stm32f3discovery/

main.rs

// Licensed under the Apache License, Version 2.0 or the MIT License.
// SPDX-License-Identifier: Apache-2.0 OR MIT
// Copyright Tock Contributors 2022.

//! Board file for STM32F3Discovery Kit development board
//!
//! - <https://www.st.com/en/evaluation-tools/stm32f3discovery.html>

#![no_std]
#![no_main]
#![deny(missing_docs)]

use core::ptr::addr_of_mut;

use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
use capsules_extra::lsm303xx;
use capsules_system::process_printer::ProcessPrinterText;
use components::gpio::GpioComponent;
use kernel::capabilities;
use kernel::component::Component;
use kernel::hil::gpio::Configure;
use kernel::hil::gpio::Output;
use kernel::hil::led::LedHigh;
use kernel::hil::time::Counter;
use kernel::platform::{KernelResources, SyscallDriverLookup};
use kernel::process::ProcessArray;
use kernel::scheduler::round_robin::RoundRobinSched;
use kernel::{create_capability, debug, static_init};
use stm32f303xc::chip::Stm32f3xxDefaultPeripherals;
use stm32f303xc::wdt;

/// Support routines for debugging I/O.
pub mod io;

// Unit Tests for drivers.
#[allow(dead_code)]
mod virtual_uart_rx_test;

// Number of concurrent processes this platform supports.
const NUM_PROCS: usize = 4;

type ChipHw = stm32f303xc::chip::Stm32f3xx<'static, Stm32f3xxDefaultPeripherals<'static>>;

/// Static variables used by io.rs.
static mut PROCESSES: Option<&'static ProcessArray<NUM_PROCS>> = None;

// Static reference to chip for panic dumps.
static mut CHIP: Option<&'static ChipHw> = None;
// Static reference to process printer for panic dumps.
static mut PROCESS_PRINTER: Option<&'static ProcessPrinterText> = None;

// How should the kernel respond when a process faults.
const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
    capsules_system::process_policies::PanicFaultPolicy {};

kernel::stack_size! {0x1700}

type L3GD20Sensor = components::l3gd20::L3gd20ComponentType<
    capsules_core::virtualizers::virtual_spi::VirtualSpiMasterDevice<
        'static,
        stm32f303xc::spi::Spi<'static>,
    >,
>;
type TemperatureDriver = components::temperature::TemperatureComponentType<L3GD20Sensor>;

/// A structure representing this platform that holds references to all
/// capsules for this platform.
struct STM32F3Discovery {
    console: &'static capsules_core::console::Console<'static>,
    ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
    gpio: &'static capsules_core::gpio::GPIO<'static, stm32f303xc::gpio::Pin<'static>>,
    led: &'static capsules_core::led::LedDriver<
        'static,
        LedHigh<'static, stm32f303xc::gpio::Pin<'static>>,
        8,
    >,
    button: &'static capsules_core::button::Button<'static, stm32f303xc::gpio::Pin<'static>>,
    ninedof: &'static capsules_extra::ninedof::NineDof<'static>,
    l3gd20: &'static L3GD20Sensor,
    lsm303dlhc: &'static capsules_extra::lsm303dlhc::Lsm303dlhcI2C<
        'static,
        capsules_core::virtualizers::virtual_i2c::I2CDevice<
            'static,
            stm32f303xc::i2c::I2C<'static>,
        >,
    >,
    temp: &'static TemperatureDriver,
    alarm: &'static capsules_core::alarm::AlarmDriver<
        'static,
        VirtualMuxAlarm<'static, stm32f303xc::tim2::Tim2<'static>>,
    >,
    adc: &'static capsules_core::adc::AdcVirtualized<'static>,
    nonvolatile_storage:
        &'static capsules_extra::nonvolatile_storage_driver::NonvolatileStorage<'static>,

    scheduler: &'static RoundRobinSched<'static>,
    systick: cortexm4::systick::SysTick,
    watchdog: &'static wdt::WindoWdg<'static>,
}

