teensy40/
io.rs

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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
5use core::fmt::{self, Write};
6use core::ptr::addr_of;
7
8use kernel::debug::{self, IoWrite};
9use kernel::hil::{
10    led,
11    uart::{self, Configure},
12};
13
14use crate::imxrt1060::gpio;
15use crate::imxrt1060::lpuart;
16use crate::PROCESSES;
17
18struct Writer<'a> {
19    output: &'a mut lpuart::Lpuart<'a>,
20}
21
22const BAUD_RATE: u32 = 115_200;
23
24impl<'a> Writer<'a> {
25    pub unsafe fn new(output: &'a mut lpuart::Lpuart<'a>) -> Self {
26        let _ = output.configure(uart::Parameters {
27            baud_rate: BAUD_RATE,
28            stop_bits: uart::StopBits::One,
29            parity: uart::Parity::None,
30            hw_flow_control: false,
31            width: uart::Width::Eight,
32        });
33
34        Writer { output }
35    }
36}
37
38impl IoWrite for Writer<'_> {
39    fn write(&mut self, bytes: &[u8]) -> usize {
40        for byte in bytes {
41            self.output.send_byte(*byte);
42        }
43        bytes.len()
44    }
45}
46
47impl Write for Writer<'_> {
48    fn write_str(&mut self, s: &str) -> fmt::Result {
49        self.write(s.as_bytes());
50        Ok(())
51    }
52}
53
54#[panic_handler]
55unsafe fn panic_handler(panic_info: &core::panic::PanicInfo) -> ! {
56    let ccm = crate::imxrt1060::ccm::Ccm::new();
57    let pin = crate::imxrt1060::gpio::Pin::from_pin_id(gpio::PinId::B0_03);
58    let led = &mut led::LedHigh::new(&pin);
59    let mut lpuart2 = lpuart::Lpuart::new_lpuart2(&ccm);
60    let mut writer = Writer::new(&mut lpuart2);
61    debug::panic(
62        &mut [led],
63        &mut writer,
64        panic_info,
65        &cortexm7::support::nop,
66        PROCESSES.unwrap().as_slice(),
67        &*addr_of!(crate::CHIP),
68        &*addr_of!(crate::PROCESS_PRINTER),
69    )
70}
teensy40/io.rs

teensy40/
io.rs
