{"id":6339,"date":"2023-03-31T13:48:21","date_gmt":"2023-03-31T04:48:21","guid":{"rendered":"https:\/\/solid.kmckk.com\/SOLID\/?p=6339"},"modified":"2023-03-31T14:02:02","modified_gmt":"2023-03-31T05:02:02","slug":"solid%e4%bd%bf%e3%81%a3%e3%81%a6%e3%81%bf%e3%82%88%e3%81%86%e3%82%b7%e3%83%aa%e3%83%bc%e3%82%ba3-%e3%80%8c%e3%82%b3%e3%83%bc%e3%83%89%e3%82%ab%e3%83%90%e3%83%ac%e3%83%83%e3%82%b8%e3%80%8d-2-5-2-2-2-14","status":"publish","type":"post","link":"https:\/\/solid.kmckk.com\/SOLID\/archives\/6339","title":{"rendered":"SOLID for Raspberry Pi 4 (\u9023\u8f0921)"},"content":{"rendered":"
\n
\n\t

(2023\/3\/31)<\/p>\n<\/div>\n<\/div><\/div>

\uff12\uff11\uff0eRust, SOLID-OS\u3067\u5272\u308a\u8fbc\u307f\u51e6\u7406[\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u7de8]<\/h3>\n
\n\t

\u524d\u56de\u66f8\u3044\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3084\u5185\u5bb9\u306b\u3064\u3044\u3066\u3001\u6709\u8b58\u8005\u306e\u65b9\u306b\u8aad\u3093\u3067\u3044\u305f\u3060\u304d\u3001\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u9802\u304d\u307e\u3057\u305f\u3002<\/p>\n

\u4eca\u56de\u306f\u305d\u306e\u5185\u5bb9\u306b\u3064\u3044\u3066\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n

 <\/p>\n<\/div>\n<\/div><\/div>

\uff11\uff0e\u5171\u6709\u5909\u6570\u3092\u69cb\u9020\u4f53\u3067\u5b9a\u7fa9<\/h3>\n
\n\t

\u524d\u56de\u3001\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\u3068\u306e\u5171\u6709\u5909\u6570\u3092\u30bf\u30d7\u30eb\u5f62\u5f0f\u3067\u5b9a\u7fa9\u3057\u307e\u3057\u305f\u304c\u3001\u8aad\u307f\u306b\u304f\u304f\u306a\u308a\u307e\u3057\u305f\u3002
\n\u5171\u6709\u5909\u6570\u3059\u3079\u3066\u3092\u4e00\u3064\u306e\u69cb\u9020\u4f53\u3067\u307e\u3068\u3081\u308b\u66f8\u304d\u65b9\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u9802\u304d\u307e\u3057\u305f\u306e\u3067\u3001\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n

\u30b3\u30fc\u30c9\u306e\u66f8\u304d\u65b9\u306f\u8272\u3005\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u7b46\u8005\u306e\u5834\u5408\u306f\u4ee5\u4e0b\u3092\u5171\u6709\u5909\u6570\u3068\u3057\u3066\u3044\u307e\u3059\u3002
\n\u30fb\u9001\u4fe1\u30c7\u30fc\u30bf\u683c\u7d0d\u30d0\u30c3\u30d5\u30a1
\n\uff08\u524d\u56de\u306f3\u30d0\u30a4\u30c8\u3060\u3063\u305f\u304c\u3001\u3088\u304f\u8003\u3048\u308b\u30682\u30d0\u30a4\u30c8\u3067\u5927\u4e08\u592b\u3002\uff09
\n\u30fb\u53d7\u4fe1\u30c7\u30fc\u30bf
\n\u30fb\u8ee2\u9001\u958b\u59cb\u76f4\u5f8c\u306eTX-FIFO\u30a8\u30f3\u30d7\u30c6\u30a3\u5272\u308a\u8fbc\u307f\u306a\u306e\u304b\u3069\u3046\u304b
\n\u30fb\u30ec\u30b8\u30b9\u30bf\u30ea\u30fc\u30c9\u95a2\u6570\u306a\u306e\u304b\u30e9\u30a4\u30c8\u95a2\u6570\u306a\u306e\u304b
\n\u30fbSPI\u8ee2\u9001\u5b8c\u4e86\u3057\u305f\u304b\u3069\u3046\u304b<\/p>\n

\u3053\u308c\u3089\u3092\u69cb\u9020\u4f53\u306b\u307e\u3068\u3081\u307e\u3059\u3002<\/p>\n

\n
   struct XferState {\n        send_data: [AtomicU8; 2],\n        recv_data: AtomicI32,\n        is_first: AtomicBool,\n        is_read: AtomicBool,\n        is_done: AtomicBool,\n    }\n<\/code><\/pre>\n<\/div>\n
