move embassy time driver into the HAL

firmware/Cargo.toml

@@ -5,7 +5,6 @@ members = [
   "zynq7000-mmu",
   "zynq7000",
   "zynq7000-hal",
-  "zynq7000-embassy",
 
   "examples/simple",
   "examples/embassy",

firmware/examples/embassy/Cargo.toml

@@ -14,8 +14,7 @@ categories = ["embedded", "no-std", "hardware-support"]
 aarch32-cpu = { version = "0.3", features = ["critical-section-single-core"] }
 zynq7000-rt = { path = "../../zynq7000-rt" }
 zynq7000 = { path = "../../zynq7000" }
-zynq7000-hal = { path = "../../zynq7000-hal" }
-zynq7000-embassy = { path = "../../zynq7000-embassy" }
+zynq7000-hal = { path = "../../zynq7000-hal", features = ["time-driver-gtc"] }
 dht-sensor = { git = "https://github.com/michaelbeaumont/dht-sensor.git", rev = "10319bdeae9ace3bb0fc79a15da2869c5bf50f52", features = ["async"] }
 embedded-hal-async = "1"
 embassy-sync = "0.8"

firmware/examples/embassy/src/bin/dht22-open-drain-pins.rs

@@ -57,7 +57,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/embassy/src/bin/embassy-hello.rs

@@ -35,7 +35,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     let mio_pins = gpio::mio::Pins::new(periphs.gpio);
 

firmware/examples/embassy/src/bin/logger-non-blocking.rs

@@ -50,7 +50,7 @@ async fn main(spawner: Spawner) -> ! {
     }
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     let mio_pins = mio::Pins::new(dp.gpio);
 

firmware/examples/embassy/src/bin/pwm.rs

@@ -58,7 +58,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Unwrap is okay, the address is definitely valid.
     let ttc_0 = zynq7000_hal::ttc::Ttc::new(dp.ttc_0).unwrap();

firmware/examples/embassy/src/main.rs

@@ -30,7 +30,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
     let mio_pins = gpio::mio::Pins::new(periphs.gpio);
     let mut ticker = Ticker::every(Duration::from_millis(1000));
     let mut led = gpio::Output::new_for_mio(mio_pins.mio7, gpio::PinState::Low);

firmware/examples/zedboard/Cargo.toml

@@ -14,8 +14,7 @@ categories = ["embedded", "no-std", "hardware-support"]
 aarch32-cpu = { version = "0.3", features = ["critical-section-single-core"] }
 zynq7000-rt = { path = "../../zynq7000-rt" }
 zynq7000 = { path = "../../zynq7000" }
-zynq7000-hal = { path = "../../zynq7000-hal" }
-zynq7000-embassy = { path = "../../zynq7000-embassy" }
+zynq7000-hal = { path = "../../zynq7000-hal", features = ["time-driver-gtc"] }
 zedboard-bsp = { path = "../../zedboard-bsp" }
 num_enum = { version = "0.7", default-features = false }
 l3gd20 = { git = "https://github.com/us-irs/l3gd20.git", branch = "add-async-if" }

firmware/examples/zedboard/src/bin/ethernet.rs

@@ -228,7 +228,7 @@ async fn main(spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/l3gd20h-i2c-mio.rs

@@ -66,7 +66,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/l3gd20h-spi-mio.rs

@@ -82,7 +82,7 @@ async fn main(spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/oled-async.rs

@@ -62,7 +62,7 @@ async fn main(spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/oled.rs

@@ -62,7 +62,7 @@ async fn main(spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/qspi.rs

@@ -49,7 +49,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/sdio.rs

@@ -53,7 +53,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/spi-slave.rs

@@ -59,7 +59,7 @@ async fn main(spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/uart-blocking.rs

@@ -114,7 +114,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/bin/uart-non-blocking.rs

@@ -196,7 +196,7 @@ async fn main(spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = GlobalTimerCounter::new(dp.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/examples/zedboard/src/main.rs

