Tock Kernel Patterns

Name: tock_kernel
Rating: 87
Author: tardyp

Project Structure

code

tock/
  kernel/           # Core kernel (don't modify)
  capsules/         # Hardware-independent drivers
  chips/
    esp32c6/        # Our chip implementation
      src/
        lib.rs
        gpio.rs
        uart.rs
        timer.rs
        interrupts.rs
  boards/
    esp32c6_devkit/  # Board configuration
      src/
        main.rs
        io.rs

HIL (Hardware Interface Layer)

Tock uses HIL traits for hardware abstraction:

rust

// Implementing a HIL trait
use kernel::hil::gpio;

impl gpio::Pin for GpioPin<'_> {
    fn set(&self) {
        // Write to hardware register
    }
    
    fn clear(&self) {
        // Write to hardware register
    }
    
    fn toggle(&self) -> bool {
        // Toggle and return new state
    }
    
    fn read(&self) -> bool {
        // Read from hardware register
    }
}

Static Allocation

No heap in kernel! Use static allocation:

rust

// Static buffer allocation
static mut BUFFER: [u8; 64] = [0; 64];

// Static component initialization
let gpio = static_init!(
    GpioComponent,
    GpioComponent::new(board_kernel, &peripherals.gpio)
);

Deferred Calls

For async operations without threads:

rust

use kernel::deferred_call::{DeferredCall, DeferredCallClient};

impl DeferredCallClient for MyDriver {
    fn handle_deferred_call(&self) {
        // Handle the deferred work
    }
    
    fn register(&'static self) {
        self.deferred_call.register(self);
    }
}

Register Access

Use tock_registers crate:

rust

use tock_registers::registers::{ReadOnly, ReadWrite, WriteOnly};
use tock_registers::register_bitfields;

register_bitfields! [u32,
    GPIO_CTRL [
        ENABLE OFFSET(0) NUMBITS(1) [],
        MODE OFFSET(1) NUMBITS(2) [
            Input = 0,
            Output = 1,
            Alternate = 2
        ],
        PULL OFFSET(4) NUMBITS(2) [
            None = 0,
            Up = 1,
            Down = 2
        ]
    ]
];

#[repr(C)]
struct GpioRegisters {
    ctrl: ReadWrite<u32, GPIO_CTRL::Register>,
    status: ReadOnly<u32>,
    // ...
}

Error Handling

Use Tock's error types:

rust

use kernel::ErrorCode;

fn configure(&self) -> Result<(), ErrorCode> {
    if !self.is_valid() {
        return Err(ErrorCode::INVAL);
    }
    // ...
    Ok(())
}

Common error codes:

•ErrorCode::FAIL - Generic failure
•ErrorCode::BUSY - Resource busy
•ErrorCode::INVAL - Invalid argument
•ErrorCode::SIZE - Size error
•ErrorCode::NOSUPPORT - Not supported

Interrupt Handling

rust

impl InterruptService for Esp32C6 {
    unsafe fn service_interrupt(&self, interrupt: u32) -> bool {
        match interrupt {
            0 => self.gpio.handle_interrupt(),
            1 => self.uart.handle_interrupt(),
            _ => return false,
        }
        true
    }
}

Component Pattern

For board initialization:

rust

pub struct GpioComponent {
    gpio: &'static GpioRegisters,
}

impl Component for GpioComponent {
    type StaticInput = &'static mut MaybeUninit<GpioDriver>;
    type Output = &'static GpioDriver;
    
    fn finalize(self, s: Self::StaticInput) -> Self::Output {
        let driver = s.write(GpioDriver::new(self.gpio));
        driver
    }
}

Documentation

Every public item needs docs:

rust

/// GPIO pin driver for ESP32-C6.
///
/// Provides digital I/O functionality following Tock's GPIO HIL.
///
/// # Example
/// ```ignore
/// let pin = gpio.get_pin(5);
/// pin.set();
/// ```
pub struct GpioPin<'a> {
    // ...
}