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
32const LED_RED_PIN: Pin = Pin::P0_24;
34const LED_GREEN_PIN: Pin = Pin::P0_16;
35const LED_BLUE_PIN: Pin = Pin::P0_06;
36
37const LED_KERNEL_PIN: Pin = Pin::P0_13;
38
39const _BUTTON_RST_PIN: Pin = Pin::P0_18;
40
41const GPIO_D2: Pin = Pin::P1_11;
42const GPIO_D3: Pin = Pin::P1_12;
43const GPIO_D4: Pin = Pin::P1_15;
44const GPIO_D5: Pin = Pin::P1_13;
45const GPIO_D6: Pin = Pin::P1_14;
46const GPIO_D7: Pin = Pin::P0_23;
47const GPIO_D8: Pin = Pin::P0_21;
48const GPIO_D9: Pin = Pin::P0_27;
49const GPIO_D10: Pin = Pin::P1_02;
50
51const _UART_TX_PIN: Pin = Pin::P1_03;
52const _UART_RX_PIN: Pin = Pin::P1_10;
53
54const I2C_SDA_PIN: Pin = Pin::P0_14;
56const I2C_SCL_PIN: Pin = Pin::P0_15;
57
58const I2C_PULLUP_PIN: Pin = Pin::P1_00;
60
61const APDS9960_PIN: Pin = Pin::P0_19;
63
64const PAN_ID: u16 = 0xABCD;
67const DST_MAC_ADDR: capsules_extra::net::ieee802154::MacAddress =
69 capsules_extra::net::ieee802154::MacAddress::Short(49138);
70const DEFAULT_CTX_PREFIX_LEN: u8 = 8; const DEFAULT_CTX_PREFIX: [u8; 16] = [0x0_u8; 16]; pub mod io;
75
76const FAULT_RESPONSE: capsules_system::process_policies::StopWithDebugFaultPolicy =
81 capsules_system::process_policies::StopWithDebugFaultPolicy {};
82
83const NUM_PROCS: usize = 8;
85
86static mut PROCESSES: [Option<&'static dyn kernel::process::Process>; NUM_PROCS] =
88 [None; NUM_PROCS];
89
90static mut CHIP: Option<&'static nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>> = None;
91static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
92 None;
93static mut CDC_REF_FOR_PANIC: Option<
94 &'static capsules_extra::usb::cdc::CdcAcm<
95 'static,
96 nrf52::usbd::Usbd,
97 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<'static, nrf52::rtc::Rtc>,
98 >,
99> = None;
100static mut NRF52_POWER: Option<&'static nrf52840::power::Power> = None;
101
102#[no_mangle]
104#[link_section = ".stack_buffer"]
105pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
106
107fn baud_rate_reset_bootloader_enter() {
109 unsafe {
110 NRF52_POWER.unwrap().set_gpregret(0x90);
112 cortexm4::scb::reset();
113 }
114}
115
116type HS3003Sensor = components::hs3003::Hs3003ComponentType<
117 capsules_core::virtualizers::virtual_i2c::I2CDevice<'static, nrf52840::i2c::TWI<'static>>,
118>;
119type TemperatureDriver = components::temperature::TemperatureComponentType<HS3003Sensor>;
120type HumidityDriver = components::humidity::HumidityComponentType<HS3003Sensor>;
121type Ieee802154MacDevice = components::ieee802154::Ieee802154ComponentMacDeviceType<
122 nrf52840::ieee802154_radio::Radio<'static>,
123 nrf52840::aes::AesECB<'static>,
124>;
125type Ieee802154Driver = components::ieee802154::Ieee802154ComponentType<
126 nrf52840::ieee802154_radio::Radio<'static>,
127 nrf52840::aes::AesECB<'static>,
128>;
129type RngDriver = components::rng::RngComponentType<nrf52840::trng::Trng<'static>>;
130
131pub struct Platform {
133 ble_radio: &'static capsules_extra::ble_advertising_driver::BLE<
134 'static,
135 nrf52::ble_radio::Radio<'static>,
136 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
137 'static,
138 nrf52::rtc::Rtc<'static>,
139 >,
140 >,
141 ieee802154_radio: &'static Ieee802154Driver,
142 console: &'static capsules_core::console::Console<'static>,
143 pconsole: &'static capsules_core::process_console::ProcessConsole<
144 'static,
145 { capsules_core::process_console::DEFAULT_COMMAND_HISTORY_LEN },
146 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
147 'static,
148 nrf52::rtc::Rtc<'static>,
149 >,
150 components::process_console::Capability,
151 >,
152 proximity: &'static capsules_extra::proximity::ProximitySensor<'static>,
153 pressure: &'static capsules_extra::pressure::PressureSensor<
154 'static,
155 capsules_extra::lps22hb::Lps22hb<
156 'static,
157 capsules_core::virtualizers::virtual_i2c::I2CDevice<
