Merge pull request #13 from tock/imix

add imix bootloader

.travis.yml

@@ -17,4 +17,5 @@ script:
   - tools/run_cargo_fmt.sh diff
   - make -C boards/hail-bootloader
   - make -C boards/nrf52-bootloader
+  - make -C boards/imix-bootloader
 

boards/imix-bootloader/Cargo.toml

@@ -0,0 +1,25 @@
+[package]
+name = "imixbootloader"
+version = "0.1.0"
+authors = ["Tock Project Developers <[email protected]>"]
+build = "build.rs"
+
+[profile.dev]
+panic = "abort"
+lto = true
+opt-level = 0
+debug = true
+
+[profile.release]
+panic = "abort"
+lto = true
+
+[dependencies]
+cortexm4 = { git = "https://github.com/tock/tock" }
+capsules = { git = "https://github.com/tock/tock" }
+kernel = { git = "https://github.com/tock/tock" }
+sam4l = { git = "https://github.com/tock/tock" }
+bootloader = { path = "../../bootloader" }
+
+[build-dependencies]
+bootloader_attributes = { path = "../../tools/bootloader_attributes" }

boards/imix-bootloader/Makefile

@@ -0,0 +1,14 @@
+# Makefile for building the bootloader for Imix
+
+TARGET=thumbv7em-none-eabi
+PLATFORM=imixbootloader
+
+include ../Common.mk
+
+TOCKLOADER = tockloader
+TOCKLOADER_JTAG_FLAGS = --jtag --board imix --arch cortex-m4 --jtag-device ATSAM4LC8C
+
+# upload kernel over JTAG
+.PHONY: flash
+flash: target/$(TARGET)/release/$(PLATFORM).bin
+	$(TOCKLOADER) flash --address 0x0 $(TOCKLOADER_JTAG_FLAGS) $<

boards/imix-bootloader/README.md

@@ -0,0 +1,4 @@
+The Imix Bootloader
+===================
+
+Bootloader for Imix written on top of Tock.

boards/imix-bootloader/build.rs

@@ -0,0 +1,14 @@
+extern crate bootloader_attributes;
+
+fn main() {
+    println!("cargo:rerun-if-changed=layout.ld");
+    println!("cargo:rerun-if-changed=chip_layout.ld");
+    println!("cargo:rerun-if-changed=../kernel_layout.ld");
+
+    let mut f = bootloader_attributes::get_file();
+    bootloader_attributes::write_flags(&mut f, 512, "1.0.1");
+    bootloader_attributes::write_attribute(&mut f, "board", "imix");
+    bootloader_attributes::write_attribute(&mut f, "arch", "cortex-m4");
+    bootloader_attributes::write_attribute(&mut f, "jldevice", "ATSAM4LC8C");
+    bootloader_attributes::write_attribute(&mut f, "appaddr", "0x40000");
+}

boards/imix-bootloader/layout.ld

@@ -0,0 +1,8 @@
+/* Memory Spaces Definitions, 448K flash, 64K ram */
+MEMORY
+{
+  rom (rx)  : ORIGIN = 0x00000000, LENGTH = 0x00010000
+  ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00020000
+}
+
+INCLUDE ../kernel_layout.ld

