Merge pull request 'prepare BSP release' (#45) from vorago-reb1-release into main

Reviewed-on: #45

.github/workflows/ci.yml

@@ -10,8 +10,8 @@ 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
-      - run: cargo check --target thumbv6m-none-eabi --examples --release
+      - run: cargo check --target thumbv6m-none-eabi --examples
 
   test:
     name: Run Tests
@@ -21,7 +21,7 @@ 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 +39,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-reb1
 
   clippy:
     name: Clippy

.gitignore

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

Cargo.toml

@@ -1,15 +1,21 @@
 [workspace]
 resolver = "2"
 members = [
-	"vorago-reb1",
+  "vorago-reb1",
-	"va108xx",
+  "va108xx",
-	"va108xx-hal",
+  "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 +23,8 @@ 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 +36,12 @@ 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

@@ -19,9 +19,18 @@ This workspace contains the following released crates:
 
 It also contains the following helper crates:
 
-- The `board-tests` contains an application which can be used to test the libraries on the
+- The [`bootloader`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/bootloader)
-  board.
+  crate contains a sample bootloader strongly based on the one provided by Vorago.
-- The `examples` crates contains various example applications for the HAL and the PAC.
+- The [`flashloader`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/flashloader)
+  crate contains a sample flashloader which is able to update the redundant images in the NVM which
+  is compatible to the provided bootloader as well.
+- The [`board-tests`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/board-tests)
+  contains an application which can be used to test the libraries on the board.
+- The [`examples`](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples)
+  folder contains various example applications crates using the HAL and the PAC.
+  This folder also contains dedicated example applications using the
+  [`RTIC`](https://rtic.rs/2/book/en/) and [`embassy`](https://github.com/embassy-rs/embassy)
+  native Rust RTOSes.
 
 ## Using the `.cargo/config.toml` file
 
@@ -94,6 +103,8 @@ example.
 
 Assuming a working debug connection to your VA108xx board, you can debug using VS Code with
 the [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+Please make sure that [`objdump-multiarch` and `nm-multiarch`](https://forums.raspberrypi.com/viewtopic.php?t=333146)
+are installed as well.
 
 Some sample configuration files for VS code were provided and can be used by running
 `cp -rT vscode .vscode` like specified above. After that, you can use `Run and Debug`
@@ -108,4 +119,5 @@ configuration variables in your `settings.json`:
 - `"cortex-debug.gdbPath.osx"`
 
 The provided VS Code configurations also provide an integrated RTT logger, which you can access
-via the terminal at `RTT Ch:0 console`.
+via the terminal at `RTT Ch:0 console`. In order for the RTT block address detection to
+work properly, `objdump-multiarch` and `nm-multiarch` need to be installed.

automation/Jenkinsfile

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

board-tests/Cargo.toml

@@ -4,18 +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-halt = "1"
-panic-rtt-target = "0.1.3"
+rtt-target = "0.6"
+panic-rtt-target = "0.2"
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
-version = "0.7"
 path = "../va108xx-hal"
 features = ["rt"]
 

board-tests/src/main.rs

@@ -17,7 +17,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer, IrqCfg},
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, InterruptConfig},
 };
 
 #[allow(dead_code)]
@@ -44,8 +44,8 @@ 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 pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
-    let pinsb = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
+    let pinsb = PinsB::new(&mut dp.sysconfig, dp.portb);
     let mut led1 = pinsa.pa10.into_readable_push_pull_output();
     let test_case = TestCase::DelayMs;
 
@@ -99,9 +99,11 @@ fn main() -> ! {
         }
         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());
         }
@@ -119,17 +121,15 @@ fn main() -> ! {
             assert_eq!(PinsB::get_perid(), 0x004007e1);
         }
         TestCase::Pulse => {
-            let mut output_pulsed = pinsa
+            let mut output_pulsed = pinsa.pa0.into_push_pull_output();
-                .pa0
+            output_pulsed.pulse_mode(true, PinState::Low);
-                .into_push_pull_output()
-                .pulse_mode(true, PinState::Low);
             rprintln!("Pulsing high 10 times..");
             output_pulsed.set_low().unwrap();
             for _ in 0..10 {
                 output_pulsed.set_high().unwrap();
                 cortex_m::asm::delay(25_000_000);
             }
-            let mut output_pulsed = output_pulsed.pulse_mode(true, PinState::High);
+            output_pulsed.pulse_mode(true, PinState::High);
             rprintln!("Pulsing low 10 times..");
             for _ in 0..10 {
                 output_pulsed.set_low().unwrap();
@@ -155,7 +155,7 @@ fn main() -> ! {
         }
         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(),
@@ -168,7 +168,7 @@ fn main() -> ! {
                 ms_timer.delay_ms(500);
             }
 
-            let mut delay_timer = CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
+            let mut delay_timer = CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim1);
             let mut pa0 = pinsa.pa0.into_readable_push_pull_output();
             for _ in 0..5 {
                 led1.toggle().ok();

bootloader/Cargo.toml

@@ -0,0 +1,25 @@
+[package]
+name = "bootloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+panic-rtt-target = "0.2"
+panic-halt = "1"
+rtt-target = "0.6"
+crc = "3"
+num_enum = { version = "0.7", default-features = false }
+static_assertions = "1"
+
+[dependencies.va108xx-hal]
+path = "../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../vorago-reb1"
+
+[features]
+default = []
+rtt-panic = []

bootloader/README.md

@@ -0,0 +1,51 @@
+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 +1,340 @@
+//! 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;
+#[cfg(not(feature = "rtt-panic"))]
+use panic_halt as _;
+#[cfg(feature = "rtt-panic")]
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_hal::{pac, time::Hertz, timer::CountdownTimer};
+use vorago_reb1::m95m01::M95M01;
+
+// Useful for debugging and see what the bootloader is doing. Enabled currently, because
+// the binary stays small enough.
+const RTT_PRINTOUT: bool = true;
+const DEBUG_PRINTOUTS: bool = true;
+// Small delay, allows RTT printout to catch up.
+const BOOT_DELAY_MS: u32 = 2000;
+
+// Dangerous option! An image with this option set to true will flash itself from RAM directly
+// into the NVM. This can be used as a recovery option from a direct RAM flash to fix the NVM
+// boot process. Please note that this will flash an image which will also always perform the
+// self-flash itself. It is recommended that you use a tool like probe-rs, Keil IDE, or a flash
+// loader to boot a bootloader without this feature.
+const FLASH_SELF: bool = false;
+
+// Register definitions for Cortex-M0 SCB register.
+pub const SCB_AIRCR_VECTKEY_POS: u32 = 16;
+pub const SCB_AIRCR_VECTKEY_MSK: u32 = 0xFFFF << SCB_AIRCR_VECTKEY_POS;
+
+pub const SCB_AIRCR_SYSRESETREQ_POS: u32 = 2;
+pub const SCB_AIRCR_SYSRESETREQ_MSK: u32 = 1 << SCB_AIRCR_SYSRESETREQ_POS;
+
+const CLOCK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+// Important bootloader addresses and offsets, vector table information.
+
+const NVM_SIZE: u32 = 0x20000;
+const BOOTLOADER_START_ADDR: u32 = 0x0;
+const BOOTLOADER_CRC_ADDR: u32 = BOOTLOADER_END_ADDR - 2;
+// This is also the maximum size of the bootloader.
+const BOOTLOADER_END_ADDR: u32 = 0x3000;
+const APP_A_START_ADDR: u32 = BOOTLOADER_END_ADDR;
+// 0x117F8
+const APP_A_SIZE_ADDR: u32 = APP_A_END_ADDR - 8;
+// Four bytes reserved, even when only 2 byte CRC is used. Leaves flexibility to switch to CRC32.
+// 0x117FC
+const APP_A_CRC_ADDR: u32 = APP_A_END_ADDR - 4;
+// 0x11800
+pub const APP_A_END_ADDR: u32 = APP_A_START_ADDR + APP_IMG_SZ;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_START_ADDR: u32 = APP_A_END_ADDR;
+// The actual size of the image which is relevant for CRC calculation.
+// 0x1FFF8
+const APP_B_SIZE_ADDR: u32 = APP_B_END_ADDR - 8;
+// Four bytes reserved, even when only 2 byte CRC is used. Leaves flexibility to switch to CRC32.
+// 0x1FFFC
+const APP_B_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
+// 0x20000. 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)]
+#[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 RTT_PRINTOUT {
+        rtt_init_print!();
+        rprintln!("-- VA108xx bootloader --");
+    }
+    let mut dp = pac::Peripherals::take().unwrap();
+    let cp = cortex_m::Peripherals::take().unwrap();
+    let mut timer = CountdownTimer::new(&mut dp.sysconfig, CLOCK_FREQ, dp.tim0);
+
+    let mut nvm = M95M01::new(&mut dp.sysconfig, CLOCK_FREQ, dp.spic);
+
+    if FLASH_SELF {
+        let mut first_four_bytes: [u8; 4] = [0; 4];
+        read_four_bytes_at_addr_zero(&mut first_four_bytes);
+        let bootloader_data = {
+            unsafe {
+                &*core::ptr::slice_from_raw_parts(
+                    (BOOTLOADER_START_ADDR + 4) as *const u8,
+                    (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 6) as usize,
+                )
+            }
+        };
+        let mut digest = CRC_ALGO.digest();
+        digest.update(&first_four_bytes);
+        digest.update(bootloader_data);
+        let bootloader_crc = digest.finalize();
+
+        nvm.write(0x0, &first_four_bytes)
+            .expect("writing to NVM failed");
+        nvm.write(0x4, bootloader_data)
+            .expect("writing to NVM failed");
+        if let Err(e) = nvm.verify(0x0, &first_four_bytes) {
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            }
+        }
+        if let Err(e) = nvm.verify(0x4, bootloader_data) {
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            }
+        }
+
+        nvm.write(BOOTLOADER_CRC_ADDR as usize, &bootloader_crc.to_be_bytes())
+            .expect("writing CRC failed");
+        if let Err(e) = nvm.verify(BOOTLOADER_CRC_ADDR as usize, &bootloader_crc.to_be_bytes()) {
+            if RTT_PRINTOUT {
+                rprintln!(
+                    "error: CRC verification for bootloader self-flash failed: {:?}",
+                    e
+                );
+            }
+        }
+    }
+
+    let mut nvm = NvmWrapper(nvm);
+
+    // Check bootloader's CRC (and write it if blank)
+    check_own_crc(&dp.sysconfig, &cp, &mut nvm, &mut timer);
+
+    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 && RTT_PRINTOUT {
+            rprintln!("both images corrupt! booting image A");
+        }
+        // TODO: Shift a CCSDS packet out to inform host/OBC about image corruption.
+        // Both images seem to be corrupt. Boot default image A.
+        boot_app(&dp.sysconfig, &cp, AppSel::A, &mut timer)
+    }
+}
+
+fn check_own_crc(
+    sysconfig: &pac::Sysconfig,
+    cp: &cortex_m::Peripherals,
+    nvm: &mut NvmWrapper,
+    timer: &mut CountdownTimer<pac::Tim0>,
+) {
+    let crc_exp = unsafe { (BOOTLOADER_CRC_ADDR as *const u16).read_unaligned().to_be() };
+    // I'd prefer to use [core::slice::from_raw_parts], but that is problematic
+    // because the address of the bootloader is 0x0, so the NULL check fails and the functions
+    // panics.
+    let mut first_four_bytes: [u8; 4] = [0; 4];
+    read_four_bytes_at_addr_zero(&mut first_four_bytes);
+    let mut digest = CRC_ALGO.digest();
+    digest.update(&first_four_bytes);
+    digest.update(unsafe {
+        &*core::ptr::slice_from_raw_parts(
+            (BOOTLOADER_START_ADDR + 4) as *const u8,
+            (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 6) as usize,
+        )
+    });
+    let crc_calc = digest.finalize();
+    if crc_exp == 0x0000 || crc_exp == 0xffff {
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!("BL CRC blank - prog new CRC");
+        }
+        // Blank CRC, write it to NVM.
+        nvm.write(BOOTLOADER_CRC_ADDR as usize, &crc_calc.to_be_bytes())
+            .expect("writing CRC failed");
+        // The Vorago bootloader resets here. I am not sure why this is done but I think it is
+        // necessary because somehow the boot will not work if we just continue as usual.
+        // cortex_m::peripheral::SCB::sys_reset();
+    } else if crc_exp != crc_calc {
+        // Bootloader is corrupted. Try to run App A.
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+            rprintln!(
+                "bootloader CRC corrupt, read {} and expected {}. booting image A immediately",
+                crc_calc,
+                crc_exp
+            );
+        }
+        // TODO: Shift out minimal CCSDS frame to notify about bootloader corruption.
+        boot_app(sysconfig, cp, AppSel::A, timer);
+    }
+}
+
+// Reading from address 0x0 is problematic in Rust.
+// See https://users.rust-lang.org/t/reading-from-physical-address-0x0/117408/5.
+// This solution falls back to assembler to deal with this.
+fn read_four_bytes_at_addr_zero(buf: &mut [u8; 4]) {
+    unsafe {
+        core::arch::asm!(
+            "ldr r0, [{0}]",    // Load 4 bytes from src into r0 register
+            "str r0, [{1}]",    // Store r0 register into first_four_bytes
+            in(reg) BOOTLOADER_START_ADDR as *const u8,         // Input: src pointer (0x0)
+            in(reg) buf as *mut [u8; 4],  // Input: destination pointer
+        );
+    }
+}
+fn check_app_crc(app_sel: AppSel) -> bool {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("Checking image {:?}", app_sel);
+    }
+    if app_sel == AppSel::A {
+        check_app_given_addr(APP_A_CRC_ADDR, APP_A_START_ADDR, APP_A_SIZE_ADDR)
+    } else {
+        check_app_given_addr(APP_B_CRC_ADDR, APP_B_START_ADDR, APP_B_SIZE_ADDR)
+    }
+}
+
+fn check_app_given_addr(crc_addr: u32, start_addr: u32, image_size_addr: u32) -> bool {
+    let crc_exp = unsafe { (crc_addr as *const u16).read_unaligned().to_be() };
+    let image_size = unsafe { (image_size_addr as *const u32).read_unaligned().to_be() };
+    // Sanity check.
+    if image_size > APP_A_END_ADDR - APP_A_START_ADDR - 8 {
+        if RTT_PRINTOUT {
+            rprintln!("detected invalid app size {}", image_size);
+        }
+        return false;
+    }
+    let crc_calc = CRC_ALGO.checksum(unsafe {
+        core::slice::from_raw_parts(start_addr as *const u8, image_size as usize)
+    });
+    if crc_calc == crc_exp {
+        return true;
+    }
+    false
+}
+
+// The boot works by copying the interrupt vector table (IVT) of the respective app to the
+// base address in code RAM (0x0) and then performing a soft reset.
+fn boot_app(
+    syscfg: &pac::Sysconfig,
+    cp: &cortex_m::Peripherals,
+    app_sel: AppSel,
+    timer: &mut CountdownTimer<pac::Tim0>,
+) -> ! {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
+        rprintln!("booting app {:?}", app_sel);
+    }
+    timer.delay_ms(BOOT_DELAY_MS);
+
+    // Clear all interrupts set.
+    unsafe {
+        cp.NVIC.icer[0].write(0xFFFFFFFF);
+        cp.NVIC.icpr[0].write(0xFFFFFFFF);
+    }
+    // Disable ROM protection.
+    syscfg.rom_prot().write(|w| w.wren().set_bit());
+    let base_addr = if app_sel == AppSel::A {
+        APP_A_START_ADDR
+    } else {
+        APP_B_START_ADDR
+    };
+    unsafe {
+        // First 4 bytes done with inline assembly, writing to the physical address 0x0 can not
+        // be done without it. See https://users.rust-lang.org/t/reading-from-physical-address-0x0/117408/2.
+        let first_four_bytes = core::ptr::read(base_addr as *const u32);
+        core::arch::asm!(
+            "str {0}, [{1}]",
+            in(reg)  first_four_bytes,  // Input: App vector table.
+            in(reg) BOOTLOADER_START_ADDR as *mut u32,  // Input: destination pointer
+        );
+        core::slice::from_raw_parts_mut(
+            (BOOTLOADER_START_ADDR + 4) as *mut u8,
+            (VECTOR_TABLE_LEN - 4) as usize,
+        )
+        .copy_from_slice(core::slice::from_raw_parts(
+            (base_addr + 4) as *const u8,
+            (VECTOR_TABLE_LEN - 4) as usize,
+        ));
+    }
+    // Disable re-loading from FRAM/code ROM on soft reset
+    syscfg
+        .rst_cntl_rom()
+        .modify(|_, w| w.sysrstreq().clear_bit());
+
+    soft_reset(cp);
+}
+
+// Soft reset based on https://github.com/ARM-software/CMSIS_6/blob/5782d6f8057906d360f4b95ec08a2354afe5c9b9/CMSIS/Core/Include/core_cm0.h#L874.
+fn soft_reset(cp: &cortex_m::Peripherals) -> ! {
+    // Ensure all outstanding memory accesses included buffered write are completed before reset.
+    cortex_m::asm::dsb();
+    unsafe {
+        cp.SCB
+            .aircr
+            .write((0x5FA << SCB_AIRCR_VECTKEY_POS) | SCB_AIRCR_SYSRESETREQ_MSK);
+    }
+    // Ensure completion of memory access.
+    cortex_m::asm::dsb();
+
+    // Loop until the reset occurs.
+    loop {
+        cortex_m::asm::nop();
+    }
+}

examples/README.md

@@ -0,0 +1,33 @@
+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 +1,37 @@
+[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"
+
+rtt-target = "0.6"
+panic-rtt-target = "0.2"
+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 = "0.9"
+va108xx-embassy = { path = "../../va108xx-embassy", default-features = false }
+
+[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 +1,258 @@
+//! 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]
+
+use embassy_executor::Spawner;
+use embassy_sync::channel::{Receiver, Sender};
+use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, channel::Channel};
+use embassy_time::{Duration, Instant, Timer};
+use embedded_hal::digital::{InputPin, OutputPin, StatefulOutputPin};
+use embedded_hal_async::digital::Wait;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
+use va108xx_hal::gpio::{on_interrupt_for_asynch_gpio, InputDynPinAsync, InputPinAsync, PinsB};
+use va108xx_hal::{
+    gpio::{DynPin, PinsA},
+    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) {
+    rtt_init_print!();
+    rprintln!("-- VA108xx Async GPIO Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    unsafe {
+        embassy::init(
+            &mut dp.sysconfig,
+            &dp.irqsel,
+            SYSCLK_FREQ,
+            dp.tim23,
+            dp.tim22,
+        )
+    };
+
+    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let portb = PinsB::new(&mut dp.sysconfig, dp.portb);
+    let mut led0 = porta.pa10.into_readable_push_pull_output();
+    let out_pa0 = porta.pa0.into_readable_push_pull_output();
+    let in_pa1 = porta.pa1.into_floating_input();
+    let out_pb22 = portb.pb22.into_readable_push_pull_output();
+    let in_pb23 = portb.pb23.into_floating_input();
+
+    let in_pa1_async = InputPinAsync::new(in_pa1, pac::Interrupt::OC10);
+    let out_pa0_dyn = out_pa0.downgrade();
+    let in_pb23_async = InputDynPinAsync::new(in_pb23.downgrade(), PB22_TO_PB23_IRQ).unwrap();
+    let out_pb22_dyn = out_pb22.downgrade();
+
+    spawner
+        .spawn(output_task(
+            "PA0 to PA1",
+            out_pa0_dyn,
+            CHANNEL_PA0_PA1.receiver(),
+        ))
+        .unwrap();
+    spawner
+        .spawn(output_task(
+            "PB22 to PB23",
+            out_pb22_dyn,
+            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;
+        rprintln!("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;
+        rprintln!("Example PB22 to PB23 done");
+    }
+
+    rprintln!("Example done, toggling LED0");
+    loop {
+        led0.toggle().unwrap();
+        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,
+) {
+    rprintln!(
+        "{}: sending SetHigh command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::SetHigh, 20)).await;
+    async_input.wait_for_high().await.unwrap();
+    rprintln!(
+        "{}: Input pin is high now ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: sending SetLow command ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+    sender.send(GpioCmd::new(GpioCmdType::SetLow, 20)).await;
+    async_input.wait_for_low().await.unwrap();
+    rprintln!(
+        "{}: Input pin is low now ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: 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();
+    rprintln!(
+        "{}: input pin had rising edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: 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();
+    rprintln!(
+        "{}: input pin had a falling edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: 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();
+    rprintln!(
+        "{}: input pin had a falling (any) edge ({} ms)",
+        ctx,
+        Instant::now().as_millis()
+    );
+
+    rprintln!(
+        "{}: 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();
+    rprintln!(
+        "{}: 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: DynPin,
+    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 => {
+                rprintln!("{}: Set output high", ctx);
+                out.set_high().unwrap();
+            }
+            GpioCmdType::SetLow => {
+                rprintln!("{}: Set output low", ctx);
+                out.set_low().unwrap();
+            }
+            GpioCmdType::RisingEdge => {
+                rprintln!("{}: Rising edge", ctx);
+                if !out.is_low().unwrap() {
+                    out.set_low().unwrap();
+                }
+                out.set_high().unwrap();
+            }
+            GpioCmdType::FallingEdge => {
+                rprintln!("{}: Falling edge", ctx);
+                if !out.is_high().unwrap() {
+                    out.set_high().unwrap();
+                }
+                out.set_low().unwrap();
+            }
+        }
+    }
+}
+
+// PB22 to PB23 can be handled by both OC10 and OC11 depending on configuration.
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC10() {
+    on_interrupt_for_asynch_gpio();
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn OC11() {
+    on_interrupt_for_asynch_gpio();
+}

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

@@ -0,0 +1,171 @@
+//! 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]
+use core::cell::RefCell;
+
+use critical_section::Mutex;
+use embassy_executor::Spawner;
+use embassy_time::Instant;
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io::Write;
+use embedded_io_async::Read;
+use heapless::spsc::{Consumer, Producer, Queue};
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
+use va108xx_hal::{
+    gpio::PinsA,
+    pac::{self, interrupt},
+    prelude::*,
+    uart::{
+        self, on_interrupt_uart_b_overwriting,
+        rx_asynch::{on_interrupt_uart_a, RxAsync},
+        RxAsyncSharedConsumer, 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) {
+    rtt_init_print!();
+    rprintln!("-- VA108xx Async UART RX Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    unsafe {
+        embassy::init(
+            &mut dp.sysconfig,
+            &dp.irqsel,
+            SYSCLK_FREQ,
+            dp.tim23,
+            dp.tim22,
+        );
+    }
+
+    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let mut led0 = porta.pa10.into_readable_push_pull_output();
+    let mut led1 = porta.pa7.into_readable_push_pull_output();
+    let mut led2 = porta.pa6.into_readable_push_pull_output();
+
+    let tx_uart_a = porta.pa9.into_funsel_2();
+    let rx_uart_a = porta.pa8.into_funsel_2();
+
+    let uarta = uart::Uart::new_with_interrupt(
+        &mut dp.sysconfig,
+        50.MHz(),
+        dp.uarta,
+        (tx_uart_a, rx_uart_a),
+        115200.Hz(),
+        InterruptConfig::new(pac::Interrupt::OC2, true, true),
+    );
+
+    let tx_uart_b = porta.pa3.into_funsel_2();
+    let rx_uart_b = porta.pa2.into_funsel_2();
+
+    let uartb = uart::Uart::new_with_interrupt(
+        &mut dp.sysconfig,
+        50.MHz(),
+        dp.uartb,
+        (tx_uart_b, rx_uart_b),
+        115200.Hz(),
+        InterruptConfig::new(pac::Interrupt::OC3, true, true),
+    );
+    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 = RxAsyncSharedConsumer::new(rx_uart_b, &CONSUMER_UART_B);
+    spawner
+        .spawn(uart_b_task(async_rx_uart_b, tx_uart_b))
+        .unwrap();
+    let mut buf = [0u8; 256];
+    loop {
+        rprintln!("Current time UART A: {}", Instant::now().as_secs());
+        led0.toggle().ok();
+        led1.toggle().ok();
+        led2.toggle().ok();
+        let read_bytes = async_rx_uart_a.read(&mut buf).await.unwrap();
+        let read_str = core::str::from_utf8(&buf[..read_bytes]).unwrap();
+        rprintln!(
+            "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: RxAsyncSharedConsumer<pac::Uartb, 256>, mut tx: Tx<pac::Uartb>) {
+    let mut buf = [0u8; 256];
+    loop {
+        rprintln!("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();
+        rprintln!(
+            "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_uart_a(&mut prod);
+    critical_section::with(|cs| *PRODUCER_UART_A.borrow(cs).borrow_mut() = Some(prod));
+    // In a production app, we could use a channel to send the errors to the main task.
+    if let Err(errors) = errors {
+        rprintln!("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_uart_b_overwriting(&mut prod, &CONSUMER_UART_B);
+    critical_section::with(|cs| *PRODUCER_UART_B.borrow(cs).borrow_mut() = Some(prod));
+    // In a production app, we could use a channel to send the errors to the main task.
+    if let Err(errors) = errors {
+        rprintln!("UART B errors: {:?}", errors);
+    }
+}

