1#![no_std]
11#![no_main]
12#![deny(missing_docs)]
13
14use core::ptr::addr_of;
15
16use capsules_core::virtualizers::virtual_aes_ccm::MuxAES128CCM;
17use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
18use kernel::component::Component;
19use kernel::deferred_call::DeferredCallClient;
20use kernel::hil::led::LedLow;
21use kernel::hil::symmetric_encryption::AES128;
22use kernel::hil::time::Counter;
23use kernel::platform::{KernelResources, SyscallDriverLookup};
24use kernel::process::ProcessArray;
25use kernel::scheduler::round_robin::RoundRobinSched;
26#[allow(unused_imports)]
27use kernel::{capabilities, create_capability, debug, debug_gpio, debug_verbose, static_init};
28use nrf52840::gpio::Pin;
29use nrf52840::interrupt_service::Nrf52840DefaultPeripherals;
30use nrf52_components::{UartChannel, UartPins};
31
32const LED1_PIN: Pin = Pin::P0_06;
34const LED2_R_PIN: Pin = Pin::P0_08;
35const LED2_G_PIN: Pin = Pin::P1_09;
36const LED2_B_PIN: Pin = Pin::P0_12;
37
38const BUTTON_PIN: Pin = Pin::P1_06;
40const BUTTON_RST_PIN: Pin = Pin::P0_18;
41
42const UART_RTS: Option<Pin> = Some(Pin::P0_13);
43const UART_TXD: Pin = Pin::P0_15;
44const UART_CTS: Option<Pin> = Some(Pin::P0_17);
45const UART_RXD: Pin = Pin::P0_20;
46
47const _SPI_MOSI: Pin = Pin::P1_01;
49const _SPI_MISO: Pin = Pin::P1_02;
50const _SPI_CLK: Pin = Pin::P1_04;
51
52const SRC_MAC: u16 = 0xf00f;
55const PAN_ID: u16 = 0xABCD;
56const DEFAULT_EXT_SRC_MAC: [u8; 8] = [0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77];
57
58pub mod io;
60
61const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
64 capsules_system::process_policies::PanicFaultPolicy {};
65
66const NUM_PROCS: usize = 8;
68
69static mut PROCESSES: Option<&'static ProcessArray<NUM_PROCS>> = None;
71static mut CHIP: Option<&'static nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>> = None;
73static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
75 None;
76
77#[no_mangle]
79#[link_section = ".stack_buffer"]
80static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
81
82type TemperatureDriver =
83 components::temperature::TemperatureComponentType<nrf52840::temperature::Temp<'static>>;
84type RngDriver = components::rng::RngComponentType<nrf52840::trng::Trng<'static>>;
85
86type Ieee802154Driver = components::ieee802154::Ieee802154ComponentType<
87 nrf52840::ieee802154_radio::Radio<'static>,
88 nrf52840::aes::AesECB<'static>,
89>;
90
91pub struct Platform {
93 ble_radio: &'static capsules_extra::ble_advertising_driver::BLE<
94 'static,
95 nrf52840::ble_radio::Radio<'static>,
96 VirtualMuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
97 >,
98 ieee802154_radio: &'static Ieee802154Driver,
99 button: &'static capsules_core::button::Button<'static, nrf52840::gpio::GPIOPin<'static>>,
100 pconsole: &'static capsules_core::process_console::ProcessConsole<
101 'static,
102 { capsules_core::process_console::DEFAULT_COMMAND_HISTORY_LEN },
103 VirtualMuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
104 components::process_console::Capability,
105 >,
106 console: &'static capsules_core::console::Console<'static>,
107 gpio: &'static capsules_core::gpio::GPIO<'static, nrf52840::gpio::GPIOPin<'static>>,
108 led: &'static capsules_core::led::LedDriver<
109 'static,
110 LedLow<'static, nrf52840::gpio::GPIOPin<'static>>,
111 4,
112 >,
113 rng: &'static RngDriver,
114 temp: &'static TemperatureDriver,
115 ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
116 analog_comparator: &'static capsules_extra::analog_comparator::AnalogComparator<
117 'static,
118 nrf52840::acomp::Comparator<'static>,
119 >,
120 alarm: &'static capsules_core::alarm::AlarmDriver<
121 'static,
122 capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm<
123 'static,
