Merge pull request 'bump version' (#36) from prep-hal-release into main

Reviewed-on: #36

.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

Cargo.toml

@@ -1,12 +1,14 @@
 [workspace]
 resolver = "2"
 members = [
+  "va416xx",
+  "va416xx-hal",
+  "vorago-peb1",
   "bootloader",
   "flashloader",
   "examples/simple",
-	"va416xx",
+  "examples/embassy",
-	"va416xx-hal",
+  "examples/rtic",
-	"vorago-peb1"
 ]
 exclude = [
   "flashloader/slot-a-blinky",
@@ -39,4 +41,4 @@ debug-assertions = false # <-
 lto = true
 opt-level = 'z'            # <-
 overflow-checks = false  # <-
-# strip = true  # Automatically strip symbols from the binary.
+strip = true  # Automatically strip symbols from the binary.

README.md

@@ -19,7 +19,16 @@ This workspace contains the following crates:
 
 It also contains the following helper crates:
 
-- The `examples` crates contains various example applications for the HAL and the PAC.
+- The [`bootloader`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/bootloader)
+  crate contains a sample bootloader strongly based on the one provided by Vorago.
+- 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`](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
 
@@ -90,8 +99,10 @@ example.
 
 ### Using VS Code
 
-Assuming a working debug connection to your VA108xx board, you can debug using VS Code with
+Assuming a working debug connection to your VA416xx board, you can debug using VS Code with
 the [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+Please make sure that [`objdump-multiarch` and `nm-multiarch`](https://forums.raspberrypi.com/viewtopic.php?t=333146)
+are installed as well.
 
 Some sample configuration files for VS code were provided and can be used by running
 `cp -rT vscode .vscode` like specified above. After that, you can use `Run and Debug`
@@ -106,4 +117,5 @@ configuration variables in your `settings.json`:
 - `"cortex-debug.gdbPath.osx"`
 
 The provided VS Code configurations also provide an integrated RTT logger, which you can access
-via the terminal at `RTT Ch:0 console`.
+via the terminal at `RTT Ch:0 console`. In order for the RTT block address detection to
+work properly, `objdump-multiarch` and `nm-multiarch` need to be installed.

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
             """
           }
         }

bootloader/Cargo.toml

@@ -8,9 +8,15 @@ cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embedded-hal = "1"
 panic-rtt-target = { version = "0.1.3" }
+panic-halt = { version = "0.2" }
 rtt-target = { version = "0.5" }
 crc = "3"
+static_assertions = "1"
 
 [dependencies.va416xx-hal]
 path = "../va416xx-hal"
-version = "0.1.0"
+features = ["va41630"]
+
+[features]
+default = []
+rtt-panic = []

bootloader/README.md

@@ -0,0 +1,47 @@
+VA416xx Bootloader Application
+=======
+
+This is the Rust version of the bootloader supplied by Vorago.
+
+## Memory Map
+
+The bootloader uses the following memory map:
+
+| Address | Notes | Size |
+| ------ | ---- |  ---- |
+| 0x0 | Bootloader start | code up to 0x3FFC bytes |
+| 0x3FFC | Bootloader CRC | word |
+| 0x4000 | App image A start | code up to 0x1DFF8 (~120K) bytes |
+| 0x21FF8 | App image A CRC check length | word |
+| 0x21FFC | App image A CRC check value | word |
+| 0x22000 | App image B start | code up to 0x1DFF8 (~120K) bytes |
+| 0x3FFF8 | App image B CRC check length | word |
+| 0x3FFFC | App image B CRC check value | word |
+| 0x40000 | End of NVM | end  |
+
+## Additional Information
+
+As opposed to the Vorago example code, this bootloader assumes a 40 MHz external clock
+but does not scale that clock up. It also uses a word (4 bytes) instead of a half-word for the CRC
+and uses the ISO 3309 CRC32 standard checksum.
+
+This bootloader does not provide tools to flash the NVM memories by itself. Instead, you can use
+the [flashloader](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
+application to perform this task using a CCSDS interface via a UART.
+
+The bootloader performs the following steps:
+
+1. The application will calculate the checksum of itself if the bootloader CRC is blank (all zeroes
+   or all ones). If the CRC is not blank and the checksum check fails, it will immediately boot
+   application image A. Otherwise, it proceeds to the next step.
+2. Check the checksum of App A. If that checksum is valid, it will boot App A. If not, it will
+   proceed to the next step.
+3. Check the checksum of App B. If that checksum is valid, it will boot App B. If not, it will
+   boot App A as the fallback image.
+
+You could adapt and combine this bootloader with a non-volatile memory to select a prefered app
+image, which would be a first step towards an updatable flight software.
+
+Please note that you *MUST* compile the application at slot A and slot B with an appropriate
+`memory.x` file where the base address of the `FLASH` was adapted according to the base address
+shown in the memory map above. The memory files to do this were provided in the `scripts` folder.

bootloader/src/main.rs

@@ -1,17 +1,5 @@
 //! 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]
@@ -19,6 +7,9 @@
 
 use cortex_m_rt::entry;
 use crc::{Crc, CRC_32_ISO_HDLC};
+#[cfg(not(feature = "rtt-panic"))]
+use panic_halt as _;
+#[cfg(feature = "rtt-panic")]
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va416xx_hal::{
@@ -42,23 +33,42 @@ const DEBUG_PRINTOUTS: bool = true;
 // self-flash itself. It is recommended that you use a tool like probe-rs, Keil IDE, or a flash
 // loader to boot a bootloader without this feature.
 const FLASH_SELF: bool = false;
+// Useful for debugging and see what the bootloader is doing. Enabled currently, because
+// the binary stays small enough.
+const RTT_PRINTOUT: bool = true;
 
 // Important bootloader addresses and offsets, vector table information.
 
+const NVM_SIZE: u32 = 0x40000;
+
 const BOOTLOADER_START_ADDR: u32 = 0x0;
+const BOOTLOADER_CRC_ADDR: u32 = BOOTLOADER_END_ADDR - 4;
 const BOOTLOADER_END_ADDR: u32 = 0x4000;
-const BOOTLOADER_CRC_ADDR: u32 = 0x3FFC;
+
-const APP_A_START_ADDR: u32 = 0x4000;
+// 0x4000
-pub const APP_A_END_ADDR: u32 = 0x22000;
+const APP_A_START_ADDR: u32 = BOOTLOADER_END_ADDR;
-// The actual size of the image which is relevant for CRC calculation.
+// The actual size of the image which is relevant for CRC calculation will be store at this
-const APP_A_SIZE_ADDR: u32 = 0x21FF8;
+// address.
-const APP_A_CRC_ADDR: u32 = 0x21FFC;
+// 0x21FF8
-const APP_B_START_ADDR: u32 = 0x22000;
+const APP_A_SIZE_ADDR: u32 = APP_B_END_ADDR - 8;
-pub const APP_B_END_ADDR: u32 = 0x40000;
+// 0x21FFC
-// The actual size of the image which is relevant for CRC calculation.
+const APP_A_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
-const APP_B_SIZE_ADDR: u32 = 0x3FFF8;
+pub const APP_A_END_ADDR: u32 = BOOTLOADER_END_ADDR + APP_IMG_SZ;
-const APP_B_CRC_ADDR: u32 = 0x3FFFC;
+
-pub const APP_IMG_SZ: u32 = 0x1E000;
+//  0x22000
+const APP_B_START_ADDR: u32 = APP_A_END_ADDR;
+// The actual size of the image which is relevant for CRC calculation will be stored at this
+// address.
+// 0x3FFF8
+const APP_B_SIZE_ADDR: u32 = APP_B_END_ADDR - 8;
+// 0x3FFFC
+const APP_B_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
+// 0x40000
+pub const APP_B_END_ADDR: u32 = NVM_SIZE;
+
+pub const APP_IMG_SZ: u32 = APP_B_END_ADDR - APP_A_START_ADDR / 2;
+
+static_assertions::const_assert!((APP_B_END_ADDR - BOOTLOADER_END_ADDR) % 2 == 0);
 
 pub const VECTOR_TABLE_OFFSET: u32 = 0x0;
 pub const VECTOR_TABLE_LEN: u32 = 0x350;
@@ -88,8 +98,10 @@ impl WdtInterface for OptWdt {
 
 #[entry]
 fn main() -> ! {
-    rtt_init_print!();
+    if RTT_PRINTOUT {
-    rprintln!("-- VA416xx bootloader --");
+        rtt_init_print!();
+        rprintln!("-- VA416xx bootloader --");
+    }
     let mut dp = pac::Peripherals::take().unwrap();
     let cp = cortex_m::Peripherals::take().unwrap();
     // Disable ROM protection.
@@ -133,18 +145,24 @@ fn main() -> ! {
         nvm.write_data(0x0, &first_four_bytes);
         nvm.write_data(0x4, bootloader_data);
         if let Err(e) = nvm.verify_data(0x0, &first_four_bytes) {
-            rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            }
         }
         if let Err(e) = nvm.verify_data(0x4, bootloader_data) {
-            rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            if RTT_PRINTOUT {
+                rprintln!("verification of self-flash to NVM failed: {:?}", e);
+            }
         }
 
         nvm.write_data(BOOTLOADER_CRC_ADDR, &bootloader_crc.to_be_bytes());
         if let Err(e) = nvm.verify_data(BOOTLOADER_CRC_ADDR, &bootloader_crc.to_be_bytes()) {
-            rprintln!(
+            if RTT_PRINTOUT {
-                "error: CRC verification for bootloader self-flash failed: {:?}",
+                rprintln!(
-                e
+                    "error: CRC verification for bootloader self-flash failed: {:?}",
-            );
+                    e
+                );
+            }
         }
     }
 
@@ -156,7 +174,7 @@ fn main() -> ! {
     } else if check_app_crc(AppSel::B, &opt_wdt) {
         boot_app(AppSel::B, &cp)
     } else {
-        if DEBUG_PRINTOUTS {
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
             rprintln!("both images corrupt! booting image A");
         }
         // TODO: Shift a CCSDS packet out to inform host/OBC about image corruption.
@@ -184,7 +202,7 @@ fn check_own_crc(wdt: &OptWdt, nvm: &Nvm, cp: &cortex_m::Peripherals) {
     let crc_calc = digest.finalize();
     wdt.feed();
     if crc_exp == 0x0000 || crc_exp == 0xffff {
-        if DEBUG_PRINTOUTS {
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
             rprintln!("BL CRC blank - prog new CRC");
         }
         // Blank CRC, write it to NVM.
@@ -194,7 +212,7 @@ fn check_own_crc(wdt: &OptWdt, nvm: &Nvm, cp: &cortex_m::Peripherals) {
         // cortex_m::peripheral::SCB::sys_reset();
     } else if crc_exp != crc_calc {
         // Bootloader is corrupted. Try to run App A.
-        if DEBUG_PRINTOUTS {
+        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
             rprintln!(
                 "bootloader CRC corrupt, read {} and expected {}. booting image A immediately",
                 crc_calc,
@@ -217,7 +235,7 @@ fn read_four_bytes_at_addr_zero(buf: &mut [u8; 4]) {
     }
 }
 fn check_app_crc(app_sel: AppSel, wdt: &OptWdt) -> bool {
-    if DEBUG_PRINTOUTS {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
         rprintln!("Checking image {:?}", app_sel);
     }
     if app_sel == AppSel::A {
@@ -237,7 +255,9 @@ fn check_app_given_addr(
     let image_size = unsafe { (image_size_addr as *const u32).read_unaligned().to_be() };
     // Sanity check.
     if image_size > APP_A_END_ADDR - APP_A_START_ADDR - 8 {
-        rprintln!("detected invalid app size {}", image_size);
+        if RTT_PRINTOUT {
+            rprintln!("detected invalid app size {}", image_size);
+        }
         return false;
     }
     wdt.feed();
@@ -252,7 +272,7 @@ fn check_app_given_addr(
 }
 
 fn boot_app(app_sel: AppSel, cp: &cortex_m::Peripherals) -> ! {
-    if DEBUG_PRINTOUTS {
+    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
         rprintln!("booting app {:?}", app_sel);
     }
     let clkgen = unsafe { pac::Clkgen::steal() };

