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rust-raspberrypi-OS-tutorials/05_drivers_gpio_uart/README.md
Andre Richter d901ae6cfe
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2022-01-15 21:50:11 +01:00

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# Tutorial 05 - Drivers: GPIO and UART
## tl;dr
- Now that we enabled safe globals in the previous tutorial, the infrastructure is laid for adding
the first real device drivers.
- We throw out the magic QEMU console and use a real `UART` now. Like serious embedded hackers do!
## Notable additions
- For the first time, we will be able to run the code on the real hardware.
- Therefore, building is now differentiated between the **RPi 3** and the **RPi4**.
- By default, all `Makefile` targets will build for the **RPi 3**.
- In order to build for the the **RPi4**, prepend `BSP=rpi4` to each target. For example:
- `BSP=rpi4 make`
- `BSP=rpi4 make doc`
- Unfortunately, QEMU does not yet support the **RPi4**, so `BSP=rpi4 make qemu` won't work.
- A `driver::interface::DeviceDriver` trait is added for abstracting `BSP` driver implementations
from kernel code.
- Drivers are stored in `src/bsp/device_driver`, and can be reused between `BSP`s.
- We introduce the `GPIO` driver, which pinmuxes (that is, routing signals from inside the `SoC`
to actual HW pins) the RPi's PL011 UART.
- Note how this driver differentiates between **RPi 3** and **RPi4**. Their HW is different,
so we have to account for it in SW.
- Most importantly, the `PL011Uart` driver: It implements the `console::interface::*` traits and
is from now on used as the main system console output.
- `BSP`s now contain a memory map in `src/bsp/raspberrypi/memory.rs`. In the specific case, they
contain the Raspberry's `MMIO` addresses which are used to instantiate the respective device
drivers.
- We also modify the `panic!` handler, so that it does not anymore rely on `println!`, which uses
the globally-shared instance of the `UART` that might be locked when an error is encountered (for
now, this can't happen due to the `NullLock`, but with a real lock it becomes an issue).
- Instead, it creates a new UART driver instance, re-initializes the device and uses that one to
print. This increases the chances that the system is able to print a final important message
before it suspends itself.
## Boot it from SD card
Some steps for preparing the SD card differ between RPi3 and RPi4, so be careful.
### Common for both
1. Make a single `FAT32` partition named `boot`.
2. On the card, generate a file named `config.txt` with the following contents:
```txt
arm_64bit=1
init_uart_clock=48000000
```
### Pi 3
3. Copy the following files from the [Raspberry Pi firmware repo](https://github.com/raspberrypi/firmware/tree/master/boot) onto the SD card:
- [bootcode.bin](https://github.com/raspberrypi/firmware/raw/master/boot/bootcode.bin)
- [fixup.dat](https://github.com/raspberrypi/firmware/raw/master/boot/fixup.dat)
- [start.elf](https://github.com/raspberrypi/firmware/raw/master/boot/start.elf)
4. Run `make`.
### Pi 4
3. Copy the following files from the [Raspberry Pi firmware repo](https://github.com/raspberrypi/firmware/tree/master/boot) onto the SD card:
- [fixup4.dat](https://github.com/raspberrypi/firmware/raw/master/boot/fixup4.dat)
- [start4.elf](https://github.com/raspberrypi/firmware/raw/master/boot/start4.elf)
- [bcm2711-rpi-4-b.dtb](https://github.com/raspberrypi/firmware/raw/master/boot/bcm2711-rpi-4-b.dtb)
4. Run `BSP=rpi4 make`.
_**Note**: Should it not work on your RPi4, try renaming `start4.elf` to `start.elf` (without the 4)
on the SD card._
### Common again
5. Copy the `kernel8.img` onto the SD card and insert it back into the RPi.
6. Run the `miniterm` target, which opens the UART device on the host:
```console
$ make miniterm
```
> ❗ **NOTE**: `Miniterm` assumes a default serial device name of `/dev/ttyUSB0`. Depending on your
> host operating system, the device name might differ. For example, on `macOS`, it might be
> something like `/dev/tty.usbserial-0001`. In this case, please give the name explicitly:
```console
$ DEV_SERIAL=/dev/tty.usbserial-0001 make miniterm
```
7. Connect the USB serial to your host PC.
- Wiring diagram at [top-level README](../README.md#-usb-serial-output).
- Make sure that you **DID NOT** connect the power pin of the USB serial. Only RX/TX and GND.
8. Connect the RPi to the (USB) power cable and observe the output:
```console
Miniterm 1.0
[MT] ⏳ Waiting for /dev/ttyUSB0
[MT] ✅ Serial connected
[0] mingo version 0.5.0
[1] Booting on: Raspberry Pi 3
[2] Drivers loaded:
1. BCM GPIO
2. BCM PL011 UART
[3] Chars written: 117
[4] Echoing input now
```
8. Exit by pressing <kbd>ctrl-c</kbd>.
## Diff to previous
```diff
diff -uNr 04_safe_globals/Cargo.toml 05_drivers_gpio_uart/Cargo.toml
--- 04_safe_globals/Cargo.toml
+++ 05_drivers_gpio_uart/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "mingo"
-version = "0.4.0"
+version = "0.5.0"
authors = ["Andre Richter <andre.o.richter@gmail.com>"]
edition = "2021"
@@ -9,8 +9,8 @@
[features]
default = []
-bsp_rpi3 = []
-bsp_rpi4 = []
+bsp_rpi3 = ["tock-registers"]
+bsp_rpi4 = ["tock-registers"]
[[bin]]
name = "kernel"
@@ -22,6 +22,9 @@
[dependencies]
+# Optional dependencies
+tock-registers = { version = "0.7.x", default-features = false, features = ["register_types"], optional = true }
+
# Platform specific dependencies
[target.'cfg(target_arch = "aarch64")'.dependencies]
cortex-a = { version = "7.x.x" }
diff -uNr 04_safe_globals/Makefile 05_drivers_gpio_uart/Makefile
--- 04_safe_globals/Makefile
+++ 05_drivers_gpio_uart/Makefile
@@ -12,6 +12,9 @@
# Default to the RPi3.
BSP ?= rpi3
+# Default to a serial device name that is common in Linux.
