mirror of
https://github.com/ferrous-systems/embedded-trainings-2020.git
synced 2024-09-28 14:21:56 +00:00
new code examples for new exercise
This commit is contained in:
parent
eaab43590e
commit
e98ddd23e5
14 changed files with 884 additions and 0 deletions
19
down-the-stack/apps/.cargo/config.toml
Normal file
19
down-the-stack/apps/.cargo/config.toml
Normal file
|
@ -0,0 +1,19 @@
|
||||||
|
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||||
|
# (..)
|
||||||
|
rustflags = [
|
||||||
|
"-C", "linker=flip-link", # adds stack overflow protection
|
||||||
|
"-C", "link-arg=-Tdefmt.x", # defmt support
|
||||||
|
# (..)
|
||||||
|
]
|
||||||
|
|
||||||
|
[target.thumbv7em-none-eabihf]
|
||||||
|
# set custom cargo runner to flash & run on embedded target when we call `cargo run`
|
||||||
|
# for more information, check out https://github.com/knurling-rs/probe-run
|
||||||
|
runner = "probe-run --chip nRF52840_xxAA"
|
||||||
|
rustflags = [
|
||||||
|
"-C", "link-arg=-Tlink.x",
|
||||||
|
]
|
||||||
|
|
||||||
|
[build]
|
||||||
|
# cross-compile to this target
|
||||||
|
target = "thumbv7em-none-eabihf" # = ARM Cortex-M4
|
48
down-the-stack/apps/Cargo.toml
Normal file
48
down-the-stack/apps/Cargo.toml
Normal file
|
@ -0,0 +1,48 @@
|
||||||
|
[package]
|
||||||
|
authors = ["Tanks Transfeld <tanks.transfeld@ferrous-systems.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
license = "MIT OR Apache-2.0"
|
||||||
|
name = "apps"
|
||||||
|
version = "0.0.0"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
cortex-m = {version = "0.7.6", features = ["critical-section-single-core"]}
|
||||||
|
cortex-m-rt = "0.7.2"
|
||||||
|
dk_template = { path = "../dk_template" }
|
||||||
|
heapless = "0.7.16"
|
||||||
|
panic-probe = { version = "0.3.0", features = ["print-defmt"] }
|
||||||
|
defmt = "0.3.2"
|
||||||
|
defmt-rtt = "0.3.2"
|
||||||
|
|
||||||
|
# optimize code in both profiles
|
||||||
|
[profile.dev]
|
||||||
|
codegen-units = 1
|
||||||
|
debug = 2
|
||||||
|
debug-assertions = true # !
|
||||||
|
incremental = false
|
||||||
|
lto = "fat"
|
||||||
|
opt-level = 'z' # !
|
||||||
|
overflow-checks = false
|
||||||
|
|
||||||
|
[profile.release]
|
||||||
|
codegen-units = 1
|
||||||
|
debug = 1
|
||||||
|
debug-assertions = false
|
||||||
|
incremental = false
|
||||||
|
lto = "fat"
|
||||||
|
opt-level = 3
|
||||||
|
overflow-checks = false
|
||||||
|
|
||||||
|
[features]
|
||||||
|
|
||||||
|
default = [
|
||||||
|
"other-feature"
|
||||||
|
]
|
||||||
|
other-feature = []
|
||||||
|
# do NOT modify these features
|
||||||
|
defmt-default = []
|
||||||
|
defmt-trace = []
|
||||||
|
defmt-debug = []
|
||||||
|
defmt-info = []
|
||||||
|
defmt-warn = []
|
||||||
|
defmt-error = []
|
32
down-the-stack/apps/src/bin/button.rs
Normal file
32
down-the-stack/apps/src/bin/button.rs
Normal file
|
@ -0,0 +1,32 @@
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
use cortex_m::asm;
|
||||||
|
use cortex_m_rt::entry;
|
||||||
|
use core::fmt::Write;
|
||||||
|
// this imports `beginner/apps/lib.rs` to retrieve our global logger + panicking-behavior
|
||||||
|
use apps as _;
|
||||||
|
|
||||||
|
#[entry]
|
||||||
|
fn main() -> ! {
|
||||||
|
// to enable more verbose logs, go to your `Cargo.toml` and set defmt logging levels
|
||||||
|
// to `defmt-trace` by changing the `default = []` entry in `[features]`
|
||||||
|
|
||||||
|
let board = dk_template::init().unwrap();
|
||||||
|
|
||||||
|
let mut led = board.leds;
|
||||||
|
let button_1 = board.buttons.b_1;
|
||||||
|
|
||||||
|
loop {
|
||||||
|
if button_1.is_pushed() {
|
||||||
|
led.led_1.on();
|
||||||
|
} else {
|
||||||
|
led.led_1.off();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// this program does not `exit`; use Ctrl+C to terminate it
|
||||||
|
loop {
|
||||||
|
asm::nop();
|
||||||
|
}
|
||||||
|
}
|
28
down-the-stack/apps/src/bin/hello.rs
Normal file
28
down-the-stack/apps/src/bin/hello.rs
Normal file
|
@ -0,0 +1,28 @@
|
||||||
|
// this program does not use the standard library to avoid heap allocations.
|
||||||
|
// only the `core` library functions are available.
