Embassy Multi-Priority Example

firmware/Cargo.toml

@@ -11,6 +11,7 @@ members = [
   "examples/embassy",
   "examples/zedboard",
   "examples/defmt",
+  "examples/multiprio",
 
   "zedboard-bsp",
   "zedboard-qspi-flasher",
@@ -40,3 +41,11 @@ codegen-units = 1
 lto = 'fat'
 # Leave the debug symbols in (default is no debug info)
 debug = 2
+
+[patch.crates-io]
+embassy-executor = { path = "../../embassy/embassy-executor" }
+embassy-executor-macros = { path = "../../embassy/embassy-executor-macros" }
+embassy-time-driver = { path = "../../embassy/embassy-time-driver" }
+embassy-time = { path = "../../embassy/embassy-time" }
+embassy-executor-timer-queue = { path = "../../embassy/embassy-executor-timer-queue" }
+

firmware/examples/embassy/Cargo.toml

@@ -28,7 +28,10 @@ fugit = "0.4"
 log = "0.4"
 
 embassy-executor = { version = "0.10", features = [
-  "platform-cortex-ar",
+  "platform-z7",
   "executor-thread",
 ]}
+
+# embassy-executor = { git = "https://github.com/robamu/embassy.git", branch = "add-z7-arch-support", features = ["platform-z7", "executor-thread"] }
+# embassy-executor = { git = "https://github.com/robamu/embassy.git", features = ["platform-cortex-ar", "executor-thread"] }
 embassy-time = { version = "0.5", features = ["tick-hz-1_000_000"] }

firmware/examples/embassy/src/bin/multiprio.rs

@@ -0,0 +1,183 @@
+#![no_std]
+#![no_main]
+
+use aarch32_cpu::asm::nop;
+use core::panic::PanicInfo;
+use embassy_executor::Spawner;
+use embassy_time::{Delay, Duration, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_hal_async::delay::DelayNs as _;
+use embedded_io::Write as _;
+use log::error;
+use zynq7000_hal::{
+    InteruptConfig, clocks,
+    executor::InterruptExecutor,
+    generic_interrupt_handler,
+    gic::{SgiInterrupt, TargetCpus},
+    gpio::{self, Output},
+    gtc,
+    time::Hertz,
+    uart,
+};
+
+// Define the clock frequency as a constant
+const PS_CLOCK_FREQUENCY: Hertz = Hertz::from_raw(33_333_300);
+
+static INTERUPT_EXECUTOR: InterruptExecutor = InterruptExecutor::new();
+
+/// Entry point which calls the embassy main method.
+#[zynq7000_rt::entry]
+fn entry_point() -> ! {
+    main();
+}
+
+#[embassy_executor::main(executor = "zynq7000_hal::executor::Executor")]
+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(InteruptConfig::AllInterruptsToCpu0),
+    })
+    .unwrap();
+    let clocks = clocks::Clocks::new_from_regs(PS_CLOCK_FREQUENCY).unwrap();
+
+    // 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);
+    let mio_pins = gpio::mio::Pins::new(periphs.gpio);
+    let led = gpio::Output::new_for_mio(mio_pins.mio7, gpio::PinState::Low);
+    let sgi_interrupt = SgiInterrupt::new(0).unwrap();
+
+    // 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),
+        (mio_pins.mio48, mio_pins.mio49),
+    )
+    .unwrap();
+    uart.write_all(b"-- Zynq 7000 Interrupt Executor --\n\r")
+        .unwrap();
+    uart.flush().unwrap();
+
+    //let (tx, _rx) = uart.split();
+    // let mut logger = uart::TxAsync::new(tx, true);
+    //let log_reader = zynq7000_hal::log::asynch::init(log::LevelFilter::Trace).unwrap();
+
+    // Safety: We are not multi-threaded yet.
+    unsafe {
+        zynq7000_hal::log::uart_blocking::init_unsafe_single_core(
+            uart,
+            log::LevelFilter::Trace,
+            false,
+        )
+    };
+
+    log::info!(
+        "interrupt counter: {}",
+        CNTR.load(core::sync::atomic::Ordering::Relaxed)
+    );
+
+    let spawner = INTERUPT_EXECUTOR.start(sgi_interrupt, TargetCpus::CPU_0);
+    zynq7000_hal::register_interrupt(
+        zynq7000_hal::Interrupt::Sgi(sgi_interrupt),
+        on_interrupt_low_prio,
+    );
+    spawner.spawn(led_task(led).unwrap());
+
+    log::info!(
+        "interrupt counter: {}",
+        CNTR.load(core::sync::atomic::Ordering::Relaxed)
+    );
+
+    //Delay.delay_ms(1).await;
+
+    /*
+    log::info!(
+        "interrupt counter: {}",
+        CNTR.load(core::sync::atomic::Ordering::Relaxed)
+    );
+    */
+
+    //let mut log_buf: [u8; 2048] = [0; 2048];
+    loop {
+        log::info!("THR alive");
+        /*
+        let read_bytes = log_reader.read(&mut log_buf).await;
+        if read_bytes > 0 {
+            // Unwrap okay, checked that size is larger than 0.
+            logger.write(&log_buf[0..read_bytes]).unwrap().await;
+        }
+        */
+        Ticker::every(Duration::from_millis(1000)).next().await;
+    }
+}
+
+static CNTR: core::sync::atomic::AtomicUsize = core::sync::atomic::AtomicUsize::new(0);
+
+unsafe fn interrupt_handler(_ctx: *mut ()) {
+    CNTR.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
+    unsafe {
+        INTERUPT_EXECUTOR.on_interrupt();
+    }
+    CNTR.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
+}
+
+#[embassy_executor::task]
+async fn led_task(mut mio_led: Output) {
+    static ATOMIC_COUNTER: core::sync::atomic::AtomicUsize =
+        core::sync::atomic::AtomicUsize::new(0);
+
+    let mut ticker = Ticker::every(Duration::from_millis(1000));
+    loop {
+        mio_led.toggle().unwrap();
+        log::info!(
+            "Toggling LED ({})",
+            ATOMIC_COUNTER.fetch_add(1, core::sync::atomic::Ordering::Relaxed)
+        );
+        ticker.next().await;
+    }
+}
+
+#[zynq7000_rt::irq]
+pub fn irq_handler() {
+    // Safety: Called here once.
+    let result = unsafe { generic_interrupt_handler() };
+    log::info!(
+        "Interrupt handled, counter: {}",
+        CNTR.load(core::sync::atomic::Ordering::Relaxed)
+    );
+    if let Err(e) = result {
+        panic!("Generic interrupt handler failed handling {:?}", e);
+    }
+}
+
+#[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 {}
+}