+DEV_SERIAL ?= /dev/ttyUSB0
+
##--------------------------------------------------------------------------------------------------
@@ -73,6 +76,7 @@
EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE)
EXEC_TEST_DISPATCH = ruby ../common/tests/dispatch.rb
+EXEC_MINITERM = ruby ../common/serial/miniterm.rb
##------------------------------------------------------------------------------
## Dockerization
@@ -80,18 +84,26 @@
DOCKER_CMD = docker run -t --rm -v $(shell pwd):/work/tutorial -w /work/tutorial
DOCKER_CMD_INTERACT = $(DOCKER_CMD) -i
DOCKER_ARG_DIR_COMMON = -v $(shell pwd)/../common:/work/common
+DOCKER_ARG_DEV = --privileged -v /dev:/dev
# DOCKER_IMAGE defined in include file (see top of this file).
DOCKER_QEMU = $(DOCKER_CMD_INTERACT) $(DOCKER_IMAGE)
DOCKER_TOOLS = $(DOCKER_CMD) $(DOCKER_IMAGE)
DOCKER_TEST = $(DOCKER_CMD) $(DOCKER_ARG_DIR_COMMON) $(DOCKER_IMAGE)
+# Dockerize commands, which require USB device passthrough, only on Linux.
+ifeq ($(shell uname -s),Linux)
+ DOCKER_CMD_DEV = $(DOCKER_CMD_INTERACT) $(DOCKER_ARG_DEV)
+
+ DOCKER_MINITERM = $(DOCKER_CMD_DEV) $(DOCKER_ARG_DIR_COMMON) $(DOCKER_IMAGE)
+endif
+
##--------------------------------------------------------------------------------------------------
## Targets
##--------------------------------------------------------------------------------------------------
-.PHONY: all $(KERNEL_ELF) $(KERNEL_BIN) doc qemu clippy clean readelf objdump nm check
+.PHONY: all $(KERNEL_ELF) $(KERNEL_BIN) doc qemu miniterm clippy clean readelf objdump nm check
all: $(KERNEL_BIN)
@@ -131,6 +143,12 @@
endif
##------------------------------------------------------------------------------
+## Connect to the target's serial
+##------------------------------------------------------------------------------
+miniterm:
+ @$(DOCKER_MINITERM) $(EXEC_MINITERM) $(DEV_SERIAL)
+
+##------------------------------------------------------------------------------
## Run clippy
##------------------------------------------------------------------------------
clippy:
diff -uNr 04_safe_globals/src/_arch/aarch64/cpu.rs 05_drivers_gpio_uart/src/_arch/aarch64/cpu.rs
--- 04_safe_globals/src/_arch/aarch64/cpu.rs
+++ 05_drivers_gpio_uart/src/_arch/aarch64/cpu.rs
@@ -17,6 +17,17 @@
// Public Code
//--------------------------------------------------------------------------------------------------
+pub use asm::nop;
+
+/// Spin for `n` cycles.
+#[cfg(feature = "bsp_rpi3")]
+#[inline(always)]
+pub fn spin_for_cycles(n: usize) {
+ for _ in 0..n {
+ asm::nop();
+ }
+}
+
/// Pause execution on the core.
#[inline(always)]
pub fn wait_forever() -> ! {
diff -uNr 04_safe_globals/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs 05_drivers_gpio_uart/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
--- 04_safe_globals/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
+++ 05_drivers_gpio_uart/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
@@ -0,0 +1,225 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! GPIO Driver.
+
+use crate::{
+ bsp::device_driver::common::MMIODerefWrapper, driver, synchronization,
+ synchronization::NullLock,
+};
+use tock_registers::{
+ interfaces::{ReadWriteable, Writeable},
+ register_bitfields, register_structs,
+ registers::ReadWrite,
+};
+
+//--------------------------------------------------------------------------------------------------
+// Private Definitions
+//--------------------------------------------------------------------------------------------------
+
+// GPIO registers.
+//
+// Descriptions taken from
+// - https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf
+// - https://datasheets.raspberrypi.org/bcm2711/bcm2711-peripherals.pdf
+register_bitfields! {
+ u32,
+
+ /// GPIO Function Select 1
+ GPFSEL1 [
+ /// Pin 15
+ FSEL15 OFFSET(15) NUMBITS(3) [
+ Input = 0b000,
+ Output = 0b001,
+ AltFunc0 = 0b100 // PL011 UART RX
+
+ ],
+
+ /// Pin 14
+ FSEL14 OFFSET(12) NUMBITS(3) [
+ Input = 0b000,
+ Output = 0b001,
+ AltFunc0 = 0b100 // PL011 UART TX
+ ]
+ ],
+
+ /// GPIO Pull-up/down Register
+ ///
+ /// BCM2837 only.
+ GPPUD [
+ /// Controls the actuation of the internal pull-up/down control line to ALL the GPIO pins.
+ PUD OFFSET(0) NUMBITS(2) [
+ Off = 0b00,
+ PullDown = 0b01,
+ PullUp = 0b10
+ ]
+ ],
+
+ /// GPIO Pull-up/down Clock Register 0
+ ///
+ /// BCM2837 only.
+ GPPUDCLK0 [
+ /// Pin 15
+ PUDCLK15 OFFSET(15) NUMBITS(1) [
+ NoEffect = 0,
+ AssertClock = 1
+ ],
+
+ /// Pin 14
+ PUDCLK14 OFFSET(14) NUMBITS(1) [
+ NoEffect = 0,
+ AssertClock = 1
+ ]
+ ],
+
+ /// GPIO Pull-up / Pull-down Register 0
+ ///
+ /// BCM2711 only.
+ GPIO_PUP_PDN_CNTRL_REG0 [
+ /// Pin 15
+ GPIO_PUP_PDN_CNTRL15 OFFSET(30) NUMBITS(2) [
+ NoResistor = 0b00,
+ PullUp = 0b01
+ ],
+
+ /// Pin 14
+ GPIO_PUP_PDN_CNTRL14 OFFSET(28) NUMBITS(2) [
+ NoResistor = 0b00,
+ PullUp = 0b01
+ ]
+ ]
+}
+
+register_structs! {
+ #[allow(non_snake_case)]
+ RegisterBlock {
+ (0x00 => _reserved1),
+ (0x04 => GPFSEL1: ReadWrite<u32, GPFSEL1::Register>),
+ (0x08 => _reserved2),
+ (0x94 => GPPUD: ReadWrite<u32, GPPUD::Register>),
+ (0x98 => GPPUDCLK0: ReadWrite<u32, GPPUDCLK0::Register>),
+ (0x9C => _reserved3),
+ (0xE4 => GPIO_PUP_PDN_CNTRL_REG0: ReadWrite<u32, GPIO_PUP_PDN_CNTRL_REG0::Register>),
+ (0xE8 => @END),
+ }
+}
+
+/// Abstraction for the associated MMIO registers.
