Merge pull request 'also bump version number' (#36) from bump-version-number into main

Reviewed-on: #36

va108xx/board-tests/src/main.rs

@@ -161,7 +161,7 @@ fn main() -> ! {
                 delay_timer.delay_ms(500);
             }
             let ahb_freq: Hertz = 50.MHz();
-            let mut syst_delay = cortex_m::delay::Delay::new(cp.SYST, ahb_freq.raw());
+            let mut syst_delay = cortex_m::delay::Delay::new(cp.SYST, ahb_freq.to_raw());
             // Release image should be used to verify timings for pin PA0
             for _ in 0..5 {
                 pa0.toggle();

va108xx/examples/embassy/Cargo.toml

@@ -4,8 +4,9 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-cfg-if = "1"
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
+cfg-if = "1"
 embedded-hal-async = "1"
 embedded-io = "0.7"
 embedded-io-async = "0.7"
@@ -18,10 +19,10 @@ panic-probe = { version = "1", features = ["print-defmt"] }
 
 critical-section = "1"
 
-embassy-sync = "0.7"
+embassy-sync = "0.8"
 embassy-time = "0.5"
-embassy-executor = { version = "0.9", features = [
-  "arch-cortex-m",
+embassy-executor = { version = "0.10", features = [
+  "platform-cortex-m",
   "executor-thread",
   "executor-interrupt"
 ]}

va108xx/examples/embassy/src/bin/async-gpio.rs

@@ -62,6 +62,9 @@ async fn main(spawner: Spawner) {
 
     // Safety: Only called once here.
     va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    unsafe {
+        cortex_m::interrupt::enable();
+    }
 
     let porta = PinsA::new(dp.porta);
     let portb = PinsB::new(dp.portb);
@@ -71,36 +74,35 @@ async fn main(spawner: Spawner) {
     let out_pb22 = Output::new(portb.pb22, PinState::Low);
     let in_pb23 = Input::new_floating(portb.pb23);
 
-    let mut in_pa1_async = InputPinAsync::new(in_pa1, pac::Interrupt::OC10);
-    let mut in_pb23_async = InputPinAsync::new(in_pb23, PB22_TO_PB23_IRQ);
+    let mut in_pa1_async = InputPinAsync::new(
+        in_pa1,
+        va108xx_hal::InterruptConfig::new(pac::Interrupt::OC10, true, true),
+    );
+    let mut in_pb23_async = InputPinAsync::new(
+        in_pb23,
+        va108xx_hal::InterruptConfig::new(PB22_TO_PB23_IRQ, true, true),
+    );
 
-    spawner
-        .spawn(output_task(
-            "PA0 to PA1",
-            out_pa0,
-            CHANNEL_PA0_PA1.receiver(),
-        ))
-        .unwrap();
-    spawner
-        .spawn(output_task(
-            "PB22 to PB23",
-            out_pb22,
-            CHANNEL_PB22_TO_PB23.receiver(),
-        ))
-        .unwrap();
+    spawner.spawn(output_task("PA0 to PA1", out_pa0, CHANNEL_PA0_PA1.receiver()).unwrap());
+    spawner.spawn(output_task("PB22 to PB23", out_pb22, CHANNEL_PB22_TO_PB23.receiver()).unwrap());
 
-    if CHECK_PA0_TO_PA1 {
-        check_pin_to_pin_async_ops("PA0 to PA1", CHANNEL_PA0_PA1.sender(), &mut in_pa1_async).await;
-        defmt::info!("Example PA0 to PA1 done");
-    }
-    if CHECK_PB22_TO_PB23 {
-        check_pin_to_pin_async_ops(
-            "PB22 to PB23",
-            CHANNEL_PB22_TO_PB23.sender(),
-            &mut in_pb23_async,
-        )
-        .await;
-        defmt::info!("Example PB22 to PB23 done");
+    for i in 0..3 {
+        defmt::info!("Starting async GPIO operations check {}", i);
+        if CHECK_PA0_TO_PA1 {
+            check_pin_to_pin_async_ops("PA0 to PA1", CHANNEL_PA0_PA1.sender(), &mut in_pa1_async)
+                .await;
+            defmt::info!("Example PA0 to PA1 done");
+        }
+        if CHECK_PB22_TO_PB23 {
+            check_pin_to_pin_async_ops(
+                "PB22 to PB23",
+                CHANNEL_PB22_TO_PB23.sender(),
+                &mut in_pb23_async,
+            )
+            .await;
+            defmt::info!("Example PB22 to PB23 done");
+        }
+        Timer::after(Duration::from_millis(500)).await;
     }
 
     defmt::info!("Example done, toggling LED0");

va108xx/examples/embassy/src/bin/async-uart-rx.rs

@@ -97,9 +97,7 @@ async fn main(spawner: Spawner) {
     });
     let mut async_rx_uart_a = RxAsync::new(rx_uart_a, cons_uart_a);
     let async_rx_uart_b = RxAsyncOverwriting::new(rx_uart_b, &CONSUMER_UART_B);
-    spawner
-        .spawn(uart_b_task(async_rx_uart_b, tx_uart_b))
-        .unwrap();
+    spawner.spawn(uart_b_task(async_rx_uart_b, tx_uart_b).unwrap());
     let mut buf = [0u8; 256];
     loop {
         defmt::info!("Current time UART A: {}", Instant::now().as_secs());

va108xx/examples/rtic/Cargo.toml

@@ -9,6 +9,7 @@ embedded-io = "0.7"
 defmt-rtt = "1"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
+fugit = "0.4"
 rtic = { version = "2", features = ["thumbv6-backend"] }
 rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
 ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }

va108xx/examples/rtic/src/bin/blinky-button-rtic.rs

@@ -43,7 +43,7 @@ mod app {
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
         defmt::println!("-- Vorago Button IRQ Example --");
-        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.to_raw());
 
         let mode = DEFAULT_MODE;
         defmt::info!("Using {:?} mode", mode);

va108xx/examples/rtic/src/bin/uart-echo-rtic.rs

@@ -20,11 +20,11 @@ mod app {
     use panic_probe as _;
     // Import global logger.
     use defmt_rtt as _;
+    use rtic_monotonics::fugit::ExtU32 as _;
     use rtic_monotonics::Monotonic;
     use va108xx_hal::{
         pac,
         pins::PinsA,
-        prelude::*,
         uart::{self, RxWithInterrupt, Tx},
         InterruptConfig,
     };
@@ -46,15 +46,18 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local) {
         defmt::println!("-- VA108xx UART Echo with IRQ example application--");
 
-        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.to_raw());
 
         let dp = cx.device;
         let gpioa = PinsA::new(dp.porta);
         let tx = gpioa.pa9;
         let rx = gpioa.pa8;
 
-        let clock_config =
-            uart::ClockConfig::calculate(SYSCLK_FREQ, 115200.Hz(), uart::BaudMode::_16);
+        let clock_config = uart::ClockConfig::calculate(
+            SYSCLK_FREQ,
+            fugit::HertzU32::from_raw(115200),
+            uart::BaudMode::_16,
+        );
         let uart_config = uart::Config::new_with_clock_config(clock_config);
         let irq_uart = uart::Uart::new_with_interrupt_uart0(
             dp.uarta,

va108xx/examples/rtic/src/main.rs

@@ -34,7 +34,7 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local) {
         defmt::println!("-- Vorago VA108xx RTIC template --");
 
-        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.to_raw());
 
         let porta = PinsA::new(cx.device.porta);
         let led0 = Output::new(porta.pa10, PinState::Low);

va108xx/examples/simple/src/bin/timer-ticks.rs

@@ -46,8 +46,8 @@ fn main() -> ! {
             }
 
             let sys_clk: Hertz = 50.MHz();
-            let cnt_ms = sys_clk.raw() / 1000 - 1;
-            let cnt_sec = sys_clk.raw() - 1;
+            let cnt_ms = sys_clk.to_raw() / 1000 - 1;
+            let cnt_sec = sys_clk.to_raw() - 1;
             unsafe {
                 dp.tim0.cnt_value().write(|w| w.bits(cnt_ms));
                 dp.tim0.rst_value().write(|w| w.bits(cnt_ms));

va108xx/flashloader/Cargo.toml

@@ -13,6 +13,7 @@ panic-probe = { version = "1", features = ["print-defmt"] }
 num_enum = { version = "0.7", default-features = false }
 cobs = { version = "0.5", default-features = false }
 satrs = { version = "0.3.0-alpha.3", default-features = false, features = ["defmt"] }
+fugit = "0.4"
 arbitrary-int = "2"
 ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
 # spacepackets = { version = "0.17", path = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false, features = ["defmt"] }

va108xx/flashloader/src/main.rs

@@ -10,7 +10,8 @@ use ringbuf::{
     traits::{Consumer, Observer, Producer},
     StaticRb,
 };
-use va108xx_hal::prelude::*;
+use rtic_monotonics::fugit::ExtU32;
+use va108xx_hal::time::Hertz;
 
 const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
 
@@ -64,7 +65,7 @@ mod app {
     use cortex_m::asm;
     use embedded_io::Write;
     use rtic::Mutex;
-    use rtic_monotonics::systick::prelude::*;
+    use rtic_monotonics::Monotonic;
     use satrs::pus::verification::{FailParams, VerificationReportCreator};
     use satrs::spacepackets::ecss::PusServiceId;
     use satrs::spacepackets::ecss::{
@@ -106,7 +107,7 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local) {
         defmt::println!("-- Vorago flashloader --");
 
