commit e63c44c1195e86ceeed629cb16fae93965db8c00
Author: Daniel P. <daniel@steew.eu>
Date: Sat Nov 01 18:45:07 2025 +0000
First embassy version
diff --git a/fw/RustFM/.cargo/config.toml b/fw/RustFM/.cargo/config.toml
index 70caeff..d33ad48 100644
--- a/fw/RustFM/.cargo/config.toml
+++ b/fw/RustFM/.cargo/config.toml
@@ -109 +109 @@
# runner = "gdb -q -x openocd.gdb"
runner = "probe-rs run --chip STM32L431RCTx"
-rustflags = [
+# rustflags = [
# LLD (shipped with the Rust toolchain) is used as the default linker
- "-C", "link-arg=-Tlink.x",
+ # "-C", "link-arg=-Tlink.x",
# if you run into problems with LLD switch to the GNU linker by commenting out
# this line
@@ -247 +247 @@ rustflags = [
# "-C", "linker=arm-none-eabi-gcc",
# "-C", "link-arg=-Wl,-Tlink.x",
# "-C", "link-arg=-nostartfiles",
-]
+# ]
[build]
# Pick ONE of these compilation targets
diff --git a/fw/RustFM/.cargo/config.toml~ b/fw/RustFM/.cargo/config.toml~
new file mode 100644
index 0000000..70caeff
--- /dev/null
+++ b/fw/RustFM/.cargo/config.toml~
@@ -00 +132 @@
+#[target.thumbv7m-none-eabi]
+# uncomment this to make `cargo run` execute programs on QEMU
+# runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+runner = "probe-rs run --chip STM32L431RCTx"
+
+rustflags = [
+ # LLD (shipped with the Rust toolchain) is used as the default linker
+ "-C", "link-arg=-Tlink.x",
+
+ # if you run into problems with LLD switch to the GNU linker by commenting out
+ # this line
+ # "-C", "linker=arm-none-eabi-ld",
+
+ # if you need to link to pre-compiled C libraries provided by a C toolchain
+ # use GCC as the linker by commenting out both lines above and then
+ # uncommenting the three lines below
+ # "-C", "linker=arm-none-eabi-gcc",
+ # "-C", "link-arg=-Wl,-Tlink.x",
+ # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# Pick ONE of these compilation targets
+# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
\ No newline at end of file
diff --git a/fw/RustFM/Cargo.lock b/fw/RustFM/Cargo.lock
index 25fbd5c..44e17d5 100644
--- a/fw/RustFM/Cargo.lock
+++ b/fw/RustFM/Cargo.lock
@@ -328 +343 @@
version = 4
[[package]]
-name = "aho-corasick"
-version = "1.1.3"
+name = "aligned"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "377e4c0ba83e4431b10df45c1d4666f178ea9c552cac93e60c3a88bf32785923"
+dependencies = [
+ "as-slice",
+]
+
+[[package]]
+name = "as-slice"
+version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
+checksum = "516b6b4f0e40d50dcda9365d53964ec74560ad4284da2e7fc97122cd83174516"
dependencies = [
- "memchr",
+ "stable_deref_trait",
]
+[[package]]
+name = "autocfg"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
+
[[package]]
name = "bare-metal"
version = "0.2.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
dependencies = [
- "rustc_version 0.2.3",
+ "rustc_version",
]
[[package]]
-name = "bare-metal"
-version = "1.0.0"
+name = "bit_field"
+version = "0.10.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+checksum = "1e4b40c7323adcfc0a41c4b88143ed58346ff65a288fc144329c5c45e05d70c6"
[[package]]
name = "bitfield"
@@ -3914 +5418 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
[[package]]
-name = "bxcan"
-version = "0.6.2"
+name = "bitflags"
+version = "2.10.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
+checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
+
+[[package]]
