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2 commits
c1d2723f7d
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adc45f6aa2
Author | SHA1 | Date | |
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adc45f6aa2 | |||
1ce4ed7fe9 |
8 changed files with 260 additions and 14 deletions
3
src/bsp/aarch64/mod.rs
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3
src/bsp/aarch64/mod.rs
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@ -0,0 +1,3 @@
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//! Modules specific to the aarch64 architecture.
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pub mod time;
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88
src/bsp/aarch64/time.rs
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88
src/bsp/aarch64/time.rs
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@ -0,0 +1,88 @@
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//! The implementation of the time management trait for aarch64.
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use core::arch::asm;
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use core::time::Duration;
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use crate::traits::time::TimeManager;
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use crate::println;
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const NS_PER_S: u64 = 1_000_000_000;
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const CNTP_CTL_EL0_ENABLE_MASK: u64 = 0b001;
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const CNTP_CTL_EL0_IMASK_MASK: u64 = 0b010;
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const CNTP_CTL_EL0_ISTATUS_MASK: u64 = 0b100;
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/// AARCH64 Timer.
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struct Timer;
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/// The global timer.
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static TIME_MANAGER: Timer = Timer;
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/// Return a reference to the global time manager.
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pub fn time_manager() -> &'static impl TimeManager {
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&TIME_MANAGER
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}
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impl TimeManager for Timer {
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fn frequency(&self) -> u64 {
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let freq: u64;
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unsafe {
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asm!("mrs {0:x}, CNTFRQ_EL0", out(reg) freq, options(nomem, nostack));
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}
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freq
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}
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fn uptime(&self) -> Duration {
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let ticks: u64;
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unsafe {
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// Protect against out of order execution
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// https://developer.arm.com/documentation/dui0802/b/CIHGHHIE
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// In effect this flush the processor pipeline
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asm!("ISB", options(nostack));
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asm!("mrs {0:x}, CNTPCT_EL0", out(reg) ticks, options(nomem, nostack));
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}
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Duration::from_nanos((ticks*NS_PER_S)/self.frequency())
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}
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fn sleep(&self, duration: Duration) {
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if duration.is_zero() {
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return;
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}
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let tmp = match self.frequency().checked_mul(duration.as_nanos() as u64) {
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None => {
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println!("Cannot sleep this long, skipping");
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return;
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}
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Some(tmp) => tmp,
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};
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let ticks = tmp / NS_PER_S;
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if ticks > u32::max_value().into() {
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println!("Cannot wait more than 2^32-1 ticks on aarch64, skipping");
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return;
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}
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if ticks == 0 {
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println!("Duration is smaller than a clock tick, skipping.");
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return;
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}
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// Enable the timer and mask (disable) the interrupt
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let mut ctl: u64 = CNTP_CTL_EL0_ENABLE_MASK + CNTP_CTL_EL0_IMASK_MASK;
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unsafe {
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// set the register values for the timer
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asm!("msr CNTP_TVAL_EL0, {0:x}", in(reg) ticks, options(nomem, nostack));
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asm!("msr CNTP_CTL_EL0, {0:x}", in(reg) ctl, options(nomem, nostack));
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}
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// Loop waiting for the timer to run out
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while (ctl & CNTP_CTL_EL0_ISTATUS_MASK) == 0 {
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unsafe {
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asm!("mrs {0:x}, CNTP_CTL_EL0", out(reg) ctl, options(nomem, nostack));
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}
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}
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// Disable the counter
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ctl &= !CNTP_CTL_EL0_ENABLE_MASK;
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unsafe {
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asm!("msr CNTP_CTL_EL0, {0:x}", in(reg) ctl, options(nomem, nostack));
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}
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}
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}
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@ -6,3 +6,6 @@ pub mod rpi3;
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#[cfg(feature = "target_rpi4")]
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#[cfg(feature = "target_rpi4")]
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pub mod rpi4;
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pub mod rpi4;
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#[cfg(target_arch = "aarch64")]
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pub mod aarch64;
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121
src/log.rs
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121
src/log.rs
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@ -0,0 +1,121 @@
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//! Module implementing the `print!`/`println!` macro.