|
||||||
|
#![no_std]
|
||||||
|
// this program uses a custom entry point instead of `fn main()`
|
||||||
|
#![no_main]
|
||||||
|
|
||||||
|
use cortex_m::asm;
|
||||||
|
use cortex_m_rt::entry;
|
||||||
|
// this imports `beginner/apps/lib.rs` to retrieve our global logger + panicking-behavior
|
||||||
|
use apps as _;
|
||||||
|
|
||||||
|
// the custom entry point
|
||||||
|
// vvvvv
|
||||||
|
#[entry]
|
||||||
|
fn main() -> ! {
|
||||||
|
// ˆˆˆ
|
||||||
|
// ! is the 'never' type: this function never returns
|
||||||
|
|
||||||
|
// initializes the peripherals
|
||||||
|
dk::init().unwrap();
|
||||||
|
|
||||||
|
defmt::println!("Hello, world!"); // :wave:
|
||||||
|
|
||||||
|
loop {
|
||||||
|
// breakpoint: halts the program's execution
|
||||||
|
asm::bkpt();
|
||||||
|
}
|
||||||
|
}
|
29
down-the-stack/apps/src/bin/uarte_print.rs
Normal file
29
down-the-stack/apps/src/bin/uarte_print.rs
Normal file
|
@ -0,0 +1,29 @@
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
use cortex_m::asm;
|
||||||
|
use cortex_m_rt::entry;
|
||||||
|
use core::fmt::Write;
|
||||||
|
// this imports `beginner/apps/lib.rs` to retrieve our global logger + panicking-behavior
|
||||||
|
use apps as _;
|
||||||
|
|
||||||
|
#[entry]
|
||||||
|
fn main() -> ! {
|
||||||
|
// to enable more verbose logs, go to your `Cargo.toml` and set defmt logging levels
|
||||||
|
// to `defmt-trace` by changing the `default = []` entry in `[features]`
|
||||||
|
|
||||||
|
let board = dk_template::init().unwrap();
|
||||||
|
|
||||||
|
let button_1 = board.buttons.b_1;
|
||||||
|
let mut uarte = board.uarte;
|
||||||
|
|
||||||
|
|
||||||
|
let tx_buffer = "Hello\n";
|
||||||
|
|
||||||
|
|
||||||
|
loop {
|
||||||
|
if button_1.is_pushed() {
|
||||||
|
uarte.write_str(tx_buffer).unwrap();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
10
down-the-stack/apps/src/lib.rs
Normal file
10
down-the-stack/apps/src/lib.rs
Normal file
|
@ -0,0 +1,10 @@
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
use panic_probe as _;
|
||||||
|
|
||||||
|
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||||
|
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||||
|
#[defmt::panic_handler]
|
||||||
|
fn panic() -> ! {
|
||||||
|
cortex_m::asm::udf()
|
||||||
|
}
|
32
down-the-stack/dk_template/Cargo.toml
Normal file
32
down-the-stack/dk_template/Cargo.toml
Normal file
|
@ -0,0 +1,32 @@
|
||||||
|
[package]
|
||||||
|
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>", "Tanks Transfeld <tanks.transfeld@ferrous-systems.com"]
|
||||||
|
edition = "2018"
|
||||||
|
license = "MIT OR Apache-2.0"
|
||||||
|
name = "dk_template"
|
||||||
|
version = "0.0.0"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
cortex-m = {version = "0.7.6", features = ["critical-section-single-core"]}
|
||||||
|
cortex-m-rt = "0.7.2"
|
||||||
|
embedded-hal = "0.2.7"
|
||||||
|
hal = { package = "nrf52840-hal", version = "0.14.0" }
|
||||||
|
panic-probe = { version = "0.3.0", features = ["print-defmt"] }
|
||||||
|
defmt = "0.3.2"
|
||||||
|
defmt-rtt = "0.3.2"
|
||||||
|
|
||||||
|
[features]
|
||||||
|
advanced = []
|
||||||
|
beginner = []
|
||||||
|
|
||||||
|
default = [
|
||||||
|
"other-feature"
|
||||||
|
]
|
||||||
|
other-feature = []
|
||||||
|
|
||||||
|
# do NOT modify these features
|
||||||
|
defmt-default = []
|
||||||
|
defmt-trace = []
|
||||||
|
defmt-debug = []
|
||||||
|
defmt-info = []
|
||||||
|
defmt-warn = []
|
||||||
|
defmt-error = []
|
7
down-the-stack/dk_template/README.md
Normal file
7
down-the-stack/dk_template/README.md
Normal file
|
@ -0,0 +1,7 @@
|
||||||
|
# `dk`
|
||||||
|
|
||||||
|
Board Support Crate for the nRF52840 Development Kit (DK)
|
||||||
|
|
||||||
|
## Getting familiar with the hardware
|
||||||
|
|
||||||
|
TODO
|
12
down-the-stack/dk_template/build.rs
Normal file
12
down-the-stack/dk_template/build.rs
Normal file
|
@ -0,0 +1,12 @@
|
||||||
|
use std::{env, error::Error, fs, path::PathBuf};
|
||||||
|
|
||||||
|
fn main() -> Result<(), Box<dyn Error>> {
|
||||||
|
let out_dir = PathBuf::from(env::var("OUT_DIR")?);
