update package

- Add embassy example
- improve timer API
- restructure examples
- restructure and improve SPI

.cargo/def-config.toml

@@ -24,8 +24,7 @@ rustflags = [
   # "-C", "link-arg=-Tdefmt.x",
 
   # Can be useful for debugging.
-  "-Clink-args=-Map=app.map"
+  # "-Clink-args=-Map=app.map"
-
 ]
 
 [build]

.github/workflows/ci.yml

@@ -39,7 +39,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-reb1
 
   clippy:
     name: Clippy

Cargo.toml

@@ -5,7 +5,10 @@ members = [
 	"va108xx",
 	"va108xx-hal",
   "examples/simple",
+  "examples/rtic",
+  "examples/embassy",
   "board-tests",
+  "bootloader",
 ]
 
 exclude = [
@@ -17,7 +20,8 @@ codegen-units = 1
 debug = 2
 debug-assertions = true # <-
 incremental = false
-opt-level = 'z'         # <-
+# This is problematic for stepping..
+# opt-level = 'z'         # <-
 overflow-checks = true  # <-
 
 # cargo build/run --release
@@ -29,3 +33,12 @@ incremental = false
 lto = 'fat'
 opt-level = 3            # <-
 overflow-checks = false  # <-
+
+[profile.small]
+inherits = "release"
+codegen-units = 1
+debug-assertions = false # <-
+lto = true
+opt-level = 'z'            # <-
+overflow-checks = false  # <-
+strip = true  # Automatically strip symbols from the binary.

README.md

@@ -19,9 +19,13 @@ This workspace contains the following released crates:
 
 It also contains the following helper crates:
 
-- The `board-tests` contains an application which can be used to test the libraries on the
+- The [`board-tests`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/board-tests)
-  board.
+  contains an application which can be used to test the libraries on the board.
-- The `examples` crates contains various example applications for the HAL and the PAC.
+- The [`examples`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples)
+  folder contains various example applications crates using the HAL and the PAC.
+  This folder also contains dedicated example applications using the
+  [`RTIC`](https://rtic.rs/2/book/en/) and [`embassy`](https://github.com/embassy-rs/embassy)
+  native Rust RTOSes.
 
 ## Using the `.cargo/config.toml` file
 
@@ -94,6 +98,8 @@ example.
 
 Assuming a working debug connection to your VA108xx board, you can debug using VS Code with
 the [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+Please make sure that [`objdump-multiarch` and `nm-multiarch`](https://forums.raspberrypi.com/viewtopic.php?t=333146)
+are installed as well.
 
 Some sample configuration files for VS code were provided and can be used by running
 `cp -rT vscode .vscode` like specified above. After that, you can use `Run and Debug`
@@ -106,3 +112,7 @@ configuration variables in your `settings.json`:
 - `"cortex-debug.gdbPath.linux"`
 - `"cortex-debug.gdbPath.windows"`
 - `"cortex-debug.gdbPath.osx"`
+
+The provided VS Code configurations also provide an integrated RTT logger, which you can access
+via the terminal at `RTT Ch:0 console`. In order for the RTT block address detection to
+work properly, `objdump-multiarch` and `nm-multiarch` need to be installed.

automation/Jenkinsfile

@@ -25,7 +25,9 @@ pipeline {
         stage('Docs') {
           steps {
             sh """
-              cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-reb1
             """
           }
         }

board-tests/Cargo.toml

@@ -4,10 +4,9 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-cortex-m-rtic = "1"
-panic-halt = "0.2"
 cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
+panic-halt = "0.2"
 rtt-target = "0.5"
 panic-rtt-target = "0.1.3"
 embedded-hal = "1"
@@ -15,7 +14,7 @@ embedded-hal-nb = "1"
 embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
-version = "0.6"
+version = "0.7"
 path = "../va108xx-hal"
 features = ["rt"]
 

bootloader/Cargo.toml

@@ -0,0 +1,25 @@
+[package]
+name = "bootloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-hal-bus = "0.2"
+dummy-pin = "1"
+panic-rtt-target = { version = "0.1.3" }
+panic-halt = { version = "0.2" }
+rtt-target = { version = "0.5" }
+crc = "3"
+
+[dependencies.va108xx-hal]
+path = "../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../vorago-reb1"
+
+[features]
+default = []
+rtt-panic = []

bootloader/src/lib.rs

@@ -0,0 +1,10 @@
+#![no_std]
+
+use core::convert::Infallible;
+
+/// Simple trait which makes swapping the NVM easier. NVMs only need to implement this interface.
+pub trait NvmInterface {
+    fn write(&mut self, address: u32, data: &[u8]) -> Result<(), Infallible>;
+    fn read(&mut self, address: u32, buf: &mut [u8]) -> Result<(), Infallible>;
+    fn verify(&mut self, address: u32, data: &[u8]) -> Result<bool, Infallible>;
+}

bootloader/src/main.rs

@@ -0,0 +1,296 @@
+//! Vorago bootloader which can boot from two images.
+#![no_main]
+#![no_std]
+use bootloader::NvmInterface;
+use cortex_m_rt::entry;
+use crc::{Crc, CRC_16_IBM_3740};
+#[cfg(not(feature = "rtt-panic"))]
+use panic_halt as _;
+#[cfg(feature = "rtt-panic")]
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{pac, time::Hertz};
+use vorago_reb1::m95m01::M95M01;
+
+// Useful for debugging and see what the bootloader is doing. Enabled currently, because
+// the binary stays small enough.
+const RTT_PRINTOUT: bool = true;
+const DEBUG_PRINTOUTS: bool = false;
+
+// Dangerous option! An image with this option set to true will flash itself from RAM directly
+// into the NVM. This can be used as a recovery option from a direct RAM flash to fix the NVM
+// boot process. Please note that this will flash an image which will also always perform the
+// self-flash itself. It is recommended that you use a tool like probe-rs, Keil IDE, or a flash
+// loader to boot a bootloader without this feature.
+const FLASH_SELF: bool = false;
+
+// Register definitions for Cortex-M0 SCB register.
+pub const SCB_AIRCR_VECTKEY_POS: u32 = 16;
+pub const SCB_AIRCR_VECTKEY_MSK: u32 = 0xFFFF << SCB_AIRCR_VECTKEY_POS;
+
+pub const SCB_AIRCR_SYSRESETREQ_POS: u32 = 2;
+pub const SCB_AIRCR_SYSRESETREQ_MSK: u32 = 1 << SCB_AIRCR_SYSRESETREQ_POS;
+
+const CLOCK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+// Important bootloader addresses and offsets, vector table information.
+
+const BOOTLOADER_START_ADDR: u32 = 0x0;
+const BOOTLOADER_CRC_ADDR: u32 = BOOTLOADER_END_ADDR - 2;
+// This is also the maximum size of the bootloader.
+const BOOTLOADER_END_ADDR: u32 = 0x3000;
+const APP_A_START_ADDR: u32 = 0x3000;
+const APP_A_SIZE_ADDR: u32 = APP_A_END_ADDR - 8;
+// Four bytes reserved, even when only 2 byte CRC is used. Leaves flexibility to switch to CRC32.
+const APP_A_CRC_ADDR: u32 = APP_A_END_ADDR - 4;
+pub const APP_A_END_ADDR: u32 = 0x11000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_START_ADDR: u32 = 0x11000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_SIZE_ADDR: u32 = APP_B_END_ADDR - 8;
+// Four bytes reserved, even when only 2 byte CRC is used. Leaves flexibility to switch to CRC32.
+const APP_B_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
+pub const APP_B_END_ADDR: u32 = 0x20000;
+pub const APP_IMG_SZ: u32 = 0xE800;
+
+pub const VECTOR_TABLE_OFFSET: u32 = 0x0;
+pub const VECTOR_TABLE_LEN: u32 = 0xC0;
+pub const RESET_VECTOR_OFFSET: u32 = 0x4;
+
+const CRC_ALGO: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+enum AppSel {
+    A,
+    B,
+}
+
+pub struct NvmWrapper(pub M95M01);
+
+// Newtype pattern. We could now more easily swap the used NVM type.
+impl NvmInterface for NvmWrapper {
+    fn write(&mut self, address: u32, data: &[u8]) -> Result<(), core::convert::Infallible> {
+        self.0.write(address, data)
+    }
+
+    fn read(&mut self, address: u32, buf: &mut [u8]) -> Result<(), core::convert::Infallible> {
+        self.0.read(address, buf)
+    }
+
+    fn verify(&mut self, address: u32, data: &[u8]) -> Result<bool, core::convert::Infallible> {
+        self.0.verify(address, data)
+    }
+}
+
+#[entry]
+fn main() -> ! {
+    if RTT_PRINTOUT {
+        rtt_init_print!();
+        rprintln!("-- VA108xx bootloader --");
+    }
+    let mut dp = pac::Peripherals::take().unwrap();
+    let cp = cortex_m::Peripherals::take().unwrap();
+
+    let mut nvm = M95M01::new(&mut dp.sysconfig, CLOCK_FREQ, dp.spic);
+
+    if FLASH_SELF {
+        let mut first_four_bytes: [u8; 4] = [0; 4];
+        read_four_bytes_at_addr_zero(&mut first_four_bytes);
+        let bootloader_data = {
+            unsafe {
+                &*core::ptr::slice_from_raw_parts(
+                    (BOOTLOADER_START_ADDR + 4) as *const u8,
+                    (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 6) as usize,
+                )
+            }
+        };
+        let mut digest = CRC_ALGO.digest();
+        digest.update(&first_four_bytes);
+        digest.update(bootloader_data);
+        let bootloader_crc = digest.finalize();
+
+        nvm.write(0x0, &first_four_bytes)
+            .expect("writing to NVM failed");
+        nvm.write(0x4, bootloader_data)
+            .expect("writing to NVM failed");
+        if let Err(e) = nvm.verify(0x0, &first_four_bytes) {
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            }
+        }
+        if let Err(e) = nvm.verify(0x4, bootloader_data) {
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            }
+        }
+
+        nvm.write(BOOTLOADER_CRC_ADDR, &bootloader_crc.to_be_bytes())
+            .expect("writing CRC failed");
+        if let Err(e) = nvm.verify(BOOTLOADER_CRC_ADDR, &bootloader_crc.to_be_bytes()) {
+            if RTT_PRINTOUT {
+                rprintln!(
+                    "error: CRC verification for bootloader self-flash failed: {:?}",
+                    e
+                );
+            }
+        }
+    }
+
+    let mut nvm = NvmWrapper(nvm);
+
+    // Check bootloader's CRC (and write it if blank)
+    check_own_crc(&dp.sysconfig, &cp, &mut nvm);
+
+    if check_app_crc(AppSel::A) {
+        boot_app(&dp.sysconfig, &cp, AppSel::A)
+    } else if check_app_crc(AppSel::B) {
+        boot_app(&dp.sysconfig, &cp, AppSel::B)
+    } else {
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!("both images corrupt! booting image A");
+        }
+        // TODO: Shift a CCSDS packet out to inform host/OBC about image corruption.
+        // Both images seem to be corrupt. Boot default image A.
+        boot_app(&dp.sysconfig, &cp, AppSel::A)
+    }
+}
+
+fn check_own_crc(sysconfig: &pac::Sysconfig, cp: &cortex_m::Peripherals, nvm: &mut NvmWrapper) {
+    let crc_exp = unsafe { (BOOTLOADER_CRC_ADDR as *const u16).read_unaligned().to_be() };
+    // I'd prefer to use [core::slice::from_raw_parts], but that is problematic
+    // because the address of the bootloader is 0x0, so the NULL check fails and the functions
+    // panics.
+    let mut first_four_bytes: [u8; 4] = [0; 4];
+    read_four_bytes_at_addr_zero(&mut first_four_bytes);
+    let mut digest = CRC_ALGO.digest();
+    digest.update(&first_four_bytes);
+    digest.update(unsafe {
+        &*core::ptr::slice_from_raw_parts(
+            (BOOTLOADER_START_ADDR + 4) as *const u8,
+            (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 6) as usize,
+        )
+    });
+    let crc_calc = digest.finalize();
+    if crc_exp == 0x0000 || crc_exp == 0xffff {
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!("BL CRC blank - prog new CRC");
+        }
+        // Blank CRC, write it to NVM.
+        nvm.write(BOOTLOADER_CRC_ADDR, &crc_calc.to_be_bytes())
+            .expect("writing CRC failed");
+        // The Vorago bootloader resets here. I am not sure why this is done but I think it is
+        // necessary because somehow the boot will not work if we just continue as usual.
+        // cortex_m::peripheral::SCB::sys_reset();
+    } else if crc_exp != crc_calc {
+        // Bootloader is corrupted. Try to run App A.
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!(
+                "bootloader CRC corrupt, read {} and expected {}. booting image A immediately",
+                crc_calc,
+                crc_exp
+            );
+        }
+        // TODO: Shift out minimal CCSDS frame to notify about bootloader corruption.
+        boot_app(sysconfig, cp, AppSel::A);
+    }
+}
+
+// Reading from address 0x0 is problematic in Rust.
+// See https://users.rust-lang.org/t/reading-from-physical-address-0x0/117408/5.
+// This solution falls back to assembler to deal with this.
+fn read_four_bytes_at_addr_zero(buf: &mut [u8; 4]) {
+    unsafe {
+        core::arch::asm!(
+            "ldr r0, [{0}]",    // Load 4 bytes from src into r0 register
+            "str r0, [{1}]",    // Store r0 register into first_four_bytes
+            in(reg) BOOTLOADER_START_ADDR as *const u8,         // Input: src pointer (0x0)
+            in(reg) buf as *mut [u8; 4],  // Input: destination pointer
+        );
+    }
+}
+fn check_app_crc(app_sel: AppSel) -> bool {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("Checking image {:?}", app_sel);
+    }
+    if app_sel == AppSel::A {
+        check_app_given_addr(APP_A_CRC_ADDR, APP_A_START_ADDR, APP_A_SIZE_ADDR)
+    } else {
+        check_app_given_addr(APP_B_CRC_ADDR, APP_B_START_ADDR, APP_B_SIZE_ADDR)
+    }
+}
+
+fn check_app_given_addr(crc_addr: u32, start_addr: u32, image_size_addr: u32) -> bool {
+    let crc_exp = unsafe { (crc_addr as *const u16).read_unaligned().to_be() };
+    let image_size = unsafe { (image_size_addr as *const u32).read_unaligned().to_be() };
+    // Sanity check.
+    if image_size > APP_A_END_ADDR - APP_A_START_ADDR - 8 {
+        if RTT_PRINTOUT {
+            rprintln!("detected invalid app size {}", image_size);
+        }
+        return false;
+    }
+    let crc_calc = CRC_ALGO.checksum(unsafe {
+        core::slice::from_raw_parts(start_addr as *const u8, image_size as usize)
+    });
+    if crc_calc == crc_exp {
+        return true;
+    }
+    false
+}
+
+// The boot works by copying the interrupt vector table (IVT) of the respective app to the
+// base address in code RAM (0x0) and then performing a soft reset.
+fn boot_app(syscfg: &pac::Sysconfig, cp: &cortex_m::Peripherals, app_sel: AppSel) -> ! {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("booting app {:?}", app_sel);
+    }
+    // Disable ROM protection.
+    syscfg.rom_prot().write(|w| unsafe { w.bits(1) });
+    let base_addr = if app_sel == AppSel::A {
+        APP_A_START_ADDR
+    } else {
+        APP_B_START_ADDR
+    };
+    // Clear all interrupts set.
+    unsafe {
+        cp.NVIC.icer[0].write(0xFFFFFFFF);
+        cp.NVIC.icpr[0].write(0xFFFFFFFF);
+
+        // First 4 bytes done with inline assembly, writing to the physical address 0x0 can not
+        // be done without it. See https://users.rust-lang.org/t/reading-from-physical-address-0x0/117408/2.
+        core::ptr::read(base_addr as *const u32);
+        core::arch::asm!(
+            "str {0}, [{1}]",    // Load 4 bytes from src into r0 register
+            in(reg)  base_addr,  // Input: App vector table.
+            in(reg) BOOTLOADER_START_ADDR as *mut u32,  // Input: destination pointer
+        );
+        core::slice::from_raw_parts_mut(
+            (BOOTLOADER_START_ADDR + 4) as *mut u32,
+            (VECTOR_TABLE_LEN - 4) as usize,
+        )
+        .copy_from_slice(core::slice::from_raw_parts(
+            (base_addr + 4) as *const u32,
+            (VECTOR_TABLE_LEN - 4) as usize,
+        ));
+    }
+    /* Disable re-loading from FRAM/code ROM on soft reset */
+    syscfg
+        .rst_cntl_rom()
+        .modify(|_, w| w.sysrstreq().clear_bit());
+    soft_reset(cp);
+}
+
+// Soft reset based on https://github.com/ARM-software/CMSIS_6/blob/5782d6f8057906d360f4b95ec08a2354afe5c9b9/CMSIS/Core/Include/core_cm0.h#L874.
+fn soft_reset(cp: &cortex_m::Peripherals) -> ! {
+    // Ensure all outstanding memory accesses included buffered write are completed before reset.
+    cortex_m::asm::dsb();
+    unsafe {
+        cp.SCB
+            .aircr
+            .write((0x5FA << SCB_AIRCR_VECTKEY_POS) | SCB_AIRCR_SYSRESETREQ_MSK);
+    }
+    // Ensure completion of memory access.
+    cortex_m::asm::dsb();
+
+    unreachable!();
+}

