.cargo/def-config.toml

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

README.md

@@ -106,3 +106,6 @@ configuration variables in your `settings.json`:
 - `"cortex-debug.gdbPath.linux"`
 - `"cortex-debug.gdbPath.windows"`
 - `"cortex-debug.gdbPath.osx"`
+
+The provided VS Code configurations also provide an integrated RTT logger, which you can access
+via the terminal at `RTT Ch:0 console`.

board-tests/Cargo.toml

@@ -15,7 +15,7 @@ embedded-hal-nb = "1"
 embedded-io = "0.6"
 
 [dependencies.va108xx-hal]
-version = "0.6"
+version = "0.7"
 path = "../va108xx-hal"
 features = ["rt"]
 

examples/simple/Cargo.toml

@@ -28,6 +28,6 @@ version = "1"
 features = ["cortex-m-systick"]
 
 [dependencies.va108xx-hal]
-version = "0.6"
+version = "0.7"
 path = "../../va108xx-hal"
 features = ["rt", "defmt"]

examples/simple/examples/pwm.rs

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

examples/simple/examples/rtt-log.rs

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

examples/simple/examples/spi.rs

@@ -73,12 +73,12 @@ fn main() -> ! {
                 pinsa.pa30.into_funsel_1(),
                 pinsa.pa29.into_funsel_1(),
             );
-            let mut spia = Spi::spia(
+            let mut spia = Spi::new(
+                &mut dp.sysconfig,
+                50.MHz(),
                 dp.spia,
                 (sck, miso, mosi),
-                50.MHz(),
                 spi_cfg,
-                Some(&mut dp.sysconfig),
                 None,
             );
             spia.set_fill_word(FILL_WORD);
@@ -90,12 +90,12 @@ fn main() -> ! {
                 pinsb.pb8.into_funsel_2(),
                 pinsb.pb7.into_funsel_2(),
             );
-            let mut spia = Spi::spia(
+            let mut spia = Spi::new(
+                &mut dp.sysconfig,
+                50.MHz(),
                 dp.spia,
                 (sck, miso, mosi),
-                50.MHz(),
                 spi_cfg,
-                Some(&mut dp.sysconfig),
                 None,
             );
             spia.set_fill_word(FILL_WORD);
@@ -107,12 +107,12 @@ fn main() -> ! {
                 pinsb.pb4.into_funsel_1(),
                 pinsb.pb3.into_funsel_1(),
             );
-            let mut spib = Spi::spib(
+            let mut spib = Spi::new(
+                &mut dp.sysconfig,
+                50.MHz(),
                 dp.spib,
                 (sck, miso, mosi),
-                50.MHz(),
                 spi_cfg,
-                Some(&mut dp.sysconfig),
                 None,
             );
             spib.set_fill_word(FILL_WORD);
@@ -195,6 +195,10 @@ fn main() -> ! {
                     if EXAMPLE_SEL == ExampleSelect::Loopback {
                         // Can't really verify correct reply here.
                         spi.write(&[0x42]).expect("write failed");
+                        // Need small delay.. otherwise we will read back the sent byte (which we don't want here).
+                        // The write function will return as soon as all bytes were shifted out, ignoring the
+                        // reply bytes.
+                        delay.delay_us(50);
                         // Because of the loopback mode, we should get back the fill word here.
                         spi.read(&mut reply_buf[0..1]).unwrap();
                         assert_eq!(reply_buf[0], FILL_WORD);

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

@@ -65,7 +65,7 @@ mod app {
 
         let irq_cfg = IrqCfg::new(pac::interrupt::OC3, true, true);
         let (mut irq_uart, _) =
-            uart::Uart::uartb(dp.uartb, (tx, rx), 115200.Hz(), &mut dp.sysconfig, 50.MHz())
+            uart::Uart::new(&mut dp.sysconfig, 50.MHz(), dp.uartb, (tx, rx), 115200.Hz())
                 .into_uart_with_irq(irq_cfg, Some(&mut dp.sysconfig), Some(&mut dp.irqsel))
                 .downgrade();
         irq_uart

examples/simple/examples/uart.rs

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

va108xx-hal/CHANGELOG.md

@@ -6,6 +6,14 @@ 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/).
 
+## [v0.7.0] 2024-07-04
+
+- Replace `uarta` and `uartb` `Uart` constructors by `new` constructor
+- Replace SPI `spia`, `spib` and `spic` constructors by `new` constructor
+- Replace I2C `i2ca`, `i2cb` constructors by `new` constructor. Update constructor
+  to fail on invalid fast I2C speed system clock values
+- Renamed `gpio::pins` to `gpio::pin` and `gpio::dynpins` to `gpio::dynpin`
+
 ## [v0.6.0] 2024-06-16
 
 - Updated `embedded-hal` to v1

va108xx-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx-hal"
-version = "0.6.0"
+version = "0.7.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA108xx family of microcontrollers"

va108xx-hal/README.md

@@ -4,7 +4,7 @@
 # HAL for the Vorago VA108xx MCU family
 
 This repository contains the **H**ardware **A**bstraction **L**ayer (HAL), which is an additional
-hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va108xx).
+hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/va108xx).
 
