Merge pull request 'finished basic ADC and DAC HAL' (#15) from adc-and-dac into main

Reviewed-on: #15

examples/simple/examples/adc.rs

@@ -0,0 +1,70 @@
+//! Simple ADC example.
+#![no_main]
+#![no_std]
+
+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::{
+    adc::{Adc, ChannelSelect, ChannelValue, MultiChannelSelect},
+    pac,
+    prelude::*,
+    timer::CountdownTimer,
+};
+
+// Quite spammy and disabled by default.
+const ENABLE_BUF_PRINTOUT: bool = false;
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("VA416xx ADC example");
+
+    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 adc = Adc::new_with_channel_tag(&mut dp.sysconfig, dp.adc, &clocks);
+    let mut delay_provider = CountdownTimer::new(&mut dp.sysconfig, dp.tim0, &clocks);
+    let mut read_buf: [ChannelValue; 8] = [ChannelValue::default(); 8];
+    loop {
+        let single_value = adc
+            .trigger_and_read_single_channel(va416xx_hal::adc::ChannelSelect::AnIn0)
+            .expect("reading single channel value failed");
+        rprintln!("Read single ADC value on channel 0: {:?}", single_value);
+        let read_num = adc
+            .sweep_and_read_range(0, 7, &mut read_buf)
+            .expect("ADC range read failed");
+        if ENABLE_BUF_PRINTOUT {
+            rprintln!("ADC Range Read (0-8) read {} values", read_num);
+            rprintln!("ADC Range Read (0-8): {:?}", read_buf);
+        }
+        assert_eq!(read_num, 8);
+        for (idx, ch_val) in read_buf.iter().enumerate() {
+            assert_eq!(
+                ch_val.channel(),
+                ChannelSelect::try_from(idx as u8).unwrap()
+            );
+        }
+
+        adc.sweep_and_read_multiselect(
+            MultiChannelSelect::AnIn0 | MultiChannelSelect::AnIn2 | MultiChannelSelect::TempSensor,
+            &mut read_buf[0..3],
+        )
+        .expect("ADC multiselect read failed");
+        if ENABLE_BUF_PRINTOUT {
+            rprintln!("ADC Multiselect Read(0, 2 and 10): {:?}", &read_buf[0..3]);
+        }
+        assert_eq!(read_buf[0].channel(), ChannelSelect::AnIn0);
+        assert_eq!(read_buf[1].channel(), ChannelSelect::AnIn2);
+        assert_eq!(read_buf[2].channel(), ChannelSelect::TempSensor);
+        delay_provider.delay_ms(500);
+    }
+}

examples/simple/examples/blinky.rs

@@ -16,7 +16,6 @@ fn main() -> ! {
     let mut dp = pac::Peripherals::take().unwrap();
     let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
     let mut led = portg.pg5.into_readable_push_pull_output();
-    //let mut delay = CountDownTimer::new(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
     loop {
         cortex_m::asm::delay(2_000_000);
         led.toggle().ok();

examples/simple/examples/dac-adc.rs

@@ -0,0 +1,78 @@
+//! Simple DAC-ADC example.
+#![no_main]
+#![no_std]
+
+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::{adc::Adc, dac::Dac, pac, prelude::*, timer::CountdownTimer};
+
+const DAC_INCREMENT: u16 = 256;
+
+#[derive(Debug, PartialEq, Eq)]
+pub enum AppMode {
+    // Measurements on AIN0.
+    AdcOnly,
+    // AOUT0. You can use a multi-meter to measure the changing voltage on the pin.
+    DacOnly,
+    /// AOUT0 needs to be wired to AIN0.
+    DacAndAdc,
+}
+
+const APP_MODE: AppMode = AppMode::DacAndAdc;
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("VA416xx DAC/ADC example");
+
+    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 mut dac = None;
+    if APP_MODE == AppMode::DacOnly || APP_MODE == AppMode::DacAndAdc {
+        dac = Some(Dac::new(
+            &mut dp.sysconfig,
+            dp.dac0,
+            va416xx_hal::dac::DacSettling::Apb2Times100,
+            &clocks,
+        ));
+    }
+    let mut adc = None;
+    if APP_MODE == AppMode::AdcOnly || APP_MODE == AppMode::DacAndAdc {
+        adc = Some(Adc::new(&mut dp.sysconfig, dp.adc, &clocks));
+    }
+    let mut delay_provider = CountdownTimer::new(&mut dp.sysconfig, dp.tim0, &clocks);
+    let mut current_val = 0;
+    loop {
+        if let Some(dac) = &dac {
+            rprintln!("loading DAC with value {}", current_val);
+            dac.load_and_trigger_manually(current_val)
+                .expect("loading DAC value failed");
+            if current_val + DAC_INCREMENT >= 4096 {
+                current_val = 0;
+            } else {
+                current_val += DAC_INCREMENT;
+            }
+        }
+        if let Some(dac) = &dac {
+            // This should never block.
+            nb::block!(dac.is_settled()).unwrap();
+        }
+        if let Some(adc) = &adc {
+            let ch_value = adc
+                .trigger_and_read_single_channel(va416xx_hal::adc::ChannelSelect::AnIn0)
+                .expect("reading ADC channel 0 failed");
+            rprintln!("Received channel value {:?}", ch_value);
+        }
+
+        delay_provider.delay_ms(500);
+    }
+}

