390 lines
9.2 KiB
Rust
390 lines
9.2 KiB
Rust
#![no_std]
|
|
#![allow(async_fn_in_trait)]
|
|
#![doc = include_str!("../README.md")]
|
|
|
|
// This mod MUST go first, so that the others see its macros.
|
|
pub(crate) mod fmt;
|
|
|
|
#[cfg(feature = "critical-section-impl")]
|
|
mod critical_section_impl;
|
|
|
|
mod intrinsics;
|
|
|
|
pub mod adc;
|
|
pub mod bootsel;
|
|
pub mod clocks;
|
|
pub mod dma;
|
|
pub mod flash;
|
|
mod float;
|
|
pub mod gpio;
|
|
pub mod i2c;
|
|
pub mod i2c_slave;
|
|
pub mod multicore;
|
|
pub mod pwm;
|
|
mod reset;
|
|
pub mod rom_data;
|
|
pub mod rtc;
|
|
pub mod spi;
|
|
#[cfg(feature = "time-driver")]
|
|
pub mod timer;
|
|
pub mod uart;
|
|
pub mod usb;
|
|
pub mod watchdog;
|
|
|
|
// PIO
|
|
pub mod pio;
|
|
pub(crate) mod relocate;
|
|
|
|
// Reexports
|
|
pub use embassy_hal_internal::{into_ref, Peripheral, PeripheralRef};
|
|
#[cfg(feature = "unstable-pac")]
|
|
pub use rp_pac as pac;
|
|
#[cfg(not(feature = "unstable-pac"))]
|
|
pub(crate) use rp_pac as pac;
|
|
|
|
#[cfg(feature = "rt")]
|
|
pub use crate::pac::NVIC_PRIO_BITS;
|
|
|
|
embassy_hal_internal::interrupt_mod!(
|
|
TIMER_IRQ_0,
|
|
TIMER_IRQ_1,
|
|
TIMER_IRQ_2,
|
|
TIMER_IRQ_3,
|
|
PWM_IRQ_WRAP,
|
|
USBCTRL_IRQ,
|
|
XIP_IRQ,
|
|
PIO0_IRQ_0,
|
|
PIO0_IRQ_1,
|
|
PIO1_IRQ_0,
|
|
PIO1_IRQ_1,
|
|
DMA_IRQ_0,
|
|
DMA_IRQ_1,
|
|
IO_IRQ_BANK0,
|
|
IO_IRQ_QSPI,
|
|
SIO_IRQ_PROC0,
|
|
SIO_IRQ_PROC1,
|
|
CLOCKS_IRQ,
|
|
SPI0_IRQ,
|
|
SPI1_IRQ,
|
|
UART0_IRQ,
|
|
UART1_IRQ,
|
|
ADC_IRQ_FIFO,
|
|
I2C0_IRQ,
|
|
I2C1_IRQ,
|
|
RTC_IRQ,
|
|
SWI_IRQ_0,
|
|
SWI_IRQ_1,
|
|
SWI_IRQ_2,
|
|
SWI_IRQ_3,
|
|
SWI_IRQ_4,
|
|
SWI_IRQ_5,
|
|
);
|
|
|
|
/// Macro to bind interrupts to handlers.
|
|
///
|
|
/// This defines the right interrupt handlers, and creates a unit struct (like `struct Irqs;`)
|
|
/// and implements the right [`Binding`]s for it. You can pass this struct to drivers to
|
|
/// prove at compile-time that the right interrupts have been bound.
|
|
///
|
|
/// Example of how to bind one interrupt:
|
|
///
|
|
/// ```rust,ignore
|
|
/// use embassy_rp::{bind_interrupts, usb, peripherals};
|
|
///
|
|
/// bind_interrupts!(struct Irqs {
|
|
/// USBCTRL_IRQ => usb::InterruptHandler<peripherals::USB>;
|
|
/// });
|
|
/// ```
|
|
///
|
|
// developer note: this macro can't be in `embassy-hal-internal` due to the use of `$crate`.
