8 Commits

Author SHA1 Message Date
7035780beb Merge pull request 'prepare PAC release' (#72) from prep-pac-release into main
Reviewed-on: #72
2025-07-22 12:14:47 +02:00
Robin Mueller
e82effb2e4 prepare PAC release 2025-07-22 12:14:17 +02:00
6a886651fc Merge pull request 'bump all dependencies' (#71) from dependency-update into main
Reviewed-on: #71
2025-07-22 11:24:15 +02:00
Robin Mueller
191642d76a dependency update 2025-07-22 11:16:08 +02:00
c1e4935d22 Merge pull request 'dependency update' (#70) from dependency-update into main
Reviewed-on: #70
2025-07-22 10:23:57 +02:00
Robin Mueller
e692f922a4 dependency update 2025-07-22 00:24:54 +02:00
ce02b38ff6 Merge pull request 'CAN Support' (#69) from can-support into main
Reviewed-on: #69
2025-05-13 16:55:10 +02:00
993a0bcd3e CAN peripheral support 2025-05-13 16:52:35 +02:00
12 changed files with 61 additions and 31 deletions

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@@ -6,7 +6,7 @@ edition = "2021"
[dependencies]
cortex-m = "0.7"
cortex-m-rt = "0.7"
defmt-rtt = "0.4"
defmt-rtt = "1"
defmt = "1"
panic-probe = { version = "1", features = ["defmt"] }
crc = "3"

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@@ -8,12 +8,11 @@ cortex-m = "0.7"
cortex-m-rt = "0.7"
cfg-if = "1"
embedded-io = "0.6"
embedded-can = "0.4"
embedded-hal-async = "1"
embedded-io-async = "0.6"
heapless = "0.8"
defmt-rtt = "0.4"
defmt-rtt = "1"
defmt = "1"
panic-probe = { version = "1", features = ["print-defmt"] }
static_cell = "2"
@@ -21,7 +20,7 @@ critical-section = "1"
ringbuf = { version = "0.4", default-features = false }
nb = "1"
embassy-sync = "0.6"
embassy-sync = "0.7"
embassy-time = "0.4"
embassy-executor = { version = "0.7", features = [
"arch-cortex-m",

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@@ -5,7 +5,7 @@ edition = "2021"
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
defmt-rtt = "0.4"
defmt-rtt = "1"
defmt = "1"
panic-probe = { version = "1", features = ["defmt"] }

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@@ -7,7 +7,7 @@ edition = "2021"
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
critical-section = "1"
defmt-rtt = "0.4"
defmt-rtt = "1"
defmt = "1"
panic-probe = { version = "1", features = ["defmt"] }
embedded-hal = "1"

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@@ -6,15 +6,15 @@ edition = "2021"
[dependencies]
cortex-m = "0.7"
embedded-io = "0.6"
defmt-rtt = "0.4"
defmt-rtt = "1"
defmt = "1"
panic-probe = { version = "1", features = ["defmt"] }
static_cell = "2"
satrs = { version = "0.3.0-alpha.0", default-features = false }
satrs = { version = "0.3.0-alpha.1", default-features = false }
ringbuf = { version = "0.4", default-features = false }
once_cell = { version = "1", default-features = false, features = ["critical-section"] }
spacepackets = { version = "0.13", default-features = false, features = ["defmt"] }
cobs = { version = "0.3", default-features = false }
spacepackets = { version = "0.15", default-features = false, features = ["defmt"] }
cobs = { version = "0.4", default-features = false }
va416xx-hal = { version = "0.5", features = ["va41630", "defmt"], path = "../va416xx-hal" }

