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-rw-r--r--.cargo/rp-pico-2040.toml2
-rw-r--r--Cargo.lock3
-rw-r--r--Cargo.toml3
-rw-r--r--crates/rp-pico-2040/Cargo.toml4
-rw-r--r--crates/rp-pico-2040/src/lib.rs112
-rw-r--r--crates/rp-pico-2040/src/main.rs7
-rw-r--r--crates/stdio-imxrt-usbd/Cargo.toml4
7 files changed, 121 insertions, 14 deletions
diff --git a/.cargo/rp-pico-2040.toml b/.cargo/rp-pico-2040.toml
index 7bb6886..dfff0e8 100644
--- a/.cargo/rp-pico-2040.toml
+++ b/.cargo/rp-pico-2040.toml
@@ -2,7 +2,7 @@
target = "thumbv6m-threadx-eabi"
[target.thumbv6m-threadx-eabi]
-runner = "elf2uf2-rs -d"
+runner = "elf2uf2-rs -s -d"
rustflags = [
"-Clink-arg=-Tweak-symbols.x",
"-Clink-arg=-Tlink.x",
diff --git a/Cargo.lock b/Cargo.lock
index 317c5b3..3df1b7b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -775,8 +775,9 @@ dependencies = [
"embedded-hal 1.0.0",
"rp-pico",
"rust-threadx-cortex-m",
- "rust-threadx-stdio-semihosting",
"rust-threadx-sync-single-core",
+ "usb-device",
+ "usbd-serial",
]
[[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 4681439..2d81c96 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -25,6 +25,9 @@ imxrt1170 = { git = "https://git.mciantyre.dev/imxrt-drivers" }
ral-registers = { version = "0.2" }
+usb-device = "0.3"
+usbd-serial = "0.2"
+
[patch.crates-io]
cortex-m = { git = "https://github.com/rust-embedded/cortex-m", rev = "8c62cc47314445346851b0d0664f9cc34c50b24d" }
imxrt-ral = {
diff --git a/crates/rp-pico-2040/Cargo.toml b/crates/rp-pico-2040/Cargo.toml
index 6603bf4..6921f2b 100644
--- a/crates/rp-pico-2040/Cargo.toml
+++ b/crates/rp-pico-2040/Cargo.toml
@@ -8,6 +8,8 @@ embedded-hal = "1.0"
rp-pico = "0.9.0"
rust-threadx-cortex-m.workspace = true
-rust-threadx-stdio-semihosting.workspace = true
rust-threadx-sync-single-core.workspace = true
cortex-m.workspace = true
+
+usb-device.workspace = true
+usbd-serial.workspace = true
diff --git a/crates/rp-pico-2040/src/lib.rs b/crates/rp-pico-2040/src/lib.rs
index 8f877aa..0fb049a 100644
--- a/crates/rp-pico-2040/src/lib.rs
+++ b/crates/rp-pico-2040/src/lib.rs
@@ -11,12 +11,16 @@ extern crate fusible;
use core::pin::Pin;
use rust_threadx_cortex_m as _;
-use rust_threadx_stdio_semihosting as _;
use rust_threadx_sync_single_core as _;
use embedded_hal::digital::OutputPin;
use rp_pico::hal;
use rp_pico::hal::pac;
+use usb_device::{class_prelude::*, prelude::*};
+use usbd_serial::SerialPort;
+
+extern crate alloc;
+use alloc::vec::Vec;
#[doc(hidden)]
#[unsafe(no_mangle)]
@@ -45,9 +49,19 @@ pub unsafe extern "C" fn _tx_initialize_low_level() {
}
}
+use fusible::queue::{Queue, QueueContext, StaticQueueSlots};
+use fusible::semaphore::{Semaphore, SemaphoreContext};
use fusible::thread::{StaticStack, Thread, ThreadContext};
-static STACK: StaticStack<512> = StaticStack::new();
-static THREAD: ThreadContext = Thread::context();
+
+static BLINK_STACK: StaticStack<512> = StaticStack::new();
+static BLINK_THREAD: ThreadContext = Thread::context();
+
+static USB_STACK: StaticStack<8192> = StaticStack::new();
+static USB_THREAD: ThreadContext = Thread::context();
+static USB_EVENT: SemaphoreContext = Semaphore::context();
+
+static STDOUT_MSGS: StaticQueueSlots<Vec<u8>, 4> = StaticQueueSlots::new();
+static STDOUT_QUEUE: QueueContext<Vec<u8>> = Queue::context();
#[unsafe(no_mangle)]
#[doc(hidden)]
@@ -56,7 +70,7 @@ pub extern "C" fn __rust_threadx_app_define() {
let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
- hal::clocks::init_clocks_and_plls(
+ let clocks = hal::clocks::init_clocks_and_plls(
rp_pico::XOSC_CRYSTAL_FREQ,
