small README update

Reviewed-on: #66

README.md

@@ -14,7 +14,7 @@ This workspace contains the following crates:
   PAC crate containing basic low-level register definition
 - The [`va416xx-hal`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx-hal)
   HAL crate containing higher-level abstractions on top of the PAC register crate.
-- The [`va416xx-embassy`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va108xx-embassy)
+- The [`va416xx-embassy`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/va416xx-embassy)
   crate containing support for running the embassy-rs RTOS.
 - The [`vorago-peb1`](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/vorago-peb1)
   BSP crate containing support for the PEB1 development board.
@@ -155,3 +155,13 @@ example.
 The Segger RTT viewer can be used to display log messages received from the target. The base
 address for the RTT block placement is 0x1fff8000. It is recommended to use a search range of
 0x1000 around that base address when using the RTT viewer.
+
+## Learning (Embedded) Rust
+
+If you are unfamiliar with Rust on Embedded Systems or Rust in general, the following resources
+are recommended:
+
+- [Rust Book](https://doc.rust-lang.org/book/)
+- [Embedded Rust Book](https://docs.rust-embedded.org/book/)
+- [Embedded Rust Discovery](https://docs.rust-embedded.org/discovery/microbit/)
+- [Awesome Embedded Rust](https://github.com/rust-embedded/awesome-embedded-rust)

bootloader/Cargo.toml

@@ -14,7 +14,7 @@ crc = "3"
 static_assertions = "1"
 
 [dependencies.va416xx-hal]
-path = "../va416xx-hal"
+version = "0.5"
 features = ["va41630"]
 
 [features]

examples/embassy/Cargo.toml

@@ -28,8 +28,8 @@ embassy-executor = { version = "0.7", features = [
   "executor-interrupt"
 ]}
 
-va416xx-hal = { version = "0.4", path = "../../va416xx-hal" }
+va416xx-hal = { version = "0.5" }
-va416xx-embassy = { path = "../../va416xx-embassy", default-features = false }
+va416xx-embassy = { version = "0.1", default-features = false }
 
 [features]
 default = ["ticks-hz-1_000", "va416xx-embassy/irq-tim14-tim15"]

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

@@ -132,7 +132,7 @@ fn UART0_RX() {
     RX.lock(|static_rx| {
         let mut rx_borrow = static_rx.borrow_mut();
         let rx_mut_ref = rx_borrow.as_mut().unwrap();
-        let result = rx_mut_ref.irq_handler(&mut buf);
+        let result = rx_mut_ref.on_interrupt(&mut buf);
         read_len = result.bytes_read;
         if result.errors.is_some() {
             errors = result.errors;

examples/rtic/Cargo.toml

@@ -11,7 +11,7 @@ rtt-target = { version = "0.6" }
 rtic-sync = { version = "1.3", features = ["defmt-03"] }
 panic-rtt-target = { version = "0.2" }
 
-va416xx-hal = { version = "0.4", features = ["va41630"] }
+va416xx-hal = { version = "0.5", features = ["va41630"] }
 
 [dependencies.rtic]
 version = "2"

examples/simple/Cargo.toml

@@ -16,7 +16,7 @@ embedded-io = "0.6"
 panic-halt = "1"
 accelerometer = "0.12"
 
-va416xx-hal = { version = "0.4", features = ["va41630"] }
+va416xx-hal = { version = "0.5", features = ["va41630"] }
 
 [dependencies.vorago-peb1]
 path = "../../vorago-peb1"

flashloader/Cargo.toml

@@ -22,7 +22,7 @@ once_cell = { version = "1", default-features = false, features = ["critical-sec
 spacepackets = { version = "0.13", default-features = false }
 cobs = { version = "0.3", default-features = false }
 
-va416xx-hal = { version = "0.4", features = ["va41630"] }
+va416xx-hal = { version = "0.5", features = ["va41630"] }
 
 rtic = { version = "2", features = ["thumbv7-backend"] }
 rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }

flashloader/src/main.rs

@@ -256,7 +256,7 @@ mod app {
         match cx
             .local
             .uart_rx
-            .irq_handler_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
+            .on_interrupt_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
         {
             Ok(result) => {
                 if RX_DEBUGGING {

va416xx-embassy/CHANGELOG.md

@@ -8,6 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.1.1] 2025-03-07
+
+- Bumped allowed HAL dependency to v0.5
+
 ## [v0.1.0] 2025-02-18
 