|
||||||
|
|
||||||
|
// put memory layout (linker script) in the linker search path
|
||||||
|
fs::copy("memory.x", out_dir.join("memory.x"))?;
|
||||||
|
|
||||||
|
println!("cargo:rustc-link-search={}", out_dir.display());
|
||||||
|
|
||||||
|
Ok(())
|
||||||
|
}
|
5
down-the-stack/dk_template/memory.x
Normal file
5
down-the-stack/dk_template/memory.x
Normal file
|
@ -0,0 +1,5 @@
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
FLASH : ORIGIN = 0x00000000, LENGTH = 1024K
|
||||||
|
RAM : ORIGIN = 0x20000000, LENGTH = 256K
|
||||||
|
}
|
13
down-the-stack/dk_template/src/errata.rs
Normal file
13
down-the-stack/dk_template/src/errata.rs
Normal file
|
@ -0,0 +1,13 @@
|
||||||
|
/// USBD cannot be enabled
|
||||||
|
pub unsafe fn e187a() {
|
||||||
|
(0x4006_EC00 as *mut u32).write_volatile(0x9375);
|
||||||
|
(0x4006_ED14 as *mut u32).write_volatile(3);
|
||||||
|
(0x4006_EC00 as *mut u32).write_volatile(0x9375);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// USBD cannot be enabled
|
||||||
|
pub unsafe fn e187b() {
|
||||||
|
(0x4006_EC00 as *mut u32).write_volatile(0x9375);
|
||||||
|
(0x4006_ED14 as *mut u32).write_volatile(0);
|
||||||
|
(0x4006_EC00 as *mut u32).write_volatile(0x9375);
|
||||||
|
}
|
415
down-the-stack/dk_template/src/lib.rs
Normal file
415
down-the-stack/dk_template/src/lib.rs
Normal file
|
@ -0,0 +1,415 @@
|
||||||
|
//! Hardware Abstraction Layer (HAL) for the nRF52840 Development Kit
|
||||||
|
|
||||||
|
#![deny(missing_docs)]
|
||||||
|
#![deny(warnings)]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
use core::{
|
||||||
|
ops,
|
||||||
|
fmt,
|
||||||
|
sync::atomic::{self, AtomicU32, Ordering},
|
||||||
|
time::Duration,
|
||||||
|
};
|
||||||
|
|
||||||
|
use cortex_m::{asm, peripheral::NVIC};
|
||||||
|
use embedded_hal::digital::v2::{OutputPin as _, StatefulOutputPin};
|
||||||
|
pub use hal::ieee802154;
|
||||||
|
pub use hal::pac::{
|
||||||
|
interrupt, Interrupt, NVIC_PRIO_BITS, RTC0, UARTE1, uarte0::{
|
||||||
|
baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity}};
|
||||||
|
use hal::{
|
||||||
|
clocks::{self, Clocks},
|
||||||
|
gpio::{p0, Level, Output, Input, PullUp, Pin, Port, PushPull},
|
||||||
|
rtc::{Rtc, RtcInterrupt},
|
||||||
|
timer::OneShot, prelude::InputPin,
|
||||||
|
};
|
||||||
|
|
||||||
|
use defmt;
|
||||||
|
use defmt_rtt as _; // global logger
|
||||||
|
|
||||||
|
|
||||||
|
use crate::{
|
||||||
|
peripheral::{POWER, USBD},
|
||||||
|
usbd::Ep0In,
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
mod errata;
|
||||||
|
pub mod peripheral;
|
||||||
|
pub mod usbd;
|
||||||
|
|
||||||
|
|
||||||
|
/// Components on the board
|
||||||
|
pub struct Board {
|
||||||
|
/// LEDs
|
||||||
|
pub leds: Leds,
|
||||||
|
/// Buttons
|
||||||
|
pub buttons: Buttons,
|
||||||
|
/// Timer
|
||||||
|
pub timer: Timer,
|
||||||
|
|
||||||
|
/// Radio interface
|
||||||
|
pub radio: ieee802154::Radio<'static>,
|
||||||
|
/// USBD (Universal Serial Bus Device) peripheral
|
||||||
|
pub usbd: USBD,
|
||||||
|
/// POWER (Power Supply) peripheral
|
||||||
|
pub power: POWER,
|
||||||
|
/// USB control endpoint 0
|
||||||
|
pub ep0in: Ep0In,
|
||||||
|
/// uarte interface
|
||||||
|
pub uarte: Uarte,
|
||||||
|
}
|
||||||
|
|
||||||
|
/// All LEDs on the board
|
||||||
|
pub struct Leds {
|
||||||
|
/// LED1: pin P0.13, green LED
|
||||||
|
pub led_1: Led,
|
||||||
|
/// LED2: pin P0.14, green LED
|
||||||
|
pub led_2: Led,
|
||||||
|
/// LED3: pin P0.15, green LED
|
||||||
|
pub led_3: Led,
|
||||||
|
/// LED4: pin P0.16, green LED
|
||||||
|
pub led_4: Led,
|
||||||
|
}
|
||||||
|
|
||||||
|
/// A single LED
|
||||||
|
pub struct Led {
|
||||||
|
inner: Pin<Output<PushPull>>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Led {
|
||||||
|
/// Turns on the LED
|
||||||
|
pub fn on(&mut self) {
|
||||||
|
defmt::trace!(
|
||||||
|
"setting P{}.{} low (LED on)",
|
||||||
|
if self.inner.port() == Port::Port1 {
|
||||||
|
'1'
|
||||||
|
} else {
|
||||||
|
'0'
|
||||||
|
},
|
||||||
|
self.inner.pin()
|
||||||
|
);
|
||||||
|
|
