() {
+            Some(RxError::Overrun)
+        } else if status_reader.rxfrm().bit_is_set() {
+            Some(RxError::Framing)
+        } else if status_reader.rxpar().bit_is_set() {
+            Some(RxError::Parity)
+        } else {
+            None
+        };
+        if let Some(err) = err {
+            // The status code is always related to the next bit for the framing
+            // and parity status bits. We have to read the DATA register
+            // so that the next status reflects the next DATA word
+            // For overrun error, we read as well to clear the peripheral
+            self.read_fifo_unchecked();
+            return Err(err.into());
+        }
         self.read_fifo().map(|val| (val & 0xff) as u8).map_err(|e| {
             if let nb::Error::Other(_) = e {
                 unreachable!()
@@ -895,23 +918,13 @@ impl<Uart: Instance> embedded_io::Read for Rx<Uart> {
         if buf.is_empty() {
             return Ok(0);
         }
-        let mut read = 0;
+
-        loop {
-            if self.0.rxstatus().read().rdavl().bit_is_set() {
-                break;
-            }
-        }
         for byte in buf.iter_mut() {
-            match <Self as embedded_hal_nb::serial::Read<u8>>::read(self) {
+            let w = nb::block!(<Self as embedded_hal_nb::serial::Read<u8>>::read(self))?;
-                Ok(w) => {
+            *byte = w;
-                    *byte = w;
-                    read += 1;
-                }
-                Err(nb::Error::WouldBlock) => break,
-            }
         }
 
-        Ok(read)
+        Ok(buf.len())
     }
 }
 
@@ -946,7 +959,9 @@ pub fn disable_tx_interrupts(uart: &uart_base::RegisterBlock) {
 /// Serial transmitter
 ///
 /// Can be created by using the [Uart::split] or [UartBase::split] API.
-pub struct Tx<Uart>(Uart);
+pub struct Tx<Uart> {
+    uart: Uart,
+}
 
 impl<Uart: Instance> Tx<Uart> {
     /// Retrieve a TX pin without expecting an explicit UART structure
@@ -956,12 +971,14 @@ impl<Uart: Instance> Tx<Uart> {
     /// Circumvents the HAL safety guarantees.
     #[inline(always)]
     pub unsafe fn steal() -> Self {
-        Self(Uart::steal())
+        Self {
+            uart: Uart::steal(),
+        }
     }
 
     #[inline(always)]
     fn new(uart: Uart) -> Self {
-        Self(uart)
+        Self { uart }
     }
 
     /// Direct access to the peripheral structure.
@@ -970,23 +987,25 @@ impl<Uart: Instance> Tx<Uart> {
     ///
     /// You must ensure that only registers related to the operation of the TX side are used.
     #[inline(always)]
-    pub const unsafe fn uart(&self) -> &Uart {
+    pub unsafe fn uart(&self) -> &Uart {
-        &self.0
+        &self.uart
     }
 
     #[inline]
     pub fn clear_fifo(&self) {
-        self.0.fifo_clr().write(|w| w.txfifo().set_bit());
+        self.uart.fifo_clr().write(|w| w.txfifo().set_bit());
     }
 
     #[inline]
     pub fn enable(&mut self) {
-        self.0.enable().modify(|_, w| w.txenable().set_bit());
+        // Safety: We own the UART structure
+        enable_tx(unsafe { Uart::reg_block() });
     }
 
     #[inline]
     pub fn disable(&mut self) {
-        self.0.enable().modify(|_, w| w.txenable().clear_bit());
+        // Safety: We own the UART structure
+        disable_tx(unsafe { Uart::reg_block() });
     }
 
     /// Enables the IRQ_TX, IRQ_TX_STATUS and IRQ_TX_EMPTY interrupts.
@@ -1018,7 +1037,7 @@ impl<Uart: Instance> Tx<Uart> {
     /// value if you use the manual parity mode. See chapter 11.4.1 for more information.
     #[inline(always)]
     pub fn write_fifo(&self, data: u32) -> nb::Result<(), Infallible> {
-        if self.0.txstatus().read().wrrdy().bit_is_clear() {
+        if self.uart.txstatus().read().wrrdy().bit_is_clear() {
             return Err(nb::Error::WouldBlock);
         }
         self.write_fifo_unchecked(data);
@@ -1033,7 +1052,7 @@ impl<Uart: Instance> Tx<Uart> {
     /// API.
     #[inline(always)]
     pub fn write_fifo_unchecked(&self, data: u32) {
-        self.0.data().write(|w| unsafe { w.bits(data) });
+        self.uart.data().write(|w| unsafe { w.bits(data) });
     }
 
     pub fn into_async(self) -> TxAsync<Uart> {
@@ -1069,20 +1088,14 @@ impl<Uart: Instance> embedded_io::Write for Tx<Uart> {
         if buf.is_empty() {
             return Ok(0);
         }
-        loop {
+
-            if self.0.txstatus().read().wrrdy().bit_is_set() {
-                break;
-            }
-        }
-        let mut written = 0;
         for byte in buf.iter() {
-            match <Self as embedded_hal_nb::serial::Write<u8>>::write(self, *byte) {
+            nb::block!(<Self as embedded_hal_nb::serial::Write<u8>>::write(
-                Ok(_) => written += 1,
+                self, *byte
-                Err(nb::Error::WouldBlock) => return Ok(written),
+            ))?;
-            }
         }
 