-        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+        Mono::start(cx.core.SYST, SYSCLK_FREQ.to_raw());
 
         let dp = cx.device;
         let spi_clock_config = SpiClockConfig::new(2, 4);
@@ -116,8 +117,11 @@ mod app {
         let tx = gpioa.pa9;
         let rx = gpioa.pa8;
 
-        let clock_config =
-            uart::ClockConfig::calculate(SYSCLK_FREQ, UART_BAUDRATE.Hz(), uart::BaudMode::_16);
+        let clock_config = uart::ClockConfig::calculate(
+            SYSCLK_FREQ,
+            fugit::HertzU32::from_raw(UART_BAUDRATE),
+            uart::BaudMode::_16,
+        );
         let uart_config = uart::Config::new_with_clock_config(clock_config);
         let irq_uart = uart::Uart::new_with_interrupt_uart0(
             dp.uarta,
@@ -254,7 +258,7 @@ mod app {
             let packet_len = cx.shared.tc_rb.lock(|rb| rb.sizes.try_pop());
             if packet_len.is_none() {
                 // Small delay, TCs might arrive very quickly.
-                Mono::delay(20.millis()).await;
+                Mono::delay(20_u32.millis()).await;
                 continue;
             }
             let packet_len = packet_len.unwrap();

va108xx/va108xx-embassy/Cargo.toml

@@ -11,7 +11,7 @@ keywords = ["no-std", "hal", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
-vorago-shared-hal = { version = "0.2", path = "../../vorago-shared-hal", features = ["vor1x"] }
+vorago-shared-hal = { version = "0.3", path = "../../vorago-shared-hal", features = ["vor1x"] }
 va108xx-hal = { version = "0.12", path = "../va108xx-hal" }
 
 [features]

va108xx/va108xx-hal/Cargo.toml

@@ -12,8 +12,8 @@ categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
-vorago-shared-hal = { version = "0.2", path = "../../vorago-shared-hal", features = ["vor1x"] }
-fugit = "0.3"
+vorago-shared-hal = { version = "0.3", path = "../../vorago-shared-hal", features = ["vor1x"] }
+fugit = "0.4"
 thiserror = { version = "2", default-features = false }
 va108xx = { version = "0.6", path = "../va108xx", default-features = false, features = ["critical-section"] }
 defmt = { version = "1", optional = true }

va108xx/vorago-reb1/src/button.rs

@@ -36,7 +36,7 @@ impl Button {
         irq_cfg: InterruptConfig,
     ) {
         self.0.configure_edge_interrupt(edge_type);
-        self.0.enable_interrupt(irq_cfg);
+        self.0.enable_interrupt(irq_cfg, true);
     }
 
     /// Configures an IRQ on level.
@@ -46,7 +46,7 @@ impl Button {
         irq_cfg: InterruptConfig,
     ) {
         self.0.configure_level_interrupt(level);
-        self.0.enable_interrupt(irq_cfg);
+        self.0.enable_interrupt(irq_cfg, true);
     }
 
     /// Configures a filter on the button. This can be useful for debouncing the switch.

va416xx/examples/rtic/src/main.rs

@@ -41,7 +41,7 @@ mod app {
             .xtal_n_clk_with_src_freq(EXTCLK_FREQ)
             .freeze()
             .unwrap();
-        Mono::start(cx.core.SYST, clocks.sysclk().raw());
+        Mono::start(cx.core.SYST, clocks.sysclk().to_raw());
         let pinsg = PinsG::new(cx.device.portg);
         let led = Output::new(pinsg.pg5, PinState::Low);
         blinky::spawn().ok();

va416xx/examples/simple/src/bin/wdt.rs

@@ -40,7 +40,7 @@ fn main() -> ! {
         .freeze()
         .unwrap();
     enable_and_init_irq_router();
-    let mut delay = cortex_m::delay::Delay::new(cp.SYST, clocks.apb0().raw());
+    let mut delay = cortex_m::delay::Delay::new(cp.SYST, clocks.apb0().to_raw());
 
     let mut last_interrupt_counter = 0;
     let mut wdt_ctrl = Wdt::start(dp.watch_dog, &clocks, WDT_ROLLOVER_MS);

va416xx/flashloader/Cargo.toml

@@ -10,6 +10,7 @@ defmt-rtt = "1"
 defmt = "1"
 panic-probe = { version = "1", features = ["defmt"] }
 static_cell = "2"
+fugit = "0.4"
 ringbuf = { version = "0.4", default-features = false }
 once_cell = { version = "1", default-features = false, features = ["critical-section"] }
 satrs = { version = "0.3.0-alpha.3", default-features = false, features = ["defmt"] }

va416xx/flashloader/src/main.rs

@@ -97,12 +97,12 @@ mod app {
     use arbitrary_int::{u11, u14};
     use cortex_m::asm;
     use embedded_io::Write;
+    use rtic_monotonics::{fugit::ExtU32, Monotonic};
     // Import panic provider.
     use panic_probe as _;
     // Import logger.
     use defmt_rtt as _;
     use rtic::Mutex;
-    use rtic_monotonics::systick::prelude::*;
     use satrs::pus::verification::VerificationReportCreator;
     use satrs::spacepackets::ecss::PusServiceId;
     use satrs::spacepackets::ecss::{
@@ -116,7 +116,6 @@ mod app {
         nvm::Nvm,
         pac,
         pins::PinsG,
-        prelude::*,
         uart::{self, Uart},
     };
 
@@ -171,7 +170,7 @@ mod app {
         let clock_config = uart::ClockConfig::calculate_with_clocks(
             uart::Bank::Uart0,
             &clocks,
-            UART_BAUDRATE.Hz(),
+            fugit::HertzU32::from_raw(UART_BAUDRATE),
             uart::BaudMode::_16,
         );
         let uart_config = uart::Config::new_with_clock_config(clock_config);
@@ -195,7 +194,7 @@ mod app {
             .init(StaticRb::<usize, SIZES_RB_SIZE_TC>::default())
             .split_ref();
 
-        Mono::start(cx.core.SYST, clocks.sysclk().raw());
+        Mono::start(cx.core.SYST, clocks.sysclk().to_raw());
         CLOCKS.set(clocks).unwrap();
 
         let mut rx = rx.into_rx_with_irq();

va416xx/va416xx-embassy/Cargo.toml

@@ -11,7 +11,7 @@ keywords = ["no-std", "hal", "cortex-m", "vorago", "va416xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
-vorago-shared-hal = { version = "0.2", path = "../../vorago-shared-hal", features = ["vor4x"] }
+vorago-shared-hal = { version = "0.3", path = "../../vorago-shared-hal", features = ["vor4x"] }
 va416xx-hal = { version = "0.6", path = "../va416xx-hal" }
 
