mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-08-10 21:20:19 +02:00
Initial commit
This commit is contained in:
Kevin Thomas
@@ -0,0 +1,32 @@
|
||||
[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 = "${PICOTOOL_PATH} load -u -v -x -t elf"
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "debug"
|
||||
@@ -0,0 +1 @@
|
||||
rp2350
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"recommendations": [
|
||||
"marus25.cortex-debug",
|
||||
"rust-lang.rust-analyzer",
|
||||
"probe-rs.probe-rs-debugger",
|
||||
"raspberry-pi.raspberry-pi-pico"
|
||||
]
|
||||
}
|
||||
+41
@@ -0,0 +1,41 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"name": "Pico Debug (probe-rs)",
|
||||
"cwd": "${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": "${command:raspberry-pi-pico.getSVDPath}",
|
||||
"rttChannelFormats": [
|
||||
{
|
||||
"channelNumber": 0,
|
||||
"dataFormat": "Defmt",
|
||||
"mode": "NoBlockSkip",
|
||||
"showTimestamps": true
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"preLaunchTask": "Build + Generate SBOM (debug)",
|
||||
"consoleLogLevel": "Debug",
|
||||
"wireProtocol": "Swd"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"rust-analyzer.cargo.target": "thumbv8m.main-none-eabihf",
|
||||
"rust-analyzer.check.allTargets": false,
|
||||
"editor.formatOnSave": true,
|
||||
"files.exclude": {
|
||||
".pico-rs": true
|
||||
}
|
||||
}
|
||||
+124
@@ -0,0 +1,124 @@
|
||||
{
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "Compile Project",
|
||||
"type": "process",
|
||||
"isBuildCommand": true,
|
||||
"command": "cargo",
|
||||
"args": [
|
||||
"build",
|
||||
"--release"
|
||||
],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
},
|
||||
"presentation": {
|
||||
"reveal": "always",
|
||||
"panel": "dedicated"
|
||||
},
|
||||
"problemMatcher": "$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",
|
||||
"Bypass",
|
||||
"-Command",
|
||||
"cargo sbom | Set-Content -Encoding utf8 ${command:raspberry-pi-pico.sbomTargetPathDebug}"
|
||||
]
|
||||
},
|
||||
"dependsOn": "Compile Project (debug)",
|
||||
"presentation": {
|
||||
"reveal": "silent",
|
||||
"panel": "shared"
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
{
|
||||
"label": "Run Project",
|
||||
"type": "shell",
|
||||
"dependsOn": [
|
||||
"Build + Generate SBOM (release)"
|
||||
],
|
||||
"command": "${command:raspberry-pi-pico.getPicotoolPath}",
|
||||
"args": [
|
||||
"load",
|
||||
"-x",
|
||||
"${command:raspberry-pi-pico.launchTargetPathRelease}",
|
||||
"-t",
|
||||
"elf"
|
||||
],
|
||||
"presentation": {
|
||||
"reveal": "always",
|
||||
"panel": "dedicated"
|
||||
},
|
||||
"problemMatcher": []
|
||||
}
|
||||
]
|
||||
}
|
||||
Generated
+704
@@ -0,0 +1,704 @@
|
||||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
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|
||||
|
||||
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||||
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|
||||
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"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "watchdog"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"defmt",
|
||||
"defmt-rtt",
|
||||
"fugit",
|
||||
"panic-halt",
|
||||
"panic-probe",
|
||||
"rp2040-boot2",
|
||||
"rp2040-hal",
|
||||
"rp235x-hal",
|
||||
]
|
||||
@@ -0,0 +1,79 @@
|
||||
[package]
|
||||
edition = "2024"
|
||||
name = "watchdog"
|
||||
version = "0.1.0"
|
||||
license = "MIT or Apache-2.0"
|
||||
|
||||
[lib]
|
||||
name = "watchdog_lib"
|
||||
path = "src/lib.rs"
|
||||
|
||||
[[bin]]
|
||||
name = "watchdog"
|
||||
path = "src/main.rs"
|
||||
|
||||
|
||||
[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"] }
|
||||
|
||||
# cargo build/run
|
||||
[profile.dev]
|
||||
debug = 2
|
||||
debug-assertions = true
|
||||
opt-level = 2
|
||||
overflow-checks = true
|
||||
|
||||
# cargo build/run --release
|
||||
[profile.release]
|
||||
debug = 2
|
||||
debug-assertions = false
|
||||
lto = "fat"
|
||||
opt-level = 2
|
||||
overflow-checks = false
|
||||
|
||||
# do not optimize proc-macro crates = faster builds from scratch
|
||||
[profile.dev.build-override]
|
||||
debug = false
|
||||
debug-assertions = false
|
||||
overflow-checks = false
|
||||
opt-level = 0
|
||||
|
||||
[profile.release.build-override]
|
||||
debug = false
|
||||
debug-assertions = false
|
||||
overflow-checks = false
|
||||
opt-level = 0
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
debug = 2
|
||||
debug-assertions = true
|
||||
opt-level = 2
|
||||
overflow-checks = true
|
||||
|
||||
# cargo test --release
|
||||
[profile.bench]
|
||||
debug = 2
|
||||
debug-assertions = false
|
||||
lto = "fat"
|
||||
opt-level = 3
|
||||
@@ -0,0 +1,112 @@
|
||||
# 0x0e Watchdog Rust Driver
|
||||
|
||||
This repository contains a Bare-Metal Rust driver demonstrating the **Hardware Watchdog** on the **RP2350** (and RP2040) microcontrollers.
