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Add new driver implementations and workspace updates

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This commit is contained in:
Kevin Thomas
2026-03-27 11:18:29 -04:00
parent 1c02ebd76e
commit bef5e91fbf
7844 changed files with 30810 additions and 2 deletions
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drivers/0x0d_timer_rust/.cargo/config.toml
+32
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[build]
target = "thumbv8m.main-none-eabihf"
[target.thumbv6m-none-eabi]
linker = "flip-link"
rustflags = [
"-C", "link-arg=--nmagic",
"-C", "link-arg=-Tlink.x",
"-C", "link-arg=-Tdefmt.x",
"-C", "no-vectorize-loops",
]
runner = "${PICOTOOL_PATH} load -u -v -x -t elf"
[target.thumbv8m.main-none-eabihf]
rustflags = [
"-C", "link-arg=--nmagic",
"-C", "link-arg=-Tlink.x",
"-C", "link-arg=-Tdefmt.x",
"-C", "target-cpu=cortex-m33",
]
runner = "${PICOTOOL_PATH} load -u -v -x -t elf"
[target.riscv32imac-unknown-none-elf]
rustflags = [
"-C", "link-arg=--nmagic",
"-C", "link-arg=-Trp2350_riscv.x",
"-C", "link-arg=-Tdefmt.x",
]
runner = "${PICOTOOL_PATH} load -u -v -x -t elf"
[env]
DEFMT_LOG = "debug"
drivers/0x0d_timer_rust/.pico-rs
+1
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@@ -0,0 +1 @@
rp2350
drivers/0x0d_timer_rust/.vscode/extensions.json
Vendored
+8
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@@ -0,0 +1,8 @@
{
"recommendations": [
"marus25.cortex-debug",
"rust-lang.rust-analyzer",
"probe-rs.probe-rs-debugger",
"raspberry-pi.raspberry-pi-pico"
]
}
drivers/0x0d_timer_rust/.vscode/launch.json
Vendored
+41
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@@ -0,0 +1,41 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "Pico Debug (probe-rs)",
"cwd": "${workspaceFolder}",
"request": "launch",
"type": "probe-rs-debug",
"connectUnderReset": false,
"speed": 5000,
"runtimeExecutable": "probe-rs",
"chip": "${command:raspberry-pi-pico.getChip}",
"runtimeArgs": [
"dap-server"
],
"flashingConfig": {
"flashingEnabled": true,
"haltAfterReset": false
},
"coreConfigs": [
{
"coreIndex": 0,
"programBinary": "${command:raspberry-pi-pico.launchTargetPath}",
"rttEnabled": true,
"svdFile": "${command:raspberry-pi-pico.getSVDPath}",
"rttChannelFormats": [
{
"channelNumber": 0,
"dataFormat": "Defmt",
"mode": "NoBlockSkip",
"showTimestamps": true
}
]
}
],
"preLaunchTask": "Build + Generate SBOM (debug)",
"consoleLogLevel": "Debug",
"wireProtocol": "Swd"
}
]
}
drivers/0x0d_timer_rust/.vscode/settings.json
Vendored
+8
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@@ -0,0 +1,8 @@
{
"rust-analyzer.cargo.target": "thumbv8m.main-none-eabihf",
"rust-analyzer.check.allTargets": false,
"editor.formatOnSave": true,
"files.exclude": {
".pico-rs": true
}
}
drivers/0x0d_timer_rust/.vscode/tasks.json
Vendored
+124
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@@ -0,0 +1,124 @@
{
"version": "2.0.0",
"tasks": [
{
"label": "Compile Project",
"type": "process",
"isBuildCommand": true,
"command": "cargo",
"args": [
"build",
"--release"
],
"group": {
"kind": "build",
"isDefault": true
},
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": "$rustc",
"options": {
"env": {
"PICOTOOL_PATH": "${command:raspberry-pi-pico.getPicotoolPath}",
"CHIP": "${command:raspberry-pi-pico.getChip}"
}
}
},
{
"label": "Build + Generate SBOM (release)",
"type": "shell",
"command": "bash",
"args": [
"-lc",
"cargo sbom > ${command:raspberry-pi-pico.sbomTargetPathRelease}"
],
"windows": {
"command": "powershell",
"args": [
"-NoProfile",
"-ExecutionPolicy",
"Bypass",
"-Command",
"cargo sbom | Set-Content -Encoding utf8 ${command:raspberry-pi-pico.sbomTargetPathRelease}"
]
},
"dependsOn": "Compile Project",
"presentation": {
"reveal": "silent",
"panel": "shared"
},
"problemMatcher": []
},
{
"label": "Compile Project (debug)",
