1#![no_std]
10#![no_main]
11#![deny(missing_docs)]
12
13use core::ptr::addr_of_mut;
14
15use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
16use components::gpio::GpioComponent;
17use kernel::capabilities;
18use kernel::component::Component;
19use kernel::hil::led::LedHigh;
20use kernel::platform::{KernelResources, SyscallDriverLookup};
21use kernel::process::ProcessArray;
22use kernel::scheduler::round_robin::RoundRobinSched;
23use kernel::{create_capability, debug, static_init};
24
25use stm32f429zi::chip_specs::Stm32f429Specs;
26use stm32f429zi::clocks::hsi::HSI_FREQUENCY_MHZ;
27use stm32f429zi::gpio::{AlternateFunction, Mode, PinId, PortId};
28use stm32f429zi::interrupt_service::Stm32f429ziDefaultPeripherals;
29
30pub mod io;
32
33const NUM_PROCS: usize = 4;
35
36static mut PROCESSES: Option<&'static ProcessArray<NUM_PROCS>> = None;
38static mut CHIP: Option<&'static stm32f429zi::chip::Stm32f4xx<Stm32f429ziDefaultPeripherals>> =
39 None;
40static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
41 None;
42
43const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
45 capsules_system::process_policies::PanicFaultPolicy {};
46
47#[no_mangle]
49#[link_section = ".stack_buffer"]
50static mut STACK_MEMORY: [u8; 0x2000] = [0; 0x2000];
51
52type TemperatureSTMSensor = components::temperature_stm::TemperatureSTMComponentType<
57 capsules_core::virtualizers::virtual_adc::AdcDevice<'static, stm32f429zi::adc::Adc<'static>>,
58>;
59type TemperatureDriver = components::temperature::TemperatureComponentType<TemperatureSTMSensor>;
60type RngDriver = components::rng::RngComponentType<stm32f429zi::trng::Trng<'static>>;
61
62pub const NUCLEO_F429ZI_HSE_FREQUENCY_MHZ: usize = 8;
64
65struct NucleoF429ZI {
68 console: &'static capsules_core::console::Console<'static>,
69 ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
70 led: &'static capsules_core::led::LedDriver<
71 'static,
72 LedHigh<'static, stm32f429zi::gpio::Pin<'static>>,
73 3,
74 >,
75 button: &'static capsules_core::button::Button<'static, stm32f429zi::gpio::Pin<'static>>,
76 adc: &'static capsules_core::adc::AdcVirtualized<'static>,
77 dac: &'static capsules_extra::dac::Dac<'static>,
78 alarm: &'static capsules_core::alarm::AlarmDriver<
79 'static,
80 VirtualMuxAlarm<'static, stm32f429zi::tim2::Tim2<'static>>,
81 >,
82 temperature: &'static TemperatureDriver,
83 gpio: &'static capsules_core::gpio::GPIO<'static, stm32f429zi::gpio::Pin<'static>>,
84 rng: &'static RngDriver,
85
86 scheduler: &'static RoundRobinSched<'static>,
87 systick: cortexm4::systick::SysTick,
88 can: &'static capsules_extra::can::CanCapsule<'static, stm32f429zi::can::Can<'static>>,
89 date_time: &'static capsules_extra::date_time::DateTimeCapsule<
90 'static,
91 stm32f429zi::rtc::Rtc<'static>,
92 >,
93}
94
95impl SyscallDriverLookup for NucleoF429ZI {
97 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
98 where
99 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
100 {
101 match driver_num {
102 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
103 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
104 capsules_core::button::DRIVER_NUM => f(Some(self.button)),
105 capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
106 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
107 capsules_extra::temperature::DRIVER_NUM => f(Some(self.temperature)),
108 kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
109 capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