firmware/examples/multiprio/Cargo.toml

@@ -0,0 +1,35 @@
+[package]
+name = "embassy-multiprio"
+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]
+aarch32-cpu = { version = "0.3", features = ["critical-section-single-core"] }
+zynq7000-rt = { path = "../../zynq7000-rt" }
+zynq7000 = { path = "../../zynq7000" }
+zynq7000-hal = { path = "../../zynq7000-hal" }
+zynq7000-embassy = { path = "../../zynq7000-embassy" }
+dht-sensor = { git = "https://github.com/michaelbeaumont/dht-sensor.git", rev = "10319bdeae9ace3bb0fc79a15da2869c5bf50f52", features = ["async"] }
+embedded-hal-async = "1"
+embassy-sync = "0.8"
+static_cell = "2"
+critical-section = "1"
+heapless = "0.9"
+embedded-io = "0.7"
+embedded-hal = "1"
+arbitrary-int = "2"
+fugit = "0.4"
+log = "0.4"
+embassy-time = { version = "0.5", features = ["tick-hz-1_000_000"] }
+embassy-executor = { version = "0.10", features = [
+  "platform-z7",
+  "executor-thread",
+  "executor-interrupt",
+]}

firmware/examples/multiprio/build.rs

@@ -0,0 +1,31 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+}

firmware/examples/multiprio/memory.x

@@ -0,0 +1,25 @@
+MEMORY
+{
+  /* Zedboard: 512 MB DDR3. Only use 62 MB for now, should be plenty for a bare-metal app.
+  1 MB stack memory and  1 MB of memory which will be configured as uncached device memory by the
+  MMU. This is recommended for something like DMA descriptors. */
+  CODE(rx) : ORIGIN = 0x00100000, LENGTH = 62M
+  STACKS : ORIGIN = 0x3F00000, LENGTH = 1M
+  UNCACHED(rx): ORIGIN = 0x4000000, LENGTH = 1M
+  OCM_UPPER(rx): ORIGIN = 0xFFFF0000, LENGTH = 64K
+}
+
+REGION_ALIAS("VECTORS", CODE);
+REGION_ALIAS("DATA", CODE);
+
+SECTIONS
+{
+  /* Uncached memory */
+  .uncached (NOLOAD) : ALIGN(4) {
+    . = ALIGN(4);
+    _sbss_uncached = .;
+    *(.uncached .uncached.*);
+    . = ALIGN(4);
+    _ebss_uncached = .;
+  } > UNCACHED
+}