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/embassy/Cargo.toml

@@ -0,0 +1,45 @@
+[package]
+name = "embassy-example"
+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"
+embedded-io = "0.6"
+
+rtt-target = { version = "0.5" }
+panic-rtt-target = { version = "0.1" }
+critical-section = "1"
+
+embassy-sync = { version = "0.6.0" }
+embassy-time = { version = "0.3.2" }
+embassy-time-driver = { version = "0.1" }
+
+[dependencies.ringbuf]
+version = "0.4"
+default-features = false
+
+[dependencies.once_cell]
+version = "1"
+default-features = false
+features = ["critical-section"]
+
+[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"]
+
+[features]
+default = ["ticks-hz-1_000"]
+ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
+ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

examples/embassy/src/bin/uart-echo-with-irq.rs

@@ -0,0 +1,161 @@
+//! This is an example of using the UART HAL abstraction with the IRQ support and embassy.
+//!
+//! It uses the UART0 for communication with another MCU or a host computer (recommended).
+//! You can connect a USB-to-Serial converter to the UART0 pins and then use a serial terminal
+//! application like picocom to send data to the microcontroller, which should be echoed
+//! back to the sender.
+//!
+//! This application uses the interrupt support of the VA416xx to read the data arriving
+//! on the UART without requiring polling.
+#![no_std]
+#![no_main]
+use core::cell::RefCell;
+
+use embassy_example::EXTCLK_FREQ;
+use embassy_executor::Spawner;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+use embassy_time::{Duration, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io::Write;
+use panic_rtt_target as _;
+use ringbuf::{
+    traits::{Consumer, Observer, Producer},
+    StaticRb,
+};
+use rtt_target::{rprintln, rtt_init_print};
+use va416xx_hal::{
+    gpio::{OutputReadablePushPull, Pin, PinsG, PG5},
+    pac::{self, interrupt},
+    prelude::*,
+    time::Hertz,
+    uart,
+};
+
+pub type SharedUart = Mutex<CriticalSectionRawMutex, RefCell<Option<uart::RxWithIrq<pac::Uart0>>>>;
+static RX: SharedUart = Mutex::new(RefCell::new(None));
+
+const BAUDRATE: u32 = 115200;
+
+// Ring buffer size.
+const RING_BUF_SIZE: usize = 2048;
+
+pub type SharedRingBuf =
+    Mutex<CriticalSectionRawMutex, RefCell<Option<StaticRb<u8, RING_BUF_SIZE>>>>;
+// Ring buffers to handling variable sized telemetry
+static RINGBUF: SharedRingBuf = Mutex::new(RefCell::new(None));
+
+// See https://embassy.dev/book/#_sharing_using_a_mutex for background information about sharing
+// a peripheral with embassy.
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("VA416xx UART-Embassy Example");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Initialize the systick interrupt & obtain the token to prove that we did
+    // 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();
+    // Safety: Only called once here.
+    unsafe {
+        embassy_example::init(
+            &mut dp.sysconfig,
+            &dp.irq_router,
+            dp.tim15,
+            dp.tim14,
+            &clocks,
+        )
+    };
+
+    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
+
+    let tx = portg.pg0.into_funsel_1();
+    let rx = portg.pg1.into_funsel_1();
+
+    let uart0 = uart::Uart::new(
+        dp.uart0,
+        (tx, rx),
+        Hertz::from_raw(BAUDRATE),
+        &mut dp.sysconfig,
+        &clocks,
+    );
+    let (mut tx, rx) = uart0.split();
+    let mut rx = rx.into_rx_with_irq();
+    rx.start();
+    RX.lock(|static_rx| {
+        static_rx.borrow_mut().replace(rx);
+    });
+    RINGBUF.lock(|static_rb| {
+        static_rb.borrow_mut().replace(StaticRb::default());
+    });
+
+    let led = portg.pg5.into_readable_push_pull_output();
+    let mut ticker = Ticker::every(Duration::from_millis(50));
+    let mut processing_buf: [u8; RING_BUF_SIZE] = [0; RING_BUF_SIZE];
+    let mut read_bytes = 0;
+    spawner.spawn(blinky(led)).expect("failed to spawn blinky");
+    loop {
+        RINGBUF.lock(|static_rb| {
+            let mut rb_borrow = static_rb.borrow_mut();
+            let rb_mut = rb_borrow.as_mut().unwrap();
+            read_bytes = rb_mut.occupied_len();
+            rb_mut.pop_slice(&mut processing_buf[0..read_bytes]);
+        });
+        // Simply send back all received data.
+        tx.write_all(&processing_buf[0..read_bytes])
+            .expect("sending back read data failed");
+        ticker.next().await;
+    }
+}
+
+#[embassy_executor::task]
+async fn blinky(mut led: Pin<PG5, OutputReadablePushPull>) {
+    let mut ticker = Ticker::every(Duration::from_millis(500));
+    loop {
+        led.toggle().ok();
+        ticker.next().await;
+    }
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn UART0_RX() {
+    let mut buf: [u8; 16] = [0; 16];
+    let mut read_len: usize = 0;
+    let mut errors = None;
+    RX.lock(|static_rx| {
+        let mut rx_borrow = static_rx.borrow_mut();
+        let rx_mut_ref = rx_borrow.as_mut().unwrap();
+        let result = rx_mut_ref.irq_handler(&mut buf);
+        read_len = result.bytes_read;
+        if result.errors.is_some() {
+            errors = result.errors;
+        }
+    });
+    let mut ringbuf_full = false;
+    if read_len > 0 {
+        // Send the received buffer to the main thread for processing via a ring buffer.
+        RINGBUF.lock(|static_rb| {
+            let mut rb_borrow = static_rb.borrow_mut();
+            let rb_mut_ref = rb_borrow.as_mut().unwrap();
+            if rb_mut_ref.vacant_len() < read_len {
+                ringbuf_full = true;
+                for _ in rb_mut_ref.pop_iter() {}
+            }
+            rb_mut_ref.push_slice(&buf[0..read_len]);
+        });
+    }
+
+    if errors.is_some() {
+        rprintln!("UART error: {:?}", errors);
+    }
+    if ringbuf_full {
+        rprintln!("ringbuffer is full, deleted oldest data");
+    }
+}

examples/embassy/src/lib.rs

@@ -0,0 +1,6 @@
+#![no_std]
+pub mod time_driver;
+
+pub const EXTCLK_FREQ: u32 = 40_000_000;
+
+pub use time_driver::init;

examples/embassy/src/main.rs

@@ -0,0 +1,45 @@
+#![no_std]
+#![no_main]
+use embassy_example::EXTCLK_FREQ;
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Instant, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use va416xx_hal::{gpio::PinsG, pac, prelude::*, time::Hertz};
+
+// main is itself an async function.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    rtt_init_print!();
+    rprintln!("VA416xx Embassy Demo");
+
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Initialize the systick interrupt & obtain the token to prove that we did
+    // 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();
+    // Safety: Only called once here.
+    unsafe {
+        embassy_example::init(
+            &mut dp.sysconfig,
+            &dp.irq_router,
+            dp.tim15,
+            dp.tim14,
+            &clocks,
+        )
+    };
+    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
+    let mut led = portg.pg5.into_readable_push_pull_output();
+    let mut ticker = Ticker::every(Duration::from_secs(1));
+    loop {
+        ticker.next().await;
+        rprintln!("Current time: {}", Instant::now().as_secs());
+        led.toggle().ok();
+    }
+}

examples/embassy/src/time_driver.rs

@@ -0,0 +1,323 @@
+//! This is a sample time driver implementation for the VA416xx family of devices, supporting
+//! one alarm and requiring/reserving 2 TIM peripherals. You could adapt this implementation to
+//! support more alarms.
+use core::{
+    cell::Cell,
+    mem, ptr,
+    sync::atomic::{AtomicU32, AtomicU8, Ordering},
+};
+use critical_section::CriticalSection;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+
+use embassy_time_driver::{time_driver_impl, AlarmHandle, Driver, TICK_HZ};
+use once_cell::sync::OnceCell;
+use va416xx_hal::{
+    clock::Clocks,
+    enable_interrupt,
+    irq_router::enable_and_init_irq_router,
+    pac::{self, interrupt},
+    timer::{assert_tim_reset_for_two_cycles, enable_tim_clk, ValidTim},
+};
+
+pub type TimekeeperClk = pac::Tim15;
+pub type AlarmClk0 = pac::Tim14;
+pub type AlarmClk1 = pac::Tim13;
+pub type AlarmClk2 = pac::Tim12;
+
+/// Initialization method for embassy
+///
+/// # Safety
+/// This has to be called once at initialization time to initiate the time driver for
+/// embassy.
+pub unsafe fn init(
+    syscfg: &mut pac::Sysconfig,
+    irq_router: &pac::IrqRouter,
+    timekeeper: TimekeeperClk,
+    alarm: AlarmClk0,
+    clocks: &Clocks,
+) {
+    enable_and_init_irq_router(syscfg, irq_router);
+    DRIVER.init(syscfg, timekeeper, alarm, clocks)
+}
+
+const fn alarm_tim(idx: usize) -> &'static pac::tim0::RegisterBlock {
+    // Safety: This is a static memory-mapped peripheral.
+    match idx {
+        0 => unsafe { &*AlarmClk0::ptr() },
+        1 => unsafe { &*AlarmClk1::ptr() },
+        2 => unsafe { &*AlarmClk2::ptr() },
+        _ => {
+            panic!("invalid alarm timer index")
+        }
+    }
+}
+
+const fn timekeeping_tim() -> &'static pac::tim0::RegisterBlock {
+    // Safety: This is a memory-mapped peripheral.
+    unsafe { &*TimekeeperClk::ptr() }
+}
+
+struct AlarmState {
+    timestamp: Cell<u64>,
+
+    // This is really a Option<(fn(*mut ()), *mut ())>
+    // but fn pointers aren't allowed in const yet
+    callback: Cell<*const ()>,
+    ctx: Cell<*mut ()>,
+}
+
+impl AlarmState {
+    const fn new() -> Self {
+        Self {
+            timestamp: Cell::new(u64::MAX),
+            callback: Cell::new(ptr::null()),
+            ctx: Cell::new(ptr::null_mut()),
+        }
+    }
+}
+
+unsafe impl Send for AlarmState {}
+
+const ALARM_COUNT: usize = 1;
+
+static SCALE: OnceCell<u64> = OnceCell::new();
+
+pub struct TimerDriverEmbassy {
+    periods: AtomicU32,
+    alarm_count: AtomicU8,
+    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
+    alarms: Mutex<CriticalSectionRawMutex, [AlarmState; ALARM_COUNT]>,
+}
+
+impl TimerDriverEmbassy {
+    fn init(
+        &self,
+        syscfg: &mut pac::Sysconfig,
+        timekeeper: TimekeeperClk,
+        alarm_tim: AlarmClk0,
+        clocks: &Clocks,
+    ) {
+        enable_tim_clk(syscfg, TimekeeperClk::TIM_ID);
+        assert_tim_reset_for_two_cycles(syscfg, TimekeeperClk::TIM_ID);
+
+        // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
+        SCALE
+            .set((TimekeeperClk::clock(clocks).raw() / TICK_HZ as u32) as u64)
+            .unwrap();
+        timekeeper
+            .rst_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Decrementing counter.
+        timekeeper
+            .cnt_value()
+            .write(|w| unsafe { w.bits(u32::MAX) });
+        // Switch on. Timekeeping should always be done.
+        unsafe {
+            enable_interrupt(TimekeeperClk::IRQ);
+        }
+        timekeeper.ctrl().modify(|_, w| w.irq_enb().set_bit());
+        timekeeper.enable().write(|w| unsafe { w.bits(1) });
+
+        enable_tim_clk(syscfg, AlarmClk0::TIM_ID);
+        assert_tim_reset_for_two_cycles(syscfg, AlarmClk0::TIM_ID);
+
+        // Explicitely disable alarm timer until needed.
+        alarm_tim.ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+        // Enable general interrupts. The IRQ enable of the peripheral remains cleared.
+        unsafe {
+            enable_interrupt(AlarmClk0::IRQ);
+        }
+    }
+
+    // Should be called inside the IRQ of the timekeeper timer.
+    fn on_interrupt_timekeeping(&self) {
+        self.next_period();
+    }
+
+    // Should be called inside the IRQ of the alarm timer.
+    fn on_interrupt_alarm(&self, idx: usize) {
+        critical_section::with(|cs| {
+            if self.alarms.borrow(cs)[idx].timestamp.get() <= self.now() {
+                self.trigger_alarm(idx, cs)
+            }
+        })
+    }
+
+    fn next_period(&self) {
+        let period = self.periods.fetch_add(1, Ordering::AcqRel) + 1;
+        let t = (period as u64) << 32;
+        critical_section::with(|cs| {
+            for i in 0..ALARM_COUNT {
+                let alarm = &self.alarms.borrow(cs)[i];
+                let at = alarm.timestamp.get();
+                let alarm_tim = alarm_tim(0);
+                if at < t {
+                    self.trigger_alarm(i, cs);
+                } else {
+                    let remaining_ticks = (at - t) * *SCALE.get().unwrap();
+                    if remaining_ticks <= u32::MAX as u64 {
+                        alarm_tim.enable().write(|w| unsafe { w.bits(0) });
+                        alarm_tim
+                            .cnt_value()
+                            .write(|w| unsafe { w.bits(remaining_ticks as u32) });
+                        alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                        alarm_tim.enable().write(|w| unsafe { w.bits(1) })
+                    }
+                }
+            }
+        })
+    }
+
+    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
+        // safety: we're allowed to assume the AlarmState is created by us, and
+        // we never create one that's out of bounds.
+        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
+    }
+
+    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
+        alarm_tim(n).ctrl().modify(|_, w| {
+            w.irq_enb().clear_bit();
+            w.enable().clear_bit()
+        });
+
+        let alarm = &self.alarms.borrow(cs)[n];
+        // Setting the maximum value disables the alarm.
+        alarm.timestamp.set(u64::MAX);
+
+        // Call after clearing alarm, so the callback can set another alarm.
+
+        // safety:
+        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
+        // - other than that we only store valid function pointers into alarm.callback
+        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
+        f(alarm.ctx.get());
+    }
+}
+
+impl Driver for TimerDriverEmbassy {
+    fn now(&self) -> u64 {
+        if SCALE.get().is_none() {
+            return 0;
+        }
+        let mut period1: u32;
+        let mut period2: u32;
+        let mut counter_val: u32;
+
+        loop {
+            // Acquire ensures that we get the latest value of `periods` and
+            // no instructions can be reordered before the load.
+            period1 = self.periods.load(Ordering::Acquire);
+
+            counter_val = u32::MAX - timekeeping_tim().cnt_value().read().bits();
+
+            // Double read to protect against race conditions when the counter is overflowing.
+            period2 = self.periods.load(Ordering::Relaxed);
+            if period1 == period2 {
+                let now = (((period1 as u64) << 32) | counter_val as u64) / *SCALE.get().unwrap();
+                return now;
+            }
+        }
+    }
+
+    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
+        let id = self
+            .alarm_count
+            .fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
+                if x < ALARM_COUNT as u8 {
+                    Some(x + 1)
+                } else {
+                    None
+                }
+            });
+
+        match id {
+            Ok(id) => Some(AlarmHandle::new(id)),
+            Err(_) => None,
+        }
+    }
+
+    fn set_alarm_callback(
+        &self,
+        alarm: embassy_time_driver::AlarmHandle,
+        callback: fn(*mut ()),
+        ctx: *mut (),
+    ) {
+        critical_section::with(|cs| {
+            let alarm = self.get_alarm(cs, alarm);
+
+            alarm.callback.set(callback as *const ());
+            alarm.ctx.set(ctx);
+        })
+    }
+
+    fn set_alarm(&self, alarm: embassy_time_driver::AlarmHandle, timestamp: u64) -> bool {
+        if SCALE.get().is_none() {
+            return false;
+        }
+        critical_section::with(|cs| {
+            let n = alarm.id();
+            let alarm_tim = alarm_tim(n.into());
+            alarm_tim.ctrl().modify(|_, w| {
+                w.irq_enb().clear_bit();
+                w.enable().clear_bit()
+            });
+
+            let alarm = self.get_alarm(cs, alarm);
+            alarm.timestamp.set(timestamp);
+
+            let t = self.now();
+            if timestamp <= t {
+                alarm.timestamp.set(u64::MAX);
+                return false;
+            }
+
+            // If it hasn't triggered yet, setup the relevant reset value, regardless of whether
+            // the interrupts are enabled or not. When they are enabled at a later point, the
+            // right value is already set.
+
+            // If the timestamp is in the next few ticks, add a bit of buffer to be sure the alarm
+            // is not missed.
+            //
+            // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
+            // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
+            // and we don't do that here.
+            let safe_timestamp = timestamp.max(t + 3);
+            let timer_ticks = (safe_timestamp - t) * *SCALE.get().unwrap();
+            alarm_tim.rst_value().write(|w| unsafe { w.bits(u32::MAX) });
+            if timer_ticks <= u32::MAX as u64 {
+                alarm_tim
+                    .cnt_value()
+                    .write(|w| unsafe { w.bits(timer_ticks as u32) });
+                alarm_tim.ctrl().modify(|_, w| w.irq_enb().set_bit());
+                alarm_tim.enable().write(|w| unsafe { w.bits(1) });
+            }
+            // If it's too far in the future, don't enable timer yet.
+            // It will be enabled later by `next_period`.
+
+            true
+        })
+    }
+}
+
+time_driver_impl!(
+    static DRIVER: TimerDriverEmbassy = TimerDriverEmbassy {
+        periods: AtomicU32::new(0),
+        alarm_count: AtomicU8::new(0),
+        alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [AlarmState::new(); ALARM_COUNT])
+});
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM15() {
+    DRIVER.on_interrupt_timekeeping()
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM14() {
+    DRIVER.on_interrupt_alarm(0)
+}

