Bootloader and Flashloader App

.github/workflows/ci.yml

@@ -39,9 +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 --features va41630
 
   clippy:
     name: Clippy

Cargo.toml

@@ -1,14 +1,12 @@
 [workspace]
 resolver = "2"
 members = [
-  "va416xx",
-  "va416xx-hal",
-  "vorago-peb1",
   "bootloader",
   "flashloader",
   "examples/simple",
-  "examples/embassy",
-  "examples/rtic",
+	"va416xx",
+	"va416xx-hal",
+	"vorago-peb1"
 ]
 exclude = [
   "flashloader/slot-a-blinky",

README.md

@@ -24,11 +24,7 @@ It also contains the following helper crates:
 - 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` folder contains various example applications crates for the HAL and the PAC.
 
 ## Using the `.cargo/config.toml` file
 
@@ -100,9 +96,7 @@ example.
 ### Using VS Code
 
 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). Please make sure that
-[`objdump-multiarch` and `nm-multiarch`](https://forums.raspberrypi.com/viewtopic.php?t=333146)
-are installed as well.
+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`
@@ -117,5 +111,4 @@ configuration variables in your `settings.json`:
 - `"cortex-debug.gdbPath.osx"`
 
 The provided VS Code configurations also provide an integrated RTT logger, which you can access
-via the terminal at `RTT Ch:0 console`. In order for the RTT block address detection to
-work properly, `objdump-multiarch` and `nm-multiarch` need to be installed.
+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
             """
           }
         }

examples/README.md

@@ -1,25 +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
-
-```rs
-cargo run --bin embassy-example
-```

examples/embassy/Cargo.toml

@@ -1,40 +0,0 @@
-[package]
-name = "embassy-example"
-version = "0.1.0"
-edition = "2021"
-
-[dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-cortex-m-rt = "0.7"
-embedded-hal = "1"
-
-rtt-target = { version = "0.5" }
-panic-rtt-target = { version = "0.1" }
-critical-section = "1"
-
-embassy-sync = { version = "0.6.0" }
-embassy-time = { version = "0.3.2" }
-embassy-time-driver = { version = "0.1" }
-
-[dependencies.once_cell]
-version = "1"
-default-features = false
-features = ["critical-section"]
-
-[dependencies.embassy-executor]
-version = "0.6.0"
-features = [
-    "arch-cortex-m",
-    "executor-thread",
-    "executor-interrupt",
-    "integrated-timers",
-]
-
-[dependencies.va416xx-hal]
-path = "../../va416xx-hal"
-features = ["va41630"]
-
-[features]
-default = ["ticks-hz-1_000"]
-ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
-ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

examples/embassy/src/lib.rs

@@ -1,4 +0,0 @@
-#![no_std]
-pub mod time_driver;
-
-pub use time_driver::init;

examples/embassy/src/main.rs

@@ -1,46 +0,0 @@
-#![no_std]
-#![no_main]
-use embassy_executor::Spawner;
-use embassy_time::{Duration, Instant, Ticker};
-use embedded_hal::digital::StatefulOutputPin;
-use panic_rtt_target as _;
-use rtt_target::{rprintln, rtt_init_print};
-use va416xx_hal::{gpio::PinsG, pac, prelude::*, time::Hertz};
-
-const EXTCLK_FREQ: u32 = 40_000_000;
-
-// main is itself an async function.
-#[embassy_executor::main]
-async fn main(_spawner: Spawner) {
-    rtt_init_print!();
-    rprintln!("VA416xx Embassy Demo");
-
-    let mut dp = pac::Peripherals::take().unwrap();
-
-    // Initialize the systick interrupt & obtain the token to prove that we did
-    // Use the external clock connected to XTAL_N.
-    let clocks = dp
-        .clkgen
-        .constrain()
-        .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
-        .freeze(&mut dp.sysconfig)
-        .unwrap();
-    // Safety: Only called once here.
-    unsafe {
-        embassy_example::init(
-            &mut dp.sysconfig,
-            &dp.irq_router,
-            dp.tim15,
-            dp.tim14,
-            &clocks,
-        )
-    };
-    let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
-    let mut led = portg.pg5.into_readable_push_pull_output();
-    let mut ticker = Ticker::every(Duration::from_secs(1));
-    loop {
-        ticker.next().await;
-        rprintln!("Current time: {}", Instant::now().as_secs());
-        led.toggle().ok();
-    }
-}

examples/embassy/src/time_driver.rs

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

examples/rtic/Cargo.toml

@@ -1,24 +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 = "0.5" }
-rtic-sync = { version = "1.3", features = ["defmt-03"] }
-panic-rtt-target = { version = "0.1.3" }
-
-[dependencies.va416xx-hal]
-path = "../../va416xx-hal"
-features = ["va41630"]
-
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "2"
-features = ["cortex-m-systick"]

examples/rtic/src/main.rs

@@ -1,57 +0,0 @@
-//! RTIC minimal blinky
-#![no_main]
-#![no_std]
-
-#[rtic::app(device = pac, dispatchers = [U1, U2, U3])]
-mod app {
-    use cortex_m::asm;
-    use embedded_hal::digital::StatefulOutputPin;
-    use panic_rtt_target as _;
-    use rtic_monotonics::systick::prelude::*;
-    use rtic_monotonics::Monotonic;
-    use rtt_target::{rprintln, rtt_init_default};
-    use va416xx_hal::{
-        gpio::{OutputReadablePushPull, Pin, PinsG, PG5},
-        pac,
-    };
-
-    #[local]
-    struct Local {
-        led: Pin<PG5, OutputReadablePushPull>,
-    }
-
-    #[shared]
-    struct Shared {}
-
-    rtic_monotonics::systick_monotonic!(Mono, 10_000);
-
-    #[init]
-    fn init(_ctx: init::Context) -> (Shared, Local) {
-        rtt_init_default!();
-        rprintln!("-- Vorago RTIC template --");
-        let mut dp = pac::Peripherals::take().unwrap();
-        let portg = PinsG::new(&mut dp.sysconfig, dp.portg);
-        let led = portg.pg5.into_readable_push_pull_output();
-        blinky::spawn().ok();
-        (Shared {}, Local { led })
-    }
-
-    // `shared` cannot be accessed from this context
-    #[idle]
-    fn idle(_cx: idle::Context) -> ! {
-        loop {
-            asm::nop();
-        }
-    }
-
-    #[task(
-        priority = 3,
-        local=[led],
-    )]
-    async fn blinky(cx: blinky::Context) {
-        loop {
-            cx.local.led.toggle().ok();
-            Mono::delay(200.millis()).await;
-        }
-    }
-}

examples/simple/Cargo.toml

@@ -4,11 +4,11 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-critical-section = "1"
 panic-rtt-target = { version = "0.1.3" }
 rtt-target = { version = "0.5" }
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+rtic-sync = { version = "1.3", features = ["defmt-03"] }
 embedded-hal = "1"
 embedded-hal-nb = "1"
 nb = "1"
@@ -23,16 +23,8 @@ path = "../../va416xx-hal"
 path = "../../vorago-peb1"
 optional = true
 