124 nrf52840::rtc::Rtc<'static>,
125 >,
126 >,
127 scheduler: &'static RoundRobinSched<'static>,
128 systick: cortexm4::systick::SysTick,
129}
130
131impl SyscallDriverLookup for Platform {
132 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
133 where
134 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
135 {
136 match driver_num {
137 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
138 capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
139 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
140 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
141 capsules_core::button::DRIVER_NUM => f(Some(self.button)),
142 capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
143 capsules_extra::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
144 capsules_extra::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_radio)),
145 capsules_extra::temperature::DRIVER_NUM => f(Some(self.temp)),
146 capsules_extra::analog_comparator::DRIVER_NUM => f(Some(self.analog_comparator)),
147 kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
148 _ => f(None),
149 }
150 }
151}
152
153impl KernelResources<nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>>
154 for Platform
155{
156 type SyscallDriverLookup = Self;
157 type SyscallFilter = ();
158 type ProcessFault = ();
159 type Scheduler = RoundRobinSched<'static>;
160 type SchedulerTimer = cortexm4::systick::SysTick;
161 type WatchDog = ();
162 type ContextSwitchCallback = ();
163
164 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
165 self
166 }
167 fn syscall_filter(&self) -> &Self::SyscallFilter {
168 &()
169 }
170 fn process_fault(&self) -> &Self::ProcessFault {
171 &()
172 }
173 fn scheduler(&self) -> &Self::Scheduler {
174 self.scheduler
175 }
176 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
177 &self.systick
178 }
179 fn watchdog(&self) -> &Self::WatchDog {
180 &()
181 }
182 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
183 &()
184 }
185}
186
187#[inline(never)]
191pub unsafe fn start() -> (
192 &'static kernel::Kernel,
193 Platform,
194 &'static nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>,
195) {
196 nrf52840::init();
197
198 let ieee802154_ack_buf = static_init!(
199 [u8; nrf52840::ieee802154_radio::ACK_BUF_SIZE],
200 [0; nrf52840::ieee802154_radio::ACK_BUF_SIZE]
201 );
202 let nrf52840_peripherals = static_init!(
204 Nrf52840DefaultPeripherals,
205 Nrf52840DefaultPeripherals::new(ieee802154_ack_buf)
206 );
207
208 nrf52840_peripherals.init();
210 let base_peripherals = &nrf52840_peripherals.nrf52;
211
212 let processes = components::process_array::ProcessArrayComponent::new()
214 .finalize(components::process_array_component_static!(NUM_PROCS));
215 PROCESSES = Some(processes);
216
217 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(processes.as_slice()));
219
220 let gpio = components::gpio::GpioComponent::new(
222 board_kernel,
223 capsules_core::gpio::DRIVER_NUM,
224 components::gpio_component_helper!(
225 nrf52840::gpio::GPIOPin,
226 0 => &nrf52840_peripherals.gpio_port[Pin::P0_13],
228 1 => &nrf52840_peripherals.gpio_port[Pin::P0_15],
229 2 => &nrf52840_peripherals.gpio_port[Pin::P0_17],
230 3 => &nrf52840_peripherals.gpio_port[Pin::P0_20],
231 4 => &nrf52840_peripherals.gpio_port[Pin::P0_22],
232 5 => &nrf52840_peripherals.gpio_port[Pin::P0_24],
233 6 => &nrf52840_peripherals.gpio_port[Pin::P1_00],
234 7 => &nrf52840_peripherals.gpio_port[Pin::P0_09],
235 8 => &nrf52840_peripherals.gpio_port[Pin::P0_10],
236 9 => &nrf52840_peripherals.gpio_port[Pin::P0_31],
238 10 => &nrf52840_peripherals.gpio_port[Pin::P0_29],
239 11 => &nrf52840_peripherals.gpio_port[Pin::P0_02],
240 12 => &nrf52840_peripherals.gpio_port[Pin::P1_15],
241 13 => &nrf52840_peripherals.gpio_port[Pin::P1_13],