 Initial release
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-embassy-v0.1.1...HEAD
+[v0.1.1]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-embassy-v0.1.0...va416xx-embassy-v0.1.1
+[v0.1.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/tag/va416xx-embassy-v0.1.0

va416xx-embassy/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va416xx-embassy"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = "Embassy-rs support for the Vorago VA416xx family of microcontrollers"
@@ -21,7 +21,7 @@ portable-atomic = "1"
 
 once_cell = { version = "1", default-features = false, features = ["critical-section"] }
 
-va416xx-hal = { version = "0.4", path = "../va416xx-hal" }
+va416xx-hal = { version = ">=0.4, <=0.5" }
 
 [features]
 default = ["irq-tim14-tim15"]

va416xx-hal/CHANGELOG.md

@@ -8,6 +8,22 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v0.5.1] 2025-03-10
+
+## Fixed
+
+- Fix `embedded_io` UART implementation to implement the documented contract properly.
+  The implementation will now block until at least one byte is available or can be written, unless
+  the send or receive buffer is empty.
+
+# [v0.5.0] 2025-03-07
+
+- Bugfix for I2C `TimingCfg::reg`
+- Simplified UART error handling. All APIs are now infallible because writing to a FIFO or
+  reading from a FIFO never fails. Users can either poll errors using `Rx::poll_errors` or
+  `Uart::poll_rx_errors` / `UartBase::poll_rx_errors`, or detect errors using the provided
+  interrupt handlers.
+
 # [v0.4.1] 2025-02-18
 
 - Chip selection is not enforced anymore, but advised through documentation. This makes using
@@ -101,3 +117,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 # [v0.1.0] 2024-07-01
 
 - Initial release with basic HAL drivers
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.5.0...HEAD
+[v0.5.1]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.5.0...va416xx-hal-v0.5.1
+[v0.5.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.4.1...va416xx-hal-v0.5.0
+[v0.4.1]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.4.0...va416xx-hal-v0.4.1
+[v0.4.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.3.0...va416xx-hal-v0.4.0
+[v0.3.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.2.0...va108xx-hal-v0.3.0
+[v0.2.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/va416xx-hal-v0.1.0...va108xx-hal-v0.2.0
+[v0.1.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/tag/va416xx-hal-v0.1.0

va416xx-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va416xx-hal"
-version = "0.4.1"
+version = "0.5.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "HAL for the Vorago VA416xx family of MCUs"

va416xx-hal/src/i2c.rs

@@ -212,13 +212,13 @@ impl TimingCfg {
     }
 
     pub fn reg(&self) -> u32 {
-        (self.tbuf as u32) << 28
+        ((self.tbuf as u32) << 28)
-            | (self.thd_sta as u32) << 24
+            | ((self.thd_sta as u32) << 24)
-            | (self.tsu_sta as u32) << 20
+            | ((self.tsu_sta as u32) << 20)
-            | (self.tsu_sto as u32) << 16
+            | ((self.tsu_sto as u32) << 16)
-            | (self.tlow as u32) << 12
+            | ((self.tlow as u32) << 12)
-            | (self.thigh as u32) << 8
+            | ((self.thigh as u32) << 8)
-            | (self.tf as u32) << 4
+            | ((self.tf as u32) << 4)
             | (self.tr as u32)
     }
 }
@@ -390,7 +390,7 @@ impl<I2c: Instance> I2cBase<I2c> {
         if let Some(max_words) = max_words {
             self.i2c
                 .s0_maxwords()
-                .write(|w| unsafe { w.bits(1 << 31 | max_words as u32) });
+                .write(|w| unsafe { w.bits((1 << 31) | max_words as u32) });
         }
         let (addr, addr_mode_mask) = Self::unwrap_addr(sl_cfg.addr);
         // The first bit is the read/write value. Normally, both read and write are matched
@@ -451,7 +451,7 @@ impl<I2c: Instance> I2cBase<I2c> {
         let clk_div = self.calc_clk_div(speed_mode)?;
         self.i2c
             .clkscale()
-            .write(|w| unsafe { w.bits((speed_mode as u32) << 31 | clk_div as u32) });
+            .write(|w| unsafe { w.bits(((speed_mode as u32) << 31) | clk_div as u32) });
         Ok(())
     }
 

va416xx-hal/src/uart/mod.rs

@@ -82,56 +82,6 @@ impl RxPin<Uart2> for Pin<PF9, AltFunc1> {}
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TransferPendingError;
 
