DMA experimentation

.cargo/def-config.toml

@@ -1,11 +1,13 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-# runner = "gdb-multiarch -q -x jlink/jlink.gdb"
+runner = "gdb-multiarch -q -x jlink/jlink.gdb"
 # runner = "arm-none-eabi-gdb -q -x jlink/jlink-reva.gdb"
 # runner = "gdb-multiarch -q -x jlink/jlink-reva.gdb"
 
 # Probe-rs is currently problematic, possibly because of the
 # ROM protection?
-runner = "probe-rs run --chip VA416xx_RAM --protocol swd"
+# runner = "probe-rs run --chip-description-path ./scripts/VA416xx_Series.yaml"
+# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
+
 
 rustflags = [
   "-C",
@@ -33,8 +35,6 @@ target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
 [alias]
 rb = "run --bin"
 rrb = "run --release --bin"
-ut = "test --target=x86_64-unknown-linux-gnu"
-genbin = "objcopy --release -- -O binary app.bin"
 
 [env]
 DEFMT_LOG = "info"

.github/workflows/ci.yml

@@ -10,10 +10,8 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
         with:
           targets: "thumbv7em-none-eabihf"
-      - run: cargo check --target thumbv7em-none-eabihf
-      - run: cargo check --target thumbv7em-none-eabihf --examples
-      - run: cargo check -p va416xx --target thumbv7em-none-eabihf --all-features
-      - run: cargo check -p va416xx-hal --target thumbv7em-none-eabihf --examples --features "defmt va41630"
+      - run: cargo check --target thumbv7em-none-eabihf --release
+      - run: cargo check --target thumbv7em-none-eabihf --examples --release
 
   test:
     name: Run Tests
@@ -23,7 +21,7 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
       - name: Install nextest
         uses: taiki-e/install-action@nextest
-      - run: cargo nextest run --features va41630 -p va416xx-hal
+      - run: cargo nextest run --all-features -p va416xx-hal
       # I think we can skip those on an embedded crate..
       # - run: cargo test --doc -p va108xx-hal
 
@@ -41,9 +39,7 @@ 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 -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
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
 
   clippy:
     name: Clippy

.gitignore

@@ -14,6 +14,3 @@ Cargo.lock
 **/*.rs.bk
 
 /app.map
-/app.bin
-
-/Embed.toml

Cargo.toml

@@ -1,19 +1,10 @@
 [workspace]
 resolver = "2"
 members = [
-  "va416xx",
-  "va416xx-hal",
-  "va416xx-embassy",
-  "vorago-peb1",
-  "bootloader",
-  "flashloader",
   "examples/simple",
-  "examples/embassy",
-  "examples/rtic",
-]
-exclude = [
-  "flashloader/slot-a-blinky",
-  "flashloader/slot-b-blinky",
+	"va416xx",
+	"va416xx-hal",
+	"vorago-peb1"
 ]
 
 [profile.dev]
@@ -34,12 +25,3 @@ incremental = false
 lto = 'fat'
 opt-level = 3            # <-
 overflow-checks = false  # <-
-
-[profile.small]
-inherits = "release"
-codegen-units = 1
-debug-assertions = false # <-
-lto = true
-opt-level = 'z'            # <-
-overflow-checks = false  # <-
-strip = true  # Automatically strip symbols from the binary.

Embed.toml

@@ -1,5 +1,5 @@
 [default.general]
-chip = "VA416xx_RAM"
+chip = "VA416xx"
 
 [default.rtt]
 enabled = true

README.md

@@ -3,7 +3,7 @@
 Vorago VA416xx Rust Support
 =========
 
-This crate collection provides support to write Rust applications for the VA416XX family
+This crate collection provided support to write Rust applications for the VA416XX family
 of devices.
 
 ## List of crates
@@ -14,23 +14,12 @@ This workspace contains the following crates:
   PAC crate containing basic low-level register definition
 - The [`va416xx-hal`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx-hal)
   HAL crate containing higher-level abstractions on top of the PAC register crate.
-- The [`va416xx-embassy`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx-embassy)
-  crate containing support for running the embassy-rs RTOS.
 - The [`vorago-peb1`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/vorago-peb1)
   BSP crate containing support for the PEB1 development board.
 
 It also contains the following helper crates:
 
-- 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.
+- The `examples` crates contains various example applications for the HAL and the PAC.
 
 ## Using the `.cargo/config.toml` file
 
@@ -58,25 +47,6 @@ You can then adapt the files in `.vscode` to your needs.
 You can use CLI or VS Code for flashing, running and debugging. In any case, take
 care of installing the pre-requisites first.
 
-### Using CLI with probe-rs
-
-Install [probe-rs](https://probe.rs/docs/getting-started/installation/) first.
-
-You can use `probe-rs` to run the software and display RTT log output. However, debugging does not
-work yet.
-
-After installation, you can run the following command
-
-```sh
-probe-rs run --chip VA416xx_RAM --protocol jtag target/thumbv7em-none-eabihf/debug/examples/blinky
-```
-
-to flash and run the blinky program on the RAM. There is also a `VA416xx` chip target
-available for persistent flashing.
-
-Runner configuration avilable in the `.cargo/def-config.toml` file to use `probe-rs` for
-convenience.
-
 ### Pre-Requisites
 
 1. [SEGGER J-Link tools](https://www.segger.com/downloads/jlink/) installed
@@ -85,38 +55,6 @@ convenience.
 
