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@ -51,9 +51,9 @@ diff -uNr 05_safe_globals/src/arch/aarch64.rs 06_drivers_gpio_uart/src/arch/aarc
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#[inline(always)]
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pub fn wait_forever() -> ! {
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diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/src/bsp/driver/bcm2837_gpio.rs
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--- 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs
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+++ 06_drivers_gpio_uart/src/bsp/driver/bcm2837_gpio.rs
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diff -uNr 05_safe_globals/src/bsp/driver/bcm/bcm2837_gpio.rs 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2837_gpio.rs
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--- 05_safe_globals/src/bsp/driver/bcm/bcm2837_gpio.rs
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+++ 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2837_gpio.rs
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@@ -0,0 +1,162 @@
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+// SPDX-License-Identifier: MIT
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+//
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@ -78,8 +78,7 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
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+ FSEL15 OFFSET(15) NUMBITS(3) [
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+ Input = 0b000,
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+ Output = 0b001,
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+ RXD0 = 0b100, // UART0 - Alternate function 0
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+ RXD1 = 0b010 // Mini UART - Alternate function 5
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+ AltFunc5 = 0b010 // Mini UART RX
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+
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+ ],
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+
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@ -87,8 +86,7 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
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+ FSEL14 OFFSET(12) NUMBITS(3) [
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+ Input = 0b000,
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+ Output = 0b001,
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+ TXD0 = 0b100, // UART0 - Alternate function 0
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+ TXD1 = 0b010 // Mini UART - Alternate function 5
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+ AltFunc5 = 0b010 // Mini UART TX
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+ ]
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+ ],
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+
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@ -165,10 +163,10 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
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+ ///
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+ /// TX to pin 14
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+ /// RX to pin 15
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+ fn map_mini_uart(&mut self) {
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+ pub fn map_mini_uart(&mut self) {
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+ // Map to pins.
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+ self.GPFSEL1
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+ .modify(GPFSEL1::FSEL14::TXD1 + GPFSEL1::FSEL15::RXD1);
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+ .modify(GPFSEL1::FSEL14::AltFunc5 + GPFSEL1::FSEL15::AltFunc5);
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+
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+ // Enable pins 14 and 15.
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+ self.GPPUD.set(0);
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@ -187,10 +185,11 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
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+}
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+
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+////////////////////////////////////////////////////////////////////////////////
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+// OS interface implementations
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+// BSP-public
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+////////////////////////////////////////////////////////////////////////////////
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+use interface::sync::Mutex;
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+
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+/// The driver's public data.
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+/// The driver's main struct.
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+pub struct GPIO {
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+ inner: NullLock<GPIOInner>,
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+}
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@ -201,27 +200,28 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
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+ inner: NullLock::new(GPIOInner::new(base_addr)),
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+ }
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+ }
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+
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+ // Only visible to other BSP code.
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+ pub fn map_mini_uart(&self) {
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+ let mut r = &self.inner;
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+ r.lock(|inner| inner.map_mini_uart());
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+ }
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+}
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+
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+////////////////////////////////////////////////////////////////////////////////
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+// OS interface implementations
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+////////////////////////////////////////////////////////////////////////////////
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+
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+impl interface::driver::DeviceDriver for GPIO {
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+ fn compatible(&self) -> &str {
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+ "GPIO"
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+ }
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+
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+ fn init(&self) -> interface::driver::Result {
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+ use interface::sync::Mutex;
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+
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+ let mut r = &self.inner;
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+ r.lock(|i| i.map_mini_uart());
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+
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+ Ok(())
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+ }
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+}
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diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_uart/src/bsp/driver/bcm2xxx_mini_uart.rs
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--- 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs
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+++ 06_drivers_gpio_uart/src/bsp/driver/bcm2xxx_mini_uart.rs
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@@ -0,0 +1,261 @@
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diff -uNr 05_safe_globals/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
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--- 05_safe_globals/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
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+++ 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
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@@ -0,0 +1,258 @@
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+// SPDX-License-Identifier: MIT
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+//
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+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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@ -363,27 +363,6 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
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+ self.base_addr as *const _
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+ }
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+
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+ /// Set up baud rate and characteristics (115200 8N1).
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+ fn init(&mut self) -> interface::driver::Result {
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+ self.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
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+ self.AUX_MU_IER.set(0);
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+ self.AUX_MU_CNTL.set(0);
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+ self.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
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+ self.AUX_MU_MCR.set(0);
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+ self.AUX_MU_IER.set(0);
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+ self.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
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+ self.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
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+
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+ // Enable receive and send.