\u305d\u3057\u3066\u3001\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u3068\u3057\u3066\u4f7f\u3048\u308b\u3088\u3046\u3001\u9759\u7684\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u5316\u3057\u307e\u3059\u3002<\/p>\n
\n
   static XFER_STATE: XferState = XferState{\n        send_data: [AtomicU8::new(0),AtomicU8::new(0)],\n        recv_data: AtomicI32::new(0),\n        is_first:  AtomicBool::new(false),\n        is_read:  AtomicBool::new(false),\n        is_done:  AtomicBool::new(false)\n    };\n<\/code><\/pre>\n<\/div>\n
\u3053\u306e\u69cb\u9020\u4f53\u3092\u3001\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\u3068SPI\u8ee2\u9001\uff08\u30ea\u30fc\u30c9\u30fb\u30e9\u30a4\u30c8\uff09\u95a2\u6570\u3067\u5171\u6709\u3059\u308b\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n
\u5b9f\u306f\u5148\u9031\u3001\u30bf\u30d7\u30eb\u5f62\u5f0f\u3067\u66f8\u304f\u524d\u306b\u3001\u69cb\u9020\u4f53\u3067\u66f8\u3053\u3046\u3068\u3057\u3066\u3001\u3042\u308c\u3053\u308c\u8a66\u884c\u932f\u8aa4\u3057\u3066\u5931\u6557\u3057\u3066\u3044\u307e\u3057\u305f\u3002
\n\u69cb\u9020\u4f53\u306e\u4e2d\u306e\u914d\u5217\u3092\u521d\u671f\u5316\u3059\u308b\u3068\u3053\u308d\u3067\u3001
\n[AtomicU8::new(0),AtomicU8::new(0)]<\/code>
\n\u3068\u66f8\u304f\u4e8b\u3092\u601d\u3044\u3064\u3051\u305a\u306b\u30a6\u30f3\u30a6\u30f3\u5538\u3063\u3066\u3044\u307e\u3057\u305f\u3002
\n\u8a00\u308f\u308c\u3066\u307f\u308c\u3070\u3001\u3042\u3041\u305d\u3046\u304b\u3001\u3068\u601d\u3048\u308b\u306e\u3067\u3059\u304c\u3001\u3001\u3001<\/p>\n
\uff03\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5225\u9014\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n
 <\/p>\n<\/div>\n<\/div><\/div><\/div><\/div>
\uff12\uff0e\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u306e\u66f8\u304d\u65b9<\/h3>\n
\n\t
\u304a\u6c17\u3065\u304d\u306e\u65b9\u3082\u591a\u3044\u304b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u7b46\u8005\u306e\u66f8\u3044\u305f\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u306f\u3001\u300c\u5272\u308a\u8fbc\u307f\u300d\u306e\u7279\u8272\u3092\u5168\u304f\u751f\u304b\u3057\u3066\u3044\u306a\u3044\u3082\u306e\u3067\u3059\u3002<\/p>\n
\u76ee\u7684\u3000\u21d2\u300cRust\u3067SOLID-OS\u306e\u5272\u308a\u8fbc\u307f\u6a5f\u80fd\u3092\u4f7f\u3046\u3053\u3068\uff01\u300d<\/p>\n
\u3067\u3042\u3063\u305f\u305f\u3081\u3001\u300c\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u306e\u5728\u308a\u65b9\u300d\u306b\u3064\u3044\u3066\u306f\u6c17\u306b\u3057\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\u3002<\/p>\n
\u3053\u308c\u3067\u7d42\u308f\u3063\u3066\u3057\u307e\u3063\u3066\u306f\u3001\u306a\u3093\u3060\u304b\u30a4\u30de\u30a4\u30c1\u3067\u3059\u3002
\n\uff08\u307e\u3041\u6307\u6458\u53d7\u3051\u305f\u304b\u3089\u305d\u3046\u8a00\u3063\u3066\u3044\u307e\u3059\u304c\u3001\u3001\u5225\u306b\u3044\u3044\u304b\u306a\u3041\u266a\u306a\u3093\u3066\u601d\u3063\u3066\u307e\u3057\u305f\u3002\uff09<\/p>\n
\u3067\u306f\u3001\u3069\u3046\u3042\u308b\u3079\u304d\u304b\u3002<\/p>\n
