bootloader and flashloader

Cargo.toml

@@ -1,7 +1,8 @@
 [workspace]
 resolver = "2"
 members = [ 
-  "examples/simple",
+  "bootloader",
+  "examples/simple", "flashloader",
 	"va416xx",
 	"va416xx-hal",
 	"vorago-peb1"
@@ -25,3 +26,14 @@ incremental = false
 lto = 'fat'
 opt-level = 3            # <-
 overflow-checks = false  # <-
+strip = true
+
+[profile.small]
+inherits = "release"
+codegen-units = 1
+debug-assertions = false # <-
+lto = true
+opt-level = 'z'            # <-
+overflow-checks = false  # <-
+strip = true
+

bootloader/Cargo.toml

@@ -0,0 +1,16 @@
+[package]
+name = "bootloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+crc = "3"
+
+[dependencies.va416xx-hal]
+path = "../va416xx-hal"
+version = "0.1.0"

bootloader/src/main.rs

@@ -0,0 +1,260 @@
+//! Vorago bootloader which can boot from two images.
+//!
+//! Bootloader memory map
+//!
+//! * <0x0>     Bootloader start                         <code up to 0x3FFE bytes>
+//! * <0x3FFE>  Bootloader CRC                           <halfword>
+//! * <0x4000>  App image A start                        <code up to 0x1DFFC (~120K) bytes>
+//! * <0x21FFC> App image A CRC check length             <halfword>
+//! * <0x21FFE> App image A CRC check value              <halfword>
+//! * <0x22000> App image B start                        <code up to 0x1DFFC (~120K) bytes>
+//! * <0x3FFFC> App image B CRC check length             <halfword>
+//! * <0x3FFFE> App image B CRC check value              <halfword>
+//! * <0x40000>                                          <end>
+//!
+//! As opposed to the Vorago example code, this bootloader assumes a 40 MHz external clock
+//! but does not scale that clock up.
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use crc::{Crc, CRC_16_IBM_3740};
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va416xx_hal::{
+    clock::{pll_setup_delay, ClkDivSel, ClkselSys},
+    edac,
+    nvm::Nvm,
+    pac::{self, interrupt},
+    prelude::*,
+    time::Hertz,
+    wdt::Wdt,
+};
+
+const EXTCLK_FREQ: u32 = 40_000_000;
+const WITH_WDT: bool = true;
+const WDT_FREQ_MS: u32 = 50;
+const DEBUG_PRINTOUTS: bool = true;
+
+// Important bootloader addresses and offsets, vector table information.
+
+const BOOTLOADER_START_ADDR: u32 = 0x0;
+const BOOTLOADER_END_ADDR: u32 = 0x4000;
+const BOOTLOADER_CRC_ADDR: u32 = 0x3FFE;
+const APP_A_START_ADDR: u32 = 0x4000;
+pub const APP_A_END_ADDR: u32 = 0x22000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_A_SIZE_ADDR: u32 = 0x21FF8;
+const APP_A_CRC_ADDR: u32 = 0x21FFC;
+const APP_B_START_ADDR: u32 = 0x22000;
+pub const APP_B_END_ADDR: u32 = 0x40000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_SIZE_ADDR: u32 = 0x3FFF8;
+const APP_B_CRC_ADDR: u32 = 0x3FFFC;
+pub const APP_IMG_SZ: u32 = 0x1E000;
+
+pub const VECTOR_TABLE_OFFSET: u32 = 0x0;
+pub const VECTOR_TABLE_LEN: u32 = 0x350;
+pub const RESET_VECTOR_OFFSET: u32 = 0x4;
+
+const CRC_ALGO: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+enum AppSel {
+    A,
+    B,
+}
+
+pub trait WdtInterface {
+    fn feed(&self);
+}
+
+pub struct OptWdt(Option<Wdt>);
+
+impl WdtInterface for OptWdt {
+    fn feed(&self) {
+        if self.0.is_some() {
+            self.0.as_ref().unwrap().feed();
+        }
+    }
+}
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("-- VA416xx bootloader --");
+    let mut dp = pac::Peripherals::take().unwrap();
+    let cp = cortex_m::Peripherals::take().unwrap();
+    setup_edac(&mut dp.sysconfig);
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    let mut opt_wdt = OptWdt(None);
+    if WITH_WDT {
+        opt_wdt.0 = Some(Wdt::start(
+            &mut dp.sysconfig,
+            dp.watch_dog,
+            &clocks,
+            WDT_FREQ_MS,
+        ));
+    }
+    let nvm = Nvm::new(&mut dp.sysconfig, dp.spi3, &clocks);
+    // Check bootloader's CRC (and write it if blank)
+    check_own_crc(&opt_wdt, &nvm, &cp);
+
+    if check_app_crc(AppSel::A, &opt_wdt) {
+        boot_app(AppSel::A, &cp)
+    } else if check_app_crc(AppSel::B, &opt_wdt) {
+        boot_app(AppSel::B, &cp)
+    } else {
+        if DEBUG_PRINTOUTS {
+            rprintln!("both images corrupt! booting image A");
+        }
+        // TODO: Shift a CCSDS packet out to inform host/OBC about image corruption.
+        // Both images seem to be corrupt. Boot default image A.
