init new shared periph crate

2025-04-22 13:51:51 +02:00
45 changed files with 611 additions and 233 deletions
--- a/README.md
+++ b/README.md
@@ -34,9 +34,6 @@ It also contains the following helper crates:
  [`RTIC`](https://rtic.rs/2/book/en/) and [`embassy`](https://github.com/embassy-rs/embassy)
  native Rust RTOSes.

-The majority of the HAL implementation and the Embassy-rs support are contained in the external
-[`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs) crate.
-
 ## Using the `.cargo/config.toml` file

 Use the following command to have a starting `config.toml` file
@@ -79,7 +76,7 @@ probe-rs run --chip VA108xx_RAM --protocol jtag target/thumbv6m-none-eabi/debug/
 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
+Runner configuration avilable 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
@@ -153,10 +150,11 @@ address for the RTT block placement is 0x10000000. It is recommended to use a se
 0x1000 around that base address when using the RTT viewer.

 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
+logs by [installing defmt-print](https://crates.io/crates/defmt-print) first and then piping
+the output on telnet port 19021 into `defmt-print`, for example by running

 ```sh
-defmt-print -e <pathToElfFile> tcp
+telnet localhost 19021 | defmt-print -e <pathToElfFile>
 ```

 The path of the ELF file which is being debugged needs to be specified for this to work.
--- a/board-tests/Cargo.toml
+++ b/board-tests/Cargo.toml
@@ -4,15 +4,16 @@ version = "0.1.0"
 edition = "2021"

 [dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "1"
-defmt-rtt = "1"
-panic-probe = { version = "1", features = ["print-defmt"] }
+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 = "0.11"
 features = ["rt"]
-path = "../va108xx-hal"

--- a/board-tests/src/main.rs
+++ b/board-tests/src/main.rs
@@ -7,21 +7,18 @@

 use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
-// Logging provider
-use defmt_rtt as _;
-// Panic provider
-use panic_probe as _;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
-    gpio::{regs::Gpio, Input, Output, PinState, Pull},
-    pac,
-    pins::{PinsA, PinsB, Port},
+    gpio::{PinState, PinsA, PinsB},
+    pac::{self, interrupt},
    prelude::*,
    time::Hertz,
-    timer::CountdownTimer,
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, InterruptConfig},
 };

 #[allow(dead_code)]
-#[derive(Debug, defmt::Format)]
+#[derive(Debug)]
 enum TestCase {
    // Tie PORTA[0] to PORTA[1] for these tests!
    TestBasic,
@@ -35,18 +32,18 @@ enum TestCase {
    Pulse,
    // Tie PA0, PA1 and PA3 to an oscilloscope
    DelayGpio,
-    // PA0 can be checked with an oscillsope to verify timing correctness.
    DelayMs,
 }

 #[entry]
 fn main() -> ! {
-    defmt::println!("-- VA108xx Test Application --");
-    let dp = pac::Peripherals::take().unwrap();
+    rtt_init_print!();
+    rprintln!("-- VA108xx Test Application --");
+    let mut dp = pac::Peripherals::take().unwrap();
    let cp = cortex_m::Peripherals::take().unwrap();
-    let pinsa = PinsA::new(dp.porta);
-    let pinsb = PinsB::new(dp.portb);
-    let mut led1 = Output::new(pinsa.pa10, PinState::Low);
+    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;

    match test_case {
@@ -54,20 +51,20 @@ fn main() -> ! {
        | TestCase::TestPulldown
        | TestCase::TestPullup
        | TestCase::TestMask => {
-            defmt::info!(
+            rprintln!(
                "Test case {:?}. Make sure to tie PORTA[0] to PORTA[1]",
                test_case
            );
        }
        _ => {
-            defmt::info!("Test case {:?}", test_case);
+            rprintln!("Test case {:?}", test_case);
        }
    }
    match test_case {
        TestCase::TestBasic => {
            // Tie PORTA[0] to PORTA[1] for these tests!
-            let mut out = Output::new(pinsa.pa0, PinState::Low);
-            let input = Input::new_floating(pinsa.pa1);
+            let mut out = pinsa.pa0.into_readable_push_pull_output();
+            let input = pinsa.pa1.into_floating_input();
            out.set_high();
            assert!(input.is_high());
            out.set_low();
@@ -75,74 +72,73 @@ fn main() -> ! {
        }
        TestCase::TestPullup => {
            // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = Input::new_with_pull(pinsa.pa1, Pull::Up);
+            let input = pinsa.pa1.into_pull_up_input();
            assert!(input.is_high());
-            let mut out = Output::new(pinsa.pa0, PinState::Low);
+            let mut out = pinsa.pa0.into_readable_push_pull_output();
            out.set_low();
            assert!(input.is_low());
            out.set_high();
            assert!(input.is_high());
+            out.into_floating_input();
+            assert!(input.is_high());
        }
        TestCase::TestPulldown => {
            // Tie PORTA[0] to PORTA[1] for these tests!
-            let input = Input::new_with_pull(pinsa.pa1, Pull::Down);
+            let input = pinsa.pa1.into_pull_down_input();
            assert!(input.is_low());
-            let mut out = Output::new(pinsa.pa0, PinState::Low);
+            let mut out = pinsa.pa0.into_push_pull_output();
            out.set_low();
            assert!(input.is_low());
            out.set_high();
            assert!(input.is_high());
+            out.into_floating_input();
+            assert!(input.is_low());
        }
        TestCase::TestMask => {
            // Tie PORTA[0] to PORTA[1] for these tests!
-            // Need to test this low-level..
-            /*
-            let mut input = Input::new_with_pull(pinsa.pa1, Pull::Down);
+            let mut input = pinsa.pa1.into_pull_down_input();
            input.clear_datamask();
            assert!(!input.datamask());
            let mut out = pinsa.pa0.into_push_pull_output();
            out.clear_datamask();
            assert!(input.is_low_masked().is_err());
            assert!(out.set_high_masked().is_err());
-            */
        }
        TestCase::PortB => {
            // Tie PORTB[22] to PORTB[23] for these tests!
-            let mut out = Output::new(pinsb.pb22, PinState::Low);
-            let input = Input::new_floating(pinsb.pb23);
+            let mut out = pinsb.pb22.into_readable_push_pull_output();
+            let input = pinsb.pb23.into_floating_input();
            out.set_high();
            assert!(input.is_high());
            out.set_low();
            assert!(input.is_low());
        }
        TestCase::Perid => {
-            let mmio_porta = Gpio::new_mmio(Port::A);
-            assert_eq!(mmio_porta.read_perid(), 0x004007e1);
-            let mmio_porta = Gpio::new_mmio(Port::B);
-            assert_eq!(mmio_porta.read_perid(), 0x004007e1);
+            assert_eq!(PinsA::get_perid(), 0x004007e1);
+            assert_eq!(PinsB::get_perid(), 0x004007e1);
        }
        TestCase::Pulse => {
-            let mut output_pulsed = Output::new(pinsa.pa0, PinState::Low);
+            let mut output_pulsed = pinsa.pa0.into_push_pull_output();
            output_pulsed.configure_pulse_mode(true, PinState::Low);
-            defmt::info!("Pulsing high 10 times..");
+            rprintln!("Pulsing high 10 times..");
            output_pulsed.set_low();
            for _ in 0..10 {
                output_pulsed.set_high();
                cortex_m::asm::delay(25_000_000);
            }
            output_pulsed.configure_pulse_mode(true, PinState::High);
-            defmt::info!("Pulsing low 10 times..");
+            rprintln!("Pulsing low 10 times..");
            for _ in 0..10 {
                output_pulsed.set_low();
                cortex_m::asm::delay(25_000_000);
            }
        }
        TestCase::DelayGpio => {
-            let mut out_0 = Output::new(pinsa.pa0, PinState::Low);
+            let mut out_0 = pinsa.pa0.into_readable_push_pull_output();
            out_0.configure_delay(true, false);
-            let mut out_1 = Output::new(pinsa.pa1, PinState::Low);
+            let mut out_1 = pinsa.pa1.into_readable_push_pull_output();
            out_1.configure_delay(false, true);
-            let mut out_2 = Output::new(pinsa.pa3, PinState::Low);
+            let mut out_2 = pinsa.pa3.into_readable_push_pull_output();
            out_2.configure_delay(true, true);
            for _ in 0..20 {
                out_0.toggle();
@@ -152,8 +148,22 @@ fn main() -> ! {
            }
        }
        TestCase::DelayMs => {
-            let mut delay_timer = CountdownTimer::new(dp.tim1, 50.MHz());
-            let mut pa0 = Output::new(pinsa.pa0, PinState::Low);
+            let mut ms_timer = set_up_ms_tick(
+                InterruptConfig::new(pac::Interrupt::OC0, true, true),
+                &mut dp.sysconfig,
+                Some(&mut dp.irqsel),
+                50.MHz(),
+                dp.tim0,
+            );
+            for _ in 0..5 {
+                led1.toggle();
+                ms_timer.delay_ms(500);
+                led1.toggle();
+                ms_timer.delay_ms(500);
+            }
+
+            let mut delay_timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
+            let mut pa0 = pinsa.pa0.into_readable_push_pull_output();
            for _ in 0..5 {
                led1.toggle();
                delay_timer.delay_ms(500);
@@ -162,23 +172,30 @@ fn main() -> ! {
            }
            let ahb_freq: Hertz = 50.MHz();
            let mut syst_delay = cortex_m::delay::Delay::new(cp.SYST, ahb_freq.raw());
-            // Release image should be used to verify timings for pin PA0
-            for _ in 0..5 {
-                pa0.toggle();
-                syst_delay.delay_us(50);
-                pa0.toggle();
-                syst_delay.delay_us(50);
+            // Test usecond delay using both TIM peripheral and SYST. Use the release image if you
+            // want to verify the timings!
+            loop {
                pa0.toggle();
                delay_timer.delay_us(50);
                pa0.toggle();
                delay_timer.delay_us(50);
+                pa0.toggle();
+                syst_delay.delay_us(50);
+                pa0.toggle();
+                syst_delay.delay_us(50);
            }
        }
    }