scripts/VA416xx_Series.yaml

@@ -22,7 +22,8 @@ variants:
     range:
       start: 0x0
       end: 0x40000
-    is_boot_memory: true
+    access:
+      boot: true
     cores:
     - main
   - !Generic

va416xx-hal/Cargo.toml

@@ -17,7 +17,9 @@ paste = "1"
 embedded-hal-nb = "1"
 embedded-hal = "1"
 embedded-io = "0.6"
+num_enum = { version = "0.7", default-features = false }
 typenum = "1"
+bitflags = "2"
 defmt = { version = "0.3", optional = true }
 fugit = "0.3"
 delegate = "0.12"

va416xx-hal/src/adc.rs

@@ -0,0 +1,402 @@
+use core::marker::PhantomData;
+
+use crate::clock::Clocks;
+use crate::pac;
+use crate::prelude::*;
+use crate::time::Hertz;
+use num_enum::{IntoPrimitive, TryFromPrimitive};
+
+pub const ADC_MIN_CLK: Hertz = Hertz::from_raw(2_000_000);
+pub const ADC_MAX_CLK: Hertz = Hertz::from_raw(12_500_000);
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone, TryFromPrimitive, IntoPrimitive)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum ChannelSelect {
+    /// Analogue Input 0 external channel
+    AnIn0 = 0,
+    /// Analogue Input 1 external channel
+    AnIn1 = 1,
+    /// Analogue Input 2 external channel
+    AnIn2 = 2,
+    /// Analogue Input 3 external channel
+    AnIn3 = 3,
+    /// Analogue Input 4 external channel
+    AnIn4 = 4,
+    /// Analogue Input 5 external channel
+    AnIn5 = 5,
+    /// Analogue Input 6 external channel
+    AnIn6 = 6,
+    /// Analogue Input 7 external channel
+    AnIn7 = 7,
+    /// DAC 0 internal channel
+    Dac0 = 8,
+    /// DAC 1 internal channel
+    Dac1 = 9,
+    /// Internal temperature sensor
+    TempSensor = 10,
+    /// Internal bandgap 1 V reference
+    Bandgap1V = 11,
+    /// Internal bandgap 1.5 V reference
+    Bandgap1_5V = 12,
+    Avdd1_5 = 13,
+    Dvdd1_5 = 14,
+    /// Internally generated Voltage equal to VREFH / 2
+    Vrefp5 = 15,
+}
+
+bitflags::bitflags! {
+    pub struct MultiChannelSelect: u16 {
+        const AnIn0 = 1;
+        const AnIn1 = 1 << 1;
+        const AnIn2 = 1 << 2;
+        const AnIn3 = 1 << 3;
+        const AnIn4 = 1 << 4;
+        const AnIn5 = 1 << 5;
+        const AnIn6 = 1 << 6;
+        const AnIn7 = 1 << 7;
+        const Dac0 = 1 << 8;
+        const Dac1 = 1 << 9;
+        const TempSensor = 1 << 10;
+        const Bandgap1V = 1 << 11;
+        const Bandgap1_5V = 1 << 12;
+        const Avdd1_5 = 1 << 13;
+        const Dvdd1_5 = 1 << 14;
+        const Vrefp5 = 1 << 15;
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct AdcEmptyError;
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct InvalidChannelRangeError;
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct BufferTooSmallError;
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum AdcRangeReadError {
+    InvalidChannelRange(InvalidChannelRangeError),
+    BufferTooSmall(BufferTooSmallError),
+}
+
+impl From<InvalidChannelRangeError> for AdcRangeReadError {
+    fn from(value: InvalidChannelRangeError) -> Self {
+        AdcRangeReadError::InvalidChannelRange(value)
+    }
+}
+
+impl From<BufferTooSmallError> for AdcRangeReadError {
+    fn from(value: BufferTooSmallError) -> Self {
+        AdcRangeReadError::BufferTooSmall(value)
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ChannelValue {
+    /// If the channel tag is enabled, this field will contain the determined channel tag.
+    channel: ChannelSelect,
+    /// Raw value.
+    value: u16,
+}
+
+impl Default for ChannelValue {
+    fn default() -> Self {
+        Self {
+            channel: ChannelSelect::AnIn0,
+            value: Default::default(),
+        }
+    }
+}
+
+impl ChannelValue {
+    #[inline]
+    pub fn value(&self) -> u16 {
+        self.value
+    }
+
+    #[inline]
+    pub fn channel(&self) -> ChannelSelect {
+        self.channel
+    }
+}
+
+pub enum ChannelTagEnabled {}
+pub enum ChannelTagDisabled {}
+
+pub struct Adc<TagEnabled = ChannelTagDisabled> {
+    adc: pac::Adc,
+    phantom: PhantomData<TagEnabled>,
+}
+
+impl Adc<ChannelTagEnabled> {}
+
+impl Adc<ChannelTagDisabled> {
+    pub fn new(syscfg: &mut pac::Sysconfig, adc: pac::Adc, clocks: &Clocks) -> Self {
+        Self::generic_new(syscfg, adc, clocks)
+    }
+
+    pub fn trigger_and_read_single_channel(&self, ch: ChannelSelect) -> Result<u16, AdcEmptyError> {