||||||
|
// NOTE this operations returns a `Result` but never returns the `Err` variant
|
||||||
|
let _ = self.inner.set_low();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Turns off the LED
|
||||||
|
pub fn off(&mut self) {
|
||||||
|
defmt::trace!(
|
||||||
|
"setting P{}.{} high (LED off)",
|
||||||
|
if self.inner.port() == Port::Port1 {
|
||||||
|
'1'
|
||||||
|
} else {
|
||||||
|
'0'
|
||||||
|
},
|
||||||
|
self.inner.pin()
|
||||||
|
);
|
||||||
|
|
||||||
|
// NOTE this operations returns a `Result` but never returns the `Err` variant
|
||||||
|
let _ = self.inner.set_high();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Returns `true` if the LED is in the OFF state
|
||||||
|
pub fn is_off(&self) -> bool {
|
||||||
|
self.inner.is_set_high() == Ok(true)
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Returns `true` if the LED is in the ON state
|
||||||
|
pub fn is_on(&self) -> bool {
|
||||||
|
!self.is_off()
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Toggles the state (on/off) of the LED
|
||||||
|
pub fn toggle(&mut self) {
|
||||||
|
if self.is_off() {
|
||||||
|
self.on();
|
||||||
|
} else {
|
||||||
|
self.off()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// All buttons on the board
|
||||||
|
pub struct Buttons {
|
||||||
|
/// BUTTON1: pin P0.11, green LED
|
||||||
|
pub b_1: Button,
|
||||||
|
/// BUTTON2: pin P0.12, green LED
|
||||||
|
pub b_2: Button,
|
||||||
|
/// BUTTON3: pin P0.24, green LED
|
||||||
|
pub b_3: Button,
|
||||||
|
/// BUTTON4: pin P0.25, green LED
|
||||||
|
pub b_4: Button,
|
||||||
|
}
|
||||||
|
|
||||||
|
/// A single button
|
||||||
|
pub struct Button {
|
||||||
|
inner: Pin<Input<PullUp>>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Button {
|
||||||
|
/// returns true if button is pushed
|
||||||
|
pub fn is_pushed(&self) -> bool {
|
||||||
|
self.inner.is_low() == Ok(true)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/// A timer for creating blocking delays
|
||||||
|
pub struct Timer {
|
||||||
|
inner: hal::Timer<hal::pac::TIMER0, OneShot>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Timer {
|
||||||
|
/// Blocks program execution for at least the specified `duration`
|
||||||
|
pub fn wait(&mut self, duration: Duration) {
|
||||||
|
defmt::trace!("blocking for {:?} ...", duration);
|
||||||
|
|
||||||
|
// 1 cycle = 1 microsecond
|
||||||
|
const NANOS_IN_ONE_MICRO: u32 = 1_000;
|
||||||
|
let subsec_micros = duration.subsec_nanos() / NANOS_IN_ONE_MICRO;
|
||||||
|
if subsec_micros != 0 {
|
||||||
|
self.inner.delay(subsec_micros);
|
||||||
|
}
|
||||||
|
|
||||||
|
const MICROS_IN_ONE_SEC: u32 = 1_000_000;
|
||||||
|
// maximum number of seconds that fit in a single `delay` call without overflowing the `u32`
|
||||||
|
// argument
|
||||||
|
const MAX_SECS: u32 = u32::MAX / MICROS_IN_ONE_SEC;
|
||||||
|
let mut secs = duration.as_secs();
|
||||||
|
while secs != 0 {
|
||||||
|
let cycles = if secs > MAX_SECS as u64 {
|
||||||
|
secs -= MAX_SECS as u64;
|
||||||
|
MAX_SECS * MICROS_IN_ONE_SEC
|
||||||
|
} else {
|
||||||
|
let cycles = secs as u32 * MICROS_IN_ONE_SEC;
|
||||||
|
secs = 0;
|
||||||
|
cycles
|
||||||
|
};
|
||||||
|
|
||||||
|
self.inner.delay(cycles)
|
||||||
|
}
|
||||||
|
|
||||||
|
defmt::trace!("... DONE");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl ops::Deref for Timer {
|
||||||
|
type Target = hal::Timer<hal::pac::TIMER0, OneShot>;
|
||||||
|
|
||||||
|
fn deref(&self) -> &Self::Target {
|
||||||
|
&self.inner
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl ops::DerefMut for Timer {
|
||||||
|
fn deref_mut(&mut self) -> &mut Self::Target {
|
||||||
|
&mut self.inner
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Uarte peripheral
|
||||||
|
pub struct Uarte {
|
||||||
|
inner: hal::Uarte<hal::pac::UARTE0>,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl fmt::Write for Uarte {
|
||||||
|
|
||||||
|
fn write_str(&mut self, s: &str) -> fmt::Result {
|
||||||
|
// Copy all data into an on-stack buffer so we never try to EasyDMA from
|
||||||
|
// flash.
