Merge pull request 'delete some more re-exports' (#20) from delete-some-re-exports into main

Reviewed-on: #20

.github/workflows/ci.yml

@@ -39,7 +39,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
+      - 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

@@ -5,11 +5,16 @@ members = [
 	"va108xx",
 	"va108xx-hal",
   "examples/simple",
+  "examples/rtic",
+  "examples/embassy",
   "board-tests",
+  "bootloader",
+  "flashloader",
 ]
-
 exclude = [
   "defmt-testapp",
+  "flashloader/slot-a-blinky",
+  "flashloader/slot-b-blinky",
 ]
 
 [profile.dev]
@@ -17,7 +22,8 @@ codegen-units = 1
 debug = 2
 debug-assertions = true # <-
 incremental = false
-opt-level = 'z'         # <-
+# 1 instead of 0, the flashloader is too larger otherwise.. 
+# opt-level = 1         # <-
 overflow-checks = true  # <-
 
 # cargo build/run --release
@@ -29,3 +35,12 @@ 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 +19,18 @@ 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 [`bootloader`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/bootloader)
-  board.
+  crate contains a sample bootloader strongly based on the one provided by Vorago.
-- The `examples` crates contains various example applications for the HAL and the PAC.
+- The [`flashloader`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/flashloader)
+  crate contains a sample flashloader which is able to update the redundant images in the NVM which
+  is compatible to the provided bootloader as well.
+- The [`board-tests`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/board-tests)
+  contains an application which can be used to test the libraries on the board.
+- 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 +103,8 @@ 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`
@@ -108,4 +119,5 @@ configuration variables in your `settings.json`:
 - `"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`.
+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 """
-              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
+              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 +14,6 @@ embedded-hal-nb = "1"
 embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
-version = "0.7"
 path = "../va108xx-hal"
 features = ["rt"]
 

board-tests/src/main.rs

@@ -17,7 +17,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer, IrqCfg},
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, IrqCfg},
 };
 
 #[allow(dead_code)]
@@ -168,7 +168,7 @@ fn main() -> ! {
                 ms_timer.delay_ms(500);
             }
 
-            let mut delay_timer = CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
+            let mut delay_timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
             let mut pa0 = pinsa.pa0.into_readable_push_pull_output();
             for _ in 0..5 {
                 led1.toggle().ok();

bootloader/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "bootloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+panic-rtt-target = { version = "0.1.3" }
+panic-halt = { version = "0.2" }
+rtt-target = { version = "0.5" }
+crc = "3"
+static_assertions = "1"
+
+[dependencies.va108xx-hal]
+path = "../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../vorago-reb1"
+
+[features]
+default = []
+rtt-panic = []

bootloader/README.md

@@ -0,0 +1,48 @@
+VA108xx Bootloader Application
+=======
+
+This is the Rust version of the bootloader supplied by Vorago.
+
+## Memory Map
+
+The bootloader uses the following memory map:
+
+| Address | Notes | Size |
+| ------ | ---- |  ---- |
+| 0x0 | Bootloader start | code up to 0x3FFC bytes |
+| 0x2FFE | Bootloader CRC | word |
+| 0x3000 | App image A start | code up to 0xE7F8 (~58K) bytes |
+| 0x117F8 | App image A CRC check length | word |
+| 0x117FC | App image A CRC check value | word |
+| 0x11800 | App image B start | code up to 0xE7F8 (~58K) bytes |
+| 0x1FFF8 | App image B CRC check length | word |
+| 0x1FFFC | App image B CRC check value | word |
+| 0x20000 | End of NVM | end  |
+
+## Additional Information
+
+This bootloader was specifically written for the REB1 board, so it assumes a M95M01 ST EEPROM
+is used to load the application code. The bootloader will also delay for a configurable amount
+of time before booting. This allows to catch the RTT printout, but should probably be disabled
+for production firmware.
+
+This bootloader does not provide tools to flash the NVM memory by itself. Instead, you can use
+the [flashloader](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/flashloader)
+application to perform this task using a CCSDS interface via a UART.
+
+The bootloader performs the following steps:
+
+1. The application will calculate the checksum of itself if the bootloader CRC is blank (all zeroes
+   or all ones). If the CRC is not blank and the checksum check fails, it will immediately boot
+   application image A. Otherwise, it proceeds to the next step.
+2. Check the checksum of App A. If that checksum is valid, it will boot App A. If not, it will
+   proceed to the next step.
+3. Check the checksum of App B. If that checksum is valid, it will boot App B. If not, it will
+   boot App A as the fallback image.
+
+You could adapt and combine this bootloader with a non-volatile memory to select a prefered app
+image, which would be a first step towards an updatable flight software.
+
+Please note that you *MUST* compile the application at slot A and slot B with an appropriate
+`memory.x` file where the base address of the `FLASH` was adapted according to the base address
+shown in the memory map above. The memory files to do this were provided in the `scripts` folder.

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: usize, data: &[u8]) -> Result<(), Infallible>;
+    fn read(&mut self, address: usize, buf: &mut [u8]) -> Result<(), Infallible>;
+    fn verify(&mut self, address: usize, data: &[u8]) -> Result<bool, Infallible>;
+}

bootloader/src/main.rs

@@ -0,0 +1,326 @@
+//! 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};
+use embedded_hal::delay::DelayNs;
+#[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, timer::CountdownTimer};
+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 = true;
+// Small delay, allows RTT printout to catch up.
+const BOOT_DELAY_MS: u32 = 2000;
+
+// 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 NVM_SIZE: u32 = 0x20000;
+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 = BOOTLOADER_END_ADDR;
+// 0x117F8
+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.
+// 0x117FC
+const APP_A_CRC_ADDR: u32 = APP_A_END_ADDR - 4;
+// 0x11800
+pub const APP_A_END_ADDR: u32 = APP_A_START_ADDR + APP_IMG_SZ;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_START_ADDR: u32 = APP_A_END_ADDR;
+// The actual size of the image which is relevant for CRC calculation.
+// 0x1FFF8
+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.
+// 0x1FFFC
+const APP_B_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
+// 0x20000
+pub const APP_B_END_ADDR: u32 = NVM_SIZE;
+pub const APP_IMG_SZ: u32 = (APP_B_END_ADDR - APP_A_START_ADDR) / 2;
+
+static_assertions::const_assert!((APP_B_END_ADDR - BOOTLOADER_END_ADDR) % 2 == 0);
+
+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: usize, data: &[u8]) -> Result<(), core::convert::Infallible> {
+        self.0.write(address, data)
+    }
+
+    fn read(&mut self, address: usize, buf: &mut [u8]) -> Result<(), core::convert::Infallible> {
+        self.0.read(address, buf)
+    }
+
+    fn verify(&mut self, address: usize, 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 timer = CountdownTimer::new(&mut dp.sysconfig, CLOCK_FREQ, dp.tim0);
+
+    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 as usize, &bootloader_crc.to_be_bytes())
+            .expect("writing CRC failed");
+        if let Err(e) = nvm.verify(BOOTLOADER_CRC_ADDR as usize, &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, &mut timer);
+
+    if check_app_crc(AppSel::A) {
+        boot_app(&dp.sysconfig, &cp, AppSel::A, &mut timer)
+    } else if check_app_crc(AppSel::B) {
+        boot_app(&dp.sysconfig, &cp, AppSel::B, &mut timer)
+    } 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, &mut timer)
+    }
+}
+
+fn check_own_crc(
+    sysconfig: &pac::Sysconfig,
+    cp: &cortex_m::Peripherals,
+    nvm: &mut NvmWrapper,
+    timer: &mut CountdownTimer<pac::Tim0>,
+) {
+    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 as usize, &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, timer);
+    }
+}
+
+// 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,
+    timer: &mut CountdownTimer<pac::Tim0>,
+) -> ! {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("booting app {:?}", app_sel);
+    }
+    timer.delay_ms(BOOT_DELAY_MS);
+
+    // Clear all interrupts set.
+    unsafe {
+        cp.NVIC.icer[0].write(0xFFFFFFFF);
+        cp.NVIC.icpr[0].write(0xFFFFFFFF);
+    }
+    // Disable ROM protection.
+    syscfg.rom_prot().write(|w| w.wren().set_bit());
+    let base_addr = if app_sel == AppSel::A {
+        APP_A_START_ADDR
+    } else {
+        APP_B_START_ADDR
+    };
+    unsafe {
+        // 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.
+        let first_four_bytes = core::ptr::read(base_addr as *const u32);
+        core::arch::asm!(
+            "str {0}, [{1}]",
+            in(reg)  first_four_bytes,  // 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 u8,
+            (VECTOR_TABLE_LEN - 4) as usize,
+        )
+        .copy_from_slice(core::slice::from_raw_parts(
+            (base_addr + 4) as *const u8,
+            (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();
+
+    // Loop until the reset occurs.
+    loop {
+        cortex_m::asm::nop();
+    }
+}

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 +1,333 @@
+//! 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,
+) {
+    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 +1,44 @@
+[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" }
+panic-rtt-target = { version = "0.1" }
+
+# 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"]}
+
+[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"]
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[dependencies.ringbuf]
+version = "0.4.7"
+default-features = false
+features = ["portable-atomic"]
+
+[dependencies.va108xx-hal]
+version = "0.8"
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"

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

@@ -5,7 +5,7 @@
 #[rtic::app(device = pac)]
 mod app {
     use panic_rtt_target as _;
-    use rtic_monotonics::systick::Systick;
+    use rtic_example::SYSCLK_FREQ;
     use rtt_target::{rprintln, rtt_init_default, set_print_channel};
     use va108xx_hal::{
         clock::{set_clk_div_register, FilterClkSel},
@@ -17,6 +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,
@@ -44,17 +46,11 @@ mod app {
     struct Shared {}
 
     #[init]
-    fn init(ctx: init::Context) -> (Shared, Local) {
+    fn init(cx: init::Context) -> (Shared, Local) {
         let channels = rtt_init_default!();
         set_print_channel(channels.up.0);
         rprintln!("-- Vorago Button IRQ Example --");
-        // 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(
-            ctx.core.SYST,
-            Hertz::from(50.MHz()).raw(),
-            systick_mono_token,
-        );
 
         let mode = match CFG_MODE {
             // Ask mode from user via RTT
@@ -64,7 +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,
@@ -117,12 +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();
-            }
         }
     }
 