 [features]

va416xx/va416xx-hal/Cargo.toml

@@ -15,7 +15,7 @@ cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 va416xx = { version = "0.5", path = "../va416xx", features = ["critical-section"], default-features = false }
 derive-mmio = "0.6.1"
 static_assertions = "1.1"
-vorago-shared-hal = { version = "0.2", path = "../../vorago-shared-hal", features = ["vor4x"] }
+vorago-shared-hal = { version = "0.3", path = "../../vorago-shared-hal", features = ["vor4x"] }
 
 libm = "0.2"
 nb = "1"
@@ -24,7 +24,7 @@ num_enum = { version = "0.7", default-features = false }
 bitflags = "2"
 bitbybit = "2"
 arbitrary-int = "2"
-fugit = "0.3"
+fugit = "0.4"
 embedded-can = "0.4"
 embassy-sync = "0.8"
 thiserror = { version = "2", default-features = false }

va416xx/va416xx-hal/src/can/mod.rs

@@ -150,18 +150,19 @@ impl ClockConfig {
         tseg2: u8,
         sjw: u8,
     ) -> Result<ClockConfig, ClockConfigError> {
-        if bitrate.raw() == 0 {
+        if bitrate.to_raw() == 0 {
             return Err(ClockConfigError::BitrateIsZero);
         }
         let nominal_bit_time = 1 + tseg1 as u32 + tseg2 as u32;
-        let prescaler =
-            roundf(clocks.apb1().raw() as f32 / (bitrate.raw() as f32 * nominal_bit_time as f32))
-                as u32;
+        let prescaler = roundf(
+            clocks.apb1().to_raw() as f32 / (bitrate.to_raw() as f32 * nominal_bit_time as f32),
+        ) as u32;
         if !(PRESCALER_MIN as u32..=PRESCALER_MAX as u32).contains(&prescaler) {
             return Err(ClockConfigError::CanNotFindPrescaler);
         }
 
-        let actual_bitrate = (clocks.apb1().raw() as f32) / (prescaler * nominal_bit_time) as f32;
+        let actual_bitrate =
+            (clocks.apb1().to_raw() as f32) / (prescaler * nominal_bit_time) as f32;
         let bitrate_deviation = calculate_bitrate_deviation(actual_bitrate, bitrate);
         if bitrate_deviation > MAX_BITRATE_DEVIATION {
             return Err(ClockConfigError::BitrateErrorTooLarge);
@@ -269,17 +270,17 @@ pub const fn calculate_nominal_bit_time(
     target_bitrate: Hertz,
     prescaler: u8,
 ) -> u32 {
-    apb1_clock.raw() / (target_bitrate.raw() * prescaler as u32)
+    apb1_clock.to_raw() / (target_bitrate.to_raw() * prescaler as u32)
 }
 
 #[inline]
 pub const fn calculate_actual_bitrate(apb1_clock: Hertz, prescaler: u8, nom_bit_time: u32) -> f32 {
-    apb1_clock.raw() as f32 / (prescaler as u32 * nom_bit_time) as f32
+    apb1_clock.to_raw() as f32 / (prescaler as u32 * nom_bit_time) as f32
 }
 
 #[inline]
 pub const fn calculate_bitrate_deviation(actual_bitrate: f32, target_bitrate: Hertz) -> f32 {
-    (actual_bitrate - target_bitrate.raw() as f32).abs() / target_bitrate.raw() as f32
+    (actual_bitrate - target_bitrate.to_raw() as f32).abs() / target_bitrate.to_raw() as f32
 }
 
 pub trait CanInstance {

va416xx/va416xx-hal/src/clock.rs

@@ -94,9 +94,9 @@ pub struct PllConfig {
 pub const fn clock_after_division(clk: Hertz, div_sel: ClockDivisorSelect) -> Hertz {
     match div_sel {
         ClockDivisorSelect::Div1 => clk,
-        ClockDivisorSelect::Div2 => Hertz::from_raw(clk.raw() / 2),
-        ClockDivisorSelect::Div4 => Hertz::from_raw(clk.raw() / 4),
-        ClockDivisorSelect::Div8 => Hertz::from_raw(clk.raw() / 8),
+        ClockDivisorSelect::Div2 => Hertz::from_raw(clk.to_raw() / 2),
+        ClockDivisorSelect::Div4 => Hertz::from_raw(clk.to_raw() / 4),
+        ClockDivisorSelect::Div8 => Hertz::from_raw(clk.to_raw() / 8),
     }
 }
 
@@ -382,7 +382,7 @@ impl ClockConfigurator {
         // ADC clock (must be 2-12.5 MHz)
         // NOTE: Not using divide by 1 or /2 ratio in REVA silicon because of triggering issue
         // For this reason, keep SYSCLK above 8MHz to have the ADC /4 ratio in range)
-        if final_sysclk.raw() <= ADC_MAX_CLK.raw() * 4 {
+        if final_sysclk.to_raw() <= ADC_MAX_CLK.to_raw() * 4 {
             self.clkgen.ctrl1().modify(|_, w| unsafe {
                 w.adc_clk_div_sel().bits(AdcClockDivisorSelect::Div4 as u8)
             });

va416xx/va416xx-hal/src/wdt.rs

@@ -58,7 +58,7 @@ impl Wdt {
 
     #[inline]
     pub fn set_freq(&mut self, freq_ms: u32) {
-        let counter = (self.clock_freq.raw() / 1000) * freq_ms;
+        let counter = (self.clock_freq.to_raw() / 1000) * freq_ms;
         self.wdt.wdogload().write(|w| unsafe { w.bits(counter) });
     }
 

vorago-shared-hal/CHANGELOG.md

@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.3.0] 2026-05-18
+
 ### Added
 
 - Add `is_high` and `is_low` for `InputPinAsync`.
@@ -16,6 +18,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ### Changed
 
+- Bumped `fugit` from v0.3 to v0.4
 - Added `RxWithInterrupt::steal`.
 - Renamed UART `Data` register `value` field to `data`
 - Improved type level support for resource management for SPI, PWM, UART.
@@ -26,10 +29,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ### Fixed
 
+- `Pull::Up` and `Pull::High` were inverted.
 - Removed HW CS pin provider implementation for PA23, PA22 and PA21, which are multi HW CS pins.
 - Added missing `AnyPin` trait impl for Multi HW CS pins.
 - Expose inner `Input` pin for `InputPinAsync`.
 - Bugfix for UART clock calculation with 8x baud mode.
+- Possible bugfix for Asynch GPIO where the interrupt handler could become stuck in a loop.
+- Robustness improvements for the Asynch GPIO driver code.
 
 ## [v0.2.0] 2025-09-03
 
@@ -51,6 +57,7 @@ Renamed to `vorago-shared-hal`
 
 Init commit.
 
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/vorago-shared-hal/compare/v0.2.0...HEAD
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/vorago-shared-hal/compare/v0.3.0...HEAD
+[v0.3.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-shared-hal/compare/v0.2.0...v0.3.0
 [v0.2.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-shared-hal/compare/v0.1.0...v0.2.0
 [v0.1.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-shared-hal/src/tag/v0.1.0

vorago-shared-hal/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vorago-shared-hal"
-version = "0.2.0"
+version = "0.3.0"
 description = "Peripheral HAL components shared between Vorago families"
 edition = "2024"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/vorago-rs"
@@ -25,11 +25,11 @@ embedded-io-async = "0.7"
 raw-slicee = "0.1"
 thiserror = { version = "2", default-features = false }
 paste = "1"
-fugit = "0.3"
+fugit = "0.4"
 defmt = { version = "1", optional = true }
 va108xx = { version = "0.6", path = "../va108xx/va108xx", default-features = false, optional = true }
 va416xx = { version = "0.5", path = "../va416xx/va416xx", default-features = false, optional = true }
-embassy-sync = "0.7"
+embassy-sync = "0.8"
 embassy-time-driver = "0.2"
 embassy-time-queue-utils = "0.3"
 once_cell = { version = "1", default-features = false, features = [

vorago-shared-hal/src/embassy.rs

@@ -79,7 +79,9 @@ impl TimerDriver {
         let mut timekeeper_reg_block = unsafe { TimekeeperTim::ID.steal_regs() };
         let mut alarm_tim_reg_block = unsafe { AlarmTim::ID.steal_regs() };
         // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
-        SCALE.set((sysclk.raw() / TICK_HZ as u32) as u64).unwrap();
+        SCALE
+            .set((sysclk.to_raw() / TICK_HZ as u32) as u64)
+            .unwrap();
         timekeeper_reg_block.write_reset_value(u32::MAX);
         // Decrementing counter.
         timekeeper_reg_block.write_count_value(u32::MAX);
@@ -137,7 +139,7 @@ impl TimerDriver {
         // Initiate scale value here. This is required to convert timer ticks back to a timestamp.
 