 It is the result of reading the datasheet for the device and encoding a type-safe layer over the
 raw PAC. This crate also implements traits specified by the

va108xx-hal/src/gpio/dynpin.rs

@@ -57,7 +57,7 @@
 //! [InvalidPinTypeError].
 
 use super::{
-    pins::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
+    pin::{FilterType, InterruptEdge, InterruptLevel, Pin, PinId, PinMode, PinState},
     reg::RegisterInterface,
 };
 use crate::{clock::FilterClkSel, pac, FunSel, IrqCfg};

va108xx-hal/src/gpio/mod.rs

@@ -3,10 +3,10 @@
 //! The implementation of this GPIO module is heavily based on the
 //! [ATSAMD HAL implementation](https://docs.rs/atsamd-hal/latest/atsamd_hal/gpio/index.html).
 //!
-//! This API provides two different submodules, [`mod@pins`] and [`dynpins`],
+//! This API provides two different submodules, [pin] and [dynpin],
-//! representing two different ways to handle GPIO pins. The default, [`mod@pins`],
+//! representing two different ways to handle GPIO pins. The default, [pin],
 //! is a type-level API that tracks the state of each pin at compile-time. The
-//! alternative, [`dynpins`] is a type-erased, value-level API that tracks the
+//! alternative, [dynpin] is a type-erased, value-level API that tracks the
 //! state of each pin at run-time.
 //!
 //! The type-level API is strongly preferred. By representing the state of each
@@ -14,7 +14,7 @@
 //! compile-time. Furthermore, the type-level API has absolutely zero run-time
 //! cost.
 //!
-//! If needed, [`dynpins`] can be used to erase the type-level differences
+//! If needed, [dynpin] can be used to erase the type-level differences
 //! between pins. However, by doing so, pins must now be tracked at run-time,
 //! and each pin has a non-zero memory footprint.
 //!
@@ -101,10 +101,10 @@ macro_rules! common_reg_if_functions {
     };
 }
 
-pub mod dynpins;
+pub mod dynpin;
-pub use dynpins::*;
+pub use dynpin::*;
 
-pub mod pins;
+pub mod pin;
-pub use pins::*;
+pub use pin::*;
 
 mod reg;

va108xx-hal/src/gpio/pin.rs

@@ -70,7 +70,7 @@
 //! This module implements all of the embedded HAL GPIO traits for each [`Pin`]
 //! in the corresponding [`PinMode`]s, namely: [`InputPin`], [`OutputPin`],
 //! and [`StatefulOutputPin`].
-use super::dynpins::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
+use super::dynpin::{DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode};
 use super::reg::RegisterInterface;
 use crate::{
     pac::{Irqsel, Porta, Portb, Sysconfig},

va108xx-hal/src/gpio/reg.rs

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

va108xx-hal/src/i2c.rs

@@ -2,26 +2,31 @@
 //!
 //! ## Examples
 //!
-//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/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, PeripheralClocks},
+    clock::enable_peripheral_clock, pac, time::Hertz, typelevel::Sealed, PeripheralSelect,
-    pac,
-    time::Hertz,
-    typelevel::Sealed,
 };
-use core::marker::PhantomData;
+use core::{marker::PhantomData, ops::Deref};
 use embedded_hal::i2c::{self, Operation, SevenBitAddress, TenBitAddress};
 
 //==================================================================================================
 // Defintions
 //==================================================================================================
 
+const CLK_100K: Hertz = Hertz::from_raw(100_000);
+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)]
 pub enum FifoEmptyMode {
     Stall = 0,
     EndTransaction = 1,
 }
 
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ClockTooSlowForFastI2c;
+
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
@@ -34,7 +39,21 @@ pub enum Error {
     InsufficientDataReceived,
     /// Number of bytes in transfer too large (larger than 0x7fe)
     DataTooLarge,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum InitError {
+    /// Wrong address used in constructor
     WrongAddrMode,
+    /// APB1 clock is too slow for fast I2C mode.
+    ClkTooSlow(ClockTooSlowForFastI2c),
+}
+
+impl From<ClockTooSlowForFastI2c> for InitError {
+    fn from(value: ClockTooSlowForFastI2c) -> Self {
+        Self::ClkTooSlow(value)
+    }
 }
 
 impl embedded_hal::i2c::Error for Error {
@@ -47,10 +66,9 @@ impl embedded_hal::i2c::Error for Error {
             Error::NackData => {
                 embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Data)
             }
-            Error::DataTooLarge
+            Error::DataTooLarge | Error::InsufficientDataReceived | Error::InvalidTimingParams => {
-            | Error::WrongAddrMode
+                embedded_hal::i2c::ErrorKind::Other
-            | Error::InsufficientDataReceived
+            }
-            | Error::InvalidTimingParams => embedded_hal::i2c::ErrorKind::Other,
         }
     }
 }
@@ -81,6 +99,37 @@ pub enum I2cAddress {
     TenBit(u16),
 }
 
+pub type I2cRegBlock = pac::i2ca::RegisterBlock;
+
+/// Common trait implemented by all PAC peripheral access structures. The register block
+/// format is the same for all SPI blocks.
+pub trait Instance: Deref<Target = I2cRegBlock> {
+    const IDX: u8;
+    const PERIPH_SEL: PeripheralSelect;
+
+    fn ptr() -> *const I2cRegBlock;
+}
+
+impl Instance for pac::I2ca {
+    const IDX: u8 = 0;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c0;
+
+    #[inline(always)]
+    fn ptr() -> *const I2cRegBlock {
+        Self::ptr()
+    }
+}
+
+impl Instance for pac::I2cb {
+    const IDX: u8 = 1;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c1;
+
+    #[inline(always)]
+    fn ptr() -> *const I2cRegBlock {
+        Self::ptr()
+    }
+}
+
 //==================================================================================================
 // Config
 //==================================================================================================
@@ -242,24 +291,20 @@ impl<I2C> I2cBase<I2C> {
     }
 }
 
