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

stm32f429idiscovery/
main.rs