+        self.generic_trigger_and_read_single_channel(ch)
+            .map(|v| v & 0xfff)
+    }
+
+    /// Perform a sweep for a specified range of ADC channels.
+    ///
+    /// Returns the number of read values which were written to the passed RX buffer.
+    pub fn sweep_and_read_range(
+        &self,
+        lower_bound_idx: u8,
+        upper_bound_idx: u8,
+        rx_buf: &mut [u16],
+    ) -> Result<(), AdcRangeReadError> {
+        self.generic_prepare_range_sweep_and_wait_until_ready(
+            lower_bound_idx,
+            upper_bound_idx,
+            rx_buf.len(),
+        )?;
+        for i in 0..self.adc.status().read().fifo_entry_cnt().bits() {
+            rx_buf[i as usize] = self.adc.fifo_data().read().bits() as u16 & 0xfff;
+        }
+        Ok(())
+    }
+
+    pub fn sweep_and_read_multiselect(
+        &self,
+        ch_select: MultiChannelSelect,
+        rx_buf: &mut [u16],
+    ) -> Result<(), BufferTooSmallError> {
+        self.generic_prepare_multiselect_sweep_and_wait_until_ready(ch_select, rx_buf.len())?;
+        for i in 0..self.adc.status().read().fifo_entry_cnt().bits() {
+            rx_buf[i as usize] = self.adc.fifo_data().read().bits() as u16 & 0xfff;
+        }
+        Ok(())
+    }
+
+    pub fn try_read_single_value(&self) -> nb::Result<Option<u16>, ()> {
+        self.generic_try_read_single_value()
+            .map(|v| v.map(|v| v & 0xfff))
+    }
+}
+
+impl Adc<ChannelTagEnabled> {
+    pub fn new_with_channel_tag(
+        syscfg: &mut pac::Sysconfig,
+        adc: pac::Adc,
+        clocks: &Clocks,
+    ) -> Self {
+        let mut adc = Self::generic_new(syscfg, adc, clocks);
+        adc.enable_channel_tag();
+        adc
+    }
+
+    pub fn trigger_and_read_single_channel(
+        &self,
+        ch: ChannelSelect,
+    ) -> Result<ChannelValue, AdcEmptyError> {
+        self.generic_trigger_and_read_single_channel(ch)
+            .map(|v| self.create_channel_value(v))
+    }
+
+    pub fn try_read_single_value(&self) -> nb::Result<Option<ChannelValue>, ()> {
+        self.generic_try_read_single_value()
+            .map(|v| v.map(|v| self.create_channel_value(v)))
+    }
+
+    /// Perform a sweep for a specified range of ADC channels.
+    ///
+    /// Returns the number of read values which were written to the passed RX buffer.
+    pub fn sweep_and_read_range(
+        &self,
+        lower_bound_idx: u8,
+        upper_bound_idx: u8,
+        rx_buf: &mut [ChannelValue],
+    ) -> Result<usize, AdcRangeReadError> {
+        self.generic_prepare_range_sweep_and_wait_until_ready(
+            lower_bound_idx,
+            upper_bound_idx,
+            rx_buf.len(),
+        )?;
+        let fifo_entry_count = self.adc.status().read().fifo_entry_cnt().bits();
+        for i in 0..core::cmp::min(fifo_entry_count, rx_buf.len() as u8) {
+            rx_buf[i as usize] =
+                self.create_channel_value(self.adc.fifo_data().read().bits() as u16);
+        }
+        Ok(fifo_entry_count as usize)
+    }
+
+    pub fn sweep_and_read_multiselect(
+        &self,
+        ch_select: MultiChannelSelect,
+        rx_buf: &mut [ChannelValue],
+    ) -> Result<(), BufferTooSmallError> {
+        self.generic_prepare_multiselect_sweep_and_wait_until_ready(ch_select, rx_buf.len())?;
+        for i in 0..self.adc.status().read().fifo_entry_cnt().bits() {
+            rx_buf[i as usize] =
+                self.create_channel_value(self.adc.fifo_data().read().bits() as u16);
+        }
+        Ok(())
+    }
+
+    #[inline]
+    pub fn create_channel_value(&self, raw_value: u16) -> ChannelValue {
+        ChannelValue {
+            value: raw_value & 0xfff,
+            channel: ChannelSelect::try_from(((raw_value >> 12) & 0xf) as u8).unwrap(),
+        }
+    }
+}
+
+impl<TagEnabled> Adc<TagEnabled> {
+    fn generic_new(syscfg: &mut pac::Sysconfig, adc: pac::Adc, _clocks: &Clocks) -> Self {
+        syscfg.enable_peripheral_clock(crate::clock::PeripheralSelect::Adc);
+        adc.ctrl().write(|w| unsafe { w.bits(0) });
+        let adc = Self {
+            adc,
+            phantom: PhantomData,
+        };
+        adc.clear_fifo();
+        adc
+    }
+
+    #[inline(always)]
