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f91d2fd3dbe7d97794702ff274b1f44a49ca6cd1
OpenSK/patches/tock/04-rtt.patch
Jean-Michel Picod f91d2fd3db Initial commit
2020-01-30 11:47:29 +01:00

523 lines
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diff --git a/boards/acd52832/src/main.rs b/boards/acd52832/src/main.rs
index c844ccaf..d60bbc00 100644
--- a/boards/acd52832/src/main.rs
+++ b/boards/acd52832/src/main.rs
@@ -304,23 +304,26 @@ pub unsafe fn reset_handler() {
);
// RTT communication channel
+ let name = b"Terminal\0";
+ let up_buffer_name = name;
+ let down_buffer_name = name;
+ let up_buffer = static_init!([u8; 1024], [0; 1024]);
+ let down_buffer = static_init!([u8; 32], [0; 32]);
+
let rtt_memory = static_init!(
capsules::segger_rtt::SeggerRttMemory,
- capsules::segger_rtt::SeggerRttMemory::new(
- b"Terminal\0",
- &mut capsules::segger_rtt::UP_BUFFER,
- b"Terminal\0",
- &mut capsules::segger_rtt::DOWN_BUFFER
+ capsules::segger_rtt::SeggerRttMemory::new_raw(
+ up_buffer_name,
+ up_buffer.as_ptr(),
+ up_buffer.len(),
+ down_buffer_name,
+ down_buffer.as_ptr(),
+ down_buffer.len()
)
);
let rtt = static_init!(
capsules::segger_rtt::SeggerRtt<VirtualMuxAlarm<'static, nrf52832::rtc::Rtc>>,
- capsules::segger_rtt::SeggerRtt::new(
- virtual_alarm_rtt,
- rtt_memory,
- &mut capsules::segger_rtt::UP_BUFFER,
- &mut capsules::segger_rtt::DOWN_BUFFER
- )
+ capsules::segger_rtt::SeggerRtt::new(virtual_alarm_rtt, rtt_memory, up_buffer, down_buffer)
);
hil::time::Alarm::set_client(virtual_alarm_rtt, rtt);
diff --git a/boards/nordic/nrf52840_dongle/src/main.rs b/boards/nordic/nrf52840_dongle/src/main.rs
index 31d0b392..5a9da538 100644
--- a/boards/nordic/nrf52840_dongle/src/main.rs
+++ b/boards/nordic/nrf52840_dongle/src/main.rs
@@ -11,7 +11,7 @@ use kernel::component::Component;
#[allow(unused_imports)]
use kernel::{debug, debug_gpio, debug_verbose, static_init};
use nrf52840::gpio::Pin;
-use nrf52dk_base::{SpiPins, UartPins};
+use nrf52dk_base::{SpiPins, UartChannel, UartPins};
// The nRF52840 Dongle LEDs
const LED1_PIN: Pin = Pin::P0_06;
@@ -130,7 +130,7 @@ pub unsafe fn reset_handler() {
LED2_G_PIN,
LED2_B_PIN,
led,
- &UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD),
+ UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD)),
&SpiPins::new(SPI_MOSI, SPI_MISO, SPI_CLK),
&None,
button,
diff --git a/boards/nordic/nrf52840dk/Cargo.toml b/boards/nordic/nrf52840dk/Cargo.toml
index 171c497f..9d16f679 100644
--- a/boards/nordic/nrf52840dk/Cargo.toml
+++ b/boards/nordic/nrf52840dk/Cargo.toml
@@ -17,6 +17,10 @@ lto = true
opt-level = "z"
debug = true
+[features]
+usb_debugging = []
+default = ["usb_debugging"]
+
[dependencies]
components = { path = "../../components" }
cortexm4 = { path = "../../../arch/cortex-m4" }
diff --git a/boards/nordic/nrf52840dk/src/io.rs b/boards/nordic/nrf52840dk/src/io.rs
index 4c4f3bf3..608fa9ca 100644
--- a/boards/nordic/nrf52840dk/src/io.rs
+++ b/boards/nordic/nrf52840dk/src/io.rs
@@ -1,19 +1,46 @@
use core::fmt::Write;
use core::panic::PanicInfo;
use cortexm4;
+#[cfg(feature = "usb_debugging")]
+use kernel::common::cells::TakeCell;
use kernel::debug;
use kernel::debug::IoWrite;
use kernel::hil::led;
+#[cfg(not(feature = "usb_debugging"))]