242 14 => &nrf52840_peripherals.gpio_port[Pin::P1_10],
243 15 => &nrf52840_peripherals.gpio_port[Pin::P0_26],
245 16 => &nrf52840_peripherals.gpio_port[Pin::P0_04],
246 17 => &nrf52840_peripherals.gpio_port[Pin::P0_11],
247 18 => &nrf52840_peripherals.gpio_port[Pin::P0_14],
248 19 => &nrf52840_peripherals.gpio_port[Pin::P1_11],
249 20 => &nrf52840_peripherals.gpio_port[Pin::P1_07],
250 21 => &nrf52840_peripherals.gpio_port[Pin::P1_01],
251 22 => &nrf52840_peripherals.gpio_port[Pin::P1_04],
252 23 => &nrf52840_peripherals.gpio_port[Pin::P1_02]
253 ),
254 )
255 .finalize(components::gpio_component_static!(nrf52840::gpio::GPIOPin));
256
257 let button = components::button::ButtonComponent::new(
258 board_kernel,
259 capsules_core::button::DRIVER_NUM,
260 components::button_component_helper!(
261 nrf52840::gpio::GPIOPin,
262 (
263 &nrf52840_peripherals.gpio_port[BUTTON_PIN],
264 kernel::hil::gpio::ActivationMode::ActiveLow,
265 kernel::hil::gpio::FloatingState::PullUp
266 )
267 ),
268 )
269 .finalize(components::button_component_static!(
270 nrf52840::gpio::GPIOPin
271 ));
272
273 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
274 LedLow<'static, nrf52840::gpio::GPIOPin>,
275 LedLow::new(&nrf52840_peripherals.gpio_port[LED1_PIN]),
276 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_R_PIN]),
277 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_G_PIN]),
278 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_B_PIN]),
279 ));
280
281 let chip = static_init!(
282 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
283 nrf52840::chip::NRF52::new(nrf52840_peripherals)
284 );
285 CHIP = Some(chip);
286
287 nrf52_components::startup::NrfStartupComponent::new(
288 false,
289 BUTTON_RST_PIN,
290 nrf52840::uicr::Regulator0Output::V3_0,
291 &base_peripherals.nvmc,
292 )
293 .finalize(());
294
295 let process_management_capability =
298 create_capability!(capabilities::ProcessManagementCapability);
299 let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
300
301 let gpio_port = &nrf52840_peripherals.gpio_port;
302
303 kernel::debug::assign_gpios(
305 Some(&gpio_port[LED2_R_PIN]),
306 Some(&gpio_port[LED2_G_PIN]),
307 Some(&gpio_port[LED2_B_PIN]),
308 );
309
310 let rtc = &base_peripherals.rtc;
311 let _ = rtc.start();
312 let mux_alarm = components::alarm::AlarmMuxComponent::new(rtc)
313 .finalize(components::alarm_mux_component_static!(nrf52840::rtc::Rtc));
314 let alarm = components::alarm::AlarmDriverComponent::new(
315 board_kernel,
316 capsules_core::alarm::DRIVER_NUM,
317 mux_alarm,
318 )
319 .finalize(components::alarm_component_static!(nrf52840::rtc::Rtc));
320 let uart_channel = UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD));
321 let channel = nrf52_components::UartChannelComponent::new(
322 uart_channel,
323 mux_alarm,
324 &base_peripherals.uarte0,
325 )
326 .finalize(nrf52_components::uart_channel_component_static!(
327 nrf52840::rtc::Rtc
328 ));
329
330 let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
331 .finalize(components::process_printer_text_component_static!());
332 PROCESS_PRINTER = Some(process_printer);
333
334 let uart_mux = components::console::UartMuxComponent::new(channel, 115200)
336 .finalize(components::uart_mux_component_static!());
337
338 let pconsole = components::process_console::ProcessConsoleComponent::new(
339 board_kernel,
340 uart_mux,
341 mux_alarm,
342 process_printer,
343 Some(cortexm4::support::reset),
344 )
345 .finalize(components::process_console_component_static!(
346 nrf52840::rtc::Rtc<'static>
347 ));
348
349 let console = components::console::ConsoleComponent::new(
351 board_kernel,
352 capsules_core::console::DRIVER_NUM,
353 uart_mux,
354 )
355 .finalize(components::console_component_static!());
