Merge pull request 'PAC release' (#42) from docs-release-pac into main

Reviewed-on: #42

.github/workflows/va108xx.yml

@@ -36,7 +36,7 @@ jobs:
       - uses: dtolnay/rust-toolchain@stable
       - name: Install nextest
         uses: taiki-e/install-action@nextest
-      - run: cargo nextest run --all-features -p va108xx-hal --no-tests=pass
+      - run: cargo nextest run -p va108xx-hal --no-tests=pass
       # I think we can skip those on an embedded crate..
       # - run: cargo test --doc -p va108xx-hal
 
@@ -57,7 +57,7 @@ jobs:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@nightly
       - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx --all-features
-      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal --all-features --no-deps
+      - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal --features "defmt, embassy-oc30-oc31" --no-deps
       - run: RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-reb1 --no-deps
 
   clippy:

justfile

@@ -22,13 +22,12 @@ check-va108xx:
 [working-directory: 'va416xx']
 check-va416xx:
   cargo check --target thumbv7em-none-eabihf
-  cargo check --target thumbv7em-none-eabihf --examples
   cargo check -p va416xx --target thumbv7em-none-eabihf --all-features
   cargo check -p va416xx-hal --target thumbv7em-none-eabihf --features "defmt va41630"
 
 [working-directory: 'va108xx']
 build-va108xx:
-  cargo build --target thumbv6m-none-eabi
+  cargo build --target thumbv6m-none-eabi --release
 
 [working-directory: 'va416xx']
 build-va416xx:
@@ -70,7 +69,7 @@ clippy-shared-hal:
 [working-directory: 'va108xx']
 docs-va108xx:
   RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx --all-features
-  RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal --all-features --no-deps
+  RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p va108xx-hal --features "defmt, embassy-oc30-oc31" --no-deps
   RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options" cargo +nightly doc -p vorago-reb1 --no-deps
 
 [working-directory: 'va416xx']

tools/va108xx-flashloader-client/.gitignore

@@ -0,0 +1 @@
+output.log

tools/va108xx-flashloader-client/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "va108xx-image-loader"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+fern = "0.7"
+object = "0.39"
+humantime = "2"
+crc = "3"
+log = "0.4"
+toml = "1.1.2+spec-1.1.0"
+anyhow = "1"
+serialport = "4"
+cobs = "0.5"
+serde = { version = "1", features = ["derive"] }
+postcard = { version = "1", features = ["alloc"] }
+spacepackets = { version = "0.17" }
+tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1" }
+
+models = { path = "../../va108xx/flashloader/models" }

tools/va108xx-flashloader-client/README.md

@@ -0,0 +1,3 @@
+# VA108XX Flashloader Client
+
+See the [flasherloader app](../../va108xx/flashloader/README.md) for more details.

tools/va108xx-flashloader-client/config.toml

@@ -0,0 +1,2 @@
+[interface]
+serial_port = "/dev/ttyUSB0"

tools/va108xx-flashloader-client/src/elf.rs

@@ -0,0 +1,92 @@
+use std::path::Path;
+
+use models::{
+    APP_A_START_ADDR, APP_A_MAX_SIZE, APP_B_START_ADDR, APP_B_MAX_SIZE,
+    BOOTLOADER_START_ADDR, BOOTLOADER_MAX_SIZE,
+};
+
+use crate::Target;
+
+pub struct LoadableSegment {
+    pub name:   String,
+    pub offset: u32,
+    pub data:   Vec<u8>,
+}
+
+pub fn parse_elf(target: &Target, path: &Path) -> anyhow::Result<Vec<LoadableSegment>> {
+    use object::{Object, ObjectSection, ObjectSegment};
+
+    let raw = std::fs::read(path)?;
+    let obj = object::File::parse(raw.as_slice())?;
+
+    let expected_base: u32 = match target {
+        Target::Bl => BOOTLOADER_START_ADDR,
+        Target::A  => APP_A_START_ADDR,
+        Target::B  => APP_B_START_ADDR,
+    };
+
+    let mut segments = Vec::new();
+
+    for (idx, segment) in obj.segments().enumerate() {
+        let data = segment.data()?;
+        if data.is_empty() {
+            continue;
+        }
+
+        let addr = segment.address() as u32;
+
+        if idx == 0 && addr != expected_base {
+            anyhow::bail!(
+                "unexpected base address {addr:#010x} for {target:?}, expected {expected_base:#010x}"
+            );
+        }
+
+        let name = obj
+            .sections()
+            .find(|s| {
+                let s_addr = s.address() as u32;
+                s_addr >= addr
+                    && s_addr < addr + data.len() as u32
+                    && !s.name().unwrap_or("").is_empty()
+            })
+            .and_then(|s| s.name().ok().map(str::to_owned))
+            .unwrap_or_else(|| format!("<segment {idx}>"));
+
+        segments.push(LoadableSegment {
+            name,
+            offset: addr,
+            data: data.to_vec(),
+        });
+    }
+
+    Ok(segments)
+}
+
+pub fn check_total_size(target: &Target, total_size: usize) -> anyhow::Result<()> {
+    let max = match target {
+        Target::Bl => BOOTLOADER_MAX_SIZE,
+        Target::A  => APP_A_MAX_SIZE,
+        Target::B  => APP_B_MAX_SIZE,
+    } as usize;
+
+    if total_size > max {
+        anyhow::bail!(
+            "{target:?} image is {total_size} bytes, exceeds maximum of {max} bytes"
+        );
+    }
+    Ok(())
+}
+
+pub fn log_segments_info(target: &Target, segments: &[LoadableSegment], total_size: usize, path: &Path) {
+    log::info!(
+        "Flashing {target:?} with image '{}' — {} segment(s), {total_size} bytes total",
+        path.display(),
+        segments.len()
+    );
+    for (i, seg) in segments.iter().enumerate() {
+        log::info!(
+            "  segment {i}: '{}' @ {:#010x}, {} bytes",
+            seg.name, seg.offset, seg.data.len()
+        );
+    }
+}

tools/va108xx-flashloader-client/src/flash.rs

@@ -0,0 +1,142 @@
+use std::path::Path;
+
+use anyhow::Context;
+use crc::{CRC_16_IBM_3740, Crc};
+use spacepackets::CcsdsPacketReader;
+use tmtc_utils::transport::serial::PacketTransportSerialCobs;
+
+use crate::{
+    Target,
+    elf::{check_total_size, log_segments_info, parse_elf},
+    tc,
+};
+use models::{
+    APP_A_CRC_ADDR, APP_A_SIZE_ADDR, APP_B_CRC_ADDR, APP_B_SIZE_ADDR, BOOTLOADER_CRC_ADDR,
+};
+use models::{Request, Response};
+
+pub const CHUNK_SIZE: usize = 256;
+
+fn send_and_await_ok(
+    transport: &mut PacketTransportSerialCobs,
+    request: &Request,
+    payload: &[u8],
+    timeout: std::time::Duration,
+) -> anyhow::Result<()> {
+    let tc = tc::create_tc_with_additional_payload(request, payload);
+    log::debug!(
+        "TX TC {:#010x}: {request:?} + {} payload bytes",
+        tc.ccsds_packet_id_and_psc().raw(),
+        payload.len()
+    );
+    transport.send(&tc.to_vec())?;
+
+    let deadline = std::time::Instant::now() + timeout;
+    let mut got_ok = false;
+
+    while !got_ok {
+        if std::time::Instant::now() > deadline {
+            anyhow::bail!("timeout waiting for Ok response to {request:?}");
+        }
+        transport.receive(|packet| {
+            let Ok(reader) = CcsdsPacketReader::new_with_checksum(packet) else {
+                return;
+            };
+            match postcard::take_from_bytes::<Response>(reader.packet_data()) {
+                Ok((Response::Ok, _)) => got_ok = true,
+                #[allow(unreachable_patterns)]
+                Ok((other, _)) => log::warn!("unexpected response: {other:?}"),
+                Err(e) => log::error!("failed to deserialise response: {e}"),
+            }
+        })?;
+    }
+
+    Ok(())
+}
+
+pub fn flash_image(
+    transport: &mut PacketTransportSerialCobs,
+    target: &Target,
+    path: &Path,
+) -> anyhow::Result<()> {
+    let segments = parse_elf(target, path)
+        .with_context(|| format!("failed to parse ELF: {}", path.display()))?;
+
+    let total_size: usize = segments.iter().map(|s| s.data.len()).sum();
+    check_total_size(target, total_size)?;
+    log_segments_info(target, &segments, total_size, path);
+
+    let ack_timeout = std::time::Duration::from_secs(2);
+
+    // 1. Write all segments in chunks, waiting for Ok after each.
+    for seg in &segments {
+        let mut pos = 0usize;
+        while pos < seg.data.len() {
+            let chunk_len = CHUNK_SIZE.min(seg.data.len() - pos);
+            let offset = seg.offset + pos as u32;
+            let chunk = &seg.data[pos..pos + chunk_len];
+
+            log::info!(
+                "Writing {chunk_len} bytes @ {offset:#010x}  ({}/{} of '{}')",
+                pos + chunk_len,
+                seg.data.len(),
+                seg.name,
+            );
+
+            send_and_await_ok(transport, &Request::WriteNvm { offset }, chunk, ack_timeout)?;
+            pos += chunk_len;
+        }
+    }
+
+    // 2. CRC + size postprocessing.
+    match target {
+        Target::Bl => {
+            log::info!("Blanking bootloader CRC @ {BOOTLOADER_CRC_ADDR:#010x}");
+            send_and_await_ok(
+                transport,
+                &Request::WriteNvm {
+                    offset: BOOTLOADER_CRC_ADDR,
+                },
+                &[0x00, 0x00],
+                ack_timeout,
+            )?;
+        }
+        Target::A | Target::B => {
+            let (size_addr, crc_addr) = match target {
+                Target::A => (APP_A_SIZE_ADDR, APP_A_CRC_ADDR),
+                Target::B => (APP_B_SIZE_ADDR, APP_B_CRC_ADDR),
+                Target::Bl => unreachable!(),
+            };
+
+            log::info!("Writing app size {total_size} @ {size_addr:#010x}");
+            send_and_await_ok(
+                transport,
+                &Request::WriteNvm { offset: size_addr },
+                &(total_size as u32).to_be_bytes(),
+                ack_timeout,
+            )?;
+
+            let crc = Crc::<u16>::new(&CRC_16_IBM_3740);
+            let mut digest = crc.digest();
+            for seg in &segments {
+                digest.update(&seg.data);
+            }
+            let checksum = digest.finalize().to_be_bytes();
+
+            log::info!(
+                "Writing CRC [{:#04x}, {:#04x}] @ {crc_addr:#010x}",
+                checksum[0],
+                checksum[1]
+            );
+            send_and_await_ok(
+                transport,
+                &Request::WriteNvm { offset: crc_addr },
+                &checksum,
+                ack_timeout,
+            )?;
+        }
+    }
+
+    log::info!("Flash complete.");
+    Ok(())
+}