|
||||||
|
let buf = &mut [0; 16][..];
|
||||||
|
for block in s.as_bytes().chunks(16) {
|
||||||
|
buf[..block.len()].copy_from_slice(block);
|
||||||
|
self.inner.write(&buf[..block.len()]).map_err(|_| fmt::Error)?;
|
||||||
|
}
|
||||||
|
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Initializes the board
|
||||||
|
///
|
||||||
|
/// This return an `Err`or if called more than once
|
||||||
|
pub fn init() -> Result<Board, ()> {
|
||||||
|
if let Some(periph) = hal::pac::Peripherals::take() {
|
||||||
|
// NOTE(static mut) this branch runs at most once
|
||||||
|
static mut EP0IN_BUF: [u8; 64] = [0; 64];
|
||||||
|
static mut CLOCKS: Option<
|
||||||
|
Clocks<clocks::ExternalOscillator, clocks::ExternalOscillator, clocks::LfOscStarted>,
|
||||||
|
> = None;
|
||||||
|
|
||||||
|
defmt::debug!("Initializing the board");
|
||||||
|
|
||||||
|
let clocks = Clocks::new(periph.CLOCK);
|
||||||
|
let clocks = clocks.enable_ext_hfosc();
|
||||||
|
let clocks = clocks.set_lfclk_src_external(clocks::LfOscConfiguration::NoExternalNoBypass);
|
||||||
|
let clocks = clocks.start_lfclk();
|
||||||
|
let _clocks = clocks.enable_ext_hfosc();
|
||||||
|
// extend lifetime to `'static`
|
||||||
|
let clocks = unsafe { CLOCKS.get_or_insert(_clocks) };
|
||||||
|
|
||||||
|
defmt::debug!("Clocks configured");
|
||||||
|
|
||||||
|
let mut rtc = Rtc::new(periph.RTC0, 0).unwrap();
|
||||||
|
rtc.enable_interrupt(RtcInterrupt::Overflow, None);
|
||||||
|
rtc.enable_counter();
|
||||||
|
// NOTE(unsafe) because this crate defines the `#[interrupt] fn RTC0` interrupt handler,
|
||||||
|
// RTIC cannot manage that interrupt (trying to do so results in a linker error). Thus it
|
||||||
|
// is the task of this crate to mask/unmask the interrupt in a safe manner.
|
||||||
|
//
|
||||||
|
// Because the RTC0 interrupt handler does *not* access static variables through a critical
|
||||||
|
// section (that disables interrupts) this `unmask` operation cannot break critical sections
|
||||||
|
// and thus won't lead to undefined behavior (e.g. torn reads/writes)
|
||||||
|
//
|
||||||
|
// the preceding `enable_conuter` method consumes the `rtc` value. This is a semantic move
|
||||||
|
// of the RTC0 peripheral from this function (which can only be called at most once) to the
|
||||||
|
// interrupt handler (where the peripheral is accessed without any synchronization
|
||||||
|
// mechanism)
|
||||||
|
unsafe { NVIC::unmask(Interrupt::RTC0) };
|
||||||
|
|
||||||
|
defmt::debug!("RTC started");
|
||||||
|
|
||||||
|
let pins = p0::Parts::new(periph.P0);
|
||||||
|
|
||||||
|
// NOTE LEDs turn on when the pin output level is low
|
||||||
|
let led_1 = pins.p0_13.degrade().into_push_pull_output(Level::High);
|
||||||
|
let led_2 = pins.p0_14.degrade().into_push_pull_output(Level::High);
|
||||||
|
let led_3 = pins.p0_15.degrade().into_push_pull_output(Level::High);
|
||||||
|
let led_4 = pins.p0_16.degrade().into_push_pull_output(Level::High);
|
||||||
|
// Buttons
|
||||||
|
let b_1 = pins.p0_11.degrade().into_pullup_input();
|
||||||
|
let b_2 = pins.p0_12.degrade().into_pullup_input();
|
||||||
|
let b_3 = pins.p0_24.degrade().into_pullup_input();
|
||||||
|
let b_4 = pins.p0_25.degrade().into_pullup_input();
|
||||||
|
|
||||||
|
defmt::debug!("I/O pins have been configured for digital output");
|
||||||
|
|
||||||
|
let timer = hal::Timer::new(periph.TIMER0);
|
||||||
|
|
||||||
|
// Uarte
|
||||||
|
let pins = hal::uarte::Pins {
|
||||||
|
rxd: pins.p0_08.degrade().into_floating_input(),
|
||||||
|
txd: pins.p0_06.degrade().into_push_pull_output(Level::High),
|
||||||
|
cts: Some(pins.p0_07.degrade().into_floating_input()),
|
||||||
|
rts: Some(pins.p0_05.degrade().into_push_pull_output(Level::High)),
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
let uarte = hal::uarte::Uarte::new(periph.UARTE0, pins, Parity::INCLUDED, Baudrate::BAUD115200);
|
||||||
|
|
||||||
|
// Radio
|
||||||
|
let radio = {
|
||||||
|
let mut radio = ieee802154::Radio::init(periph.RADIO, clocks);
|
||||||
|
|
||||||
|
// set TX power to its maximum value
|
||||||
|
radio.set_txpower(ieee802154::TxPower::Pos8dBm);
|
||||||
|
defmt::debug!(
|
||||||
|
"Radio initialized and configured with TX power set to the maximum value"
|
||||||
|
);
|
||||||
|
radio
|
||||||
|
};
|
||||||
|
|
||||||
|
Ok(Board {
|
||||||
|
leds: Leds {
