1#![no_std]
11#![cfg_attr(not(doc), no_main)]
14#![deny(missing_docs)]
15
16use core::ptr::{addr_of, addr_of_mut};
17
18use capsules_core::virtualizers::virtual_aes_ccm::MuxAES128CCM;
19use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
20use kernel::component::Component;
21use kernel::deferred_call::DeferredCallClient;
22use kernel::hil::led::LedLow;
23use kernel::hil::symmetric_encryption::AES128;
24use kernel::hil::time::Counter;
25use kernel::platform::{KernelResources, SyscallDriverLookup};
26use kernel::scheduler::round_robin::RoundRobinSched;
27#[allow(unused_imports)]
28use kernel::{capabilities, create_capability, debug, debug_gpio, debug_verbose, static_init};
29use nrf52840::gpio::Pin;
30use nrf52840::interrupt_service::Nrf52840DefaultPeripherals;
31use nrf52_components::{UartChannel, UartPins};
32
33const LED1_PIN: Pin = Pin::P0_06;
35const LED2_R_PIN: Pin = Pin::P0_08;
36const LED2_G_PIN: Pin = Pin::P1_09;
37const LED2_B_PIN: Pin = Pin::P0_12;
38
39const BUTTON_PIN: Pin = Pin::P1_06;
41const BUTTON_RST_PIN: Pin = Pin::P0_18;
42
43const UART_RTS: Option<Pin> = Some(Pin::P0_13);
44const UART_TXD: Pin = Pin::P0_15;
45const UART_CTS: Option<Pin> = Some(Pin::P0_17);
46const UART_RXD: Pin = Pin::P0_20;
47
48const _SPI_MOSI: Pin = Pin::P1_01;
50const _SPI_MISO: Pin = Pin::P1_02;
51const _SPI_CLK: Pin = Pin::P1_04;
52
53const SRC_MAC: u16 = 0xf00f;
56const PAN_ID: u16 = 0xABCD;
57const DEFAULT_EXT_SRC_MAC: [u8; 8] = [0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77];
58
59pub mod io;
61
62const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
65 capsules_system::process_policies::PanicFaultPolicy {};
66
67const NUM_PROCS: usize = 8;
69
70static mut PROCESSES: [Option<&'static dyn kernel::process::Process>; NUM_PROCS] =
71 [None; NUM_PROCS];
72
73static mut CHIP: Option<&'static nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>> = None;
75static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
77 None;
78
79#[no_mangle]
81#[link_section = ".stack_buffer"]
82pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
83
84type TemperatureDriver =
85 components::temperature::TemperatureComponentType<nrf52840::temperature::Temp<'static>>;
86type RngDriver = components::rng::RngComponentType<nrf52840::trng::Trng<'static>>;
87
88type Ieee802154Driver = components::ieee802154::Ieee802154ComponentType<
89 nrf52840::ieee802154_radio::Radio<'static>,
90 nrf52840::aes::AesECB<'static>,
91>;
92
93pub struct Platform {
95 ble_radio: &'static capsules_extra::ble_advertising_driver::BLE<
96 'static,
97 nrf52840::ble_radio::Radio<'static>,
98 VirtualMuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
99 >,
100 ieee802154_radio: &'static Ieee802154Driver,
101 button: &'static capsules_core::button::Button<'static, nrf52840::gpio::GPIOPin<'static>>,
102 pconsole: &'static capsules_core::process_console::ProcessConsole<
103 'static,
104 { capsules_core::process_console::DEFAULT_COMMAND_HISTORY_LEN },
105 VirtualMuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
106 components::process_console::Capability,
107 >,
108 console: &'static capsules_core::console::Console<'static>,
109 gpio: &'static capsules_core::gpio::GPIO<'static, nrf52840::gpio::GPIOPin<'static>>,
110 led: &'static capsules_core::led::LedDriver<
111 'static,
112 LedLow<'static, nrf52840::gpio::GPIOPin<'static>>,
113 4,
114 >,
115 rng: &'static RngDriver,
116 temp: &'static TemperatureDriver,
117 ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
118 analog_comparator: &'static capsules_extra::analog_comparator::AnalogComparator<
119 'static,
120 nrf52840::acomp::Comparator<'static>,
121 >,
122 alarm: &'static capsules_core::alarm::AlarmDriver<
123 'static,
