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Defer BSP driver init to BSP code

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pull/35/head
Andre Richter 5 years ago
parent d57cf418bf
commit 7ae5063553
No known key found for this signature in database
GPG Key ID: 2116C1AB102F615E
11 changed files with 240 additions and 193 deletions
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18
05_safe_globals/README.md
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@ -110,7 +110,7 @@ diff -uNr 04_zero_overhead_abstraction/src/arch/aarch64.rs 05_safe_globals/src/a
diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/rpi3.rs diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/rpi3.rs
--- 04_zero_overhead_abstraction/src/bsp/rpi3.rs --- 04_zero_overhead_abstraction/src/bsp/rpi3.rs
+++ 05_safe_globals/src/bsp/rpi3.rs +++ 05_safe_globals/src/bsp/rpi3.rs
@@ -4,39 +4,111 @@ @@ -4,39 +4,115 @@
//! Board Support Package for the Raspberry Pi 3. //! Board Support Package for the Raspberry Pi 3.
@ -128,8 +128,7 @@ diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/r
+struct QEMUOutputInner { +struct QEMUOutputInner {
+ chars_written: usize, + chars_written: usize,
+} +}
+
-/// Implementing `console::Write` enables usage of the `format_args!` macros,
+impl QEMUOutputInner { +impl QEMUOutputInner {
+ const fn new() -> QEMUOutputInner { + const fn new() -> QEMUOutputInner {
+ QEMUOutputInner { chars_written: 0 } + QEMUOutputInner { chars_written: 0 }
@ -142,7 +141,8 @@ diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/r
+ } + }
+ } + }
+} +}
+
-/// Implementing `console::Write` enables usage of the `format_args!` macros,
+/// Implementing `core::fmt::Write` enables usage of the `format_args!` macros, +/// Implementing `core::fmt::Write` enables usage of the `format_args!` macros,
/// which in turn are used to implement the `kernel`'s `print!` and `println!` /// which in turn are used to implement the `kernel`'s `print!` and `println!`
-/// macros. -/// macros.
@ -176,7 +176,7 @@ diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/r
} }
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
+// OS interface implementations +// BSP-public
+//////////////////////////////////////////////////////////////////////////////// +////////////////////////////////////////////////////////////////////////////////
+ +
+/// The main struct. +/// The main struct.
@ -192,6 +192,10 @@ diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/r
+ } + }
+} +}
+ +
+////////////////////////////////////////////////////////////////////////////////
+// OS interface implementations
+////////////////////////////////////////////////////////////////////////////////
+
+/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded +/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded
+/// by a Mutex to serialize access. +/// by a Mutex to serialize access.
+impl interface::console::Write for QEMUOutput { +impl interface::console::Write for QEMUOutput {
@ -201,7 +205,7 @@ diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/r
+ // Fully qualified syntax for the call to + // Fully qualified syntax for the call to
+ // `core::fmt::Write::write:fmt()` to increase readability. + // `core::fmt::Write::write:fmt()` to increase readability.
+ let mut r = &self.inner; + let mut r = &self.inner;
+ r.lock(|i| fmt::Write::write_fmt(i, args)) + r.lock(|inner| fmt::Write::write_fmt(inner, args))
+ } + }
+} +}
+ +
@ -212,7 +216,7 @@ diff -uNr 04_zero_overhead_abstraction/src/bsp/rpi3.rs 05_safe_globals/src/bsp/r
+ use interface::sync::Mutex; + use interface::sync::Mutex;
+ +
+ let mut r = &self.inner; + let mut r = &self.inner;
+ r.lock(|i| i.chars_written) + r.lock(|inner| inner.chars_written)
+ } + }
+} +}
+ +

10
05_safe_globals/src/bsp/rpi3.rs
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@ -58,7 +58,7 @@ impl fmt::Write for QEMUOutputInner {
} }
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// OS interface implementations // BSP-public
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
/// The main struct. /// The main struct.