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

@@ -0,0 +1,97 @@
+//! 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]
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Instant, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io_async::Write;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
+use va108xx_hal::{
+    gpio::PinsA,
+    pac::{self, interrupt},
+    prelude::*,
+    uart::{self, on_interrupt_uart_a_tx, 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) {
+    rtt_init_print!();
+    rprintln!("-- VA108xx Async UART TX Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    unsafe {
+        embassy::init(
+            &mut dp.sysconfig,
+            &dp.irqsel,
+            SYSCLK_FREQ,
+            dp.tim23,
+            dp.tim22,
+        );
+    }
+
+    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let mut led0 = porta.pa10.into_readable_push_pull_output();
+    let mut led1 = porta.pa7.into_readable_push_pull_output();
+    let mut led2 = porta.pa6.into_readable_push_pull_output();
+
+    let tx = porta.pa9.into_funsel_2();
+    let rx = porta.pa8.into_funsel_2();
+
+    let uarta = uart::Uart::new_with_interrupt(
+        &mut dp.sysconfig,
+        50.MHz(),
+        dp.uarta,
+        (tx, rx),
+        115200.Hz(),
+        InterruptConfig::new(pac::Interrupt::OC2, true, true),
+    );
+    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 {
+        rprintln!("Current time: {}", Instant::now().as_secs());
+        led0.toggle().ok();
+        led1.toggle().ok();
+        led2.toggle().ok();
+        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_uart_a_tx();
+}

examples/embassy/src/main.rs

@@ -0,0 +1,67 @@
+#![no_std]
+#![no_main]
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Instant, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va108xx_embassy::embassy;
+
+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::PinsA, pac, prelude::*};
+
+const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("-- VA108xx Embassy Demo --");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Safety: Only called once here.
+    unsafe {
+        cfg_if::cfg_if! {
+            if #[cfg(not(feature = "custom-irqs"))] {
+                embassy::init(
+                    &mut dp.sysconfig,
+                    &dp.irqsel,
+                    SYSCLK_FREQ,
+                    dp.tim23,
+                    dp.tim22,
+                );
+            } else {
+                embassy::init_with_custom_irqs(
+                    &mut dp.sysconfig,
+                    &dp.irqsel,
+                    SYSCLK_FREQ,
+                    dp.tim23,
+                    dp.tim22,
+                    pac::Interrupt::OC23,
+                    pac::Interrupt::OC24,
+                );
+            }
+        }
+    }
+
+    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let mut led0 = porta.pa10.into_readable_push_pull_output();
+    let mut led1 = porta.pa7.into_readable_push_pull_output();
+    let mut led2 = porta.pa6.into_readable_push_pull_output();
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        ticker.next().await;
+        rprintln!("Current time: {}", Instant::now().as_secs());
+        led0.toggle().ok();
+        led1.toggle().ok();
+        led2.toggle().ok();
+    }
+}

examples/rtic/Cargo.toml

@@ -0,0 +1,26 @@
+[package]
+name = "rtic-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-io = "0.6"
+rtt-target = "0.6"
+panic-rtt-target = "0.2"
+
+# 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 = "0.9"
+vorago-reb1 = { path = "../../vorago-reb1" }

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

@@ -5,18 +5,20 @@
 #[rtic::app(device = pac)]
 mod app {
     use panic_rtt_target as _;
-    use rtic_monotonics::systick::Systick;
+    use rtic_example::SYSCLK_FREQ;
     use rtt_target::{rprintln, rtt_init_default, set_print_channel};
     use va108xx_hal::{
         clock::{set_clk_div_register, FilterClkSel},
         gpio::{FilterType, InterruptEdge, PinsA},
         pac,
         prelude::*,
-        timer::{default_ms_irq_handler, set_up_ms_tick, IrqCfg},
+        timer::{default_ms_irq_handler, set_up_ms_tick, InterruptConfig},
     };
     use vorago_reb1::button::Button;
     use vorago_reb1::leds::Leds;
 
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
     #[derive(Debug, PartialEq)]
     pub enum PressMode {
         Toggle,
@@ -44,17 +46,11 @@ mod app {
     struct Shared {}
 
     #[init]
-    fn init(ctx: init::Context) -> (Shared, Local) {
+    fn init(cx: init::Context) -> (Shared, Local) {
         let channels = rtt_init_default!();
         set_print_channel(channels.up.0);
         rprintln!("-- Vorago Button IRQ Example --");
-        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(
-            ctx.core.SYST,
-            Hertz::from(50.MHz()).raw(),
-            systick_mono_token,
-        );
 
         let mode = match CFG_MODE {
             // Ask mode from user via RTT
@@ -64,24 +60,25 @@ mod app {
         };
         rprintln!("Using {:?} mode", mode);
 
-        let mut dp = ctx.device;
+        let mut dp = cx.device;
-        let pinsa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+        let pinsa = PinsA::new(&mut dp.sysconfig, 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.into_floating_input()).edge_irq(
+        let mut button = Button::new(pinsa.pa11.into_floating_input());
+        button.configure_edge_interrupt(
             edge_irq,
-            IrqCfg::new(pac::interrupt::OC15, true, true),
+            InterruptConfig::new(pac::interrupt::OC15, true, true),
             Some(&mut dp.sysconfig),
             Some(&mut dp.irqsel),
         );
 
         if mode == PressMode::Toggle {
             // This filter debounces the switch for edge based interrupts
-            button = button.filter_type(FilterType::FilterFourClockCycles, FilterClkSel::Clk1);
+            button.configure_filter_type(FilterType::FilterFourClockCycles, FilterClkSel::Clk1);
             set_clk_div_register(&mut dp.sysconfig, FilterClkSel::Clk1, 50_000);
         }
         let mut leds = Leds::new(
@@ -93,7 +90,7 @@ mod app {
             led.off();
         }
         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(),
@@ -117,12 +114,10 @@ mod app {
         let mode = cx.local.mode;
         if *mode == PressMode::Toggle {
             leds[0].toggle();
+        } else if button.released() {
+            leds[0].off();
         } else {
-            if button.released() {
+            leds[0].on();
-                leds[0].off();
-            } else {
-                leds[0].on();
-            }
         }
     }
 
@@ -138,14 +133,11 @@ mod app {
         let mut read;
         loop {
             read = down_channel.read(&mut read_buf);
-            for i in 0..read {
+            for &byte in &read_buf[..read] {
-                let val = read_buf[i] as char;
+                match byte as char {
-                if val == '0' || val == '1' {
+                    '0' => return PressMode::Toggle,
-                    return if val == '0' {
+                    '1' => return PressMode::Keep,
-                        PressMode::Toggle
+                    _ => continue, // Ignore other characters
-                    } else {
-                        PressMode::Keep
-                    };
                 }
             }
         }

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

@@ -0,0 +1,131 @@
+//! More complex UART application
+//!
+//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
+//! a non-blocking way. All received data will be sent back to the sender.
+#![no_main]
+#![no_std]
+
+use 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 panic_rtt_target as _;
+    use ringbuf::traits::{Consumer, Observer, Producer};
+    use rtic_example::SYSCLK_FREQ;
+    use rtic_monotonics::Monotonic;
+    use rtt_target::{rprintln, rtt_init_print};
+    use va108xx_hal::{
+        gpio::PinsA,
+        pac,
+        prelude::*,
+        uart::{self, RxWithInterrupt, Tx},
+        InterruptConfig,
+    };
+
+    #[local]
+    struct Local {
+        rx: RxWithInterrupt<pac::Uarta>,
+        tx: Tx<pac::Uarta>,
+    }
+
+    #[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) {
+        rtt_init_print!();
+        rprintln!("-- VA108xx UART Echo with IRQ example application--");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let mut dp = cx.device;
+        let gpioa = PinsA::new(&mut dp.sysconfig, dp.porta);
+        let tx = gpioa.pa9.into_funsel_2();
+        let rx = gpioa.pa8.into_funsel_2();
+
+        let irq_uart = uart::Uart::new_with_interrupt(
+            &mut dp.sysconfig,
+            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
+            115200.Hz(),
+            InterruptConfig::new(pac::Interrupt::OC3, true, true),
+        );
+        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.
+            rprintln!("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 +1,67 @@
+//! RTIC minimal blinky
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac, dispatchers = [OC31, OC30, OC29])]
+mod app {
+    use cortex_m::asm;
+    use embedded_hal::digital::StatefulOutputPin;
+    use panic_rtt_target as _;
+    use rtic_example::SYSCLK_FREQ;
+    use rtic_monotonics::systick::prelude::*;
+    use rtic_monotonics::Monotonic;
+    use rtt_target::{rprintln, rtt_init_print};
+    use va108xx_hal::{
+        gpio::{OutputReadablePushPull, Pin, PinsA, PA10, PA6, PA7},
+        pac,
+    };
+
+    #[local]
+    struct Local {
+        led0: Pin<PA10, OutputReadablePushPull>,
+        led1: Pin<PA7, OutputReadablePushPull>,
+        led2: Pin<PA6, OutputReadablePushPull>,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        rtt_init_print!();
+        rprintln!("-- Vorago VA108xx RTIC template --");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let porta = PinsA::new(&mut cx.device.sysconfig, cx.device.porta);
+        let led0 = porta.pa10.into_readable_push_pull_output();
+        let led1 = porta.pa7.into_readable_push_pull_output();
+        let led2 = porta.pa6.into_readable_push_pull_output();
+        blinky::spawn().ok();
+        (Shared {}, Local { led0, led1, led2 })
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            asm::nop();
+        }
+    }
+
+    #[task(
+        priority = 3,
+        local=[led0, led1, led2],
+    )]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            rprintln!("toggling LEDs");
+            cx.local.led0.toggle().ok();
+            cx.local.led1.toggle().ok();
+            cx.local.led2.toggle().ok();
+            Mono::delay(1000.millis()).await;
+        }
+    }
+}

examples/simple/Cargo.toml

@@ -4,30 +4,20 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-panic-halt = "0.2"
 cortex-m = {version = "0.7", features = ["critical-section-single-core"]}
-panic-rtt-target = "0.1"
 cortex-m-rt = "0.7"
-rtt-target = "0.5"
+panic-halt = "1"
-rtic-sync = { version = "1.3", features = ["defmt-03"] }
+panic-rtt-target = "0.2"
+critical-section = "1"
+rtt-target = "0.6"
 embedded-hal = "1"
 embedded-hal-nb = "1"
 embedded-io = "0.6"
 cortex-m-semihosting = "0.5.0"
-# I'd really like to use those, but it is tricky without probe-rs..
-# defmt = "0.3"
-# defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-# panic-probe = { version = "0.3", features = ["print-defmt"] }
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv6-backend"]
-
-[dependencies.rtic-monotonics]
-version = "1"
-features = ["cortex-m-systick"]
 
 [dependencies.va108xx-hal]
-version = "0.7"
+version = "0.9"
-path = "../../va108xx-hal"
 features = ["rt", "defmt"]
+
+[dependencies.vorago-reb1]
+path = "../../vorago-reb1"

examples/simple/examples/blinky.rs

@@ -16,24 +16,24 @@ use va108xx_hal::{
     gpio::PinsA,
     pac::{self, interrupt},
     prelude::*,
-    pwm::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer},
     timer::DelayMs,
-    IrqCfg,
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer},
+    InterruptConfig,
 };
 
 #[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),
+        InterruptConfig::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 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 porta = PinsA::new(&mut dp.sysconfig, 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();

examples/simple/examples/cascade.rs

@@ -17,13 +17,13 @@ use va108xx_hal::{
     prelude::*,
     timer::{
         default_ms_irq_handler, set_up_ms_delay_provider, CascadeCtrl, CascadeSource,
-        CountDownTimer, Event, IrqCfg,
+        CountdownTimer, Event, InterruptConfig,
     },
 };
 
-static CSD_TGT_1: Mutex<RefCell<Option<CountDownTimer<pac::Tim4>>>> =
+static CSD_TGT_1: Mutex<RefCell<Option<CountdownTimer<pac::Tim4>>>> =
     Mutex::new(RefCell::new(None));
-static CSD_TGT_2: Mutex<RefCell<Option<CountDownTimer<pac::Tim5>>>> =
+static CSD_TGT_2: Mutex<RefCell<Option<CountdownTimer<pac::Tim5>>>> =
     Mutex::new(RefCell::new(None));
 
 #[entry]
@@ -36,19 +36,19 @@ fn main() -> ! {
 
     // Will be started periodically to trigger a cascade
     let mut cascade_triggerer =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim3).auto_disable(true);
+        CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim3).auto_disable(true);
     cascade_triggerer.listen(
         Event::TimeOut,
-        IrqCfg::new(pac::Interrupt::OC1, true, false),
+        InterruptConfig::new(pac::Interrupt::OC1, true, false),
         Some(&mut dp.irqsel),
         Some(&mut dp.sysconfig),
     );
 
     // First target for cascade
     let mut cascade_target_1 =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim4).auto_deactivate(true);
+        CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim4).auto_deactivate(true);
     cascade_target_1
-        .cascade_0_source(CascadeSource::TimBase, Some(3))
+        .cascade_0_source(CascadeSource::Tim(3))
         .expect("Configuring cascade source for TIM4 failed");
     let mut csd_cfg = CascadeCtrl {
         enb_start_src_csd0: true,
@@ -62,7 +62,7 @@ fn main() -> ! {
     // the timer expires
     cascade_target_1.listen(
         Event::TimeOut,
-        IrqCfg::new(pac::Interrupt::OC2, true, false),
+        InterruptConfig::new(pac::Interrupt::OC2, true, false),
         Some(&mut dp.irqsel),
         Some(&mut dp.sysconfig),
     );
@@ -72,10 +72,10 @@ fn main() -> ! {
 
     // Activated by first cascade target
     let mut cascade_target_2 =
-        CountDownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim5).auto_deactivate(true);
+        CountdownTimer::new(&mut dp.sysconfig, 50.MHz(), dp.tim5).auto_deactivate(true);
     // Set TIM4 as cascade source
     cascade_target_2
-        .cascade_1_source(CascadeSource::TimBase, Some(4))
+        .cascade_1_source(CascadeSource::Tim(4))
         .expect("Configuring cascade source for TIM5 failed");
 
     csd_cfg = CascadeCtrl::default();
@@ -88,7 +88,7 @@ fn main() -> ! {
     // the timer expires
     cascade_target_2.listen(
         Event::TimeOut,
-        IrqCfg::new(pac::Interrupt::OC3, true, false),
+        InterruptConfig::new(pac::Interrupt::OC3, true, false),
         Some(&mut dp.irqsel),
         Some(&mut dp.sysconfig),
     );

examples/simple/examples/pwm.rs

@@ -19,7 +19,7 @@ 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 pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
     let mut pwm = pwm::PwmPin::new(
         &mut dp.sysconfig,
         50.MHz(),

examples/simple/examples/spi.rs

@@ -15,17 +15,16 @@ use va108xx_hal::{
     gpio::{PinsA, PinsB},
     pac::{self, interrupt},
     prelude::*,
-    pwm::{default_ms_irq_handler, set_up_ms_tick},
+    spi::{self, Spi, SpiBase, SpiClkConfig, TransferConfigWithHwcs},
-    spi::{self, Spi, SpiBase, TransferConfig},
+    timer::{default_ms_irq_handler, set_up_ms_tick},
-    IrqCfg,
+    InterruptConfig,
 };
 
 #[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
+    MosiMisoTiedTogetherManually,
-    TestBuffer,
 }
 
 #[derive(PartialEq, Debug)]
@@ -48,17 +47,19 @@ fn main() -> ! {
     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),
+        InterruptConfig::new(interrupt::OC0, true, true),
         &mut dp.sysconfig,
         Some(&mut dp.irqsel),
         50.MHz(),
         dp.tim0,
     );
 
+    let spi_clk_cfg = SpiClkConfig::from_clk(50.MHz(), SPI_SPEED_KHZ.kHz())
+        .expect("creating SPI clock config failed");
     let spia_ref: RefCell<Option<SpiBase<pac::Spia, u8>>> = RefCell::new(None);
     let spib_ref: RefCell<Option<SpiBase<pac::Spib, u8>>> = RefCell::new(None);
-    let pinsa = PinsA::new(&mut dp.sysconfig, None, dp.porta);
+    let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
-    let pinsb = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
+    let pinsb = PinsB::new(&mut dp.sysconfig, dp.portb);
 
     let mut spi_cfg = spi::SpiConfig::default();
     if EXAMPLE_SEL == ExampleSelect::Loopback {
@@ -79,7 +80,6 @@ fn main() -> ! {
                 dp.spia,
                 (sck, miso, mosi),
                 spi_cfg,
-                None,
             );
             spia.set_fill_word(FILL_WORD);
             spia_ref.borrow_mut().replace(spia.downgrade());
@@ -96,7 +96,6 @@ fn main() -> ! {
                 dp.spia,
                 (sck, miso, mosi),
                 spi_cfg,
-                None,
             );
             spia.set_fill_word(FILL_WORD);
             spia_ref.borrow_mut().replace(spia.downgrade());
@@ -113,7 +112,6 @@ fn main() -> ! {
                 dp.spib,
                 (sck, miso, mosi),
                 spi_cfg,
-                None,
             );
             spib.set_fill_word(FILL_WORD);
             spib_ref.borrow_mut().replace(spib.downgrade());
@@ -123,19 +121,25 @@ fn main() -> ! {
     match SPI_BUS_SEL {
         SpiBusSelect::SpiAPortA | SpiBusSelect::SpiAPortB => {
             if let Some(ref mut spi) = *spia_ref.borrow_mut() {
-                let transfer_cfg =
+                let transfer_cfg = TransferConfigWithHwcs::new_no_hw_cs(
-                    TransferConfig::new_no_hw_cs(SPI_SPEED_KHZ.kHz(), SPI_MODE, BLOCKMODE, false);
+                    Some(spi_clk_cfg),
+                    Some(SPI_MODE),
+                    BLOCKMODE,
+                    true,
+                    false,
+                );
                 spi.cfg_transfer(&transfer_cfg);
             }
         }
         SpiBusSelect::SpiBPortB => {
             if let Some(ref mut spi) = *spib_ref.borrow_mut() {
                 let hw_cs_pin = pinsb.pb2.into_funsel_1();
-                let transfer_cfg = TransferConfig::new(
+                let transfer_cfg = TransferConfigWithHwcs::new(
-                    SPI_SPEED_KHZ.kHz(),
+                    Some(spi_clk_cfg),
-                    SPI_MODE,
+                    Some(SPI_MODE),
                     Some(hw_cs_pin),
                     BLOCKMODE,
+                    true,
                     false,
                 );
                 spi.cfg_transfer(&transfer_cfg);
@@ -149,92 +153,64 @@ fn main() -> ! {
         match SPI_BUS_SEL {
             SpiBusSelect::SpiAPortA | SpiBusSelect::SpiAPortB => {
                 if let Some(ref mut spi) = *spia_ref.borrow_mut() {
-                    if EXAMPLE_SEL == ExampleSelect::Loopback {
+                    // Can't really verify correct reply here.
-                        // Can't really verify correct reply here.
+                    spi.write(&[0x42]).expect("write failed");
-                        spi.write(&[0x42]).expect("write failed");
+                    // Because of the loopback mode, we should get back the fill word here.
-                        // Because of the loopback mode, we should get back the fill word here.
+                    spi.read(&mut reply_buf[0..1]).unwrap();
-                        spi.read(&mut reply_buf[0..1]).unwrap();
+                    assert_eq!(reply_buf[0], FILL_WORD);
-                        assert_eq!(reply_buf[0], FILL_WORD);
+                    delay.delay_ms(500_u32);
-                        delay.delay_ms(500_u32);
 
-                        let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
+                    let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
+                    spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
-                        assert_eq!(tx_buf, reply_buf[0..3]);
+                    assert_eq!(tx_buf, reply_buf[0..3]);
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            reply_buf[0],
+                        reply_buf[0],
-                            reply_buf[1],
+                        reply_buf[1],
-                            reply_buf[2]
+                        reply_buf[2]
-                        );
+                    );
-                        delay.delay_ms(500_u32);
+                    delay.delay_ms(500_u32);
 
-                        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
+                    let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
-                        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
+                    spi.transfer_in_place(&mut tx_rx_buf).unwrap();
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            tx_rx_buf[0],
+                        tx_rx_buf[0],
-                            tx_rx_buf[1],
+                        tx_rx_buf[1],
-                            tx_rx_buf[2]
+                        tx_rx_buf[2]
-                        );
+                    );
-                        assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
+                    assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
-                    } else {
-                        let send_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &send_buf).unwrap();
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            reply_buf[0],
-                            reply_buf[1],
-                            reply_buf[2]
-                        );
-                        delay.delay_ms(1000_u32);
-                    }
                 }
             }
             SpiBusSelect::SpiBPortB => {
                 if let Some(ref mut spi) = *spib_ref.borrow_mut() {
-                    if EXAMPLE_SEL == ExampleSelect::Loopback {
+                    // Can't really verify correct reply here.
-                        // Can't really verify correct reply here.
+                    spi.write(&[0x42]).expect("write failed");
-                        spi.write(&[0x42]).expect("write failed");
+                    // Because of the loopback mode, we should get back the fill word here.
-                        // Need small delay.. otherwise we will read back the sent byte (which we don't want here).
+                    spi.read(&mut reply_buf[0..1]).unwrap();
-                        // The write function will return as soon as all bytes were shifted out, ignoring the
+                    assert_eq!(reply_buf[0], FILL_WORD);
-                        // reply bytes.
+                    delay.delay_ms(500_u32);
-                        delay.delay_us(50);
-                        // Because of the loopback mode, we should get back the fill word here.
-                        spi.read(&mut reply_buf[0..1]).unwrap();
-                        assert_eq!(reply_buf[0], FILL_WORD);
-                        delay.delay_ms(500_u32);
 
-                        let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
+                    let tx_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
+                    spi.transfer(&mut reply_buf[0..3], &tx_buf).unwrap();
-                        assert_eq!(tx_buf, reply_buf[0..3]);
+                    assert_eq!(tx_buf, reply_buf[0..3]);
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            reply_buf[0],
+                        reply_buf[0],
-                            reply_buf[1],
+                        reply_buf[1],
-                            reply_buf[2]
+                        reply_buf[2]
-                        );
+                    );
-                        delay.delay_ms(500_u32);
+                    delay.delay_ms(500_u32);
 
-                        let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
+                    let mut tx_rx_buf: [u8; 3] = [0x03, 0x02, 0x01];
-                        spi.transfer_in_place(&mut tx_rx_buf).unwrap();
+                    spi.transfer_in_place(&mut tx_rx_buf).unwrap();
-                        rprintln!(
+                    rprintln!(
-                            "Received reply: {}, {}, {}",
+                        "Received reply: {}, {}, {}",
-                            tx_rx_buf[0],
+                        tx_rx_buf[0],
-                            tx_rx_buf[1],
+                        tx_rx_buf[1],
-                            tx_rx_buf[2]
+                        tx_rx_buf[2]
-                        );
+                    );
-                        assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
+                    assert_eq!(&tx_rx_buf[0..3], &[0x03, 0x02, 0x01]);
-                    } else {
-                        let send_buf: [u8; 3] = [0x01, 0x02, 0x03];
-                        spi.transfer(&mut reply_buf[0..3], &send_buf).unwrap();
-                        rprintln!(
-                            "Received reply: {}, {}, {}",
-                            reply_buf[0],
-                            reply_buf[1],
-                            reply_buf[2]
-                        );
-                        delay.delay_ms(1000_u32);
-                    }
                 }
             }
         }

examples/simple/examples/timer-ticks.rs

@@ -3,8 +3,8 @@
 #![no_std]
 
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
@@ -12,7 +12,9 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_tick, CountDownTimer, Event, IrqCfg, MS_COUNTER},
+    timer::{
+        default_ms_irq_handler, set_up_ms_tick, CountdownTimer, Event, InterruptConfig, MS_COUNTER,
+    },
 };
 
 #[allow(dead_code)]
@@ -65,17 +67,17 @@ fn main() -> ! {
         }
         LibType::Hal => {
             set_up_ms_tick(
-                IrqCfg::new(interrupt::OC0, true, true),
+                InterruptConfig::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);
+                CountdownTimer::new(&mut dp.sysconfig, get_sys_clock().unwrap(), dp.tim1);
             second_timer.listen(
                 Event::TimeOut,
-                IrqCfg::new(interrupt::OC1, true, true),
+                InterruptConfig::new(interrupt::OC1, true, true),
                 Some(&mut dp.irqsel),
                 Some(&mut dp.sysconfig),
             );
@@ -83,11 +85,12 @@ fn main() -> ! {
         }
     }
     loop {
-        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        let current_ms = critical_section::with(|cs| MS_COUNTER.borrow(cs).get());
         if current_ms - last_ms >= 1000 {
-            last_ms = current_ms;
+            // To prevent drift.
+            last_ms += 1000;
             rprintln!("MS counter: {}", current_ms);
-            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
+            let second = critical_section::with(|cs| SEC_COUNTER.borrow(cs).get());
             rprintln!("Second counter: {}", second);
         }
         cortex_m::asm::delay(10000);
@@ -110,7 +113,7 @@ fn OC0() {
 #[interrupt]
 #[allow(non_snake_case)]
 fn OC1() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         let mut sec = SEC_COUNTER.borrow(cs).get();
         sec += 1;
         SEC_COUNTER.borrow(cs).set(sec);

examples/simple/examples/uart-irq-rtic.rs

@@ -1,172 +0,0 @@
-//! More complex UART application
-//!
-//! Uses the IRQ capabilities of the VA10820 peripheral and the RTIC framework to poll the UART in
-//! a non-blocking way. You can send variably sized strings to the VA10820 which will be echoed
-//! back to the sender.
-//!
-//! This script was tested with an Arduino Due. You can find the test script in the
-//! [`/test/DueSerialTest`](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/test/DueSerialTest)
-//! folder.
-#![no_main]
-#![no_std]
-
-#[rtic::app(device = pac, dispatchers = [OC4])]
-mod app {
-    use embedded_io::Write;
-    use panic_rtt_target as _;
-    use rtic_monotonics::systick::Systick;
-    use rtic_sync::make_channel;
-    use rtt_target::{rprintln, rtt_init_print};
-    use va108xx_hal::{
-        gpio::PinsB,
-        pac,
-        prelude::*,
-        time::Hertz,
-        uart::{self, IrqCfg, IrqResult, UartWithIrqBase},
-    };
-
-    #[local]
-    struct Local {
-        rx_info_tx: rtic_sync::channel::Sender<'static, RxInfo, 3>,
-        rx_info_rx: rtic_sync::channel::Receiver<'static, RxInfo, 3>,
-    }
-
-    #[shared]
-    struct Shared {
-        irq_uart: UartWithIrqBase<pac::Uartb>,
-        rx_buf: [u8; 64],
-    }
-
-    #[derive(Debug, Copy, Clone)]
-    struct RxInfo {
-        pub bytes_read: usize,
-        pub end_idx: usize,
-        pub timeout: bool,
-    }
-
-    #[init]
-    fn init(cx: init::Context) -> (Shared, Local) {
-        rtt_init_print!();
-        //set_print_channel(channels.up.0);
-        rprintln!("-- VA108xx UART IRQ example application--");
-
-        // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(
-            cx.core.SYST,
-            Hertz::from(50.MHz()).raw(),
-            systick_mono_token,
-        );
-
-        let mut dp = cx.device;
-        let gpiob = PinsB::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.portb);
-        let tx = gpiob.pb21.into_funsel_1();
-        let rx = gpiob.pb20.into_funsel_1();
-
-        let irq_cfg = IrqCfg::new(pac::interrupt::OC3, true, true);
-        let (mut irq_uart, _) =
-            uart::Uart::new(&mut dp.sysconfig, 50.MHz(), dp.uartb, (tx, rx), 115200.Hz())
-                .into_uart_with_irq(irq_cfg, Some(&mut dp.sysconfig), Some(&mut dp.irqsel))
-                .downgrade();
-        irq_uart
-            .read_fixed_len_using_irq(64, true)
-            .expect("Read initialization failed");
-
-        let (rx_info_tx, rx_info_rx) = make_channel!(RxInfo, 3);
-        let rx_buf: [u8; 64] = [0; 64];
-        //reply_handler::spawn().expect("spawning reply handler failed");
-        (
-            Shared { irq_uart, rx_buf },
-            Local {
-                rx_info_tx,
-                rx_info_rx,
-            },
-        )
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        loop {
-            cortex_m::asm::nop();
-        }
-    }
-
-    #[task(
-        binds = OC3,
-        shared = [irq_uart, rx_buf],
-        local = [cnt: u32 = 0, result: IrqResult = IrqResult::new(), rx_info_tx],
-    )]
-    fn reception_task(cx: reception_task::Context) {
-        let result = cx.local.result;
-        let cnt: &mut u32 = cx.local.cnt;
-        let irq_uart = cx.shared.irq_uart;
-        let rx_buf = cx.shared.rx_buf;
-        let (completed, end_idx) = (irq_uart, rx_buf).lock(|irq_uart, rx_buf| {
-            match irq_uart.irq_handler(result, rx_buf) {
-                Ok(_) => {
-                    if result.complete() {
-                        // Initiate next transfer immediately
-                        irq_uart
-                            .read_fixed_len_using_irq(64, true)
-                            .expect("Read operation init failed");
-
-                        let mut end_idx = 0;
-                        for idx in 0..rx_buf.len() {
-                            if (rx_buf[idx] as char) == '\n' {
-                                end_idx = idx;
-                                break;
-                            }
-                        }
-                        (true, end_idx)
-                    } else {
-                        (false, 0)
-                    }
-                }
-                Err(e) => {
-                    rprintln!("reception error {:?}", e);
-                    (false, 0)
-                }
-            }
-        });
-        if completed {
-            rprintln!("counter: {}", cnt);
-            cx.local
-                .rx_info_tx
-                .try_send(RxInfo {
-                    bytes_read: result.bytes_read,
-                    end_idx,
-                    timeout: result.timeout(),
-                })
-                .expect("RX queue full");
-        }
-        *cnt += 1;
-    }
-
-    #[task(shared = [irq_uart, rx_buf], local = [rx_info_rx], priority=1)]
-    async fn reply_handler(cx: reply_handler::Context) {
-        let mut irq_uart = cx.shared.irq_uart;
-        let mut rx_buf = cx.shared.rx_buf;
-        loop {
-            match cx.local.rx_info_rx.recv().await {
-                Ok(rx_info) => {
-                    rprintln!("reception success, {} bytes read", rx_info.bytes_read);
-                    if rx_info.timeout {
-                        rprintln!("timeout occurred");
-                    }
-                    rx_buf.lock(|rx_buf| {
-                        let string = core::str::from_utf8(&rx_buf[0..rx_info.end_idx])
-                            .expect("Invalid string format");
-                        rprintln!("read string: {}", string);
-                        irq_uart.lock(|uart| {
-                            writeln!(uart.uart, "{}", string).expect("Sending reply failed");
-                        });
-                    });
-                }
-                Err(e) => {
-                    rprintln!("error receiving RX info: {:?}", e);
-                }
-            }
-        }
-    }
-}

examples/simple/examples/uart.rs

@@ -24,12 +24,18 @@ fn main() -> ! {
 
     let mut dp = pac::Peripherals::take().unwrap();
 
