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Merge pull request tock#3695 from OxidosAutomotive/ethernet-stm32f429zi
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Ethernet support for STM32F429
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@lschuermann
lschuermann authored Oct 27, 2023
2 parents 972a5da + 64b41db commit 52c8e1e
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Showing 12 changed files with 3,226 additions and 7 deletions.
135 changes: 134 additions & 1 deletion boards/nucleo_f429zi/src/main.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,17 @@ use capsules_core::virtualizers::virtual_alarm::VirtualMuxAlarm;
use components::gpio::GpioComponent;
use kernel::capabilities;
use kernel::component::Component;
use kernel::hil::ethernet::EthernetAdapter;
use kernel::hil::led::LedHigh;
use kernel::platform::{KernelResources, SyscallDriverLookup};
use kernel::scheduler::round_robin::RoundRobinSched;
use kernel::{create_capability, debug, static_init};

use stm32f429zi::chip_specs::Stm32f429Specs;
use stm32f429zi::gpio::{AlternateFunction, Mode, PinId, PortId};
use stm32f429zi::interrupt_service::Stm32f429ziDefaultPeripherals;
use stm32f429zi::rcc::{APBPrescaler, SysClockSource};
use stm32f429zi::syscfg::EthernetInterface;

/// Support routines for debugging I/O.
pub mod io;
Expand All @@ -44,7 +48,7 @@ const FAULT_RESPONSE: kernel::process::PanicFaultPolicy = kernel::process::Panic
/// 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];
pub static mut STACK_MEMORY: [u8; 0x4000] = [0; 0x4000];

/// A structure representing this platform that holds references to all
/// capsules for this platform.
Expand All @@ -69,6 +73,10 @@ struct NucleoF429ZI {
scheduler: &'static RoundRobinSched<'static>,
systick: cortexm4::systick::SysTick,
can: &'static capsules_extra::can::CanCapsule<'static, stm32f429zi::can::Can<'static>>,
tap_ethernet: &'static capsules_extra::ethernet_app_tap::TapDriver<
'static,
stm32f429zi::ethernet::Ethernet<'static>,
>,
}

/// Mapping of integer syscalls to objects that implement syscalls.
Expand All @@ -88,6 +96,7 @@ impl SyscallDriverLookup for NucleoF429ZI {
capsules_core::gpio::DRIVER_NUM => f(Some(self.gpio)),
capsules_core::rng::DRIVER_NUM => f(Some(self.rng)),
capsules_extra::can::DRIVER_NUM => f(Some(self.can)),
capsules_extra::ethernet_app_tap::DRIVER_NUM => f(Some(self.tap_ethernet)),
_ => f(None),
}
}
Expand Down Expand Up @@ -278,6 +287,70 @@ unsafe fn setup_peripherals(
can1.enable_clock();
}

// Helper function to setup Ethernet pins
fn setup_ethernet_gpios(gpio_ports: &stm32f429zi::gpio::GpioPorts) {
// RMII_REF_CLK
gpio_ports.get_pin(PinId::PA01).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});

// RMII_RX_DV
gpio_ports.get_pin(PinId::PA07).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});

// RMII_RX_D0
gpio_ports.get_pin(PinId::PC04).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});

// RMII_RX_D1
gpio_ports.get_pin(PinId::PC05).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});

// RMII_TX_EN
gpio_ports.get_pin(PinId::PG11).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});

// RMII_TX_D0
gpio_ports.get_pin(PinId::PG13).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});

// RMII_TX_D1
gpio_ports.get_pin(PinId::PB13).map(|pin| {
pin.set_mode(Mode::AlternateFunctionMode);
pin.set_alternate_function(AlternateFunction::AF11);
});
}

fn setup_clocks_for_ethernet(clocks: &stm32f429zi::clocks::Clocks<Stm32f429Specs>) {
assert_eq!(Ok(()), clocks.pll.set_frequency(50)); // 50MHz
assert_eq!(Ok(()), clocks.pll.enable());
assert_eq!(Ok(()), clocks.set_apb1_prescaler(APBPrescaler::DivideBy2));
assert_eq!(Ok(()), clocks.set_sys_clock_source(SysClockSource::PLL));
}

// Helper function to initialize and start the ethernet peripheral
fn setup_ethernet(peripherals: &Stm32f429ziDefaultPeripherals) {
setup_ethernet_gpios(&peripherals.stm32f4.gpio_ports);
setup_clocks_for_ethernet(&peripherals.stm32f4.clocks);
let ethernet = &peripherals.ethernet;
assert_eq!(Ok(()), ethernet.init());
// TODO: Remove these calls once Transmit and Receive HILs are implemented
assert_eq!(Ok(()), ethernet.enable_transmitter());
assert_eq!(Ok(()), ethernet.enable_receiver());
assert_eq!(Ok(()), peripherals.ethernet.receive_packet());
}

