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

stm32f429idiscovery/
main.rs