-    let gpioa = PinsA::new(&mut dp.sysconfig, Some(dp.ioconfig), dp.porta);
+    let gpioa = PinsA::new(&mut dp.sysconfig, dp.porta);
     let tx = gpioa.pa9.into_funsel_2();
     let rx = gpioa.pa8.into_funsel_2();
+    let uart = uart::Uart::new_without_interrupt(
+        &mut dp.sysconfig,
+        50.MHz(),
+        dp.uarta,
+        (tx, rx),
+        115200.Hz(),
+    );
 
-    let uarta = uart::Uart::new(&mut dp.sysconfig, 50.MHz(), dp.uarta, (tx, rx), 115200.Hz());
+    let (mut tx, mut rx) = uart.split();
-    let (mut tx, mut rx) = uarta.split();
     writeln!(tx, "Hello World\r").unwrap();
     loop {
         // Echo what is received on the serial link.

flashloader/.gitignore

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

flashloader/Cargo.toml

@@ -0,0 +1,35 @@
+[package]
+name = "flashloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+embedded-hal-nb = "1"
+embedded-io = "0.6"
+panic-rtt-target = "0.2"
+rtt-target = "0.6"
+num_enum = { version = "0.7", default-features = false }
+log = "0.4"
+crc = "3"
+cobs = { version = "0.3", default-features = false }
+satrs = { version = "0.2", default-features = false }
+rtt-log = "0.5"
+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 }
+# 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]
+path = "../va108xx-hal"
+
+[dependencies.vorago-reb1]
+path = "../vorago-reb1"

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 +1,475 @@
+#!/usr/bin/env python3
+from typing import List, Tuple
+from spacepackets.ecss.defs import PusService
+from spacepackets.ecss.tm import PusTm
+from tmtccmd.com import ComInterface
+import toml
+import struct
+import logging
+import argparse
+import time
+import enum
+from tmtccmd.com.serial_base import SerialCfg
+from tmtccmd.com.serial_cobs import SerialCobsComIF
+from tmtccmd.com.ser_utils import prompt_com_port
+from crcmod.predefined import PredefinedCrc
+from spacepackets.ecss.tc import PusTc
+from spacepackets.ecss.pus_verificator import PusVerificator, StatusField
+from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
+from spacepackets.seqcount import SeqCountProvider
+from pathlib import Path
+import dataclasses
+from elftools.elf.elffile import ELFFile
+
+
+BAUD_RATE = 115200
+
+BOOTLOADER_START_ADDR = 0x0
+BOOTLOADER_END_ADDR = 0x3000
+BOOTLOADER_CRC_ADDR = BOOTLOADER_END_ADDR - 2
+BOOTLOADER_MAX_SIZE = BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 2
+
+APP_A_START_ADDR = 0x3000
+APP_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()))
+        data_available = self.com_if.data_available(0.4)
+        if not data_available:
+            _LOGGER.warning("no reply received for boot image selection command")
+        for reply in self.com_if.receive():
+            result = self.verificator.add_tm(
+                Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
+            )
+            if result is not None and result.completed:
+                _LOGGER.info("received boot image selection command confirmation")
+
+    def handle_ping_cmd(self):
+        _LOGGER.info("Sending ping command")
+        ping_tc = PusTc(
+            apid=0x00,
+            service=PusService.S17_TEST,
+            subservice=1,
+            seq_count=SEQ_PROVIDER.get_and_increment(),
+            app_data=bytes(PING_PAYLOAD_SIZE),
+        )
+        self.verificator.add_tc(ping_tc)
+        self.com_if.send(bytes(ping_tc.pack()))
+
+        data_available = self.com_if.data_available(0.4)
+        if not data_available:
+            _LOGGER.warning("no ping reply received")
+        for reply in self.com_if.receive():
+            result = self.verificator.add_tm(
+                Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
+            )
+            if result is not None and result.completed:
+                _LOGGER.info("received ping completion reply")
+
+    def handle_corruption_cmd(self, target: Target):
+        if target == Target.BOOTLOADER:
+            _LOGGER.error("can not corrupt bootloader")
+        if target == Target.APP_A:
+            self.send_tc(
+                PusTc(
+                    apid=0,
+                    service=ACTION_SERVICE,
+                    subservice=ActionId.CORRUPT_APP_A,
+                ),
+            )
+        if target == Target.APP_B:
+            self.send_tc(
+                PusTc(
+                    apid=0,
+                    service=ACTION_SERVICE,
+                    subservice=ActionId.CORRUPT_APP_B,
+                ),
+            )
+
+    def handle_flash_cmd(self, target: Target, file_path: Path) -> int:
+        loadable_segments = []
+        _LOGGER.info("Parsing ELF file for loadable sections")
+        total_size = 0
+        loadable_segments, total_size = create_loadable_segments(target, file_path)
+        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 = prompt_com_port()
+    serial_cfg = SerialCfg(
+        com_if_id="ser_cobs",
+        serial_port=serial_port,
+        baud_rate=BAUD_RATE,
+        serial_timeout=0.1,
+    )
+    verificator = PusVerificator()
+    com_if = SerialCobsComIF(serial_cfg)
+    com_if.open()
+    target = None
+    if args.target == "bl":
+        target = Target.BOOTLOADER
+    elif args.target == "a":
+        target = Target.APP_A
+    elif args.target == "b":
+        target = Target.APP_B
+
+    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/ttyUSB0"

flashloader/requirements.txt

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

flashloader/slot-a-blinky/.gitignore

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

flashloader/slot-a-blinky/Cargo.toml

@@ -0,0 +1,42 @@
+[package]
+name = "slot-a-blinky"
+version = "0.1.0"
+edition = "2021"
+
+[workspace]
+
+[dependencies]
+cortex-m-rt = "0.7"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+embedded-hal = "1"
+va108xx-hal = { path = "../../va108xx-hal" }
+
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+# This is problematic for stepping..
+# opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+[profile.small]
+inherits = "release"
+codegen-units = 1
+debug-assertions = false # <-
+lto = true
+opt-level = 'z'            # <-
+overflow-checks = false  # <-
+# strip = true  # Automatically strip symbols from the binary.

flashloader/slot-a-blinky/memory.x

@@ -0,0 +1,11 @@
+/* Special linker script for application slot A with an offset at address 0x3000 */
+MEMORY
+{
+	FLASH : ORIGIN = 0x00003000, LENGTH = 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 = { path = "../../va108xx-hal" }
+
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+# This is problematic for stepping..
+# opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+[profile.small]
+inherits = "release"
+codegen-units = 1
+debug-assertions = false # <-
+lto = true
+opt-level = 'z'            # <-
+overflow-checks = false  # <-
+# strip = true  # Automatically strip symbols from the binary.

flashloader/slot-b-blinky/memory.x

@@ -0,0 +1,11 @@
+/* Special linker script for application slot B */
+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/lib.rs

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

flashloader/src/main.rs

@@ -0,0 +1,468 @@
+//! 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 num_enum::TryFromPrimitive;
+use panic_rtt_target 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)]
+#[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 panic_rtt_target as _;
+    use rtic::Mutex;
+    use rtic_monotonics::systick::prelude::*;
+    use rtt_target::rprintln;
+    use satrs::pus::verification::{FailParams, VerificationReportCreator};
+    use spacepackets::ecss::PusServiceId;
+    use spacepackets::ecss::{
+        tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
+    };
+    use va108xx_hal::gpio::PinsA;
+    use va108xx_hal::uart::IrqContextTimeoutOrMaxSize;
+    use va108xx_hal::{pac, uart, 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<pac::Uarta>,
+        uart_tx: uart::Tx<pac::Uarta>,
+        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) {
+        rtt_log::init();
+        rprintln!("-- Vorago flashloader --");
+
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+
+        let mut dp = cx.device;
+        let nvm = M95M01::new(&mut dp.sysconfig, SYSCLK_FREQ, dp.spic);
+
+        let gpioa = PinsA::new(&mut dp.sysconfig, dp.porta);
+        let tx = gpioa.pa9.into_funsel_2();
+        let rx = gpioa.pa8.into_funsel_2();
+
+        let irq_uart = uart::Uart::new_with_interrupt(
+            &mut dp.sysconfig,
+            SYSCLK_FREQ,
+            dp.uarta,
+            (tx, rx),
+            UART_BAUDRATE.Hz(),
+            InterruptConfig::new(pac::Interrupt::OC0, true, true),
+        );
+        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 {
+                    log::debug!("RX Info: {:?}", cx.local.rx_context);
+                    log::debug!("RX Result: {:?}", result);
+                }
+                if result.complete() {
+                    // Check frame validity (must have COBS format) and decode the frame.
+                    // Currently, we expect a full frame or a frame received through a timeout
+                    // to be one COBS frame. We could parse for multiple COBS packets in one
+                    // frame, but the additional complexity is not necessary here..
+                    if cx.local.rx_buf[0] == 0 && cx.local.rx_buf[result.bytes_read - 1] == 0 {
+                        let decoded_size =
+                            cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
+                        if decoded_size.is_err() {
+                            log::warn!("COBS decoding failed");
+                        } else {
+                            let decoded_size = decoded_size.unwrap();
+                            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 {
+                                log::warn!("COBS TC queue full");
+                            }
+                        }
+                    } else {
+                        log::warn!("COBS frame with invalid format, start and end bytes are not 0");
+                    }
+
+                    // Initiate next transfer.
+                    cx.local
+                        .uart_rx
+                        .read_fixed_len_or_timeout_based_using_irq(cx.local.rx_context)
+                        .expect("read operation failed");
+                }
+                if result.has_errors() {
+                    log::warn!("UART error: {:?}", result.errors.unwrap());
+                }
+            }
+            Err(e) => {
+                log::warn!("UART error: {:?}", e);
+            }
+        }
+    }
+
+    #[task(
+        priority = 2,
+        local=[
+            tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
+            readback_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
+            src_data_buf: [u8; 16] = [0; 16],
+            verif_buf: [u8; 32] = [0; 32],
+            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();
+            log::info!(target: "TC Handler", "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() {
+            log::warn!(target: "TC Handler", "PUS TC error: {}", pus_tc.unwrap_err());
+            return;
+        }
+        let (pus_tc, _) = pus_tc.unwrap();
+        let mut write_and_send = |tm: &PusTmCreator| {
+            let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
+            cx.shared.tm_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 {
+                rprintln!("corrupting App Image A");
+                corrupt_image(APP_A_START_ADDR);
+            }
+            if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
+                rprintln!("corrupting App Image B");
+                corrupt_image(APP_B_START_ADDR);
+            }
+            if pus_tc.subservice() == ActionId::SetBootSlot as u8 {
+                if pus_tc.app_data().is_empty() {
+                    log::warn!(target: "TC Handler", "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() {
+                    log::warn!("Invalid app selection value: {}", pus_tc.app_data()[0]);
+                }
+                log::info!(target: "TC Handler", "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 {
+            log::info!(target: "TC Handler", "received ping TC");
+            let tm = cx
+                .local
+                .verif_reporter
+                .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                .expect("completion success failed");
+            write_and_send(&tm);
+        } else if pus_tc.service() == PusServiceId::MemoryManagement as u8 {
+            let tm = cx
+                .local
+                .verif_reporter
+                .step_success(
+                    cx.local.src_data_buf,
+                    &started_token,
+                    0,
+                    0,
+                    &[],
+                    EcssEnumU8::new(0),
+                )
+                .expect("step success failed");
+            write_and_send(&tm);
+            // Raw memory write TC
+            if pus_tc.subservice() == 2 {
+                let app_data = pus_tc.app_data();
+                if app_data.len() < 10 {
+                    log::warn!(
+                        target: "TC Handler",
+                        "app data for raw memory write is too short: {}",
+                        app_data.len()
+                    );
+                }
+                let memory_id = app_data[0];
+                if memory_id != BOOT_NVM_MEMORY_ID {
+                    log::warn!(target: "TC Handler", "memory ID {} not supported", memory_id);
+                    // TODO: Error reporting
+                    return;
+                }
+                let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
+                let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
+                if 10 + data_len as usize > app_data.len() {
+                    log::warn!(
+                        target: "TC Handler",
+                        "invalid data length {} for raw mem write detected",
+                        data_len
+                    );
+                    // TODO: Error reporting
+                    return;
+                }
+                let data = &app_data[10..10 + data_len as usize];
+                log::info!(
+                    target: "TC Handler",
+                    "writing {} bytes at offset {} to NVM",
+                    data_len,
+                    offset
+                );
+                cx.local
+                    .nvm
+                    .write(offset as usize, data)
+                    .expect("writing to NVM failed");
+                let tm = if !cx
+                    .local
+                    .nvm
+                    .verify(offset as usize, data)
+                    .expect("NVM verification failed")
+                {
+                    log::warn!("verification of data written to NVM failed");
+                    cx.local
+                        .verif_reporter
+                        .completion_failure(
+                            cx.local.src_data_buf,
+                            started_token,
+                            0,
+                            0,
+                            FailParams::new(&[], &EcssEnumU8::new(0), &[]),
+                        )
+                        .expect("completion success failed")
+                } else {
+                    cx.local
+                        .verif_reporter
+                        .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                        .expect("completion success failed")
+                };
+                write_and_send(&tm);
+                log::info!(
+                    target: "TC Handler",
+                    "NVM operation done");
+            }
+        }
+    }
+
+    #[task(
+        priority = 1,
+        local=[
+            read_buf: [u8;MAX_TM_SIZE] = [0; MAX_TM_SIZE],
+            encoded_buf: [u8;MAX_TM_FRAME_SIZE] = [0; MAX_TM_FRAME_SIZE],
+            uart_tx,
+        ],
+        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(&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 \
+JLinkGDBServer -select USB -device Cortex-M0 -endian little -if JTAG -speed auto \
   -LocalhostOnly

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/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/Cargo.toml

@@ -0,0 +1,27 @@
+[package]
+name = "va108xx-embassy"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+critical-section = "1"
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"]}
+
+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"] }
+
+[dependencies.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"]

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/src/lib.rs

@@ -0,0 +1,416 @@
+//! # 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 only exposes the [embassy::init] method which sets 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 [embassy::init_with_custom_irqs] and [embassy::init] method.
+//!
+//! The application also requires two interrupt handlers to handle the timekeeper and alarm
+//! interrupts. By default, this library will define the interrupt handler inside the library
+//! 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::embassy_time_driver_irqs] macro to declare the IRQ handlers in the
+//! application code. If this is done, [embassy::init_with_custom_irqs] must be used
+//! method to pass the IRQ numbers to the library.
+//!
+//! ## Examples
+//!
+//! [embassy example project](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy)
+#![no_std]
+use core::cell::{Cell, RefCell};
+use critical_section::CriticalSection;
+use embassy_sync::blocking_mutex::CriticalSectionMutex as 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::interrupt;
+use va108xx_hal::{
+    clock::enable_peripheral_clock,
+    enable_nvic_interrupt, pac,
+    prelude::*,
+    timer::{enable_tim_clk, get_tim_raw, TimRegInterface},
+    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.
+///
+/// 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 [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 { $crate::embassy::time_driver().on_interrupt_timekeeping() }
+        }
+
+        const ALARM_IRQ: pac::Interrupt = pac::Interrupt::$alarm_irq;
+
+        #[interrupt]
+        #[allow(non_snake_case)]
+        fn $alarm_irq() {
+            // Safety: We call it once here.
+            unsafe { $crate::embassy::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);
+
+pub mod embassy {
+    use super::*;
+    use va108xx_hal::{pac, timer::TimRegInterface};
+
+    /// 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
+    ///
+    /// # Safety
+    ///
+    /// This has to be called once at initialization time to initiate the time driver for
+    /// embassy.
+    #[cfg(feature = "irqs-in-lib")]
+    pub unsafe fn init(
+        syscfg: &mut pac::Sysconfig,
+        irqsel: &pac::Irqsel,
+        sysclk: impl Into<Hertz>,
+        timekeeper_tim: impl TimRegInterface,
+        alarm_tim: impl TimRegInterface,
+    ) {
+        TIME_DRIVER.init(
+            syscfg,
+            irqsel,
+            sysclk,
+            timekeeper_tim,
+            alarm_tim,
+            TIMEKEEPER_IRQ,
+            ALARM_IRQ,
+        )
+    }
+
+    /// Initialization method for embassy
+    ///
+    /// # Safety
+    ///
+    /// This has to be called once at initialization time to initiate the time driver for
+    /// embassy.
+    pub unsafe fn init_with_custom_irqs(
+        syscfg: &mut pac::Sysconfig,
+        irqsel: &pac::Irqsel,
+        sysclk: impl Into<Hertz>,
+        timekeeper_tim: impl TimRegInterface,
+        alarm_tim: impl TimRegInterface,
+        timekeeper_irq: pac::Interrupt,
+        alarm_irq: pac::Interrupt,
+    ) {
+        TIME_DRIVER.init(
+            syscfg,
+            irqsel,
+            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<u8> = OnceCell::new();
+static ALARM_TIM: OnceCell<u8> = 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(
+        &self,
+        syscfg: &mut pac::Sysconfig,
+        irqsel: &pac::Irqsel,
+        sysclk: impl Into<Hertz>,
+        timekeeper_tim: impl TimRegInterface,
+        alarm_tim: impl TimRegInterface,
+        timekeeper_irq: pac::Interrupt,
+        alarm_irq: pac::Interrupt,
+    ) {
+        if ALARM_TIM.get().is_some() {
+            return;
+        }
+        ALARM_TIM.set(alarm_tim.tim_id()).ok();
+        TIMEKEEPER_TIM.set(timekeeper_tim.tim_id()).ok();
+        enable_peripheral_clock(syscfg, PeripheralSelect::Irqsel);
+        enable_tim_clk(syscfg, timekeeper_tim.tim_id());
+        let timekeeper_reg_block = timekeeper_tim.reg_block();
+        let alarm_tim_reg_block = alarm_tim.reg_block();
+        let sysclk = sysclk.into();
+        // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
+        SCALE.set((sysclk.raw() / TICK_HZ as u32) as u64).unwrap();
+        timekeeper_reg_block
+            .rst_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Decrementing counter.
+        timekeeper_reg_block
+            .cnt_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Switch on. Timekeeping should always be done.
+        irqsel
+            .tim0(timekeeper_tim.tim_id() as usize)
+            .write(|w| unsafe { w.bits(timekeeper_irq as u32) });
+        unsafe {
+            enable_nvic_interrupt(timekeeper_irq);
+        }
+        timekeeper_reg_block
+            .ctrl()
+            .modify(|_, w| w.irq_enb().set_bit());
+        timekeeper_reg_block
+            .enable()
+            .write(|w| unsafe { w.bits(1) });
+
+        enable_tim_clk(syscfg, alarm_tim.tim_id());
+
+        // Explicitely disable alarm timer until needed.
+        alarm_tim_reg_block.ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+        // Enable general interrupts. The IRQ enable of the peripheral remains cleared.
+        unsafe {
+            enable_nvic_interrupt(alarm_irq);
+        }
+        irqsel
+            .tim0(alarm_tim.tim_id() 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() -> &'static pac::tim0::RegisterBlock {
+        TIMEKEEPER_TIM
+            .get()
+            .map(|idx| unsafe { get_tim_raw(*idx as usize) })
+            .unwrap()
+    }
+    fn alarm_tim() -> &'static pac::tim0::RegisterBlock {
+        ALARM_TIM
+            .get()
+            .map(|idx| unsafe { get_tim_raw(*idx as usize) })
+            .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 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.enable().write(|w| unsafe { w.bits(0) });
+                    alarm_tim
+                        .cnt_value()
+                        .write(|w| unsafe { w.bits(remaining_ticks.unwrap() as u32) });
+                    alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                    alarm_tim.enable().write(|w| unsafe { w.bits(1) });
+                }
+            }
+        })
+    }
+
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        Self::alarm_tim().ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+
+        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 alarm_tim = Self::alarm_tim();
+        alarm_tim.ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+
+        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.rst_value().write(|w| unsafe { w.bits(u32::MAX) });
+        if timer_ticks.is_some_and(|v| v <= u32::MAX as u64) {
+            alarm_tim
+                .cnt_value()
+                .write(|w| unsafe { w.bits(timer_ticks.unwrap() as u32) });
+            alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+            alarm_tim.enable().write(|w| unsafe { w.bits(1) });
+        }
+        // If it's too far in the future, don't enable timer yet.
+        // It will be enabled later by `next_period`.
+
+        true
+    }
+}
+
+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().cnt_value().read().bits();
+
+            // Double read to protect against race conditions when the counter is overflowing.
+            period2 = self.periods.load(Ordering::Relaxed);
+            if period1 == period2 {
+                let now = (((period1 as u64) << 32) | counter_val as u64) / *SCALE.get().unwrap();
+                return now;
+            }
+        }
+    }
+
+    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());
+                }
+            }
+        })
+    }
+}

va108xx-hal/CHANGELOG.md

@@ -6,6 +6,70 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
+## [unreleased]
+
+## [v0.9.0]
+
+## 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

va108xx-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-hal"
-version = "0.7.0"
+version = "0.9.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
@@ -15,32 +15,34 @@ cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rt = "0.7"
 nb = "1"
 paste = "1"
+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 = "0.4", default-features = false, features = ["critical-section"] }
+embassy-sync = "0.6"
+
 defmt = { version = "0.3", optional = true }
-delegate = "0.12"
 
-[dependencies.va108xx]
+[target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
-version = "0.3"
+portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }
-default-features = false
+[target.'cfg(not(all(target_arch = "arm", target_os = "none")))'.dependencies]
-features = ["critical-section"]
+portable-atomic = "1"
-
-[dependencies.embedded-hal]
-version = "1"
-
-[dependencies.void]
-version = "1"
-default-features = false
-
-[dependencies.once_cell]
-version = "1.14"
-default-features = false
 
 [features]
 default = ["rt"]
 rt = ["va108xx/rt"]
+defmt = ["dep:defmt", "fugit/defmt"]
 
 [package.metadata.docs.rs]
 all-features = true

va108xx-hal/README.md

@@ -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
@@ -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

@@ -11,6 +11,7 @@ static SYS_CLOCK: Mutex<OnceCell<Hertz>> = Mutex::new(OnceCell::new());
 pub type PeripheralClocks = PeripheralSelect;
 
