small improvement

README.md

@@ -61,16 +61,6 @@ 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.
 
-### Pre-Requisites
-
-1. [SEGGER J-Link tools](https://www.segger.com/downloads/jlink/) installed
-2. [Rust `thumbv7em-none-eaibhf` toolchain](https://doc.rust-lang.org/nightly/rustc/platform-support/thumbv7em-none-eabi.html).
-   Use the following command to install it:
-
-   ```sh
-   rustup target add thumbv7em-none-eabihf
-   ```
-
 ### Using CLI with probe-rs
 
 Install [probe-rs](https://probe.rs/docs/getting-started/installation/) first.
@@ -90,6 +80,15 @@ available for persistent flashing.
 Runner configuration is available in the `.cargo/def-config.toml` file to use `probe-rs` for
 convenience. `probe-rs` is also able to process and display `defmt` strings directly.
 
+### Pre-Requisites
+
+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`.
+
+### Using CLI
+
+
 ### Using VS Code
 
 Assuming a working debug connection to your VA416xx board, you can debug using VS Code with

bootloader/Cargo.toml

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

examples/embassy/Cargo.toml

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

examples/rtic/Cargo.toml

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

examples/simple/Cargo.toml

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

examples/simple/examples/pwm_test.rs

@@ -1,44 +0,0 @@
-//! Simple PWM example
-//!
-//! Outputs a PWM waveform on pin PG2.
-#![no_main]
-#![no_std]
-
-use cortex_m_rt::entry;
-use embedded_hal::pwm::SetDutyCycle;
-// Import panic provider.
-use panic_probe as _;
-// Import logger.
-use defmt_rtt as _;
-use simple_examples::peb1;
-use va416xx_hal::{
-    clock::ClockConfigurator,
-    pac,
-    pins::PinsG,
-    prelude::*,
-    pwm::{get_duty_from_percent, PwmPin},
-};
-
-#[entry]
-fn main() -> ! {
-    defmt::println!("-- VA108xx PWM example application--");
-    let dp = pac::Peripherals::take().unwrap();
-
-    // Use the external clock connected to XTAL_N.
-    let clocks = ClockConfigurator::new(dp.clkgen)
-        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
-        .freeze()
-        .unwrap();
-
-    let pinsg = PinsG::new(dp.portg);
-    let mut pwm = PwmPin::new(pinsg.pg2, dp.tim9, &clocks, 10.kHz()).unwrap();
-    //let mut delay_timer = CountdownTimer::new(dp.tim0, &clocks);
-    //let mut current_duty_cycle = 0.0;
-    pwm.set_duty_cycle(get_duty_from_percent(0.5)).unwrap();
-    pwm.enable();
-
-    // Delete type information, increased code readibility for the rest of the code
-    loop {
-        cortex_m::asm::nop();
-    }
-}

flashloader/Cargo.toml

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

flashloader/src/main.rs

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

va416xx-embassy/Cargo.toml

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

va416xx-hal/Cargo.toml

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

va416xx-hal/src/can/regs.rs

@@ -357,10 +357,10 @@ impl defmt::Format for DiagnosticRegister {
 #[mmio(const_inner)]
 #[repr(C)]
 pub struct Can {
-    #[mmio(Inner)]
+    #[mmio(inner)]
     cmbs: [CanMsgBuf; 15],
     /// Hidden CAN message buffer. Only allowed to be used internally by the peripheral.
-    #[mmio(Inner)]
+    #[mmio(inner)]
     _hcmb: CanMsgBuf,
     control: Control,
     timing: TimingConfig,

va416xx/CHANGELOG.md

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

va416xx/Cargo.toml

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