158 'static,
159 nrf52840::i2c::TWI<'static>,
160 >,
161 >,
162 >,
163 temperature: &'static TemperatureDriver,
164 humidity: &'static HumidityDriver,
165 gpio: &'static capsules_core::gpio::GPIO<'static, nrf52::gpio::GPIOPin<'static>>,
166 led: &'static capsules_core::led::LedDriver<
167 'static,
168 LedLow<'static, nrf52::gpio::GPIOPin<'static>>,
169 3,
170 >,
171 adc: &'static capsules_core::adc::AdcVirtualized<'static>,
172 rng: &'static RngDriver,
173 ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
174 alarm: &'static capsules_core::alarm::AlarmDriver<
175 'static,
176 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
177 'static,
178 nrf52::rtc::Rtc<'static>,
179 >,
180 >,
181 udp_driver: &'static capsules_extra::net::udp::UDPDriver<'static>,
182 scheduler: &'static RoundRobinSched<'static>,
183 systick: cortexm4::systick::SysTick,
184}
185
186impl SyscallDriverLookup for Platform {
187 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
188 where
189 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
190 {
191 match driver_num {
192 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
193 capsules_extra::proximity::DRIVER_NUM => f(Some(self.proximity)),
194 capsules_extra::pressure::DRIVER_NUM => f(Some(self.pressure)),
195 capsules_extra::temperature::DRIVER_NUM => f(Some(self.temperature)),
196 capsules_extra::humidity::DRIVER_NUM => f(Some(self.humidity)),
197 capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
198 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
199 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
200 capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
201 capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
202 capsules_extra::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
203 capsules_extra::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_radio)),
204 capsules_extra::net::udp::DRIVER_NUM => f(Some(self.udp_driver)),
205 kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
206 _ => f(None),
207 }
208 }
209}
210
211impl KernelResources<nrf52::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>>
212 for Platform
213{
214 type SyscallDriverLookup = Self;
215 type SyscallFilter = ();
216 type ProcessFault = ();
217 type Scheduler = RoundRobinSched<'static>;
218 type SchedulerTimer = cortexm4::systick::SysTick;
219 type WatchDog = ();
220 type ContextSwitchCallback = ();
221
222 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
223 self
224 }
225 fn syscall_filter(&self) -> &Self::SyscallFilter {
226 &()
227 }
228 fn process_fault(&self) -> &Self::ProcessFault {
229 &()
230 }
231 fn scheduler(&self) -> &Self::Scheduler {
232 self.scheduler
233 }
234 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
235 &self.systick
236 }
237 fn watchdog(&self) -> &Self::WatchDog {
238 &()
239 }
240 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
241 &()
242 }
243}
244
245#[inline(never)]
249pub unsafe fn start() -> (
250 &'static kernel::Kernel,
251 Platform,
252 &'static nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>,
253) {
254 nrf52840::init();
255
256 let ieee802154_ack_buf = static_init!(
257 [u8; nrf52840::ieee802154_radio::ACK_BUF_SIZE],
258 [0; nrf52840::ieee802154_radio::ACK_BUF_SIZE]
259 );
260
261 let nrf52840_peripherals = static_init!(
263 Nrf52840DefaultPeripherals,
264 Nrf52840DefaultPeripherals::new(ieee802154_ack_buf)
265 );
266
267 nrf52840_peripherals.init();
269 let base_peripherals = &nrf52840_peripherals.nrf52;
270
271 NRF52_POWER = Some(&base_peripherals.pwr_clk);
274
275 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&*addr_of!(PROCESSES)));
276
277 let process_management_capability =
284 create_capability!(capabilities::ProcessManagementCapability);
285 let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
286
287 kernel::debug::assign_gpios(