124 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
125 'static,
126 nrf52840::rtc::Rtc<'static>,
127 >,
128 >,
129 scheduler: &'static RoundRobinSched<'static>,
130 systick: cortexm4::systick::SysTick,
131}
132
133impl SyscallDriverLookup for Platform {
134 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
135 where
136 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
137 {
138 match driver_num {
139 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
140 capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
141 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
142 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
143 capsules_core::button::DRIVER_NUM => f(Some(self.button)),
144 capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
145 capsules_extra::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
146 capsules_extra::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_radio)),
147 capsules_extra::temperature::DRIVER_NUM => f(Some(self.temp)),
148 capsules_extra::analog_comparator::DRIVER_NUM => f(Some(self.analog_comparator)),
149 kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
150 _ => f(None),
151 }
152 }
153}
154
155impl KernelResources<nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>>
156 for Platform
157{
158 type SyscallDriverLookup = Self;
159 type SyscallFilter = ();
160 type ProcessFault = ();
161 type Scheduler = RoundRobinSched<'static>;
162 type SchedulerTimer = cortexm4::systick::SysTick;
163 type WatchDog = ();
164 type ContextSwitchCallback = ();
165
166 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
167 self
168 }
169 fn syscall_filter(&self) -> &Self::SyscallFilter {
170 &()
171 }
172 fn process_fault(&self) -> &Self::ProcessFault {
173 &()
174 }
175 fn scheduler(&self) -> &Self::Scheduler {
176 self.scheduler
177 }
178 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
179 &self.systick
180 }
181 fn watchdog(&self) -> &Self::WatchDog {
182 &()
183 }
184 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
185 &()
186 }
187}
188
189#[inline(never)]
193pub unsafe fn start() -> (
194 &'static kernel::Kernel,
195 Platform,
196 &'static nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>,
197) {
198 nrf52840::init();
199
200 let ieee802154_ack_buf = static_init!(
201 [u8; nrf52840::ieee802154_radio::ACK_BUF_SIZE],
202 [0; nrf52840::ieee802154_radio::ACK_BUF_SIZE]
203 );
204 let nrf52840_peripherals = static_init!(
206 Nrf52840DefaultPeripherals,
207 Nrf52840DefaultPeripherals::new(ieee802154_ack_buf)
208 );
209
210 nrf52840_peripherals.init();
212 let base_peripherals = &nrf52840_peripherals.nrf52;
213
214 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&*addr_of!(PROCESSES)));
215
216 let gpio = components::gpio::GpioComponent::new(
218 board_kernel,
219 capsules_core::gpio::DRIVER_NUM,
220 components::gpio_component_helper!(
221 nrf52840::gpio::GPIOPin,
222 0 => &nrf52840_peripherals.gpio_port[Pin::P0_13],
224 1 => &nrf52840_peripherals.gpio_port[Pin::P0_15],
225 2 => &nrf52840_peripherals.gpio_port[Pin::P0_17],
226 3 => &nrf52840_peripherals.gpio_port[Pin::P0_20],
227 4 => &nrf52840_peripherals.gpio_port[Pin::P0_22],
228 5 => &nrf52840_peripherals.gpio_port[Pin::P0_24],
229 6 => &nrf52840_peripherals.gpio_port[Pin::P1_00],
230 7 => &nrf52840_peripherals.gpio_port[Pin::P0_09],
231 8 => &nrf52840_peripherals.gpio_port[Pin::P0_10],
232 9 => &nrf52840_peripherals.gpio_port[Pin::P0_31],
234 10 => &nrf52840_peripherals.gpio_port[Pin::P0_29],
235 11 => &nrf52840_peripherals.gpio_port[Pin::P0_02],
236 12 => &nrf52840_peripherals.gpio_port[Pin::P1_15],
237 13 => &nrf52840_peripherals.gpio_port[Pin::P1_13],
238 14 => &nrf52840_peripherals.gpio_port[Pin::P1_10],