"type": "process",
"isBuildCommand": true,
"command": "cargo",
"args": [
"build"
],
"group": {
"kind": "build",
"isDefault": false
},
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": "$rustc",
"options": {
"env": {
"PICOTOOL_PATH": "${command:raspberry-pi-pico.getPicotoolPath}",
"CHIP": "${command:raspberry-pi-pico.getChip}"
}
}
},
{
"label": "Build + Generate SBOM (debug)",
"type": "shell",
"command": "bash",
"args": [
"-lc",
"cargo sbom > ${command:raspberry-pi-pico.sbomTargetPathDebug}"
],
"windows": {
"command": "powershell",
"args": [
"-NoProfile",
"-ExecutionPolicy",
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"-Command",
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]
},
"dependsOn": "Compile Project (debug)",
"presentation": {
"reveal": "silent",
"panel": "shared"
},
"problemMatcher": []
},
{
"label": "Run Project",
"type": "shell",
"dependsOn": [
"Build + Generate SBOM (release)"
],
"command": "${command:raspberry-pi-pico.getPicotoolPath}",
"args": [
"load",
"-x",
"${command:raspberry-pi-pico.launchTargetPathRelease}",
"-t",
"elf"
],
"presentation": {
"reveal": "always",
"panel": "dedicated"
},
"problemMatcher": []
}
]
}
drivers/0x0d_timer_rust/Cargo.lock
Generated
+749
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@@ -0,0 +1,749 @@
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# It is not intended for manual editing.
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[[package]]
name = "riscv-rt"
version = "0.12.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c0d35e32cf1383183e8885d8a9aa4402a087fd094dc34c2cb6df6687d0229dfe"
dependencies = [
"riscv",
"riscv-rt-macros",
]
[[package]]
name = "riscv-rt-macros"
version = "0.2.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "30f19a85fe107b65031e0ba8ec60c34c2494069fe910d6c297f5e7cb5a6f76d0"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.117",
]
[[package]]
name = "rp-binary-info"
version = "0.1.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f582261945fa215d40e2988b4df595d11c0908c0fff97a0fe23df766d117b790"
[[package]]
name = "rp-hal-common"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8288358786b1458fb2caac8c4b40fb529ef4200d6c46467e2695b7a8ba573ae8"
dependencies = [
"fugit",
]
[[package]]
name = "rp2040-boot2"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7c92f344f63f950ee36cf4080050e4dce850839b9175da38f9d2ffb69b4dbb21"
dependencies = [
"crc-any",
]
[[package]]
name = "rp2040-hal"
version = "0.11.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9fb79a4590775204387f334672e6f79c0d734d0a159da23d60677b3c10fa1245"
dependencies = [
"bitfield 0.14.0",
"cortex-m",
"critical-section",
"embedded-dma",
"embedded-hal 0.2.7",
"embedded-hal 1.0.0",
"embedded-hal-async",
"embedded-hal-nb",
"embedded-io",
"frunk",
"fugit",
"itertools 0.10.5",
"nb 1.1.0",
"paste",
"pio",
"rand_core",
"rp-binary-info",
"rp-hal-common",
"rp2040-hal-macros",
"rp2040-pac",
"usb-device",
"vcell",
"void",
]
[[package]]
name = "rp2040-hal-macros"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "86479063e497efe1ae81995ef9071f54fd1c7427e04d6c5b84cde545ff672a5e"
dependencies = [
"cortex-m-rt",
"proc-macro2",
"quote",
"syn 1.0.109",
]
[[package]]
name = "rp2040-pac"
version = "0.6.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "83cbcd3f7a0ca7bbe61dc4eb7e202842bee4e27b769a7bf3a4a72fa399d6e404"
dependencies = [
"cortex-m",
"cortex-m-rt",
"critical-section",
"vcell",
]
[[package]]
name = "rp235x-hal"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e2939c82776b0b4ae110168b4298b5adf831e6cff249b057bf2a2187453b959c"
dependencies = [
"bitfield 0.14.0",
"cortex-m",
"cortex-m-rt",
"critical-section",
"embedded-dma",
"embedded-hal 0.2.7",
"embedded-hal 1.0.0",
"embedded-hal-async",
"embedded-hal-nb",
"embedded-io",
"frunk",
"fugit",
"gcd",