+        boot_app(AppSel::A, &cp)
+    }
+}
+
+fn check_own_crc(wdt: &OptWdt, nvm: &Nvm, cp: &cortex_m::Peripherals) {
+    let crc_exp = unsafe { *(BOOTLOADER_CRC_ADDR as *const u16) };
+    wdt.feed();
+    let crc_calc = CRC_ALGO.checksum(unsafe {
+        core::slice::from_raw_parts(
+            BOOTLOADER_START_ADDR as *const u8,
+            (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 4) as usize,
+        )
+    });
+    wdt.feed();
+    if crc_exp == 0x0000 || crc_exp == 0xffff {
+        if DEBUG_PRINTOUTS {
+            rprintln!("BL CRC blank - prog new CRC");
+        }
+        // Blank CRC, write it to NVM.
+        nvm.write_data(BOOTLOADER_CRC_ADDR, &crc_calc.to_be_bytes());
+        // The Vorago bootloader resets here. I am not sure why this is done, just continue with
+        // the regular boot process..
+    } else if crc_exp != crc_calc {
+        // Bootloader is corrupted. Try to run App A.
+        if DEBUG_PRINTOUTS {
+            rprintln!("bootloader CRC corrupt. booting image A immediately");
+        }
+        // TODO: Shift out minimal CCSDS frame to notify about bootloader corruption.
+        boot_app(AppSel::A, cp);
+    }
+}
+
+fn check_app_crc(app_sel: AppSel, wdt: &OptWdt) -> bool {
+    if app_sel == AppSel::A {
+        check_app_given_addr(APP_A_CRC_ADDR, APP_A_START_ADDR, APP_A_SIZE_ADDR, wdt)
+    } else {
+        check_app_given_addr(APP_B_CRC_ADDR, APP_B_START_ADDR, APP_B_SIZE_ADDR, wdt)
+    }
+}
+
+fn check_app_given_addr(
+    crc_addr: u32,
+    start_addr: u32,
+    image_size_addr: u32,
+    wdt: &OptWdt,
+) -> bool {
+    let crc_exp = unsafe { *(crc_addr as *const u16) };
+    let image_size = unsafe { *(image_size_addr as *const u32) };
+    wdt.feed();
+    let crc_calc = CRC_ALGO.checksum(unsafe {
+        core::slice::from_raw_parts(start_addr as *const u8, image_size as usize)
+    });
+    wdt.feed();
+    if crc_calc == crc_exp {
+        return true;
+    }
+    false
+}
+
+fn boot_app(app_sel: AppSel, cp: &cortex_m::Peripherals) -> ! {
+    let clkgen = unsafe { pac::Clkgen::steal() };
+    clkgen
+        .ctrl0()
+        .modify(|_, w| unsafe { w.clksel_sys().bits(ClkselSys::Hbo as u8) });
+    pll_setup_delay();
+    clkgen
+        .ctrl0()
+        .modify(|_, w| unsafe { w.clk_div_sel().bits(ClkDivSel::Div1 as u8) });
+    // Clear all interrupts set.
+    unsafe {
+        cp.NVIC.icer[0].write(0xFFFFFFFF);
+        cp.NVIC.icpr[0].write(0xFFFFFFFF);
+    }
+    cortex_m::asm::dsb();
+    cortex_m::asm::isb();
+    unsafe {
+        if app_sel == AppSel::A {
+            cp.SCB.vtor.write(APP_A_START_ADDR);
+        } else {
+            cp.SCB.vtor.write(APP_B_START_ADDR);
+        }
+    }
+    cortex_m::asm::dsb();
+    cortex_m::asm::isb();
+    vector_reset();
+}
+
+pub fn vector_reset() -> ! {
+    unsafe {
+        // Set R0 to VTOR address (0xE000ED08)
+        let vtor_address: u32 = 0xE000ED08;
+
+        // Load VTOR
+        let vtor: u32 = *(vtor_address as *const u32);
+
+        // Load initial MSP value
+        let initial_msp: u32 = *(vtor as *const u32);
+
+        // Set SP value (assume MSP is selected)
+        core::arch::asm!("mov sp, {0}", in(reg) initial_msp);
+
+        // Load reset vector
+        let reset_vector: u32 = *((vtor + 4) as *const u32);
+
+        // Branch to reset handler
+        core::arch::asm!("bx {0}", in(reg) reset_vector);
+    }
+    unreachable!();
+}
+
+fn setup_edac(syscfg: &mut pac::Sysconfig) {
+    // The scrub values are based on the Vorago provided bootloader.
+    edac::enable_rom_scrub(syscfg, 125);
+    edac::enable_ram0_scrub(syscfg, 1000);
+    edac::enable_ram1_scrub(syscfg, 1000);
+    edac::enable_sbe_irq();
+    edac::enable_mbe_irq();
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn WATCHDOG() {
+    let wdt = unsafe { pac::WatchDog::steal() };
+    // Clear interrupt.
+    wdt.wdogintclr().write(|w| unsafe { w.bits(1) });
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn EDAC_SBE() {
+    // TODO: Send some command via UART for notification purposes. Also identify the problematic
+    // memory.
+    edac::clear_sbe_irq();
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn EDAC_MBE() {
+    // TODO: Send some command via UART for notification purposes.
+    edac::clear_mbe_irq();
+    // TODO: Reset like the vorago example?
+}