+name = "block-device-driver"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "44c051592f59fe68053524b4c4935249b806f72c1f544cfb7abe4f57c3be258e"
dependencies = [
- "bitflags",
- "nb 1.1.0",
- "vcell",
+ "aligned",
]
[[package]]
@@ -5637 +7527 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
[[package]]
-name = "cast"
-version = "0.2.7"
+name = "cfg-if"
+version = "1.0.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c24dab4283a142afa2fdca129b80ad2c6284e073930f964c3a1293c225ee39a"
-dependencies = [
- "rustc_version 0.4.1",
-]
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
[[package]]
-name = "cc"
-version = "1.2.41"
+name = "chrono"
+version = "0.4.42"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac9fe6cdbb24b6ade63616c0a0688e45bb56732262c158df3c0c4bea4ca47cb7"
+checksum = "145052bdd345b87320e369255277e3fb5152762ad123a901ef5c262dd38fe8d2"
dependencies = [
- "find-msvc-tools",
- "shlex",
+ "num-traits",
]
-[[package]]
-name = "cfg-if"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
-
[[package]]
name = "cortex-m"
version = "0.7.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
dependencies = [
- "bare-metal 0.2.5",
+ "bare-metal",
"bitfield",
"critical-section",
"embedded-hal 0.2.7",
@@ -11315 +1226 @@ dependencies = [
"syn",
]
-[[package]]
-name = "cortex-m-semihosting"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
-dependencies = [
- "cortex-m",
-]
-
[[package]]
name = "critical-section"
version = "1.2.0"
@@ -129666 +129645 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
[[package]]
-name = "embedded-dma"
-version = "0.1.2"
+name = "darling"
+version = "0.20.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c8c02e4347a0267ca60813c952017f4c5948c232474c6010a381a337f1bda4"
+checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
dependencies = [
- "stable_deref_trait",
+ "darling_core",
+ "darling_macro",
]
[[package]]
-name = "embedded-hal"
-version = "0.2.7"
+name = "darling_core"
+version = "0.20.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
+checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
dependencies = [
- "nb 0.1.3",
- "void",
+ "fnv",
+ "ident_case",
+ "proc-macro2",
+ "quote",
+ "strsim",
+ "syn",
]
[[package]]
-name = "embedded-hal"
-version = "1.0.0"
+name = "darling_macro"
+version = "0.20.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
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-
-[[package]]
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-checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
dependencies = [
- "embedded-hal 1.0.0",
+ "darling_core",
+ "quote",
+ "syn",
]
[[package]]
-name = "embedded-hal-bus"
-version = "0.3.0"
+name = "defmt"
+version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "513e0b3a8fb7d3013a8ae17a834283f170deaf7d0eeab0a7c1a36ad4dd356d22"
+checksum = "548d977b6da32fa1d1fda2876453da1e7df63ad0304c8b3dae4dbe7b96f39b78"
dependencies = [
- "critical-section",
- "embedded-hal 1.0.0",
- "embedded-hal-async",
+ "bitflags 1.3.2",
+ "defmt-macros",
]
[[package]]
-name = "equivalent"
-version = "1.0.2"
+name = "defmt-macros"
+version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
-
-[[package]]
-name = "fctrl"
-version = "0.1.0"
+checksum = "3d4fc12a85bcf441cfe44344c4b72d58493178ce635338a3f3b78943aceb258e"
dependencies = [
- "cortex-m",
- "cortex-m-rt",
