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authorBrian Cully <bjc@kublai.com>2019-08-06 08:53:42 -0400
committerBrian Cully <bjc@kublai.com>2019-08-06 08:53:42 -0400
commit9ff9f51c07f7226d6467bc9db608cc53c82365bd (patch)
treed3c9d83d24ba0c3ce29cab011deba5c4698e26e9 /src
downloadbleusb-9ff9f51c07f7226d6467bc9db608cc53c82365bd.tar.gz
bleusb-9ff9f51c07f7226d6467bc9db608cc53c82365bd.zip
Initial commit.
Diffstat (limited to 'src')
-rw-r--r--src/dotstar.rs42
-rw-r--r--src/logger.rs139
-rw-r--r--src/macros.rs15
-rwxr-xr-xsrc/main.rs144
-rw-r--r--src/rtc.rs74
5 files changed, 414 insertions, 0 deletions
diff --git a/src/dotstar.rs b/src/dotstar.rs
new file mode 100644
index 0000000..8e930d0
--- /dev/null
+++ b/src/dotstar.rs
@@ -0,0 +1,42 @@
+use trinket_m0::{
+ clock::GenericClockController,
+ gpio::{self, Floating, Input},
+ prelude::*,
+ sercom::{self, PadPin, SPIMaster1},
+ PM, SERCOM1,
+};
+
+use apa102_spi::Apa102;
+
+pub fn new(
+ sercom: SERCOM1,
+ miso: gpio::Pa31<Input<Floating>>,
+ mosi: gpio::Pa0<Input<Floating>>,
+ sck: gpio::Pa1<Input<Floating>>,
+ port: &mut gpio::Port,
+ pm: &mut PM,
+ clocks: &mut GenericClockController,
+) -> Apa102<
+ SPIMaster1<
+ sercom::Sercom1Pad3<gpio::Pa31<gpio::PfD>>,
+ sercom::Sercom1Pad0<gpio::Pa0<gpio::PfD>>,
+ sercom::Sercom1Pad1<gpio::Pa1<gpio::PfD>>,
+ >,
+> {
+ let gclk = clocks.gclk0();
+ let miso = miso.into_pad(port);
+ let mosi = mosi.into_pad(port);
+ let sck = sck.into_pad(port);
+ let spi = SPIMaster1::new(
+ &clocks
+ .sercom1_core(&gclk)
+ .expect("setting up sercom1 clock"),
+ 3.mhz(),
+ apa102_spi::MODE,
+ sercom,
+ pm,
+ (miso, mosi, sck),
+ );
+
+ Apa102::new(spi)
+}
diff --git a/src/logger.rs b/src/logger.rs
new file mode 100644
index 0000000..be9d391
--- /dev/null
+++ b/src/logger.rs
@@ -0,0 +1,139 @@
+use crate::rtc;
+use starb::{Reader, RingBuffer, Writer};
+
+use core::cell::UnsafeCell;
+use core::fmt::{self, Write};
+use embedded_hal::{digital::v2::OutputPin, serial};
+use log::{Metadata, Record};
+use trinket_m0::{
+ gpio::{Pa6, Pa7, PfD},
+ sercom::{Sercom0Pad2, Sercom0Pad3, UART0},
+};
+
+static mut UART0: usize = 0;
+
+struct JoinedRingBuffer<'a> {
+ lbr: Reader<'a, u8>,
+ lbw: Writer<'a, u8>,
+}
+
+impl<'a> JoinedRingBuffer<'a> {
+ const fn new(rb: &'a RingBuffer<u8>) -> Self {
+ let (lbr, lbw) = rb.split();
+ Self { lbr: lbr, lbw: lbw }
+ }
+}
+
+impl fmt::Write for JoinedRingBuffer<'_> {
+ fn write_str(&mut self, s: &str) -> Result<(), fmt::Error> {
+ for b in s.bytes() {
+ if let Err(_) = self.lbw.unshift(b) {
+ // Ignore buffer full errors for logging.
+ return Ok(());
+ }
+ }
+ Ok(())
+ }
+}
+
+static mut LB: RingBuffer<u8> = RingBuffer::<u8>::new(0);
+static mut JRB: JoinedRingBuffer = unsafe { JoinedRingBuffer::new(&LB) };
+
+// The UART isn't necessarily Sync, so wrap it in something that
+// is. As long as flush() is only called from one thread, we're fine,
+// but this is a guarantee that the logger module doesn't make.