use kernel::hil::uart::{self, Configure};
use nrf52840::gpio::Pin;
use crate::PROCESSES;
struct Writer {
+ #[cfg(not(feature = "usb_debugging"))]
initialized: bool,
+ #[cfg(feature = "usb_debugging")]
+ rtt_memory: TakeCell<'static, capsules::segger_rtt::SeggerRttMemory<'static>>,
}
+#[cfg(not(feature = "usb_debugging"))]
static mut WRITER: Writer = Writer { initialized: false };
+#[cfg(feature = "usb_debugging")]
+static mut WRITER: Writer = Writer {
+ rtt_memory: TakeCell::empty(),
+};
+
+#[cfg(feature = "usb_debugging")]
+fn wait() {
+ let mut x = 0;
+ for i in 0..5000 {
+ unsafe { core::ptr::write_volatile(&mut x as *mut _, i) };
+ }
+}
+
+/// Set the RTT memory buffer used to output panic messages.
+#[cfg(feature = "usb_debugging")]
+pub unsafe fn set_rtt_memory(
+ rtt_memory: &'static mut capsules::segger_rtt::SeggerRttMemory<'static>,
+) {
+ WRITER.rtt_memory.replace(rtt_memory);
+}
impl Write for Writer {
fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
@@ -23,6 +50,7 @@ impl Write for Writer {
}
impl IoWrite for Writer {
+ #[cfg(not(feature = "usb_debugging"))]
fn write(&mut self, buf: &[u8]) {
let uart = unsafe { &mut nrf52840::uart::UARTE0 };
if !self.initialized {
@@ -42,6 +70,30 @@ impl IoWrite for Writer {
while !uart.tx_ready() {}
}
}
+
+ #[cfg(feature = "usb_debugging")]
+ fn write(&mut self, buf: &[u8]) {
+ // TODO: initialize if needed.
+ self.rtt_memory.map(|rtt_memory| {
+ let up_buffer = &mut rtt_memory.up_buffer;
+ let buffer_len = up_buffer.length.get();
+ let buffer = unsafe {
+ core::slice::from_raw_parts_mut(
+ up_buffer.buffer.get() as *mut u8,
+ buffer_len as usize,
+ )
+ };
+
+ let mut write_position = up_buffer.write_position.get();
+
+ for &c in buf {
+ buffer[write_position as usize] = c;
+ write_position = (write_position + 1) % buffer_len;
+ up_buffer.write_position.set(write_position);
+ wait();
+ }
+ });
+ }
}
#[cfg(not(test))]
diff --git a/boards/nordic/nrf52840dk/src/main.rs b/boards/nordic/nrf52840dk/src/main.rs
index 57c42436..0b19ea3f 100644
--- a/boards/nordic/nrf52840dk/src/main.rs
+++ b/boards/nordic/nrf52840dk/src/main.rs
@@ -68,7 +68,9 @@ use kernel::component::Component;
#[allow(unused_imports)]
use kernel::{debug, debug_gpio, debug_verbose, static_init};
use nrf52840::gpio::Pin;
-use nrf52dk_base::{SpiMX25R6435FPins, SpiPins, UartPins};
+#[cfg(not(feature = "usb_debugging"))]
+use nrf52dk_base::UartPins;
+use nrf52dk_base::{SpiMX25R6435FPins, SpiPins, UartChannel};
// The nRF52840DK LEDs (see back of board)
const LED1_PIN: Pin = Pin::P0_13;
@@ -83,9 +85,13 @@ const BUTTON3_PIN: Pin = Pin::P0_24;
const BUTTON4_PIN: Pin = Pin::P0_25;
const BUTTON_RST_PIN: Pin = Pin::P0_18;
+#[cfg(not(feature = "usb_debugging"))]
const UART_RTS: Pin = Pin::P0_05;
+#[cfg(not(feature = "usb_debugging"))]
const UART_TXD: Pin = Pin::P0_06;
+#[cfg(not(feature = "usb_debugging"))]
const UART_CTS: Pin = Pin::P0_07;
+#[cfg(not(feature = "usb_debugging"))]
const UART_RXD: Pin = Pin::P0_08;
const SPI_MOSI: Pin = Pin::P0_20;
@@ -123,6 +129,37 @@ pub unsafe fn reset_handler() {
// Loads relocations and clears BSS
nrf52840::init();
+ // Initialize Segger RTT as early as possible so that any panic beyond this point can use the
+ // RTT memory object.