@ -74,6 +74,10 @@ impl QEMUOutput {
} }
} }
////////////////////////////////////////////////////////////////////////////////
// OS interface implementations
////////////////////////////////////////////////////////////////////////////////
/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded /// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded
/// by a Mutex to serialize access. /// by a Mutex to serialize access.
impl interface::console::Write for QEMUOutput { impl interface::console::Write for QEMUOutput {
@ -83,7 +87,7 @@ impl interface::console::Write for QEMUOutput {
// Fully qualified syntax for the call to // Fully qualified syntax for the call to
// `core::fmt::Write::write:fmt()` to increase readability. // `core::fmt::Write::write:fmt()` to increase readability.
let mut r = &self.inner; let mut r = &self.inner;
r.lock(|i| fmt::Write::write_fmt(i, args)) r.lock(|inner| fmt::Write::write_fmt(inner, args))
} }
} }
@ -94,7 +98,7 @@ impl interface::console::Statistics for QEMUOutput {
use interface::sync::Mutex; use interface::sync::Mutex;
let mut r = &self.inner; let mut r = &self.inner;
r.lock(|i| i.chars_written) r.lock(|inner| inner.chars_written)
} }
} }

247
06_drivers_gpio_uart/README.md
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@ -51,9 +51,9 @@ diff -uNr 05_safe_globals/src/arch/aarch64.rs 06_drivers_gpio_uart/src/arch/aarc
#[inline(always)] #[inline(always)]
pub fn wait_forever() -> ! { pub fn wait_forever() -> ! {
diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/src/bsp/driver/bcm2837_gpio.rs diff -uNr 05_safe_globals/src/bsp/driver/bcm/bcm2837_gpio.rs 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2837_gpio.rs
--- 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs --- 05_safe_globals/src/bsp/driver/bcm/bcm2837_gpio.rs
+++ 06_drivers_gpio_uart/src/bsp/driver/bcm2837_gpio.rs +++ 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2837_gpio.rs
@@ -0,0 +1,162 @@ @@ -0,0 +1,162 @@
+// SPDX-License-Identifier: MIT +// SPDX-License-Identifier: MIT
+// +//
@ -78,8 +78,7 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
+ FSEL15 OFFSET(15) NUMBITS(3) [ + FSEL15 OFFSET(15) NUMBITS(3) [
+ Input = 0b000, + Input = 0b000,
+ Output = 0b001, + Output = 0b001,
+ RXD0 = 0b100, // UART0 - Alternate function 0 + AltFunc5 = 0b010 // Mini UART RX
+ RXD1 = 0b010 // Mini UART - Alternate function 5
+ +
+ ], + ],
+ +
@ -87,8 +86,7 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
+ FSEL14 OFFSET(12) NUMBITS(3) [ + FSEL14 OFFSET(12) NUMBITS(3) [
+ Input = 0b000, + Input = 0b000,
+ Output = 0b001, + Output = 0b001,
+ TXD0 = 0b100, // UART0 - Alternate function 0 + AltFunc5 = 0b010 // Mini UART TX
+ TXD1 = 0b010 // Mini UART - Alternate function 5
+ ] + ]
+ ], + ],
+ +
@ -165,10 +163,10 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
+ /// + ///
+ /// TX to pin 14 + /// TX to pin 14
+ /// RX to pin 15 + /// RX to pin 15
+ fn map_mini_uart(&mut self) { + pub fn map_mini_uart(&mut self) {
+ // Map to pins. + // Map to pins.
+ self.GPFSEL1 + self.GPFSEL1
+ .modify(GPFSEL1::FSEL14::TXD1 + GPFSEL1::FSEL15::RXD1); + .modify(GPFSEL1::FSEL14::AltFunc5 + GPFSEL1::FSEL15::AltFunc5);
+ +
+ // Enable pins 14 and 15. + // Enable pins 14 and 15.
+ self.GPPUD.set(0); + self.GPPUD.set(0);
@ -187,10 +185,11 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
+} +}
+ +
+//////////////////////////////////////////////////////////////////////////////// +////////////////////////////////////////////////////////////////////////////////
+// OS interface implementations +// BSP-public
+//////////////////////////////////////////////////////////////////////////////// +////////////////////////////////////////////////////////////////////////////////
+use interface::sync::Mutex;
+ +
+/// The driver's public data. +/// The driver's main struct.
