Added STM32F412G Discovery kit

Cargo.toml

@@ -19,6 +19,7 @@ members = [
     "boards/opentitan",
     "boards/redboard_artemis_nano",
     "boards/stm32f3discovery",
+    "boards/stm32f412gdiscovery",
     "capsules",
     "chips/apollo3",
     "chips/arty_e21_chip",
@@ -35,6 +36,7 @@ members = [
     "chips/stm32f303xc",
     "chips/stm32f429zi",
     "chips/stm32f446re",
+    "chips/stm32f412g",
     "chips/stm32f4xx",
     "kernel",
     "libraries/enum_primitive",

boards/README.md

@@ -16,6 +16,7 @@ that Tock supports.
 | [ST Nucleo F446RE](nucleo_f446re/README.md)                          | ARM Cortex-M4   | STM32F446      | openocd    | custom         |
 | [ST Nucleo F429ZI](nucleo_f429zi/README.md)                          | ARM Cortex-M4   | STM32F429      | openocd    | custom         |
 | [STM32F3Discovery kit](stm32f3discovery/README.md)                   | ARM Cortex-M4   | STM32F303VCT6  | openocd    | custom         |
+| [STM32F412G Discovery kit](stm32f412gdiscovery/README.md)            | ARM Cortex-M4   | STM32F412G     | openocd    | custom         |
 | [SparkFun RedBoard Artemis Nano](redboard_artemis_nano/README.md)    | ARM Cortex-M4   | Apollo3        | custom     | custom         |
 | [SiFive HiFive1](hifive1/README.md)                                  | RISC-V          | FE310-G000     | openocd    | tockloader     |
 | [Digilent Arty A-7 100T](arty_e21/README.md)                         | RISC-V RV32IMAC | SiFive E21     | openocd    | tockloader     |

boards/components/src/ft6206.rs

@@ -0,0 +1,63 @@
+//! Components for the Ft6206 Touch Panel.
+//!
+//! Usage
+//! -----
+//! ```rust
+//! let ft6206 = components::ft6206::Ft6206Component::new()
+//!    .finalize(components::ft6206_i2c_component_helper!(mux_i2c));
+
+//! ```
+use capsules::ft6206::Ft6206;
+use capsules::virtual_i2c::I2CDevice;
+use core::mem::MaybeUninit;
+use kernel::component::Component;
+use kernel::hil::gpio;
+use kernel::static_init_half;
+
+// Setup static space for the objects.
+#[macro_export]
+macro_rules! ft6206_i2c_component_helper {
+    ($i2c_mux: expr) => {{
+        use capsules::ft6206::Ft6206;
+        use capsules::virtual_i2c::I2CDevice;
+        use core::mem::MaybeUninit;
+        let i2c = components::i2c::I2CComponent::new($i2c_mux, 0x38)
+            .finalize(components::i2c_component_helper!());
+        static mut ft6206: MaybeUninit<Ft6206<'static>> = MaybeUninit::uninit();
+        (&i2c, &mut ft6206)
+    };};
+}
+
+pub struct Ft6206Component {
+    interupt_pin: &'static dyn gpio::InterruptPin,
+}
+
+impl Ft6206Component {
+    pub fn new(pin: &'static dyn gpio::InterruptPin) -> Ft6206Component {
+        Ft6206Component { interupt_pin: pin }
+    }
+}
+
+impl Component for Ft6206Component {
+    type StaticInput = (
+        &'static I2CDevice<'static>,
+        &'static mut MaybeUninit<Ft6206<'static>>,
+    );
+    type Output = &'static Ft6206<'static>;
+
+    unsafe fn finalize(self, static_buffer: Self::StaticInput) -> Self::Output {
+        let ft6206 = static_init_half!(
+            static_buffer.1,
+            Ft6206<'static>,
+            Ft6206::new(
+                static_buffer.0,
+                self.interupt_pin,
+                &mut capsules::ft6206::BUFFER
+            )
+        );
+        static_buffer.0.set_client(ft6206);
+        self.interupt_pin.set_client(ft6206);
+
+        ft6206
+    }
+}

