add bmi088 driver.

Documentation/guides/index.rst

@@ -69,4 +69,5 @@ Guides
   ram_rom_disks.rst
   reading_can_msgs.rst
   remove_device_drivers_nsh.rst
+  rust.rst
 

Documentation/guides/rust.rst

@@ -0,0 +1,90 @@
+===============
+Rust in NuttX
+===============
+
+.. warning::
+    This guide is under development. Rust support in NuttX is experimental.
+
+Introduction
+============
+NuttX is exploring Rust integration to provide memory safety guarantees and modern
+language features while maintaining its small footprint and real-time capabilities.
+
+This guide covers:
+
+- Setting up Rust toolchain for NuttX development
+- Building Rust components with NuttX
+- Interoperability between Rust and C
+- Testing Rust components
+
+Prerequisites
+=============
+- Rust toolchain installed (rustup recommended)
+- NuttX build environment configured
+- Basic knowledge of Rust and NuttX development
+
+Supported Platforms
+===================
+- AArch64 (WIP)
+- ARMv7-A (WIP)
+- ARMv6-M
+- ARMv7-M
+- ARMv8-M
+- RISCV32
+- RISCV64
+
+Getting Started
+===============
+1. Install Rust toolchain and switch to nightly
+
+Please refer to the official Rust installation guide for more details: https://www.rust-lang.org/tools/install
+
+.. code-block:: bash
+
+    rustup toolchain install nightly
+    rustup default nightly
+
+2. Prepare NuttX build environment
+
+Please ensure that you have a working NuttX build environment, and with the following PR merged or cherry-picked:
+- https://github.com/apache/nuttx-apps/pull/2487
+- https://github.com/apache/nuttx/pull/15469
+
+3. Enable essential kernel configurations
+
+Pleae enable the following configurations in your NuttX configuration:
+- CONFIG_SYSTEM_TIME64
+- CONFIG_FS_LARGEFILE
+- CONFIG_TLS_NELEM = 16
+- CONFIG_DEV_URANDOM
+
+The `rv-virt:nsh` board using make as the build system is recommended for testing Rust applications as it has been verified to work with this configuration.
+
+For `rv-virt:nsh` board, you should disable `CONFIG_ARCH_FPU` configuration since RISCV32 with FPU is not supported yet.
+
+4. Enable sample application
+
+Please enable the sample application in your NuttX configuration:
+- CONFIG_EXAMPLES_HELLO_RUST_CARGO
+
+5. Build and run the sample application
+
+Build the NuttX image and run it on your target platform:
+
+.. code-block:: bash
+
+    qemu-system-riscv32 -semihosting -M virt,aclint=on -cpu rv32 -smp 8 -bios nuttx/nuttx -nographic
+
+    NuttShell (NSH) NuttX-12.8.0
+    nsh> hello_rust_cargo
+    {"name":"John","age":30}
+    {"name":"Jane","age":25}
+    Deserialized: Alice is 28 years old
+    Pretty JSON:
+    {
+    "name": "Alice",
+    "age": 28
+    }
+    Hello world from tokio!
+
+Congratulations! You have successfully built and run a Rust application on NuttX.

arch/arm/src/am335x/am335x_can.c

@@ -27,9 +27,11 @@
 #include <nuttx/config.h>
 
 #include <assert.h>
+#include <sched.h>
 
 #include <arch/board/board.h>
 #include <nuttx/irq.h>
+#include <nuttx/spinlock.h>
 #include <nuttx/arch.h>
 #include <nuttx/can/can.h>
 
@@ -205,6 +207,8 @@ static struct can_dev_s g_can1dev =
 };
 #endif
 
+static spinlock_t g_can_lock = SP_UNLOCKED;
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -1079,7 +1083,8 @@ struct can_dev_s *am335x_can_initialize(int port)
 
   syslog(LOG_DEBUG, "CAN%d\n", port);
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_can_lock);
+  sched_lock();
 
 #ifdef CONFIG_AM335X_CAN0
   if (port == 0)
@@ -1109,11 +1114,13 @@ struct can_dev_s *am335x_can_initialize(int port)
     {
       canerr("Unsupported port: %d\n", port);
 
-      leave_critical_section(flags);
+      spin_unlock_irqrestore(&g_can_lock, flags);
+      sched_unlock();
       return NULL;
     }
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_can_lock, flags);
+  sched_unlock();
 
   return candev;
 }
@@ -1124,7 +1131,8 @@ void am335x_can_uninitialize(struct can_dev_s *dev)
 