examples/README.md

@@ -0,0 +1,25 @@
+VA108xx Example Applications
+========
+
+This folder contains various examples
+Consult the main README first for setup of the repository.
+
+## Simple examples
+
+```rs
+cargo run --example blinky
+```
+
+You can have a look at the `simple/examples` folder to see all available simple examples
+
+## RTIC example
+
+```rs
+cargo run --bin rtic-example
+```
+
+## Embassy example
+
+```rs
+cargo run --bin embassy-example
+```

examples/embassy/Cargo.toml

@@ -0,0 +1,40 @@
+[package]
+name = "embassy-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+
+rtt-target = { version = "0.5" }
+panic-rtt-target = { version = "0.1" }
+critical-section = "1"
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+
+embassy-sync = { version = "0.6.0" }
+embassy-time = { version = "0.3.2" }
+embassy-time-driver = { version = "0.1" }
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[dependencies.embassy-executor]
+version = "0.6.0"
+features = [
+    "arch-cortex-m",
+    "executor-thread",
+    "executor-interrupt",
+    "integrated-timers",
+]
+
+[dependencies.va108xx-hal]
+path = "../../va108xx-hal"
+
+[features]
+default = ["ticks-hz-1_000"]
+ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
+ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

examples/embassy/src/lib.rs

@@ -0,0 +1,4 @@
+#![no_std]
+pub mod time_driver;
+
+pub use time_driver::init;

examples/embassy/src/main.rs

@@ -0,0 +1,43 @@
+#![no_std]
+#![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_hal::{gpio::PinsA, pac, prelude::*};
+
+const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("-- VA108xx Embassy Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    unsafe {
+        embassy_example::init(
+            &mut dp.sysconfig,
+            &dp.irqsel,
+            SYSCLK_FREQ,
+            dp.tim23,
+            dp.tim22,
+        )
+    };
+
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+    let mut led0 = porta.pa10.into_readable_push_pull_output();
+    let mut led1 = porta.pa7.into_readable_push_pull_output();
+    let mut led2 = porta.pa6.into_readable_push_pull_output();
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        ticker.next().await;
+        rprintln!("Current time: {}", Instant::now().as_secs());
+        led0.toggle().ok();
+        led1.toggle().ok();
+        led2.toggle().ok();
+    }
+}

examples/embassy/src/time_driver.rs

@@ -0,0 +1,334 @@
+//! This is a sample time driver implementation for the VA108xx family of devices, supporting
+//! one alarm and requiring/reserving 2 TIM peripherals. You could adapt this implementation to
+//! support more alarms.
+//!
+//! This driver implementation reserves interrupts OC31 and OC30 for the timekeeping.
+use core::{cell::Cell, mem, ptr};
+use critical_section::CriticalSection;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+use portable_atomic::{AtomicU32, AtomicU8, Ordering};
+
+use embassy_time_driver::{time_driver_impl, AlarmHandle, Driver, TICK_HZ};
+use once_cell::sync::OnceCell;
+use va108xx_hal::{
+    clock::enable_peripheral_clock,
+    enable_interrupt,
+    pac::{self, interrupt},
+    prelude::*,
+    timer::{enable_tim_clk, ValidTim},
+    PeripheralSelect,
+};
+
+pub type TimekeeperClk = pac::Tim23;
+pub type AlarmClk0 = pac::Tim22;
+pub type AlarmClk1 = pac::Tim21;
+pub type AlarmClk2 = pac::Tim20;
+
+const TIMEKEEPER_IRQ: pac::Interrupt = pac::Interrupt::OC31;
+const ALARM_IRQ: pac::Interrupt = pac::Interrupt::OC30;
+
+/// 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(
+    syscfg: &mut pac::Sysconfig,
+    irqsel: &pac::Irqsel,
+    sysclk: impl Into<Hertz>,
+    timekeeper: TimekeeperClk,
+    alarm_tim: AlarmClk0,
+) {
+    //enable_and_init_irq_router(syscfg, irq_router);
+    DRIVER.init(syscfg, irqsel, sysclk, timekeeper, alarm_tim)
+}
+
+time_driver_impl!(
+    static DRIVER: TimerDriverEmbassy = TimerDriverEmbassy {
+        periods: AtomicU32::new(0),
+        alarm_count: AtomicU8::new(0),
+        alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [AlarmState::new(); ALARM_COUNT])
+});
+
+/// Timekeeper interrupt.
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC31() {
+    DRIVER.on_interrupt_timekeeping()
+}
+
+/// Alarm timer interrupt.
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC30() {
+    DRIVER.on_interrupt_alarm(0)
+}
+
+#[inline(always)]
+const fn alarm_tim(idx: usize) -> &'static pac::tim0::RegisterBlock {
+    // Safety: This is a static memory-mapped peripheral.
+    match idx {
+        0 => unsafe { &*AlarmClk0::ptr() },
+        1 => unsafe { &*AlarmClk1::ptr() },
+        2 => unsafe { &*AlarmClk2::ptr() },
+        _ => {
+            panic!("invalid alarm timer index")
+        }
+    }
+}
+
+#[inline(always)]
+const fn timekeeping_tim() -> &'static pac::tim0::RegisterBlock {
+    // Safety: This is a memory-mapped peripheral.
+    unsafe { &*TimekeeperClk::ptr() }
+}
+
+struct AlarmState {
+    timestamp: Cell<u64>,
+
+    // This is really a Option<(fn(*mut ()), *mut ())>
+    // but fn pointers aren't allowed in const yet
+    callback: Cell<*const ()>,
+    ctx: Cell<*mut ()>,
+}
+
+impl AlarmState {
+    const fn new() -> Self {
+        Self {
+            timestamp: Cell::new(u64::MAX),
+            callback: Cell::new(ptr::null()),
+            ctx: Cell::new(ptr::null_mut()),
+        }
+    }
+}
+
+unsafe impl Send for AlarmState {}
+
+const ALARM_COUNT: usize = 1;
+
+static SCALE: OnceCell<u64> = OnceCell::new();
+
+pub struct TimerDriverEmbassy {
+    periods: AtomicU32,
+    alarm_count: AtomicU8,
+    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
+    alarms: Mutex<CriticalSectionRawMutex, [AlarmState; ALARM_COUNT]>,
+}
+
+impl TimerDriverEmbassy {
+    fn init(
+        &self,
+        syscfg: &mut pac::Sysconfig,
+        irqsel: &pac::Irqsel,
+        sysclk: impl Into<Hertz>,
+        timekeeper: TimekeeperClk,
+        alarm_tim: AlarmClk0,
+    ) {
+        enable_peripheral_clock(syscfg, PeripheralSelect::Irqsel);
+        enable_tim_clk(syscfg, TimekeeperClk::TIM_ID);
+        let sysclk = sysclk.into();
+        // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
+        SCALE.set((sysclk.raw() / TICK_HZ as u32) as u64).unwrap();
+        timekeeper
+            .rst_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Decrementing counter.
+        timekeeper
+            .cnt_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Switch on. Timekeeping should always be done.
+        irqsel
+            .tim0(TimekeeperClk::TIM_ID as usize)
+            .write(|w| unsafe { w.bits(TIMEKEEPER_IRQ as u32) });
+        unsafe {
+            enable_interrupt(TIMEKEEPER_IRQ);
+        }
+        timekeeper.ctrl().modify(|_, w| w.irq_enb().set_bit());
+        timekeeper.enable().write(|w| unsafe { w.bits(1) });
+
+        enable_tim_clk(syscfg, AlarmClk0::TIM_ID);
+
+        // Explicitely disable alarm timer until needed.
+        alarm_tim.ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+        // Enable general interrupts. The IRQ enable of the peripheral remains cleared.
+        unsafe {
+            enable_interrupt(ALARM_IRQ);
+        }
+        irqsel
+            .tim0(AlarmClk0::TIM_ID as usize)
+            .write(|w| unsafe { w.bits(ALARM_IRQ as u32) });
+    }
+
+    // Should be called inside the IRQ of the timekeeper timer.
+    fn on_interrupt_timekeeping(&self) {
+        self.next_period();
+    }
+
+    // Should be called inside the IRQ of the alarm timer.
+    fn on_interrupt_alarm(&self, idx: usize) {
+        critical_section::with(|cs| {
+            if self.alarms.borrow(cs)[idx].timestamp.get() <= self.now() {
+                self.trigger_alarm(idx, cs)
+            }
+        })
+    }
+
+    fn next_period(&self) {
+        let period = self.periods.fetch_add(1, Ordering::AcqRel) + 1;
+        let t = (period as u64) << 32;
+        critical_section::with(|cs| {
+            for i in 0..ALARM_COUNT {
+                let alarm = &self.alarms.borrow(cs)[i];
+                let at = alarm.timestamp.get();
+                let alarm_tim = alarm_tim(0);
+                if at < t {
+                    self.trigger_alarm(i, cs);
+                } else {
+                    let remaining_ticks = (at - t) * *SCALE.get().unwrap();
+                    if remaining_ticks <= u32::MAX as u64 {
+                        alarm_tim.enable().write(|w| unsafe { w.bits(0) });
+                        alarm_tim
+                            .cnt_value()
+                            .write(|w| unsafe { w.bits(remaining_ticks as u32) });
+                        alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                        alarm_tim.enable().write(|w| unsafe { w.bits(1) })
+                    }
+                }
+            }
+        })
+    }
+
+    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
+        // safety: we're allowed to assume the AlarmState is created by us, and
+        // we never create one that's out of bounds.
+        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
+    }
+
+    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
+        alarm_tim(n).ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+
+        let alarm = &self.alarms.borrow(cs)[n];
+        // Setting the maximum value disables the alarm.
+        alarm.timestamp.set(u64::MAX);
+
+        // Call after clearing alarm, so the callback can set another alarm.
+
+        // safety:
+        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
+        // - other than that we only store valid function pointers into alarm.callback
+        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
+        f(alarm.ctx.get());
+    }
+}
+
+impl Driver for TimerDriverEmbassy {
+    fn now(&self) -> u64 {
+        if SCALE.get().is_none() {
+            return 0;
+        }
+        let mut period1: u32;
+        let mut period2: u32;
+        let mut counter_val: u32;
+
+        loop {
+            // Acquire ensures that we get the latest value of `periods` and
+            // no instructions can be reordered before the load.
+            period1 = self.periods.load(Ordering::Acquire);
+
+            counter_val = u32::MAX - timekeeping_tim().cnt_value().read().bits();
+
+            // Double read to protect against race conditions when the counter is overflowing.
+            period2 = self.periods.load(Ordering::Relaxed);
+            if period1 == period2 {
+                let now = (((period1 as u64) << 32) | counter_val as u64) / *SCALE.get().unwrap();
+                return now;
+            }
+        }
+    }
+
+    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
+        let id = self
+            .alarm_count
+            .fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
+                if x < ALARM_COUNT as u8 {
+                    Some(x + 1)
+                } else {
+                    None
+                }
+            });
+
+        match id {
+            Ok(id) => Some(AlarmHandle::new(id)),
+            Err(_) => None,
+        }
+    }
+
+    fn set_alarm_callback(
+        &self,
+        alarm: embassy_time_driver::AlarmHandle,
+        callback: fn(*mut ()),
+        ctx: *mut (),
+    ) {
+        critical_section::with(|cs| {
+            let alarm = self.get_alarm(cs, alarm);
+
+            alarm.callback.set(callback as *const ());
+            alarm.ctx.set(ctx);
+        })
+    }
+
+    fn set_alarm(&self, alarm: embassy_time_driver::AlarmHandle, timestamp: u64) -> bool {
+        if SCALE.get().is_none() {
+            return false;
+        }
+        critical_section::with(|cs| {
+            let n = alarm.id();
+            let alarm_tim = alarm_tim(n.into());
+            alarm_tim.ctrl().modify(|_, w| {
+                w.irq_enb().clear_bit();
+                w.enable().clear_bit()
+            });
+
+            let alarm = self.get_alarm(cs, alarm);
+            alarm.timestamp.set(timestamp);
+
+            let t = self.now();
+            if timestamp <= t {
+                alarm.timestamp.set(u64::MAX);
+                return false;
+            }
+
+            // If it hasn't triggered yet, setup the relevant reset value, regardless of whether
+            // the interrupts are enabled or not. When they are enabled at a later point, the
+            // right value is already set.
+
+            // If the timestamp is in the next few ticks, add a bit of buffer to be sure the alarm
+            // is not missed.
+            //
+            // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
+            // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
+            // and we don't do that here.
+            let safe_timestamp = timestamp.max(t + 3);
+            let timer_ticks = (safe_timestamp - t) * *SCALE.get().unwrap();
+            alarm_tim.rst_value().write(|w| unsafe { w.bits(u32::MAX) });
+            if timer_ticks <= u32::MAX as u64 {
+                alarm_tim
+                    .cnt_value()
+                    .write(|w| unsafe { w.bits(timer_ticks as u32) });
+                alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                alarm_tim.enable().write(|w| unsafe { w.bits(1) });
+            }
+            // If it's too far in the future, don't enable timer yet.
+            // It will be enabled later by `next_period`.
+
+            true
+        })
+    }
+}

