Add embassy example

.github/workflows/ci.yml

@@ -39,7 +39,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --features va41630
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-peb1
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx-hal
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx
 
   clippy:
     name: Clippy

Cargo.toml

@@ -1,12 +1,14 @@
 [workspace]
 resolver = "2"
 members = [
+  "va416xx",
+  "va416xx-hal",
+  "vorago-peb1",
   "bootloader",
   "flashloader",
   "examples/simple",
-	"va416xx",
+  "examples/embassy",
-	"va416xx-hal",
+  "examples/rtic",
-	"vorago-peb1"
 ]
 exclude = [
   "flashloader/slot-a-blinky",

README.md

@@ -25,6 +25,9 @@ It also contains the following helper crates:
   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 `examples` folder contains various example applications crates for 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
 

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 --all-features -p vorago-peb1
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features -p va416xx-hal
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features -p va416xx
             """
           }
         }

examples/README.md

@@ -0,0 +1,25 @@
+VA416xx Example Applications
+========
+
+This folder contains various examples
+Consult the main README first for setup of the repository.
+
+## Simple examples
+
+```rs
+cargo run --example blinky
+```
+
+You can have a look at the `simple/examples` folder to see all available simple examples
+
+## RTIC example
+
+```rs
+cargo run --bin rtic-example
+```
+
+## Embassy example
+
+```rs
+cargo run --bin embassy-example
+```

examples/embassy/Cargo.toml

@@ -0,0 +1,40 @@
+[package]
+name = "embassy-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+
+rtt-target = { version = "0.5" }
+panic-rtt-target = { version = "0.1" }
+critical-section = "1"
+
+embassy-sync = { version = "0.6.0" }
+embassy-time = { version = "0.3.2" }
+embassy-time-driver = { version = "0.1" }
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[dependencies.embassy-executor]
+version = "0.6.0"
+features = [
+    "arch-cortex-m",
+    "executor-thread",
+    "executor-interrupt",
+    "integrated-timers",
+]
+
+[dependencies.va416xx-hal]
+path = "../../va416xx-hal"
+features = ["va41630"]
+
+[features]
+default = ["ticks-hz-1_000"]
+ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
+ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

examples/embassy/src/lib.rs

@@ -0,0 +1,4 @@
+#![no_std]
+pub mod time_driver;
+
+pub use time_driver::init;

examples/embassy/src/main.rs

@@ -0,0 +1,46 @@
+#![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 va416xx_hal::{gpio::PinsG, pac, prelude::*, time::Hertz};
+
+const EXTCLK_FREQ: u32 = 40_000_000;
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("VA416xx Embassy Demo");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Initialize the systick interrupt & obtain the token to prove that we did
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    // Safety: Only called once here.
+    unsafe {
+        embassy_example::init(
+            &mut dp.sysconfig,
+            &dp.irq_router,
+            dp.tim15,
+            dp.tim14,
+            &clocks,
+        )
+    };
+    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
+    let mut led = portg.pg5.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());
+        led.toggle().ok();
+    }
+}

