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for nrf52840 mdk usb dongle, make tock os started at 0x1000
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@xiongyihui
xiongyihui committed Feb 4, 2020
1 parent 2e2250d commit 84ca214
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Showing 2 changed files with 46 additions and 123 deletions.
13 changes: 13 additions & 0 deletions patches/tock/05-vtor.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
diff --git a/arch/cortex-m/src/scb.rs b/arch/cortex-m/src/scb.rs
index 8107f165..bf96e47c 100644
--- a/arch/cortex-m/src/scb.rs
+++ b/arch/cortex-m/src/scb.rs
@@ -54,3 +54,8 @@ pub unsafe fn reset() {
let reset = (0x5FA << 16) | (aircr & (0x7 << 8)) | (1 << 2);
SCB.aircr.set(reset);
}
+
+/// relocate interrupt vector table
+pub unsafe fn set_vector_table_offset(offset: u32) {
+ SCB.vtor.set(offset);
+}
156 changes: 33 additions & 123 deletions ...hes/tock/05-nrf52840-mdk-usb-dongle.patch → ...hes/tock/06-nrf52840-mdk-usb-dongle.patch
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Original file line number Diff line number Diff line change
@@ -1,24 +1,11 @@
diff --git a/arch/cortex-m/src/scb.rs b/arch/cortex-m/src/scb.rs
index 8107f165..bf96e47c 100644
--- a/arch/cortex-m/src/scb.rs
+++ b/arch/cortex-m/src/scb.rs
@@ -54,3 +54,8 @@ pub unsafe fn reset() {
let reset = (0x5FA << 16) | (aircr & (0x7 << 8)) | (1 << 2);
SCB.aircr.set(reset);
}
+
+/// Software reset using the ARM System Control Block
+pub unsafe fn set_vector_table_offset(offset: u32) {
+ SCB.vtor.set(offset);
+}
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/Cargo.toml b/boards/nordic/nrf52840_mdk_usb_dongle/Cargo.toml
new file mode 100644
index 00000000..5b633ffb
index 00000000..3da9792f
--- /dev/null
+++ b/boards/nordic/nrf52840_mdk_usb_dongle/Cargo.toml
@@ -0,0 +1,26 @@
+[package]
+name = "nrf52840_dongle"
+name = "nrf52840_mdk_usb_dongle"
+version = "0.1.0"
+authors = ["Tock Project Developers <[email protected]>"]
+build = "build.rs"
Expand All @@ -45,46 +32,33 @@ index 00000000..5b633ffb
+nrf52dk_base = { path = "../nrf52dk_base" }
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/Makefile b/boards/nordic/nrf52840_mdk_usb_dongle/Makefile
new file mode 100644
index 00000000..e8359b93
index 00000000..227e7bff
--- /dev/null
+++ b/boards/nordic/nrf52840_mdk_usb_dongle/Makefile
@@ -0,0 +1,36 @@
@@ -0,0 +1,23 @@
+# Makefile for building the tock kernel for the nRF development kit
+
+TOCK_ARCH=cortex-m4
+TARGET=thumbv7em-none-eabi
+PLATFORM=nrf52840_dongle
+PLATFORM=nrf52840_mdk_usb_dongle
+
+include ../../Makefile.common
+
+TOCKLOADER=tockloader
+
+# Where in the nrf52 flash to load the kernel with `tockloader`
+KERNEL_ADDRESS=0x00000
+
+# Upload programs over uart with tockloader
+ifdef PORT
+ TOCKLOADER_GENERAL_FLAGS += --port $(PORT)
+endif
+
+TOCKLOADER_JTAG_FLAGS = --jlink --board nrf52dk
+target/$(TARGET)/release/$(PLATFORM).hex: target/$(TARGET)/release/$(PLATFORM).elf
+ #$(Q)$(OBJCOPY) --output-target=ihex $^ $@ # llvm-objcopy generates a different hex file
+ $(Q)objcopy --output-target=ihex $^ $@
+
+# Upload the kernel
+.PHONY: flash
+flash: target/$(TARGET)/release/$(PLATFORM).bin target/$(TARGET)/release/$(PLATFORM).hex
+ $(warning Todo, see https://wiki.makerdiary.com/nrf52840-mdk-usb-dongle/programming/)
+
+# $(TOCKLOADER) $(TOCKLOADER_GENERAL_FLAGS) flash --address $(KERNEL_ADDRESS) $(TOCKLOADER_JTAG_FLAGS) $<
+
+target/$(TARGET)/release/$(PLATFORM).hex: target/$(TARGET)/release/$(PLATFORM).elf
+ $(Q)$(OBJCOPY) --output-target=ihex $^ $@
+
+flash: target/$(TARGET)/release/$(PLATFORM).hex
+ $(Q)echo "The kernel is at $(realpath $<)"