"itertools 0.13.0",
"nb 1.1.0",
"paste",
"pio",
"rand_core",
"riscv",
"riscv-rt",
"rp-binary-info",
"rp-hal-common",
"rp235x-hal-macros",
"rp235x-pac",
"sha2-const-stable",
"usb-device",
"vcell",
"void",
]
[[package]]
name = "rp235x-hal-macros"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "74edd7a5979e9763bbb98e9746e711bac7464ee3397af7288e6c288ff0d3c764"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.117",
]
[[package]]
name = "rp235x-pac"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5ffcb6931deee4242886b5a1df62db5e2555b0eb6ae1e8be101f3ea3e58e65c6"
dependencies = [
"cortex-m",
"cortex-m-rt",
"critical-section",
"vcell",
]
[[package]]
name = "rustc_version"
version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
dependencies = [
"semver",
]
[[package]]
name = "semver"
version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
dependencies = [
"semver-parser",
]
[[package]]
name = "semver-parser"
version = "0.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]]
name = "sha2-const-stable"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9"
[[package]]
name = "stable_deref_trait"
version = "1.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
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name = "syn"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"proc-macro2",
"quote",
"unicode-ident",
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[[package]]
name = "syn"
version = "2.0.117"
source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"proc-macro2",
"quote",
"unicode-ident",
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"thiserror-impl",
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[[package]]
name = "thiserror-impl"
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source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ebc4ee7f67670e9b64d05fa4253e753e016c6c95ff35b89b7941d6b856dec1d5"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.117",
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[[package]]
name = "timer"
version = "0.1.0"
dependencies = [
"cortex-m",
"cortex-m-rt",
"defmt",
"defmt-rtt",
"fugit",
"panic-halt",
"panic-probe",
"regex",
"rp2040-boot2",
"rp2040-hal",
"rp235x-hal",
]
[[package]]
name = "unicode-ident"
version = "1.0.24"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
[[package]]
name = "usb-device"
version = "0.3.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
dependencies = [
"heapless",
"portable-atomic",
]
[[package]]
name = "vcell"
version = "0.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
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[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"vcell",
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drivers/0x0d_timer_rust/Cargo.toml
+39
View File
@@ -0,0 +1,39 @@
[package]
edition = "2024"
name = "timer"
version = "0.1.0"
license = "MIT or Apache-2.0"
[lib]
name = "timer_lib"
path = "src/lib.rs"
[[bin]]
name = "timer"
path = "src/main.rs"
[build-dependencies]
regex = "1.11.0"
[dependencies]
cortex-m = "0.7"
cortex-m-rt = "0.7"
fugit = "0.3"
defmt = "1"
defmt-rtt = "1"
[target.'cfg( target_arch = "arm" )'.dependencies]
panic-probe = { version = "1", features = ["print-defmt"] }
[target.'cfg( target_arch = "riscv32" )'.dependencies]
panic-halt = { version = "1.0.0" }
[target.thumbv6m-none-eabi.dependencies]
rp2040-boot2 = "0.3"
rp2040-hal = { version = "0.11", features = ["rt", "critical-section-impl"] }
[target.riscv32imac-unknown-none-elf.dependencies]
rp235x-hal = { version = "0.3", features = ["rt", "critical-section-impl"] }
[target."thumbv8m.main-none-eabihf".dependencies]
rp235x-hal = { version = "0.3", features = ["rt", "critical-section-impl"] }
drivers/0x0d_timer_rust/build.rs
+60
View File
@@ -0,0 +1,60 @@
//! SPDX-License-Identifier: MIT OR Apache-2.0
//!