/// Mapping of integer syscalls to objects that implement syscalls.
impl SyscallDriverLookup for STM32F3Discovery {
    fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
    where
        F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
    {
        match driver_num {
            capsules_core::console::DRIVER_NUM => f(Some(self.console)),
            capsules_core::led::DRIVER_NUM => f(Some(self.led)),
            capsules_core::button::DRIVER_NUM => f(Some(self.button)),
            capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
            capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
            capsules_extra::l3gd20::DRIVER_NUM => f(Some(self.l3gd20)),
            capsules_extra::lsm303dlhc::DRIVER_NUM => f(Some(self.lsm303dlhc)),
            capsules_extra::ninedof::DRIVER_NUM => f(Some(self.ninedof)),
            capsules_extra::temperature::DRIVER_NUM => f(Some(self.temp)),
            kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
            capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
            capsules_extra::nonvolatile_storage_driver::DRIVER_NUM => {
                f(Some(self.nonvolatile_storage))
            }
            _ => f(None),
        }
    }
}

impl
    KernelResources<
        stm32f303xc::chip::Stm32f3xx<
            'static,
            stm32f303xc::chip::Stm32f3xxDefaultPeripherals<'static>,
        >,
    > for STM32F3Discovery
{
    type SyscallDriverLookup = Self;
    type SyscallFilter = ();
    type ProcessFault = ();
    type Scheduler = RoundRobinSched<'static>;
    type SchedulerTimer = cortexm4::systick::SysTick;
    type WatchDog = wdt::WindoWdg<'static>;
    type ContextSwitchCallback = ();

    fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
        self
    }
    fn syscall_filter(&self) -> &Self::SyscallFilter {
        &()
    }
    fn process_fault(&self) -> &Self::ProcessFault {
        &()
    }
    fn scheduler(&self) -> &Self::Scheduler {
        self.scheduler
    }
    fn scheduler_timer(&self) -> &Self::SchedulerTimer {
        &self.systick
    }
    fn watchdog(&self) -> &Self::WatchDog {
        self.watchdog
    }
    fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
        &()
    }
}

/// Helper function called during bring-up that configures multiplexed I/O.
unsafe fn set_pin_primary_functions(
    syscfg: &stm32f303xc::syscfg::Syscfg,
    spi1: &stm32f303xc::spi::Spi,
    i2c1: &stm32f303xc::i2c::I2C,
    gpio_ports: &'static stm32f303xc::gpio::GpioPorts<'static>,
) {
    use stm32f303xc::gpio::{AlternateFunction, Mode, PinId, PortId};

    syscfg.enable_clock();

    gpio_ports.get_port_from_port_id(PortId::A).enable_clock();
    gpio_ports.get_port_from_port_id(PortId::B).enable_clock();
    gpio_ports.get_port_from_port_id(PortId::C).enable_clock();
    gpio_ports.get_port_from_port_id(PortId::D).enable_clock();
    gpio_ports.get_port_from_port_id(PortId::E).enable_clock();
    gpio_ports.get_port_from_port_id(PortId::F).enable_clock();

    gpio_ports.get_pin(PinId::PE14).map(|pin| {
        pin.make_output();
        pin.set();
    });

    // User LD3 is connected to PE09. Configure PE09 as `debug_gpio!(0, ...)`
    gpio_ports.get_pin(PinId::PE09).map(|pin| {
        pin.make_output();

        // Configure kernel debug gpios as early as possible
        let debug_gpios = static_init!([&'static dyn kernel::hil::gpio::Pin; 1], [pin]);
        kernel::debug::initialize_debug_gpio::<
            <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
        >();
        kernel::debug::assign_gpios(debug_gpios);
    });

    // pc4 and pc5 (USART1) is connected to ST-LINK virtual COM port
    gpio_ports.get_pin(PinId::PC04).map(|pin| {
        pin.set_mode(Mode::AlternateFunctionMode);
        // AF7 is USART1_TX
        pin.set_alternate_function(AlternateFunction::AF7);
    });
    gpio_ports.get_pin(PinId::PC05).map(|pin| {
        pin.set_mode(Mode::AlternateFunctionMode);
        // AF7 is USART1_RX
        pin.set_alternate_function(AlternateFunction::AF7);
    });

    // button is connected on pa00
    gpio_ports.get_pin(PinId::PA00).map(|pin| {
        pin.enable_interrupt();
    });

