Merge pull request 'prepare PAC release' (#72) from prep-pac-release into main

Reviewed-on: #72

bootloader/Cargo.toml

@@ -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"

examples/embassy/Cargo.toml

@@ -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",

examples/rtic/Cargo.toml

@@ -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"] }
 

examples/simple/Cargo.toml

@@ -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"

flashloader/Cargo.toml

@@ -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" }
 

flashloader/src/main.rs

@@ -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");

va416xx-embassy/Cargo.toml

@@ -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]

va416xx-hal/Cargo.toml

@@ -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"]

va416xx-hal/src/can/mod.rs

@@ -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;

va416xx-hal/src/can/regs.rs

@@ -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,

va416xx/CHANGELOG.md

@@ -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

va416xx/Cargo.toml

@@ -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]