-    defmt::info!("Test success");
+    rprintln!("Test success");
    loop {
        led1.toggle();
        cortex_m::asm::delay(25_000_000);
    }
 }
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC0() {
+    default_ms_irq_handler()
+}
--- a/bootloader/Cargo.toml
+++ b/bootloader/Cargo.toml
@@ -7,9 +7,9 @@ edition = "2021"
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embedded-hal = "1"
-defmt-rtt = "1"
-defmt = "1"
-panic-probe = { version = "1", features = ["defmt"] }
+panic-rtt-target = "0.2"
+panic-halt = "1"
+rtt-target = "0.6"
 crc = "3"
 num_enum = { version = "0.7", default-features = false }
 static_assertions = "1"
@@ -17,7 +17,6 @@ static_assertions = "1"
 [dependencies.va108xx-hal]
 version = "0.11"
 path = "../va108xx-hal"
-features = ["defmt"]

 [dependencies.vorago-reb1]
 version = "0.8"
--- a/bootloader/README.md
+++ b/bootloader/README.md
@@ -12,8 +12,8 @@ The bootloader uses the following memory map:
 | 0x0 | Bootloader start | code up to 0x2FFE bytes |
 | 0x2FFE | Bootloader CRC | half-word |
 | 0x3000 | App image A start | code up to 0xE7F4 (~59K) bytes |
-| 0x117F4 | App image A CRC check length | word |
-| 0x117F8 | App image A CRC check value | word |
+| 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 |
--- a/bootloader/src/main.rs
+++ b/bootloader/src/main.rs
@@ -6,16 +6,17 @@ 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};
+#[cfg(not(feature = "rtt-panic"))]
+use panic_halt as _;
+#[cfg(feature = "rtt-panic")]
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{pac, time::Hertz, timer::CountdownTimer};
 use vorago_reb1::m95m01::M95M01;

 // Useful for debugging and see what the bootloader is doing. Enabled currently, because
 // the binary stays small enough.
-const DEFMT_PRINTOUT: bool = true;
+const RTT_PRINTOUT: bool = true;
 const DEBUG_PRINTOUTS: bool = true;
 // Small delay, allows RTT printout to catch up.
 const BOOT_DELAY_MS: u32 = 2000;
@@ -73,7 +74,7 @@ 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)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive)]
 #[repr(u8)]
 enum AppSel {
    A = 0,
@@ -99,15 +100,15 @@ impl NvmInterface for NvmWrapper {

 #[entry]
 fn main() -> ! {
-    if DEFMT_PRINTOUT {
-        defmt::println!("-- VA108xx bootloader --");
+    if RTT_PRINTOUT {
+        rtt_init_print!();
+        rprintln!("-- 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 mut timer = CountdownTimer::new(CLOCK_FREQ, dp.tim0);

-    let clk_config = SpiClkConfig::new(2, 4);
-    let mut nvm = M95M01::new(dp.spic, clk_config);
+    let mut nvm = M95M01::new(CLOCK_FREQ, dp.spic);

    if FLASH_SELF {
        let mut first_four_bytes: [u8; 4] = [0; 4];
@@ -130,21 +131,21 @@ fn main() -> ! {
        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 RTT_PRINTOUT {
+                rprintln!("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);
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
            }
        }

        nvm.write(BOOTLOADER_CRC_ADDR as usize, &bootloader_crc.to_be_bytes())
            .expect("writing CRC failed");
        if let Err(e) = nvm.verify(BOOTLOADER_CRC_ADDR as usize, &bootloader_crc.to_be_bytes()) {
-            if DEFMT_PRINTOUT {
-                defmt::error!(
+            if RTT_PRINTOUT {
+                rprintln!(
                    "error: CRC verification for bootloader self-flash failed: {:?}",
                    e
                );
@@ -172,8 +173,8 @@ fn main() -> ! {
    } 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");
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!("both images corrupt! booting image A");
        }
        // TODO: Shift a CCSDS packet out to inform host/OBC about image corruption.
        // Both images seem to be corrupt. Boot default image A.
@@ -203,8 +204,8 @@ fn check_own_crc(
    });
    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");
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!("BL CRC blank - prog new CRC");
        }
        // Blank CRC, write it to NVM.
        nvm.write(BOOTLOADER_CRC_ADDR as usize, &crc_calc.to_be_bytes())
@@ -214,8 +215,8 @@ fn check_own_crc(
        // 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!(
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!(
                "bootloader CRC corrupt, read {} and expected {}. booting image A immediately",
                crc_calc,
                crc_exp
@@ -240,8 +241,8 @@ fn read_four_bytes_at_addr_zero(buf: &mut [u8; 4]) {
    }
 }
 fn check_app_crc(app_sel: AppSel) -> bool {
-    if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
-        defmt::info!("Checking image {:?}", app_sel);
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("Checking image {:?}", app_sel);
    }
    if app_sel == AppSel::A {
        check_app_given_addr(APP_A_CRC_ADDR, APP_A_START_ADDR, APP_A_SIZE_ADDR)
@@ -255,8 +256,8 @@ fn check_app_given_addr(crc_addr: u32, start_addr: u32, image_size_addr: u32) ->
    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);
+        if RTT_PRINTOUT {
+            rprintln!("detected invalid app size {}", image_size);
        }
        return false;
    }
@@ -277,8 +278,8 @@ fn boot_app(
    app_sel: AppSel,
    timer: &mut CountdownTimer,
 ) -> ! {
-    if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
-        defmt::info!("booting app {:?}", app_sel);
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("booting app {:?}", app_sel);
    }
    timer.delay_ms(BOOT_DELAY_MS);