|
||||
|
||||
It includes:
|
||||
- A demo (`src/main.rs`) that configures the hardware watchdog, checks the reset reason on boot, and then enters a loop to periodically "feed" the watchdog to prevent a reset.
|
||||
- A reusable library module (`src/watchdog.rs`) providing a hardware-agnostic `watchdog_lib` containing the driver state machine and formatting helpers.
|
||||
- Board initialization logic (`src/board.rs`).
|
||||
|
||||
## 🚀 Getting Started from Scratch
|
||||
|
||||
If you're starting with a fresh machine, follow these exact steps to install the toolchain, build the code, and flash it to your microcontroller.
|
||||
|
||||
### 1. Install Rust
|
||||
First, install `rustup` (the Rust toolchain installer) if you haven't already:
|
||||
```bash
|
||||
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
|
||||
```
|
||||
*Note: Restart your terminal or run `source $HOME/.cargo/env` after this finishes.*
|
||||
|
||||
Ensure your Rust compiler is up to date:
|
||||
```bash
|
||||
rustup update
|
||||
```
|
||||
|
||||
### 2. Install the Target Architecture
|
||||
This project is configured for the **RP2350** (ARM Cortex-M33). We need to install the cross-compilation target for it:
|
||||
```bash
|
||||
rustup target add thumbv8m.main-none-eabihf
|
||||
```
|
||||
*(If you were targeting the RP2040, you would use `thumbv6m-none-eabi` instead).*
|
||||
|
||||
### 3. Install Build Tools
|
||||
You will need a few extra tools to help link and format the firmware for the RP-series chips.
|
||||
|
||||
Install `flip-link` (adds zero-cost stack overflow protection):
|
||||
```bash
|
||||
cargo install flip-link
|
||||
```
|
||||
|
||||
Install `picotool` (used by `cargo run` to flash the chip):
|
||||
- **macOS:** `brew install picotool`
|
||||
- **Linux/Windows:** Follow the official Raspberry Pi documentation to install `picotool` or build it from source.
|
||||
|
||||
### 4. Building the Code
|
||||
To compile the code for the microcontroller, simply run:
|
||||
```bash
|
||||
cargo build
|
||||
```
|
||||
|
||||
To build a highly optimized release version (smaller and faster):
|
||||
```bash
|
||||
cargo build --release
|
||||
```
|
||||
|
||||
### 5. Flashing to the Microcontroller
|
||||
This project is pre-configured in `.cargo/config.toml` to use `picotool` as the custom runner.
|
||||
|
||||
To flash the code:
|
||||
1. Hold down the **BOOTSEL** button on your RP2350 board.
|
||||
2. Plug it into your computer via USB (or press the RUN/RESET button while holding BOOTSEL).
|
||||
3. Run the following command:
|
||||
|
||||
```bash
|
||||
cargo run --release
|
||||
```
|
||||
*`cargo` will compile the code and automatically use `picotool` to upload the `.elf` file directly to your board and start executing it!*
|
||||
|
||||
### 6. Testing on the Host
|
||||
Because the data manipulation and string formatting logic is separated into a reusable library without touching hardware registers, you can run the unit tests natively on your computer!
|
||||
|
||||
However, because this project sets a default bare-metal target (`thumbv8m.main-none-eabihf`) in `.cargo/config.toml`, running a plain `cargo test` will fail because the standard library doesn't exist on the microcontroller. You must explicitly tell Cargo to compile the tests for your host computer's processor architecture:
|
||||
|
||||
**Mac (Apple Silicon):**
|
||||
```bash
|
||||
cargo test --lib --target aarch64-apple-darwin
|
||||
```
|
||||
|
||||
**Linux (Intel/AMD 64-bit):**
|
||||
```bash
|
||||
cargo test --lib --target x86_64-unknown-linux-gnu
|
||||
```
|
||||
|
||||
**Windows (64-bit):**
|
||||
```bash
|
||||
cargo test --lib --target x86_64-pc-windows-msvc
|
||||
```
|
||||
|
||||
## 🧠 Code Walkthrough
|
||||
|
||||
This section explains exactly how the code works, where the entry point is, and traces the flow of execution as if you were stepping through it line-by-line.