239 15 => &nrf52840_peripherals.gpio_port[Pin::P0_26],
241 16 => &nrf52840_peripherals.gpio_port[Pin::P0_04],
242 17 => &nrf52840_peripherals.gpio_port[Pin::P0_11],
243 18 => &nrf52840_peripherals.gpio_port[Pin::P0_14],
244 19 => &nrf52840_peripherals.gpio_port[Pin::P1_11],
245 20 => &nrf52840_peripherals.gpio_port[Pin::P1_07],
246 21 => &nrf52840_peripherals.gpio_port[Pin::P1_01],
247 22 => &nrf52840_peripherals.gpio_port[Pin::P1_04],
248 23 => &nrf52840_peripherals.gpio_port[Pin::P1_02]
249 ),
250 )
251 .finalize(components::gpio_component_static!(nrf52840::gpio::GPIOPin));
252
253 let button = components::button::ButtonComponent::new(
254 board_kernel,
255 capsules_core::button::DRIVER_NUM,
256 components::button_component_helper!(
257 nrf52840::gpio::GPIOPin,
258 (
259 &nrf52840_peripherals.gpio_port[BUTTON_PIN],
260 kernel::hil::gpio::ActivationMode::ActiveLow,
261 kernel::hil::gpio::FloatingState::PullUp
262 )
263 ),
264 )
265 .finalize(components::button_component_static!(
266 nrf52840::gpio::GPIOPin
267 ));
268
269 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
270 LedLow<'static, nrf52840::gpio::GPIOPin>,
271 LedLow::new(&nrf52840_peripherals.gpio_port[LED1_PIN]),
272 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_R_PIN]),
273 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_G_PIN]),
274 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_B_PIN]),
275 ));
276
277 let chip = static_init!(
278 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
279 nrf52840::chip::NRF52::new(nrf52840_peripherals)
280 );
281 CHIP = Some(chip);
282
283 nrf52_components::startup::NrfStartupComponent::new(
284 false,
285 BUTTON_RST_PIN,
286 nrf52840::uicr::Regulator0Output::V3_0,
287 &base_peripherals.nvmc,
288 )
289 .finalize(());
290
291 let process_management_capability =
294 create_capability!(capabilities::ProcessManagementCapability);
295 let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
296
297 let gpio_port = &nrf52840_peripherals.gpio_port;
298
299 kernel::debug::assign_gpios(
301 Some(&gpio_port[LED2_R_PIN]),
302 Some(&gpio_port[LED2_G_PIN]),
303 Some(&gpio_port[LED2_B_PIN]),
304 );
305
306 let rtc = &base_peripherals.rtc;
307 let _ = rtc.start();
308 let mux_alarm = components::alarm::AlarmMuxComponent::new(rtc)
309 .finalize(components::alarm_mux_component_static!(nrf52840::rtc::Rtc));
310 let alarm = components::alarm::AlarmDriverComponent::new(
311 board_kernel,
312 capsules_core::alarm::DRIVER_NUM,
313 mux_alarm,
314 )
315 .finalize(components::alarm_component_static!(nrf52840::rtc::Rtc));
316 let uart_channel = UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD));
317 let channel = nrf52_components::UartChannelComponent::new(
318 uart_channel,
319 mux_alarm,
320 &base_peripherals.uarte0,
321 )
322 .finalize(nrf52_components::uart_channel_component_static!(
323 nrf52840::rtc::Rtc
324 ));
325
326 let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
327 .finalize(components::process_printer_text_component_static!());
328 PROCESS_PRINTER = Some(process_printer);
329
330 let uart_mux = components::console::UartMuxComponent::new(channel, 115200)
332 .finalize(components::uart_mux_component_static!());
333
334 let pconsole = components::process_console::ProcessConsoleComponent::new(
335 board_kernel,
336 uart_mux,
337 mux_alarm,
338 process_printer,
339 Some(cortexm4::support::reset),
340 )
341 .finalize(components::process_console_component_static!(
342 nrf52840::rtc::Rtc<'static>
343 ));
344
345 let console = components::console::ConsoleComponent::new(
347 board_kernel,
348 capsules_core::console::DRIVER_NUM,
349 uart_mux,
350 )
351 .finalize(components::console_component_static!());
