Merge #2200 #2216

2200: Add Teensy 4 board r=bradjc a=mciantyre

### Pull Request Overview

The PR proposes Tock support for the Teensy 4. As of this PR, the Tock kernel, and a variety of small examples, can run on [Teensy 4.0][teensy40] and [Teensy 4.1][teensy41] development boards. The PR builds on the i.MX RT chip foundation added in #1918.

[teensy40]: https://www.pjrc.com/store/teensy40.html
[teensy41]: https://www.pjrc.com/store/teensy41.html

The board makes use of

- the LED on pin 13
- UART2 on pins 14 and 15
- GPT1 as an alarm

The Teensy 4 boards use i.MX RT **1062** chips. Given our current chip features, the 1060 chip family is identical to the 1050 chip family. Before integrating the Teensy 4 board, I *renamed `chips/imxrt1050` to `chips/imxrt10xx`*. I updated the `imxrt1050-evkb` board to use the renamed crate.

Additional changes to the i.MX RT chip crate include

- adding a LPUART2 peripheral
- renaming the `gpt1` module to `gpt`, and adding `GPT2`
- supporting periodic clock selection, allowing a user to select the static crystal oscillator as the GPT clock source

Changes to the chip crate should be backwards compatible for `imxrt1050-evkb` users. Let me know if we see an issue.

### Testing Strategy

I tested the PR by running `blink` and `console` libtock-c examples on both a Teensy 4.0 and 4.1 board. I repackaged the examples [here](https://github.com/mciantyre/tock-teensy4-apps).

The PR was **not** tested on an NXP i.MX RT 1050 evaluation board; I don't have that hardware.

### TODO or Help Wanted

This pull request may be tested on a 1050 evaluation board. @valexandru, if you have an opportunity to test this work and review these changes, I'd appreciate it!

This PR does not address any of the TODOs noted in #1918. In particular, the `imxrt10xx` chip still does not use the new peripheral instantiation approach (#2069). If this is still TODO and not urgent, I'm happy to support that cleanup in a separate PR.

This Teensy 4 support was based on a different chip implementation. That chip implementation supported DMA, and a UART driver that used DMA. If we see value in a DMA driver for i.MX RT chips, I'm happy to contribute the driver.

### Documentation Updated

- [x] ~~Updated the relevant files in `/docs`~~, or **no updates are required**

I've added documentation in `boards/teensy4`. The documentation

- lists the tools that you need to program a Teensy 4
- how to build the kernel and apps
- how to convert the program to a HEX file, which is necessary to program a board

### Formatting

- [x] Ran `make prepush`.

### New Platform Checklist

- [x] Hardware is widely available.
- [x] I can support the platform, which includes release testing for the platform, at least initially.
- Basic features are implemented:
  - [x] `Console`, including `debug!()` and userspace `printf()`.
  - [x] Timers.
  - [x] GPIO with interrupts.

I assume the basic chip features were provided by #1918. Let me know if we need to make all three features available through the board. As of this writing, the Teensy 4 board does not expose an input GPIO that responds to an interrupt.


2216: add 15.4 and ble to nano33ble r=bradjc a=hudson-ayers

### Pull Request Overview

This pull request adds the 15.4 and BLE drivers to the nano33ble, rather than leaving support as commented out, as the comments had already fallen out-of-date.


### Testing Strategy

BLE was tested using the `ble_advertising` and `ble_passive_scanning` apps in `libtock-c`.

15.4 was tested using the `radio_tx` and `radio_rx` apps in `libtock-c` and sending messages back and forth with an nrf52840-dk.

### TODO or Help Wanted

N/A

### Documentation Updated

- [x] No updates are required.

### Formatting

- [x] Ran `make prepush`.