|
|
#[macro_export]
|
|
macro_rules! bind_interrupts {
|
|
($vis:vis struct $name:ident { $($irq:ident => $($handler:ty),*;)* }) => {
|
|
#[derive(Copy, Clone)]
|
|
$vis struct $name;
|
|
|
|
$(
|
|
#[allow(non_snake_case)]
|
|
#[no_mangle]
|
|
unsafe extern "C" fn $irq() {
|
|
$(
|
|
<$handler as $crate::interrupt::typelevel::Handler<$crate::interrupt::typelevel::$irq>>::on_interrupt();
|
|
)*
|
|
}
|
|
|
|
$(
|
|
unsafe impl $crate::interrupt::typelevel::Binding<$crate::interrupt::typelevel::$irq, $handler> for $name {}
|
|
)*
|
|
)*
|
|
};
|
|
}
|
|
|
|
embassy_hal_internal::peripherals! {
|
|
PIN_0,
|
|
PIN_1,
|
|
PIN_2,
|
|
PIN_3,
|
|
PIN_4,
|
|
PIN_5,
|
|
PIN_6,
|
|
PIN_7,
|
|
PIN_8,
|
|
PIN_9,
|
|
PIN_10,
|
|
PIN_11,
|
|
PIN_12,
|
|
PIN_13,
|
|
PIN_14,
|
|
PIN_15,
|
|
PIN_16,
|
|
PIN_17,
|
|
PIN_18,
|
|
PIN_19,
|
|
PIN_20,
|
|
PIN_21,
|
|
PIN_22,
|
|
PIN_23,
|
|
PIN_24,
|
|
PIN_25,
|
|
PIN_26,
|
|
PIN_27,
|
|
PIN_28,
|
|
PIN_29,
|
|
PIN_QSPI_SCLK,
|
|
PIN_QSPI_SS,
|
|
PIN_QSPI_SD0,
|
|
PIN_QSPI_SD1,
|
|
PIN_QSPI_SD2,
|
|
PIN_QSPI_SD3,
|
|
|
|
UART0,
|
|
UART1,
|
|
|
|
SPI0,
|
|
SPI1,
|
|
|
|
I2C0,
|
|
I2C1,
|
|
|
|
DMA_CH0,
|
|
DMA_CH1,
|
|
DMA_CH2,
|
|
DMA_CH3,
|
|
DMA_CH4,
|
|
DMA_CH5,
|
|
DMA_CH6,
|
|
DMA_CH7,
|
|
DMA_CH8,
|
|
DMA_CH9,
|
|
DMA_CH10,
|
|
DMA_CH11,
|
|
|
|
PWM_CH0,
|
|
PWM_CH1,
|
|
PWM_CH2,
|
|
PWM_CH3,
|
|
PWM_CH4,
|
|
PWM_CH5,
|
|
PWM_CH6,
|
|
PWM_CH7,
|
|
|
|
USB,
|
|
|
|
RTC,
|
|
|
|
FLASH,
|
|
|
|
ADC,
|
|
ADC_TEMP_SENSOR,
|
|
|
|
CORE1,
|
|
|
|
PIO0,
|
|
PIO1,
|
|
|
|
WATCHDOG,
|
|
BOOTSEL,
|
|
}
|
|
|
|
macro_rules! select_bootloader {
|
|
( $( $feature:literal => $loader:ident, )+ default => $default:ident ) => {
|
|
$(
|
|
#[cfg(feature = $feature)]
|
|
#[link_section = ".boot2"]
|
|
#[used]
|
|
static BOOT2: [u8; 256] = rp2040_boot2::$loader;
|
|
)*
|
|
|
|
#[cfg(not(any( $( feature = $feature),* )))]
|
|
#[link_section = ".boot2"]
|
|
#[used]
|
|
static BOOT2: [u8; 256] = rp2040_boot2::$default;
|
|
}
|
|
}
|
|
|
|
select_bootloader! {
|
|
"boot2-at25sf128a" => BOOT_LOADER_AT25SF128A,
|
|
"boot2-gd25q64cs" => BOOT_LOADER_GD25Q64CS,
|
|
"boot2-generic-03h" => BOOT_LOADER_GENERIC_03H,
|
|
"boot2-is25lp080" => BOOT_LOADER_IS25LP080,
|
|
"boot2-ram-memcpy" => BOOT_LOADER_RAM_MEMCPY,
|
|
"boot2-w25q080" => BOOT_LOADER_W25Q080,
|
|
"boot2-w25x10cl" => BOOT_LOADER_W25X10CL,
|
|
default => BOOT_LOADER_W25Q080
|
|
}
|
|
|
|
/// Installs a stack guard for the CORE0 stack in MPU region 0.
|
|
/// Will fail if the MPU is already confgigured. This function requires
|
|
/// a `_stack_end` symbol to be defined by the linker script, and expexcts
|
|
/// `_stack_end` to be located at the lowest address (largest depth) of
|
|
/// the stack.
|
|
///
|
|
/// This method can *only* set up stack guards on the currently
|
|
/// executing core. Stack guards for CORE1 are set up automatically,
|
|
/// only CORE0 should ever use this.
|
|
///
|
|
/// # Usage
|
|
///
|
|
/// ```no_run
|
|
/// #![feature(type_alias_impl_trait)]
|
|
/// use embassy_rp::install_core0_stack_guard;
|
|
/// use embassy_executor::{Executor, Spawner};
|
|
///
|
|
/// #[embassy_executor::main]
|
|
/// async fn main(_spawner: Spawner) {
|
|
/// // set up by the linker as follows:
|
|
/// //
|
|
/// // MEMORY {
|
|
/// // STACK0: ORIGIN = 0x20040000, LENGTH = 4K
|
|
/// // }
|
|
/// //
|
|
/// // _stack_end = ORIGIN(STACK0);
|
|
/// // _stack_start = _stack_end + LENGTH(STACK0);
|
|
/// //
|
|
/// install_core0_stack_guard().expect("MPU already configured");
|
|
/// let p = embassy_rp::init(Default::default());
|
|
///
|
|
/// // ...
