Merge pull request 'possible bugfix for asynch GPIO' (#25) from possible-bugfixes-gpio-asynch into main

Reviewed-on: #25

tools/uart-clock-calc/Cargo.toml

@@ -0,0 +1,7 @@
+[package]
+name = "uart-clock-calc"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+arbitrary-int = "2"

tools/uart-clock-calc/src/main.rs

@@ -0,0 +1,50 @@
+use arbitrary_int::{u6, u18};
+
+#[derive(Debug, Copy, Clone)]
+pub struct ClockConfig {
+    pub frac: u6,
+    pub int: u18,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum BaudMultiplier {
+    _8 = 8,
+    _16 = 16,
+}
+
+pub fn uart_clock_calc(ref_clk: u32, baudrate: u32, baud_mult: BaudMultiplier) -> ClockConfig {
+    // This is the calculation: (64.0 * (x - integer_part as f32) + 0.5) as u32 without floating
+    // point calculations.
+    let multiplier = baud_mult as u32;
+    let frac = ((ref_clk % (baudrate * multiplier)) * 64 + (baudrate * (multiplier / 2)))
+        / (baudrate * multiplier);
+    // Calculations here are derived from chapter 4.8.5 (p.79) of the datasheet.
+    let integer_part = ref_clk / (baudrate * multiplier);
+    ClockConfig {
+        frac: u6::new(frac as u8),
+        int: u18::new(integer_part),
+    }
+}
+
+const SYS_CLK_50_MHZ: u32 = 50_000_000;
+
+fn main() {
+    println!("UART Clock Configuration App");
+    let clock_config = uart_clock_calc(SYS_CLK_50_MHZ, 38400, BaudMultiplier::_16);
+    println!(
+        "For a reference clock of {} Hz and baud rate of {} bps with multiplier {}, the clock configuration is: {:?}",
+        SYS_CLK_50_MHZ,
+        38400,
+        BaudMultiplier::_16 as u32,
+        clock_config
+    );
+    let clock_config = uart_clock_calc(SYS_CLK_50_MHZ, 38400, BaudMultiplier::_8);
+    println!(
+        "For a reference clock of {} Hz and baud rate of {} bps with multiplier {}, the clock configuration is: {:?}",
+        SYS_CLK_50_MHZ,
+        38400,
+        BaudMultiplier::_8 as u32,
+        clock_config
+    );
+    ()
+}

va108xx/README.md

@@ -90,15 +90,22 @@ work yet.
 After installation, you can run the following command
 
 ```sh
-probe-rs run --chip VA108xx_RAM --protocol jtag target/thumbv6m-none-eabi/debug/examples/blinky
+probe-rs run --chip VA108xx_RAM --protocol jtag target/thumbv6m-none-eabi/debug/blinky
 ```
 
 to flash and run the blinky program on the RAM. There is also a `VA108xx` chip target
-available for persistent flashing.
+available for persistent flashing (see note below!).
 
-Runner configuration is available in the `.cargo/def-config.toml` file to use `probe-rs` for
+Runner configuration is available in the `.cargo/config.toml.template` file to use `probe-rs` for
 convenience. `probe-rs` is also able to process and display `defmt` strings directly.
 
+Special note on the `VA108xx` target: This target allows flashing the NVM, but doing a soft reset
+with a tool like `probe-rs` can only perform a soft reset where the code already running in RAM
+is reset.  If you want to immediately run the code flashed to the NVM and get `defmt` printouts,
+use `probe-rs download` to flash to NVM, then flash a binary which issues the system reset
+(e.g. the `reset` app inside the example folder), and then attach with `probe-rs attach`, passing
+the image downloaded to NVM to the attach command.
+
 ### Using VS Code
 
 Assuming a working debug connection to your VA108xx board, you can debug using VS Code with

va108xx/bootloader/src/main.rs

@@ -181,7 +181,8 @@ fn check_own_crc(
     // because the address of the bootloader is 0x0, so the NULL check fails and the functions
     // panics.
     #[allow(clippy::zero_ptr)]
-    let first_four_bytes = unsafe { core::ptr::read_volatile(0x0 as *const u32) }.to_ne_bytes();
+    let first_four_bytes =
+        unsafe { core::ptr::read_volatile(BOOTLOADER_START_ADDR as *const u32) }.to_ne_bytes();
     let mut digest = CRC_ALGO.digest();
     digest.update(&first_four_bytes);
     digest.update(unsafe {
@@ -270,14 +271,10 @@ fn boot_app(
         APP_B_START_ADDR
     };
     unsafe {
-        // First 4 bytes done with inline assembly, writing to the physical address 0x0 can not
-        // be done without it. See https://users.rust-lang.org/t/reading-from-physical-address-0x0/117408/2.
-        let first_four_bytes = core::ptr::read(base_addr as *const u32);
-        core::arch::asm!(
-            "str {0}, [{1}]",
-            in(reg)  first_four_bytes,  // Input: App vector table.
-            in(reg) BOOTLOADER_START_ADDR as *mut u32,  // Input: destination pointer
-        );
+        let first_four_bytes = core::ptr::read_volatile(base_addr as *const u32);
+        #[allow(clippy::zero_ptr)]
+        core::ptr::write_volatile(BOOTLOADER_START_ADDR as *mut u32, first_four_bytes);
+
         core::slice::from_raw_parts_mut(
             (BOOTLOADER_START_ADDR + 4) as *mut u8,
             (VECTOR_TABLE_LEN - 4) as usize,

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

@@ -65,12 +65,13 @@ async fn main(spawner: Spawner) {
     let tx_uart_a = porta.pa9;
     let rx_uart_a = porta.pa8;
 
+    let clock_config = uart::ClockConfig::calculate(50.MHz(), 115200.Hz(), uart::BaudMode::_16);
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
     let uarta = uart::Uart::new_with_interrupt_uart0(
         dp.uarta,
         tx_uart_a,
         rx_uart_a,
-        50.MHz(),
-        115200.Hz().into(),
+        uart_config,
         InterruptConfig::new(pac::Interrupt::OC2, true, true),
     );
 
@@ -81,8 +82,7 @@ async fn main(spawner: Spawner) {
         dp.uartb,
         tx_uart_b,
         rx_uart_b,
-        50.MHz(),
-        115200.Hz().into(),
+        uart_config,
         InterruptConfig::new(pac::Interrupt::OC3, true, true),
     );
     let (mut tx_uart_a, rx_uart_a) = uarta.split();
@@ -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/embassy/src/bin/async-uart-tx.rs

@@ -52,12 +52,13 @@ async fn main(_spawner: Spawner) {
     let tx = porta.pa9;
     let rx = porta.pa8;
 
+    let clock_config = uart::ClockConfig::calculate(50.MHz(), 115200.Hz(), uart::BaudMode::_16);
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
     let uarta = uart::Uart::new_with_interrupt_uart0(
         dp.uarta,
         tx,
         rx,
-        50.MHz(),
-        115200.Hz().into(),
+        uart_config,
         InterruptConfig::new(pac::Interrupt::OC2, true, true),
     );
     let (tx, _rx) = uarta.split();

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

@@ -53,12 +53,14 @@ mod app {
         let tx = gpioa.pa9;
         let rx = gpioa.pa8;
 