Co-authored-by: Ian McIntyre <ianpmcintyre@gmail.com>
Co-authored-by: Hudson Ayers <hayers@stanford.edu>
Co-authored-by: Hudson Ayers <32688905+hudson-ayers@users.noreply.github.com>

Cargo.toml

@@ -23,14 +23,14 @@ members = [
     "boards/redboard_artemis_nano",
     "boards/stm32f3discovery",
     "boards/stm32f412gdiscovery",
+    "boards/teensy40",
     "boards/nano33ble",
     "capsules",
     "chips/apollo3",
     "chips/arty_e21_chip",
     "chips/e310x",
-    "chips/imxrt1050",
     "chips/earlgrey",
-    "chips/imxrt1050",
+    "chips/imxrt10xx",
     "chips/lowrisc",
     "chips/msp432",
     "chips/nrf52",

arch/cortex-m7/src/lib.rs

@@ -20,6 +20,7 @@ pub use cortexm::svc_handler;
 pub use cortexm::syscall;
 pub use cortexm::systick;
 pub use cortexm::systick_handler;
+pub use cortexm::unhandled_interrupt;
 
 /// Provide a `switch_to_user` function with exactly that name for syscall.rs.
 #[cfg(all(target_arch = "arm", target_os = "none"))]

boards/README.md

@@ -20,6 +20,7 @@ that Tock supports.
 | [STM32F412G Discovery kit](stm32f412gdiscovery/README.md)            | ARM Cortex-M4   | STM32F412G     | openocd    | custom         | #1827             |
 | [SparkFun RedBoard Artemis Nano](redboard_artemis_nano/README.md)    | ARM Cortex-M4   | Apollo3        | custom     | custom         | No                |
 | [i.MX RT 1052 Evaluation Kit](imxrt1050-evkb/README.md)              | ARM Cortex-M7   | i.MX RT 1052   | custom     | custom         | No                |
+| [Teensy 4.0](teensy40/README.md)                                     | ARM Cortex-M7   | i.MX RT 1062   | custom     | custom         | No                |
 | [SiFive HiFive1](hifive1/README.md)                                  | RISC-V          | FE310-G000     | openocd    | tockloader     | [Yes (5.1)][qemu] |
 | [Digilent Arty A-7 100T](arty_e21/README.md)                         | RISC-V RV32IMAC | SiFive E21     | openocd    | tockloader     | No                |
 | [Earlgrey on Nexys Video](earlgrey_nexysvideo/README.md)             | RISC-V RV32IMC  | EarlGrey       | custom     | custom         | [Yes (5.1)][qemu] |

boards/imxrt1050-evkb/Cargo.toml

@@ -10,4 +10,4 @@ components = { path = "../components" }
 cortexm7 = { path = "../../arch/cortex-m7" }
 capsules = { path = "../../capsules" }
 kernel = { path = "../../kernel" }
-imxrt1050 = { path = "../../chips/imxrt1050" }
+imxrt10xx = { path = "../../chips/imxrt10xx" }

boards/imxrt1050-evkb/src/io.rs

@@ -7,7 +7,7 @@ use kernel::hil::led;
 use kernel::hil::uart;
 use kernel::hil::uart::Configure;
 
-use imxrt1050;
+use crate::imxrt1050;
 use imxrt1050::gpio::PinId;
 
 use crate::CHIP;

boards/imxrt1050-evkb/src/main.rs

@@ -19,7 +19,6 @@ use kernel::{create_capability, static_init};
 
 // use components::fxos8700::Fxos8700Component;
 // use components::ninedof::NineDofComponent;
-
 use imxrt1050::iomuxc::DriveStrength;
 use imxrt1050::iomuxc::MuxMode;
 use imxrt1050::iomuxc::OpenDrainEn;
@@ -28,6 +27,7 @@ use imxrt1050::iomuxc::PullKeepEn;
 use imxrt1050::iomuxc::PullUpDown;
 use imxrt1050::iomuxc::Sion;
 use imxrt1050::iomuxc::Speed;
+use imxrt10xx as imxrt1050;
 
 // Unit Tests for drivers.
 // #[allow(dead_code)]
@@ -45,7 +45,7 @@ const NUM_PROCS: usize = 1;
 // Actual memory for holding the active process structures.
 static mut PROCESSES: [Option<&'static dyn kernel::procs::ProcessType>; NUM_PROCS] = [None];
 
-static mut CHIP: Option<&'static imxrt1050::chip::Imxrt1050> = None;
+static mut CHIP: Option<&'static imxrt1050::chip::Imxrt10xx> = None;
 