-macro_rules! i2c_base {
+impl<I2c: Instance> I2cBase<I2c> {
-    ($($I2CX:path: ($i2cx:ident, $clk_enb:path),)+) => {
+    pub fn new(
-        $(
+        syscfg: &mut pac::Sysconfig,
-            impl I2cBase<$I2CX> {
+        sysclk: impl Into<Hertz>,
-                pub fn $i2cx(
+        i2c: I2c,
-                    i2c: $I2CX,
-                    sys_clk: impl Into<Hertz>,
         speed_mode: I2cSpeed,
         ms_cfg: Option<&MasterConfig>,
         sl_cfg: Option<&SlaveConfig>,
-                    sys_cfg: Option<&mut va108xx::Sysconfig>,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
-                ) -> Self {
+        enable_peripheral_clock(syscfg, I2c::PERIPH_SEL);
-                    if let Some(sys_cfg) = sys_cfg {
+
-                        enable_peripheral_clock(sys_cfg, $clk_enb);
-                    }
         let mut i2c_base = I2cBase {
             i2c,
-                        sys_clk: sys_clk.into(),
+            sys_clk: sysclk.into(),
         };
         if let Some(ms_cfg) = ms_cfg {
             i2c_base.cfg_master(ms_cfg);
@@ -268,8 +313,8 @@ macro_rules! i2c_base {
         if let Some(sl_cfg) = sl_cfg {
             i2c_base.cfg_slave(sl_cfg);
         }
-                    i2c_base.cfg_clk_scale(speed_mode);
+        i2c_base.cfg_clk_scale(speed_mode)?;
-                    i2c_base
+        Ok(i2c_base)
     }
 
     fn cfg_master(&mut self, ms_cfg: &MasterConfig) {
@@ -286,7 +331,9 @@ macro_rules! i2c_base {
             w.algfilter().bit(ms_cfg.alg_filt)
         });
         if let Some(ref tm_cfg) = ms_cfg.tm_cfg {
-                        self.i2c.tmconfig().write(|w| unsafe { w.bits(tm_cfg.reg()) });
+            self.i2c
+                .tmconfig()
+                .write(|w| unsafe { w.bits(tm_cfg.reg()) });
         }
         self.i2c.fifo_clr().write(|w| {
             w.rxfifo().set_bit();
@@ -355,19 +402,24 @@ macro_rules! i2c_base {
         });
     }
 
-                fn calc_clk_div(&self, speed_mode: I2cSpeed) -> u8 {
+    fn calc_clk_div(&self, speed_mode: I2cSpeed) -> Result<u8, ClockTooSlowForFastI2c> {
         if speed_mode == I2cSpeed::Regular100khz {
-                        ((self.sys_clk.raw() / (u32::pow(10, 5) * 20)) - 1) as u8
+            Ok(((self.sys_clk.raw() / CLK_100K.raw() / 20) - 1) as u8)
         } else {
-                        (((10 * self.sys_clk.raw()) / u32::pow(10, 8)) - 1) as u8
+            if self.sys_clk.raw() < MIN_CLK_400K.raw() {
+                return Err(ClockTooSlowForFastI2c);
+            }
+            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) {
+    pub fn cfg_clk_scale(&mut self, speed_mode: I2cSpeed) -> Result<(), ClockTooSlowForFastI2c> {
-                    self.i2c.clkscale().write(|w| unsafe {
+        let clk_div = self.calc_clk_div(speed_mode)?;
-                        w.bits((speed_mode as u32) << 31 | self.calc_clk_div(speed_mode) as u32)
+        self.i2c
-                    });
+            .clkscale()
+            .write(|w| unsafe { w.bits((speed_mode as u32) << 31 | clk_div as u32) });
+        Ok(())
     }
 
     pub fn load_address(&mut self, addr: u16) {
@@ -384,9 +436,6 @@ macro_rules! i2c_base {
             .write(|w| unsafe { w.bits(I2cCmd::Stop as u32) });
     }
 }
-        )+
-    }
-}
 
 // Unique mode to use the loopback functionality
 // pub struct I2cLoopback<I2C> {
@@ -395,20 +444,218 @@ macro_rules! i2c_base {
 //     slave_cfg: SlaveConfig,
 // }
 
-i2c_base!(
-    pac::I2ca: (i2ca, PeripheralClocks::I2c0),
-    pac::I2cb: (i2cb, PeripheralClocks::I2c1),
-);
-
 //==================================================================================================
 // I2C Master
 //==================================================================================================
 
-pub struct I2cMaster<I2C, ADDR = SevenBitAddress> {
+pub struct I2cMaster<I2c, Addr = SevenBitAddress> {
-    i2c_base: I2cBase<I2C>,
+    i2c_base: I2cBase<I2c>,
-    _addr: PhantomData<ADDR>,
+    addr: PhantomData<Addr>,
 }
 