examples/simple/Cargo.toml

@@ -9,6 +9,7 @@ va416xx-hal = { path = "../../va416xx-hal" }
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+rtic-sync = { version = "1.3", features = ["defmt-03"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 nb = "1"
@@ -16,3 +17,11 @@ embedded-io = "0.6"
 panic-halt = "0.2"
 vorago-peb1 = { path = "../../vorago-peb1" }
 accelerometer = "0.12"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv6-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]

examples/simple/examples/rtic-empty.rs

@@ -0,0 +1,30 @@
+//! Empty RTIC project template
+#![no_main]
+#![no_std]
+
+#[rtic::app(device = pac)]
+mod app {
+    use panic_rtt_target as _;
+    use rtt_target::{rprintln, rtt_init_default};
+    use va416xx_hal::pac;
+
+    #[local]
+    struct Local {}
+
+    #[shared]
+    struct Shared {}
+
+    #[init]
+    fn init(_ctx: init::Context) -> (Shared, Local) {
+        rtt_init_default!();
+        rprintln!("-- Vorago RTIC template --");
+        (Shared {}, Local {})
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        #[allow(clippy::empty_loop)]
+        loop {}
+    }
+}

flashloader/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "flashloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = "0.7"
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5" }
+crc = "3"
+
+[dependencies.va416xx-hal]
+path = "../va416xx-hal"
+version = "0.1.0"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]

