stm32f429idiscovery/
main.rs

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
5//! Board file for STM32F429I Discovery development board
6//!
7//! - <https://www.st.com/en/evaluation-tools/32f429idiscovery.html>
8
9#![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
30/// Support routines for debugging I/O.
31pub mod io;
32
33// Number of concurrent processes this platform supports.
34const NUM_PROCS: usize = 4;
35
36type ChipHw = stm32f429zi::chip::Stm32f4xx<'static, Stm32f429ziDefaultPeripherals<'static>>;
37
38/// Static variables used by io.rs.
39static mut PROCESSES: Option<&'static ProcessArray<NUM_PROCS>> = None;
40static mut CHIP: Option<&'static ChipHw> = None;
41static mut PROCESS_PRINTER: Option<&'static capsules_system::process_printer::ProcessPrinterText> =
42    None;
43
44// How should the kernel respond when a process faults.
45const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
46    capsules_system::process_policies::PanicFaultPolicy {};
47
48kernel::stack_size! {0x2000}
49
50type TemperatureSTMSensor = components::temperature_stm::TemperatureSTMComponentType<
51    capsules_core::virtualizers::virtual_adc::AdcDevice<'static, stm32f429zi::adc::Adc<'static>>,
52>;
53type TemperatureDriver = components::temperature::TemperatureComponentType<TemperatureSTMSensor>;
54
55/// A structure representing this platform that holds references to all
56/// capsules for this platform.
57struct STM32F429IDiscovery {
58    console: &'static capsules_core::console::Console<'static>,
59    ipc: kernel::ipc::IPC<{ NUM_PROCS as u8 }>,
60    led: &'static capsules_core::led::LedDriver<
61        'static,
62        LedHigh<'static, stm32f429zi::gpio::Pin<'static>>,
63        4,
64    >,
65    button: &'static capsules_core::button::Button<'static, stm32f429zi::gpio::Pin<'static>>,
66    adc: &'static capsules_core::adc::AdcVirtualized<'static>,
67    alarm: &'static capsules_core::alarm::AlarmDriver<
68        'static,
69        VirtualMuxAlarm<'static, stm32f429zi::tim2::Tim2<'static>>,
70    >,
71    temperature: &'static TemperatureDriver,
72    gpio: &'static capsules_core::gpio::GPIO<'static, stm32f429zi::gpio::Pin<'static>>,
73
74    scheduler: &'static RoundRobinSched<'static>,
75    systick: cortexm4::systick::SysTick,
76}
77
78/// Mapping of integer syscalls to objects that implement syscalls.
79impl SyscallDriverLookup for STM32F429IDiscovery {
80    fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
81    where
82        F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
83    {
84        match driver_num {
85            capsules_core::console::DRIVER_NUM => f(Some(self.console)),
86            capsules_core::led::DRIVER_NUM => f(Some(self.led)),
87            capsules_core::button::DRIVER_NUM => f(Some(self.button)),
88            capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
89            capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
90            capsules_extra::temperature::DRIVER_NUM => f(Some(self.temperature)),
91            kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
92            capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
93            _ => f(None),
94        }
95    }
96}
97
98impl
99    KernelResources<
100        stm32f429zi::chip::Stm32f4xx<
101            'static,
102            stm32f429zi::interrupt_service::Stm32f429ziDefaultPeripherals<'static>,
103        >,
104    > for STM32F429IDiscovery
105{
106    type SyscallDriverLookup = Self;
107    type SyscallFilter = ();
108    type ProcessFault = ();
109    type Scheduler = RoundRobinSched<'static>;
110    type SchedulerTimer = cortexm4::systick::SysTick;
111    type WatchDog = ();
112    type ContextSwitchCallback = ();
113
114    fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
115        self
116    }
117    fn syscall_filter(&self) -> &Self::SyscallFilter {
118        &()
119    }
120    fn process_fault(&self) -> &Self::ProcessFault {
121        &()
122    }
123    fn scheduler(&self) -> &Self::Scheduler {
124        self.scheduler
125    }
126    fn scheduler_timer(&self) -> &Self::SchedulerTimer {
127        &self.systick
128    }
129    fn watchdog(&self) -> &Self::WatchDog {
130        &()
131    }
132    fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
133        &()
134    }
135}
136
137/// Helper function called during bring-up that configures DMA.
