init new shared periph crate

Reviewed-on: #72

.cargo/def-config.toml

@@ -4,10 +4,9 @@
 # runner = "arm-none-eabi-gdb -q -x openocd.gdb"
 # runner = "gdb-multiarch -q -x openocd.gdb"
 # runner = "gdb -q -x openocd.gdb"
-runner = "gdb-multiarch -q -x jlink.gdb"
+# runner = "gdb-multiarch -q -x jlink.gdb"
 
-# Probe-rs is currently problematic: https://github.com/probe-rs/probe-rs/issues/2567
-# runner = "probe-rs run --chip VA108xx --chip-description-path ./scripts/VA108xx_Series.yaml"
+runner = "probe-rs run --chip VA108xx_RAM --protocol jtag"
 # runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
 
 rustflags = [
@@ -19,13 +18,12 @@ rustflags = [
   "-C", "link-arg=-Tlink.x",
 
   # knurling-rs tooling. If you want to use flip-link, ensure it is installed first.
-  # "-C", "linker=flip-link",
+  "-C", "linker=flip-link",
   # Unfortunately, defmt is clunky to use without probe-rs..
-  # "-C", "link-arg=-Tdefmt.x",
+  "-C", "link-arg=-Tdefmt.x",
 
   # Can be useful for debugging.
-  "-Clink-args=-Map=app.map"
-
+  # "-Clink-args=-Map=app.map"
 ]
 
 [build]

.github/workflows/ci.yml

@@ -10,8 +10,10 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
         with:
           targets: "thumbv6m-none-eabi"
-      - run: cargo check --target thumbv6m-none-eabi --release
-      - run: cargo check --target thumbv6m-none-eabi --examples --release
+      - run: cargo check --target thumbv6m-none-eabi
+      - run: cargo check --target thumbv6m-none-eabi --examples
+      - run: cargo check -p va108xx --target thumbv6m-none-eabi --all-features
+      - run: cargo check -p va108xx-hal --target thumbv6m-none-eabi --features "defmt"
 
   test:
     name: Run Tests
@@ -21,7 +23,7 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
       - name: Install nextest
         uses: taiki-e/install-action@nextest
-      - run: cargo nextest run --all-features -p va108xx-hal
+      - run: cargo nextest run --all-features -p va108xx-hal --no-tests=pass
       # I think we can skip those on an embedded crate..
       # - run: cargo test --doc -p va108xx-hal
 
@@ -39,7 +41,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx --all-features
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal --all-features
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-reb1
 
   clippy:
     name: Clippy

.gitignore

@@ -16,3 +16,5 @@ Cargo.lock
 # JetBrains IDEs
 /.idea
 *.iml
+
+/Embed.toml

Cargo.toml

@@ -1,15 +1,20 @@
 [workspace]
 resolver = "2"
 members = [
-	"vorago-reb1",
-	"va108xx",
-	"va108xx-hal",
+  "vorago-reb1",
+  "va108xx",
+  "va108xx-hal",
+  "va108xx-embassy",
   "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.

Embed.toml.sample

@@ -0,0 +1,12 @@
+[default.probe]
+protocol = "Jtag"
+
+[default.general]
+chip = "VA108xx_RAM"
+
+[default.rtt]
+enabled = true
+
+[default.gdb]
+# Whether or not a GDB server should be opened after flashing.
+enabled = false

README.md

@@ -14,14 +14,25 @@ This workspace contains the following released crates:
   crate containing basic low-level register definition.
 - The [`va108xx-hal`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/va108xx-hal)
   HAL crate containing higher-level abstractions on top of the PAC register crate.
+- The [`va108xx-embassy`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/va108xx-embassy)
+  crate containing support for running the embassy-rs RTOS.
 - The [`vorago-reb1`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1)
   BSP crate containing support for the REB1 development board.
 
 It also contains the following helper crates:
 
-- The `board-tests` contains an application which can be used to test the libraries on the
-  board.
-- The `examples` crates contains various example applications for the HAL and the PAC.
+- The [`bootloader`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/bootloader)
+  crate contains a sample bootloader strongly based on the one provided by Vorago.
+- 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
 
@@ -49,14 +60,56 @@ You can then adapt the files in `.vscode` to your needs.
 You can use CLI or VS Code for flashing, running and debugging. In any case, take
 care of installing the pre-requisites first.
 
-### Pre-Requisites
+### Using CLI with probe-rs
+
+Install [probe-rs](https://probe.rs/docs/getting-started/installation/) first.
+
+You can use `probe-rs` to run the software and display RTT log output. However, debugging does not
+work yet.
+
+After installation, you can run the following command
+
+```sh
+probe-rs run --chip VA108xx_RAM --protocol jtag target/thumbv6m-none-eabi/debug/examples/blinky
+```
+
+to flash and run the blinky program on the RAM. There is also a `VA108xx` chip target
+available for persistent flashing.
+
+Runner configuration is available in the `.cargo/def-config.toml` file to use `probe-rs` for
+convenience. `probe-rs` is also able to process and display `defmt` strings directly.
+
+### Using VS Code
+
+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`
+to automatically rebuild and flash your application.
+
+If you would like to use a custom GDB application, you can specify the gdb binary in the following
+configuration variables in your `settings.json`:
+
+- `"cortex-debug.gdbPath"`
+- `"cortex-debug.gdbPath.linux"`
+- `"cortex-debug.gdbPath.windows"`
+- `"cortex-debug.gdbPath.osx"`
+
+The provided VS Code configurations also provide an integrated RTT logger, which you can access
+via the terminal at `RTT Ch:0 console`. In order for the RTT block address detection to
+work properly, `objdump-multiarch` and `nm-multiarch` need to be installed.
+
+### Using CLI with GDB and Segger J-Link Tools
+
+Install the following two tools first:
 
 1. [SEGGER J-Link tools](https://www.segger.com/downloads/jlink/) installed
 2. [gdb-multiarch](https://packages.debian.org/sid/gdb-multiarch) or similar
    cross-architecture debugger installed. All commands here assume `gdb-multiarch`.
 
-### Using CLI
-
 You can build the blinky example application with the following command
 
 ```sh
@@ -70,13 +123,13 @@ is also run when running the `jlink-gdb.sh` script)
 
 ```sh
 JLinkGDBServer -select USB -device Cortex-M0 -endian little -if JTAG-speed auto \
-  -LocalhostOnly
+  -LocalhostOnly -jtagconf -1,-1
 ```
 
 After this, you can flash and debug the application with the following command
 
