.github/workflows/ci.yml

@@ -16,9 +16,11 @@ jobs:
           override: true
       - uses: actions-rs/cargo@v1
         with:
+          use-cross: true
           command: check
       - uses: actions-rs/cargo@v1
         with:
+          use-cross: true
           command: check
           args: --examples
 
@@ -52,6 +54,7 @@ jobs:
       - run: rustup component add clippy
       - uses: actions-rs/cargo@v1
         with:
+          use-cross: true
           command: clippy
           args: -- -D warnings
 

CHANGELOG.md

@@ -8,17 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
-## [v0.4.0]
-
-- Update manifest file to have correct links and license
-- Update some dependencies
-  - `cortex-m-rtic` (dev-depencency) to 1.1.2
-  - Other dependencies: Only revision has changed
-
-## [v0.3.2]
-
-- Bump HAL dependency to v0.5.0. Changed API, especially for IRQ handling
-
 ## [v0.3.1]
 
 - Updated ADC code and dependency

Cargo.toml

@@ -1,38 +1,32 @@
 [package]
 name = "vorago-reb1"
-version = "0.4.0"
+version = "0.3.1"
 authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
 edition = "2021"
 description = "Board Support Crate for the Vorago REB1 development board"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/vorago-reb1"
+homepage = "https://github.com/robamu/vorago-reb1-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/vorago-reb1"
+repository = "https://github.com/robamu/vorago-reb1-rs"
-license = "Apache-2.0"
+license = "MIT OR Apache-2.0"
 keywords = ["no-std", "reb1", "cortex-m", "vorago", "va108xx"]
-categories = ["aerospace", "embedded", "no-std", "hardware-support"]
+categories = ["embedded", "no-std", "hardware-support"]
 
 [dependencies]
-cortex-m = "0.7"
+cortex-m = "0.7.3"
-cortex-m-rt = "0.7"
+cortex-m-rt = "0.7.0"
-embedded-hal = "0.2.7"
+embedded-hal = "0.2.6"
-dummy-pin = "0.1"
+dummy-pin = "0.1.1"
-max116xx-10bit = "0.2"
+max116xx-10bit = "0.2.1"
 
 [dependencies.va108xx-hal]
-version = "0.5"
+version = "0.4.2"
 features = ["rt"]
 
 [features]
 rt = ["va108xx-hal/rt"]
 
 [dev-dependencies]
-cortex-m-rtic = "1.1"
+cortex-m-rtic = "0.6.0-rc.4"
+panic-rtt-target = { version = "0.1", features = ["cortex-m"] }
+rtt-target = { version = "0.3", features = ["cortex-m"] }
 panic-halt = "0.2"
-nb = "1"
+nb = "1.0.0"
-
-[dev-dependencies.rtt-target]
-version = "0.3"
-features = ["cortex-m"]
-
-[dev-dependencies.panic-rtt-target]
-version = "0.1"
-features = ["cortex-m"]

README.md

@@ -1,5 +1,5 @@
 [![Crates.io](https://img.shields.io/crates/v/vorago-reb1)](https://crates.io/crates/vorago-reb1)
-[![ci](https://github.com/us-irs/vorago-reb1-rs/actions/workflows/ci.yml/badge.svg)](https://github.com/us-irs/vorago-reb1-rs/actions/workflows/ci.yml)
+[![ci](https://github.com/robamu-org/vorago-reb1-rs/actions/workflows/ci.yml/badge.svg)](https://github.com/robamu-org/vorago-reb1-rs/actions/workflows/ci.yml)
 [![docs.rs](https://img.shields.io/docsrs/vorago-reb1)](https://docs.rs/vorago-reb1)
 
 # Rust BSP for the Vorago REB1 development board
@@ -7,7 +7,7 @@
 This is the Rust **B**oard **S**upport **P**ackage crate for the Vorago REB1 development board.
 Its aim is to provide drivers for the board features of the REB1 board
 
-The BSP builds on top of the [HAL crate for VA108xx devices](https://egit.irs.uni-stuttgart.de/rust/va108xx-hal).
+The BSP builds on top of the [HAL crate for VA108xx devices](https://github.com/robamu-org/va108xx-hal-rs).
 