+pub struct WriteWrapper<W> {
+ w: W,
+}
+impl<W> WriteWrapper<W>
+where
+ W: serial::Write<u8>,
+{
+ pub fn new(writer: W) -> Self {
+ Self { w: writer }
+ }
+}
+unsafe impl<W> Sync for WriteWrapper<W> {}
+
+pub struct SerialLogger<W, L> {
+ writer: UnsafeCell<WriteWrapper<W>>,
+ led: UnsafeCell<L>,
+}
+
+impl<W, L> SerialLogger<W, L>
+where
+ W: serial::Write<u8>,
+ L: OutputPin + Send + Sync,
+{
+ pub fn new(writer: WriteWrapper<W>, led: L) -> Self {
+ // Stash this for unsafe usage in case there's an issue with
+ // the rest of the logging.
+ unsafe { UART0 = core::mem::transmute(&writer.w) };
+ Self {
+ writer: UnsafeCell::new(writer),
+ led: UnsafeCell::new(led),
+ }
+ }
+}
+unsafe impl<W, L> Send for SerialLogger<W, L> {}
+unsafe impl<W, L> Sync for SerialLogger<W, L> {}
+
+impl<W, L> log::Log for SerialLogger<W, L>
+where
+ W: serial::Write<u8>,
+ L: OutputPin + Send + Sync,
+{
+ fn enabled(&self, metadata: &Metadata) -> bool {
+ metadata.level() <= log::max_level()
+ }
+
+ fn log(&self, record: &Record) {
+ if !self.enabled(record.metadata()) {
+ return;
+ }
+
+ let jrb = unsafe { &mut JRB };
+ write!(
+ jrb,
+ "[{}] {} {} -- {}\r\n",
+ rtc::millis(),
+ record.level(),
+ record.target(),
+ record.args()
+ )
+ .ok();
+ }
+
+ fn flush(&self) {
+ // Unsafe due to mutable static. We can only deal with the
+ // tail position of the buffer here to keep things safe.
+ let jrb = unsafe { &mut JRB };
+ if jrb.lbr.is_empty() {
+ return;
+ }
+
+ let led = unsafe { &mut (*self.led.get()) };
+ let writer = unsafe { &mut (*self.writer.get()) };
+
+ led.set_high().ok();
+ while let Some(b) = jrb.lbr.shift() {
+ nb::block!(writer.w.write(b)).ok();
+ }
+ led.set_low().ok();
+ }
+}
+
+// Write to the UART right now, instead of putting it on a ring
+// buffer. This function is a huge hack, and only useful for debugging
+// either before the main loop starts or if the ring buffer is broken.
+pub unsafe fn write_fmt_now(args: fmt::Arguments, nl: bool) {
+ if UART0 == 0 {
+ return;
+ }
+ let uart: &mut UART0<Sercom0Pad3<Pa7<PfD>>, Sercom0Pad2<Pa6<PfD>>, (), ()> =
+ core::mem::transmute(UART0);
+ fmt::write(uart, args).expect("writing fmt now to uart");
+ if nl {
+ uart.write_str("\r\n").expect("writing nl now to uart");
+ }
+}
diff --git a/src/macros.rs b/src/macros.rs
new file mode 100644
index 0000000..46d2d07
--- /dev/null
+++ b/src/macros.rs
@@ -0,0 +1,15 @@
+#[macro_export]
+macro_rules! logln_now {
+ ($($arg:tt)*) => {
+ unsafe {crate::logger::write_fmt_now(format_args!($($arg)*), true);}
+ };
+ (_) => {};
+}
+
+#[macro_export]
+macro_rules! log_now {
+ ($($arg:tt)*) => {
+ unsafe {crate::logger::write_fmt_now(format_args!($($arg)*), false);}
+ };
+ (_) => {};
+}
diff --git a/src/main.rs b/src/main.rs
new file mode 100755
index 0000000..071966a
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,144 @@
+#![no_std]
+#![no_main]
+
+mod dotstar;
+mod logger;
+mod macros;
+mod rtc;
+
+use clint::HandlerArray;
+use core::mem;
+use core::panic::PanicInfo;
+use cortex_m::asm::wfi;
+use cortex_m_rt::{entry, exception, ExceptionFrame};
+use embedded_hal::digital::v2::OutputPin;
+use log::{info, LevelFilter};
+use smart_leds::colors;
+use smart_leds_trait::SmartLedsWrite;
+use trinket_m0::{
+ self as hal,
+ clock::GenericClockController,
+ gpio::{OpenDrain, Output, Pa10, Pa6, Pa7, PfD},
+ sercom,
+ target_device::{interrupt, Interrupt},
+ time::*,
+ CorePeripherals, Peripherals,
+};
+
+// I²C on trinket is on SERCOM2
+
+static mut LED: usize = 0;
+
+static HANDLERS: HandlerArray = HandlerArray::new();
+
+#[entry]
+fn main() -> ! {