+ #[cfg(feature = "usb_debugging")]
+ let (up_buffer, down_buffer, rtt_memory) = {
+ let name = b"Terminal\0";
+ let up_buffer_name = name;
+ let down_buffer_name = name;
+ let up_buffer = static_init!([u8; 1024], [0; 1024]);
+ let down_buffer = static_init!([u8; 32], [0; 32]);
+
+ let rtt_memory = static_init!(
+ capsules::segger_rtt::SeggerRttMemory,
+ capsules::segger_rtt::SeggerRttMemory::new_raw(
+ up_buffer_name,
+ up_buffer.as_ptr(),
+ up_buffer.len(),
+ down_buffer_name,
+ down_buffer.as_ptr(),
+ down_buffer.len()
+ )
+ );
+
+ (up_buffer, down_buffer, rtt_memory)
+ };
+
+ // XXX: This is inherently unsafe as it aliases the mutable reference to rtt_memory. This
+ // aliases reference is only used inside a panic handler, which should be OK, but maybe we
+ // should use a const reference to rtt_memory and leverage interior mutability instead.
+ #[cfg(feature = "usb_debugging")]
+ self::io::set_rtt_memory(&mut *(rtt_memory as *mut _));
+
let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
let gpio = components::gpio::GpioComponent::new(board_kernel).finalize(
components::gpio_component_helper!(
@@ -198,7 +235,10 @@ pub unsafe fn reset_handler() {
LED2_PIN,
LED3_PIN,
led,
- &UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD),
+ #[cfg(feature = "usb_debugging")]
+ UartChannel::Rtt(up_buffer, down_buffer, rtt_memory),
+ #[cfg(not(feature = "usb_debugging"))]
+ UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD)),
&SpiPins::new(SPI_MOSI, SPI_MISO, SPI_CLK),
&Some(SpiMX25R6435FPins::new(
SPI_MX25R6435F_CHIP_SELECT,
diff --git a/boards/nordic/nrf52dk/src/main.rs b/boards/nordic/nrf52dk/src/main.rs
index 693f1e18..b49518ff 100644
--- a/boards/nordic/nrf52dk/src/main.rs
+++ b/boards/nordic/nrf52dk/src/main.rs
@@ -68,7 +68,7 @@ use kernel::component::Component;
#[allow(unused_imports)]
use kernel::{debug, debug_gpio, debug_verbose, static_init};
use nrf52832::gpio::Pin;
-use nrf52dk_base::{SpiPins, UartPins};
+use nrf52dk_base::{SpiPins, UartChannel, UartPins};
// The nRF52 DK LEDs (see back of board)
const LED1_PIN: Pin = Pin::P0_17;
@@ -199,7 +199,7 @@ pub unsafe fn reset_handler() {
LED2_PIN,
LED3_PIN,
led,
- &UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD),
+ UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD)),
&SpiPins::new(SPI_MOSI, SPI_MISO, SPI_CLK),
&None,
button,
diff --git a/boards/nordic/nrf52dk_base/src/lib.rs b/boards/nordic/nrf52dk_base/src/lib.rs