+ $(warning Todo - flash the kernel, see https://wiki.makerdiary.com/nrf52840-mdk-usb-dongle/programming/)
+
+# Upload the kernel over serial/bootloader
+.PHONY: program
+program: target/$(TARGET)/release/$(PLATFORM).hex
+ $(warning Todo, see https://wiki.makerdiary.com/nrf52840-mdk-usb-dongle/programming/)
+
+ $(Q)echo "The kernel is at $(realpath $<)"
+ $(warning Todo - flash the kernel, see https://wiki.makerdiary.com/nrf52840-mdk-usb-dongle/programming/)
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/README.md b/boards/nordic/nrf52840_mdk_usb_dongle/README.md
new file mode 100644
index 00000000..d451fa23
Expand Down Expand Up @@ -123,44 +97,6 @@ index 00000000..1fdd4924
+ println!("cargo:rerun-if-changed=layout.ld");
+ println!("cargo:rerun-if-changed=../../kernel_layout.ld");
+}
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/jtag/gdbinit_pca10040.jlink b/boards/nordic/nrf52840_mdk_usb_dongle/jtag/gdbinit_pca10040.jlink
new file mode 100644
index 00000000..9e217c5b
--- /dev/null
+++ b/boards/nordic/nrf52840_mdk_usb_dongle/jtag/gdbinit_pca10040.jlink
@@ -0,0 +1,25 @@
+#
+#
+#
+# J-LINK GDB SERVER initialization
+#
+# This connects to a GDB Server listening
+# for commands on localhost at tcp port 2331
+target remote localhost:2331
+monitor speed 30
+file ../target/thumbv7em-none-eabi/release/nrf52840_dongle
+monitor reset
+#
+# CPU core initialization (to be done by user)
+#
+# Set the processor mode
+# monitor reg cpsr = 0xd3
+# Set auto JTAG speed
+monitor speed auto
+# Setup GDB FOR FASTER DOWNLOADS
+set remote memory-write-packet-size 1024
+set remote memory-write-packet-size fixed
+# tui enable
+# layout split
+# layout service_pending_interrupts
+b reset_handler
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/jtag/jdbserver_pca10040.sh b/boards/nordic/nrf52840_mdk_usb_dongle/jtag/jdbserver_pca10040.sh
new file mode 100755
index 00000000..1c9cd9b2
--- /dev/null
+++ b/boards/nordic/nrf52840_mdk_usb_dongle/jtag/jdbserver_pca10040.sh
@@ -0,0 +1 @@
+JLinkGDBServer -device nRF52840_xxAA -speed 1200 -if swd -AutoConnect 1 -port 2331
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/layout.ld b/boards/nordic/nrf52840_mdk_usb_dongle/layout.ld
new file mode 100644
index 00000000..58c85f5b
Expand All @@ -179,7 +115,7 @@ index 00000000..58c85f5b
+INCLUDE ../../kernel_layout.ld
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/src/io.rs b/boards/nordic/nrf52840_mdk_usb_dongle/src/io.rs
new file mode 100644
index 00000000..2c44dc24
index 00000000..fae889b1
--- /dev/null
+++ b/boards/nordic/nrf52840_mdk_usb_dongle/src/io.rs
@@ -0,0 +1,57 @@
Expand Down Expand Up @@ -235,18 +171,18 @@ index 00000000..2c44dc24
+/// Panic handler
+pub unsafe extern "C" fn panic_fmt(pi: &PanicInfo) -> ! {
+ // The nRF52840 Dongle LEDs (see back of board)
+ const LED1_PIN: Pin = Pin::P0_06;
+ let led = &mut led::LedLow::new(&mut nrf52840::gpio::PORT[LED1_PIN]);
+ const LED1_R_PIN: Pin = Pin::P0_23;
+ let led = &mut led::LedLow::new(&mut nrf52840::gpio::PORT[LED1_R_PIN]);
+ let writer = &mut WRITER;
+ debug::panic(&mut [led], writer, pi, &cortexm4::support::nop, &PROCESSES)
+}
diff --git a/boards/nordic/nrf52840_mdk_usb_dongle/src/main.rs b/boards/nordic/nrf52840_mdk_usb_dongle/src/main.rs
new file mode 100644
index 00000000..0e92473c
index 00000000..93da7ff6
--- /dev/null
+++ b/boards/nordic/nrf52840_mdk_usb_dongle/src/main.rs
@@ -0,0 +1,149 @@
+//! Tock kernel for the Nordic Semiconductor nRF52840 dongle.
@@ -0,0 +1,123 @@
+//! Tock kernel for the Makerdiary nRF52840 MDK USB Dongle.
+//!
+//! It is based on nRF52840 SoC (Cortex M4 core with a BLE transceiver) with
+//! many exported I/O and peripherals.
