Kernel minimization (#334)
* adds patch to remove unused kernel components * new boards, rebase patches to match * rename boards for deployment
This commit is contained in:
kaczmarczyck
GitHub
396
boards/nordic/nrf52840dk_opensk/src/main.rs
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396
boards/nordic/nrf52840dk_opensk/src/main.rs
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@@ -0,0 +1,396 @@
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//! Tock kernel for the Nordic Semiconductor nRF52840 development kit (DK).
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//!
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//! It is based on nRF52840 SoC (Cortex M4 core with a BLE transceiver) with
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//! many exported I/O and peripherals.
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//!
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//! Pin Configuration
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//! -------------------
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//!
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//! ### `GPIO`
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//!
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//! | # | Pin | Ix | Header | Arduino |
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//! |----|-------|----|--------|---------|
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//! | 0 | P1.01 | 33 | P3 1 | D0 |
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//! | 1 | P1.02 | 34 | P3 2 | D1 |
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//! | 2 | P1.03 | 35 | P3 3 | D2 |
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//! | 3 | P1.04 | 36 | P3 4 | D3 |
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//! | 4 | P1.05 | 37 | P3 5 | D4 |
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//! | 5 | P1.06 | 38 | P3 6 | D5 |
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//! | 6 | P1.07 | 39 | P3 7 | D6 |
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//! | 7 | P1.08 | 40 | P3 8 | D7 |
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//! | 8 | P1.10 | 42 | P4 1 | D8 |
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//! | 9 | P1.11 | 43 | P4 2 | D9 |
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//! | 10 | P1.12 | 44 | P4 3 | D10 |
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//! | 11 | P1.13 | 45 | P4 4 | D11 |
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//! | 12 | P1.14 | 46 | P4 5 | D12 |
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//! | 13 | P1.15 | 47 | P4 6 | D13 |
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//! | 14 | P0.26 | 26 | P4 9 | D14 |
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//! | 15 | P0.27 | 27 | P4 10 | D15 |
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//!
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//! ### `GPIO` / Analog Inputs
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//!
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//! | # | Pin | Header | Arduino |
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//! |----|------------|--------|---------|
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//! | 16 | P0.03 AIN1 | P2 1 | A0 |
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//! | 17 | P0.04 AIN2 | P2 2 | A1 |
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//! | 18 | P0.28 AIN4 | P2 3 | A2 |
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//! | 19 | P0.29 AIN5 | P2 4 | A3 |
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//! | 20 | P0.30 AIN6 | P2 5 | A4 |
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//! | 21 | P0.31 AIN7 | P2 6 | A5 |
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//! | 22 | P0.02 AIN0 | P4 8 | AVDD |
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//!
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//! ### Onboard Functions
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//!
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//! | Pin | Header | Function |
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//! |-------|--------|----------|
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//! | P0.05 | P6 3 | UART RTS |
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//! | P0.06 | P6 4 | UART TXD |
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//! | P0.07 | P6 5 | UART CTS |
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//! | P0.08 | P6 6 | UART RXT |
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//! | P0.11 | P24 1 | Button 1 |
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//! | P0.12 | P24 2 | Button 2 |
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//! | P0.13 | P24 3 | LED 1 |
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//! | P0.14 | P24 4 | LED 2 |
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//! | P0.15 | P24 5 | LED 3 |
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//! | P0.16 | P24 6 | LED 4 |
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//! | P0.18 | P24 8 | Reset |
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//! | P0.19 | P24 9 | SPI CLK |
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//! | P0.20 | P24 10 | SPI MOSI |
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//! | P0.21 | P24 11 | SPI MISO |
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//! | P0.24 | P24 14 | Button 3 |
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//! | P0.25 | P24 15 | Button 4 |
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#![no_std]
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// Disable this attribute when documenting, as a workaround for
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// https://github.com/rust-lang/rust/issues/62184.