 ## Building
 
@@ -58,9 +58,8 @@ A `jlink.gdb` file is provided to allow flashing of the board from the command l
 
 ## Debugging with VS Code
 
-The REB1 board features an on-board JTAG, so all that is required to debug the board is a
+The REB1 board features an on-board JTAG, so all that is required to flash the board is a
-Micro-USB cable.
+Micro-USB cable and an 
-
 You can debug applications on the REB1 board with a graphical user interface using VS Code with
 the [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
 

examples/adt75-temp-sensor.rs

@@ -3,7 +3,11 @@
 use cortex_m_rt::entry;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
-use va108xx_hal::{pac, prelude::*, timer::set_up_ms_delay_provider};
+use va108xx_hal::{
+    pac::{self, interrupt},
+    prelude::*,
+    timer::{default_ms_irq_handler, set_up_ms_timer, Delay},
+};
 use vorago_reb1::temp_sensor::Adt75TempSensor;
 
 #[entry]
@@ -11,7 +15,14 @@ fn main() -> ! {
     rtt_init_print!();
     rprintln!("-- Vorago Temperature Sensor and I2C Example --");
     let mut dp = pac::Peripherals::take().unwrap();
-    let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
+    let tim0 = set_up_ms_timer(
+        &mut dp.SYSCONFIG,
+        &mut dp.IRQSEL,
+        50.mhz().into(),
+        dp.TIM0,
+        interrupt::OC0,
+    );
+    let mut delay = Delay::new(tim0);
     unsafe {
         cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
     }
@@ -23,6 +34,11 @@ fn main() -> ! {
             .read_temperature()
             .expect("Failed reading temperature");
         rprintln!("Temperature in Celcius: {}", temp);
-        delay.delay_ms(500_u16);
+        delay.delay_ms(500);
     }
 }
+
+#[interrupt]
+fn OC0() {
+    default_ms_irq_handler();
+}

examples/adxl343-accelerometer.rs

@@ -10,10 +10,10 @@ use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 use va108xx_hal::{
     gpio::PinsA,
-    pac,
+    pac::{self, interrupt},
     prelude::*,
     spi::{Spi, SpiConfig, TransferConfig},
-    timer::set_up_ms_delay_provider,
+    timer::{default_ms_irq_handler, set_up_ms_timer, Delay},
 };
 
 const READ_MASK: u8 = 1 << 7;
@@ -28,7 +28,18 @@ fn main() -> ! {
     rtt_init_print!();
     rprintln!("-- Vorago Accelerometer Example --");
     let mut dp = pac::Peripherals::take().unwrap();
-    let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
+    let tim0 = set_up_ms_timer(
+        &mut dp.SYSCONFIG,
+        &mut dp.IRQSEL,
+        50.mhz().into(),
+        dp.TIM0,
+        interrupt::OC0,
+    );
+    let mut delay = Delay::new(tim0);
+    unsafe {
+        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
+    }
+
     let pinsa = PinsA::new(&mut dp.SYSCONFIG, None, dp.PORTA);
     let spi_cfg = SpiConfig::default();
     let (sck, mosi, miso) = (
@@ -67,7 +78,12 @@ fn main() -> ! {
         .expect("Enabling measurement mode failed");
 
     loop {
-        delay.delay_ms(500_u16);
+        delay.delay_ms(500);
         unimplemented!("Not implemented for now, is not populated on the board..");
     }
 }
+
+#[interrupt]
+fn OC0() {
+    default_ms_irq_handler();
+}

examples/blinky-button-irq.rs

@@ -14,7 +14,7 @@ use va108xx_hal::{
     pac::{self, interrupt},
     prelude::*,
     time::Hertz,
-    timer::{default_ms_irq_handler, set_up_ms_timer, IrqCfg},
+    timer::{default_ms_irq_handler, set_up_ms_timer},
 };
 use vorago_reb1::button::Button;
 use vorago_reb1::leds::Leds;
@@ -45,9 +45,9 @@ fn main() -> ! {
     // Configure an edge interrupt on the button and route it to interrupt vector 15
     let mut button = Button::new(pinsa.pa11.into_floating_input()).edge_irq(
         edge_irq,
-        IrqCfg::new(pac::interrupt::OC15, true, true),
         Some(&mut dp.SYSCONFIG),
-        Some(&mut dp.IRQSEL),
+        &mut dp.IRQSEL,
+        pac::interrupt::OC15,
     );
 