138unsafe fn setup_dma(
139    dma: &stm32f429zi::dma::Dma2,
140    dma_streams: &'static [stm32f429zi::dma::Stream<'static, stm32f429zi::dma::Dma2>; 8],
141    usart1: &'static stm32f429zi::usart::Usart<stm32f429zi::dma::Dma2>,
142) {
143    use stm32f429zi::dma::Dma2Peripheral;
144    use stm32f429zi::usart;
145
146    dma.enable_clock();
147
148    let usart1_tx_stream = &dma_streams[Dma2Peripheral::USART1_TX.get_stream_idx()];
149    let usart1_rx_stream = &dma_streams[Dma2Peripheral::USART1_RX.get_stream_idx()];
150
151    usart1.set_dma(
152        usart::TxDMA(usart1_tx_stream),
153        usart::RxDMA(usart1_rx_stream),
154    );
155
156    usart1_tx_stream.set_client(usart1);
157    usart1_rx_stream.set_client(usart1);
158
159    usart1_tx_stream.setup(Dma2Peripheral::USART1_TX);
160    usart1_rx_stream.setup(Dma2Peripheral::USART1_RX);
161
162    cortexm4::nvic::Nvic::new(Dma2Peripheral::USART1_TX.get_stream_irqn()).enable();
163    cortexm4::nvic::Nvic::new(Dma2Peripheral::USART1_RX.get_stream_irqn()).enable();
164}
165
166/// Helper function called during bring-up that configures multiplexed I/O.
167unsafe fn set_pin_primary_functions(
168    syscfg: &stm32f429zi::syscfg::Syscfg,
169    gpio_ports: &'static stm32f429zi::gpio::GpioPorts<'static>,
170) {
171    use kernel::hil::gpio::Configure;
172
173    syscfg.enable_clock();
174
175    gpio_ports.get_port_from_port_id(PortId::G).enable_clock();
176
177    // User LD4 (red) is connected to PG14. Configure PG14 as `debug_gpio!(0, ...)`
178    gpio_ports.get_pin(PinId::PG14).map(|pin| {
179        pin.make_output();
180
181        // Configure kernel debug gpios as early as possible
182        let debug_gpios = static_init!([&'static dyn kernel::hil::gpio::Pin; 1], [pin]);
183        kernel::debug::initialize_debug_gpio::<
184            <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
185        >();
186        kernel::debug::assign_gpios(debug_gpios);
187    });
188
189    gpio_ports.get_port_from_port_id(PortId::A).enable_clock();
190
191    // Configure USART1 on Pins PA09 and PA10.
192    // USART1 is connected to ST-LINK virtual COM port on Rev.1 of the Stm32f429i Discovery board
193    gpio_ports.get_pin(PinId::PA09).map(|pin| {
194        pin.set_mode(Mode::AlternateFunctionMode);
195        // AF7 is USART1_TX
196        pin.set_alternate_function(AlternateFunction::AF7);
197    });
198    gpio_ports.get_pin(PinId::PA10).map(|pin| {
199        pin.set_mode(Mode::AlternateFunctionMode);
200        // AF7 is USART1_RX
201        pin.set_alternate_function(AlternateFunction::AF7);
202    });
203
204    // User button B1 is connected on pa00
205    gpio_ports.get_pin(PinId::PA00).map(|pin| {
206        // By default, upon reset, the pin is in input mode, with no internal
207        // pull-up, no internal pull-down (i.e., floating).
208        //
209        // Only set the mapping between EXTI line and the Pin and let capsule do
210        // the rest.
211        pin.enable_interrupt();
212    });
213    // EXTI0 interrupts is delivered at IRQn 6 (EXTI0)
214    cortexm4::nvic::Nvic::new(stm32f429zi::nvic::EXTI0).enable(); // TODO check if this is still necessary!