+        let clock_config =
+            uart::ClockConfig::calculate(SYSCLK_FREQ, 115200.Hz(), 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,
             tx,
             rx,
-            SYSCLK_FREQ,
-            115200.Hz().into(),
+            uart_config,
             InterruptConfig::new(pac::Interrupt::OC3, true, true),
         );
         let (tx, rx) = irq_uart.split();

va108xx/examples/simple/src/bin/reset.rs

@@ -0,0 +1,12 @@
+//! Dummy app which does not do anything.
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use panic_halt as _;
+use va108xx_hal as _;
+
+#[entry]
+fn main() -> ! {
+    cortex_m::peripheral::SCB::sys_reset();
+}

va108xx/examples/simple/src/bin/spi.rs

@@ -87,7 +87,7 @@ fn main() -> ! {
                 bmstall: true,
                 hw_cs: None,
             };
-            spi.cfg_transfer(&transfer_cfg);
+            spi.configure_transfer(&transfer_cfg);
         }
         SpiBusSelect::SpiBPortB => {
             let hw_cs_pin = configure_pin_as_hw_cs_pin(pinsb.pb2);
@@ -99,7 +99,7 @@ fn main() -> ! {
                 bmstall: true,
                 hw_cs: Some(hw_cs_pin),
             };
-            spi.cfg_transfer(&transfer_cfg);
+            spi.configure_transfer(&transfer_cfg);
         }
     }
 

va108xx/examples/simple/src/bin/uart.rs

@@ -28,8 +28,9 @@ fn main() -> ! {
     let gpioa = PinsA::new(dp.porta);
     let tx = gpioa.pa9;
     let rx = gpioa.pa8;
-    let uart =
-        uart::Uart::new_without_interrupt_uart0(dp.uarta, tx, rx, 50.MHz(), 115200.Hz().into());
+    let clock_config = uart::ClockConfig::calculate(50.MHz(), 115200.Hz(), uart::BaudMode::_16);
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
+    let uart = uart::Uart::new_without_interrupt_uart0(dp.uarta, tx, rx, uart_config);
 
     let (mut tx, mut rx) = uart.split();
     writeln!(tx, "Hello World\r").unwrap();

va108xx/flashloader/src/main.rs

@@ -116,12 +116,14 @@ 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 uart_config = uart::Config::new_with_clock_config(clock_config);
         let irq_uart = uart::Uart::new_with_interrupt_uart0(
             dp.uarta,
             tx,
             rx,
-            SYSCLK_FREQ,
-            UART_BAUDRATE.Hz().into(),
+            uart_config,
             InterruptConfig::new(pac::Interrupt::OC0, true, true),
         );
         let (tx, rx) = irq_uart.split();

va108xx/va108xx-hal/Cargo.toml

@@ -15,7 +15,7 @@ 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"
 thiserror = { version = "2", default-features = false }
-va108xx = { version = "0.6", path = "../va108xx", default-features = false, features = ["critical-section", "defmt"] }
+va108xx = { version = "0.6", path = "../va108xx", default-features = false, features = ["critical-section"] }
 defmt = { version = "1", optional = true }
 
 [target.'cfg(all(target_arch = "arm", target_os = "none"))'.dependencies]
@@ -26,7 +26,7 @@ portable-atomic = "1"
 [features]
 default = ["rt"]
 rt = ["va108xx/rt"]
-defmt = ["dep:defmt", "vorago-shared-hal/defmt"]
+defmt = ["dep:defmt", "vorago-shared-hal/defmt", "va108xx/defmt"]
 
 [package.metadata.docs.rs]
 all-features = true

va108xx/va108xx-hal/src/gpio/mod.rs

@@ -12,9 +12,4 @@
 //!
 //! The [crate::pins] module exposes singletons to access the [Pin]s required by this module
 //! in a type-safe way.
-//!
-//! ## Examples
-//!
-//! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/simple/examples/blinky.rs)
-//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/embassy/src/bin/async-gpio.rs)
 pub use vorago_shared_hal::gpio::*;

va108xx/va108xx-hal/src/i2c.rs

@@ -1,6 +1,2 @@
 //! API for the I2C peripheral
-//!
-//! ## Examples
-//!
-//! - [REB1 I2C temperature sensor example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/vorago-reb1/examples/adt75-temp-sensor.rs)
 pub use vorago_shared_hal::i2c::*;

va108xx/va108xx-hal/src/lib.rs

@@ -7,6 +7,9 @@
 //! raw PAC. This crate also implements traits specified by the
 //! [embedded-hal](https://github.com/rust-embedded/embedded-hal) project, making it compatible with
 //! various drivers in the embedded rust ecosystem.
+//!
+//! The [examples folder](https://github.com/us-irs/vorago-rs/tree/main/va108xx/examples) contains
+//! various example applications using the HAL.
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_cfg))]
 

va108xx/va108xx-hal/src/pwm.rs

@@ -1,8 +1,2 @@
 //! API for Pulse-Width Modulation (PWM)
-//!
-//! The Vorago VA108xx devices use the TIM peripherals to perform PWM related tasks
-//!
-//! ## Examples
-//!
-//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/simple/examples/pwm.rs)
 pub use vorago_shared_hal::pwm::*;

va108xx/va108xx-hal/src/spi/mod.rs

@@ -3,10 +3,4 @@
 //! The main abstraction provided by this module is the [Spi] an structure.
 //! It provides the [SpiBus trait](https://docs.rs/embedded-hal/latest/embedded_hal/spi/trait.SpiBus.html),
 //! but also offer a low level interface via the [SpiLowLevel] trait.
-//!
-//! ## Examples
-//!
-//! - [Blocking SPI example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/simple/examples/spi.rs)
-//! - [REB1 ADC example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/vorago-reb1/examples/max11519-adc.rs)
-//! - [REB1 EEPROM library](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/vorago-reb1/src/m95m01.rs)
 pub use vorago_shared_hal::spi::*;

va108xx/va108xx-hal/src/sysconfig.rs

@@ -39,5 +39,6 @@ pub fn disable_ram_scrubbing() {
 }
 
 pub use vorago_shared_hal::sysconfig::{
-    assert_peripheral_reset, disable_peripheral_clock, enable_peripheral_clock,
+    assert_peripheral_reset, deassert_peripheral_reset, disable_peripheral_clock,
+    enable_peripheral_clock, reset_peripheral_for_cycles,
 };

va108xx/va108xx-hal/src/timer.rs

@@ -1,7 +1,2 @@
 //! API for the TIM peripherals
-//!
-//! ## Examples
-//!
-//! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/simple/examples/timer-ticks.rs)
-//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/simple/examples/cascade.rs)
 pub use vorago_shared_hal::timer::*;

va108xx/va108xx-hal/src/uart/mod.rs

@@ -6,12 +6,4 @@
 //!
 //! The [rx_async] and [tx_async] modules provide an asynchronous non-blocking API for the UART
 //! peripheral.
-//!
-//! ## Examples
-//!
-//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/simple/examples/uart.rs)
-//! - [UART with IRQ and RTIC](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/rtic/src/bin/uart-echo-rtic.rs)
-//! - [Flashloader exposing a CCSDS interface via UART](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/flashloader)
-//! - [Async UART RX example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/embassy/src/bin/async-uart-rx.rs)
-//! - [Async UART TX example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/embassy/src/bin/async-uart-tx.rs)
 pub use vorago_shared_hal::uart::*;

va108xx/vorago-reb1/examples/adxl343-accelerometer.rs

@@ -47,7 +47,7 @@ fn main() -> ! {
         .mode(MODE_3)
         .slave_output_disable(true);
     let mut spi = Spi::new_for_spi1(dp.spib, (sck, miso, mosi), spi_cfg);
-    spi.cfg_hw_cs(hw_cs_id);
+    spi.configure_hw_cs(hw_cs_id);
 
     let mut tx_rx_buf: [u8; 3] = [0; 3];
     tx_rx_buf[0] = READ_MASK | DEVID_REG;

va108xx/vorago-reb1/examples/max11619-adc.rs

@@ -83,7 +83,7 @@ impl<Delay: DelayNs> SpiDevice for SpiWithHwCs<Delay> {
     ) -> Result<(), Self::Error> {
         // Only the HW CS is configured here. This is not really necessary, but showcases
         // that we could scale this multiple SPI devices.
-        self.inner.cfg_hw_cs(self.hw_cs_id);
+        self.inner.configure_hw_cs(self.hw_cs_id);
         for operation in operations {
             match operation {
                 spi::Operation::Read(buf) => self.inner.read(buf),
@@ -93,7 +93,7 @@ impl<Delay: DelayNs> SpiDevice for SpiWithHwCs<Delay> {
                 spi::Operation::DelayNs(delay) => self.delay_provider.delay_ns(*delay),
             };
         }
-        self.inner.cfg_hw_cs_disable();
+        self.inner.disable_hw_cs();
         Ok(())
     }
 }

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/README.md

@@ -88,7 +88,7 @@ work yet.
 After installation, you can run the following command
 
 ```sh
-probe-rs run --chip VA416xx_RAM --protocol jtag target/thumbv7em-none-eabihf/debug/examples/blinky
+probe-rs run --chip VA416xx_RAM --protocol jtag target/thumbv7em-none-eabihf/debug/blinky
 ```
 
 to flash and run the blinky program on the RAM. There is also a `VA416xx` chip target

va416xx/examples/embassy/src/bin/async-uart-rx.rs

@@ -61,8 +61,14 @@ async fn main(_spawner: Spawner) {
     let portg = PinsG::new(dp.portg);
     let mut led = Output::new(portg.pg5, PinState::Low);
 