examples/embassy/src/time_driver.rs

@@ -0,0 +1,323 @@
+//! This is a sample time driver implementation for the VA416xx family of devices, supporting
+//! one alarm and requiring/reserving 2 TIM peripherals. You could adapt this implementation to
+//! support more alarms.
+use core::{
+    cell::Cell,
+    mem, ptr,
+    sync::atomic::{AtomicU32, AtomicU8, Ordering},
+};
+use critical_section::CriticalSection;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+
+use embassy_time_driver::{time_driver_impl, AlarmHandle, Driver, TICK_HZ};
+use once_cell::sync::OnceCell;
+use va416xx_hal::{
+    clock::Clocks,
+    enable_interrupt,
+    irq_router::enable_and_init_irq_router,
+    pac::{self, interrupt},
+    pwm::{assert_tim_reset_for_two_cycles, enable_tim_clk, ValidTim},
+};
+
+pub type TimekeeperClk = pac::Tim15;
+pub type AlarmClk0 = pac::Tim14;
+pub type AlarmClk1 = pac::Tim13;
+pub type AlarmClk2 = pac::Tim12;
+
+/// Initialization method for embassy
+///
+/// # Safety
+/// This has to be called once at initialization time to initiate the time driver for
+/// embassy.
+pub unsafe fn init(
+    syscfg: &mut pac::Sysconfig,
+    irq_router: &pac::IrqRouter,
+    timekeeper: TimekeeperClk,
+    alarm: AlarmClk0,
+    clocks: &Clocks,
+) {
+    enable_and_init_irq_router(syscfg, irq_router);
+    DRIVER.init(syscfg, timekeeper, alarm, clocks)
+}
+
+const fn alarm_tim(idx: usize) -> &'static pac::tim0::RegisterBlock {
+    // Safety: This is a static memory-mapped peripheral.
+    match idx {
+        0 => unsafe { &*AlarmClk0::ptr() },
+        1 => unsafe { &*AlarmClk1::ptr() },
+        2 => unsafe { &*AlarmClk2::ptr() },
+        _ => {
+            panic!("invalid alarm timer index")
+        }
+    }
+}
+
+const fn timekeeping_tim() -> &'static pac::tim0::RegisterBlock {
+    // Safety: This is a memory-mapped peripheral.
+    unsafe { &*TimekeeperClk::ptr() }
+}
+
+struct AlarmState {
+    timestamp: Cell<u64>,
+
+    // This is really a Option<(fn(*mut ()), *mut ())>
+    // but fn pointers aren't allowed in const yet
+    callback: Cell<*const ()>,
+    ctx: Cell<*mut ()>,
+}
+
+impl AlarmState {
+    const fn new() -> Self {
+        Self {
+            timestamp: Cell::new(u64::MAX),
+            callback: Cell::new(ptr::null()),
+            ctx: Cell::new(ptr::null_mut()),
+        }
+    }
+}
+
+unsafe impl Send for AlarmState {}
+
+const ALARM_COUNT: usize = 1;
+
+static SCALE: OnceCell<u64> = OnceCell::new();
+
+pub struct TimerDriverEmbassy {
+    periods: AtomicU32,
+    alarm_count: AtomicU8,
+    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
+    alarms: Mutex<CriticalSectionRawMutex, [AlarmState; ALARM_COUNT]>,
+}
+
+impl TimerDriverEmbassy {
+    fn init(
+        &self,
+        syscfg: &mut pac::Sysconfig,
+        timekeeper: TimekeeperClk,
+        alarm_tim: AlarmClk0,
+        clocks: &Clocks,
+    ) {
+        enable_tim_clk(syscfg, TimekeeperClk::TIM_ID);
+        assert_tim_reset_for_two_cycles(syscfg, TimekeeperClk::TIM_ID);
+
+        // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
+        SCALE
+            .set((TimekeeperClk::clock(clocks).raw() / TICK_HZ as u32) as u64)
+            .unwrap();
+        timekeeper
+            .rst_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Decrementing counter.
+        timekeeper
+            .cnt_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Switch on. Timekeeping should always be done.
+        unsafe {
+            enable_interrupt(TimekeeperClk::IRQ);
+        }
+        timekeeper.ctrl().modify(|_, w| w.irq_enb().set_bit());
+        timekeeper.enable().write(|w| unsafe { w.bits(1) });
+
+        enable_tim_clk(syscfg, AlarmClk0::TIM_ID);
+        assert_tim_reset_for_two_cycles(syscfg, AlarmClk0::TIM_ID);
+
+        // Explicitely disable alarm timer until needed.
+        alarm_tim.ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+        // Enable general interrupts. The IRQ enable of the peripheral remains cleared.
+        unsafe {
+            enable_interrupt(AlarmClk0::IRQ);
+        }
+    }
+
+    // Should be called inside the IRQ of the timekeeper timer.
+    fn on_interrupt_timekeeping(&self) {
+        self.next_period();
+    }
+
+    // Should be called inside the IRQ of the alarm timer.
+    fn on_interrupt_alarm(&self, idx: usize) {
+        critical_section::with(|cs| {
+            if self.alarms.borrow(cs)[idx].timestamp.get() <= self.now() {
+                self.trigger_alarm(idx, cs)
+            }
+        })
+    }
+
+    fn next_period(&self) {
+        let period = self.periods.fetch_add(1, Ordering::AcqRel) + 1;
+        let t = (period as u64) << 32;
+        critical_section::with(|cs| {
+            for i in 0..ALARM_COUNT {
+                let alarm = &self.alarms.borrow(cs)[i];
+                let at = alarm.timestamp.get();
+                let alarm_tim = alarm_tim(0);
+                if at < t {
+                    self.trigger_alarm(i, cs);
+                } else {
+                    let remaining_ticks = (at - t) * *SCALE.get().unwrap();
+                    if remaining_ticks <= u32::MAX as u64 {
+                        alarm_tim.enable().write(|w| unsafe { w.bits(0) });
+                        alarm_tim
+                            .cnt_value()
+                            .write(|w| unsafe { w.bits(remaining_ticks as u32) });
