Impelement a basic logger, WIP

Introduce Logger trait
Add power management watchdog,
2026-04-17 04:32:27 +00:00 · 2026-01-10 19:49:05 +01:00 · 2026-01-09 16:04:42 +01:00 · 2025-12-26 13:48:22 +01:00 · 2025-12-20 17:40:45 +01:00 · 2025-09-22 08:53:42 +02:00
32 changed files with 1895 additions and 437 deletions
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -1,5 +1,2 @@
-[build]
-target = "aarch64-unknown-none"
-
 [target.aarch64-unknown-none]
 rustflags = ["-C", "link-arg=-Tlink.ld"]
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -21,8 +21,7 @@ jobs:
      - name: Run format check
        run: cargo fmt --check
      - name: Run lint
-        run: cargo clippy -- -D warnings
-
+        run: cargo clippy --target aarch64-unknown-none -- -D warnings
  build:
    runs-on: ubuntu-latest

@@ -33,4 +32,16 @@ jobs:
      - name: Add AArch64 Target
        run: rustup target add aarch64-unknown-none
      - name: Build
-        run: cargo build --verbose
+        run: cargo build --verbose --target aarch64-unknown-none
+
+  test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install rustfmt for nightly
+        run: rustup component add --toolchain nightly-x86_64-unknown-linux-gnu rustfmt clippy
+      - name: Add AArch64 Target
+        run: rustup target add aarch64-unknown-none
+      - name: Heap Workspace Test
+        run: cargo test -p heap
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,4 @@ kernel8.img
 .env
 sd.img
 settings.json
+.DS_Store
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -14,7 +14,7 @@
    {
      "label": "Run QEMU",
      "type": "shell",
-      "command": "qemu-system-aarch64 -M raspi3b -cpu cortex-a53 -serial stdio -sd sd.img -display none -kernel ${workspaceFolder}/target/aarch64-unknown-none/debug/kernel8.img -S -s -m 1024",
+      "command": "llvm-objcopy -O binary target/aarch64-unknown-none/debug/nova target/aarch64-unknown-none/debug/kernel8.img && qemu-system-aarch64 -M raspi3b -cpu cortex-a53 -serial stdio -sd sd.img -kernel ${workspaceFolder}/target/aarch64-unknown-none/debug/kernel8.img -S -s -m 1024",
      "isBackground": true,
      "dependsOn": ["Build"]
    }
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,6 +2,167 @@
 # It is not intended for manual editing.
 version = 4

+[[package]]
+name = "cfg-if"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
+
+[[package]]
+name = "getrandom"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "899def5c37c4fd7b2664648c28120ecec138e4d395b459e5ca34f9cce2dd77fd"
+dependencies = [
+ "cfg-if",
+ "libc",
+ "r-efi",
+ "wasip2",
+]
+
+[[package]]
+name = "heap"
+version = "0.1.0"
+dependencies = [
+ "nova_error",
+ "rand",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.178"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37c93d8daa9d8a012fd8ab92f088405fb202ea0b6ab73ee2482ae66af4f42091"
+
+[[package]]
+name = "libm"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
+
 [[package]]
 name = "nova"
 version = "0.1.0"
+dependencies = [
+ "heap",
+ "libm",
+ "nova_error",
+]
+
+[[package]]
+name = "nova_error"
+version = "0.1.0"
+
+[[package]]
+name = "ppv-lite86"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85eae3c4ed2f50dcfe72643da4befc30deadb458a9b590d720cde2f2b1e97da9"
+dependencies = [
+ "zerocopy",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.103"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5ee95bc4ef87b8d5ba32e8b7714ccc834865276eab0aed5c9958d00ec45f49e8"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.42"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a338cc41d27e6cc6dce6cefc13a0729dfbb81c262b1f519331575dd80ef3067f"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "r-efi"
+version = "5.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "69cdb34c158ceb288df11e18b4bd39de994f6657d83847bdffdbd7f346754b0f"
+
+[[package]]
+name = "rand"
+version = "0.9.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
+dependencies = [
+ "rand_chacha",
+ "rand_core",
+]
+
+[[package]]
+name = "rand_chacha"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d3022b5f1df60f26e1ffddd6c66e8aa15de382ae63b3a0c1bfc0e4d3e3f325cb"
+dependencies = [
+ "ppv-lite86",
+ "rand_core",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.9.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
+dependencies = [
+ "getrandom",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.111"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "390cc9a294ab71bdb1aa2e99d13be9c753cd2d7bd6560c77118597410c4d2e87"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9312f7c4f6ff9069b165498234ce8be658059c6728633667c526e27dc2cf1df5"
+
+[[package]]
+name = "wasip2"
+version = "1.0.1+wasi-0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0562428422c63773dad2c345a1882263bbf4d65cf3f42e90921f787ef5ad58e7"
+dependencies = [
+ "wit-bindgen",
+]
+
+[[package]]
+name = "wit-bindgen"
+version = "0.46.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f17a85883d4e6d00e8a97c586de764dabcc06133f7f1d55dce5cdc070ad7fe59"
+
+[[package]]
+name = "zerocopy"
+version = "0.8.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fd74ec98b9250adb3ca554bdde269adf631549f51d8a8f8f0a10b50f1cb298c3"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.8.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d8a8d209fdf45cf5138cbb5a506f6b52522a25afccc534d1475dad8e31105c6a"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -11,3 +11,14 @@ opt-level = 0

 [profile.release]
 panic = "abort"
+
+[dependencies]
+libm = "0.2.15"
+heap = {path = "heap"}
+nova_error = {path = "nova_error"}
+
+[workspace]
+
+members = [ "nova_error",
+    "heap"
+]
--- a/README.md
+++ b/README.md
@@ -2,15 +2,20 @@

 NovaOS is a expository project where I build a kernel from scratch for a Raspberry PI 3 B+.

-[Technical write-up](https://blog.leafnova.net/projects/pi3_kernel/)
+[Technical write-up](https://leafnova.net/projects/pi3_kernel/)

 ## Features

 - Delay and sleep ✓
 - UART ✓
+- Switching ELs ✓
 - GPIOs ✓
 - GPIO Interrupts ✓
 - Communicate with peripherals via mailboxes ✓
 - Frame Buffer ✓
+- Heap Memory allocation ✓
+- Multi Core
+- Dynamic clock speed
 - MMU
+- Multiprocessing
 - Basic Terminal over UART
--- a/heap/.cargo/config.toml
+++ b/heap/.cargo/config.toml
--- a/heap/Cargo.toml
+++ b/heap/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "heap"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+nova_error = {path = "../nova_error"}
+
+[dev-dependencies]
+rand = "0.9.2"
--- a/heap/src/lib.rs
+++ b/heap/src/lib.rs
@@ -0,0 +1,200 @@
+#![allow(static_mut_refs)]
+#![cfg_attr(not(test), no_std)]
+
+use core::{
+    alloc::GlobalAlloc,
+    mem::size_of,
+    prelude::v1::*,
+    ptr::{self, null_mut},
+    result::Result,
+};
+
+use nova_error::NovaError;
+
+extern crate alloc;
+
+#[repr(C, align(16))]
+#[derive(Clone, Copy)]
+struct HeapHeader {
+    next: Option<*mut HeapHeader>,
+    before: Option<*mut HeapHeader>,
+    size: usize,
+    free: bool,
+}
+
+const HEAP_HEADER_SIZE: usize = size_of::<HeapHeader>();
+const MIN_BLOCK_SIZE: usize = 16;
+
+pub struct Heap {
+    start_address: *mut HeapHeader,
+    end_address: *mut HeapHeader,
+    raw_size: usize,
+}
+impl Heap {
+    pub const fn empty() -> Self {
+        Self {
+            start_address: null_mut(),
+            end_address: null_mut(),
+            raw_size: 0,
+        }
+    }
+
+    pub fn init(&mut self, heap_start: usize, heap_end: usize) {
+        self.start_address = heap_start as *mut HeapHeader;
+        self.end_address = heap_end as *mut HeapHeader;
+
+        self.raw_size = heap_end - heap_start + 1;
+
+        unsafe {
+            ptr::write(
+                self.start_address,
+                HeapHeader {
+                    next: None,
+                    before: None,
+                    size: self.raw_size - HEAP_HEADER_SIZE,
+                    free: true,
+                },
+            );
+        }
+    }
+
+    unsafe fn find_first_fit(&self, size: usize) -> Result<*mut HeapHeader, NovaError> {
+        let mut current = self.start_address;
+        unsafe {
+            while !fits(size, current) {
+                if let Some(next) = (*current).next {
+                    current = next;
+                } else {
+                    return Err(NovaError::HeapFull);
+                }
+            }
+        }
+        Ok(current)
+    }
+
+    fn malloc(&self, mut size: usize) -> Result<*mut u8, NovaError> {
+        if size == 0 {
+            return Err(NovaError::EmptyHeapSegmentNotAllowed);
+        }
+
+        if size < MIN_BLOCK_SIZE {
+            size = MIN_BLOCK_SIZE;
+        }
+
+        // Align size to the next 16 bytes
+        size += (16 - (size % 16)) % 16;
+
+        unsafe {
+            // Find First-Fit memory segment
+            let current = self.find_first_fit(size)?;
+
+            // Return entire block WITHOUT generating a new header
+            // if the current block doesn't have enough space to hold: requested size + HEAP_HEADER_SIZE + MIN_BLOCK_SIZE
+            if (*current).size < size + HEAP_HEADER_SIZE + MIN_BLOCK_SIZE {
+                (*current).free = false;
+                return Ok(current.byte_add(HEAP_HEADER_SIZE) as *mut u8);
+            }
+
+            Self::fragment_segment(current, size);
+
+            let data_start_address = current.byte_add(HEAP_HEADER_SIZE);
+
+            Ok(data_start_address as *mut u8)
+        }
+    }
+
+    unsafe fn fragment_segment(current: *mut HeapHeader, size: usize) {
+        let byte_offset = HEAP_HEADER_SIZE + size;
+        let new_address = unsafe { current.byte_add(byte_offset) };
+
+        // Handle case where fragmenting center free space
+        unsafe {
+            let next = (*current).next;
+            if let Some(next) = next {
+                (*next).before = Some(new_address);
+            }
+
+            ptr::write(
+                new_address,
+                HeapHeader {
+                    next,
+                    before: Some(current),
+                    size: (*current).size - byte_offset,
+                    free: true,
+                },
+            );
+
+            (*current).next = Some(new_address);
+            (*current).free = false;
+            (*current).size = size;
+        }
+    }
+
+    fn free(&self, pointer: *mut u8) -> Result<(), NovaError> {
+        let mut segment = Self::get_header_ref_from_data_pointer(pointer);
+        unsafe {
+            // IF prev is free:
+            // Delete header, add size to previous and fix pointers.
+            // Move Head left
+            if let Some(before_head) = (*segment).before
+                && (*before_head).free
+            {
+                (*before_head).size += (*segment).size + HEAP_HEADER_SIZE;
+                delete_header(segment);
+                segment = before_head;
+            }
+
+            // IF next is free:
+            // Delete next header and merge size, fix pointers
+            if let Some(next_head) = (*segment).next
+                && (*next_head).free
+            {
+                (*segment).size += (*next_head).size + HEAP_HEADER_SIZE;
+                delete_header(next_head);
+            }
+
+            // Neither: Set free
+            (*segment).free = true;
+        }
+
+        Ok(())
+    }
+
+    const fn get_header_ref_from_data_pointer(pointer: *mut u8) -> *mut HeapHeader {
+        unsafe { pointer.sub(HEAP_HEADER_SIZE) as *mut HeapHeader }
+    }
+}
+
+unsafe impl GlobalAlloc for Heap {
+    unsafe fn alloc(&self, layout: core::alloc::Layout) -> *mut u8 {
+        self.malloc(layout.size()).unwrap()
+    }
+
+    unsafe fn dealloc(&self, ptr: *mut u8, _: core::alloc::Layout) {
+        self.free(ptr).unwrap();
+    }
+}
+
+unsafe impl Sync for Heap {}
+
+unsafe fn fits(size: usize, header: *mut HeapHeader) -> bool {
+    unsafe { (*header).free && size <= (*header).size }
+}
+
+unsafe fn delete_header(header: *mut HeapHeader) {
+    unsafe {
+        let before_opt = (*header).before;
+        let next_opt = (*header).next;
+
+        if let Some(before) = before_opt {
+            (*before).next = next_opt;
+        }
+
+        if let Some(next) = next_opt {
+            (*next).before = before_opt;
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests;
--- a/heap/src/tests.rs
+++ b/heap/src/tests.rs
@@ -0,0 +1,165 @@
+use super::*;
+use rand::{self, random_range};
+extern crate std;
+
+static HEAP_SIZE: usize = 1024;
+
+#[test]
+fn test_heap_allocation() {
+    let heap_vector = Box::new([0u8; HEAP_SIZE]);
+    let mut heap = Heap::empty();
+    heap.init(
+        &heap_vector[0] as *const u8 as usize,
+        &heap_vector[HEAP_SIZE - 1] as *const u8 as usize,
+    );
+
+    let root_header = heap.start_address;
+
+    let malloc_size = random_range(0..(HEAP_SIZE - HEAP_HEADER_SIZE));
+    let malloc = heap.malloc(malloc_size).unwrap();
+    let malloc_header = Heap::get_header_ref_from_data_pointer(malloc);
+
+    assert_eq!(root_header, malloc_header);
+
+    unsafe {
+        let actual_alloc_size = (*malloc_header).size;
+        let actual_raw_size = actual_alloc_size + HEAP_HEADER_SIZE;
+        // Verify sizing
+        assert!(actual_alloc_size >= malloc_size);
+        assert_eq!(actual_alloc_size % MIN_BLOCK_SIZE, 0);
+
+        // Verify section is occupied
+        assert!((*malloc_header).free == false);
+
+        // Verify next header has been created
+        let next = (*malloc_header).next.unwrap();
+
+        assert_eq!(malloc_header.byte_add(actual_raw_size), next);
+        assert!((*next).free);
+        assert_eq!((*malloc_header).next.unwrap(), next);
+        assert_eq!((*next).before.unwrap(), malloc_header);
+        assert_eq!((*next).size, HEAP_SIZE - actual_raw_size - HEAP_HEADER_SIZE)
+    }
+}
+
+#[test]
+fn test_full_heap() {
+    let heap_vector = Box::new([0u8; HEAP_SIZE]);
+    let mut heap = Heap::empty();
+    heap.init(
+        &heap_vector[0] as *const u8 as usize,
+        &heap_vector[HEAP_SIZE - 1] as *const u8 as usize,
+    );
+
+    let malloc_size = HEAP_SIZE - HEAP_HEADER_SIZE;
+    let malloc = heap.malloc(malloc_size).unwrap();
+    let malloc_header = Heap::get_header_ref_from_data_pointer(malloc);
+    unsafe {
+        assert_eq!((*malloc_header).free, false);
+        assert!((*malloc_header).next.is_none());
+    }
+
+    let malloc2 = heap.malloc(MIN_BLOCK_SIZE);
+    assert!(malloc2.is_err());
+}
+
+#[test]
+fn test_freeing_root() {
+    let heap_vector = Box::new([0u8; HEAP_SIZE]);
+    let mut heap = Heap::empty();
+    heap.init(
+        &heap_vector[0] as *const u8 as usize,
+        &heap_vector[HEAP_SIZE - 1] as *const u8 as usize,
+    );
+
+    let root_header = heap.start_address;
+    let root_header_start_size = unsafe { (*root_header).size };
+
+    let malloc_size = random_range(0..((HEAP_SIZE - HEAP_HEADER_SIZE) / 2));
+    let malloc = heap.malloc(malloc_size).unwrap();
+    let malloc_header = Heap::get_header_ref_from_data_pointer(malloc);
+    unsafe {
+        assert_eq!((*malloc_header).free, false);
+        assert!((*malloc_header).size >= malloc_size);
+        assert!((*root_header).next.is_some());
+
+        assert!(heap.free(malloc).is_ok());
+
+        assert_eq!((*root_header).size, root_header_start_size);
+        assert!((*root_header).next.is_none());
+    }
+}
+
+#[test]
+fn test_merging_free_sections() {
+    let heap_vector = Box::new([0u8; HEAP_SIZE]);
+    let mut heap = Heap::empty();
+    heap.init(
+        &heap_vector[0] as *const u8 as usize,
+        &heap_vector[HEAP_SIZE - 1] as *const u8 as usize,
+    );
+
+    let root_header = heap.start_address;
+    let root_header_start_size = unsafe { (*root_header).size };
+
+    let malloc1 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+    let malloc_header_before = unsafe { *Heap::get_header_ref_from_data_pointer(malloc1) };
+    let malloc2 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+    let _ = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+
+    unsafe {
+        assert!(heap.free(malloc1).is_ok());
+
+        let malloc_header_free = *Heap::get_header_ref_from_data_pointer(malloc1);
+        assert_ne!(malloc_header_before.free, malloc_header_free.free);
+        assert_eq!(malloc_header_before.size, malloc_header_free.size);
+
+        assert!(heap.free(malloc2).is_ok());
+        let malloc_header_merge = *Heap::get_header_ref_from_data_pointer(malloc1);
+
+        assert!(malloc_header_merge.free);
+        assert_eq!(
+            malloc_header_merge.size,
+            malloc_header_free.size + MIN_BLOCK_SIZE + HEAP_HEADER_SIZE
+        );
+    }
+}
+
+#[test]
+fn test_first_fit() {
+    let heap_vector = Box::new([0u8; HEAP_SIZE]);
+    let mut heap = Heap::empty();
+    heap.init(
+        &heap_vector[0] as *const u8 as usize,
+        &heap_vector[HEAP_SIZE - 1] as *const u8 as usize,
+    );
+
+    let root_header = heap.start_address;
+    let root_header_start_size = unsafe { (*root_header).size };
+
+    let malloc1 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+    let malloc2 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+    let malloc3 = heap.malloc(MIN_BLOCK_SIZE * 3).unwrap();
+    let malloc4 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+
+    unsafe {
+        assert!(heap.free(malloc1).is_ok());
+        assert!(heap.free(malloc3).is_ok());
+        let malloc5 = heap.malloc(MIN_BLOCK_SIZE * 2).unwrap();
+        let malloc1_header = unsafe { *Heap::get_header_ref_from_data_pointer(malloc1) };
+
+        // First free block stays empty
+        assert!(malloc1_header.free);
+
+        // New allocation takes the first fit aka. malloc3
+        assert_eq!(malloc5, malloc3);
+
+        // If no free slot could be found, append to the end
+        let malloc6 = heap.malloc(MIN_BLOCK_SIZE * 2).unwrap();
+        assert!(malloc6 > malloc4);
+
+        // Malloc7 takes slot of Malloc1
+        let malloc7 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+        assert_eq!(malloc1, malloc7);
+    }
+}
--- a/link.ld
+++ b/link.ld
@@ -27,12 +27,27 @@ SECTIONS {
        KEEP(*(.vector_table))
    }