+ let mut cp = CorePeripherals::take().expect("taking core peripherals");
+ let mut dp = Peripherals::take().expect("taking device peripherals");
+
+ let mut clocks = GenericClockController::with_internal_32kosc(
+ dp.GCLK,
+ &mut dp.PM,
+ &mut dp.SYSCTRL,
+ &mut dp.NVMCTRL,
+ );
+
+ let mut pins = hal::Pins::new(dp.PORT);
+
+ let uart = hal::uart(
+ &mut clocks,
+ 115_200.hz(),
+ dp.SERCOM0,
+ &mut cp.NVIC,
+ &mut dp.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 = mem::transmute(&red_led) }
+
+ let mut dotstar = dotstar::new(
+ dp.SERCOM1,
+ pins.swdio,
+ pins.dotstar_di,
+ pins.dotstar_ci,
+ &mut pins.port,
+ &mut dp.PM,
+ &mut clocks,
+ );
+ let black = [colors::BLACK];
+ dotstar
+ .write(black.iter().cloned())
+ .expect("turning off dotstar");
+
+ // 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 { mem::transmute(&logger) };
+ unsafe { log::set_logger_racy(logger_ref).expect("couldn't set logger") };
+ log::set_max_level(LevelFilter::Trace);
+
+ let mut rtc_handler = rtc::setup(dp.RTC, &mut clocks);
+
+ HANDLERS.with_overrides(|hs| {
+ hs.register(0, &mut rtc_handler);
+ cp.NVIC.enable(Interrupt::RTC);
+
+ info!("Bootstrap complete.");
+
+ loop {
+ wfi()
+ }
+ });
+ unreachable!();
+}
+
+#[panic_handler]
+fn panic_handler(pi: &PanicInfo) -> ! {
+ let red_led: &mut Pa10<Output<OpenDrain>> = unsafe { 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 { 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()
+ }
+}
+
+#[interrupt]
+fn RTC() {
+ HANDLERS.call(0);
+}
+
+#[interrupt]
+fn USB() {
+ HANDLERS.call(1);
+}
diff --git a/src/rtc.rs b/src/rtc.rs
new file mode 100644
index 0000000..79e450a
--- /dev/null
+++ b/src/rtc.rs
@@ -0,0 +1,74 @@
+use core::sync::atomic::{AtomicUsize, Ordering};
+use log;
+use trinket_m0::{clock::GenericClockController, RTC};
+
+struct Clock(AtomicUsize);
+impl Clock {
+ const fn new() -> Self {
+ Self(AtomicUsize::new(0))
+ }
+
+ fn set(&self, millis: usize) {
+ self.0.store(millis, Ordering::SeqCst)
+ }
+
+ // Slightly less than 1ms, due to using a 32,768Hz clock, we can't
+ // hit exactly 1ms, so we shoot for a bit under.
+ fn millis(&self) -> usize {
+ self.0.load(Ordering::SeqCst)
+ }
+}
+
+static CLOCK: Clock = Clock::new();
+
+// Set to run every ~500µs.
+static COUNTER: u32 = 16; // 32 ticks requires 1024 cycles at 32,768Hz for 1 second.
+
+pub fn setup(mut rtc: RTC, clocks: &mut GenericClockController) -> impl FnMut() {
+ let rtc_clock = &clocks.gclk1();
+ clocks.rtc(&rtc_clock);
+
+ rtc.mode0().ctrl.write(|w| w.swrst().set_bit());
+ while rtc.mode0().status.read().syncbusy().bit_is_set() {}
+
+ rtc.mode0().ctrl.write(|w| {
+ w.mode().count32();
+
+ // Neither the prescaler nor matchlr values seem to work. Not
+ // sure why.
+ //w.prescaler().div1024();
+ w.matchclr().set_bit() // Reset on match for periodic
+ });
+
+ rtc.mode0().comp[0].write(|w| unsafe { w.bits(COUNTER) });
+ rtc.mode0().intflag.write(|w| w.cmp0().set_bit());
+ rtc.mode0().intenset.write(|w| w.cmp0().set_bit());
+
+ // Enable the RTC and wait for sync.
+ rtc.mode0().ctrl.write(|w| w.enable().set_bit());
+ while rtc.mode0().status.read().syncbusy().bit_is_set() {}
+
+ move || handler(&mut rtc)
+}
+
+pub fn millis() -> usize {
+ CLOCK.millis()
+}
+
+fn handler(rtc: &mut RTC) {
+ // FIXME: matchclr doesn't seem to work to reset the counter?
+ rtc.mode0().count.write(|w| unsafe { w.bits(0) });
+ rtc.mode0().intflag.write(|w| w.cmp0().set_bit());
+
+ static mut TICKS: usize = 0;
+ static mut ADD: bool = false;
+ unsafe {
+ if ADD {
+ TICKS += 1;
+ CLOCK.set(TICKS);
+ }
+ ADD = !ADD;
+
+ log::logger().flush();
+ }
+}