Merge pull request 'timer, PWM and I2C module' (#5) from timer-i2c-pwm into main

Reviewed-on: #5

examples/simple/Cargo.toml

@@ -14,3 +14,5 @@ embedded-hal-nb = "1"
 nb = "1"
 embedded-io = "0.6"
 panic-halt = "0.2"
+vorago-peb1 = { path = "../../vorago-peb1" }
+accelerometer = "0.12"

examples/simple/examples/peb1-accelerometer.rs

@@ -0,0 +1,88 @@
+//! Example code for the PEB1 development board accelerometer.
+#![no_main]
+#![no_std]
+
+use accelerometer::{Accelerometer, RawAccelerometer};
+use cortex_m_rt::entry;
+use embedded_hal::delay::DelayNs;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use simple_examples::peb1;
+use va416xx_hal::{
+    i2c,
+    pac::{self},
+    prelude::*,
+    pwm::CountdownTimer,
+};
+use vorago_peb1::lis2dh12::{self, detect_i2c_addr, FullScale, Odr};
+
+pub enum DisplayMode {
+    Raw,
+    Normalized,
+}
+
+const DISPLAY_MODE: DisplayMode = DisplayMode::Normalized;
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    let mut dp = pac::Peripherals::take().unwrap();
+    rprintln!("-- Vorago PEB1 accelerometer example --");
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    let mut i2c_master = i2c::I2cMaster::new(
+        dp.i2c0,
+        &mut dp.sysconfig,
+        i2c::MasterConfig::default(),
+        &clocks,
+        i2c::I2cSpeed::Regular100khz,
+    )
+    .expect("creating I2C master failed");
+    let mut delay_provider = CountdownTimer::new(&mut dp.sysconfig, dp.tim1, &clocks);
+    // Detect the I2C address of the accelerometer by scanning all possible values.
+    let slave_addr = detect_i2c_addr(&mut i2c_master).expect("detecting I2C address failed");
+    // Create the accelerometer driver using the PEB1 BSP.
+    let mut accelerometer = vorago_peb1::accelerometer::new_with_i2cm(i2c_master, slave_addr)
+        .expect("creating accelerometer driver failed");
+    let device_id = accelerometer.get_device_id().unwrap();
+    accelerometer
+        .set_mode(lis2dh12::reg::Mode::Normal)
+        .expect("setting mode failed");
+    accelerometer
+        .set_odr(Odr::Hz100)
+        .expect("setting ODR failed");
+    accelerometer
+        .set_fs(FullScale::G4)
+        .expect("setting full scale failed");
+    // This function also enabled BDU.
+    accelerometer
+        .enable_temp(true)
+        .expect("enabling temperature sensor failed");
+    rprintln!("Device ID: 0x{:02X}", device_id);
+    // Start reading the accelerometer periodically.
+    loop {
+        let temperature = accelerometer
+            .get_temp_outf()
+            .expect("reading temperature failed");
+        match DISPLAY_MODE {
+            DisplayMode::Normalized => {
+                let value = accelerometer
+                    .accel_norm()
+                    .expect("reading normalized accelerometer data failed");
+                rprintln!("Accel Norm F32x3: {:.06?} | Temp {} °C", value, temperature);
+            }
+            DisplayMode::Raw => {
+                let value_raw = accelerometer
+                    .accel_raw()
+                    .expect("reading raw accelerometer data failed");
+                rprintln!("Accel Raw F32x3: {:?} | Temp {} °C", value_raw, temperature);
+            }
+        }
+        delay_provider.delay_ms(100);
+    }
+}

examples/simple/examples/pwm.rs

@@ -0,0 +1,81 @@
+//! Simple PWM example
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use embedded_hal::{delay::DelayNs, pwm::SetDutyCycle};
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use simple_examples::peb1;
+use va416xx_hal::{
+    gpio::PinsA,
+    pac,
+    prelude::*,
+    pwm::{self, get_duty_from_percent, CountdownTimer, PwmA, PwmB, ReducedPwmPin},
+};
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("-- VA108xx PWM example application--");
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+
+    let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let mut pwm = pwm::PwmPin::new(
+        (pinsa.pa3.into_funsel_1(), dp.tim3),
+        &mut dp.sysconfig,
+        &clocks,
+        10.Hz(),
+    );
+    let mut delay_timer = CountdownTimer::new(&mut dp.sysconfig, dp.tim0, &clocks);
+    let mut current_duty_cycle = 0.0;
+    pwm.set_duty_cycle(get_duty_from_percent(current_duty_cycle))
+        .unwrap();
+    pwm.enable();
+
+    // Delete type information, increased code readibility for the rest of the code
+    let mut reduced_pin = ReducedPwmPin::from(pwm);
+    loop {
+        let mut counter = 0;
+        // Increase duty cycle continuously
+        while current_duty_cycle < 1.0 {
+            delay_timer.delay_ms(400);
+            current_duty_cycle += 0.02;
+            counter += 1;
+            if counter % 10 == 0 {
+                rprintln!("current duty cycle: {}", current_duty_cycle);
+            }
+
+            reduced_pin
+                .set_duty_cycle(get_duty_from_percent(current_duty_cycle))
+                .unwrap();
+        }
+
+        // Switch to PWMB and decrease the window with a high signal from 100 % to 0 %
+        // continously
+        current_duty_cycle = 0.0;
+        let mut upper_limit = 1.0;
+        let mut lower_limit = 0.0;
+        let mut pwmb: ReducedPwmPin<PwmB> = ReducedPwmPin::from(reduced_pin);
+        pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
+        pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
+        while lower_limit < 0.5 {
+            delay_timer.delay_ms(400);
+            lower_limit += 0.01;
+            upper_limit -= 0.01;
+            pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
+            pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
+            rprintln!("Lower limit: {}", pwmb.pwmb_lower_limit());
+            rprintln!("Upper limit: {}", pwmb.pwmb_upper_limit());
+        }
+        reduced_pin = ReducedPwmPin::<PwmA>::from(pwmb);
+    }
+}

examples/simple/examples/spi.rs

@@ -63,7 +63,7 @@ fn main() -> ! {
     let transfer_cfg =
         TransferConfig::new_no_hw_cs(SPI_SPEED_KHZ.kHz(), SPI_MODE, BLOCKMODE, false);
     // Create SPI peripheral.
-    let mut spi0 = Spi::spi0(
+    let mut spi0 = Spi::new(
         dp.spi0,
         (sck, miso, mosi),
         &clocks,

examples/simple/examples/timer-ticks.rs

@@ -0,0 +1,68 @@
+//! MS and Second counter implemented using the TIM0 and TIM1 peripheral
+#![no_main]
+#![no_std]
+
+use core::cell::Cell;
+use cortex_m::interrupt::Mutex;
+use cortex_m_rt::entry;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use simple_examples::peb1;
+use va416xx_hal::{
+    pac::{self, interrupt},
+    prelude::*,
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, MS_COUNTER},
+};
+
+#[allow(dead_code)]
+enum LibType {
+    Pac,
+    Hal,
+}
+
+static SEC_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    let mut dp = pac::Peripherals::take().unwrap();
+    let mut last_ms = 0;
+    rprintln!("-- Vorago system ticks using timers --");
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    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();
+    loop {
+        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        if current_ms - last_ms >= 1000 {
+            last_ms = current_ms;
+            rprintln!("MS counter: {}", current_ms);
+            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
+            rprintln!("Second counter: {}", second);
+        }
+        cortex_m::asm::delay(10000);
+    }
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM0() {
+    default_ms_irq_handler()
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM1() {
+    cortex_m::interrupt::free(|cs| {
+        let mut sec = SEC_COUNTER.borrow(cs).get();
+        sec += 1;
+        SEC_COUNTER.borrow(cs).set(sec);
+    });
+}

examples/simple/examples/uart.rs

@@ -32,7 +32,7 @@ fn main() -> ! {
     let tx = gpiob.pg0.into_funsel_1();
     let rx = gpiob.pg1.into_funsel_1();
 
-    let uart0 = uart::Uart::uart0(
+    let uart0 = uart::Uart::new(
         dp.uart0,
         (tx, rx),
         Hertz::from_raw(115200),

examples/simple/src/lib.rs

@@ -1,5 +1,6 @@
 #![no_std]
 
+/// PEB1 board specific configuration.
 pub mod peb1 {
     use va416xx_hal::time::Hertz;
 

va416xx-hal/Cargo.toml

@@ -22,6 +22,10 @@ defmt = { version = "0.3", optional = true }
 fugit = "0.3"
 delegate = "0.12"
 
+[dependencies.void]
+version = "1"
+default-features = false
+
 [dependencies.va416xx]
 path = "../va416xx"
 default-features = false

va416xx-hal/src/clock.rs

@@ -1,5 +1,4 @@
 //! This also includes functionality to enable the peripheral clocks
-//use va416xx::{, Sysconfig};
 use crate::pac;
 
 use crate::time::Hertz;