-    .stack 0x8018000 : ALIGN(16)
+    .heap : ALIGN(16)
+    {
+    __heap_start = .;
+    . += 0x10000; #10kB
+    __heap_end = .;
+    }
+
+    .stack : ALIGN(16)
    {
    __stack_start = .;
+    . += 0x10000; #10kB stack
    __stack_end = .;
    }

+    .stack_el0 : ALIGN(16)
+    {
+    __stack_start_el0 = .;
+    . += 0x10000; #10kB stack
+    __stack_end_el0 = .;
+    }
+

    _end = .;
 }
--- a/nova_error/Cargo.toml
+++ b/nova_error/Cargo.toml
@@ -0,0 +1,4 @@
+[package]
+name = "nova_error"
+version = "0.1.0"
+edition = "2024"
--- a/nova_error/src/lib.rs
+++ b/nova_error/src/lib.rs
@@ -0,0 +1,11 @@
+#![no_std]
+
+use core::fmt::Debug;
+use core::prelude::rust_2024::derive;
+
+#[derive(Debug)]
+pub enum NovaError {
+    Mailbox,
+    HeapFull,
+    EmptyHeapSegmentNotAllowed,
+}
--- a/src/configuration.rs
+++ b/src/configuration.rs
@@ -1,9 +1,10 @@
-static SCTLR_EL1_MMU_DISABLED: u64 = 0 << 0; //M
+static SCTLR_EL1_MMU_DISABLED: u64 = 0; //M
 static SCTLR_EL1_DATA_CACHE_DISABLED: u64 = 0 << 2; //C
 static SCTLR_EL1_INSTRUCTION_CACHE_DISABLED: u64 = 0 << 12; //I
 static SCTLR_EL1_LITTLE_ENDIAN_EL0: u64 = 0 << 24; //E0E
 static SCTLR_EL1_LITTLE_ENDIAN_EL1: u64 = 0 << 25; //EE

+#[allow(clippy::identity_op)]
 static SCTLR_EL1_RES: u64 = (0 << 6) | (1 << 11) | (0 << 17) | (1 << 20) | (1 << 22); //Res0 & Res1

 #[no_mangle]
--- a/src/framebuffer.rs
+++ b/src/framebuffer.rs
@@ -1,21 +1,25 @@
 use core::ptr::write_volatile;

+mod bitmaps;
+
+use bitmaps::BASIC_LEGACY;
+
 use crate::{
    mailbox::{read_mailbox, write_mailbox},
-    peripherals::uart::{print, print_u32, print_u32_hex},
+    println,
 };
 #[repr(align(16))]
 struct Mailbox([u32; 36]);

-const ALLOCATE_BUFFER: u32 = 0x00040001;
-const GET_PHYSICAL_DISPLAY_WH: u32 = 0x00040003;
-const SET_PHYSICAL_DISPLAY_WH: u32 = 0x00048003;
-const SET_VIRTUAL_DISPLAY_WH: u32 = 0x00048004;
-const SET_PIXEL_DEPTH: u32 = 0x00048005;
-const SET_PIXEL_ORDER: u32 = 0x00048006;
-const SET_FB_OFFSET: u32 = 0x00048009;
-const GET_PITCH: u32 = 0x00040008;
+const ALLOCATE_BUFFER: u32 = 0x0004_0001;
+const SET_PHYSICAL_DISPLAY_WH: u32 = 0x0004_8003;
+const SET_VIRTUAL_DISPLAY_WH: u32 = 0x0004_8004;
+const SET_PIXEL_DEPTH: u32 = 0x0004_8005;
+const SET_PIXEL_ORDER: u32 = 0x0004_8006;
+const GET_PITCH: u32 = 0x000_40008;
+const SET_FB_OFFSET: u32 = 0x0004_8009;

+#[allow(dead_code)]
 pub struct FrameBuffer {
    pixel_depth: u32, // Bits per pixel
    pitch: u32,       // Pixel per row
@@ -24,8 +28,159 @@ pub struct FrameBuffer {
    size: u32, //Bytes
 }