 ### Using CLI
 
-
-### Using VS Code
-
-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`
-to automatically rebuild and flash your application.
-
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
-
-- `"cortex-debug.gdbPath"`
-- `"cortex-debug.gdbPath.linux"`
-- `"cortex-debug.gdbPath.windows"`
-- `"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`. In order for the RTT block address detection to
-work properly, `objdump-multiarch` and `nm-multiarch` need to be installed.
-
-### Using CLI with GDB and Segger J-Link Tools
-
-Install the following two tools first:
-
-1. [SEGGER J-Link tools](https://www.segger.com/downloads/jlink/) installed
-2. [gdb-multiarch](https://packages.debian.org/sid/gdb-multiarch) or similar
-   cross-architecture debugger installed. All commands here assume `gdb-multiarch`.
-
 You can build the blinky example application with the following command
 
 ```sh
@@ -150,8 +88,22 @@ runner = "gdb-multiarch -q -x jlink/jlink.gdb"
 After that, you can simply use `cargo run --example blinky` to flash the blinky
 example.
 
-### Using the RTT Viewer
+### Using VS Code
 
-The Segger RTT viewer can be used to display log messages received from the target. The base
-address for the RTT block placement is 0x1fff8000. It is recommended to use a search range of
-0x1000 around that base address when using the RTT viewer.
+Assuming a working debug connection to your VA108xx board, you can debug using VS Code with
+the [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+
+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`
+to automatically rebuild and flash your application.
+
+If you would like to use a custom GDB application, you can specify the gdb binary in the following
+configuration variables in your `settings.json`:
+
+- `"cortex-debug.gdbPath"`
+- `"cortex-debug.gdbPath.linux"`
+- `"cortex-debug.gdbPath.windows"`
+- `"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`.

automation/Jenkinsfile

@@ -25,9 +25,7 @@ pipeline {
         stage('Docs') {
           steps {
             sh """
-              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
+              RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc --all-features
             """
           }
         }
@@ -38,9 +36,7 @@ pipeline {
         }
         stage('Check Examples') {
           steps {
-            sh """
-              cargo check --target thumbv7em-none-eabihf --examples
-            """
+            sh 'cargo check --target thumbv7em-none-eabihf --examples'
           }
         }
     }

bootloader/Cargo.toml

@@ -1,22 +0,0 @@
-[package]
-name = "bootloader"
-version = "0.1.0"
-edition = "2021"
-
-[dependencies]
-cortex-m = "0.7"
-cortex-m-rt = "0.7"
-embedded-hal = "1"
-panic-rtt-target = { version = "0.2" }
-panic-halt = { version = "1" }
-rtt-target = { version = "0.6" }
-crc = "3"
-static_assertions = "1"
-
-[dependencies.va416xx-hal]
-path = "../va416xx-hal"
-features = ["va41630"]
-
-[features]
-default = []
-rtt-panic = []

bootloader/README.md

@@ -1,47 +0,0 @@
-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

@@ -1,359 +0,0 @@
-//! Vorago bootloader which can boot from two images.
-//!
-//! As opposed to the Vorago example code, this bootloader assumes a 40 MHz external clock
-//! but does not scale that clock up.
-#![no_main]
-#![no_std]
-
-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::{
-    clock::{pll_setup_delay, ClkDivSel, ClkselSys},
-    edac,
-    nvm::Nvm,
-    pac::{self, interrupt},
-    prelude::*,
-    time::Hertz,
-    wdt::Wdt,
-};
-
-const EXTCLK_FREQ: u32 = 40_000_000;
-const WITH_WDT: bool = false;
-const WDT_FREQ_MS: u32 = 50;
-const DEBUG_PRINTOUTS: bool = true;
-
-// Dangerous option! An image with this option set to true will flash itself from RAM directly
-// into the NVM. This can be used as a recovery option from a direct RAM flash to fix the NVM
-// boot process. Please note that this will flash an image which will also always perform the
-// 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;
-
-// 0x4000
-const APP_A_START_ADDR: u32 = BOOTLOADER_END_ADDR;
-// The actual size of the image which is relevant for CRC calculation will be store at this
-// address.
-// 0x21FF8
-const APP_A_SIZE_ADDR: u32 = APP_B_END_ADDR - 8;
-// 0x21FFC
-const APP_A_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
-pub const APP_A_END_ADDR: u32 = BOOTLOADER_END_ADDR + APP_IMG_SZ;
-
-//  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;
-pub const RESET_VECTOR_OFFSET: u32 = 0x4;
-
-const CRC_ALGO: Crc<u32> = Crc::<u32>::new(&CRC_32_ISO_HDLC);
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-enum AppSel {
-    A,
-    B,
-}
-
-pub trait WdtInterface {
-    fn feed(&self);
-}
-
-pub struct OptWdt(Option<Wdt>);
-
-impl WdtInterface for OptWdt {
-    fn feed(&self) {
-        if self.0.is_some() {
-            self.0.as_ref().unwrap().feed();
-        }
-    }
-}
-
-#[entry]
-fn main() -> ! {
-    if RTT_PRINTOUT {
-        rtt_init_print!();
-        rprintln!("-- VA416xx bootloader --");
-    }
-    let mut dp = pac::Peripherals::take().unwrap();
-    let cp = cortex_m::Peripherals::take().unwrap();
-    // Disable ROM protection.
-    dp.sysconfig.rom_prot().write(|w| unsafe { w.bits(1) });
-    setup_edac(&mut dp.sysconfig);
-    // 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();
-    let mut opt_wdt = OptWdt(None);
-    if WITH_WDT {
-        opt_wdt.0 = Some(Wdt::start(
-            &mut dp.sysconfig,
-            dp.watch_dog,
-            &clocks,
-            WDT_FREQ_MS,
-        ));
-    }
-
-    let nvm = Nvm::new(&mut dp.sysconfig, dp.spi3, &clocks);
-
-    if FLASH_SELF {
-        let mut first_four_bytes: [u8; 4] = [0; 4];
-        read_four_bytes_at_addr_zero(&mut first_four_bytes);
-        let bootloader_data = {
-            unsafe {
-                &*core::ptr::slice_from_raw_parts(
-                    (BOOTLOADER_START_ADDR + 4) as *const u8,
-                    (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 8) as usize,
-                )
-            }
-        };
-        let mut digest = CRC_ALGO.digest();
-        digest.update(&first_four_bytes);
-        digest.update(bootloader_data);
-        let bootloader_crc = digest.finalize();
-
-        nvm.write_data(0x0, &first_four_bytes);
-        nvm.write_data(0x4, bootloader_data);
-        if let Err(e) = nvm.verify_data(0x0, &first_four_bytes) {
-            if RTT_PRINTOUT {
-                rprintln!("verification of self-flash to NVM failed: {:?}", e);
-            }
-        }
-        if let Err(e) = nvm.verify_data(0x4, bootloader_data) {
-            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()) {
-            if RTT_PRINTOUT {
-                rprintln!(
-                    "error: CRC verification for bootloader self-flash failed: {:?}",
-                    e
-                );
-            }
-        }
-    }
-
-    // Check bootloader's CRC (and write it if blank)
-    check_own_crc(&opt_wdt, &nvm, &cp);
-
-    if check_app_crc(AppSel::A, &opt_wdt) {
-        boot_app(AppSel::A, &cp)
-    } else if check_app_crc(AppSel::B, &opt_wdt) {
-        boot_app(AppSel::B, &cp)
-    } else {
-        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.
-        // Both images seem to be corrupt. Boot default image A.
-        boot_app(AppSel::A, &cp)
-    }
-}
-
-fn check_own_crc(wdt: &OptWdt, nvm: &Nvm, cp: &cortex_m::Peripherals) {
-    let crc_exp = unsafe { (BOOTLOADER_CRC_ADDR as *const u32).read_unaligned().to_be() };
-    wdt.feed();
-    // I'd prefer to use [core::slice::from_raw_parts], but that is problematic
-    // because the address of the bootloader is 0x0, so the NULL check fails and the functions
-    // panics.
-    let mut first_four_bytes: [u8; 4] = [0; 4];
-    read_four_bytes_at_addr_zero(&mut first_four_bytes);
-    let mut digest = CRC_ALGO.digest();
-    digest.update(&first_four_bytes);
-    digest.update(unsafe {
-        &*core::ptr::slice_from_raw_parts(
-            (BOOTLOADER_START_ADDR + 4) as *const u8,
-            (BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 8) as usize,
-        )
-    });
-    let crc_calc = digest.finalize();
-    wdt.feed();
-    if crc_exp == 0x0000 || crc_exp == 0xffff {
-        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
-            rprintln!("BL CRC blank - prog new CRC");
-        }
-        // Blank CRC, write it to NVM.
-        nvm.write_data(BOOTLOADER_CRC_ADDR, &crc_calc.to_be_bytes());
-        // The Vorago bootloader resets here. I am not sure why this is done but I think it is
-        // necessary because somehow the boot will not work if we just continue as usual.
-        // cortex_m::peripheral::SCB::sys_reset();
-    } else if crc_exp != crc_calc {
-        // Bootloader is corrupted. Try to run App A.
-        if DEBUG_PRINTOUTS && RTT_PRINTOUT {
-            rprintln!(
-                "bootloader CRC corrupt, read {} and expected {}. booting image A immediately",
-                crc_calc,
-                crc_exp
-            );
-        }
-        // TODO: Shift out minimal CCSDS frame to notify about bootloader corruption.
-        boot_app(AppSel::A, cp);
-    }
-}
-
-fn read_four_bytes_at_addr_zero(buf: &mut [u8; 4]) {
-    unsafe {
-        core::arch::asm!(
-            "ldr r0, [{0}]",    // Load 4 bytes from src into r0 register
-            "str r0, [{1}]",    // Store r0 register into first_four_bytes
-            in(reg) BOOTLOADER_START_ADDR as *const u8,         // Input: src pointer (0x0)
-            in(reg) buf as *mut [u8; 4],  // Input: destination pointer
-        );
-    }
-}
-fn check_app_crc(app_sel: AppSel, wdt: &OptWdt) -> bool {
-    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
-        rprintln!("Checking image {:?}", app_sel);
-    }
-    if app_sel == AppSel::A {
-        check_app_given_addr(APP_A_CRC_ADDR, APP_A_START_ADDR, APP_A_SIZE_ADDR, wdt)
-    } else {
-        check_app_given_addr(APP_B_CRC_ADDR, APP_B_START_ADDR, APP_B_SIZE_ADDR, wdt)
-    }
-}
-
-fn check_app_given_addr(
-    crc_addr: u32,
-    start_addr: u32,
-    image_size_addr: u32,
-    wdt: &OptWdt,
-) -> bool {
-    let crc_exp = unsafe { (crc_addr as *const u32).read_unaligned().to_be() };
-    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 {
-        if RTT_PRINTOUT {
-            rprintln!("detected invalid app size {}", image_size);
-        }
-        return false;
-    }
-    wdt.feed();
-    let crc_calc = CRC_ALGO.checksum(unsafe {
-        core::slice::from_raw_parts(start_addr as *const u8, image_size as usize)
-    });
-    wdt.feed();
-    if crc_calc == crc_exp {
-        return true;
-    }
-    false
-}
-
-fn boot_app(app_sel: AppSel, cp: &cortex_m::Peripherals) -> ! {
-    if DEBUG_PRINTOUTS && RTT_PRINTOUT {
-        rprintln!("booting app {:?}", app_sel);
-    }
-    let clkgen = unsafe { pac::Clkgen::steal() };
-    clkgen
-        .ctrl0()
-        .modify(|_, w| unsafe { w.clksel_sys().bits(ClkselSys::Hbo as u8) });
-    pll_setup_delay();
-    clkgen
-        .ctrl0()
-        .modify(|_, w| unsafe { w.clk_div_sel().bits(ClkDivSel::Div1 as u8) });
-    // Clear all interrupts set.
-    unsafe {
-        cp.NVIC.icer[0].write(0xFFFFFFFF);
-        cp.NVIC.icpr[0].write(0xFFFFFFFF);
-    }
-    cortex_m::asm::dsb();
-    cortex_m::asm::isb();
-    unsafe {
-        if app_sel == AppSel::A {
-            cp.SCB.vtor.write(APP_A_START_ADDR);
-        } else {
-            cp.SCB.vtor.write(APP_B_START_ADDR);
-        }
-    }
-    cortex_m::asm::dsb();
-    cortex_m::asm::isb();
-    vector_reset();
-}
-
-pub fn vector_reset() -> ! {
-    unsafe {
-        // Set R0 to VTOR address (0xE000ED08)
-        let vtor_address: u32 = 0xE000ED08;
-
-        // Load VTOR
-        let vtor: u32 = *(vtor_address as *const u32);
-
-        // Load initial MSP value
-        let initial_msp: u32 = *(vtor as *const u32);
-
-        // Set SP value (assume MSP is selected)
-        core::arch::asm!("mov sp, {0}", in(reg) initial_msp);
-
-        // Load reset vector
-        let reset_vector: u32 = *((vtor + 4) as *const u32);
-
-        // Branch to reset handler
-        core::arch::asm!("bx {0}", in(reg) reset_vector);
-    }
-    unreachable!();
-}
-
-fn setup_edac(syscfg: &mut pac::Sysconfig) {
-    // The scrub values are based on the Vorago provided bootloader.
-    edac::enable_rom_scrub(syscfg, 125);
-    edac::enable_ram0_scrub(syscfg, 1000);
-    edac::enable_ram1_scrub(syscfg, 1000);
-    edac::enable_sbe_irq();
-    edac::enable_mbe_irq();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn WATCHDOG() {
-    let wdt = unsafe { pac::WatchDog::steal() };
-    // Clear interrupt.
-    wdt.wdogintclr().write(|w| unsafe { w.bits(1) });
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn EDAC_SBE() {
-    // TODO: Send some command via UART for notification purposes. Also identify the problematic
-    // memory.
-    edac::clear_sbe_irq();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn EDAC_MBE() {
-    // TODO: Send some command via UART for notification purposes.
-    edac::clear_mbe_irq();
-    // TODO: Reset like the vorago example?
-}

examples/README.md

@@ -1,33 +0,0 @@
-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
-
-Blinky with time driver IRQs in library
-
-```rs
-cargo run --bin embassy-example
-```
-
-Blinky with custom time driver IRQs
-
-```rs
-cargo run --bin embassy-example --no-default-features --features custom-irqs
-```

examples/embassy/Cargo.toml

@@ -1,38 +0,0 @@
-[package]
-name = "embassy-example"
-version = "0.1.0"
-edition = "2021"
-
-[dependencies]
-cfg-if = "1"
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-cortex-m-rt = "0.7"
-embedded-hal = "1"
-embedded-io = "0.6"
-embedded-hal-async = "1"
-embedded-io-async = "0.6"
-
-rtt-target = { version = "0.6" }
-heapless = "0.8"
-panic-rtt-target = { version = "0.2" }
-static_cell = "2"
-critical-section = "1"
-once_cell = { version = "1", default-features = false, features = ["critical-section"] }
-ringbuf = { version = "0.4", default-features = false }
-
-embassy-sync = "0.6"
-embassy-time = "0.4"
-embassy-executor = { version = "0.7", features = [
-  "arch-cortex-m",
-  "executor-thread",
-  "executor-interrupt"
-]}
-
-va416xx-hal = { version = "0.4.1" }
-va416xx-embassy = { version = "0.1", default-features = false }
-
-[features]
-default = ["ticks-hz-1_000", "va416xx-embassy/irq-tim14-tim15"]
-custom-irqs = []
-ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
-ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

examples/embassy/src/bin/async-gpio.rs

@@ -1,371 +0,0 @@
-//! This example demonstrates the usage of async GPIO operations on VA416xx.
-//!
-//! You need to tie the PA0 to the PA1 pin for this example to work. You can optionally also tie
-//! more pin combinations together and test other ports by setting the appropriate
-//! [CHECK_XXX_TO_XXX] constants to true.
-#![no_std]
-#![no_main]
-
-use embassy_example::EXTCLK_FREQ;
-use embassy_executor::Spawner;
-use embassy_sync::channel::{Receiver, Sender};
-use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, channel::Channel};
-use embassy_time::{Duration, Instant, Timer};
-use embedded_hal_async::digital::Wait;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::clock::ClkgenExt;
-use va416xx_hal::gpio::{
-    on_interrupt_for_async_gpio_for_port, InputDynPinAsync, InputPinAsync, PinsB, PinsC, PinsD,
-    PinsE, PinsF, PinsG, Port,
-};
-use va416xx_hal::time::Hertz;
-use va416xx_hal::{
-    gpio::{DynPin, PinsA},
-    pac::{self, interrupt},
-};
-
-const CHECK_PA0_TO_PA1: bool = true;
-const CHECK_PB0_TO_PB1: bool = true;
-const CHECK_PC14_TO_PC15: bool = true;
-const CHECK_PD2_TO_PD3: bool = true;
-const CHECK_PE0_TO_PE1: bool = true;
-const CHECK_PF0_TO_PF1: bool = true;
-
-#[derive(Clone, Copy)]
-pub struct GpioCmd {
-    cmd_type: GpioCmdType,
-    after_delay: u32,
-}
-
-impl GpioCmd {
-    pub fn new(cmd_type: GpioCmdType, after_delay: u32) -> Self {
-        Self {
-            cmd_type,
-            after_delay,
-        }
-    }
-}
-
-#[derive(Clone, Copy)]
-pub enum GpioCmdType {
-    SetHigh,
-    SetLow,
-    RisingEdge,
-    FallingEdge,
-    CloseTask,
-}
-
-// Declare a bounded channel of 3 u32s.
-static CHANNEL_PA0_TO_PA1: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
-static CHANNEL_PB0_TO_PB1: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
-static CHANNEL_PC14_TO_PC15: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
-static CHANNEL_PD2_TO_PD3: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
-static CHANNEL_PE0_TO_PE1: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
-static CHANNEL_PF0_TO_PF1: Channel<ThreadModeRawMutex, GpioCmd, 3> = Channel::new();
-
-#[embassy_executor::main]
-async fn main(spawner: Spawner) {
-    rtt_init_print!();
-    rprintln!("-- VA416xx Async GPIO 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 {
-        va416xx_embassy::init(
-            &mut dp.sysconfig,
-            &dp.irq_router,
-            dp.tim15,
-            dp.tim14,
-            &clocks,
-        )
-    };
-
-    let porta = PinsA::new(&mut dp.sysconfig, dp.porta);
-    let portb = PinsB::new(&mut dp.sysconfig, dp.portb);
-    let portc = PinsC::new(&mut dp.sysconfig, dp.portc);
-    let portd = PinsD::new(&mut dp.sysconfig, dp.portd);
-    let porte = PinsE::new(&mut dp.sysconfig, dp.porte);
-    let portf = PinsF::new(&mut dp.sysconfig, dp.portf);
-
-    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
-    let mut led = portg.pg5.into_readable_push_pull_output();
-
-    if CHECK_PA0_TO_PA1 {
-        let out_pin = porta.pa0.into_readable_push_pull_output();
-        let in_pin = porta.pa1.into_floating_input();
-        let out_pin = out_pin.downgrade();
-        let in_pin = InputPinAsync::new(in_pin).unwrap();
-
-        spawner
-            .spawn(output_task(
-                "PA0 to PA1",
-                out_pin,
-                CHANNEL_PA0_TO_PA1.receiver(),
-            ))
-            .unwrap();
-        check_pin_to_pin_async_ops("PA0 to PA1", CHANNEL_PA0_TO_PA1.sender(), in_pin).await;
-        rprintln!("Example PA0 to PA1 done");
-    }
-
-    if CHECK_PB0_TO_PB1 {
-        let out_pin = portb.pb0.into_readable_push_pull_output();
-        let in_pin = portb.pb1.into_floating_input();
-        let out_pin = out_pin.downgrade();
-        let in_pin = InputDynPinAsync::new(in_pin.downgrade()).unwrap();
-
-        spawner
-            .spawn(output_task(
-                "PB0 to PB1",
-                out_pin,
-                CHANNEL_PB0_TO_PB1.receiver(),
-            ))
-            .unwrap();
-        check_pin_to_pin_async_ops("PB0 to PB1", CHANNEL_PB0_TO_PB1.sender(), in_pin).await;
-        rprintln!("Example PB0 to PB1 done");
-    }
-
-    if CHECK_PC14_TO_PC15 {
-        let out_pin = portc.pc14.into_readable_push_pull_output();
-        let in_pin = portc.pc15.into_floating_input();
-        let out_pin = out_pin.downgrade();
-        let in_pin = InputDynPinAsync::new(in_pin.downgrade()).unwrap();
-        spawner
-            .spawn(output_task(
-                "PC14 to PC15",
-                out_pin,
-                CHANNEL_PC14_TO_PC15.receiver(),
-            ))
-            .unwrap();
-        check_pin_to_pin_async_ops("PC14 to PC15", CHANNEL_PC14_TO_PC15.sender(), in_pin).await;
-        rprintln!("Example PC14 to PC15 done");
-    }
-
-    if CHECK_PD2_TO_PD3 {
-        let out_pin = portd.pd2.into_readable_push_pull_output();
-        let in_pin = portd.pd3.into_floating_input();
-        let out_pin = out_pin.downgrade();
-        let in_pin = InputDynPinAsync::new(in_pin.downgrade()).unwrap();
-        spawner
-            .spawn(output_task(
-                "PD2 to PD3",
-                out_pin,
-                CHANNEL_PD2_TO_PD3.receiver(),
-            ))
-            .unwrap();
-        check_pin_to_pin_async_ops("PD2 to PD3", CHANNEL_PD2_TO_PD3.sender(), in_pin).await;
-        rprintln!("Example PD2 to PD3 done");
-    }
-
-    if CHECK_PE0_TO_PE1 {
-        let out_pin = porte.pe0.into_readable_push_pull_output();
-        let in_pin = porte.pe1.into_floating_input();
-        let out_pin = out_pin.downgrade();
-        let in_pin = InputDynPinAsync::new(in_pin.downgrade()).unwrap();
-        spawner
-            .spawn(output_task(
-                "PE0 to PE1",
-                out_pin,
-                CHANNEL_PE0_TO_PE1.receiver(),
-            ))
-            .unwrap();
-        check_pin_to_pin_async_ops("PE0 to PE1", CHANNEL_PE0_TO_PE1.sender(), in_pin).await;
-        rprintln!("Example PE0 to PE1 done");
-    }
-
-    if CHECK_PF0_TO_PF1 {
-        let out_pin = portf.pf0.into_readable_push_pull_output();
-        let in_pin = portf.pf1.into_floating_input();
-        let out_pin = out_pin.downgrade();
-        let in_pin = InputDynPinAsync::new(in_pin.downgrade()).unwrap();
-        spawner
-            .spawn(output_task(
-                "PF0 to PF1",
-                out_pin,
-                CHANNEL_PF0_TO_PF1.receiver(),
-            ))
-            .unwrap();
-        check_pin_to_pin_async_ops("PF0 to PF1", CHANNEL_PF0_TO_PF1.sender(), in_pin).await;
-        rprintln!("Example PF0 to PF1 done");
-    }
-
-    rprintln!("Example done, toggling LED0");
-    loop {
-        led.toggle();
-        Timer::after(Duration::from_millis(500)).await;
-    }
-}
-
-async fn check_pin_to_pin_async_ops(
-    ctx: &'static str,
-    sender: Sender<'static, ThreadModeRawMutex, GpioCmd, 3>,
-    mut async_input: impl Wait,
-) {
-    rprintln!(
-        "{}: sending SetHigh command ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender.send(GpioCmd::new(GpioCmdType::SetHigh, 20)).await;
-    async_input.wait_for_high().await.unwrap();
-    rprintln!(
-        "{}: Input pin is high now ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-
-    rprintln!(
-        "{}: sending SetLow command ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender.send(GpioCmd::new(GpioCmdType::SetLow, 20)).await;
-    async_input.wait_for_low().await.unwrap();
-    rprintln!(
-        "{}: Input pin is low now ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-
-    rprintln!(
-        "{}: sending RisingEdge command ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender.send(GpioCmd::new(GpioCmdType::RisingEdge, 20)).await;
-    async_input.wait_for_rising_edge().await.unwrap();
-    rprintln!(
-        "{}: input pin had rising edge ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-
-    rprintln!(
-        "{}: sending Falling command ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender
-        .send(GpioCmd::new(GpioCmdType::FallingEdge, 20))
-        .await;
-    async_input.wait_for_falling_edge().await.unwrap();
-    rprintln!(
-        "{}: input pin had a falling edge ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-
-    rprintln!(
-        "{}: sending Falling command ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender
-        .send(GpioCmd::new(GpioCmdType::FallingEdge, 20))
-        .await;
-    async_input.wait_for_any_edge().await.unwrap();
-    rprintln!(
-        "{}: input pin had a falling (any) edge ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-
-    rprintln!(
-        "{}: sending Falling command ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender.send(GpioCmd::new(GpioCmdType::RisingEdge, 20)).await;
-    async_input.wait_for_any_edge().await.unwrap();
-    rprintln!(
-        "{}: input pin had a rising (any) edge ({} ms)",
-        ctx,
-        Instant::now().as_millis()
-    );
-    sender.send(GpioCmd::new(GpioCmdType::CloseTask, 0)).await;
-}
-
-#[embassy_executor::task(pool_size = 8)]
-async fn output_task(
-    ctx: &'static str,
-    mut out: DynPin,
-    receiver: Receiver<'static, ThreadModeRawMutex, GpioCmd, 3>,
-) {
-    loop {
-        let next_cmd = receiver.receive().await;
-        Timer::after(Duration::from_millis(next_cmd.after_delay.into())).await;
-        match next_cmd.cmd_type {
-            GpioCmdType::SetHigh => {
-                rprintln!("{}: Set output high", ctx);
-                out.set_high().unwrap();
-            }
-            GpioCmdType::SetLow => {
-                rprintln!("{}: Set output low", ctx);
-                out.set_low().unwrap();
-            }
-            GpioCmdType::RisingEdge => {
-                rprintln!("{}: Rising edge", ctx);
-                if !out.is_low().unwrap() {
-                    out.set_low().unwrap();
-                }
-                out.set_high().unwrap();
-            }
-            GpioCmdType::FallingEdge => {
-                rprintln!("{}: Falling edge", ctx);
-                if !out.is_high().unwrap() {
-                    out.set_high().unwrap();
-                }
-                out.set_low().unwrap();
-            }
-            GpioCmdType::CloseTask => {
-                rprintln!("{}: Closing task", ctx);
-                break;
-            }
-        }
-    }
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn PORTA1() {
-    on_interrupt_for_async_gpio_for_port(Port::A).unwrap();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn PORTB1() {
-    on_interrupt_for_async_gpio_for_port(Port::B).unwrap();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn PORTC15() {
-    on_interrupt_for_async_gpio_for_port(Port::C).unwrap();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn PORTD3() {
-    on_interrupt_for_async_gpio_for_port(Port::D).unwrap();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn PORTE1() {
-    on_interrupt_for_async_gpio_for_port(Port::E).unwrap();
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn PORTF1() {
-    on_interrupt_for_async_gpio_for_port(Port::F).unwrap();
-}

examples/embassy/src/bin/async-uart-rx.rs

@@ -1,111 +0,0 @@
-//! Asynchronous UART reception example application.
-//!
-//! This application receives data on two UARTs permanently using a ring buffer.
-//! The ring buffer are read them asynchronously.
-//! It uses PORTG0 as TX pin and PORTG1 as RX pin, which is the UART0 on the PEB1 board.
-//!
-//! Instructions:
-//!
-//! 1. Tie a USB to UART converter with RX to PORTG0 and TX to PORTG1.
-//! 2. Connect to the serial interface by using an application like Putty or picocom. You can
-//!    type something in the terminal and check if the data is echoed back. You can also check the
-//!    RTT logs to see received data.
-#![no_std]
-#![no_main]
-use core::cell::RefCell;
-
-use critical_section::Mutex;
-use embassy_example::EXTCLK_FREQ;
-use embassy_executor::Spawner;
-use embassy_time::Instant;
-use embedded_io::Write;
-use embedded_io_async::Read;
-use heapless::spsc::{Producer, Queue};
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::{
-    gpio::PinsG,
-    pac::{self, interrupt},
-    prelude::*,
-    time::Hertz,
-    uart::{
-        self,
-        rx_asynch::{on_interrupt_rx, RxAsync},
-        Bank,
-    },
-};
-
-static QUEUE_UART_A: static_cell::ConstStaticCell<Queue<u8, 256>> =
-    static_cell::ConstStaticCell::new(Queue::new());
-static PRODUCER_UART_A: Mutex<RefCell<Option<Producer<u8, 256>>>> = Mutex::new(RefCell::new(None));
-
-#[embassy_executor::main]
-async fn main(_spawner: Spawner) {
-    rtt_init_print!();
-    rprintln!("-- VA108xx Async UART RX 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 {
-        va416xx_embassy::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 tx = portg.pg0.into_funsel_1();
-    let rx = portg.pg1.into_funsel_1();
-
-    let uarta = uart::Uart::new(&mut dp.sysconfig, dp.uart0, (tx, rx), 115200.Hz(), &clocks);
-
-    let (mut tx_uart_a, rx_uart_a) = uarta.split();
-    let (prod_uart_a, cons_uart_a) = QUEUE_UART_A.take().split();
-    // Pass the producer to the interrupt handler.
-    critical_section::with(|cs| {
-        *PRODUCER_UART_A.borrow(cs).borrow_mut() = Some(prod_uart_a);
-    });
-
-    // TODO: Add example for RxAsyncOverwriting using another UART.
-    let mut async_uart_rx = RxAsync::new(rx_uart_a, cons_uart_a);
-    let mut buf = [0u8; 256];
-    loop {
-        rprintln!("Current time UART A: {}", Instant::now().as_secs());
-        led.toggle();
-        let read_bytes = async_uart_rx.read(&mut buf).await.unwrap();
-        let read_str = core::str::from_utf8(&buf[..read_bytes]).unwrap();
-        rprintln!(
-            "Read {} bytes asynchronously on UART A: {:?}",
-            read_bytes,
-            read_str
-        );
-        tx_uart_a.write_all(read_str.as_bytes()).unwrap();
-    }
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn UART0_RX() {
-    let mut prod =
-        critical_section::with(|cs| PRODUCER_UART_A.borrow(cs).borrow_mut().take().unwrap());
-    let errors = on_interrupt_rx(Bank::Uart0, &mut prod);
-    critical_section::with(|cs| *PRODUCER_UART_A.borrow(cs).borrow_mut() = Some(prod));
-    // In a production app, we could use a channel to send the errors to the main task.
-    if let Err(errors) = errors {
-        rprintln!("UART A errors: {:?}", errors);
-    }
-}

examples/embassy/src/bin/async-uart-tx.rs

@@ -1,96 +0,0 @@
-//! Asynchronous UART transmission example application.
-//!
-//! This application receives sends 4 strings with different sizes permanently.
-//! It uses PORTG0 as TX pin and PORTG1 as RX pin, which is the UART0 on the PEB1 board.
-//!
-//! Instructions:
-//!
-//! 1. Tie a USB to UART converter with RX to PORTG0 and TX to PORTG1.
-//! 2. Connect to the serial interface by using an application like Putty or picocom. You can
-//!    type something in the terminal and check if the data is echoed back. You can also check the
-//!    RTT logs to see received data.
-#![no_std]
-#![no_main]
-use embassy_example::EXTCLK_FREQ;
-use embassy_executor::Spawner;
-use embassy_time::{Duration, Instant, Ticker};
-use embedded_io_async::Write;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::{
-    gpio::PinsG,
-    pac::{self, interrupt},
-    prelude::*,
-    time::Hertz,
-    uart::{
-        self,
-        tx_asynch::{on_interrupt_tx, TxAsync},
-        Bank,
-    },
-};
-
-const STR_LIST: &[&str] = &[
-    "Hello World\r\n",
-    "Smoll\r\n",
-    "A string which is larger than the FIFO size\r\n",
-    "A really large string which is significantly larger than the FIFO size\r\n",
-];
-
-// main is itself an async function.
-#[embassy_executor::main]
-async fn main(_spawner: Spawner) {
-    rtt_init_print!();
-    rprintln!("-- VA108xx Async UART TX 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 {
-        va416xx_embassy::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 tx = portg.pg0.into_funsel_1();
-    let rx = portg.pg1.into_funsel_1();
-
-    let uarta = uart::Uart::new(&mut dp.sysconfig, dp.uart0, (tx, rx), 115200.Hz(), &clocks);
-    let (tx, _rx) = uarta.split();
-    let mut async_tx = TxAsync::new(tx);
-    let mut ticker = Ticker::every(Duration::from_secs(1));
-    let mut idx = 0;
-    loop {
-        rprintln!("Current time: {}", Instant::now().as_secs());
-        led.toggle();
-        let _written = async_tx
-            .write(STR_LIST[idx].as_bytes())
-            .await
-            .expect("writing failed");
-        idx += 1;
-        if idx == STR_LIST.len() {
-            idx = 0;
-        }
-        ticker.next().await;
-    }
-}
-
-#[interrupt]
-#[allow(non_snake_case)]
-fn UART0_TX() {
-    on_interrupt_tx(Bank::Uart0);
-}

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

@@ -1,161 +0,0 @@
-//! 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_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::RxWithInterrupt<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 {
-        va416xx_embassy::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(
-        &mut dp.sysconfig,
-        dp.uart0,
-        (tx, rx),
-        Hertz::from_raw(BAUDRATE),
-        &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();
-        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

@@ -1,2 +0,0 @@
-#![no_std]
-pub const EXTCLK_FREQ: u32 = 40_000_000;

examples/embassy/src/main.rs

@@ -1,63 +0,0 @@
-#![no_std]
-#![no_main]
-use embassy_example::EXTCLK_FREQ;
-use embassy_executor::Spawner;
-use embassy_time::{Duration, Instant, Ticker};
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::{gpio::PinsG, pac, prelude::*, time::Hertz};
-
-cfg_if::cfg_if! {
-    if #[cfg(feature = "custom-irqs")] {
-        use va416xx_hal::pac::interrupt;
-        va416xx_embassy::embassy_time_driver_irqs!(timekeeper_irq = TIM12, alarm_irq = TIM11);
-    }
-}
-
-// 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 {
-        cfg_if::cfg_if! {
-            if #[cfg(not(feature = "custom-irqs"))] {
-                va416xx_embassy::init(
-                    &mut dp.sysconfig,
-                    &dp.irq_router,
-                    dp.tim15,
-                    dp.tim14,
-                    &clocks
-                );
-            } else {
-                va416xx_embassy::init(
-                    &mut dp.sysconfig,
-                    &dp.irq_router,
-                    dp.tim12,
-                    dp.tim11,
-                    &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();
-    }
-}

examples/rtic/Cargo.toml

@@ -1,22 +0,0 @@
-[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 = "0.6" }
-rtic-sync = { version = "1.3", features = ["defmt-03"] }
-panic-rtt-target = { version = "0.2" }
-
-va416xx-hal = { version = "0.4", features = ["va41630"] }
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "2"
-features = ["cortex-m-systick"]

examples/rtic/src/bin/rtic-empty.rs

@@ -1,30 +0,0 @@
-//! Empty RTIC project template
-#![no_main]
-#![no_std]
-
-#[rtic::app(device = pac)]
-mod app {
-    use panic_rtt_target as _;
-    use rtt_target::{rprintln, rtt_init_default};
-    use va416xx_hal::pac;
-
-    #[local]
-    struct Local {}
-
-    #[shared]
-    struct Shared {}
-
-    #[init]
-    fn init(_ctx: init::Context) -> (Shared, Local) {
-        rtt_init_default!();
-        rprintln!("-- Vorago RTIC template --");
-        (Shared {}, Local {})
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        #[allow(clippy::empty_loop)]
-        loop {}
-    }
-}

examples/rtic/src/main.rs

@@ -1,70 +0,0 @@
-//! 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 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();
-            Mono::delay(200.millis()).await;
-        }
-    }
-}

examples/simple/Cargo.toml

@@ -4,47 +4,15 @@ 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 = "0.2" }
-rtt-target = { version = "0.6" }
+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"
 embedded-hal-nb = "1"
 nb = "1"
 embedded-io = "0.6"
-panic-halt = "1"
+panic-halt = "0.2"
+vorago-peb1 = { path = "../../vorago-peb1" }
 accelerometer = "0.12"
-
-va416xx-hal = { version = "0.4", features = ["va41630"] }
-
-[dependencies.vorago-peb1]
-path = "../../vorago-peb1"
-optional = true
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "2"
-features = ["cortex-m-systick"]
-
-[features]
-default = ["va41630"]
-va41630 = ["va416xx-hal/va41630", "has-adc-dac"]
-va41629 = ["va416xx-hal/va41629", "has-adc-dac"]
-va41628 = ["va416xx-hal/va41628"]
-has-adc-dac = []
-
-[[example]]
-name = "peb1-accelerometer"
-required-features = ["vorago-peb1"]
-
-[[example]]
-name = "dac-adc"
-required-features = ["has-adc-dac"]
-
-[[example]]
-name = "adc"
-required-features = ["has-adc-dac"]

examples/simple/examples/adc.rs

@@ -36,12 +36,9 @@ fn main() -> ! {
     let mut read_buf: [ChannelValue; 8] = [ChannelValue::default(); 8];
     loop {
         let single_value = adc
-            .trigger_and_read_single_channel(va416xx_hal::adc::ChannelSelect::TempSensor)
+            .trigger_and_read_single_channel(va416xx_hal::adc::ChannelSelect::AnIn0)
             .expect("reading single channel value failed");
-        rprintln!(
-            "Read single ADC value on temperature sensor channel: {:?}",
-            single_value
-        );
+        rprintln!("Read single ADC value on channel 0: {:?}", single_value);
         let read_num = adc
             .sweep_and_read_range(0, 7, &mut read_buf)
             .expect("ADC range read failed");

examples/simple/examples/blinky.rs

@@ -3,6 +3,7 @@
 #![no_std]
 
 use cortex_m_rt::entry;
+use embedded_hal::digital::StatefulOutputPin;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va416xx_hal::{gpio::PinsG, pac};
@@ -17,6 +18,6 @@ fn main() -> ! {
     let mut led = portg.pg5.into_readable_push_pull_output();
     loop {
         cortex_m::asm::delay(2_000_000);
-        led.toggle();
+        led.toggle().ok();
     }
 }

examples/simple/examples/dma.rs

@@ -4,15 +4,14 @@
 
 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::irq_router::enable_and_init_irq_router;
-use va416xx_hal::timer::CountdownTimer;
+use va416xx_hal::pwm::CountdownTimer;
 use va416xx_hal::{
     pac::{self, interrupt},
     prelude::*,
@@ -26,13 +25,6 @@ static DMA_ACTIVE_FLAG: Mutex<Cell<bool>> = Mutex::new(Cell::new(false));
 #[link_section = ".sram1"]
 static mut DMA_CTRL_BLOCK: DmaCtrlBlock = DmaCtrlBlock::new();
 
-// We can use statically allocated buffers for DMA transfers as well, and we can also place
-// those into SRAM1.
-#[link_section = ".sram1"]
-static mut DMA_SRC_BUF: [u16; 36] = [0; 36];
-#[link_section = ".sram1"]
-static mut DMA_DEST_BUF: [u16; 36] = [0; 36];
-
 #[entry]
 fn main() -> ! {
     rtt_init_print!();
@@ -46,24 +38,21 @@ 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);
     // 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(),
-        core::ptr::addr_of_mut!(DMA_CTRL_BLOCK),
-    )
+    let dma = Dma::new(&mut dp.sysconfig, dp.dma, DmaCfg::default(), unsafe {
+        core::ptr::addr_of_mut!(DMA_CTRL_BLOCK)
+    })
     .expect("error creating DMA");
     let (mut dma0, _, _, _) = dma.split();
     let mut delay_ms = CountdownTimer::new(&mut dp.sysconfig, dp.tim0, &clocks);
     let mut src_buf_8_bit: [u8; 65] = [0; 65];
     let mut dest_buf_8_bit: [u8; 65] = [0; 65];
+    let mut src_buf_16_bit: [u16; 33] = [0; 33];
+    let mut dest_buf_16_bit: [u16; 33] = [0; 33];
     let mut src_buf_32_bit: [u32; 17] = [0; 17];
     let mut dest_buf_32_bit: [u32; 17] = [0; 17];
     loop {
-        // This example uses stack-allocated buffers.
         transfer_example_8_bit(
             &mut src_buf_8_bit,
             &mut dest_buf_8_bit,
@@ -71,8 +60,12 @@ fn main() -> ! {
             &mut delay_ms,
         );
         delay_ms.delay_ms(500);
-        // This example uses statically allocated buffers.
-        transfer_example_16_bit(&mut dma0, &mut delay_ms);
+        transfer_example_16_bit(
+            &mut src_buf_16_bit,
+            &mut dest_buf_16_bit,
+            &mut dma0,
+            &mut delay_ms,
+        );
         delay_ms.delay_ms(500);
         transfer_example_32_bit(
             &mut src_buf_32_bit,
@@ -93,17 +86,15 @@ fn transfer_example_8_bit(
     (0..64).for_each(|i| {
         src_buf[i] = i as u8;
     });
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
-    // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
-    unsafe {
-        dma0.prepare_mem_to_mem_transfer_8_bit(src_buf, dest_buf)
-            .expect("error preparing transfer");
-    }
+    let dma_transfer = dma0
+        .prepare_mem_to_mem_transfer_8_bit(src_buf, dest_buf)
+        .expect("error preparing transfer");
     // Enable all interrupts.
     // Safety: Not using mask based critical sections.
     unsafe {
@@ -114,10 +105,11 @@ fn transfer_example_8_bit(
     dma0.enable();
     // We still need to manually trigger the DMA request.
     dma0.trigger_with_sw_request();
+    let dest_buf;
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        critical_section::with(|cs| {
+        cortex_m::interrupt::free(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 8 bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -128,6 +120,8 @@ fn transfer_example_8_bit(
         });
         if dma_done {
             rprintln!("8-bit transfer done");
+            // Safety: We checked for transfer completion.
+            dest_buf = unsafe { dma_transfer.release() };
             break;
         }
         delay_ms.delay_ms(1);
@@ -140,28 +134,26 @@ fn transfer_example_8_bit(
     dest_buf.fill(0);
 }
 
-fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<pac::Tim0>) {
-    let dest_buf_ref = unsafe { &mut *core::ptr::addr_of_mut!(DMA_DEST_BUF[0..33]) };
-    unsafe {
-        // Set values scaled from 0 to 65535 to verify this is really a 16-bit transfer.
-        (0..32).for_each(|i| {
-            DMA_SRC_BUF[i] = (i as u32 * u16::MAX as u32 / (dest_buf_ref.len() as u32 - 1)) as u16;
-        });
-    }
-    critical_section::with(|cs| {
+fn transfer_example_16_bit(
+    src_buf: &mut [u16; 33],
+    dest_buf: &mut [u16; 33],
+    dma0: &mut DmaChannel,
+    delay_ms: &mut CountdownTimer<pac::Tim0>,
+) {
+    // Set values scaled from 0 to 65535 to verify this is really a 16-bit transfer.
+    (0..32).for_each(|i| {
+        src_buf[i] = (i as u32 * u16::MAX as u32 / (src_buf.len() - 1) as u32) as u16;
+    });
+    cortex_m::interrupt::free(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
-    // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
-    unsafe {
-        dma0.prepare_mem_to_mem_transfer_16_bit(
-            &*core::ptr::addr_of!(DMA_SRC_BUF[0..32]),
-            &mut dest_buf_ref[0..32],
-        )
+    let dma_transfer = dma0
+        .prepare_mem_to_mem_transfer_16_bit(src_buf, dest_buf)
         .expect("error preparing transfer");
-    }
+    dest_buf[5] = 2;
     // Enable all interrupts.
     // Safety: Not using mask based critical sections.
     unsafe {
@@ -175,7 +167,7 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        critical_section::with(|cs| {
+        cortex_m::interrupt::free(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 16-bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -192,13 +184,13 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
     }
     (0..32).for_each(|i| {
         assert_eq!(
-            dest_buf_ref[i],
-            (i as u32 * u16::MAX as u32 / (dest_buf_ref.len() as u32 - 1)) as u16
+            dest_buf[i],
+            (i as u32 * u16::MAX as u32 / (src_buf.len() - 1) as u32) as u16
         );
     });
     // Sentinel value, should be 0.
-    assert_eq!(dest_buf_ref[32], 0);
-    dest_buf_ref.fill(0);
+    assert_eq!(dest_buf[32], 0);
+    dest_buf.fill(0);
 }
 
 fn transfer_example_32_bit(
@@ -211,17 +203,14 @@ 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;
     });
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(false);
     });
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(false);
     });
-    // Safety: The source and destination buffer are valid for the duration of the DMA transfer.
-    unsafe {
-        dma0.prepare_mem_to_mem_transfer_32_bit(src_buf, dest_buf)
-            .expect("error preparing transfer");
-    }
+    dma0.prepare_mem_to_mem_transfer_32_bit(src_buf, dest_buf)
+        .expect("error preparing transfer");
     // Enable all interrupts.
     // Safety: Not using mask based critical sections.
     unsafe {
@@ -235,7 +224,7 @@ fn transfer_example_32_bit(
     // Use polling for completion status.
     loop {
         let mut dma_done = false;
-        critical_section::with(|cs| {
+        cortex_m::interrupt::free(|cs| {
             if DMA_ACTIVE_FLAG.borrow(cs).get() {
                 rprintln!("DMA0 is active with 32-bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -265,7 +254,7 @@ fn transfer_example_32_bit(
 #[allow(non_snake_case)]
 fn DMA_DONE0() {
     // Notify the main loop that the DMA transfer is finished.
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_DONE_FLAG.borrow(cs).set(true);
     });
 }
@@ -274,7 +263,7 @@ fn DMA_DONE0() {
 #[allow(non_snake_case)]
 fn DMA_ACTIVE0() {
     // Notify the main loop that the DMA 0 is active now.
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         DMA_ACTIVE_FLAG.borrow(cs).set(true);
     });
 }

examples/simple/examples/pwm.rs

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

examples/simple/examples/spi.rs

@@ -3,26 +3,27 @@
 //! 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::{Spi, SpiClkConfig};
+use va416xx_hal::spi::{Spi, TransferConfig};
 use va416xx_hal::{
     gpio::{PinsB, PinsC},
     pac,
     prelude::*,
     spi::SpiConfig,
-    time::Hertz,
 };
 
 #[derive(PartialEq, Debug)]
 pub enum ExampleSelect {
     // Enter loopback mode. It is not necessary to tie MOSI/MISO together for this
     Loopback,
-    // You need to tie together MOSI/MISO in this mode.
-    MosiMisoTiedTogether,
+    // Send a test buffer and print everything received. You need to tie together MOSI/MISO in this
+    // mode.
+    TestBuffer,
 }
 
 const EXAMPLE_SEL: ExampleSelect = ExampleSelect::Loopback;
@@ -48,51 +49,48 @@ fn main() -> ! {
 
     let pins_b = PinsB::new(&mut dp.sysconfig, dp.portb);
     let pins_c = PinsC::new(&mut dp.sysconfig, dp.portc);
-    // Configure SPI0 pins.
+    // Configure SPI1 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_cfg(
-            SpiClkConfig::from_clk(Hertz::from_raw(SPI_SPEED_KHZ), &clocks)
-                .expect("invalid target clock"),
-        )
-        .mode(SPI_MODE)
-        .blockmode(BLOCKMODE);
+    let mut spi_cfg = SpiConfig::default();
     if EXAMPLE_SEL == ExampleSelect::Loopback {
         spi_cfg = spi_cfg.loopback(true)
     }
+    let transfer_cfg =
+        TransferConfig::new_no_hw_cs(SPI_SPEED_KHZ.kHz(), SPI_MODE, BLOCKMODE, false);
     // Create SPI peripheral.
     let mut spi0 = Spi::new(
-        &mut dp.sysconfig,
-        &clocks,
         dp.spi0,
         (sck, miso, mosi),
+        &clocks,
         spi_cfg,
+        &mut dp.sysconfig,
+        Some(&transfer_cfg.downgrade()),
     );
     spi0.set_fill_word(FILL_WORD);
     loop {
-        let tx_buf: [u8; 4] = [1, 2, 3, 0];
-        let mut rx_buf: [u8; 4] = [0; 4];
-        // Can't really verify correct behaviour here. Just verify nothing crazy happens or it hangs up.
-        spi0.write(&[0x42, 0x43]).expect("write failed");
+        let mut tx_buf: [u8; 3] = [1, 2, 3];
+        let mut rx_buf: [u8; 3] = [0; 3];
+        // Can't really verify correct reply here.
+        spi0.write(&[0x42]).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);
 
-        // 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)
+        spi0.transfer_in_place(&mut tx_buf)
             .expect("SPI transfer_in_place failed");
-        assert_eq!([1, 2, 3, 0], inplace_buf);
-
+        assert_eq!([1, 2, 3], tx_buf);
         spi0.transfer(&mut rx_buf, &tx_buf)
             .expect("SPI transfer failed");
-        assert_eq!(rx_buf, [1, 2, 3, 0]);
+        assert_eq!(rx_buf, tx_buf);
         delay_sysclk.delay_ms(500);
     }
 }