va416xx-hal/src/i2c.rs

@@ -0,0 +1,904 @@
+//! API for the I2C peripheral
+//!
+//! ## Examples
+//!
+//! - [PEB1 accelerometer example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/peb1-accelerometer.rs)
+use crate::{
+    clock::{
+        assert_periph_reset, deassert_periph_reset, enable_peripheral_clock, Clocks,
+        PeripheralSelect,
+    },
+    pac,
+    time::Hertz,
+    typelevel::Sealed,
+};
+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(10_000_000);
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum FifoEmptyMode {
+    Stall = 0,
+    EndTransaction = 1,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ClockTooSlowForFastI2c;
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Error {
+    InvalidTimingParams,
+    ArbitrationLost,
+    NackAddr,
+    /// Data not acknowledged in write operation
+    NackData,
+    /// Not enough data received in read operation
+    InsufficientDataReceived,
+    /// Number of bytes in transfer too large (larger than 0x7fe)
+    DataTooLarge,
+}
+
+#[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 {
+    fn kind(&self) -> embedded_hal::i2c::ErrorKind {
+        match self {
+            Error::ArbitrationLost => embedded_hal::i2c::ErrorKind::ArbitrationLoss,
+            Error::NackAddr => {
+                embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Address)
+            }
+            Error::NackData => {
+                embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Data)
+            }
+            Error::DataTooLarge | Error::InsufficientDataReceived | Error::InvalidTimingParams => {
+                embedded_hal::i2c::ErrorKind::Other
+            }
+        }
+    }
+}
+
+#[derive(Debug, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+enum I2cCmd {
+    Start = 0b00,
+    Stop = 0b10,
+    StartWithStop = 0b11,
+    Cancel = 0b100,
+}
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum I2cSpeed {
+    Regular100khz = 0,
+    Fast400khz = 1,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum I2cDirection {
+    Send = 0,
+    Read = 1,
+}
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum I2cAddress {
+    Regular(u8),
+    TenBit(u16),
+}
+
+pub type I2cRegBlock = pac::i2c0::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::I2c0 {
+    const IDX: u8 = 0;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c0;
+
+    fn ptr() -> *const I2cRegBlock {
+        Self::ptr()
+    }
+}
+
+impl Instance for pac::I2c1 {
+    const IDX: u8 = 1;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c1;
+
+    fn ptr() -> *const I2cRegBlock {
+        Self::ptr()
+    }
+}
+
+impl Instance for pac::I2c2 {
+    const IDX: u8 = 2;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c2;
+
+    fn ptr() -> *const I2cRegBlock {
+        Self::ptr()
+    }
+}
+
+//==================================================================================================
+// Config
+//==================================================================================================
+
+pub struct TrTfThighTlow(u8, u8, u8, u8);
+pub struct TsuStoTsuStaThdStaTBuf(u8, u8, u8, u8);
+
+pub struct TimingCfg {
+    // 4 bit max width
+    tr: u8,
+    // 4 bit max width
+    tf: u8,
+    // 4 bit max width
+    thigh: u8,
+    // 4 bit max width
+    tlow: u8,
+    // 4 bit max width
+    tsu_sto: u8,
+    // 4 bit max width
+    tsu_sta: u8,
+    // 4 bit max width
+    thd_sta: u8,
+    // 4 bit max width
+    tbuf: u8,
+}
+
+impl TimingCfg {
+    pub fn new(
+        first_16_bits: TrTfThighTlow,
+        second_16_bits: TsuStoTsuStaThdStaTBuf,
+    ) -> Result<Self, Error> {
+        if first_16_bits.0 > 0xf
+            || first_16_bits.1 > 0xf
+            || first_16_bits.2 > 0xf
+            || first_16_bits.3 > 0xf
+            || second_16_bits.0 > 0xf
+            || second_16_bits.1 > 0xf
+            || second_16_bits.2 > 0xf
+            || second_16_bits.3 > 0xf
+        {
+            return Err(Error::InvalidTimingParams);
+        }
+        Ok(TimingCfg {
+            tr: first_16_bits.0,
+            tf: first_16_bits.1,
+            thigh: first_16_bits.2,
+            tlow: first_16_bits.3,
+            tsu_sto: second_16_bits.0,
+            tsu_sta: second_16_bits.1,
+            thd_sta: second_16_bits.2,
+            tbuf: second_16_bits.3,
+        })
+    }
+
+    pub fn reg(&self) -> u32 {
+        (self.tbuf as u32) << 28
+            | (self.thd_sta as u32) << 24
+            | (self.tsu_sta as u32) << 20
+            | (self.tsu_sto as u32) << 16
+            | (self.tlow as u32) << 12
+            | (self.thigh as u32) << 8
+            | (self.tf as u32) << 4
+            | (self.tr as u32)
+    }
+}
+
+impl Default for TimingCfg {
+    fn default() -> Self {
+        TimingCfg {
+            tr: 0x02,
+            tf: 0x01,
+            thigh: 0x08,
+            tlow: 0x09,
+            tsu_sto: 0x8,
+            tsu_sta: 0x0a,
+            thd_sta: 0x8,
+            tbuf: 0xa,
+        }
+    }
+}
+
+pub struct MasterConfig {
+    pub tx_fe_mode: FifoEmptyMode,
+    pub rx_fe_mode: FifoEmptyMode,
+    /// Enable the analog delay glitch filter
+    pub alg_filt: bool,
+    /// Enable the digital glitch filter
+    pub dlg_filt: bool,
+    pub tm_cfg: Option<TimingCfg>,
+    // Loopback mode
+    // lbm: bool,
+}
+
+impl Default for MasterConfig {
+    fn default() -> Self {
+        MasterConfig {
+            tx_fe_mode: FifoEmptyMode::Stall,
+            rx_fe_mode: FifoEmptyMode::Stall,
+            alg_filt: false,
+            dlg_filt: false,
+            tm_cfg: None,
+        }
+    }
+}
+
+impl Sealed for MasterConfig {}
+
+pub struct SlaveConfig {
+    pub tx_fe_mode: FifoEmptyMode,
+    pub rx_fe_mode: FifoEmptyMode,
+    /// Maximum number of words before issuing a negative acknowledge.
+    /// Range should be 0 to 0x7fe. Setting the value to 0x7ff has the same effect as not setting
+    /// the enable bit since RXCOUNT stops counting at 0x7fe.
+    pub max_words: Option<usize>,
+    /// A received address is compared to the ADDRESS register (addr) using the address mask
+    /// (addr_mask). Those bits with a 1 in the address mask must match for there to be an address
+    /// match
+    pub addr: I2cAddress,
+    /// The default address mask will be 0x3ff to only allow full matches
+    pub addr_mask: Option<u16>,
+    /// Optionally specify a second I2C address the slave interface responds to
+    pub addr_b: Option<I2cAddress>,
+    pub addr_b_mask: Option<u16>,
+}
+
+impl SlaveConfig {
+    /// Build a default slave config given a specified slave address to respond to
+    pub fn new(addr: I2cAddress) -> Self {
+        SlaveConfig {
+            tx_fe_mode: FifoEmptyMode::Stall,
+            rx_fe_mode: FifoEmptyMode::Stall,
+            max_words: None,
+            addr,
+            addr_mask: None,
+            addr_b: None,
+            addr_b_mask: None,
+        }
+    }
+}
+
+impl Sealed for SlaveConfig {}
+
+//==================================================================================================
+// I2C Base
+//==================================================================================================
+
+pub struct I2cBase<I2c> {
+    i2c: I2c,
+    clock: Hertz,
+}
+
+impl<I2C> I2cBase<I2C> {
+    #[inline]
+    fn unwrap_addr(addr: I2cAddress) -> (u16, u32) {
+        match addr {
+            I2cAddress::Regular(addr) => (addr as u16, 0 << 15),
+            I2cAddress::TenBit(addr) => (addr, 1 << 15),
+        }
+    }
+}
+
+impl<I2c: Instance> I2cBase<I2c> {
+    pub fn new(
+        i2c: I2c,
+        sys_cfg: &mut pac::Sysconfig,
+        clocks: &Clocks,
+        speed_mode: I2cSpeed,
+        ms_cfg: Option<&MasterConfig>,
+        sl_cfg: Option<&SlaveConfig>,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
+        enable_peripheral_clock(sys_cfg, I2c::PERIPH_SEL);
+        assert_periph_reset(sys_cfg, I2c::PERIPH_SEL);
+        cortex_m::asm::nop();
+        cortex_m::asm::nop();
+        deassert_periph_reset(sys_cfg, I2c::PERIPH_SEL);
+
+        let mut i2c_base = I2cBase {
+            i2c,
+            clock: clocks.apb1(),
+        };
+        if let Some(ms_cfg) = ms_cfg {
+            i2c_base.cfg_master(ms_cfg);
+        }
+
+        if let Some(sl_cfg) = sl_cfg {
+            i2c_base.cfg_slave(sl_cfg);
+        }
+        i2c_base.cfg_clk_scale(speed_mode)?;
+        Ok(i2c_base)
+    }
+
+    fn cfg_master(&mut self, ms_cfg: &MasterConfig) {
+        let (txfemd, rxfemd) = match (ms_cfg.tx_fe_mode, ms_cfg.rx_fe_mode) {
+            (FifoEmptyMode::Stall, FifoEmptyMode::Stall) => (false, false),
+            (FifoEmptyMode::Stall, FifoEmptyMode::EndTransaction) => (false, true),
+            (FifoEmptyMode::EndTransaction, FifoEmptyMode::Stall) => (true, false),
+            (FifoEmptyMode::EndTransaction, FifoEmptyMode::EndTransaction) => (true, true),
+        };
+        self.i2c.ctrl().modify(|_, w| {
+            w.txfemd().bit(txfemd);
+            w.rxffmd().bit(rxfemd);
+            w.dlgfilter().bit(ms_cfg.dlg_filt);
+            w.algfilter().bit(ms_cfg.alg_filt)
+        });
+        if let Some(ref tm_cfg) = ms_cfg.tm_cfg {
+            self.i2c
+                .tmconfig()
+                .write(|w| unsafe { w.bits(tm_cfg.reg()) });
+        }
+        self.i2c.fifo_clr().write(|w| {
+            w.rxfifo().set_bit();
+            w.txfifo().set_bit()
+        });
+    }
+
+    fn cfg_slave(&mut self, sl_cfg: &SlaveConfig) {
+        let (txfemd, rxfemd) = match (sl_cfg.tx_fe_mode, sl_cfg.rx_fe_mode) {
+            (FifoEmptyMode::Stall, FifoEmptyMode::Stall) => (false, false),
+            (FifoEmptyMode::Stall, FifoEmptyMode::EndTransaction) => (false, true),
+            (FifoEmptyMode::EndTransaction, FifoEmptyMode::Stall) => (true, false),
+            (FifoEmptyMode::EndTransaction, FifoEmptyMode::EndTransaction) => (true, true),
+        };
+        self.i2c.s0_ctrl().modify(|_, w| {
+            w.txfemd().bit(txfemd);
+            w.rxffmd().bit(rxfemd)
+        });
+        self.i2c.s0_fifo_clr().write(|w| {
+            w.rxfifo().set_bit();
+            w.txfifo().set_bit()
+        });
+        let max_words = sl_cfg.max_words;
+        if let Some(max_words) = max_words {
+            self.i2c
+                .s0_maxwords()
+                .write(|w| unsafe { w.bits(1 << 31 | max_words as u32) });
+        }
+        let (addr, addr_mode_mask) = Self::unwrap_addr(sl_cfg.addr);
+        // The first bit is the read/write value. Normally, both read and write are matched
+        // using the RWMASK bit of the address mask register
+        self.i2c
+            .s0_address()
+            .write(|w| unsafe { w.bits((addr << 1) as u32 | addr_mode_mask) });
+        if let Some(addr_mask) = sl_cfg.addr_mask {
+            self.i2c
+                .s0_addressmask()
+                .write(|w| unsafe { w.bits((addr_mask << 1) as u32) });
+        }
+        if let Some(addr_b) = sl_cfg.addr_b {
+            let (addr, addr_mode_mask) = Self::unwrap_addr(addr_b);
+            self.i2c
+                .s0_addressb()
+                .write(|w| unsafe { w.bits((addr << 1) as u32 | addr_mode_mask) })
+        }
+        if let Some(addr_b_mask) = sl_cfg.addr_b_mask {
+            self.i2c
+                .s0_addressmaskb()
+                .write(|w| unsafe { w.bits((addr_b_mask << 1) as u32) })
+        }
+    }
+
+    #[inline]
+    pub fn filters(&mut self, digital_filt: bool, analog_filt: bool) {
+        self.i2c.ctrl().modify(|_, w| {
+            w.dlgfilter().bit(digital_filt);
+            w.algfilter().bit(analog_filt)
+        });
+    }
+
+    #[inline]
+    pub fn fifo_empty_mode(&mut self, rx: FifoEmptyMode, tx: FifoEmptyMode) {
+        self.i2c.ctrl().modify(|_, w| {
+            w.txfemd().bit(tx as u8 != 0);
+            w.rxffmd().bit(rx as u8 != 0)
+        });
+    }
+
+    fn calc_clk_div(&self, speed_mode: I2cSpeed) -> Result<u8, ClockTooSlowForFastI2c> {
+        if speed_mode == I2cSpeed::Regular100khz {
+            Ok(((self.clock.raw() / CLK_100K.raw() / 20) - 1) as u8)
+        } else {
+            if self.clock.raw() < MIN_CLK_400K.raw() {
+                return Err(ClockTooSlowForFastI2c);
+            }
+            Ok(((self.clock.raw() / CLK_400K.raw() / 25) - 1) as u8)
+        }
+    }
+
+    /// Configures the clock scale for a given speed mode setting
+    pub fn cfg_clk_scale(&mut self, speed_mode: I2cSpeed) -> Result<(), ClockTooSlowForFastI2c> {
+        let clk_div = self.calc_clk_div(speed_mode)?;
+        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) {
+        // Load address
+        self.i2c
+            .address()
+            .write(|w| unsafe { w.bits((addr << 1) as u32) });
+    }
+
+    #[inline]
+    fn stop_cmd(&mut self) {
+        self.i2c
+            .cmd()
+            .write(|w| unsafe { w.bits(I2cCmd::Stop as u32) });
+    }
+}
+
+//==================================================================================================
+// I2C Master
+//==================================================================================================
+
+pub struct I2cMaster<I2c, Addr = SevenBitAddress> {
+    i2c_base: I2cBase<I2c>,
+    addr: PhantomData<Addr>,
+}
+
+impl<I2c: Instance, Addr> I2cMaster<I2c, Addr> {
+    pub fn new(
+        i2c: I2c,
+        sys_cfg: &mut pac::Sysconfig,
+        cfg: MasterConfig,
+        clocks: &Clocks,
+        speed_mode: I2cSpeed,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
+        Ok(I2cMaster {
+            i2c_base: I2cBase::new(i2c, sys_cfg, clocks, 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;
+            }
+        }
+    }
+}
+
+//======================================================================================
+// 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> {
+    i2c_base: I2cBase<I2c>,
+    addr: PhantomData<Addr>,
+}
+
+impl<I2c: Instance, Addr> I2cSlave<I2c, Addr> {
+    fn new_generic(
+        i2c: I2c,
+        sys_cfg: &mut pac::Sysconfig,
+        cfg: SlaveConfig,
+        clocks: &Clocks,
+        speed_mode: I2cSpeed,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
+        Ok(I2cSlave {
+            i2c_base: I2cBase::new(i2c, sys_cfg, clocks, speed_mode, None, Some(&cfg))?,
+            addr: PhantomData,
+        }
+        .enable_slave())
+    }
+
+    #[inline]
+    pub fn enable_slave(self) -> Self {
+        self.i2c_base
+            .i2c
+            .s0_ctrl()
+            .modify(|_, w| w.enable().set_bit());
+        self
+    }
+
+    #[inline]
+    pub fn disable_slave(self) -> Self {
+        self.i2c_base
+            .i2c
+            .s0_ctrl()
+            .modify(|_, w| w.enable().clear_bit());
+        self
+    }
+
+    #[inline(always)]
+    fn load_fifo(&self, word: u8) {
+        self.i2c_base
+            .i2c
+            .s0_data()
+            .write(|w| unsafe { w.bits(word as u32) });
+    }
+
+    #[inline(always)]
+    fn read_fifo(&self) -> u8 {
+        self.i2c_base.i2c.s0_data().read().bits() as u8
+    }
+
+    #[inline]
+    fn clear_tx_fifo(&self) {
+        self.i2c_base
+            .i2c
+            .s0_fifo_clr()
+            .write(|w| w.txfifo().set_bit());
+    }
+
+    #[inline]
+    fn clear_rx_fifo(&self) {
+        self.i2c_base
+            .i2c
+            .s0_fifo_clr()
+            .write(|w| w.rxfifo().set_bit());
+    }
+
+    /// Get the last address that was matched by the slave control and the corresponding
+    /// master direction
+    pub fn last_address(&self) -> (I2cDirection, u32) {
+        let bits = self.i2c_base.i2c.s0_lastaddress().read().bits();
+        match bits & 0x01 {
+            0 => (I2cDirection::Send, bits >> 1),
+            1 => (I2cDirection::Read, bits >> 1),
+            _ => (I2cDirection::Send, bits >> 1),
+        }
+    }
+
+    pub fn write(&mut self, output: &[u8]) -> Result<(), Error> {
+        let len = output.len();
+        // It should theoretically possible to transfer larger data sizes by tracking
+        // the number of sent words and setting it to 0x7fe as soon as only that many
+        // bytes are remaining. However, large transfer like this are not common. This
+        // feature will therefore not be supported for now.
+        if len > 0x7fe {
+            return Err(Error::DataTooLarge);
+        }
+        let mut bytes = output.iter();
+        // FIFO has a depth of 16. We load slightly above the trigger level
+        // but not all of it because the transaction might fail immediately
+        const FILL_DEPTH: usize = 12;
+
+        // load the FIFO
+        for _ in 0..core::cmp::min(FILL_DEPTH, len) {
+            self.load_fifo(*bytes.next().unwrap());
+        }
+
+        let status_reader = self.i2c_base.i2c.s0_status().read();
+        let mut load_if_next_available = || {
+            if let Some(next_byte) = bytes.next() {
+                self.load_fifo(*next_byte);
+            }
+        };
+        loop {
+            if status_reader.nackdata().bit_is_set() {
+                self.clear_tx_fifo();
+                return Err(Error::NackData);
+            } else if status_reader.idle().bit_is_set() {
+                return Ok(());
+            } else {
+                while !status_reader.txnfull().bit_is_set() {
+                    load_if_next_available();
+                }
+            }
+        }
+    }
+
+    pub fn read(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
+        let len = buffer.len();
+        // It should theoretically possible to transfer larger data sizes by tracking
+        // the number of sent words and setting it to 0x7fe as soon as only that many
+        // bytes are remaining. However, large transfer like this are not common. This
+        // feature will therefore not be supported for now.
+        if len > 0x7fe {
+            return Err(Error::DataTooLarge);
+        }
+        // Clear the receive FIFO
+        self.clear_rx_fifo();
+
+        let mut buf_iter = buffer.iter_mut();
+        let mut read_bytes = 0;
+        let mut read_if_next_available = || {
+            if let Some(next_byte) = buf_iter.next() {
+                *next_byte = self.read_fifo();
+            }
+        };
+        loop {
+            let status_reader = self.i2c_base.i2c.s0_status().read();
+            if status_reader.idle().bit_is_set() {
+                if read_bytes != len {
+                    return Err(Error::InsufficientDataReceived);
+                }
+                return Ok(());
+            } else if status_reader.rxnempty().bit_is_set() {
+                read_bytes += 1;
+                read_if_next_available();
+            }
+        }
+    }
+}
+
+impl<I2c: Instance> I2cSlave<I2c, SevenBitAddress> {
+    /// Create a new I2C slave for seven bit addresses
+    pub fn new(
+        i2c: I2c,
+        sys_cfg: &mut pac::Sysconfig,
+        cfg: SlaveConfig,
+        clocks: &Clocks,
+        speed_mode: I2cSpeed,
+    ) -> Result<Self, InitError> {
+        if let I2cAddress::TenBit(_) = cfg.addr {
+            return Err(InitError::WrongAddrMode);
+        }
+        Ok(Self::new_generic(i2c, sys_cfg, cfg, clocks, speed_mode)?)
+    }
+}
+
+impl<I2c: Instance> I2cSlave<I2c, TenBitAddress> {
+    pub fn new_ten_bit_addr(
+        i2c: I2c,
+        sys_cfg: &mut pac::Sysconfig,
+        cfg: SlaveConfig,
+        clocks: &Clocks,
+        speed_mode: I2cSpeed,
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
+        Self::new_generic(i2c, sys_cfg, cfg, clocks, speed_mode)
+    }
+}