+pub struct GPIO { +pub struct GPIO {
+ inner: NullLock<GPIOInner>, + inner: NullLock<GPIOInner>,
+} +}
@ -201,27 +200,28 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2837_gpio.rs 06_drivers_gpio_uart/sr
+ inner: NullLock::new(GPIOInner::new(base_addr)), + inner: NullLock::new(GPIOInner::new(base_addr)),
+ } + }
+ } + }
+
+ // Only visible to other BSP code.
+ pub fn map_mini_uart(&self) {
+ let mut r = &self.inner;
+ r.lock(|inner| inner.map_mini_uart());
+ }
+} +}
+ +
+////////////////////////////////////////////////////////////////////////////////
+// OS interface implementations
+////////////////////////////////////////////////////////////////////////////////
+
+impl interface::driver::DeviceDriver for GPIO { +impl interface::driver::DeviceDriver for GPIO {
+ fn compatible(&self) -> &str { + fn compatible(&self) -> &str {
+ "GPIO" + "GPIO"
+ } + }
+
+ fn init(&self) -> interface::driver::Result {
+ use interface::sync::Mutex;
+
+ let mut r = &self.inner;
+ r.lock(|i| i.map_mini_uart());
+
+ Ok(())
+ }
+} +}
diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_uart/src/bsp/driver/bcm2xxx_mini_uart.rs 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
--- 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs --- 05_safe_globals/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
+++ 06_drivers_gpio_uart/src/bsp/driver/bcm2xxx_mini_uart.rs +++ 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
@@ -0,0 +1,261 @@ @@ -0,0 +1,258 @@
+// SPDX-License-Identifier: MIT +// SPDX-License-Identifier: MIT
+// +//
+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com> +// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
@ -363,27 +363,6 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
+ self.base_addr as *const _ + self.base_addr as *const _
+ } + }
+ +
+ /// Set up baud rate and characteristics (115200 8N1).
+ fn init(&mut self) -> interface::driver::Result {
+ self.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
+ self.AUX_MU_IER.set(0);
+ self.AUX_MU_CNTL.set(0);
+ self.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
+ self.AUX_MU_MCR.set(0);
+ self.AUX_MU_IER.set(0);
+ self.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
+ self.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
+
+ // Enable receive and send.
+ self.AUX_MU_CNTL
+ .write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
+
+ // Clear FIFOs before using the device.
+ self.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
+
+ Ok(())
+ }
+
+ /// Send a character. + /// Send a character.
+ fn write_char(&mut self, c: char) { + fn write_char(&mut self, c: char) {
+ // Wait until we can send. + // Wait until we can send.
@ -429,7 +408,7 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
+} +}
+ +
+//////////////////////////////////////////////////////////////////////////////// +////////////////////////////////////////////////////////////////////////////////
+// OS interface implementations +// BSP-public
+//////////////////////////////////////////////////////////////////////////////// +////////////////////////////////////////////////////////////////////////////////
+ +
+/// The driver's main struct. +/// The driver's main struct.
@ -448,16 +427,38 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
+ } + }
+} +}
+ +
+////////////////////////////////////////////////////////////////////////////////
+// OS interface implementations
+////////////////////////////////////////////////////////////////////////////////
+use interface::sync::Mutex;
+
+impl interface::driver::DeviceDriver for MiniUart { +impl interface::driver::DeviceDriver for MiniUart {
+ fn compatible(&self) -> &str { + fn compatible(&self) -> &str {
+ "MiniUart" + "MiniUart"
+ } + }
+ +
+ /// Set up baud rate and characteristics (115200 8N1).
+ fn init(&self) -> interface::driver::Result { + fn init(&self) -> interface::driver::Result {
+ use interface::sync::Mutex;
+
+ let mut r = &self.inner; + let mut r = &self.inner;
+ r.lock(|i| i.init()) + r.lock(|inner| {
+ // Enable register access to the MiniUart
+ inner.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
+ inner.AUX_MU_IER.set(0); // disable RX and TX interrupts
+ inner.AUX_MU_CNTL.set(0); // disable send and receive
+ inner.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
+ inner.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
+ inner.AUX_MU_MCR.set(0); // set "ready to send" high
+
+ // Clear FIFOs before using the device.