+impl<I2c: Instance, Addr> I2cMaster<I2c, Addr> {
+    pub fn new(
+        syscfg: &mut pac::Sysconfig,
+        sysclk: impl Into<Hertz>,
+        i2c: I2c,
+        cfg: MasterConfig,
+        speed_mode: I2cSpeed,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
+        Ok(I2cMaster {
+            i2c_base: I2cBase::new(syscfg, sysclk, i2c, speed_mode, Some(&cfg), None)?,
+            addr: PhantomData,
+        }
+        .enable_master())
+    }
+
+    #[inline]
+    pub fn cancel_transfer(&self) {
+        self.i2c_base
+            .i2c
+            .cmd()
+            .write(|w| unsafe { w.bits(I2cCmd::Cancel as u32) });
+    }
+
+    #[inline]
+    pub fn clear_tx_fifo(&self) {
+        self.i2c_base.i2c.fifo_clr().write(|w| w.txfifo().set_bit());
+    }
+
+    #[inline]
+    pub fn clear_rx_fifo(&self) {
+        self.i2c_base.i2c.fifo_clr().write(|w| w.rxfifo().set_bit());
+    }
+
+    #[inline]
+    pub fn enable_master(self) -> Self {
+        self.i2c_base.i2c.ctrl().modify(|_, w| w.enable().set_bit());
+        self
+    }
+
+    #[inline]
+    pub fn disable_master(self) -> Self {
+        self.i2c_base
+            .i2c
+            .ctrl()
+            .modify(|_, w| w.enable().clear_bit());
+        self
+    }
+
+    #[inline(always)]
+    fn load_fifo(&self, word: u8) {
+        self.i2c_base
+            .i2c
+            .data()
+            .write(|w| unsafe { w.bits(word as u32) });
+    }
+
+    #[inline(always)]
+    fn read_fifo(&self) -> u8 {
+        self.i2c_base.i2c.data().read().bits() as u8
+    }
+
+    fn error_handler_write(&mut self, init_cmd: &I2cCmd) {
+        self.clear_tx_fifo();
+        if *init_cmd == I2cCmd::Start {
+            self.i2c_base.stop_cmd()
+        }
+    }
+
+    fn write_base(
+        &mut self,
+        addr: I2cAddress,
+        init_cmd: I2cCmd,
+        bytes: impl IntoIterator<Item = u8>,
+    ) -> Result<(), Error> {
+        let mut iter = bytes.into_iter();
+        // Load address
+        let (addr, addr_mode_bit) = I2cBase::<I2c>::unwrap_addr(addr);
+        self.i2c_base.i2c.address().write(|w| unsafe {
+            w.bits(I2cDirection::Send as u32 | (addr << 1) as u32 | addr_mode_bit)
+        });
+
+        self.i2c_base
+            .i2c
+            .cmd()
+            .write(|w| unsafe { w.bits(init_cmd as u32) });
+        let mut load_if_next_available = || {
+            if let Some(next_byte) = iter.next() {
+                self.load_fifo(next_byte);
+            }
+        };
+        loop {
+            let status_reader = self.i2c_base.i2c.status().read();
+            if status_reader.arblost().bit_is_set() {
+                self.error_handler_write(&init_cmd);
+                return Err(Error::ArbitrationLost);
+            } else if status_reader.nackaddr().bit_is_set() {
+                self.error_handler_write(&init_cmd);
+                return Err(Error::NackAddr);
+            } else if status_reader.nackdata().bit_is_set() {
+                self.error_handler_write(&init_cmd);
+                return Err(Error::NackData);
+            } else if status_reader.idle().bit_is_set() {
+                return Ok(());
+            } else {
+                while !status_reader.txnfull().bit_is_set() {
+                    load_if_next_available();
+                }
+            }
+        }
+    }
+
+    fn write_from_buffer(
+        &mut self,
+        init_cmd: I2cCmd,
+        addr: I2cAddress,
+        output: &[u8],
+    ) -> Result<(), Error> {
+        let len = output.len();
+        // It should theoretically possible to transfer larger data sizes by tracking
+        // the number of sent words and setting it to 0x7fe as soon as only that many
+        // bytes are remaining. However, large transfer like this are not common. This
+        // feature will therefore not be supported for now.
+        if len > 0x7fe {
+            return Err(Error::DataTooLarge);
+        }
+        // Load number of words
+        self.i2c_base
+            .i2c
+            .words()
+            .write(|w| unsafe { w.bits(len as u32) });
+        let mut bytes = output.iter();
+        // FIFO has a depth of 16. We load slightly above the trigger level
+        // but not all of it because the transaction might fail immediately
+        const FILL_DEPTH: usize = 12;
+
+        // load the FIFO
+        for _ in 0..core::cmp::min(FILL_DEPTH, len) {
+            self.load_fifo(*bytes.next().unwrap());
+        }
+
+        self.write_base(addr, init_cmd, output.iter().cloned())
+    }
+
+    fn read_internal(&mut self, addr: I2cAddress, buffer: &mut [u8]) -> Result<(), Error> {
+        let len = buffer.len();
+        // It should theoretically possible to transfer larger data sizes by tracking
+        // the number of sent words and setting it to 0x7fe as soon as only that many
+        // bytes are remaining. However, large transfer like this are not common. This
+        // feature will therefore not be supported for now.
+        if len > 0x7fe {
+            return Err(Error::DataTooLarge);
+        }
+        // Clear the receive FIFO
+        self.clear_rx_fifo();
+
+        // Load number of words
+        self.i2c_base
+            .i2c
+            .words()
+            .write(|w| unsafe { w.bits(len as u32) });
+        let (addr, addr_mode_bit) = match addr {
+            I2cAddress::Regular(addr) => (addr as u16, 0 << 15),
+            I2cAddress::TenBit(addr) => (addr, 1 << 15),
+        };
+        // Load address
+        self.i2c_base.i2c.address().write(|w| unsafe {
+            w.bits(I2cDirection::Read as u32 | (addr << 1) as u32 | addr_mode_bit)
+        });
+
+        let mut buf_iter = buffer.iter_mut();
+        let mut read_bytes = 0;
+        // Start receive transfer
+        self.i2c_base
+            .i2c
+            .cmd()
+            .write(|w| unsafe { w.bits(I2cCmd::StartWithStop as u32) });
+        let mut read_if_next_available = || {
+            if let Some(next_byte) = buf_iter.next() {
+                *next_byte = self.read_fifo();
+            }
+        };
+        loop {
+            let status_reader = self.i2c_base.i2c.status().read();
+            if status_reader.arblost().bit_is_set() {
+                self.clear_rx_fifo();
+                return Err(Error::ArbitrationLost);
+            } else if status_reader.nackaddr().bit_is_set() {
+                self.clear_rx_fifo();
+                return Err(Error::NackAddr);
+            } else if status_reader.idle().bit_is_set() {
+                if read_bytes != len {
+                    return Err(Error::InsufficientDataReceived);
+                }
+                return Ok(());
+            } else if status_reader.rxnempty().bit_is_set() {
+                read_if_next_available();
+                read_bytes += 1;
+            }
+        }
+    }
+}
+
+/*
 macro_rules! i2c_master {
     ($($I2CX:path: ($i2cx:ident, $clk_enb:path),)+) => {
         $(
@@ -675,39 +922,80 @@ i2c_master!(
     pac::I2ca: (i2ca, PeripheralClocks::I2c0),
     pac::I2cb: (i2cb, PeripheralClocks::I2c1),
 );
+*/
+
+//======================================================================================
+// Embedded HAL I2C implementations
+//======================================================================================
+
+impl<I2c> embedded_hal::i2c::ErrorType for I2cMaster<I2c, SevenBitAddress> {
+    type Error = Error;
+}
+
+impl<I2c: Instance> embedded_hal::i2c::I2c for I2cMaster<I2c, SevenBitAddress> {
+    fn transaction(
+        &mut self,
+        address: SevenBitAddress,
+        operations: &mut [Operation<'_>],
+    ) -> Result<(), Self::Error> {
+        for operation in operations {
+            match operation {
+                Operation::Read(buf) => self.read_internal(I2cAddress::Regular(address), buf)?,
+                Operation::Write(buf) => self.write_from_buffer(
+                    I2cCmd::StartWithStop,
+                    I2cAddress::Regular(address),
+                    buf,
+                )?,
+            }
+        }
+        Ok(())
+    }
+}
+
+impl<I2c> embedded_hal::i2c::ErrorType for I2cMaster<I2c, TenBitAddress> {
+    type Error = Error;
+}
+
+impl<I2c: Instance> embedded_hal::i2c::I2c<TenBitAddress> for I2cMaster<I2c, TenBitAddress> {
+    fn transaction(
+        &mut self,
+        address: TenBitAddress,
+        operations: &mut [Operation<'_>],
+    ) -> Result<(), Self::Error> {
+        for operation in operations {
+            match operation {
+                Operation::Read(buf) => self.read_internal(I2cAddress::TenBit(address), buf)?,
+                Operation::Write(buf) => {
+                    self.write_from_buffer(I2cCmd::StartWithStop, I2cAddress::TenBit(address), buf)?
+                }
+            }
+        }
+        Ok(())
+    }
+}
 