tools/va108xx-flashloader-client/src/main.rs

@@ -0,0 +1,194 @@
+use std::{
+    fs::File,
+    io::Read as _,
+    net::SocketAddr,
+    path::{Path, PathBuf},
+    time::SystemTime,
+};
+
+use anyhow::bail;
+use clap::Parser as _;
+use cobs::CobsDecoderOwned;
+use models::Response;
+use spacepackets::CcsdsPacketReader;
+use tmtc_utils::transport::serial::PacketTransportSerialCobs;
+
+pub mod elf;
+pub mod flash;
+pub mod tc;
+
+#[derive(clap::Parser)]
+#[command(name = "image-loader", about = "VA416XX Image Loader Application")]
+pub struct Cli {
+    /// Serial port to use (overrides loader.toml)
+    #[arg(short, long)]
+    pub port: Option<String>,
+
+    #[command(subcommand)]
+    pub command: Command,
+}
+
+#[derive(clap::Subcommand)]
+pub enum Command {
+    /// Send a ping command
+    Ping,
+
+    /// Set the active boot slot
+    SetBootSlot {
+        /// Boot slot to activate
+        app: AppTarget,
+    },
+
+    /// Corrupt an app slot (for testing)
+    Corrupt {
+        /// Target slot to corrupt
+        app: AppTarget,
+    },
+
+    /// Flash an ELF image to a target slot
+    Flash {
+        /// Target to flash
+        target: Target,
+
+        /// Path to the ELF image
+        path: PathBuf,
+    },
+}
+
+#[derive(clap::ValueEnum, Clone, Debug)]
+pub enum Target {
+    /// Bootloader slot
+    Bl,
+    /// Application slot A
+    A,
+    /// Application slot B
+    B,
+}
+
+/// Only app slots can be corrupted (not the bootloader)
+#[derive(clap::ValueEnum, Clone, Debug)]
+pub enum AppTarget {
+    A,
+    B,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Config {
+    pub interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct Interface {
+    pub serial_port: Option<String>,
+    pub udp_addr: Option<SocketAddr>,
+}
+
+impl Config {
+    pub fn new_from_file() -> Self {
+        let mut config_file =
+            File::open(Path::new("config.toml")).expect("opening config.toml file failed");
+        let mut toml_str = String::new();
+        config_file
+            .read_to_string(&mut toml_str)
+            .expect("reading config.toml file failed");
+        let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
+        config
+    }
+}
+
+pub fn setup_logger() -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(log::LevelFilter::Info)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
+fn main() -> anyhow::Result<()> {
+    setup_logger().expect("failed to initialize logger");
+    println!("-- VA108xx Flashloader Client --");
+    let cli = Cli::parse();
+    let config = Config::new_from_file();
+
+    if config.interface.serial_port.is_none() {
+        bail!("Serial port not specified in configuration file.");
+    }
+    let serial_port = config.interface.serial_port.as_ref().unwrap();
+    let serial = serialport::new(serial_port, 115200)
+        .open()
+        .expect("opening serial port failed");
+    let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(4096));
+
+    match cli.command {
+        Command::Ping => {
+            let tc = tc::create_tc(&models::Request::Ping);
+            log::info!(
+                "Sending ping request with TC ID: {:#010x}",
+                tc.ccsds_packet_id_and_psc().raw()
+            );
+            let tc_raw = tc.to_vec();
+            transport.send(&tc_raw).unwrap();
+        }
+        Command::SetBootSlot { app } => {
+            let app_sel = match app {
+                AppTarget::A => models::AppSel::A,
+                AppTarget::B => models::AppSel::B,
+            };
+            let tc = tc::create_tc(&models::Request::SetBootSlot(app_sel));
+            log::info!(
+                "Sending app select {:?} command with TC ID: {:#010x}",
+                app_sel,
+                tc.ccsds_packet_id_and_psc().raw()
+            );
+            transport.send(&tc.to_vec()).unwrap();
+        }
+        Command::Corrupt { app } => {
+            let app_sel = match app {
+                AppTarget::A => models::AppSel::A,
+                AppTarget::B => models::AppSel::B,
+            };
+            let tc = tc::create_tc(&models::Request::SetBootSlot(app_sel));
+            log::info!(
+                "Sending corrupt slot {:?} command with TC ID: {:#010x}",
+                app_sel,
+                tc.ccsds_packet_id_and_psc().raw()
+            );
+            transport.send(&tc.to_vec()).unwrap();
+        }
+        Command::Flash { target, path } => {
+            flash::flash_image(&mut transport, &target, &path)?;
+        }
+    }
+
+    log::info!("Waiting for response...");
+    loop {
+        transport
+            .receive(|packet: &[u8]| {
+                let reader = CcsdsPacketReader::new_with_checksum(packet);
+                log::debug!("Received packet: {:?}", reader);
+                if let Ok(reader) = reader {
+                    let packet_data = reader.packet_data();
+                    let response_result = postcard::take_from_bytes::<Response>(packet_data);
+                    if let Ok((response, _remainder)) = response_result {
+                        log::info!("Received TM with response: {:?}", response);
+                    } else {
+                        log::error!(
+                            "Failed to parse response from packet data: {:?}",
+                            response_result
+                        );
+                    }
+                }
+            })
+            .unwrap();
+    }
+}

tools/va108xx-flashloader-client/src/tc.rs

@@ -0,0 +1,14 @@
+use spacepackets::{CcsdsPacketCreatorOwned, SpHeader};
+
+pub fn create_tc(request: &models::Request) -> CcsdsPacketCreatorOwned {
+    let req_raw = postcard::to_allocvec(&request).unwrap();
+    let sp_header = SpHeader::new_from_apid(models::APID);
+    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
+}
+
+pub fn create_tc_with_additional_payload(request: &models::Request, payload: &[u8]) -> CcsdsPacketCreatorOwned {
+    let mut req_raw = postcard::to_allocvec(&request).unwrap();
+    req_raw.extend_from_slice(payload);
+    let sp_header = SpHeader::new_from_apid(models::APID);
+    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
+}

va108xx/Cargo.toml

@@ -1,16 +1,16 @@
 [workspace]
-resolver = "2"
+resolver = "3"
 members = [
   "vorago-reb1",
   "va108xx",
   "va108xx-hal",
-  "va108xx-embassy",
   "examples/simple",
   "examples/rtic",
   "examples/embassy",
   "board-tests",
   "bootloader",
   "flashloader",
+  "flashloader/models",
 ]
 exclude = [
   "flashloader/slot-a-blinky",
@@ -44,3 +44,6 @@ lto = true
 opt-level = 'z'            # <-
 overflow-checks = false  # <-
 strip = true  # Automatically strip symbols from the binary.
+
+[patch.crates-io]
+spacepackets = { git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", rev = "ec952b771cc62a371786cb1a04fd1baa9c33523c" }

va108xx/README.md

@@ -14,8 +14,6 @@ This workspace contains the following released crates:
   crate containing basic low-level register definition.
 - The [`va108xx-hal`](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/va108xx-hal)
   HAL crate containing higher-level abstractions on top of the PAC register crate.
-- The [`va108xx-embassy`](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/va108xx-embassy)
-  crate containing support for running the embassy-rs asynchronous runtime.
 - The [`vorago-reb1`](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/vorago-reb1)
   BSP crate containing support for the REB1 development board.
 

va108xx/board-tests/Cargo.toml

@@ -12,7 +12,7 @@ panic-probe = { version = "1", features = ["print-defmt"] }
 embedded-hal = "1"
 
 [dependencies.va108xx-hal]
-version = "0.12"
+version = "0.13"
 features = ["rt"]
 path = "../va108xx-hal"
 

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/bootloader/Cargo.toml

@@ -9,18 +9,18 @@ cortex-m-rt = "0.7"
 embedded-hal = "1"
 defmt-rtt = "1"
 defmt = "1"
-panic-probe = { version = "1", features = ["defmt"] }
+panic-probe = { version = "1" }
 crc = "3"
 num_enum = { version = "0.7", default-features = false }
 static_assertions = "1"
 
 [dependencies.va108xx-hal]
-version = "0.12"
+version = "0.13"
 path = "../va108xx-hal"
 features = ["defmt"]
 
 [dependencies.vorago-reb1]
-version = "0.9"
+version = "0.10"
 path = "../vorago-reb1"
 
 [features]

va108xx/bootloader/src/main.rs

@@ -159,6 +159,12 @@ fn main() -> ! {
     if check_app_crc(preferred_app) {
         boot_app(&dp.sysconfig, &cp, preferred_app, &mut timer)
     } else if check_app_crc(other_app) {
+        if DEFMT_PRINTOUT {
+            defmt::warn!(
+                "CRC check for preferred image {} failed. Checking alternative slot",
+                preferred_app
+            );
+        }
         boot_app(&dp.sysconfig, &cp, other_app, &mut timer)
     } else {
         if DEBUG_PRINTOUTS && DEFMT_PRINTOUT {
@@ -210,7 +216,6 @@ fn check_own_crc(
                 crc_exp
             );
         }
-        // TODO: Shift out minimal CCSDS frame to notify about bootloader corruption.
         boot_app(sysconfig, cp, AppSel::A, timer);
     }
 }

va108xx/examples/embassy/Cargo.toml

@@ -27,11 +27,10 @@ embassy-executor = { version = "0.10", features = [
   "executor-interrupt"
 ]}
 
-va108xx-hal = { version = "0.12", path = "../../va108xx-hal", features = ["defmt"] }
-va108xx-embassy = { version = "0.3", path = "../../va108xx-embassy" }
+va108xx-hal = { version = "0.13", path = "../../va108xx-hal", features = ["defmt"] }
 
 [features]
-default = ["ticks-hz-1_000", "va108xx-embassy/irq-oc30-oc31"]
+default = ["ticks-hz-1_000", "va108xx-hal/embassy-oc30-oc31"]
 custom-irqs = []
 ticks-hz-1_000 = ["embassy-time/tick-hz-1_000"]
 ticks-hz-32_768 = ["embassy-time/tick-hz-32_768"]

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

@@ -61,7 +61,7 @@ async fn main(spawner: Spawner) {
     let dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_hal::embassy_time::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
     unsafe {
         cortex_m::interrupt::enable();
     }

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

@@ -55,7 +55,7 @@ async fn main(spawner: Spawner) {
     let dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_hal::embassy_time::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
 
     let porta = PinsA::new(dp.porta);
     let mut led0 = Output::new(porta.pa10, PinState::Low);

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

@@ -41,7 +41,7 @@ async fn main(_spawner: Spawner) {
     let dp = pac::Peripherals::take().unwrap();
 
     // Safety: Only called once here.
-    va108xx_embassy::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
+    va108xx_hal::embassy_time::init(dp.tim23, dp.tim22, SYSCLK_FREQ);
 
     let porta = PinsA::new(dp.porta);
 

va108xx/examples/embassy/src/main.rs

@@ -6,7 +6,7 @@ use embassy_time::{Duration, Instant, Ticker};
 
 cfg_if::cfg_if! {
     if #[cfg(feature = "custom-irqs")] {
-        use va108xx_embassy::embassy_time_driver_irqs;
+        use va108xx_hal::embassy_time_driver_irqs;
         use va108xx_hal::pac::interrupt;
         embassy_time_driver_irqs!(timekeeper_irq = OC23, alarm_irq = OC24);
     }
@@ -31,13 +31,13 @@ async fn main(_spawner: Spawner) {
     // Safety: Only called once here.
     cfg_if::cfg_if! {
         if #[cfg(not(feature = "custom-irqs"))] {
-            va108xx_embassy::init(
+            va108xx_hal::embassy_time::init(
                 dp.tim23,
                 dp.tim22,
                 SYSCLK_FREQ,
             );
         } else {
-            va108xx_embassy::init_with_custom_irqs(
+            va108xx_hal::embassy_time::init_with_custom_irqs(
                 dp.tim23,
                 dp.tim22,
                 SYSCLK_FREQ,

va108xx/examples/rtic/Cargo.toml

@@ -9,9 +9,10 @@ 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"] }
+ringbuf = { version = "0.5", default-features = false, features = ["portable-atomic"] }
 
-va108xx-hal = { version = "0.12", path = "../../va108xx-hal" }
-vorago-reb1 = { version = "0.9", path = "../../vorago-reb1" }
+va108xx-hal = { version = "0.13", path = "../../va108xx-hal" }
+vorago-reb1 = { version = "0.10", path = "../../vorago-reb1" }

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,
@@ -64,7 +67,7 @@ mod app {
             InterruptConfig::new(pac::Interrupt::OC3, true, true),
         );
         let (tx, rx) = irq_uart.split();
-        let mut rx = rx.into_rx_with_irq();
+        let mut rx = rx.into_rx_with_interrupt();
 
         rx.start();
 

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/Cargo.toml

@@ -16,6 +16,6 @@ embedded-io = "0.7"
 portable-atomic = { version = "1", features = ["unsafe-assume-single-core"] }
 
 [dependencies.va108xx-hal]
-version = "0.12"
+version = "0.13"
 path = "../../va108xx-hal"
 features = ["defmt"]

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

@@ -11,25 +11,30 @@ defmt = "1"
 defmt-rtt = { version = "1" }
 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"] }
+cobs = { version = "0.5", 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"] }
+embassy-sync = "0.8"
+embedded-io-async = "0.7"
+embassy-time = { version = "0.5", features = ["defmt-timestamp-uptime-ms"] }
+static_cell = "2"
+postcard = { version = "1", features = ["use-defmt"] }
+spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
+serde = { version = "1", default-features = false }
 # Even though we do not use this directly, we need to activate this feature explicitely
 # so that RTIC compiles because thumv6 does not have CAS operations natively.
 portable-atomic = {version = "1", features = ["unsafe-assume-single-core"]}
+models = { path = "./models", features = ["defmt"] }
 
 rtic = { version = "2", features = ["thumbv6-backend"] }
-rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
 
 [dependencies.va108xx-hal]
-version = "0.12"
+version = "0.13"
 path = "../va108xx-hal"
-features = ["defmt"]
+features = ["defmt", "embassy-oc30-oc31"]
 
 [dependencies.vorago-reb1]
-version = "0.9"
+version = "0.10"
 path = "../vorago-reb1"
 
 [package.metadata.cargo-machete]

va108xx/flashloader/README.md

@@ -2,45 +2,40 @@ VA108xx Flashloader Application
 ========
 
 This flashloader shows a minimal example for a self-updatable Rust software which exposes
-a simple PUS (CCSDS) interface to update the software. It also provides a Python application
-called the `image-loader.py` which can be used to upload compiled images to the flashloader
-application to write them to the NVM.
+a simple PUS (CCSDS) interface to update the software. It also provides a Rust application
+which can be used to upload compiled images to the flashloader application to write them to the NVM.
+You can find it inside the `tools/va108xx-image-loader` directory of the monorepo.
 