215
216    // Enable clocks for GPIO Ports
217    // Disable some of them if you don't need some of the GPIOs
218    // Ports A, and B are already enabled
219    //           A: already enabled
220    gpio_ports.get_port_from_port_id(PortId::B).enable_clock();
221    gpio_ports.get_port_from_port_id(PortId::C).enable_clock();
222    gpio_ports.get_port_from_port_id(PortId::D).enable_clock();
223    gpio_ports.get_port_from_port_id(PortId::E).enable_clock();
224    gpio_ports.get_port_from_port_id(PortId::F).enable_clock();
225    //           G: already enabled
226    gpio_ports.get_port_from_port_id(PortId::H).enable_clock();
227
228    // Arduino A0
229    gpio_ports.get_pin(PinId::PA03).map(|pin| {
230        pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
231    });
232
233    // Arduino A1
234    gpio_ports.get_pin(PinId::PC00).map(|pin| {
235        pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
236    });
237
238    // Arduino A2
239    gpio_ports.get_pin(PinId::PC03).map(|pin| {
240        pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
241    });
242
243    // Arduino A3
244    gpio_ports.get_pin(PinId::PF03).map(|pin| {
245        pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
246    });
247
248    // Arduino A4
249    gpio_ports.get_pin(PinId::PF05).map(|pin| {
250        pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
251    });
252
253    // Arduino A5
254    gpio_ports.get_pin(PinId::PF10).map(|pin| {
255        pin.set_mode(stm32f429zi::gpio::Mode::AnalogMode);
256    });
257}
258
259/// Helper function for miscellaneous peripheral functions
260unsafe fn setup_peripherals(tim2: &stm32f429zi::tim2::Tim2) {
261    // USART1 IRQn is 37
262    cortexm4::nvic::Nvic::new(stm32f429zi::nvic::USART1).enable();
263
264    // TIM2 IRQn is 28
265    tim2.enable_clock();
266    tim2.start();
267    cortexm4::nvic::Nvic::new(stm32f429zi::nvic::TIM2).enable();
268}
269
270/// Main function
271///
272/// This is in a separate, inline(never) function so that its stack frame is
273/// removed when this function returns. Otherwise, the stack space used for
274/// these static_inits is wasted.
275#[inline(never)]
276unsafe fn start() -> (
277    &'static kernel::Kernel,
278    STM32F429IDiscovery,
279    &'static stm32f429zi::chip::Stm32f4xx<'static, Stm32f429ziDefaultPeripherals<'static>>,
280) {
281    stm32f429zi::init();
282
283    // Initialize deferred calls very early.
284    kernel::deferred_call::initialize_deferred_call_state::<
285        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
286    >();
287
288    // We use the default HSI 16Mhz clock
289    let rcc = static_init!(stm32f429zi::rcc::Rcc, stm32f429zi::rcc::Rcc::new());
290    let clocks = static_init!(
291        stm32f429zi::clocks::Clocks<Stm32f429Specs>,
292        stm32f429zi::clocks::Clocks::new(rcc)
293    );
294    let syscfg = static_init!(
295        stm32f429zi::syscfg::Syscfg,
296        stm32f429zi::syscfg::Syscfg::new(clocks)
297    );
298    let exti = static_init!(
299        stm32f429zi::exti::Exti,
300        stm32f429zi::exti::Exti::new(syscfg)
301    );
302    let dma1 = static_init!(stm32f429zi::dma::Dma1, stm32f429zi::dma::Dma1::new(clocks));
303    let dma2 = static_init!(stm32f429zi::dma::Dma2, stm32f429zi::dma::Dma2::new(clocks));
304    let peripherals = static_init!(
305        Stm32f429ziDefaultPeripherals,
306        Stm32f429ziDefaultPeripherals::new(clocks, exti, dma1, dma2)
307    );
308
309    peripherals.init();
310    let base_peripherals = &peripherals.stm32f4;
311
312    setup_peripherals(&base_peripherals.tim2);
313
314    set_pin_primary_functions(syscfg, &base_peripherals.gpio_ports);
315
316    setup_dma(
317        dma2,
318        &base_peripherals.dma2_streams,
319        &base_peripherals.usart1,
320    );
321
322    // Create an array to hold process references.