|
||||
|
||||
### 1. The Entry Point (`src/main.rs`)
|
||||
Unlike a standard computer program, bare-metal microcontrollers do not have an operating system to call `main()`. Instead, we use the `#[entry]` macro from the HAL (Hardware Abstraction Layer) to define the very first function that runs after the chip boots up.
|
||||
|
||||
* **`main() -> !`**: This is the absolute start of our code. It takes ownership of all the hardware peripherals (`hal::pac::Peripherals::take().unwrap()`) and immediately passes them into `board::run(...)`. The `-> !` means this function never returns (because embedded devices run in an infinite loop).
|
||||
|
||||
### 2. Board Initialization (`src/board.rs`)
|
||||
Once execution enters `board.rs`, we initialize the system clocks, pins, UART (for logging), SysTick (for delay), and the hardware Watchdog peripheral.
|
||||
|
||||
* **`run(...)`**: The master setup function. It first gets a handle to the `hal::Watchdog`, initializing the system clocks with it. After setting up UART, it checks the reset reason, initializes the driver state, and enters the infinite `feed_loop`.
|
||||
* **`watchdog_caused_reboot()`**: Reads the raw `WATCHDOG REASON` hardware register via the PAC (Peripheral Access Crate) to determine if the timer elapsed or if a forced reboot occurred.
|
||||
* **`watchdog_enable(...)` / `watchdog_feed(...)`**: Small wrapper functions that call into the `rp-hal` implementation to configure the hardware timer and reset its counter, respectively.
|
||||
* **`feed_loop(...)`**: An infinite loop that calls `watchdog_feed()` to pet the dog, updates the driver state, prints a message, and sleeps for the 1000ms interval.
|
||||
|
||||
### 3. The Reusable Watchdog Library (`src/watchdog.rs`)
|
||||
While `board.rs` directly manipulates the hardware Watchdog registers, `watchdog.rs` tracks the logical state of our watchdog process and handles string formatting for logging.
|
||||
|
||||
* **`WatchdogDriverState`**: A struct that acts as a state machine. It stores whether the watchdog is `enabled`, the configured `timeout_ms`, and the total `feed_count`. It abstracts away the global variables commonly used in C SDKs.
|
||||
* **`enable(...)` / `feed(...)`**: Methods to transition the driver state.
|
||||
* **`format_fed(...)` / `format_reset_reason(...)` / `format_enabled(...)`**: Helpers to generate the UART console messages.
|
||||
* **`format_u32(...)`**: Implements custom `u32` to decimal ASCII string conversion without allocating dynamic memory, enabling `core` library compatibility (`no_std`).
|
||||
@@ -0,0 +1,105 @@
|
||||
//! Implementation module
|
||||
//!
|
||||
//! **File:** `build.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.
|
||||
|
||||
// Import dependencies from std::fs
|
||||
use std::fs::{read_to_string, File};
|
||||
// Import std::io::Write
|
||||
use std::io::Write;
|
||||
// Import std::path::{Path, PathBuf}
|
||||
use std::path::{Path, PathBuf};
|
||||
|
||||
/// The main entry point.
|
||||
fn main() {
|
||||
let out = PathBuf::from(std::env::var_os("OUT_DIR").unwrap());
|
||||
let c = read_to_string(".pico-rs").unwrap_or_default().trim().to_lowercase();
|
||||
setup_target(&c, &out);
|
||||
write_riscv(&out);
|
||||
print_cfgs(&out);
|
||||
}
|
||||
|
||||
/// Executes the setup target operation.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `c` - Target string from config.
|
||||
/// * `out` - Output path.
|
||||
fn setup_target(c: &str, out: &Path) {
|
||||
if c == "rp2040" {
|
||||
write_rp2040(out);
|
||||
} else {
|
||||
write_rp2350(out);
|
||||
}
|
||||
}
|
||||
|
||||
/// Executes the write rp2040 operation.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `out` - Output path.
|
||||
fn write_rp2040(out: &Path) {
|
||||
let b = include_bytes!("rp2040.x");
|
||||
File::create(out.join("memory.x")).unwrap().write_all(b).unwrap();
|
||||
println!("cargo::rustc-cfg=rp2040");
|
||||
println!("cargo:rerun-if-changed=rp2040.x");
|
||||
}
|
||||
|
||||
/// Executes the write rp2350 operation.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `out` - Output path.
|
||||
fn write_rp2350(out: &Path) {
|
||||
let b = include_bytes!("rp2350.x");
|
||||
File::create(out.join("memory.x")).unwrap().write_all(b).unwrap();
|
||||
println!("cargo::rustc-cfg=rp2350");
|
||||
println!("cargo:rerun-if-changed=rp2350.x");
|
||||
}
|
||||
|
||||
/// Executes the write riscv operation.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `out` - Output path.