 ```sh
-gdb-mutliarch -q -x jlink/jlink.gdb target/thumbv6m-none-eabihf/debug/examples/blinky
+gdb-mutliarch -q -x jlink/jlink.gdb target/thumbv6m-none-eabihf/debug/examples/blinky -tui
 ```
 
 Please note that you can automate all steps except starting the GDB server by using a cargo
@@ -90,19 +143,27 @@ runner = "gdb-multiarch -q -x jlink/jlink.gdb"
 After that, you can simply use `cargo run --example blinky` to flash the blinky
 example.
 
-### Using VS Code
+### Using the RTT Viewer
 
-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).
+The Segger RTT viewer can be used to display log messages received from the target. The base
+address for the RTT block placement is 0x10000000. It is recommended to use a search range of
+0x1000 around that base address when using the RTT viewer.
 
-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`
-to automatically rebuild and flash your application.
+The RTT viewer will not be able to process `defmt` printouts. However, you can view the defmt
+logs by [installing defmt-print](https://crates.io/crates/defmt-print) first and then running
 
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
+```sh
+defmt-print -e <pathToElfFile> tcp
+```
 
-- `"cortex-debug.gdbPath"`
-- `"cortex-debug.gdbPath.linux"`
-- `"cortex-debug.gdbPath.windows"`
-- `"cortex-debug.gdbPath.osx"`
+The path of the ELF file which is being debugged needs to be specified for this to work.
+
+## Learning (Embedded) Rust
+
+If you are unfamiliar with Rust on Embedded Systems or Rust in general, the following resources
+are recommended:
+
+- [Rust Book](https://doc.rust-lang.org/book/)
+- [Embedded Rust Book](https://docs.rust-embedded.org/book/)
+- [Embedded Rust Discovery](https://docs.rust-embedded.org/discovery/microbit/)
+- [Awesome Embedded Rust](https://github.com/rust-embedded/awesome-embedded-rust)

automation/Jenkinsfile

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

board-tests/Cargo.toml

@@ -4,18 +4,16 @@ 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"
-rtt-target = "0.5"
-panic-rtt-target = "0.1.3"
+panic-halt = "1"
+rtt-target = "0.6"
+panic-rtt-target = "0.2"
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
-version = "0.6"
-path = "../va108xx-hal"
+version = "0.11"
 features = ["rt"]
 

board-tests/src/main.rs

@@ -6,10 +6,7 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use embedded_hal::{
-    delay::DelayNs,
-    digital::{InputPin, OutputPin, StatefulOutputPin},
-};
+use embedded_hal::delay::DelayNs;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
@@ -17,7 +14,7 @@ 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, InterruptConfig},
 };
 
 #[allow(dead_code)]
@@ -44,8 +41,8 @@ fn main() -> ! {
     rprintln!("-- VA108xx Test Application --");
     let mut dp = pac::Peripherals::take().unwrap();
     let cp = cortex_m::Peripherals::take().unwrap();
-    let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
-    let pinsb = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
+    let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let pinsb = PinsB::new(&mut dp.sysconfig, dp.portb);
     let mut led1 = pinsa.pa10.into_readable_push_pull_output();
     let test_case = TestCase::DelayMs;
 
@@ -67,113 +64,110 @@ fn main() -> ! {
         TestCase::TestBasic => {
             // Tie PORTA[0] to PORTA[1] for these tests!
             let mut out = pinsa.pa0.into_readable_push_pull_output();
-            let mut input = pinsa.pa1.into_floating_input();
-            out.set_high().unwrap();
-            assert!(input.is_high().unwrap());
-            out.set_low().unwrap();
-            assert!(input.is_low().unwrap());
+            let input = pinsa.pa1.into_floating_input();
+            out.set_high();
+            assert!(input.is_high());
+            out.set_low();
+            assert!(input.is_low());
         }
         TestCase::TestPullup => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let mut input = pinsa.pa1.into_pull_up_input();
-            assert!(input.is_high().unwrap());
+            let input = pinsa.pa1.into_pull_up_input();
+            assert!(input.is_high());
             let mut out = pinsa.pa0.into_readable_push_pull_output();
-            out.set_low().unwrap();
-            assert!(input.is_low().unwrap());
-            out.set_high().unwrap();
-            assert!(input.is_high().unwrap());
+            out.set_low();
+            assert!(input.is_low());
+            out.set_high();
+            assert!(input.is_high());
             out.into_floating_input();
-            assert!(input.is_high().unwrap());
+            assert!(input.is_high());
         }
         TestCase::TestPulldown => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let mut input = pinsa.pa1.into_pull_down_input();
-            assert!(input.is_low().unwrap());
+            let input = pinsa.pa1.into_pull_down_input();
+            assert!(input.is_low());
             let mut out = pinsa.pa0.into_push_pull_output();
-            out.set_low().unwrap();
-            assert!(input.is_low().unwrap());
-            out.set_high().unwrap();
-            assert!(input.is_high().unwrap());
+            out.set_low();
+            assert!(input.is_low());
+            out.set_high();
+            assert!(input.is_high());
             out.into_floating_input();
-            assert!(input.is_low().unwrap());
+            assert!(input.is_low());
         }
         TestCase::TestMask => {
             // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = pinsa.pa1.into_pull_down_input().clear_datamask();
+            let mut input = pinsa.pa1.into_pull_down_input();
+            input.clear_datamask();
             assert!(!input.datamask());
-            let mut out = pinsa.pa0.into_push_pull_output().clear_datamask();
+            let mut out = pinsa.pa0.into_push_pull_output();
+            out.clear_datamask();
             assert!(input.is_low_masked().is_err());
             assert!(out.set_high_masked().is_err());
         }
         TestCase::PortB => {
             // Tie PORTB[22] to PORTB[23] for these tests!
             let mut out = pinsb.pb22.into_readable_push_pull_output();
-            let mut input = pinsb.pb23.into_floating_input();
-            out.set_high().unwrap();
-            assert!(input.is_high().unwrap());
-            out.set_low().unwrap();
-            assert!(input.is_low().unwrap());
+            let input = pinsb.pb23.into_floating_input();
+            out.set_high();
+            assert!(input.is_high());
+            out.set_low();
+            assert!(input.is_low());
         }
         TestCase::Perid => {
             assert_eq!(PinsA::get_perid(), 0x004007e1);
             assert_eq!(PinsB::get_perid(), 0x004007e1);
         }
         TestCase::Pulse => {
-            let mut output_pulsed = pinsa
-                .pa0
-                .into_push_pull_output()
-                .pulse_mode(true, PinState::Low);
+            let mut output_pulsed = pinsa.pa0.into_push_pull_output();
+            output_pulsed.configure_pulse_mode(true, PinState::Low);
             rprintln!("Pulsing high 10 times..");
-            output_pulsed.set_low().unwrap();
+            output_pulsed.set_low();
             for _ in 0..10 {
-                output_pulsed.set_high().unwrap();
+                output_pulsed.set_high();
                 cortex_m::asm::delay(25_000_000);
             }
-            let mut output_pulsed = output_pulsed.pulse_mode(true, PinState::High);
+            output_pulsed.configure_pulse_mode(true, PinState::High);
             rprintln!("Pulsing low 10 times..");
             for _ in 0..10 {
-                output_pulsed.set_low().unwrap();
+                output_pulsed.set_low();
                 cortex_m::asm::delay(25_000_000);
             }
         }
         TestCase::DelayGpio => {
-            let mut out_0 = pinsa
-                .pa0
-                .into_readable_push_pull_output()
-                .delay(true, false);
-            let mut out_1 = pinsa
-                .pa1
-                .into_readable_push_pull_output()
-                .delay(false, true);
-            let mut out_2 = pinsa.pa3.into_readable_push_pull_output().delay(true, true);
+            let mut out_0 = pinsa.pa0.into_readable_push_pull_output();
+            out_0.configure_delay(true, false);
+            let mut out_1 = pinsa.pa1.into_readable_push_pull_output();
+            out_1.configure_delay(false, true);
+            let mut out_2 = pinsa.pa3.into_readable_push_pull_output();
+            out_2.configure_delay(true, true);
             for _ in 0..20 {
-                out_0.toggle().unwrap();
-                out_1.toggle().unwrap();
-                out_2.toggle().unwrap();
+                out_0.toggle();
+                out_1.toggle();
+                out_2.toggle();
                 cortex_m::asm::delay(25_000_000);
             }
         }
         TestCase::DelayMs => {
             let mut ms_timer = set_up_ms_tick(
-                IrqCfg::new(pac::Interrupt::OC0, true, true),
+                InterruptConfig::new(pac::Interrupt::OC0, true, true),
                 &mut dp.sysconfig,
                 Some(&mut dp.irqsel),
                 50.MHz(),
                 dp.tim0,
             );
             for _ in 0..5 {
-                led1.toggle().ok();
+                led1.toggle();
                 ms_timer.delay_ms(500);
-                led1.toggle().ok();
+                led1.toggle();
                 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();
+                led1.toggle();
                 delay_timer.delay_ms(500);
-                led1.toggle().ok();
+                led1.toggle();
                 delay_timer.delay_ms(500);
             }
             let ahb_freq: Hertz = 50.MHz();
@@ -181,13 +175,13 @@ fn main() -> ! {
             // Test usecond delay using both TIM peripheral and SYST. Use the release image if you
             // want to verify the timings!
             loop {
-                pa0.toggle().ok();
+                pa0.toggle();
                 delay_timer.delay_us(50);
-                pa0.toggle().ok();
+                pa0.toggle();
                 delay_timer.delay_us(50);
-                pa0.toggle_with_toggle_reg();
+                pa0.toggle();
                 syst_delay.delay_us(50);
-                pa0.toggle_with_toggle_reg();
+                pa0.toggle();
                 syst_delay.delay_us(50);
             }
         }
@@ -195,7 +189,7 @@ fn main() -> ! {
 
     rprintln!("Test success");
     loop {
-        led1.toggle().ok();
+        led1.toggle();
         cortex_m::asm::delay(25_000_000);
     }
 }

bootloader/Cargo.toml

@@ -0,0 +1,28 @@
+[package]
+name = "bootloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+defmt-rtt = "0.4"
+defmt = "1"
+panic-probe = { version = "1", features = ["defmt"] }
+crc = "3"
+num_enum = { version = "0.7", default-features = false }
+static_assertions = "1"
+
+[dependencies.va108xx-hal]
+version = "0.11"
+path = "../va108xx-hal"
+features = ["defmt"]
+
+[dependencies.vorago-reb1]
+version = "0.8"
+path = "../vorago-reb1"
+
+[features]
+default = []
+rtt-panic = []

bootloader/README.md

@@ -0,0 +1,51 @@
+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 0x2FFE bytes |
+| 0x2FFE | Bootloader CRC | half-word |
+| 0x3000 | App image A start | code up to 0xE7F4 (~59K) bytes |
+| 0x117F8 | App image A CRC check length | word |
+| 0x117FC | App image A CRC check value | word |
+| 0x117FC | App image B start | code up to 0xE7F4 (~59K) bytes |
+| 0x1FFF0 | App image B CRC check length | word |
+| 0x1FFF4 | App image B CRC check value | word |
+| 0x1FFF8 | Reserved section, contains boot select parameter | 8 bytes |
+| 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. Read the boot slot from a reserved section at the end of the EEPROM. If no valid value is read,
+   select boot slot A.
+3. Check the checksum of the boot slot. If that checksum is valid, it will boot that slot. If not,
+   it will proceed to the next step.
+4. Check the checksum of the other slot . If that checksum is valid, it will boot that slot. If
+   not, it will boot App A as the fallback image.
+
+In your actual production application, a command to update the preferred boot slot could be exposed
+to allow performing software updates in a safe way.
+
+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 +1,339 @@
+//! 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;
+use num_enum::TryFromPrimitive;
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
+use va108xx_hal::{pac, spi::SpiClkConfig, 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 DEFMT_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. 8 bytes at end of EEPROM reserved for preferred image parameter. This reserved
+// size should be a multiple of 8 due to alignment requirements.
+pub const APP_B_END_ADDR: u32 = NVM_SIZE - 8;
+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;
+pub const PREFERRED_SLOT_OFFSET: u32 = 0x20000 - 1;
+
+const CRC_ALGO: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, defmt::Format)]
+#[repr(u8)]
+enum AppSel {
+    A = 0,
+    B = 1,
+}
+
+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 DEFMT_PRINTOUT {
+        defmt::println!("-- VA108xx bootloader --");
+    }
+    let dp = pac::Peripherals::take().unwrap();
+    let cp = cortex_m::Peripherals::take().unwrap();
+    let mut timer = CountdownTimer::new(dp.tim0, CLOCK_FREQ);
+
+    let clk_config = SpiClkConfig::new(2, 4);
+    let mut nvm = M95M01::new(dp.spic, clk_config);
+
+    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 DEFMT_PRINTOUT {
+                defmt::error!("verification of self-flash to NVM failed: {:?}", e);
+            }
+        }
+        if let Err(e) = nvm.verify(0x4, bootloader_data) {
+            if DEFMT_PRINTOUT {
+                defmt::error!("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 DEFMT_PRINTOUT {
+                defmt::error!(
+                    "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);
+
+    let mut preferred_app_raw = [0; 1];
+    nvm.read(PREFERRED_SLOT_OFFSET as usize, &mut preferred_app_raw)
+        .expect("reading preferred slot failed");
+    let preferred_app = AppSel::try_from(preferred_app_raw[0]).unwrap_or(AppSel::A);
+    let other_app = if preferred_app == AppSel::A {
+        AppSel::B
+    } else {
+        AppSel::A
+    };
+
+    if check_app_crc(preferred_app) {
+        boot_app(&dp.sysconfig, &cp, preferred_app, &mut timer)
+    } else if check_app_crc(other_app) {
+        boot_app(&dp.sysconfig, &cp, other_app, &mut timer)
+    } else {
+        if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
+            defmt::error!("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,
+) {
+    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 && DEFMT_PRINTOUT {
+            defmt::info!("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 && DEFMT_PRINTOUT {
+            defmt::warn!(
+                "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 && DEFMT_PRINTOUT {
+        defmt::info!("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 DEFMT_PRINTOUT {
+            defmt::error!("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,
+) -> ! {
+    if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
+        defmt::info!("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();
+    }
+}

defmt-testapp/.cargo/config.toml

@@ -1,48 +0,0 @@
-[target.'cfg(all(target_arch = "arm", target_os = "none"))']
-# uncomment ONE of these three option to make `cargo run` start a GDB session
-# which option to pick depends on your system
-# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
-# runner = "gdb-multiarch -q -x openocd.gdb"
-# runner = "gdb -q -x openocd.gdb"
-runner = "gdb-multiarch -q -x jlink.gdb"
-
-# Probe-rs is currently problematic: https://github.com/probe-rs/probe-rs/issues/2567
-# runner = "probe-rs run --chip VA108xx --chip-description-path ./scripts/VA108xx_Series.yaml"
-# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
-
-rustflags = [
-  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
-  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
-  "-C", "link-arg=--nmagic",
-
-  # LLD (shipped with the Rust toolchain) is used as the default linker
-  "-C", "link-arg=-Tlink.x",
-
-  # knurling-rs tooling. If you want to use flip-link, ensure it is installed first.
-  "-C", "linker=flip-link",
-  # Unfortunately, defmt is clunky to use without probe-rs..
-  "-C", "link-arg=-Tdefmt.x",
-
-  # Can be useful for debugging.
-  "-Clink-args=-Map=app.map"
-
-]
-
-[build]
-# Pick ONE of these compilation targets
-target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
-# target = "thumbv7m-none-eabi"        # Cortex-M3
-# target = "thumbv7em-none-eabi"       # Cortex-M4 and Cortex-M7 (no FPU)
-# target = "thumbv7em-none-eabihf"     # Cortex-M4F and Cortex-M7F (with FPU)
-# target = "thumbv8m.base-none-eabi"   # Cortex-M23
-# target = "thumbv8m.main-none-eabi"   # Cortex-M33 (no FPU)
-# target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU)
-
-[alias]
-re = "run --example"
-rb = "run --bin"
-rrb = "run --release --bin"
-ut = "test --target x86_64-unknown-linux-gnu"
-
-[env]
-DEFMT_LOG = "info"

defmt-testapp/.gitignore

@@ -1 +0,0 @@
-/target

defmt-testapp/Cargo.toml

@@ -1,36 +0,0 @@
-[package]
-name = "defmt-testapp"
-version = "0.1.0"
-edition = "2021"
-
-[dependencies]
-cortex-m = {version = "0.7", features = ["critical-section-single-core"]}
-panic-rtt-target = "0.1"
-cortex-m-rt = "0.7"
-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"
-# Tricky without probe-rs.
-defmt = "0.3"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv6-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
-
-[dependencies.va108xx-hal]
-version = "0.6"
-path = "../va108xx-hal"
-features = ["rt", "defmt"]
-
-[dependencies.va108xx]
-version = "0.3"
-path = "../va108xx"

defmt-testapp/README.md

@@ -1,9 +0,0 @@
-defmt Testapp
-======
-
-`defmt` is clunky to use without probe-rs and requires special configuration inside the
-`.cargo/config.toml` file.
-
-`probe-rs` is currently problematic for usage with the VA108xx , so it is not the default tool
-recommended and used for the whole workspace. This project contains an isolated, `defmt` compatible
-configuration for testing with `defmt` (and `probe-rs`).

defmt-testapp/src/lib.rs

@@ -1,53 +0,0 @@
-#![no_main]
-#![no_std]
-
-use cortex_m_semihosting::debug;
-
-use defmt_brtt as _; // global logger
-
-use va108xx_hal as _; // memory layout
-
-use panic_probe as _;
-
-// same panicking *behavior* as `panic-probe` but doesn't print a panic message
-// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
-// #[defmt::panic_handler]
-/*
-fn panic() -> ! {
-    cortex_m::asm::udf()
-}
-*/
-
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(debug::EXIT_SUCCESS);
-    }
-}
-
-/// Hardfault handler.
-///
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with an error. This seems better than the default, which is to spin in a
-/// loop.
-#[cortex_m_rt::exception]
-unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(debug::EXIT_FAILURE);
-    }
-}
-
-// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
-// once within a crate. the module can be in any file but there can only be at most
-// one `#[tests]` module in this library crate
-#[cfg(test)]
-#[defmt_test::tests]
-mod unit_tests {
-    use defmt::assert;
-
-    #[test]
-    fn it_works() {
-        assert!(true)
-    }
-}

examples/README.md

@@ -0,0 +1,33 @@
+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
+
+Blinky with time driver IRQs in library
+
+```rs
+cargo run --bin embassy-example
+```
+
+Blinky with custom time driver IRQs
+
+```rs
+cargo run --bin embassy-example --no-default-features --features custom-irqs
+```

examples/embassy/Cargo.toml

@@ -0,0 +1,39 @@
+[package]
+name = "embassy-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cfg-if = "1"
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-hal-async = "1"
+embedded-io = "0.6"
+embedded-io-async = "0.6"
+heapless = "0.8"
+static_cell = "2"
+
+defmt = "1"
+defmt-rtt = "0.4"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+
+critical-section = "1"
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+
+embassy-sync = "0.6"
+embassy-time = "0.4"
+embassy-executor = { version = "0.7", features = [
+  "arch-cortex-m",
+  "executor-thread",
+  "executor-interrupt"
+]}
+
+va108xx-hal = { version = "0.11", path = "../../va108xx-hal", features = ["defmt"] }
+va108xx-embassy = { version = "0.2" }
+
+[features]
+default = ["ticks-hz-1_000", "va108xx-embassy/irq-oc30-oc31"]
+custom-irqs = []
+ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
+ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

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

@@ -0,0 +1,253 @@
+//! This example demonstrates the usage of async GPIO operations on VA108xx.
+//!
+//! You need to tie the PA0 to the PA1 pin for this example to work. You can optionally tie the PB22 to PB23 pins well
+//! and then set the `CHECK_PB22_TO_PB23` to true to also test async operations on Port B.
+#![no_std]
+#![no_main]
+// This imports the logger and the panic handler.
+use embassy_example as _;
+
+use embassy_executor::Spawner;
+use embassy_sync::channel::{Receiver, Sender};
+use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, channel::Channel};
+use embassy_time::{Duration, Instant, Timer};
+use embedded_hal_async::digital::Wait;
+use va108xx_hal::gpio::asynch::{on_interrupt_for_async_gpio_for_port, InputPinAsync};
+use va108xx_hal::gpio::{Input, Output, PinState, Port};
+use va108xx_hal::pins::{PinsA, PinsB};
+use va108xx_hal::{
+    pac::{self, interrupt},
+    prelude::*,
+};
+
+const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+const CHECK_PA0_TO_PA1: bool = true;
+const CHECK_PB22_TO_PB23: bool = false;
+
+// Can also be set to OC10 and works as well.
+const PB22_TO_PB23_IRQ: pac::Interrupt = pac::Interrupt::OC11;
+
+#[derive(Clone, Copy)]
+pub struct GpioCmd {
+    cmd_type: GpioCmdType,
+    after_delay: u32,
+}
+
+impl GpioCmd {
+    pub fn new(cmd_type: GpioCmdType, after_delay: u32) -> Self {
+        Self {
+            cmd_type,
+            after_delay,
+        }
+    }
+}
+
+#[derive(Clone, Copy)]
+pub enum GpioCmdType {
+    SetHigh,
+    SetLow,
+    RisingEdge,
+    FallingEdge,
+}
+
+// Declare a bounded channel of 3 u32s.
+static CHANNEL_PA0_PA1: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
+static CHANNEL_PB22_TO_PB23: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    defmt::println!("-- VA108xx Async GPIO Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );
+
+    let porta = PinsA::new(dp.porta);
+    let portb = PinsB::new(dp.portb);
+    let mut led0 = Output::new(porta.pa10, PinState::Low);
+    let out_pa0 = Output::new(porta.pa0, PinState::Low);
+    let in_pa1 = Input::new_floating(porta.pa1);
+    let out_pb22 = Output::new(portb.pb22, PinState::Low);
+    let in_pb23 = Input::new_floating(portb.pb23);
+
+    let in_pa1_async = InputPinAsync::new(in_pa1, pac::Interrupt::OC10);
+    let in_pb23_async = InputPinAsync::new(in_pb23, PB22_TO_PB23_IRQ);
+
+    spawner
+        .spawn(output_task(
+            "PA0 to PA1",
+            out_pa0,
+            CHANNEL_PA0_PA1.receiver(),
+        ))
+        .unwrap();
+    spawner
+        .spawn(output_task(
+            "PB22 to PB23",
+            out_pb22,
+            CHANNEL_PB22_TO_PB23.receiver(),
+        ))
+        .unwrap();
+
+    if CHECK_PA0_TO_PA1 {
+        check_pin_to_pin_async_ops("PA0 to PA1", CHANNEL_PA0_PA1.sender(), in_pa1_async).await;
+        defmt::info!("Example PA0 to PA1 done");
+    }
+    if CHECK_PB22_TO_PB23 {
+        check_pin_to_pin_async_ops("PB22 to PB23", CHANNEL_PB22_TO_PB23.sender(), in_pb23_async)
+            .await;
+        defmt::info!("Example PB22 to PB23 done");
+    }
+
+    defmt::info!("Example done, toggling LED0");
+    loop {
+        led0.toggle();
+        Timer::after(Duration::from_millis(500)).await;
+    }
+}
+
+async fn check_pin_to_pin_async_ops(
+    ctx: &'static str,
+    sender: Sender<'static, ThreadModeRawMutex, GpioCmd, 3>,
+    mut async_input: impl Wait,
+) {
+    defmt::info!(
+        "{}: sending SetHigh command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::SetHigh, 20)).await;
+    async_input.wait_for_high().await.unwrap();
+    defmt::info!(
+        "{}: Input pin is high now ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    defmt::info!(
+        "{}: sending SetLow command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::SetLow, 20)).await;
+    async_input.wait_for_low().await.unwrap();
+    defmt::info!(
+        "{}: Input pin is low now ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    defmt::info!(
+        "{}: sending RisingEdge command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::RisingEdge, 20)).await;
+    async_input.wait_for_rising_edge().await.unwrap();
+    defmt::info!(
+        "{}: input pin had rising edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    defmt::info!(
+        "{}: sending Falling command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender
+        .send(GpioCmd::new(GpioCmdType::FallingEdge, 20))
+        .await;
+    async_input.wait_for_falling_edge().await.unwrap();
+    defmt::info!(
+        "{}: input pin had a falling edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    defmt::info!(
+        "{}: sending Falling command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender
+        .send(GpioCmd::new(GpioCmdType::FallingEdge, 20))
+        .await;
+    async_input.wait_for_any_edge().await.unwrap();
+    defmt::info!(
+        "{}: input pin had a falling (any) edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    defmt::info!(
+        "{}: sending Falling command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::RisingEdge, 20)).await;
+    async_input.wait_for_any_edge().await.unwrap();
+    defmt::info!(
+        "{}: input pin had a rising (any) edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+}
+
+#[embassy_executor::task(pool_size = 2)]
+async fn output_task(
+    ctx: &'static str,
+    mut out: Output,
+    receiver: Receiver<'static, ThreadModeRawMutex, GpioCmd, 3>,
+) {
+    loop {
+        let next_cmd = receiver.receive().await;
+        Timer::after(Duration::from_millis(next_cmd.after_delay.into())).await;
+        match next_cmd.cmd_type {
+            GpioCmdType::SetHigh => {
+                defmt::info!("{}: Set output high", ctx);
+                out.set_high();
+            }
+            GpioCmdType::SetLow => {
+                defmt::info!("{}: Set output low", ctx);
+                out.set_low();
+            }
+            GpioCmdType::RisingEdge => {
+                defmt::info!("{}: Rising edge", ctx);
+                if !out.is_set_low() {
+                    out.set_low();
+                }
+                out.set_high();
+            }
+            GpioCmdType::FallingEdge => {
+                defmt::info!("{}: Falling edge", ctx);
+                if !out.is_set_high() {
+                    out.set_high();
+                }
+                out.set_low();
+            }
+        }
+    }
+}
+
+// PB22 to PB23 can be handled by both OC10 and OC11 depending on configuration.
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC10() {
+    on_interrupt_for_async_gpio_for_port(Port::A);
+    on_interrupt_for_async_gpio_for_port(Port::B);
+}
+
+// This interrupt only handles PORT B interrupts.
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC11() {
+    on_interrupt_for_async_gpio_for_port(Port::B);
+}

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

@@ -0,0 +1,169 @@
+//! Asynchronous UART reception example application.
+//!
+//! This application receives data on two UARTs permanently using a ring buffer.
+//! The ring buffer are read them asynchronously. UART A is received on ports PA8 and PA9.
+//! UART B is received on ports PA2 and PA3.
+//!
+//! Instructions:
+//!
+//! 1. Tie a USB to UART converter with RX to PA9 and TX to PA8 for UART A.
+//!    Tie a USB to UART converter with RX to PA3 and TX to PA2 for UART B.
+//! 2. Connect to the serial interface by using an application like Putty or picocom. You can
+//!    type something in the terminal and check if the data is echoed back. You can also check the
+//!    RTT logs to see received data.
+#![no_std]
+#![no_main]
+// This imports the logger and the panic handler.
+use embassy_example as _;
+
+use core::cell::RefCell;
+use critical_section::Mutex;
+use embassy_executor::Spawner;
+use embassy_time::Instant;
+use embedded_io::Write;
+use embedded_io_async::Read;
+use heapless::spsc::{Consumer, Producer, Queue};
+use va108xx_hal::{
+    gpio::{Output, PinState},
+    pac::{self, interrupt},
+    pins::PinsA,
+    prelude::*,
+    uart::{
+        self, on_interrupt_rx_overwriting,
+        rx_asynch::{on_interrupt_rx, RxAsync},
+        Bank, RxAsyncOverwriting, Tx,
+    },
+    InterruptConfig,
+};
+
+const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+static QUEUE_UART_A: static_cell::ConstStaticCell<Queue<u8, 256>> =
+    static_cell::ConstStaticCell::new(Queue::new());
+static PRODUCER_UART_A: Mutex<RefCell<Option<Producer<u8, 256>>>> = Mutex::new(RefCell::new(None));
+
+static QUEUE_UART_B: static_cell::ConstStaticCell<Queue<u8, 256>> =
+    static_cell::ConstStaticCell::new(Queue::new());
+static PRODUCER_UART_B: Mutex<RefCell<Option<Producer<u8, 256>>>> = Mutex::new(RefCell::new(None));
+static CONSUMER_UART_B: Mutex<RefCell<Option<Consumer<u8, 256>>>> = Mutex::new(RefCell::new(None));
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    defmt::println!("-- VA108xx Async UART RX Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );
+
+    let porta = PinsA::new(dp.porta);
+    let mut led0 = Output::new(porta.pa10, PinState::Low);
+    let mut led1 = Output::new(porta.pa7, PinState::Low);
+    let mut led2 = Output::new(porta.pa6, PinState::Low);
+
+    let tx_uart_a = porta.pa9;
+    let rx_uart_a = porta.pa8;
+
+    let uarta = uart::Uart::new_with_interrupt(
+        dp.uarta,
+        tx_uart_a,
+        rx_uart_a,
+        50.MHz(),
+        115200.Hz().into(),
+        InterruptConfig::new(pac::Interrupt::OC2, true, true),
+    )
+    .unwrap();
+
+    let tx_uart_b = porta.pa3;
+    let rx_uart_b = porta.pa2;
+
+    let uartb = uart::Uart::new_with_interrupt(
+        dp.uartb,
+        tx_uart_b,
+        rx_uart_b,
+        50.MHz(),
+        115200.Hz().into(),
+        InterruptConfig::new(pac::Interrupt::OC3, true, true),
+    )
+    .unwrap();
+    let (mut tx_uart_a, rx_uart_a) = uarta.split();
+    let (tx_uart_b, rx_uart_b) = uartb.split();
+    let (prod_uart_a, cons_uart_a) = QUEUE_UART_A.take().split();
+    // Pass the producer to the interrupt handler.
+    let (prod_uart_b, cons_uart_b) = QUEUE_UART_B.take().split();
+    critical_section::with(|cs| {
+        *PRODUCER_UART_A.borrow(cs).borrow_mut() = Some(prod_uart_a);
+        *PRODUCER_UART_B.borrow(cs).borrow_mut() = Some(prod_uart_b);
+        *CONSUMER_UART_B.borrow(cs).borrow_mut() = Some(cons_uart_b);
+    });
+    let mut async_rx_uart_a = RxAsync::new(rx_uart_a, cons_uart_a);
+    let async_rx_uart_b = RxAsyncOverwriting::new(rx_uart_b, &CONSUMER_UART_B);
+    spawner
+        .spawn(uart_b_task(async_rx_uart_b, tx_uart_b))
+        .unwrap();
+    let mut buf = [0u8; 256];
+    loop {
+        defmt::info!("Current time UART A: {}", Instant::now().as_secs());
+        led0.toggle();
+        led1.toggle();
+        led2.toggle();
+        let read_bytes = async_rx_uart_a.read(&mut buf).await.unwrap();
+        let read_str = core::str::from_utf8(&buf[..read_bytes]).unwrap();
+        defmt::info!(
+            "Read {} bytes asynchronously on UART A: {:?}",
+            read_bytes,
+            read_str
+        );
+        tx_uart_a.write_all(read_str.as_bytes()).unwrap();
+    }
+}
+
+#[embassy_executor::task]
+async fn uart_b_task(mut async_rx: RxAsyncOverwriting<256>, mut tx: Tx) {
+    let mut buf = [0u8; 256];
+    loop {
+        defmt::info!("Current time UART B: {}", Instant::now().as_secs());
+        // Infallible asynchronous operation.
+        let read_bytes = async_rx.read(&mut buf).await.unwrap();
+        let read_str = core::str::from_utf8(&buf[..read_bytes]).unwrap();
+        defmt::info!(
+            "Read {} bytes asynchronously on UART B: {:?}",
+            read_bytes,
+            read_str
+        );
+        tx.write_all(read_str.as_bytes()).unwrap();
+    }
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC2() {
+    let mut prod =
+        critical_section::with(|cs| PRODUCER_UART_A.borrow(cs).borrow_mut().take().unwrap());
+    let errors = on_interrupt_rx(Bank::Uart0, &mut prod);
+    critical_section::with(|cs| *PRODUCER_UART_A.borrow(cs).borrow_mut() = Some(prod));
+    // In a production app, we could use a channel to send the errors to the main task.
+    if let Err(errors) = errors {
+        defmt::info!("UART A errors: {:?}", errors);
+    }
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC3() {
+    let mut prod =
+        critical_section::with(|cs| PRODUCER_UART_B.borrow(cs).borrow_mut().take().unwrap());
+    let errors = on_interrupt_rx_overwriting(Bank::Uart1, &mut prod, &CONSUMER_UART_B);
+    critical_section::with(|cs| *PRODUCER_UART_B.borrow(cs).borrow_mut() = Some(prod));
+    // In a production app, we could use a channel to send the errors to the main task.
+    if let Err(errors) = errors {
+        defmt::info!("UART B errors: {:?}", errors);
+    }
+}

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

@@ -0,0 +1,96 @@
+//! Asynchronous UART transmission example application.
+//!
+//! This application receives sends 4 strings with different sizes permanently using UART A.
+//! Ports PA8 and PA9 are used for this.
+//!
+//! Instructions:
+//!
+//! 1. Tie a USB to UART converter with RX to PA9 and TX to PA8 for UART A.
+//! 2. Connect to the serial interface by using an application like Putty or picocom. You can
+//!    can verify the correctness of the sent strings.
+#![no_std]
+#![no_main]
+// This imports the logger and the panic handler.
+use embassy_example as _;
+
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Instant, Ticker};
+use embedded_io_async::Write;
+use va108xx_hal::{
+    gpio::{Output, PinState},
+    pac::{self, interrupt},
+    pins::PinsA,
+    prelude::*,
+    uart::{self, on_interrupt_tx, Bank, TxAsync},
+    InterruptConfig,
+};
+
+const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+const STR_LIST: &[&str] = &[
+    "Hello World\r\n",
+    "Smoll\r\n",
+    "A string which is larger than the FIFO size\r\n",
+    "A really large string which is significantly larger than the FIFO size\r\n",
+];
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    defmt::println!("-- VA108xx Async UART TX Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );
+
+    let porta = PinsA::new(dp.porta);
+
+    let mut led0 = Output::new(porta.pa10, PinState::Low);
+    let mut led1 = Output::new(porta.pa7, PinState::Low);
+    let mut led2 = Output::new(porta.pa6, PinState::Low);
+
+    let tx = porta.pa9;
+    let rx = porta.pa8;
+
+    let uarta = uart::Uart::new_with_interrupt(
+        dp.uarta,
+        tx,
+        rx,
+        50.MHz(),
+        115200.Hz().into(),
+        InterruptConfig::new(pac::Interrupt::OC2, true, true),
+    )
+    .unwrap();
+    let (tx, _rx) = uarta.split();
+    let mut async_tx = TxAsync::new(tx);
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    let mut idx = 0;
+    loop {
+        defmt::info!("Current time: {}", Instant::now().as_secs());
+        led0.toggle();
+        led1.toggle();
+        led2.toggle();
+        let _written = async_tx
+            .write(STR_LIST[idx].as_bytes())
+            .await
+            .expect("writing failed");
+        idx += 1;
+        if idx == STR_LIST.len() {
+            idx = 0;
+        }
+        ticker.next().await;
+    }
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC2() {
+    on_interrupt_tx(Bank::Uart0);
+}

examples/embassy/src/lib.rs

@@ -0,0 +1,3 @@
+#![no_std]
+use defmt_rtt as _;
+use panic_probe as _;

examples/embassy/src/main.rs

@@ -0,0 +1,64 @@
+#![no_std]
+#![no_main]
+use embassy_example as _;
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Instant, Ticker};
+
+cfg_if::cfg_if! {
+    if #[cfg(feature = "custom-irqs")] {
+        use va108xx_embassy::embassy_time_driver_irqs;
+        use va108xx_hal::pac::interrupt;
+        embassy_time_driver_irqs!(timekeeper_irq = OC23, alarm_irq = OC24);
+    }
+}
+
+use va108xx_hal::{
+    gpio::{Output, PinState},
+    pac,
+    pins::PinsA,
+    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) {
+    defmt::println!("-- VA108xx Embassy Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    cfg_if::cfg_if! {
+        if #[cfg(not(feature = "custom-irqs"))] {
+            va108xx_embassy::init(
+                &mut dp.sysconfig,
+                &dp.irqsel,
+                SYSCLK_FREQ,
+                dp.tim23,
+                dp.tim22,
+            );
+        } else {
+            va108xx_embassy::init_with_custom_irqs(
+                SYSCLK_FREQ,
+                dp.tim23,
+                dp.tim22,
+                pac::Interrupt::OC23,
+                pac::Interrupt::OC24,
+            );
+        }
+    }
+
+    let porta = PinsA::new(dp.porta);
+    let mut led0 = Output::new(porta.pa10, PinState::Low);
+    let mut led1 = Output::new(porta.pa7, PinState::Low);
+    let mut led2 = Output::new(porta.pa6, PinState::Low);
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        ticker.next().await;
+        defmt::info!("Current time: {}", Instant::now().as_secs());
+        led0.toggle();
+        led1.toggle();
+        led2.toggle();
+    }
+}

examples/rtic/Cargo.toml

@@ -0,0 +1,27 @@
+[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"
+defmt-rtt = "0.4"
+defmt = "1"
+panic-probe = { version = "1", features = ["defmt"] }
+
+# Even though we do not use this directly, we need to activate this feature explicitely
+# so that RTIC compiles because thumv6 does not have CAS operations natively.
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+
+rtic = { version = "2", features = ["thumbv6-backend"] }
+rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
+rtic-sync = { version = "1.3", features = ["defmt-03"] }
+
+once_cell = {version = "1", default-features = false, features = ["critical-section"]}
+ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
+
+va108xx-hal = { version = "0.11", path = "../../va108xx-hal" }
+vorago-reb1 = { version = "0.8", path = "../../vorago-reb1" }

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

@@ -0,0 +1,98 @@
+//! Blinky button application for the REB1 board using RTIC
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac)]
+mod app {
+    use rtic_example::SYSCLK_FREQ;
+    // Import panic provider.
+    use panic_probe as _;
+    // Import global logger.
+    use defmt_rtt as _;
+    use va108xx_hal::{
+        clock::{set_clk_div_register, FilterClkSel},
+        gpio::{FilterType, InterruptEdge},
+        pac,
+        pins::PinsA,
+        timer::InterruptConfig,
+    };
+    use vorago_reb1::button::Button;
+    use vorago_reb1::leds::Leds;
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[derive(Debug, PartialEq, defmt::Format)]
+    pub enum PressMode {
+        Toggle,
+        Keep,
+    }
+
+    // You can change the press mode here
+    const DEFAULT_MODE: PressMode = PressMode::Toggle;
+
+    #[local]
+    struct Local {