323    let processes = components::process_array::ProcessArrayComponent::new()
324        .finalize(components::process_array_component_static!(NUM_PROCS));
325    PROCESSES = Some(processes);
326
327    // Setup space to store the core kernel data structure.
328    let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(processes.as_slice()));
329
330    let chip = static_init!(
331        stm32f429zi::chip::Stm32f4xx<Stm32f429ziDefaultPeripherals>,
332        stm32f429zi::chip::Stm32f4xx::new(peripherals)
333    );
334    CHIP = Some(chip);
335
336    // UART
337
338    // Create a shared UART channel for kernel debug.
339    // USART1 is only connected to the ST-LINK port in the DISC1 revision of
340    // the STM32F429I boards, DISC0 does not have this connection and will
341    // not have USART output available!
342    base_peripherals.usart1.enable_clock();
343    let uart_mux = components::console::UartMuxComponent::new(&base_peripherals.usart1, 115200)
344        .finalize(components::uart_mux_component_static!());
345
346    (*addr_of_mut!(io::WRITER)).set_initialized();
347
348    // Create capabilities that the board needs to call certain protected kernel
349    // functions.
350    let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
351    let process_management_capability =
352        create_capability!(capabilities::ProcessManagementCapability);
353
354    // Setup the console.
355    let console = components::console::ConsoleComponent::new(
356        board_kernel,
357        capsules_core::console::DRIVER_NUM,
358        uart_mux,
359    )
360    .finalize(components::console_component_static!());
361    // Create the debugger object that handles calls to `debug!()`.
362    components::debug_writer::DebugWriterComponent::new::<
363        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
364    >(
365        uart_mux,
366        create_capability!(capabilities::SetDebugWriterCapability),
367    )
368    .finalize(components::debug_writer_component_static!());
369
370    // LEDs
371
372    // Clock to all GPIO Ports is enabled in `set_pin_primary_functions()`
373    let gpio_ports = &base_peripherals.gpio_ports;
374
375    let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
376        LedHigh<'static, stm32f429zi::gpio::Pin>,
377        LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PG13).unwrap()),
378        LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PG14).unwrap()),
379        LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PB13).unwrap()),
380        LedHigh::new(gpio_ports.get_pin(stm32f429zi::gpio::PinId::PC05).unwrap()),
381    ));
382
383    // BUTTONs
384    let button = components::button::ButtonComponent::new(
385        board_kernel,
386        capsules_core::button::DRIVER_NUM,
387        components::button_component_helper!(
388            stm32f429zi::gpio::Pin,
389            (
390                gpio_ports.get_pin(stm32f429zi::gpio::PinId::PA00).unwrap(),
391                kernel::hil::gpio::ActivationMode::ActiveHigh,
392                kernel::hil::gpio::FloatingState::PullNone
393            )
394        ),
395    )
396    .finalize(components::button_component_static!(stm32f429zi::gpio::Pin));
397
398    // ALARM
399
400    let tim2 = &base_peripherals.tim2;
401    let mux_alarm = components::alarm::AlarmMuxComponent::new(tim2).finalize(
402        components::alarm_mux_component_static!(stm32f429zi::tim2::Tim2),
403    );
404
405    let alarm = components::alarm::AlarmDriverComponent::new(
406        board_kernel,
407        capsules_core::alarm::DRIVER_NUM,
408        mux_alarm,
409    )
410    .finalize(components::alarm_component_static!(stm32f429zi::tim2::Tim2));
411
412    // GPIO
413    let gpio = GpioComponent::new(
414        board_kernel,
415        capsules_core::gpio::DRIVER_NUM,
416        components::gpio_component_helper!(
417            stm32f429zi::gpio::Pin,