firmware/examples/multiprio/src/main.rs

@@ -0,0 +1,170 @@
+#![no_std]
+#![no_main]
+
+use aarch32_cpu::asm::nop;
+use arbitrary_int::u5;
+use core::panic::PanicInfo;
+use embassy_executor::{InterruptExecutor, Spawner};
+use embassy_time::{Duration, Ticker};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io::Write as _;
+use log::error;
+use zynq7000_hal::{
+    InteruptConfig, clocks, generic_interrupt_handler,
+    gic::SgiInterrupt,
+    gpio::{self, Output},
+    gtc,
+    time::Hertz,
+    uart,
+};
+
+// Define the clock frequency as a constant
+const PS_CLOCK_FREQUENCY: Hertz = Hertz::from_raw(33_333_300);
+
+static INTERUPT_EXECUTOR_LOW_PRIO: InterruptExecutor = InterruptExecutor::new();
+static INTERUPT_EXECUTOR_MED_PRIO: InterruptExecutor = InterruptExecutor::new();
+
+/// Entry point which calls the embassy main method.
+#[zynq7000_rt::entry]
+fn entry_point() -> ! {
+    main();
+}
+
+#[embassy_executor::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(InteruptConfig::AllInterruptsToCpu0),
+    })
+    .unwrap();
+    let clocks = clocks::Clocks::new_from_regs(PS_CLOCK_FREQUENCY).unwrap();
+    let mut gic = unsafe { zynq7000_hal::gic::Configurator::steal() };
+    gic.set_all_sgi_interrupt_targets_cpu0();
+
+    // 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);
+    let mio_pins = gpio::mio::Pins::new(periphs.gpio);
+    let led = gpio::Output::new_for_mio(mio_pins.mio7, gpio::PinState::Low);
+    let sgi_interrupt_low_prio = SgiInterrupt::new(0).unwrap();
+    let sgi_interrupt_med_prio = SgiInterrupt::new(1).unwrap();
+
+    // 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),
+        (mio_pins.mio48, mio_pins.mio49),
+    )
+    .unwrap();
+    uart.write_all(b"-- Zynq 7000 Interrupt Executor --\n\r")
+        .unwrap();
+    uart.flush().unwrap();
+
+    let (tx, _rx) = uart.split();
+    let mut logger = uart::TxAsync::new(tx, true);
+    let log_reader = zynq7000_hal::log::asynch::init(log::LevelFilter::Trace).unwrap();
+
+    gic.set_sgi_interrupt_priority(sgi_interrupt_low_prio, u5::new(2));
+    gic.set_sgi_interrupt_priority(sgi_interrupt_med_prio, u5::new(1));
+
+    zynq7000_hal::register_interrupt(
+        zynq7000_hal::Interrupt::Sgi(sgi_interrupt_low_prio),
+        on_interrupt_low_prio,
+    );
+    zynq7000_hal::register_interrupt(
+        zynq7000_hal::Interrupt::Sgi(sgi_interrupt_med_prio),
+        on_interrupt_med_prio,
+    );
+    let spawner = INTERUPT_EXECUTOR_LOW_PRIO.start(sgi_interrupt_low_prio.as_u4());
+    spawner.spawn(led_task(led).unwrap());
+    let spawner = INTERUPT_EXECUTOR_MED_PRIO.start(sgi_interrupt_med_prio.as_u4());
+    spawner.spawn(hello_task().unwrap());
+
+    let mut log_buf: [u8; 2048] = [0; 2048];
+    loop {
+        let read_bytes = log_reader.read(&mut log_buf).await;
+        if read_bytes > 0 {
+            // Unwrap okay, checked that size is larger than 0.
+            logger.write(&log_buf[0..read_bytes]).unwrap().await;
+        }
+        Ticker::every(Duration::from_millis(1000)).next().await;
+    }
+}
+
+#[embassy_executor::task]
+async fn led_task(mut mio_led: Output) {
+    static ATOMIC_COUNTER: core::sync::atomic::AtomicUsize =
+        core::sync::atomic::AtomicUsize::new(0);
+
+    let mut ticker = Ticker::every(Duration::from_millis(1000));
+    loop {
+        mio_led.toggle().unwrap();
+        log::info!(
+            "Toggling LED ({})",
+            ATOMIC_COUNTER.fetch_add(1, core::sync::atomic::Ordering::Relaxed)
+        );
+        ticker.next().await;
+    }
+}
+
+#[embassy_executor::task]
+async fn hello_task() {
+    let mut ticker = Ticker::every(Duration::from_millis(1000));
+    loop {
+        log::info!("Hello from the low priority task");
+        ticker.next().await;
+    }
+}
+
+unsafe fn on_interrupt_low_prio() {
+    unsafe {
+        INTERUPT_EXECUTOR_LOW_PRIO.on_interrupt();
+    }
+}
+
+unsafe fn on_interrupt_med_prio() {
+    unsafe {
+        INTERUPT_EXECUTOR_MED_PRIO.on_interrupt();
+    }
+}
+
+#[zynq7000_rt::irq]
+pub fn irq_handler() {
+    // Safety: Called here once.
+    let result = unsafe { generic_interrupt_handler() };
+    if let Err(e) = result {
+        panic!("Generic interrupt handler failed handling {:?}", e);
+    }
+}
+
+#[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 {}
+}