pac.XOSC,
pac.CLOCKS,
@@ -80,8 +94,8 @@ pub extern "C" fn __rust_threadx_app_define() {
let mut led_pin = pins.led.into_push_pull_output();
Thread::create(
- Pin::static_ref(&THREAD),
- STACK.take().unwrap(),
+ Pin::static_ref(&BLINK_THREAD),
+ BLINK_STACK.take().unwrap(),
&Default::default(),
move || loop {
led_pin.set_high().unwrap();
@@ -91,4 +105,90 @@ pub extern "C" fn __rust_threadx_app_define() {
},
)
.unwrap();
+
+ let usb_event = Semaphore::create(Pin::static_ref(&USB_EVENT), &Default::default()).unwrap();
+ let stdout_queue = Queue::create(
+ Pin::static_ref(&STDOUT_QUEUE),
+ STDOUT_MSGS.take().unwrap(),
+ &Default::default(),
+ )
+ .unwrap();
+
+ Thread::create(
+ Pin::static_ref(&USB_THREAD),
+ USB_STACK.take().unwrap(),
+ &Default::default(),
+ move || {
+ let usb_bus = UsbBusAllocator::new(hal::usb::UsbBus::new(
+ pac.USBCTRL_REGS,
+ pac.USBCTRL_DPRAM,
+ clocks.usb_clock,
+ true,
+ &mut pac.RESETS,
+ ));
+
+ let mut serial = SerialPort::new(&usb_bus);
+ let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x16c0, 0x27dd))
+ .strings(&[StringDescriptors::default()
+ .manufacturer("Fake company")
+ .product("Serial port")
+ .serial_number("TEST")])
+ .unwrap()
+ .device_class(2)
+ .build();
+
+ loop {
+ unsafe { cortex_m::peripheral::NVIC::unmask(hal::pac::Interrupt::USBCTRL_IRQ) };
+ usb_event.get().unwrap();
+ usb_dev.poll(&mut [&mut serial]);
+
+ serial.read(&mut []).ok();
+
+ if let Some(msg) = stdout_queue.try_receive() {
+ let _ = serial.write(&msg);
+ }
+ }
+ },
+ )
+ .unwrap();
+}
+
+use hal::pac::interrupt;
+
+#[interrupt]
+fn USBCTRL_IRQ() {
+ cortex_m::peripheral::NVIC::mask(hal::pac::interrupt::USBCTRL_IRQ);
+
+ // Safety: If the interrupt is unmasked, then we created
+ // the semaphore.
+ unsafe { Pin::static_ref(&USB_EVENT).assume_created().put() };
+}
+
+fn stdout_write(buf: &[u8]) -> usize {
+ let Some(queue) = Pin::static_ref(&STDOUT_QUEUE).try_created() else {
+ return 0;
+ };
+
+ let msg = Vec::from(buf);
+ queue.send(msg).unwrap();
+ // Wake up the USB thread so it can see our message.
+ if let Some(usb_event) = Pin::static_ref(&USB_EVENT).try_created() {
+ usb_event.put();
+ }
+ buf.len()
+}
+
+#[unsafe(no_mangle)]
+fn __rust_threadx_stdout_write(buf: &[u8]) -> usize {
+ stdout_write(buf)
+}
+
+#[unsafe(no_mangle)]
+fn __rust_threadx_stderr_write(buf: &[u8]) -> usize {
+ stdout_write(buf)
+}
+
+#[unsafe(no_mangle)]
+fn __rust_threadx_stdin_read(_: &mut [u8]) -> usize {
+ 0 // Haven't tried it.
}
diff --git a/crates/rp-pico-2040/src/main.rs b/crates/rp-pico-2040/src/main.rs
index b155870..389257a 100644
--- a/crates/rp-pico-2040/src/main.rs
+++ b/crates/rp-pico-2040/src/main.rs
@@ -3,9 +3,10 @@ use rust_threadx_rp_pico_2040 as _;
use std::{thread, time::Duration};
fn main() {
- // Nothing interesting yet. Nevertheless, the LED should
- // be blinking on a background thread.
+ let mut count = 0_usize;
loop {
- thread::sleep(Duration::from_millis(100));
+ println!("Hello world! The count is {count}\r");
+ thread::sleep(Duration::from_millis(1_000));
+ count = count.wrapping_add(1);
}
}
diff --git a/crates/stdio-imxrt-usbd/Cargo.toml b/crates/stdio-imxrt-usbd/Cargo.toml
index ce3012e..87c5d0d 100644
--- a/crates/stdio-imxrt-usbd/Cargo.toml
+++ b/crates/stdio-imxrt-usbd/Cargo.toml
@@ -6,8 +6,8 @@ publish = false
[dependencies]
imxrt-usbd = "0.4"
-usb-device = "0.3"
-usbd-serial = "0.2"
+usb-device = { workspace = true }
+usbd-serial = { workspace = true }
cortex-m = { workspace = true }
imxrt-ral = { workspace = true }
generated by cgit v1.2.3 (git 2.39.1) at 2026-10-07 04:57:28 +0000