C6: rebase and update

esp-hal-common/src/interrupt/riscv.rs

@@ -12,7 +12,8 @@
 //! interrupt15() => Priority::Priority15
 //! ```
 
-use riscv::register::mcause;
+use esp_riscv_rt::riscv::register::{mcause, mepc, mtvec};
+pub use esp_riscv_rt::TrapFrame;
 
 use crate::{
     peripherals::{self, Interrupt},
@@ -538,48 +539,6 @@ mod vectored {
     }
 }
 
-/// Registers saved in trap handler
-#[doc(hidden)]
-#[allow(missing_docs)]
-#[derive(Debug, Default, Clone, Copy)]
-#[repr(C)]
-pub struct TrapFrame {
-    pub ra: usize,
-    pub t0: usize,
-    pub t1: usize,
-    pub t2: usize,
-    pub t3: usize,
-    pub t4: usize,
-    pub t5: usize,
-    pub t6: usize,
-    pub a0: usize,
-    pub a1: usize,
-    pub a2: usize,
-    pub a3: usize,
-    pub a4: usize,
-    pub a5: usize,
-    pub a6: usize,
-    pub a7: usize,
-    pub s0: usize,
-    pub s1: usize,
-    pub s2: usize,
-    pub s3: usize,
-    pub s4: usize,
-    pub s5: usize,
-    pub s6: usize,
-    pub s7: usize,
-    pub s8: usize,
-    pub s9: usize,
-    pub s10: usize,
-    pub s11: usize,
-    pub gp: usize,
-    pub tp: usize,
-    pub sp: usize,
-    pub pc: usize,
-    pub mstatus: usize,
-    pub mcause: usize,
-    pub mtval: usize,
-}
 
 /// # Safety
 ///
@@ -595,10 +554,10 @@ pub unsafe extern "C" fn start_trap_rust_hal(trap_frame: *mut TrapFrame) {
 
     let cause = mcause::read();
     if cause.is_exception() {
-        let pc = riscv::register::mepc::read();
+        let pc = mepc::read();
         handle_exception(pc, trap_frame);
     } else {
-        let code = riscv::register::mcause::read().code();
+        let code = mcause::read().code();
         match code {
             1 => interrupt1(trap_frame.as_mut().unwrap()),
             2 => interrupt2(trap_frame.as_mut().unwrap()),
@@ -656,80 +615,75 @@ unsafe fn handle_exception(pc: usize, trap_frame: *mut TrapFrame) {
         return;
     }
 
-    extern "C" {
-        pub fn _start_trap_atomic_rust(trap_frame: *mut riscv_atomic_emulation_trap::TrapFrame);
-    }
-
-    let mut atomic_emulation_trap_frame = riscv_atomic_emulation_trap::TrapFrame {
-        x0: 0,
-        ra: (*trap_frame).ra,
-        sp: (*trap_frame).sp,
-        gp: (*trap_frame).gp,
-        tp: (*trap_frame).tp,
-        t0: (*trap_frame).t0,
-        t1: (*trap_frame).t1,
-        t2: (*trap_frame).t2,
-        fp: (*trap_frame).s0,
-        s1: (*trap_frame).s1,
-        a0: (*trap_frame).a0,
-        a1: (*trap_frame).a1,
-        a2: (*trap_frame).a2,
-        a3: (*trap_frame).a3,
-        a4: (*trap_frame).a4,
-        a5: (*trap_frame).a5,
-        a6: (*trap_frame).a6,
-        a7: (*trap_frame).a7,
-        s2: (*trap_frame).s2,
-        s3: (*trap_frame).s3,
-        s4: (*trap_frame).s4,
-        s5: (*trap_frame).s5,
-        s6: (*trap_frame).s6,
-        s7: (*trap_frame).s7,
-        s8: (*trap_frame).s8,
-        s9: (*trap_frame).s9,
-        s10: (*trap_frame).s10,
-        s11: (*trap_frame).s11,
-        t3: (*trap_frame).t3,
-        t4: (*trap_frame).t4,
-        t5: (*trap_frame).t5,
-        t6: (*trap_frame).t6,
-        pc: (*trap_frame).pc,
-    };
+    let mut frame = [
+        0,
+        (*trap_frame).ra,
+        (*trap_frame).sp,
+        (*trap_frame).gp,
+        (*trap_frame).tp,
+        (*trap_frame).t0,
+        (*trap_frame).t1,
+        (*trap_frame).t2,
+        (*trap_frame).s0,
+        (*trap_frame).s1,
+        (*trap_frame).a0,
+        (*trap_frame).a1,
+        (*trap_frame).a2,
+        (*trap_frame).a3,
+        (*trap_frame).a4,
+        (*trap_frame).a5,
+        (*trap_frame).a6,
+        (*trap_frame).a7,
+        (*trap_frame).s2,
+        (*trap_frame).s3,
+        (*trap_frame).s4,
+        (*trap_frame).s5,
+        (*trap_frame).s6,
+        (*trap_frame).s7,
+        (*trap_frame).s8,
+        (*trap_frame).s9,
+        (*trap_frame).s10,
+        (*trap_frame).s11,
+        (*trap_frame).t3,
+        (*trap_frame).t4,
+        (*trap_frame).t5,
+        (*trap_frame).t6,
+    ];
 