+                        alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                        alarm_tim.enable().write(|w| unsafe { w.bits(1) })
+                    }
+                }
+            }
+        })
+    }
+
+    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
+        // safety: we're allowed to assume the AlarmState is created by us, and
+        // we never create one that's out of bounds.
+        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
+    }
+
+    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
+        alarm_tim(n).ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+
+        let alarm = &self.alarms.borrow(cs)[n];
+        // Setting the maximum value disables the alarm.
+        alarm.timestamp.set(u64::MAX);
+
+        // Call after clearing alarm, so the callback can set another alarm.
+
+        // safety:
+        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
+        // - other than that we only store valid function pointers into alarm.callback
+        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
+        f(alarm.ctx.get());
+    }
+}
+
+impl Driver for TimerDriverEmbassy {
+    fn now(&self) -> u64 {
+        if SCALE.get().is_none() {
+            return 0;
+        }
+        let mut period1: u32;
+        let mut period2: u32;
+        let mut counter_val: u32;
+
+        loop {
+            // Acquire ensures that we get the latest value of `periods` and
+            // no instructions can be reordered before the load.
+            period1 = self.periods.load(Ordering::Acquire);
+
+            counter_val = u32::MAX - timekeeping_tim().cnt_value().read().bits();
+
+            // Double read to protect against race conditions when the counter is overflowing.
+            period2 = self.periods.load(Ordering::Relaxed);
+            if period1 == period2 {
+                let now = (((period1 as u64) << 32) | counter_val as u64) / *SCALE.get().unwrap();
+                return now;
+            }
+        }
+    }
+
+    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
+        let id = self
+            .alarm_count
+            .fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
+                if x < ALARM_COUNT as u8 {
+                    Some(x + 1)
+                } else {
+                    None
+                }
+            });
+
+        match id {
+            Ok(id) => Some(AlarmHandle::new(id)),
+            Err(_) => None,
+        }
+    }
+
+    fn set_alarm_callback(
+        &self,
+        alarm: embassy_time_driver::AlarmHandle,
+        callback: fn(*mut ()),
+        ctx: *mut (),
+    ) {
+        critical_section::with(|cs| {
+            let alarm = self.get_alarm(cs, alarm);
+
+            alarm.callback.set(callback as *const ());
+            alarm.ctx.set(ctx);
+        })
+    }
+
+    fn set_alarm(&self, alarm: embassy_time_driver::AlarmHandle, timestamp: u64) -> bool {
+        if SCALE.get().is_none() {
+            return false;
+        }
+        critical_section::with(|cs| {
+            let n = alarm.id();
+            let alarm_tim = alarm_tim(n.into());
+            alarm_tim.ctrl().modify(|_, w| {
+                w.irq_enb().clear_bit();
+                w.enable().clear_bit()
+            });
+
+            let alarm = self.get_alarm(cs, alarm);
+            alarm.timestamp.set(timestamp);
+
+            let t = self.now();
+            if timestamp <= t {
+                alarm.timestamp.set(u64::MAX);
+                return false;
+            }
+
+            // If it hasn't triggered yet, setup the relevant reset value, regardless of whether
+            // the interrupts are enabled or not. When they are enabled at a later point, the
+            // right value is already set.
+
+            // If the timestamp is in the next few ticks, add a bit of buffer to be sure the alarm
+            // is not missed.
+            //
+            // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
+            // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
+            // and we don't do that here.
+            let safe_timestamp = timestamp.max(t + 3);
+            let timer_ticks = (safe_timestamp - t) * *SCALE.get().unwrap();
+            alarm_tim.rst_value().write(|w| unsafe { w.bits(u32::MAX) });
+            if timer_ticks <= u32::MAX as u64 {
+                alarm_tim
+                    .cnt_value()
+                    .write(|w| unsafe { w.bits(timer_ticks as u32) });
+                alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                alarm_tim.enable().write(|w| unsafe { w.bits(1) });
+            }
+            // If it's too far in the future, don't enable timer yet.
+            // It will be enabled later by `next_period`.
+
+            true
+        })
+    }
+}
+
+time_driver_impl!(
+    static DRIVER: TimerDriverEmbassy = TimerDriverEmbassy {
+        periods: AtomicU32::new(0),
+        alarm_count: AtomicU8::new(0),
+        alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [AlarmState::new(); ALARM_COUNT])
+});
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM15() {
+    DRIVER.on_interrupt_timekeeping()
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM14() {
+    DRIVER.on_interrupt_alarm(0)
+}

