1#![no_std]
10#![no_main]
11#![deny(missing_docs)]
12
13use core::ptr::{addr_of, 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::scheduler::round_robin::RoundRobinSched;
22use kernel::{create_capability, debug, static_init};
23
24use stm32f429zi::chip_specs::Stm32f429Specs;
25use stm32f429zi::clocks::hsi::HSI_FREQUENCY_MHZ;
26use stm32f429zi::gpio::{AlternateFunction, Mode, PinId, PortId};
27use stm32f429zi::interrupt_service::Stm32f429ziDefaultPeripherals;
28
29pub mod io;
31
32const NUM_PROCS: usize = 4;
34
35static mut PROCESSES: [Option<&'static dyn kernel::process::Process>; NUM_PROCS] =
37 [None, None, None, None];
38
39static mut CHIP: Option<&'static stm32f429zi::chip::Stm32f4xx<Stm32f429ziDefaultPeripherals>> =
40 None;
41static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
42 None;
43
44const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
46 capsules_system::process_policies::PanicFaultPolicy {};
47
48#[no_mangle]
50#[link_section = ".stack_buffer"]
51pub static mut STACK_MEMORY: [u8; 0x2000] = [0; 0x2000];
52
53type TemperatureSTMSensor = components::temperature_stm::TemperatureSTMComponentType<
54 capsules_core::virtualizers::virtual_adc::AdcDevice<'static, stm32f429zi::adc::Adc<'static>>,
55>;
56type TemperatureDriver = components::temperature::TemperatureComponentType<TemperatureSTMSensor>;
57
58struct STM32F429IDiscovery {
61 console: &'static capsules_core::console::Console<'static>,
62 ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
63 led: &'static capsules_core::led::LedDriver<
64 'static,
65 LedHigh<'static, stm32f429zi::gpio::Pin<'static>>,
66 4,
67 >,
68 button: &'static capsules_core::button::Button<'static, stm32f429zi::gpio::Pin<'static>>,
69 adc: &'static capsules_core::adc::AdcVirtualized<'static>,
70 alarm: &'static capsules_core::alarm::AlarmDriver<
71 'static,
72 VirtualMuxAlarm<'static, stm32f429zi::tim2::Tim2<'static>>,
73 >,
74 temperature: &'static TemperatureDriver,
75 gpio: &'static capsules_core::gpio::GPIO<'static, stm32f429zi::gpio::Pin<'static>>,
76
77 scheduler: &'static RoundRobinSched<'static>,
78 systick: cortexm4::systick::SysTick,
79}
80
81impl SyscallDriverLookup for STM32F429IDiscovery {
83 fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
84 where
85 F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
86 {
87 match driver_num {
88 capsules_core::console::DRIVER_NUM => f(Some(self.console)),
89 capsules_core::led::DRIVER_NUM => f(Some(self.led)),
90 capsules_core::button::DRIVER_NUM => f(Some(self.button)),
91 capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
92 capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
93 capsules_extra::temperature::DRIVER_NUM => f(Some(self.temperature)),
94 kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
95 capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
96 _ => f(None),
97 }
98 }
99}
100
101impl
102 KernelResources<
103 stm32f429zi::chip::Stm32f4xx<
104 'static,
105 stm32f429zi::interrupt_service::Stm32f429ziDefaultPeripherals<'static>,
106 >,
107 > for STM32F429IDiscovery
108{
109 type SyscallDriverLookup = Self;
110 type SyscallFilter = ();
111 type ProcessFault = ();
112 type Scheduler = RoundRobinSched<'static>;
113 type SchedulerTimer = cortexm4::systick::SysTick;
114 type WatchDog = ();
115 type ContextSwitchCallback = ();
116
117 fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
118 self
119 }
120 fn syscall_filter(&self) -> &Self::SyscallFilter {
121 &()
122 }
123 fn process_fault(&self) -> &Self::ProcessFault {
124 &()
125 }
126 fn scheduler(&self) -> &Self::Scheduler {
127 self.scheduler
128 }
129 fn scheduler_timer(&self) -> &Self::SchedulerTimer {
130 &self.systick
131 }
132 fn watchdog(&self) -> &Self::WatchDog {
133 &()
134 }
135 fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