examples/rtic/Cargo.toml

@@ -0,0 +1,33 @@
+[package]
+name = "rtic-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-io = "0.6"
+rtt-target = { version = "0.5" }
+# Even though we do not use this directly, we need to activate this feature explicitely
+# so that RTIC compiles because thumv6 does not have CAS operations natively.
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+panic-rtt-target = { version = "0.1" }
+
+[dependencies.va108xx-hal]
+path = "../../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv6-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]
+
+[dependencies.rtic-sync]
+version = "1.3"
+features = ["defmt-03"]

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

@@ -5,6 +5,7 @@
 #[rtic::app(device = pac)]
 mod app {
     use panic_rtt_target as _;
+    use rtic_example::SYSCLK_FREQ;
     use rtt_target::{rprintln, rtt_init_default, set_print_channel};
     use va108xx_hal::{
         clock::{set_clk_div_register, FilterClkSel},
@@ -16,6 +17,8 @@ mod app {
     use vorago_reb1::button::Button;
     use vorago_reb1::leds::Leds;
 
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
     #[derive(Debug, PartialEq)]
     pub enum PressMode {
         Toggle,
@@ -43,10 +46,12 @@ mod app {
     struct Shared {}
 
     #[init]
-    fn init(ctx: init::Context) -> (Shared, Local, init::Monotonics) {
+    fn init(cx: init::Context) -> (Shared, Local) {
         let channels = rtt_init_default!();
         set_print_channel(channels.up.0);
         rprintln!("-- Vorago Button IRQ Example --");
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
         let mode = match CFG_MODE {
             // Ask mode from user via RTT
             CfgMode::Prompt => prompt_mode(channels.down.0),
@@ -55,7 +60,7 @@ mod app {
         };
         rprintln!("Using {:?} mode", mode);
 
-        let mut dp = ctx.device;
+        let mut dp = cx.device;
         let pinsa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
         let edge_irq = match mode {
             PressMode::Toggle => InterruptEdge::HighToLow,
@@ -90,7 +95,7 @@ mod app {
             50.MHz(),
             dp.tim0,
         );
-        (Shared {}, Local { leds, button, mode }, init::Monotonics())
+        (Shared {}, Local { leds, button, mode })
     }
 
     // `shared` cannot be accessed from this context
@@ -108,12 +113,10 @@ mod app {
         let mode = cx.local.mode;
         if *mode == PressMode::Toggle {
             leds[0].toggle();
+        } else if button.released() {
+            leds[0].off();
         } else {
-            if button.released() {
+            leds[0].on();
-                leds[0].off();
-            } else {
-                leds[0].on();
-            }
         }
     }
 
@@ -129,14 +132,11 @@ mod app {
         let mut read;
         loop {
             read = down_channel.read(&mut read_buf);
-            for i in 0..read {
+            for &byte in &read_buf[..read] {
-                let val = read_buf[i] as char;
+                match byte as char {
-                if val == '0' || val == '1' {
+                    '0' => return PressMode::Toggle,
-                    return if val == '0' {
+                    '1' => return PressMode::Keep,
-                        PressMode::Toggle
+                    _ => continue, // Ignore other characters
-                    } else {
-                        PressMode::Keep
-                    };
                 }
             }
         }

examples/rtic/src/bin/uart-rtic.rs

@@ -14,14 +14,13 @@
 mod app {
     use embedded_io::Write;
     use panic_rtt_target as _;
-    use rtic_monotonics::systick::Systick;
+    use rtic_example::SYSCLK_FREQ;
     use rtic_sync::make_channel;
     use rtt_target::{rprintln, rtt_init_print};
     use va108xx_hal::{
         gpio::PinsB,
         pac,
         prelude::*,
-        time::Hertz,
         uart::{self, IrqCfg, IrqResult, UartWithIrqBase},
     };
 
@@ -44,19 +43,14 @@ mod app {
         pub timeout: bool,
     }
 
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
         rtt_init_print!();
-        //set_print_channel(channels.up.0);
         rprintln!("-- VA108xx UART IRQ example application--");
 
-        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(
-            cx.core.SYST,
-            Hertz::from(50.MHz()).raw(),
-            systick_mono_token,
-        );
 
         let mut dp = cx.device;
         let gpiob = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
@@ -65,7 +59,7 @@ mod app {
 
         let irq_cfg = IrqCfg::new(pac::interrupt::OC3, true, true);
         let (mut irq_uart, _) =
-            uart::Uart::uartb(dp.uartb, (tx, rx), 115200.Hz(), &mut dp.sysconfig, 50.MHz())
+            uart::Uart::new(&mut dp.sysconfig, 50.MHz(), dp.uartb, (tx, rx), 115200.Hz())
                 .into_uart_with_irq(irq_cfg, Some(&mut dp.sysconfig), Some(&mut dp.irqsel))
                 .downgrade();
         irq_uart
@@ -74,7 +68,6 @@ mod app {
 
         let (rx_info_tx, rx_info_rx) = make_channel!(RxInfo, 3);
         let rx_buf: [u8; 64] = [0; 64];
-        //reply_handler::spawn().expect("spawning reply handler failed");
         (
             Shared { irq_uart, rx_buf },
             Local {
@@ -112,8 +105,8 @@ mod app {
                             .expect("Read operation init failed");
 
                         let mut end_idx = 0;
-                        for idx in 0..rx_buf.len() {
+                        for (idx, val) in rx_buf.iter().enumerate() {
-                            if (rx_buf[idx] as char) == '\n' {
+                            if (*val as char) == '\n' {
                                 end_idx = idx;
                                 break;
                             }

examples/rtic/src/lib.rs

@@ -0,0 +1,4 @@
+#![no_std]
+use va108xx_hal::time::Hertz;
+
+pub const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);

examples/rtic/src/main.rs

@@ -0,0 +1,71 @@
+//! RTIC minimal blinky
+#![no_main]
+#![no_std]
+
+#[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::*;
+    use rtic_monotonics::Monotonic;
+    use rtt_target::{rprintln, rtt_init_print};
+    use va108xx_hal::{
+        gpio::{OutputReadablePushPull, Pin, PinsA, PA10, PA6, PA7},
+        pac,
+    };
+
+    #[local]
+    struct Local {
+        led0: Pin<PA10, OutputReadablePushPull>,
+        led1: Pin<PA7, OutputReadablePushPull>,
+        led2: Pin<PA6, OutputReadablePushPull>,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        rtt_init_print!();
+        rprintln!("-- Vorago VA108xx RTIC template --");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let porta = PinsA::new(
+            &mut cx.device.sysconfig,
+            Some(cx.device.ioconfig),
+            cx.device.porta,
+        );
+        let led0 = porta.pa10.into_readable_push_pull_output();
+        let led1 = porta.pa7.into_readable_push_pull_output();
+        let led2 = porta.pa6.into_readable_push_pull_output();
+        blinky::spawn().ok();
+        (Shared {}, Local { led0, led1, led2 })
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            asm::nop();
+        }
+    }
+
+    #[task(
+        priority = 3,
+        local=[led0, led1, led2],
+    )]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            rprintln!("toggling LEDs");
+            cx.local.led0.toggle().ok();
+            cx.local.led1.toggle().ok();
+            cx.local.led2.toggle().ok();
+            Mono::delay(1000.millis()).await;
+        }
+    }
+}

examples/simple/Cargo.toml

@@ -4,30 +4,20 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-panic-halt = "0.2"
 cortex-m = {version = "0.7", features = ["critical-section-single-core"]}
-panic-rtt-target = "0.1"
 cortex-m-rt = "0.7"
+panic-halt = "0.2"
+panic-rtt-target = "0.1"
+critical-section = "1"
 rtt-target = "0.5"
-rtic-sync = { version = "1.3", features = ["defmt-03"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
 cortex-m-semihosting = "0.5.0"
-# I'd really like to use those, but it is tricky without probe-rs..
-# defmt = "0.3"
-# defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-# panic-probe = { version = "0.3", features = ["print-defmt"] }
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv6-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
 
 [dependencies.va108xx-hal]
-version = "0.6"
 path = "../../va108xx-hal"
 features = ["rt", "defmt"]
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"

examples/simple/examples/cascade.rs

@@ -48,7 +48,7 @@ fn main() -> ! {
     let mut cascade_target_1 =
         CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim4).auto_deactivate(true);
     cascade_target_1
-        .cascade_0_source(CascadeSource::TimBase, Some(3))
+        .cascade_0_source(CascadeSource::Tim(3))
         .expect("Configuring cascade source for TIM4 failed");
     let mut csd_cfg = CascadeCtrl {
         enb_start_src_csd0: true,
@@ -75,7 +75,7 @@ fn main() -> ! {
         CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim5).auto_deactivate(true);
     // Set TIM4 as cascade source
     cascade_target_2
-        .cascade_1_source(CascadeSource::TimBase, Some(4))
+        .cascade_1_source(CascadeSource::Tim(4))
         .expect("Configuring cascade source for TIM5 failed");
 
     csd_cfg = CascadeCtrl::default();

examples/simple/examples/pwm.rs

@@ -21,9 +21,9 @@ fn main() -> ! {
     let mut dp = pac::Peripherals::take().unwrap();
     let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
     let mut pwm = pwm::PwmPin::new(
-        (pinsa.pa3.into_funsel_1(), dp.tim3),
-        50.MHz(),
         &mut dp.sysconfig,
+        50.MHz(),
+        (pinsa.pa3.into_funsel_1(), dp.tim3),
         10.Hz(),
     );
     let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);

examples/simple/examples/rtt-log.rs

@@ -3,12 +3,14 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use panic_halt as _;
+use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal as _;
 
 #[entry]
 fn main() -> ! {
     rtt_init_print!();
+    rprintln!("-- VA108XX RTT example --");
     let mut counter = 0;
     loop {
         rprintln!("{}: Hello, world!", counter);

examples/simple/examples/spi.rs

@@ -16,7 +16,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     pwm::{default_ms_irq_handler, set_up_ms_tick},
-    spi::{self, Spi, SpiBase, TransferConfig},
+    spi::{self, Spi, SpiBase, SpiClkConfig, TransferConfigWithHwcs},
     IrqCfg,
 };
 
@@ -55,6 +55,8 @@ fn main() -> ! {
         dp.tim0,
     );
 
