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|
#![no_std]
#![no_main]
mod logger;
mod macros;
mod rtc;
use atsamd_usb_host::SAMDHost;
use bootkbd::BootKeyboard;
use clint::HandlerArray;
use cortex_m::asm::wfi;
use cortex_m_rt::{entry, exception, ExceptionFrame};
use embedded_hal::digital::v2::OutputPin;
use log::{debug, info, LevelFilter};
use trinket_m0::{
self as hal,
clock::GenericClockController,
gpio::{OpenDrain, Output, Pa10, Pa6, Pa7, PfD},
sercom,
target_device::{interrupt, Interrupt},
time::*,
CorePeripherals, Peripherals,
};
use usb_host::Driver;
static HANDLERS: HandlerArray = HandlerArray::new();
static mut LED: usize = 0;
#[entry]
fn main() -> ! {
let mut peripherals = Peripherals::take().expect("taking peripherals");
let mut core = CorePeripherals::take().expect("taking core peripherals");
let mut clocks = GenericClockController::with_internal_32kosc(
peripherals.GCLK,
&mut peripherals.PM,
&mut peripherals.SYSCTRL,
&mut peripherals.NVMCTRL,
);
let mut pins = hal::Pins::new(peripherals.PORT);
let uart = hal::uart(
&mut clocks,
115_200.hz(),
peripherals.SERCOM0,
&mut core.NVIC,
&mut peripherals.PM,
pins.d3,
pins.d4,
&mut pins.port,
);
let mut red_led = pins.d13.into_open_drain_output(&mut pins.port);
red_led.set_low().expect("turning off red LED");
unsafe { LED = core::mem::transmute(&red_led) }
// We do the transmute because, while all the underlying data is
// static, we're unable to get a referecence to the UART or LED
// until run-time. Another option would be to use Option in the
// SerialLogger definition, but that requires a check every time
// they might be used.
let uart_wrapped = logger::WriteWrapper::new(uart);
let logger = logger::SerialLogger::new(uart_wrapped, red_led);
// Wow, would I love to not be annotating this type.
let logger_ref: &'static logger::SerialLogger<
sercom::UART0<sercom::Sercom0Pad3<Pa7<PfD>>, sercom::Sercom0Pad2<Pa6<PfD>>, (), ()>,
Pa10<Output<OpenDrain>>,
> = unsafe { core::mem::transmute(&logger) };
unsafe { log::set_logger_racy(logger_ref).expect("couldn't set logger") };
log::set_max_level(LevelFilter::Info);
info!("setting up timer");
let mut rtc_handler = rtc::setup(peripherals.RTC, &mut clocks);
info!("setting up usb host");
let (mut usb_host, mut usb_handler) = SAMDHost::new(
peripherals.USB,
pins.usb_sof,
pins.usb_dm,
pins.usb_dp,
Some(pins.usb_host_enable),
&mut pins.port,
&mut clocks,
&mut peripherals.PM,
&rtc::millis,
);
let mut bootkbd = BootKeyboard::new();
let mut drivers: [&mut dyn Driver; 1] = [&mut bootkbd];
info!("setting up handlers");
HANDLERS.with_overrides(|hs| {
hs.register(0, &mut rtc_handler);
core.NVIC.enable(Interrupt::RTC);
hs.register(1, &mut usb_handler);
unsafe { core.NVIC.set_priority(Interrupt::USB, 0) };
core.NVIC.enable(Interrupt::USB);
info!("Boot up complete.");
loop {
usb_host.task(&mut drivers[..]);
wfi();
}
});
unreachable!();
}
#[panic_handler]
fn panic_handler(pi: &core::panic::PanicInfo) -> ! {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
logln_now!("~~~ PANIC ~~~");
logln_now!("{}", pi);
logln_now!("flushing log");
loop {
log::logger().flush();
wfi()
}
}
#[exception]
fn HardFault(ef: &ExceptionFrame) -> ! {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
log::logger().flush();
logln_now!("!!! Hard Fault - ef: {:?} !!!", ef);
logln_now!("flushing log");
loop {
log::logger().flush();
wfi()
}
}
#[exception]
fn DefaultHandler(interrupt: i16) {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
debug!("*** Default Handler: {} ***", interrupt);
}
#[exception]
fn NonMaskableInt() {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
debug!("+++ NonMaskableInt +++");
}
#[exception]
fn SVCall() {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
debug!("+++ SVCall +++");
}
#[exception]
fn PendSV() {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
debug!("+++ PendSV +++");
}
#[exception]
fn SysTick() {
let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { core::mem::transmute(LED) };
red_led.set_high().ok();
debug!("+++ SysTick +++");
}
#[interrupt]
fn RTC() {
HANDLERS.call(0);
}
#[interrupt]
fn USB() {
HANDLERS.call(1);
}
|