boards/components/src/lib.rs

@@ -8,6 +8,7 @@ pub mod console;
 pub mod crc;
 pub mod debug_queue;
 pub mod debug_writer;
+pub mod ft6206;
 pub mod gpio;
 pub mod hd44780;
 pub mod hmac;

boards/stm32f412gdiscovery/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "stm32f412gdiscovery"
+version = "0.1.0"
+authors = ["Tock Project Developers <tock-dev@googlegroups.com>"]
+build = "build.rs"
+edition = "2018"
+
+[dependencies]
+components = { path = "../components" }
+cortexm4 = { path = "../../arch/cortex-m4" }
+capsules = { path = "../../capsules" }
+kernel = { path = "../../kernel" }
+stm32f412g = { path = "../../chips/stm32f412g" }

boards/stm32f412gdiscovery/Makefile

@@ -0,0 +1,26 @@
+# Makefile for building the tock kernel for the stm32412gdiscovery platform
+#
+TARGET=thumbv7em-none-eabi
+PLATFORM=stm32f412gdiscovery
+
+include ../Makefile.common
+
+OPENOCD=openocd
+OPENOCD_OPTIONS=-f openocd.cfg
+
+APP=../../../libtock-c/examples/buttons/build/cortex-m4/cortex-m4.tbf
+KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM).elf
+KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM)-app.elf
+
+.PHONY: flash-debug
+flash-debug: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
+	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $<; verify_image $<; reset; shutdown"
+
+.PHONY: flash
+flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
+	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $<; verify_image $<; reset; shutdown"
+
+.PHONY: program
+program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
+	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"

boards/stm32f412gdiscovery/README.md

@@ -0,0 +1,77 @@
+STM32F4 Discovery Kit with STM32F412G MCU
+======================================================
+
+For more details [visit STM32F412G Discovery Kit
+website](https://www.st.com/en/evaluation-tools/32f412gdiscovery.html).
+
+## Flashing the kernel
+
+The kernel can be programmed using OpenOCD. `cd` into `boards/discovery_f412g`
+directory and run:
+
+```bash
+$ make flash
+
+(or)
+
+$ make flash-debug
+```
+
+> **Note:** Unlike other Tock platforms, the default kernel image for this
+> board will clear flashed apps when the kernel is loaded. This is to support
+> the non-tockloader based app flash procedure below. To preserve loaded apps,
+> comment out the `APP_HACK` variable in `src/main.rs`.
+
+## Flashing app
+
+Apps are built out-of-tree. Once an app is built, you can use
+`arm-none-eabi-objcopy` with `--update-section` to create an ELF image with the
+apps included.
+
+```bash
+$ arm-none-eabi-objcopy  \
+    --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf \
+    target/thumbv7em-none-eabi/debug/discovery_f412g.elf \
+    target/thumbv7em-none-eabi/debug/discovery_f412g-app.elf
+```
+
+For example, you can update `Makefile` as follows.
+
+```
+APP=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf
+KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM).elf
+KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM)-app.elf
+
+.PHONY: program
+program: target/$(TARGET)/debug/$(PLATFORM).elf
+        arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+        $(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
+```
+
+After setting `APP`, `KERNEL`, `KERNEL_WITH_APP`, and `program` target
+dependency, you can do
+
+```bash
+$ make program
+```
+
+to flash the image.
+
+## OpenOCD Note
+The release version of openocd does not fully support stm32412g discovery kit. Uploading seems to work
+with the setup for nucelo429zi. The openocd.cfg file contains both setups, one being commented.
+
+To install an openocd that full supports stm32f412g you have to build openocd.
+
+```bash
+$ git clone --recursive https://git.code.sf.net/p/openocd/code openocd-code
+$ cd openocd-code
+$ git fetch http://openocd.zylin.com/openocd refs/changes/21/4321/7 && git cherry-pick FETCH_HEAD
+$ ./bootstrap
+$ ./configure --disable-werror
+$ make
+# optinally use sudo make install
+```
+
+> Please note that you may have some conflicts in a file containing a list of 
+> sources when patching. Accept both changes.