+    let spi_clk_cfg = SpiClkConfig::from_clk(50.MHz(), SPI_SPEED_KHZ.kHz())
+        .expect("creating SPI clock config failed");
     let spia_ref: RefCell<Option<SpiBase<pac::Spia, u8>>> = RefCell::new(None);
     let spib_ref: RefCell<Option<SpiBase<pac::Spib, u8>>> = RefCell::new(None);
     let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
@@ -73,13 +75,12 @@ fn main() -> ! {
                 pinsa.pa30.into_funsel_1(),
                 pinsa.pa29.into_funsel_1(),
             );
-            let mut spia = Spi::spia(
+            let mut spia = Spi::new(
+                &mut dp.sysconfig,
+                50.MHz(),
                 dp.spia,
                 (sck, miso, mosi),
-                50.MHz(),
                 spi_cfg,
-                Some(&mut dp.sysconfig),
-                None,
             );
             spia.set_fill_word(FILL_WORD);
             spia_ref.borrow_mut().replace(spia.downgrade());
@@ -90,13 +91,12 @@ fn main() -> ! {
                 pinsb.pb8.into_funsel_2(),
                 pinsb.pb7.into_funsel_2(),
             );
-            let mut spia = Spi::spia(
+            let mut spia = Spi::new(
+                &mut dp.sysconfig,
+                50.MHz(),
                 dp.spia,
                 (sck, miso, mosi),
-                50.MHz(),
                 spi_cfg,
-                Some(&mut dp.sysconfig),
-                None,
             );
             spia.set_fill_word(FILL_WORD);
             spia_ref.borrow_mut().replace(spia.downgrade());
@@ -107,13 +107,12 @@ fn main() -> ! {
                 pinsb.pb4.into_funsel_1(),
                 pinsb.pb3.into_funsel_1(),
             );
-            let mut spib = Spi::spib(
+            let mut spib = Spi::new(
+                &mut dp.sysconfig,
+                50.MHz(),
                 dp.spib,
                 (sck, miso, mosi),
-                50.MHz(),
                 spi_cfg,
-                Some(&mut dp.sysconfig),
-                None,
             );
             spib.set_fill_word(FILL_WORD);
             spib_ref.borrow_mut().replace(spib.downgrade());
@@ -123,17 +122,21 @@ fn main() -> ! {
     match SPI_BUS_SEL {
         SpiBusSelect::SpiAPortA | SpiBusSelect::SpiAPortB => {
             if let Some(ref mut spi) = *spia_ref.borrow_mut() {
-                let transfer_cfg =
+                let transfer_cfg = TransferConfigWithHwcs::new_no_hw_cs(
-                    TransferConfig::new_no_hw_cs(SPI_SPEED_KHZ.kHz(), SPI_MODE, BLOCKMODE, false);
+                    Some(spi_clk_cfg),
+                    Some(SPI_MODE),
+                    BLOCKMODE,
+                    false,
+                );
                 spi.cfg_transfer(&transfer_cfg);
             }
         }
         SpiBusSelect::SpiBPortB => {
             if let Some(ref mut spi) = *spib_ref.borrow_mut() {
                 let hw_cs_pin = pinsb.pb2.into_funsel_1();
-                let transfer_cfg = TransferConfig::new(
+                let transfer_cfg = TransferConfigWithHwcs::new(
-                    SPI_SPEED_KHZ.kHz(),
+                    Some(spi_clk_cfg),
-                    SPI_MODE,
+                    Some(SPI_MODE),
                     Some(hw_cs_pin),
                     BLOCKMODE,
                     false,
@@ -195,6 +198,10 @@ fn main() -> ! {
                     if EXAMPLE_SEL == ExampleSelect::Loopback {
                         // Can't really verify correct reply here.
                         spi.write(&[0x42]).expect("write failed");
+                        // Need small delay.. otherwise we will read back the sent byte (which we don't want here).
+                        // The write function will return as soon as all bytes were shifted out, ignoring the
+                        // reply bytes.
+                        delay.delay_us(50);
                         // Because of the loopback mode, we should get back the fill word here.
                         spi.read(&mut reply_buf[0..1]).unwrap();
                         assert_eq!(reply_buf[0], FILL_WORD);

examples/simple/examples/timer-ticks.rs

@@ -3,8 +3,8 @@
 #![no_std]
 
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
@@ -83,11 +83,12 @@ fn main() -> ! {
         }
     }
     loop {
-        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        let current_ms = critical_section::with(|cs| MS_COUNTER.borrow(cs).get());
         if current_ms - last_ms >= 1000 {
-            last_ms = current_ms;
+            // To prevent drift.
+            last_ms += 1000;
             rprintln!("MS counter: {}", current_ms);
-            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
+            let second = critical_section::with(|cs| SEC_COUNTER.borrow(cs).get());
             rprintln!("Second counter: {}", second);
         }
         cortex_m::asm::delay(10000);
@@ -110,7 +111,7 @@ fn OC0() {
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC1() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         let mut sec = SEC_COUNTER.borrow(cs).get();
         sec += 1;
         SEC_COUNTER.borrow(cs).set(sec);

examples/simple/examples/uart.rs

@@ -28,7 +28,7 @@ fn main() -> ! {
     let tx = gpioa.pa9.into_funsel_2();
     let rx = gpioa.pa8.into_funsel_2();
 
-    let uarta = uart::Uart::uarta(dp.uarta, (tx, rx), 115200.Hz(), &mut dp.sysconfig, 50.MHz());
+    let uarta = uart::Uart::new(&mut dp.sysconfig, 50.MHz(), dp.uarta, (tx, rx), 115200.Hz());
     let (mut tx, mut rx) = uarta.split();
     writeln!(tx, "Hello World\r").unwrap();
     loop {

scripts/VA108xx_Series.yaml

@@ -11,14 +11,14 @@ variants:
       psel: 0x0
   memory_map:
   - !Ram
-    name: IRAM1
+    name: DRAM
     range:
       start: 0x10000000
       end: 0x10008000
     cores:
     - main
   - !Nvm
-    name: IROM1
+    name: NVM
     range:
       start: 0x0
       end: 0x20000
@@ -30,6 +30,29 @@ variants:
   - va108xx_m95m01_128kb_prog
   - va108xx_mr25h10_1mb_prog
   - va108xx_ttflash_prog
+- name: VA108xx_RAM
+  cores:
+  - name: main
+    type: armv6m
+    core_access_options: !Arm
+      ap: 0
+      psel: 0x0
+  memory_map:
+  - !Ram
+    name: DRAM
+    range:
+      start: 0x10000000
+      end: 0x10008000
+    cores:
+    - main
+  - !Ram
+    name: IRAM
+    range:
+      start: 0x0
+      end: 0x20000
+    is_boot_memory: true
+    cores:
+    - main
 flash_algorithms:
 - name: va108xx_fm25v20a_fram_128kb_prog
   description: VA108_FM25V20A_FRAM_128KB

va108xx-hal/CHANGELOG.md

@@ -6,6 +6,20 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
+## [unreleased]
+
+- Improves `CascardSource` handling and general API when chosing cascade sources.
+- Replaced `utility::unmask_irq` by `enable_interrupt` and `disable_interrupt` API.
+
+## [v0.7.0] 2024-07-04
+
+- Replace `uarta` and `uartb` `Uart` constructors by `new` constructor
+- Replace SPI `spia`, `spib` and `spic` constructors by `new` constructor
+- Replace I2C `i2ca`, `i2cb` constructors by `new` constructor. Update constructor
+  to fail on invalid fast I2C speed system clock values
+- Renamed `gpio::pins` to `gpio::pin` and `gpio::dynpins` to `gpio::dynpin`
+- Simplify UART clock divider calculations and remove `libm` dependency consequently
+
 ## [v0.6.0] 2024-06-16
 
 - Updated `embedded-hal` to v1

va108xx-hal/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "va108xx-hal"
-version = "0.6.0"
+version = "0.7.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-hal"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-hal"
+repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
@@ -16,11 +16,10 @@ cortex-m-rt = "0.7"
 nb = "1"
 paste = "1"
 embedded-hal-nb = "1"
-libm = "0.2"
 embedded-io = "0.6"
 fugit = "0.3"
 typenum = "1"
-defmt = { version = "0.3", optional = true }
+critical-section = "1"
 delegate = "0.12"
 
 [dependencies.va108xx]
@@ -39,10 +38,15 @@ default-features = false
 version = "1.14"
 default-features = false
 
+[dependencies.defmt]
+version = "0.3"
+optional = true
+
 [features]
 default = ["rt"]
 rt = ["va108xx/rt"]
+defmt = ["dep:defmt", "fugit/defmt"]
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]

va108xx-hal/README.md

@@ -4,7 +4,7 @@
 # HAL for the Vorago VA108xx MCU family
 
 This repository contains the **H**ardware **A**bstraction **L**ayer (HAL), which is an additional
-hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va108xx).
+hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/va108xx).
 
 It is the result of reading the datasheet for the device and encoding a type-safe layer over the
 raw PAC. This crate also implements traits specified by the
@@ -39,7 +39,7 @@ your custom board.
 
 The hello world of embedded development is usually to blinky a LED. This example
 is contained within the
-[examples folder](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/blinky.rs).
+[examples folder](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/blinky.rs).
 
 1. Set up your Rust cross-compiler if you have not done so yet. See more in the [build chapter](#Building)
 2. Create a new binary crate with `cargo init`

va108xx-hal/src/gpio/dynpin.rs

@@ -36,8 +36,7 @@
 //! Users may try to convert value-level pins back to their type-level
 //! equivalents. However, this option is fallible, because the compiler cannot
 //! guarantee the pin has the correct ID or is in the correct mode at
-//! compile-time. Use [`TryFrom`](core::convert::TryFrom)/
+//! compile-time. Use [TryFrom]/[TryInto] for this conversion.
-//! [`TryInto`](core::convert::TryInto) for this conversion.
 //!
 //! ```
 //! // Convert to a `DynPin`
@@ -55,10 +54,10 @@
 //! `Error = core::convert::Infallible`, the value-level API can return a real
 //! error. If the [`DynPin`] is not in the correct [`DynPinMode`] for the
 //! operation, the trait functions will return
-//! [`InvalidPinType`](PinError::InvalidPinType).
+//! [InvalidPinTypeError].
 
 use super::{
-    pins::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
+    pin::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
     reg::RegisterInterface,
 };
 use crate::{clock::FilterClkSel, pac, FunSel, IrqCfg};

va108xx-hal/src/gpio/mod.rs

@@ -3,10 +3,10 @@
 //! The implementation of this GPIO module is heavily based on the
 //! [ATSAMD HAL implementation](https://docs.rs/atsamd-hal/latest/atsamd_hal/gpio/index.html).
 //!
-//! This API provides two different submodules, [`mod@pins`] and [`dynpins`],
+//! This API provides two different submodules, [pin] and [dynpin],
-//! representing two different ways to handle GPIO pins. The default, [`mod@pins`],
+//! representing two different ways to handle GPIO pins. The default, [pin],
 //! is a type-level API that tracks the state of each pin at compile-time. The
-//! alternative, [`dynpins`] is a type-erased, value-level API that tracks the
+//! alternative, [dynpin] is a type-erased, value-level API that tracks the
 //! state of each pin at run-time.
 //!
 //! The type-level API is strongly preferred. By representing the state of each
@@ -14,14 +14,13 @@
 //! compile-time. Furthermore, the type-level API has absolutely zero run-time
 //! cost.
 //!
-//! If needed, [`dynpins`] can be used to erase the type-level differences
+//! If needed, [dynpin] can be used to erase the type-level differences
 //! between pins. However, by doing so, pins must now be tracked at run-time,
 //! and each pin has a non-zero memory footprint.
 //!
 //! ## Examples
 //!
-//! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/blinky.rs)
+//! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
-//!
 
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -102,10 +101,10 @@ macro_rules! common_reg_if_functions {
     };
 }
 
-pub mod dynpins;
+pub mod dynpin;
-pub use dynpins::*;
+pub use dynpin::*;
 
-pub mod pins;
+pub mod pin;
-pub use pins::*;
+pub use pin::*;
 
 mod reg;

