Getting Started with Secure Embedded Systems: Developing IoT Systems for micro:bit and Raspberry Pi Pico Using Rust and Tock

Table of Contents
About the Authors
About the Technical Reviewer
Acknowledgments
Chapter 1: Embedded Systems and Architectures
	The Eagle Has Landed
	The Architecture of a Generic Embedded System
		Central Processing Unit
			AVR
			PIC
			ARM
			MIPS
			x86/x64
			RISC-V
		The System Bus
		The Memory
		Input/Output Devices
		The Storage Space
		The Interrupt Controller
		The Debug Interface
	Microcontrollers, Computers, and Hybrid Systems
		Microcontrollers
		Computers
		Hybrids
	Embedded Systems Platforms
	Summary
Chapter 2: Embedded Systems Software Development
	What About the Software?
	Development Languages
		Assembly Language
		Structured Programming
			Python
			C/C++ and Arduino
			Assembly Language
			C#
			Rust
	A Few Words About Security
		C Programming and Safety
		Beware of Rust
	Bare Metal Embedded
		The Arduino Library
		CMSIS
		OpenCM3
		The Rust Embedded Devices Working Group
			Real-Time Interrupt-Driven Concurrency
	Embedded Operating Systems and Frameworks
		FreeRTOS
		The Zephyr Project
		Mbed OS
		RIOT
		Tock
	Summary
Chapter 3: The Tock System Architecture
	Why Tock?
	A Few Words About Operating Systems
		The Kernel
		The Drivers
		The Applications
		Services
	The Tock System Architecture
		User Space
		The Tock Kernel
		Hardware Drivers
		Capsules
		Security Facts
	The Tock User Space Architecture
		Process States
		System Calls
			Synchronous System Calls
			Asynchronous System Calls
			Shared Buffers
		The Process Memory
			The Grant Region
				Dynamic Grants
		Tock Application Package
			Tock Binary Format
			Tock Application Bundle
	Flashing the System
		The Debug Chip
		Flashing
		Programming
		The Safe Way
	Summary
Chapter 4: Rust for Tock
	Introduction to Rust
		Rust Primary Data Types
		Mutability
		Who Owns A Value?
		Strings
			The Heap-Allocated String
			String Slices
		Borrowing
		Slices
	Lifetimes
		Who Is Responsible for Deallocation?
			Function Parameters and Return Values
		Lifetime Elision Rules
	Generics and Trait Objects
		A Kind of Inheritance
		Traits
			Generics-Based Implementation
			Implementation Using Trait Objects
			Rust Standard Traits
		Generic Structures
		Associated Types
	Null Values and Error Reporting
	Rust Concepts Used in Tock
		Interior Mutability
			Simple Values
			Optional Values
			Buffers
		Global Variables
		Buffer Lifetimes
		Unwrapping Values
		Transforming Values
	Summary
Chapter 5: Getting Started with Tock
	Hardware Requirements
	About the Tock Repository
	The Tock Project Structure
		The libtock-c and libtock-rs Repositories
	Environment Setup
		Environment Setup for Programming the micro:bit Device
			Setup for Linux and macOS Systems
				Linux Systems
				MacOS Systems
			Windows Systems
				Linux Virtual Machine
		Install the Necessary Tools for the Raspberry Pi Pico
			Use the Raspberry Pi Directly to Compile and Deploy to the Pico
			Use The Raspberry Pi As a Gateway for the Pico
				The Setup for Linux and macOS Systems
				Linux Systems
				MacOS Systems
				The Setup for the Raspberry Pi
		Clone the Tock Kernel Source Code
		Clone Tock Additional Libraries
	Compile and Deploy the Tock Kernel and Applications
		Deploy the Tock Kernel on the micro:bit
			Use Gdb to Deploy Tock
			Use OpenOCD to Deploy Tock
		Hello World from micro:bit!
		Deploy the Tock Kernel on the Raspberry Pi Pico
			Compile and Deploy the Tock Kernel Using the Raspberry Pi
				Use Only OpenOCD to Deploy Tock
				Use Gdb to Deploy Tock
			Compile and Deploy the Tock Kernel from the Computer
		Hello World from Raspberry Pi Pico!