\u305b\u3063\u304b\u304f\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0OS\u4e0a\u3067\u52d5\u3044\u3066\u3044\u308b\u3093\u3067\u3059\u3002<\/p>\n
\u5f85\u3063\u3066\u308b\u9593\u306f\u81ea\u30bf\u30b9\u30af\u3092\u30b9\u30ea\u30fc\u30d7\u306b\u3059\u3079\u304d\u3067\u3057\u3087\u3046\u3002<\/span><\/p>\n
\u5177\u4f53\u7684\u306b\u66f8\u304d\u307e\u3059\u3002
\nSPI\u8ee2\u9001\uff08\u30ea\u30fc\u30c9\u30fb\u30e9\u30a4\u30c8\uff09\u95a2\u6570\u306f\u3001\u8ee2\u9001\u958b\u59cb\u5f8c\u3001\u8ee2\u9001\u5b8c\u4e86\u30d5\u30e9\u30b0\u3092\u30dd\u30fc\u30ea\u30f3\u30b0\u3059\u308b\u3053\u3068\u3067\u8ee2\u9001\u7d42\u4e86\u3092\u5f85\u3063\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3067\u306f\u3001CS\u30ec\u30b8\u30b9\u30bf\u306eDONE\u30d3\u30c3\u30c8\u3092\u30dd\u30fc\u30ea\u30f3\u30b0\u3059\u308b\u306e\u3068\u5927\u3057\u3066\u9055\u3044\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n
\u305b\u3063\u304b\u304f\u8ee2\u9001\u7d42\u4e86\u3057\u305f\u3089\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u304c\u8d77\u52d5\u3059\u308b\u306e\u3060\u304b\u3089\u3001\u305d\u306e\u8d77\u52d5\u3057\u305f\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u306b\u3088\u3063\u3066\u8d77\u3053\u3057\u3066\u3082\u3089\u3046\u3088\u3046\u306b\u3059\u3079\u304d\u3067\u3059\u3002<\/p>\n
SPI\u8ee2\u9001\uff08\u30ea\u30fc\u30c9\u30fb\u30e9\u30a4\u30c8\uff09\u95a2\u6570\uff1a
\nSPI\u8ee2\u9001\u3092\u958b\u59cb(TA\u30d3\u30c3\u30c8\u30921)\u3057\u305f\u3089\u5bdd\u308b\u3002<\/p>\n
\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\uff1a
\n\u8ee2\u9001\u7d42\u4e86\u3057\u305f\u3089\u3001SPI\u8ee2\u9001\uff08\u30ea\u30fc\u30c9\u30fb\u30e9\u30a4\u30c8\uff09\u95a2\u6570\u3092\u8d77\u3053\u3059\u3002<\/p>\n
\u5b9f\u88c5\u65b9\u6cd5\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u611f\u3058\u306b\u306a\u308a\u305d\u3046\u3067\u3059\u3002<\/p>\n
\u30bf\u30b9\u30af\u30b9\u30ea\u30fc\u30d7\u5bfe\u5fdcSPI\u8ee2\u9001\uff08\u30ea\u30fc\u30c9\u30fb\u30e9\u30a4\u30c8\uff09\u95a2\u6570\uff1a
\n\u2460\u81ea\u30bf\u30b9\u30afID\u3092\u53d6\u5f97\u3059\u308b\u3002
\n\u2461\u53d6\u5f97\u3057\u305fID\u3092\u30a2\u30c8\u30df\u30c3\u30af\u306a\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u306b\u683c\u7d0d\u3059\u308b
\n\u2462\u65e2\u5b58\u306eSPI\u8ee2\u9001\u958b\u59cb\u51e6\u7406\u3092\u884c\u3046
\n\u2463\u30b9\u30ea\u30fc\u30d7\u3059\u308b
\n\u2464\u30bf\u30b9\u30afID\u3092\u53d6\u308a\u9664\u304f<\/p>\n
\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\uff1a
\n\u2460\u65e2\u5b58\u306e\u51e6\u7406\u3092\u884c\u3046
\n\u2461\u8ee2\u9001\u304c\u7d42\u4e86\u3057\u3066\u3044\u308c\u3070\u3001
\n\u30fb\u30a2\u30c8\u30df\u30c3\u30af\u306a\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u304b\u3089\u5bfe\u8c61\u306e\u30bf\u30b9\u30afID\u5024\u3092\u53d6\u5f97
\n\u30fb\u5bfe\u8c61\u306e\u30bf\u30b9\u30af\u3092wakeup\u3055\u305b\u308b\u3002<\/p>\n
\u3072\u3068\u3064\u3072\u3068\u3064\u3001\u30b3\u30fc\u30c9\u4f8b\u3092\u6559\u3048\u3066\u3082\u3089\u3063\u305f\u306e\u3067\u3001\u898b\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n
