1#![no_std]
10#![no_main]
11#![deny(missing_docs)]
12
13use core::ptr::addr_of;
14use core::ptr::addr_of_mut;
15
16use kernel::capabilities;
17use kernel::component::Component;
18use kernel::hil::gpio::Configure;
19use kernel::hil::gpio::Output;
20use kernel::hil::led::LedLow;
21use kernel::hil::time::Counter;
22use kernel::hil::usb::Client;
23use kernel::platform::chip::Chip;
24use kernel::platform::{KernelResources, SyscallDriverLookup};
25use kernel::scheduler::round_robin::RoundRobinSched;
26#[allow(unused_imports)]
27use kernel::{create_capability, debug, debug_gpio, debug_verbose, static_init};
28
29use nrf52840::gpio::Pin;
30use nrf52840::interrupt_service::Nrf52840DefaultPeripherals;
31
32#[allow(dead_code)]
33mod test;
34
35const LED_RED_PIN: Pin = Pin::P0_24;
37const LED_GREEN_PIN: Pin = Pin::P0_16;
38const LED_BLUE_PIN: Pin = Pin::P0_06;
39
40const LED_KERNEL_PIN: Pin = Pin::P0_13;
41
42const _BUTTON_RST_PIN: Pin = Pin::P0_18;
43
44const GPIO_D2: Pin = Pin::P1_11;
45const GPIO_D3: Pin = Pin::P1_12;
46const GPIO_D4: Pin = Pin::P1_15;
47const GPIO_D5: Pin = Pin::P1_13;
48const GPIO_D6: Pin = Pin::P1_14;
49const GPIO_D7: Pin = Pin::P0_23;
50const GPIO_D8: Pin = Pin::P0_21;
51const GPIO_D9: Pin = Pin::P0_27;
52const GPIO_D10: Pin = Pin::P1_02;
53
54const _UART_TX_PIN: Pin = Pin::P1_03;
55const _UART_RX_PIN: Pin = Pin::P1_10;
56
57const I2C_SDA_PIN: Pin = Pin::P0_14;
59const I2C_SCL_PIN: Pin = Pin::P0_15;
60
61const I2C_PULLUP_PIN: Pin = Pin::P1_00;
63
64const APDS9960_PIN: Pin = Pin::P0_19;
66
67const PAN_ID: u16 = 0xABCD;
70const DST_MAC_ADDR: capsules_extra::net::ieee802154::MacAddress =
72 capsules_extra::net::ieee802154::MacAddress::Short(49138);
73const DEFAULT_CTX_PREFIX_LEN: u8 = 8; const DEFAULT_CTX_PREFIX: [u8; 16] = [0x0_u8; 16]; pub mod io;
78
79const FAULT_RESPONSE: capsules_system::process_policies::StopWithDebugFaultPolicy =
84 capsules_system::process_policies::StopWithDebugFaultPolicy {};
85
86const NUM_PROCS: usize = 8;
88
89static mut PROCESSES: [Option<&'static dyn kernel::process::Process>; NUM_PROCS] =
91 [None; NUM_PROCS];
92
93static mut CHIP: Option<&'static nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>> = None;
94static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
95 None;
96static mut CDC_REF_FOR_PANIC: Option<
97 &'static capsules_extra::usb::cdc::CdcAcm<
98 'static,
99 nrf52::usbd::Usbd,
100 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<'static, nrf52::rtc::Rtc>,
101 >,
102> = None;
103static mut NRF52_POWER: Option<&'static nrf52840::power::Power> = None;
104
105#[no_mangle]
107#[link_section = ".stack_buffer"]
108pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
109
110fn baud_rate_reset_bootloader_enter() {
112 unsafe {
113 NRF52_POWER.unwrap().set_gpregret(0x90);
115 cortexm4::scb::reset();
116 }
117}
118
119type HTS221Sensor = components::hts221::Hts221ComponentType<
120 capsules_core::virtualizers::virtual_i2c::I2CDevice<'static, nrf52840::i2c::TWI<'static>>,
121>;
122type TemperatureDriver = components::temperature::TemperatureComponentType<HTS221Sensor>;
123type HumidityDriver = components::humidity::HumidityComponentType<HTS221Sensor>;
124type Ieee802154MacDevice = components::ieee802154::Ieee802154ComponentMacDeviceType<
125 nrf52840::ieee802154_radio::Radio<'static>,
126 nrf52840::aes::AesECB<'static>,
127>;
128type Ieee802154Driver = components::ieee802154::Ieee802154ComponentType<
129 nrf52840::ieee802154_radio::Radio<'static>,
130 nrf52840::aes::AesECB<'static>,
131>;
132type RngDriver = components::rng::RngComponentType<nrf52840::trng::Trng<'static>>;
133
134pub struct Platform {
136 ble_radio: &'static capsules_extra::ble_advertising_driver::BLE<
137 'static,
138 nrf52::ble_radio::Radio<'static>,
139 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