 Please note that the both the application and the image loader are tailored towards usage
 with the [bootloader provided by this repository](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/bootloader).
 
-The software can quickly be adapted to interface with a real primary on-board software instead of
-the Python script provided here to upload images because it uses a low-level CCSDS based packet
-interface.
+The flashloader software could be be adapted to interface with a real primary on-board software
+instead of the loader application provided here to upload images because it already uses a
+low-level CCSDS based packet interface.
 
-## Using the Python image loader
+## Using the image loader
 
-The Python image loader communicates with the Rust flashload application using a dedicated serial
-port with a baudrate of 115200.
+Inside `tools/va108xx-image-loader` you can find a Rust application which can be used to
+update the image slots via a serial port.
 
-It is recommended to run the script in a dedicated virtual environment. For example, on UNIX
-systems you can use `python3 -m venv venv` and then `source venv/bin/activate` to create
-and activate a virtual environment.
+You can install this tool using the following command inside the project folder:
 
-After that, you can use
-
-```sh
-pip install -r requirements.txt
+```
+cargo install --path .
 ```
 
-to install all required dependencies.
+After that, you can run `va108xx-iamge-loader --help` to get some to get usage informations.
 
-After that, it is recommended to use `./image-load.py -h` to get an overview of some options.
-The flash loader uses the UART0 with the Pins PA8 (RX) and PA9 (TX) interface of the VA108xx to perform CCSDS based
-communication. The Python image loader application will search for a file named `loader.toml` and
-use the `serial_port` key to determine the serial port to use for serial communication.
+The flash loader uses the UART0 with the Pins PA8 (RX) and PA9 (TX) interface of the VA108xx to
+perform CCSDS based communication. The serial port can be set inside the `config.toml` file
+or with the `--port` argument.
 
 ### Examples
 
 You can use
 
 ```sh
-./image-loader.py -p
+va108xx-image-loader ping
 ```
 
 to send a ping an verify the connection.
@@ -50,8 +45,7 @@ You can use
 ```sh
 cd flashloader/slot-a-blinky
 cargo build --release
-cd ../..
-./image-loader.py -t a ./slot-a-blinky/target/thumbv6m-none-eabi/release/slot-a-blinky
+va108xx-image-loader flash a ./target/thumbv6m-none-eabi/release/slot-a-blinky
 ```
 
 to build the slot A sample application and upload it to a running flash loader application
@@ -60,7 +54,7 @@ to write it to slot A.
 You can use
 
 ```sh
-./image-loader.py -s a
+va108xx-image-loader set-boot-slot a 
 ```
 
 to select the Slot A as a boot slot. The boot slot is stored in a reserved section in EEPROM
@@ -69,7 +63,7 @@ and will be read and used by the bootloader to determine which slot to boot.
 You can use
 