//! Copyright (c) 2021-2024 The rp-rs Developers
//! Copyright (c) 2021 rp-rs organization
//! Copyright (c) 2025 Raspberry Pi Ltd.
//!
//! Set up linker scripts
use std::fs::{File, read_to_string};
use std::io::Write;
use std::path::PathBuf;
use regex::Regex;
fn main() {
println!("cargo::rustc-check-cfg=cfg(rp2040)");
println!("cargo::rustc-check-cfg=cfg(rp2350)");
let out = PathBuf::from(std::env::var_os("OUT_DIR").unwrap());
println!("cargo:rustc-link-search={}", out.display());
println!("cargo:rerun-if-changed=.pico-rs");
let contents = read_to_string(".pico-rs")
.map(|s| s.trim().to_string().to_lowercase())
.unwrap_or_else(|_| String::new());
let target;
if contents == "rp2040" {
target = "thumbv6m-none-eabi";
let memory_x = include_bytes!("rp2040.x");
let mut file = File::create(out.join("memory.x")).unwrap();
file.write_all(memory_x).unwrap();
println!("cargo::rustc-cfg=rp2040");
println!("cargo:rerun-if-changed=rp2040.x");
} else {
if contents.contains("riscv") {
target = "riscv32imac-unknown-none-elf";
} else {
target = "thumbv8m.main-none-eabihf";
}
let memory_x = include_bytes!("rp2350.x");
let mut file = File::create(out.join("memory.x")).unwrap();
file.write_all(memory_x).unwrap();
println!("cargo::rustc-cfg=rp2350");
println!("cargo:rerun-if-changed=rp2350.x");
}
let re = Regex::new(r"target = .*").unwrap();
let config_toml = include_str!(".cargo/config.toml");
let result = re.replace(config_toml, format!("target = \"{}\"", target));
let mut file = File::create(".cargo/config.toml").unwrap();
file.write_all(result.as_bytes()).unwrap();
let rp2350_riscv_x = include_bytes!("rp2350_riscv.x");
let mut file = File::create(out.join("rp2350_riscv.x")).unwrap();
file.write_all(rp2350_riscv_x).unwrap();
println!("cargo:rerun-if-changed=rp2350_riscv.x");
println!("cargo:rerun-if-changed=build.rs");
}
drivers/0x0d_timer_rust/rp2040.x
+44
View File
@@ -0,0 +1,44 @@
/*
* SPDX-License-Identifier: MIT OR Apache-2.0
*
* Copyright (c) 2021-2024 The rp-rs Developers
* Copyright (c) 2021 rp-rs organization
* Copyright (c) 2025 Raspberry Pi Ltd.
*/
MEMORY {
BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
RAM : ORIGIN = 0x20000000, LENGTH = 256K
SRAM4 : ORIGIN = 0x20040000, LENGTH = 4k
SRAM5 : ORIGIN = 0x20041000, LENGTH = 4k
}
EXTERN(BOOT2_FIRMWARE)
SECTIONS {
.boot2 ORIGIN(BOOT2) :
{
KEEP(*(.boot2));
} > BOOT2
} INSERT BEFORE .text;
SECTIONS {
.boot_info : ALIGN(4)
{
KEEP(*(.boot_info));
} > FLASH
} INSERT AFTER .vector_table;
_stext = ADDR(.boot_info) + SIZEOF(.boot_info);
SECTIONS {
.bi_entries : ALIGN(4)
{
__bi_entries_start = .;
KEEP(*(.bi_entries));
. = ALIGN(4);
__bi_entries_end = .;
} > FLASH
} INSERT AFTER .text;
drivers/0x0d_timer_rust/rp2350.x
+47
View File
@@ -0,0 +1,47 @@
/*
* SPDX-License-Identifier: MIT OR Apache-2.0
*
* Copyright (c) 2021-2024 The rp-rs Developers
* Copyright (c) 2021 rp-rs organization
* Copyright (c) 2025 Raspberry Pi Ltd.
