Merge pull request tock#4300 from OxidosAutomotive/psoc6

boards: add initial code for CY8CPROTO-062-4343W

Cargo.toml

@@ -18,6 +18,7 @@ members = [
     "boards/arty_e21",
     "boards/opentitan/earlgrey-cw310",
     "boards/esp32-c3-devkitM-1",
+    "boards/cy8cproto_62_4343_w",
     "boards/clue_nrf52840",
     "boards/veer_el2_sim",
     "boards/hail",
@@ -80,6 +81,7 @@ members = [
     "chips/nrf52840",
     "chips/nrf5x",
     "chips/qemu_rv32_virt_chip",
+    "chips/psoc62xa",
     "chips/rp2040",
     "chips/sam4l",
     "chips/segger",

boards/README.md

@@ -97,6 +97,7 @@ but the approximate definitions:
 | [Teensy 4.0](teensy40/README.md)                                  | ARM Cortex-M7    | i.MX RT 1062   | custom     | custom                      | No            |
 | [Digilent Arty A-7 100T](arty_e21/README.md)                      | RISC-V RV32IMAC  | SiFive E21     | openocd    | tockloader                  | No            |
 | [MSP432 Evaluation kit MSP432P401R](msp_exp432p401r/README.md)    | ARM Cortex-M4    | MSP432P401R    | openocd    | custom                      | No            |
+| [CY8CPROTO-062-4343W](cy8cproto_62_4343_w/README.md)              | ARM Cortex-M0+   | PSoC62         | openocd    | custom                      | No            |
 
 
 ### Other

boards/cy8cproto_62_4343_w/.cargo/config.toml

@@ -0,0 +1,14 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright OxidOS Automotive SRL 2025.
+
+include = [
+"../../cargo/tock_flags.toml",
+"../../cargo/unstable_flags.toml",
+]
+
+[build]
+target = "thumbv6m-none-eabi"
+
+[unstable]
+config-include = true

boards/cy8cproto_62_4343_w/Cargo.toml

@@ -0,0 +1,26 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright OxidOS Automotive 2025 SRL.
+
+[package]
+name = "cy8cproto_62_4243_w"
+version.workspace = true
+authors.workspace = true
+edition.workspace = true
+build = "../build.rs"
+
+[dependencies]
+cortexm0p = { path = "../../arch/cortex-m0p" }
+kernel = { path = "../../kernel" }
+psoc62xa = { path = "../../chips/psoc62xa" }
+components = { path = "../components" }
+
+capsules-core = { path = "../../capsules/core" }
+capsules-extra = { path = "../../capsules/extra" }
+capsules-system = { path = "../../capsules/system" }
+
+[build-dependencies]
+tock_build_scripts = { path = "../build_scripts" }
+
+[lints]
+workspace = true

boards/cy8cproto_62_4343_w/Makefile

@@ -0,0 +1,27 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright OxidOS Automotive 2025 SRL.
+
+include ../Makefile.common
+
+OPENOCD_OPTIONS= -s ${OPENOCD_ROOT}/scripts -f openocd.cfg
+# Define the path to the TBF file to flash an application
+APP=
+KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM).elf
+KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM)-app.elf
+
+install: flash
+.PHONY: install
+
+flash: release
+	${OPENOCD_ROOT}/bin/openocd $(OPENOCD_OPTIONS) -c "program $(KERNEL); verify_image $(KERNEL); reset; shutdown"
+.PHONY: flash
+
+.PHONY: program
+program: release
+ifeq ($(APP),)
+	$(error Please define the APP variable with the TBF file to flash an application)
+endif
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD,ALLOC $(KERNEL) $(KERNEL_WITH_APP)
+	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL_WITH_APP)
+	${OPENOCD_ROOT}/bin/openocd $(OPENOCD_OPTIONS) -c "program $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"