 ```sh
-./image-loader.py -c -t a
+va108xx-image-loader corrupt a 
 ```
 
 to corrupt the image A and test that it switches to image B after a failed CRC check instead.

va108xx/flashloader/image-loader.py

@@ -1,476 +0,0 @@
-#!/usr/bin/env python3
-from typing import List, Tuple
-from spacepackets.ecss.defs import PusService
-from spacepackets.ecss.tm import PusTm
-import toml
-import struct
-import logging
-import argparse
-import time
-import enum
-from com_interface import ComInterface
-from com_interface.serial_base import SerialCfg
-from com_interface.serial_cobs import SerialCobsComIF
-from crcmod.predefined import PredefinedCrc
-from spacepackets.ecss.tc import PusTc
-from spacepackets.ecss.pus_verificator import PusVerificator, StatusField
-from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
-from spacepackets.seqcount import SeqCountProvider
-from pathlib import Path
-import dataclasses
-from elftools.elf.elffile import ELFFile
-
-
-BAUD_RATE = 115200
-
-BOOTLOADER_START_ADDR = 0x0
-BOOTLOADER_END_ADDR = 0x3000
-BOOTLOADER_CRC_ADDR = BOOTLOADER_END_ADDR - 2
-BOOTLOADER_MAX_SIZE = BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 2
-
-APP_A_START_ADDR = 0x3000
-APP_B_END_ADDR = 0x20000 - 8
-IMG_SLOT_SIZE = (APP_B_END_ADDR - APP_A_START_ADDR) // 2
-
-APP_A_END_ADDR = APP_A_START_ADDR + IMG_SLOT_SIZE
-# The actual size of the image which is relevant for CRC calculation.
-APP_A_SIZE_ADDR = APP_A_END_ADDR - 8
-APP_A_CRC_ADDR = APP_A_END_ADDR - 4
-APP_A_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
-
-APP_B_START_ADDR = APP_A_END_ADDR
-# The actual size of the image which is relevant for CRC calculation.
-APP_B_SIZE_ADDR = APP_B_END_ADDR - 8
-APP_B_CRC_ADDR = APP_B_END_ADDR - 4
-APP_B_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
-
-
-CHUNK_SIZE = 400
-
-MEMORY_SERVICE = 6
-ACTION_SERVICE = 8
-
-RAW_MEMORY_WRITE_SUBSERVICE = 2
-BOOT_NVM_MEMORY_ID = 1
-PING_PAYLOAD_SIZE = 0
-
-
-class ActionId(enum.IntEnum):
-    CORRUPT_APP_A = 128
-    CORRUPT_APP_B = 129
-    SET_BOOT_SLOT = 130
-
-
-_LOGGER = logging.getLogger(__name__)
-SEQ_PROVIDER = SeqCountProvider(bit_width=14)
-
-
-@dataclasses.dataclass
-class LoadableSegment:
-    name: str
-    offset: int
-    size: int
-    data: bytes
-
-
-class Target(enum.Enum):
-    BOOTLOADER = 0
-    APP_A = 1
-    APP_B = 2
-
-
-class AppSel(enum.IntEnum):
-    APP_A = 0
-    APP_B = 1
-
-
-class ImageLoader:
-    def __init__(self, com_if: ComInterface, verificator: PusVerificator) -> None:
-        self.com_if = com_if
-        self.verificator = verificator
-
-    def handle_boot_sel_cmd(self, target: AppSel):
-        _LOGGER.info("Sending ping command")
-        action_tc = PusTc(
-            apid=0x00,
-            service=PusService.S8_FUNC_CMD,
-            subservice=ActionId.SET_BOOT_SLOT,
-            seq_count=SEQ_PROVIDER.get_and_increment(),
-            app_data=bytes([target]),
-        )
-        self.verificator.add_tc(action_tc)
-        self.com_if.send(bytes(action_tc.pack()))
-        self.await_for_command_copletion("boot image selection command")
-
-    def handle_ping_cmd(self):
-        _LOGGER.info("Sending ping command")
-        ping_tc = PusTc(
-            apid=0x00,
-            service=PusService.S17_TEST,
-            subservice=1,
-            seq_count=SEQ_PROVIDER.get_and_increment(),
-            app_data=bytes(PING_PAYLOAD_SIZE),
-        )
-        self.verificator.add_tc(ping_tc)
-        self.com_if.send(bytes(ping_tc.pack()))
-        self.await_for_command_copletion("ping command")
-
-    def await_for_command_copletion(self, context: str):
-        done = False
-        now = time.time()
-        while time.time() - now < 2.0:
-            if not self.com_if.data_available():
-                time.sleep(0.2)
-                continue
-            for reply in self.com_if.receive():
-                result = self.verificator.add_tm(
-                    Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
-                )
-                if result is not None and result.completed:
-                    _LOGGER.info(f"received {context} reply")
-                    done = True
-            if done:
-                break
-        if not done:
-            _LOGGER.warning(f"no {context} reply received")
-
-    def handle_corruption_cmd(self, target: Target):
-        if target == Target.BOOTLOADER:
-            _LOGGER.error("can not corrupt bootloader")
-        if target == Target.APP_A:
-            self.send_tc(
-                PusTc(
-                    apid=0,
-                    service=ACTION_SERVICE,
-                    subservice=ActionId.CORRUPT_APP_A,
-                ),
-            )
-        if target == Target.APP_B:
-            self.send_tc(
-                PusTc(
-                    apid=0,
-                    service=ACTION_SERVICE,
-                    subservice=ActionId.CORRUPT_APP_B,
-                ),
-            )
-
-    def handle_flash_cmd(self, target: Target, file_path: Path) -> int:
-        loadable_segments = []
-        _LOGGER.info("Parsing ELF file for loadable sections")
-        total_size = 0
-        loadable_segments, total_size = create_loadable_segments(target, file_path)
-        check_segments(target, total_size)
-        print_segments_info(target, loadable_segments, total_size, file_path)
-        result = self._perform_flashing_algorithm(loadable_segments)
-        if result != 0:
-            return result
-        self._crc_and_app_size_postprocessing(target, total_size, loadable_segments)
-        return 0
-
-    def _perform_flashing_algorithm(
-        self,
-        loadable_segments: List[LoadableSegment],
-    ) -> int:
-        # Perform the flashing algorithm.
-        for segment in loadable_segments:
-            segment_end = segment.offset + segment.size
-            current_addr = segment.offset
-            pos_in_segment = 0
-            while pos_in_segment < segment.size:
-                next_chunk_size = min(segment_end - current_addr, CHUNK_SIZE)
-                data = segment.data[pos_in_segment : pos_in_segment + next_chunk_size]
-                next_packet = pack_memory_write_command(current_addr, data)
-                _LOGGER.info(
-                    f"Sending memory write command for address {current_addr:#08x} and data with "
-                    f"length {len(data)}"
-                )
-                self.verificator.add_tc(next_packet)
-                self.com_if.send(bytes(next_packet.pack()))
-                current_addr += next_chunk_size
-                pos_in_segment += next_chunk_size
-                start_time = time.time()
-                while True:
-                    if time.time() - start_time > 1.0:
-                        _LOGGER.error("Timeout while waiting for reply")
-                        return -1
-                    data_available = self.com_if.data_available(0.1)
-                    done = False
-                    if not data_available:
-                        continue
-                    replies = self.com_if.receive()
-                    for reply in replies:
-                        tm = PusTm.unpack(reply, 0)
-                        if tm.service != 1:
-                            continue
-                        service_1_tm = Service1Tm.from_tm(tm, UnpackParams(0))
-                        check_result = self.verificator.add_tm(service_1_tm)
-                        # We could send after we have received the step reply, but that can
-                        # somehow lead to overrun errors. I think it's okay to do it like
-                        # this as long as the flash loader only uses polling..
-                        if (
-                            check_result is not None
-                            and check_result.status.completed == StatusField.SUCCESS
-                        ):
-                            done = True
-
-                        # This is an optimized variant, but I think the small delay is not an issue.
-                        """
-                        if (
-                            check_result is not None
-                            and check_result.status.step == StatusField.SUCCESS
-                            and len(check_result.status.step_list) == 1
-                        ):
-                            done = True
-                        """
-                    self.verificator.remove_completed_entries()
-                    if done:
-                        break
-        return 0
-
-    def _crc_and_app_size_postprocessing(
-        self,
-        target: Target,
-        total_size: int,
-        loadable_segments: List[LoadableSegment],
-    ):
-        if target == Target.BOOTLOADER:
-            _LOGGER.info("Blanking the bootloader checksum")
-            # Blank the checksum. For the bootloader, the bootloader will calculate the
-            # checksum itself on the initial run.
-            checksum_write_packet = pack_memory_write_command(
-                BOOTLOADER_CRC_ADDR, bytes([0x00, 0x00])
-            )
-            self.send_tc(checksum_write_packet)
-        else:
-            crc_addr = None
-            size_addr = None
-            if target == Target.APP_A:
-                crc_addr = APP_A_CRC_ADDR
-                size_addr = APP_A_SIZE_ADDR
-            elif target == Target.APP_B:
-                crc_addr = APP_B_CRC_ADDR
-                size_addr = APP_B_SIZE_ADDR
-            assert crc_addr is not None
-            assert size_addr is not None
-            _LOGGER.info(f"Writing app size {total_size} at address {size_addr:#08x}")
-            size_write_packet = pack_memory_write_command(
-                size_addr, struct.pack("!I", total_size)
-            )
-            self.com_if.send(bytes(size_write_packet.pack()))
-            time.sleep(0.2)
-            crc_calc = PredefinedCrc("crc-ccitt-false")
-            for segment in loadable_segments:
-                crc_calc.update(segment.data)
-            checksum = crc_calc.digest()
-            _LOGGER.info(
-                f"Writing checksum 0x[{checksum.hex(sep=',')}] at address {crc_addr:#08x}"
-            )
-            self.send_tc(pack_memory_write_command(crc_addr, checksum))
-
-    def send_tc(self, tc: PusTc):
-        self.com_if.send(bytes(tc.pack()))
-
-
-def main() -> int:
-    print("Python VA108XX Image Loader Application")
-    logging.basicConfig(
-        format="[%(asctime)s] [%(levelname)s] %(message)s", level=logging.DEBUG
-    )
-    parser = argparse.ArgumentParser(
-        prog="image-loader", description="Python VA416XX Image Loader Application"
-    )
-    parser.add_argument("-p", "--ping", action="store_true", help="Send ping command")
-    parser.add_argument(
-        "-s", "--sel", choices=["a", "b"], help="Set boot slot (Slot A or B)"
-    )
-    parser.add_argument("-c", "--corrupt", action="store_true", help="Corrupt a target")
-    parser.add_argument(
-        "-t",
-        "--target",
-        choices=["bl", "a", "b"],
-        help="Target (Bootloader or slot A or B)",
-    )
-    parser.add_argument(
-        "path", nargs="?", default=None, help="Path to the App to flash"
-    )
-    args = parser.parse_args()
-    serial_port = None
-    if Path("loader.toml").exists():
-        with open("loader.toml", "r") as toml_file:
-            parsed_toml = toml.loads(toml_file.read())
-            if "serial_port" in parsed_toml:
-                serial_port = parsed_toml["serial_port"]
-    if serial_port is None:
-        serial_port = input("Please specify the serial port manually: ")
-    serial_cfg = SerialCfg(
-        com_if_id="ser_cobs",
-        serial_port=serial_port,
-        baud_rate=BAUD_RATE,
-        polling_frequency=0.1,
-    )
-    verificator = PusVerificator()
-    com_if = SerialCobsComIF(serial_cfg)
-    com_if.open()
-    target = None
-    if args.target == "bl":
-        target = Target.BOOTLOADER
-    elif args.target == "a":
-        target = Target.APP_A
-    elif args.target == "b":
-        target = Target.APP_B
-
-    boot_sel = None
-    if args.sel:
-        if args.sel == "a":
-            boot_sel = AppSel.APP_A
-        elif args.sel == "b":
-            boot_sel = AppSel.APP_B
-
-    image_loader = ImageLoader(com_if, verificator)
-    file_path = None
-    result = -1
-    if args.ping:
-        image_loader.handle_ping_cmd()
-        com_if.close()
-        return 0
-    if args.sel and boot_sel is not None:
-        image_loader.handle_boot_sel_cmd(boot_sel)
-    if target:
-        if not args.corrupt:
-            if not args.path:
-                _LOGGER.error("App Path needs to be specified for the flash process")
-            file_path = Path(args.path)
-            if not file_path.exists():
-                _LOGGER.error("File does not exist")
-    if args.corrupt:
-        if not target:
-            _LOGGER.error("target for corruption command required")
-            com_if.close()
-            return -1
-        image_loader.handle_corruption_cmd(target)
-    else:
-        if file_path is not None:
-            assert target is not None
-            result = image_loader.handle_flash_cmd(target, file_path)
-
-    com_if.close()
-    return result
-
-
-def create_loadable_segments(
-    target: Target, file_path: Path
-) -> Tuple[List[LoadableSegment], int]:
-    loadable_segments = []
-    total_size = 0
-    with open(file_path, "rb") as app_file:
-        elf_file = ELFFile(app_file)
-
-        for idx, segment in enumerate(elf_file.iter_segments("PT_LOAD")):
-            if segment.header.p_filesz == 0:
-                continue
-            # Basic validity checks of the base addresses.
-            if idx == 0:
-                if (
-                    target == Target.BOOTLOADER
-                    and segment.header.p_paddr != BOOTLOADER_START_ADDR
-                ):
-                    raise ValueError(
-                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
-                        f"bootloader, expected {BOOTLOADER_START_ADDR}"
-                    )
-                if (
-                    target == Target.APP_A
-                    and segment.header.p_paddr != APP_A_START_ADDR
-                ):
-                    raise ValueError(
-                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
-                        f"App A, expected {APP_A_START_ADDR}"
-                    )
-                if (
-                    target == Target.APP_B
-                    and segment.header.p_paddr != APP_B_START_ADDR
-                ):
-                    raise ValueError(
-                        f"detected possibly invalid start address {segment.header.p_paddr:#08x} for "