140 'static,
141 nrf52::rtc::Rtc<'static>,
142 >,
143 >,
144 ieee802154_radio: &'static Ieee802154Driver,
145 console: &'static capsules_core::console::Console<'static>,
146 pconsole: &'static capsules_core::process_console::ProcessConsole<
147 'static,
148 { capsules_core::process_console::DEFAULT_COMMAND_HISTORY_LEN },
149 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
150 'static,
151 nrf52::rtc::Rtc<'static>,
152 >,
153 components::process_console::Capability,
154 >,
155 proximity: &'static capsules_extra::proximity::ProximitySensor<'static>,
156 temperature: &'static TemperatureDriver,
157 humidity: &'static HumidityDriver,
158 gpio: &'static capsules_core::gpio::GPIO<'static, nrf52::gpio::GPIOPin<'static>>,
159 led: &'static capsules_core::led::LedDriver<
160 'static,
161 LedLow<'static, nrf52::gpio::GPIOPin<'static>>,
162 3,
163 >,
164 adc: &'static capsules_core::adc::AdcVirtualized<'static>,
165 rng: &'static RngDriver,
166 ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
167 alarm: &'static capsules_core::alarm::AlarmDriver<
168 'static,
169 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
170 'static,
171 nrf52::rtc::Rtc<'static>,
172 >,
173 >,
174 udp_driver: &'static capsules_extra::net::udp::UDPDriver<'static>,
175 scheduler: &'static RoundRobinSched<'static>,
176 systick: cortexm4::systick::SysTick,
177}
178
179impl SyscallDriverLookup for Platform {
180 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
181 where
182 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
183 {
184 match driver_num {
185 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
186 capsules_extra::proximity::DRIVER_NUM => f(Some(self.proximity)),
187 capsules_extra::temperature::DRIVER_NUM => f(Some(self.temperature)),
188 capsules_extra::humidity::DRIVER_NUM => f(Some(self.humidity)),
189 capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
190 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
191 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
192 capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
193 capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
194 capsules_extra::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
195 capsules_extra::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_radio)),
196 capsules_extra::net::udp::DRIVER_NUM => f(Some(self.udp_driver)),
197 kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
198 _ => f(None),
199 }
200 }
201}
202
203impl KernelResources<nrf52::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>>
204 for Platform
205{
206 type SyscallDriverLookup = Self;
207 type SyscallFilter = ();
208 type ProcessFault = ();
209 type Scheduler = RoundRobinSched<'static>;
210 type SchedulerTimer = cortexm4::systick::SysTick;
211 type WatchDog = ();
212 type ContextSwitchCallback = ();
213
214 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
215 self
216 }
217 fn syscall_filter(&self) -> &Self::SyscallFilter {
218 &()
219 }
220 fn process_fault(&self) -> &Self::ProcessFault {
221 &()
222 }
223 fn scheduler(&self) -> &Self::Scheduler {
224 self.scheduler
225 }
226 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
227 &self.systick
228 }
229 fn watchdog(&self) -> &Self::WatchDog {
230 &()
231 }
232 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
233 &()
234 }
235}
236
237#[inline(never)]
241pub unsafe fn start() -> (
242 &'static kernel::Kernel,
243 Platform,
244 &'static nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>,
245) {
246 nrf52840::init();
247
248 let ieee802154_ack_buf = static_init!(
249 [u8; nrf52840::ieee802154_radio::ACK_BUF_SIZE],
250 [0; nrf52840::ieee802154_radio::ACK_BUF_SIZE]
251 );
252
253 let nrf52840_peripherals = static_init!(
255 Nrf52840DefaultPeripherals,
256 Nrf52840DefaultPeripherals::new(ieee802154_ack_buf)