examples/simple/examples/timer-ticks.rs

@@ -3,14 +3,12 @@
 #![no_std]
 
 use core::cell::Cell;
-use cortex_m::asm;
+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,
     pac::{self, interrupt},
     prelude::*,
     timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, MS_COUNTER},
@@ -37,21 +35,19 @@ 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.listen();
     second_timer.start(1.Hz());
+    second_timer.listen();
     loop {
-        let current_ms = critical_section::with(|cs| MS_COUNTER.borrow(cs).get());
-        if current_ms >= last_ms + 1000 {
-            // To prevent drift.
-            last_ms += 1000;
+        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        if current_ms - last_ms >= 1000 {
+            last_ms = current_ms;
             rprintln!("MS counter: {}", current_ms);
-            let second = critical_section::with(|cs| SEC_COUNTER.borrow(cs).get());
+            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
             rprintln!("Second counter: {}", second);
         }
-        asm::delay(1000);
+        cortex_m::asm::delay(10000);
     }
 }
 
@@ -64,7 +60,7 @@ fn TIM0() {
 #[interrupt]
 #[allow(non_snake_case)]
 fn TIM1() {
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         let mut sec = SEC_COUNTER.borrow(cs).get();
         sec += 1;
         SEC_COUNTER.borrow(cs).set(sec);

examples/simple/examples/uart.rs

@@ -33,10 +33,10 @@ fn main() -> ! {
     let rx = gpiob.pg1.into_funsel_1();
 
     let uart0 = uart::Uart::new(
-        &mut dp.sysconfig,
         dp.uart0,
         (tx, rx),
         Hertz::from_raw(115200),
+        &mut dp.sysconfig,
         &clocks,
     );
     let (mut tx, mut rx) = uart0.split();

examples/simple/examples/wdt.rs

@@ -3,15 +3,14 @@
 #![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;
+use va416xx_hal::wdt::WdtController;
 
 static WDT_INTRPT_COUNT: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
 
@@ -41,17 +40,17 @@ 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;
-    let mut wdt_ctrl = Wdt::start(&mut dp.sysconfig, dp.watch_dog, &clocks, WDT_ROLLOVER_MS);
+    let mut wdt_ctrl =
+        WdtController::start(&mut dp.sysconfig, dp.watch_dog, &clocks, WDT_ROLLOVER_MS);
     wdt_ctrl.enable_reset();
     loop {
         if TEST_MODE != TestMode::AllowReset {
             wdt_ctrl.feed();
         }
-        let interrupt_counter = critical_section::with(|cs| WDT_INTRPT_COUNT.borrow(cs).get());
+        let interrupt_counter = cortex_m::interrupt::free(|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;
@@ -67,7 +66,7 @@ fn main() -> ! {
 #[interrupt]
 #[allow(non_snake_case)]
 fn WATCHDOG() {
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         WDT_INTRPT_COUNT
             .borrow(cs)
             .set(WDT_INTRPT_COUNT.borrow(cs).get() + 1);

flashloader/.gitignore

@@ -1 +0,0 @@
-/venv

flashloader/Cargo.toml

@@ -1,28 +0,0 @@
-[package]
-name = "flashloader"
-version = "0.1.0"
-edition = "2021"
-
-[dependencies]
-cortex-m = "0.7"
-cortex-m-rt = "0.7"
-embedded-hal = "1"
-embedded-hal-nb = "1"
-embedded-io = "0.6"
-panic-rtt-target = { version = "0.2" }
-rtt-target = { version = "0.6" }
-rtt-log = "0.5"
-log = "0.4"
-crc = "3"
-rtic-sync = "1"
-static_cell = "2"
-satrs = { version = "0.3.0-alpha.0", 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 }
-cobs = { version = "0.3", default-features = false }
-
-va416xx-hal = { version = "0.4", features = ["va41630"] }
-
-rtic = { version = "2", features = ["thumbv7-backend"] }
-rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }

flashloader/README.md

@@ -1,66 +0,0 @@
-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

@@ -1,430 +0,0 @@
-#!/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
-import argparse
-import time
-import enum
-from tmtccmd.com.serial_base import SerialCfg
-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 = 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 = APP_A_END_ADDR - 8
-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 = APP_B_END_ADDR - 8
-APP_B_CRC_ADDR = APP_B_END_ADDR - 4
-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
-
-MEMORY_SERVICE = 6
-ACTION_SERVICE = 8
-
-RAW_MEMORY_WRITE_SUBSERVICE = 2
-BOOT_NVM_MEMORY_ID = 1
-PING_PAYLOAD_SIZE = 0
-
-
-class ActionId(enum.IntEnum):
-    CORRUPT_APP_A = 128
-    CORRUPT_APP_B = 129
-
-
-_LOGGER = logging.getLogger(__name__)
-SEQ_PROVIDER = SeqCountProvider(bit_width=14)
-
-
-@dataclasses.dataclass
-class LoadableSegment:
-    name: str
-    offset: int
-    size: int
-    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(
-        format="[%(asctime)s] [%(levelname)s] %(message)s", level=logging.DEBUG
-    )
-    parser = argparse.ArgumentParser(
-        prog="image-loader", description="Python VA416XX Image Loader Application"
-    )
-    parser.add_argument("-p", "--ping", action="store_true", help="Send ping command")
-    parser.add_argument("-c", "--corrupt", action="store_true", help="Corrupt a target")
-    parser.add_argument(
-        "-t",
-        "--target",
-        choices=["bl", "a", "b"],
-        help="Target (Bootloader or slot A or B)",
-    )
-    parser.add_argument(
-        "path", nargs="?", default=None, help="Path to the App to flash"
-    )
-    args = parser.parse_args()
-    serial_port = None
-    if Path("loader.toml").exists():
-        with open("loader.toml", "r") as toml_file:
-            parsed_toml = toml.loads(toml_file.read())
-            if "serial_port" in parsed_toml:
-                serial_port = parsed_toml["serial_port"]
-    if serial_port is None:
-        serial_port = prompt_com_port()
-    serial_cfg = SerialCfg(
-        com_if_id="ser_cobs",
-        serial_port=serial_port,
-        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
-    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")
-            file_path = Path(args.path)
-            if not file_path.exists():
-                _LOGGER.error("File does not exist")
-    if args.corrupt:
-        if not target:
-            _LOGGER.error("target for corruption command required")
-            com_if.close()
-            return -1
-        image_loader.handle_corruption_cmd(target)
-    else:
-        assert file_path is not None
-        assert target is not None
-        result = image_loader.handle_flash_cmd(target, file_path)
-
-    com_if.close()
-    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:
-    app_data = bytearray()
-    app_data.append(BOOT_NVM_MEMORY_ID)
-    # N parameter is always 1 here.
-    app_data.append(1)
-    app_data.extend(struct.pack("!I", addr))
-    app_data.extend(struct.pack("!I", len(data)))
-    app_data.extend(data)
-    return PusTc(
-        apid=0,
-        service=MEMORY_SERVICE,
-        subservice=RAW_MEMORY_WRITE_SUBSERVICE,
-        seq_count=SEQ_PROVIDER.get_and_increment(),
-        app_data=bytes(app_data),
-    )
-
-
-if __name__ == "__main__":
-    main()

flashloader/loader.toml

@@ -1 +0,0 @@
-serial_port = "/dev/ttyUSB0"

flashloader/requirements.txt

@@ -1,5 +0,0 @@
-spacepackets == 0.24
-tmtccmd == 8.0.2
-toml == 0.10
-pyelftools == 0.31
-crcmod == 1.7

flashloader/slot-a-blinky/.gitignore

@@ -1,2 +0,0 @@
-/target
-/app.map

flashloader/slot-a-blinky/Cargo.toml

@@ -1,42 +0,0 @@
-[package]
-name = "slot-a-blinky"
-version = "0.1.0"
-edition = "2021"
-
-[workspace]
-
-[dependencies]
-cortex-m-rt = "0.7"
-panic-rtt-target = { version = "0.1.3" }
-rtt-target = { version = "0.5" }
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-embedded-hal = "1"
-va416xx-hal = { path = "0.4", features = ["va41630"] }
-
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-# This is problematic for stepping..
-# opt-level = 'z'         # <-
-overflow-checks = true  # <-
-
-# cargo build/run --release
-[profile.release]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-[profile.small]
-inherits = "release"
-codegen-units = 1
-debug-assertions = false # <-
-lto = true
-opt-level = 'z'            # <-
-overflow-checks = false  # <-
-# strip = true  # Automatically strip symbols from the binary.

flashloader/slot-a-blinky/memory.x

@@ -1,24 +0,0 @@
-/* Special linker script for application slot A with an offset at address 0x4000 */
-MEMORY
-{
-	FLASH : ORIGIN = 0x00004000, LENGTH = 256K
-	/* RAM is a mandatory region. This RAM refers to the SRAM_0 */
-	RAM : ORIGIN = 0x1FFF8000, LENGTH = 32K
-	SRAM_1 : ORIGIN = 0x20000000, LENGTH = 32K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
-/* SRAM_0 can be used for all busses: Instruction, Data and System */
-/* SRAM_1 only supports the system bus */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);
-
-/* Define sections for placing symbols into the extra memory regions above.   */
-/* This makes them accessible from code.                                      */
-SECTIONS {
-  .sram1 (NOLOAD) : ALIGN(8) {
-    *(.sram1 .sram1.*);
-    . = ALIGN(4);
-    } > SRAM_1
-};

flashloader/slot-a-blinky/src/main.rs

@@ -1,23 +0,0 @@
-//! Simple blinky example using the HAL
-#![no_main]
-#![no_std]
-
-use cortex_m_rt::entry;
-use embedded_hal::digital::StatefulOutputPin;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::{gpio::PinsG, pac};
-
-#[entry]
-fn main() -> ! {
-    rtt_init_print!();
-    rprintln!("VA416xx HAL blinky example for App Slot A");
-
-    let mut dp = pac::Peripherals::take().unwrap();
-    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
-    let mut led = portg.pg5.into_readable_push_pull_output();
-    loop {
-        cortex_m::asm::delay(1_000_000);
-        led.toggle().ok();
-    }
-}

flashloader/slot-b-blinky/.gitignore

@@ -1,2 +0,0 @@
-/target
-/app.map

flashloader/slot-b-blinky/Cargo.toml

@@ -1,42 +0,0 @@
-[package]
-name = "slot-b-blinky"
-version = "0.1.0"
-edition = "2021"
-
-[workspace]
-
-[dependencies]
-cortex-m-rt = "0.7"
-panic-rtt-target = { version = "0.1.3" }
-rtt-target = { version = "0.5" }
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-embedded-hal = "1"
-va416xx-hal = { path = "0.4", features = ["va41630"] }
-
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-# This is problematic for stepping..
-# opt-level = 'z'         # <-
-overflow-checks = true  # <-
-
-# cargo build/run --release
-[profile.release]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-[profile.small]
-inherits = "release"
-codegen-units = 1
-debug-assertions = false # <-
-lto = true
-opt-level = 'z'            # <-
-overflow-checks = false  # <-
-# strip = true  # Automatically strip symbols from the binary.

flashloader/slot-b-blinky/memory.x

@@ -1,24 +0,0 @@
-/* Special linker script for application slot B with an offset at address 0x22000 */
-MEMORY
-{
-	FLASH : ORIGIN = 0x00022000, LENGTH = 256K
-	/* RAM is a mandatory region. This RAM refers to the SRAM_0 */
-	RAM : ORIGIN = 0x1FFF8000, LENGTH = 32K
-	SRAM_1 : ORIGIN = 0x20000000, LENGTH = 32K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
-/* SRAM_0 can be used for all busses: Instruction, Data and System */
-/* SRAM_1 only supports the system bus */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);
-
-/* Define sections for placing symbols into the extra memory regions above.   */
-/* This makes them accessible from code.                                      */
-SECTIONS {
-  .sram1 (NOLOAD) : ALIGN(8) {
-    *(.sram1 .sram1.*);
-    . = ALIGN(4);
-    } > SRAM_1
-};

flashloader/slot-b-blinky/src/main.rs

@@ -1,23 +0,0 @@
-//! Simple blinky example using the HAL
-#![no_main]
-#![no_std]
-
-use cortex_m_rt::entry;
-use embedded_hal::digital::StatefulOutputPin;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::{gpio::PinsG, pac};
-
-#[entry]
-fn main() -> ! {
-    rtt_init_print!();
-    rprintln!("VA416xx HAL blinky example for App Slot B");
-
-    let mut dp = pac::Peripherals::take().unwrap();
-    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
-    let mut led = portg.pg5.into_readable_push_pull_output();
-    loop {
-        cortex_m::asm::delay(8_000_000);
-        led.toggle().ok();
-    }
-}

flashloader/src/lib.rs

@@ -1,9 +0,0 @@
-#![no_std]
-
-#[cfg(test)]
-mod tests {
-    #[test]
-    fn simple() {
-        assert_eq!(1 + 1, 2);
-    }
-}

flashloader/src/main.rs

@@ -1,549 +0,0 @@
-//! Vorago flashloader which can be used to flash image A and image B via a simple
-//! low-level CCSDS memory interface via a UART wire.
-//!
-//! This flash loader can be used after the bootloader was flashed to flash the images.
-//! You can also use this as an starting application for a software update mechanism.
-//!
-//! 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>
-#![no_main]
-#![no_std]
-
-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 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,
-    CorruptImageB = 129,
-}
-pub trait WdtInterface {
-    fn feed(&self);
-}
-
-pub struct OptWdt(Option<Wdt>);
-
-impl WdtInterface for OptWdt {
-    fn feed(&self) {
-        if self.0.is_some() {
-            self.0.as_ref().unwrap().feed();
-        }
-    }
-}
-
-use ringbuf::{
-    traits::{Consumer, Observer, Producer, SplitRef},
-    CachingCons, StaticProd, StaticRb,
-};
-use static_cell::StaticCell;
-
-// 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 BUF_RB_TM: StaticCell<StaticRb<u8, BUF_RB_SIZE_TM>> = StaticCell::new();
-static SIZES_RB_TM: StaticCell<StaticRb<usize, SIZES_RB_SIZE_TM>> = StaticCell::new();
-
-// Ring buffers to handling variable sized telecommands
-static BUF_RB_TC: StaticCell<StaticRb<u8, BUF_RB_SIZE_TC>> = StaticCell::new();
-static SIZES_RB_TC: StaticCell<StaticRb<usize, SIZES_RB_SIZE_TC>> = StaticCell::new();
-
-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;
-pub const APP_A_END_ADDR: u32 = 0x22000;
-pub const APP_B_START_ADDR: u32 = 0x22000;
-pub const APP_B_END_ADDR: u32 = 0x40000;
-
-#[rtic::app(device = pac, dispatchers = [U1, U2, U3])]
-mod app {
-    use super::*;
-    use cortex_m::asm;
-    use embedded_io::Write;
-    use panic_rtt_target as _;
-    use rtic::Mutex;
-    use rtic_monotonics::systick::prelude::*;
-    use rtt_target::rprintln;
-    use satrs::pus::verification::VerificationReportCreator;
-    use spacepackets::ecss::PusServiceId;
-    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,
-        gpio::PinsG,
-        nvm::Nvm,
-        pac,
-        uart::{self, Uart},
-    };
-
-    use crate::{setup_edac, EXTCLK_FREQ};
-
-    #[derive(Default, Debug, Copy, Clone, PartialEq, Eq)]
-    pub enum CobsReaderStates {
-        #[default]
-        WaitingForStart,
-        WatingForEnd,
-        FrameOverflow,
-    }
-
-    #[local]
-    struct Local {
-        uart_rx: uart::RxWithInterrupt<pac::Uart0>,
-        uart_tx: uart::Tx<pac::Uart0>,
-        rx_context: IrqContextTimeoutOrMaxSize,
-        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 {
-        // Having this shared allows multiple tasks to generate telemetry.
-        tm_prod: DataProducer<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
-    }
-
-    rtic_monotonics::systick_monotonic!(Mono, 10_000);
-
-    #[init]
-    fn init(mut cx: init::Context) -> (Shared, Local) {
-        //rtt_init_default!();
-        rtt_log::init();
-        rprintln!("-- Vorago flashloader --");
-        // Initialize the systick interrupt & obtain the token to prove that we did
-        // Use the external clock connected to XTAL_N.
-        let clocks = cx
-            .device
-            .clkgen
-            .constrain()
-            .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 gpiog = PinsG::new(&mut cx.device.sysconfig, cx.device.portg);
-        let tx = gpiog.pg0.into_funsel_1();
-        let rx = gpiog.pg1.into_funsel_1();
-
-        let uart0 = Uart::new(
-            &mut cx.device.sysconfig,
-            cx.device.uart0,
-            (tx, rx),
-            Hertz::from_raw(UART_BAUDRATE),
-            &clocks,
-        );
-        let (tx, rx) = uart0.split();
-
-        let verif_reporter = VerificationReportCreator::new(0).unwrap();
-
-        let (buf_prod_tm, buf_cons_tm) = BUF_RB_TM
-            .init(StaticRb::<u8, BUF_RB_SIZE_TM>::default())
-            .split_ref();
-        let (sizes_prod_tm, sizes_cons_tm) = SIZES_RB_TM
-            .init(StaticRb::<usize, SIZES_RB_SIZE_TM>::default())
-            .split_ref();
-
-        let (buf_prod_tc, buf_cons_tc) = BUF_RB_TC
-            .init(StaticRb::<u8, BUF_RB_SIZE_TC>::default())
-            .split_ref();
-        let (sizes_prod_tc, sizes_cons_tc) = SIZES_RB_TC
-            .init(StaticRb::<usize, SIZES_RB_SIZE_TC>::default())
-            .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();
-        pus_tm_tx_handler::spawn().unwrap();
-        (
-            Shared {
-                tm_prod: DataProducer {
-                    buf_prod: buf_prod_tm,
-                    sizes_prod: sizes_prod_tm,
-                },
-            },
-            Local {
-                uart_rx: rx,
-                uart_tx: tx,
-                rx_context,
-                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,
-            },
-        )
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        loop {
-            asm::nop();
-        }
-    }
-
-    // This is the interrupt handler to read all bytes received on the UART0.
-    #[task(
-        binds = UART0_RX,
-        local = [
-            cnt: u32 = 0,
-            rx_buf: [u8; MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
-            rx_context,
-            uart_rx,
-            tc_prod
-        ],
-    )]
-    fn uart_rx_irq(cx: uart_rx_irq::Context) {
-        match cx
-            .local
-            .uart_rx
-            .irq_handler_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
-        {
-            Ok(result) => {
-                if RX_DEBUGGING {
-                    log::debug!("RX Info: {:?}", cx.local.rx_context);
-                    log::debug!("RX Result: {:?}", result);
-                }
-                if result.complete() {
-                    // Check frame validity (must have COBS format) and decode the frame.
-                    // Currently, we expect a full frame or a frame received through a timeout
-                    // to be one COBS frame. We could parse for multiple COBS packets in one
-                    // frame, but the additional complexity is not necessary here..
-                    if cx.local.rx_buf[0] == 0 && cx.local.rx_buf[result.bytes_read - 1] == 0 {
-                        let decoded_size =
-                            cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
-                        if decoded_size.is_err() {
-                            log::warn!("COBS decoding failed");
-                        } else {
-                            let decoded_size = decoded_size.unwrap();
-                            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");
-                            }
-                        }
-                    } else {
-                        log::warn!("COBS frame with invalid format, start and end bytes are not 0");
-                    }
-
-                    // Initiate next transfer.
-                    cx.local
-                        .uart_rx
-                        .read_fixed_len_or_timeout_based_using_irq(cx.local.rx_context)
-                        .expect("read operation failed");
-                }
-                if result.has_errors() {
-                    log::warn!("UART error: {:?}", result.errors.unwrap());
-                }
-            }
-            Err(e) => {
-                log::warn!("UART error: {:?}", e);
-            }
-        }
-    }
-
-    #[task(
-        priority = 2,
-        local=[
-            tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
-            src_data_buf: [u8; 16] = [0; 16],
-            verif_buf: [u8; 32] = [0; 32],
-            tc_cons,
-            rom_spi,
-            verif_reporter
-        ],
-        shared=[tm_prod]
-    )]
-    async fn pus_tc_handler(mut cx: pus_tc_handler::Context) {
-        loop {
-            // 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);
-            assert_eq!(
-                cx.local
-                    .tc_cons
-                    .buf_cons
-                    .pop_slice(&mut cx.local.tc_buf[0..packet_len]),
-                packet_len
-            );
-            // Read a telecommand, now handle it.
-            handle_valid_pus_tc(&mut cx);
-        }
-    }
-
-    fn handle_valid_pus_tc(cx: &mut pus_tc_handler::Context) {
-        let pus_tc = PusTcReader::new(cx.local.tc_buf);
-        if pus_tc.is_err() {
-            log::warn!("PUS TC error: {}", pus_tc.unwrap_err());
-            return;
-        }
-        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| {
-                prod.sizes_prod.try_push(tm.len_written()).unwrap();
-                prod.buf_prod
-                    .push_slice(&cx.local.verif_buf[0..written_size]);
-            });
-        };
-        let token = cx.local.verif_reporter.add_tc(&pus_tc);
-        let (tm, accepted_token) = cx
-            .local
-            .verif_reporter
-            .acceptance_success(cx.local.src_data_buf, token, 0, 0, &[])
-            .expect("acceptance success failed");
-        write_and_send(&tm);
-
-        let (tm, started_token) = cx
-            .local
-            .verif_reporter
-            .start_success(cx.local.src_data_buf, accepted_token, 0, 0, &[])
-            .expect("acceptance success failed");
-        write_and_send(&tm);
-
-        if pus_tc.service() == PusServiceId::Action as u8 {
-            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() };
-                let nvm = Nvm::new(
-                    &mut sys_cfg,
-                    cx.local.rom_spi.take().unwrap(),
-                    CLOCKS.get().as_ref().unwrap(),
-                );
-                let mut buf = [0u8; 4];
-                nvm.read_data(base_addr + 32, &mut buf);
-                buf[0] += 1;
-                nvm.write_data(base_addr + 32, &buf);
-                *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);
-            };
-            if pus_tc.subservice() == ActionId::CorruptImageA as u8 {
-                rprintln!("corrupting App Image A");
-                corrupt_image(APP_A_START_ADDR);
-            }
-            if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
-                rprintln!("corrupting App Image B");
-                corrupt_image(APP_B_START_ADDR);
-            }
-        }
-        if pus_tc.service() == PusServiceId::Test as u8 && pus_tc.subservice() == 1 {
-            log::info!(target: "TC Handler", "received ping TC");
-            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()
-                    );
-                }
-                let memory_id = app_data[0];
-                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");
-            }
-        }
-    }
-
-    #[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) {
-        loop {
-            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;
-        }
-    }
-
-    #[task(binds = EDAC_SBE, priority = 1)]
-    fn edac_sbe_isr(_cx: edac_sbe_isr::Context) {
-        // TODO: Send some command via UART for notification purposes. Also identify the problematic
-        // memory.
-        edac::clear_sbe_irq();
-    }
-
-    #[task(binds = EDAC_MBE, priority = 1)]
-    fn edac_mbe_isr(_cx: edac_mbe_isr::Context) {
-        // TODO: Send some command via UART for notification purposes.
-        edac::clear_mbe_irq();
-        // TODO: Reset like the vorago example?
-    }
-
-    #[task(binds = WATCHDOG, priority = 1)]
-    fn watchdog_isr(_cx: watchdog_isr::Context) {
-        let wdt = unsafe { pac::WatchDog::steal() };
-        // Clear interrupt.
-        wdt.wdogintclr().write(|w| unsafe { w.bits(1) });
-    }
-}
-
-fn setup_edac(syscfg: &mut pac::Sysconfig) {
-    // The scrub values are based on the Vorago provided bootloader.
-    edac::enable_rom_scrub(syscfg, 125);
-    edac::enable_ram0_scrub(syscfg, 1000);
-    edac::enable_ram1_scrub(syscfg, 1000);
-    edac::enable_sbe_irq();
-    edac::enable_mbe_irq();
-}

jlink/jlink.gdb

@@ -1,6 +1,6 @@
 target remote localhost:2331
 
-monitor reset
+monitor halt
 
 # *try* to stop at the user entry point (it might be gone due to inlining)
 break main

scripts/memory.x

@@ -1,23 +0,0 @@
-MEMORY
-{
-	FLASH : ORIGIN = 0x00000000, LENGTH = 256K
-	/* RAM is a mandatory region. This RAM refers to the SRAM_0 */
-	RAM : ORIGIN = 0x1FFF8000, LENGTH = 32K
-	SRAM_1 : ORIGIN = 0x20000000, LENGTH = 32K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
-/* SRAM_0 can be used for all busses: Instruction, Data and System */
-/* SRAM_1 only supports the system bus */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);
-
-/* Define sections for placing symbols into the extra memory regions above.   */
-/* This makes them accessible from code.                                      */
-SECTIONS {
-  .sram1 (NOLOAD) : ALIGN(8) {
-    *(.sram1 .sram1.*);
-    . = ALIGN(4);
-    } > SRAM_1
-};

scripts/memory_app_a.x

@@ -1,24 +0,0 @@
-/* Special linker script for application slot A with an offset at address 0x4000 */
-MEMORY
-{
-	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
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
-/* SRAM_0 can be used for all busses: Instruction, Data and System */
-/* SRAM_1 only supports the system bus */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);
-
-/* Define sections for placing symbols into the extra memory regions above.   */
-/* This makes them accessible from code.                                      */
-SECTIONS {
-  .sram1 (NOLOAD) : ALIGN(8) {
-    *(.sram1 .sram1.*);
-    . = ALIGN(4);
-    } > SRAM_1
-};

scripts/memory_app_b.x

@@ -1,24 +0,0 @@
-/* Special linker script for application slot B with an offset at address 0x22000 */
-MEMORY
-{
-	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
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
-/* SRAM_0 can be used for all busses: Instruction, Data and System */
-/* SRAM_1 only supports the system bus */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);
-
-/* Define sections for placing symbols into the extra memory regions above.   */
-/* This makes them accessible from code.                                      */
-SECTIONS {
-  .sram1 (NOLOAD) : ALIGN(8) {
-    *(.sram1 .sram1.*);
-    . = ALIGN(4);
-    } > SRAM_1
-};

va416xx-embassy/CHANGELOG.md

@@ -1,13 +0,0 @@
-Change Log
-=======
-
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
-
-## [unreleased]
-
-## [v0.1.0] 2025-02-18
-
-Initial release

va416xx-embassy/Cargo.toml

@@ -1,40 +0,0 @@
-[package]
-name = "va416xx-embassy"
-version = "0.1.0"
-edition = "2021"
-authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
-description = "Embassy-rs support for the Vorago VA416xx family of microcontrollers"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/va416xx-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/va416xx-rs"
-license = "Apache-2.0"
-keywords = ["no-std", "hal", "cortex-m", "vorago", "va416xx"]
-categories = ["aerospace", "embedded", "no-std", "hardware-support"]
-
-[dependencies]
-critical-section = "1"
-
-embassy-sync = "0.6"
-embassy-executor = "0.7"
-embassy-time-driver = "0.2"
-embassy-time-queue-utils = "0.1"
-portable-atomic = "1"
-
-once_cell = { version = "1", default-features = false, features = ["critical-section"] }
-
-va416xx-hal = { version = "0.4.1" }
-
-[features]
-default = ["irq-tim14-tim15"]
-
-# This determines the reserved interrupt functions for the embassy time drivers. Only one
-# is allowed to be selected!
-irq-tim14-tim15 = ["_irqs-in-lib"]
-irq-tim13-tim14 = ["_irqs-in-lib"]
-# These TIMs are clocked slower!
-irq-tim22-tim23 = ["_irqs-in-lib"]
-
-# Private feature.
-_irqs-in-lib = []
-
-[package.metadata.docs.rs]
-rustdoc-args = ["--generate-link-to-definition"]

va416xx-embassy/README.md

@@ -1,10 +0,0 @@
-[![Crates.io](https://img.shields.io/crates/v/va416xx-embassy)](https://crates.io/crates/va416xx-embassy)
-[![docs.rs](https://img.shields.io/docsrs/va416xx-embassy)](https://docs.rs/va416xx-embassy)
-
-# Embassy-rs support for the Vorago VA416xx MCU family
-
-This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
-VA416xx family. Currently, it contains the time driver to allow using embassy-rs. It uses the TIM
-peripherals provided by the VA416xx family for this purpose.
-
-The documentation contains more information on how to use this crate.

va416xx-embassy/docs.sh

@@ -1,3 +0,0 @@
-#!/bin/bash
-export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
-cargo +nightly doc --open

va416xx-embassy/src/lib.rs

@@ -1,398 +0,0 @@
-//! # Embassy-rs support for the Vorago VA416xx MCU family
-//!
-//! This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
-//! VA416xx family. Currently, it contains the time driver to allow using embassy-rs. It uses the TIM
-//! peripherals provided by the VA416xx family for this purpose.
-//!
-//! ## Usage
-//!
-//! This library only exposes the [embassy::init] method which sets up the time driver. This
-//! function must be called once at the start of the application.
-//!
-//! This implementation requires two TIM peripherals provided by the VA108xx device.
-//! The user can freely specify the two used TIM peripheral by passing the concrete TIM instances
-//! into the [init] method. If the interrupt handlers are provided by the library, the ID of the
-//! used TIM peripherals has to match the ID of the passed timer peripherals. Currently, this
-//! can only be checked at run-time, and a run-time assertion will panic on the embassy
-//! initialization in case of a missmatch.
-//!
-//! The application also requires two interrupt handlers to handle the timekeeper and alarm
-//! interrupts. By default, this library will define the interrupt handler inside the library
-//! itself by using the `irq-tim14-tim15` feature flag. This library exposes three combinations:
-//!
-//! - `irq-tim14-tim15`: Uses [pac::Interrupt::TIM14] for alarm and [pac::Interrupt::TIM15]
-//!    for timekeeper
-//! - `irq-tim13-tim14`: Uses [pac::Interrupt::TIM13] for alarm and [pac::Interrupt::TIM14]
-//!    for timekeeper
-//! - `irq-tim22-tim23`: Uses [pac::Interrupt::TIM22] for alarm and [pac::Interrupt::TIM23]
-//!    for timekeeper
-//!
-//! You can disable the default features and then specify one of the features above to use the
-//! documented combination of IRQs. It is also possible to specify custom IRQs by importing and
-//! using the [embassy_time_driver_irqs] macro to declare the IRQ handlers in the
-//! application code. If this is done, [embassy::init_with_custom_irqs] must be used
-//! method to pass the IRQ numbers to the library.
-//!
-//! ## Examples
-//!
-//! [embassy example projects](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy)
-#![no_std]
-#![cfg_attr(docsrs, feature(doc_auto_cfg))]
-use core::{
-    cell::{Cell, RefCell},
-    sync::atomic::{AtomicU32, Ordering},
-};
-
-use critical_section::{CriticalSection, Mutex};
-
-use embassy_time_driver::{time_driver_impl, Driver, TICK_HZ};
-use embassy_time_queue_utils::Queue;
-use once_cell::sync::OnceCell;
-use va416xx_hal::{
-    clock::Clocks,
-    enable_nvic_interrupt,
-    irq_router::enable_and_init_irq_router,
-    pac::{self, interrupt},
-    pwm::ValidTim,
-    timer::{
-        assert_tim_reset_for_two_cycles, enable_tim_clk, get_tim_raw, TimRegInterface,
-        TIM_IRQ_OFFSET,
-    },
-};
-
-time_driver_impl!(
-    static TIME_DRIVER: TimerDriver = TimerDriver {
-        periods: AtomicU32::new(0),
-        alarms: Mutex::new(AlarmState::new()),
-        queue: Mutex::new(RefCell::new(Queue::new())),
-});
-
-/// Macro to define the IRQ handlers for the time driver.
-///
-/// By default, the code generated by this macro will be defined inside the library depending on
-/// the feature flags specified. However, the macro is exported to allow users to specify the
-/// interrupt handlers themselves.
-///
-/// Please note that you have to explicitely import the [macro@va108xx_hal::pac::interrupt]
-/// macro in the application code in case this macro is used there.
-#[macro_export]
-macro_rules! embassy_time_driver_irqs {
-    (
-        timekeeper_irq = $timekeeper_irq:ident,
-        alarm_irq = $alarm_irq:ident
-    ) => {
-        const TIMEKEEPER_IRQ: pac::Interrupt = pac::Interrupt::$timekeeper_irq;
-
-        #[interrupt]
-        #[allow(non_snake_case)]
-        fn $timekeeper_irq() {
-            // Safety: We call it once here.
-            unsafe { $crate::time_driver().on_interrupt_timekeeping() }
-        }
-
-        const ALARM_IRQ: pac::Interrupt = pac::Interrupt::$alarm_irq;
-
-        #[interrupt]
-        #[allow(non_snake_case)]
-        fn $alarm_irq() {
-            // Safety: We call it once here.
-            unsafe { $crate::time_driver().on_interrupt_alarm() }
-        }
-    };
-}
-
-// Provide three combinations of IRQs for the time driver by default.
-
-#[cfg(feature = "irq-tim14-tim15")]
-embassy_time_driver_irqs!(timekeeper_irq = TIM15, alarm_irq = TIM14);
-#[cfg(feature = "irq-tim13-tim14")]
-embassy_time_driver_irqs!(timekeeper_irq = TIM14, alarm_irq = TIM13);
-#[cfg(feature = "irq-tim22-tim23")]
-embassy_time_driver_irqs!(timekeeper_irq = TIM23, alarm_irq = TIM22);
-
-/// Expose the time driver so the user can specify the IRQ handlers themselves.
-pub fn time_driver() -> &'static TimerDriver {
-    &TIME_DRIVER
-}
-
-/// Initialization method for embassy
-///
-/// If the interrupt handlers are provided by the library, the ID of the
-/// used TIM peripherals has to match the ID of the passed timer peripherals. Currently, this
-/// can only be checked at run-time, and a run-time assertion will panic on the embassy
-/// initialization in case of a missmatch.
-///
-/// # Safety
-///
-/// This has to be called once at initialization time to initiate the time driver for
-/// embassy.
-pub unsafe fn init<
-    TimekeeperTim: TimRegInterface + ValidTim,
-    AlarmTim: TimRegInterface + ValidTim,
->(
-    syscfg: &mut pac::Sysconfig,
-    irq_router: &pac::IrqRouter,
-    timekeeper: TimekeeperTim,
-    alarm: AlarmTim,
-    clocks: &Clocks,
-) {
-    #[cfg(feature = "_irqs-in-lib")]
-    assert_eq!(
-        TimekeeperTim::ID,
-        TIMEKEEPER_IRQ as u8 - TIM_IRQ_OFFSET as u8,
-        "Timekeeper TIM and IRQ missmatch"
-    );
-    #[cfg(feature = "_irqs-in-lib")]
-    assert_eq!(
-        AlarmTim::ID,
-        ALARM_IRQ as u8 - TIM_IRQ_OFFSET as u8,
-        "Alarm TIM and IRQ missmatch"
-    );
-    enable_and_init_irq_router(syscfg, irq_router);
-    TIME_DRIVER.init(syscfg, timekeeper, alarm, clocks)
-}
-
-struct AlarmState {
-    timestamp: Cell<u64>,
-}
-
-impl AlarmState {
-    const fn new() -> Self {
-        Self {
-            timestamp: Cell::new(u64::MAX),
-        }
-    }
-}
-
-unsafe impl Send for AlarmState {}
-
-static SCALE: OnceCell<u64> = OnceCell::new();
-static TIMEKEEPER_TIM: OnceCell<u8> = OnceCell::new();
-static ALARM_TIM: OnceCell<u8> = OnceCell::new();
-
-pub struct TimerDriver {
-    periods: AtomicU32,
-    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
-    alarms: Mutex<AlarmState>,
-    queue: Mutex<RefCell<Queue>>,
-}
-
-impl TimerDriver {
-    fn init<TimekeeperTim: TimRegInterface + ValidTim, AlarmTim: TimRegInterface + ValidTim>(
-        &self,
-        syscfg: &mut pac::Sysconfig,
-        timekeeper_tim: TimekeeperTim,
-        alarm_tim: AlarmTim,
-        clocks: &Clocks,
-    ) {
-        if ALARM_TIM.get().is_some() || TIMEKEEPER_TIM.get().is_some() {
-            return;
-        }
-        ALARM_TIM.set(alarm_tim.tim_id()).ok();
-        TIMEKEEPER_TIM.set(timekeeper_tim.tim_id()).ok();
-        enable_tim_clk(syscfg, timekeeper_tim.tim_id());
-        assert_tim_reset_for_two_cycles(syscfg, alarm_tim.tim_id());
-
-        // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
-        SCALE
-            .set((TimekeeperTim::clock(clocks).raw() / TICK_HZ as u32) as u64)
-            .unwrap();
-        let timekeeper_tim_regs = timekeeper_tim.reg_block();
-        timekeeper_tim_regs
-            .rst_value()
-            .write(|w| unsafe { w.bits(u32::MAX) });
-        // Decrementing counter.
-        timekeeper_tim_regs
-            .cnt_value()
-            .write(|w| unsafe { w.bits(u32::MAX) });
-        // Switch on. Timekeeping should always be done.
-        unsafe {
-            enable_nvic_interrupt(TimekeeperTim::IRQ);
-        }
-        timekeeper_tim_regs
-            .ctrl()
-            .modify(|_, w| w.irq_enb().set_bit());
-        timekeeper_tim_regs.enable().write(|w| unsafe { w.bits(1) });
-
-        enable_tim_clk(syscfg, AlarmTim::ID);
-        assert_tim_reset_for_two_cycles(syscfg, AlarmTim::ID);
-        let alarm_tim_regs = alarm_tim.reg_block();
-        // Explicitely disable alarm timer until needed.
-        alarm_tim_regs.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_nvic_interrupt(AlarmTim::IRQ);
-        }
-    }
-
-    fn timekeeper_tim() -> &'static pac::tim0::RegisterBlock {
-        TIMEKEEPER_TIM
-            .get()
-            .map(|idx| unsafe { get_tim_raw(*idx as usize) })
-            .unwrap()
-    }
-    fn alarm_tim() -> &'static pac::tim0::RegisterBlock {
-        ALARM_TIM
-            .get()
-            .map(|idx| unsafe { get_tim_raw(*idx as usize) })
-            .unwrap()
-    }
-
-    /// Should be called inside the IRQ of the timekeeper timer.
-    ///
-    /// # Safety
-    ///
-    /// This function has to be called once by the TIM IRQ used for the timekeeping.
-    pub unsafe fn on_interrupt_timekeeping(&self) {
-        self.next_period();
-    }
-
-    /// Should be called inside the IRQ of the alarm timer.
-    ///
-    /// # Safety
-    ///
-    ///This function has to be called once by the TIM IRQ used for the timekeeping.
-    pub unsafe fn on_interrupt_alarm(&self) {
-        critical_section::with(|cs| {
-            if self.alarms.borrow(cs).timestamp.get() <= self.now() {
-                self.trigger_alarm(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| {
-            let alarm = &self.alarms.borrow(cs);
-            let at = alarm.timestamp.get();
-            if at < t {
-                self.trigger_alarm(cs);
-            } else {
-                let alarm_tim = Self::alarm_tim();
-
-                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 trigger_alarm(&self, cs: CriticalSection) {
-        Self::alarm_tim().ctrl().modify(|_, w| {
-            w.irq_enb().clear_bit();
-            w.enable().clear_bit()
-        });
-
-        let alarm = &self.alarms.borrow(cs);
-        // Setting the maximum value disables the alarm.
-        alarm.timestamp.set(u64::MAX);
-
-        // Call after clearing alarm, so the callback can set another alarm.
-        let mut next = self
-            .queue
-            .borrow(cs)
-            .borrow_mut()
-            .next_expiration(self.now());
-        while !self.set_alarm(cs, next) {
-            next = self
-                .queue
-                .borrow(cs)
-                .borrow_mut()
-                .next_expiration(self.now());
-        }
-    }
-
-    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
-        if SCALE.get().is_none() {
-            return false;
-        }
-        let alarm_tim = Self::alarm_tim();
-        alarm_tim.ctrl().modify(|_, w| {
-            w.irq_enb().clear_bit();
-            w.enable().clear_bit()
-        });
-
-        let alarm = self.alarms.borrow(cs);
-        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).checked_mul(*SCALE.get().unwrap());
-        alarm_tim.rst_value().write(|w| unsafe { w.bits(u32::MAX) });
-        if timer_ticks.is_some_and(|v| v <= u32::MAX as u64) {
-            alarm_tim
-                .cnt_value()
-                .write(|w| unsafe { w.bits(timer_ticks.unwrap() 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
-    }
-}
-
-impl Driver for TimerDriver {
-    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 - Self::timekeeper_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;
-            }
-        }
-    }
-
-    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
-        critical_section::with(|cs| {
-            let mut queue = self.queue.borrow(cs).borrow_mut();
-
-            if queue.schedule_wake(at, waker) {
-                let mut next = queue.next_expiration(self.now());
-                while !self.set_alarm(cs, next) {
-                    next = queue.next_expiration(self.now());
-                }
-            }
-        })
-    }
-}

va416xx-hal/CHANGELOG.md

@@ -1,103 +0,0 @@
-Change Log
-=======
-
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
-
-# [unreleased]
-
-# [v0.4.1] 2025-02-18
-
-- Chip selection is not enforced anymore, but advised through documentation. This makes using
-  the HAL in libraries a lot easier.
-
-# [v0.4.0] 2025-02-18
-
-## Changed
-
-- GPIO API: Interrupt, pulse and filter and `set_datamask` and `clear_datamask` APIs are now
-  methods which mutable modify the pin instead of consuming and returning it.
-- Simplified PWM module implementation.
-- All error types now implement `core::error::Error` by using the `thiserror::Error` derive.
-- `InvalidPinTypeError` now wraps the pin mode.
-- I2C `TimingCfg` constructor now returns explicit error instead of generic Error.
-  Removed the timing configuration error type from the generic I2C error enumeration.
-- `PinsA` and `PinsB` constructor do not expect an optional `pac::Ioconfig` argument anymore.
-- `IrqCfg` renamed to `InterruptConfig`, kept alias for old name.
-- All library provided interrupt handlers now start with common prefix `on_interrupt_*`
-- `RxWithIrq` renamed to `RxWithInterrupt`
-- `Rx::into_rx_with_irq` does not expect any arguments any more.
-- `filter_type` renamed to `configure_filter_type`.
-- `level_irq` renamed to `configure_level_interrupt`.
-- `edge_irq` renamed to `configure_edge_interrupt`.
-- UART interrupt management is now handled by the main constructor instead of later stages to
-  statically ensure one interrupt vector for the UART peripheral. `Uart::new` expects an
-  optional `InterruptConfig` argument.
-- `enable_interrupt` and `disable_interrupt` renamed to `enable_nvic_interrupt` and
-  `disable_nvic_interrupt` to distinguish them from peripheral interrupts more clearly.
-- `port_mux` renamed to `port_function_select`
-- Renamed `IrqUartErrors` to `UartErrors`.
-
-## Added
-
-- Add `downgrade` method for `Pin` and `upgrade` method for `DynPin` as explicit conversion
-  methods.
-- Asynchronous GPIO support.
-- Asynchronous UART TX support.
-- Asynchronous UART RX support.
-- Add new `get_tim_raw` unsafe method to retrieve TIM peripheral blocks.
-- `Uart::with_with_interrupt` and `Uart::new_without_interrupt`
-- A lot of missing `defmt::Format` implementations.
-
-# [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
-
-## Changed
-
-- 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
-
-- Added basic DMA driver
-- Added basic EDAC module
-- Added bootloader and flashloader example application
-- Added NVM module which exposes a simple API to write to the NVM memory used for the boot process
-
-# [v0.1.0] 2024-07-01
-
-- Initial release with basic HAL drivers

va416xx-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va416xx-hal"
-version = "0.4.1"
+version = "0.1.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA416xx family of MCUs"
@@ -12,43 +12,35 @@ 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"
-embedded-hal-async = "1"
 embedded-hal = "1"
 embedded-io = "0.6"
-embedded-io-async = "0.6"
+embedded-dma = "0.2"
 num_enum = { version = "0.7", default-features = false }
 typenum = "1"
 bitflags = "2"
-bitfield = { version = ">=0.17, <=0.18"}
-fugit = "0.3"
-delegate = ">=0.12, <=0.13"
-heapless = "0.8"
-void = { version = "1", default-features = false }
-thiserror = { version = "2", default-features = false }
-portable-atomic = "1"
-embassy-sync = "0.6"
-va416xx = { version = "0.4", features = ["critical-section"], default-features = false }
-
+bitfield = "0.15"
 defmt = { version = "0.3", optional = true }
+fugit = "0.3"
+delegate = "0.12"
+
+[dependencies.void]
+version = "1"
+default-features = false
+
+[dependencies.va416xx]
+default-features = false
+version = "0.2"
+features = ["critical-section"]
 
 [features]
 default = ["rt", "revb"]
 rt = ["va416xx/rt"]
-defmt = ["dep:defmt", "fugit/defmt", "embedded-hal/defmt-03"]
-
-va41630 = ["device-selected"]
-va41620 = ["device-selected"]
-
-va41629 = ["device-selected"]
-va41628 = ["device-selected"]
-
-device-selected = []
+defmt = ["dep:defmt", "fugit/defmt"]
 revb = []
 
 [package.metadata.docs.rs]
-features = ["va41630", "defmt"]
+all-features = true
 rustdoc-args = ["--generate-link-to-definition"]

va416xx-hal/README.md

@@ -11,17 +11,6 @@ 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.
 
-It is generally advised to enable ONE of the following device features to use this crate
-depending on which chip you are using:
-
-- `va41630`
-- `va41629`
-- `va41628`
-- `va41620`
-
-If no chip is specified, only access to APIs which are common for all families or
-which are not disabled for specific families is granted.
-
 ## Building
 
 Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
@@ -33,6 +22,12 @@ rustup target add thumbv7em-none-eabihf
 
 After that, you can use `cargo build` to build the development version of the crate.
 
+If you have not done this yet, it is recommended to read some of the excellent resources
+available to learn Rust:
+
+- [Rust Embedded Book](https://docs.rust-embedded.org/book/)
+- [Rust Discovery Book](https://docs.rust-embedded.org/discovery/)
+
 ## Setting up your own binary crate
 
 If you have a custom board, you might be interested in setting up a new binary crate for your
@@ -61,18 +56,10 @@ is contained within the
 
 	[dependencies.va416xx-hal]
 	version = "<Most Recent Version>"
-	features = ["va41630"]
+	features = ["rt"]
    ```
 
 6. Build the application with `cargo build`
 
 7. Flashing the board might work differently for different boards and there is usually
    more than one way. You can find example instructions in primary README.
-
-## Embedded Rust
-
-If you have not done this yet, it is recommended to read some of the excellent resources
-available to learn Rust:
-
-- [Rust Embedded Book](https://docs.rust-embedded.org/book/)
-- [Rust Discovery Book](https://docs.rust-embedded.org/discovery/)

va416xx-hal/docs.sh

@@ -1,3 +0,0 @@
-#!/bin/sh
-export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
-cargo +nightly doc --features "defmt va41630" --open

va416xx-hal/src/adc.rs

@@ -1,9 +1,3 @@
-//! Analog to Digital Converter (ADC) driver.
-//!
-//! ## Examples
-//!