+        leds: Leds,
+        button: Button,
+        mode: PressMode,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        defmt::println!("-- Vorago Button IRQ Example --");
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let mode = DEFAULT_MODE;
+        defmt::info!("Using {:?} mode", mode);
+
+        let mut dp = cx.device;
+        let pinsa = PinsA::new(dp.porta);
+        let edge_irq = match mode {
+            PressMode::Toggle => InterruptEdge::HighToLow,
+            PressMode::Keep => InterruptEdge::BothEdges,
+        };
+
+        // Configure an edge interrupt on the button and route it to interrupt vector 15
+        let mut button = Button::new(pinsa.pa11);
+
+        if mode == PressMode::Toggle {
+            // This filter debounces the switch for edge based interrupts
+            button.configure_filter_type(FilterType::FilterFourCycles, FilterClkSel::Clk1);
+            set_clk_div_register(&mut dp.sysconfig, FilterClkSel::Clk1, 50_000);
+        }
+        button.configure_and_enable_edge_interrupt(
+            edge_irq,
+            InterruptConfig::new(pac::interrupt::OC15, true, true),
+        );
+        let mut leds = Leds::new(pinsa.pa10, pinsa.pa7, pinsa.pa6);
+        for led in leds.iter_mut() {
+            led.off();
+        }
+        (Shared {}, Local { leds, button, mode })
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[task(binds = OC15, local=[button, leds, mode])]
+    fn button_task(cx: button_task::Context) {
+        let leds = cx.local.leds;
+        let button = cx.local.button;
+        let mode = cx.local.mode;
+        if *mode == PressMode::Toggle {
+            leds[0].toggle();
+        } else if button.released() {
+            leds[0].off();
+        } else {
+            leds[0].on();
+        }
+    }
+}

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

@@ -2,10 +2,12 @@
 #![no_main]
 #![no_std]
 
-use defmt_testapp as _;
-
 #[rtic::app(device = pac)]
 mod app {
+    // Import panic provider.
+    use panic_probe as _;
+    // Import global logger.
+    use defmt_rtt as _;
     use va108xx_hal::pac;
 
     #[local]

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

@@ -0,0 +1,133 @@
+//! More complex UART application on UART PA8 (TX) and PA9 (RX).
+//!
+//! 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 ringbuf::StaticRb;
+
+// Larger buffer for TC to be able to hold the possibly large memory write packets.
+const RX_RING_BUF_SIZE: usize = 1024;
+
+#[rtic::app(device = pac, dispatchers = [OC4])]
+mod app {
+    use super::*;
+    use embedded_io::Write;
+    use ringbuf::traits::{Consumer, Observer, Producer};
+    use rtic_example::SYSCLK_FREQ;
+    // Import panic provider.
+    use panic_probe as _;
+    // Import global logger.
+    use defmt_rtt as _;
+    use rtic_monotonics::Monotonic;
+    use va108xx_hal::{
+        pac,
+        pins::PinsA,
+        prelude::*,
+        uart::{self, RxWithInterrupt, Tx},
+        InterruptConfig,
+    };
+
+    #[local]
+    struct Local {
+        rx: RxWithInterrupt,
+        tx: Tx,
+    }
+
+    #[shared]
+    struct Shared {
+        rb: StaticRb<u8, RX_RING_BUF_SIZE>,
+    }
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        defmt::println!("-- VA108xx UART Echo with IRQ example application--");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let dp = cx.device;
+        let gpioa = PinsA::new(dp.porta);
+        let tx = gpioa.pa9;
+        let rx = gpioa.pa8;
+
+        let irq_uart = uart::Uart::new_with_interrupt(
+            dp.uarta,
+            tx,
+            rx,
+            SYSCLK_FREQ,
+            115200.Hz().into(),
+            InterruptConfig::new(pac::Interrupt::OC3, true, true),
+        )
+        .unwrap();
+        let (tx, rx) = irq_uart.split();
+        let mut rx = rx.into_rx_with_irq();
+
+        rx.start();
+
+        echo_handler::spawn().unwrap();
+        (
+            Shared {
+                rb: StaticRb::default(),
+            },
+            Local { rx, tx },
+        )
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[task(
+        binds = OC3,
+        shared = [rb],
+        local = [
+            rx,
+        ],
+    )]
+    fn reception_task(mut cx: reception_task::Context) {
+        let mut buf: [u8; 16] = [0; 16];
+        let mut ringbuf_full = false;
+        let result = cx.local.rx.on_interrupt(&mut buf);
+        if result.bytes_read > 0 && result.errors.is_none() {
+            cx.shared.rb.lock(|rb| {
+                if rb.vacant_len() < result.bytes_read {
+                    ringbuf_full = true;
+                } else {
+                    rb.push_slice(&buf[0..result.bytes_read]);
+                }
+            });
+        }
+        if ringbuf_full {
+            // Could also drop oldest data, but that would require the consumer to be shared.
+            defmt::println!("buffer full, data was dropped");
+        }
+    }
+
+    #[task(shared = [rb], local = [
+        buf: [u8; RX_RING_BUF_SIZE] = [0; RX_RING_BUF_SIZE],
+
+        tx
+    ], priority=1)]
+    async fn echo_handler(mut cx: echo_handler::Context) {
+        loop {
+            cx.shared.rb.lock(|rb| {
+                let bytes_to_read = rb.occupied_len();
+                if bytes_to_read > 0 {
+                    let actual_read_bytes = rb.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 +1,68 @@
+//! RTIC minimal blinky
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac, dispatchers = [OC31, OC30, OC29])]
+mod app {
+    use cortex_m::asm;
+    use rtic_example::SYSCLK_FREQ;
+    use rtic_monotonics::systick::prelude::*;
+    use rtic_monotonics::Monotonic;
+    // Import panic provider.
+    use panic_probe as _;
+    // Import global logger.
+    use defmt_rtt as _;
+    use va108xx_hal::{
+        gpio::{Output, PinState},
+        pac,
+        pins::PinsA,
+    };
+
+    #[local]
+    struct Local {
+        led0: Output,
+        led1: Output,
+        led2: Output,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        defmt::println!("-- Vorago VA108xx RTIC template --");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let porta = PinsA::new(cx.device.porta);
+        let led0 = Output::new(porta.pa10, PinState::Low);
+        let led1 = Output::new(porta.pa7, PinState::Low);
+        let led2 = Output::new(porta.pa6, PinState::Low);
+        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 {
+            defmt::println!("toggling LEDs");
+            cx.local.led0.toggle();
+            cx.local.led1.toggle();
+            cx.local.led2.toggle();
+            Mono::delay(1000.millis()).await;
+        }
+    }
+}

examples/simple/Cargo.toml

@@ -4,34 +4,24 @@ 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"
-rtt-target = "0.5"
-rtic-sync = { version = "1.3", features = ["defmt-03"] }
+panic-halt = "1"
+critical-section = "1"
+defmt-rtt = "0.4"
+defmt = "1"
+panic-probe = { version = "1", features = ["defmt"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
 cortex-m-semihosting = "0.5.0"
-# 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"]
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }
 
 [dependencies.va108xx-hal]
-version = "0.6"
+version = "0.11"
 path = "../../va108xx-hal"
-features = ["rt", "defmt"]
+features = ["defmt"]
 
-[dependencies.va108xx]
-version = "0.3"
-path = "../../va108xx"
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"
+version = "0.8"

examples/simple/examples/blinky-pac.rs

@@ -8,7 +8,7 @@
 
 use cortex_m_rt::entry;
 use panic_halt as _;
-use va108xx as pac;
+use va108xx_hal::pac;
 
 // REB LED pin definitions. All on port A
 const LED_D2: u32 = 1 << 10;

examples/simple/examples/blinky.rs

@@ -7,58 +7,40 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use embedded_hal::{
-    delay::DelayNs,
-    digital::{OutputPin, StatefulOutputPin},
-};
+use embedded_hal::delay::DelayNs;
 use panic_halt as _;
 use va108xx_hal::{
-    gpio::PinsA,
-    pac::{self, interrupt},
+    gpio::{Output, PinState},
+    pac::{self},
+    pins::PinsA,
     prelude::*,
-    pwm::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer},
-    timer::DelayMs,
-    IrqCfg,
+    timer::CountdownTimer,
 };
 
 #[entry]
 fn main() -> ! {
-    let mut dp = pac::Peripherals::take().unwrap();
-    let mut delay_ms = DelayMs::new(set_up_ms_tick(
-        IrqCfg::new(interrupt::OC0, true, true),
-        &mut dp.sysconfig,
-        Some(&mut dp.irqsel),
-        50.MHz(),
-        dp.tim0,
-    ))
-    .unwrap();
-    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();
-    let mut led3 = porta.pa6.into_readable_push_pull_output();
+    let dp = pac::Peripherals::take().unwrap();
+    let mut delay = CountdownTimer::new(dp.tim1, 50.MHz());
+    let porta = PinsA::new(dp.porta);
+    let mut led1 = Output::new(porta.pa10, PinState::Low);
+    let mut led2 = Output::new(porta.pa7, PinState::Low);
+    let mut led3 = Output::new(porta.pa6, PinState::Low);
     for _ in 0..10 {
-        led1.set_low().ok();
-        led2.set_low().ok();
-        led3.set_low().ok();
-        delay_ms.delay_ms(200);
-        led1.set_high().ok();
-        led2.set_high().ok();
-        led3.set_high().ok();
-        delay_tim1.delay_ms(200);
+        led1.set_low();
+        led2.set_low();
+        led3.set_low();
+        delay.delay_ms(200);
+        led1.set_high();
+        led2.set_high();
+        led3.set_high();
+        delay.delay_ms(200);
     }
     loop {
-        led1.toggle().ok();
-        delay_ms.delay_ms(200);
-        led2.toggle().ok();
-        delay_tim1.delay_ms(200);
-        led3.toggle().ok();
-        delay_ms.delay_ms(200);
+        led1.toggle();
+        delay.delay_ms(200);
+        led2.toggle();
+        delay.delay_ms(200);
+        led3.toggle();
+        delay.delay_ms(200);
     }
 }
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn OC0() {
-    default_ms_irq_handler()
-}

examples/simple/examples/cascade.rs

@@ -6,92 +6,68 @@
 #![no_std]
 #![allow(non_snake_case)]
 
-use core::cell::RefCell;
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
 use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
-    timer::{
-        default_ms_irq_handler, set_up_ms_delay_provider, CascadeCtrl, CascadeSource,
-        CountDownTimer, Event, IrqCfg,
-    },
+    timer::{CascadeControl, CascadeSelect, CascadeSource, CountdownTimer, InterruptConfig},
 };
 
-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>>>> =
-    Mutex::new(RefCell::new(None));
-
 #[entry]
 fn main() -> ! {
-    rtt_init_print!();
-    rprintln!("-- VA108xx Cascade example application--");
+    defmt::println!("-- VA108xx Cascade example application--");
 
-    let mut dp = pac::Peripherals::take().unwrap();
-    let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
+    let dp = pac::Peripherals::take().unwrap();
+    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
 
     // Will be started periodically to trigger a cascade
-    let mut cascade_triggerer =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim3).auto_disable(true);
-    cascade_triggerer.listen(
-        Event::TimeOut,
-        IrqCfg::new(va108xx::Interrupt::OC1, true, false),
-        Some(&mut dp.irqsel),
-        Some(&mut dp.sysconfig),
-    );
+    let mut cascade_triggerer = CountdownTimer::new(dp.tim3, 50.MHz());
+    cascade_triggerer.auto_disable(true);
+    cascade_triggerer.enable_interrupt(InterruptConfig::new(pac::Interrupt::OC1, true, false));
+    cascade_triggerer.enable();
 
     // First target for cascade
-    let mut cascade_target_1 =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim4).auto_deactivate(true);
+    let mut cascade_target_1 = CountdownTimer::new(dp.tim4, 50.MHz());
+    cascade_target_1.auto_deactivate(true);
     cascade_target_1
-        .cascade_0_source(CascadeSource::TimBase, Some(3))
-        .expect("Configuring cascade source for TIM4 failed");
-    let mut csd_cfg = CascadeCtrl {
-        enb_start_src_csd0: true,
+        .cascade_source(CascadeSelect::Csd0, CascadeSource::Tim(3))
+        .unwrap();
+    let mut csd_cfg = CascadeControl {
+        enable_src_0: true,
+        trigger_mode_0: true,
         ..Default::default()
     };
-    // Use trigger mode here
-    csd_cfg.trg_csd0 = true;
     cascade_target_1.cascade_control(csd_cfg);
     // Normally it should already be sufficient to activate IRQ in the CTRL
     // register but a full interrupt is use here to display print output when
     // the timer expires
-    cascade_target_1.listen(
-        Event::TimeOut,
-        IrqCfg::new(va108xx::Interrupt::OC2, true, false),
-        Some(&mut dp.irqsel),
-        Some(&mut dp.sysconfig),
-    );
+    cascade_target_1.enable_interrupt(InterruptConfig::new(pac::Interrupt::OC2, true, false));
     // The counter will only activate when the cascade signal is coming in so
     // it is okay to call start here to set the reset value
     cascade_target_1.start(1.Hz());
 
     // Activated by first cascade target
-    let mut cascade_target_2 =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim5).auto_deactivate(true);
+    let mut cascade_target_2 = CountdownTimer::new(dp.tim5, 50.MHz());
+    cascade_target_2.auto_deactivate(true);
     // Set TIM4 as cascade source
     cascade_target_2
-        .cascade_1_source(CascadeSource::TimBase, Some(4))
-        .expect("Configuring cascade source for TIM5 failed");
+        .cascade_source(CascadeSelect::Csd1, CascadeSource::Tim(4))
+        .unwrap();
 
-    csd_cfg = CascadeCtrl::default();
-    csd_cfg.enb_start_src_csd1 = true;
+    csd_cfg = CascadeControl::default();
+    csd_cfg.enable_src_1 = true;
     // Use trigger mode here
-    csd_cfg.trg_csd1 = true;
+    csd_cfg.trigger_mode_1 = true;
     cascade_target_2.cascade_control(csd_cfg);
     // Normally it should already be sufficient to activate IRQ in the CTRL
     // register but a full interrupt is use here to display print output when
     // the timer expires
-    cascade_target_2.listen(
-        Event::TimeOut,
-        IrqCfg::new(va108xx::Interrupt::OC3, true, false),
-        Some(&mut dp.irqsel),
-        Some(&mut dp.sysconfig),
-    );
+    cascade_target_2.enable_interrupt(InterruptConfig::new(pac::Interrupt::OC3, true, false));
     // The counter will only activate when the cascade signal is coming in so
     // it is okay to call start here to set the reset value
     cascade_target_2.start(1.Hz());
@@ -103,40 +79,31 @@ fn main() -> ! {
         cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC2);
         cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC3);
     }
-    // Make both cascade targets accessible from the IRQ handler with the Mutex dance
-    cortex_m::interrupt::free(|cs| {
-        CSD_TGT_1.borrow(cs).replace(Some(cascade_target_1));
-        CSD_TGT_2.borrow(cs).replace(Some(cascade_target_2));
-    });
+
     loop {
-        rprintln!("-- Triggering cascade in 0.5 seconds --");
+        defmt::info!("-- Triggering cascade in 0.5 seconds --");
         cascade_triggerer.start(2.Hz());
         delay.delay_ms(5000);
     }
 }
 
-#[interrupt]
-fn OC0() {
-    default_ms_irq_handler()
-}
-
 #[interrupt]
 fn OC1() {
     static mut IDX: u32 = 0;
-    rprintln!("{}: Cascade triggered timed out", &IDX);
+    defmt::info!("{}: Cascade trigger timed out", &IDX);
     *IDX += 1;
 }
 
 #[interrupt]
 fn OC2() {
     static mut IDX: u32 = 0;
-    rprintln!("{}: First cascade target timed out", &IDX);
+    defmt::info!("{}: First cascade target timed out", &IDX);
     *IDX += 1;
 }
 
 #[interrupt]
 fn OC3() {
     static mut IDX: u32 = 0;
-    rprintln!("{}: Second cascade target timed out", &IDX);
+    defmt::info!("{}: Second cascade target timed out", &IDX);
     *IDX += 1;
 }

examples/simple/examples/pwm.rs

@@ -1,39 +1,36 @@
 //! Simple PWM example
+//!
+//! Outputs a PWM waveform on pin PA3.
 #![no_main]
 #![no_std]
 
 use cortex_m_rt::entry;
 use embedded_hal::{delay::DelayNs, pwm::SetDutyCycle};
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
 use va108xx_hal::{
-    gpio::PinsA,
     pac,
+    pins::PinsA,
     prelude::*,
-    pwm::{self, get_duty_from_percent, PwmA, PwmB, ReducedPwmPin},
-    timer::set_up_ms_delay_provider,
+    pwm::{self, get_duty_from_percent, PwmA, PwmB, PwmPin},
+    timer::CountdownTimer,
 };
 
 #[entry]
 fn main() -> ! {
-    rtt_init_print!();
-    rprintln!("-- VA108xx PWM example application--");
-    let mut dp = pac::Peripherals::take().unwrap();
-    let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
-    let mut pwm = pwm::PwmPin::new(
-        (pinsa.pa3.into_funsel_1(), dp.tim3),
-        50.MHz(),
-        &mut dp.sysconfig,
-        10.Hz(),
-    );
-    let mut delay = set_up_ms_delay_provider(&mut dp.sysconfig, 50.MHz(), dp.tim0);
+    defmt::println!("-- VA108xx PWM example application--");
+    let dp = pac::Peripherals::take().unwrap();
+    let pinsa = PinsA::new(dp.porta);
+    let mut pwm = pwm::PwmPin::new(pinsa.pa3, dp.tim3, 50.MHz(), 10.Hz()).unwrap();
+    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
     let mut current_duty_cycle = 0.0;
     pwm.set_duty_cycle(get_duty_from_percent(current_duty_cycle))
         .unwrap();
     pwm.enable();
 
     // Delete type information, increased code readibility for the rest of the code
-    let mut reduced_pin = ReducedPwmPin::from(pwm);
     loop {
         let mut counter = 0;
         // Increase duty cycle continuously
@@ -42,11 +39,10 @@ fn main() -> ! {
             current_duty_cycle += 0.02;
             counter += 1;
             if counter % 10 == 0 {
-                rprintln!("current duty cycle: {}", current_duty_cycle);
+                defmt::info!("current duty cycle: {}", current_duty_cycle);
             }
 
-            reduced_pin
-                .set_duty_cycle(get_duty_from_percent(current_duty_cycle))
+            pwm.set_duty_cycle(get_duty_from_percent(current_duty_cycle))
                 .unwrap();
         }
 
@@ -55,7 +51,7 @@ fn main() -> ! {
         current_duty_cycle = 0.0;
         let mut upper_limit = 1.0;
         let mut lower_limit = 0.0;
-        let mut pwmb: ReducedPwmPin<PwmB> = ReducedPwmPin::from(reduced_pin);
+        let mut pwmb: PwmPin<PwmB> = PwmPin::from(pwm);
         pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
         pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
         while lower_limit < 0.5 {
@@ -64,9 +60,9 @@ fn main() -> ! {
             upper_limit -= 0.01;
             pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
             pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
-            rprintln!("Lower limit: {}", pwmb.pwmb_lower_limit());
-            rprintln!("Upper limit: {}", pwmb.pwmb_upper_limit());
+            defmt::info!("Lower limit: {}", pwmb.pwmb_lower_limit());
+            defmt::info!("Upper limit: {}", pwmb.pwmb_upper_limit());
         }
-        reduced_pin = ReducedPwmPin::<PwmA>::from(pwmb);
+        pwm = PwmPin::<PwmA>::from(pwmb);
     }
 }

examples/simple/examples/rtic-empty.rs

@@ -1,30 +0,0 @@
-//! Empty RTIC project template
-#![no_main]
-#![no_std]
-
-#[rtic::app(device = pac)]
-mod app {
-    use panic_rtt_target as _;
-    use rtt_target::{rprintln, rtt_init_default};
-    use va108xx_hal::pac;
-
-    #[local]
-    struct Local {}
-
-    #[shared]
-    struct Shared {}
-
-    #[init]
-    fn init(_ctx: init::Context) -> (Shared, Local) {
-        rtt_init_default!();
-        rprintln!("-- Vorago RTIC template --");
-        (Shared {}, Local {})
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        #[allow(clippy::empty_loop)]
-        loop {}
-    }
-}

examples/simple/examples/rtt-log.rs

@@ -1,19 +0,0 @@
-//! Code to test RTT logger functionality
-#![no_main]
-#![no_std]
-
-use cortex_m_rt::entry;
-use panic_halt as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va108xx as _;
-
-#[entry]
-fn main() -> ! {
-    rtt_init_print!();
-    let mut counter = 0;
-    loop {
-        rprintln!("{}: Hello, world!", counter);
-        counter += 1;
-        cortex_m::asm::delay(25_000_000);
-    }
-}

examples/simple/examples/spi.rs

@@ -1,31 +1,28 @@
 //! SPI example application
 #![no_main]
 #![no_std]
-
-use core::cell::RefCell;
-
 use cortex_m_rt::entry;
 use embedded_hal::{
     delay::DelayNs,
     spi::{Mode, SpiBus, MODE_0},
 };
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
 use va108xx_hal::{
-    gpio::{PinsA, PinsB},
-    pac::{self, interrupt},
+    pac,
+    pins::{PinsA, PinsB},
     prelude::*,
-    pwm::{default_ms_irq_handler, set_up_ms_tick},
-    spi::{self, Spi, SpiBase, TransferConfig},
-    IrqCfg,
+    spi::{self, configure_pin_as_hw_cs_pin, Spi, SpiClkConfig, TransferConfig},
+    timer::CountdownTimer,
 };
 
 #[derive(PartialEq, Debug)]
 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
-    TestBuffer,
+    MosiMisoTiedTogetherManually,
 }
 
 #[derive(PartialEq, Debug)]
@@ -44,21 +41,14 @@ const FILL_WORD: u8 = 0x0f;
 
 #[entry]
 fn main() -> ! {
-    rtt_init_print!();
-    rprintln!("-- VA108xx SPI example application--");
-    let mut dp = pac::Peripherals::take().unwrap();
-    let mut delay = set_up_ms_tick(
-        IrqCfg::new(interrupt::OC0, true, true),
-        &mut dp.sysconfig,
-        Some(&mut dp.irqsel),
-        50.MHz(),
-        dp.tim0,
-    );
+    defmt::println!("-- VA108xx SPI example application--");
+    let dp = pac::Peripherals::take().unwrap();
+    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
 
-    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);
-    let pinsb = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
+    let spi_clk_cfg = SpiClkConfig::from_clk(50.MHz(), SPI_SPEED_KHZ.kHz())
+        .expect("creating SPI clock config failed");
+    let pinsa = PinsA::new(dp.porta);
+    let pinsb = PinsB::new(dp.portb);
 
     let mut spi_cfg = spi::SpiConfig::default();
     if EXAMPLE_SEL == ExampleSelect::Loopback {
@@ -66,179 +56,82 @@ fn main() -> ! {
     }
 
     // Set up the SPI peripheral
-    match SPI_BUS_SEL {
+    let mut spi = match SPI_BUS_SEL {
         SpiBusSelect::SpiAPortA => {
-            let (sck, mosi, miso) = (
-                pinsa.pa31.into_funsel_1(),
-                pinsa.pa30.into_funsel_1(),
-                pinsa.pa29.into_funsel_1(),
-            );
-            let mut spia = Spi::spia(
-                dp.spia,
-                (sck, miso, mosi),
-                50.MHz(),
-                spi_cfg,
-                Some(&mut dp.sysconfig),
-                None,
-            );
+            let (sck, mosi, miso) = (pinsa.pa31, pinsa.pa30, pinsa.pa29);
+            let mut spia = Spi::new(dp.spia, (sck, miso, mosi), spi_cfg).unwrap();
             spia.set_fill_word(FILL_WORD);
-            spia_ref.borrow_mut().replace(spia.downgrade());
+            spia
         }
         SpiBusSelect::SpiAPortB => {
-            let (sck, mosi, miso) = (
-                pinsb.pb9.into_funsel_2(),
-                pinsb.pb8.into_funsel_2(),
-                pinsb.pb7.into_funsel_2(),
-            );
-            let mut spia = Spi::spia(
-                dp.spia,
-                (sck, miso, mosi),
-                50.MHz(),
-                spi_cfg,
-                Some(&mut dp.sysconfig),
-                None,
-            );
+            let (sck, mosi, miso) = (pinsb.pb9, pinsb.pb8, pinsb.pb7);
+            let mut spia = Spi::new(dp.spia, (sck, miso, mosi), spi_cfg).unwrap();
             spia.set_fill_word(FILL_WORD);
-            spia_ref.borrow_mut().replace(spia.downgrade());
+            spia
         }
         SpiBusSelect::SpiBPortB => {
-            let (sck, mosi, miso) = (
-                pinsb.pb5.into_funsel_1(),
-                pinsb.pb4.into_funsel_1(),
-                pinsb.pb3.into_funsel_1(),
-            );
-            let mut spib = Spi::spib(
-                dp.spib,
-                (sck, miso, mosi),
-                50.MHz(),
-                spi_cfg,
-                Some(&mut dp.sysconfig),
-                None,
-            );
+            let (sck, mosi, miso) = (pinsb.pb5, pinsb.pb4, pinsb.pb3);
+            let mut spib = Spi::new(dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
             spib.set_fill_word(FILL_WORD);
-            spib_ref.borrow_mut().replace(spib.downgrade());
+            spib
         }
-    }
+    };
     // Configure transfer specific properties here
     match SPI_BUS_SEL {
         SpiBusSelect::SpiAPortA | SpiBusSelect::SpiAPortB => {
-            if let Some(ref mut spi) = *spia_ref.borrow_mut() {
-                let transfer_cfg =
-                    TransferConfig::new_no_hw_cs(SPI_SPEED_KHZ.kHz(), SPI_MODE, BLOCKMODE, false);
-                spi.cfg_transfer(&transfer_cfg);
-            }
+            let transfer_cfg = TransferConfig {
+                clk_cfg: Some(spi_clk_cfg),
+                mode: Some(SPI_MODE),
+                sod: true,
+                blockmode: BLOCKMODE,
+                bmstall: true,
+                hw_cs: None,
+            };
+            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(
-                    SPI_SPEED_KHZ.kHz(),
-                    SPI_MODE,
-                    Some(hw_cs_pin),
-                    BLOCKMODE,
-                    false,
-                );
-                spi.cfg_transfer(&transfer_cfg);
-            }
+            let hw_cs_pin = configure_pin_as_hw_cs_pin(pinsb.pb2);
+            let transfer_cfg = TransferConfig {
+                clk_cfg: Some(spi_clk_cfg),
+                mode: Some(SPI_MODE),
+                sod: false,
+                blockmode: BLOCKMODE,
+                bmstall: true,
+                hw_cs: Some(hw_cs_pin),
+            };
+            spi.cfg_transfer(&transfer_cfg);
         }
     }
 
     // Application logic
     loop {
         let mut reply_buf: [u8; 8] = [0; 8];
-        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.
-                        spi.write(&[0x42]).expect("write failed");
-                        // 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);
+        // Can't really verify correct reply here.
+        spi.write(&[0x42]).expect("write failed");
+        // 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];
-                        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
-                        assert_eq!(tx_buf, reply_buf[0..3]);
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            reply_buf[0],
-                            reply_buf[1],
-                            reply_buf[2]
-                        );
-                        delay.delay_ms(500_u32);
+        let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
+        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
+        assert_eq!(tx_buf, reply_buf[0..3]);
+        defmt::info!(
+            "Received reply: {}, {}, {}",
+            reply_buf[0],
+            reply_buf[1],
+            reply_buf[2]
+        );
+        delay.delay_ms(500_u32);
 
-                        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
-                        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            tx_rx_buf[0],
-                            tx_rx_buf[1],
-                            tx_rx_buf[2]
-                        );
-                        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.
-                        spi.write(&[0x42]).expect("write failed");
-                        // 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];
-                        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
-                        assert_eq!(tx_buf, reply_buf[0..3]);
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            reply_buf[0],
-                            reply_buf[1],
-                            reply_buf[2]
-                        );
-                        delay.delay_ms(500_u32);
-
-                        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
-                        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            tx_rx_buf[0],
-                            tx_rx_buf[1],
-                            tx_rx_buf[2]
-                        );
-                        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);
-                    }
-                }
-            }
-        }
+        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
+        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
+        defmt::info!(
+            "Received reply: {}, {}, {}",
+            tx_rx_buf[0],
+            tx_rx_buf[1],
+            tx_rx_buf[2]
+        );
+        assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
     }
 }
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn OC0() {
-    default_ms_irq_handler()
-}

examples/simple/examples/timer-ticks.rs

@@ -2,17 +2,19 @@
 #![no_main]
 #![no_std]
 
-use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
+use embedded_hal::delay::DelayNs;
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
+use portable_atomic::AtomicU32;
 use va108xx_hal::{
     clock::{get_sys_clock, set_sys_clock},
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer, Event, IrqCfg, MS_COUNTER},
+    timer::{CountdownTimer, InterruptConfig},
 };
 
 #[allow(dead_code)]
@@ -21,14 +23,15 @@ enum LibType {
     Hal,
 }
 
-static SEC_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
+static MS_COUNTER: AtomicU32 = AtomicU32::new(0);
+static SEC_COUNTER: AtomicU32 = AtomicU32::new(0);
 
 #[entry]
 fn main() -> ! {
-    rtt_init_print!();
-    let mut dp = pac::Peripherals::take().unwrap();
+    let dp = pac::Peripherals::take().unwrap();
+    let mut delay = CountdownTimer::new(dp.tim2, 50.MHz());
     let mut last_ms = 0;
-    rprintln!("-- Vorago system ticks using timers --");
+    defmt::info!("-- Vorago system ticks using timers --");
     set_sys_clock(50.MHz());
     let lib_type = LibType::Hal;
     match lib_type {
@@ -64,33 +67,24 @@ fn main() -> ! {
             }
         }
         LibType::Hal => {
-            set_up_ms_tick(
-                IrqCfg::new(interrupt::OC0, true, true),
-                &mut dp.sysconfig,
-                Some(&mut dp.irqsel),
-                50.MHz(),
-                dp.tim0,
-            );
-            let mut second_timer =
-                CountDownTimer::new(&mut dp.sysconfig, get_sys_clock().unwrap(), dp.tim1);
-            second_timer.listen(
-                Event::TimeOut,
-                IrqCfg::new(interrupt::OC1, true, true),
-                Some(&mut dp.irqsel),
-                Some(&mut dp.sysconfig),
-            );
+            let mut ms_timer = CountdownTimer::new(dp.tim0, get_sys_clock().unwrap());
+            ms_timer.enable_interrupt(InterruptConfig::new(interrupt::OC0, true, true));
+            ms_timer.start(1.kHz());
+            let mut second_timer = CountdownTimer::new(dp.tim1, get_sys_clock().unwrap());
+            second_timer.enable_interrupt(InterruptConfig::new(interrupt::OC1, true, true));
             second_timer.start(1.Hz());
         }
     }
     loop {
-        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        let current_ms = MS_COUNTER.load(portable_atomic::Ordering::Relaxed);
         if current_ms - last_ms >= 1000 {
-            last_ms = current_ms;
-            rprintln!("MS counter: {}", current_ms);
-            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
-            rprintln!("Second counter: {}", second);
+            // To prevent drift.
+            last_ms += 1000;
+            defmt::info!("MS counter: {}", current_ms);
+            let second = SEC_COUNTER.load(portable_atomic::Ordering::Relaxed);
+            defmt::info!("Second counter: {}", second);
         }
-        cortex_m::asm::delay(10000);
+        delay.delay_ms(50);
     }
 }
 
@@ -104,15 +98,11 @@ fn unmask_irqs() {
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC0() {
-    default_ms_irq_handler()
+    MS_COUNTER.fetch_add(1, portable_atomic::Ordering::Relaxed);
 }
 
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC1() {
-    cortex_m::interrupt::free(|cs| {
-        let mut sec = SEC_COUNTER.borrow(cs).get();
-        sec += 1;
-        SEC_COUNTER.borrow(cs).set(sec);
-    });
+    SEC_COUNTER.fetch_add(1, portable_atomic::Ordering::Relaxed);
 }

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::uartb(dp.uartb, (tx, rx), 115200.Hz(), &mut dp.sysconfig, 50.MHz())
-                .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);
-                }
-            }
-        }
-    }
-}

examples/simple/examples/uart.rs

@@ -13,23 +13,25 @@
 use cortex_m_rt::entry;
 use embedded_hal_nb::{nb, serial::Read};
 use embedded_io::Write as _;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va108xx_hal::{gpio::PinsA, pac, prelude::*, uart};
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
+use va108xx_hal::{pac, pins::PinsA, prelude::*, uart};
 
 #[entry]
 fn main() -> ! {
-    rtt_init_print!();
-    rprintln!("-- VA108xx UART example application--");
+    defmt::println!("-- VA108xx UART example application--");
 
-    let mut dp = pac::Peripherals::take().unwrap();
+    let dp = pac::Peripherals::take().unwrap();
 
-    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 gpioa = PinsA::new(dp.porta);
+    let tx = gpioa.pa9;
+    let rx = gpioa.pa8;
+    let uart =
+        uart::Uart::new_without_interrupt(dp.uarta, tx, rx, 50.MHz(), 115200.Hz().into()).unwrap();
 
-    let uarta = uart::Uart::uarta(dp.uarta, (tx, rx), 115200.Hz(), &mut dp.sysconfig, 50.MHz());
-    let (mut tx, mut rx) = uarta.split();
+    let (mut tx, mut rx) = uart.split();
     writeln!(tx, "Hello World\r").unwrap();
     loop {
         // Echo what is received on the serial link.
@@ -39,9 +41,6 @@ fn main() -> ! {
                     .expect("TX send error");
             }
             Err(nb::Error::WouldBlock) => (),
-            Err(nb::Error::Other(uart_error)) => {
-                rprintln!("UART receive error {:?}", uart_error);
-            }
         }
     }
 }

examples/simple/src/main.rs

@@ -3,7 +3,8 @@
 #![no_std]
 
 use cortex_m_rt::entry;
-use panic_rtt_target as _;
+use panic_probe as _;
+use va108xx_hal as _;
 
 #[entry]
 fn main() -> ! {

flashloader/.gitignore

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

flashloader/Cargo.toml

@@ -0,0 +1,36 @@
+[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"
+defmt = "1"
+defmt-rtt = { version = "0.4" }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+num_enum = { version = "0.7", default-features = false }
+crc = "3"
+cobs = { version = "0.3", default-features = false }
+satrs = { version = "0.2", default-features = false }
+ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
+once_cell = { version = "1", default-features = false, features = ["critical-section"] }
+spacepackets = { version = "0.11", default-features = false, features = ["defmt"] }
+# Even though we do not use this directly, we need to activate this feature explicitely
+# so that RTIC compiles because thumv6 does not have CAS operations natively.
+portable-atomic = {version = "1", features = ["unsafe-assume-single-core"]}
+
+rtic = { version = "2", features = ["thumbv6-backend"] }
+rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
+rtic-sync = {version = "1", features = ["defmt-03"]}
+
+[dependencies.va108xx-hal]
+version = "0.11"
+path = "../va108xx-hal"
+features = ["defmt"]
+
+[dependencies.vorago-reb1]
+version = "0.8"

flashloader/README.md

@@ -0,0 +1,75 @@
+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 -s a
+```
+
+to select the Slot A as a boot slot. The boot slot is stored in a reserved section in EEPROM
+and will be read and used by the bootloader to determine which slot to boot.
+
+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 +1,476 @@
+#!/usr/bin/env python3
+from typing import List, Tuple
+from spacepackets.ecss.defs import PusService
+from spacepackets.ecss.tm import PusTm
+import toml
+import struct
+import logging
+import argparse
+import time
+import enum
+from com_interface import ComInterface
+from com_interface.serial_base import SerialCfg
+from com_interface.serial_cobs import SerialCobsComIF
+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_B_END_ADDR = 0x20000 - 8
+IMG_SLOT_SIZE = (APP_B_END_ADDR - APP_A_START_ADDR) // 2
+
+APP_A_END_ADDR = APP_A_START_ADDR + IMG_SLOT_SIZE
+# 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
+# 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
+
+
+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
+    SET_BOOT_SLOT = 130
+
+
+_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 AppSel(enum.IntEnum):
+    APP_A = 0
+    APP_B = 1
+
+
+class ImageLoader:
+    def __init__(self, com_if: ComInterface, verificator: PusVerificator) -> None:
+        self.com_if = com_if
+        self.verificator = verificator
+
+    def handle_boot_sel_cmd(self, target: AppSel):
+        _LOGGER.info("Sending ping command")
+        action_tc = PusTc(
+            apid=0x00,
+            service=PusService.S8_FUNC_CMD,
+            subservice=ActionId.SET_BOOT_SLOT,
+            seq_count=SEQ_PROVIDER.get_and_increment(),
+            app_data=bytes([target]),
+        )
+        self.verificator.add_tc(action_tc)
+        self.com_if.send(bytes(action_tc.pack()))
+        self.await_for_command_copletion("boot image selection command")
+
+    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()))
+        self.await_for_command_copletion("ping command")
+
+    def await_for_command_copletion(self, context: str):
+        done = False
+        now = time.time()
+        while time.time() - now < 2.0:
+            if not self.com_if.data_available():
+                time.sleep(0.2)
+                continue
+            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(f"received {context} reply")
+                    done = True
+            if done:
+                break
+        if not done:
+            _LOGGER.warning(f"no {context} reply received")
+
+    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)
+        check_segments(target, total_size)
+        print_segments_info(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(
+        "-s", "--sel", choices=["a", "b"], help="Set boot slot (Slot A or B)"
+    )
+    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 = input("Please specify the serial port manually: ")
+    serial_cfg = SerialCfg(
+        com_if_id="ser_cobs",
+        serial_port=serial_port,
+        baud_rate=BAUD_RATE,
+        polling_frequency=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
+
+    boot_sel = None
+    if args.sel:
+        if args.sel == "a":
+            boot_sel = AppSel.APP_A
+        elif args.sel == "b":
+            boot_sel = AppSel.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 args.sel and boot_sel is not None:
+        image_loader.handle_boot_sel_cmd(boot_sel)
+    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:
+        if 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 check_segments(
+    target: Target,
+    total_size: int,
+):
+    # Set context string and perform basic sanity checks.
+    if target == Target.BOOTLOADER and total_size > BOOTLOADER_MAX_SIZE:
+        raise ValueError(
+            f"provided bootloader app larger than allowed {total_size} bytes"
+        )
+    elif target == Target.APP_A and total_size > APP_A_MAX_SIZE:
+        raise ValueError(f"provided App A larger than allowed {total_size} bytes")
+    elif target == Target.APP_B and total_size > APP_B_MAX_SIZE:
+        raise ValueError(f"provided App B larger than allowed {total_size} bytes")
+
+
+def print_segments_info(
+    target: Target,
+    loadable_segments: List[LoadableSegment],
