From 7ee66ad219a63bd466b6e6254ed46b495970bafa Mon Sep 17 00:00:00 2001 From: chrysn Date: Thu, 27 Jan 2022 09:37:37 +0100 Subject: [PATCH 1/9] makefiles/cargo: Drop duplicate workaround remnants --- makefiles/arch/riscv.inc.mk | 2 -- makefiles/cargo-settings.inc.mk | 4 ---- 2 files changed, 6 deletions(-) diff --git a/makefiles/arch/riscv.inc.mk b/makefiles/arch/riscv.inc.mk index f5695af2a9e4..58bc5334a71d 100644 --- a/makefiles/arch/riscv.inc.mk +++ b/makefiles/arch/riscv.inc.mk @@ -80,5 +80,3 @@ LINKFLAGS += $(CFLAGS_CPU) $(CFLAGS_LINK) $(CFLAGS_DBG) $(CFLAGS_OPT) -nostartfi # Platform triple as used by Rust RUST_TARGET = riscv32imac-unknown-none-elf -# Workaround for https://github.com/rust-lang/rust-bindgen/issues/1555 -CARGO_EXTRACFLAGS += --target=riscv32 diff --git a/makefiles/cargo-settings.inc.mk b/makefiles/cargo-settings.inc.mk index abc584f16fb2..fa066dd5a6ae 100644 --- a/makefiles/cargo-settings.inc.mk +++ b/makefiles/cargo-settings.inc.mk @@ -4,10 +4,6 @@ # files. # RUST_TARGET = ... -# Flags that need to be added to the RIOT_CFLAGS passed to cargo in order to -# make bindgen happy -CARGO_EXTRACFLAGS ?= - # Setting anything other than "debug" or "release" will necessitate additional # -Z unstable-options as of 2021-03 nightlies. CARGO_PROFILE ?= release From ba76c6ee657bffb2dc803a9605a73faeb6b52c5f Mon Sep 17 00:00:00 2001 From: chrysn Date: Sat, 3 Apr 2021 17:33:14 +0200 Subject: [PATCH 2/9] Rust: Add crates-to-module adapter --- makefiles/cargo-settings.inc.mk | 6 - makefiles/cargo-targets.inc.mk | 13 + makefiles/vars.inc.mk | 5 + sys/Kconfig | 1 + sys/Makefile.dep | 4 + sys/Makefile.include | 4 + sys/rust_riotmodules/Cargo.toml | 11 + sys/rust_riotmodules/Kconfig | 23 + sys/rust_riotmodules/Makefile.dep | 10 + sys/rust_riotmodules/Makefile.include | 6 + sys/rust_riotmodules/src/lib.rs | 7 + sys/rust_riotmodules_standalone/Cargo.lock | 759 +++++++++++++++++++++ sys/rust_riotmodules_standalone/Cargo.toml | 21 + sys/rust_riotmodules_standalone/Makefile | 12 + sys/rust_riotmodules_standalone/src/lib.rs | 9 + 15 files changed, 885 insertions(+), 6 deletions(-) create mode 100644 sys/rust_riotmodules/Cargo.toml create mode 100644 sys/rust_riotmodules/Kconfig create mode 100644 sys/rust_riotmodules/Makefile.dep create mode 100644 sys/rust_riotmodules/Makefile.include create mode 100644 sys/rust_riotmodules/src/lib.rs create mode 100644 sys/rust_riotmodules_standalone/Cargo.lock create mode 100644 sys/rust_riotmodules_standalone/Cargo.toml create mode 100644 sys/rust_riotmodules_standalone/Makefile create mode 100644 sys/rust_riotmodules_standalone/src/lib.rs diff --git a/makefiles/cargo-settings.inc.mk b/makefiles/cargo-settings.inc.mk index fa066dd5a6ae..983c2c1909f2 100644 --- a/makefiles/cargo-settings.inc.mk +++ b/makefiles/cargo-settings.inc.mk @@ -1,9 +1,3 @@ -# Rust's own version of the target triple / quadruple. -# -# This does not have a sane default, and needs to be set in the architecture -# files. -# RUST_TARGET = ... - # Setting anything other than "debug" or "release" will necessitate additional # -Z unstable-options as of 2021-03 nightlies. CARGO_PROFILE ?= release diff --git a/makefiles/cargo-targets.inc.mk b/makefiles/cargo-targets.inc.mk index 7b6628d8d84a..0b4a0e35a267 100644 --- a/makefiles/cargo-targets.inc.mk +++ b/makefiles/cargo-targets.inc.mk @@ -1,6 +1,16 @@ CARGO_COMPILE_COMMANDS = $(BINDIR)/cargo-compile-commands.json CARGO_COMPILE_COMMANDS_FLAGS = --clang +# When an application crate is built, it has to use rust_riotmodules_standalone itself to +# pull in any Rust modules that might be enabled through RIOT's module system. +# (If the application fails to add the rust_riotmodules_standalone dependency, that will +# go unnoticed and work fine if none of the catchall-dispatched modules are +# active -- but if one is enabled, this also serves to ensure the application +# is not silently built without them, as the feature will not be available to +# Cargo). +# +# This list should eventually be autogenerated (but is currently empty) + # This is duplicating the compile-commands rule because unlike in the use case # when a $(RIOTBASE)/compile_commands.json is built, we *want* this to be # per-board and per-application. (The large mechanisms are shared anyway). @@ -64,3 +74,6 @@ $(APPLICATION_RUST_MODULE).module: $(CARGO_LIB) FORCE # (should they not exist), and also from re-building everything every time # because the .cargo inside is as ephemeral as the build container. $(shell mkdir -p ~/.cargo/git ~/.cargo/registry) + +FORCE: +.phony: FORCE diff --git a/makefiles/vars.inc.mk b/makefiles/vars.inc.mk index c0eaf7e614e3..980af62f6e2c 100644 --- a/makefiles/vars.inc.mk +++ b/makefiles/vars.inc.mk @@ -132,3 +132,8 @@ export AFL_FLAGS # Additional command-line flags passed to afl durin # LOG_LEVEL # Logging level as integer (NONE: 0, ERROR: 1, WARNING: 2, INFO: 