    // enable interrupt for gpio 0
    gpio_ports.get_pin(PinId::PC01).map(|pin| {
        pin.enable_interrupt();
    });

    // SPI1 has the l3gd20 sensor connected
    gpio_ports.get_pin(PinId::PA06).map(|pin| {
        pin.set_mode(Mode::AlternateFunctionMode);
        pin.set_floating_state(kernel::hil::gpio::FloatingState::PullNone);
        // AF5 is SPI1/SPI2
        pin.set_alternate_function(AlternateFunction::AF5);
    });
    gpio_ports.get_pin(PinId::PA07).map(|pin| {
        pin.make_output();
        pin.set_floating_state(kernel::hil::gpio::FloatingState::PullNone);
        pin.set_mode(Mode::AlternateFunctionMode);
        // AF5 is SPI1/SPI2
        pin.set_alternate_function(AlternateFunction::AF5);
    });
    gpio_ports.get_pin(PinId::PA05).map(|pin| {
        pin.make_output();
        pin.set_floating_state(kernel::hil::gpio::FloatingState::PullNone);
        pin.set_mode(Mode::AlternateFunctionMode);
        // AF5 is SPI1/SPI2
        pin.set_alternate_function(AlternateFunction::AF5);
    });
    // PE03 is the chip select pin from the l3gd20 sensor
    gpio_ports.get_pin(PinId::PE03).map(|pin| {
        pin.make_output();
        pin.set_floating_state(kernel::hil::gpio::FloatingState::PullNone);
        pin.set();
    });

    spi1.enable_clock();

    // I2C1 has the LSM303DLHC sensor connected
    gpio_ports.get_pin(PinId::PB06).map(|pin| {
        pin.set_mode(Mode::AlternateFunctionMode);
        pin.set_floating_state(kernel::hil::gpio::FloatingState::PullNone);
        // AF4 is I2C
        pin.set_alternate_function(AlternateFunction::AF4);
    });
    gpio_ports.get_pin(PinId::PB07).map(|pin| {
        pin.make_output();
        pin.set_floating_state(kernel::hil::gpio::FloatingState::PullNone);
        pin.set_mode(Mode::AlternateFunctionMode);
        // AF4 is I2C
        pin.set_alternate_function(AlternateFunction::AF4);
    });

    // ADC1
    // channel 1 - shared with button
    // gpio_ports.get_pin(PinId::PA00).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // channel 2
    gpio_ports.get_pin(PinId::PA01).map(|pin| {
        pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    });

    // channel 3
    gpio_ports.get_pin(PinId::PA02).map(|pin| {
        pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    });

    // channel 4
    gpio_ports.get_pin(PinId::PA03).map(|pin| {
        pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    });

    // channel 5
    gpio_ports.get_pin(PinId::PF04).map(|pin| {
        pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    });

    // ADC2
    // gpio_ports.get_pin(PinId::PA04).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PA05).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PA06).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PA07).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // ADC3
    // gpio_ports.get_pin(PinId::PB01).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PE09).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PE13).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PB13).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // ADC4
    // gpio_ports.get_pin(PinId::PE14).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PE15).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PB12).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PB14).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    // gpio_ports.get_pin(PinId::PB15).map(|pin| {
    //     pin.set_mode(stm32f303xc::gpio::Mode::AnalogMode);
    // });

    i2c1.enable_clock();
    i2c1.set_speed(stm32f303xc::i2c::I2CSpeed::Speed400k, 8);
}

/// Helper function for miscellaneous peripheral functions
unsafe fn setup_peripherals(tim2: &stm32f303xc::tim2::Tim2) {
    // USART1 IRQn is 37
    cortexm4::nvic::Nvic::new(stm32f303xc::nvic::USART1).enable();
    // USART2 IRQn is 38
    cortexm4::nvic::Nvic::new(stm32f303xc::nvic::USART2).enable();

    // TIM2 IRQn is 28
    tim2.enable_clock();
    let _ = tim2.start();
    cortexm4::nvic::Nvic::new(stm32f303xc::nvic::TIM2).enable();
}