352 components::debug_writer::DebugWriterComponent::new(uart_mux)
354 .finalize(components::debug_writer_component_static!());
355
356 let ble_radio = components::ble::BLEComponent::new(
357 board_kernel,
358 capsules_extra::ble_advertising_driver::DRIVER_NUM,
359 &base_peripherals.ble_radio,
360 mux_alarm,
361 )
362 .finalize(components::ble_component_static!(
363 nrf52840::rtc::Rtc,
364 nrf52840::ble_radio::Radio
365 ));
366
367 let aes_mux = static_init!(
368 MuxAES128CCM<'static, nrf52840::aes::AesECB>,
369 MuxAES128CCM::new(&base_peripherals.ecb,)
370 );
371 aes_mux.register();
372 base_peripherals.ecb.set_client(aes_mux);
373
374 let (ieee802154_radio, _mux_mac) = components::ieee802154::Ieee802154Component::new(
375 board_kernel,
376 capsules_extra::ieee802154::DRIVER_NUM,
377 &nrf52840_peripherals.ieee802154_radio,
378 aes_mux,
379 PAN_ID,
380 SRC_MAC,
381 DEFAULT_EXT_SRC_MAC,
382 )
383 .finalize(components::ieee802154_component_static!(
384 nrf52840::ieee802154_radio::Radio,
385 nrf52840::aes::AesECB<'static>
386 ));
387
388 let temp = components::temperature::TemperatureComponent::new(
389 board_kernel,
390 capsules_extra::temperature::DRIVER_NUM,
391 &base_peripherals.temp,
392 )
393 .finalize(components::temperature_component_static!(
394 nrf52840::temperature::Temp
395 ));
396
397 let rng = components::rng::RngComponent::new(
398 board_kernel,
399 capsules_core::rng::DRIVER_NUM,
400 &base_peripherals.trng,
401 )
402 .finalize(components::rng_component_static!(nrf52840::trng::Trng));
403
404 let analog_comparator = components::analog_comparator::AnalogComparatorComponent::new(
407 &base_peripherals.acomp,
408 components::analog_comparator_component_helper!(
409 nrf52840::acomp::Channel,
410 &*addr_of!(nrf52840::acomp::CHANNEL_AC0)
411 ),
412 board_kernel,
413 capsules_extra::analog_comparator::DRIVER_NUM,
414 )
415 .finalize(components::analog_comparator_component_static!(
416 nrf52840::acomp::Comparator
417 ));
418
419 nrf52_components::NrfClockComponent::new(&base_peripherals.clock).finalize(());
420
421 let scheduler = components::sched::round_robin::RoundRobinComponent::new(&*addr_of!(PROCESSES))
422 .finalize(components::round_robin_component_static!(NUM_PROCS));
423
424 let platform = Platform {
425 button,
426 ble_radio,
427 ieee802154_radio,
428 pconsole,
429 console,
430 led,
431 gpio,
432 rng,
433 temp,
434 alarm,
435 analog_comparator,
436 ipc: kernel::ipc::IPC::new(
437 board_kernel,
438 kernel::ipc::DRIVER_NUM,
439 &memory_allocation_capability,
440 ),
441 scheduler,
442 systick: cortexm4::systick::SysTick::new_with_calibration(64000000),
443 };
444
445 let _ = platform.pconsole.start();
446 debug!("Initialization complete. Entering main loop\r");
447 debug!("{}", &*addr_of!(nrf52840::ficr::FICR_INSTANCE));
448
449 extern "C" {
451 static _sapps: u8;
453 static _eapps: u8;
455 static mut _sappmem: u8;
457 static _eappmem: u8;
459 }
460
461 kernel::process::load_processes(
462 board_kernel,
463 chip,
464 core::slice::from_raw_parts(
465 core::ptr::addr_of!(_sapps),
466 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
467 ),
468 core::slice::from_raw_parts_mut(
469 core::ptr::addr_of_mut!(_sappmem),
470 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
471 ),
472 &mut *addr_of_mut!(PROCESSES),
473 &FAULT_RESPONSE,
474 &process_management_capability,
475 )
476 .unwrap_or_else(|err| {
477 debug!("Error loading processes!");
478 debug!("{:?}", err);
479 });
480
481 (board_kernel, platform, chip)
482}
483
484#[no_mangle]
486pub unsafe fn main() {
487 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
488
489 let (board_kernel, platform, chip) = start();
490 board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
491}