1#![no_std]
8#![no_main]
9#![deny(missing_docs)]
10
11use core::ptr::{addr_of, addr_of_mut};
12
13use kernel::component::Component;
14use kernel::hil::led::LedLow;
15use kernel::hil::time::Counter;
16use kernel::platform::{KernelResources, SyscallDriverLookup};
17use kernel::scheduler::round_robin::RoundRobinSched;
18use kernel::{capabilities, create_capability, static_init};
19use nrf52840::gpio::Pin;
20use nrf52840::interrupt_service::Nrf52840DefaultPeripherals;
21use nrf52_components::{UartChannel, UartPins};
22
23mod invs_permissions;
24
25const LED1_PIN: Pin = Pin::P0_13;
27const LED2_PIN: Pin = Pin::P0_14;
28const LED3_PIN: Pin = Pin::P0_15;
29const LED4_PIN: Pin = Pin::P0_16;
30
31const BUTTON_RST_PIN: Pin = Pin::P0_18;
32
33const UART_RTS: Option<Pin> = Some(Pin::P0_05);
34const UART_TXD: Pin = Pin::P0_06;
35const UART_CTS: Option<Pin> = Some(Pin::P0_07);
36const UART_RXD: Pin = Pin::P0_08;
37
38const SPI_MOSI: Pin = Pin::P0_20;
39const SPI_MISO: Pin = Pin::P0_21;
40const SPI_CLK: Pin = Pin::P0_19;
41
42const SPI_MX25R6435F_CHIP_SELECT: Pin = Pin::P0_17;
43const SPI_MX25R6435F_WRITE_PROTECT_PIN: Pin = Pin::P0_22;
44const SPI_MX25R6435F_HOLD_PIN: Pin = Pin::P0_23;
45
46pub mod io;
48
49const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
52 capsules_system::process_policies::PanicFaultPolicy {};
53
54const NUM_PROCS: usize = 8;
56
57static mut PROCESSES: [Option<&'static dyn kernel::process::Process>; NUM_PROCS] =
58 [None; NUM_PROCS];
59
60static mut CHIP: Option<&'static nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>> = None;
61
62#[no_mangle]
64#[link_section = ".stack_buffer"]
65pub static mut STACK_MEMORY: [u8; 0x2000] = [0; 0x2000];
66
67const APP_STORAGE_REGION_SIZE: usize = 4096;
68
69type AlarmDriver = components::alarm::AlarmDriverComponentType<nrf52840::rtc::Rtc<'static>>;
74
75type Mx25r6435f = components::mx25r6435f::Mx25r6435fComponentType<
76 nrf52840::spi::SPIM<'static>,
77 nrf52840::gpio::GPIOPin<'static>,
78 nrf52840::rtc::Rtc<'static>,
79>;
80type InvsDriver = components::isolated_nonvolatile_storage::IsolatedNonvolatileStorageComponentType<
81 APP_STORAGE_REGION_SIZE,
82>;
83
84pub struct Platform {
86 console: &'static capsules_core::console::Console<'static>,
87 led: &'static capsules_core::led::LedDriver<
88 'static,
89 kernel::hil::led::LedLow<'static, nrf52840::gpio::GPIOPin<'static>>,
90 4,
91 >,
92 alarm: &'static AlarmDriver,
93 invs: &'static InvsDriver,
94 scheduler: &'static RoundRobinSched<'static>,
95 systick: cortexm4::systick::SysTick,
96}
97
98impl SyscallDriverLookup for Platform {
99 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
100 where
101 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
102 {
103 match driver_num {
104 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
105 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
106 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
107 capsules_extra::isolated_nonvolatile_storage_driver::DRIVER_NUM => f(Some(self.invs)),
108 _ => f(None),
109 }
110 }
111}
112
113#[inline(never)]
117unsafe fn create_peripherals() -> &'static mut Nrf52840DefaultPeripherals<'static> {
118 let ieee802154_ack_buf = static_init!(
119 [u8; nrf52840::ieee802154_radio::ACK_BUF_SIZE],
120 [0; nrf52840::ieee802154_radio::ACK_BUF_SIZE]
121 );
122 let nrf52840_peripherals = static_init!(
124 Nrf52840DefaultPeripherals,
125 Nrf52840DefaultPeripherals::new(ieee802154_ack_buf)