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- "embedded-hal 0.2.7",
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- "nb 1.1.0",
- "panic-halt",
- "panic-semihosting",
- "rtic",
- "rtic-sync",
- "stm32l4xx-hal",
+ "defmt-parser",
+ "proc-macro-error2",
+ "proc-macro2",
+ "quote",
+ "syn",
]
[[package]]
-name = "find-msvc-tools"
-version = "0.1.4"
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-[[package]]
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dependencies = [
- "gcd",
+ "thiserror",
]
[[package]]
-name = "gcd"
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-[[package]]
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+checksum = "93d5a25c99d89c40f5676bec8cefe0614f17f0f40e916f98e345dae941807f9e"
dependencies = [
- "cc",
- "cfg-if",
- "libc",
- "log",
- "rustversion",
- "windows",
+ "critical-section",
+ "defmt",
]
[[package]]
-name = "hash32"
-version = "0.3.1"
+name = "document-features"
+version = "0.2.12"
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+checksum = "d4b8a88685455ed29a21542a33abd9cb6510b6b129abadabdcef0f4c55bc8f61"
dependencies = [
- "byteorder",
+ "litrs",
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[[package]]
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-version = "0.16.0"
+name = "embassy-embedded-hal"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "embassy-hal-internal",
+ "embassy-sync",
+ "embassy-time",
+ "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "embedded-storage",
+ "embedded-storage-async",
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[[package]]
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- "stable_deref_trait",
+ "cortex-m",
+ "critical-section",
+ "defmt",
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+ "embassy-executor-macros",
+ "embassy-executor-timer-queue",
]
[[package]]
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+checksum = "dfdddc3a04226828316bf31393b6903ee162238576b1584ee2669af215d55472"
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- "equivalent",
- "hashbrown",
+ "darling",
+ "proc-macro2",
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]
[[package]]
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+ "critical-section",
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[[package]]
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+ "aligned",
+ "bit_field",
+ "bitflags 2.10.0",
+ "block-device-driver",
"cfg-if",
- "generator",
- "pin-utils",
- "scoped-tls",
- "tracing",
- "tracing-subscriber",
+ "chrono",
+ "cortex-m",
+ "cortex-m-rt",
+ "critical-section",
+ "document-features",
+ "embassy-embedded-hal",
+ "embassy-futures",
+ "embassy-hal-internal",
+ "embassy-net-driver",
+ "embassy-sync",
+ "embassy-time",
+ "embassy-time-driver",
+ "embassy-time-queue-utils",
+ "embassy-usb-driver",
+ "embassy-usb-synopsys-otg",
+ "embedded-can",
+ "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "embedded-hal-nb",
+ "embedded-io",
+ "embedded-io-async",
+ "embedded-storage",
+ "embedded-storage-async",
+ "futures-util",
+ "nb 1.1.0",
+ "proc-macro2",
+ "quote",
+ "rand_core 0.6.4",
+ "rand_core 0.9.3",
+ "sdio-host",
+ "static_assertions",
+ "stm32-fmc",
+ "stm32-metapac",
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+ "volatile-register",
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[[package]]