examples/rtic/Cargo.toml

@@ -0,0 +1,24 @@
+[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"
+rtt-target = { version = "0.5" }
+rtic-sync = { version = "1.3", features = ["defmt-03"] }
+panic-rtt-target = { version = "0.1.3" }
+
+[dependencies.va416xx-hal]
+path = "../../va416xx-hal"
+features = ["va41630"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]

examples/rtic/src/main.rs

@@ -0,0 +1,57 @@
+//! RTIC minimal blinky
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac, dispatchers = [U1, U2, U3])]
+mod app {
+    use cortex_m::asm;
+    use embedded_hal::digital::StatefulOutputPin;
+    use panic_rtt_target as _;
+    use rtic_monotonics::systick::prelude::*;
+    use rtic_monotonics::Monotonic;
+    use rtt_target::{rprintln, rtt_init_default};
+    use va416xx_hal::{
+        gpio::{OutputReadablePushPull, Pin, PinsG, PG5},
+        pac,
+    };
+
+    #[local]
+    struct Local {
+        led: Pin<PG5, OutputReadablePushPull>,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 10_000);
+
+    #[init]
+    fn init(_ctx: init::Context) -> (Shared, Local) {
+        rtt_init_default!();
+        rprintln!("-- Vorago RTIC template --");
+        let mut dp = pac::Peripherals::take().unwrap();
+        let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
+        let led = portg.pg5.into_readable_push_pull_output();
+        blinky::spawn().ok();
+        (Shared {}, Local { led })
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        loop {
+            asm::nop();
+        }
+    }
+
+    #[task(
+        priority = 3,
+        local=[led],
+    )]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            cx.local.led.toggle().ok();
+            Mono::delay(200.millis()).await;
+        }
+    }
+}

examples/simple/Cargo.toml

@@ -4,11 +4,11 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
+critical-section = "1"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-rtic-sync = { version = "1.3", features = ["defmt-03"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 nb = "1"

examples/simple/examples/dma.rs

@@ -4,13 +4,14 @@
 
 use core::cell::Cell;
 