         SCALE
-            .set((TimekeeperTim::clock(clocks).raw() / TICK_HZ as u32) as u64)
+            .set((TimekeeperTim::clock(clocks).to_raw() / TICK_HZ as u32) as u64)
             .unwrap();
         timekeeper_regs.write_reset_value(u32::MAX);
         // Decrementing counter.

vorago-shared-hal/src/gpio/asynch.rs

@@ -21,9 +21,6 @@ use crate::{InterruptConfig, NUM_PORT_A, NUM_PORT_B};
 #[cfg(feature = "vor4x")]
 use super::ll::PortDoesNotSupportInterrupts;
 
-#[cfg(feature = "vor1x")]
-use va108xx as pac;
-
 pub use super::ll::InterruptEdge;
 use super::{
     Input, Port,
@@ -118,7 +115,7 @@ pub fn on_interrupt_for_async_gpio_for_port(
 }
 
 fn on_interrupt_for_async_gpio_for_port_generic(port: Port) {
-    let gpio = unsafe { port.steal_gpio() };
+    let mut gpio = unsafe { port.steal_regs() };
 
     let irq_enb = gpio.read_irq_enable();
     let edge_status = gpio.read_edge_status();
@@ -134,18 +131,19 @@ fn on_interrupt_for_port(
     wakers: &'static [AtomicWaker],
     edge_detection: &'static [AtomicBool],
 ) {
+    // Check all enabled interrupts.
     while irq_enb != 0 {
+        // For all enabled interrupts, check whether the corresponding edge detection has
+        // triggered.
         let bit_pos = irq_enb.trailing_zeros() as usize;
         let bit_mask = 1 << bit_pos;
 
-        wakers[bit_pos].wake();
-
         if edge_status & bit_mask != 0 {
             edge_detection[bit_pos].store(true, core::sync::atomic::Ordering::Relaxed);
-
-            // Clear the processed bit
-            irq_enb &= !bit_mask;
+            wakers[bit_pos].wake();
         }
+        // Clear the processed bit
+        irq_enb &= !bit_mask;
     }
 }
 
@@ -163,13 +161,12 @@ pub struct InputPinFuture {
 impl InputPinFuture {
     /// Create a new input pin future from mutable reference to an [Input] pin.
     #[cfg(feature = "vor1x")]
-    pub fn new_with_input_pin(pin: &mut Input, irq: pac::Interrupt, edge: InterruptEdge) -> Self {
+    pub fn new_with_input_pin(pin: &mut Input, edge: InterruptEdge) -> Self {
         let (waker_group, edge_detection_group) =
             pin_group_to_waker_and_edge_detection_group(pin.id().port());
         edge_detection_group[pin.id().offset()].store(false, core::sync::atomic::Ordering::Relaxed);
         pin.configure_edge_interrupt(edge);
-        #[cfg(feature = "vor1x")]
-        pin.enable_interrupt(InterruptConfig::new(irq, true, true));
+        pin.enable_interrupt_gpio_only();
         Self {
             id: pin.id(),
             waker_group,
@@ -186,7 +183,7 @@ impl InputPinFuture {
         let (waker_group, edge_detection_group) =
             pin_group_to_waker_and_edge_detection_group(pin.id().port());
         pin.configure_edge_interrupt(edge);
-        pin.enable_interrupt(true)?;
+        pin.enable_interrupt_gpio_only();
         Ok(Self {
             id: pin.id(),
             waker_group,
@@ -223,8 +220,6 @@ impl Future for InputPinFuture {
 /// Input pin which has additional asynchronous support.
 pub struct InputPinAsync {
     pin: Input,
-    #[cfg(feature = "vor1x")]
-    irq: va108xx::Interrupt,
 }
 
 impl InputPinAsync {
@@ -235,8 +230,10 @@ impl InputPinAsync {
     /// generic [on_interrupt_for_async_gpio_for_port] function must be called inside that function
     /// for the asynchronous functionality to work.
     #[cfg(feature = "vor1x")]
-    pub fn new(pin: Input, irq: va108xx::Interrupt) -> Self {
-        Self { pin, irq }
+    pub fn new(mut pin: Input, irq_config: InterruptConfig) -> Self {
+        // Do not enable GPIO interrupt bit yet.
+        pin.enable_interrupt(irq_config, false);
+        Self { pin }
     }
 
     /// Create a new asynchronous input pin from an [Input] pin. The interrupt ID to be used must be
@@ -246,10 +243,12 @@ impl InputPinAsync {
     /// generic [on_interrupt_for_async_gpio_for_port] function must be called inside that function
     /// for the asynchronous functionality to work.
     #[cfg(feature = "vor4x")]
-    pub fn new(pin: Input) -> Result<Self, PortDoesNotSupportInterrupts> {
+    pub fn new(mut pin: Input) -> Result<Self, PortDoesNotSupportInterrupts> {
         if pin.id().port() == Port::G {
             return Err(PortDoesNotSupportInterrupts);
         }
+        // Do not enable GPIO interrupt bit yet.
+        pin.enable_interrupt(true, false)?;
         Ok(Self { pin })
     }
 
@@ -259,8 +258,7 @@ impl InputPinAsync {
     pub async fn wait_for_high(&mut self) {
         // Unwrap okay, checked pin in constructor.
         #[cfg(feature = "vor1x")]
-        let fut =
-            InputPinFuture::new_with_input_pin(&mut self.pin, self.irq, InterruptEdge::LowToHigh);
+        let fut = InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::LowToHigh);
         #[cfg(feature = "vor4x")]
         let fut =
             InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::LowToHigh).unwrap();
@@ -300,8 +298,7 @@ impl InputPinAsync {
     pub async fn wait_for_low(&mut self) {
         // Unwrap okay, checked pin in constructor.
         #[cfg(feature = "vor1x")]
-        let fut =
-            InputPinFuture::new_with_input_pin(&mut self.pin, self.irq, InterruptEdge::HighToLow);
+        let fut = InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::HighToLow);
         #[cfg(feature = "vor4x")]
         let fut =
             InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::HighToLow).unwrap();
@@ -315,7 +312,7 @@ impl InputPinAsync {
     pub async fn wait_for_falling_edge(&mut self) {
         // Unwrap okay, checked pin in constructor.
         #[cfg(feature = "vor1x")]
-        InputPinFuture::new_with_input_pin(&mut self.pin, self.irq, InterruptEdge::HighToLow).await;
+        InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::HighToLow).await;
         #[cfg(feature = "vor4x")]
         InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::HighToLow)
             .unwrap()
@@ -326,14 +323,14 @@ impl InputPinAsync {
     pub async fn wait_for_rising_edge(&mut self) {
         // Unwrap okay, checked pin in constructor.
         #[cfg(feature = "vor1x")]
-        InputPinFuture::new_with_input_pin(&mut self.pin, self.irq, InterruptEdge::LowToHigh).await;
+        InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::LowToHigh).await;
     }
 
     /// Asynchronously wait until the pin sees any edge (either rising or falling).
     pub async fn wait_for_any_edge(&mut self) {
         // Unwrap okay, checked pin in constructor.
         #[cfg(feature = "vor1x")]
-        InputPinFuture::new_with_input_pin(&mut self.pin, self.irq, InterruptEdge::BothEdges).await;
+        InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::BothEdges).await;
         #[cfg(feature = "vor4x")]
         InputPinFuture::new_with_input_pin(&mut self.pin, InterruptEdge::BothEdges)
             .unwrap()

vorago-shared-hal/src/gpio/ll.rs

@@ -384,32 +384,53 @@ impl LowLevelGpio {
         self.gpio.write_tog_out(self.mask_32());
     }
 
-    #[cfg(feature = "vor1x")]
-    pub fn enable_interrupt(&mut self, irq_cfg: crate::InterruptConfig) {
-        if irq_cfg.route {
-            self.configure_irqsel(irq_cfg.id);
-        }
-        if irq_cfg.enable_in_nvic {
-            unsafe { crate::enable_nvic_interrupt(irq_cfg.id) };
-        }
+    /// Only enabled GPIO peripheral interrupt bit without enabling the interrupt in NVIC
+    /// or routing it in the IRQSEL peripheral for VA108xx devices.
+    #[inline]
+    pub fn enable_interrupt_gpio_only(&mut self) {
         self.gpio.modify_irq_enable(|mut value| {
             value |= 1 << self.id.offset;
             value
         });
     }
 
