raspberry_pi_pico/
io.rs
1use core::fmt::Write;
6use core::panic::PanicInfo;
7
8use kernel::debug::{self, IoWrite};
9use kernel::hil::led::LedHigh;
10use kernel::hil::uart::{Configure, Parameters, Parity, StopBits, Width};
11use kernel::utilities::cells::OptionalCell;
12
13use rp2040::gpio::{GpioFunction, RPGpio, RPGpioPin};
14use rp2040::uart::Uart;
15
16use crate::CHIP;
17use crate::PROCESSES;
18use crate::PROCESS_PRINTER;
19
20pub struct Writer {
22 uart: OptionalCell<&'static Uart<'static>>,
23}
24
25impl Writer {
26 pub fn set_uart(&self, uart: &'static Uart) {
27 self.uart.set(uart);
28 }
29
30 fn configure_uart(&self, uart: &Uart) {
31 if !uart.is_configured() {
32 let parameters = Parameters {
33 baud_rate: 115200,
34 width: Width::Eight,
35 parity: Parity::None,
36 stop_bits: StopBits::One,
37 hw_flow_control: false,
38 };
39 let _ = uart.configure(parameters);
41 let gpio_tx = RPGpioPin::new(RPGpio::GPIO0);
43 let gpio_rx = RPGpioPin::new(RPGpio::GPIO1);
44 gpio_rx.set_function(GpioFunction::UART);
45 gpio_tx.set_function(GpioFunction::UART);
46 }
47 }
48
49 fn write_to_uart(&self, uart: &Uart, buf: &[u8]) {
50 for &c in buf {
51 uart.send_byte(c);
52 }
53 }
54}
55
56pub static mut WRITER: Writer = Writer {
58 uart: OptionalCell::empty(),
59};
60
61impl Write for Writer {
62 fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
63 self.write(s.as_bytes());
64 Ok(())
65 }
66}
67
68impl IoWrite for Writer {
69 fn write(&mut self, buf: &[u8]) -> usize {
70 self.uart.map_or_else(
71 || {
72 let uart = Uart::new_uart0();
73 self.configure_uart(&uart);
74 self.write_to_uart(&uart, buf);
75 },
76 |uart| {
77 self.configure_uart(uart);
78 self.write_to_uart(uart, buf);
79 },
80 );
81 buf.len()
82 }
83}
84
85#[cfg(not(test))]
89#[no_mangle]
90#[panic_handler]
91pub unsafe fn panic_fmt(pi: &PanicInfo) -> ! {
92 use core::ptr::{addr_of, addr_of_mut};
95 let led_kernel_pin = &RPGpioPin::new(RPGpio::GPIO25);
96 let led = &mut LedHigh::new(led_kernel_pin);
97 let writer = &mut *addr_of_mut!(WRITER);
98
99 debug::panic(
100 &mut [led],
101 writer,
102 pi,
103 &cortexm0p::support::nop,
104 &*addr_of!(PROCESSES),
105 &*addr_of!(CHIP),
106 &*addr_of!(PROCESS_PRINTER),
107 )
108}