+pub const RED: u32 = 0x00FF0000;
+pub const GREEN: u32 = 0x0000FF00;
+pub const BLUE: u32 = 0x000000FF;
+pub const ORANGE: u32 = 0x00FFA500;
+pub const YELLOW: u32 = 0x00FFFF00;
+
 impl FrameBuffer {
-    pub fn new() -> Self {
+    pub fn draw_pixel(&self, x: u32, y: u32, color: u32) {
+        let offset = x + y * self.pitch;
+        unsafe {
+            write_volatile(self.start_addr.add(offset as usize), color);
+        }
+    }
+
+    /*Bresenham's line algorithm
+    TODO: check if its possible to optimize y1==y2 case (ARM neon?)
+    */
+    #[allow(clippy::collapsible_else_if)]
+    pub fn draw_line(&self, x1: u32, y1: u32, x2: u32, y2: u32, color: u32) {
+        if x1 == x2 {
+            for y in y1..=y2 {
+                self.draw_pixel(x1, y, color);
+            }
+            return;
+        }
+
+        if (y2 as i32 - y1 as i32).abs() < (x2 as i32 - x1 as i32).abs() {
+            if x1 > x2 {
+                self.plot_line_low(x2, y2, x1, y1, color);
+            } else {
+                self.plot_line_low(x1, y1, x2, y2, color);
+            }
+        } else {
+            if y1 > y2 {
+                self.plot_line_high(x2, y2, x1, y1, color);
+            } else {
+                self.plot_line_high(x1, y1, x2, y2, color);
+            }
+        }
+    }
+
+    pub fn draw_square(&self, x1: u32, y1: u32, x2: u32, y2: u32, color: u32) {
+        self.draw_line(x1, y1, x2, y1, color);
+        self.draw_line(x1, y2, x2, y2, color);
+        self.draw_line(x1, y1, x1, y2, color);
+        self.draw_line(x2, y1, x2, y2, color);
+    }
+
+    pub fn draw_square_fill(&self, x1: u32, y1: u32, x2: u32, y2: u32, color: u32) {
+        let mut y_start = y1;
+        let mut y_end = y2;
+
+        if y2 < y1 {
+            y_start = y2;
+            y_end = y1;
+        }
+
+        for y in y_start..=y_end {
+            self.draw_line(x1, y, x2, y, color);
+        }
+    }
+
+    fn plot_line_low(&self, x1: u32, y1: u32, x2: u32, y2: u32, color: u32) {
+        let dx = x2 as i32 - x1 as i32;
+        let mut dy = y2 as i32 - y1 as i32;
+        let mut yi = 1;
+
+        let mut d = 2 * dy - dx;
+        let mut y = y1 as i32;
+
+        if dy < 0 {
+            yi = -1;
+            dy = -dy;
+        }
+
+        for x in x1..=x2 {
+            self.draw_pixel(x, y as u32, color);
+            if d > 0 {
+                y += yi;
+                d += 2 * (dy - dx);
+            } else {
+                d += 2 * dy;
+            }
+        }
+    }
+    fn plot_line_high(&self, x1: u32, y1: u32, x2: u32, y2: u32, color: u32) {
+        let mut dx = x2 as i32 - x1 as i32;
+        let dy = y2 as i32 - y1 as i32;
+        let mut xi: i32 = 1;
+
+        let mut d = 2 * dy - dx;
+        let mut x = x1 as i32;
+
+        if dx < 0 {
+            xi = -1;
+            dx = -dx;
+        }
+
+        for y in y1..=y2 {
+            self.draw_pixel(x as u32, y, color);
+            if d > 0 {
+                x += xi;
+                d += 2 * (dx - dy);
+            } else {
+                d += 2 * dx;
+            }
+        }
+    }
+
+    //TODO: Scale in pixels
+    pub fn draw_string(&self, string: &str, x: u32, mut y: u32, scale: u32, color: u32) {
+        let mut offset = 0;
+        for c in string.bytes() {
+            match c {
+                b'\n' => {
+                    y += 8 * scale;
+                    offset = 0;
+                }
+                _ => {
+                    self.draw_ascii(x + (offset as u32 * 8 * scale), y, c as usize, scale, color);
+                    offset += 1
+                }
+            }
+        }
+    }
+
+    fn draw_ascii(&self, x: u32, y: u32, char: usize, scale: u32, color: u32) {
+        for (y_offset, row) in BASIC_LEGACY[char].iter().enumerate() {
+            for bit in 0..8 {
+                match row & (1 << bit) {
+                    0 => {}
+                    _ => self.draw_square_fill(
+                        x + (bit * scale),
+                        y + (y_offset as u32 * scale),
+                        x + ((bit + 1) * scale),
+                        y + ((y_offset + 1) as u32 * scale),
+                        color,
+                    ),
+                }
+            }
+        }
+    }
+
+    pub fn draw_function(&self, f: fn(u32) -> f64, x_offset: i32, y_offset: i32, color: u32) {
+        for x in 0..self.pitch as i32 {
+            let y = f(x as u32);
+            self.draw_pixel((x + x_offset) as u32, (y + y_offset as f64) as u32, color);
+        }
+    }
+}
+
+impl Default for FrameBuffer {
+    fn default() -> Self {
        let mut mailbox = Mailbox([0; 36]);
        mailbox.0[0] = 35 * 4;
        mailbox.0[1] = 0;
@@ -50,7 +205,7 @@ impl FrameBuffer {
        mailbox.0[16] = SET_PIXEL_ORDER;
        mailbox.0[17] = 4;
        mailbox.0[18] = 4;
-        mailbox.0[19] = 0x1; // RGB
+        mailbox.0[19] = 0x0; // RGB

        mailbox.0[20] = SET_FB_OFFSET;
        mailbox.0[21] = 8;
@@ -79,12 +234,9 @@ impl FrameBuffer {

        let _ = read_mailbox(8);
        if mailbox.0[1] == 0 {
-            print("Failed\r\n");
+            println!("Failed");
        }

-        print_u32_hex(mailbox.0[28]);
-        print("\r\n");
-
        mailbox.0[28] &= 0x3FFFFFFF;