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
-
-[dependencies.rtic-monotonics]
-version = "2"
-features = ["cortex-m-systick"]
-
 [features]
-default = ["va41630"]
+default = []
 va41630 = ["va416xx-hal/va41630", "has-adc-dac"]
 va41629 = ["va416xx-hal/va41629", "has-adc-dac"]
 va41628 = ["va416xx-hal/va41628"]

examples/simple/examples/dma.rs

@@ -4,14 +4,13 @@
 
 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::pwm::CountdownTimer;
 use va416xx_hal::{
     pac::{self, interrupt},
@@ -46,7 +45,6 @@ fn main() -> ! {
         .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
         .freeze(&mut dp.sysconfig)
         .unwrap();
-    enable_and_init_irq_router(&mut dp.sysconfig, &dp.irq_router);
     // Safety: The DMA control block has an alignment rule of 128 and we constructed it directly
     // statically.
     let dma = Dma::new(&mut dp.sysconfig, dp.dma, DmaCfg::default(), unsafe {
@@ -90,10 +88,10 @@ 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.
@@ -114,7 +112,7 @@ fn transfer_example_8_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 8 bit transfer");
                 DMA_ACTIVE_FLAG.borrow(cs).set(false);
@@ -145,10 +143,10 @@ fn transfer_example_16_bit(dma0: &mut DmaChannel, delay_ms: &mut CountdownTimer<
             DMA_SRC_BUF[i] = (i as u32 * u16::MAX as u32 / (dest_buf_ref.len() as u32 - 1)) as u16;
         });
     }
-    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.
@@ -172,7 +170,7 @@ 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);
@@ -208,10 +206,10 @@ fn transfer_example_32_bit(
     (0..16).for_each(|i| {
         src_buf[i] = (i as u64 * u32::MAX as u64 / (src_buf.len() - 1) as u64) as u32;
     });
-    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.
@@ -232,7 +230,7 @@ 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);
@@ -262,7 +260,7 @@ 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);
     });
 }
@@ -271,7 +269,7 @@ 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/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/wdt.rs

@@ -3,12 +3,11 @@
 #![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;
@@ -41,7 +40,6 @@ 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;
@@ -51,7 +49,7 @@ fn main() -> ! {
         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 +65,7 @@ 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/image-loader.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
+from spacepackets.ecss import RequestId
 from spacepackets.ecss.defs import PusService
 from spacepackets.ecss.tm import PusTm
 import toml
 import struct
 import logging
 import argparse
+import threading
 import time
 import enum
 from tmtccmd.com.serial_base import SerialCfg
@@ -43,7 +45,6 @@ ACTION_SERVICE = 8
 
 RAW_MEMORY_WRITE_SUBSERVICE = 2
 BOOT_NVM_MEMORY_ID = 1
-PING_PAYLOAD_SIZE = 0
 
 
 class ActionId(enum.IntEnum):
@@ -103,29 +104,6 @@ def main() -> int:
     com_if = SerialCobsComIF(serial_cfg)
     com_if.open()
     file_path = None
-    if args.ping:
-        _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),
-        )
-        verificator.add_tc(ping_tc)
-        com_if.send(ping_tc.pack())
-
-        data_available = com_if.data_available(0.4)
-        if not data_available:
-            _LOGGER.warning("no ping reply received")
-        for reply in com_if.receive():
-            result = 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")
-        if not args.target:
-            return 0
     if args.target:
         if not args.corrupt:
             if not args.path:
@@ -135,6 +113,15 @@ def main() -> int:
             if not file_path.exists():
                 _LOGGER.error("File does not exist")
                 return -1
+    if args.ping:
+        _LOGGER.info("Sending ping command")
+        ping_tc = PusTc(
+            apid=0x00,
+            service=PusService.S17_TEST,
+            subservice=1,
+            seq_count=SEQ_PROVIDER.get_and_increment(),
+        )
+        com_if.send(ping_tc.pack())
     if args.corrupt:
         if not args.target:
             _LOGGER.error("target for corruption command required")
@@ -267,7 +254,7 @@ def main() -> int:
                             ):
                                 done = True
                                 # Still keep a small delay
-                                # time.sleep(0.05)
+                                time.sleep(0.01)
                         verificator.remove_completed_entries()
                         if done:
                             break

flashloader/src/main.rs

@@ -18,11 +18,13 @@
 #![no_main]
 #![no_std]
 
+use embedded_hal_nb::serial::Read;
 use once_cell::sync::OnceCell;
 use panic_rtt_target as _;
 use va416xx_hal::{clock::Clocks, edac, pac, time::Hertz, wdt::Wdt};
 
 const EXTCLK_FREQ: u32 = 40_000_000;
+const COBS_FRAME_SEPARATOR: u8 = 0x0;
 
 const MAX_TC_SIZE: usize = 1024;
 const MAX_TC_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TC_SIZE);
@@ -31,8 +33,10 @@ 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 SERIAL_RX_WIRETAPPING: bool = false;
+const COBS_RX_DEBUGGING: bool = false;
+
 const BOOT_NVM_MEMORY_ID: u8 = 1;
-const RX_DEBUGGING: bool = false;
 
 pub enum ActionId {
     CorruptImageA = 128,
@@ -58,24 +62,13 @@ use ringbuf::{
     CachingCons, StaticProd, StaticRb,
 };
 
-// Larger buffer for TC to be able to hold the possibly large memory write packets.
-const BUF_RB_SIZE_TC: usize = 2048;
-const SIZES_RB_SIZE_TC: usize = 16;
+const BUF_RB_SIZE_TX: usize = 1024;
+const SIZES_RB_SIZE_TX: usize = 16;
 
-const BUF_RB_SIZE_TM: usize = 512;
-const SIZES_RB_SIZE_TM: usize = 16;
-
-// Ring buffers to handling variable sized telemetry
-static mut BUF_RB_TM: Lazy<StaticRb<u8, BUF_RB_SIZE_TM>> =
-    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TM>::default);
-static mut SIZES_RB_TM: Lazy<StaticRb<usize, SIZES_RB_SIZE_TM>> =
-    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TM>::default);
-
-// Ring buffers to handling variable sized telecommands
-static mut BUF_RB_TC: Lazy<StaticRb<u8, BUF_RB_SIZE_TC>> =
-    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TC>::default);
-static mut SIZES_RB_TC: Lazy<StaticRb<usize, SIZES_RB_SIZE_TC>> =
-    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TC>::default);
+static mut BUF_RB_TX: Lazy<StaticRb<u8, BUF_RB_SIZE_TX>> =
+    Lazy::new(StaticRb::<u8, BUF_RB_SIZE_TX>::default);
+static mut SIZES_RB_TX: Lazy<StaticRb<usize, SIZES_RB_SIZE_TX>> =
+    Lazy::new(StaticRb::<usize, SIZES_RB_SIZE_TX>::default);
 
 pub struct DataProducer<const BUF_SIZE: usize, const SIZES_LEN: usize> {
     pub buf_prod: StaticProd<'static, u8, BUF_SIZE>,
@@ -98,17 +91,21 @@ pub const APP_B_END_ADDR: u32 = 0x40000;
 mod app {
     use super::*;
     use cortex_m::asm;
+    use embedded_hal_nb::nb;
     use embedded_io::Write;
     use panic_rtt_target as _;
     use rtic::Mutex;
     use rtic_monotonics::systick::prelude::*;
+    use rtic_sync::{
+        channel::{Receiver, Sender},
+        make_channel,
+    };
     use rtt_target::rprintln;
     use satrs::pus::verification::VerificationReportCreator;
     use spacepackets::ecss::PusServiceId;
     use spacepackets::ecss::{
         tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
     };
-    use va416xx_hal::irq_router::enable_and_init_irq_router;
     use va416xx_hal::{
         clock::ClkgenExt,
         edac,
@@ -130,24 +127,26 @@ mod app {
 
