diff --git a/bsp_z7/coraZ7-10/xparameters.h b/bsp_z7/coraZ7-10/xparameters.h
index ba6bcab..a768cab 100644
--- a/bsp_z7/coraZ7-10/xparameters.h
+++ b/bsp_z7/coraZ7-10/xparameters.h
@@ -415,6 +415,7 @@
/* Canonical definitions for peripheral UARTLITE */
#define XUARTLITE_BASEADDRESS 0x42c00000
+#define XPAR_UARTLITE_0_DEVICE_ID 111
/* Definitions for driver UARTPS */
#define XPAR_XUARTPS_NUM_INSTANCES 1
diff --git a/bsp_z7/ps7_cortexa9_0/include/xuartlite.h b/bsp_z7/ps7_cortexa9_0/include/xuartlite.h
new file mode 100644
index 0000000..e41359b
--- /dev/null
+++ b/bsp_z7/ps7_cortexa9_0/include/xuartlite.h
@@ -0,0 +1,292 @@
+/******************************************************************************
+* Copyright (C) 2002 - 2022 Xilinx, Inc. All rights reserved.
+* Copyright (C) 2022 - 2023 Advanced Micro Devices, Inc. All Rights Reserved.
+* SPDX-License-Identifier: MIT
+******************************************************************************/
+
+/****************************************************************************/
+/**
+*
+* @file xuartlite.h
+* @addtogroup uartlite Overview
+* @{
+* @details
+*
+* This component contains the implementation of the XUartLite component which is
+* the driver for the Xilinx UART Lite device. This UART is a minimal hardware
+* implementation with minimal features. Most of the features, including baud
+* rate, parity, and number of data bits are only configurable when the hardware
+* device is built, rather than at run time by software.
+*
+* The device has 16 byte transmit and receive FIFOs and supports interrupts.
+* The device does not have any way to disable the receiver such that the
+* receive FIFO may contain unwanted data. The FIFOs are not flushed when the
+* driver is initialized, but a function is provided to allow the user to
+* reset the FIFOs if desired.
+*
+* The driver defaults to no interrupts at initialization such that interrupts
+* must be enabled if desired. An interrupt is generated when the transmit FIFO
+* transitions from having data to being empty or when any data is contained in
+* the receive FIFO.
+*
+* In order to use interrupts, it's necessary for the user to connect the driver
+* interrupt handler, XUartLite_InterruptHandler, to the interrupt system of the
+* application. This function does not save and restore the processor context
+* such that the user must provide it. Send and receive handlers may be set for
+* the driver such that the handlers are called when transmit and receive
+* interrupts occur. The handlers are called from interrupt context and are
+* designed to allow application specific processing to be performed.
+*
+* The functions, XUartLite_Send and XUartLite_Recv, are provided in the driver
+* to allow data to be sent and received. They are designed to be used in
+* polled or interrupt modes.
+*
+* The driver provides a status for each received byte indicating any parity
+* frame or overrun error. The driver provides statistics which allow visibility
+* into these errors.
+*
+* Initialization & Configuration
+*
+* The XUartLite_Config structure is used by the driver to configure itself. This
+* configuration structure is typically created by the tool-chain based on HW
+* build properties.
+*
+* To support multiple runtime loading and initialization strategies employed
+* by various operating systems, the driver instance can be initialized in one
+* of the following ways:
+*
+* - XUartLite_Initialize(InstancePtr, DeviceId) - The driver looks up its own
+* configuration structure created by the tool-chain based on an ID provided
+* by the tool-chain.
+*
+* - XUartLite_CfgInitialize(InstancePtr, CfgPtr, EffectiveAddr) - Uses a
+* configuration structure provided by the caller. If running in a system
+* with address translation, the provided virtual memory base address
+* replaces the physical address present in the configuration structure.
+*
+* RTOS Independence
+*
+* This driver is intended to be RTOS and processor independent. It works
+* with physical addresses only. Any needs for dynamic memory management,
+* threads or thread mutual exclusion, virtual memory, or cache control must
+* be satisfied by the layer above this driver.