+type Registers = MMIODerefWrapper<RegisterBlock>;
+
+//--------------------------------------------------------------------------------------------------
+// Public Definitions
+//--------------------------------------------------------------------------------------------------
+
+pub struct GPIOInner {
+ registers: Registers,
+}
+
+// Export the inner struct so that BSPs can use it for the panic handler.
+pub use GPIOInner as PanicGPIO;
+
+/// Representation of the GPIO HW.
+pub struct GPIO {
+ inner: NullLock<GPIOInner>,
+}
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+impl GPIOInner {
+ /// Create an instance.
+ ///
+ /// # Safety
+ ///
+ /// - The user must ensure to provide a correct MMIO start address.
+ pub const unsafe fn new(mmio_start_addr: usize) -> Self {
+ Self {
+ registers: Registers::new(mmio_start_addr),
+ }
+ }
+
+ /// Disable pull-up/down on pins 14 and 15.
+ #[cfg(feature = "bsp_rpi3")]
+ fn disable_pud_14_15_bcm2837(&mut self) {
+ use crate::cpu;
+
+ // Make an educated guess for a good delay value (Sequence described in the BCM2837
+ // peripherals PDF).
+ //
+ // - According to Wikipedia, the fastest Pi3 clocks around 1.4 GHz.
+ // - The Linux 2837 GPIO driver waits 1 µs between the steps.
+ //
+ // So lets try to be on the safe side and default to 2000 cycles, which would equal 1 µs
+ // would the CPU be clocked at 2 GHz.
+ const DELAY: usize = 2000;
+
+ self.registers.GPPUD.write(GPPUD::PUD::Off);
+ cpu::spin_for_cycles(DELAY);
+
+ self.registers
+ .GPPUDCLK0
+ .write(GPPUDCLK0::PUDCLK15::AssertClock + GPPUDCLK0::PUDCLK14::AssertClock);
+ cpu::spin_for_cycles(DELAY);
+
+ self.registers.GPPUD.write(GPPUD::PUD::Off);
+ self.registers.GPPUDCLK0.set(0);
+ }
+
+ /// Disable pull-up/down on pins 14 and 15.
+ #[cfg(feature = "bsp_rpi4")]
+ fn disable_pud_14_15_bcm2711(&mut self) {
+ self.registers.GPIO_PUP_PDN_CNTRL_REG0.write(
+ GPIO_PUP_PDN_CNTRL_REG0::GPIO_PUP_PDN_CNTRL15::PullUp
+ + GPIO_PUP_PDN_CNTRL_REG0::GPIO_PUP_PDN_CNTRL14::PullUp,
+ );
+ }
+
+ /// Map PL011 UART as standard output.
+ ///
+ /// TX to pin 14
+ /// RX to pin 15
+ pub fn map_pl011_uart(&mut self) {
+ // Select the UART on pins 14 and 15.
+ self.registers
+ .GPFSEL1
+ .modify(GPFSEL1::FSEL15::AltFunc0 + GPFSEL1::FSEL14::AltFunc0);
+
+ // Disable pull-up/down on pins 14 and 15.
+ #[cfg(feature = "bsp_rpi3")]
+ self.disable_pud_14_15_bcm2837();
+
+ #[cfg(feature = "bsp_rpi4")]
+ self.disable_pud_14_15_bcm2711();
+ }
+}
+
+impl GPIO {
+ /// Create an instance.
+ ///
+ /// # Safety
+ ///
+ /// - The user must ensure to provide a correct MMIO start address.
+ pub const unsafe fn new(mmio_start_addr: usize) -> Self {
+ Self {
+ inner: NullLock::new(GPIOInner::new(mmio_start_addr)),
+ }
+ }
+
+ /// Concurrency safe version of `GPIOInner.map_pl011_uart()`
+ pub fn map_pl011_uart(&self) {
+ self.inner.lock(|inner| inner.map_pl011_uart())
+ }
+}
+
+//------------------------------------------------------------------------------
+// OS Interface Code
+//------------------------------------------------------------------------------
+use synchronization::interface::Mutex;
+
+impl driver::interface::DeviceDriver for GPIO {
+ fn compatible(&self) -> &'static str {
+ "BCM GPIO"
+ }
+}
diff -uNr 04_safe_globals/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs 05_drivers_gpio_uart/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
--- 04_safe_globals/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
+++ 05_drivers_gpio_uart/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
@@ -0,0 +1,402 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! PL011 UART driver.
+//!
+//! # Resources
+//!
+//! - <https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf>
+//! - <https://developer.arm.com/documentation/ddi0183/latest>
+
+use crate::{
+ bsp::device_driver::common::MMIODerefWrapper, console, cpu, driver, synchronization,
+ synchronization::NullLock,
+};
+use core::fmt;
+use tock_registers::{
+ interfaces::{Readable, Writeable},
+ register_bitfields, register_structs,
+ registers::{ReadOnly, ReadWrite, WriteOnly},
+};
+
+//--------------------------------------------------------------------------------------------------
+// Private Definitions
+//--------------------------------------------------------------------------------------------------
+
+// PL011 UART registers.
+//
+// Descriptions taken from "PrimeCell UART (PL011) Technical Reference Manual" r1p5.
+register_bitfields! {
+ u32,
+
+ /// Flag Register.
+ FR [
+ /// Transmit FIFO empty. The meaning of this bit depends on the state of the FEN bit in the
+ /// Line Control Register, LCR_H.
+ ///
+ /// - If the FIFO is disabled, this bit is set when the transmit holding register is empty.
+ /// - If the FIFO is enabled, the TXFE bit is set when the transmit FIFO is empty.
+ /// - This bit does not indicate if there is data in the transmit shift register.
+ TXFE OFFSET(7) NUMBITS(1) [],
+
+ /// Transmit FIFO full. The meaning of this bit depends on the state of the FEN bit in the
+ /// LCR_H Register.
+ ///
+ /// - If the FIFO is disabled, this bit is set when the transmit holding register is full.
+ /// - If the FIFO is enabled, the TXFF bit is set when the transmit FIFO is full.
