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//! Standard library support crate for an Raspberry Pi Pico with an RP2040.
//!
//! The blinky support example comes from the rp-hal-boards example, available
//! <https://github.com/rp-rs/rp-hal-boards/blob/5135e3dafe3e69b112e6d2d72cfb1856a7679b82/boards/rp-pico/examples/pico_blinky.rs#L1>
//! and licensed MIT or APACHE-2.0.
#![no_std]
#![feature(rustc_private)]
extern crate fusible;
use core::pin::Pin;
use rust_threadx_cortex_m 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)]
pub unsafe extern "C" fn _tx_initialize_low_level() {
use cortex_m::{
Peripherals,
peripheral::{scb::SystemHandler, syst::SystClkSource},
};
cortex_m::interrupt::disable();
unsafe {
let Peripherals {
mut SYST, mut SCB, ..
} = Peripherals::steal();
SCB.set_priority(SystemHandler::SysTick, 0x40);
SCB.set_priority(SystemHandler::PendSV, 0xff);
SCB.set_priority(SystemHandler::SVCall, 0xff);
SYST.set_clock_source(SystClkSource::Core);
SYST.set_reload(125_000_000 / 100 - 1);
SYST.clear_current();
SYST.enable_interrupt();
SYST.enable_counter();
}
}
use fusible::queue::{Queue, QueueContext, StaticQueueSlots};
use fusible::semaphore::{Semaphore, SemaphoreContext};
use fusible::thread::{StaticStack, Thread, ThreadContext};
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)]
pub extern "C" fn __rust_threadx_app_define() {
let mut pac = pac::Peripherals::take().unwrap();
let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
let clocks = hal::clocks::init_clocks_and_plls(
rp_pico::XOSC_CRYSTAL_FREQ,
pac.XOSC,
pac.CLOCKS,
pac.PLL_SYS,
pac.PLL_USB,
&mut pac.RESETS,
&mut watchdog,
)
.ok()
.unwrap();
let sio = hal::Sio::new(pac.SIO);
let pins = rp_pico::Pins::new(
pac.IO_BANK0,
pac.PADS_BANK0,
sio.gpio_bank0,
&mut pac.RESETS,
);
let mut led_pin = pins.led.into_push_pull_output();
Thread::create(
Pin::static_ref(&BLINK_THREAD),
BLINK_STACK.take().unwrap(),
&Default::default(),
move || loop {
led_pin.set_high().unwrap();
fusible::thread::sleep(50);
led_pin.set_low().unwrap();
fusible::thread::sleep(50);
},
)
.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.
}
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