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Merge pull request tock#4018 from tock/nrf52840dk-optional-154
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boards: nrf52840dk: Make 15.4 stack optional; add raw 15.4 stack to tutorial board
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@alevy
alevy authored Jun 6, 2024
2 parents 8c9586b + 84e5c25 commit 51d7dae
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Showing 3 changed files with 219 additions and 94 deletions.
191 changes: 104 additions & 87 deletions boards/nordic/nrf52840dk/src/lib.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@

use core::ptr::addr_of;

use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
use capsules_core::virtualizers::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
use capsules_extra::net::ieee802154::MacAddress;
use capsules_extra::net::ipv6::ip_utils::IPAddr;
use kernel::component::Component;
Expand All @@ -84,7 +84,6 @@ use kernel::platform::{KernelResources, SyscallDriverLookup};
use kernel::scheduler::round_robin::RoundRobinSched;
#[allow(unused_imports)]
use kernel::{capabilities, create_capability, debug, debug_gpio, debug_verbose, static_init};
use nrf52840::chip::Nrf52DefaultPeripherals;
use nrf52840::gpio::Pin;
use nrf52840::interrupt_service::Nrf52840DefaultPeripherals;
use nrf52_components::{UartChannel, UartPins};
Expand Down Expand Up @@ -189,13 +188,15 @@ type Ieee802154MacDevice = components::ieee802154::Ieee802154ComponentMacDeviceT
nrf52840::ieee802154_radio::Radio<'static>,
nrf52840::aes::AesECB<'static>,
>;
type Ieee802154Driver = components::ieee802154::Ieee802154ComponentType<
/// Userspace 802.15.4 driver with in-kernel packet framing and MAC layer.
pub type Ieee802154Driver = components::ieee802154::Ieee802154ComponentType<
nrf52840::ieee802154_radio::Radio<'static>,
nrf52840::aes::AesECB<'static>,
>;

// EUI64
type Eui64Driver = components::eui64::Eui64ComponentType;
/// Userspace EUI64 driver.
pub type Eui64Driver = components::eui64::Eui64ComponentType;

/// Supported drivers by the platform
pub struct Platform {
Expand All @@ -204,8 +205,6 @@ pub struct Platform {
nrf52840::ble_radio::Radio<'static>,
VirtualMuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
>,
ieee802154_radio: &'static Ieee802154Driver,
eui64: &'static Eui64Driver,
button: &'static capsules_core::button::Button<'static, nrf52840::gpio::GPIOPin<'static>>,
pconsole: &'static capsules_core::process_console::ProcessConsole<
'static,
Expand All @@ -230,7 +229,6 @@ pub struct Platform {
nrf52840::acomp::Comparator<'static>,
>,
alarm: &'static AlarmDriver,
udp_driver: &'static capsules_extra::net::udp::UDPDriver<'static>,
i2c_master_slave: &'static capsules_core::i2c_master_slave_driver::I2CMasterSlaveDriver<
'static,
nrf52840::i2c::TWI<'static>,
Expand Down Expand Up @@ -261,11 +259,8 @@ impl SyscallDriverLookup for Platform {
capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
capsules_core::adc::DRIVER_NUM => f(Some(self.adc)),
capsules_extra::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
capsules_extra::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_radio)),
capsules_extra::eui64::DRIVER_NUM => f(Some(self.eui64)),
capsules_extra::temperature::DRIVER_NUM => f(Some(self.temp)),
capsules_extra::analog_comparator::DRIVER_NUM => f(Some(self.analog_comparator)),
capsules_extra::net::udp::DRIVER_NUM => f(Some(self.udp_driver)),
kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
capsules_core::i2c_master_slave_driver::DRIVER_NUM => f(Some(self.i2c_master_slave)),
capsules_core::spi_controller::DRIVER_NUM => f(Some(self.spi_controller)),
Expand Down Expand Up @@ -307,6 +302,96 @@ impl KernelResources<Chip> for Platform {
}
}

/// Create the capsules needed for the in-kernel UDP and 15.4 stack.
pub unsafe fn ieee802154_udp(
board_kernel: &'static kernel::Kernel,
nrf52840_peripherals: &'static Nrf52840DefaultPeripherals<'static>,
mux_alarm: &'static MuxAlarm<nrf52840::rtc::Rtc>,
) -> (
&'static Eui64Driver,
&'static Ieee802154Driver,
&'static capsules_extra::net::udp::UDPDriver<'static>,
) {
//--------------------------------------------------------------------------
// AES
//--------------------------------------------------------------------------

let aes_mux =
components::ieee802154::MuxAes128ccmComponent::new(&nrf52840_peripherals.nrf52.ecb)
.finalize(components::mux_aes128ccm_component_static!(
nrf52840::aes::AesECB
));