+ TXFF OFFSET(5) NUMBITS(1) [],
+
+ /// Receive FIFO empty. The meaning of this bit depends on the state of the FEN bit in the
+ /// LCR_H Register.
+ ///
+ /// - If the FIFO is disabled, this bit is set when the receive holding register is empty.
+ /// - If the FIFO is enabled, the RXFE bit is set when the receive FIFO is empty.
+ RXFE OFFSET(4) NUMBITS(1) [],
+
+ /// UART busy. If this bit is set to 1, the UART is busy transmitting data. This bit remains
+ /// set until the complete byte, including all the stop bits, has been sent from the shift
+ /// register.
+ ///
+ /// This bit is set as soon as the transmit FIFO becomes non-empty, regardless of whether
+ /// the UART is enabled or not.
+ BUSY OFFSET(3) NUMBITS(1) []
+ ],
+
+ /// Integer Baud Rate Divisor.
+ IBRD [
+ /// The integer baud rate divisor.
+ BAUD_DIVINT OFFSET(0) NUMBITS(16) []
+ ],
+
+ /// Fractional Baud Rate Divisor.
+ FBRD [
+ /// The fractional baud rate divisor.
+ BAUD_DIVFRAC OFFSET(0) NUMBITS(6) []
+ ],
+
+ /// Line Control Register.
+ LCR_H [
+ /// Word length. These bits indicate the number of data bits transmitted or received in a
+ /// frame.
+ #[allow(clippy::enum_variant_names)]
+ WLEN OFFSET(5) NUMBITS(2) [
+ FiveBit = 0b00,
+ SixBit = 0b01,
+ SevenBit = 0b10,
+ EightBit = 0b11
+ ],
+
+ /// Enable FIFOs:
+ ///
+ /// 0 = FIFOs are disabled (character mode) that is, the FIFOs become 1-byte-deep holding
+ /// registers.
+ ///
+ /// 1 = Transmit and receive FIFO buffers are enabled (FIFO mode).
+ FEN OFFSET(4) NUMBITS(1) [
+ FifosDisabled = 0,
+ FifosEnabled = 1
+ ]
+ ],
+
+ /// Control Register.
+ CR [
+ /// Receive enable. If this bit is set to 1, the receive section of the UART is enabled.
+ /// Data reception occurs for either UART signals or SIR signals depending on the setting of
+ /// the SIREN bit. When the UART is disabled in the middle of reception, it completes the
+ /// current character before stopping.
+ RXE OFFSET(9) NUMBITS(1) [
+ Disabled = 0,
+ Enabled = 1
+ ],
+
+ /// Transmit enable. If this bit is set to 1, the transmit section of the UART is enabled.
+ /// Data transmission occurs for either UART signals, or SIR signals depending on the
+ /// setting of the SIREN bit. When the UART is disabled in the middle of transmission, it
+ /// completes the current character before stopping.
+ TXE OFFSET(8) NUMBITS(1) [
+ Disabled = 0,
+ Enabled = 1
+ ],
+
+ /// UART enable:
+ ///
+ /// 0 = UART is disabled. If the UART is disabled in the middle of transmission or
+ /// reception, it completes the current character before stopping.
+ ///
+ /// 1 = The UART is enabled. Data transmission and reception occurs for either UART signals
+ /// or SIR signals depending on the setting of the SIREN bit
+ UARTEN OFFSET(0) NUMBITS(1) [
+ /// If the UART is disabled in the middle of transmission or reception, it completes the
+ /// current character before stopping.
+ Disabled = 0,
+ Enabled = 1
+ ]
+ ],
+
+ /// Interrupt Clear Register.
+ ICR [
+ /// Meta field for all pending interrupts.
+ ALL OFFSET(0) NUMBITS(11) []
+ ]
+}
+
+register_structs! {
+ #[allow(non_snake_case)]
+ pub RegisterBlock {
+ (0x00 => DR: ReadWrite<u32>),
+ (0x04 => _reserved1),
+ (0x18 => FR: ReadOnly<u32, FR::Register>),
+ (0x1c => _reserved2),
+ (0x24 => IBRD: WriteOnly<u32, IBRD::Register>),
+ (0x28 => FBRD: WriteOnly<u32, FBRD::Register>),
+ (0x2c => LCR_H: WriteOnly<u32, LCR_H::Register>),
+ (0x30 => CR: WriteOnly<u32, CR::Register>),
+ (0x34 => _reserved3),
+ (0x44 => ICR: WriteOnly<u32, ICR::Register>),
+ (0x48 => @END),
+ }
+}
+
+/// Abstraction for the associated MMIO registers.
+type Registers = MMIODerefWrapper<RegisterBlock>;
+
+#[derive(PartialEq)]
+enum BlockingMode {
+ Blocking,
+ NonBlocking,
+}
+
+//--------------------------------------------------------------------------------------------------
+// Public Definitions
+//--------------------------------------------------------------------------------------------------
+
+pub struct PL011UartInner {
+ registers: Registers,
+ chars_written: usize,
+ chars_read: usize,
+}
+
+// Export the inner struct so that BSPs can use it for the panic handler.
+pub use PL011UartInner as PanicUart;
+
+/// Representation of the UART.
+pub struct PL011Uart {
+ inner: NullLock<PL011UartInner>,
+}
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+impl PL011UartInner {
+ /// Create an instance.
+ ///
+ /// # Safety
+ ///
+ /// - The user must ensure to provide a correct MMIO start address.
+ pub const unsafe fn new(mmio_start_addr: usize) -> Self {
+ Self {
+ registers: Registers::new(mmio_start_addr),
+ chars_written: 0,
+ chars_read: 0,
+ }
+ }
+
+ /// Set up baud rate and characteristics.
+ ///
+ /// This results in 8N1 and 921_600 baud.
+ ///
+ /// The calculation for the BRD is (we set the clock to 48 MHz in config.txt):
+ /// `(48_000_000 / 16) / 921_600 = 3.2552083`.
+ ///
+ /// This means the integer part is `3` and goes into the `IBRD`.
+ /// The fractional part is `0.2552083`.
+ ///
+ /// `FBRD` calculation according to the PL011 Technical Reference Manual:
+ /// `INTEGER((0.2552083 * 64) + 0.5) = 16`.
+ ///
+ /// Therefore, the generated baud rate divider is: `3 + 16/64 = 3.25`. Which results in a
+ /// genrated baud rate of `48_000_000 / (16 * 3.25) = 923_077`.