+    total_size: int,
+    file_path: Path,
+):
+    # Set context string and perform basic sanity checks.
+    if target == Target.BOOTLOADER:
+        context_str = "Bootloader"
+    elif target == Target.APP_A:
+        context_str = "App Slot A"
+    elif target == Target.APP_B:
+        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/ttyUSB1"

flashloader/requirements.txt

@@ -0,0 +1,5 @@
+spacepackets == 0.28
+com-interface == 0.1
+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 = { version = "0.10.0" }
+
+[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 = 0xE7FC
+	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 = { version = "0.10.0" }
+
+[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 */
+MEMORY
+{
+	FLASH : ORIGIN = 0x000117FC, LENGTH = 0xE7FC
+	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/main.rs

@@ -0,0 +1,463 @@
+//! 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 defmt_rtt as _; // global logger
+use num_enum::TryFromPrimitive;
+use panic_probe as _;
+use ringbuf::{
+    traits::{Consumer, Observer, Producer},
+    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,
+    SetBootSlot = 130,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, defmt::Format)]
+#[repr(u8)]
+enum AppSel {
+    A = 0,
+    B = 1,
+}
+
+// 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;
+
+pub struct RingBufWrapper<const BUF_SIZE: usize, const SIZES_LEN: usize> {
+    pub buf: StaticRb<u8, BUF_SIZE>,
+    pub sizes: StaticRb<usize, SIZES_LEN>,
+}
+
+pub const APP_A_START_ADDR: u32 = 0x3000;
+pub const APP_A_END_ADDR: u32 = 0x117FC;
+pub const APP_B_START_ADDR: u32 = APP_A_END_ADDR;
+pub const APP_B_END_ADDR: u32 = 0x20000;
+
+pub const PREFERRED_SLOT_OFFSET: u32 = 0x20000 - 1;
+
+#[rtic::app(device = pac, dispatchers = [OC20, OC21, OC22])]
+mod app {
+    use super::*;
+    use cortex_m::asm;
+    use embedded_io::Write;
+    use rtic::Mutex;
+    use rtic_monotonics::systick::prelude::*;
+    use satrs::pus::verification::{FailParams, VerificationReportCreator};
+    use spacepackets::ecss::PusServiceId;
+    use spacepackets::ecss::{
+        tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
+    };
+    use va108xx_hal::pins::PinsA;
+    use va108xx_hal::uart::IrqContextTimeoutOrMaxSize;
+    use va108xx_hal::{pac, uart, InterruptConfig};
+    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::RxWithInterrupt,
+        uart_tx: uart::Tx,
+        rx_context: IrqContextTimeoutOrMaxSize,
+        verif_reporter: VerificationReportCreator,
+        nvm: M95M01,
+    }
+
+    #[shared]
+    struct Shared {
+        // Having this shared allows multiple tasks to generate telemetry.
+        tm_rb: RingBufWrapper<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
+        tc_rb: RingBufWrapper<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
+    }
+
+    rtic_monotonics::systick_monotonic!(Mono, 1000);
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        defmt::println!("-- 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(dp.porta);
+        let tx = gpioa.pa9;
+        let rx = gpioa.pa8;
+
+        let irq_uart = uart::Uart::new_with_interrupt(
+            dp.uarta,
+            tx,
+            rx,
+            SYSCLK_FREQ,
+            UART_BAUDRATE.Hz().into(),
+            InterruptConfig::new(pac::Interrupt::OC0, true, true),
+        )
+        .unwrap();
+        let (tx, rx) = irq_uart.split();
+        // Unwrap is okay, we explicitely set the interrupt ID.
+        let mut rx = rx.into_rx_with_irq();
+
+        let verif_reporter = VerificationReportCreator::new(0).unwrap();
+
+        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 {
+                tc_rb: RingBufWrapper {
+                    buf: StaticRb::default(),
+                    sizes: StaticRb::default(),
+                },
+                tm_rb: RingBufWrapper {
+                    buf: StaticRb::default(),
+                    sizes: StaticRb::default(),
+                },
+            },
+            Local {
+                uart_rx: rx,
+                uart_tx: tx,
+                rx_context,
+                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,
+        ],
+        shared = [tc_rb]
+    )]
+    fn uart_rx_irq(mut cx: uart_rx_irq::Context) {
+        match cx
+            .local
+            .uart_rx
+            .on_interrupt_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
+        {
+            Ok(result) => {
+                if RX_DEBUGGING {
+                    defmt::debug!("RX Info: {:?}", cx.local.rx_context);
+                    defmt::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() {
+                            defmt::warn!("COBS decoding failed");
+                        } else {
+                            let decoded_size = decoded_size.unwrap();
+                            let mut tc_rb_full = false;
+                            cx.shared.tc_rb.lock(|rb| {
+                                if rb.sizes.vacant_len() >= 1 && rb.buf.vacant_len() >= decoded_size
+                                {
+                                    rb.sizes.try_push(decoded_size).unwrap();
+                                    rb.buf.push_slice(&cx.local.rx_buf[1..1 + decoded_size]);
+                                } else {
+                                    tc_rb_full = true;
+                                }
+                            });
+                            if tc_rb_full {
+                                defmt::warn!("COBS TC queue full");
+                            }
+                        }
+                    } else {
+                        defmt::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() {
+                    defmt::warn!("UART error: {:?}", result.errors.unwrap());
+                }
+            }
+            Err(e) => {
+                defmt::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],
+            nvm,
+            verif_reporter
+        ],
+        shared=[tm_rb, tc_rb]
+    )]
+    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.shared.tc_rb.lock(|rb| rb.sizes.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();
+            defmt::info!("received packet with length {}", packet_len);
+            let popped_packet_len = cx
+                .shared
+                .tc_rb
+                .lock(|rb| rb.buf.pop_slice(&mut cx.local.tc_buf[0..packet_len]));
+            assert_eq!(popped_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() {
+            defmt::warn!("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_rb.lock(|prod| {
+                prod.sizes.try_push(tm.len_written()).unwrap();
+                prod.buf.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 {
+                defmt::info!("corrupting App Image A");
+                corrupt_image(APP_A_START_ADDR);
+            }
+            if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
+                defmt::info!("corrupting App Image B");
+                corrupt_image(APP_B_START_ADDR);
+            }
+            if pus_tc.subservice() == ActionId::SetBootSlot as u8 {
+                if pus_tc.app_data().is_empty() {
+                    defmt::warn!("App data for preferred image command too short");
+                }
+                let app_sel_result = AppSel::try_from(pus_tc.app_data()[0]);
+                if app_sel_result.is_err() {
+                    defmt::warn!("Invalid app selection value: {}", pus_tc.app_data()[0]);
+                }
+                defmt::info!(
+                    "received boot selection command with app select: {:?}",
+                    app_sel_result.unwrap()
+                );
+                cx.local
+                    .nvm
+                    .write(PREFERRED_SLOT_OFFSET as usize, &[pus_tc.app_data()[0]])
+                    .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.service() == PusServiceId::Test as u8 && pus_tc.subservice() == 1 {
+            defmt::info!("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 {
+                    defmt::warn!(
+                        "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 {
+                    defmt::warn!("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() {
+                    defmt::warn!(
+                        "invalid data length {} for raw mem write detected",
+                        data_len
+                    );
+                    // TODO: Error reporting
+                    return;
+                }
+                let data = &app_data[10..10 + data_len as usize];
+                defmt::info!("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")
+                {
+                    defmt::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);
+                defmt::info!("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,
+        ],
+        shared=[tm_rb]
+    )]
+    async fn pus_tm_tx_handler(mut cx: pus_tm_tx_handler::Context) {
+        loop {
+            let mut occupied_len = cx.shared.tm_rb.lock(|rb| rb.sizes.occupied_len());
+            while occupied_len > 0 {
+                let next_size = cx.shared.tm_rb.lock(|rb| {
+                    let next_size = rb.sizes.try_pop().unwrap();
+                    rb.buf.pop_slice(&mut cx.local.read_buf[0..next_size]);
+                    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_all(&cx.local.encoded_buf[0..send_size + 2])
+                    .unwrap();
+                occupied_len -= 1;
+                Mono::delay(2.millis()).await;
+            }
+            Mono::delay(50.millis()).await;
+        }
+    }
+}

jlink-gdb.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
-JLinkGDBServer -select USB -device Cortex-M0 -endian little -if JTAG-speed auto \
-  -LocalhostOnly
+JLinkGDBServer -select USB -device VA10820 -endian little -if JTAG -speed auto \
+  -LocalhostOnly -jtagconf -1,-1

scripts/VA108xx_Series.yaml

@@ -9,27 +9,56 @@ variants:
     core_access_options: !Arm
       ap: 0
       psel: 0x0
+      jtag_tap: 1
   memory_map:
   - !Ram
-    name: IRAM1
+    name: DRAM
     range:
       start: 0x10000000
       end: 0x10008000
     cores:
     - main
   - !Nvm
-    name: IROM1
+    name: NVM
     range:
       start: 0x0
       end: 0x20000
-    is_boot_memory: true
     cores:
     - main
+    access:
+      write: false
+      boot: true
   flash_algorithms:
   - va108xx_fm25v20a_fram_128kb_prog
   - 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
+      jtag_tap: 1
+  memory_map:
+  - !Ram
+    name: DRAM
+    range:
+      start: 0x10000000
+      end: 0x10008000
+    cores:
+    - main
+  - !Ram
+    name: IRAM
+    range:
+      start: 0x0
+      end: 0x20000
+    cores:
+    - main
+    access:
+      write: false
+      boot: true
 flash_algorithms:
 - name: va108xx_fm25v20a_fram_128kb_prog
   description: VA108_FM25V20A_FRAM_128KB

scripts/defmt-telnet.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# Check if binary path was provided
+if [ "$#" -ne 1 ]; then
+  echo "Usage: $0 <path-to-binary>"
+  exit 1
+fi
+
+BINARY="$1"
+
+# Check if file exists
+if [ ! -f "$BINARY" ]; then
+  echo "Error: File '$BINARY' not found."
+  exit 1
+fi
+
+# Run the command
+telnet localhost 19021 | defmt-print -e "$BINARY"

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-embassy/CHANGELOG.md

@@ -0,0 +1,31 @@
+Change Log
+=======
+
+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]
+
+## [v0.2.1] 2025-03-07
+
+- Bumped allowed va108xx-hal to v0.11
+
+## [v0.2.0] 2025-02-17
+
+- Bumped va108xx-hal to v0.10.0
+- Remove `embassy` module, expose public functions in library root directly
+
+
+## [v0.1.2] and [v0.1.1] 2025-02-13
+
+Docs patch
+
+## [v0.1.0] 2025-02-13
+
+Initial release
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.2.1...HEAD
+[v0.2.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.2.0...va10xx-embassy-v0.2.1
+[v0.2.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.1.2...va10xx-embassy-v0.2.0

va108xx-embassy/Cargo.toml

@@ -0,0 +1,27 @@
+[package]
+name = "va108xx-embassy"
+version = "0.2.1"
+edition = "2021"
+authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
+description = "Embassy-rs support for the Vorago VA108xx family of microcontrollers"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
+repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
+license = "Apache-2.0"
+keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
+categories = ["aerospace", "embedded", "no-std", "hardware-support"]
+
+[dependencies]
+vorago-shared-periphs = { version = "0.1", path = "../../vorago-shared-periphs" }
+va108xx-hal = { path = "../va108xx-hal" }
+
+[features]
+default = ["irq-oc30-oc31"]
+irqs-in-lib = []
+# This determines the reserved interrupt functions for the embassy time drivers. Only one
+# is allowed to be selected!
+irq-oc28-oc29 = ["irqs-in-lib"]
+irq-oc29-oc30 = ["irqs-in-lib"]
+irq-oc30-oc31 = ["irqs-in-lib"]
+
+[package.metadata.docs.rs]
+rustdoc-args = ["--generate-link-to-definition"]

va108xx-embassy/README.md

@@ -0,0 +1,10 @@
+[![Crates.io](https://img.shields.io/crates/v/va108xx-embassy)](https://crates.io/crates/va108xx-embassy)
+[![docs.rs](https://img.shields.io/docsrs/va108xx-embassy)](https://docs.rs/va108xx-embassy)
+
+# Embassy-rs support for the Vorago VA108xx MCU family
+
+This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
+VA108xx family. Currently, it contains the time driver to allow using embassy-rs. It uses the TIM
+peripherals provided by the VA108xx family for this purpose.
+
+The documentation contains more information on how to use this crate.

va108xx-embassy/docs.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --open

va108xx-embassy/src/lib.rs

@@ -0,0 +1,109 @@
+//! # Embassy-rs support for the Vorago VA108xx MCU family
+//!
+//! This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for
+//! the VA108xx family. Currently, it contains the time driver to allow using embassy-rs. It uses
+//! the TIM peripherals provided by the VA108xx family for this purpose.
+//!
+//! ## Usage
+//!
+//! This library exposes the [init] or the [init_with_custom_irqs] functions which set up the time
+//! driver. This function must be called once at the start of the application.
+//!
+//! This implementation requires two TIM peripherals provided by the VA108xx device.
+//! The user can freely specify the two used TIM peripheral by passing the concrete TIM instances
+//! into the [init_with_custom_irqs] and [init] method.
+//!
+//! The application also requires two interrupt handlers to handle the timekeeper and alarm
+//! interrupts. By default, this library will define the interrupt handler inside the library
+//! itself by using the `irq-oc30-oc31` feature flag. This library exposes three combinations:
+//!
+//! - `irq-oc30-oc31`: Uses [pac::Interrupt::OC30] and [pac::Interrupt::OC31]
+//! - `irq-oc29-oc30`: Uses [pac::Interrupt::OC29] and [pac::Interrupt::OC30]
+//! - `irq-oc28-oc29`: Uses [pac::Interrupt::OC28] and [pac::Interrupt::OC20]
+//!
+//! You can disable the default features and then specify one of the features above to use the
+//! documented combination of IRQs. It is also possible to specify custom IRQs by importing and
+//! using the [embassy_time_driver_irqs] macro to declare the IRQ handlers in the
+//! application code. If this is done, [init_with_custom_irqs] must be used
+//! method to pass the IRQ numbers to the library.
+//!
+//! ## Examples
+//!
+//! [embassy example projects](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy)
+#![no_std]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
+
+#[cfg(feature = "irqs-in-lib")]
+use va108xx_hal::pac::{self, interrupt};
+use va108xx_hal::time::Hertz;
+use va108xx_hal::timer::TimMarker;
+use vorago_shared_periphs::embassy::time_driver;
+
+/// Macro to define the IRQ handlers for the time driver.
+///
+/// By default, the code generated by this macro will be defined inside the library depending on
+/// the feature flags specified. However, the macro is exported to allow users to specify the
+/// interrupt handlers themselves.
+///
+/// Please note that you have to explicitely import the [macro@va108xx_hal::pac::interrupt]
+/// macro in the application code in case this macro is used there.
+#[macro_export]
+macro_rules! embassy_time_driver_irqs {
+    (
+        timekeeper_irq = $timekeeper_irq:ident,
+        alarm_irq = $alarm_irq:ident
+    ) => {
+        const TIMEKEEPER_IRQ: pac::Interrupt = pac::Interrupt::$timekeeper_irq;
+
+        #[interrupt]
+        #[allow(non_snake_case)]
+        fn $timekeeper_irq() {
+            // Safety: We call it once here.
+            unsafe { $crate::time_driver().on_interrupt_timekeeping() }
+        }
+
+        const ALARM_IRQ: pac::Interrupt = pac::Interrupt::$alarm_irq;
+
+        #[interrupt]
+        #[allow(non_snake_case)]
+        fn $alarm_irq() {
+            // Safety: We call it once here.
+            unsafe { $crate::time_driver().on_interrupt_alarm() }
+        }
+    };
+}
+
+// Provide three combinations of IRQs for the time driver by default.
+
+#[cfg(feature = "irq-oc30-oc31")]
+embassy_time_driver_irqs!(timekeeper_irq = OC31, alarm_irq = OC30);
+#[cfg(feature = "irq-oc29-oc30")]
+embassy_time_driver_irqs!(timekeeper_irq = OC30, alarm_irq = OC29);
+#[cfg(feature = "irq-oc28-oc29")]
+embassy_time_driver_irqs!(timekeeper_irq = OC29, alarm_irq = OC28);
+
+/// Initialization method for embassy.
+///
+/// This should be used if the interrupt handler is provided by the library, which is the
+/// default case.
+#[cfg(feature = "irqs-in-lib")]
+pub fn init<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
+    sysclk: Hertz,
+    timekeeper_tim: TimekeeperTim,
+    alarm_tim: AlarmTim,
+) {
+    time_driver().__init(sysclk, timekeeper_tim, alarm_tim, TIMEKEEPER_IRQ, ALARM_IRQ)
+}
+
+/// Initialization method for embassy when using custom IRQ handlers.
+///
+/// Requires an explicit [pac::Interrupt] argument for the timekeeper and alarm IRQs.
+pub fn init_with_custom_irqs<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
+    sysclk: Hertz,
+    timekeeper_tim: TimekeeperTim,
+    alarm_tim: AlarmTim,
+    timekeeper_irq: pac::Interrupt,
+    alarm_irq: pac::Interrupt,
+) {
+    time_driver().__init(sysclk, timekeeper_tim, alarm_tim, timekeeper_irq, alarm_irq)
+}

va108xx-hal/CHANGELOG.md

@@ -6,19 +6,144 @@ 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]
+
+## Changed
+
+- Move most library components to new [`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs)
+  which is mostly re-exported in this crate.
+- Overhaul and simplification of several HAL APIs. The system configuration and IRQ router
+  peripheral instance generally does not need to be passed to HAL API anymore.
+- All HAL drivers are now type erased. The constructors will still expect and consume the PAC
+  singleton component for resource management purposes, but are not cached anymore.
+- Refactoring of GPIO library to be more inline with embassy GPIO API.
+
+## Added
+
+- I2C clock timeout feature support.
+
+## [v0.11.1] 2025-03-10
+
+## Fixed
+
+- Fix `embedded_io` UART implementation to implement the documented contract properly.
+  The implementation will now block until at least one byte is available or can be written, unless
+  the send or receive buffer is empty.
+
+## [v0.11.0] 2025-03-07
+
+## Changed
+
+- Bugfix for I2C `TimingCfg::reg`
+- Simplified UART error handling. All APIs are now infallible because writing to a FIFO or
+  reading from a FIFO never fails. Users can either poll errors using `Rx::poll_errors` or
+  `Uart::poll_rx_errors` / `UartBase::poll_rx_errors`, or detect errors using the provided
+  interrupt handlers.
+
+## [v0.10.0] 2025-02-17
+
+## Added
+
+- A lot of missing `defmt::Format` implementations.
+
+## Changed
+
+- Larger refactoring of GPIO library. The edge and level interrupt configurator functions do not
+  enable interrupts anymore. Instead, there are explicit `enbable_interrupt` and
+  `disable_interrupt` methods
+- Renamed GPIO `DynGroup` to `Port`
+- Rename generic GPIO interrupt handler into `on_interrupt_for_asynch_gpio`
+  into `on_interrupt_for_async_gpio_for_port` which expects a Port argument
+
+## Fixed
+
+- Bug in async GPIO interrupt handler where all enabled interrupts, even the ones which might
+  be unrelated to the pin, were disabled.
+
+## [v0.9.0] 2025-02-13
+
+## Fixed
+
+- Important bugfix for UART driver which causes UART B drivers not to work.
+
+## Removed
+
+- Deleted some HAL re-exports in the PWM module
+
+## Changed
+
+- GPIO API: Interrupt, pulse and filter and `set_datamask` and `clear_datamask` APIs are now
+  methods which mutable modify the pin instead of consuming and returning it.
+- Simplified PWM module implementation.
+- All error types now implement `core::error::Error` by using the `thiserror::Error` derive.
+- `InvalidPinTypeError` now wraps the pin mode.
+- I2C `TimingCfg` constructor now returns explicit error instead of generic Error.
+  Removed the timing configuration error type from the generic I2C error enumeration.
+- `PinsA` and `PinsB` constructor do not expect an optional `pac::Ioconfig` argument anymore.
+- `IrqCfg` renamed to `InterruptConfig`, kept alias for old name.
+- All library provided interrupt handlers now start with common prefix `on_interrupt_*`
+- `RxWithIrq` renamed to `RxWithInterrupt`
+- `Rx::into_rx_with_irq` does not expect any arguments any more.
+- `filter_type` renamed to `configure_filter_type`.
+- `level_irq` renamed to `configure_level_interrupt`.
+- `edge_irq` renamed to `configure_edge_interrupt`.
+- `PinsA` and `PinsB` constructor do not expect an optional IOCONFIG argument anymore.
+- UART interrupt management is now handled by the main constructor instead of later stages to
+  statically ensure one interrupt vector for the UART peripheral. `Uart::new` expects an
+  optional `InterruptConfig` argument.
+- `enable_interrupt` and `disable_interrupt` renamed to `enable_nvic_interrupt` and
+  `disable_nvic_interrupt` to distinguish them from peripheral interrupts more clearly.
+- `port_mux` renamed to `port_function_select`
+- Renamed `IrqUartErrors` to `UartErrors`.
+
+## Added
+
+- Add `downgrade` method for `Pin` and `upgrade` method for `DynPin` as explicit conversion
+  methods.
+- Asynchronous GPIO support.
+- Asynchronous UART TX support.
+- Asynchronous UART RX support.
+- Add new `get_tim_raw` unsafe method to retrieve TIM peripheral blocks.
+- `Uart::with_with_interrupt` and `Uart::new_without_interrupt`
+
+## [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
+- Replace SPI `spia`, `spib` and `spic` constructors by `new` constructor
+- Replace I2C `i2ca`, `i2cb` constructors by `new` constructor. Update constructor
+  to fail on invalid fast I2C speed system clock values
+- Renamed `gpio::pins` to `gpio::pin` and `gpio::dynpins` to `gpio::dynpin`
+- Simplify UART clock divider calculations and remove `libm` dependency consequently
+
 ## [v0.6.0] 2024-06-16
 
 - Updated `embedded-hal` to v1
 - Added optional `defmt` v0.3 feature and support.
 
-## [v0.5.2] 2024-06-16
+## v0.5.2 2024-06-16
 
 ## Fixed
 
 - Replaced usage to `ptr::write_volatile` in UART module which is denied on more recent Rust
   compilers.
 
-## [v0.5.1]
+## v0.5.1
 
 ### Changes
 
@@ -27,7 +152,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   - `once_cell` to 1.12.0
   - Other dependencies: Only revision has changed
 
-## [v0.5.0]
+## v0.5.0
 
 ### Added
 
@@ -40,14 +165,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Bugfix in UART code where RX and TX could not be enabled or disabled independently
 
-## [v0.4.3]
+## v0.4.3
 
 - Various smaller fixes for READMEs, update of links in documentation
 - Simplified CI for github, do not use `cross`
 - New `blinky-pac` example
 - Use HAL delay in `blinky` example
 
-## [v0.4.2]
+## v0.4.2
 
 ### Added
 
@@ -57,24 +182,24 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Clear TX and RX FIFO in SPI transfer function
 
-## [v0.4.1]
+## v0.4.1
 
 ### Fixed
 
 - Initial blockmode setting was not set in SPI constructor
 
-## [v0.4.0]
+## v0.4.0
 
 ### Changed
 
 - Replaced `Hertz` by `impl Into<Hertz>` completely and removed
   `+ Copy` where not necessary
 
-## [v0.3.1]
+## v0.3.1
 
 - Updated all links to point to new repository
 
-## [v0.3.0]
+## v0.3.0
 
 ### Added
 
@@ -86,7 +211,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Primary repository now hosted on IRS external git: https://egit.irs.uni-stuttgart.de/rust/va108xx-hal
 - Relicensed as Apache-2.0
 
-## [0.2.3]
+## v0.2.3
 
 ### Added
 
@@ -98,7 +223,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Improved Timer API. It is now possible to simply use `new` on `CountDownTimer`
 
-## [0.2.2]
+## v0.2.2
 
 ### Added
 
@@ -110,7 +235,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - API which expects values in Hertz now uses `impl Into<Hertz>` as input parameter
 
-## [0.2.1]
+## v0.2.1
 
 ### Added
 
@@ -124,7 +249,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Moved the `FilterClkSel` struct to the `clock` module, re-exporting in `gpio`
 - Clearing output state at initialization of Output pins
 
-## [0.2.0]
+## v0.2.0
 
 ### Changed
 
@@ -139,7 +264,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Some bugfixes for GPIO implementation
 - Rust edition updated to 2021
 
-## [0.1.0]
+## v0.1.0
 
 ### Added
 
@@ -148,3 +273,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - RTT example application
 - Added basic test binary in form of an example
 - README with basic instructions how to set up own binary crate
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.11.0...HEAD
+[v0.11.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.11.0...va108xx-hal-v0.11.1
+[v0.11.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.10.0...va108xx-hal-v0.11.0
+[v0.10.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.9.0...va108xx-hal-v0.10.0
+[v0.9.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.8.0...va108xx-hal-v0.9.0
+[v0.8.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.7.0...va108xx-hal-v0.8.0
+[v0.7.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.6.0...va108xx-hal-v0.7.0
+[v0.6.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/tag/va108xx-hal-v0.6.0

va108xx-hal/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "va108xx-hal"
-version = "0.6.0"
+version = "0.11.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-hal"
-repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-hal"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
+repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
@@ -15,35 +15,37 @@ cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rt = "0.7"
 nb = "1"
 paste = "1"
+#vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", features = ["vor1x"] }
+vorago-shared-periphs = { path = "../../vorago-shared-periphs", features = ["vor1x"] }
+embedded-hal = "1"
+embedded-hal-async = "1"
 embedded-hal-nb = "1"
-libm = "0.2"
 embedded-io = "0.6"
+embedded-io-async = "0.6"
 fugit = "0.3"
 typenum = "1"
+critical-section = "1"
+delegate = ">=0.12, <=0.13"
+heapless = "0.8"
+static_cell = "2"
+thiserror = { version = "2", default-features = false }
+void = { version = "1", default-features = false }
+once_cell = { version = "1", default-features = false }
+va108xx = { version = "0.5", default-features = false, features = ["critical-section", "defmt"] }
+embassy-sync = "0.6"
+
 defmt = { version = "0.3", optional = true }
-delegate = "0.12"
 
-[dependencies.va108xx]
-version = "0.3.0"
-path = "../va108xx"
-default-features = false
-features = ["critical-section"]
-
-[dependencies.embedded-hal]
-version = "1"
-
-[dependencies.void]
-version = "1"
-default-features = false
-
-[dependencies.once_cell]
-version = "1.14"
-default-features = false
+[target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }
+[target.'cfg(not(all(target_arch = "arm", target_os = "none")))'.dependencies]
+portable-atomic = "1"
 
 [features]
 default = ["rt"]
 rt = ["va108xx/rt"]
+defmt = ["dep:defmt", "fugit/defmt", "embedded-hal/defmt-03", "vorago-shared-periphs/defmt"]
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]

va108xx-hal/README.md

@@ -4,7 +4,7 @@
 # HAL for the Vorago VA108xx MCU family
 
 This repository contains the **H**ardware **A**bstraction **L**ayer (HAL), which is an additional
-hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va108xx).
+hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/va108xx).
 
 It is the result of reading the datasheet for the device and encoding a type-safe layer over the
 raw PAC. This crate also implements traits specified by the
@@ -25,12 +25,6 @@ rustup target add thumbv6m-none-eabi
 
 After that, you can use `cargo build` to build the development version of the crate.
 
-If you have not done this yet, it is recommended to read some of the excellent resources
-available to learn Rust:
-
-- [Rust Embedded Book](https://docs.rust-embedded.org/book/)
-- [Rust Discovery Book](https://docs.rust-embedded.org/discovery/)
-
 ## Setting up your own binary crate
 
 If you have a custom board, you might be interested in setting up a new binary crate for your
@@ -39,7 +33,7 @@ your custom board.
 
 The hello world of embedded development is usually to blinky a LED. This example
 is contained within the
-[examples folder](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/blinky.rs).
+[examples folder](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/blinky.rs).
 
 1. Set up your Rust cross-compiler if you have not done so yet. See more in the [build chapter](#Building)
 2. Create a new binary crate with `cargo init`
@@ -65,3 +59,11 @@ is contained within the
 
 7. Flashing the board might work differently for different boards and there is usually
    more than one way. You can find example instructions in primary README.
+
+## Embedded Rust
+
+If you have not done this yet, it is recommended to read some of the excellent resources available
+to learn Rust:
+
+- [Rust Embedded Book](https://docs.rust-embedded.org/book/)
+- [Rust Discovery Book](https://docs.rust-embedded.org/discovery/)

va108xx-hal/docs.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open

va108xx-hal/src/clock.rs

@@ -2,26 +2,14 @@
 //!
 //! This also includes functionality to enable the peripheral clocks
 use crate::time::Hertz;
-use crate::PeripheralSelect;
 use cortex_m::interrupt::{self, Mutex};
 use once_cell::unsync::OnceCell;
 
+pub use vorago_shared_periphs::gpio::FilterClkSel;
+pub use vorago_shared_periphs::sysconfig::{disable_peripheral_clock, enable_peripheral_clock};
+
 static SYS_CLOCK: Mutex<OnceCell<Hertz>> = Mutex::new(OnceCell::new());
 
-pub type PeripheralClocks = PeripheralSelect;
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum FilterClkSel {
-    SysClk = 0,
-    Clk1 = 1,
-    Clk2 = 2,
-    Clk3 = 3,
-    Clk4 = 4,
-    Clk5 = 5,
-    Clk6 = 6,
-    Clk7 = 7,
-}
-
 /// The Vorago in powered by an external clock which might have different frequencies.
 /// The clock can be set here so it can be used by other software components as well.
 /// The clock can be set exactly once
@@ -39,26 +27,26 @@ pub fn get_sys_clock() -> Option<Hertz> {
 pub fn set_clk_div_register(syscfg: &mut va108xx::Sysconfig, clk_sel: FilterClkSel, div: u32) {
     match clk_sel {
         FilterClkSel::SysClk => (),
-        FilterClkSel::Clk1 => syscfg.ioconfig_clkdiv1().write(|w| unsafe { w.bits(div) }),
-        FilterClkSel::Clk2 => syscfg.ioconfig_clkdiv2().write(|w| unsafe { w.bits(div) }),
-        FilterClkSel::Clk3 => syscfg.ioconfig_clkdiv3().write(|w| unsafe { w.bits(div) }),
-        FilterClkSel::Clk4 => syscfg.ioconfig_clkdiv4().write(|w| unsafe { w.bits(div) }),
-        FilterClkSel::Clk5 => syscfg.ioconfig_clkdiv5().write(|w| unsafe { w.bits(div) }),
-        FilterClkSel::Clk6 => syscfg.ioconfig_clkdiv6().write(|w| unsafe { w.bits(div) }),
-        FilterClkSel::Clk7 => syscfg.ioconfig_clkdiv7().write(|w| unsafe { w.bits(div) }),
+        FilterClkSel::Clk1 => {
+            syscfg.ioconfig_clkdiv1().write(|w| unsafe { w.bits(div) });
+        }
+        FilterClkSel::Clk2 => {
+            syscfg.ioconfig_clkdiv2().write(|w| unsafe { w.bits(div) });
+        }
+        FilterClkSel::Clk3 => {
+            syscfg.ioconfig_clkdiv3().write(|w| unsafe { w.bits(div) });
+        }
+        FilterClkSel::Clk4 => {
+            syscfg.ioconfig_clkdiv4().write(|w| unsafe { w.bits(div) });
+        }
+        FilterClkSel::Clk5 => {
+            syscfg.ioconfig_clkdiv5().write(|w| unsafe { w.bits(div) });
+        }
+        FilterClkSel::Clk6 => {
+            syscfg.ioconfig_clkdiv6().write(|w| unsafe { w.bits(div) });
+        }
+        FilterClkSel::Clk7 => {
+            syscfg.ioconfig_clkdiv7().write(|w| unsafe { w.bits(div) });
+        }
     }
 }
-
-#[inline]
-pub fn enable_peripheral_clock(syscfg: &mut va108xx::Sysconfig, clock: PeripheralClocks) {
-    syscfg
-        .peripheral_clk_enable()
-        .modify(|r, w| unsafe { w.bits(r.bits() | (1 << clock as u8)) });
-}
-
-#[inline]
-pub fn disable_peripheral_clock(syscfg: &mut va108xx::Sysconfig, clock: PeripheralClocks) {
-    syscfg
-        .peripheral_clk_enable()
-        .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << clock as u8)) });
-}

va108xx-hal/src/gpio/dynpins.rs

@@ -1,517 +0,0 @@
-//! # Type-erased, value-level module for GPIO pins
-//!
-//! Although the type-level API is generally preferred, it is not suitable in
-//! all cases. Because each pin is represented by a distinct type, it is not
-//! possible to store multiple pins in a homogeneous data structure. The
-//! value-level API solves this problem by erasing the type information and
-//! tracking the pin at run-time.
-//!
-//! Value-level pins are represented by the [`DynPin`] type. [`DynPin`] has two
-//! fields, `id` and `mode` with types [`DynPinId`] and [`DynPinMode`]
-//! respectively. The implementation of these types closely mirrors the
-//! type-level API.
-//!
-//! Instances of [`DynPin`] cannot be created directly. Rather, they must be
-//! created from their type-level equivalents using [`From`]/[`Into`].
-//!
-//! ```
-//! // Move a pin out of the Pins struct and convert to a DynPin
-//! let pa0: DynPin = pins.pa0.into();
-//! ```
-//!
-//! Conversions between pin modes use a value-level version of the type-level
-//! API.
-//!
-//! ```
-//! // Use one of the literal function names
-//! pa0.into_floating_input();
-//! // Use a method and a DynPinMode variant
-//! pa0.into_mode(DYN_FLOATING_INPUT);
-//! ```
-//!
-//! Because the pin state cannot be tracked at compile-time, many [`DynPin`]
-//! operations become fallible. Run-time checks are inserted to ensure that
-//! users don't try to, for example, set the output level of an input pin.
-//!
-//! Users may try to convert value-level pins back to their type-level
-//! equivalents. However, this option is fallible, because the compiler cannot
-//! guarantee the pin has the correct ID or is in the correct mode at
-//! compile-time. Use [`TryFrom`](core::convert::TryFrom)/
-//! [`TryInto`](core::convert::TryInto) for this conversion.
-//!
-//! ```
-//! // Convert to a `DynPin`
-//! let pa0: DynPin = pins.pa0.into();
-//! // Change pin mode
-//! pa0.into_floating_input();
-//! // Convert back to a `Pin`
-//! let pa0: Pin<PA0, FloatingInput> = pa0.try_into().unwrap();
-//! ```
-//!
-//! # Embedded HAL traits
-//!
-//! This module implements all of the embedded HAL GPIO traits for [`DynPin`].
-//! However, whereas the type-level API uses
-//! `Error = core::convert::Infallible`, the value-level API can return a real
-//! error. If the [`DynPin`] is not in the correct [`DynPinMode`] for the
-//! operation, the trait functions will return
-//! [`InvalidPinType`](PinError::InvalidPinType).
-
-use super::{
-    pins::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
-    reg::RegisterInterface,
-};
-use crate::{clock::FilterClkSel, pac, FunSel, IrqCfg};
-
-//==================================================================================================
-//  DynPinMode configurations
-//==================================================================================================
-
-/// Value-level `enum` for disabled configurations
-#[derive(PartialEq, Eq, Clone, Copy)]
-pub enum DynDisabled {
-    Floating,
-    PullDown,
-    PullUp,
-}
-
-/// Value-level `enum` for input configurations
-#[derive(PartialEq, Eq, Clone, Copy)]
-pub enum DynInput {
-    Floating,
-    PullDown,
-    PullUp,
-}
-
-/// Value-level `enum` for output configurations
-#[derive(PartialEq, Eq, Clone, Copy)]
-pub enum DynOutput {
-    PushPull,
-    OpenDrain,
-    ReadablePushPull,
-    ReadableOpenDrain,
-}
-
-pub type DynAlternate = FunSel;
-
-//==============================================================================
-//  Error
-//==============================================================================
-
-/// GPIO error type
-///
-/// [`DynPin`]s are not tracked and verified at compile-time, so run-time
-/// operations are fallible. This `enum` represents the corresponding errors.
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct InvalidPinTypeError;
-
-impl embedded_hal::digital::Error for InvalidPinTypeError {
-    fn kind(&self) -> embedded_hal::digital::ErrorKind {
-        embedded_hal::digital::ErrorKind::Other
-    }
-}
-
-//==================================================================================================
-//  DynPinMode
-//==================================================================================================
-
-/// Value-level `enum` representing pin modes
-#[derive(PartialEq, Eq, Clone, Copy)]
-pub enum DynPinMode {
-    Input(DynInput),
-    Output(DynOutput),
-    Alternate(DynAlternate),
-}
-
-/// Value-level variant of [`DynPinMode`] for floating input mode
-pub const DYN_FLOATING_INPUT: DynPinMode = DynPinMode::Input(DynInput::Floating);
-/// Value-level variant of [`DynPinMode`] for pull-down input mode
-pub const DYN_PULL_DOWN_INPUT: DynPinMode = DynPinMode::Input(DynInput::PullDown);
-/// Value-level variant of [`DynPinMode`] for pull-up input mode
-pub const DYN_PULL_UP_INPUT: DynPinMode = DynPinMode::Input(DynInput::PullUp);
-
-/// Value-level variant of [`DynPinMode`] for push-pull output mode
-pub const DYN_PUSH_PULL_OUTPUT: DynPinMode = DynPinMode::Output(DynOutput::PushPull);
-/// Value-level variant of [`DynPinMode`] for open-drain output mode
-pub const DYN_OPEN_DRAIN_OUTPUT: DynPinMode = DynPinMode::Output(DynOutput::OpenDrain);
-/// Value-level variant of [`DynPinMode`] for readable push-pull output mode
-pub const DYN_RD_PUSH_PULL_OUTPUT: DynPinMode = DynPinMode::Output(DynOutput::ReadablePushPull);
-/// Value-level variant of [`DynPinMode`] for readable opendrain output mode
-pub const DYN_RD_OPEN_DRAIN_OUTPUT: DynPinMode = DynPinMode::Output(DynOutput::ReadableOpenDrain);
-
-/// Value-level variant of [`DynPinMode`] for function select 1
-pub const DYN_ALT_FUNC_1: DynPinMode = DynPinMode::Alternate(DynAlternate::Sel1);
-/// Value-level variant of [`DynPinMode`] for function select 2
-pub const DYN_ALT_FUNC_2: DynPinMode = DynPinMode::Alternate(DynAlternate::Sel2);
-/// Value-level variant of [`DynPinMode`] for function select 3
-pub const DYN_ALT_FUNC_3: DynPinMode = DynPinMode::Alternate(DynAlternate::Sel3);
-
-//==================================================================================================
-//  DynGroup & DynPinId
-//==================================================================================================
-
-/// Value-level `enum` for pin groups
-#[derive(PartialEq, Eq, Clone, Copy)]
-pub enum DynGroup {
-    A,
-    B,
-}
-
