From 834df8bb78fe15c1a91b974ab01e8ebcd88f8d06 Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Thu, 25 Jan 2024 17:11:51 +0100
Subject: [PATCH] Migrate from RTIC to Embassy
---
.cargo/config.toml | 17 --
Cargo.lock | 504 ++++++++++++++++++++++++++++++---------------
Cargo.toml | 10 +-
memory.x | 4 -
src/encoders.rs | 72 +++----
src/main.rs | 252 ++++++++++-------------
src/tb6612fng.rs | 107 +++++-----
7 files changed, 537 insertions(+), 429 deletions(-)
delete mode 100644 memory.x
diff --git a/.cargo/config.toml b/.cargo/config.toml
index 4fb4ef8..6c3c3f8 100644
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -1,25 +1,8 @@
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
runner = "probe-rs run --chip stm32f103c8"
rustflags = [
- # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
- # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
"-C", "link-arg=--nmagic",
-
- # 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",
-
- # defmt
"-C", "link-arg=-Tdefmt.x",
]
diff --git a/Cargo.lock b/Cargo.lock
index bd630dc..23b0532 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3,13 +3,10 @@
version = 3
[[package]]
-name = "atomic-polyfill"
-version = "1.0.3"
+name = "autocfg"
+version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
-dependencies = [
- "critical-section",
-]
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
[[package]]
name = "bare-metal"
@@ -21,10 +18,10 @@ dependencies = [
]
[[package]]
-name = "bare-metal"
-version = "1.0.0"
+name = "bit_field"
+version = "0.10.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+checksum = "dc827186963e592360843fb5ba4b973e145841266c1357f7180c43526f2e5b61"
[[package]]
name = "bitfield"
@@ -45,6 +42,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
dependencies = [
"bitflags",
+ "defmt",
"embedded-hal 0.2.7",
"nb 1.1.0",
"vcell",
@@ -68,7 +66,7 @@ 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",
@@ -101,6 +99,41 @@ version = "1.1.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+[[package]]
+name = "darling"
+version = "0.20.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0209d94da627ab5605dcccf08bb18afa5009cfbef48d8a8b7d7bdbc79be25c5e"
+dependencies = [
+ "darling_core",
+ "darling_macro",
+]
+
+[[package]]
+name = "darling_core"
+version = "0.20.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "177e3443818124b357d8e76f53be906d60937f0d3a90773a664fa63fa253e621"
+dependencies = [
+ "fnv",
+ "ident_case",
+ "proc-macro2",
+ "quote",
+ "strsim",
+ "syn 2.0.48",
+]
+
+[[package]]
+name = "darling_macro"
+version = "0.20.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "836a9bbc7ad63342d6d6e7b815ccab164bc77a2d95d84bc3117a8c0d5c98e2d5"
+dependencies = [
+ "darling_core",
+ "quote",
+ "syn 2.0.48",
+]
+
[[package]]
name = "dc-motor-driver-hat"
version = "0.1.0"
@@ -109,12 +142,10 @@ dependencies = [
"cortex-m-rt",
"defmt",
"defmt-rtt",
- "embedded-hal 0.2.7",
+ "embassy-executor",
+ "embassy-stm32",
+ "embassy-time",
"panic-probe",
- "rtic",
- "rtic-monotonics",
- "rtic-sync",
- "stm32f1xx-hal",
]
[[package]]
@@ -160,12 +191,170 @@ dependencies = [
]
[[package]]
-name = "embedded-dma"
-version = "0.2.0"
+name = "document-features"
+version = "0.2.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
+checksum = "ef5282ad69563b5fc40319526ba27e0e7363d552a896f0297d54f767717f9b95"
dependencies = [
- "stable_deref_trait",
+ "litrs",
+]
+
+[[package]]
+name = "embassy-embedded-hal"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "defmt",
+ "embassy-futures",
+ "embassy-sync",
+ "embassy-time",
+ "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "embedded-storage",
+ "embedded-storage-async",
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "embassy-executor"