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@@ -347,7 +347,7 @@ mod app {
defmt::warn!("PUS TC error: {}", pus_tc.unwrap_err());
return;
}
let (pus_tc, _) = pus_tc.unwrap();
let pus_tc = pus_tc.unwrap();
let mut write_and_send = |tm: &PusTmCreator| {
let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
cx.shared.tm_prod.lock(|prod| {
@@ -356,18 +356,18 @@ mod app {
.push_slice(&cx.local.verif_buf[0..written_size]);
});
};
let token = cx.local.verif_reporter.add_tc(&pus_tc);
let (tm, accepted_token) = cx
let request_id = VerificationReportCreator::read_request_id_from_tc(&pus_tc);
let tm = cx
.local
.verif_reporter
.acceptance_success(cx.local.src_data_buf, token, 0, 0, &[])
.acceptance_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
.expect("acceptance success failed");
write_and_send(&tm);
let (tm, started_token) = cx
let tm = cx
.local
.verif_reporter
.start_success(cx.local.src_data_buf, accepted_token, 0, 0, &[])
.start_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
.expect("acceptance success failed");
write_and_send(&tm);
@@ -387,7 +387,7 @@ mod app {
let tm = cx
.local
.verif_reporter
.completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
.completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
.expect("completion success failed");
write_and_send(&tm);
};
@@ -405,7 +405,7 @@ mod app {
let tm = cx
.local
.verif_reporter
.completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
.completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
.expect("completion success failed");
write_and_send(&tm);
} else if pus_tc.service() == PusServiceId::MemoryManagement as u8 {
@@ -414,7 +414,7 @@ mod app {
.verif_reporter
.step_success(
cx.local.src_data_buf,
&started_token,
&request_id,
0,
0,
&[],
@@ -460,7 +460,7 @@ mod app {
let tm = cx
.local
.verif_reporter
.completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
.completion_success(cx.local.src_data_buf, &request_id, 0, 0, &[])
.expect("completion success failed");
write_and_send(&tm);
defmt::info!("NVM operation done");

View File

@@ -11,7 +11,7 @@ keywords = ["no-std", "hal", "cortex-m", "vorago", "va416xx"]
categories = ["aerospace", "embedded", "no-std", "hardware-support"]
[dependencies]
vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", features = ["vor4x"] }
vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", rev = "c8e475cbba820a4b235b46f3d284e23d72396855", features = ["vor4x"] }
va416xx-hal = { path = "../va416xx-hal" }
[features]

View File

@@ -13,9 +13,9 @@ categories = ["embedded", "no-std", "hardware-support"]
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
va416xx = { version = "0.4", features = ["critical-section"], default-features = false }
derive-mmio = { version = "0.4", git = "https://github.com/knurling-rs/derive-mmio.git" }
derive-mmio = { git = "https://github.com/knurling-rs/derive-mmio.git", version = "0.6" }
static_assertions = "1.1"
vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", features = ["vor4x"] }
vorago-shared-periphs = { git = "https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs.git", rev = "c8e475cbba820a4b235b46f3d284e23d72396855", features = ["vor4x"] }
libm = "0.2"
nb = "1"
@@ -26,10 +26,10 @@ bitbybit = "1.3"
arbitrary-int = "1.3"
fugit = "0.3"
embedded-can = "0.4"
embassy-sync = "0.6"
embassy-sync = "0.7"
thiserror = { version = "2", default-features = false }
defmt = { version = "0.3", optional = true }
defmt = { version = "1", optional = true }
[features]
default = ["rt", "revb"]