-//! - [ADC and DAC example](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/dac-adc.rs)
-//! - [ADC](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/adc.rs)
 use core::marker::PhantomData;
 
 use crate::clock::Clocks;
@@ -52,8 +46,6 @@ pub enum ChannelSelect {
 }
 
 bitflags::bitflags! {
-    /// This structure is used by the ADC multi-select API to
-    /// allow selecting multiple channels in a convenient manner.
     pub struct MultiChannelSelect: u16 {
         const AnIn0 = 1;
         const AnIn1 = 1 << 1;
@@ -74,28 +66,34 @@ bitflags::bitflags! {
     }
 }
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("ADC empty error")]
 pub struct AdcEmptyError;
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("invalid channel range error")]
 pub struct InvalidChannelRangeError;
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("buffer too small")]
 pub struct BufferTooSmallError;
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum AdcRangeReadError {
-    #[error("invalid channel range: {0}")]
-    InvalidChannelRange(#[from] InvalidChannelRangeError),
-    #[error("buffer too small: {0}")]
-    BufferTooSmall(#[from] BufferTooSmallError),
+    InvalidChannelRange(InvalidChannelRangeError),
+    BufferTooSmall(BufferTooSmallError),
+}
+
+impl From<InvalidChannelRangeError> for AdcRangeReadError {
+    fn from(value: InvalidChannelRangeError) -> Self {
+        AdcRangeReadError::InvalidChannelRange(value)
+    }
+}
+
+impl From<BufferTooSmallError> for AdcRangeReadError {
+    fn from(value: BufferTooSmallError) -> Self {
+        AdcRangeReadError::BufferTooSmall(value)
+    }
 }
 
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
@@ -131,18 +129,6 @@ impl ChannelValue {
 pub enum ChannelTagEnabled {}
 pub enum ChannelTagDisabled {}
 
-/// ADC driver structure.
-///
-/// Currently, this structure supports three primary ways to measure channel value(s):
-///
-/// * Trigger and read a single value
-/// * Trigger and read a range of ADC values using the sweep functionality
-/// * Trigger and read multiple ADC values using the sweep functionality
-///
-/// The ADC channel tag feature is enabled or disabled at compile time using the
-/// [ChannelTagEnabled] and [ChannelTagDisabled]. The [Adc::new] method returns a driver instance
-/// with the channel tag enabled, while the [Adc::new_with_channel_tag] method can be used to
-/// return an instance with the channel tag enabled.
 pub struct Adc<TagEnabled = ChannelTagDisabled> {
     adc: pac::Adc,
     phantom: PhantomData<TagEnabled>,
@@ -168,44 +154,34 @@ impl Adc<ChannelTagDisabled> {
         lower_bound_idx: u8,
         upper_bound_idx: u8,
         rx_buf: &mut [u16],
-    ) -> Result<usize, AdcRangeReadError> {
+    ) -> Result<(), AdcRangeReadError> {
         self.generic_prepare_range_sweep_and_wait_until_ready(
             lower_bound_idx,
             upper_bound_idx,
             rx_buf.len(),
         )?;
-        let fifo_entry_count = self.adc.status().read().fifo_entry_cnt().bits();
-        for i in 0..core::cmp::min(fifo_entry_count, rx_buf.len() as u8) {
+        for i in 0..self.adc.status().read().fifo_entry_cnt().bits() {
             rx_buf[i as usize] = self.adc.fifo_data().read().bits() as u16 & 0xfff;
         }
-        Ok(fifo_entry_count as usize)
+        Ok(())
     }
 
-    /// Perform a sweep for selected ADC channels.
-    ///
-    /// Returns the number of read values which were written to the passed RX buffer.
     pub fn sweep_and_read_multiselect(
         &self,
         ch_select: MultiChannelSelect,
         rx_buf: &mut [u16],
-    ) -> Result<usize, BufferTooSmallError> {
+    ) -> Result<(), BufferTooSmallError> {
         self.generic_prepare_multiselect_sweep_and_wait_until_ready(ch_select, rx_buf.len())?;
-        let fifo_entry_count = self.adc.status().read().fifo_entry_cnt().bits();
-        for i in 0..core::cmp::min(fifo_entry_count, rx_buf.len() as u8) {
+        for i in 0..self.adc.status().read().fifo_entry_cnt().bits() {
             rx_buf[i as usize] = self.adc.fifo_data().read().bits() as u16 & 0xfff;
         }
-        Ok(fifo_entry_count as usize)
+        Ok(())
     }
 
     pub fn try_read_single_value(&self) -> nb::Result<Option<u16>, ()> {
         self.generic_try_read_single_value()
             .map(|v| v.map(|v| v & 0xfff))
     }
-
-    #[inline(always)]
-    pub fn channel_tag_enabled(&self) -> bool {
-        false
-    }
 }
 
 impl Adc<ChannelTagEnabled> {
@@ -254,21 +230,17 @@ impl Adc<ChannelTagEnabled> {
         Ok(fifo_entry_count as usize)
     }
 
-    /// Perform a sweep for selected ADC channels.
-    ///
-    /// Returns the number of read values which were written to the passed RX buffer.
     pub fn sweep_and_read_multiselect(
         &self,
         ch_select: MultiChannelSelect,
         rx_buf: &mut [ChannelValue],
-    ) -> Result<usize, BufferTooSmallError> {
+    ) -> Result<(), BufferTooSmallError> {
         self.generic_prepare_multiselect_sweep_and_wait_until_ready(ch_select, rx_buf.len())?;
-        let fifo_entry_count = self.adc.status().read().fifo_entry_cnt().bits();
-        for i in 0..core::cmp::min(fifo_entry_count, rx_buf.len() as u8) {
+        for i in 0..self.adc.status().read().fifo_entry_cnt().bits() {
             rx_buf[i as usize] =
                 self.create_channel_value(self.adc.fifo_data().read().bits() as u16);
         }
-        Ok(fifo_entry_count as usize)
+        Ok(())
     }
 
     #[inline]
@@ -278,11 +250,6 @@ impl Adc<ChannelTagEnabled> {
             channel: ChannelSelect::try_from(((raw_value >> 12) & 0xf) as u8).unwrap(),
         }
     }
-
-    #[inline(always)]
-    pub fn channel_tag_enabled(&self) -> bool {
-        true
-    }
 }
 
 impl<TagEnabled> Adc<TagEnabled> {
@@ -307,6 +274,11 @@ impl<TagEnabled> Adc<TagEnabled> {
         self.adc.ctrl().modify(|_, w| w.chan_tag_en().clear_bit());
     }
 
+    #[inline(always)]
+    pub fn channel_tag_enabled(&self) -> bool {
+        self.adc.ctrl().read().chan_tag_en().bit_is_set()
+    }
+
     #[inline(always)]
     pub fn clear_fifo(&self) {
         self.adc.fifo_clr().write(|w| unsafe { w.bits(1) });
@@ -354,6 +326,8 @@ impl<TagEnabled> Adc<TagEnabled> {
             ch_select |= 1 << i;
         }
         self.generic_trigger_sweep(ch_select);
+        cortex_m::asm::nop();
+        cortex_m::asm::nop();
         while self.adc.status().read().adc_busy().bit_is_set() {
             cortex_m::asm::nop();
         }

va416xx-hal/src/clock.rs

@@ -10,7 +10,6 @@
 //! # Examples
 //!
 //! - [UART example on the PEB1 board](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/uart.rs)
-#[cfg(not(feature = "va41628"))]
 use crate::adc::ADC_MAX_CLK;
 use crate::pac;
 
@@ -19,8 +18,7 @@ use crate::time::Hertz;
 pub const HBO_FREQ: Hertz = Hertz::from_raw(20_000_000);
 pub const XTAL_OSC_TSTART_MS: u32 = 15;
 
-#[derive(Debug, Copy, Clone, PartialEq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Copy, Clone, PartialEq)]
 pub enum PeripheralSelect {
     Spi0 = 0,
     Spi1 = 1,
@@ -58,7 +56,6 @@ pub enum PeripheralSelect {
 pub type PeripheralClock = PeripheralSelect;
 
 #[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FilterClkSel {
     SysClk = 0,
     Clk1 = 1,
@@ -313,12 +310,6 @@ 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;
@@ -326,7 +317,7 @@ impl ClkgenCfgr {
     }
 
     /// Configures all clocks and return a clock configuration structure containing the final
-    /// frozen clocks.
+    /// frozen clock.
     ///
     /// 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
@@ -433,9 +424,7 @@ impl ClkgenCfgr {
                     }
                 }
             }
-            None => {
-                self.clkgen.ctrl0().modify(|_, w| w.pll_pwdn().set_bit());
-            }
+            None => self.clkgen.ctrl0().modify(|_, w| w.pll_pwdn().set_bit()),
         }
 
         if self.clk_lost_detection {
@@ -458,22 +447,11 @@ impl ClkgenCfgr {
             .ctrl0()
             .modify(|_, w| unsafe { w.clksel_sys().bits(self.clksel_sys as u8) });
 
-        Ok(Clocks {
-            sysclk: final_sysclk,
-            apb1: final_sysclk / 2,
-            apb2: final_sysclk / 4,
-            #[cfg(not(feature = "va41628"))]
-            adc_clk: self.cfg_adc_clk_div(final_sysclk),
-        })
-    }
-
-    #[cfg(not(feature = "va41628"))]
-    fn cfg_adc_clk_div(&self, final_sysclk: Hertz) -> Hertz {
         // I will just do the ADC stuff like Vorago does it.
         // ADC clock (must be 2-12.5 MHz)
         // NOTE: Not using divide by 1 or /2 ratio in REVA silicon because of triggering issue
         // For this reason, keep SYSCLK above 8MHz to have the ADC /4 ratio in range)
-        if final_sysclk.raw() <= ADC_MAX_CLK.raw() * 4 {
+        let adc_clk = if final_sysclk.raw() <= ADC_MAX_CLK.raw() * 4 {
             self.clkgen
                 .ctrl1()
                 .modify(|_, w| unsafe { w.adc_clk_div_sel().bits(AdcClkDivSel::Div4 as u8) });
@@ -483,7 +461,14 @@ impl ClkgenCfgr {
                 .ctrl1()
                 .modify(|_, w| unsafe { w.adc_clk_div_sel().bits(AdcClkDivSel::Div8 as u8) });
             final_sysclk / 8
-        }
+        };
+
+        Ok(Clocks {
+            sysclk: final_sysclk,
+            apb1: final_sysclk / 2,
+            apb2: final_sysclk / 4,
+            adc_clk,
+        })
     }
 }
 
@@ -498,39 +483,37 @@ pub struct Clocks {
     sysclk: Hertz,
     apb1: Hertz,
     apb2: Hertz,
-    #[cfg(not(feature = "va41628"))]
     adc_clk: Hertz,
 }
 
 impl Clocks {
     /// Returns the frequency of the HBO clock
-    pub const fn hbo(&self) -> Hertz {
+    pub fn hbo(&self) -> Hertz {
         HBO_FREQ
     }
 
     /// Returns the frequency of the APB0 which is equal to the system clock.
-    pub const fn apb0(&self) -> Hertz {
+    pub fn apb0(&self) -> Hertz {
         self.sysclk()
     }
 
     /// Returns system clock divied by 2.
-    pub const fn apb1(&self) -> Hertz {
+    pub fn apb1(&self) -> Hertz {
         self.apb1
     }
 
     /// Returns system clock divied by 4.
-    pub const fn apb2(&self) -> Hertz {
+    pub fn apb2(&self) -> Hertz {
         self.apb2
     }
 
     /// Returns the system (core) frequency
-    pub const fn sysclk(&self) -> Hertz {
+    pub fn sysclk(&self) -> Hertz {
         self.sysclk
     }
 
     /// Returns the ADC clock frequency which has a separate divider.
-    #[cfg(not(feature = "va41628"))]
-    pub const fn adc_clk(&self) -> Hertz {
+    pub fn adc_clk(&self) -> Hertz {
         self.adc_clk
     }
 }

va416xx-hal/src/dac.rs

@@ -1,8 +1,3 @@
-//! Digital to Analog Converter (DAC) driver.
-//!
-//! ## Examples
-//!
-//! - [ADC and DAC example](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/dac-adc.rs)
 use core::ops::Deref;
 
 use crate::{

va416xx-hal/src/dma.rs

@@ -3,9 +3,11 @@
 //! ## Examples
 //!
 //! - [Simple DMA example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/dma.rs)
+use embedded_dma::WriteBuffer;
+
 use crate::{
     clock::{PeripheralClock, PeripheralSelect},
-    enable_nvic_interrupt, pac,
+    enable_interrupt, pac,
     prelude::*,
 };
 
@@ -77,15 +79,12 @@ pub enum RPower {
     Every1024 = 0b1111,
 }
 
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
-#[error("Invalid DMA control block address")]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct InvalidCtrlBlockAddrError;
+#[derive(Debug, PartialEq, Eq)]
+pub struct InvalidCtrlBlockAddr;
 
 bitfield::bitfield! {
     #[repr(transparent)]
     #[derive(Clone, Copy)]
-    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub struct ChannelConfig(u32);
     impl Debug;
     u32;
@@ -114,7 +113,6 @@ bitfield::bitfield! {
 
 #[repr(C)]
 #[derive(Debug, Copy, Clone)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct DmaChannelControl {
     pub src_end_ptr: u32,
     pub dest_end_ptr: u32,
@@ -164,9 +162,9 @@ impl DmaCtrlBlock {
     /// The passed address must be 128-byte aligned. The user must also take care of specifying
     /// a valid memory address for the DMA control block which is accessible by the system as well.
     /// For example, the control block can be placed in the SRAM1.
-    pub fn new_at_addr(addr: u32) -> Result<*mut DmaCtrlBlock, InvalidCtrlBlockAddrError> {
+    pub fn new_at_addr(addr: u32) -> Result<*mut DmaCtrlBlock, InvalidCtrlBlockAddr> {
         if addr & BASE_PTR_ADDR_MASK > 0 {
-            return Err(InvalidCtrlBlockAddrError);
+            return Err(InvalidCtrlBlockAddr);
         }
         let ctrl_block_ptr = addr as *mut DmaCtrlBlock;
         unsafe { core::ptr::write(ctrl_block_ptr, DmaCtrlBlock::default()) }
@@ -179,21 +177,19 @@ pub struct Dma {
     ctrl_block: *mut DmaCtrlBlock,
 }
 
-#[derive(Debug, Clone, Copy, thiserror::Error)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Debug, Clone, Copy)]
 pub enum DmaTransferInitError {
-    #[error("source and destination buffer length mismatch: {src_len} != {dest_len}")]
-    SourceDestLenMissmatch { src_len: usize, dest_len: usize },
+    SourceDestLenMissmatch {
+        src_len: usize,
+        dest_len: usize,
+    },
     /// Overflow when calculating the source or destination end address.
-    #[error("address overflow")]
     AddrOverflow,
     /// Transfer size larger than 1024 units.
-    #[error("transfer size too large: {0}, 1024 is the allowed maximum")]
     TransferSizeTooLarge(usize),
 }
 
 #[derive(Debug, Clone, Copy, Default)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct DmaCfg {
     pub bufferable: bool,
     pub cacheable: bool,
@@ -209,6 +205,28 @@ pub struct DmaChannel {
     pub ch_ctrl_alt: &'static mut DmaChannelControl,
 }
 
+/// This transfer structure takes ownership of the mutable destination slice.
+///
+/// This avoids accidental violation of the ownership rules because the DMA now has mutable
+/// access to that slice as well. The mutable slice can be retrieved after DMA transfer completion
+/// by using the [Self::release] method.
+pub struct DmaTransfer<W> {
+    buf: W,
+    //ch: DmaChannel
+}
+
+impl<W: WriteBuffer> DmaTransfer<W> {
+    /// Retrieve the mutable destination slice once the DMA transfer has completed.
+    ///
+    /// # Safety
+    ///
+    /// - The user MUST ensure that the DMA transfer has completed, for example by polling a
+    ///   completion flag set by the DMA_DONE ISR.
+    pub unsafe fn release(self) -> W {
+        self.buf
+    }
+}
+
 impl DmaChannel {
     #[inline(always)]
     pub fn channel(&self) -> u8 {
@@ -266,7 +284,7 @@ impl DmaChannel {
     ///
     /// This function is `unsafe` because it can break mask-based critical sections.
     pub unsafe fn enable_done_interrupt(&mut self) {
-        enable_nvic_interrupt(self.done_interrupt);
+        enable_interrupt(self.done_interrupt);
     }
 
     /// Enables the DMA_ACTIVE interrupt for the DMA channel.
@@ -275,7 +293,7 @@ impl DmaChannel {
     ///
     /// This function is `unsafe` because it can break mask-based critical sections.
     pub unsafe fn enable_active_interrupt(&mut self) {
-        enable_nvic_interrupt(self.active_interrupt);
+        enable_interrupt(self.active_interrupt);
     }
 
     /// Prepares a 8-bit DMA transfer from memory to memory.
@@ -287,35 +305,25 @@ impl DmaChannel {
     /// You can use [Self::enable], [Self::enable_done_interrupt], [Self::enable_active_interrupt]
     /// to finish the transfer preparation and then use [Self::trigger_with_sw_request] to
     /// start the DMA transfer.
-    ///
-    /// # Safety
-    ///
-    /// You must ensure that the destination buffer is safe for DMA writes and the source buffer
-    /// is safe for DMA reads. The specific requirements can be read here:
-    ///
-    ///  - [DMA source buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.ReadBuffer.html)
-    ///  - [DMA destination buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.WriteBuffer.html)
-    ///
-    /// More specifically, you must ensure that the passed slice remains valid while the DMA is
-    /// active or until the DMA is stopped.
-    pub unsafe fn prepare_mem_to_mem_transfer_8_bit(
+    pub fn prepare_mem_to_mem_transfer_8_bit<W: WriteBuffer<Word = u8>>(
         &mut self,
         source: &[u8],
-        dest: &mut [u8],
-    ) -> Result<(), DmaTransferInitError> {
-        let len = Self::common_mem_transfer_checks(source.len(), dest.len())?;
+        mut dest: W,
+    ) -> Result<DmaTransfer<W>, DmaTransferInitError> {
+        let (write_ptr, len) = unsafe { dest.write_buffer() };
+        let len = Self::common_mem_transfer_checks(source.len(), len)?;
         self.generic_mem_to_mem_transfer_init(
             len,
             (source.as_ptr() as u32)
                 .checked_add(len as u32)
                 .ok_or(DmaTransferInitError::AddrOverflow)?,
-            (dest.as_ptr() as u32)
+            (write_ptr as u32)
                 .checked_add(len as u32)
                 .ok_or(DmaTransferInitError::AddrOverflow)?,
             DataSize::Byte,
             AddrIncrement::Byte,
         );
-        Ok(())
+        Ok(DmaTransfer { buf: dest })
     }
 
     /// Prepares a 16-bit DMA transfer from memory to memory.
@@ -327,21 +335,10 @@ impl DmaChannel {
     /// You can use [Self::enable], [Self::enable_done_interrupt], [Self::enable_active_interrupt]
     /// to finish the transfer preparation and then use [Self::trigger_with_sw_request] to
     /// start the DMA transfer.
-    ///
-    /// # Safety
-    ///
-    /// You must ensure that the destination buffer is safe for DMA writes and the source buffer
-    /// is safe for DMA reads. The specific requirements can be read here:
-    ///
-    ///  - [DMA source buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.ReadBuffer.html)
-    ///  - [DMA destination buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.WriteBuffer.html)
-    ///
-    /// More specifically, you must ensure that the passed slice remains valid while the DMA is
-    /// active or until the DMA is stopped.
-    pub unsafe fn prepare_mem_to_mem_transfer_16_bit(
+    pub fn prepare_mem_to_mem_transfer_16_bit<'dest>(
         &mut self,
         source: &[u16],
-        dest: &mut [u16],
+        dest: &'dest mut [u16],
     ) -> Result<(), DmaTransferInitError> {
         let len = Self::common_mem_transfer_checks(source.len(), dest.len())?;
         self.generic_mem_to_mem_transfer_init(
@@ -367,21 +364,10 @@ impl DmaChannel {
     /// You can use [Self::enable], [Self::enable_done_interrupt], [Self::enable_active_interrupt]
     /// to finish the transfer preparation and then use [Self::trigger_with_sw_request] to
     /// start the DMA transfer.
-    ///
-    /// # Safety
-    ///
-    /// You must ensure that the destination buffer is safe for DMA writes and the source buffer
-    /// is safe for DMA reads. The specific requirements can be read here:
-    ///
-    ///  - [DMA source buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.ReadBuffer.html)
-    ///  - [DMA destination buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.WriteBuffer.html)
-    ///
-    /// More specifically, you must ensure that the passed slice remains valid while the DMA is
-    /// active or until the DMA is stopped.
-    pub unsafe fn prepare_mem_to_mem_transfer_32_bit(
+    pub fn prepare_mem_to_mem_transfer_32_bit<'dest>(
         &mut self,
         source: &[u32],
-        dest: &mut [u32],
+        dest: &'dest mut [u32],
     ) -> Result<(), DmaTransferInitError> {
         let len = Self::common_mem_transfer_checks(source.len(), dest.len())?;
         self.generic_mem_to_mem_transfer_init(
@@ -398,54 +384,6 @@ impl DmaChannel {
         Ok(())
     }
 
-    /// Prepares a 8-bit DMA transfer from memory to a peripheral.
-    ///
-    /// It is assumed that a peripheral with a 16-byte FIFO is used here and that the
-    /// transfer is activated by an IRQ trigger when the half-full interrupt of the peripheral
-    /// is fired. Therefore, this function configured the DMA in [CycleControl::Basic] mode with
-    /// rearbitration happening every 8 DMA cycles. It also configures the primary channel control
-    /// structure to perform the transfer.
-    ///
-    /// # Safety
-    ///
-    /// You must ensure that the source buffer is safe for DMA reads. The specific requirements
-    /// can be read here:
-    ///
-    ///  - [DMA source buffer](https://docs.rs/embedded-dma/latest/embedded_dma/trait.ReadBuffer.html)
-    ///
-    /// More specifically, you must ensure that the passed slice remains valid while the DMA is
-    /// active or until the DMA is stopped.
-    ///
-    /// The destination address must be the pointer address of a peripheral FIFO register address.
-    /// You must also ensure that the regular synchronous transfer API of the peripheral is NOT
-    /// used to perform transfers.
-    pub unsafe fn prepare_mem_to_periph_transfer_8_bit(
-        &mut self,
-        source: &[u8],
-        dest: *mut u32,
-    ) -> Result<(), DmaTransferInitError> {
-        if source.len() > MAX_DMA_TRANSFERS_PER_CYCLE {
-            return Err(DmaTransferInitError::TransferSizeTooLarge(source.len()));
-        }
-        let len = source.len() - 1;
-        self.ch_ctrl_pri.cfg.set_raw(0);
-        self.ch_ctrl_pri.src_end_ptr = (source.as_ptr() as u32)
-            .checked_add(len as u32)
-            .ok_or(DmaTransferInitError::AddrOverflow)?;
-        self.ch_ctrl_pri.dest_end_ptr = dest as u32;
-        self.ch_ctrl_pri
-            .cfg
-            .set_cycle_ctr(CycleControl::Basic as u8);
-        self.ch_ctrl_pri.cfg.set_src_size(DataSize::Byte as u8);
-        self.ch_ctrl_pri.cfg.set_src_inc(AddrIncrement::Byte as u8);
-        self.ch_ctrl_pri.cfg.set_dst_size(DataSize::Byte as u8);
-        self.ch_ctrl_pri.cfg.set_dst_inc(AddrIncrement::None as u8);
-        self.ch_ctrl_pri.cfg.set_n_minus_1(len as u16);
-        self.ch_ctrl_pri.cfg.set_r_power(RPower::Every8 as u8);
-        self.select_primary_structure();
-        Ok(())
-    }
-
     // This function performs common checks and returns the source length minus one which is
     // relevant for further configuration of the DMA. This is because the DMA API expects N minus
     // 1 and the source and end pointer need to point to the last transfer address.
@@ -499,11 +437,11 @@ impl Dma {
         dma: pac::Dma,
         cfg: DmaCfg,
         ctrl_block: *mut DmaCtrlBlock,
-    ) -> Result<Self, InvalidCtrlBlockAddrError> {
+    ) -> Result<Self, InvalidCtrlBlockAddr> {
         // The conversion to u32 is safe here because we are on a 32-bit system.
         let raw_addr = ctrl_block as u32;
         if raw_addr & BASE_PTR_ADDR_MASK > 0 {
-            return Err(InvalidCtrlBlockAddrError);
+            return Err(InvalidCtrlBlockAddr);
         }
         syscfg.enable_peripheral_clock(PeripheralClock::Dma);
         syscfg.assert_periph_reset_for_two_cycles(PeripheralSelect::Dma);

va416xx-hal/src/edac.rs

@@ -1,66 +0,0 @@
-use crate::{enable_nvic_interrupt, pac};
-
-#[inline(always)]
-pub fn enable_rom_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
-    syscfg
-        .rom_scrub()
-        .write(|w| unsafe { w.bits(counter_reset as u32) });
-}
-
-#[inline(always)]
-pub fn enable_ram0_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
-    syscfg
-        .ram0_scrub()
-        .write(|w| unsafe { w.bits(counter_reset as u32) });
-}
-
-#[inline(always)]
-pub fn enable_ram1_scrub(syscfg: &mut pac::Sysconfig, counter_reset: u16) {
-    syscfg
-        .ram1_scrub()
-        .write(|w| unsafe { w.bits(counter_reset as u32) });
-}
-
-/// This function enables the SBE related interrupts. The user should also provide a
-/// `EDAC_SBE` ISR and use [clear_sbe_irq] inside that ISR at the very least.
-#[inline(always)]
-pub fn enable_sbe_irq() {
-    unsafe {
-        enable_nvic_interrupt(pac::Interrupt::EDAC_SBE);
-    }
-}
-
-/// This function enables the SBE related interrupts. The user should also provide a
-/// `EDAC_MBE` ISR and use [clear_mbe_irq] inside that ISR at the very least.
-#[inline(always)]
-pub fn enable_mbe_irq() {
-    unsafe {
-        enable_nvic_interrupt(pac::Interrupt::EDAC_MBE);
-    }
-}
-
-/// 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() {
-    // Safety: This function only clears SBE related IRQs
-    let syscfg = unsafe { pac::Sysconfig::steal() };
-    syscfg.irq_clr().write(|w| {
-        w.romsbe().set_bit();
-        w.ram0sbe().set_bit();
-        w.ram1sbe().set_bit()
-    });
-}
-
-/// 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() {
-    // Safety: This function only clears SBE related IRQs
-    let syscfg = unsafe { pac::Sysconfig::steal() };
-    syscfg.irq_clr().write(|w| {
-        w.rommbe().set_bit();
-        w.ram0mbe().set_bit();
-        w.ram1mbe().set_bit()
-    });
-}

va416xx-hal/src/gpio/asynch.rs

@@ -1,448 +0,0 @@
-//! # Async GPIO functionality for the VA416xx family.
-//!
-//! This module provides the [InputPinAsync] and [InputDynPinAsync] which both implement
-//! the [embedded_hal_async::digital::Wait] trait. These types allow for asynchronous waiting
-//! on GPIO pins. Please note that this module does not specify/declare the interrupt handlers
-//! which must be provided for async support to work. However, it provides the
-//! [on_interrupt_for_async_gpio_for_port] generic interrupt handler. This should be called in all
-//! IRQ functions which handle any GPIO interrupts with the corresponding [Port] argument.
-//!
-//! # Example
-//!
-//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-gpio.rs)
-use core::future::Future;
-
-use embassy_sync::waitqueue::AtomicWaker;
-use embedded_hal_async::digital::Wait;
-use portable_atomic::AtomicBool;
-use va416xx::{self as pac};
-
-use crate::enable_nvic_interrupt;
-
-use super::{
-    pin, DynPin, DynPinId, InputConfig, InterruptEdge, InvalidPinTypeError, Pin, PinId, Port,
-    NUM_PINS_PORT_A_TO_F,
-};
-
-static WAKERS_FOR_PORT_A: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
-static WAKERS_FOR_PORT_B: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
-static WAKERS_FOR_PORT_C: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
-static WAKERS_FOR_PORT_D: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
-static WAKERS_FOR_PORT_E: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
-static WAKERS_FOR_PORT_F: [AtomicWaker; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicWaker::new() }; NUM_PINS_PORT_A_TO_F];
-
-static EDGE_DETECTION_PORT_A: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
-static EDGE_DETECTION_PORT_B: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
-static EDGE_DETECTION_PORT_C: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
-static EDGE_DETECTION_PORT_D: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
-static EDGE_DETECTION_PORT_E: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
-static EDGE_DETECTION_PORT_F: [AtomicBool; NUM_PINS_PORT_A_TO_F] =
-    [const { AtomicBool::new(false) }; NUM_PINS_PORT_A_TO_F];
-
-#[derive(Debug, thiserror::Error)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("port G does not support async functionality")]
-pub struct PortGDoesNotSupportAsyncError;
-
-#[derive(Debug, thiserror::Error)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum AsyncDynPinError {
-    #[error("invalid pin type: {0}")]
-    InvalidPinType(#[from] InvalidPinTypeError),
-    #[error("port g does not support async functionality: {0}")]
-    PortGDoesNotSupportAsync(#[from] PortGDoesNotSupportAsyncError),
-}
-
-/// Generic interrupt handler for GPIO interrupts on a specific port to support async functionalities
-///
-/// This function should be called in all interrupt handlers which handle any GPIO interrupts
-/// matching the [Port] argument.
-/// The handler will wake the corresponding wakers for the pins that triggered an interrupts
-/// as well as update the static edge detection structures. This allows the pin future tocomplete
-/// complete async operations.
-pub fn on_interrupt_for_async_gpio_for_port(
-    port: Port,
-) -> Result<(), PortGDoesNotSupportAsyncError> {
-    let periphs = unsafe { pac::Peripherals::steal() };
-
-    let (irq_enb, edge_status, wakers, edge_detection) = match port {
-        Port::A => (
-            periphs.porta.irq_enb().read().bits(),
-            periphs.porta.edge_status().read().bits(),
-            &WAKERS_FOR_PORT_A,
-            &EDGE_DETECTION_PORT_A,
-        ),
-        Port::B => (
-            periphs.portb.irq_enb().read().bits(),
-            periphs.portb.edge_status().read().bits(),
-            &WAKERS_FOR_PORT_B,
-            &EDGE_DETECTION_PORT_B,
-        ),
-        Port::C => (
-            periphs.portc.irq_enb().read().bits(),
-            periphs.portc.edge_status().read().bits(),
-            &WAKERS_FOR_PORT_C,
-            &EDGE_DETECTION_PORT_C,
-        ),
-        Port::D => (
-            periphs.portd.irq_enb().read().bits(),
-            periphs.portd.edge_status().read().bits(),
-            &WAKERS_FOR_PORT_D,
-            &EDGE_DETECTION_PORT_D,
-        ),
-        Port::E => (
-            periphs.porte.irq_enb().read().bits(),
-            periphs.porte.edge_status().read().bits(),
-            &WAKERS_FOR_PORT_E,
-            &EDGE_DETECTION_PORT_E,
-        ),
-        Port::F => (
-            periphs.portf.irq_enb().read().bits(),
-            periphs.portf.edge_status().read().bits(),
-            &WAKERS_FOR_PORT_F,
-            &EDGE_DETECTION_PORT_F,
-        ),
-        Port::G => return Err(PortGDoesNotSupportAsyncError),
-    };
-
-    on_interrupt_for_port(irq_enb, edge_status, wakers, edge_detection);
-    Ok(())
-}
-
-#[inline]
-fn on_interrupt_for_port(
-    mut irq_enb: u32,
-    edge_status: u32,
-    wakers: &'static [AtomicWaker],
-    edge_detection: &'static [AtomicBool],
-) {
-    while irq_enb != 0 {
-        let bit_pos = irq_enb.trailing_zeros() as usize;
-        let bit_mask = 1 << bit_pos;
-
-        wakers[bit_pos].wake();
-
-        if edge_status & bit_mask != 0 {
-            edge_detection[bit_pos].store(true, core::sync::atomic::Ordering::Relaxed);
-
-            // Clear the processed bit
-            irq_enb &= !bit_mask;
-        }
-    }
-}
-
-/// Input pin future which implements the [Future] trait.
-///
-/// Generally, you want to use the [InputPinAsync] or [InputDynPinAsync] types instead of this
-/// which also implements the [embedded_hal_async::digital::Wait] trait. However, access to this
-/// struture is granted  to allow writing custom async structures.
-pub struct InputPinFuture {
-    pin_id: DynPinId,
-    waker_group: &'static [AtomicWaker],
-    edge_detection_group: &'static [AtomicBool],
-}
-
-impl InputPinFuture {
-    pub fn new_with_dyn_pin(
-        pin: &mut DynPin,
-        edge: InterruptEdge,
-    ) -> Result<Self, AsyncDynPinError> {
-        if !pin.is_input_pin() {
-            return Err(InvalidPinTypeError(pin.mode()).into());
-        }
-        if pin.id().port() == Port::G {
-            return Err(PortGDoesNotSupportAsyncError.into());
-        }
-
-        let (waker_group, edge_detection_group) =
-            Self::pin_group_to_waker_and_edge_detection_group(pin.id().port());
-        edge_detection_group[pin.id().num() as usize]
-            .store(false, core::sync::atomic::Ordering::Relaxed);
-        // Unwraps okay, checked for PORT G previously
-        pin.configure_edge_interrupt(edge).unwrap();
-        unsafe { enable_nvic_interrupt(pin.irq_id().unwrap()) };
-        pin.enable_interrupt();
-        Ok(Self {
-            pin_id: pin.id(),
-            waker_group,
-            edge_detection_group,
-        })
-    }
-
-    pub fn new_with_pin<I: PinId, C: InputConfig>(
-        pin: &mut Pin<I, pin::Input<C>>,
-        edge: InterruptEdge,
-    ) -> Result<Self, PortGDoesNotSupportAsyncError> {
-        if pin.id().port() == Port::G {
-            return Err(PortGDoesNotSupportAsyncError);
-        }
-        let (waker_group, edge_detection_group) =
-            Self::pin_group_to_waker_and_edge_detection_group(pin.id().port());
-        edge_detection_group[pin.id().num() as usize]
-            .store(false, core::sync::atomic::Ordering::Relaxed);
-        // Unwraps okay, checked for PORT G previously
-        pin.configure_edge_interrupt(edge);
-        unsafe { enable_nvic_interrupt(I::IRQ.unwrap()) };
-        pin.enable_interrupt();
-        Ok(Self {
-            pin_id: pin.id(),
-            waker_group,
-            edge_detection_group,
-        })
-    }
-
-    #[inline]
-    pub fn pin_group_to_waker_and_edge_detection_group(
-        group: Port,
-    ) -> (&'static [AtomicWaker], &'static [AtomicBool]) {
-        match group {
-            Port::A => (WAKERS_FOR_PORT_A.as_ref(), EDGE_DETECTION_PORT_A.as_ref()),
-            Port::B => (WAKERS_FOR_PORT_B.as_ref(), EDGE_DETECTION_PORT_B.as_ref()),
-            Port::C => (WAKERS_FOR_PORT_C.as_ref(), EDGE_DETECTION_PORT_C.as_ref()),
-            Port::D => (WAKERS_FOR_PORT_D.as_ref(), EDGE_DETECTION_PORT_D.as_ref()),
-            Port::E => (WAKERS_FOR_PORT_E.as_ref(), EDGE_DETECTION_PORT_E.as_ref()),
-            Port::F => (WAKERS_FOR_PORT_F.as_ref(), EDGE_DETECTION_PORT_F.as_ref()),
-            _ => panic!("unexpected pin group G"),
-        }
-    }
-}
-
-impl Drop for InputPinFuture {
-    fn drop(&mut self) {
-        // The API ensures that we actually own the pin, so stealing it here is okay.
-        unsafe { DynPin::steal(self.pin_id) }.disable_interrupt();
-    }
-}
-
-impl Future for InputPinFuture {
-    type Output = ();
-    fn poll(
-        self: core::pin::Pin<&mut Self>,
-        cx: &mut core::task::Context<'_>,
-    ) -> core::task::Poll<Self::Output> {
-        let idx = self.pin_id.num() as usize;
-        self.waker_group[idx].register(cx.waker());
-        if self.edge_detection_group[idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
-            return core::task::Poll::Ready(());
-        }
-        core::task::Poll::Pending
-    }
-}
-
-pub struct InputDynPinAsync {
-    pin: DynPin,
-}
-
-impl InputDynPinAsync {
-    /// Create a new asynchronous input pin from a [DynPin]. The interrupt ID to be used must be
-    /// passed as well and is used to route and enable the interrupt.
-    ///
-    /// Please note that the interrupt handler itself must be provided by the user and the
-    /// generic [on_interrupt_for_async_gpio_for_port] function must be called inside that function
-    /// for the asynchronous functionality to work.
-    pub fn new(pin: DynPin) -> Result<Self, AsyncDynPinError> {
-        if !pin.is_input_pin() {
-            return Err(InvalidPinTypeError(pin.mode()).into());
-        }
-        if pin.id().port() == Port::G {
-            return Err(PortGDoesNotSupportAsyncError.into());
-        }
-        Ok(Self { pin })
-    }
-
-    /// Asynchronously wait until the pin is high.
-    ///
-    /// This returns immediately if the pin is already high.
-    pub async fn wait_for_high(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        let fut =
-            InputPinFuture::new_with_dyn_pin(&mut self.pin, InterruptEdge::LowToHigh).unwrap();
-        if self.pin.is_high().unwrap() {
-            return;
-        }
-        fut.await;
-    }
-
-    /// Asynchronously wait until the pin is low.
-    ///
-    /// This returns immediately if the pin is already high.
-    pub async fn wait_for_low(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        let fut =
-            InputPinFuture::new_with_dyn_pin(&mut self.pin, InterruptEdge::HighToLow).unwrap();
-        if self.pin.is_low().unwrap() {
-            return;
-        }
-        fut.await;
-    }
-
-    /// Asynchronously wait until the pin sees a falling edge.
-    pub async fn wait_for_falling_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        InputPinFuture::new_with_dyn_pin(&mut self.pin, InterruptEdge::HighToLow)
-            .unwrap()
-            .await;
-    }
-
-    /// Asynchronously wait until the pin sees a rising edge.
-    pub async fn wait_for_rising_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        InputPinFuture::new_with_dyn_pin(&mut self.pin, InterruptEdge::LowToHigh)
-            .unwrap()
-            .await;
-    }
-
-    /// Asynchronously wait until the pin sees any edge (either rising or falling).
-    pub async fn wait_for_any_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        InputPinFuture::new_with_dyn_pin(&mut self.pin, InterruptEdge::BothEdges)
-            .unwrap()
-            .await;
-    }
-
-    pub fn release(self) -> DynPin {
-        self.pin
-    }
-}
-
-impl embedded_hal::digital::ErrorType for InputDynPinAsync {
-    type Error = core::convert::Infallible;
-}
-
-impl Wait for InputDynPinAsync {
-    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_high().await;
-        Ok(())
-    }
-
-    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_low().await;
-        Ok(())
-    }
-
-    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_rising_edge().await;
-        Ok(())
-    }
-
-    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_falling_edge().await;
-        Ok(())
-    }
-
-    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_any_edge().await;
-        Ok(())
-    }
-}
-
-pub struct InputPinAsync<I: PinId, C: InputConfig> {
-    pin: Pin<I, pin::Input<C>>,
-}
-
-impl<I: PinId, C: InputConfig> InputPinAsync<I, C> {
-    /// Create a new asynchronous input pin from a typed [Pin]. The interrupt ID to be used must be
-    /// passed as well and is used to route and enable the interrupt.
-    ///
-    /// Please note that the interrupt handler itself must be provided by the user and the
-    /// generic [on_interrupt_for_async_gpio_for_port] function must be called inside that function
-    /// for the asynchronous functionality to work.
-    pub fn new(pin: Pin<I, pin::Input<C>>) -> Result<Self, PortGDoesNotSupportAsyncError> {
-        if pin.id().port() == Port::G {
-            return Err(PortGDoesNotSupportAsyncError);
-        }
-        Ok(Self { pin })
-    }
-
-    /// Asynchronously wait until the pin is high.
-    ///
-    /// This returns immediately if the pin is already high.
-    pub async fn wait_for_high(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        let fut = InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::LowToHigh).unwrap();
-        if self.pin.is_high() {
-            return;
-        }
-        fut.await;
-    }
-
-    /// Asynchronously wait until the pin is low.
-    ///
-    /// This returns immediately if the pin is already high.
-    pub async fn wait_for_low(&mut self) {
-        let fut = InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::HighToLow).unwrap();
-        if self.pin.is_low() {
-            return;
-        }
-        fut.await;
-    }
-
-    /// Asynchronously wait until the pin sees falling edge.
-    pub async fn wait_for_falling_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::HighToLow)
-            .unwrap()
-            .await;
-    }
-
-    /// Asynchronously wait until the pin sees rising edge.
-    pub async fn wait_for_rising_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::LowToHigh)
-            .unwrap()
-            .await;
-    }
-
-    /// Asynchronously wait until the pin sees any edge (either rising or falling).
-    pub async fn wait_for_any_edge(&mut self) {
-        // Unwrap okay, checked pin in constructor.
-        InputPinFuture::new_with_pin(&mut self.pin, InterruptEdge::BothEdges)
-            .unwrap()
-            .await;
-    }
-
-    pub fn release(self) -> Pin<I, pin::Input<C>> {
-        self.pin
-    }
-}
-impl<I: PinId, C: InputConfig> embedded_hal::digital::ErrorType for InputPinAsync<I, C> {
-    type Error = core::convert::Infallible;
-}
-
-impl<I: PinId, C: InputConfig> Wait for InputPinAsync<I, C> {
-    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_high().await;
-        Ok(())
-    }
-
-    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_low().await;
-        Ok(())
-    }
-
-    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_rising_edge().await;
-        Ok(())
-    }
-
-    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_falling_edge().await;
-        Ok(())
-    }
-
-    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
-        self.wait_for_any_edge().await;
-        Ok(())
-    }
-}

va416xx-hal/src/gpio/mod.rs

@@ -22,52 +22,55 @@
 //!
 //! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
 
-//==================================================================================================
-//  Errors, Definitions and Constants
-//==================================================================================================
-
-pub const NUM_PINS_PORT_A_TO_F: usize = 16;
-pub const NUM_PINS_PORT_G: usize = 8;
-pub const NUM_GPIO_PINS: usize = NUM_PINS_PORT_A_TO_F * 6 + NUM_PINS_PORT_G;
-pub const NUM_GPIO_PINS_WITH_IRQ: usize = NUM_GPIO_PINS - NUM_PINS_PORT_G;
-
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("pin is masked")]
 pub struct IsMaskedError;
 
-#[derive(Debug, PartialEq, Eq, Clone, Copy)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum Port {
-    A,
-    B,
-    C,
-    D,
-    E,
-    F,
-    G,
-}
+macro_rules! common_reg_if_functions {
+    () => {
+        paste::paste!(
+            #[inline]
+            pub fn datamask(&self) -> bool {
+                self.regs.datamask()
+            }
 
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum InterruptEdge {
-    HighToLow,
-    LowToHigh,
-    BothEdges,
-}
+            #[inline]
+            pub fn clear_datamask(self) -> Self {
+                self.regs.clear_datamask();
+                self
+            }
 
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum InterruptLevel {
-    Low = 0,
-    High = 1,
-}
+            #[inline]
+            pub fn set_datamask(self) -> Self {
+                self.regs.set_datamask();
+                self
+            }
 
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum PinState {
-    Low = 0,
-    High = 1,
+            #[inline]
+            pub fn is_high_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
+                self.regs.read_pin_masked()
+            }
+
+            #[inline]
+            pub fn is_low_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
+                self.regs.read_pin_masked().map(|v| !v)
+            }
+
+            #[inline]
+            pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
+                self.regs.write_pin_masked(true)
+            }
+
+            #[inline]
+            pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
+                self.regs.write_pin_masked(false)
+            }
+
+            fn irq_enb(&mut self) {
+                self.regs.enable_irq();
+            }
+        );
+    };
 }
 
 pub mod pin;
@@ -76,5 +79,4 @@ pub use pin::*;
 pub mod dynpin;
 pub use dynpin::*;
 
-pub mod asynch;
-pub use asynch::*;
+mod reg;

va416xx-hal/src/gpio/pin.rs

@@ -68,19 +68,42 @@
 //! # Embedded HAL traits
 //!
 //! This module implements all of the embedded HAL GPIO traits for each [`Pin`]
-//! in the corresponding [`PinMode`]s, namely: [embedded_hal::digital::InputPin],
-//! [embedded_hal::digital::OutputPin] and [embedded_hal::digital::StatefulOutputPin].
+//! in the corresponding [`PinMode`]s, namely: [`InputPin`], [`OutputPin`],
+//! and [`StatefulOutputPin`].
 use core::{convert::Infallible, marker::PhantomData, mem::transmute};
 
 pub use crate::clock::FilterClkSel;
 use crate::typelevel::Sealed;
-use va416xx::{self as pac, Porta, Portb, Portc, Portd, Porte, Portf, Portg};
+use embedded_hal::digital::{ErrorType, InputPin, OutputPin, StatefulOutputPin};
+use va416xx::{Porta, Portb, Portc, Portd, Porte, Portf, Portg};
 
 use super::{
-    DynAlternate, DynInput, DynOutput, DynPin, DynPinId, DynPinMode, InputPinAsync, InterruptEdge,
-    InterruptLevel, PinState, Port, PortGDoesNotSupportAsyncError,
+    reg::RegisterInterface, DynAlternate, DynGroup, DynInput, DynOutput, DynPinId, DynPinMode,
 };
 
+//==================================================================================================
+//  Errors and Definitions
+//==================================================================================================
+
+#[derive(Debug, PartialEq, Eq)]
+pub enum InterruptEdge {
+    HighToLow,
+    LowToHigh,
+    BothEdges,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+pub enum InterruptLevel {
+    Low = 0,
+    High = 1,
+}
+
+#[derive(Debug, PartialEq, Eq)]
+pub enum PinState {
+    Low = 0,
+    High = 1,
+}
+
 //==================================================================================================
 // Input configuration
 //==================================================================================================
@@ -269,24 +292,20 @@ impl<C: AlternateConfig> PinMode for Alternate<C> {
 pub trait PinId: Sealed {
     /// Corresponding [DynPinId]
     const DYN: DynPinId;
-    const IRQ: Option<pac::Interrupt>;
 }
 
 macro_rules! pin_id {
-    ($Port:ident, $Id:ident, $NUM:literal, $Irq:expr, $(, $meta: meta)?) => {
+    ($Group:ident, $Id:ident, $NUM:literal) => {
         // Need paste macro to use ident in doc attribute
         paste::paste! {
-            $(#[$meta])?
             #[doc = "Pin ID representing pin " $Id]
             pub enum $Id {}
-
-            $(#[$meta])?
             impl Sealed for $Id {}
-
-            $(#[$meta])?
             impl PinId for $Id {
-                const DYN: DynPinId = DynPinId::new(Port::$Port, $NUM);
-                const IRQ: Option<pac::Interrupt> = $Irq;
+                const DYN: DynPinId = DynPinId {
+                    group: DynGroup::$Group,
+                    num: $NUM,
+                };
             }
         }
     };
@@ -297,10 +316,10 @@ macro_rules! pin_id {
 //==================================================================================================
 
 /// A type-level GPIO pin, parameterized by [`PinId`] and [`PinMode`] types
-#[derive(Debug)]
+
 pub struct Pin<I: PinId, M: PinMode> {
-    inner: DynPin,
-    mode: PhantomData<(I, M)>,
+    pub(in crate::gpio) regs: Registers<I>,
+    mode: PhantomData<M>,
 }
 
 impl<I: PinId, M: PinMode> Pin<I, M> {
@@ -312,48 +331,38 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
     /// at most one corresponding [`Pin`] in existence at any given time.
     /// Violating this requirement is `unsafe`.
     #[inline]
-    pub(crate) const unsafe fn new() -> Pin<I, M> {
+    pub(crate) unsafe fn new() -> Pin<I, M> {
         Pin {
-            inner: DynPin::new(I::DYN, M::DYN),
+            regs: Registers::new(),
             mode: PhantomData,
         }
     }
 
-    #[inline]
-    pub const fn id(&self) -> DynPinId {
-        self.inner.id()
-    }