     #[local]
     struct Local {
-        uart_rx: uart::RxWithIrq<pac::Uart0>,
+        uart_rx: uart::Rx<pac::Uart0>,
         uart_tx: uart::Tx<pac::Uart0>,
+        cobs_reader_state: CobsReaderStates,
+        tc_tx: TcTx,
+        tc_rx: TcRx,
         rom_spi: Option<pac::Spi3>,
-        // We handle all TM in one task.
-        tm_cons: DataConsumer<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
-        // We consume all TC in one task.
-        tc_cons: DataConsumer<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
-        // We produce all TC in one task.
-        tc_prod: DataProducer<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
+        tx_cons: DataConsumer<BUF_RB_SIZE_TX, SIZES_RB_SIZE_TX>,
         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>,
+        decode_buffer_busy: bool,
+        decode_buf: [u8; MAX_TC_SIZE],
+        tx_prod: DataProducer<BUF_RB_SIZE_TX, SIZES_RB_SIZE_TX>,
     }
 
+    pub type TcTx = Sender<'static, usize, 2>;
+    pub type TcRx = Receiver<'static, usize, 2>;
+
     rtic_monotonics::systick_monotonic!(Mono, 10_000);
 
     #[init]
@@ -164,7 +163,6 @@ mod app {
             .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
             .freeze(&mut cx.device.sysconfig)
             .unwrap();
-        enable_and_init_irq_router(&mut cx.device.sysconfig, &cx.device.irq_router);
         setup_edac(&mut cx.device.sysconfig);
 
         let gpiob = PinsG::new(&mut cx.device.sysconfig, cx.device.portg);
@@ -178,45 +176,38 @@ mod app {
             &mut cx.device.sysconfig,
             &clocks,
         );
-        let (tx, mut rx, _) = uart0.split_with_irq();
+        let (tx, rx) = uart0.split();
+        let (tc_tx, tc_rx) = make_channel!(usize, 2);
 
         let verif_reporter = VerificationReportCreator::new(0).unwrap();
 
-        let (buf_prod_tm, buf_cons_tm) = unsafe { BUF_RB_TM.split_ref() };
-        let (sizes_prod_tm, sizes_cons_tm) = unsafe { SIZES_RB_TM.split_ref() };
-
-        let (buf_prod_tc, buf_cons_tc) = unsafe { BUF_RB_TC.split_ref() };
-        let (sizes_prod_tc, sizes_cons_tc) = unsafe { SIZES_RB_TC.split_ref() };
+        let (buf_prod, buf_cons) = unsafe { BUF_RB_TX.split_ref() };
+        let (sizes_prod, sizes_cons) = unsafe { SIZES_RB_TX.split_ref() };
 
         Mono::start(cx.core.SYST, clocks.sysclk().raw());
         CLOCKS.set(clocks).unwrap();
-
-        rx.read_fixed_len_using_irq(MAX_TC_FRAME_SIZE, true)
-            .expect("initiating UART RX failed");
         pus_tc_handler::spawn().unwrap();
+        uart_reader_task::spawn().unwrap();
         pus_tm_tx_handler::spawn().unwrap();
         (
             Shared {
-                tm_prod: DataProducer {
-                    buf_prod: buf_prod_tm,
-                    sizes_prod: sizes_prod_tm,
+                decode_buffer_busy: false,
+                decode_buf: [0; MAX_TC_SIZE],
+                tx_prod: DataProducer {
+                    buf_prod,
+                    sizes_prod,
                 },
             },
             Local {
                 uart_rx: rx,
                 uart_tx: tx,
+                cobs_reader_state: CobsReaderStates::default(),
+                tc_tx,
+                tc_rx,
                 rom_spi: Some(cx.device.spi3),
-                tm_cons: DataConsumer {
-                    buf_cons: buf_cons_tm,
-                    sizes_cons: sizes_cons_tm,
-                },
-                tc_cons: DataConsumer {
-                    buf_cons: buf_cons_tc,
-                    sizes_cons: sizes_cons_tc,
-                },
-                tc_prod: DataProducer {
-                    buf_prod: buf_prod_tc,
-                    sizes_prod: sizes_prod_tc,
+                tx_cons: DataConsumer {
+                    buf_cons,
+                    sizes_cons,
                 },
                 verif_reporter,
             },
@@ -232,62 +223,120 @@ mod app {
     }
 