/// Main function.
///
/// This is in a separate, inline(never) function so that its stack frame is
/// removed when this function returns. Otherwise, the stack space used for
/// these static_inits is wasted.
#[inline(never)]
unsafe fn start() -> (
    &'static kernel::Kernel,
    STM32F3Discovery,
    &'static stm32f303xc::chip::Stm32f3xx<'static, Stm32f3xxDefaultPeripherals<'static>>,
) {
    stm32f303xc::init();

    // Initialize deferred calls very early.
    kernel::deferred_call::initialize_deferred_call_state::<
        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
    >();

    // We use the default HSI 8Mhz clock
    let rcc = static_init!(stm32f303xc::rcc::Rcc, stm32f303xc::rcc::Rcc::new());
    let syscfg = static_init!(
        stm32f303xc::syscfg::Syscfg,
        stm32f303xc::syscfg::Syscfg::new(rcc)
    );
    let exti = static_init!(
        stm32f303xc::exti::Exti,
        stm32f303xc::exti::Exti::new(syscfg)
    );

    let peripherals = static_init!(
        Stm32f3xxDefaultPeripherals,
        Stm32f3xxDefaultPeripherals::new(rcc, exti)
    );

    peripherals.setup_circular_deps();

    set_pin_primary_functions(
        syscfg,
        &peripherals.spi1,
        &peripherals.i2c1,
        &peripherals.gpio_ports,
    );

    setup_peripherals(&peripherals.tim2);

    // Create an array to hold process references.
    let processes = components::process_array::ProcessArrayComponent::new()
        .finalize(components::process_array_component_static!(NUM_PROCS));
    PROCESSES = Some(processes);

    // Setup space to store the core kernel data structure.
    let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(processes.as_slice()));

    let chip = static_init!(
        stm32f303xc::chip::Stm32f3xx<Stm32f3xxDefaultPeripherals>,
        stm32f303xc::chip::Stm32f3xx::new(peripherals)
    );
    CHIP = Some(chip);

    // UART

    // Create a shared UART channel for kernel debug.
    peripherals.usart1.enable_clock();
    peripherals.usart2.enable_clock();

    let uart_mux = components::console::UartMuxComponent::new(&peripherals.usart1, 115200)
        .finalize(components::uart_mux_component_static!());

    // `finalize()` configures the underlying USART, so we need to
    // tell `send_byte()` not to configure the USART again.
    (*addr_of_mut!(io::WRITER)).set_initialized();

    // Create capabilities that the board needs to call certain protected kernel
    // functions.
    let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
    let process_management_capability =
        create_capability!(capabilities::ProcessManagementCapability);

    // Setup the console.
    let console = components::console::ConsoleComponent::new(
        board_kernel,
        capsules_core::console::DRIVER_NUM,
        uart_mux,
    )
    .finalize(components::console_component_static!());
    // Create the debugger object that handles calls to `debug!()`.
    components::debug_writer::DebugWriterComponent::new::<
        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
    >(
        uart_mux,
        create_capability!(capabilities::SetDebugWriterCapability),
    )
    .finalize(components::debug_writer_component_static!());

    // LEDs

    // Clock to Port E is enabled in `set_pin_primary_functions()`

    let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
        LedHigh<'static, stm32f303xc::gpio::Pin<'static>>,
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE09)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE08)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE10)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE15)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE11)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE14)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE12)
                .unwrap()
        ),
        LedHigh::new(
            peripherals
                .gpio_ports
                .get_pin(stm32f303xc::gpio::PinId::PE13)
                .unwrap()
        ),
    ));

    // BUTTONs
    let button = components::button::ButtonComponent::new(
        board_kernel,
        capsules_core::button::DRIVER_NUM,
        components::button_component_helper!(
            stm32f303xc::gpio::Pin<'static>,
            (
                peripherals
                    .gpio_ports
                    .get_pin(stm32f303xc::gpio::PinId::PA00)
                    .unwrap(),
                kernel::hil::gpio::ActivationMode::ActiveHigh,
                kernel::hil::gpio::FloatingState::PullNone
            )
        ),
    )
    .finalize(components::button_component_static!(
        stm32f303xc::gpio::Pin<'static>
    ));