     if PRESS_MODE == PressMode::Toggle {
@@ -61,11 +61,11 @@ fn main() -> ! {
     }
 
     set_up_ms_timer(
-        IrqCfg::new(pac::Interrupt::OC0, true, true),
         &mut dp.SYSCONFIG,
-        Some(&mut dp.IRQSEL),
+        &mut dp.IRQSEL,
-        50.mhz(),
+        50.mhz().into(),
         dp.TIM0,
+        interrupt::OC0,
     );
     let mut leds = Leds::new(
         pinsa.pa10.into_push_pull_output(),
@@ -75,6 +75,8 @@ fn main() -> ! {
     for led in leds.iter_mut() {
         led.off();
     }
+    // Activate the IRQs so the processors sees them as well
+    unmask_irqs();
     // Make both button and LEDs accessible from the IRQ handler as well
     cortex_m::interrupt::free(|cs| {
         LEDS.borrow(cs).replace(Some(leds));
@@ -83,6 +85,13 @@ fn main() -> ! {
     loop {}
 }
 
+fn unmask_irqs() {
+    unsafe {
+        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
+        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC15);
+    }
+}
+
 #[interrupt]
 fn OC0() {
     default_ms_irq_handler();

examples/blinky-button-rtic.rs

@@ -9,10 +9,10 @@ mod app {
     use va108xx_hal::{
         clock::{set_clk_div_register, FilterClkSel},
         gpio::{FilterType, InterruptEdge, PinsA},
-        pac,
+        pac::{self, interrupt},
         prelude::*,
         time::Hertz,
-        timer::{default_ms_irq_handler, set_up_ms_timer, IrqCfg},
+        timer::{default_ms_irq_handler, set_up_ms_timer},
     };
     use vorago_reb1::button::Button;
     use vorago_reb1::leds::Leds;
@@ -66,9 +66,9 @@ mod app {
         // Configure an edge interrupt on the button and route it to interrupt vector 15
         let mut button = Button::new(pinsa.pa11.into_floating_input()).edge_irq(
             edge_irq,
-            IrqCfg::new(pac::interrupt::OC15, true, true),
             Some(&mut dp.SYSCONFIG),
-            Some(&mut dp.IRQSEL),
+            &mut dp.IRQSEL,
+            pac::interrupt::OC15,
         );
 
         if mode == PressMode::Toggle {
@@ -80,6 +80,14 @@ mod app {
                 Hertz::from(50.khz()).0,
             );
         }
+
+        set_up_ms_timer(
+            &mut dp.SYSCONFIG,
+            &mut dp.IRQSEL,
+            50.mhz().into(),
+            dp.TIM0,
+            interrupt::OC0,
+        );
         let mut leds = Leds::new(
             pinsa.pa10.into_push_pull_output(),
             pinsa.pa7.into_push_pull_output(),
@@ -88,13 +96,8 @@ mod app {
         for led in leds.iter_mut() {
             led.off();
         }
-        set_up_ms_timer(
+        // Activate the IRQs so the processors sees them as well
-            IrqCfg::new(pac::Interrupt::OC0, true, true),
+        unmask_irqs();
-            &mut dp.SYSCONFIG,
-            Some(&mut dp.IRQSEL),
-            50.mhz(),
-            dp.TIM0,
-        );
         (Shared {}, Local { leds, button, mode }, init::Monotonics())
     }
 
@@ -125,6 +128,13 @@ mod app {
         default_ms_irq_handler();
     }
 
+    fn unmask_irqs() {
+        unsafe {
+            cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
+            cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC15);
+        }
+    }
+
     fn prompt_mode(mut down_channel: rtt_target::DownChannel) -> PressMode {
         rprintln!("Using prompt mode");
         rprintln!("Please enter the mode [0: Toggle, 1: Keep]");
@@ -135,11 +145,11 @@ mod app {
             for i in 0..read {
                 let val = read_buf[i] as char;
                 if val == '0' || val == '1' {
-                    return if val == '0' {
+                    if val == '0' {
-                        PressMode::Toggle
+                        return PressMode::Toggle;
                     } else {
-                        PressMode::Keep
+                        return PressMode::Keep;
-                    };
+                    }
                 }
             }
         }

examples/blinky-leds.rs

@@ -9,7 +9,7 @@
 use cortex_m_rt::entry;
 use embedded_hal::digital::v2::ToggleableOutputPin;
 use panic_halt as _;
-use va108xx_hal::{gpio::pins::PinsA, pac, prelude::*, timer::set_up_ms_delay_provider};
+use va108xx_hal::{gpio::pins::PinsA, pac, prelude::*};
 use vorago_reb1::leds::Leds;
 
