Merge pull request 'smaller improvements' (#28) from more-smaller-improvements into main

Reviewed-on: #28

.github/workflows/ci.yml

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

README.md

@@ -24,7 +24,11 @@ It also contains the following helper crates:
 - The [`flashloader`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
   crate contains a sample flashloader which is able to update the redundant images in the NVM which
   is compatible to the provided bootloader as well.
-- The `examples` folder contains various example applications crates for the HAL and the PAC.
+- The [`examples`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples)
+  folder contains various example applications crates using the HAL and the PAC.
+  This folder also contains dedicated example applications using the
+  [`RTIC`](https://rtic.rs/2/book/en/) and [`embassy`](https://github.com/embassy-rs/embassy)
+  native Rust RTOSes.
 
 ## Using the `.cargo/config.toml` file
 

automation/Jenkinsfile

@@ -25,7 +25,9 @@ pipeline {
         stage('Docs') {
           steps {
             sh """
-              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-peb1
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx-hal --features va41630
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx
             """
           }
         }

examples/README.md

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

examples/rtic/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "rtic"
+name = "rtic-example"
 version = "0.1.0"
 edition = "2021"
 

va416xx-hal/CHANGELOG.md

@@ -8,7 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.0]
+# [v0.2.0] 2024-09-18
 
 - Documentation improvements
 - Improved UART typing support: Validity of passed pins is now checked properly
@@ -25,6 +25,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Fixes for the SPI implementation where the clock divider values were not calculated
   correctly
 - Fixes for UART IRQ handler implementation
+- Add new IRQ router initialization method `irq_router::enable_and_init_irq_router`. This method
+  also sets the initial values of some registers to 0 where the datasheet and the actual reset
+  value are inconsistent, which can lead to weird bugs like IRQs not being triggered properly.
 
 ## Added
 

va416xx-hal/src/clock.rs

@@ -311,6 +311,12 @@ impl ClkgenCfgr {
         self
     }
 
+    #[inline]
+    pub fn pll_cfg(mut self, pll_cfg: PllCfg) -> Self {
+        self.pll_cfg = Some(pll_cfg);
+        self
+    }
+
     #[inline]
     pub fn ref_clk_sel(mut self, ref_clk_sel: RefClkSel) -> Self {
         self.ref_clk_sel = ref_clk_sel;
@@ -318,7 +324,7 @@ impl ClkgenCfgr {
     }
 
     /// Configures all clocks and return a clock configuration structure containing the final
-    /// frozen clock.
+    /// frozen clocks.
     ///
     /// Internal implementation details: This implementation is based on the HAL implementation
     /// which performs a lot of delays. I do not know if all of those are necessary, but
@@ -499,7 +505,7 @@ impl Clocks {
     }
 
     /// Returns the frequency of the APB0 which is equal to the system clock.
-    pub fn apb0(&self) -> Hertz {
+    pub const fn apb0(&self) -> Hertz {
         self.sysclk()
     }
 

va416xx-hal/src/gpio/mod.rs

@@ -21,7 +21,6 @@
 //! ## Examples
 //!
 //! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
-
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct IsMaskedError;

va416xx-hal/src/irq_router.rs

@@ -1,8 +1,16 @@
+//! IRQ Router peripheral support.
 use crate::{
     clock::{PeripheralSelect, SyscfgExt},
     pac,
 };
 
+/// This enables and initiates the peripheral.
+///
+/// Please note that this method also writes 0 to the registers which do not have 0 as the default
+/// reset value. The programmers guide v1.2 and the actual values inspected using a SVD viewer
+/// are inconsistent here, and the registers being non-zero can actually lead to weird bugs
+/// when working with interrupts. Registers DMASELx and ADCSEL/DMASELx will reset to 0x7f and 0x1f
+/// respectively instead of 0x00.
 pub fn enable_and_init_irq_router(sysconfig: &mut pac::Sysconfig, irq_router: &pac::IrqRouter) {
     sysconfig.enable_peripheral_clock(PeripheralSelect::IrqRouter);
     sysconfig.assert_periph_reset_for_two_cycles(PeripheralSelect::IrqRouter);

va416xx-hal/src/lib.rs

@@ -20,7 +20,7 @@
 //! is not very accurate. You can use the [crate::clock] module for this. If you are working
 //! with interrupts, it is strongly recommended to set up the IRQ router with the
 //! [crate::irq_router] module at the very least because that peripheral has confusing and/or
-//! faulty register reset values which might leads to weird bugs and glitches.
+//! faulty register reset values which might lead to weird bugs and glitches.
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_auto_cfg))]
 #[cfg(test)]
@@ -46,7 +46,6 @@ pub mod edac;
 pub mod gpio;
 pub mod i2c;
 pub mod irq_router;
-pub mod nvm;
 pub mod pwm;
 pub mod spi;
 pub mod time;
@@ -55,6 +54,9 @@ pub mod typelevel;
 pub mod uart;
 pub mod wdt;
 
+#[cfg(feature = "va41630")]
+pub mod nvm;
+
 #[cfg(not(feature = "va41628"))]
 pub mod adc;
 #[cfg(not(feature = "va41628"))]

va416xx-hal/src/nvm.rs

@@ -1,3 +1,10 @@
+//! Non-volatile memory (NVM) driver.
+//!
+//! Provides a basic API to work with the internal NVM of the VA41630 MCU.
+//!
+//! # Examples
+//!
+//! - [Flashloader application](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
 use embedded_hal::spi::MODE_0;
 
 use crate::clock::{Clocks, SyscfgExt};

va416xx-hal/src/uart.rs

@@ -3,6 +3,7 @@
 //! ## Examples
 //!
 //! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/uart.rs)
+//! - [Flashloader app using UART with IRQs](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
 use core::ops::Deref;
 
 use embedded_hal_nb::serial::Read;

vscode/launch.json

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

vscode/tasks.json

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