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#![cfg_attr(not(doc), no_main)]
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#![feature(const_in_array_repeat_expressions)]
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#![deny(missing_docs)]
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use kernel::common::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClientState};
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use kernel::component::Component;
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#[allow(unused_imports)]
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use kernel::{capabilities, create_capability, debug, debug_gpio, debug_verbose, static_init};
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use nrf52840::gpio::Pin;
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use nrf52_components::{self, UartChannel, UartPins};
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// The nRF52840DK LEDs (see back of board)
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const LED1_PIN: Pin = Pin::P0_13;
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const LED2_PIN: Pin = Pin::P0_14;
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const LED3_PIN: Pin = Pin::P0_15;
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const LED4_PIN: Pin = Pin::P0_16;
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// The nRF52840DK buttons (see back of board)
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const BUTTON1_PIN: Pin = Pin::P0_11;
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const BUTTON2_PIN: Pin = Pin::P0_12;
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const BUTTON3_PIN: Pin = Pin::P0_24;
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const BUTTON4_PIN: Pin = Pin::P0_25;
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const BUTTON_RST_PIN: Pin = Pin::P0_18;
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const UART_RTS: Option<Pin> = Some(Pin::P0_05);
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const UART_TXD: Pin = Pin::P0_06;
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const UART_CTS: Option<Pin> = Some(Pin::P0_07);
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const UART_RXD: Pin = Pin::P0_08;
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const SPI_MOSI: Pin = Pin::P0_20;
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const SPI_MISO: Pin = Pin::P0_21;
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const SPI_CLK: Pin = Pin::P0_19;
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/// Debug Writer
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pub mod io;
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// Whether to use UART debugging or Segger RTT (USB) debugging.
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// - Set to false to use UART.
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// - Set to true to use Segger RTT over USB.
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const USB_DEBUGGING: bool = true;
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// State for loading and holding applications.
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// How should the kernel respond when a process faults.
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const FAULT_RESPONSE: kernel::procs::FaultResponse = kernel::procs::FaultResponse::Panic;
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// Number of concurrent processes this platform supports.
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const NUM_PROCS: usize = 8;
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static mut PROCESSES: [Option<&'static dyn kernel::procs::ProcessType>; NUM_PROCS] =
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[None; NUM_PROCS];
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static mut CHIP: Option<&'static nrf52840::chip::Chip> = None;
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/// Dummy buffer that causes the linker to reserve enough space for the stack.
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#[no_mangle]
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#[link_section = ".stack_buffer"]
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pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
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/// Supported drivers by the platform
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pub struct Platform {
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button: &'static capsules::button::Button<'static, nrf52840::gpio::GPIOPin<'static>>,
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pconsole: &'static capsules::process_console::ProcessConsole<
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'static,
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components::process_console::Capability,
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>,
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console: &'static capsules::console::Console<'static>,
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gpio: &'static capsules::gpio::GPIO<'static, nrf52840::gpio::GPIOPin<'static>>,
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led: &'static capsules::led::LED<'static, nrf52840::gpio::GPIOPin<'static>>,
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rng: &'static capsules::rng::RngDriver<'static>,
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ipc: kernel::ipc::IPC,
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analog_comparator: &'static capsules::analog_comparator::AnalogComparator<
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'static,
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nrf52840::acomp::Comparator<'static>,
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>,
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alarm: &'static capsules::alarm::AlarmDriver<
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'static,
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capsules::virtual_alarm::VirtualMuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
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>,
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}
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impl kernel::Platform for Platform {
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fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
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where
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F: FnOnce(Option<&dyn kernel::Driver>) -> R,
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{
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match driver_num {
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capsules::console::DRIVER_NUM => f(Some(self.console)),
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capsules::gpio::DRIVER_NUM => f(Some(self.gpio)),
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capsules::alarm::DRIVER_NUM => f(Some(self.alarm)),
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capsules::led::DRIVER_NUM => f(Some(self.led)),
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capsules::button::DRIVER_NUM => f(Some(self.button)),
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capsules::rng::DRIVER_NUM => f(Some(self.rng)),
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capsules::analog_comparator::DRIVER_NUM => f(Some(self.analog_comparator)),
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kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
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_ => f(None),
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}
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}
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}
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/// Entry point in the vector table called on hard reset.
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#[no_mangle]
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pub unsafe fn reset_handler() {
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// Loads relocations and clears BSS
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nrf52840::init();
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let uart_channel = if USB_DEBUGGING {
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// Initialize early so any panic beyond this point can use the RTT memory object.