-/// Value-level `struct` representing pin IDs
-#[derive(PartialEq, Eq, Clone, Copy)]
-pub struct DynPinId {
-    pub group: DynGroup,
-    pub num: u8,
-}
-
-//==================================================================================================
-//  DynRegisters
-//==================================================================================================
-
-/// Provide a safe register interface for [`DynPin`]s
-///
-/// This `struct` takes ownership of a [`DynPinId`] and provides an API to
-/// access the corresponding regsiters.
-struct DynRegisters {
-    id: DynPinId,
-}
-
-// [`DynRegisters`] takes ownership of the [`DynPinId`], and [`DynPin`]
-// guarantees that each pin is a singleton, so this implementation is safe.
-unsafe impl RegisterInterface for DynRegisters {
-    #[inline]
-    fn id(&self) -> DynPinId {
-        self.id
-    }
-}
-
-impl DynRegisters {
-    /// Create a new instance of [`DynRegisters`]
-    ///
-    /// # Safety
-    ///
-    /// Users must never create two simultaneous instances of this `struct` with
-    /// the same [`DynPinId`]
-    #[inline]
-    unsafe fn new(id: DynPinId) -> Self {
-        DynRegisters { id }
-    }
-}
-
-//==================================================================================================
-//  DynPin
-//==================================================================================================
-
-/// A value-level pin, parameterized by [`DynPinId`] and [`DynPinMode`]
-///
-/// This type acts as a type-erased version of [`Pin`]. Every pin is represented
-/// by the same type, and pins are tracked and distinguished at run-time.
-pub struct DynPin {
-    regs: DynRegisters,
-    mode: DynPinMode,
-}
-
-impl DynPin {
-    /// Create a new [`DynPin`]
-    ///
-    /// # Safety
-    ///
-    /// Each [`DynPin`] must be a singleton. For a given [`DynPinId`], there
-    /// must be at most one corresponding [`DynPin`] in existence at any given
-    /// time.  Violating this requirement is `unsafe`.
-    #[inline]
-    unsafe fn new(id: DynPinId, mode: DynPinMode) -> Self {
-        DynPin {
-            regs: DynRegisters::new(id),
-            mode,
-        }
-    }
-
-    /// Return a copy of the pin ID
-    #[inline]
-    pub fn id(&self) -> DynPinId {
-        self.regs.id
-    }
-
-    /// Return a copy of the pin mode
-    #[inline]
-    pub fn mode(&self) -> DynPinMode {
-        self.mode
-    }
-
-    /// Convert the pin to the requested [`DynPinMode`]
-    #[inline]
-    pub fn into_mode(&mut self, mode: DynPinMode) {
-        // Only modify registers if we are actually changing pin mode
-        if mode != self.mode {
-            self.regs.change_mode(mode);
-            self.mode = mode;
-        }
-    }
-
-    #[inline]
-    pub fn into_funsel_1(&mut self) {
-        self.into_mode(DYN_ALT_FUNC_1);
-    }
-
-    #[inline]
-    pub fn into_funsel_2(&mut self) {
-        self.into_mode(DYN_ALT_FUNC_2);
-    }
-
-    #[inline]
-    pub fn into_funsel_3(&mut self) {
-        self.into_mode(DYN_ALT_FUNC_3);
-    }
-
-    /// Configure the pin to operate as a floating input
-    #[inline]
-    pub fn into_floating_input(&mut self) {
-        self.into_mode(DYN_FLOATING_INPUT);
-    }
-
-    /// Configure the pin to operate as a pulled down input
-    #[inline]
-    pub fn into_pull_down_input(&mut self) {
-        self.into_mode(DYN_PULL_DOWN_INPUT);
-    }
-
-    /// Configure the pin to operate as a pulled up input
-    #[inline]
-    pub fn into_pull_up_input(&mut self) {
-        self.into_mode(DYN_PULL_UP_INPUT);
-    }
-
-    /// Configure the pin to operate as a push-pull output
-    #[inline]
-    pub fn into_push_pull_output(&mut self) {
-        self.into_mode(DYN_PUSH_PULL_OUTPUT);
-    }
-
-    /// Configure the pin to operate as a push-pull output
-    #[inline]
-    pub fn into_open_drain_output(&mut self) {
-        self.into_mode(DYN_OPEN_DRAIN_OUTPUT);
-    }
-
-    /// Configure the pin to operate as a push-pull output
-    #[inline]
-    pub fn into_readable_push_pull_output(&mut self) {
-        self.into_mode(DYN_RD_PUSH_PULL_OUTPUT);
-    }
-
-    /// Configure the pin to operate as a push-pull output
-    #[inline]
-    pub fn into_readable_open_drain_output(&mut self) {
-        self.into_mode(DYN_RD_OPEN_DRAIN_OUTPUT);
-    }
-
-    common_reg_if_functions!();
-
-    /// See p.53 of the programmers guide for more information.
-    /// Possible delays in clock cycles:
-    ///  - Delay 1: 1
-    ///  - Delay 2: 2
-    ///  - Delay 1 + Delay 2: 3
-    #[inline]
-    pub fn delay(self, delay_1: bool, delay_2: bool) -> Result<Self, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Output(_) => {
-                self.regs.delay(delay_1, delay_2);
-                Ok(self)
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    /// See p.52 of the programmers guide for more information.
-    /// When configured for pulse mode, a given pin will set the non-default state for exactly
-    /// one clock cycle before returning to the configured default state
-    pub fn pulse_mode(
-        self,
-        enable: bool,
-        default_state: PinState,
-    ) -> Result<Self, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Output(_) => {
-                self.regs.pulse_mode(enable, default_state);
-                Ok(self)
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    /// See p.37 and p.38 of the programmers guide for more information.
-    #[inline]
-    pub fn filter_type(
-        self,
-        filter: FilterType,
-        clksel: FilterClkSel,
-    ) -> Result<Self, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Input(_) => {
-                self.regs.filter_type(filter, clksel);
-                Ok(self)
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    pub fn interrupt_edge(
-        mut self,
-        edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
-        syscfg: Option<&mut pac::Sysconfig>,
-        irqsel: Option<&mut pac::Irqsel>,
-    ) -> Result<Self, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Input(_) | DynPinMode::Output(_) => {
-                self.regs.interrupt_edge(edge_type);
-                self.irq_enb(irq_cfg, syscfg, irqsel);
-                Ok(self)
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    pub fn interrupt_level(
-        mut self,
-        level_type: InterruptLevel,
-        irq_cfg: IrqCfg,
-        syscfg: Option<&mut pac::Sysconfig>,
-        irqsel: Option<&mut pac::Irqsel>,
-    ) -> Result<Self, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Input(_) | DynPinMode::Output(_) => {
-                self.regs.interrupt_level(level_type);
-                self.irq_enb(irq_cfg, syscfg, irqsel);
-                Ok(self)
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    #[inline]
-    pub fn toggle_with_toggle_reg(&mut self) -> Result<(), InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Output(_) => {
-                self.regs.toggle();
-                Ok(())
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    #[inline]
-    fn _read(&self) -> Result<bool, InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Input(_) | DYN_RD_OPEN_DRAIN_OUTPUT | DYN_RD_PUSH_PULL_OUTPUT => {
-                Ok(self.regs.read_pin())
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-    #[inline]
-    fn _write(&mut self, bit: bool) -> Result<(), InvalidPinTypeError> {
-        match self.mode {
-            DynPinMode::Output(_) => {
-                self.regs.write_pin(bit);
-                Ok(())
-            }
-            _ => Err(InvalidPinTypeError),
-        }
-    }
-
-    #[inline]
-    fn _is_low(&self) -> Result<bool, InvalidPinTypeError> {
-        self._read().map(|v| !v)
-    }
-    #[inline]
-    fn _is_high(&self) -> Result<bool, InvalidPinTypeError> {
-        self._read()
-    }
-    #[inline]
-    fn _set_low(&mut self) -> Result<(), InvalidPinTypeError> {
-        self._write(false)
-    }
-    #[inline]
-    fn _set_high(&mut self) -> Result<(), InvalidPinTypeError> {
-        self._write(true)
-    }
-}
-
-//==================================================================================================
-//  Convert between Pin and DynPin
-//==================================================================================================
-
-impl<I: PinId, M: PinMode> From<Pin<I, M>> for DynPin {
-    /// Erase the type-level information in a [`Pin`] and return a value-level
-    /// [`DynPin`]
-    #[inline]
-    fn from(_pin: Pin<I, M>) -> Self {
-        // The `Pin` is consumed, so it is safe to replace it with the
-        // corresponding `DynPin`
-        unsafe { DynPin::new(I::DYN, M::DYN) }
-    }
-}
-
-impl<I: PinId, M: PinMode> TryFrom<DynPin> for Pin<I, M> {
-    type Error = InvalidPinTypeError;
-
-    /// Try to recreate a type-level [`Pin`] from a value-level [`DynPin`]
-    ///
-    /// There is no way for the compiler to know if the conversion will be
-    /// successful at compile-time. We must verify the conversion at run-time
-    /// or refuse to perform it.
-    #[inline]
-    fn try_from(pin: DynPin) -> Result<Self, Self::Error> {
-        if pin.regs.id == I::DYN && pin.mode == M::DYN {
-            // The `DynPin` is consumed, so it is safe to replace it with the
-            // corresponding `Pin`
-            Ok(unsafe { Self::new() })
-        } else {
-            Err(InvalidPinTypeError)
-        }
-    }
-}
-
-//==================================================================================================
-// Embedded HAL traits
-//==================================================================================================
-
-impl embedded_hal::digital::ErrorType for DynPin {
-    type Error = InvalidPinTypeError;
-}
-
-impl embedded_hal::digital::OutputPin for DynPin {
-    #[inline]
-    fn set_high(&mut self) -> Result<(), Self::Error> {
-        self._set_high()
-    }
-    #[inline]
-    fn set_low(&mut self) -> Result<(), Self::Error> {
-        self._set_low()
-    }
-}
-
-impl embedded_hal::digital::InputPin for DynPin {
-    #[inline]
-    fn is_high(&mut self) -> Result<bool, Self::Error> {
-        self._is_high()
-    }
-    #[inline]
-    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        self._is_low()
-    }
-}
-
-impl embedded_hal::digital::StatefulOutputPin for DynPin {
-    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        self._is_high()
-    }
-
-    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        self._is_low()
-    }
-}

va108xx-hal/src/gpio/mod.rs

@@ -1,111 +1,20 @@
-//! # API for the GPIO peripheral
+//! GPIO support module.
 //!
-//! The implementation of this GPIO module is heavily based on the
-//! [ATSAMD HAL implementation](https://docs.rs/atsamd-hal/latest/atsamd_hal/gpio/index.html).
+//! Contains abstractions to use the pins provided by the [crate::pins] module as GPIO or
+//! IO peripheral pins.
 //!
-//! This API provides two different submodules, [`mod@pins`] and [`dynpins`],
-//! representing two different ways to handle GPIO pins. The default, [`mod@pins`],
-//! is a type-level API that tracks the state of each pin at compile-time. The
-//! alternative, [`dynpins`] is a type-erased, value-level API that tracks the
-//! state of each pin at run-time.
+//! The core data structures provided for this are the
 //!
-//! The type-level API is strongly preferred. By representing the state of each
-//! pin within the type system, the compiler can detect logic errors at
-//! compile-time. Furthermore, the type-level API has absolutely zero run-time
-//! cost.
+//! - [Output] for push-pull output pins.
+//! - [Input] for input pins.
+//! - [Flex] for pins with flexible configuration requirements.
+//! - [IoPeriphPin] for IO peripheral pins.
 //!
-//! If needed, [`dynpins`] can be used to erase the type-level differences
-//! between pins. However, by doing so, pins must now be tracked at run-time,
-//! and each pin has a non-zero memory footprint.
+//! The [crate::pins] module exposes singletons to access the [Pin]s required by this module
+//! in a type-safe way.
 //!
 //! ## Examples
 //!
-//! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/blinky.rs)
-//!
-
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct IsMaskedError;
-
-macro_rules! common_reg_if_functions {
-    () => {
-        paste::paste!(
-            #[inline]
-            pub fn datamask(&self) -> bool {
-                self.regs.datamask()
-            }
-
-            #[inline]
-            pub fn clear_datamask(self) -> Self {
-                self.regs.clear_datamask();
-                self
-            }
-
-            #[inline]
-            pub fn set_datamask(self) -> Self {
-                self.regs.set_datamask();
-                self
-            }
-
-            #[inline]
-            pub fn is_high_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
-                self.regs.read_pin_masked()
-            }
-
-            #[inline]
-            pub fn is_low_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
-                self.regs.read_pin_masked().map(|v| !v)
-            }
-
-            #[inline]
-            pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-                self.regs.write_pin_masked(true)
-            }
-
-            #[inline]
-            pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-                self.regs.write_pin_masked(false)
-            }
-
-            fn irq_enb(
-                &mut self,
-                irq_cfg: crate::IrqCfg,
-                syscfg: Option<&mut va108xx::Sysconfig>,
-                irqsel: Option<&mut va108xx::Irqsel>,
-            ) {
-                if syscfg.is_some() {
-                    crate::clock::enable_peripheral_clock(
-                        syscfg.unwrap(),
-                        crate::clock::PeripheralClocks::Irqsel,
-                    );
-                }
-                self.regs.enable_irq();
-                if let Some(irqsel) = irqsel {
-                    if irq_cfg.route {
-                        match self.regs.id().group {
-                            // Set the correct interrupt number in the IRQSEL register
-                            DynGroup::A => {
-                                irqsel
-                                    .porta0(self.regs.id().num as usize)
-                                    .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
-                            }
-                            DynGroup::B => {
-                                irqsel
-                                    .portb0(self.regs.id().num as usize)
-                                    .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
-                            }
-                        }
-                    }
-                }
-            }
-        );
-    };
-}
-
-pub mod dynpins;
-pub use dynpins::*;
-
-pub mod pins;
-pub use pins::*;
-
-mod reg;
+//! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
+//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-gpio.rs)
+pub use vorago_shared_periphs::gpio::*;

va108xx-hal/src/gpio/pins.rs

@@ -1,890 +0,0 @@
-//! # Type-level module for GPIO pins
-//!
-//! This documentation is strongly based on the
-//! [atsamd documentation](https://docs.rs/atsamd-hal/latest/atsamd_hal/gpio/pin/index.html).
-//!
-//! This module provides a type-level API for GPIO pins. It uses the type system
-//! to track the state of pins at compile-time. Representing GPIO pins in this
-//! manner incurs no run-time overhead. Each [`Pin`] struct is zero-sized, so
-//! there is no data to copy around. Instead, real code is generated as a side
-//! effect of type transformations, and the resulting assembly is nearly
-//! identical to the equivalent, hand-written C.
-//!
-//! To track the state of pins at compile-time, this module uses traits to
-//! represent [type classes] and types as instances of those type classes. For
-//! example, the trait [`InputConfig`] acts as a [type-level enum] of the
-//! available input configurations, and the types [`Floating`], [`PullDown`] and
-//! [`PullUp`] are its type-level variants.
-//!
-//! Type-level [`Pin`]s are parameterized by two type-level enums, [`PinId`] and
-//! [`PinMode`].
-//!
-//! ```
-//! pub struct Pin<I, M>
-//! where
-//!     I: PinId,
-//!     M: PinMode,
-//! {
-//!     // ...
-//! }
-//! ```
-//!
-//! A `PinId` identifies a pin by it's group (A, B, C or D) and pin number. Each
-//! `PinId` instance is named according to its datasheet identifier, e.g.
-//! [`PA02`].
-//!
-//! A `PinMode` represents the various pin modes. The available `PinMode`
-//! variants are [`Disabled`], [`Input`], [`Interrupt`], [`Output`] and
-//! [`Alternate`], each with its own corresponding configurations.
-//!
-//! It is not possible for users to create new instances of a [`Pin`]. Singleton
-//! instances of each pin are made available to users through the [`Pins`]
-//! struct.
-//!
-//! To create the [`Pins`] struct, users must supply the PAC
-//! [`PORT`](crate::pac::PORT) peripheral. The [`Pins`] struct takes
-//! ownership of the [`PORT`] and provides the corresponding pins. Each [`Pin`]
-//! within the [`Pins`] struct can be moved out and used individually.
-//!
-//!
-//! ```
-//! let mut peripherals = Peripherals::take().unwrap();
-//! let pins = Pins::new(peripherals.PORT);
-//! ```
-//!
-//! Pins can be converted between modes using several different methods.
-//!
-//! ```
-//! // Use one of the literal function names
-//! let pa27 = pins.pa27.into_floating_input();
-//! // Use a generic method and one of the `PinMode` variant types
-//! let pa27 = pins.pa27.into_mode::<FloatingInput>();
-//! // Specify the target type and use `From`/`Into`
-//! let pa27: Pin<PA27, FloatingInput> = pins.pa27.into();
-//! ```
-//!
-//! # Embedded HAL traits
-//!
-//! This module implements all of the embedded HAL GPIO traits for each [`Pin`]
-//! in the corresponding [`PinMode`]s, namely: [`InputPin`], [`OutputPin`],
-//! [`ToggleableOutputPin`] and [`StatefulOutputPin`].
-//!
-//! For example, you can control the logic level of an `OutputPin` like so
-//!
-//! ```
-//! use atsamd_hal::pac::Peripherals;
-//! use atsamd_hal::gpio::Pins;
-//! use crate::ehal_02::digital::v2::OutputPin;
-//!
-//! let mut peripherals = Peripherals::take().unwrap();
-//! let mut pins = Pins::new(peripherals.PORT);
-//! pins.pa27.set_high();
-//! ```
-//!
-//! # Type-level features
-//!
-//! This module also provides additional, type-level tools to work with GPIO
-//! pins.
-//!
-//! The [`OptionalPinId`] and [`OptionalPin`] traits use the [`OptionalKind`]
-//! pattern to act as type-level versions of [`Option`] for `PinId` and `Pin`
-//! respectively. And the [`AnyPin`] trait defines an [`AnyKind`] type class
-//! for all `Pin` types.
-//!
-//! [type classes]: crate::typelevel#type-classes
-//! [type-level enum]: crate::typelevel#type-level-enum
-//! [`OptionalKind`]: crate::typelevel#optionalkind-trait-pattern
-//! [`AnyKind`]: crate::typelevel#anykind-trait-pattern
-use super::dynpins::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
-use super::reg::RegisterInterface;
-use crate::{
-    pac::{Irqsel, Porta, Portb, Sysconfig},
-    typelevel::Sealed,
-    IrqCfg,
-};
-use core::convert::Infallible;
-use core::marker::PhantomData;
-use core::mem::transmute;
-use embedded_hal::digital::{InputPin, OutputPin, StatefulOutputPin};
-use paste::paste;
-
-//==================================================================================================
-//  Errors and Definitions
-//==================================================================================================
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum InterruptEdge {
-    HighToLow,
-    LowToHigh,
-    BothEdges,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum InterruptLevel {
-    Low = 0,
-    High = 1,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum PinState {
-    Low = 0,
-    High = 1,
-}
-
-//==================================================================================================
-// Input configuration
-//==================================================================================================
-
-/// Type-level enum for input configurations
-///
-/// The valid options are [`Floating`], [`PullDown`] and [`PullUp`].
-pub trait InputConfig: Sealed {
-    /// Corresponding [`DynInput`](super::DynInput)
-    const DYN: DynInput;
-}
-
-pub enum Floating {}
-pub enum PullDown {}
-pub enum PullUp {}
-
-impl InputConfig for Floating {
-    const DYN: DynInput = DynInput::Floating;
-}
-impl InputConfig for PullDown {
-    const DYN: DynInput = DynInput::PullDown;
-}
-impl InputConfig for PullUp {
-    const DYN: DynInput = DynInput::PullUp;
-}
-
-impl Sealed for Floating {}
-impl Sealed for PullDown {}
-impl Sealed for PullUp {}
-
-/// Type-level variant of [`PinMode`] for floating input mode
-pub type InputFloating = Input<Floating>;
-/// Type-level variant of [`PinMode`] for pull-down input mode
-pub type InputPullDown = Input<PullDown>;
-/// Type-level variant of [`PinMode`] for pull-up input mode
-pub type InputPullUp = Input<PullUp>;
-
-/// Type-level variant of [`PinMode`] for input modes
-///
-/// Type `C` is one of three input configurations: [`Floating`], [`PullDown`] or
-/// [`PullUp`]
-pub struct Input<C: InputConfig> {
-    cfg: PhantomData<C>,
-}
-
-impl<C: InputConfig> Sealed for Input<C> {}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum FilterType {
-    SystemClock = 0,
-    DirectInputWithSynchronization = 1,
-    FilterOneClockCycle = 2,
-    FilterTwoClockCycles = 3,
-    FilterThreeClockCycles = 4,
-    FilterFourClockCycles = 5,
-}
-
-pub use crate::clock::FilterClkSel;
-
-//==================================================================================================
-// Output configuration
-//==================================================================================================
-
-pub trait OutputConfig: Sealed {
-    const DYN: DynOutput;
-}
-
-pub trait ReadableOutput: Sealed {}
-
-/// Type-level variant of [`OutputConfig`] for a push-pull configuration
-pub enum PushPull {}
-/// Type-level variant of [`OutputConfig`] for an open drain configuration
-pub enum OpenDrain {}
-
-/// Type-level variant of [`OutputConfig`] for a readable push-pull configuration
-pub enum ReadablePushPull {}
-/// Type-level variant of [`OutputConfig`] for a readable open-drain configuration
-pub enum ReadableOpenDrain {}
-
-impl Sealed for PushPull {}
-impl Sealed for OpenDrain {}
-impl Sealed for ReadableOpenDrain {}
-impl Sealed for ReadablePushPull {}
-impl ReadableOutput for ReadableOpenDrain {}
-impl ReadableOutput for ReadablePushPull {}
-
-impl OutputConfig for PushPull {
-    const DYN: DynOutput = DynOutput::PushPull;
-}
-impl OutputConfig for OpenDrain {
-    const DYN: DynOutput = DynOutput::OpenDrain;
-}
-impl OutputConfig for ReadablePushPull {
-    const DYN: DynOutput = DynOutput::ReadablePushPull;
-}
-impl OutputConfig for ReadableOpenDrain {
-    const DYN: DynOutput = DynOutput::ReadableOpenDrain;
-}
-
-/// Type-level variant of [`PinMode`] for output modes
-///
-/// Type `C` is one of four output configurations: [`PushPull`], [`OpenDrain`] or
-/// their respective readable versions
-pub struct Output<C: OutputConfig> {
-    cfg: PhantomData<C>,
-}
-
-impl<C: OutputConfig> Sealed for Output<C> {}
-
-/// Type-level variant of [`PinMode`] for push-pull output mode
-pub type PushPullOutput = Output<PushPull>;
-/// Type-level variant of [`PinMode`] for open drain output mode
-pub type OutputOpenDrain = Output<OpenDrain>;
-
-pub type OutputReadablePushPull = Output<ReadablePushPull>;
-pub type OutputReadableOpenDrain = Output<ReadableOpenDrain>;
-
-//==================================================================================================
-//  Alternate configurations
-//==================================================================================================
-
-/// Type-level enum for alternate peripheral function configurations
-pub trait AlternateConfig: Sealed {
-    const DYN: DynAlternate;
-}
-
-pub enum Funsel1 {}
-pub enum Funsel2 {}
-pub enum Funsel3 {}
-
-impl AlternateConfig for Funsel1 {
-    const DYN: DynAlternate = DynAlternate::Sel1;
-}
-impl AlternateConfig for Funsel2 {
-    const DYN: DynAlternate = DynAlternate::Sel2;
-}
-impl AlternateConfig for Funsel3 {
-    const DYN: DynAlternate = DynAlternate::Sel3;
-}
-
-impl Sealed for Funsel1 {}
-impl Sealed for Funsel2 {}
-impl Sealed for Funsel3 {}
-
-/// Type-level variant of [`PinMode`] for alternate peripheral functions
-///
-/// Type `C` is an [`AlternateConfig`]
-pub struct Alternate<C: AlternateConfig> {
-    cfg: PhantomData<C>,
-}
-
-impl<C: AlternateConfig> Sealed for Alternate<C> {}
-
-pub type AltFunc1 = Alternate<Funsel1>;
-pub type AltFunc2 = Alternate<Funsel2>;
-pub type AltFunc3 = Alternate<Funsel3>;
-
-/// Type alias for the [`PinMode`] at reset
-pub type Reset = InputFloating;
-
-//==================================================================================================
-//  Pin modes
-//==================================================================================================
-
-/// Type-level enum representing pin modes
-///
-/// The valid options are [`Input`], [`Output`] and [`Alternate`].
-pub trait PinMode: Sealed {
-    /// Corresponding [`DynPinMode`](super::DynPinMode)
-    const DYN: DynPinMode;
-}
-
-impl<C: InputConfig> PinMode for Input<C> {
-    const DYN: DynPinMode = DynPinMode::Input(C::DYN);
-}
-impl<C: OutputConfig> PinMode for Output<C> {
-    const DYN: DynPinMode = DynPinMode::Output(C::DYN);
-}
-impl<C: AlternateConfig> PinMode for Alternate<C> {
-    const DYN: DynPinMode = DynPinMode::Alternate(C::DYN);
-}
-
-//==================================================================================================
-//  Pin IDs
-//==================================================================================================
-
-/// Type-level enum for pin IDs
-pub trait PinId: Sealed {
-    /// Corresponding [`DynPinId`](super::DynPinId)
-    const DYN: DynPinId;
-}
-
-macro_rules! pin_id {
-    ($Group:ident, $Id:ident, $NUM:literal) => {
-        // Need paste macro to use ident in doc attribute
-        paste! {
-            #[doc = "Pin ID representing pin " $Id]
-            pub enum $Id {}
-            impl Sealed for $Id {}
-            impl PinId for $Id {
-                const DYN: DynPinId = DynPinId {
-                    group: DynGroup::$Group,
-                    num: $NUM,
-                };
-            }
-        }
-    };
-}
-
-//==================================================================================================
-//  Pin
-//==================================================================================================
-
-/// A type-level GPIO pin, parameterized by [`PinId`] and [`PinMode`] types
-
-pub struct Pin<I: PinId, M: PinMode> {
-    pub(in crate::gpio) regs: Registers<I>,
-    mode: PhantomData<M>,
-}
-
-impl<I: PinId, M: PinMode> Pin<I, M> {
-    /// Create a new [`Pin`]
-    ///
-    /// # Safety
-    ///
-    /// Each [`Pin`] must be a singleton. For a given [`PinId`], there must be
-    /// at most one corresponding [`Pin`] in existence at any given time.
-    /// Violating this requirement is `unsafe`.
-    #[inline]
-    pub(crate) unsafe fn new() -> Pin<I, M> {
-        Pin {
-            regs: Registers::new(),
-            mode: PhantomData,
-        }
-    }
-
-    /// Convert the pin to the requested [`PinMode`]
-    #[inline]
-    pub fn into_mode<N: PinMode>(mut self) -> Pin<I, N> {
-        // Only modify registers if we are actually changing pin mode
-        // This check should compile away
-        if N::DYN != M::DYN {
-            self.regs.change_mode::<N>();
-        }
-        // Safe because we drop the existing Pin
-        unsafe { Pin::new() }
-    }
-
-    /// Configure the pin for function select 1. See Programmer Guide p.40 for the function table
-    #[inline]
-    pub fn into_funsel_1(self) -> Pin<I, AltFunc1> {
-        self.into_mode()
-    }
-
-    /// Configure the pin for function select 2. See Programmer Guide p.40 for the function table
-    #[inline]
-    pub fn into_funsel_2(self) -> Pin<I, AltFunc2> {
-        self.into_mode()
-    }
-
-    /// Configure the pin for function select 3. See Programmer Guide p.40 for the function table
-    #[inline]
-    pub fn into_funsel_3(self) -> Pin<I, AltFunc3> {
-        self.into_mode()
-    }
-
-    /// Configure the pin to operate as a floating input
-    #[inline]
-    pub fn into_floating_input(self) -> Pin<I, InputFloating> {
-        self.into_mode()
-    }
-
-    /// Configure the pin to operate as a pulled down input
-    #[inline]
-    pub fn into_pull_down_input(self) -> Pin<I, InputPullDown> {
-        self.into_mode()
-    }
-
-    /// Configure the pin to operate as a pulled up input
-    #[inline]
-    pub fn into_pull_up_input(self) -> Pin<I, InputPullUp> {
-        self.into_mode()
-    }
-
-    /// Configure the pin to operate as a push-pull output
-    #[inline]
-    pub fn into_push_pull_output(self) -> Pin<I, PushPullOutput> {
-        self.into_mode()
-    }
-
-    /// Configure the pin to operate as a readable push-pull output
-    #[inline]
-    pub fn into_readable_push_pull_output(self) -> Pin<I, OutputReadablePushPull> {
-        self.into_mode()
-    }
-
-    /// Configure the pin to operate as a readable open-drain output
-    #[inline]
-    pub fn into_readable_open_drain_output(self) -> Pin<I, OutputReadableOpenDrain> {
-        self.into_mode()
-    }
-
-    common_reg_if_functions!();
-
-    #[inline]
-    pub(crate) fn _set_high(&mut self) {
-        self.regs.write_pin(true)
-    }
-
-    #[inline]
-    pub(crate) fn _set_low(&mut self) {
-        self.regs.write_pin(false)
-    }
-
-    #[inline]
-    pub(crate) fn _toggle_with_toggle_reg(&mut self) {
-        self.regs.toggle();
-    }
-
-    #[inline]
-    pub(crate) fn _is_low(&self) -> bool {
-        !self.regs.read_pin()
-    }
-
-    #[inline]
-    pub(crate) fn _is_high(&self) -> bool {
-        self.regs.read_pin()
-    }
-}
-
-//==============================================================================
-//  AnyPin
-//==============================================================================
-
-/// Type class for [`Pin`] types
-///
-/// This trait uses the [`AnyKind`] trait pattern to create a [type class] for
-/// [`Pin`] types. See the `AnyKind` documentation for more details on the
-/// pattern.
-///
-/// ## `v1` Compatibility
-///
-/// Normally, this trait would use `Is<Type = SpecificPin<Self>>` as a super
-/// trait. But doing so would restrict implementations to only the `v2` `Pin`
-/// type in this module. To aid in backwards compatibility, we want to implement
-/// `AnyPin` for the `v1` `Pin` type as well. This is possible for a few
-/// reasons. First, both structs are zero-sized, so there is no meaningful
-/// memory layout to begin with. And even if there were, the `v1` `Pin` type is
-/// a newtype wrapper around a `v2` `Pin`, and single-field structs are
-/// guaranteed to have the same layout as the field, even for `repr(Rust)`.
-///
-/// [`AnyKind`]: crate::typelevel#anykind-trait-pattern
-/// [type class]: crate::typelevel#type-classes
-pub trait AnyPin
-where
-    Self: Sealed,
-    Self: From<SpecificPin<Self>>,
-    Self: Into<SpecificPin<Self>>,
-    Self: AsRef<SpecificPin<Self>>,
-    Self: AsMut<SpecificPin<Self>>,
-{
-    /// [`PinId`] of the corresponding [`Pin`]
-    type Id: PinId;
-    /// [`PinMode`] of the corresponding [`Pin`]
-    type Mode: PinMode;
-}
-
-impl<I, M> Sealed for Pin<I, M>
-where
-    I: PinId,
-    M: PinMode,
-{
-}
-
-impl<I, M> AnyPin for Pin<I, M>
-where
-    I: PinId,
-    M: PinMode,
-{
-    type Id = I;
-    type Mode = M;
-}
-
-/// Type alias to recover the specific [`Pin`] type from an implementation of
-/// [`AnyPin`]
-///
-/// See the [`AnyKind`] documentation for more details on the pattern.
-///
-/// [`AnyKind`]: crate::typelevel#anykind-trait-pattern
-pub type SpecificPin<P> = Pin<<P as AnyPin>::Id, <P as AnyPin>::Mode>;
-
-impl<P: AnyPin> AsRef<P> for SpecificPin<P> {
-    #[inline]
-    fn as_ref(&self) -> &P {
-        // SAFETY: This is guaranteed to be safe, because P == SpecificPin<P>
-        // Transmuting between `v1` and `v2` `Pin` types is also safe, because
-        // both are zero-sized, and single-field, newtype structs are guaranteed
-        // to have the same layout as the field anyway, even for repr(Rust).
-        unsafe { transmute(self) }
-    }
-}
-
-impl<P: AnyPin> AsMut<P> for SpecificPin<P> {
-    #[inline]
-    fn as_mut(&mut self) -> &mut P {
-        // SAFETY: This is guaranteed to be safe, because P == SpecificPin<P>
-        // Transmuting between `v1` and `v2` `Pin` types is also safe, because
-        // both are zero-sized, and single-field, newtype structs are guaranteed
-        // to have the same layout as the field anyway, even for repr(Rust).
-        unsafe { transmute(self) }
-    }
-}
-
-//==================================================================================================
-//  Additional functionality
-//==================================================================================================
-
-impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
-    pub fn interrupt_edge(
-        mut self,
-        edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
-        syscfg: Option<&mut Sysconfig>,
-        irqsel: Option<&mut Irqsel>,
-    ) -> Self {
-        self.regs.interrupt_edge(edge_type);
-        self.irq_enb(irq_cfg, syscfg, irqsel);
-        self
-    }
-
-    pub fn interrupt_level(
-        mut self,
-        level_type: InterruptLevel,
-        irq_cfg: IrqCfg,
-        syscfg: Option<&mut Sysconfig>,
-        irqsel: Option<&mut Irqsel>,
-    ) -> Self {
-        self.regs.interrupt_level(level_type);
-        self.irq_enb(irq_cfg, syscfg, irqsel);
-        self
-    }
-}
-
-impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
-    /// See p.53 of the programmers guide for more information.
-    /// Possible delays in clock cycles:
-    ///  - Delay 1: 1
-    ///  - Delay 2: 2
-    ///  - Delay 1 + Delay 2: 3
-    #[inline]
-    pub fn delay(self, delay_1: bool, delay_2: bool) -> Self {
-        self.regs.delay(delay_1, delay_2);
-        self
-    }
-
-    #[inline]
-    pub fn toggle_with_toggle_reg(&mut self) {
-        self._toggle_with_toggle_reg()
-    }
-
-    /// See p.52 of the programmers guide for more information.
-    /// When configured for pulse mode, a given pin will set the non-default state for exactly
-    /// one clock cycle before returning to the configured default state
-    pub fn pulse_mode(self, enable: bool, default_state: PinState) -> Self {
-        self.regs.pulse_mode(enable, default_state);
-        self
-    }
-
-    pub fn interrupt_edge(
-        mut self,
-        edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
-        syscfg: Option<&mut Sysconfig>,
-        irqsel: Option<&mut Irqsel>,
-    ) -> Self {
-        self.regs.interrupt_edge(edge_type);
-        self.irq_enb(irq_cfg, syscfg, irqsel);
-        self
-    }
-
-    pub fn interrupt_level(
-        mut self,
-        level_type: InterruptLevel,
-        irq_cfg: IrqCfg,
-        syscfg: Option<&mut Sysconfig>,
-        irqsel: Option<&mut Irqsel>,
-    ) -> Self {
-        self.regs.interrupt_level(level_type);
-        self.irq_enb(irq_cfg, syscfg, irqsel);
-        self
-    }
-}
-
-impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
-    /// See p.37 and p.38 of the programmers guide for more information.
-    #[inline]
-    pub fn filter_type(self, filter: FilterType, clksel: FilterClkSel) -> Self {
-        self.regs.filter_type(filter, clksel);
-        self
-    }
-}
-
-//==================================================================================================
-//  Embedded HAL traits
-//==================================================================================================
-
-impl<I, M> embedded_hal::digital::ErrorType for Pin<I, M>
-where
-    I: PinId,
-    M: PinMode,
-{
-    type Error = Infallible;
-}
-
-impl<I: PinId, C: OutputConfig> OutputPin for Pin<I, Output<C>> {
-    #[inline]
-    fn set_high(&mut self) -> Result<(), Self::Error> {
-        self._set_high();
-        Ok(())
-    }
-
-    #[inline]
-    fn set_low(&mut self) -> Result<(), Self::Error> {
-        self._set_low();
-        Ok(())
-    }
-}
-
-impl<I, C> InputPin for Pin<I, Input<C>>
-where
-    I: PinId,
-    C: InputConfig,
-{
-    #[inline]
-    fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self._is_high())
-    }
-    #[inline]
-    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self._is_low())
-    }
-}
-
-impl<I, C> StatefulOutputPin for Pin<I, Output<C>>
-where
-    I: PinId,
-    C: OutputConfig + ReadableOutput,
-{
-    #[inline]
-    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self._is_high())
-    }
-    #[inline]
-    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self._is_low())
-    }
-}
-
-impl<I, C> InputPin for Pin<I, Output<C>>
-where
-    I: PinId,
-    C: OutputConfig + ReadableOutput,
-{
-    #[inline]
-    fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self._is_high())
-    }
-
-    #[inline]
-    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self._is_low())
-    }
-}
-
-//==================================================================================================
-//  Registers
-//==================================================================================================
-
-/// Provide a safe register interface for [`Pin`]s
-///
-/// This `struct` takes ownership of a [`PinId`] and provides an API to
-/// access the corresponding registers.
-pub(in crate::gpio) struct Registers<I: PinId> {
-    id: PhantomData<I>,
-}
-
-// [`Registers`] takes ownership of the [`PinId`], and [`Pin`] guarantees that
-// each pin is a singleton, so this implementation is safe.
-unsafe impl<I: PinId> RegisterInterface for Registers<I> {
-    #[inline]
-    fn id(&self) -> DynPinId {
-        I::DYN
-    }
-}
-
-impl<I: PinId> Registers<I> {
-    /// Create a new instance of [`Registers`]
-    ///
-    /// # Safety
-    ///
-    /// Users must never create two simultaneous instances of this `struct` with
-    /// the same [`PinId`]
-    #[inline]
-    unsafe fn new() -> Self {
-        Registers { id: PhantomData }
-    }
-
-    /// Provide a type-level equivalent for the
-    /// [`RegisterInterface::change_mode`] method.
-    #[inline]
-    pub(in crate::gpio) fn change_mode<M: PinMode>(&mut self) {
-        RegisterInterface::change_mode(self, M::DYN);
-    }
-}
-
-//==================================================================================================
-//  Pin definitions
-//==================================================================================================
-
-macro_rules! pins {
-    (
-        $Port:ident, $PinsName:ident, $($Id:ident,)+,
-    ) => {
-        paste!(
-            /// Collection of all the individual [`Pin`]s for a given port (PORTA or PORTB)
-            pub struct $PinsName {
-                iocfg: Option<va108xx::Ioconfig>,
-                port: $Port,
-                $(
-                    #[doc = "Pin " $Id]
-                    pub [<$Id:lower>]: Pin<$Id, Reset>,
-                )+
-            }
-
-            impl $PinsName {
-                /// Create a new struct containing all the Pins. Passing the IOCONFIG peripheral
-                /// is optional because it might be required to create pin definitions for both
-                /// ports.