index 17be93a4..ddac9dbd 100644
--- a/boards/nordic/nrf52dk_base/src/lib.rs
+++ b/boards/nordic/nrf52dk_base/src/lib.rs
@@ -70,6 +70,15 @@ impl UartPins {
}
}
+pub enum UartChannel<'a> {
+ Pins(UartPins),
+ Rtt(
+ &'a mut [u8],
+ &'a mut [u8],
+ &'a mut capsules::segger_rtt::SeggerRttMemory<'a>,
+ ),
+}
+
/// Supported drivers by the platform
pub struct Platform {
ble_radio: &'static capsules::ble_advertising_driver::BLE<
@@ -136,7 +145,7 @@ pub unsafe fn setup_board<I: nrf52::interrupt_service::InterruptService>(
debug_pin2_index: Pin,
debug_pin3_index: Pin,
led: &'static capsules::led::LED<'static>,
- uart_pins: &UartPins,
+ uart_channel: UartChannel<'static>,
spi_pins: &SpiPins,
mx25r6435f: &Option<SpiMX25R6435FPins>,
button: &'static capsules::button::Button<'static>,
@@ -232,6 +241,38 @@ pub unsafe fn setup_board<I: nrf52::interrupt_service::InterruptService>(
let alarm = components::alarm::AlarmDriverComponent::new(board_kernel, mux_alarm)
.finalize(components::alarm_component_helper!(nrf52::rtc::Rtc));
+ let channel: &dyn kernel::hil::uart::Uart = match uart_channel {
+ UartChannel::Pins(uart_pins) => {
+ nrf52::uart::UARTE0.initialize(
+ nrf52::pinmux::Pinmux::new(uart_pins.txd as u32),
+ nrf52::pinmux::Pinmux::new(uart_pins.rxd as u32),
+ Some(nrf52::pinmux::Pinmux::new(uart_pins.cts as u32)),
+ Some(nrf52::pinmux::Pinmux::new(uart_pins.rts as u32)),
+ );
+ &nrf52::uart::UARTE0
+ }
+ UartChannel::Rtt(up_buffer, down_buffer, rtt_memory) => {
+ // Virtual alarm for the Segger RTT communication channel
+ let virtual_alarm_rtt = static_init!(
+ capsules::virtual_alarm::VirtualMuxAlarm<'static, nrf52::rtc::Rtc>,
+ capsules::virtual_alarm::VirtualMuxAlarm::new(mux_alarm)
+ );
+
+ // RTT communication channel
+ let rtt = static_init!(
+ capsules::segger_rtt::SeggerRtt<VirtualMuxAlarm<'static, nrf52::rtc::Rtc>>,
+ capsules::segger_rtt::SeggerRtt::new(
+ virtual_alarm_rtt,
+ rtt_memory,
+ up_buffer,
+ down_buffer
+ )
+ );
+ hil::time::Alarm::set_client(virtual_alarm_rtt, rtt);
+ rtt
+ }
+ };
+
let dynamic_deferred_call_clients =
static_init!([DynamicDeferredCallClientState; 2], Default::default());
let dynamic_deferred_caller = static_init!(
@@ -241,19 +282,10 @@ pub unsafe fn setup_board<I: nrf52::interrupt_service::InterruptService>(
DynamicDeferredCall::set_global_instance(dynamic_deferred_caller);
// Create a shared UART channel for the console and for kernel debug.