+    /// Depending on the configuration parameters, does the following:
+    ///
+    /// - Routes the interrupt in the IRQSEL peripheral
+    /// - Enables the interrupt in the NVIC,
+    /// - Enable the GPIO peripheral interrupt bit for this pin if configured.
+    #[cfg(feature = "vor1x")]
+    pub fn enable_interrupt(&mut self, irq_cfg: crate::InterruptConfig, gpio: bool) {
+        if irq_cfg.route {
+            self.configure_irqsel(irq_cfg.id);
+        }
+        if irq_cfg.enable_in_nvic {
+            unsafe { crate::enable_nvic_interrupt(irq_cfg.id) };
+        }
+        if gpio {
+            self.enable_interrupt_gpio_only();
+        }
+    }
+
+    /// Depending on the configuration parameters, does the following:
+    ///
+    /// - Enables the interrupt in the NVIC,
+    /// - Enable the GPIO peripheral interrupt bit for this pin if configured.
     #[cfg(feature = "vor4x")]
     pub fn enable_interrupt(
         &mut self,
         enable_in_nvic: bool,
+        gpio: bool,
     ) -> Result<(), PortDoesNotSupportInterrupts> {
+        if self.id().port() == Port::G {
+            return Err(PortDoesNotSupportInterrupts);
+        }
         if enable_in_nvic {
             unsafe { crate::enable_nvic_interrupt(self.id().irq_unchecked()) };
         }
-        self.gpio.modify_irq_enable(|mut value| {
-            value |= 1 << self.id.offset;
-            value
-        });
+        if gpio {
+            self.enable_interrupt_gpio_only();
+        }
         Ok(())
     }
 

vorago-shared-hal/src/gpio/mod.rs

@@ -132,19 +132,34 @@ impl Input {
         self.0.id()
     }
 
-    #[cfg(feature = "vor1x")]
     #[inline]
-    pub fn enable_interrupt(&mut self, irq_cfg: crate::InterruptConfig) {
-        self.0.enable_interrupt(irq_cfg);
+    pub fn enable_interrupt_gpio_only(&mut self) {
+        self.0.enable_interrupt_gpio_only();
     }
 
+    /// Depending on the configuration parameters, does the following:
+    ///
+    /// - Routes the interrupt in the IRQSEL peripheral
+    /// - Enables the interrupt in the NVIC,
+    /// - Enable the GPIO peripheral interrupt bit for this pin if configured.
+    #[cfg(feature = "vor1x")]
+    #[inline]
+    pub fn enable_interrupt(&mut self, irq_cfg: crate::InterruptConfig, gpio: bool) {
+        self.0.enable_interrupt(irq_cfg, gpio);
+    }
+
+    /// Depending on the configuration parameters, does the following:
+    ///
+    /// - Enables the interrupt in the NVIC,
+    /// - Enable the GPIO peripheral interrupt bit for this pin if configured.
     #[cfg(feature = "vor4x")]
     #[inline]
     pub fn enable_interrupt(
         &mut self,
         enable_in_nvic: bool,
+        gpio: bool,
     ) -> Result<(), ll::PortDoesNotSupportInterrupts> {
-        self.0.enable_interrupt(enable_in_nvic)
+        self.0.enable_interrupt(enable_in_nvic, gpio)
     }
 
     #[inline]

vorago-shared-hal/src/gpio/regs.rs

@@ -58,7 +58,8 @@ pub struct Gpio {
     /// Read-only register which shows enabled and active interrupts. Called IRQ_end by Vorago.
     #[mmio(PureRead)]
     irq_status: u32,
-    #[mmio(PureRead)]
+    // Reading this register clears it.
+    #[mmio(Read)]
     edge_status: u32,
 
     #[cfg(feature = "vor1x")]

vorago-shared-hal/src/i2c/mod.rs

@@ -149,12 +149,12 @@ fn calc_clk_div_generic(
     speed_mode: I2cSpeed,
 ) -> Result<u8, ClockTooSlowForFastI2cError> {
     if speed_mode == I2cSpeed::Regular100khz {
-        Ok(((ref_clk.raw() / CLK_100K.raw() / 20) - 1) as u8)
+        Ok(((ref_clk.to_raw() / CLK_100K.to_raw() / 20) - 1) as u8)
     } else {
-        if ref_clk.raw() < MIN_CLK_400K.raw() {
+        if ref_clk.to_raw() < MIN_CLK_400K.to_raw() {
             return Err(ClockTooSlowForFastI2cError);
         }
-        Ok(((ref_clk.raw() / CLK_400K.raw() / 25) - 1) as u8)
+        Ok(((ref_clk.to_raw() / CLK_400K.to_raw() / 25) - 1) as u8)
     }
 }
 

vorago-shared-hal/src/ioconfig/regs.rs

@@ -39,8 +39,8 @@ pub enum FilterClockSelect {
 #[bitbybit::bitenum(u1, exhaustive = true)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Pull {
-    Up = 0,
-    Down = 1,
+    Down = 0,
+    Up = 1,
 }
 
 #[derive(Debug, Eq, PartialEq)]

vorago-shared-hal/src/lib.rs

@@ -137,7 +137,7 @@ impl Port {
     /// # Safety
     ///
     /// Circumvents ownership and safety guarantees by the HAL.
-    pub unsafe fn steal_gpio(&self) -> gpio::regs::MmioGpio<'static> {
+    pub unsafe fn steal_regs(&self) -> gpio::regs::MmioGpio<'static> {
         gpio::regs::Gpio::new_mmio(*self)
     }
 }

vorago-shared-hal/src/pwm.rs

@@ -164,10 +164,10 @@ impl<Mode> PwmPin<Mode> {
     pub fn set_period(&mut self, period: impl Into<Hertz>) {
         self.current_period = period.into();
         // Avoid division by 0
-        if self.current_period.raw() == 0 {
+        if self.current_period.to_raw() == 0 {
             return;
         }
-        self.current_rst_val = self.ref_clk.raw() / self.current_period.raw();
+        self.current_rst_val = self.ref_clk.to_raw() / self.current_period.to_raw();
         self.regs.write_reset_value(self.current_rst_val);
     }
 

vorago-shared-hal/src/spi/asynch.rs

@@ -1,4 +1,4 @@
-use core::{cell::RefCell, convert::Infallible};
+use core::cell::RefCell;
 
 use arbitrary_int::u5;
 use critical_section::Mutex;
@@ -8,7 +8,10 @@ use raw_slice::{RawBufSlice, RawBufSliceMut};
 
 use crate::{
     shared::{FifoClear, TriggerLevel},
-    spi::regs::{Data, InterruptClear, InterruptControl, InterruptStatus},
+    spi::{
+        FIFO_DEPTH,
+        regs::{Data, InterruptClear, InterruptControl},
+    },
 };
 
 #[cfg(feature = "vor1x")]
@@ -23,6 +26,17 @@ static TRANSFER_CONTEXTS: [Mutex<RefCell<TransferContext>>; NUM_SPIS] =
 // critical section.
 static DONE: [AtomicBool; NUM_SPIS] = [const { AtomicBool::new(false) }; NUM_SPIS];
 
+#[derive(Debug, Clone, Copy, thiserror::Error)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[error("SPI RX FIFO overrun")]
+pub struct RxOverrunError;
+
+impl embedded_hal_async::spi::Error for RxOverrunError {
+    fn kind(&self) -> embedded_hal::spi::ErrorKind {
+        embedded_hal::spi::ErrorKind::Overrun
+    }
+}
+
 /// This is a generic interrupt handler to handle asynchronous SPI  operations for a given
 /// SPI peripheral.
 ///
@@ -30,18 +44,24 @@ static DONE: [AtomicBool; NUM_SPIS] = [const { AtomicBool::new(false) }; NUM_SPI
 /// the given SPI bank.
 pub fn on_interrupt(peripheral: super::Bank) {
     let mut spi = unsafe { peripheral.steal_regs() };
-    let idx = peripheral as usize;
-    let interrupt_enabled = spi.read_interrupt_control();
-    let isr = spi.read_interrupt_status();
-    // IRQ is not related.
-    if interrupt_enabled.raw_value() == 0 {
-        return;
-    }
+    let index = peripheral as usize;
+    let enabled_irqs = spi.read_interrupt_control();
+    let interrupt_status = spi.read_interrupt_status();
+    spi.write_interrupt_clear(InterruptClear::ALL);
     // Prevent spurious interrupts from messing with out logic here.
     spi.write_interrupt_control(InterruptControl::DISABLE_ALL);
-    spi.write_interrupt_clear(InterruptClear::ALL);
+    // IRQ is not related.
+    if enabled_irqs.raw_value() == 0 {
+        reset_trigger_levels(&mut spi);
+        spi.write_fifo_clear(FifoClear::ALL);
+        return;
+    }
+    if interrupt_status.rx_overrun() {
+        // Not sure how to otherwise handle this cleanly..
+        return handle_rx_overrun(&mut spi, index);
+    }
     let mut context = critical_section::with(|cs| {
-        let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+        let context_ref = TRANSFER_CONTEXTS[index].borrow(cs);
         *context_ref.borrow()
     });
     // No transfer active.
@@ -50,30 +70,47 @@ pub fn on_interrupt(peripheral: super::Bank) {
     }
     let transfer_type = context.transfer_type.unwrap();
     match transfer_type {
-        TransferType::Read => on_interrupt_read(idx, &mut context, &mut spi, isr),
-        TransferType::Write => on_interrupt_write(idx, &mut context, &mut spi, isr),
-        TransferType::Transfer => on_interrupt_transfer(idx, &mut context, &mut spi, isr),
+        TransferType::Read => on_interrupt_read(index, &mut context, &mut spi, enabled_irqs),
+        TransferType::Write => on_interrupt_write(index, &mut context, &mut spi, enabled_irqs),
+        TransferType::Transfer => {
+            on_interrupt_transfer(index, &mut context, &mut spi, enabled_irqs)
+        }
         TransferType::TransferInPlace => {
-            on_interrupt_transfer_in_place(idx, &mut context, &mut spi, isr)
+            on_interrupt_transfer_in_place(index, &mut context, &mut spi, enabled_irqs)
         }
     };
 }
 