110 capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
111 capsules_extra::can::DRIVER_NUM => f(Some(self.can)),
112 capsules_extra::dac::DRIVER_NUM => f(Some(self.dac)),
113 capsules_extra::date_time::DRIVER_NUM => f(Some(self.date_time)),
114 _ => f(None),
115 }
116 }
117}
118
119impl
120 KernelResources<
121 stm32f429zi::chip::Stm32f4xx<
122 'static,
123 stm32f429zi::interrupt_service::Stm32f429ziDefaultPeripherals<'static>,
124 >,
125 > for NucleoF429ZI
126{
127 type SyscallDriverLookup = Self;
128 type SyscallFilter = ();
129 type ProcessFault = ();
130 type Scheduler = RoundRobinSched<'static>;
131 type SchedulerTimer = cortexm4::systick::SysTick;
132 type WatchDog = ();
133 type ContextSwitchCallback = ();
134
135 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
136 self
137 }
138 fn syscall_filter(&self) -> &Self::SyscallFilter {
139 &()
140 }
141 fn process_fault(&self) -> &Self::ProcessFault {
142 &()
143 }
144 fn scheduler(&self) -> &Self::Scheduler {
145 self.scheduler
146 }
147 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
148 &self.systick
149 }
150 fn watchdog(&self) -> &Self::WatchDog {
151 &()
152 }
153 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
154 &()
155 }
156}
157
158unsafe fn setup_dma(
160 dma: &stm32f429zi::dma::Dma1,
161 dma_streams: &'static [stm32f429zi::dma::Stream<stm32f429zi::dma::Dma1>; 8],
162 usart3: &'static stm32f429zi::usart::Usart<stm32f429zi::dma::Dma1>,
163) {
164 use stm32f429zi::dma::Dma1Peripheral;
165 use stm32f429zi::usart;
166
167 dma.enable_clock();
168
169 let usart3_tx_stream = &dma_streams[Dma1Peripheral::USART3_TX.get_stream_idx()];
170 let usart3_rx_stream = &dma_streams[Dma1Peripheral::USART3_RX.get_stream_idx()];
171
172 usart3.set_dma(
173 usart::TxDMA(usart3_tx_stream),
174 usart::RxDMA(usart3_rx_stream),
175 );
176
177 usart3_tx_stream.set_client(usart3);
178 usart3_rx_stream.set_client(usart3);
179
180 usart3_tx_stream.setup(Dma1Peripheral::USART3_TX);
181 usart3_rx_stream.setup(Dma1Peripheral::USART3_RX);
182
183 cortexm4::nvic::Nvic::new(Dma1Peripheral::USART3_TX.get_stream_irqn()).enable();
184 cortexm4::nvic::Nvic::new(Dma1Peripheral::USART3_RX.get_stream_irqn()).enable();
185}
186
187unsafe fn set_pin_primary_functions(
189 syscfg: &stm32f429zi::syscfg::Syscfg,
190 gpio_ports: &'static stm32f429zi::gpio::GpioPorts<'static>,
191) {
192 use kernel::hil::gpio::Configure;
193
194 syscfg.enable_clock();
195
196 gpio_ports.get_port_from_port_id(PortId::B).enable_clock();
197
198 gpio_ports.get_pin(PinId::PB07).map(|pin| {
200 pin.make_output();
201
202 kernel::debug::assign_gpios(Some(pin), None, None);
204 });
205
206 gpio_ports.get_port_from_port_id(PortId::D).enable_clock();
207
208 gpio_ports.get_pin(PinId::PD08).map(|pin| {
210 pin.set_mode(Mode::AlternateFunctionMode);
211 pin.set_alternate_function(AlternateFunction::AF7);
213 });
214 gpio_ports.get_pin(PinId::PD09).map(|pin| {
215 pin.set_mode(Mode::AlternateFunctionMode);
216 pin.set_alternate_function(AlternateFunction::AF7);
218 });
219
220 gpio_ports.get_port_from_port_id(PortId::C).enable_clock();
221
222 gpio_ports.get_pin(PinId::PC13).map(|pin| {
224 pin.enable_interrupt();
225 });
226
227 gpio_ports.get_pin(PinId::PG09).map(|pin| {
229 pin.enable_interrupt();
230 });
231
232 gpio_ports.get_port_from_port_id(PortId::A).enable_clock();
235 gpio_ports.get_port_from_port_id(PortId::E).enable_clock();
237 gpio_ports.get_port_from_port_id(PortId::F).enable_clock();