examples/rtic/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "rtic-example"
+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 +1,71 @@
+//! RTIC minimal blinky
+#![no_main]
+#![no_std]
+
+use va416xx_hal::time::Hertz;
+
+const EXTCLK_FREQ: Hertz = Hertz::from_raw(40_000_000);
+
+#[rtic::app(device = pac, dispatchers = [U1, U2, U3])]
+mod app {
+    use super::*;
+    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,
+        prelude::*,
+    };
+
+    #[local]
+    struct Local {
+        led: Pin<PG5, OutputReadablePushPull>,
+    }
+
+    #[shared]
+    struct Shared {}
+
+    rtic_monotonics::systick_monotonic!(Mono, 1_000);
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        rtt_init_default!();
+        rprintln!("-- Vorago RTIC example application --");
+        // Use the external clock connected to XTAL_N.
+        let clocks = cx
+            .device
+            .clkgen
+            .constrain()
+            .xtal_n_clk_with_src_freq(EXTCLK_FREQ)
+            .freeze(&mut cx.device.sysconfig)
+            .unwrap();
+        Mono::start(cx.core.SYST, clocks.sysclk().raw());
+        let portg = PinsG::new(&mut cx.device.sysconfig, cx.device.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 +4,11 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
+critical-section = "1"
 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"
@@ -23,8 +23,16 @@ path = "../../va416xx-hal"
 path = "../../vorago-peb1"
 optional = true
 
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "2"
+features = ["cortex-m-systick"]
+
 [features]
-default = []
+default = ["va41630"]
 va41630 = ["va416xx-hal/va41630", "has-adc-dac"]
 va41629 = ["va416xx-hal/va41629", "has-adc-dac"]
 va41628 = ["va416xx-hal/va41628"]

examples/simple/examples/dma.rs

@@ -4,14 +4,15 @@
 
 use core::cell::Cell;
 
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use embedded_hal::delay::DelayNs;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use simple_examples::peb1;
 use va416xx_hal::dma::{Dma, DmaCfg, DmaChannel, DmaCtrlBlock};
-use va416xx_hal::pwm::CountdownTimer;
+use va416xx_hal::irq_router::enable_and_init_irq_router;
+use va416xx_hal::timer::CountdownTimer;
 use va416xx_hal::{
     pac::{self, interrupt},
     prelude::*,
@@ -45,6 +46,7 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
+    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     // Safety: The DMA control block has an alignment rule of 128 and we constructed it directly
     // statically.
     let dma = Dma::new(&mut dp.sysconfig, dp.dma, DmaCfg::default(), unsafe {
@@ -88,10 +90,10 @@ fn transfer_example_8_bit(
     (0..64).for_each(|i| {
         src_buf[i] = i as u8;
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
     // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
@@ -112,7 +114,7 @@ fn transfer_example_8_bit(
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        cortex_m::interrupt::free(|cs| {
+        critical_section::with(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 8 bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -143,10 +145,10 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
             DMA_SRC_BUF[i] = (i as u32 * u16::MAX as u32 / (dest_buf_ref.len() as u32 - 1)) as u16;
         });
     }
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
     // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
@@ -170,7 +172,7 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        cortex_m::interrupt::free(|cs| {
+        critical_section::with(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 16-bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -206,10 +208,10 @@ fn transfer_example_32_bit(
     (0..16).for_each(|i| {
         src_buf[i] = (i as u64 * u32::MAX as u64 / (src_buf.len() - 1) as u64) as u32;
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
     // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
@@ -230,7 +232,7 @@ fn transfer_example_32_bit(
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        cortex_m::interrupt::free(|cs| {
+        critical_section::with(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 32-bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -260,7 +262,7 @@ fn transfer_example_32_bit(
 #[allow(non_snake_case)]
 fn DMA_DONE0() {
     // Notify the main loop that the DMA transfer is finished.
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(true);
     });
 }
@@ -269,7 +271,7 @@ fn DMA_DONE0() {
 #[allow(non_snake_case)]
 fn DMA_ACTIVE0() {
     // Notify the main loop that the DMA 0 is active now.
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(true);
     });
 }

examples/simple/examples/pwm.rs

@@ -11,7 +11,8 @@ use va416xx_hal::{
     gpio::PinsA,
     pac,
     prelude::*,
-    pwm::{self, get_duty_from_percent, CountdownTimer, PwmA, PwmB, ReducedPwmPin},
+    pwm::{self, get_duty_from_percent, PwmA, PwmB, ReducedPwmPin},
+    timer::CountdownTimer,
 };
 
 #[entry]

examples/simple/examples/spi.rs

@@ -3,13 +3,12 @@
 //! If you do not use the loopback mode, MOSI and MISO need to be tied together on the board.
 #![no_main]
 #![no_std]
-
 use cortex_m_rt::entry;
 use embedded_hal::spi::{Mode, SpiBus, MODE_0};
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use simple_examples::peb1;
-use va416xx_hal::spi::{clk_div_for_target_clock, Spi, TransferConfig};
+use va416xx_hal::spi::{Spi, SpiClkConfig};
 use va416xx_hal::{
     gpio::{PinsB, PinsC},
     pac,
@@ -22,9 +21,8 @@ use va416xx_hal::{
 pub enum ExampleSelect {
     // Enter loopback mode. It is not necessary to tie MOSI/MISO together for this
     Loopback,
-    // Send a test buffer and print everything received. You need to tie together MOSI/MISO in this
+    // You need to tie together MOSI/MISO in this mode.
-    // mode.
+    MosiMisoTiedTogether,
-    TestBuffer,
 }
 
 const EXAMPLE_SEL: ExampleSelect = ExampleSelect::Loopback;
@@ -50,21 +48,23 @@ fn main() -> ! {
 
     let pins_b = PinsB::new(&mut dp.sysconfig, dp.portb);
     let pins_c = PinsC::new(&mut dp.sysconfig, dp.portc);
-    // Configure SPI1 pins.
+    // Configure SPI0 pins.
     let (sck, miso, mosi) = (
         pins_b.pb15.into_funsel_1(),
         pins_c.pc0.into_funsel_1(),
         pins_c.pc1.into_funsel_1(),
     );
 
-    let mut spi_cfg = SpiConfig::default().clk_div(
+    let mut spi_cfg = SpiConfig::default()
-        clk_div_for_target_clock(Hertz::from_raw(SPI_SPEED_KHZ), &clocks)
+        .clk_cfg(
-            .expect("invalid target clock"),
+            SpiClkConfig::from_clk(Hertz::from_raw(SPI_SPEED_KHZ), &clocks)
-    );
+                .expect("invalid target clock"),
+        )
+        .mode(SPI_MODE)
+        .blockmode(BLOCKMODE);
     if EXAMPLE_SEL == ExampleSelect::Loopback {
         spi_cfg = spi_cfg.loopback(true)
     }
-    let transfer_cfg = TransferConfig::new_no_hw_cs(None, Some(SPI_MODE), BLOCKMODE, false);
     // Create SPI peripheral.
     let mut spi0 = Spi::new(
         &mut dp.sysconfig,
@@ -72,29 +72,27 @@ fn main() -> ! {
         dp.spi0,
         (sck, miso, mosi),
         spi_cfg,
-        Some(&transfer_cfg.downgrade()),
+    );
-    )
-    .expect("creating SPI peripheral failed");
     spi0.set_fill_word(FILL_WORD);
     loop {
-        let mut tx_buf: [u8; 3] = [1, 2, 3];
+        let tx_buf: [u8; 4] = [1, 2, 3, 0];
-        let mut rx_buf: [u8; 3] = [0; 3];
+        let mut rx_buf: [u8; 4] = [0; 4];
-        // Can't really verify correct reply here.
+        // Can't really verify correct behaviour here. Just verify nothing crazy happens or it hangs up.
-        spi0.write(&[0x42]).expect("write failed");
+        spi0.write(&[0x42, 0x43]).expect("write failed");
-        // Need small delay.. otherwise we will read back the sent byte (which we don't want here).
-        // The write function will return as soon as all bytes were shifted out, ignoring the
-        // reply bytes.
-        delay_sysclk.delay_us(50);
-        // Because of the loopback mode, we should get back the fill word here.
-        spi0.read(&mut rx_buf[0..1]).unwrap();
-        assert_eq!(rx_buf[0], FILL_WORD);
 
-        spi0.transfer_in_place(&mut tx_buf)
+        // Can't really verify correct behaviour here. Just verify nothing crazy happens or it hangs up.
+        spi0.read(&mut rx_buf[0..2]).unwrap();
+
+        // If the pins are tied together, we should received exactly what we send.
+
+        let mut inplace_buf = tx_buf;
+        spi0.transfer_in_place(&mut inplace_buf)
             .expect("SPI transfer_in_place failed");
-        assert_eq!([1, 2, 3], tx_buf);
+        assert_eq!([1, 2, 3, 0], inplace_buf);
+
         spi0.transfer(&mut rx_buf, &tx_buf)
             .expect("SPI transfer failed");
-        assert_eq!(rx_buf, tx_buf);
+        assert_eq!(rx_buf, [1, 2, 3, 0]);
         delay_sysclk.delay_ms(500);
     }
 }

examples/simple/examples/timer-ticks.rs

@@ -3,12 +3,14 @@
 #![no_std]
 
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
+use cortex_m::asm;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use simple_examples::peb1;
 use va416xx_hal::{
+    irq_router::enable_and_init_irq_router,
     pac::{self, interrupt},
     prelude::*,
     timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, MS_COUNTER},
@@ -35,19 +37,21 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
+    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     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();
+    second_timer.start(1.Hz());
     loop {
-        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        let current_ms = critical_section::with(|cs| MS_COUNTER.borrow(cs).get());
-        if current_ms - last_ms >= 1000 {
+        if current_ms >= last_ms + 1000 {
-            last_ms = current_ms;
+            // To prevent drift.
+            last_ms += 1000;
             rprintln!("MS counter: {}", current_ms);
-            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
+            let second = critical_section::with(|cs| SEC_COUNTER.borrow(cs).get());
             rprintln!("Second counter: {}", second);
         }
-        cortex_m::asm::delay(10000);
+        asm::delay(1000);
     }
 }
 