@@ -36,7 +36,7 @@ async fn main(_spawner: Spawner) -> ! {
 
     // Set up global timer counter and embassy time driver.
     let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
-    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+    zynq7000_hal::time_driver_gtc::init(clocks.arm_clocks(), gtc);
 
     // Set up the UART, we are logging with it.
     let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)

firmware/zynq7000-embassy/CHANGELOG.md

@@ -1,21 +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]
-
-# [v0.1.1] 2026-03-13
-
-- Try to fix docs build for docs.rs
-
-# [v0.1.0] 2026-02-14
-
-Initial release
-
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs/compare/zynq7000-embassy-v0.1.0...HEAD
-[v0.1.1]: https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs/compare/zynq7000-embassy-v0.1.0...zynq7000-embassy-v0.1.1
-[v0.1.0]: https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs/tag/zynq7000-embassy-v0.1.0

firmware/zynq7000-embassy/Cargo.toml

@@ -1,23 +0,0 @@
-[package]
-name = "zynq7000-embassy"
-version = "0.1.1"
-authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
-edition = "2024"
-description = "Embassy time support for the Zynq7000 family of SoCs"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs"
-repository = "https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs"
-license = "MIT OR Apache-2.0"
-keywords = ["no-std", "arm", "embassy", "amd", "zynq7000"]
-categories = ["embedded", "no-std", "hardware-support"]
-
-[dependencies]
-critical-section = "1"
-once_cell = { version = "1", default-features = false, features = ["critical-section"] }
-zynq7000-hal = { path = "../zynq7000-hal", version = "0.1" }
-
-embassy-time-driver = "0.2"
-embassy-time-queue-utils = "0.3"
-
-[package.metadata.docs.rs]
-targets = ["armv7a-none-eabihf"]
-rustdoc-args = ["--generate-link-to-definition"]

firmware/zynq7000-embassy/LICENSE-APACHE

@@ -1,201 +0,0 @@
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firmware/zynq7000-embassy/LICENSE-MIT

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2025 Robin A. Mueller
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

firmware/zynq7000-embassy/README.md

@@ -1,11 +0,0 @@
-[![Crates.io](https://img.shields.io/crates/v/zynq7000-embassy)](https://crates.io/crates/zynq7000-embassy)
-[![docs.rs](https://img.shields.io/docsrs/zynq7000-embassy)](https://docs.rs/zynq7000-embassy)
-[![ci](https://github.com/us-irs/zynq7000-rs/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/us-irs/zynq7000-rs/actions/workflows/ci.yml)
-
-# Embassy time support for the AMD Zynq7000 SoC family
-
-This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) time support for
-the AMD Zynq7000 SoC family. It currently provides one driver using the global timer peripheral
-provided by the Zynq7000 PS for this purpose.
-
-The documentation contains more information on how to use this crate.

firmware/zynq7000-hal/Cargo.toml

@@ -39,15 +39,21 @@ smoltcp = { version = "0.13", default-features = false, features = ["proto-ipv4"
 vcell = "0.1"
 raw-slicee = "0.1"
 embedded-io-async = "0.7"
-serde = { version = "1", optional = true, features = ["derive"] }
-defmt = { version = "1", optional = true }
 embedded-sdmmc = { git = "https://github.com/robamu/embedded-sdmmc-rs.git", branch = "all-features" }
 bytemuck = "1.25"
 