flashloader/src/main.rs

@@ -0,0 +1,150 @@
+//! Vorago flashloader which can be used to flash image A and image B via a simple
+//! low-level CCSDS memory interface via a UART wire.
+//!
+//! This flash loader can be used after the bootloader was flashed to flash the images.
+//! You can also use this as an starting application for a software update mechanism.
+//!
+//! Bootloader memory map
+//!
+//! * <0x0>     Bootloader start                         <code up to 0x3FFE bytes>
+//! * <0x3FFE>  Bootloader CRC                           <halfword>
+//! * <0x4000>  App image A start                        <code up to 0x1DFFC (~120K) bytes>
+//! * <0x21FFC> App image A CRC check length             <halfword>
+//! * <0x21FFE> App image A CRC check value              <halfword>
+//! * <0x22000> App image B start                        <code up to 0x1DFFC (~120K) bytes>
+//! * <0x3FFFC> App image B CRC check length             <halfword>
+//! * <0x3FFFE> App image B CRC check value              <halfword>
+//! * <0x40000>                                          <end>
+#![no_main]
+#![no_std]
+
+use crc::{Crc, CRC_16_IBM_3740};
+use panic_rtt_target as _;
+use va416xx_hal::{
+    edac,
+    pac::{self},
+    time::Hertz,
+    wdt::Wdt,
+};
+
+const EXTCLK_FREQ: u32 = 40_000_000;
+const WITH_WDT: bool = true;
+const WDT_FREQ_MS: u32 = 50;
+const DEBUG_PRINTOUTS: bool = true;
+
+// Important bootloader addresses and offsets, vector table information.
+
+const BOOTLOADER_START_ADDR: u32 = 0x0;
+const BOOTLOADER_END_ADDR: u32 = 0x4000;
+const BOOTLOADER_CRC_ADDR: u32 = 0x3FFE;
+const APP_A_START_ADDR: u32 = 0x4000;
+pub const APP_A_END_ADDR: u32 = 0x22000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_A_SIZE_ADDR: u32 = 0x21FF8;
+const APP_A_CRC_ADDR: u32 = 0x21FFC;
+const APP_B_START_ADDR: u32 = 0x22000;
+pub const APP_B_END_ADDR: u32 = 0x40000;
+// The actual size of the image which is relevant for CRC calculation.
+const APP_B_SIZE_ADDR: u32 = 0x3FFF8;
+const APP_B_CRC_ADDR: u32 = 0x3FFFC;
+pub const APP_IMG_SZ: u32 = 0x1E000;
+
+pub const VECTOR_TABLE_OFFSET: u32 = 0x0;
+pub const VECTOR_TABLE_LEN: u32 = 0x350;
+pub const RESET_VECTOR_OFFSET: u32 = 0x4;
+
+const CRC_ALGO: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_3740);
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+enum AppSel {
+    A,
+    B,
+}
+
+pub trait WdtInterface {
+    fn feed(&self);
+}
+
+pub struct OptWdt(Option<Wdt>);
+
+impl WdtInterface for OptWdt {
+    fn feed(&self) {
+        if self.0.is_some() {
+            self.0.as_ref().unwrap().feed();
+        }
+    }
+}
+
+#[rtic::app(device = pac)]
+mod app {
+    use super::*;
+    use panic_rtt_target as _;
+    use rtic_monotonics::systick::Systick;
+    use rtt_target::{rprintln, rtt_init_default};
+    use va416xx_hal::{clock::ClkgenExt, edac, pac};
+
+    use crate::{setup_edac, EXTCLK_FREQ};
+
+    #[local]
+    struct Local {}
+
+    #[shared]
+    struct Shared {}
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        rtt_init_default!();
+        rprintln!("-- Vorago flashloader --");
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        // Use the external clock connected to XTAL_N.
+        let clocks = cx
+            .device
+            .clkgen
+            .constrain()
+            .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
+            .freeze(&mut cx.device.sysconfig)
+            .unwrap();
+        setup_edac(&mut cx.device.sysconfig);
+
+        Systick::start(cx.core.SYST, clocks.sysclk().raw(), systick_mono_token);
+        (Shared {}, Local {})
+    }
+
+    // `shared` cannot be accessed from this context
+    #[idle]
+    fn idle(_cx: idle::Context) -> ! {
+        #[allow(clippy::empty_loop)]
+        loop {}
+    }
+
+    #[task(binds = EDAC_SBE, priority = 1)]
+    fn edac_sbe_isr(_cx: edac_sbe_isr::Context) {
+        // TODO: Send some command via UART for notification purposes. Also identify the problematic
+        // memory.
+        edac::clear_sbe_irq();
+    }
+
+    #[task(binds = EDAC_MBE, priority = 1)]
+    fn edac_mbe_isr(_cx: edac_mbe_isr::Context) {
+        // TODO: Send some command via UART for notification purposes.
+        edac::clear_mbe_irq();
+        // TODO: Reset like the vorago example?
+    }
+
+    #[task(binds = WATCHDOG, priority = 1)]
+    fn watchdog_isr(_cx: watchdog_isr::Context) {
+        let wdt = unsafe { pac::WatchDog::steal() };
+        // Clear interrupt.
+        wdt.wdogintclr().write(|w| unsafe { w.bits(1) });
+    }
+}
+
+fn setup_edac(syscfg: &mut pac::Sysconfig) {
+    // The scrub values are based on the Vorago provided bootloader.
+    edac::enable_rom_scrub(syscfg, 125);
+    edac::enable_ram0_scrub(syscfg, 1000);
+    edac::enable_ram1_scrub(syscfg, 1000);
+    edac::enable_sbe_irq();
+    edac::enable_mbe_irq();
+}