+fn handle_rx_overrun(spi: &mut super::regs::MmioSpi<'static>, idx: usize) {
+    critical_section::with(|cs| {
+        let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+        context_ref.borrow_mut().rx_overrun = true;
+    });
+    // Clean up, restore clean state.
+    reset_trigger_levels(spi);
+    spi.write_fifo_clear(FifoClear::ALL);
+    // Interrupts were already disabled and cleared.
+    DONE[idx].store(true, core::sync::atomic::Ordering::Relaxed);
+    WAKERS[idx].wake();
+}
+
 fn on_interrupt_read(
     idx: usize,
     context: &mut TransferContext,
     spi: &mut super::regs::MmioSpi<'static>,
-    isr: InterruptStatus,
+    enabled_irqs: InterruptControl,
 ) {
     let read_slice = unsafe { context.rx_slice.get_mut().unwrap() };
     let transfer_len = read_slice.len();
 
     // Read data from RX FIFO first.
-    let read_len = calculate_read_len(spi, isr, transfer_len, context.rx_progress);
-    (0..read_len).for_each(|_| {
-        read_slice[context.rx_progress] = (spi.read_data().data() & 0xFF) as u8;
-        context.rx_progress += 1;
-    });
+    while spi.read_status().rx_not_empty() {
+        let data = spi.read_data();
+        if context.rx_progress < transfer_len {
+            read_slice[context.rx_progress] = (data.data() & 0xFF) as u8;
+            context.rx_progress += 1;
+        }
+    }
 
     // The FIFO still needs to be pumped.
     while context.tx_progress < read_slice.len() && spi.read_status().tx_not_full() {
@@ -81,24 +118,25 @@ fn on_interrupt_read(
         context.tx_progress += 1;
     }
 
-    isr_finish_handler(idx, spi, context, transfer_len)
+    isr_finish_handler(idx, spi, context, transfer_len, enabled_irqs)
 }
 
 fn on_interrupt_write(
     idx: usize,
     context: &mut TransferContext,
     spi: &mut super::regs::MmioSpi<'static>,
-    isr: InterruptStatus,
+    enabled_irqs: InterruptControl,
 ) {
     let write_slice = unsafe { context.tx_slice.get().unwrap() };
     let transfer_len = write_slice.len();
 
     // Read data from RX FIFO first.
-    let read_len = calculate_read_len(spi, isr, transfer_len, context.rx_progress);
-    (0..read_len).for_each(|_| {
+    while spi.read_status().rx_not_empty() {
         spi.read_data();
-        context.rx_progress += 1;
-    });
+        if context.rx_progress < transfer_len {
+            context.rx_progress += 1;
+        }
+    }
 
     // Data still needs to be sent
     while context.tx_progress < transfer_len && spi.read_status().tx_not_full() {
@@ -108,14 +146,14 @@ fn on_interrupt_write(
         context.tx_progress += 1;
     }
 
-    isr_finish_handler(idx, spi, context, transfer_len)
+    isr_finish_handler(idx, spi, context, transfer_len, enabled_irqs)
 }
 
 fn on_interrupt_transfer(
     idx: usize,
     context: &mut TransferContext,
     spi: &mut super::regs::MmioSpi<'static>,
-    isr: InterruptStatus,
+    enabled_irqs: InterruptControl,
 ) {
     let read_slice = unsafe { context.rx_slice.get_mut().unwrap() };
     let read_len = read_slice.len();
@@ -125,36 +163,31 @@ fn on_interrupt_transfer(
 
     // Send data first to avoid overwriting data that still needs to be sent.
     while context.tx_progress < transfer_len && spi.read_status().tx_not_full() {
-        if context.tx_progress < write_len {
-            spi.write_data(Data::new_with_raw_value(
-                write_slice[context.tx_progress] as u32,
-            ));
-        } else {
-            // Dummy write.
-            spi.write_data(Data::new_with_raw_value(0));
-        }
+        spi.write_data(Data::new_with_raw_value(
+            write_slice.get(context.tx_progress).copied().unwrap_or(0) as u32,
+        ));
+        // Always increment this.
         context.tx_progress += 1;
     }
 
     // Read data from RX FIFO.
-    let read_len = calculate_read_len(spi, isr, transfer_len, context.rx_progress);
-    (0..read_len).for_each(|_| {
+    while spi.read_status().rx_not_empty() {
+        let data = spi.read_data();
         if context.rx_progress < read_len {
-            read_slice[context.rx_progress] = (spi.read_data().data() & 0xFF) as u8;
-        } else {
-            spi.read_data();
+            read_slice[context.rx_progress] = (data.data() & 0xFF) as u8;
         }
+        // Always increment this.
         context.rx_progress += 1;
-    });
+    }
 
-    isr_finish_handler(idx, spi, context, transfer_len)
+    isr_finish_handler(idx, spi, context, transfer_len, enabled_irqs)
 }
 
 fn on_interrupt_transfer_in_place(
     idx: usize,
     context: &mut TransferContext,
     spi: &mut super::regs::MmioSpi<'static>,
-    isr: InterruptStatus,
+    enabled_irqs: InterruptControl,
 ) {
     let transfer_slice = unsafe { context.rx_slice.get_mut().unwrap() };
     let transfer_len = transfer_slice.len();
@@ -166,29 +199,15 @@ fn on_interrupt_transfer_in_place(
         context.tx_progress += 1;
     }
     // Read data from RX FIFO.
-    let read_len = calculate_read_len(spi, isr, transfer_len, context.rx_progress);
-    (0..read_len).for_each(|_| {
-        transfer_slice[context.rx_progress] = (spi.read_data().data() & 0xFF) as u8;
-        context.rx_progress += 1;
-    });
-
-    isr_finish_handler(idx, spi, context, transfer_len)
-}
-
-fn calculate_read_len(
-    spi: &mut super::regs::MmioSpi<'static>,
-    isr: InterruptStatus,
-    total_read_len: usize,
-    rx_progress: usize,
-) -> usize {
-    if isr.rx() {
-        core::cmp::min(super::FIFO_DEPTH, total_read_len - rx_progress)
-    } else if spi.read_status().rx_not_empty() {
-        let fifo_level = spi.read_state().rx_fifo();
-        core::cmp::min(total_read_len - rx_progress, fifo_level as usize)
-    } else {
-        0
+    while spi.read_status().rx_not_empty() {
+        let data = spi.read_data();
+        if context.rx_progress < transfer_len {
+            transfer_slice[context.rx_progress] = (data.data() & 0xFF) as u8;
+            context.rx_progress += 1;
+        }
     }
+
+    isr_finish_handler(idx, spi, context, transfer_len, enabled_irqs)
 }
 
 /// Generic handler after RX FIFO and TX FIFO were handled. Checks and handles finished
@@ -198,49 +217,73 @@ fn isr_finish_handler(
     spi: &mut super::regs::MmioSpi<'static>,
     context: &mut TransferContext,
     transfer_len: usize,
+    enabled: InterruptControl,
 ) {
     // Transfer finish condition.
     if context.rx_progress == context.tx_progress && context.rx_progress == transfer_len {
-        finish_transfer(idx, context, spi);
+        finish_transfer(spi, idx, context);
         return;
     }
-
-    unfinished_transfer(spi, transfer_len, context.rx_progress);
-
     // If the transfer is done, the context structure was already written back.
     // Write back updated context structure.
     critical_section::with(|cs| {
         let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
         *context_ref.borrow_mut() = *context;
     });
+    unfinished_transfer(spi, transfer_len, context, enabled);
 }
 
 fn finish_transfer(
+    spi: &mut super::regs::MmioSpi<'static>,
     idx: usize,
     context: &mut TransferContext,
-    spi: &mut super::regs::MmioSpi<'static>,
 ) {
     // Write back updated context structure.
     critical_section::with(|cs| {
         let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
         *context_ref.borrow_mut() = *context;
     });
-    spi.write_rx_fifo_trigger(TriggerLevel::new(u5::new(0x08)));
-    spi.write_tx_fifo_trigger(TriggerLevel::new(u5::new(0x00)));
+    // Clean up, restore clean state.
+    reset_trigger_levels(spi);
+    spi.write_fifo_clear(FifoClear::ALL);
     // Interrupts were already disabled and cleared.
     DONE[idx].store(true, core::sync::atomic::Ordering::Relaxed);
     WAKERS[idx].wake();
 }
 