+version = "0.5.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "cortex-m",
+ "critical-section",
+ "defmt",
+ "document-features",
+ "embassy-executor-macros",
+ "embassy-time-driver",
+ "embassy-time-queue-driver",
+]
+
+[[package]]
+name = "embassy-executor-macros"
+version = "0.4.1"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "darling",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.48",
+]
+
+[[package]]
+name = "embassy-futures"
+version = "0.1.1"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+
+[[package]]
+name = "embassy-hal-internal"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "cortex-m",
+ "critical-section",
+ "defmt",
+ "num-traits",
+]
+
+[[package]]
+name = "embassy-net-driver"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "defmt",
+]
+
+[[package]]
+name = "embassy-stm32"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "bit_field",
+ "bxcan",
+ "cfg-if",
+ "cortex-m",
+ "cortex-m-rt",
+ "critical-section",
+ "defmt",
+ "document-features",
+ "embassy-embedded-hal",
+ "embassy-futures",
+ "embassy-hal-internal",
+ "embassy-net-driver",
+ "embassy-sync",
+ "embassy-time",
+ "embassy-time-driver",
+ "embassy-usb-driver",
+ "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",
+ "nb 1.1.0",
+ "proc-macro2",
+ "quote",
+ "rand_core",
+ "sdio-host",
+ "stm32-fmc",
+ "stm32-metapac",
+ "vcell",
+]
+
+[[package]]
+name = "embassy-sync"
+version = "0.5.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "cfg-if",
+ "critical-section",
+ "defmt",
+ "embedded-io-async",
+ "futures-util",
+ "heapless",
+]
+
+[[package]]
+name = "embassy-time"
+version = "0.3.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "cfg-if",
+ "critical-section",
+ "defmt",
+ "document-features",
+ "embassy-time-driver",
+ "embassy-time-queue-driver",
+ "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "futures-util",
+ "heapless",
+]
+
+[[package]]
+name = "embassy-time-driver"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "document-features",
+]
+
+[[package]]
+name = "embassy-time-queue-driver"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+
+[[package]]
+name = "embassy-usb-driver"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy#fb22b46ebb40c16e35c651c0dacf810126856927"
+dependencies = [
+ "defmt",
]
[[package]]
@@ -185,28 +374,86 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
[[package]]
-name = "equivalent"
-version = "1.0.1"
+name = "embedded-hal-async"
+version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
[[package]]
-name = "fugit"
-version = "0.3.7"
+name = "embedded-hal-nb"
+version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
+checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
dependencies = [
- "gcd",
+ "embedded-hal 1.0.0",
+ "nb 1.1.0",
]
[[package]]
-name = "fugit-timer"
-version = "0.1.3"
+name = "embedded-io"
+version = "0.6.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9607bfc4c388f9d629704f56ede4a007546cad417b3bcd6fc7c87dc7edce04a"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
dependencies = [
- "fugit",
- "nb 1.1.0",
+ "defmt",
+]
+
+[[package]]
+name = "embedded-io-async"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff09972d4073aa8c299395be75161d582e7629cd663171d62af73c8d50dba3f"
+dependencies = [
+ "defmt",
+ "embedded-io",
+]
+
+[[package]]
+name = "embedded-storage"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
+
+[[package]]
+name = "embedded-storage-async"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1763775e2323b7d5f0aa6090657f5e21cfa02ede71f5dc40eead06d64dcd15cc"
+dependencies = [
+ "embedded-storage",
+]
+
+[[package]]
+name = "fnv"