@@ -138,14 +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-echo-rtic.rs

@@ -0,0 +1,143 @@
+//! More complex UART application
+//!
+//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
+//! a non-blocking way. All received data will be sent back to the sender.
+#![no_main]
+#![no_std]
+
+use once_cell::sync::Lazy;
+use ringbuf::StaticRb;
+
+// Larger buffer for TC to be able to hold the possibly large memory write packets.
+const RX_RING_BUF_SIZE: usize = 1024;
+
+// Ring buffers to handling variable sized telemetry
+static mut RINGBUF: Lazy<StaticRb<u8, RX_RING_BUF_SIZE>> =
+    Lazy::new(StaticRb::<u8, RX_RING_BUF_SIZE>::default);
+
+#[rtic::app(device = pac, dispatchers = [OC4])]
+mod app {
+    use super::*;
+    use embedded_io::Write;
+    use panic_rtt_target as _;
+    use ringbuf::{
+        traits::{Consumer, Observer, Producer, SplitRef},
+        CachingCons, StaticProd,
+    };
+    use rtic_example::SYSCLK_FREQ;
+    use rtic_monotonics::Monotonic;
+    use rtt_target::{rprintln, rtt_init_print};
+    use va108xx_hal::{
+        gpio::PinsA,
+        pac,
+        prelude::*,
+        uart::{self, RxWithIrq, Tx},
+    };
+
+    #[local]
+    struct Local {
+        data_producer: StaticProd<'static, u8, RX_RING_BUF_SIZE>,
+        data_consumer: CachingCons<&'static StaticRb<u8, RX_RING_BUF_SIZE>>,
+        rx: RxWithIrq<pac::Uarta>,
+        tx: Tx<pac::Uarta>,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        rtt_init_print!();
+        rprintln!("-- VA108xx UART Echo with IRQ example application--");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let mut dp = cx.device;
+        let gpioa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+        let tx = gpioa.pa9.into_funsel_2();
+        let rx = gpioa.pa8.into_funsel_2();
+
+        let irq_uart = uart::Uart::new(
+            &mut dp.sysconfig,
+            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
+            115200.Hz(),
+        );
+        let (tx, rx) = irq_uart.split();
+        let mut rx = rx.into_rx_with_irq(&mut dp.sysconfig, &mut dp.irqsel, pac::interrupt::OC3);
+
+        rx.start();
+
+        let (data_producer, data_consumer) = unsafe { RINGBUF.split_ref() };
+        echo_handler::spawn().unwrap();
+        (
+            Shared {},
+            Local {
+                data_producer,
+                data_consumer,
+                rx,
+                tx,
+            },
+        )
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[task(
+        binds = OC3,
+        shared = [],
+        local = [
+            rx,
+            data_producer
+        ],
+    )]
+    fn reception_task(cx: reception_task::Context) {
+        let mut buf: [u8; 16] = [0; 16];
+        let mut ringbuf_full = false;
+        let result = cx.local.rx.irq_handler(&mut buf);
+        if result.bytes_read > 0 && result.errors.is_none() {
+            if cx.local.data_producer.vacant_len() < result.bytes_read {
+                ringbuf_full = true;
+            } else {
+                cx.local
+                    .data_producer
+                    .push_slice(&buf[0..result.bytes_read]);
+            }
+        }
+        if ringbuf_full {
+            // Could also drop oldest data, but that would require the consumer to be shared.
+            rprintln!("buffer full, data was dropped");
+        }
+    }
+
+    #[task(shared = [], local = [
+        buf: [u8; RX_RING_BUF_SIZE] = [0; RX_RING_BUF_SIZE],
+        data_consumer,
+        tx
+    ], priority=1)]
+    async fn echo_handler(cx: echo_handler::Context) {
+        loop {
+            let bytes_to_read = cx.local.data_consumer.occupied_len();
+            if bytes_to_read > 0 {
+                let actual_read_bytes = cx
+                    .local
+                    .data_consumer
+                    .pop_slice(&mut cx.local.buf[0..bytes_to_read]);
+                cx.local
+                    .tx
+                    .write_all(&cx.local.buf[0..actual_read_bytes])
+                    .expect("Failed to write to TX");
+            }
+            Mono::delay(50.millis()).await;
+        }
+    }
+}

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 = "0.7"
+version = "0.8"
-path = "../../va108xx-hal"
 features = ["rt", "defmt"]
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"

examples/simple/examples/blinky.rs

@@ -16,8 +16,8 @@ use va108xx_hal::{
     gpio::PinsA,
     pac::{self, interrupt},
     prelude::*,
-    pwm::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer},
     timer::DelayMs,
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer},
     IrqCfg,
 };
 
@@ -32,7 +32,7 @@ fn main() -> ! {
         dp.tim0,
     ))
     .unwrap();
-    let mut delay_tim1 = CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
+    let mut delay_tim1 = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
     let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
     let mut led1 = porta.pa10.into_readable_push_pull_output();
     let mut led2 = porta.pa7.into_readable_push_pull_output();

examples/simple/examples/cascade.rs

@@ -17,13 +17,13 @@ use va108xx_hal::{
     prelude::*,
     timer::{
         default_ms_irq_handler, set_up_ms_delay_provider, CascadeCtrl, CascadeSource,
-        CountDownTimer, Event, IrqCfg,
+        CountdownTimer, Event, IrqCfg,
     },
 };
 
-static CSD_TGT_1: Mutex<RefCell<Option<CountDownTimer<pac::Tim4>>>> =
+static CSD_TGT_1: Mutex<RefCell<Option<CountdownTimer<pac::Tim4>>>> =
     Mutex::new(RefCell::new(None));
-static CSD_TGT_2: Mutex<RefCell<Option<CountDownTimer<pac::Tim5>>>> =
+static CSD_TGT_2: Mutex<RefCell<Option<CountdownTimer<pac::Tim5>>>> =
     Mutex::new(RefCell::new(None));
 
 #[entry]
@@ -36,7 +36,7 @@ fn main() -> ! {
 
     // Will be started periodically to trigger a cascade
     let mut cascade_triggerer =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim3).auto_disable(true);
+        CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim3).auto_disable(true);
     cascade_triggerer.listen(
         Event::TimeOut,
         IrqCfg::new(pac::Interrupt::OC1, true, false),
@@ -46,9 +46,9 @@ fn main() -> ! {
 
     // First target for cascade
     let mut cascade_target_1 =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim4).auto_deactivate(true);
+        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,
@@ -72,10 +72,10 @@ fn main() -> ! {
 
     // Activated by first cascade target
     let mut cascade_target_2 =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim5).auto_deactivate(true);
+        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/spi.rs

@@ -15,8 +15,8 @@ use va108xx_hal::{
     gpio::{PinsA, PinsB},
     pac::{self, interrupt},
     prelude::*,
-    pwm::{default_ms_irq_handler, set_up_ms_tick},
+    spi::{self, Spi, SpiBase, SpiClkConfig, TransferConfigWithHwcs},
-    spi::{self, Spi, SpiBase, TransferConfig},
+    timer::{default_ms_irq_handler, set_up_ms_tick},
     IrqCfg,
 };
 
@@ -24,8 +24,7 @@ use va108xx_hal::{
 pub enum ExampleSelect {
     // Enter loopback mode. It is not necessary to tie MOSI/MISO together for this
     Loopback,
-    // Send a test buffer and print everything received
+    MosiMisoTiedTogetherManually,
-    TestBuffer,
 }
 
 #[derive(PartialEq, Debug)]
@@ -55,6 +54,8 @@ 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);
@@ -79,7 +80,6 @@ fn main() -> ! {
                 dp.spia,
                 (sck, miso, mosi),
                 spi_cfg,
-                None,
             );
             spia.set_fill_word(FILL_WORD);
             spia_ref.borrow_mut().replace(spia.downgrade());
@@ -96,7 +96,6 @@ fn main() -> ! {
                 dp.spia,
                 (sck, miso, mosi),
                 spi_cfg,
-                None,
             );
             spia.set_fill_word(FILL_WORD);
             spia_ref.borrow_mut().replace(spia.downgrade());
@@ -113,7 +112,6 @@ fn main() -> ! {
                 dp.spib,
                 (sck, miso, mosi),
                 spi_cfg,
-                None,
             );
             spib.set_fill_word(FILL_WORD);
             spib_ref.borrow_mut().replace(spib.downgrade());
@@ -123,19 +121,25 @@ 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,
+                    true,
+                    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,
+                    true,
                     false,
                 );
                 spi.cfg_transfer(&transfer_cfg);
@@ -149,92 +153,64 @@ fn main() -> ! {
         match SPI_BUS_SEL {
             SpiBusSelect::SpiAPortA | SpiBusSelect::SpiAPortB => {
                 if let Some(ref mut spi) = *spia_ref.borrow_mut() {
-                    if EXAMPLE_SEL == ExampleSelect::Loopback {
+                    // Can't really verify correct reply here.
-                        // Can't really verify correct reply here.
+                    spi.write(&[0x42]).expect("write failed");
-                        spi.write(&[0x42]).expect("write failed");
+                    // Because of the loopback mode, we should get back the fill word here.
-                        // Because of the loopback mode, we should get back the fill word here.
+                    spi.read(&mut reply_buf[0..1]).unwrap();
-                        spi.read(&mut reply_buf[0..1]).unwrap();
+                    assert_eq!(reply_buf[0], FILL_WORD);
-                        assert_eq!(reply_buf[0], FILL_WORD);
+                    delay.delay_ms(500_u32);
-                        delay.delay_ms(500_u32);
 
-                        let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
+                    let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
+                    spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
-                        assert_eq!(tx_buf, reply_buf[0..3]);
+                    assert_eq!(tx_buf, reply_buf[0..3]);
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            reply_buf[0],
+                        reply_buf[0],
-                            reply_buf[1],
+                        reply_buf[1],
-                            reply_buf[2]
+                        reply_buf[2]
-                        );
+                    );
-                        delay.delay_ms(500_u32);
+                    delay.delay_ms(500_u32);
 
-                        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
+                    let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
-                        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
+                    spi.transfer_in_place(&mut tx_rx_buf).unwrap();
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            tx_rx_buf[0],
+                        tx_rx_buf[0],
-                            tx_rx_buf[1],
+                        tx_rx_buf[1],
-                            tx_rx_buf[2]
+                        tx_rx_buf[2]
-                        );
+                    );
-                        assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
+                    assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
-                    } else {
-                        let send_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &send_buf).unwrap();
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            reply_buf[0],
-                            reply_buf[1],
-                            reply_buf[2]
-                        );
-                        delay.delay_ms(1000_u32);
-                    }
                 }
             }
             SpiBusSelect::SpiBPortB => {
                 if let Some(ref mut spi) = *spib_ref.borrow_mut() {
-                    if EXAMPLE_SEL == ExampleSelect::Loopback {
+                    // Can't really verify correct reply here.
-                        // Can't really verify correct reply here.
+                    spi.write(&[0x42]).expect("write failed");
-                        spi.write(&[0x42]).expect("write failed");
+                    // Because of the loopback mode, we should get back the fill word here.
-                        // Need small delay.. otherwise we will read back the sent byte (which we don't want here).
+                    spi.read(&mut reply_buf[0..1]).unwrap();
-                        // The write function will return as soon as all bytes were shifted out, ignoring the
+                    assert_eq!(reply_buf[0], FILL_WORD);
-                        // reply bytes.
+                    delay.delay_ms(500_u32);
-                        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);
-                        delay.delay_ms(500_u32);
 
-                        let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
+                    let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
+                    spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
-                        assert_eq!(tx_buf, reply_buf[0..3]);
+                    assert_eq!(tx_buf, reply_buf[0..3]);
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            reply_buf[0],
+                        reply_buf[0],
-                            reply_buf[1],
+                        reply_buf[1],
-                            reply_buf[2]
+                        reply_buf[2]
-                        );
+                    );
-                        delay.delay_ms(500_u32);
+                    delay.delay_ms(500_u32);
 
-                        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
+                    let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
-                        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
+                    spi.transfer_in_place(&mut tx_rx_buf).unwrap();
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            tx_rx_buf[0],
+                        tx_rx_buf[0],
-                            tx_rx_buf[1],
+                        tx_rx_buf[1],
-                            tx_rx_buf[2]
+                        tx_rx_buf[2]
-                        );
+                    );
-                        assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
+                    assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
-                    } else {
-                        let send_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &send_buf).unwrap();
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            reply_buf[0],
-                            reply_buf[1],
-                            reply_buf[2]
-                        );
-                        delay.delay_ms(1000_u32);
-                    }
                 }
             }
         }