@@ -60,7 +64,7 @@ fn TIM0() {
 #[interrupt]
 #[allow(non_snake_case)]
 fn TIM1() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         let mut sec = SEC_COUNTER.borrow(cs).get();
         sec += 1;
         SEC_COUNTER.borrow(cs).set(sec);

examples/simple/examples/wdt.rs

@@ -3,11 +3,12 @@
 #![no_std]
 
 use core::cell::Cell;
-use cortex_m::interrupt::Mutex;
 use cortex_m_rt::entry;
+use critical_section::Mutex;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use simple_examples::peb1;
+use va416xx_hal::irq_router::enable_and_init_irq_router;
 use va416xx_hal::pac::{self, interrupt};
 use va416xx_hal::prelude::*;
 use va416xx_hal::wdt::Wdt;
@@ -40,6 +41,7 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
+    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     let mut delay_sysclk = cortex_m::delay::Delay::new(cp.SYST, clocks.apb0().raw());
 
     let mut last_interrupt_counter = 0;
@@ -49,7 +51,7 @@ fn main() -> ! {
         if TEST_MODE != TestMode::AllowReset {
             wdt_ctrl.feed();
         }
-        let interrupt_counter = cortex_m::interrupt::free(|cs| WDT_INTRPT_COUNT.borrow(cs).get());
+        let interrupt_counter = critical_section::with(|cs| WDT_INTRPT_COUNT.borrow(cs).get());
         if interrupt_counter > last_interrupt_counter {
             rprintln!("interrupt counter has increased to {}", interrupt_counter);
             last_interrupt_counter = interrupt_counter;
@@ -65,7 +67,7 @@ fn main() -> ! {
 #[interrupt]
 #[allow(non_snake_case)]
 fn WATCHDOG() {
-    cortex_m::interrupt::free(|cs| {
+    critical_section::with(|cs| {
         WDT_INTRPT_COUNT
             .borrow(cs)
             .set(WDT_INTRPT_COUNT.borrow(cs).get() + 1);

flashloader/Cargo.toml

@@ -8,6 +8,7 @@ cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embedded-hal = "1"
 embedded-hal-nb = "1"
+embedded-io = "0.6"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
 rtt-log = "0.3"
@@ -15,6 +16,14 @@ log = "0.4"
 crc = "3"
 rtic-sync = "1"
 
+[dependencies.satrs]
+version = "0.2"
+default-features = false
+
+[dependencies.ringbuf]
+version = "0.4"
+default-features = false
+
 [dependencies.once_cell]
 version = "1"
 default-features = false
@@ -31,7 +40,7 @@ default-features = false
 
 [dependencies.va416xx-hal]
 path = "../va416xx-hal"
-version = "0.1.0"
+features = ["va41630"]
 
 [dependencies.rtic]
 version = "2"

flashloader/README.md

@@ -0,0 +1,66 @@
+VA416xx Flashloader Application
+========
+
+This flashloader shows a minimal example for a self-updatable Rust software which exposes
+a simple PUS (CCSDS) interface to update the software. It also provides a Python application
+called the `image-loader.py` which can be used to upload compiled images to the flashloader
+application to write them to the NVM.
+
+Please note that the both the application and the image loader are tailored towards usage
+with the [bootloader provided by this repository](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/bootloader).
+
+The software can quickly be adapted to interface with a real primary on-board software instead of
+the Python script provided here to upload images because it uses a low-level CCSDS based packet
+interface.
+
+## Using the Python image loader
+
+The Python image loader communicates with the Rust flashload application using a dedicated serial
+port with a baudrate of 115200.
+
+It is recommended to run the script in a dedicated virtual environment. For example, on UNIX
+systems you can use `python3 -m venv venv` and then `source venv/bin/activate` to create
+and activate a virtual environment.
+
+After that, you can use
+
+```sh
+pip install -r requirements.txt
+```
+
+to install all required dependencies.
+
+After that, it is recommended to use `./image-load.py -h` to get an overview of some options.
+The flash loader uses the UART0 interface of the VA416xx board to perform CCSDS based
+communication. The Python image loader application will search for a file named `loader.toml` and
+use the `serial_port` key to determine the serial port to use for serial communication.
+
+### Examples
+
+You can use
+
+```sh
+./image-loader.py -p
+```
+
+to send a ping an verify the connection.
+
+You can use
+
+```sh
+cd flashloader/slot-a-blinky
+cargo build --release
+cd ../..
+./image-loader.py -t a ./slot-a-blinky/target/thumbv7em-none-eabihf/release/slot-a-blinky
+```
+
+to build the slot A sample application and upload it to a running flash loader application
+to write it to slot A.
+
+You can use
+
+```sh
+./image-loader.py -c -t a
+```
+
+to corrupt the image A and test that it switches to image B after a failed CRC check instead.

flashloader/image-loader.py

@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
+from typing import List, Tuple
 from spacepackets.ecss.defs import PusService
+from spacepackets.ecss.tm import PusTm
+from tmtccmd.com import ComInterface
 import toml
 import struct
 import logging
@@ -11,26 +14,36 @@ from tmtccmd.com.serial_cobs import SerialCobsComIF
 from tmtccmd.com.ser_utils import prompt_com_port
 from crcmod.predefined import PredefinedCrc
 from spacepackets.ecss.tc import PusTc
+from spacepackets.ecss.pus_verificator import PusVerificator, StatusField
+from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
+from spacepackets.seqcount import SeqCountProvider
 from pathlib import Path
 import dataclasses
 from elftools.elf.elffile import ELFFile
 
 
 BAUD_RATE = 115200
+
 BOOTLOADER_START_ADDR = 0x0
 BOOTLOADER_END_ADDR = 0x4000
-BOOTLOADER_CRC_ADDR = 0x3FFC
+BOOTLOADER_CRC_ADDR = BOOTLOADER_END_ADDR - 4
+BOOTLOADER_MAX_SIZE = BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 4
+
 APP_A_START_ADDR = 0x4000
 APP_A_END_ADDR = 0x22000
 # The actual size of the image which is relevant for CRC calculation.
-APP_A_SIZE_ADDR = 0x21FF8
+APP_A_SIZE_ADDR = APP_A_END_ADDR - 8
-APP_A_CRC_ADDR = 0x21FFC
+APP_A_CRC_ADDR = APP_A_END_ADDR - 4
+APP_A_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
+
 APP_B_START_ADDR = 0x22000
 APP_B_END_ADDR = 0x40000
 # The actual size of the image which is relevant for CRC calculation.
-APP_B_SIZE_ADDR = 0x3FFF8
+APP_B_SIZE_ADDR = APP_B_END_ADDR - 8
-APP_B_CRC_ADDR = 0x3FFFC
+APP_B_CRC_ADDR = APP_B_END_ADDR - 4
-APP_IMG_SZ = 0x1E000
+APP_B_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
+
+APP_IMG_SZ = (APP_B_END_ADDR - APP_A_START_ADDR) // 2
 
 CHUNK_SIZE = 896
 
@@ -39,6 +52,7 @@ ACTION_SERVICE = 8
 
 RAW_MEMORY_WRITE_SUBSERVICE = 2
 BOOT_NVM_MEMORY_ID = 1
+PING_PAYLOAD_SIZE = 0
 
 
 class ActionId(enum.IntEnum):
@@ -47,6 +61,7 @@ class ActionId(enum.IntEnum):
 
 
 _LOGGER = logging.getLogger(__name__)
+SEQ_PROVIDER = SeqCountProvider(bit_width=14)
 
 
 @dataclasses.dataclass
@@ -57,6 +72,176 @@ class LoadableSegment:
     data: bytes
 
 
+class Target(enum.Enum):
+    BOOTLOADER = 0
+    APP_A = 1
+    APP_B = 2
+
+
+class ImageLoader:
+    def __init__(self, com_if: ComInterface, verificator: PusVerificator) -> None:
+        self.com_if = com_if
+        self.verificator = verificator
+
+    def handle_ping_cmd(self):
+        _LOGGER.info("Sending ping command")
+        ping_tc = PusTc(
+            apid=0x00,
+            service=PusService.S17_TEST,
+            subservice=1,
+            seq_count=SEQ_PROVIDER.get_and_increment(),
+            app_data=bytes(PING_PAYLOAD_SIZE),
+        )
+        self.verificator.add_tc(ping_tc)
+        self.com_if.send(bytes(ping_tc.pack()))
+
+        data_available = self.com_if.data_available(0.4)
+        if not data_available:
+            _LOGGER.warning("no ping reply received")
+        for reply in self.com_if.receive():
+            result = self.verificator.add_tm(
+                Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
+            )
+            if result is not None and result.completed:
+                _LOGGER.info("received ping completion reply")
+
+    def handle_corruption_cmd(self, target: Target):
+
+        if target == Target.BOOTLOADER:
+            _LOGGER.error("can not corrupt bootloader")
+        if target == Target.APP_A:
+            self.send_tc(
+                PusTc(
+                    apid=0,
+                    service=ACTION_SERVICE,
+                    subservice=ActionId.CORRUPT_APP_A,
+                ),
+            )
+        if target == Target.APP_B:
+            self.send_tc(
+                PusTc(
+                    apid=0,
+                    service=ACTION_SERVICE,
+                    subservice=ActionId.CORRUPT_APP_B,
+                ),
+            )
+
+    def handle_flash_cmd(self, target: Target, file_path: Path) -> int:
+        loadable_segments = []
+        _LOGGER.info("Parsing ELF file for loadable sections")
+        total_size = 0
+        loadable_segments, total_size = create_loadable_segments(target, file_path)
+        segments_info_str(target, loadable_segments, total_size, file_path)
+        result = self._perform_flashing_algorithm(loadable_segments)
+        if result != 0:
+            return result
+        self._crc_and_app_size_postprocessing(target, total_size, loadable_segments)
+        return 0
+
+    def _perform_flashing_algorithm(
+        self,
+        loadable_segments: List[LoadableSegment],
+    ) -> int:
+        # Perform the flashing algorithm.
+        for segment in loadable_segments:
+            segment_end = segment.offset + segment.size
+            current_addr = segment.offset
+            pos_in_segment = 0
+            while pos_in_segment < segment.size:
+                next_chunk_size = min(segment_end - current_addr, CHUNK_SIZE)
+                data = segment.data[pos_in_segment : pos_in_segment + next_chunk_size]
+                next_packet = pack_memory_write_command(current_addr, data)
+                _LOGGER.info(
+                    f"Sending memory write command for address {current_addr:#08x} and data with "
+                    f"length {len(data)}"
+                )
+                self.verificator.add_tc(next_packet)
+                self.com_if.send(bytes(next_packet.pack()))
+                current_addr += next_chunk_size
+                pos_in_segment += next_chunk_size
+                start_time = time.time()
+                while True:
+                    if time.time() - start_time > 1.0:
+                        _LOGGER.error("Timeout while waiting for reply")
+                        return -1
+                    data_available = self.com_if.data_available(0.1)
+                    done = False
+                    if not data_available:
+                        continue
+                    replies = self.com_if.receive()
+                    for reply in replies:
+                        tm = PusTm.unpack(reply, 0)
+                        if tm.service != 1:
+                            continue
+                        service_1_tm = Service1Tm.from_tm(tm, UnpackParams(0))
+                        check_result = self.verificator.add_tm(service_1_tm)
+                        # We could send after we have received the step reply, but that can
+                        # somehow lead to overrun errors. I think it's okay to do it like
+                        # this as long as the flash loader only uses polling..
+                        if (
+                            check_result is not None
+                            and check_result.status.completed == StatusField.SUCCESS
+                        ):
+                            done = True
+
+                        # This is an optimized variant, but I think the small delay is not an issue.
+                        """
+                        if (
+                            check_result is not None
+                            and check_result.status.step == StatusField.SUCCESS
+                            and len(check_result.status.step_list) == 1
+                        ):
+                            done = True
+                        """
+                    self.verificator.remove_completed_entries()
+                    if done:
+                        break
+        return 0
+
+    def _crc_and_app_size_postprocessing(
+        self,
+        target: Target,
+        total_size: int,
+        loadable_segments: List[LoadableSegment],
+    ):
+        if target == Target.BOOTLOADER:
+            _LOGGER.info("Blanking the bootloader checksum")
+            # Blank the checksum. For the bootloader, the bootloader will calculate the
+            # checksum itself on the initial run.
+            checksum_write_packet = pack_memory_write_command(
+                BOOTLOADER_CRC_ADDR, bytes([0x00, 0x00, 0x00, 0x00])
+            )
+            self.send_tc(checksum_write_packet)
+        else:
+            crc_addr = None
+            size_addr = None
+            if target == Target.APP_A:
+                crc_addr = APP_A_CRC_ADDR
+                size_addr = APP_A_SIZE_ADDR
+            elif target == Target.APP_B:
+                crc_addr = APP_B_CRC_ADDR
+                size_addr = APP_B_SIZE_ADDR
+            assert crc_addr is not None
+            assert size_addr is not None
+            _LOGGER.info(f"Writing app size {total_size} at address {size_addr:#08x}")
+            size_write_packet = pack_memory_write_command(
+                size_addr, struct.pack("!I", total_size)
+            )
+            self.com_if.send(bytes(size_write_packet.pack()))
+            time.sleep(0.2)
+            crc_calc = PredefinedCrc("crc-32")
+            for segment in loadable_segments:
+                crc_calc.update(segment.data)
+            checksum = crc_calc.digest()
+            _LOGGER.info(
+                f"Writing checksum 0x[{checksum.hex(sep=',')}] at address {crc_addr:#08x}"
+            )
+            self.send_tc(pack_memory_write_command(crc_addr, checksum))
+
+    def send_tc(self, tc: PusTc):
+        self.com_if.send(bytes(tc.pack()))
+
+
 def main() -> int:
     print("Python VA416XX Image Loader Application")
     logging.basicConfig(
@@ -91,172 +276,137 @@ def main() -> int:
         baud_rate=BAUD_RATE,
         serial_timeout=0.1,
     )
+    verificator = PusVerificator()
     com_if = SerialCobsComIF(serial_cfg)
     com_if.open()
+    target = None
+    if args.target == "bl":
+        target = Target.BOOTLOADER
+    elif args.target == "a":
+        target = Target.APP_A
+    elif args.target == "b":
+        target = Target.APP_B
+    image_loader = ImageLoader(com_if, verificator)
     file_path = None
-    if args.target:
+    result = -1
+    if args.ping:
+        image_loader.handle_ping_cmd()
+        com_if.close()
+        return 0
+    if target:
         if not args.corrupt:
             if not args.path:
                 _LOGGER.error("App Path needs to be specified for the flash process")
-                return -1
             file_path = Path(args.path)
             if not file_path.exists():
                 _LOGGER.error("File does not exist")
-                return -1
-    if args.ping:
-        _LOGGER.info("Sending ping command")
-        ping_tc = PusTc(apid=0x00, service=PusService.S17_TEST, subservice=1)
-        com_if.send(ping_tc.pack())
     if args.corrupt:
-        if not args.target:
+        if not target:
             _LOGGER.error("target for corruption command required")
+            com_if.close()
             return -1
-        if args.target == "bl":
+        image_loader.handle_corruption_cmd(target)
-            _LOGGER.error("can not corrupt bootloader")
-        if args.target == "a":
-            packet = PusTc(
-                apid=0,
-                service=ACTION_SERVICE,
-                subservice=ActionId.CORRUPT_APP_A,
-            )
-            com_if.send(packet.pack())
-        if args.target == "b":
-            packet = PusTc(
-                apid=0,
-                service=ACTION_SERVICE,
-                subservice=ActionId.CORRUPT_APP_B,
-            )
-            com_if.send(packet.pack())
     else:
         assert file_path is not None
-        loadable_segments = []
+        assert target is not None
-        _LOGGER.info("Parsing ELF file for loadable sections")
+        result = image_loader.handle_flash_cmd(target, file_path)
-        total_size = 0
-        with open(file_path, "rb") as app_file:
-            elf_file = ELFFile(app_file)
 