 //==================================================================================================
 // I2C Slave
 //==================================================================================================
 
-pub struct I2cSlave<I2C, ADDR = SevenBitAddress> {
+pub struct I2cSlave<I2c, Addr = SevenBitAddress> {
-    i2c_base: I2cBase<I2C>,
+    i2c_base: I2cBase<I2c>,
-    _addr: PhantomData<ADDR>,
+    addr: PhantomData<Addr>,
 }
 
-macro_rules! i2c_slave {
+impl<I2c: Instance, Addr> I2cSlave<I2c, Addr> {
-    ($($I2CX:path: ($i2cx:ident, $i2cx_slave:ident),)+) => {
+    fn new_generic(
-        $(
+        sys_cfg: &mut pac::Sysconfig,
-            impl<ADDR> I2cSlave<$I2CX, ADDR> {
-                fn $i2cx_slave(
-                    i2c: $I2CX,
-                    cfg: SlaveConfig,
         sys_clk: impl Into<Hertz>,
+        i2c: I2c,
+        cfg: SlaveConfig,
         speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
-                ) -> Self {
+        Ok(I2cSlave {
-                    I2cSlave {
+            i2c_base: I2cBase::new(sys_cfg, sys_clk, i2c, speed_mode, None, Some(&cfg))?,
-                        i2c_base: I2cBase::$i2cx(
+            addr: PhantomData,
-                            i2c,
-                            sys_clk,
-                            speed_mode,
-                            None,
-                            Some(&cfg),
-                            sys_cfg
-                        ),
-                        _addr: PhantomData,
         }
-                    .enable_slave()
+        .enable_slave())
     }
 
     #[inline]
@@ -841,38 +1129,30 @@ macro_rules! i2c_slave {
     }
 }
 
-
+impl<I2c: Instance> I2cSlave<I2c, SevenBitAddress> {
-            impl I2cSlave<$I2CX, SevenBitAddress> {
     /// Create a new I2C slave for seven bit addresses
-                ///
+    pub fn new(
-                /// Returns a [`Error::WrongAddrMode`] error if a ten bit address is passed
+        sys_cfg: &mut pac::Sysconfig,
-                pub fn i2ca(
-                    i2c: $I2CX,
-                    cfg: SlaveConfig,
         sys_clk: impl Into<Hertz>,
+        i2c: I2c,
+        cfg: SlaveConfig,
         speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
+    ) -> Result<Self, InitError> {
-                ) -> Result<Self, Error> {
         if let I2cAddress::TenBit(_) = cfg.addr {
-                        return Err(Error::WrongAddrMode);
+            return Err(InitError::WrongAddrMode);
         }
-                    Ok(Self::$i2cx_slave(i2c, cfg, sys_clk, speed_mode, sys_cfg))
+        Ok(Self::new_generic(sys_cfg, sys_clk, i2c, cfg, speed_mode)?)
     }
 }
 