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::{
@@ -12,7 +12,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer, Event, IrqCfg, MS_COUNTER},
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, Event, IrqCfg, MS_COUNTER},
 };
 
 #[allow(dead_code)]
@@ -72,7 +72,7 @@ fn main() -> ! {
                 dp.tim0,
             );
             let mut second_timer =
-                CountDownTimer::new(&mut dp.sysconfig, get_sys_clock().unwrap(), dp.tim1);
+                CountdownTimer::new(&mut dp.sysconfig, get_sys_clock().unwrap(), dp.tim1);
             second_timer.listen(
                 Event::TimeOut,
                 IrqCfg::new(interrupt::OC1, true, true),
@@ -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-irq-rtic.rs

@@ -1,172 +0,0 @@
-//! More complex UART application
-//!
-//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
-//! a non-blocking way. You can send variably sized strings to the VA10820 which will be echoed
-//! back to the sender.
-//!
-//! This script was tested with an Arduino Due. You can find the test script in the
-//! [`/test/DueSerialTest`](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/test/DueSerialTest)
-//! folder.
-#![no_main]
-#![no_std]
-
-#[rtic::app(device = pac, dispatchers = [OC4])]
-mod app {
-    use embedded_io::Write;
-    use panic_rtt_target as _;
-    use rtic_monotonics::systick::Systick;
-    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},
-    };
-
-    #[local]
-    struct Local {
-        rx_info_tx: rtic_sync::channel::Sender<'static, RxInfo, 3>,
-        rx_info_rx: rtic_sync::channel::Receiver<'static, RxInfo, 3>,
-    }
-
-    #[shared]
-    struct Shared {
-        irq_uart: UartWithIrqBase<pac::Uartb>,
-        rx_buf: [u8; 64],
-    }
-
-    #[derive(Debug, Copy, Clone)]
-    struct RxInfo {
-        pub bytes_read: usize,
-        pub end_idx: usize,
-        pub timeout: bool,
-    }
-
-    #[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
-        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);
-        let tx = gpiob.pb21.into_funsel_1();
-        let rx = gpiob.pb20.into_funsel_1();
-
-        let irq_cfg = IrqCfg::new(pac::interrupt::OC3, true, true);
-        let (mut irq_uart, _) =
-            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
-            .read_fixed_len_using_irq(64, true)
-            .expect("Read initialization failed");
-
-        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 {
-                rx_info_tx,
-                rx_info_rx,
-            },
-        )
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        loop {
-            cortex_m::asm::nop();
-        }
-    }
-
-    #[task(
-        binds = OC3,
-        shared = [irq_uart, rx_buf],
-        local = [cnt: u32 = 0, result: IrqResult = IrqResult::new(), rx_info_tx],
-    )]
-    fn reception_task(cx: reception_task::Context) {
-        let result = cx.local.result;
-        let cnt: &mut u32 = cx.local.cnt;
-        let irq_uart = cx.shared.irq_uart;
-        let rx_buf = cx.shared.rx_buf;
-        let (completed, end_idx) = (irq_uart, rx_buf).lock(|irq_uart, rx_buf| {
-            match irq_uart.irq_handler(result, rx_buf) {
-                Ok(_) => {
-                    if result.complete() {
-                        // Initiate next transfer immediately
-                        irq_uart
-                            .read_fixed_len_using_irq(64, true)
-                            .expect("Read operation init failed");
-
-                        let mut end_idx = 0;
-                        for idx in 0..rx_buf.len() {
-                            if (rx_buf[idx] as char) == '\n' {
-                                end_idx = idx;
-                                break;
-                            }
-                        }
-                        (true, end_idx)
-                    } else {
-                        (false, 0)
-                    }
-                }
-                Err(e) => {
-                    rprintln!("reception error {:?}", e);
-                    (false, 0)
-                }
-            }
-        });
-        if completed {
-            rprintln!("counter: {}", cnt);
-            cx.local
-                .rx_info_tx
-                .try_send(RxInfo {
-                    bytes_read: result.bytes_read,
-                    end_idx,
-                    timeout: result.timeout(),
-                })
-                .expect("RX queue full");
-        }
-        *cnt += 1;
-    }
-
-    #[task(shared = [irq_uart, rx_buf], local = [rx_info_rx], priority=1)]
-    async fn reply_handler(cx: reply_handler::Context) {
-        let mut irq_uart = cx.shared.irq_uart;
-        let mut rx_buf = cx.shared.rx_buf;
-        loop {
-            match cx.local.rx_info_rx.recv().await {
-                Ok(rx_info) => {
-                    rprintln!("reception success, {} bytes read", rx_info.bytes_read);
-                    if rx_info.timeout {
-                        rprintln!("timeout occurred");
-                    }
-                    rx_buf.lock(|rx_buf| {
-                        let string = core::str::from_utf8(&rx_buf[0..rx_info.end_idx])
-                            .expect("Invalid string format");
-                        rprintln!("read string: {}", string);
-                        irq_uart.lock(|uart| {
-                            writeln!(uart.uart, "{}", string).expect("Sending reply failed");
-                        });
-                    });
-                }
-                Err(e) => {
-                    rprintln!("error receiving RX info: {:?}", e);
-                }
-            }
-        }
-    }
-}

flashloader/.gitignore

@@ -0,0 +1 @@
+/venv

flashloader/Cargo.toml

@@ -0,0 +1,65 @@
+[package]
+name = "flashloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-hal-nb = "1"
+embedded-io = "0.6"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+log = "0.4"
+crc = "3"
+
+[dependencies.satrs]
+version = "0.2"
+default-features = false
+
+[dependencies.rtt-log]
+version = "0.4"
+
+[dependencies.ringbuf]
+version = "0.4.7"
+default-features = false
+features = ["portable-atomic"]
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[dependencies.spacepackets]
+version = "0.11"
+default-features = false
+
+[dependencies.cobs]
+git = "https://github.com/robamu/cobs.rs.git"
+branch = "all_features"
+default-features = false
+
+# 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.
+[dependencies.portable-atomic]
+version = "1"
+features = ["unsafe-assume-single-core"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv6-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]
+
+[dependencies.rtic-sync]
+version = "1"
+features = ["defmt-03"]
+
+[dependencies.va108xx-hal]
+path = "../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../vorago-reb1"

flashloader/README.md

@@ -0,0 +1,66 @@
+VA108xx Flashloader Application
+========
+
+This flashloader shows a minimal example for a self-updatable Rust software which exposes
+a simple PUS (CCSDS) interface to update the software. It also provides a Python application
+called the `image-loader.py` which can be used to upload compiled images to the flashloader
+application to write them to the NVM.
+
+Please note that the both the application and the image loader are tailored towards usage
+with the [bootloader provided by this repository](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/bootloader).
+
+The software can quickly be adapted to interface with a real primary on-board software instead of
+the Python script provided here to upload images because it uses a low-level CCSDS based packet
+interface.
+
+## Using the Python image loader
+
+The Python image loader communicates with the Rust flashload application using a dedicated serial
+port with a baudrate of 115200.
+
+It is recommended to run the script in a dedicated virtual environment. For example, on UNIX
+systems you can use `python3 -m venv venv` and then `source venv/bin/activate` to create
+and activate a virtual environment.
+
+After that, you can use
+
+```sh
+pip install -r requirements.txt
+```
+
+to install all required dependencies.
+
+After that, it is recommended to use `./image-load.py -h` to get an overview of some options.
+The flash loader uses the UART0 with the Pins PA8 (RX) and PA9 (TX) interface of the VA108xx to perform CCSDS based
+communication. The Python image loader application will search for a file named `loader.toml` and
+use the `serial_port` key to determine the serial port to use for serial communication.
+
+### Examples
+
+You can use
+
+```sh
+./image-loader.py -p
+```
+
+to send a ping an verify the connection.
+
+You can use
+
+```sh
+cd flashloader/slot-a-blinky
+cargo build --release
+cd ../..
+./image-loader.py -t a ./slot-a-blinky/target/thumbv6m-none-eabi/release/slot-a-blinky
+```
+
+to build the slot A sample application and upload it to a running flash loader application
+to write it to slot A.
+
+You can use
+
+```sh
+./image-loader.py -c -t a
+```
+
+to corrupt the image A and test that it switches to image B after a failed CRC check instead.