-        Ok(written)
+        Ok(buf.len())
     }
 
     fn flush(&mut self) -> Result<(), Self::Error> {
@@ -1122,7 +1135,7 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
 
     #[inline(always)]
     pub fn uart(&self) -> &Uart {
-        &self.0 .0
+        &self.0.uart
     }
 
     /// This function is used together with the [Self::on_interrupt_max_size_or_timeout_based]
@@ -1200,10 +1213,15 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
 
         // Timeout, empty the FIFO completely.
         if irq_end.irq_rx_to().bit_is_set() {
-            // While there is data in the FIFO, write it into the reception buffer
+            loop {
-            while let Ok(byte) = self.0.read_fifo() {
+                // While there is data in the FIFO, write it into the reception buffer
-                buf[result.bytes_read] = byte as u8;
+                let read_result = self.0.read();
-                result.bytes_read += 1;
+                if let Some(byte) = self.read_handler(&mut result.errors, &read_result) {
+                    buf[result.bytes_read] = byte;
+                    result.bytes_read += 1;
+                } else {
+                    break;
+                }
             }
         }
 
@@ -1280,13 +1298,12 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
                 if context.rx_idx == context.max_len {
                     break;
                 }
-                // While there is data in the FIFO, write it into the reception buffer
+                let read_result = self.0.read();
-                match self.0.read() {
+                if let Some(byte) = self.read_handler(&mut result.errors, &read_result) {
-                    Ok(byte) => {
+                    buf[context.rx_idx] = byte;
-                        buf[result.bytes_read] = byte;
+                    context.rx_idx += 1;
-                        result.bytes_read += 1;
+                } else {
-                    }
+                    break;
-                    Err(_) => break,
                 }
             }
             self.irq_completion_handler_max_size_timeout(&mut result, context);
@@ -1305,6 +1322,29 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
         Ok(result)
     }
 
+    fn read_handler(
+        &self,
+        errors: &mut Option<UartErrors>,
+        read_res: &nb::Result<u8, RxError>,
+    ) -> Option<u8> {
+        match read_res {
+            Ok(byte) => Some(*byte),
+            Err(nb::Error::WouldBlock) => None,
+            Err(nb::Error::Other(e)) => {
+                // Ensure `errors` is Some(IrqUartError), initializing if it's None
+                let err = errors.get_or_insert(UartErrors::default());
+
+                // Now we can safely modify fields inside `err`
+                match e {
+                    RxError::Overrun => err.overflow = true,
+                    RxError::Framing => err.framing = true,
+                    RxError::Parity => err.parity = true,
+                }
+                None
+            }
+        }
+    }
+
     fn check_for_errors(&self, errors: &mut Option<UartErrors>) {
         let rx_status = self.uart().rxstatus().read();
 

va108xx-hal/src/uart/rx_asynch.rs

@@ -1,16 +1,18 @@
-//! # Async UART reception functionality for the VA416xx family.
+//! # Async UART reception functionality for the VA108xx family.
 //!
-//! This module provides the [RxAsync] and [RxAsyncOverwriting] struct which both implement the
+//! This module provides the [RxAsync] and [RxAsyncSharedConsumer] struct which both implement the
 //! [embedded_io_async::Read] trait.
 //! This trait allows for asynchronous reception of data streams. Please note that this module does
 //! not specify/declare the interrupt handlers which must be provided for async support to work.
-//! However, it provides two interrupt handlers:
+//! However, it provides four interrupt handlers:
 //!
-//! - [on_interrupt_rx]
+//! - [on_interrupt_uart_a]
-//! - [on_interrupt_rx_overwriting]
+//! - [on_interrupt_uart_b]
+//! - [on_interrupt_uart_a_overwriting]
+//! - [on_interrupt_uart_b_overwriting]
 //!
 //! The first two are used for the [RxAsync] struct, while the latter two are used with the
-//! [RxAsyncOverwriting] struct. The later two will overwrite old values in the used ring buffer.
+//! [RxAsyncSharedConsumer] struct. The later two will overwrite old values in the used ring buffer.
 //!
 //! Error handling is performed in the user interrupt handler by checking the [AsyncUartErrors]
 //! structure returned by the interrupt handlers.
@@ -23,10 +25,11 @@ use core::{cell::RefCell, convert::Infallible, future::Future, sync::atomic::Ord
 use critical_section::Mutex;
 use embassy_sync::waitqueue::AtomicWaker;
 use embedded_io::ErrorType;
+use heapless::spsc::Consumer;
 use portable_atomic::AtomicBool;
-use va108xx::uarta as uart_base;
+use va108xx as pac;
 