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dependencies = [
- "regex-automata",
+ "cfg-if",
+ "critical-section",
+ "defmt",
+ "embedded-io-async",
+ "futures-core",
+ "futures-sink",
+ "heapless",
]
[[package]]
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+ "critical-section",
+ "defmt",
+ "document-features",
+ "embassy-time-driver",
"embedded-hal 0.2.7",
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+ "embedded-hal 1.0.0",
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+name = "semver-parser"
+version = "0.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]]
-name = "void"
-version = "1.0.2"
+name = "stable_deref_trait"
+version = "1.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
[[package]]
-name = "volatile-register"
-version = "0.2.2"
+name = "static_assertions"
+version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
-dependencies = [
- "vcell",
-]
+checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
[[package]]
-name = "windows"
-version = "0.61.3"
+name = "stm32-fmc"
+version = "0.3.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9babd3a767a4c1aef6900409f85f5d53ce2544ccdfaa86dad48c91782c6d6893"
+checksum = "c7f0639399e2307c2446c54d91d4f1596343a1e1d5cab605b9cce11d0ab3858c"
dependencies = [
- "windows-collections",
- "windows-core",
- "windows-future",
- "windows-link 0.1.3",
- "windows-numerics",
+ "embedded-hal 0.2.7",
]
[[package]]
-name = "windows-collections"
-version = "0.2.0"
+name = "stm32-metapac"
+version = "18.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3beeceb5e5cfd9eb1d76b381630e82c4241ccd0d27f1a39ed41b2760b255c5e8"
+checksum = "6fd8ec3a292a0d9fc4798416a61b21da5ae50341b2e7b8d12e662bf305366097"
dependencies = [
- "windows-core",
+ "cortex-m",
+ "cortex-m-rt",
]
[[package]]
-name = "windows-core"
-version = "0.61.2"
+name = "strsim"
+version = "0.11.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0fdd3ddb90610c7638aa2b3a3ab2904fb9e5cdbecc643ddb3647212781c4ae3"
-dependencies = [
- "windows-implement",
- "windows-interface",
- "windows-link 0.1.3",
- "windows-result",
- "windows-strings",
-]
+checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
[[package]]
-name = "windows-future"
-version = "0.2.1"
+name = "syn"
+version = "2.0.108"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc6a41e98427b19fe4b73c550f060b59fa592d7d686537eebf9385621bfbad8e"
+checksum = "da58917d35242480a05c2897064da0a80589a2a0476c9a3f2fdc83b53502e917"
dependencies = [
- "windows-core",
- "windows-link 0.1.3",
- "windows-threading",
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
]
[[package]]
-name = "windows-implement"
-version = "0.60.2"
+name = "thiserror"
+version = "2.0.17"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
+checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
dependencies = [
- "proc-macro2",
- "quote",
- "syn",
+ "thiserror-impl",
]
[[package]]
-name = "windows-interface"
-version = "0.59.3"
+name = "thiserror-impl"
+version = "2.0.17"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
+checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
dependencies = [
"proc-macro2",
"quote",
@@ -79659 +77528 @@ dependencies = [
]
[[package]]
-name = "windows-link"
-version = "0.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"
-
-[[package]]
-name = "windows-link"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