 #[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FilterClkSel {
     SysClk = 0,
     Clk1 = 1,
@@ -39,13 +40,27 @@ 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::Clk1 => {
-        FilterClkSel::Clk2 => syscfg.ioconfig_clkdiv2().write(|w| unsafe { w.bits(div) }),
+            syscfg.ioconfig_clkdiv1().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::Clk2 => {
-        FilterClkSel::Clk5 => syscfg.ioconfig_clkdiv5().write(|w| unsafe { w.bits(div) }),
+            syscfg.ioconfig_clkdiv2().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::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) });
+        }
     }
 }
 

va108xx-hal/src/gpio/asynch.rs

@@ -0,0 +1,449 @@
+//! # Async GPIO functionality for the VA108xx family.
+//!
+//! This module provides the [InputPinAsync] and [InputDynPinAsync] which both implement
+//! the [embedded_hal_async::digital::Wait] trait. These types allow for asynchronous waiting
+//! on GPIO pins. Please note that this module does not specify/declare the interrupt handlers
+//! which must be provided for async support to work. However, it provides one generic
+//! [handler][on_interrupt_for_asynch_gpio] which should be called in ALL user interrupt handlers
+//! which handle GPIO interrupts.
+//!
+//! # Example
+//!
+//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-gpio.rs)
+use core::future::Future;
+
+use embassy_sync::waitqueue::AtomicWaker;
+use embedded_hal::digital::InputPin;
+use embedded_hal_async::digital::Wait;
+use portable_atomic::AtomicBool;
+use va108xx::{self as pac, Irqsel, Sysconfig};
+
+use crate::InterruptConfig;
+
+use super::{
+    pin, DynGroup, DynPin, DynPinId, InputConfig, InterruptEdge, InvalidPinTypeError, Pin, PinId,
+    NUM_GPIO_PINS, NUM_PINS_PORT_A,
+};
+
+static WAKERS: [AtomicWaker; NUM_GPIO_PINS] = [const { AtomicWaker::new() }; NUM_GPIO_PINS];
+static EDGE_DETECTION: [AtomicBool; NUM_GPIO_PINS] =
+    [const { AtomicBool::new(false) }; NUM_GPIO_PINS];
+
+#[inline]
+fn pin_id_to_offset(dyn_pin_id: DynPinId) -> usize {
+    match dyn_pin_id.group {
+        DynGroup::A => dyn_pin_id.num as usize,
+        DynGroup::B => NUM_PINS_PORT_A + dyn_pin_id.num as usize,
+    }
+}
+
+/// Generic interrupt handler for GPIO interrupts to support the async functionalities.
+///
+/// This handler will wake the correspoding wakers for the pins which triggered an interrupt
+/// as well as updating the static edge detection structures. This allows the pin future to
+/// complete async operations. The user should call this function in ALL interrupt handlers
+/// which handle any GPIO interrupts.
+#[inline]
+pub fn on_interrupt_for_asynch_gpio() {
+    let periphs = unsafe { pac::Peripherals::steal() };
+
+    handle_interrupt_for_gpio_and_port(
+        periphs.porta.irq_enb().read().bits(),
+        periphs.porta.edge_status().read().bits(),
+        0,
+    );
+    handle_interrupt_for_gpio_and_port(
+        periphs.portb.irq_enb().read().bits(),
+        periphs.portb.edge_status().read().bits(),
+        NUM_PINS_PORT_A,
+    );
+}
+
+// Uses the enabled interrupt register and the persistent edge status to capture all GPIO events.
+#[inline]
+fn handle_interrupt_for_gpio_and_port(mut irq_enb: u32, edge_status: u32, pin_base_offset: usize) {
+    while irq_enb != 0 {
+        let bit_pos = irq_enb.trailing_zeros() as usize;
+        let bit_mask = 1 << bit_pos;
+
+        WAKERS[pin_base_offset + bit_pos].wake();
+
+        if edge_status & bit_mask != 0 {
+            EDGE_DETECTION[pin_base_offset + bit_pos]
+                .store(true, core::sync::atomic::Ordering::Relaxed);
+        }
+
+        // Clear the processed bit
+        irq_enb &= !bit_mask;
+    }
+}
+
+/// Input pin future which implements the [Future] trait.
+///
+/// Generally, you want to use the [InputPinAsync] or [InputDynPinAsync] types instead of this
+/// which also implements the [embedded_hal_async::digital::Wait] trait. However, access to this
+/// struture is granted  to allow writing custom async structures.
+pub struct InputPinFuture {
+    pin_id: DynPinId,
+}
+
+impl InputPinFuture {
+    /// # Safety
+    ///
+    /// This calls [Self::new_with_dyn_pin] but uses [pac::Peripherals::steal] to get the system configuration
+    /// and IRQ selection peripherals. Users must ensure that the registers and configuration
+    /// related to this input pin are not being used elsewhere concurrently.
+    pub unsafe fn new_unchecked_with_dyn_pin(
+        pin: &mut DynPin,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+    ) -> Result<Self, InvalidPinTypeError> {
+        let mut periphs = pac::Peripherals::steal();
+        Self::new_with_dyn_pin(pin, irq, edge, &mut periphs.sysconfig, &mut periphs.irqsel)
+    }
+
+    pub fn new_with_dyn_pin(
+        pin: &mut DynPin,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+        sys_cfg: &mut Sysconfig,
+        irq_sel: &mut Irqsel,
+    ) -> Result<Self, InvalidPinTypeError> {
+        if !pin.is_input_pin() {
+            return Err(InvalidPinTypeError(pin.mode()));
+        }
+
+        EDGE_DETECTION[pin_id_to_offset(pin.id())]
+            .store(false, core::sync::atomic::Ordering::Relaxed);
+        pin.interrupt_edge(
+            edge,
+            InterruptConfig::new(irq, true, true),
+            Some(sys_cfg),
+            Some(irq_sel),
+        )
+        .unwrap();
+        Ok(Self { pin_id: pin.id() })
+    }
+
+    /// # Safety
+    ///
+    /// This calls [Self::new_with_pin] but uses [pac::Peripherals::steal] to get the system configuration
+    /// and IRQ selection peripherals. Users must ensure that the registers and configuration
+    /// related to this input pin are not being used elsewhere concurrently.
+    pub unsafe fn new_unchecked_with_pin<I: PinId, C: InputConfig>(
+        pin: &mut Pin<I, pin::Input<C>>,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+    ) -> Self {
+        let mut periphs = pac::Peripherals::steal();
+        Self::new_with_pin(pin, irq, edge, &mut periphs.sysconfig, &mut periphs.irqsel)
+    }
+
+    pub fn new_with_pin<I: PinId, C: InputConfig>(
+        pin: &mut Pin<I, pin::Input<C>>,
+        irq: pac::Interrupt,
+        edge: InterruptEdge,
+        sys_cfg: &mut Sysconfig,
+        irq_sel: &mut Irqsel,
+    ) -> Self {
+        EDGE_DETECTION[pin_id_to_offset(pin.id())]
+            .store(false, core::sync::atomic::Ordering::Relaxed);
+        pin.configure_edge_interrupt(
+            edge,
+            InterruptConfig::new(irq, true, true),
+            Some(sys_cfg),
+            Some(irq_sel),
+        );
+        Self { pin_id: pin.id() }
+    }
+}
+
+impl Drop for InputPinFuture {
+    fn drop(&mut self) {
+        let periphs = unsafe { pac::Peripherals::steal() };
+        if self.pin_id.group == DynGroup::A {
+            periphs
+                .porta
+                .irq_enb()
+                .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id.num)) });
+        } else {
+            periphs
+                .porta
+                .irq_enb()
+                .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << self.pin_id.num)) });
+        }
+    }
+}
+
+impl Future for InputPinFuture {
+    type Output = ();
+    fn poll(
+        self: core::pin::Pin<&mut Self>,
+        cx: &mut core::task::Context<'_>,
+    ) -> core::task::Poll<Self::Output> {
+        let idx = pin_id_to_offset(self.pin_id);
+        WAKERS[idx].register(cx.waker());
+        if EDGE_DETECTION[idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
+            return core::task::Poll::Ready(());
+        }
+        core::task::Poll::Pending
+    }
+}
+
+pub struct InputDynPinAsync {
+    pin: DynPin,
+    irq: pac::Interrupt,
+}
+
+impl InputDynPinAsync {
+    /// Create a new asynchronous input pin from a [DynPin]. The interrupt ID to be used must be
+    /// passed as well and is used to route and enable the interrupt.
+    ///
+    /// Please note that the interrupt handler itself must be provided by the user and the
+    /// generic [on_interrupt_for_asynch_gpio] function must be called inside that function for
+    /// the asynchronous functionality to work.
+    pub fn new(pin: DynPin, irq: pac::Interrupt) -> Result<Self, InvalidPinTypeError> {
+        if !pin.is_input_pin() {
+            return Err(InvalidPinTypeError(pin.mode()));
+        }
+        Ok(Self { pin, irq })
+    }
+
+    /// Asynchronously wait until the pin is high.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_high(&mut self) {
+        let fut = unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+            .unwrap()
+        };
+        if self.pin.is_high().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin is low.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_low(&mut self) {
+        let fut = unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+            .unwrap()
+        };
+        if self.pin.is_low().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin sees a falling edge.
+    pub async fn wait_for_falling_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+            .unwrap()
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees a rising edge.
+    pub async fn wait_for_rising_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+            .unwrap()
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees any edge (either rising or falling).
+    pub async fn wait_for_any_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_dyn_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::BothEdges,
+            )
+            .unwrap()
+        }
+        .await;
+    }
+
+    pub fn release(self) -> DynPin {
+        self.pin
+    }
+}
+
+impl embedded_hal::digital::ErrorType for InputDynPinAsync {
+    type Error = core::convert::Infallible;
+}
+
+impl Wait for InputDynPinAsync {
+    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_high().await;
+        Ok(())
+    }
+
+    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_low().await;
+        Ok(())
+    }
+
+    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_rising_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_falling_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_any_edge().await;
+        Ok(())
+    }
+}
+
+pub struct InputPinAsync<I: PinId, C: InputConfig> {
+    pin: Pin<I, pin::Input<C>>,
+    irq: pac::Interrupt,
+}
+
+impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
+    /// Create a new asynchronous input pin from a typed [Pin]. The interrupt ID to be used must be
+    /// passed as well and is used to route and enable the interrupt.
+    ///
+    /// Please note that the interrupt handler itself must be provided by the user and the
+    /// generic [on_interrupt_for_asynch_gpio] function must be called inside that function for
+    /// the asynchronous functionality to work.
+    pub fn new(pin: Pin<I, pin::Input<C>>, irq: pac::Interrupt) -> Self {
+        Self { pin, irq }
+    }
+
+    /// Asynchronously wait until the pin is high.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_high(&mut self) {
+        let fut = unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+        };
+        if self.pin.is_high().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin is low.
+    ///
+    /// This returns immediately if the pin is already high.
+    pub async fn wait_for_low(&mut self) {
+        let fut = unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+        };
+        if self.pin.is_low().unwrap() {
+            return;
+        }
+        fut.await;
+    }
+
+    /// Asynchronously wait until the pin sees falling edge.
+    pub async fn wait_for_falling_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::HighToLow,
+            )
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees rising edge.
+    pub async fn wait_for_rising_edge(&mut self) {
+        unsafe {
+            // Unwrap okay, checked pin in constructor.
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::LowToHigh,
+            )
+        }
+        .await;
+    }
+
+    /// Asynchronously wait until the pin sees any edge (either rising or falling).
+    pub async fn wait_for_any_edge(&mut self) {
+        unsafe {
+            InputPinFuture::new_unchecked_with_pin(
+                &mut self.pin,
+                self.irq,
+                InterruptEdge::BothEdges,
+            )
+        }
+        .await;
+    }
+
+    pub fn release(self) -> Pin<I, pin::Input<C>> {
+        self.pin
+    }
+}
+impl<I: PinId, C: InputConfig> embedded_hal::digital::ErrorType for InputPinAsync<I, C> {
+    type Error = core::convert::Infallible;
+}
+
+impl<I: PinId, C: InputConfig> Wait for InputPinAsync<I, C> {
+    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_high().await;
+        Ok(())
+    }
+
+    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_low().await;
+        Ok(())
+    }
+
+    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_rising_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_falling_edge().await;
+        Ok(())
+    }
+
+    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+        self.wait_for_any_edge().await;
+        Ok(())
+    }
+}

va108xx-hal/src/gpio/dynpin.rs

@@ -59,8 +59,9 @@
 use super::{
     pin::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
     reg::RegisterInterface,
+    InputDynPinAsync,
 };
-use crate::{clock::FilterClkSel, pac, FunSel, IrqCfg};
+use crate::{clock::FilterClkSel, enable_nvic_interrupt, pac, FunSel, InterruptConfig};
 
 //==================================================================================================
 //  DynPinMode configurations
@@ -68,6 +69,7 @@ use crate::{clock::FilterClkSel, pac, FunSel, IrqCfg};
 
 /// Value-level `enum` for disabled configurations
 #[derive(PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum DynDisabled {
     Floating,
     PullDown,
@@ -75,7 +77,8 @@ pub enum DynDisabled {
 }
 
 /// Value-level `enum` for input configurations
-#[derive(PartialEq, Eq, Clone, Copy)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum DynInput {
     Floating,
     PullDown,
@@ -83,7 +86,8 @@ pub enum DynInput {
 }
 
 /// Value-level `enum` for output configurations
-#[derive(PartialEq, Eq, Clone, Copy)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum DynOutput {
     PushPull,
     OpenDrain,
@@ -101,9 +105,10 @@ pub type DynAlternate = FunSel;
 ///
 /// [`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)]
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct InvalidPinTypeError;
+#[error("Invalid pin type for operation: {0:?}")]
+pub struct InvalidPinTypeError(pub DynPinMode);
 
 impl embedded_hal::digital::Error for InvalidPinTypeError {
     fn kind(&self) -> embedded_hal::digital::ErrorKind {
@@ -116,7 +121,8 @@ impl embedded_hal::digital::Error for InvalidPinTypeError {
 //==================================================================================================
 
 /// Value-level `enum` representing pin modes
-#[derive(PartialEq, Eq, Clone, Copy)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum DynPinMode {
     Input(DynInput),
     Output(DynOutput),
@@ -151,14 +157,16 @@ pub const DYN_ALT_FUNC_3: DynPinMode = DynPinMode::Alternate(DynAlternate::Sel3)
 //==================================================================================================
 
 /// Value-level `enum` for pin groups
-#[derive(PartialEq, Eq, Clone, Copy)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum DynGroup {
     A,
     B,
 }
 
 /// Value-level `struct` representing pin IDs
-#[derive(PartialEq, Eq, Clone, Copy)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct DynPinId {
     pub group: DynGroup,
     pub num: u8,
@@ -172,16 +180,15 @@ pub struct DynPinId {
 ///
 /// This `struct` takes ownership of a [`DynPinId`] and provides an API to
 /// access the corresponding regsiters.
-struct DynRegisters {
+#[derive(Debug)]
-    id: DynPinId,
+pub(crate) struct DynRegisters(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
+        self.0
     }
 }
 
@@ -194,7 +201,7 @@ impl DynRegisters {
     /// the same [`DynPinId`]
     #[inline]
     unsafe fn new(id: DynPinId) -> Self {
-        DynRegisters { id }
+        DynRegisters(id)
     }
 }
 
@@ -206,8 +213,9 @@ impl DynRegisters {
 ///
 /// 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.
+#[derive(Debug)]
 pub struct DynPin {
-    regs: DynRegisters,
+    pub(crate) regs: DynRegisters,
     mode: DynPinMode,
 }
 
@@ -220,7 +228,7 @@ impl DynPin {
     /// 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 {
+    pub(crate) unsafe fn new(id: DynPinId, mode: DynPinMode) -> Self {
         DynPin {
             regs: DynRegisters::new(id),
             mode,
@@ -230,7 +238,7 @@ impl DynPin {
     /// Return a copy of the pin ID
     #[inline]
     pub fn id(&self) -> DynPinId {
-        self.regs.id
+        self.regs.0
     }
 
     /// Return a copy of the pin mode
@@ -249,6 +257,11 @@ impl DynPin {
         }
     }
 
+    #[inline]
+    pub fn is_input_pin(&self) -> bool {
+        matches!(self.mode, DynPinMode::Input(_))
+    }
+
     #[inline]
     pub fn into_funsel_1(&mut self) {
         self.into_mode(DYN_ALT_FUNC_1);
@@ -306,7 +319,72 @@ impl DynPin {
         self.into_mode(DYN_RD_OPEN_DRAIN_OUTPUT);
     }
 
-    common_reg_if_functions!();
+    #[inline]
+    pub fn datamask(&self) -> bool {
+        self.regs.datamask()
+    }
+
+    #[inline]
+    pub fn clear_datamask(&mut self) {
+        self.regs.clear_datamask();
+    }
+
+    #[inline]
+    pub fn set_datamask(&mut self) {
+        self.regs.set_datamask();
+    }
+
+    #[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)
+    }
+
+    pub(crate) fn irq_enb(
+        &mut self,
+        irq_cfg: crate::InterruptConfig,
+        syscfg: Option<&mut va108xx::Sysconfig>,
+        irqsel: Option<&mut va108xx::Irqsel>,
+    ) {
+        if let Some(syscfg) = syscfg {
+            crate::clock::enable_peripheral_clock(syscfg, crate::clock::PeripheralClocks::Irqsel);
+        }
+        self.regs.enable_irq();
+        if let Some(irqsel) = irqsel {
+            if irq_cfg.route {
+                match self.regs.id().group {
+                    // Set the correct interrupt number in the IRQSEL register
+                    DynGroup::A => {
+                        irqsel
+                            .porta0(self.regs.id().num as usize)
+                            .write(|w| unsafe { w.bits(irq_cfg.id as u32) });
+                    }
+                    DynGroup::B => {
+                        irqsel
+                            .portb0(self.regs.id().num as usize)
+                            .write(|w| unsafe { w.bits(irq_cfg.id as u32) });
+                    }
+                }
+            }
+        }
+        if irq_cfg.enable_in_nvic {
+            unsafe { enable_nvic_interrupt(irq_cfg.id) };
+        }
+    }
 
     /// See p.53 of the programmers guide for more information.
     /// Possible delays in clock cycles:
@@ -320,74 +398,77 @@ impl DynPin {
                 self.regs.delay(delay_1, delay_2);
                 Ok(self)
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
     /// See p.52 of the programmers guide for more information.
     /// When configured for pulse mode, a given pin will set the non-default state for exactly
     /// one clock cycle before returning to the configured default state
+    #[inline]
     pub fn pulse_mode(
-        self,
+        &mut self,
         enable: bool,
         default_state: PinState,
-    ) -> Result<Self, InvalidPinTypeError> {
+    ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Output(_) => {
                 self.regs.pulse_mode(enable, default_state);
-                Ok(self)
+                Ok(())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
     /// See p.37 and p.38 of the programmers guide for more information.
     #[inline]
     pub fn filter_type(
-        self,
+        &mut self,
         filter: FilterType,
         clksel: FilterClkSel,
-    ) -> Result<Self, InvalidPinTypeError> {
+    ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Input(_) => {
                 self.regs.filter_type(filter, clksel);
-                Ok(self)
+                Ok(())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
+    #[inline]
     pub fn interrupt_edge(
-        mut self,
+        &mut self,
         edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
+        irq_cfg: InterruptConfig,
         syscfg: Option<&mut pac::Sysconfig>,
         irqsel: Option<&mut pac::Irqsel>,
-    ) -> Result<Self, InvalidPinTypeError> {
+    ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Input(_) | DynPinMode::Output(_) => {
                 self.regs.interrupt_edge(edge_type);
                 self.irq_enb(irq_cfg, syscfg, irqsel);
-                Ok(self)
+                Ok(())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
+    #[inline]
     pub fn interrupt_level(
-        mut self,
+        &mut self,
         level_type: InterruptLevel,
-        irq_cfg: IrqCfg,
+        irq_cfg: InterruptConfig,
         syscfg: Option<&mut pac::Sysconfig>,
         irqsel: Option<&mut pac::Irqsel>,
-    ) -> Result<Self, InvalidPinTypeError> {
+    ) -> Result<(), InvalidPinTypeError> {
         match self.mode {
             DynPinMode::Input(_) | DynPinMode::Output(_) => {
                 self.regs.interrupt_level(level_type);
                 self.irq_enb(irq_cfg, syscfg, irqsel);
-                Ok(self)
+                Ok(())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
@@ -398,7 +479,7 @@ impl DynPin {
                 self.regs.toggle();
                 Ok(())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
@@ -408,7 +489,7 @@ impl DynPin {
             DynPinMode::Input(_) | DYN_RD_OPEN_DRAIN_OUTPUT | DYN_RD_PUSH_PULL_OUTPUT => {
                 Ok(self.regs.read_pin())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
     #[inline]
@@ -418,7 +499,7 @@ impl DynPin {
                 self.regs.write_pin(bit);
                 Ok(())
             }
-            _ => Err(InvalidPinTypeError),
+            _ => Err(InvalidPinTypeError(self.mode)),
         }
     }
 
@@ -438,6 +519,30 @@ impl DynPin {
     fn _set_high(&mut self) -> Result<(), InvalidPinTypeError> {
         self._write(true)
     }
+
+    /// Try to recreate a type-level [`Pin`] from a value-level [`DynPin`]
+    ///
+    /// There is no way for the compiler to know if the conversion will be
+    /// successful at compile-time. We must verify the conversion at run-time
+    /// or refuse to perform it.
+    #[inline]
+    pub fn upgrade<I: PinId, M: PinMode>(self) -> Result<Pin<I, M>, InvalidPinTypeError> {
+        if self.regs.0 == I::DYN && self.mode == M::DYN {
+            // The `DynPin` is consumed, so it is safe to replace it with the
+            // corresponding `Pin`
+            return Ok(unsafe { Pin::new() });
+        }
+        Err(InvalidPinTypeError(self.mode))
+    }
+
+    /// Convert the pin into an async pin. The pin can be converted back by calling
+    /// [InputDynPinAsync::release]
+    pub fn into_async_input(
+        self,
+        irq: crate::pac::Interrupt,
+    ) -> Result<InputDynPinAsync, InvalidPinTypeError> {
+        InputDynPinAsync::new(self, irq)
+    }
 }
 
 //==================================================================================================
@@ -448,10 +553,8 @@ 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 {
+    fn from(pin: Pin<I, M>) -> Self {
-        // The `Pin` is consumed, so it is safe to replace it with the
+        pin.downgrade()
-        // corresponding `DynPin`
-        unsafe { DynPin::new(I::DYN, M::DYN) }
     }
 }
 
@@ -465,13 +568,7 @@ impl<I: PinId, M: PinMode> TryFrom<DynPin> for Pin<I, M> {
     /// 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 {
+        pin.upgrade()
-            // The `DynPin` is consumed, so it is safe to replace it with the
-            // corresponding `Pin`
-            Ok(unsafe { Self::new() })
-        } else {
-            Err(InvalidPinTypeError)
-        }
     }
 }
 
@@ -506,10 +603,12 @@ impl embedded_hal::digital::InputPin for DynPin {
 }
 
 impl embedded_hal::digital::StatefulOutputPin for DynPin {
+    #[inline]
     fn is_set_high(&mut self) -> Result<bool, Self::Error> {
         self._is_high()
     }
 
+    #[inline]
     fn is_set_low(&mut self) -> Result<bool, Self::Error> {
         self._is_low()
     }

va108xx-hal/src/gpio/mod.rs

@@ -22,84 +22,14 @@
 //!
 //! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
 
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[error("The pin is masked")]
 pub struct IsMaskedError;
 
-macro_rules! common_reg_if_functions {
+pub const NUM_PINS_PORT_A: usize = 32;
-    () => {
+pub const NUM_PINS_PORT_B: usize = 24;
-        paste::paste!(
+pub const NUM_GPIO_PINS: usize = NUM_PINS_PORT_A + NUM_PINS_PORT_B;
-            #[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 dynpin;
 pub use dynpin::*;
@@ -107,4 +37,7 @@ pub use dynpin::*;
 pub mod pin;
 pub use pin::*;
 
+pub mod asynch;
+pub use asynch::*;
+
 mod reg;

va108xx-hal/src/gpio/pin.rs

@@ -72,10 +72,11 @@
 //! and [`StatefulOutputPin`].
 use super::dynpin::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
 use super::reg::RegisterInterface;
+use super::{DynPin, InputPinAsync};
 use crate::{
     pac::{Irqsel, Porta, Portb, Sysconfig},
     typelevel::Sealed,
-    IrqCfg,
+    InterruptConfig,
 };
 use core::convert::Infallible;
 use core::marker::PhantomData;
@@ -118,8 +119,11 @@ pub trait InputConfig: Sealed {
     const DYN: DynInput;
 }
 
+#[derive(Debug)]
 pub enum Floating {}
+#[derive(Debug)]
 pub enum PullDown {}
+#[derive(Debug)]
 pub enum PullUp {}
 
 impl InputConfig for Floating {
@@ -147,6 +151,7 @@ pub type InputPullUp = Input<PullUp>;
 ///
 /// Type `C` is one of three input configurations: [`Floating`], [`PullDown`] or
 /// [`PullUp`]
+#[derive(Debug)]
 pub struct Input<C: InputConfig> {
     cfg: PhantomData<C>,
 }
@@ -176,13 +181,17 @@ pub trait OutputConfig: Sealed {
 pub trait ReadableOutput: Sealed {}
 
 /// Type-level variant of [`OutputConfig`] for a push-pull configuration
+#[derive(Debug)]
 pub enum PushPull {}
 /// Type-level variant of [`OutputConfig`] for an open drain configuration
+#[derive(Debug)]
 pub enum OpenDrain {}
 
 /// Type-level variant of [`OutputConfig`] for a readable push-pull configuration
+#[derive(Debug)]
 pub enum ReadablePushPull {}
 /// Type-level variant of [`OutputConfig`] for a readable open-drain configuration
+#[derive(Debug)]
 pub enum ReadableOpenDrain {}
 
 impl Sealed for PushPull {}
@@ -209,6 +218,7 @@ impl OutputConfig for ReadableOpenDrain {
 ///
 /// Type `C` is one of four output configurations: [`PushPull`], [`OpenDrain`] or
 /// their respective readable versions
+#[derive(Debug)]
 pub struct Output<C: OutputConfig> {
     cfg: PhantomData<C>,
 }
@@ -303,6 +313,7 @@ macro_rules! pin_id {
         // Need paste macro to use ident in doc attribute
         paste! {
             #[doc = "Pin ID representing pin " $Id]
+            #[derive(Debug)]
             pub enum $Id {}
             impl Sealed for $Id {}
             impl PinId for $Id {
@@ -320,10 +331,10 @@ macro_rules! pin_id {
 //==================================================================================================
 
 /// A type-level GPIO pin, parameterized by [PinId] and [PinMode] types
-
+#[derive(Debug)]
 pub struct Pin<I: PinId, M: PinMode> {
-    pub(in crate::gpio) regs: Registers<I>,
+    inner: DynPin,
-    mode: PhantomData<M>,
+    phantom: PhantomData<(I, M)>,
 }
 
 impl<I: PinId, M: PinMode> Pin<I, M> {
@@ -337,18 +348,22 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
     #[inline]
     pub(crate) unsafe fn new() -> Pin<I, M> {
         Pin {
-            regs: Registers::new(),
+            inner: DynPin::new(I::DYN, M::DYN),
-            mode: PhantomData,
+            phantom: PhantomData,
         }
     }
 
+    pub fn id(&self) -> DynPinId {
+        self.inner.id()
+    }
+
     /// 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>();
+            self.inner.regs.change_mode(N::DYN);
         }
         // Safe because we drop the existing Pin
         unsafe { Pin::new() }
@@ -408,31 +423,78 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
         self.into_mode()
     }
 