va108xx-hal/src/gpio/pin.rs

@@ -29,73 +29,48 @@
 //! }
 //! ```
 //!
-//! A `PinId` identifies a pin by it's group (A, B, C or D) and pin number. Each
+//! A [PinId] identifies a pin by it's group (A or B) and pin number. Each
-//! `PinId` instance is named according to its datasheet identifier, e.g.
+//! [PinId] instance is named according to its datasheet identifier, e.g.
-//! [`PA02`].
+//! [PA2].
 //!
-//! A `PinMode` represents the various pin modes. The available `PinMode`
+//! A [PinMode] represents the various pin modes. The available [PinMode]
-//! variants are [`Disabled`], [`Input`], [`Interrupt`], [`Output`] and
+//! variants are [`Input`], [`Output`] and [`Alternate`], each with its own
-//! [`Alternate`], each with its own corresponding configurations.
+//! corresponding configurations.
 //!
 //! It is not possible for users to create new instances of a [`Pin`]. Singleton
-//! instances of each pin are made available to users through the [`Pins`]
+//! instances of each pin are made available to users through the PinsX
 //! struct.
 //!
-//! To create the [`Pins`] struct, users must supply the PAC
+//! Example for the pins of PORT A:
-//! [`PORT`](crate::pac::PORT) peripheral. The [`Pins`] struct takes
+//!
-//! ownership of the [`PORT`] and provides the corresponding pins. Each [`Pin`]
+//! To create the [PinsA] struct, users must supply the PAC
-//! within the [`Pins`] struct can be moved out and used individually.
+//! [Port](crate::pac::Porta) peripheral. The [PinsA] struct takes
+//! ownership of the [Porta] and provides the corresponding pins. Each [`Pin`]
+//! within the [PinsA] struct can be moved out and used individually.
 //!
 //!
 //! ```
 //! let mut peripherals = Peripherals::take().unwrap();
-//! let pins = Pins::new(peripherals.PORT);
+//! let pinsa = PinsA::new(peripherals.PORT);
 //! ```
 //!
 //! Pins can be converted between modes using several different methods.
 //!
-//! ```
+//! ```no_run
 //! // Use one of the literal function names
-//! let pa27 = pins.pa27.into_floating_input();
+//! let pa0 = pinsa.pa0.into_floating_input();
 //! // Use a generic method and one of the `PinMode` variant types
-//! let pa27 = pins.pa27.into_mode::<FloatingInput>();
+//! let pa0 = pinsa.pa0.into_mode::<FloatingInput>();
 //! // Specify the target type and use `From`/`Into`
-//! let pa27: Pin<PA27, FloatingInput> = pins.pa27.into();
+//! let pa0: Pin<PA0, FloatingInput> = pinsa.pa27.into();
 //! ```
 //!
 //! # Embedded HAL traits
 //!
 //! This module implements all of the embedded HAL GPIO traits for each [`Pin`]
 //! in the corresponding [`PinMode`]s, namely: [`InputPin`], [`OutputPin`],
-//! [`ToggleableOutputPin`] and [`StatefulOutputPin`].
+//! and [`StatefulOutputPin`].
-//!
+use super::dynpin::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
-//! For example, you can control the logic level of an `OutputPin` like so
-//!
-//! ```
-//! use atsamd_hal::pac::Peripherals;
-//! use atsamd_hal::gpio::Pins;
-//! use crate::ehal_02::digital::v2::OutputPin;
-//!
-//! let mut peripherals = Peripherals::take().unwrap();
-//! let mut pins = Pins::new(peripherals.PORT);
-//! pins.pa27.set_high();
-//! ```
-//!
-//! # Type-level features
-//!
-//! This module also provides additional, type-level tools to work with GPIO
-//! pins.
-//!
-//! The [`OptionalPinId`] and [`OptionalPin`] traits use the [`OptionalKind`]
-//! pattern to act as type-level versions of [`Option`] for `PinId` and `Pin`
-//! respectively. And the [`AnyPin`] trait defines an [`AnyKind`] type class
-//! for all `Pin` types.
-//!
-//! [type classes]: crate::typelevel#type-classes
-//! [type-level enum]: crate::typelevel#type-level-enum
-//! [`OptionalKind`]: crate::typelevel#optionalkind-trait-pattern
-//! [`AnyKind`]: crate::typelevel#anykind-trait-pattern
-use super::dynpins::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
 use super::reg::RegisterInterface;
 use crate::{
     pac::{Irqsel, Porta, Portb, Sysconfig},
@@ -137,9 +112,9 @@ pub enum PinState {
 
 /// Type-level enum for input configurations
 ///
-/// The valid options are [`Floating`], [`PullDown`] and [`PullUp`].
+/// The valid options are [Floating], [PullDown] and [PullUp].
 pub trait InputConfig: Sealed {
-    /// Corresponding [`DynInput`](super::DynInput)
+    /// Corresponding [DynInput]
     const DYN: DynInput;
 }
 
@@ -297,9 +272,9 @@ pub type Reset = InputFloating;
 
 /// Type-level enum representing pin modes
 ///
-/// The valid options are [`Input`], [`Output`] and [`Alternate`].
+/// The valid options are [Input], [Output] and [Alternate].
 pub trait PinMode: Sealed {
-    /// Corresponding [`DynPinMode`](super::DynPinMode)
+    /// Corresponding [DynPinMode]
     const DYN: DynPinMode;
 }
 
@@ -319,7 +294,7 @@ impl<C: AlternateConfig> PinMode for Alternate<C> {
 
 /// Type-level enum for pin IDs
 pub trait PinId: Sealed {
-    /// Corresponding [`DynPinId`](super::DynPinId)
+    /// Corresponding [DynPinId]
     const DYN: DynPinId;
 }
 
@@ -344,7 +319,7 @@ macro_rules! pin_id {
 //  Pin
 //==================================================================================================
 
-/// A type-level GPIO pin, parameterized by [`PinId`] and [`PinMode`] types
+/// A type-level GPIO pin, parameterized by [PinId] and [PinMode] types
 
 pub struct Pin<I: PinId, M: PinMode> {
     pub(in crate::gpio) regs: Registers<I>,
@@ -352,12 +327,12 @@ pub struct Pin<I: PinId, M: PinMode> {
 }
 
 impl<I: PinId, M: PinMode> Pin<I, M> {
-    /// Create a new [`Pin`]
+    /// Create a new [Pin]
     ///
     /// # Safety
     ///
-    /// Each [`Pin`] must be a singleton. For a given [`PinId`], there must be
+    /// Each [Pin] must be a singleton. For a given [PinId], there must be
-    /// at most one corresponding [`Pin`] in existence at any given time.
+    /// at most one corresponding [Pin] in existence at any given time.
     /// Violating this requirement is `unsafe`.
     #[inline]
     pub(crate) unsafe fn new() -> Pin<I, M> {

va108xx-hal/src/gpio/reg.rs

@@ -1,5 +1,5 @@
-use super::dynpins::{self, DynGroup, DynPinId, DynPinMode};
+use super::dynpin::{self, DynGroup, DynPinId, DynPinMode};
-use super::pins::{FilterType, InterruptEdge, InterruptLevel, PinState};
+use super::pin::{FilterType, InterruptEdge, InterruptLevel, PinState};
 use super::IsMaskedError;
 use crate::clock::FilterClkSel;
 use va108xx::{ioconfig, porta};
@@ -30,7 +30,7 @@ impl From<DynPinMode> for ModeFields {
         use DynPinMode::*;
         match mode {
             Input(config) => {
-                use dynpins::DynInput::*;
+                use dynpin::DynInput::*;
                 fields.dir = false;
                 match config {
                     Floating => (),
@@ -44,7 +44,7 @@ impl From<DynPinMode> for ModeFields {
                 }
             }
             Output(config) => {
-                use dynpins::DynOutput::*;
+                use dynpin::DynOutput::*;
                 fields.dir = true;
                 match config {
                     PushPull => (),

va108xx-hal/src/lib.rs

@@ -1,5 +1,5 @@
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 
 pub use va108xx;
 pub use va108xx as pac;
@@ -15,7 +15,6 @@ pub mod time;
 pub mod timer;
 pub mod typelevel;
 pub mod uart;
-pub mod utility;
 
 #[derive(Debug, Eq, Copy, Clone, PartialEq)]
 pub enum FunSel {
@@ -98,3 +97,21 @@ pub fn port_mux(
         }
     }
 }
+
+/// Enable a specific interrupt using the NVIC peripheral.
+///
+/// # Safety
+///
+/// This function is `unsafe` because it can break mask-based critical sections.
+#[inline]
+pub unsafe fn enable_interrupt(irq: pac::Interrupt) {
+    unsafe {
+        cortex_m::peripheral::NVIC::unmask(irq);
+    }
+}
+
+/// Disable a specific interrupt using the NVIC peripheral.
+#[inline]
+pub fn disable_interrupt(irq: pac::Interrupt) {
+    cortex_m::peripheral::NVIC::mask(irq);
+}

va108xx-hal/src/prelude.rs

@@ -1,3 +1,5 @@
 //! Prelude
 pub use fugit::ExtU32 as _;
 pub use fugit::RateExtU32 as _;
+
+pub use crate::time::*;

va108xx-hal/src/pwm.rs

@@ -4,7 +4,7 @@
 //!
 //! ## Examples
 //!
-//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/pwm.rs)
+//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/pwm.rs)
 use core::convert::Infallible;
 use core::marker::PhantomData;
 
@@ -158,9 +158,9 @@ where
 {
     /// Create a new stronlgy typed PWM pin
     pub fn new(
-        vtp: (Pin, Tim),
-        sys_clk: impl Into<Hertz> + Copy,
         sys_cfg: &mut pac::Sysconfig,
+        sys_clk: impl Into<Hertz> + Copy,
+        tim_and_pin: (Pin, Tim),
         initial_period: impl Into<Hertz> + Copy,
     ) -> Self {
         let mut pin = PwmPin {
@@ -171,7 +171,7 @@ where
                 current_rst_val: 0,
                 sys_clk: sys_clk.into(),
             },
-            reg: unsafe { TimAndPinRegister::new(vtp.0, vtp.1) },
+            reg: unsafe { TimAndPinRegister::new(tim_and_pin.0, tim_and_pin.1) },
             mode: PhantomData,
         };
         enable_peripheral_clock(sys_cfg, crate::clock::PeripheralClocks::Gpio);
@@ -225,12 +225,13 @@ where
     (Pin, Tim): ValidTimAndPin<Pin, Tim>,
 {
     pub fn pwma(
-        vtp: (Pin, Tim),
-        sys_clk: impl Into<Hertz> + Copy,
         sys_cfg: &mut pac::Sysconfig,
+        sys_clk: impl Into<Hertz> + Copy,
+        pin_and_tim: (Pin, Tim),
         initial_period: impl Into<Hertz> + Copy,
     ) -> Self {
-        let mut pin: PwmPin<Pin, Tim, PwmA> = Self::new(vtp, sys_clk, sys_cfg, initial_period);
+        let mut pin: PwmPin<Pin, Tim, PwmA> =
+            Self::new(sys_cfg, sys_clk, pin_and_tim, initial_period);
         pin.enable_pwm_a();
         pin
     }
@@ -241,12 +242,13 @@ where
     (Pin, Tim): ValidTimAndPin<Pin, Tim>,
 {
     pub fn pwmb(
-        vtp: (Pin, Tim),
-        sys_clk: impl Into<Hertz> + Copy,
         sys_cfg: &mut pac::Sysconfig,
+        sys_clk: impl Into<Hertz> + Copy,
+        pin_and_tim: (Pin, Tim),
         initial_period: impl Into<Hertz> + Copy,
     ) -> Self {
-        let mut pin: PwmPin<Pin, Tim, PwmB> = Self::new(vtp, sys_clk, sys_cfg, initial_period);
+        let mut pin: PwmPin<Pin, Tim, PwmB> =
+            Self::new(sys_cfg, sys_clk, pin_and_tim, initial_period);
         pin.enable_pwm_b();
         pin
     }

va108xx-hal/src/sysconfig.rs

@@ -1,18 +1,19 @@
 use crate::{pac, PeripheralSelect};
 
 #[derive(PartialEq, Eq, Debug)]
-pub struct InvalidounterResetVal(pub(crate) ());
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct InvalidCounterResetVal(pub(crate) ());
 
 /// Enable scrubbing for the ROM
 ///
-/// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0
+/// Returns [InvalidCounterResetVal] if the scrub rate is 0
 /// (equivalent to disabling) or larger than 24 bits
 pub fn enable_rom_scrubbing(
     syscfg: &mut pac::Sysconfig,
     scrub_rate: u32,
-) -> Result<(), InvalidounterResetVal> {
+) -> Result<(), InvalidCounterResetVal> {
     if scrub_rate == 0 || scrub_rate > u32::pow(2, 24) {
-        return Err(InvalidounterResetVal(()));
+        return Err(InvalidCounterResetVal(()));
     }
     syscfg.rom_scrub().write(|w| unsafe { w.bits(scrub_rate) });
     Ok(())
@@ -24,14 +25,14 @@ pub fn disable_rom_scrubbing(syscfg: &mut pac::Sysconfig) {
 
 /// Enable scrubbing for the RAM
 ///
-/// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0
+/// Returns [InvalidCounterResetVal] if the scrub rate is 0
 /// (equivalent to disabling) or larger than 24 bits
 pub fn enable_ram_scrubbing(
     syscfg: &mut pac::Sysconfig,
     scrub_rate: u32,
-) -> Result<(), InvalidounterResetVal> {
+) -> Result<(), InvalidCounterResetVal> {
     if scrub_rate == 0 || scrub_rate > u32::pow(2, 24) {
-        return Err(InvalidounterResetVal(()));
+        return Err(InvalidCounterResetVal(()));
     }
     syscfg.ram_scrub().write(|w| unsafe { w.bits(scrub_rate) });
     Ok(())

va108xx-hal/src/timer.rs

@@ -2,11 +2,12 @@
 //!
 //! ## Examples
 //!
-//! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/timer-ticks.rs)
+//! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/timer-ticks.rs)
-//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/cascade.rs)
+//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/cascade.rs)
 pub use crate::IrqCfg;
 use crate::{
     clock::{enable_peripheral_clock, PeripheralClocks},
+    enable_interrupt,
     gpio::{
         AltFunc1, AltFunc2, AltFunc3, DynPinId, Pin, PinId, PA0, PA1, PA10, PA11, PA12, PA13, PA14,
         PA15, PA2, PA24, PA25, PA26, PA27, PA28, PA29, PA3, PA30, PA31, PA4, PA5, PA6, PA7, PA8,
@@ -17,10 +18,9 @@ use crate::{
     time::Hertz,
     timer,
     typelevel::Sealed,
-    utility::unmask_irq,
 };
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
+use critical_section::Mutex;
 use fugit::RateExtU32;
 
 const IRQ_DST_NONE: u32 = 0xffffffff;
@@ -72,25 +72,46 @@ pub enum CascadeSel {
     Csd2 = 2,
 }
 
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct InvalidCascadeSourceId;
+
 /// The numbers are the base numbers for bundles like PORTA, PORTB or TIM
 #[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
 pub enum CascadeSource {
-    PortABase = 0,
+    PortA(u8),
-    PortBBase = 32,
+    PortB(u8),
-    TimBase = 64,
+    Tim(u8),
     RamSbe = 96,
     RamMbe = 97,
     RomSbe = 98,
     RomMbe = 99,
     Txev = 100,
-    ClockDividerBase = 120,
+    ClockDivider(u8),
 }
 