//--------------------------------------------------------------------------
// 802.15.4
//--------------------------------------------------------------------------

let device_id = nrf52840::ficr::FICR_INSTANCE.id();
let device_id_bottom_16: u16 = u16::from_le_bytes([device_id[0], device_id[1]]);

let eui64_driver = components::eui64::Eui64Component::new(u64::from_le_bytes(device_id))
.finalize(components::eui64_component_static!());

let (ieee802154_driver, mux_mac) = components::ieee802154::Ieee802154Component::new(
board_kernel,
capsules_extra::ieee802154::DRIVER_NUM,
&nrf52840_peripherals.ieee802154_radio,
aes_mux,
PAN_ID,
device_id_bottom_16,
device_id,
)
.finalize(components::ieee802154_component_static!(
nrf52840::ieee802154_radio::Radio,
nrf52840::aes::AesECB<'static>
));

//--------------------------------------------------------------------------
// UDP
//--------------------------------------------------------------------------

let local_ip_ifaces = static_init!(
[IPAddr; 3],
[
IPAddr::generate_from_mac(capsules_extra::net::ieee802154::MacAddress::Long(device_id)),
IPAddr([
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d,
0x1e, 0x1f,
]),
IPAddr::generate_from_mac(capsules_extra::net::ieee802154::MacAddress::Short(
device_id_bottom_16
)),
]
);

let (udp_send_mux, udp_recv_mux, udp_port_table) = components::udp_mux::UDPMuxComponent::new(
mux_mac,
DEFAULT_CTX_PREFIX_LEN,
DEFAULT_CTX_PREFIX,
DST_MAC_ADDR,
MacAddress::Long(device_id),
local_ip_ifaces,
mux_alarm,
)
.finalize(components::udp_mux_component_static!(
nrf52840::rtc::Rtc,
Ieee802154MacDevice
));

// UDP driver initialization happens here
let udp_driver = components::udp_driver::UDPDriverComponent::new(
board_kernel,
capsules_extra::net::udp::driver::DRIVER_NUM,
udp_send_mux,
udp_recv_mux,
udp_port_table,
local_ip_ifaces,
)
.finalize(components::udp_driver_component_static!(nrf52840::rtc::Rtc));

(eui64_driver, ieee802154_driver, udp_driver)
}

/// This is in a separate, inline(never) function so that its stack frame is
/// removed when this function returns. Otherwise, the stack space used for
/// these static_inits is wasted.
Expand All @@ -315,7 +400,8 @@ pub unsafe fn start() -> (
&'static kernel::Kernel,
Platform,
&'static Chip,
&'static Nrf52DefaultPeripherals<'static>,
&'static Nrf52840DefaultPeripherals<'static>,
&'static MuxAlarm<'static, nrf52840::rtc::Rtc<'static>>,
) {
//--------------------------------------------------------------------------
// INITIAL SETUP
Expand Down Expand Up @@ -536,15 +622,6 @@ pub unsafe fn start() -> (
components::debug_writer::DebugWriterComponent::new(uart_mux)
.finalize(components::debug_writer_component_static!());

//--------------------------------------------------------------------------
// AES
//--------------------------------------------------------------------------

let aes_mux = components::ieee802154::MuxAes128ccmComponent::new(&base_peripherals.ecb)
.finalize(components::mux_aes128ccm_component_static!(
nrf52840::aes::AesECB
));

//--------------------------------------------------------------------------
// BLE
//--------------------------------------------------------------------------
Expand All @@ -560,69 +637,6 @@ pub unsafe fn start() -> (
nrf52840::ble_radio::Radio
));

//--------------------------------------------------------------------------
// IEEE 802.15.4 and UDP
//--------------------------------------------------------------------------

let device_id = nrf52840::ficr::FICR_INSTANCE.id();
let device_id_bottom_16: u16 = u16::from_le_bytes([device_id[0], device_id[1]]);

let eui64 = components::eui64::Eui64Component::new(u64::from_le_bytes(device_id))
.finalize(components::eui64_component_static!());

let (ieee802154_radio, mux_mac) = components::ieee802154::Ieee802154Component::new(
board_kernel,
capsules_extra::ieee802154::DRIVER_NUM,
&nrf52840_peripherals.ieee802154_radio,
aes_mux,
PAN_ID,
device_id_bottom_16,
device_id,
)
.finalize(components::ieee802154_component_static!(
nrf52840::ieee802154_radio::Radio,
nrf52840::aes::AesECB<'static>
));

let local_ip_ifaces = static_init!(
[IPAddr; 3],
[
IPAddr::generate_from_mac(capsules_extra::net::ieee802154::MacAddress::Long(device_id)),
IPAddr([
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d,
0x1e, 0x1f,
]),
IPAddr::generate_from_mac(capsules_extra::net::ieee802154::MacAddress::Short(
device_id_bottom_16
)),
]
);

let (udp_send_mux, udp_recv_mux, udp_port_table) = components::udp_mux::UDPMuxComponent::new(
mux_mac,
DEFAULT_CTX_PREFIX_LEN,
DEFAULT_CTX_PREFIX,
DST_MAC_ADDR,
MacAddress::Long(device_id),
local_ip_ifaces,
mux_alarm,
)
.finalize(components::udp_mux_component_static!(
nrf52840::rtc::Rtc,
Ieee802154MacDevice
));