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+ self.AUX_MU_CNTL
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+ .write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
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+
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+ // Clear FIFOs before using the device.
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+ self.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
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+
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+ Ok(())
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+ }
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+
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+ /// Send a character.
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+ fn write_char(&mut self, c: char) {
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+ // Wait until we can send.
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@ -429,7 +408,7 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
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+}
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+
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+////////////////////////////////////////////////////////////////////////////////
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+// OS interface implementations
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+// BSP-public
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+////////////////////////////////////////////////////////////////////////////////
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+
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+/// The driver's main struct.
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@ -448,16 +427,38 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
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+ }
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+}
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+
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+////////////////////////////////////////////////////////////////////////////////
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+// OS interface implementations
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+////////////////////////////////////////////////////////////////////////////////
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+use interface::sync::Mutex;
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+
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+impl interface::driver::DeviceDriver for MiniUart {
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+ fn compatible(&self) -> &str {
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+ "MiniUart"
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+ }
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+
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+ /// Set up baud rate and characteristics (115200 8N1).
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+ fn init(&self) -> interface::driver::Result {
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+ use interface::sync::Mutex;
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+
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+ let mut r = &self.inner;
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+ r.lock(|i| i.init())
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+ r.lock(|inner| {
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+ // Enable register access to the MiniUart
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+ inner.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
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+ inner.AUX_MU_IER.set(0); // disable RX and TX interrupts
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+ inner.AUX_MU_CNTL.set(0); // disable send and receive
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+ inner.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
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+ inner.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
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+ inner.AUX_MU_MCR.set(0); // set "ready to send" high
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+
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+ // Clear FIFOs before using the device.
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+ inner.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
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+
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+ // Enable receive and send.
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+ inner
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+ .AUX_MU_CNTL
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+ .write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
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+ });
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+
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+ Ok(())
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+ }
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+}
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+
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@ -465,12 +466,10 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
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+/// by a Mutex to serialize access.
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+impl interface::console::Write for MiniUart {
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+ fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
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+ use interface::sync::Mutex;
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+
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+ // Fully qualified syntax for the call to
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+ // `core::fmt::Write::write:fmt()` to increase readability.
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+ let mut r = &self.inner;
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+ r.lock(|i| fmt::Write::write_fmt(i, args))
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+ r.lock(|inner| fmt::Write::write_fmt(inner, args))
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+ }
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+}
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+
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@ -478,17 +477,31 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
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+
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+impl interface::console::Statistics for MiniUart {
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+ fn chars_written(&self) -> usize {
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+ use interface::sync::Mutex;
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+
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+ let mut r = &self.inner;
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+ r.lock(|i| i.chars_written)
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+ r.lock(|inner| inner.chars_written)
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+ }
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+}
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diff -uNr 05_safe_globals/src/bsp/driver/bcm.rs 06_drivers_gpio_uart/src/bsp/driver/bcm.rs
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--- 05_safe_globals/src/bsp/driver/bcm.rs
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+++ 06_drivers_gpio_uart/src/bsp/driver/bcm.rs
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@@ -0,0 +1,11 @@
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+// SPDX-License-Identifier: MIT
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+//
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+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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+
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+//! BCM driver top level.
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+
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+mod bcm2837_gpio;
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+mod bcm2xxx_mini_uart;
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+
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+pub use bcm2837_gpio::GPIO;
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+pub use bcm2xxx_mini_uart::MiniUart;
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diff -uNr 05_safe_globals/src/bsp/driver.rs 06_drivers_gpio_uart/src/bsp/driver.rs
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--- 05_safe_globals/src/bsp/driver.rs
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+++ 06_drivers_gpio_uart/src/bsp/driver.rs
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@@ -0,0 +1,17 @@
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@@ -0,0 +1,11 @@
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+// SPDX-License-Identifier: MIT
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+//
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+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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@ -496,16 +509,10 @@ diff -uNr 05_safe_globals/src/bsp/driver.rs 06_drivers_gpio_uart/src/bsp/driver.
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+//! Drivers.