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use embedded_hal::delay::DelayNs;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use simple_examples::peb1;
 use va416xx_hal::dma::{Dma, DmaCfg, DmaChannel, DmaCtrlBlock};
+use va416xx_hal::irq_router::enable_and_init_irq_router;
 use va416xx_hal::pwm::CountdownTimer;
 use va416xx_hal::{
     pac::{self, interrupt},
@@ -45,6 +46,7 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
+    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     // Safety: The DMA control block has an alignment rule of 128 and we constructed it directly
     // statically.
     let dma = Dma::new(&mut dp.sysconfig, dp.dma, DmaCfg::default(), unsafe {
@@ -88,10 +90,10 @@ fn transfer_example_8_bit(
     (0..64).for_each(|i| {
         src_buf[i] = i as u8;
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
     // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
@@ -112,7 +114,7 @@ fn transfer_example_8_bit(
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        cortex_m::interrupt::free(|cs| {
+        critical_section::with(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 8 bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -143,10 +145,10 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
             DMA_SRC_BUF[i] = (i as u32 * u16::MAX as u32 / (dest_buf_ref.len() as u32 - 1)) as u16;
         });
     }
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
     // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
@@ -170,7 +172,7 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        cortex_m::interrupt::free(|cs| {
+        critical_section::with(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 16-bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -206,10 +208,10 @@ fn transfer_example_32_bit(
     (0..16).for_each(|i| {
         src_buf[i] = (i as u64 * u32::MAX as u64 / (src_buf.len() - 1) as u64) as u32;
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
     // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
@@ -230,7 +232,7 @@ fn transfer_example_32_bit(
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        cortex_m::interrupt::free(|cs| {
+        critical_section::with(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 32-bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -260,7 +262,7 @@ fn transfer_example_32_bit(
 #[allow(non_snake_case)]
 fn DMA_DONE0() {
     // Notify the main loop that the DMA transfer is finished.
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(true);
     });
 }
@@ -269,7 +271,7 @@ fn DMA_DONE0() {
 #[allow(non_snake_case)]
 fn DMA_ACTIVE0() {
     // Notify the main loop that the DMA 0 is active now.
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(true);
     });
 }

examples/simple/examples/timer-ticks.rs

@@ -3,12 +3,14 @@
 #![no_std]
 
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
+use cortex_m::asm;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use simple_examples::peb1;
 use va416xx_hal::{
+    irq_router::enable_and_init_irq_router,
     pac::{self, interrupt},
     prelude::*,
     timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, MS_COUNTER},
@@ -35,19 +37,21 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
+    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     let _ = set_up_ms_tick(&mut dp.sysconfig, dp.tim0, &clocks);
     let mut second_timer = CountdownTimer::new(&mut dp.sysconfig, dp.tim1, &clocks);
-    second_timer.start(1.Hz());
     second_timer.listen();
+    second_timer.start(1.Hz());
     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 {
+        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);
+        asm::delay(1000);
     }
 }
 
@@ -60,7 +64,7 @@ fn TIM0() {
 #[interrupt]
 #[allow(non_snake_case)]
 fn TIM1() {
-    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/wdt.rs

@@ -3,11 +3,12 @@
 #![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 simple_examples::peb1;
+use va416xx_hal::irq_router::enable_and_init_irq_router;
 use va416xx_hal::pac::{self, interrupt};
 use va416xx_hal::prelude::*;
 use va416xx_hal::wdt::Wdt;
@@ -40,6 +41,7 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
+    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     let mut delay_sysclk = cortex_m::delay::Delay::new(cp.SYST, clocks.apb0().raw());
 
     let mut last_interrupt_counter = 0;
@@ -49,7 +51,7 @@ fn main() -> ! {
         if TEST_MODE != TestMode::AllowReset {
             wdt_ctrl.feed();
         }
-        let interrupt_counter = cortex_m::interrupt::free(|cs| WDT_INTRPT_COUNT.borrow(cs).get());
+        let interrupt_counter = critical_section::with(|cs| WDT_INTRPT_COUNT.borrow(cs).get());
         if interrupt_counter > last_interrupt_counter {
             rprintln!("interrupt counter has increased to {}", interrupt_counter);
             last_interrupt_counter = interrupt_counter;
@@ -65,7 +67,7 @@ fn main() -> ! {
 #[interrupt]
 #[allow(non_snake_case)]
 fn WATCHDOG() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         WDT_INTRPT_COUNT
             .borrow(cs)
             .set(WDT_INTRPT_COUNT.borrow(cs).get() + 1);