        Self {
@@ -95,132 +247,4 @@ impl FrameBuffer {
            size: mailbox.0[29],
        }
    }
-
-    pub fn draw_pixel(&self, x: u32, y: u32) {
-        let offset = x + y * self.pitch;
-        unsafe {
-            write_volatile(self.start_addr.add(offset as usize), 0x00AAFFFF);
-        }
-    }
-
-    /*Bresenham's line algorithm
-    TODO: check if its possible to optimize y1==y2 case
-    */
-    pub fn draw_line(&self, x1: u32, y1: u32, x2: u32, y2: u32) {
-        if x1 == x2 {
-            for y in y1..=y2 {
-                self.draw_pixel(x1, y);
-            }
-            return;
-        }
-
-        if (y2 as i32 - y1 as i32).abs() < (x2 as i32 - x1 as i32).abs() {
-            if x1 > x2 {
-                self.plot_line_low(x2, y2, x1, y1);
-            } else {
-                self.plot_line_low(x1, y1, x2, y2);
-            }
-        } else {
-            if y1 > y2 {
-                self.plot_line_high(x2, y2, x1, y1);
-            } else {
-                self.plot_line_high(x1, y1, x2, y2);
-            }
-        }
-    }
-
-    pub fn draw_square(&self, x1: u32, y1: u32, x2: u32, y2: u32) {
-        self.draw_line(x1, y1, x2, y1);
-        self.draw_line(x1, y2, x2, y2);
-        self.draw_line(x1, y1, x1, y2);
-        self.draw_line(x2, y1, x2, y2);
-    }
-
-    pub fn draw_square_fill(&self, x1: u32, y1: u32, x2: u32, y2: u32) {
-        let mut y_start = y1;
-        let mut y_end = y2;
-
-        if y2 < y1 {
-            y_start = y2;
-            y_end = y1;
-        }
-
-        for y in y_start..=y_end {
-            self.draw_line(x1, y, x2, y);
-        }
-    }
-
-    fn plot_line_low(&self, x1: u32, y1: u32, x2: u32, y2: u32) {
-        let dx = x2 as i32 - x1 as i32;
-        let mut dy = y2 as i32 - y1 as i32;
-        let mut yi = 1;
-
-        let mut d = 2 * dy - dx;
-        let mut y = y1 as i32;
-
-        if dy < 0 {
-            yi = -1;
-            dy = -dy;
-        }
-
-        for x in x1..=x2 {
-            self.draw_pixel(x, y as u32);
-            if d > 0 {
-                y += yi;
-                d += 2 * (dy - dx);
-            } else {
-                d += 2 * dy;
-            }
-        }
-    }
-    fn plot_line_high(&self, x1: u32, y1: u32, x2: u32, y2: u32) {
-        let mut dx = x2 as i32 - x1 as i32;
-        let dy = y2 as i32 - y1 as i32;
-        let mut xi: i32 = 1;
-
-        let mut d = 2 * dy - dx;
-        let mut x = x1 as i32;
-
-        if dx < 0 {
-            xi = -1;
-            dx = -dx;
-        }
-
-        for y in y1..=y2 {
-            self.draw_pixel(x as u32, y);
-            if d > 0 {
-                x += xi;
-                d += 2 * (dx - dy);
-            } else {
-                d += 2 * dx;
-            }
-        }
-    }
-}
-
-pub fn print_display_resolution() {
-    let mut mailbox: [u32; 8] = [0; 8];
-    mailbox[0] = 8 * 4;
-    mailbox[1] = 0;
-    mailbox[2] = GET_PHYSICAL_DISPLAY_WH;
-    mailbox[3] = 8;
-    mailbox[4] = 0;
-    mailbox[5] = 0;
-    mailbox[6] = 0;
-    mailbox[7] = 0;
-
-    let addr = core::ptr::addr_of!(mailbox[0]) as u32;
-
-    write_mailbox(8, addr);
-
-    let _ = read_mailbox(8);
-    if mailbox[1] == 0 {
-        print("Failed\r\n");
-    }
-
-    print("Width x Height: ");
-    print_u32(mailbox[5]);
-    print(" x ");
-    print_u32(mailbox[6]);
-    print("\r\n");
 }
--- a/src/framebuffer/bitmaps.rs
+++ b/src/framebuffer/bitmaps.rs
@@ -0,0 +1,132 @@
+pub const NOTHING_TO_DISPLAY: [u8; 8] = [0x00; 8];
+
+pub const BASIC_LEGACY: [[u8; 8]; 128] = [
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    NOTHING_TO_DISPLAY,
+    [0x18, 0x3C, 0x3C, 0x18, 0x18, 0x00, 0x18, 0x00],
+    [0x36, 0x36, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00],
+    [0x36, 0x36, 0x7F, 0x36, 0x7F, 0x36, 0x36, 0x00],
+    [0x0C, 0x3E, 0x03, 0x1E, 0x30, 0x1F, 0x0C, 0x00],
+    [0x00, 0x63, 0x33, 0x18, 0x0C, 0x66, 0x63, 0x00],
+    [0x1C, 0x36, 0x1C, 0x6E, 0x3B, 0x33, 0x6E, 0x00],
+    [0x06, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00],
+    [0x18, 0x0C, 0x06, 0x06, 0x06, 0x0C, 0x18, 0x00],
+    [0x06, 0x0C, 0x18, 0x18, 0x18, 0x0C, 0x06, 0x00],
+    [0x00, 0x66, 0x3C, 0xFF, 0x3C, 0x66, 0x00, 0x00],
+    [0x00, 0x0C, 0x0C, 0x3F, 0x0C, 0x0C, 0x00, 0x00],
+    [0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x0C, 0x06],
+    [0x00, 0x00, 0x00, 0x3F, 0x00, 0x00, 0x00, 0x00],
+    [0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x0C, 0x00],
+    [0x60, 0x30, 0x18, 0x0C, 0x06, 0x03, 0x01, 0x00],
+    [0x3E, 0x63, 0x73, 0x7B, 0x6F, 0x67, 0x3E, 0x00],
+    [0x0C, 0x0E, 0x0C, 0x0C, 0x0C, 0x0C, 0x3F, 0x00],
+    [0x1E, 0x33, 0x30, 0x1C, 0x06, 0x33, 0x3F, 0x00],
+    [0x1E, 0x33, 0x30, 0x1C, 0x30, 0x33, 0x1E, 0x00],
+    [0x38, 0x3C, 0x36, 0x33, 0x7F, 0x30, 0x78, 0x00],
+    [0x3F, 0x03, 0x1F, 0x30, 0x30, 0x33, 0x1E, 0x00],
+    [0x1C, 0x06, 0x03, 0x1F, 0x33, 0x33, 0x1E, 0x00],
+    [0x3F, 0x33, 0x30, 0x18, 0x0C, 0x0C, 0x0C, 0x00],
+    [0x1E, 0x33, 0x33, 0x1E, 0x33, 0x33, 0x1E, 0x00],
+    [0x1E, 0x33, 0x33, 0x3E, 0x30, 0x18, 0x0E, 0x00],
+    [0x00, 0x0C, 0x0C, 0x00, 0x00, 0x0C, 0x0C, 0x00],
+    [0x00, 0x0C, 0x0C, 0x00, 0x00, 0x0C, 0x0C, 0x06],
+    [0x18, 0x0C, 0x06, 0x03, 0x06, 0x0C, 0x18, 0x00],
+    [0x00, 0x00, 0x3F, 0x00, 0x00, 0x3F, 0x00, 0x00],
+    [0x06, 0x0C, 0x18, 0x30, 0x18, 0x0C, 0x06, 0x00],
+    [0x1E, 0x33, 0x30, 0x18, 0x0C, 0x00, 0x0C, 0x00],
+    [0x3E, 0x63, 0x7B, 0x7B, 0x7B, 0x03, 0x1E, 0x00],
+    [0x0C, 0x1E, 0x33, 0x33, 0x3F, 0x33, 0x33, 0x00],
+    [0x3F, 0x66, 0x66, 0x3E, 0x66, 0x66, 0x3F, 0x00],
+    [0x3C, 0x66, 0x03, 0x03, 0x03, 0x66, 0x3C, 0x00],
+    [0x1F, 0x36, 0x66, 0x66, 0x66, 0x36, 0x1F, 0x00],
+    [0x7F, 0x46, 0x16, 0x1E, 0x16, 0x46, 0x7F, 0x00],
+    [0x7F, 0x46, 0x16, 0x1E, 0x16, 0x06, 0x0F, 0x00],
+    [0x3C, 0x66, 0x03, 0x03, 0x73, 0x66, 0x7C, 0x00],
+    [0x33, 0x33, 0x33, 0x3F, 0x33, 0x33, 0x33, 0x00],
+    [0x1E, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E, 0x00],
+    [0x78, 0x30, 0x30, 0x30, 0x33, 0x33, 0x1E, 0x00],
+    [0x67, 0x66, 0x36, 0x1E, 0x36, 0x66, 0x67, 0x00],
+    [0x0F, 0x06, 0x06, 0x06, 0x46, 0x66, 0x7F, 0x00],
+    [0x63, 0x77, 0x7F, 0x7F, 0x6B, 0x63, 0x63, 0x00],
+    [0x63, 0x67, 0x6F, 0x7B, 0x73, 0x63, 0x63, 0x00],
+    [0x1C, 0x36, 0x63, 0x63, 0x63, 0x36, 0x1C, 0x00],
+    [0x3F, 0x66, 0x66, 0x3E, 0x06, 0x06, 0x0F, 0x00],
+    [0x1E, 0x33, 0x33, 0x33, 0x3B, 0x1E, 0x38, 0x00],
+    [0x3F, 0x66, 0x66, 0x3E, 0x36, 0x66, 0x67, 0x00],
+    [0x1E, 0x33, 0x07, 0x0E, 0x38, 0x33, 0x1E, 0x00],
+    [0x3F, 0x2D, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E, 0x00],
+    [0x33, 0x33, 0x33, 0x33, 0x33, 0x33, 0x3F, 0x00],
+    [0x33, 0x33, 0x33, 0x33, 0x33, 0x1E, 0x0C, 0x00],
+    [0x63, 0x63, 0x63, 0x6B, 0x7F, 0x77, 0x63, 0x00],
+    [0x63, 0x63, 0x36, 0x1C, 0x1C, 0x36, 0x63, 0x00],
+    [0x33, 0x33, 0x33, 0x1E, 0x0C, 0x0C, 0x1E, 0x00],
+    [0x7F, 0x63, 0x31, 0x18, 0x4C, 0x66, 0x7F, 0x00],
+    [0x1E, 0x06, 0x06, 0x06, 0x06, 0x06, 0x1E, 0x00],
+    [0x03, 0x06, 0x0C, 0x18, 0x30, 0x60, 0x40, 0x00],
+    [0x1E, 0x18, 0x18, 0x18, 0x18, 0x18, 0x1E, 0x00],
+    [0x08, 0x1C, 0x36, 0x63, 0x00, 0x00, 0x00, 0x00],
+    [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF],
+    [0x0C, 0x0C, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00],
+    [0x00, 0x00, 0x1E, 0x30, 0x3E, 0x33, 0x6E, 0x00],
+    [0x07, 0x06, 0x06, 0x3E, 0x66, 0x66, 0x3B, 0x00],
+    [0x00, 0x00, 0x1E, 0x33, 0x03, 0x33, 0x1E, 0x00],
+    [0x38, 0x30, 0x30, 0x3e, 0x33, 0x33, 0x6E, 0x00],
+    [0x00, 0x00, 0x1E, 0x33, 0x3f, 0x03, 0x1E, 0x00],
+    [0x1C, 0x36, 0x06, 0x0f, 0x06, 0x06, 0x0F, 0x00],
+    [0x00, 0x00, 0x6E, 0x33, 0x33, 0x3E, 0x30, 0x1F],
+    [0x07, 0x06, 0x36, 0x6E, 0x66, 0x66, 0x67, 0x00],
+    [0x0C, 0x00, 0x0E, 0x0C, 0x0C, 0x0C, 0x1E, 0x00],
+    [0x30, 0x00, 0x30, 0x30, 0x30, 0x33, 0x33, 0x1E],
+    [0x07, 0x06, 0x66, 0x36, 0x1E, 0x36, 0x67, 0x00],
+    [0x0E, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E, 0x00],
+    [0x00, 0x00, 0x33, 0x7F, 0x7F, 0x6B, 0x63, 0x00],
+    [0x00, 0x00, 0x1F, 0x33, 0x33, 0x33, 0x33, 0x00],
+    [0x00, 0x00, 0x1E, 0x33, 0x33, 0x33, 0x1E, 0x00],
+    [0x00, 0x00, 0x3B, 0x66, 0x66, 0x3E, 0x06, 0x0F],
+    [0x00, 0x00, 0x6E, 0x33, 0x33, 0x3E, 0x30, 0x78],
+    [0x00, 0x00, 0x3B, 0x6E, 0x66, 0x06, 0x0F, 0x00],
+    [0x00, 0x00, 0x3E, 0x03, 0x1E, 0x30, 0x1F, 0x00],
+    [0x08, 0x0C, 0x3E, 0x0C, 0x0C, 0x2C, 0x18, 0x00],
+    [0x00, 0x00, 0x33, 0x33, 0x33, 0x33, 0x6E, 0x00],
+    [0x00, 0x00, 0x33, 0x33, 0x33, 0x1E, 0x0C, 0x00],
+    [0x00, 0x00, 0x63, 0x6B, 0x7F, 0x7F, 0x36, 0x00],
+    [0x00, 0x00, 0x63, 0x36, 0x1C, 0x36, 0x63, 0x00],
+    [0x00, 0x00, 0x33, 0x33, 0x33, 0x3E, 0x30, 0x1F],
+    [0x00, 0x00, 0x3F, 0x19, 0x0C, 0x26, 0x3F, 0x00],
+    [0x38, 0x0C, 0x0C, 0x07, 0x0C, 0x0C, 0x38, 0x00],
+    [0x18, 0x18, 0x18, 0x00, 0x18, 0x18, 0x18, 0x00],
+    [0x07, 0x0C, 0x0C, 0x38, 0x0C, 0x0C, 0x07, 0x00],
+    [0x6E, 0x3B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00],
+    NOTHING_TO_DISPLAY,
+];
--- a/src/interrupt_handlers.rs
+++ b/src/interrupt_handlers.rs
@@ -0,0 +1,280 @@
+use core::arch::asm;
+
+use alloc::vec::Vec;
+
+use crate::{
+    get_current_el,
+    interrupt_handlers::daif::unmask_irq,
+    peripherals::{
+        gpio::{read_gpio_event_detect_status, reset_gpio_event_detect_status},
+        uart::clear_uart_interrupt_state,
+    },
+    println, read_address, write_address,
+};
+
+const INTERRUPT_BASE: u32 = 0x3F00_B000;
+const IRQ_PENDING_BASE: u32 = INTERRUPT_BASE + 0x204;
+const ENABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x210;
+const DISABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x21C;
+
+const GPIO_PENDING_BIT_OFFSET: u64 = 0b1111 << 49;
+
+struct InterruptHandlers {
+    source: IRQSource,
+    function: fn(),
+}
+
+// TODO: replace with hashmap and check for better alternatives for option
+static mut INTERRUPT_HANDLERS: Option<Vec<InterruptHandlers>> = None;
+
+#[derive(Clone)]
+#[repr(u32)]
+pub enum IRQSource {
+    AuxInt = 29,
+    I2cSpiSlvInt = 44,
+    Pwa0 = 45,
+    Pwa1 = 46,
+    Smi = 48,
+    GpioInt0 = 49,
+    GpioInt1 = 50,
+    GpioInt2 = 51,
+    GpioInt3 = 52,
+    I2cInt = 53,
+    SpiInt = 54,
+    PcmInt = 55,
+    UartInt = 57,
+}
+
+/// Representation of the ESR_ELx registers
+///
+///  Reference: D1.10.4
+#[derive(Debug, Clone, Copy)]
+#[allow(dead_code)]
+struct EsrElX {
+    ec: u32,
+    il: u32,
+    iss: u32,
+}
+
+impl From<u32> for EsrElX {
+    fn from(value: u32) -> Self {
+        Self {
+            ec: value >> 26,
+            il: (value >> 25) & 0b1,
+            iss: value & 0x1FFFFFF,
+        }
+    }
+}
+
+#[no_mangle]
+unsafe extern "C" fn rust_irq_handler() {
+    daif::mask_all();
+    let pending_irqs = get_irq_pending_sources();
+
+    if pending_irqs & GPIO_PENDING_BIT_OFFSET != 0 {
+        handle_gpio_interrupt();
+        let source_el = get_exception_return_exception_level() >> 2;
+        println!("Source EL: {}", source_el);
+        println!("Current EL: {}", get_current_el());
+        println!("Return register address: {:#x}", get_elr_el1());
+    }
+
+    if let Some(handler_vec) = unsafe { INTERRUPT_HANDLERS.as_ref() } {
+        for handler in handler_vec {
+            if (pending_irqs & (1 << (handler.source.clone() as u32))) != 0 {
+                (handler.function)();
+                clear_interrupt_for_source(handler.source.clone());
+            }
+        }
+    }
+}
+
+#[no_mangle]
+unsafe extern "C" fn rust_synchronous_interrupt_no_el_change() {
+    daif::mask_all();
+
+    let source_el = get_exception_return_exception_level() >> 2;
+    println!("--------Sync Exception in EL{}--------", source_el);
+    println!("No EL change");
+    println!("Current EL: {}", get_current_el());
+    println!("{:?}", EsrElX::from(get_esr_el1()));
+    println!("Return register address: {:#x}", get_elr_el1());
+    println!("-------------------------------------");
+}
+
+/// Synchronous Exception Handler
+///
+/// Lower Exception level, where the implemented level
+/// immediately lower than the target level is using
+/// AArch64.
+#[no_mangle]
+unsafe extern "C" fn rust_synchronous_interrupt_imm_lower_aarch64() {
+    daif::mask_all();
+
+    let source_el = get_exception_return_exception_level() >> 2;
+    println!("--------Sync Exception in EL{}--------", source_el);
+    println!("Exception escalated to EL {}", get_current_el());
+    println!("Current EL: {}", get_current_el());
+    let esr = EsrElX::from(get_esr_el1());
+    println!("{:?}", EsrElX::from(esr));
+    println!("Return register address: {:#x}", get_elr_el1());
+
+    match esr.ec {
+        0b100100 => {
+            println!("Cause: Data Abort from a lower Exception level");
+        }
+        _ => {}
+    }
+    println!("-------------------------------------");
+
+    set_return_to_kernel_main();
+}
+
+fn clear_interrupt_for_source(source: IRQSource) {
+    match source {
+        IRQSource::UartInt => clear_uart_interrupt_state(),
+        _ => {}
+    }
+}
+
+fn set_return_to_kernel_main() {
+    unsafe {
+        asm!("ldr x0, =kernel_main", "msr ELR_EL1, x0");
+        asm!("mov x0, #(0b0101)", "msr SPSR_EL1, x0");
+    }
+}
+
+fn get_exception_return_exception_level() -> u32 {
+    let spsr: u32;
+    unsafe {
+        asm!("mrs {0:x}, SPSR_EL1", out(reg) spsr);
+    }
+    spsr & 0b1111
+}
+
+/// Read the syndrome information that caused an exception
+///
+/// ESR = Exception Syndrome Register
+fn get_esr_el1() -> u32 {
+    let esr: u32;
+    unsafe {
+        asm!(
+            "mrs {esr:x}, ESR_EL1",
+            esr = out(reg) esr
+        );
+    }
+    esr
+}
+
+/// Read the return address
+///
+/// ELR = Exception Link Registers
+fn get_elr_el1() -> u32 {
+    let elr: u32;
+    unsafe {
+        asm!(
+            "mrs {esr:x}, ELR_EL1",
+            esr = out(reg) elr
+        );
+    }
+    elr
+}
+
+fn handle_gpio_interrupt() {
+    println!("Interrupt");
+    for i in 0..=53u32 {
+        let val = read_gpio_event_detect_status(i);
+
+        if val {
+            #[allow(clippy::single_match)]
+            match i {
+                26 => {
+                    println!("Button Pressed");
+                }
+                _ => {}
+            }
+            // Reset GPIO Interrupt handler by writing a 1
+            reset_gpio_event_detect_status(i);
+        }
+    }
+    unmask_irq();
+}
+
+/// Enables IRQ Source
+pub fn enable_irq_source(state: IRQSource) {
+    let nr = state as u32;
+    let register = ENABLE_IRQ_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    let current = unsafe { read_address(register) };
+    let mask = 0b1 << register_offset;
+    let new_val = current | mask;
+    unsafe { write_address(register, new_val) };
+}
+
+/// Disable IRQ Source
+pub fn disable_irq_source(state: IRQSource) {
+    let nr = state as u32;
+    let register = DISABLE_IRQ_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    let current = unsafe { read_address(register) };
+    let mask = 0b1 << register_offset;
+    let new_val = current | mask;
+    unsafe { write_address(register, new_val) };
+}
+
+/// Read current IRQ Source status
+pub fn read_irq_source_status(state: IRQSource) -> u32 {
+    let nr = state as u32;
+    let register = ENABLE_IRQ_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    (unsafe { read_address(register) } >> register_offset) & 0b1
+}
+
+/// Status if a IRQ Source is pending
+pub fn is_irq_source_pending(state: IRQSource) -> bool {
+    let nr = state as u32;
+    let register = IRQ_PENDING_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    ((unsafe { read_address(register) } >> register_offset) & 0b1) != 0
+}
+
+/// Status if a IRQ Source is pending
+pub fn get_irq_pending_sources() -> u64 {
+    let mut pending = unsafe { read_address(IRQ_PENDING_BASE + 4) as u64 } << 32;
+    pending |= unsafe { read_address(IRQ_PENDING_BASE) as u64 };
+    pending
+}
+
+pub mod daif {
+    use core::arch::asm;
+
+    #[inline(always)]
+    pub fn mask_all() {
+        unsafe { asm!("msr DAIFSet, #0xf", options(nomem, nostack)) }
+    }
+
+    #[inline(always)]
+    pub fn unmask_all() {
+        unsafe { asm!("msr DAIFClr, #0xf", options(nomem, nostack)) }
+    }
+
+    #[inline(always)]
+    pub fn mask_irq() {
+        unsafe { asm!("msr DAIFSet, #0x2", options(nomem, nostack)) }
+    }
+
+    #[inline(always)]
+    pub fn unmask_irq() {
+        unsafe { asm!("msr DAIFClr, #0x2", options(nomem, nostack)) }
+    }
+}
+
+pub fn initialize_interrupt_handler() {
+    unsafe { INTERRUPT_HANDLERS = Some(Vec::new()) };
+}
+
+pub fn register_interrupt_handler(source: IRQSource, function: fn()) {
+    if let Some(handler_vec) = unsafe { INTERRUPT_HANDLERS.as_mut() } {
+        handler_vec.push(InterruptHandlers { source, function });
+    }
+}
--- a/src/irq_interrupt.rs
+++ b/src/irq_interrupt.rs
@@ -1,15 +1,10 @@
-use core::{
-    arch::asm,
-    sync::atomic::{compiler_fence, Ordering},
-};
+use core::arch::asm;