295 Some(&nrf52840_peripherals.gpio_port[LED_KERNEL_PIN]),
296 None,
297 None,
298 );
299
300 let gpio = components::gpio::GpioComponent::new(
305 board_kernel,
306 capsules_core::gpio::DRIVER_NUM,
307 components::gpio_component_helper!(
308 nrf52840::gpio::GPIOPin,
309 2 => &nrf52840_peripherals.gpio_port[GPIO_D2],
310 3 => &nrf52840_peripherals.gpio_port[GPIO_D3],
311 4 => &nrf52840_peripherals.gpio_port[GPIO_D4],
312 5 => &nrf52840_peripherals.gpio_port[GPIO_D5],
313 6 => &nrf52840_peripherals.gpio_port[GPIO_D6],
314 7 => &nrf52840_peripherals.gpio_port[GPIO_D7],
315 8 => &nrf52840_peripherals.gpio_port[GPIO_D8],
316 9 => &nrf52840_peripherals.gpio_port[GPIO_D9],
317 10 => &nrf52840_peripherals.gpio_port[GPIO_D10]
318 ),
319 )
320 .finalize(components::gpio_component_static!(nrf52840::gpio::GPIOPin));
321
322 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
327 LedLow<'static, nrf52840::gpio::GPIOPin>,
328 LedLow::new(&nrf52840_peripherals.gpio_port[LED_RED_PIN]),
329 LedLow::new(&nrf52840_peripherals.gpio_port[LED_GREEN_PIN]),
330 LedLow::new(&nrf52840_peripherals.gpio_port[LED_BLUE_PIN]),
331 ));
332
333 let rtc = &base_peripherals.rtc;
338 let _ = rtc.start();
339
340 let mux_alarm = components::alarm::AlarmMuxComponent::new(rtc)
341 .finalize(components::alarm_mux_component_static!(nrf52::rtc::Rtc));
342 let alarm = components::alarm::AlarmDriverComponent::new(
343 board_kernel,
344 capsules_core::alarm::DRIVER_NUM,
345 mux_alarm,
346 )
347 .finalize(components::alarm_component_static!(nrf52::rtc::Rtc));
348
349 let serial_number_buf = static_init!([u8; 17], [0; 17]);
359 let serial_number_string: &'static str =
360 (*addr_of!(nrf52::ficr::FICR_INSTANCE)).address_str(serial_number_buf);
361 let strings = static_init!(
362 [&str; 3],
363 [
364 "Arduino", "Nano 33 BLE Sense Rev2 - TockOS", serial_number_string, ]
368 );
369
370 let cdc = components::cdc::CdcAcmComponent::new(
371 &nrf52840_peripherals.usbd,
372 capsules_extra::usb::cdc::MAX_CTRL_PACKET_SIZE_NRF52840,
373 0x2341,
374 0x005a,
375 strings,
376 mux_alarm,
377 Some(&baud_rate_reset_bootloader_enter),
378 )
379 .finalize(components::cdc_acm_component_static!(
380 nrf52::usbd::Usbd,
381 nrf52::rtc::Rtc
382 ));
383 CDC_REF_FOR_PANIC = Some(cdc); let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
387 .finalize(components::process_printer_text_component_static!());
388 PROCESS_PRINTER = Some(process_printer);
389
390 let uart_mux = components::console::UartMuxComponent::new(cdc, 115200)
392 .finalize(components::uart_mux_component_static!());
393
394 let pconsole = components::process_console::ProcessConsoleComponent::new(
395 board_kernel,
396 uart_mux,
397 mux_alarm,
398 process_printer,
399 Some(cortexm4::support::reset),
400 )
401 .finalize(components::process_console_component_static!(
402 nrf52::rtc::Rtc<'static>
403 ));
404
405 let console = components::console::ConsoleComponent::new(
407 board_kernel,
408 capsules_core::console::DRIVER_NUM,
409 uart_mux,
410 )
411 .finalize(components::console_component_static!());
412 components::debug_writer::DebugWriterComponent::new(
414 uart_mux,
415 create_capability!(capabilities::SetDebugWriterCapability),
416 )
417 .finalize(components::debug_writer_component_static!());
418
419 let rng = components::rng::RngComponent::new(
424 board_kernel,
425 capsules_core::rng::DRIVER_NUM,
426 &base_peripherals.trng,
427 )
428 .finalize(components::rng_component_static!(nrf52840::trng::Trng));
429
430 base_peripherals.adc.calibrate();
434
435 let adc_mux = components::adc::AdcMuxComponent::new(&base_peripherals.adc)
436 .finalize(components::adc_mux_component_static!(nrf52840::adc::Adc));
437
438 let adc_syscall =
439 components::adc::AdcVirtualComponent::new(board_kernel, capsules_core::adc::DRIVER_NUM)
440 .finalize(components::adc_syscall_component_helper!(