    // ALARM

    let tim2 = &peripherals.tim2;
    let mux_alarm = components::alarm::AlarmMuxComponent::new(tim2).finalize(
        components::alarm_mux_component_static!(stm32f303xc::tim2::Tim2),
    );

    let alarm = components::alarm::AlarmDriverComponent::new(
        board_kernel,
        capsules_core::alarm::DRIVER_NUM,
        mux_alarm,
    )
    .finalize(components::alarm_component_static!(stm32f303xc::tim2::Tim2));

    let gpio_ports = &peripherals.gpio_ports;
    // GPIO
    let gpio = GpioComponent::new(
        board_kernel,
        capsules_core::gpio::DRIVER_NUM,
        components::gpio_component_helper!(
            stm32f303xc::gpio::Pin<'static>,
            // Left outer connector
            0 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC01).unwrap(),
            1 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC03).unwrap(),
            // 2 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA01).unwrap(),
            // 3 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA03).unwrap(),
            // 4 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF04).unwrap(),
            // 5 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA05).unwrap(),
            // 6 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA07).unwrap(),
            // 7 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC05).unwrap(),
            // 8 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB01).unwrap(),
            9 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE07).unwrap(),
            // 10 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE09).unwrap(),
            11 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE11).unwrap(),
            // 12 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE13).unwrap(),
            // 13 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE15).unwrap(),
            14 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB11).unwrap(),
            // 15 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB13).unwrap(),
            // 16 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB15).unwrap(),
            17 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD09).unwrap(),
            18 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD11).unwrap(),
            19 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD13).unwrap(),
            20 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD15).unwrap(),
            21 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC06).unwrap(),
            // Left inner connector
            22 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC00).unwrap(),
            23 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC02).unwrap(),
            24 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF02).unwrap(),
            // 25 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA00).unwrap(),
            // 26 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA02).unwrap(),
            // 27 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA04).unwrap(),
            // 28 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA06).unwrap(),
            // 29 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC04).unwrap(),
            30 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB00).unwrap(),
            31 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB02).unwrap(),
            32 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE08).unwrap(),
            33 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE10).unwrap(),
            34 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE12).unwrap(),
            // 35 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE14).unwrap(),
            36 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB10).unwrap(),
            // 37 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB12).unwrap(),
            // 38 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB14).unwrap(),
            39 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD08).unwrap(),
            40 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD10).unwrap(),
            41 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD12).unwrap(),
            42 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD14).unwrap(),
            43 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC07).unwrap(),
            // Right inner connector
            44 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF09).unwrap(),
            45 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF00).unwrap(),
            46 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC14).unwrap(),
            47 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE06).unwrap(),
            48 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE04).unwrap(),
            49 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE02).unwrap(),
            50 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE00).unwrap(),
            51 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB08).unwrap(),
            // 52 => &gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB06).unwrap(),
            53 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB04).unwrap(),
            54 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD07).unwrap(),
            55 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD05).unwrap(),
            56 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD03).unwrap(),
            57 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD01).unwrap(),
            58 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC12).unwrap(),
            59 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC10).unwrap(),
            60 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA14).unwrap(),
            61 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF06).unwrap(),
            62 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA12).unwrap(),
            63 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA10).unwrap(),
            64 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA08).unwrap(),
            65 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC08).unwrap(),
            // Right outer connector
            66 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF10).unwrap(),
            67 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PF01).unwrap(),
            68 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC15).unwrap(),
            69 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC13).unwrap(),
            70 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE05).unwrap(),
            71 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE03).unwrap(),
            72 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE01).unwrap(),
            73 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB09).unwrap(),
            // 74 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB07).unwrap(),
            75 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB05).unwrap(),
            76 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PB03).unwrap(),
            77 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD06).unwrap(),
            78 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD04).unwrap(),
            79 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD02).unwrap(),
            80 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PD00).unwrap(),
            81 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC11).unwrap(),
            82 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA15).unwrap(),
            83 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA13).unwrap(),
            84 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA11).unwrap(),
            85 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PA09).unwrap(),
            86 => gpio_ports.get_pin(stm32f303xc::gpio::PinId::PC09).unwrap()
        ),
    )
    .finalize(components::gpio_component_static!(
        stm32f303xc::gpio::Pin<'static>
    ));