boards/imix-bootloader/src/main.rs

@@ -0,0 +1,182 @@
+//! Board file for Imix bootloader.
+
+#![no_std]
+#![no_main]
+#![feature(asm, const_fn, lang_items, panic_implementation)]
+
+extern crate bootloader;
+extern crate cortexm4;
+#[macro_use(create_capability, static_init)]
+extern crate kernel;
+extern crate capsules;
+extern crate sam4l;
+
+use core::panic::PanicInfo;
+
+use kernel::capabilities;
+use kernel::hil;
+use kernel::hil::Controller;
+use kernel::Platform;
+
+include!(concat!(env!("OUT_DIR"), "/attributes.rs"));
+
+// No processes are supported.
+static mut PROCESSES: [Option<&'static kernel::procs::ProcessType>; 0] = [];
+
+/// Dummy buffer that causes the linker to reserve enough space for the stack.
+#[no_mangle]
+#[link_section = ".stack_buffer"]
+pub static mut STACK_MEMORY: [u8; 0x2000] = [0; 0x2000];
+
+struct ImixBootloader {
+    bootloader: &'static bootloader::bootloader::Bootloader<
+        'static,
+        sam4l::usart::USART,
+        sam4l::flashcalw::FLASHCALW,
+        sam4l::gpio::GPIOPin,
+    >,
+}
+
+impl Platform for ImixBootloader {
+    fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
+    where
+        F: FnOnce(Option<&kernel::Driver>) -> R,
+    {
+        // Bootloader does not support apps.
+        match driver_num {
+            _ => f(None),
+        }
+    }
+}
+
+unsafe fn set_pin_primary_functions() {
+    use sam4l::gpio::PeripheralFunction::{A, B, C, E};
+    use sam4l::gpio::{PA, PB, PC};
+
+    // Right column: Imix pin name
+    // Left  column: SAM4L peripheral function
+    PA[04].configure(Some(A)); // AD0         --  ADCIFE AD0
+    PA[05].configure(Some(A)); // AD1         --  ADCIFE AD1
+    PA[06].configure(Some(C)); // EXTINT1     --  EIC EXTINT1
+    PA[07].configure(Some(A)); // AD1         --  ADCIFE AD2
+    PA[08].configure(None); //... RF233 IRQ   --  GPIO pin
+    PA[09].configure(None); //... RF233 RST   --  GPIO pin
+    PA[10].configure(None); //... RF233 SLP   --  GPIO pin
+    PA[13].configure(None); //... TRNG EN     --  GPIO pin
+    PA[14].configure(None); //... TRNG_OUT    --  GPIO pin
+    PA[17].configure(None); //... NRF INT     -- GPIO pin
+    PA[18].configure(Some(A)); // NRF CLK     -- USART2_CLK
+    PA[20].configure(None); //... D8          -- GPIO pin
+    PA[21].configure(Some(E)); // TWI2 SDA    -- TWIM2_SDA
+    PA[22].configure(Some(E)); // TWI2 SCL    --  TWIM2 TWCK
+    PA[25].configure(Some(A)); // USB_N       --  USB DM
+    PA[26].configure(Some(A)); // USB_P       --  USB DP
+    PB[00].configure(Some(A)); // TWI1_SDA    --  TWIMS1 TWD
+    PB[01].configure(Some(A)); // TWI1_SCL    --  TWIMS1 TWCK
+    PB[02].configure(Some(A)); // AD3         --  ADCIFE AD3
+    PB[03].configure(Some(A)); // AD4         --  ADCIFE AD4
+    PB[04].configure(Some(A)); // AD5         --  ADCIFE AD5
+    PB[05].configure(Some(A)); // VHIGHSAMPLE --  ADCIFE AD6
+    PB[06].configure(None); //... RTS3        --  USART3 RTS !! FTDI DTR BOOTLOADER SELECT
+    PB[07].configure(None); //... NRF RESET   --  GPIO
+    PB[09].configure(Some(A)); // RX3         --  USART3 RX
+    PB[10].configure(Some(A)); // TX3         --  USART3 TX
+    PB[11].configure(Some(A)); // CTS0        --  USART0 CTS
+    PB[12].configure(Some(A)); // RTS0        --  USART0 RTS
+    PB[13].configure(Some(A)); // CLK0        --  USART0 CLK
+    PB[14].configure(Some(A)); // RX0         --  USART0 RX
+    PB[15].configure(Some(A)); // TX0         --  USART0 TX
+    PC[00].configure(Some(A)); // CS2         --  SPI NPCS2
+    PC[01].configure(Some(A)); // CS3 (RF233) --  SPI NPCS3
+    PC[02].configure(Some(A)); // CS1         --  SPI NPCS1
+    PC[03].configure(Some(A)); // CS0         --  SPI NPCS0
+    PC[04].configure(Some(A)); // MISO        --  SPI MISO