     #[task(
-        binds = UART0_RX,
-        local = [
-            cnt: u32 = 0,
-            rx_buf: [u8; MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
+        priority = 4,
+        local=[
+            read_buf: [u8;MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
             uart_rx,
-            tc_prod
+            cobs_reader_state,
+            tc_tx
         ],
+        shared=[decode_buffer_busy, decode_buf]
     )]
-    fn uart_rx_irq(cx: uart_rx_irq::Context) {
-        match cx.local.uart_rx.irq_handler(cx.local.rx_buf) {
-            Ok(result) => {
-                if RX_DEBUGGING {
-                    log::debug!("RX Info: {:?}", cx.local.uart_rx.irq_info());
-                    log::debug!("RX Result: {:?}", result);
+    async fn uart_reader_task(mut cx: uart_reader_task::Context) {
+        let mut current_idx = 0;
+        loop {
+            match cx.local.uart_rx.read() {
+                Ok(byte) => {
+                    if SERIAL_RX_WIRETAPPING {
+                        log::debug!("RX Byte: 0x{:x?}", byte);
+                    }
+                    handle_single_rx_byte(&mut cx, byte, &mut current_idx)
                 }
-                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");
+                Err(e) => {
+                    match e {
+                        nb::Error::Other(e) => {
+                            log::warn!("UART error: {:?}", e);
+                            match e {
+                                uart::Error::Overrun => {
+                                    cx.local.uart_rx.clear_fifo();
+                                }
+                                uart::Error::FramingError => (),
+                                uart::Error::ParityError => (),
+                                uart::Error::BreakCondition => (),
+                                uart::Error::TransferPending => (),
+                                uart::Error::BufferTooShort => (),
                             }
                         }
-                    } else {
-                        log::warn!("COBS frame with invalid format, start and end bytes are not 0");
+                        nb::Error::WouldBlock => {
+                            // Delay for a short period before polling again.
+                            Mono::delay(400.micros()).await;
+                        }
                     }
-
-                    // Initiate next transfer.
-                    cx.local
-                        .uart_rx
-                        .read_fixed_len_using_irq(MAX_TC_FRAME_SIZE, true)
-                        .expect("read operation failed");
-                }
-                if result.error() {
-                    log::warn!("UART error: {:?}", result.error());
                 }
             }
-            Err(e) => {
-                log::warn!("UART error: {:?}", e);
+        }
+    }
+
+    fn handle_single_rx_byte(
+        cx: &mut uart_reader_task::Context,
+        byte: u8,
+        current_idx: &mut usize,
+    ) {
+        match cx.local.cobs_reader_state {
+            CobsReaderStates::WaitingForStart => {
+                if byte == COBS_FRAME_SEPARATOR {
+                    if COBS_RX_DEBUGGING {
+                        log::debug!("COBS start marker detected");
+                    }
+                    *cx.local.cobs_reader_state = CobsReaderStates::WatingForEnd;
+                    *current_idx = 0;
+                }
+            }
+            CobsReaderStates::WatingForEnd => {
+                if byte == COBS_FRAME_SEPARATOR {
+                    if COBS_RX_DEBUGGING {
+                        log::debug!("COBS end marker detected");
+                    }
+                    let mut sending_failed = false;
+                    let mut decoding_error = false;
+                    let mut decode_buffer_busy = false;
+                    cx.shared.decode_buffer_busy.lock(|busy| {
+                        if *busy {
+                            decode_buffer_busy = true;
+                        } else {
+                            cx.shared.decode_buf.lock(|buf| {
+                                match cobs::decode(&cx.local.read_buf[..*current_idx], buf) {
+                                    Ok(packet_len) => {
+                                        if COBS_RX_DEBUGGING {
+                                            log::debug!(
+                                                "COBS decoded packet with length {}",
+                                                packet_len
+                                            );
+                                        }
+                                        if cx.local.tc_tx.try_send(packet_len).is_err() {
+                                            sending_failed = true;
+                                        }
+                                        *busy = true;
+                                    }
+                                    Err(_) => {
+                                        decoding_error = true;
+                                    }
+                                }
+                            });
+                        }
+                    });
+                    if sending_failed {
+                        log::warn!("sending TC packet failed, queue full");
+                    }
+                    if decoding_error {
+                        log::warn!("decoding error");
+                    }
+                    if decode_buffer_busy {
+                        log::warn!("decode buffer busy. data arriving too fast");
+                    }
+                    *cx.local.cobs_reader_state = CobsReaderStates::WaitingForStart;
+                } else if *current_idx >= cx.local.read_buf.len() {
+                    *cx.local.cobs_reader_state = CobsReaderStates::FrameOverflow;
+                } else {
+                    cx.local.read_buf[*current_idx] = byte;
+                    *current_idx += 1;
+                }
+            }
+            CobsReaderStates::FrameOverflow => {
+                if byte == COBS_FRAME_SEPARATOR {
+                    *cx.local.cobs_reader_state = CobsReaderStates::WaitingForStart;
+                    *current_idx = 0;
+                }
             }
         }
     }
@@ -295,167 +344,149 @@ mod app {
     #[task(
         priority = 2,
         local=[
-            tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
+            read_buf: [u8;MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
             src_data_buf: [u8; 16] = [0; 16],
             verif_buf: [u8; 32] = [0; 32],
-            tc_cons,
+            tc_rx,
             rom_spi,
             verif_reporter
         ],
-        shared=[tm_prod]
+        shared=[decode_buffer_busy, decode_buf, tx_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();
+            let packet_len = cx.local.tc_rx.recv().await.expect("all senders down");
             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);
-        }
-    }
+            // We still copy the data to a local buffer, so the exchange buffer can already be used
+            // for the next packet / decode process.
+            cx.shared
+                .decode_buf
+                .lock(|buf| cx.local.read_buf[0..buf.len()].copy_from_slice(buf));
+            cx.shared.decode_buffer_busy.lock(|busy| *busy = false);
+            match PusTcReader::new(cx.local.read_buf) {
+                Ok((pus_tc, _)) => {
+                    let mut write_and_send = |tm: &PusTmCreator| {
+                        let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
+                        cx.shared.tx_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);
 
-    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);
 
-        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()
-                    );
+                    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");
+                    } 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!("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!("NVM operation done");
+                        }
+                    }
                 }
-                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;
+                Err(e) => {
+                    log::warn!("PUS TC error: {}", e);
                 }
-                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!("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!("NVM operation done");
             }
         }
     }
@@ -466,16 +497,16 @@ mod app {
             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
+            tx_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();
+            while cx.local.tx_cons.sizes_cons.occupied_len() > 0 {
+                let next_size = cx.local.tx_cons.sizes_cons.try_pop().unwrap();
                 cx.local
-                    .tm_cons
+                    .tx_cons
                     .buf_cons
                     .pop_slice(&mut cx.local.read_buf[0..next_size]);
                 cx.local.encoded_buf[0] = 0;
@@ -490,7 +521,7 @@ mod app {
                     .unwrap();
                 Mono::delay(2.millis()).await;
             }
-            Mono::delay(50.millis()).await;
+            Mono::delay(30.millis()).await;
         }
     }
 

va416xx-hal/CHANGELOG.md

@@ -8,7 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v0.2.0] 2024-09-18
+# [v0.2.0]
 
 - Documentation improvements
 - Improved UART typing support: Validity of passed pins is now checked properly
@@ -17,17 +17,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Added `va41620`, `va41630`, `va41628` and `va41629` device features. A device now has to be
   selected for HAL compilation to work properly
-- Adaptions for the UART IRQ feature which are now only implemented for the RX part of the UART.
 
 ## Fixed
 
 - Small fixes and improvements for ADC drivers
 - Fixes for the SPI implementation where the clock divider values were not calculated
   correctly
-- Fixes for UART IRQ handler implementation
-- Add new IRQ router initialization method `irq_router::enable_and_init_irq_router`. This method
-  also sets the initial values of some registers to 0 where the datasheet and the actual reset
-  value are inconsistent, which can lead to weird bugs like IRQs not being triggered properly.
 
 ## Added
 

va416xx-hal/Cargo.toml

@@ -12,7 +12,6 @@ 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"
@@ -21,7 +20,7 @@ embedded-io = "0.6"
 num_enum = { version = "0.7", default-features = false }
 typenum = "1"
 bitflags = "2"
-bitfield = "0.17"
+bitfield = "0.15"
 defmt = { version = "0.3", optional = true }
 fugit = "0.3"
 delegate = "0.12"

va416xx-hal/src/clock.rs

@@ -311,12 +311,6 @@ 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;
@@ -324,7 +318,7 @@ 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
@@ -500,33 +494,33 @@ pub struct Clocks {
 