- let uart_mux = components::console::UartMuxComponent::new(
- &nrf52::uart::UARTE0,
- 115200,
- dynamic_deferred_caller,
- )
- .finalize(());
-
- nrf52::uart::UARTE0.initialize(
- nrf52::pinmux::Pinmux::new(uart_pins.txd as u32),
- nrf52::pinmux::Pinmux::new(uart_pins.rxd as u32),
- Some(nrf52::pinmux::Pinmux::new(uart_pins.cts as u32)),
- Some(nrf52::pinmux::Pinmux::new(uart_pins.rts as u32)),
- );
+ let uart_mux =
+ components::console::UartMuxComponent::new(channel, 115200, dynamic_deferred_caller)
+ .finalize(());
+
let pconsole =
components::process_console::ProcessConsoleComponent::new(board_kernel, uart_mux)
.finalize(());
diff --git a/capsules/src/segger_rtt.rs b/capsules/src/segger_rtt.rs
index 1bf93fc1..33103c57 100644
--- a/capsules/src/segger_rtt.rs
+++ b/capsules/src/segger_rtt.rs
@@ -91,67 +91,69 @@
//! ```
use core::cell::Cell;
-use kernel::common::cells::{OptionalCell, TakeCell};
+use core::marker::PhantomData;
+use kernel::common::cells::{OptionalCell, TakeCell, VolatileCell};
use kernel::hil;
use kernel::hil::time::Frequency;
use kernel::hil::uart;
use kernel::ReturnCode;
-/// Buffer for transmitting to the host.
-pub static mut UP_BUFFER: [u8; 1024] = [0; 1024];
-
-/// Buffer for receiving messages from the host.
-pub static mut DOWN_BUFFER: [u8; 32] = [0; 32];
-
/// This structure is defined by the segger RTT protocol. It must exist in
/// memory in exactly this form so that the segger JTAG tool can find it in the
/// chip's memory and read and write messages to the appropriate buffers.
#[repr(C)]
-pub struct SeggerRttMemory {
- id: [u8; 16],
- number_up_buffers: u32,
- number_down_buffers: u32,
- up_buffer: SeggerRttBuffer,
- down_buffer: SeggerRttBuffer,
+pub struct SeggerRttMemory<'a> {
+ id: VolatileCell<[u8; 16]>,
+ number_up_buffers: VolatileCell<u32>,
+ number_down_buffers: VolatileCell<u32>,
+ pub up_buffer: SeggerRttBuffer<'a>,
+ down_buffer: SeggerRttBuffer<'a>,
}
#[repr(C)]
-pub struct SeggerRttBuffer {
- name: *const u8, // Pointer to the name of this channel. Must be a 4 byte thin pointer.
- buffer: *const u8, // Pointer to the buffer for this channel.
- length: u32,
- write_position: u32,
- read_position: u32,
- flags: u32,
+pub struct SeggerRttBuffer<'a> {
+ name: VolatileCell<*const u8>, // Pointer to the name of this channel. Must be a 4 byte thin pointer.
+ pub buffer: VolatileCell<*const u8>, // Pointer to the buffer for this channel.
+ pub length: VolatileCell<u32>,
+ pub write_position: VolatileCell<u32>,
+ read_position: VolatileCell<u32>,
+ flags: VolatileCell<u32>,
+ _lifetime: PhantomData<&'a [u8]>,
}
-impl SeggerRttMemory {
- pub fn new(
+impl SeggerRttMemory<'a> {
+ pub fn new_raw(
up_buffer_name: &'a [u8],
- up_buffer: &'static mut [u8],
- down_buffer_name: &'static [u8],
- down_buffer: &'static mut [u8],
- ) -> SeggerRttMemory {
+ up_buffer_ptr: *const u8,
+ up_buffer_len: usize,
+ down_buffer_name: &'a [u8],
+ down_buffer_ptr: *const u8,
+ down_buffer_len: usize,
+ ) -> SeggerRttMemory<'a> {
SeggerRttMemory {
+ // TODO: only write this ID when the object is fully initialized, to avoid having
+ // these bytes elsewhere in (flash) memory.