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum RxError {
-    Overrun,
-    Framing,
-    Parity,
-}
-#[derive(Debug, PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum Error {
-    Rx(RxError),
-    BreakCondition,
-}
-
-impl From<RxError> for Error {
-    fn from(value: RxError) -> Self {
-        Self::Rx(value)
-    }
-}
-
-impl embedded_io::Error for Error {
-    fn kind(&self) -> embedded_io::ErrorKind {
-        embedded_io::ErrorKind::Other
-    }
-}
-
-impl embedded_io::Error for RxError {
-    fn kind(&self) -> embedded_io::ErrorKind {
-        embedded_io::ErrorKind::Other
-    }
-}
-impl embedded_hal_nb::serial::Error for RxError {
-    fn kind(&self) -> embedded_hal_nb::serial::ErrorKind {
-        match self {
-            RxError::Overrun => embedded_hal_nb::serial::ErrorKind::Overrun,
-            RxError::Framing => embedded_hal_nb::serial::ErrorKind::FrameFormat,
-            RxError::Parity => embedded_hal_nb::serial::ErrorKind::Parity,
-        }
-    }
-}
-
-impl embedded_hal_nb::serial::Error for Error {
-    fn kind(&self) -> embedded_hal_nb::serial::ErrorKind {
-        match self {
-            Error::Rx(rx_error) => embedded_hal_nb::serial::Error::kind(rx_error),
-            Error::BreakCondition => embedded_hal_nb::serial::ErrorKind::Other,
-        }
-    }
-}
-
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Event {
@@ -626,22 +576,27 @@ impl<Uart: Instance> UartBase<Uart> {
         self.uart
     }
 
+    /// Poll receiver errors.
+    pub fn poll_rx_errors(&self) -> Option<UartErrors> {
+        self.rx.poll_errors()
+    }
+
     pub fn split(self) -> (Tx<Uart>, Rx<Uart>) {
         (self.tx, self.rx)
     }
 }
 
 impl<UartInstance> embedded_io::ErrorType for UartBase<UartInstance> {
-    type Error = Error;
+    type Error = Infallible;
 }
 
 impl<UartInstance> embedded_hal_nb::serial::ErrorType for UartBase<UartInstance> {
-    type Error = Error;
+    type Error = Infallible;
 }
 
 impl<Uart: Instance> embedded_hal_nb::serial::Read<u8> for UartBase<Uart> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
-        self.rx.read().map_err(|e| e.map(Error::Rx))
+        self.rx.read()
     }
 }
 
@@ -729,6 +684,8 @@ impl<TxPinInst: TxPin<UartInstance>, RxPinInst: RxPin<UartInstance>, UartInstanc
 
     delegate::delegate! {
         to self.inner {
+            /// Poll receiver errors.
+            pub fn poll_rx_errors(&self) -> Option<UartErrors>;
             #[inline]
             pub fn enable_rx(&mut self);
             #[inline]
@@ -813,6 +770,23 @@ impl<Uart: Instance> Rx<Uart> {
         &self.0
     }
 
+    pub fn poll_errors(&self) -> Option<UartErrors> {
+        let mut errors = UartErrors::default();
+
+        let uart = unsafe { &(*Uart::ptr()) };
+        let status_reader = uart.rxstatus().read();
+        if status_reader.rxovr().bit_is_set() {
+            errors.overflow = true;
+        } else if status_reader.rxfrm().bit_is_set() {
+            errors.framing = true;
+        } else if status_reader.rxpar().bit_is_set() {
+            errors.parity = true;
+        } else {
+            return None;
+        };
+        Some(errors)
+    }
+
     #[inline]
     pub fn clear_fifo(&self) {
         self.0.fifo_clr().write(|w| w.rxfifo().set_bit());
@@ -874,34 +848,15 @@ impl<Uart: Instance> Rx<Uart> {
 }
 
 impl<Uart> embedded_io::ErrorType for Rx<Uart> {
-    type Error = RxError;
+    type Error = Infallible;
 }
 