+*
+* @note
+*
+* The driver is partitioned such that a minimal implementation may be used.
+* More features require additional files to be linked in.
+*
+*
+* MODIFICATION HISTORY:
+*
+* Ver Who Date Changes
+* ----- ---- -------- -----------------------------------------------
+* 1.00a ecm 08/31/01 First release
+* 1.00b jhl 02/21/02 Repartitioned the driver for smaller files
+* 1.01a jvb 12/14/05 I separated dependency on the static config table and
+* xparameters.h from the driver initialization by moving
+* _Initialize and _LookupConfig to _sinit.c. I also added
+* the new _CfgInitialize routine.
+* 1.02a rpm 02/14/07 Added check for outstanding transmission before
+* calling the send callback (avoids extraneous
+* callback invocations) in interrupt service routine.
+* 1.12a mta 03/31/07 Updated to new coding conventions
+* 1.13a sv 01/21/08 Updated driver to support access through DCR bus
+* 1.14a sdm 08/22/08 Removed support for static interrupt handlers from the MDD
+* file
+* 1.14a sdm 09/26/08 Updated code to avoid race condition in
+* XUartLite_SendBuffer
+* 2.00a ktn 10/20/09 Updated to use HAL Processor APIs. The macros have been
+* renamed to remove _m from the name. XUartLite_mClearStats
+* macro is removed and XUartLite_ClearStats function should
+* be used in its place.
+* 2.01a adk 18/04/13 Updated the code to avoid unused variable
+* warnings when compiling with the -Wextra -Wall flags
+* In the file xuartlite.c. CR:704999.
+* Added notes for CR 710483 that the XUL_FIFO_SIZE is not
+* used in the driver. This is the size of the FIFO for
+* Transmit/Receive FIFOs which cannot be changed.
+* 3.0 adk 17/12/13 Fixed CR:741186,761863 Changes are made in the file
+* xuartlite_selftest.c
+* 3.0 adk 19/12/13 Update the driver as per new TCL API's
+* 3.1 nsk 21/07/15 Updated XUartLite_ReceiveBuffer function in xuartlite.c
+* to update the receive data into user buffer in critical
+* region.CR#865787.
+* 3.2 sk 11/10/15 Used UINTPTR instead of u32 for Baseaddress CR# 867425.
+* Changed the prototype of XUartLite_CfgInitialize API.
+* ms 01/23/17 Added xil_printf statement in main function for all
+* examples to ensure that "Successfully ran" and "Failed"
+* strings are available in all examples. This is a fix
+* for CR-965028.
+* ms 03/17/17 Added readme.txt file in examples folder for doxygen
+* generation.
+* 3.3 sne 09/09/19 Updated driver tcl file for supporting pl and ps ip's.
+* 3.3 sne 09/13/19 Updated driver tcl file for mdm & tmr_sem ip's.
+* 3.7 adk 31/01/22 Fix interrupt controller name in SMP designs, Changes are
+* made in the interrupt app tcl file.
+* 3.7 adk 14/02/22 When generating peripheral tests for TMR subsystem based
+* designs don't pull the driver examples when uartlite is
+* configured as a TMR SEM fix for CR-1121291, changes are
+* made in the uartlite_tapp.tcl file.
+* 3.9 ht 07/18/23 Fixed GCC warnings.
+*
+*
+*
+*****************************************************************************/
+
+#ifndef XUARTLITE_H /* prevent circular inclusions */
+#define XUARTLITE_H /* by using protection macros */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***************************** Include Files ********************************/
+
+#include "xil_types.h"
+#include "xil_assert.h"
+#include "xstatus.h"
+
+/************************** Constant Definitions ****************************/
+
+/**************************** Type Definitions ******************************/
+
+/**
+ * Callback function. The first argument is a callback reference passed in by
+ * the upper layer when setting the callback functions, and passed back to the
+ * upper layer when the callback is invoked.
+ * The second argument is the ByteCount which is the number of bytes that
+ * actually moved from/to the buffer provided in the _Send/_Receive call.
