init commit

examples/embassy/Cargo.toml

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+[package]
+name = "embassy-examples"
+version = "0.1.0"
+authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
+edition = "2024"
+description = "Embassy examples for the Zynq7000 SoC"
+homepage = "https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs"
+repository = "https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs"
+license = "MIT OR Apache-2.0"
+keywords = ["no-std", "arm", "cortex-a", "amd", "zynq7000"]
+categories = ["embedded", "no-std", "hardware-support"]
+
+[dependencies]
+cortex-ar = { path = "/home/rmueller/Rust/cortex-ar/cortex-ar", features = ["critical-section-single-core"] }
+zynq7000-rt = { path = "../../zynq7000-rt" }
+zynq7000 = { path = "../../zynq7000" }
+zynq7000-hal = { path = "../../zynq7000-hal" }
+zynq7000-embassy = { path = "../../zynq7000-embassy" }
+embedded-io = "0.6"
+embedded-hal = "1"
+fugit = "0.3"
+log = "0.4"
+
+embassy-executor = { path = "/home/rmueller/Rust/embassy/embassy-executor", features = [
+  "arch-cortex-ar",
+  "executor-thread"
+]}
+embassy-time = { path = "/home/rmueller/Rust/embassy/embassy-time", version = "0.4" }

examples/embassy/src/main.rs

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+#![no_std]
+#![no_main]
+
+use core::panic::PanicInfo;
+use cortex_ar::asm::nop;
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io::Write;
+use log::{error, info};
+use zynq7000_hal::{
+    BootMode,
+    clocks::Clocks,
+    gic::{GicConfigurator, GicInterruptHelper, Interrupt},
+    gpio::{MioPins, PinState},
+    gtc::Gtc,
+    time::Hertz,
+    uart::{ClkConfigRaw, Uart, UartConfig},
+};
+
+use zynq7000::PsPeripherals;
+use zynq7000_rt as _;
+
+// Define the clock frequency as a constant
+const PS_CLOCK_FREQUENCY: Hertz = Hertz::from_raw(33_333_300);
+
+/// Entry point (not called like a normal main function)
+#[unsafe(no_mangle)]
+pub extern "C" fn boot_core(cpu_id: u32) -> ! {
+    if cpu_id != 0 {
+        panic!("unexpected CPU ID {}", cpu_id);
+    }
+    main();
+}
+
+// TODO: The export name is ignored..
+#[embassy_executor::main]
+#[unsafe(export_name = "main")]
+async fn main(_spawner: Spawner) -> ! {
+    let dp = PsPeripherals::take().unwrap();
+    // Clock was already initialized by PS7 Init TCL script or FSBL, we just read it.
+    let clocks = Clocks::new_from_regs(PS_CLOCK_FREQUENCY).unwrap();
+    // Set up the global interrupt controller.
+    let mut gic = GicConfigurator::new_with_init(dp.gicc, dp.gicd);
+    gic.enable_all_interrupts();
+    gic.set_all_spi_interrupt_targets_cpu0();
+    gic.enable();
+    unsafe {
+        gic.enable_interrupts();
+    }
+    let mio_pins = MioPins::new(dp.gpio);
+
+    // Set up global timer counter and embassy time driver.
+    let gtc = Gtc::new(dp.gtc, clocks.arm_clocks());
+    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+
+    // Set up the UART, we are logging with it.
+    let uart_clk_config = ClkConfigRaw::new_autocalc_with_error(clocks.io_clocks(), 115200)
+        .unwrap()
+        .0;
+    let uart_tx = mio_pins.mio48.into_uart();
+    let uart_rx = mio_pins.mio49.into_uart();
+    let mut uart = Uart::new_with_mio(
+        dp.uart_1,
+        UartConfig::new_with_clk_config(uart_clk_config),
+        (uart_tx, uart_rx),
+    )
+    .unwrap();
+    uart.write_all(b"-- Zynq 7000 Embassy Hello World --\n\r")
+        .unwrap();
+    // Safety: We are not multi-threaded yet.
+    unsafe { zynq7000_hal::log::init_unsafe_single_core(uart, log::LevelFilter::Trace, false) };
+
+    let boot_mode = BootMode::new();
+    info!("Boot mode: {:?}", boot_mode);
+
+    let mut ticker = Ticker::every(Duration::from_millis(1000));
+    let mut led = mio_pins.mio7.into_output(PinState::Low);
+    loop {
+        info!("Hello, world!");
+        led.toggle().unwrap();
+        ticker.next().await;
+    }
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn _irq_handler() {
+    let mut gic_helper = GicInterruptHelper::new();
+    let irq_info = gic_helper.acknowledge_interrupt();
+    match irq_info.interrupt() {
+        Interrupt::Sgi(_) => (),
+        Interrupt::Ppi(ppi_interrupt) => {
+            if ppi_interrupt == zynq7000_hal::gic::PpiInterrupt::GlobalTimer {
+                unsafe {
+                    zynq7000_embassy::on_interrupt();
+                }
+            }
+        }
+        Interrupt::Spi(_spi_interrupt) => (),
+        Interrupt::Invalid(_) => (),
+        Interrupt::Spurious => (),
+    }
+    gic_helper.end_of_interrupt(irq_info);
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn _abort_handler() {
+    loop {
+        nop();
+    }
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn _undefined_handler() {
+    loop {
+        nop();
+    }
+}
+
+#[unsafe(no_mangle)]
+pub extern "C" fn _prefetch_handler() {
+    loop {
+        nop();
+    }
+}
+
+/// Panic handler
+#[panic_handler]
+fn panic(info: &PanicInfo) -> ! {
+    error!("Panic: {:?}", info);
+    loop {}
+}