va416xx-hal/src/edac.rs

@@ -0,0 +1,66 @@
+use crate::{enable_interrupt, pac};
+
+#[inline(always)]
+pub fn enable_rom_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
+    syscfg
+        .rom_scrub()
+        .write(|w| unsafe { w.bits(counter_reset as u32) })
+}
+
+#[inline(always)]
+pub fn enable_ram0_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
+    syscfg
+        .ram0_scrub()
+        .write(|w| unsafe { w.bits(counter_reset as u32) })
+}
+
+#[inline(always)]
+pub fn enable_ram1_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
+    syscfg
+        .ram1_scrub()
+        .write(|w| unsafe { w.bits(counter_reset as u32) })
+}
+
+/// This function enables the SBE related interrupts. The user should also provide a
+/// [pac::EDAC_SBE] ISR and use [clear_sbe_irq] inside that ISR at the very least.
+#[inline(always)]
+pub fn enable_sbe_irq() {
+    unsafe {
+        enable_interrupt(pac::Interrupt::EDAC_SBE);
+    }
+}
+
+/// This function enables the SBE related interrupts. The user should also provide a
+/// [pac::EDAC_MBE] ISR and use [clear_mbe_irq] inside that ISR at the very least.
+#[inline(always)]
+pub fn enable_mbe_irq() {
+    unsafe {
+        enable_interrupt(pac::Interrupt::EDAC_MBE);
+    }
+}
+
+/// This function should be called in the user provided [pac::EDAC_SBE] interrupt-service routine
+/// to clear the SBE related interrupts.
+#[inline(always)]
+pub fn clear_sbe_irq() {
+    // Safety: This function only clears SBE related IRQs
+    let syscfg = unsafe { pac::Sysconfig::steal() };
+    syscfg.irq_clr().write(|w| {
+        w.romsbe().set_bit();
+        w.ram0sbe().set_bit();
+        w.ram1sbe().set_bit()
+    });
+}
+
+/// This function should be called in the user provided [pac::EDAC_MBE] interrupt-service routine
+/// to clear the MBE related interrupts.
+#[inline(always)]
+pub fn clear_mbe_irq() {
+    // Safety: This function only clears SBE related IRQs
+    let syscfg = unsafe { pac::Sysconfig::steal() };
+    syscfg.irq_clr().write(|w| {
+        w.rommbe().set_bit();
+        w.ram0mbe().set_bit();
+        w.ram1mbe().set_bit()
+    });
+}

va416xx-hal/src/lib.rs

@@ -12,8 +12,10 @@ pub mod adc;
 pub mod clock;
 pub mod dac;
 pub mod dma;
+pub mod edac;
 pub mod gpio;
 pub mod i2c;
+pub mod nvm;
 pub mod pwm;
 pub mod spi;
 pub mod time;