+ */
+typedef void (*XUartLite_Handler)(void *CallBackRef, unsigned int ByteCount);
+
+/**
+ * Statistics for the XUartLite driver
+ */
+typedef struct {
+ u32 TransmitInterrupts; /**< Number of transmit interrupts */
+ u32 ReceiveInterrupts; /**< Number of receive interrupts */
+ u32 CharactersTransmitted; /**< Number of characters transmitted */
+ u32 CharactersReceived; /**< Number of characters received */
+ u32 ReceiveOverrunErrors; /**< Number of receive overruns */
+ u32 ReceiveParityErrors; /**< Number of receive parity errors */
+ u32 ReceiveFramingErrors; /**< Number of receive framing errors */
+} XUartLite_Stats;
+
+/**
+ * The following data type is used to manage the buffers that are handled
+ * when sending and receiving data in the interrupt mode. It is intended
+ * for internal use only.
+ */
+typedef struct {
+ u8 *NextBytePtr;
+ unsigned int RequestedBytes;
+ unsigned int RemainingBytes;
+} XUartLite_Buffer;
+
+/**
+ * This typedef contains configuration information for the device.
+ */
+typedef struct {
+#ifndef SDT
+ u16 DeviceId; /**< Unique ID of device */
+#else
+ char *Name;
+#endif
+ UINTPTR RegBaseAddr; /**< Register base address */
+ u32 BaudRate; /**< Fixed baud rate */
+ u8 UseParity; /**< Parity generator enabled when TRUE */
+ u8 ParityOdd; /**< Parity generated is odd when TRUE, even
+ when FALSE */
+ u8 DataBits; /**< Fixed data bits */
+#ifdef SDT
+ u16 IntrId; /** Bits[11:0] Interrupt-id Bits[15:12]
+ * trigger type and level flags */
+ UINTPTR IntrParent; /** Bit[0] Interrupt parent type Bit[64/32:1]
+ * Parent base address */
+#endif
+} XUartLite_Config;
+
+/**
+ * The XUartLite driver instance data. The user is required to allocate a
+ * variable of this type for every UART Lite device in the system. A pointer
+ * to a variable of this type is then passed to the driver API functions.
+ */
+typedef struct {
+ XUartLite_Stats Stats; /* Component Statistics */
+ UINTPTR RegBaseAddress; /* Base address of registers */
+ u32 IsReady; /* Device is initialized and ready */
+
+ XUartLite_Buffer SendBuffer;
+ XUartLite_Buffer ReceiveBuffer;
+
+ XUartLite_Handler RecvHandler;
+ void *RecvCallBackRef; /* Callback ref for recv handler */
+ XUartLite_Handler SendHandler;
+ void *SendCallBackRef; /* Callback ref for send handler */
+} XUartLite;
+
+
+/***************** Macros (Inline Functions) Definitions ********************/
+
+
+/************************** Function Prototypes *****************************/
+
+/*
+ * Initialization functions in xuartlite_sinit.c
+ */
+#ifndef SDT
+int XUartLite_Initialize(XUartLite *InstancePtr, u16 DeviceId);
+XUartLite_Config *XUartLite_LookupConfig(u16 DeviceId);
+#else
+int XUartLite_Initialize(XUartLite *InstancePtr, UINTPTR BaseAddress);
+XUartLite_Config *XUartLite_LookupConfig(UINTPTR BaseAddress);
+#endif
+
+/*
+ * Required functions, in file xuart.c
+ */
+int XUartLite_CfgInitialize(XUartLite *InstancePtr,
+ XUartLite_Config *Config,
+ UINTPTR EffectiveAddr);
+
+void XUartLite_ResetFifos(XUartLite *InstancePtr);
+
+unsigned int XUartLite_Send(XUartLite *InstancePtr, u8 *DataBufferPtr,
+ unsigned int NumBytes);
+unsigned int XUartLite_Recv(XUartLite *InstancePtr, u8 *DataBufferPtr,