   DEBUGASSERT(dev);
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_can_lock);
+  sched_lock();
 
 #ifdef CONFIG_AM335X_CAN0
   if (dev == &g_can0dev)
@@ -1151,7 +1159,8 @@ void am335x_can_uninitialize(struct can_dev_s *dev)
       canerr("Not a CAN device: %p\n", dev);
     }
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_can_lock, flags);
+  sched_unlock();
 }
 
 #endif

arch/arm/src/am335x/am335x_gpio.c

@@ -31,6 +31,7 @@
 #include <errno.h>
 
 #include <nuttx/irq.h>
+#include <nuttx/spinlock.h>
 
 #include "chip.h"
 #include "arm_internal.h"
@@ -219,6 +220,8 @@ static const uint8_t *g_gpio_padctl[AM335X_GPIO_NPORTS] =
   g_gpio3_padctl,                    /* GPIO3 */
 };
 
+static spinlock_t g_gpio_lock = SP_UNLOCKED;
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -364,7 +367,7 @@ int am335x_gpio_config(gpio_pinset_t pinset)
 
   /* Configure the pin as an input initially to avoid any spurious outputs */
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_gpio_lock);
 
   /* Configure based upon the pin mode */
 
@@ -407,7 +410,7 @@ int am335x_gpio_config(gpio_pinset_t pinset)
         break;
     }
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_gpio_lock, flags);
   return ret;
 }
 
@@ -425,9 +428,9 @@ void am335x_gpio_write(gpio_pinset_t pinset, bool value)
   int port = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
   int pin  = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_gpio_lock);
   am335x_gpio_setoutput(port, pin, value);
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_gpio_lock, flags);
 }
 
 /****************************************************************************
@@ -445,9 +448,9 @@ bool am335x_gpio_read(gpio_pinset_t pinset)
   int pin  = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
   bool value;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&g_gpio_lock);
   value = am335x_gpio_getinput(port, pin);
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&g_gpio_lock, flags);
   return value;
 }
 

arch/arm/src/am335x/am335x_i2c.c

@@ -37,6 +37,7 @@
 
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
+#include <nuttx/spinlock.h>
 #include <nuttx/clock.h>
 #include <nuttx/mutex.h>
 #include <nuttx/semaphore.h>
@@ -185,6 +186,7 @@ struct am335x_i2c_priv_s
 
   int refs;                    /* Reference count */
   mutex_t lock;                /* Mutual exclusion mutex */
+  spinlock_t spinlock;         /* Spinlock */
 #ifndef CONFIG_I2C_POLLED
   sem_t sem_isr;               /* Interrupt wait semaphore */
 #endif
@@ -317,6 +319,7 @@ static struct am335x_i2c_priv_s am335x_i2c0_priv =
   .config     = &am335x_i2c0_config,
   .refs       = 0,
   .lock       = NXMUTEX_INITIALIZER,
+  .spinlock   = SP_UNLOCKED,
 #ifndef CONFIG_I2C_POLLED
   .sem_isr    = SEM_INITIALIZER(0),
 #endif
@@ -352,6 +355,7 @@ static struct am335x_i2c_priv_s am335x_i2c1_priv =
   .config     = &am335x_i2c1_config,
   .refs       = 0,
   .lock       = NXMUTEX_INITIALIZER,
+  .spinlock   = SP_UNLOCKED,
 #ifndef CONFIG_I2C_POLLED
   .sem_isr    = SEM_INITIALIZER(0),
 #endif
@@ -387,6 +391,7 @@ static struct am335x_i2c_priv_s am335x_i2c2_priv =
   .config     = &am335x_i2c2_config,
   .refs       = 0,
   .lock       = NXMUTEX_INITIALIZER,
+  .spinlock   = SP_UNLOCKED,
 #ifndef CONFIG_I2C_POLLED
   .sem_isr    = SEM_INITIALIZER(0),
 #endif
@@ -492,7 +497,7 @@ static inline int am335x_i2c_sem_waitdone(struct am335x_i2c_priv_s *priv)
   uint32_t regval;
   int ret;
 
-  flags = enter_critical_section();
+  flags = spin_lock_irqsave(&priv->spinlock);
 