238 gpio_ports.get_port_from_port_id(PortId::G).enable_clock();
239 gpio_ports.get_port_from_port_id(PortId::H).enable_clock();
240
241 gpio_ports.get_pin(PinId::PA03).map(|pin| {
243 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
244 });
245
246 gpio_ports.get_pin(PinId::PC00).map(|pin| {
248 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
249 });
250
251 gpio_ports.get_pin(PinId::PC03).map(|pin| {
253 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
254 });
255
256 gpio_ports.get_pin(PinId::PB01).map(|pin| {
258 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
259 });
260
261 gpio_ports.get_pin(PinId::PC02).map(|pin| {
263 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
264 });
265
266 gpio_ports.get_pin(PinId::PD00).map(|pin| {
267 pin.set_mode(Mode::AlternateFunctionMode);
268 pin.set_alternate_function(AlternateFunction::AF9);
270 pin.set_floating_state(kernel::hil::gpio::FloatingState::PullDown);
271 });
272 gpio_ports.get_pin(PinId::PD01).map(|pin| {
273 pin.set_mode(Mode::AlternateFunctionMode);
274 pin.set_alternate_function(AlternateFunction::AF9);
276 });
277
278 gpio_ports.get_pin(PinId::PA04).map(|pin| {
280 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
281 });
282}
283
284unsafe fn setup_peripherals(
286 tim2: &stm32f429zi::tim2::Tim2,
287 trng: &stm32f429zi::trng::Trng,
288 can1: &'static stm32f429zi::can::Can,
289 rtc: &'static stm32f429zi::rtc::Rtc,
290) {
291 cortexm4::nvic::Nvic::new(stm32f429zi::nvic::USART3).enable();
293
294 tim2.enable_clock();
296 tim2.start();
297 cortexm4::nvic::Nvic::new(stm32f429zi::nvic::TIM2).enable();
298
299 trng.enable_clock();
301
302 can1.enable_clock();
304
305 rtc.enable_clock();
307}
308
309#[inline(never)]
313unsafe fn start() -> (
314 &'static kernel::Kernel,
315 NucleoF429ZI,
316 &'static stm32f429zi::chip::Stm32f4xx<'static, Stm32f429ziDefaultPeripherals<'static>>,
317) {
318 stm32f429zi::init();
319
320 let rcc = static_init!(stm32f429zi::rcc::Rcc, stm32f429zi::rcc::Rcc::new());
322 let clocks = static_init!(
323 stm32f429zi::clocks::Clocks<Stm32f429Specs>,
324 stm32f429zi::clocks::Clocks::new(rcc)
325 );
326
327 let syscfg = static_init!(
328 stm32f429zi::syscfg::Syscfg,
329 stm32f429zi::syscfg::Syscfg::new(clocks)
330 );
331 let exti = static_init!(
332 stm32f429zi::exti::Exti,
333 stm32f429zi::exti::Exti::new(syscfg)
334 );
335 let dma1 = static_init!(stm32f429zi::dma::Dma1, stm32f429zi::dma::Dma1::new(clocks));
336 let dma2 = static_init!(stm32f429zi::dma::Dma2, stm32f429zi::dma::Dma2::new(clocks));
337
338 let peripherals = static_init!(
339 Stm32f429ziDefaultPeripherals,
340 Stm32f429ziDefaultPeripherals::new(clocks, exti, dma1, dma2)
341 );
342 peripherals.init();
343 let base_peripherals = &peripherals.stm32f4;
344
345 setup_peripherals(
346 &base_peripherals.tim2,
347 &peripherals.trng,
348 &peripherals.can1,
349 &peripherals.rtc,
350 );
351
352 set_pin_primary_functions(syscfg, &base_peripherals.gpio_ports);
353
354 setup_dma(
355 dma1,
356 &base_peripherals.dma1_streams,
357 &base_peripherals.usart3,
358 );
359
360 let processes = components::process_array::ProcessArrayComponent::new()
362 .finalize(components::process_array_component_static!(NUM_PROCS));
363 PROCESSES = Some(processes);
364
365 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(processes.as_slice()));
367
368 let chip = static_init!(
369 stm32f429zi::chip::Stm32f4xx<Stm32f429ziDefaultPeripherals>,
370 stm32f429zi::chip::Stm32f4xx::new(peripherals)
371 );