-    _start_trap_atomic_rust(&mut atomic_emulation_trap_frame);
-
-    (*trap_frame).pc = atomic_emulation_trap_frame.pc;
-    (*trap_frame).ra = atomic_emulation_trap_frame.ra;
-    (*trap_frame).sp = atomic_emulation_trap_frame.sp;
-    (*trap_frame).gp = atomic_emulation_trap_frame.gp;
-    (*trap_frame).tp = atomic_emulation_trap_frame.tp;
-    (*trap_frame).t0 = atomic_emulation_trap_frame.t0;
-    (*trap_frame).t1 = atomic_emulation_trap_frame.t1;
-    (*trap_frame).t2 = atomic_emulation_trap_frame.t2;
-    (*trap_frame).s0 = atomic_emulation_trap_frame.fp;
-    (*trap_frame).s1 = atomic_emulation_trap_frame.s1;
-    (*trap_frame).a0 = atomic_emulation_trap_frame.a0;
-    (*trap_frame).a1 = atomic_emulation_trap_frame.a1;
-    (*trap_frame).a2 = atomic_emulation_trap_frame.a2;
-    (*trap_frame).a3 = atomic_emulation_trap_frame.a3;
-    (*trap_frame).a4 = atomic_emulation_trap_frame.a4;
-    (*trap_frame).a5 = atomic_emulation_trap_frame.a5;
-    (*trap_frame).a6 = atomic_emulation_trap_frame.a6;
-    (*trap_frame).a7 = atomic_emulation_trap_frame.a7;
-    (*trap_frame).s2 = atomic_emulation_trap_frame.s2;
-    (*trap_frame).s3 = atomic_emulation_trap_frame.s3;
-    (*trap_frame).s4 = atomic_emulation_trap_frame.s4;
-    (*trap_frame).s5 = atomic_emulation_trap_frame.s5;
-    (*trap_frame).s6 = atomic_emulation_trap_frame.s6;
-    (*trap_frame).s7 = atomic_emulation_trap_frame.s7;
-    (*trap_frame).s8 = atomic_emulation_trap_frame.s8;
-    (*trap_frame).s9 = atomic_emulation_trap_frame.s9;
-    (*trap_frame).s10 = atomic_emulation_trap_frame.s10;
-    (*trap_frame).s11 = atomic_emulation_trap_frame.s11;
-    (*trap_frame).t3 = atomic_emulation_trap_frame.t3;
-    (*trap_frame).t4 = atomic_emulation_trap_frame.t4;
-    (*trap_frame).t5 = atomic_emulation_trap_frame.t5;
-    (*trap_frame).t6 = atomic_emulation_trap_frame.t6;
+    riscv_atomic_emulation_trap::atomic_emulation((*trap_frame).pc, &mut frame);
+
+    (*trap_frame).ra = frame[1];
+    (*trap_frame).sp = frame[2];
+    (*trap_frame).gp = frame[3];
+    (*trap_frame).tp = frame[4];
+    (*trap_frame).t0 = frame[5];
+    (*trap_frame).t1 = frame[6];
+    (*trap_frame).t2 = frame[7];
+    (*trap_frame).s0 = frame[8];
+    (*trap_frame).s1 = frame[9];
+    (*trap_frame).a0 = frame[10];
+    (*trap_frame).a1 = frame[11];
+    (*trap_frame).a2 = frame[12];
+    (*trap_frame).a3 = frame[13];
+    (*trap_frame).a4 = frame[14];
+    (*trap_frame).a5 = frame[15];
+    (*trap_frame).a6 = frame[16];
+    (*trap_frame).a7 = frame[17];
+    (*trap_frame).s2 = frame[18];
+    (*trap_frame).s3 = frame[19];
+    (*trap_frame).s4 = frame[20];
+    (*trap_frame).s5 = frame[21];
+    (*trap_frame).s6 = frame[22];
+    (*trap_frame).s7 = frame[23];
+    (*trap_frame).s8 = frame[24];
+    (*trap_frame).s9 = frame[25];
+    (*trap_frame).s10 = frame[26];
+    (*trap_frame).s11 = frame[27];
+    (*trap_frame).t3 = frame[28];
+    (*trap_frame).t4 = frame[29];
+    (*trap_frame).t5 = frame[30];
+    (*trap_frame).t6 = frame[31];
+    (*trap_frame).pc = pc + 4;
 }
 