-
-    #[inline(always)]
-    pub const fn irq_id(&self) -> Option<pac::Interrupt> {
-        I::IRQ
-    }
-
     /// Convert the pin to the requested [`PinMode`]
     #[inline]
     pub fn into_mode<N: PinMode>(mut self) -> Pin<I, N> {
         // Only modify registers if we are actually changing pin mode
         // This check should compile away
         if N::DYN != M::DYN {
-            self.inner.change_mode(N::DYN);
+            self.regs.change_mode::<N>();
         }
         // Safe because we drop the existing Pin
         unsafe { Pin::new() }
     }
 
-    /// Configure the pin for function select 1. See Programmer Guide p. 286 for the function table
+    /// Configure the pin for function select 1. See Programmer Guide p.40 for the function table
     #[inline]
     pub fn into_funsel_1(self) -> Pin<I, AltFunc1> {
         self.into_mode()
     }
 
-    /// Configure the pin for function select 2. See Programmer Guide p. 286 for the function table
+    /// Configure the pin for function select 2. See Programmer Guide p.40 for the function table
     #[inline]
     pub fn into_funsel_2(self) -> Pin<I, AltFunc2> {
         self.into_mode()
     }
 
-    /// Configure the pin for function select 3. See Programmer Guide p. 286 for the function table
+    /// Configure the pin for function select 3. See Programmer Guide p.40 for the function table
     #[inline]
     pub fn into_funsel_3(self) -> Pin<I, AltFunc3> {
         self.into_mode()
@@ -395,76 +404,26 @@ impl<I: PinId, M: PinMode> Pin<I, M> {
         self.into_mode()
     }
 
+    common_reg_if_functions!();
+
     #[inline]
-    pub fn is_low(&self) -> bool {
-        !self.inner.read_pin()
+    pub(crate) fn _set_high(&mut self) {
+        self.regs.write_pin(true)
     }
 
     #[inline]
-    pub fn is_high(&self) -> bool {
-        self.inner.read_pin()
+    pub(crate) fn _set_low(&mut self) {
+        self.regs.write_pin(false)
     }
 
     #[inline]
-    pub fn datamask(&self) -> bool {
-        self.inner.datamask()
+    pub(crate) fn _is_low(&self) -> bool {
+        !self.regs.read_pin()
     }
 
     #[inline]
-    pub fn clear_datamask(&mut self) {
-        self.inner.clear_datamask()
-    }
-
-    #[inline]
-    pub fn set_datamask(&mut self) {
-        self.inner.set_datamask()
-    }
-
-    #[inline]
-    pub fn is_high_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
-        self.inner.is_high_masked()
-    }
-
-    #[inline]
-    pub fn is_low_masked(&self) -> Result<bool, crate::gpio::IsMaskedError> {
-        self.inner.is_low_masked()
-    }
-
-    #[inline]
-    pub fn downgrade(self) -> DynPin {
-        self.inner
-    }
-
-    // Those only serve for the embedded HAL implementations which have different mutability.
-
-    #[inline]
-    fn is_low_mut(&mut self) -> bool {
-        self.is_low()
-    }
-
-    #[inline]
-    fn is_high_mut(&mut self) -> bool {
-        self.is_high()
-    }
-
-    #[inline]
-    pub fn enable_interrupt(&mut self) {
-        self.inner.enable_interrupt();
-    }
-
-    #[inline]
-    pub fn disable_interrupt(&mut self) {
-        self.inner.disable_interrupt();
-    }
-
-    /// Configure the pin for an edge interrupt but does not enable the interrupt.
-    pub fn configure_edge_interrupt(&mut self, edge_type: InterruptEdge) {
-        self.inner.configure_edge_interrupt(edge_type).unwrap();
-    }
-
-    /// Configure the pin for a level interrupt but does not enable the interrupt.
-    pub fn configure_level_interrupt(&mut self, level_type: InterruptLevel) {
-        self.inner.configure_level_interrupt(level_type).unwrap();
+    pub(crate) fn _is_high(&self) -> bool {
+        self.regs.read_pin()
     }
 }
 
@@ -556,61 +515,58 @@ impl<P: AnyPin> AsMut<P> for SpecificPin<P> {
 //==================================================================================================
 
 impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
-    /// Convert the pin into an async pin. The pin can be converted back by calling
-    /// [InputPinAsync::release]
-    pub fn into_async_input(self) -> Result<InputPinAsync<I, C>, PortGDoesNotSupportAsyncError> {
-        InputPinAsync::new(self)
+    pub fn interrupt_edge(mut self, edge_type: InterruptEdge) -> Self {
+        self.regs.interrupt_edge(edge_type);
+        self.irq_enb();
+        self
+    }
+
+    pub fn interrupt_level(mut self, level_type: InterruptLevel) -> Self {
+        self.regs.interrupt_level(level_type);
+        self.irq_enb();
+        self
     }
 }
 
 impl<I: PinId, C: OutputConfig> Pin<I, Output<C>> {
-    #[inline]
-    pub fn set_high(&mut self) {
-        self.inner.write_pin(true)
-    }
-
-    #[inline]
-    pub fn set_low(&mut self) {
-        self.inner.write_pin(false)
-    }
-
-    #[inline]
-    pub fn toggle(&mut self) {
-        self.inner.toggle().unwrap()
-    }
-
-    #[inline]
-    pub fn set_high_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-        self.inner.set_high_masked()
-    }
-
-    #[inline]
-    pub fn set_low_masked(&mut self) -> Result<(), crate::gpio::IsMaskedError> {
-        self.inner.set_low_masked()
-    }
-
+    /// See p.53 of the programmers guide for more information.
     /// Possible delays in clock cycles:
     ///  - Delay 1: 1
     ///  - Delay 2: 2
     ///  - Delay 1 + Delay 2: 3
     #[inline]
-    pub fn configure_delay(&mut self, delay_1: bool, delay_2: bool) {
-        self.inner.configure_delay(delay_1, delay_2).unwrap();
+    pub fn delay(self, delay_1: bool, delay_2: bool) -> Self {
+        self.regs.delay(delay_1, delay_2);
+        self
     }
 
+    /// See p.52 of the programmers guide for more information.
     /// When configured for pulse mode, a given pin will set the non-default state for exactly
     /// one clock cycle before returning to the configured default state
-    pub fn configure_pulse_mode(&mut self, enable: bool, default_state: PinState) {
-        self.inner
-            .configure_pulse_mode(enable, default_state)
-            .unwrap();
+    pub fn pulse_mode(self, enable: bool, default_state: PinState) -> Self {
+        self.regs.pulse_mode(enable, default_state);
+        self
+    }
+
+    pub fn interrupt_edge(mut self, edge_type: InterruptEdge) -> Self {
+        self.regs.interrupt_edge(edge_type);
+        self.irq_enb();
+        self
+    }
+
+    pub fn interrupt_level(mut self, level_type: InterruptLevel) -> Self {
+        self.regs.interrupt_level(level_type);
+        self.irq_enb();
+        self
     }
 }
 
 impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
+    /// See p.37 and p.38 of the programmers guide for more information.
     #[inline]
-    pub fn configure_filter_type(&mut self, filter: FilterType, clksel: FilterClkSel) {
-        self.inner.configure_filter_type(filter, clksel).unwrap();
+    pub fn filter_type(self, filter: FilterType, clksel: FilterClkSel) -> Self {
+        self.regs.filter_type(filter, clksel);
+        self
     }
 }
 
@@ -618,7 +574,7 @@ impl<I: PinId, C: InputConfig> Pin<I, Input<C>> {
 //  Embedded HAL traits
 //==================================================================================================
 
-impl<I, M> embedded_hal::digital::ErrorType for Pin<I, M>
+impl<I, M> ErrorType for Pin<I, M>
 where
     I: PinId,
     M: PinMode,
@@ -626,69 +582,104 @@ where
     type Error = Infallible;
 }
 
-impl<I: PinId, C: OutputConfig> embedded_hal::digital::OutputPin for Pin<I, Output<C>> {
+impl<I: PinId, C: OutputConfig> OutputPin for Pin<I, Output<C>> {
     #[inline]
     fn set_high(&mut self) -> Result<(), Self::Error> {
-        self.set_high();
+        self._set_high();
         Ok(())
     }
 
     #[inline]
     fn set_low(&mut self) -> Result<(), Self::Error> {
-        self.set_low();
+        self._set_low();
         Ok(())
     }
 }
 
-impl<I, C> embedded_hal::digital::InputPin for Pin<I, Input<C>>
+impl<I, C> InputPin for Pin<I, Input<C>>
 where
     I: PinId,
     C: InputConfig,
 {
     #[inline]
     fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_high_mut())
+        Ok(self._is_high())
     }
     #[inline]
     fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_low_mut())
+        Ok(self._is_low())
     }
 }
 
-impl<I, C> embedded_hal::digital::StatefulOutputPin for Pin<I, Output<C>>
+impl<I, C> StatefulOutputPin for Pin<I, Output<C>>
 where
     I: PinId,
     C: OutputConfig + ReadableOutput,
 {
     #[inline]
     fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_high())
+        Ok(self._is_high())
     }
     #[inline]
     fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_low())
-    }
-
-    #[inline]
-    fn toggle(&mut self) -> Result<(), Self::Error> {
-        self.toggle();
-        Ok(())
+        Ok(self._is_low())
     }
 }
 
-impl<I, C> embedded_hal::digital::InputPin for Pin<I, Output<C>>
+impl<I, C> InputPin for Pin<I, Output<C>>
 where
     I: PinId,
     C: OutputConfig + ReadableOutput,
 {
     #[inline]
     fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_high_mut())
+        Ok(self._is_high())
     }
 
     #[inline]
     fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(self.is_low_mut())
+        Ok(self._is_low())
+    }
+}
+
+//==================================================================================================
+//  Registers
+//==================================================================================================
+
+/// Provide a safe register interface for [`Pin`]s
+///
+/// This `struct` takes ownership of a [`PinId`] and provides an API to
+/// access the corresponding registers.
+pub(in crate::gpio) struct Registers<I: PinId> {
+    id: PhantomData<I>,
+}
+
+// [`Registers`] takes ownership of the [`PinId`], and [`Pin`] guarantees that
+// each pin is a singleton, so this implementation is safe.
+unsafe impl<I: PinId> RegisterInterface for Registers<I> {
+    #[inline]
+    fn id(&self) -> DynPinId {
+        I::DYN
+    }
+}
+
+impl<I: PinId> Registers<I> {
+    /// Create a new instance of [`Registers`]
+    ///
+    /// # Safety
+    ///
+    /// Users must never create two simultaneous instances of this `struct` with
+    /// the same [`PinId`]
+    #[inline]
+    unsafe fn new() -> Self {
+        Registers { id: PhantomData }
+    }
+
+    /// Provide a type-level equivalent for the
+    /// [`RegisterInterface::change_mode`] method.
+    #[inline]
+    pub(in crate::gpio) fn change_mode<M: PinMode>(&mut self) {
+        RegisterInterface::change_mode(self, M::DYN);
     }
 }
 
@@ -698,14 +689,13 @@ where
 
 macro_rules! pins {
     (
-        $Port:ident, $PinsName:ident, $($Id:ident $(, $meta:meta)?)+,
+        $Port:ident, $PinsName:ident, $($Id:ident,)+,
     ) => {
         paste::paste!(
             /// Collection of all the individual [`Pin`]s for a given port (PORTA or PORTB)
             pub struct $PinsName {
                 port: $Port,
                 $(
-                    $(#[$meta])?
                     #[doc = "Pin " $Id]
                     pub [<$Id:lower>]: Pin<$Id, Reset>,
                 )+
@@ -728,7 +718,6 @@ macro_rules! pins {
                         port,
                         // Safe because we only create one `Pin` per `PinId`
                         $(
-                            $(#[$meta])?
                             [<$Id:lower>]: unsafe { Pin::new() },
                         )+
                     }
@@ -750,31 +739,18 @@ macro_rules! pins {
     }
 }
 
-macro_rules! declare_pins_with_irq {
-    (
-        $Group:ident, $PinsName:ident, $Port:ident, [$(($Id:ident, $NUM:literal $(, $meta:meta)?)),+]
-    ) => {
-        pins!($Port, $PinsName, $($Id $(, $meta)?)+,);
-        $(
-            paste::paste! {
-                pin_id!($Group, $Id, $NUM, Some(pac::Interrupt::[<$Port:upper $NUM>]), $(, $meta)?);
-            }
-        )+
-    }
-}
-
 macro_rules! declare_pins {
     (
-        $Group:ident, $PinsName:ident, $Port:ident, [$(($Id:ident, $NUM:literal $(, $meta:meta)?)),+]
+        $Group:ident, $PinsName:ident, $Port:ident, [$(($Id:ident, $NUM:literal),)+]
     ) => {
-        pins!($Port, $PinsName, $($Id $(, $meta)?)+,);
+        pins!($Port, $PinsName, $($Id,)+,);
         $(
-            pin_id!($Group, $Id, $NUM, None, $(, $meta)?);
+            pin_id!($Group, $Id, $NUM);
         )+
     }
 }
 
-declare_pins_with_irq!(
+declare_pins!(
     A,
     PinsA,
     Porta,
@@ -794,11 +770,11 @@ declare_pins_with_irq!(
         (PA12, 12),
         (PA13, 13),
         (PA14, 14),
-        (PA15, 15)
+        (PA15, 15),
     ]
 );
 
-declare_pins_with_irq!(
+declare_pins!(
     B,
     PinsB,
     Portb,
@@ -808,21 +784,21 @@ declare_pins_with_irq!(
         (PB2, 2),
         (PB3, 3),
         (PB4, 4),
-        (PB5, 5, cfg(not(feature = "va41628"))),
-        (PB6, 6, cfg(not(feature = "va41628"))),
-        (PB7, 7, cfg(not(feature = "va41628"))),
-        (PB8, 8, cfg(not(feature = "va41628"))),
-        (PB9, 9, cfg(not(feature = "va41628"))),
-        (PB10, 10, cfg(not(feature = "va41628"))),
-        (PB11, 11, cfg(not(feature = "va41628"))),
+        (PB5, 5),
+        (PB6, 6),
+        (PB7, 7),
+        (PB8, 8),
+        (PB9, 9),
+        (PB10, 10),
+        (PB11, 11),
         (PB12, 12),
         (PB13, 13),
         (PB14, 14),
-        (PB15, 15)
+        (PB15, 15),
     ]
 );
 
-declare_pins_with_irq!(
+declare_pins!(
     C,
     PinsC,
     Portc,
@@ -840,37 +816,37 @@ declare_pins_with_irq!(
         (PC10, 10),
         (PC11, 11),
         (PC12, 12),
-        (PC13, 13, cfg(not(feature = "va41628"))),
+        (PC13, 13),
         (PC14, 14),
-        (PC15, 15, cfg(not(feature = "va41628")))
+        (PC15, 15),
     ]
 );
 
-declare_pins_with_irq!(
+declare_pins!(
     D,
     PinsD,
     Portd,
     [
-        (PD0, 0, cfg(not(feature = "va41628"))),
-        (PD1, 1, cfg(not(feature = "va41628"))),
-        (PD2, 2, cfg(not(feature = "va41628"))),
-        (PD3, 3, cfg(not(feature = "va41628"))),
-        (PD4, 4, cfg(not(feature = "va41628"))),
-        (PD5, 5, cfg(not(feature = "va41628"))),
-        (PD6, 6, cfg(not(feature = "va41628"))),
-        (PD7, 7, cfg(not(feature = "va41628"))),
-        (PD8, 8, cfg(not(feature = "va41628"))),
-        (PD9, 9, cfg(not(feature = "va41628"))),
+        (PD0, 0),
+        (PD1, 1),
+        (PD2, 2),
+        (PD3, 3),
+        (PD4, 4),
+        (PD5, 5),
+        (PD6, 6),
+        (PD7, 7),
+        (PD8, 8),
+        (PD9, 9),
         (PD10, 10),
         (PD11, 11),
         (PD12, 12),
         (PD13, 13),
         (PD14, 14),
-        (PD15, 15)
+        (PD15, 15),
     ]
 );
 
-declare_pins_with_irq!(
+declare_pins!(
     E,
     PinsE,
     Porte,
@@ -885,36 +861,36 @@ declare_pins_with_irq!(
         (PE7, 7),
         (PE8, 8),
         (PE9, 9),
-        (PE10, 10, cfg(not(feature = "va41628"))),
-        (PE11, 11, cfg(not(feature = "va41628"))),
+        (PE10, 10),
+        (PE11, 11),
         (PE12, 12),
         (PE13, 13),
         (PE14, 14),
-        (PE15, 15)
+        (PE15, 15),
     ]
 );
 
-declare_pins_with_irq!(
+declare_pins!(
     F,
     PinsF,
     Portf,
     [
         (PF0, 0),
         (PF1, 1),
-        (PF2, 2, cfg(not(feature = "va41628"))),
-        (PF3, 3, cfg(not(feature = "va41628"))),
-        (PF4, 4, cfg(not(feature = "va41628"))),
-        (PF5, 5, cfg(not(feature = "va41628"))),
-        (PF6, 6, cfg(not(feature = "va41628"))),
-        (PF7, 7, cfg(not(feature = "va41628"))),
-        (PF8, 8, cfg(not(feature = "va41628"))),
+        (PF2, 2),
+        (PF3, 3),
+        (PF4, 4),
+        (PF5, 5),
+        (PF6, 6),
+        (PF7, 7),
+        (PF8, 8),
         (PF9, 9),
-        (PF10, 10, cfg(not(feature = "va41628"))),
+        (PF10, 10),
         (PF11, 11),
         (PF12, 12),
         (PF13, 13),
         (PF14, 14),
-        (PF15, 15)
+        (PF15, 15),
     ]
 );
 
@@ -930,6 +906,6 @@ declare_pins!(
         (PG4, 4),
         (PG5, 5),
         (PG6, 6),
-        (PG7, 7)
+        (PG7, 7),
     ]
 );

va416xx-hal/src/gpio/reg.rs

@@ -0,0 +1,387 @@
+use crate::FunSel;
+
+use super::{
+    dynpin::{self, DynGroup, DynPinId},
+    DynPinMode, FilterClkSel, FilterType, InterruptEdge, InterruptLevel, IsMaskedError, PinState,
+};
+use va416xx::{ioconfig, porta, Ioconfig, Porta, Portb, Portc, Portd, Porte, Portf, Portg};
+
+/// Type definition to avoid confusion: These register blocks are identical
+type PortRegisterBlock = porta::RegisterBlock;
+
+//==================================================================================================
+//  ModeFields
+//==================================================================================================
+
+/// Collect all fields needed to set the [`PinMode`](super::PinMode)
+#[derive(Default)]
+struct ModeFields {
+    dir: bool,
+    opendrn: bool,
+    pull_en: bool,
+    /// true for pullup, false for pulldown
+    pull_dir: bool,
+    funsel: u8,
+    enb_input: bool,
+}
+
+impl From<DynPinMode> for ModeFields {
+    #[inline]
+    fn from(mode: DynPinMode) -> Self {
+        let mut fields = Self::default();
+        use DynPinMode::*;
+        match mode {
+            Input(config) => {
+                use dynpin::DynInput::*;
+                fields.dir = false;
+                fields.funsel = FunSel::Sel0 as u8;
+                match config {
+                    Floating => (),
+                    PullUp => {
+                        fields.pull_en = true;
+                        fields.pull_dir = true;
+                    }
+                    PullDown => {
+                        fields.pull_en = true;
+                    }
+                }
+            }
+            Output(config) => {
+                use dynpin::DynOutput::*;
+                fields.dir = true;
+                fields.funsel = FunSel::Sel0 as u8;
+                match config {
+                    PushPull => (),
+                    OpenDrain => {
+                        fields.opendrn = true;
+                    }
+                    ReadableOpenDrain => {
+                        fields.enb_input = true;
+                        fields.opendrn = true;
+                    }
+                    ReadablePushPull => {
+                        fields.enb_input = true;
+                    }
+                }
+            }
+            Alternate(config) => {
+                fields.funsel = config as u8;
+            }
+        }
+        fields
+    }
+}
+
+//==============================================================================
+//  RegisterInterface
+//==============================================================================
+
+pub type PortReg = ioconfig::Porta;
+
+/// Provide a safe register interface for pin objects
+///
+/// [`PORT`], like every PAC `struct`, is [`Send`] but not [`Sync`], because it
+/// points to a `RegisterBlock` of `VolatileCell`s. Unfortunately, such an
+/// interface is quite restrictive. Instead, it would be ideal if we could split
+/// the [`PORT`] into independent pins that are both [`Send`] and [`Sync`].
+///
+/// [`PORT`] is a single, zero-sized marker `struct` that provides access to
+/// every [`PORT`] register. Instead, we would like to create zero-sized marker
+/// `struct`s for every pin, where each pin is only allowed to control its own
+/// registers. Furthermore, each pin `struct` should be a singleton, so that
+/// exclusive access to the `struct` also guarantees exclusive access to the
+/// corresponding registers. Finally, the pin `struct`s should not have any
+/// interior mutability. Together, these requirements would allow the pin
+/// `struct`s to be both [`Send`] and [`Sync`].
+///
+/// This trait creates a safe API for accomplishing these goals. Implementers
+/// supply a pin ID through the [`id`] function. The remaining functions provide
+/// a safe API for accessing the registers associated with that pin ID. Any
+/// modification of the registers requires `&mut self`, which destroys interior
+/// mutability.
+///
+/// # Safety
+///
+/// Users should only implement the [`id`] function. No default function
+/// implementations should be overridden. The implementing type must also have
+/// "control" over the corresponding pin ID, i.e. it must guarantee that a each
+/// pin ID is a singleton.
+///
+/// [`id`]: Self::id
+pub(super) unsafe trait RegisterInterface {
+    /// Provide a [`DynPinId`] identifying the set of registers controlled by
+    /// 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) {
+        let ModeFields {
+            dir,
+            funsel,
+            opendrn,
+            pull_dir,
+            pull_en,
+            enb_input,
+        } = mode.into();
+        let (portreg, iocfg) = (self.port_reg(), self.iocfg_port());
+        iocfg.write(|w| {
+            w.opendrn().bit(opendrn);
+            w.pen().bit(pull_en);
+            w.plevel().bit(pull_dir);
+            w.iewo().bit(enb_input);
+            unsafe { w.funsel().bits(funsel) }
+        });
+        let mask = self.mask_32();
+        unsafe {
+            if dir {
+                portreg.dir().modify(|r, w| w.bits(r.bits() | mask));
+                // Clear output
+                portreg.clrout().write(|w| w.bits(mask));
+            } else {
+                portreg.dir().modify(|r, w| w.bits(r.bits() & !mask));
+            }
+        }
+    }
+
+    #[inline]
+    fn port_reg(&self) -> &PortRegisterBlock {
+        match self.id().group {
+            DynGroup::A => unsafe { &(*Self::PORTA) },
+            DynGroup::B => unsafe { &(*Self::PORTB) },
+            DynGroup::C => unsafe { &(*Self::PORTC) },
+            DynGroup::D => unsafe { &(*Self::PORTD) },
+            DynGroup::E => unsafe { &(*Self::PORTE) },
+            DynGroup::F => unsafe { &(*Self::PORTF) },
+            DynGroup::G => unsafe { &(*Self::PORTG) },
+        }
+    }
+
+    fn iocfg_port(&self) -> &PortReg {
+        let ioconfig = unsafe { Ioconfig::ptr().as_ref().unwrap() };
+        match self.id().group {
+            DynGroup::A => ioconfig.porta(self.id().num as usize),
+            DynGroup::B => ioconfig.portb0(self.id().num as usize),
+            DynGroup::C => ioconfig.portc0(self.id().num as usize),
+            DynGroup::D => ioconfig.portd0(self.id().num as usize),
+            DynGroup::E => ioconfig.porte0(self.id().num as usize),
+            DynGroup::F => ioconfig.portf0(self.id().num as usize),
+            DynGroup::G => ioconfig.portg0(self.id().num as usize),
+        }
+    }
+
+    #[inline]
+    fn mask_32(&self) -> u32 {
+        1 << self.id().num
+    }
+
+    #[inline]
+    fn enable_irq(&self) {
+        self.port_reg()
+            .irq_enb()
+            .modify(|r, w| unsafe { w.bits(r.bits() | self.mask_32()) });
+    }
+
+    #[inline]
+    /// Read the logic level of an output pin
+    fn read_pin(&self) -> bool {
+        let portreg = self.port_reg();
+        ((portreg.datainraw().read().bits() >> self.id().num) & 0x01) == 1
+    }
+
+    // Get DATAMASK bit for this particular pin
+    #[inline(always)]
+    fn datamask(&self) -> bool {
+        let portreg = self.port_reg();
+        (portreg.datamask().read().bits() >> self.id().num) == 1
+    }
+
+    /// Read a pin but use the masked version but check whether the datamask for the pin is
+    /// cleared as well
+    #[inline(always)]
+    fn read_pin_masked(&self) -> Result<bool, IsMaskedError> {
+        if !self.datamask() {
+            Err(IsMaskedError)
+        } else {
+            Ok(((self.port_reg().datain().read().bits() >> self.id().num) & 0x01) == 1)
+        }
+    }
+
+    /// Write the logic level of an output pin
+    #[inline(always)]
+    fn write_pin(&mut self, bit: bool) {
+        // Safety: SETOUT is a "mask" register, and we only write the bit for
+        // this pin ID
+        unsafe {
+            if bit {
+                self.port_reg().setout().write(|w| w.bits(self.mask_32()));
+            } else {
+                self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
+            }
+        }
+    }
+
+    /// Write the logic level of an output pin but check whether the datamask for the pin is
+    /// cleared as well
+    #[inline]
+    fn write_pin_masked(&mut self, bit: bool) -> Result<(), IsMaskedError> {
+        if !self.datamask() {
+            Err(IsMaskedError)
+        } else {
+            // Safety: SETOUT is a "mask" register, and we only write the bit for
+            // this pin ID
+            unsafe {
+                if bit {
+                    self.port_reg().setout().write(|w| w.bits(self.mask_32()));
+                } else {
+                    self.port_reg().clrout().write(|w| w.bits(self.mask_32()));
+                }
+                Ok(())
+            }
+        }
+    }
+
+    /// Only useful for interrupt pins. Configure whether to use edges or level as interrupt soure
+    /// When using edge mode, it is possible to generate interrupts on both edges as well
+    #[inline]
+    fn interrupt_edge(&mut self, edge_type: InterruptEdge) {
+        unsafe {
+            self.port_reg()
+                .irq_sen()
+                .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            match edge_type {
+                InterruptEdge::HighToLow => {
+                    self.port_reg()
+                        .irq_evt()
+                        .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+                }
+                InterruptEdge::LowToHigh => {
+                    self.port_reg()
+                        .irq_evt()
+                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+                }
+                InterruptEdge::BothEdges => {
+                    self.port_reg()
+                        .irq_edge()
+                        .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+                }
+            }
+        }
+    }
+
+    /// Configure which edge or level type triggers an interrupt
+    #[inline]
+    fn interrupt_level(&mut self, level: InterruptLevel) {
+        unsafe {
+            self.port_reg()
+                .irq_sen()
+                .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            if level == InterruptLevel::Low {
+                self.port_reg()
+                    .irq_evt()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            } else {
+                self.port_reg()
+                    .irq_evt()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            }
+        }
+    }
+
+    /// Only useful for input pins
+    #[inline]
+    fn filter_type(&self, filter: FilterType, clksel: FilterClkSel) {
+        self.iocfg_port().modify(|_, w| {
+            // Safety: Only write to register for this Pin ID
+            unsafe {
+                w.flttype().bits(filter as u8);
+                w.fltclk().bits(clksel as u8)
+            }
+        });
+    }
+
+    /// Set DATAMASK bit for this particular pin. 1 is the default
+    /// state of the bit and allows access of the corresponding bit
+    #[inline(always)]
+    fn set_datamask(&self) {
+        let portreg = self.port_reg();
+        unsafe {
+            portreg
+                .datamask()
+                .modify(|r, w| w.bits(r.bits() | self.mask_32()))
+        }
+    }
+
+    /// Clear DATAMASK bit for this particular pin. This prevents access
+    /// of the corresponding bit for output and input operations
+    #[inline(always)]
+    fn clear_datamask(&self) {
+        let portreg = self.port_reg();
+        unsafe {
+            portreg
+                .datamask()
+                .modify(|r, w| w.bits(r.bits() & !self.mask_32()))
+        }
+    }
+
+    /// Only useful for output pins
+    /// See p.52 of the programmers guide for more information.
+    /// When configured for pulse mode, a given pin will set the non-default state for exactly
+    /// one clock cycle before returning to the configured default state
+    fn pulse_mode(&self, enable: bool, default_state: PinState) {
+        let portreg = self.port_reg();
+        unsafe {
+            if enable {
+                portreg
+                    .pulse()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            } else {
+                portreg
+                    .pulse()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            }
+            if default_state == PinState::Low {
+                portreg
+                    .pulsebase()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            } else {
+                portreg
+                    .pulsebase()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            }
+        }
+    }
+
+    /// Only useful for output pins
+    fn delay(&self, delay_1: bool, delay_2: bool) {
+        let portreg = self.port_reg();
+        unsafe {
+            if delay_1 {
+                portreg
+                    .delay1()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            } else {
+                portreg
+                    .delay1()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            }
+            if delay_2 {
+                portreg
+                    .delay2()
+                    .modify(|r, w| w.bits(r.bits() | self.mask_32()));
+            } else {
+                portreg
+                    .delay2()
+                    .modify(|r, w| w.bits(r.bits() & !self.mask_32()));
+            }
+        }
+    }
+}

va416xx-hal/src/i2c.rs

@@ -28,42 +28,37 @@ pub enum FifoEmptyMode {
     EndTransaction = 1,
 }
 
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("clock too slow for fast I2C mode")]
-pub struct ClockTooSlowForFastI2cError;
+pub struct ClockTooSlowForFastI2c;
 
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
-#[error("invalid timing parameters")]
-pub struct InvalidTimingParamsError;
-
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Error {
-    #[error("arbitration lost")]
+    InvalidTimingParams,
     ArbitrationLost,
-    #[error("nack address")]
     NackAddr,
     /// Data not acknowledged in write operation
-    #[error("data not acknowledged in write operation")]
     NackData,
     /// Not enough data received in read operation
-    #[error("insufficient data received")]
     InsufficientDataReceived,
     /// Number of bytes in transfer too large (larger than 0x7fe)
-    #[error("data too large (larger than 0x7fe)")]
     DataTooLarge,
 }
 
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
+#[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum InitError {
     /// Wrong address used in constructor
-    #[error("wrong address mode")]
     WrongAddrMode,
     /// APB1 clock is too slow for fast I2C mode.
-    #[error("clock too slow for fast I2C mode: {0}")]
-    ClkTooSlow(#[from] ClockTooSlowForFastI2cError),
+    ClkTooSlow(ClockTooSlowForFastI2c),
+}
+
+impl From<ClockTooSlowForFastI2c> for InitError {
+    fn from(value: ClockTooSlowForFastI2c) -> Self {
+        Self::ClkTooSlow(value)
+    }
 }
 
 impl embedded_hal::i2c::Error for Error {
@@ -76,7 +71,7 @@ impl embedded_hal::i2c::Error for Error {
             Error::NackData => {
                 embedded_hal::i2c::ErrorKind::NoAcknowledge(i2c::NoAcknowledgeSource::Data)
             }
-            Error::DataTooLarge | Error::InsufficientDataReceived => {
+            Error::DataTooLarge | Error::InsufficientDataReceived | Error::InvalidTimingParams => {
                 embedded_hal::i2c::ErrorKind::Other
             }
         }
@@ -158,12 +153,9 @@ impl Instance for pac::I2c2 {
 // Config
 //==================================================================================================
 
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TrTfThighTlow(u8, u8, u8, u8);
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TsuStoTsuStaThdStaTBuf(u8, u8, u8, u8);
 
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TimingCfg {
     // 4 bit max width
     tr: u8,
@@ -187,7 +179,7 @@ impl TimingCfg {
     pub fn new(
         first_16_bits: TrTfThighTlow,
         second_16_bits: TsuStoTsuStaThdStaTBuf,
-    ) -> Result<Self, InvalidTimingParamsError> {
+    ) -> Result<Self, Error> {
         if first_16_bits.0 > 0xf
             || first_16_bits.1 > 0xf
             || first_16_bits.2 > 0xf
@@ -197,7 +189,7 @@ impl TimingCfg {
             || second_16_bits.2 > 0xf
             || second_16_bits.3 > 0xf
         {
-            return Err(InvalidTimingParamsError);
+            return Err(Error::InvalidTimingParams);
         }
         Ok(TimingCfg {
             tr: first_16_bits.0,
@@ -238,7 +230,6 @@ impl Default for TimingCfg {
     }
 }
 
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct MasterConfig {
     pub tx_fe_mode: FifoEmptyMode,
     pub rx_fe_mode: FifoEmptyMode,
@@ -265,8 +256,6 @@ impl Default for MasterConfig {
 
 impl Sealed for MasterConfig {}
 
-#[derive(Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct SlaveConfig {
     pub tx_fe_mode: FifoEmptyMode,
     pub rx_fe_mode: FifoEmptyMode,
@@ -329,7 +318,7 @@ impl<I2c: Instance> I2cBase<I2c> {
         speed_mode: I2cSpeed,
         ms_cfg: Option<&MasterConfig>,
         sl_cfg: Option<&SlaveConfig>,
-    ) -> Result<Self, ClockTooSlowForFastI2cError> {
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
         syscfg.enable_peripheral_clock(I2c::PERIPH_SEL);
 
         let mut i2c_base = I2cBase {
@@ -407,12 +396,12 @@ impl<I2c: Instance> I2cBase<I2c> {
             let (addr, addr_mode_mask) = Self::unwrap_addr(addr_b);
             self.i2c
                 .s0_addressb()
-                .write(|w| unsafe { w.bits((addr << 1) as u32 | addr_mode_mask) });
+                .write(|w| unsafe { w.bits((addr << 1) as u32 | addr_mode_mask) })
         }
         if let Some(addr_b_mask) = sl_cfg.addr_b_mask {
             self.i2c
                 .s0_addressmaskb()
-                .write(|w| unsafe { w.bits((addr_b_mask << 1) as u32) });
+                .write(|w| unsafe { w.bits((addr_b_mask << 1) as u32) })
         }
     }
 
@@ -432,22 +421,19 @@ impl<I2c: Instance> I2cBase<I2c> {
         });
     }
 
-    fn calc_clk_div(&self, speed_mode: I2cSpeed) -> Result<u8, ClockTooSlowForFastI2cError> {
+    fn calc_clk_div(&self, speed_mode: I2cSpeed) -> Result<u8, ClockTooSlowForFastI2c> {
         if speed_mode == I2cSpeed::Regular100khz {
             Ok(((self.clock.raw() / CLK_100K.raw() / 20) - 1) as u8)
         } else {
             if self.clock.raw() < MIN_CLK_400K.raw() {
-                return Err(ClockTooSlowForFastI2cError);
+                return Err(ClockTooSlowForFastI2c);
             }
             Ok(((self.clock.raw() / CLK_400K.raw() / 25) - 1) as u8)
         }
     }
 
     /// Configures the clock scale for a given speed mode setting
-    pub fn cfg_clk_scale(
-        &mut self,
-        speed_mode: I2cSpeed,
-    ) -> Result<(), ClockTooSlowForFastI2cError> {
+    pub fn cfg_clk_scale(&mut self, speed_mode: I2cSpeed) -> Result<(), ClockTooSlowForFastI2c> {
         let clk_div = self.calc_clk_div(speed_mode)?;
         self.i2c
             .clkscale()
@@ -486,7 +472,7 @@ impl<I2c: Instance, Addr> I2cMaster<I2c, Addr> {
         cfg: MasterConfig,
         clocks: &Clocks,
         speed_mode: I2cSpeed,
-    ) -> Result<Self, ClockTooSlowForFastI2cError> {
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
         Ok(I2cMaster {
             i2c_base: I2cBase::new(i2c, sys_cfg, clocks, speed_mode, Some(&cfg), None)?,
             addr: PhantomData,
@@ -747,7 +733,7 @@ impl<I2c: Instance, Addr> I2cSlave<I2c, Addr> {
         cfg: SlaveConfig,
         clocks: &Clocks,
         speed_mode: I2cSpeed,
-    ) -> Result<Self, ClockTooSlowForFastI2cError> {
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
         Ok(I2cSlave {
             i2c_base: I2cBase::new(i2c, sys_cfg, clocks, speed_mode, None, Some(&cfg))?,
             addr: PhantomData,
@@ -909,7 +895,7 @@ impl<I2c: Instance> I2cSlave<I2c, TenBitAddress> {
         cfg: SlaveConfig,
         clocks: &Clocks,
         speed_mode: I2cSpeed,
-    ) -> Result<Self, ClockTooSlowForFastI2cError> {
+    ) -> Result<Self, ClockTooSlowForFastI2c> {
         Self::new_generic(i2c, sys_cfg, cfg, clocks, speed_mode)
     }
 }

va416xx-hal/src/irq_router.rs

@@ -1,26 +0,0 @@
-//! 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

@@ -1,46 +1,19 @@
-//! 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.
-//!
-//! It is generally advised to enable ONE of the following device features to use this crate
-//! depending on which chip you are using:
-//!
-//! - `va41630`
-//! - `va41629`
-//! - `va41628`
-//! - `va41620`
-//!
-//! If no option is specified, only access to APIs which are common for all families or
-//! which are not disabled for specific families is granted.
-//!
-//! 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)]
 extern crate std;
 
-use gpio::Port;
 pub use va416xx as device;
 pub use va416xx as pac;
 
 pub mod prelude;
 
+pub mod adc;
 pub mod clock;
+pub mod dac;
 pub mod dma;
-pub mod edac;
 pub mod gpio;
 pub mod i2c;
-pub mod irq_router;
 pub mod pwm;
 pub mod spi;
 pub mod time;
@@ -49,16 +22,7 @@ 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"))]
-pub mod dac;
-
 #[derive(Debug, Eq, Copy, Clone, PartialEq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FunSel {
     Sel0 = 0b00,
     Sel1 = 0b01,
@@ -66,52 +30,20 @@ pub enum FunSel {
     Sel3 = 0b11,
 }
 
-#[derive(Debug, PartialEq, Eq, thiserror::Error)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("invalid pin with number {0}")]
-pub struct InvalidPinError(u8);
-
-/// Can be used to manually manipulate the function select of port pins.
-///
-/// The function selection table can be found on p.286 of the programmers guide. Please note
-/// that most of the structures and APIs in this library will automatically correctly configure
-/// the pin or statically expect the correct pin type.
-#[inline]
-pub fn port_function_select(
-    ioconfig: &mut pac::Ioconfig,
-    port: Port,
-    pin: u8,
-    funsel: FunSel,
-) -> Result<(), InvalidPinError> {
-    if (port == Port::G && pin >= 8) || pin >= 16 {
-        return Err(InvalidPinError(pin));
-    }
-    let reg_block = match port {
-        Port::A => ioconfig.porta(pin as usize),
-        Port::B => ioconfig.portb0(pin as usize),
-        Port::C => ioconfig.portc0(pin as usize),
-        Port::D => ioconfig.portd0(pin as usize),
-        Port::E => ioconfig.porte0(pin as usize),
-        Port::F => ioconfig.portf0(pin as usize),
-        Port::G => ioconfig.portg0(pin as usize),
-    };
-
-    reg_block.modify(|_, w| unsafe { w.funsel().bits(funsel as u8) });
-    Ok(())
-}
-
 /// Enable a specific interrupt using the NVIC peripheral.
 ///
 /// # Safety
 ///
 /// This function is `unsafe` because it can break mask-based critical sections.
 #[inline]
-pub unsafe fn enable_nvic_interrupt(irq: pac::Interrupt) {
-    cortex_m::peripheral::NVIC::unmask(irq);
+pub unsafe fn enable_interrupt(irq: pac::Interrupt) {
+    unsafe {
+        cortex_m::peripheral::NVIC::unmask(irq);
+    }
 }
 
 /// Disable a specific interrupt using the NVIC peripheral.
 #[inline]
-pub fn disable_nvic_interrupt(irq: pac::Interrupt) {
+pub fn disable_interrupt(irq: pac::Interrupt) {
     cortex_m::peripheral::NVIC::mask(irq);
 }

va416xx-hal/src/nvm.rs

@@ -1,274 +0,0 @@
-//! 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};
-use crate::pac;
-use crate::spi::{
-    mode_to_cpo_cph_bit, spi_clk_config_from_div, Instance, WordProvider, BMSTART_BMSTOP_MASK,
-};
-
-const NVM_CLOCK_DIV: u16 = 2;
-
-// Commands. The internal FRAM is based on the Cypress FM25V20A device.
-
-/// Write enable register.
-pub const FRAM_WREN: u8 = 0x06;
-pub const FRAM_WRDI: u8 = 0x04;
-pub const FRAM_RDSR: u8 = 0x05;
-/// Write single status register
-pub const FRAM_WRSR: u8 = 0x01;
-pub const FRAM_READ: u8 = 0x03;
-pub const FRAM_WRITE: u8 = 0x02;
-pub const FRAM_RDID: u8 = 0x9F;
-pub const FRAM_SLEEP: u8 = 0xB9;
-
-/* Address Masks */
-const ADDR_MSB_MASK: u32 = 0xFF0000;
-const ADDR_MID_MASK: u32 = 0x00FF00;
-const ADDR_LSB_MASK: u32 = 0x0000FF;
-
-#[inline(always)]
-const fn msb_addr_byte(addr: u32) -> u8 {
-    ((addr & ADDR_MSB_MASK) >> 16) as u8
-}
-
-#[inline(always)]
-const fn mid_addr_byte(addr: u32) -> u8 {
-    ((addr & ADDR_MID_MASK) >> 8) as u8
-}
-
-#[inline(always)]
-const fn lsb_addr_byte(addr: u32) -> u8 {
-    (addr & ADDR_LSB_MASK) as u8
-}
-
-pub const WPEN_ENABLE_MASK: u8 = 1 << 7;
-pub const BP_0_ENABLE_MASK: u8 = 1 << 2;
-pub const BP_1_ENABLE_MASK: u8 = 1 << 3;
-
-pub struct Nvm {
-    spi: Option<pac::Spi3>,
-}
-
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct VerifyError {
-    addr: u32,
-    found: u8,
-    expected: u8,
-}
-
-impl Nvm {
-    pub fn new(syscfg: &mut pac::Sysconfig, spi: pac::Spi3, _clocks: &Clocks) -> Self {
-        crate::clock::enable_peripheral_clock(syscfg, pac::Spi3::PERIPH_SEL);
-        // This is done in the C HAL.
-        syscfg.assert_periph_reset_for_two_cycles(pac::Spi3::PERIPH_SEL);
-
-        let spi_clk_cfg = spi_clk_config_from_div(NVM_CLOCK_DIV).unwrap();
-        let (cpo_bit, cph_bit) = mode_to_cpo_cph_bit(MODE_0);
-        spi.ctrl0().write(|w| {
-            unsafe {
-                w.size().bits(u8::word_reg());
-                w.scrdv().bits(spi_clk_cfg.scrdv());
-                // Clear clock phase and polarity. Will be set to correct value for each
-                // transfer
-                w.spo().bit(cpo_bit);
-                w.sph().bit(cph_bit)
-            }
-        });
-        spi.ctrl1().write(|w| {
-            w.blockmode().set_bit();
-            unsafe { w.ss().bits(0) };
-            w.bmstart().set_bit();
-            w.bmstall().set_bit()
-        });
-        spi.clkprescale()
-            .write(|w| unsafe { w.bits(spi_clk_cfg.prescale_val() as u32) });
-
-        spi.fifo_clr().write(|w| {
-            w.rxfifo().set_bit();
-            w.txfifo().set_bit()
-        });
-        // Enable the peripheral as the last step as recommended in the
-        // programmers guide
-        spi.ctrl1().modify(|_, w| w.enable().set_bit());
-
-        let mut nvm = Self { spi: Some(spi) };
-        nvm.disable_write_prot();
-        nvm
-    }
-
-    pub fn disable_write_prot(&mut self) {
-        self.wait_for_tx_idle();
-        self.write_with_bmstop(FRAM_WREN);
-        self.wait_for_tx_idle();
-        self.write_single(FRAM_WRSR);
-        self.write_with_bmstop(0x00);
-        self.wait_for_tx_idle();
-    }
-
-    pub fn read_rdsr(&self) -> u8 {
-        self.write_single(FRAM_RDSR);
-        self.write_with_bmstop(0x00);
-        self.wait_for_rx_available();
-        self.read_single_word();
-        self.wait_for_rx_available();
-        (self.read_single_word() & 0xff) as u8
-    }
-
-    pub fn enable_write_prot(&mut self) {
-        self.wait_for_tx_idle();
-        self.write_with_bmstop(FRAM_WREN);
-        self.wait_for_tx_idle();
-        self.write_single(FRAM_WRSR);
-        self.write_with_bmstop(0x00);
-    }
-    #[inline(always)]
-    pub fn spi(&self) -> &pac::Spi3 {
-        self.spi.as_ref().unwrap()
-    }
-
-    #[inline(always)]
-    pub fn write_single(&self, word: u8) {
-        self.spi().data().write(|w| unsafe { w.bits(word as u32) });
-    }
-
-    #[inline(always)]
-    pub fn write_with_bmstop(&self, word: u8) {
-        self.spi()
-            .data()
-            .write(|w| unsafe { w.bits(BMSTART_BMSTOP_MASK | word as u32) });
-    }
-
-    #[inline(always)]
-    pub fn wait_for_tx_idle(&self) {
-        while self.spi().status().read().tfe().bit_is_clear() {
-            cortex_m::asm::nop();
-        }
-        while self.spi().status().read().busy().bit_is_set() {
-            cortex_m::asm::nop();
-        }
-        self.clear_fifos()
-    }
-
-    #[inline(always)]
-    pub fn clear_fifos(&self) {
-        self.spi().fifo_clr().write(|w| {
-            w.rxfifo().set_bit();
-            w.txfifo().set_bit()
-        });
-    }
-
-    #[inline(always)]
-    pub fn wait_for_rx_available(&self) {
-        while !self.spi().status().read().rne().bit_is_set() {
-            cortex_m::asm::nop();
-        }
-    }
-
-    #[inline(always)]
-    pub fn read_single_word(&self) -> u32 {
-        self.spi().data().read().bits()
-    }
-
-    pub fn write_data(&self, addr: u32, data: &[u8]) {
-        self.wait_for_tx_idle();
-        self.write_with_bmstop(FRAM_WREN);
-        self.wait_for_tx_idle();
-        self.write_single(FRAM_WRITE);
-        self.write_single(msb_addr_byte(addr));
-        self.write_single(mid_addr_byte(addr));
-        self.write_single(lsb_addr_byte(addr));
-        for byte in data.iter().take(data.len() - 1) {
-            while self.spi().status().read().tnf().bit_is_clear() {
-                cortex_m::asm::nop();
-            }
-            self.write_single(*byte);
-            self.read_single_word();
-        }
-        while self.spi().status().read().tnf().bit_is_clear() {
-            cortex_m::asm::nop();
-        }
-        self.write_with_bmstop(*data.last().unwrap());
-        self.wait_for_tx_idle();
-    }
-
-    pub fn read_data(&self, addr: u32, buf: &mut [u8]) {
-        self.common_read_start(addr);
-        for byte in buf {
-            // Pump the SPI.
-            self.write_single(0);
-            self.wait_for_rx_available();
-            *byte = self.read_single_word() as u8;
-        }
-        self.write_with_bmstop(0);
-        self.wait_for_tx_idle();
-    }
-
-    pub fn verify_data(&self, addr: u32, comp_buf: &[u8]) -> Result<(), VerifyError> {
-        self.common_read_start(addr);
-        for (idx, byte) in comp_buf.iter().enumerate() {
-            // Pump the SPI.
-            self.write_single(0);
-            self.wait_for_rx_available();
-            let next_word = self.read_single_word() as u8;
-            if next_word != *byte {
-                self.write_with_bmstop(0);
-                self.wait_for_tx_idle();
-                return Err(VerifyError {
-                    addr: addr + idx as u32,
-                    found: next_word,
-                    expected: *byte,
-                });
-            }
-        }
-        self.write_with_bmstop(0);
-        self.wait_for_tx_idle();
-        Ok(())
-    }
-
-    /// Enable write-protection and disables the peripheral clock.
-    pub fn shutdown(&mut self, sys_cfg: &mut pac::Sysconfig) {
-        self.wait_for_tx_idle();
-        self.write_with_bmstop(FRAM_WREN);
-        self.wait_for_tx_idle();
-        self.write_single(WPEN_ENABLE_MASK | BP_0_ENABLE_MASK | BP_1_ENABLE_MASK);
-        crate::clock::disable_peripheral_clock(sys_cfg, pac::Spi3::PERIPH_SEL);
-    }
-
-    /// This function calls [Self::shutdown] and gives back the peripheral structure.