-            impl I2cSlave<$I2CX, TenBitAddress> {
+impl<I2c: Instance> I2cSlave<I2c, TenBitAddress> {
-                pub fn $i2cx(
+    pub fn new_ten_bit_addr(
-                    i2c: $I2CX,
+        sys_cfg: &mut pac::Sysconfig,
-                    cfg: SlaveConfig,
         sys_clk: impl Into<Hertz>,
+        i2c: I2c,
+        cfg: SlaveConfig,
         speed_mode: I2cSpeed,
-                    sys_cfg: Option<&mut pac::Sysconfig>,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
-                ) -> Self {
+        Self::new_generic(sys_cfg, sys_clk, i2c, cfg, speed_mode)
-                    Self::$i2cx_slave(i2c, cfg, sys_clk, speed_mode, sys_cfg)
     }
 }
-        )+
-    }
-}
-
-i2c_slave!(pac::I2ca: (i2ca, i2ca_slave), pac::I2cb: (i2cb, i2cb_slave),);

va108xx-hal/src/prelude.rs

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

va108xx-hal/src/pwm.rs

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

va108xx-hal/src/uart.rs

@@ -11,14 +11,15 @@ use libm::floorf;
 
 pub use crate::IrqCfg;
 use crate::{
-    clock::{self, enable_peripheral_clock, PeripheralClocks},
+    clock::{enable_peripheral_clock, PeripheralClocks},
-    gpio::pins::{
+    gpio::pin::{
         AltFunc1, AltFunc2, AltFunc3, Pin, PA16, PA17, PA18, PA19, PA2, PA26, PA27, PA3, PA30,
         PA31, PA8, PA9, PB18, PB19, PB20, PB21, PB22, PB23, PB6, PB7, PB8, PB9,
     },
     pac::{self, uarta as uart_base},
     time::Hertz,
     utility::unmask_irq,
+    PeripheralSelect,
 };
 
 //==================================================================================================
@@ -306,7 +307,7 @@ pub struct UartBase<Uart> {
 }
 /// Serial abstraction. Entry point to create a new UART
 pub struct Uart<Uart, Pins> {
-    uart_base: UartBase<Uart>,
+    inner: UartBase<Uart>,
     pins: Pins,
 }
 
@@ -353,6 +354,7 @@ impl<UART> Tx<UART> {
 pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
     fn ptr() -> *const uart_base::RegisterBlock;
     const IDX: u8;
+    const PERIPH_SEL: PeripheralSelect;
 }
 
 impl<UART: Instance> UartBase<UART> {
@@ -483,14 +485,34 @@ impl<UART: Instance> UartBase<UART> {
     }
 }
 
-impl<UART, PINS> Uart<UART, PINS>
+impl<UartInstance, PinsInstance> Uart<UartInstance, PinsInstance>
 where
-    UART: Instance,
+    UartInstance: Instance,
+    PinsInstance: Pins<UartInstance>,
 {
+    pub fn new(
+        syscfg: &mut va108xx::Sysconfig,
+        sys_clk: impl Into<Hertz>,
+        uart: UartInstance,
+        pins: PinsInstance,
+        config: impl Into<Config>,
+    ) -> Self {
+        crate::clock::enable_peripheral_clock(syscfg, UartInstance::PERIPH_SEL);
+        Uart {
+            inner: UartBase {
+                uart,
+                tx: Tx::new(),
+                rx: Rx::new(),
+            },
+            pins,
+        }
+        .init(config.into(), sys_clk.into())
+    }
+
     /// This function assumes that the peripheral clock was alredy enabled
     /// in the SYSCONFIG register
     fn init(mut self, config: Config, sys_clk: Hertz) -> Self {
-        self.uart_base = self.uart_base.init(config, sys_clk);
+        self.inner = self.inner.init(config, sys_clk);
         self
     }
 
@@ -501,7 +523,7 @@ where
         irq_cfg: IrqCfg,
         sys_cfg: Option<&mut pac::Sysconfig>,
         irq_sel: Option<&mut pac::Irqsel>,
-    ) -> UartWithIrq<UART, PINS> {
+    ) -> UartWithIrq<UartInstance, PinsInstance> {
         let (uart, pins) = self.downgrade_internal();
         UartWithIrq {
             pins,
@@ -520,75 +542,75 @@ where
 
     #[inline]
     pub fn enable_rx(&mut self) {
-        self.uart_base.enable_rx();
+        self.inner.enable_rx();
     }
 
     #[inline]
     pub fn disable_rx(&mut self) {
-        self.uart_base.enable_rx();
+        self.inner.enable_rx();
     }
 
     #[inline]
     pub fn enable_tx(&mut self) {
-        self.uart_base.enable_tx();
+        self.inner.enable_tx();
     }
 
     #[inline]
     pub fn disable_tx(&mut self) {
-        self.uart_base.disable_tx();
+        self.inner.disable_tx();
     }
 
     #[inline]
     pub fn clear_rx_fifo(&mut self) {
-        self.uart_base.clear_rx_fifo();
+        self.inner.clear_rx_fifo();
     }
 