    // L3GD20 sensor
    let spi_mux = components::spi::SpiMuxComponent::new(&peripherals.spi1)
        .finalize(components::spi_mux_component_static!(stm32f303xc::spi::Spi));

    let l3gd20 = components::l3gd20::L3gd20Component::new(
        spi_mux,
        gpio_ports.get_pin(stm32f303xc::gpio::PinId::PE03).unwrap(),
        board_kernel,
        capsules_extra::l3gd20::DRIVER_NUM,
    )
    .finalize(components::l3gd20_component_static!(
        // spi type
        stm32f303xc::spi::Spi
    ));

    l3gd20.power_on();

    // Comment this if you want to use the ADC MCU temp sensor
    let temp = components::temperature::TemperatureComponent::new(
        board_kernel,
        capsules_extra::temperature::DRIVER_NUM,
        l3gd20,
    )
    .finalize(components::temperature_component_static!(L3GD20Sensor));

    // LSM303DLHC

    let mux_i2c = components::i2c::I2CMuxComponent::new(&peripherals.i2c1, None)
        .finalize(components::i2c_mux_component_static!(stm32f303xc::i2c::I2C));

    let lsm303dlhc = components::lsm303dlhc::Lsm303dlhcI2CComponent::new(
        mux_i2c,
        None,
        None,
        board_kernel,
        capsules_extra::lsm303dlhc::DRIVER_NUM,
    )
    .finalize(components::lsm303dlhc_component_static!(
        stm32f303xc::i2c::I2C
    ));

    if let Err(error) = lsm303dlhc.configure(
        lsm303xx::Lsm303AccelDataRate::DataRate25Hz,
        false,
        lsm303xx::Lsm303Scale::Scale2G,
        false,
        true,
        lsm303xx::Lsm303MagnetoDataRate::DataRate3_0Hz,
        lsm303xx::Lsm303Range::Range1_9G,
    ) {
        debug!("Failed to configure LSM303DLHC sensor ({:?})", error);
    }

    let ninedof = components::ninedof::NineDofComponent::new(
        board_kernel,
        capsules_extra::ninedof::DRIVER_NUM,
    )
    .finalize(components::ninedof_component_static!(l3gd20, lsm303dlhc));

    let adc_mux = components::adc::AdcMuxComponent::new(&peripherals.adc1)
        .finalize(components::adc_mux_component_static!(stm32f303xc::adc::Adc));

    // Uncomment this if you want to use ADC MCU temp sensor
    // let temp_sensor = components::temperature_stm::TemperatureSTMComponent::new(4.3, 1.43)
    //     .finalize(components::temperaturestm_adc_component_static!(
    //         // spi type
    //         stm32f303xc::adc::Adc,
    //         // chip select
    //         stm32f303xc::adc::Channel::Channel18,
    //         // spi mux
    //         adc_mux
    //     ));
    // let grant_cap = create_capability!(capabilities::MemoryAllocationCapability);
    // let grant_temperature = board_kernel.create_grant(&grant_cap);

    // let temp = static_init!(
    //     capsules_extra::temperature::TemperatureSensor<'static>,
    //     capsules_extra::temperature::TemperatureSensor::new(temp_sensor, grant_temperature)
    // );
    // kernel::hil::sensors::TemperatureDriver::set_client(temp_sensor, temp);

    // shared with button
    // let adc_channel_1 =
    //     components::adc::AdcComponent::new(&adc_mux, stm32f303xc::adc::Channel::Channel1)
    //         .finalize(components::adc_component_static!(stm32f303xc::adc::Adc));

    let adc_channel_2 =
        components::adc::AdcComponent::new(adc_mux, stm32f303xc::adc::Channel::Channel2)
            .finalize(components::adc_component_static!(stm32f303xc::adc::Adc));

    let adc_channel_3 =
        components::adc::AdcComponent::new(adc_mux, stm32f303xc::adc::Channel::Channel3)
            .finalize(components::adc_component_static!(stm32f303xc::adc::Adc));

    let adc_channel_4 =
        components::adc::AdcComponent::new(adc_mux, stm32f303xc::adc::Channel::Channel4)
            .finalize(components::adc_component_static!(stm32f303xc::adc::Adc));

    let adc_channel_5 =
        components::adc::AdcComponent::new(adc_mux, stm32f303xc::adc::Channel::Channel5)
            .finalize(components::adc_component_static!(stm32f303xc::adc::Adc));

    let adc_syscall =
        components::adc::AdcVirtualComponent::new(board_kernel, capsules_core::adc::DRIVER_NUM)
            .finalize(components::adc_syscall_component_helper!(
                adc_channel_2,
                adc_channel_3,
                adc_channel_4,
                adc_channel_5,
            ));