257 );
258
259 nrf52840_peripherals.init();
261 let base_peripherals = &nrf52840_peripherals.nrf52;
262
263 NRF52_POWER = Some(&base_peripherals.pwr_clk);
266
267 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&*addr_of!(PROCESSES)));
268
269 let process_management_capability =
276 create_capability!(capabilities::ProcessManagementCapability);
277 let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
278
279 kernel::debug::assign_gpios(
287 Some(&nrf52840_peripherals.gpio_port[LED_KERNEL_PIN]),
288 None,
289 None,
290 );
291
292 let gpio = components::gpio::GpioComponent::new(
297 board_kernel,
298 capsules_core::gpio::DRIVER_NUM,
299 components::gpio_component_helper!(
300 nrf52840::gpio::GPIOPin,
301 2 => &nrf52840_peripherals.gpio_port[GPIO_D2],
302 3 => &nrf52840_peripherals.gpio_port[GPIO_D3],
303 4 => &nrf52840_peripherals.gpio_port[GPIO_D4],
304 5 => &nrf52840_peripherals.gpio_port[GPIO_D5],
305 6 => &nrf52840_peripherals.gpio_port[GPIO_D6],
306 7 => &nrf52840_peripherals.gpio_port[GPIO_D7],
307 8 => &nrf52840_peripherals.gpio_port[GPIO_D8],
308 9 => &nrf52840_peripherals.gpio_port[GPIO_D9],
309 10 => &nrf52840_peripherals.gpio_port[GPIO_D10]
310 ),
311 )
312 .finalize(components::gpio_component_static!(nrf52840::gpio::GPIOPin));
313
314 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
319 LedLow<'static, nrf52840::gpio::GPIOPin>,
320 LedLow::new(&nrf52840_peripherals.gpio_port[LED_RED_PIN]),
321 LedLow::new(&nrf52840_peripherals.gpio_port[LED_GREEN_PIN]),
322 LedLow::new(&nrf52840_peripherals.gpio_port[LED_BLUE_PIN]),
323 ));
324
325 let rtc = &base_peripherals.rtc;
330 let _ = rtc.start();
331
332 let mux_alarm = components::alarm::AlarmMuxComponent::new(rtc)
333 .finalize(components::alarm_mux_component_static!(nrf52::rtc::Rtc));
334 let alarm = components::alarm::AlarmDriverComponent::new(
335 board_kernel,
336 capsules_core::alarm::DRIVER_NUM,
337 mux_alarm,
338 )
339 .finalize(components::alarm_component_static!(nrf52::rtc::Rtc));
340
341 let serial_number_buf = static_init!([u8; 17], [0; 17]);
351 let serial_number_string: &'static str =
352 (*addr_of!(nrf52::ficr::FICR_INSTANCE)).address_str(serial_number_buf);
353 let strings = static_init!(
354 [&str; 3],
355 [
356 "Arduino", "Nano 33 BLE - TockOS", serial_number_string, ]
360 );
361
362 let cdc = components::cdc::CdcAcmComponent::new(
363 &nrf52840_peripherals.usbd,
364 capsules_extra::usb::cdc::MAX_CTRL_PACKET_SIZE_NRF52840,
365 0x2341,
366 0x005a,
367 strings,
368 mux_alarm,
369 Some(&baud_rate_reset_bootloader_enter),
370 )
371 .finalize(components::cdc_acm_component_static!(
372 nrf52::usbd::Usbd,
373 nrf52::rtc::Rtc
374 ));
375 CDC_REF_FOR_PANIC = Some(cdc); let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
379 .finalize(components::process_printer_text_component_static!());
380 PROCESS_PRINTER = Some(process_printer);
381
382 let uart_mux = components::console::UartMuxComponent::new(cdc, 115200)
384 .finalize(components::uart_mux_component_static!());
385
386 let pconsole = components::process_console::ProcessConsoleComponent::new(
387 board_kernel,
388 uart_mux,
389 mux_alarm,
390 process_printer,
391 Some(cortexm4::support::reset),
392 )
393 .finalize(components::process_console_component_static!(
394 nrf52::rtc::Rtc<'static>
395 ));
396
397 let console = components::console::ConsoleComponent::new(
399 board_kernel,
400 capsules_core::console::DRIVER_NUM,
401 uart_mux,
402 )
403 .finalize(components::console_component_static!());
404 components::debug_writer::DebugWriterComponent::new(
406 uart_mux,
407 create_capability!(capabilities::SetDebugWriterCapability),
408 )
409 .finalize(components::debug_writer_component_static!());
410
411 let rng = components::rng::RngComponent::new(
416 board_kernel,
417 capsules_core::rng::DRIVER_NUM,