+once_cell = { version = "1", default-features = false, features = ["critical-section"], optional = true }
+embassy-time-driver = { version = "0.2", optional = true }
+embassy-time-queue-utils = { version = "0.3", optional = true }
+serde = { version = "1", optional = true, features = ["derive"] }
+defmt = { version = "1", optional = true }
+
 [features]
-std = ["thiserror/std", "alloc"]
+# Activates the embassy-time support using the global timer counter.
+time-driver-gtc = ["dep:embassy-time-driver", "dep:embassy-time-queue-utils", "dep:once_cell"]
 alloc = []
 defmt = ["dep:defmt", "fugit/defmt", "zynq7000/defmt"]
+std = ["thiserror/std", "alloc"]
 # These devices have a lower pin count.
 7z010-7z007s-clg225 = []
 

firmware/zynq7000-hal/src/lib.rs

@@ -8,6 +8,13 @@
 //! [embedded-hal](https://github.com/rust-embedded/embedded-hal) project, making it compatible with
 //! various drivers in the embedded rust ecosystem.
 //!
+//! ## Features
+//!
+//! * `defmt` - Activates `defmt` support for various data structures
+//! * `7z010-7z007s-clg225`  - Chip variant which has a lower pin count
+//! * `time-driver-gtc` - Access to the `embassy-time` driver API which uses the global timer
+//!   counter (GTC).
+//!
 //! ## Examples
 //!
 //! All examples can be found inside the [examples folder](https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs/src/branch/main/firmware/examples)
@@ -43,6 +50,8 @@ pub mod sd;
 pub mod slcr;
 pub mod spi;
 pub mod time;
+#[cfg(feature = "time-driver-gtc")]
+pub mod time_driver_gtc;
 pub mod ttc;
 pub mod uart;
 

firmware/zynq7000-hal/src/time_driver_gtc.rs

@@ -1,11 +1,6 @@
-//! # Embassy time support for the AMD Zynq7000 SoC family
-//!
-//! This project contains the [embassy-rs](https://github.com/embassy-rs/embassy) time support for
-//! the AMD Zynq7000 SoC family. It currently provides one driver using the global timer peripheral
-//! provided by the Zynq7000 PS for this purpose.
+//! # Embassy time support for the AMD Zynq7000 SoC family using the global timer counter (GTC).
 //!
 //! The [crate::init] method must be called once for the time driver to work properly.
-#![no_std]
 use core::cell::{Cell, RefCell};
 
 use critical_section::{CriticalSection, Mutex};
@@ -13,11 +8,12 @@ use embassy_time_driver::{Driver, TICK_HZ, time_driver_impl};
 use embassy_time_queue_utils::Queue;
 use once_cell::sync::OnceCell;
 
-use zynq7000_hal::{clocks::ArmClocks, gtc::GlobalTimerCounter, time::Hertz};
+use crate::{clocks::ArmClocks, gtc::GlobalTimerCounter, time::Hertz};
 
 static SCALE: OnceCell<u64> = OnceCell::new();
 static CPU_3X2X_CLK: OnceCell<Hertz> = OnceCell::new();
 
+#[derive(Debug)]
 struct AlarmState {
     timestamp: Cell<u64>,
 }
@@ -72,8 +68,8 @@ impl GtcTimerDriver {
                 on_interrupt();
             }
         }
-        zynq7000_hal::register_interrupt(
-            zynq7000_hal::gic::Interrupt::Ppi(zynq7000_hal::gic::PpiInterrupt::GlobalTimer),
+        crate::register_interrupt(
+            crate::gic::Interrupt::Ppi(crate::gic::PpiInterrupt::GlobalTimer),
             safe_interrupt_handler,
         );
         CPU_3X2X_CLK.set(arm_clock.cpu_3x2x_clk()).unwrap();
@@ -157,6 +153,7 @@ impl GtcTimerDriver {
         }
     }
 }
+
 impl Driver for GtcTimerDriver {
     #[inline]
     fn now(&self) -> u64 {

justfile

@@ -20,6 +20,7 @@ build-dir target:
 build-zynq: (build-dir "firmware")
   cd "zynq7000" && cargo build --all-features
   cd "zedboard-fsbl" && cargo build --release
+  cd "zynq7000-hal" && cargo build --features "time-driver-gtc"
 
 clean-dir target:
   cd {{target}} && cargo clean

rust-toolchain.toml

@@ -0,0 +1,3 @@
+[toolchain]
+channel = "stable"
+targets = ["armv7a-none-eabihf"]