-use super::{Bank, Instance, Rx, UartErrors};
+use super::{Instance, Rx, RxError, UartErrors};
 
 static UART_RX_WAKERS: [AtomicWaker; 2] = [const { AtomicWaker::new() }; 2];
 static RX_READ_ACTIVE: [AtomicBool; 2] = [const { AtomicBool::new(false) }; 2];
@@ -46,7 +49,7 @@ impl RxFuture {
 }
 
 impl Future for RxFuture {
-    type Output = Result<(), Infallible>;
+    type Output = Result<(), RxError>;
 
     fn poll(
         self: core::pin::Pin<&mut Self>,
@@ -69,7 +72,7 @@ pub struct AsyncUartErrors {
     pub uart_errors: UartErrors,
 }
 
-fn on_interrupt_handle_rx_errors(uart: &'static uart_base::RegisterBlock) -> Option<UartErrors> {
+fn on_interrupt_handle_rx_errors<Uart: Instance>(uart: &Uart) -> Option<UartErrors> {
     let rx_status = uart.rxstatus().read();
     if rx_status.rxovr().bit_is_set()
         || rx_status.rxfrm().bit_is_set()
@@ -91,65 +94,81 @@ fn on_interrupt_handle_rx_errors(uart: &'static uart_base::RegisterBlock) -> Opt
     None
 }
 
-fn on_interrupt_rx_common_post_processing(
+fn on_interrupt_rx_common_post_processing<Uart: Instance>(
-    bank: Bank,
+    uart: &Uart,
     rx_enabled: bool,
     read_some_data: bool,
     irq_end: u32,
 ) -> Option<UartErrors> {
-    let idx = bank as usize;
     if read_some_data {
-        RX_HAS_DATA[idx].store(true, Ordering::Relaxed);
+        RX_HAS_DATA[Uart::IDX as usize].store(true, Ordering::Relaxed);
-        if RX_READ_ACTIVE[idx].load(Ordering::Relaxed) {
+        if RX_READ_ACTIVE[Uart::IDX as usize].load(Ordering::Relaxed) {
-            UART_RX_WAKERS[idx].wake();
+            UART_RX_WAKERS[Uart::IDX as usize].wake();
         }
     }
 
     let mut errors = None;
-    let uart_regs = unsafe { bank.reg_block() };
     // Check for RX errors
     if rx_enabled {
-        errors = on_interrupt_handle_rx_errors(uart_regs);
+        errors = on_interrupt_handle_rx_errors(uart);
     }
 
     // Clear the interrupt status bits
-    uart_regs.irq_clr().write(|w| unsafe { w.bits(irq_end) });
+    uart.irq_clr().write(|w| unsafe { w.bits(irq_end) });
     errors
 }
 
-/// Interrupt handler with overwriting behaviour when the ring buffer is full.
+/// Interrupt handler for UART A.
 ///
 /// Should be called in the user interrupt handler to enable
 /// asynchronous reception. This variant will overwrite old data in the ring buffer in case
 /// the ring buffer is full.
-pub fn on_interrupt_rx_overwriting<const N: usize>(
+pub fn on_interrupt_uart_a_overwriting<const N: usize>(
-    bank: Bank,
     prod: &mut heapless::spsc::Producer<u8, N>,
     shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
 ) -> Result<(), AsyncUartErrors> {
-    on_interrupt_rx_async_heapless_queue_overwriting(bank, prod, shared_consumer)
+    on_interrupt_rx_async_heapless_queue_overwriting(
+        unsafe { pac::Uarta::steal() },
+        prod,
+        shared_consumer,
+    )
 }
 
-pub fn on_interrupt_rx_async_heapless_queue_overwriting<const N: usize>(
+/// Interrupt handler for UART B.
-    bank: Bank,
+///
+/// Should be called in the user interrupt handler to enable
+/// asynchronous reception. This variant will overwrite old data in the ring buffer in case
+/// the ring buffer is full.
+pub fn on_interrupt_uart_b_overwriting<const N: usize>(
     prod: &mut heapless::spsc::Producer<u8, N>,
     shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
 ) -> Result<(), AsyncUartErrors> {
-    let uart_regs = unsafe { bank.reg_block() };
+    on_interrupt_rx_async_heapless_queue_overwriting(
-    let irq_end = uart_regs.irq_end().read();
+        unsafe { pac::Uartb::steal() },
-    let enb_status = uart_regs.enable().read();
+        prod,
+        shared_consumer,
+    )
+}
+
+pub fn on_interrupt_rx_async_heapless_queue_overwriting<Uart: Instance, const N: usize>(
+    uart: Uart,
+    prod: &mut heapless::spsc::Producer<u8, N>,
+    shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
+) -> Result<(), AsyncUartErrors> {
+    let irq_end = uart.irq_end().read();
+    let enb_status = uart.enable().read();
     let rx_enabled = enb_status.rxenable().bit_is_set();
     let mut read_some_data = false;
     let mut queue_overflow = false;
 
     // Half-Full interrupt. We have a guaranteed amount of data we can read.
     if irq_end.irq_rx().bit_is_set() {
-        let available_bytes = uart_regs.rxfifoirqtrg().read().bits() as usize;
+        let available_bytes = uart.rxfifoirqtrg().read().bits() as usize;
 