 use crate::{
+    get_current_el,
+    irq_interrupt::daif::unmask_irq,
    mmio_read, mmio_write,
-    peripherals::{
-        gpio::{blink_gpio, SpecificGpio},
-        uart::print,
-    },
-    timer::sleep_s,
+    peripherals::gpio::{read_gpio_event_detect_status, reset_gpio_event_detect_status},
 };

 const INTERRUPT_BASE: u32 = 0x3F00_B000;
@@ -17,9 +12,6 @@ const IRQ_PENDING_BASE: u32 = INTERRUPT_BASE + 0x204;
 const ENABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x210;
 const DISABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x21C;

-// GPIO
-const GPEDS_BASE: u32 = 0x3F20_0040;
-
 #[repr(u32)]
 pub enum IRQState {
    AuxInt = 29,
@@ -37,78 +29,139 @@ pub enum IRQState {
    UartInt = 57,
 }

-#[no_mangle]
-unsafe extern "C" fn irq_handler() {
-    handle_gpio_interrupt();
+/// Representation of the ESR_ELx registers
+///
+///  Reference: D1.10.4
+#[derive(Debug, Clone, Copy)]
+#[allow(dead_code)]
+struct EsrElX {
+    ec: u32,
+    il: u32,
+    iss: u32,
 }

-#[no_mangle]
-unsafe extern "C" fn synchronous_interrupt() {
-    loop {
-        print("Sync Exception \r\n");
-        blink_gpio(SpecificGpio::OnboardLed as u8, 100);
-        esr_uart_dump();
-        sleep_s(200);
+impl From<u32> for EsrElX {
+    fn from(value: u32) -> Self {
+        Self {
+            ec: value >> 26,
+            il: (value >> 25) & 0b1,
+            iss: value & 0x1FFFFFF,
+        }
    }
 }

-fn esr_uart_dump() {
+#[no_mangle]
+unsafe extern "C" fn rust_irq_handler() {
+    daif::mask_all();
+    handle_gpio_interrupt();
+    let source_el = get_exception_return_exception_level() >> 2;
+    println!("Source EL: {}", source_el);
+    println!("Current EL: {}", get_current_el());
+    println!("Return register address: {:#x}", get_elr_el1());
+}
+
+#[no_mangle]
+unsafe extern "C" fn rust_synchronous_interrupt_no_el_change() {
+    daif::mask_all();
+
+    let source_el = get_exception_return_exception_level() >> 2;
+    println!("--------Sync Exception in EL{}--------", source_el);
+    println!("No EL change");
+    println!("Current EL: {}", get_current_el());
+    println!("{:?}", EsrElX::from(get_esr_el1()));
+    println!("Return register address: {:#x}", get_elr_el1());
+    println!("-------------------------------------");
+}
+
+/// Synchronous Exception Handler
+///
+/// Lower Exception level, where the implemented level
+/// immediately lower than the target level is using
+/// AArch64.
+#[no_mangle]
+unsafe extern "C" fn rust_synchronous_interrupt_imm_lower_aarch64() {
+    daif::mask_all();
+
+    let source_el = get_exception_return_exception_level() >> 2;
+    println!("--------Sync Exception in EL{}--------", source_el);
+    println!("Exception escalated to EL {}", get_current_el());
+    println!("Current EL: {}", get_current_el());
+    let esr = EsrElX::from(get_esr_el1());
+    println!("{:?}", EsrElX::from(esr));
+    println!("Return register address: {:#x}", get_elr_el1());
+
+    match esr.ec {
+        0b100100 => {
+            println!("Cause: Data Abort from a lower Exception level");
+        }
+        _ => {}
+    }
+    println!("-------------------------------------");
+
+    set_return_to_kernel_main();
+}
+
+fn set_return_to_kernel_main() {
+    unsafe {
+        asm!("ldr x0, =kernel_main", "msr ELR_EL1, x0");
+        asm!("mov x0, #(0b0101)", "msr SPSR_EL1, x0");
+    }
+}
+
+fn get_exception_return_exception_level() -> u32 {
+    let spsr: u32;
+    unsafe {
+        asm!("mrs {0:x}, SPSR_EL1", out(reg) spsr);
+    }
+    spsr & 0b1111
+}
+
+/// Read the syndrome information that caused an exception
+///
+/// ESR = Exception Syndrome Register
+fn get_esr_el1() -> u32 {
    let esr: u32;
    unsafe {
        asm!(
-            "mrs {esr}, ESR_EL1",
+            "mrs {esr:x}, ESR_EL1",
            esr = out(reg) esr
        );
    }
-    for i in (0..32).rev() {
-        if ((esr >> i) & 1) == 0 {
-            print("0");
-        } else {
-            print("1");
-        }
-        if i % 4 == 0 && i > 0 {
-            print("_");
-        }
+    esr
+}

-        if i == 26 || i == 25 || i == 0 {
-            print("\n\r");
-        }
+/// Read the return address
+///
+/// ELR = Exception Link Registers
+fn get_elr_el1() -> u32 {
+    let elr: u32;
+    unsafe {
+        asm!(
+            "mrs {esr:x}, ELR_EL1",
+            esr = out(reg) elr
+        );
    }
+    elr
 }

 fn handle_gpio_interrupt() {
-    print("Interrupt\r\n");
+    println!("Interrupt");
    for i in 0..=53u32 {
        let val = read_gpio_event_detect_status(i);

        if val {
+            #[allow(clippy::single_match)]
            match i {
-                26 => print("Button Pressed"),
+                26 => {
+                    println!("Button Pressed");
+                }
                _ => {}
            }
            // Reset GPIO Interrupt handler by writing a 1
            reset_gpio_event_detect_status(i);
        }
    }
-    enable_irq();
-}
-
-/// Get current interrupt status of a GPIO pin
-pub fn read_gpio_event_detect_status(id: u32) -> bool {
-    let register = GPEDS_BASE + (id / 32) * 4;
-    let register_offset = id % 32;
-
-    let val = mmio_read(register) >> register_offset;
-    (val & 0b1) != 0
-}
-
-/// Resets current interrupt status of a GPIO pin
-pub fn reset_gpio_event_detect_status(id: u32) {
-    let register = GPEDS_BASE + (id / 32) * 4;
-    let register_offset = id % 32;
-
-    mmio_write(register, 0b1 << register_offset);
-    compiler_fence(Ordering::SeqCst);
+    unmask_irq();
 }

 /// Enables IRQ Source
@@ -149,16 +202,26 @@ pub fn read_irq_pending(state: IRQState) -> bool {
    ((mmio_read(register) >> register_offset) & 0b1) != 0
 }

-/// Clears the IRQ DAIF Mask
-///
-/// Enables IRQ interrupts
-pub fn enable_irq() {
-    unsafe { asm!("msr DAIFClr, #0x2") }
-}
+pub mod daif {
+    use core::arch::asm;

-/// Clears the IRQ DAIF Mask
-///
-/// Disable IRQ interrupts
-pub fn disable_irq() {
-    unsafe { asm!("msr DAIFSet, #0x2") }
+    #[inline(always)]
+    pub fn mask_all() {
+        unsafe { asm!("msr DAIFSet, #0xf", options(nomem, nostack)) }
+    }
+
+    #[inline(always)]
+    pub fn unmask_all() {
+        unsafe { asm!("msr DAIFClr, #0xf", options(nomem, nostack)) }
+    }
+
+    #[inline(always)]
+    pub fn mask_irq() {
+        unsafe { asm!("msr DAIFSet, #0x2", options(nomem, nostack)) }
+    }
+
+    #[inline(always)]
+    pub fn unmask_irq() {
+        unsafe { asm!("msr DAIFClr, #0x2", options(nomem, nostack)) }
+    }
 }
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,19 +1,77 @@
 #![no_std]
+#![allow(clippy::missing_safety_doc)]

-use core::ptr::{read_volatile, write_volatile};
+extern crate alloc;
+
+use alloc::boxed::Box;
+use core::{
+    arch::asm,
+    panic::PanicInfo,
+    ptr::{read_volatile, write_volatile},
+};
+
+use heap::Heap;
+
+use crate::{interrupt_handlers::initialize_interrupt_handler, logger::DefaultLogger};
+
+static PERIPHERAL_BASE: u32 = 0x3F00_0000;
+
+unsafe extern "C" {
+    unsafe static mut __heap_start: u8;
+    unsafe static mut __heap_end: u8;
+}
+
+#[global_allocator]
+pub static mut GLOBAL_ALLOCATOR: Heap = Heap::empty();
+
+pub unsafe fn init_heap() {
+    let start = core::ptr::addr_of_mut!(__heap_start) as usize;
+    let end = core::ptr::addr_of_mut!(__heap_end) as usize;
+
+    let heap = core::ptr::addr_of_mut!(GLOBAL_ALLOCATOR);
+    (*heap).init(start, end);
+}
+
+#[panic_handler]
+fn panic(_panic: &PanicInfo) -> ! {
+    loop {
+        println!("Panic");
+    }
+}

 pub mod peripherals;

 pub mod configuration;
 pub mod framebuffer;
-pub mod irq_interrupt;
+pub mod interrupt_handlers;
+pub mod logger;
 pub mod mailbox;
+pub mod power_management;
 pub mod timer;

-pub fn mmio_read(address: u32) -> u32 {
+#[inline(always)]
+pub unsafe fn read_address(address: u32) -> u32 {
    unsafe { read_volatile(address as *const u32) }
 }

-pub fn mmio_write(address: u32, data: u32) {
+#[inline(always)]
+pub unsafe fn write_address(address: u32, data: u32) {
    unsafe { write_volatile(address as *mut u32, data) }
 }
+
+pub fn get_current_el() -> u64 {
+    let el: u64;
+    unsafe {
+        asm!(
+            "mrs {el}, CurrentEL",
+            el = out(reg) el,
+            options(nomem, nostack, preserves_flags)
+        );
+    }
+    el >> 2
+}
+
+pub fn initialize_kernel() {
+    logger::set_logger(Box::new(DefaultLogger));
+    initialize_interrupt_handler();
+}
--- a/src/logger.rs
+++ b/src/logger.rs
@@ -0,0 +1,47 @@
+use core::fmt::Write;
+
+use alloc::{boxed::Box, fmt};
+
+use crate::peripherals::uart;
+
+static mut LOGGER: Option<Box<dyn Logger>> = None;
+
+pub trait Logger: Write + Sync {
+    fn flush(&mut self);
+}
+
+pub struct DefaultLogger;
+
+impl Logger for DefaultLogger {
+    fn flush(&mut self) {}
+}
+
+impl Write for DefaultLogger {
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
+        uart::Uart.write_str(s)
+    }
+}
+
+#[macro_export]
+macro_rules! log {
+    () => {};
+    ($($arg:tt)*) => {
+        $crate::logger::log(format_args!($($arg)*))
+    };
+}
+
+pub fn log(args: fmt::Arguments) {
+    unsafe {
+        if let Some(logger) = LOGGER.as_mut() {
+            logger.write_str("\n").unwrap();
+            logger.write_fmt(args).unwrap();
+            logger.flush();
+        }
+    }
+}
+
+pub fn set_logger(logger: Box<dyn Logger>) {
+    unsafe {
+        LOGGER = Some(logger);
+    }
+}
--- a/src/mailbox.rs
+++ b/src/mailbox.rs
@@ -1,9 +1,10 @@
-use crate::{mmio_read, mmio_write, peripherals::uart::print};
+use crate::{read_address, write_address};
+use nova_error::NovaError;

 const MBOX_BASE: u32 = 0x3F00_0000 + 0xB880;