-                        f"App B, expected {APP_B_START_ADDR}"
-                    )
-            name = None
-            for section in elf_file.iter_sections():
-                if (
-                    section.header.sh_offset == segment.header.p_offset
-                    and section.header.sh_size > 0
-                ):
-                    name = section.name
-            if name is None:
-                _LOGGER.warning("no fitting section found for segment")
-                continue
-            # print(f"Segment Addr: {segment.header.p_paddr}")
-            # print(f"Segment Offset: {segment.header.p_offset}")
-            # print(f"Segment Filesize: {segment.header.p_filesz}")
-            loadable_segments.append(
-                LoadableSegment(
-                    name=name,
-                    offset=segment.header.p_paddr,
-                    size=segment.header.p_filesz,
-                    data=segment.data(),
-                )
-            )
-            total_size += segment.header.p_filesz
-    return loadable_segments, total_size
-
-
-def check_segments(
-    target: Target,
-    total_size: int,
-):
-    # Set context string and perform basic sanity checks.
-    if target == Target.BOOTLOADER and total_size > BOOTLOADER_MAX_SIZE:
-        raise ValueError(
-            f"provided bootloader app larger than allowed {total_size} bytes"
-        )
-    elif target == Target.APP_A and total_size > APP_A_MAX_SIZE:
-        raise ValueError(f"provided App A larger than allowed {total_size} bytes")
-    elif target == Target.APP_B and total_size > APP_B_MAX_SIZE:
-        raise ValueError(f"provided App B larger than allowed {total_size} bytes")
-
-
-def print_segments_info(
-    target: Target,
-    loadable_segments: List[LoadableSegment],
-    total_size: int,
-    file_path: Path,
-):
-    # Set context string and perform basic sanity checks.
-    if target == Target.BOOTLOADER:
-        context_str = "Bootloader"
-    elif target == Target.APP_A:
-        context_str = "App Slot A"
-    elif target == Target.APP_B:
-        context_str = "App Slot B"
-    _LOGGER.info(f"Flashing {context_str} with image {file_path} (size {total_size})")
-    for idx, segment in enumerate(loadable_segments):
-        _LOGGER.info(
-            f"Loadable section {idx} {segment.name} with offset {segment.offset:#08x} and "
-            f"size {segment.size}"
-        )
-
-
-def pack_memory_write_command(addr: int, data: bytes) -> PusTc:
-    app_data = bytearray()
-    app_data.append(BOOT_NVM_MEMORY_ID)
-    # N parameter is always 1 here.
-    app_data.append(1)
-    app_data.extend(struct.pack("!I", addr))
-    app_data.extend(struct.pack("!I", len(data)))
-    app_data.extend(data)
-    return PusTc(
-        apid=0,
-        service=MEMORY_SERVICE,
-        subservice=RAW_MEMORY_WRITE_SUBSERVICE,
-        seq_count=SEQ_PROVIDER.get_and_increment(),
-        app_data=bytes(app_data),
-    )
-
-
-if __name__ == "__main__":
-    main()

va108xx/flashloader/loader.toml

@@ -1 +0,0 @@
-serial_port = "/dev/ttyUSB1"

va108xx/flashloader/models/Cargo.toml

@@ -0,0 +1,14 @@
+[package]
+name = "models"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+postcard = { version = "1" }
+spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
+num_enum = { version = "0.7", default-features = false }
+defmt = { version = "1", optional = true }
+serde = { version = "1", default-features = false, features = ["derive"] }
+cobs = { version = "0.5", default-features = false }
+thiserror = { version = "2", default-features = false }
+arbitrary-int = "2"

va108xx/flashloader/models/src/lib.rs

@@ -0,0 +1,98 @@
+#![no_std]
+
+use arbitrary_int::u11;
+use cobs::DestBufTooSmallError;
+use spacepackets::{
+    CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, SpacePacketHeader,
+};
+
+pub const APID: u11 = u11::new(0x01);
+
+pub const BOOTLOADER_START_ADDR: u32 = 0x0000_0000;
+pub const BOOTLOADER_END_ADDR: u32 = 0x0000_3000;
+pub const BOOTLOADER_CRC_ADDR: u32 = BOOTLOADER_END_ADDR - 2;
+pub const BOOTLOADER_MAX_SIZE: u32 = BOOTLOADER_END_ADDR - BOOTLOADER_START_ADDR - 2;
+
+pub const APP_A_START_ADDR: u32 = 0x0000_3000;
+pub const APP_B_END_ADDR: u32 = 0x0002_0000 - 8;
+pub const IMG_SLOT_SIZE: u32 = (APP_B_END_ADDR - APP_A_START_ADDR) / 2;
+
+pub const APP_A_END_ADDR: u32 = APP_A_START_ADDR + IMG_SLOT_SIZE;
+pub const APP_A_SIZE_ADDR: u32 = APP_A_END_ADDR - 8;
+pub const APP_A_CRC_ADDR: u32 = APP_A_END_ADDR - 4;
+pub const APP_A_MAX_SIZE: u32 = IMG_SLOT_SIZE - 8;
+
+pub const APP_B_START_ADDR: u32 = APP_A_END_ADDR;
+pub const APP_B_SIZE_ADDR: u32 = APP_B_END_ADDR - 8;
+pub const APP_B_CRC_ADDR: u32 = APP_B_END_ADDR - 4;
+pub const APP_B_MAX_SIZE: u32 = IMG_SLOT_SIZE - 8;
+
+#[derive(
+    Debug,
+    Copy,
+    Clone,
+    PartialEq,
+    Eq,
+    num_enum::TryFromPrimitive,
+    serde::Serialize,
+    serde::Deserialize,
+)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[repr(u8)]
+pub enum AppSel {
+    A = 0,
+    B = 1,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Request {
+    Ping,
+    Corrupt(AppSel),
+    WriteNvm { offset: u32 },
+    SetBootSlot(AppSel),
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Response {
+    Ok,
+}
+
+pub fn create_tm_packet(
+    buf: &mut [u8],
+    sp_header: SpacePacketHeader,
+    response: Response,
+) -> Result<usize, CcsdsPacketCreationError> {
+    let packet_data_size = postcard::experimental::serialized_size(&response).unwrap();
+    let mut creator =
+        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
+
+    let current_index = 0;
+    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
+    Ok(creator.finish())
+}
+
+#[derive(Debug, thiserror::Error)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum PacketCreationAndEncodingError {
+    #[error("packet creation failed: {0}")]
+    Creation(#[from] CcsdsPacketCreationError),
+    #[error("destination buffer too small: {0}")]
+    Encoding(#[from] DestBufTooSmallError),
+}
+
+pub fn create_encoded_tm_packet(
+    buf: &mut [u8],
+    encoded_buf: &mut [u8],
+    sp_header: SpacePacketHeader,
+    response: Response,
+) -> Result<usize, PacketCreationAndEncodingError> {
+    let packet_len = create_tm_packet(buf, sp_header, response)?;
+    let encoded_len =
+        cobs::try_encode_including_sentinels(&buf[0..packet_len], &mut encoded_buf[..])?;
+    Ok(encoded_len)
+}
+
+#[cfg(test)]
+mod tests {}

va108xx/flashloader/requirements.txt

@@ -1,5 +0,0 @@
-spacepackets == 0.28
-com-interface == 0.1
-toml == 0.10
-pyelftools == 0.31
-crcmod == 1.7

va108xx/flashloader/src/main.rs

@@ -4,50 +4,22 @@
 #![no_std]
 
 use defmt_rtt as _; // global logger
-use num_enum::TryFromPrimitive;
 use panic_probe as _;
-use ringbuf::{
-    traits::{Consumer, Observer, Producer},
-    StaticRb,
-};
-use va108xx_hal::prelude::*;
+use va108xx_hal::time::Hertz;
 
 const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
+const UART_BANK: va108xx_hal::uart::Bank = va108xx_hal::uart::Bank::Uart0;
 
-const MAX_TC_SIZE: usize = 524;
-const MAX_TC_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TC_SIZE);
+pub const MAX_TC_SIZE: usize = 524;
+pub const MAX_TC_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TC_SIZE);
 
 const MAX_TM_SIZE: usize = 128;
 const MAX_TM_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TM_SIZE);
 
 const UART_BAUDRATE: u32 = 115200;
-const BOOT_NVM_MEMORY_ID: u8 = 1;
-const RX_DEBUGGING: bool = false;
 
-pub enum ActionId {
-    CorruptImageA = 128,
-    CorruptImageB = 129,
-    SetBootSlot = 130,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, defmt::Format)]
-#[repr(u8)]
-enum AppSel {
-    A = 0,
-    B = 1,
-}
-
-// Larger buffer for TC to be able to hold the possibly large memory write packets.
-const BUF_RB_SIZE_TC: usize = 1024;
-const SIZES_RB_SIZE_TC: usize = 16;
-
-const BUF_RB_SIZE_TM: usize = 256;
-const SIZES_RB_SIZE_TM: usize = 16;
-
-pub struct RingBufWrapper<const BUF_SIZE: usize, const SIZES_LEN: usize> {
-    pub buf: StaticRb<u8, BUF_SIZE>,
-    pub sizes: StaticRb<usize, SIZES_LEN>,
-}
+const TC_PIPE_SIZE: usize = 1024;
+const TM_PIPE_SIZE: usize = 128;
 
 pub const APP_A_START_ADDR: u32 = 0x3000;
 pub const APP_A_END_ADDR: u32 = 0x117FC;
@@ -59,21 +31,16 @@ pub const PREFERRED_SLOT_OFFSET: u32 = 0x20000 - 1;
 #[rtic::app(device = pac, dispatchers = [OC20, OC21, OC22])]
 mod app {
     use super::*;
-    use arbitrary_int::traits::Integer as _;
-    use arbitrary_int::{u11, u14};
+    use cobs::CobsDecoderHeapless;
     use cortex_m::asm;
-    use embedded_io::Write;
-    use rtic::Mutex;
-    use rtic_monotonics::systick::prelude::*;
-    use satrs::pus::verification::{FailParams, VerificationReportCreator};
-    use satrs::spacepackets::ecss::PusServiceId;
-    use satrs::spacepackets::ecss::{
-        tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
-    };
+    use embassy_sync::blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex};
+    use embedded_io_async::Write as _;
+    use models::{create_encoded_tm_packet, Response};
+    use spacepackets::{CcsdsPacketReader, SpacePacketHeader};
     use va108xx_hal::pins::PinsA;
     use va108xx_hal::spi::SpiClockConfig;
-    use va108xx_hal::uart::InterruptContextTimeoutOrMaxSize;
-    use va108xx_hal::{pac, uart, InterruptConfig};
+    use va108xx_hal::uart::{self, TxAsync};
+    use va108xx_hal::{pac, InterruptConfig};
     use vorago_reb1::m95m01::M95M01;
 
     #[derive(Default, Debug, Copy, Clone, PartialEq, Eq)]
@@ -87,40 +54,40 @@ mod app {
     #[local]
     struct Local {
         uart_rx: uart::RxWithInterrupt,
-        uart_tx: uart::Tx,
-        rx_context: InterruptContextTimeoutOrMaxSize,
-        verif_reporter: VerificationReportCreator,
+        uart_tx: uart::TxAsync,
         nvm: M95M01,
+        tc_tx: embassy_sync::pipe::Writer<'static, CriticalSectionRawMutex, TC_PIPE_SIZE>,
+        tc_rx: embassy_sync::pipe::Reader<'static, CriticalSectionRawMutex, TC_PIPE_SIZE>,
+        // We are only using this in threads, and RTIC ensures there are no conflicts.
+        tm_tx: embassy_sync::pipe::Writer<'static, NoopRawMutex, TM_PIPE_SIZE>,
+        tm_rx: embassy_sync::pipe::Reader<'static, NoopRawMutex, TM_PIPE_SIZE>,
     }
 
     #[shared]
-    struct Shared {
-        // Having this shared allows multiple tasks to generate telemetry.
-        tm_rb: RingBufWrapper<BUF_RB_SIZE_TM, SIZES_RB_SIZE_TM>,
-        tc_rb: RingBufWrapper<BUF_RB_SIZE_TC, SIZES_RB_SIZE_TC>,
-    }
-
-    rtic_monotonics::systick_monotonic!(Mono, 1000);
+    struct Shared {}
 
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
         defmt::println!("-- Vorago flashloader --");
 
-        Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
+        let periphs = cx.device;
+        va108xx_hal::embassy_time::init(periphs.tim14, periphs.tim15, SYSCLK_FREQ);
 
-        let dp = cx.device;
         let spi_clock_config = SpiClockConfig::new(2, 4);
-        let nvm = M95M01::new(dp.spic, spi_clock_config);
+        let nvm = M95M01::new(periphs.spic, spi_clock_config);
 
-        let gpioa = PinsA::new(dp.porta);
+        let gpioa = PinsA::new(periphs.porta);
         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,
+            periphs.uarta,
             tx,
             rx,
             uart_config,
@@ -128,32 +95,32 @@ mod app {
         );
         let (tx, rx) = irq_uart.split();
         // Unwrap is okay, we explicitely set the interrupt ID.
-        let mut rx = rx.into_rx_with_irq();
+        let mut rx = rx.into_rx_with_interrupt();
 
-        let verif_reporter = VerificationReportCreator::new(u11::new(0));
+        rx.start();
+        tc_handler::spawn().unwrap();
+        tm_tx_handler::spawn().unwrap();
 
-        let mut rx_context = InterruptContextTimeoutOrMaxSize::new(MAX_TC_FRAME_SIZE);
-        rx.read_fixed_len_or_timeout_based_using_irq(&mut rx_context)
-            .expect("initiating UART RX failed");
-        pus_tc_handler::spawn().unwrap();
-        pus_tm_tx_handler::spawn().unwrap();
+        let tx_async = TxAsync::new(tx);
+
+        static TC_PIPE: static_cell::ConstStaticCell<
+            embassy_sync::pipe::Pipe<CriticalSectionRawMutex, TC_PIPE_SIZE>,
+        > = static_cell::ConstStaticCell::new(embassy_sync::pipe::Pipe::new());
+        static TM_PIPE: static_cell::ConstStaticCell<
+            embassy_sync::pipe::Pipe<NoopRawMutex, TM_PIPE_SIZE>,
+        > = static_cell::ConstStaticCell::new(embassy_sync::pipe::Pipe::new());
+        let (tc_rx, tc_tx) = TC_PIPE.take().split();
+        let (tm_rx, tm_tx) = TM_PIPE.take().split();
         (
-            Shared {
-                tc_rb: RingBufWrapper {
-                    buf: StaticRb::default(),
-                    sizes: StaticRb::default(),
-                },
-                tm_rb: RingBufWrapper {
-                    buf: StaticRb::default(),
-                    sizes: StaticRb::default(),
-                },
-            },
+            Shared {},
             Local {
                 uart_rx: rx,
-                uart_tx: tx,
-                rx_context,
-                verif_reporter,
+                uart_tx: tx_async,
                 nvm,
+                tc_tx,
+                tc_rx,
+                tm_tx,
+                tm_rx,
             },
         )
     }
@@ -170,285 +137,156 @@ mod app {
     #[task(
         binds = OC0,
         local = [
-            cnt: u32 = 0,
-            rx_buf: [u8; MAX_TC_FRAME_SIZE] = [0; MAX_TC_FRAME_SIZE],
-            rx_context,
             uart_rx,
+            tc_tx
         ],
-        shared = [tc_rb]
     )]
-    fn uart_rx_irq(mut cx: uart_rx_irq::Context) {
-        match cx
-            .local
-            .uart_rx
-            .on_interrupt_max_size_or_timeout_based(cx.local.rx_context, cx.local.rx_buf)
-        {
-            Ok(result) => {
-                if RX_DEBUGGING {
-                    defmt::debug!("RX Info: {:?}", cx.local.rx_context);
-                    defmt::debug!("RX Result: {:?}", result);
+    fn uart_irq(cx: uart_irq::Context) {
+        let mut buf: [u8; 16] = [0; 16];
+        let result = cx.local.uart_rx.on_interrupt(&mut buf);
+        if result.bytes_read > 0 {
+            let mut written_so_far = 0;
+            while written_so_far < result.bytes_read {
+                let write_result = cx
+                    .local
+                    .tc_tx
+                    .try_write(&buf[written_so_far..result.bytes_read]);
+                if write_result.is_err() {
+                    defmt::warn!("TC pipe full, dropping bytes");
+                    break;
                 }
-                if result.complete() {