         // If this interrupt bit is set, the trigger level is available at the very least.
         // Read everything as fast as possible
         for _ in 0..available_bytes {
-            let byte = uart_regs.data().read().bits();
+            let byte = uart.data().read().bits();
             if !prod.ready() {
                 queue_overflow = true;
                 critical_section::with(|cs| {
@@ -164,9 +183,9 @@ pub fn on_interrupt_rx_async_heapless_queue_overwriting<const N: usize>(
 
     // Timeout, empty the FIFO completely.
     if irq_end.irq_rx_to().bit_is_set() {
-        while uart_regs.rxstatus().read().rdavl().bit_is_set() {
+        while uart.rxstatus().read().rdavl().bit_is_set() {
             // While there is data in the FIFO, write it into the reception buffer
-            let byte = uart_regs.data().read().bits();
+            let byte = uart.data().read().bits();
             if !prod.ready() {
                 queue_overflow = true;
                 critical_section::with(|cs| {
@@ -180,7 +199,7 @@ pub fn on_interrupt_rx_async_heapless_queue_overwriting<const N: usize>(
     }
 
     let uart_errors =
-        on_interrupt_rx_common_post_processing(bank, rx_enabled, read_some_data, irq_end.bits());
+        on_interrupt_rx_common_post_processing(&uart, rx_enabled, read_some_data, irq_end.bits());
     if uart_errors.is_some() || queue_overflow {
         return Err(AsyncUartErrors {
             queue_overflow,
@@ -190,21 +209,29 @@ pub fn on_interrupt_rx_async_heapless_queue_overwriting<const N: usize>(
     Ok(())
 }
 
-/// Interrupt handler for asynchronous RX operations.
+/// Interrupt handler for UART A.
 ///
 /// Should be called in the user interrupt handler to enable asynchronous reception.
-pub fn on_interrupt_rx<const N: usize>(
+pub fn on_interrupt_uart_a<const N: usize>(
-    bank: Bank,
     prod: &mut heapless::spsc::Producer<'_, u8, N>,
 ) -> Result<(), AsyncUartErrors> {
-    on_interrupt_rx_async_heapless_queue(bank, prod)
+    on_interrupt_rx_async_heapless_queue(unsafe { pac::Uarta::steal() }, prod)
 }
 
-pub fn on_interrupt_rx_async_heapless_queue<const N: usize>(
+/// Interrupt handler for UART B.
-    bank: Bank,
+///
+/// Should be called in the user interrupt handler to enable asynchronous reception.
+pub fn on_interrupt_uart_b<const N: usize>(
     prod: &mut heapless::spsc::Producer<'_, u8, N>,
 ) -> Result<(), AsyncUartErrors> {
-    let uart = unsafe { bank.reg_block() };
+    on_interrupt_rx_async_heapless_queue(unsafe { pac::Uartb::steal() }, prod)
+}
+
+pub fn on_interrupt_rx_async_heapless_queue<Uart: Instance, const N: usize>(
+    uart: Uart,
+    prod: &mut heapless::spsc::Producer<'_, u8, N>,
+) -> Result<(), AsyncUartErrors> {
+    //let uart = unsafe { Uart::steal() };
     let irq_end = uart.irq_end().read();
     let enb_status = uart.enable().read();
     let rx_enabled = enb_status.rxenable().bit_is_set();
@@ -241,7 +268,7 @@ pub fn on_interrupt_rx_async_heapless_queue<const N: usize>(
     }
 
     let uart_errors =
-        on_interrupt_rx_common_post_processing(bank, rx_enabled, read_some_data, irq_end.bits());
+        on_interrupt_rx_common_post_processing(&uart, rx_enabled, read_some_data, irq_end.bits());
     if uart_errors.is_some() || queue_overflow {
         return Err(AsyncUartErrors {
             queue_overflow,
@@ -259,32 +286,24 @@ impl Drop for ActiveReadGuard {
     }
 }
 
-struct RxAsyncInner<Uart: Instance, const N: usize> {
-    rx: Rx<Uart>,
-    pub queue: heapless::spsc::Consumer<'static, u8, N>,
-}
-
 /// Core data structure to allow asynchronous UART reception.
 ///
 /// If the ring buffer becomes full, data will be lost.
-pub struct RxAsync<Uart: Instance, const N: usize>(Option<RxAsyncInner<Uart, N>>);
+pub struct RxAsync<Uart: Instance, const N: usize> {
+    rx: Rx<Uart>,
+    pub queue: heapless::spsc::Consumer<'static, u8, N>,
+}
 
 impl<Uart: Instance, const N: usize> ErrorType for RxAsync<Uart, N> {
     /// Error reporting is done using the result of the interrupt functions.
     type Error = Infallible;
 }
 