--- a/examples/embassy/Cargo.toml
+++ b/examples/embassy/Cargo.toml
@@ -5,7 +5,9 @@ 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"
@@ -13,12 +15,13 @@ heapless = "0.8"
 static_cell = "2"

 defmt = "1"
-defmt-rtt = "1"
-panic-probe = { version = "1", features = ["print-defmt"] }
+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 = "0.7"
+embassy-sync = "0.6"
 embassy-time = "0.4"
 embassy-executor = { version = "0.7", features = [
  "arch-cortex-m",
@@ -27,13 +30,10 @@ embassy-executor = { version = "0.7", features = [
 ]}

 va108xx-hal = { version = "0.11", path = "../../va108xx-hal", features = ["defmt"] }
-va108xx-embassy = { version = "0.2", path = "../../va108xx-embassy" }
+va108xx-embassy = { version = "0.2" }

 [features]
 default = ["ticks-hz-1_000", "va108xx-embassy/irq-oc30-oc31"]
 custom-irqs = []
 ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
 ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]
-
-[package.metadata.cargo-machete]
-ignored = ["cortex-m-rt"]
--- a/examples/embassy/src/bin/async-gpio.rs
+++ b/examples/embassy/src/bin/async-gpio.rs
@@ -59,10 +59,16 @@ static CHANNEL_PB22_TO_PB23: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::
 async fn main(spawner: Spawner) {
    defmt::println!("-- VA108xx Async GPIO Demo --");

-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();

    // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );

    let porta = PinsA::new(dp.porta);
    let portb = PinsB::new(dp.portb);
--- a/examples/embassy/src/bin/async-uart-rx.rs
+++ b/examples/embassy/src/bin/async-uart-rx.rs
@@ -52,10 +52,16 @@ static CONSUMER_UART_B: Mutex<RefCell<Option<Consumer<u8, 256>>>> = Mutex::new(R
 async fn main(spawner: Spawner) {
    defmt::println!("-- VA108xx Async UART RX Demo --");

-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();

    // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );

    let porta = PinsA::new(dp.porta);
    let mut led0 = Output::new(porta.pa10, PinState::Low);
@@ -66,10 +72,9 @@ async fn main(spawner: Spawner) {
    let rx_uart_a = porta.pa8;

    let uarta = uart::Uart::new_with_interrupt(
-        dp.uarta,
-        tx_uart_a,
-        rx_uart_a,
        50.MHz(),
+        dp.uarta,
+        (tx_uart_a, rx_uart_a),
        115200.Hz().into(),
        InterruptConfig::new(pac::Interrupt::OC2, true, true),
    )
@@ -79,10 +84,9 @@ async fn main(spawner: Spawner) {
    let rx_uart_b = porta.pa2;

    let uartb = uart::Uart::new_with_interrupt(
-        dp.uartb,
-        tx_uart_b,
-        rx_uart_b,
        50.MHz(),
+        dp.uartb,
+        (tx_uart_b, rx_uart_b),
        115200.Hz().into(),
        InterruptConfig::new(pac::Interrupt::OC3, true, true),
    )
--- a/examples/embassy/src/bin/async-uart-tx.rs
+++ b/examples/embassy/src/bin/async-uart-tx.rs
@@ -39,10 +39,16 @@ const STR_LIST: &[&str] = &[
 async fn main(_spawner: Spawner) {
    defmt::println!("-- VA108xx Async UART TX Demo --");

-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();

    // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_embassy::init(
+        &mut dp.sysconfig,
+        &dp.irqsel,
+        SYSCLK_FREQ,
+        dp.tim23,
+        dp.tim22,
+    );

    let porta = PinsA::new(dp.porta);

@@ -54,10 +60,9 @@ async fn main(_spawner: Spawner) {
    let rx = porta.pa8;

    let uarta = uart::Uart::new_with_interrupt(
-        dp.uarta,
-        tx,
-        rx,
        50.MHz(),
+        dp.uarta,
+        (tx, rx),
        115200.Hz().into(),
        InterruptConfig::new(pac::Interrupt::OC2, true, true),
    )
--- a/examples/embassy/src/main.rs
+++ b/examples/embassy/src/main.rs
@@ -26,21 +26,23 @@ const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
 async fn main(_spawner: Spawner) {
    defmt::println!("-- VA108xx Embassy Demo --");

-    let dp = pac::Peripherals::take().unwrap();
+    let mut dp = pac::Peripherals::take().unwrap();

    // Safety: Only called once here.
    cfg_if::cfg_if! {
        if #[cfg(not(feature = "custom-irqs"))] {
            va108xx_embassy::init(
+                &mut dp.sysconfig,
+                &dp.irqsel,
+                SYSCLK_FREQ,
                dp.tim23,
                dp.tim22,
-                SYSCLK_FREQ,
            );
        } else {
            va108xx_embassy::init_with_custom_irqs(
+                SYSCLK_FREQ,
                dp.tim23,
                dp.tim22,
-                SYSCLK_FREQ,
                pac::Interrupt::OC23,
                pac::Interrupt::OC24,
            );
--- a/examples/rtic/Cargo.toml
+++ b/examples/rtic/Cargo.toml
@@ -5,12 +5,22 @@ edition = "2021"

 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
 embedded-io = "0.6"
-defmt-rtt = "1"
+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" }
--- a/examples/rtic/src/bin/uart-echo-rtic.rs
+++ b/examples/rtic/src/bin/uart-echo-rtic.rs
@@ -54,10 +54,9 @@ mod app {
        let rx = gpioa.pa8;

        let irq_uart = uart::Uart::new_with_interrupt(
-            dp.uarta,
-            tx,
-            rx,
            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
            115200.Hz().into(),
            InterruptConfig::new(pac::Interrupt::OC3, true, true),
        )
--- a/examples/simple/Cargo.toml
+++ b/examples/simple/Cargo.toml
@@ -7,15 +7,21 @@ edition = "2021"
 cortex-m = {version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rt = "0.7"
 panic-halt = "1"
-defmt-rtt = "1"
+critical-section = "1"
+defmt-rtt = "0.4"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
+cortex-m-semihosting = "0.5.0"
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }

 [dependencies.va108xx-hal]
 version = "0.11"
 path = "../../va108xx-hal"
 features = ["defmt"]
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"
+version = "0.8"
--- a/examples/simple/examples/blinky.rs
+++ b/examples/simple/examples/blinky.rs
@@ -20,7 +20,7 @@ use va108xx_hal::{
 #[entry]
 fn main() -> ! {
    let dp = pac::Peripherals::take().unwrap();
-    let mut delay = CountdownTimer::new(dp.tim1, 50.MHz());
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim1);
    let porta = PinsA::new(dp.porta);
    let mut led1 = Output::new(porta.pa10, PinState::Low);
    let mut led2 = Output::new(porta.pa7, PinState::Low);
--- a/examples/simple/examples/cascade.rs
+++ b/examples/simple/examples/cascade.rs
@@ -23,16 +23,16 @@ fn main() -> ! {
    defmt::println!("-- VA108xx Cascade example application--");

    let dp = pac::Peripherals::take().unwrap();
-    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);