View File

@@ -1,6 +1,22 @@
//! CAN driver.
//! # CAN peripheral driver.
//!
//! The VA416xx CAN module is based on the CP3UB26 module.
//!
//! Using the CAN bus generally involves the following steps:
//!
//! 1. Create a [Can] instance
//! 2. The [CanChannels] resource management singleton can be retrieved by using
//! [Can::take_channels].
//! 3. Individual [CanRx] and [CanTx] channels can be created using the [CanChannels::take]
//! function. These allow to send or receive CAN frames on individual channels.
//! 4. The [asynch::CanTxAsync] structure can be created to transmit frames asynchronously.
//! The [asynch::on_interrupt_can] function should be called in the user interrupt handler
//! for CAN0 and CAN1 for this to work properly. The interrupt handler can also take care of
//! receiving frames on [CanRx] channels with enabled interrupts.
//!
//! # Example
//!
//! - [CAN example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/embassy/src/bin/can.rs)
use core::sync::atomic::AtomicBool;
use arbitrary_int::{u11, u15, u2, u3, u4, u7, Number};
@@ -319,6 +335,7 @@ pub enum ClockConfigError {
CanNotFindPrescaler,
}
/// The main CAN peripheral driver.
pub struct Can {
regs: regs::MmioCan<'static>,
id: CanId,
@@ -358,6 +375,7 @@ impl Can {
self.regs.write_gmskb(BaseId::new_with_raw_value(0));
}
/// Retrieve a resource management singleton for the 15 CAN channels.
pub fn take_channels(&self) -> Option<CanChannels> {
if CHANNELS_TAKEN[self.id() as usize].swap(true, core::sync::atomic::Ordering::SeqCst) {
return None;
@@ -412,11 +430,13 @@ impl Can {
&mut self.regs
}
/// Clear all interrupts.
#[inline]
pub fn clear_interrupts(&mut self) {
self.regs
.write_iclr(regs::InterruptClear::new_with_raw_value(0xFFFF_FFFF));
}
/// This function only enable the CAN interrupt vector in the NVIC.
///
/// The interrupts for the individual channels or errors still need to be enabled
@@ -518,6 +538,7 @@ pub enum RxState {
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct InvalidRxStateError(pub RxState);
/// Driver instance to use an individual CAN channel as a transmission channel.
#[derive(Debug)]
pub struct CanTx {
ll: CanChannelLowLevel,
@@ -646,6 +667,7 @@ impl CanTx {
}
}
/// Driver instance to use an individual CAN channel as a reception channel.
pub struct CanRx {
ll: CanChannelLowLevel,
mode: RxState,
@@ -760,6 +782,7 @@ impl CanChannels {
self.id
}
/// Take the indidivual CAN channel low level driver instance.
pub fn take(&mut self, idx: usize) -> Option<CanChannelLowLevel> {
if idx > 14 {
return None;

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@@ -261,7 +261,7 @@ pub struct ExtendedId {
#[bitbybit::bitfield(u32, default = 0x0)]
#[derive(Debug)]
pub struct BaseId {
/// This will contain ID\[10:0\] for standard frames and bits [28:18] for extended frames.
/// This will contain ID\[10:0\] for standard frames and bits \[28:18\] for extended frames.
#[bits(5..=15, rw)]
mask_28_18: u11,
/// This is the RTR bit for standard frames, and the SRR bit for extended frames.
@@ -357,10 +357,10 @@ impl defmt::Format for DiagnosticRegister {
#[mmio(const_inner)]
#[repr(C)]
pub struct Can {
#[mmio(inner)]
#[mmio(Inner)]
cmbs: [CanMsgBuf; 15],
/// Hidden CAN message buffer. Only allowed to be used internally by the peripheral.
#[mmio(inner)]
#[mmio(Inner)]
_hcmb: CanMsgBuf,
control: Control,
timing: TimingConfig,

View File

@@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## [unreleased]
## [v0.4.1] 2025-07-22
defmt v1
## [v0.4.0] 2025-02-18
- Re-generated PAC with `svd2rust` v0.35.0 and added optional `defmt` and `Debug` implementations
@@ -32,3 +36,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
Related issue: https://github.com/rust-embedded/svd2rust/issues/557
Clippy is disabled in CI/CD for now.
- Initial release
[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-v0.4.1...HEAD
[v0.4.1]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-v0.4.0...va416xx-v0.4.1
[v0.4.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-v0.3.0...va416xx-v0.4.0

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@@ -1,6 +1,6 @@
[package]
name = "va416xx"
version = "0.4.0"
version = "0.4.1"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
edition = "2021"
description = "PAC for the Vorago VA416xx family of MCUs"
@@ -16,7 +16,7 @@ categories = ["embedded", "no-std", "hardware-support"]
cortex-m = "0.7"
vcell = "0.1.3"
defmt = { version = "0.3", optional = true }
defmt = { version = "1", optional = true }
critical-section = { version = "1", optional = true }
[dependencies.cortex-m-rt]