 #[doc(hidden)]
@@ -741,7 +695,7 @@ pub fn _setup_interrupts() {
 
     unsafe {
         let vec_table = &_vector_table_hal as *const _ as usize;
-        riscv::register::mtvec::write(vec_table, riscv::register::mtvec::TrapMode::Vectored);
+        mtvec::write(vec_table, mtvec::TrapMode::Vectored);
 
         #[cfg(feature = "vectored")]
         crate::interrupt::init_vectoring();

esp-hal-common/src/lib.rs

@@ -70,7 +70,7 @@ pub use self::pulse_control::PulseControl;
 //     timer::Timer,
 //     uart::Uart,
 // };
-pub use self::{delay::Delay, gpio::*, interrupt::*, spi::Spi, timer::Timer, uart::Uart};
+pub use self::{delay::Delay, gpio::*, interrupt::*, spi::Spi, timer::Timer, uart::Uart, /*rtc_cntl::{Rtc, Rwdt},*/};
 
 // pub mod analog;
 pub mod clock;
@@ -97,8 +97,8 @@ pub mod pulse_control;
 pub mod radio;
 pub mod rng;
 pub mod rom;
-#[cfg(not(esp32c6))]
-pub mod rtc_cntl;
+// #[cfg(not(esp32c6))]
+// pub mod rtc_cntl;
 pub mod sha;
 pub mod spi;
 pub mod system;

esp-hal-common/src/system.rs

@@ -80,11 +80,7 @@ impl PeripheralClockControl {
             )
         };
 
-<<<<<<< HEAD
         #[cfg(any(esp32c2, esp32c3, esp32c6, esp32s2, esp32s3))]
-=======
-        #[cfg(any(esp32c2, esp32c3, esp32c6, esp32s3))]
->>>>>>> b278bca (Get a number of peripheral drivers building for the ESP32-C6)
         let (perip_clk_en1, perip_rst_en1) = { (&system.perip_clk_en1, &system.perip_rst_en1) };
 