356 components::debug_writer::DebugWriterComponent::new(
358 uart_mux,
359 create_capability!(capabilities::SetDebugWriterCapability),
360 )
361 .finalize(components::debug_writer_component_static!());
362
363 let ble_radio = components::ble::BLEComponent::new(
364 board_kernel,
365 capsules_extra::ble_advertising_driver::DRIVER_NUM,
366 &base_peripherals.ble_radio,
367 mux_alarm,
368 )
369 .finalize(components::ble_component_static!(
370 nrf52840::rtc::Rtc,
371 nrf52840::ble_radio::Radio
372 ));
373
374 let aes_mux = static_init!(
375 MuxAES128CCM<'static, nrf52840::aes::AesECB>,
376 MuxAES128CCM::new(&base_peripherals.ecb,)
377 );
378 aes_mux.register();
379 base_peripherals.ecb.set_client(aes_mux);
380
381 let (ieee802154_radio, _mux_mac) = components::ieee802154::Ieee802154Component::new(
382 board_kernel,
383 capsules_extra::ieee802154::DRIVER_NUM,
384 &nrf52840_peripherals.ieee802154_radio,
385 aes_mux,
386 PAN_ID,
387 SRC_MAC,
388 DEFAULT_EXT_SRC_MAC,
389 )
390 .finalize(components::ieee802154_component_static!(
391 nrf52840::ieee802154_radio::Radio,
392 nrf52840::aes::AesECB<'static>
393 ));
394
395 let temp = components::temperature::TemperatureComponent::new(
396 board_kernel,
397 capsules_extra::temperature::DRIVER_NUM,
398 &base_peripherals.temp,
399 )
400 .finalize(components::temperature_component_static!(
401 nrf52840::temperature::Temp
402 ));
403
404 let rng = components::rng::RngComponent::new(
405 board_kernel,
406 capsules_core::rng::DRIVER_NUM,
407 &base_peripherals.trng,
408 )
409 .finalize(components::rng_component_static!(nrf52840::trng::Trng));
410
411 let analog_comparator = components::analog_comparator::AnalogComparatorComponent::new(
414 &base_peripherals.acomp,
415 components::analog_comparator_component_helper!(
416 nrf52840::acomp::Channel,
417 &*addr_of!(nrf52840::acomp::CHANNEL_AC0)
418 ),
419 board_kernel,
420 capsules_extra::analog_comparator::DRIVER_NUM,
421 )
422 .finalize(components::analog_comparator_component_static!(
423 nrf52840::acomp::Comparator
424 ));
425
426 nrf52_components::NrfClockComponent::new(&base_peripherals.clock).finalize(());
427
428 let scheduler = components::sched::round_robin::RoundRobinComponent::new(processes)
429 .finalize(components::round_robin_component_static!(NUM_PROCS));
430
431 let platform = Platform {
432 button,
433 ble_radio,
434 ieee802154_radio,
435 pconsole,
436 console,
437 led,
438 gpio,
439 rng,
440 temp,
441 alarm,
442 analog_comparator,
443 ipc: kernel::ipc::IPC::new(
444 board_kernel,
445 kernel::ipc::DRIVER_NUM,
446 &memory_allocation_capability,
447 ),
448 scheduler,
449 systick: cortexm4::systick::SysTick::new_with_calibration(64000000),
450 };
451
452 let _ = platform.pconsole.start();
453 debug!("Initialization complete. Entering main loop\r");
454 debug!("{}", &*addr_of!(nrf52840::ficr::FICR_INSTANCE));
455
456 extern "C" {
458 static _sapps: u8;
460 static _eapps: u8;
462 static mut _sappmem: u8;
464 static _eappmem: u8;
466 }
467
468 kernel::process::load_processes(
469 board_kernel,
470 chip,
471 core::slice::from_raw_parts(
472 core::ptr::addr_of!(_sapps),
473 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
474 ),
475 core::slice::from_raw_parts_mut(
476 core::ptr::addr_of_mut!(_sappmem),
477 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
478 ),
479 &FAULT_RESPONSE,
480 &process_management_capability,
481 )
482 .unwrap_or_else(|err| {
483 debug!("Error loading processes!");
484 debug!("{:?}", err);
485 });
486
487 (board_kernel, platform, chip)
488}
489
490#[no_mangle]
492pub unsafe fn main() {
493 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
494
495 let (board_kernel, platform, chip) = start();
496 board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
497}