     #[inline]
     pub fn clear_tx_fifo(&mut self) {
-        self.uart_base.clear_tx_fifo();
+        self.inner.clear_tx_fifo();
     }
 
     #[inline]
     pub fn clear_rx_status(&mut self) {
-        self.uart_base.clear_rx_status();
+        self.inner.clear_rx_status();
     }
 
     #[inline]
     pub fn clear_tx_status(&mut self) {
-        self.uart_base.clear_tx_status();
+        self.inner.clear_tx_status();
     }
 
     pub fn listen(&self, event: Event) {
-        self.uart_base.listen(event);
+        self.inner.listen(event);
     }
 
     pub fn unlisten(&self, event: Event) {
-        self.uart_base.unlisten(event);
+        self.inner.unlisten(event);
     }
 
-    pub fn release(self) -> (UART, PINS) {
+    pub fn release(self) -> (UartInstance, PinsInstance) {
-        (self.uart_base.release(), self.pins)
+        (self.inner.release(), self.pins)
     }
 
-    fn downgrade_internal(self) -> (UartBase<UART>, PINS) {
+    fn downgrade_internal(self) -> (UartBase<UartInstance>, PinsInstance) {
         let base = UartBase {
-            uart: self.uart_base.uart,
+            uart: self.inner.uart,
-            tx: self.uart_base.tx,
+            tx: self.inner.tx,
-            rx: self.uart_base.rx,
+            rx: self.inner.rx,
         };
         (base, self.pins)
     }
 
-    pub fn downgrade(self) -> UartBase<UART> {
+    pub fn downgrade(self) -> UartBase<UartInstance> {
         UartBase {
-            uart: self.uart_base.uart,
+            uart: self.inner.uart,
-            tx: self.uart_base.tx,
+            tx: self.inner.tx,
-            rx: self.uart_base.rx,
+            rx: self.inner.rx,
         }
     }
 
-    pub fn split(self) -> (Tx<UART>, Rx<UART>) {
+    pub fn split(self) -> (Tx<UartInstance>, Rx<UartInstance>) {
-        self.uart_base.split()
+        self.inner.split()
     }
 }
 
@@ -597,6 +619,8 @@ impl Instance for pac::Uarta {
         pac::Uarta::ptr() as *const _
     }
     const IDX: u8 = 0;
+
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart0;
 }
 
 impl Instance for pac::Uartb {
@@ -604,36 +628,8 @@ impl Instance for pac::Uartb {
         pac::Uartb::ptr() as *const _
     }
     const IDX: u8 = 1;
-}
 
-macro_rules! uart_impl {
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart1;
-    ($($UARTX:path: ($uartx:ident, $clk_enb_enum:path),)+) => {
-        $(
-
-            impl<PINS: Pins<$UARTX>> Uart<$UARTX, PINS> {
-                pub fn $uartx(
-                    uart: $UARTX,
-                    pins: PINS,
-                    config: impl Into<Config>,
-                    syscfg: &mut pac::Sysconfig,
-                    sys_clk: impl Into<Hertz>
-                ) -> Self
-                {
-                    enable_peripheral_clock(syscfg, $clk_enb_enum);
-                    Uart {
-                        uart_base: UartBase {
-                            uart,
-                            tx: Tx::new(),
-                            rx: Rx::new(),
-                        },
-                        pins,
-                    }
-                    .init(config.into(), sys_clk.into())
-                }
-            }
-
-        )+
-    }
 }
 
 impl<UART: Instance> UartWithIrqBase<UART> {
@@ -871,10 +867,12 @@ impl<UART: Instance, PINS> UartWithIrq<UART, PINS> {
     }
 }
 
+/*
 uart_impl! {
     pac::Uarta: (uarta, clock::PeripheralClocks::Uart0),
     pac::Uartb: (uartb, clock::PeripheralClocks::Uart1),
 }
+*/
 
 impl<Uart> Tx<Uart> where Uart: Instance {}
 

vorago-reb1/Cargo.toml

@@ -19,14 +19,14 @@ embedded-hal = "1"
 version = "0.3"
 
 [dependencies.va108xx-hal]
-version = "0.6"
+path = "../va108xx-hal"
+version = "0.7"
 features = ["rt"]
 
 [features]
 rt = ["va108xx-hal/rt"]
 
 [dev-dependencies]
-cortex-m-rtic = "1.1"
 panic-halt = "0.2"
 nb = "1"
 
@@ -36,6 +36,14 @@ version = "0.5"
 [dev-dependencies.panic-rtt-target]
 version = "0.1"
 
+[dev-dependencies.rtic]
+version = "2"
+features = ["thumbv6-backend"]
+
+[dev-dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
+
 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--generate-link-to-definition"]

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

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

vorago-reb1/examples/adxl343-accelerometer.rs

@@ -52,12 +52,12 @@ fn main() -> ! {
         false,
         true,
     );
-    let mut spi = Spi::spib(
+    let mut spi = Spi::new(
+        &mut dp.sysconfig,
+        50.MHz(),
         dp.spib,
         (sck, miso, mosi),
-        50.MHz(),
         spi_cfg,
-        Some(&mut dp.sysconfig),
         Some(&transfer_cfg.downgrade()),
     );
 

vorago-reb1/examples/blinky-button-rtic.rs

@@ -5,6 +5,7 @@
 #[rtic::app(device = pac)]
 mod app {
     use panic_rtt_target as _;
+    use rtic_monotonics::systick::Systick;
     use rtt_target::{rprintln, rtt_init_default, set_print_channel};
     use va108xx_hal::{
         clock::{set_clk_div_register, FilterClkSel},
@@ -43,10 +44,18 @@ mod app {
     struct Shared {}
 