+ inner.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
+
+ // Enable receive and send.
+ inner
+ .AUX_MU_CNTL
+ .write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
+ });
+
+ Ok(())
+ } + }
+} +}
+ +
@ -465,12 +466,10 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
+/// by a Mutex to serialize access. +/// by a Mutex to serialize access.
+impl interface::console::Write for MiniUart { +impl interface::console::Write for MiniUart {
+ fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result { + fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
+ use interface::sync::Mutex;
+
+ // Fully qualified syntax for the call to + // Fully qualified syntax for the call to
+ // `core::fmt::Write::write:fmt()` to increase readability. + // `core::fmt::Write::write:fmt()` to increase readability.
+ let mut r = &self.inner; + let mut r = &self.inner;
+ r.lock(|i| fmt::Write::write_fmt(i, args)) + r.lock(|inner| fmt::Write::write_fmt(inner, args))
+ } + }
+} +}
+ +
@ -478,17 +477,31 @@ diff -uNr 05_safe_globals/src/bsp/driver/bcm2xxx_mini_uart.rs 06_drivers_gpio_ua
+ +
+impl interface::console::Statistics for MiniUart { +impl interface::console::Statistics for MiniUart {
+ fn chars_written(&self) -> usize { + fn chars_written(&self) -> usize {
+ use interface::sync::Mutex;
+
+ let mut r = &self.inner; + let mut r = &self.inner;
+ r.lock(|i| i.chars_written) + r.lock(|inner| inner.chars_written)
+ } + }
+} +}
diff -uNr 05_safe_globals/src/bsp/driver/bcm.rs 06_drivers_gpio_uart/src/bsp/driver/bcm.rs
--- 05_safe_globals/src/bsp/driver/bcm.rs
+++ 06_drivers_gpio_uart/src/bsp/driver/bcm.rs
@@ -0,0 +1,11 @@
+// SPDX-License-Identifier: MIT
+//
+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
+
+//! BCM driver top level.
+
+mod bcm2837_gpio;
+mod bcm2xxx_mini_uart;
+
+pub use bcm2837_gpio::GPIO;
+pub use bcm2xxx_mini_uart::MiniUart;
diff -uNr 05_safe_globals/src/bsp/driver.rs 06_drivers_gpio_uart/src/bsp/driver.rs diff -uNr 05_safe_globals/src/bsp/driver.rs 06_drivers_gpio_uart/src/bsp/driver.rs
--- 05_safe_globals/src/bsp/driver.rs --- 05_safe_globals/src/bsp/driver.rs
+++ 06_drivers_gpio_uart/src/bsp/driver.rs +++ 06_drivers_gpio_uart/src/bsp/driver.rs
@@ -0,0 +1,17 @@ @@ -0,0 +1,11 @@
+// SPDX-License-Identifier: MIT +// SPDX-License-Identifier: MIT
+// +//
+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com> +// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
@ -496,16 +509,10 @@ diff -uNr 05_safe_globals/src/bsp/driver.rs 06_drivers_gpio_uart/src/bsp/driver.
+//! Drivers. +//! Drivers.
+ +
+#[cfg(feature = "bsp_rpi3")] +#[cfg(feature = "bsp_rpi3")]
+mod bcm2837_gpio; +mod bcm;
+
+#[cfg(feature = "bsp_rpi3")]
+mod bcm2xxx_mini_uart;
+
+#[cfg(feature = "bsp_rpi3")]
+pub use bcm2837_gpio::GPIO;
+ +
+#[cfg(feature = "bsp_rpi3")] +#[cfg(feature = "bsp_rpi3")]
+pub use bcm2xxx_mini_uart::MiniUart; +pub use bcm::*;
diff -uNr 05_safe_globals/src/bsp/rpi3/memory_map.rs 06_drivers_gpio_uart/src/bsp/rpi3/memory_map.rs diff -uNr 05_safe_globals/src/bsp/rpi3/memory_map.rs 06_drivers_gpio_uart/src/bsp/rpi3/memory_map.rs
--- 05_safe_globals/src/bsp/rpi3/memory_map.rs --- 05_safe_globals/src/bsp/rpi3/memory_map.rs
@ -528,7 +535,7 @@ diff -uNr 05_safe_globals/src/bsp/rpi3/memory_map.rs 06_drivers_gpio_uart/src/bs
diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
--- 05_safe_globals/src/bsp/rpi3.rs --- 05_safe_globals/src/bsp/rpi3.rs
+++ 06_drivers_gpio_uart/src/bsp/rpi3.rs +++ 06_drivers_gpio_uart/src/bsp/rpi3.rs
@@ -4,105 +4,21 @@ @@ -4,115 +4,59 @@
//! Board Support Package for the Raspberry Pi 3. //! Board Support Package for the Raspberry Pi 3.