372 CHIP = Some(chip);
373
374 base_peripherals.usart3.enable_clock();
378 let uart_mux = components::console::UartMuxComponent::new(&base_peripherals.usart3, 115200)
379 .finalize(components::uart_mux_component_static!());
380
381 (*addr_of_mut!(io::WRITER)).set_initialized();
382
383 let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
386 let process_management_capability =
387 create_capability!(capabilities::ProcessManagementCapability);
388
389 let console = components::console::ConsoleComponent::new(
391 board_kernel,
392 capsules_core::console::DRIVER_NUM,
393 uart_mux,
394 )
395 .finalize(components::console_component_static!());
396 components::debug_writer::DebugWriterComponent::new(
398 uart_mux,
399 create_capability!(capabilities::SetDebugWriterCapability),
400 )
401 .finalize(components::debug_writer_component_static!());
402
403 let gpio_ports = &base_peripherals.gpio_ports;
407
408 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
409 LedHigh<'static, stm32f429zi::gpio::Pin>,
410 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PB00).unwrap()),
411 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PB07).unwrap()),
412 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PB14).unwrap()),
413 ));
414
415 let button = components::button::ButtonComponent::new(
417 board_kernel,
418 capsules_core::button::DRIVER_NUM,
419 components::button_component_helper!(
420 stm32f429zi::gpio::Pin,
421 (
422 gpio_ports.get_pin(stm32f429zi::gpio::PinId::PC13).unwrap(),
423 kernel::hil::gpio::ActivationMode::ActiveHigh,
424 kernel::hil::gpio::FloatingState::PullNone
425 )
426 ),
427 )
428 .finalize(components::button_component_static!(stm32f429zi::gpio::Pin));
429
430 let tim2 = &base_peripherals.tim2;
433 let mux_alarm = components::alarm::AlarmMuxComponent::new(tim2).finalize(
434 components::alarm_mux_component_static!(stm32f429zi::tim2::Tim2),
435 );
436
437 let alarm = components::alarm::AlarmDriverComponent::new(
438 board_kernel,
439 capsules_core::alarm::DRIVER_NUM,
440 mux_alarm,
441 )
442 .finalize(components::alarm_component_static!(stm32f429zi::tim2::Tim2));
443
444 let gpio = GpioComponent::new(
446 board_kernel,
447 capsules_core::gpio::DRIVER_NUM,
448 components::gpio_component_helper!(
449 stm32f429zi::gpio::Pin,
450 0 => gpio_ports.get_pin(PinId::PG09).unwrap(), 1 => gpio_ports.pins[6][14].as_ref().unwrap(), 2 => gpio_ports.pins[5][15].as_ref().unwrap(), 3 => gpio_ports.pins[4][13].as_ref().unwrap(), 4 => gpio_ports.pins[5][14].as_ref().unwrap(), 5 => gpio_ports.pins[4][11].as_ref().unwrap(), 6 => gpio_ports.pins[4][9].as_ref().unwrap(), 7 => gpio_ports.pins[5][13].as_ref().unwrap(), 8 => gpio_ports.pins[5][12].as_ref().unwrap(), 9 => gpio_ports.pins[3][15].as_ref().unwrap(), 10 => gpio_ports.pins[3][14].as_ref().unwrap(), 11 => gpio_ports.pins[0][7].as_ref().unwrap(), 12 => gpio_ports.pins[0][6].as_ref().unwrap(), 13 => gpio_ports.pins[0][5].as_ref().unwrap(), 14 => gpio_ports.pins[1][9].as_ref().unwrap(), 15 => gpio_ports.pins[1][8].as_ref().unwrap(), 16 => gpio_ports.pins[2][6].as_ref().unwrap(), 17 => gpio_ports.pins[1][15].as_ref().unwrap(), 18 => gpio_ports.pins[1][13].as_ref().unwrap(), 19 => gpio_ports.pins[1][12].as_ref().unwrap(), 20 => gpio_ports.pins[0][15].as_ref().unwrap(), 21 => gpio_ports.pins[2][7].as_ref().unwrap(), 26 => gpio_ports.pins[1][6].as_ref().unwrap(), 27 => gpio_ports.pins[1][2].as_ref().unwrap(), 28 => gpio_ports.pins[3][13].as_ref().unwrap(), 29 => gpio_ports.pins[3][12].as_ref().unwrap(), 30 => gpio_ports.pins[3][11].as_ref().unwrap(), 31 => gpio_ports.pins[4][2].as_ref().unwrap(), 32 => gpio_ports.pins[0][0].as_ref().unwrap(), 33 => gpio_ports.pins[1][0].as_ref().unwrap(), 34 => gpio_ports.pins[4][0].as_ref().unwrap(), 35 => gpio_ports.pins[1][11].as_ref().unwrap(), 36 => gpio_ports.pins[1][10].as_ref().unwrap(), 37 => gpio_ports.pins[4][15].as_ref().unwrap(), 38 => gpio_ports.pins[4][14].as_ref().unwrap(), 39 => gpio_ports.pins[4][12].as_ref().unwrap(), 40 => gpio_ports.pins[4][10].as_ref().unwrap(), 41 => gpio_ports.pins[4][7].as_ref().unwrap(), 42 => gpio_ports.pins[4][8].as_ref().unwrap(), 43 => gpio_ports.pins[2][8].as_ref().unwrap(), 44 => gpio_ports.pins[2][9].as_ref().unwrap(), 45 => gpio_ports.pins[2][10].as_ref().unwrap(), 46 => gpio_ports.pins[2][11].as_ref().unwrap(), 47 => gpio_ports.pins[2][12].as_ref().unwrap(), 48 => gpio_ports.pins[3][2].as_ref().unwrap(), 49 => gpio_ports.pins[6][2].as_ref().unwrap(), 50 => gpio_ports.pins[6][3].as_ref().unwrap(), 51 => gpio_ports.pins[3][7].as_ref().unwrap(), 52 => gpio_ports.pins[3][6].as_ref().unwrap(), 53 => gpio_ports.pins[3][5].as_ref().unwrap(), 54 => gpio_ports.pins[3][4].as_ref().unwrap(), 55 => gpio_ports.pins[3][3].as_ref().unwrap(), 56 => gpio_ports.pins[4][2].as_ref().unwrap(), 57 => gpio_ports.pins[4][4].as_ref().unwrap(), 58 => gpio_ports.pins[4][5].as_ref().unwrap(), 59 => gpio_ports.pins[4][6].as_ref().unwrap(), 60 => gpio_ports.pins[4][3].as_ref().unwrap(), 61 => gpio_ports.pins[5][8].as_ref().unwrap(), 62 => gpio_ports.pins[5][7].as_ref().unwrap(), 63 => gpio_ports.pins[5][9].as_ref().unwrap(), 64 => gpio_ports.pins[6][1].as_ref().unwrap(), 65 => gpio_ports.pins[6][0].as_ref().unwrap(), 66 => gpio_ports.pins[3][1].as_ref().unwrap(), 67 => gpio_ports.pins[3][0].as_ref().unwrap(), 68 => gpio_ports.pins[5][0].as_ref().unwrap(), 69 => gpio_ports.pins[5][1].as_ref().unwrap(), 70 => gpio_ports.pins[5][2].as_ref().unwrap(), 71 => gpio_ports.pins[0][7].as_ref().unwrap(), 75 => gpio_ports.pins[5][3].as_ref().unwrap(), 76 => gpio_ports.pins[5][5].as_ref().unwrap(), 77 => gpio_ports.pins[5][10].as_ref().unwrap(), 80 => gpio_ports.pins[5][4].as_ref().unwrap() ),
543 )
544 .finalize(components::gpio_component_static!(stm32f429zi::gpio::Pin));
545
546 let adc_mux = components::adc::AdcMuxComponent::new(&base_peripherals.adc1)
548 .finalize(components::adc_mux_component_static!(stm32f429zi::adc::Adc));
549
550 let temp_sensor = components::temperature_stm::TemperatureSTMComponent::new(
551 adc_mux,
552 stm32f429zi::adc::Channel::Channel18,
553 2.5,
554 0.76,
555 )
556 .finalize(components::temperature_stm_adc_component_static!(
557 stm32f429zi::adc::Adc
558 ));
559
560 let temp = components::temperature::TemperatureComponent::new(
561 board_kernel,
562 capsules_extra::temperature::DRIVER_NUM,
563 temp_sensor,
564 )
565 .finalize(components::temperature_component_static!(
566 TemperatureSTMSensor
567 ));
568
569 let adc_channel_0 =
570 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel3)
571 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
572
573 let adc_channel_1 =
574 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel10)
575 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
576
577 let adc_channel_2 =
578 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel13)
579 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
580
581 let adc_channel_3 =
582 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel9)