-            for (idx, segment) in enumerate(elf_file.iter_segments("PT_LOAD")):
-                if segment.header.p_filesz == 0:
-                    continue
-                # Basic validity checks of the base addresses.
-                if idx == 0:
-                    if (
-                        args.target == "bl"
-                        and segment.header.p_paddr != BOOTLOADER_START_ADDR
-                    ):
-                        raise ValueError(
-                            f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
-                            f"bootloader, expected {BOOTLOADER_START_ADDR}"
-                        )
-                    if args.target == "a" and segment.header.p_paddr != APP_A_START_ADDR:
-                        raise ValueError(
-                            f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
-                            f"App A, expected {APP_A_START_ADDR}"
-                        )
-                    if args.target == "b" and segment.header.p_paddr != APP_B_START_ADDR:
-                        raise ValueError(
-                            f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
-                            f"App B, expected {APP_B_START_ADDR}"
-                        )
-                name = None
-                for section in elf_file.iter_sections():
-                    if (
-                        section.header.sh_offset == segment.header.p_offset
-                        and section.header.sh_size > 0
-                    ):
-                        name = section.name
-                if name is None:
-                    _LOGGER.warning("no fitting section found for segment")
-                    continue
-                # print(f"Segment Addr: {segment.header.p_paddr}")
-                # print(f"Segment Offset: {segment.header.p_offset}")
-                # print(f"Segment Filesize: {segment.header.p_filesz}")
-                loadable_segments.append(
-                    LoadableSegment(
-                        name=name,
-                        offset=segment.header.p_paddr,
-                        size=segment.header.p_filesz,
-                        data=segment.data(),
-                    )
-                )
-                total_size += segment.header.p_filesz
-            context_str = None
-            if args.target == "bl":
-                context_str = "Bootloader"
-            elif args.target == "a":
-                context_str = "App Slot A"
-            elif args.target == "b":
-                context_str = "App Slot B"
-            _LOGGER.info(
-                f"Flashing {context_str} with image {file_path} (size {total_size})"
-            )
-            for idx, segment in enumerate(loadable_segments):
-                _LOGGER.info(
-                    f"Loadable section {idx} {segment.name} with offset {segment.offset:#08x} and size {segment.size}"
-                )
-            for segment in loadable_segments:
-                segment_end = segment.offset + segment.size
-                current_addr = segment.offset
-                pos_in_segment = 0
-                while pos_in_segment < segment.size:
-                    next_chunk_size = min(segment_end - current_addr, CHUNK_SIZE)
-                    data = segment.data[
-                        pos_in_segment : pos_in_segment + next_chunk_size
-                    ]
-                    _LOGGER.info(
-                        f"Sending memory write command for address {current_addr:#08x} and data with "
-                        f"length {len(data)}"
-                    )
-                    next_packet = pack_memory_write_command(current_addr, data)
-                    com_if.send(next_packet.pack())
-                    current_addr += next_chunk_size
-                    pos_in_segment += next_chunk_size
-                    time.sleep(0.2)
-            if args.target == "bl":
-                _LOGGER.info("Blanking the bootloader checksum")
-                # Blank the checksum. For the bootloader, the bootloader will calculate the
-                # checksum itself on the initial run.
-                checksum_write_packet = pack_memory_write_command(
-                    BOOTLOADER_CRC_ADDR, bytes([0x00, 0x00, 0x00, 0x00])
-                )
-                com_if.send(checksum_write_packet.pack())
-            else:
-                crc_addr = None
-                size_addr = None
-                if args.target == "a":
-                    crc_addr = APP_A_CRC_ADDR
-                    size_addr = APP_A_SIZE_ADDR
-                elif args.target == "b":
-                    crc_addr = APP_B_CRC_ADDR
-                    size_addr = APP_B_SIZE_ADDR
-                assert crc_addr is not None
-                assert size_addr is not None
-                _LOGGER.info(
-                    f"Writing app size {total_size } at address {size_addr:#08x}"
-                )
-                size_write_packet = pack_memory_write_command(
-                    size_addr, struct.pack("!I", total_size)
-                )
-                com_if.send(size_write_packet.pack())
-                time.sleep(0.2)
-                crc_calc = PredefinedCrc("crc-32")
-                for segment in loadable_segments:
-                    crc_calc.update(segment.data)
-                checksum = crc_calc.digest()
-                _LOGGER.info(
-                    f"Writing checksum 0x[{checksum.hex(sep=',')}] at address {crc_addr:#08x}"
-                )
-                checksum_write_packet = pack_memory_write_command(crc_addr, checksum)
-                com_if.send(checksum_write_packet.pack())
-        while True:
-            data_available = com_if.data_available(0.4)
-            if data_available:
-                reply = com_if.receive()
-                # TODO: Parse replies
-                print("Received replies: {}", reply)
-                break
     com_if.close()
-    return 0
+    return result
+
+
+def create_loadable_segments(
+    target: Target, file_path: Path
+) -> Tuple[List[LoadableSegment], int]:
+    loadable_segments = []
+    total_size = 0
+    with open(file_path, "rb") as app_file:
+        elf_file = ELFFile(app_file)
+
+        for idx, segment in enumerate(elf_file.iter_segments("PT_LOAD")):
+            if segment.header.p_filesz == 0:
+                continue
+            # Basic validity checks of the base addresses.
+            if idx == 0:
+                if (
+                    target == Target.BOOTLOADER
+                    and segment.header.p_paddr != BOOTLOADER_START_ADDR
+                ):
+                    raise ValueError(
+                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
+                        f"bootloader, expected {BOOTLOADER_START_ADDR}"
+                    )
+                if (
+                    target == Target.APP_A
+                    and segment.header.p_paddr != APP_A_START_ADDR
+                ):
+                    raise ValueError(
+                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
+                        f"App A, expected {APP_A_START_ADDR}"
+                    )
+                if (
+                    target == Target.APP_B
+                    and segment.header.p_paddr != APP_B_START_ADDR
+                ):
+                    raise ValueError(
+                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
+                        f"App B, expected {APP_B_START_ADDR}"
+                    )
+            name = None
+            for section in elf_file.iter_sections():
+                if (
+                    section.header.sh_offset == segment.header.p_offset
+                    and section.header.sh_size > 0
+                ):
+                    name = section.name
+            if name is None:
+                _LOGGER.warning("no fitting section found for segment")
+                continue
+            # print(f"Segment Addr: {segment.header.p_paddr}")
+            # print(f"Segment Offset: {segment.header.p_offset}")
+            # print(f"Segment Filesize: {segment.header.p_filesz}")
+            loadable_segments.append(
+                LoadableSegment(
+                    name=name,
+                    offset=segment.header.p_paddr,
+                    size=segment.header.p_filesz,
+                    data=segment.data(),
+                )
+            )
+            total_size += segment.header.p_filesz
+    return loadable_segments, total_size
+
+
+def segments_info_str(
+    target: Target,
+    loadable_segments: List[LoadableSegment],
+    total_size: int,
+    file_path: Path,
+):
+    # Set context string and perform basic sanity checks.
+    if target == Target.BOOTLOADER:
+        if total_size > BOOTLOADER_MAX_SIZE:
+            _LOGGER.error(
+                f"provided bootloader app larger than allowed {total_size} bytes"
+            )
+            return -1
+        context_str = "Bootloader"
+    elif target == Target.APP_A:
+        if total_size > APP_A_MAX_SIZE:
+            _LOGGER.error(f"provided App A larger than allowed {total_size} bytes")
+            return -1
+        context_str = "App Slot A"
+    elif target == Target.APP_B:
+        if total_size > APP_B_MAX_SIZE:
+            _LOGGER.error(f"provided App B larger than allowed {total_size} bytes")
+            return -1
+        context_str = "App Slot B"
+    _LOGGER.info(f"Flashing {context_str} with image {file_path} (size {total_size})")
+    for idx, segment in enumerate(loadable_segments):
+        _LOGGER.info(
+            f"Loadable section {idx} {segment.name} with offset {segment.offset:#08x} and "
+            f"size {segment.size}"
+        )
 
 
 def pack_memory_write_command(addr: int, data: bytes) -> PusTc:
@@ -271,7 +421,8 @@ def pack_memory_write_command(addr: int, data: bytes) -> PusTc:
         apid=0,
         service=MEMORY_SERVICE,
         subservice=RAW_MEMORY_WRITE_SUBSERVICE,
-        app_data=app_data,
+        seq_count=SEQ_PROVIDER.get_and_increment(),
+        app_data=bytes(app_data),
     )
 
 

flashloader/slot-a-blinky/Cargo.toml

@@ -7,11 +7,11 @@ edition = "2021"
 
 [dependencies]
 cortex-m-rt = "0.7"
-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"] }
 embedded-hal = "1"
+va416xx-hal = { path = "../../va416xx-hal", features = ["va41630"] }
 
 [profile.dev]
 codegen-units = 1

flashloader/slot-b-blinky/Cargo.toml

@@ -7,11 +7,11 @@ edition = "2021"
 
 [dependencies]
 cortex-m-rt = "0.7"
-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"] }
 embedded-hal = "1"
+va416xx-hal = { path = "../../va416xx-hal", features = ["va41630"] }
 
 [profile.dev]
 codegen-units = 1

flashloader/src/main.rs

@@ -18,20 +18,21 @@
 #![no_main]
 #![no_std]
 
-use embedded_hal_nb::serial::Read;
 use once_cell::sync::OnceCell;
 use panic_rtt_target as _;
 use va416xx_hal::{clock::Clocks, edac, pac, time::Hertz, wdt::Wdt};
 
 const EXTCLK_FREQ: u32 = 40_000_000;
-const COBS_FRAME_SEPARATOR: u8 = 0x0;
-const MAX_PACKET_SIZE: usize = 1024;
-const MAX_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_PACKET_SIZE);
-const UART_BAUDRATE: u32 = 115200;
-const SERIAL_RX_WIRETAPPING: bool = false;
-const COBS_RX_DEBUGGING: bool = false;
 
+const MAX_TC_SIZE: usize = 1024;
+const MAX_TC_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TC_SIZE);
+
+const MAX_TM_SIZE: usize = 128;
+const MAX_TM_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TM_SIZE);
+
+const UART_BAUDRATE: u32 = 115200;
 const BOOT_NVM_MEMORY_ID: u8 = 1;
+const RX_DEBUGGING: bool = false;
 
 pub enum ActionId {
     CorruptImageA = 128,
@@ -51,6 +52,41 @@ impl WdtInterface for OptWdt {
     }
 }
 