va416xx-hal/src/nvm.rs

@@ -0,0 +1,220 @@
+use embedded_hal::spi::MODE_0;
+
+use crate::clock::{Clocks, SyscfgExt};
+use crate::pac;
+use crate::spi::{mode_to_cpo_cph_bit, Instance, BMSTART_BMSTOP_MASK};
+
+const NVM_SER_CLOCK_RATE_DIV: u8 = 4;
+
+// Commands. The internal FRAM is based on the Cypress FM25V20A device.
+
+/// Write enable register.
+pub const FRAM_WREN: u8 = 0x06;
+pub const FRAM_WRDI: u8 = 0x04;
+pub const FRAM_RDSR: u8 = 0x05;
+/// Write single status register
+pub const FRAM_WRSR: u8 = 0x01;
+pub const FRAM_READ: u8 = 0x03;
+pub const FRAM_WRITE: u8 = 0x02;
+pub const FRAM_RDID: u8 = 0x9F;
+pub const FRAM_SLEEP: u8 = 0xB9;
+
+/* Address Masks */
+const ADDR_MSB_MASK: u32 = 0xFF0000;
+const ADDR_MID_MASK: u32 = 0x00FF00;
+const ADDR_LSB_MASK: u32 = 0x0000FF;
+
+#[inline(always)]
+const fn msb_addr_byte(addr: u32) -> u8 {
+    ((addr & ADDR_MSB_MASK) >> 16) as u8
+}
+
+#[inline(always)]
+const fn mid_addr_byte(addr: u32) -> u8 {
+    ((addr & ADDR_MID_MASK) >> 8) as u8
+}
+
+#[inline(always)]
+const fn lsb_addr_byte(addr: u32) -> u8 {
+    (addr & ADDR_LSB_MASK) as u8
+}
+
+pub const WPEN_ENABLE_MASK: u8 = 1 << 7;
+pub const BP_0_ENABLE_MASK: u8 = 1 << 2;
+pub const BP_1_ENABLE_MASK: u8 = 1 << 3;
+
+pub struct Nvm {
+    spi: pac::Spi3,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", defmt::Format)]
+pub struct VerifyError {
+    addr: u32,
+    found: u8,
+    expected: u8,
+}
+
+impl Nvm {
+    pub fn new(syscfg: &mut pac::Sysconfig, spi: pac::Spi3, _clocks: &Clocks) -> Self {
+        crate::clock::enable_peripheral_clock(syscfg, pac::Spi3::PERIPH_SEL);
+        // This is done in the C HAL.
+        syscfg.assert_periph_reset_for_two_cycles(pac::Spi3::PERIPH_SEL);
+
+        let (cpo_bit, cph_bit) = mode_to_cpo_cph_bit(MODE_0);
+        spi.ctrl0().write(|w| {
+            unsafe {
+                w.size().bits(8);
+                w.scrdv().bits(NVM_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().clear_bit();
+            w.sod().clear_bit();
+            w.ms().set_bit();
+            w.mdlycap().clear_bit();
+            w.blockmode().set_bit();
+            unsafe { w.ss().bits(0) };
+            w.bmstall().set_bit()
+        });
+
+        spi.fifo_clr().write(|w| {
+            w.rxfifo().set_bit();
+            w.txfifo().set_bit()
+        });
+        // Enable the peripheral as the last step as recommended in the
+        // programmers guide
+        spi.ctrl1().modify(|_, w| w.enable().set_bit());
+
+        let mut nvm = Self { spi };
+        nvm.disable_write_prot();
+        nvm
+    }
+
+    pub fn disable_write_prot(&mut self) {
+        self.wait_for_tx_idle();
+        self.write_with_bmstop(FRAM_WREN);
+        self.wait_for_tx_idle();
+        self.write_single(FRAM_WRSR);
+        self.write_with_bmstop(0x00);
+    }
+
+    pub fn enable_write_prot(&mut self) {
+        self.wait_for_tx_idle();
+        self.write_with_bmstop(FRAM_WREN);
+        self.wait_for_tx_idle();
+        self.write_single(FRAM_WRSR);
+        self.write_with_bmstop(0x00);
+    }
+
+    #[inline(always)]
+    pub fn write_single(&self, word: u8) {
+        self.spi.data().write(|w| unsafe { w.bits(word as u32) })
+    }
+
+    #[inline(always)]
+    pub fn write_with_bmstop(&self, word: u8) {
+        self.spi
+            .data()
+            .write(|w| unsafe { w.bits(BMSTART_BMSTOP_MASK | word as u32) })
+    }
+
+    #[inline(always)]
+    pub fn wait_for_tx_idle(&self) {
+        while self.spi.status().read().tfe().bit_is_clear() {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[inline(always)]
+    pub fn wait_for_rx_available(&self) {
+        while !self.spi.status().read().rne().bit_is_set() {
+            cortex_m::asm::nop();
+        }
+    }
+
+    #[inline(always)]
+    pub fn read_single_word(&self) -> u32 {
+        self.spi.data().read().bits()
+    }
+
+    pub fn write_data(&self, addr: u32, data: &[u8]) {
+        self.wait_for_tx_idle();
+        self.write_with_bmstop(FRAM_WREN);
+        self.wait_for_tx_idle();
+        self.write_single(FRAM_WRITE);
+        self.write_single(msb_addr_byte(addr));
+        self.write_single(mid_addr_byte(addr));
+        self.write_single(lsb_addr_byte(addr));
+        for byte in data.iter().take(data.len() - 1) {
+            while self.spi.status().read().tnf().bit_is_clear() {
+                cortex_m::asm::nop();
+            }
+            self.write_single(*byte);
+            self.read_single_word();
+        }
+        while self.spi.status().read().tnf().bit_is_clear() {
+            cortex_m::asm::nop();
+        }
+        self.write_with_bmstop(*data.last().unwrap());
+        self.wait_for_tx_idle();
+    }
+
+    pub fn read_data(&self, addr: u32, buf: &mut [u8]) {
+        self.common_read_start(addr);
+        for byte in buf {
+            // Pump the SPI.
+            self.write_single(0);
+            self.wait_for_rx_available();
+            *byte = self.read_single_word() as u8;
+        }
+        self.write_with_bmstop(0);
+        self.wait_for_tx_idle();
+    }
+
+    pub fn verify_data(&self, addr: u32, comp_buf: &[u8]) -> Result<(), VerifyError> {
+        self.common_read_start(addr);
+        for (idx, byte) in comp_buf.iter().enumerate() {
+            // Pump the SPI.
+            self.write_single(0);
+            self.wait_for_rx_available();
+            let next_word = self.read_single_word() as u8;
+            if next_word != *byte {
+                return Err(VerifyError {
+                    addr: addr + idx as u32,
+                    found: next_word,
+                    expected: *byte,
+                });
+            }
+        }
+        Ok(())
+    }
+
+    /// This function releases the ROM SPI and enables chip write protection again.
+    pub fn release(self) -> pac::Spi3 {
+        self.wait_for_tx_idle();
+        self.write_with_bmstop(FRAM_WREN);
+        self.wait_for_tx_idle();
+        self.write_single(WPEN_ENABLE_MASK | BP_0_ENABLE_MASK | BP_1_ENABLE_MASK);
+        self.spi
+    }
+
+    fn common_read_start(&self, addr: u32) {
+        self.wait_for_tx_idle();
+        self.write_single(FRAM_READ);
+        self.write_single(msb_addr_byte(addr));
+        self.write_single(mid_addr_byte(addr));
+        self.write_single(lsb_addr_byte(addr));
+        for _ in 0..4 {
+            // Pump the SPI.
+            self.write_single(0);
+            self.wait_for_rx_available();
+            // The first 4 data bytes received need to be ignored.
+            self.read_single_word();
+        }
+    }
+}

