Robin Mueller
dd15acbda3
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124 lines
3.4 KiB
Rust
124 lines
3.4 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::{BootMode, InteruptConfig, clocks, gic, gpio, gtc, time::Hertz, uart};
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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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#[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 periphs = zynq7000_hal::init(zynq7000_hal::Config {
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init_l2_cache: true,
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level_shifter_config: Some(zynq7000_hal::LevelShifterConfig::EnableAll),
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interrupt_config: Some(InteruptConfig::AllInterruptsToCpu0),
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})
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.unwrap();
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let clocks = clocks::Clocks::new_from_regs(PS_CLOCK_FREQUENCY).unwrap();
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// Set up global timer counter and embassy time driver.
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let gtc = gtc::GlobalTimerCounter::new(periphs.gtc, clocks.arm_clocks());
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zynq7000_embassy::init(clocks.arm_clocks(), gtc);
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let mio_pins = gpio::mio::Pins::new(periphs.gpio);
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// Set up the UART, we are logging with it.
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let uart_clk_config = uart::ClockConfig::new_autocalc_with_error(clocks.io_clocks(), 115200)
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.unwrap()
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.0;
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let mut uart = uart::Uart::new_with_mio(
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periphs.uart_1,
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uart::Config::new_with_clk_config(uart_clk_config),
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(mio_pins.mio48, mio_pins.mio49),
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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 {
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zynq7000_hal::log::uart_blocking::init_unsafe_single_core(
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uart,
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log::LevelFilter::Trace,
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false,
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)
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};
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let boot_mode = BootMode::new_from_regs();
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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 = gpio::Output::new_for_mio(mio_pins.mio7, gpio::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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#[zynq7000_rt::irq]
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pub fn irq_handler() {
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let mut gic_helper = gic::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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gic::Interrupt::Sgi(_) => (),
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gic::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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gic::Interrupt::Spi(_spi_interrupt) => (),
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gic::Interrupt::Invalid(_) => (),
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gic::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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#[zynq7000_rt::exception(DataAbort)]
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fn data_abort_handler(_faulting_addr: usize) -> ! {
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loop {
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nop();
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}
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}
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#[zynq7000_rt::exception(Undefined)]
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fn undefined_handler(_faulting_addr: usize) -> ! {
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loop {
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nop();
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}
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}
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#[zynq7000_rt::exception(PrefetchAbort)]
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fn prefetch_handler(_faulting_addr: usize) -> ! {
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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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