+ ///
+ /// Error = `((923_077 - 921_600) / 921_600) * 100 = 0.16modulo`.
+ pub fn init(&mut self) {
+ // Execution can arrive here while there are still characters queued in the TX FIFO and
+ // actively being sent out by the UART hardware. If the UART is turned off in this case,
+ // those queued characters would be lost.
+ //
+ // For example, this can happen during runtime on a call to panic!(), because panic!()
+ // initializes its own UART instance and calls init().
+ //
+ // Hence, flush first to ensure all pending characters are transmitted.
+ self.flush();
+
+ // Turn the UART off temporarily.
+ self.registers.CR.set(0);
+
+ // Clear all pending interrupts.
+ self.registers.ICR.write(ICR::ALL::CLEAR);
+
+ // From the PL011 Technical Reference Manual:
+ //
+ // The LCR_H, IBRD, and FBRD registers form the single 30-bit wide LCR Register that is
+ // updated on a single write strobe generated by a LCR_H write. So, to internally update the
+ // contents of IBRD or FBRD, a LCR_H write must always be performed at the end.
+ //
+ // Set the baud rate, 8N1 and FIFO enabled.
+ self.registers.IBRD.write(IBRD::BAUD_DIVINT.val(3));
+ self.registers.FBRD.write(FBRD::BAUD_DIVFRAC.val(16));
+ self.registers
+ .LCR_H
+ .write(LCR_H::WLEN::EightBit + LCR_H::FEN::FifosEnabled);
+
+ // Turn the UART on.
+ self.registers
+ .CR
+ .write(CR::UARTEN::Enabled + CR::TXE::Enabled + CR::RXE::Enabled);
+ }
+
+ /// Send a character.
+ fn write_char(&mut self, c: char) {
+ // Spin while TX FIFO full is set, waiting for an empty slot.
+ while self.registers.FR.matches_all(FR::TXFF::SET) {
+ cpu::nop();
+ }
+
+ // Write the character to the buffer.
+ self.registers.DR.set(c as u32);
+
+ self.chars_written += 1;
+ }
+
+ /// Block execution until the last buffered character has been physically put on the TX wire.
+ fn flush(&self) {
+ // Spin until the busy bit is cleared.
+ while self.registers.FR.matches_all(FR::BUSY::SET) {
+ cpu::nop();
+ }
+ }
+
+ /// Retrieve a character.
+ fn read_char_converting(&mut self, blocking_mode: BlockingMode) -> Option<char> {
+ // If RX FIFO is empty,
+ if self.registers.FR.matches_all(FR::RXFE::SET) {
+ // immediately return in non-blocking mode.
+ if blocking_mode == BlockingMode::NonBlocking {
+ return None;
+ }
+
+ // Otherwise, wait until a char was received.
+ while self.registers.FR.matches_all(FR::RXFE::SET) {
+ cpu::nop();
+ }
+ }
+
+ // Read one character.
+ let mut ret = self.registers.DR.get() as u8 as char;
+
+ // Convert carrige return to newline.
+ if ret == '\r' {
+ ret = '\n'
+ }
+
+ // Update statistics.
+ self.chars_read += 1;
+
+ Some(ret)
+ }
+}
+
+/// Implementing `core::fmt::Write` enables usage of the `format_args!` macros, which in turn are
+/// used to implement the `kernel`'s `print!` and `println!` macros. By implementing `write_str()`,
+/// we get `write_fmt()` automatically.
+///
+/// The function takes an `&mut self`, so it must be implemented for the inner struct.
+///
+/// See [`src/print.rs`].
+///
+/// [`src/print.rs`]: ../../print/index.html
+impl fmt::Write for PL011UartInner {
+ fn write_str(&mut self, s: &str) -> fmt::Result {
+ for c in s.chars() {
+ self.write_char(c);
+ }
+
+ Ok(())
+ }
+}
+
+impl PL011Uart {
+ /// Create an instance.
+ ///
+ /// # Safety
+ ///
+ /// - The user must ensure to provide a correct MMIO start address.
+ pub const unsafe fn new(mmio_start_addr: usize) -> Self {
+ Self {
+ inner: NullLock::new(PL011UartInner::new(mmio_start_addr)),
+ }
+ }
+}
+
+//------------------------------------------------------------------------------
+// OS Interface Code
+//------------------------------------------------------------------------------
+use synchronization::interface::Mutex;
+
+impl driver::interface::DeviceDriver for PL011Uart {
+ fn compatible(&self) -> &'static str {
+ "BCM PL011 UART"
+ }
+
+ unsafe fn init(&self) -> Result<(), &'static str> {
+ self.inner.lock(|inner| inner.init());
+
+ Ok(())
+ }
+}
+
+impl console::interface::Write for PL011Uart {
+ /// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded by a Mutex to
+ /// serialize access.
+ fn write_char(&self, c: char) {
+ self.inner.lock(|inner| inner.write_char(c));
+ }
+
+ fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
+ // Fully qualified syntax for the call to `core::fmt::Write::write:fmt()` to increase
+ // readability.
+ self.inner.lock(|inner| fmt::Write::write_fmt(inner, args))
+ }
+
+ fn flush(&self) {
+ // Spin until TX FIFO empty is set.
+ self.inner.lock(|inner| inner.flush());
+ }
+}
+
+impl console::interface::Read for PL011Uart {
+ fn read_char(&self) -> char {
+ self.inner
+ .lock(|inner| inner.read_char_converting(BlockingMode::Blocking).unwrap())
+ }
+
+ fn clear_rx(&self) {
+ // Read from the RX FIFO until it is indicating empty.
+ while self
+ .inner
+ .lock(|inner| inner.read_char_converting(BlockingMode::NonBlocking))
+ .is_some()
+ {}
+ }
+}
+
+impl console::interface::Statistics for PL011Uart {
+ fn chars_written(&self) -> usize {
+ self.inner.lock(|inner| inner.chars_written)
+ }
+
+ fn chars_read(&self) -> usize {
+ self.inner.lock(|inner| inner.chars_read)
+ }
+}
diff -uNr 04_safe_globals/src/bsp/device_driver/bcm.rs 05_drivers_gpio_uart/src/bsp/device_driver/bcm.rs
--- 04_safe_globals/src/bsp/device_driver/bcm.rs
+++ 05_drivers_gpio_uart/src/bsp/device_driver/bcm.rs
@@ -0,0 +1,11 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! BCM driver top level.