-    common_reg_if_functions!();
+    #[inline]
+    pub fn datamask(&self) -> bool {
+        self.inner.datamask()
+    }
+
+    #[inline]
+    pub fn clear_datamask(&mut self) {
+        self.inner.clear_datamask()
+    }
+
+    #[inline]
+    pub fn set_datamask(&mut self) {
+        self.inner.set_datamask()
+    }
+
+    #[inline]
+    pub fn is_high_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
+        self.inner.is_high_masked()
+    }
+
+    #[inline]
+    pub fn is_low_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
+        self.inner.is_low_masked()
+    }
+
+    #[inline]
+    pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
+        self.inner.set_high_masked()
+    }
+
+    #[inline]
+    pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
+        self.inner.set_low_masked()
+    }
+
+    #[inline]
+    pub fn downgrade(self) -> DynPin {
+        self.inner
+    }
+
+    fn irq_enb(
+        &mut self,
+        irq_cfg: crate::InterruptConfig,
+        syscfg: Option<&mut va108xx::Sysconfig>,
+        irqsel: Option<&mut va108xx::Irqsel>,
+    ) {
+        self.inner.irq_enb(irq_cfg, syscfg, irqsel);
+    }
 
     #[inline]
     pub(crate) fn _set_high(&mut self) {
-        self.regs.write_pin(true)
+        self.inner.regs.write_pin(true)
     }
 
     #[inline]
     pub(crate) fn _set_low(&mut self) {
-        self.regs.write_pin(false)
+        self.inner.regs.write_pin(false)
     }
 
     #[inline]
     pub(crate) fn _toggle_with_toggle_reg(&mut self) {
-        self.regs.toggle();
+        self.inner.regs.toggle();
     }
 
     #[inline]
     pub(crate) fn _is_low(&self) -> bool {
-        !self.regs.read_pin()
+        !self.inner.regs.read_pin()
     }
 
     #[inline]
     pub(crate) fn _is_high(&self) -> bool {
-        self.regs.read_pin()
+        self.inner.regs.read_pin()
     }
 }
 
@@ -524,28 +586,32 @@ impl<P: AnyPin> AsMut<P> for SpecificPin<P> {
 //==================================================================================================
 
 impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
-    pub fn interrupt_edge(
+    /// Convert the pin into an async pin. The pin can be converted back by calling
-        mut self,
+    /// [InputPinAsync::release]
-        edge_type: InterruptEdge,
+    pub fn into_async_input(self, irq: crate::pac::Interrupt) -> InputPinAsync<I, C> {
-        irq_cfg: IrqCfg,
+        InputPinAsync::new(self, irq)
-        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(
+    pub fn configure_edge_interrupt(
-        mut self,
+        &mut self,
-        level_type: InterruptLevel,
+        edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
+        irq_cfg: InterruptConfig,
         syscfg: Option<&mut Sysconfig>,
         irqsel: Option<&mut Irqsel>,
-    ) -> Self {
+    ) {
-        self.regs.interrupt_level(level_type);
+        self.inner.regs.interrupt_edge(edge_type);
+        self.irq_enb(irq_cfg, syscfg, irqsel);
+    }
+
+    pub fn configure_level_interrupt(
+        &mut self,
+        level_type: InterruptLevel,
+        irq_cfg: InterruptConfig,
+        syscfg: Option<&mut Sysconfig>,
+        irqsel: Option<&mut Irqsel>,
+    ) {
+        self.inner.regs.interrupt_level(level_type);
         self.irq_enb(irq_cfg, syscfg, irqsel);
-        self
     }
 }
 
@@ -557,7 +623,7 @@ impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
     ///  - 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.inner.regs.delay(delay_1, delay_2);
         self
     }
 
@@ -569,42 +635,38 @@ impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
     /// 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 {
+    pub fn pulse_mode(&mut self, enable: bool, default_state: PinState) {
-        self.regs.pulse_mode(enable, default_state);
+        self.inner.regs.pulse_mode(enable, default_state);
-        self
     }
 
     pub fn interrupt_edge(
-        mut self,
+        &mut self,
         edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
+        irq_cfg: InterruptConfig,
         syscfg: Option<&mut Sysconfig>,
         irqsel: Option<&mut Irqsel>,
-    ) -> Self {
+    ) {
-        self.regs.interrupt_edge(edge_type);
+        self.inner.regs.interrupt_edge(edge_type);
         self.irq_enb(irq_cfg, syscfg, irqsel);
-        self
     }
 
     pub fn interrupt_level(
-        mut self,
+        &mut self,
         level_type: InterruptLevel,
-        irq_cfg: IrqCfg,
+        irq_cfg: InterruptConfig,
         syscfg: Option<&mut Sysconfig>,
         irqsel: Option<&mut Irqsel>,
-    ) -> Self {
+    ) {
-        self.regs.interrupt_level(level_type);
+        self.inner.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 {
+    pub fn configure_filter_type(&mut self, filter: FilterType, clksel: FilterClkSel) {
-        self.regs.filter_type(filter, clksel);
+        self.inner.regs.filter_type(filter, clksel);
-        self
     }
 }
 
@@ -680,47 +742,6 @@ where
     }
 }
 
-//==================================================================================================
-//  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
 //==================================================================================================
@@ -731,8 +752,8 @@ macro_rules! pins {
     ) => {
         paste!(
             /// Collection of all the individual [`Pin`]s for a given port (PORTA or PORTB)
+            #[derive(Debug)]
             pub struct $PinsName {
-                iocfg: Option<va108xx::Ioconfig>,
                 port: $Port,
                 $(
                     #[doc = "Pin " $Id]
@@ -747,7 +768,6 @@ macro_rules! pins {
                 #[inline]
                 pub fn new(
                     syscfg: &mut va108xx::Sysconfig,
-                    iocfg: Option<va108xx::Ioconfig>,
                     port: $Port
                 ) -> $PinsName {
                     syscfg.peripheral_clk_enable().modify(|_, w| {
@@ -756,7 +776,7 @@ macro_rules! pins {
                         w.ioconfig().set_bit()
                     });
                     $PinsName {
-                        iocfg,
+                        //iocfg,
                         port,
                         // Safe because we only create one `Pin` per `PinId`
                         $(
@@ -773,8 +793,8 @@ macro_rules! pins {
                 }
 
                 /// Consumes the Pins struct and returns the port definitions
-                pub fn release(self) -> (Option<va108xx::Ioconfig>, $Port) {
+                pub fn release(self) -> $Port {
-                    (self.iocfg, self.port)
+                    self.port
                 }
             }
         );

va108xx-hal/src/gpio/reg.rs

@@ -73,13 +73,6 @@ impl From<DynPinMode> for ModeFields {
 //==================================================================================================
 
 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
 ///
@@ -293,7 +286,7 @@ pub(super) unsafe trait RegisterInterface {
 
     /// Only useful for input pins
     #[inline]
-    fn filter_type(&self, filter: FilterType, clksel: FilterClkSel) {
+    fn filter_type(&mut self, filter: FilterType, clksel: FilterClkSel) {
         self.iocfg_port().modify(|_, w| {
             // Safety: Only write to register for this Pin ID
             unsafe {
@@ -311,7 +304,7 @@ pub(super) unsafe trait RegisterInterface {
         unsafe {
             portreg
                 .datamask()
-                .modify(|r, w| w.bits(r.bits() | self.mask_32()))
+                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
         }
     }
 
@@ -323,7 +316,7 @@ pub(super) unsafe trait RegisterInterface {
         unsafe {
             portreg
                 .datamask()
-                .modify(|r, w| w.bits(r.bits() & !self.mask_32()))
+                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
         }
     }
 
@@ -331,7 +324,7 @@ pub(super) unsafe trait RegisterInterface {
     /// 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) {
+    fn pulse_mode(&mut self, enable: bool, default_state: PinState) {
         let portreg = self.port_reg();
         unsafe {
             if enable {

va108xx-hal/src/i2c.rs

@@ -2,7 +2,7 @@
 //!
 //! ## Examples
 //!
-//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs
+//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/adt75-temp-sensor.rs)
 use crate::{
     clock::enable_peripheral_clock, pac, time::Hertz, typelevel::Sealed, PeripheralSelect,
 };
@@ -18,42 +18,50 @@ const CLK_400K: Hertz = Hertz::from_raw(400_000);
 const MIN_CLK_400K: Hertz = Hertz::from_raw(8_000_000);
 
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FifoEmptyMode {
     Stall = 0,
     EndTransaction = 1,
 }
 
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct ClockTooSlowForFastI2c;
+#[error("clock too slow for fast I2C mode")]
+pub struct ClockTooSlowForFastI2cError;
 
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[error("invalid timing parameters")]
+pub struct InvalidTimingParamsError;
+
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    InvalidTimingParams,
+    //#[error("Invalid timing parameters")]
+    //InvalidTimingParams,
+    #[error("arbitration lost")]
     ArbitrationLost,
+    #[error("nack address")]
     NackAddr,
     /// Data not acknowledged in write operation
+    #[error("data not acknowledged in write operation")]
     NackData,
     /// Not enough data received in read operation
+    #[error("insufficient data received")]
     InsufficientDataReceived,
     /// Number of bytes in transfer too large (larger than 0x7fe)
+    #[error("data too large (larger than 0x7fe)")]
     DataTooLarge,
 }
 
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Debug, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum InitError {
     /// Wrong address used in constructor
+    #[error("wrong address mode")]
     WrongAddrMode,
     /// APB1 clock is too slow for fast I2C mode.
-    ClkTooSlow(ClockTooSlowForFastI2c),
+    #[error("clock too slow for fast I2C mode: {0}")]
-}
+    ClkTooSlow(#[from] ClockTooSlowForFastI2cError),
-
-impl From<ClockTooSlowForFastI2c> for InitError {
-    fn from(value: ClockTooSlowForFastI2c) -> Self {
-        Self::ClkTooSlow(value)
-    }
 }
 
 impl embedded_hal::i2c::Error for Error {
@@ -66,7 +74,7 @@ impl embedded_hal::i2c::Error for Error {
             Error::NackData => {
                 embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Data)
             }
-            Error::DataTooLarge | Error::InsufficientDataReceived | Error::InvalidTimingParams => {
+            Error::DataTooLarge | Error::InsufficientDataReceived => {
                 embedded_hal::i2c::ErrorKind::Other
             }
         }
@@ -82,18 +90,21 @@ enum I2cCmd {
 }
 
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum I2cSpeed {
     Regular100khz = 0,
     Fast400khz = 1,
 }
 
 #[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum I2cDirection {
     Send = 0,
     Read = 1,
 }
 
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum I2cAddress {
     Regular(u8),
     TenBit(u16),
@@ -134,9 +145,12 @@ impl Instance for pac::I2cb {
 // Config
 //==================================================================================================
 
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TrTfThighTlow(u8, u8, u8, u8);
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TsuStoTsuStaThdStaTBuf(u8, u8, u8, u8);
 
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TimingCfg {
     // 4 bit max width
     tr: u8,
@@ -160,7 +174,7 @@ impl TimingCfg {
     pub fn new(
         first_16_bits: TrTfThighTlow,
         second_16_bits: TsuStoTsuStaThdStaTBuf,
-    ) -> Result<Self, Error> {
+    ) -> Result<Self, InvalidTimingParamsError> {
         if first_16_bits.0 > 0xf
             || first_16_bits.1 > 0xf
             || first_16_bits.2 > 0xf
@@ -170,7 +184,7 @@ impl TimingCfg {
             || second_16_bits.2 > 0xf
             || second_16_bits.3 > 0xf
         {
-            return Err(Error::InvalidTimingParams);
+            return Err(InvalidTimingParamsError);
         }
         Ok(TimingCfg {
             tr: first_16_bits.0,
@@ -211,6 +225,7 @@ impl Default for TimingCfg {
     }
 }
 
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct MasterConfig {
     pub tx_fe_mode: FifoEmptyMode,
     pub rx_fe_mode: FifoEmptyMode,
@@ -299,7 +314,7 @@ impl<I2c: Instance> I2cBase<I2c> {
         speed_mode: I2cSpeed,
         ms_cfg: Option<&MasterConfig>,
         sl_cfg: Option<&SlaveConfig>,
-    ) -> Result<Self, ClockTooSlowForFastI2c> {
+    ) -> Result<Self, ClockTooSlowForFastI2cError> {
         enable_peripheral_clock(syscfg, I2c::PERIPH_SEL);
 
         let mut i2c_base = I2cBase {
@@ -377,12 +392,12 @@ impl<I2c: Instance> I2cBase<I2c> {
             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) })
+                .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) })
+                .write(|w| unsafe { w.bits((addr_b_mask << 1) as u32) });
         }
     }
 
@@ -402,19 +417,22 @@ impl<I2c: Instance> I2cBase<I2c> {
         });
     }
 
-    fn calc_clk_div(&self, speed_mode: I2cSpeed) -> Result<u8, ClockTooSlowForFastI2c> {
+    fn calc_clk_div(&self, speed_mode: I2cSpeed) -> Result<u8, ClockTooSlowForFastI2cError> {
         if speed_mode == I2cSpeed::Regular100khz {
             Ok(((self.sys_clk.raw() / CLK_100K.raw() / 20) - 1) as u8)
         } else {
             if self.sys_clk.raw() < MIN_CLK_400K.raw() {
-                return Err(ClockTooSlowForFastI2c);
+                return Err(ClockTooSlowForFastI2cError);
             }
             Ok(((self.sys_clk.raw() / CLK_400K.raw() / 25) - 1) as u8)
         }
     }
 
     /// Configures the clock scale for a given speed mode setting
-    pub fn cfg_clk_scale(&mut self, speed_mode: I2cSpeed) -> Result<(), ClockTooSlowForFastI2c> {
+    pub fn cfg_clk_scale(
+        &mut self,
+        speed_mode: I2cSpeed,
+    ) -> Result<(), ClockTooSlowForFastI2cError> {
         let clk_div = self.calc_clk_div(speed_mode)?;
         self.i2c
             .clkscale()
@@ -460,7 +478,7 @@ impl<I2c: Instance, Addr> I2cMaster<I2c, Addr> {
         i2c: I2c,
         cfg: MasterConfig,
         speed_mode: I2cSpeed,
-    ) -> Result<Self, ClockTooSlowForFastI2c> {
+    ) -> Result<Self, ClockTooSlowForFastI2cError> {
         Ok(I2cMaster {
             i2c_base: I2cBase::new(syscfg, sysclk, i2c, speed_mode, Some(&cfg), None)?,
             addr: PhantomData,
@@ -990,7 +1008,7 @@ impl<I2c: Instance, Addr> I2cSlave<I2c, Addr> {
         i2c: I2c,
         cfg: SlaveConfig,
         speed_mode: I2cSpeed,
-    ) -> Result<Self, ClockTooSlowForFastI2c> {
+    ) -> Result<Self, ClockTooSlowForFastI2cError> {
         Ok(I2cSlave {
             i2c_base: I2cBase::new(sys_cfg, sys_clk, i2c, speed_mode, None, Some(&cfg))?,
             addr: PhantomData,
@@ -1152,7 +1170,7 @@ impl<I2c: Instance> I2cSlave<I2c, TenBitAddress> {
         i2c: I2c,
         cfg: SlaveConfig,
         speed_mode: I2cSpeed,
-    ) -> Result<Self, ClockTooSlowForFastI2c> {
+    ) -> Result<Self, ClockTooSlowForFastI2cError> {
         Self::new_generic(sys_cfg, sys_clk, i2c, cfg, speed_mode)
     }
 }

va108xx-hal/src/lib.rs

@@ -15,9 +15,9 @@ pub mod time;
 pub mod timer;
 pub mod typelevel;
 pub mod uart;
-pub mod utility;
 
 #[derive(Debug, Eq, Copy, Clone, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FunSel {
     Sel1 = 0b01,
     Sel2 = 0b10,
@@ -25,12 +25,14 @@ pub enum FunSel {
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum PortSel {
     PortA,
     PortB,
 }
 
 #[derive(Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum PeripheralSelect {
     PortA = 0,
     PortB = 1,
@@ -47,31 +49,39 @@ pub enum PeripheralSelect {
     Gpio = 24,
 }
 
-/// Generic IRQ config which can be used to specify whether the HAL driver will
+/// Generic interrupt 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
+/// Cortex-M0 NVIC. Both are generally necessary for IRQs to work, but the user might want to
-/// this steps themselves
+/// perform those steps themselves.
 #[derive(Debug, PartialEq, Eq, Clone, Copy)]
-pub struct IrqCfg {
+pub struct InterruptConfig {
     /// Interrupt target vector. Should always be set, might be required for disabling IRQs
-    pub irq: pac::Interrupt,
+    pub id: pac::Interrupt,
-    /// Specfiy whether IRQ should be routed to an IRQ vector using the IRQSEL peripheral
+    /// 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
+    /// Specify whether the IRQ is unmasked in the Cortex-M NVIC. If an interrupt is used for
-    pub enable: bool,
+    /// multiple purposes, the user can enable the interrupts themselves.
+    pub enable_in_nvic: bool,
 }
 
-impl IrqCfg {
+impl InterruptConfig {
-    pub fn new(irq: pac::Interrupt, route: bool, enable: bool) -> Self {
+    pub fn new(id: pac::Interrupt, route: bool, enable_in_nvic: bool) -> Self {
-        IrqCfg { irq, route, enable }
+        InterruptConfig {
+            id,
+            route,
+            enable_in_nvic,
+        }
     }
 }
 
+pub type IrqCfg = InterruptConfig;
+
 #[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct InvalidPin(pub(crate) ());
 
 /// Can be used to manually manipulate the function select of port pins
-pub fn port_mux(
+pub fn port_function_select(
     ioconfig: &mut pac::Ioconfig,
     port: PortSel,
     pin: u8,
@@ -98,3 +108,21 @@ pub fn port_mux(
         }
     }
 }
+
+/// Enable a specific interrupt using the NVIC peripheral.
+///
+/// # Safety
+///
+/// This function is `unsafe` because it can break mask-based critical sections.
+#[inline]
+pub unsafe fn enable_nvic_interrupt(irq: pac::Interrupt) {
+    unsafe {
+        cortex_m::peripheral::NVIC::unmask(irq);
+    }
+}
+
+/// Disable a specific interrupt using the NVIC peripheral.
+#[inline]
+pub fn disable_nvic_interrupt(irq: pac::Interrupt) {
+    cortex_m::peripheral::NVIC::mask(irq);
+}

va108xx-hal/src/pwm.rs

@@ -9,12 +9,15 @@ use core::convert::Infallible;
 use core::marker::PhantomData;
 
 use crate::pac;
+use crate::time::Hertz;
+use crate::timer::{TimDynRegister, TimPin, TimRegInterface, ValidTim, ValidTimAndPin};
 use crate::{clock::enable_peripheral_clock, gpio::DynPinId};
-pub use crate::{gpio::PinId, time::Hertz, timer::*};
 
 const DUTY_MAX: u16 = u16::MAX;
 
-pub struct PwmBase {
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub(crate) struct PwmCommon {
     sys_clk: Hertz,
     /// For PWMB, this is the upper limit
     current_duty: u16,
@@ -32,123 +35,13 @@ enum StatusSelPwm {
 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>,
+    pin_and_tim: (Pin, Tim),
-    pwm_base: PwmBase,
+    inner: ReducedPwmPin<Mode>,
     mode: PhantomData<Mode>,
 }
 
@@ -160,34 +53,82 @@ where
     pub fn new(
         sys_cfg: &mut pac::Sysconfig,
         sys_clk: impl Into<Hertz> + Copy,
-        tim_and_pin: (Pin, Tim),
+        pin_and_tim: (Pin, Tim),
         initial_period: impl Into<Hertz> + Copy,
     ) -> Self {
         let mut pin = PwmPin {
-            pwm_base: PwmBase {
+            pin_and_tim,
-                current_duty: 0,
+            inner: ReducedPwmPin::<Mode>::new(
-                current_lower_limit: 0,
+                Tim::TIM_ID,
-                current_period: initial_period.into(),
+                Pin::DYN,
-                current_rst_val: 0,
+                PwmCommon {
-                sys_clk: sys_clk.into(),
+                    current_duty: 0,
-            },
+                    current_lower_limit: 0,
-            reg: unsafe { TimAndPinRegister::new(tim_and_pin.0, tim_and_pin.1) },
+                    current_period: initial_period.into(),
+                    current_rst_val: 0,
+                    sys_clk: sys_clk.into(),
+                },
+            ),
+            //unsafe { TimAndPin::new(tim_and_pin.0, tim_and_pin.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()) });
+            .modify(|r, w| unsafe { w.bits(r.bits() | pin.pin_and_tim.1.mask_32()) });
         pin.enable_pwm_a();
         pin.set_period(initial_period);
         pin
     }
-    pub fn release(self) -> (Pin, Tim) {
+
-        self.reg.release()
+    pub fn downgrade(self) -> ReducedPwmPin<Mode> {
+        self.inner
     }
 
-    pwm_common_func!();
+    pub fn release(self) -> (Pin, Tim) {
+        self.pin_and_tim
+    }
+
+    #[inline]
+    fn enable_pwm_a(&mut self) {
+        self.inner.enable_pwm_a();
+    }
+
+    #[inline]
+    fn enable_pwm_b(&mut self) {
+        self.inner.enable_pwm_b();
+    }
+
+    #[inline]
+    pub fn get_period(&self) -> Hertz {
+        self.inner.get_period()
+    }
+
+    #[inline]
+    pub fn set_period(&mut self, period: impl Into<Hertz>) {
+        self.inner.set_period(period);
+    }
+
+    #[inline]
+    pub fn disable(&mut self) {
+        self.inner.disable();
+    }
+
+    #[inline]
+    pub fn enable(&mut self) {
+        self.inner.enable();
+    }
+
+    #[inline]
+    pub fn period(&self) -> Hertz {
+        self.inner.period()
+    }
+
+    #[inline(always)]
+    pub fn duty(&self) -> u16 {
+        self.inner.duty()
+    }
 }
 
 impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmA>> for PwmPin<Pin, Tim, PwmB>
@@ -196,9 +137,9 @@ where
 {
     fn from(other: PwmPin<Pin, Tim, PwmA>) -> Self {
         let mut pwmb = Self {
-            reg: other.reg,
-            pwm_base: other.pwm_base,
             mode: PhantomData,
+            pin_and_tim: other.pin_and_tim,
+            inner: other.inner.into(),
         };
         pwmb.enable_pwm_b();
         pwmb
@@ -210,13 +151,13 @@ where
     (PIN, TIM): ValidTimAndPin<PIN, TIM>,
 {
     fn from(other: PwmPin<PIN, TIM, PwmB>) -> Self {
-        let mut pwmb = Self {
+        let mut pwma = Self {
-            reg: other.reg,
-            pwm_base: other.pwm_base,
             mode: PhantomData,
+            pin_and_tim: other.pin_and_tim,
+            inner: other.inner.into(),
         };
-        pwmb.enable_pwm_a();
+        pwma.enable_pwm_a();
-        pwmb
+        pwma
     }
 }
 
@@ -260,33 +201,107 @@ where
 
 /// Reduced version where type information is deleted
 pub struct ReducedPwmPin<Mode = PwmA> {
-    reg: TimDynRegister,
+    dyn_reg: TimDynRegister,
-    pwm_base: PwmBase,
+    common: PwmCommon,
-    pin_id: DynPinId,
     mode: PhantomData<Mode>,
 }
 
-impl<PIN: TimPin, TIM: ValidTim> From<PwmPin<PIN, TIM>> for ReducedPwmPin<PwmA> {
+impl<Mode> ReducedPwmPin<Mode> {
-    fn from(pwm_pin: PwmPin<PIN, TIM>) -> Self {
+    pub(crate) fn new(tim_id: u8, pin_id: DynPinId, common: PwmCommon) -> Self {
-        ReducedPwmPin {
+        Self {
-            reg: TimDynRegister::from(pwm_pin.reg),
+            dyn_reg: TimDynRegister { tim_id, pin_id },
-            pwm_base: pwm_pin.pwm_base,
+            common,
-            pin_id: PIN::DYN,
             mode: PhantomData,
         }
     }
 }
 
-impl<MODE> ReducedPwmPin<MODE> {
+impl<Mode> ReducedPwmPin<Mode> {
-    pwm_common_func!();
+    #[inline]
+    fn enable_pwm_a(&mut self) {
+        self.dyn_reg
+            .reg_block()
+            .ctrl()
+            .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmA as u8) });
+    }
+
+    #[inline]
+    fn enable_pwm_b(&mut self) {
+        self.dyn_reg
+            .reg_block()
+            .ctrl()
+            .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmB as u8) });
+    }
+
+    #[inline]
+    pub fn get_period(&self) -> Hertz {
+        self.common.current_period
+    }
+
+    #[inline]
+    pub fn set_period(&mut self, period: impl Into<Hertz>) {
+        self.common.current_period = period.into();
+        // Avoid division by 0
+        if self.common.current_period.raw() == 0 {
+            return;
+        }
+        self.common.current_rst_val = self.common.sys_clk.raw() / self.common.current_period.raw();
+        self.dyn_reg
+            .reg_block()
+            .rst_value()
+            .write(|w| unsafe { w.bits(self.common.current_rst_val) });
+    }
+
+    #[inline]
+    pub fn disable(&mut self) {
+        self.dyn_reg
+            .reg_block()
+            .ctrl()
+            .modify(|_, w| w.enable().clear_bit());
+    }
+
+    #[inline]
+    pub fn enable(&mut self) {
+        self.dyn_reg
+            .reg_block()
+            .ctrl()
+            .modify(|_, w| w.enable().set_bit());
+    }
+
+    #[inline]
+    pub fn period(&self) -> Hertz {
+        self.common.current_period
+    }
+
+    #[inline(always)]
+    pub fn duty(&self) -> u16 {
+        self.common.current_duty
+    }
+}
+
+impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmA>> for ReducedPwmPin<PwmA>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    fn from(value: PwmPin<Pin, Tim, PwmA>) -> Self {
+        value.downgrade()
+    }
+}
+
+impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmB>> for ReducedPwmPin<PwmB>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    fn from(value: PwmPin<Pin, Tim, PwmB>) -> Self {
+        value.downgrade()
+    }
 }
 
 impl From<ReducedPwmPin<PwmA>> for ReducedPwmPin<PwmB> {
     fn from(other: ReducedPwmPin<PwmA>) -> Self {
         let mut pwmb = Self {
-            reg: other.reg,
+            dyn_reg: other.dyn_reg,
-            pwm_base: other.pwm_base,
+            common: other.common,
-            pin_id: other.pin_id,
             mode: PhantomData,
         };
         pwmb.enable_pwm_b();
@@ -297,9 +312,8 @@ impl From<ReducedPwmPin<PwmA>> for ReducedPwmPin<PwmB> {
 impl From<ReducedPwmPin<PwmB>> for ReducedPwmPin<PwmA> {
     fn from(other: ReducedPwmPin<PwmB>) -> Self {
         let mut pwmb = Self {
-            reg: other.reg,
+            dyn_reg: other.dyn_reg,
-            pwm_base: other.pwm_base,
+            common: other.common,
-            pin_id: other.pin_id,
             mode: PhantomData,
         };
         pwmb.enable_pwm_a();
@@ -311,15 +325,83 @@ impl From<ReducedPwmPin<PwmB>> for ReducedPwmPin<PwmA> {
 // PWMB implementations
 //==================================================================================================
 