 // How should the kernel respond when a process faults.
 const FAULT_RESPONSE: kernel::procs::FaultResponse = kernel::procs::FaultResponse::Panic;
@@ -67,7 +67,7 @@ pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
 struct Imxrt1050EVKB {
     alarm: &'static capsules::alarm::AlarmDriver<
         'static,
-        VirtualMuxAlarm<'static, imxrt1050::gpt1::Gpt1<'static>>,
+        VirtualMuxAlarm<'static, imxrt1050::gpt::Gpt1<'static>>,
     >,
     button: &'static capsules::button::Button<'static, imxrt1050::gpio::Pin<'static>>,
     console: &'static capsules::console::Console<'static>,
@@ -163,14 +163,15 @@ unsafe fn set_pin_primary_functions() {
 
 /// Helper function for miscellaneous peripheral functions
 unsafe fn setup_peripherals() {
-    use imxrt1050::gpt1::GPT1;
+    use imxrt1050::ccm::CCM;
+    use imxrt1050::gpt::GPT1;
 
     // LPUART1 IRQn is 20
     cortexm7::nvic::Nvic::new(imxrt1050::nvic::LPUART1).enable();
 
     // TIM2 IRQn is 28
     GPT1.enable_clock();
-    GPT1.start();
+    GPT1.start(CCM.perclk_sel(), CCM.perclk_divider());
     cortexm7::nvic::Nvic::new(imxrt1050::nvic::GPT1).enable();
 }
 
@@ -201,8 +202,8 @@ pub unsafe fn reset_handler() {
     DynamicDeferredCall::set_global_instance(dynamic_deferred_caller);
 
     let chip = static_init!(
-        imxrt1050::chip::Imxrt1050,
-        imxrt1050::chip::Imxrt1050::new()
+        imxrt1050::chip::Imxrt10xx,
+        imxrt1050::chip::Imxrt10xx::new()
     );
     CHIP = Some(chip);
 
@@ -298,13 +299,13 @@ pub unsafe fn reset_handler() {
     .finalize(components::button_component_buf!(imxrt1050::gpio::Pin));
 
     // ALARM
-    let gpt1 = &imxrt1050::gpt1::GPT1;
+    let gpt1 = &imxrt1050::gpt::GPT1;
     let mux_alarm = components::alarm::AlarmMuxComponent::new(gpt1).finalize(
-        components::alarm_mux_component_helper!(imxrt1050::gpt1::Gpt1),
+        components::alarm_mux_component_helper!(imxrt1050::gpt::Gpt1),
     );
 
     let alarm = components::alarm::AlarmDriverComponent::new(board_kernel, mux_alarm)
-        .finalize(components::alarm_component_helper!(imxrt1050::gpt1::Gpt1));
+        .finalize(components::alarm_component_helper!(imxrt1050::gpt::Gpt1));
 
     // GPIO
     // For now we expose only two pins

boards/nano33ble/src/main.rs

@@ -59,6 +59,9 @@ const I2C_PULLUP_PIN: Pin = Pin::P1_00;
 /// Interrupt pin for the APDS9960 sensor.
 const APDS9960_PIN: Pin = Pin::P0_19;
 
+/// Personal Area Network ID for the IEEE 802.15.4 radio
+const PAN_ID: u16 = 0xABCD;
+
 /// UART Writer for panic!()s.
 pub mod io;
 
