add nrf52840dk-bonus

Cargo.toml

@@ -31,6 +31,7 @@ members = [
     "boards/wm1110dev",
     "boards/makepython-nrf52840",
     "boards/nordic/nrf52840dk",
+    "boards/nordic/nrf52840dk-bonus",
     "boards/nordic/nrf52840_dongle",
     "boards/nordic/nrf52dk",
     "boards/sma_q3",

boards/nordic/nrf52840dk-bonus/Cargo.toml

@@ -0,0 +1,21 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2022.
+
+[package]
+name = "nrf52840dk-bonus"
+version.workspace = true
+authors.workspace = true
+build = "../../build.rs"
+edition.workspace = true
+
+[dependencies]
+components = { path = "../../components" }
+cortexm4 = { path = "../../../arch/cortex-m4" }
+kernel = { path = "../../../kernel" }
+nrf52840 = { path = "../../../chips/nrf52840" }
+nrf52_components = { path = "../nrf52_components" }
+nrf52840dk = { path = "../nrf52840dk" }
+
+capsules-core = { path = "../../../capsules/core" }
+capsules-extra = { path = "../../../capsules/extra" }

boards/nordic/nrf52840dk-bonus/Makefile

@@ -0,0 +1,39 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2022.
+
+# Makefile for building the tock kernel for the nRF development kit
+
+TARGET=thumbv7em-none-eabi
+PLATFORM=nrf52840dk-bonus
+
+include ../../Makefile.common
+
+TOCKLOADER=tockloader
+
+# Where in the SAM4L flash to load the kernel with `tockloader`
+KERNEL_ADDRESS=0x00000
+
+# Upload programs over uart with tockloader
+ifdef PORT
+  TOCKLOADER_GENERAL_FLAGS += --port $(PORT)
+endif
+
+# Default target for installing the kernel.
+.PHONY: install
+install: flash
+
+# Upload the kernel over JTAG
+.PHONY: flash
+flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
+	$(TOCKLOADER) $(TOCKLOADER_GENERAL_FLAGS) flash --address $(KERNEL_ADDRESS) --board nrf52dk --jlink $<
+
+# Upload the kernel over JTAG using OpenOCD
+.PHONY: flash-openocd
+flash-openocd: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
+	$(TOCKLOADER) $(TOCKLOADER_GENERAL_FLAGS) flash --address $(KERNEL_ADDRESS) --board nrf52dk --openocd $<
+
+# Upload the kernel over serial/bootloader
+.PHONY: program
+program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).hex
+	$(error Cannot program nRF52840DK over USB. Use \`make flash\` and JTAG)

boards/nordic/nrf52840dk-bonus/README.md

@@ -0,0 +1,63 @@
+Platform-Specific Instructions: nRF52840-DK
+===================================
+
+The [nRF52840 Development
+Kit](https://www.nordicsemi.com/Software-and-Tools/Development-Kits/nRF52840-DK) is a platform
+based around the nRF52840, an SoC with an ARM Cortex-M4 and a BLE
+radio. The kit is Arduino shield compatible and includes several
+buttons.
+
+## Getting Started
+
+First, follow the [Tock Getting Started guide](../../../doc/Getting_Started.md)
+
+JTAG is the preferred method to program. The development kit has an
+integrated JTAG debugger, you simply need to [install JTAG
+software](../../../doc/Getting_Started.md#loading-the-kernel-onto-a-board).
+
+## Programming the kernel
+Once you have all software installed, you should be able to simply run
+make flash in this directory to install a fresh kernel.
+
+## Programming user-level applications
+You can program an application over USB using the integrated JTAG and `tockloader`:
+
+```bash
+$ cd libtock-c/examples/<app>
+$ make
+$ tockloader install --jlink --board nrf52dk
+```
+
+The same options (`--jlink --board nrf52dk`) must be passed for other tockloader commands
+such as `erase-apps` or `list`.
+
+Viewing console output on the nrf52840dk is slightly different from other boards. You must use
+```bash
+$ tockloader listen
+```
+**followed by a press of the reset button** in order to view console output starting from the boot
+sequence. Notably, you should not
+pass the `--jlink` option to `tockloader listen`.
+
+## Console output
+
+This board supports two methods for writing messages to a console interface
+(console driver for applications as well as debug statements in the kernel).
+
+By default, messages are written to a UART interface over the GPIO pins `P0.05`
+to `P0.08` (see the [main.rs](src/main.rs) file).
+
+If you don't have any UART cables or want to use a different interface, there is
+also a console over the Segger RTT protocol. This only requires a micro-USB
+cable on the USB debugging port (the same used to flash Tock on the board), and
+is enabled by setting the `USB_DEBUGGING` constant to `true` in the
+[main.rs](src/main.rs) file.
+This disables the UART interface.
+
+For instructions about how to receive RTT messages on the host, see the
+[corresponding capsule](../../../capsules/src/segger_rtt.rs).
+
+## Debugging
+
+See the [nrf52dk README](../nrf52dk/README.md) for information about debugging
+the nRF52840dk.