418            // Arduino like RX/TX
419            0 => gpio_ports.get_pin(PinId::PG09).unwrap(), //D0
420            1 => gpio_ports.pins[6][14].as_ref().unwrap(), //D1
421            2 => gpio_ports.pins[5][15].as_ref().unwrap(), //D2
422            3 => gpio_ports.pins[4][13].as_ref().unwrap(), //D3
423            4 => gpio_ports.pins[5][14].as_ref().unwrap(), //D4
424            5 => gpio_ports.pins[4][11].as_ref().unwrap(), //D5
425            6 => gpio_ports.pins[4][9].as_ref().unwrap(), //D6
426            7 => gpio_ports.pins[5][13].as_ref().unwrap(), //D7
427            8 => gpio_ports.pins[5][12].as_ref().unwrap(), //D8
428            9 => gpio_ports.pins[3][15].as_ref().unwrap(), //D9
429            // SPI Pins
430            10 => gpio_ports.pins[3][14].as_ref().unwrap(), //D10
431            11 => gpio_ports.pins[0][7].as_ref().unwrap(),  //D11
432            12 => gpio_ports.pins[0][6].as_ref().unwrap(),  //D12
433            13 => gpio_ports.pins[0][5].as_ref().unwrap(),  //D13
434            // I2C Pins
435            14 => gpio_ports.pins[1][9].as_ref().unwrap(), //D14
436            15 => gpio_ports.pins[1][8].as_ref().unwrap(), //D15
437            16 => gpio_ports.pins[2][6].as_ref().unwrap(), //D16
438            17 => gpio_ports.pins[1][15].as_ref().unwrap(), //D17
439            18 => gpio_ports.pins[1][13].as_ref().unwrap(), //D18
440            19 => gpio_ports.pins[1][12].as_ref().unwrap(), //D19
441            20 => gpio_ports.pins[0][15].as_ref().unwrap(), //D20
442            21 => gpio_ports.pins[2][7].as_ref().unwrap(), //D21
443            // SPI B Pins
444            // 22 => gpio_ports.pins[1][5].as_ref().unwrap(), //D22
445            // 23 => gpio_ports.pins[1][3].as_ref().unwrap(), //D23
446            // 24 => gpio_ports.pins[0][4].as_ref().unwrap(), //D24
447            // 24 => gpio_ports.pins[1][4].as_ref().unwrap(), //D25
448            // QSPI
449            26 => gpio_ports.pins[1][6].as_ref().unwrap(), //D26
450            27 => gpio_ports.pins[1][2].as_ref().unwrap(), //D27
451            28 => gpio_ports.pins[3][13].as_ref().unwrap(), //D28
452            29 => gpio_ports.pins[3][12].as_ref().unwrap(), //D29
453            30 => gpio_ports.pins[3][11].as_ref().unwrap(), //D30
454            31 => gpio_ports.pins[4][2].as_ref().unwrap(), //D31
455            // Timer Pins
456            // PA00 (or PIN[0][0]) is used for the button component so cannot
457            // be used for this component as well, otherwise interrupts will
458            // not reach the button component.
459            // 32 => stm32f429zi::gpio::PIN[0][0].as_ref().unwrap(), //D32
460            33 => gpio_ports.pins[1][0].as_ref().unwrap(), //D33
461            34 => gpio_ports.pins[4][0].as_ref().unwrap(), //D34
462            35 => gpio_ports.pins[1][11].as_ref().unwrap(), //D35
463            36 => gpio_ports.pins[1][10].as_ref().unwrap(), //D36
464            37 => gpio_ports.pins[4][15].as_ref().unwrap(), //D37
465            38 => gpio_ports.pins[4][14].as_ref().unwrap(), //D38
466            39 => gpio_ports.pins[4][12].as_ref().unwrap(), //D39
467            40 => gpio_ports.pins[4][10].as_ref().unwrap(), //D40
468            41 => gpio_ports.pins[4][7].as_ref().unwrap(), //D41
469            42 => gpio_ports.pins[4][8].as_ref().unwrap(), //D42
470            // SDMMC
471            43 => gpio_ports.pins[2][8].as_ref().unwrap(), //D43
472            44 => gpio_ports.pins[2][9].as_ref().unwrap(), //D44
473            45 => gpio_ports.pins[2][10].as_ref().unwrap(), //D45
474            46 => gpio_ports.pins[2][11].as_ref().unwrap(), //D46
475            47 => gpio_ports.pins[2][12].as_ref().unwrap(), //D47
476            48 => gpio_ports.pins[3][2].as_ref().unwrap(), //D48
477            49 => gpio_ports.pins[6][2].as_ref().unwrap(), //D49
478            50 => gpio_ports.pins[6][3].as_ref().unwrap(), //D50
479            // USART