@ -590,10 +597,11 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
- } - }
-} -}
- -
-//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
-// OS interface implementations -// BSP-public
-//////////////////////////////////////////////////////////////////////////////// +// Global BSP driver instances
- ////////////////////////////////////////////////////////////////////////////////
-/// The main struct. -/// The main struct.
-pub struct QEMUOutput { -pub struct QEMUOutput {
- inner: NullLock<QEMUOutputInner>, - inner: NullLock<QEMUOutputInner>,
@ -606,7 +614,15 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
- } - }
- } - }
-} -}
- +static GPIO: driver::GPIO = unsafe { driver::GPIO::new(memory_map::mmio::GPIO_BASE) };
+static MINI_UART: driver::MiniUart =
+ unsafe { driver::MiniUart::new(memory_map::mmio::MINI_UART_BASE) };
////////////////////////////////////////////////////////////////////////////////
-// OS interface implementations
+// Implementation of the kernel's BSP calls
////////////////////////////////////////////////////////////////////////////////
-/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded -/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded
-/// by a Mutex to serialize access. -/// by a Mutex to serialize access.
-impl interface::console::Write for QEMUOutput { -impl interface::console::Write for QEMUOutput {
@ -616,10 +632,13 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
- // Fully qualified syntax for the call to - // Fully qualified syntax for the call to
- // `core::fmt::Write::write:fmt()` to increase readability. - // `core::fmt::Write::write:fmt()` to increase readability.
- let mut r = &self.inner; - let mut r = &self.inner;
- r.lock(|i| fmt::Write::write_fmt(i, args)) - r.lock(|inner| fmt::Write::write_fmt(inner, args))
- } - }
-} +/// Board identification.
- +pub fn board_name() -> &'static str {
+ "Raspberry Pi 3"
}
-impl interface::console::Read for QEMUOutput {} -impl interface::console::Read for QEMUOutput {}
- -
-impl interface::console::Statistics for QEMUOutput { -impl interface::console::Statistics for QEMUOutput {
@ -627,30 +646,18 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
- use interface::sync::Mutex; - use interface::sync::Mutex;
- -
- let mut r = &self.inner; - let mut r = &self.inner;
- r.lock(|i| i.chars_written) - r.lock(|inner| inner.chars_written)
- } - }
-} +/// Return a reference to a `console::All` implementation.
- +pub fn console() -> &'static impl interface::console::All {
//////////////////////////////////////////////////////////////////////////////// + &MINI_UART
-// Global instances }
+// Global BSP driver instances
////////////////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////////////////
-// Global instances
-////////////////////////////////////////////////////////////////////////////////
-
-static QEMU_OUTPUT: QEMUOutput = QEMUOutput::new(); -static QEMU_OUTPUT: QEMUOutput = QEMUOutput::new();
+static GPIO: driver::GPIO = unsafe { driver::GPIO::new(memory_map::mmio::GPIO_BASE) };
+static MINI_UART: driver::MiniUart =
+ unsafe { driver::MiniUart::new(memory_map::mmio::MINI_UART_BASE) };
////////////////////////////////////////////////////////////////////////////////
// Implementation of the kernel's BSP calls
@@ -110,5 +26,15 @@
/// Return a reference to a `console::All` implementation.
pub fn console() -> &'static impl interface::console::All {
- &QEMU_OUTPUT
+ &MINI_UART
+}
+
+/// Return an array of references to all `DeviceDriver` compatible `BSP` +/// Return an array of references to all `DeviceDriver` compatible `BSP`
+/// drivers. +/// drivers.