+    fn enable_channel_tag(&mut self) {
+        self.adc.ctrl().modify(|_, w| w.chan_tag_en().set_bit());
+    }
+
+    #[inline(always)]
+    fn disable_channel_tag(&mut self) {
+        self.adc.ctrl().modify(|_, w| w.chan_tag_en().clear_bit());
+    }
+
+    #[inline(always)]
+    pub fn channel_tag_enabled(&self) -> bool {
+        self.adc.ctrl().read().chan_tag_en().bit_is_set()
+    }
+
+    #[inline(always)]
+    pub fn clear_fifo(&self) {
+        self.adc.fifo_clr().write(|w| unsafe { w.bits(1) });
+    }
+
+    pub fn generic_try_read_single_value(&self) -> nb::Result<Option<u16>, ()> {
+        if self.adc.status().read().adc_busy().bit_is_set() {
+            return Err(nb::Error::WouldBlock);
+        }
+        if self.adc.status().read().fifo_entry_cnt().bits() == 0 {
+            return Ok(None);
+        }
+        Ok(Some(self.adc.fifo_data().read().bits() as u16))
+    }
+
+    fn generic_trigger_single_channel(&self, ch: ChannelSelect) {
+        self.adc.ctrl().modify(|_, w| {
+            w.ext_trig_en().clear_bit();
+            unsafe {
+                // N + 1 conversions, so set set 0 here.
+                w.conv_cnt().bits(0);
+                w.chan_en().bits(1 << ch as u8)
+            }
+        });
+        self.clear_fifo();
+
+        self.adc.ctrl().modify(|_, w| w.manual_trig().set_bit());
+    }
+
+    fn generic_prepare_range_sweep_and_wait_until_ready(
+        &self,
+        lower_bound_idx: u8,
+        upper_bound_idx: u8,
+        buf_len: usize,
+    ) -> Result<(), AdcRangeReadError> {
+        if (lower_bound_idx > 15 || upper_bound_idx > 15) || lower_bound_idx > upper_bound_idx {
+            return Err(InvalidChannelRangeError.into());
+        }
+        let ch_count = upper_bound_idx - lower_bound_idx + 1;
+        if buf_len < ch_count as usize {
+            return Err(BufferTooSmallError.into());
+        }
+        let mut ch_select = 0;
+        for i in lower_bound_idx..upper_bound_idx + 1 {
+            ch_select |= 1 << i;
+        }
+        self.generic_trigger_sweep(ch_select);
+        cortex_m::asm::nop();
+        cortex_m::asm::nop();
+        while self.adc.status().read().adc_busy().bit_is_set() {
+            cortex_m::asm::nop();
+        }
+        Ok(())
+    }
+
+    fn generic_prepare_multiselect_sweep_and_wait_until_ready(
+        &self,
+        ch_select: MultiChannelSelect,
+        buf_len: usize,
+    ) -> Result<(), BufferTooSmallError> {
+        let ch_select = ch_select.bits();
+        let ch_count = ch_select.count_ones();
+        if buf_len < ch_count as usize {
+            return Err(BufferTooSmallError);
+        }
+        self.generic_trigger_sweep(ch_select);
+        while self.adc.status().read().adc_busy().bit_is_set() {
+            cortex_m::asm::nop();
+        }
+        Ok(())
+    }
+
+    fn generic_trigger_sweep(&self, ch_select: u16) {
+        let ch_num = ch_select.count_ones() as u8;
+        assert!(ch_num > 0);
+        self.adc.ctrl().modify(|_, w| {
+            w.ext_trig_en().clear_bit();
+            unsafe {
+                // N + 1 conversions.
+                w.conv_cnt().bits(0);
+                w.chan_en().bits(ch_select);
+                w.sweep_en().set_bit()
+            }
+        });
+        self.clear_fifo();
+
+        self.adc.ctrl().modify(|_, w| w.manual_trig().set_bit());
+    }
+
+    fn generic_trigger_and_read_single_channel(
+        &self,
+        ch: ChannelSelect,
+    ) -> Result<u16, AdcEmptyError> {
+        self.generic_trigger_single_channel(ch);
+        nb::block!(self.generic_try_read_single_value())
+            .unwrap()
+            .ok_or(AdcEmptyError)
+    }
+}
+
+impl From<Adc<ChannelTagDisabled>> for Adc<ChannelTagEnabled> {
+    fn from(value: Adc<ChannelTagDisabled>) -> Self {
+        let mut adc = Self {
+            adc: value.adc,
+            phantom: PhantomData,
+        };
+        adc.enable_channel_tag();
+        adc
+    }
+}
+
+impl From<Adc<ChannelTagEnabled>> for Adc<ChannelTagDisabled> {
+    fn from(value: Adc<ChannelTagEnabled>) -> Self {
+        let mut adc = Self {
+            adc: value.adc,
+            phantom: PhantomData,
+        };
+        adc.disable_channel_tag();
+        adc
+    }
+}