-                #[inline]
-                pub fn new(
-                    syscfg: &mut va108xx::Sysconfig,
-                    iocfg: Option<va108xx::Ioconfig>,
-                    port: $Port
-                ) -> $PinsName {
-                    syscfg.peripheral_clk_enable().modify(|_, w| {
-                        w.[<$Port:lower>]().set_bit();
-                        w.gpio().set_bit();
-                        w.ioconfig().set_bit()
-                    });
-                    $PinsName {
-                        iocfg,
-                        port,
-                        // Safe because we only create one `Pin` per `PinId`
-                        $(
-                            [<$Id:lower>]: unsafe { Pin::new() },
-                        )+
-                    }
-                }
-
-                /// Get the peripheral ID
-                /// Safety: Read-only register
-                pub fn get_perid() -> u32 {
-                    let port = unsafe { &(*$Port::ptr()) };
-                    port.perid().read().bits()
-                }
-
-                /// Consumes the Pins struct and returns the port definitions
-                pub fn release(self) -> (Option<va108xx::Ioconfig>, $Port) {
-                    (self.iocfg, self.port)
-                }
-            }
-        );
-    }
-}
-
-macro_rules! declare_pins {
-    (
-        $Group:ident, $PinsName:ident, $Port:ident, [$(($Id:ident, $NUM:literal),)+]
-    ) => {
-        pins!($Port, $PinsName, $($Id,)+,);
-        $(
-            pin_id!($Group, $Id, $NUM);
-        )+
-    }
-}
-
-declare_pins!(
-    A,
-    PinsA,
-    Porta,
-    [
-        (PA0, 0),
-        (PA1, 1),
-        (PA2, 2),
-        (PA3, 3),
-        (PA4, 4),
-        (PA5, 5),
-        (PA6, 6),
-        (PA7, 7),
-        (PA8, 8),
-        (PA9, 9),
-        (PA10, 10),
-        (PA11, 11),
-        (PA12, 12),
-        (PA13, 13),
-        (PA14, 14),
-        (PA15, 15),
-        (PA16, 16),
-        (PA17, 17),
-        (PA18, 18),
-        (PA19, 19),
-        (PA20, 20),
-        (PA21, 21),
-        (PA22, 22),
-        (PA23, 23),
-        (PA24, 24),
-        (PA25, 25),
-        (PA26, 26),
-        (PA27, 27),
-        (PA28, 28),
-        (PA29, 29),
-        (PA30, 30),
-        (PA31, 31),
-    ]
-);
-
-declare_pins!(
-    B,
-    PinsB,
-    Portb,
-    [
-        (PB0, 0),
-        (PB1, 1),
-        (PB2, 2),
-        (PB3, 3),
-        (PB4, 4),
-        (PB5, 5),
-        (PB6, 6),
-        (PB7, 7),
-        (PB8, 8),
-        (PB9, 9),
-        (PB10, 10),
-        (PB11, 11),
-        (PB12, 12),
-        (PB13, 13),
-        (PB14, 14),
-        (PB15, 15),
-        (PB16, 16),
-        (PB17, 17),
-        (PB18, 18),
-        (PB19, 19),
-        (PB20, 20),
-        (PB21, 21),
-        (PB22, 22),
-        (PB23, 23),
-    ]
-);

va108xx-hal/src/gpio/reg.rs

@@ -1,382 +0,0 @@
-use super::dynpins::{self, DynGroup, DynPinId, DynPinMode};
-use super::pins::{FilterType, InterruptEdge, InterruptLevel, PinState};
-use super::IsMaskedError;
-use crate::clock::FilterClkSel;
-use va108xx::{ioconfig, porta};
-
-/// Type definition to avoid confusion: These register blocks are identical
-type PortRegisterBlock = porta::RegisterBlock;
-
-//==================================================================================================
-//  ModeFields
-//==================================================================================================
-
-/// Collect all fields needed to set the [`PinMode`](super::PinMode)
-#[derive(Default)]
-struct ModeFields {
-    dir: bool,
-    opendrn: bool,
-    pull_en: bool,
-    /// true for pullup, false for pulldown
-    pull_dir: bool,
-    funsel: u8,
-    enb_input: bool,
-}
-
-impl From<DynPinMode> for ModeFields {
-    #[inline]
-    fn from(mode: DynPinMode) -> Self {
-        let mut fields = Self::default();
-        use DynPinMode::*;
-        match mode {
-            Input(config) => {
-                use dynpins::DynInput::*;
-                fields.dir = false;
-                match config {
-                    Floating => (),
-                    PullUp => {
-                        fields.pull_en = true;
-                        fields.pull_dir = true;
-                    }
-                    PullDown => {
-                        fields.pull_en = true;
-                    }
-                }
-            }
-            Output(config) => {
-                use dynpins::DynOutput::*;
-                fields.dir = true;
-                match config {
-                    PushPull => (),
-                    OpenDrain => {
-                        fields.opendrn = true;
-                    }
-                    ReadableOpenDrain => {
-                        fields.enb_input = true;
-                        fields.opendrn = true;
-                    }
-                    ReadablePushPull => {
-                        fields.enb_input = true;
-                    }
-                }
-            }
-            Alternate(config) => {
-                fields.funsel = config as u8;
-            }
-        }
-        fields
-    }
-}
-
-//==================================================================================================
-// Register Interface
-//==================================================================================================
-
-pub type PortReg = ioconfig::Porta;
-/*
-pub type IocfgPort = ioconfig::Porta;
-#[repr(C)]
-pub(super) struct IocfgPortGroup {
-    port: [IocfgPort; 32],
-}
-*/
-
-/// Provide a safe register interface for pin objects
-///
-/// [`PORTA`] and [`PORTB`], like every PAC `struct`, is [`Send`] but not [`Sync`], because it
-/// points to a `RegisterBlock` of `VolatileCell`s. Unfortunately, such an
-/// interface is quite restrictive. Instead, it would be ideal if we could split
-/// the [`PORT`] into independent pins that are both [`Send`] and [`Sync`].
-///
-/// [`PORT`] is a single, zero-sized marker `struct` that provides access to
-/// every [`PORT`] register. Instead, we would like to create zero-sized marker
-/// `struct`s for every pin, where each pin is only allowed to control its own
-/// registers. Furthermore, each pin `struct` should be a singleton, so that
-/// exclusive access to the `struct` also guarantees exclusive access to the
-/// corresponding registers. Finally, the pin `struct`s should not have any
-/// interior mutability. Together, these requirements would allow the pin
-/// `struct`s to be both [`Send`] and [`Sync`].
-///
-/// This trait creates a safe API for accomplishing these goals. Implementers
-/// supply a pin ID through the [`id`] function. The remaining functions provide
-/// a safe API for accessing the registers associated with that pin ID. Any
-/// modification of the registers requires `&mut self`, which destroys interior
-/// mutability.
-///
-/// # Safety
-///
-/// Users should only implement the [`id`] function. No default function
-/// implementations should be overridden. The implementing type must also have
-/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
-/// pin ID is a singleton.
-///
-/// [`id`]: Self::id
-pub(super) unsafe trait RegisterInterface {
-    /// Provide a [`DynPinId`] identifying the set of registers controlled by
-    /// this type.
-    fn id(&self) -> DynPinId;
-
-    const PORTA: *const PortRegisterBlock = va108xx::Porta::ptr();
-    const PORTB: *const PortRegisterBlock = va108xx::Portb::ptr();
-
-    /// Change the pin mode
-    #[inline]
-    fn change_mode(&mut self, mode: DynPinMode) {
-        let ModeFields {
-            dir,
-            funsel,
-            opendrn,
-            pull_dir,
-            pull_en,
-            enb_input,
-        } = mode.into();
-        let (portreg, iocfg) = (self.port_reg(), self.iocfg_port());
-        iocfg.write(|w| {
-            w.opendrn().bit(opendrn);
-            w.pen().bit(pull_en);
-            w.plevel().bit(pull_dir);
-            w.iewo().bit(enb_input);
-            unsafe { w.funsel().bits(funsel) }
-        });
-        let mask = self.mask_32();
-        unsafe {
-            if dir {
-                portreg.dir().modify(|r, w| w.bits(r.bits() | mask));
-                // Clear output
-                portreg.clrout().write(|w| w.bits(mask));
-            } else {
-                portreg.dir().modify(|r, w| w.bits(r.bits() & !mask));
-            }
-        }
-    }
-
-    #[inline]
-    fn port_reg(&self) -> &PortRegisterBlock {
-        match self.id().group {
-            DynGroup::A => unsafe { &(*Self::PORTA) },
-            DynGroup::B => unsafe { &(*Self::PORTB) },
-        }
-    }
-    fn iocfg_port(&self) -> &PortReg {
-        let ioconfig = unsafe { va108xx::Ioconfig::ptr().as_ref().unwrap() };
-        match self.id().group {
-            DynGroup::A => ioconfig.porta(self.id().num as usize),
-            DynGroup::B => ioconfig.portb0(self.id().num as usize),
-        }
-    }
-
-    #[inline]
-    fn mask_32(&self) -> u32 {
-        1 << self.id().num
-    }
-
-    #[inline]
-    fn enable_irq(&self) {
-        self.port_reg()
-            .irq_enb()
-            .modify(|r, w| unsafe { w.bits(r.bits() | self.mask_32()) });
-    }
-
-    #[inline]
-    /// Read the logic level of an output pin
-    fn read_pin(&self) -> bool {
-        let portreg = self.port_reg();
-        ((portreg.datainraw().read().bits() >> self.id().num) & 0x01) == 1
-    }
-
-    // Get DATAMASK bit for this particular pin
-    #[inline(always)]
-    fn datamask(&self) -> bool {
-        let portreg = self.port_reg();
-        (portreg.datamask().read().bits() >> self.id().num) == 1
-    }
-
-    /// Read a pin but use the masked version but check whether the datamask for the pin is
-    /// cleared as well
-    #[inline(always)]
-    fn read_pin_masked(&self) -> Result<bool, IsMaskedError> {
-        if !self.datamask() {
-            Err(IsMaskedError)
-        } else {
-            Ok(((self.port_reg().datain().read().bits() >> self.id().num) & 0x01) == 1)
-        }
-    }
-
-    /// Write the logic level of an output pin
-    #[inline(always)]
-    fn write_pin(&mut self, bit: bool) {
-        // Safety: SETOUT is a "mask" register, and we only write the bit for
-        // this pin ID
-        unsafe {
-            if bit {
-                self.port_reg().setout().write(|w| w.bits(self.mask_32()));
-            } else {
-                self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
-            }
-        }
-    }
-
-    /// Write the logic level of an output pin but check whether the datamask for the pin is
-    /// cleared as well
-    #[inline]
-    fn write_pin_masked(&mut self, bit: bool) -> Result<(), IsMaskedError> {
-        if !self.datamask() {
-            Err(IsMaskedError)
-        } else {
-            // Safety: SETOUT is a "mask" register, and we only write the bit for
-            // this pin ID
-            unsafe {
-                if bit {
-                    self.port_reg().setout().write(|w| w.bits(self.mask_32()));
-                } else {
-                    self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
-                }
-                Ok(())
-            }
-        }
-    }
-
-    /// Toggle the logic level of an output pin
-    #[inline(always)]
-    fn toggle(&mut self) {
-        // Safety: TOGOUT is a "mask" register, and we only write the bit for
-        // this pin ID
-        unsafe { self.port_reg().togout().write(|w| w.bits(self.mask_32())) };
-    }
-
-    /// Only useful for interrupt pins. Configure whether to use edges or level as interrupt soure
-    /// When using edge mode, it is possible to generate interrupts on both edges as well
-    #[inline]
-    fn interrupt_edge(&mut self, edge_type: InterruptEdge) {
-        unsafe {
-            self.port_reg()
-                .irq_sen()
-                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            match edge_type {
-                InterruptEdge::HighToLow => {
-                    self.port_reg()
-                        .irq_evt()
-                        .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-                }
-                InterruptEdge::LowToHigh => {
-                    self.port_reg()
-                        .irq_evt()
-                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-                }
-                InterruptEdge::BothEdges => {
-                    self.port_reg()
-                        .irq_edge()
-                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-                }
-            }
-        }
-    }
-
-    /// Configure which edge or level type triggers an interrupt
-    #[inline]
-    fn interrupt_level(&mut self, level: InterruptLevel) {
-        unsafe {
-            self.port_reg()
-                .irq_sen()
-                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            if level == InterruptLevel::Low {
-                self.port_reg()
-                    .irq_evt()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            } else {
-                self.port_reg()
-                    .irq_evt()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            }
-        }
-    }
-
-    /// Only useful for input pins
-    #[inline]
-    fn filter_type(&self, filter: FilterType, clksel: FilterClkSel) {
-        self.iocfg_port().modify(|_, w| {
-            // Safety: Only write to register for this Pin ID
-            unsafe {
-                w.flttype().bits(filter as u8);
-                w.fltclk().bits(clksel as u8)
-            }
-        });
-    }
-
-    /// Set DATAMASK bit for this particular pin. 1 is the default
-    /// state of the bit and allows access of the corresponding bit
-    #[inline(always)]
-    fn set_datamask(&self) {
-        let portreg = self.port_reg();
-        unsafe {
-            portreg
-                .datamask()
-                .modify(|r, w| w.bits(r.bits() | self.mask_32()))
-        }
-    }
-
-    /// Clear DATAMASK bit for this particular pin. This prevents access
-    /// of the corresponding bit for output and input operations
-    #[inline(always)]
-    fn clear_datamask(&self) {
-        let portreg = self.port_reg();
-        unsafe {
-            portreg
-                .datamask()
-                .modify(|r, w| w.bits(r.bits() & !self.mask_32()))
-        }
-    }
-
-    /// Only useful for output pins
-    /// See p.52 of the programmers guide for more information.
-    /// When configured for pulse mode, a given pin will set the non-default state for exactly
-    /// one clock cycle before returning to the configured default state
-    fn pulse_mode(&self, enable: bool, default_state: PinState) {
-        let portreg = self.port_reg();
-        unsafe {
-            if enable {
-                portreg
-                    .pulse()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            } else {
-                portreg
-                    .pulse()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            }
-            if default_state == PinState::Low {
-                portreg
-                    .pulsebase()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            } else {
-                portreg
-                    .pulsebase()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            }
-        }
-    }
-
-    /// Only useful for output pins
-    fn delay(&self, delay_1: bool, delay_2: bool) {
-        let portreg = self.port_reg();
-        unsafe {
-            if delay_1 {
-                portreg
-                    .delay1()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            } else {
-                portreg
-                    .delay1()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            }
-            if delay_2 {
-                portreg
-                    .delay2()
-                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
-            } else {
-                portreg
-                    .delay2()
-                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
-            }
-        }
-    }
-}

va108xx-hal/src/i2c.rs

@@ -2,877 +2,5 @@
 //!
 //! ## Examples
 //!
-//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/adt75-temp-sensor.rs)
-use crate::{
-    clock::{enable_peripheral_clock, PeripheralClocks},
-    pac,
-    time::Hertz,
-    typelevel::Sealed,
-};
-use core::marker::PhantomData;
-use embedded_hal::i2c::{self, Operation, SevenBitAddress, TenBitAddress};
-
-//==================================================================================================
-// Defintions
-//==================================================================================================
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum FifoEmptyMode {
-    Stall = 0,
-    EndTransaction = 1,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum Error {
-    InvalidTimingParams,
-    ArbitrationLost,
-    NackAddr,
-    /// Data not acknowledged in write operation
-    NackData,
-    /// Not enough data received in read operation
-    InsufficientDataReceived,
-    /// Number of bytes in transfer too large (larger than 0x7fe)
-    DataTooLarge,
-    WrongAddrMode,
-}
-
-impl embedded_hal::i2c::Error for Error {
-    fn kind(&self) -> embedded_hal::i2c::ErrorKind {
-        match self {
-            Error::ArbitrationLost => embedded_hal::i2c::ErrorKind::ArbitrationLoss,
-            Error::NackAddr => {
-                embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Address)
-            }
-            Error::NackData => {
-                embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Data)
-            }
-            Error::DataTooLarge
-            | Error::WrongAddrMode
-            | Error::InsufficientDataReceived
-            | Error::InvalidTimingParams => embedded_hal::i2c::ErrorKind::Other,
-        }
-    }
-}
-
-#[derive(Debug, PartialEq, Copy, Clone)]
-enum I2cCmd {
-    Start = 0b00,
-    Stop = 0b10,
-    StartWithStop = 0b11,
-    Cancel = 0b100,
-}
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum I2cSpeed {
-    Regular100khz = 0,
-    Fast400khz = 1,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum I2cDirection {
-    Send = 0,
-    Read = 1,
-}
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum I2cAddress {
-    Regular(u8),
-    TenBit(u16),
-}
-
-//==================================================================================================
-// Config
-//==================================================================================================
-
-pub struct TrTfThighTlow(u8, u8, u8, u8);
-pub struct TsuStoTsuStaThdStaTBuf(u8, u8, u8, u8);
-
-pub struct TimingCfg {
-    // 4 bit max width
-    tr: u8,
-    // 4 bit max width
-    tf: u8,
-    // 4 bit max width
-    thigh: u8,
-    // 4 bit max width
-    tlow: u8,
-    // 4 bit max width
-    tsu_sto: u8,
-    // 4 bit max width
-    tsu_sta: u8,
-    // 4 bit max width
-    thd_sta: u8,
-    // 4 bit max width
-    tbuf: u8,
-}
-
-impl TimingCfg {
-    pub fn new(
-        first_16_bits: TrTfThighTlow,
-        second_16_bits: TsuStoTsuStaThdStaTBuf,
-    ) -> Result<Self, Error> {
-        if first_16_bits.0 > 0xf
-            || first_16_bits.1 > 0xf
-            || first_16_bits.2 > 0xf
-            || first_16_bits.3 > 0xf
-            || second_16_bits.0 > 0xf
-            || second_16_bits.1 > 0xf
-            || second_16_bits.2 > 0xf
-            || second_16_bits.3 > 0xf
-        {
-            return Err(Error::InvalidTimingParams);
-        }
-        Ok(TimingCfg {
-            tr: first_16_bits.0,
-            tf: first_16_bits.1,
-            thigh: first_16_bits.2,
-            tlow: first_16_bits.3,
-            tsu_sto: second_16_bits.0,
-            tsu_sta: second_16_bits.1,
-            thd_sta: second_16_bits.2,
-            tbuf: second_16_bits.3,
-        })
-    }
-
-    pub fn reg(&self) -> u32 {
-        (self.tbuf as u32) << 28
-            | (self.thd_sta as u32) << 24
-            | (self.tsu_sta as u32) << 20
-            | (self.tsu_sto as u32) << 16
-            | (self.tlow as u32) << 12
-            | (self.thigh as u32) << 8
-            | (self.tf as u32) << 4
-            | (self.tr as u32)
-    }
-}
-
-impl Default for TimingCfg {
-    fn default() -> Self {
-        TimingCfg {
-            tr: 0x02,
-            tf: 0x01,
-            thigh: 0x08,
-            tlow: 0x09,
-            tsu_sto: 0x8,
-            tsu_sta: 0x0a,
-            thd_sta: 0x8,
-            tbuf: 0xa,
-        }
-    }
-}
-
-pub struct MasterConfig {
-    pub tx_fe_mode: FifoEmptyMode,
-    pub rx_fe_mode: FifoEmptyMode,
-    /// Enable the analog delay glitch filter
-    pub alg_filt: bool,
-    /// Enable the digital glitch filter
-    pub dlg_filt: bool,
-    pub tm_cfg: Option<TimingCfg>,
-    // Loopback mode
-    // lbm: bool,
-}
-
-impl Default for MasterConfig {
-    fn default() -> Self {
-        MasterConfig {
-            tx_fe_mode: FifoEmptyMode::Stall,
-            rx_fe_mode: FifoEmptyMode::Stall,
-            alg_filt: false,
-            dlg_filt: false,
-            tm_cfg: None,
-        }
-    }
-}
-
-impl Sealed for MasterConfig {}
-
-pub struct SlaveConfig {
-    pub tx_fe_mode: FifoEmptyMode,
-    pub rx_fe_mode: FifoEmptyMode,
-    /// Maximum number of words before issuing a negative acknowledge.
-    /// Range should be 0 to 0x7fe. Setting the value to 0x7ff has the same effect as not setting
-    /// the enable bit since RXCOUNT stops counting at 0x7fe.
-    pub max_words: Option<usize>,
-    /// A received address is compared to the ADDRESS register (addr) using the address mask
-    /// (addr_mask). Those bits with a 1 in the address mask must match for there to be an address
-    /// match
-    pub addr: I2cAddress,
-    /// The default address mask will be 0x3ff to only allow full matches
-    pub addr_mask: Option<u16>,
-    /// Optionally specify a second I2C address the slave interface responds to
-    pub addr_b: Option<I2cAddress>,
-    pub addr_b_mask: Option<u16>,
-}
-
-impl SlaveConfig {
-    /// Build a default slave config given a specified slave address to respond to
-    pub fn new(addr: I2cAddress) -> Self {
-        SlaveConfig {
-            tx_fe_mode: FifoEmptyMode::Stall,
-            rx_fe_mode: FifoEmptyMode::Stall,
-            max_words: None,
-            addr,
-            addr_mask: None,
-            addr_b: None,
-            addr_b_mask: None,
-        }
-    }
-}
-
-impl Sealed for SlaveConfig {}
-
-//==================================================================================================
-// I2C Base
-//==================================================================================================
-
-pub struct I2cBase<I2C> {
-    i2c: I2C,
-    sys_clk: Hertz,
-}
-
-impl<I2C> I2cBase<I2C> {
-    #[inline]
-    fn unwrap_addr(addr: I2cAddress) -> (u16, u32) {
-        match addr {
-            I2cAddress::Regular(addr) => (addr as u16, 0 << 15),
-            I2cAddress::TenBit(addr) => (addr, 1 << 15),
-        }
-    }
-}
-
-macro_rules! i2c_base {
-    ($($I2CX:path: ($i2cx:ident, $clk_enb:path),)+) => {
-        $(
-            impl I2cBase<$I2CX> {
-                pub fn $i2cx(
-                    i2c: $I2CX,
-                    sys_clk: impl Into<Hertz>,
-                    speed_mode: I2cSpeed,
-                    ms_cfg: Option<&MasterConfig>,
-                    sl_cfg: Option<&SlaveConfig>,
-                    sys_cfg: Option<&mut va108xx::Sysconfig>,
-                ) -> Self {
-                    if let Some(sys_cfg) = sys_cfg {
-                        enable_peripheral_clock(sys_cfg, $clk_enb);
-                    }
-                    let mut i2c_base = I2cBase {
-                        i2c,
-                        sys_clk: sys_clk.into(),
-                    };
-                    if let Some(ms_cfg) = ms_cfg {
-                        i2c_base.cfg_master(ms_cfg);
-                    }
-
-                    if let Some(sl_cfg) = sl_cfg {
-                        i2c_base.cfg_slave(sl_cfg);
-                    }
-                    i2c_base.cfg_clk_scale(speed_mode);
-                    i2c_base
-                }
-
-                fn cfg_master(&mut self, ms_cfg: &MasterConfig) {
-                    let (txfemd, rxfemd) = match (ms_cfg.tx_fe_mode, ms_cfg.rx_fe_mode) {
-                        (FifoEmptyMode::Stall, FifoEmptyMode::Stall) => (false, false),
-                        (FifoEmptyMode::Stall, FifoEmptyMode::EndTransaction) => (false, true),
-                        (FifoEmptyMode::EndTransaction, FifoEmptyMode::Stall) => (true, false),
-                        (FifoEmptyMode::EndTransaction, FifoEmptyMode::EndTransaction) => (true, true),
-                    };
-                    self.i2c.ctrl().modify(|_, w| {
-                        w.txfemd().bit(txfemd);
-                        w.rxffmd().bit(rxfemd);
-                        w.dlgfilter().bit(ms_cfg.dlg_filt);
-                        w.algfilter().bit(ms_cfg.alg_filt)
-                    });
-                    if let Some(ref tm_cfg) = ms_cfg.tm_cfg {
-                        self.i2c.tmconfig().write(|w| unsafe { w.bits(tm_cfg.reg()) });
-                    }
-                    self.i2c.fifo_clr().write(|w| {
-                        w.rxfifo().set_bit();
-                        w.txfifo().set_bit()
-                    });
-                }
-
-                fn cfg_slave(&mut self, sl_cfg: &SlaveConfig) {
-                    let (txfemd, rxfemd) = match (sl_cfg.tx_fe_mode, sl_cfg.rx_fe_mode) {
-                        (FifoEmptyMode::Stall, FifoEmptyMode::Stall) => (false, false),
-                        (FifoEmptyMode::Stall, FifoEmptyMode::EndTransaction) => (false, true),
-                        (FifoEmptyMode::EndTransaction, FifoEmptyMode::Stall) => (true, false),
-                        (FifoEmptyMode::EndTransaction, FifoEmptyMode::EndTransaction) => (true, true),
-                    };
-                    self.i2c.s0_ctrl().modify(|_, w| {
-                        w.txfemd().bit(txfemd);
-                        w.rxffmd().bit(rxfemd)
-                    });
-                    self.i2c.s0_fifo_clr().write(|w| {
-                        w.rxfifo().set_bit();
-                        w.txfifo().set_bit()
-                    });
-                    let max_words = sl_cfg.max_words;
-                    if let Some(max_words) = max_words {
-                        self.i2c
-                            .s0_maxwords()
-                            .write(|w| unsafe { w.bits(1 << 31 | max_words as u32) });
-                    }
-                    let (addr, addr_mode_mask) = Self::unwrap_addr(sl_cfg.addr);
-                    // The first bit is the read/write value. Normally, both read and write are matched
-                    // using the RWMASK bit of the address mask register
-                    self.i2c
-                        .s0_address()
-                        .write(|w| unsafe { w.bits((addr << 1) as u32 | addr_mode_mask) });
-                    if let Some(addr_mask) = sl_cfg.addr_mask {
-                        self.i2c
-                            .s0_addressmask()
-                            .write(|w| unsafe { w.bits((addr_mask << 1) as u32) });
-                    }
-                    if let Some(addr_b) = sl_cfg.addr_b {
-                        let (addr, addr_mode_mask) = Self::unwrap_addr(addr_b);
-                        self.i2c
-                            .s0_addressb()
-                            .write(|w| unsafe { w.bits((addr << 1) as u32 | addr_mode_mask) })
-                    }
-                    if let Some(addr_b_mask) = sl_cfg.addr_b_mask {
-                        self.i2c
-                            .s0_addressmaskb()
-                            .write(|w| unsafe { w.bits((addr_b_mask << 1) as u32) })
-                    }
-                }
-
-                #[inline]
-                pub fn filters(&mut self, digital_filt: bool, analog_filt: bool) {
-                    self.i2c.ctrl().modify(|_, w| {
-                        w.dlgfilter().bit(digital_filt);
-                        w.algfilter().bit(analog_filt)
-                    });
-                }
-
-                #[inline]
-                pub fn fifo_empty_mode(&mut self, rx: FifoEmptyMode, tx: FifoEmptyMode) {
-                    self.i2c.ctrl().modify(|_, w| {
-                        w.txfemd().bit(tx as u8 != 0);
-                        w.rxffmd().bit(rx as u8 != 0)
-                    });
-                }
-
-                fn calc_clk_div(&self, speed_mode: I2cSpeed) -> u8 {
-                    if speed_mode == I2cSpeed::Regular100khz {
-                        ((self.sys_clk.raw() / (u32::pow(10, 5) * 20)) - 1) as u8
-                    } else {
-                        (((10 * self.sys_clk.raw()) / u32::pow(10, 8)) - 1) as u8
-                    }
-                }
-
-                /// Configures the clock scale for a given speed mode setting
-                pub fn cfg_clk_scale(&mut self, speed_mode: I2cSpeed) {
-                    self.i2c.clkscale().write(|w| unsafe {
-                        w.bits((speed_mode as u32) << 31 | self.calc_clk_div(speed_mode) as u32)
-                    });
-                }
-
-                pub fn load_address(&mut self, addr: u16) {
-                    // Load address
-                    self.i2c
-                        .address()
-                        .write(|w| unsafe { w.bits((addr << 1) as u32) });
-                }
-
-                #[inline]
-                fn stop_cmd(&mut self) {
-                    self.i2c
-                        .cmd()
-                        .write(|w| unsafe { w.bits(I2cCmd::Stop as u32) });
-                }
-            }
-        )+
-    }
-}
-
-// Unique mode to use the loopback functionality
-// pub struct I2cLoopback<I2C> {
-//     i2c_base: I2cBase<I2C>,
-//     master_cfg: MasterConfig,
-//     slave_cfg: SlaveConfig,
-// }
-
-i2c_base!(
-    pac::I2ca: (i2ca, PeripheralClocks::I2c0),
-    pac::I2cb: (i2cb, PeripheralClocks::I2c1),
-);
-
-//==================================================================================================
-// I2C Master
-//==================================================================================================
-
-pub struct I2cMaster<I2C, ADDR = SevenBitAddress> {
-    i2c_base: I2cBase<I2C>,
-    _addr: PhantomData<ADDR>,
-}
-
-macro_rules! i2c_master {
-    ($($I2CX:path: ($i2cx:ident, $clk_enb:path),)+) => {
-        $(
-            impl<ADDR> I2cMaster<$I2CX, ADDR> {
-                pub fn $i2cx(
-                    i2c: $I2CX,
-                    cfg: MasterConfig,
-                    sys_clk: impl Into<Hertz> + Copy,
-                    speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
-                ) -> Self {
-                    I2cMaster {
-                        i2c_base: I2cBase::$i2cx(
-                            i2c,
-                            sys_clk,
-                            speed_mode,
-                            Some(&cfg),
-                            None,
-                            sys_cfg
-                        ),
-                        _addr: PhantomData,
-                    }
-                    .enable_master()
-                }
-
-                #[inline]
-                pub fn cancel_transfer(&self) {
-                    self.i2c_base
-                        .i2c
-                        .cmd()
-                        .write(|w| unsafe { w.bits(I2cCmd::Cancel as u32) });
-                }
-
-                #[inline]
-                pub fn clear_tx_fifo(&self) {
-                    self.i2c_base.i2c.fifo_clr().write(|w| w.txfifo().set_bit());
-                }
-
-                #[inline]
-                pub fn clear_rx_fifo(&self) {
-                    self.i2c_base.i2c.fifo_clr().write(|w| w.rxfifo().set_bit());
-                }
-
-                #[inline]
-                pub fn enable_master(self) -> Self {
-                    self.i2c_base.i2c.ctrl().modify(|_, w| w.enable().set_bit());
-                    self
-                }
-
-                #[inline]
-                pub fn disable_master(self) -> Self {
-                    self.i2c_base.i2c.ctrl().modify(|_, w| w.enable().clear_bit());
-                    self
-                }
-
-                #[inline(always)]
-                fn load_fifo(&self, word: u8) {
-                    self.i2c_base
-                        .i2c
-                        .data()
-                        .write(|w| unsafe { w.bits(word as u32) });
-                }
-
-                #[inline(always)]
-                fn read_fifo(&self) -> u8 {
-                    self.i2c_base.i2c.data().read().bits() as u8
-                }
-
-                fn error_handler_write(&mut self, init_cmd: &I2cCmd) {
-                    self.clear_tx_fifo();
-                    if *init_cmd == I2cCmd::Start {
-                        self.i2c_base.stop_cmd()
-                    }
-                }
-
-                fn write_base(
-                    &mut self,
-                    addr: I2cAddress,
-                    init_cmd: I2cCmd,
-                    bytes: impl IntoIterator<Item = u8>,
-                ) -> Result<(), Error> {
-                    let mut iter = bytes.into_iter();
-                    // Load address
-                    let (addr, addr_mode_bit) = I2cBase::<$I2CX>::unwrap_addr(addr);
-                    self.i2c_base.i2c.address().write(|w| unsafe {
-                        w.bits(I2cDirection::Send as u32 | (addr << 1) as u32 | addr_mode_bit)
-                    });
-
-                    self.i2c_base
-                        .i2c
-                        .cmd()
-                        .write(|w| unsafe { w.bits(init_cmd as u32) });
-                    let mut load_if_next_available = || {
-                        if let Some(next_byte) = iter.next() {
-                            self.load_fifo(next_byte);
-                        }
-                    };
-                    loop {
-                        let status_reader = self.i2c_base.i2c.status().read();
-                        if status_reader.arblost().bit_is_set() {
-                            self.error_handler_write(&init_cmd);
-                            return Err(Error::ArbitrationLost);
-                        } else if status_reader.nackaddr().bit_is_set() {
-                            self.error_handler_write(&init_cmd);
-                            return Err(Error::NackAddr);
-                        } else if status_reader.nackdata().bit_is_set() {
-                            self.error_handler_write(&init_cmd);
-                            return Err(Error::NackData);
-                        } else if status_reader.idle().bit_is_set() {
-                            return Ok(());
-                        } else {
-                            while !status_reader.txnfull().bit_is_set() {
-                                load_if_next_available();
-                            }
-                        }
-                    }
-                }
-
-                fn write_from_buffer(
-                    &mut self,
-                    init_cmd: I2cCmd,
-                    addr: I2cAddress,
-                    output: &[u8],
-                ) -> Result<(), Error> {
-                    let len = output.len();
-                    // It should theoretically possible to transfer larger data sizes by tracking
-                    // the number of sent words and setting it to 0x7fe as soon as only that many
-                    // bytes are remaining. However, large transfer like this are not common. This
-                    // feature will therefore not be supported for now.
-                    if len > 0x7fe {
-                        return Err(Error::DataTooLarge);
-                    }
-                    // Load number of words
-                    self.i2c_base
-                        .i2c
-                        .words()
-                        .write(|w| unsafe { w.bits(len as u32) });
-                    let mut bytes = output.iter();
-                    // FIFO has a depth of 16. We load slightly above the trigger level
-                    // but not all of it because the transaction might fail immediately
-                    const FILL_DEPTH: usize = 12;
-
-                    // load the FIFO
-                    for _ in 0..core::cmp::min(FILL_DEPTH, len) {
-                        self.load_fifo(*bytes.next().unwrap());
-                    }
-
-                    self.write_base(addr, init_cmd, output.iter().cloned())
-                }
-
-                fn read_internal(&mut self, addr: I2cAddress, buffer: &mut [u8]) -> Result<(), Error> {
-                    let len = buffer.len();
-                    // It should theoretically possible to transfer larger data sizes by tracking
-                    // the number of sent words and setting it to 0x7fe as soon as only that many
-                    // bytes are remaining. However, large transfer like this are not common. This
-                    // feature will therefore not be supported for now.
-                    if len > 0x7fe {
-                        return Err(Error::DataTooLarge);
-                    }
-                    // Clear the receive FIFO
-                    self.clear_rx_fifo();
-
-                    // Load number of words
-                    self.i2c_base
-                        .i2c
-                        .words()
-                        .write(|w| unsafe { w.bits(len as u32) });
-                    let (addr, addr_mode_bit) = match addr {
-                        I2cAddress::Regular(addr) => (addr as u16, 0 << 15),
-                        I2cAddress::TenBit(addr) => (addr, 1 << 15),
-                    };
-                    // Load address
-                    self.i2c_base.i2c.address().write(|w| unsafe {
-                        w.bits(I2cDirection::Read as u32 | (addr << 1) as u32 | addr_mode_bit)
-                    });
-
-                    let mut buf_iter = buffer.iter_mut();
-                    let mut read_bytes = 0;
-                    // Start receive transfer
-                    self.i2c_base
-                        .i2c
-                        .cmd()
-                        .write(|w| unsafe { w.bits(I2cCmd::StartWithStop as u32) });
-                    let mut read_if_next_available = || {
-                        if let Some(next_byte) = buf_iter.next() {
-                            *next_byte = self.read_fifo();
-                        }
-                    };
-                    loop {
-                        let status_reader = self.i2c_base.i2c.status().read();
-                        if status_reader.arblost().bit_is_set() {
-                            self.clear_rx_fifo();
-                            return Err(Error::ArbitrationLost);
-                        } else if status_reader.nackaddr().bit_is_set() {
-                            self.clear_rx_fifo();
-                            return Err(Error::NackAddr);
-                        } else if status_reader.idle().bit_is_set() {
-                            if read_bytes != len {
-                                return Err(Error::InsufficientDataReceived);
-                            }
-                            return Ok(());
-                        } else if status_reader.rxnempty().bit_is_set() {
-                            read_if_next_available();
-                            read_bytes += 1;
-                        }
-                    }
-                }
-            }