Expand All @@ -263,10 +199,9 @@ index 00000000..0e92473c
+use nrf52dk_base::{SpiPins, UartChannel, UartPins};
+
+// The nRF52840 MDK USB Dongle LEDs
+const LED1_PIN: Pin = Pin::P0_08; // not connected to a LED
+const LED2_R_PIN: Pin = Pin::P0_23;
+const LED2_G_PIN: Pin = Pin::P0_22;
+const LED2_B_PIN: Pin = Pin::P0_24;
+const LED1_R_PIN: Pin = Pin::P0_23;
+const LED1_G_PIN: Pin = Pin::P0_22;
+const LED1_B_PIN: Pin = Pin::P0_24;
+
+// The nRF52840 MDK USB Dongle button
+const BUTTON_PIN: Pin = Pin::P0_18;
Expand Down Expand Up @@ -309,39 +244,18 @@ index 00000000..0e92473c
+ // Loads relocations and clears BSS
+ nrf52840::init();
+
+ // relocate vector table, interrupt vector table is at 0x1000
+ scb::set_vector_table_offset(0x00001000);
+
+ let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(&PROCESSES));
+ // GPIOs
+ let gpio = components::gpio::GpioComponent::new(board_kernel).finalize(
+ components::gpio_component_helper!(
+ // left side of the USB plug
+ &nrf52840::gpio::PORT[Pin::P0_13],
+ &nrf52840::gpio::PORT[Pin::P0_15],
+ &nrf52840::gpio::PORT[Pin::P0_17],
+ &nrf52840::gpio::PORT[Pin::P0_20],
+ &nrf52840::gpio::PORT[Pin::P0_22],
+ &nrf52840::gpio::PORT[Pin::P0_24],
+ &nrf52840::gpio::PORT[Pin::P1_00],
+ &nrf52840::gpio::PORT[Pin::P0_09],
+ &nrf52840::gpio::PORT[Pin::P0_10],
+ // right side of the USB plug
+ &nrf52840::gpio::PORT[Pin::P0_31],
+ &nrf52840::gpio::PORT[Pin::P0_29],
+ &nrf52840::gpio::PORT[Pin::P0_02],
+ &nrf52840::gpio::PORT[Pin::P1_15],
+ &nrf52840::gpio::PORT[Pin::P1_13],
+ &nrf52840::gpio::PORT[Pin::P1_10],
+ // Below the PCB
+ &nrf52840::gpio::PORT[Pin::P0_26],
+ &nrf52840::gpio::PORT[Pin::P0_04],
+ &nrf52840::gpio::PORT[Pin::P0_11],
+ &nrf52840::gpio::PORT[Pin::P0_14],
+ &nrf52840::gpio::PORT[Pin::P1_11],
+ &nrf52840::gpio::PORT[Pin::P1_07],
+ &nrf52840::gpio::PORT[Pin::P1_01],
+ &nrf52840::gpio::PORT[Pin::P1_04],
+ &nrf52840::gpio::PORT[Pin::P1_02]
+ &nrf52840::gpio::PORT[Pin::P0_05],
+ &nrf52840::gpio::PORT[Pin::P0_06],
+ &nrf52840::gpio::PORT[Pin::P0_07],
+ &nrf52840::gpio::PORT[Pin::P0_08]
+ ),
+ );
+ let button = components::button::ButtonComponent::new(board_kernel).finalize(
Expand All @@ -354,19 +268,15 @@ index 00000000..0e92473c
+
+ let led = components::led::LedsComponent::new().finalize(components::led_component_helper!(
+ (
+ &nrf52840::gpio::PORT[LED1_PIN],
+ capsules::led::ActivationMode::ActiveLow
+ ),
+ (
+ &nrf52840::gpio::PORT[LED2_R_PIN],
+ &nrf52840::gpio::PORT[LED1_R_PIN],
+ capsules::led::ActivationMode::ActiveLow
+ ),
+ (
+ &nrf52840::gpio::PORT[LED2_G_PIN],
+ &nrf52840::gpio::PORT[LED1_G_PIN],
+ capsules::led::ActivationMode::ActiveLow
+ ),
+ (
+ &nrf52840::gpio::PORT[LED2_B_PIN],
+ &nrf52840::gpio::PORT[LED1_B_PIN],
+ capsules::led::ActivationMode::ActiveLow
+ )
+ ));
Expand All @@ -377,9 +287,9 @@ index 00000000..0e92473c
+ BUTTON_RST_PIN,
+ &nrf52840::gpio::PORT,
+ gpio,
+ LED2_R_PIN,
+ LED2_G_PIN,
+ LED2_B_PIN,
+ LED1_R_PIN,
+ LED1_G_PIN,
+ LED1_B_PIN,
+ led,
+ UartChannel::Pins(UartPins::new(UART_RTS, UART_TXD, UART_CTS, UART_RXD)),
+ &SpiPins::new(SPI_MOSI, SPI_MISO, SPI_CLK),
Expand Down

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