			Deploy the Application from the Raspberry Pi
			Deploy the Application from Your Computer
	Summary
Chapter 6: The Structure of a Custom Tock System
	Initialize the Kernel Component
		Link the Tock Kernel Repository
		Add the Board-Specific Folder
			Build Information
		Create the Drivers Folder
			The Cargo.toml File
			Drivers Source Files
	Initialize the Userspace Component
		Link the libtock-c Repository
		Create the Applications Folder
			The Driver Userspace Component
			The Structure of a Sample Application
	The Rust Toolchain
	Build the Project
		Build the Kernel
		Build an Application
	Summary
Chapter 7: Userspace Applications Development
	Hardware Requirements
	Userspace Capsule APIs
	The Timer Library
	The GPIO Library
		Application Example
	The LED Library
		Application Example
	The ADC Library
		Application Example
	The Sensor Libraries
		Reading The Temperature
		Reading The Motion
		Application Example
	Human Interaction Libraries
		The Console Library
			Application Example
		The Text Screen Library
		The Screen Library
			Application Example With the Pico Explorer Device
		The Button Library
			Application Example
	Persistent Data Storage Library
	Summary
Chapter 8: Synchronous Syscall Capsules
	Hardware Requirements
	The Tock Capsule
	Why Write A Capsule?
	A Closer Look at The System Call Interface
		The Command System Call
		The CommandReturn Structure
	A Capsule’s Architecture
		The API Definition
	Writing the Capsule
		Defining the Driver
		Defining the Font
		Connecting the LEDs
			Slice vs Array Reference Usage
			Controlling the LEDs
		Display Digits and Letters
		The Syscall API Implementation
	Registering the Capsule
		The Board Implementation
		The KernelResources Trait
			System Calls Filters
			Drivers Registration
		Starting The Kernel
			Capabilities
		The DigitLetterDisplay Capsule Registration
	Writing the Userspace Library
		The Header File
		The Library
		Using the Library Inside the Process
	Run the Project on the Raspberry Pi Pico
		The Hardware Setup
		Setting Up the Driver
		Using the Driver
	Summary
Chapter 9: Asynchronous Syscall Capsules
	Requirements
	Extending the API
		The command System Call
		The subscribe System Call
		The allow System Call
	Capsule Architecture
		Asynchronous Tock Drivers
	Writing the Capsule
		Defining the Capsule’s Data Structures
			The leds Field
			The alarm Field
			The grant Field
			How subscribe Works
			The Capsule’s State
			The Data Stored for Each Process
		Storing the Buffer
		Executing the Commands
		The Text Display
			Implementing the Delay
			Signaling the Application
		The Capsule Registration
	The Userspace Library Implementation
		The Userspace API
		The API Implementation
			Definitions
			Asynchronous API
			Synchronous API
	Writing an Example Application
		The Synchronous Application
		The Asynchronous Application
	Using the Raspberry Pi Pico
	Summary
Chapter 10: Service Capsules
	Requirements
	The Separation Between Syscall and Service Capsules
	The TextScreen Driver
		The Architecture of the Capsule
		The Text Screen API
	The Driver Implementation
		Driver Initialization
			Buffers and Parameters
			Deferred Calls
		The TextScreen HIL Implementation
			Asynchronous Functions
			Printing the Text
		The Text Displaying Process
		The Setup Syscall API Implementation
	Capsule Registration
	Capsule Usage
		The Text Screen API
		The Setup API
	Use the Raspberry Pi Pico
	Summary
Chapter 11: Tock Userspace Drivers
	Requirements
	The Tock Inter-Process Communication Library
	Use IPC to Implement a Userspace Driver
		The TextDisplay Service
		The Service API
		The Client Process
	Summary
Chapter 12: Tock Systems Management
	Running Tockloader
		Use tockloader with the micro:bit
		Troubleshooting
		Use tockloader with the Raspberry Pi Pico
	Flash the Kernel
	Device Console
	Install/Remove Applications
		Tockloader Install
		Tockloader Uninstall
		Update an Application
	Inspect the Applications
		List Applications
		Inspect TAB Files
	Application Configurations
		Enable/Disable an Application
		Sticky Applications
	Fault Policies
		Write a Custom FaultPolicy
		Override the Fault Handler
	System Information
	Inspecting Processes
		System Status
		List Processes
		Control the System Processes
		Kernel Memory
	Summary
Index