flashloader/image-loader.py

@@ -0,0 +1,430 @@
+#!/usr/bin/env python3
+from typing import List, Tuple
+from spacepackets.ecss.defs import PusService
+from spacepackets.ecss.tm import PusTm
+from tmtccmd.com import ComInterface
+import toml
+import struct
+import logging
+import argparse
+import time
+import enum
+from tmtccmd.com.serial_base import SerialCfg
+from tmtccmd.com.serial_cobs import SerialCobsComIF
+from tmtccmd.com.ser_utils import prompt_com_port
+from crcmod.predefined import PredefinedCrc
+from spacepackets.ecss.tc import PusTc
+from spacepackets.ecss.pus_verificator import PusVerificator, StatusField
+from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
+from spacepackets.seqcount import SeqCountProvider
+from pathlib import Path
+import dataclasses
+from elftools.elf.elffile import ELFFile
+
+
+BAUD_RATE = 115200
+
+BOOTLOADER_START_ADDR = 0x0
+BOOTLOADER_END_ADDR = 0x3000
+BOOTLOADER_CRC_ADDR = BOOTLOADER_END_ADDR - 2
+BOOTLOADER_MAX_SIZE = BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 2
+
+APP_A_START_ADDR = 0x3000
+APP_A_END_ADDR = 0x11800
+# The actual size of the image which is relevant for CRC calculation.
+APP_A_SIZE_ADDR = APP_A_END_ADDR - 8
+APP_A_CRC_ADDR = APP_A_END_ADDR - 4
+APP_A_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
+
+APP_B_START_ADDR = APP_A_END_ADDR
+APP_B_END_ADDR = 0x20000
+# The actual size of the image which is relevant for CRC calculation.
+APP_B_SIZE_ADDR = APP_B_END_ADDR - 8
+APP_B_CRC_ADDR = APP_B_END_ADDR - 4
+APP_B_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
+
+APP_IMG_SZ = (APP_B_END_ADDR - APP_A_START_ADDR) // 2
+
+CHUNK_SIZE = 400
+
+MEMORY_SERVICE = 6
+ACTION_SERVICE = 8
+
+RAW_MEMORY_WRITE_SUBSERVICE = 2
+BOOT_NVM_MEMORY_ID = 1
+PING_PAYLOAD_SIZE = 0
+
+
+class ActionId(enum.IntEnum):
+    CORRUPT_APP_A = 128
+    CORRUPT_APP_B = 129
+
+
+_LOGGER = logging.getLogger(__name__)
+SEQ_PROVIDER = SeqCountProvider(bit_width=14)
+
+
+@dataclasses.dataclass
+class LoadableSegment:
+    name: str
+    offset: int
+    size: int
+    data: bytes
+
+
+class Target(enum.Enum):
+    BOOTLOADER = 0
+    APP_A = 1
+    APP_B = 2
+
+
+class ImageLoader:
+    def __init__(self, com_if: ComInterface, verificator: PusVerificator) -> None:
+        self.com_if = com_if
+        self.verificator = verificator
+
+    def handle_ping_cmd(self):
+        _LOGGER.info("Sending ping command")
+        ping_tc = PusTc(
+            apid=0x00,
+            service=PusService.S17_TEST,
+            subservice=1,
+            seq_count=SEQ_PROVIDER.get_and_increment(),
+            app_data=bytes(PING_PAYLOAD_SIZE),
+        )
+        self.verificator.add_tc(ping_tc)
+        self.com_if.send(bytes(ping_tc.pack()))
+
+        data_available = self.com_if.data_available(0.4)
+        if not data_available:
+            _LOGGER.warning("no ping reply received")
+        for reply in self.com_if.receive():
+            result = self.verificator.add_tm(
+                Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
+            )
+            if result is not None and result.completed:
+                _LOGGER.info("received ping completion reply")
+
+    def handle_corruption_cmd(self, target: Target):
+
+        if target == Target.BOOTLOADER:
+            _LOGGER.error("can not corrupt bootloader")
+        if target == Target.APP_A:
+            self.send_tc(
+                PusTc(
+                    apid=0,
+                    service=ACTION_SERVICE,
+                    subservice=ActionId.CORRUPT_APP_A,
+                ),
+            )
+        if target == Target.APP_B:
+            self.send_tc(
+                PusTc(
+                    apid=0,
+                    service=ACTION_SERVICE,
+                    subservice=ActionId.CORRUPT_APP_B,
+                ),
+            )
+
+    def handle_flash_cmd(self, target: Target, file_path: Path) -> int:
+        loadable_segments = []
+        _LOGGER.info("Parsing ELF file for loadable sections")
+        total_size = 0
+        loadable_segments, total_size = create_loadable_segments(target, file_path)
+        segments_info_str(target, loadable_segments, total_size, file_path)
+        result = self._perform_flashing_algorithm(loadable_segments)
+        if result != 0:
+            return result
+        self._crc_and_app_size_postprocessing(target, total_size, loadable_segments)
+        return 0
+
+    def _perform_flashing_algorithm(
+        self,
+        loadable_segments: List[LoadableSegment],
+    ) -> int:
+        # Perform the flashing algorithm.
+        for segment in loadable_segments:
+            segment_end = segment.offset + segment.size
+            current_addr = segment.offset
+            pos_in_segment = 0
+            while pos_in_segment < segment.size:
+                next_chunk_size = min(segment_end - current_addr, CHUNK_SIZE)
+                data = segment.data[pos_in_segment : pos_in_segment + next_chunk_size]
+                next_packet = pack_memory_write_command(current_addr, data)
+                _LOGGER.info(
+                    f"Sending memory write command for address {current_addr:#08x} and data with "
+                    f"length {len(data)}"
+                )
+                self.verificator.add_tc(next_packet)
+                self.com_if.send(bytes(next_packet.pack()))
+                current_addr += next_chunk_size
+                pos_in_segment += next_chunk_size
+                start_time = time.time()
+                while True:
+                    if time.time() - start_time > 1.0:
+                        _LOGGER.error("Timeout while waiting for reply")
+                        return -1
+                    data_available = self.com_if.data_available(0.1)
+                    done = False
+                    if not data_available:
+                        continue
+                    replies = self.com_if.receive()
+                    for reply in replies:
+                        tm = PusTm.unpack(reply, 0)
+                        if tm.service != 1:
+                            continue
+                        service_1_tm = Service1Tm.from_tm(tm, UnpackParams(0))
+                        check_result = self.verificator.add_tm(service_1_tm)
+                        # We could send after we have received the step reply, but that can
+                        # somehow lead to overrun errors. I think it's okay to do it like
+                        # this as long as the flash loader only uses polling..
+                        if (
+                            check_result is not None
+                            and check_result.status.completed == StatusField.SUCCESS
+                        ):
+                            done = True
+
+                        # This is an optimized variant, but I think the small delay is not an issue.
+                        """
+                        if (
+                            check_result is not None
+                            and check_result.status.step == StatusField.SUCCESS
+                            and len(check_result.status.step_list) == 1
+                        ):
+                            done = True
+                        """
+                    self.verificator.remove_completed_entries()
+                    if done:
+                        break
+        return 0
+
+    def _crc_and_app_size_postprocessing(
+        self,
+        target: Target,
+        total_size: int,
+        loadable_segments: List[LoadableSegment],
+    ):
+        if target == Target.BOOTLOADER:
+            _LOGGER.info("Blanking the bootloader checksum")
+            # Blank the checksum. For the bootloader, the bootloader will calculate the
+            # checksum itself on the initial run.
+            checksum_write_packet = pack_memory_write_command(
+                BOOTLOADER_CRC_ADDR, bytes([0x00, 0x00])
+            )
+            self.send_tc(checksum_write_packet)
+        else:
+            crc_addr = None
+            size_addr = None
+            if target == Target.APP_A:
+                crc_addr = APP_A_CRC_ADDR
+                size_addr = APP_A_SIZE_ADDR
+            elif target == Target.APP_B:
+                crc_addr = APP_B_CRC_ADDR
+                size_addr = APP_B_SIZE_ADDR
+            assert crc_addr is not None
+            assert size_addr is not None
+            _LOGGER.info(f"Writing app size {total_size} at address {size_addr:#08x}")
+            size_write_packet = pack_memory_write_command(
+                size_addr, struct.pack("!I", total_size)
+            )
+            self.com_if.send(bytes(size_write_packet.pack()))
+            time.sleep(0.2)
+            crc_calc = PredefinedCrc("crc-ccitt-false")
+            for segment in loadable_segments:
+                crc_calc.update(segment.data)
+            checksum = crc_calc.digest()
+            _LOGGER.info(
+                f"Writing checksum 0x[{checksum.hex(sep=',')}] at address {crc_addr:#08x}"
+            )
+            self.send_tc(pack_memory_write_command(crc_addr, checksum))
+
+    def send_tc(self, tc: PusTc):
+        self.com_if.send(bytes(tc.pack()))
+
+
+def main() -> int:
+    print("Python VA108XX Image Loader Application")
+    logging.basicConfig(
+        format="[%(asctime)s] [%(levelname)s] %(message)s", level=logging.DEBUG
+    )
+    parser = argparse.ArgumentParser(
+        prog="image-loader", description="Python VA416XX Image Loader Application"
+    )
+    parser.add_argument("-p", "--ping", action="store_true", help="Send ping command")
+    parser.add_argument("-c", "--corrupt", action="store_true", help="Corrupt a target")
+    parser.add_argument(
+        "-t",
+        "--target",
+        choices=["bl", "a", "b"],
+        help="Target (Bootloader or slot A or B)",
+    )
+    parser.add_argument(
+        "path", nargs="?", default=None, help="Path to the App to flash"
+    )
+    args = parser.parse_args()
+    serial_port = None
+    if Path("loader.toml").exists():
+        with open("loader.toml", "r") as toml_file:
+            parsed_toml = toml.loads(toml_file.read())
+            if "serial_port" in parsed_toml:
+                serial_port = parsed_toml["serial_port"]
+    if serial_port is None:
+        serial_port = prompt_com_port()
+    serial_cfg = SerialCfg(
+        com_if_id="ser_cobs",
+        serial_port=serial_port,
+        baud_rate=BAUD_RATE,
+        serial_timeout=0.1,
+    )
+    verificator = PusVerificator()
+    com_if = SerialCobsComIF(serial_cfg)
+    com_if.open()
+    target = None
+    if args.target == "bl":
+        target = Target.BOOTLOADER
+    elif args.target == "a":
+        target = Target.APP_A
+    elif args.target == "b":
+        target = Target.APP_B
+    image_loader = ImageLoader(com_if, verificator)
+    file_path = None
+    result = -1
+    if args.ping:
+        image_loader.handle_ping_cmd()
+        com_if.close()
+        return 0
+    if target:
+        if not args.corrupt:
+            if not args.path:
+                _LOGGER.error("App Path needs to be specified for the flash process")
+            file_path = Path(args.path)
+            if not file_path.exists():
+                _LOGGER.error("File does not exist")
+    if args.corrupt:
+        if not target:
+            _LOGGER.error("target for corruption command required")
+            com_if.close()
+            return -1
+        image_loader.handle_corruption_cmd(target)
+    else:
+        assert file_path is not None
+        assert target is not None
+        result = image_loader.handle_flash_cmd(target, file_path)
+
+    com_if.close()
+    return result
+
+
+def create_loadable_segments(
+    target: Target, file_path: Path
+) -> Tuple[List[LoadableSegment], int]:
+    loadable_segments = []
+    total_size = 0
+    with open(file_path, "rb") as app_file:
+        elf_file = ELFFile(app_file)
+
+        for idx, segment in enumerate(elf_file.iter_segments("PT_LOAD")):
+            if segment.header.p_filesz == 0:
+                continue
+            # Basic validity checks of the base addresses.
+            if idx == 0:
+                if (
+                    target == Target.BOOTLOADER
+                    and segment.header.p_paddr != BOOTLOADER_START_ADDR
+                ):
+                    raise ValueError(
+                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
+                        f"bootloader, expected {BOOTLOADER_START_ADDR}"
+                    )
+                if (
+                    target == Target.APP_A
+                    and segment.header.p_paddr != APP_A_START_ADDR
+                ):
+                    raise ValueError(
+                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
+                        f"App A, expected {APP_A_START_ADDR}"
+                    )
+                if (
+                    target == Target.APP_B
+                    and segment.header.p_paddr != APP_B_START_ADDR
+                ):
+                    raise ValueError(
+                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
+                        f"App B, expected {APP_B_START_ADDR}"
+                    )
+            name = None
+            for section in elf_file.iter_sections():
+                if (
+                    section.header.sh_offset == segment.header.p_offset
+                    and section.header.sh_size > 0
+                ):
+                    name = section.name
+            if name is None:
+                _LOGGER.warning("no fitting section found for segment")
+                continue
+            # print(f"Segment Addr: {segment.header.p_paddr}")
+            # print(f"Segment Offset: {segment.header.p_offset}")
+            # print(f"Segment Filesize: {segment.header.p_filesz}")
+            loadable_segments.append(
+                LoadableSegment(
+                    name=name,
+                    offset=segment.header.p_paddr,
+                    size=segment.header.p_filesz,
+                    data=segment.data(),
+                )
+            )
+            total_size += segment.header.p_filesz
+    return loadable_segments, total_size
+
+
+def segments_info_str(
+    target: Target,
+    loadable_segments: List[LoadableSegment],
+    total_size: int,
+    file_path: Path,
+):
+    # Set context string and perform basic sanity checks.
+    if target == Target.BOOTLOADER:
+        if total_size > BOOTLOADER_MAX_SIZE:
+            _LOGGER.error(
+                f"provided bootloader app larger than allowed {total_size} bytes"
+            )
+            return -1
+        context_str = "Bootloader"
+    elif target == Target.APP_A:
+        if total_size > APP_A_MAX_SIZE:
+            _LOGGER.error(f"provided App A larger than allowed {total_size} bytes")
+            return -1
+        context_str = "App Slot A"
+    elif target == Target.APP_B:
+        if total_size > APP_B_MAX_SIZE:
+            _LOGGER.error(f"provided App B larger than allowed {total_size} bytes")
+            return -1
+        context_str = "App Slot B"
+    _LOGGER.info(f"Flashing {context_str} with image {file_path} (size {total_size})")
+    for idx, segment in enumerate(loadable_segments):
+        _LOGGER.info(
+            f"Loadable section {idx} {segment.name} with offset {segment.offset:#08x} and "
+            f"size {segment.size}"
+        )
+
+
+def pack_memory_write_command(addr: int, data: bytes) -> PusTc:
+    app_data = bytearray()
+    app_data.append(BOOT_NVM_MEMORY_ID)
+    # N parameter is always 1 here.
+    app_data.append(1)
+    app_data.extend(struct.pack("!I", addr))
+    app_data.extend(struct.pack("!I", len(data)))
+    app_data.extend(data)
+    return PusTc(
+        apid=0,
+        service=MEMORY_SERVICE,
+        subservice=RAW_MEMORY_WRITE_SUBSERVICE,
+        seq_count=SEQ_PROVIDER.get_and_increment(),
+        app_data=bytes(app_data),
+    )
+
+
+if __name__ == "__main__":
+    main()

flashloader/loader.toml

@@ -0,0 +1 @@
+serial_port = "/dev/ttyUSB0"

flashloader/requirements.txt

@@ -0,0 +1,5 @@
+spacepackets == 0.24
+tmtccmd == 8.0.2
+toml == 0.10
+pyelftools == 0.31
+crcmod == 1.7

flashloader/slot-a-blinky/.gitignore

@@ -0,0 +1,2 @@
+/target
+/app.map

flashloader/slot-a-blinky/Cargo.toml

@@ -0,0 +1,42 @@
+[package]
+name = "slot-a-blinky"
+version = "0.1.0"
+edition = "2021"
+
+[workspace]
+
+[dependencies]
+cortex-m-rt = "0.7"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+embedded-hal = "1"
+va108xx-hal = { path = "../../va108xx-hal" }
+
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+# This is problematic for stepping..
+# opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+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.