-fn stop_async_rx<Uart: Instance>(rx: &mut Rx<Uart>) {
-    rx.disable_interrupts();
-    rx.disable();
-    rx.clear_fifo();
-}
-
 impl<Uart: Instance, const N: usize> RxAsync<Uart, N> {
     /// Create a new asynchronous receiver.
     ///
     /// The passed [heapless::spsc::Consumer] will be used to asynchronously receive data which
-    /// is filled by the interrupt handler [on_interrupt_rx].
+    /// is filled by the interrupt handler.
     pub fn new(mut rx: Rx<Uart>, queue: heapless::spsc::Consumer<'static, u8, N>) -> Self {
         rx.disable_interrupts();
         rx.disable();
@@ -294,23 +313,7 @@ impl<Uart: Instance, const N: usize> RxAsync<Uart, N> {
             rx.enable_interrupts();
             rx.enable();
         });
-        Self(Some(RxAsyncInner { rx, queue }))
+        Self { rx, queue }
-    }
-
-    pub fn stop(&mut self) {
-        stop_async_rx(&mut self.0.as_mut().unwrap().rx);
-    }
-
-    pub fn release(mut self) -> (Rx<Uart>, heapless::spsc::Consumer<'static, u8, N>) {
-        self.stop();
-        let inner = self.0.take().unwrap();
-        (inner.rx, inner.queue)
-    }
-}
-
-impl<Uart: Instance, const N: usize> Drop for RxAsync<Uart, N> {
-    fn drop(&mut self) {
-        self.stop();
     }
 }
 
@@ -318,7 +321,7 @@ impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsync<Uart, N
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
         // Need to wait for the IRQ to read data and set this flag. If the queue is not
         // empty, we can read data immediately.
-        if self.0.as_ref().unwrap().queue.len() == 0 {
+        if self.queue.len() == 0 {
             RX_HAS_DATA[Uart::IDX as usize].store(false, Ordering::Relaxed);
         }
         let _guard = ActiveReadGuard(Uart::IDX as usize);
@@ -330,38 +333,33 @@ impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsync<Uart, N
             }
             data_to_read
         };
-        let mut_ref = self.0.as_mut().unwrap();
+        let fut = RxFuture::new(&mut self.rx);
-        let fut = RxFuture::new(&mut mut_ref.rx);
         // Data is available, so read that data immediately.
-        let read_data = handle_data_in_queue(&mut mut_ref.queue);
+        let read_data = handle_data_in_queue(&mut self.queue);
         if read_data > 0 {
             return Ok(read_data);
         }
         // Await data.
         let _ = fut.await;
-        Ok(handle_data_in_queue(&mut mut_ref.queue))
+        Ok(handle_data_in_queue(&mut self.queue))
     }
 }
 
-struct RxAsyncOverwritingInner<Uart: Instance, const N: usize> {
-    rx: Rx<Uart>,
-    pub shared_consumer: &'static Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
-}
-
 /// Core data structure to allow asynchronous UART reception.
 ///
 /// If the ring buffer becomes full, the oldest data will be overwritten when using the
-/// [on_interrupt_rx_overwriting] interrupt handlers.
+/// [on_interrupt_uart_a_overwriting] and [on_interrupt_uart_b_overwriting] interrupt handlers.
-pub struct RxAsyncOverwriting<Uart: Instance, const N: usize>(
+pub struct RxAsyncSharedConsumer<Uart: Instance, const N: usize> {
-    Option<RxAsyncOverwritingInner<Uart, N>>,
+    rx: Rx<Uart>,
-);
+    queue: &'static Mutex<RefCell<Option<Consumer<'static, u8, N>>>>,
+}
 
-impl<Uart: Instance, const N: usize> ErrorType for RxAsyncOverwriting<Uart, N> {
+impl<Uart: Instance, const N: usize> ErrorType for RxAsyncSharedConsumer<Uart, N> {
     /// Error reporting is done using the result of the interrupt functions.
     type Error = Infallible;
 }
 
-impl<Uart: Instance, const N: usize> RxAsyncOverwriting<Uart, N> {
+impl<Uart: Instance, const N: usize> RxAsyncSharedConsumer<Uart, N> {
     /// Create a new asynchronous receiver.
     ///
     /// The passed shared [heapless::spsc::Consumer] will be used to asynchronously receive data
@@ -369,7 +367,7 @@ impl<Uart: Instance, const N: usize> RxAsyncOverwriting<Uart, N> {
     /// interrupt handler to overwrite old data.
     pub fn new(
         mut rx: Rx<Uart>,
-        shared_consumer: &'static Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
+        queue: &'static Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
     ) -> Self {
         rx.disable_interrupts();
         rx.disable();
@@ -379,44 +377,25 @@ impl<Uart: Instance, const N: usize> RxAsyncOverwriting<Uart, N> {
             rx.enable_interrupts();
             rx.enable();
         });
-        Self(Some(RxAsyncOverwritingInner {
+        Self { rx, queue }
-            rx,
-            shared_consumer,
-        }))
-    }
-
-    pub fn stop(&mut self) {
-        stop_async_rx(&mut self.0.as_mut().unwrap().rx);
-    }
-
-    pub fn release(mut self) -> Rx<Uart> {
-        self.stop();
-        let inner = self.0.take().unwrap();
-        inner.rx
     }
 }
 
-impl<Uart: Instance, const N: usize> Drop for RxAsyncOverwriting<Uart, N> {
+impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsyncSharedConsumer<Uart, N> {
-    fn drop(&mut self) {
-        self.stop();
-    }
-}
-
-impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsyncOverwriting<Uart, N> {
     async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
         // Need to wait for the IRQ to read data and set this flag. If the queue is not
         // empty, we can read data immediately.
 