418 &base_peripherals.trng,
419 )
420 .finalize(components::rng_component_static!(nrf52840::trng::Trng));
421
422 base_peripherals.adc.calibrate();
426
427 let adc_mux = components::adc::AdcMuxComponent::new(&base_peripherals.adc)
428 .finalize(components::adc_mux_component_static!(nrf52840::adc::Adc));
429
430 let adc_syscall =
431 components::adc::AdcVirtualComponent::new(board_kernel, capsules_core::adc::DRIVER_NUM)
432 .finalize(components::adc_syscall_component_helper!(
433 components::adc::AdcComponent::new(
435 adc_mux,
436 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput2)
437 )
438 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
439 components::adc::AdcComponent::new(
441 adc_mux,
442 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput3)
443 )
444 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
445 components::adc::AdcComponent::new(
447 adc_mux,
448 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput6)
449 )
450 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
451 components::adc::AdcComponent::new(
453 adc_mux,
454 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput5)
455 )
456 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
457 components::adc::AdcComponent::new(
459 adc_mux,
460 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput7)
461 )
462 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
463 components::adc::AdcComponent::new(
465 adc_mux,
466 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput0)
467 )
468 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
469 components::adc::AdcComponent::new(
471 adc_mux,
472 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput4)
473 )
474 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
475 components::adc::AdcComponent::new(
477 adc_mux,
478 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput1)
479 )
480 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
481 ));
482
483 let sensors_i2c_bus = components::i2c::I2CMuxComponent::new(&base_peripherals.twi1, None)
488 .finalize(components::i2c_mux_component_static!(nrf52840::i2c::TWI));
489 base_peripherals.twi1.configure(
490 nrf52840::pinmux::Pinmux::new(I2C_SCL_PIN as u32),
491 nrf52840::pinmux::Pinmux::new(I2C_SDA_PIN as u32),
492 );
493
494 nrf52840_peripherals.gpio_port[I2C_PULLUP_PIN].make_output();
495 nrf52840_peripherals.gpio_port[I2C_PULLUP_PIN].set();
496
497 let apds9960 = components::apds9960::Apds9960Component::new(
498 sensors_i2c_bus,
499 0x39,
500 &nrf52840_peripherals.gpio_port[APDS9960_PIN],
501 )
502 .finalize(components::apds9960_component_static!(nrf52840::i2c::TWI));
503 let proximity = components::proximity::ProximityComponent::new(
504 apds9960,
505 board_kernel,
506 capsules_extra::proximity::DRIVER_NUM,
507 )
508 .finalize(components::proximity_component_static!());
509
510 let hts221 = components::hts221::Hts221Component::new(sensors_i2c_bus, 0x5f)
511 .finalize(components::hts221_component_static!(nrf52840::i2c::TWI));
512 let temperature = components::temperature::TemperatureComponent::new(
513 board_kernel,
514 capsules_extra::temperature::DRIVER_NUM,
515 hts221,
516 )
517 .finalize(components::temperature_component_static!(HTS221Sensor));
518 let humidity = components::humidity::HumidityComponent::new(
519 board_kernel,
520 capsules_extra::humidity::DRIVER_NUM,
521 hts221,
522 )
523 .finalize(components::humidity_component_static!(HTS221Sensor));
524
525 let ble_radio = components::ble::BLEComponent::new(
530 board_kernel,
531 capsules_extra::ble_advertising_driver::DRIVER_NUM,
532 &base_peripherals.ble_radio,
533 mux_alarm,
534 )
535 .finalize(components::ble_component_static!(
536 nrf52840::rtc::Rtc,
537 nrf52840::ble_radio::Radio
538 ));
539
540 use capsules_extra::net::ieee802154::MacAddress;
541