+
+mod bcm2xxx_gpio;
+mod bcm2xxx_pl011_uart;
+
+pub use bcm2xxx_gpio::*;
+pub use bcm2xxx_pl011_uart::*;
diff -uNr 04_safe_globals/src/bsp/device_driver/common.rs 05_drivers_gpio_uart/src/bsp/device_driver/common.rs
--- 04_safe_globals/src/bsp/device_driver/common.rs
+++ 05_drivers_gpio_uart/src/bsp/device_driver/common.rs
@@ -0,0 +1,38 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! Common device driver code.
+
+use core::{marker::PhantomData, ops};
+
+//--------------------------------------------------------------------------------------------------
+// Public Definitions
+//--------------------------------------------------------------------------------------------------
+
+pub struct MMIODerefWrapper<T> {
+ start_addr: usize,
+ phantom: PhantomData<fn() -> T>,
+}
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+impl<T> MMIODerefWrapper<T> {
+ /// Create an instance.
+ pub const unsafe fn new(start_addr: usize) -> Self {
+ Self {
+ start_addr,
+ phantom: PhantomData,
+ }
+ }
+}
+
+impl<T> ops::Deref for MMIODerefWrapper<T> {
+ type Target = T;
+
+ fn deref(&self) -> &Self::Target {
+ unsafe { &*(self.start_addr as *const _) }
+ }
+}
diff -uNr 04_safe_globals/src/bsp/device_driver.rs 05_drivers_gpio_uart/src/bsp/device_driver.rs
--- 04_safe_globals/src/bsp/device_driver.rs
+++ 05_drivers_gpio_uart/src/bsp/device_driver.rs
@@ -0,0 +1,12 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! Device driver.
+
+#[cfg(any(feature = "bsp_rpi3", feature = "bsp_rpi4"))]
+mod bcm;
+mod common;
+
+#[cfg(any(feature = "bsp_rpi3", feature = "bsp_rpi4"))]
+pub use bcm::*;
diff -uNr 04_safe_globals/src/bsp/raspberrypi/console.rs 05_drivers_gpio_uart/src/bsp/raspberrypi/console.rs
--- 04_safe_globals/src/bsp/raspberrypi/console.rs
+++ 05_drivers_gpio_uart/src/bsp/raspberrypi/console.rs
@@ -4,113 +4,34 @@
//! BSP console facilities.
-use crate::{console, synchronization, synchronization::NullLock};
+use super::memory;
+use crate::{bsp::device_driver, console};
use core::fmt;
//--------------------------------------------------------------------------------------------------
-// Private Definitions
+// Public Code
//--------------------------------------------------------------------------------------------------
-/// A mystical, magical device for generating QEMU output out of the void.
+/// In case of a panic, the panic handler uses this function to take a last shot at printing
+/// something before the system is halted.
///
-/// The mutex protected part.
-struct QEMUOutputInner {
- chars_written: usize,
-}
-
-//--------------------------------------------------------------------------------------------------
-// Public Definitions
-//--------------------------------------------------------------------------------------------------
-
-/// The main struct.
-pub struct QEMUOutput {
- inner: NullLock<QEMUOutputInner>,
-}
-
-//--------------------------------------------------------------------------------------------------
-// Global instances
-//--------------------------------------------------------------------------------------------------
-
-static QEMU_OUTPUT: QEMUOutput = QEMUOutput::new();
-
-//--------------------------------------------------------------------------------------------------
-// Private Code
-//--------------------------------------------------------------------------------------------------
-
-impl QEMUOutputInner {
- const fn new() -> QEMUOutputInner {
- QEMUOutputInner { chars_written: 0 }
- }
-
- /// Send a character.
- fn write_char(&mut self, c: char) {
- unsafe {
- core::ptr::write_volatile(0x3F20_1000 as *mut u8, c as u8);
- }
-
- self.chars_written += 1;
- }
-}
-
-/// Implementing `core::fmt::Write` enables usage of the `format_args!` macros, which in turn are
-/// used to implement the `kernel`'s `print!` and `println!` macros. By implementing `write_str()`,
-/// we get `write_fmt()` automatically.
+/// We try to init panic-versions of the GPIO and the UART. The panic versions are not protected
+/// with synchronization primitives, which increases chances that we get to print something, even
+/// when the kernel's default GPIO or UART instances happen to be locked at the time of the panic.
///
-/// The function takes an `&mut self`, so it must be implemented for the inner struct.
+/// # Safety
///
-/// See [`src/print.rs`].
-///
-/// [`src/print.rs`]: ../../print/index.html
-impl fmt::Write for QEMUOutputInner {
- fn write_str(&mut self, s: &str) -> fmt::Result {
- for c in s.chars() {
- // Convert newline to carrige return + newline.
- if c == '\n' {
- self.write_char('\r')
- }
-
- self.write_char(c);
- }
-
- Ok(())
- }
-}
-
-//--------------------------------------------------------------------------------------------------
-// Public Code
-//--------------------------------------------------------------------------------------------------
-
-impl QEMUOutput {
- /// Create a new instance.
- pub const fn new() -> QEMUOutput {
- QEMUOutput {
- inner: NullLock::new(QEMUOutputInner::new()),
- }
- }
+/// - Use only for printing during a panic.
+pub unsafe fn panic_console_out() -> impl fmt::Write {
+ let mut panic_gpio = device_driver::PanicGPIO::new(memory::map::mmio::GPIO_START);
+ let mut panic_uart = device_driver::PanicUart::new(memory::map::mmio::PL011_UART_START);
+
+ panic_gpio.map_pl011_uart();
+ panic_uart.init();
+ panic_uart
}
/// Return a reference to the console.
pub fn console() -> &'static impl console::interface::All {
- &QEMU_OUTPUT
-}
-
-//------------------------------------------------------------------------------
-// OS Interface Code
-//------------------------------------------------------------------------------
-use synchronization::interface::Mutex;
-
-/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded by a Mutex to
-/// serialize access.
-impl console::interface::Write for QEMUOutput {
- fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
- // Fully qualified syntax for the call to `core::fmt::Write::write:fmt()` to increase
- // readability.