flashloader/src/main.rs

@@ -108,6 +108,7 @@ mod app {
     use spacepackets::ecss::{
         tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
     };
+    use va416xx_hal::irq_router::enable_and_init_irq_router;
     use va416xx_hal::{
         clock::ClkgenExt,
         edac,
@@ -163,6 +164,7 @@ mod app {
             .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
             .freeze(&mut cx.device.sysconfig)
             .unwrap();
+        enable_and_init_irq_router(&mut cx.device.sysconfig, &cx.device.irq_router);
         setup_edac(&mut cx.device.sysconfig);
 
         let gpiob = PinsG::new(&mut cx.device.sysconfig, cx.device.portg);
@@ -488,7 +490,7 @@ mod app {
                     .unwrap();
                 Mono::delay(2.millis()).await;
             }
-            Mono::delay(30.millis()).await;
+            Mono::delay(50.millis()).await;
         }
     }
 

va416xx-hal/CHANGELOG.md

@@ -25,6 +25,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Fixes for the SPI implementation where the clock divider values were not calculated
   correctly
 - Fixes for UART IRQ handler implementation
+- Add new IRQ router initialization method `irq_router::enable_and_init_irq_router`. This method
+  also sets the initial values of some registers to 0 where the datasheet and the actual reset
+  value are inconsistent, which can lead to weird bugs like IRQs not being triggered properly.
 
 ## Added
 

va416xx-hal/Cargo.toml

@@ -12,6 +12,7 @@ categories = ["embedded", "no-std", "hardware-support"]
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+critical-section = "1"
 nb = "1"
 paste = "1"
 embedded-hal-nb = "1"

va416xx-hal/src/clock.rs

@@ -494,7 +494,7 @@ pub struct Clocks {
 
 impl Clocks {
     /// Returns the frequency of the HBO clock
-    pub fn hbo(&self) -> Hertz {
+    pub const fn hbo(&self) -> Hertz {
         HBO_FREQ
     }
 
@@ -504,23 +504,23 @@ impl Clocks {
     }
 
     /// Returns system clock divied by 2.
-    pub fn apb1(&self) -> Hertz {
+    pub const fn apb1(&self) -> Hertz {
         self.apb1
     }
 
     /// Returns system clock divied by 4.
-    pub fn apb2(&self) -> Hertz {
+    pub const fn apb2(&self) -> Hertz {
         self.apb2
     }
 
     /// Returns the system (core) frequency
-    pub fn sysclk(&self) -> Hertz {
+    pub const fn sysclk(&self) -> Hertz {
         self.sysclk
     }
 
     /// Returns the ADC clock frequency which has a separate divider.
     #[cfg(not(feature = "va41628"))]
-    pub fn adc_clk(&self) -> Hertz {
+    pub const fn adc_clk(&self) -> Hertz {
         self.adc_clk
     }
 }

va416xx-hal/src/irq_router.rs

@@ -0,0 +1,18 @@
+use crate::{
+    clock::{PeripheralSelect, SyscfgExt},
+    pac,
+};
+
+pub fn enable_and_init_irq_router(sysconfig: &mut pac::Sysconfig, irq_router: &pac::IrqRouter) {
+    sysconfig.enable_peripheral_clock(PeripheralSelect::IrqRouter);
+    sysconfig.assert_periph_reset_for_two_cycles(PeripheralSelect::IrqRouter);
+    unsafe {
+        irq_router.dmasel0().write_with_zero(|w| w);
+        irq_router.dmasel1().write_with_zero(|w| w);
+        irq_router.dmasel2().write_with_zero(|w| w);
+        irq_router.dmasel3().write_with_zero(|w| w);
+        irq_router.adcsel().write_with_zero(|w| w);
+        irq_router.dacsel0().write_with_zero(|w| w);
+        irq_router.dacsel1().write_with_zero(|w| w);
+    }
+}

