nrf52dk/
io.rs

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
// Licensed under the Apache License, Version 2.0 or the MIT License.
// SPDX-License-Identifier: Apache-2.0 OR MIT
// Copyright Tock Contributors 2022.

use core::fmt::Write;
use core::panic::PanicInfo;
use kernel::debug;
use kernel::debug::IoWrite;
use kernel::hil::led;
use kernel::hil::uart::{self, Configure};
use nrf52832::gpio::Pin;
use nrf52832::uart::{Uarte, UARTE0_BASE};

use crate::CHIP;
use crate::PROCESSES;
use crate::PROCESS_PRINTER;

struct Writer {
    initialized: bool,
}

static mut WRITER: Writer = Writer { initialized: false };

impl Write for Writer {
    fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
        self.write(s.as_bytes());
        Ok(())
    }
}

impl IoWrite for Writer {
    fn write(&mut self, buf: &[u8]) -> usize {
        // Here, we create a second instance of the Uarte struct.
        // This is okay because we only call this during a panic, and
        // we will never actually process the interrupts
        let uart = Uarte::new(UARTE0_BASE);
        if !self.initialized {
            self.initialized = true;
            let _ = uart.configure(uart::Parameters {
                baud_rate: 115200,
                stop_bits: uart::StopBits::One,
                parity: uart::Parity::None,
                hw_flow_control: false,
                width: uart::Width::Eight,
            });
        }
        for &c in buf {
            unsafe {
                uart.send_byte(c);
            }
            while !uart.tx_ready() {}
        }
        buf.len()
    }
}

#[cfg(not(test))]
#[no_mangle]
#[panic_handler]
/// Panic handler
pub unsafe fn panic_fmt(pi: &PanicInfo) -> ! {
    // The nRF52 DK LEDs (see back of board)

    use core::ptr::{addr_of, addr_of_mut};
    let led_kernel_pin = &nrf52832::gpio::GPIOPin::new(Pin::P0_17);
    let led = &mut led::LedLow::new(led_kernel_pin);
    let writer = &mut *addr_of_mut!(WRITER);
    debug::panic(
        &mut [led],
        writer,
        pi,
        &cortexm4::support::nop,
        &*addr_of!(PROCESSES),
        &*addr_of!(CHIP),
        &*addr_of!(PROCESS_PRINTER),
    )
}