- self.inner.lock(|inner| fmt::Write::write_fmt(inner, args))
- }
-}
-
-impl console::interface::Statistics for QEMUOutput {
- fn chars_written(&self) -> usize {
- self.inner.lock(|inner| inner.chars_written)
- }
+ &super::PL011_UART
}
diff -uNr 04_safe_globals/src/bsp/raspberrypi/driver.rs 05_drivers_gpio_uart/src/bsp/raspberrypi/driver.rs
--- 04_safe_globals/src/bsp/raspberrypi/driver.rs
+++ 05_drivers_gpio_uart/src/bsp/raspberrypi/driver.rs
@@ -0,0 +1,49 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! BSP driver support.
+
+use crate::driver;
+
+//--------------------------------------------------------------------------------------------------
+// Private Definitions
+//--------------------------------------------------------------------------------------------------
+
+/// Device Driver Manager type.
+struct BSPDriverManager {
+ device_drivers: [&'static (dyn DeviceDriver + Sync); 2],
+}
+
+//--------------------------------------------------------------------------------------------------
+// Global instances
+//--------------------------------------------------------------------------------------------------
+
+static BSP_DRIVER_MANAGER: BSPDriverManager = BSPDriverManager {
+ device_drivers: [&super::GPIO, &super::PL011_UART],
+};
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+/// Return a reference to the driver manager.
+pub fn driver_manager() -> &'static impl driver::interface::DriverManager {
+ &BSP_DRIVER_MANAGER
+}
+
+//------------------------------------------------------------------------------
+// OS Interface Code
+//------------------------------------------------------------------------------
+use driver::interface::DeviceDriver;
+
+impl driver::interface::DriverManager for BSPDriverManager {
+ fn all_device_drivers(&self) -> &[&'static (dyn DeviceDriver + Sync)] {
+ &self.device_drivers[..]
+ }
+
+ fn post_device_driver_init(&self) {
+ // Configure PL011Uart's output pins.
+ super::GPIO.map_pl011_uart();
+ }
+}
diff -uNr 04_safe_globals/src/bsp/raspberrypi/memory.rs 05_drivers_gpio_uart/src/bsp/raspberrypi/memory.rs
--- 04_safe_globals/src/bsp/raspberrypi/memory.rs
+++ 05_drivers_gpio_uart/src/bsp/raspberrypi/memory.rs
@@ -0,0 +1,37 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! BSP Memory Management.
+
+//--------------------------------------------------------------------------------------------------
+// Public Definitions
+//--------------------------------------------------------------------------------------------------
+
+/// The board's physical memory map.
+#[rustfmt::skip]
+pub(super) mod map {
+
+ pub const GPIO_OFFSET: usize = 0x0020_0000;
+ pub const UART_OFFSET: usize = 0x0020_1000;
+
+ /// Physical devices.
+ #[cfg(feature = "bsp_rpi3")]
+ pub mod mmio {
+ use super::*;
+
+ pub const START: usize = 0x3F00_0000;
+ pub const GPIO_START: usize = START + GPIO_OFFSET;
+ pub const PL011_UART_START: usize = START + UART_OFFSET;
+ }
+
+ /// Physical devices.
+ #[cfg(feature = "bsp_rpi4")]
+ pub mod mmio {
+ use super::*;
+
+ pub const START: usize = 0xFE00_0000;
+ pub const GPIO_START: usize = START + GPIO_OFFSET;
+ pub const PL011_UART_START: usize = START + UART_OFFSET;
+ }
+}
diff -uNr 04_safe_globals/src/bsp/raspberrypi.rs 05_drivers_gpio_uart/src/bsp/raspberrypi.rs
--- 04_safe_globals/src/bsp/raspberrypi.rs
+++ 05_drivers_gpio_uart/src/bsp/raspberrypi.rs
@@ -6,3 +6,33 @@
pub mod console;
pub mod cpu;
+pub mod driver;
+pub mod memory;
+
+//--------------------------------------------------------------------------------------------------
+// Global instances
+//--------------------------------------------------------------------------------------------------
+use super::device_driver;
+
+static GPIO: device_driver::GPIO =
+ unsafe { device_driver::GPIO::new(memory::map::mmio::GPIO_START) };
+
+static PL011_UART: device_driver::PL011Uart =
+ unsafe { device_driver::PL011Uart::new(memory::map::mmio::PL011_UART_START) };
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+/// Board identification.
+pub fn board_name() -> &'static str {
+ #[cfg(feature = "bsp_rpi3")]
+ {
+ "Raspberry Pi 3"
+ }
+
+ #[cfg(feature = "bsp_rpi4")]
+ {
+ "Raspberry Pi 4"
+ }
+}
diff -uNr 04_safe_globals/src/bsp.rs 05_drivers_gpio_uart/src/bsp.rs
--- 04_safe_globals/src/bsp.rs
+++ 05_drivers_gpio_uart/src/bsp.rs
@@ -4,6 +4,8 @@
//! Conditional reexporting of Board Support Packages.
+mod device_driver;
+
#[cfg(any(feature = "bsp_rpi3", feature = "bsp_rpi4"))]
mod raspberrypi;
diff -uNr 04_safe_globals/src/console.rs 05_drivers_gpio_uart/src/console.rs
--- 04_safe_globals/src/console.rs
+++ 05_drivers_gpio_uart/src/console.rs
@@ -14,8 +14,25 @@
/// Console write functions.
pub trait Write {
+ /// Write a single character.
+ fn write_char(&self, c: char);
+
/// Write a Rust format string.
fn write_fmt(&self, args: fmt::Arguments) -> fmt::Result;
+
+ /// Block until the last buffered character has been physically put on the TX wire.
+ fn flush(&self);
+ }
+
+ /// Console read functions.
+ pub trait Read {
+ /// Read a single character.
+ fn read_char(&self) -> char {
+ ' '
+ }
+
+ /// Clear RX buffers, if any.
+ fn clear_rx(&self);
}
/// Console statistics.
@@ -24,8 +41,13 @@
fn chars_written(&self) -> usize {
0
}
+
+ /// Return the number of characters read.
+ fn chars_read(&self) -> usize {
+ 0
+ }
}
/// Trait alias for a full-fledged console.