-                    // Check frame validity (must have COBS format) and decode the frame.
-                    // Currently, we expect a full frame or a frame received through a timeout
-                    // to be one COBS frame. We could parse for multiple COBS packets in one
-                    // frame, but the additional complexity is not necessary here..
-                    if cx.local.rx_buf[0] == 0 && cx.local.rx_buf[result.bytes_read - 1] == 0 {
-                        let decoded_size =
-                            cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
-                        if decoded_size.is_err() {
-                            defmt::warn!("COBS decoding failed");
-                        } else {
-                            let decoded_size = decoded_size.unwrap();
-                            let mut tc_rb_full = false;
-                            cx.shared.tc_rb.lock(|rb| {
-                                if rb.sizes.vacant_len() >= 1 && rb.buf.vacant_len() >= decoded_size
-                                {
-                                    rb.sizes.try_push(decoded_size).unwrap();
-                                    rb.buf.push_slice(&cx.local.rx_buf[1..1 + decoded_size]);
-                                } else {
-                                    tc_rb_full = true;
-                                }
-                            });
-                            if tc_rb_full {
-                                defmt::warn!("COBS TC queue full");
-                            }
-                        }
-                    } else {
-                        defmt::warn!(
-                            "COBS frame with invalid format, start and end bytes are not 0"
-                        );
-                    }
-
-                    // Initiate next transfer.
-                    cx.local
-                        .uart_rx
-                        .read_fixed_len_or_timeout_based_using_irq(cx.local.rx_context)
-                        .expect("read operation failed");
-                }
-                if result.has_errors() {
-                    defmt::warn!("UART error: {:?}", result.errors.unwrap());
-                }
-            }
-            Err(e) => {
-                defmt::warn!("UART error: {:?}", e);
+                written_so_far += write_result.unwrap();
             }
         }
+        va108xx_hal::uart::tx_async::on_interrupt_tx(UART_BANK);
     }
 
     #[task(
         priority = 2,
         local=[
-            tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
-            readback_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
-            src_data_buf: [u8; 16] = [0; 16],
-            verif_buf: [u8; 32] = [0; 32],
             nvm,
-            verif_reporter
+            tc_rx,
+            tm_tx
         ],
-        shared=[tm_rb, tc_rb]
     )]
-    async fn pus_tc_handler(mut cx: pus_tc_handler::Context) {
+    async fn tc_handler(cx: tc_handler::Context) {
+        let mut read_buf: [u8; 64] = [0; 64];
+        let mut tm_buf: [u8; MAX_TM_FRAME_SIZE] = [0; MAX_TM_FRAME_SIZE];
+        let mut encoded_tm_buf: [u8; MAX_TM_FRAME_SIZE] = [0; MAX_TM_FRAME_SIZE];
+        let mut cobs_decoder = CobsDecoderHeapless::<TC_PIPE_SIZE>::new();
         loop {
-            // Try to read a TC from the ring buffer.
-            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;
-                continue;
+            let read_bytes = cx.local.tc_rx.read(&mut read_buf).await;
+            for &byte in read_buf[0..read_bytes].iter() {
+                match cobs_decoder.feed(byte) {
+                    Ok(result) => {
+                        if result.is_none() {
+                            continue;
+                        }
+                        let frame = result.unwrap();
+                        match CcsdsPacketReader::new_with_checksum(&cobs_decoder.dest()[0..frame]) {
+                            Ok(packet) => {
+                                let request = postcard::take_from_bytes::<models::Request>(
+                                    packet.user_data(),
+                                );
+                                if request.is_err() {
+                                    defmt::warn!(
+                                        "Failed to parse command: {}",
+                                        request.err().unwrap()
+                                    );
+                                    continue;
+                                }
+                                let (request, remainder) = request.unwrap();
+                                let response = match request {
+                                    models::Request::Corrupt(slot) => {
+                                        match slot {
+                                            models::AppSel::A => {
+                                                defmt::info!("corrupting App Image A");
+                                                corrupt_image(APP_A_START_ADDR, cx.local.nvm);
+                                            }
+                                            models::AppSel::B => {
+                                                defmt::info!("corrupting App Image B");
+                                                corrupt_image(APP_B_START_ADDR, cx.local.nvm);
+                                            }
+                                        }
+                                        Response::Ok
+                                    }
+                                    models::Request::WriteNvm { offset } => {
+                                        defmt::info!(
+                                            "writing {} bytes to NVM at offset 0x{:08x}",
+                                            remainder.len(),
+                                            offset
+                                        );
+                                        cx.local.nvm.write(offset as usize, remainder);
+                                        defmt::info!("write complete");
+                                        Response::Ok
+                                    }
+                                    models::Request::SetBootSlot(app_sel) => {
+                                        defmt::info!(
+                                            "received boot selection command with app select: {:?}",
+                                            app_sel
+                                        );
+                                        cx.local.nvm.write(
+                                            PREFERRED_SLOT_OFFSET as usize,
+                                            &[app_sel as u8],
+                                        );
+                                        Response::Ok
+                                    }
+                                    models::Request::Ping => {
+                                        defmt::info!("received ping TC");
+                                        Response::Ok
+                                    }
+                                };
+                                match create_encoded_tm_packet(
+                                    &mut tm_buf,
+                                    &mut encoded_tm_buf,
+                                    SpacePacketHeader::new_from_apid(models::APID),
+                                    response,
+                                ) {
+                                    Ok(encoded_len) => {
+                                        cx.local
+                                            .tm_tx
+                                            .write_all(&encoded_tm_buf[0..encoded_len])
+                                            .await;
+                                    }
+                                    Err(e) => {
+                                        defmt::warn!("Failed to create or encode TM packet: {}", e);
+                                    }
+                                }
+                            }
+                            Err(e) => {
+                                defmt::warn!("CCSDS packet error: {}", e);
+                            }
+                        }
+                    }
+                    Err(e) => {
+                        defmt::warn!("COBS decoding error: {}", e);
+                    }
+                }
             }
-            let packet_len = packet_len.unwrap();
-            defmt::info!("received packet with length {}", packet_len);
-            let popped_packet_len = cx
-                .shared
-                .tc_rb
-                .lock(|rb| rb.buf.pop_slice(&mut cx.local.tc_buf[0..packet_len]));
-            assert_eq!(popped_packet_len, packet_len);
-            // Read a telecommand, now handle it.
-            handle_valid_pus_tc(&mut cx);
         }
     }
 
-    fn handle_valid_pus_tc(cx: &mut pus_tc_handler::Context) {
-        let pus_tc = PusTcReader::new(cx.local.tc_buf);
-        if let Err(e) = pus_tc {
-            defmt::warn!("PUS TC error: {}", e);
-            return;
-        }
-        let pus_tc = pus_tc.unwrap();
-        let mut write_and_send = |tm: &PusTmCreator| {
-            let written_size = tm.write_to_bytes(cx.local.verif_buf).unwrap();
-            cx.shared.tm_rb.lock(|prod| {
-                prod.sizes.try_push(tm.len_written()).unwrap();
-                prod.buf.push_slice(&cx.local.verif_buf[0..written_size]);
-            });
-        };
-        let request_id = cx.local.verif_reporter.read_request_id(&pus_tc);
-        let tm = cx
-            .local
-            .verif_reporter
-            .acceptance_success(cx.local.src_data_buf, &request_id, u14::ZERO, 0, &[])
-            .expect("acceptance success failed");
-        write_and_send(&tm);
-
-        let tm = cx
-            .local
-            .verif_reporter
-            .start_success(cx.local.src_data_buf, &request_id, u14::ZERO, 0, &[])
-            .expect("acceptance success failed");
-        write_and_send(&tm);
-
-        if pus_tc.service_type_id() == PusServiceId::Action as u8 {
-            let mut corrupt_image = |base_addr: u32| {
-                let mut buf = [0u8; 4];
-                cx.local.nvm.read(base_addr as usize + 32, &mut buf);
-                buf[0] += 1;
-                cx.local.nvm.write(base_addr as usize + 32, &buf);
-                let tm = cx
-                    .local
-                    .verif_reporter
-                    .completion_success(cx.local.src_data_buf, &request_id, u14::ZERO, 0, &[])
-                    .expect("completion success failed");
-                write_and_send(&tm);
-            };
-            if pus_tc.message_subtype_id() == ActionId::CorruptImageA as u8 {
-                defmt::info!("corrupting App Image A");
-                corrupt_image(APP_A_START_ADDR);
-            }
-            if pus_tc.message_subtype_id() == ActionId::CorruptImageB as u8 {
-                defmt::info!("corrupting App Image B");
-                corrupt_image(APP_B_START_ADDR);
-            }
-            if pus_tc.message_subtype_id() == ActionId::SetBootSlot as u8 {
-                if pus_tc.app_data().is_empty() {
-                    defmt::warn!("App data for preferred image command too short");
-                }
-                let app_sel_result = AppSel::try_from(pus_tc.app_data()[0]);
-                if app_sel_result.is_err() {
-                    defmt::warn!("Invalid app selection value: {}", pus_tc.app_data()[0]);
-                }
-                defmt::info!(
-                    "received boot selection command with app select: {:?}",
-                    app_sel_result.unwrap()
-                );
-                cx.local
-                    .nvm
-                    .write(PREFERRED_SLOT_OFFSET as usize, &[pus_tc.app_data()[0]]);
-                let tm = cx
-                    .local
-                    .verif_reporter
-                    .completion_success(cx.local.src_data_buf, &request_id, u14::ZERO, 0, &[])
-                    .expect("completion success failed");
-                write_and_send(&tm);
-            }
-        }
-        if pus_tc.service_type_id() == PusServiceId::Test as u8 && pus_tc.message_subtype_id() == 1
-        {
-            defmt::info!("received ping TC");
-            let tm = cx
-                .local
-                .verif_reporter
-                .completion_success(cx.local.src_data_buf, &request_id, u14::ZERO, 0, &[])
-                .expect("completion success failed");
-            write_and_send(&tm);
-        } else if pus_tc.service_type_id() == PusServiceId::MemoryManagement as u8 {
-            let tm = cx
-                .local
-                .verif_reporter
-                .step_success(
-                    cx.local.src_data_buf,
-                    &request_id,
-                    u14::ZERO,
-                    0,
-                    &[],
-                    EcssEnumU8::new(0),
-                )
-                .expect("step success failed");
-            write_and_send(&tm);
-            // Raw memory write TC
-            if pus_tc.message_subtype_id() == 2 {
-                let app_data = pus_tc.app_data();
-                if app_data.len() < 10 {
-                    defmt::warn!(
-                        "app data for raw memory write is too short: {}",
-                        app_data.len()
-                    );
-                }
-                let memory_id = app_data[0];
-                if memory_id != BOOT_NVM_MEMORY_ID {
-                    defmt::warn!("memory ID {} not supported", memory_id);
-                    // TODO: Error reporting
-                    return;
-                }
-                let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
-                let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
-                if 10 + data_len as usize > app_data.len() {
-                    defmt::warn!(
-                        "invalid data length {} for raw mem write detected",
-                        data_len
-                    );
-                    // TODO: Error reporting
-                    return;
-                }
-                let data = &app_data[10..10 + data_len as usize];
-                defmt::info!("writing {} bytes at offset {} to NVM", data_len, offset);
-                cx.local.nvm.write(offset as usize, data);
-                let tm = if !cx.local.nvm.verify(offset as usize, data) {
-                    defmt::warn!("verification of data written to NVM failed");
-                    cx.local
-                        .verif_reporter
-                        .completion_failure(
-                            cx.local.src_data_buf,
