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