+use once_cell::sync::Lazy;
+use ringbuf::{
+    traits::{Consumer, Observer, Producer, SplitRef},
+    CachingCons, StaticProd, StaticRb,
+};
+
+// Larger buffer for TC to be able to hold the possibly large memory write packets.
+const BUF_RB_SIZE_TC: usize = 2048;
+const SIZES_RB_SIZE_TC: usize = 16;
+
+const BUF_RB_SIZE_TM: usize = 512;
+const SIZES_RB_SIZE_TM: usize = 16;
+
+// Ring buffers to handling variable sized telemetry
+static mut BUF_RB_TM: Lazy<StaticRb<u8, BUF_RB_SIZE_TM>> =
+    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TM>::default);
+static mut SIZES_RB_TM: Lazy<StaticRb<usize, SIZES_RB_SIZE_TM>> =
+    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TM>::default);
+
+// Ring buffers to handling variable sized telecommands
+static mut BUF_RB_TC: Lazy<StaticRb<u8, BUF_RB_SIZE_TC>> =
+    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TC>::default);
+static mut SIZES_RB_TC: Lazy<StaticRb<usize, SIZES_RB_SIZE_TC>> =
+    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TC>::default);
+
+pub struct DataProducer<const BUF_SIZE: usize, const SIZES_LEN: usize> {
+    pub buf_prod: StaticProd<'static, u8, BUF_SIZE>,
+    pub sizes_prod: StaticProd<'static, usize, SIZES_LEN>,
+}
+
+pub struct DataConsumer<const BUF_SIZE: usize, const SIZES_LEN: usize> {
+    pub buf_cons: CachingCons<&'static StaticRb<u8, BUF_SIZE>>,
+    pub sizes_cons: CachingCons<&'static StaticRb<usize, SIZES_LEN>>,
+}
+
 static CLOCKS: OnceCell<Clocks> = OnceCell::new();
 
 pub const APP_A_START_ADDR: u32 = 0x4000;
@@ -62,17 +98,18 @@ pub const APP_B_END_ADDR: u32 = 0x40000;
 mod app {
     use super::*;
     use cortex_m::asm;
-    use embedded_hal_nb::nb;
+    use embedded_io::Write;
     use panic_rtt_target as _;
     use rtic::Mutex;
     use rtic_monotonics::systick::prelude::*;
-    use rtic_sync::{
-        channel::{Receiver, Sender},
-        make_channel,
-    };
     use rtt_target::rprintln;
+    use satrs::pus::verification::VerificationReportCreator;
     use spacepackets::ecss::PusServiceId;
-    use spacepackets::ecss::{tc::PusTcReader, PusPacket};
+    use spacepackets::ecss::{
+        tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
+    };
+    use va416xx_hal::irq_router::enable_and_init_irq_router;
+    use va416xx_hal::uart::IrqContextTimeoutOrMaxSize;
     use va416xx_hal::{
         clock::ClkgenExt,
         edac,
@@ -94,23 +131,25 @@ mod app {
 
     #[local]
     struct Local {
-        uart_rx: uart::Rx<pac::Uart0>,
+        uart_rx: uart::RxWithIrq<pac::Uart0>,
         uart_tx: uart::Tx<pac::Uart0>,
-        cobs_reader_state: CobsReaderStates,
+        rx_context: IrqContextTimeoutOrMaxSize,
-        tc_tx: TcTx,
-        tc_rx: TcRx,
         rom_spi: Option<pac::Spi3>,
+        // We handle all TM in one task.
+        tm_cons: DataConsumer<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
+        // We consume all TC in one task.
+        tc_cons: DataConsumer<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
+        // We produce all TC in one task.
+        tc_prod: DataProducer<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
+        verif_reporter: VerificationReportCreator,
     }
 
     #[shared]
     struct Shared {
-        decode_buffer_busy: bool,
+        // Having this shared allows multiple tasks to generate telemetry.
-        decode_buf: [u8; MAX_PACKET_SIZE],
+        tm_prod: DataProducer<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
     }
 
-    pub type TcTx = Sender<'static, usize, 2>;
-    pub type TcRx = Receiver<'static, usize, 2>;
-
     rtic_monotonics::systick_monotonic!(Mono, 10_000);
 
     #[init]
@@ -127,11 +166,12 @@ mod app {
             .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
             .freeze(&mut cx.device.sysconfig)
             .unwrap();
+        enable_and_init_irq_router(&mut cx.device.sysconfig, &cx.device.irq_router);
         setup_edac(&mut cx.device.sysconfig);
 
-        let gpiob = PinsG::new(&mut cx.device.sysconfig, cx.device.portg);
+        let gpiog = PinsG::new(&mut cx.device.sysconfig, cx.device.portg);
-        let tx = gpiob.pg0.into_funsel_1();
+        let tx = gpiog.pg0.into_funsel_1();
-        let rx = gpiob.pg1.into_funsel_1();
+        let rx = gpiog.pg1.into_funsel_1();
 
         let uart0 = Uart::new(
             cx.device.uart0,
@@ -141,25 +181,49 @@ mod app {
             &clocks,
         );
         let (tx, rx) = uart0.split();
-        let (tc_tx, tc_rx) = make_channel!(usize, 2);
+
+        let verif_reporter = VerificationReportCreator::new(0).unwrap();
+
+        let (buf_prod_tm, buf_cons_tm) = unsafe { BUF_RB_TM.split_ref() };
+        let (sizes_prod_tm, sizes_cons_tm) = unsafe { SIZES_RB_TM.split_ref() };
+
+        let (buf_prod_tc, buf_cons_tc) = unsafe { BUF_RB_TC.split_ref() };
+        let (sizes_prod_tc, sizes_cons_tc) = unsafe { SIZES_RB_TC.split_ref() };
 
         Mono::start(cx.core.SYST, clocks.sysclk().raw());
         CLOCKS.set(clocks).unwrap();
+
+        let mut rx = rx.into_rx_with_irq();
+        let mut rx_context = IrqContextTimeoutOrMaxSize::new(MAX_TC_FRAME_SIZE);
+        rx.read_fixed_len_or_timeout_based_using_irq(&mut rx_context)
+            .expect("initiating UART RX failed");
         pus_tc_handler::spawn().unwrap();
-        uart_reader_task::spawn().unwrap();
         pus_tm_tx_handler::spawn().unwrap();
         (
             Shared {
-                decode_buffer_busy: false,
+                tm_prod: DataProducer {
-                decode_buf: [0; MAX_PACKET_SIZE],
+                    buf_prod: buf_prod_tm,
+                    sizes_prod: sizes_prod_tm,
+                },
             },
             Local {
                 uart_rx: rx,
                 uart_tx: tx,
-                cobs_reader_state: CobsReaderStates::default(),
+                rx_context,
-                tc_tx,
-                tc_rx,
                 rom_spi: Some(cx.device.spi3),
+                tm_cons: DataConsumer {
+                    buf_cons: buf_cons_tm,
+                    sizes_cons: sizes_cons_tm,
+                },
+                tc_cons: DataConsumer {
+                    buf_cons: buf_cons_tc,
+                    sizes_cons: sizes_cons_tc,
+                },
+                tc_prod: DataProducer {
+                    buf_prod: buf_prod_tc,
+                    sizes_prod: sizes_prod_tc,
+                },
+                verif_reporter,
             },
         )
     }
@@ -172,121 +236,69 @@ mod app {
         }
     }
 
+    // This is the interrupt handler to read all bytes received on the UART0.
     #[task(
-        priority = 3,
+        binds = UART0_RX,
-        local=[
+        local = [
-            read_buf: [u8;MAX_FRAME_SIZE] = [0; MAX_FRAME_SIZE],
+            cnt: u32 = 0,
+            rx_buf: [u8; MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
+            rx_context,
             uart_rx,
-            cobs_reader_state,
+            tc_prod
-            tc_tx
         ],
-        shared=[decode_buffer_busy, decode_buf]
     )]
-    async fn uart_reader_task(mut cx: uart_reader_task::Context) {
+    fn uart_rx_irq(cx: uart_rx_irq::Context) {
-        let mut current_idx = 0;
+        match cx
-        loop {
+            .local
-            match cx.local.uart_rx.read() {
+            .uart_rx
-                Ok(byte) => {
+            .irq_handler_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
-                    if SERIAL_RX_WIRETAPPING {
+        {
-                        log::debug!("RX Byte: 0x{:x?}", byte);
+            Ok(result) => {
-                    }
+                if RX_DEBUGGING {
-                    handle_single_rx_byte(&mut cx, byte, &mut current_idx)
+                    log::debug!("RX Info: {:?}", cx.local.rx_context);
+                    log::debug!("RX Result: {:?}", result);
                 }
-                Err(e) => {
+                if result.complete() {
-                    match e {
+                    // Check frame validity (must have COBS format) and decode the frame.
-                        nb::Error::Other(e) => {
+                    // Currently, we expect a full frame or a frame received through a timeout
-                            log::warn!("UART error: {:?}", e);
+                    // to be one COBS frame. We could parse for multiple COBS packets in one
-                            match e {
+                    // frame, but the additional complexity is not necessary here..
-                                uart::Error::Overrun => {
+                    if cx.local.rx_buf[0] == 0 && cx.local.rx_buf[result.bytes_read - 1] == 0 {
-                                    cx.local.uart_rx.clear_fifo();
+                        let decoded_size =
-                                }
+                            cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
-                                uart::Error::FramingError => todo!(),
+                        if decoded_size.is_err() {
-                                uart::Error::ParityError => todo!(),
+                            log::warn!("COBS decoding failed");
-                                uart::Error::BreakCondition => todo!(),
+                        } else {
-                                uart::Error::TransferPending => todo!(),
+                            let decoded_size = decoded_size.unwrap();
-                                uart::Error::BufferTooShort => todo!(),
+                            if cx.local.tc_prod.sizes_prod.vacant_len() >= 1
+                                && cx.local.tc_prod.buf_prod.vacant_len() >= decoded_size
+                            {
+                                // Should never fail, we checked there is enough space.
+                                cx.local.tc_prod.sizes_prod.try_push(decoded_size).unwrap();
+                                cx.local
+                                    .tc_prod
+                                    .buf_prod
+                                    .push_slice(&cx.local.rx_buf[1..1 + decoded_size]);
+                            } else {
+                                log::warn!("COBS TC queue full");
                             }
                         }
-                        nb::Error::WouldBlock => {
+                    } else {
-                            // Delay for a short period before polling again.
+                        log::warn!("COBS frame with invalid format, start and end bytes are not 0");
-                            Mono::delay(400.micros()).await;
-                        }
                     }
-                }
-            }
-        }
-    }
 