va416xx-hal/src/clock.rs

@@ -10,6 +10,7 @@
 //! # Examples
 //!
 //! - [UART example on the PEB1 board](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/uart.rs)
+use crate::adc::ADC_MAX_CLK;
 use crate::pac;
 
 use crate::time::Hertz;
@@ -52,7 +53,7 @@ pub enum PeripheralSelect {
     PortG = 30,
 }
 
-pub type PeripheralClocks = PeripheralSelect;
+pub type PeripheralClock = PeripheralSelect;
 
 #[derive(Debug, PartialEq, Eq)]
 pub enum FilterClkSel {
@@ -94,24 +95,34 @@ pub fn deassert_periph_reset(syscfg: &mut pac::Sysconfig, periph: PeripheralSele
         .modify(|r, w| unsafe { w.bits(r.bits() | (1 << periph as u8)) });
 }
 
+#[inline(always)]
+fn assert_periph_reset_for_two_cycles(syscfg: &mut pac::Sysconfig, periph: PeripheralSelect) {
+    assert_periph_reset(syscfg, periph);
+    cortex_m::asm::nop();
+    cortex_m::asm::nop();
+    deassert_periph_reset(syscfg, periph);
+}
+
 pub trait SyscfgExt {
-    fn enable_peripheral_clock(&mut self, clock: PeripheralClocks);
+    fn enable_peripheral_clock(&mut self, clock: PeripheralClock);
 
-    fn disable_peripheral_clock(&mut self, clock: PeripheralClocks);
+    fn disable_peripheral_clock(&mut self, clock: PeripheralClock);
 
-    fn assert_periph_reset(&mut self, clock: PeripheralSelect);
+    fn assert_periph_reset(&mut self, periph: PeripheralSelect);
 
-    fn deassert_periph_reset(&mut self, clock: PeripheralSelect);
+    fn deassert_periph_reset(&mut self, periph: PeripheralSelect);
+
+    fn assert_periph_reset_for_two_cycles(&mut self, periph: PeripheralSelect);
 }
 
 impl SyscfgExt for pac::Sysconfig {
     #[inline(always)]
-    fn enable_peripheral_clock(&mut self, clock: PeripheralClocks) {
+    fn enable_peripheral_clock(&mut self, clock: PeripheralClock) {
         enable_peripheral_clock(self, clock)
     }
 
     #[inline(always)]
-    fn disable_peripheral_clock(&mut self, clock: PeripheralClocks) {
+    fn disable_peripheral_clock(&mut self, clock: PeripheralClock) {
         disable_peripheral_clock(self, clock)
     }
 
@@ -124,6 +135,11 @@ impl SyscfgExt for pac::Sysconfig {
     fn deassert_periph_reset(&mut self, clock: PeripheralSelect) {
         deassert_periph_reset(self, clock)
     }
+
+    #[inline(always)]
+    fn assert_periph_reset_for_two_cycles(&mut self, periph: PeripheralSelect) {
+        assert_periph_reset_for_two_cycles(self, periph)
+    }
 }
 
 /// Refer to chapter 8 (p.57) of the programmers guide for detailed information.
@@ -435,20 +451,23 @@ impl ClkgenCfgr {
         // ADC clock (must be 2-12.5 MHz)
         // NOTE: Not using divide by 1 or /2 ratio in REVA silicon because of triggering issue
         // For this reason, keep SYSCLK above 8MHz to have the ADC /4 ratio in range)
-        if final_sysclk.raw() <= 50_000_000 {
+        let adc_clk = if final_sysclk.raw() <= ADC_MAX_CLK.raw() * 4 {
             self.clkgen
                 .ctrl1()
                 .modify(|_, w| unsafe { w.adc_clk_div_sel().bits(AdcClkDivSel::Div4 as u8) });
+            final_sysclk / 4
         } else {
             self.clkgen
                 .ctrl1()
                 .modify(|_, w| unsafe { w.adc_clk_div_sel().bits(AdcClkDivSel::Div8 as u8) });
-        }
+            final_sysclk / 8
+        };
 