va416xx-hal/src/spi.rs

@@ -27,6 +27,9 @@ use crate::{
 // FIFO has a depth of 16.
 const FILL_DEPTH: usize = 12;
 
+pub const BMSTART_BMSTOP_MASK: u32 = 1 << 31;
+pub const BMSKIPDATA_MASK: u32 = 1 << 30;
+
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub enum HwChipSelectId {
     Id0 = 0,
@@ -99,6 +102,14 @@ impl OptionalHwCs<pac::Spi1> for NoneT {}
 impl OptionalHwCs<pac::Spi2> for NoneT {}
 impl OptionalHwCs<pac::Spi3> for NoneT {}
 
+pub struct RomSpiSck;
+pub struct RomSpiMiso;
+pub struct RomSpiMosi;
+
+impl Sealed for RomSpiSck {}
+impl Sealed for RomSpiMosi {}
+impl Sealed for RomSpiMiso {}
+
 // SPI 0
 
 impl PinSck<pac::Spi0> for Pin<PB15, AltFunc1> {}
@@ -137,6 +148,10 @@ impl PinMosi<pac::Spi2> for Pin<PF7, AltFunc2> {}
 impl PinMiso<pac::Spi2> for Pin<PF6, AltFunc2> {}
 
 // SPI3 is shared with the ROM SPI pins and has its own dedicated pins.
+//
+impl PinSck<pac::Spi3> for RomSpiSck {}
+impl PinMosi<pac::Spi3> for RomSpiMosi {}
+impl PinMiso<pac::Spi3> for RomSpiMiso {}
 
