Onur Özkan
f9a61a086f
Validate configuration through its owning schemas and keep board declarations separate from shared F722 resource ownership. Bound USB transitions, isolate transport failures and retain restart-only activation. Migrate navigation and flight consumers with the sensor and schema contracts. Require explicit installation data and synchronous output authority; board motor outputs remain inhibited. Validation: assembled-prefix host tests, strict Clippy, platform/USB tests and both ARM release builds. Final-source coverage and scoped Miri/Kani evidence are retained separately from hardware qualification.
93 lines
2.6 KiB
Rust
93 lines
2.6 KiB
Rust
//! Target-specific definitions
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use vcell::VolatileCell;
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use crate::ral::register::RWRegister;
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use crate::ral::{
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endpoint0_out, endpoint_in, endpoint_out, otg_device, otg_global, otg_global_dieptxfx,
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otg_pwrclk,
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};
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use crate::UsbPeripheral;
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pub fn fifo_write(usb: UsbRegisters, channel: impl Into<usize>, mut buf: &[u8]) {
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let fifo = usb.fifo(channel.into());
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while buf.len() >= 4 {
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let mut u32_bytes = [0u8; 4];
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u32_bytes.copy_from_slice(&buf[..4]);
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buf = &buf[4..];
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fifo.write(u32::from_ne_bytes(u32_bytes));
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}
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if !buf.is_empty() {
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let mut u32_bytes = [0u8; 4];
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u32_bytes[..buf.len()].copy_from_slice(buf);
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fifo.write(u32::from_ne_bytes(u32_bytes));
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}
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}
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pub fn fifo_read_into(usb: UsbRegisters, buf: &[VolatileCell<u32>]) {
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let fifo = usb.fifo(0);
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for p in buf {
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let word = fifo.read();
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p.set(word);
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}
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}
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/// Wrapper around device-specific peripheral that provides unified register interface
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#[derive(Copy, Clone)]
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pub struct UsbRegisters(usize);
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impl UsbRegisters {
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#[inline(always)]
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pub fn new<USB: UsbPeripheral>() -> Self {
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Self(USB::REGISTERS as usize)
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}
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#[inline(always)]
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pub fn global(&self) -> &'static otg_global::RegisterBlock {
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unsafe { &*(self.0 as *const _) }
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}
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#[inline(always)]
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pub fn device(&self) -> &'static otg_device::RegisterBlock {
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unsafe { &*((self.0 + 0x800) as *const _) }
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}
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#[inline(always)]
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pub fn pwrclk(&self) -> &'static otg_pwrclk::RegisterBlock {
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unsafe { &*((self.0 + 0xe00) as *const _) }
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}
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#[inline(always)]
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pub fn fifo(&self, channel: usize) -> &'static RWRegister<u32> {
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assert!(channel <= 15);
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let address = self.0 + 0x1000 + channel * 0x1000;
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unsafe { &*(address as *const RWRegister<u32>) }
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}
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#[inline(always)]
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pub fn dieptxfx(&self, index: usize) -> &'static otg_global_dieptxfx::RegisterBlock {
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let address = self.0 + 0x100 + 4 * index;
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unsafe { &*(address as *const _) }
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}
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#[inline(always)]
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pub fn endpoint_in(&self, index: usize) -> &'static endpoint_in::RegisterBlock {
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let address = self.0 + 0x900 + 0x20 * index;
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unsafe { &*(address as *const _) }
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}
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#[inline(always)]
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pub fn endpoint0_out(&self) -> &'static endpoint0_out::RegisterBlock {
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let address = self.0 + 0xb00;
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unsafe { &*(address as *const _) }
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}
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#[inline(always)]
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pub fn endpoint_out(&self, index: usize) -> &'static endpoint_out::RegisterBlock {
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let address = self.0 + 0xb00 + 0x20 * index;
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unsafe { &*(address as *const _) }
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}
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}
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