480            51 => gpio_ports.pins[3][7].as_ref().unwrap(), //D51
481            52 => gpio_ports.pins[3][6].as_ref().unwrap(), //D52
482            53 => gpio_ports.pins[3][5].as_ref().unwrap(), //D53
483            54 => gpio_ports.pins[3][4].as_ref().unwrap(), //D54
484            55 => gpio_ports.pins[3][3].as_ref().unwrap(), //D55
485            56 => gpio_ports.pins[4][2].as_ref().unwrap(), //D56
486            57 => gpio_ports.pins[4][4].as_ref().unwrap(), //D57
487            58 => gpio_ports.pins[4][5].as_ref().unwrap(), //D58
488            59 => gpio_ports.pins[4][6].as_ref().unwrap(), //D59
489            60 => gpio_ports.pins[4][3].as_ref().unwrap(), //D60
490            61 => gpio_ports.pins[5][8].as_ref().unwrap(), //D61
491            62 => gpio_ports.pins[5][7].as_ref().unwrap(), //D62
492            63 => gpio_ports.pins[5][9].as_ref().unwrap(), //D63
493            64 => gpio_ports.pins[6][1].as_ref().unwrap(), //D64
494            65 => gpio_ports.pins[6][0].as_ref().unwrap(), //D65
495            66 => gpio_ports.pins[3][1].as_ref().unwrap(), //D66
496            67 => gpio_ports.pins[3][0].as_ref().unwrap(), //D67
497            68 => gpio_ports.pins[5][0].as_ref().unwrap(), //D68
498            69 => gpio_ports.pins[5][1].as_ref().unwrap(), //D69
499            70 => gpio_ports.pins[5][2].as_ref().unwrap(), //D70
500            71 => gpio_ports.pins[0][7].as_ref().unwrap()  //D71
501
502            // ADC Pins
503            // Enable the to use the ADC pins as GPIO
504            // 72 => gpio_ports.pins[0][3].as_ref().unwrap(), //A0
505            // 73 => gpio_ports.pins[2][0].as_ref().unwrap(), //A1
506            // 74 gpio_ports.pins::PIN[2][3].as_ref().unwrap(), //A2
507            // 75 gpio_ports.pins::PIN[5][3].as_ref().unwrap(), //A3
508            // 76 gpio_ports.pins::PIN[5][5].as_ref().unwrap(), //A4
509            // 77 gpio_ports.pins::PIN[5][10].as_ref().unwrap(), //A5
510            // 78 gpio_ports.pins::PIN[1][1].as_ref().unwrap(), //A6
511            // 79 gpio_ports.pins::PIN[2][2].as_ref().unwrap(), //A7
512            // 80 gpio_ports.pins::PIN[5][4].as_ref().unwrap()  //A8
513        ),
514    )
515    .finalize(components::gpio_component_static!(stm32f429zi::gpio::Pin));
516
517    // ADC
518    let adc_mux = components::adc::AdcMuxComponent::new(&base_peripherals.adc1)
519        .finalize(components::adc_mux_component_static!(stm32f429zi::adc::Adc));
520
521    let temp_sensor = components::temperature_stm::TemperatureSTMComponent::new(
522        adc_mux,
523        stm32f429zi::adc::Channel::Channel18,
524        2.5,
525        0.76,
526    )
527    .finalize(components::temperature_stm_adc_component_static!(
528        stm32f429zi::adc::Adc
529    ));
530
531    let temp = components::temperature::TemperatureComponent::new(
532        board_kernel,
533        capsules_extra::temperature::DRIVER_NUM,
534        temp_sensor,
535    )
536    .finalize(components::temperature_component_static!(
537        TemperatureSTMSensor
538    ));
539
540    let adc_channel_0 =
541        components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel3)
542            .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
543
544    let adc_channel_1 =
545        components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel10)
546            .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
547
548    let adc_channel_2 =
549        components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel13)
550            .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
551
552    let adc_channel_3 =
553        components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel9)
554            .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
555
556    let adc_channel_4 =
557        components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel15)
558            .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