 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/gpio/mod.rs

@@ -21,6 +21,7 @@
 //! ## Examples
 //!
 //! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/blinky.rs)
+
 #[derive(Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct IsMaskedError;

va416xx-hal/src/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

@@ -1,26 +1,3 @@
-//! This is the **H**ardware **A**bstraction **L**ayer (HAL) for the VA416xx MCU family.
-//!
-//! It is an additional hardware abstraction on top of the [peripheral access API](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx).
-
-//! It is the result of reading the datasheet for the device and encoding a type-safe layer over the
-//! raw PAC. This crate also implements traits specified by the
-//! [embedded-hal](https://github.com/rust-embedded/embedded-hal) project, making it compatible with
-//! various drivers in the embedded rust ecosystem.
-
-//! You have to enable one of the following device features to use this crate depending on
-//! which chip you are using:
-
-//! - `va41630`
-//! - `va41629`
-//! - `va41628`
-//! - `va41620`
-//!
-//! When using this HAL and writing applications for the VA416xx family in general, it is strongly
-//! recommended that you set up the clock properly, because the default internal HBO clock
-//! is not very accurate. You can use the [crate::clock] module for this. If you are working
-//! with interrupts, it is strongly recommended to set up the IRQ router with the
-//! [crate::irq_router] module at the very least because that peripheral has confusing and/or
-//! faulty register reset values which might lead to weird bugs and glitches.
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_auto_cfg))]
 #[cfg(test)]
@@ -45,7 +22,7 @@ pub mod dma;
 pub mod edac;
 pub mod gpio;
 pub mod i2c;
-pub mod irq_router;
+pub mod nvm;
 pub mod pwm;
 pub mod spi;
 pub mod time;
@@ -54,9 +31,6 @@ pub mod typelevel;
 pub mod uart;
 pub mod wdt;
 
-#[cfg(feature = "va41630")]
-pub mod nvm;
-
 #[cfg(not(feature = "va41628"))]
 pub mod adc;
 #[cfg(not(feature = "va41628"))]

va416xx-hal/src/nvm.rs

@@ -1,10 +1,3 @@
-//! 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};

va416xx-hal/src/timer.rs

@@ -5,8 +5,7 @@
 //! - [Timer MS and Second Tick Example](https://github.com/us-irs/va416xx-rs/blob/main/examples/simple/examples/timer-ticks.rs)
 use core::cell::Cell;
 
-use cortex_m::asm;
-use critical_section::Mutex;
+use cortex_m::interrupt::Mutex;
 
 use crate::clock::Clocks;
 use crate::gpio::{
@@ -170,14 +169,6 @@ macro_rules! tim_markers {
     };
 }
 
-pub const fn const_clock<Tim: ValidTim + ?Sized>(_: &Tim, clocks: &Clocks) -> Hertz {
-    if Tim::TIM_ID <= 15 {
-        clocks.apb1()
-    } else {
-        clocks.apb2()
-    }
-}
-
 tim_markers!(
     (pac::Tim0, 0, pac::Interrupt::TIM0),
     (pac::Tim1, 1, pac::Interrupt::TIM1),
@@ -337,27 +328,19 @@ 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)) })
 }
 
 #[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);
-}
-
 pub type TimRegBlock = pac::tim0::RegisterBlock;
 
 /// Register interface.
@@ -498,7 +481,7 @@ 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)) });
@@ -596,10 +579,9 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
     pub fn load(&mut self, timeout: impl Into<Hertz>) {
         self.tim.reg().ctrl().modify(|_, w| w.enable().clear_bit());
         self.curr_freq = timeout.into();
-        self.rst_val = (self.clock.raw() / self.curr_freq.raw()) - 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)]
@@ -619,7 +601,7 @@ impl<Tim: ValidTim> CountdownTimer<Tim> {
 
     #[inline(always)]
     pub fn enable(&mut self) {
-        self.tim.reg().enable().write(|w| unsafe { w.bits(1) });
+        self.tim.reg().ctrl().modify(|_, w| w.enable().set_bit());
     }
 
     #[inline(always)]
@@ -796,7 +778,7 @@ 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);
@@ -805,7 +787,7 @@ 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.rs

@@ -3,7 +3,6 @@
 //! ## Examples
 //!
 //! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/simple/examples/uart.rs)
-//! - [Flashloader app using UART with IRQs](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/flashloader)
 use core::ops::Deref;
 
 use embedded_hal_nb::serial::Read;
@@ -198,36 +197,66 @@ impl From<Hertz> for Config {
 // IRQ Definitions
 //==================================================================================================
 
-#[derive(Debug)]
-pub struct IrqInfo {
+struct IrqInfo {
     rx_len: usize,
     rx_idx: usize,
     mode: IrqReceptionMode,
 }
 
+pub enum IrqResultMask {
+    Complete = 0,
+    Overflow = 1,
+    FramingError = 2,
+    ParityError = 3,
+    Break = 4,
+    Timeout = 5,
+    Addr9 = 6,
+    /// Should not happen
+    Unknown = 7,
+}
+
 /// This struct is used to return the default IRQ handler result to the user
 #[derive(Debug, Default)]
 pub struct IrqResult {
-    complete: bool,
-    timeout: bool,
-    pub errors: IrqUartError,
+    raw_res: u32,
     pub bytes_read: usize,
 }
 
 impl IrqResult {
-    pub fn new() -> Self {
+    pub const fn new() -> Self {
         IrqResult {
-            complete: false,
-            timeout: false,
-            errors: IrqUartError::default(),
+            raw_res: 0,
             bytes_read: 0,
         }
     }
 }
+
 impl IrqResult {
+    #[inline]
+    pub fn raw_result(&self) -> u32 {
+        self.raw_res
+    }
+
+    #[inline]
+    pub(crate) fn clear_result(&mut self) {
+        self.raw_res = 0;
+    }
+    #[inline]
+    pub(crate) fn set_result(&mut self, flag: IrqResultMask) {
+        self.raw_res |= 1 << flag as u32;
+    }
+
+    #[inline]
+    pub fn complete(&self) -> bool {
+        if ((self.raw_res >> IrqResultMask::Complete as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
+    }
+
     #[inline]
     pub fn error(&self) -> bool {
-        if self.errors.overflow || self.errors.parity || self.errors.framing {
+        if self.overflow_error() || self.framing_error() || self.parity_error() {
             return true;
         }
         false
@@ -235,27 +264,34 @@ impl IrqResult {
 
     #[inline]
     pub fn overflow_error(&self) -> bool {
-        self.errors.overflow
+        if ((self.raw_res >> IrqResultMask::Overflow as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
     }
 
     #[inline]
     pub fn framing_error(&self) -> bool {
-        self.errors.framing
+        if ((self.raw_res >> IrqResultMask::FramingError as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
     }
 
     #[inline]
     pub fn parity_error(&self) -> bool {
-        self.errors.parity
+        if ((self.raw_res >> IrqResultMask::ParityError as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
     }
 
     #[inline]
     pub fn timeout(&self) -> bool {
-        self.timeout
-    }
-
-    #[inline]
-    pub fn complete(&self) -> bool {
-        self.complete
+        if ((self.raw_res >> IrqResultMask::Timeout as u32) & 0x01) == 0x01 {
+            return true;
+        }
+        false
     }
 }
 