-    let uarta =
-        uart::Uart::new_for_uart0(dp.uart0, portg.pg0, portg.pg1, &clocks, 115200.Hz().into());
+    let clock_config = uart::ClockConfig::calculate_with_clocks(
+        uart::Bank::Uart0,
+        &clocks,
+        115200.Hz(),
+        uart::BaudMode::_16,
+    );
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
+    let uarta = uart::Uart::new_for_uart0(dp.uart0, portg.pg0, portg.pg1, uart_config);
 
     let (mut tx_uart_a, rx_uart_a) = uarta.split();
     let (prod_uart_a, cons_uart_a) = QUEUE_UART_A.take().split();

va416xx/examples/embassy/src/bin/async-uart-tx.rs

@@ -59,8 +59,14 @@ async fn main(_spawner: Spawner) {
     let pinsg = PinsG::new(dp.portg);
     let mut led = Output::new(pinsg.pg5, PinState::Low);
 
-    let uarta =
-        uart::Uart::new_for_uart0(dp.uart0, pinsg.pg0, pinsg.pg1, &clocks, 115200.Hz().into());
+    let clock_config = uart::ClockConfig::calculate_with_clocks(
+        uart::Bank::Uart0,
+        &clocks,
+        115200.Hz(),
+        uart::BaudMode::_16,
+    );
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
+    let uarta = uart::Uart::new_for_uart0(dp.uart0, pinsg.pg0, pinsg.pg1, uart_config);
     let (tx, _rx) = uarta.split();
     let mut async_tx = TxAsync::new(tx);
     let mut ticker = Ticker::every(Duration::from_secs(1));

va416xx/examples/embassy/src/bin/uart-echo-with-irq.rs

@@ -67,13 +67,14 @@ async fn main(spawner: Spawner) {
 
     let portg = PinsG::new(dp.portg);
 
-    let uart0 = uart::Uart::new_for_uart0(
-        dp.uart0,
-        portg.pg0,
-        portg.pg1,
+    let clock_config = uart::ClockConfig::calculate_with_clocks(
+        uart::Bank::Uart0,
         &clocks,
-        Hertz::from_raw(BAUDRATE).into(),
+        Hertz::from_raw(BAUDRATE),
+        uart::BaudMode::_16,
     );
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
+    let uart0 = uart::Uart::new_for_uart0(dp.uart0, portg.pg0, portg.pg1, uart_config);
     let (mut tx, rx) = uart0.split();
     let mut rx = rx.into_rx_with_irq();
     rx.start();

va416xx/examples/simple/Cargo.toml

@@ -22,23 +22,9 @@ va416xx = { version = "0.5", path = "../../va416xx" }
 
 [dependencies.vorago-peb1]
 path = "../../vorago-peb1"
-optional = true
 
 [features]
 default = ["va41630"]
-va41630 = ["va416xx-hal/va41630", "has-adc-dac"]
-va41629 = ["va416xx-hal/va41629", "has-adc-dac"]
+va41630 = ["va416xx-hal/va41630"]
+va41629 = ["va416xx-hal/va41629"]
 va41628 = ["va416xx-hal/va41628"]
-has-adc-dac = []
-
-[[example]]
-name = "peb1-accelerometer"
-required-features = ["vorago-peb1"]
-
-[[example]]
-name = "dac-adc"
-required-features = ["has-adc-dac"]
-
-[[example]]
-name = "adc"
-required-features = ["has-adc-dac"]

va416xx/examples/simple/src/bin/peb1-accelerometer.rs

@@ -15,7 +15,6 @@ use va416xx_hal::{
     clock::ClockConfigurator,
     i2c,
     pac::{self},
-    prelude::*,
     timer::CountdownTimer,
 };
 use vorago_peb1::lis2dh12::{self, detect_i2c_addr, FullScale, Odr};
@@ -29,7 +28,7 @@ const DISPLAY_MODE: DisplayMode = DisplayMode::Normalized;
 
 #[entry]
 fn main() -> ! {
-    let mut dp = pac::Peripherals::take().unwrap();
+    let dp = pac::Peripherals::take().unwrap();
     defmt::println!("-- Vorago PEB1 accelerometer example --");
     // Use the external clock connected to XTAL_N.
     let clocks = ClockConfigurator::new(dp.clkgen)

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

@@ -30,13 +30,14 @@ fn main() -> ! {
 
     let gpiog = PinsG::new(dp.portg);
 
-    let uart0 = uart::Uart::new_for_uart0(
-        dp.uart0,
-        gpiog.pg0,
-        gpiog.pg1,
+    let clock_config = uart::ClockConfig::calculate_with_clocks(
+        uart::Bank::Uart0,
         &clocks,
-        Hertz::from_raw(115200).into(),
+        Hertz::from_raw(115200),
+        uart::BaudMode::_16,
     );
+    let uart_config = uart::Config::new_with_clock_config(clock_config);
+    let uart0 = uart::Uart::new_for_uart0(dp.uart0, gpiog.pg0, gpiog.pg1, uart_config);
     let (mut tx, mut rx) = uart0.split();
     writeln!(tx, "Hello World\n\r").unwrap();
     loop {

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

@@ -49,7 +49,7 @@ fn main() -> ! {
     let mut counter: u32 = 0;
     loop {
         counter = counter.wrapping_add(1);
-        if counter % log_divisor == 0 {
+        if counter.is_multiple_of(log_divisor) {
             defmt::info!("wdt example main loop alive");
         }
         if TEST_MODE != TestMode::AllowReset {

va416xx/flashloader/src/main.rs

@@ -116,6 +116,7 @@ mod app {
         nvm::Nvm,
         pac,
         pins::PinsG,
+        prelude::*,
         uart::{self, Uart},
     };
 
@@ -167,13 +168,15 @@ mod app {
 
         let gpiog = PinsG::new(cx.device.portg);
 
-        let uart0 = Uart::new_for_uart0(
-            cx.device.uart0,
-            gpiog.pg0,
-            gpiog.pg1,
+        let clock_config = uart::ClockConfig::calculate_with_clocks(
+            uart::Bank::Uart0,
             &clocks,
-            Hertz::from_raw(UART_BAUDRATE).into(),
+            UART_BAUDRATE.Hz(),
+            uart::BaudMode::_16,
         );
+        let uart_config = uart::Config::new_with_clock_config(clock_config);
+
+        let uart0 = Uart::new_for_uart0(cx.device.uart0, gpiog.pg0, gpiog.pg1, uart_config);
         let (tx, rx) = uart0.split();
 
         let verif_reporter = VerificationReportCreator::new(u11::new(0));

va416xx/va416xx-hal/Cargo.toml

@@ -22,11 +22,11 @@ nb = "1"
 embedded-hal = "1"
 num_enum = { version = "0.7", default-features = false }
 bitflags = "2"
-bitbybit = "1.3"
+bitbybit = "2"
 arbitrary-int = "2"
 fugit = "0.3"
 embedded-can = "0.4"
-embassy-sync = "0.7"
+embassy-sync = "0.8"
 thiserror = { version = "2", default-features = false }
 
 defmt = { version = "1", optional = true }

va416xx/va416xx-hal/src/adc.rs

@@ -1,9 +1,4 @@
 //! Analog to Digital Converter (ADC) driver.
-//!
-//! ## Examples
-//!
-//! - [ADC and DAC example](https://github.com/us-irs/vorago-rs/blob/main/va416xx/examples/simple/examples/dac-adc.rs)
-//! - [ADC](https://github.com/us-irs/vorago-rs/blob/main/va416xx/examples/simple/examples/adc.rs)
 use core::marker::PhantomData;
 
 use crate::clock::Clocks;

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

@@ -3,6 +3,8 @@ use core::{
     sync::atomic::{AtomicU8, Ordering},
 };
 
+use arbitrary_int::u4;
+
 use crate::can::regs::BufferState;
 
 use super::{
@@ -58,7 +60,7 @@ pub enum InterruptResult {
 pub enum InterruptError {
     UnexpectedError,
     InvalidInterruptId(StatusPending),
-    InvalidStatus(u8),
+    InvalidStatus(u4),
     UnexpectedState(BufferState),
     CanError(DiagnosticRegister),
 }