2.1 \u5bfe\u8c61\u30bf\u30b9\u30afID\u683c\u7d0d\u3059\u308b\u305f\u3081\u306e\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570<\/h3>\n
\u30a2\u30c8\u30df\u30c3\u30af\u3068\u3057\u3066\u3001\u5171\u6709\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n
\n
\/\/\/ \u30a2\u30af\u30c6\u30a3\u30d6\u306aSPI\u8ee2\u9001\u306e\u767a\u884c\u5143\u30bf\u30b9\u30afID\u3092\u683c\u7d0d\u3059\u308b\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u3002\n\/\/\/ \u5236\u5fa1\u6a5f\u69cb\u3092\u72ec\u5360\u3059\u308b\u305f\u3081\u306e\u30df\u30e5\u30fc\u30c6\u30c3\u30af\u30b9\u306e\u5f79\u5272\u3082\u517c\u306d\u308b\u3002\nstatic XFER_ACTIVE_TID: AtomicI32 = AtomicI32::new(0);\n<\/code><\/pre>\n<\/div>\n
 <\/p>\n
2.2 [SPI\u8ee2\u9001\u95a2\u6570]\u81ea\u30bf\u30b9\u30af\u306eID\u3092\u53d6\u5f97\u3059\u308b<\/h3>\n
itron\u95a2\u6570\u3092\u4f7f\u7528\u3057\u3066ID\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002<\/p>\n
\n
let mut tid = 0;\nassert_eq!(unsafe { itron::abi::get_tid(&mut tid) }, itron::abi::E_OK);\nassert_ne!(tid, 0);<\/code><\/pre>\n<\/div>\n
 <\/p>\n
2.3 [SPI\u8ee2\u9001\u95a2\u6570]\u53d6\u5f97\u3057\u305f\u30bf\u30b9\u30af\u306eID\u3092\u683c\u7d0d\u3059\u308b<\/h3>\n
\u5148\u7a0b\u6e96\u5099\u3057\u305f\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u306b\u683c\u7d0d\u3057\u307e\u3059\u3002<\/p>\n
\n
    XFER_ACTIVE_TID.compare_exchange(0, tid, Ordering::AcqRel, Ordering::Relaxed)\n        .expect(\"transfer already in progress\");<\/code><\/pre>\n<\/div>\n
 <\/p>\n
2.4 [SPI\u8ee2\u9001\u95a2\u6570]\u30b9\u30ea\u30fc\u30d7\u3055\u305b\u308b<\/h3>\n
itron\u95a2\u6570\u306eslp_tsk()\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n
\n
assert_eq!(unsafe { itron::abi::slp_tsk() }, itron::abi::E_OK);<\/code><\/pre>\n<\/div>\n
 <\/p>\n
2.5 [SPI\u8ee2\u9001\u95a2\u6570]\u30bf\u30b9\u30afID\u3092\u53d6\u308a\u9664\u304f<\/h3>\n
\u5148\u7a0b\u6e96\u5099\u3057\u305f\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u306b\u683c\u7d0d\u3055\u308c\u305f\u30bf\u30b9\u30afID\u3092\u53d6\u308a\u9664\u304d\u307e\u3059\u3002<\/p>\n
\n
XFER_ACTIVE_TID.store(0, Ordering::Release);<\/code><\/pre>\n<\/div>\n
 <\/p>\n
2.6 [\u30cf\u30f3\u30c9\u30e9]\u5bfe\u8c61\u306e\u30bf\u30b9\u30af\u3092\u30b9\u30ea\u30fc\u30d7\u89e3\u9664<\/h3>\n
\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u304b\u3089\u5bfe\u8c61\u306e\u30bf\u30b9\u30afID\u3092\u53d6\u5f97\u3057\u3001itron\u95a2\u6570\u306ewup_tsk()\u3092\u4f7f\u7528\u3057wakeup\u3055\u305b\u307e\u3059\u3002<\/p>\n
\n
    let tid = XFER_ACTIVE_TID.load(Ordering::Acquire);\n    if tid != 0 {\n        unsafe { itron::abi::wup_tsk(tid) };\n    }<\/code><\/pre>\n<\/div>\n
\u30b3\u30fc\u30c9\u4f8b\u3063\u3066\u3044\u3046\u304b\u3002\u3002\u3002
\n\u305d\u306e\u307e\u307e\u52d5\u304f\u3084\u3093\uff01
\n\u7121\u4e8b\u3001\u52d5\u4f5c\u78ba\u8a8d\u304c\u3067\u304d\u307e\u3057\u305f\uff01<\/p>\n