@@ -281,27 +317,41 @@ pub struct Uart<UartInstance, Pins> {
     pins: Pins,
 }
 
-/// Serial receiver
-pub struct Rx<Uart>(Uart);
+/// UART using the IRQ capabilities of the peripheral. Can be created with the
+/// [`Uart::into_uart_with_irq`] function. Currently, only the RX side for IRQ based reception
+/// is implemented.
+pub struct UartWithIrq<Uart, Pins> {
+    base: UartWithIrqBase<Uart>,
+    pins: Pins,
+}
 
-// Serial receiver, using interrupts to offload reading to the hardware.
-pub struct RxWithIrq<Uart> {
-    inner: Rx<Uart>,
+/// Type-erased UART using the IRQ capabilities of the peripheral. Can be created with the
+/// [`UartWithIrq::downgrade`] function. Currently, only the RX side for IRQ based reception
+/// is implemented.
+pub struct UartWithIrqBase<UART> {
+    pub inner: UartBase<UART>,
     irq_info: IrqInfo,
 }
 
+/// Serial receiver
+pub struct Rx<Uart> {
+    uart: Uart,
+}
+
 /// Serial transmitter
-pub struct Tx<Uart>(Uart);
+pub struct Tx<Uart> {
+    uart: Uart,
+}
 
 impl<Uart: Instance> Rx<Uart> {
     fn new(uart: Uart) -> Self {
-        Self(uart)
+        Self { uart }
     }
 }
 
 impl<Uart> Tx<Uart> {
     fn new(uart: Uart) -> Self {
-        Self(uart)
+        Self { uart }
     }
 }
 
@@ -552,30 +602,20 @@ impl<TxPinInst: TxPin<UartInstance>, RxPinInst: RxPin<UartInstance>, UartInstanc
     }
 
     /// If the IRQ capabilities of the peripheral are used, the UART needs to be converted
-    /// with this function. Currently, IRQ abstractions are only implemented for the RX part
-    /// of the UART, so this function will release a TX and RX handle as well as the pin
-    /// instances.
-    pub fn split_with_irq(
-        self,
-    ) -> (
-        Tx<UartInstance>,
-        RxWithIrq<UartInstance>,
-        (TxPinInst, RxPinInst),
-    ) {
+    /// with this function
+    pub fn into_uart_with_irq(self) -> UartWithIrq<UartInstance, (TxPinInst, RxPinInst)> {
         let (inner, pins) = self.downgrade_internal();
-        let (tx, rx) = inner.split();
-        (
-            tx,
-            RxWithIrq {
-                inner: rx,
+        UartWithIrq {
+            pins,
+            base: UartWithIrqBase {
+                inner,
                 irq_info: IrqInfo {
                     rx_len: 0,
                     rx_idx: 0,
                     mode: IrqReceptionMode::Idle,
                 },
             },
-            pins,
-        )
+        }
     }
 
     delegate::delegate! {
@@ -633,26 +673,11 @@ impl<Uart: Instance> Rx<Uart> {
     ///
     /// You must ensure that only registers related to the operation of the RX side are used.
     pub unsafe fn uart(&self) -> &Uart {
-        &self.0
+        &self.uart
     }
 
-    #[inline]
     pub fn clear_fifo(&self) {
-        self.0.fifo_clr().write(|w| w.rxfifo().set_bit());
-    }
-
-    #[inline]
-    pub fn enable(&mut self) {
-        self.0.enable().modify(|_, w| w.rxenable().set_bit());
-    }
-
-    #[inline]
-    pub fn disable(&mut self) {
-        self.0.enable().modify(|_, w| w.rxenable().clear_bit());
-    }
-
-    pub fn release(self) -> Uart {
-        self.0
+        self.uart.fifo_clr().write(|w| w.rxfifo().set_bit());
     }
 }
 
@@ -663,22 +688,11 @@ impl<Uart: Instance> Tx<Uart> {
     ///
     /// You must ensure that only registers related to the operation of the TX side are used.
     pub unsafe fn uart(&self) -> &Uart {
-        &self.0
+        &self.uart
     }
 
-    #[inline]
     pub fn clear_fifo(&self) {
-        self.0.fifo_clr().write(|w| w.txfifo().set_bit());
-    }
-
-    #[inline]
-    pub fn enable(&mut self) {
-        self.0.enable().modify(|_, w| w.txenable().set_bit());
-    }
-
-    #[inline]
-    pub fn disable(&mut self) {
-        self.0.enable().modify(|_, w| w.txenable().clear_bit());
+        self.uart.fifo_clr().write(|w| w.txfifo().set_bit());
     }
 }
 
@@ -687,7 +701,6 @@ pub struct IrqUartError {
     overflow: bool,
     framing: bool,
     parity: bool,
-    other: bool,
 }
 
 impl IrqUartError {
@@ -702,7 +715,7 @@ pub enum IrqError {
     Uart(IrqUartError),
 }
 
-impl<Uart: Instance> RxWithIrq<Uart> {
+impl<Uart: Instance> UartWithIrqBase<Uart> {
     /// This initializes a non-blocking read transfer using the IRQ capabilities of the UART
     /// peripheral.
     ///
@@ -722,7 +735,8 @@ impl<Uart: Instance> RxWithIrq<Uart> {
         self.irq_info.mode = IrqReceptionMode::Pending;
         self.irq_info.rx_idx = 0;
         self.irq_info.rx_len = max_len;
-        self.inner.enable();
+        self.inner.enable_rx();
+        self.inner.enable_tx();
         self.enable_rx_irq_sources(enb_timeout_irq);
         unsafe { enable_interrupt(Uart::IRQ_RX) };
         Ok(())
@@ -730,7 +744,7 @@ impl<Uart: Instance> RxWithIrq<Uart> {
 
     #[inline]
     fn enable_rx_irq_sources(&mut self, timeout: bool) {
-        self.inner.0.irq_enb().modify(|_, w| {
+        self.inner.uart.irq_enb().modify(|_, w| {
             if timeout {
                 w.irq_rx_to().set_bit();
             }
@@ -741,22 +755,28 @@ impl<Uart: Instance> RxWithIrq<Uart> {
 
     #[inline]
     fn disable_rx_irq_sources(&mut self) {
-        self.inner.0.irq_enb().modify(|_, w| {
+        self.inner.uart.irq_enb().modify(|_, w| {
             w.irq_rx_to().clear_bit();
             w.irq_rx_status().clear_bit();
             w.irq_rx().clear_bit()
         });
     }
 
-    pub fn cancel_transfer(&mut self) {
-        self.disable_rx_irq_sources();
-        self.inner.clear_fifo();
-        self.irq_info.rx_idx = 0;
-        self.irq_info.rx_len = 0;
+    #[inline]
+    pub fn enable_tx(&mut self) {
+        self.inner.enable_tx()
     }
 
-    pub fn uart(&self) -> &Uart {
-        &self.inner.0
+    #[inline]
+    pub fn disable_tx(&mut self) {
+        self.inner.disable_tx()
+    }
+
+    pub fn cancel_transfer(&mut self) {
+        self.disable_rx_irq_sources();
+        self.inner.clear_tx_fifo();
+        self.irq_info.rx_idx = 0;
+        self.irq_info.rx_len = 0;
     }
 