136 &()
137 }
138}
139
140unsafe fn setup_dma(
142 dma: &stm32f429zi::dma::Dma2,
143 dma_streams: &'static [stm32f429zi::dma::Stream<'static, stm32f429zi::dma::Dma2>; 8],
144 usart1: &'static stm32f429zi::usart::Usart<stm32f429zi::dma::Dma2>,
145) {
146 use stm32f429zi::dma::Dma2Peripheral;
147 use stm32f429zi::usart;
148
149 dma.enable_clock();
150
151 let usart1_tx_stream = &dma_streams[Dma2Peripheral::USART1_TX.get_stream_idx()];
152 let usart1_rx_stream = &dma_streams[Dma2Peripheral::USART1_RX.get_stream_idx()];
153
154 usart1.set_dma(
155 usart::TxDMA(usart1_tx_stream),
156 usart::RxDMA(usart1_rx_stream),
157 );
158
159 usart1_tx_stream.set_client(usart1);
160 usart1_rx_stream.set_client(usart1);
161
162 usart1_tx_stream.setup(Dma2Peripheral::USART1_TX);
163 usart1_rx_stream.setup(Dma2Peripheral::USART1_RX);
164
165 cortexm4::nvic::Nvic::new(Dma2Peripheral::USART1_TX.get_stream_irqn()).enable();
166 cortexm4::nvic::Nvic::new(Dma2Peripheral::USART1_RX.get_stream_irqn()).enable();
167}
168
169unsafe fn set_pin_primary_functions(
171 syscfg: &stm32f429zi::syscfg::Syscfg,
172 gpio_ports: &'static stm32f429zi::gpio::GpioPorts<'static>,
173) {
174 use kernel::hil::gpio::Configure;
175
176 syscfg.enable_clock();
177
178 gpio_ports.get_port_from_port_id(PortId::G).enable_clock();
179
180 gpio_ports.get_pin(PinId::PG14).map(|pin| {
182 pin.make_output();
183
184 kernel::debug::assign_gpios(Some(pin), None, None);
186 });
187
188 gpio_ports.get_port_from_port_id(PortId::A).enable_clock();
189
190 gpio_ports.get_pin(PinId::PA09).map(|pin| {
193 pin.set_mode(Mode::AlternateFunctionMode);
194 pin.set_alternate_function(AlternateFunction::AF7);
196 });
197 gpio_ports.get_pin(PinId::PA10).map(|pin| {
198 pin.set_mode(Mode::AlternateFunctionMode);
199 pin.set_alternate_function(AlternateFunction::AF7);
201 });
202
203 gpio_ports.get_pin(PinId::PA00).map(|pin| {
205 pin.enable_interrupt();
211 });
212 cortexm4::nvic::Nvic::new(stm32f429zi::nvic::EXTI0).enable(); gpio_ports.get_port_from_port_id(PortId::B).enable_clock();
220 gpio_ports.get_port_from_port_id(PortId::C).enable_clock();
221 gpio_ports.get_port_from_port_id(PortId::D).enable_clock();
222 gpio_ports.get_port_from_port_id(PortId::E).enable_clock();
223 gpio_ports.get_port_from_port_id(PortId::F).enable_clock();
224 gpio_ports.get_port_from_port_id(PortId::H).enable_clock();
226
227 gpio_ports.get_pin(PinId::PA03).map(|pin| {
229 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
230 });
231
232 gpio_ports.get_pin(PinId::PC00).map(|pin| {
234 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
235 });
236
237 gpio_ports.get_pin(PinId::PC03).map(|pin| {
239 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
240 });
241
242 gpio_ports.get_pin(PinId::PF03).map(|pin| {
244 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
245 });
246
247 gpio_ports.get_pin(PinId::PF05).map(|pin| {
249 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
250 });
251
252 gpio_ports.get_pin(PinId::PF10).map(|pin| {
254 pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
255 });
256}
257
258unsafe fn setup_peripherals(tim2: &stm32f429zi::tim2::Tim2) {
260 cortexm4::nvic::Nvic::new(stm32f429zi::nvic::USART1).enable();
262
263 tim2.enable_clock();
265 tim2.start();
266 cortexm4::nvic::Nvic::new(stm32f429zi::nvic::TIM2).enable();
267}
268
269#[inline(never)]
275unsafe fn start() -> (
276 &'static kernel::Kernel,
277 STM32F429IDiscovery,
278 &'static stm32f429zi::chip::Stm32f4xx<'static, Stm32f429ziDefaultPeripherals<'static>>,
279) {
280 stm32f429zi::init();
281
282 let rcc = static_init!(stm32f429zi::rcc::Rcc, stm32f429zi::rcc::Rcc::new());
284 let clocks = static_init!(
285 stm32f429zi::clocks::Clocks<Stm32f429Specs>,
286 stm32f429zi::clocks::Clocks::new(rcc)
287 );
288 let syscfg = static_init!(