boards/stm32f412gdiscovery/build.rs

@@ -0,0 +1,5 @@
+fn main() {
+    println!("cargo:rerun-if-changed=layout.ld");
+    println!("cargo:rerun-if-changed=chip_layout.ld");
+    println!("cargo:rerun-if-changed=../kernel_layout.ld");
+}

boards/stm32f412gdiscovery/chip_layout.ld

@@ -0,0 +1,14 @@
+/* Memory layout for the STM32F412G
+ * rom = 1MB (LENGTH = 0x01000000)
+ * kernel = 256KB
+ * user = 256KB
+ * ram = 256KB */
+
+MEMORY
+{
+  rom (rx)  : ORIGIN = 0x08000000, LENGTH = 0x00040000
+  prog (rx) : ORIGIN = 0x08040000, LENGTH = 0x00040000
+  ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x0003FFFF
+}
+
+MPU_MIN_ALIGN = 8K;

boards/stm32f412gdiscovery/layout.ld

@@ -0,0 +1,2 @@
+INCLUDE ./chip_layout.ld
+INCLUDE ../kernel_layout.ld

boards/stm32f412gdiscovery/openocd.cfg

@@ -0,0 +1,21 @@
+#interface
+interface hla
+hla_layout stlink
+hla_device_desc "ST-LINK/V2-1"
+hla_vid_pid 0x0483 0x374b
+
+set WORKAREASIZE 0x40000
+
+source [find target/stm32f4x.cfg]
+
+# patched openocd
+# this setup requires a patched version of openocd that fully supports stm32f412g-disco
+
+# #interface
+# source [find board/stm32f412g-disco.cfg]
+# source [find interface/stlink.cfg]
+# hla_serial "\x30\x36\x37\x31\x46\x46\x33\x33\x33\x30\x33\x36\x34\x33\x34\x42\x34\x33\x30\x37\x33\x30\x30\x39"
+
+# set WORKAREASIZE 0x40000
+
+

boards/stm32f412gdiscovery/src/io.rs

@@ -0,0 +1,79 @@
+use core::fmt::Write;
+use core::panic::PanicInfo;
+
+use cortexm4;
+
+use kernel::debug;
+use kernel::debug::IoWrite;
+use kernel::hil::led;
+use kernel::hil::uart;
+use kernel::hil::uart::Configure;
+
+use stm32f412g;
+use stm32f412g::gpio::PinId;
+
+use crate::CHIP;
+use crate::PROCESSES;
+
+/// Writer is used by kernel::debug to panic message to the serial port.
+pub struct Writer {
+    initialized: bool,
+}
+
+/// Global static for debug writer
+pub static mut WRITER: Writer = Writer { initialized: false };
+
+impl Writer {
+    /// Indicate that USART has already been initialized. Trying to double
+    /// initialize USART2 causes STM32F412G to go into in in-deterministic state.
+    pub fn set_initialized(&mut self) {
+        self.initialized = true;
+    }
+}
+
+impl Write for Writer {
+    fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
+        self.write(s.as_bytes());
+        Ok(())
+    }
+}
+
+impl IoWrite for Writer {
+    fn write(&mut self, buf: &[u8]) {
+        let uart = unsafe { &mut stm32f412g::usart::USART2 };
+
+        if !self.initialized {
+            self.initialized = true;
+
+            uart.configure(uart::Parameters {
+                baud_rate: 115200,
+                stop_bits: uart::StopBits::One,
+                parity: uart::Parity::None,
+                hw_flow_control: false,
+                width: uart::Width::Eight,
+            });
+        }
+
+        for &c in buf {
+            uart.send_byte(c);
+        }
+    }
+}
+
+/// Panic handler.
+#[no_mangle]
+#[panic_handler]
+pub unsafe extern "C" fn panic_fmt(info: &PanicInfo) -> ! {
+    // User LD2 is connected to PB07
+    let led = &mut led::LedHigh::new(PinId::PE02.get_pin_mut().as_mut().unwrap());
+    let writer = &mut WRITER;
+
+    debug::panic(
+        &mut [led],
+        writer,
+        info,
+        &cortexm4::support::nop,
+        &PROCESSES,
+        &CHIP,
+    )
+}