 // REB LED pin definitions. All on port A
@@ -64,24 +64,23 @@ fn main() -> ! {
             let mut led1 = pins.pa10.into_push_pull_output();
             let mut led2 = pins.pa7.into_push_pull_output();
             let mut led3 = pins.pa6.into_push_pull_output();
-            let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
             for _ in 0..10 {
                 led1.set_low().ok();
                 led2.set_low().ok();
                 led3.set_low().ok();
-                delay.delay_ms(200_u16);
+                cortex_m::asm::delay(5_000_000);
                 led1.set_high().ok();
                 led2.set_high().ok();
                 led3.set_high().ok();
-                delay.delay_ms(200_u16);
+                cortex_m::asm::delay(5_000_000);
             }
             loop {
                 led1.toggle().ok();
-                delay.delay_ms(200_u16);
+                cortex_m::asm::delay(5_000_000);
                 led2.toggle().ok();
-                delay.delay_ms(200_u16);
+                cortex_m::asm::delay(5_000_000);
                 led3.toggle().ok();
-                delay.delay_ms(200_u16);
+                cortex_m::asm::delay(5_000_000);
             }
         }
         LibType::Bsp => {
@@ -91,21 +90,22 @@ fn main() -> ! {
                 pinsa.pa7.into_push_pull_output(),
                 pinsa.pa6.into_push_pull_output(),
             );
-            let mut delay = set_up_ms_delay_provider(&mut dp.SYSCONFIG, 50.mhz(), dp.TIM0);
             loop {
                 for _ in 0..10 {
                     // Blink all LEDs quickly
                     for led in leds.iter_mut() {
                         led.toggle();
                     }
-                    delay.delay_ms(200_u16);
+                    cortex_m::asm::delay(5_000_000);
                 }
                 // Now use a wave pattern
                 loop {
-                    for led in leds.iter_mut() {
+                    leds[0].toggle();
-                        led.toggle();
+                    cortex_m::asm::delay(5_000_000);
-                        delay.delay_ms(200_u16);
+                    leds[1].toggle();
-                    }
+                    cortex_m::asm::delay(5_000_000);
+                    leds[2].toggle();
+                    cortex_m::asm::delay(5_000_000);
                 }
             }
         }

examples/max11619-adc.rs

@@ -1,7 +1,6 @@
 //! MAX11619 ADC example applikcation
 #![no_main]
 #![no_std]
-
 use cortex_m_rt::entry;
 use embedded_hal::{blocking::delay::DelayUs, spi};
 use max116xx_10bit::VoltageRefMode;
@@ -14,8 +13,7 @@ use va108xx_hal::{
     pac::{self, interrupt, SPIB},
     prelude::*,
     spi::{Spi, SpiBase, SpiConfig, TransferConfig},
-    timer::{default_ms_irq_handler, set_up_ms_timer, Delay, IrqCfg},
+    timer::{default_ms_irq_handler, set_up_ms_timer, Delay},
-    utility::{port_mux, Funsel, PortSel},
 };
 use vorago_reb1::max11619::{
     max11619_externally_clocked_no_wakeup, max11619_externally_clocked_with_wakeup,
@@ -37,15 +35,8 @@ pub enum ReadMode {
     AverageN,
 }
 
-#[derive(Debug, PartialEq, Copy, Clone)]
+const EXAMPLE_MODE: ExampleMode = ExampleMode::UsingEoc;
-pub enum MuxMode {
-    None,
-    PortB19to17,
-}
-
-const EXAMPLE_MODE: ExampleMode = ExampleMode::NotUsingEoc;
 const READ_MODE: ReadMode = ReadMode::Multiple;
-const MUX_MODE: MuxMode = MuxMode::None;
 