boards/nordic/nrf52840dk-bonus/jtag/gdbinit_pca10040.jlink

@@ -0,0 +1,28 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2018.
+#
+#
+#
+# J-LINK GDB SERVER initialization
+#
+# This connects to a GDB Server listening
+# for commands on localhost at tcp port 2331
+target remote localhost:2331
+monitor speed 30
+file ../../../../target/thumbv7em-none-eabi/release/nrf52dk
+monitor reset
+#
+# CPU core initialization (to be done by user)
+#
+# Set the processor mode
+# monitor reg cpsr = 0xd3
+# Set auto JTAG speed
+monitor speed auto
+# Setup GDB FOR FASTER DOWNLOADS
+set remote memory-write-packet-size 1024
+set remote memory-write-packet-size fixed
+# tui enable
+# layout split
+# layout service_pending_interrupts
+b initialize_ram_jump_to_main

boards/nordic/nrf52840dk-bonus/jtag/jdbserver_pca10040.sh

@@ -0,0 +1,5 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2023.
+
+JLinkGDBServer -device nrf52 -speed 1200 -if swd -AutoConnect 1 -port 2331

boards/nordic/nrf52840dk-bonus/layout.ld

@@ -0,0 +1,6 @@
+/* Licensed under the Apache License, Version 2.0 or the MIT License. */
+/* SPDX-License-Identifier: Apache-2.0 OR MIT                         */
+/* Copyright Tock Contributors 2023.                                  */
+
+INCLUDE ../nrf52840_chip_layout.ld
+INCLUDE ../../kernel_layout.ld

boards/nordic/nrf52840dk-bonus/src/io.rs

@@ -0,0 +1,114 @@
+// Licensed under the Apache License, Version 2.0 or the MIT License.
+// SPDX-License-Identifier: Apache-2.0 OR MIT
+// Copyright Tock Contributors 2022.
+
+use core::fmt::Write;
+use core::panic::PanicInfo;
+use kernel::debug;
+use kernel::debug::IoWrite;
+use kernel::hil::led;
+use kernel::hil::uart;
+use kernel::hil::uart::Configure;
+use nrf52840::gpio::Pin;
+use nrf52840::uart::{Uarte, UARTE0_BASE};
+
+use crate::CHIP;
+use crate::PROCESSES;
+use crate::PROCESS_PRINTER;
+
+enum Writer {
+    WriterUart(/* initialized */ bool),
+    WriterRtt(&'static capsules_extra::segger_rtt::SeggerRttMemory<'static>),
+}
+
+static mut WRITER: Writer = Writer::WriterUart(false);
+
+// Wait a fixed number of cycles to avoid missing characters over the RTT console
+fn wait() {
+    for _ in 0..1000 {
+        cortexm4::support::nop();
+    }
+}
+
+/// Set the RTT memory buffer used to output panic messages.
+pub unsafe fn set_rtt_memory(
+    rtt_memory: &'static capsules_extra::segger_rtt::SeggerRttMemory<'static>,
+) {
+    WRITER = Writer::WriterRtt(rtt_memory);
+}
+
+impl Write for Writer {
+    fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
+        self.write(s.as_bytes());
+        Ok(())
+    }
+}
+
+impl IoWrite for Writer {
+    fn write(&mut self, buf: &[u8]) -> usize {
+        match self {
+            Writer::WriterUart(ref mut initialized) => {
+                // Here, we create a second instance of the Uarte struct.
+                // This is okay because we only call this during a panic, and
+                // we will never actually process the interrupts
+                let uart = Uarte::new(UARTE0_BASE);
+                if !*initialized {
+                    *initialized = true;
+                    let _ = uart.configure(uart::Parameters {
+                        baud_rate: 115200,
+                        stop_bits: uart::StopBits::One,
+                        parity: uart::Parity::None,
+                        hw_flow_control: false,
+                        width: uart::Width::Eight,
+                    });
+                }
+                for &c in buf {
+                    unsafe {
+                        uart.send_byte(c);
+                    }
+                    while !uart.tx_ready() {}
+                }
+            }
+            Writer::WriterRtt(rtt_memory) => {
+                let up_buffer = unsafe { &*rtt_memory.get_up_buffer_ptr() };
+                let buffer_len = up_buffer.length.get();
+                let buffer = unsafe {
+                    core::slice::from_raw_parts_mut(
+                        up_buffer.buffer.get() as *mut u8,
+                        buffer_len as usize,
+                    )
+                };
+
+                let mut write_position = up_buffer.write_position.get();
+
+                for &c in buf {
+                    buffer[write_position as usize] = c;
+                    write_position = (write_position + 1) % buffer_len;
+                    up_buffer.write_position.set(write_position);
+                    wait();
+                }
+            }
+        };
+        buf.len()
+    }
+}
+
+#[cfg(not(test))]
+#[no_mangle]
+#[panic_handler]
+/// Panic handler
+pub unsafe fn panic_fmt(pi: &PanicInfo) -> ! {
+    // The nRF52840DK LEDs (see back of board)
+    let led_kernel_pin = &nrf52840::gpio::GPIOPin::new(Pin::P0_13);
+    let led = &mut led::LedLow::new(led_kernel_pin);
+    let writer = &mut WRITER;
+    debug::panic(
+        &mut [led],
+        writer,
+        pi,
+        &cortexm4::support::nop,
+        &PROCESSES,
+        &CHIP,
+        &PROCESS_PRINTER,
+    )
+}