|
||||
fn write_riscv(out: &Path) {
|
||||
let b = include_bytes!("rp2350_riscv.x");
|
||||
File::create(out.join("rp2350_riscv.x")).unwrap().write_all(b).unwrap();
|
||||
}
|
||||
|
||||
/// Executes the print cfgs operation.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `out` - Output path.
|
||||
fn print_cfgs(out: &Path) {
|
||||
println!("cargo::rustc-check-cfg=cfg(rp2040)");
|
||||
println!("cargo::rustc-check-cfg=cfg(rp2350)");
|
||||
println!("cargo:rustc-link-search={}", out.display());
|
||||
println!("cargo:rerun-if-changed=.pico-rs");
|
||||
println!("cargo:rerun-if-changed=rp2350_riscv.x");
|
||||
println!("cargo:rerun-if-changed=build.rs");
|
||||
}
|
||||
@@ -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;
|
||||
@@ -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);
|
||||
@@ -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
|
||||
}
|
||||
@@ -0,0 +1,304 @@
|
||||
//! Implementation module
|
||||
//!
|
||||
//! **File:** `board.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.
|
||||
|
||||
// Watchdog driver pure-logic functions and constants
|
||||
use watchdog_lib::watchdog;
|
||||
// Microsecond duration type for watchdog timeout
|
||||
use fugit::ExtU32;
|
||||
// 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)]
|
||||
// Import rp235x_hal as hal
|
||||
use rp235x_hal as hal;
|
||||
#[cfg(rp2040)]
|
||||
// Import rp2040_hal as hal
|
||||
use rp2040_hal as hal;
|
||||
|
||||
/// 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 p.
|
||||
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: hal::pac::IO_BANK0, pads: hal::pac::PADS_BANK0, sio: hal::pac::SIO, rst: &mut hal::pac::RESETS
|
||||
) -> hal::gpio::Pins {
|
||||
hal::gpio::Pins::new(io, pads, hal::Sio::new(sio).gpio_bank0, rst)
|
||||
}
|
||||
|
||||
/// 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: TxPinDefault, rx: RxPinDefault, rst: &mut hal::pac::RESETS, c: &hal::clocks::ClocksManager
|
||||
) -> EnabledUart {
|
||||
let pins = (tx.reconfigure::<FunctionUart, PullNone>(), rx.reconfigure::<FunctionUart, PullNone>());
|
||||
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
|
||||
UartPeripheral::new(uart0, pins, rst).enable(cfg, c.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.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `clocks` - The `clocks` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `cortex_m::delay::Delay`.
|
||||
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())
|
||||
}
|
||||
|
||||
/// Check whether the last reset was caused by the watchdog.
|
||||
///
|
||||
/// Reads the WATCHDOG REASON register directly from the PAC. Returns
|
||||
/// `true` if either the timer or force bits are set, matching the
|
||||
/// C SDK `watchdog_caused_reboot()` behaviour.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// `true` if the watchdog triggered the last reset.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// `true` if successful or set, `false` otherwise.
|
||||
pub(crate) fn watchdog_caused_reboot() -> bool {
|
||||
let r = unsafe { &*hal::pac::WATCHDOG::ptr() }.reason().read();
|
||||
r.timer().bit_is_set() || r.force().bit_is_set()
|
||||
}
|
||||
|
||||
/// Enable the hardware watchdog with the specified timeout.
|
||||
///
|
||||
/// Wraps `hal::Watchdog::start()` converting the timeout from
|
||||
/// milliseconds to microseconds as required by the HAL.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `watchdog` - Mutable reference to the HAL watchdog.
|
||||
/// * `timeout_ms` - Timeout in milliseconds (1–8388).
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `watchdog` - The `watchdog` parameter.
|
||||
/// * `timeout_ms` - The `timeout_ms` parameter.
|
||||
pub(crate) fn watchdog_enable(watchdog: &mut hal::Watchdog, timeout_ms: u32) {
|
||||
watchdog.start((timeout_ms * 1_000).micros());
|
||||
}
|
||||
|
||||
/// Feed the hardware watchdog to prevent a reboot.
|
||||
///
|
||||
/// Wraps `hal::Watchdog::feed()`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `watchdog` - Reference to the HAL watchdog.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `watchdog` - The `watchdog` parameter.
|
||||
pub(crate) fn watchdog_feed(watchdog: &hal::Watchdog) {
|
||||
watchdog.feed();
|
||||
}
|
||||
|
||||
/// Run the watchdog feed-and-report loop.
|
||||
///
|
||||
/// Feeds the watchdog every 1 second and prints `"Watchdog fed\r\n"`
|
||||
/// over UART, matching the C demo's `_feed_and_report()` function.
|
||||
/// This function never returns.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `uart` - Reference to the enabled UART peripheral for serial output.
|
||||
/// * `watchdog` - Reference to the HAL watchdog.
|
||||
/// * `delay` - Mutable reference to the blocking delay provider.
|
||||
/// * `state` - Mutable reference to the watchdog driver state.
|
||||
pub(crate) fn feed_loop(
|
||||
uart: &EnabledUart, wd: &hal::Watchdog, delay: &mut cortex_m::delay::Delay, state: &mut watchdog::WatchdogDriverState
|
||||
) -> ! {
|
||||
loop {
|
||||
watchdog_feed(wd); state.feed();
|
||||
let mut buf = [0u8; 32]; let n = watchdog::format_fed(&mut buf);
|
||||
uart.write_full_blocking(&buf[..n]); delay.delay_ms(watchdog::FEED_INTERVAL_MS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Initialise all peripherals and run the watchdog feed demo.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `pac` - PAC Peripherals singleton (consumed).