 // MB0
-const MBOX_READ: u32 = MBOX_BASE + 0x00;
+const MBOX_READ: u32 = MBOX_BASE;
 const MBOX_STATUS: u32 = MBOX_BASE + 0x18;

 // MB1
@@ -13,11 +14,61 @@ const MBOX_WRITE: u32 = MBOX_BASE + 0x20;
 const MAIL_FULL: u32 = 0x80000000;
 const MAIL_EMPTY: u32 = 0x40000000;

+const HEADER_LENGTH: usize = 4 + 4 + 4 + 4 + 4; // Total Size + Request + Tag + MaxBufferLength + RequestLength
+const FOOTER_LENGTH: usize = 4;
+
+macro_rules! max {
+    ($a:expr, $b:expr) => {{
+        const M: usize = if $a > $b { $a as usize } else { $b as usize };
+        M
+    }};
+}
+
+#[macro_export]
+macro_rules! mailbox_command {
+    ($name:ident, $tag:expr, $request_len:expr,$response_len:expr) => {
+        /// More information at: <https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface>
+        pub fn $name(
+            request_data: [u32; $request_len / 4],
+        ) -> Result<[u32; $response_len / 4], NovaError> {
+            let mut mailbox =
+                [0u32; (HEADER_LENGTH + max!($request_len, $response_len) + FOOTER_LENGTH) / 4];
+            mailbox[0] = (HEADER_LENGTH + max!($request_len, $response_len) + FOOTER_LENGTH) as u32; // Total length in Bytes
+            mailbox[1] = 0; // Request
+            mailbox[2] = $tag; // Command Tag
+            mailbox[3] = max!($request_len, $response_len) as u32; // Max value buffer size
+            mailbox[4] = $request_len;
+
+            mailbox[5..(5 + ($request_len / 4))].copy_from_slice(&request_data);
+            mailbox[(5 + ($request_len / 4))..].fill(0);
+
+            let addr = core::ptr::addr_of!(mailbox[0]) as u32;
+
+            write_mailbox(8, addr);
+
+            let _ = read_mailbox(8);
+
+            if mailbox[1] == 0 {
+                return Err(NovaError::Mailbox);
+            }
+
+            let mut out = [0u32; $response_len / 4];
+            out.copy_from_slice(&mailbox[5..(5 + $response_len / 4)]);
+            Ok(out)
+        }
+    };
+}
+
+mailbox_command!(read_soc_temp, 0x0003_0006, 4, 8);
+
+// Framebuffer
+mailbox_command!(get_display_resolution, 0x0004_0003, 0, 8);
+
 pub fn read_mailbox(channel: u32) -> u32 {
    // Wait until mailbox is not empty
    loop {
-        while mmio_read(MBOX_STATUS) & MAIL_EMPTY != 0 {}
-        let mut data = mmio_read(MBOX_READ);
+        while unsafe { read_address(MBOX_STATUS) } & MAIL_EMPTY != 0 {}
+        let mut data = unsafe { read_address(MBOX_READ) };
        let read_channel = data & 0xF;

        data >>= 4;
@@ -29,30 +80,6 @@ pub fn read_mailbox(channel: u32) -> u32 {
 }

 pub fn write_mailbox(channel: u32, data: u32) {
-    while mmio_read(MBOX_STATUS) & MAIL_FULL != 0 {}
-    mmio_write(MBOX_WRITE, (data & !0xF) | (channel & 0xF));
-}
-
-pub fn read_soc_temp() -> u32 {
-    let mut mailbox = [0; 8];
-    mailbox[0] = 8 * 4; // Total size in bytes
-    mailbox[1] = 0; // Request
-    mailbox[2] = 0x00030006; // Tag
-    mailbox[3] = 8; // Maximum buffer len
-    mailbox[4] = 4; // Request length
-    mailbox[5] = 0; // Value Buffer
-    mailbox[6] = 0; // Value Buffer
-    mailbox[7] = 0; // End
-
-    let addr = core::ptr::addr_of!(mailbox[0]) as u32;
-
-    write_mailbox(8, addr);
-
-    let _ = read_mailbox(8);
-
-    if mailbox[1] == 0 {
-        print("Failed\r\n");
-    }
-    let raw_temp = mailbox[6] / 1000;
-    raw_temp
+    while unsafe { read_address(MBOX_STATUS) } & MAIL_FULL != 0 {}
+    unsafe { write_address(MBOX_WRITE, (data & !0xF) | (channel & 0xF)) };
 }
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,48 +1,46 @@
 #![no_main]
 #![no_std]
 #![feature(asm_experimental_arch)]
-
+#![allow(static_mut_refs)]
+#![allow(clippy::missing_safety_doc)]
 use core::{
    arch::{asm, global_asm},
-    panic::PanicInfo,
    ptr::write_volatile,
 };

+extern crate alloc;
+
+use alloc::boxed::Box;
 use nova::{
-    framebuffer::{print_display_resolution, FrameBuffer},
-    irq_interrupt::enable_irq_source,
-    mailbox::read_soc_temp,
+    framebuffer::{FrameBuffer, BLUE, GREEN, RED},
+    get_current_el, init_heap,
+    interrupt_handlers::{daif, enable_irq_source, IRQSource},
+    log, mailbox,
    peripherals::{
        gpio::{
            blink_gpio, gpio_pull_up, set_falling_edge_detect, set_gpio_function, GPIOFunction,
            SpecificGpio,
        },
-        uart::{print, print_u32, uart_init},
+        uart::uart_init,
    },
-    timer::{delay_nops, sleep_us},
+    println,
 };

 global_asm!(include_str!("vector.S"));

 extern "C" {
    fn el2_to_el1();
+    fn el1_to_el0();
    static mut __bss_start: u32;
    static mut __bss_end: u32;
 }

-#[panic_handler]
-fn panic(_panic: &PanicInfo) -> ! {
-    loop {
-        print("Panic\r\n");
-    }
-}
-
 #[no_mangle]
-#[link_section = ".text._start"]
+#[cfg_attr(not(test), link_section = ".text._start")]
 pub unsafe extern "C" fn _start() {
    // Set the stack pointer
    asm!(
-        "ldr x0, =0x8008000",
+        "ldr x0, =__stack_end",
        "mov sp, x0",
        "b main",
        options(noreturn)
@@ -59,23 +57,21 @@ pub extern "C" fn main() -> ! {
    // Set ACT Led to Outout
    let _ = set_gpio_function(21, GPIOFunction::Output);

-    print_current_el_str();
-
-    // Delay so clock speed can stabilize
-    delay_nops(50000);
-    print("Hello World!\r\n");
+    println!("Hello World!");
+    println!("Exception level: {}", get_current_el());

    unsafe {
-        asm!("mrs x0, SCTLR_EL1");
+        asm!("mrs x0, SCTLR_EL1",);
        el2_to_el1();
    }

+    #[allow(clippy::empty_loop)]
    loop {}
 }

 unsafe fn zero_bss() {
-    let mut bss: *mut u32 = &raw mut __bss_start as *mut u32;
-    while bss < &raw mut __bss_end as *mut u32 {
+    let mut bss: *mut u32 = &raw mut __bss_start;
+    while bss < &raw mut __bss_end {
        write_volatile(bss, 0);
        bss = bss.add(1);
    }
@@ -83,65 +79,60 @@ unsafe fn zero_bss() {

 #[no_mangle]
 pub extern "C" fn kernel_main() -> ! {
-    print_current_el_str();
+    nova::initialize_kernel();
+    println!("Kernel Main");
+    println!("Exception Level: {}", get_current_el());
+    daif::unmask_all();

-    sleep_us(500_000);
+    unsafe {
+        init_heap();
+        el1_to_el0();
+    };
+
+    #[allow(clippy::empty_loop)]
+    loop {}
+}
+
+#[no_mangle]
+pub extern "C" fn el0() -> ! {
+    println!("Jumped into EL0");

    // Set GPIO 26 to Input
-    enable_irq_source(nova::irq_interrupt::IRQState::GpioInt0); //26 is on the first GPIO bank
+    enable_irq_source(IRQSource::GpioInt0); //26 is on the first GPIO bank
    let _ = set_gpio_function(26, GPIOFunction::Input);
    gpio_pull_up(26);
    set_falling_edge_detect(26, true);

-    print_display_resolution();
-    let fb = FrameBuffer::new();
-    print_display_resolution();
+    enable_irq_source(IRQSource::UartInt);

-    fb.draw_line(10, 10, 1000, 10);
-    fb.draw_line(1000, 20, 10, 20);
-    fb.draw_square(500, 500, 600, 700);
-    fb.draw_square_fill(800, 800, 900, 900);
-    fb.draw_square_fill(1000, 800, 1200, 700);
-    fb.draw_square_fill(900, 100, 800, 150);
+    let fb = FrameBuffer::default();
+
+    fb.draw_square(500, 500, 600, 700, RED);
+    fb.draw_square_fill(800, 800, 900, 900, GREEN);
+    fb.draw_square_fill(1000, 800, 1200, 700, BLUE);
+    fb.draw_square_fill(900, 100, 800, 150, RED | BLUE);
+    fb.draw_string("Hello World! :D\nTest next Line", 500, 5, 3, BLUE);
+
+    fb.draw_function(cos, 100, 101, RED);

    loop {
-        let temp = read_soc_temp();
-        print_u32(temp);
-        print("\r\n");
+        let temp = mailbox::read_soc_temp([0]).unwrap();
+        log!("{} °C", temp[1] / 1000);

        blink_gpio(SpecificGpio::OnboardLed as u8, 500);
+
+        let b = Box::new([1, 2, 3, 4]);
+        log!("{:?}", b);
    }
 }

-pub fn get_current_el() -> u64 {
-    let el: u64;
-    unsafe {
-        asm!(
-            "mrs {el}, CurrentEL",
-            el = out(reg) el,
-            options(nomem, nostack, preserves_flags)
-        );
-    }
-    el >> 2
+fn cos(x: u32) -> f64 {
+    libm::cos(x as f64 * 0.1) * 20.0
 }

 fn enable_uart() {
-    uart_init();
    // Set GPIO Pins to UART
    let _ = set_gpio_function(14, GPIOFunction::Alternative0);
    let _ = set_gpio_function(15, GPIOFunction::Alternative0);
-}
-
-fn print_current_el_str() {
-    let el = get_current_el();
-    let el_str = match el {
-        0b11 => "Level 3",
-        0b10 => "Level 2",
-        0b01 => "Level 1",
-        0b00 => "Level 0",
-        _ => "Unknown EL",
-    };
-
-    print(el_str);
-    print("\r\n");
+    uart_init();
 }
--- a/src/peripherals/gpio.rs
+++ b/src/peripherals/gpio.rs
@@ -1,17 +1,19 @@
 use core::result::Result;
 use core::result::Result::Ok;
+use core::sync::atomic::{compiler_fence, Ordering};

 use crate::timer::{delay_nops, sleep_ms};
-use crate::{mmio_read, mmio_write};
+use crate::{read_address, write_address};

 const GPFSEL_BASE: u32 = 0x3F20_0000;
 const GPSET_BASE: u32 = 0x3F20_001C;
 const GPCLR_BASE: u32 = 0x3F20_0028;
 const GPLEV_BASE: u32 = 0x3F20_0034;
+const GPEDS_BASE: u32 = 0x3F20_0040;
+const GPFEN_BASE: u32 = 0x3F20_0058;
 const GPPUD: u32 = 0x3F20_0094;
 const GPPUDCLK_BASE: u32 = 0x3F20_0098;
 const GPREN_BASE: u32 = 0x3F20_004C;
-const GPFEN_BASE: u32 = 0x3F20_0058;

 #[repr(u8)]
 pub enum SpecificGpio {
@@ -35,26 +37,27 @@ pub fn set_gpio_function(gpio: u8, state: GPIOFunction) -> Result<(), &'static s
    let register_index = gpio / 10;
    let register_offset = (gpio % 10) * 3;
    let register_addr = GPFSEL_BASE + (register_index as u32 * 4);
-    let current = mmio_read(register_addr);
+    let current = unsafe { read_address(register_addr) };

    let mask = !(0b111 << register_offset);
    let cleared = current & mask;

    let new_val = cleared | ((state as u32) << register_offset);

-    mmio_write(register_addr, new_val);
+    unsafe { write_address(register_addr, new_val) };
    Ok(())
 }