// UDP driver initialization happens here
let udp_driver = components::udp_driver::UDPDriverComponent::new(
board_kernel,
capsules_extra::net::udp::driver::DRIVER_NUM,
udp_send_mux,
udp_recv_mux,
udp_port_table,
local_ip_ifaces,
)
.finalize(components::udp_driver_component_static!(nrf52840::rtc::Rtc));

//--------------------------------------------------------------------------
// TEMPERATURE (internal)
//--------------------------------------------------------------------------
Expand Down Expand Up @@ -875,8 +889,6 @@ pub unsafe fn start() -> (
let platform = Platform {
button,
ble_radio,
ieee802154_radio,
eui64,
pconsole,
console,
led,
Expand All @@ -886,7 +898,6 @@ pub unsafe fn start() -> (
temp,
alarm,
analog_comparator,
udp_driver,
ipc: kernel::ipc::IPC::new(
board_kernel,
kernel::ipc::DRIVER_NUM,
Expand All @@ -905,5 +916,11 @@ pub unsafe fn start() -> (
debug!("Initialization complete. Entering main loop\r");
debug!("{}", &*addr_of!(nrf52840::ficr::FICR_INSTANCE));

(board_kernel, platform, chip, base_peripherals)
(
board_kernel,
platform,
chip,
nrf52840_peripherals,
mux_alarm,
)
}
81 changes: 79 additions & 2 deletions boards/nordic/nrf52840dk/src/main.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
use core::ptr::addr_of_mut;

use kernel::debug;
use kernel::platform::{KernelResources, SyscallDriverLookup};
use kernel::{capabilities, create_capability};
use nrf52840dk_lib::{self, PROCESSES};

Expand All @@ -21,10 +22,81 @@ use nrf52840dk_lib::{self, PROCESSES};
const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
capsules_system::process_policies::PanicFaultPolicy {};

struct Platform {
base: nrf52840dk_lib::Platform,
eui64_driver: &'static nrf52840dk_lib::Eui64Driver,
ieee802154_driver: &'static nrf52840dk_lib::Ieee802154Driver,
udp_driver: &'static capsules_extra::net::udp::UDPDriver<'static>,
}

impl SyscallDriverLookup for Platform {
fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
where
F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
{
match driver_num {
capsules_extra::eui64::DRIVER_NUM => f(Some(self.eui64_driver)),
capsules_extra::net::udp::DRIVER_NUM => f(Some(self.udp_driver)),
capsules_extra::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_driver)),
_ => self.base.with_driver(driver_num, f),
}
}
}

type Chip = nrf52840dk_lib::Chip;

impl KernelResources<Chip> for Platform {
type SyscallDriverLookup = Self;
type SyscallFilter = <nrf52840dk_lib::Platform as KernelResources<Chip>>::SyscallFilter;
type ProcessFault = <nrf52840dk_lib::Platform as KernelResources<Chip>>::ProcessFault;
type Scheduler = <nrf52840dk_lib::Platform as KernelResources<Chip>>::Scheduler;
type SchedulerTimer = <nrf52840dk_lib::Platform as KernelResources<Chip>>::SchedulerTimer;
type WatchDog = <nrf52840dk_lib::Platform as KernelResources<Chip>>::WatchDog;
type ContextSwitchCallback =
<nrf52840dk_lib::Platform as KernelResources<Chip>>::ContextSwitchCallback;

fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
self
}
fn syscall_filter(&self) -> &Self::SyscallFilter {
self.base.syscall_filter()
}
fn process_fault(&self) -> &Self::ProcessFault {
self.base.process_fault()
}
fn scheduler(&self) -> &Self::Scheduler {
self.base.scheduler()
}
fn scheduler_timer(&self) -> &Self::SchedulerTimer {
self.base.scheduler_timer()
}
fn watchdog(&self) -> &Self::WatchDog {
self.base.watchdog()
}
fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
self.base.context_switch_callback()
}
}

/// Main function called after RAM initialized.
#[no_mangle]
pub unsafe fn main() {
let (board_kernel, platform, chip, _default_peripherals) = nrf52840dk_lib::start();
let (board_kernel, base_platform, chip, default_peripherals, mux_alarm) =
nrf52840dk_lib::start();

//--------------------------------------------------------------------------
// IEEE 802.15.4 and UDP
//--------------------------------------------------------------------------

let (eui64_driver, ieee802154_driver, udp_driver) =
nrf52840dk_lib::ieee802154_udp(board_kernel, default_peripherals, mux_alarm);

let platform = Platform {
base: base_platform,
eui64_driver,
ieee802154_driver,
udp_driver,
};

// These symbols are defined in the linker script.
extern "C" {
Expand Down Expand Up @@ -61,5 +133,10 @@ pub unsafe fn main() {
});

let main_loop_capability = create_capability!(capabilities::MainLoopCapability);
board_kernel.kernel_loop(&platform, chip, Some(&platform.ipc), &main_loop_capability);
board_kernel.kernel_loop(
&platform,
chip,
Some(&platform.base.ipc),
&main_loop_capability,
);
}
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