3, DEBUG: 4, default: 3) # KCONFIG_ADD_CONFIG # List of .config files to be merged used by Boards and CPUs. See kconfig.mk # VERBOSE_ASSERT # Set to 1 to print the file and line of a failed assert when assertions blow + +export RUST_TARGET # Rust's own version of the target triple / quadruple. + # + # It is set by the architecture (and thus eventually the CPU), and exported to + # be available when building Rust modules. diff --git a/sys/Kconfig b/sys/Kconfig index 37943f299bc6..2b1e75d678a2 100644 --- a/sys/Kconfig +++ b/sys/Kconfig @@ -79,6 +79,7 @@ rsource "progress_bar/Kconfig" rsource "ps/Kconfig" rsource "random/Kconfig" rsource "rtc_utils/Kconfig" +rsource "rust_riotmodules/Kconfig" rsource "saul_reg/Kconfig" rsource "schedstatistics/Kconfig" rsource "sema/Kconfig" diff --git a/sys/Makefile.dep b/sys/Makefile.dep index edd461937433..9980b81cedff 100644 --- a/sys/Makefile.dep +++ b/sys/Makefile.dep @@ -956,4 +956,8 @@ ifneq (,$(filter fido2_ctap,$(USEMODULE))) USEMODULE += fido2 endif +ifneq (,$(filter rust_riotmodules,$(USEMODULE))) + include $(RIOTBASE)/sys/rust_riotmodules/Makefile.dep +endif + include $(RIOTBASE)/sys/test_utils/Makefile.dep diff --git a/sys/Makefile.include b/sys/Makefile.include index 64e51fae6ea6..659b7e1a2302 100644 --- a/sys/Makefile.include +++ b/sys/Makefile.include @@ -159,3 +159,7 @@ endif ifneq (,$(filter shell_lock,$(USEMODULE))) include $(RIOTBASE)/sys/shell_lock/Makefile.include endif + +ifneq (,$(filter rust_riotmodules,$(USEMODULE))) + include $(RIOTBASE)/sys/rust_riotmodules/Makefile.include +endif diff --git a/sys/rust_riotmodules/Cargo.toml b/sys/rust_riotmodules/Cargo.toml new file mode 100644 index 000000000000..8db4b4b7b72b --- /dev/null +++ b/sys/rust_riotmodules/Cargo.toml @@ -0,0 +1,11 @@ +[package] +name = "rust_riotmodules" +version = "0.1.0" +authors = ["Christian Amsüss "] +edition = "2021" +publish = false + + +[dependencies] +# The list contains all modules available in RIOT, and should eventually be +# autogenerated (or at least automatically checked for consistency). diff --git a/sys/rust_riotmodules/Kconfig b/sys/rust_riotmodules/Kconfig new file mode 100644 index 000000000000..4a8cf1163854 --- /dev/null +++ b/sys/rust_riotmodules/Kconfig @@ -0,0 +1,23 @@ +# Copyright (c) 2022 HAW Hamburg +# +# This file is subject to the terms and conditions of the GNU Lesser +# General Public License v2.1. See the file LICENSE in the top level +# directory for more details. +# + +menuconfig MODULE_RUST_RIOTMODULES + bool "RUST RIOT modules" + depends on TEST_KCONFIG + depends on HAS_RUST_TARGET + help + This module is used when some module asks to have its code built + through rust_riotmodules. + +config MODULE_RUST_RIOTMODULES_STANDALONE + bool "RUST RIOT modules are standalone" + default y + depends on MODULE_RUST_RIOTMODULES + help + This module is used when rust_riotmodules is selected, and the main + application does not already contain Rust code through which the + rust_riotmodules are built. diff --git a/sys/rust_riotmodules/Makefile.dep b/sys/rust_riotmodules/Makefile.dep new file mode 100644 index 000000000000..d2b9b8a2cf89 --- /dev/null +++ b/sys/rust_riotmodules/Makefile.dep @@ -0,0 +1,10 @@ +# No check for the presence of any of any dependencies (were there none, this +# wouldn't have been pulled in), but only pull in building this in if the +# application does not already provide a crate -- in which case the +# CARGO_OPTIONS added depending on the pseudomodules are enabled in the regular +# cargo-targets. +ifeq (,${APPLICATION_RUST_MODULE}) + USEMODULE += rust_riotmodules_standalone +endif + +FEATURES_REQUIRED += rust_target diff --git a/sys/rust_riotmodules/Makefile.include b/sys/rust_riotmodules/Makefile.include new file mode 100644 index 000000000000..cb1013b0393a --- /dev/null +++ b/sys/rust_riotmodules/Makefile.include @@ -0,0 +1,6 @@ +## This module is used when some module asking to have its code built +# through rust_riotmodules. Whether that happens through actually enabling the +# rust_riotmodules_standalone module or by the application's crate was decided +# in ./Makefile.dep depending on whether a Rust application module is present +# or not. +PSEUDOMODULES += rust_riotmodules diff --git a/sys/rust_riotmodules/src/lib.rs b/sys/rust_riotmodules/src/lib.rs new file mode 100644 index 000000000000..0262141c92f0 --- /dev/null +++ b/sys/rust_riotmodules/src/lib.rs @@ -0,0 +1,7 @@ +#![no_std] + +// As we're pulling all crates in only for their side effects of having symbols (be that to place +// them in XFA symbols or to make them available for C) all these crates have to be extern-crate'd +// to be pulled in because they are not used on the laguage level. + +// This list should be as auto-generated / -maintained as the one in Cargo.toml diff --git a/sys/rust_riotmodules_standalone/Cargo.lock b/sys/rust_riotmodules_standalone/Cargo.lock