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/// Log an debug info
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#[macro_export]
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macro_rules! debug {
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($string:expr) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] DEBUG: ", $string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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));
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});
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($format_string:expr, $($arg:tt)*) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] DEBUG: ", $format_string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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$($arg)*
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));
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})
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}
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/// Log an info
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#[macro_export]
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macro_rules! info {
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($string:expr) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] INFO: ", $string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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));
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});
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($format_string:expr, $($arg:tt)*) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] INFO: ", $format_string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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$($arg)*
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));
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})
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}
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/// Log an warning
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#[macro_export]
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macro_rules! warn {
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($string:expr) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] WARN: ", $string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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));
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});
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($format_string:expr, $($arg:tt)*) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] WARN: ", $format_string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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$($arg)*
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));
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})
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}
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/// Log an error
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#[macro_export]
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macro_rules! error {
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($string:expr) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] ERR: ", $string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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));
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});
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($format_string:expr, $($arg:tt)*) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] ERR: ", $format_string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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$($arg)*
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));
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})
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}
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/// Log a fatal error
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#[macro_export]
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macro_rules! fatal {
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($string:expr) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] FATAL: ", $string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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));
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});
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($format_string:expr, $($arg:tt)*) => ({
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use $crate::traits::time::TimeManager;
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let timestamp = $crate::time_manager().uptime();
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$crate::print::_print(format_args_nl!(
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concat!("[{:>6}.{:06}] FATAL: ", $format_string),
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timestamp.as_secs(),
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timestamp.subsec_micros(),
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$($arg)*
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));
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})
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}
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35
src/main.rs
35
src/main.rs
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@ -20,17 +20,25 @@ mod utils;
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mod panic;
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mod panic;
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#[cfg(not(test))]
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#[cfg(not(test))]
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mod print;
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mod print;
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#[cfg(not(test))]
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mod log;
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#[cfg(not(test))]
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#[cfg(not(test))]
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use core::arch::global_asm;
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use core::arch::global_asm;
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#[cfg(not(test))]
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#[cfg(not(test))]
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use core::arch::asm;
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use core::arch::asm;
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use core::time::Duration;
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// TODO: handle this with features
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// TODO: handle this with features
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#[cfg(not(test))]
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#[cfg(not(test))]
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use crate::bsp::rpi3::uart::console;
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use crate::bsp::rpi3::uart::console;
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#[cfg(not(test))]
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#[cfg(not(test))]
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use crate::bsp::rpi3::gpio;
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use crate::bsp::rpi3::gpio;
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#[cfg(not(test))]
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use crate::bsp::aarch64::time::time_manager;
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use crate::traits::time::TimeManager;
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// TODO: move this to BSP
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// TODO: move this to BSP
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/// Pause the core with a infinit loop
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/// Pause the core with a infinit loop
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@ -68,6 +76,12 @@ pub unsafe fn _start_rust() -> ! {
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bsp::rpi3::uart::init();
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bsp::rpi3::uart::init();
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println!("Hello there");
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println!("Hello there");
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debug!("debug");
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info!("info");
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warn!("warn");
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error!("error");
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fatal!("fatal");
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let mut buffer = ['X'; 200];
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let mut buffer = ['X'; 200];
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let mut i = 0;
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let mut i = 0;
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let mut c = console().read_char();
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let mut c = console().read_char();
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@ -89,23 +103,22 @@ pub unsafe fn _start_rust() -> ! {
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println!("");
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println!("");
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match gpio::set_pin_fonction(21, gpio::PinFunction::Output) {
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match gpio::set_pin_fonction(21, gpio::PinFunction::Output) {
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Ok(()) => println!("Successfully set pin to output"),
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Ok(()) => info!("Successfully set pin to output"),
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Err(err) => println!("Failled to set pin: {err}"),
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Err(err) => warn!("Failled to set pin: {}", err),
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}
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}
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loop {
|
loop {
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match gpio::set_pin_output_state(21, gpio::PinOutputState::High) {
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match gpio::set_pin_output_state(21, gpio::PinOutputState::High) {
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Ok(()) => (),
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Ok(()) => info!("OUTPUT 21 UP"),
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Err(_err) => println!("Failled to set pin 21 to High"),
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Err(_err) => warn!("Failled to set pin 21 to High"),
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}
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for _ in 0..5000000 {
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asm!("nop");
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}
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}
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time_manager().sleep(Duration::from_secs(1));
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match gpio::set_pin_output_state(21, gpio::PinOutputState::Low) {
|
match gpio::set_pin_output_state(21, gpio::PinOutputState::Low) {
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Ok(()) => (),
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Ok(()) => info!("OUTPUT 21 DOWN"),
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Err(_err) => println!("Failled to set pin 21 to Low"),
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Err(_err) => warn!("Failled to set pin 21 to Low"),
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}
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}
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for _ in 0..5000000 {
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time_manager().sleep(Duration::from_secs(1));
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asm!("nop");
|
if time_manager().uptime().as_secs() >= 60 {
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panic!("Times out");
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}
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}
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}
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}
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/*
|
/*
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|
@ -2,7 +2,7 @@
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use core::panic::PanicInfo;
|
use core::panic::PanicInfo;
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|
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use crate::println;
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use crate::fatal;
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use crate::wait_forever;
|
use crate::wait_forever;
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|
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/// Avoid nested panic
|
/// Avoid nested panic
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|
@ -32,10 +32,11 @@ fn panic(info: &PanicInfo) -> ! {
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_ => ("???", 0, 0),
|
_ => ("???", 0, 0),
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};
|
};
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|
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println!(
|
fatal!(
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"Kernel panic!\n\n\
|
"Kernel panic!\n\n\
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Panic location:\n File: '{location}', line {line}, column {column}\n\n\
|
Panic location:\n File: '{}', line {}, column {}\n\n\
|
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{}",
|
{}",
|
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|
location, line, column,
|
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info.message().unwrap_or(&format_args!(""))
|
info.message().unwrap_or(&format_args!(""))
|
||||||
);
|
);
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wait_forever()
|
wait_forever()
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|
|
|
@ -10,3 +10,4 @@
|
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|
|
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pub mod console;
|
pub mod console;
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pub mod synchronization;
|
pub mod synchronization;
|
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|
pub mod time;
|
||||||
|
|
16
src/traits/time.rs
Normal file
16
src/traits/time.rs
Normal file
|
@ -0,0 +1,16 @@
|
||||||
|
//! Traits for time management primitives.
|
||||||
|
|
||||||
|
use core::time::Duration;
|
||||||
|
|
||||||
|
pub trait TimeManager {
|
||||||
|
|
||||||
|
/// Return the clock frequency, meaning the resolution of the
|
||||||
|
/// time mesurement.
|
||||||
|
fn frequency(&self) -> u64;
|
||||||
|
|
||||||
|
/// The uptime since last power-on.
|
||||||
|
fn uptime(&self) -> Duration;
|
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|
|
||||||
|
/// Sleep for the duration.
|
||||||
|
fn sleep(&self, duration: Duration);
|
||||||
|
}
|
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