-
-            //======================================================================================
-            // Embedded HAL I2C implementations
-            //======================================================================================
-
-            impl embedded_hal::i2c::ErrorType for I2cMaster<$I2CX, SevenBitAddress> {
-                type Error = Error;
-            }
-            impl embedded_hal::i2c::I2c for I2cMaster<$I2CX, SevenBitAddress> {
-                fn transaction(
-                    &mut self,
-                    address: SevenBitAddress,
-                    operations: &mut [Operation<'_>],
-                ) -> Result<(), Self::Error> {
-                    for operation in operations {
-                        match operation {
-                            Operation::Read(buf) => self.read_internal(I2cAddress::Regular(address), buf)?,
-                            Operation::Write(buf) => self.write_from_buffer(
-                                I2cCmd::StartWithStop,
-                                I2cAddress::Regular(address),
-                                buf,
-                            )?,
-                        }
-                    }
-                    Ok(())
-                }
-            }
-
-            impl embedded_hal::i2c::ErrorType for I2cMaster<$I2CX, TenBitAddress> {
-                type Error = Error;
-            }
-            impl embedded_hal::i2c::I2c<TenBitAddress> for I2cMaster<$I2CX, TenBitAddress> {
-                fn transaction(
-                    &mut self,
-                    address: TenBitAddress,
-                    operations: &mut [Operation<'_>],
-                ) -> Result<(), Self::Error> {
-                    for operation in operations {
-                        match operation {
-                            Operation::Read(buf) => self.read_internal(I2cAddress::TenBit(address), buf)?,
-                            Operation::Write(buf) => self.write_from_buffer(
-                                I2cCmd::StartWithStop,
-                                I2cAddress::TenBit(address),
-                                buf,
-                            )?,
-                        }
-                    }
-                    Ok(())
-                }
-            }
-        )+
-    }
-}
-
-i2c_master!(
-    pac::I2ca: (i2ca, PeripheralClocks::I2c0),
-    pac::I2cb: (i2cb, PeripheralClocks::I2c1),
-);
-
-//==================================================================================================
-// I2C Slave
-//==================================================================================================
-
-pub struct I2cSlave<I2C, ADDR = SevenBitAddress> {
-    i2c_base: I2cBase<I2C>,
-    _addr: PhantomData<ADDR>,
-}
-
-macro_rules! i2c_slave {
-    ($($I2CX:path: ($i2cx:ident, $i2cx_slave:ident),)+) => {
-        $(
-            impl<ADDR> I2cSlave<$I2CX, ADDR> {
-                fn $i2cx_slave(
-                    i2c: $I2CX,
-                    cfg: SlaveConfig,
-                    sys_clk: impl Into<Hertz>,
-                    speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
-                ) -> Self {
-                    I2cSlave {
-                        i2c_base: I2cBase::$i2cx(
-                            i2c,
-                            sys_clk,
-                            speed_mode,
-                            None,
-                            Some(&cfg),
-                            sys_cfg
-                        ),
-                        _addr: PhantomData,
-                    }
-                    .enable_slave()
-                }
-
-                #[inline]
-                pub fn enable_slave(self) -> Self {
-                    self.i2c_base
-                        .i2c
-                        .s0_ctrl()
-                        .modify(|_, w| w.enable().set_bit());
-                    self
-                }
-
-                #[inline]
-                pub fn disable_slave(self) -> Self {
-                    self.i2c_base
-                        .i2c
-                        .s0_ctrl()
-                        .modify(|_, w| w.enable().clear_bit());
-                    self
-                }
-
-                #[inline(always)]
-                fn load_fifo(&self, word: u8) {
-                    self.i2c_base
-                        .i2c
-                        .s0_data()
-                        .write(|w| unsafe { w.bits(word as u32) });
-                }
-
-                #[inline(always)]
-                fn read_fifo(&self) -> u8 {
-                    self.i2c_base.i2c.s0_data().read().bits() as u8
-                }
-
-                #[inline]
-                fn clear_tx_fifo(&self) {
-                    self.i2c_base
-                        .i2c
-                        .s0_fifo_clr()
-                        .write(|w| w.txfifo().set_bit());
-                }
-
-                #[inline]
-                fn clear_rx_fifo(&self) {
-                    self.i2c_base
-                        .i2c
-                        .s0_fifo_clr()
-                        .write(|w| w.rxfifo().set_bit());
-                }
-
-                /// Get the last address that was matched by the slave control and the corresponding
-                /// master direction
-                pub fn last_address(&self) -> (I2cDirection, u32) {
-                    let bits = self.i2c_base.i2c.s0_lastaddress().read().bits();
-                    match bits & 0x01 {
-                        0 => (I2cDirection::Send, bits >> 1),
-                        1 => (I2cDirection::Read, bits >> 1),
-                        _ => (I2cDirection::Send, bits >> 1),
-                    }
-                }
-
-                pub fn write(&mut self, output: &[u8]) -> Result<(), Error> {
-                    let len = output.len();
-                    // It should theoretically possible to transfer larger data sizes by tracking
-                    // the number of sent words and setting it to 0x7fe as soon as only that many
-                    // bytes are remaining. However, large transfer like this are not common. This
-                    // feature will therefore not be supported for now.
-                    if len > 0x7fe {
-                        return Err(Error::DataTooLarge);
-                    }
-                    let mut bytes = output.iter();
-                    // FIFO has a depth of 16. We load slightly above the trigger level
-                    // but not all of it because the transaction might fail immediately
-                    const FILL_DEPTH: usize = 12;
-
-                    // load the FIFO
-                    for _ in 0..core::cmp::min(FILL_DEPTH, len) {
-                        self.load_fifo(*bytes.next().unwrap());
-                    }
-
-                    let status_reader = self.i2c_base.i2c.s0_status().read();
-                    let mut load_if_next_available = || {
-                        if let Some(next_byte) = bytes.next() {
-                            self.load_fifo(*next_byte);
-                        }
-                    };
-                    loop {
-                        if status_reader.nackdata().bit_is_set() {
-                            self.clear_tx_fifo();
-                            return Err(Error::NackData);
-                        } else if status_reader.idle().bit_is_set() {
-                            return Ok(());
-                        } else {
-                            while !status_reader.txnfull().bit_is_set() {
-                                load_if_next_available();
-                            }
-                        }
-                    }
-                }
-
-                pub fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
-                    let len = buffer.len();
-                    // It should theoretically possible to transfer larger data sizes by tracking
-                    // the number of sent words and setting it to 0x7fe as soon as only that many
-                    // bytes are remaining. However, large transfer like this are not common. This
-                    // feature will therefore not be supported for now.
-                    if len > 0x7fe {
-                        return Err(Error::DataTooLarge);
-                    }
-                    // Clear the receive FIFO
-                    self.clear_rx_fifo();
-
-                    let mut buf_iter = buffer.iter_mut();
-                    let mut read_bytes = 0;
-                    let mut read_if_next_available = || {
-                        if let Some(next_byte) = buf_iter.next() {
-                            *next_byte = self.read_fifo();
-                        }
-                    };
-                    loop {
-                        let status_reader = self.i2c_base.i2c.s0_status().read();
-                        if status_reader.idle().bit_is_set() {
-                            if read_bytes != len {
-                                return Err(Error::InsufficientDataReceived);
-                            }
-                            return Ok(());
-                        } else if status_reader.rxnempty().bit_is_set() {
-                            read_bytes += 1;
-                            read_if_next_available();
-                        }
-                    }
-                }
-            }
-
-
-            impl I2cSlave<$I2CX, SevenBitAddress> {
-                /// Create a new I2C slave for seven bit addresses
-                ///
-                /// Returns a [`Error::WrongAddrMode`] error if a ten bit address is passed
-                pub fn i2ca(
-                    i2c: $I2CX,
-                    cfg: SlaveConfig,
-                    sys_clk: impl Into<Hertz>,
-                    speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
-                ) -> Result<Self, Error> {
-                    if let I2cAddress::TenBit(_) = cfg.addr {
-                        return Err(Error::WrongAddrMode);
-                    }
-                    Ok(Self::$i2cx_slave(i2c, cfg, sys_clk, speed_mode, sys_cfg))
-                }
-            }
-
-            impl I2cSlave<$I2CX, TenBitAddress> {
-                pub fn $i2cx(
-                    i2c: $I2CX,
-                    cfg: SlaveConfig,
-                    sys_clk: impl Into<Hertz>,
-                    speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
-                ) -> Self {
-                    Self::$i2cx_slave(i2c, cfg, sys_clk, speed_mode, sys_cfg)
-                }
-            }
-        )+
-    }
-}
-
-i2c_slave!(pac::I2ca: (i2ca, i2ca_slave), pac::I2cb: (i2cb, i2cb_slave),);
+//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs)
+pub use vorago_shared_periphs::i2c::*;

va108xx-hal/src/lib.rs

@@ -1,100 +1,59 @@
 #![no_std]
-#![cfg_attr(docs_rs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_auto_cfg))]
 
+use gpio::Port;
 pub use va108xx;
 pub use va108xx as pac;
 
 pub mod clock;
 pub mod gpio;
 pub mod i2c;
+pub mod pins;
 pub mod prelude;
 pub mod pwm;
 pub mod spi;
 pub mod sysconfig;
 pub mod time;
 pub mod timer;
-pub mod typelevel;
 pub mod uart;
-pub mod utility;
 
-#[derive(Debug, Eq, Copy, Clone, PartialEq)]
-pub enum FunSel {
-    Sel1 = 0b01,
-    Sel2 = 0b10,
-    Sel3 = 0b11,
-}
+pub use vorago_shared_periphs::{
+    disable_nvic_interrupt, enable_nvic_interrupt, FunSel, InterruptConfig, PeripheralSelect,
+};
 
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum PortSel {
-    PortA,
-    PortB,
-}
+/// This is the NONE destination reigster value for the IRQSEL peripheral.
+pub const IRQ_DST_NONE: u32 = 0xffffffff;
 
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum PeripheralSelect {
-    PortA = 0,
-    PortB = 1,
-    Spi0 = 4,
-    Spi1 = 5,
-    Spi2 = 6,
-    Uart0 = 8,
-    Uart1 = 9,
-    I2c0 = 16,
-    I2c1 = 17,
-    Irqsel = 21,
-    Ioconfig = 22,
-    Utility = 23,
-    Gpio = 24,
-}
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[error("invalid pin with number {0}")]
+pub struct InvalidPinError(u8);
 
-/// Generic IRQ config which can be used to specify whether the HAL driver will
-/// use the IRQSEL register to route an interrupt, and whether the IRQ will be unmasked in the
-/// Cortex-M0 NVIC. Both are generally necessary for IRQs to work, but the user might perform
-/// this steps themselves
-#[derive(Debug, PartialEq, Eq, Clone, Copy)]
-pub struct IrqCfg {
-    /// Interrupt target vector. Should always be set, might be required for disabling IRQs
-    pub irq: pac::Interrupt,
-    /// Specfiy whether IRQ should be routed to an IRQ vector using the IRQSEL peripheral
-    pub route: bool,
-    /// Specify whether the IRQ is unmasked in the Cortex-M NVIC
-    pub enable: bool,
-}
-
-impl IrqCfg {
-    pub fn new(irq: pac::Interrupt, route: bool, enable: bool) -> Self {
-        IrqCfg { irq, route, enable }
-    }
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub struct InvalidPin(pub(crate) ());
-
-/// Can be used to manually manipulate the function select of port pins
-pub fn port_mux(
+/// Can be used to manually manipulate the function select of port pins.
+///
+/// The function selection table can be found on p.36 of the programmers guide. Please note
+/// that most of the structures and APIs in this library will automatically correctly configure
+/// the pin or statically expect the correct pin type.
+pub fn port_function_select(
     ioconfig: &mut pac::Ioconfig,
-    port: PortSel,
+    port: Port,
     pin: u8,
     funsel: FunSel,
-) -> Result<(), InvalidPin> {
-    match port {
-        PortSel::PortA => {
-            if pin > 31 {
-                return Err(InvalidPin(()));
-            }
-            ioconfig
-                .porta(pin as usize)
-                .modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
-            Ok(())
-        }
-        PortSel::PortB => {
-            if pin > 23 {
-                return Err(InvalidPin(()));
-            }
-            ioconfig
-                .portb0(pin as usize)
-                .modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
-            Ok(())
-        }
+) -> Result<(), InvalidPinError> {
+    if (port == Port::A && pin >= 32) || (port == Port::B && pin >= 24) {
+        return Err(InvalidPinError(pin));
     }
+
+    let reg_block = match port {
+        Port::A => ioconfig.porta(pin as usize),
+        Port::B => ioconfig.portb0(pin as usize),
+    };
+
+    reg_block.modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
+    Ok(())
+}
+
+#[allow(dead_code)]
+pub(crate) mod sealed {
+    pub trait Sealed {}
 }

va108xx-hal/src/pins.rs

@@ -0,0 +1,6 @@
+//! Pin resource management singletons.
+//!
+//! This module contains the pin singletons. It allows creating those singletons
+//! to access the [Pin] structures of individual ports in a safe way with checked ownership
+//! rules.
+pub use vorago_shared_periphs::pins::*;

va108xx-hal/src/prelude.rs

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

va108xx-hal/src/pwm.rs

@@ -4,384 +4,5 @@
 //!
 //! ## Examples
 //!
-//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/pwm.rs)
-use core::convert::Infallible;
-use core::marker::PhantomData;
-
-use crate::pac;
-use crate::{clock::enable_peripheral_clock, gpio::DynPinId};
-pub use crate::{gpio::PinId, time::Hertz, timer::*};
-
-const DUTY_MAX: u16 = u16::MAX;
-
-pub struct PwmBase {
-    sys_clk: Hertz,
-    /// For PWMB, this is the upper limit
-    current_duty: u16,
-    /// For PWMA, this value will not be used
-    current_lower_limit: u16,
-    current_period: Hertz,
-    current_rst_val: u32,
-}
-
-enum StatusSelPwm {
-    PwmA = 3,
-    PwmB = 4,
-}
-
-pub struct PwmA {}
-pub struct PwmB {}
-
-//==================================================================================================
-// Common
-//==================================================================================================
-
-macro_rules! pwm_common_func {
-    () => {
-        #[inline]
-        fn enable_pwm_a(&mut self) {
-            self.reg
-                .reg()
-                .ctrl()
-                .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmA as u8) });
-        }
-
-        #[inline]
-        fn enable_pwm_b(&mut self) {
-            self.reg
-                .reg()
-                .ctrl()
-                .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmB as u8) });
-        }
-
-        #[inline]
-        pub fn get_period(&self) -> Hertz {
-            self.pwm_base.current_period
-        }
-
-        #[inline]
-        pub fn set_period(&mut self, period: impl Into<Hertz>) {
-            self.pwm_base.current_period = period.into();
-            // Avoid division by 0
-            if self.pwm_base.current_period.raw() == 0 {
-                return;
-            }
-            self.pwm_base.current_rst_val =
-                self.pwm_base.sys_clk.raw() / self.pwm_base.current_period.raw();
-            self.reg
-                .reg()
-                .rst_value()
-                .write(|w| unsafe { w.bits(self.pwm_base.current_rst_val) });
-        }
-
-        #[inline]
-        pub fn disable(&mut self) {
-            self.reg.reg().ctrl().modify(|_, w| w.enable().clear_bit());
-        }
-
-        #[inline]
-        pub fn enable(&mut self) {
-            self.reg.reg().ctrl().modify(|_, w| w.enable().set_bit());
-        }
-
-        #[inline]
-        pub fn period(&self) -> Hertz {
-            self.pwm_base.current_period
-        }
-
-        #[inline(always)]
-        pub fn duty(&self) -> u16 {
-            self.pwm_base.current_duty
-        }
-    };
-}
-
-macro_rules! pwmb_func {
-    () => {
-        pub fn pwmb_lower_limit(&self) -> u16 {
-            self.pwm_base.current_lower_limit
-        }
-
-        pub fn pwmb_upper_limit(&self) -> u16 {
-            self.pwm_base.current_duty
-        }
-
-        /// Set the lower limit for PWMB
-        ///
-        /// The PWM signal will be 1 as long as the current RST counter is larger than
-        /// the lower limit. For example, with a lower limit of 0.5 and and an upper limit
-        /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
-        /// state
-        pub fn set_pwmb_lower_limit(&mut self, duty: u16) {
-            self.pwm_base.current_lower_limit = duty;
-            let pwmb_val: u64 = (self.pwm_base.current_rst_val as u64
-                * self.pwm_base.current_lower_limit as u64)
-                / DUTY_MAX as u64;
-            self.reg
-                .reg()
-                .pwmb_value()
-                .write(|w| unsafe { w.bits(pwmb_val as u32) });
-        }
-
-        /// Set the higher limit for PWMB
-        ///
-        /// The PWM signal will be 1 as long as the current RST counter is smaller than
-        /// the higher limit. For example, with a lower limit of 0.5 and and an upper limit
-        /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
-        /// state
-        pub fn set_pwmb_upper_limit(&mut self, duty: u16) {
-            self.pwm_base.current_duty = duty;
-            let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
-                * self.pwm_base.current_duty as u64)
-                / DUTY_MAX as u64;
-            self.reg
-                .reg()
-                .pwma_value()
-                .write(|w| unsafe { w.bits(pwma_val as u32) });
-        }
-    };
-}
-
-//==================================================================================================
-// Strongly typed PWM pin
-//==================================================================================================
-
-pub struct PwmPin<Pin: TimPin, Tim: ValidTim, Mode = PwmA> {
-    reg: TimAndPinRegister<Pin, Tim>,
-    pwm_base: PwmBase,
-    mode: PhantomData<Mode>,
-}
-
-impl<Pin: TimPin, Tim: ValidTim, Mode> PwmPin<Pin, Tim, Mode>
-where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
-{
-    /// Create a new stronlgy typed PWM pin
-    pub fn new(
-        vtp: (Pin, Tim),
-        sys_clk: impl Into<Hertz> + Copy,
-        sys_cfg: &mut pac::Sysconfig,
-        initial_period: impl Into<Hertz> + Copy,
-    ) -> Self {
-        let mut pin = PwmPin {
-            pwm_base: PwmBase {
-                current_duty: 0,
-                current_lower_limit: 0,
-                current_period: initial_period.into(),
-                current_rst_val: 0,
-                sys_clk: sys_clk.into(),
-            },
-            reg: unsafe { TimAndPinRegister::new(vtp.0, vtp.1) },
-            mode: PhantomData,
-        };
-        enable_peripheral_clock(sys_cfg, crate::clock::PeripheralClocks::Gpio);
-        enable_peripheral_clock(sys_cfg, crate::clock::PeripheralClocks::Ioconfig);
-        sys_cfg
-            .tim_clk_enable()
-            .modify(|r, w| unsafe { w.bits(r.bits() | pin.reg.mask_32()) });
-        pin.enable_pwm_a();
-        pin.set_period(initial_period);
-        pin
-    }
-    pub fn release(self) -> (Pin, Tim) {
-        self.reg.release()
-    }
-
-    pwm_common_func!();
-}
-
-impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmA>> for PwmPin<Pin, Tim, PwmB>
-where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
-{
-    fn from(other: PwmPin<Pin, Tim, PwmA>) -> Self {
-        let mut pwmb = Self {
-            reg: other.reg,
-            pwm_base: other.pwm_base,
-            mode: PhantomData,
-        };
-        pwmb.enable_pwm_b();
-        pwmb
-    }
-}
-
-impl<PIN: TimPin, TIM: ValidTim> From<PwmPin<PIN, TIM, PwmB>> for PwmPin<PIN, TIM, PwmA>
-where
-    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
-{
-    fn from(other: PwmPin<PIN, TIM, PwmB>) -> Self {
-        let mut pwmb = Self {
-            reg: other.reg,
-            pwm_base: other.pwm_base,
-            mode: PhantomData,
-        };
-        pwmb.enable_pwm_a();
-        pwmb
-    }
-}
-
-impl<Pin: TimPin, Tim: ValidTim> PwmPin<Pin, Tim, PwmA>
-where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
-{
-    pub fn pwma(
-        vtp: (Pin, Tim),
-        sys_clk: impl Into<Hertz> + Copy,
-        sys_cfg: &mut pac::Sysconfig,
-        initial_period: impl Into<Hertz> + Copy,
-    ) -> Self {
-        let mut pin: PwmPin<Pin, Tim, PwmA> = Self::new(vtp, sys_clk, sys_cfg, initial_period);
-        pin.enable_pwm_a();
-        pin
-    }
-}
-
-impl<Pin: TimPin, Tim: ValidTim> PwmPin<Pin, Tim, PwmB>
-where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
-{
-    pub fn pwmb(
-        vtp: (Pin, Tim),
-        sys_clk: impl Into<Hertz> + Copy,
-        sys_cfg: &mut pac::Sysconfig,
-        initial_period: impl Into<Hertz> + Copy,
-    ) -> Self {
-        let mut pin: PwmPin<Pin, Tim, PwmB> = Self::new(vtp, sys_clk, sys_cfg, initial_period);
-        pin.enable_pwm_b();
-        pin
-    }
-}
-
-//==================================================================================================
-// Reduced PWM pin
-//==================================================================================================
-
-/// Reduced version where type information is deleted
-pub struct ReducedPwmPin<Mode = PwmA> {
-    reg: TimDynRegister,
-    pwm_base: PwmBase,
-    pin_id: DynPinId,
-    mode: PhantomData<Mode>,
-}
-
-impl<PIN: TimPin, TIM: ValidTim> From<PwmPin<PIN, TIM>> for ReducedPwmPin<PwmA> {
-    fn from(pwm_pin: PwmPin<PIN, TIM>) -> Self {
-        ReducedPwmPin {
-            reg: TimDynRegister::from(pwm_pin.reg),
-            pwm_base: pwm_pin.pwm_base,
-            pin_id: PIN::DYN,
-            mode: PhantomData,
-        }
-    }
-}
-
-impl<MODE> ReducedPwmPin<MODE> {
-    pwm_common_func!();
-}
-
-impl From<ReducedPwmPin<PwmA>> for ReducedPwmPin<PwmB> {
-    fn from(other: ReducedPwmPin<PwmA>) -> Self {
-        let mut pwmb = Self {
-            reg: other.reg,
-            pwm_base: other.pwm_base,
-            pin_id: other.pin_id,
-            mode: PhantomData,
-        };
-        pwmb.enable_pwm_b();
-        pwmb
-    }
-}
-
-impl From<ReducedPwmPin<PwmB>> for ReducedPwmPin<PwmA> {
-    fn from(other: ReducedPwmPin<PwmB>) -> Self {
-        let mut pwmb = Self {
-            reg: other.reg,
-            pwm_base: other.pwm_base,
-            pin_id: other.pin_id,
-            mode: PhantomData,
-        };
-        pwmb.enable_pwm_a();
-        pwmb
-    }
-}
-
-//==================================================================================================
-// PWMB implementations
-//==================================================================================================
-
-impl<PIN: TimPin, TIM: ValidTim> PwmPin<PIN, TIM, PwmB>
-where
-    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
-{
-    pwmb_func!();
-}
-
-impl ReducedPwmPin<PwmB> {
-    pwmb_func!();
-}
-
-//==================================================================================================
-// Embedded HAL implementation: PWMA only
-//==================================================================================================
-
-impl<Pin: TimPin, Tim: ValidTim> embedded_hal::pwm::ErrorType for PwmPin<Pin, Tim> {
-    type Error = Infallible;
-}
-
-impl embedded_hal::pwm::ErrorType for ReducedPwmPin {
-    type Error = Infallible;
-}
-
-impl embedded_hal::pwm::SetDutyCycle for ReducedPwmPin {
-    #[inline]
-    fn max_duty_cycle(&self) -> u16 {
-        DUTY_MAX
-    }
-
-    #[inline]
-    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
-        self.pwm_base.current_duty = duty;
-        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
-            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
-            / DUTY_MAX as u64;
-        self.reg
-            .reg()
-            .pwma_value()
-            .write(|w| unsafe { w.bits(pwma_val as u32) });
-        Ok(())
-    }
-}
-
-impl<Pin: TimPin, Tim: ValidTim> embedded_hal::pwm::SetDutyCycle for PwmPin<Pin, Tim> {
-    #[inline]
-    fn max_duty_cycle(&self) -> u16 {
-        DUTY_MAX
-    }
-
-    #[inline]
-    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
-        self.pwm_base.current_duty = duty;
-        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
-            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
-            / DUTY_MAX as u64;
-        self.reg
-            .reg()
-            .pwma_value()
-            .write(|w| unsafe { w.bits(pwma_val as u32) });
-        Ok(())
-    }
-}
-
-/// Get the corresponding u16 duty cycle from a percent value ranging between 0.0 and 1.0.
-///
-/// Please note that this might load a lot of floating point code because this processor does not
-/// have a FPU
-pub fn get_duty_from_percent(percent: f32) -> u16 {
-    if percent > 1.0 {
-        DUTY_MAX
-    } else if percent <= 0.0 {
-        0
-    } else {
-        (percent * DUTY_MAX as f32) as u16
-    }
-}
+//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/pwm.rs)
+pub use vorago_shared_periphs::pwm::*;

va108xx-hal/src/spi/mod.rs

@@ -0,0 +1,12 @@
+//! API for the SPI peripheral.
+//!
+//! The main abstraction provided by this module is the [Spi] an structure.
+//! It provides the [embedded_hal::spi] traits, but also offer a low level interface
+//! via the [SpiLowLevel] trait.
+//!
+//! ## Examples
+//!
+//! - [Blocking SPI example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/spi.rs)
+//! - [REB1 ADC example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/max11519-adc.rs)
+//! - [REB1 EEPROM library](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/src/m95m01.rs)
+pub use vorago_shared_periphs::spi::*;

va108xx-hal/src/sysconfig.rs

@@ -1,56 +1,43 @@
-use crate::{pac, PeripheralSelect};
-
 #[derive(PartialEq, Eq, Debug)]
-pub struct InvalidounterResetVal(pub(crate) ());
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct InvalidCounterResetVal(pub(crate) ());
 
 /// Enable scrubbing for the ROM
 ///
-/// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0
+/// Returns [InvalidCounterResetVal] if the scrub rate is 0
 /// (equivalent to disabling) or larger than 24 bits
-pub fn enable_rom_scrubbing(
-    syscfg: &mut pac::Sysconfig,
-    scrub_rate: u32,
-) -> Result<(), InvalidounterResetVal> {
+pub fn enable_rom_scrubbing(scrub_rate: u32) -> Result<(), InvalidCounterResetVal> {
+    let syscfg = unsafe { va108xx::Sysconfig::steal() };
     if scrub_rate == 0 || scrub_rate > u32::pow(2, 24) {
-        return Err(InvalidounterResetVal(()));
+        return Err(InvalidCounterResetVal(()));
     }
     syscfg.rom_scrub().write(|w| unsafe { w.bits(scrub_rate) });
     Ok(())
 }
 
-pub fn disable_rom_scrubbing(syscfg: &mut pac::Sysconfig) {
-    syscfg.rom_scrub().write(|w| unsafe { w.bits(0) })
+pub fn disable_rom_scrubbing() {
+    let syscfg = unsafe { va108xx::Sysconfig::steal() };
+    syscfg.rom_scrub().write(|w| unsafe { w.bits(0) });
 }
 
 /// Enable scrubbing for the RAM
 ///
-/// Returns [`UtilityError::InvalidCounterResetVal`] if the scrub rate is 0
+/// Returns [InvalidCounterResetVal] if the scrub rate is 0
 /// (equivalent to disabling) or larger than 24 bits
-pub fn enable_ram_scrubbing(
-    syscfg: &mut pac::Sysconfig,
-    scrub_rate: u32,
-) -> Result<(), InvalidounterResetVal> {
+pub fn enable_ram_scrubbing(scrub_rate: u32) -> Result<(), InvalidCounterResetVal> {
+    let syscfg = unsafe { va108xx::Sysconfig::steal() };
     if scrub_rate == 0 || scrub_rate > u32::pow(2, 24) {
-        return Err(InvalidounterResetVal(()));
+        return Err(InvalidCounterResetVal(()));
     }
     syscfg.ram_scrub().write(|w| unsafe { w.bits(scrub_rate) });
     Ok(())
 }
 
-pub fn disable_ram_scrubbing(syscfg: &mut pac::Sysconfig) {
-    syscfg.ram_scrub().write(|w| unsafe { w.bits(0) })
+pub fn disable_ram_scrubbing() {
+    let syscfg = unsafe { va108xx::Sysconfig::steal() };
+    syscfg.ram_scrub().write(|w| unsafe { w.bits(0) });
 }
 
-/// Clear the reset bit. This register is active low, so doing this will hold the peripheral
-/// in a reset state
-pub fn clear_reset_bit(syscfg: &mut pac::Sysconfig, periph_sel: PeripheralSelect) {
-    syscfg
-        .peripheral_reset()
-        .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << periph_sel as u8)) });
-}
-
-pub fn set_reset_bit(syscfg: &mut pac::Sysconfig, periph_sel: PeripheralSelect) {
-    syscfg
-        .peripheral_reset()
-        .modify(|r, w| unsafe { w.bits(r.bits() | (1 << periph_sel as u8)) });
-}
+pub use vorago_shared_periphs::sysconfig::{
+    assert_peripheral_reset, disable_peripheral_clock, enable_peripheral_clock,
+};

va108xx-hal/src/time.rs

@@ -1,26 +1,2 @@
 //! Time units
-
-// Frequency based
-
-/// Hertz
-pub type Hertz = fugit::HertzU32;
-
-/// KiloHertz
-pub type KiloHertz = fugit::KilohertzU32;
-
-/// MegaHertz
-pub type MegaHertz = fugit::MegahertzU32;
-
-// Period based
-
-/// Seconds
-pub type Seconds = fugit::SecsDurationU32;
-
-/// Milliseconds
-pub type Milliseconds = fugit::MillisDurationU32;
-
-/// Microseconds
-pub type Microseconds = fugit::MicrosDurationU32;
-
-/// Nanoseconds
-pub type Nanoseconds = fugit::NanosDurationU32;
+pub use vorago_shared_periphs::time::*;

va108xx-hal/src/timer.rs

@@ -2,789 +2,6 @@
 //!
 //! ## Examples
 //!
-//! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/timer-ticks.rs)
-//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/cascade.rs)
-pub use crate::IrqCfg;
-use crate::{
-    clock::{enable_peripheral_clock, PeripheralClocks},
-    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,
-        PA9, PB0, PB1, PB10, PB11, PB12, PB13, PB14, PB15, PB16, PB17, PB18, PB19, PB2, PB20, PB21,
-        PB22, PB23, PB3, PB4, PB5, PB6,
-    },
-    pac::{self, tim0},
-    time::Hertz,
-    timer,
-    typelevel::Sealed,
-    utility::unmask_irq,
-};
-use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
-use fugit::RateExtU32;
-
-const IRQ_DST_NONE: u32 = 0xffffffff;
-pub static MS_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
-
-//==================================================================================================
-// Defintions
-//==================================================================================================
-
-/// Interrupt events
-pub enum Event {
-    /// Timer timed out / count down ended
-    TimeOut,
-}
-
-#[derive(Default, Debug, PartialEq, Eq, Copy, Clone)]
-pub struct CascadeCtrl {
-    /// Enable Cascade 0 signal active as a requirement for counting
-    pub enb_start_src_csd0: bool,
-    /// Invert Cascade 0, making it active low
-    pub inv_csd0: bool,
-    /// Enable Cascade 1 signal active as a requirement for counting
-    pub enb_start_src_csd1: bool,
-    /// Invert Cascade 1, making it active low
-    pub inv_csd1: bool,
-    /// Specify required operation if both Cascade 0 and Cascade 1 are active.
-    /// 0 is a logical AND of both cascade signals, 1 is a logical OR
-    pub dual_csd_op: bool,
-    /// Enable trigger mode for Cascade 0. In trigger mode, couting will start with the selected
-    /// cascade signal active, but once the counter is active, cascade control will be ignored
-    pub trg_csd0: bool,
-    /// Trigger mode, identical to [`trg_csd0`](CascadeCtrl) but for Cascade 1
-    pub trg_csd1: bool,
-    /// Enable Cascade 2 signal active as a requirement to stop counting. This mode is similar
-    /// to the REQ_STOP control bit, but signalled by a Cascade source
-    pub enb_stop_src_csd2: bool,
-    /// Invert Cascade 2, making it active low
-    pub inv_csd2: bool,
-    /// The counter is automatically disabled if the corresponding Cascade 2 level-sensitive input
-    /// souce is active when the count reaches 0. If the counter is not 0, the cascade control is
-    /// ignored
-    pub trg_csd2: bool,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum CascadeSel {
-    Csd0 = 0,
-    Csd1 = 1,
-    Csd2 = 2,
-}
-
-/// The numbers are the base numbers for bundles like PORTA, PORTB or TIM
-#[derive(Debug, PartialEq, Eq)]
-pub enum CascadeSource {
-    PortABase = 0,
-    PortBBase = 32,
-    TimBase = 64,
-    RamSbe = 96,
-    RamMbe = 97,
-    RomSbe = 98,
-    RomMbe = 99,
-    Txev = 100,
-    ClockDividerBase = 120,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum TimerErrors {
-    Canceled,
-    /// Invalid input for Cascade source
-    InvalidCsdSourceInput,
-}
-
-//==================================================================================================
-// Valid TIM and PIN combinations
-//==================================================================================================
-
-pub trait TimPin {
-    const DYN: DynPinId;
-}
-
-pub trait ValidTim {
-    // TIM ID ranging from 0 to 23 for 24 TIM peripherals
-    const TIM_ID: u8;
-}
-
-macro_rules! tim_marker {
-    ($TIMX:path, $ID:expr) => {
-        impl ValidTim for $TIMX {
-            const TIM_ID: u8 = $ID;
-        }
-    };
-}
-
-tim_marker!(pac::Tim0, 0);
-tim_marker!(pac::Tim1, 1);
-tim_marker!(pac::Tim2, 2);
-tim_marker!(pac::Tim3, 3);
-tim_marker!(pac::Tim4, 4);
-tim_marker!(pac::Tim5, 5);
-tim_marker!(pac::Tim6, 6);
-tim_marker!(pac::Tim7, 7);
-tim_marker!(pac::Tim8, 8);
-tim_marker!(pac::Tim9, 9);
-tim_marker!(pac::Tim10, 10);
-tim_marker!(pac::Tim11, 11);
-tim_marker!(pac::Tim12, 12);
-tim_marker!(pac::Tim13, 13);
-tim_marker!(pac::Tim14, 14);
-tim_marker!(pac::Tim15, 15);
-tim_marker!(pac::Tim16, 16);
-tim_marker!(pac::Tim17, 17);
-tim_marker!(pac::Tim18, 18);
-tim_marker!(pac::Tim19, 19);
-tim_marker!(pac::Tim20, 20);
-tim_marker!(pac::Tim21, 21);
-tim_marker!(pac::Tim22, 22);
-tim_marker!(pac::Tim23, 23);
-
-pub trait ValidTimAndPin<PIN: TimPin, TIM: ValidTim>: Sealed {}
-
-macro_rules! pin_and_tim {
-    ($PAX:ident, $ALTFUNC:ident, $ID:expr, $TIMX:path) => {
-        impl TimPin for Pin<$PAX, $ALTFUNC>
-        where
-            $PAX: PinId,
-        {
-            const DYN: DynPinId = $PAX::DYN;
-        }
-
-        impl<PIN: TimPin, TIM: ValidTim> ValidTimAndPin<PIN, TIM> for (Pin<$PAX, $ALTFUNC>, $TIMX)
-        where
-            Pin<$PAX, $ALTFUNC>: TimPin,
-            $PAX: PinId,
-        {
-        }
-
-        impl Sealed for (Pin<$PAX, $ALTFUNC>, $TIMX) {}
-    };
-}
-
-pin_and_tim!(PA31, AltFunc2, 23, pac::Tim23);
-pin_and_tim!(PA30, AltFunc2, 22, pac::Tim22);
-pin_and_tim!(PA29, AltFunc2, 21, pac::Tim21);
-pin_and_tim!(PA28, AltFunc2, 20, pac::Tim20);
-pin_and_tim!(PA27, AltFunc2, 19, pac::Tim19);
-pin_and_tim!(PA26, AltFunc2, 18, pac::Tim18);
-pin_and_tim!(PA25, AltFunc2, 17, pac::Tim17);
-pin_and_tim!(PA24, AltFunc2, 16, pac::Tim16);
-
-pin_and_tim!(PA15, AltFunc1, 15, pac::Tim15);
-pin_and_tim!(PA14, AltFunc1, 14, pac::Tim14);
-pin_and_tim!(PA13, AltFunc1, 13, pac::Tim13);
-pin_and_tim!(PA12, AltFunc1, 12, pac::Tim12);
-pin_and_tim!(PA11, AltFunc1, 11, pac::Tim11);
-pin_and_tim!(PA10, AltFunc1, 10, pac::Tim10);
-pin_and_tim!(PA9, AltFunc1, 9, pac::Tim9);
-pin_and_tim!(PA8, AltFunc1, 8, pac::Tim8);
-pin_and_tim!(PA7, AltFunc1, 7, pac::Tim7);
-pin_and_tim!(PA6, AltFunc1, 6, pac::Tim6);
-pin_and_tim!(PA5, AltFunc1, 5, pac::Tim5);
-pin_and_tim!(PA4, AltFunc1, 4, pac::Tim4);
-pin_and_tim!(PA3, AltFunc1, 3, pac::Tim3);
-pin_and_tim!(PA2, AltFunc1, 2, pac::Tim2);
-pin_and_tim!(PA1, AltFunc1, 1, pac::Tim1);
-pin_and_tim!(PA0, AltFunc1, 0, pac::Tim0);
-
-pin_and_tim!(PB23, AltFunc3, 23, pac::Tim23);
-pin_and_tim!(PB22, AltFunc3, 22, pac::Tim22);
-pin_and_tim!(PB21, AltFunc3, 21, pac::Tim21);
-pin_and_tim!(PB20, AltFunc3, 20, pac::Tim20);
-pin_and_tim!(PB19, AltFunc3, 19, pac::Tim19);
-pin_and_tim!(PB18, AltFunc3, 18, pac::Tim18);
-pin_and_tim!(PB17, AltFunc3, 17, pac::Tim17);
-pin_and_tim!(PB16, AltFunc3, 16, pac::Tim16);
-pin_and_tim!(PB15, AltFunc3, 15, pac::Tim15);
-pin_and_tim!(PB14, AltFunc3, 14, pac::Tim14);
-pin_and_tim!(PB13, AltFunc3, 13, pac::Tim13);
-pin_and_tim!(PB12, AltFunc3, 12, pac::Tim12);
-pin_and_tim!(PB11, AltFunc3, 11, pac::Tim11);
-pin_and_tim!(PB10, AltFunc3, 10, pac::Tim10);
-
-pin_and_tim!(PB6, AltFunc3, 6, pac::Tim6);
-pin_and_tim!(PB5, AltFunc3, 5, pac::Tim5);
-pin_and_tim!(PB4, AltFunc3, 4, pac::Tim4);
-pin_and_tim!(PB3, AltFunc3, 3, pac::Tim3);
-pin_and_tim!(PB2, AltFunc3, 2, pac::Tim2);
-pin_and_tim!(PB1, AltFunc3, 1, pac::Tim1);
-pin_and_tim!(PB0, AltFunc3, 0, pac::Tim0);
-
-//==================================================================================================
-// Register Interface for TIM registers and TIM pins
-//==================================================================================================
-
-pub type TimRegBlock = tim0::RegisterBlock;
-
-/// Register interface.
-///
-/// This interface provides valid TIM pins a way to access their corresponding TIM
-/// registers
-///
-/// # Safety
-///
-/// Users should only implement the [`tim_id`] function. No default function
-/// implementations should be overridden. The implementing type must also have
-/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
-/// pin ID is a singleton.
-pub(super) unsafe trait TimRegInterface {
-    fn tim_id(&self) -> u8;
-
-    const PORT_BASE: *const tim0::RegisterBlock = pac::Tim0::ptr() as *const _;
-
-    /// All 24 TIM blocks are identical. This helper functions returns the correct
-    /// memory mapped peripheral depending on the TIM ID.
-    #[inline(always)]
-    fn reg(&self) -> &TimRegBlock {
-        unsafe { &*Self::PORT_BASE.offset(self.tim_id() as isize) }
-    }
-
-    #[inline(always)]
-    fn mask_32(&self) -> u32 {
-        1 << self.tim_id()
-    }
-
-    /// Clear the reset bit of the TIM, holding it in reset
-    ///
-    /// # Safety
-    ///
-    /// Only the bit related to the corresponding TIM peripheral is modified
-    #[inline]
-    #[allow(dead_code)]
-    fn clear_tim_reset_bit(&self) {
-        unsafe {
-            va108xx::Peripherals::steal()
-                .sysconfig
-                .tim_reset()