     /// Default IRQ handler which can be used to read the packets arriving on the UART peripheral.
@@ -771,102 +791,104 @@ impl<Uart: Instance> RxWithIrq<Uart> {
             });
         }
         let mut res = IrqResult::default();
+        let mut possible_error = IrqUartError::default();
 
-        let irq_end = self.inner.0.irq_end().read();
-        let enb_status = self.inner.0.enable().read();
+        let rx_status = self.inner.uart.rxstatus().read();
+        res.raw_res = rx_status.bits();
+        let irq_end = self.inner.uart.irq_end().read();
+        let enb_status = self.inner.uart.enable().read();
         let rx_enabled = enb_status.rxenable().bit_is_set();
-
-        // Half-Full interrupt. We have a guaranteed amount of data we can read.
+        let _tx_enabled = enb_status.txenable().bit_is_set();
+        let read_handler = |res: &mut IrqResult,
+                            possible_error: &mut IrqUartError,
+                            read_res: nb::Result<u8, Error>|
+         -> Option<u8> {
+            match read_res {
+                Ok(byte) => Some(byte),
+                Err(nb::Error::WouldBlock) => None,
+                Err(nb::Error::Other(e)) => {
+                    match e {
+                        Error::Overrun => {
+                            possible_error.overflow = true;
+                        }
+                        Error::FramingError => {
+                            possible_error.framing = true;
+                        }
+                        Error::ParityError => {
+                            possible_error.parity = true;
+                        }
+                        _ => {
+                            res.set_result(IrqResultMask::Unknown);
+                        }
+                    }
+                    None
+                }
+            }
+        };
         if irq_end.irq_rx().bit_is_set() {
-            // Determine the number of bytes to read, ensuring we leave 1 byte in the FIFO.
-            // We use this trick/hack because the timeout feature of the peripheral relies on data
-            // being in the RX FIFO. If data continues arriving, another half-full IRQ will fire.
-            // If not, the last byte(s) is/are emptied by the timeout interrupt.
-            let available_bytes = self.inner.0.rxfifoirqtrg().read().bits() as usize;
-
-            let bytes_to_read = core::cmp::min(
-                available_bytes.saturating_sub(1),
-                self.irq_info.rx_len - self.irq_info.rx_idx,
-            );
-
             // If this interrupt bit is set, the trigger level is available at the very least.
             // Read everything as fast as possible
-            for _ in 0..bytes_to_read {
-                buf[self.irq_info.rx_idx] = (self.inner.0.data().read().bits() & 0xff) as u8;
+            for _ in 0..core::cmp::min(
+                self.inner.uart.rxfifoirqtrg().read().bits() as usize,
+                self.irq_info.rx_len,
+            ) {
+                buf[self.irq_info.rx_idx] = (self.inner.uart.data().read().bits() & 0xff) as u8;
                 self.irq_info.rx_idx += 1;
             }
 
-            // On high-baudrates, data might be available immediately, and we possible have to
-            // read continuosly? Then again, the CPU should always be faster than that. I'd rather
-            // rely on the hardware firing another IRQ. I have not tried baudrates higher than
-            // 115200 so far.
-        }
-        let read_handler =
-            |possible_error: &mut IrqUartError, read_res: nb::Result<u8, Error>| -> Option<u8> {
-                match read_res {
-                    Ok(byte) => Some(byte),
-                    Err(nb::Error::WouldBlock) => None,
-                    Err(nb::Error::Other(e)) => {
-                        match e {
-                            Error::Overrun => {
-                                possible_error.overflow = true;
-                            }
-                            Error::FramingError => {
-                                possible_error.framing = true;
-                            }
-                            Error::ParityError => {
-                                possible_error.parity = true;
-                            }
-                            _ => {
-                                possible_error.other = true;
-                            }
-                        }
-                        None
-                    }
-                }
-            };
-        // Timeout, empty the FIFO completely.
-        if irq_end.irq_rx_to().bit_is_set() {
             // While there is data in the FIFO, write it into the reception buffer
             loop {
                 if self.irq_info.rx_idx == self.irq_info.rx_len {
-                    break;
+                    self.irq_completion_handler(&mut res);
+                    return Ok(res);
                 }
-                if let Some(byte) = read_handler(&mut res.errors, self.inner.read()) {
+                if let Some(byte) = read_handler(&mut res, &mut possible_error, self.inner.read()) {
                     buf[self.irq_info.rx_idx] = byte;
                     self.irq_info.rx_idx += 1;
                 } else {
                     break;
                 }
             }
-            self.irq_completion_handler(&mut res);
-            return Ok(res);
         }
 
         // RX transfer not complete, check for RX errors
         if (self.irq_info.rx_idx < self.irq_info.rx_len) && rx_enabled {
             // Read status register again, might have changed since reading received data
-            let rx_status = self.inner.0.rxstatus().read();
+            let rx_status = self.inner.uart.rxstatus().read();
+            res.raw_res = rx_status.bits();
             if rx_status.rxovr().bit_is_set() {
-                res.errors.overflow = true;
+                possible_error.overflow = true;
             }
             if rx_status.rxfrm().bit_is_set() {
-                res.errors.framing = true;
+                possible_error.framing = true;
             }
             if rx_status.rxpar().bit_is_set() {
-                res.errors.parity = true;
+                possible_error.parity = true;
+            }
+            if rx_status.rxto().bit_is_set() {
+                // A timeout has occured but there might be some leftover data in the FIFO,
+                // so read that data as well
+                while let Some(byte) =
+                    read_handler(&mut res, &mut possible_error, self.inner.read())
+                {
+                    buf[self.irq_info.rx_idx] = byte;
+                    self.irq_info.rx_idx += 1;
+                }
+                self.irq_completion_handler(&mut res);
+                res.set_result(IrqResultMask::Timeout);
+                return Ok(res);
             }
 
             // If it is not a timeout, it's an error
-            if res.error() {
+            if possible_error.error() {
                 self.disable_rx_irq_sources();
-                return Err(IrqError::Uart(res.errors));
+                return Err(IrqError::Uart(possible_error));
             }
         }
 
         // Clear the interrupt status bits
         self.inner
-            .0
+            .uart
             .irq_clr()
             .write(|w| unsafe { w.bits(irq_end.bits()) });
         Ok(res)
@@ -874,23 +896,48 @@ impl<Uart: Instance> RxWithIrq<Uart> {
 
     fn irq_completion_handler(&mut self, res: &mut IrqResult) {
         self.disable_rx_irq_sources();
-        self.inner.disable();
+        self.inner.disable_rx();
         res.bytes_read = self.irq_info.rx_idx;
-        res.complete = true;
+        res.clear_result();
+        res.set_result(IrqResultMask::Complete);
         self.irq_info.mode = IrqReceptionMode::Idle;
         self.irq_info.rx_idx = 0;
         self.irq_info.rx_len = 0;
     }
 
-    pub fn irq_info(&self) -> &IrqInfo {
-        &self.irq_info
-    }
-
     pub fn release(self) -> Uart {
         self.inner.release()
     }
 }
 