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let mut rtt_memory_refs =
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components::segger_rtt::SeggerRttMemoryComponent::new().finalize(());
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// XXX: This is inherently unsafe as it aliases the mutable reference to rtt_memory. This
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// aliases reference is only used inside a panic handler, which should be OK, but maybe we
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// should use a const reference to rtt_memory and leverage interior mutability instead.
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self::io::set_rtt_memory(&mut *rtt_memory_refs.get_rtt_memory_ptr());
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UartChannel::Rtt(rtt_memory_refs)
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} else {
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UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD))
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};
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let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
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let gpio = components::gpio::GpioComponent::new(
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board_kernel,
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components::gpio_component_helper!(
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nrf52840::gpio::GPIOPin,
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0 => &nrf52840::gpio::PORT[Pin::P1_01],
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1 => &nrf52840::gpio::PORT[Pin::P1_02],
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2 => &nrf52840::gpio::PORT[Pin::P1_03],
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3 => &nrf52840::gpio::PORT[Pin::P1_04],
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4 => &nrf52840::gpio::PORT[Pin::P1_05],
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5 => &nrf52840::gpio::PORT[Pin::P1_06],
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6 => &nrf52840::gpio::PORT[Pin::P1_07],
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7 => &nrf52840::gpio::PORT[Pin::P1_08],
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8 => &nrf52840::gpio::PORT[Pin::P1_10],
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9 => &nrf52840::gpio::PORT[Pin::P1_11],
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10 => &nrf52840::gpio::PORT[Pin::P1_12],
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11 => &nrf52840::gpio::PORT[Pin::P1_13],
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12 => &nrf52840::gpio::PORT[Pin::P1_14],
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13 => &nrf52840::gpio::PORT[Pin::P1_15],
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14 => &nrf52840::gpio::PORT[Pin::P0_26],
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15 => &nrf52840::gpio::PORT[Pin::P0_27]
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),
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)
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.finalize(components::gpio_component_buf!(nrf52840::gpio::GPIOPin));
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let button = components::button::ButtonComponent::new(
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board_kernel,
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components::button_component_helper!(
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nrf52840::gpio::GPIOPin,
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(
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&nrf52840::gpio::PORT[BUTTON1_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow,
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kernel::hil::gpio::FloatingState::PullUp
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), //13
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(
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&nrf52840::gpio::PORT[BUTTON2_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow,
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kernel::hil::gpio::FloatingState::PullUp
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), //14
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(
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&nrf52840::gpio::PORT[BUTTON3_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow,
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kernel::hil::gpio::FloatingState::PullUp
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), //15
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(
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&nrf52840::gpio::PORT[BUTTON4_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow,
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kernel::hil::gpio::FloatingState::PullUp
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) //16
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),
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)
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.finalize(components::button_component_buf!(nrf52840::gpio::GPIOPin));
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let led = components::led::LedsComponent::new(components::led_component_helper!(
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nrf52840::gpio::GPIOPin,
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(
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&nrf52840::gpio::PORT[LED1_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow
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),
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(
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&nrf52840::gpio::PORT[LED2_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow
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),
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(
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&nrf52840::gpio::PORT[LED3_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow
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),
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(
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&nrf52840::gpio::PORT[LED4_PIN],
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kernel::hil::gpio::ActivationMode::ActiveLow
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)
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))
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.finalize(components::led_component_buf!(nrf52840::gpio::GPIOPin));
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let chip = static_init!(nrf52840::chip::Chip, nrf52840::chip::new());
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CHIP = Some(chip);
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nrf52_components::startup::NrfStartupComponent::new(
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false,
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BUTTON_RST_PIN,
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nrf52840::uicr::Regulator0Output::DEFAULT,
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)
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.finalize(());
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// Create capabilities that the board needs to call certain protected kernel
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// functions.