-                            &request_id,
-                            u14::ZERO,
-                            0,
-                            FailParams::new(&[], &EcssEnumU8::new(0), &[]),
-                        )
-                        .expect("completion success failed")
-                } else {
-                    cx.local
-                        .verif_reporter
-                        .completion_success(cx.local.src_data_buf, &request_id, u14::ZERO, 0, &[])
-                        .expect("completion success failed")
-                };
-                write_and_send(&tm);
-                defmt::info!("NVM operation done");
-            }
-        }
+    pub fn corrupt_image(base_addr: u32, nvm: &mut M95M01) {
+        let mut buf = [0u8; 4];
+        nvm.read(base_addr as usize + 32, &mut buf);
+        buf[0] += 1;
+        nvm.write(base_addr as usize + 32, &buf);
     }
 
     #[task(
         priority = 1,
         local=[
-            read_buf: [u8;MAX_TM_SIZE] = [0; MAX_TM_SIZE],
-            encoded_buf: [u8;MAX_TM_FRAME_SIZE] = [0; MAX_TM_FRAME_SIZE],
             uart_tx,
+            tm_rx
         ],
-        shared=[tm_rb]
     )]
-    async fn pus_tm_tx_handler(mut cx: pus_tm_tx_handler::Context) {
+    async fn tm_tx_handler(cx: tm_tx_handler::Context) {
+        let mut buf: [u8; 256] = [0; 256];
         loop {
-            let mut occupied_len = cx.shared.tm_rb.lock(|rb| rb.sizes.occupied_len());
-            while occupied_len > 0 {
-                let next_size = cx.shared.tm_rb.lock(|rb| {
-                    let next_size = rb.sizes.try_pop().unwrap();
-                    rb.buf.pop_slice(&mut cx.local.read_buf[0..next_size]);
-                    next_size
-                });
-                cx.local.encoded_buf[0] = 0;
-                let send_size = cobs::encode(
-                    &cx.local.read_buf[0..next_size],
-                    &mut cx.local.encoded_buf[1..],
-                );
-                cx.local.encoded_buf[send_size + 1] = 0;
-                cx.local
-                    .uart_tx
-                    .write_all(&cx.local.encoded_buf[0..send_size + 2])
-                    .unwrap();
-                occupied_len -= 1;
-                Mono::delay(2.millis()).await;
+            let read_len = cx.local.tm_rx.read(&mut buf).await;
+            if let Err(e) = cx.local.uart_tx.write_all(&buf[0..read_len]).await {
+                defmt::warn!("UART TX overrun error: {}", e);
             }
-            Mono::delay(50.millis()).await;
         }
     }
 }

va108xx/rust-toolchain.toml

@@ -0,0 +1,4 @@
+[toolchain]
+channel = "stable"
+components = ["clippy", "llvm-tools"]
+target = "thumbv6m-none-eabi"

va108xx/va108xx-embassy/CHANGELOG.md

@@ -1,36 +0,0 @@
-Change Log
-=======
-
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
-
-## [unreleased]
-
-## [v0.3.0] 2025-09-03
-
-Bumped allowed va108xx-hal to v0.12
-
-## [v0.2.1] 2025-03-07
-
-- Bumped allowed va108xx-hal to v0.11
-
-## [v0.2.0] 2025-02-17
-
-- Bumped va108xx-hal to v0.10.0
-- Remove `embassy` module, expose public functions in library root directly
-
-
-## [v0.1.2] and [v0.1.1] 2025-02-13
-
-Docs patch
-
-## [v0.1.0] 2025-02-13
-
-Initial release
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.3.0...HEAD
-[v0.3.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.2.1...va10xx-embassy-v0.3.0
-[v0.2.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.2.0...va10xx-embassy-v0.2.1
-[v0.2.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-embassy-v0.1.2...va10xx-embassy-v0.2.0

va108xx/va108xx-embassy/Cargo.toml

@@ -1,28 +0,0 @@
-[package]
-name = "va108xx-embassy"
-version = "0.3.0"
-edition = "2021"
-authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
-description = "Embassy-rs support for the Vorago VA108xx family of microcontrollers"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/vorago-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/vorago-rs"
-license = "Apache-2.0"
-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"] }
-va108xx-hal = { version = "0.12", path = "../va108xx-hal" }
-
-[features]
-default = ["irq-oc30-oc31"]
-irqs-in-lib = []
-# This determines the reserved interrupt functions for the embassy time drivers. Only one
-# is allowed to be selected!
-irq-oc28-oc29 = ["irqs-in-lib"]
-irq-oc29-oc30 = ["irqs-in-lib"]
-irq-oc30-oc31 = ["irqs-in-lib"]
-
-[package.metadata.docs.rs]
-targets = ["thumbv6m-none-eabi"]
-rustdoc-args = ["--generate-link-to-definition"]

va108xx/va108xx-embassy/README.md

@@ -1,10 +1 @@
-[![Crates.io](https://img.shields.io/crates/v/va108xx-embassy)](https://crates.io/crates/va108xx-embassy)
-[![docs.rs](https://img.shields.io/docsrs/va108xx-embassy)](https://docs.rs/va108xx-embassy)
-
-# Embassy-rs support for the Vorago VA108xx MCU family
-
-This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
-VA108xx family. Currently, it contains the time driver to allow using embassy-rs. It uses the TIM
-peripherals provided by the VA108xx family for this purpose.
-
-The documentation contains more information on how to use this crate.
+This crate was moved into `va108xx-hal`.

va108xx/va108xx-embassy/docs.sh

@@ -1,3 +0,0 @@
-#!/bin/bash
-export RUSTDOCFLAGS="--cfg docsrs --generate-link-to-definition -Z unstable-options"
-cargo +nightly doc --open

va108xx/va108xx-hal/CHANGELOG.md

@@ -8,6 +8,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.13.1] 2026-05-19
+
+- Docs.rs feature fix
+
+## [v0.13.0] 2026-05-19
+
+- Bump `vorago-shared-hal` dependency to v0.4
+- Integrate `va108xx-embassy` as a `embassy-time` module.
+
 ## [v0.12.0] 2025-09-03
 
 ## Changed
@@ -276,7 +285,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Added basic test binary in form of an example
 - README with basic instructions how to set up own binary crate
 
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.12.0...HEAD
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/compare/va108xx-hal-v0.13.1...HEAD
+[v0.13.1]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/compare/va108xx-hal-v0.13.0...va108xx-hal-v0.13.1
+[v0.13.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/tag/va108xx-hal-v0.13.0
 [v0.12.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.11.1...va108xx-hal-v0.12.0
 [v0.11.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.11.0...va108xx-hal-v0.11.1
 [v0.11.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-hal-v0.10.0...va108xx-hal-v0.11.0

va108xx/va108xx-hal/Cargo.toml

@@ -1,8 +1,8 @@
 [package]
 name = "va108xx-hal"
-version = "0.12.0"
+version = "0.13.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
-edition = "2021"
+edition = "2024"
 description = "HAL for the Vorago VA108xx family of microcontrollers"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/vorago-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/vorago-rs"
@@ -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 = "0.4", 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 }
@@ -28,9 +28,17 @@ default = ["rt"]
 rt = ["va108xx/rt"]
 defmt = ["dep:defmt", "vorago-shared-hal/defmt", "va108xx/defmt"]
 
+# Embassy time features
+_irqs-in-lib = []
+# This determines the reserved interrupt functions for the embassy time drivers. Only one
+# is allowed to be selected!
+embassy-oc30-oc31 = ["_irqs-in-lib"]
+embassy-oc29-oc30 = ["_irqs-in-lib"]
+embassy-oc28-oc29 = ["_irqs-in-lib"]
+
 [package.metadata.docs.rs]
-all-features = true
 targets = ["thumbv6m-none-eabi"]
+features = ["defmt", "embassy-oc30-oc31"]
 rustdoc-args = ["--generate-link-to-definition"]
 
 [package.metadata.cargo-machete]

va108xx/va108xx-hal/src/embassy_time.rs

@@ -23,21 +23,20 @@
 //!
 //! You can disable the default features and then specify one of the features above to use the
 //! documented combination of IRQs. It is also possible to specify custom IRQs by importing and
-//! using the [embassy_time_driver_irqs] macro to declare the IRQ handlers in the
+//! using the [crate::embassy_time_driver_irqs] macro to declare the IRQ handlers in the
 //! application code. If this is done, [init_with_custom_irqs] must be used
 //! method to pass the IRQ numbers to the library.
 //!
 //! ## Examples
 //!
 //! [embassy example projects](https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/branch/main/va108xx/examples/embassy)
-#![no_std]
-#![cfg_attr(docsrs, feature(doc_cfg))]
 
-#[cfg(feature = "irqs-in-lib")]
-use va108xx_hal::pac::{self, interrupt};
-use va108xx_hal::time::Hertz;
-use va108xx_hal::timer::TimInstance;
-use vorago_shared_hal::embassy::time_driver;
+#[cfg(feature = "_irqs-in-lib")]
+use crate::pac::{self, interrupt};
+use crate::time::Hertz;
+use crate::timer::TimInstance;
+
+pub use vorago_shared_hal::embassy::time_driver;
 
 /// Macro to define the IRQ handlers for the time driver.
 ///
@@ -45,7 +44,7 @@ use vorago_shared_hal::embassy::time_driver;
 /// the feature flags specified. However, the macro is exported to allow users to specify the
 /// interrupt handlers themselves.
 ///
-/// Please note that you have to explicitely import the [macro@va108xx_hal::pac::interrupt]
+/// Please note that you have to explicitely import the [macro@crate::pac::interrupt]
 /// macro in the application code in case this macro is used there.
 #[macro_export]
 macro_rules! embassy_time_driver_irqs {
@@ -59,7 +58,7 @@ macro_rules! embassy_time_driver_irqs {
         #[allow(non_snake_case)]
         fn $timekeeper_irq() {
             // Safety: We call it once here.
-            unsafe { $crate::time_driver().on_interrupt_timekeeping() }
+            unsafe { $crate::embassy_time::time_driver().on_interrupt_timekeeping() }
         }
 
         const ALARM_IRQ: pac::Interrupt = pac::Interrupt::$alarm_irq;
@@ -68,25 +67,25 @@ macro_rules! embassy_time_driver_irqs {
         #[allow(non_snake_case)]
         fn $alarm_irq() {
             // Safety: We call it once here.
-            unsafe { $crate::time_driver().on_interrupt_alarm() }
+            unsafe { $crate::embassy_time::time_driver().on_interrupt_alarm() }
         }
     };
 }
 
 // Provide three combinations of IRQs for the time driver by default.
 
-#[cfg(feature = "irq-oc30-oc31")]
+#[cfg(feature = "embassy-oc30-oc31")]
 embassy_time_driver_irqs!(timekeeper_irq = OC31, alarm_irq = OC30);
-#[cfg(feature = "irq-oc29-oc30")]
+#[cfg(feature = "embassy-oc29-oc30")]
 embassy_time_driver_irqs!(timekeeper_irq = OC30, alarm_irq = OC29);
-#[cfg(feature = "irq-oc28-oc29")]
+#[cfg(feature = "embassy-oc28-oc29")]
 embassy_time_driver_irqs!(timekeeper_irq = OC29, alarm_irq = OC28);
 
 /// Initialization method for embassy.
 ///
 /// This should be used if the interrupt handler is provided by the library, which is the
 /// default case.
-#[cfg(feature = "irqs-in-lib")]
+#[cfg(feature = "_irqs-in-lib")]
 pub fn init<TimekeeperTim: TimInstance, AlarmTim: TimInstance>(
     timekeeper_tim: TimekeeperTim,
     alarm_tim: AlarmTim,
@@ -102,8 +101,8 @@ pub fn init_with_custom_irqs<TimekeeperTim: TimInstance, AlarmTim: TimInstance>(
     timekeeper_tim: TimekeeperTim,
     alarm_tim: AlarmTim,
     sysclk: Hertz,
-    timekeeper_irq: pac::Interrupt,
-    alarm_irq: pac::Interrupt,
+    timekeeper_irq: crate::pac::Interrupt,
+    alarm_irq: crate::pac::Interrupt,
 ) {
     time_driver().__init(sysclk, timekeeper_tim, alarm_tim, timekeeper_irq, alarm_irq)
 }

va108xx/va108xx-hal/src/lib.rs

@@ -29,9 +29,11 @@ pub mod time;
 pub mod timer;
 pub mod uart;
 
+pub mod embassy_time;
+
 pub use vorago_shared_hal::{
-    disable_nvic_interrupt, enable_nvic_interrupt, FunctionSelect, InterruptConfig,
-    PeripheralSelect,
+    FunctionSelect, InterruptConfig, PeripheralSelect, disable_nvic_interrupt,
+    enable_nvic_interrupt,
 };
 
 /// This is the NONE destination reigster value for the IRQSEL peripheral.

va108xx/va108xx/CHANGELOG.md

@@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.6.1] 2026-05-19
+
+- Rebuild docs for correct target
+
 ## [v0.6.0] 2025-09-03
 
 - Re-generated PAC with `svd2rust` v0.37.0
@@ -88,7 +92,8 @@ defmt version v1
 - First version of the PAC which builds. Uses a patched version
   of `svd2rust`: https://github.com/rust-embedded/svd2rust
 
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.6.0...HEAD
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/compare/va108xx-v0.6.1...HEAD
+[v0.6.1]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/tag/va108xx-v0.6.1
 [v0.6.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.5.1...va108xx-v0.6.0
 [v0.5.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.5.0...va108xx-v0.5.1
 [v0.5.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/va108xx-v0.4.0...va108xx-v0.5.0

va108xx/va108xx/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "va108xx"
-version = "0.6.0"
+version = "0.6.1"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "PAC for the Vorago VA108xx family of microcontrollers"

va108xx/vorago-reb1/CHANGELOG.md

@@ -8,6 +8,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.10.0] 2026-05-19
+
+- Bumped `va108xx-hal` dependency to 0.13
+
 ## [v0.9.0] 2025-09-03
 
 - Bumped `va108xx-hal` dependency to 0.12
@@ -66,7 +70,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   it provides a starting point
 - Added ADC base library and example building on the new max116xx-10bit device driver crate
 
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.9.0...HEAD
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/compare/vorago-reb1-v0.10.0...HEAD
+[v0.10.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/tag/vorago-reb1-v0.10.0
 [v0.9.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.8.1...vorago-reb1-v0.9.0
 [v0.8.1]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.8.0...vorago-reb1-v0.8.1
 [v0.8.0]: https://egit.irs.uni-stuttgart.de/rust/va108xx-rs/compare/vorago-reb1-v0.7.0...vorago-reb1-v0.8.0

va108xx/vorago-reb1/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vorago-reb1"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 edition = "2021"
 description = "Board Support Crate for the Vorago REB1 development board"
@@ -11,20 +11,20 @@ keywords = ["no-std", "reb1", "cortex-m", "vorago", "va108xx"]
 categories = ["aerospace", "embedded", "no-std", "hardware-support"]
 
 [dependencies]
-cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-cortex-m-rt = "0.7"
+cortex-m = { version = "0.7" }
 embedded-hal = "1"
 nb = "1"
-bitbybit = "1.3"
+bitbybit = "2"
 arbitrary-int = "2"
 max116xx-10bit = "0.3"
 
-va108xx-hal = { version = "0.12", path = "../va108xx-hal", features = ["rt"] }
+va108xx-hal = { version = "0.13", path = "../va108xx-hal", features = ["rt"] }
 
 [features]
 rt = ["va108xx-hal/rt"]
 
 [dev-dependencies]
+cortex-m-rt = "0.7"
 panic-halt = "1"
 nb = "1"
 rtt-target = "0.6"