-
-[[package]]
-name = "windows-numerics"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9150af68066c4c5c07ddc0ce30421554771e528bde427614c61038bc2c92c2b1"
-dependencies = [
- "windows-core",
- "windows-link 0.1.3",
-]
-
-[[package]]
-name = "windows-result"
-version = "0.3.4"
+name = "unicode-ident"
+version = "1.0.20"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56f42bd332cc6c8eac5af113fc0c1fd6a8fd2aa08a0119358686e5160d0586c6"
-dependencies = [
- "windows-link 0.1.3",
-]
+checksum = "462eeb75aeb73aea900253ce739c8e18a67423fadf006037cd3ff27e82748a06"
[[package]]
-name = "windows-strings"
-version = "0.4.2"
+name = "vcell"
+version = "0.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56e6c93f3a0c3b36176cb1327a4958a0353d5d166c2a35cb268ace15e91d3b57"
-dependencies = [
- "windows-link 0.1.3",
-]
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
[[package]]
-name = "windows-sys"
-version = "0.61.2"
+name = "void"
+version = "1.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
-dependencies = [
- "windows-link 0.2.1",
-]
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
[[package]]
-name = "windows-threading"
-version = "0.1.0"
+name = "volatile-register"
+version = "0.2.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b66463ad2e0ea3bbf808b7f1d371311c80e115c0b71d60efc142cafbcfb057a6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
dependencies = [
- "windows-link 0.1.3",
+ "vcell",
]
diff --git a/fw/RustFM/Cargo.toml b/fw/RustFM/Cargo.toml
index bda5274..b509328 100644
--- a/fw/RustFM/Cargo.toml
+++ b/fw/RustFM/Cargo.toml
@@ -422 +430 @@ version = "0.1.0"
edition = "2021"
[dependencies]
-embedded-hal = "0.2.7"
-nb = "1.1.0"
-cortex-m = {version = "0.7.7", features = ["critical-section-single-core"]}
-critical-section = { version = "1.2.0" }
-cortex-m-rt ="0.7.5"
-panic-halt = "0.2.0"
-panic-semihosting = "0.6.0"
-cortex-m-semihosting = "0.5.0"
+# panic-halt = "0.2.0"
+# panic-semihosting = "0.6.0"
+# cortex-m-semihosting = "0.5.0"
# mpu6050 = "0.1.6"
-mpu6050-dmp = "0.3.0"
+# mpu6050-dmp = "0.3.0"
# embedded-hal-compat = "0.13.0"
-rtic = {version = "2.2.0", features=["thumbv7-backend"]}
-rtic-sync = "1.4.0"
-rtic-monotonics = {version = "2.1.0", features = ["stm32_tim2", "stm32l431rc"]}
+embassy-executor = { version = "0.9.0", features = ["defmt", "arch-cortex-m", "executor-thread"] }
+embassy-time = { version = "0.5.0", features = ["defmt"] }
+embassy-sync = { version = "0.7.2", features = [ "defmt" ] }
-[dependencies.stm32l4xx-hal]
-version = "0.7.1"
-features = ["stm32l431", "rt"]
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+
+embedded-hal = "0.2.6"
+embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
+embedded-hal-async = { version = "1.0" }
+embedded-hal-bus = { version = "0.1", features = ["async"] }
+
+panic-probe = { version = "1.0.0", features = ["print-defmt"] }
+defmt-rtt = "1.1.0"
+defmt = "1.0.1"
+
+[dependencies.embassy-stm32]
+version = "0.4.0"
+features = ["stm32l431rc", "unstable-pac", "memory-x", "time-driver-any", "exti", "chrono"]
+# features = ["stm32l431rc", "unstable-pac", "time-driver-any", "exti", "chrono"]
diff --git a/fw/RustFM/build.rs b/fw/RustFM/build.rs
new file mode 100644
index 0000000..8cd32d7
--- /dev/null
+++ b/fw/RustFM/build.rs
@@ -00 +15 @@
+fn main() {