- pub trait All = Write + Statistics;
+ pub trait All = Write + Read + Statistics;
}
diff -uNr 04_safe_globals/src/cpu.rs 05_drivers_gpio_uart/src/cpu.rs
--- 04_safe_globals/src/cpu.rs
+++ 05_drivers_gpio_uart/src/cpu.rs
@@ -13,4 +13,7 @@
//--------------------------------------------------------------------------------------------------
// Architectural Public Reexports
//--------------------------------------------------------------------------------------------------
-pub use arch_cpu::wait_forever;
+pub use arch_cpu::{nop, wait_forever};
+
+#[cfg(feature = "bsp_rpi3")]
+pub use arch_cpu::spin_for_cycles;
diff -uNr 04_safe_globals/src/driver.rs 05_drivers_gpio_uart/src/driver.rs
--- 04_safe_globals/src/driver.rs
+++ 05_drivers_gpio_uart/src/driver.rs
@@ -0,0 +1,44 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
+
+//! Driver support.
+
+//--------------------------------------------------------------------------------------------------
+// Public Definitions
+//--------------------------------------------------------------------------------------------------
+
+/// Driver interfaces.
+pub mod interface {
+ /// Device Driver functions.
+ pub trait DeviceDriver {
+ /// Return a compatibility string for identifying the driver.
+ fn compatible(&self) -> &'static str;
+
+ /// Called by the kernel to bring up the device.
+ ///
+ /// # Safety
+ ///
+ /// - During init, drivers might do stuff with system-wide impact.
+ unsafe fn init(&self) -> Result<(), &'static str> {
+ Ok(())
+ }
+ }
+
+ /// Device driver management functions.
+ ///
+ /// The `BSP` is supposed to supply one global instance.
+ pub trait DriverManager {
+ /// Return a slice of references to all `BSP`-instantiated drivers.
+ ///
+ /// # Safety
+ ///
+ /// - The order of devices is the order in which `DeviceDriver::init()` is called.
+ fn all_device_drivers(&self) -> &[&'static (dyn DeviceDriver + Sync)];
+
+ /// Initialization code that runs after driver init.
+ ///
+ /// For example, device driver code that depends on other drivers already being online.
+ fn post_device_driver_init(&self);
+ }
+}
diff -uNr 04_safe_globals/src/main.rs 05_drivers_gpio_uart/src/main.rs
--- 04_safe_globals/src/main.rs
+++ 05_drivers_gpio_uart/src/main.rs
@@ -104,6 +104,8 @@
//! - It is implemented in `src/_arch/__arch_name__/cpu/boot.s`.
//! 2. Once finished with architectural setup, the arch code calls `kernel_init()`.
+#![allow(clippy::upper_case_acronyms)]
+#![feature(const_fn_fn_ptr_basics)]
#![feature(format_args_nl)]
#![feature(panic_info_message)]
#![feature(trait_alias)]
@@ -113,6 +115,7 @@
mod bsp;
mod console;
mod cpu;
+mod driver;
mod panic_wait;
mod print;
mod synchronization;
@@ -122,16 +125,54 @@
/// # Safety
///
/// - Only a single core must be active and running this function.
+/// - The init calls in this function must appear in the correct order.
unsafe fn kernel_init() -> ! {
- use console::interface::Statistics;
+ use driver::interface::DriverManager;
- println!("[0] Hello from Rust!");
+ for i in bsp::driver::driver_manager().all_device_drivers().iter() {
+ if let Err(x) = i.init() {
+ panic!("Error loading driver: {}: {}", i.compatible(), x);
+ }
+ }
+ bsp::driver::driver_manager().post_device_driver_init();
+ // println! is usable from here on.
+
+ // Transition from unsafe to safe.
+ kernel_main()
+}
+
+/// The main function running after the early init.
+fn kernel_main() -> ! {
+ use bsp::console::console;
+ use console::interface::All;
+ use driver::interface::DriverManager;
+
+ println!(
+ "[0] {} version {}",
+ env!("CARGO_PKG_NAME"),
+ env!("CARGO_PKG_VERSION")
+ );
+ println!("[1] Booting on: {}", bsp::board_name());
+
+ println!("[2] Drivers loaded:");
+ for (i, driver) in bsp::driver::driver_manager()
+ .all_device_drivers()
+ .iter()
+ .enumerate()
+ {
+ println!(" {}. {}", i + 1, driver.compatible());
+ }
println!(
- "[1] Chars written: {}",
+ "[3] Chars written: {}",
bsp::console::console().chars_written()
);
+ println!("[4] Echoing input now");
- println!("[2] Stopping here.");
- cpu::wait_forever()
+ // Discard any spurious received characters before going into echo mode.
+ console().clear_rx();
+ loop {
+ let c = bsp::console::console().read_char();
+ bsp::console::console().write_char(c);
+ }
}
diff -uNr 04_safe_globals/src/panic_wait.rs 05_drivers_gpio_uart/src/panic_wait.rs
--- 04_safe_globals/src/panic_wait.rs
+++ 05_drivers_gpio_uart/src/panic_wait.rs
@@ -4,15 +4,35 @@
//! A panic handler that infinitely waits.
-use crate::{cpu, println};
-use core::panic::PanicInfo;
+use crate::{bsp, cpu};
+use core::{fmt, panic::PanicInfo};
+
+//--------------------------------------------------------------------------------------------------
+// Private Code
+//--------------------------------------------------------------------------------------------------
+
+fn _panic_print(args: fmt::Arguments) {
+ use fmt::Write;
+
+ unsafe { bsp::console::panic_console_out().write_fmt(args).unwrap() };
+}
+
+/// Prints with a newline - only use from the panic handler.
+///
+/// Carbon copy from <https://doc.rust-lang.org/src/std/macros.rs.html>
+#[macro_export]
+macro_rules! panic_println {
+ ($($arg:tt)*) => ({
+ _panic_print(format_args_nl!($($arg)*));
+ })
+}
#[panic_handler]
fn panic(info: &PanicInfo) -> ! {
if let Some(args) = info.message() {
- println!("\nKernel panic: {}", args);
+ panic_println!("\nKernel panic: {}", args);
} else {
- println!("\nKernel panic!");
+ panic_println!("\nKernel panic!");
}
cpu::wait_forever()
diff -uNr 04_safe_globals/tests/boot_test_string.rb 05_drivers_gpio_uart/tests/boot_test_string.rb
--- 04_safe_globals/tests/boot_test_string.rb
+++ 05_drivers_gpio_uart/tests/boot_test_string.rb
@@ -1,3 +1,3 @@
# frozen_string_literal: true
-EXPECTED_PRINT = 'Stopping here'
+EXPECTED_PRINT = 'Echoing input now'
```
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