tock · bors · Oct 7, 2022 · Sep 20, 2022 · twilfredo · Sep 28, 2022
diff --git a/boards/components/src/fxos8700.rs b/boards/components/src/fxos8700.rs
@@ -6,54 +6,72 @@
 //! -----
 //! ```rust
 //! let fxos8700 = components::fxos8700::Fxos8700Component::new(mux_i2c, PinId::AdB1_00.get_pin().as_ref().unwrap())
-//!    .finalize(());
+//!    .finalize(components::fxos8700_component_static!());
 //!
 //! let ninedof = components::ninedof::NineDofComponent::new(board_kernel)
-//!    .finalize(components::ninedof_component_helper!(fxos8700));
+//!    .finalize(components::ninedof_component_static!(fxos8700));
 //! ```
 
 // Based on the component written for sam4l by:
 // Author: Philip Levis <pal@cs.stanford.edu>
 // Last modified: 6/03/2020
 
-use capsules::fxos8700cq;
+use capsules::fxos8700cq::Fxos8700cq;
 use capsules::virtual_i2c::{I2CDevice, MuxI2C};
 
 use kernel::component::Component;
 
+use core::mem::MaybeUninit;
 use kernel::hil;
 use kernel::hil::gpio;
-use kernel::static_init;
+
+#[macro_export]
+macro_rules! fxos8700_component_static {
+    () => {{
+        let i2c_device = kernel::static_buf!(capsules::virtual_i2c::I2CDevice);
+        let buffer = kernel::static_buf!([u8; capsules::fxos8700cq::BUF_LEN]);
+        let fxo = kernel::static_buf!(capsules::fxos8700cq::Fxos8700cq<'static>);
+
+        (i2c_device, buffer, fxo)
+    };};
-    };};
+    }};
-    };};
+    }};
+}
 
 pub struct Fxos8700Component {
     i2c_mux: &'static MuxI2C<'static>,
+    i2c_address: u8,
     gpio: &'static dyn gpio::InterruptPin<'static>,
 }
 
 impl Fxos8700Component {
     pub fn new<'a>(
         i2c: &'static MuxI2C<'static>,
+        i2c_address: u8,
         gpio: &'static dyn hil::gpio::InterruptPin<'static>,
     ) -> Fxos8700Component {
         Fxos8700Component {
             i2c_mux: i2c,
+            i2c_address,
             gpio: gpio,
         }
     }
 }
 
 impl Component for Fxos8700Component {
-    type StaticInput = ();
-    type Output = &'static fxos8700cq::Fxos8700cq<'static>;
-
-    unsafe fn finalize(self, _s: Self::StaticInput) -> Self::Output {
-        let fxos8700_i2c = static_init!(I2CDevice, I2CDevice::new(self.i2c_mux, 0x1f));
-        let fxos8700 = static_init!(
-            fxos8700cq::Fxos8700cq<'static>,
-            fxos8700cq::Fxos8700cq::new(fxos8700_i2c, self.gpio, &mut fxos8700cq::BUF)
-        );
+    type StaticInput = (
+        &'static mut MaybeUninit<I2CDevice<'static>>,
+        &'static mut MaybeUninit<[u8; capsules::fxos8700cq::BUF_LEN]>,
+        &'static mut MaybeUninit<Fxos8700cq<'static>>,
+    );
+    type Output = &'static Fxos8700cq<'static>;
+
+    unsafe fn finalize(self, s: Self::StaticInput) -> Self::Output {
+        let fxos8700_i2c = s.0.write(I2CDevice::new(self.i2c_mux, self.i2c_address));
+        let buffer = s.1.write([0; capsules::fxos8700cq::BUF_LEN]);
+        let fxos8700 = s.2.write(Fxos8700cq::new(fxos8700_i2c, self.gpio, buffer));
+
         fxos8700_i2c.set_client(fxos8700);
         self.gpio.set_client(fxos8700);
+
         fxos8700
     }
 }
diff --git a/boards/hail/src/main.rs b/boards/hail/src/main.rs
@@ -10,7 +10,7 @@
 #![deny(missing_docs)]
 
 use capsules::virtual_alarm::VirtualMuxAlarm;
-use capsules::virtual_i2c::{I2CDevice, MuxI2C};
+use capsules::virtual_i2c::MuxI2C;
 use capsules::virtual_spi::VirtualSpiMasterDevice;
 use kernel::capabilities;
 use kernel::component::Component;
@@ -366,17 +366,9 @@ pub unsafe fn main() {
     .finalize(components::alarm_component_helper!(sam4l::ast::Ast));
 