         critical_section::with(|cs| {
-            let queue = self.0.as_ref().unwrap().shared_consumer.borrow(cs);
+            let queue = self.queue.borrow(cs);
             if queue.borrow().as_ref().unwrap().len() == 0 {
                 RX_HAS_DATA[Uart::IDX as usize].store(false, Ordering::Relaxed);
             }
         });
         let _guard = ActiveReadGuard(Uart::IDX as usize);
-        let mut handle_data_in_queue = |inner: &mut RxAsyncOverwritingInner<Uart, N>| {
+        let mut handle_data_in_queue = || {
             critical_section::with(|cs| {
-                let mut consumer_ref = inner.shared_consumer.borrow(cs).borrow_mut();
+                let mut consumer_ref = self.queue.borrow(cs).borrow_mut();
                 let consumer = consumer_ref.as_mut().unwrap();
                 let data_to_read = consumer.len().min(buf.len());
                 for byte in buf.iter_mut().take(data_to_read) {
@@ -426,15 +405,15 @@ impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsyncOverwrit
                 data_to_read
             })
         };
-        let fut = RxFuture::new(&mut self.0.as_mut().unwrap().rx);
+        let fut = RxFuture::new(&mut self.rx);
         // Data is available, so read that data immediately.
-        let read_data = handle_data_in_queue(self.0.as_mut().unwrap());
+        let read_data = handle_data_in_queue();
         if read_data > 0 {
             return Ok(read_data);
         }
         // Await data.
         let _ = fut.await;
-        let read_data = handle_data_in_queue(self.0.as_mut().unwrap());
+        let read_data = handle_data_in_queue();
         Ok(read_data)
     }
 }

va108xx-hal/src/uart/tx_asynch.rs

@@ -3,10 +3,13 @@
 //! This module provides the [TxAsync] struct which implements the [embedded_io_async::Write] trait.
 //! This trait allows for asynchronous sending of data streams. Please note that this module does
 //! not specify/declare the interrupt handlers which must be provided for async support to work.
-//! However, it the [on_interrupt_tx] interrupt handler.
+//! However, it provides two interrupt handlers:
 //!
-//! This handler should be called in ALL user interrupt handlers which handle UART TX interrupts
+//! - [on_interrupt_uart_a_tx]
-//! for a given UART bank.
+//! - [on_interrupt_uart_b_tx]
+//!
+//! Those should be called in ALL user interrupt handlers which handle UART TX interrupts,
+//! depending on which UARTs are used.
 //!
 //! # Example
 //!
@@ -27,14 +30,21 @@ static TX_CONTEXTS: [Mutex<RefCell<TxContext>>; 2] =
 // critical section.
 static TX_DONE: [AtomicBool; 2] = [const { AtomicBool::new(false) }; 2];
 
-/// This is a generic interrupt handler to handle asynchronous UART TX operations for a given
+/// This is a generic interrupt handler to handle asynchronous UART TX operations. The user
-/// UART bank.
+/// has to call this once in the interrupt handler responsible for UART A TX interrupts for
-///
+/// asynchronous operations to work.
-/// The user has to call this once in the interrupt handler responsible for the TX interrupts on
+pub fn on_interrupt_uart_a_tx() {
-/// the given UART bank.
+    on_interrupt_uart_tx(unsafe { pac::Uarta::steal() });
-pub fn on_interrupt_tx(bank: Bank) {
+}
-    let uart = unsafe { bank.reg_block() };
+
-    let idx = bank as usize;
+/// This is a generic interrupt handler to handle asynchronous UART TX operations. The user
+/// has to call this once in the interrupt handler responsible for UART B TX interrupts for
+/// asynchronous operations to work.
+pub fn on_interrupt_uart_b_tx() {
+    on_interrupt_uart_tx(unsafe { pac::Uartb::steal() });
+}
+
+fn on_interrupt_uart_tx<Uart: Instance>(uart: Uart) {
     let irq_enb = uart.irq_enb().read();
     // IRQ is not related to TX.
     if irq_enb.irq_tx().bit_is_clear() || irq_enb.irq_tx_empty().bit_is_clear() {
@@ -44,7 +54,7 @@ pub fn on_interrupt_tx(bank: Bank) {
     let tx_status = uart.txstatus().read();
     let unexpected_overrun = tx_status.wrlost().bit_is_set();
     let mut context = critical_section::with(|cs| {
-        let context_ref = TX_CONTEXTS[idx].borrow(cs);
+        let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
         *context_ref.borrow()
     });
     context.tx_overrun = unexpected_overrun;
@@ -57,12 +67,12 @@ pub fn on_interrupt_tx(bank: Bank) {
         uart.enable().modify(|_, w| w.txenable().clear_bit());
         // Write back updated context structure.
         critical_section::with(|cs| {
-            let context_ref = TX_CONTEXTS[idx].borrow(cs);
+            let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
             *context_ref.borrow_mut() = context;
         });
         // Transfer is done.
-        TX_DONE[idx].store(true, core::sync::atomic::Ordering::Relaxed);
+        TX_DONE[Uart::IDX as usize].store(true, core::sync::atomic::Ordering::Relaxed);
-        UART_TX_WAKERS[idx].wake();
+        UART_TX_WAKERS[Uart::IDX as usize].wake();
         return;
     }
     // Safety: We documented that the user provided slice must outlive the future, so we convert
@@ -82,7 +92,7 @@ pub fn on_interrupt_tx(bank: Bank) {
 