new file mode 100644 index 000000000000..439acede226c --- /dev/null +++ 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new file mode 100644 index 000000000000..f1a7c50344ac --- /dev/null +++ b/sys/rust_riotmodules_standalone/Cargo.toml @@ -0,0 +1,21 @@ +[package] +name = "rust_riotmodules_standalone" +version = "0.1.0" +authors = ["Christian Amsüss "] +edition = "2021" +publish = false + +[lib] +crate-type = [ "staticlib" ] + +[profile.release] +lto = true +opt-level = "s" +debug = true +panic = "abort" +codegen-units = 1 + +[dependencies] +riot-wrappers = { version = "0.7", default-features = false, features = [ "set_panic_handler" ] } + +rust_riotmodules = { path = "../rust_riotmodules" } diff --git a/sys/rust_riotmodules_standalone/Makefile b/sys/rust_riotmodules_standalone/Makefile new file mode 100644 index 000000000000..a7a4a980b7a4 --- /dev/null +++ b/sys/rust_riotmodules_standalone/Makefile @@ -0,0 +1,12 @@ +include $(RIOTBASE)/Makefile.base + +include $(RIOTMAKE)/cargo-settings.inc.mk + +APPLICATION_RUST_MODULE = rust_riotmodules_standalone + +# No need to set the Cargo features enabled through the general pseudomodules: +# They're added to the crate in cargo-targets.inc.mk no matter whether it's +# building the rust_riotmodules_standalone top level crate or an application +# crate. + +include $(RIOTMAKE)/cargo-targets.inc.mk diff --git a/sys/rust_riotmodules_standalone/src/lib.rs b/sys/rust_riotmodules_standalone/src/lib.rs new file mode 100644 index 000000000000..3f27a514f235 --- /dev/null +++ b/sys/rust_riotmodules_standalone/src/lib.rs @@ -0,0 +1,9 @@ +#![no_std] + +// As we're pulling all crates in only for their side effects of having symbols (they are required +// on the Rust side like riot_wrappers' panic_handler, and rust_riotmodules does that on its own +// too) all these crates have to be extern-crate'd to be pulled in because they are not used on the +// language level. + +extern crate riot_wrappers; +extern crate rust_riotmodules; From cd6393a4d387ad3bff9f71f81358db711f45e305 Mon Sep 17 00:00:00 2001 From: chrysn Date: Wed, 12 Jan 2022 13:56:23 +0100 Subject: [PATCH 3/9] doc: Update for Rust libraries Co-authored-by: Marian Buschsieweke --- doc/doxygen/src/using-rust.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/doc/doxygen/src/using-rust.md b/doc/doxygen/src/using-rust.md index 8645004bf098..55ad2f27cc6a 100644 --- a/doc/doxygen/src/using-rust.md +++ b/doc/doxygen/src/using-rust.md @@ -79,6 +79,28 @@ The wrappers are [documented together with riot-sys and some of the examples]. [I2CDevice]: https://rustdoc.etonomy.org/riot_wrappers/i2c/struct.I2CDevice.html [corresponding embedded-hal I2C traits]: https://rustdoc.etonomy.org/embedded_hal/blocking/i2c/index.html +Library components in Rust +-------------------------- + +It is possible to use Rust in different modules than the application itself. + +Such modules are usually pseudomodules (although they may be mixed with C in regular modules as well). +They always depend on the `rust_riotmodules` module / crate, +which collects all enabled modules into a single crate by means of optional features. + +If the application is not written in Rust, +that then depends on `rust_riotmodules_standalone`, +which adds a panic handler and serves as a root crate. + +If the application is written in Rust, +`rust_riotmodules` needs to be added as a dependency of the application. +(This helps deduplicate between application and library code, +and also avoids symbol name clashes). +This is done by adding a dependency on the local `rust_riotmodules` crate (which is a no-op when no such modules are enabled), +and placing an `extern crate rust_riotmodules;` statement in the code. +(The latter is needed even after most `extern crate` was abolished in 2018, +because crates depended on but not used otherwise are usually not linked in). + Toolchain {#toolchain} --------- From 841e4deee52b2b1d21558b1776dafdf649573cf3 Mon Sep 17 00:00:00 2001 From: chrysn Date: Thu, 13 Jan 2022 09:06:43 +0100 Subject: [PATCH 4/9] lsm303agr: New sensor driver using external Rust crate It is enabled by saul_default on microbit-v2. Co-authored-by: Marian Buschsieweke --- boards/microbit-v2/Kconfig | 1 + boards/microbit-v2/Makefile.dep | 4 + .../microbit-v2/include/lsm303agr-config.rs | 1 + drivers/Kconfig | 1 + drivers/lsm303agr/Cargo.toml | 17 + drivers/lsm303agr/Kconfig | 20 + drivers/lsm303agr/Makefile.dep | 3 + drivers/lsm303agr/Makefile.include | 1 + drivers/lsm303agr/doc.txt | 47 ++ drivers/lsm303agr/src/lib.rs | 123 +++ drivers/saul/init_devs/init.c | 4 + makefiles/cargo-targets.inc.mk | 5 +- sys/rust_riotmodules/Cargo.toml | 2 + sys/rust_riotmodules/src/lib.rs | 3 + sys/rust_riotmodules_standalone/Cargo.lock | 759 ------------------ 15 files changed, 231 insertions(+), 760 deletions(-) create mode 100644 boards/microbit-v2/include/lsm303agr-config.rs