 impl<Uart> embedded_hal_nb::serial::ErrorType for Rx<Uart> {
-    type Error = RxError;
+    type Error = Infallible;
 }
 
 impl<Uart: Instance> embedded_hal_nb::serial::Read<u8> for Rx<Uart> {
     fn read(&mut self) -> nb::Result<u8, Self::Error> {
-        let uart = unsafe { &(*Uart::ptr()) };
-        let status_reader = uart.rxstatus().read();
-        let err = if status_reader.rxovr().bit_is_set() {
-            Some(RxError::Overrun)
-        } else if status_reader.rxfrm().bit_is_set() {
-            Some(RxError::Framing)
-        } else if status_reader.rxpar().bit_is_set() {
-            Some(RxError::Parity)
-        } else {
-            None
-        };
-        if let Some(err) = err {
-            // The status code is always related to the next bit for the framing
-            // and parity status bits. We have to read the DATA register
-            // so that the next status reflects the next DATA word
-            // For overrun error, we read as well to clear the peripheral
-            self.read_fifo_unchecked();
-            return Err(err.into());
-        }
         self.read_fifo().map(|val| (val & 0xff) as u8).map_err(|e| {
             if let nb::Error::Other(_) = e {
                 unreachable!()
@@ -916,13 +871,23 @@ impl<Uart: Instance> embedded_io::Read for Rx<Uart> {
         if buf.is_empty() {
             return Ok(0);
         }
-
+        let mut read = 0;
+        loop {
+            if self.0.rxstatus().read().rdavl().bit_is_set() {
+                break;
+            }
+        }
         for byte in buf.iter_mut() {
-            let w = nb::block!(<Self as embedded_hal_nb::serial::Read<u8>>::read(self))?;
+            match <Self as embedded_hal_nb::serial::Read<u8>>::read(self) {
-            *byte = w;
+                Ok(w) => {
+                    *byte = w;
+                    read += 1;
+                }
+                Err(nb::Error::WouldBlock) => break,
+            }
         }
 
-        Ok(buf.len())
+        Ok(read)
     }
 }
 
@@ -1081,14 +1046,19 @@ impl<Uart: Instance> embedded_io::Write for Tx<Uart> {
         if buf.is_empty() {
             return Ok(0);
         }
-
+        loop {
-        for byte in buf.iter() {
+            if self.0.txstatus().read().wrrdy().bit_is_set() {
-            nb::block!(<Self as embedded_hal_nb::serial::Write<u8>>::write(
+                break;
-                self, *byte
+            }
-            ))?;
         }
-
+        let mut written = 0;
-        Ok(buf.len())
+        for byte in buf.iter() {
+            match <Self as embedded_hal_nb::serial::Write<u8>>::write(self, *byte) {
+                Ok(_) => written += 1,
+                Err(nb::Error::WouldBlock) => return Ok(written),
+            }
+        }
+        Ok(written)
     }
 
     fn flush(&mut self) -> Result<(), Self::Error> {
@@ -1182,7 +1152,7 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
     /// This function will not disable the RX interrupts, so you don't need to call any other
     /// API after calling this function to continue emptying the FIFO. RX errors are handled
     /// as partial errors and are returned as part of the [IrqResult].
-    pub fn irq_handler(&mut self, buf: &mut [u8; 16]) -> IrqResult {
+    pub fn on_interrupt(&mut self, buf: &mut [u8; 16]) -> IrqResult {
         let mut result = IrqResult::default();
 
         let irq_end = self.uart().irq_end().read();
@@ -1203,15 +1173,10 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
 
         // Timeout, empty the FIFO completely.
         if irq_end.irq_rx_to().bit_is_set() {
-            loop {
+            // While there is data in the FIFO, write it into the reception buffer
-                // While there is data in the FIFO, write it into the reception buffer
+            while let Ok(byte) = self.0.read_fifo() {
-                let read_result = self.0.read();
+                buf[result.bytes_read] = byte as u8;
-                if let Some(byte) = self.read_handler(&mut result.errors, &read_result) {
+                result.bytes_read += 1;
-                    buf[result.bytes_read] = byte;
-                    result.bytes_read += 1;
-                } else {
-                    break;
-                }
             }
         }
 