-impl<PIN: TimPin, TIM: ValidTim> PwmPin<PIN, TIM, PwmB>
+impl<Pin: TimPin, Tim: ValidTim> PwmPin<Pin, Tim, PwmB>
 where
-    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
 {
-    pwmb_func!();
+    pub fn pwmb_lower_limit(&self) -> u16 {
+        self.inner.pwmb_lower_limit()
+    }
+
+    pub fn pwmb_upper_limit(&self) -> u16 {
+        self.inner.pwmb_upper_limit()
+    }
+
+    /// 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.inner.set_pwmb_lower_limit(duty);
+    }
+
+    /// 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.inner.set_pwmb_upper_limit(duty);
+    }
 }
 
 impl ReducedPwmPin<PwmB> {
-    pwmb_func!();
+    #[inline(always)]
+    pub fn pwmb_lower_limit(&self) -> u16 {
+        self.common.current_lower_limit
+    }
+
+    #[inline(always)]
+    pub fn pwmb_upper_limit(&self) -> u16 {
+        self.common.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
+    #[inline(always)]
+    pub fn set_pwmb_lower_limit(&mut self, duty: u16) {
+        self.common.current_lower_limit = duty;
+        let pwmb_val: u64 = (self.common.current_rst_val as u64
+            * self.common.current_lower_limit as u64)
+            / DUTY_MAX as u64;
+        self.dyn_reg
+            .reg_block()
+            .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.common.current_duty = duty;
+        let pwma_val: u64 = (self.common.current_rst_val as u64 * self.common.current_duty as u64)
+            / DUTY_MAX as u64;
+        self.dyn_reg
+            .reg_block()
+            .pwma_value()
+            .write(|w| unsafe { w.bits(pwma_val as u32) });
+    }
 }
 
 //==================================================================================================
@@ -342,12 +424,12 @@ impl embedded_hal::pwm::SetDutyCycle for ReducedPwmPin {
 
     #[inline]
     fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
-        self.pwm_base.current_duty = duty;
+        self.common.current_duty = duty;
-        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+        let pwma_val: u64 = (self.common.current_rst_val as u64
-            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
+            * (DUTY_MAX as u64 - self.common.current_duty as u64))
             / DUTY_MAX as u64;
-        self.reg
+        self.dyn_reg
-            .reg()
+            .reg_block()
             .pwma_value()
             .write(|w| unsafe { w.bits(pwma_val as u32) });
         Ok(())
@@ -362,15 +444,7 @@ impl<Pin: TimPin, Tim: ValidTim> embedded_hal::pwm::SetDutyCycle for PwmPin<Pin,
 
     #[inline]
     fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
-        self.pwm_base.current_duty = duty;
+        self.inner.set_duty_cycle(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(())
     }
 }
 

va108xx-hal/src/sysconfig.rs

@@ -20,7 +20,7 @@ pub fn enable_rom_scrubbing(
 }
 
 pub fn disable_rom_scrubbing(syscfg: &mut pac::Sysconfig) {
-    syscfg.rom_scrub().write(|w| unsafe { w.bits(0) })
+    syscfg.rom_scrub().write(|w| unsafe { w.bits(0) });
 }
 
 /// Enable scrubbing for the RAM
@@ -39,7 +39,7 @@ pub fn enable_ram_scrubbing(
 }
 
 pub fn disable_ram_scrubbing(syscfg: &mut pac::Sysconfig) {
-    syscfg.ram_scrub().write(|w| unsafe { w.bits(0) })
+    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

va108xx-hal/src/timer.rs

@@ -3,10 +3,11 @@
 //! ## Examples
 //!
 //! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/timer-ticks.rs)
-//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal/src/branch/main/examples/cascade.rs)
+//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/simple/examples/cascade.rs)
-pub use crate::IrqCfg;
+pub use crate::InterruptConfig;
 use crate::{
     clock::{enable_peripheral_clock, PeripheralClocks},
+    enable_nvic_interrupt,
     gpio::{
         AltFunc1, AltFunc2, AltFunc3, DynPinId, Pin, PinId, PA0, PA1, PA10, PA11, PA12, PA13, PA14,
         PA15, PA2, PA24, PA25, PA26, PA27, PA28, PA29, PA3, PA30, PA31, PA4, PA5, PA6, PA7, PA8,
@@ -17,15 +18,56 @@ use crate::{
     time::Hertz,
     timer,
     typelevel::Sealed,
-    utility::unmask_irq,
 };
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
+use critical_section::Mutex;
 use fugit::RateExtU32;
 
 const IRQ_DST_NONE: u32 = 0xffffffff;
 pub static MS_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
 
+/// Get the peripheral block of a TIM peripheral given the index.
+///
+/// This function panics if the given index is greater than 23.
+///
+/// # Safety
+///
+/// This returns a direct handle to the peripheral block, which allows to circumvent ownership
+/// rules for the peripheral block. You have to ensure that the retrieved peripheral block is not
+/// used by any other software component.
+#[inline(always)]
+pub const unsafe fn get_tim_raw(tim_idx: usize) -> &'static pac::tim0::RegisterBlock {
+    match tim_idx {
+        0 => unsafe { &*pac::Tim0::ptr() },
+        1 => unsafe { &*pac::Tim1::ptr() },
+        2 => unsafe { &*pac::Tim2::ptr() },
+        3 => unsafe { &*pac::Tim3::ptr() },
+        4 => unsafe { &*pac::Tim4::ptr() },
+        5 => unsafe { &*pac::Tim5::ptr() },
+        6 => unsafe { &*pac::Tim6::ptr() },
+        7 => unsafe { &*pac::Tim7::ptr() },
+        8 => unsafe { &*pac::Tim8::ptr() },
+        9 => unsafe { &*pac::Tim9::ptr() },
+        10 => unsafe { &*pac::Tim10::ptr() },
+        11 => unsafe { &*pac::Tim11::ptr() },
+        12 => unsafe { &*pac::Tim12::ptr() },
+        13 => unsafe { &*pac::Tim13::ptr() },
+        14 => unsafe { &*pac::Tim14::ptr() },
+        15 => unsafe { &*pac::Tim15::ptr() },
+        16 => unsafe { &*pac::Tim16::ptr() },
+        17 => unsafe { &*pac::Tim17::ptr() },
+        18 => unsafe { &*pac::Tim18::ptr() },
+        19 => unsafe { &*pac::Tim19::ptr() },
+        20 => unsafe { &*pac::Tim20::ptr() },
+        21 => unsafe { &*pac::Tim21::ptr() },
+        22 => unsafe { &*pac::Tim22::ptr() },
+        23 => unsafe { &*pac::Tim23::ptr() },
+        _ => {
+            panic!("invalid alarm timer index")
+        }
+    }
+}
+
 //==================================================================================================
 // Defintions
 //==================================================================================================
@@ -37,6 +79,7 @@ pub enum Event {
 }
 
 #[derive(Default, Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct CascadeCtrl {
     /// Enable Cascade 0 signal active as a requirement for counting
     pub enb_start_src_csd0: bool,
@@ -66,31 +109,53 @@ pub struct CascadeCtrl {
 }
 
 #[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum CascadeSel {
     Csd0 = 0,
     Csd1 = 1,
     Csd2 = 2,
 }
 
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct InvalidCascadeSourceId;
+
 /// The numbers are the base numbers for bundles like PORTA, PORTB or TIM
 #[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
 pub enum CascadeSource {
-    PortABase = 0,
+    PortA(u8),
-    PortBBase = 32,
+    PortB(u8),
-    TimBase = 64,
+    Tim(u8),
     RamSbe = 96,
     RamMbe = 97,
     RomSbe = 98,
     RomMbe = 99,
     Txev = 100,
-    ClockDividerBase = 120,
+    ClockDivider(u8),
 }
 
-#[derive(Debug, PartialEq, Eq)]
+impl CascadeSource {
-pub enum TimerErrors {
+    fn id(&self) -> Result<u8, InvalidCascadeSourceId> {
-    Canceled,
+        let port_check = |base: u8, id: u8, len: u8| {
-    /// Invalid input for Cascade source
+            if id > len - 1 {
-    InvalidCsdSourceInput,
+                return Err(InvalidCascadeSourceId);
+            }
+            Ok(base + id)
+        };
+        match self {
+            CascadeSource::PortA(id) => port_check(0, *id, 32),
+            CascadeSource::PortB(id) => port_check(32, *id, 32),
+            CascadeSource::Tim(id) => port_check(64, *id, 24),
+            CascadeSource::RamSbe => Ok(96),
+            CascadeSource::RamMbe => Ok(97),
+            CascadeSource::RomSbe => Ok(98),
+            CascadeSource::RomMbe => Ok(99),
+            CascadeSource::Txev => Ok(100),
+            CascadeSource::ClockDivider(id) => port_check(120, *id, 8),
+        }
+    }
 }
 
 //==================================================================================================
@@ -223,11 +288,11 @@ pub type TimRegBlock = tim0::RegisterBlock;
 ///
 /// # Safety
 ///
-/// Users should only implement the [`tim_id`] function. No default function
+/// Users should only implement the [Self::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 {
+pub unsafe trait TimRegInterface {
     fn tim_id(&self) -> u8;
 
     const PORT_BASE: *const tim0::RegisterBlock = pac::Tim0::ptr() as *const _;
@@ -235,7 +300,7 @@ pub(super) unsafe trait TimRegInterface {
     /// 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 {
+    fn reg_block(&self) -> &TimRegBlock {
         unsafe { &*Self::PORT_BASE.offset(self.tim_id() as isize) }
     }
 
@@ -256,7 +321,7 @@ pub(super) unsafe trait TimRegInterface {
             va108xx::Peripherals::steal()
                 .sysconfig
                 .tim_reset()
-                .modify(|r, w| w.bits(r.bits() & !self.mask_32()))
+                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
         }
     }
 
@@ -267,75 +332,21 @@ pub(super) unsafe trait TimRegInterface {
             va108xx::Peripherals::steal()
                 .sysconfig
                 .tim_reset()
-                .modify(|r, w| w.bits(r.bits() | self.mask_32()))
+                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
         }
     }
 }
 
-/// Provide a safe register interface for [`ValidTimAndPin`]s
+unsafe impl<Tim: ValidTim> TimRegInterface for Tim {
-///
-/// 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
+        Tim::TIM_ID
     }
 }
 
-impl<PIN: TimPin, TIM: ValidTim> TimAndPinRegister<PIN, TIM>
+pub(crate) struct TimDynRegister {
-where
+    pub(crate) tim_id: u8,
-    (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,
+    pub(crate) 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 {
@@ -350,105 +361,42 @@ unsafe impl TimRegInterface for TimDynRegister {
 //==================================================================================================
 
 /// Hardware timers
-pub struct CountDownTimer<TIM: ValidTim> {
+pub struct CountdownTimer<Tim: ValidTim> {
-    tim: TimRegister<TIM>,
+    tim: Tim,
     curr_freq: Hertz,
-    irq_cfg: Option<IrqCfg>,
+    irq_cfg: Option<InterruptConfig>,
     sys_clk: Hertz,
     rst_val: u32,
     last_cnt: u32,
     listening: bool,
 }
 
-fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+#[inline(always)]
+pub fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
     syscfg
         .tim_clk_enable()
         .modify(|r, w| unsafe { w.bits(r.bits() | (1 << idx)) });
 }
 
-unsafe impl<TIM: ValidTim> TimRegInterface for CountDownTimer<TIM> {
+#[inline(always)]
+pub fn disable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+    syscfg
+        .tim_clk_enable()
+        .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << idx)) });
+}
+
+unsafe impl<TIM: ValidTim> TimRegInterface for CountdownTimer<TIM> {
     fn tim_id(&self) -> u8 {
         TIM::TIM_ID
     }
 }
 
-macro_rules! csd_sel {
+impl<Tim: ValidTim> CountdownTimer<Tim> {
-    ($func_name:ident, $csd_reg:ident) => {
-        /// Configure the Cascade sources
-        pub fn $func_name(
-            &mut self,
-            src: CascadeSource,
-            id: Option<u8>,
-        ) -> Result<(), TimerErrors> {
-            let mut id_num = 0;
-            if let CascadeSource::PortABase
-            | CascadeSource::PortBBase
-            | CascadeSource::ClockDividerBase
-            | CascadeSource::TimBase = src
-            {
-                if id.is_none() {
-                    return Err(TimerErrors::InvalidCsdSourceInput);
-                }
-            }
-            if id.is_some() {
-                id_num = id.unwrap();
-            }
-            match src {
-                CascadeSource::PortABase => {
-                    if id_num > 55 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::PortABase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::PortBBase => {
-                    if id_num > 23 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::PortBBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::TimBase => {
-                    if id_num > 23 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().$csd_reg().write(|w| unsafe {
-                        w.cassel().bits(CascadeSource::TimBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                CascadeSource::ClockDividerBase => {
-                    if id_num > 7 {
-                        return Err(TimerErrors::InvalidCsdSourceInput);
-                    }
-                    self.tim.reg().cascade0().write(|w| unsafe {
-                        w.cassel()
-                            .bits(CascadeSource::ClockDividerBase as u8 + id_num)
-                    });
-                    Ok(())
-                }
-                _ => {
-                    self.tim
-                        .reg()
-                        .$csd_reg()
-                        .write(|w| unsafe { w.cassel().bits(src as u8) });
-                    Ok(())
-                }
-            }
-        }
-    };
-}
-
-impl<TIM: ValidTim> CountDownTimer<TIM> {
     /// Configures a TIM peripheral as a periodic count down timer
-    pub fn new(syscfg: &mut pac::Sysconfig, sys_clk: impl Into<Hertz>, tim: TIM) -> Self {
+    pub fn new(syscfg: &mut pac::Sysconfig, sys_clk: impl Into<Hertz>, tim: Tim) -> Self {
-        enable_tim_clk(syscfg, TIM::TIM_ID);
+        enable_tim_clk(syscfg, Tim::TIM_ID);
-        let cd_timer = CountDownTimer {
+        let cd_timer = CountdownTimer {
-            tim: unsafe { TimRegister::new(tim) },
+            tim,
             sys_clk: sys_clk.into(),
             irq_cfg: None,
             rst_val: 0,
@@ -458,7 +406,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         };
         cd_timer
             .tim
-            .reg()
+            .reg_block()
             .ctrl()
             .modify(|_, w| w.enable().set_bit());
         cd_timer
@@ -469,13 +417,13 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
     pub fn listen(
         &mut self,
         event: Event,
-        irq_cfg: IrqCfg,
+        irq_cfg: InterruptConfig,
         irq_sel: Option<&mut pac::Irqsel>,
         sys_cfg: Option<&mut pac::Sysconfig>,
     ) {
         match event {
             Event::TimeOut => {
-                cortex_m::peripheral::NVIC::mask(irq_cfg.irq);
+                cortex_m::peripheral::NVIC::mask(irq_cfg.id);
                 self.irq_cfg = Some(irq_cfg);
                 if irq_cfg.route {
                     if let Some(sys_cfg) = sys_cfg {
@@ -483,8 +431,8 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
                     }
                     if let Some(irq_sel) = irq_sel {
                         irq_sel
-                            .tim0(TIM::TIM_ID as usize)
+                            .tim0(Tim::TIM_ID as usize)
-                            .write(|w| unsafe { w.bits(irq_cfg.irq as u32) });
+                            .write(|w| unsafe { w.bits(irq_cfg.id as u32) });
                     }
                 }
                 self.listening = true;
@@ -502,7 +450,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
             Event::TimeOut => {
                 enable_peripheral_clock(syscfg, PeripheralClocks::Irqsel);
                 irqsel
-                    .tim0(TIM::TIM_ID as usize)
+                    .tim0(Tim::TIM_ID as usize)
                     .write(|w| unsafe { w.bits(IRQ_DST_NONE) });
                 self.disable_interrupt();
                 self.listening = false;
@@ -512,25 +460,37 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
 
     #[inline(always)]
     pub fn enable_interrupt(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().set_bit());
+        self.tim
+            .reg_block()
+            .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());
+        self.tim
+            .reg_block()
+            .ctrl()
+            .modify(|_, w| w.irq_enb().clear_bit());
     }
 
-    pub fn release(self, syscfg: &mut pac::Sysconfig) -> TIM {
+    pub fn release(self, syscfg: &mut pac::Sysconfig) -> Tim {
-        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
+        self.tim
+            .reg_block()
+            .ctrl()
+            .write(|w| w.enable().clear_bit());
         syscfg
             .tim_clk_enable()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << TIM::TIM_ID)) });
+            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << Tim::TIM_ID)) });
-        self.tim.release()
+        self.tim
     }
 
     /// 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.tim
+            .reg_block()
+            .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);
@@ -539,45 +499,57 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
 
     #[inline(always)]
     pub fn set_reload(&mut self, val: u32) {
-        self.tim.reg().rst_value().write(|w| unsafe { w.bits(val) });
+        self.tim
+            .reg_block()
+            .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) });
+        self.tim
+            .reg_block()
+            .cnt_value()
+            .write(|w| unsafe { w.bits(val) });
     }
 
     #[inline(always)]
     pub fn count(&self) -> u32 {
-        self.tim.reg().cnt_value().read().bits()
+        self.tim.reg_block().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 {
+            if irq_cfg.enable_in_nvic {
-                unmask_irq(irq_cfg.irq);
+                unsafe { enable_nvic_interrupt(irq_cfg.id) };
             }
         }
+        self.tim
+            .reg_block()
+            .enable()
+            .write(|w| unsafe { w.bits(1) });
     }
 
     #[inline(always)]
     pub fn disable(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
+        self.tim
+            .reg_block()
+            .enable()
+            .write(|w| unsafe { w.bits(0) });
     }
 
     /// Disable the counter, setting both enable and active bit to 0
     pub fn auto_disable(self, enable: bool) -> Self {
         if enable {
             self.tim
-                .reg()
+                .reg_block()
                 .ctrl()
                 .modify(|_, w| w.auto_disable().set_bit());
         } else {
             self.tim
-                .reg()
+                .reg_block()
                 .ctrl()
                 .modify(|_, w| w.auto_disable().clear_bit());
         }
@@ -591,12 +563,12 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
     pub fn auto_deactivate(self, enable: bool) -> Self {
         if enable {
             self.tim
-                .reg()
+                .reg_block()
                 .ctrl()
                 .modify(|_, w| w.auto_deactivate().set_bit());
         } else {
             self.tim
-                .reg()
+                .reg_block()
                 .ctrl()
                 .modify(|_, w| w.auto_deactivate().clear_bit());
         }
@@ -605,7 +577,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
 
     /// Configure the cascade parameters
     pub fn cascade_control(&mut self, ctrl: CascadeCtrl) {
-        self.tim.reg().csd_ctrl().write(|w| {
+        self.tim.reg_block().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);
@@ -619,9 +591,32 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         });
     }
 
-    csd_sel!(cascade_0_source, cascade0);
+    pub fn cascade_0_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
-    csd_sel!(cascade_1_source, cascade1);
+        let id = src.id()?;
-    csd_sel!(cascade_2_source, cascade2);
+        self.tim
+            .reg_block()
+            .cascade0()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    pub fn cascade_1_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg_block()
+            .cascade1()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    pub fn cascade_2_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg_block()
+            .cascade2()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
 
     pub fn curr_freq(&self) -> Hertz {
         self.curr_freq
@@ -633,7 +628,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
 }
 
 /// CountDown implementation for TIMx
-impl<TIM: ValidTim> CountDownTimer<TIM> {
+impl<TIM: ValidTim> CountdownTimer<TIM> {
     #[inline]
     pub fn start<T>(&mut self, timeout: T)
     where
@@ -646,7 +641,7 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
     /// 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();
+        let cnt = self.tim.reg_block().cnt_value().read().bits();
         if (cnt > self.last_cnt) || cnt == 0 {
             self.last_cnt = self.rst_val;
             Ok(())
@@ -656,16 +651,20 @@ impl<TIM: ValidTim> CountDownTimer<TIM> {
         }
     }
 
-    pub fn cancel(&mut self) -> Result<(), TimerErrors> {
+    /// Returns [false] if the timer was not active, and true otherwise.
-        if !self.tim.reg().ctrl().read().enable().bit_is_set() {
+    pub fn cancel(&mut self) -> bool {
-            return Err(TimerErrors::Canceled);
+        if !self.tim.reg_block().ctrl().read().enable().bit_is_set() {
+            return false;
         }
-        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
+        self.tim
-        Ok(())
+            .reg_block()
+            .ctrl()
+            .write(|w| w.enable().clear_bit());
+        true
     }
 }
 
-impl<TIM: ValidTim> embedded_hal::delay::DelayNs for CountDownTimer<TIM> {
+impl<TIM: ValidTim> embedded_hal::delay::DelayNs for CountdownTimer<TIM> {
     fn delay_ns(&mut self, ns: u32) {
         let ticks = (u64::from(ns)) * (u64::from(self.sys_clk.raw())) / 1_000_000_000;
 
@@ -722,13 +721,13 @@ impl<TIM: ValidTim> embedded_hal::delay::DelayNs for CountDownTimer<TIM> {
 // 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,
+    irq_cfg: InterruptConfig,
     sys_cfg: &mut pac::Sysconfig,
     irq_sel: Option<&mut pac::Irqsel>,
     sys_clk: impl Into<Hertz>,
     tim0: TIM,
-) -> CountDownTimer<TIM> {
+) -> CountdownTimer<TIM> {
-    let mut ms_timer = CountDownTimer::new(sys_cfg, sys_clk, tim0);
+    let mut ms_timer = CountdownTimer::new(sys_cfg, sys_clk, tim0);
     ms_timer.listen(timer::Event::TimeOut, irq_cfg, irq_sel, Some(sys_cfg));
     ms_timer.start(1000.Hz());
     ms_timer
@@ -738,8 +737,8 @@ pub fn set_up_ms_delay_provider<TIM: ValidTim>(
     sys_cfg: &mut pac::Sysconfig,
     sys_clk: impl Into<Hertz>,
     tim: TIM,
-) -> CountDownTimer<TIM> {
+) -> CountdownTimer<TIM> {
-    let mut provider = CountDownTimer::new(sys_cfg, sys_clk, tim);
+    let mut provider = CountdownTimer::new(sys_cfg, sys_clk, tim);
     provider.start(1000.Hz());
     provider
 }
@@ -747,7 +746,7 @@ pub fn set_up_ms_delay_provider<TIM: ValidTim>(
 /// This function can be called in a specified interrupt handler to increment
 /// the MS counter
 pub fn default_ms_irq_handler() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         let mut ms = MS_COUNTER.borrow(cs).get();
         ms += 1;
         MS_COUNTER.borrow(cs).set(ms);
@@ -756,17 +755,17 @@ pub fn default_ms_irq_handler() {
 
 /// Get the current MS tick count
 pub fn get_ms_ticks() -> u32 {
-    cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
+    critical_section::with(|cs| MS_COUNTER.borrow(cs).get())
 }
 
 //==================================================================================================
 // Delay implementations
 //==================================================================================================
 