\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u3067\u3001\u5bfe\u8c61\u30bf\u30b9\u30af\u306e\u30b9\u30ea\u30fc\u30d7\u89e3\u9664\u3092\u3059\u308b\u76f4\u524d\u3067\u30d6\u30ec\u30fc\u30af\u3057\u3066\u307f\u307e\u3057\u305f\u3002
\nSOLID-IDE\u306eRTOS\u30d3\u30e5\u30fc\u30a2\u3067\u898b\u3066\u307f\u308b\u3068\u3001\u30b9\u30ea\u30fc\u30d7\u306b\u306a\u3063\u3066\u3044\u308b\u4e8b\u304c\u308f\u304b\u308a\u307e\u3059\u3002<\/p>\n
\"\"<\/a><\/p>\n
\uff03\u3054\u7d39\u4ecb\u3057\u305f\u4ee5\u5916\u306b\u3082\u3001\u30a4\u30d9\u30f3\u30c8\u30d5\u30e9\u30b0\u3092\u7528\u3044\u308b\u65b9\u6cd5\u3082\u3042\u308a\u307e\u3059\u3002<\/p>\n<\/div>\n<\/div><\/div>
\uff13\uff0e\u5272\u308a\u8fbc\u307f\u512a\u5148\u5ea6\u306e\u8a2d\u5b9a<\/h3>\n
\n\t
\u524d\u56de\u3001SPI\u8ee2\u9001\u5b8c\u4e86\u5272\u308a\u8fbc\u307f\u306e\u512a\u5148\u5ea6\u306b\u3064\u3044\u3066\u3001\u3068\u308a\u3042\u3048\u305a 10 \u56fa\u5b9a\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n
\u4eca\u56de\u306f\u3001SOLID-OS\u306eSOLID_INTC_GetPriorityLevel()\u95a2\u6570<\/a>\u3092\u4f7f\u3063\u3066\u3001\u30b7\u30b9\u30c6\u30e0\u3067\u8a31\u3055\u308c\u3066\u3044\u308b\u6700\u5927\u5024\u3092\u53d6\u5f97\u3057\u3001\u305d\u306e\u4ed8\u8fd1\u306e\u5024\u3092\u512a\u5148\u5ea6\u3068\u3057\u3066\u8a2d\u5b9a\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n
SOLID_INTC_GetPriorityLevel()\u95a2\u6570<\/a>\u306f\u3001solid\u30af\u30ec\u30fc\u30c8\u306e\u4e2d\u3067\u3001C\u8a00\u8a9e\u306e\u95a2\u6570\u3092\u30b3\u30fc\u30eb\u3059\u308b\u305f\u3081\u306eWrapper\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3002<\/p>\n
https:\/\/github.com\/KyotoMicrocomputer\/solid-rapi4-examples\/blob\/main\/common\/solid\/src\/abi.rs<\/p>\n
solid\u30af\u30ec\u30fc\u30c8\u306e\u4e2d\u306e\u3001abi\u306e\u4e2d\u306b\u3042\u308b\u306e\u3067\u3001<\/p>\n
\n
solid::abi::SOLID_INTC_GetPriorityLevel()<\/code><\/pre>\n<\/div>\n
\u3067\u4f7f\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n
\u3055\u3089\u306b\u3001C\u8a00\u8a9e\u306a\u306e\u3067\u623b\u308a\u5024\u304cc_int\u578b\u3067\u3059\u3002<\/p>\n
\"\"<\/a><\/p>\n
i32\u578b\u306b\u5909\u63db\u3059\u308b\u305f\u3081\u3001
\n.into()
\n\u3092\u4ed8\u3051\u307e\u3059\u3002<\/p>\n
\u3059\u308b\u3068\u3001\u4eca\u5ea6\u306f unsafe\u3060\u3088\uff01\u3068\u6012\u3089\u308c\u307e\u3057\u305f\u3002<\/p>\n
\"\"<\/p>\n
\u3068\u3044\u3046\u4e8b\u3067\u3001unsafe{ }\u3067\u56f2\u3093\u3060\u3068\u3053\u308d\u3001\u30a8\u30e9\u30fc\u304c\u306a\u304f\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n
\n
let spi_handler_option = interrupt::HandlerOptions::new(interrupt::Number(150), unsafe{solid::abi::SOLID_INTC_GetPriorityLevel().into()});<\/code><\/pre>\n<\/div>\n
\u3053\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n
max_priority\u306b\u306f\u4f55\u304c\u5165\u3063\u3066\u3044\u308b\u3067\u3057\u3087\u3046\u304b\u3002<\/p>\n
\"\"<\/a><\/p>\n
16\u3067\u3059\u306d\u3002
\n\u2013 2 \u3068\u3057\u3066\u3001\u512a\u5148\u9806\u4f4d14\u3042\u305f\u308a\u304c\u3044\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/p>\n
 <\/p>\n
\n