va416xx-hal/src/lib.rs

@@ -9,8 +9,11 @@ pub mod prelude;
 
 pub mod clock;
 pub mod gpio;
+pub mod i2c;
+pub mod pwm;
 pub mod spi;
 pub mod time;
+pub mod timer;
 pub mod typelevel;
 pub mod uart;
 pub mod wdt;
@@ -23,22 +26,20 @@ pub enum FunSel {
     Sel3 = 0b11,
 }
 
-/// Generic IRQ config which can be used to specify whether the HAL driver will
+/// Enable a specific interrupt using the NVIC peripheral.
-/// use the IRQSEL register to route an interrupt, and whether the IRQ will be unmasked in the
+///
-/// Cortex-M0 NVIC. Both are generally necessary for IRQs to work, but the user might perform
+/// # Safety
-/// this steps themselves
+///
-#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+/// This function is `unsafe` because it can break mask-based critical sections.
-pub struct IrqCfg {
+#[inline]
-    /// Interrupt target vector. Should always be set, might be required for disabling IRQs
+pub unsafe fn enable_interrupt(irq: pac::Interrupt) {
-    pub irq: pac::Interrupt,
+    unsafe {
-    /// Specfiy whether IRQ should be routed to an IRQ vector using the IRQSEL peripheral
+        cortex_m::peripheral::NVIC::unmask(irq);
-    pub route: bool,
+    }
-    /// Specify whether the IRQ is unmasked in the Cortex-M NVIC
-    pub enable: bool,
 }
 
-impl IrqCfg {
+/// Disable a specific interrupt using the NVIC peripheral.
-    pub fn new(irq: pac::Interrupt, route: bool, enable: bool) -> Self {
+#[inline]
-        IrqCfg { irq, route, enable }
+pub fn disable_interrupt(irq: pac::Interrupt) {
-    }
+    cortex_m::peripheral::NVIC::mask(irq);
 }