+version = "1.0.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
+
+[[package]]
+name = "futures"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "645c6916888f6cb6350d2550b80fb63e734897a8498abe35cfb732b6487804b0"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-io",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-channel"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+dependencies = [
+ "futures-core",
+ "futures-sink",
]
[[package]]
@@ -215,6 +462,29 @@ version = "0.3.30"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+[[package]]
+name = "futures-io"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
+
+[[package]]
+name = "futures-macro"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.48",
+]
+
+[[package]]
+name = "futures-sink"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
+
[[package]]
name = "futures-task"
version = "0.3.30"
@@ -228,17 +498,13 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
dependencies = [
"futures-core",
+ "futures-macro",
+ "futures-sink",
"futures-task",
"pin-project-lite",
"pin-utils",
]
-[[package]]
-name = "gcd"
-version = "2.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
-
[[package]]
name = "hash32"
version = "0.3.1"
@@ -248,12 +514,6 @@ dependencies = [
"byteorder",
]
-[[package]]
-name = "hashbrown"
-version = "0.14.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
-
[[package]]
name = "heapless"
version = "0.8.0"
@@ -265,14 +525,16 @@ dependencies = [
]
[[package]]
-name = "indexmap"
-version = "2.1.0"
+name = "ident_case"
+version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
-dependencies = [
- "equivalent",
- "hashbrown",
-]
+checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
+
+[[package]]
+name = "litrs"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
[[package]]
name = "nb"
@@ -289,6 +551,15 @@ version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
+[[package]]
+name = "num-traits"
+version = "0.2.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
+dependencies = [
+ "autocfg",
+]
+
[[package]]
name = "panic-probe"
version = "0.3.1"
@@ -311,12 +582,6 @@ version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
-[[package]]
-name = "portable-atomic"
-version = "1.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
-
[[package]]
name = "proc-macro-error"
version = "1.0.4"
@@ -360,83 +625,10 @@ dependencies = [
]
[[package]]
-name = "rtic"
-version = "2.0.1"
+name = "rand_core"
+version = "0.6.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "857ce76a2517808a303bcb7e5b6d4a9c1d84e5de88b302aec2e53744633c0f4d"
-dependencies = [
- "atomic-polyfill",
- "bare-metal 1.0.0",
- "cortex-m",
- "critical-section",
- "rtic-core",
- "rtic-macros",
-]
-
-[[package]]
-name = "rtic-common"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
-dependencies = [
- "critical-section",
-]
-
-[[package]]
-name = "rtic-core"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
-
-[[package]]
-name = "rtic-macros"
-version = "2.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8617533990b728e31bc65fcec8fec51fa1b4000fb33189ebeb05fb9d8625444d"
-dependencies = [
- "indexmap",
- "proc-macro-error",
- "proc-macro2",
- "quote",
- "syn 1.0.109",
-]
-
-[[package]]
-name = "rtic-monotonics"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
-dependencies = [
- "atomic-polyfill",
- "cfg-if",
- "cortex-m",
- "embedded-hal 1.0.0",
- "fugit",
- "rtic-time",
-]
-
-[[package]]
-name = "rtic-sync"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a243123bcfb0bbbbf27b89c13de35670875a8725ec69763062e8a5903e69e93"
-dependencies = [
- "critical-section",
- "heapless",
- "portable-atomic",
- "rtic-common",
-]
-
-[[package]]
-name = "rtic-time"