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `!`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `pac` - The `pac` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `!`.
|
||||
pub(crate) fn run(mut p: hal::pac::Peripherals) -> ! {
|
||||
let mut wd = hal::Watchdog::new(p.WATCHDOG);
|
||||
let c = init_clocks(p.XOSC, p.CLOCKS, p.PLL_SYS, p.PLL_USB, &mut p.RESETS, &mut wd);
|
||||
let pins = init_pins(p.IO_BANK0, p.PADS_BANK0, p.SIO, &mut p.RESETS);
|
||||
let (u, mut d) = (init_uart(p.UART0, pins.gpio0, pins.gpio1, &mut p.RESETS, &c), init_delay(&c));
|
||||
report_reset_reason(&u);
|
||||
let mut state = start_watchdog(&u, &mut wd);
|
||||
feed_loop(&u, &wd, &mut d, &mut state)
|
||||
}
|
||||
|
||||
/// Print whether the last reset was caused by the watchdog.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `uart` - Reference to the enabled UART peripheral for serial output.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `uart` - The `uart` parameter.
|
||||
fn report_reset_reason(uart: &EnabledUart) {
|
||||
let mut buf = [0u8; 64];
|
||||
let n = watchdog::format_reset_reason(&mut buf, watchdog_caused_reboot());
|
||||
uart.write_full_blocking(&buf[..n]);
|
||||
}
|
||||
|
||||
/// Create the driver state, enable the hardware watchdog, and report.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `uart` - Reference to the enabled UART peripheral for serial output.
|
||||
/// * `wd` - Mutable reference to the HAL watchdog.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Initialised watchdog driver state.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `uart` - The `uart` parameter.
|
||||
/// * `wd` - The `wd` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `watchdog::WatchdogDriverState`.
|
||||
fn start_watchdog(uart: &EnabledUart, wd: &mut hal::Watchdog) -> watchdog::WatchdogDriverState {
|
||||
let mut state = watchdog::WatchdogDriverState::new(); state.enable(watchdog::DEFAULT_TIMEOUT_MS);
|
||||
watchdog_enable(wd, watchdog::DEFAULT_TIMEOUT_MS);
|
||||
let mut buf = [0u8; 64]; let n = watchdog::format_enabled(&mut buf, watchdog::DEFAULT_TIMEOUT_MS);
|
||||
uart.write_full_blocking(&buf[..n]); state
|
||||
}
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
//! Driver crate
|
||||
|
||||
#![deny(missing_docs)]
|
||||
#![deny(clippy::missing_docs_in_private_items)]
|
||||
#![cfg_attr(not(test), no_std)]
|
||||
pub mod watchdog;
|
||||
@@ -0,0 +1,102 @@
|
||||
//! Driver crate
|
||||
|
||||
#![deny(missing_docs)]
|
||||
#![deny(clippy::missing_docs_in_private_items)]
|
||||
|
||||
//! Implementation module
|
||||
//!
|
||||
//! **File:** `main.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.
|
||||
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
|
||||
// Board-level helpers: constants, type aliases, and init functions
|
||||
mod board;
|
||||
// Watchdog driver module — suppress warnings for unused public API functions
|
||||
|
||||
// Debugging output over RTT
|
||||
use defmt_rtt as _;
|
||||
// Panic handler for RISC-V targets
|
||||
#[cfg(target_arch = "riscv32")]
|
||||
// Import panic_halt as _
|
||||
use panic_halt as _;
|
||||
// Panic handler for ARM targets
|
||||
#[cfg(target_arch = "arm")]
|
||||
// Import panic_probe as _
|
||||
use panic_probe as _;
|
||||
// HAL entry-point macro
|
||||
use hal::entry;
|
||||
// Alias our HAL crate
|
||||
#[cfg(rp2350)]
|
||||
// Import rp235x_hal as hal
|
||||
use rp235x_hal as hal;
|
||||
#[cfg(rp2040)]
|
||||
// Import rp2040_hal as hal
|
||||
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 watchdog demo.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `!`.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `!`.