+    PC[05].configure(Some(A)); // MOSI        --  SPI MOSI
+    PC[06].configure(Some(A)); // SCK         --  SPI CLK
+    PC[07].configure(Some(B)); // RTS2 (BLE)  -- USART2_RTS
+    PC[08].configure(Some(E)); // CTS2 (BLE)  -- USART2_CTS
+                               //PC[09].configure(None); //... NRF GPIO    -- GPIO
+                               //PC[10].configure(None); //... USER LED    -- GPIO
+    PC[09].configure(Some(E)); // ACAN1       -- ACIFC comparator
+    PC[10].configure(Some(E)); // ACAP1       -- ACIFC comparator
+    PC[11].configure(Some(B)); // RX2 (BLE)   -- USART2_RX
+    PC[12].configure(Some(B)); // TX2 (BLE)   -- USART2_TX
+                               //PC[13].configure(None); //... ACC_INT1    -- GPIO
+                               //PC[14].configure(None); //... ACC_INT2    -- GPIO
+    PC[13].configure(Some(E)); //... ACBN1    -- ACIFC comparator
+    PC[14].configure(Some(E)); //... ACBP1    -- ACIFC comparator
+    PC[16].configure(None); //... SENSE_PWR   --  GPIO pin
+    PC[17].configure(None); //... NRF_PWR     --  GPIO pin
+    PC[18].configure(None); //... RF233_PWR   --  GPIO pin
+    PC[19].configure(None); //... TRNG_PWR    -- GPIO Pin
+    PC[22].configure(None); //... KERNEL LED  -- GPIO Pin
+    PC[24].configure(None); //... USER_BTN    -- GPIO Pin
+    PC[25].configure(Some(B)); // LI_INT      --  EIC EXTINT2
+    PC[26].configure(None); //... D7          -- GPIO Pin
+    PC[27].configure(None); //... D6          -- GPIO Pin
+    PC[28].configure(None); //... D5          -- GPIO Pin
+    PC[29].configure(None); //... D4          -- GPIO Pin
+    PC[30].configure(None); //... D3          -- GPIO Pin
+    PC[31].configure(None); //... D2          -- GPIO Pin
+}
+
+#[no_mangle]
+pub unsafe fn reset_handler() {
+    sam4l::init();
+
+    sam4l::pm::PM.setup_system_clock(sam4l::pm::SystemClockSource::PllExternalOscillatorAt48MHz {
+        frequency: sam4l::pm::OscillatorFrequency::Frequency16MHz,
+        startup_mode: sam4l::pm::OscillatorStartup::FastStart,
+    });
+
+    // Source 32Khz and 1Khz clocks from RC23K (SAM4L Datasheet 11.6.8)
+    sam4l::bpm::set_ck32source(sam4l::bpm::CK32Source::RC32K);
+
+    set_pin_primary_functions();
+
+    // Create main kernel object. This contains the main loop function.
+    let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
+
+    // Initialize USART3 for Uart
+    sam4l::usart::USART3.set_mode(sam4l::usart::UsartMode::Uart);
+
+    pub static mut PAGEBUFFER: sam4l::flashcalw::Sam4lPage = sam4l::flashcalw::Sam4lPage::new();
+
+    sam4l::flashcalw::FLASH_CONTROLLER.configure();
+    let bootloader = static_init!(
+        bootloader::bootloader::Bootloader<
+            'static,
+            sam4l::usart::USART,
+            sam4l::flashcalw::FLASHCALW,
+            sam4l::gpio::GPIOPin,
+        >,
+        bootloader::bootloader::Bootloader::new(
+            &sam4l::usart::USART3,
+            &mut sam4l::flashcalw::FLASH_CONTROLLER,
+            &sam4l::gpio::PB[06],
+            &mut PAGEBUFFER,
+            &mut bootloader::bootloader::BUF
+        )
+    );
+    hil::uart::UART::set_client(&sam4l::usart::USART3, bootloader);
+    hil::flash::HasClient::set_client(&sam4l::flashcalw::FLASH_CONTROLLER, bootloader);
+
+    let imix = ImixBootloader {
+        bootloader: bootloader,
+    };
+
+    let chip = static_init!(sam4l::chip::Sam4l, sam4l::chip::Sam4l::new());
+
+    imix.bootloader.initialize();
+
+    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
+    board_kernel.kernel_loop(&imix, chip, None, &main_loop_capability);
+}
+
+/// Panic handler.
+#[cfg(not(test))]
+#[no_mangle]
+#[panic_implementation]
+pub unsafe extern "C" fn panic_fmt(_pi: &PanicInfo) -> ! {
+    loop {}
+}