+/// +///
@ -659,6 +666,29 @@ diff -uNr 05_safe_globals/src/bsp/rpi3.rs 06_drivers_gpio_uart/src/bsp/rpi3.rs
+/// The order of devices is the order in which `DeviceDriver::init()` is called. +/// The order of devices is the order in which `DeviceDriver::init()` is called.
+pub fn device_drivers() -> [&'static dyn interface::driver::DeviceDriver; 2] { +pub fn device_drivers() -> [&'static dyn interface::driver::DeviceDriver; 2] {
+ [&GPIO, &MINI_UART] + [&GPIO, &MINI_UART]
+}
-////////////////////////////////////////////////////////////////////////////////
-// Implementation of the kernel's BSP calls
-////////////////////////////////////////////////////////////////////////////////
+/// The BSP's main initialization function.
+///
+/// Called early on kernel start.
+pub fn init() {
+ for i in 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())
+ }
+ }
-/// 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();
} }
diff -uNr 05_safe_globals/src/bsp.rs 06_drivers_gpio_uart/src/bsp.rs diff -uNr 05_safe_globals/src/bsp.rs 06_drivers_gpio_uart/src/bsp.rs
@ -702,33 +732,26 @@ diff -uNr 05_safe_globals/src/interface.rs 06_drivers_gpio_uart/src/interface.rs
diff -uNr 05_safe_globals/src/main.rs 06_drivers_gpio_uart/src/main.rs diff -uNr 05_safe_globals/src/main.rs 06_drivers_gpio_uart/src/main.rs
--- 05_safe_globals/src/main.rs --- 05_safe_globals/src/main.rs
+++ 06_drivers_gpio_uart/src/main.rs +++ 06_drivers_gpio_uart/src/main.rs
@@ -38,10 +38,27 @@ @@ -38,10 +38,19 @@
fn kernel_entry() -> ! { fn kernel_entry() -> ! {
use interface::console::Statistics; use interface::console::Statistics;
+ // Initialize the BSP's device drivers. - println!("[0] Hello from pure Rust!");
+ for i in bsp::device_drivers().iter() { + // Run the BSP's initialization code.
+ if let Err(()) = i.init() { + bsp::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!("[1] Chars written: {}", bsp::console().chars_written()); - 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() { + 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] Chars written: {}", bsp::console().chars_written());
- println!("[2] Stopping here.");
+ println!("[3] Stopping here."); + println!("[3] Stopping here.");
arch::wait_forever() arch::wait_forever()
} }

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06_drivers_gpio_uart/kernel
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06_drivers_gpio_uart/kernel8.img
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10
06_drivers_gpio_uart/src/bsp/driver.rs
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@ -5,13 +5,7 @@
//! Drivers. //! Drivers.
#[cfg(feature = "bsp_rpi3")] #[cfg(feature = "bsp_rpi3")]
mod bcm2837_gpio; mod bcm;
#[cfg(feature = "bsp_rpi3")] #[cfg(feature = "bsp_rpi3")]
mod bcm2xxx_mini_uart; pub use bcm::*;
#[cfg(feature = "bsp_rpi3")]
pub use bcm2837_gpio::GPIO;
#[cfg(feature = "bsp_rpi3")]
pub use bcm2xxx_mini_uart::MiniUart;

11
06_drivers_gpio_uart/src/bsp/driver/bcm.rs
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@ -0,0 +1,11 @@
// SPDX-License-Identifier: MIT
//
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
//! BCM driver top level.