|
||||
#[entry]
|
||||
fn main() -> ! {
|
||||
board::run(hal::pac::Peripherals::take().unwrap())
|
||||
}
|
||||
|
||||
/// 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"Watchdog Feed Demo"),
|
||||
hal::binary_info::rp_cargo_homepage_url!(),
|
||||
hal::binary_info::rp_program_build_attribute!(),
|
||||
];
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
// Import all parent module items
|
||||
use super::*;
|
||||
}
|
||||
@@ -0,0 +1,486 @@
|
||||
//! Implementation module
|
||||
//!
|
||||
//! **File:** `watchdog.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.
|
||||
|
||||
/// Default watchdog timeout used in the C demo (3000 ms).
|
||||
pub const DEFAULT_TIMEOUT_MS: u32 = 3_000;
|
||||
|
||||
/// Feed interval used in the C demo (1000 ms).
|
||||
pub const FEED_INTERVAL_MS: u32 = 1_000;
|
||||
|
||||
/// Maximum hardware watchdog timeout in milliseconds (8388 ms).
|
||||
pub const MAX_TIMEOUT_MS: u32 = 8_388;
|
||||
|
||||
/// UART message for "Watchdog fed\r\n" matching the C demo output.
|
||||
pub const WATCHDOG_FED_MSG: &[u8] = b"Watchdog fed\r\n";
|
||||
|
||||
/// UART message for watchdog reboot detection.
|
||||
pub const REBOOT_MSG: &[u8] = b"System rebooted by watchdog timeout\r\n";
|
||||
|
||||
/// UART message for normal power-on reset.
|
||||
pub const NORMAL_RESET_MSG: &[u8] = b"Normal power-on reset\r\n";
|
||||
|
||||
/// Pure-logic watchdog driver state.
|
||||
///
|
||||
/// Tracks whether the watchdog has been enabled, its configured timeout,
|
||||
/// and the cumulative number of feeds. The actual hardware watchdog
|
||||
/// enable / feed / reboot-check calls live in `board.rs`.
|
||||
pub struct WatchdogDriverState {
|
||||
/// Whether the watchdog has been enabled.
|
||||
enabled: bool,
|
||||
/// Configured timeout in milliseconds.
|
||||
timeout_ms: u32,
|
||||
/// Number of times the watchdog has been fed.
|
||||
feed_count: u32,
|
||||
}
|
||||
|
||||
impl WatchdogDriverState {
|
||||
/// Create a new watchdog driver state (disabled, zero timeout).
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A `WatchdogDriverState` with the watchdog disabled.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A new instance of the struct.
|
||||
#[inline]
|
||||
pub fn new() -> Self {
|
||||
Self { enabled: false, timeout_ms: 0, feed_count: 0 }
|
||||
}
|
||||
|
||||
/// Enable the watchdog with the given timeout.
|
||||
///
|
||||
/// If the watchdog is already enabled, this updates the timeout and
|
||||
/// resets the feed count.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `timeout_ms` - Timeout in milliseconds (1–8388).
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `timeout_ms` - The `timeout_ms` parameter.
|
||||
#[inline]
|
||||
pub fn enable(&mut self, timeout_ms: u32) {
|
||||
self.enabled = true; self.timeout_ms = timeout_ms; self.feed_count = 0;
|
||||
}
|
||||
|
||||
/// Feed the watchdog, incrementing the feed counter.
|
||||
///
|
||||
/// Returns `true` if the watchdog is enabled and the feed was
|
||||
/// accepted, `false` if the watchdog is not enabled.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// `true` if the watchdog was fed, `false` otherwise.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// `true` if successful or set, `false` otherwise.
|
||||
#[inline]
|
||||
pub fn feed(&mut self) -> bool {
|
||||
if self.enabled { self.feed_count += 1; true } else { false }
|
||||
}
|
||||
|
||||
/// Check whether the watchdog is currently enabled.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// `true` if the watchdog has been enabled.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// `true` if successful or set, `false` otherwise.
|
||||
#[inline]
|
||||
pub fn is_enabled(&self) -> bool {
|
||||
self.enabled
|
||||
}
|
||||
|
||||
/// Return the configured timeout in milliseconds.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// The timeout value passed to `enable()`, or 0 if never enabled.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A 32-bit unsigned integer value.
|
||||
#[inline]
|
||||
pub fn timeout_ms(&self) -> u32 {
|
||||
self.timeout_ms
|
||||
}
|
||||
|
||||
/// Return the total number of times the watchdog has been fed.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Cumulative feed count since the last `enable()`.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A 32-bit unsigned integer value.
|
||||
#[inline]
|
||||
pub fn feed_count(&self) -> u32 {
|
||||
self.feed_count
|
||||
}
|
||||
}
|
||||
|
||||
/// Format the "Watchdog fed\r\n" message into `buf`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - Output buffer (must be >= 14 bytes).