/// Statically initialize the core peripherals for the chip.
///
/// This is in a separate, inline(never) function so that its stack frame is
Expand All @@ -296,17 +369,29 @@ unsafe fn create_peripherals() -> (
stm32f429zi::syscfg::Syscfg,
stm32f429zi::syscfg::Syscfg::new(rcc)
);
syscfg.enable_clock();
syscfg.configure_ethernet_interface_mode(EthernetInterface::RMII);
let exti = static_init!(
stm32f429zi::exti::Exti,
stm32f429zi::exti::Exti::new(syscfg)
);
let dma1 = static_init!(stm32f429zi::dma::Dma1, stm32f429zi::dma::Dma1::new(rcc));
let dma2 = static_init!(stm32f429zi::dma::Dma2, stm32f429zi::dma::Dma2::new(rcc));

let receive_buffer = static_init!(
[u8; capsules_extra::ethernet_app_tap::MAX_MTU],
[0; capsules_extra::ethernet_app_tap::MAX_MTU]
);

let peripherals = static_init!(
Stm32f429ziDefaultPeripherals,
Stm32f429ziDefaultPeripherals::new(rcc, exti, dma1, dma2)
);

peripherals
.ethernet
.set_received_packet_buffer(receive_buffer);

(peripherals, syscfg, dma1)
}

Expand Down Expand Up @@ -584,6 +669,48 @@ pub unsafe fn main() {
stm32f429zi::can::Can<'static>
));

// Create transmit buffer for tap Ethernet
let tap_transmit_buffer = static_init!(
[u8; capsules_extra::ethernet_app_tap::MAX_MTU],
[0; capsules_extra::ethernet_app_tap::MAX_MTU]
);

// Create receive buffers for tap Ethernet
let tap_receive_buffers = static_init!(
[(
[u8; capsules_extra::ethernet_app_tap::MAX_MTU],
u16,
Option<u64>,
bool
); 4],
[(
[0; capsules_extra::ethernet_app_tap::MAX_MTU],
0,
None,
false
); 4]
);

// Create tap ethernet
let tap_ethernet = static_init!(
capsules_extra::ethernet_app_tap::TapDriver<
'static,
stm32f429zi::ethernet::Ethernet<'static>,
>,
capsules_extra::ethernet_app_tap::TapDriver::new(
&peripherals.ethernet,
board_kernel.create_grant(
capsules_extra::ethernet_app_tap::DRIVER_NUM,
&memory_allocation_capability
),
tap_transmit_buffer,
tap_receive_buffers,
)
);

// Set client for the Ethernet firmware
peripherals.ethernet.set_client(tap_ethernet);

// PROCESS CONSOLE
let process_console = components::process_console::ProcessConsoleComponent::new(
board_kernel,
Expand Down Expand Up @@ -618,13 +745,19 @@ pub unsafe fn main() {
scheduler,
systick: cortexm4::systick::SysTick::new(),
can: can,
tap_ethernet,
};

// // Optional kernel tests
// //
// // See comment in `boards/imix/src/main.rs`
// virtual_uart_rx_test::run_virtual_uart_receive(mux_uart);

// This function changes clocks. The baud rate for the board is
// 180000 now. Also, this must be done late in the process to not impact the initialization of
// other peripherals.
setup_ethernet(&peripherals);

debug!("Initialization complete. Entering main loop");

// These symbols are defined in the linker script.
Expand Down
21 changes: 16 additions & 5 deletions capsules/extra/src/ethernet_app_tap.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,7 @@ pub const DRIVER_NUM: usize = capsules_core::driver::NUM::EthernetTAP as usize;

/// Maximum size of a packet which can be transmitted over the underlying
/// [`EthernetAdapter`] device. Currently hard-coded to `1522` bytes.
pub const MAX_MTU: usize = 1522;
pub const MAX_MTU: usize = 1524;

mod upcall {
pub const _DRIVER_RELEASED: usize = 0;
Expand Down Expand Up @@ -404,9 +404,10 @@ impl<'a, E: EthernetAdapter<'a>> TapDriver<'a, E> {
fn acknowledge_rx_packet(&self, process_id: ProcessId) -> Result<(), ErrorCode> {
self.apps
.enter(process_id, |grant, _| {
if grant.rx_packet_pending.is_none() {
return Err(ErrorCode::ALREADY);
}
// TODO: Is this really needed?
//if grant.rx_packet_pending.is_none() {
//return Err(ErrorCode::ALREADY);
//}

grant.rx_packet_pending = None;

Expand Down Expand Up @@ -684,7 +685,7 @@ impl<'a, E: EthernetAdapter<'a>> EthernetAdapterClient for TapDriver<'a, E> {
// TODO: avoid creating this on the stack
let mut pbuf: [u8; MAX_MTU] = [0; MAX_MTU];

if packet.len() < pbuf.len() && !ring_buffer.is_full() {
if packet.len() <= pbuf.len() && !ring_buffer.is_full() {
pbuf[0..(packet.len())].copy_from_slice(packet);

ring_buffer.enqueue((
Expand Down Expand Up @@ -823,6 +824,16 @@ impl<'a, E: EthernetAdapter<'a>> SyscallDriver for TapDriver<'a, E> {
}
}

10 => {
self.rx_packets.map(|ring_buffer| {
if ring_buffer.has_elements() {
CommandReturn::success()
} else {
CommandReturn::failure(ErrorCode::FAIL)
}
}).unwrap()
}

_ => CommandReturn::failure(ErrorCode::NOSUPPORT),
}
}
Expand Down
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