mod bcm2837_gpio;
mod bcm2xxx_mini_uart;
pub use bcm2837_gpio::GPIO;
pub use bcm2xxx_mini_uart::MiniUart;

34
06_drivers_gpio_uart/src/bsp/driver/bcm2837_gpio.rs → 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2837_gpio.rs
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@ -21,8 +21,7 @@ register_bitfields! {
FSEL15 OFFSET(15) NUMBITS(3) [ FSEL15 OFFSET(15) NUMBITS(3) [
Input = 0b000, Input = 0b000,
Output = 0b001, Output = 0b001,
RXD0 = 0b100, // UART0 - Alternate function 0 AltFunc5 = 0b010 // Mini UART RX
RXD1 = 0b010 // Mini UART - Alternate function 5
], ],
@ -30,8 +29,7 @@ register_bitfields! {
FSEL14 OFFSET(12) NUMBITS(3) [ FSEL14 OFFSET(12) NUMBITS(3) [
Input = 0b000, Input = 0b000,
Output = 0b001, Output = 0b001,
TXD0 = 0b100, // UART0 - Alternate function 0 AltFunc5 = 0b010 // Mini UART TX
TXD1 = 0b010 // Mini UART - Alternate function 5
] ]
], ],
@ -108,10 +106,10 @@ impl GPIOInner {
/// ///
/// TX to pin 14 /// TX to pin 14
/// RX to pin 15 /// RX to pin 15
fn map_mini_uart(&mut self) { pub fn map_mini_uart(&mut self) {
// Map to pins. // Map to pins.
self.GPFSEL1 self.GPFSEL1
.modify(GPFSEL1::FSEL14::TXD1 + GPFSEL1::FSEL15::RXD1); .modify(GPFSEL1::FSEL14::AltFunc5 + GPFSEL1::FSEL15::AltFunc5);
// Enable pins 14 and 15. // Enable pins 14 and 15.
self.GPPUD.set(0); self.GPPUD.set(0);
@ -130,10 +128,11 @@ impl GPIOInner {
} }
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// OS interface implementations // BSP-public
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
use interface::sync::Mutex;
/// The driver's public data. /// The driver's main struct.
pub struct GPIO { pub struct GPIO {
inner: NullLock<GPIOInner>, inner: NullLock<GPIOInner>,
} }
@ -144,19 +143,20 @@ impl GPIO {
inner: NullLock::new(GPIOInner::new(base_addr)), inner: NullLock::new(GPIOInner::new(base_addr)),
} }
} }
// Only visible to other BSP code.
pub fn map_mini_uart(&self) {
let mut r = &self.inner;
r.lock(|inner| inner.map_mini_uart());
}
} }
////////////////////////////////////////////////////////////////////////////////
// OS interface implementations
////////////////////////////////////////////////////////////////////////////////
impl interface::driver::DeviceDriver for GPIO { impl interface::driver::DeviceDriver for GPIO {
fn compatible(&self) -> &str { fn compatible(&self) -> &str {
"GPIO" "GPIO"
} }
fn init(&self) -> interface::driver::Result {
use interface::sync::Mutex;
let mut r = &self.inner;
r.lock(|i| i.map_mini_uart());
Ok(())
}
} }

59
06_drivers_gpio_uart/src/bsp/driver/bcm2xxx_mini_uart.rs → 06_drivers_gpio_uart/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
Unescape Escape View File

@ -139,27 +139,6 @@ impl MiniUartInner {
self.base_addr as *const _ self.base_addr as *const _
} }
/// Set up baud rate and characteristics (115200 8N1).
fn init(&mut self) -> interface::driver::Result {
self.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
self.AUX_MU_IER.set(0);
self.AUX_MU_CNTL.set(0);
self.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
self.AUX_MU_MCR.set(0);
self.AUX_MU_IER.set(0);
self.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
self.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
// Enable receive and send.
self.AUX_MU_CNTL
.write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
// Clear FIFOs before using the device.
self.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
Ok(())
}
/// Send a character. /// Send a character.
fn write_char(&mut self, c: char) { fn write_char(&mut self, c: char) {
// Wait until we can send. // Wait until we can send.
@ -204,7 +183,7 @@ impl fmt::Write for MiniUartInner {
} }
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// OS interface implementations // BSP-public
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
/// The driver's main struct. /// The driver's main struct.