create mode 100644 drivers/lsm303agr/Cargo.toml create mode 100644 drivers/lsm303agr/Kconfig create mode 100644 drivers/lsm303agr/Makefile.dep create mode 100644 drivers/lsm303agr/Makefile.include create mode 100644 drivers/lsm303agr/doc.txt create mode 100644 drivers/lsm303agr/src/lib.rs delete mode 100644 sys/rust_riotmodules_standalone/Cargo.lock diff --git a/boards/microbit-v2/Kconfig b/boards/microbit-v2/Kconfig index 5b6d68fe28d0..44eacaf949f5 100644 --- a/boards/microbit-v2/Kconfig +++ b/boards/microbit-v2/Kconfig @@ -19,6 +19,7 @@ config BOARD_MICROBIT_V2 select HAS_VDD_LC_FILTER_REG1 select HAVE_SAUL_GPIO + select HAVE_LSM303AGR source "$(RIOTBOARD)/common/microbit/Kconfig" source "$(RIOTBOARD)/common/nrf52/Kconfig" diff --git a/boards/microbit-v2/Makefile.dep b/boards/microbit-v2/Makefile.dep index 1af3e2ed3d9b..899b5fa84b2f 100644 --- a/boards/microbit-v2/Makefile.dep +++ b/boards/microbit-v2/Makefile.dep @@ -1,2 +1,6 @@ include $(RIOTBOARD)/common/microbit/Makefile.dep include $(RIOTBOARD)/common/nrf52/Makefile.dep + +ifneq (,$(filter saul_default,$(USEMODULE))) + USEMODULE += lsm303agr +endif diff --git a/boards/microbit-v2/include/lsm303agr-config.rs b/boards/microbit-v2/include/lsm303agr-config.rs new file mode 100644 index 000000000000..e23d8e32c932 --- /dev/null +++ b/boards/microbit-v2/include/lsm303agr-config.rs @@ -0,0 +1 @@ +const I2C_DEVICES: &[u8] = &[0]; diff --git a/drivers/Kconfig b/drivers/Kconfig index e93c467c7a6b..3efeedec0fe5 100644 --- a/drivers/Kconfig +++ b/drivers/Kconfig @@ -106,6 +106,7 @@ rsource "lpd8808/Kconfig" rsource "lpsxxx/Kconfig" rsource "lsm6dsl/Kconfig" rsource "lsm303dlhc/Kconfig" +rsource "lsm303agr/Kconfig" rsource "ltc4150/Kconfig" rsource "mag3110/Kconfig" rsource "mhz19/Kconfig" diff --git a/drivers/lsm303agr/Cargo.toml b/drivers/lsm303agr/Cargo.toml new file mode 100644 index 000000000000..e4823f14486c --- /dev/null +++ b/drivers/lsm303agr/Cargo.toml @@ -0,0 +1,17 @@ +[package] +name = "riot-module-lsm303agr" +version = "0.1.0" +edition = "2021" + +authors = ["Christian Amsüss "] +license = "LGPL-2.1-only" + +# Shipped with RIOT-OS; this has no external API that would make +# sense to consume in any context than from within RIOT +publish = false + +[dependencies] +lsm303agr = "^0.2" +riot-wrappers = "^0.7.17" +# Whatever lsm uses +nb = "*" diff --git a/drivers/lsm303agr/Kconfig b/drivers/lsm303agr/Kconfig new file mode 100644 index 000000000000..089158ac31b9 --- /dev/null +++ b/drivers/lsm303agr/Kconfig @@ -0,0 +1,20 @@ +# Copyright (c) 2022 HAW Hamburg +# +# This file is subject to the terms and conditions of the GNU Lesser +# General Public License v2.1. See the file LICENSE in the top level +# directory for more details. +# + +config MODULE_LSM303AGR + bool + prompt "LSM303AGR 3D accelerometer/magnetometer" if !(MODULE_SAUL_DEFAULT && HAVE_LSM303AGR) + default y if (MODULE_SAUL_DEFAULT && HAVE_LSM303AGR) + depends on HAS_PERIPH_I2C + depends on TEST_KCONFIG + select MODULE_RUST_RIOTMODULES + select MODULE_PERIPH_I2C + +config HAVE_LSM303AGR + bool + help + Indicates that a lsm303agr sensor is present. diff --git a/drivers/lsm303agr/Makefile.dep b/drivers/lsm303agr/Makefile.dep new file mode 100644 index 000000000000..fb1f1f980b09 --- /dev/null +++ b/drivers/lsm303agr/Makefile.dep @@ -0,0 +1,3 @@ +USEMODULE += rust_riotmodules + +FEATURES_REQUIRED += periph_i2c diff --git a/drivers/lsm303agr/Makefile.include b/drivers/lsm303agr/Makefile.include new file mode 100644 index 000000000000..83d4041ec1ff --- /dev/null +++ b/drivers/lsm303agr/Makefile.include @@ -0,0 +1 @@ +PSEUDOMODULES += lsm303agr diff --git a/drivers/lsm303agr/doc.txt b/drivers/lsm303agr/doc.txt new file mode 100644 index 000000000000..b007c3b8fc6c --- /dev/null +++ b/drivers/lsm303agr/doc.txt @@ -0,0 +1,47 @@ +/** + +@defgroup drivers_lsm303agr LSM303AGR 3D accelerometer/magnetometer +@ingroup drivers_sensors +@ingroup drivers_saul +@brief Device driver for the LSM303AGR 3D accelerometer/magnetometer + +This driver is written in Rust, +and based on the externally maintained [lsm303agr] crate. + +This means that: + +- it is only available on platforms supported by Rust, +- it needs Rust installed on the build machine as described in @ref using-rust, and +- it downloads additional Rust code from crates.io (in versions pinned by RIOT) when first used. + +[lsm303agr]: https://crates.io/crates/lsm303agr + +## Usage + +When configured on a board, the devices are initialized at a fixed data acquisition rate and the chip's default range of +-2g. +Data values are obtained on demand +whenever queried through @ref drivers_saul. + +For each device, two SAUL entries are registered labelled "LSM303AGR accelerometer" and "LSM303AGR magnetometer", +which produces 3-axis values in units of g and Tesla, respectively. +Accelerometer values are always scaled to milli-g (they come that way and don't exceed the i16 range of SAUL phydats); +magnetometer readings are dynamically downscaled from their original i32 Nanotesla readings to fit in a phydat. + +The driver is configured for a board by placing an `lsm303agr-config.rs` file +in the board's include directory, which lists the I2C device(s) on which an accelerometer should be found: + +``` +const I2C_DEVICES: &[u8] = &[0]; +``` + +## Limitations + +- Advanced features of the sensor + (adjusting acquisition rate or resolution, free-fall detection, interrupts etc.) + are not exposed. + +- The driver accepts some memory overhead (roughly, two mutexes) to avoid unsafe code and enhance readability. + The unsafe code would be sound based on the assertion that the initialization code is only called once + (and in particular is not reentrant). + +*/ diff --git a/drivers/lsm303agr/src/lib.rs b/drivers/lsm303agr/src/lib.rs new file mode 100644 index 000000000000..5445927ee744 --- /dev/null +++ b/drivers/lsm303agr/src/lib.rs @@ -0,0 +1,123 @@ +#![no_std] + +use lsm303agr::{interface, mode, Lsm303agr, AccelOutputDataRate::Hz50}; + +use riot_wrappers::{saul, println, i2c, cstr::cstr, mutex::Mutex}; +use saul::{Phydat, registration}; + +// FIXME: Is this the way we want to go? It's mimicking the C way, but we could just as well take +// the board config from some YAML. +include!(concat!(env!("BOARDDIR"), "/include/lsm303agr-config.rs")); + +const NDEVICES: usize = I2C_DEVICES.len(); + +static DRIVER: registration::Driver = registration::Driver::new(); +static DRIVER_MAG: registration::Driver = registration::Driver::new(); + +// These two being in mutexes is somewhat unnecessary (the mutexes are locked at startup and then +// never unlocked). The alternative is to unsafely access them (asserting that auto_init_lsm303agr +// / init will only ever be called once), or hiding that assertion at some preprocessor level (like +// cortex-m-rt's main does). +// +// Doing it at runtime comes at the cost of two global mutexes in memory, and some more startup +// calls. +// +// Using an Option (with .insert) rather than MaybeUninit (with .write) is another step that +// sacrifices minimal resources (could be none at all, didn't check) for readability. + +// This can't go into ROM because it has a .next pointer that is altered at runtime when some other +// device is registered. (In an alternative implementation where all SAUL registries are managed by +// XFA, this would be possible; finding the point in time when they are ready to be used would be +// tricky, though.). +static REG: Mutex<[Option>; NDEVICES]> = Mutex::new([None; NDEVICES]); +static REG_MAG: Mutex<[Option>; NDEVICES]> = Mutex::new([None; NDEVICES]); +// This can't go into ROM because it contains an inner Mutex (and possibly state data from the +// Lsm303agr instance, didn't bother to check) +static LSM: Mutex<[Option; NDEVICES]> = Mutex::new([None; NDEVICES]); + +#[no_mangle] +pub extern "C" fn auto_init_lsm303agr() { + if let Err(e) = init() { + println!("LSM303AGR init error: {}", e); + } +} + +/// Initialize the configured LSM303AGR device, returning an error string for debug if anything +/// goes wrong +fn init() -> Result<(), &'static str> { + let lsm = LSM + .try_leak() + .expect("LSM303AGR init is only called once"); + + let reg = REG + .try_leak() + .expect("LSM303AGR init is only called once"); + let reg_mag = REG_MAG + .try_leak() + .expect("LSM303AGR init is only called once"); + + for (&i2cdev, (lsm, (reg, reg_mag))) in I2C_DEVICES.iter().zip(lsm.iter_mut().zip(reg.iter_mut().zip(reg_mag.iter_mut()))) { + let mut device = Lsm303agr::new_with_i2c(i2c::I2CDevice::new(i2cdev)); + + device.init() + .map_err(|_| "Device initialization failed")?; + device.set_accel_odr(Hz50) + .map_err(|_| "Device configuration failed")?; + + let lsm = lsm.insert(SaulLSM { device: Mutex::new(device) }); + + let reg = reg.insert(registration::Registration::new(&DRIVER, lsm, Some(cstr!("LSM303AGR accelerometer")))); + let reg_mag = reg_mag.insert(registration::Registration::new(&DRIVER_MAG, lsm, Some(cstr!("LSM303AGR magnetometer")))); + + reg.register_static(); + reg_mag.register_static(); + } + + Ok(()) +} + +struct SaulLSM { + device: Mutex, mode::MagOneShot>>, +} + +impl registration::Drivable for &SaulLSM { + const CLASS: saul::Class = saul::Class::Sensor(Some(saul::SensorClass::Accel)); + + const HAS_READ: bool = true; + + fn read(self) -> Result { + // SAUL doesn't guarantee exclusive access; different threads may read simultaneously. + let mut device = self.device.try_lock() + .ok_or(registration::Error)?; + + let data = device.accel_data() + .map_err(|_| registration::Error)?; + // Data is in the +-2g range by default, which doesn't overflow even the i16 SAUL uses + Ok(Phydat::new(&[data.x as _, data.y as _, data.z as _], Some(saul::Unit::G), -3)) + } +} + +struct MagAspect(&'static SaulLSM); + +impl From<&'static SaulLSM> for MagAspect { + fn from(input: &'static SaulLSM) -> Self { + Self(input) + } +} + +impl registration::Drivable for MagAspect { + const CLASS: saul::Class = saul::Class::Sensor(Some(saul::SensorClass::Mag)); + + const HAS_READ: bool = true; + + fn read(self) -> Result { + // SAUL doesn't guarantee exclusive access; different threads may read simultaneously. + let mut device = self.0.device.try_lock() + .ok_or(registration::Error)?; + + let data = nb::block!