         Ok(Clocks {
             sysclk: final_sysclk,
             apb1: final_sysclk / 2,
             apb2: final_sysclk / 4,
+            adc_clk,
         })
     }
 }
@@ -464,6 +483,7 @@ pub struct Clocks {
     sysclk: Hertz,
     apb1: Hertz,
     apb2: Hertz,
+    adc_clk: Hertz,
 }
 
 impl Clocks {
@@ -491,6 +511,11 @@ impl Clocks {
     pub fn sysclk(&self) -> Hertz {
         self.sysclk
     }
+
+    /// Returns the ADC clock frequency which has a separate divider.
+    pub fn adc_clk(&self) -> Hertz {
+        self.adc_clk
+    }
 }
 
 pub fn rearm_sysclk_lost() {

va416xx-hal/src/dac.rs

@@ -0,0 +1,157 @@
+use core::ops::Deref;
+
+use crate::{
+    clock::{Clocks, PeripheralSelect, SyscfgExt},
+    pac,
+};
+
+pub type DacRegisterBlock = pac::dac0::RegisterBlock;
+
+/// Common trait implemented by all PAC peripheral access structures. The register block
+/// format is the same for all DAC blocks.
+pub trait Instance: Deref<Target = DacRegisterBlock> {
+    const IDX: u8;
+
+    fn ptr() -> *const DacRegisterBlock;
+}
+
+impl Instance for pac::Dac0 {
+    const IDX: u8 = 0;
+
+    #[inline(always)]
+    fn ptr() -> *const DacRegisterBlock {
+        Self::ptr()
+    }
+}
+
+impl Instance for pac::Dac1 {
+    const IDX: u8 = 1;
+
+    #[inline(always)]
+    fn ptr() -> *const DacRegisterBlock {
+        Self::ptr()
+    }
+}
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum DacSettling {
+    NoSettling = 0,
+    Apb2Times25 = 1,
+    Apb2Times50 = 2,
+    Apb2Times75 = 3,
+    Apb2Times100 = 4,
+    Apb2Times125 = 5,
+    Apb2Times150 = 6,
+}
+
+pub struct Dac<DacInstance> {
+    dac: DacInstance,
+}
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ValueTooLarge;
+
+impl<DacInstance: Instance> Dac<DacInstance> {
+    /// Create a new [Dac] driver instance.
+    ///
+    /// The [Clocks] structure is expected here as well to ensure the clock was set up properly.
+    pub fn new(
+        syscfg: &mut pac::Sysconfig,
+        dac: DacInstance,
+        dac_settling: DacSettling,
+        _clocks: &Clocks,
+    ) -> Self {
+        syscfg.enable_peripheral_clock(PeripheralSelect::Dac);
+
+        dac.ctrl1().write(|w| {
+            w.dac_en().set_bit();
+            // SAFETY: Enum values are valid values only.
+            unsafe { w.dac_settling().bits(dac_settling as u8) }
+        });
+        let dac = Self { dac };
+        dac.clear_fifo();
+        dac.clear_irqs();
+        dac
+    }
+
+    #[inline(always)]
+    pub fn clear_irqs(&self) {
+        self.dac.irq_clr().write(|w| {
+            w.fifo_oflow().set_bit();
+            w.fifo_uflow().set_bit();
+            w.dac_done().set_bit();
+            w.trig_error().set_bit()
+        });
+    }
+
+    #[inline(always)]
+    pub fn clear_fifo(&self) {
+        self.dac.fifo_clr().write(|w| unsafe { w.bits(1) });
+    }
+
+    /// Load next value into the FIFO.
+    ///
+    /// Uses the [nb] API to allow blocking and non-blocking usage.
+    #[inline(always)]
+    pub fn load_value(&self, val: u16) -> nb::Result<(), ValueTooLarge> {
+        if val > 2_u16.pow(12) - 1 {
+            return Err(nb::Error::Other(ValueTooLarge));
+        }
+        if self.dac.status().read().fifo_entry_cnt().bits() >= 32_u8 {
+            return Err(nb::Error::WouldBlock);
+        }
+        self.dac
+            .fifo_data()
+            .write(|w| unsafe { w.bits(val.into()) });
+        Ok(())
+    }
+
+    /// This loads and triggers the next value immediately. It also clears the FIFO before
+    /// loading the passed value.
+    #[inline(always)]
+    pub fn load_and_trigger_manually(&self, val: u16) -> Result<(), ValueTooLarge> {
+        if val > 2_u16.pow(12) - 1 {
+            return Err(ValueTooLarge);
+        }
+        self.clear_fifo();
+        // This should never block, the FIFO was cleared. We checked the value as well, so unwrap
+        // is okay here.
+        nb::block!(self.load_value(val)).unwrap();
+        self.trigger_manually();
+        Ok(())
+    }
+
+    /// Manually trigger the DAC. This will de-queue the next value inside the FIFO
+    /// to be processed by the DAC.
+    #[inline(always)]
+    pub fn trigger_manually(&self) {
+        self.dac.ctrl0().write(|w| w.man_trig_en().set_bit());
+    }
+
+    #[inline(always)]
+    pub fn enable_external_trigger(&self) {
+        self.dac.ctrl0().write(|w| w.ext_trig_en().set_bit());
+    }
+
+    pub fn is_settled(&self) -> nb::Result<(), ()> {
+        if self.dac.status().read().dac_busy().bit_is_set() {
+            return Err(nb::Error::WouldBlock);
+        }
+        Ok(())
+    }
+
+    #[inline(always)]
+    pub fn reset(&mut self, syscfg: &mut pac::Sysconfig) {
+        syscfg.enable_peripheral_clock(PeripheralSelect::Dac);
+        syscfg.assert_periph_reset_for_two_cycles(PeripheralSelect::Dac);
+    }
+
+    /// Relases the DAC, which also disables its peripheral clock.
+    #[inline(always)]
+    pub fn release(self, syscfg: &mut pac::Sysconfig) -> DacInstance {
+        syscfg.disable_peripheral_clock(PeripheralSelect::Dac);
+        self.dac
+    }
+}