*/
MEMORY {
FLASH : ORIGIN = 0x10000000, LENGTH = 2048K
RAM : ORIGIN = 0x20000000, LENGTH = 512K
SRAM4 : ORIGIN = 0x20080000, LENGTH = 4K
SRAM5 : ORIGIN = 0x20081000, LENGTH = 4K
}
SECTIONS {
.start_block : ALIGN(4)
{
__start_block_addr = .;
KEEP(*(.start_block));
} > FLASH
} INSERT AFTER .vector_table;
_stext = ADDR(.start_block) + SIZEOF(.start_block);
SECTIONS {
.bi_entries : ALIGN(4)
{
__bi_entries_start = .;
KEEP(*(.bi_entries));
. = ALIGN(4);
__bi_entries_end = .;
} > FLASH
} INSERT AFTER .text;
SECTIONS {
.end_block : ALIGN(4)
{
__end_block_addr = .;
KEEP(*(.end_block));
} > FLASH
} INSERT AFTER .uninit;
PROVIDE(start_to_end = __end_block_addr - __start_block_addr);
PROVIDE(end_to_start = __start_block_addr - __end_block_addr);
drivers/0x0d_timer_rust/rp2350_riscv.x
+58
View File
@@ -0,0 +1,58 @@
/*
* SPDX-License-Identifier: MIT OR Apache-2.0
*
* Copyright (c) 2021-2024 The rp-rs Developers
* Copyright (c) 2021 rp-rs organization
* Copyright (c) 2025 Raspberry Pi Ltd.
*/
MEMORY {
FLASH : ORIGIN = 0x10000000, LENGTH = 2048K
RAM : ORIGIN = 0x20000000, LENGTH = 512K
SRAM4 : ORIGIN = 0x20080000, LENGTH = 4K
SRAM5 : ORIGIN = 0x20081000, LENGTH = 4K
}
PROVIDE(_stext = ORIGIN(FLASH));
PROVIDE(_stack_start = ORIGIN(RAM) + LENGTH(RAM));
PROVIDE(_max_hart_id = 0);
PROVIDE(_hart_stack_size = 2K);
PROVIDE(_heap_size = 0);
PROVIDE(InstructionMisaligned = ExceptionHandler);
PROVIDE(InstructionFault = ExceptionHandler);
PROVIDE(IllegalInstruction = ExceptionHandler);
PROVIDE(Breakpoint = ExceptionHandler);
PROVIDE(LoadMisaligned = ExceptionHandler);
PROVIDE(LoadFault = ExceptionHandler);
PROVIDE(StoreMisaligned = ExceptionHandler);
PROVIDE(StoreFault = ExceptionHandler);
PROVIDE(UserEnvCall = ExceptionHandler);
PROVIDE(SupervisorEnvCall = ExceptionHandler);
PROVIDE(MachineEnvCall = ExceptionHandler);
PROVIDE(InstructionPageFault = ExceptionHandler);
PROVIDE(LoadPageFault = ExceptionHandler);
PROVIDE(StorePageFault = ExceptionHandler);
PROVIDE(SupervisorSoft = DefaultHandler);
PROVIDE(MachineSoft = DefaultHandler);
PROVIDE(SupervisorTimer = DefaultHandler);
PROVIDE(MachineTimer = DefaultHandler);
PROVIDE(SupervisorExternal = DefaultHandler);
PROVIDE(MachineExternal = DefaultHandler);
PROVIDE(DefaultHandler = DefaultInterruptHandler);
PROVIDE(ExceptionHandler = DefaultExceptionHandler);
PROVIDE(__pre_init = default_pre_init);
PROVIDE(_setup_interrupts = default_setup_interrupts);
PROVIDE(_mp_hook = default_mp_hook);
PROVIDE(_start_trap = default_start_trap);
SECTIONS
{
.text.dummy (NOLOAD) :
{
. = ABSOLUTE(_stext);
} > FLASH
}
drivers/0x0d_timer_rust/src/board.rs
+215
View File
@@ -0,0 +1,215 @@
//! @file board.rs
//! @brief Board-level HAL helpers for the timer driver
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
// Timer driver pure-logic functions and constants
use crate::timer_driver;
// Rate extension trait for .Hz() baud rate construction
use fugit::RateExtU32;
// Clock trait for accessing system clock frequency
use hal::Clock;
// GPIO pin types and function selectors
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
// UART configuration and peripheral types
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
// Alias our HAL crate
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// Timer device type for the HAL timer peripheral.