@@ -84,12 +87,12 @@ pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
 
 /// Supported drivers by the platform
 pub struct Platform {
-    // ble_radio: &'static capsules::ble_advertising_driver::BLE<
-    //     'static,
-    //     nrf52::ble_radio::Radio,
-    //     VirtualMuxAlarm<'static, Rtc<'static>>,
-    // >,
-    // ieee802154_radio: &'static capsules::ieee802154::RadioDriver<'static>,
+    ble_radio: &'static capsules::ble_advertising_driver::BLE<
+        'static,
+        nrf52::ble_radio::Radio<'static>,
+        capsules::virtual_alarm::VirtualMuxAlarm<'static, nrf52::rtc::Rtc<'static>>,
+    >,
+    ieee802154_radio: &'static capsules::ieee802154::RadioDriver<'static>,
     console: &'static capsules::console::Console<'static>,
     proximity: &'static capsules::proximity::ProximitySensor<'static>,
     gpio: &'static capsules::gpio::GPIO<'static, nrf52::gpio::GPIOPin<'static>>,
@@ -114,8 +117,8 @@ impl kernel::Platform for Platform {
             capsules::alarm::DRIVER_NUM => f(Some(self.alarm)),
             capsules::led::DRIVER_NUM => f(Some(self.led)),
             capsules::rng::DRIVER_NUM => f(Some(self.rng)),
-            // capsules::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
-            // capsules::ieee802154::DRIVER_NUM => f(Some(radio)),
+            capsules::ble_advertising_driver::DRIVER_NUM => f(Some(self.ble_radio)),
+            capsules::ieee802154::DRIVER_NUM => f(Some(self.ieee802154_radio)),
             kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
             _ => f(None),
         }
@@ -315,16 +318,23 @@ pub unsafe fn reset_handler() {
     // WIRELESS
     //--------------------------------------------------------------------------
 
-    // let ble_radio =
-    //     BLEComponent::new(board_kernel, &base_peripherals.ble_radio, mux_alarm).finalize(());
+    let ble_radio =
+        nrf52_components::BLEComponent::new(board_kernel, &base_peripherals.ble_radio, mux_alarm)
+            .finalize(());
 
-    // let (ieee802154_radio, _) = Ieee802154Component::new(
-    //     board_kernel,
-    //     &base_peripherals.ieee802154_radio,
-    //     PAN_ID,
-    //     SRC_MAC,
-    // )
-    // .finalize(());
+    let serial_num = nrf52840::ficr::FICR_INSTANCE.address();
+    let serial_num_bottom_16 = u16::from_le_bytes([serial_num[0], serial_num[1]]);
+    let (ieee802154_radio, _mux_mac) = components::ieee802154::Ieee802154Component::new(
+        board_kernel,
+        &base_peripherals.ieee802154_radio,
+        &base_peripherals.ecb,
+        PAN_ID,
+        serial_num_bottom_16,
+    )
+    .finalize(components::ieee802154_component_helper!(
+        nrf52840::ieee802154_radio::Radio,
+        nrf52840::aes::AesECB<'static>
+    ));
 
     //--------------------------------------------------------------------------
     // FINAL SETUP AND BOARD BOOT
@@ -335,8 +345,8 @@ pub unsafe fn reset_handler() {
     nrf52_components::NrfClockComponent::new().finalize(());
 
     let platform = Platform {
-        // ble_radio: ble_radio,
-        // ieee802154_radio: ieee802154_radio,
+        ble_radio: ble_radio,
+        ieee802154_radio: ieee802154_radio,
         console: console,
         proximity: proximity,
         led: led,

boards/teensy40/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "teensy40"
+version = "0.1.0"
+authors = ["Tock Project Developers <tock-dev@googlegroups.com>"]
+build = "build.rs"
+edition = "2018"
+
+[dependencies]
+components = { path = "../components" }
+cortexm7 = { path = "../../arch/cortex-m7" }
+capsules = { path = "../../capsules" }
+kernel = { path = "../../kernel" }
+imxrt10xx = { path = "../../chips/imxrt10xx" }

boards/teensy40/Makefile

@@ -0,0 +1,31 @@
+# Makefile for building the tock kernel for the Teensy 4
+
+TARGET=thumbv7em-none-eabi
+PLATFORM=teensy40
+
+include ../Makefile.common
+
+%.hex: %.elf
+	$(Q)$(OBJCOPY) -O ihex $< $@
+
+kernel: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
+
+.PHONY: program
+program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).hex
+	$(Q)teensy_loader_cli --mcu=TEENSY40 -w -v $<
+
+# Unsupported; there's no easily-accessible JTAG interface
+.PHONY: flash
+flash:
+	echo "Use 'make program' to program the Teensy 4"
+	exit 1
+
+# For testing with a blinky LED
+BLINK=../../../libtock-c/examples/blink/build/cortex-m7/cortex-m7.tbf
+app.elf: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
+	$(Q)arm-none-eabi-objcopy --update-section .apps=$(BLINK) $< $@
+
+app: app.elf
+	$(Q)$(OBJCOPY) -O ihex $< $@
+	teensy_loader_cli --mcu=TEENSY40 -w -v $@
+	$(Q)rm $@ $<