441 components::adc::AdcComponent::new(
443 adc_mux,
444 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput2)
445 )
446 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
447 components::adc::AdcComponent::new(
449 adc_mux,
450 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput3)
451 )
452 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
453 components::adc::AdcComponent::new(
455 adc_mux,
456 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput6)
457 )
458 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
459 components::adc::AdcComponent::new(
461 adc_mux,
462 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput5)
463 )
464 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
465 components::adc::AdcComponent::new(
467 adc_mux,
468 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput7)
469 )
470 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
471 components::adc::AdcComponent::new(
473 adc_mux,
474 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput0)
475 )
476 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
477 components::adc::AdcComponent::new(
479 adc_mux,
480 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput4)
481 )
482 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
483 components::adc::AdcComponent::new(
485 adc_mux,
486 nrf52840::adc::AdcChannelSetup::new(nrf52840::adc::AdcChannel::AnalogInput1)
487 )
488 .finalize(components::adc_component_static!(nrf52840::adc::Adc)),
489 ));
490
491 let sensors_i2c_bus = components::i2c::I2CMuxComponent::new(&base_peripherals.twi1, None)
496 .finalize(components::i2c_mux_component_static!(nrf52840::i2c::TWI));
497 base_peripherals.twi1.configure(
498 nrf52840::pinmux::Pinmux::new(I2C_SCL_PIN as u32),
499 nrf52840::pinmux::Pinmux::new(I2C_SDA_PIN as u32),
500 );
501
502 let _ = &nrf52840_peripherals.gpio_port[I2C_PULLUP_PIN].make_output();
503 nrf52840_peripherals.gpio_port[I2C_PULLUP_PIN].set();
504
505 let apds9960 = components::apds9960::Apds9960Component::new(
506 sensors_i2c_bus,
507 0x39,
508 &nrf52840_peripherals.gpio_port[APDS9960_PIN],
509 )
510 .finalize(components::apds9960_component_static!(nrf52840::i2c::TWI));
511 let proximity = components::proximity::ProximityComponent::new(
512 apds9960,
513 board_kernel,
514 capsules_extra::proximity::DRIVER_NUM,
515 )
516 .finalize(components::proximity_component_static!());
517
518 let lps22hb = components::lps22hb::Lps22hbComponent::new(sensors_i2c_bus, 0x5C)
519 .finalize(components::lps22hb_component_static!(nrf52840::i2c::TWI));
520 let pressure = components::pressure::PressureComponent::new(
521 board_kernel,
522 capsules_extra::pressure::DRIVER_NUM,
523 lps22hb,
524 )
525 .finalize(components::pressure_component_static!(
526 capsules_extra::lps22hb::Lps22hb<
527 'static,
528 capsules_core::virtualizers::virtual_i2c::I2CDevice<'static, nrf52840::i2c::TWI>,
529 >
530 ));
531
532 let hs3003 = components::hs3003::Hs3003Component::new(sensors_i2c_bus, 0x44)
533 .finalize(components::hs3003_component_static!(nrf52840::i2c::TWI));
534 let temperature = components::temperature::TemperatureComponent::new(
535 board_kernel,
536 capsules_extra::temperature::DRIVER_NUM,
537 hs3003,
538 )
539 .finalize(components::temperature_component_static!(HS3003Sensor));
540 let humidity = components::humidity::HumidityComponent::new(
541 board_kernel,
542 capsules_extra::humidity::DRIVER_NUM,
543 hs3003,
544 )
545 .finalize(components::humidity_component_static!(HS3003Sensor));
546
547 let ble_radio = components::ble::BLEComponent::new(
552 board_kernel,
553 capsules_extra::ble_advertising_driver::DRIVER_NUM,
554 &base_peripherals.ble_radio,
555 mux_alarm,
556 )
557 .finalize(components::ble_component_static!(
558 nrf52840::rtc::Rtc,
559 nrf52840::ble_radio::Radio
560 ));
561
562 use capsules_extra::net::ieee802154::MacAddress;
563