#[cfg(rp2350)]
pub(crate) type HalTimer = hal::Timer<hal::timer::CopyableTimer0>;
/// Timer type alias for RP2040 (non-generic).
#[cfg(rp2040)]
pub(crate) type HalTimer = hal::Timer;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Run the repeating timer heartbeat loop.
///
/// Polls the HAL timer, and each time the configured period elapses,
/// fires the driver state callback and prints the heartbeat message
/// over UART. This mirrors the C demo's `_heartbeat_callback` being
/// invoked by the Pico SDK repeating timer.
///
/// # Arguments
///
/// * `uart` - Reference to the enabled UART peripheral for serial output.
/// * `timer` - Reference to the HAL timer for microsecond measurement.
/// * `delay` - Mutable reference to the blocking delay provider.
/// * `state` - Mutable reference to the timer driver state.
pub(crate) fn heartbeat_loop(
uart: &EnabledUart,
timer: &HalTimer,
delay: &mut cortex_m::delay::Delay,
state: &mut timer_driver::TimerDriverState,
) -> ! {
let mut last_us = timer.get_counter().ticks() as u32;
let period_us = state.period_ms() as u64 * 1_000;
loop {
let now_us = timer.get_counter().ticks() as u32;
let elapsed = now_us.wrapping_sub(last_us) as u64;
if elapsed >= period_us {
last_us = now_us;
if state.on_fire() {
let mut buf = [0u8; 32];
let n = timer_driver::format_heartbeat(&mut buf);
uart.write_full_blocking(&buf[..n]);
}
}
delay.delay_us(100);
}
}
// End of file
drivers/0x0d_timer_rust/src/lib.rs
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//! @file lib.rs
//! @brief Library root for the timer driver crate
//! @author Kevin Thomas
//! @date 2025
#![no_std]
// Timer driver module
pub mod timer_driver;
drivers/0x0d_timer_rust/src/main.rs
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//! @file main.rs
//! @brief Repeating timer demo using timer_driver.rs
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
//!
//! -----------------------------------------------------------------------------
//!
//! Demonstrates repeating timer callbacks using the timer driver
//! (timer_driver.rs). A one-second heartbeat timer prints a message
//! over UART to confirm the timer is firing.
//!
//! Wiring:
//! No external wiring required
#![no_std]
#![no_main]
// Board-level helpers: constants, type aliases, and init functions
mod board;
// Timer driver module — suppress warnings for unused public API functions
#[allow(dead_code)]
mod timer_driver;
// Debugging output over RTT
use defmt_rtt as _;
// Panic handler for RISC-V targets
#[cfg(target_arch = "riscv32")]
use panic_halt as _;
// Panic handler for ARM targets
#[cfg(target_arch = "arm")]
use panic_probe as _;
// HAL entry-point macro
use hal::entry;
// Alias our HAL crate
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
// Second-stage boot loader for RP2040
#[unsafe(link_section = ".boot2")]
#[used]
#[cfg(rp2040)]
pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
// Boot metadata for the RP2350 Boot ROM
#[unsafe(link_section = ".start_block")]
#[used]
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
/// Application entry point for the repeating timer demo.