-    fn handle_single_rx_byte(
+                    // Initiate next transfer.
-        cx: &mut uart_reader_task::Context,
+                    cx.local
-        byte: u8,
+                        .uart_rx
-        current_idx: &mut usize,
+                        .read_fixed_len_or_timeout_based_using_irq(cx.local.rx_context)
-    ) {
+                        .expect("read operation failed");
-        match cx.local.cobs_reader_state {
+                }
-            CobsReaderStates::WaitingForStart => {
+                if result.has_errors() {
-                if byte == COBS_FRAME_SEPARATOR {
+                    log::warn!("UART error: {:?}", result.errors.unwrap());
-                    if COBS_RX_DEBUGGING {
-                        log::debug!("COBS start marker detected");
-                    }
-                    *cx.local.cobs_reader_state = CobsReaderStates::WatingForEnd;
-                    *current_idx = 0;
                 }
             }
-            CobsReaderStates::WatingForEnd => {
+            Err(e) => {
-                if byte == COBS_FRAME_SEPARATOR {
+                log::warn!("UART error: {:?}", e);
-                    if COBS_RX_DEBUGGING {
-                        log::debug!("COBS end marker detected");
-                    }
-                    let mut sending_failed = false;
-                    let mut decoding_error = false;
-                    let mut decode_buffer_busy = false;
-                    cx.shared.decode_buffer_busy.lock(|busy| {
-                        if *busy {
-                            decode_buffer_busy = true;
-                        } else {
-                            cx.shared.decode_buf.lock(|buf| {
-                                match cobs::decode(&cx.local.read_buf[..*current_idx], buf) {
-                                    Ok(packet_len) => {
-                                        if COBS_RX_DEBUGGING {
-                                            log::debug!(
-                                                "COBS decoded packet with length {}",
-                                                packet_len
-                                            );
-                                        }
-                                        if cx.local.tc_tx.try_send(packet_len).is_err() {
-                                            sending_failed = true;
-                                        }
-                                        *busy = true;
-                                    }
-                                    Err(_) => {
-                                        decoding_error = true;
-                                    }
-                                }
-                            });
-                        }
-                    });
-                    if sending_failed {
-                        log::warn!("sending TC packet failed, queue full");
-                    }
-                    if decoding_error {
-                        log::warn!("decoding error");
-                    }
-                    if decode_buffer_busy {
-                        log::warn!("decode buffer busy. data arriving too fast");
-                    }
-                    *cx.local.cobs_reader_state = CobsReaderStates::WaitingForStart;
-                } else if *current_idx >= cx.local.read_buf.len() {
-                    *cx.local.cobs_reader_state = CobsReaderStates::FrameOverflow;
-                } else {
-                    cx.local.read_buf[*current_idx] = byte;
-                    *current_idx += 1;
-                }
-            }
-            CobsReaderStates::FrameOverflow => {
-                if byte == COBS_FRAME_SEPARATOR {
-                    *cx.local.cobs_reader_state = CobsReaderStates::WaitingForStart;
-                    *current_idx = 0;
-                }
             }
         }
     }
@@ -294,98 +306,174 @@ mod app {
     #[task(
         priority = 2,
         local=[
-            read_buf: [u8;MAX_FRAME_SIZE] = [0; MAX_FRAME_SIZE],
+            tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
-            tc_rx,
+            src_data_buf: [u8; 16] = [0; 16],
-            rom_spi
+            verif_buf: [u8; 32] = [0; 32],
+            tc_cons,
+            rom_spi,
+            verif_reporter
         ],
-        shared=[decode_buffer_busy, decode_buf]
+        shared=[tm_prod]
     )]
     async fn pus_tc_handler(mut cx: pus_tc_handler::Context) {
         loop {
-            let packet_len = cx.local.tc_rx.recv().await.expect("all senders down");
+            // Try to read a TC from the ring buffer.
+            let packet_len = cx.local.tc_cons.sizes_cons.try_pop();
+            if packet_len.is_none() {
+                // Small delay, TCs might arrive very quickly.
+                Mono::delay(20.millis()).await;
+                continue;
+            }
+            let packet_len = packet_len.unwrap();
             log::info!(target: "TC Handler", "received packet with length {}", packet_len);
-            // We still copy the data to a local buffer, so the exchange buffer can already be used
+            assert_eq!(
-            // for the next packet / decode process.
+                cx.local
-            cx.shared
+                    .tc_cons
-                .decode_buf
+                    .buf_cons
-                .lock(|buf| cx.local.read_buf[0..buf.len()].copy_from_slice(buf));
+                    .pop_slice(&mut cx.local.tc_buf[0..packet_len]),
-            cx.shared.decode_buffer_busy.lock(|busy| *busy = false);
+                packet_len
-            match PusTcReader::new(cx.local.read_buf) {
+            );
-                Ok((pus_tc, _)) => {
+            // Read a telecommand, now handle it.
-                    if pus_tc.service() == PusServiceId::Action as u8 {
+            handle_valid_pus_tc(&mut cx);
-                        let mut corrupt_image = |base_addr: u32| {
+        }
-                            // Safety: We only use this for NVM handling and we only do NVM
+    }
-                            // handling here.
+
-                            let mut sys_cfg = unsafe { pac::Sysconfig::steal() };
+    fn handle_valid_pus_tc(cx: &mut pus_tc_handler::Context) {
-                            let nvm = Nvm::new(
+        let pus_tc = PusTcReader::new(cx.local.tc_buf);
-                                &mut sys_cfg,
+        if pus_tc.is_err() {
-                                cx.local.rom_spi.take().unwrap(),
+            log::warn!("PUS TC error: {}", pus_tc.unwrap_err());
-                                CLOCKS.get().as_ref().unwrap(),
+            return;
-                            );
+        }
-                            let mut buf = [0u8; 4];
+        let (pus_tc, _) = pus_tc.unwrap();
-                            nvm.read_data(base_addr + 32, &mut buf);
+        let mut write_and_send = |tm: &PusTmCreator| {
-                            buf[0] += 1;
+            let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
-                            nvm.write_data(base_addr + 32, &buf);
+            cx.shared.tm_prod.lock(|prod| {
-                            *cx.local.rom_spi = Some(nvm.release(&mut sys_cfg));
+                prod.sizes_prod.try_push(tm.len_written()).unwrap();
-                        };
+                prod.buf_prod
-                        if pus_tc.subservice() == ActionId::CorruptImageA as u8 {
+                    .push_slice(&cx.local.verif_buf[0..written_size]);
-                            rprintln!("corrupting App Image A");
+            });
-                            corrupt_image(APP_A_START_ADDR);
+        };
-                        }
+        let token = cx.local.verif_reporter.add_tc(&pus_tc);
-                        if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
+        let (tm, accepted_token) = cx
-                            rprintln!("corrupting App Image B");
+            .local
-                            corrupt_image(APP_B_START_ADDR);
+            .verif_reporter
-                        }
+            .acceptance_success(cx.local.src_data_buf, token, 0, 0, &[])
-                    }
+            .expect("acceptance success failed");
-                    if pus_tc.service() == PusServiceId::Test as u8 && pus_tc.subservice() == 1 {
+        write_and_send(&tm);
-                        log::info!(target: "TC Handler", "received ping TC");
+
-                    } else if pus_tc.service() == PusServiceId::MemoryManagement as u8 {
+        let (tm, started_token) = cx
-                        // Raw memory write TC
+            .local
-                        if pus_tc.subservice() == 2 {
+            .verif_reporter
-                            let app_data = pus_tc.app_data();
+            .start_success(cx.local.src_data_buf, accepted_token, 0, 0, &[])
-                            if app_data.len() < 10 {
+            .expect("acceptance success failed");
-                                log::warn!(
+        write_and_send(&tm);
-                                    target: "TC Handler",
+
-                                    "app data for raw memory write is too short: {}",
+        if pus_tc.service() == PusServiceId::Action as u8 {
-                                    app_data.len()
+            let mut corrupt_image = |base_addr: u32| {
-                                );
+                // Safety: We only use this for NVM handling and we only do NVM
-                            }
+                // handling here.
-                            let memory_id = app_data[0];
+                let mut sys_cfg = unsafe { pac::Sysconfig::steal() };
-                            if memory_id != BOOT_NVM_MEMORY_ID {
+                let nvm = Nvm::new(
-                                log::warn!(target: "TC Handler", "memory ID {} not supported", memory_id);
+                    &mut sys_cfg,
-                                // TODO: Error reporting
+                    cx.local.rom_spi.take().unwrap(),
-                                return;
+                    CLOCKS.get().as_ref().unwrap(),
-                            }
+                );
-                            let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
+                let mut buf = [0u8; 4];
-                            let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
+                nvm.read_data(base_addr + 32, &mut buf);
-                            if 10 + data_len as usize > app_data.len() {
+                buf[0] += 1;
-                                log::warn!(
+                nvm.write_data(base_addr + 32, &buf);
-                                    target: "TC Handler",
+                *cx.local.rom_spi = Some(nvm.release(&mut sys_cfg));
-                                    "invalid data length {} for raw mem write detected",
+                let tm = cx
-                                    data_len
+                    .local
-                                );
+                    .verif_reporter
-                                // TODO: Error reporting
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
-                                return;
+                    .expect("completion success failed");
-                            }
+                write_and_send(&tm);
-                            let data = &app_data[10..10 + data_len as usize];
+            };
-                            log::info!("writing {} bytes at offset {} to NVM", data_len, offset);
+            if pus_tc.subservice() == ActionId::CorruptImageA as u8 {
-                            // Safety: We only use this for NVM handling and we only do NVM
+                rprintln!("corrupting App Image A");
-                            // handling here.
+                corrupt_image(APP_A_START_ADDR);
-                            let mut sys_cfg = unsafe { pac::Sysconfig::steal() };
+            }
-                            let nvm = Nvm::new(
+            if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
-                                &mut sys_cfg,
+                rprintln!("corrupting App Image B");
-                                cx.local.rom_spi.take().unwrap(),
+                corrupt_image(APP_B_START_ADDR);
-                                CLOCKS.get().as_ref().unwrap(),
+            }
-                            );
+        }
-                            nvm.write_data(offset, data);
+        if pus_tc.service() == PusServiceId::Test as u8 && pus_tc.subservice() == 1 {
-                            *cx.local.rom_spi = Some(nvm.release(&mut sys_cfg));
+            log::info!(target: "TC Handler", "received ping TC");
-                            log::info!("NVM operation done");
+            let tm = cx
-                        }
+                .local
-                    }
+                .verif_reporter
+                .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                .expect("completion success failed");
+            write_and_send(&tm);
+        } else if pus_tc.service() == PusServiceId::MemoryManagement as u8 {
+            let tm = cx
+                .local
+                .verif_reporter
+                .step_success(
+                    cx.local.src_data_buf,
+                    &started_token,
+                    0,
+                    0,
+                    &[],
+                    EcssEnumU8::new(0),
+                )
+                .expect("step success failed");
+            write_and_send(&tm);
+            // Raw memory write TC
+            if pus_tc.subservice() == 2 {
+                let app_data = pus_tc.app_data();
+                if app_data.len() < 10 {
+                    log::warn!(
+                        target: "TC Handler",
+                        "app data for raw memory write is too short: {}",
+                        app_data.len()
+                    );
                 }
-                Err(e) => {
+                let memory_id = app_data[0];
-                    log::warn!("PUS TC error: {}", e);
+                if memory_id != BOOT_NVM_MEMORY_ID {
+                    log::warn!(target: "TC Handler", "memory ID {} not supported", memory_id);
+                    // TODO: Error reporting
+                    return;
                 }
+                let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
+                let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
+                if 10 + data_len as usize > app_data.len() {
+                    log::warn!(
+                        target: "TC Handler",
+                        "invalid data length {} for raw mem write detected",
+                        data_len
+                    );
+                    // TODO: Error reporting
+                    return;
+                }
+                let data = &app_data[10..10 + data_len as usize];
+                log::info!(
+                    target: "TC Handler",
+                    "writing {} bytes at offset {} to NVM",
+                    data_len,
+                    offset
+                );
+                // Safety: We only use this for NVM handling and we only do NVM
+                // handling here.
+                let mut sys_cfg = unsafe { pac::Sysconfig::steal() };
+                let nvm = Nvm::new(
+                    &mut sys_cfg,
+                    cx.local.rom_spi.take().unwrap(),
+                    CLOCKS.get().as_ref().unwrap(),
+                );
+                nvm.write_data(offset, data);
+                *cx.local.rom_spi = Some(nvm.release(&mut sys_cfg));
+                let tm = cx
+                    .local
+                    .verif_reporter
+                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                    .expect("completion success failed");
+                write_and_send(&tm);
+                log::info!(
+                    target: "TC Handler",
+                    "NVM operation done");
             }
         }
     }
@@ -393,13 +481,34 @@ mod app {
     #[task(
         priority = 1,
         local=[
+            read_buf: [u8;MAX_TM_SIZE] = [0; MAX_TM_SIZE],
+            encoded_buf: [u8;MAX_TM_FRAME_SIZE] = [0; MAX_TM_FRAME_SIZE],
             uart_tx,
+            tm_cons
         ],
         shared=[]
     )]
-    async fn pus_tm_tx_handler(_cx: pus_tm_tx_handler::Context) {
+    async fn pus_tm_tx_handler(cx: pus_tm_tx_handler::Context) {
         loop {
-            Mono::delay(500.millis()).await;
+            while cx.local.tm_cons.sizes_cons.occupied_len() > 0 {
+                let next_size = cx.local.tm_cons.sizes_cons.try_pop().unwrap();
+                cx.local
+                    .tm_cons
+                    .buf_cons
+                    .pop_slice(&mut cx.local.read_buf[0..next_size]);
+                cx.local.encoded_buf[0] = 0;
+                let send_size = cobs::encode(
+                    &cx.local.read_buf[0..next_size],
+                    &mut cx.local.encoded_buf[1..],
+                );
+                cx.local.encoded_buf[send_size + 1] = 0;
+                cx.local
+                    .uart_tx
+                    .write(&cx.local.encoded_buf[0..send_size + 2])
+                    .unwrap();
+                Mono::delay(2.millis()).await;
+            }
+            Mono::delay(50.millis()).await;
         }
     }
 

scripts/memory_app_a.x

@@ -1,7 +1,7 @@
 /* Special linker script for application slot A with an offset at address 0x4000 */
 MEMORY
 {
-	FLASH : ORIGIN = 0x00004000, LENGTH = 256K
+	FLASH : ORIGIN = 0x00004000, LENGTH = 0x1DFF8
 	/* RAM is a mandatory region. This RAM refers to the SRAM_0 */
 	RAM : ORIGIN = 0x1FFF8000, LENGTH = 32K
 	SRAM_1 : ORIGIN = 0x20000000, LENGTH = 32K

scripts/memory_app_b.x

@@ -1,7 +1,7 @@
 /* Special linker script for application slot B with an offset at address 0x22000 */
 MEMORY
 {
-	FLASH : ORIGIN = 0x00022000, LENGTH = 256K
+	FLASH : ORIGIN = 0x00022000, LENGTH = 0x1DFF8
 	/* RAM is a mandatory region. This RAM refers to the SRAM_0 */
 	RAM : ORIGIN = 0x1FFF8000, LENGTH = 32K
 	SRAM_1 : ORIGIN = 0x20000000, LENGTH = 32K

va416xx-hal/CHANGELOG.md

@@ -8,7 +8,26 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.0]
+# [v0.3.0] 2024-30-09
+
+## Changed
+
+- Improve and fix SPI abstractions. Add new low level interface. The primary SPI constructor now
+  only expects a configuration structure and the transfer configuration needs to be applied in a
+  separate step.
+- Added an additional way to read the UART RX with IRQs. The module documentation provides
+  more information.
+- Made the UART with IRQ API more flexible for future additions.
+- Improved UART API result and error handling, added low level API to read from and write
+  to the FIFO directly
+
+## Fixed
+
+- Fixes for SPI peripheral: Flush implementation was incorrect and should now flush properly.
+- Fixes for SPI example
+- Fixes for RTIC example
+
+# [v0.2.0] 2024-09-18
 
 - Documentation improvements
 - Improved UART typing support: Validity of passed pins is now checked properly
@@ -17,12 +36,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Added `va41620`, `va41630`, `va41628` and `va41629` device features. A device now has to be
   selected for HAL compilation to work properly
+- Adaptions for the UART IRQ feature which are now only implemented for the RX part of the UART.
 