    // Will be started periodically to trigger a cascade
-    let mut cascade_triggerer = CountdownTimer::new(dp.tim3, 50.MHz());
+    let mut cascade_triggerer = CountdownTimer::new(50.MHz(), dp.tim3);
    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(dp.tim4, 50.MHz());
+    let mut cascade_target_1 = CountdownTimer::new(50.MHz(), dp.tim4);
    cascade_target_1.auto_deactivate(true);
    cascade_target_1
        .cascade_source(CascadeSelect::Csd0, CascadeSource::Tim(3))
@@ -52,7 +52,7 @@ fn main() -> ! {
    cascade_target_1.start(1.Hz());

    // Activated by first cascade target
-    let mut cascade_target_2 = CountdownTimer::new(dp.tim5, 50.MHz());
+    let mut cascade_target_2 = CountdownTimer::new(50.MHz(), dp.tim5);
    cascade_target_2.auto_deactivate(true);
    // Set TIM4 as cascade source
    cascade_target_2
--- a/examples/simple/examples/pwm.rs
+++ b/examples/simple/examples/pwm.rs
@@ -23,8 +23,8 @@ fn main() -> ! {
    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 pwm = pwm::PwmPin::new(50.MHz(), (pinsa.pa3, dp.tim3), 10.Hz()).unwrap();
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);
    let mut current_duty_cycle = 0.0;
    pwm.set_duty_cycle(get_duty_from_percent(current_duty_cycle))
        .unwrap();
--- a/examples/simple/examples/spi.rs
+++ b/examples/simple/examples/spi.rs
@@ -43,7 +43,7 @@ const FILL_WORD: u8 = 0x0f;
 fn main() -> ! {
    defmt::println!("-- VA108xx SPI example application--");
    let dp = pac::Peripherals::take().unwrap();
-    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);

    let spi_clk_cfg = SpiClkConfig::from_clk(50.MHz(), SPI_SPEED_KHZ.kHz())
        .expect("creating SPI clock config failed");
@@ -59,19 +59,19 @@ fn main() -> ! {
    let mut spi = match SPI_BUS_SEL {
        SpiBusSelect::SpiAPortA => {
            let (sck, mosi, miso) = (pinsa.pa31, pinsa.pa30, pinsa.pa29);
-            let mut spia = Spi::new(dp.spia, (sck, miso, mosi), spi_cfg).unwrap();
+            let mut spia = Spi::new(50.MHz(), dp.spia, (sck, miso, mosi), spi_cfg).unwrap();
            spia.set_fill_word(FILL_WORD);
            spia
        }
        SpiBusSelect::SpiAPortB => {
            let (sck, mosi, miso) = (pinsb.pb9, pinsb.pb8, pinsb.pb7);
-            let mut spia = Spi::new(dp.spia, (sck, miso, mosi), spi_cfg).unwrap();
+            let mut spia = Spi::new(50.MHz(), dp.spia, (sck, miso, mosi), spi_cfg).unwrap();
            spia.set_fill_word(FILL_WORD);
            spia
        }
        SpiBusSelect::SpiBPortB => {
            let (sck, mosi, miso) = (pinsb.pb5, pinsb.pb4, pinsb.pb3);
-            let mut spib = Spi::new(dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
+            let mut spib = Spi::new(50.MHz(), dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
            spib.set_fill_word(FILL_WORD);
            spib
        }
--- a/examples/simple/examples/timer-ticks.rs
+++ b/examples/simple/examples/timer-ticks.rs
@@ -10,6 +10,7 @@ use panic_probe as _;
 use defmt_rtt as _;
 use portable_atomic::AtomicU32;
 use va108xx_hal::{
+    clock::{get_sys_clock, set_sys_clock},
    pac::{self, interrupt},
    prelude::*,
    time::Hertz,
@@ -28,9 +29,10 @@ static SEC_COUNTER: AtomicU32 = AtomicU32::new(0);
 #[entry]
 fn main() -> ! {
    let dp = pac::Peripherals::take().unwrap();
-    let mut delay = CountdownTimer::new(dp.tim2, 50.MHz());
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim2);
    let mut last_ms = 0;
    defmt::info!("-- Vorago system ticks using timers --");
+    set_sys_clock(50.MHz());
    let lib_type = LibType::Hal;
    match lib_type {
        LibType::Pac => {
@@ -65,10 +67,10 @@ fn main() -> ! {
            }
        }
        LibType::Hal => {
-            let mut ms_timer = CountdownTimer::new(dp.tim0, 50.MHz());
+            let mut ms_timer = CountdownTimer::new(get_sys_clock().unwrap(), dp.tim0);
            ms_timer.enable_interrupt(InterruptConfig::new(interrupt::OC0, true, true));
            ms_timer.start(1.kHz());
-            let mut second_timer = CountdownTimer::new(dp.tim1, 50.MHz());
+            let mut second_timer = CountdownTimer::new(get_sys_clock().unwrap(), dp.tim1);
            second_timer.enable_interrupt(InterruptConfig::new(interrupt::OC1, true, true));
            second_timer.start(1.Hz());
        }
--- a/examples/simple/examples/uart.rs
+++ b/examples/simple/examples/uart.rs
@@ -28,8 +28,8 @@ fn main() -> ! {
    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 uart = uart::Uart::new_without_interrupt(50.MHz(), dp.uarta, (tx, rx), 115200.Hz().into())
+        .unwrap();

    let (mut tx, mut rx) = uart.split();
    writeln!(tx, "Hello World\r").unwrap();
--- a/flashloader/Cargo.toml
+++ b/flashloader/Cargo.toml
@@ -4,23 +4,28 @@ version = "0.1.0"
 edition = "2021"

 [dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
+cortex-m = "0.7"
 cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-hal-nb = "1"
 embedded-io = "0.6"
 defmt = "1"
-defmt-rtt = { version = "1" }
-panic-probe = { version = "1", features = ["print-defmt"] }
+defmt-rtt = { version = "0.4" }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
 num_enum = { version = "0.7", default-features = false }
-cobs = { version = "0.4", default-features = false }
-satrs = { version = "0.3.0-alpha.1", 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"] }
-spacepackets = { version = "0.15", default-features = false, features = ["defmt"] }
+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"
@@ -29,6 +34,3 @@ features = ["defmt"]

 [dependencies.vorago-reb1]
 version = "0.8"
-
-[package.metadata.cargo-machete]
-ignored = ["portable-atomic", "cortex-m-rt"]
--- a/flashloader/slot-a-blinky/Cargo.toml
+++ b/flashloader/slot-a-blinky/Cargo.toml
@@ -9,8 +9,9 @@ edition = "2021"
 cortex-m-rt = "0.7"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 embedded-hal = "1"
-va108xx-hal = { version = "0.11" }
+va108xx-hal = { version = "0.10.0" }

 [profile.dev]
 codegen-units = 1
--- a/flashloader/slot-a-blinky/src/main.rs
+++ b/flashloader/slot-a-blinky/src/main.rs
@@ -3,7 +3,7 @@
 #![no_std]