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
#[cfg(rp2350)]
let timer = hal::Timer::new_timer0(pac.TIMER0, &mut pac.RESETS, &clocks);
#[cfg(rp2040)]
let timer = hal::Timer::new(pac.TIMER, &mut pac.RESETS);
let mut state = timer_driver::TimerDriverState::new();
state.start(timer_driver::DEFAULT_PERIOD_MS);
let mut buf = [0u8; 64];
let n = timer_driver::format_started(&mut buf, timer_driver::DEFAULT_PERIOD_MS);
uart.write_full_blocking(&buf[..n]);
board::heartbeat_loop(&uart, &timer, &mut delay, &mut state);
}
// Picotool binary info metadata
#[unsafe(link_section = ".bi_entries")]
#[used]
pub static PICOTOOL_ENTRIES: [hal::binary_info::EntryAddr; 5] = [
hal::binary_info::rp_cargo_bin_name!(),
hal::binary_info::rp_cargo_version!(),
hal::binary_info::rp_program_description!(c"Repeating Timer Demo"),
hal::binary_info::rp_cargo_homepage_url!(),
hal::binary_info::rp_program_build_attribute!(),
];
// End of file
drivers/0x0d_timer_rust/src/timer_driver.rs
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//! @file timer_driver.rs
//! @brief Implementation of the repeating timer driver
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
/// Default heartbeat message printed by the timer callback.
pub const HEARTBEAT_MSG: &[u8] = b"Timer heartbeat\r\n";
/// Default timer period in milliseconds.
pub const DEFAULT_PERIOD_MS: u32 = 1_000;
/// Timer driver state tracking whether the repeating timer is active.
///
/// Mirrors the C driver's `g_timer_active` / `g_user_callback` globals
/// as a structured state machine testable on the host.
pub struct TimerDriverState {
/// Whether the repeating timer is currently active.
active: bool,
/// Configured period in milliseconds.
period_ms: u32,
/// Number of times the callback has fired.
fire_count: u32,
}
impl TimerDriverState {
/// Create a new idle timer driver state.
///
/// # Returns
///
/// A `TimerDriverState` in the inactive state with zero fire count.
pub fn new() -> Self {
Self {
active: false,
period_ms: 0,
fire_count: 0,
}
}
/// Start the repeating timer with the given period.
///
/// If the timer is already active it is first cancelled, matching
/// the C driver's `timer_driver_start()` behaviour.
///
/// # Arguments
///
/// * `period_ms` - Interval between callbacks in milliseconds.
pub fn start(&mut self, period_ms: u32) {
if self.active {
self.cancel();
}
self.period_ms = period_ms;
self.active = true;
}
/// Cancel the active repeating timer.
///
/// Safe to call even if the timer is already inactive, matching
/// the C driver's `timer_driver_cancel()` behaviour.
pub fn cancel(&mut self) {
self.active = false;
}
/// Return whether the timer is currently active.
///
/// # Returns
///
/// `true` if a repeating timer is running, `false` otherwise.
pub fn is_active(&self) -> bool {
self.active
}
/// Return the configured timer period in milliseconds.
///
/// # Returns
///
/// The period set by the most recent `start()` call.
pub fn period_ms(&self) -> u32 {
self.period_ms
}
/// Return the total number of times the callback has fired.
///
/// # Returns
///
/// Cumulative fire count since construction.
pub fn fire_count(&self) -> u32 {
self.fire_count
}
/// Record that the callback has fired once.
///
/// Called by the board-level shim each time the hardware alarm
/// triggers. Returns `true` to keep the timer repeating (matching
/// the C `_heartbeat_callback` return value).
///
/// # Returns
///
/// `true` if the timer should continue repeating.
pub fn on_fire(&mut self) -> bool {
if !self.active {
return false;
}
self.fire_count += 1;
true
}
}
/// Format the heartbeat message into a caller-supplied buffer.
///
/// Writes the fixed `HEARTBEAT_MSG` bytes and returns the number
/// of bytes written.
///
/// # Arguments
///
/// * `buf` - Destination buffer (must be at least `HEARTBEAT_MSG.len()` bytes).
///
/// # Returns
///
/// Number of bytes written to `buf`.
pub fn format_heartbeat(buf: &mut [u8]) -> usize {
let len = HEARTBEAT_MSG.len();
buf[..len].copy_from_slice(HEARTBEAT_MSG);
len
}
/// Format a timer-started banner message.
///
/// Writes "Repeating timer started (XXXX ms)\r\n" into `buf` and
/// returns the number of bytes written.
///
/// # Arguments
///
/// * `buf` - Destination buffer (must be at least 40 bytes).
/// * `period_ms` - Timer period to include in the message.