289 stm32f429zi::syscfg::Syscfg,
290 stm32f429zi::syscfg::Syscfg::new(clocks)
291 );
292 let exti = static_init!(
293 stm32f429zi::exti::Exti,
294 stm32f429zi::exti::Exti::new(syscfg)
295 );
296 let dma1 = static_init!(stm32f429zi::dma::Dma1, stm32f429zi::dma::Dma1::new(clocks));
297 let dma2 = static_init!(stm32f429zi::dma::Dma2, stm32f429zi::dma::Dma2::new(clocks));
298 let peripherals = static_init!(
299 Stm32f429ziDefaultPeripherals,
300 Stm32f429ziDefaultPeripherals::new(clocks, exti, dma1, dma2)
301 );
302
303 peripherals.init();
304 let base_peripherals = &peripherals.stm32f4;
305
306 setup_peripherals(&base_peripherals.tim2);
307
308 set_pin_primary_functions(syscfg, &base_peripherals.gpio_ports);
309
310 setup_dma(
311 dma2,
312 &base_peripherals.dma2_streams,
313 &base_peripherals.usart1,
314 );
315
316 let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&*addr_of!(PROCESSES)));
317
318 let chip = static_init!(
319 stm32f429zi::chip::Stm32f4xx<Stm32f429ziDefaultPeripherals>,
320 stm32f429zi::chip::Stm32f4xx::new(peripherals)
321 );
322 CHIP = Some(chip);
323
324 base_peripherals.usart1.enable_clock();
331 let uart_mux = components::console::UartMuxComponent::new(&base_peripherals.usart1, 115200)
332 .finalize(components::uart_mux_component_static!());
333
334 (*addr_of_mut!(io::WRITER)).set_initialized();
335
336 let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
339 let process_management_capability =
340 create_capability!(capabilities::ProcessManagementCapability);
341
342 let console = components::console::ConsoleComponent::new(
344 board_kernel,
345 capsules_core::console::DRIVER_NUM,
346 uart_mux,
347 )
348 .finalize(components::console_component_static!());
349 components::debug_writer::DebugWriterComponent::new(
351 uart_mux,
352 create_capability!(capabilities::SetDebugWriterCapability),
353 )
354 .finalize(components::debug_writer_component_static!());
355
356 let gpio_ports = &base_peripherals.gpio_ports;
360
361 let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
362 LedHigh<'static, stm32f429zi::gpio::Pin>,
363 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PG13).unwrap()),
364 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PG14).unwrap()),
365 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PB13).unwrap()),
366 LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PC05).unwrap()),
367 ));
368
369 let button = components::button::ButtonComponent::new(
371 board_kernel,
372 capsules_core::button::DRIVER_NUM,
373 components::button_component_helper!(
374 stm32f429zi::gpio::Pin,
375 (
376 gpio_ports.get_pin(stm32f429zi::gpio::PinId::PA00).unwrap(),
377 kernel::hil::gpio::ActivationMode::ActiveHigh,
378 kernel::hil::gpio::FloatingState::PullNone
379 )
380 ),
381 )
382 .finalize(components::button_component_static!(stm32f429zi::gpio::Pin));
383
384 let tim2 = &base_peripherals.tim2;
387 let mux_alarm = components::alarm::AlarmMuxComponent::new(tim2).finalize(
388 components::alarm_mux_component_static!(stm32f429zi::tim2::Tim2),
389 );
390
391 let alarm = components::alarm::AlarmDriverComponent::new(
392 board_kernel,
393 capsules_core::alarm::DRIVER_NUM,
394 mux_alarm,
395 )
396 .finalize(components::alarm_component_static!(stm32f429zi::tim2::Tim2));
397
398 let gpio = GpioComponent::new(
400 board_kernel,
401 capsules_core::gpio::DRIVER_NUM,
402 components::gpio_component_helper!(
403 stm32f429zi::gpio::Pin,
404 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(), 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() ),
500 )
501 .finalize(components::gpio_component_static!(stm32f429zi::gpio::Pin));
502
503 let adc_mux = components::adc::AdcMuxComponent::new(&base_peripherals.adc1)
505 .finalize(components::adc_mux_component_static!(stm32f429zi::adc::Adc));
506