va416xx/Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-resolver = "2"
+resolver = "3"
 members = [
   "va416xx",
   "va416xx-hal",

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

@@ -76,7 +76,7 @@ async fn main(spawner: Spawner) {
     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();
+    let mut rx = rx.into_rx_with_interrupt();
     rx.start();
     RX.lock(|static_rx| {
         static_rx.borrow_mut().replace(rx);

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);
@@ -195,10 +194,10 @@ 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();
+        let mut rx = rx.into_rx_with_interrupt();
         let mut rx_context = InterruptContextTimeoutOrMaxSize::new(MAX_TC_FRAME_SIZE);
         rx.read_fixed_len_or_timeout_based_using_irq(&mut rx_context)
             .expect("initiating UART RX failed");

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 = "0.4", 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 = "0.4", 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 +8,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [unreleased]
 
+## [v0.4.0] 2026-05-19
+
+## Changed
+
+- Naming improvements for UART register module
+- Improved UART Async TX module. Only enable TX below threshold interrupts if the FIFO
+  actually needs to be refilled.
+
+## [v0.3.0] 2026-05-18
+
 ### Added
 
 - Add `is_high` and `is_low` for `InputPinAsync`.
@@ -16,6 +26,7 @@ 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.
@@ -26,6 +37,7 @@ 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`.
@@ -53,6 +65,8 @@ 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-rs/compare/vorago-shared-hal-v0.4.0...HEAD
+[v0.4.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/compare/vorago-shared-hal-v0.3.0...vorago-shared-hal-v0.4.0
+[v0.3.0]: https://egit.irs.uni-stuttgart.de/rust/vorago-rs/src/tag/vorago-shared-hal-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 = "0.4.0"
 description = "Peripheral HAL components shared between Vorago families"
 edition = "2024"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/vorago-rs"
@@ -25,7 +25,7 @@ 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 }

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/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/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/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

@@ -47,6 +47,9 @@ pub use tx_async::*;
 pub mod rx_async;
 pub use rx_async::*;
 
+/// FIFO depth of the UART for both the RX and TX FIFO.
+pub const FIFO_DEPTH: usize = 16;
+
 //==================================================================================================
 // Type-Level support
 //==================================================================================================
@@ -161,11 +164,11 @@ 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),
@@ -731,7 +734,7 @@ impl Uart {
             Parity::Odd => (true, false),
             Parity::Even => (true, true),
         };
-        reg_block.write_ctrl(
+        reg_block.write_control(
             Control::builder()
                 .with_baud8(config.clock_config.baud_mode == BaudMode::_8)
                 .with_auto_rts(false)
@@ -813,14 +816,14 @@ impl Uart {
     }
 
     pub fn listen(&mut self, event: Event) {
-        self.tx.regs.modify_irq_enabled(|mut value| {
+        self.tx.regs.modify_interrupt_enable(|mut value| {
             match event {
                 Event::RxError => value.set_rx_status(true),
                 Event::RxFifoHalfFull => value.set_rx(true),
                 Event::RxTimeout => value.set_rx_timeout(true),
                 Event::TxEmpty => value.set_tx_empty(true),
                 Event::TxError => value.set_tx_status(true),
-                Event::TxFifoHalfFull => value.set_tx(true),
+                Event::TxFifoHalfFull => value.set_tx_below_trigger(true),
                 Event::TxCts => value.set_tx_cts(true),
             }
             value
@@ -828,14 +831,14 @@ impl Uart {
     }
 
     pub fn unlisten(&mut self, event: Event) {
-        self.tx.regs.modify_irq_enabled(|mut value| {
+        self.tx.regs.modify_interrupt_enable(|mut value| {
             match event {
                 Event::RxError => value.set_rx_status(false),
                 Event::RxFifoHalfFull => value.set_rx(false),
                 Event::RxTimeout => value.set_rx_timeout(false),
                 Event::TxEmpty => value.set_tx_empty(false),
                 Event::TxError => value.set_tx_status(false),
-                Event::TxFifoHalfFull => value.set_tx(false),
+                Event::TxFifoHalfFull => value.set_tx_below_trigger(false),
                 Event::TxCts => value.set_tx_cts(false),
             }
             value
@@ -904,7 +907,7 @@ pub fn disable_rx(uart: &mut MmioUart<'static>) {
 
 #[inline(always)]
 pub fn enable_rx_interrupts(uart: &mut MmioUart<'static>, timeout: bool) {
-    uart.modify_irq_enabled(|mut value| {
+    uart.modify_interrupt_enable(|mut value| {
         value.set_rx_status(true);
         value.set_rx(true);
         if timeout {
@@ -916,7 +919,7 @@ pub fn enable_rx_interrupts(uart: &mut MmioUart<'static>, timeout: bool) {
 
 #[inline(always)]
 pub fn disable_rx_interrupts(uart: &mut MmioUart<'static>) {
-    uart.modify_irq_enabled(|mut value| {
+    uart.modify_interrupt_enable(|mut value| {
         value.set_rx_status(false);
         value.set_rx(false);
         value.set_rx_timeout(false);
@@ -1035,6 +1038,13 @@ impl Rx {
         self.regs.read_data().raw_value()
     }
 
+    #[inline]
+    pub fn into_rx_with_interrupt(self) -> RxWithInterrupt {
+        RxWithInterrupt::new(self)
+    }
+
+    #[deprecated(since = "0.3.0", note = "Use into_rx_with_interrupt instead")]
+    #[inline]
     pub fn into_rx_with_irq(self) -> RxWithInterrupt {
         RxWithInterrupt::new(self)
     }
@@ -1101,9 +1111,9 @@ pub fn disable_tx(uart: &mut MmioUart<'static>) {
 }
 
 #[inline(always)]
-pub fn enable_tx_interrupts(uart: &mut MmioUart<'static>) {
-    uart.modify_irq_enabled(|mut value| {
-        value.set_tx(true);
+pub fn enable_tx_interrupts(tx_below_trigger: bool, uart: &mut MmioUart<'static>) {
+    uart.modify_interrupt_enable(|mut value| {
+        value.set_tx_below_trigger(tx_below_trigger);
         value.set_tx_empty(true);
         value.set_tx_status(true);
         value
@@ -1112,8 +1122,8 @@ pub fn enable_tx_interrupts(uart: &mut MmioUart<'static>) {
 
 #[inline(always)]
 pub fn disable_tx_interrupts(uart: &mut MmioUart<'static>) {
-    uart.modify_irq_enabled(|mut value| {
-        value.set_tx(false);
+    uart.modify_interrupt_enable(|mut value| {
+        value.set_tx_below_trigger(false);
         value.set_tx_empty(false);
         value.set_tx_status(false);
         value
@@ -1176,18 +1186,24 @@ impl Tx {
 
     /// Enables the IRQ_TX, IRQ_TX_STATUS and IRQ_TX_EMPTY interrupts.
     ///
-    /// - The IRQ_TX interrupt is generated when the TX FIFO is at least half empty.
+    /// - The IRQ_TX interrupt is generated when the TX FIFO is at least half empty and the
+    ///   `tx_below_trigger` parameter is set to `true`. This should be set to true if the total
+    ///   amount of data to be transmitted is larger than the FIFO size.
     /// - The IRQ_TX_STATUS interrupt is generated when write data is lost due to a FIFO overflow
     /// - The IRQ_TX_EMPTY interrupt is generated when the TX FIFO is empty and the TXBUSY signal
     ///   is 0
     #[inline]
-    pub fn enable_interrupts(&mut self, #[cfg(feature = "vor4x")] enable_in_nvic: bool) {
+    pub fn enable_interrupts(
+        &mut self,
+        tx_below_trigger: bool,
+        #[cfg(feature = "vor4x")] enable_in_nvic: bool,
+    ) {
         #[cfg(feature = "vor4x")]
         if enable_in_nvic {
             unsafe { enable_nvic_interrupt(self.id.interrupt_id_tx()) };
         }
         // Safety: We own the UART structure
-        enable_tx_interrupts(&mut self.regs);
+        enable_tx_interrupts(tx_below_trigger, &mut self.regs);
     }
 
     /// Disables the IRQ_TX, IRQ_TX_STATUS and IRQ_TX_EMPTY interrupts.
@@ -1297,6 +1313,7 @@ impl embedded_io::Write for Tx {
 pub struct RxWithInterrupt(Rx);
 
 impl RxWithInterrupt {
+    #[inline]
     pub fn new(rx: Rx) -> Self {
         Self(rx)
     }
@@ -1378,8 +1395,8 @@ impl RxWithInterrupt {
     pub fn on_interrupt(&mut self, buf: &mut [u8; 16]) -> InterruptResult {
         let mut result = InterruptResult::default();
 
-        let irq_status = self.0.regs.read_irq_status();
-        let irq_enabled = self.0.regs.read_irq_enabled();
+        let irq_status = self.0.regs.read_interrupt_status();
+        let irq_enabled = self.0.regs.read_interrupt_enable();
         let rx_enabled = irq_enabled.rx();
 
         // Half-Full interrupt. We have a guaranteed amount of data we can read.
@@ -1443,7 +1460,7 @@ impl RxWithInterrupt {
         }
         let mut result = InterruptResultMaxSizeOrTimeout::default();
 
-        let irq_status = self.0.regs.read_irq_status();
+        let irq_status = self.0.regs.read_interrupt_status();
         let rx_enabled = self.0.regs.read_enable().rx();
 
         // Half-Full interrupt. We have a guaranteed amount of data we can read.

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

@@ -188,7 +188,7 @@ pub struct InterruptControl {
 
     /// Generates an interrupt when the TX FIFO is at least half-empty (FIFO count < trigger level)
     #[bit(4, rw)]
-    tx: bool,
+    tx_below_trigger: bool,
     /// Generates an interrupt on TX FIFO overflow.
     #[bit(5, rw)]
     tx_status: bool,
@@ -213,7 +213,7 @@ pub struct InterruptStatus {
 
     /// Generates an interrupt when the TX FIFO is at least half-empty (FIFO count < trigger level)
     #[bit(4, r)]
-    tx: bool,
+    tx_below_trigger: bool,
     /// Generates an interrupt on TX FIFO overflow.
     #[bit(5, r)]
     tx_status: bool,
@@ -262,7 +262,7 @@ pub struct State {
 pub struct Uart {
     data: Data,
     enable: Enable,
-    ctrl: Control,
+    control: Control,
     clkscale: ClockScale,
     #[mmio(PureRead)]
     rx_status: RxStatus,
@@ -274,11 +274,11 @@ pub struct Uart {
     txbreak: u32,
     addr9: u32,
     addr9mask: u32,
-    irq_enabled: InterruptControl,
+    interrupt_enable: InterruptControl,
     #[mmio(PureRead)]
-    irq_raw: InterruptStatus,
+    interrupt_raw: InterruptStatus,
     #[mmio(PureRead)]
-    irq_status: InterruptStatus,
+    interrupt_status: InterruptStatus,
     #[mmio(Write)]
     irq_clr: InterruptClear,
     rx_fifo_trigger: FifoTrigger,

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

@@ -134,8 +134,8 @@ pub fn on_interrupt_rx_async_heapless_queue_overwriting(
     shared_consumer: &Mutex<RefCell<Option<heapless::spsc::Consumer<'static, u8>>>>,
 ) -> Result<(), AsyncUartErrors> {
     let uart_regs = unsafe { bank.steal_regs() };
-    let irq_status = uart_regs.read_irq_status();
-    let irq_enabled = uart_regs.read_irq_enabled();
+    let irq_status = uart_regs.read_interrupt_status();
+    let irq_enabled = uart_regs.read_interrupt_enable();
     let rx_enabled = irq_enabled.rx();
     let mut read_some_data = false;
     let mut queue_overflow = false;
@@ -202,8 +202,8 @@ pub fn on_interrupt_rx_async_heapless_queue(
     prod: &mut heapless::spsc::Producer<'_, u8>,
 ) -> Result<(), AsyncUartErrors> {
     let uart_regs = unsafe { bank.steal_regs() };
-    let irq_status = uart_regs.read_irq_status();
-    let irq_enabled = uart_regs.read_irq_enabled();
+    let irq_status = uart_regs.read_interrupt_status();
+    let irq_enabled = uart_regs.read_interrupt_enable();
     let rx_enabled = irq_enabled.rx();
     let mut read_some_data = false;
     let mut queue_overflow = false;

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

@@ -38,13 +38,14 @@ fn tx_is_drained(tx: &Tx) -> bool {
 pub fn on_interrupt_tx(bank: Bank) {
     let mut uart = unsafe { bank.steal_regs() };
     let idx = bank as usize;
-    let irq_enabled = uart.read_irq_enabled();
+    let irq_enabled = uart.read_interrupt_enable();
     // IRQ is not related to TX.
-    if !irq_enabled.tx() && !irq_enabled.tx_empty() {
+    if !irq_enabled.tx_below_trigger() && !irq_enabled.tx_empty() {
         return;
     }
 
     let tx_status = uart.read_tx_status();
+    let interrupt_status = uart.read_interrupt_status();
     let unexpected_overrun = tx_status.wr_lost();
     let mut context = critical_section::with(|cs| {
         let context_ref = TX_CONTEXTS[idx].borrow(cs);
@@ -54,17 +55,14 @@ pub fn on_interrupt_tx(bank: Bank) {
     // Safety: We documented that the user provided slice must outlive the future, so we convert
     // the raw pointer back to the slice here.
     let slice = unsafe { context.slice.get().unwrap() };
-    if context.progress >= slice.len() && !tx_status.tx_busy() {
-        uart.modify_irq_enabled(|mut value| {
-            value.set_tx(false);
-            value.set_tx_empty(false);
-            value.set_tx_status(false);
-            value
-        });
-        uart.modify_enable(|mut value| {
-            value.set_tx(false);
+    if context.progress >= slice.len() && interrupt_status.tx_empty() {
+        uart.modify_interrupt_enable(|value| {
             value
+                .with_tx_below_trigger(false)
+                .with_tx_empty(false)
+                .with_tx_status(false)
         });
+        uart.modify_enable(|value| value.with_tx(false));
         // Write back updated context structure.
         critical_section::with(|cs| {
             let context_ref = TX_CONTEXTS[idx].borrow(cs);
@@ -84,6 +82,10 @@ pub fn on_interrupt_tx(bank: Bank) {
         uart.write_data(Data::new_with_raw_value(slice[context.progress] as u32));
         context.progress += 1;
     }
+    // Now we only require the TX empty interrupt.
+    if context.progress == slice.len() {
+        uart.modify_interrupt_enable(|value| value.with_tx_below_trigger(false));
+    }
 
     // Write back updated context structure.
     critical_section::with(|cs| {
@@ -125,7 +127,7 @@ impl TxFuture {
         tx.disable();
         tx.clear_fifo();
 
-        let init_fill_count = core::cmp::min(data.len(), 16);
+        let init_fill_count = core::cmp::min(data.len(), FIFO_DEPTH);
         // We fill the FIFO.
         for data in data.iter().take(init_fill_count) {
             tx.regs.write_data(Data::new_with_raw_value(*data as u32));
@@ -139,6 +141,7 @@ impl TxFuture {
             // Ensure those are enabled inside a critical section at the same time. Can lead to
             // weird glitches otherwise.
             tx.enable_interrupts(
+                data.len() > FIFO_DEPTH,
                 #[cfg(feature = "vor4x")]
                 true,
             );