559
560    let adc_channel_5 =
561        components::adc::AdcComponent::new(adc_mux, stm32f429zi::adc::Channel::Channel8)
562            .finalize(components::adc_component_static!(stm32f429zi::adc::Adc));
563
564    let adc_syscall =
565        components::adc::AdcVirtualComponent::new(board_kernel, capsules_core::adc::DRIVER_NUM)
566            .finalize(components::adc_syscall_component_helper!(
567                adc_channel_0,
568                adc_channel_1,
569                adc_channel_2,
570                adc_channel_3,
571                adc_channel_4,
572                adc_channel_5
573            ));
574
575    let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
576        .finalize(components::process_printer_text_component_static!());
577    PROCESS_PRINTER = Some(process_printer);
578
579    // PROCESS CONSOLE
580    let process_console = components::process_console::ProcessConsoleComponent::new(
581        board_kernel,
582        uart_mux,
583        mux_alarm,
584        process_printer,
585        Some(cortexm4::support::reset),
586    )
587    .finalize(components::process_console_component_static!(
588        stm32f429zi::tim2::Tim2
589    ));
590    let _ = process_console.start();
591
592    let scheduler = components::sched::round_robin::RoundRobinComponent::new(processes)
593        .finalize(components::round_robin_component_static!(NUM_PROCS));
594
595    let stm32f429i_discovery = STM32F429IDiscovery {
596        console,
597        ipc: kernel::ipc::IPC::new(
598            board_kernel,
599            kernel::ipc::DRIVER_NUM,
600            &memory_allocation_capability,
601        ),
602        adc: adc_syscall,
603        led,
604        temperature: temp,
605        button,
606        alarm,
607        gpio,
608
609        scheduler,
610        systick: cortexm4::systick::SysTick::new_with_calibration(
611            (HSI_FREQUENCY_MHZ * 1_000_000) as u32,
612        ),
613    };
614
615    // // Optional kernel tests
616    // //
617    // // See comment in `boards/imix/src/main.rs`
618    // virtual_uart_rx_test::run_virtual_uart_receive(mux_uart);
619
620    debug!("Initialization complete. Entering main loop");
621
622    // These symbols are defined in the linker script.
623    extern "C" {
624        /// Beginning of the ROM region containing app images.
625        static _sapps: u8;
626        /// End of the ROM region containing app images.
627        static _eapps: u8;
628        /// Beginning of the RAM region for app memory.
629        static mut _sappmem: u8;
630        /// End of the RAM region for app memory.
631        static _eappmem: u8;
632    }
633
634    kernel::process::load_processes(
635        board_kernel,
636        chip,
637        core::slice::from_raw_parts(
638            core::ptr::addr_of!(_sapps),
639            core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
640        ),
641        core::slice::from_raw_parts_mut(
642            core::ptr::addr_of_mut!(_sappmem),
643            core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
644        ),
645        &FAULT_RESPONSE,
646        &process_management_capability,
647    )
648    .unwrap_or_else(|err| {
649        debug!("Error loading processes!");
650        debug!("{:?}", err);
651    });
652
653    //Uncomment to run multi alarm test
654    /*components::test::multi_alarm_test::MultiAlarmTestComponent::new(mux_alarm)
655    .finalize(components::multi_alarm_test_component_buf!(stm32f429zi::tim2::Tim2))
656    .run();*/
657
658    (board_kernel, stm32f429i_discovery, chip)
659}
660
661/// Main function called after RAM initialized.
662#[no_mangle]
663pub unsafe fn main() {
664    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
665
666    let (board_kernel, platform, chip) = start();
667    board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
668}
stm32f429idiscovery/main.rs

stm32f429idiscovery/
main.rs