 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
+use embedded_hal::{delay::DelayNs, digital::StatefulOutputPin};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountdownTimer};
@@ -15,11 +15,11 @@ fn main() -> ! {

    let mut dp = pac::Peripherals::take().unwrap();
    let mut timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim0);
-    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
    let mut led1 = porta.pa10.into_readable_push_pull_output();

    loop {
-        led1.toggle();
+        led1.toggle().ok();
        timer.delay_ms(500);
    }
 }
--- a/flashloader/slot-b-blinky/Cargo.toml
+++ b/flashloader/slot-b-blinky/Cargo.toml
@@ -9,8 +9,9 @@ edition = "2021"
 cortex-m-rt = "0.7"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 embedded-hal = "1"
-va108xx-hal = { version = "0.11" }
+va108xx-hal = { version = "0.10.0" }

 [profile.dev]
 codegen-units = 1
--- a/flashloader/slot-b-blinky/src/main.rs
+++ b/flashloader/slot-b-blinky/src/main.rs
@@ -3,7 +3,7 @@
 #![no_std]

 use cortex_m_rt::entry;
-use embedded_hal::delay::DelayNs;
+use embedded_hal::{delay::DelayNs, digital::StatefulOutputPin};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{gpio::PinsA, pac, prelude::*, timer::CountdownTimer};
@@ -15,11 +15,11 @@ fn main() -> ! {

    let mut dp = pac::Peripherals::take().unwrap();
    let mut timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim0);
-    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let porta = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
    let mut led2 = porta.pa7.into_readable_push_pull_output();

    loop {
-        led2.toggle();
+        led2.toggle().ok();
        timer.delay_ms(1000);
    }
 }
--- a/flashloader/src/main.rs
+++ b/flashloader/src/main.rs
@@ -113,10 +113,9 @@ mod app {
        let rx = gpioa.pa8;

        let irq_uart = uart::Uart::new_with_interrupt(
-            dp.uarta,
-            tx,
-            rx,
            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
            UART_BAUDRATE.Hz().into(),
            InterruptConfig::new(pac::Interrupt::OC0, true, true),
        )
@@ -270,7 +269,7 @@ mod app {
            defmt::warn!("PUS TC error: {}", pus_tc.unwrap_err());
            return;
        }
-        let pus_tc = pus_tc.unwrap();
+        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| {
@@ -278,18 +277,18 @@ mod app {
                prod.buf.push_slice(&cx.local.verif_buf[0..written_size]);
            });
        };
-        let request_id = VerificationReportCreator::read_request_id_from_tc(&pus_tc);
-        let tm = cx
+        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, &request_id, 0, 0, &[])
+            .acceptance_success(cx.local.src_data_buf, token, 0, 0, &[])
            .expect("acceptance success failed");
        write_and_send(&tm);

-        let tm = cx
+        let (tm, started_token) = cx
            .local
            .verif_reporter
-            .start_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+            .start_success(cx.local.src_data_buf, accepted_token, 0, 0, &[])
            .expect("acceptance success failed");
        write_and_send(&tm);

@@ -308,7 +307,7 @@ mod app {
                let tm = cx
                    .local
                    .verif_reporter
-                    .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                    .expect("completion success failed");
                write_and_send(&tm);
            };
@@ -339,7 +338,7 @@ mod app {
                let tm = cx
                    .local
                    .verif_reporter
-                    .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                    .expect("completion success failed");
                write_and_send(&tm);
            }
@@ -349,7 +348,7 @@ mod app {
            let tm = cx
                .local
                .verif_reporter
-                .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                .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 {
@@ -358,7 +357,7 @@ mod app {
                .verif_reporter
                .step_success(
                    cx.local.src_data_buf,
-                    &request_id,
+                    &started_token,
                    0,
                    0,
                    &[],
@@ -408,7 +407,7 @@ mod app {
                        .verif_reporter
                        .completion_failure(
                            cx.local.src_data_buf,
-                            &request_id,
+                            started_token,
                            0,
                            0,
                            FailParams::new(&[], &EcssEnumU8::new(0), &[]),
@@ -417,7 +416,7 @@ mod app {
                } else {
                    cx.local
                        .verif_reporter
-                        .completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
+                        .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
                        .expect("completion success failed")
                };
                write_and_send(&tm);
--- a/va108xx-embassy/Cargo.toml
+++ b/va108xx-embassy/Cargo.toml
@@ -11,8 +11,21 @@ keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]

 [dependencies]
-vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", features = ["vor1x"] }
-va108xx-hal = { path = "../va108xx-hal" }
+critical-section = "1"
+
+embassy-sync = "0.6"
+embassy-executor = "0.7"
+embassy-time-driver = "0.2"
+embassy-time-queue-utils = "0.1"
+
+once_cell = { version = "1", default-features = false, features = ["critical-section"] }
+
+va108xx-hal = { version = ">=0.10, <=0.11", path = "../va108xx-hal" }
+
+[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 = ["irq-oc30-oc31"]
--- a/va108xx-embassy/src/lib.rs
+++ b/va108xx-embassy/src/lib.rs
@@ -32,12 +32,33 @@
 //! [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))]
+use core::cell::{Cell, RefCell};
+use critical_section::{CriticalSection, Mutex};
+use portable_atomic::{AtomicU32, Ordering};

+use embassy_time_driver::{time_driver_impl, Driver, TICK_HZ};
+use embassy_time_queue_utils::Queue;
+use once_cell::sync::OnceCell;
 #[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;
+use va108xx_hal::pac::interrupt;
+use va108xx_hal::{
+    clock::enable_peripheral_clock,
+    enable_nvic_interrupt, pac,
+    prelude::*,
+    timer::{
+        enable_tim_clk,
+        regs::{EnableControl, MmioTimer},
+        TimId, TimMarker,
+    },
+    PeripheralSelect,
+};
+
+time_driver_impl!(
+    static TIME_DRIVER: TimerDriver = TimerDriver {
+        periods: AtomicU32::new(0),
+        alarms: Mutex::new(AlarmState::new()),
+        queue: Mutex::new(RefCell::new(Queue::new())),
+});

 /// Macro to define the IRQ handlers for the time driver.
 ///
@@ -82,28 +103,286 @@ embassy_time_driver_irqs!(timekeeper_irq = OC30, alarm_irq = OC29);
 #[cfg(feature = "irq-oc28-oc29")]
 embassy_time_driver_irqs!(timekeeper_irq = OC29, alarm_irq = OC28);