va416xx-hal/src/pwm.rs

@@ -0,0 +1,388 @@
+//! API for Pulse-Width Modulation (PWM)
+//!
+//! The Vorago VA416xx devices use the TIM peripherals to perform PWM related tasks.
+//!
+//! ## Examples
+//!
+//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/pwm.rs)
+use core::convert::Infallible;
+use core::marker::PhantomData;
+
+use crate::pac;
+use crate::{clock::Clocks, gpio::DynPinId};
+pub use crate::{gpio::PinId, time::Hertz, timer::*};
+
+const DUTY_MAX: u16 = u16::MAX;
+
+pub struct PwmBase {
+    clock: Hertz,
+    /// For PWMB, this is the upper limit
+    current_duty: u16,
+    /// For PWMA, this value will not be used
+    current_lower_limit: u16,
+    current_period: Hertz,
+    current_rst_val: u32,
+}
+
+enum StatusSelPwm {
+    PwmA = 3,
+    PwmB = 4,
+}
+
+pub struct PwmA {}
+pub struct PwmB {}
+
+//==================================================================================================
+// Common
+//==================================================================================================
+
+macro_rules! pwm_common_func {
+    () => {
+        #[inline]
+        fn enable_pwm_a(&mut self) {
+            self.reg
+                .reg()
+                .ctrl()
+                .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmA as u8) });
+        }
+
+        #[inline]
+        fn enable_pwm_b(&mut self) {
+            self.reg
+                .reg()
+                .ctrl()
+                .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmB as u8) });
+        }
+
+        #[inline]
+        pub fn get_period(&self) -> Hertz {
+            self.pwm_base.current_period
+        }
+
+        #[inline]
+        pub fn set_period(&mut self, period: impl Into<Hertz>) {
+            self.pwm_base.current_period = period.into();
+            // Avoid division by 0
+            if self.pwm_base.current_period.raw() == 0 {
+                return;
+            }
+            self.pwm_base.current_rst_val =
+                self.pwm_base.clock.raw() / self.pwm_base.current_period.raw();
+            self.reg
+                .reg()
+                .rst_value()
+                .write(|w| unsafe { w.bits(self.pwm_base.current_rst_val) });
+        }
+
+        #[inline]
+        pub fn disable(&mut self) {
+            self.reg.reg().ctrl().modify(|_, w| w.enable().clear_bit());
+        }
+
+        #[inline]
+        pub fn enable(&mut self) {
+            self.reg.reg().ctrl().modify(|_, w| w.enable().set_bit());
+        }
+
+        #[inline]
+        pub fn period(&self) -> Hertz {
+            self.pwm_base.current_period
+        }
+
+        #[inline(always)]
+        pub fn duty(&self) -> u16 {
+            self.pwm_base.current_duty
+        }
+    };
+}
+
+macro_rules! pwmb_func {
+    () => {
+        pub fn pwmb_lower_limit(&self) -> u16 {
+            self.pwm_base.current_lower_limit
+        }
+
+        pub fn pwmb_upper_limit(&self) -> u16 {
+            self.pwm_base.current_duty
+        }
+
+        /// Set the lower limit for PWMB
+        ///
+        /// The PWM signal will be 1 as long as the current RST counter is larger than
+        /// the lower limit. For example, with a lower limit of 0.5 and and an upper limit
+        /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
+        /// state
+        pub fn set_pwmb_lower_limit(&mut self, duty: u16) {
+            self.pwm_base.current_lower_limit = duty;
+            let pwmb_val: u64 = (self.pwm_base.current_rst_val as u64
+                * self.pwm_base.current_lower_limit as u64)
+                / DUTY_MAX as u64;
+            self.reg
+                .reg()
+                .pwmb_value()
+                .write(|w| unsafe { w.bits(pwmb_val as u32) });
+        }
+
+        /// Set the higher limit for PWMB
+        ///
+        /// The PWM signal will be 1 as long as the current RST counter is smaller than
+        /// the higher limit. For example, with a lower limit of 0.5 and and an upper limit
+        /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
+        /// state
+        pub fn set_pwmb_upper_limit(&mut self, duty: u16) {
+            self.pwm_base.current_duty = duty;
+            let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+                * self.pwm_base.current_duty as u64)
+                / DUTY_MAX as u64;
+            self.reg
+                .reg()
+                .pwma_value()
+                .write(|w| unsafe { w.bits(pwma_val as u32) });
+        }
+    };
+}
+
+//==================================================================================================
+// Strongly typed PWM pin
+//==================================================================================================
+
+pub struct PwmPin<Pin: TimPin, Tim: ValidTim, Mode = PwmA> {
+    reg: TimAndPinRegister<Pin, Tim>,
+    pwm_base: PwmBase,
+    mode: PhantomData<Mode>,
+}
+
+impl<Pin: TimPin, Tim: ValidTim, Mode> PwmPin<Pin, Tim, Mode>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    /// Create a new stronlgy typed PWM pin
+    pub fn new(
+        pin_and_tim: (Pin, Tim),
+        sys_cfg: &mut pac::Sysconfig,
+        clocks: &Clocks,
+        initial_period: impl Into<Hertz> + Copy,
+    ) -> Self {
+        let mut pin = PwmPin {
+            pwm_base: PwmBase {
+                current_duty: 0,
+                current_lower_limit: 0,
+                current_period: initial_period.into(),
+                current_rst_val: 0,
+                clock: Tim::clock(clocks),
+            },
+            reg: unsafe { TimAndPinRegister::new(pin_and_tim.0, pin_and_tim.1) },
+            mode: PhantomData,
+        };
+        sys_cfg
+            .tim_clk_enable()
+            .modify(|r, w| unsafe { w.bits(r.bits() | pin.reg.mask_32()) });
+        pin.enable_pwm_a();
+        pin.set_period(initial_period);
+        pin
+    }
+
+    pub fn release(self) -> (Pin, Tim) {
+        self.reg.release()
+    }
+
+    pwm_common_func!();
+}
+
+impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmA>> for PwmPin<Pin, Tim, PwmB>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    fn from(other: PwmPin<Pin, Tim, PwmA>) -> Self {
+        let mut pwmb = Self {
+            reg: other.reg,
+            pwm_base: other.pwm_base,
+            mode: PhantomData,
+        };
+        pwmb.enable_pwm_b();
+        pwmb
+    }
+}
+
+impl<PIN: TimPin, TIM: ValidTim> From<PwmPin<PIN, TIM, PwmB>> for PwmPin<PIN, TIM, PwmA>
+where
+    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
+{
+    fn from(other: PwmPin<PIN, TIM, PwmB>) -> Self {
+        let mut pwmb = Self {
+            reg: other.reg,
+            pwm_base: other.pwm_base,
+            mode: PhantomData,
+        };
+        pwmb.enable_pwm_a();
+        pwmb
+    }
+}
+
+impl<Pin: TimPin, Tim: ValidTim> PwmPin<Pin, Tim, PwmA>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    pub fn pwma(
+        tim_and_pin: (Pin, Tim),
+        sys_cfg: &mut pac::Sysconfig,
+        clocks: &Clocks,
+        initial_period: impl Into<Hertz> + Copy,
+    ) -> Self {
+        let mut pin: PwmPin<Pin, Tim, PwmA> =
+            Self::new(tim_and_pin, sys_cfg, clocks, initial_period);
+        pin.enable_pwm_a();
+        pin
+    }
+}
+
+impl<Pin: TimPin, Tim: ValidTim> PwmPin<Pin, Tim, PwmB>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    pub fn pwmb(
+        tim_and_pin: (Pin, Tim),
+        sys_cfg: &mut pac::Sysconfig,
+        clocks: &Clocks,
+        initial_period: impl Into<Hertz> + Copy,
+    ) -> Self {
+        let mut pin: PwmPin<Pin, Tim, PwmB> =
+            Self::new(tim_and_pin, sys_cfg, clocks, initial_period);
+        pin.enable_pwm_b();
+        pin
+    }
+}
+
+//==================================================================================================
+// Reduced PWM pin
+//==================================================================================================
+
+/// Reduced version where type information is deleted
+pub struct ReducedPwmPin<Mode = PwmA> {
+    reg: TimDynRegister,
+    pwm_base: PwmBase,
+    pin_id: DynPinId,
+    mode: PhantomData<Mode>,
+}
+
+impl<PIN: TimPin, TIM: ValidTim> From<PwmPin<PIN, TIM>> for ReducedPwmPin<PwmA> {
+    fn from(pwm_pin: PwmPin<PIN, TIM>) -> Self {
+        ReducedPwmPin {
+            reg: TimDynRegister::from(pwm_pin.reg),
+            pwm_base: pwm_pin.pwm_base,
+            pin_id: PIN::DYN,
+            mode: PhantomData,
+        }
+    }
+}
+
+impl<MODE> ReducedPwmPin<MODE> {
+    pwm_common_func!();
+}
+
+impl From<ReducedPwmPin<PwmA>> for ReducedPwmPin<PwmB> {
+    fn from(other: ReducedPwmPin<PwmA>) -> Self {
+        let mut pwmb = Self {
+            reg: other.reg,
+            pwm_base: other.pwm_base,
+            pin_id: other.pin_id,
+            mode: PhantomData,
+        };
+        pwmb.enable_pwm_b();
+        pwmb
+    }
+}
+
+impl From<ReducedPwmPin<PwmB>> for ReducedPwmPin<PwmA> {
+    fn from(other: ReducedPwmPin<PwmB>) -> Self {
+        let mut pwmb = Self {
+            reg: other.reg,
+            pwm_base: other.pwm_base,
+            pin_id: other.pin_id,
+            mode: PhantomData,
+        };
+        pwmb.enable_pwm_a();
+        pwmb
+    }
+}
+
+//==================================================================================================
+// PWMB implementations
+//==================================================================================================
+
+impl<PIN: TimPin, TIM: ValidTim> PwmPin<PIN, TIM, PwmB>
+where
+    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
+{
+    pwmb_func!();
+}
+
+impl ReducedPwmPin<PwmB> {
+    pwmb_func!();
+}
+
+//==================================================================================================
+// Embedded HAL implementation: PWMA only
+//==================================================================================================
+
+impl<Pin: TimPin, Tim: ValidTim> embedded_hal::pwm::ErrorType for PwmPin<Pin, Tim> {
+    type Error = Infallible;
+}
+
+impl embedded_hal::pwm::ErrorType for ReducedPwmPin {
+    type Error = Infallible;
+}
+
+impl embedded_hal::pwm::SetDutyCycle for ReducedPwmPin {
+    #[inline]
+    fn max_duty_cycle(&self) -> u16 {
+        DUTY_MAX
+    }
+
+    #[inline]
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
+        self.pwm_base.current_duty = duty;
+        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
+            / DUTY_MAX as u64;
+        self.reg
+            .reg()
+            .pwma_value()
+            .write(|w| unsafe { w.bits(pwma_val as u32) });
+        Ok(())
+    }
+}
+
+impl<Pin: TimPin, Tim: ValidTim> embedded_hal::pwm::SetDutyCycle for PwmPin<Pin, Tim> {
+    #[inline]
+    fn max_duty_cycle(&self) -> u16 {
+        DUTY_MAX
+    }
+
+    #[inline]
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
+        self.pwm_base.current_duty = duty;
+        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
+            / DUTY_MAX as u64;
+        self.reg
+            .reg()
+            .pwma_value()
+            .write(|w| unsafe { w.bits(pwma_val as u32) });
+        Ok(())
+    }
+}
+
+/// Get the corresponding u16 duty cycle from a percent value ranging between 0.0 and 1.0.
+///
+/// Please note that this might load a lot of floating point code because this processor does not
+/// have a FPU
+pub fn get_duty_from_percent(percent: f32) -> u16 {
+    if percent > 1.0 {
+        DUTY_MAX
+    } else if percent <= 0.0 {
+        0
+    } else {
+        (percent * DUTY_MAX as f32) as u16
+    }
+}

va416xx-hal/src/spi.rs

@@ -1,3 +1,8 @@
+//! API for the SPI peripheral
+//!
+//! ## Examples
+//!
+//! - [Blocking SPI example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/spi.rs)
 use core::{convert::Infallible, marker::PhantomData, ops::Deref};
 
 use embedded_hal::spi::Mode;
@@ -351,12 +356,14 @@ pub type SpiRegBlock = pac::spi0::RegisterBlock;
 /// format is the same for all SPI blocks.
 pub trait Instance: Deref<Target = SpiRegBlock> {
     const IDX: u8;
+    const PERIPH_SEL: PeripheralSelect;
 
     fn ptr() -> *const SpiRegBlock;
 }
 
 impl Instance for pac::Spi0 {
     const IDX: u8 = 0;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi0;
 
     fn ptr() -> *const SpiRegBlock {
         Self::ptr()
@@ -365,6 +372,7 @@ impl Instance for pac::Spi0 {
 
 impl Instance for pac::Spi1 {
     const IDX: u8 = 1;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi1;
 
     fn ptr() -> *const SpiRegBlock {
         Self::ptr()
@@ -373,6 +381,7 @@ impl Instance for pac::Spi1 {
 
 impl Instance for pac::Spi2 {
     const IDX: u8 = 2;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi2;
 
     fn ptr() -> *const SpiRegBlock {
         Self::ptr()
@@ -562,6 +571,7 @@ where
     }
 }
 