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

@@ -81,7 +81,7 @@ impl CanChannelLowLevel {
     }
 
     #[inline]
-    pub fn read_state(&self) -> Result<BufferState, u8> {
+    pub fn read_state(&self) -> Result<BufferState, u4> {
         self.msg_buf.read_stat_ctrl().state()
     }
 

va416xx/va416xx-hal/src/clock.rs

@@ -6,10 +6,6 @@
 //!
 //! Calling [ClockConfigurator::freeze] returns the frozen clock configuration inside the [Clocks]
 //! structure. This structure can also be used to configure other structures provided by this HAL.
-//!
-//! # Examples
-//!
-//! - [UART example on the PEB1 board](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/uart.rs)
 #[cfg(not(feature = "va41628"))]
 use crate::adc::ADC_MAX_CLK;
 use crate::pac;

va416xx/va416xx-hal/src/dac.rs

@@ -1,8 +1,4 @@
 //! Digital to Analog Converter (DAC) driver.
-//!
-//! ## Examples
-//!
-//! - [ADC and DAC example](https://github.com/us-irs/vorago-rs/blob/main/va416xx/examples/simple/examples/dac-adc.rs)
 use core::ops::Deref;
 
 use vorago_shared_hal::{

va416xx/va416xx-hal/src/dma.rs

@@ -1,8 +1,4 @@
 //! API for the DMA peripheral
-//!
-//! ## Examples
-//!
-//! - [Simple DMA example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/dma.rs)
 use arbitrary_int::{u10, u3};
 use vorago_shared_hal::{enable_peripheral_clock, reset_peripheral_for_cycles, PeripheralSelect};
 

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

@@ -12,9 +12,4 @@
 //!
 //! The [crate::pins] module exposes singletons to access the [Pin]s required by this module
 //! in a type-safe way.
-//!
-//! # Examples
-//!
-//! - [Blinky example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/blinky.rs)
-//! - [Async GPIO example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/embassy/src/bin/async-gpio.rs)
 pub use vorago_shared_hal::gpio::*;

va416xx/va416xx-hal/src/i2c.rs

@@ -1,6 +1,2 @@
 //! API for the I2C peripheral
-//!
-//! ## Examples
-//!
-//! - [PEB1 accelerometer example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/peb1-accelerometer.rs)
 pub use vorago_shared_hal::i2c::*;

va416xx/va416xx-hal/src/lib.rs

@@ -25,6 +25,9 @@
 //! with interrupts, it is strongly recommended to set up the IRQ router with the
 //! [crate::irq_router] module at the very least because that peripheral has confusing and/or
 //! faulty register reset values which might lead to weird bugs and glitches.
+//!
+//! The [examples folder](https://github.com/us-irs/vorago-rs/tree/main/va416xx/examples) contains
+//! various example applications using the HAL.
 #![no_std]
 #![cfg_attr(docsrs, feature(doc_cfg))]
 #[cfg(feature = "alloc")]

va416xx/va416xx-hal/src/pwm.rs

@@ -1,8 +1,4 @@
 //! API for Pulse-Width Modulation (PWM)
 //!
 //! The Vorago devices use the TIM peripherals to perform PWM related tasks
-//!
-//! ## Examples
-//!
-//! - [PWM example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/pwm.rs)
 pub use vorago_shared_hal::pwm::*;

va416xx/va416xx-hal/src/spi.rs

@@ -3,9 +3,4 @@
 //! The main abstraction provided by this module is the [Spi] an structure.
 //! It provides the [SpiBus trait](https://docs.rs/embedded-hal/latest/embedded_hal/spi/trait.SpiBus.html),
 //! but also offer a low level interface via the [SpiLowLevel] trait.
-//!
-//! ## Examples
-//!
-//! - [Blocking SPI example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/spi.rs)
-//! - [NVM library][crate::nvm]
 pub use vorago_shared_hal::spi::*;

va416xx/va416xx-hal/src/timer.rs

@@ -1,9 +1,4 @@
 //! API for the TIM peripherals
-//!
-//! ## Examples
-//!
-//! - [MS and second tick implementation](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/timer-ticks.rs)
-//! - [Cascade feature example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/cascade.rs)
 pub use vorago_shared_hal::timer::*;
 
 pub const TIM_IRQ_OFFSET: usize = 48;

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

@@ -6,12 +6,4 @@
 //!
 //! The [rx_async] and [tx_async] modules provide an asynchronous non-blocking API for the UART
 //! peripheral.
-//!
-//! ## Examples
-//!
-//! - [UART simple example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/uart.rs)
-//! - [UART with IRQ and RTIC](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/rtic/src/bin/uart-echo-rtic.rs)
-//! - [Flashloader exposing a CCSDS interface via UART](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/flashloader)
-//! - [Async UART RX example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/embassy/src/bin/async-uart-rx.rs)
-//! - [Async UART TX example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/embassy/src/bin/async-uart-tx.rs)
 pub use vorago_shared_hal::uart::*;

va416xx/va416xx-hal/src/wdt.rs

@@ -1,8 +1,4 @@
 //! # API for the Watchdog peripheral
-//!
-//! ## Examples
-//!
-//! - [Watchdog simple example](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va416xx/examples/simple/examples/wdt.rs)
 use vorago_shared_hal::{enable_peripheral_clock, reset_peripheral_for_cycles, PeripheralSelect};
 
 use crate::time::Hertz;

vorago-shared-hal/CHANGELOG.md

@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Add `is_high` and `is_low` for `InputPinAsync`.
 - Add `InputPin` impl for `InputPinAsync`.
+- `HwCsPin` in SPI module for easer usage of HW CS pins as `Output` CS pins
 
 ### Changed
 
@@ -19,12 +20,18 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Renamed UART `Data` register `value` field to `data`
 - Improved type level support for resource management for SPI, PWM, UART.
 - Renamed `tx_asynch` and `rx_asynch` module name to `*_async`
+- Naming improvements in SPI module: replaced `cfg` by `config*`
+- UART configuration now expects an explicit clock configuration structure and does not
+  calculate it itself anymore.
 
 ### Fixed
 
 - 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
 

vorago-shared-hal/Cargo.toml

@@ -29,7 +29,7 @@ fugit = "0.3"
 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/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/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)
     }
 }
@@ -225,4 +225,11 @@ pub(crate) mod shared {
         #[bit(0, w)]
         rx_fifo: bool,
     }
+
+    impl FifoClear {
+        pub const ALL: Self = Self::builder()
+            .with_tx_fifo(true)
+            .with_rx_fifo(true)
+            .build();
+    }
 }