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+
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+#[cfg(feature = "bsp_rpi3")]
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+mod bcm2837_gpio;
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+
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|
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+#[cfg(feature = "bsp_rpi3")]
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+mod bcm2xxx_mini_uart;
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+
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|
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+#[cfg(feature = "bsp_rpi3")]
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+pub use bcm2837_gpio::GPIO;
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|
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+mod bcm;
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+
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|
|
+#[cfg(feature = "bsp_rpi3")]
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+pub use bcm2xxx_mini_uart::MiniUart;
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+pub use bcm::*;
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diff -uNr 05_safe_globals/src/bsp/rpi3/memory_map.rs 06_drivers_gpio_uart/src/bsp/rpi3/memory_map.rs
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|
--- 05_safe_globals/src/bsp/rpi3/memory_map.rs
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|
@ -528,7 +535,7 @@ diff -uNr 05_safe_globals/src/bsp/rpi3/memory_map.rs 06_drivers_gpio_uart/src/bs
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diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
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|
--- 05_safe_globals/src/bsp/rpi3.rs
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|
+++ 06_drivers_gpio_uart/src/bsp/rpi3.rs
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|
@@ -4,105 +4,21 @@
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@@ -4,115 +4,59 @@
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|
|
//! Board Support Package for the Raspberry Pi 3.
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|
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|
@ -590,10 +597,11 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
|
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|
|
- }
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|
|
-}
|
|
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|
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-
|
|
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|
|
-////////////////////////////////////////////////////////////////////////////////
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|
|
|
|
-// OS interface implementations
|
|
|
|
|
-////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
-
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
-// BSP-public
|
|
|
|
|
+// Global BSP driver instances
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
-/// The main struct.
|
|
|
|
|
-pub struct QEMUOutput {
|
|
|
|
|
- inner: NullLock<QEMUOutputInner>,
|
|
|
|
|
@ -606,7 +614,15 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
|
|
|
|
|
- }
|
|
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|
|
- }
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|
|
-}
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-
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+static GPIO: driver::GPIO = unsafe { driver::GPIO::new(memory_map::mmio::GPIO_BASE) };
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+static MINI_UART: driver::MiniUart =
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+ unsafe { driver::MiniUart::new(memory_map::mmio::MINI_UART_BASE) };
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////////////////////////////////////////////////////////////////////////////////
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-// OS interface implementations
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+// Implementation of the kernel's BSP calls
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////////////////////////////////////////////////////////////////////////////////
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-/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded
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-/// by a Mutex to serialize access.
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-impl interface::console::Write for QEMUOutput {
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@ -616,10 +632,13 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
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- // Fully qualified syntax for the call to
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- // `core::fmt::Write::write:fmt()` to increase readability.
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- let mut r = &self.inner;
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- r.lock(|i| fmt::Write::write_fmt(i, args))
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- r.lock(|inner| fmt::Write::write_fmt(inner, args))
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- }
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-}
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-
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+/// Board identification.
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+pub fn board_name() -> &'static str {
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+ "Raspberry Pi 3"
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}
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-impl interface::console::Read for QEMUOutput {}
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-
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-impl interface::console::Statistics for QEMUOutput {
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@ -627,30 +646,18 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
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- use interface::sync::Mutex;
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-
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- let mut r = &self.inner;
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- r.lock(|i| i.chars_written)
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- r.lock(|inner| inner.chars_written)
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- }
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-}
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-
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////////////////////////////////////////////////////////////////////////////////
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-// Global instances
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+// Global BSP driver instances
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////////////////////////////////////////////////////////////////////////////////
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+/// Return a reference to a `console::All` implementation.
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+pub fn console() -> &'static impl interface::console::All {
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+ &MINI_UART
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}
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-////////////////////////////////////////////////////////////////////////////////
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-// Global instances
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-////////////////////////////////////////////////////////////////////////////////
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-
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-static QEMU_OUTPUT: QEMUOutput = QEMUOutput::new();
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+static GPIO: driver::GPIO = unsafe { driver::GPIO::new(memory_map::mmio::GPIO_BASE) };
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+static MINI_UART: driver::MiniUart =
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+ unsafe { driver::MiniUart::new(memory_map::mmio::MINI_UART_BASE) };
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////////////////////////////////////////////////////////////////////////////////
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// Implementation of the kernel's BSP calls
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@@ -110,5 +26,15 @@
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/// Return a reference to a `console::All` implementation.
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pub fn console() -> &'static impl interface::console::All {
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- &QEMU_OUTPUT
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+ &MINI_UART
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+}
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+
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+/// Return an array of references to all `DeviceDriver` compatible `BSP`
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+/// drivers.