+ println!("cargo:rustc-link-arg-bins=--nmagic");
+ println!("cargo:rustc-link-arg-bins=-Tlink.x");
+ println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}
diff --git a/fw/RustFM/memory.x b/fw/RustFM/memorydotx
similarity index 100%
rename from fw/RustFM/memory.x
rename to fw/RustFM/memorydotx
diff --git a/fw/RustFM/src/main.rs b/fw/RustFM/src/main.rs
index 5c50a94..4a070f9 100644
--- a/fw/RustFM/src/main.rs
+++ b/fw/RustFM/src/main.rs
@@ -1324 +165 @@
#![no_std]
#![no_main]
-use panic_halt as _;
-extern crate cortex_m;
-// #[macro_use]
-extern crate cortex_m_rt as rt;
-extern crate cortex_m_semihosting as sh;
-
-#[rtic::app(device = stm32l4xx_hal::pac, peripherals = true, dispatchers = [SAI1, ADC1_2, SPI1])]
-mod app {
-
- use cortex_m_semihosting::hprintln;
- // use embedded_hal_compat::{ForwardCompat, ReverseCompat};
- // use critical_section::*;
- // use mpu6050::{device::CLKSEL, Mpu6050};
- use mpu6050_dmp::{address::Address, sensor::Mpu6050};
- use rtic_monotonics::{stm32::prelude::*, stm32_tim2_monotonic};
- stm32_tim2_monotonic!(Mono, 100);
-
- use rtic_sync::{
- channel::{Receiver, Sender},
- make_channel,
- };
- use stm32l4xx_hal::{
- delay::Delay,
- flash::FlashExt,
- gpio::{
- Alternate, Input, OpenDrain, Output, PullDown, PushPull, PA10, PA12, PA6, PA9, PC14,
- PC15,
- },
- i2c::{self, I2c},
- pac::{I2C1, NVIC, TIM7},
- prelude::*,
- pwr::PwrExt,
- rcc::{ClockSecuritySystem, CrystalBypass, RccExt},
- stm32,
- timer::{Event, Timer},
- };
-
- #[allow(non_camel_case_types)]
- #[repr(u8)]
- // MPU6050 registers
- pub enum MpuRegs {
- INT_PIN_CFG = 55,
- INT_ENABLE = 56,
- INT_STATUS = 58,
- }
-
- pub enum MpuFields {}
-
- impl From<MpuRegs> for u8 {
- fn from(r: MpuRegs) -> u8 {
- r as u8
- }
- }
-
- pub enum LEDS {
- RED,
- GREEN,
- }
-
- // Led blink speeds in Hz
- #[derive(Copy, Clone)]
- pub enum BlinkSpeed {
- SLOW = 1,
- MEDIUM = 3,
- FAST = 5,
- HOLD = 0,
- }
-
- #[derive(Clone, Copy, Debug)]
- pub enum SysStatus {
- IDLE,
- OK,
- FAIL,
- BOOT,
- TX,
- }
-
- #[shared]
- struct Shared {
- status: SysStatus,
- }
-
- #[local]
- struct Local {
- timer7: Timer<TIM7>, // led blink timer
- led_ok: PC14<Output<PushPull>>, // green led
- led_fail: PC15<Output<PushPull>>, // red led
- txpin: PA6<Output<PushPull>>, // outgoing transmit data
- imu_int: PA12<Input<PullDown>>,
- mpu: Mpu6050<I2c<I2C1, (PA9<Alternate<OpenDrain, 4>>, PA10<Alternate<OpenDrain, 4>>)>>, // mpu: Mpu6050<I2c>,
- }
-
- const CAPACITY: usize = 1;
- #[init]
- fn init(c: init::Context) -> (Shared, Local) {
- let mut dp = c.device;
- let mut flash = dp.FLASH.constrain(); // .constrain();
- let mut rcc = dp.RCC.constrain();
- let mut pwr = dp.PWR.constrain(&mut rcc.apb1r1);
-
- let clocks = rcc
- .cfgr
- .hse(
- 12.MHz(),
- CrystalBypass::Disable,
- ClockSecuritySystem::Disable,
- )
- .sysclk(48.MHz())
- .pclk1(24.MHz())
- .pclk2(48.MHz())
- .freeze(&mut flash.acr, &mut pwr);
-
- let mut timer7 = Timer::tim7(dp.TIM7, 1.Hz(), clocks, &mut rcc.apb1r1);
- timer7.listen(stm32l4xx_hal::timer::Event::TimeOut);
-
- let mut gpioc = dp.GPIOC.split(&mut rcc.ahb2);
- let mut gpioa = dp.GPIOA.split(&mut rcc.ahb2);
- let mut gpiob = dp.GPIOB.split(&mut rcc.ahb2);
-
- let led_ok = gpioc
- .pc14
- .into_push_pull_output(&mut gpioc.moder, &mut gpioc.otyper);
- let led_fail = gpioc
- .pc15
- .into_push_pull_output(&mut gpioc.moder, &mut gpioc.otyper);