583 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
584
585 let adc_channel_4 =
586 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel12)
587 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
588
589 let adc_syscall =
590 components::adc::AdcVirtualComponent::new(board_kernel, capsules_core::adc::DRIVER_NUM)
591 .finalize(components::adc_syscall_component_helper!(
592 adc_channel_0,
593 adc_channel_1,
594 adc_channel_2,
595 adc_channel_3,
596 adc_channel_4,
597 ));
598
599 let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
600 .finalize(components::process_printer_text_component_static!());
601 PROCESS_PRINTER = Some(process_printer);
602
603 let dac = components::dac::DacComponent::new(&base_peripherals.dac)
605 .finalize(components::dac_component_static!());
606
607 let rng = components::rng::RngComponent::new(
609 board_kernel,
610 capsules_core::rng::DRIVER_NUM,
611 &peripherals.trng,
612 )
613 .finalize(components::rng_component_static!(stm32f429zi::trng::Trng));
614
615 let can = components::can::CanComponent::new(
617 board_kernel,
618 capsules_extra::can::DRIVER_NUM,
619 &peripherals.can1,
620 )
621 .finalize(components::can_component_static!(
622 stm32f429zi::can::Can<'static>
623 ));
624
625 if let Err(e) = peripherals.rtc.rtc_init() {
627 debug!("{:?}", e)
628 }
629
630 let date_time = components::date_time::DateTimeComponent::new(
631 board_kernel,
632 capsules_extra::date_time::DRIVER_NUM,
633 &peripherals.rtc,
634 )
635 .finalize(components::date_time_component_static!(
636 stm32f429zi::rtc::Rtc<'static>
637 ));
638
639 let process_console = components::process_console::ProcessConsoleComponent::new(
641 board_kernel,
642 uart_mux,
643 mux_alarm,
644 process_printer,
645 Some(cortexm4::support::reset),
646 )
647 .finalize(components::process_console_component_static!(
648 stm32f429zi::tim2::Tim2
649 ));
650 let _ = process_console.start();
651
652 let scheduler = components::sched::round_robin::RoundRobinComponent::new(processes)
653 .finalize(components::round_robin_component_static!(NUM_PROCS));
654
655 let nucleo_f429zi = NucleoF429ZI {
656 console,
657 ipc: kernel::ipc::IPC::new(
658 board_kernel,
659 kernel::ipc::DRIVER_NUM,
660 &memory_allocation_capability,
661 ),
662 adc: adc_syscall,
663 dac,
664 led,
665 temperature: temp,
666 button,
667 alarm,
668 gpio,
669 rng,
670
671 scheduler,
672 systick: cortexm4::systick::SysTick::new_with_calibration(
673 (HSI_FREQUENCY_MHZ * 1_000_000) as u32,
674 ),
675 can,
676 date_time,
677 };
678
679 debug!("Initialization complete. Entering main loop");
685
686 extern "C" {
688 static _sapps: u8;
690 static _eapps: u8;
692 static mut _sappmem: u8;
694 static _eappmem: u8;
696 }
697
698 kernel::process::load_processes(
699 board_kernel,
700 chip,
701 core::slice::from_raw_parts(
702 core::ptr::addr_of!(_sapps),
703 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
704 ),
705 core::slice::from_raw_parts_mut(
706 core::ptr::addr_of_mut!(_sappmem),
707 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
708 ),
709 &FAULT_RESPONSE,
710 &process_management_capability,
711 )
712 .unwrap_or_else(|err| {
713 debug!("Error loading processes!");
714 debug!("{:?}", err);
715 });
716
717 (board_kernel, nucleo_f429zi, chip)
723}
724
725#[no_mangle]
727pub unsafe fn main() {
728 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
729
730 let (board_kernel, platform, chip) = start();
731 board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
732}