-pub struct DelayMs(CountDownTimer<pac::Tim0>);
+pub struct DelayMs(CountdownTimer<pac::Tim0>);
 
 impl DelayMs {
-    pub fn new(timer: CountDownTimer<pac::Tim0>) -> Option<Self> {
+    pub fn new(timer: CountdownTimer<pac::Tim0>) -> Option<Self> {
         if timer.curr_freq() != Hertz::from_raw(1000) || !timer.listening() {
             return None;
         }

va108xx-hal/src/uart/rx_asynch.rs

@@ -0,0 +1,419 @@
+//! # Async UART reception functionality for the VA108xx family.
+//!
+//! This module provides the [RxAsync] and [RxAsyncSharedConsumer] struct which both implement the
+//! [embedded_io_async::Read] trait.
+//! This trait allows for asynchronous reception of data streams. Please note that this module does
+//! not specify/declare the interrupt handlers which must be provided for async support to work.
+//! However, it provides four interrupt handlers:
+//!
+//! - [on_interrupt_uart_a]
+//! - [on_interrupt_uart_b]
+//! - [on_interrupt_uart_a_overwriting]
+//! - [on_interrupt_uart_b_overwriting]
+//!
+//! The first two are used for the [RxAsync] struct, while the latter two are used with the
+//! [RxAsyncSharedConsumer] struct. The later two will overwrite old values in the used ring buffer.
+//!
+//! Error handling is performed in the user interrupt handler by checking the [AsyncUartErrors]
+//! structure returned by the interrupt handlers.
+//!
+//! # Example
+//!
+//! - [Async UART RX example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-uart-rx.rs)
+use core::{cell::RefCell, convert::Infallible, future::Future, sync::atomic::Ordering};
+
+use critical_section::Mutex;
+use embassy_sync::waitqueue::AtomicWaker;
+use embedded_io::ErrorType;
+use heapless::spsc::Consumer;
+use portable_atomic::AtomicBool;
+use va108xx as pac;
+
+use super::{Instance, Rx, RxError, UartErrors};
+
+static UART_RX_WAKERS: [AtomicWaker; 2] = [const { AtomicWaker::new() }; 2];
+static RX_READ_ACTIVE: [AtomicBool; 2] = [const { AtomicBool::new(false) }; 2];
+static RX_HAS_DATA: [AtomicBool; 2] = [const { AtomicBool::new(false) }; 2];
+
+struct RxFuture {
+    uart_idx: usize,
+}
+
+impl RxFuture {
+    pub fn new<Uart: Instance>(_rx: &mut Rx<Uart>) -> Self {
+        RX_READ_ACTIVE[Uart::IDX as usize].store(true, Ordering::Relaxed);
+        Self {
+            uart_idx: Uart::IDX as usize,
+        }
+    }
+}
+
+impl Future for RxFuture {
+    type Output = Result<(), RxError>;
+
+    fn poll(
+        self: core::pin::Pin<&mut Self>,
+        cx: &mut core::task::Context<'_>,
+    ) -> core::task::Poll<Self::Output> {
+        UART_RX_WAKERS[self.uart_idx].register(cx.waker());
+        if RX_HAS_DATA[self.uart_idx].load(Ordering::Relaxed) {
+            return core::task::Poll::Ready(Ok(()));
+        }
+        core::task::Poll::Pending
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct AsyncUartErrors {
+    /// Queue has overflowed, data might have been lost.
+    pub queue_overflow: bool,
+    /// UART errors.
+    pub uart_errors: UartErrors,
+}
+
+fn on_interrupt_handle_rx_errors<Uart: Instance>(uart: &Uart) -> Option<UartErrors> {
+    let rx_status = uart.rxstatus().read();
+    if rx_status.rxovr().bit_is_set()
+        || rx_status.rxfrm().bit_is_set()
+        || rx_status.rxpar().bit_is_set()
+    {
+        let mut errors_val = UartErrors::default();
+
+        if rx_status.rxovr().bit_is_set() {
+            errors_val.overflow = true;
+        }
+        if rx_status.rxfrm().bit_is_set() {
+            errors_val.framing = true;
+        }
+        if rx_status.rxpar().bit_is_set() {
+            errors_val.parity = true;
+        }
+        return Some(errors_val);
+    }
+    None
+}
+
+fn on_interrupt_rx_common_post_processing<Uart: Instance>(
+    uart: &Uart,
+    rx_enabled: bool,
+    read_some_data: bool,
+    irq_end: u32,
+) -> Option<UartErrors> {
+    if read_some_data {
+        RX_HAS_DATA[Uart::IDX as usize].store(true, Ordering::Relaxed);
+        if RX_READ_ACTIVE[Uart::IDX as usize].load(Ordering::Relaxed) {
+            UART_RX_WAKERS[Uart::IDX as usize].wake();
+        }
+    }
+
+    let mut errors = None;
+    // Check for RX errors
+    if rx_enabled {
+        errors = on_interrupt_handle_rx_errors(uart);
+    }
+
+    // Clear the interrupt status bits
+    uart.irq_clr().write(|w| unsafe { w.bits(irq_end) });
+    errors
+}
+
+/// Interrupt handler for UART A.
+///
+/// Should be called in the user interrupt handler to enable
+/// asynchronous reception. This variant will overwrite old data in the ring buffer in case
+/// the ring buffer is full.
+pub fn on_interrupt_uart_a_overwriting<const N: usize>(
+    prod: &mut heapless::spsc::Producer<u8, N>,
+    shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
+) -> Result<(), AsyncUartErrors> {
+    on_interrupt_rx_async_heapless_queue_overwriting(
+        unsafe { pac::Uarta::steal() },
+        prod,
+        shared_consumer,
+    )
+}
+
+/// Interrupt handler for UART B.
+///
+/// Should be called in the user interrupt handler to enable
+/// asynchronous reception. This variant will overwrite old data in the ring buffer in case
+/// the ring buffer is full.
+pub fn on_interrupt_uart_b_overwriting<const N: usize>(
+    prod: &mut heapless::spsc::Producer<u8, N>,
+    shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
+) -> Result<(), AsyncUartErrors> {
+    on_interrupt_rx_async_heapless_queue_overwriting(
+        unsafe { pac::Uartb::steal() },
+        prod,
+        shared_consumer,
+    )
+}
+
+pub fn on_interrupt_rx_async_heapless_queue_overwriting<Uart: Instance, const N: usize>(
+    uart: Uart,
+    prod: &mut heapless::spsc::Producer<u8, N>,
+    shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
+) -> Result<(), AsyncUartErrors> {
+    let irq_end = uart.irq_end().read();
+    let enb_status = uart.enable().read();
+    let rx_enabled = enb_status.rxenable().bit_is_set();
+    let mut read_some_data = false;
+    let mut queue_overflow = false;
+
+    // Half-Full interrupt. We have a guaranteed amount of data we can read.
+    if irq_end.irq_rx().bit_is_set() {
+        let available_bytes = uart.rxfifoirqtrg().read().bits() as usize;
+
+        // If this interrupt bit is set, the trigger level is available at the very least.
+        // Read everything as fast as possible
+        for _ in 0..available_bytes {
+            let byte = uart.data().read().bits();
+            if !prod.ready() {
+                queue_overflow = true;
+                critical_section::with(|cs| {
+                    let mut cons_ref = shared_consumer.borrow(cs).borrow_mut();
+                    cons_ref.as_mut().unwrap().dequeue();
+                });
+            }
+            prod.enqueue(byte as u8).ok();
+        }
+        read_some_data = true;
+    }
+
+    // Timeout, empty the FIFO completely.
+    if irq_end.irq_rx_to().bit_is_set() {
+        while uart.rxstatus().read().rdavl().bit_is_set() {
+            // While there is data in the FIFO, write it into the reception buffer
+            let byte = uart.data().read().bits();
+            if !prod.ready() {
+                queue_overflow = true;
+                critical_section::with(|cs| {
+                    let mut cons_ref = shared_consumer.borrow(cs).borrow_mut();
+                    cons_ref.as_mut().unwrap().dequeue();
+                });
+            }
+            prod.enqueue(byte as u8).ok();
+        }
+        read_some_data = true;
+    }
+
+    let uart_errors =
+        on_interrupt_rx_common_post_processing(&uart, rx_enabled, read_some_data, irq_end.bits());
+    if uart_errors.is_some() || queue_overflow {
+        return Err(AsyncUartErrors {
+            queue_overflow,
+            uart_errors: uart_errors.unwrap_or_default(),
+        });
+    }
+    Ok(())
+}
+
+/// Interrupt handler for UART A.
+///
+/// Should be called in the user interrupt handler to enable asynchronous reception.
+pub fn on_interrupt_uart_a<const N: usize>(
+    prod: &mut heapless::spsc::Producer<'_, u8, N>,
+) -> Result<(), AsyncUartErrors> {
+    on_interrupt_rx_async_heapless_queue(unsafe { pac::Uarta::steal() }, prod)
+}
+
+/// Interrupt handler for UART B.
+///
+/// Should be called in the user interrupt handler to enable asynchronous reception.
+pub fn on_interrupt_uart_b<const N: usize>(
+    prod: &mut heapless::spsc::Producer<'_, u8, N>,
+) -> Result<(), AsyncUartErrors> {
+    on_interrupt_rx_async_heapless_queue(unsafe { pac::Uartb::steal() }, prod)
+}
+
+pub fn on_interrupt_rx_async_heapless_queue<Uart: Instance, const N: usize>(
+    uart: Uart,
+    prod: &mut heapless::spsc::Producer<'_, u8, N>,
+) -> Result<(), AsyncUartErrors> {
+    //let uart = unsafe { Uart::steal() };
+    let irq_end = uart.irq_end().read();
+    let enb_status = uart.enable().read();
+    let rx_enabled = enb_status.rxenable().bit_is_set();
+    let mut read_some_data = false;
+    let mut queue_overflow = false;
+
+    // Half-Full interrupt. We have a guaranteed amount of data we can read.
+    if irq_end.irq_rx().bit_is_set() {
+        let available_bytes = uart.rxfifoirqtrg().read().bits() as usize;
+
+        // If this interrupt bit is set, the trigger level is available at the very least.
+        // Read everything as fast as possible
+        for _ in 0..available_bytes {
+            let byte = uart.data().read().bits();
+            if !prod.ready() {
+                queue_overflow = true;
+            }
+            prod.enqueue(byte as u8).ok();
+        }
+        read_some_data = true;
+    }
+
+    // Timeout, empty the FIFO completely.
+    if irq_end.irq_rx_to().bit_is_set() {
+        while uart.rxstatus().read().rdavl().bit_is_set() {
+            // While there is data in the FIFO, write it into the reception buffer
+            let byte = uart.data().read().bits();
+            if !prod.ready() {
+                queue_overflow = true;
+            }
+            prod.enqueue(byte as u8).ok();
+        }
+        read_some_data = true;
+    }
+
+    let uart_errors =
+        on_interrupt_rx_common_post_processing(&uart, rx_enabled, read_some_data, irq_end.bits());
+    if uart_errors.is_some() || queue_overflow {
+        return Err(AsyncUartErrors {
+            queue_overflow,
+            uart_errors: uart_errors.unwrap_or_default(),
+        });
+    }
+    Ok(())
+}
+
+struct ActiveReadGuard(usize);
+
+impl Drop for ActiveReadGuard {
+    fn drop(&mut self) {
+        RX_READ_ACTIVE[self.0].store(false, Ordering::Relaxed);
+    }
+}
+
+/// Core data structure to allow asynchronous UART reception.
+///
+/// If the ring buffer becomes full, data will be lost.
+pub struct RxAsync<Uart: Instance, const N: usize> {
+    rx: Rx<Uart>,
+    pub queue: heapless::spsc::Consumer<'static, u8, N>,
+}
+
+impl<Uart: Instance, const N: usize> ErrorType for RxAsync<Uart, N> {
+    /// Error reporting is done using the result of the interrupt functions.
+    type Error = Infallible;
+}
+
+impl<Uart: Instance, const N: usize> RxAsync<Uart, N> {
+    /// Create a new asynchronous receiver.
+    ///
+    /// The passed [heapless::spsc::Consumer] will be used to asynchronously receive data which
+    /// is filled by the interrupt handler.
+    pub fn new(mut rx: Rx<Uart>, queue: heapless::spsc::Consumer<'static, u8, N>) -> Self {
+        rx.disable_interrupts();
+        rx.disable();
+        rx.clear_fifo();
+        // Enable those together.
+        critical_section::with(|_| {
+            rx.enable_interrupts();
+            rx.enable();
+        });
+        Self { rx, queue }
+    }
+}
+
+impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsync<Uart, N> {
+    async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+        // Need to wait for the IRQ to read data and set this flag. If the queue is not
+        // empty, we can read data immediately.
+        if self.queue.len() == 0 {
+            RX_HAS_DATA[Uart::IDX as usize].store(false, Ordering::Relaxed);
+        }
+        let _guard = ActiveReadGuard(Uart::IDX as usize);
+        let mut handle_data_in_queue = |consumer: &mut heapless::spsc::Consumer<'static, u8, N>| {
+            let data_to_read = consumer.len().min(buf.len());
+            for byte in buf.iter_mut().take(data_to_read) {
+                // We own the consumer and we checked that the amount of data is guaranteed to be available.
+                *byte = unsafe { consumer.dequeue_unchecked() };
+            }
+            data_to_read
+        };
+        let fut = RxFuture::new(&mut self.rx);
+        // Data is available, so read that data immediately.
+        let read_data = handle_data_in_queue(&mut self.queue);
+        if read_data > 0 {
+            return Ok(read_data);
+        }
+        // Await data.
+        let _ = fut.await;
+        Ok(handle_data_in_queue(&mut self.queue))
+    }
+}
+
+/// Core data structure to allow asynchronous UART reception.
+///
+/// If the ring buffer becomes full, the oldest data will be overwritten when using the
+/// [on_interrupt_uart_a_overwriting] and [on_interrupt_uart_b_overwriting] interrupt handlers.
+pub struct RxAsyncSharedConsumer<Uart: Instance, const N: usize> {
+    rx: Rx<Uart>,
+    queue: &'static Mutex<RefCell<Option<Consumer<'static, u8, N>>>>,
+}
+
+impl<Uart: Instance, const N: usize> ErrorType for RxAsyncSharedConsumer<Uart, N> {
+    /// Error reporting is done using the result of the interrupt functions.
+    type Error = Infallible;
+}
+
+impl<Uart: Instance, const N: usize> RxAsyncSharedConsumer<Uart, N> {
+    /// Create a new asynchronous receiver.
+    ///
+    /// The passed shared [heapless::spsc::Consumer] will be used to asynchronously receive data
+    /// which is filled by the interrupt handler. The shared property allows using it in the
+    /// interrupt handler to overwrite old data.
+    pub fn new(
+        mut rx: Rx<Uart>,
+        queue: &'static Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
+    ) -> Self {
+        rx.disable_interrupts();
+        rx.disable();
+        rx.clear_fifo();
+        // Enable those together.
+        critical_section::with(|_| {
+            rx.enable_interrupts();
+            rx.enable();
+        });
+        Self { rx, queue }
+    }
+}
+
+impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsyncSharedConsumer<Uart, N> {
+    async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+        // Need to wait for the IRQ to read data and set this flag. If the queue is not
+        // empty, we can read data immediately.
+
+        critical_section::with(|cs| {
+            let queue = self.queue.borrow(cs);
+            if queue.borrow().as_ref().unwrap().len() == 0 {
+                RX_HAS_DATA[Uart::IDX as usize].store(false, Ordering::Relaxed);
+            }
+        });
+        let _guard = ActiveReadGuard(Uart::IDX as usize);
+        let mut handle_data_in_queue = || {
+            critical_section::with(|cs| {
+                let mut consumer_ref = self.queue.borrow(cs).borrow_mut();
+                let consumer = consumer_ref.as_mut().unwrap();
+                let data_to_read = consumer.len().min(buf.len());
+                for byte in buf.iter_mut().take(data_to_read) {
+                    // We own the consumer and we checked that the amount of data is guaranteed to be available.
+                    *byte = unsafe { consumer.dequeue_unchecked() };
+                }
+                data_to_read
+            })
+        };
+        let fut = RxFuture::new(&mut self.rx);
+        // Data is available, so read that data immediately.
+        let read_data = handle_data_in_queue();
+        if read_data > 0 {
+            return Ok(read_data);
+        }
+        // Await data.
+        let _ = fut.await;
+        let read_data = handle_data_in_queue();
+        Ok(read_data)
+    }
+}

va108xx-hal/src/uart/tx_asynch.rs

@@ -0,0 +1,264 @@
+//! # Async UART transmission functionality for the VA108xx family.
+//!
+//! This module provides the [TxAsync] struct which implements the [embedded_io_async::Write] trait.
+//! This trait allows for asynchronous sending of data streams. Please note that this module does
+//! not specify/declare the interrupt handlers which must be provided for async support to work.
+//! However, it provides two interrupt handlers:
+//!
+//! - [on_interrupt_uart_a_tx]
+//! - [on_interrupt_uart_b_tx]
+//!
+//! Those should be called in ALL user interrupt handlers which handle UART TX interrupts,
+//! depending on which UARTs are used.
+//!
+//! # Example
+//!
+//! - [Async UART TX example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-uart-tx.rs)
+use core::{cell::RefCell, future::Future};
+
+use critical_section::Mutex;
+use embassy_sync::waitqueue::AtomicWaker;
+use embedded_io_async::Write;
+use portable_atomic::AtomicBool;
+
+use super::*;
+
+static UART_TX_WAKERS: [AtomicWaker; 2] = [const { AtomicWaker::new() }; 2];
+static TX_CONTEXTS: [Mutex<RefCell<TxContext>>; 2] =
+    [const { Mutex::new(RefCell::new(TxContext::new())) }; 2];
+// Completion flag. Kept outside of the context structure as an atomic to avoid
+// critical section.
+static TX_DONE: [AtomicBool; 2] = [const { AtomicBool::new(false) }; 2];
+
+/// This is a generic interrupt handler to handle asynchronous UART TX operations. The user
+/// has to call this once in the interrupt handler responsible for UART A TX interrupts for
+/// asynchronous operations to work.
+pub fn on_interrupt_uart_a_tx() {
+    on_interrupt_uart_tx(unsafe { pac::Uarta::steal() });
+}
+
+/// This is a generic interrupt handler to handle asynchronous UART TX operations. The user
+/// has to call this once in the interrupt handler responsible for UART B TX interrupts for
+/// asynchronous operations to work.
+pub fn on_interrupt_uart_b_tx() {
+    on_interrupt_uart_tx(unsafe { pac::Uartb::steal() });
+}
+
+fn on_interrupt_uart_tx<Uart: Instance>(uart: Uart) {
+    let irq_enb = uart.irq_enb().read();
+    // IRQ is not related to TX.
+    if irq_enb.irq_tx().bit_is_clear() || irq_enb.irq_tx_empty().bit_is_clear() {
+        return;
+    }
+
+    let tx_status = uart.txstatus().read();
+    let unexpected_overrun = tx_status.wrlost().bit_is_set();
+    let mut context = critical_section::with(|cs| {
+        let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
+        *context_ref.borrow()
+    });
+    context.tx_overrun = unexpected_overrun;
+    if context.progress >= context.slice.len && !tx_status.wrbusy().bit_is_set() {
+        uart.irq_enb().modify(|_, w| {
+            w.irq_tx().clear_bit();
+            w.irq_tx_empty().clear_bit();
+            w.irq_tx_status().clear_bit()
+        });
+        uart.enable().modify(|_, w| w.txenable().clear_bit());
+        // Write back updated context structure.
+        critical_section::with(|cs| {
+            let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
+            *context_ref.borrow_mut() = context;
+        });
+        // Transfer is done.
+        TX_DONE[Uart::IDX as usize].store(true, core::sync::atomic::Ordering::Relaxed);
+        UART_TX_WAKERS[Uart::IDX as usize].wake();
+        return;
+    }
+    // Safety: We documented that the user provided slice must outlive the future, so we convert
+    // the raw pointer back to the slice here.
+    let slice = unsafe { core::slice::from_raw_parts(context.slice.data, context.slice.len) };
+    while context.progress < context.slice.len {
+        let wrrdy = uart.txstatus().read().wrrdy().bit_is_set();
+        if !wrrdy {
+            break;
+        }
+        // Safety: TX structure is owned by the future which does not write into the the data
+        // register, so we can assume we are the only one writing to the data register.
+        uart.data()
+            .write(|w| unsafe { w.bits(slice[context.progress] as u32) });
+        context.progress += 1;
+    }
+
+    // Write back updated context structure.
+    critical_section::with(|cs| {
+        let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
+        *context_ref.borrow_mut() = context;
+    });
+}
+
+#[derive(Debug, Copy, Clone)]
+pub struct TxContext {
+    progress: usize,
+    tx_overrun: bool,
+    slice: RawBufSlice,
+}
+
+#[allow(clippy::new_without_default)]
+impl TxContext {
+    pub const fn new() -> Self {
+        Self {
+            progress: 0,
+            tx_overrun: false,
+            slice: RawBufSlice::new_empty(),
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone)]
+struct RawBufSlice {
+    data: *const u8,
+    len: usize,
+}
+
+/// Safety: This type MUST be used with mutex to ensure concurrent access is valid.
+unsafe impl Send for RawBufSlice {}
+
+impl RawBufSlice {
+    /// # Safety
+    ///
+    /// This function stores the raw pointer of the passed data slice. The user MUST ensure
+    /// that the slice outlives the data structure.
+    #[allow(dead_code)]
+    const unsafe fn new(data: &[u8]) -> Self {
+        Self {
+            data: data.as_ptr(),
+            len: data.len(),
+        }
+    }
+
+    const fn new_empty() -> Self {
+        Self {
+            data: core::ptr::null(),
+            len: 0,
+        }
+    }
+
+    /// # Safety
+    ///
+    /// This function stores the raw pointer of the passed data slice. The user MUST ensure
+    /// that the slice outlives the data structure.
+    pub unsafe fn set(&mut self, data: &[u8]) {
+        self.data = data.as_ptr();
+        self.len = data.len();
+    }
+}
+
+pub struct TxFuture {
+    uart_idx: usize,
+}
+
+impl TxFuture {
+    /// # Safety
+    ///
+    /// This function stores the raw pointer of the passed data slice. The user MUST ensure
+    /// that the slice outlives the data structure.
+    pub unsafe fn new<Uart: Instance>(tx: &mut Tx<Uart>, data: &[u8]) -> Self {
+        TX_DONE[Uart::IDX as usize].store(false, core::sync::atomic::Ordering::Relaxed);
+        tx.disable_interrupts();
+        tx.disable();
+        tx.clear_fifo();
+
+        let uart_tx = unsafe { tx.uart() };
+        let init_fill_count = core::cmp::min(data.len(), 16);
+        // We fill the FIFO.
+        for data in data.iter().take(init_fill_count) {
+            uart_tx.data().write(|w| unsafe { w.bits(*data as u32) });
+        }
+        critical_section::with(|cs| {
+            let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
+            let mut context = context_ref.borrow_mut();
+            context.slice.set(data);
+            context.progress = init_fill_count;
+
+            // Ensure those are enabled inside a critical section at the same time. Can lead to
+            // weird glitches otherwise.
+            tx.enable_interrupts();
+            tx.enable();
+        });
+        Self {
+            uart_idx: Uart::IDX as usize,
+        }
+    }
+}
+
+impl Future for TxFuture {
+    type Output = Result<usize, TxOverrunError>;
+
+    fn poll(
+        self: core::pin::Pin<&mut Self>,
+        cx: &mut core::task::Context<'_>,
+    ) -> core::task::Poll<Self::Output> {
+        UART_TX_WAKERS[self.uart_idx].register(cx.waker());
+        if TX_DONE[self.uart_idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
+            let progress = critical_section::with(|cs| {
+                TX_CONTEXTS[self.uart_idx].borrow(cs).borrow().progress
+            });
+            return core::task::Poll::Ready(Ok(progress));
+        }
+        core::task::Poll::Pending
+    }
+}
+
+impl Drop for TxFuture {
+    fn drop(&mut self) {
+        let reg_block = match self.uart_idx {
+            0 => unsafe { pac::Uarta::reg_block() },
+            1 => unsafe { pac::Uartb::reg_block() },
+            _ => unreachable!(),
+        };
+
+        disable_tx_interrupts(reg_block);
+        disable_tx(reg_block);
+    }
+}
+
+pub struct TxAsync<Uart: Instance> {
+    tx: Tx<Uart>,
+}
+
+impl<Uart: Instance> TxAsync<Uart> {
+    pub fn new(tx: Tx<Uart>) -> Self {
+        Self { tx }
+    }
+
+    pub fn release(self) -> Tx<Uart> {
+        self.tx
+    }
+}
+
+#[derive(Debug, thiserror::Error)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[error("TX overrun error")]
+pub struct TxOverrunError;
+
+impl embedded_io_async::Error for TxOverrunError {
+    fn kind(&self) -> embedded_io_async::ErrorKind {
+        embedded_io_async::ErrorKind::Other
+    }
+}
+
+impl<Uart: Instance> embedded_io::ErrorType for TxAsync<Uart> {
+    type Error = TxOverrunError;
+}
+
+impl<Uart: Instance> Write for TxAsync<Uart> {
+    /// Write a buffer asynchronously.
+    ///
+    /// This implementation is not side effect free, and a started future might have already
+    /// written part of the passed buffer.
+    async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+        let fut = unsafe { TxFuture::new(&mut self.tx, buf) };
+        fut.await
+    }
+}

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 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [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

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx"
-version = "0.3.0"
+version = "0.4.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA108xx family of microcontrollers"

va108xx/README.md

@@ -24,7 +24,7 @@ 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).
 