126 );
127
128 nrf52840_peripherals
129}
130
131impl KernelResources<nrf52840::chip::NRF52<'static, Nrf52840DefaultPeripherals<'static>>>
132 for Platform
133{
134 type SyscallDriverLookup = Self;
135 type SyscallFilter = ();
136 type ProcessFault = ();
137 type Scheduler = RoundRobinSched<'static>;
138 type SchedulerTimer = cortexm4::systick::SysTick;
139 type WatchDog = ();
140 type ContextSwitchCallback = ();
141
142 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
143 self
144 }
145 fn syscall_filter(&self) -> &Self::SyscallFilter {
146 &()
147 }
148 fn process_fault(&self) -> &Self::ProcessFault {
149 &()
150 }
151 fn scheduler(&self) -> &Self::Scheduler {
152 self.scheduler
153 }
154 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
155 &self.systick
156 }
157 fn watchdog(&self) -> &Self::WatchDog {
158 &()
159 }
160 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
161 &()
162 }
163}
164
165#[no_mangle]
167pub unsafe fn main() {
168 nrf52840::init();
174
175 let nrf52840_peripherals = create_peripherals();
178
179 nrf52840_peripherals.init();
181 let base_peripherals = &nrf52840_peripherals.nrf52;
182
183 let uart_channel = UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD));
187
188 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&*addr_of!(PROCESSES)));
190
191 let chip = static_init!(
194 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
195 nrf52840::chip::NRF52::new(nrf52840_peripherals)
196 );
197 CHIP = Some(chip);
198
199 nrf52_components::startup::NrfStartupComponent::new(
202 false,
203 BUTTON_RST_PIN,
204 nrf52840::uicr::Regulator0Output::DEFAULT,
205 &base_peripherals.nvmc,
206 )
207 .finalize(());
208
209 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
216
217 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
222 LedLow<'static, nrf52840::gpio::GPIOPin>,
223 LedLow::new(&nrf52840_peripherals.gpio_port[LED1_PIN]),
224 LedLow::new(&nrf52840_peripherals.gpio_port[LED2_PIN]),
225 LedLow::new(&nrf52840_peripherals.gpio_port[LED3_PIN]),
226 LedLow::new(&nrf52840_peripherals.gpio_port[LED4_PIN]),
227 ));
228
229 let rtc = &base_peripherals.rtc;
234 let _ = rtc.start();
235 let mux_alarm = components::alarm::AlarmMuxComponent::new(rtc)
236 .finalize(components::alarm_mux_component_static!(nrf52840::rtc::Rtc));
237 let alarm = components::alarm::AlarmDriverComponent::new(
238 board_kernel,
239 capsules_core::alarm::DRIVER_NUM,
240 mux_alarm,
241 )
242 .finalize(components::alarm_component_static!(nrf52840::rtc::Rtc));
243
244 let uart_channel = nrf52_components::UartChannelComponent::new(
249 uart_channel,
250 mux_alarm,
251 &base_peripherals.uarte0,
252 )
253 .finalize(nrf52_components::uart_channel_component_static!(
254 nrf52840::rtc::Rtc
255 ));
256
257 let uart_mux = components::console::UartMuxComponent::new(uart_channel, 115200)
259 .finalize(components::uart_mux_component_static!());
260
261 let console = components::console::ConsoleComponent::new(
263 board_kernel,
264 capsules_core::console::DRIVER_NUM,
265 uart_mux,
266 )
267 .finalize(components::console_component_static!());
268
269 let mux_spi = components::spi::SpiMuxComponent::new(&base_peripherals.spim0)
274 .finalize(components::spi_mux_component_static!(nrf52840::spi::SPIM));
275
276 base_peripherals.spim0.configure(
277 nrf52840::pinmux::Pinmux::new(SPI_MOSI as u32),
278 nrf52840::pinmux::Pinmux::new(SPI_MISO as u32),