flashloader/slot-a-blinky/memory.x

@@ -0,0 +1,11 @@
+/* Special linker script for application slot A with an offset at address 0x3000 */
+MEMORY
+{
+	FLASH : ORIGIN = 0x00003000, LENGTH = 0xE800
+	RAM : ORIGIN = 0x10000000, LENGTH = 0x08000 /* 32K */
+}
+
+/* This is where the call stack will be allocated. */
+/* The stack is of the full descending type. */
+/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);

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

@@ -0,0 +1,25 @@
+//! Simple blinky example using the HAL
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use embedded_hal::{delay::DelayNs, digital::StatefulOutputPin};
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountdownTimer};
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("VA108xx HAL blinky example for App Slot A");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+    let mut timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim0);
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+    let mut led1 = porta.pa10.into_readable_push_pull_output();
+
+    loop {
+        led1.toggle().ok();
+        timer.delay_ms(500);
+    }
+}

flashloader/slot-b-blinky/.gitignore

@@ -0,0 +1,2 @@
+/target
+/app.map

flashloader/slot-b-blinky/Cargo.toml

@@ -0,0 +1,42 @@
+[package]
+name = "slot-b-blinky"
+version = "0.1.0"
+edition = "2021"
+
+[workspace]
+
+[dependencies]
+cortex-m-rt = "0.7"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+embedded-hal = "1"
+va108xx-hal = { path = "../../va108xx-hal" }
+
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+# This is problematic for stepping..
+# opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+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.

flashloader/slot-b-blinky/memory.x

@@ -0,0 +1,11 @@
+/* Special linker script for application slot B with an offset at address 0x11800 */
+MEMORY
+{
+	FLASH : ORIGIN = 0x00011800, LENGTH = 0xE800
+	RAM : ORIGIN = 0x10000000, LENGTH = 0x08000 /* 32K */
+}
+
+/* This is where the call stack will be allocated. */
+/* The stack is of the full descending type. */
+/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);

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

@@ -0,0 +1,25 @@
+//! Simple blinky example using the HAL
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use embedded_hal::{delay::DelayNs, digital::StatefulOutputPin};
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountdownTimer};
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("VA108xx HAL blinky example for App Slot B");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+    let mut timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim0);
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+    let mut led2 = porta.pa7.into_readable_push_pull_output();
+
+    loop {
+        led2.toggle().ok();
+        timer.delay_ms(1000);
+    }
+}

flashloader/src/lib.rs

@@ -0,0 +1,9 @@
+#![no_std]
+
+#[cfg(test)]
+mod tests {
+    #[test]
+    fn simple() {
+        assert_eq!(1 + 1, 2);
+    }
+}