+/// Expose the time driver so the user can specify the IRQ handlers themselves.
+pub fn time_driver() -> &'static TimerDriver {
+    &TIME_DRIVER
+}
+
 /// 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,
-    sysclk: Hertz,
 ) {
-    time_driver().__init(sysclk, timekeeper_tim, alarm_tim, TIMEKEEPER_IRQ, ALARM_IRQ)
+    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,
-    sysclk: Hertz,
    timekeeper_irq: pac::Interrupt,
    alarm_irq: pac::Interrupt,
 ) {
-    time_driver().__init(sysclk, timekeeper_tim, alarm_tim, timekeeper_irq, alarm_irq)
+    TIME_DRIVER.init(sysclk, timekeeper_tim, alarm_tim, timekeeper_irq, alarm_irq)
+}
+
+struct AlarmState {
+    timestamp: Cell<u64>,
+}
+
+impl AlarmState {
+    const fn new() -> Self {
+        Self {
+            timestamp: Cell::new(u64::MAX),
+        }
+    }
+}
+
+unsafe impl Send for AlarmState {}
+
+static SCALE: OnceCell<u64> = OnceCell::new();
+static TIMEKEEPER_TIM: OnceCell<TimId> = OnceCell::new();
+static ALARM_TIM: OnceCell<TimId> = OnceCell::new();
+
+pub struct TimerDriver {
+    periods: AtomicU32,
+    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
+    alarms: Mutex<AlarmState>,
+    queue: Mutex<RefCell<Queue>>,
+}
+
+impl TimerDriver {
+    #[allow(clippy::too_many_arguments)]
+    fn init<TimekeeperTim: TimMarker, AlarmTim: TimMarker>(
+        &self,
+        sysclk: Hertz,
+        _timekeeper_tim: TimekeeperTim,
+        _alarm_tim: AlarmTim,
+        timekeeper_irq: pac::Interrupt,
+        alarm_irq: pac::Interrupt,
+    ) {
+        if ALARM_TIM.get().is_some() || TIMEKEEPER_TIM.get().is_some() {
+            return;
+        }
+        ALARM_TIM.set(AlarmTim::ID).ok();
+        TIMEKEEPER_TIM.set(TimekeeperTim::ID).ok();
+        enable_peripheral_clock(PeripheralSelect::Irqsel);
+        enable_tim_clk(TimekeeperTim::ID);
+        let mut timekeeper_reg_block = unsafe { TimekeeperTim::ID.steal_regs() };
+        let mut alarm_tim_reg_block = unsafe { AlarmTim::ID.steal_regs() };
+        // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
+        SCALE.set((sysclk.raw() / TICK_HZ as u32) as u64).unwrap();
+        timekeeper_reg_block.write_reset_value(u32::MAX);
+        // Decrementing counter.
+        timekeeper_reg_block.write_count_value(u32::MAX);
+        let irqsel = unsafe { va108xx_hal::pac::Irqsel::steal() };
+        // Switch on. Timekeeping should always be done.
+        irqsel
+            .tim0(TimekeeperTim::ID.value() as usize)
+            .write(|w| unsafe { w.bits(timekeeper_irq as u32) });
+        unsafe {
+            enable_nvic_interrupt(timekeeper_irq);
+        }
+        timekeeper_reg_block.modify_control(|mut value| {
+            value.set_irq_enable(true);
+            value
+        });
+        timekeeper_reg_block.write_enable_control(EnableControl::new_enable());
+
+        enable_tim_clk(AlarmTim::ID);
+
+        // Explicitely disable alarm timer until needed.
+        alarm_tim_reg_block.modify_control(|mut value| {
+            value.set_irq_enable(false);
+            value.set_enable(false);
+            value
+        });
+        // Enable general interrupts. The IRQ enable of the peripheral remains cleared.
+        unsafe {
+            enable_nvic_interrupt(alarm_irq);
+        }
+        irqsel
+            .tim0(AlarmTim::ID.value() as usize)
+            .write(|w| unsafe { w.bits(alarm_irq as u32) });
+    }
+
+    /// Should be called inside the IRQ of the timekeeper timer.
+    ///
+    /// # Safety
+    ///
+    /// This function has to be called once by the TIM IRQ used for the timekeeping.
+    pub unsafe fn on_interrupt_timekeeping(&self) {
+        self.next_period();
+    }
+
+    /// Should be called inside the IRQ of the alarm timer.
+    ///
+    /// # Safety
+    ///
+    ///This function has to be called once by the TIM IRQ used for the timekeeping.
+    pub unsafe fn on_interrupt_alarm(&self) {
+        critical_section::with(|cs| {
+            if self.alarms.borrow(cs).timestamp.get() <= self.now() {
+                self.trigger_alarm(cs)
+            }
+        })
+    }
+
+    fn timekeeper_tim() -> MmioTimer<'static> {
+        TIMEKEEPER_TIM
+            .get()
+            .map(|id| unsafe { id.steal_regs() })
+            .unwrap()
+    }
+    fn alarm_tim() -> MmioTimer<'static> {
+        ALARM_TIM
+            .get()
+            .map(|id| unsafe { id.steal_regs() })
+            .unwrap()
+    }
+
+    fn next_period(&self) {
+        let period = self.periods.fetch_add(1, Ordering::AcqRel) + 1;
+        let t = (period as u64) << 32;
+        critical_section::with(|cs| {
+            let alarm = &self.alarms.borrow(cs);
+            let at = alarm.timestamp.get();
+            if at < t {
+                self.trigger_alarm(cs);
+            } else {
+                let mut alarm_tim = Self::alarm_tim();
+
+                let remaining_ticks = (at - t).checked_mul(*SCALE.get().unwrap());
+                if remaining_ticks.is_some_and(|v| v <= u32::MAX as u64) {
+                    alarm_tim.write_enable_control(EnableControl::new_disable());
+                    alarm_tim.write_count_value(remaining_ticks.unwrap() as u32);
+                    alarm_tim.modify_control(|mut value| {
+                        value.set_irq_enable(true);
+                        value
+                    });
+                    alarm_tim.write_enable_control(EnableControl::new_enable());
+                }
+            }
+        })
+    }
+
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        Self::alarm_tim().modify_control(|mut value| {
+            value.set_irq_enable(false);
+            value.set_enable(false);
+            value
+        });
+
+        let alarm = &self.alarms.borrow(cs);
+        // Setting the maximum value disables the alarm.
+        alarm.timestamp.set(u64::MAX);
+
+        // Call after clearing alarm, so the callback can set another alarm.
+        let mut next = self
+            .queue
+            .borrow(cs)
+            .borrow_mut()
+            .next_expiration(self.now());
+        while !self.set_alarm(cs, next) {
+            next = self
+                .queue
+                .borrow(cs)
+                .borrow_mut()
+                .next_expiration(self.now());
+        }
+    }
+
+    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
+        if SCALE.get().is_none() {
+            return false;
+        }
+        let mut alarm_tim = Self::alarm_tim();
+        alarm_tim.modify_control(|mut value| {
+            value.set_irq_enable(false);
+            value.set_enable(false);
+            value
+        });
+
+        let alarm = self.alarms.borrow(cs);
+        alarm.timestamp.set(timestamp);
+
+        let t = self.now();
+        if timestamp <= t {
+            alarm.timestamp.set(u64::MAX);
+            return false;
+        }
+
+        // If it hasn't triggered yet, setup the relevant reset value, regardless of whether
+        // the interrupts are enabled or not. When they are enabled at a later point, the
+        // right value is already set.
+
+        // If the timestamp is in the next few ticks, add a bit of buffer to be sure the alarm
+        // is not missed.
+        //
+        // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
+        // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
+        // and we don't do that here.
+        let safe_timestamp = timestamp.max(t + 3);
+        let timer_ticks = (safe_timestamp - t).checked_mul(*SCALE.get().unwrap());
+        alarm_tim.write_reset_value(u32::MAX);
+        if timer_ticks.is_some_and(|v| v <= u32::MAX as u64) {
+            alarm_tim.write_count_value(timer_ticks.unwrap() as u32);
+            alarm_tim.modify_control(|mut value| {
+                value.set_irq_enable(true);
+                value.set_enable(true);
+                value
+            });
+        }
+        // If it's too far in the future, don't enable timer yet.
+        // It will be enabled later by `next_period`.
+
+        true
+    }
+}
+
+impl Driver for TimerDriver {
+    fn now(&self) -> u64 {
+        if SCALE.get().is_none() {
+            return 0;
+        }
+        let mut period1: u32;
+        let mut period2: u32;
+        let mut counter_val: u32;
+
+        loop {
+            // Acquire ensures that we get the latest value of `periods` and
+            // no instructions can be reordered before the load.
+            period1 = self.periods.load(Ordering::Acquire);
+
+            counter_val = u32::MAX - Self::timekeeper_tim().read_count_value();
+
+            // Double read to protect against race conditions when the counter is overflowing.
+            period2 = self.periods.load(Ordering::Relaxed);
+            if period1 == period2 {
+                let now = (((period1 as u64) << 32) | counter_val as u64) / *SCALE.get().unwrap();
+                return now;
+            }
+        }
+    }
+
+    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
+        critical_section::with(|cs| {
+            let mut queue = self.queue.borrow(cs).borrow_mut();
+
+            if queue.schedule_wake(at, waker) {
+                let mut next = queue.next_expiration(self.now());
+                while !self.set_alarm(cs, next) {
+                    next = queue.next_expiration(self.now());
+                }
+            }
+        })
+    }
 }
--- a/va108xx-hal/CHANGELOG.md
+++ b/va108xx-hal/CHANGELOG.md
@@ -8,20 +8,6 @@ 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
--- a/va108xx-hal/Cargo.toml
+++ b/va108xx-hal/Cargo.toml
@@ -12,11 +12,28 @@ categories = ["aerospace", "embedded", "no-std", "hardware-support"]