 /// Set the GPIO to high
 ///
-/// Should be used when GPIO function is set to `OUTPUT` via `set_gpio_function`
+/// Should be used when GPIO function is set to `OUTPUT` via `set_gpio_function`,
+/// otherwise setting is ignored
 pub fn gpio_high(gpio: u8) -> Result<(), &'static str> {
    let register_index = gpio / 32;
    let register_offset = gpio % 32;
    let register_addr = GPSET_BASE + (register_index as u32 * 4);

-    mmio_write(register_addr, 1 << register_offset);
+    unsafe { write_address(register_addr, 1 << register_offset) };
    Ok(())
 }

@@ -66,7 +69,7 @@ pub fn gpio_low(gpio: u8) -> Result<(), &'static str> {
    let register_offset = gpio % 32;
    let register_addr = GPCLR_BASE + (register_index as u32 * 4);

-    mmio_write(register_addr, 1 << register_offset);
+    unsafe { write_address(register_addr, 1 << register_offset) };
    Ok(())
 }

@@ -76,8 +79,8 @@ pub fn gpio_get_state(gpio: u8) -> u8 {
    let register_offset = gpio % 32;
    let register_addr = GPLEV_BASE + (register_index as u32 * 4);

-    let state = mmio_read(register_addr);
-    return ((state >> register_offset) & 0b1) as u8;
+    let state = unsafe { read_address(register_addr) };
+    ((state >> register_offset) & 0b1) as u8
 }

 /// Pull GPIO up
@@ -100,40 +103,40 @@ fn gpio_pull_up_down(gpio: u8, val: u32) {
    let register_offset = gpio % 32;

    // 1. Write Pull up
-    mmio_write(GPPUD, val);
+    unsafe { write_address(GPPUD, val) };

    // 2. Delay 150 cycles
    delay_nops(150);

    // 3. Write to clock
    let new_val = 0b1 << register_offset;
-    mmio_write(register_addr, new_val);
+    unsafe { write_address(register_addr, new_val) };

    // 4. Delay 150 cycles
    delay_nops(150);

    // 5. reset GPPUD
-    mmio_write(GPPUD, 0);
+    unsafe { write_address(GPPUD, 0) };

    // 6. reset clock
-    mmio_write(register_addr, 0);
+    unsafe { write_address(register_addr, 0) };
 }

-/// Get the current status if falling edge detection is set
+/// Get the current status of the falling edge detection
 pub fn read_falling_edge_detect(gpio: u8) -> bool {
    let register_addr = GPFEN_BASE + 4 * (gpio as u32 / 32);
    let register_offset = gpio % 32;

-    let current = mmio_read(register_addr);
+    let current = unsafe { read_address(register_addr) };
    ((current >> register_offset) & 0b1) != 0
 }

-/// Get the current status if falling edge detection is set
+/// Get the current status of the rising edge detection
 pub fn read_rising_edge_detect(gpio: u8) -> bool {
    let register_addr = GPREN_BASE + 4 * (gpio as u32 / 32);
    let register_offset = gpio % 32;

-    let current = mmio_read(register_addr);
+    let current = unsafe { read_address(register_addr) };
    ((current >> register_offset) & 0b1) != 0
 }

@@ -142,7 +145,7 @@ pub fn set_falling_edge_detect(gpio: u8, enable: bool) {
    let register_addr = GPFEN_BASE + 4 * (gpio as u32 / 32);
    let register_offset = gpio % 32;

-    let current = mmio_read(register_addr);
+    let current = unsafe { read_address(register_addr) };
    let mask = 0b1 << register_offset;
    let new_val = if enable {
        current | mask
@@ -150,7 +153,7 @@ pub fn set_falling_edge_detect(gpio: u8, enable: bool) {
        current & !mask
    };

-    mmio_write(register_addr, new_val);
+    unsafe { write_address(register_addr, new_val) };
 }

 /// Enables rising edge detection
@@ -158,7 +161,7 @@ pub fn set_rising_edge_detect(gpio: u8, enable: bool) {
    let register_addr = GPREN_BASE + 4 * (gpio as u32 / 32);
    let register_offset = gpio % 32;

-    let current = mmio_read(register_addr);
+    let current = unsafe { read_address(register_addr) };

    let mask = 0b1 << register_offset;
    let new_val = if enable {
@@ -167,10 +170,33 @@ pub fn set_rising_edge_detect(gpio: u8, enable: bool) {
        current & !mask
    };

-    mmio_write(register_addr, new_val);
+    unsafe { write_address(register_addr, new_val) };
 }

-pub fn blink_gpio(gpio: u8, duration_ms: u32) {
+/// Returns with the interrupt status of an GPIO.
+///
+/// GPEDS register is used to record level and edge events on the GPIO pins.
+/// When an event is triggered by the GPIO, the corresponding bit will be set to 1.
+pub fn read_gpio_event_detect_status(id: u32) -> bool {
+    let register = GPEDS_BASE + (id / 32) * 4;
+    let register_offset = id % 32;
+
+    let val = unsafe { read_address(register) } >> register_offset;
+    (val & 0b1) != 0
+}
+
+/// Resets current interrupt status of a GPIO pin.
+pub fn reset_gpio_event_detect_status(id: u32) {
+    let register = GPEDS_BASE + (id / 32) * 4;
+    let register_offset = id % 32;
+
+    unsafe { write_address(register, 0b1 << register_offset) };
+    compiler_fence(Ordering::SeqCst);
+}
+
+// TODO: GPHEN,GPLEN,GPAREN,GPAFEN
+
+pub fn blink_gpio(gpio: u8, duration_ms: u64) {
    let _ = gpio_high(gpio);

    sleep_ms(duration_ms);
--- a/src/peripherals/mod.rs
+++ b/src/peripherals/mod.rs
@@ -1,2 +1,3 @@
 pub mod gpio;
+#[macro_use]
 pub mod uart;
--- a/src/peripherals/uart.rs
+++ b/src/peripherals/uart.rs
@@ -1,6 +1,9 @@
-use core::arch::asm;
+use core::{
+    arch::asm,
+    fmt::{self, Write},
+};

-use crate::{mmio_read, mmio_write};
+use crate::{println, read_address, write_address};

 const BAUD: u32 = 115200;
 const UART_CLK: u32 = 48_000_000;
@@ -15,81 +18,53 @@ const UART0_FBRD: u32 = 0x3F20_1028;

 const UART0_CR: u32 = 0x3F20_1030;
 const UART0_CR_UARTEN: u32 = 1 << 0;
-const UART0_CR_TXE: u32 = 1 << 8;

-const UART0_LCRH: u32 = 0x3F20_102c;
+const UART0_CR_TXE: u32 = 1 << 8;
+const UART0_CR_RXE: u32 = 1 << 9;
+
+const UART0_LCRH: u32 = 0x3F20_102C;
 const UART0_LCRH_FEN: u32 = 1 << 4;

-/// Print `s` over UART
-pub fn print(s: &str) {
+const UART0_IMSC: u32 = 0x3F20_1038;
+const UART0_IMSC_RXIM: u32 = 1 << 4;
+
+const UART0_ICR: u32 = 0x3F20_1044;
+
+pub struct Uart;
+
+impl Write for Uart {
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
        for byte in s.bytes() {
-        while (mmio_read(UART0_FR) & UART0_FR_TXFF) != 0 {
+            while (unsafe { read_address(UART0_FR) } & UART0_FR_TXFF) != 0 {
                unsafe { asm!("nop") }
            }
-        mmio_write(UART0_DR, byte as u32);
+            unsafe { write_address(UART0_DR, byte as u32) };
        }
        // wait till uart is not busy anymore
-    while ((mmio_read(UART0_FR) >> 3) & 0b1) != 0 {}
-}
-
-pub fn print_u32(mut val: u32) {
-    let mut last_valid = 0;
-    let mut values = [0u32; 10];
-    for (i, c) in (&mut values).iter_mut().enumerate() {
-        if val == 0 {
-            break;
-        }
-
-        *c = val % 10;
-        val /= 10;
-        if *c != 0 {
-            last_valid = i;
-        }
-    }
-
-    for (i, c) in values.iter().enumerate().rev() {
-        if i > last_valid {
-            continue;
-        }
-        let ascii_byte = b'0' + *c as u8;
-        let data = [ascii_byte];
-
-        let s = str::from_utf8(&data).unwrap();
-        print(s);
+        while ((unsafe { read_address(UART0_FR) } >> 3) & 0b1) != 0 {}
+        Ok(())
    }
 }

-pub fn print_u32_hex(mut val: u32) {
-    let mut last_valid = 0;
-    let mut values = [0u32; 8];
-    for (i, c) in (&mut values).iter_mut().enumerate() {
-        if val == 0 {
-            break;
-        }
-
-        *c = val % 16;
-        val /= 16;
-        if *c != 0 {
-            last_valid = i;
-        }
-    }
-
-    for (i, c) in values.iter().enumerate().rev() {
-        if i > last_valid {
-            continue;
-        }
-
-        let ascii_byte = if *c < 10 {
-            b'0' + *c as u8
-        } else {
-            b'A' - 10 + *c as u8
+#[macro_export]
+macro_rules! print {
+    () => {};
+    ($($arg:tt)*) => {
+        $crate::peripherals::uart::_print(format_args!($($arg)*))
    };
+}

-        let data = [ascii_byte];
+#[macro_export]
+macro_rules! println {
+    () => {};
+    ($($arg:tt)*) => {
+        $crate::print!($($arg)*);
+        $crate::print!("\r\n");
+    };
+}

-        let s = str::from_utf8(&data).unwrap();
-        print(s);
-    }
+pub fn _print(args: fmt::Arguments) {
+    let _ = Uart.write_fmt(args);
 }

 /// Initialize UART peripheral
@@ -100,23 +75,26 @@ pub fn uart_init() {
    let fbrd = baud_div_times_64 % 64;

    uart_enable(false);
-    uart_fifo_enable(false);
+    uart_fifo_enable(true);

-    mmio_write(UART0_IBRD, ibrd);
-    mmio_write(UART0_FBRD, fbrd);
+    unsafe {
+        write_address(UART0_IBRD, ibrd);
+        write_address(UART0_FBRD, fbrd);
+    }

+    uart_enable_rx_interrupt();
    uart_set_lcrh(0b11, true);

-    // Enable transmit and uart
-    let mut cr = mmio_read(UART0_CR);
-    cr |= UART0_CR_UARTEN | UART0_CR_TXE;
+    // Enable transmit, receive and uart
+    let mut cr = unsafe { read_address(UART0_CR) };
+    cr |= UART0_CR_UARTEN | UART0_CR_TXE | UART0_CR_RXE;

-    mmio_write(UART0_CR, cr);
+    unsafe { write_address(UART0_CR, cr) };
 }

 /// Enable UARTEN
 fn uart_enable(enable: bool) {
-    let mut cr = mmio_read(UART0_CR);
+    let mut cr = unsafe { read_address(UART0_CR) };

    if enable {
        cr |= UART0_CR_UARTEN;
@@ -124,12 +102,12 @@ fn uart_enable(enable: bool) {
        cr &= !UART0_CR_UARTEN;
    }

-    mmio_write(UART0_CR, cr);
+    unsafe { write_address(UART0_CR, cr) };
 }

 /// Enable UART FIFO
 fn uart_fifo_enable(enable: bool) {
-    let mut lcrh = mmio_read(UART0_LCRH);
+    let mut lcrh = unsafe { read_address(UART0_LCRH) };

    if enable {
        lcrh |= UART0_LCRH_FEN;
@@ -137,7 +115,11 @@ fn uart_fifo_enable(enable: bool) {
        lcrh &= !UART0_LCRH_FEN;
    }

-    mmio_write(UART0_LCRH, lcrh);
+    unsafe { write_address(UART0_LCRH, lcrh) };
+}
+
+fn uart_enable_rx_interrupt() {
+    unsafe { write_address(UART0_IMSC, UART0_IMSC_RXIM) };
 }