va416xx-hal/src/i2c.rs

@@ -4,11 +4,9 @@
 //!
 //! - [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,
-    },
+    clock::{Clocks, PeripheralSelect},
     pac,
+    prelude::SyscfgExt,
     time::Hertz,
     typelevel::Sealed,
 };
@@ -125,6 +123,7 @@ impl Instance for pac::I2c0 {
     const IDX: u8 = 0;
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c0;
 
+    #[inline(always)]
     fn ptr() -> *const I2cRegBlock {
         Self::ptr()
     }
@@ -134,6 +133,7 @@ impl Instance for pac::I2c1 {
     const IDX: u8 = 1;
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c1;
 
+    #[inline(always)]
     fn ptr() -> *const I2cRegBlock {
         Self::ptr()
     }
@@ -143,6 +143,7 @@ impl Instance for pac::I2c2 {
     const IDX: u8 = 2;
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::I2c2;
 
+    #[inline(always)]
     fn ptr() -> *const I2cRegBlock {
         Self::ptr()
     }
@@ -312,17 +313,13 @@ impl<I2C> I2cBase<I2C> {
 impl<I2c: Instance> I2cBase<I2c> {
     pub fn new(
         i2c: I2c,
-        sys_cfg: &mut pac::Sysconfig,
+        syscfg: &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);
+        syscfg.enable_peripheral_clock(I2c::PERIPH_SEL);
 
         let mut i2c_base = I2cBase {
             i2c,

va416xx-hal/src/lib.rs

@@ -8,7 +8,9 @@ pub use va416xx as pac;
 
 pub mod prelude;
 
+pub mod adc;
 pub mod clock;
+pub mod dac;
 pub mod gpio;
 pub mod i2c;
 pub mod pwm;

va416xx-hal/src/spi.rs

@@ -8,7 +8,7 @@ use core::{convert::Infallible, marker::PhantomData, ops::Deref};
 use embedded_hal::spi::Mode;
 
 use crate::{
-    clock::PeripheralSelect,
+    clock::{PeripheralSelect, SyscfgExt},
     gpio::{
         AltFunc1, AltFunc2, AltFunc3, Pin, PA0, PA1, PA2, PA3, PA4, PA5, PA6, PA7, PA8, PA9, PB0,
         PB1, PB10, PB11, PB12, PB13, PB14, PB15, PB2, PB3, PB4, PB5, PB6, PB7, PB8, PB9, PC0, PC1,
@@ -365,6 +365,7 @@ impl Instance for pac::Spi0 {
     const IDX: u8 = 0;
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi0;
 
+    #[inline(always)]
     fn ptr() -> *const SpiRegBlock {
         Self::ptr()
     }
@@ -374,6 +375,7 @@ impl Instance for pac::Spi1 {
     const IDX: u8 = 1;
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi1;
 
+    #[inline(always)]
     fn ptr() -> *const SpiRegBlock {
         Self::ptr()
     }
@@ -383,6 +385,7 @@ impl Instance for pac::Spi2 {
     const IDX: u8 = 2;
     const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi2;
 
+    #[inline(always)]
     fn ptr() -> *const SpiRegBlock {
         Self::ptr()
     }
@@ -472,6 +475,7 @@ where
         self.cfg_hw_cs(HwCs::CS_ID);
     }
 
+    #[inline]
     pub fn cfg_hw_cs_disable(&mut self) {
         self.spi.ctrl1().modify(|_, w| {
             w.sod().set_bit();
@@ -571,99 +575,6 @@ where
     }
 }
 
-/*
-macro_rules! spi_ctor {
-    ($spiI:ident, $PeriphSel: path) => {
-        /// Create a new SPI struct
-        ///
-        /// You can delete the pin type information by calling the
-        /// [`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 $spiI(
-            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, $PeriphSel);
-            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,
-            }
-        }
-    };
-}
-*/
-
 impl<
         SpiI: Instance,
         Sck: PinSck<SpiI>,
@@ -698,6 +609,8 @@ where
         transfer_cfg: Option<&ErasedTransferConfig>,
     ) -> Self {
         crate::clock::enable_peripheral_clock(syscfg, SpiI::PERIPH_SEL);
+        // This is done in the C HAL.
+        syscfg.assert_periph_reset_for_two_cycles(SpiI::PERIPH_SEL);
         let SpiConfig {
             ser_clock_rate_div,
             ms,

va416xx-hal/src/timer.rs

@@ -513,6 +513,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
 
     /// 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
+    #[inline]
     pub fn listen(&mut self) {
         self.listening = true;
         self.enable_interrupt();
@@ -532,10 +533,12 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
         }
     }
 