// Must be "SEGGER RTT".
- id: *b"SEGGER RTT\0\0\0\0\0\0",
- number_up_buffers: 1,
- number_down_buffers: 1,
+ id: VolatileCell::new(*b"SEGGER RTT\0\0\0\0\0\0"),
+ number_up_buffers: VolatileCell::new(1),
+ number_down_buffers: VolatileCell::new(1),
up_buffer: SeggerRttBuffer {
- name: up_buffer_name.as_ptr(),
- buffer: up_buffer.as_ptr(),
- length: 1024,
- write_position: 0,
- read_position: 0,
- flags: 0,
+ name: VolatileCell::new(up_buffer_name.as_ptr()),
+ buffer: VolatileCell::new(up_buffer_ptr),
+ length: VolatileCell::new(up_buffer_len as u32),
+ write_position: VolatileCell::new(0),
+ read_position: VolatileCell::new(0),
+ flags: VolatileCell::new(0),
+ _lifetime: PhantomData,
},
down_buffer: SeggerRttBuffer {
- name: down_buffer_name.as_ptr(),
- buffer: down_buffer.as_ptr(),
- length: 32,
- write_position: 0,
- read_position: 0,
- flags: 0,
+ name: VolatileCell::new(down_buffer_name.as_ptr()),
+ buffer: VolatileCell::new(down_buffer_ptr),
+ length: VolatileCell::new(down_buffer_len as u32),
+ write_position: VolatileCell::new(0),
+ read_position: VolatileCell::new(0),
+ flags: VolatileCell::new(0),
+ _lifetime: PhantomData,
},
}
}
@@ -159,9 +161,9 @@ impl SeggerRttMemory {
pub struct SeggerRtt<'a, A: hil::time::Alarm<'a>> {
alarm: &'a A, // Dummy alarm so we can get a callback.
- config: TakeCell<'a, SeggerRttMemory>,
- up_buffer: TakeCell<'static, [u8]>,
- _down_buffer: TakeCell<'static, [u8]>,
+ config: TakeCell<'a, SeggerRttMemory<'a>>,
+ up_buffer: TakeCell<'a, [u8]>,
+ _down_buffer: TakeCell<'a, [u8]>,
client: OptionalCell<&'a dyn uart::TransmitClient>,
client_buffer: TakeCell<'static, [u8]>,
tx_len: Cell<usize>,
@@ -170,9 +172,9 @@ pub struct SeggerRtt<'a, A: hil::time::Alarm<'a>> {
impl<'a, A: hil::time::Alarm<'a>> SeggerRtt<'a, A> {
pub fn new(
alarm: &'a A,
- config: &'a mut SeggerRttMemory,
- up_buffer: &'static mut [u8],
- down_buffer: &'static mut [u8],
+ config: &'a mut SeggerRttMemory<'a>,
+ up_buffer: &'a mut [u8],
+ down_buffer: &'a mut [u8],
) -> SeggerRtt<'a, A> {
SeggerRtt {
alarm: alarm,
@@ -205,15 +207,15 @@ impl<'a, A: hil::time::Alarm<'a>> uart::Transmit<'a> for SeggerRtt<'a, A> {
// Copy the incoming data into the buffer. Once we increment
// the `write_position` the RTT listener will go ahead and read
// the message from us.
- let mut index = config.up_buffer.write_position as usize;
- let buffer_len = config.up_buffer.length as usize;
+ let mut index = config.up_buffer.write_position.get() as usize;
+ let buffer_len = config.up_buffer.length.get() as usize;
for i in 0..tx_len {
buffer[(i + index) % buffer_len] = tx_data[i];
}
index = (index + tx_len) % buffer_len;
- config.up_buffer.write_position = index as u32;
+ config.up_buffer.write_position.set(index as u32);
self.tx_len.set(tx_len);
// Save the client buffer so we can pass it back with the callback.
self.client_buffer.replace(tx_data);
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