-                .modify(|r, w| w.bits(r.bits() & !self.mask_32()))
-        }
-    }
-
-    #[inline]
-    #[allow(dead_code)]
-    fn set_tim_reset_bit(&self) {
-        unsafe {
-            va108xx::Peripherals::steal()
-                .sysconfig
-                .tim_reset()
-                .modify(|r, w| w.bits(r.bits() | self.mask_32()))
-        }
-    }
-}
-
-/// Provide a safe register interface for [`ValidTimAndPin`]s
-///
-/// This `struct` takes ownership of a [`ValidTimAndPin`] and provides an API to
-/// access the corresponding registers.
-pub(super) struct TimAndPinRegister<Pin: TimPin, Tim: ValidTim> {
-    pin: Pin,
-    tim: Tim,
-}
-
-pub(super) struct TimRegister<TIM: ValidTim> {
-    tim: TIM,
-}
-
-impl<TIM: ValidTim> TimRegister<TIM> {
-    #[inline]
-    pub(super) unsafe fn new(tim: TIM) -> Self {
-        TimRegister { tim }
-    }
-
-    pub(super) fn release(self) -> TIM {
-        self.tim
-    }
-}
-
-unsafe impl<TIM: ValidTim> TimRegInterface for TimRegister<TIM> {
-    fn tim_id(&self) -> u8 {
-        TIM::TIM_ID
-    }
-}
-
-impl<PIN: TimPin, TIM: ValidTim> TimAndPinRegister<PIN, TIM>
-where
-    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
-{
-    #[inline]
-    pub(super) unsafe fn new(pin: PIN, tim: TIM) -> Self {
-        TimAndPinRegister { pin, tim }
-    }
-
-    pub(super) fn release(self) -> (PIN, TIM) {
-        (self.pin, self.tim)
-    }
-}
-
-unsafe impl<PIN: TimPin, TIM: ValidTim> TimRegInterface for TimAndPinRegister<PIN, TIM> {
-    #[inline(always)]
-    fn tim_id(&self) -> u8 {
-        TIM::TIM_ID
-    }
-}
-
-pub(super) struct TimDynRegister {
-    tim_id: u8,
-    #[allow(dead_code)]
-    pin_id: DynPinId,
-}
-
-impl<PIN: TimPin, TIM: ValidTim> From<TimAndPinRegister<PIN, TIM>> for TimDynRegister {
-    fn from(_reg: TimAndPinRegister<PIN, TIM>) -> Self {
-        Self {
-            tim_id: TIM::TIM_ID,
-            pin_id: PIN::DYN,
-        }
-    }
-}
-
-unsafe impl TimRegInterface for TimDynRegister {
-    #[inline(always)]
-    fn tim_id(&self) -> u8 {
-        self.tim_id
-    }
-}
-
-//==================================================================================================
-// Timers
-//==================================================================================================
-
-/// Hardware timers
-pub struct CountDownTimer<TIM: ValidTim> {
-    tim: TimRegister<TIM>,
-    curr_freq: Hertz,
-    irq_cfg: Option<IrqCfg>,
-    sys_clk: Hertz,
-    rst_val: u32,
-    last_cnt: u32,
-    listening: bool,
-}
-
-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> {
-    fn tim_id(&self) -> u8 {
-        TIM::TIM_ID
-    }
-}
-
-macro_rules! csd_sel {
-    ($func_name:ident, $csd_reg:ident) => {
-        /// Configure the Cascade sources
-        pub fn $func_name(
-            &mut self,
-            src: CascadeSource,
-            id: Option<u8>,
-        ) -> Result<(), TimerErrors> {
-            let mut id_num = 0;
-            if let CascadeSource::PortABase
-            | CascadeSource::PortBBase
-            | CascadeSource::ClockDividerBase
-            | CascadeSource::TimBase = src
-            {
-                if id.is_none() {
-                    return Err(TimerErrors::InvalidCsdSourceInput);
-                }
-            }
-            if id.is_some() {
-                id_num = id.unwrap();
-            }
-            match src {
-                CascadeSource::PortABase => {
-                    if id_num > 55 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::PortABase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::PortBBase => {
-                    if id_num > 23 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::PortBBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::TimBase => {
-                    if id_num > 23 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::TimBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::ClockDividerBase => {
-                    if id_num > 7 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().cascade0().write(|w| unsafe {
-                        w.cassel()
-                            .bits(CascadeSource::ClockDividerBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                _ => {
-                    self.tim
-                        .reg()
-                        .$csd_reg()
-                        .write(|w| unsafe { w.cassel().bits(src as u8) });
-                    Ok(())
-                }
-            }
-        }
-    };
-}
-
-impl<TIM: ValidTim> CountDownTimer<TIM> {
-    /// Configures a TIM peripheral as a periodic count down timer
-    pub fn new(syscfg: &mut pac::Sysconfig, sys_clk: impl Into<Hertz>, tim: TIM) -> Self {
-        enable_tim_clk(syscfg, TIM::TIM_ID);
-        let cd_timer = CountDownTimer {
-            tim: unsafe { TimRegister::new(tim) },
-            sys_clk: sys_clk.into(),
-            irq_cfg: None,
-            rst_val: 0,
-            curr_freq: 0.Hz(),
-            listening: false,
-            last_cnt: 0,
-        };
-        cd_timer
-            .tim
-            .reg()
-            .ctrl()
-            .modify(|_, w| w.enable().set_bit());
-        cd_timer
-    }
-
-    /// Listen for events. Depending on the IRQ configuration, this also activates the IRQ in the
-    /// IRQSEL peripheral for the provided interrupt and unmasks the interrupt
-    pub fn listen(
-        &mut self,
-        event: Event,
-        irq_cfg: IrqCfg,
-        irq_sel: Option<&mut pac::Irqsel>,
-        sys_cfg: Option<&mut pac::Sysconfig>,
-    ) {
-        match event {
-            Event::TimeOut => {
-                cortex_m::peripheral::NVIC::mask(irq_cfg.irq);
-                self.irq_cfg = Some(irq_cfg);
-                if irq_cfg.route {
-                    if let Some(sys_cfg) = sys_cfg {
-                        enable_peripheral_clock(sys_cfg, PeripheralClocks::Irqsel);
-                    }
-                    if let Some(irq_sel) = irq_sel {
-                        irq_sel
-                            .tim0(TIM::TIM_ID as usize)
-                            .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
-                    }
-                }
-                self.listening = true;
-            }
-        }
-    }
-
-    pub fn unlisten(
-        &mut self,
-        event: Event,
-        syscfg: &mut pac::Sysconfig,
-        irqsel: &mut pac::Irqsel,
-    ) {
-        match event {
-            Event::TimeOut => {
-                enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
-                irqsel
-                    .tim0(TIM::TIM_ID as usize)
-                    .write(|w| unsafe { w.bits(IRQ_DST_NONE) });
-                self.disable_interrupt();
-                self.listening = false;
-            }
-        }
-    }
-
-    #[inline(always)]
-    pub fn enable_interrupt(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().set_bit());
-    }
-
-    #[inline(always)]
-    pub fn disable_interrupt(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().clear_bit());
-    }
-
-    pub fn release(self, syscfg: &mut pac::Sysconfig) -> TIM {
-        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
-        syscfg
-            .tim_clk_enable()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << TIM::TIM_ID)) });
-        self.tim.release()
-    }
-
-    /// Load the count down timer with a timeout but do not start it.
-    pub fn load(&mut self, timeout: impl Into<Hertz>) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
-        self.curr_freq = timeout.into();
-        self.rst_val = self.sys_clk.raw() / self.curr_freq.raw();
-        self.set_reload(self.rst_val);
-        self.set_count(self.rst_val);
-    }
-
-    #[inline(always)]
-    pub fn set_reload(&mut self, val: u32) {
-        self.tim.reg().rst_value().write(|w| unsafe { w.bits(val) });
-    }
-
-    #[inline(always)]
-    pub fn set_count(&mut self, val: u32) {
-        self.tim.reg().cnt_value().write(|w| unsafe { w.bits(val) });
-    }
-
-    #[inline(always)]
-    pub fn count(&self) -> u32 {
-        self.tim.reg().cnt_value().read().bits()
-    }
-
-    #[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);
-            }
-        }
-    }
-
-    #[inline(always)]
-    pub fn disable(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
-    }
-
-    /// Disable the counter, setting both enable and active bit to 0
-    pub fn auto_disable(self, enable: bool) -> Self {
-        if enable {
-            self.tim
-                .reg()
-                .ctrl()
-                .modify(|_, w| w.auto_disable().set_bit());
-        } else {
-            self.tim
-                .reg()
-                .ctrl()
-                .modify(|_, w| w.auto_disable().clear_bit());
-        }
-        self
-    }
-
-    /// This option only applies when the Auto-Disable functionality is 0.
-    ///
-    /// The active bit is changed to 0 when count reaches 0, but the counter stays
-    /// enabled. When Auto-Disable is 1, Auto-Deactivate is implied
-    pub fn auto_deactivate(self, enable: bool) -> Self {
-        if enable {
-            self.tim
-                .reg()
-                .ctrl()
-                .modify(|_, w| w.auto_deactivate().set_bit());
-        } else {
-            self.tim
-                .reg()
-                .ctrl()
-                .modify(|_, w| w.auto_deactivate().clear_bit());
-        }
-        self
-    }
-
-    /// Configure the cascade parameters
-    pub fn cascade_control(&mut self, ctrl: CascadeCtrl) {
-        self.tim.reg().csd_ctrl().write(|w| {
-            w.csden0().bit(ctrl.enb_start_src_csd0);
-            w.csdinv0().bit(ctrl.inv_csd0);
-            w.csden1().bit(ctrl.enb_start_src_csd1);
-            w.csdinv1().bit(ctrl.inv_csd1);
-            w.dcasop().bit(ctrl.dual_csd_op);
-            w.csdtrg0().bit(ctrl.trg_csd0);
-            w.csdtrg1().bit(ctrl.trg_csd1);
-            w.csden2().bit(ctrl.enb_stop_src_csd2);
-            w.csdinv2().bit(ctrl.inv_csd2);
-            w.csdtrg2().bit(ctrl.trg_csd2)
-        });
-    }
-
-    csd_sel!(cascade_0_source, cascade0);
-    csd_sel!(cascade_1_source, cascade1);
-    csd_sel!(cascade_2_source, cascade2);
-
-    pub fn curr_freq(&self) -> Hertz {
-        self.curr_freq
-    }
-
-    pub fn listening(&self) -> bool {
-        self.listening
-    }
-}
-
-/// CountDown implementation for TIMx
-impl<TIM: ValidTim> CountDownTimer<TIM> {
-    #[inline]
-    pub fn start<T>(&mut self, timeout: T)
-    where
-        T: Into<Hertz>,
-    {
-        self.load(timeout);
-        self.enable();
-    }
-
-    /// Return `Ok` if the timer has wrapped. Peripheral will automatically clear the
-    /// flag and restart the time if configured correctly
-    pub fn wait(&mut self) -> nb::Result<(), void::Void> {
-        let cnt = self.tim.reg().cnt_value().read().bits();
-        if (cnt > self.last_cnt) || cnt == 0 {
-            self.last_cnt = self.rst_val;
-            Ok(())
-        } else {
-            self.last_cnt = cnt;
-            Err(nb::Error::WouldBlock)
-        }
-    }
-
-    pub fn cancel(&mut self) -> Result<(), TimerErrors> {
-        if !self.tim.reg().ctrl().read().enable().bit_is_set() {
-            return Err(TimerErrors::Canceled);
-        }
-        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
-        Ok(())
-    }
-}
-
-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;
-
-        let full_cycles = ticks >> 32;
-        let mut last_count;
-        let mut new_count;
-        if full_cycles > 0 {
-            self.set_reload(u32::MAX);
-            self.set_count(u32::MAX);
-            self.enable();
-
-            for _ in 0..full_cycles {
-                // Always ensure that both values are the same at the start.
-                new_count = self.count();
-                last_count = new_count;
-                loop {
-                    new_count = self.count();
-                    if new_count == 0 {
-                        // Wait till timer has wrapped.
-                        while self.count() == 0 {
-                            cortex_m::asm::nop()
-                        }
-                        break;
-                    }
-                    // Timer has definitely wrapped.
-                    if new_count > last_count {
-                        break;
-                    }
-                    last_count = new_count;
-                }
-            }
-        }
-        let ticks = (ticks & u32::MAX as u64) as u32;
-        self.disable();
-        if ticks > 1 {
-            self.set_reload(ticks);
-            self.set_count(ticks);
-            self.enable();
-            last_count = ticks;
-
-            loop {
-                new_count = self.count();
-                if new_count == 0 || (new_count > last_count) {
-                    break;
-                }
-                last_count = new_count;
-            }
-        }
-
-        self.disable();
-    }
-}
-
-// Set up a millisecond timer on TIM0. Please note that the user still has to provide an IRQ handler
-// which should call [default_ms_irq_handler].
-pub fn set_up_ms_tick<TIM: ValidTim>(
-    irq_cfg: IrqCfg,
-    sys_cfg: &mut pac::Sysconfig,
-    irq_sel: Option<&mut pac::Irqsel>,
-    sys_clk: impl Into<Hertz>,
-    tim0: TIM,
-) -> CountDownTimer<TIM> {
-    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
-}
-
-pub fn set_up_ms_delay_provider<TIM: ValidTim>(
-    sys_cfg: &mut pac::Sysconfig,
-    sys_clk: impl Into<Hertz>,
-    tim: TIM,
-) -> CountDownTimer<TIM> {
-    let mut provider = CountDownTimer::new(sys_cfg, sys_clk, tim);
-    provider.start(1000.Hz());
-    provider
-}
-
-/// 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| {
-        let mut ms = MS_COUNTER.borrow(cs).get();
-        ms += 1;
-        MS_COUNTER.borrow(cs).set(ms);
-    });
-}
-
-/// Get the current MS tick count
-pub fn get_ms_ticks() -> u32 {
-    cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
-}
-
-//==================================================================================================
-// Delay implementations
-//==================================================================================================
-
-pub struct DelayMs(CountDownTimer<pac::Tim0>);
-
-impl DelayMs {
-    pub fn new(timer: CountDownTimer<pac::Tim0>) -> Option<Self> {
-        if timer.curr_freq() != Hertz::from_raw(1000) || !timer.listening() {
-            return None;
-        }
-        Some(Self(timer))
-    }
-}
-
-/// This assumes that the user has already set up a MS tick timer in TIM0 as a system tick
-/// with [`set_up_ms_delay_provider`]
-impl embedded_hal::delay::DelayNs for DelayMs {
-    fn delay_ns(&mut self, ns: u32) {
-        let ns_as_ms = ns / 1_000_000;
-        if self.0.curr_freq() != Hertz::from_raw(1000) || !self.0.listening() {
-            return;
-        }
-        let start_time = get_ms_ticks();
-        while get_ms_ticks() - start_time < ns_as_ms {
-            cortex_m::asm::nop();
-        }
-    }
-}
+//! - [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-rs/src/branch/main/examples/simple/examples/cascade.rs)
+pub use vorago_shared_periphs::timer::*;

va108xx-hal/src/typelevel.rs

@@ -1,155 +0,0 @@
-//! Module supporting type-level programming
-//!
-//! This module is identical to the
-//! [atsamd typelevel](https://docs.rs/atsamd-hal/latest/atsamd_hal/typelevel/index.html).
-
-use core::ops::{Add, Sub};
-
-use typenum::{Add1, Bit, Sub1, UInt, Unsigned, B1, U0};
-
-mod private {
-    /// Super trait used to mark traits with an exhaustive set of
-    /// implementations
-    pub trait Sealed {}
-
-    impl Sealed for u8 {}
-    impl Sealed for i8 {}
-    impl Sealed for u16 {}
-    impl Sealed for i16 {}
-    impl Sealed for u32 {}
-    impl Sealed for i32 {}
-    impl Sealed for f32 {}
-
-    /// Mapping from an instance of a countable type to its successor
-    pub trait Increment {
-        /// Successor type of `Self`
-        type Inc;
-        /// Consume an instance of `Self` and return its successor
-        fn inc(self) -> Self::Inc;
-    }
-
-    /// Mapping from an instance of a countable type to its predecessor
-    pub trait Decrement {
-        /// Predecessor type of `Self`
-        type Dec;
-        /// Consume an instance of `Self` and return its predecessor
-        fn dec(self) -> Self::Dec;
-    }
-}
-
-pub(crate) use private::Decrement as PrivateDecrement;
-pub(crate) use private::Increment as PrivateIncrement;
-pub(crate) use private::Sealed;
-
-/// Type-level version of the [`None`] variant
-#[derive(Default)]
-pub struct NoneT;
-
-impl Sealed for NoneT {}
-
-//==============================================================================
-// Is
-//==============================================================================
-
-/// Marker trait for type identity
-///
-/// This trait is used as part of the [`AnyKind`] trait pattern. It represents
-/// the concept of type identity, because all implementors have
-/// `<Self as Is>::Type == Self`. When used as a trait bound with a specific
-/// type, it guarantees that the corresponding type parameter is exactly the
-/// specific type. Stated differently, it guarantees that `T == Specific` in
-/// the following example.
-///
-/// ```ignore
-/// where T: Is<Type = Specific>
-/// ```
-///
-/// Moreover, the super traits guarantee that any instance of or reference to a
-/// type `T` can be converted into the `Specific` type.
-///
-/// ```ignore
-/// fn example<T>(mut any: T)
-/// where
-///     T: Is<Type = Specific>,
-/// {
-///     let specific_mut: &mut Specific = any.as_mut();
-///     let specific_ref: &Specific = any.as_ref();
-///     let specific: Specific = any.into();
-/// }
-/// ```
-///
-/// [`AnyKind`]: #anykind-trait-pattern
-pub trait Is
-where
-    Self: Sealed,
-    Self: From<IsType<Self>>,
-    Self: Into<IsType<Self>>,
-    Self: AsRef<IsType<Self>>,
-    Self: AsMut<IsType<Self>>,
-{
-    type Type;
-}
-
-/// Type alias for [`Is::Type`]
-pub type IsType<T> = <T as Is>::Type;
-
-impl<T> Is for T
-where
-    T: Sealed + AsRef<T> + AsMut<T>,
-{
-    type Type = T;
-}
-
-//==============================================================================
-// Counting
-//==============================================================================
-
-/// Implement `Sealed` for [`U0`]
-impl Sealed for U0 {}
-
-/// Implement `Sealed` for all type-level, [`Unsigned`] integers *except* [`U0`]
-impl<U: Unsigned, B: Bit> Sealed for UInt<U, B> {}
-
-/// Trait mapping each countable type to its successor
-///
-/// This trait maps each countable type to its corresponding successor type. The
-/// actual implementation of this trait is contained within `PrivateIncrement`.
-/// Access to `PrivateIncrement` is restricted, so that safe HAL APIs can be
-/// built with it.
-pub trait Increment: PrivateIncrement {}
-
-impl<T: PrivateIncrement> Increment for T {}
-
-/// Trait mapping each countable type to its predecessor
-///
-/// This trait maps each countable type to its corresponding predecessor type.
-/// The actual implementation of this trait is contained within
-/// `PrivateDecrement`. Access to `PrivateDecrement` is restricted, so that safe
-/// HAL APIs can be built with it.
-pub trait Decrement: PrivateDecrement {}
-
-impl<T: PrivateDecrement> Decrement for T {}
-
-impl<N> PrivateIncrement for N
-where
-    N: Unsigned + Add<B1>,
-    Add1<N>: Unsigned,
-{
-    type Inc = Add1<N>;
-    #[inline]
-    fn inc(self) -> Self::Inc {
-        Self::Inc::default()
-    }
-}
-
-impl<N> PrivateDecrement for N
-where
-    N: Unsigned + Sub<B1>,
-    Sub1<N>: Unsigned,
-{
-    type Dec = Sub1<N>;
-    #[inline]
-    fn dec(self) -> Self::Dec {
-        Self::Dec::default()
-    }
-}

va108xx-hal/src/uart/mod.rs

@@ -0,0 +1,17 @@
+//! # API for the UART peripheral
+//!
+//! The core of this API are the [Uart], [Rx] and [Tx] structures.
+//! The RX structure also has a dedicated [RxWithInterrupt] variant which allows reading the receiver
+//! using interrupts.
+//!
+//! The [rx_asynch] and [tx_asynch] modules provide an asynchronous non-blocking API for the UART
+//! peripheral.
+//!
+//! ## Examples
+//!
+//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/uart.rs)
+//! - [UART with IRQ and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/rtic/src/bin/uart-echo-rtic.rs)
+//! - [Flashloader exposing a CCSDS interface via UART](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/flashloader)
+//! - [Async UART RX example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-uart-rx.rs)
+//! - [Async UART TX example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-uart-tx.rs)
+pub use vorago_shared_periphs::uart::*;

va108xx-hal/src/utility.rs

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

va108xx/CHANGELOG.md

@@ -8,6 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.5.0] 2025-02-17
+
+- Re-generated PAC with `svd2rust` v0.35.0 and added optional `defmt` and `Debug` implementations
+
+## [v0.4.0] 2025-02-12
+
+- Re-generated PAC with `svd2rust` v0.35.0
+
 ## [v0.3.0] 2024-06-16
 
 - Re-generated PAC with `svd2rust` v0.33.3

va108xx/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "va108xx"
-version = "0.3.0"
+version = "0.5.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA108xx family of microcontrollers"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx"
-repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
+repository = "https://egit.irs.uni-stuttgart.de/rust/va108xx-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "arm", "cortex-m", "vorago", "va108xx"]
 categories = ["embedded", "no-std", "hardware-support"]
@@ -13,6 +13,7 @@ categories = ["embedded", "no-std", "hardware-support"]
 [dependencies]
 cortex-m = "0.7"
 vcell = "0.1.3"
+defmt = { version = "1", optional = true }
 critical-section = { version = "1", optional = true }
 
 [dependencies.cortex-m-rt]
@@ -21,7 +22,9 @@ version = ">=0.6.15,<0.8"
 
 [features]
 rt = ["cortex-m-rt/device"]
+# Adds Debug implementation
+debug = []
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "docs_rs", "--generate-link-to-definition"]
+rustdoc-args = ["--generate-link-to-definition"]

va108xx/README.md

@@ -24,7 +24,13 @@ features = ["rt"]
 The `rt` feature is optional and recommended. It brings in support for `cortex-m-rt`.
 
 For full details on the autgenerated API, please see the
-[svd2rust documentation](https://docs.rs/svd2rust/0.19.0/svd2rust/#peripheral-api).
+[svd2rust documentation](https://docs.rs/svd2rust/latest/svd2rust/#peripheral-api).
+
+## Optional Features
+
+- [`defmt`](https://defmt.ferrous-systems.com/): Add support for `defmt` by adding the
+  [`defmt::Format`](https://defmt.ferrous-systems.com/format) derive on many types.
+- `debug`: Add `Debug` derives for various structures
 
 ## Regenerating the PAC
 

va108xx/docs.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
+cargo +nightly doc --all-features --open

va108xx/gen-helper.sh

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 
 # Use installed tool by default
 svd2rust_bin="svd2rust"
@@ -30,7 +30,7 @@ fi
 
 svdtools patch svd/va108xx-patch.yml
 # See https://github.com/rust-embedded/svd2rust/issues/830 for required re-export.
-${svd2rust_bin} --reexport-interrupt -i svd/va108xx.svd.patched
+${svd2rust_bin} --reexport-interrupt --impl-defmt defmt --impl-debug-feature debug -i svd/va108xx.svd.patched
 
 result=$?
 if [ $result -ne 0 ]; then

va108xx/src/generic.rs

@@ -82,169 +82,6 @@ pub trait Resettable: RegisterSpec {
         Self::RESET_VALUE
     }
 }
-#[doc = " This structure provides volatile access to registers."]
-#[repr(transparent)]
-pub struct Reg<REG: RegisterSpec> {
-    register: vcell::VolatileCell<REG::Ux>,
-    _marker: marker::PhantomData<REG>,
-}
-unsafe impl<REG: RegisterSpec> Send for Reg<REG> where REG::Ux: Send {}
-impl<REG: RegisterSpec> Reg<REG> {
-    #[doc = " Returns the underlying memory address of register."]
-    #[doc = ""]
-    #[doc = " ```ignore"]
-    #[doc = " let reg_ptr = periph.reg.as_ptr();"]
-    #[doc = " ```"]
-    #[inline(always)]
-    pub fn as_ptr(&self) -> *mut REG::Ux {
-        self.register.as_ptr()
-    }
-}
-impl<REG: Readable> Reg<REG> {
-    #[doc = " Reads the contents of a `Readable` register."]
-    #[doc = ""]
-    #[doc = " You can read the raw contents of a register by using `bits`:"]
-    #[doc = " ```ignore"]
-    #[doc = " let bits = periph.reg.read().bits();"]
-    #[doc = " ```"]
-    #[doc = " or get the content of a particular field of a register:"]
-    #[doc = " ```ignore"]
-    #[doc = " let reader = periph.reg.read();"]
-    #[doc = " let bits = reader.field1().bits();"]
-    #[doc = " let flag = reader.field2().bit_is_set();"]
-    #[doc = " ```"]
-    #[inline(always)]
-    pub fn read(&self) -> R<REG> {
-        R {
-            bits: self.register.get(),
-            _reg: marker::PhantomData,
-        }
-    }
-}
-impl<REG: Resettable + Writable> Reg<REG> {
-    #[doc = " Writes the reset value to `Writable` register."]
-    #[doc = ""]
-    #[doc = " Resets the register to its initial state."]
-    #[inline(always)]
-    pub fn reset(&self) {
-        self.register.set(REG::RESET_VALUE)
-    }
-    #[doc = " Writes bits to a `Writable` register."]
-    #[doc = ""]
-    #[doc = " You can write raw bits into a register:"]
-    #[doc = " ```ignore"]
-    #[doc = " periph.reg.write(|w| unsafe { w.bits(rawbits) });"]
-    #[doc = " ```"]
-    #[doc = " or write only the fields you need:"]
-    #[doc = " ```ignore"]
-    #[doc = " periph.reg.write(|w| w"]
-    #[doc = "     .field1().bits(newfield1bits)"]
-    #[doc = "     .field2().set_bit()"]
-    #[doc = "     .field3().variant(VARIANT)"]
-    #[doc = " );"]
-    #[doc = " ```"]
-    #[doc = " or an alternative way of saying the same:"]
-    #[doc = " ```ignore"]
-    #[doc = " periph.reg.write(|w| {"]
-    #[doc = "     w.field1().bits(newfield1bits);"]
-    #[doc = "     w.field2().set_bit();"]
-    #[doc = "     w.field3().variant(VARIANT)"]
-    #[doc = " });"]
-    #[doc = " ```"]
-    #[doc = " In the latter case, other fields will be set to their reset value."]
-    #[inline(always)]
-    pub fn write<F>(&self, f: F)
-    where
-        F: FnOnce(&mut W<REG>) -> &mut W<REG>,
-    {
-        self.register.set(
-            f(&mut W {
-                bits: REG::RESET_VALUE & !REG::ONE_TO_MODIFY_FIELDS_BITMAP
-                    | REG::ZERO_TO_MODIFY_FIELDS_BITMAP,
-                _reg: marker::PhantomData,
-            })
-            .bits,
-        );
-    }
-}
-impl<REG: Writable> Reg<REG> {
-    #[doc = " Writes 0 to a `Writable` register."]
-    #[doc = ""]
-    #[doc = " Similar to `write`, but unused bits will contain 0."]
-    #[doc = ""]
-    #[doc = " # Safety"]
-    #[doc = ""]
-    #[doc = " Unsafe to use with registers which don't allow to write 0."]
-    #[inline(always)]
-    pub unsafe fn write_with_zero<F>(&self, f: F)
-    where
-        F: FnOnce(&mut W<REG>) -> &mut W<REG>,
-    {
-        self.register.set(
-            f(&mut W {
-                bits: REG::Ux::default(),
-                _reg: marker::PhantomData,
-            })
-            .bits,
-        );
-    }
-}
-impl<REG: Readable + Writable> Reg<REG> {
-    #[doc = " Modifies the contents of the register by reading and then writing it."]
-    #[doc = ""]
-    #[doc = " E.g. to do a read-modify-write sequence to change parts of a register:"]
-    #[doc = " ```ignore"]
-    #[doc = " periph.reg.modify(|r, w| unsafe { w.bits("]
-    #[doc = "    r.bits() | 3"]
-    #[doc = " ) });"]
-    #[doc = " ```"]
-    #[doc = " or"]
-    #[doc = " ```ignore"]
-    #[doc = " periph.reg.modify(|_, w| w"]
-    #[doc = "     .field1().bits(newfield1bits)"]
-    #[doc = "     .field2().set_bit()"]
-    #[doc = "     .field3().variant(VARIANT)"]
-    #[doc = " );"]
-    #[doc = " ```"]
-    #[doc = " or an alternative way of saying the same:"]
-    #[doc = " ```ignore"]
-    #[doc = " periph.reg.modify(|_, w| {"]
-    #[doc = "     w.field1().bits(newfield1bits);"]
-    #[doc = "     w.field2().set_bit();"]
-    #[doc = "     w.field3().variant(VARIANT)"]
-    #[doc = " });"]
-    #[doc = " ```"]
-    #[doc = " Other fields will have the value they had before the call to `modify`."]
-    #[inline(always)]
-    pub fn modify<F>(&self, f: F)
-    where
-        for<'w> F: FnOnce(&R<REG>, &'w mut W<REG>) -> &'w mut W<REG>,
-    {
-        let bits = self.register.get();
-        self.register.set(
-            f(
-                &R {
-                    bits,
-                    _reg: marker::PhantomData,
-                },
-                &mut W {
-                    bits: bits & !REG::ONE_TO_MODIFY_FIELDS_BITMAP
-                        | REG::ZERO_TO_MODIFY_FIELDS_BITMAP,
-                    _reg: marker::PhantomData,
-                },
-            )
-            .bits,
-        );
-    }
-}
-impl<REG: Readable> core::fmt::Debug for crate::generic::Reg<REG>
-where
-    R<REG>: core::fmt::Debug,
-{
-    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-        core::fmt::Debug::fmt(&self.read(), f)
-    }
-}
 #[doc(hidden)]
 pub mod raw;
 #[doc = " Register reader."]
@@ -369,7 +206,7 @@ pub struct RangeTo<const MAX: u64>;
 #[doc = " Write field Proxy"]
 pub type FieldWriter<'a, REG, const WI: u8, FI = u8, Safety = Unsafe> =
     raw::FieldWriter<'a, REG, WI, FI, Safety>;
-impl<'a, REG, const WI: u8, FI, Safety> FieldWriter<'a, REG, WI, FI, Safety>
+impl<REG, const WI: u8, FI, Safety> FieldWriter<'_, REG, WI, FI, Safety>
 where
     REG: Writable + RegisterSpec,
     FI: FieldSpec,
@@ -616,3 +453,278 @@ where
         self.w
     }
 }
+#[doc = " This structure provides volatile access to registers."]
+#[repr(transparent)]
+pub struct Reg<REG: RegisterSpec> {
+    register: vcell::VolatileCell<REG::Ux>,
+    _marker: marker::PhantomData<REG>,
+}
+unsafe impl<REG: RegisterSpec> Send for Reg<REG> where REG::Ux: Send {}
+impl<REG: RegisterSpec> Reg<REG> {
+    #[doc = " Returns the underlying memory address of register."]
+    #[doc = ""]
+    #[doc = " ```ignore"]
+    #[doc = " let reg_ptr = periph.reg.as_ptr();"]
+    #[doc = " ```"]
+    #[inline(always)]
+    pub fn as_ptr(&self) -> *mut REG::Ux {
+        self.register.as_ptr()
+    }
+}
+impl<REG: Readable> Reg<REG> {
+    #[doc = " Reads the contents of a `Readable` register."]
+    #[doc = ""]
+    #[doc = " You can read the raw contents of a register by using `bits`:"]
+    #[doc = " ```ignore"]
+    #[doc = " let bits = periph.reg.read().bits();"]
+    #[doc = " ```"]
+    #[doc = " or get the content of a particular field of a register:"]
+    #[doc = " ```ignore"]
+    #[doc = " let reader = periph.reg.read();"]
+    #[doc = " let bits = reader.field1().bits();"]
+    #[doc = " let flag = reader.field2().bit_is_set();"]
+    #[doc = " ```"]
+    #[inline(always)]
+    pub fn read(&self) -> R<REG> {
+        R {
+            bits: self.register.get(),
+            _reg: marker::PhantomData,
+        }
+    }
+}
+impl<REG: Resettable + Writable> Reg<REG> {
+    #[doc = " Writes the reset value to `Writable` register."]
+    #[doc = ""]
+    #[doc = " Resets the register to its initial state."]
+    #[inline(always)]
+    pub fn reset(&self) {
+        self.register.set(REG::RESET_VALUE)
+    }
+    #[doc = " Writes bits to a `Writable` register."]
+    #[doc = ""]
+    #[doc = " You can write raw bits into a register:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.write(|w| unsafe { w.bits(rawbits) });"]
+    #[doc = " ```"]
+    #[doc = " or write only the fields you need:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.write(|w| w"]
+    #[doc = "     .field1().bits(newfield1bits)"]
+    #[doc = "     .field2().set_bit()"]
+    #[doc = "     .field3().variant(VARIANT)"]
+    #[doc = " );"]
+    #[doc = " ```"]
+    #[doc = " or an alternative way of saying the same:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.write(|w| {"]
+    #[doc = "     w.field1().bits(newfield1bits);"]
+    #[doc = "     w.field2().set_bit();"]
+    #[doc = "     w.field3().variant(VARIANT)"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " In the latter case, other fields will be set to their reset value."]
+    #[inline(always)]
+    pub fn write<F>(&self, f: F) -> REG::Ux
+    where
+        F: FnOnce(&mut W<REG>) -> &mut W<REG>,
+    {
+        let value = f(&mut W {
+            bits: REG::RESET_VALUE & !REG::ONE_TO_MODIFY_FIELDS_BITMAP
+                | REG::ZERO_TO_MODIFY_FIELDS_BITMAP,
+            _reg: marker::PhantomData,
+        })
+        .bits;
+        self.register.set(value);
+        value
+    }
+    #[doc = " Writes bits to a `Writable` register and produce a value."]
+    #[doc = ""]
+    #[doc = " You can write raw bits into a register:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.write_and(|w| unsafe { w.bits(rawbits); });"]
+    #[doc = " ```"]
+    #[doc = " or write only the fields you need:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.write_and(|w| {"]
+    #[doc = "     w.field1().bits(newfield1bits)"]
+    #[doc = "         .field2().set_bit()"]
+    #[doc = "         .field3().variant(VARIANT);"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " or an alternative way of saying the same:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.write_and(|w| {"]
+    #[doc = "     w.field1().bits(newfield1bits);"]
+    #[doc = "     w.field2().set_bit();"]
+    #[doc = "     w.field3().variant(VARIANT);"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " In the latter case, other fields will be set to their reset value."]
+    #[doc = ""]
+    #[doc = " Values can be returned from the closure:"]
+    #[doc = " ```ignore"]
+    #[doc = " let state = periph.reg.write_and(|w| State::set(w.field1()));"]
+    #[doc = " ```"]
+    #[inline(always)]
+    pub fn from_write<F, T>(&self, f: F) -> T
+    where
+        F: FnOnce(&mut W<REG>) -> T,
+    {
+        let mut writer = W {
+            bits: REG::RESET_VALUE & !REG::ONE_TO_MODIFY_FIELDS_BITMAP
+                | REG::ZERO_TO_MODIFY_FIELDS_BITMAP,
+            _reg: marker::PhantomData,
+        };
+        let result = f(&mut writer);
+        self.register.set(writer.bits);
+        result
+    }
+}
+impl<REG: Writable> Reg<REG> {
+    #[doc = " Writes 0 to a `Writable` register."]
+    #[doc = ""]
+    #[doc = " Similar to `write`, but unused bits will contain 0."]
+    #[doc = ""]
+    #[doc = " # Safety"]
+    #[doc = ""]
+    #[doc = " Unsafe to use with registers which don't allow to write 0."]
+    #[inline(always)]
+    pub unsafe fn write_with_zero<F>(&self, f: F) -> REG::Ux
+    where
+        F: FnOnce(&mut W<REG>) -> &mut W<REG>,
+    {
+        let value = f(&mut W {
+            bits: REG::Ux::default(),
+            _reg: marker::PhantomData,
+        })
+        .bits;
+        self.register.set(value);
+        value
+    }
+    #[doc = " Writes 0 to a `Writable` register and produces a value."]
+    #[doc = ""]
+    #[doc = " Similar to `write`, but unused bits will contain 0."]
+    #[doc = ""]
+    #[doc = " # Safety"]
+    #[doc = ""]
+    #[doc = " Unsafe to use with registers which don't allow to write 0."]
+    #[inline(always)]
+    pub unsafe fn from_write_with_zero<F, T>(&self, f: F) -> T
+    where
+        F: FnOnce(&mut W<REG>) -> T,
+    {
+        let mut writer = W {
+            bits: REG::Ux::default(),
+            _reg: marker::PhantomData,
+        };
+        let result = f(&mut writer);
+        self.register.set(writer.bits);
+        result
+    }
+}
+impl<REG: Readable + Writable> Reg<REG> {
+    #[doc = " Modifies the contents of the register by reading and then writing it."]
+    #[doc = ""]
+    #[doc = " E.g. to do a read-modify-write sequence to change parts of a register:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.modify(|r, w| unsafe { w.bits("]
+    #[doc = "    r.bits() | 3"]
+    #[doc = " ) });"]
+    #[doc = " ```"]
+    #[doc = " or"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.modify(|_, w| w"]
+    #[doc = "     .field1().bits(newfield1bits)"]
+    #[doc = "     .field2().set_bit()"]
+    #[doc = "     .field3().variant(VARIANT)"]
+    #[doc = " );"]
+    #[doc = " ```"]
+    #[doc = " or an alternative way of saying the same:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.modify(|_, w| {"]
+    #[doc = "     w.field1().bits(newfield1bits);"]
+    #[doc = "     w.field2().set_bit();"]
+    #[doc = "     w.field3().variant(VARIANT)"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " Other fields will have the value they had before the call to `modify`."]
+    #[inline(always)]
+    pub fn modify<F>(&self, f: F) -> REG::Ux
+    where
+        for<'w> F: FnOnce(&R<REG>, &'w mut W<REG>) -> &'w mut W<REG>,
+    {
+        let bits = self.register.get();
+        let value = f(
+            &R {
+                bits,
+                _reg: marker::PhantomData,
+            },
+            &mut W {
+                bits: bits & !REG::ONE_TO_MODIFY_FIELDS_BITMAP | REG::ZERO_TO_MODIFY_FIELDS_BITMAP,
+                _reg: marker::PhantomData,
+            },
+        )
+        .bits;
+        self.register.set(value);
+        value
+    }
+    #[doc = " Modifies the contents of the register by reading and then writing it"]
+    #[doc = " and produces a value."]
+    #[doc = ""]
+    #[doc = " E.g. to do a read-modify-write sequence to change parts of a register:"]
+    #[doc = " ```ignore"]
+    #[doc = " let bits = periph.reg.modify(|r, w| {"]
+    #[doc = "     let new_bits = r.bits() | 3;"]
+    #[doc = "     unsafe {"]
+    #[doc = "         w.bits(new_bits);"]
+    #[doc = "     }"]
+    #[doc = ""]
+    #[doc = "     new_bits"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " or"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.modify(|_, w| {"]
+    #[doc = "     w.field1().bits(newfield1bits)"]
+    #[doc = "         .field2().set_bit()"]
+    #[doc = "         .field3().variant(VARIANT);"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " or an alternative way of saying the same:"]
+    #[doc = " ```ignore"]
+    #[doc = " periph.reg.modify(|_, w| {"]
+    #[doc = "     w.field1().bits(newfield1bits);"]
+    #[doc = "     w.field2().set_bit();"]
+    #[doc = "     w.field3().variant(VARIANT);"]
+    #[doc = " });"]
+    #[doc = " ```"]
+    #[doc = " Other fields will have the value they had before the call to `modify`."]
+    #[inline(always)]
+    pub fn from_modify<F, T>(&self, f: F) -> T
+    where
+        for<'w> F: FnOnce(&R<REG>, &'w mut W<REG>) -> T,
+    {
+        let bits = self.register.get();
+        let mut writer = W {
+            bits: bits & !REG::ONE_TO_MODIFY_FIELDS_BITMAP | REG::ZERO_TO_MODIFY_FIELDS_BITMAP,
+            _reg: marker::PhantomData,
+        };
+        let result = f(
+            &R {
+                bits,
+                _reg: marker::PhantomData,
+            },
+            &mut writer,
+        );
+        self.register.set(writer.bits);
+        result
+    }
+}
+impl<REG: Readable> core::fmt::Debug for crate::generic::Reg<REG>
+where
+    R<REG>: core::fmt::Debug,
+{
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        core::fmt::Debug::fmt(&self.read(), f)
+    }
+}

va108xx/src/generic/raw.rs

@@ -41,6 +41,7 @@ impl<FI> BitReader<FI> {
         }
     }
 }
+#[must_use = "after creating `FieldWriter` you need to call field value setting method"]
 pub struct FieldWriter<'a, REG, const WI: u8, FI = u8, Safety = Unsafe>
 where
     REG: Writable + RegisterSpec,
@@ -66,6 +67,7 @@ where
         }
     }
 }
+#[must_use = "after creating `BitWriter` you need to call bit setting method"]
 pub struct BitWriter<'a, REG, FI = bool, M = BitM>
 where
     REG: Writable + RegisterSpec,