let max_priority: i32 = unsafe{solid::abi::SOLID_INTC_GetPriorityLevel().into()};\nlet spi_handler_option = interrupt::HandlerOptions::new(interrupt::Number(150),\u00a0 max_priority - 2);<\/code><\/pre>\n<\/div>\n
 <\/p>\n<\/div>\n<\/div><\/div>
\uff14\uff0e\u304a\u307e\u3058\u306a\u3044\u306e\u8b0e\u30b3\u30fc\u30c9\uff1apin_singleton\u3001CpuCx<\/h3>\n
\n\t
\u524d\u56de\u3001
\n\u300csingleton::pin_singleton, thread::CpuCx\u306b\u3064\u3044\u3066\u306f\u3001\u4eca\u56de\u306f\u300c\u304a\u307e\u3058\u306a\u3044\u300d\u3068\u3044\u3046\u4e8b\u3067\u3054\u5bb9\u8d66\u304f\u3060\u3055\u3044\u3002\u3002\u3002\u300d
\n\u3067\u3054\u307e\u304b\u3057\u305f<\/del>\u3054\u5bb9\u8d66\u9802\u3044\u305f\u90e8\u5206\u3067\u3059\u304c\u3001\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u9802\u304d\u307e\u3057\u305f\u3002<\/p>\n
\u3082\u306e\u3059\u3054\u304f\u7c21\u5358\u306b\u30a4\u30e1\u30fc\u30b8\u3060\u3051\u3067\u8a00\u3046\u3068\u3001
\n\u30fbpin_singleton!
\n\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u4e2d\u306b1\u56de\u3060\u3051\u8d70\u3089\u305b\u308b\u3068\u3044\u3046\u4e8b\u304c\u3067\u304d\uff08\u30b7\u30f3\u30b0\u30eb\u30c8\u30f3\uff09\u3001\u304b\u3064\u3001\u5272\u308a\u8fbc\u307f\u69cb\u9020\u4f53\u7b49\u305a\u3063\u3068\u540c\u3058\u30e1\u30e2\u30ea\u306b\u7559\u3081\u7f6e\u304f\uff08\u30d4\u30f3\uff09\u578b\u306e\u307f\u53d7\u3051\u4ed8\u3051\u308b\u30de\u30af\u30ed\u3002\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u306e\u521d\u671f\u8a2d\u5b9a\u6642\u306b\u4f7f\u3046\u3068\u4fbf\u5229\u3002<\/p>\n
\u30fbCpuCx<'a>
\nSOLID_CPU_CONTEXT\u306e\u30e9\u30c3\u30d1\u30fc\u3002<\/p>\n
\u4ee5\u4e0b\u3001\u4e0b\u624b\u306b\u81ea\u5206\u306e\u8a00\u8449\u3067\u66f8\u3053\u3046\u3068\u305b\u305a\u3001\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u9802\u3044\u305f\u5185\u5bb9\u3092\u305d\u306e\u307e\u307e\u5f15\u7528\u3059\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002<\/p>\n
 <\/p>\n
[solid::singleton::pin_singleton!]\n\u6307\u5b9a\u3057\u305f\u5f0f\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u3092\u521d\u671f\u5316\u3057\u3001\u5909\u6570\u3078\u306e\u53c2\u7167\u3092 Pin<&'static mut _> (pinned reference) \u3068\u3057\u3066\u8fd4\u3059\u30de\u30af\u30ed\u3067\u3059\u3002\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u4e2d\u306b1\u56de\u3060\u3051\u3053\u308c\u304c\u3067\u304d\u30012\u56de\u76ee\u4ee5\u964d\u306f Err(_) \u3092\u8fd4\u3057\u307e\u3059\u3002<\/p>\n
 <\/p>\n
\u30dd\u30a4\u30f3\u30c8\u3092\u6319\u3052\u308b\u3068\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002
\n\u2022 \u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\u3092\u5b9a\u7fa9\u3059\u308b
\n\u2022 \u5909\u6570\u3092\u5b9f\u884c\u6642\u306b\u521d\u671f\u5316\u3057\u3066\u3001'static mutable \u53c2\u7167\u3092\u8fd4\u3059
\n\u2022 2\u56de\u76ee\u4ee5\u964d\u306f\u5931\u6557\u3059\u308b
\n\u2022 \u5358\u306a\u308b\u53c2\u7167 (unpinned reference) \u3067\u306f\u306a\u304fpinned reference\u3092\u8fd4\u3059<\/p>\n