-version = "1.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
-dependencies = [
- "critical-section",
- "futures-util",
- "rtic-common",
-]
+checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
[[package]]
name = "rustc_version"
@@ -447,6 +639,12 @@ dependencies = [
"semver",
]
+[[package]]
+name = "sdio-host"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f93c025f9cfe4c388c328ece47d11a54a823da3b5ad0370b22d95ad47137f85a"
+
[[package]]
name = "semver"
version = "0.9.0"
@@ -469,47 +667,29 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
[[package]]
-name = "stm32-usbd"
-version = "0.6.0"
+name = "stm32-fmc"
+version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6c94998f166d66b210a164648a0b7866428d8f1e0740bf8a4c5edd89d4750c1"
+checksum = "830ed60f33e6194ecb377f5d6ab765dc0e37e7b65e765f1fa87df13336658d63"
dependencies = [
- "cortex-m",
- "usb-device",
- "vcell",
+ "embedded-hal 0.2.7",
]
[[package]]
-name = "stm32f1"
-version = "0.15.1"
+name = "stm32-metapac"
+version = "15.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2dc80735831c28fe85384e1e28428fb6d201f67c696e369a239ed9c5eba369d"
+checksum = "deabea56a8821dcea05d0109f3ab3135f31eb572444e5da203d06149c594c8c6"
dependencies = [
- "bare-metal 1.0.0",
"cortex-m",
"cortex-m-rt",
- "vcell",
]
[[package]]
-name = "stm32f1xx-hal"
+name = "strsim"
version = "0.10.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30845662b9ce46a2ec04da97666a2b32458bee5032bb0452d0caf1536a96a542"
-dependencies = [
- "bitflags",
- "bxcan",
- "cortex-m",
- "cortex-m-rt",
- "embedded-dma",
- "embedded-hal 0.2.7",
- "fugit",
- "fugit-timer",
- "nb 1.1.0",
- "stm32-usbd",
- "stm32f1",
- "void",
-]
+checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
[[package]]
name = "syn"
@@ -559,12 +739,6 @@ version = "1.0.12"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
-[[package]]
-name = "usb-device"
-version = "0.2.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
-
[[package]]
name = "vcell"
version = "0.1.3"
diff --git a/Cargo.toml b/Cargo.toml
index 3f40ff7..478c8b2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,16 +5,14 @@ authors = ["Samuel Tardieu <sam@rfc1149.net>"]
edition = "2021"
[dependencies]
-cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7.7", features = ["critical-section-single-core", "inline-asm"] }
cortex-m-rt = "0.7.3"
defmt = "0.3.5"
defmt-rtt = "0.4.0"
-embedded-hal = "0.2.7"
+embassy-executor = { git = "https://github.com/embassy-rs/embassy", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-stm32 = { git = "https://github.com/embassy-rs/embassy", features = ["defmt", "stm32f103c8", "unstable-pac", "time-driver-tim4", "memory-x"] }
+embassy-time = { git = "https://github.com/embassy-rs/embassy", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
panic-probe = { version = "0.3.1", features = ["print-defmt"] }
-rtic = { version = "2.0.1", features = ["thumbv7-backend"] }
-rtic-monotonics = { version = "1.5.0", features = ["cortex-m-systick"] }
-rtic-sync = "1.2.0"
-stm32f1xx-hal = { version = "0.10.0", features = ["stm32f103"] }
[profile.release]
codegen-units = 1
diff --git a/memory.x b/memory.x
deleted file mode 100644
index 576fbde..0000000
--- a/memory.x
+++ /dev/null
@@ -1,4 +0,0 @@
-MEMORY {
- FLASH : ORIGIN = 0x08000000, LENGTH = 64M
- RAM : ORIGIN = 0x20000000, LENGTH = 20k
-}
diff --git a/src/encoders.rs b/src/encoders.rs
index 289903a..8e6742a 100644
--- a/src/encoders.rs
+++ b/src/encoders.rs
@@ -1,64 +1,60 @@
-use cortex_m::prelude::_embedded_hal_Qei;
-pub use embedded_hal::Direction;
-use stm32f1xx_hal::{
- afio::MAPR,
- gpio::{PA0, PA1, PA6, PA7},
- pac::{TIM2, TIM3},
- qei::{Qei, QeiOptions},
- rcc::Clocks,
- timer::{Tim2NoRemap, Tim3NoRemap, Timer},