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

@@ -0,0 +1,584 @@
+use core::{cell::RefCell, convert::Infallible};
+
+use arbitrary_int::u5;
+use critical_section::Mutex;
+use embassy_sync::waitqueue::AtomicWaker;
+use portable_atomic::AtomicBool;
+use raw_slice::{RawBufSlice, RawBufSliceMut};
+
+use crate::{
+    shared::{FifoClear, TriggerLevel},
+    spi::regs::{Data, InterruptClear, InterruptControl, InterruptStatus},
+};
+
+#[cfg(feature = "vor1x")]
+pub const NUM_SPIS: usize = 3;
+#[cfg(feature = "vor4x")]
+pub const NUM_SPIS: usize = 4;
+
+static WAKERS: [AtomicWaker; NUM_SPIS] = [const { AtomicWaker::new() }; NUM_SPIS];
+static TRANSFER_CONTEXTS: [Mutex<RefCell<TransferContext>>; NUM_SPIS] =
+    [const { Mutex::new(RefCell::new(TransferContext::new())) }; NUM_SPIS];
+// Completion flag. Kept outside of the context structure as an atomic to avoid
+// critical section.
+static DONE: [AtomicBool; NUM_SPIS] = [const { AtomicBool::new(false) }; NUM_SPIS];
+
+/// This is a generic interrupt handler to handle asynchronous SPI  operations for a given
+/// SPI peripheral.
+///
+/// The user has to call this once in the interrupt handler responsible for the SPI interrupts on
+/// 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;
+    }
+    // Prevent spurious interrupts from messing with out logic here.
+    spi.write_interrupt_control(InterruptControl::DISABLE_ALL);
+    spi.write_interrupt_clear(InterruptClear::ALL);
+    let mut context = critical_section::with(|cs| {
+        let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+        *context_ref.borrow()
+    });
+    // No transfer active.
+    if context.transfer_type.is_none() {
+        return;
+    }
+    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::TransferInPlace => {
+            on_interrupt_transfer_in_place(idx, &mut context, &mut spi, isr)
+        }
+    };
+}
+
+fn on_interrupt_read(
+    idx: usize,
+    context: &mut TransferContext,
+    spi: &mut super::regs::MmioSpi<'static>,
+    isr: InterruptStatus,
+) {
+    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;
+    });
+
+    // The FIFO still needs to be pumped.
+    while context.tx_progress < read_slice.len() && spi.read_status().tx_not_full() {
+        spi.write_data(Data::new_with_raw_value(0));
+        context.tx_progress += 1;
+    }
+
+    isr_finish_handler(idx, spi, context, transfer_len)
+}
+
+fn on_interrupt_write(
+    idx: usize,
+    context: &mut TransferContext,
+    spi: &mut super::regs::MmioSpi<'static>,
+    isr: InterruptStatus,
+) {
+    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(|_| {
+        spi.read_data();
+        context.rx_progress += 1;
+    });
+
+    // Data still needs to be sent
+    while context.tx_progress < transfer_len && spi.read_status().tx_not_full() {
+        spi.write_data(Data::new_with_raw_value(
+            write_slice[context.tx_progress] as u32,
+        ));
+        context.tx_progress += 1;
+    }
+
+    isr_finish_handler(idx, spi, context, transfer_len)
+}
+
+fn on_interrupt_transfer(
+    idx: usize,
+    context: &mut TransferContext,
+    spi: &mut super::regs::MmioSpi<'static>,
+    isr: InterruptStatus,
+) {
+    let read_slice = unsafe { context.rx_slice.get_mut().unwrap() };
+    let read_len = read_slice.len();
+    let write_slice = unsafe { context.tx_slice.get().unwrap() };
+    let write_len = write_slice.len();
+    let transfer_len = core::cmp::max(read_len, write_len);
+
+    // 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));
+        }
+        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(|_| {
+        if context.rx_progress < read_len {
+            read_slice[context.rx_progress] = (spi.read_data().data() & 0xFF) as u8;
+        } else {
+            spi.read_data();
+        }
+        context.rx_progress += 1;
+    });
+
+    isr_finish_handler(idx, spi, context, transfer_len)
+}
+
+fn on_interrupt_transfer_in_place(
+    idx: usize,
+    context: &mut TransferContext,
+    spi: &mut super::regs::MmioSpi<'static>,
+    isr: InterruptStatus,
+) {
+    let transfer_slice = unsafe { context.rx_slice.get_mut().unwrap() };
+    let transfer_len = transfer_slice.len();
+    // 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() {
+        spi.write_data(Data::new_with_raw_value(
+            transfer_slice[context.tx_progress] as u32,
+        ));
+        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
+    }
+}
+
+/// Generic handler after RX FIFO and TX FIFO were handled. Checks and handles finished
+/// and unfinished conditions.
+fn isr_finish_handler(
+    idx: usize,
+    spi: &mut super::regs::MmioSpi<'static>,
+    context: &mut TransferContext,
+    transfer_len: usize,
+) {
+    // Transfer finish condition.
+    if context.rx_progress == context.tx_progress && context.rx_progress == transfer_len {
+        finish_transfer(idx, context, spi);
+        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;
+    });
+}
+
+fn finish_transfer(
+    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)));
+    // Interrupts were already disabled and cleared.
+    DONE[idx].store(true, core::sync::atomic::Ordering::Relaxed);
+    WAKERS[idx].wake();
+}
+
+fn unfinished_transfer(
+    spi: &mut super::regs::MmioSpi<'static>,
+    transfer_len: usize,
+    rx_progress: usize,
+) {
+    let new_trig_level = core::cmp::min(super::FIFO_DEPTH, transfer_len - rx_progress);
+    spi.write_rx_fifo_trigger(TriggerLevel::new(u5::new(new_trig_level as u8)));
+    // Re-enable interrupts with the new RX FIFO trigger level.
+    spi.write_interrupt_control(InterruptControl::ENABLE_ALL);
+}
+
+#[derive(Debug, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum TransferType {
+    Read,
+    Write,
+    Transfer,
+    TransferInPlace,
+}
+
+#[derive(Default, Debug, Copy, Clone)]
+pub struct TransferContext {
+    transfer_type: Option<TransferType>,
+    tx_progress: usize,
+    rx_progress: usize,
+    tx_slice: RawBufSlice,
+    rx_slice: RawBufSliceMut,
+}
+
+#[allow(clippy::new_without_default)]
+impl TransferContext {
+    pub const fn new() -> Self {
+        Self {
+            transfer_type: None,
+            tx_progress: 0,
+            rx_progress: 0,
+            tx_slice: RawBufSlice::new_nulled(),
+            rx_slice: RawBufSliceMut::new_nulled(),
+        }
+    }
+}
+
+pub struct SpiFuture<'spi> {
+    bank: super::Bank,
+    spi: &'spi mut super::Spi<u8>,
+    finished_regularly: core::cell::Cell<bool>,
+}
+
+impl<'spi> SpiFuture<'spi> {
+    fn new_for_read(spi: &'spi mut super::Spi<u8>, bank: super::Bank, words: &mut [u8]) -> Self {
+        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());
+        // Send dummy bytes.
+        (0..write_idx).for_each(|_| {
+            spi.regs.write_data(Data::new_with_raw_value(0));
+        });
+
+        Self::set_triggers(spi, write_idx, words.len());
+
+        critical_section::with(|cs| {
+            let context_ref = TRANSFER_CONTEXTS[idx].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.rx_progress = 0;
+            spi.regs.write_interrupt_clear(InterruptClear::ALL);
+            spi.regs
+                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
+        });
+        Self {
+            bank,
+            spi,
+            finished_regularly: core::cell::Cell::new(false),
+        }
+    }
+
+    fn new_for_write(spi: &'spi mut super::Spi<u8>, bank: super::Bank, words: &[u8]) -> Self {
+        if words.is_empty() {
+            panic!("words length unexpectedly 0");
+        }
+        let (idx, write_idx) = Self::generic_init_transfer(spi, bank, words);
+        critical_section::with(|cs| {
+            let context_ref = TRANSFER_CONTEXTS[idx].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.rx_progress = 0;
+            spi.regs.write_interrupt_clear(InterruptClear::ALL);
+            spi.regs
+                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
+        });
+        Self {
+            bank,
+            spi,
+            finished_regularly: core::cell::Cell::new(false),
+        }
+    }
+
+    fn new_for_transfer(
+        spi: &'spi mut super::Spi<u8>,
+        spi_id: 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);
+        critical_section::with(|cs| {
+            let context_ref = TRANSFER_CONTEXTS[idx].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.rx_progress = 0;
+            spi.regs.write_interrupt_clear(InterruptClear::ALL);
+            spi.regs
+                .write_interrupt_control(InterruptControl::ENABLE_ALL);
+            spi.regs.modify_ctrl1(|v| v.with_mtxpause(false));
+        });
+        Self {
+            bank: spi_id,
+            spi,
+            finished_regularly: core::cell::Cell::new(false),
+        }
+    }
+
+    fn new_for_transfer_in_place(
+        spi: &'spi mut super::Spi<u8>,
+        spi_id: 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);
+        critical_section::with(|cs| {
+            let context_ref = TRANSFER_CONTEXTS[idx].borrow(cs);
+            let mut context = context_ref.borrow_mut();
+            context.transfer_type = Some(TransferType::TransferInPlace);
+            unsafe {
+                context.rx_slice.set(words);
+            }
+            context.tx_slice.set_null();
+            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.modify_ctrl1(|v| v.with_mtxpause(false));
+        });
+        Self {
+            bank: spi_id,
+            spi,
+            finished_regularly: core::cell::Cell::new(false),
+        }
+    }
+
+    fn generic_init_transfer(
+        spi: &mut super::Spi<u8>,
+        bank: super::Bank,
+        write: &[u8],
+    ) -> (usize, usize) {
+        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, write.len());
+        (0..write_idx).for_each(|idx| {
+            spi.regs
+                .write_data(Data::new_with_raw_value(write[idx] as u32));
+        });
+
+        Self::set_triggers(spi, write_idx, write.len());
+        (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.
+        spi.regs
+            .write_rx_fifo_trigger(TriggerLevel::new(u5::new(write_idx 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.
+        if write_len > super::FIFO_DEPTH {
+            spi.regs
+                .write_tx_fifo_trigger(TriggerLevel::new(u5::new(2)));
+        } else {
+            spi.regs
+                .write_tx_fifo_trigger(TriggerLevel::new(u5::new(0)));
+        }
+    }
+}
+
+impl<'spi> Future for SpiFuture<'spi> {
+    type Output = ();
+
+    fn poll(
+        self: core::pin::Pin<&mut Self>,
+        cx: &mut core::task::Context<'_>,
+    ) -> 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 mut ctx = TRANSFER_CONTEXTS[self.bank as usize]
+                    .borrow(cs)
+                    .borrow_mut();
+                *ctx = TransferContext::default();
+            });
+            self.finished_regularly.set(true);
+            return core::task::Poll::Ready(());
+        }
+        core::task::Poll::Pending
+    }
+}
+
+impl<'spi> Drop for SpiFuture<'spi> {
+    fn drop(&mut self) {
+        if !self.finished_regularly.get() {
+            // It might be sufficient to disable and enable the SPI.. But this definitely
+            // ensures the SPI is fully reset.
+            self.spi.regs.write_interrupt_clear(InterruptClear::ALL);
+            self.spi
+                .regs
+                .write_interrupt_control(InterruptControl::DISABLE_ALL);
+            self.spi.regs.write_fifo_clear(FifoClear::ALL);
+        }
+    }
+}
+
+/// Asynchronous SPI driver.
+///
+/// This is the primary data structure used to perform non-blocking SPI operations.
+/// It implements the [embedded_hal_async::spi::SpiBus] as well.
+pub struct SpiAsync(pub super::Spi<u8>);
+
+impl SpiAsync {
+    pub fn new(
+        mut spi: super::Spi<u8>,
+        #[cfg(feature = "vor1x")] opt_irq_cfg: Option<crate::InterruptConfig>,
+    ) -> Self {
+        #[cfg(feature = "vor1x")]
+        if let Some(irq_cfg) = opt_irq_cfg {
+            spi.regs
+                .write_interrupt_control(InterruptControl::DISABLE_ALL);
+            spi.regs.write_interrupt_clear(InterruptClear::ALL);
+            if irq_cfg.route {
+                crate::enable_peripheral_clock(crate::PeripheralSelect::Irqsel);
+                unsafe { va108xx::Irqsel::steal() }
+                    .spi(spi.id as usize)
+                    .write(|w| unsafe { w.bits(irq_cfg.id as u32) });
+            }
+            if irq_cfg.enable_in_nvic {
+                // Safety: User has specifically configured this.
+                unsafe { crate::enable_nvic_interrupt(irq_cfg.id) };
+            }
+        }
+        // Disable blockmode for asynchronous mode.
+        spi.regs
+            .modify_ctrl1(|v| v.with_bm_stall(false).with_blockmode(false));
+        Self(spi)
+    }
+
+    fn read(&mut self, words: &mut [u8]) -> Option<SpiFuture<'_>> {
+        if words.is_empty() {
+            return None;
+        }
+        let id = self.0.id;
+        Some(SpiFuture::new_for_read(&mut self.0, id, words))
+    }
+
+    fn write(&mut self, words: &[u8]) -> Option<SpiFuture<'_>> {
+        if words.is_empty() {
+            return None;
+        }
+        let id = self.0.id;
+        Some(SpiFuture::new_for_write(&mut self.0, id, words))
+    }
+
+    fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Option<SpiFuture<'_>> {
+        if read.is_empty() || write.is_empty() {
+            return None;
+        }
+        let id = self.0.id;
+        Some(SpiFuture::new_for_transfer(&mut self.0, id, read, write))
+    }
+
+    fn transfer_in_place(&mut self, words: &mut [u8]) -> Option<SpiFuture<'_>> {
+        if words.is_empty() {
+            return None;
+        }
+        let id = self.0.id;
+        Some(SpiFuture::new_for_transfer_in_place(&mut self.0, id, words))
+    }
+}
+
+impl embedded_hal_async::spi::ErrorType for SpiAsync {
+    type Error = Infallible;
+}
+
+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(())
+    }
+
+    async fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
+        self.write(words).unwrap().await;
+        Ok(())
+    }
+
+    async fn transfer(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Self::Error> {
+        self.transfer(read, write).unwrap().await;
+        Ok(())
+    }
+
+    async fn transfer_in_place(&mut self, words: &mut [u8]) -> Result<(), Self::Error> {
+        self.transfer_in_place(words).unwrap().await;
+        Ok(())
+    }
+
+    async fn flush(&mut self) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}