solid::interrupt::Handler \u3068 solid::timer::Timer \u3092\u9759\u7684\u5272\u5f53\u3066\u3059\u308b\u5b9f\u88c5\u30a2\u30d7\u30ed\u30fc\u30c1\u3092\u53d6\u308b\u5834\u5408\u306b\u3001\u30b3\u30fc\u30c9\u3092\u7c21\u6f54\u306b\u3059\u308b\u3053\u3068\u304c\u76ee\u7684\u3067\u3059\u3002\u5b9f\u884c\u6642\u306b\u521d\u671f\u5316\u3059\u308b\u306e\u3067\u3001\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u30cf\u30f3\u30c9\u30e9\u95a2\u6570 (\u30af\u30ed\u30fc\u30b8\u30e3\u2015) \u306bmove\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059 (rust-blinky-pac-ap804<\/a>\u306e\u4f8b)\u3002
\n\u52d5\u4f5c\u30a4\u30e1\u30fc\u30b8\u3068\u3057\u3066\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059 (\u30b7\u30f3\u30b0\u30eb\u30b9\u30ec\u30c3\u30c9\u3001\u975e\u30ea\u30a8\u30f3\u30c8\u30e9\u30f3\u30c8\u4eee\u5b9a)\u3002<\/p>\n
\n
\/\/ let foo = pin_singleton!(: Handler<_> = Handler::new(HandlerFn));\n   let foo = unsafe {\n      static mut VAR: Handler;\n      static mut INIT: bool;\n      if !INIT {\n         INIT = true;\n         VAR = Handler::new(HandlerFn);\n         Ok(Pin::static_mut(&mut VAR))\n      } else {\n         Err(todo!())\n      }\n   };<\/code><\/pre>\n<\/div>\n
solid::interrupt::Handler \u306b\u542b\u307e\u308c\u308b SOLID_INTC_HANDLER \u69cb\u9020\u4f53\u306f\u3001SOLID_INTC_Register \u95a2\u6570\u306eAPI\u898f\u7d04\u4e0a\u3001\u5272\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u304c\u767b\u9332\u3055\u308c\u3066\u3044\u308b\u9593\u306f\u305a\u3063\u3068\u540c\u3058\u30e1\u30e2\u30ea\u756a\u5730\u306b\u5b58\u5728\u3057\u7d9a\u3051\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093 (i.e., Safe Rust\u304b\u3089\u3053\u308c\u3092\u9055\u53cd\u3067\u304d\u3066\u306f\u3044\u3051\u307e\u305b\u3093)\u3002
\n\u3053\u306e\u5236\u7d04\u3092\u578b\u3067\u8868\u73fe\u3059\u308b\u306e\u304c\u3001 Pin<&'static mut Handler> \u306e\u3088\u3046\u306apinned reference\u3067\u3059\u3002solid::timer::Timer \u3082\u540c\u69d8\u3067\u3001\u3053\u308c\u3089\u306e\u578b\u306e\u30e1\u30bd\u30c3\u30c9\u306fpinned references\u306e\u307f\u3092\u53d7\u3051\u4ed8\u3051\u307e\u3059\u3002<\/p>\n
Pinned references\u3092\u4f5c\u308b\u306b\u306f\u6b21\u306e\u65b9\u6cd5\u304c\u3042\u308a\u307e\u3059\u3002
\n1. \u6700\u3082\u7c21\u5358\u306a\u65b9\u6cd5\u306f Box::pin \u3067\u5024\u3092\u30d2\u30fc\u30d7\u306b\u79fb\u3057\u3066 Pin<Box> \u30b9\u30de\u30fc\u30c8\u30dd\u30a4\u30f3\u30bf\u3092\u5f97\u308b\u3053\u3068\u3067\u3059 (rust-blinky-pac-cs<\/a>\u306e\u53e4\u3044\u4f8b)\u3002
\n2. \u3042\u308b\u3044\u306f Box::new \u304b\u3089 Box::leak \u3057\u3066\u5f97\u3089\u308c\u308b &'static mut _ \u3092 Pin::static_mut \u306b\u6e21\u305b\u3070\u3001 Pin<&'static mut _> \u304c\u5f97\u3089\u308c\u307e\u3059 (rust-blinky-pac-ap804<\/a>\u306e\u53e4\u3044\u4f8b)\u3002
\n3. \u3069\u3061\u3089\u306e\u65b9\u6cd5\u3082\u52d5\u7684\u30e1\u30e2\u30ea\u5272\u5f53\u3066\u306e\u30aa\u30fc\u30d0\u30d8\u30c3\u30c9\u304c\u639b\u304b\u308a\u307e\u3059\u3002\u9759\u7684\u30e1\u30e2\u30ea\u5272\u5f53\u3066\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u304c\u3001\u3084\u3084\u5197\u9577\u306a\u30dc\u30a4\u30e9\u30fc\u30d7\u30ec\u30fc\u30c8\u30b3\u30fc\u30c9\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059 (rust-server-gotham<\/a>\u306e\u53e4\u3044\u4f8b)\u3002\u5909\u6570\u306e\u52d5\u7684\u306a\u521d\u671f\u5316\u304c\u5fc5\u8981\u306a\u5834\u5408\u3001\u3055\u3089\u306b\u5197\u9577\u306b\u306a\u308a\u307e\u3059\u3002