     // Write back updated context structure.
     critical_section::with(|cs| {
-        let context_ref = TX_CONTEXTS[idx].borrow(cs);
+        let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
         *context_ref.borrow_mut() = context;
     });
 }

va108xx/CHANGELOG.md

@@ -8,7 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.5.0] 2025-02-17
+## [v0.5.0] 2025-02-14
 
 - Re-generated PAC with `svd2rust` v0.35.0 and added optional `defmt` and `Debug` implementations
 

vorago-reb1/CHANGELOG.md

@@ -8,15 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.8.1] 2025-03-07
-
-- Bumped allowed `va108xx-hal` dependency to 0.11
-- Bumped `bitfield` dependency
-
-## [v0.8.0] 2025-02-17
-
-- Bumped `va108xx-hal` dependency to 0.10
-
 ## [v0.7.0] 2025-02-13
 
 - Bumped `va108xx-hal` dependency to 0.9
@@ -61,9 +52,3 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Added basic accelerometer example. Board in not populated so it is not complete, but
   it provides a starting point
 - Added ADC base library and example building on the new max116xx-10bit device driver crate
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.8.1...HEAD
-[v0.8.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.8.0...vorago-reb1-v0.8.1
-[v0.8.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.7.0...vorago-reb1-v0.8.0
-[v0.7.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.6.0...vorago-reb1-v0.7.0
-[v0.6.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.5.0...vorago-reb1-v0.6.0

vorago-reb1/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vorago-reb1"
-version = "0.8.1"
+version = "0.7.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "Board Support Crate for the Vorago REB1 development board"
@@ -15,10 +15,12 @@ cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 embedded-hal = "1"
 nb = "1"
-bitfield = ">=0.17, <=0.19"
+bitfield = ">=0.17, <=0.18"
 max116xx-10bit = "0.3"
 
-va108xx-hal = { version = ">=0.10, <=0.11", features = ["rt"] }
+[dependencies.va108xx-hal]
+version = "0.9"
+features = ["rt"]
 
 [features]
 rt = ["va108xx-hal/rt"]

vorago-reb1/examples/adxl343-accelerometer.rs

@@ -5,8 +5,8 @@
 #![no_main]
 #![no_std]
 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
 use embedded_hal::spi::{SpiBus, MODE_3};
+use embedded_hal::{delay::DelayNs, digital::OutputPin};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::spi::SpiClkConfig;
@@ -41,7 +41,9 @@ fn main() -> ! {
 
     // Need to set the ADC chip select low
     let mut adc_cs = pinsa.pa17.into_push_pull_output();
-    adc_cs.set_high();
+    adc_cs
+        .set_high()
+        .expect("Setting ADC chip select high failed");
 
     let spi_cfg = SpiConfig::default()
         .clk_cfg(

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

@@ -43,16 +43,18 @@ fn main() -> ! {
 
     // Configure an edge interrupt on the button and route it to interrupt vector 15
     let mut button = Button::new(pinsa.pa11.into_floating_input());
+    button.configure_edge_interrupt(
+        edge_irq,
+        InterruptConfig::new(pac::interrupt::OC15, true, true),
+        Some(&mut dp.sysconfig),
+        Some(&mut dp.irqsel),
+    );
 
     if PRESS_MODE == PressMode::Toggle {
         // This filter debounces the switch for edge based interrupts
         button.configure_filter_type(FilterType::FilterFourClockCycles, FilterClkSel::Clk1);
         set_clk_div_register(&mut dp.sysconfig, FilterClkSel::Clk1, 50_000);
     }
-    button.configure_and_enable_edge_interrupt(
-        edge_irq,
-        InterruptConfig::new(pac::interrupt::OC15, true, true),
-    );
 
     set_up_ms_tick(
         InterruptConfig::new(pac::Interrupt::OC0, true, true),

vorago-reb1/examples/blinky-leds.rs

@@ -8,6 +8,7 @@
 
 use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
+use embedded_hal::digital::{OutputPin, StatefulOutputPin};
 use panic_halt as _;
 use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
 use vorago_reb1::leds::Leds;
@@ -66,19 +67,22 @@ fn main() -> ! {
             let mut led3 = pins.pa6.into_readable_push_pull_output();
             let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
             for _ in 0..10 {
-                led1.set_low();
+                led1.set_low().ok();
-                led2.set_low();
+                led2.set_low().ok();
-                led3.set_low();
+                led3.set_low().ok();
                 delay.delay_ms(200);
-                led1.set_high();
+                led1.set_high().ok();
-                led2.set_high();
+                led2.set_high().ok();
-                led3.set_high();
+                led3.set_high().ok();
                 delay.delay_ms(200);
             }
             loop {
-                led1.toggle();
+                led1.toggle().ok();
                 delay.delay_ms(200);
-                led2.toggle();
+                led2.toggle().ok();
+                delay.delay_ms(200);
+                // Alternatively use deidscted register.
+                led3.toggle_with_toggle_reg();
                 delay.delay_ms(200);
             }
         }