-    pub fn release(mut self, sys_cfg: &mut pac::Sysconfig) -> pac::Spi3 {
-        self.shutdown(sys_cfg);
-        self.spi.take().unwrap()
-    }
-
-    fn common_read_start(&self, addr: u32) {
-        self.wait_for_tx_idle();
-        self.write_single(FRAM_READ);
-        self.write_single(msb_addr_byte(addr));
-        self.write_single(mid_addr_byte(addr));
-        self.write_single(lsb_addr_byte(addr));
-        for _ in 0..4 {
-            // Pump the SPI.
-            self.write_single(0);
-            self.wait_for_rx_available();
-            // The first 4 data bytes received need to be ignored.
-            self.read_single_word();
-        }
-    }
-}
-
-/// Call [Self::shutdown] on drop.
-impl Drop for Nvm {
-    fn drop(&mut self) {
-        if self.spi.is_some() {
-            self.shutdown(unsafe { &mut pac::Sysconfig::steal() });
-        }
-    }
-}

va416xx-hal/src/pwm.rs

@@ -9,16 +9,12 @@ 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;
 
-#[derive(Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub(crate) struct PwmCommon {
+pub struct PwmBase {
     clock: Hertz,
     /// For PWMB, this is the upper limit
     current_duty: u16,
@@ -36,13 +32,123 @@ enum StatusSelPwm {
 pub struct PwmA {}
 pub struct PwmB {}
 
+//==================================================================================================
+// Common
+//==================================================================================================
+
+macro_rules! pwm_common_func {
+    () => {
+        #[inline]
+        fn enable_pwm_a(&mut self) {
+            self.reg
+                .reg()
+                .ctrl()
+                .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmA as u8) });
+        }
+
+        #[inline]
+        fn enable_pwm_b(&mut self) {
+            self.reg
+                .reg()
+                .ctrl()
+                .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmB as u8) });
+        }
+
+        #[inline]
+        pub fn get_period(&self) -> Hertz {
+            self.pwm_base.current_period
+        }
+
+        #[inline]
+        pub fn set_period(&mut self, period: impl Into<Hertz>) {
+            self.pwm_base.current_period = period.into();
+            // Avoid division by 0
+            if self.pwm_base.current_period.raw() == 0 {
+                return;
+            }
+            self.pwm_base.current_rst_val =
+                self.pwm_base.clock.raw() / self.pwm_base.current_period.raw();
+            self.reg
+                .reg()
+                .rst_value()
+                .write(|w| unsafe { w.bits(self.pwm_base.current_rst_val) });
+        }
+
+        #[inline]
+        pub fn disable(&mut self) {
+            self.reg.reg().ctrl().modify(|_, w| w.enable().clear_bit());
+        }
+
+        #[inline]
+        pub fn enable(&mut self) {
+            self.reg.reg().ctrl().modify(|_, w| w.enable().set_bit());
+        }
+
+        #[inline]
+        pub fn period(&self) -> Hertz {
+            self.pwm_base.current_period
+        }
+
+        #[inline(always)]
+        pub fn duty(&self) -> u16 {
+            self.pwm_base.current_duty
+        }
+    };
+}
+
+macro_rules! pwmb_func {
+    () => {
+        pub fn pwmb_lower_limit(&self) -> u16 {
+            self.pwm_base.current_lower_limit
+        }
+
+        pub fn pwmb_upper_limit(&self) -> u16 {
+            self.pwm_base.current_duty
+        }
+
+        /// Set the lower limit for PWMB
+        ///
+        /// The PWM signal will be 1 as long as the current RST counter is larger than
+        /// the lower limit. For example, with a lower limit of 0.5 and and an upper limit
+        /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
+        /// state
+        pub fn set_pwmb_lower_limit(&mut self, duty: u16) {
+            self.pwm_base.current_lower_limit = duty;
+            let pwmb_val: u64 = (self.pwm_base.current_rst_val as u64
+                * self.pwm_base.current_lower_limit as u64)
+                / DUTY_MAX as u64;
+            self.reg
+                .reg()
+                .pwmb_value()
+                .write(|w| unsafe { w.bits(pwmb_val as u32) });
+        }
+
+        /// Set the higher limit for PWMB
+        ///
+        /// The PWM signal will be 1 as long as the current RST counter is smaller than
+        /// the higher limit. For example, with a lower limit of 0.5 and and an upper limit
+        /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
+        /// state
+        pub fn set_pwmb_upper_limit(&mut self, duty: u16) {
+            self.pwm_base.current_duty = duty;
+            let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+                * self.pwm_base.current_duty as u64)
+                / DUTY_MAX as u64;
+            self.reg
+                .reg()
+                .pwma_value()
+                .write(|w| unsafe { w.bits(pwma_val as u32) });
+        }
+    };
+}
+
 //==================================================================================================
 // Strongly typed PWM pin
 //==================================================================================================
 
 pub struct PwmPin<Pin: TimPin, Tim: ValidTim, Mode = PwmA> {
     reg: TimAndPinRegister<Pin, Tim>,
-    inner: ReducedPwmPin<Mode>,
+    pwm_base: PwmBase,
     mode: PhantomData<Mode>,
 }
 
@@ -58,17 +164,13 @@ where
         initial_period: impl Into<Hertz> + Copy,
     ) -> Self {
         let mut pin = PwmPin {
-            inner: ReducedPwmPin::<Mode>::new(
-                Tim::ID,
-                Pin::DYN,
-                PwmCommon {
-                    clock: Tim::clock(clocks),
-                    current_duty: 0,
-                    current_lower_limit: 0,
-                    current_period: initial_period.into(),
-                    current_rst_val: 0,
-                },
-            ),
+            pwm_base: PwmBase {
+                current_duty: 0,
+                current_lower_limit: 0,
+                current_period: initial_period.into(),
+                current_rst_val: 0,
+                clock: Tim::clock(clocks),
+            },
             reg: unsafe { TimAndPinRegister::new(pin_and_tim.0, pin_and_tim.1) },
             mode: PhantomData,
         };
@@ -80,53 +182,11 @@ where
         pin
     }
 
-    pub fn downgrade(self) -> ReducedPwmPin<Mode> {
-        self.inner
-    }
-
     pub fn release(self) -> (Pin, Tim) {
         self.reg.release()
     }
 
-    #[inline]
-    fn enable_pwm_a(&mut self) {
-        self.inner.enable_pwm_a();
-    }
-
-    #[inline]
-    fn enable_pwm_b(&mut self) {
-        self.inner.enable_pwm_b();
-    }
-
-    #[inline]
-    pub fn get_period(&self) -> Hertz {
-        self.inner.get_period()
-    }
-
-    #[inline]
-    pub fn set_period(&mut self, period: impl Into<Hertz>) {
-        self.inner.set_period(period);
-    }
-
-    #[inline]
-    pub fn disable(&mut self) {
-        self.inner.disable();
-    }
-
-    #[inline]
-    pub fn enable(&mut self) {
-        self.inner.enable();
-    }
-
-    #[inline]
-    pub fn period(&self) -> Hertz {
-        self.inner.period()
-    }
-
-    #[inline(always)]
-    pub fn duty(&self) -> u16 {
-        self.inner.duty()
-    }
+    pwm_common_func!();
 }
 
 impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmA>> for PwmPin<Pin, Tim, PwmB>
@@ -136,7 +196,7 @@ where
     fn from(other: PwmPin<Pin, Tim, PwmA>) -> Self {
         let mut pwmb = Self {
             reg: other.reg,
-            inner: other.inner.into(),
+            pwm_base: other.pwm_base,
             mode: PhantomData,
         };
         pwmb.enable_pwm_b();
@@ -151,7 +211,7 @@ where
     fn from(other: PwmPin<PIN, TIM, PwmB>) -> Self {
         let mut pwmb = Self {
             reg: other.reg,
-            inner: other.inner.into(),
+            pwm_base: other.pwm_base,
             mode: PhantomData,
         };
         pwmb.enable_pwm_a();
@@ -199,105 +259,33 @@ where
 
 /// Reduced version where type information is deleted
 pub struct ReducedPwmPin<Mode = PwmA> {
-    dyn_reg: TimDynRegister,
-    common: PwmCommon,
+    reg: TimDynRegister,
+    pwm_base: PwmBase,
+    pin_id: DynPinId,
     mode: PhantomData<Mode>,
 }
 
-impl<Mode> ReducedPwmPin<Mode> {
-    pub(crate) fn new(tim_id: u8, pin_id: DynPinId, common: PwmCommon) -> Self {
-        Self {
-            dyn_reg: TimDynRegister { tim_id, pin_id },
-            common,
+impl<PIN: TimPin, TIM: ValidTim> From<PwmPin<PIN, TIM>> for ReducedPwmPin<PwmA> {
+    fn from(pwm_pin: PwmPin<PIN, TIM>) -> Self {
+        ReducedPwmPin {
+            reg: TimDynRegister::from(pwm_pin.reg),
+            pwm_base: pwm_pin.pwm_base,
+            pin_id: PIN::DYN,
             mode: PhantomData,
         }
     }
-
-    #[inline]
-    fn enable_pwm_a(&mut self) {
-        self.dyn_reg
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmA as u8) });
-    }
-
-    #[inline]
-    fn enable_pwm_b(&mut self) {
-        self.dyn_reg
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| unsafe { w.status_sel().bits(StatusSelPwm::PwmB as u8) });
-    }
-
-    #[inline]
-    pub fn get_period(&self) -> Hertz {
-        self.common.current_period
-    }
-
-    #[inline]
-    pub fn set_period(&mut self, period: impl Into<Hertz>) {
-        self.common.current_period = period.into();
-        // Avoid division by 0
-        if self.common.current_period.raw() == 0 {
-            return;
-        }
-        self.common.current_rst_val = self.common.clock.raw() / self.common.current_period.raw();
-        self.dyn_reg
-            .reg_block()
-            .rst_value()
-            .write(|w| unsafe { w.bits(self.common.current_rst_val) });
-    }
-
-    #[inline]
-    pub fn disable(&mut self) {
-        self.dyn_reg
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| w.enable().clear_bit());
-    }
-
-    #[inline]
-    pub fn enable(&mut self) {
-        self.dyn_reg
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| w.enable().set_bit());
-    }
-
-    #[inline]
-    pub fn period(&self) -> Hertz {
-        self.common.current_period
-    }
-
-    #[inline(always)]
-    pub fn duty(&self) -> u16 {
-        self.common.current_duty
-    }
 }
 
-impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmA>> for ReducedPwmPin<PwmA>
-where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
-{
-    fn from(value: PwmPin<Pin, Tim, PwmA>) -> Self {
-        value.downgrade()
-    }
-}
-
-impl<Pin: TimPin, Tim: ValidTim> From<PwmPin<Pin, Tim, PwmB>> for ReducedPwmPin<PwmB>
-where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
-{
-    fn from(value: PwmPin<Pin, Tim, PwmB>) -> Self {
-        value.downgrade()
-    }
+impl<MODE> ReducedPwmPin<MODE> {
+    pwm_common_func!();
 }
 
 impl From<ReducedPwmPin<PwmA>> for ReducedPwmPin<PwmB> {
     fn from(other: ReducedPwmPin<PwmA>) -> Self {
         let mut pwmb = Self {
-            dyn_reg: other.dyn_reg,
-            common: other.common,
+            reg: other.reg,
+            pwm_base: other.pwm_base,
+            pin_id: other.pin_id,
             mode: PhantomData,
         };
         pwmb.enable_pwm_b();
@@ -308,8 +296,9 @@ impl From<ReducedPwmPin<PwmA>> for ReducedPwmPin<PwmB> {
 impl From<ReducedPwmPin<PwmB>> for ReducedPwmPin<PwmA> {
     fn from(other: ReducedPwmPin<PwmB>) -> Self {
         let mut pwmb = Self {
-            dyn_reg: other.dyn_reg,
-            common: other.common,
+            reg: other.reg,
+            pwm_base: other.pwm_base,
+            pin_id: other.pin_id,
             mode: PhantomData,
         };
         pwmb.enable_pwm_a();
@@ -321,83 +310,15 @@ impl From<ReducedPwmPin<PwmB>> for ReducedPwmPin<PwmA> {
 // PWMB implementations
 //==================================================================================================
 
-impl<Pin: TimPin, Tim: ValidTim> PwmPin<Pin, Tim, PwmB>
+impl<PIN: TimPin, TIM: ValidTim> PwmPin<PIN, TIM, PwmB>
 where
-    (Pin, Tim): ValidTimAndPin<Pin, Tim>,
+    (PIN, TIM): ValidTimAndPin<PIN, TIM>,
 {
-    pub fn pwmb_lower_limit(&self) -> u16 {
-        self.inner.pwmb_lower_limit()
-    }
-
-    pub fn pwmb_upper_limit(&self) -> u16 {
-        self.inner.pwmb_upper_limit()
-    }
-
-    /// Set the lower limit for PWMB
-    ///
-    /// The PWM signal will be 1 as long as the current RST counter is larger than
-    /// the lower limit. For example, with a lower limit of 0.5 and and an upper limit
-    /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
-    /// state
-    pub fn set_pwmb_lower_limit(&mut self, duty: u16) {
-        self.inner.set_pwmb_lower_limit(duty);
-    }
-
-    /// Set the higher limit for PWMB
-    ///
-    /// The PWM signal will be 1 as long as the current RST counter is smaller than
-    /// the higher limit. For example, with a lower limit of 0.5 and and an upper limit
-    /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
-    /// state
-    pub fn set_pwmb_upper_limit(&mut self, duty: u16) {
-        self.inner.set_pwmb_upper_limit(duty);
-    }
+    pwmb_func!();
 }
 
 impl ReducedPwmPin<PwmB> {
-    #[inline(always)]
-    pub fn pwmb_lower_limit(&self) -> u16 {
-        self.common.current_lower_limit
-    }
-
-    #[inline(always)]
-    pub fn pwmb_upper_limit(&self) -> u16 {
-        self.common.current_duty
-    }
-
-    /// Set the lower limit for PWMB
-    ///
-    /// The PWM signal will be 1 as long as the current RST counter is larger than
-    /// the lower limit. For example, with a lower limit of 0.5 and and an upper limit
-    /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
-    /// state
-    #[inline(always)]
-    pub fn set_pwmb_lower_limit(&mut self, duty: u16) {
-        self.common.current_lower_limit = duty;
-        let pwmb_val: u64 = (self.common.current_rst_val as u64
-            * self.common.current_lower_limit as u64)
-            / DUTY_MAX as u64;
-        self.dyn_reg
-            .reg_block()
-            .pwmb_value()
-            .write(|w| unsafe { w.bits(pwmb_val as u32) });
-    }
-
-    /// Set the higher limit for PWMB
-    ///
-    /// The PWM signal will be 1 as long as the current RST counter is smaller than
-    /// the higher limit. For example, with a lower limit of 0.5 and and an upper limit
-    /// of 0.7, Only a fixed period between 0.5 * period and 0.7 * period will be in a high
-    /// state
-    pub fn set_pwmb_upper_limit(&mut self, duty: u16) {
-        self.common.current_duty = duty;
-        let pwma_val: u64 = (self.common.current_rst_val as u64 * self.common.current_duty as u64)
-            / DUTY_MAX as u64;
-        self.dyn_reg
-            .reg_block()
-            .pwma_value()
-            .write(|w| unsafe { w.bits(pwma_val as u32) });
-    }
+    pwmb_func!();
 }
 
 //==================================================================================================
@@ -420,12 +341,12 @@ impl embedded_hal::pwm::SetDutyCycle for ReducedPwmPin {
 
     #[inline]
     fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
-        self.common.current_duty = duty;
-        let pwma_val: u64 = (self.common.current_rst_val as u64
-            * (DUTY_MAX as u64 - self.common.current_duty as u64))
+        self.pwm_base.current_duty = duty;
+        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
             / DUTY_MAX as u64;
-        self.dyn_reg
-            .reg_block()
+        self.reg
+            .reg()
             .pwma_value()
             .write(|w| unsafe { w.bits(pwma_val as u32) });
         Ok(())
@@ -440,7 +361,15 @@ impl<Pin: TimPin, Tim: ValidTim> embedded_hal::pwm::SetDutyCycle for PwmPin<Pin,
 
     #[inline]
     fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
-        self.inner.set_duty_cycle(duty)
+        self.pwm_base.current_duty = duty;
+        let pwma_val: u64 = (self.pwm_base.current_rst_val as u64
+            * (DUTY_MAX as u64 - self.pwm_base.current_duty as u64))
+            / DUTY_MAX as u64;
+        self.reg
+            .reg()
+            .pwma_value()
+            .write(|w| unsafe { w.bits(pwma_val as u32) });
+        Ok(())
     }
 }
 

va416xx-hal/src/timer.rs

@@ -2,82 +2,38 @@
 //!
 //! ## Examples
 //!
-//! - [Timer MS and Second Tick Example](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/timer-ticks.rs)
+//! TODO.
 use core::cell::Cell;
 
-use cortex_m::asm;
-use critical_section::Mutex;
+use cortex_m::interrupt::Mutex;
 
 use crate::clock::Clocks;
 use crate::gpio::{
     AltFunc1, AltFunc2, AltFunc3, DynPinId, Pin, PinId, PA0, PA1, PA10, PA11, PA12, PA13, PA14,
-    PA15, PA2, PA3, PA4, PA5, PA6, PA7, PB0, PB1, PB12, PB13, PB14, PB15, PB2, PB3, PB4, PC0, PC1,
-    PD10, PD11, PD12, PD13, PD14, PD15, PE0, PE1, PE12, PE13, PE14, PE15, PE2, PE3, PE4, PE5, PE6,
-    PE7, PE8, PE9, PF0, PF1, PF11, PF12, PF13, PF14, PF15, PF9, PG0, PG1, PG2, PG3, PG6,
+    PA15, PA2, PA3, PA4, PA5, PA6, PA7, PB0, PB1, PB10, PB11, PB12, PB13, PB14, PB15, PB2, PB3,
+    PB4, PB5, PB6, PB7, PB8, PB9, PC0, PC1, PD0, PD1, PD10, PD11, PD12, PD13, PD14, PD15, PD2, PD3,
+    PD4, PD5, PD6, PD7, PD8, PD9, PE0, PE1, PE10, PE11, PE12, PE13, PE14, PE15, PE2, PE3, PE4, PE5,
+    PE6, PE7, PE8, PE9, PF0, PF1, PF10, PF11, PF12, PF13, PF14, PF15, PF2, PF3, PF4, PF5, PF6, PF7,
+    PF8, PF9, PG0, PG1, PG2, PG3, PG6,
 };
-
-#[cfg(not(feature = "va41628"))]
-use crate::gpio::{
-    PB10, PB11, PB5, PB6, PB7, PB8, PB9, PD0, PD1, PD2, PD3, PD4, PD5, PD6, PD7, PD8, PD9, PE10,
-    PE11, PF10, PF2, PF3, PF4, PF5, PF6, PF7, PF8,
-};
-
 use crate::time::Hertz;
 use crate::typelevel::Sealed;
-use crate::{disable_nvic_interrupt, enable_nvic_interrupt, pac, prelude::*};
+use crate::{disable_interrupt, prelude::*};
+use crate::{enable_interrupt, pac};
 
 pub static MS_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
 
-pub const TIM_IRQ_OFFSET: usize = 48;
-
-/// Get the peripheral block of a TIM peripheral given the index.
-///
-/// This function panics if the given index is greater than 23.
-///
-/// # Safety
-///
-/// This returns a direct handle to the peripheral block, which allows to circumvent ownership
-/// rules for the peripheral block. You have to ensure that the retrieved peripheral block is not
-/// used by any other software component.
-#[inline(always)]
-pub const unsafe fn get_tim_raw(tim_idx: usize) -> &'static pac::tim0::RegisterBlock {
-    match tim_idx {
-        0 => unsafe { &*pac::Tim0::ptr() },
-        1 => unsafe { &*pac::Tim1::ptr() },
-        2 => unsafe { &*pac::Tim2::ptr() },
-        3 => unsafe { &*pac::Tim3::ptr() },
-        4 => unsafe { &*pac::Tim4::ptr() },
-        5 => unsafe { &*pac::Tim5::ptr() },
-        6 => unsafe { &*pac::Tim6::ptr() },
-        7 => unsafe { &*pac::Tim7::ptr() },
-        8 => unsafe { &*pac::Tim8::ptr() },
-        9 => unsafe { &*pac::Tim9::ptr() },
-        10 => unsafe { &*pac::Tim10::ptr() },
-        11 => unsafe { &*pac::Tim11::ptr() },
-        12 => unsafe { &*pac::Tim12::ptr() },
-        13 => unsafe { &*pac::Tim13::ptr() },
-        14 => unsafe { &*pac::Tim14::ptr() },
-        15 => unsafe { &*pac::Tim15::ptr() },
-        16 => unsafe { &*pac::Tim16::ptr() },
-        17 => unsafe { &*pac::Tim17::ptr() },
-        18 => unsafe { &*pac::Tim18::ptr() },
-        19 => unsafe { &*pac::Tim19::ptr() },
-        20 => unsafe { &*pac::Tim20::ptr() },
-        21 => unsafe { &*pac::Tim21::ptr() },
-        22 => unsafe { &*pac::Tim22::ptr() },
-        23 => unsafe { &*pac::Tim23::ptr() },
-        _ => {
-            panic!("invalid alarm timer index")
-        }
-    }
-}
-
 //==================================================================================================
 // Defintions
 //==================================================================================================
 
+/// Interrupt events
+//pub enum Event {
+/// Timer timed out / count down ended
+//TimeOut,
+//}
+
 #[derive(Default, Debug, PartialEq, Eq, Copy, Clone)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct CascadeCtrl {
     /// Enable Cascade 0 signal active as a requirement for counting
     pub enb_start_src_csd0: bool,
@@ -181,11 +137,11 @@ pub trait TimPin {
 
 pub trait ValidTim {
     // TIM ID ranging from 0 to 23 for 24 TIM peripherals
-    const ID: u8;
+    const TIM_ID: u8;
     const IRQ: pac::Interrupt;
 
     fn clock(clocks: &Clocks) -> Hertz {
-        if Self::ID <= 15 {
+        if Self::TIM_ID <= 15 {
             clocks.apb1()
         } else {
             clocks.apb2()
@@ -201,21 +157,13 @@ macro_rules! tim_markers {
     ) => {
         $(
             impl ValidTim for $TimX {
-                const ID: u8 = $id;
+                const TIM_ID: u8 = $id;
                 const IRQ: pac::Interrupt = $Irq;
             }
         )+
     };
 }
 
-pub const fn const_clock<Tim: ValidTim + ?Sized>(_: &Tim, clocks: &Clocks) -> Hertz {
-    if Tim::ID <= 15 {
-        clocks.apb1()
-    } else {
-        clocks.apb2()
-    }
-}
-
 tim_markers!(
     (pac::Tim0, 0, pac::Interrupt::TIM0),
     (pac::Tim1, 1, pac::Interrupt::TIM1),
@@ -248,11 +196,10 @@ pub trait ValidTimAndPin<Pin: TimPin, Tim: ValidTim>: Sealed {}
 macro_rules! valid_pin_and_tims {
     (
         $(
-            ($PinX:ident, $AltFunc:ident, $TimX:path $(, $meta: meta)?),
+            ($PinX:ident, $AltFunc:ident, $TimX:path),
         )+
     ) => {
         $(
-            $(#[$meta])?
             impl TimPin for Pin<$PinX, $AltFunc>
             where
                 $PinX: PinId,
@@ -260,7 +207,6 @@ macro_rules! valid_pin_and_tims {
                 const DYN: DynPinId = $PinX::DYN;
             }
 
-            $(#[$meta])?
             impl<
                 PinInstance: TimPin,
                 Tim: ValidTim
@@ -271,7 +217,6 @@ macro_rules! valid_pin_and_tims {
             {
             }
 
-            $(#[$meta])?
             impl Sealed for (Pin<$PinX, $AltFunc>, $TimX) {}
         )+
     };
@@ -297,29 +242,29 @@ valid_pin_and_tims!(
     (PB2, AltFunc2, pac::Tim15),
     (PB3, AltFunc2, pac::Tim14),
     (PB4, AltFunc2, pac::Tim13),
-    (PB5, AltFunc2, pac::Tim12, cfg(not(feature = "va41628"))),
-    (PB6, AltFunc2, pac::Tim11, cfg(not(feature = "va41628"))),
-    (PB7, AltFunc2, pac::Tim10, cfg(not(feature = "va41628"))),
-    (PB8, AltFunc2, pac::Tim9, cfg(not(feature = "va41628"))),
-    (PB9, AltFunc2, pac::Tim8, cfg(not(feature = "va41628"))),
-    (PB10, AltFunc2, pac::Tim7, cfg(not(feature = "va41628"))),
-    (PB11, AltFunc2, pac::Tim6, cfg(not(feature = "va41628"))),
+    (PB5, AltFunc2, pac::Tim12),
+    (PB6, AltFunc2, pac::Tim11),
+    (PB7, AltFunc2, pac::Tim10),
+    (PB8, AltFunc2, pac::Tim9),
+    (PB9, AltFunc2, pac::Tim8),
+    (PB10, AltFunc2, pac::Tim7),
+    (PB11, AltFunc2, pac::Tim6),
     (PB12, AltFunc2, pac::Tim5),
     (PB13, AltFunc2, pac::Tim4),
     (PB14, AltFunc2, pac::Tim3),
     (PB15, AltFunc2, pac::Tim2),
     (PC0, AltFunc2, pac::Tim1),
     (PC1, AltFunc2, pac::Tim0),
-    (PD0, AltFunc2, pac::Tim0, cfg(not(feature = "va41628"))),
-    (PD1, AltFunc2, pac::Tim1, cfg(not(feature = "va41628"))),
-    (PD2, AltFunc2, pac::Tim2, cfg(not(feature = "va41628"))),
-    (PD3, AltFunc2, pac::Tim3, cfg(not(feature = "va41628"))),
-    (PD4, AltFunc2, pac::Tim4, cfg(not(feature = "va41628"))),
-    (PD5, AltFunc2, pac::Tim5, cfg(not(feature = "va41628"))),
-    (PD6, AltFunc2, pac::Tim6, cfg(not(feature = "va41628"))),
-    (PD7, AltFunc2, pac::Tim7, cfg(not(feature = "va41628"))),
-    (PD8, AltFunc2, pac::Tim8, cfg(not(feature = "va41628"))),
-    (PD9, AltFunc2, pac::Tim9, cfg(not(feature = "va41628"))),
+    (PD0, AltFunc2, pac::Tim0),
+    (PD1, AltFunc2, pac::Tim1),
+    (PD2, AltFunc2, pac::Tim2),
+    (PD3, AltFunc2, pac::Tim3),
+    (PD4, AltFunc2, pac::Tim4),
+    (PD5, AltFunc2, pac::Tim5),
+    (PD6, AltFunc2, pac::Tim6),
+    (PD7, AltFunc2, pac::Tim7),
+    (PD8, AltFunc2, pac::Tim8),
+    (PD9, AltFunc2, pac::Tim9),
     (PD10, AltFunc2, pac::Tim10),
     (PD11, AltFunc2, pac::Tim11),
     (PD12, AltFunc2, pac::Tim12),
@@ -336,23 +281,23 @@ valid_pin_and_tims!(
     (PE7, AltFunc2, pac::Tim23),
     (PE8, AltFunc3, pac::Tim16),
     (PE9, AltFunc3, pac::Tim17),
-    (PE10, AltFunc3, pac::Tim18, cfg(not(feature = "va41628"))),
-    (PE11, AltFunc3, pac::Tim19, cfg(not(feature = "va41628"))),
+    (PE10, AltFunc3, pac::Tim18),
+    (PE11, AltFunc3, pac::Tim19),
     (PE12, AltFunc3, pac::Tim20),
     (PE13, AltFunc3, pac::Tim21),
     (PE14, AltFunc3, pac::Tim22),
     (PE15, AltFunc3, pac::Tim23),
     (PF0, AltFunc3, pac::Tim0),
     (PF1, AltFunc3, pac::Tim1),
-    (PF2, AltFunc3, pac::Tim2, cfg(not(feature = "va41628"))),
-    (PF3, AltFunc3, pac::Tim3, cfg(not(feature = "va41628"))),
-    (PF4, AltFunc3, pac::Tim4, cfg(not(feature = "va41628"))),
-    (PF5, AltFunc3, pac::Tim5, cfg(not(feature = "va41628"))),
-    (PF6, AltFunc3, pac::Tim6, cfg(not(feature = "va41628"))),
-    (PF7, AltFunc3, pac::Tim7, cfg(not(feature = "va41628"))),
-    (PF8, AltFunc3, pac::Tim8, cfg(not(feature = "va41628"))),
+    (PF2, AltFunc3, pac::Tim2),
+    (PF3, AltFunc3, pac::Tim3),
+    (PF4, AltFunc3, pac::Tim4),
+    (PF5, AltFunc3, pac::Tim5),
+    (PF6, AltFunc3, pac::Tim6),
+    (PF7, AltFunc3, pac::Tim7),
+    (PF8, AltFunc3, pac::Tim8),
     (PF9, AltFunc3, pac::Tim9),
-    (PF10, AltFunc3, pac::Tim10, cfg(not(feature = "va41628"))),
+    (PF10, AltFunc3, pac::Tim10),
     (PF11, AltFunc3, pac::Tim11),
     (PF12, AltFunc3, pac::Tim12),
     (PF13, AltFunc2, pac::Tim19),
@@ -375,25 +320,17 @@ valid_pin_and_tims!(
 ///
 /// Only the bit related to the corresponding TIM peripheral is modified
 #[inline]
-pub fn assert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+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)) });
+        .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << tim_id as u32)) })
 }
 
 #[inline]
-pub fn deassert_tim_reset(syscfg: &mut pac::Sysconfig, tim_id: u8) {
+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);
+        .modify(|r, w| unsafe { w.bits(r.bits() | (1 << tim_id as u32)) })
 }
 
 pub type TimRegBlock = pac::tim0::RegisterBlock;
@@ -405,11 +342,11 @@ pub type TimRegBlock = pac::tim0::RegisterBlock;
 ///
 /// # Safety
 ///
-/// Users should only implement the [Self::tim_id] function. No default function
+/// Users should only implement the [`tim_id`] function. No default function
 /// implementations should be overridden. The implementing type must also have
 /// "control" over the corresponding pin ID, i.e. it must guarantee that a each
 /// pin ID is a singleton.
-pub unsafe trait TimRegInterface {
+pub(super) unsafe trait TimRegInterface {
     fn tim_id(&self) -> u8;
 
     const PORT_BASE: *const pac::tim0::RegisterBlock = pac::Tim0::ptr() as *const _;
@@ -417,7 +354,7 @@ pub unsafe trait TimRegInterface {
     /// All 24 TIM blocks are identical. This helper functions returns the correct
     /// memory mapped peripheral depending on the TIM ID.
     #[inline(always)]
-    fn reg_block(&self) -> &TimRegBlock {
+    fn reg(&self) -> &TimRegBlock {
         unsafe { &*Self::PORT_BASE.offset(self.tim_id() as isize) }
     }
 
@@ -444,12 +381,6 @@ pub unsafe trait TimRegInterface {
     }
 }
 
-unsafe impl<Tim: ValidTim> TimRegInterface for Tim {
-    fn tim_id(&self) -> u8 {
-        Tim::ID
-    }
-}
-
 /// Provide a safe register interface for [`ValidTimAndPin`]s
 ///
 /// This `struct` takes ownership of a [`ValidTimAndPin`] and provides an API to
@@ -477,7 +408,7 @@ impl<TIM: ValidTim> TimRegister<TIM> {
 unsafe impl<Tim: ValidTim> TimRegInterface for TimRegister<Tim> {
     #[inline(always)]
     fn tim_id(&self) -> u8 {
-        Tim::ID
+        Tim::TIM_ID
     }
 }
 
@@ -498,20 +429,20 @@ where
 unsafe impl<Pin: TimPin, Tim: ValidTim> TimRegInterface for TimAndPinRegister<Pin, Tim> {
     #[inline(always)]
     fn tim_id(&self) -> u8 {
-        Tim::ID
+        Tim::TIM_ID
     }
 }
 
-pub(crate) struct TimDynRegister {
-    pub(crate) tim_id: u8,
+pub(super) struct TimDynRegister {
+    tim_id: u8,
     #[allow(dead_code)]
-    pub(crate) pin_id: DynPinId,
+    pin_id: DynPinId,
 }
 
 impl<Pin: TimPin, Tim: ValidTim> From<TimAndPinRegister<Pin, Tim>> for TimDynRegister {
     fn from(_reg: TimAndPinRegister<Pin, Tim>) -> Self {
         Self {
-            tim_id: Tim::ID,
+            tim_id: Tim::TIM_ID,
             pin_id: Pin::DYN,
         }
     }
@@ -528,10 +459,7 @@ unsafe impl TimRegInterface for TimDynRegister {
 // Timers
 //==================================================================================================
 
-/// Hardware timers.
-///
-/// These timers also implement the [embedded_hal::delay::DelayNs] trait and can be used to delay
-/// with a higher resolution compared to the Cortex-M systick delays.
+/// Hardware timers
 pub struct CountdownTimer<TIM: ValidTim> {
     tim: TimRegister<TIM>,
     curr_freq: Hertz,
@@ -542,16 +470,16 @@ pub struct CountdownTimer<TIM: ValidTim> {
 }
 
 #[inline]
-pub fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
+fn enable_tim_clk(syscfg: &mut pac::Sysconfig, idx: u8) {
     syscfg
         .tim_clk_enable()
         .modify(|r, w| unsafe { w.bits(r.bits() | (1 << idx)) });
 }
 
-unsafe impl<Tim: ValidTim> TimRegInterface for CountdownTimer<Tim> {
+unsafe impl<TIM: ValidTim> TimRegInterface for CountdownTimer<TIM> {
     #[inline]
     fn tim_id(&self) -> u8 {
-        Tim::ID
+        TIM::TIM_ID
     }
 }
 
@@ -561,11 +489,11 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     /// You can use [Self::start] to start the countdown timer, and you may optionally call
     /// [Self::listen] to enable interrupts for the TIM peripheral as well.
     pub fn new(syscfg: &mut pac::Sysconfig, tim: Tim, clocks: &Clocks) -> Self {
-        enable_tim_clk(syscfg, Tim::ID);
-        assert_tim_reset(syscfg, Tim::ID);
+        enable_tim_clk(syscfg, Tim::TIM_ID);
+        assert_tim_reset(syscfg, Tim::TIM_ID);
         cortex_m::asm::nop();
         cortex_m::asm::nop();
-        deassert_tim_reset(syscfg, Tim::ID);
+        deassert_tim_reset(syscfg, Tim::TIM_ID);
 
         CountdownTimer {
             tim: unsafe { TimRegister::new(tim) },
@@ -589,13 +517,13 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn listen(&mut self) {
         self.listening = true;
         self.enable_interrupt();
-        unsafe { enable_nvic_interrupt(Tim::IRQ) }
+        unsafe { enable_interrupt(Tim::IRQ) }
     }
 
     /// Return `Ok` if the timer has wrapped. Peripheral will automatically clear the
     /// flag and restart the time if configured correctly
     pub fn wait(&mut self) -> nb::Result<(), void::Void> {
-        let cnt = self.tim.reg_block().cnt_value().read().bits();
+        let cnt = self.tim.reg().cnt_value().read().bits();
         if (cnt > self.last_cnt) || cnt == 0 {
             self.last_cnt = self.rst_val;
             Ok(())
@@ -607,95 +535,67 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
 
     #[inline]
     pub fn stop(&mut self) {
-        self.tim
-            .reg_block()
-            .ctrl()
-            .write(|w| w.enable().clear_bit());
+        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
     }
 
     #[inline]
     pub fn unlisten(&mut self) {
         self.listening = true;
         self.disable_interrupt();
-        disable_nvic_interrupt(Tim::IRQ);
+        disable_interrupt(Tim::IRQ);
     }
 
     #[inline(always)]
     pub fn enable_interrupt(&mut self) {
-        self.tim
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| w.irq_enb().set_bit());
+        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().set_bit());
     }
 
     #[inline(always)]
     pub fn disable_interrupt(&mut self) {
-        self.tim
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| w.irq_enb().clear_bit());
+        self.tim.reg().ctrl().modify(|_, w| w.irq_enb().clear_bit());
     }
 
     #[inline]
     pub fn release(self, syscfg: &mut pac::Sysconfig) -> Tim {
-        self.tim
-            .reg_block()
-            .ctrl()
-            .write(|w| w.enable().clear_bit());
+        self.tim.reg().ctrl().write(|w| w.enable().clear_bit());
         syscfg
             .tim_clk_enable()
-            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << Tim::ID)) });
+            .modify(|r, w| unsafe { w.bits(r.bits() & !(1 << Tim::TIM_ID)) });
         self.tim.release()
     }
 
     /// Load the count down timer with a timeout but do not start it.
     pub fn load(&mut self, timeout: impl Into<Hertz>) {
-        self.tim
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| w.enable().clear_bit());
+        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()) - 1;
+        self.rst_val = self.clock.raw() / self.curr_freq.raw();
         self.set_reload(self.rst_val);
-        // Decrementing counter, to set the reset value.
-        self.set_count(self.rst_val);
+        self.set_count(0);
     }
 
     #[inline(always)]
     pub fn set_reload(&mut self, val: u32) {
-        self.tim
-            .reg_block()
-            .rst_value()
-            .write(|w| unsafe { w.bits(val) });
+        self.tim.reg().rst_value().write(|w| unsafe { w.bits(val) });
     }
 
     #[inline(always)]
     pub fn set_count(&mut self, val: u32) {
-        self.tim
-            .reg_block()
-            .cnt_value()
-            .write(|w| unsafe { w.bits(val) });
+        self.tim.reg().cnt_value().write(|w| unsafe { w.bits(val) });
     }
 
     #[inline(always)]
     pub fn count(&self) -> u32 {
-        self.tim.reg_block().cnt_value().read().bits()
+        self.tim.reg().cnt_value().read().bits()
     }
 
     #[inline(always)]
     pub fn enable(&mut self) {
-        self.tim
-            .reg_block()
-            .enable()
-            .write(|w| unsafe { w.bits(1) });
+        self.tim.reg().ctrl().modify(|_, w| w.enable().set_bit());
     }
 
     #[inline(always)]
     pub fn disable(&mut self) {
-        self.tim
-            .reg_block()
-            .ctrl()
-            .modify(|_, w| w.enable().clear_bit());
+        self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
     }
 
     /// Disable the counter, setting both enable and active bit to 0
@@ -703,12 +603,12 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn auto_disable(self, enable: bool) -> Self {
         if enable {
             self.tim
-                .reg_block()
+                .reg()
                 .ctrl()
                 .modify(|_, w| w.auto_disable().set_bit());
         } else {
             self.tim
-                .reg_block()
+                .reg()
                 .ctrl()
                 .modify(|_, w| w.auto_disable().clear_bit());
         }
@@ -723,12 +623,12 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn auto_deactivate(self, enable: bool) -> Self {
         if enable {
             self.tim
-                .reg_block()
+                .reg()
                 .ctrl()
                 .modify(|_, w| w.auto_deactivate().set_bit());
         } else {
             self.tim
-                .reg_block()
+                .reg()
                 .ctrl()
                 .modify(|_, w| w.auto_deactivate().clear_bit());
         }
@@ -738,7 +638,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     /// Configure the cascade parameters
     #[inline]
     pub fn cascade_control(&mut self, ctrl: CascadeCtrl) {
-        self.tim.reg_block().csd_ctrl().write(|w| {
+        self.tim.reg().csd_ctrl().write(|w| {
             w.csden0().bit(ctrl.enb_start_src_csd0);
             w.csdinv0().bit(ctrl.inv_csd0);
             w.csden1().bit(ctrl.enb_start_src_csd1);
@@ -756,7 +656,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn cascade_0_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
         let id = src.id()?;
         self.tim
-            .reg_block()
+            .reg()
             .cascade0()
             .write(|w| unsafe { w.cassel().bits(id) });
         Ok(())
@@ -766,7 +666,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn cascade_1_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
         let id = src.id()?;
         self.tim
-            .reg_block()
+            .reg()
             .cascade1()
             .write(|w| unsafe { w.cassel().bits(id) });
         Ok(())
@@ -776,7 +676,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn cascade_2_source(&mut self, src: CascadeSource) -> Result<(), InvalidCascadeSourceId> {
         let id = src.id()?;
         self.tim
-            .reg_block()
+            .reg()
             .cascade2()
             .write(|w| unsafe { w.cassel().bits(id) });
         Ok(())
@@ -867,7 +767,7 @@ 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() {
-    critical_section::with(|cs| {
+    cortex_m::interrupt::free(|cs| {
         let mut ms = MS_COUNTER.borrow(cs).get();
         ms += 1;
         MS_COUNTER.borrow(cs).set(ms);
@@ -876,7 +776,7 @@ pub fn default_ms_irq_handler() {
 
 /// Get the current MS tick count
 pub fn get_ms_ticks() -> u32 {
-    critical_section::with(|cs| MS_COUNTER.borrow(cs).get())
+    cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get())
 }
 
 pub struct DelayMs<Tim: ValidTim = pac::Tim0>(CountdownTimer<Tim>);

va416xx-hal/src/uart/rx_asynch.rs

@@ -1,448 +0,0 @@
-//! # Async UART reception functionality for the VA416xx family.
-//!
-//! This module provides the [RxAsync] and [RxAsyncOverwriting] struct which both implement the
-//! [embedded_io_async::Read] trait.
-//! This trait allows for asynchronous reception of data streams. Please note that this module does
-//! not specify/declare the interrupt handlers which must be provided for async support to work.
-//! However, it provides two interrupt handlers:
-//!
-//! - [on_interrupt_rx]
-//! - [on_interrupt_rx_overwriting]
-//!
-//! The first two are used for the [RxAsync] struct, while the latter two are used with the
-//! [RxAsyncOverwriting] struct. The later two will overwrite old values in the used ring buffer.
-//!
-//! Error handling is performed in the user interrupt handler by checking the [AsyncUartErrors]
-//! structure returned by the interrupt handlers.
-//!
-//! # Example
-//!
-//! - [Async UART RX example](https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/src/branch/main/examples/embassy/src/bin/async-uart-rx.rs)
-use core::{cell::RefCell, convert::Infallible, future::Future, sync::atomic::Ordering};
-
-use critical_section::Mutex;
-use embassy_sync::waitqueue::AtomicWaker;
-use embedded_io::ErrorType;
-use portable_atomic::AtomicBool;
-use va416xx::uart0 as uart_base;
-
-use crate::enable_nvic_interrupt;
-
-use super::{Bank, Instance, Rx, RxError, UartErrors};
-
-static UART_RX_WAKERS: [AtomicWaker; 3] = [const { AtomicWaker::new() }; 3];
-static RX_READ_ACTIVE: [AtomicBool; 3] = [const { AtomicBool::new(false) }; 3];
-static RX_HAS_DATA: [AtomicBool; 3] = [const { AtomicBool::new(false) }; 3];
-
-struct RxFuture {
-    uart_idx: usize,
-}
-
-impl RxFuture {
-    pub fn new<Uart: Instance>(_rx: &mut Rx<Uart>) -> Self {
-        RX_READ_ACTIVE[Uart::IDX as usize].store(true, Ordering::Relaxed);
-        Self {
-            uart_idx: Uart::IDX as usize,
-        }
-    }
-}
-
-impl Future for RxFuture {
-    type Output = Result<(), RxError>;
-
-    fn poll(
-        self: core::pin::Pin<&mut Self>,
-        cx: &mut core::task::Context<'_>,
-    ) -> core::task::Poll<Self::Output> {
-        UART_RX_WAKERS[self.uart_idx].register(cx.waker());
-        if RX_HAS_DATA[self.uart_idx].load(Ordering::Relaxed) {
-            return core::task::Poll::Ready(Ok(()));
-        }
-        core::task::Poll::Pending
-    }
-}
-
-#[derive(Debug, Clone, Copy)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct AsyncUartErrors {
-    /// Queue has overflowed, data might have been lost.
-    pub queue_overflow: bool,
-    /// UART errors.
-    pub uart_errors: UartErrors,
-}
-
-fn on_interrupt_handle_rx_errors(uart: &'static uart_base::RegisterBlock) -> Option<UartErrors> {
-    let rx_status = uart.rxstatus().read();
-    if rx_status.rxovr().bit_is_set()
-        || rx_status.rxfrm().bit_is_set()
-        || rx_status.rxpar().bit_is_set()
-    {
-        let mut errors_val = UartErrors::default();
-
-        if rx_status.rxovr().bit_is_set() {
-            errors_val.overflow = true;
-        }
-        if rx_status.rxfrm().bit_is_set() {
-            errors_val.framing = true;
-        }
-        if rx_status.rxpar().bit_is_set() {
-            errors_val.parity = true;
-        }
-        return Some(errors_val);
-    }
-    None
-}
-
-fn on_interrupt_rx_common_post_processing(
-    bank: Bank,
-    rx_enabled: bool,
-    read_some_data: bool,
-    irq_end: u32,
-) -> Option<UartErrors> {
-    let idx = bank as usize;
-    if read_some_data {
-        RX_HAS_DATA[idx].store(true, Ordering::Relaxed);
-        if RX_READ_ACTIVE[idx].load(Ordering::Relaxed) {
-            UART_RX_WAKERS[idx].wake();
-        }
-    }
-
-    let mut errors = None;
-    let uart_regs = unsafe { bank.reg_block() };
-    // Check for RX errors
-    if rx_enabled {
-        errors = on_interrupt_handle_rx_errors(uart_regs);
-    }
-
-    // Clear the interrupt status bits
-    uart_regs.irq_clr().write(|w| unsafe { w.bits(irq_end) });
-    errors
-}
-
-/// Interrupt handler with overwriting behaviour when the ring buffer is full.
-///
-/// Should be called in the user interrupt handler to enable
-/// asynchronous reception. This variant will overwrite old data in the ring buffer in case
-/// the ring buffer is full.
-pub fn on_interrupt_rx_overwriting<const N: usize>(
-    bank: Bank,
-    prod: &mut heapless::spsc::Producer<u8, N>,
-    shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
-) -> Result<(), AsyncUartErrors> {
-    on_interrupt_rx_async_heapless_queue_overwriting(bank, prod, shared_consumer)
-}
-
-pub fn on_interrupt_rx_async_heapless_queue_overwriting<const N: usize>(
-    bank: Bank,
-    prod: &mut heapless::spsc::Producer<u8, N>,
-    shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
-) -> Result<(), AsyncUartErrors> {
-    let uart_regs = unsafe { bank.reg_block() };
-    let irq_end = uart_regs.irq_end().read();
-    let enb_status = uart_regs.enable().read();
-    let rx_enabled = enb_status.rxenable().bit_is_set();
-    let mut read_some_data = false;
-    let mut queue_overflow = false;
-
-    // Half-Full interrupt. We have a guaranteed amount of data we can read.
-    if irq_end.irq_rx().bit_is_set() {
-        let available_bytes = uart_regs.rxfifoirqtrg().read().bits() as usize;
-
-        // If this interrupt bit is set, the trigger level is available at the very least.
-        // Read everything as fast as possible
-        for _ in 0..available_bytes {
-            let byte = uart_regs.data().read().bits();
-            if !prod.ready() {
-                queue_overflow = true;
-                critical_section::with(|cs| {
-                    let mut cons_ref = shared_consumer.borrow(cs).borrow_mut();
-                    cons_ref.as_mut().unwrap().dequeue();
-                });
-            }
-            prod.enqueue(byte as u8).ok();
-        }
-        read_some_data = true;
-    }
-
-    // Timeout, empty the FIFO completely.
-    if irq_end.irq_rx_to().bit_is_set() {
-        while uart_regs.rxstatus().read().rdavl().bit_is_set() {
-            // While there is data in the FIFO, write it into the reception buffer
-            let byte = uart_regs.data().read().bits();
-            if !prod.ready() {
-                queue_overflow = true;
-                critical_section::with(|cs| {
-                    let mut cons_ref = shared_consumer.borrow(cs).borrow_mut();
-                    cons_ref.as_mut().unwrap().dequeue();
-                });
-            }
-            prod.enqueue(byte as u8).ok();
-        }
-        read_some_data = true;
-    }
-
-    let uart_errors =
-        on_interrupt_rx_common_post_processing(bank, rx_enabled, read_some_data, irq_end.bits());
-    if uart_errors.is_some() || queue_overflow {
-        return Err(AsyncUartErrors {
-            queue_overflow,
-            uart_errors: uart_errors.unwrap_or_default(),
-        });
-    }
-    Ok(())
-}
-
-/// Interrupt handler for asynchronous RX operations.
-///
-/// Should be called in the user interrupt handler to enable asynchronous reception.
-pub fn on_interrupt_rx<const N: usize>(
-    bank: Bank,
-    prod: &mut heapless::spsc::Producer<'_, u8, N>,
-) -> Result<(), AsyncUartErrors> {
-    on_interrupt_rx_async_heapless_queue(bank, prod)
-}
-
-pub fn on_interrupt_rx_async_heapless_queue<const N: usize>(
-    bank: Bank,
-    prod: &mut heapless::spsc::Producer<'_, u8, N>,
-) -> Result<(), AsyncUartErrors> {
-    let uart = unsafe { bank.reg_block() };
-    let irq_end = uart.irq_end().read();
-    let enb_status = uart.enable().read();
-    let rx_enabled = enb_status.rxenable().bit_is_set();
-    let mut read_some_data = false;
-    let mut queue_overflow = false;
-
-    // Half-Full interrupt. We have a guaranteed amount of data we can read.
-    if irq_end.irq_rx().bit_is_set() {
-        let available_bytes = uart.rxfifoirqtrg().read().bits() as usize;
-
-        // If this interrupt bit is set, the trigger level is available at the very least.
-        // Read everything as fast as possible
-        for _ in 0..available_bytes {
-            let byte = uart.data().read().bits();
-            if !prod.ready() {
-                queue_overflow = true;
-            }
-            prod.enqueue(byte as u8).ok();
-        }
-        read_some_data = true;
-    }
-
-    // Timeout, empty the FIFO completely.
-    if irq_end.irq_rx_to().bit_is_set() {
-        while uart.rxstatus().read().rdavl().bit_is_set() {
-            // While there is data in the FIFO, write it into the reception buffer
-            let byte = uart.data().read().bits();
-            if !prod.ready() {
-                queue_overflow = true;
-            }
-            prod.enqueue(byte as u8).ok();
-        }
-        read_some_data = true;
-    }
-
-    let uart_errors =
-        on_interrupt_rx_common_post_processing(bank, rx_enabled, read_some_data, irq_end.bits());
-    if uart_errors.is_some() || queue_overflow {
-        return Err(AsyncUartErrors {
-            queue_overflow,
-            uart_errors: uart_errors.unwrap_or_default(),
-        });
-    }
-    Ok(())
-}
-
-struct ActiveReadGuard(usize);
-
-impl Drop for ActiveReadGuard {
-    fn drop(&mut self) {
-        RX_READ_ACTIVE[self.0].store(false, Ordering::Relaxed);
-    }
-}
-
-struct RxAsyncInner<Uart: Instance, const N: usize> {
-    rx: Rx<Uart>,
-    pub queue: heapless::spsc::Consumer<'static, u8, N>,
-}
-
-/// Core data structure to allow asynchronous UART reception.
-///
-/// If the ring buffer becomes full, data will be lost.
-pub struct RxAsync<Uart: Instance, const N: usize>(Option<RxAsyncInner<Uart, N>>);
-