279 nrf52840::pinmux::Pinmux::new(SPI_CLK as u32),
280 );
281
282 let mx25r6435f = components::mx25r6435f::Mx25r6435fComponent::new(
283 Some(&nrf52840_peripherals.gpio_port[SPI_MX25R6435F_WRITE_PROTECT_PIN]),
284 Some(&nrf52840_peripherals.gpio_port[SPI_MX25R6435F_HOLD_PIN]),
285 &nrf52840_peripherals.gpio_port[SPI_MX25R6435F_CHIP_SELECT],
286 mux_alarm,
287 mux_spi,
288 )
289 .finalize(components::mx25r6435f_component_static!(
290 nrf52840::spi::SPIM,
291 nrf52840::gpio::GPIOPin,
292 nrf52840::rtc::Rtc
293 ));
294
295 let invs = components::isolated_nonvolatile_storage::IsolatedNonvolatileStorageComponent::new(
300 board_kernel,
301 capsules_extra::isolated_nonvolatile_storage_driver::DRIVER_NUM,
302 mx25r6435f,
303 0x40000, 0x100000, )
306 .finalize(components::isolated_nonvolatile_storage_component_static!(
307 Mx25r6435f,
308 APP_STORAGE_REGION_SIZE
309 ));
310
311 nrf52_components::NrfClockComponent::new(&base_peripherals.clock).finalize(());
316
317 let sha = components::sha::ShaSoftware256Component::new()
323 .finalize(components::sha_software_256_component_static!());
324
325 let checking_policy = components::appid::checker_sha::AppCheckerSha256Component::new(sha)
327 .finalize(components::app_checker_sha256_component_static!());
328
329 let assigner = components::appid::assigner_name::AppIdAssignerNamesComponent::new()
331 .finalize(components::appid_assigner_names_component_static!());
332
333 let checker = components::appid::checker::ProcessCheckerMachineComponent::new(checking_policy)
335 .finalize(components::process_checker_machine_component_static!());
336
337 #[derive(Clone)]
346 pub struct AppStoreCapability;
347 unsafe impl capabilities::ApplicationStorageCapability for AppStoreCapability {}
348
349 let storage_permissions_policy = static_init!(
350 invs_permissions::InvsStoragePermissions<
351 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
352 kernel::process::ProcessStandardDebugFull,
353 AppStoreCapability,
354 >,
355 invs_permissions::InvsStoragePermissions::new(AppStoreCapability)
356 );
357
358 extern "C" {
364 static _sapps: u8;
366 static _eapps: u8;
368 static mut _sappmem: u8;
370 static _eappmem: u8;
372 }
373
374 let app_flash = core::slice::from_raw_parts(
375 core::ptr::addr_of!(_sapps),
376 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
377 );
378 let app_memory = core::slice::from_raw_parts_mut(
379 core::ptr::addr_of_mut!(_sappmem),
380 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
381 );
382
383 let _loader = components::loader::sequential::ProcessLoaderSequentialComponent::new(
385 checker,
386 &mut *addr_of_mut!(PROCESSES),
387 board_kernel,
388 chip,
389 &FAULT_RESPONSE,
390 assigner,
391 storage_permissions_policy,
392 app_flash,
393 app_memory,
394 )
395 .finalize(components::process_loader_sequential_component_static!(
396 nrf52840::chip::NRF52<Nrf52840DefaultPeripherals>,
397 kernel::process::ProcessStandardDebugFull,
398 NUM_PROCS
399 ));
400
401 let scheduler = components::sched::round_robin::RoundRobinComponent::new(&*addr_of!(PROCESSES))
406 .finalize(components::round_robin_component_static!(NUM_PROCS));
407
408 let platform = Platform {
409 console,
410 led,
411 alarm,
412 invs,
413 scheduler,
414 systick: cortexm4::systick::SysTick::new_with_calibration(64000000),
415 };
416
417 board_kernel.kernel_loop(
418 &platform,
419 chip,
420 None::<&kernel::ipc::IPC<0>>,
421 &main_loop_capability,
422 );
423}