- let mut txpin = gpioa
- .pa6
- .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper);
- let mut rxen = gpiob
- .pb0
- .into_push_pull_output(&mut gpiob.moder, &mut gpiob.otyper);
- let mut txen = gpiob
- .pb1
- .into_push_pull_output(&mut gpiob.moder, &mut gpiob.otyper);
-
- // setup for transmission
- rxen.set_high();
- txen.set_low();
-
- // initialize i2c peripheral
- let scl = gpioa.pa9.into_alternate_open_drain::<4>(
- &mut gpioa.moder,
- &mut gpioa.otyper,
- &mut gpioa.afrh,
- );
- let sda = gpioa.pa10.into_alternate_open_drain::<4>(
- &mut gpioa.moder,
- &mut gpioa.otyper,
- &mut gpioa.afrh,
- );
-
- // Configure the external interrupt for MPU6050 data
- let mut imu_int = gpioa
- .pa12
- .into_pull_down_input(&mut gpioa.moder, &mut gpioa.pupdr);
- imu_int.make_interrupt_source(&mut dp.SYSCFG, &mut rcc.apb2);
- imu_int.trigger_on_edge(&mut dp.EXTI, stm32l4xx_hal::gpio::Edge::Rising);
- imu_int.enable_interrupt(&mut dp.EXTI);
- unsafe {
- NVIC::unmask(stm32::interrupt::EXTI15_10);
- }
-
- let iic = i2c::I2c::i2c1(
- dp.I2C1,
- (scl, sda),
- i2c::Config::new(400.kHz(), clocks),
- &mut rcc.apb1r1,
- );
- let mut mpu_slave_add_lsb = gpioa
- .pa11
- .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper);
- // Force low the address of the I2C IMU peripheral
- mpu_slave_add_lsb.set_low();
- // let mut mpu = Mpu6050::new(iic);
- let mut delay = Delay::new(c.core.SYST, clocks);
-
- // init sequence for max7044
- txpin.set_low();
- delay.delay_ms(1_u32);
- txpin.set_high();
- delay.delay_ms(1_u32);
- txpin.set_low();
-
- // let init_result = mpu.init(&mut timer);
- // // Set the mpu clock source to the x axis gyroscope
- // mpu.set_clock_source(CLKSEL::GXAXIS).unwrap();
- // hprintln!("Initialized MPU peripheral: {:?}", init_result);
-
- // // Enable clear interrupt on read operation
- // mpu.write_bit(MpuRegs::INT_PIN_CFG.into(), 4, true).unwrap();
- // // Enable interrupt on data ready
- // mpu.write_bit(MpuRegs::INT_ENABLE.into(), 0, false).unwrap();
-
- let mut mpu = Mpu6050::new(iic, Address::default()).unwrap();
- mpu.initialize_dmp(&mut delay).unwrap();
- mpu.enable_dmp().unwrap();
- mpu.boot_firmware().unwrap();
- mpu.set_clock_source(mpu6050_dmp::clock_source::ClockSource::Xgyro)
- .unwrap();
-
- Mono::start(12_000_000);
-
- // mpu.disable_dmp
-
- #[allow(unused_variables)]
- let (send, receive) = make_channel!(usize, CAPACITY);
- transmitter::spawn(receive).unwrap();
- // sender1::spawn(send).unwrap();
-
- let status = SysStatus::FAIL;
- (
- Shared { status },
- Local {
- timer7,
- led_ok,
- led_fail,
- txpin,
- imu_int,
- mpu,
- },
- )
- }
-
- #[idle]
- fn idle(_: idle::Context) -> ! {
- loop {}
- }
-
- #[task(priority = 1)]
- async fn sender1(_: sender1::Context, mut sender: Sender<'static, usize, CAPACITY>) {
- loop {
- // hprintln!("Sender 1 sending: 1");
- sender.send(1).await.unwrap();
- Mono::delay(50_u64.millis()).await
- }
- }
+use core::{any::Any, ops::Deref};
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::{
+ gpio::{AnyPin, Level, Output, Speed}, rcc::{self}, time::hz, timer::simple_pwm::{PwmPin, SimplePwm}, Config, Peri
+};
+use embassy_time::{Timer, WithTimeout};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let mut config = Config::default();
+
+ config.rcc.hse = Some(rcc::Hse {
+ freq: embassy_stm32::time::Hertz(12_000_000),