+#[inline]
 fn unfinished_transfer(
     spi: &mut super::regs::MmioSpi<'static>,
     transfer_len: usize,
-    rx_progress: usize,
+    context: &TransferContext,
+    enabled_irqs: InterruptControl,
 ) {
-    let new_trig_level = core::cmp::min(super::FIFO_DEPTH, transfer_len - rx_progress);
+    // Take 8 as a conservative value to make sure that the FIFO does not overflow even if there
+    // is a significant delay between the interrupt being triggered and the handler being executed.
+    let new_trig_level = core::cmp::min(8, transfer_len - context.rx_progress);
     spi.write_rx_fifo_trigger(TriggerLevel::new(u5::new(new_trig_level as u8)));
+
+    // If TX was already enabled and the transfer is finished, stop enabling it. Otherwise, we can
+    // become stuck in an interrupt loop. In any other case, enable it. I am not fully sure
+    // why this is necessary and why we can not stop interrupts as soon as we have the full
+    // TX progress, but tests with ADCs have shown that not doing this causes timeouts.
+    let enable_tx = !(enabled_irqs.tx() && context.tx_progress == transfer_len);
+
     // Re-enable interrupts with the new RX FIFO trigger level.
-    spi.write_interrupt_control(InterruptControl::ENABLE_ALL);
+    spi.write_interrupt_control(
+        InterruptControl::builder()
+            .with_tx(enable_tx)
+            .with_rx(true)
+            .with_rx_timeout(true)
+            .with_rx_overrun(true)
+            .build(),
+    );
+}
+
+#[inline]
+fn reset_trigger_levels(spi: &mut super::regs::MmioSpi<'static>) {
+    spi.write_rx_fifo_trigger(TriggerLevel::new(u5::new(0x08)));
+    spi.write_tx_fifo_trigger(TriggerLevel::new(u5::new(0x00)));
 }
 
 #[derive(Debug, Clone, Copy)]
@@ -259,6 +302,7 @@ pub struct TransferContext {
     rx_progress: usize,
     tx_slice: RawBufSlice,
     rx_slice: RawBufSliceMut,
+    rx_overrun: bool,
 }
 
 #[allow(clippy::new_without_default)]
@@ -270,6 +314,7 @@ impl TransferContext {
             rx_progress: 0,
             tx_slice: RawBufSlice::new_nulled(),
             rx_slice: RawBufSliceMut::new_nulled(),
+            rx_overrun: false,
         }
     }
 }
@@ -285,33 +330,30 @@ impl<'spi> SpiFuture<'spi> {
         if words.is_empty() {
             panic!("words length unexpectedly 0");
         }
-        let idx = bank as usize;
-        DONE[idx].store(false, core::sync::atomic::Ordering::Relaxed);
-        spi.regs
-            .write_interrupt_control(InterruptControl::DISABLE_ALL);
-        spi.regs.write_fifo_clear(FifoClear::ALL);
-        spi.regs.modify_ctrl1(|v| v.with_mtxpause(true));
-        let write_idx = core::cmp::min(super::FIFO_DEPTH, words.len());
+        Self::generic_init_transfer(spi, bank);
+
+        let write_index = core::cmp::min(super::FIFO_DEPTH, words.len());
         // Send dummy bytes.
-        (0..write_idx).for_each(|_| {
+        (0..write_index).for_each(|_| {
             spi.regs.write_data(Data::new_with_raw_value(0));
         });
 
-        Self::set_triggers(spi, write_idx, words.len());
+        Self::set_triggers(spi, write_index, words.len());
 
         critical_section::with(|cs| {
-            let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+            let context_ref = TRANSFER_CONTEXTS[bank as usize].borrow(cs);
             let mut context = context_ref.borrow_mut();
             context.transfer_type = Some(TransferType::Read);
             unsafe {
                 context.rx_slice.set(words);
             }
             context.tx_slice.set_null();
-            context.tx_progress = write_idx;
+            context.tx_progress = write_index;
             context.rx_progress = 0;
             spi.regs.write_interrupt_clear(InterruptClear::ALL);
-            spi.regs
-                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.write_interrupt_control(
+                InterruptControl::ENABLE_ALL.with_tx(words.len() > FIFO_DEPTH),
+            );
             spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
         });
         Self {
@@ -325,20 +367,22 @@ impl<'spi> SpiFuture<'spi> {
         if words.is_empty() {
             panic!("words length unexpectedly 0");
         }
-        let (idx, write_idx) = Self::generic_init_transfer(spi, bank, words);
+        let index = bank as usize;
+        let write_index = Self::generic_init_transfer_write_transfer_in_place(spi, bank, words);
         critical_section::with(|cs| {
-            let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+            let context_ref = TRANSFER_CONTEXTS[index].borrow(cs);
             let mut context = context_ref.borrow_mut();
             context.transfer_type = Some(TransferType::Write);
             unsafe {
                 context.tx_slice.set(words);
             }
             context.rx_slice.set_null();
-            context.tx_progress = write_idx;
+            context.tx_progress = write_index;
             context.rx_progress = 0;
             spi.regs.write_interrupt_clear(InterruptClear::ALL);
-            spi.regs
-                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.write_interrupt_control(
+                InterruptControl::ENABLE_ALL.with_tx(words.len() > FIFO_DEPTH),
+            );
             spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
         });
         Self {
@@ -350,31 +394,44 @@ impl<'spi> SpiFuture<'spi> {
 
     fn new_for_transfer(
         spi: &'spi mut super::Spi<u8>,
-        spi_id: super::Bank,
+        bank: super::Bank,
         read: &mut [u8],
         write: &[u8],
     ) -> Self {
         if read.is_empty() || write.is_empty() {
             panic!("read or write buffer unexpectedly empty");
         }
-        let (idx, write_idx) = Self::generic_init_transfer(spi, spi_id, write);
+        let index = bank as usize;
+        let full_write_len = core::cmp::max(read.len(), write.len());
+        let fifo_prefill = core::cmp::min(super::FIFO_DEPTH, full_write_len);
+
+        Self::generic_init_transfer(spi, bank);
+
+        for write_index in 0..fifo_prefill {
+            let value = write.get(write_index).copied().unwrap_or(0);
+            spi.regs.write_data(Data::new_with_raw_value(value as u32));
+        }
+
+        Self::set_triggers(spi, fifo_prefill, full_write_len);
+
         critical_section::with(|cs| {
-            let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+            let context_ref = TRANSFER_CONTEXTS[index].borrow(cs);
             let mut context = context_ref.borrow_mut();
             context.transfer_type = Some(TransferType::Transfer);
             unsafe {
                 context.tx_slice.set(write);
                 context.rx_slice.set(read);
             }
-            context.tx_progress = write_idx;
+            context.tx_progress = fifo_prefill;
             context.rx_progress = 0;
             spi.regs.write_interrupt_clear(InterruptClear::ALL);
-            spi.regs
-                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.write_interrupt_control(
+                InterruptControl::ENABLE_ALL.with_tx(fifo_prefill > FIFO_DEPTH),
+            );
             spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
         });
         Self {
-            bank: spi_id,
+            bank,
             spi,
             finished_regularly: core::cell::Cell::new(false),
         }
@@ -382,15 +439,15 @@ impl<'spi> SpiFuture<'spi> {
 
     fn new_for_transfer_in_place(
         spi: &'spi mut super::Spi<u8>,
-        spi_id: super::Bank,
+        bank: super::Bank,
         words: &mut [u8],
     ) -> Self {
         if words.is_empty() {
             panic!("read and write buffer unexpectedly empty");
         }
-        let (idx, write_idx) = Self::generic_init_transfer(spi, spi_id, words);
+        let write_idx = Self::generic_init_transfer_write_transfer_in_place(spi, bank, words);
         critical_section::with(|cs| {
-            let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+            let context_ref = TRANSFER_CONTEXTS[bank as usize].borrow(cs);
             let mut context = context_ref.borrow_mut();
             context.transfer_type = Some(TransferType::TransferInPlace);
             unsafe {
@@ -400,28 +457,34 @@ impl<'spi> SpiFuture<'spi> {
             context.tx_progress = write_idx;
             context.rx_progress = 0;
             spi.regs.write_interrupt_clear(InterruptClear::ALL);
-            spi.regs
-                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.write_interrupt_control(
+                InterruptControl::ENABLE_ALL.with_tx(words.len() > FIFO_DEPTH),
+            );
             spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
         });
         Self {
-            bank: spi_id,
+            bank,
             spi,
             finished_regularly: core::cell::Cell::new(false),
         }
     }
 