@@ -1239,7 +1204,7 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
     /// If passed buffer is equal to or larger than the specified maximum length, an
     /// [BufferTooShortError] will be returned. Other RX errors are treated as partial errors
     /// and returned inside the [IrqResultMaxSizeOrTimeout] structure.
-    pub fn irq_handler_max_size_or_timeout_based(
+    pub fn on_interrupt_max_size_or_timeout_based(
         &mut self,
         context: &mut IrqContextTimeoutOrMaxSize,
         buf: &mut [u8],
@@ -1288,12 +1253,13 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
                 if context.rx_idx == context.max_len {
                     break;
                 }
-                let read_result = self.0.read();
+                // While there is data in the FIFO, write it into the reception buffer
-                if let Some(byte) = self.read_handler(&mut result.errors, &read_result) {
+                match self.0.read() {
-                    buf[context.rx_idx] = byte;
+                    Ok(byte) => {
-                    context.rx_idx += 1;
+                        buf[result.bytes_read] = byte;
-                } else {
+                        result.bytes_read += 1;
-                    break;
+                    }
+                    Err(_) => break,
                 }
             }
             self.irq_completion_handler_max_size_timeout(&mut result, context);
@@ -1312,29 +1278,6 @@ impl<Uart: Instance> RxWithInterrupt<Uart> {
         Ok(result)
     }
 
-    fn read_handler(
-        &self,
-        errors: &mut Option<UartErrors>,
-        read_res: &nb::Result<u8, RxError>,
-    ) -> Option<u8> {
-        match read_res {
-            Ok(byte) => Some(*byte),
-            Err(nb::Error::WouldBlock) => None,
-            Err(nb::Error::Other(e)) => {
-                // Ensure `errors` is Some(IrqUartError), initializing if it's None
-                let err = errors.get_or_insert(UartErrors::default());
-
-                // Now we can safely modify fields inside `err`
-                match e {
-                    RxError::Overrun => err.overflow = true,
-                    RxError::Framing => err.framing = true,
-                    RxError::Parity => err.parity = true,
-                }
-                None
-            }
-        }
-    }
-
     fn check_for_errors(&self, errors: &mut Option<UartErrors>) {
         let rx_status = self.uart().rxstatus().read();
 

va416xx-hal/src/uart/rx_asynch.rs

@@ -28,7 +28,7 @@ use va416xx::uart0 as uart_base;
 
 use crate::enable_nvic_interrupt;
 
-use super::{Bank, Instance, Rx, RxError, UartErrors};
+use super::{Bank, Instance, Rx, UartErrors};
 
 static UART_RX_WAKERS: [AtomicWaker; 3] = [const { AtomicWaker::new() }; 3];
 static RX_READ_ACTIVE: [AtomicBool; 3] = [const { AtomicBool::new(false) }; 3];
@@ -48,7 +48,7 @@ impl RxFuture {
 }
 
 impl Future for RxFuture {
-    type Output = Result<(), RxError>;
+    type Output = Result<(), Infallible>;
 
     fn poll(
         self: core::pin::Pin<&mut Self>,

vorago-peb1/CHANGELOG.md

@@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v0.1.2] 2025-03-07
+
+- Bump allowed HAL version to v0.5
+
 # [v0.1.1] 2025-02-18
 
 - Bump allowed HAL version to v0.4
@@ -15,3 +19,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 # [v0.1.0] 2024-10-01
 
 - Initial release
+
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/vorago-peb1-v0.1.2...HEAD
+[v0.1.2]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/vorago-peb1-v0.1.1...vorago-peb1-v0.1.2
+[v0.1.1]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/compare/vorago-peb1-v0.1.0...vorago-peb1-v0.1.1
+[v0.1.0]: https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/tag/vorago-peb1-v0.1.0

vorago-peb1/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vorago-peb1"
-version = "0.1.1"
+version = "0.1.2"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "Board Support Crate for the Vorago PEB1 development board"
@@ -16,7 +16,7 @@ cortex-m-rt = "0.7"
 embedded-hal = "1"
 lis2dh12 = { version = "0.7", features = ["out_f32"] }
 
-va416xx-hal = { version = ">=0.3, <=0.4", features = ["va41630"] }
+va416xx-hal = { version = ">=0.3, <=0.5", features = ["va41630"] }
 
 [features]
 rt = ["va416xx-hal/rt"]