+/*
 macro_rules! spi_ctor {
     ($spiI:ident, $PeriphSel: path) => {
         /// Create a new SPI struct
@@ -652,6 +662,7 @@ macro_rules! spi_ctor {
         }
     };
 }
+*/
 
 impl<
         SpiI: Instance,
@@ -663,10 +674,92 @@ impl<
 where
     <Word as TryFrom<u32>>::Error: core::fmt::Debug,
 {
-    spi_ctor!(spi0, PeripheralSelect::Spi0);
+    /// Create a new SPI struct
-    spi_ctor!(spi1, PeripheralSelect::Spi1);
+    ///
-    spi_ctor!(spi2, PeripheralSelect::Spi2);
+    /// You can delete the pin type information by calling the
-    spi_ctor!(spi3, PeripheralSelect::Spi3);
+    /// [`downgrade`](Self::downgrade) function
+    ///
+    /// ## Arguments
+    /// * `spi` - SPI bus to use
+    /// * `pins` - Pins to be used for SPI transactions. These pins are consumed
+    ///     to ensure the pins can not be used for other purposes anymore
+    /// * `spi_cfg` - Configuration specific to the SPI bus
+    /// * `transfer_cfg` - Optional initial transfer configuration which includes
+    ///     configuration which can change across individual SPI transfers like SPI mode
+    ///     or SPI clock. If only one device is connected, this configuration only needs
+    ///     to be done once.
+    /// * `syscfg` - Can be passed optionally to enable the peripheral clock
+    pub fn new(
+        spi: SpiI,
+        pins: (Sck, Miso, Mosi),
+        clocks: &crate::clock::Clocks,
+        spi_cfg: SpiConfig,
+        syscfg: &mut pac::Sysconfig,
+        transfer_cfg: Option<&ErasedTransferConfig>,
+    ) -> Self {
+        crate::clock::enable_peripheral_clock(syscfg, SpiI::PERIPH_SEL);
+        let SpiConfig {
+            ser_clock_rate_div,
+            ms,
+            slave_output_disable,
+            loopback_mode,
+            master_delayer_capture,
+        } = spi_cfg;
+        let mut mode = embedded_hal::spi::MODE_0;
+        let mut clk_prescale = 0x02;
+        let mut ss = 0;
+        let mut init_blockmode = false;
+        let apb1_clk = clocks.apb1();
+        if let Some(transfer_cfg) = transfer_cfg {
+            mode = transfer_cfg.mode;
+            clk_prescale =
+                apb1_clk.raw() / (transfer_cfg.spi_clk.raw() * (ser_clock_rate_div as u32 + 1));
+            if transfer_cfg.hw_cs != HwChipSelectId::Invalid {
+                ss = transfer_cfg.hw_cs as u8;
+            }
+            init_blockmode = transfer_cfg.blockmode;
+        }
+
+        let (cpo_bit, cph_bit) = mode_to_cpo_cph_bit(mode);
+        spi.ctrl0().write(|w| {
+            unsafe {
+                w.size().bits(Word::word_reg());
+                w.scrdv().bits(ser_clock_rate_div);
+                // Clear clock phase and polarity. Will be set to correct value for each
+                // transfer
+                w.spo().bit(cpo_bit);
+                w.sph().bit(cph_bit)
+            }
+        });
+        spi.ctrl1().write(|w| {
+            w.lbm().bit(loopback_mode);
+            w.sod().bit(slave_output_disable);
+            w.ms().bit(ms);
+            w.mdlycap().bit(master_delayer_capture);
+            w.blockmode().bit(init_blockmode);
+            unsafe { w.ss().bits(ss) }
+        });
+
+        spi.fifo_clr().write(|w| {
+            w.rxfifo().set_bit();
+            w.txfifo().set_bit()
+        });
+        spi.clkprescale().write(|w| unsafe { w.bits(clk_prescale) });
+        // Enable the peripheral as the last step as recommended in the
+        // programmers guide
+        spi.ctrl1().modify(|_, w| w.enable().set_bit());
+        Spi {
+            inner: SpiBase {
+                spi,
+                cfg: spi_cfg,
+                apb1_clk,
+                fill_word: Default::default(),
+                blockmode: init_blockmode,
+                word: PhantomData,
+            },
+            pins,
+        }
+    }
 