(device.mag_data()) + .map_err(|_| registration::Error)?; + // Original data is in nanotesla + return Ok(Phydat::fit(&[data.x, data.y, data.z], Some(saul::Unit::T), -9)) + } +} diff --git a/drivers/saul/init_devs/init.c b/drivers/saul/init_devs/init.c index 572b83005246..6c5116e1105b 100644 --- a/drivers/saul/init_devs/init.c +++ b/drivers/saul/init_devs/init.c @@ -187,6 +187,10 @@ void saul_init_devs(void) extern void auto_init_lpsxxx(void); auto_init_lpsxxx(); } + if (IS_USED(MODULE_LSM303AGR)) { + extern void auto_init_lsm303agr(void); + auto_init_lsm303agr(); + } if (IS_USED(MODULE_LSM303DLHC)) { extern void auto_init_lsm303dlhc(void); auto_init_lsm303dlhc(); diff --git a/makefiles/cargo-targets.inc.mk b/makefiles/cargo-targets.inc.mk index 0b4a0e35a267..dc44c7f73bbd 100644 --- a/makefiles/cargo-targets.inc.mk +++ b/makefiles/cargo-targets.inc.mk @@ -9,7 +9,10 @@ CARGO_COMPILE_COMMANDS_FLAGS = --clang # is not silently built without them, as the feature will not be available to # Cargo). # -# This list should eventually be autogenerated (but is currently empty) +# This list should eventually be autogenerated. +ifneq (,$(filter lsm303agr,$(USEMODULE))) + CARGO_OPTIONS += --features rust_riotmodules/riot-module-lsm303agr +endif # This is duplicating the compile-commands rule because unlike in the use case # when a $(RIOTBASE)/compile_commands.json is built, we *want* this to be diff --git a/sys/rust_riotmodules/Cargo.toml b/sys/rust_riotmodules/Cargo.toml index 8db4b4b7b72b..1d76a04ab2c2 100644 --- a/sys/rust_riotmodules/Cargo.toml +++ b/sys/rust_riotmodules/Cargo.toml @@ -9,3 +9,5 @@ publish = false [dependencies] # The list contains all modules available in RIOT, and should eventually be # autogenerated (or at least automatically checked for consistency). + +riot-module-lsm303agr = { path = "../../drivers/lsm303agr", optional = true } diff --git a/sys/rust_riotmodules/src/lib.rs 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sys/rust_riotmodules/Cargo.toml | 1 + sys/rust_riotmodules/src/lib.rs | 3 +++ sys/shell/democommands/Cargo.toml | 14 ++++++++++++++ sys/shell/democommands/src/lib.rs | 17 +++++++++++++++++ 7 files changed, 45 insertions(+) create mode 100644 sys/shell/democommands/Cargo.toml create mode 100644 sys/shell/democommands/src/lib.rs diff --git a/makefiles/cargo-targets.inc.mk b/makefiles/cargo-targets.inc.mk index dc44c7f73bbd..c12518bf28e9 100644 --- a/makefiles/cargo-targets.inc.mk +++ b/makefiles/cargo-targets.inc.mk @@ -13,6 +13,9 @@ CARGO_COMPILE_COMMANDS_FLAGS = --clang ifneq (,$(filter lsm303agr,$(USEMODULE))) CARGO_OPTIONS += --features rust_riotmodules/riot-module-lsm303agr endif +ifneq (,$(filter shell_democommands,$(USEMODULE))) + CARGO_OPTIONS += --features rust_riotmodules/riot-module-shell-democommands +endif # This is duplicating the compile-commands rule because unlike in the use case # when a $(RIOTBASE)/compile_commands.json is built, we *want* this to be diff --git a/sys/Makefile.dep b/sys/Makefile.dep index 9980b81cedff..1d993381ebf6 100644 --- a/sys/Makefile.dep +++ b/sys/Makefile.dep @@ -338,6 +338,11 @@ ifneq (,$(filter shell_commands,$(USEMODULE))) endif endif +ifneq (,$(filter shell_democommands,$(USEMODULE))) + USEMODULE += rust_riotmodules + USEMODULE += shell +endif + ifneq (,$(filter md5sum sha1sum sha256sum,$(USEMODULE))) USEMODULE += vfs_util USEMODULE += hashes diff --git a/sys/Makefile.include b/sys/Makefile.include index 659b7e1a2302..4e90267c108b 100644 --- a/sys/Makefile.include +++ b/sys/Makefile.include @@ -160,6 +160,8 @@ ifneq (,$(filter shell_lock,$(USEMODULE))) include $(RIOTBASE)/sys/shell_lock/Makefile.include endif +PSEUDOMODULES += shell_democommands + ifneq (,$(filter rust_riotmodules,$(USEMODULE))) include $(RIOTBASE)/sys/rust_riotmodules/Makefile.include endif diff --git a/sys/rust_riotmodules/Cargo.toml b/sys/rust_riotmodules/Cargo.toml index 1d76a04ab2c2..45fe52acbee1 100644 --- a/sys/rust_riotmodules/Cargo.toml +++ b/sys/rust_riotmodules/Cargo.toml @@ -11,3 +11,4 @@ publish = false # autogenerated (or at least automatically checked for consistency). riot-module-lsm303agr = { path = "../../drivers/lsm303agr", optional = true } +riot-module-shell-democommands = { path = "../../sys/shell/democommands", optional = true } diff --git a/sys/rust_riotmodules/src/lib.rs b/sys/rust_riotmodules/src/lib.rs index 