@ -223,16 +202,38 @@ impl MiniUart {
} }
} }
////////////////////////////////////////////////////////////////////////////////
// OS interface implementations
////////////////////////////////////////////////////////////////////////////////
use interface::sync::Mutex;
impl interface::driver::DeviceDriver for MiniUart { impl interface::driver::DeviceDriver for MiniUart {
fn compatible(&self) -> &str { fn compatible(&self) -> &str {
"MiniUart" "MiniUart"
} }
/// Set up baud rate and characteristics (115200 8N1).
fn init(&self) -> interface::driver::Result { fn init(&self) -> interface::driver::Result {
use interface::sync::Mutex;
let mut r = &self.inner; let mut r = &self.inner;
r.lock(|i| i.init()) r.lock(|inner| {
// Enable register access to the MiniUart
inner.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
inner.AUX_MU_IER.set(0); // disable RX and TX interrupts
inner.AUX_MU_CNTL.set(0); // disable send and receive
inner.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
inner.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
inner.AUX_MU_MCR.set(0); // set "ready to send" high
// Clear FIFOs before using the device.
inner.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
// Enable receive and send.
inner
.AUX_MU_CNTL
.write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
});
Ok(())
} }
} }
@ -240,12 +241,10 @@ impl interface::driver::DeviceDriver for MiniUart {
/// by a Mutex to serialize access. /// by a Mutex to serialize access.
impl interface::console::Write for MiniUart { impl interface::console::Write for MiniUart {
fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result { fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
use interface::sync::Mutex;
// Fully qualified syntax for the call to // Fully qualified syntax for the call to
// `core::fmt::Write::write:fmt()` to increase readability. // `core::fmt::Write::write:fmt()` to increase readability.
let mut r = &self.inner; let mut r = &self.inner;
r.lock(|i| fmt::Write::write_fmt(i, args)) r.lock(|inner| fmt::Write::write_fmt(inner, args))
} }
} }
@ -253,9 +252,7 @@ impl interface::console::Read for MiniUart {}
impl interface::console::Statistics for MiniUart { impl interface::console::Statistics for MiniUart {
fn chars_written(&self) -> usize { fn chars_written(&self) -> usize {
use interface::sync::Mutex;
let mut r = &self.inner; let mut r = &self.inner;
r.lock(|i| i.chars_written) r.lock(|inner| inner.chars_written)
} }
} }

22
06_drivers_gpio_uart/src/bsp/rpi3.rs
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@ -24,6 +24,11 @@ static MINI_UART: driver::MiniUart =
// Implementation of the kernel's BSP calls // Implementation of the kernel's BSP calls
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
/// Board identification.
pub fn board_name() -> &'static str {
"Raspberry Pi 3"
}
/// Return a reference to a `console::All` implementation. /// Return a reference to a `console::All` implementation.
pub fn console() -> &'static impl interface::console::All { pub fn console() -> &'static impl interface::console::All {
&MINI_UART &MINI_UART
@ -38,3 +43,20 @@ pub fn console() -> &'static impl interface::console::All {
pub fn device_drivers() -> [&'static dyn interface::driver::DeviceDriver; 2] { pub fn device_drivers() -> [&'static dyn interface::driver::DeviceDriver; 2] {
[&GPIO, &MINI_UART] [&GPIO, &MINI_UART]
} }
/// The BSP's main initialization function.
///
/// Called early on kernel start.
pub fn init() {
for i in 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())
}
}
// Configure MiniUart's output pins.
GPIO.map_mini_uart();
}

22
06_drivers_gpio_uart/src/main.rs
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@ -38,27 +38,19 @@ mod print;
fn kernel_entry() -> ! { fn kernel_entry() -> ! {
use interface::console::Statistics; use interface::console::Statistics;
// Initialize the BSP's device drivers. // Run the BSP's initialization code.
for i in bsp::device_drivers().iter() { bsp::init();
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 // UART should be functional now and `println!()` calls are transmitted on
// are transmitted on the physical wires. // the physical wires.
println!("[0] Hello from pure Rust!"); println!("[0] Booting on: <{}>.", bsp::board_name());
println!("[1] Drivers probed:"); println!("[1] Drivers loaded:");
for (i, driver) in bsp::device_drivers().iter().enumerate() { 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] Chars written: {}", bsp::console().chars_written());
println!("[3] Stopping here."); println!("[3] Stopping here.");
arch::wait_forever() arch::wait_forever()
} }

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