     #[inline]
     pub fn cfg_clock(&mut self, spi_clk: impl Into<Hertz>) {

va416xx-hal/src/timer.rs

@@ -0,0 +1,802 @@
+//! API for the TIM peripherals
+//!
+//! ## Examples
+//!
+//! TODO.
+use core::cell::Cell;
+
+use cortex_m::interrupt::Mutex;
+
+use crate::clock::Clocks;
+use crate::gpio::{
+    AltFunc1, AltFunc2, AltFunc3, DynPinId, Pin, PinId, PA0, PA1, PA10, PA11, PA12, PA13, PA14,
+    PA15, PA2, PA3, PA4, PA5, PA6, PA7, PB0, PB1, PB10, PB11, PB12, PB13, PB14, PB15, PB2, PB3,
+    PB4, PB5, PB6, PB7, PB8, PB9, PC0, PC1, PD0, PD1, PD10, PD11, PD12, PD13, PD14, PD15, PD2, PD3,
+    PD4, PD5, PD6, PD7, PD8, PD9, PE0, PE1, PE10, PE11, PE12, PE13, PE14, PE15, PE2, PE3, PE4, PE5,
+    PE6, PE7, PE8, PE9, PF0, PF1, PF10, PF11, PF12, PF13, PF14, PF15, PF2, PF3, PF4, PF5, PF6, PF7,
+    PF8, PF9, PG0, PG1, PG2, PG3, PG6,
+};
+use crate::time::Hertz;
+use crate::typelevel::Sealed;
+use crate::{disable_interrupt, prelude::*};
+use crate::{enable_interrupt, pac};
+
+pub static MS_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
+
+//==================================================================================================
+// Defintions
+//==================================================================================================
+
+/// Interrupt events
+//pub enum Event {
+/// Timer timed out / count down ended
+//TimeOut,
+//}
+
+#[derive(Default, Debug, PartialEq, Eq, Copy, Clone)]
+pub struct CascadeCtrl {
+    /// Enable Cascade 0 signal active as a requirement for counting
+    pub enb_start_src_csd0: bool,
+    /// Invert Cascade 0, making it active low
+    pub inv_csd0: bool,
+    /// Enable Cascade 1 signal active as a requirement for counting
+    pub enb_start_src_csd1: bool,
+    /// Invert Cascade 1, making it active low
+    pub inv_csd1: bool,
+    /// Specify required operation if both Cascade 0 and Cascade 1 are active.
+    /// 0 is a logical AND of both cascade signals, 1 is a logical OR
+    pub dual_csd_op: bool,
+    /// Enable trigger mode for Cascade 0. In trigger mode, couting will start with the selected
+    /// cascade signal active, but once the counter is active, cascade control will be ignored
+    pub trg_csd0: bool,
+    /// Trigger mode, identical to [`trg_csd0`](CascadeCtrl) but for Cascade 1
+    pub trg_csd1: bool,
+    /// Enable Cascade 2 signal active as a requirement to stop counting. This mode is similar
+    /// to the REQ_STOP control bit, but signalled by a Cascade source
+    pub enb_stop_src_csd2: bool,
+    /// Invert Cascade 2, making it active low
+    pub inv_csd2: bool,
+    /// The counter is automatically disabled if the corresponding Cascade 2 level-sensitive input
+    /// souce is active when the count reaches 0. If the counter is not 0, the cascade control is
+    /// ignored
+    pub trg_csd2: bool,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum CascadeSel {
+    Sel0 = 0,
+    Sel1 = 1,
+    Sel2 = 2,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct InvalidCascadeSourceId;
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum CascadeSource {
+    PortA(u8),
+    PortB(u8),
+    PortC(u8),
+    PortD(u8),
+    PortE(u8),
+    Tim(u8),
+    TxEv,
+    AdcIrq,
+    RomSbe,
+    RomMbe,
+    Ram0Sbe,
+    Ram0Mbe,
+    Ram1Sbe,
+    Ram2Mbe,
+    WdogIrq,
+}
+
+impl CascadeSource {
+    fn id(&self) -> Result<u8, InvalidCascadeSourceId> {
+        let port_check = |base: u8, id: u8| {
+            if id > 15 {
+                return Err(InvalidCascadeSourceId);
+            }
+            Ok(base + id)
+        };
+        match self {
+            CascadeSource::PortA(id) => port_check(0, *id),
+            CascadeSource::PortB(id) => port_check(16, *id),
+            CascadeSource::PortC(id) => port_check(32, *id),
+            CascadeSource::PortD(id) => port_check(48, *id),
+            CascadeSource::PortE(id) => port_check(65, *id),
+            CascadeSource::Tim(id) => {
+                if *id > 23 {
+                    return Err(InvalidCascadeSourceId);
+                }
+                Ok(80 + id)
+            }
+            CascadeSource::TxEv => Ok(104),
+            CascadeSource::AdcIrq => Ok(105),
+            CascadeSource::RomSbe => Ok(106),
+            CascadeSource::RomMbe => Ok(106),
+            CascadeSource::Ram0Sbe => Ok(108),
+            CascadeSource::Ram0Mbe => Ok(109),
+            CascadeSource::Ram1Sbe => Ok(110),
+            CascadeSource::Ram2Mbe => Ok(111),
+            CascadeSource::WdogIrq => Ok(112),
+        }
+    }
+}
+
+//==================================================================================================
+// Valid TIM and PIN combinations
+//==================================================================================================
+
+pub trait TimPin {
+    const DYN: DynPinId;
+}
+
+pub trait ValidTim {
+    // TIM ID ranging from 0 to 23 for 24 TIM peripherals
+    const TIM_ID: u8;
+    const IRQ: pac::Interrupt;
+
+    fn clock(clocks: &Clocks) -> Hertz {
+        if Self::TIM_ID <= 15 {
+            clocks.apb1()
+        } else {
+            clocks.apb2()
+        }
+    }
+}
+
+macro_rules! tim_markers {
+    (
+        $(
+            ($TimX:path, $id:expr, $Irq:path),
+        )+
+    ) => {
+        $(
+            impl ValidTim for $TimX {
+                const TIM_ID: u8 = $id;
+                const IRQ: pac::Interrupt = $Irq;
+            }
+        )+
+    };
+}
+
+tim_markers!(
+    (pac::Tim0, 0, pac::Interrupt::TIM0),
+    (pac::Tim1, 1, pac::Interrupt::TIM1),
+    (pac::Tim2, 2, pac::Interrupt::TIM2),
+    (pac::Tim3, 3, pac::Interrupt::TIM3),
+    (pac::Tim4, 4, pac::Interrupt::TIM4),
+    (pac::Tim5, 5, pac::Interrupt::TIM5),
+    (pac::Tim6, 6, pac::Interrupt::TIM6),
+    (pac::Tim7, 7, pac::Interrupt::TIM7),
+    (pac::Tim8, 8, pac::Interrupt::TIM8),
+    (pac::Tim9, 9, pac::Interrupt::TIM9),
+    (pac::Tim10, 10, pac::Interrupt::TIM10),
+    (pac::Tim11, 11, pac::Interrupt::TIM11),
+    (pac::Tim12, 12, pac::Interrupt::TIM12),
+    (pac::Tim13, 13, pac::Interrupt::TIM13),
+    (pac::Tim14, 14, pac::Interrupt::TIM14),
+    (pac::Tim15, 15, pac::Interrupt::TIM15),
+    (pac::Tim16, 16, pac::Interrupt::TIM16),
+    (pac::Tim17, 17, pac::Interrupt::TIM17),
+    (pac::Tim18, 18, pac::Interrupt::TIM18),
+    (pac::Tim19, 19, pac::Interrupt::TIM19),
+    (pac::Tim20, 20, pac::Interrupt::TIM20),
+    (pac::Tim21, 21, pac::Interrupt::TIM21),
+    (pac::Tim22, 22, pac::Interrupt::TIM22),
+    (pac::Tim23, 23, pac::Interrupt::TIM23),
+);
+
+pub trait ValidTimAndPin<Pin: TimPin, Tim: ValidTim>: Sealed {}
+
+macro_rules! valid_pin_and_tims {
+    (
+        $(
+            ($PinX:ident, $AltFunc:ident, $TimX:path),
+        )+
+    ) => {
+        $(
+            impl TimPin for Pin<$PinX, $AltFunc>
+            where
+                $PinX: PinId,
+            {
+                const DYN: DynPinId = $PinX::DYN;
+            }
+
+            impl<
+                PinInstance: TimPin,
+                Tim: ValidTim
+            > ValidTimAndPin<PinInstance, Tim> for (Pin<$PinX, $AltFunc>, $TimX)
+            where
+                Pin<$PinX, $AltFunc>: TimPin,
+                $PinX: PinId,
+            {
+            }
+
+            impl Sealed for (Pin<$PinX, $AltFunc>, $TimX) {}
+        )+
+    };
+}
+
+valid_pin_and_tims!(
+    (PA0, AltFunc1, pac::Tim0),
+    (PA1, AltFunc1, pac::Tim1),
+    (PA2, AltFunc1, pac::Tim2),
+    (PA3, AltFunc1, pac::Tim3),
+    (PA4, AltFunc1, pac::Tim4),
+    (PA5, AltFunc1, pac::Tim5),
+    (PA6, AltFunc1, pac::Tim6),
+    (PA7, AltFunc1, pac::Tim7),
+    (PA10, AltFunc2, pac::Tim23),
+    (PA11, AltFunc2, pac::Tim22),
+    (PA12, AltFunc2, pac::Tim21),
+    (PA13, AltFunc2, pac::Tim20),
+    (PA14, AltFunc2, pac::Tim19),
+    (PA15, AltFunc2, pac::Tim18),
+    (PB0, AltFunc2, pac::Tim17),
+    (PB1, AltFunc2, pac::Tim16),
+    (PB2, AltFunc2, pac::Tim15),
+    (PB3, AltFunc2, pac::Tim14),
+    (PB4, AltFunc2, pac::Tim13),
+    (PB5, AltFunc2, pac::Tim12),
+    (PB6, AltFunc2, pac::Tim11),
+    (PB7, AltFunc2, pac::Tim10),
+    (PB8, AltFunc2, pac::Tim9),
+    (PB9, AltFunc2, pac::Tim8),
+    (PB10, AltFunc2, pac::Tim7),
+    (PB11, AltFunc2, pac::Tim6),
+    (PB12, AltFunc2, pac::Tim5),
+    (PB13, AltFunc2, pac::Tim4),
+    (PB14, AltFunc2, pac::Tim3),
+    (PB15, AltFunc2, pac::Tim2),
+    (PC0, AltFunc2, pac::Tim1),
+    (PC1, AltFunc2, pac::Tim0),
+    (PD0, AltFunc2, pac::Tim0),
+    (PD1, AltFunc2, pac::Tim1),
+    (PD2, AltFunc2, pac::Tim2),
+    (PD3, AltFunc2, pac::Tim3),
+    (PD4, AltFunc2, pac::Tim4),
+    (PD5, AltFunc2, pac::Tim5),
+    (PD6, AltFunc2, pac::Tim6),
+    (PD7, AltFunc2, pac::Tim7),
+    (PD8, AltFunc2, pac::Tim8),
+    (PD9, AltFunc2, pac::Tim9),
+    (PD10, AltFunc2, pac::Tim10),
+    (PD11, AltFunc2, pac::Tim11),
+    (PD12, AltFunc2, pac::Tim12),
+    (PD13, AltFunc2, pac::Tim13),
+    (PD14, AltFunc2, pac::Tim14),
+    (PD15, AltFunc2, pac::Tim15),
+    (PE0, AltFunc2, pac::Tim16),
+    (PE1, AltFunc2, pac::Tim17),
+    (PE2, AltFunc2, pac::Tim18),
+    (PE3, AltFunc2, pac::Tim19),
+    (PE4, AltFunc2, pac::Tim20),
+    (PE5, AltFunc2, pac::Tim21),
+    (PE6, AltFunc2, pac::Tim22),
+    (PE7, AltFunc2, pac::Tim23),
+    (PE8, AltFunc3, pac::Tim16),
+    (PE9, AltFunc3, pac::Tim17),
+    (PE10, AltFunc3, pac::Tim18),
+    (PE11, AltFunc3, pac::Tim19),
+    (PE12, AltFunc3, pac::Tim20),
+    (PE13, AltFunc3, pac::Tim21),
+    (PE14, AltFunc3, pac::Tim22),
+    (PE15, AltFunc3, pac::Tim23),
+    (PF0, AltFunc3, pac::Tim0),
+    (PF1, AltFunc3, pac::Tim1),
+    (PF2, AltFunc3, pac::Tim2),
+    (PF3, AltFunc3, pac::Tim3),
+    (PF4, AltFunc3, pac::Tim4),
+    (PF5, AltFunc3, pac::Tim5),
+    (PF6, AltFunc3, pac::Tim6),
+    (PF7, AltFunc3, pac::Tim7),
+    (PF8, AltFunc3, pac::Tim8),
+    (PF9, AltFunc3, pac::Tim9),
+    (PF10, AltFunc3, pac::Tim10),
+    (PF11, AltFunc3, pac::Tim11),
+    (PF12, AltFunc3, pac::Tim12),
+    (PF13, AltFunc2, pac::Tim19),
+    (PF14, AltFunc2, pac::Tim20),
+    (PF15, AltFunc2, pac::Tim21),
+    (PG0, AltFunc2, pac::Tim22),
+    (PG1, AltFunc2, pac::Tim23),
+    (PG2, AltFunc1, pac::Tim9),
+    (PG3, AltFunc1, pac::Tim10),
+    (PG6, AltFunc1, pac::Tim12),
+);
+
+//==================================================================================================
+// Register Interface for TIM registers and TIM pins
+//==================================================================================================
+
+/// Clear the reset bit of the TIM, holding it in reset
+///
+/// # Safety
+///
+/// Only the bit related to the corresponding TIM peripheral is modified
+#[inline]
+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) {
+    syscfg
+        .tim_reset()
+        .modify(|r, w| unsafe { w.bits(r.bits() | (1 << tim_id as u32)) })
+}
+
+pub type TimRegBlock = pac::tim0::RegisterBlock;
+
+/// Register interface.
+///
+/// This interface provides valid TIM pins a way to access their corresponding TIM
+/// registers
+///
+/// # Safety
+///
+/// Users should only implement the [`tim_id`] function. No default function
+/// implementations should be overridden. The implementing type must also have
+/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
+/// pin ID is a singleton.
+pub(super) unsafe trait TimRegInterface {
+    fn tim_id(&self) -> u8;
+
+    const PORT_BASE: *const pac::tim0::RegisterBlock = pac::Tim0::ptr() as *const _;
+
+    /// All 24 TIM blocks are identical. This helper functions returns the correct
+    /// memory mapped peripheral depending on the TIM ID.
+    #[inline(always)]
+    fn reg(&self) -> &TimRegBlock {
+        unsafe { &*Self::PORT_BASE.offset(self.tim_id() as isize) }
+    }
+
+    #[inline(always)]
+    fn mask_32(&self) -> u32 {
+        1 << self.tim_id()
+    }
+
+    /// Clear the reset bit of the TIM, holding it in reset
+    ///
+    /// # Safety
+    ///
+    /// Only the bit related to the corresponding TIM peripheral is modified
+    #[inline]
+    #[allow(dead_code)]
+    fn assert_tim_reset(&self, syscfg: &mut pac::Sysconfig) {
+        assert_tim_reset(syscfg, self.tim_id());
+    }
+
+    #[inline]
+    #[allow(dead_code)]
+    fn deassert_time_reset(&self, syscfg: &mut pac::Sysconfig) {
+        deassert_tim_reset(syscfg, self.tim_id());
+    }
+}
+
+/// Provide a safe register interface for [`ValidTimAndPin`]s
+///