-#[derive(Debug, PartialEq, Eq)]
+impl CascadeSource {
-pub enum TimerErrors {
+    fn id(&self) -> Result<u8, InvalidCascadeSourceId> {
-    Canceled,
+        let port_check = |base: u8, id: u8, len: u8| {
-    /// Invalid input for Cascade source
+            if id > len - 1 {
-    InvalidCsdSourceInput,
+                return Err(InvalidCascadeSourceId);
+            }
+            Ok(base + id)
+        };
+        match self {
+            CascadeSource::PortA(id) => port_check(0, *id, 32),
+            CascadeSource::PortB(id) => port_check(32, *id, 32),
+            CascadeSource::Tim(id) => port_check(64, *id, 24),
+            CascadeSource::RamSbe => Ok(96),
+            CascadeSource::RamMbe => Ok(97),
+            CascadeSource::RomSbe => Ok(98),
+            CascadeSource::RomMbe => Ok(99),
+            CascadeSource::Txev => Ok(100),
+            CascadeSource::ClockDivider(id) => port_check(120, *id, 8),
+        }
+    }
 }
 
 //==================================================================================================
@@ -360,89 +381,26 @@ pub struct CountDownTimer<TIM: ValidTim> {
     listening: bool,
 }
 
-fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+#[inline(always)]
+pub fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
     syscfg
         .tim_clk_enable()
         .modify(|r, w| unsafe { w.bits(r.bits() | (1 << idx)) });
 }
 
+#[inline(always)]
+pub fn disable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+    syscfg
+        .tim_clk_enable()
+        .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << idx)) });
+}
+
 unsafe impl<TIM: ValidTim> TimRegInterface for CountDownTimer<TIM> {
     fn tim_id(&self) -> u8 {
         TIM::TIM_ID
     }
 }
 
-macro_rules! csd_sel {
-    ($func_name:ident, $csd_reg:ident) => {
-        /// Configure the Cascade sources
-        pub fn $func_name(
-            &mut self,
-            src: CascadeSource,
-            id: Option<u8>,
-        ) -> Result<(), TimerErrors> {
-            let mut id_num = 0;
-            if let CascadeSource::PortABase
-            | CascadeSource::PortBBase
-            | CascadeSource::ClockDividerBase
-            | CascadeSource::TimBase = src
-            {
-                if id.is_none() {
-                    return Err(TimerErrors::InvalidCsdSourceInput);
-                }
-            }
-            if id.is_some() {
-                id_num = id.unwrap();
-            }
-            match src {
-                CascadeSource::PortABase => {
-                    if id_num > 55 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::PortABase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::PortBBase => {
-                    if id_num > 23 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::PortBBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::TimBase => {
-                    if id_num > 23 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::TimBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::ClockDividerBase => {
-                    if id_num > 7 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().cascade0().write(|w| unsafe {
-                        w.cassel()
-                            .bits(CascadeSource::ClockDividerBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                _ => {
-                    self.tim
-                        .reg()
-                        .$csd_reg()
-                        .write(|w| unsafe { w.cassel().bits(src as u8) });
-                    Ok(())
-                }
-            }
-        }
-    };
-}
-
 impl<TIM: ValidTim> CountDownTimer<TIM> {
     /// Configures a TIM peripheral as a periodic count down timer
     pub fn new(syscfg: &mut pac::Sysconfig, sys_clk: impl Into<Hertz>, tim: TIM) -> Self {
@@ -554,18 +512,18 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
 
     #[inline(always)]
     pub fn enable(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().set_bit());
         if let Some(irq_cfg) = self.irq_cfg {
             self.enable_interrupt();
             if irq_cfg.enable {
-                unmask_irq(irq_cfg.irq);
+                unsafe { enable_interrupt(irq_cfg.irq) };
             }
         }
+        self.tim.reg().enable().write(|w| unsafe { w.bits(1) });
     }
 
     #[inline(always)]
     pub fn disable(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
+        self.tim.reg().enable().write(|w| unsafe { w.bits(0) });
     }
 
     /// Disable the counter, setting both enable and active bit to 0
@@ -619,9 +577,32 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         });
     }
 
-    csd_sel!(cascade_0_source, cascade0);
+    pub fn cascade_0_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
-    csd_sel!(cascade_1_source, cascade1);
+        let id = src.id()?;
-    csd_sel!(cascade_2_source, cascade2);
+        self.tim
+            .reg()
+            .cascade0()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    pub fn cascade_1_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg()
+            .cascade1()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    pub fn cascade_2_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg()
+            .cascade2()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
 
     pub fn curr_freq(&self) -> Hertz {
         self.curr_freq
@@ -656,12 +637,13 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         }
     }
 
-    pub fn cancel(&mut self) -> Result<(), TimerErrors> {
+    /// Returns [false] if the timer was not active, and true otherwise.
+    pub fn cancel(&mut self) -> bool {
         if !self.tim.reg().ctrl().read().enable().bit_is_set() {
-            return Err(TimerErrors::Canceled);
+            return false;
         }
         self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
-        Ok(())
+        true
     }
 }
 
@@ -747,7 +729,7 @@ pub fn set_up_ms_delay_provider<TIM: ValidTim>(
 /// This function can be called in a specified interrupt handler to increment
 /// the MS counter
 pub fn default_ms_irq_handler() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         let mut ms = MS_COUNTER.borrow(cs).get();
         ms += 1;
         MS_COUNTER.borrow(cs).set(ms);
@@ -756,7 +738,7 @@ pub fn default_ms_irq_handler() {
 
 /// Get the current MS tick count
 pub fn get_ms_ticks() -> u32 {
-    cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
+    critical_section::with(|cs| MS_COUNTER.borrow(cs).get())
 }
 
 //==================================================================================================

va108xx-hal/src/uart.rs

@@ -2,23 +2,23 @@
 //!
 //! ## Examples
 //!
-//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/uart.rs)
+//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/uart.rs)
-//! - [UART with IRQ and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/uart-irq-rtic.rs)
+//! - [UART with IRQ and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/rtic/bin/uart-rtic.rs)
 use core::{marker::PhantomData, ops::Deref};
 use embedded_hal_nb::serial::Read;
 use fugit::RateExtU32;
-use libm::floorf;
 
 pub use crate::IrqCfg;
 use crate::{
-    clock::{self, enable_peripheral_clock, PeripheralClocks},
+    clock::{enable_peripheral_clock, PeripheralClocks},
-    gpio::pins::{
+    enable_interrupt,
+    gpio::pin::{
         AltFunc1, AltFunc2, AltFunc3, Pin, PA16, PA17, PA18, PA19, PA2, PA26, PA27, PA3, PA30,
         PA31, PA8, PA9, PB18, PB19, PB20, PB21, PB22, PB23, PB6, PB7, PB8, PB9,
     },
     pac::{self, uarta as uart_base},
     time::Hertz,
-    utility::unmask_irq,
+    PeripheralSelect,
 };
 
 //==================================================================================================
@@ -306,7 +306,7 @@ pub struct UartBase<Uart> {
 }
 /// Serial abstraction. Entry point to create a new UART
 pub struct Uart<Uart, Pins> {
-    uart_base: UartBase<Uart>,
+    inner: UartBase<Uart>,
     pins: Pins,
 }
 
@@ -353,6 +353,7 @@ impl<UART> Tx<UART> {
 pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
     fn ptr() -> *const uart_base::RegisterBlock;
     const IDX: u8;
+    const PERIPH_SEL: PeripheralSelect;
 }
 
 impl<UART: Instance> UartBase<UART> {
@@ -363,12 +364,19 @@ impl<UART: Instance> UartBase<UART> {
             false => 16,
             true => 8,
         };
+
+        // This is the calculation: (64.0 * (x - integer_part as f32) + 0.5) as u32 without floating
+        // point calculations.
+        let frac = ((sys_clk.raw() % (config.baudrate.raw() * 16)) * 64
+            + (config.baudrate.raw() * 8))
+            / (config.baudrate.raw() * 16);
+        // Calculations here are derived from chapter 4.8.5 (p.79) of the datasheet.
         let x = sys_clk.raw() as f32 / (config.baudrate.raw() * baud_multiplier) as f32;
-        let integer_part = floorf(x) as u32;
+        let integer_part = x as u32;
-        let frac = floorf(64.0 * (x - integer_part as f32) + 0.5) as u32;
+        self.uart.clkscale().write(|w| unsafe {
-        self.uart
+            w.frac().bits(frac as u8);
-            .clkscale()
+            w.int().bits(integer_part)
-            .write(|w| unsafe { w.bits(integer_part * 64 + frac) });
+        });
 
         let (paren, pareven) = match config.parity {
             Parity::None => (false, false),
@@ -483,14 +491,34 @@ impl<UART: Instance> UartBase<UART> {
     }
 }
 
-impl<UART, PINS> Uart<UART, PINS>
+impl<UartInstance, PinsInstance> Uart<UartInstance, PinsInstance>
 where
-    UART: Instance,
+    UartInstance: Instance,
+    PinsInstance: Pins<UartInstance>,
 {
+    pub fn new(
+        syscfg: &mut va108xx::Sysconfig,
+        sys_clk: impl Into<Hertz>,
+        uart: UartInstance,
+        pins: PinsInstance,
+        config: impl Into<Config>,
+    ) -> Self {
+        crate::clock::enable_peripheral_clock(syscfg, UartInstance::PERIPH_SEL);
+        Uart {
+            inner: UartBase {
+                uart,
+                tx: Tx::new(),
+                rx: Rx::new(),
+            },
+            pins,
+        }
+        .init(config.into(), sys_clk.into())
+    }
+
     /// This function assumes that the peripheral clock was alredy enabled
     /// in the SYSCONFIG register
     fn init(mut self, config: Config, sys_clk: Hertz) -> Self {
-        self.uart_base = self.uart_base.init(config, sys_clk);
+        self.inner = self.inner.init(config, sys_clk);
         self
     }
 
@@ -501,7 +529,7 @@ where
         irq_cfg: IrqCfg,
         sys_cfg: Option<&mut pac::Sysconfig>,
         irq_sel: Option<&mut pac::Irqsel>,
-    ) -> UartWithIrq<UART, PINS> {
+    ) -> UartWithIrq<UartInstance, PinsInstance> {
         let (uart, pins) = self.downgrade_internal();
         UartWithIrq {
             pins,
@@ -520,75 +548,75 @@ where
 
     #[inline]
     pub fn enable_rx(&mut self) {
-        self.uart_base.enable_rx();
+        self.inner.enable_rx();
     }
 
     #[inline]
     pub fn disable_rx(&mut self) {
-        self.uart_base.enable_rx();
+        self.inner.enable_rx();
     }
 
     #[inline]
     pub fn enable_tx(&mut self) {
-        self.uart_base.enable_tx();
+        self.inner.enable_tx();
     }
 
     #[inline]
     pub fn disable_tx(&mut self) {
-        self.uart_base.disable_tx();
+        self.inner.disable_tx();
     }
 
     #[inline]
     pub fn clear_rx_fifo(&mut self) {
-        self.uart_base.clear_rx_fifo();
+        self.inner.clear_rx_fifo();
     }
 
     #[inline]
     pub fn clear_tx_fifo(&mut self) {
-        self.uart_base.clear_tx_fifo();
+        self.inner.clear_tx_fifo();
     }
 
     #[inline]
     pub fn clear_rx_status(&mut self) {
-        self.uart_base.clear_rx_status();
+        self.inner.clear_rx_status();
     }
 
     #[inline]
     pub fn clear_tx_status(&mut self) {
-        self.uart_base.clear_tx_status();
+        self.inner.clear_tx_status();
     }
 
     pub fn listen(&self, event: Event) {
-        self.uart_base.listen(event);
+        self.inner.listen(event);
     }
 
     pub fn unlisten(&self, event: Event) {
-        self.uart_base.unlisten(event);
+        self.inner.unlisten(event);
     }
 
-    pub fn release(self) -> (UART, PINS) {
+    pub fn release(self) -> (UartInstance, PinsInstance) {
-        (self.uart_base.release(), self.pins)
+        (self.inner.release(), self.pins)
     }
 
-    fn downgrade_internal(self) -> (UartBase<UART>, PINS) {
+    fn downgrade_internal(self) -> (UartBase<UartInstance>, PinsInstance) {
         let base = UartBase {
-            uart: self.uart_base.uart,
+            uart: self.inner.uart,
-            tx: self.uart_base.tx,
+            tx: self.inner.tx,
-            rx: self.uart_base.rx,
+            rx: self.inner.rx,
         };
         (base, self.pins)
     }
 
-    pub fn downgrade(self) -> UartBase<UART> {
+    pub fn downgrade(self) -> UartBase<UartInstance> {
         UartBase {
-            uart: self.uart_base.uart,
+            uart: self.inner.uart,
-            tx: self.uart_base.tx,
+            tx: self.inner.tx,
-            rx: self.uart_base.rx,
+            rx: self.inner.rx,
         }
     }
 
-    pub fn split(self) -> (Tx<UART>, Rx<UART>) {
+    pub fn split(self) -> (Tx<UartInstance>, Rx<UartInstance>) {
-        self.uart_base.split()
+        self.inner.split()
     }
 }
 
@@ -597,6 +625,8 @@ impl Instance for pac::Uarta {
         pac::Uarta::ptr() as *const _
     }
     const IDX: u8 = 0;
+
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart0;
 }
 
 impl Instance for pac::Uartb {
@@ -604,39 +634,11 @@ impl Instance for pac::Uartb {
         pac::Uartb::ptr() as *const _
     }
     const IDX: u8 = 1;
+
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart1;
 }
 