+use embassy_stm32::{
+ peripherals::{PA0, PA1, PA6, PA7, TIM2, TIM3},
+ timer::{
+ low_level::GeneralPurpose16bitInstance,
+ qei::{Direction, Qei, QeiPin},
+ },
};
-pub struct Encoders {
- left: Qei<TIM3, Tim3NoRemap, (PA6, PA7)>,
- right: Qei<TIM2, Tim2NoRemap, (PA0, PA1)>,
+pub struct Encoders<'a> {
+ left: Qei<'a, TIM3>,
+ right: Qei<'a, TIM2>,
count_left: u16,
count_right: u16,
}
-#[derive(Debug)]
pub struct EncoderValue {
count: u16,
direction: Direction,
}
-impl Encoders {
- pub fn new(
- pa0: PA0,
- pa1: PA1,
- pa6: PA6,
- pa7: PA7,
- tim2: TIM2,
- tim3: TIM3,
- mapr: &mut MAPR,
- clocks: &Clocks,
- ) -> Self {
- let options = QeiOptions::default();
- let qei = Self {
- left: Timer::new(tim3, clocks).qei((pa6, pa7), mapr, options),
- right: Timer::new(tim2, clocks).qei((pa0, pa1), mapr, options),
+impl core::fmt::Debug for EncoderValue {
+ fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+ write!(
+ f,
+ "{} ({})",
+ self.count,
+ if matches!(self.direction, Direction::Upcounting) {
+ "upcounting"
+ } else {
+ "downcounting"
+ }
+ )
+ }
+}
+
+impl Encoders<'_> {
+ pub fn new(pa0: PA0, pa1: PA1, pa6: PA6, pa7: PA7, tim2: TIM2, tim3: TIM3) -> Self {
+ let left = Qei::new(tim3, QeiPin::new_ch1(pa6), QeiPin::new_ch2(pa7));
+ let right = Qei::new(tim2, QeiPin::new_ch1(pa0), QeiPin::new_ch2(pa1));
+ TIM2::regs_gp16().ccer().modify(|w| w.set_ccp(1, true));
+ Self {
+ left,
+ right,
count_left: 0,
count_right: 0,
- };
- // Unsafe needed, see <https://github.com/stm32-rs/stm32f1xx-hal/issues/478>
- unsafe {
- stm32f1xx_hal::pac::Peripherals::steal()
- .TIM2
- .ccer
- .modify(|_, w| w.cc2p().set_bit());
}
- qei
}
pub fn read(&self) -> (EncoderValue, EncoderValue) {
(
EncoderValue {
count: self.left.count(),
- direction: self.left.direction(),
+ direction: self.left.read_direction(),
},
EncoderValue {
count: self.right.count(),
- direction: self.right.direction(),
+ direction: self.right.read_direction(),
},
)
}
diff --git a/src/main.rs b/src/main.rs
index 17d9c18..6218331 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,156 +1,124 @@
#![no_std]
#![no_main]
-#![feature(type_alias_impl_trait)]
+
+use crate::{
+ encoders::Encoders,
+ tb6612fng::{Movement, Tb6612fng},
+};
+use defmt_rtt as _;
+use embassy_executor::Spawner;
+use embassy_stm32::{
+ bind_interrupts,
+ dma::NoDma,
+ gpio::{Level, Output, Speed},
+ peripherals::{PB15, USART2},
+ time::{khz, mhz},
+ usart::{self, Uart},
+ Config,
+};
+use embassy_time::Timer;
+use panic_probe as _;
mod encoders;
mod tb6612fng;
-#[rtic::app(device = pac, dispatchers = [])]
-mod app {
- use crate::encoders::Encoders;
- use crate::tb6612fng::{Movement, Tb6612fng};
- use defmt_rtt as _;
- use panic_probe as _;
- use rtic_monotonics::systick::Systick;
- use stm32f1xx_hal::{
- gpio::{Output, PinState, PB15},
- pac,
- prelude::*,
- serial::{self, Serial},
- };
-
- #[shared]
- struct Shared {}
-
- #[local]
- struct Local {}
-
- #[init]
- fn init(cx: init::Context) -> (Shared, Local) {
- defmt::info!("Program starting");
-
- let cp = cx.core;
- let dp = cx.device;
-
- // Configure sysclk at 72MhZ, from HSI
- let rcc = dp.RCC.constrain();
- let mut flash = dp.FLASH.constrain();
- let clocks = rcc
- .cfgr
- .use_hse(8.MHz())
- .sysclk(72.MHz())
- .freeze(&mut flash.acr);
-
- let systick_token = rtic_monotonics::create_systick_token!();
- Systick::start(cp.SYST, 72_000_000, systick_token);
-
- let mut gpioa = dp.GPIOA.split();
- let mut gpiob = dp.GPIOB.split();
- let mut afio = dp.AFIO.constrain();
-
- let led = gpiob
- .pb15
- .into_push_pull_output_with_state(&mut gpiob.crh, PinState::High);
- blink::spawn(led).ok().unwrap();
-
- let motors = Tb6612fng::new(
- gpioa.pa4,
- gpioa.pa5,