|
||||||
|
led_1: Led { inner: led_1 },
|
||||||
|
led_2: Led { inner: led_2 },
|
||||||
|
led_3: Led { inner: led_3 },
|
||||||
|
led_4: Led { inner: led_4 },
|
||||||
|
},
|
||||||
|
buttons: Buttons {
|
||||||
|
b_1: Button { inner: b_1},
|
||||||
|
b_2: Button { inner: b_2},
|
||||||
|
b_3: Button { inner: b_3},
|
||||||
|
b_4: Button { inner: b_4},
|
||||||
|
},
|
||||||
|
|
||||||
|
radio,
|
||||||
|
timer: Timer { inner: timer },
|
||||||
|
usbd: periph.USBD,
|
||||||
|
power: periph.POWER,
|
||||||
|
ep0in: unsafe { Ep0In::new(&mut EP0IN_BUF) },
|
||||||
|
uarte: Uarte { inner: uarte },
|
||||||
|
})
|
||||||
|
} else {
|
||||||
|
Err(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Counter of OVERFLOW events -- an OVERFLOW occurs every (1<<24) ticks
|
||||||
|
static OVERFLOWS: AtomicU32 = AtomicU32::new(0);
|
||||||
|
|
||||||
|
// NOTE this will run at the highest priority, higher priority than RTIC tasks
|
||||||
|
#[interrupt]
|
||||||
|
fn RTC0() {
|
||||||
|
let curr = OVERFLOWS.load(Ordering::Relaxed);
|
||||||
|
OVERFLOWS.store(curr + 1, Ordering::Relaxed);
|
||||||
|
|
||||||
|
// clear the EVENT register
|
||||||
|
unsafe { core::mem::transmute::<_, RTC0>(()).events_ovrflw.reset() }
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Exits the application when the program is executed through the `probe-run` Cargo runner
|
||||||
|
pub fn exit() -> ! {
|
||||||
|
unsafe {
|
||||||
|
// turn off the USB D+ pull-up before pausing the device with a breakpoint
|
||||||
|
// this disconnects the nRF device from the USB host so the USB host won't attempt further
|
||||||
|
// USB communication (and see an unresponsive device). probe-run will also reset the nRF's
|
||||||
|
// USBD peripheral when it sees the device in a halted state which has the same effect as
|
||||||
|
// this line but that can take a while and the USB host may issue a power cycle of the USB
|
||||||
|
// port / hub / root in the meantime, which can bring down the probe and break probe-run
|
||||||
|
const USBD_USBPULLUP: *mut u32 = 0x4002_7504 as *mut u32;
|
||||||
|
USBD_USBPULLUP.write_volatile(0)
|
||||||
|
}
|
||||||
|
defmt::println!("`dk::exit()` called; exiting ...");
|
||||||
|
// force any pending memory operation to complete before the BKPT instruction that follows
|
||||||
|
atomic::compiler_fence(Ordering::SeqCst);
|
||||||
|
loop {
|
||||||
|
asm::bkpt()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Returns the time elapsed since the call to the `dk::init` function
|
||||||
|
///
|
||||||
|
/// The clock that is read to compute this value has a resolution of 30 microseconds.
|
||||||
|
///
|
||||||
|
/// Calling this function before calling `dk::init` will return a value of `0` nanoseconds.
|
||||||
|
pub fn uptime() -> Duration {
|
||||||
|
// here we are going to perform a 64-bit read of the number of ticks elapsed
|
||||||
|
//
|
||||||
|
// a 64-bit load operation cannot performed in a single instruction so the operation can be
|
||||||
|
// preempted by the RTC0 interrupt handler (which increases the OVERFLOWS counter)
|
||||||
|
//
|
||||||
|
// the loop below will load both the lower and upper parts of the 64-bit value while preventing
|
||||||
|
// the issue of mixing a low value with an "old" high value -- note that, due to interrupts, an
|
||||||
|
// arbitrary amount of time may elapse between the `hi1` load and the `low` load
|
||||||
|
let overflows = &OVERFLOWS as *const AtomicU32 as *const u32;
|
||||||
|
let ticks = loop {
|
||||||
|
unsafe {
|
||||||
|
// NOTE volatile is used to order these load operations among themselves
|
||||||
|
let hi1 = overflows.read_volatile();
|
||||||
|
let low = core::mem::transmute::<_, RTC0>(())
|
||||||
|
.counter
|
||||||
|
.read()
|
||||||
|
.counter()
|
||||||
|
.bits();
|
||||||
|
let hi2 = overflows.read_volatile();
|
||||||
|
|
||||||
|
if hi1 == hi2 {
|
||||||
|
break u64::from(low) | (u64::from(hi1) << 24);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
// 2**15 ticks = 1 second
|
||||||
|
let freq = 1 << 15;
|
||||||
|
let secs = ticks / freq;
|
||||||
|
// subsec ticks
|
||||||
|
let ticks = (ticks % freq) as u32;
|
||||||
|
// one tick is equal to `1e9 / 32768` nanos
|
||||||
|
// the fraction can be reduced to `1953125 / 64`
|
||||||
|
// which can be further decomposed as `78125 * (5 / 4) * (5 / 4) * (1 / 4)`.