    // Kernel storage region, allocated with the storage_volume!
    // macro in common/utils.rs
    extern "C" {
        /// Beginning on the ROM region containing app images.
        static _sstorage: u8;
        static _estorage: u8;
    }

    let nonvolatile_storage = components::nonvolatile_storage::NonvolatileStorageComponent::new(
        board_kernel,
        capsules_extra::nonvolatile_storage_driver::DRIVER_NUM,
        &peripherals.flash,
        0x08038000, // Start address for userspace accesible region
        0x8000,     // Length of userspace accesible region (16 pages)
        core::ptr::addr_of!(_sstorage) as usize,
        core::ptr::addr_of!(_estorage) as usize - core::ptr::addr_of!(_sstorage) as usize,
    )
    .finalize(components::nonvolatile_storage_component_static!(
        stm32f303xc::flash::Flash
    ));

    let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
        .finalize(components::process_printer_text_component_static!());
    PROCESS_PRINTER = Some(process_printer);

    // PROCESS CONSOLE
    let process_console = components::process_console::ProcessConsoleComponent::new(
        board_kernel,
        uart_mux,
        mux_alarm,
        process_printer,
        Some(cortexm4::support::reset),
    )
    .finalize(components::process_console_component_static!(
        stm32f303xc::tim2::Tim2
    ));
    let _ = process_console.start();

    let scheduler = components::sched::round_robin::RoundRobinComponent::new(processes)
        .finalize(components::round_robin_component_static!(NUM_PROCS));

    let stm32f3discovery = STM32F3Discovery {
        console,
        ipc: kernel::ipc::IPC::new(
            board_kernel,
            kernel::ipc::DRIVER_NUM,
            &memory_allocation_capability,
        ),
        gpio,
        led,
        button,
        alarm,
        l3gd20,
        lsm303dlhc,
        ninedof,
        temp,
        adc: adc_syscall,
        nonvolatile_storage,

        scheduler,
        // Systick uses the HSI, which runs at 8MHz
        systick: cortexm4::systick::SysTick::new_with_calibration(8_000_000),
        watchdog: &peripherals.watchdog,
    };

    // // Optional kernel tests
    // //
    // // See comment in `boards/imix/src/main.rs`
    // virtual_uart_rx_test::run_virtual_uart_receive(mux_uart);

    debug!("Initialization complete. Entering main loop");

    // These symbols are defined in the linker script.
    extern "C" {
        /// Beginning of the ROM region containing app images.
        static _sapps: u8;
        /// End of the ROM region containing app images.
        static _eapps: u8;
        /// Beginning of the RAM region for app memory.
        static mut _sappmem: u8;
        /// End of the RAM region for app memory.
        static _eappmem: u8;
    }

    kernel::process::load_processes(
        board_kernel,
        chip,
        core::slice::from_raw_parts(
            core::ptr::addr_of!(_sapps),
            core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
        ),
        core::slice::from_raw_parts_mut(
            core::ptr::addr_of_mut!(_sappmem),
            core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
        ),
        &FAULT_RESPONSE,
        &process_management_capability,
    )
    .unwrap_or_else(|err| {
        debug!("Error loading processes!");
        debug!("{:?}", err);
    });

    // Uncomment this to enable the watchdog
    peripherals.watchdog.enable();

    //Uncomment to run multi alarm test
    /*components::test::multi_alarm_test::MultiAlarmTestComponent::new(mux_alarm)
    .finalize(components::multi_alarm_test_component_buf!(stm32f303xc::tim2::Tim2))
    .run();*/

    (board_kernel, stm32f3discovery, chip)
}

/// Main function called after RAM initialized.
#[no_mangle]
pub unsafe fn main() {
    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);

    let (board_kernel, platform, chip) = start();
    board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
}