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let process_management_capability =
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create_capability!(capabilities::ProcessManagementCapability);
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let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
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let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
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let gpio_port = &nrf52840::gpio::PORT;
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// Configure kernel debug gpios as early as possible
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kernel::debug::assign_gpios(
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Some(&gpio_port[LED1_PIN]),
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Some(&gpio_port[LED2_PIN]),
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Some(&gpio_port[LED3_PIN]),
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);
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let rtc = &nrf52840::rtc::RTC;
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rtc.start();
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let mux_alarm = components::alarm::AlarmMuxComponent::new(rtc)
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.finalize(components::alarm_mux_component_helper!(nrf52840::rtc::Rtc));
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let alarm = components::alarm::AlarmDriverComponent::new(board_kernel, mux_alarm)
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.finalize(components::alarm_component_helper!(nrf52840::rtc::Rtc));
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let channel = nrf52_components::UartChannelComponent::new(uart_channel, mux_alarm).finalize(());
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let dynamic_deferred_call_clients =
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static_init!([DynamicDeferredCallClientState; 2], Default::default());
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let dynamic_deferred_caller = static_init!(
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DynamicDeferredCall,
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DynamicDeferredCall::new(dynamic_deferred_call_clients)
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);
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DynamicDeferredCall::set_global_instance(dynamic_deferred_caller);
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// Create a shared UART channel for the console and for kernel debug.
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let uart_mux =
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components::console::UartMuxComponent::new(channel, 115200, dynamic_deferred_caller)
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.finalize(());
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let pconsole =
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components::process_console::ProcessConsoleComponent::new(board_kernel, uart_mux)
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.finalize(());
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// Setup the console.
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let console = components::console::ConsoleComponent::new(board_kernel, uart_mux).finalize(());
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// Create the debugger object that handles calls to `debug!()`.
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components::debug_writer::DebugWriterComponent::new(uart_mux).finalize(());
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let rng = components::rng::RngComponent::new(board_kernel, &nrf52840::trng::TRNG).finalize(());
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nrf52840::spi::SPIM0.configure(
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nrf52840::pinmux::Pinmux::new(SPI_MOSI as u32),
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nrf52840::pinmux::Pinmux::new(SPI_MISO as u32),
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nrf52840::pinmux::Pinmux::new(SPI_CLK as u32),
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);
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// Initialize AC using AIN5 (P0.29) as VIN+ and VIN- as AIN0 (P0.02)
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// These are hardcoded pin assignments specified in the driver
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let analog_comparator = components::analog_comparator::AcComponent::new(
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&nrf52840::acomp::ACOMP,
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components::acomp_component_helper!(
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nrf52840::acomp::Channel,
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&nrf52840::acomp::CHANNEL_AC0
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),
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)
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.finalize(components::acomp_component_buf!(
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nrf52840::acomp::Comparator
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));
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nrf52_components::NrfClockComponent::new().finalize(());
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let platform = Platform {
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button,
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pconsole,
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console,
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led,
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gpio,
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rng,
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alarm,
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analog_comparator,
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ipc: kernel::ipc::IPC::new(board_kernel, &memory_allocation_capability),
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};
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platform.pconsole.start();
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debug!("Initialization complete. Entering main loop\r");
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debug!("{}", &nrf52840::ficr::FICR_INSTANCE);
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/// These symbols are defined in the linker script.
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extern "C" {
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/// Beginning of the ROM region containing app images.
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static _sapps: u8;
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/// End of the ROM region containing app images.
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static _eapps: u8;
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/// Beginning of the RAM region for app memory.
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static mut _sappmem: u8;
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/// End of the RAM region for app memory.
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static _eappmem: u8;
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}
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kernel::procs::load_processes(
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board_kernel,
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chip,
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core::slice::from_raw_parts(
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&_sapps as *const u8,
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&_eapps as *const u8 as usize - &_sapps as *const u8 as usize,
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),
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core::slice::from_raw_parts_mut(
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&mut _sappmem as *mut u8,
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&_eappmem as *const u8 as usize - &_sappmem as *const u8 as usize,
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),
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&mut PROCESSES,
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FAULT_RESPONSE,
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&process_management_capability,
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)
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.unwrap_or_else(|err| {
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debug!("Error loading processes!");
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debug!("{:?}", err);
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});
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let scheduler = components::sched::round_robin::RoundRobinComponent::new(&PROCESSES)
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.finalize(components::rr_component_helper!(NUM_PROCS));
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board_kernel.kernel_loop(
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&platform,
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chip,
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Some(&platform.ipc),
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scheduler,
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&main_loop_capability,
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);
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}
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