 [dependencies]
 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"] }
+embedded-hal = "1"
+embedded-hal-async = "1"
+embedded-hal-nb = "1"
+embedded-io = "0.6"
+embedded-io-async = "0.6"
 fugit = "0.3"
+typenum = "1"
+critical-section = "1"
+delegate = ">=0.12, <=0.13"
+heapless = "0.8"
+static_cell = "2"
 thiserror = { version = "2", default-features = false }
+void = { version = "1", default-features = false }
+once_cell = { version = "1", default-features = false }
 va108xx = { version = "0.5", default-features = false, features = ["critical-section", "defmt"] }
-defmt = { version = "1", optional = true }
+embassy-sync = "0.6"
+
+defmt = { version = "0.3", optional = true }

 [target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }
@@ -26,11 +43,8 @@ portable-atomic = "1"
 [features]
 default = ["rt"]
 rt = ["va108xx/rt"]
-defmt = ["dep:defmt", "vorago-shared-periphs/defmt"]
+defmt = ["dep:defmt", "fugit/defmt", "embedded-hal/defmt-03", "vorago-shared-periphs/defmt"]

 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--generate-link-to-definition"]
-
-[package.metadata.cargo-machete]
-ignored = ["cortex-m"]
--- a/va108xx-hal/src/clock.rs
+++ b/va108xx-hal/src/clock.rs
@@ -1,9 +1,29 @@
 //! # API for clock related functionality
 //!
 //! This also includes functionality to enable the peripheral clocks
+use crate::time::Hertz;
+use cortex_m::interrupt::{self, Mutex};
+use once_cell::unsync::OnceCell;
+
 pub use vorago_shared_periphs::gpio::FilterClkSel;
 pub use vorago_shared_periphs::sysconfig::{disable_peripheral_clock, enable_peripheral_clock};

+static SYS_CLOCK: Mutex<OnceCell<Hertz>> = Mutex::new(OnceCell::new());
+
+/// The Vorago in powered by an external clock which might have different frequencies.
+/// The clock can be set here so it can be used by other software components as well.
+/// The clock can be set exactly once
+pub fn set_sys_clock(freq: impl Into<Hertz>) {
+    interrupt::free(|cs| {
+        SYS_CLOCK.borrow(cs).set(freq.into()).ok();
+    })
+}
+
+/// Returns the configured system clock
+pub fn get_sys_clock() -> Option<Hertz> {
+    interrupt::free(|cs| SYS_CLOCK.borrow(cs).get().copied())
+}
+
 pub fn set_clk_div_register(syscfg: &mut va108xx::Sysconfig, clk_sel: FilterClkSel, div: u32) {
    match clk_sel {
        FilterClkSel::SysClk => (),
--- a/va108xx-hal/src/gpio/mod.rs
+++ b/va108xx-hal/src/gpio/mod.rs
@@ -18,3 +18,10 @@
 //! - [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::*;
+
+pub use vorago_shared_periphs::gpio::asynch;
+/// Low-level GPIO access.
+pub use vorago_shared_periphs::gpio::ll;
+
+/// GPIO register definitions.
+pub use vorago_shared_periphs::gpio::regs;
--- a/va108xx-hal/src/lib.rs
+++ b/va108xx-hal/src/lib.rs
@@ -17,13 +17,15 @@ pub mod time;
 pub mod timer;
 pub mod uart;

-pub use vorago_shared_periphs::{
-    disable_nvic_interrupt, enable_nvic_interrupt, FunSel, InterruptConfig, PeripheralSelect,
-};
+pub use vorago_shared_periphs::FunSel;

 /// This is the NONE destination reigster value for the IRQSEL peripheral.
 pub const IRQ_DST_NONE: u32 = 0xffffffff;

+pub use vorago_shared_periphs::{
+    disable_nvic_interrupt, enable_nvic_interrupt, InterruptConfig, PeripheralSelect,
+};
+
 #[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[error("invalid pin with number {0}")]
--- a/va108xx-hal/src/spi/mod.rs
+++ b/va108xx-hal/src/spi/mod.rs
@@ -1,8 +1,8 @@
 //! API for the SPI peripheral.
 //!
 //! The main abstraction provided by this module is the [Spi] an structure.
-//! It provides the [SpiBus trait](https://docs.rs/embedded-hal/latest/embedded_hal/spi/trait.SpiBus.html),
-//! but also offer a low level interface via the [SpiLowLevel] trait.
+//! It provides the [embedded_hal::spi] traits, but also offer a low level interface
+//! via the [SpiLowLevel] trait.
 //!
 //! ## Examples
 //!
@@ -10,3 +10,5 @@
 //! - [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::*;
+
+pub use vorago_shared_periphs::spi::pins_vor1x as pins;
--- a/va108xx-hal/src/timer.rs
+++ b/va108xx-hal/src/timer.rs
@@ -5,3 +5,5 @@
 //! - [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::*;
+
+pub use vorago_shared_periphs::timer::regs;
--- a/va108xx-hal/src/uart/mod.rs
+++ b/va108xx-hal/src/uart/mod.rs
@@ -15,3 +15,6 @@
 //! - [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::*;
+
+pub use vorago_shared_periphs::uart::rx_asynch;
+pub use vorago_shared_periphs::uart::tx_asynch;
--- a/va108xx/CHANGELOG.md
+++ b/va108xx/CHANGELOG.md
@@ -8,10 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 ## [unreleased]

-## [v0.5.1] 2025-07-22
-
-defmt version v1
-
 ## [v0.5.0] 2025-02-17

 - Re-generated PAC with `svd2rust` v0.35.0 and added optional `defmt` and `Debug` implementations
@@ -59,7 +55,7 @@ defmt version v1

 ### Fixed

- Generated with patched version of `svd2rust`: See
+- Generated with patched version of `svd2rust`: See 
  https://github.com/rust-embedded/svd2rust/pull/549 for more details.
  Some bitmasks were missing from register reader definitions.