     #[init]
-    fn init(ctx: init::Context) -> (Shared, Local, init::Monotonics) {
+    fn init(ctx: 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
+        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
             CfgMode::Prompt => prompt_mode(channels.down.0),
@@ -90,7 +99,7 @@ mod app {
             50.MHz(),
             dp.tim0,
         );
-        (Shared {}, Local { leds, button, mode }, init::Monotonics())
+        (Shared {}, Local { leds, button, mode })
     }
 
     // `shared` cannot be accessed from this context

vorago-reb1/examples/blinky-leds.rs

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

vorago-reb1/examples/max11619-adc.rs

@@ -1,4 +1,7 @@
-//! MAX11619 ADC example applikcation
+//! MAX11619 ADC example application.
+//!
+//! You can turn the potentiometer knob of the REB1 board to measure
+//! different ADC values.
 #![no_main]
 #![no_std]
 
@@ -139,12 +142,12 @@ fn main() -> ! {
         .expect("Setting accelerometer chip select high failed");
 
     let transfer_cfg = TransferConfig::<NoneT>::new(3.MHz(), spi::MODE_0, None, true, false);
-    let spi = Spi::spib(
+    let spi = Spi::new(
+        &mut dp.sysconfig,
+        50.MHz(),
         dp.spib,
         (sck, miso, mosi),
-        50.MHz(),
         spi_cfg,
-        Some(&mut dp.sysconfig),
         Some(&transfer_cfg.downgrade()),
     )
     .downgrade();

vorago-reb1/src/button.rs

@@ -2,8 +2,8 @@
 //!
 //! ## Examples
 //!
-//! - [Button Blinky with IRQs](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-irq.rs)
+//! - [Button Blinky with IRQs](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-irq.rs)
-//! - [Button Blinky with IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-rtic.rs)
+//! - [Button Blinky with IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-rtic.rs)
 use embedded_hal::digital::InputPin;
 use va108xx_hal::{
     gpio::{FilterClkSel, FilterType, InputFloating, InterruptEdge, InterruptLevel, Pin, PA11},

vorago-reb1/src/leds.rs

@@ -2,13 +2,13 @@
 //!
 //! ## Examples
 //!
-//! - [LED example](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-leds.rs)
+//! - [LED example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-leds.rs)
-//! - [Button Blinky using IRQs](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-irq.rs)
+//! - [Button Blinky using IRQs](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-irq.rs)
-//! - [Button Blinky using IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/vorago-reb1/src/branch/main/examples/blinky-button-rtic.rs)
+//! - [Button Blinky using IRQs and RTIC](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/vorago-reb1/examples/blinky-button-rtic.rs)
 use embedded_hal::digital::OutputPin;
 use va108xx_hal::{
-    gpio::dynpins::DynPin,
+    gpio::dynpin::DynPin,
-    gpio::pins::{Pin, PushPullOutput, PA10, PA6, PA7},
+    gpio::pin::{Pin, PushPullOutput, PA10, PA6, PA7},
 };
 
 pub type LD2 = Pin<PA10, PushPullOutput>;

vorago-reb1/src/max11619.rs

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

vorago-reb1/src/temp_sensor.rs

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

vscode/launch.json

@@ -18,6 +18,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky-leds",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -28,9 +39,20 @@
             "device": "Cortex-M0",
             "svdFile": "./va108xx/svd/va108xx.svd.patched",
             "preLaunchTask": "rust: cargo build hal tests",
-            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/tests",
+            "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/board-tests",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -44,6 +66,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/rtt-log",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -57,6 +90,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky-button-irq",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -70,6 +114,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/timer-ticks",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -83,6 +138,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -96,6 +162,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/spi",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -109,11 +186,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/adt75-temp-sensor",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug Button Blinky RTIC",
+            "name": "Button Blinky RTIC Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -122,11 +210,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/blinky-button-rtic",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug PWM",
+            "name": "PWM Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -135,11 +234,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/pwm",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug Cascade",
+            "name": "Cascade Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -148,11 +258,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/cascade",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug Accelerometer",
+            "name": "Accelerometer Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -161,6 +282,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/adxl343-accelerometer",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
@@ -178,7 +310,7 @@
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug ADC",
+            "name": "ADC Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -187,11 +319,22 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/max11619-adc",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
         {
             "type": "cortex-debug",
             "request": "launch",
-            "name": "Debug UART IRQ",
+            "name": "UART IRQ Example",
             "servertype": "jlink",
             "cwd": "${workspaceRoot}",
             "device": "Cortex-M0",
@@ -200,6 +343,17 @@
             "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart-irq-rtic",
             "interface": "jtag",
             "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "0x10000000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
         },
     ]
 }

vscode/tasks.json

@@ -21,10 +21,8 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--bin",
-                "tests",
+                "board-tests",
                 "--features",
                 "rt"
             ],
@@ -39,8 +37,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "rtt-log",
             ],
@@ -55,8 +51,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "timer-ticks",
                 "--features",
@@ -89,8 +83,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "spi",
             ],
@@ -105,8 +97,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "pwm",
                 "--features",
@@ -123,8 +113,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "cascade",
                 "--features",
@@ -141,8 +129,6 @@
             "command": "~/.cargo/bin/cargo", // note: full path to the cargo
             "args": [
                 "build",
-                "-p",
-                "va108xx-hal",
                 "--example",
                 "uart-irq-rtic",
                 "--features",