+/// This `struct` takes ownership of a [`ValidTimAndPin`] and provides an API to
+/// access the corresponding registers.
+pub(super) struct TimAndPinRegister<Pin: TimPin, Tim: ValidTim> {
+    pin: Pin,
+    tim: Tim,
+}
+
+pub(super) struct TimRegister<TIM: ValidTim> {
+    tim: TIM,
+}
+
+impl<TIM: ValidTim> TimRegister<TIM> {
+    #[inline]
+    pub(super) unsafe fn new(tim: TIM) -> Self {
+        TimRegister { tim }
+    }
+
+    pub(super) fn release(self) -> TIM {
+        self.tim
+    }
+}
+
+unsafe impl<Tim: ValidTim> TimRegInterface for TimRegister<Tim> {
+    #[inline(always)]
+    fn tim_id(&self) -> u8 {
+        Tim::TIM_ID
+    }
+}
+
+impl<Pin: TimPin, Tim: ValidTim> TimAndPinRegister<Pin, Tim>
+where
+    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+{
+    #[inline]
+    pub(super) unsafe fn new(pin: Pin, tim: Tim) -> Self {
+        TimAndPinRegister { pin, tim }
+    }
+
+    pub(super) fn release(self) -> (Pin, Tim) {
+        (self.pin, self.tim)
+    }
+}
+
+unsafe impl<Pin: TimPin, Tim: ValidTim> TimRegInterface for TimAndPinRegister<Pin, Tim> {
+    #[inline(always)]
+    fn tim_id(&self) -> u8 {
+        Tim::TIM_ID
+    }
+}
+
+pub(super) struct TimDynRegister {
+    tim_id: u8,
+    #[allow(dead_code)]
+    pin_id: DynPinId,
+}
+
+impl<Pin: TimPin, Tim: ValidTim> From<TimAndPinRegister<Pin, Tim>> for TimDynRegister {
+    fn from(_reg: TimAndPinRegister<Pin, Tim>) -> Self {
+        Self {
+            tim_id: Tim::TIM_ID,
+            pin_id: Pin::DYN,
+        }
+    }
+}
+
+unsafe impl TimRegInterface for TimDynRegister {
+    #[inline(always)]
+    fn tim_id(&self) -> u8 {
+        self.tim_id
+    }
+}
+
+//==================================================================================================
+// Timers
+//==================================================================================================
+
+/// Hardware timers
+pub struct CountdownTimer<TIM: ValidTim> {
+    tim: TimRegister<TIM>,
+    curr_freq: Hertz,
+    clock: Hertz,
+    rst_val: u32,
+    last_cnt: u32,
+    listening: bool,
+}
+
+#[inline]
+fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+    syscfg
+        .tim_clk_enable()
+        .modify(|r, w| unsafe { w.bits(r.bits() | (1 << idx)) });
+}
+
+unsafe impl<TIM: ValidTim> TimRegInterface for CountdownTimer<TIM> {
+    #[inline]
+    fn tim_id(&self) -> u8 {
+        TIM::TIM_ID
+    }
+}
+
+impl<Tim: ValidTim> CountdownTimer<Tim> {
+    /// Create a new countdown timer, but does not start it.
+    ///
+    /// You can use [Self::start] to start the countdown timer, and you may optionally call
+    /// [Self::listen] to enable interrupts for the TIM peripheral as well.
+    pub fn new(syscfg: &mut pac::Sysconfig, tim: Tim, clocks: &Clocks) -> Self {
+        enable_tim_clk(syscfg, Tim::TIM_ID);
+        assert_tim_reset(syscfg, Tim::TIM_ID);
+        cortex_m::asm::nop();
+        cortex_m::asm::nop();
+        deassert_tim_reset(syscfg, Tim::TIM_ID);
+
+        CountdownTimer {
+            tim: unsafe { TimRegister::new(tim) },
+            clock: Tim::clock(clocks),
+            rst_val: 0,
+            curr_freq: 0_u32.Hz(),
+            listening: false,
+            last_cnt: 0,
+        }
+    }
+
+    #[inline]
+    pub fn start(&mut self, timeout: impl Into<Hertz>) {
+        self.load(timeout);
+        self.enable();
+    }
+
+    /// Listen for events. Depending on the IRQ configuration, this also activates the IRQ in the
+    /// IRQSEL peripheral for the provided interrupt and unmasks the interrupt
+    pub fn listen(&mut self) {
+        self.listening = true;
+        self.enable_interrupt();
+        unsafe { enable_interrupt(Tim::IRQ) }
+    }
+
+    /// Return `Ok` if the timer has wrapped. Peripheral will automatically clear the
+    /// flag and restart the time if configured correctly
+    pub fn wait(&mut self) -> nb::Result<(), void::Void> {
+        let cnt = self.tim.reg().cnt_value().read().bits();
+        if (cnt > self.last_cnt) || cnt == 0 {
+            self.last_cnt = self.rst_val;
+            Ok(())
+        } else {
+            self.last_cnt = cnt;
+            Err(nb::Error::WouldBlock)
+        }
+    }
+
+    pub fn stop(&mut self) {
+        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
+    }
+
+    pub fn unlisten(&mut self) {
+        self.listening = true;
+        self.disable_interrupt();
+        disable_interrupt(Tim::IRQ);
+    }
+
+    #[inline(always)]
+    pub fn enable_interrupt(&mut self) {
+        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().set_bit());
+    }
+
+    #[inline(always)]
+    pub fn disable_interrupt(&mut self) {
+        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().clear_bit());
+    }
+
+    pub fn release(self, syscfg: &mut pac::Sysconfig) -> Tim {
+        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
+        syscfg
+            .tim_clk_enable()
+            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << Tim::TIM_ID)) });
+        self.tim.release()
+    }
+
+    /// Load the count down timer with a timeout but do not start it.
+    pub fn load(&mut self, timeout: impl Into<Hertz>) {
+        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
+        self.curr_freq = timeout.into();
+        self.rst_val = self.clock.raw() / self.curr_freq.raw();
+        self.set_reload(self.rst_val);
+        self.set_count(0);
+    }
+
+    #[inline(always)]
+    pub fn set_reload(&mut self, val: u32) {
+        self.tim.reg().rst_value().write(|w| unsafe { w.bits(val) });
+    }
+
+    #[inline(always)]
+    pub fn set_count(&mut self, val: u32) {
+        self.tim.reg().cnt_value().write(|w| unsafe { w.bits(val) });
+    }
+
+    #[inline(always)]
+    pub fn count(&self) -> u32 {
+        self.tim.reg().cnt_value().read().bits()
+    }
+
+    #[inline(always)]
+    pub fn enable(&mut self) {
+        self.tim.reg().ctrl().modify(|_, w| w.enable().set_bit());
+    }
+
+    #[inline(always)]
+    pub fn disable(&mut self) {
+        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
+    }
+
+    /// Disable the counter, setting both enable and active bit to 0
+    #[inline]
+    pub fn auto_disable(self, enable: bool) -> Self {
+        if enable {
+            self.tim
+                .reg()
+                .ctrl()
+                .modify(|_, w| w.auto_disable().set_bit());
+        } else {
+            self.tim
+                .reg()
+                .ctrl()
+                .modify(|_, w| w.auto_disable().clear_bit());
+        }
+        self
+    }
+
+    /// This option only applies when the Auto-Disable functionality is 0.
+    ///
+    /// The active bit is changed to 0 when count reaches 0, but the counter stays
+    /// enabled. When Auto-Disable is 1, Auto-Deactivate is implied
+    #[inline]
+    pub fn auto_deactivate(self, enable: bool) -> Self {
+        if enable {
+            self.tim
+                .reg()
+                .ctrl()
+                .modify(|_, w| w.auto_deactivate().set_bit());
+        } else {
+            self.tim
+                .reg()
+                .ctrl()
+                .modify(|_, w| w.auto_deactivate().clear_bit());
+        }
+        self
+    }
+
+    /// Configure the cascade parameters
+    #[inline]
+    pub fn cascade_control(&mut self, ctrl: CascadeCtrl) {
+        self.tim.reg().csd_ctrl().write(|w| {
+            w.csden0().bit(ctrl.enb_start_src_csd0);
+            w.csdinv0().bit(ctrl.inv_csd0);
+            w.csden1().bit(ctrl.enb_start_src_csd1);
+            w.csdinv1().bit(ctrl.inv_csd1);
+            w.dcasop().bit(ctrl.dual_csd_op);
+            w.csdtrg0().bit(ctrl.trg_csd0);
+            w.csdtrg1().bit(ctrl.trg_csd1);
+            w.csden2().bit(ctrl.enb_stop_src_csd2);
+            w.csdinv2().bit(ctrl.inv_csd2);
+            w.csdtrg2().bit(ctrl.trg_csd2)
+        });
+    }
+
+    #[inline]
+    pub fn cascade_0_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg()
+            .cascade0()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    #[inline]
+    pub fn cascade_1_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg()
+            .cascade1()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    #[inline]
+    pub fn cascade_2_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
+        let id = src.id()?;
+        self.tim
+            .reg()
+            .cascade2()
+            .write(|w| unsafe { w.cassel().bits(id) });
+        Ok(())
+    }
+
+    #[inline]
+    pub fn curr_freq(&self) -> Hertz {
+        self.curr_freq
+    }
+
+    #[inline]
+    pub fn listening(&self) -> bool {
+        self.listening
+    }
+}
+
+impl<Tim: ValidTim> embedded_hal::delay::DelayNs for CountdownTimer<Tim> {
+    fn delay_ns(&mut self, ns: u32) {
+        let ticks = (u64::from(ns)) * (u64::from(self.clock.raw())) / 1_000_000_000;
+
+        let full_cycles = ticks >> 32;
+        let mut last_count;
+        let mut new_count;
+        if full_cycles > 0 {
+            self.set_reload(u32::MAX);
+            self.set_count(u32::MAX);
+            self.enable();
+
+            for _ in 0..full_cycles {
+                // Always ensure that both values are the same at the start.
+                new_count = self.count();
+                last_count = new_count;
+                loop {
+                    new_count = self.count();
+                    if new_count == 0 {
+                        // Wait till timer has wrapped.
+                        while self.count() == 0 {
+                            cortex_m::asm::nop()
+                        }
+                        break;
+                    }
+                    // Timer has definitely wrapped.
+                    if new_count > last_count {
+                        break;
+                    }
+                    last_count = new_count;
+                }
+            }
+        }
+        let ticks = (ticks & u32::MAX as u64) as u32;
+        self.disable();
+        if ticks > 1 {
+            self.set_reload(ticks);
+            self.set_count(ticks);
+            self.enable();
+            last_count = ticks;
+
+            loop {
+                new_count = self.count();
+                if new_count == 0 || (new_count > last_count) {
+                    break;
+                }
+                last_count = new_count;
+            }
+        }
+
+        self.disable();
+    }
+}
+
+//==================================================================================================
+// MS tick implementations
+//==================================================================================================
+
+// Set up a millisecond timer on TIM0. Please note that the user still has to provide an IRQ handler
+// which should call [default_ms_irq_handler].
+pub fn set_up_ms_tick<Tim: ValidTim>(
+    sys_cfg: &mut pac::Sysconfig,
+    tim: Tim,
+    clocks: &Clocks,
+) -> CountdownTimer<Tim> {
+    let mut ms_timer = CountdownTimer::new(sys_cfg, tim, clocks);
+    ms_timer.listen();
+    ms_timer.start(1000.Hz());
+    ms_timer
+}
+
+/// This function can be called in a specified interrupt handler to increment
+/// the MS counter
+pub fn default_ms_irq_handler() {
+    cortex_m::interrupt::free(|cs| {
+        let mut ms = MS_COUNTER.borrow(cs).get();
+        ms += 1;
+        MS_COUNTER.borrow(cs).set(ms);
+    });
+}
+
+/// Get the current MS tick count
+pub fn get_ms_ticks() -> u32 {
+    cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
+}
+
+pub struct DelayMs<Tim: ValidTim = pac::Tim0>(CountdownTimer<Tim>);
+
+impl<Tim: ValidTim> DelayMs<Tim> {
+    pub fn new(timer: CountdownTimer<Tim>) -> Option<Self> {
+        if timer.curr_freq() != Hertz::from_raw(1000) || !timer.listening() {
+            return None;
+        }
+        Some(Self(timer))
+    }
+}
+
+/// This assumes that the user has already set up a MS tick timer in TIM0 as a system tick
+/// with [`set_up_ms_delay_provider`]
+impl embedded_hal::delay::DelayNs for DelayMs {
+    fn delay_ns(&mut self, ns: u32) {
+        let ns_as_ms = ns / 1_000_000;
+        if self.0.curr_freq() != Hertz::from_raw(1000) || !self.0.listening() {
+            return;
+        }
+        let start_time = get_ms_ticks();
+        while get_ms_ticks() - start_time < ns_as_ms {
+            cortex_m::asm::nop();
+        }
+    }
+}