+    #[inline]
     pub fn stop(&mut self) {
         self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
     }
 
+    #[inline]
     pub fn unlisten(&mut self) {
         self.listening = true;
         self.disable_interrupt();
@@ -552,6 +555,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
         self.tim.reg().ctrl().modify(|_, w| w.irq_enb().clear_bit());
     }
 
+    #[inline]
     pub fn release(self, syscfg: &mut pac::Sysconfig) -> Tim {
         self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
         syscfg

va416xx-hal/src/uart.rs

@@ -9,7 +9,7 @@ use core::ops::Deref;
 use embedded_hal_nb::serial::Read;
 use fugit::RateExtU32;
 
-use crate::clock::{Clocks, PeripheralSelect};
+use crate::clock::{Clocks, PeripheralSelect, SyscfgExt};
 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};
@@ -520,6 +520,8 @@ impl<UartInstance: Instance, Pins> Uart<UartInstance, Pins> {
         clocks: &Clocks,
     ) -> Self {
         crate::clock::enable_peripheral_clock(syscfg, UartInstance::PERIPH_SEL);
+        // This is done in the C HAL.
+        syscfg.assert_periph_reset_for_two_cycles(UartInstance::PERIPH_SEL);
         Uart {
             inner: UartBase {
                 uart,

va416xx-hal/src/wdt.rs

@@ -51,12 +51,7 @@ impl WdtController {
         wdt_freq_ms: u32,
     ) -> Self {
         syscfg.enable_peripheral_clock(PeripheralSelect::Watchdog);
-        // It's done like that in Vorago examples. Not exactly sure why the reset is necessary
-        // though..
-        syscfg.assert_periph_reset(PeripheralSelect::Watchdog);
-        cortex_m::asm::nop();
-        cortex_m::asm::nop();
-        syscfg.deassert_periph_reset(PeripheralSelect::Watchdog);
+        syscfg.assert_periph_reset_for_two_cycles(PeripheralSelect::Watchdog);
 
         let wdt_clock = clocks.apb2();
         let mut wdt_ctrl = Self {

vscode/launch.json

@@ -4,6 +4,56 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
+        {
+            "preLaunchTask": "blinky-example",
+            "type": "probe-rs-debug",
+            "request": "launch",
+            "name": "probe-rs Debug Blinky",
+            "flashingConfig": {
+                "flashingEnabled": true,
+                "haltAfterReset": true
+            },
+            "chip": "VA416xx",
+            "coreConfigs": [
+                {
+                    "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/blinky",
+                    "rttEnabled": true,
+                    "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched"
+                }
+            ]
+        },
+        {
+            "preLaunchTask": "rtt-log-example",
+            "type": "probe-rs-debug",
+            "request": "launch",
+            "name": "probe-rs Debug RTT",
+            "flashingConfig": {
+                "flashingEnabled": true,
+                "haltAfterReset": false
+            },
+            "chip": "VA416xx",
+            "coreConfigs": [
+                {
+                    "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/rtt-log",
+                    "rttEnabled": true,
+                    "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched"
+                }
+            ]
+        },
+        {
+            "preLaunchTask": "rtt-log-example",
+            "type": "probe-rs-debug",
+            "request": "attach",
+            "name": "probe-rs Attach RTT",
+            "chip": "VA416xx",
+            "coreConfigs": [
+                {
+                    "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/rtt-log",
+                    "rttEnabled": true,
+                    "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd"
+                }
+            ]
+        },
         {
             "type": "cortex-debug",
             "request": "launch",
@@ -19,7 +69,7 @@
                 "monitor reset",
                 "load",
             ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/blinky-hal",
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/blinky",
             "interface": "swd",
             "runToEntryPoint": "main",
             "rttConfig": {
@@ -185,5 +235,67 @@
                 ]
             }
         },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Debug DAC/ADC Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "dac-adc-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/dac-adc",
+            "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"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Debug ADC Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "adc-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/adc",
+            "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"
+                    }
+                ]
+            }
+        },
     ]
 }

vscode/tasks.json

@@ -36,7 +36,7 @@
             "args": [
                 "build",
                 "--example",
-                "blinky-hal"
+                "blinky"
             ],
             "group": {
                 "kind": "build",
@@ -82,5 +82,31 @@
                 "kind": "build",
             }
         },
+        {
+            "label": "dac-adc-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--example",
+                "dac-adc"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
+        {
+            "label": "adc-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--example",
+                "adc"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
     ]
 }