|
||||||
|
// Doing the operation this way we can stick to 32-bit arithmetic without overflowing the value
|
||||||
|
// at any stage
|
||||||
|
let nanos =
|
||||||
|
(((ticks % 32768).wrapping_mul(78125) >> 2).wrapping_mul(5) >> 2).wrapping_mul(5) >> 2;
|
||||||
|
Duration::new(secs, nanos as u32)
|
||||||
|
}
|
3
down-the-stack/dk_template/src/peripheral.rs
Normal file
3
down-the-stack/dk_template/src/peripheral.rs
Normal file
|
@ -0,0 +1,3 @@
|
||||||
|
//! Low level access to the nRF52840 peripheral
|
||||||
|
|
||||||
|
pub use hal::pac::{POWER, USBD};
|
231
down-the-stack/dk_template/src/usbd.rs
Normal file
231
down-the-stack/dk_template/src/usbd.rs
Normal file
|
@ -0,0 +1,231 @@
|
||||||
|
//! USBD peripheral
|
||||||
|
|
||||||
|
use core::sync::atomic::{self, Ordering};
|
||||||
|
|
||||||
|
use crate::{
|
||||||
|
errata,
|
||||||
|
peripheral::{POWER, USBD},
|
||||||
|
};
|
||||||
|
|
||||||
|
/// Endpoint IN 0
|
||||||
|
pub struct Ep0In {
|
||||||
|
buffer: &'static mut [u8; 64],
|
||||||
|
busy: bool,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Ep0In {
|
||||||
|
/// # Safety
|
||||||
|
/// Must be created at most once (singleton)
|
||||||
|
pub(crate) unsafe fn new(buffer: &'static mut [u8; 64]) -> Self {
|
||||||
|
Self {
|
||||||
|
buffer,
|
||||||
|
busy: false,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Starts a data transfer over endpoint 0
|
||||||
|
///
|
||||||
|
/// # Panics
|
||||||
|
///
|
||||||
|
/// - This function panics if the last transfer was not finished by calling the `end` function
|
||||||
|
/// - This function panics if `bytes` is larger than the maximum packet size (64 bytes)
|
||||||
|
pub fn start(&mut self, bytes: &[u8], usbd: &USBD) {
|
||||||
|
assert!(!self.busy, "EP0IN: last transfer has not completed");
|
||||||
|
assert!(
|
||||||
|
bytes.len() <= self.buffer.len(),
|
||||||
|
"EP0IN: multi-packet data transfers are not supported"
|
||||||
|
);
|
||||||
|
|
||||||
|
let n = bytes.len();
|
||||||
|
self.buffer[..n].copy_from_slice(bytes);
|
||||||
|
|
||||||
|
// use a "shortcut" to issue a status stage after the data transfer is complete
|
||||||
|
usbd.shorts
|
||||||
|
.modify(|_, w| w.ep0datadone_ep0status().set_bit());
|
||||||
|
usbd.epin0
|
||||||
|
.maxcnt
|
||||||
|
.write(|w| unsafe { w.maxcnt().bits(n as u8) });
|
||||||
|
usbd.epin0
|
||||||
|
.ptr
|
||||||
|
.write(|w| unsafe { w.ptr().bits(self.buffer.as_ptr() as u32) });
|
||||||
|
|
||||||
|
self.busy = true;
|
||||||
|
|
||||||
|
defmt::println!("EP0IN: start {}B transfer", n);
|
||||||
|
|
||||||
|
// start DMA transfer
|
||||||
|
dma_start();
|
||||||
|
usbd.tasks_startepin[0].write(|w| w.tasks_startepin().set_bit());
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Completes a data transfer
|
||||||
|
///
|
||||||
|
/// This function must be called after the EP0DATADONE event is raised
|
||||||
|
///
|
||||||
|
/// # Panics
|
||||||
|
///
|
||||||
|
/// This function panics if called before `start` or before the EP0DATADONE event is raised by
|
||||||
|
/// the hardware
|
||||||
|
pub fn end(&mut self, usbd: &USBD) {
|
||||||
|
if usbd.events_ep0datadone.read().bits() == 0 {
|
||||||
|
panic!("Ep0In.end called before the EP0DATADONE event was raised");
|
||||||
|
} else {
|
||||||
|
// DMA transfer complete
|
||||||
|
dma_end();
|
||||||
|
usbd.events_ep0datadone.reset();
|
||||||
|
|
||||||
|
self.busy = false;
|
||||||
|
defmt::println!("EP0IN: transfer done");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// memory barrier to synchronize the start of a DMA transfer (which will run in parallel) with the
|
||||||
|
// caller's memory operations
|
||||||
|
//
|
||||||
|
// This function call *must* be *followed* by a memory *store* operation. Memory operations that
|
||||||
|
// *precede* this function call will *not* be moved, by the compiler or the instruction pipeline, to
|
||||||
|
// *after* the function call.
|
||||||
|
fn dma_start() {
|
||||||
|
atomic::fence(Ordering::Release);
|
||||||
|
}
|
||||||
|
|
||||||
|
// memory barrier to synchronize the end of a DMA transfer (which ran in parallel) to the caller's
|
||||||
|
// memory operations
|
||||||
|
//
|
||||||
|
// This function call *must* be *preceded* by a memory *load* operation. Memory operations that
|
||||||
|
// *follow* this function call will *not* be moved, by the compiler or the instruction pipeline, to
|
||||||
|
// *before* the function call.