99dfa4814af2..7cfc869e4ce5 100644 --- a/sys/rust_riotmodules/src/lib.rs +++ b/sys/rust_riotmodules/src/lib.rs @@ -8,3 +8,6 @@ #[cfg(feature = "riot-module-lsm303agr")] extern crate riot_module_lsm303agr; + +#[cfg(feature = "riot-module-shell-democommands")] +extern crate riot_module_shell_democommands; diff --git a/sys/shell/democommands/Cargo.toml b/sys/shell/democommands/Cargo.toml new file mode 100644 index 000000000000..91bebce99fd5 --- /dev/null +++ b/sys/shell/democommands/Cargo.toml @@ -0,0 +1,14 @@ +[package] +name = "riot-module-shell-democommands" +version = "0.1.0" +edition = "2021" + +authors = ["Christian Amsüss "] +license = "LGPL-2.1-only" + +# Shipped with RIOT-OS; this has no external API that would make +# sense to consume in any context than from within RIOT +publish = false + +[dependencies] +riot-wrappers = "^0.7.17" diff --git a/sys/shell/democommands/src/lib.rs b/sys/shell/democommands/src/lib.rs new file mode 100644 index 000000000000..3c8623c2b1ee --- /dev/null +++ b/sys/shell/democommands/src/lib.rs @@ -0,0 +1,17 @@ +#![no_std] + +use riot_wrappers::println; +use core::fmt::Write; + +riot_wrappers::static_command!(static_hello_world, "hello_world", "Print a greeting", hello_world); + +pub fn hello_world<'a>(_w: &mut impl Write, args: impl IntoIterator) { + let mut args = args.into_iter(); + let commandname = args.next().expect("How was this started without an argv[0]?"); + + match args.next() { + Some("--help") => println!("Usage: {commandname}"), + None => println!("Hello RIOT!"), + _ => println!("Invalid argument."), + }; +} From 08939cda3b16844c72512e8a3f069f4c41ea6b0d Mon Sep 17 00:00:00 2001 From: chrysn Date: Wed, 12 Jan 2022 12:05:52 +0100 Subject: [PATCH 6/9] tests: Add rust-as-a-module test Taken and simplified from shell test. --- tests/rust_libs/Makefile | 12 +++++++ tests/rust_libs/Makefile.ci | 10 ++++++ tests/rust_libs/main.c | 1 + tests/rust_libs/tests/01-run.py | 59 +++++++++++++++++++++++++++++++++ 4 files changed, 82 insertions(+) create mode 100644 tests/rust_libs/Makefile create mode 100644 tests/rust_libs/Makefile.ci create mode 120000 tests/rust_libs/main.c create mode 100755 tests/rust_libs/tests/01-run.py diff --git a/tests/rust_libs/Makefile b/tests/rust_libs/Makefile new file mode 100644 index 000000000000..a41e32300765 --- /dev/null +++ b/tests/rust_libs/Makefile @@ -0,0 +1,12 @@ +include ../Makefile.tests_common + +USEMODULE += shell +USEMODULE += shell_democommands + +FEATURES_REQUIRED += rust_target + +# Currently unknown, something related to the LED_PORT definition that doesn't +# pass C2Rust's transpilation +BOARD_BLACKLIST := ek-lm4f120xl + +include $(RIOTBASE)/Makefile.include diff --git a/tests/rust_libs/Makefile.ci b/tests/rust_libs/Makefile.ci new file mode 100644 index 000000000000..84248e69c910 --- /dev/null +++ b/tests/rust_libs/Makefile.ci @@ -0,0 +1,10 @@ +BOARD_INSUFFICIENT_MEMORY := \ + nucleo-f031k6 \ + nucleo-f042k6 \ + nucleo-l011k4 \ + nucleo-l031k6 \ + samd10-xmini \ + stk3200 \ + stm32f030f4-demo \ + stm32g0316-disco \ + # diff --git a/tests/rust_libs/main.c b/tests/rust_libs/main.c new file mode 120000 index 000000000000..c541a5892ab9 --- /dev/null +++ b/tests/rust_libs/main.c @@ -0,0 +1 @@ +../shell/main.c \ No newline at end of file diff --git a/tests/rust_libs/tests/01-run.py b/tests/rust_libs/tests/01-run.py new file mode 100755 index 000000000000..e4994164572b --- /dev/null +++ b/tests/rust_libs/tests/01-run.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 + +# Copyright (C) 2017 Alexandre Abadie +# 2022 Christian Amsüss +# +# This file is subject to the terms and conditions of the GNU Lesser +# General Public License v2.1. See the file LICENSE in the top level +# directory for more details. + +import sys +from testrunner import run + + +EXPECTED_HELP = ( + 'Command Description', + '---------------------------------------', + 'bufsize Get the shell\'s buffer size', + 'start_test starts a test', + 'end_test ends a test', + 'echo prints the input command', + 'empty print nothing on command', + 'hello_world Print a greeting', + 'xfa_test1 xfa test command 1', + 'xfa_test2 xfa test command 2', +) + +PROMPT = '> ' + +CMDS = ( + ('start_test', '[TEST_START]'), + + # test default commands + ('help', EXPECTED_HELP), + + ('end_test', '[TEST_END]'), +) + +CMDS_REGEX = {'ps.rs'} + + +def check_cmd(child, cmd, expected): + regex = cmd in CMDS_REGEX + child.expect(PROMPT) + child.sendline(cmd) + for line in expected: + if regex: + child.expect(line) + else: + child.expect_exact(line) + + +def testfunc(child): + # loop other defined commands and expected output + for cmd, expected in CMDS: + check_cmd(child, cmd, expected) + + +if __name__ == "__main__": + sys.exit(run(testfunc)) From 68985aa6be4c1d41516fae0ee3eab9af4860aaf2 Mon Sep 17 00:00:00 2001 From: chrysn Date: Sat, 11 Jun 2022 03:07:26 +0200 Subject: [PATCH 