     // FXOS8700CQ accelerometer, device address 0x1e
-    let fxos8700_i2c = static_init!(I2CDevice, I2CDevice::new(sensors_i2c, 0x1e));
-    let fxos8700 = static_init!(
-        capsules::fxos8700cq::Fxos8700cq<'static>,
-        capsules::fxos8700cq::Fxos8700cq::new(
-            fxos8700_i2c,
-            &peripherals.pa[9],
-            &mut capsules::fxos8700cq::BUF
-        )
-    );
-    fxos8700_i2c.set_client(fxos8700);
-    peripherals.pa[9].set_client(fxos8700);
+    let fxos8700 =
+        components::fxos8700::Fxos8700Component::new(sensors_i2c, 0x1e, &peripherals.pa[9])
+            .finalize(components::fxos8700_component_static!());
 
     let ninedof =
         components::ninedof::NineDofComponent::new(board_kernel, capsules::ninedof::DRIVER_NUM)

diff --git a/boards/imix/src/imix_components/fxos8700.rs b/boards/imix/src/imix_components/fxos8700.rs
diff --git a/boards/imix/src/imix_components/mod.rs b/boards/imix/src/imix_components/mod.rs
@@ -1,10 +1,8 @@
 pub mod adc;
-pub mod fxos8700;
 pub mod rf233;
 pub mod test;
 pub mod usb;
 
 pub use self::adc::AdcComponent;
-pub use self::fxos8700::NineDofComponent;
 pub use self::rf233::RF233Component;
 pub use self::usb::UsbComponent;
diff --git a/boards/imix/src/main.rs b/boards/imix/src/main.rs
@@ -49,7 +49,6 @@ use components::rng::RngComponent;
 use components::si7021::{HumidityComponent, SI7021Component};
 use components::spi::{SpiComponent, SpiSyscallComponent};
 use imix_components::adc::AdcComponent;
-use imix_components::fxos8700::NineDofComponent;
 use imix_components::rf233::RF233Component;
 use imix_components::usb::UsbComponent;
 
@@ -416,13 +415,13 @@ pub unsafe fn main() {
     .finalize(());
     let humidity =
         HumidityComponent::new(board_kernel, capsules::humidity::DRIVER_NUM, si7021).finalize(());
-    let ninedof = NineDofComponent::new(
-        board_kernel,
-        capsules::ninedof::DRIVER_NUM,
-        mux_i2c,
-        &peripherals.pc[13],
-    )
-    .finalize(());
+
+
AE96
    let fxos8700 = components::fxos8700::Fxos8700Component::new(mux_i2c, 0x1e, &peripherals.pc[13])
+        .finalize(components::fxos8700_component_static!());
+
+    let ninedof =
+        components::ninedof::NineDofComponent::new(board_kernel, capsules::ninedof::DRIVER_NUM)
+            .finalize(components::ninedof_component_helper!(fxos8700));
 
     // SPI MUX, SPI syscall driver and RF233 radio
     let mux_spi = components::spi::SpiMuxComponent::new(&peripherals.spi, dynamic_deferred_caller)

diff --git a/boards/imxrt1050-evkb/src/main.rs b/boards/imxrt1050-evkb/src/main.rs
@@ -446,9 +446,10 @@ pub unsafe fn main() {
     // Fxos8700 sensor
     let fxos8700 = components::fxos8700::Fxos8700Component::new(
         mux_i2c,
+        0x1f,
         peripherals.ports.pin(PinId::AdB1_00),
     )
-    .finalize(());
+    .finalize(components::fxos8700_component_static!());
 
     // Ninedof
     let ninedof =

diff --git a/capsules/src/fxos8700cq.rs b/capsules/src/fxos8700cq.rs
@@ -28,7 +28,8 @@ use kernel::hil::i2c::{Error, I2CClient, I2CDevice};
 use kernel::utilities::cells::{OptionalCell, TakeCell};
 use kernel::ErrorCode;
 
-pub static mut BUF: [u8; 6] = [0; 6];
+/// Recommended buffer length for this driver.
+pub const BUF_LEN: usize = 6;
 
 #[allow(dead_code)]
 enum Registers {