flashloader/src/main.rs

@@ -0,0 +1,474 @@
+//! Vorago flashloader which can be used to flash image A and image B via a simple
+//! low-level CCSDS memory interface via a UART interface.
+#![no_main]
+#![no_std]
+
+use once_cell::sync::Lazy;
+use panic_rtt_target as _;
+use ringbuf::{
+    traits::{Consumer, Observer, Producer, SplitRef},
+    CachingCons, StaticProd, StaticRb,
+};
+use va108xx_hal::prelude::*;
+
+const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+const MAX_TC_SIZE: usize = 524;
+const MAX_TC_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TC_SIZE);
+
+const MAX_TM_SIZE: usize = 128;
+const MAX_TM_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TM_SIZE);
+
+const UART_BAUDRATE: u32 = 115200;
+const BOOT_NVM_MEMORY_ID: u8 = 1;
+const RX_DEBUGGING: bool = false;
+
+pub enum ActionId {
+    CorruptImageA = 128,
+    CorruptImageB = 129,
+}
+
+// Larger buffer for TC to be able to hold the possibly large memory write packets.
+const BUF_RB_SIZE_TC: usize = 1024;
+const SIZES_RB_SIZE_TC: usize = 16;
+
+const BUF_RB_SIZE_TM: usize = 256;
+const SIZES_RB_SIZE_TM: usize = 16;
+
+// Ring buffers to handling variable sized telemetry
+static mut BUF_RB_TM: Lazy<StaticRb<u8, BUF_RB_SIZE_TM>> =
+    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TM>::default);
+static mut SIZES_RB_TM: Lazy<StaticRb<usize, SIZES_RB_SIZE_TM>> =
+    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TM>::default);
+
+// Ring buffers to handling variable sized telecommands
+static mut BUF_RB_TC: Lazy<StaticRb<u8, BUF_RB_SIZE_TC>> =
+    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TC>::default);
+static mut SIZES_RB_TC: Lazy<StaticRb<usize, SIZES_RB_SIZE_TC>> =
+    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TC>::default);
+
+pub struct DataProducer<const BUF_SIZE: usize, const SIZES_LEN: usize> {
+    pub buf_prod: StaticProd<'static, u8, BUF_SIZE>,
+    pub sizes_prod: StaticProd<'static, usize, SIZES_LEN>,
+}
+
+pub struct DataConsumer<const BUF_SIZE: usize, const SIZES_LEN: usize> {
+    pub buf_cons: CachingCons<&'static StaticRb<u8, BUF_SIZE>>,
+    pub sizes_cons: CachingCons<&'static StaticRb<usize, SIZES_LEN>>,
+}
+
+pub const APP_A_START_ADDR: u32 = 0x3000;
+pub const APP_A_END_ADDR: u32 = 0x11800;
+pub const APP_B_START_ADDR: u32 = APP_A_END_ADDR;
+pub const APP_B_END_ADDR: u32 = 0x20000;
+
+#[rtic::app(device = pac, dispatchers = [OC20, OC21, OC22])]
+mod app {
+    use super::*;
+    use cortex_m::asm;
+    use embedded_io::Write;
+    use panic_rtt_target as _;
+    use rtic::Mutex;
+    use rtic_monotonics::systick::prelude::*;
+    use rtt_target::rprintln;
+    use satrs::pus::verification::{FailParams, VerificationReportCreator};
+    use spacepackets::ecss::PusServiceId;
+    use spacepackets::ecss::{
+        tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
+    };
+    use va108xx_hal::gpio::PinsA;
+    use va108xx_hal::uart::IrqContextTimeoutOrMaxSize;
+    use va108xx_hal::{pac, uart};
+    use vorago_reb1::m95m01::M95M01;
+
+    #[derive(Default, Debug, Copy, Clone, PartialEq, Eq)]
+    pub enum CobsReaderStates {
+        #[default]
+        WaitingForStart,
+        WatingForEnd,
+        FrameOverflow,
+    }
+
+    #[local]
+    struct Local {
+        uart_rx: uart::RxWithIrq<pac::Uarta>,
+        uart_tx: uart::Tx<pac::Uarta>,
+        rx_context: IrqContextTimeoutOrMaxSize,
+        // We handle all TM in one task.
+        tm_cons: DataConsumer<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
+        // We consume all TC in one task.
+        tc_cons: DataConsumer<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
+        // We produce all TC in one task.
+        tc_prod: DataProducer<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
+        verif_reporter: VerificationReportCreator,
+        nvm: M95M01,
+    }
+
+    #[shared]
+    struct Shared {
+        // Having this shared allows multiple tasks to generate telemetry.
+        tm_prod: DataProducer<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
+    }
+
+    rtic_monotonics::systick_monotonic!(Mono, 1000);
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        rtt_log::init();
+        rprintln!("-- Vorago flashloader --");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let mut dp = cx.device;
+        let nvm = M95M01::new(&mut dp.sysconfig, SYSCLK_FREQ, dp.spic);
+
+        let gpioa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+        let tx = gpioa.pa9.into_funsel_2();
+        let rx = gpioa.pa8.into_funsel_2();
+
+        let irq_uart = uart::Uart::new(
+            &mut dp.sysconfig,
+            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
+            UART_BAUDRATE.Hz(),
+        );
+        let (tx, rx) = irq_uart.split();
+        let mut rx = rx.into_rx_with_irq(&mut dp.sysconfig, &mut dp.irqsel, pac::interrupt::OC0);
+
+        let verif_reporter = VerificationReportCreator::new(0).unwrap();
+
+        let (buf_prod_tm, buf_cons_tm) = unsafe { BUF_RB_TM.split_ref() };
+        let (sizes_prod_tm, sizes_cons_tm) = unsafe { SIZES_RB_TM.split_ref() };
+
+        let (buf_prod_tc, buf_cons_tc) = unsafe { BUF_RB_TC.split_ref() };
+        let (sizes_prod_tc, sizes_cons_tc) = unsafe { SIZES_RB_TC.split_ref() };
+
+        let mut rx_context = IrqContextTimeoutOrMaxSize::new(MAX_TC_FRAME_SIZE);
+        rx.read_fixed_len_or_timeout_based_using_irq(&mut rx_context)
+            .expect("initiating UART RX failed");
+        pus_tc_handler::spawn().unwrap();
+        pus_tm_tx_handler::spawn().unwrap();
+        (
+            Shared {
+                tm_prod: DataProducer {
+                    buf_prod: buf_prod_tm,
+                    sizes_prod: sizes_prod_tm,
+                },
+            },
+            Local {
+                uart_rx: rx,
+                uart_tx: tx,
+                rx_context,
+                tm_cons: DataConsumer {
+                    buf_cons: buf_cons_tm,
+                    sizes_cons: sizes_cons_tm,
+                },
+                tc_cons: DataConsumer {
+                    buf_cons: buf_cons_tc,
+                    sizes_cons: sizes_cons_tc,
+                },
+                tc_prod: DataProducer {
+                    buf_prod: buf_prod_tc,
+                    sizes_prod: sizes_prod_tc,
+                },
+                verif_reporter,
+                nvm,
+            },
+        )
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            asm::nop();
+        }
+    }
+
+    // This is the interrupt handler to read all bytes received on the UART0.
+    #[task(
+        binds = OC0,
+        local = [
+            cnt: u32 = 0,
+            rx_buf: [u8; MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
+            rx_context,
+            uart_rx,
+            tc_prod
+        ],
+    )]
+    fn uart_rx_irq(cx: uart_rx_irq::Context) {
+        match cx
+            .local
+            .uart_rx
+            .irq_handler_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
+        {
+            Ok(result) => {
+                if RX_DEBUGGING {
+                    log::debug!("RX Info: {:?}", cx.local.rx_context);
+                    log::debug!("RX Result: {:?}", result);
+                }
+                if result.complete() {
+                    // Check frame validity (must have COBS format) and decode the frame.
+                    // Currently, we expect a full frame or a frame received through a timeout
+                    // to be one COBS frame. We could parse for multiple COBS packets in one
+                    // frame, but the additional complexity is not necessary here..
+                    if cx.local.rx_buf[0] == 0 && cx.local.rx_buf[result.bytes_read - 1] == 0 {
+                        let decoded_size =
+                            cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
+                        if decoded_size.is_err() {
+                            log::warn!("COBS decoding failed");
+                        } else {
+                            let decoded_size = decoded_size.unwrap();
+                            if cx.local.tc_prod.sizes_prod.vacant_len() >= 1
+                                && cx.local.tc_prod.buf_prod.vacant_len() >= decoded_size
+                            {
+                                // Should never fail, we checked there is enough space.
+                                cx.local.tc_prod.sizes_prod.try_push(decoded_size).unwrap();
+                                cx.local
+                                    .tc_prod
+                                    .buf_prod
+                                    .push_slice(&cx.local.rx_buf[1..1 + decoded_size]);
+                            } else {
+                                log::warn!("COBS TC queue full");
+                            }
+                        }
+                    } else {
+                        log::warn!("COBS frame with invalid format, start and end bytes are not 0");
+                    }
+
+                    // Initiate next transfer.
+                    cx.local
+                        .uart_rx
+                        .read_fixed_len_or_timeout_based_using_irq(cx.local.rx_context)
+                        .expect("read operation failed");
+                }
+                if result.has_errors() {
+                    log::warn!("UART error: {:?}", result.errors.unwrap());
+                }
+            }
+            Err(e) => {
+                log::warn!("UART error: {:?}", e);
+            }
+        }
+    }
+
+    #[task(
+        priority = 2,
+        local=[
+            tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
+            readback_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
+            src_data_buf: [u8; 16] = [0; 16],
+            verif_buf: [u8; 32] = [0; 32],
+            tc_cons,
+            nvm,
+            verif_reporter
+        ],
+        shared=[tm_prod]
+    )]
+    async fn pus_tc_handler(mut cx: pus_tc_handler::Context) {
+        loop {
+            // Try to read a TC from the ring buffer.
+            let packet_len = cx.local.tc_cons.sizes_cons.try_pop();
+            if packet_len.is_none() {
+                // Small delay, TCs might arrive very quickly.
+                Mono::delay(20.millis()).await;
+                continue;
+            }
+            let packet_len = packet_len.unwrap();
+            log::info!(target: "TC Handler", "received packet with length {}", packet_len);
+            assert_eq!(
+                cx.local
+                    .tc_cons
+                    .buf_cons
+                    .pop_slice(&mut cx.local.tc_buf[0..packet_len]),
+                packet_len
+            );
+            // Read a telecommand, now handle it.
+            handle_valid_pus_tc(&mut cx);
+        }
+    }
+
+    fn handle_valid_pus_tc(cx: &mut pus_tc_handler::Context) {
+        let pus_tc = PusTcReader::new(cx.local.tc_buf);
+        if pus_tc.is_err() {
+            log::warn!(target: "TC Handler", "PUS TC error: {}", pus_tc.unwrap_err());
+            return;
+        }
+        let (pus_tc, _) = pus_tc.unwrap();
+        let mut write_and_send = |tm: &PusTmCreator| {
+            let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
+            cx.shared.tm_prod.lock(|prod| {
+                prod.sizes_prod.try_push(tm.len_written()).unwrap();
+                prod.buf_prod
+                    .push_slice(&cx.local.verif_buf[0..written_size]);
+            });
+        };
+        let token = cx.local.verif_reporter.add_tc(&pus_tc);
+        let (tm, accepted_token) = cx
+            .local
+            .verif_reporter
+            .acceptance_success(cx.local.src_data_buf, token, 0, 0, &[])
+            .expect("acceptance success failed");
+        write_and_send(&tm);
+
+        let (tm, started_token) = cx
+            .local
+            .verif_reporter
+            .start_success(cx.local.src_data_buf, accepted_token, 0, 0, &[])
+            .expect("acceptance success failed");
+        write_and_send(&tm);
+
+        if pus_tc.service() == PusServiceId::Action as u8 {
+            let mut corrupt_image = |base_addr: u32| {
+                let mut buf = [0u8; 4];
+                cx.local
+                    .nvm
+                    .read(base_addr as usize + 32, &mut buf)
+                    .expect("reading from NVM failed");
+                buf[0] += 1;
+                cx.local
+                    .nvm
+                    .write(base_addr as usize + 32, &buf)
+                    .expect("writing to NVM failed");
+                let tm = cx
+                    .local
+                    .verif_reporter
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                    .expect("completion success failed");
+                write_and_send(&tm);
+            };
+            if pus_tc.subservice() == ActionId::CorruptImageA as u8 {
+                rprintln!("corrupting App Image A");
+                corrupt_image(APP_A_START_ADDR);
+            }
+            if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
+                rprintln!("corrupting App Image B");
+                corrupt_image(APP_B_START_ADDR);
+            }
+        }
+        if pus_tc.service() == PusServiceId::Test as u8 && pus_tc.subservice() == 1 {
+            log::info!(target: "TC Handler", "received ping TC");
+            let tm = cx
+                .local
+                .verif_reporter
+                .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                .expect("completion success failed");
+            write_and_send(&tm);
+        } else if pus_tc.service() == PusServiceId::MemoryManagement as u8 {
+            let tm = cx
+                .local
+                .verif_reporter
+                .step_success(
+                    cx.local.src_data_buf,
+                    &started_token,
+                    0,
+                    0,
+                    &[],
+                    EcssEnumU8::new(0),
+                )
+                .expect("step success failed");
+            write_and_send(&tm);
+            // Raw memory write TC
+            if pus_tc.subservice() == 2 {
+                let app_data = pus_tc.app_data();
+                if app_data.len() < 10 {
+                    log::warn!(
+                        target: "TC Handler",
+                        "app data for raw memory write is too short: {}",
+                        app_data.len()
+                    );
+                }
+                let memory_id = app_data[0];
+                if memory_id != BOOT_NVM_MEMORY_ID {
+                    log::warn!(target: "TC Handler", "memory ID {} not supported", memory_id);
+                    // TODO: Error reporting
+                    return;
+                }
+                let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
+                let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
+                if 10 + data_len as usize > app_data.len() {
+                    log::warn!(
+                        target: "TC Handler",
+                        "invalid data length {} for raw mem write detected",
+                        data_len
+                    );
+                    // TODO: Error reporting
+                    return;
+                }
+                let data = &app_data[10..10 + data_len as usize];
+                log::info!(
+                    target: "TC Handler",
+                    "writing {} bytes at offset {} to NVM",
+                    data_len,
+                    offset
+                );
+                cx.local
+                    .nvm
+                    .write(offset as usize, data)
+                    .expect("writing to NVM failed");
+                let tm = if !cx
+                    .local
+                    .nvm
+                    .verify(offset as usize, data)
+                    .expect("NVM verification failed")
+                {
+                    log::warn!("verification of data written to NVM failed");
+                    cx.local
+                        .verif_reporter
+                        .completion_failure(
+                            cx.local.src_data_buf,
+                            started_token,
+                            0,
+                            0,
+                            FailParams::new(&[], &EcssEnumU8::new(0), &[]),
+                        )
+                        .expect("completion success failed")
+                } else {
+                    cx.local
+                        .verif_reporter
+                        .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                        .expect("completion success failed")
+                };
+                write_and_send(&tm);
+                log::info!(
+                    target: "TC Handler",
+                    "NVM operation done");
+            }
+        }
+    }
+
+    #[task(
+        priority = 1,
+        local=[
+            read_buf: [u8;MAX_TM_SIZE] = [0; MAX_TM_SIZE],
+            encoded_buf: [u8;MAX_TM_FRAME_SIZE] = [0; MAX_TM_FRAME_SIZE],
+            uart_tx,
+            tm_cons
+        ],
+        shared=[]
+    )]
+    async fn pus_tm_tx_handler(cx: pus_tm_tx_handler::Context) {
+        loop {
+            while cx.local.tm_cons.sizes_cons.occupied_len() > 0 {
+                let next_size = cx.local.tm_cons.sizes_cons.try_pop().unwrap();
+                cx.local
+                    .tm_cons
+                    .buf_cons
+                    .pop_slice(&mut cx.local.read_buf[0..next_size]);
+                cx.local.encoded_buf[0] = 0;
+                let send_size = cobs::encode(
+                    &cx.local.read_buf[0..next_size],
+                    &mut cx.local.encoded_buf[1..],
+                );
+                cx.local.encoded_buf[send_size + 1] = 0;
+                cx.local
+                    .uart_tx
+                    .write(&cx.local.encoded_buf[0..send_size + 2])
+                    .unwrap();
+                Mono::delay(2.millis()).await;
+            }
+            Mono::delay(50.millis()).await;
+        }
+    }
+}

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

scripts/memory_app_a.x

@@ -0,0 +1,10 @@
+MEMORY
+{
+	FLASH : ORIGIN = 0x00003000, LENGTH = 0xE7F8 /* (128k - 12k) / 2 - 8 */
+	RAM : ORIGIN = 0x10000000, LENGTH = 0x08000 /* 32K */
+}
+
+/* This is where the call stack will be allocated. */
+/* The stack is of the full descending type. */
+/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);

scripts/memory_app_b.x

@@ -0,0 +1,10 @@
+MEMORY
+{
+	FLASH : ORIGIN = 0x00011800, LENGTH = 0xE7F8 /* (128k - 12k) / 2 - 8 */
+	RAM : ORIGIN = 0x10000000, LENGTH = 0x08000 /* 32K */
+}
+
+/* This is where the call stack will be allocated. */
+/* The stack is of the full descending type. */
+/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);

va108xx-hal/CHANGELOG.md

@@ -6,6 +6,28 @@ 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]
+
+## [v0.9.0] 2024-10-07
+
+- Deleted some HAL re-exports in the PWM module
+
+## [v0.8.0] 2024-09-30
+
+## Changed
+
+- Improves `CascardSource` handling and general API when chosing cascade sources.
+- Replaced `utility::unmask_irq` by `enable_interrupt` and `disable_interrupt` API.
+- Improve and fix SPI abstractions. Add new low level interface. The primary SPI constructor now
+  only expects a configuration structure and the transfer configuration needs to be applied in a
+  separate step.
+- Removed complete `timer` module re-export in `pwm` module
+- `CountDownTimer` renamed to `CountdownTimer`
+
+## Fixes
+
+- Fixes for SPI peripheral: Flush implementation was incorrect and should now flush properly.
+
 ## [v0.7.0] 2024-07-04
 
 - Replace `uarta` and `uartb` `Uart` constructors by `new` constructor

va108xx-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-hal"
-version = "0.7.0"
+version = "0.8.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
@@ -19,7 +19,7 @@ embedded-hal-nb = "1"
 embedded-io = "0.6"
 fugit = "0.3"
 typenum = "1"
-defmt = { version = "0.3", optional = true }
+critical-section = "1"
 delegate = "0.12"
 