|
|
/// }
|
|
/// ```
|
|
pub fn install_core0_stack_guard() -> Result<(), ()> {
|
|
extern "C" {
|
|
static mut _stack_end: usize;
|
|
}
|
|
unsafe { install_stack_guard(&mut _stack_end as *mut usize) }
|
|
}
|
|
|
|
#[inline(always)]
|
|
fn install_stack_guard(stack_bottom: *mut usize) -> Result<(), ()> {
|
|
let core = unsafe { cortex_m::Peripherals::steal() };
|
|
|
|
// Fail if MPU is already configured
|
|
if core.MPU.ctrl.read() != 0 {
|
|
return Err(());
|
|
}
|
|
|
|
// The minimum we can protect is 32 bytes on a 32 byte boundary, so round up which will
|
|
// just shorten the valid stack range a tad.
|
|
let addr = (stack_bottom as u32 + 31) & !31;
|
|
// Mask is 1 bit per 32 bytes of the 256 byte range... clear the bit for the segment we want
|
|
let subregion_select = 0xff ^ (1 << ((addr >> 5) & 7));
|
|
unsafe {
|
|
core.MPU.ctrl.write(5); // enable mpu with background default map
|
|
core.MPU.rbar.write((addr & !0xff) | (1 << 4)); // set address and update RNR
|
|
core.MPU.rasr.write(
|
|
1 // enable region
|
|
| (0x7 << 1) // size 2^(7 + 1) = 256
|
|
| (subregion_select << 8)
|
|
| 0x10000000, // XN = disable instruction fetch; no other bits means no permissions
|
|
);
|
|
}
|
|
Ok(())
|
|
}
|
|
|
|
/// HAL configuration for RP.
|
|
pub mod config {
|
|
use crate::clocks::ClockConfig;
|
|
|
|
/// HAL configuration passed when initializing.
|
|
#[non_exhaustive]
|
|
pub struct Config {
|
|
/// Clock configuration.
|
|
pub clocks: ClockConfig,
|
|
}
|
|
|
|
impl Default for Config {
|
|
fn default() -> Self {
|
|
Self {
|
|
clocks: ClockConfig::crystal(12_000_000),
|
|
}
|
|
}
|
|
}
|
|
|
|
impl Config {
|
|
/// Create a new configuration with the provided clock config.
|
|
pub fn new(clocks: ClockConfig) -> Self {
|
|
Self { clocks }
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Initialize the `embassy-rp` HAL with the provided configuration.
|
|
///
|
|
/// This returns the peripheral singletons that can be used for creating drivers.
|
|
///
|
|
/// This should only be called once at startup, otherwise it panics.
|
|
pub fn init(config: config::Config) -> Peripherals {
|
|
// Do this first, so that it panics if user is calling `init` a second time
|
|
// before doing anything important.
|
|
let peripherals = Peripherals::take();
|
|
|
|
unsafe {
|
|
clocks::init(config.clocks);
|
|
#[cfg(feature = "time-driver")]
|
|
timer::init();
|
|
dma::init();
|
|
gpio::init();
|
|
}
|
|
|
|
peripherals
|
|
}
|
|
|
|
/// Extension trait for PAC regs, adding atomic xor/bitset/bitclear writes.
|
|
trait RegExt<T: Copy> {
|
|
fn write_xor<R>(&self, f: impl FnOnce(&mut T) -> R) -> R;
|
|
fn write_set<R>(&self, f: impl FnOnce(&mut T) -> R) -> R;
|
|
fn write_clear<R>(&self, f: impl FnOnce(&mut T) -> R) -> R;
|
|
}
|
|
|
|
impl<T: Default + Copy, A: pac::common::Write> RegExt<T> for pac::common::Reg<T, A> {
|
|
fn write_xor<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
|
|
let mut val = Default::default();
|
|
let res = f(&mut val);
|
|
unsafe {
|
|
let ptr = (self.as_ptr() as *mut u8).add(0x1000) as *mut T;
|
|
ptr.write_volatile(val);
|
|
}
|
|
res
|
|
}
|
|
|
|
fn write_set<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
|
|
let mut val = Default::default();
|
|
let res = f(&mut val);
|
|
unsafe {
|
|
let ptr = (self.as_ptr() as *mut u8).add(0x2000) as *mut T;
|
|
ptr.write_volatile(val);
|
|
}
|
|
res
|
|
}
|
|
|
|
fn write_clear<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
|
|
let mut val = Default::default();
|
|
let res = f(&mut val);
|
|
unsafe {
|
|
let ptr = (self.as_ptr() as *mut u8).add(0x3000) as *mut T;
|
|
ptr.write_volatile(val);
|
|
}
|
|
res
|
|
}
|
|
}
|