firmware/examples/simple/src/bin/sgi.rs

@@ -0,0 +1,123 @@
+//! Example which uses the UART1 to send log messages.
+#![no_std]
+#![no_main]
+
+use aarch32_cpu::asm::nop;
+use core::{panic::PanicInfo, sync::atomic::AtomicU64};
+use embedded_hal::digital::StatefulOutputPin;
+use embedded_io::Write;
+use log::{error, info};
+use zynq7000_hal::{
+    BootMode,
+    clocks::Clocks,
+    gic::{self, Configurator, Interrupt, SgiInterrupt},
+    gpio::{Output, PinState, mio},
+    l2_cache,
+    time::Hertz,
+    uart::{ClockConfig, Config, Uart},
+};
+
+// Define the clock frequency as a constant
+const PS_CLOCK_FREQUENCY: Hertz = Hertz::from_raw(33_333_300);
+
+static SGI_COUNTER: AtomicU64 = AtomicU64::new(0);
+
+#[zynq7000_rt::entry]
+fn main() -> ! {
+    let mut dp = zynq7000::Peripherals::take().unwrap();
+    l2_cache::init_with_defaults(&mut dp.l2c);
+
+    // 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 = Configurator::new_with_init(dp.gicc, dp.gicd);
+    gic.enable_all_interrupts();
+    gic.set_all_spi_interrupt_targets_cpu0();
+    gic.set_all_sgi_interrupt_targets_cpu0();
+    gic.enable();
+    // Enable interrupt exception.
+    unsafe { gic.enable_interrupts() };
+
+    // Set up the UART, we are logging with it.
+    let uart_clk_config = ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)
+        .unwrap()
+        .0;
+    let mio_pins = mio::Pins::new(dp.gpio);
+
+    let mut uart = Uart::new_with_mio_for_uart_1(
+        dp.uart_1,
+        Config::new_with_clk_config(uart_clk_config),
+        (mio_pins.mio48, mio_pins.mio49),
+    )
+    .unwrap();
+    uart.write_all(b"-- Zynq 7000 Software Interrupt example --\n\r")
+        .unwrap();
+    // Safety: We are not multi-threaded yet.
+    unsafe {
+        zynq7000_hal::log::uart_blocking::init_unsafe_single_core(
+            uart,
+            log::LevelFilter::Trace,
+            false,
+        )
+    };
+
+    let boot_mode = BootMode::new_from_regs();
+    info!("Boot mode: {boot_mode:?}");
+
+    let mut led = Output::new_for_mio(mio_pins.mio7, PinState::Low);
+    loop {
+        let gtc = SGI_COUNTER.load(core::sync::atomic::Ordering::Relaxed);
+        info!("Hello, world!");
+        info!("SGI counter: {gtc}");
+        gic.trigger_software_interrupt(SgiInterrupt::new(0).unwrap());
+        led.toggle().unwrap();
+        for _ in 0..5_000_000 {
+            nop();
+        }
+    }
+}
+
+#[zynq7000_rt::irq]
+fn irq_handler() {
+    let mut gic_helper = gic::InterruptGuard::new();
+    let irq_info = gic_helper.interrupt_info();
+    match irq_info.interrupt() {
+        Interrupt::Sgi(_sgi) => {
+            // TODO: Send ID to main thread.
+            SGI_COUNTER.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
+        }
+        Interrupt::Ppi(_ppi_interrupt) => (),
+        Interrupt::Spi(_spi_interrupt) => (),
+        Interrupt::Invalid(_) => (),
+        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 {}
+}

firmware/examples/zedboard/src/bin/spi-slave.rs

@@ -228,7 +228,11 @@ pub async fn blocking_tests_small(
     }
     slave_rx_reader.read_exact(&mut buf[0..16]).await.unwrap();
     for (i, item) in buf.iter().enumerate().take(16) {
-        assert_eq!(*item, (i * 2) as u8, "slave did not send the expected data");
+        assert_eq!(
+            *item,
+            (i * 2) as u8,
+            "slave did not send the expected data"
+        );
     }
 