+ mode: rcc::HseMode::Oscillator,
+ });
+ let p = embassy_stm32::init(config);
+
+ let ok_pin = p.PC14;
+ let fail_pin = p.PC15;
+ let txpin = p.PA6;
+
+ let rxen = Output::new(p.PB0, Level::High, Speed::Low);
+ let txen = Output::new(p.PB1, Level::Low, Speed::Low);
+
+ spawner.spawn(status_leds(ok_pin.into())).unwrap();
+ Timer::after_millis(500).await;
+ spawner.spawn(status_leds(fail_pin.into())).unwrap();
+ spawner.spawn(transmit(txpin.into())).unwrap();
+
+ // loop {
+ // }
+}
- #[task(binds = EXTI15_10, priority = 7, local = [mpu, imu_int])]
- fn mpu_read(c: mpu_read::Context) {
- // let acc = c.local.mpu.get_acc();
- let acc = c.local.mpu.gyro();
- c.local.mpu.get_fifo_count().unwrap();
- hprintln!("Read MPU value: {:?}", acc.unwrap());
- // hprintln!("Read TEMP value: {:?}", c.local.mpu.get_temp().unwrap());
+#[embassy_executor::task(pool_size = 2)]
+async fn status_leds(p: Peri<'static, AnyPin>) {
+ let mut led = Output::new(p, Level::Low, Speed::Low);
- // c.local.imu_int.clear_interrupt_pending_bit();
- // Clear the interrupt after reading the INT status register
- // c.local
- // .mpu
- // .read_bits(MpuRegs::INT_STATUS.into(), 0, 0)
- // .unwrap();
+ loop {
+ led.set_high();
+ Timer::after_millis(500).await;
+ led.set_low();
+ Timer::after_millis(500).await;
}
+}
- #[task(priority = 5, local = [txpin], shared = [status])]
- async fn transmitter(
- mut ctx: transmitter::Context,
- mut receiver: Receiver<'static, usize, CAPACITY>,
- ) {
- hprintln!("Waiting for data to transmit");
- // Wait until we receive data to send
- while let Ok(_data) = receiver.recv().await {
- // hprintln!("Got data to transmit: {}", data);
- ctx.shared.status.lock(|s| {
- *s = SysStatus::TX;
- });
- ctx.local.txpin.toggle();
- }
- hprintln!("No more data received.");
- ctx.shared.status.lock(|s| {
- *s = SysStatus::IDLE;
- });
- }
-
- #[task(binds = TIM7, local = [led_ok, led_fail, timer7], shared = [status])]
- fn status_leds(mut ctx: status_leds::Context) {
- let mut led: LEDS = LEDS::RED;
- let mut speed: BlinkSpeed = BlinkSpeed::FAST;
-
- // Match the curren system status and assign a led and speed
- ctx.shared.status.lock(|status| match status {
- SysStatus::IDLE => {
- led = LEDS::GREEN;
- speed = BlinkSpeed::SLOW;
- }
- SysStatus::FAIL => {
- led = LEDS::RED;
- speed = BlinkSpeed::HOLD;
- }
- SysStatus::BOOT => {
- led = LEDS::GREEN;
- speed = BlinkSpeed::MEDIUM;
- }
- SysStatus::TX => {
- led = LEDS::GREEN;
- speed = BlinkSpeed::FAST;
- }
-
- _ => {
- led = LEDS::RED;
- speed = BlinkSpeed::HOLD;
- }
- });
-
- // Activate selected led and force off the other
- match led {
- LEDS::GREEN => {
- ctx.local.led_ok.toggle();
- ctx.local.led_fail.set_low();
- }
- LEDS::RED => {
- ctx.local.led_fail.toggle();
- ctx.local.led_ok.set_low();
- }
- }
- // ctx.local.timer7.clear_update_interrupt_flag();
- // ctx.local.timer7.clear_interrupt(Event::TimeOut);
- // hprintln!("{}", speed as u32);
- ctx.local.timer7.start((speed as u32).Hz());
- ctx.local.timer7.listen(Event::TimeOut);
+#[embassy_executor::task]
+async fn transmit(p: Peri<'static, AnyPin>) {
+ let mut txpin = Output::new(p, Level::Low, Speed::Medium);
+ txpin.set_low();
+ Timer::after_millis(1).await;
+ txpin.set_high();
+ Timer::after_millis(1).await;
+ txpin.set_low();
+
+ loop {
+ txpin.toggle();
+ Timer::after_millis(1).await;
}
}