-macro_rules! uart_impl {
+impl<Uart: Instance> UartWithIrqBase<Uart> {
-    ($($UARTX:path: ($uartx:ident, $clk_enb_enum:path),)+) => {
-        $(
-
-            impl<PINS: Pins<$UARTX>> Uart<$UARTX, PINS> {
-                pub fn $uartx(
-                    uart: $UARTX,
-                    pins: PINS,
-                    config: impl Into<Config>,
-                    syscfg: &mut pac::Sysconfig,
-                    sys_clk: impl Into<Hertz>
-                ) -> Self
-                {
-                    enable_peripheral_clock(syscfg, $clk_enb_enum);
-                    Uart {
-                        uart_base: UartBase {
-                            uart,
-                            tx: Tx::new(),
-                            rx: Rx::new(),
-                        },
-                        pins,
-                    }
-                    .init(config.into(), sys_clk.into())
-                }
-            }
-
-        )+
-    }
-}
-
-impl<UART: Instance> UartWithIrqBase<UART> {
     fn init(self, sys_cfg: Option<&mut pac::Sysconfig>, irq_sel: Option<&mut pac::Irqsel>) -> Self {
         if let Some(sys_cfg) = sys_cfg {
             enable_peripheral_clock(sys_cfg, PeripheralClocks::Irqsel)
@@ -644,7 +646,7 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         if let Some(irq_sel) = irq_sel {
             if self.irq_info.irq_cfg.route {
                 irq_sel
-                    .uart0(UART::IDX as usize)
+                    .uart0(Uart::IDX as usize)
                     .write(|w| unsafe { w.bits(self.irq_info.irq_cfg.irq as u32) });
             }
         }
@@ -674,7 +676,9 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         self.uart.enable_tx();
         self.enable_rx_irq_sources(enb_timeout_irq);
         if self.irq_info.irq_cfg.enable {
-            unmask_irq(self.irq_info.irq_cfg.irq);
+            unsafe {
+                enable_interrupt(self.irq_info.irq_cfg.irq);
+            }
         }
         Ok(())
     }
@@ -837,7 +841,7 @@ impl<UART: Instance> UartWithIrqBase<UART> {
         self.irq_info.rx_len = 0;
     }
 
-    pub fn release(self) -> UART {
+    pub fn release(self) -> Uart {
         self.uart.release()
     }
 }
@@ -871,10 +875,12 @@ impl<UART: Instance, PINS> UartWithIrq<UART, PINS> {
     }
 }
 
+/*
 uart_impl! {
     pac::Uarta: (uarta, clock::PeripheralClocks::Uart0),
     pac::Uartb: (uartb, clock::PeripheralClocks::Uart1),
 }
+*/
 
 impl<Uart> Tx<Uart> where Uart: Instance {}
 

va108xx-hal/src/utility.rs

@@ -1,16 +0,0 @@
-//! # API for utility functions like the Error Detection and Correction (EDAC) block
-//!
-//! Some more information about the recommended scrub rates can be found on the
-//! [Vorago White Paper website](https://www.voragotech.com/resources) in the
-//! application note AN1212
-use crate::pac;
-
-/// Unmask and enable an IRQ with the given interrupt number
-///
-/// ## Safety
-///
-/// The unmask function can break mask-based critical sections
-#[inline]
-pub(crate) fn unmask_irq(irq: pac::Interrupt) {
-    unsafe { cortex_m::peripheral::NVIC::unmask(irq) };
-}

va108xx/Cargo.toml

@@ -4,8 +4,8 @@ version = "0.3.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA108xx family of microcontrollers"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx"
+repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "arm", "cortex-m", "vorago", "va108xx"]
 categories = ["embedded", "no-std", "hardware-support"]
@@ -24,4 +24,4 @@ rt = ["cortex-m-rt/device"]
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]

va108xx/src/lib.rs

@@ -4,7 +4,7 @@ svd2rust release can be generated by cloning the svd2rust [repository], checking
 #![allow(non_snake_case)]
 #![no_std]
 // Manually inserted.
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 use core::marker::PhantomData;
 use core::ops::Deref;
 #[doc = r"Number available in the NVIC for configuring priority"]

vorago-reb1/CHANGELOG.md

@@ -8,9 +8,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.5.1] 2024-07-04
+
+- Update `va108xx-hal` dependency to v0.7.0
+
 ## [v0.5.0] 2024-06-16
 
-- Updated `va108xx` and `va108xx-hal` dependency.
+- Updated `va108xx` to v0.3.0 and `va108xx-hal` dependency to v0.6.0
 
 ## [v0.4.0]
 

vorago-reb1/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "vorago-reb1"
-version = "0.5.0"
+version = "0.5.1"
-authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
+authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "Board Support Crate for the Vorago REB1 development board"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/vorago-reb1"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/vorago-reb1"
+repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "reb1", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
@@ -14,12 +14,14 @@ categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 embedded-hal = "1"
+nb = "1"
+bitfield = "0.17"
 
 [dependencies.max116xx-10bit]
 version = "0.3"
 
 [dependencies.va108xx-hal]
-version = "0.6"
+version = ">=0.7, <0.8"
 path = "../va108xx-hal"
 features = ["rt"]
 
@@ -27,16 +29,13 @@ features = ["rt"]
 rt = ["va108xx-hal/rt"]
 
 [dev-dependencies]
-cortex-m-rtic = "1.1"
 panic-halt = "0.2"
 nb = "1"
-
+rtt-target = "0.5"
-[dev-dependencies.rtt-target]
+panic-rtt-target = "0.1"
-version = "0.5"
+embedded-hal-bus = "0.2"
-
+dummy-pin = "1"
-[dev-dependencies.panic-rtt-target]
-version = "0.1"
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]

vorago-reb1/README.md

@@ -6,5 +6,5 @@
 This is the Rust **B**oard **S**upport **P**ackage crate for the Vorago REB1 development board.
 Its aim is to provide drivers for the board features of the REB1 board
 
-The BSP builds on top of the [HAL crate for VA108xx devices](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal).
+The BSP builds on top of the [HAL crate for VA108xx devices](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/va108xx-hal).
 The example folder contains some example applications using the on-board peripherals.

vorago-reb1/examples/adt75-temp-sensor.rs

@@ -13,7 +13,7 @@ fn main() -> ! {
     rprintln!("-- Vorago Temperature Sensor and I2C Example --");
     let mut dp = pac::Peripherals::take().unwrap();
     let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
-    let mut temp_sensor = Adt75TempSensor::new(dp.i2ca, 50.MHz(), Some(&mut dp.sysconfig))
+    let mut temp_sensor = Adt75TempSensor::new(&mut dp.sysconfig, 50.MHz(), dp.i2ca)
         .expect("Creating temperature sensor struct failed");
     loop {
         let temp = temp_sensor

vorago-reb1/examples/adxl343-accelerometer.rs

@@ -5,15 +5,16 @@
 #![no_main]
 #![no_std]
 use cortex_m_rt::entry;
-use embedded_hal::spi::SpiBus;
+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;
 use va108xx_hal::{
     gpio::PinsA,
     pac,
     prelude::*,
-    spi::{Spi, SpiConfig, TransferConfig},
+    spi::{Spi, SpiConfig},
     timer::set_up_ms_delay_provider,
 };
 
@@ -31,7 +32,6 @@ fn main() -> ! {
     let mut dp = pac::Peripherals::take().unwrap();
     let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
     let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
-    let spi_cfg = SpiConfig::default();
     let (sck, mosi, miso) = (
         pinsa.pa20.into_funsel_2(),
         pinsa.pa19.into_funsel_2(),
@@ -45,21 +45,20 @@ fn main() -> ! {
         .set_high()
         .expect("Setting ADC chip select high failed");
 
-    let transfer_cfg = TransferConfig::new(
+    let spi_cfg = SpiConfig::default()
-        1.MHz(),
+        .clk_cfg(
-        embedded_hal::spi::MODE_3,
+            SpiClkConfig::from_clk(50.MHz(), 1.MHz()).expect("creating SPI clock config failed"),
-        Some(cs_pin),
+        )
-        false,
+        .mode(MODE_3)
-        true,
+        .slave_output_disable(true);
-    );
+    let mut spi = Spi::new(
-    let mut spi = Spi::spib(
+        &mut dp.sysconfig,
+        50.MHz(),
         dp.spib,
         (sck, miso, mosi),
-        50.MHz(),
         spi_cfg,
-        Some(&mut dp.sysconfig),
-        Some(&transfer_cfg.downgrade()),
     );
+    spi.cfg_hw_cs_with_pin(&cs_pin);
 
     let mut tx_rx_buf: [u8; 3] = [0; 3];
     tx_rx_buf[0] = READ_MASK | DEVID_REG;

vorago-reb1/examples/blinky-leds.rs

@@ -10,7 +10,7 @@ use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
 use embedded_hal::digital::{OutputPin, StatefulOutputPin};
 use panic_halt as _;
-use va108xx_hal::{gpio::pins::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
+use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
 use vorago_reb1::leds::Leds;
 
 // REB LED pin definitions. All on port A

vorago-reb1/examples/max11619-adc.rs

@@ -1,4 +1,7 @@
-//! MAX11619 ADC example applikcation
+//! MAX11619 ADC example application.
+//!
+//! You can turn the potentiometer knob of the REB1 board to measure
+//! different ADC values.
 #![no_main]
 #![no_std]
 
@@ -6,19 +9,19 @@ use core::convert::Infallible;
 
 use cortex_m_rt::entry;
 use embedded_hal::digital::OutputPin;
-use embedded_hal::spi::{SpiBus, SpiDevice};
+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::spi::{NoneT, OptionalHwCs};
+use va108xx_hal::spi::{OptionalHwCs, SpiClkConfig};
 use va108xx_hal::timer::CountDownTimer;
 use va108xx_hal::{
     gpio::PinsA,
     pac::{self, interrupt},
     prelude::*,
-    spi::{Spi, SpiBase, SpiConfig, TransferConfig},
+    spi::{Spi, SpiBase, SpiConfig},
     timer::{default_ms_irq_handler, set_up_ms_tick, DelayMs, IrqCfg},
 };
 use va108xx_hal::{port_mux, FunSel, PortSel};
@@ -100,6 +103,8 @@ impl<Delay: DelayNs, HwCs: OptionalHwCs<pac::Spib>> SpiDevice for SpiWithHwCs<De
     }
 }
 
+const SYS_CLK: Hertz = Hertz::from_raw(50_000_000);
+
 #[entry]
 fn main() -> ! {
     rtt_init_print!();
@@ -110,7 +115,7 @@ fn main() -> ! {
         IrqCfg::new(pac::Interrupt::OC0, true, true),
         &mut dp.sysconfig,
         Some(&mut dp.irqsel),
-        50.MHz(),
+        SYS_CLK,
         dp.tim0,
     );
     let delay = DelayMs::new(tim0).unwrap();
@@ -119,7 +124,10 @@ fn main() -> ! {
     }
 
     let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
-    let spi_cfg = SpiConfig::default();
+    let spi_cfg = SpiConfig::default()
+        .clk_cfg(SpiClkConfig::from_clk(SYS_CLK, 3.MHz()).unwrap())
+        .mode(MODE_0)
+        .blockmode(true);
     let (sck, mosi, miso) = (
         pinsa.pa20.into_funsel_2(),
         pinsa.pa19.into_funsel_2(),
@@ -138,14 +146,12 @@ fn main() -> ! {
         .set_high()
         .expect("Setting accelerometer chip select high failed");
 
-    let transfer_cfg = TransferConfig::<NoneT>::new(3.MHz(), spi::MODE_0, None, true, false);
+    let spi = Spi::new(
-    let spi = Spi::spib(
+        &mut dp.sysconfig,
+        50.MHz(),
         dp.spib,
         (sck, miso, mosi),
-        50.MHz(),
         spi_cfg,
-        Some(&mut dp.sysconfig),
-        Some(&transfer_cfg.downgrade()),
     )
     .downgrade();
     let delay_provider = CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);

vorago-reb1/examples/nvm.rs

@@ -0,0 +1,64 @@
+//! Example application which interfaces with the boot EEPROM.
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use embedded_hal::delay::DelayNs;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{pac, pwm::CountDownTimer, time::Hertz};
+use vorago_reb1::m95m01::M95M01;
+
+const CLOCK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("-- VA108XX REB1 NVM example --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    let mut timer = CountDownTimer::new(&mut dp.sysconfig, CLOCK_FREQ, dp.tim0);
+    let mut nvm = M95M01::new(&mut dp.sysconfig, CLOCK_FREQ, dp.spic);
+    let status_reg = nvm.read_status_reg().expect("reading status reg failed");
+    if status_reg.zero_segment() == 0b111 {
+        panic!("status register unexpected values");
+    }
+
+    let mut orig_content: [u8; 16] = [0; 16];
+    let mut read_buf: [u8; 16] = [0; 16];
+    let write_buf: [u8; 16] = [0; 16];
+    for (idx, val) in read_buf.iter_mut().enumerate() {
+        *val = idx as u8;
+    }
+    nvm.read(0x4000, &mut orig_content).unwrap();
+
+    // One byte write and read.
+    nvm.write(0x4000, &write_buf[0..1]).unwrap();
+    nvm.read(0x4000, &mut read_buf[0..1]).unwrap();
+    assert_eq!(write_buf[0], read_buf[0]);
+    read_buf.fill(0);
+
+    // Four bytes write and read.
+    nvm.write(0x4000, &write_buf[0..4]).unwrap();
+    nvm.read(0x4000, &mut read_buf[0..4]).unwrap();
+    assert_eq!(&read_buf[0..4], &write_buf[0..4]);
+    read_buf.fill(0);
+
+    // Full sixteen bytes
+    nvm.write(0x4000, &write_buf).unwrap();
+    nvm.read(0x4000, &mut read_buf).unwrap();
+    assert_eq!(&read_buf, &write_buf);
+    read_buf.fill(0);
+
+    // 3 bytes
+    nvm.write(0x4000, &write_buf[0..3]).unwrap();
+    nvm.read(0x4000, &mut read_buf[0..3]).unwrap();
+    assert_eq!(&read_buf[0..3], &write_buf[0..3]);
+
+    // Write back original content.
+    nvm.write(0x4000, &orig_content).unwrap();
+    loop {
+        timer.delay_ms(500);
+    }
+}