boards/cy8cproto_62_4343_w/README.md

@@ -0,0 +1,32 @@
+Cypress CY8CPROTO-062-4343W
+===========================
+
+<img src="https://www.infineon.com/export/sites/default/_images/product/evaluation-boards/cypress-boards/CY8CPROTO-062-4343W_0.jpg_1361197165.jpg" width="40%">
+
+The [Cypress CY8CPROTO-062-4343W](https://www.infineon.com/cms/en/product/evaluation-boards/cy8cproto-062-4343w/) is a prototyping board based on the PSoC 62xA SoC.
+
+## Getting started
+
+1. Download the [Infineon Customized OpenOCD](https://github.com/Infineon/openocd/releases/latest)
+2. Set OPENOCD_ROOT to the directory from extracted archive.
+3. Connect the computer to the `KitProg3` USB connector.
+4. Add the udev rule for `KitProg3`:
+```bash
+$ sudo bash -c "echo 'ATTRS{idVendor}==\"04b4\", ATTRS{idProduct}==\"f155\", MODE=\"0666\"' > /etc/udev/rules.d/99-kitprog3.rules"
+```
+
+## Flashing the kernel
+
+The kernel can be programmed by going inside the board's directory and running:
+```bash
+$ make flash
+```
+
+## Flashing an app
+
+Apps are built out-of-tree. Once an app is built, you must add the path to the generated TBF in the Makefile (APP variable), then run:
+```bash
+$ make program
+```
+
+This will generate a new ELF file that can be deployed on the CY8CPROTO-062-4343W via gdb and OpenOCD.

boards/cy8cproto_62_4343_w/layout.ld

@@ -0,0 +1,14 @@
+/* Licensed under the Apache License, Version 2.0 or the MIT License. */
+/* SPDX-License-Identifier: Apache-2.0 OR MIT                         */
+/* Copyright Oxidos Automotive 2025 SRL.                              */
+
+MEMORY
+{
+  	rom (rx)  : ORIGIN = 0x10000000, LENGTH = 1M
+	prog (rx) : ORIGIN = 0x10100000, LENGTH = 1M
+  	ram (rwx) : ORIGIN = 0x08000000, LENGTH = 1M
+}
+
+ENTRY(initialize_ram_jump_to_main)
+
+INCLUDE tock_kernel_layout.ld

boards/cy8cproto_62_4343_w/openocd.cfg

@@ -0,0 +1,8 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright OxidOS Automotive 2025 SRL.
+#
+# OpenOCD configuration for the CY8CPROTO-062 development board
+
+source [find interface/kitprog3.cfg]
+source [find target/psoc6_2m.cfg]

boards/cy8cproto_62_4343_w/src/io.rs

@@ -0,0 +1,64 @@
+// Licensed under the Apache License, Version 2.0 or the MIT License.
+// SPDX-License-Identifier: Apache-2.0 OR MIT
+// Copyright OxidOS Automotive 2025 SRL.
+
+use core::panic::PanicInfo;
+use kernel::utilities::cells::OptionalCell;
+
+use psoc62xa::gpio::GpioPin;
+use psoc62xa::scb::Scb;
+
+use kernel::debug::{self, IoWrite};
+use kernel::hil::led::LedHigh;
+
+use crate::CHIP;
+use crate::PROCESSES;
+use crate::PROCESS_PRINTER;
+
+/// Writer is used by kernel::debug to panic message to the serial port.
+pub struct Writer {
+    scb: OptionalCell<&'static Scb<'static>>,
+}
+
+impl Writer {
+    pub fn set_scb(&self, scb: &'static Scb) {
+        self.scb.set(scb);
+    }
+}
+
+impl core::fmt::Write for Writer {
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
+        self.scb.map(|scb| scb.transmit_uart_sync(s.as_bytes()));
+        Ok(())
+    }
+}
+
+impl IoWrite for Writer {
+    fn write(&mut self, buf: &[u8]) -> usize {
+        self.scb.map(|scb| scb.transmit_uart_sync(buf));
+        buf.len()
+    }
+}
+
+pub static mut WRITER: Writer = Writer {
+    scb: OptionalCell::empty(),
+};
+
+/// Panic handler for the CY8CPROTO-062-4343 board.
+#[panic_handler]
+pub unsafe fn panic_fmt(panic_info: &PanicInfo) -> ! {
+    use core::ptr::{addr_of, addr_of_mut};
+    let writer = &mut *addr_of_mut!(WRITER);
+    let led_kernel_pin = &GpioPin::new(psoc62xa::gpio::PsocPin::P13_7);
+    let led = &mut LedHigh::new(led_kernel_pin);
+
+    debug::panic(
+        &mut [led],
+        writer,
+        panic_info,
+        &cortexm0p::support::nop,
+        &*addr_of!(PROCESSES),
+        &*addr_of!(CHIP),
+        &*addr_of!(PROCESS_PRINTER),
+    );
+}