     // Transfer in place test.
@@ -245,7 +249,11 @@ pub async fn blocking_tests_small(
     }
     slave_rx_reader.read_exact(&mut buf[0..16]).await.unwrap();
     for (i, item) in buf.iter().enumerate().take(16) {
-        assert_eq!(*item, (i * 2) as u8, "slave did not send the expected data");
+        assert_eq!(
+            *item,
+            (i * 2) as u8,
+            "slave did not send the expected data"
+        );
     }
     40
 }
@@ -382,7 +390,11 @@ pub async fn blocking_tests_small_async(
     }
     slave_rx_reader.read_exact(&mut buf[0..16]).await.unwrap();
     for (i, item) in buf.iter().enumerate().take(16) {
-        assert_eq!(*item, (i * 2) as u8, "slave did not send the expected data");
+        assert_eq!(
+            *item,
+            (i * 2) as u8,
+            "slave did not send the expected data"
+        );
     }
 
     // Transfer in place test.
@@ -399,7 +411,11 @@ pub async fn blocking_tests_small_async(
     }
     slave_rx_reader.read_exact(&mut buf[0..16]).await.unwrap();
     for (i, item) in buf.iter().enumerate().take(16) {
-        assert_eq!(*item, (i * 2) as u8, "slave did not send the expected data");
+        assert_eq!(
+            *item,
+            (i * 2) as u8,
+            "slave did not send the expected data"
+        );
     }
     40
 }

firmware/zynq7000-hal/src/gic.rs

@@ -12,7 +12,7 @@ use aarch32_cpu::interrupt;
 use zynq7000::gic::{
     CpuInterfaceRegisters, DistributorControlRegister, DistributorRegisters, InterfaceControl,
     InterruptProcessorTargetRegister, InterruptSignalRegister, MmioCpuInterfaceRegisters,
-    MmioDistributorRegisters, PriorityRegister,
+    MmioDistributorRegisters, PriorityRegister, SoftwareGeneratedInterruptRegister,
 };
 
 /// Spurious interrupt ID.
@@ -235,13 +235,41 @@ pub enum SpiInterrupt {
     ScuParity = 92,
 }
 
+/// SGI interrupt ID wrapper.
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct SgiInterrupt(usize);
+
+impl SgiInterrupt {
+    /// Create a new SGI interrupt ID wrapper.
+    pub const fn new(int_id: usize) -> Result<Self, InvalidSgiInterruptId> {
+        if int_id >= 16 {
+            return Err(InvalidSgiInterruptId(int_id));
+        }
+        Ok(SgiInterrupt(int_id))
+    }
+
+    /// Returns the raw interrupt ID of the SGI.
+    #[inline]
+    pub const fn raw_id(&self) -> usize {
+        self.0
+    }
+
+    /// Returns the raw interrupt ID of the SGI as [u4].
+    #[inline]
+    pub const fn as_u4(&self) -> u4 {
+        u4::new(self.0 as u8)
+    }
+}
+
 /// Interrupt ID wrapper.
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Interrupt {
     /// Software-generated interrupt (SGI).
-    Sgi(usize),
+    Sgi(SgiInterrupt),
     /// Private peripheral interrupt (PPI).
     Ppi(PpiInterrupt),
     /// Shared peripheral interrupt (SPI).
@@ -498,7 +526,29 @@ impl Configurator {
             .unwrap();
     }
 