507 let temp_sensor = components::temperature_stm::TemperatureSTMComponent::new(
508 adc_mux,
509 stm32f429zi::adc::Channel::Channel18,
510 2.5,
511 0.76,
512 )
513 .finalize(components::temperature_stm_adc_component_static!(
514 stm32f429zi::adc::Adc
515 ));
516
517 let temp = components::temperature::TemperatureComponent::new(
518 board_kernel,
519 capsules_extra::temperature::DRIVER_NUM,
520 temp_sensor,
521 )
522 .finalize(components::temperature_component_static!(
523 TemperatureSTMSensor
524 ));
525
526 let adc_channel_0 =
527 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel3)
528 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
529
530 let adc_channel_1 =
531 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel10)
532 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
533
534 let adc_channel_2 =
535 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel13)
536 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
537
538 let adc_channel_3 =
539 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel9)
540 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
541
542 let adc_channel_4 =
543 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel15)
544 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
545
546 let adc_channel_5 =
547 components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel8)
548 .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
549
550 let adc_syscall =
551 components::adc::AdcVirtualComponent::new(board_kernel, capsules_core::adc::DRIVER_NUM)
552 .finalize(components::adc_syscall_component_helper!(
553 adc_channel_0,
554 adc_channel_1,
555 adc_channel_2,
556 adc_channel_3,
557 adc_channel_4,
558 adc_channel_5
559 ));
560
561 let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
562 .finalize(components::process_printer_text_component_static!());
563 PROCESS_PRINTER = Some(process_printer);
564
565 let process_console = components::process_console::ProcessConsoleComponent::new(
567 board_kernel,
568 uart_mux,
569 mux_alarm,
570 process_printer,
571 Some(cortexm4::support::reset),
572 )
573 .finalize(components::process_console_component_static!(
574 stm32f429zi::tim2::Tim2
575 ));
576 let _ = process_console.start();
577
578 let scheduler = components::sched::round_robin::RoundRobinComponent::new(&*addr_of!(PROCESSES))
579 .finalize(components::round_robin_component_static!(NUM_PROCS));
580
581 let stm32f429i_discovery = STM32F429IDiscovery {
582 console,
583 ipc: kernel::ipc::IPC::new(
584 board_kernel,
585 kernel::ipc::DRIVER_NUM,
586 &memory_allocation_capability,
587 ),
588 adc: adc_syscall,
589 led,
590 temperature: temp,
591 button,
592 alarm,
593 gpio,
594
595 scheduler,
596 systick: cortexm4::systick::SysTick::new_with_calibration(
597 (HSI_FREQUENCY_MHZ * 1_000_000) as u32,
598 ),
599 };
600
601 debug!("Initialization complete. Entering main loop");
607
608 extern "C" {
610 static _sapps: u8;
612 static _eapps: u8;
614 static mut _sappmem: u8;
616 static _eappmem: u8;
618 }
619
620 kernel::process::load_processes(
621 board_kernel,
622 chip,
623 core::slice::from_raw_parts(
624 core::ptr::addr_of!(_sapps),
625 core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
626 ),
627 core::slice::from_raw_parts_mut(
628 core::ptr::addr_of_mut!(_sappmem),
629 core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
630 ),
631 &mut *addr_of_mut!(PROCESSES),
632 &FAULT_RESPONSE,
633 &process_management_capability,
634 )
635 .unwrap_or_else(|err| {
636 debug!("Error loading processes!");
637 debug!("{:?}", err);
638 });
639
640 (board_kernel, stm32f429i_discovery, chip)
646}
647
648#[no_mangle]
650pub unsafe fn main() {
651 let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
652
653 let (board_kernel, platform, chip) = start();
654 board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
655}