-impl<Uart: Instance, const N: usize> ErrorType for RxAsync<Uart, N> {
-    /// Error reporting is done using the result of the interrupt functions.
-    type Error = Infallible;
-}
-
-fn stop_async_rx<Uart: Instance>(rx: &mut Rx<Uart>) {
-    rx.disable_interrupts();
-    rx.disable();
-    unsafe {
-        enable_nvic_interrupt(Uart::IRQ_RX);
-    }
-    rx.clear_fifo();
-}
-
-impl<Uart: Instance, const N: usize> RxAsync<Uart, N> {
-    /// Create a new asynchronous receiver.
-    ///
-    /// The passed [heapless::spsc::Consumer] will be used to asynchronously receive data which
-    /// is filled by the interrupt handler [on_interrupt_rx].
-    pub fn new(mut rx: Rx<Uart>, queue: heapless::spsc::Consumer<'static, u8, N>) -> Self {
-        rx.disable_interrupts();
-        rx.disable();
-        rx.clear_fifo();
-        // Enable those together.
-        critical_section::with(|_| {
-            unsafe {
-                enable_nvic_interrupt(Uart::IRQ_RX);
-            }
-            rx.enable_interrupts();
-            rx.enable();
-        });
-        Self(Some(RxAsyncInner { rx, queue }))
-    }
-
-    pub fn stop(&mut self) {
-        stop_async_rx(&mut self.0.as_mut().unwrap().rx);
-    }
-
-    pub fn release(mut self) -> (Rx<Uart>, heapless::spsc::Consumer<'static, u8, N>) {
-        self.stop();
-        let inner = self.0.take().unwrap();
-        (inner.rx, inner.queue)
-    }
-}
-
-impl<Uart: Instance, const N: usize> Drop for RxAsync<Uart, N> {
-    fn drop(&mut self) {
-        self.stop();
-    }
-}
-
-impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsync<Uart, N> {
-    async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        // Need to wait for the IRQ to read data and set this flag. If the queue is not
-        // empty, we can read data immediately.
-        if self.0.as_ref().unwrap().queue.len() == 0 {
-            RX_HAS_DATA[Uart::IDX as usize].store(false, Ordering::Relaxed);
-        }
-        let _guard = ActiveReadGuard(Uart::IDX as usize);
-        let mut handle_data_in_queue = |consumer: &mut heapless::spsc::Consumer<'static, u8, N>| {
-            let data_to_read = consumer.len().min(buf.len());
-            for byte in buf.iter_mut().take(data_to_read) {
-                // We own the consumer and we checked that the amount of data is guaranteed to be available.
-                *byte = unsafe { consumer.dequeue_unchecked() };
-            }
-            data_to_read
-        };
-        let mut_ref = self.0.as_mut().unwrap();
-        let fut = RxFuture::new(&mut mut_ref.rx);
-        // Data is available, so read that data immediately.
-        let read_data = handle_data_in_queue(&mut mut_ref.queue);
-        if read_data > 0 {
-            return Ok(read_data);
-        }
-        // Await data.
-        let _ = fut.await;
-        Ok(handle_data_in_queue(&mut mut_ref.queue))
-    }
-}
-
-struct RxAsyncOverwritingInner<Uart: Instance, const N: usize> {
-    rx: Rx<Uart>,
-    pub shared_consumer: &'static Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
-}
-
-/// Core data structure to allow asynchronous UART reception.
-///
-/// If the ring buffer becomes full, the oldest data will be overwritten when using the
-/// [on_interrupt_rx_overwriting] interrupt handlers.
-pub struct RxAsyncOverwriting<Uart: Instance, const N: usize>(
-    Option<RxAsyncOverwritingInner<Uart, N>>,
-);
-
-impl<Uart: Instance, const N: usize> ErrorType for RxAsyncOverwriting<Uart, N> {
-    /// Error reporting is done using the result of the interrupt functions.
-    type Error = Infallible;
-}
-
-impl<Uart: Instance, const N: usize> RxAsyncOverwriting<Uart, N> {
-    /// Create a new asynchronous receiver.
-    ///
-    /// The passed shared [heapless::spsc::Consumer] will be used to asynchronously receive data
-    /// which is filled by the interrupt handler. The shared property allows using it in the
-    /// interrupt handler to overwrite old data.
-    pub fn new(
-        mut rx: Rx<Uart>,
-        shared_consumer: &'static Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8, N>>>>,
-    ) -> Self {
-        rx.disable_interrupts();
-        rx.disable();
-        rx.clear_fifo();
-        // Enable those together.
-        critical_section::with(|_| {
-            rx.enable_interrupts();
-            rx.enable();
-        });
-        Self(Some(RxAsyncOverwritingInner {
-            rx,
-            shared_consumer,
-        }))
-    }
-
-    pub fn stop(&mut self) {
-        stop_async_rx(&mut self.0.as_mut().unwrap().rx);
-    }
-
-    pub fn release(mut self) -> Rx<Uart> {
-        self.stop();
-        let inner = self.0.take().unwrap();
-        inner.rx
-    }
-}
-
-impl<Uart: Instance, const N: usize> Drop for RxAsyncOverwriting<Uart, N> {
-    fn drop(&mut self) {
-        self.stop();
-    }
-}
-
-impl<Uart: Instance, const N: usize> embedded_io_async::Read for RxAsyncOverwriting<Uart, N> {
-    async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
-        // Need to wait for the IRQ to read data and set this flag. If the queue is not
-        // empty, we can read data immediately.
-
-        critical_section::with(|cs| {
-            let queue = self.0.as_ref().unwrap().shared_consumer.borrow(cs);
-            if queue.borrow().as_ref().unwrap().len() == 0 {
-                RX_HAS_DATA[Uart::IDX as usize].store(false, Ordering::Relaxed);
-            }
-        });
-        let _guard = ActiveReadGuard(Uart::IDX as usize);
-        let mut handle_data_in_queue = |inner: &mut RxAsyncOverwritingInner<Uart, N>| {
-            critical_section::with(|cs| {
-                let mut consumer_ref = inner.shared_consumer.borrow(cs).borrow_mut();
-                let consumer = consumer_ref.as_mut().unwrap();
-                let data_to_read = consumer.len().min(buf.len());
-                for byte in buf.iter_mut().take(data_to_read) {
-                    // We own the consumer and we checked that the amount of data is guaranteed to be available.
-                    *byte = unsafe { consumer.dequeue_unchecked() };
-                }
-                data_to_read
-            })
-        };
-        let fut = RxFuture::new(&mut self.0.as_mut().unwrap().rx);
-        // Data is available, so read that data immediately.
-        let read_data = handle_data_in_queue(self.0.as_mut().unwrap());
-        if read_data > 0 {
-            return Ok(read_data);
-        }
-        // Await data.
-        let _ = fut.await;
-        let read_data = handle_data_in_queue(self.0.as_mut().unwrap());
-        Ok(read_data)
-    }
-}

va416xx-hal/src/uart/tx_asynch.rs

@@ -1,263 +0,0 @@
-//! # Async UART transmission functionality for the VA416xx family.
-//!
-//! This module provides the [TxAsync] struct which implements the [embedded_io_async::Write] trait.
-//! This trait allows for asynchronous sending of data streams. Please note that this module does
-//! not specify/declare the interrupt handlers which must be provided for async support to work.
-//! However, it the [on_interrupt_tx] interrupt handler.
-//!
-//! This handler should be called in ALL user interrupt handlers which handle UART TX interrupts
-//! for a given UART bank.
-//!
-//! # Example
-//!
-//! - [Async UART TX example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/embassy/src/bin/async-uart-tx.rs)
-use core::{cell::RefCell, future::Future};
-
-use critical_section::Mutex;
-use embassy_sync::waitqueue::AtomicWaker;
-use embedded_io_async::Write;
-use portable_atomic::AtomicBool;
-
-use super::*;
-
-static UART_TX_WAKERS: [AtomicWaker; 3] = [const { AtomicWaker::new() }; 3];
-static TX_CONTEXTS: [Mutex<RefCell<TxContext>>; 3] =
-    [const { Mutex::new(RefCell::new(TxContext::new())) }; 3];
-// Completion flag. Kept outside of the context structure as an atomic to avoid
-// critical section.
-static TX_DONE: [AtomicBool; 3] = [const { AtomicBool::new(false) }; 3];
-
-/// This is a generic interrupt handler to handle asynchronous UART TX operations for a given
-/// UART bank.
-///
-/// The user has to call this once in the interrupt handler responsible for the TX interrupts on
-/// the given UART bank.
-pub fn on_interrupt_tx(bank: Bank) {
-    let uart = unsafe { bank.reg_block() };
-    let idx = bank as usize;
-    let irq_enb = uart.irq_enb().read();
-    // IRQ is not related to TX.
-    if irq_enb.irq_tx().bit_is_clear() || irq_enb.irq_tx_empty().bit_is_clear() {
-        return;
-    }
-
-    let tx_status = uart.txstatus().read();
-    let unexpected_overrun = tx_status.wrlost().bit_is_set();
-    let mut context = critical_section::with(|cs| {
-        let context_ref = TX_CONTEXTS[idx].borrow(cs);
-        *context_ref.borrow()
-    });
-    context.tx_overrun = unexpected_overrun;
-    if context.progress >= context.slice.len && !tx_status.wrbusy().bit_is_set() {
-        uart.irq_enb().modify(|_, w| {
-            w.irq_tx().clear_bit();
-            w.irq_tx_empty().clear_bit();
-            w.irq_tx_status().clear_bit()
-        });
-        uart.enable().modify(|_, w| w.txenable().clear_bit());
-        // Write back updated context structure.
-        critical_section::with(|cs| {
-            let context_ref = TX_CONTEXTS[idx].borrow(cs);
-            *context_ref.borrow_mut() = context;
-        });
-        // Transfer is done.
-        TX_DONE[idx].store(true, core::sync::atomic::Ordering::Relaxed);
-        UART_TX_WAKERS[idx].wake();
-        return;
-    }
-    // Safety: We documented that the user provided slice must outlive the future, so we convert
-    // the raw pointer back to the slice here.
-    let slice = unsafe { core::slice::from_raw_parts(context.slice.data, context.slice.len) };
-    while context.progress < context.slice.len {
-        let wrrdy = uart.txstatus().read().wrrdy().bit_is_set();
-        if !wrrdy {
-            break;
-        }
-        // Safety: TX structure is owned by the future which does not write into the the data
-        // register, so we can assume we are the only one writing to the data register.
-        uart.data()
-            .write(|w| unsafe { w.bits(slice[context.progress] as u32) });
-        context.progress += 1;
-    }
-
-    // Write back updated context structure.
-    critical_section::with(|cs| {
-        let context_ref = TX_CONTEXTS[idx].borrow(cs);
-        *context_ref.borrow_mut() = context;
-    });
-}
-
-#[derive(Debug, Copy, Clone)]
-pub struct TxContext {
-    progress: usize,
-    tx_overrun: bool,
-    slice: RawBufSlice,
-}
-
-#[allow(clippy::new_without_default)]
-impl TxContext {
-    pub const fn new() -> Self {
-        Self {
-            progress: 0,
-            tx_overrun: false,
-            slice: RawBufSlice::new_empty(),
-        }
-    }
-}
-
-#[derive(Debug, Copy, Clone)]
-struct RawBufSlice {
-    data: *const u8,
-    len: usize,
-}
-
-/// Safety: This type MUST be used with mutex to ensure concurrent access is valid.
-unsafe impl Send for RawBufSlice {}
-
-impl RawBufSlice {
-    /// # Safety
-    ///
-    /// This function stores the raw pointer of the passed data slice. The user MUST ensure
-    /// that the slice outlives the data structure.
-    #[allow(dead_code)]
-    const unsafe fn new(data: &[u8]) -> Self {
-        Self {
-            data: data.as_ptr(),
-            len: data.len(),
-        }
-    }
-
-    const fn new_empty() -> Self {
-        Self {
-            data: core::ptr::null(),
-            len: 0,
-        }
-    }
-
-    /// # Safety
-    ///
-    /// This function stores the raw pointer of the passed data slice. The user MUST ensure
-    /// that the slice outlives the data structure.
-    pub unsafe fn set(&mut self, data: &[u8]) {
-        self.data = data.as_ptr();
-        self.len = data.len();
-    }
-}
-
-pub struct TxFuture {
-    uart_idx: usize,
-}
-
-impl TxFuture {
-    /// # Safety
-    ///
-    /// This function stores the raw pointer of the passed data slice. The user MUST ensure
-    /// that the slice outlives the data structure.
-    pub unsafe fn new<Uart: Instance>(tx: &mut Tx<Uart>, data: &[u8]) -> Self {
-        TX_DONE[Uart::IDX as usize].store(false, core::sync::atomic::Ordering::Relaxed);
-        tx.disable_interrupts();
-        tx.disable();
-        tx.clear_fifo();
-
-        let uart_tx = unsafe { tx.uart() };
-        let init_fill_count = core::cmp::min(data.len(), 16);
-        // We fill the FIFO.
-        for data in data.iter().take(init_fill_count) {
-            uart_tx.data().write(|w| unsafe { w.bits(*data as u32) });
-        }
-        critical_section::with(|cs| {
-            let context_ref = TX_CONTEXTS[Uart::IDX as usize].borrow(cs);
-            let mut context = context_ref.borrow_mut();
-            context.slice.set(data);
-            context.progress = init_fill_count;
-
-            // Ensure those are enabled inside a critical section at the same time. Can lead to
-            // weird glitches otherwise.
-            tx.enable_interrupts();
-            tx.enable();
-        });
-        Self {
-            uart_idx: Uart::IDX as usize,
-        }
-    }
-}
-
-impl Future for TxFuture {
-    type Output = Result<usize, TxOverrunError>;
-
-    fn poll(
-        self: core::pin::Pin<&mut Self>,
-        cx: &mut core::task::Context<'_>,
-    ) -> core::task::Poll<Self::Output> {
-        UART_TX_WAKERS[self.uart_idx].register(cx.waker());
-        if TX_DONE[self.uart_idx].swap(false, core::sync::atomic::Ordering::Relaxed) {
-            let progress = critical_section::with(|cs| {
-                TX_CONTEXTS[self.uart_idx].borrow(cs).borrow().progress
-            });
-            return core::task::Poll::Ready(Ok(progress));
-        }
-        core::task::Poll::Pending
-    }
-}
-
-impl Drop for TxFuture {
-    fn drop(&mut self) {
-        let reg_block = match self.uart_idx {
-            0 => unsafe { pac::Uart0::reg_block() },
-            1 => unsafe { pac::Uart1::reg_block() },
-            2 => unsafe { pac::Uart2::reg_block() },
-            _ => unreachable!(),
-        };
-
-        disable_tx_interrupts(reg_block);
-        disable_tx(reg_block);
-    }
-}
-
-pub struct TxAsync<Uart: Instance> {
-    tx: Tx<Uart>,
-}
-
-impl<Uart: Instance> TxAsync<Uart> {
-    /// Create a new asynchronous TX object.
-    ///
-    /// This function also enable the NVIC interrupt, but does not enable the peripheral specific
-    /// interrupts.
-    pub fn new(tx: Tx<Uart>) -> Self {
-        // Safety: We own TX now.
-        unsafe { enable_nvic_interrupt(Uart::IRQ_TX) };
-        Self { tx }
-    }
-
-    /// This function also disables the NVIC interrupt.
-    pub fn release(self) -> Tx<Uart> {
-        disable_nvic_interrupt(Uart::IRQ_TX);
-        self.tx
-    }
-}
-
-#[derive(Debug, thiserror::Error)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[error("TX overrun error")]
-pub struct TxOverrunError;
-
-impl embedded_io_async::Error for TxOverrunError {
-    fn kind(&self) -> embedded_io_async::ErrorKind {
-        embedded_io_async::ErrorKind::Other
-    }
-}
-
-impl<Uart: Instance> embedded_io::ErrorType for TxAsync<Uart> {
-    type Error = TxOverrunError;
-}
-
-impl<Uart: Instance> Write for TxAsync<Uart> {
-    /// Write a buffer asynchronously.
-    ///
-    /// This implementation is not side effect free, and a started future might have already
-    /// written part of the passed buffer.
-    async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        let fut = unsafe { TxFuture::new(&mut self.tx, buf) };
-        fut.await
-    }
-}

va416xx-hal/src/wdt.rs

@@ -9,20 +9,15 @@ use crate::{
     pac,
     prelude::SyscfgExt,
 };
-use crate::{disable_nvic_interrupt, enable_nvic_interrupt};
+use crate::{disable_interrupt, enable_interrupt};
 
 pub const WDT_UNLOCK_VALUE: u32 = 0x1ACC_E551;
 
-/// Watchdog peripheral driver.
-pub struct Wdt {
+pub struct WdtController {
     clock_freq: Hertz,
     wdt: pac::WatchDog,
 }
 
-/// Type alias for backwards compatibility
-#[deprecated(since = "0.2.0", note = "Please use `Wdt` instead")]
-pub type WdtController = Wdt;
-
 /// Enable the watchdog interrupt
 ///
 /// # Safety
@@ -30,16 +25,17 @@ pub type WdtController = Wdt;
 /// This function is `unsafe` because it can break mask-based critical sections.
 #[inline]
 pub unsafe fn enable_wdt_interrupts() {
-    enable_nvic_interrupt(pac::Interrupt::WATCHDOG)
+    enable_interrupt(pac::Interrupt::WATCHDOG)
 }
 
 #[inline]
 pub fn disable_wdt_interrupts() {
-    disable_nvic_interrupt(pac::Interrupt::WATCHDOG)
+    disable_interrupt(pac::Interrupt::WATCHDOG)
 }
 
-impl Wdt {
+impl WdtController {
     pub fn new(
+        &self,
         syscfg: &mut pac::Sysconfig,
         wdt: pac::WatchDog,
         clocks: &Clocks,
@@ -80,12 +76,12 @@ impl Wdt {
 
     #[inline]
     pub fn disable_reset(&mut self) {
-        self.wdt.wdogcontrol().modify(|_, w| w.resen().clear_bit());
+        self.wdt.wdogcontrol().modify(|_, w| w.resen().clear_bit())
     }
 
     #[inline]
     pub fn enable_reset(&mut self) {
-        self.wdt.wdogcontrol().modify(|_, w| w.resen().set_bit());
+        self.wdt.wdogcontrol().modify(|_, w| w.resen().set_bit())
     }
 
     #[inline]

va416xx/.github/workflows/ci.yml

@@ -1,44 +1,64 @@
-name: ci
-on: [push, pull_request]
+on: [push]
+
+name: build
 
 jobs:
   check:
-    name: Check build
+    name: Check
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
         with:
-          targets: "thumbv7em-none-eabihf"
-      - run: cargo check --target thumbv7em-none-eabihf
-      - run: cargo check --target thumbv7em-none-eabihf --examples
-      - run: cargo check -p va416xx --target thumbv7em-none-eabihf --all-features
-      - run: cargo check -p va416xx-hal --target thumbv7em-none-eabihf --features "defmt"
+          profile: minimal
+          toolchain: stable
+          target: thumbv7em-none-eabihf
+          override: true
+      - uses: actions-rs/cargo@v1
+        with:
+          use-cross: true
+          command: check
+          args: --target thumbv7em-none-eabihf
 
   fmt:
-    name: Check formatting
+    name: Rustfmt
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
-      - run: cargo fmt --all -- --check
-
-  docs:
-    name: Check Documentation Build
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@nightly
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx --all-features
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va416xx-hal --features "defmt va41630"
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-peb1
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+      - run: rustup component add rustfmt
+      - uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: --all -- --check
 
   clippy:
     name: Clippy
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
         with:
-          targets: "thumbv7em-none-eabihf"
-      - run: cargo clippy --target thumbv7em-none-eabihf -- -D warnings
+          profile: minimal
+          toolchain: stable
+          target: thumbv7em-none-eabihf
+          override: true
+      - run: rustup component add clippy
+      - uses: actions-rs/cargo@v1
+        with:
+          use-cross: true
+          command: clippy
+          args: --target thumbv7em-none-eabihf -- -D warnings
+
+  ci:
+      if: ${{ success() }}
+      # all new jobs must be added to this list
+      needs: [check, fmt, clippy]
+      runs-on: ubuntu-latest
+      steps:
+        - name: CI succeeded
+          run: exit 0

va416xx/CHANGELOG.md

@@ -8,14 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.4.0] 2025-02-18
-
-- Re-generated PAC with `svd2rust` v0.35.0 and added optional `defmt` and `Debug` implementations
-
-## [v0.3.0] 2025-02-13
-
-- Re-generated PAC with `svd2rust` v0.35.0
-
 ## [v0.2.0] 2024-06-25
 
 - Re-Generated PAC with `svd2rust` v0.33.3

va416xx/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va416xx"
-version = "0.4.0"
+version = "0.2.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA416xx family of MCUs"
@@ -15,8 +15,6 @@ categories = ["embedded", "no-std", "hardware-support"]
 [dependencies]
 cortex-m = "0.7"
 vcell = "0.1.3"
-
-defmt = { version = "0.3", optional = true }
 critical-section = { version = "1", optional = true }
 
 [dependencies.cortex-m-rt]
@@ -25,8 +23,6 @@ version = ">=0.6.15,<0.8"
 
 [features]
 rt = ["cortex-m-rt/device"]
-# Adds Debug implementation
-debug = []
 
 [package.metadata.docs.rs]
 all-features = true

va416xx/gen-helper.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/bin/sh
 
 # Use installed tool by default
 svd2rust_bin="svd2rust"
@@ -29,7 +29,7 @@ then
 fi
 
 svdtools patch svd/va416xx-patch.yml
-${svd2rust_bin} --reexport-interrupt --impl-defmt defmt --impl-debug-feature debug -i svd/va416xx.svd.patched
+${svd2rust_bin} --reexport-interrupt -i svd/va416xx.svd.patched
 
 result=$?
 if [ $result -ne 0 ]; then

va416xx/src/adc.rs

@@ -65,61 +65,61 @@ impl RegisterBlock {
         &self.perid
     }
 }
-#[doc = "CTRL (rw) register accessor: Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ctrl::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ctrl::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctrl`]
+#[doc = "CTRL (rw) register accessor: Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ctrl::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ctrl::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctrl`]
 module"]
 #[doc(alias = "CTRL")]
 pub type Ctrl = crate::Reg<ctrl::CtrlSpec>;
 #[doc = "Control Register"]
 pub mod ctrl;
-#[doc = "FIFO_DATA (r) register accessor: FIFO data\n\nYou can [`read`](crate::Reg::read) this register and get [`fifo_data::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@fifo_data`]
+#[doc = "FIFO_DATA (r) register accessor: FIFO data\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`fifo_data::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@fifo_data`]
 module"]
 #[doc(alias = "FIFO_DATA")]
 pub type FifoData = crate::Reg<fifo_data::FifoDataSpec>;
 #[doc = "FIFO data"]
 pub mod fifo_data;
-#[doc = "STATUS (r) register accessor: Status\n\nYou can [`read`](crate::Reg::read) this register and get [`status::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@status`]
+#[doc = "STATUS (r) register accessor: Status\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`status::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@status`]
 module"]
 #[doc(alias = "STATUS")]
 pub type Status = crate::Reg<status::StatusSpec>;
 #[doc = "Status"]
 pub mod status;
-#[doc = "IRQ_ENB (rw) register accessor: Interrupt Enable\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_enb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`irq_enb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_enb`]
+#[doc = "IRQ_ENB (rw) register accessor: Interrupt Enable\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_enb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`irq_enb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_enb`]
 module"]
 #[doc(alias = "IRQ_ENB")]
 pub type IrqEnb = crate::Reg<irq_enb::IrqEnbSpec>;
 #[doc = "Interrupt Enable"]
 pub mod irq_enb;
-#[doc = "IRQ_RAW (r) register accessor: Raw Interrupt Status\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_raw::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_raw`]
+#[doc = "IRQ_RAW (r) register accessor: Raw Interrupt Status\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_raw::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_raw`]
 module"]
 #[doc(alias = "IRQ_RAW")]
 pub type IrqRaw = crate::Reg<irq_raw::IrqRawSpec>;
 #[doc = "Raw Interrupt Status"]
 pub mod irq_raw;
-#[doc = "IRQ_END (r) register accessor: Enabled Interrupt Status\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_end::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_end`]
+#[doc = "IRQ_END (r) register accessor: Enabled Interrupt Status\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_end::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_end`]
 module"]
 #[doc(alias = "IRQ_END")]
 pub type IrqEnd = crate::Reg<irq_end::IrqEndSpec>;
 #[doc = "Enabled Interrupt Status"]
 pub mod irq_end;
-#[doc = "IRQ_CLR (w) register accessor: Clear Interrupt\n\nYou can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`irq_clr::W`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_clr`]
+#[doc = "IRQ_CLR (w) register accessor: Clear Interrupt\n\nYou can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`irq_clr::W`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@irq_clr`]
 module"]
 #[doc(alias = "IRQ_CLR")]
 pub type IrqClr = crate::Reg<irq_clr::IrqClrSpec>;
 #[doc = "Clear Interrupt"]
 pub mod irq_clr;
-#[doc = "RXFIFOIRQTRG (rw) register accessor: Receive FIFO Interrupt Trigger Value\n\nYou can [`read`](crate::Reg::read) this register and get [`rxfifoirqtrg::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@rxfifoirqtrg`]
+#[doc = "RXFIFOIRQTRG (rw) register accessor: Receive FIFO Interrupt Trigger Value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`rxfifoirqtrg::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@rxfifoirqtrg`]
 module"]
 #[doc(alias = "RXFIFOIRQTRG")]
 pub type Rxfifoirqtrg = crate::Reg<rxfifoirqtrg::RxfifoirqtrgSpec>;
 #[doc = "Receive FIFO Interrupt Trigger Value"]
 pub mod rxfifoirqtrg;
-#[doc = "FIFO_CLR (rw) register accessor: FIFO Clear\n\nYou can [`read`](crate::Reg::read) this register and get [`fifo_clr::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`fifo_clr::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@fifo_clr`]
+#[doc = "FIFO_CLR (rw) register accessor: FIFO Clear\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`fifo_clr::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`fifo_clr::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@fifo_clr`]
 module"]
 #[doc(alias = "FIFO_CLR")]
 pub type FifoClr = crate::Reg<fifo_clr::FifoClrSpec>;
 #[doc = "FIFO Clear"]
 pub mod fifo_clr;
-#[doc = "PERID (r) register accessor: Peripheral ID Register\n\nYou can [`read`](crate::Reg::read) this register and get [`perid::R`]. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@perid`]
+#[doc = "PERID (r) register accessor: Peripheral ID Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`perid::R`].  See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@perid`]
 module"]
 #[doc(alias = "PERID")]
 pub type Perid = crate::Reg<perid::PeridSpec>;

va416xx/src/adc/ctrl.rs

@@ -61,36 +61,42 @@ impl R {
 impl W {
     #[doc = "Bits 0:15 - Enables the channel for data collection"]
     #[inline(always)]
+    #[must_use]
     pub fn chan_en(&mut self) -> ChanEnW<CtrlSpec> {
         ChanEnW::new(self, 0)
     }
     #[doc = "Bit 16 - Enables the channel tag to be saved with the ADC data"]
     #[inline(always)]
+    #[must_use]
     pub fn chan_tag_en(&mut self) -> ChanTagEnW<CtrlSpec> {
         ChanTagEnW::new(self, 16)
     }
     #[doc = "Bit 17 - ADC data acquisition for all enabled channel"]
     #[inline(always)]
+    #[must_use]
     pub fn sweep_en(&mut self) -> SweepEnW<CtrlSpec> {
         SweepEnW::new(self, 17)
     }
     #[doc = "Bit 18 - Allows the external trigger to start analog acquisition"]
     #[inline(always)]
+    #[must_use]
     pub fn ext_trig_en(&mut self) -> ExtTrigEnW<CtrlSpec> {
         ExtTrigEnW::new(self, 18)
     }
     #[doc = "Bit 19 - Starts analog acquisition"]
     #[inline(always)]
+    #[must_use]
     pub fn manual_trig(&mut self) -> ManualTrigW<CtrlSpec> {
         ManualTrigW::new(self, 19)
     }
     #[doc = "Bits 20:23 - Conversion count describes the number of conversions to be applied for triggers/sweeps. (N+1 conversions)"]
     #[inline(always)]
+    #[must_use]
     pub fn conv_cnt(&mut self) -> ConvCntW<CtrlSpec> {
         ConvCntW::new(self, 20)
     }
 }
-#[doc = "Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ctrl::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ctrl::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ctrl::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ctrl::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct CtrlSpec;
 impl crate::RegisterSpec for CtrlSpec {
     type Ux = u32;

va416xx/src/adc/fifo_clr.rs

@@ -7,11 +7,12 @@ pub type FifoClrW<'a, REG> = crate::BitWriter<'a, REG>;
 impl W {
     #[doc = "Bit 0 - Clears the ADC FIFO. Always reads 0"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_clr(&mut self) -> FifoClrW<FifoClrSpec> {
         FifoClrW::new(self, 0)
     }
 }
-#[doc = "FIFO Clear\n\nYou can [`read`](crate::Reg::read) this register and get [`fifo_clr::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`fifo_clr::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "FIFO Clear\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`fifo_clr::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`fifo_clr::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct FifoClrSpec;
 impl crate::RegisterSpec for FifoClrSpec {
     type Ux = u32;

va416xx/src/adc/fifo_data.rs

@@ -16,7 +16,7 @@ impl R {
         ChanTagR::new(((self.bits >> 12) & 0x0f) as u8)
     }
 }
-#[doc = "FIFO data\n\nYou can [`read`](crate::Reg::read) this register and get [`fifo_data::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "FIFO data\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`fifo_data::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct FifoDataSpec;
 impl crate::RegisterSpec for FifoDataSpec {
     type Ux = u32;

va416xx/src/adc/irq_clr.rs

@@ -11,26 +11,30 @@ pub type TrigErrorW<'a, REG> = crate::BitWriter<'a, REG>;
 impl W {
     #[doc = "Bit 0 - Clears the FIFO overflow interrupt status. Always reads 0"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_oflow(&mut self) -> FifoOflowW<IrqClrSpec> {
         FifoOflowW::new(self, 0)
     }
     #[doc = "Bit 1 - Clears the FIFO underflow interrupt status. Always reads 0"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_uflow(&mut self) -> FifoUflowW<IrqClrSpec> {
         FifoUflowW::new(self, 1)
     }
     #[doc = "Bit 2 - Clears the ADC done interrupt status. Always reads 0"]
     #[inline(always)]
+    #[must_use]
     pub fn adc_done(&mut self) -> AdcDoneW<IrqClrSpec> {
         AdcDoneW::new(self, 2)
     }
     #[doc = "Bit 3 - Clears the trigger error interrupt status. Always reads 0"]
     #[inline(always)]
+    #[must_use]
     pub fn trig_error(&mut self) -> TrigErrorW<IrqClrSpec> {
         TrigErrorW::new(self, 3)
     }
 }
-#[doc = "Clear Interrupt\n\nYou can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`irq_clr::W`](W). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Clear Interrupt\n\nYou can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`irq_clr::W`](W). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct IrqClrSpec;
 impl crate::RegisterSpec for IrqClrSpec {
     type Ux = u32;

va416xx/src/adc/irq_enb.rs

@@ -70,41 +70,48 @@ impl R {
 impl W {
     #[doc = "Bit 0 - Enables the interrupt for FIFO empty"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_empty(&mut self) -> FifoEmptyW<IrqEnbSpec> {
         FifoEmptyW::new(self, 0)
     }
     #[doc = "Bit 1 - Enables the interrupt for FIFO full"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_full(&mut self) -> FifoFullW<IrqEnbSpec> {
         FifoFullW::new(self, 1)
     }
     #[doc = "Bit 2 - Enables the interrupt for a FIFO overflow"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_oflow(&mut self) -> FifoOflowW<IrqEnbSpec> {
         FifoOflowW::new(self, 2)
     }
     #[doc = "Bit 3 - Enables the interrupt for a FIFO underflow"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_uflow(&mut self) -> FifoUflowW<IrqEnbSpec> {
         FifoUflowW::new(self, 3)
     }
     #[doc = "Bit 4 - Enables the interrupt for an ADC data acquisition completion"]
     #[inline(always)]
+    #[must_use]
     pub fn adc_done(&mut self) -> AdcDoneW<IrqEnbSpec> {
         AdcDoneW::new(self, 4)
     }
     #[doc = "Bit 5 - Enables the interrupt for a trigger error"]
     #[inline(always)]
+    #[must_use]
     pub fn trig_error(&mut self) -> TrigErrorW<IrqEnbSpec> {
         TrigErrorW::new(self, 5)
     }
     #[doc = "Bit 6 - Enables the interrupt for the FIFO entry count meets or exceeds the trigger level"]
     #[inline(always)]
+    #[must_use]
     pub fn fifo_depth_trig(&mut self) -> FifoDepthTrigW<IrqEnbSpec> {
         FifoDepthTrigW::new(self, 6)
     }
 }
-#[doc = "Interrupt Enable\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_enb::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`irq_enb::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Interrupt Enable\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_enb::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`irq_enb::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct IrqEnbSpec;
 impl crate::RegisterSpec for IrqEnbSpec {
     type Ux = u32;

va416xx/src/adc/irq_end.rs

@@ -51,7 +51,7 @@ impl R {
         FifoDepthTrigR::new(((self.bits >> 6) & 1) != 0)
     }
 }
-#[doc = "Enabled Interrupt Status\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_end::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Enabled Interrupt Status\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_end::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct IrqEndSpec;
 impl crate::RegisterSpec for IrqEndSpec {
     type Ux = u32;

va416xx/src/adc/irq_raw.rs

@@ -51,7 +51,7 @@ impl R {
         FifoDepthTrigR::new(((self.bits >> 6) & 1) != 0)
     }
 }
-#[doc = "Raw Interrupt Status\n\nYou can [`read`](crate::Reg::read) this register and get [`irq_raw::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Raw Interrupt Status\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`irq_raw::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct IrqRawSpec;
 impl crate::RegisterSpec for IrqRawSpec {
     type Ux = u32;

va416xx/src/adc/perid.rs

@@ -1,12 +1,11 @@
 #[doc = "Register `PERID` reader"]
 pub type R = crate::R<PeridSpec>;
-#[cfg(feature = "debug")]
 impl core::fmt::Debug for R {
     fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
         write!(f, "{}", self.bits())
     }
 }
-#[doc = "Peripheral ID Register\n\nYou can [`read`](crate::Reg::read) this register and get [`perid::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Peripheral ID Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`perid::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct PeridSpec;
 impl crate::RegisterSpec for PeridSpec {
     type Ux = u32;

va416xx/src/adc/rxfifoirqtrg.rs

@@ -16,11 +16,12 @@ impl R {
 impl W {
     #[doc = "Bits 0:4 - Sets the FIFO_ENTRY_CNT value that asserts the FIFO_DEPTH_TRIG interrupt"]
     #[inline(always)]
+    #[must_use]
     pub fn level(&mut self) -> LevelW<RxfifoirqtrgSpec> {
         LevelW::new(self, 0)
     }
 }
-#[doc = "Receive FIFO Interrupt Trigger Value\n\nYou can [`read`](crate::Reg::read) this register and get [`rxfifoirqtrg::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Receive FIFO Interrupt Trigger Value\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`rxfifoirqtrg::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`rxfifoirqtrg::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct RxfifoirqtrgSpec;
 impl crate::RegisterSpec for RxfifoirqtrgSpec {
     type Ux = u32;

va416xx/src/adc/status.rs

@@ -16,7 +16,7 @@ impl R {
         AdcBusyR::new(((self.bits >> 7) & 1) != 0)
     }
 }
-#[doc = "Status\n\nYou can [`read`](crate::Reg::read) this register and get [`status::R`](R). See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "Status\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`status::R`](R).  See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct StatusSpec;
 impl crate::RegisterSpec for StatusSpec {
     type Ux = u32;

va416xx/src/can0.rs

@@ -856,853 +856,853 @@ impl RegisterBlock {
         &self.ctmr
     }
 }
-#[doc = "CNSTAT_CMB0 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb0`]
+#[doc = "CNSTAT_CMB0 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb0`]
 module"]
 #[doc(alias = "CNSTAT_CMB0")]
 pub type CnstatCmb0 = crate::Reg<cnstat_cmb0::CnstatCmb0Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb0;
-#[doc = "TSTP_CMB0 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb0`]
+#[doc = "TSTP_CMB0 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb0`]
 module"]
 #[doc(alias = "TSTP_CMB0")]
 pub type TstpCmb0 = crate::Reg<tstp_cmb0::TstpCmb0Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb0;
-#[doc = "DATA3_CMB0 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb0`]
+#[doc = "DATA3_CMB0 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb0`]
 module"]
 #[doc(alias = "DATA3_CMB0")]
 pub type Data3Cmb0 = crate::Reg<data3_cmb0::Data3Cmb0Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb0;
-#[doc = "DATA2_CMB0 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb0`]
+#[doc = "DATA2_CMB0 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb0`]
 module"]
 #[doc(alias = "DATA2_CMB0")]
 pub type Data2Cmb0 = crate::Reg<data2_cmb0::Data2Cmb0Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb0;
-#[doc = "DATA1_CMB0 (rw) register accessor: CAN Frame Data Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb0`]
+#[doc = "DATA1_CMB0 (rw) register accessor: CAN Frame Data Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb0`]
 module"]
 #[doc(alias = "DATA1_CMB0")]
 pub type Data1Cmb0 = crate::Reg<data1_cmb0::Data1Cmb0Spec>;
 #[doc = "CAN Frame Data Word 1"]
 pub mod data1_cmb0;
-#[doc = "DATA0_CMB0 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb0`]
+#[doc = "DATA0_CMB0 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb0`]
 module"]
 #[doc(alias = "DATA0_CMB0")]
 pub type Data0Cmb0 = crate::Reg<data0_cmb0::Data0Cmb0Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb0;
-#[doc = "ID0_CMB0 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb0`]
+#[doc = "ID0_CMB0 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb0`]
 module"]
 #[doc(alias = "ID0_CMB0")]
 pub type Id0Cmb0 = crate::Reg<id0_cmb0::Id0Cmb0Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb0;
-#[doc = "ID1_CMB0 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb0::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb0::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb0`]
+#[doc = "ID1_CMB0 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb0::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb0::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb0`]
 module"]
 #[doc(alias = "ID1_CMB0")]
 pub type Id1Cmb0 = crate::Reg<id1_cmb0::Id1Cmb0Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb0;
-#[doc = "CNSTAT_CMB1 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb1`]
+#[doc = "CNSTAT_CMB1 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb1`]
 module"]
 #[doc(alias = "CNSTAT_CMB1")]
 pub type CnstatCmb1 = crate::Reg<cnstat_cmb1::CnstatCmb1Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb1;
-#[doc = "TSTP_CMB1 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb1`]
+#[doc = "TSTP_CMB1 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb1`]
 module"]
 #[doc(alias = "TSTP_CMB1")]
 pub type TstpCmb1 = crate::Reg<tstp_cmb1::TstpCmb1Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb1;
-#[doc = "DATA3_CMB1 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb1`]
+#[doc = "DATA3_CMB1 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb1`]
 module"]
 #[doc(alias = "DATA3_CMB1")]
 pub type Data3Cmb1 = crate::Reg<data3_cmb1::Data3Cmb1Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb1;
-#[doc = "DATA2_CMB1 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb1`]
+#[doc = "DATA2_CMB1 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb1`]
 module"]
 #[doc(alias = "DATA2_CMB1")]
 pub type Data2Cmb1 = crate::Reg<data2_cmb1::Data2Cmb1Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb1;
-#[doc = "DATA1_CMB1 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb1`]
+#[doc = "DATA1_CMB1 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb1`]
 module"]
 #[doc(alias = "DATA1_CMB1")]
 pub type Data1Cmb1 = crate::Reg<data1_cmb1::Data1Cmb1Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb1;
-#[doc = "DATA0_CMB1 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb1`]
+#[doc = "DATA0_CMB1 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb1`]
 module"]
 #[doc(alias = "DATA0_CMB1")]
 pub type Data0Cmb1 = crate::Reg<data0_cmb1::Data0Cmb1Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb1;
-#[doc = "ID0_CMB1 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb1`]
+#[doc = "ID0_CMB1 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb1`]
 module"]
 #[doc(alias = "ID0_CMB1")]
 pub type Id0Cmb1 = crate::Reg<id0_cmb1::Id0Cmb1Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb1;
-#[doc = "ID1_CMB1 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb1::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb1::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb1`]
+#[doc = "ID1_CMB1 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb1::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb1::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb1`]
 module"]
 #[doc(alias = "ID1_CMB1")]
 pub type Id1Cmb1 = crate::Reg<id1_cmb1::Id1Cmb1Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb1;
-#[doc = "CNSTAT_CMB2 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb2`]
+#[doc = "CNSTAT_CMB2 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb2`]
 module"]
 #[doc(alias = "CNSTAT_CMB2")]
 pub type CnstatCmb2 = crate::Reg<cnstat_cmb2::CnstatCmb2Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb2;
-#[doc = "TSTP_CMB2 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb2`]
+#[doc = "TSTP_CMB2 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb2`]
 module"]
 #[doc(alias = "TSTP_CMB2")]
 pub type TstpCmb2 = crate::Reg<tstp_cmb2::TstpCmb2Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb2;
-#[doc = "DATA3_CMB2 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb2`]
+#[doc = "DATA3_CMB2 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb2`]
 module"]
 #[doc(alias = "DATA3_CMB2")]
 pub type Data3Cmb2 = crate::Reg<data3_cmb2::Data3Cmb2Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb2;
-#[doc = "DATA2_CMB2 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb2`]
+#[doc = "DATA2_CMB2 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb2`]
 module"]
 #[doc(alias = "DATA2_CMB2")]
 pub type Data2Cmb2 = crate::Reg<data2_cmb2::Data2Cmb2Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb2;
-#[doc = "DATA1_CMB2 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb2`]
+#[doc = "DATA1_CMB2 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb2`]
 module"]
 #[doc(alias = "DATA1_CMB2")]
 pub type Data1Cmb2 = crate::Reg<data1_cmb2::Data1Cmb2Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb2;
-#[doc = "DATA0_CMB2 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb2`]
+#[doc = "DATA0_CMB2 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb2`]
 module"]
 #[doc(alias = "DATA0_CMB2")]
 pub type Data0Cmb2 = crate::Reg<data0_cmb2::Data0Cmb2Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb2;
-#[doc = "ID0_CMB2 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb2`]
+#[doc = "ID0_CMB2 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb2`]
 module"]
 #[doc(alias = "ID0_CMB2")]
 pub type Id0Cmb2 = crate::Reg<id0_cmb2::Id0Cmb2Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb2;
-#[doc = "ID1_CMB2 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb2::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb2::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb2`]
+#[doc = "ID1_CMB2 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb2::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb2::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb2`]
 module"]
 #[doc(alias = "ID1_CMB2")]
 pub type Id1Cmb2 = crate::Reg<id1_cmb2::Id1Cmb2Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb2;
-#[doc = "CNSTAT_CMB3 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb3`]
+#[doc = "CNSTAT_CMB3 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb3`]
 module"]
 #[doc(alias = "CNSTAT_CMB3")]
 pub type CnstatCmb3 = crate::Reg<cnstat_cmb3::CnstatCmb3Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb3;
-#[doc = "TSTP_CMB3 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb3`]
+#[doc = "TSTP_CMB3 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb3`]
 module"]
 #[doc(alias = "TSTP_CMB3")]
 pub type TstpCmb3 = crate::Reg<tstp_cmb3::TstpCmb3Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb3;
-#[doc = "DATA3_CMB3 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb3`]
+#[doc = "DATA3_CMB3 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb3`]
 module"]
 #[doc(alias = "DATA3_CMB3")]
 pub type Data3Cmb3 = crate::Reg<data3_cmb3::Data3Cmb3Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb3;
-#[doc = "DATA2_CMB3 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb3`]
+#[doc = "DATA2_CMB3 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb3`]
 module"]
 #[doc(alias = "DATA2_CMB3")]
 pub type Data2Cmb3 = crate::Reg<data2_cmb3::Data2Cmb3Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb3;
-#[doc = "DATA1_CMB3 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb3`]
+#[doc = "DATA1_CMB3 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb3`]
 module"]
 #[doc(alias = "DATA1_CMB3")]
 pub type Data1Cmb3 = crate::Reg<data1_cmb3::Data1Cmb3Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb3;
-#[doc = "DATA0_CMB3 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb3`]
+#[doc = "DATA0_CMB3 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb3`]
 module"]
 #[doc(alias = "DATA0_CMB3")]
 pub type Data0Cmb3 = crate::Reg<data0_cmb3::Data0Cmb3Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb3;
-#[doc = "ID0_CMB3 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb3`]
+#[doc = "ID0_CMB3 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb3`]
 module"]
 #[doc(alias = "ID0_CMB3")]
 pub type Id0Cmb3 = crate::Reg<id0_cmb3::Id0Cmb3Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb3;
-#[doc = "ID1_CMB3 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb3::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb3::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb3`]
+#[doc = "ID1_CMB3 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb3::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb3::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb3`]
 module"]
 #[doc(alias = "ID1_CMB3")]
 pub type Id1Cmb3 = crate::Reg<id1_cmb3::Id1Cmb3Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb3;
-#[doc = "CNSTAT_CMB4 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb4`]
+#[doc = "CNSTAT_CMB4 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb4`]
 module"]
 #[doc(alias = "CNSTAT_CMB4")]
 pub type CnstatCmb4 = crate::Reg<cnstat_cmb4::CnstatCmb4Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb4;
-#[doc = "TSTP_CMB4 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb4`]