|
||||||
|
fn dma_end() {
|
||||||
|
atomic::fence(Ordering::Acquire);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Initializes the USBD peripheral
|
||||||
|
// NOTE will be called from user code; at that point the high frequency clock source has already
|
||||||
|
// been configured to use to the external crystal
|
||||||
|
// Reference: section 6.35.4 of the nRF52840 Product Specification
|
||||||
|
pub fn init(power: POWER, usbd: &USBD) {
|
||||||
|
let mut once = true;
|
||||||
|
|
||||||
|
// wait until the USB cable has been connected
|
||||||
|
while power.events_usbdetected.read().bits() == 0 {
|
||||||
|
if once {
|
||||||
|
defmt::println!("waiting for USB connection on port J3");
|
||||||
|
once = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
power.events_usbdetected.reset();
|
||||||
|
|
||||||
|
// workaround silicon bug
|
||||||
|
unsafe { errata::e187a() }
|
||||||
|
// enable the USB peripheral
|
||||||
|
usbd.enable.write(|w| w.enable().set_bit());
|
||||||
|
|
||||||
|
// wait for the peripheral to signal it has reached the READY state
|
||||||
|
while usbd.eventcause.read().ready().bit_is_clear() {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
// write 1 to clear the flag
|
||||||
|
usbd.eventcause.write(|w| w.ready().set_bit());
|
||||||
|
|
||||||
|
// if EVENTCAUSE is all zeroes then also clear the USBEVENT register
|
||||||
|
if usbd.eventcause.read().bits() == 0 {
|
||||||
|
usbd.events_usbevent.reset();
|
||||||
|
}
|
||||||
|
|
||||||
|
// complete the silicon bug workaround
|
||||||
|
unsafe { errata::e187b() }
|
||||||
|
|
||||||
|
// also need to wait for the USB power supply regulator to stabilize
|
||||||
|
while power.events_usbpwrrdy.read().bits() == 0 {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
power.events_usbpwrrdy.reset();
|
||||||
|
|
||||||
|
// before returning unmask the relevant interrupts
|
||||||
|
usbd.intenset.write(|w| {
|
||||||
|
w.ep0datadone().set_bit();
|
||||||
|
w.ep0setup().set_bit();
|
||||||
|
w.usbreset().set_bit()
|
||||||
|
});
|
||||||
|
|
||||||
|
// enable the D+ line pull-up
|
||||||
|
usbd.usbpullup.write(|w| w.connect().set_bit());
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Stalls endpoint 0
|
||||||
|
pub fn ep0stall(usbd: &USBD) {
|
||||||
|
usbd.tasks_ep0stall.write(|w| w.tasks_ep0stall().set_bit());
|
||||||
|
}
|
||||||
|
|
||||||
|
/// USBD.EVENTS registers mapped to an enum
|
||||||
|
#[derive(Debug, defmt::Format)]
|
||||||
|
pub enum Event {
|
||||||
|
/// `EVENTS_USBRESET` register was active
|
||||||
|
UsbReset,
|
||||||
|
|
||||||
|
/// `EVENTS_EP0DATADONE` register was active
|
||||||
|
UsbEp0DataDone,
|
||||||
|
|
||||||
|
/// `EVENTS_EP0SETUP` register was active
|
||||||
|
UsbEp0Setup,
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Returns the next unhandled USB event; returns none if there's no event to handle
|
||||||
|
///
|
||||||
|
/// NOTE this function will clear the corresponding the EVENT register (*) so the caller should
|
||||||
|
/// handle the returned event properly. Expect for USBEVENT and EP0DATADONE
|
||||||
|
pub fn next_event(usbd: &USBD) -> Option<Event> {
|
||||||
|
if usbd.events_usbreset.read().bits() != 0 {
|
||||||
|
usbd.events_usbreset.reset();
|
||||||
|
|
||||||
|
return Some(Event::UsbReset);
|
||||||
|
}
|
||||||
|
|
||||||
|
if usbd.events_ep0datadone.read().bits() != 0 {
|
||||||
|
// this will be cleared by the `Ep0In.end` method
|
||||||
|
// usbd.events_ep0datadone.reset();
|
||||||
|
|
||||||
|
return Some(Event::UsbEp0DataDone);
|
||||||
|
}
|
||||||
|
|
||||||
|
if usbd.events_ep0setup.read().bits() != 0 {
|
||||||
|
usbd.events_ep0setup.reset();
|
||||||
|
|
||||||
|
return Some(Event::UsbEp0Setup);
|
||||||
|
}
|
||||||
|
|
||||||
|
None
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Reads the BMREQUESTTYPE register and returns the 8-bit BMREQUESTTYPE component of a setup packet
|
||||||
|
pub fn bmrequesttype(usbd: &USBD) -> u8 {
|
||||||
|
// read the 32-bit register and extract the least significant byte
|
||||||
|
// (the alternative is to read the 3 bitfields of the register and merge them into one byte)
|
||||||
|
usbd.bmrequesttype.read().bits() as u8
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Reads the BREQUEST register and returns the 8-bit BREQUEST component of a setup packet
|
||||||
|
pub fn brequest(usbd: &USBD) -> u8 {
|
||||||
|
usbd.brequest.read().brequest().bits()
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Reads the WLENGTHL and WLENGTHH registers and returns the 16-bit WLENGTH component of a setup packet
|
||||||
|
pub fn wlength(usbd: &USBD) -> u16 {
|
||||||
|
u16::from(usbd.wlengthl.read().wlengthl().bits())
|
||||||
|
| u16::from(usbd.wlengthh.read().wlengthh().bits()) << 8
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Reads the WINDEXL and WINDEXH registers and returns the 16-bit WINDEX component of a setup packet
|
||||||
|
pub fn windex(usbd: &USBD) -> u16 {
|
||||||
|
u16::from(usbd.windexl.read().windexl().bits())
|
||||||
|
| u16::from(usbd.windexh.read().windexh().bits()) << 8
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Reads the WVALUEL and WVALUEH registers and returns the 16-bit WVALUE component of a setup packet
|
||||||
|
pub fn wvalue(usbd: &USBD) -> u16 {
|
||||||
|
u16::from(usbd.wvaluel.read().wvaluel().bits())
|
||||||
|
| u16::from(usbd.wvalueh.read().wvalueh().bits()) << 8
|
||||||
|
}
|
Loading…
Reference in a new issue