 /// Set UART word length and set FIFO status
@@ -146,5 +128,15 @@ fn uart_set_lcrh(wlen: u32, enable_fifo: bool) {
    if enable_fifo {
        value |= UART0_LCRH_FEN;
    }
-    mmio_write(UART0_LCRH, value);
+    unsafe { write_address(UART0_LCRH, value) };
+}
+
+pub fn read_uart_data() -> char {
+    (unsafe { read_address(UART0_DR) } & 0xFF) as u8 as char
+}
+
+pub fn clear_uart_interrupt_state() {
+    unsafe {
+        write_address(UART0_ICR, 1 << 4);
+    }
 }
--- a/src/power_management.rs
+++ b/src/power_management.rs
@@ -0,0 +1,27 @@
+use core::ptr::{read_volatile, write_volatile};
+
+use crate::PERIPHERAL_BASE;
+
+/// Power Management Base
+static PM_BASE: u32 = PERIPHERAL_BASE + 0x10_0000;
+static PM_RSTC: u32 = PM_BASE + 0x1c;
+static PM_WDOG: u32 = PM_BASE + 0x24;
+
+static PM_PASSWORD: u32 = 0x5a000000;
+static PM_WDOG_TIMER_MASK: u32 = 0x000fffff;
+static PM_RSTC_WRCFG_CLR: u32 = 0xffffffcf;
+static PM_RSTC_WRCFG_FULL_RESET: u32 = 0x00000020;
+
+pub fn reboot_system() {
+    unsafe {
+        let pm_rstc_val = read_volatile(PM_RSTC as *mut u32);
+        // (31:16) bits -> password
+        // (11:0) bits -> value
+        write_volatile(PM_WDOG as *mut u32, PM_PASSWORD | (1 & PM_WDOG_TIMER_MASK));
+        write_volatile(
+            PM_RSTC as *mut u32,
+            PM_PASSWORD | (pm_rstc_val & PM_RSTC_WRCFG_CLR) | PM_RSTC_WRCFG_FULL_RESET,
+        );
+    }
+    loop {}
+}
--- a/src/terminal.rs
+++ b/src/terminal.rs
@@ -0,0 +1,53 @@
+use core::fmt::Write;
+
+use alloc::string::String;
+use nova::{
+    interrupt_handlers::register_interrupt_handler, logger::Logger,
+    peripherals::uart::read_uart_data, print, println,
+};
+
+pub struct Terminal {
+    buffer: String,
+    input: String,
+}
+
+impl Terminal {
+    pub fn new() -> Self {
+        Self {
+            buffer: String::new(),
+            input: String::new(),
+        }
+    }
+
+    fn flush(&mut self) {
+        println!("{}", self.buffer);
+        print!("> {}", self.input);
+        self.buffer.clear();
+    }
+}
+
+impl Write for Terminal {
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
+        self.buffer.push_str(s);
+        Ok(())
+    }
+}
+
+impl Logger for Terminal {
+    fn flush(&mut self) {
+        println!("{}", self.buffer);
+        print!("> {}", self.input);
+        self.buffer.clear();
+    }
+}
+
+fn terminal_uart_rx_interrupt_handler() {
+    print!("{}", read_uart_data());
+}
+
+pub fn register_terminal_interrupt_handler() {
+    register_interrupt_handler(
+        nova::interrupt_handlers::IRQSource::UartInt,
+        terminal_uart_rx_interrupt_handler,
+    );
+}
--- a/src/timer.rs
+++ b/src/timer.rs
@@ -1,32 +1,61 @@
-use crate::mmio_read;
+use core::{hint::spin_loop, ptr::read_volatile};

-const TIMER_CLO: u32 = 0x3F00_3004;
+const TIMER_CLOCK_LO: u32 = 0x3F00_3004;
+const TIMER_CLOCK_HI: u32 = 0x3F00_3008;

-fn read_clo() -> u32 {
-    return mmio_read(TIMER_CLO);
+fn read_timer_32() -> u32 {
+    unsafe { read_volatile(TIMER_CLOCK_LO as *const u32) }
+}
+
+fn read_timer_64() -> u64 {
+    loop {
+        let clock_hi1 = unsafe { read_volatile(TIMER_CLOCK_HI as *const u32) };
+        let clock_lo = unsafe { read_volatile(TIMER_CLOCK_LO as *const u32) };
+        let clock_hi2 = unsafe { read_volatile(TIMER_CLOCK_HI as *const u32) };
+
+        // account for roll over during read
+        if clock_hi1 == clock_hi2 {
+            return ((clock_hi1 as u64) << 32) | clock_lo as u64;
+        }
+    }
 }

 /// Sleep for `us` microseconds
-pub fn sleep_us(us: u32) {
-    let start = read_clo();
-    while read_clo() - start < us {
-        unsafe { core::arch::asm!("nop") }
+pub fn sleep_us(us: u64) {
+    if us < u32::MAX as u64 {
+        sleep_us_u32(us as u32);
+    } else {
+        sleep_us_u64(us);
+    }
+}
+
+fn sleep_us_u32(us: u32) {
+    let start = read_timer_32();
+    while read_timer_32().wrapping_sub(start) < us {
+        spin_loop();
+    }
+}
+
+fn sleep_us_u64(us: u64) {
+    let start = read_timer_64();
+    while read_timer_64().wrapping_sub(start) < us {
+        spin_loop();
    }
 }

 /// Sleep for `ms` milliseconds
-pub fn sleep_ms(ms: u32) {
-    sleep_us(ms * 1000);
+pub fn sleep_ms(ms: u64) {
+    sleep_us(ms * 1_000);
 }

 /// Sleep for `s` seconds
-pub fn sleep_s(s: u32) {
-    sleep_us(s * 1000);
+pub fn sleep_s(s: u64) {
+    sleep_ms(s * 1_000);
 }

 /// Wait for `count` operations to pass
 pub fn delay_nops(count: u32) {
    for _ in 0..count {
-        unsafe { core::arch::asm!("nop") }
+        spin_loop()
    }
 }
--- a/src/vector.S
+++ b/src/vector.S
@@ -14,11 +14,14 @@ vector_table:
    ventry .
    ventry .

-    ventry synchronous_interrupt      // Synchronous Exception  0x200
+    ventry synchronous_interrupt_no_el_change  // Synchronous Exception  0x200
    ventry irq_handler                // IRQ(Interrupt Request) 0x280
    ventry .
    ventry .

+    ventry synchronous_interrupt_imm_lower_aarch64
+    ventry irq_handler
+

 .align 4
 .global el2_to_el1
@@ -31,7 +34,7 @@ el2_to_el1:
    mov x0, #(0b0101)
    msr SPSR_EL2, x0

-    // Set return address to ELR_EL2
+    // Set return address to kernel_main
    ldr x0, =kernel_main
    msr ELR_EL2, x0

@@ -53,7 +56,121 @@ el2_to_el1:
    orr x0,x0, x1
    msr CPACR_EL1,x0

-    isb
-
    // Return to EL1
    eret
+
+.align 4
+.global el1_to_el0
+el1_to_el0:
+
+    // Set SPSR_EL1: return to EL0t
+    mov x0, #(0b0000)
+    msr SPSR_EL1, x0
+
+    // Set return address to el0
+    ldr x0, =el0
+    msr ELR_EL1, x0
+
+    // Set SP_EL1 to stack base
+    ldr x0, =__stack_end_el0
+    msr SP_EL0, x0
+
+    // Return to EL0
+    eret
+
+
+.align 4
+irq_handler:
+    sub sp, sp, #176
+    stp x0, x1, [sp, #0]
+    stp x2, x3, [sp, #16]
+    stp x4, x5, [sp, #32]
+    stp x6, x7, [sp, #48]
+    stp x8, x9, [sp, #64]
+    stp x10, x11, [sp, #80]
+    stp x12, x13, [sp, #96]
+    stp x14, x15, [sp, #112]
+    stp x16, x17, [sp, #128]
+    stp x18, x29, [sp, #144]
+    stp x30, xzr, [sp, #160]
+
+    bl rust_irq_handler
+
+    ldp x0, x1, [sp, #0]
+    ldp x2, x3, [sp, #16]
+    ldp x4, x5, [sp, #32]
+    ldp x6, x7, [sp, #48]
+    ldp x8, x9, [sp, #64]
+    ldp x10, x11, [sp, #80]
+    ldp x12, x13, [sp, #96]
+    ldp x14, x15, [sp, #112]
+    ldp x16, x17, [sp, #128]
+    ldp x18, x29, [sp, #144]
+    ldp x30, xzr, [sp, #160]
+    add sp, sp, #176
+
+    eret
+
+.align 4
+synchronous_interrupt_imm_lower_aarch64:
+    sub sp, sp, #176
+    stp x0, x1, [sp, #0]
+    stp x2, x3, [sp, #16]
+    stp x4, x5, [sp, #32]
+    stp x6, x7, [sp, #48]
+    stp x8, x9, [sp, #64]
+    stp x10, x11, [sp, #80]
+    stp x12, x13, [sp, #96]
+    stp x14, x15, [sp, #112]
+    stp x16, x17, [sp, #128]
+    stp x18, x29, [sp, #144]
+    stp x30, xzr, [sp, #160]
+
+    bl rust_synchronous_interrupt_imm_lower_aarch64
+
+    ldp x0, x1, [sp, #0]
+    ldp x2, x3, [sp, #16]
+    ldp x4, x5, [sp, #32]
+    ldp x6, x7, [sp, #48]
+    ldp x8, x9, [sp, #64]
+    ldp x10, x11, [sp, #80]
+    ldp x12, x13, [sp, #96]
+    ldp x14, x15, [sp, #112]
+    ldp x16, x17, [sp, #128]
+    ldp x18, x29, [sp, #144]
+    ldp x30, xzr, [sp, #160]
+    add sp, sp, #176
+
+    eret
+
+.align 4
+synchronous_interrupt_no_el_change:
+    sub sp, sp, #176
+    stp x0, x1, [sp, #0]
+    stp x2, x3, [sp, #16]
+    stp x4, x5, [sp, #32]
+    stp x6, x7, [sp, #48]
+    stp x8, x9, [sp, #64]
+    stp x10, x11, [sp, #80]
+    stp x12, x13, [sp, #96]
+    stp x14, x15, [sp, #112]
+    stp x16, x17, [sp, #128]
+    stp x18, x29, [sp, #144]
+    stp x30, xzr, [sp, #160]
+
+    bl rust_synchronous_interrupt_no_el_change
+
+    ldp x0, x1, [sp, #0]
+    ldp x2, x3, [sp, #16]
+    ldp x4, x5, [sp, #32]
+    ldp x6, x7, [sp, #48]
+    ldp x8, x9, [sp, #64]
+    ldp x10, x11, [sp, #80]
+    ldp x12, x13, [sp, #96]
+    ldp x14, x15, [sp, #112]
+    ldp x16, x17, [sp, #128]
+    ldp x18, x29, [sp, #144]
+    ldp x30, xzr, [sp, #160]
+    add sp, sp, #176
+
+    eret
--- a/tools/deply_to_hw.sh
+++ b/tools/deply_to_hw.sh
@@ -15,7 +15,7 @@ REMOTE_DIR="$TFTP_PATH"

 # BUILD
 echo "[*] Building kernel..."
-cargo build --release
+cargo build --release --target aarch64-unknown-none

 # CONVERT TO IMG
 echo "[*] Convert kernel elf to img..."
--- a/tools/start_simulator.sh
+++ b/tools/start_simulator.sh
@@ -8,5 +8,4 @@ qemu-system-aarch64 \
  -cpu cortex-a53 \
  -serial stdio \
  -sd ../sd.img \
-  -display none \
  -kernel ../target/aarch64-unknown-none/release/kernel8.img
Author	SHA1	Message	Date
Alexander Neuhäuser	0f5f942d78	Impelement a basic logger, WIP	2026-01-10 19:49:05 +01:00
Alexander Neuhäuser	48fbc2e5fa	Introduce Logger trait	2026-01-09 16:04:42 +01:00
Alexander Neuhäuser	384c548557	Add power management watchdog, rework interrupts	2025-12-26 13:48:22 +01:00
Alexander Neuhäuser	36bc1f3315	implement heap allocator tests	2025-12-20 17:40:45 +01:00
Alexander Neuhäuser	82fa03d48e	Update README.md	2025-09-22 08:53:42 +02:00
Alexander Neuhäuser	afe1128139	Implement Heap allocation (#3 ) * Implement Maloc * Implement Dealloc * Migrate to a struct based heap implementation	2025-09-14 18:17:24 +02:00
Alexander Neuhäuser	981a6cd65c	error handling	2025-09-13 15:09:24 +02:00
Alexander Neuhäuser	31d52e2441	Mailbox command implementation via macros	2025-08-30 20:12:47 +02:00
Alexander Neuhäuser	cc9cf94f5e	Reduce clutter by using print macros with fmt	2025-08-30 17:50:07 +02:00
Alexander Neuhäuser	64ca4797bd	Merge pull request #2 from iceHtwoO/framebuffer Implement Framebuffer	2025-08-30 16:14:52 +02:00
Alexander Neuhäuser	77910cf1c9	Cleanup	2025-08-30 15:36:20 +02:00
Alexander Neuhäuser	6c7c356858	Add colors and draw a rainbow	2025-07-29 21:03:05 +02:00
Alexander Neuhäuser	4e38beb87e	Print String	2025-07-29 20:32:53 +02:00
Alexander Neuhäuser	e6899097fc	Write letters	2025-07-27 21:06:17 +02:00
Alexander Neuhäuser	a4250898c0	Draw a line in each direction	2025-07-27 11:03:52 +02:00