7/9] rust_riotmodules: pub use instead of extern crate See-Also: https://github.com/RIOT-OS/RIOT/pull/16833#issuecomment-1071243210 --- sys/rust_riotmodules/src/lib.rs | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/sys/rust_riotmodules/src/lib.rs b/sys/rust_riotmodules/src/lib.rs index 7cfc869e4ce5..819c4a5391e2 100644 --- a/sys/rust_riotmodules/src/lib.rs +++ b/sys/rust_riotmodules/src/lib.rs @@ -1,13 +1,14 @@ #![no_std] -// As we're pulling all crates in only for their side effects of having symbols (be that to place -// them in XFA symbols or to make them available for C) all these crates have to be extern-crate'd -// to be pulled in because they are not used on the laguage level. +// Crates in here are pub used in case they make anything accessible to Rust applications directly; +// they can then access the crates as `rust_riotmodules::lsm303agr` or similar. +// +// (Also, if they were not pub used, they'd need to be extern crate'd). // This list should be as auto-generated / -maintained as the one in Cargo.toml #[cfg(feature = "riot-module-lsm303agr")] -extern crate riot_module_lsm303agr; +pub use riot_module_lsm303agr as lsm303agr; #[cfg(feature = "riot-module-shell-democommands")] -extern crate riot_module_shell_democommands; +pub use riot_module_shell_democommands as democommands; From 5e75f4bd135762a6db79698b85de9e0a1e0c24d7 Mon Sep 17 00:00:00 2001 From: chrysn Date: Sat, 11 Jun 2022 03:09:38 +0200 Subject: [PATCH 8/9] rust_riotmodules_standalone: This needs its Cargo.lock checked in Of all the library crates, this is the only root crate, and responsible for pinning good versions. --- sys/rust_riotmodules_standalone/Cargo.lock | 759 +++++++++++++++++++++ 1 file changed, 759 insertions(+) create mode 100644 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default-features = false } coap-handler-implementations = "0.3" riot-coap-handler-demos = { git = "https://gitlab.com/etonomy/riot-module-examples/", features = [ "vfs" ] } + +# While currently this exmple does not use any RIOT modules implemented in +# Rust, that may change; it is best practice for any RIOT application that has +# its own top-level Rust crate to include rust_riotmodules from inside +# RIOTBASE. +rust_riotmodules = { path = "../../sys/rust_riotmodules/" } diff --git a/examples/rust-gcoap/src/lib.rs b/examples/rust-gcoap/src/lib.rs index 4fdcdbba219b..301557978eed 100644 --- a/examples/rust-gcoap/src/lib.rs +++ b/examples/rust-gcoap/src/lib.rs @@ -10,6 +10,8 @@ use riot_wrappers::{gcoap, thread, ztimer, gnrc}; use coap_handler_implementations::{ReportingHandlerBuilder, HandlerBuilder}; +extern crate rust_riotmodules; + riot_main!(main); fn main() { diff --git a/examples/rust-hello-world/Cargo.toml b/examples/rust-hello-world/Cargo.toml index a841f702c230..9dc05fcfd2b1 100644 --- a/examples/rust-hello-world/Cargo.toml +++ b/examples/rust-hello-world/Cargo.toml @@ -11,3 +11,9 @@ crate-type = ["staticlib"] [dependencies] # `default-features = false` can be removed with 0.8, and enables building on stable during the 0.7 series riot-wrappers = { version = "0.7", features = [ "set_panic_handler" ], default-features = false } + +# While currently this exmple does not use any RIOT modules implemented in +# Rust, that may change; it is best practice for any RIOT application that has +# its own top-level Rust crate to include rust_riotmodules from inside +# RIOTBASE. +rust_riotmodules = { path = "../../sys/rust_riotmodules/" } diff --git a/examples/rust-hello-world/src/lib.rs b/examples/rust-hello-world/src/lib.rs index f4ad7a8fc472..3f72a5615a3e 100644 --- a/examples/rust-hello-world/src/lib.rs +++ b/examples/rust-hello-world/src/lib.rs @@ -8,6 +8,8 @@ use riot_wrappers::riot_main; use riot_wrappers::println; +extern crate rust_riotmodules; + riot_main!(main); fn main() { diff --git a/tests/rust_minimal/Cargo.toml b/tests/rust_minimal/Cargo.toml index 128a03eb9f48..c6b2f5f54606 100644 --- a/tests/rust_minimal/Cargo.toml +++ b/tests/rust_minimal/Cargo.toml @@ -17,3 +17,8 @@ panic = "abort" [dependencies] # `default-features = false` can be removed with 0.8, and enables building on stable during the 0.7 series riot-wrappers = { version = "0.7", features = [ "set_panic_handler" ], default-features = false } + +# While currently this test does not use any RIOT modules implemented in Rust, +# that may change; it is best practice for any RIOT application that has its +# own top-level Rust crate to include rust_riotmodules from inside RIOTBASE. +rust_riotmodules = { path = "../../sys/rust_riotmodules/" } diff --git a/tests/rust_minimal/src/lib.rs b/tests/rust_minimal/src/lib.rs index 358a332ab27e..6ba145d044b9 100644 --- a/tests/rust_minimal/src/lib.rs +++ b/tests/rust_minimal/src/lib.rs @@ -8,6 +8,8 @@ use riot_wrappers::riot_main; use riot_wrappers::println; +extern crate rust_riotmodules; + riot_main!(main); fn main() {