         match peripheral {
@@ -253,61 +249,6 @@ impl PeripheralClockControl {
     }
 }
 
-#[cfg(esp32c6)]
-impl PeripheralClockControl {
-    /// Enables and resets the given peripheral
-    pub fn enable(&mut self, peripheral: Peripheral) {
-        let system = unsafe { &*SystemPeripheral::PTR };
-
-        match peripheral {
-            Peripheral::Spi2 => {
-                system.spi2_conf.modify(|_, w| w.spi2_clk_en().set_bit());
-                system.spi2_conf.modify(|_, w| w.spi2_rst_en().clear_bit());
-            }
-            Peripheral::I2cExt0 => {
-                // FIXME
-                // perip_clk_en0.modify(|_, w| w.i2c_ext0_clk_en().set_bit());
-                // perip_rst_en0.modify(|_, w| w.i2c_ext0_rst().clear_bit());
-            }
-            Peripheral::Rmt => {
-                system.rmt_conf.modify(|_, w| w.rmt_clk_en().set_bit());
-                system.rmt_conf.modify(|_, w| w.rmt_rst_en().clear_bit());
-            }
-            Peripheral::Ledc => {
-                system.ledc_conf.modify(|_, w| w.ledc_clk_en().set_bit());
-                system.ledc_conf.modify(|_, w| w.ledc_rst_en().clear_bit());
-            }
-            Peripheral::Mcpwm0 | Peripheral::Mcpwm1 => {
-                system.pwm_conf.modify(|_, w| w.pwm_clk_en().set_bit());
-                system.pwm_conf.modify(|_, w| w.pwm_rst_en().clear_bit());
-            }
-            Peripheral::ApbSarAdc => {
-                // TODO
-            }
-            Peripheral::Gdma => {
-                system.gdma_conf.modify(|_, w| w.gdma_clk_en().set_bit());
-                system.gdma_conf.modify(|_, w| w.gdma_rst_en().clear_bit());
-            }
-            Peripheral::I2s0 => {
-                system.i2s_conf.modify(|_, w| w.i2s_clk_en().set_bit());
-                system.i2s_conf.modify(|_, w| w.i2s_rst_en().clear_bit());
-            }
-            Peripheral::Twai0 => {
-                system.twai0_conf.modify(|_, w| w.twai0_clk_en().set_bit());
-                system
-                    .twai0_conf
-                    .modify(|_, w| w.twai0_rst_en().clear_bit());
-            }
-            Peripheral::Twai1 => {
-                system.twai1_conf.modify(|_, w| w.twai1_clk_en().set_bit());
-                system
-                    .twai1_conf
-                    .modify(|_, w| w.twai1_rst_en().clear_bit());
-            }
-        }
-    }
-}
-
 /// Controls the configuration of the chip's clocks.
 pub struct SystemClockControl {
     _private: (),

esp32c6-hal/Cargo.toml

@@ -4,6 +4,7 @@ version = "0.1.0"
 authors = [
     "Jesse Braham <[email protected]>",
     "Björn Quentin <[email protected]>",
+    "Juraj Sadel <[email protected]>",
 ]
 edition      = "2021"
 rust-version = "1.60.0"
@@ -29,15 +30,15 @@ cfg-if             = "1.0.0"
 embassy-time       = { version = "0.1.0", features = ["nightly"], optional = true }
 embedded-hal       = { version = "0.2.7", features = ["unproven"] }
 embedded-hal-1     = { version = "=1.0.0-alpha.9", optional = true, package = "embedded-hal" }
-embedded-hal-async = { version = "0.1.0-alpha.3", optional = true }
+embedded-hal-async = { version = "0.2.0-alpha.0", optional = true }
 embedded-hal-nb    = { version = "=1.0.0-alpha.1", optional = true }
 embedded-can       = { version = "0.4.1", optional = true }
-esp-hal-common     = { features = ["esp32c6"], path = "../esp-hal-common" }
+esp-hal-common     = { version = "0.5.0",  features = ["esp32c6"], path = "../esp-hal-common" }
+esp-riscv-rt       = { version = "0.1.0", optional = true }
 r0                 = "1.0.0"
-riscv              = "0.10.1"
-riscv-rt           = { version = "0.11.0", optional = true }
 
 [dev-dependencies]
+aes               = "0.8.2"
 critical-section  = "1.1.1"
 embassy-executor  = { package = "embassy-executor", git = "https://github.com/embassy-rs/embassy/", rev = "cd9a65b", features = ["nightly", "integrated-timers"] }
 embedded-graphics = "0.7.1"
@@ -53,7 +54,7 @@ default              = ["rt", "vectored"]
 mcu-boot             = []
 direct-boot          = []
 eh1                  = ["esp-hal-common/eh1", "dep:embedded-hal-1", "dep:embedded-hal-nb", "dep:embedded-can"]
-rt                   = ["riscv-rt"]
+rt                   = ["esp-riscv-rt"]
 smartled             = ["esp-hal-common/smartled"]
 ufmt                 = ["esp-hal-common/ufmt"]
 vectored             = ["esp-hal-common/vectored"]
@@ -78,3 +79,6 @@ embassy-time-timg0 = ["esp-hal-common/embassy-time-timg0", "embassy-time/tick-hz
 # [[example]]
 # name              = "embassy_hello_world"
 # required-features = ["embassy"]
+
+[profile.dev]
+opt-level = 1

esp32c6-hal/examples/blinky.rs

@@ -14,7 +14,8 @@ use esp32c6_hal::{
     Delay,
 };
 use esp_backtrace as _;
-use riscv_rt::entry;
+use esp_riscv_rt::entry;
+
 
 #[entry]
 fn main() -> ! {