564 let aes_mux = components::ieee802154::MuxAes128ccmComponent::new(&base_peripherals.ecb)
565 .finalize(components::mux_aes128ccm_component_static!(
566 nrf52840::aes::AesECB
567 ));
568
569 let device_id = (*addr_of!(nrf52840::ficr::FICR_INSTANCE)).id();
570 let device_id_bottom_16 = u16::from_le_bytes([device_id[0], device_id[1]]);
571 let (ieee802154_radio, mux_mac) = components::ieee802154::Ieee802154Component::new(
572 board_kernel,
573 capsules_extra::ieee802154::DRIVER_NUM,
574 &nrf52840_peripherals.ieee802154_radio,
575 aes_mux,
576 PAN_ID,
577 device_id_bottom_16,
578 device_id,
579 )
580 .finalize(components::ieee802154_component_static!(
581 nrf52840::ieee802154_radio::Radio,
582 nrf52840::aes::AesECB<'static>
583 ));
584 use capsules_extra::net::ipv6::ip_utils::IPAddr;
585
586 let local_ip_ifaces = static_init!(
587 [IPAddr; 3],
588 [
589 IPAddr([
590 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d,
591 0x0e, 0x0f,
592 ]),
593 IPAddr([
594 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d,
595 0x1e, 0x1f,
596 ]),
597 IPAddr::generate_from_mac(capsules_extra::net::ieee802154::MacAddress::Short(
598 device_id_bottom_16
599 )),
600 ]
601 );
602
603 let (udp_send_mux, udp_recv_mux, udp_port_table) = components::udp_mux::UDPMuxComponent::new(
604 mux_mac,
605 DEFAULT_CTX_PREFIX_LEN,
606 DEFAULT_CTX_PREFIX,
607 DST_MAC_ADDR,
608 MacAddress::Short(device_id_bottom_16),
609 local_ip_ifaces,
610 mux_alarm,
611 )
612 .finalize(components::udp_mux_component_static!(
613 nrf52840::rtc::Rtc,
614 Ieee802154MacDevice
615 ));
616
617 let udp_driver = components::udp_driver::UDPDriverComponent::new(
619 board_kernel,
620 capsules_extra::net::udp::DRIVER_NUM,
621 udp_send_mux,
622 udp_recv_mux,
623 udp_port_table,
624 local_ip_ifaces,
625 )
626 .finalize(components::udp_driver_component_static!(nrf52840::rtc::Rtc));
627
628 nrf52_components::NrfClockComponent::new(&base_peripherals.clock).finalize(());
635
636 let scheduler = components::sched::round_robin::RoundRobinComponent::new(&*addr_of!(PROCESSES))
637 .finalize(components::round_robin_component_static!(NUM_PROCS));
638
639 let platform = Platform {
640 ble_radio,
641 ieee802154_radio,
642 console,
643 pconsole,
644 proximity,
645 pressure,
646 temperature,
647 humidity,
648 adc: adc_syscall,
649 led,
650 gpio,
651 rng,
652 alarm,
653 udp_driver,
654 ipc: kernel::ipc::IPC::new(
655 board_kernel,
656 kernel::ipc::DRIVER_NUM,
657 &memory_allocation_capability,
658 ),
659 scheduler,
660 systick: cortexm4::systick::SysTick::new_with_calibration(64000000),
661 };
662
663 let chip = static_init!(
664 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
665 nrf52840::chip::NRF52::new(nrf52840_peripherals)
666 );
667 CHIP = Some(chip);
668
669 chip.mpu().clear_mpu();
671
672 cdc.enable();
674 cdc.attach();
675
676 debug!("Initialization complete. Entering main loop.");
689 let _ = platform.pconsole.start();
690
691 extern "C" {
697 static _sapps: u8;
699 static _eapps: u8;
701 static mut _sappmem: u8;
703 static _eappmem: u8;
705 }
706
707 kernel::process::load_processes(
708 board_kernel,
709 chip,
710 core::slice::from_raw_parts(
711 core::ptr::addr_of!(_sapps),
712 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
713 ),
714 core::slice::from_raw_parts_mut(
715 core::ptr::addr_of_mut!(_sappmem),
716 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
717 ),
718 &mut *addr_of_mut!(PROCESSES),
719 &FAULT_RESPONSE,
720 &process_management_capability,
721 )
722 .unwrap_or_else(|err| {
723 debug!("Error loading processes!");
724 debug!("{:?}", err);
725 });
726
727 (board_kernel, platform, chip)
728}
729
730#[no_mangle]
732pub unsafe fn main() {
733 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
734
735 let (board_kernel, platform, chip) = start();
736 board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
737}