@@ -83,7 +79,3 @@ defmt version v1

 - First version of the PAC which builds. Uses a patched version
  of `svd2rust`: https://github.com/rust-embedded/svd2rust
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.5.1...HEAD
-[v0.5.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.5.0...va108xx-v0.5.1
-[v0.5.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.4.0...va108xx-v0.5.0
--- a/va108xx/Cargo.toml
+++ b/va108xx/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "va108xx"
-version = "0.5.1"
+version = "0.5.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA108xx family of microcontrollers"
--- a/vorago-reb1/examples/adt75-temp-sensor.rs
+++ b/vorago-reb1/examples/adt75-temp-sensor.rs
@@ -12,7 +12,7 @@ fn main() -> ! {
    rtt_init_print!();
    rprintln!("-- Vorago Temperature Sensor and I2C Example --");
    let dp = pac::Peripherals::take().unwrap();
-    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);
    let mut temp_sensor =
        Adt75TempSensor::new(50.MHz(), dp.i2ca).expect("Creating temperature sensor struct failed");
    loop {
--- a/vorago-reb1/examples/adxl343-accelerometer.rs
+++ b/vorago-reb1/examples/adxl343-accelerometer.rs
@@ -32,7 +32,7 @@ fn main() -> ! {
    rprintln!("-- Vorago Accelerometer Example --");
    let dp = pac::Peripherals::take().unwrap();
    let pinsa = PinsA::new(dp.porta);
-    let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
+    let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);
    let (sck, mosi, miso) = (pinsa.pa20, pinsa.pa19, pinsa.pa18);
    let cs_pin = pinsa.pa16;
    let hw_cs_id = configure_pin_as_hw_cs_pin(cs_pin);
@@ -46,7 +46,7 @@ fn main() -> ! {
        )
        .mode(MODE_3)
        .slave_output_disable(true);
-    let mut spi = Spi::new(dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
+    let mut spi = Spi::new(50.MHz(), dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
    spi.cfg_hw_cs(hw_cs_id);

    let mut tx_rx_buf: [u8; 3] = [0; 3];
--- a/vorago-reb1/examples/blinky-leds.rs
+++ b/vorago-reb1/examples/blinky-leds.rs
@@ -70,7 +70,7 @@ fn main() -> ! {
            let mut led1 = Output::new(pins.pa10, PinState::Low);
            let mut led2 = Output::new(pins.pa7, PinState::Low);
            let mut led3 = Output::new(pins.pa6, PinState::Low);
-            let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
+            let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);
            for _ in 0..10 {
                led1.set_low();
                led2.set_low();
@@ -91,7 +91,7 @@ fn main() -> ! {
        LibType::Bsp => {
            let pinsa = PinsA::new(dp.porta);
            let mut leds = Leds::new(pinsa.pa10, pinsa.pa7, pinsa.pa6);
-            let mut delay = CountdownTimer::new(dp.tim0, 50.MHz());
+            let mut delay = CountdownTimer::new(50.MHz(), dp.tim0);
            for _ in 0..10 {
                // Blink all LEDs quickly
                for led in leds.iter_mut() {
--- a/vorago-reb1/examples/max11619-adc.rs
+++ b/vorago-reb1/examples/max11619-adc.rs
@@ -110,7 +110,7 @@ fn main() -> ! {
    rprintln!("-- Vorago ADC Example --");

    let mut dp = pac::Peripherals::take().unwrap();
-    let mut delay = CountdownTimer::new(dp.tim0, SYS_CLK);
+    let mut delay = CountdownTimer::new(SYS_CLK, dp.tim0);
    unsafe {
        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
    }
@@ -132,9 +132,9 @@ fn main() -> ! {
    Output::new(pinsa.pa16, PinState::Low);

    let hw_cs_id = configure_pin_as_hw_cs_pin(pinsa.pa17);
-    let spi = Spi::new(dp.spib, (sck, miso, mosi), spi_cfg).unwrap();
+    let spi = Spi::new(50.MHz(), dp.spib, (sck, miso, mosi), spi_cfg).unwrap();

-    let delay_spi = CountdownTimer::new(dp.tim1, SYS_CLK);
+    let delay_spi = CountdownTimer::new(SYS_CLK, dp.tim1);
    let spi_with_hwcs = SpiWithHwCs::new(spi, hw_cs_id, delay_spi);
    match EXAMPLE_MODE {
        ExampleMode::NotUsingEoc => spi_example_externally_clocked(spi_with_hwcs, &mut delay),
--- a/vorago-reb1/examples/nvm.rs
+++ b/vorago-reb1/examples/nvm.rs
@@ -5,7 +5,7 @@ use cortex_m_rt::entry;
 use embedded_hal::delay::DelayNs;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
-use va108xx_hal::{pac, spi::SpiClkConfig, time::Hertz, timer::CountdownTimer};
+use va108xx_hal::{pac, time::Hertz, timer::CountdownTimer};
 use vorago_reb1::m95m01::{M95M01, PAGE_SIZE};

 const CLOCK_FREQ: Hertz = Hertz::from_raw(50_000_000);
@@ -17,9 +17,8 @@ fn main() -> ! {

    let dp = pac::Peripherals::take().unwrap();

-    let mut delay = CountdownTimer::new(dp.tim0, CLOCK_FREQ);
-    let clk_config = SpiClkConfig::new(2, 4);
-    let mut nvm = M95M01::new(dp.spic, clk_config);
+    let mut timer = CountdownTimer::new(CLOCK_FREQ, dp.tim0);
+    let mut nvm = M95M01::new(CLOCK_FREQ, dp.spic);
    let status_reg = nvm.read_status_reg().expect("reading status reg failed");
    if status_reg.zero_segment().value() == 0b111 {
        panic!("status register unexpected values");
@@ -52,6 +51,6 @@ fn main() -> ! {

    nvm.write(0, &orig_content).unwrap();
    loop {
-        delay.delay_ms(500);
+        timer.delay_ms(500);
    }
 }
--- a/vorago-reb1/src/m95m01.rs
+++ b/vorago-reb1/src/m95m01.rs
@@ -47,6 +47,7 @@ pub mod regs {
 use regs::*;
 use va108xx_hal::{
    pac,
+    prelude::*,
    spi::{Spi, SpiClkConfig, SpiConfig, SpiLowLevel, BMSTART_BMSTOP_MASK},
 };

@@ -63,8 +64,13 @@ pub struct M95M01 {
 pub struct PageBoundaryExceededError;

 impl M95M01 {
-    pub fn new(spi: pac::Spic, clk_config: SpiClkConfig) -> Self {
-        let spi = RomSpi::new_for_rom(spi, SpiConfig::default().clk_cfg(clk_config)).unwrap();
+    pub fn new(sys_clk: Hertz, spi: pac::Spic) -> Self {
+        let spi = RomSpi::new_for_rom(
+            sys_clk,
+            spi,
+            SpiConfig::default().clk_cfg(SpiClkConfig::new(2, 4)),
+        )
+        .unwrap();
        let mut spi_dev = Self { spi };
        spi_dev.clear_block_protection().unwrap();
        spi_dev
--- a/vorago-reb1/src/temp_sensor.rs
+++ b/vorago-reb1/src/temp_sensor.rs
@@ -52,8 +52,8 @@ impl Adt75TempSensor {
        let mut sensor = Adt75TempSensor {
            // The master construction can not fail for regular I2C speed.
            sensor_if: I2cMaster::new(
-                i2ca,
                sys_clk,
+                i2ca,
                MasterConfig::default(),
                I2cSpeed::Regular100khz,
            )