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

@@ -12,8 +12,11 @@ use va416xx as pac;
 
 pub use regs::{Bank, HwChipSelectId};
 
+pub mod asynch;
 pub mod regs;
 
+pub const FIFO_DEPTH: usize = 16;
+
 pub fn configure_pin_as_hw_cs_pin<P: AnyPin + HwCsProvider>(_pin: P) -> HwChipSelectId {
     IoPeriphPin::new(P::ID, P::FUN_SEL, None);
     P::CS_ID
@@ -520,7 +523,6 @@ pub fn clk_div_for_target_clock(sys_clk: Hertz, spi_clk: Hertz) -> Option<u16> {
 pub struct Spi<Word = u8> {
     id: Bank,
     regs: regs::MmioSpi<'static>,
-    cfg: SpiConfig,
     /// Fill word for read-only SPI transactions.
     fill_word: Word,
     blockmode: bool,
@@ -653,7 +655,6 @@ where
         Spi {
             id: spi_sel,
             regs: regs::Spi::new_mmio(spi_sel),
-            cfg: spi_cfg,
             fill_word: Default::default(),
             bmstall: spi_cfg.bmstall,
             blockmode: spi_cfg.blockmode,
@@ -676,14 +677,14 @@ where
     }
 
     #[inline]
-    pub fn cfg_clock_from_div(&mut self, div: u16) -> Result<(), SpiClockConfigError> {
+    pub fn configure_clock_from_div(&mut self, div: u16) -> Result<(), SpiClockConfigError> {
         let val = spi_clk_config_from_div(div)?;
         self.cfg_clock(val);
         Ok(())
     }
 
     #[inline]
-    pub fn cfg_mode(&mut self, mode: Mode) {
+    pub fn configure_mode(&mut self, mode: Mode) {
         let (cpo_bit, cph_bit) = mode_to_cpo_cph_bit(mode);
         self.regs.modify_ctrl0(|mut value| {
             value.set_spo(cpo_bit);
@@ -718,7 +719,7 @@ where
     }
 
     #[inline]
-    pub fn perid(&self) -> u32 {
+    pub fn peripheral_id(&self) -> u32 {
         self.regs.read_perid()
     }
 