 [dependencies.va108xx]
@@ -38,9 +38,14 @@ 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

va108xx-hal/src/i2c.rs

@@ -2,7 +2,7 @@
 //!
 //! ## Examples
 //!
-//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs
+//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs)
 use crate::{
     clock::enable_peripheral_clock, pac, time::Hertz, typelevel::Sealed, PeripheralSelect,
 };

va108xx-hal/src/lib.rs

@@ -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/pwm.rs

@@ -9,8 +9,11 @@ use core::convert::Infallible;
 use core::marker::PhantomData;
 
 use crate::pac;
+use crate::time::Hertz;
+use crate::timer::{
+    TimAndPinRegister, TimDynRegister, TimPin, TimRegInterface, ValidTim, ValidTimAndPin,
+};
 use crate::{clock::enable_peripheral_clock, gpio::DynPinId};
-pub use crate::{gpio::PinId, time::Hertz, timer::*};
 
 const DUTY_MAX: u16 = u16::MAX;
 

va108xx-hal/src/timer.rs

@@ -3,10 +3,11 @@
 //! ## Examples
 //!
 //! - [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),
+        }
+    }
 }
 
 //==================================================================================================
@@ -350,7 +371,7 @@ unsafe impl TimRegInterface for TimDynRegister {
 //==================================================================================================
 
 /// Hardware timers
-pub struct CountDownTimer<TIM: ValidTim> {
+pub struct CountdownTimer<TIM: ValidTim> {
     tim: TimRegister<TIM>,
     curr_freq: Hertz,
     irq_cfg: Option<IrqCfg>,
@@ -360,94 +381,31 @@ 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)) });
 }
 
-unsafe impl<TIM: ValidTim> TimRegInterface for CountDownTimer<TIM> {
+#[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 {
+impl<TIM: ValidTim> CountdownTimer<TIM> {
-    ($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 {
         enable_tim_clk(syscfg, TIM::TIM_ID);
-        let cd_timer = CountDownTimer {
+        let cd_timer = CountdownTimer {
             tim: unsafe { TimRegister::new(tim) },
             sys_clk: sys_clk.into(),
             irq_cfg: None,
@@ -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
@@ -633,7 +614,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
 }
 
 /// CountDown implementation for TIMx
-impl<TIM: ValidTim> CountDownTimer<TIM> {
+impl<TIM: ValidTim> CountdownTimer<TIM> {
     #[inline]
     pub fn start<T>(&mut self, timeout: T)
     where
@@ -656,16 +637,17 @@ 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
     }
 }
 
-impl<TIM: ValidTim> embedded_hal::delay::DelayNs for CountDownTimer<TIM> {
+impl<TIM: ValidTim> embedded_hal::delay::DelayNs for CountdownTimer<TIM> {
     fn delay_ns(&mut self, ns: u32) {
         let ticks = (u64::from(ns)) * (u64::from(self.sys_clk.raw())) / 1_000_000_000;
 
@@ -727,8 +709,8 @@ pub fn set_up_ms_tick<TIM: ValidTim>(
     irq_sel: Option<&mut pac::Irqsel>,
     sys_clk: impl Into<Hertz>,
     tim0: TIM,
-) -> CountDownTimer<TIM> {
+) -> CountdownTimer<TIM> {
-    let mut ms_timer = CountDownTimer::new(sys_cfg, sys_clk, tim0);
+    let mut ms_timer = CountdownTimer::new(sys_cfg, sys_clk, tim0);
     ms_timer.listen(timer::Event::TimeOut, irq_cfg, irq_sel, Some(sys_cfg));
     ms_timer.start(1000.Hz());
     ms_timer
@@ -738,8 +720,8 @@ pub fn set_up_ms_delay_provider<TIM: ValidTim>(
     sys_cfg: &mut pac::Sysconfig,
     sys_clk: impl Into<Hertz>,
     tim: TIM,
-) -> CountDownTimer<TIM> {
+) -> CountdownTimer<TIM> {
-    let mut provider = CountDownTimer::new(sys_cfg, sys_clk, tim);
+    let mut provider = CountdownTimer::new(sys_cfg, sys_clk, tim);
     provider.start(1000.Hz());
     provider
 }
@@ -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);
@@ -756,17 +738,17 @@ 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())
 }
 
 //==================================================================================================
 // Delay implementations
 //==================================================================================================
 
-pub struct DelayMs(CountDownTimer<pac::Tim0>);
+pub struct DelayMs(CountdownTimer<pac::Tim0>);
 
 impl DelayMs {
-    pub fn new(timer: CountDownTimer<pac::Tim0>) -> Option<Self> {
+    pub fn new(timer: CountdownTimer<pac::Tim0>) -> Option<Self> {
         if timer.curr_freq() != Hertz::from_raw(1000) || !timer.listening() {
             return None;
         }

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) };
-}

vorago-reb1/CHANGELOG.md

@@ -8,6 +8,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.6.0] 2024-09-30
+
+- Added M95M01 EEPROM module/API
+- Update `va108xx-hal` dependency to range >=v0.8, <0.9
+
+## [v0.5.1] 2024-07-04
+
+- Update `va108xx-hal` dependency to v0.7.0
+
 ## [v0.5.0] 2024-06-16
 
 - Updated `va108xx` to v0.3.0 and `va108xx-hal` dependency to v0.6.0

vorago-reb1/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vorago-reb1"
-version = "0.5.0"
+version = "0.6.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "Board Support Crate for the Vorago REB1 development board"
@@ -14,13 +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]
-path = "../va108xx-hal"
+version = ">=0.8, <0.9"
-version = "0.7"
 features = ["rt"]
 
 [features]
@@ -29,20 +30,10 @@ rt = ["va108xx-hal/rt"]
 [dev-dependencies]
 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"
-
-[dev-dependencies.rtic]
-version = "2"
-features = ["thumbv6-backend"]
-
-[dev-dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
 
 [package.metadata.docs.rs]
 all-features = true

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/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(
         &mut dp.sysconfig,
         50.MHz(),
         dp.spib,
         (sck, miso, mosi),
         spi_cfg,
-        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/max11619-adc.rs

@@ -9,19 +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::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};
@@ -103,6 +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!();
@@ -113,7 +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();
@@ -122,7 +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(),
@@ -141,17 +146,15 @@ 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(
         &mut dp.sysconfig,
         50.MHz(),
         dp.spib,
         (sck, miso, mosi),
         spi_cfg,
-        Some(&transfer_cfg.downgrade()),
     )
     .downgrade();
-    let delay_provider = CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
+    let delay_provider = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
     let spi_with_hwcs = SpiWithHwCs::new(spi, pinsa.pa17.into_funsel_2(), delay_provider);
     match EXAMPLE_MODE {
         ExampleMode::NotUsingEoc => spi_example_externally_clocked(spi_with_hwcs, delay),
@@ -159,7 +162,7 @@ fn main() -> ! {
             spi_example_internally_clocked(spi_with_hwcs, delay, pinsa.pa14.into_floating_input());
         }
         ExampleMode::NotUsingEocWithDelay => {
-            let delay_us = CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim2);
+            let delay_us = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim2);
             spi_example_externally_clocked_with_delay(spi_with_hwcs, delay, delay_us);
         }
     }

vorago-reb1/examples/nvm.rs

@@ -0,0 +1,56 @@
+//! 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, time::Hertz, timer::CountdownTimer};
+use vorago_reb1::m95m01::{M95M01, PAGE_SIZE};
+
+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; 512] = [0; 512];
+    let mut read_buf: [u8; 512] = [0; 512];
+    let mut write_buf: [u8; 512] = [0; 512];
+    for (idx, val) in write_buf.iter_mut().enumerate() {
+        *val = ((idx as u16) % (u8::MAX as u16 + 1)) as u8;
+    }
+    nvm.read(0, &mut orig_content).unwrap();
+
+    nvm.write_page(0, 0, &[1, 2, 3, 4]).unwrap();
+    nvm.read(0, &mut read_buf[0..4]).unwrap();
+
+    // Read the whole content. Write will internally be split across two page bounaries.
+    nvm.write(0, &write_buf).unwrap();
+    // Memory can be read in one go.
+    nvm.read(0, &mut read_buf).unwrap();
+    assert_eq!(&read_buf, &write_buf);
+    assert!(nvm.verify(0, &write_buf).unwrap());
+    read_buf.fill(0);
+
+    // Write along page boundary
+    nvm.write(PAGE_SIZE - 2, &write_buf[0..8]).unwrap();
+    nvm.read(PAGE_SIZE - 2, &mut read_buf[0..8]).unwrap();
+    assert_eq!(&read_buf[0..8], &write_buf[0..8]);
+    assert!(nvm.verify(PAGE_SIZE - 2, &write_buf[0..8]).unwrap());
+
+    nvm.write(0, &orig_content).unwrap();
+    loop {
+        timer.delay_ms(500);
+    }
+}

vorago-reb1/src/lib.rs

@@ -3,5 +3,6 @@
 
 pub mod button;
 pub mod leds;
+pub mod m95m01;
 pub mod max11619;
 pub mod temp_sensor;

vorago-reb1/src/m95m01.rs

@@ -0,0 +1,214 @@
+//! 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;
+
+pub const PAGE_SIZE: usize = 256;
+
+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, SpiClkConfig, 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,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+pub struct PageBoundaryExceededError;
+
+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().clk_cfg(SpiClkConfig::new(2, 4)),
+        );
+        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: usize, 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 as u32 >> 16) & 0xff);
+        self.spi
+            .write_fifo_unchecked((address as u32 & 0x00ff00) >> 8);
+        self.spi.write_fifo_unchecked(address as u32 & 0xff);
+        Ok(())
+    }
+
+    fn common_read(&mut self, address: usize) -> 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.
+            nb::block!(self.spi.read_fifo())?;
+        }
+        Ok(())
+    }
+
+    pub fn write(&mut self, mut address: usize, mut data: &[u8]) -> Result<(), Infallible> {
+        // Loop until all data is written
+        while !data.is_empty() {
+            // Calculate the page and the offset within the page from the address
+            let page = address / PAGE_SIZE;
+            let offset = address % PAGE_SIZE;
+
+            // Calculate how much space is left in the current page
+            let space_left = PAGE_SIZE - offset;
+
+            // Determine how much data to write in the current page
+            let to_write = data.len().min(space_left);
+
+            // Write the current portion of the data
+            self.write_page(page, offset, &data[..to_write]).unwrap();
+
+            // Update the address and data for the next iteration
+            address += to_write;
+            data = &data[to_write..];
+        }
+
+        Ok(())
+    }
+
+    pub fn write_page(
+        &mut self,
+        page: usize,
+        offset: usize,
+        data: &[u8],
+    ) -> Result<(), PageBoundaryExceededError> {
+        // Check that the total data to be written does not exceed the page boundary
+        if offset + data.len() > PAGE_SIZE {
+            return Err(PageBoundaryExceededError);
+        }
+
+        self.common_init_write_and_read(page * PAGE_SIZE + offset, WRITE)
+            .unwrap();
+        for val in data.iter().take(data.len() - 1) {
+            nb::block!(self.spi.write_fifo(*val as u32)).unwrap();
+            nb::block!(self.spi.read_fifo()).unwrap();
+        }
+        nb::block!(self
+            .spi
+            .write_fifo(*data.last().unwrap() as u32 | BMSTART_BMSTOP_MASK))
+        .unwrap();
+        self.spi.flush().unwrap();
+        nb::block!(self.writes_are_done()).unwrap();
+        Ok(())
+    }
+
+    pub fn read(&mut self, address: usize, buf: &mut [u8]) -> Result<(), Infallible> {
+        self.common_read(address)?;
+        for val in buf.iter_mut() {
+            self.spi.write_fifo_unchecked(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: usize, data: &[u8]) -> Result<bool, Infallible> {
+        self.common_read(address)?;
+        for val in data.iter() {
+            self.spi.write_fifo_unchecked(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/temp_sensor.rs