 #[entry]
 fn main() -> ! {
@@ -54,11 +45,11 @@ fn main() -> ! {
 
     let mut dp = pac::Peripherals::take().unwrap();
     let tim0 = set_up_ms_timer(
-        IrqCfg::new(pac::Interrupt::OC0, true, true),
         &mut dp.SYSCONFIG,
-        Some(&mut dp.IRQSEL),
+        &mut dp.IRQSEL,
-        50.mhz(),
+        50.mhz().into(),
         dp.TIM0,
+        interrupt::OC0,
     );
     let delay = Delay::new(tim0);
     unsafe {
@@ -73,12 +64,6 @@ fn main() -> ! {
         pinsa.pa18.into_funsel_2(),
     );
 
-    if MUX_MODE == MuxMode::PortB19to17 {
-        port_mux(&mut dp.IOCONFIG, PortSel::PortB, 19, Funsel::Funsel1).ok();
-        port_mux(&mut dp.IOCONFIG, PortSel::PortB, 18, Funsel::Funsel1).ok();
-        port_mux(&mut dp.IOCONFIG, PortSel::PortB, 17, Funsel::Funsel1).ok();
-        port_mux(&mut dp.IOCONFIG, PortSel::PortB, 16, Funsel::Funsel1).ok();
-    }
     // Set the accelerometer chip select low in case the board slot is populated
     let mut accel_cs = pinsa.pa16.into_push_pull_output();
     accel_cs

src/button.rs

@@ -8,7 +8,6 @@ use va108xx_hal::{
     gpio::{FilterClkSel, FilterType, InputFloating, InterruptEdge, InterruptLevel, Pin, PA11},
     pac,
     prelude::*,
-    utility::IrqCfg,
 };
 
 pub struct Button {
@@ -29,28 +28,30 @@ impl Button {
     }
 
     /// Configures an IRQ on edge.
+    ///
+    /// Please note that you still have to unpend the Cortex-M interrupt yourself
     pub fn edge_irq(
         mut self,
         edge_type: InterruptEdge,
-        irq_cfg: IrqCfg,
         syscfg: Option<&mut pac::SYSCONFIG>,
-        irqsel: Option<&mut pac::IRQSEL>,
+        irqsel: &mut pac::IRQSEL,
+        irq: pac::interrupt,
     ) -> Self {
-        self.button = self
+        self.button = self.button.interrupt_edge(edge_type, syscfg, irqsel, irq);
-            .button
-            .interrupt_edge(edge_type, irq_cfg, syscfg, irqsel);
         self
     }
 
     /// Configures an IRQ on level.
+    ///
+    /// Please note that you still have to unpend the Cortex-M interrupt yourself
     pub fn level_irq(
         mut self,
         level: InterruptLevel,
-        irq_cfg: IrqCfg,
         syscfg: Option<&mut pac::SYSCONFIG>,
-        irqsel: Option<&mut pac::IRQSEL>,
+        irqsel: &mut pac::IRQSEL,
+        irq: pac::interrupt,
     ) -> Self {
-        self.button = self.button.interrupt_level(level, irq_cfg, syscfg, irqsel);
+        self.button = self.button.interrupt_level(level, syscfg, irqsel, irq);
         self
     }
 

src/temp_sensor.rs

@@ -21,7 +21,7 @@ pub struct Adt75TempSensor {
     current_reg: RegAddresses,
 }
 
-#[derive(PartialEq, Eq, Debug, Copy, Clone)]
+#[derive(PartialEq, Debug, Copy, Clone)]
 pub enum RegAddresses {
     Temperature = 0x00,
     Configuration = 0x01,
@@ -67,14 +67,15 @@ impl Adt75TempSensor {
         let mut reply: [u8; 2] = [0; 2];
         self.sensor_if.read(ADT75_I2C_ADDR, &mut reply)?;
         let adc_code = (((reply[0] as u16) << 8) | reply[1] as u16) >> 4;
-        let temp_celcius: f32 = if ((adc_code >> 11) & 0x01) == 0 {
+        let temp_celcius: f32;
+        if ((adc_code >> 11) & 0x01) == 0 {
             // Sign bit not set, positiv value
             // Divide ADC code by 16 according to datasheet
-            adc_code as f32 / 16.0
+            temp_celcius = adc_code as f32 / 16.0;
         } else {
             // Calculation for negative values, assuming all 12 bits are used
-            (adc_code - 4096) as f32 / 16.0
+            temp_celcius = (adc_code - 4096) as f32 / 16.0;
-        };
+        }
         Ok(temp_celcius)
     }
 }