@@ -728,7 +729,7 @@ where
     /// by using the [configure_pin_as_hw_cs_pin] function which also returns the
     /// corresponding [HwChipSelectId].
     #[inline]
-    pub fn cfg_hw_cs(&mut self, hw_cs: HwChipSelectId) {
+    pub fn configure_hw_cs(&mut self, hw_cs: HwChipSelectId) {
         self.regs.modify_ctrl1(|mut value| {
             value.set_sod(false);
             value.set_ss(hw_cs);
@@ -739,7 +740,7 @@ where
     /// Disables the hardware chip select functionality. This can be used when performing
     /// external chip select handling, for example with GPIO pins.
     #[inline]
-    pub fn cfg_hw_cs_disable(&mut self) {
+    pub fn disable_hw_cs(&mut self) {
         self.regs.modify_ctrl1(|mut value| {
             value.set_sod(true);
             value
@@ -749,12 +750,12 @@ where
     /// Utility function to configure all relevant transfer parameters in one go.
     /// This is useful if multiple devices with different clock and mode configurations
     /// are connected to one bus.
-    pub fn cfg_transfer(&mut self, transfer_cfg: &TransferConfig) {
+    pub fn configure_transfer(&mut self, transfer_cfg: &TransferConfig) {
         if let Some(trans_clk_div) = transfer_cfg.clk_cfg {
             self.cfg_clock(trans_clk_div);
         }
         if let Some(mode) = transfer_cfg.mode {
-            self.cfg_mode(mode);
+            self.configure_mode(mode);
         }
         self.blockmode = transfer_cfg.blockmode;
         self.regs.modify_ctrl1(|mut value| {
@@ -1031,7 +1032,6 @@ impl From<Spi<u8>> for Spi<u16> {
         Spi {
             id: old_spi.id,
             regs: old_spi.regs,
-            cfg: old_spi.cfg,
             blockmode: old_spi.blockmode,
             fill_word: Default::default(),
             bmstall: old_spi.bmstall,
@@ -1049,7 +1049,6 @@ impl From<Spi<u16>> for Spi<u8> {
         Spi {
             id: old_spi.id,
             regs: old_spi.regs,
-            cfg: old_spi.cfg,
             blockmode: old_spi.blockmode,
             fill_word: Default::default(),
             bmstall: old_spi.bmstall,
@@ -1057,3 +1056,39 @@ impl From<Spi<u16>> for Spi<u8> {
         }
     }
 }
+
+/// This abstraction which can be used to map a hardware chip select pin
+/// to [embedded_hal::digital::OutputPin]. This is useful for creating physical chip select
+/// pins required by the [embedded_hal_bus](https://docs.rs/embedded-hal-bus/latest/embedded_hal_bus/)
+/// API.
+pub struct HwCsPin {
+    regs: regs::MmioSpi<'static>,
+    id: HwChipSelectId,
+}
+
+impl HwCsPin {
+    pub fn new<P: HwCsProvider + AnyPin>(pin: P) -> Self {
+        configure_pin_as_hw_cs_pin(pin);
+        Self {
+            regs: unsafe { P::SPI_ID.steal_regs() },
+            id: P::CS_ID,
+        }
+    }
+}
+
+impl embedded_hal::digital::ErrorType for HwCsPin {
+    type Error = Infallible;
+}
+
+impl embedded_hal::digital::OutputPin for HwCsPin {
+    fn set_low(&mut self) -> Result<(), Self::Error> {
+        self.regs
+            .modify_ctrl1(|value| value.with_sod(false).with_ss(self.id));
+        Ok(())
+    }
+
+    fn set_high(&mut self) -> Result<(), Self::Error> {
+        self.regs.modify_ctrl1(|value| value.with_sod(true));
+        Ok(())
+    }
+}

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

@@ -25,11 +25,11 @@ cfg_if::cfg_if! {
 #[derive(Debug, PartialEq, Eq, Clone, Copy)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Bank {
-    Spi0,
-    Spi1,
-    Spi2,
+    Spi0 = 0,
+    Spi1 = 1,
+    Spi2 = 2,
     #[cfg(feature = "vor4x")]
-    Spi3,
+    Spi3 = 3,
 }
 
 impl Bank {
@@ -157,7 +157,7 @@ impl ClockPrescaler {
     }
 }
 
-#[bitbybit::bitfield(u32, debug, defmt_bitfields(feature = "defmt"))]
+#[bitbybit::bitfield(u32, debug, default = 0x0, defmt_bitfields(feature = "defmt"))]
 pub struct InterruptControl {
     /// TX FIFO count <= TX FIFO trigger level.
     #[bit(3, rw)]
@@ -174,9 +174,19 @@ pub struct InterruptControl {
     rx_overrun: bool,
 }
 
+impl InterruptControl {
+    pub const DISABLE_ALL: Self = Self::ZERO;
+    pub const ENABLE_ALL: Self = Self::builder()
+        .with_tx(true)
+        .with_rx(true)
+        .with_rx_timeout(true)
+        .with_rx_overrun(true)
+        .build();
+}
+
 #[bitbybit::bitfield(u32, debug, defmt_bitfields(feature = "defmt"))]
 pub struct InterruptStatus {
-    /// TX FIFO count <= TX FIFO trigger level.
+    /// TX FIFO count < TX FIFO trigger level.
     #[bit(3, r)]
     tx: bool,
     /// RX FIFO count >= RX FIFO trigger level.
@@ -191,7 +201,7 @@ pub struct InterruptStatus {
     rx_overrun: bool,
 }
 
-#[bitbybit::bitfield(u32)]
+#[bitbybit::bitfield(u32, default = 0x0)]
 #[derive(Debug)]
 pub struct InterruptClear {
     /// Clearing the RX interrupt or reading data from the FIFO resets the timeout counter.
@@ -201,6 +211,13 @@ pub struct InterruptClear {
     rx_overrun: bool,
 }
 
+impl InterruptClear {
+    pub const ALL: Self = Self::builder()
+        .with_rx_timeout(true)
+        .with_rx_overrun(true)
+        .build();
+}
+
 #[bitbybit::bitfield(u32, debug, defmt_bitfields(feature = "defmt"))]
 pub struct State {
     #[bits(0..=7, r)]
@@ -221,21 +238,21 @@ pub struct Spi {
     #[mmio(PureRead)]
     status: Status,
     clkprescale: ClockPrescaler,
-    irq_enb: InterruptControl,
+    interrupt_control: InterruptControl,
     /// Raw interrupt status.
     #[mmio(PureRead)]
-    irq_raw: InterruptStatus,
+    interrupt_status_raw: InterruptStatus,
     /// Enabled interrupt status.
     #[mmio(PureRead)]
-    irq_status: InterruptStatus,
+    interrupt_status: InterruptStatus,
     #[mmio(Write)]
-    irq_clear: InterruptClear,
+    interrupt_clear: InterruptClear,
     rx_fifo_trigger: TriggerLevel,
     tx_fifo_trigger: TriggerLevel,
     #[mmio(Write)]
     fifo_clear: FifoClear,
     #[mmio(PureRead)]
-    state: u32,
+    state: State,
     #[cfg(feature = "vor1x")]
     _reserved: [u32; 0x3F2],
     #[cfg(feature = "vor4x")]

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

@@ -23,7 +23,6 @@ use crate::{
     sealed::Sealed,
 };
 use arbitrary_int::{prelude::*, u6, u18};
-use fugit::RateExtU32;
 use regs::{ClockScale, Control, Data, Enable, FifoClear, InterruptClear, MmioUart};
 
 use crate::{PeripheralSelect, enable_nvic_interrupt, enable_peripheral_clock, time::Hertz};
@@ -120,6 +119,25 @@ pub enum Event {
     TxCts,
 }
 
+#[derive(Debug, Default, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum BaudMode {
+    /// Default 16x baud clock.
+    #[default]
+    _16 = 0,
+    /// Slower 8x baud clock.
+    _8 = 1,
+}
+
+impl BaudMode {
+    pub const fn multiplier(&self) -> u32 {
+        match self {
+            BaudMode::_16 => 16,
+            BaudMode::_8 => 8,
+        }
+    }
+}
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Parity {
@@ -128,74 +146,100 @@ pub enum Parity {
     Even,
 }
 
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ClockConfig {
+    /// Integer divisor.
+    pub div: u18,
+    /// Fractional divide value in 1/64 units.
+    pub frac: u6,
+    pub baud_mode: BaudMode,
+}
+
+impl ClockConfig {
+    pub const fn calculate(ref_clk: Hertz, baudrate: Hertz, baud_mode: BaudMode) -> Self {
+        // 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);
+        // Calculations here are derived from chapter 4.8.5 (p.79) of the datasheet.
+        let integer_div = ref_clk.raw() / (baudrate.raw() * multiplier);
+        Self {
+            frac: u6::new(frac as u8),
+            div: u18::new(integer_div),
+            baud_mode,
+        }
+    }
+
+    #[cfg(feature = "vor4x")]
+    pub fn calculate_with_clocks(
+        uart_id: Bank,
+        clks: &Clocks,
+        baudrate: Hertz,
+        baud_mode: BaudMode,
+    ) -> Self {
+        let clk = if uart_id == Bank::Uart2 {
+            clks.apb1()
+        } else {
+            clks.apb2()
+        };
+        Self::calculate(clk, baudrate, baud_mode)
+    }
+}
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Config {
-    pub baudrate: Hertz,
+    pub clock_config: ClockConfig,
     pub parity: Parity,
     pub stopbits: Stopbits,
-    // When false, use standard 16x baud clock, other 8x baud clock
-    pub baud8: bool,
     pub wordsize: WordSize,
     pub enable_tx: bool,
     pub enable_rx: bool,
 }
 
 impl Config {
-    pub fn baudrate(mut self, baudrate: Hertz) -> Self {
-        self.baudrate = baudrate;
-        self
-    }
-
-    pub fn parity_none(mut self) -> Self {
-        self.parity = Parity::None;
-        self
-    }
-
-    pub fn parity_even(mut self) -> Self {
-        self.parity = Parity::Even;
-        self
-    }
-
-    pub fn parity_odd(mut self) -> Self {
-        self.parity = Parity::Odd;
-        self
-    }
-
-    pub fn stopbits(mut self, stopbits: Stopbits) -> Self {
-        self.stopbits = stopbits;
-        self
-    }
-
-    pub fn wordsize(mut self, wordsize: WordSize) -> Self {
-        self.wordsize = wordsize;
-        self
-    }
-
-    pub fn baud8(mut self, baud: bool) -> Self {
-        self.baud8 = baud;
-        self
-    }
-}
-
-impl Default for Config {
-    fn default() -> Config {
-        let baudrate = 115_200_u32.Hz();
+    pub fn new_with_clock_config(clock_config: ClockConfig) -> Self {
         Config {
-            baudrate,
+            clock_config,
             parity: Parity::None,
             stopbits: Stopbits::One,
-            baud8: false,
             wordsize: WordSize::Eight,
             enable_tx: true,
             enable_rx: true,
         }
     }
-}
 
