added SDIO example app

zynq/examples/zedboard/src/bin/sdio.rs

@@ -0,0 +1,153 @@
+#![no_std]
+#![no_main]
+
+use aarch32_cpu::asm::nop;
+use core::panic::PanicInfo;
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io::Write;
+use log::{error, info};
+use zedboard::PS_CLOCK_FREQUENCY;
+use zynq7000_hal::gpio::Input;
+use zynq7000_hal::prelude::*;
+use zynq7000_hal::{
+    BootMode, clocks, gic, gpio, gtc,
+    sdio::{Sdio, SdioClockConfig, SdioLowLevel},
+    uart,
+};
+
+use zynq7000_rt as _;
+
+const INIT_STRING: &str = "-- Zynq 7000 Zedboard GPIO blinky example --\n\r";
+
+/// 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();
+}
+
+#[embassy_executor::main]
+#[unsafe(export_name = "main")]
+async fn main(_spawner: Spawner) -> ! {
+    let periphs = zynq7000_hal::init(zynq7000_hal::Config {
+        init_l2_cache: true,
+        level_shifter_config: Some(zynq7000_hal::LevelShifterConfig::EnableAll),
+        interrupt_config: Some(zynq7000_hal::InteruptConfig::AllInterruptsToCpu0),
+    })
+    .unwrap();
+    // Clock was already initialized by PS7 Init TCL script or FSBL, we just read it.
+    let clocks = clocks::Clocks::new_from_regs(PS_CLOCK_FREQUENCY).unwrap();
+
+    let mut gpio_pins = gpio::GpioPins::new(periphs.gpio);
+
+    // Set up global timer counter and embassy time driver.
+    let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
+    zynq7000_embassy::init(clocks.arm_clocks(), gtc);
+
+    // Set up the UART, we are logging with it.
+    let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)
+        .unwrap()
+        .0;
+    let mut uart = uart::Uart::new_with_mio_for_uart_1(
+        periphs.uart_1,
+        uart::Config::new_with_clk_config(uart_clk_config),
+        (gpio_pins.mio.mio48, gpio_pins.mio.mio49),
+    )
+    .unwrap();
+    uart.write_all(INIT_STRING.as_bytes()).unwrap();
+    // Safety: We are not multi-threaded yet.
+    unsafe {
+        zynq7000_hal::log::uart_blocking::init_unsafe_single_core(
+            uart,
+            log::LevelFilter::Trace,
+            false,
+        )
+    };
+
+    let sdio_clock_config =
+        SdioClockConfig::calculate_for_io_clock(clocks.io_clocks(), 100.MHz(), 10.MHz());
+    let sdio = Sdio::new_for_sdio_0(
+        periphs.sdio_0,
+        sdio_clock_config,
+        gpio_pins.mio.mio40,
+        gpio_pins.mio.mio41,
+        (
+            gpio_pins.mio.mio42,
+            gpio_pins.mio.mio43,
+            gpio_pins.mio.mio44,
+            gpio_pins.mio.mio45,
+        ),
+    )
+    .unwrap();
+    let card_detect = Input::new_for_mio(gpio_pins.mio.mio47).unwrap();
+    let write_protect = Input::new_for_mio(gpio_pins.mio.mio46).unwrap();
+    info!("Card detect state: {:?}", card_detect.is_high());
+    info!("Write protect state: {:?}", write_protect.is_high());
+
+    let capabilities = sdio.ll().capabilities();
+    info!("SDIO Capabilities: {:?}", capabilities);
+
+    let boot_mode = BootMode::new_from_regs();
+    info!("Boot mode: {:?}", boot_mode);
+
+    let mut ticker = Ticker::every(Duration::from_millis(200));
+
+    let mut mio_led = gpio::Output::new_for_mio(gpio_pins.mio.mio7, gpio::PinState::Low);
+    loop {
+        mio_led.toggle().unwrap();
+
+        ticker.next().await; // Wait for the next cycle of the ticker
+    }
+}
+
+#[zynq7000_rt::irq]
+fn irq_handler() {
+    let mut gic_helper = gic::GicInterruptHelper::new();
+    let irq_info = gic_helper.acknowledge_interrupt();
+    match irq_info.interrupt() {
+        gic::Interrupt::Sgi(_) => (),
+        gic::Interrupt::Ppi(ppi_interrupt) => {
+            if ppi_interrupt == gic::PpiInterrupt::GlobalTimer {
+                unsafe {
+                    zynq7000_embassy::on_interrupt();
+                }
+            }
+        }
+        gic::Interrupt::Spi(_spi_interrupt) => (),
+        gic::Interrupt::Invalid(_) => (),
+        gic::Interrupt::Spurious => (),
+    }
+    gic_helper.end_of_interrupt(irq_info);
+}
+
+#[zynq7000_rt::exception(DataAbort)]
+fn data_abort_handler(_faulting_addr: usize) -> ! {
+    loop {
+        nop();
+    }
+}
+
+#[zynq7000_rt::exception(Undefined)]
+fn undefined_handler(_faulting_addr: usize) -> ! {
+    loop {
+        nop();
+    }
+}
+
+#[zynq7000_rt::exception(PrefetchAbort)]
+fn prefetch_handler(_faulting_addr: usize) -> ! {
+    loop {
+        nop();
+    }
+}
+
+/// Panic handler
+#[panic_handler]
+fn panic(info: &PanicInfo) -> ! {
+    error!("Panic: {info:?}");
+    loop {}
+}