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Number of bytes written.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
pub fn format_fed(buf: &mut [u8]) -> usize {
|
||||
let n = WATCHDOG_FED_MSG.len().min(buf.len());
|
||||
buf[..n].copy_from_slice(&WATCHDOG_FED_MSG[..n]); n
|
||||
}
|
||||
|
||||
/// Format the reset-reason message into `buf`.
|
||||
///
|
||||
/// If `caused_reboot` is `true`, writes `REBOOT_MSG`; otherwise writes
|
||||
/// `NORMAL_RESET_MSG`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - Output buffer.
|
||||
/// * `caused_reboot` - Whether the watchdog triggered the last reset.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Number of bytes written.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `caused_reboot` - The `caused_reboot` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
pub fn format_reset_reason(buf: &mut [u8], caused_reboot: bool) -> usize {
|
||||
let msg = if caused_reboot { REBOOT_MSG } else { NORMAL_RESET_MSG };
|
||||
let n = msg.len().min(buf.len()); buf[..n].copy_from_slice(&msg[..n]); n
|
||||
}
|
||||
|
||||
/// Format the "Watchdog enabled (XXXXs timeout). Feeding every 1s...\r\n"
|
||||
/// banner message into `buf`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - Output buffer (should be >= 64 bytes).
|
||||
/// * `timeout_ms` - Timeout in milliseconds.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Number of bytes written.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `timeout_ms` - The `timeout_ms` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
pub fn format_enabled(buf: &mut [u8], timeout_ms: u32) -> usize {
|
||||
let mut pos = copy_slice(buf, 0, b"Watchdog enabled (");
|
||||
pos += format_u32(&mut buf[pos..], timeout_ms / 1000);
|
||||
pos += copy_slice(buf, pos, b"s timeout). Feeding every 1s...\r\n"); pos
|
||||
}
|
||||
|
||||
/// Copy a byte slice into `buf` at the given offset, returning bytes written.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `offset` - The `offset` parameter.
|
||||
/// * `src` - The `src` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `offset` - The `offset` parameter.
|
||||
/// * `src` - The `src` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
fn copy_slice(buf: &mut [u8], offset: usize, src: &[u8]) -> usize {
|
||||
let n = src.len().min(buf.len().saturating_sub(offset));
|
||||
buf[offset..offset + n].copy_from_slice(&src[..n]); n
|
||||
}
|
||||
|
||||
/// Format zero into `buf`, returning 1 if the buffer is non-empty, else 0.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
fn format_zero(buf: &mut [u8]) -> usize {
|
||||
if !buf.is_empty() { buf[0] = b'0'; 1 } else { 0 }
|
||||
}
|
||||
|
||||
/// Format a `u32` as decimal ASCII into `buf`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - Output buffer.
|
||||
/// * `value` - The value to format.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Number of bytes written.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `value` - Value to use.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
pub fn format_u32(buf: &mut [u8], value: u32) -> usize {
|
||||
if value == 0 { return format_zero(buf); }
|
||||
let mut tmp = [0u8; 10]; let n = u32_to_digits_reversed(&mut tmp, value);
|
||||
reverse_copy(buf, &tmp, n); n
|
||||
}
|
||||
|
||||
/// Convert a u32 to reversed decimal digits in a temporary buffer.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `tmp` - The `tmp` parameter.
|
||||
/// * `value` - Value to use.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `tmp` - The `tmp` parameter.
|
||||
/// * `value` - Value to use.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// A value of type `usize`.
|
||||
#[inline]
|
||||
fn u32_to_digits_reversed(tmp: &mut [u8; 10], mut value: u32) -> usize {
|
||||
let mut i = 0usize;
|
||||
while value > 0 { tmp[i] = b'0' + (value % 10) as u8; value /= 10; i += 1; }
|
||||
i
|
||||
}
|
||||
|
||||
/// Copy digits from a reversed temporary buffer into the output buffer.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `tmp` - The `tmp` parameter.
|
||||
/// * `n` - Nibble or number.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `buf` - The `buf` parameter.
|
||||
/// * `tmp` - The `tmp` parameter.
|
||||
/// * `n` - Nibble or number.
|
||||
#[inline]
|
||||
fn reverse_copy(buf: &mut [u8], tmp: &[u8], n: usize) {
|
||||
let count = n.min(buf.len());
|
||||
for j in 0..count { buf[j] = tmp[n - 1 - j]; }
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
// Import all parent module items
|
||||
use super::*;
|
||||
|
||||
/// Executes the new state is disabled operation.
|
||||
#[test]
|
||||
fn new_state_is_disabled() {
|
||||
let state = WatchdogDriverState::new();
|
||||
assert!(!state.is_enabled());
|
||||
assert_eq!(state.timeout_ms(), 0);
|
||||
assert_eq!(state.feed_count(), 0);
|
||||
}
|
||||
|
||||
/// Executes the enable activates watchdog operation.
