start adding embassy example

Cargo.toml

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

examples/embassy/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "embassy"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+rtt-target = { version = "0.5" }
+panic-rtt-target = { version = "0.1" }
+
+embassy-sync = { version = "0.6.0" }
+embassy-time = { version = "0.3.2", features = ["tick-hz-32_768"] }
+
+[dependencies.embassy-executor]
+version = "0.6.0"
+features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "integrated-timers"]
+
+[dependencies.va416xx-hal]
+path = "../../va416xx-hal"
+features = ["va41630"]

examples/embassy/src/main.rs

@@ -0,0 +1,23 @@
+#![no_std]
+#![no_main]
+use embassy_executor::Spawner;
+use embassy_time::Timer;
+use embedded_hal::digital::StatefulOutputPin;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va416xx_hal::{gpio::PinsG, pac};
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("VA416xx RTT Demo");
+
+    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();
+    loop {
+        Timer::after_millis(200).await;
+        led.toggle().ok();
+    }
+}

examples/rtic/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "rtic"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = "1"
+rtt-target = { version = "0.5" }
+rtic-sync = { version = "1.3", features = ["defmt-03"] }
+panic-rtt-target = { version = "0.1.3" }
+
+[dependencies.va416xx-hal]
+path = "../../va416xx-hal"
+features = ["va41630"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]

examples/rtic/src/main.rs

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

examples/simple/Cargo.toml

@@ -4,11 +4,10 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 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"

flashloader/image-loader.py

@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
-from spacepackets.ecss import RequestId
 from spacepackets.ecss.defs import PusService
 from spacepackets.ecss.tm import PusTm
 import toml
 import struct
 import logging
 import argparse
-import threading
 import time
 import enum
 from tmtccmd.com.serial_base import SerialCfg

flashloader/src/main.rs

@@ -521,7 +521,7 @@ mod app {
                     .unwrap();
                 Mono::delay(2.millis()).await;
             }
-            Mono::delay(30.millis()).await;
+            Mono::delay(50.millis()).await;
         }
     }