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+///
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@ -659,6 +666,29 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
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+/// The order of devices is the order in which `DeviceDriver::init()` is called.
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+pub fn device_drivers() -> [&'static dyn interface::driver::DeviceDriver; 2] {
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+ [&GPIO, &MINI_UART]
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|
+}
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-////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
-// Implementation of the kernel's BSP calls
|
|
|
|
|
-////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
+/// The BSP's main initialization function.
|
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|
|
+///
|
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|
|
+/// Called early on kernel start.
|
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|
|
+pub fn init() {
|
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|
|
|
+ for i in device_drivers().iter() {
|
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|
|
+ if let Err(()) = i.init() {
|
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|
|
|
+ // This message will only be readable if, at the time of failure,
|
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|
|
+ // the return value of `bsp::console()` is already in functioning
|
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|
|
+ // state.
|
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|
|
+ panic!("Error loading driver: {}", i.compatible())
|
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|
|
+ }
|
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|
|
+ }
|
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|
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|
|
|
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|
|
-/// Return a reference to a `console::All` implementation.
|
|
|
|
|
-pub fn console() -> &'static impl interface::console::All {
|
|
|
|
|
- &QEMU_OUTPUT
|
|
|
|
|
+ // Configure MiniUart's output pins.
|
|
|
|
|
+ GPIO.map_mini_uart();
|
|
|
|
|
}
|
|
|
|
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|
|
|
|
|
diff -uNr 05_safe_globals/src/bsp.rs 06_drivers_gpio_uart/src/bsp.rs
|
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|
|
@ -702,33 +732,26 @@ diff -uNr 05_safe_globals/src/interface.rs 06_drivers_gpio_uart/src/interface.rs
|
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|
|
diff -uNr 05_safe_globals/src/main.rs 06_drivers_gpio_uart/src/main.rs
|
|
|
|
|
--- 05_safe_globals/src/main.rs
|
|
|
|
|
+++ 06_drivers_gpio_uart/src/main.rs
|
|
|
|
|
@@ -38,10 +38,27 @@
|
|
|
|
|
@@ -38,10 +38,19 @@
|
|
|
|
|
fn kernel_entry() -> ! {
|
|
|
|
|
use interface::console::Statistics;
|
|
|
|
|
|
|
|
|
|
+ // Initialize the BSP's device drivers.
|
|
|
|
|
+ for i in bsp::device_drivers().iter() {
|
|
|
|
|
+ if let Err(()) = i.init() {
|
|
|
|
|
+ // This message will only be readable if, at the time of failure,
|
|
|
|
|
+ // the return value of `bsp::console()` is already in functioning
|
|
|
|
|
+ // state.
|
|
|
|
|
+ panic!("Error loading driver: {}", i.compatible())
|
|
|
|
|
+ }
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ // If all drivers are loaded, UART is functional now and `println!()` calls
|
|
|
|
|
+ // are transmitted on the physical wires.
|
|
|
|
|
println!("[0] Hello from pure Rust!");
|
|
|
|
|
- println!("[0] Hello from pure Rust!");
|
|
|
|
|
+ // Run the BSP's initialization code.
|
|
|
|
|
+ bsp::init();
|
|
|
|
|
|
|
|
|
|
- println!("[1] Chars written: {}", bsp::console().chars_written());
|
|
|
|
|
+ println!("[1] Drivers probed:");
|
|
|
|
|
+ // UART should be functional now and `println!()` calls are transmitted on
|
|
|
|
|
+ // the physical wires.
|
|
|
|
|
+ println!("[0] Booting on: <{}>.", bsp::board_name());
|
|
|
|
|
|
|
|
|
|
- println!("[2] Stopping here.");
|
|
|
|
|
+ println!("[1] Drivers loaded:");
|
|
|
|
|
+ for (i, driver) in bsp::device_drivers().iter().enumerate() {
|
|
|
|
|
+ println!(" {}. {}", i + 1, driver.compatible());
|
|
|
|
|
+ println!(" {}. {}", i + 1, driver.compatible());
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ println!("[2] Chars written: {}", bsp::console().chars_written());
|
|
|
|
|
|
|
|
|
|
- println!("[2] Stopping here.");
|
|
|
|
|
+ println!("[3] Stopping here.");
|
|
|
|
|
arch::wait_forever()
|
|
|
|
|
}
|
|
|
|
|
|
Andre Richter
5 years ago