-    /// Utility function to set all SGI interrupt targets to CPU0.
+    /// Set the interrupt priority for a SGI interrupt.
+    ///
+    /// There are 32 priority levels, and a lower value means a higher priority.
+    #[inline]
+    pub fn set_sgi_interrupt_priority(&mut self, sgi: SgiInterrupt, priority: u5) {
+        // The IPR arrays are byte accessible.
+        let base_ptr = self.gicd.pointer_to_ipr_start() as *mut u8;
+        let raw_index = sgi.raw_id();
+        unsafe {
+            core::ptr::write_volatile(base_ptr.add(raw_index), priority.as_u8() << 3);
+        }
+    }
+
+    /// Read the interrupt priority for a SGI interrupt.
+    #[inline]
+    pub fn read_sgi_interrupt_priority(&mut self, sgi: SgiInterrupt) -> u5 {
+        // The IPR arrays are byte accessible.
+        let base_ptr = self.gicd.pointer_to_ipr_start() as *const u8;
+        let raw_index = sgi.raw_id();
+        unsafe { u5::new(core::ptr::read_volatile(base_ptr.add(raw_index)) >> 3) }
+    }
+
+    /// Utility function to set all SPI interrupt targets to CPU0.
     ///
     /// This does not clear interrupt target bits for CPU1, it only activates the interrupts for
     /// CPU 0 as well.
@@ -517,6 +567,25 @@ impl Configurator {
         }
     }
 
+    /// Utility function to set all SGI interrupt targets to CPU0.
+    ///
+    /// This does not clear interrupt target bits for CPU1, it only activates the interrupts for
+    /// CPU 0 as well.
+    /// This is useful if only CPU0 is active in a system, or if CPU0 handles most interrupts in
+    /// the system.
+    #[inline]
+    pub fn set_all_sgi_interrupt_targets_cpu0(&mut self) {
+        for i in 0..4 {
+            self.gicd
+                .modify_iptr_sgi(i, |v| {
+                    InterruptProcessorTargetRegister::new_with_raw_value(
+                        v.raw_value() | TARGETS_ALL_CPU_0_IPTR_VAL.raw_value(),
+                    )
+                })
+                .unwrap();
+        }
+    }
+
     /// Enable a specific SGI interrupt.
     #[inline]
     pub fn enable_sgi_interrupt(&mut self, int_id: usize) -> Result<(), InvalidSpiInterruptId> {
@@ -561,6 +630,19 @@ impl Configurator {
             })
         };
     }
+    /// Enable all PPI interrupts.
+    #[inline]
+    pub fn trigger_software_interrupt(&mut self, sgi_id: SgiInterrupt) {
+        self.gicd.write_sgir(
+            SoftwareGeneratedInterruptRegister::builder()
+                .with_target_list_filter(zynq7000::gic::TargetListFilter::SendToSelf)
+                .with_security_condition(zynq7000::gic::SecurityCondition::IfConfiguredAsSecure)
+                .with_sbz(u11::ZERO)
+                .with_cpu_target_list(0)
+                .with_interrupt_id(u4::new(sgi_id.raw_id() as u8))
+                .build(),
+        );
+    }
 
     /// Enable specific SPI interrupt.
     #[inline]
@@ -682,9 +764,15 @@ impl InterruptGuard {
         let iar = regs.read_iar();
         let int_id = iar.ack_int_id().as_u32();
         let interrupt = match int_id {
-            0..=15 => Interrupt::Sgi(int_id as usize),
-            27..=31 => Interrupt::Ppi(PpiInterrupt::try_from(int_id as u8).unwrap()),
-            32..=92 => Interrupt::Spi(SpiInterrupt::try_from(int_id as u8).unwrap()),
+            0..=15 => Interrupt::Sgi(
+                SgiInterrupt::new(int_id as usize).expect("invalid SGI interrupt number"),
+            ),
+            27..=31 => Interrupt::Ppi(
+                PpiInterrupt::try_from(int_id as u8).expect("invalid PPI interrupt number"),
+            ),
+            32..=92 => Interrupt::Spi(
+                SpiInterrupt::try_from(int_id as u8).expect("invalid SPI interrupt number"),
+            ),
             SPURIOUS_INTERRUPT_ID => Interrupt::Spurious,
             _ => Interrupt::Invalid(int_id as usize),
         };

firmware/zynq7000/src/gic.rs

@@ -46,9 +46,14 @@ impl TypeRegister {
 
 pub type Typer = TypeRegister;
 
-#[bitbybit::bitfield(u32, debug)]
+#[bitbybit::bitfield(
+    u32,
+    debug,
+    default = 0x0,
+    defmt_bitfields(feature = "defmt"),
+    forbid_overlaps
+)]
 #[derive(PartialEq, Eq)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct InterruptProcessorTargetRegister {
     /// Target array. Every register holds the information for 4 interrupts.
     #[bits(0..=1, rw, stride = 8)]