 ## Fixed
 
 - Small fixes and improvements for ADC drivers
 - 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/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va416xx-hal"
-version = "0.2.0"
+version = "0.3.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA416xx family of MCUs"
@@ -12,6 +12,7 @@ categories = ["embedded", "no-std", "hardware-support"]
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+critical-section = "1"
 nb = "1"
 paste = "1"
 embedded-hal-nb = "1"
@@ -20,7 +21,7 @@ embedded-io = "0.6"
 num_enum = { version = "0.7", default-features = false }
 typenum = "1"
 bitflags = "2"
-bitfield = "0.15"
+bitfield = "0.17"
 defmt = { version = "0.3", optional = true }
 fugit = "0.3"
 delegate = "0.12"

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
@@ -494,33 +500,33 @@ pub struct Clocks {
 
 impl Clocks {
     /// Returns the frequency of the HBO clock
-    pub fn hbo(&self) -> Hertz {
+    pub const fn hbo(&self) -> Hertz {
         HBO_FREQ
     }
 
     /// 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()
     }
 
     /// Returns system clock divied by 2.
-    pub fn apb1(&self) -> Hertz {
+    pub const fn apb1(&self) -> Hertz {
         self.apb1
     }
 
     /// Returns system clock divied by 4.
-    pub fn apb2(&self) -> Hertz {
+    pub const fn apb2(&self) -> Hertz {
         self.apb2
     }
 
     /// Returns the system (core) frequency
-    pub fn sysclk(&self) -> Hertz {
+    pub const fn sysclk(&self) -> Hertz {
         self.sysclk
     }
 
     /// Returns the ADC clock frequency which has a separate divider.
     #[cfg(not(feature = "va41628"))]
-    pub fn adc_clk(&self) -> Hertz {
+    pub const fn adc_clk(&self) -> Hertz {
         self.adc_clk
     }
 }

va416xx-hal/src/edac.rs

@@ -22,7 +22,7 @@ pub fn enable_ram1_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
 }
 
 /// 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.
+/// `EDAC_SBE` ISR and use [clear_sbe_irq] inside that ISR at the very least.
 #[inline(always)]
 pub fn enable_sbe_irq() {
     unsafe {
@@ -31,7 +31,7 @@ pub fn enable_sbe_irq() {
 }
 
 /// 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.
+/// `EDAC_MBE` ISR and use [clear_mbe_irq] inside that ISR at the very least.
 #[inline(always)]
 pub fn enable_mbe_irq() {
     unsafe {
@@ -39,7 +39,7 @@ pub fn enable_mbe_irq() {
     }
 }
 
-/// This function should be called in the user provided [pac::EDAC_SBE] interrupt-service routine
+/// This function should be called in the user provided `EDAC_SBE` interrupt-service routine
 /// to clear the SBE related interrupts.
 #[inline(always)]
 pub fn clear_sbe_irq() {
@@ -52,7 +52,7 @@ pub fn clear_sbe_irq() {
     });
 }
 
-/// This function should be called in the user provided [pac::EDAC_MBE] interrupt-service routine
+/// This function should be called in the user provided `EDAC_MBE` interrupt-service routine
 /// to clear the MBE related interrupts.
 #[inline(always)]
 pub fn clear_mbe_irq() {

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/gpio/reg.rs

@@ -113,14 +113,6 @@ pub(super) unsafe trait RegisterInterface {
     /// this type.
     fn id(&self) -> DynPinId;
 
-    const PORTA: *const PortRegisterBlock = Porta::ptr();
-    const PORTB: *const PortRegisterBlock = Portb::ptr();
-    const PORTC: *const PortRegisterBlock = Portc::ptr();
-    const PORTD: *const PortRegisterBlock = Portd::ptr();
-    const PORTE: *const PortRegisterBlock = Porte::ptr();
-    const PORTF: *const PortRegisterBlock = Portf::ptr();
-    const PORTG: *const PortRegisterBlock = Portg::ptr();
-
     /// Change the pin mode
     #[inline]
     fn change_mode(&mut self, mode: DynPinMode) {
@@ -155,13 +147,13 @@ pub(super) unsafe trait RegisterInterface {
     #[inline]
     fn port_reg(&self) -> &PortRegisterBlock {
         match self.id().group {
-            DynGroup::A => unsafe { &(*Self::PORTA) },
+            DynGroup::A => unsafe { &(*Porta::ptr()) },
-            DynGroup::B => unsafe { &(*Self::PORTB) },
+            DynGroup::B => unsafe { &(*Portb::ptr()) },
-            DynGroup::C => unsafe { &(*Self::PORTC) },
+            DynGroup::C => unsafe { &(*Portc::ptr()) },
-            DynGroup::D => unsafe { &(*Self::PORTD) },
+            DynGroup::D => unsafe { &(*Portd::ptr()) },
-            DynGroup::E => unsafe { &(*Self::PORTE) },
+            DynGroup::E => unsafe { &(*Porte::ptr()) },
-            DynGroup::F => unsafe { &(*Self::PORTF) },
+            DynGroup::F => unsafe { &(*Portf::ptr()) },
-            DynGroup::G => unsafe { &(*Self::PORTG) },
+            DynGroup::G => unsafe { &(*Portg::ptr()) },
         }
     }
 

va416xx-hal/src/irq_router.rs

@@ -0,0 +1,26 @@
+//! 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);
+    unsafe {
+        irq_router.dmasel0().write_with_zero(|w| w);
+        irq_router.dmasel1().write_with_zero(|w| w);
+        irq_router.dmasel2().write_with_zero(|w| w);
+        irq_router.dmasel3().write_with_zero(|w| w);
+        irq_router.adcsel().write_with_zero(|w| w);
+        irq_router.dacsel0().write_with_zero(|w| w);
+        irq_router.dacsel1().write_with_zero(|w| w);
+    }
+}

va416xx-hal/src/lib.rs

@@ -1,3 +1,26 @@
+//! This is the **H**ardware **A**bstraction **L**ayer (HAL) for the VA416xx MCU family.
+//!
+//! It is an additional hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx).
+
+//! It is the result of reading the datasheet for the device and encoding a type-safe layer over the
+//! raw PAC. This crate also implements traits specified by the
+//! [embedded-hal](https://github.com/rust-embedded/embedded-hal) project, making it compatible with
+//! various drivers in the embedded rust ecosystem.
+
+//! You have to enable one of the following device features to use this crate depending on
+//! which chip you are using:
+
+//! - `va41630`
+//! - `va41629`
+//! - `va41628`
+//! - `va41620`
+//!
+//! When using this HAL and writing applications for the VA416xx family in general, it is strongly
+//! recommended that you set up the clock properly, because the default internal HBO clock
+//! 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 lead to weird bugs and glitches.
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_auto_cfg))]
 #[cfg(test)]
@@ -22,7 +45,7 @@ pub mod dma;
 pub mod edac;
 pub mod gpio;
 pub mod i2c;
-pub mod nvm;
+pub mod irq_router;
 pub mod pwm;
 pub mod spi;
 pub mod time;
@@ -31,6 +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};
@@ -50,7 +57,7 @@ pub struct Nvm {
 }
 
 #[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", defmt::Format)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct VerifyError {
     addr: u32,
     found: u8,

va416xx-hal/src/pwm.rs

@@ -9,8 +9,10 @@ use core::convert::Infallible;
 use core::marker::PhantomData;
 
 use crate::pac;
+use crate::time::Hertz;
+pub use crate::timer::ValidTim;
+use crate::timer::{TimAndPinRegister, TimDynRegister, TimPin, TimRegInterface, ValidTimAndPin};
 use crate::{clock::Clocks, gpio::DynPinId};
-pub use crate::{gpio::PinId, time::Hertz, timer::*};
 
 const DUTY_MAX: u16 = u16::MAX;
 

va416xx-hal/src/timer.rs

@@ -5,7 +5,8 @@
 //! - [Timer MS and Second Tick Example](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/timer-ticks.rs)
 use core::cell::Cell;
 
-use cortex_m::interrupt::Mutex;
+use cortex_m::asm;
+use critical_section::Mutex;
 
 use crate::clock::Clocks;
 use crate::gpio::{
@@ -169,6 +170,14 @@ macro_rules! tim_markers {
     };
 }
 
+pub const fn const_clock<Tim: ValidTim + ?Sized>(_: &Tim, clocks: &Clocks) -> Hertz {
+    if Tim::TIM_ID <= 15 {
+        clocks.apb1()
+    } else {
+        clocks.apb2()
+    }
+}
+
 tim_markers!(
     (pac::Tim0, 0, pac::Interrupt::TIM0),
     (pac::Tim1, 1, pac::Interrupt::TIM1),
@@ -328,19 +337,27 @@ valid_pin_and_tims!(
 ///
 /// Only the bit related to the corresponding TIM peripheral is modified
 #[inline]
-fn assert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+pub 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) {
+pub 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)) })
 }
 
+#[inline]
+pub fn assert_tim_reset_for_two_cycles(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+    assert_tim_reset(syscfg, tim_id);
+    asm::nop();
+    asm::nop();
+    deassert_tim_reset(syscfg, tim_id);
+}
+
 pub type TimRegBlock = pac::tim0::RegisterBlock;
 
 /// Register interface.
@@ -481,7 +498,7 @@ pub struct CountdownTimer<TIM: ValidTim> {
 }
 
 #[inline]
-fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+pub fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
     syscfg
         .tim_clk_enable()
         .modify(|r, w| unsafe { w.bits(r.bits() | (1 << idx)) });
@@ -579,9 +596,10 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     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.rst_val = (self.clock.raw() / self.curr_freq.raw()) - 1;
         self.set_reload(self.rst_val);
-        self.set_count(0);
+        // Decrementing counter, to set the reset value.
+        self.set_count(self.rst_val);
     }
 
     #[inline(always)]
@@ -601,7 +619,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
 
     #[inline(always)]
     pub fn enable(&mut self) {
-        self.tim.reg().ctrl().modify(|_, w| w.enable().set_bit());
+        self.tim.reg().enable().write(|w| unsafe { w.bits(1) });
     }
 
     #[inline(always)]
@@ -778,7 +796,7 @@ pub fn set_up_ms_tick<Tim: ValidTim>(
 /// 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| {
+    critical_section::with(|cs| {
         let mut ms = MS_COUNTER.borrow(cs).get();
         ms += 1;
         MS_COUNTER.borrow(cs).set(ms);
@@ -787,7 +805,7 @@ pub fn default_ms_irq_handler() {
 
 /// Get the current MS tick count
 pub fn get_ms_ticks() -> u32 {
-    cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
+    critical_section::with(|cs| MS_COUNTER.borrow(cs).get())
 }
 
 pub struct DelayMs<Tim: ValidTim = pac::Tim0>(CountdownTimer<Tim>);

vorago-peb1/Cargo.toml

@@ -18,7 +18,7 @@ embedded-hal = "1"
 [dependencies.va416xx-hal]
 path = "../va416xx-hal"
 features = ["va41630"]
-version = "0.2.0"
+version = ">=0.3, <0.4"
 
 [dependencies.lis2dh12]
 git = "https://github.com/us-irs/lis2dh12.git"

vscode/launch.json

@@ -74,8 +74,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -104,8 +103,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -134,8 +132,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -164,11 +161,11 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
+                        "timestamp": true,
                         "type": "console"
                     }
                 ]
@@ -194,8 +191,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -224,8 +220,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -255,8 +250,7 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -286,8 +280,217 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "auto",
-                "address": "0x1fff8000",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Debug PWM Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "pwm-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/pwm",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Debug DMA Example",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "dma-example",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/dma",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "UART Echo with IRQ",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "uart-echo-with-irq",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/uart-echo-with-irq",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Bootloader",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "bootloader",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/bootloader",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "name": "Flashloader",
+            "servertype": "jlink",
+            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
+            "cwd": "${workspaceRoot}",
+            "device": "Cortex-M4",
+            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
+            "preLaunchTask": "flashloader",
+            "overrideLaunchCommands": [
+                "monitor halt",
+                "monitor reset",
+                "load",
+            ],
+            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/flashloader",
+            "interface": "swd",
+            "runToEntryPoint": "main",
+            "rttConfig": {
+                "enabled": true,
+                "address": "auto",
+                "decoders": [
+                    {
+                        "port": 0,
+                        "timestamp": true,
+                        "type": "console"
+                    }
+                ]
+            }
+        },
+        {
+            "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,
@@ -298,4 +501,4 @@
             }
         },
     ]
-}
+}

vscode/tasks.json

@@ -3,6 +3,32 @@
     // for the documentation about the tasks.json format
     "version": "2.0.0",
     "tasks": [
+        {
+            "label": "bootloader",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "bootloader"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
+        {
+            "label": "flashloader",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "flashloader"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
         {
             "label": "blinky-pac-example",
             "type": "shell",
@@ -29,6 +55,19 @@
                 "kind": "build",
             }
         },
+        {
+            "label": "timer-ticks-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--example",
+                "timer-ticks"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
         {
             "label": "blinky-example",
             "type": "shell",
@@ -56,6 +95,32 @@
                 "kind": "build",
             }
         },
+        {
+            "label": "uart-echo-with-irq",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "uart-echo-with-irq"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
+        {
+            "label": "pwm-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--example",
+                "pwm"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
         {
             "label": "wdt-example",
             "type": "shell",
@@ -108,5 +173,44 @@
                 "kind": "build",
             }
         },
+        {
+            "label": "dma-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--example",
+                "dma"
+            ],
+            "group": {
+                "kind": "build",
+            }
+        },
+        {
+            "label": "embassy-example",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build",
+                "--bin",
+                "embassy-example"
+            ],
+            "group": {
+                "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",
+            }
+        },
     ]
 }