+ unsigned int NumBytes);
+
+int XUartLite_IsSending(XUartLite *InstancePtr);
+
+/*
+ * Functions for statistics, in file xuartlite_stats.c
+ */
+void XUartLite_GetStats(XUartLite *InstancePtr, XUartLite_Stats *StatsPtr);
+void XUartLite_ClearStats(XUartLite *InstancePtr);
+
+/*
+ * Functions for self-test, in file xuartlite_selftest.c
+ */
+int XUartLite_SelfTest(XUartLite *InstancePtr);
+
+/*
+ * Functions for interrupts, in file xuartlite_intr.c
+ */
+void XUartLite_EnableInterrupt(XUartLite *InstancePtr);
+void XUartLite_DisableInterrupt(XUartLite *InstancePtr);
+
+void XUartLite_SetRecvHandler(XUartLite *InstancePtr, XUartLite_Handler FuncPtr,
+ void *CallBackRef);
+void XUartLite_SetSendHandler(XUartLite *InstancePtr, XUartLite_Handler FuncPtr,
+ void *CallBackRef);
+
+void XUartLite_InterruptHandler(XUartLite *InstancePtr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* end of protection macro */
+
+/** @} */
diff --git a/mission/CMakeLists.txt b/mission/CMakeLists.txt
index da6f3d5..352cf22 100644
--- a/mission/CMakeLists.txt
+++ b/mission/CMakeLists.txt
@@ -1 +1 @@
-target_sources(${TARGET_NAME} PRIVATE mission.c freeRTOS_rust_helper.c)
+target_sources(${TARGET_NAME} PRIVATE mission.c freeRTOS_rust_helper.c uart_rust_helper.c gpio_rust_helper.c can_rust_helper.c)
diff --git a/mission/mission.c b/mission/mission.c
index bfb0a3b..76617b9 100644
--- a/mission/mission.c
+++ b/mission/mission.c
@@ -85,7 +85,7 @@ void vApplicationMallocFailedHook(void) {
timers, and semaphores. The size of the FreeRTOS heap is set by the
configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
taskDISABLE_INTERRUPTS();
- rust_alloc_failed();
+ //rust_alloc_failed();
for (;;)
;
}
diff --git a/mission/uart_rust_helper.c b/mission/uart_rust_helper.c
index c78b794..5a198d6 100644
--- a/mission/uart_rust_helper.c
+++ b/mission/uart_rust_helper.c
@@ -54,7 +54,7 @@
* change all the needed parameters in one place.
*/
#ifndef SDT
-#define UARTLITE_DEVICE_ID XPAR_UARTLITE_0_DEVICE_ID
+#define UARTLITE_DEVICE_ID 111
#else
#define XUARTLITE_BASEADDRESS XPAR_XUARTLITE_0_BASEADDR
#endif
diff --git a/mission_rust/src/lib.rs b/mission_rust/src/lib.rs
index f313c3f..c566f70 100644
--- a/mission_rust/src/lib.rs
+++ b/mission_rust/src/lib.rs
@@ -24,7 +24,7 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
sifln!("");
sif!("in task \"");
unsafe {
- //osal::get_task_name is implemented safely in C, so we trust it
+ //TODO is from_ptr safe enough?
let task_name = core::ffi::CStr::from_ptr(osal::get_task_name());
let task_name_utf8 = core::str::from_utf8(task_name.to_bytes());
match task_name_utf8 {
@@ -62,11 +62,6 @@ extern "C" fn rust_assert_called(ptr: *const core::ffi::c_char, line: core::ffi:
panic!("assertion failed at {file_name}:{}", line);
}
-#[no_mangle]
-extern "C" fn rust_alloc_failed(){
- panic!("allocation failed!");
-}
-
#[no_mangle]
extern "C" fn rust_main() {
sifln!("Rust startup 🚀");
@@ -206,7 +201,7 @@ fn mission() {
gpio_setup();
sifln!(";");
sifln!("✅");
- gpio_toggle_pin(0x00000070);
+// gpio_toggle_pin(0x00000070);
sifln!("✅");
@@ -214,7 +209,7 @@ fn mission() {
// canps_poll_example();
-
+
}
sifln!("Called canps poll example()");