vorago-reb1/src/button.rs

@@ -2,8 +2,8 @@
 //!
 //! ## Examples
 //!
-//! - [Button Blinky with IRQs](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-irq.rs)
+//! - [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/vorago-reb1/src/branch/main/examples/blinky-button-rtic.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},

vorago-reb1/src/leds.rs

@@ -2,13 +2,13 @@
 //!
 //! ## Examples
 //!
-//! - [LED example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-leds.rs)
+//! - [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/vorago-reb1/src/branch/main/examples/blinky-button-irq.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/vorago-reb1/src/branch/main/examples/blinky-button-rtic.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::dynpins::DynPin,
+    gpio::dynpin::DynPin,
-    gpio::pins::{Pin, PushPullOutput, PA10, PA6, PA7},
+    gpio::pin::{Pin, PushPullOutput, PA10, PA6, PA7},
 };
 
 pub type LD2 = Pin<PA10, PushPullOutput>;

vorago-reb1/src/lib.rs

@@ -1,7 +1,8 @@
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 
 pub mod button;
 pub mod leds;
+pub mod m95m01;
 pub mod max11619;
 pub mod temp_sensor;

vorago-reb1/src/m95m01.rs

@@ -0,0 +1,172 @@
+//! Basic driver for the ST M95M01 EEPROM memory.
+//!
+//! This driver is used by the provided bootloader application for the REB1
+//! board. It provides a convenient wrapper around the HAL SPI to interface
+//! with the EEPROM memory of the REB1 board.
+//!
+//! # Example
+//!
+//! - [REB1 EEPROM example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/nvm.rs)
+use core::convert::Infallible;
+use embedded_hal::spi::SpiBus;
+
+bitfield::bitfield! {
+    pub struct StatusReg(u8);
+    impl Debug;
+    u8;
+    pub status_register_write_protect, _: 7;
+    pub zero_segment, _: 6, 4;
+    pub block_protection_bits, set_block_protection_bits: 3, 2;
+    pub write_enable_latch, _: 1;
+    pub write_in_progress, _: 0;
+}
+
+// Registers.
+pub mod regs {
+    /// Write status register command.
+    pub const WRSR: u8 = 0x01;
+    // Write command.
+    pub const WRITE: u8 = 0x02;
+    // Read command.
+    pub const READ: u8 = 0x03;
+    /// Write disable command.
+    pub const WRDI: u8 = 0x04;
+    /// Read status register command.
+    pub const RDSR: u8 = 0x05;
+    /// Write enable command.
+    pub const WREN: u8 = 0x06;
+}
+
+use regs::*;
+use va108xx_hal::{
+    pac,
+    prelude::*,
+    spi::{RomMiso, RomMosi, RomSck, Spi, SpiConfig, BMSTART_BMSTOP_MASK},
+};
+
+pub type RomSpi = Spi<pac::Spic, (RomSck, RomMiso, RomMosi), u8>;
+
+/// Driver for the ST device M95M01 EEPROM memory.
+///
+/// Specialized for the requirements of the VA108XX MCUs.
+pub struct M95M01 {
+    pub spi: RomSpi,
+}
+
+impl M95M01 {
+    pub fn new(syscfg: &mut pac::Sysconfig, sys_clk: impl Into<Hertz>, spi: pac::Spic) -> Self {
+        let spi = RomSpi::new(
+            syscfg,
+            sys_clk,
+            spi,
+            (RomSck, RomMiso, RomMosi),
+            SpiConfig::default(),
+        );
+        let mut spi_dev = Self { spi };
+        spi_dev.clear_block_protection().unwrap();
+        spi_dev
+    }
+
+    pub fn release(mut self) -> pac::Spic {
+        self.set_block_protection().unwrap();
+        self.spi.release().0
+    }
+
+    // Wait until the write-in-progress state is cleared. This exposes a [nb] API, so this function
+    // will return [nb::Error::WouldBlock] if the EEPROM is still busy.
+    pub fn writes_are_done(&mut self) -> nb::Result<(), Infallible> {
+        let rdsr = self.read_status_reg()?;
+        if rdsr.write_in_progress() {
+            return Err(nb::Error::WouldBlock);
+        }
+        Ok(())
+    }
+
+    pub fn read_status_reg(&mut self) -> Result<StatusReg, Infallible> {
+        let mut write_read: [u8; 2] = [regs::RDSR, 0x00];
+        self.spi.transfer_in_place(&mut write_read)?;
+        Ok(StatusReg(write_read[1]))
+    }
+
+    pub fn write_enable(&mut self) -> Result<(), Infallible> {
+        self.spi.write(&[regs::WREN])
+    }
+
+    pub fn clear_block_protection(&mut self) -> Result<(), Infallible> {
+        // Has to be written separately.
+        self.write_enable()?;
+        self.spi.write(&[WRSR, 0x00])
+    }
+
+    pub fn set_block_protection(&mut self) -> Result<(), Infallible> {
+        let mut reg = StatusReg(0);
+        reg.set_block_protection_bits(0b11);
+        self.write_enable()?;
+        self.spi.write(&[WRSR, reg.0])
+    }
+
+    fn common_init_write_and_read(&mut self, address: u32, reg: u8) -> Result<(), Infallible> {
+        nb::block!(self.writes_are_done())?;
+        self.spi.flush()?;
+        if reg == WRITE {
+            self.write_enable()?;
+            self.spi.write_fifo_unchecked(WRITE as u32);
+        } else {
+            self.spi.write_fifo_unchecked(READ as u32);
+        }
+        self.spi.write_fifo_unchecked((address >> 16) & 0xff);
+        self.spi.write_fifo_unchecked((address >> 8) & 0xff);
+        self.spi.write_fifo_unchecked(address & 0xff);
+        Ok(())
+    }
+
+    fn common_read(&mut self, address: u32) -> Result<(), Infallible> {
+        self.common_init_write_and_read(address, READ)?;
+        for _ in 0..4 {
+            // Pump the FIFO.
+            self.spi.write_fifo_unchecked(0);
+            // Ignore the first 4 bytes.
+            self.spi.read_fifo_unchecked();
+        }
+        Ok(())
+    }
+
+    pub fn write(&mut self, address: u32, data: &[u8]) -> Result<(), Infallible> {
+        self.common_init_write_and_read(address, WRITE)?;
+        for val in data.iter().take(data.len() - 1) {
+            nb::block!(self.spi.write_fifo(*val as u32))?;
+            self.spi.read_fifo_unchecked();
+        }
+        nb::block!(self
+            .spi
+            .write_fifo(*data.last().unwrap() as u32 | BMSTART_BMSTOP_MASK))?;
+        self.spi.flush()?;
+        nb::block!(self.writes_are_done())?;
+        Ok(())
+    }
+
+    pub fn read(&mut self, address: u32, buf: &mut [u8]) -> Result<(), Infallible> {
+        self.common_read(address)?;
+        for val in buf.iter_mut() {
+            nb::block!(self.spi.write_fifo(0))?;
+            *val = (nb::block!(self.spi.read_fifo()).unwrap() & 0xff) as u8;
+        }
+        nb::block!(self.spi.write_fifo(BMSTART_BMSTOP_MASK))?;
+        self.spi.flush()?;
+        Ok(())
+    }
+
+    pub fn verify(&mut self, address: u32, data: &[u8]) -> Result<bool, Infallible> {
+        self.common_read(address)?;
+        for val in data.iter() {
+            nb::block!(self.spi.write_fifo(0))?;
+            let read_val = (nb::block!(self.spi.read_fifo()).unwrap() & 0xff) as u8;
+            if read_val != *val {
+                return Ok(false);
+            }
+        }
+        nb::block!(self.spi.write_fifo(BMSTART_BMSTOP_MASK))?;
+        self.spi.flush()?;
+        Ok(true)
+    }
+}

vorago-reb1/src/max11619.rs

@@ -2,7 +2,7 @@
 //!
 //! ## Examples
 //!
-//! - [ADC example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/max11619-adc.rs)
+//! - [ADC example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/max11619-adc.rs)
 use core::convert::Infallible;
 use embedded_hal::spi::SpiDevice;
 use max116xx_10bit::{

vorago-reb1/src/temp_sensor.rs

@@ -4,10 +4,10 @@
 //!
 //! ## Examples
 //!
-//! - [Temperature Sensor example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/adt75-temp-sensor.rs)
+//! - [Temperature Sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs)
 use embedded_hal::i2c::{I2c, SevenBitAddress};
 use va108xx_hal::{
-    i2c::{Error, I2cMaster, I2cSpeed, MasterConfig},
+    i2c::{Error, I2cMaster, I2cSpeed, InitError, MasterConfig},
     pac,
     time::Hertz,
 };
@@ -29,20 +29,40 @@ pub enum RegAddresses {
     OneShot = 0x04,
 }
 
+#[derive(Debug)]
+pub enum AdtInitError {
+    Init(InitError),
+    I2c(Error),
+}
+
+impl From<InitError> for AdtInitError {
+    fn from(value: InitError) -> Self {
+        Self::Init(value)
+    }
+}
+
+impl From<Error> for AdtInitError {
+    fn from(value: Error) -> Self {
+        Self::I2c(value)
+    }
+}
+
 impl Adt75TempSensor {
     pub fn new(
-        i2ca: pac::I2ca,
+        sys_cfg: &mut pac::Sysconfig,
         sys_clk: impl Into<Hertz> + Copy,
-        sys_cfg: Option<&mut pac::Sysconfig>,
+        i2ca: pac::I2ca,
     ) -> Result<Self, Error> {
         let mut sensor = Adt75TempSensor {
-            sensor_if: I2cMaster::i2ca(
+            // The master construction can not fail for regular I2C speed.
+            sensor_if: I2cMaster::new(
+                sys_cfg,
+                sys_clk,
                 i2ca,
                 MasterConfig::default(),
-                sys_clk,
                 I2cSpeed::Regular100khz,
-                sys_cfg,
+            )
-            ),
+            .unwrap(),
             cmd_buf: [RegAddresses::Temperature as u8],
             current_reg: RegAddresses::Temperature,
         };

vscode/launch.json

@@ -18,6 +18,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky-leds",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -28,9 +39,20 @@
             "device": "Cortex-M0",
             "svdFile": "./va108xx/svd/va108xx.svd.patched",
             "preLaunchTask": "rust: cargo build hal tests",
-            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/tests",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/board-tests",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -44,6 +66,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/rtt-log",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -57,6 +90,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky-button-irq",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -70,11 +114,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/timer-ticks",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug UART",
+            "name": "UART Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -83,6 +138,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -96,6 +162,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/spi",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -109,11 +186,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/adt75-temp-sensor",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug Button Blinky RTIC",
+            "name": "Button Blinky RTIC Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -122,11 +210,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky-button-rtic",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug PWM",
+            "name": "PWM Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -135,11 +234,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/pwm",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug Cascade",
+            "name": "Cascade Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -148,11 +258,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/cascade",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug Accelerometer",
+            "name": "Accelerometer Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -161,6 +282,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/adxl343-accelerometer",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -178,7 +310,7 @@
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug ADC",
+            "name": "ADC Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -187,19 +319,113 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/max11619-adc",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug UART IRQ",
+            "name": "UART IRQ Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
             "svdFile": "./va108xx/svd/va108xx.svd.patched",
             "preLaunchTask": "rust: cargo build uart irq",
-            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart-irq-rtic",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/uart-rtic",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "REB1 NVM Example",
+            "servertype": "jlink",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M0",
+            "svdFile": "./va108xx/svd/va108xx.svd.patched",
+            "preLaunchTask": "reb1-nvm",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/nvm",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "RTIC Example",
+            "servertype": "jlink",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M0",
+            "svdFile": "./va108xx/svd/va108xx.svd.patched",
+            "preLaunchTask": "rtic-example",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/rtic-example",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Embassy Example",
+            "servertype": "jlink",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M0",
+            "svdFile": "./va108xx/svd/va108xx.svd.patched",
+            "preLaunchTask": "embassy-example",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/embassy-example",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
     ]
 }

vscode/tasks.json

@@ -21,10 +21,8 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--bin",
-                "tests",
+                "board-tests",
                 "--features",
                 "rt"
             ],
@@ -39,8 +37,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "rtt-log",
             ],
@@ -55,8 +51,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "timer-ticks",
                 "--features",
@@ -73,8 +67,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "uart",
             ],
@@ -89,8 +81,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "spi",
             ],
@@ -105,8 +95,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "pwm",
                 "--features",
@@ -123,8 +111,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "cascade",
                 "--features",
@@ -141,12 +127,8 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
+                "--bin",
-                "va108xx-hal",
+                "uart-rtic",
-                "--example",
-                "uart-irq-rtic",
-                "--features",
-                "rt"
             ],
             "group": {
                 "kind": "build",
@@ -172,8 +154,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "vorago-reb1",
                 "--example",
                 "blinky-leds",
             ],
@@ -188,8 +168,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "vorago-reb1",
                 "--example",
                 "blinky-button-irq",
             ],
@@ -204,8 +182,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "vorago-reb1",
                 "--example",
                 "adt75-temp-sensor",
             ],
@@ -220,8 +196,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "vorago-reb1",
                 "--example",
                 "blinky-button-rtic",
             ],
@@ -236,8 +210,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "vorago-reb1",
                 "--example",
                 "adxl343-accelerometer"
             ],
@@ -252,8 +224,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "vorago-reb1",
                 "--example",
                 "max11619-adc",
             ],
@@ -262,5 +232,39 @@
                 "isDefault": true
             }
         },
+        {
+            "label": "reb1-nvm",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--example",
+                "nvm",
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        },
+        {
+            "label": "rtic-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "rtic-example",
+            ],
+        },
+        {
+            "label": "embassy-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "embassy-example",
+            ],
+        },
     ]
-}
+}