|
||||
#[test]
|
||||
fn enable_activates_watchdog() {
|
||||
let mut state = WatchdogDriverState::new();
|
||||
state.enable(3000);
|
||||
assert!(state.is_enabled());
|
||||
assert_eq!(state.timeout_ms(), 3000);
|
||||
assert_eq!(state.feed_count(), 0);
|
||||
}
|
||||
|
||||
/// Executes the feed increments count operation.
|
||||
#[test]
|
||||
fn feed_increments_count() {
|
||||
let mut state = WatchdogDriverState::new();
|
||||
state.enable(3000);
|
||||
assert!(state.feed());
|
||||
assert_eq!(state.feed_count(), 1);
|
||||
assert!(state.feed());
|
||||
assert_eq!(state.feed_count(), 2);
|
||||
}
|
||||
|
||||
/// Executes the feed returns false when disabled operation.
|
||||
#[test]
|
||||
fn feed_returns_false_when_disabled() {
|
||||
let mut state = WatchdogDriverState::new();
|
||||
assert!(!state.feed());
|
||||
assert_eq!(state.feed_count(), 0);
|
||||
}
|
||||
|
||||
/// Executes the enable resets feed count operation.
|
||||
#[test]
|
||||
fn enable_resets_feed_count() {
|
||||
let mut state = WatchdogDriverState::new();
|
||||
state.enable(3000);
|
||||
state.feed();
|
||||
state.feed();
|
||||
assert_eq!(state.feed_count(), 2);
|
||||
state.enable(5000);
|
||||
assert_eq!(state.feed_count(), 0);
|
||||
assert_eq!(state.timeout_ms(), 5000);
|
||||
}
|
||||
|
||||
/// Executes the default timeout matches c demo operation.
|
||||
#[test]
|
||||
fn default_timeout_matches_c_demo() {
|
||||
assert_eq!(DEFAULT_TIMEOUT_MS, 3000);
|
||||
}
|
||||
|
||||
/// Executes the feed interval matches c demo operation.
|
||||
#[test]
|
||||
fn feed_interval_matches_c_demo() {
|
||||
assert_eq!(FEED_INTERVAL_MS, 1000);
|
||||
}
|
||||
|
||||
/// Executes the max timeout is 8388 operation.
|
||||
#[test]
|
||||
fn max_timeout_is_8388() {
|
||||
assert_eq!(MAX_TIMEOUT_MS, 8388);
|
||||
}
|
||||
|
||||
/// Executes the format fed matches c output operation.
|
||||
#[test]
|
||||
fn format_fed_matches_c_output() {
|
||||
let mut buf = [0u8; 32];
|
||||
let n = format_fed(&mut buf);
|
||||
assert_eq!(&buf[..n], b"Watchdog fed\r\n");
|
||||
}
|
||||
|
||||
/// Executes the format reset reason watchdog operation.
|
||||
#[test]
|
||||
fn format_reset_reason_watchdog() {
|
||||
let mut buf = [0u8; 64];
|
||||
let n = format_reset_reason(&mut buf, true);
|
||||
assert_eq!(&buf[..n], b"System rebooted by watchdog timeout\r\n");
|
||||
}
|
||||
|
||||
/// Executes the format reset reason normal operation.
|
||||
#[test]
|
||||
fn format_reset_reason_normal() {
|
||||
let mut buf = [0u8; 64];
|
||||
let n = format_reset_reason(&mut buf, false);
|
||||
assert_eq!(&buf[..n], b"Normal power-on reset\r\n");
|
||||
}
|
||||
|
||||
/// Executes the format enabled 3s operation.
|
||||
#[test]
|
||||
fn format_enabled_3s() {
|
||||
let mut buf = [0u8; 64];
|
||||
let n = format_enabled(&mut buf, 3000);
|
||||
assert_eq!(
|
||||
&buf[..n],
|
||||
b"Watchdog enabled (3s timeout). Feeding every 1s...\r\n"
|
||||
);
|
||||
}
|
||||
|
||||
/// Executes the format enabled 5s operation.
|
||||
#[test]
|
||||
fn format_enabled_5s() {
|
||||
let mut buf = [0u8; 64];
|
||||
let n = format_enabled(&mut buf, 5000);
|
||||
assert_eq!(
|
||||
&buf[..n],
|
||||
b"Watchdog enabled (5s timeout). Feeding every 1s...\r\n"
|
||||
);
|
||||
}
|
||||
|
||||
/// Executes the format u32 zero operation.
|
||||
#[test]
|
||||
fn format_u32_zero() {
|
||||
let mut buf = [0u8; 16];
|
||||
let n = format_u32(&mut buf, 0);
|
||||
assert_eq!(&buf[..n], b"0");
|
||||
}
|
||||
|
||||
/// Executes the format u32 large value operation.
|
||||
#[test]
|
||||
fn format_u32_large_value() {
|
||||
let mut buf = [0u8; 16];
|
||||
let n = format_u32(&mut buf, 12345);
|
||||
assert_eq!(&buf[..n], b"12345");
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user