   /* Enable Interrupts when master mode */
 
@@ -529,6 +534,8 @@ static inline int am335x_i2c_sem_waitdone(struct am335x_i2c_priv_s *priv)
    */
 
   priv->intstate = INTSTATE_WAITING;
+  spin_unlock_irqrestore(&priv->spinlock, flags);
+
   do
     {
       /* Wait until either the transfer is complete or the timeout expires */
@@ -551,6 +558,8 @@ static inline int am335x_i2c_sem_waitdone(struct am335x_i2c_priv_s *priv)
         }
     }
 
+  flags = spin_lock_irqsave(&priv->spinlock);
+
   /* Loop until the interrupt level transfer is complete. */
 
   while (priv->intstate != INTSTATE_DONE);
@@ -563,7 +572,7 @@ static inline int am335x_i2c_sem_waitdone(struct am335x_i2c_priv_s *priv)
 
   am335x_i2c_putreg(priv, AM335X_I2C_IRQ_EN_CLR_OFFSET, I2C_ICR_CLEARMASK);
 
-  leave_critical_section(flags);
+  spin_unlock_irqrestore(&priv->spinlock, flags);
   return ret;
 }
 #else
@@ -992,7 +1001,7 @@ static int am335x_i2c_isr_process(struct am335x_i2c_priv_s *priv)
            */
 
 #ifdef CONFIG_I2C_POLLED
-          irqstate_t flags = enter_critical_section();
+          irqstate_t flags = spin_lock_irqsave(&priv->spinlock);
 #endif
 
           /* Transmit a byte */
@@ -1001,7 +1010,7 @@ static int am335x_i2c_isr_process(struct am335x_i2c_priv_s *priv)
           priv->dcnt--;
 
 #ifdef CONFIG_I2C_POLLED
-          leave_critical_section(flags);
+          spin_unlock_irqrestore(&priv->spinlock, flags);
 #endif
           if ((priv->dcnt == 0) && ((priv->flags & I2C_M_NOSTOP) == 0))
             {
@@ -1026,7 +1035,7 @@ static int am335x_i2c_isr_process(struct am335x_i2c_priv_s *priv)
            */
 
 #ifdef CONFIG_I2C_POLLED
-          irqstate_t flags = enter_critical_section();
+          irqstate_t flags = spin_lock_irqsave(&priv->spinlock);
 #endif
 
           /* Receive a byte */
@@ -1036,7 +1045,7 @@ static int am335x_i2c_isr_process(struct am335x_i2c_priv_s *priv)
           priv->dcnt--;
 
 #ifdef CONFIG_I2C_POLLED
-          leave_critical_section(flags);
+          spin_unlock_irqrestore(&priv->spinlock, flags);
 #endif
           if ((priv->msgc <= 0) && (priv->dcnt == 0))
             {
@@ -1100,7 +1109,7 @@ static int am335x_i2c_isr_process(struct am335x_i2c_priv_s *priv)
                */
 
 #ifdef CONFIG_I2C_POLLED
-              irqstate_t flags = enter_critical_section();
+              irqstate_t flags = spin_lock_irqsave(&priv->spinlock);
 #endif
 
               /* Transmit a byte */
@@ -1109,7 +1118,7 @@ static int am335x_i2c_isr_process(struct am335x_i2c_priv_s *priv)
               priv->dcnt--;
 
 #ifdef CONFIG_I2C_POLLED
-              leave_critical_section(flags);
+              spin_unlock_irqrestore(&priv->spinlock, flags);
 #endif
               if ((priv->dcnt == 0) && ((priv->flags & I2C_M_NOSTOP) == 0))
                 {

arch/arm/src/am335x/am335x_irq.c

@@ -29,13 +29,21 @@
 #include <assert.h>
 
 #include <nuttx/arch.h>
+#include <nuttx/spinlock.h>
 
 #include "arm_internal.h"
 #include "sctlr.h"
 
 #include "am335x_gpio.h"
 #include "am335x_irq.h"
 
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+#ifdef CONFIG_ARCH_IRQPRIO
+static spinlock_t g_irq_lock = SP_UNLOCKED;
+#endif
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/
@@ -328,7 +336,7 @@ int up_prioritize_irq(int irq, int priority)
     {
       /* These operations must be atomic */
 
-      flags = enter_critical_section();
+      flags = spin_lock_irqsave(&g_irq_lock);
 
 #if 0 // TODO
       /* Set the new priority */
@@ -340,7 +348,7 @@ int up_prioritize_irq(int irq, int priority)
       putreg32(regval, regaddr);
 #endif
 
-      leave_critical_section(flags);
+      spin_unlock_irqrestore(&g_irq_lock, flags);
       return OK;
     }