 // SPI 0 HW CS pins
 
@@ -315,6 +330,11 @@ impl SpiConfig {
         self
     }
 
+    pub fn ser_clock_rate_div(mut self, div: u8) -> Self {
+        self.ser_clock_rate_div = div;
+        self
+    }
+
     pub fn master_mode(mut self, master: bool) -> Self {
         self.ms = !master;
         self
@@ -391,6 +411,16 @@ impl Instance for pac::Spi2 {
     }
 }
 
+impl Instance for pac::Spi3 {
+    const IDX: u8 = 3;
+    const PERIPH_SEL: PeripheralSelect = PeripheralSelect::Spi3;
+
+    #[inline(always)]
+    fn ptr() -> *const SpiRegBlock {
+        Self::ptr()
+    }
+}
+
 //==================================================================================================
 // Spi
 //==================================================================================================
@@ -410,7 +440,7 @@ pub struct Spi<SpiInstance, Pins, Word = u8> {
     pins: Pins,
 }
 
-fn mode_to_cpo_cph_bit(mode: embedded_hal::spi::Mode) -> (bool, bool) {
+pub fn mode_to_cpo_cph_bit(mode: embedded_hal::spi::Mode) -> (bool, bool) {
     match mode {
         embedded_hal::spi::MODE_0 => (false, false),
         embedded_hal::spi::MODE_1 => (false, true),
@@ -441,6 +471,11 @@ where
         });
     }
 
+    #[inline]
+    pub fn spi_instance(&self) -> &SpiInstance {
+        &self.spi
+    }
+
     #[inline]
     pub fn clear_tx_fifo(&self) {
         self.spi.fifo_clr().write(|w| w.txfifo().set_bit());
@@ -601,11 +636,11 @@ where
     ///     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,
+        spi: SpiI,
+        clocks: &crate::clock::Clocks,
+        pins: (Sck, Miso, Mosi),
+        spi_cfg: SpiConfig,
         transfer_cfg: Option<&ErasedTransferConfig>,
     ) -> Self {
         crate::clock::enable_peripheral_clock(syscfg, SpiI::PERIPH_SEL);
@@ -674,33 +709,35 @@ where
         }
     }
 
+    delegate::delegate! {
+        to self.inner {
             #[inline]
-    pub fn cfg_clock(&mut self, spi_clk: impl Into<Hertz>) {
-        self.inner.cfg_clock(spi_clk);
+            pub fn cfg_clock(&mut self, spi_clk: impl Into<Hertz>);
+
+            #[inline]
+            pub fn spi_instance(&self) -> &SpiI;
+
+            #[inline]
+            pub fn cfg_mode(&mut self, mode: Mode);
+
+            #[inline]
+            pub fn perid(&self) -> u32;
+
+            pub fn cfg_transfer<HwCs: OptionalHwCs<SpiI>>(&mut self, transfer_cfg: &TransferConfig<HwCs>);
+
+        }
     }
 
     #[inline]
-    pub fn cfg_mode(&mut self, mode: Mode) {
-        self.inner.cfg_mode(mode);
-    }
-
     pub fn set_fill_word(&mut self, fill_word: Word) {
         self.inner.fill_word = fill_word;
     }
 
+    #[inline]
     pub fn fill_word(&self) -> Word {
         self.inner.fill_word
     }
 
-    #[inline]
-    pub fn perid(&self) -> u32 {
-        self.inner.perid()
-    }
-
-    pub fn cfg_transfer<HwCs: OptionalHwCs<SpiI>>(&mut self, transfer_cfg: &TransferConfig<HwCs>) {
-        self.inner.cfg_transfer(transfer_cfg);
-    }
-
     /// Releases the SPI peripheral and associated pins
     pub fn release(self) -> (SpiI, (Sck, Miso, Mosi), SpiConfig) {
         (self.inner.spi, self.pins, self.inner.cfg)

va416xx-hal/src/wdt.rs

@@ -40,7 +40,6 @@ pub fn disable_wdt_interrupts() {
 
 impl Wdt {
     pub fn new(
-        &self,
         syscfg: &mut pac::Sysconfig,
         wdt: pac::WatchDog,
         clocks: &Clocks,