@@ -4,7 +4,7 @@
 //!
 //! ## Examples
 //!
-//! - [Temperature Sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/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, InitError, MasterConfig},

vscode/launch.json

@@ -20,7 +20,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -44,7 +44,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -68,7 +68,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -92,7 +92,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -116,7 +116,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -129,7 +129,7 @@
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug UART",
+            "name": "UART Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -140,7 +140,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -164,7 +164,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -188,7 +188,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -212,7 +212,31 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "UART Echo with RTIC",
+            "servertype": "jlink",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M0",
+            "svdFile": "./va108xx/svd/va108xx-base.svd.patched",
+            "preLaunchTask": "uart-echo-rtic-example",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/uart-echo-rtic",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -236,7 +260,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -284,7 +308,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -303,7 +327,7 @@
             "device": "Cortex-M0",
             "svdFile": "./va108xx/svd/va108xx.svd.patched",
             "preLaunchTask": "blinky-hal",
-            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/adxl343-accelerometer",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky",
             "interface": "jtag",
             "runToEntryPoint": "main",
         },
@@ -321,7 +345,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,
@@ -340,12 +364,132 @@
             "device": "Cortex-M0",
             "svdFile": "./va108xx/svd/va108xx.svd.patched",
             "preLaunchTask": "rust: cargo build uart irq",
-            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart-irq-rtic",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/uart-rtic",
             "interface": "jtag",
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "0x10000000",
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "REB1 NVM Example",
+            "servertype": "jlink",
+            "cwd": "${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": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/embassy-example",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Bootloader",
+            "servertype": "jlink",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M0",
+            "svdFile": "./va108xx/svd/va108xx.svd.patched",
+            "preLaunchTask": "bootloader",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/release/bootloader",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Flashloader",
+            "servertype": "jlink",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M0",
+            "svdFile": "./va108xx/svd/va108xx.svd.patched",
+            "preLaunchTask": "flashloader",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/release/flashloader",
+            "interface": "jtag",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
                 "decoders": [
                     {
                         "port": 0,

vscode/tasks.json

@@ -1,252 +1,292 @@
 {
-    // See https://go.microsoft.com/fwlink/?LinkId=733558
+  // See https://go.microsoft.com/fwlink/?LinkId=733558
-    // for the documentation about the tasks.json format
+  // for the documentation about the tasks.json format
-    "version": "2.0.0",
+  "version": "2.0.0",
-    "tasks": [
+  "tasks": [
-        {
+    {
-            "label": "rust: cargo build",
+      "label": "rust: cargo build",
-            "type": "shell",
+      "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
+      "args": [
-                "build"
+        "build"
-            ],
+      ],
-            "group": {
+      "group": {
-                "kind": "build",
+        "kind": "build",
-                "isDefault": true
+        "isDefault": true
-            }
+      }
-        },
+    },
-        {
+    {
-            "label": "rust: cargo build hal tests",
+      "label": "rust: cargo build hal tests",
-            "type": "shell",
+      "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
+      "args": [
-                "build",
+        "build",
-                "--bin",
+        "--bin",
-                "board-tests",
+        "board-tests",
-                "--features",
+        "--features",
-                "rt"
+        "rt"
-            ],
+      ],
-            "group": {
+      "group": {
-                "kind": "build",
+        "kind": "build",
-                "isDefault": true
+        "isDefault": true
-            }
+      }
-        },
+    },
-        {
+    {
-            "label": "rust: cargo build rtt",
+      "label": "rust: cargo build rtt",
-            "type": "shell",
+      "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
+      "args": [
-                "build",
+        "build",
-                "--example",
+        "--example",
-                "rtt-log",
+        "rtt-log"
-            ],
+      ],
-            "group": {
+      "group": {
-                "kind": "build",
+        "kind": "build",
-                "isDefault": true
+        "isDefault": true
-            }
+      }
-        },
+    },
-        {
+    {
-            "label": "rust: cargo build systick",
+      "label": "rust: cargo build systick",
-            "type": "shell",
+      "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
+      "args": [
-                "build",
+        "build",
-                "--example",
+        "--example",
-                "timer-ticks",
+        "timer-ticks",
-                "--features",
+        "--features",
-                "rt"
+        "rt"
-            ],
+      ],
-            "group": {
+      "group": {
-                "kind": "build",
+        "kind": "build",
-                "isDefault": true
+        "isDefault": true
-            }
+      }
-        },
+    },
-        {
+    {
-            "label": "rust: cargo build uart",
+      "label": "rust: cargo build uart",
-            "type": "shell",
+      "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
+      "args": [
-                "build",
+        "build",
-                "-p",
+        "--example",
-                "va108xx-hal",
+        "uart"
-                "--example",
+      ],
-                "uart",
+      "group": {
-            ],
+        "kind": "build",
-            "group": {
+        "isDefault": true
-                "kind": "build",
+      }
-                "isDefault": true
+    },
-            }
+    {
-        },
+      "label": "rust: cargo build spi",
-        {
+      "type": "shell",
-            "label": "rust: cargo build spi",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "type": "shell",
+      "args": [
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "build",
-            "args": [
+        "--example",
-                "build",
+        "spi"
-                "--example",
+      ],
-                "spi",
+      "group": {
-            ],
+        "kind": "build",
-            "group": {
+        "isDefault": true
-                "kind": "build",
+      }
-                "isDefault": true
+    },
-            }
+    {
-        },
+      "label": "rust: cargo build pwm",
-        {
+      "type": "shell",
-            "label": "rust: cargo build pwm",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "type": "shell",
+      "args": [
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "build",
-            "args": [
+        "--example",
-                "build",
+        "pwm",
-                "--example",
+        "--features",
-                "pwm",
+        "rt"
-                "--features",
+      ],
-                "rt"
+      "group": {
-            ],
+        "kind": "build",
-            "group": {
+        "isDefault": true
-                "kind": "build",
+      }
-                "isDefault": true
+    },
-            }
+    {
-        },
+      "label": "rust: cargo build cascade",
-        {
+      "type": "shell",
-            "label": "rust: cargo build cascade",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "type": "shell",
+      "args": [
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "build",
-            "args": [
+        "--example",
-                "build",
+        "cascade",
-                "--example",
+        "--features",
-                "cascade",
+        "rt"
-                "--features",
+      ],
-                "rt"
+      "group": {
-            ],
+        "kind": "build",
-            "group": {
+        "isDefault": true
-                "kind": "build",
+      }
-                "isDefault": true
+    },
-            }
+    {
-        },
+      "label": "uart-echo-rtic-example",
-        {
+      "type": "shell",
-            "label": "rust: cargo build uart irq",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "type": "shell",
+      "args": [
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "build",
-            "args": [
+        "--bin",
-                "build",
+        "uart-echo-rtic"
-                "--example",
+      ],
-                "uart-irq-rtic",
+      "group": {
-                "--features",
+        "kind": "build",
-                "rt"
+        "isDefault": true
-            ],
+      }
-            "group": {
+    },
-                "kind": "build",
+    {
-                "isDefault": true
+      "label": "blinky-hal",
-            }
+      "type": "shell",
-        },
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-        {
+      "args": [
-            "label": "blinky-hal",
+        "build",
-            "type": "shell",
+        "--example",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "blinky"
-            "args": [
+      ],
-                "build",
+      "group": {
-                "--example",
+        "kind": "build"
-                "blinky",
+      }
-            ],
+    },
-            "group": {
+    {
-                "kind": "build",
+      "label": "rust: cargo build led blinky",
-            }
+      "type": "shell",
-        },
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-        {
+      "args": [
-            "label": "rust: cargo build led blinky",
+        "build",
-            "type": "shell",
+        "--example",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "blinky-leds"
-            "args": [
+      ],
-                "build",
+      "group": {
-                "-p",
+        "kind": "build",
-                "vorago-reb1",
+        "isDefault": true
-                "--example",
+      }
-                "blinky-leds",
+    },
-            ],
+    {
-            "group": {
+      "label": "rust: cargo build button blinky",
-                "kind": "build",
+      "type": "shell",
-                "isDefault": true
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            }
+      "args": [
-        },
+        "build",
-        {
+        "--example",
-            "label": "rust: cargo build button blinky",
+        "blinky-button-irq"
-            "type": "shell",
+      ],
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "group": {
-            "args": [
+        "kind": "build",
-                "build",
+        "isDefault": true
-                "-p",
+      }
-                "vorago-reb1",
+    },
-                "--example",
+    {
-                "blinky-button-irq",
+      "label": "rust: cargo build temp sensor",
-            ],
+      "type": "shell",
-            "group": {
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-                "kind": "build",
+      "args": [
-                "isDefault": true
+        "build",
-            }
+        "--example",
-        },
+        "adt75-temp-sensor"
-        {
+      ],
-            "label": "rust: cargo build temp sensor",
+      "group": {
-            "type": "shell",
+        "kind": "build",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+        "isDefault": true
-            "args": [
+      }
-                "build",
+    },
-                "-p",
+    {
-                "vorago-reb1",
+      "label": "rust: cargo build button blinky rtic",
-                "--example",
+      "type": "shell",
-                "adt75-temp-sensor",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            ],
+      "args": [
-            "group": {
+        "build",
-                "kind": "build",
+        "--example",
-                "isDefault": true
+        "blinky-button-rtic"
-            }
+      ],
-        },
+      "group": {
-        {
+        "kind": "build",
-            "label": "rust: cargo build button blinky rtic",
+        "isDefault": true
-            "type": "shell",
+      }
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+    },
-            "args": [
+    {
-                "build",
+      "label": "rust: cargo build accelerometer",
-                "-p",
+      "type": "shell",
-                "vorago-reb1",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-                "--example",
+      "args": [
-                "blinky-button-rtic",
+        "build",
-            ],
+        "--example",
-            "group": {
+        "adxl343-accelerometer"
-                "kind": "build",
+      ],
-                "isDefault": true
+      "group": {
-            }
+        "kind": "build",
-        },
+        "isDefault": true
-        {
+      }
-            "label": "rust: cargo build accelerometer",
+    },
-            "type": "shell",
+    {
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "label": "rust: cargo build adc",
-            "args": [
+      "type": "shell",
-                "build",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-                "-p",
+      "args": [
-                "vorago-reb1",
+        "build",
-                "--example",
+        "--example",
-                "adxl343-accelerometer"
+        "max11619-adc"
-            ],
+      ],
-            "group": {
+      "group": {
-                "kind": "build",
+        "kind": "build",
-                "isDefault": true
+        "isDefault": true
-            }
+      }
-        },
+    },
-        {
+    {
-            "label": "rust: cargo build adc",
+      "label": "reb1-nvm",
-            "type": "shell",
+      "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
+      "args": [
-                "build",
+        "build",
-                "-p",
+        "--example",
-                "vorago-reb1",
+        "nvm"
-                "--example",
+      ],
-                "max11619-adc",
+      "group": {
-            ],
+        "kind": "build",
-            "group": {
+        "isDefault": true
-                "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"
+      ]
+    },
+    {
+      "label": "bootloader",
+      "type": "shell",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "args": [
+        "build",
+        "--bin",
+        "bootloader",
+        "--release",
+      ]
+    },
+    {
+      "label": "flashloader",
+      "type": "shell",
+      "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+      "args": [
+        "build",
+        "--bin",
+        "flashloader",
+        "--release"
+      ]
+    }
+  ]
 }