zynq/zynq7000-hal/src/sdio.rs

@@ -259,6 +259,11 @@ impl SdioLowLevel {
         Some(Self { id, regs })
     }
 
+    #[inline]
+    pub fn capabilities(&self) -> zynq7000::sdio::Capabilities {
+        self.regs.read_capabilities()
+    }
+
     /// Common SDIO clock configuration routine which should be called once before using the SDIO.
     ///
     /// This does NOT disable the clock, which should be done before changing the clock
@@ -302,7 +307,15 @@ impl SdioLowLevel {
     }
 
     #[inline]
-    pub fn enable_clock(&mut self) {
+    pub fn enable_internal_clock(&mut self) {
+        self.regs.modify_clock_timeout_sw_reset_control(|mut val| {
+            val.set_internal_clock_enable(true);
+            val
+        });
+    }
+
+    #[inline]
+    pub fn enable_sd_clock(&mut self) {
         self.regs.modify_clock_timeout_sw_reset_control(|mut val| {
             val.set_sd_clock_enable(true);
             val
@@ -310,7 +323,7 @@ impl SdioLowLevel {
     }
 
     #[inline]
-    pub fn disable_clock(&mut self) {
+    pub fn disable_sd_clock(&mut self) {
         self.regs.modify_clock_timeout_sw_reset_control(|mut val| {
             val.set_sd_clock_enable(false);
             val
@@ -400,17 +413,39 @@ impl Sdio {
         Self { ll }
     }
 
+    /// Direct access to the low-level SDIO driver.
+    pub fn ll_mut(&mut self) -> &mut SdioLowLevel {
+        &mut self.ll
+    }
+
+    pub fn ll(&self) -> &SdioLowLevel {
+        &self.ll
+    }
+
     fn initialize(ll: &mut SdioLowLevel, clock_config: &SdioClockConfig) {
         ll.reset(10);
-        // TODO: SW reset for all?
-        // TODO: Internal clock?
-        ll.disable_clock();
+        ll.regs.modify_clock_timeout_sw_reset_control(|mut val| {
+            val.set_software_reset_for_all(true);
+            val
+        });
+        ll.regs.modify_clock_timeout_sw_reset_control(|mut val| {
+            val.set_software_reset_for_all(false);
+            val
+        });
+        // Explicitely clear the clock bit.
+        ll.disable_sd_clock();
         ll.configure_clock(clock_config);
-        ll.enable_clock();
+        // As specified in the TRM, wait until the internal clock is stable before enabling the
+        // SD clock.
+        ll.enable_internal_clock();
+        while !ll
+            .regs
+            .read_clock_timeout_sw_reset_control()
+            .internal_clock_stable()
+        {}
+        ll.enable_sd_clock();
 
-        // TODO: There is probably some other configuration necessary.. the docs really are not
-        // complete here..
-        unsafe {}
+        // TODO: Perform the regular SDIO setup sequence.
     }
 
     #[inline]

zynq/zynq7000/src/sdio.rs

@@ -390,6 +390,38 @@ pub struct InterruptMask {
     command_complete: bool,
 }
 
+#[bitbybit::bitfield(u32, debug)]
+pub struct Capabilities {
+    #[bit(30, rw)]
+    spi_block_mode: bool,
+    #[bit(29, rw)]
+    spi_mode: bool,
+    #[bit(28, rw)]
+    _64_bit_system_bus_support: bool,
+    #[bit(27, rw)]
+    interrupt_mode: bool,
+    #[bit(26, rw)]
+    voltage_support_1_8v: bool,
+    #[bit(25, rw)]
+    voltage_support_3_0v: bool,
+    #[bit(24, rw)]
+    voltage_support_3_3v: bool,
+    #[bit(23, rw)]
+    suspend_resume_support: bool,
+    #[bit(22, rw)]
+    sdma_support: bool,
+    #[bit(21, rw)]
+    high_speed_support: bool,
+    #[bit(19, rw)]
+    adma2_support: bool,
+    #[bit(18, rw)]
+    extended_media_bus_support: bool,
+    #[bits(16..=17, rw)]
+    max_block_length: u2,
+    #[bit(7, rw)]
+    timeout_clock_unit: bool,
+}
+
 #[derive(derive_mmio::Mmio)]
 #[repr(C)]
 pub struct Registers {
@@ -411,7 +443,7 @@ pub struct Registers {
     #[mmio(PureRead)]
     auto_cmd12_error_status: u32,
     #[mmio(PureRead)]
-    capabilities: u32,
+    capabilities: Capabilities,
     _reserved_0: u32,
     #[mmio(PureRead)]
     maximum_current_capabilities: u32,