\n4. Pin::new_unchecked \u306fpinned reference\u306e\u6027\u8cea\u3092\u30d7\u30ed\u30b0\u30e9\u30de\u304c\u81ea\u3089\u306e\u8cac\u4efb\u3067\u4fdd\u8a3c\u3057\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u305f\u3081\u3001unsafe\u30b3\u30fc\u30c9\u304b\u3089\u3057\u304b\u547c\u3073\u51fa\u305b\u307e\u305b\u3093\u3002
\n\u3053\u306e\u30de\u30af\u30ed\u3067\u306f3\u3064\u76ee\u306e\u65b9\u6cd5\u3092\u7c21\u6f54\u306a\u30b3\u30fc\u30c9\u3067\u5b9f\u73fe\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p><\/blockquote>\n
 <\/p>\n
[solid::thread::CpuCx<'a>]\n\u3053\u308c\u306f SOLID_CPU_CONTEXT \u306e\u30e9\u30c3\u30d1\u30fc\u3067\u3059\u3002\u73fe\u6642\u70b9\u3067\u306f\u4f55\u3082\u30e9\u30c3\u30d1\u30fc\u3068\u3057\u3066\u306e\u4ed8\u52a0\u6a5f\u80fd\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u30e9\u30c3\u30d1\u30fc\u3092\u4ecb\u3057\u3066\u6e21\u3059\u3053\u3068\u306b\u3088\u308a\u8ffd\u52a0\u306e\u4f59\u5730\u3092\u6b8b\u3057\u3066\u3044\u307e\u3059\u3002
\n\u5272\u8fbc\u307f\u767a\u751f\u6642\u70b9\u306eCPU\u30ec\u30b8\u30b9\u30bf\u306e\u5024\u3092\u53d6\u5f97\u3059\u308b\u306e\u306b\u4f7f\u7528\u3067\u304d\u307e\u3059 (rust-server-gotham<\/a>\u306e\u4f8b)\u3002<\/p><\/blockquote>\n<\/div>\n<\/div><\/div>
\uff15\uff0e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/h3>\n
\n\t
\u4ee5\u4e0a\u3053\u3053\u307e\u3067\u3067\u3001Rust\u00d7SOLID-OS\u00d7SPI\u52a0\u901f\u5ea6\u30bb\u30f3\u30b5\u3068\u306e\u683c\u95d8\u306f\u3072\u3068\u6bb5\u843d\u3067\u3059\u3002<\/p>\n
\u4eca\u307e\u3067\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u3001\u4ee5\u4e0b\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u307e\u3059\u3002
\n\u4f55\u304b\u306e\u3054\u53c2\u8003\u306b\u306a\u308c\u3070\u5e78\u3044\u3067\u3059\u3002<\/p>\n
spi_adxl345\u30af\u30ec\u30fc\u30c8<\/a><\/p>\n
SOLID-IDE Rust\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3<\/a><\/p>\n
PC\u5074C\uff03\u30d7\u30ed\u30b0\u30e9\u30e0<\/a>(Visual Studio 2019\u7cfb)
\n\uff08bin\\Release\u30d5\u30a9\u30eb\u30c0\u5185\u306bexecutable\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308a\u307e\u3059\uff09<\/p>\n
\u52a0\u901f\u5ea6\u30bb\u30f3\u30b5\u5236\u5fa1\u90e8\u306f\u30af\u30ec\u30fc\u30c8\u5316\u3057\u307e\u3057\u305f\u3002
\nSPI\u5272\u308a\u8fbc\u307f\u30cf\u30f3\u30c9\u30e9\u7b49\u306e\u90e8\u5206\u306b\u3064\u3044\u3066\u306f\u3001spi_acxelrl; \u30af\u30ec\u30fc\u30c8\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306b\u5165\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n
 <\/p>\n
\u6b21\u56de\u306f\u3001SOLID-OS\u306e\u6301\u3064\u4ed6\u306eAPI\u3092Rust\u304b\u3089\u30b3\u30fc\u30eb\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n
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