-    fn generic_init_transfer(
-        spi: &mut super::Spi<u8>,
-        bank: super::Bank,
-        write: &[u8],
-    ) -> (usize, usize) {
+    fn generic_init_transfer(spi: &mut super::Spi<u8>, bank: super::Bank) {
         let idx = bank as usize;
         DONE[idx].store(false, core::sync::atomic::Ordering::Relaxed);
         spi.regs
             .write_interrupt_control(InterruptControl::DISABLE_ALL);
         spi.regs.write_fifo_clear(FifoClear::ALL);
         spi.regs.modify_ctrl1(|v| v.with_mtxpause(true));
+    }
+
+    // Returns amount of bytes written to FIFO.
+    fn generic_init_transfer_write_transfer_in_place(
+        spi: &mut super::Spi<u8>,
+        bank: super::Bank,
+        write: &[u8],
+    ) -> usize {
+        Self::generic_init_transfer(spi, bank);
 
         let write_idx = core::cmp::min(super::FIFO_DEPTH, write.len());
         (0..write_idx).for_each(|idx| {
@@ -430,20 +493,21 @@ impl<'spi> SpiFuture<'spi> {
         });
 
         Self::set_triggers(spi, write_idx, write.len());
-        (idx, write_idx)
+        write_idx
     }
 
-    fn set_triggers(spi: &mut super::Spi<u8>, write_idx: usize, write_len: usize) {
-        // This should never fail because it is never larger than the FIFO depth.
+    fn set_triggers(spi: &mut super::Spi<u8>, fifo_prefill: usize, write_len: usize) {
         spi.regs
-            .write_rx_fifo_trigger(TriggerLevel::new(u5::new(write_idx as u8)));
+            .write_rx_fifo_trigger(TriggerLevel::new(u5::new(core::cmp::min(
+                fifo_prefill,
+                FIFO_DEPTH / 2,
+            ) as u8)));
         // We want to re-fill the TX FIFO before it is completely empty if the full transfer size
-        // is larger than the FIFO depth. I am not sure whether the default value of 1 ensures
-        // this because the PG says that this interrupt is triggered when the FIFO has less than
-        // threshold entries.
+        // is larger than the FIFO depth. Otherwise, set it to 0. Not exactly sure what that does,
+        // but we do not enable interrupts anyway.
         if write_len > super::FIFO_DEPTH {
             spi.regs
-                .write_tx_fifo_trigger(TriggerLevel::new(u5::new(2)));
+                .write_tx_fifo_trigger(TriggerLevel::new(u5::new(8)));
         } else {
             spi.regs
                 .write_tx_fifo_trigger(TriggerLevel::new(u5::new(0)));
@@ -452,7 +516,7 @@ impl<'spi> SpiFuture<'spi> {
 }
 
 impl<'spi> Future for SpiFuture<'spi> {
-    type Output = ();
+    type Output = Result<(), RxOverrunError>;
 
     fn poll(
         self: core::pin::Pin<&mut Self>,
@@ -460,14 +524,19 @@ impl<'spi> Future for SpiFuture<'spi> {
     ) -> core::task::Poll<Self::Output> {
         WAKERS[self.bank as usize].register(cx.waker());
         if DONE[self.bank as usize].swap(false, core::sync::atomic::Ordering::Relaxed) {
-            critical_section::with(|cs| {
+            let rx_overrun = critical_section::with(|cs| {
                 let mut ctx = TRANSFER_CONTEXTS[self.bank as usize]
                     .borrow(cs)
                     .borrow_mut();
+                let overrun = ctx.rx_overrun;
                 *ctx = TransferContext::default();
+                overrun
             });
             self.finished_regularly.set(true);
-            return core::task::Poll::Ready(());
+            if rx_overrun {
+                return core::task::Poll::Ready(Err(RxOverrunError));
+            }
+            return core::task::Poll::Ready(Ok(()));
         }
         core::task::Poll::Pending
     }
@@ -554,28 +623,36 @@ impl SpiAsync {
 }
 
 impl embedded_hal_async::spi::ErrorType for SpiAsync {
-    type Error = Infallible;
+    type Error = RxOverrunError;
 }
 
 impl embedded_hal_async::spi::SpiBus for SpiAsync {
     async fn read(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
-        self.read(words).unwrap().await;
-        Ok(())
+        if words.is_empty() {
+            return Ok(());
+        }
+        self.read(words).unwrap().await
     }
 
     async fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
-        self.write(words).unwrap().await;
-        Ok(())
+        if words.is_empty() {
+            return Ok(());
+        }
+        self.write(words).unwrap().await
     }
 
     async fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
-        self.transfer(read, write).unwrap().await;
-        Ok(())
+        if read.is_empty() && write.is_empty() {
+            return Ok(());
+        }
+        self.transfer(read, write).unwrap().await
     }
 
     async fn transfer_in_place(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
-        self.transfer_in_place(words).unwrap().await;
-        Ok(())
+        if words.is_empty() {
+            return Ok(());
+        }
+        self.transfer_in_place(words).unwrap().await
     }
 
     async fn flush(&mut self) -> Result<(), Self::Error> {

vorago-shared-hal/src/spi/mod.rs

@@ -499,11 +499,11 @@ pub fn clk_div_for_target_clock(sys_clk: Hertz, spi_clk: Hertz) -> Option<u16> {
     }
 
     // Step 1: Calculate raw divider.
-    let raw_div = sys_clk.raw() / spi_clk.raw();
-    let remainder = sys_clk.raw() % spi_clk.raw();
+    let raw_div = sys_clk.to_raw() / spi_clk.to_raw();
+    let remainder = sys_clk.to_raw() % spi_clk.to_raw();
 
     // Step 2: Round up if necessary.
-    let mut rounded_div = if remainder * 2 >= spi_clk.raw() {
+    let mut rounded_div = if remainder * 2 >= spi_clk.to_raw() {
         raw_div + 1
     } else {
         raw_div

vorago-shared-hal/src/timer/mod.rs

@@ -406,7 +406,7 @@ impl CountdownTimer {
     pub fn load(&mut self, timeout: impl Into<Hertz>) {
         self.disable();
         self.curr_freq = timeout.into();
-        self.rst_val = self.ref_clk.raw() / self.curr_freq.raw();
+        self.rst_val = self.ref_clk.to_raw() / self.curr_freq.to_raw();
         self.set_reload(self.rst_val);
         self.set_count(self.rst_val);
     }
@@ -497,7 +497,7 @@ impl CountdownTimer {
 //
 impl embedded_hal::delay::DelayNs for CountdownTimer {
     fn delay_ns(&mut self, ns: u32) {
-        let ticks = (u64::from(ns)) * (u64::from(self.ref_clk.raw())) / 1_000_000_000;
+        let ticks = (u64::from(ns)) * (u64::from(self.ref_clk.to_raw())) / 1_000_000_000;
 
         let full_cycles = ticks >> 32;
         let mut last_count;

vorago-shared-hal/src/uart/mod.rs

@@ -161,11 +161,11 @@ impl ClockConfig {
         // This is the calculation: (64.0 * (x - integer_part as f32) + 0.5) as u32 without floating
         // point calculations.
         let multiplier = baud_mode.multiplier();
-        let frac = ((ref_clk.raw() % (baudrate.raw() * multiplier)) * 64
-            + (baudrate.raw() * (multiplier / 2)))
-            / (baudrate.raw() * multiplier);
+        let frac = ((ref_clk.to_raw() % (baudrate.to_raw() * multiplier)) * 64
+            + (baudrate.to_raw() * (multiplier / 2)))
+            / (baudrate.to_raw() * multiplier);
         // Calculations here are derived from chapter 4.8.5 (p.79) of the datasheet.
-        let integer_div = ref_clk.raw() / (baudrate.raw() * multiplier);
+        let integer_div = ref_clk.to_raw() / (baudrate.to_raw() * multiplier);
         Self {
             frac: u6::new(frac as u8),
             div: u18::new(integer_div),