va416xx-hal/src/lib.rs

@@ -1,3 +1,26 @@
+//! This is the **H**ardware **A**bstraction **L**ayer (HAL) for the VA416xx MCU family.
+//!
+//! It is an additional hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx).
+
+//! 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
+//! [embedded-hal](https://github.com/rust-embedded/embedded-hal) project, making it compatible with
+//! various drivers in the embedded rust ecosystem.
+
+//! You have to enable one of the following device features to use this crate depending on
+//! which chip you are using:
+
+//! - `va41630`
+//! - `va41629`
+//! - `va41628`
+//! - `va41620`
+//!
+//! When using this HAL and writing applications for the VA416xx family in general, it is strongly
+//! recommended that you set up the clock properly, because the default internal HBO clock
+//! is not very accurate. You can use the [crate::clock] module for this. If you are working
+//! with interrupts, it is strongly recommended to set up the IRQ router with the
+//! [crate::irq_router] module at the very least because that peripheral has confusing and/or
+//! faulty register reset values which might leads to weird bugs and glitches.
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_auto_cfg))]
 #[cfg(test)]
@@ -22,6 +45,7 @@ pub mod dma;
 pub mod edac;
 pub mod gpio;
 pub mod i2c;
+pub mod irq_router;
 pub mod nvm;
 pub mod pwm;
 pub mod spi;

va416xx-hal/src/timer.rs

@@ -5,7 +5,8 @@
 //! - [Timer MS and Second Tick Example](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/timer-ticks.rs)
 use core::cell::Cell;
 
-use cortex_m::interrupt::Mutex;
+use cortex_m::asm;
+use critical_section::Mutex;
 
 use crate::clock::Clocks;
 use crate::gpio::{
@@ -169,6 +170,14 @@ macro_rules! tim_markers {
     };
 }
 
+pub const fn const_clock<Tim: ValidTim + ?Sized>(_: &Tim, clocks: &Clocks) -> Hertz {
+    if Tim::TIM_ID <= 15 {
+        clocks.apb1()
+    } else {
+        clocks.apb2()
+    }
+}
+
 tim_markers!(
     (pac::Tim0, 0, pac::Interrupt::TIM0),
     (pac::Tim1, 1, pac::Interrupt::TIM1),
@@ -328,19 +337,27 @@ valid_pin_and_tims!(
 ///
 /// Only the bit related to the corresponding TIM peripheral is modified
 #[inline]
-fn assert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+pub fn assert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
     syscfg
         .tim_reset()
         .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << tim_id as u32)) })
 }
 
 #[inline]
-fn deassert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+pub fn deassert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
     syscfg
         .tim_reset()
         .modify(|r, w| unsafe { w.bits(r.bits() | (1 << tim_id as u32)) })
 }
 
+#[inline]
+pub fn assert_tim_reset_for_two_cycles(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+    assert_tim_reset(syscfg, tim_id);
+    asm::nop();
+    asm::nop();
+    deassert_tim_reset(syscfg, tim_id);
+}
+
 pub type TimRegBlock = pac::tim0::RegisterBlock;
 
 /// Register interface.
@@ -481,7 +498,7 @@ pub struct CountdownTimer<TIM: ValidTim> {
 }
 
 #[inline]
-fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+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)) });
@@ -579,9 +596,10 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn load(&mut self, timeout: impl Into<Hertz>) {
         self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
         self.curr_freq = timeout.into();
-        self.rst_val = self.clock.raw() / self.curr_freq.raw();
+        self.rst_val = (self.clock.raw() / self.curr_freq.raw()) - 1;
         self.set_reload(self.rst_val);
-        self.set_count(0);
+        // Decrementing counter, to set the reset value.
+        self.set_count(self.rst_val);
     }
 
     #[inline(always)]
@@ -601,7 +619,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
 
     #[inline(always)]
     pub fn enable(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().set_bit());
+        self.tim.reg().enable().write(|w| unsafe { w.bits(1) });
     }
 
     #[inline(always)]
@@ -778,7 +796,7 @@ pub fn set_up_ms_tick<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);
@@ -787,7 +805,7 @@ 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())
 }
 
 pub struct DelayMs<Tim: ValidTim = pac::Tim0>(CountdownTimer<Tim>);

vscode/launch.json

@@ -410,5 +410,65 @@
                 ]
             }
         },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Embassy Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "embassy-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/embassy-example",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "RTIC Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "embassy-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/rtic-example",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
     ]
 }

vscode/tasks.json

@@ -186,5 +186,18 @@
                 "kind": "build",
             }
         },
+        {
+            "label": "rtic-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "rtic-example"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
     ]
 }