vorago-reb1/examples/max11619-adc.rs

@@ -8,13 +8,13 @@
 use core::convert::Infallible;
 
 use cortex_m_rt::entry;
+use embedded_hal::digital::OutputPin;
 use embedded_hal::spi::{SpiBus, SpiDevice, MODE_0};
 use embedded_hal::{delay::DelayNs, spi};
 use max116xx_10bit::VoltageRefMode;
 use max116xx_10bit::{AveragingConversions, AveragingResults};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
-use va108xx_hal::gpio::Port;
 use va108xx_hal::spi::{OptionalHwCs, SpiClkConfig};
 use va108xx_hal::timer::CountdownTimer;
 use va108xx_hal::{
@@ -24,7 +24,7 @@ use va108xx_hal::{
     spi::{Spi, SpiBase, SpiConfig},
     timer::{default_ms_irq_handler, set_up_ms_tick, DelayMs, InterruptConfig},
 };
-use va108xx_hal::{port_function_select, FunSel};
+use va108xx_hal::{port_function_select, FunSel, PortSel};
 use vorago_reb1::max11619::{
     max11619_externally_clocked_no_wakeup, max11619_externally_clocked_with_wakeup,
     max11619_internally_clocked, EocPin, AN2_CHANNEL, POTENTIOMETER_CHANNEL,
@@ -135,14 +135,16 @@ fn main() -> ! {
     );
 
     if MUX_MODE == MuxMode::PortB19to17 {
-        port_function_select(&mut dp.ioconfig, Port::B, 19, FunSel::Sel1).ok();
+        port_function_select(&mut dp.ioconfig, PortSel::PortB, 19, FunSel::Sel1).ok();
-        port_function_select(&mut dp.ioconfig, Port::B, 18, FunSel::Sel2).ok();
+        port_function_select(&mut dp.ioconfig, PortSel::PortB, 18, FunSel::Sel2).ok();
-        port_function_select(&mut dp.ioconfig, Port::B, 17, FunSel::Sel1).ok();
+        port_function_select(&mut dp.ioconfig, PortSel::PortB, 17, FunSel::Sel1).ok();
-        port_function_select(&mut dp.ioconfig, Port::B, 16, FunSel::Sel1).ok();
+        port_function_select(&mut dp.ioconfig, PortSel::PortB, 16, FunSel::Sel1).ok();
     }
     // Set the accelerometer chip select low in case the board slot is populated
     let mut accel_cs = pinsa.pa16.into_push_pull_output();
-    accel_cs.set_high();
+    accel_cs
+        .set_high()
+        .expect("Setting accelerometer chip select high failed");
 
     let spi = Spi::new(
         &mut dp.sysconfig,

vorago-reb1/src/button.rs

@@ -4,9 +4,10 @@
 //!
 //! - [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},
-    InterruptConfig,
+    pac, InterruptConfig,
 };
 
 #[derive(Debug)]
@@ -19,32 +20,36 @@ impl Button {
 
     #[inline]
     pub fn pressed(&mut self) -> bool {
-        self.0.is_low()
+        self.0.is_low().ok().unwrap()
     }
 
     #[inline]
     pub fn released(&mut self) -> bool {
-        self.0.is_high()
+        self.0.is_high().ok().unwrap()
     }
 
     /// Configures an IRQ on edge.
-    pub fn configure_and_enable_edge_interrupt(
+    pub fn configure_edge_interrupt(
         &mut self,
         edge_type: InterruptEdge,
         irq_cfg: InterruptConfig,
+        syscfg: Option<&mut pac::Sysconfig>,
+        irqsel: Option<&mut pac::Irqsel>,
     ) {
-        self.0.configure_edge_interrupt(edge_type);
+        self.0
-        self.0.enable_interrupt(irq_cfg);
+            .configure_edge_interrupt(edge_type, irq_cfg, syscfg, irqsel);
     }
 
     /// Configures an IRQ on level.
-    pub fn configure_and_enable_level_interrupt(
+    pub fn configure_level_interrupt(
         &mut self,
         level: InterruptLevel,
         irq_cfg: InterruptConfig,
+        syscfg: Option<&mut pac::Sysconfig>,
+        irqsel: Option<&mut pac::Irqsel>,
     ) {
-        self.0.configure_level_interrupt(level);
+        self.0
-        self.0.enable_interrupt(irq_cfg);
+            .configure_level_interrupt(level, irq_cfg, syscfg, irqsel);
     }
 
     /// Configures a filter on the button. This can be useful for debouncing the switch.

vorago-reb1/src/leds.rs

@@ -5,6 +5,7 @@
 //! - [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::dynpin::DynPin,
     gpio::pin::{Pin, PushPullOutput, PA10, PA6, PA7},
@@ -84,6 +85,6 @@ impl Led {
     /// Toggles the LED
     #[inline]
     pub fn toggle(&mut self) {
-        self.0.toggle().ok();
+        self.0.toggle_with_toggle_reg().ok();
     }
 }