nucleo_f429zi/
io.rs

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1// Licensed under the Apache License, Version 2.0 or the MIT License.
2// SPDX-License-Identifier: Apache-2.0 OR MIT
3// Copyright Tock Contributors 2022.
4
5use core::fmt::Write;
6use core::panic::PanicInfo;
7use core::ptr::addr_of;
8use core::ptr::addr_of_mut;
9
10use kernel::debug;
11use kernel::debug::IoWrite;
12use kernel::hil::led;
13use kernel::hil::uart;
14use kernel::hil::uart::Configure;
15
16use stm32f429zi::chip_specs::Stm32f429Specs;
17use stm32f429zi::gpio::PinId;
18
19use crate::CHIP;
20use crate::PROCESSES;
21use crate::PROCESS_PRINTER;
22
23/// Writer is used by kernel::debug to panic message to the serial port.
24pub struct Writer {
25    initialized: bool,
26}
27
28/// Global static for debug writer
29pub static mut WRITER: Writer = Writer { initialized: false };
30
31impl Writer {
32    /// Indicate that USART has already been initialized. Trying to double
33    /// initialize USART2 causes STM32F446RE to go into in in-deterministic state.
34    pub fn set_initialized(&mut self) {
35        self.initialized = true;
36    }
37}
38
39impl Write for Writer {
40    fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
41        self.write(s.as_bytes());
42        Ok(())
43    }
44}
45
46impl IoWrite for Writer {
47    fn write(&mut self, buf: &[u8]) -> usize {
48        let rcc = stm32f429zi::rcc::Rcc::new();
49        let clocks: stm32f429zi::clocks::Clocks<Stm32f429Specs> =
50            stm32f429zi::clocks::Clocks::new(&rcc);
51        let uart = stm32f429zi::usart::Usart::new_usart3(&clocks);
52
53        if !self.initialized {
54            self.initialized = true;
55
56            let _ = uart.configure(uart::Parameters {
57                baud_rate: 115200,
58                stop_bits: uart::StopBits::One,
59                parity: uart::Parity::None,
60                hw_flow_control: false,
61                width: uart::Width::Eight,
62            });
63        }
64
65        for &c in buf {
66            uart.send_byte(c);
67        }
68        buf.len()
69    }
70}
71
72/// Panic handler.
73#[no_mangle]
74#[panic_handler]
75pub unsafe fn panic_fmt(info: &PanicInfo) -> ! {
76    // User LD2 is connected to PB07
77    // Have to reinitialize several peripherals because otherwise can't access them here.
78    let rcc = stm32f429zi::rcc::Rcc::new();
79    let clocks: stm32f429zi::clocks::Clocks<Stm32f429Specs> =
80        stm32f429zi::clocks::Clocks::new(&rcc);
81    let syscfg = stm32f429zi::syscfg::Syscfg::new(&clocks);
82    let exti = stm32f429zi::exti::Exti::new(&syscfg);
83    let pin = stm32f429zi::gpio::Pin::new(PinId::PB07, &exti);
84    let gpio_ports = stm32f429zi::gpio::GpioPorts::new(&clocks, &exti);
85    pin.set_ports_ref(&gpio_ports);
86    let led = &mut led::LedHigh::new(&pin);
87
88    let writer = &mut *addr_of_mut!(WRITER);
89
90    debug::panic(
91        &mut [led],
92        writer,
93        info,
94        &cortexm4::support::nop,
95        &*addr_of!(PROCESSES),
96        &*addr_of!(CHIP),
97        &*addr_of!(PROCESS_PRINTER),
98    )
99}
nucleo_f429zi/io.rs

nucleo_f429zi/
io.rs