542 let aes_mux = components::ieee802154::MuxAes128ccmComponent::new(&base_peripherals.ecb)
543 .finalize(components::mux_aes128ccm_component_static!(
544 nrf52840::aes::AesECB
545 ));
546
547 let device_id = (*addr_of!(nrf52840::ficr::FICR_INSTANCE)).id();
548 let device_id_bottom_16 = u16::from_le_bytes([device_id[0], device_id[1]]);
549 let (ieee802154_radio, mux_mac) = components::ieee802154::Ieee802154Component::new(
550 board_kernel,
551 capsules_extra::ieee802154::DRIVER_NUM,
552 &nrf52840_peripherals.ieee802154_radio,
553 aes_mux,
554 PAN_ID,
555 device_id_bottom_16,
556 device_id,
557 )
558 .finalize(components::ieee802154_component_static!(
559 nrf52840::ieee802154_radio::Radio,
560 nrf52840::aes::AesECB<'static>
561 ));
562 use capsules_extra::net::ipv6::ip_utils::IPAddr;
563
564 let local_ip_ifaces = static_init!(
565 [IPAddr; 3],
566 [
567 IPAddr([
568 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d,
569 0x0e, 0x0f,
570 ]),
571 IPAddr([
572 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d,
573 0x1e, 0x1f,
574 ]),
575 IPAddr::generate_from_mac(capsules_extra::net::ieee802154::MacAddress::Short(
576 device_id_bottom_16
577 )),
578 ]
579 );
580
581 let (udp_send_mux, udp_recv_mux, udp_port_table) = components::udp_mux::UDPMuxComponent::new(
582 mux_mac,
583 DEFAULT_CTX_PREFIX_LEN,
584 DEFAULT_CTX_PREFIX,
585 DST_MAC_ADDR,
586 MacAddress::Short(device_id_bottom_16),
587 local_ip_ifaces,
588 mux_alarm,
589 )
590 .finalize(components::udp_mux_component_static!(
591 nrf52840::rtc::Rtc,
592 Ieee802154MacDevice
593 ));
594
595 let udp_driver = components::udp_driver::UDPDriverComponent::new(
597 board_kernel,
598 capsules_extra::net::udp::DRIVER_NUM,
599 udp_send_mux,
600 udp_recv_mux,
601 udp_port_table,
602 local_ip_ifaces,
603 )
604 .finalize(components::udp_driver_component_static!(nrf52840::rtc::Rtc));
605
606 nrf52_components::NrfClockComponent::new(&base_peripherals.clock).finalize(());
613
614 let scheduler = components::sched::round_robin::RoundRobinComponent::new(&*addr_of!(PROCESSES))
615 .finalize(components::round_robin_component_static!(NUM_PROCS));
616
617 let platform = Platform {
618 ble_radio,
619 ieee802154_radio,
620 console,
621 pconsole,
622 proximity,
623 temperature,
624 humidity,
625 adc: adc_syscall,
626 led,
627 gpio,
628 rng,
629 alarm,
630 udp_driver,
631 ipc: kernel::ipc::IPC::new(
632 board_kernel,
633 kernel::ipc::DRIVER_NUM,
634 &memory_allocation_capability,
635 ),
636 scheduler,
637 systick: cortexm4::systick::SysTick::new_with_calibration(64000000),
638 };
639
640 let chip = static_init!(
641 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
642 nrf52840::chip::NRF52::new(nrf52840_peripherals)
643 );
644 CHIP = Some(chip);
645
646 chip.mpu().clear_mpu();
648
649 cdc.enable();
651 cdc.attach();
652
653 debug!("Initialization complete. Entering main loop.");
666 let _ = platform.pconsole.start();
667
668 extern "C" {
674 static _sapps: u8;
676 static _eapps: u8;
678 static mut _sappmem: u8;
680 static _eappmem: u8;
682 }
683
684 kernel::process::load_processes(
685 board_kernel,
686 chip,
687 core::slice::from_raw_parts(
688 core::ptr::addr_of!(_sapps),
689 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
690 ),
691 core::slice::from_raw_parts_mut(
692 core::ptr::addr_of_mut!(_sappmem),
693 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
694 ),
695 &mut *addr_of_mut!(PROCESSES),
696 &FAULT_RESPONSE,
697 &process_management_capability,
698 )
699 .unwrap_or_else(|err| {
700 debug!("Error loading processes!");
701 debug!("{:?}", err);
702 });
703
704 (board_kernel, platform, chip)
705}
706
707#[no_mangle]
709pub unsafe fn main() {
710 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
711
712 let (board_kernel, platform, chip) = start();
713 board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
714}