boards/teensy40/README.md

@@ -0,0 +1,80 @@
+Teensy 4.0 Development Board
+============================
+
+The `teensy40` board supports the Teensy **4.0** development board.
+For more information, visit the
+[Teensy 4.0 Development Board](https://www.pjrc.com/store/teensy40.html)
+product page.
+
+The board may suffice for the [Teensy **4.1** development board](t41), which
+shares common pins and a larger amount of flash memory. However, the board
+will not contain features that are only available on the Teensy 4.1 development
+board, such as extended flash memory and RAM, an on-board SD card, or ethernet.
+
+[t41]: https://www.pjrc.com/store/teensy41.html
+
+Programming Dependencies
+------------------------
+
+Before attempting to program your Teensy 4.0 with Tock and Tock apps, make sure
+that you have either
+
+- a build of [`teensy_loader_cli`](https://github.com/PaulStoffregen/teensy_loader_cli), or
+- the [Teensy Loader Application](https://www.pjrc.com/teensy/loader.html)
+
+If you're already familiar with programming the Teensy with Arduino tools,
+the Teensy Loader Application is already bundled with the Teensyduino add-ons
+that you may already be using.
+
+Programming
+-----------
+
+From this directory, build the Tock kernel for the Teensy 4:
+
+```bash
+$ make
+```
+
+Build Tock apps out of tree. Once you've built an app, use
+`arm-none-eabi-objcopy` with `--update-section` to create an ELF image that
+includes your app(s). The example below combines a prebuilt `blink` example
+with the Teensy 4 Tock kernel.
+
+```bash
+$ arm-none-eabi-objcopy \
+    --update-section .apps=../../../libtock-c/examples/blink/build/cortex-m7/cortex-m7.tbf \
+    ../../target/thumbv7em-none-eabi/release/teensy40.elf \
+    ../../target/thumbv7em-none-eabi/release/teensy40-app.elf
+```
+
+Once you've created a single ELF image, use `arm-none-eabi-objcopy` to turn
+that into HEX:
+
+```bash
+$ arm-none-eabi-objcopy -O ihex \
+    ../../target/thumbv7em-none-eabi/release/teensy40-app.elf \
+    ../../target/thumbv7em-none-eabi/release/teensy40-app.hex
+```
+
+Finally, use a Teensy programmer to flash `teensy40-app.hex` to your board!
+
+```bash
+$ teensy_loader_cli -w -v --mcu=TEENSY40 target/thumbv7em-none-eabi/release/teensy40-app.hex
+```
+
+Use the example `Makefile` below to create a build and flash workflow:
+
+```Makefile
+APP=../../../libtock-c/examples/blink/build/cortex-m7/cortex-m7.tbf
+KERNEL=$(TOCK_ROOT_DIRECTORY)/target/teensy40/release/teensy40.elf
+KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/teensy40/release/teensy40-app.elf
+KERNEL_WITH_APP_HEX=$(TOCK_ROOT_DIRECTORY)/target/teensy40/release/teensy40-app.hex
+
+.PHONY: program
+program: target/thumbv7em-none-eabi/release/teensy40.elf
+	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	arm-none-eabi-objcopy -O ihex $(KENERL_WITH_APP) $(KERNEL_WITH_APP_HEX)
+    teensy_loader_cli -w -v --mcu=TEENSY40 $(KERNEL_WITH_APP_HEX)
+```
+
+For another example, see [`Makefile`](./Makefile).

boards/teensy40/build.rs

@@ -0,0 +1,4 @@
+fn main() {
+    println!("cargo:rerun-if-changed=layout.ld");
+    println!("cargo:rerun-if-changed=../kernel_layout.ld");
+}