-impl From<Hertz> for Config {
-    fn from(baud: Hertz) -> Self {
-        Config::default().baudrate(baud)
+    pub fn with_clock_config(mut self, clock_config: ClockConfig) -> Self {
+        self.clock_config = clock_config;
+        self
+    }
+
+    pub fn with_parity_none(mut self) -> Self {
+        self.parity = Parity::None;
+        self
+    }
+
+    pub fn with_parity_even(mut self) -> Self {
+        self.parity = Parity::Even;
+        self
+    }
+
+    pub fn with_parity_odd(mut self) -> Self {
+        self.parity = Parity::Odd;
+        self
+    }
+
+    pub fn with_stopbits(mut self, stopbits: Stopbits) -> Self {
+        self.stopbits = stopbits;
+        self
+    }
+
+    pub fn with_wordsize(mut self, wordsize: WordSize) -> Self {
+        self.wordsize = wordsize;
+        self
     }
 }
 
@@ -408,11 +452,10 @@ impl Uart {
                 uart: Uart,
                 tx_pin: Tx,
                 rx_pin: Rx,
-                sys_clk: Hertz,
                 config: Config,
                 irq_cfg: InterruptConfig,
             ) -> Self {
-                Self::new_for_uart0(uart, tx_pin, rx_pin, sys_clk, config, Some(irq_cfg))
+                Self::new_for_uart0(uart, tx_pin, rx_pin, config, Some(irq_cfg))
             }
 
             /// Calls [Self::new_for_uart1] with the interrupt configuration to some valid value.
@@ -420,11 +463,10 @@ impl Uart {
                 uart: Uart,
                 tx_pin: Tx,
                 rx_pin: Rx,
-                sys_clk: Hertz,
                 config: Config,
                 irq_cfg: InterruptConfig,
             ) -> Self {
-                Self::new_for_uart1(uart, tx_pin, rx_pin, sys_clk, config, Some(irq_cfg))
+                Self::new_for_uart1(uart, tx_pin, rx_pin, config, Some(irq_cfg))
             }
 
             /// Calls [Self::new_for_uart0] with the interrupt configuration to [None].
@@ -432,10 +474,9 @@ impl Uart {
                 uart: Uart,
                 tx_pin: Tx,
                 rx_pin: Rx,
-                sys_clk: Hertz,
                 config: Config,
             ) -> Self {
-                Self::new_for_uart0(uart, tx_pin, rx_pin, sys_clk, config, None)
+                Self::new_for_uart0(uart, tx_pin, rx_pin, config, None)
             }
 
             /// Calls [Self::new_for_uart1] with the interrupt configuration to [None].
@@ -443,10 +484,9 @@ impl Uart {
                 uart: Uart,
                 tx_pin: Tx,
                 rx_pin: Rx,
-                sys_clk: Hertz,
                 config: Config,
             ) -> Self {
-                Self::new_for_uart1(uart, tx_pin, rx_pin, sys_clk, config, None)
+                Self::new_for_uart1(uart, tx_pin, rx_pin, config, None)
             }
 
             /// Create a new UART peripheral driver with an interrupt configuration.
@@ -465,7 +505,6 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                sys_clk: Hertz,
                 config: Config,
                 opt_irq_cfg: Option<InterruptConfig>,
             ) -> Self {
@@ -476,7 +515,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    sys_clk,
                     config,
                     opt_irq_cfg
                 )
@@ -498,7 +536,6 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                sys_clk: Hertz,
                 config: Config,
                 opt_irq_cfg: Option<InterruptConfig>,
             ) -> Self {
@@ -509,7 +546,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    sys_clk,
                     config,
                     opt_irq_cfg
                 )
@@ -527,14 +563,8 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                clks: &Clocks,
                 config: Config,
             ) -> Self {
-                let clk = if Uart::ID == Bank::Uart2 {
-                    clks.apb1()
-                } else {
-                    clks.apb2()
-                };
                 Self::new_internal(
                     Uart::PERIPH_SEL,
                     Uart::ID,
@@ -542,7 +572,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    clk,
                     config
                 )
             }
@@ -559,14 +588,8 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                clks: &Clocks,
                 config: Config,
             ) -> Self {
-                let clk = if Uart::ID == Bank::Uart2 {
-                    clks.apb1()
-                } else {
-                    clks.apb2()
-                };
                 Self::new_internal(
                     Uart::PERIPH_SEL,
                     Uart::ID,
@@ -574,7 +597,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    clk,
                     config
                 )
             }
@@ -591,14 +613,8 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                clks: &Clocks,
                 config: Config,
             ) -> Self {
-                let clk = if Uart::ID == Bank::Uart2 {
-                    clks.apb1()
-                } else {
-                    clks.apb2()
-                };
                 Self::new_internal(
                     Uart::PERIPH_SEL,
                     Uart::ID,
@@ -606,7 +622,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    clk,
                     config
                 )
             }
@@ -623,7 +638,6 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                ref_clk: Hertz,
                 config: Config,
             ) -> Self {
                 Self::new_internal(
@@ -633,7 +647,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    ref_clk,
                     config
                 )
             }
@@ -650,7 +663,6 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                ref_clk: Hertz,
                 config: Config,
             ) -> Self {
                 Self::new_internal(
@@ -660,7 +672,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    ref_clk,
                     config
                 )
             }
@@ -677,7 +688,6 @@ impl Uart {
                 _uart: Uart,
                 _tx_pin: Tx,
                 _rx_pin: Rx,
-                ref_clk: Hertz,
                 config: Config,
             ) -> Self {
                 Self::new_internal(
@@ -687,7 +697,6 @@ impl Uart {
                     Tx::FUNC_SEL,
                     Rx::ID,
                     Rx::FUNC_SEL,
-                    ref_clk,
                     config
                 )
             }
@@ -702,7 +711,6 @@ impl Uart {
         tx_func_sel: FunctionSelect,
         rx_pin_id: DynPinId,
         rx_func_sel: FunctionSelect,
-        ref_clk: Hertz,
         config: Config,
         #[cfg(feature = "vor1x")] opt_irq_cfg: Option<InterruptConfig>,
     ) -> Self {
@@ -711,23 +719,10 @@ impl Uart {
         enable_peripheral_clock(periph_sel);
 
         let mut reg_block = regs::Uart::new_mmio(uart_bank);
-        let baud_multiplier = match config.baud8 {
-            false => 16,
-            true => 8,
-        };
-
-        // This is the calculation: (64.0 * (x - integer_part as f32) + 0.5) as u32 without floating
-        // point calculations.
-        let frac = ((ref_clk.raw() % (config.baudrate.raw() * 16)) * 64
-            + (config.baudrate.raw() * 8))
-            / (config.baudrate.raw() * 16);
-        // Calculations here are derived from chapter 4.8.5 (p.79) of the datasheet.
-        let x = ref_clk.raw() as f32 / (config.baudrate.raw() * baud_multiplier) as f32;
-        let integer_part = x as u32;
         reg_block.write_clkscale(
             ClockScale::builder()
-                .with_int(u18::new(integer_part))
-                .with_frac(u6::new(frac as u8))
+                .with_int(config.clock_config.div)
+                .with_frac(config.clock_config.frac)
                 .build(),
         );
 
@@ -738,7 +733,7 @@ impl Uart {
         };
         reg_block.write_ctrl(
             Control::builder()
-                .with_baud8(config.baud8)
+                .with_baud8(config.clock_config.baud_mode == BaudMode::_8)
                 .with_auto_rts(false)
                 .with_def_rts(false)
                 .with_auto_cts(false)