va416xx-hal/src/uart.rs

@@ -1,15 +1,21 @@
+//! # API for the UART peripheral
+//!
+//! ## Examples
+//!
+//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/uart.rs)
 use core::marker::PhantomData;
 use core::ops::Deref;
 
 use embedded_hal_nb::serial::Read;
 use fugit::RateExtU32;
 
-use crate::clock::{self, Clocks};
+use crate::clock::{Clocks, PeripheralSelect};
 use crate::gpio::{AltFunc1, Pin, PD11, PD12, PE2, PE3, PF11, PF12, PF8, PF9, PG0, PG1};
 use crate::time::Hertz;
+use crate::{disable_interrupt, enable_interrupt};
 use crate::{
     gpio::{AltFunc2, AltFunc3, PA2, PA3, PB14, PB15, PC14, PC15, PC4, PC5},
-    pac::{uart0 as uart_base, Uart0, Uart1, Uart2},
+    pac::{self, uart0 as uart_base, Uart0, Uart1, Uart2},
 };
 
 //==================================================================================================
@@ -332,10 +338,46 @@ impl<Uart> Tx<Uart> {
 
 pub trait Instance: Deref<Target = uart_base::RegisterBlock> {
     const IDX: u8;
+    const PERIPH_SEL: PeripheralSelect;
+    const IRQ_RX: pac::Interrupt;
+    const IRQ_TX: pac::Interrupt;
 
     fn ptr() -> *const uart_base::RegisterBlock;
 }
 
+impl Instance for Uart0 {
+    const IDX: u8 = 0;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart0;
+    const IRQ_RX: pac::Interrupt = pac::Interrupt::UART0_RX;
+    const IRQ_TX: pac::Interrupt = pac::Interrupt::UART0_TX;
+
+    fn ptr() -> *const uart_base::RegisterBlock {
+        Uart0::ptr() as *const _
+    }
+}
+
+impl Instance for Uart1 {
+    const IDX: u8 = 1;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart1;
+    const IRQ_RX: pac::Interrupt = pac::Interrupt::UART1_RX;
+    const IRQ_TX: pac::Interrupt = pac::Interrupt::UART1_TX;
+
+    fn ptr() -> *const uart_base::RegisterBlock {
+        Uart1::ptr() as *const _
+    }
+}
+
+impl Instance for Uart2 {
+    const IDX: u8 = 2;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Uart2;
+    const IRQ_RX: pac::Interrupt = pac::Interrupt::UART2_RX;
+    const IRQ_TX: pac::Interrupt = pac::Interrupt::UART2_TX;
+
+    fn ptr() -> *const uart_base::RegisterBlock {
+        Uart2::ptr() as *const _
+    }
+}
+
 impl<Uart: Instance> UartBase<Uart> {
     fn init(self, config: Config, clocks: &Clocks) -> Self {
         if Uart::IDX == 2 {
@@ -460,6 +502,7 @@ impl<Uart: Instance> UartBase<Uart> {
             w.rxenable().clear_bit();
             w.txenable().clear_bit()
         });
+        disable_interrupt(Uart::IRQ_RX);
         self.uart
     }
 
@@ -468,10 +511,45 @@ impl<Uart: Instance> UartBase<Uart> {
     }
 }
 
-impl<UartInstance, Pins> Uart<UartInstance, Pins>
+impl<UartInstance: Instance, Pins> Uart<UartInstance, Pins> {
-where
+    pub fn new(
-    UartInstance: Instance,
+        uart: UartInstance,
-{
+        pins: Pins,
+        config: impl Into<Config>,
+        syscfg: &mut va416xx::Sysconfig,
+        clocks: &Clocks,
+    ) -> Self {
+        crate::clock::enable_peripheral_clock(syscfg, UartInstance::PERIPH_SEL);
+        Uart {
+            inner: UartBase {
+                uart,
+                tx: Tx::new(),
+                rx: Rx::new(),
+            },
+            pins,
+        }
+        .init(config.into(), clocks)
+    }
+
+    pub fn new_with_clock_freq(
+        uart: UartInstance,
+        pins: Pins,
+        config: impl Into<Config>,
+        syscfg: &mut va416xx::Sysconfig,
+        clock: impl Into<Hertz>,
+    ) -> Self {
+        crate::clock::enable_peripheral_clock(syscfg, UartInstance::PERIPH_SEL);
+        Uart {
+            inner: UartBase {
+                uart,
+                tx: Tx::new(),
+                rx: Rx::new(),
+            },
+            pins,
+        }
+        .init_with_clock_freq(config.into(), clock.into())
+    }
+
     fn init(mut self, config: Config, clocks: &Clocks) -> Self {
         self.inner = self.inner.init(config, clocks);
         self
@@ -584,6 +662,7 @@ impl<Uart: Instance> UartWithIrqBase<Uart> {
         self.inner.enable_rx();
         self.inner.enable_tx();
         self.enable_rx_irq_sources(enb_timeout_irq);
+        unsafe { enable_interrupt(Uart::IRQ_RX) };
         Ok(())
     }
 
@@ -783,87 +862,6 @@ impl<Uart: Instance, Pins> UartWithIrq<Uart, Pins> {
     }
 }
 
-impl Instance for Uart0 {
-    const IDX: u8 = 0;
-
-    fn ptr() -> *const uart_base::RegisterBlock {
-        Uart0::ptr() as *const _
-    }
-}
-
-impl Instance for Uart1 {
-    const IDX: u8 = 1;
-
-    fn ptr() -> *const uart_base::RegisterBlock {
-        Uart1::ptr() as *const _
-    }
-}
-
-impl Instance for Uart2 {
-    const IDX: u8 = 2;
-
-    fn ptr() -> *const uart_base::RegisterBlock {
-        Uart2::ptr() as *const _
-    }
-}
-
-macro_rules! uart_impl {
-    ($($Uartx:ident: ($uartx:ident, $clk_enb_enum:path),)+) => {
-        $(
-
-            impl<Pins: TxRxPins<$Uartx>> Uart<$Uartx, Pins> {
-                pub fn $uartx(
-                    uart: $Uartx,
-                    pins: Pins,
-                    config: impl Into<Config>,
-                    syscfg: &mut va416xx::Sysconfig,
-                    clocks: &Clocks
-                ) -> Self
-                {
-                    crate::clock::enable_peripheral_clock(syscfg, $clk_enb_enum);
-                    Uart {
-                        inner: UartBase {
-                            uart,
-                            tx: Tx::new(),
-                            rx: Rx::new(),
-                        },
-                        pins,
-                    }.init(config.into(), clocks)
-                }
-
-                paste::paste! {
-                    pub fn [ <$uartx _with_clock_freq> ](
-                        uart: $Uartx,
-                        pins: Pins,
-                        config: impl Into<Config>,
-                        syscfg: &mut va416xx::Sysconfig,
-                        clock: impl Into<Hertz>,
-                    ) -> Self
-                    {
-                        crate::clock::enable_peripheral_clock(syscfg, $clk_enb_enum);
-                        Uart {
-                            inner: UartBase {
-                                uart,
-                                tx: Tx::new(),
-                                rx: Rx::new(),
-                            },
-                            pins,
-                        }.init_with_clock_freq(config.into(), clock.into())
-                    }
-
-                }
-            }
-
-        )+
-    }
-}
-
-uart_impl! {
-    Uart0: (uart0, clock::PeripheralClocks::Uart0),
-    Uart1: (uart1, clock::PeripheralClocks::Uart1),
-    Uart2: (uart2, clock::PeripheralClocks::Uart2),
-}
-
 impl embedded_io::Error for Error {
     fn kind(&self) -> embedded_io::ErrorKind {
         embedded_io::ErrorKind::Other

va416xx-hal/src/wdt.rs

@@ -1,9 +1,15 @@
+//! # API for the Watchdog peripheral
+//!
+//! ## Examples
+//!
+//! - [Watchdog simple example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/wdt.rs)
 use crate::time::Hertz;
 use crate::{
     clock::{Clocks, PeripheralSelect},
     pac,
     prelude::SyscfgExt,
 };
+use crate::{disable_interrupt, enable_interrupt};
 
 pub const WDT_UNLOCK_VALUE: u32 = 0x1ACC_E551;
 
@@ -19,14 +25,12 @@ pub struct WdtController {
 /// This function is `unsafe` because it can break mask-based critical sections.
 #[inline]
 pub unsafe fn enable_wdt_interrupts() {
-    unsafe {
+    enable_interrupt(pac::Interrupt::WATCHDOG)
-        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::WATCHDOG);
-    }
 }
 
 #[inline]
 pub fn disable_wdt_interrupts() {
-    cortex_m::peripheral::NVIC::mask(pac::Interrupt::WATCHDOG);
+    disable_interrupt(pac::Interrupt::WATCHDOG)
 }
 
 impl WdtController {

vorago-peb1/Cargo.toml

@@ -19,11 +19,12 @@ embedded-hal = "1"
 path = "../va416xx-hal"
 version = "0.1.0"
 
+[dependencies.lis2dh12]
+git = "https://github.com/us-irs/lis2dh12.git"
+# path = "../../lis2dh12"
+branch = "all-features"
+version = "0.7"
+features = ["out_f32"]
+
 [features]
 rt = ["va416xx-hal/rt"]
-
-[dev-dependencies]
-panic-rtt-target = { version = "0.1.3" }
-rtt-target = { version = "0.5" }
-panic-halt = "0.2"
-cortex-m = { version = "0.7.6", features = ["critical-section-single-core"]}

vorago-peb1/src/lib.rs

@@ -1 +1,50 @@
+//! Board support crate for the VORAGO PEB1 board.
 #![no_std]
+
+pub use lis2dh12;
+
+/// Support for the LIS2DH12 accelerometer on the GPIO board.
+pub mod accelerometer {
+
+    use lis2dh12::{self, detect_i2c_addr, AddrDetectionError, Lis2dh12};
+    use va416xx_hal::{
+        clock::Clocks,
+        i2c::{self, ClockTooSlowForFastI2c, I2cMaster, I2cSpeed, MasterConfig},
+        pac,
+    };
+
+    // Accelerometer located on the GPIO board.
+    pub type Accelerometer = Lis2dh12<I2cMaster<pac::I2c0>>;
+
+    #[derive(Debug)]
+    pub enum ConstructorError {
+        ClkError(ClockTooSlowForFastI2c),
+        AddrDetectionError(AddrDetectionError<i2c::Error>),
+        AccelerometerError(lis2dh12::Error<i2c::Error>),
+    }
+
+    pub fn new_with_addr_detection(
+        i2c: pac::I2c0,
+        sysconfig: &mut pac::Sysconfig,
+        clocks: &Clocks,
+    ) -> Result<Accelerometer, ConstructorError> {
+        let mut i2c_master = I2cMaster::new(
+            i2c,
+            sysconfig,
+            MasterConfig::default(),
+            clocks,
+            I2cSpeed::Regular100khz,
+        )
+        .map_err(ConstructorError::ClkError)?;
+        let slave_addr =
+            detect_i2c_addr(&mut i2c_master).map_err(ConstructorError::AddrDetectionError)?;
+        Lis2dh12::new(i2c_master, slave_addr).map_err(ConstructorError::AccelerometerError)
+    }
+
+    pub fn new_with_i2cm(
+        i2c: I2cMaster<pac::I2c0>,
+        addr: lis2dh12::SlaveAddr,
+    ) -> Result<Accelerometer, lis2dh12::Error<i2c::Error>> {
+        Lis2dh12::new(i2c, addr)
+    }
+}

vscode/launch.json

@@ -24,6 +24,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
                 "address": "0x1fff8000",
                 "decoders": [
                     {
@@ -53,6 +54,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
                 "address": "0x1fff8000",
                 "decoders": [
                     {
@@ -82,6 +84,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
                 "address": "0x1fff8000",
                 "decoders": [
                     {
@@ -111,6 +114,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
                 "address": "0x1fff8000",
                 "decoders": [
                     {
@@ -140,6 +144,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
                 "address": "0x1fff8000",
                 "decoders": [
                     {
@@ -149,5 +154,36 @@
                 ]
             }
         },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Debug Timer/Ticks Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "timer-ticks-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/timer-ticks",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
     ]
 }