///
/// # Returns
///
/// Number of bytes written to `buf`.
pub fn format_started(buf: &mut [u8], period_ms: u32) -> usize {
let prefix = b"Repeating timer started (";
let mut pos = prefix.len();
buf[..pos].copy_from_slice(prefix);
pos += format_u32(&mut buf[pos..], period_ms);
let suffix = b" ms)\r\n";
buf[pos..pos + suffix.len()].copy_from_slice(suffix);
pos + suffix.len()
}
/// Format an unsigned 32-bit integer as decimal ASCII.
///
/// # Arguments
///
/// * `buf` - Destination buffer.
/// * `value` - Value to format.
///
/// # Returns
///
/// Number of ASCII digits written.
fn format_u32(buf: &mut [u8], value: u32) -> usize {
if value == 0 {
buf[0] = b'0';
return 1;
}
let mut tmp = [0u8; 10];
let mut n = 0usize;
let mut v = value;
while v > 0 {
tmp[n] = b'0' + (v % 10) as u8;
v /= 10;
n += 1;
}
for i in 0..n {
buf[i] = tmp[n - 1 - i];
}
n
}
#[cfg(test)]
mod tests {
// Import all parent module items
use super::*;
#[test]
fn new_state_is_inactive() {
let state = TimerDriverState::new();
assert!(!state.is_active());
assert_eq!(state.period_ms(), 0);
assert_eq!(state.fire_count(), 0);
}
#[test]
fn start_activates_timer() {
let mut state = TimerDriverState::new();
state.start(1_000);
assert!(state.is_active());
assert_eq!(state.period_ms(), 1_000);
}
#[test]
fn cancel_deactivates_timer() {
let mut state = TimerDriverState::new();
state.start(1_000);
state.cancel();
assert!(!state.is_active());
}
#[test]
fn cancel_when_inactive_is_safe() {
let mut state = TimerDriverState::new();
state.cancel();
assert!(!state.is_active());
}
#[test]
fn start_while_active_cancels_and_restarts() {
let mut state = TimerDriverState::new();
state.start(500);
state.start(2_000);
assert!(state.is_active());
assert_eq!(state.period_ms(), 2_000);
}
#[test]
fn on_fire_increments_count() {
let mut state = TimerDriverState::new();
state.start(1_000);
assert!(state.on_fire());
assert_eq!(state.fire_count(), 1);
assert!(state.on_fire());
assert_eq!(state.fire_count(), 2);
}
#[test]
fn on_fire_returns_false_when_inactive() {
let mut state = TimerDriverState::new();
assert!(!state.on_fire());
assert_eq!(state.fire_count(), 0);
}
#[test]
fn on_fire_after_cancel_returns_false() {
let mut state = TimerDriverState::new();
state.start(1_000);
assert!(state.on_fire());
state.cancel();
assert!(!state.on_fire());
assert_eq!(state.fire_count(), 1);
}
#[test]
fn format_heartbeat_matches_c_output() {
let mut buf = [0u8; 32];
let n = format_heartbeat(&mut buf);
assert_eq!(&buf[..n], b"Timer heartbeat\r\n");
}
#[test]
fn format_started_1000ms() {
let mut buf = [0u8; 48];
let n = format_started(&mut buf, 1_000);
assert_eq!(&buf[..n], b"Repeating timer started (1000 ms)\r\n");
}
#[test]
fn format_started_single_digit() {
let mut buf = [0u8; 48];
let n = format_started(&mut buf, 5);
assert_eq!(&buf[..n], b"Repeating timer started (5 ms)\r\n");
}
#[test]
fn format_u32_zero() {
let mut buf = [0u8; 10];
let n = format_u32(&mut buf, 0);
assert_eq!(&buf[..n], b"0");
}
#[test]
fn format_u32_large_value() {
let mut buf = [0u8; 10];
let n = format_u32(&mut buf, 123456);
assert_eq!(&buf[..n], b"123456");
}
#[test]
fn default_period_matches_c_demo() {
assert_eq!(DEFAULT_PERIOD_MS, 1_000);
}
}
drivers/0x0d_timer_rust/target/.rustc_info.json
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