+impl<Uart: Instance, Pins> UartWithIrq<Uart, Pins> {
+    /// See [`UartWithIrqBase::read_fixed_len_using_irq`] doc
+    pub fn read_fixed_len_using_irq(
+        &mut self,
+        max_len: usize,
+        enb_timeout_irq: bool,
+    ) -> Result<(), Error> {
+        self.base.read_fixed_len_using_irq(max_len, enb_timeout_irq)
+    }
+
+    pub fn cancel_transfer(&mut self) {
+        self.base.cancel_transfer()
+    }
+
+    /// See [`UartWithIrqBase::irq_handler`] doc
+    pub fn irq_handler(&mut self, buf: &mut [u8]) -> Result<IrqResult, IrqError> {
+        self.base.irq_handler(buf)
+    }
+
+    pub fn release(self) -> (Uart, Pins) {
+        (self.base.release(), self.pins)
+    }
+
+    pub fn downgrade(self) -> (UartWithIrqBase<Uart>, Pins) {
+        (self.base, self.pins)
+    }
+}
+
 impl embedded_io::Error for Error {
     fn kind(&self) -> embedded_io::ErrorKind {
         embedded_io::ErrorKind::Other

vscode/launch.json

@@ -74,7 +74,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -103,7 +104,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -132,7 +134,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -161,11 +164,11 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
-                        "timestamp": true,
                         "type": "console"
                     }
                 ]
@@ -191,7 +194,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -220,7 +224,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -250,7 +255,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -280,187 +286,8 @@
             "runToEntryPoint": "main",
             "rttConfig": {
                 "enabled": true,
-                "address": "auto",
-                "decoders": [
-                    {
-                        "port": 0,
-                        "timestamp": true,
-                        "type": "console"
-                    }
-                ]
-            }
-        },
-        {
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Debug PWM Example",
-            "servertype": "jlink",
-            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
-            "cwd": "${workspaceRoot}",
-            "device": "Cortex-M4",
-            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
-            "preLaunchTask": "pwm-example",
-            "overrideLaunchCommands": [
-                "monitor halt",
-                "monitor reset",
-                "load",
-            ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/pwm",
-            "interface": "swd",
-            "runToEntryPoint": "main",
-            "rttConfig": {
-                "enabled": true,
-                "address": "auto",
-                "decoders": [
-                    {
-                        "port": 0,
-                        "timestamp": true,
-                        "type": "console"
-                    }
-                ]
-            }
-        },
-        {
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Debug DMA Example",
-            "servertype": "jlink",
-            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
-            "cwd": "${workspaceRoot}",
-            "device": "Cortex-M4",
-            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
-            "preLaunchTask": "dma-example",
-            "overrideLaunchCommands": [
-                "monitor halt",
-                "monitor reset",
-                "load",
-            ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/examples/dma",
-            "interface": "swd",
-            "runToEntryPoint": "main",
-            "rttConfig": {
-                "enabled": true,
-                "address": "auto",
-                "decoders": [
-                    {
-                        "port": 0,
-                        "timestamp": true,
-                        "type": "console"
-                    }
-                ]
-            }
-        },
-        {
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Bootloader",
-            "servertype": "jlink",
-            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
-            "cwd": "${workspaceRoot}",
-            "device": "Cortex-M4",
-            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
-            "preLaunchTask": "bootloader",
-            "overrideLaunchCommands": [
-                "monitor halt",
-                "monitor reset",
-                "load",
-            ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/bootloader",
-            "interface": "swd",
-            "runToEntryPoint": "main",
-            "rttConfig": {
-                "enabled": true,
-                "address": "auto",
-                "decoders": [
-                    {
-                        "port": 0,
-                        "timestamp": true,
-                        "type": "console"
-                    }
-                ]
-            }
-        },
-        {
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Flashloader",
-            "servertype": "jlink",
-            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
-            "cwd": "${workspaceRoot}",
-            "device": "Cortex-M4",
-            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
-            "preLaunchTask": "flashloader",
-            "overrideLaunchCommands": [
-                "monitor halt",
-                "monitor reset",
-                "load",
-            ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/flashloader",
-            "interface": "swd",
-            "runToEntryPoint": "main",
-            "rttConfig": {
-                "enabled": true,
-                "address": "auto",
-                "decoders": [
-                    {
-                        "port": 0,
-                        "timestamp": true,
-                        "type": "console"
-                    }
-                ]
-            }
-        },
-        {
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Embassy Example",
-            "servertype": "jlink",
-            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
-            "cwd": "${workspaceRoot}",
-            "device": "Cortex-M4",
-            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
-            "preLaunchTask": "embassy-example",
-            "overrideLaunchCommands": [
-                "monitor halt",
-                "monitor reset",
-                "load",
-            ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/embassy-example",
-            "interface": "swd",
-            "runToEntryPoint": "main",
-            "rttConfig": {
-                "enabled": true,
-                "address": "auto",
-                "decoders": [
-                    {
-                        "port": 0,
-                        "timestamp": true,
-                        "type": "console"
-                    }
-                ]
-            }
-        },
-        {
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "RTIC Example",
-            "servertype": "jlink",
-            "jlinkscript": "${workspaceFolder}/jlink/JLinkSettings.JLinkScript",
-            "cwd": "${workspaceRoot}",
-            "device": "Cortex-M4",
-            "svdFile": "${workspaceFolder}/va416xx/svd/va416xx.svd.patched",
-            "preLaunchTask": "embassy-example",
-            "overrideLaunchCommands": [
-                "monitor halt",
-                "monitor reset",
-                "load",
-            ],
-            "executable": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/rtic-example",
-            "interface": "swd",
-            "runToEntryPoint": "main",
-            "rttConfig": {
-                "enabled": true,
-                "address": "auto",
+                // Have to use exact address unfortunately. "auto" does not work for some reason..
+                "address": "0x1fff8000",
                 "decoders": [
                     {
                         "port": 0,
@@ -471,4 +298,4 @@
             }
         },
     ]
-}
+}

vscode/tasks.json

@@ -3,32 +3,6 @@
     // for the documentation about the tasks.json format
     "version": "2.0.0",
     "tasks": [
-        {
-            "label": "bootloader",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--bin",
-                "bootloader"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
-        {
-            "label": "flashloader",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--bin",
-                "flashloader"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
         {
             "label": "blinky-pac-example",
             "type": "shell",
@@ -55,19 +29,6 @@
                 "kind": "build",
             }
         },
-        {
-            "label": "timer-ticks-example",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--example",
-                "timer-ticks"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
         {
             "label": "blinky-example",
             "type": "shell",
@@ -95,19 +56,6 @@
                 "kind": "build",
             }
         },
-        {
-            "label": "pwm-example",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--example",
-                "pwm"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
         {
             "label": "wdt-example",
             "type": "shell",
@@ -160,44 +108,5 @@
                 "kind": "build",
             }
         },
-        {
-            "label": "dma-example",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--example",
-                "dma"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
-        {
-            "label": "embassy-example",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--bin",
-                "embassy-example"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
-        {
-            "label": "rtic-example",
-            "type": "shell",
-            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
-            "args": [
-                "build",
-                "--bin",
-                "rtic-example"
-            ],
-            "group": {
-                "kind": "build",
-            }
-        },
     ]
-}
+}