 ## 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"

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,

va108xx/src/i2ca.rs

@@ -240,67 +240,67 @@ impl RegisterBlock {
         &self.perid
     }
 }
-#[doc = "CTRL (rw) register accessor: Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ctrl::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ctrl::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctrl`]
+#[doc = "CTRL (rw) register accessor: Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ctrl::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ctrl::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctrl`]
 module"]
 #[doc(alias = "CTRL")]
 pub type Ctrl = crate::Reg<ctrl::CtrlSpec>;
 #[doc = "Control Register"]
 pub mod ctrl;
-#[doc = "CLKSCALE (rw) register accessor: Clock Scale divide value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`clkscale::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`clkscale::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@clkscale`]
+#[doc = "CLKSCALE (rw) register accessor: Clock Scale divide value\n\nYou can [`read`](crate::Reg::read) this register and get [`clkscale::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`clkscale::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@clkscale`]
 module"]
 #[doc(alias = "CLKSCALE")]
 pub type Clkscale = crate::Reg<clkscale::ClkscaleSpec>;
 #[doc = "Clock Scale divide value"]
 pub mod clkscale;
-#[doc = "WORDS (rw) register accessor: Word Count value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`words::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`words::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@words`]
+#[doc = "WORDS (rw) register accessor: Word Count value\n\nYou can [`read`](crate::Reg::read) this register and get [`words::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`words::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@words`]
 module"]
 #[doc(alias = "WORDS")]
 pub type Words = crate::Reg<words::WordsSpec>;
 #[doc = "Word Count value"]
 pub mod words;
-#[doc = "ADDRESS (rw) register accessor: I2C Address value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`address::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`address::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@address`]
+#[doc = "ADDRESS (rw) register accessor: I2C Address value\n\nYou can [`read`](crate::Reg::read) this register and get [`address::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`address::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@address`]
 module"]
 #[doc(alias = "ADDRESS")]
 pub type Address = crate::Reg<address::AddressSpec>;
 #[doc = "I2C Address value"]
 pub mod address;
-#[doc = "DATA (rw) register accessor: Data Input/Output\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data`]
+#[doc = "DATA (rw) register accessor: Data Input/Output\n\nYou can [`read`](crate::Reg::read) this register and get [`data::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data`]
 module"]
 #[doc(alias = "DATA")]
 pub type Data = crate::Reg<data::DataSpec>;
 #[doc = "Data Input/Output"]
 pub mod data;
-#[doc = "CMD (rw) register accessor: Command Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cmd::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cmd::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cmd`]
+#[doc = "CMD (rw) register accessor: Command Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cmd::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cmd::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cmd`]
 module"]
 #[doc(alias = "CMD")]
 pub type Cmd = crate::Reg<cmd::CmdSpec>;
 #[doc = "Command Register"]
 pub mod cmd;
-#[doc = "STATUS (r) register accessor: I2C Controller Status Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`status::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@status`]
+#[doc = "STATUS (r) register accessor: I2C Controller Status Register\n\nYou can [`read`](crate::Reg::read) this register and get [`status::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@status`]
 module"]
 #[doc(alias = "STATUS")]
 pub type Status = crate::Reg<status::StatusSpec>;
 #[doc = "I2C Controller Status Register"]
 pub mod status;
-#[doc = "STATE (r) register accessor: Internal STATE of I2C Master Controller\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`state::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@state`]
+#[doc = "STATE (r) register accessor: Internal STATE of I2C Master Controller\n\nYou can [`read`](crate::Reg::read) this register and get [`state::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@state`]
 module"]
 #[doc(alias = "STATE")]
 pub type State = crate::Reg<state::StateSpec>;
 #[doc = "Internal STATE of I2C Master Controller"]
 pub mod state;
-#[doc = "TXCOUNT (r) register accessor: TX Count Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`txcount::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@txcount`]
+#[doc = "TXCOUNT (r) register accessor: TX Count Register\n\nYou can [`read`](crate::Reg::read) this register and get [`txcount::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@txcount`]
 module"]
 #[doc(alias = "TXCOUNT")]
 pub type Txcount = crate::Reg<txcount::TxcountSpec>;
 #[doc = "TX Count Register"]
 pub mod txcount;
-#[doc = "RXCOUNT (r) register accessor: RX Count Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`rxcount::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@rxcount`]
+#[doc = "RXCOUNT (r) register accessor: RX Count Register\n\nYou can [`read`](crate::Reg::read) this register and get [`rxcount::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@rxcount`]
 module"]
 #[doc(alias = "RXCOUNT")]
 pub type Rxcount = crate::Reg<rxcount::RxcountSpec>;
 #[doc = "RX Count Register"]
 pub mod rxcount;
-#[doc = "IRQ_ENB (rw) register accessor: Interrupt Enable Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_enb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`irq_enb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_enb`]
+#[doc = "IRQ_ENB (rw) register accessor: Interrupt Enable Register\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_enb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`irq_enb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_enb`]
 module"]
 #[doc(alias = "IRQ_ENB")]
 pub type IrqEnb = crate::Reg<irq_enb::IrqEnbSpec>;
@@ -312,97 +312,97 @@ pub use irq_enb as irq_clr;
 pub use IrqEnb as IrqRaw;
 pub use IrqEnb as IrqEnd;
 pub use IrqEnb as IrqClr;
-#[doc = "RXFIFOIRQTRG (rw) register accessor: Rx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`rxfifoirqtrg::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@rxfifoirqtrg`]
+#[doc = "RXFIFOIRQTRG (rw) register accessor: Rx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::Reg::read) this register and get [`rxfifoirqtrg::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@rxfifoirqtrg`]
 module"]
 #[doc(alias = "RXFIFOIRQTRG")]
 pub type Rxfifoirqtrg = crate::Reg<rxfifoirqtrg::RxfifoirqtrgSpec>;
 #[doc = "Rx FIFO IRQ Trigger Level"]
 pub mod rxfifoirqtrg;
-#[doc = "TXFIFOIRQTRG (rw) register accessor: Tx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`txfifoirqtrg::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`txfifoirqtrg::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@txfifoirqtrg`]
+#[doc = "TXFIFOIRQTRG (rw) register accessor: Tx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::Reg::read) this register and get [`txfifoirqtrg::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`txfifoirqtrg::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@txfifoirqtrg`]
 module"]
 #[doc(alias = "TXFIFOIRQTRG")]
 pub type Txfifoirqtrg = crate::Reg<txfifoirqtrg::TxfifoirqtrgSpec>;
 #[doc = "Tx FIFO IRQ Trigger Level"]
 pub mod txfifoirqtrg;
-#[doc = "FIFO_CLR (w) register accessor: Clear FIFO Register\n\nYou can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`fifo_clr::W`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@fifo_clr`]
+#[doc = "FIFO_CLR (w) register accessor: Clear FIFO Register\n\nYou can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`fifo_clr::W`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@fifo_clr`]
 module"]
 #[doc(alias = "FIFO_CLR")]
 pub type FifoClr = crate::Reg<fifo_clr::FifoClrSpec>;
 #[doc = "Clear FIFO Register"]
 pub mod fifo_clr;
-#[doc = "TMCONFIG (rw) register accessor: Timing Config Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tmconfig::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tmconfig::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tmconfig`]
+#[doc = "TMCONFIG (rw) register accessor: Timing Config Register\n\nYou can [`read`](crate::Reg::read) this register and get [`tmconfig::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tmconfig::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tmconfig`]
 module"]
 #[doc(alias = "TMCONFIG")]
 pub type Tmconfig = crate::Reg<tmconfig::TmconfigSpec>;
 #[doc = "Timing Config Register"]
 pub mod tmconfig;
-#[doc = "CLKTOLIMIT (rw) register accessor: Clock Low Timeout Limit Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`clktolimit::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`clktolimit::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@clktolimit`]
+#[doc = "CLKTOLIMIT (rw) register accessor: Clock Low Timeout Limit Register\n\nYou can [`read`](crate::Reg::read) this register and get [`clktolimit::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`clktolimit::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@clktolimit`]
 module"]
 #[doc(alias = "CLKTOLIMIT")]
 pub type Clktolimit = crate::Reg<clktolimit::ClktolimitSpec>;
 #[doc = "Clock Low Timeout Limit Register"]
 pub mod clktolimit;
-#[doc = "S0_CTRL (rw) register accessor: Slave Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_ctrl::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_ctrl::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_ctrl`]
+#[doc = "S0_CTRL (rw) register accessor: Slave Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_ctrl::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_ctrl::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_ctrl`]
 module"]
 #[doc(alias = "S0_CTRL")]
 pub type S0Ctrl = crate::Reg<s0_ctrl::S0CtrlSpec>;
 #[doc = "Slave Control Register"]
 pub mod s0_ctrl;
-#[doc = "S0_MAXWORDS (rw) register accessor: Slave MaxWords Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_maxwords::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_maxwords::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_maxwords`]
+#[doc = "S0_MAXWORDS (rw) register accessor: Slave MaxWords Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_maxwords::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_maxwords::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_maxwords`]
 module"]
 #[doc(alias = "S0_MAXWORDS")]
 pub type S0Maxwords = crate::Reg<s0_maxwords::S0MaxwordsSpec>;
 #[doc = "Slave MaxWords Register"]
 pub mod s0_maxwords;
-#[doc = "S0_ADDRESS (rw) register accessor: Slave I2C Address Value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_address::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_address::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_address`]
+#[doc = "S0_ADDRESS (rw) register accessor: Slave I2C Address Value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_address::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_address::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_address`]
 module"]
 #[doc(alias = "S0_ADDRESS")]
 pub type S0Address = crate::Reg<s0_address::S0AddressSpec>;
 #[doc = "Slave I2C Address Value"]
 pub mod s0_address;
-#[doc = "S0_ADDRESSMASK (rw) register accessor: Slave I2C Address Mask value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_addressmask::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_addressmask::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_addressmask`]
+#[doc = "S0_ADDRESSMASK (rw) register accessor: Slave I2C Address Mask value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_addressmask::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_addressmask::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_addressmask`]
 module"]
 #[doc(alias = "S0_ADDRESSMASK")]
 pub type S0Addressmask = crate::Reg<s0_addressmask::S0AddressmaskSpec>;
 #[doc = "Slave I2C Address Mask value"]
 pub mod s0_addressmask;
-#[doc = "S0_DATA (rw) register accessor: Slave Data Input/Output\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_data::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_data::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_data`]
+#[doc = "S0_DATA (rw) register accessor: Slave Data Input/Output\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_data::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_data::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_data`]
 module"]
 #[doc(alias = "S0_DATA")]
 pub type S0Data = crate::Reg<s0_data::S0DataSpec>;
 #[doc = "Slave Data Input/Output"]
 pub mod s0_data;
-#[doc = "S0_LASTADDRESS (r) register accessor: Slave I2C Last Address value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_lastaddress::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_lastaddress`]
+#[doc = "S0_LASTADDRESS (r) register accessor: Slave I2C Last Address value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_lastaddress::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_lastaddress`]
 module"]
 #[doc(alias = "S0_LASTADDRESS")]
 pub type S0Lastaddress = crate::Reg<s0_lastaddress::S0LastaddressSpec>;
 #[doc = "Slave I2C Last Address value"]
 pub mod s0_lastaddress;
-#[doc = "S0_STATUS (r) register accessor: Slave I2C Controller Status Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_status::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_status`]
+#[doc = "S0_STATUS (r) register accessor: Slave I2C Controller Status Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_status::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_status`]
 module"]
 #[doc(alias = "S0_STATUS")]
 pub type S0Status = crate::Reg<s0_status::S0StatusSpec>;
 #[doc = "Slave I2C Controller Status Register"]
 pub mod s0_status;
-#[doc = "S0_STATE (r) register accessor: Internal STATE of I2C Slave Controller\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_state::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_state`]
+#[doc = "S0_STATE (r) register accessor: Internal STATE of I2C Slave Controller\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_state::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_state`]
 module"]
 #[doc(alias = "S0_STATE")]
 pub type S0State = crate::Reg<s0_state::S0StateSpec>;
 #[doc = "Internal STATE of I2C Slave Controller"]
 pub mod s0_state;
-#[doc = "S0_TXCOUNT (r) register accessor: Slave TX Count Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_txcount::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_txcount`]
+#[doc = "S0_TXCOUNT (r) register accessor: Slave TX Count Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_txcount::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_txcount`]
 module"]
 #[doc(alias = "S0_TXCOUNT")]
 pub type S0Txcount = crate::Reg<s0_txcount::S0TxcountSpec>;
 #[doc = "Slave TX Count Register"]
 pub mod s0_txcount;
-#[doc = "S0_RXCOUNT (r) register accessor: Slave RX Count Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_rxcount::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_rxcount`]
+#[doc = "S0_RXCOUNT (r) register accessor: Slave RX Count Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_rxcount::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_rxcount`]
 module"]
 #[doc(alias = "S0_RXCOUNT")]
 pub type S0Rxcount = crate::Reg<s0_rxcount::S0RxcountSpec>;
 #[doc = "Slave RX Count Register"]
 pub mod s0_rxcount;
-#[doc = "S0_IRQ_ENB (rw) register accessor: Slave Interrupt Enable Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_irq_enb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_irq_enb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_irq_enb`]
+#[doc = "S0_IRQ_ENB (rw) register accessor: Slave Interrupt Enable Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_irq_enb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_irq_enb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_irq_enb`]
 module"]
 #[doc(alias = "S0_IRQ_ENB")]
 pub type S0IrqEnb = crate::Reg<s0_irq_enb::S0IrqEnbSpec>;
@@ -414,37 +414,37 @@ pub use s0_irq_enb as s0_irq_clr;
 pub use S0IrqEnb as S0IrqRaw;
 pub use S0IrqEnb as S0IrqEnd;
 pub use S0IrqEnb as S0IrqClr;
-#[doc = "S0_RXFIFOIRQTRG (rw) register accessor: Slave Rx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_rxfifoirqtrg::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_rxfifoirqtrg::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_rxfifoirqtrg`]
+#[doc = "S0_RXFIFOIRQTRG (rw) register accessor: Slave Rx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_rxfifoirqtrg::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_rxfifoirqtrg::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_rxfifoirqtrg`]
 module"]
 #[doc(alias = "S0_RXFIFOIRQTRG")]
 pub type S0Rxfifoirqtrg = crate::Reg<s0_rxfifoirqtrg::S0RxfifoirqtrgSpec>;
 #[doc = "Slave Rx FIFO IRQ Trigger Level"]
 pub mod s0_rxfifoirqtrg;
-#[doc = "S0_TXFIFOIRQTRG (rw) register accessor: Slave Tx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_txfifoirqtrg::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_txfifoirqtrg::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_txfifoirqtrg`]
+#[doc = "S0_TXFIFOIRQTRG (rw) register accessor: Slave Tx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_txfifoirqtrg::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_txfifoirqtrg::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_txfifoirqtrg`]
 module"]
 #[doc(alias = "S0_TXFIFOIRQTRG")]
 pub type S0Txfifoirqtrg = crate::Reg<s0_txfifoirqtrg::S0TxfifoirqtrgSpec>;
 #[doc = "Slave Tx FIFO IRQ Trigger Level"]
 pub mod s0_txfifoirqtrg;
-#[doc = "S0_FIFO_CLR (w) register accessor: Slave Clear FIFO Register\n\nYou can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_fifo_clr::W`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_fifo_clr`]
+#[doc = "S0_FIFO_CLR (w) register accessor: Slave Clear FIFO Register\n\nYou can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_fifo_clr::W`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_fifo_clr`]
 module"]
 #[doc(alias = "S0_FIFO_CLR")]
 pub type S0FifoClr = crate::Reg<s0_fifo_clr::S0FifoClrSpec>;
 #[doc = "Slave Clear FIFO Register"]
 pub mod s0_fifo_clr;
-#[doc = "S0_ADDRESSB (rw) register accessor: Slave I2C Address B Value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_addressb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_addressb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_addressb`]
+#[doc = "S0_ADDRESSB (rw) register accessor: Slave I2C Address B Value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_addressb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_addressb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_addressb`]
 module"]
 #[doc(alias = "S0_ADDRESSB")]
 pub type S0Addressb = crate::Reg<s0_addressb::S0AddressbSpec>;
 #[doc = "Slave I2C Address B Value"]
 pub mod s0_addressb;
-#[doc = "S0_ADDRESSMASKB (rw) register accessor: Slave I2C Address B Mask value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_addressmaskb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_addressmaskb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_addressmaskb`]
+#[doc = "S0_ADDRESSMASKB (rw) register accessor: Slave I2C Address B Mask value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_addressmaskb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_addressmaskb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@s0_addressmaskb`]
 module"]
 #[doc(alias = "S0_ADDRESSMASKB")]
 pub type S0Addressmaskb = crate::Reg<s0_addressmaskb::S0AddressmaskbSpec>;
 #[doc = "Slave I2C Address B Mask value"]
 pub mod s0_addressmaskb;
-#[doc = "PERID (r) register accessor: Peripheral ID Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`perid::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@perid`]
+#[doc = "PERID (r) register accessor: Peripheral ID Register\n\nYou can [`read`](crate::Reg::read) this register and get [`perid::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@perid`]
 module"]
 #[doc(alias = "PERID")]
 pub type Perid = crate::Reg<perid::PeridSpec>;

va108xx/src/i2ca/address.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "I2C Address value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`address::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`address::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "I2C Address value\n\nYou can [`read`](crate::Reg::read) this register and get [`address::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`address::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct AddressSpec;
 impl crate::RegisterSpec for AddressSpec {
     type Ux = u32;

va108xx/src/i2ca/clkscale.rs

@@ -25,18 +25,16 @@ impl R {
 impl W {
     #[doc = "Bits 0:30 - Enable FastMode"]
     #[inline(always)]
-    #[must_use]
     pub fn value(&mut self) -> ValueW<ClkscaleSpec> {
         ValueW::new(self, 0)
     }
     #[doc = "Bit 31 - Enable FastMode"]
     #[inline(always)]
-    #[must_use]
     pub fn fastmode(&mut self) -> FastmodeW<ClkscaleSpec> {
         FastmodeW::new(self, 31)
     }
 }
-#[doc = "Clock Scale divide value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`clkscale::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`clkscale::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Clock Scale divide value\n\nYou can [`read`](crate::Reg::read) this register and get [`clkscale::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`clkscale::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct ClkscaleSpec;
 impl crate::RegisterSpec for ClkscaleSpec {
     type Ux = u32;

va108xx/src/i2ca/clktolimit.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Clock Low Timeout Limit Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`clktolimit::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`clktolimit::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Clock Low Timeout Limit Register\n\nYou can [`read`](crate::Reg::read) this register and get [`clktolimit::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`clktolimit::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct ClktolimitSpec;
 impl crate::RegisterSpec for ClktolimitSpec {
     type Ux = u32;

va108xx/src/i2ca/cmd.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Command Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cmd::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cmd::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Command Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cmd::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cmd::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct CmdSpec;
 impl crate::RegisterSpec for CmdSpec {
     type Ux = u32;

va108xx/src/i2ca/ctrl.rs

@@ -88,60 +88,51 @@ impl R {
 impl W {
     #[doc = "Bit 0 - I2C CLK Enabled"]
     #[inline(always)]
-    #[must_use]
     pub fn clkenabled(&mut self) -> ClkenabledW<CtrlSpec> {
         ClkenabledW::new(self, 0)
     }
     #[doc = "Bit 1 - I2C Activated"]
     #[inline(always)]
-    #[must_use]
     pub fn enabled(&mut self) -> EnabledW<CtrlSpec> {
         EnabledW::new(self, 1)
     }
     #[doc = "Bit 2 - I2C Active"]
     #[inline(always)]
-    #[must_use]
     pub fn enable(&mut self) -> EnableW<CtrlSpec> {
         EnableW::new(self, 2)
     }
     #[doc = "Bit 3 - TX FIFIO Empty Mode"]
     #[inline(always)]
-    #[must_use]
     pub fn txfemd(&mut self) -> TxfemdW<CtrlSpec> {
         TxfemdW::new(self, 3)
     }
     #[doc = "Bit 4 - RX FIFO Full Mode"]
     #[inline(always)]
-    #[must_use]
     pub fn rxffmd(&mut self) -> RxffmdW<CtrlSpec> {
         RxffmdW::new(self, 4)
     }
     #[doc = "Bit 5 - Enable Input Analog Glitch Filter"]
     #[inline(always)]
-    #[must_use]
     pub fn algfilter(&mut self) -> AlgfilterW<CtrlSpec> {
         AlgfilterW::new(self, 5)
     }
     #[doc = "Bit 6 - Enable Input Digital Glitch Filter"]
     #[inline(always)]
-    #[must_use]
     pub fn dlgfilter(&mut self) -> DlgfilterW<CtrlSpec> {
         DlgfilterW::new(self, 6)
     }
     #[doc = "Bit 8 - Enable LoopBack Mode"]
     #[inline(always)]
-    #[must_use]
     pub fn loopback(&mut self) -> LoopbackW<CtrlSpec> {
         LoopbackW::new(self, 8)
     }
     #[doc = "Bit 9 - Enable Timing Config Register"]
     #[inline(always)]
-    #[must_use]
     pub fn tmconfigenb(&mut self) -> TmconfigenbW<CtrlSpec> {
         TmconfigenbW::new(self, 9)
     }
 }
-#[doc = "Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ctrl::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ctrl::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ctrl::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ctrl::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct CtrlSpec;
 impl crate::RegisterSpec for CtrlSpec {
     type Ux = u32;

va108xx/src/i2ca/data.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Data Input/Output\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Data Input/Output\n\nYou can [`read`](crate::Reg::read) this register and get [`data::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct DataSpec;
 impl crate::RegisterSpec for DataSpec {
     type Ux = u32;

va108xx/src/i2ca/fifo_clr.rs

@@ -7,18 +7,16 @@ pub type TxfifoW<'a, REG> = crate::BitWriter<'a, REG>;
 impl W {
     #[doc = "Bit 0 - Clear Rx FIFO"]
     #[inline(always)]
-    #[must_use]
     pub fn rxfifo(&mut self) -> RxfifoW<FifoClrSpec> {
         RxfifoW::new(self, 0)
     }
     #[doc = "Bit 1 - Clear Tx FIFO"]
     #[inline(always)]
-    #[must_use]
     pub fn txfifo(&mut self) -> TxfifoW<FifoClrSpec> {
         TxfifoW::new(self, 1)
     }
 }
-#[doc = "Clear FIFO Register\n\nYou can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`fifo_clr::W`](W). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Clear FIFO Register\n\nYou can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`fifo_clr::W`](W). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct FifoClrSpec;
 impl crate::RegisterSpec for FifoClrSpec {
     type Ux = u32;

va108xx/src/i2ca/irq_enb.rs

@@ -133,90 +133,76 @@ impl R {
 impl W {
     #[doc = "Bit 0 - I2C Bus is Idle"]
     #[inline(always)]
-    #[must_use]
     pub fn i2cidle(&mut self) -> I2cidleW<IrqEnbSpec> {
         I2cidleW::new(self, 0)
     }
     #[doc = "Bit 1 - Controller is Idle"]
     #[inline(always)]
-    #[must_use]
     pub fn idle(&mut self) -> IdleW<IrqEnbSpec> {
         IdleW::new(self, 1)
     }
     #[doc = "Bit 2 - Controller is Waiting"]
     #[inline(always)]
-    #[must_use]
     pub fn waiting(&mut self) -> WaitingW<IrqEnbSpec> {
         WaitingW::new(self, 2)
     }
     #[doc = "Bit 3 - Controller is Stalled"]
     #[inline(always)]
-    #[must_use]
     pub fn stalled(&mut self) -> StalledW<IrqEnbSpec> {
         StalledW::new(self, 3)
     }
     #[doc = "Bit 4 - I2C Arbitration was lost"]
     #[inline(always)]
-    #[must_use]
     pub fn arblost(&mut self) -> ArblostW<IrqEnbSpec> {
         ArblostW::new(self, 4)
     }
     #[doc = "Bit 5 - I2C Address was not Acknowledged"]
     #[inline(always)]
-    #[must_use]
     pub fn nackaddr(&mut self) -> NackaddrW<IrqEnbSpec> {
         NackaddrW::new(self, 5)
     }
     #[doc = "Bit 6 - I2C Data was not Acknowledged"]
     #[inline(always)]
-    #[must_use]
     pub fn nackdata(&mut self) -> NackdataW<IrqEnbSpec> {
         NackdataW::new(self, 6)
     }
     #[doc = "Bit 7 - I2C Clock Low Timeout"]
     #[inline(always)]
-    #[must_use]
     pub fn clkloto(&mut self) -> ClklotoW<IrqEnbSpec> {
         ClklotoW::new(self, 7)
     }
     #[doc = "Bit 10 - TX FIFO Overflowed"]
     #[inline(always)]
-    #[must_use]
     pub fn txoverflow(&mut self) -> TxoverflowW<IrqEnbSpec> {
         TxoverflowW::new(self, 10)
     }
     #[doc = "Bit 11 - TX FIFO Overflowed"]
     #[inline(always)]
-    #[must_use]
     pub fn rxoverflow(&mut self) -> RxoverflowW<IrqEnbSpec> {
         RxoverflowW::new(self, 11)
     }
     #[doc = "Bit 12 - TX FIFO Ready"]
     #[inline(always)]
-    #[must_use]
     pub fn txready(&mut self) -> TxreadyW<IrqEnbSpec> {
         TxreadyW::new(self, 12)
     }
     #[doc = "Bit 13 - RX FIFO Ready"]
     #[inline(always)]
-    #[must_use]
     pub fn rxready(&mut self) -> RxreadyW<IrqEnbSpec> {
         RxreadyW::new(self, 13)
     }
     #[doc = "Bit 14 - TX FIFO Empty"]
     #[inline(always)]
-    #[must_use]
     pub fn txempty(&mut self) -> TxemptyW<IrqEnbSpec> {
         TxemptyW::new(self, 14)
     }
     #[doc = "Bit 15 - RX FIFO Full"]
     #[inline(always)]
-    #[must_use]
     pub fn rxfull(&mut self) -> RxfullW<IrqEnbSpec> {
         RxfullW::new(self, 15)
     }
 }
-#[doc = "Interrupt Enable Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_enb::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`irq_enb::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Interrupt Enable Register\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_enb::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`irq_enb::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct IrqEnbSpec;
 impl crate::RegisterSpec for IrqEnbSpec {
     type Ux = u32;

va108xx/src/i2ca/perid.rs

@@ -5,7 +5,7 @@ impl core::fmt::Debug for R {
         write!(f, "{}", self.bits())
     }
 }
-#[doc = "Peripheral ID Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`perid::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Peripheral ID Register\n\nYou can [`read`](crate::Reg::read) this register and get [`perid::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct PeridSpec;
 impl crate::RegisterSpec for PeridSpec {
     type Ux = u32;

va108xx/src/i2ca/rxcount.rs

@@ -5,7 +5,7 @@ impl core::fmt::Debug for R {
         write!(f, "{}", self.bits())
     }
 }
-#[doc = "RX Count Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`rxcount::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "RX Count Register\n\nYou can [`read`](crate::Reg::read) this register and get [`rxcount::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct RxcountSpec;
 impl crate::RegisterSpec for RxcountSpec {
     type Ux = u32;

va108xx/src/i2ca/rxfifoirqtrg.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Rx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`rxfifoirqtrg::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Rx FIFO IRQ Trigger Level\n\nYou can [`read`](crate::Reg::read) this register and get [`rxfifoirqtrg::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct RxfifoirqtrgSpec;
 impl crate::RegisterSpec for RxfifoirqtrgSpec {
     type Ux = u32;

va108xx/src/i2ca/s0_address.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Slave I2C Address Value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_address::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_address::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Slave I2C Address Value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_address::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_address::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct S0AddressSpec;
 impl crate::RegisterSpec for S0AddressSpec {
     type Ux = u32;

va108xx/src/i2ca/s0_addressb.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Slave I2C Address B Value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_addressb::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_addressb::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Slave I2C Address B Value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_addressb::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_addressb::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct S0AddressbSpec;
 impl crate::RegisterSpec for S0AddressbSpec {
     type Ux = u32;

va108xx/src/i2ca/s0_addressmask.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Slave I2C Address Mask value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_addressmask::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_addressmask::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Slave I2C Address Mask value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_addressmask::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_addressmask::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct S0AddressmaskSpec;
 impl crate::RegisterSpec for S0AddressmaskSpec {
     type Ux = u32;

va108xx/src/i2ca/s0_addressmaskb.rs

@@ -8,7 +8,7 @@ impl core::fmt::Debug for R {
     }
 }
 impl W {}
-#[doc = "Slave I2C Address B Mask value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_addressmaskb::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_addressmaskb::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Slave I2C Address B Mask value\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_addressmaskb::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_addressmaskb::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct S0AddressmaskbSpec;
 impl crate::RegisterSpec for S0AddressmaskbSpec {
     type Ux = u32;

va108xx/src/i2ca/s0_ctrl.rs

@@ -52,36 +52,31 @@ impl R {
 impl W {
     #[doc = "Bit 0 - I2C Enabled"]
     #[inline(always)]
-    #[must_use]
     pub fn clkenabled(&mut self) -> ClkenabledW<S0CtrlSpec> {
         ClkenabledW::new(self, 0)
     }
     #[doc = "Bit 1 - I2C Activated"]
     #[inline(always)]
-    #[must_use]
     pub fn enabled(&mut self) -> EnabledW<S0CtrlSpec> {
         EnabledW::new(self, 1)
     }
     #[doc = "Bit 2 - I2C Active"]
     #[inline(always)]
-    #[must_use]
     pub fn enable(&mut self) -> EnableW<S0CtrlSpec> {
         EnableW::new(self, 2)
     }
     #[doc = "Bit 3 - TX FIFIO Empty Mode"]
     #[inline(always)]
-    #[must_use]
     pub fn txfemd(&mut self) -> TxfemdW<S0CtrlSpec> {
         TxfemdW::new(self, 3)
     }
     #[doc = "Bit 4 - RX FIFO Full Mode"]
     #[inline(always)]
-    #[must_use]
     pub fn rxffmd(&mut self) -> RxffmdW<S0CtrlSpec> {
         RxffmdW::new(self, 4)
     }
 }
-#[doc = "Slave Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`s0_ctrl::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`s0_ctrl::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Slave Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`s0_ctrl::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`s0_ctrl::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct S0CtrlSpec;
 impl crate::RegisterSpec for S0CtrlSpec {
     type Ux = u32;