+#[doc = "TSTP_CMB4 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb4`]
 module"]
 #[doc(alias = "TSTP_CMB4")]
 pub type TstpCmb4 = crate::Reg<tstp_cmb4::TstpCmb4Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb4;
-#[doc = "DATA3_CMB4 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb4`]
+#[doc = "DATA3_CMB4 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb4`]
 module"]
 #[doc(alias = "DATA3_CMB4")]
 pub type Data3Cmb4 = crate::Reg<data3_cmb4::Data3Cmb4Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb4;
-#[doc = "DATA2_CMB4 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb4`]
+#[doc = "DATA2_CMB4 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb4`]
 module"]
 #[doc(alias = "DATA2_CMB4")]
 pub type Data2Cmb4 = crate::Reg<data2_cmb4::Data2Cmb4Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb4;
-#[doc = "DATA1_CMB4 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb4`]
+#[doc = "DATA1_CMB4 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb4`]
 module"]
 #[doc(alias = "DATA1_CMB4")]
 pub type Data1Cmb4 = crate::Reg<data1_cmb4::Data1Cmb4Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb4;
-#[doc = "DATA0_CMB4 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb4`]
+#[doc = "DATA0_CMB4 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb4`]
 module"]
 #[doc(alias = "DATA0_CMB4")]
 pub type Data0Cmb4 = crate::Reg<data0_cmb4::Data0Cmb4Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb4;
-#[doc = "ID0_CMB4 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb4`]
+#[doc = "ID0_CMB4 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb4`]
 module"]
 #[doc(alias = "ID0_CMB4")]
 pub type Id0Cmb4 = crate::Reg<id0_cmb4::Id0Cmb4Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb4;
-#[doc = "ID1_CMB4 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb4::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb4::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb4`]
+#[doc = "ID1_CMB4 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb4::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb4::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb4`]
 module"]
 #[doc(alias = "ID1_CMB4")]
 pub type Id1Cmb4 = crate::Reg<id1_cmb4::Id1Cmb4Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb4;
-#[doc = "CNSTAT_CMB5 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb5`]
+#[doc = "CNSTAT_CMB5 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb5`]
 module"]
 #[doc(alias = "CNSTAT_CMB5")]
 pub type CnstatCmb5 = crate::Reg<cnstat_cmb5::CnstatCmb5Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb5;
-#[doc = "TSTP_CMB5 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb5`]
+#[doc = "TSTP_CMB5 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb5`]
 module"]
 #[doc(alias = "TSTP_CMB5")]
 pub type TstpCmb5 = crate::Reg<tstp_cmb5::TstpCmb5Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb5;
-#[doc = "DATA3_CMB5 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb5`]
+#[doc = "DATA3_CMB5 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb5`]
 module"]
 #[doc(alias = "DATA3_CMB5")]
 pub type Data3Cmb5 = crate::Reg<data3_cmb5::Data3Cmb5Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb5;
-#[doc = "DATA2_CMB5 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb5`]
+#[doc = "DATA2_CMB5 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb5`]
 module"]
 #[doc(alias = "DATA2_CMB5")]
 pub type Data2Cmb5 = crate::Reg<data2_cmb5::Data2Cmb5Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb5;
-#[doc = "DATA1_CMB5 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb5`]
+#[doc = "DATA1_CMB5 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb5`]
 module"]
 #[doc(alias = "DATA1_CMB5")]
 pub type Data1Cmb5 = crate::Reg<data1_cmb5::Data1Cmb5Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb5;
-#[doc = "DATA0_CMB5 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb5`]
+#[doc = "DATA0_CMB5 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb5`]
 module"]
 #[doc(alias = "DATA0_CMB5")]
 pub type Data0Cmb5 = crate::Reg<data0_cmb5::Data0Cmb5Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb5;
-#[doc = "ID0_CMB5 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb5`]
+#[doc = "ID0_CMB5 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb5`]
 module"]
 #[doc(alias = "ID0_CMB5")]
 pub type Id0Cmb5 = crate::Reg<id0_cmb5::Id0Cmb5Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb5;
-#[doc = "ID1_CMB5 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb5::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb5::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb5`]
+#[doc = "ID1_CMB5 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb5::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb5::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb5`]
 module"]
 #[doc(alias = "ID1_CMB5")]
 pub type Id1Cmb5 = crate::Reg<id1_cmb5::Id1Cmb5Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb5;
-#[doc = "CNSTAT_CMB6 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb6`]
+#[doc = "CNSTAT_CMB6 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb6`]
 module"]
 #[doc(alias = "CNSTAT_CMB6")]
 pub type CnstatCmb6 = crate::Reg<cnstat_cmb6::CnstatCmb6Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb6;
-#[doc = "TSTP_CMB6 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb6`]
+#[doc = "TSTP_CMB6 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb6`]
 module"]
 #[doc(alias = "TSTP_CMB6")]
 pub type TstpCmb6 = crate::Reg<tstp_cmb6::TstpCmb6Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb6;
-#[doc = "DATA3_CMB6 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb6`]
+#[doc = "DATA3_CMB6 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb6`]
 module"]
 #[doc(alias = "DATA3_CMB6")]
 pub type Data3Cmb6 = crate::Reg<data3_cmb6::Data3Cmb6Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb6;
-#[doc = "DATA2_CMB6 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb6`]
+#[doc = "DATA2_CMB6 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb6`]
 module"]
 #[doc(alias = "DATA2_CMB6")]
 pub type Data2Cmb6 = crate::Reg<data2_cmb6::Data2Cmb6Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb6;
-#[doc = "DATA1_CMB6 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb6`]
+#[doc = "DATA1_CMB6 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb6`]
 module"]
 #[doc(alias = "DATA1_CMB6")]
 pub type Data1Cmb6 = crate::Reg<data1_cmb6::Data1Cmb6Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb6;
-#[doc = "DATA0_CMB6 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb6`]
+#[doc = "DATA0_CMB6 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb6`]
 module"]
 #[doc(alias = "DATA0_CMB6")]
 pub type Data0Cmb6 = crate::Reg<data0_cmb6::Data0Cmb6Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb6;
-#[doc = "ID0_CMB6 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb6`]
+#[doc = "ID0_CMB6 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb6`]
 module"]
 #[doc(alias = "ID0_CMB6")]
 pub type Id0Cmb6 = crate::Reg<id0_cmb6::Id0Cmb6Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb6;
-#[doc = "ID1_CMB6 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb6::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb6::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb6`]
+#[doc = "ID1_CMB6 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb6::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb6::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb6`]
 module"]
 #[doc(alias = "ID1_CMB6")]
 pub type Id1Cmb6 = crate::Reg<id1_cmb6::Id1Cmb6Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb6;
-#[doc = "CNSTAT_CMB7 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb7`]
+#[doc = "CNSTAT_CMB7 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb7`]
 module"]
 #[doc(alias = "CNSTAT_CMB7")]
 pub type CnstatCmb7 = crate::Reg<cnstat_cmb7::CnstatCmb7Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb7;
-#[doc = "TSTP_CMB7 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb7`]
+#[doc = "TSTP_CMB7 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb7`]
 module"]
 #[doc(alias = "TSTP_CMB7")]
 pub type TstpCmb7 = crate::Reg<tstp_cmb7::TstpCmb7Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb7;
-#[doc = "DATA3_CMB7 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb7`]
+#[doc = "DATA3_CMB7 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb7`]
 module"]
 #[doc(alias = "DATA3_CMB7")]
 pub type Data3Cmb7 = crate::Reg<data3_cmb7::Data3Cmb7Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb7;
-#[doc = "DATA2_CMB7 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb7`]
+#[doc = "DATA2_CMB7 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb7`]
 module"]
 #[doc(alias = "DATA2_CMB7")]
 pub type Data2Cmb7 = crate::Reg<data2_cmb7::Data2Cmb7Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb7;
-#[doc = "DATA1_CMB7 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb7`]
+#[doc = "DATA1_CMB7 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb7`]
 module"]
 #[doc(alias = "DATA1_CMB7")]
 pub type Data1Cmb7 = crate::Reg<data1_cmb7::Data1Cmb7Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb7;
-#[doc = "DATA0_CMB7 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb7`]
+#[doc = "DATA0_CMB7 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb7`]
 module"]
 #[doc(alias = "DATA0_CMB7")]
 pub type Data0Cmb7 = crate::Reg<data0_cmb7::Data0Cmb7Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb7;
-#[doc = "ID0_CMB7 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb7`]
+#[doc = "ID0_CMB7 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb7`]
 module"]
 #[doc(alias = "ID0_CMB7")]
 pub type Id0Cmb7 = crate::Reg<id0_cmb7::Id0Cmb7Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb7;
-#[doc = "ID1_CMB7 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb7::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb7::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb7`]
+#[doc = "ID1_CMB7 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb7::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb7::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb7`]
 module"]
 #[doc(alias = "ID1_CMB7")]
 pub type Id1Cmb7 = crate::Reg<id1_cmb7::Id1Cmb7Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb7;
-#[doc = "CNSTAT_CMB8 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb8`]
+#[doc = "CNSTAT_CMB8 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb8`]
 module"]
 #[doc(alias = "CNSTAT_CMB8")]
 pub type CnstatCmb8 = crate::Reg<cnstat_cmb8::CnstatCmb8Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb8;
-#[doc = "TSTP_CMB8 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb8`]
+#[doc = "TSTP_CMB8 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb8`]
 module"]
 #[doc(alias = "TSTP_CMB8")]
 pub type TstpCmb8 = crate::Reg<tstp_cmb8::TstpCmb8Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb8;
-#[doc = "DATA3_CMB8 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb8`]
+#[doc = "DATA3_CMB8 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb8`]
 module"]
 #[doc(alias = "DATA3_CMB8")]
 pub type Data3Cmb8 = crate::Reg<data3_cmb8::Data3Cmb8Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb8;
-#[doc = "DATA2_CMB8 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb8`]
+#[doc = "DATA2_CMB8 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb8`]
 module"]
 #[doc(alias = "DATA2_CMB8")]
 pub type Data2Cmb8 = crate::Reg<data2_cmb8::Data2Cmb8Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb8;
-#[doc = "DATA1_CMB8 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb8`]
+#[doc = "DATA1_CMB8 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb8`]
 module"]
 #[doc(alias = "DATA1_CMB8")]
 pub type Data1Cmb8 = crate::Reg<data1_cmb8::Data1Cmb8Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb8;
-#[doc = "DATA0_CMB8 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb8`]
+#[doc = "DATA0_CMB8 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb8`]
 module"]
 #[doc(alias = "DATA0_CMB8")]
 pub type Data0Cmb8 = crate::Reg<data0_cmb8::Data0Cmb8Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb8;
-#[doc = "ID0_CMB8 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb8`]
+#[doc = "ID0_CMB8 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb8`]
 module"]
 #[doc(alias = "ID0_CMB8")]
 pub type Id0Cmb8 = crate::Reg<id0_cmb8::Id0Cmb8Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb8;
-#[doc = "ID1_CMB8 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb8::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb8::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb8`]
+#[doc = "ID1_CMB8 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb8::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb8::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb8`]
 module"]
 #[doc(alias = "ID1_CMB8")]
 pub type Id1Cmb8 = crate::Reg<id1_cmb8::Id1Cmb8Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb8;
-#[doc = "CNSTAT_CMB9 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb9`]
+#[doc = "CNSTAT_CMB9 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb9`]
 module"]
 #[doc(alias = "CNSTAT_CMB9")]
 pub type CnstatCmb9 = crate::Reg<cnstat_cmb9::CnstatCmb9Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb9;
-#[doc = "TSTP_CMB9 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb9`]
+#[doc = "TSTP_CMB9 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb9`]
 module"]
 #[doc(alias = "TSTP_CMB9")]
 pub type TstpCmb9 = crate::Reg<tstp_cmb9::TstpCmb9Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb9;
-#[doc = "DATA3_CMB9 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb9`]
+#[doc = "DATA3_CMB9 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb9`]
 module"]
 #[doc(alias = "DATA3_CMB9")]
 pub type Data3Cmb9 = crate::Reg<data3_cmb9::Data3Cmb9Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb9;
-#[doc = "DATA2_CMB9 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb9`]
+#[doc = "DATA2_CMB9 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb9`]
 module"]
 #[doc(alias = "DATA2_CMB9")]
 pub type Data2Cmb9 = crate::Reg<data2_cmb9::Data2Cmb9Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb9;
-#[doc = "DATA1_CMB9 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb9`]
+#[doc = "DATA1_CMB9 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb9`]
 module"]
 #[doc(alias = "DATA1_CMB9")]
 pub type Data1Cmb9 = crate::Reg<data1_cmb9::Data1Cmb9Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb9;
-#[doc = "DATA0_CMB9 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb9`]
+#[doc = "DATA0_CMB9 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb9`]
 module"]
 #[doc(alias = "DATA0_CMB9")]
 pub type Data0Cmb9 = crate::Reg<data0_cmb9::Data0Cmb9Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb9;
-#[doc = "ID0_CMB9 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb9`]
+#[doc = "ID0_CMB9 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb9`]
 module"]
 #[doc(alias = "ID0_CMB9")]
 pub type Id0Cmb9 = crate::Reg<id0_cmb9::Id0Cmb9Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb9;
-#[doc = "ID1_CMB9 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb9::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb9::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb9`]
+#[doc = "ID1_CMB9 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb9::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb9::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb9`]
 module"]
 #[doc(alias = "ID1_CMB9")]
 pub type Id1Cmb9 = crate::Reg<id1_cmb9::Id1Cmb9Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb9;
-#[doc = "CNSTAT_CMB10 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb10`]
+#[doc = "CNSTAT_CMB10 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb10`]
 module"]
 #[doc(alias = "CNSTAT_CMB10")]
 pub type CnstatCmb10 = crate::Reg<cnstat_cmb10::CnstatCmb10Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb10;
-#[doc = "TSTP_CMB10 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb10`]
+#[doc = "TSTP_CMB10 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb10`]
 module"]
 #[doc(alias = "TSTP_CMB10")]
 pub type TstpCmb10 = crate::Reg<tstp_cmb10::TstpCmb10Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb10;
-#[doc = "DATA3_CMB10 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb10`]
+#[doc = "DATA3_CMB10 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb10`]
 module"]
 #[doc(alias = "DATA3_CMB10")]
 pub type Data3Cmb10 = crate::Reg<data3_cmb10::Data3Cmb10Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb10;
-#[doc = "DATA2_CMB10 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb10`]
+#[doc = "DATA2_CMB10 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb10`]
 module"]
 #[doc(alias = "DATA2_CMB10")]
 pub type Data2Cmb10 = crate::Reg<data2_cmb10::Data2Cmb10Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb10;
-#[doc = "DATA1_CMB10 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb10`]
+#[doc = "DATA1_CMB10 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb10`]
 module"]
 #[doc(alias = "DATA1_CMB10")]
 pub type Data1Cmb10 = crate::Reg<data1_cmb10::Data1Cmb10Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb10;
-#[doc = "DATA0_CMB10 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb10`]
+#[doc = "DATA0_CMB10 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb10`]
 module"]
 #[doc(alias = "DATA0_CMB10")]
 pub type Data0Cmb10 = crate::Reg<data0_cmb10::Data0Cmb10Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb10;
-#[doc = "ID0_CMB10 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb10`]
+#[doc = "ID0_CMB10 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb10`]
 module"]
 #[doc(alias = "ID0_CMB10")]
 pub type Id0Cmb10 = crate::Reg<id0_cmb10::Id0Cmb10Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb10;
-#[doc = "ID1_CMB10 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb10::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb10::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb10`]
+#[doc = "ID1_CMB10 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb10::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb10::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb10`]
 module"]
 #[doc(alias = "ID1_CMB10")]
 pub type Id1Cmb10 = crate::Reg<id1_cmb10::Id1Cmb10Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb10;
-#[doc = "CNSTAT_CMB11 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb11`]
+#[doc = "CNSTAT_CMB11 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb11`]
 module"]
 #[doc(alias = "CNSTAT_CMB11")]
 pub type CnstatCmb11 = crate::Reg<cnstat_cmb11::CnstatCmb11Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb11;
-#[doc = "TSTP_CMB11 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb11`]
+#[doc = "TSTP_CMB11 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb11`]
 module"]
 #[doc(alias = "TSTP_CMB11")]
 pub type TstpCmb11 = crate::Reg<tstp_cmb11::TstpCmb11Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb11;
-#[doc = "DATA3_CMB11 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb11`]
+#[doc = "DATA3_CMB11 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb11`]
 module"]
 #[doc(alias = "DATA3_CMB11")]
 pub type Data3Cmb11 = crate::Reg<data3_cmb11::Data3Cmb11Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb11;
-#[doc = "DATA2_CMB11 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb11`]
+#[doc = "DATA2_CMB11 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb11`]
 module"]
 #[doc(alias = "DATA2_CMB11")]
 pub type Data2Cmb11 = crate::Reg<data2_cmb11::Data2Cmb11Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb11;
-#[doc = "DATA1_CMB11 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb11`]
+#[doc = "DATA1_CMB11 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb11`]
 module"]
 #[doc(alias = "DATA1_CMB11")]
 pub type Data1Cmb11 = crate::Reg<data1_cmb11::Data1Cmb11Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb11;
-#[doc = "DATA0_CMB11 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb11`]
+#[doc = "DATA0_CMB11 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb11`]
 module"]
 #[doc(alias = "DATA0_CMB11")]
 pub type Data0Cmb11 = crate::Reg<data0_cmb11::Data0Cmb11Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb11;
-#[doc = "ID0_CMB11 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb11`]
+#[doc = "ID0_CMB11 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb11`]
 module"]
 #[doc(alias = "ID0_CMB11")]
 pub type Id0Cmb11 = crate::Reg<id0_cmb11::Id0Cmb11Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb11;
-#[doc = "ID1_CMB11 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb11::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb11::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb11`]
+#[doc = "ID1_CMB11 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb11::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb11::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb11`]
 module"]
 #[doc(alias = "ID1_CMB11")]
 pub type Id1Cmb11 = crate::Reg<id1_cmb11::Id1Cmb11Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb11;
-#[doc = "CNSTAT_CMB12 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb12`]
+#[doc = "CNSTAT_CMB12 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb12`]
 module"]
 #[doc(alias = "CNSTAT_CMB12")]
 pub type CnstatCmb12 = crate::Reg<cnstat_cmb12::CnstatCmb12Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb12;
-#[doc = "TSTP_CMB12 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb12`]
+#[doc = "TSTP_CMB12 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb12`]
 module"]
 #[doc(alias = "TSTP_CMB12")]
 pub type TstpCmb12 = crate::Reg<tstp_cmb12::TstpCmb12Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb12;
-#[doc = "DATA3_CMB12 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb12`]
+#[doc = "DATA3_CMB12 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb12`]
 module"]
 #[doc(alias = "DATA3_CMB12")]
 pub type Data3Cmb12 = crate::Reg<data3_cmb12::Data3Cmb12Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb12;
-#[doc = "DATA2_CMB12 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb12`]
+#[doc = "DATA2_CMB12 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb12`]
 module"]
 #[doc(alias = "DATA2_CMB12")]
 pub type Data2Cmb12 = crate::Reg<data2_cmb12::Data2Cmb12Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb12;
-#[doc = "DATA1_CMB12 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb12`]
+#[doc = "DATA1_CMB12 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb12`]
 module"]
 #[doc(alias = "DATA1_CMB12")]
 pub type Data1Cmb12 = crate::Reg<data1_cmb12::Data1Cmb12Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb12;
-#[doc = "DATA0_CMB12 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb12`]
+#[doc = "DATA0_CMB12 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb12`]
 module"]
 #[doc(alias = "DATA0_CMB12")]
 pub type Data0Cmb12 = crate::Reg<data0_cmb12::Data0Cmb12Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb12;
-#[doc = "ID0_CMB12 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb12`]
+#[doc = "ID0_CMB12 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb12`]
 module"]
 #[doc(alias = "ID0_CMB12")]
 pub type Id0Cmb12 = crate::Reg<id0_cmb12::Id0Cmb12Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb12;
-#[doc = "ID1_CMB12 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb12::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb12::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb12`]
+#[doc = "ID1_CMB12 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb12::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb12::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb12`]
 module"]
 #[doc(alias = "ID1_CMB12")]
 pub type Id1Cmb12 = crate::Reg<id1_cmb12::Id1Cmb12Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb12;
-#[doc = "CNSTAT_CMB13 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb13`]
+#[doc = "CNSTAT_CMB13 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb13`]
 module"]
 #[doc(alias = "CNSTAT_CMB13")]
 pub type CnstatCmb13 = crate::Reg<cnstat_cmb13::CnstatCmb13Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb13;
-#[doc = "TSTP_CMB13 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb13`]
+#[doc = "TSTP_CMB13 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb13`]
 module"]
 #[doc(alias = "TSTP_CMB13")]
 pub type TstpCmb13 = crate::Reg<tstp_cmb13::TstpCmb13Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb13;
-#[doc = "DATA3_CMB13 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb13`]
+#[doc = "DATA3_CMB13 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb13`]
 module"]
 #[doc(alias = "DATA3_CMB13")]
 pub type Data3Cmb13 = crate::Reg<data3_cmb13::Data3Cmb13Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb13;
-#[doc = "DATA2_CMB13 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb13`]
+#[doc = "DATA2_CMB13 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb13`]
 module"]
 #[doc(alias = "DATA2_CMB13")]
 pub type Data2Cmb13 = crate::Reg<data2_cmb13::Data2Cmb13Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb13;
-#[doc = "DATA1_CMB13 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb13`]
+#[doc = "DATA1_CMB13 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb13`]
 module"]
 #[doc(alias = "DATA1_CMB13")]
 pub type Data1Cmb13 = crate::Reg<data1_cmb13::Data1Cmb13Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb13;
-#[doc = "DATA0_CMB13 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb13`]
+#[doc = "DATA0_CMB13 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb13`]
 module"]
 #[doc(alias = "DATA0_CMB13")]
 pub type Data0Cmb13 = crate::Reg<data0_cmb13::Data0Cmb13Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb13;
-#[doc = "ID0_CMB13 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb13`]
+#[doc = "ID0_CMB13 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb13`]
 module"]
 #[doc(alias = "ID0_CMB13")]
 pub type Id0Cmb13 = crate::Reg<id0_cmb13::Id0Cmb13Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb13;
-#[doc = "ID1_CMB13 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb13::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb13::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb13`]
+#[doc = "ID1_CMB13 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb13::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb13::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb13`]
 module"]
 #[doc(alias = "ID1_CMB13")]
 pub type Id1Cmb13 = crate::Reg<id1_cmb13::Id1Cmb13Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb13;
-#[doc = "CNSTAT_CMB14 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb14`]
+#[doc = "CNSTAT_CMB14 (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_cmb14`]
 module"]
 #[doc(alias = "CNSTAT_CMB14")]
 pub type CnstatCmb14 = crate::Reg<cnstat_cmb14::CnstatCmb14Spec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_cmb14;
-#[doc = "TSTP_CMB14 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb14`]
+#[doc = "TSTP_CMB14 (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_cmb14`]
 module"]
 #[doc(alias = "TSTP_CMB14")]
 pub type TstpCmb14 = crate::Reg<tstp_cmb14::TstpCmb14Spec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_cmb14;
-#[doc = "DATA3_CMB14 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb14`]
+#[doc = "DATA3_CMB14 (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_cmb14`]
 module"]
 #[doc(alias = "DATA3_CMB14")]
 pub type Data3Cmb14 = crate::Reg<data3_cmb14::Data3Cmb14Spec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_cmb14;
-#[doc = "DATA2_CMB14 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb14`]
+#[doc = "DATA2_CMB14 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_cmb14`]
 module"]
 #[doc(alias = "DATA2_CMB14")]
 pub type Data2Cmb14 = crate::Reg<data2_cmb14::Data2Cmb14Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_cmb14;
-#[doc = "DATA1_CMB14 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb14`]
+#[doc = "DATA1_CMB14 (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_cmb14`]
 module"]
 #[doc(alias = "DATA1_CMB14")]
 pub type Data1Cmb14 = crate::Reg<data1_cmb14::Data1Cmb14Spec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_cmb14;
-#[doc = "DATA0_CMB14 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb14`]
+#[doc = "DATA0_CMB14 (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_cmb14`]
 module"]
 #[doc(alias = "DATA0_CMB14")]
 pub type Data0Cmb14 = crate::Reg<data0_cmb14::Data0Cmb14Spec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_cmb14;
-#[doc = "ID0_CMB14 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb14`]
+#[doc = "ID0_CMB14 (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_cmb14`]
 module"]
 #[doc(alias = "ID0_CMB14")]
 pub type Id0Cmb14 = crate::Reg<id0_cmb14::Id0Cmb14Spec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_cmb14;
-#[doc = "ID1_CMB14 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_cmb14::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_cmb14::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb14`]
+#[doc = "ID1_CMB14 (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_cmb14::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_cmb14::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_cmb14`]
 module"]
 #[doc(alias = "ID1_CMB14")]
 pub type Id1Cmb14 = crate::Reg<id1_cmb14::Id1Cmb14Spec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_cmb14;
-#[doc = "CNSTAT_HCMB (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cnstat_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cnstat_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_hcmb`]
+#[doc = "CNSTAT_HCMB (rw) register accessor: Buffer Status / Control Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cnstat_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cnstat_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cnstat_hcmb`]
 module"]
 #[doc(alias = "CNSTAT_HCMB")]
 pub type CnstatHcmb = crate::Reg<cnstat_hcmb::CnstatHcmbSpec>;
 #[doc = "Buffer Status / Control Register"]
 pub mod cnstat_hcmb;
-#[doc = "TSTP_HCMB (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::Reg::read) this register and get [`tstp_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`tstp_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_hcmb`]
+#[doc = "TSTP_HCMB (rw) register accessor: CAN Frame Timestamp\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`tstp_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`tstp_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@tstp_hcmb`]
 module"]
 #[doc(alias = "TSTP_HCMB")]
 pub type TstpHcmb = crate::Reg<tstp_hcmb::TstpHcmbSpec>;
 #[doc = "CAN Frame Timestamp"]
 pub mod tstp_hcmb;
-#[doc = "DATA3_HCMB (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::Reg::read) this register and get [`data3_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data3_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_hcmb`]
+#[doc = "DATA3_HCMB (rw) register accessor: CAN Frame Data Word 3\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data3_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data3_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data3_hcmb`]
 module"]
 #[doc(alias = "DATA3_HCMB")]
 pub type Data3Hcmb = crate::Reg<data3_hcmb::Data3HcmbSpec>;
 #[doc = "CAN Frame Data Word 3"]
 pub mod data3_hcmb;
-#[doc = "DATA2_HCMB (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data2_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data2_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_hcmb`]
+#[doc = "DATA2_HCMB (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data2_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data2_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data2_hcmb`]
 module"]
 #[doc(alias = "DATA2_HCMB")]
 pub type Data2Hcmb = crate::Reg<data2_hcmb::Data2HcmbSpec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data2_hcmb;
-#[doc = "DATA1_HCMB (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::Reg::read) this register and get [`data1_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data1_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_hcmb`]
+#[doc = "DATA1_HCMB (rw) register accessor: CAN Frame Data Word 2\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data1_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data1_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data1_hcmb`]
 module"]
 #[doc(alias = "DATA1_HCMB")]
 pub type Data1Hcmb = crate::Reg<data1_hcmb::Data1HcmbSpec>;
 #[doc = "CAN Frame Data Word 2"]
 pub mod data1_hcmb;
-#[doc = "DATA0_HCMB (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`data0_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`data0_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_hcmb`]
+#[doc = "DATA0_HCMB (rw) register accessor: CAN Frame Data Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`data0_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`data0_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@data0_hcmb`]
 module"]
 #[doc(alias = "DATA0_HCMB")]
 pub type Data0Hcmb = crate::Reg<data0_hcmb::Data0HcmbSpec>;
 #[doc = "CAN Frame Data Word 0"]
 pub mod data0_hcmb;
-#[doc = "ID0_HCMB (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::Reg::read) this register and get [`id0_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id0_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_hcmb`]
+#[doc = "ID0_HCMB (rw) register accessor: CAN Frame Identifier Word 0\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id0_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id0_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id0_hcmb`]
 module"]
 #[doc(alias = "ID0_HCMB")]
 pub type Id0Hcmb = crate::Reg<id0_hcmb::Id0HcmbSpec>;
 #[doc = "CAN Frame Identifier Word 0"]
 pub mod id0_hcmb;
-#[doc = "ID1_HCMB (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::Reg::read) this register and get [`id1_hcmb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`id1_hcmb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_hcmb`]
+#[doc = "ID1_HCMB (rw) register accessor: CAN Frame Identifier Word 1\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`id1_hcmb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`id1_hcmb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@id1_hcmb`]
 module"]
 #[doc(alias = "ID1_HCMB")]
 pub type Id1Hcmb = crate::Reg<id1_hcmb::Id1HcmbSpec>;
 #[doc = "CAN Frame Identifier Word 1"]
 pub mod id1_hcmb;
-#[doc = "CGCR (rw) register accessor: CAN Global Configuration Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cgcr::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cgcr::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cgcr`]
+#[doc = "CGCR (rw) register accessor: CAN Global Configuration Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cgcr::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cgcr::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cgcr`]
 module"]
 #[doc(alias = "CGCR")]
 pub type Cgcr = crate::Reg<cgcr::CgcrSpec>;
 #[doc = "CAN Global Configuration Register"]
 pub mod cgcr;
-#[doc = "CTIM (rw) register accessor: CAN Timing Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ctim::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ctim::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctim`]
+#[doc = "CTIM (rw) register accessor: CAN Timing Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ctim::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ctim::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctim`]
 module"]
 #[doc(alias = "CTIM")]
 pub type Ctim = crate::Reg<ctim::CtimSpec>;
 #[doc = "CAN Timing Register"]
 pub mod ctim;
-#[doc = "GMSKX (rw) register accessor: CAN Global Mask Extension\n\nYou can [`read`](crate::Reg::read) this register and get [`gmskx::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`gmskx::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@gmskx`]
+#[doc = "GMSKX (rw) register accessor: CAN Global Mask Extension\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`gmskx::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`gmskx::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@gmskx`]
 module"]
 #[doc(alias = "GMSKX")]
 pub type Gmskx = crate::Reg<gmskx::GmskxSpec>;
 #[doc = "CAN Global Mask Extension"]
 pub mod gmskx;
-#[doc = "GMSKB (rw) register accessor: CAN Global Mask Base\n\nYou can [`read`](crate::Reg::read) this register and get [`gmskb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`gmskb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@gmskb`]
+#[doc = "GMSKB (rw) register accessor: CAN Global Mask Base\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`gmskb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`gmskb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@gmskb`]
 module"]
 #[doc(alias = "GMSKB")]
 pub type Gmskb = crate::Reg<gmskb::GmskbSpec>;
 #[doc = "CAN Global Mask Base"]
 pub mod gmskb;
-#[doc = "BMSKX (rw) register accessor: CAN Basic Mask Extension\n\nYou can [`read`](crate::Reg::read) this register and get [`bmskx::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`bmskx::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@bmskx`]
+#[doc = "BMSKX (rw) register accessor: CAN Basic Mask Extension\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`bmskx::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`bmskx::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@bmskx`]
 module"]
 #[doc(alias = "BMSKX")]
 pub type Bmskx = crate::Reg<bmskx::BmskxSpec>;
 #[doc = "CAN Basic Mask Extension"]
 pub mod bmskx;
-#[doc = "BMSKB (rw) register accessor: CAN Basic Mask Base\n\nYou can [`read`](crate::Reg::read) this register and get [`bmskb::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`bmskb::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@bmskb`]
+#[doc = "BMSKB (rw) register accessor: CAN Basic Mask Base\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`bmskb::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`bmskb::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@bmskb`]
 module"]
 #[doc(alias = "BMSKB")]
 pub type Bmskb = crate::Reg<bmskb::BmskbSpec>;
 #[doc = "CAN Basic Mask Base"]
 pub mod bmskb;
-#[doc = "CIEN (rw) register accessor: CAN Interrupt Enable Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cien::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cien::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cien`]
+#[doc = "CIEN (rw) register accessor: CAN Interrupt Enable Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cien::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cien::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cien`]
 module"]
 #[doc(alias = "CIEN")]
 pub type Cien = crate::Reg<cien::CienSpec>;
 #[doc = "CAN Interrupt Enable Register"]
 pub mod cien;
-#[doc = "CIPND (rw) register accessor: CAN Interrupt Pending Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cipnd::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cipnd::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cipnd`]
+#[doc = "CIPND (rw) register accessor: CAN Interrupt Pending Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cipnd::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cipnd::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cipnd`]
 module"]
 #[doc(alias = "CIPND")]
 pub type Cipnd = crate::Reg<cipnd::CipndSpec>;
 #[doc = "CAN Interrupt Pending Register"]
 pub mod cipnd;
-#[doc = "CICLR (rw) register accessor: CAN Interrupt Clear Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ciclr::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ciclr::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ciclr`]
+#[doc = "CICLR (rw) register accessor: CAN Interrupt Clear Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ciclr::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ciclr::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ciclr`]
 module"]
 #[doc(alias = "CICLR")]
 pub type Ciclr = crate::Reg<ciclr::CiclrSpec>;
 #[doc = "CAN Interrupt Clear Register"]
 pub mod ciclr;
-#[doc = "CICEN (rw) register accessor: CAN Interrupt Code Enable Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cicen::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cicen::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cicen`]
+#[doc = "CICEN (rw) register accessor: CAN Interrupt Code Enable Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cicen::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cicen::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cicen`]
 module"]
 #[doc(alias = "CICEN")]
 pub type Cicen = crate::Reg<cicen::CicenSpec>;
 #[doc = "CAN Interrupt Code Enable Register"]
 pub mod cicen;
-#[doc = "CSTPND (rw) register accessor: CAN Status Pending Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cstpnd::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cstpnd::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cstpnd`]
+#[doc = "CSTPND (rw) register accessor: CAN Status Pending Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cstpnd::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cstpnd::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cstpnd`]
 module"]
 #[doc(alias = "CSTPND")]
 pub type Cstpnd = crate::Reg<cstpnd::CstpndSpec>;
 #[doc = "CAN Status Pending Register"]
 pub mod cstpnd;
-#[doc = "CANEC (rw) register accessor: CAN Error Counter Register\n\nYou can [`read`](crate::Reg::read) this register and get [`canec::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`canec::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@canec`]
+#[doc = "CANEC (rw) register accessor: CAN Error Counter Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`canec::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`canec::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@canec`]
 module"]
 #[doc(alias = "CANEC")]
 pub type Canec = crate::Reg<canec::CanecSpec>;
 #[doc = "CAN Error Counter Register"]
 pub mod canec;
-#[doc = "CEDIAG (rw) register accessor: CAN Error Diagnostic Register\n\nYou can [`read`](crate::Reg::read) this register and get [`cediag::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`cediag::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cediag`]
+#[doc = "CEDIAG (rw) register accessor: CAN Error Diagnostic Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`cediag::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`cediag::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@cediag`]
 module"]
 #[doc(alias = "CEDIAG")]
 pub type Cediag = crate::Reg<cediag::CediagSpec>;
 #[doc = "CAN Error Diagnostic Register"]
 pub mod cediag;
-#[doc = "CTMR (rw) register accessor: CAN Timer Register\n\nYou can [`read`](crate::Reg::read) this register and get [`ctmr::R`]. You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`ctmr::W`]. You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctmr`]
+#[doc = "CTMR (rw) register accessor: CAN Timer Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`ctmr::R`].  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`ctmr::W`]. You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api).\n\nFor information about available fields see [`mod@ctmr`]
 module"]
 #[doc(alias = "CTMR")]
 pub type Ctmr = crate::Reg<ctmr::CtmrSpec>;

va416xx/src/can0/bmskb.rs

@@ -60,16 +60,19 @@ impl W {
 - Unused in standard, ID\\[17:15\\]
 in extended"]
     #[inline(always)]
+    #[must_use]
     pub fn bm0(&mut self) -> Bm0W<BmskbSpec> {
         Bm0W::new(self, 0)
     }
     #[doc = "Bit 3 - Identifier Extension Bit"]
     #[inline(always)]
+    #[must_use]
     pub fn ide(&mut self) -> IdeW<BmskbSpec> {
         IdeW::new(self, 3)
     }
     #[doc = "Bit 4 - Remote Transmission Request in Standard, Substitute Remote Request (SRR) in extended"]
     #[inline(always)]
+    #[must_use]
     pub fn rtr(&mut self) -> RtrW<BmskbSpec> {
         RtrW::new(self, 4)
     }
@@ -78,11 +81,12 @@ in extended"]
 in standard, ID\\[28:18\\]
 in extended"]
     #[inline(always)]
+    #[must_use]
     pub fn bm1(&mut self) -> Bm1W<BmskbSpec> {
         Bm1W::new(self, 5)
     }
 }
-#[doc = "CAN Basic Mask Base\n\nYou can [`read`](crate::Reg::read) this register and get [`bmskb::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`bmskb::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "CAN Basic Mask Base\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`bmskb::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`bmskb::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct BmskbSpec;
 impl crate::RegisterSpec for BmskbSpec {
     type Ux = u32;

va416xx/src/can0/bmskx.rs

@@ -31,6 +31,7 @@ in extended, unused standard"]
 impl W {
     #[doc = "Bit 0 - Extended Remote transmission Request Bit"]
     #[inline(always)]
+    #[must_use]
     pub fn xrtr(&mut self) -> XrtrW<BmskxSpec> {
         XrtrW::new(self, 0)
     }
@@ -38,11 +39,12 @@ impl W {
 used when an extended frame is received. ID\\[14:0\\]
 in extended, unused standard"]
     #[inline(always)]
+    #[must_use]
     pub fn bm(&mut self) -> BmW<BmskxSpec> {
         BmW::new(self, 1)
     }
 }
-#[doc = "CAN Basic Mask Extension\n\nYou can [`read`](crate::Reg::read) this register and get [`bmskx::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`bmskx::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "CAN Basic Mask Extension\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`bmskx::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`bmskx::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct BmskxSpec;
 impl crate::RegisterSpec for BmskxSpec {
     type Ux = u32;

va416xx/src/can0/canec.rs

@@ -25,16 +25,18 @@ impl R {
 impl W {
     #[doc = "Bits 0:7 - Transmit Error Counter"]
     #[inline(always)]
+    #[must_use]
     pub fn tec(&mut self) -> TecW<CanecSpec> {
         TecW::new(self, 0)
     }
     #[doc = "Bits 8:15 - Receive Error Counter"]
     #[inline(always)]
+    #[must_use]
     pub fn rec(&mut self) -> RecW<CanecSpec> {
         RecW::new(self, 8)
     }
 }
-#[doc = "CAN Error Counter Register\n\nYou can [`read`](crate::Reg::read) this register and get [`canec::R`](R). You can [`reset`](crate::Reg::reset), [`write`](crate::Reg::write), [`write_with_zero`](crate::Reg::write_with_zero) this register using [`canec::W`](W). You can also [`modify`](crate::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
+#[doc = "CAN Error Counter Register\n\nYou can [`read`](crate::generic::Reg::read) this register and get [`canec::R`](R).  You can [`reset`](crate::generic::Reg::reset), [`write`](crate::generic::Reg::write), [`write_with_zero`](crate::generic::Reg::write_with_zero) this register using [`canec::W`](W). You can also [`modify`](crate::generic::Reg::modify) this register. See [API](https://docs.rs/svd2rust/#read--modify--write-api)."]
 pub struct CanecSpec;
 impl crate::RegisterSpec for CanecSpec {
     type Ux = u32;