- gpioa.pa10,
- gpioa.pa11,
- gpiob.pb5,
- gpiob.pb6,
- gpiob.pb8,
- &mut gpioa.crl,
- &mut gpioa.crh,
- &mut gpiob.crl,
- &mut gpiob.crh,
- &mut afio.mapr,
- dp.TIM1,
- &clocks,
- 100.kHz(),
- );
- calibrate_motors::spawn(motors).ok().unwrap();
-
- let tx = gpioa.pa2.into_alternate_push_pull(&mut gpioa.crl);
- let rx = gpioa.pa3;
- let mut serial = Serial::new(
- dp.USART2,
- (tx, rx),
- &mut afio.mapr,
- serial::Config::default().baudrate(115200.bps()),
- &clocks,
- );
- serial.tx.bwrite_all(b"Hello, world\r\n").unwrap();
-
- let encoders = Encoders::new(
- gpioa.pa0,
- gpioa.pa1,
- gpioa.pa6,
- gpioa.pa7,
- dp.TIM2,
- dp.TIM3,
- &mut afio.mapr,
- &clocks,
- );
- debug_encoders::spawn(encoders).ok().unwrap();
-
- (Shared {}, Local {})
- }
+bind_interrupts!(struct Irqs {
+ USART2 => usart::InterruptHandler<USART2>;
+});
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let mut config = Config::default();
+ config.rcc.hse = Some(mhz(8));
+ config.rcc.sys_ck = Some(mhz(72));
+ let p = embassy_stm32::init(config);
+
+ defmt::info!("Program starting");
+
+ spawner.spawn(blink(p.PB15)).unwrap();
+
+ let motors = Tb6612fng::new(
+ p.PA4,
+ p.PA5,
+ p.PA10,
+ p.PA11,
+ p.PB5,
+ p.PB6,
+ p.PB8,
+ p.TIM1,
+ khz(100),
+ );
+ spawner.spawn(calibrate_motors(motors)).unwrap();
+
+ let mut serial = Uart::new(
+ p.USART2,
+ p.PA3,
+ p.PA2,
+ Irqs,
+ p.DMA1_CH7,
+ NoDma,
+ Default::default(),
+ )
+ .unwrap();
+ serial.write(b"Hello, world\r\n").await.unwrap();
+
+ let encoders = Encoders::new(p.PA0, p.PA1, p.PA6, p.PA7, p.TIM2, p.TIM3);
+ spawner.spawn(debug_encoders(encoders)).unwrap();
+}
- #[task]
- async fn blink(_cx: blink::Context, mut led: PB15<Output>) {
- loop {
- for _ in 0..6 {
- led.toggle();
- Systick::delay(200.millis()).await;
- }
- Systick::delay(1.secs()).await;
+#[embassy_executor::task]
+async fn blink(pin: PB15) {
+ let mut led = Output::new(pin, Level::High, Speed::Low);
+ loop {
+ for _ in 0..6 {
+ led.toggle();
+ Timer::after_millis(200).await;
}
+ Timer::after_secs(1).await;
}
+}
- #[task]
- async fn calibrate_motors(_cx: calibrate_motors::Context, mut motors: Tb6612fng) {
- let max = motors.max_pwm();
- defmt::info!("Will start motors in 1 second – max duty cycle is {}", max);
- Systick::delay(1.secs()).await;
- motors.move_both(Movement::Stop, Movement::Stop);
- motors.standby_leave();
- let speed = (max / 2) as i32;
- let (forward, backward) = (Movement::Advance(speed), Movement::Advance(-speed));
- defmt::info!("Left motor, forward 10%");
- motors.move_both(forward, Movement::Stop);
- Systick::delay(1.secs()).await;
- defmt::info!("Left motor, backward 10%");
- motors.move_both(backward, Movement::Stop);
- Systick::delay(1.secs()).await;
- defmt::info!("Right motor, forward 10%");
- motors.move_both(Movement::Stop, forward);
- Systick::delay(1.secs()).await;
- defmt::info!("Right motor, backward 10%");
- motors.move_both(Movement::Stop, backward);
- Systick::delay(1.secs()).await;
- for i in 0..100 {
- let val = max as i32 * i as i32 / 100;
- motors.move_both(Movement::Advance(val), Movement::Advance(val));
- Systick::delay(30.millis()).await;
- }
- motors.move_both(Movement::Brake, Movement::Brake);
- defmt::info!("Returning to standby mode");
- motors.standby_enter();
+#[embassy_executor::task]
+async fn calibrate_motors(mut motors: Tb6612fng<'static>) {
+ let max = motors.max_pwm();
+ defmt::info!("Will start motors in 1 second – max duty cycle is {}", max);
+ Timer::after_secs(1).await;
+ motors.move_both(Movement::Stop, Movement::Stop);
+ motors.standby_leave();
+ let speed = max / 2;
+ let (forward, backward) = (Movement::Advance(speed), Movement::Advance(-speed));
+ defmt::info!("Left motor, forward 10%");
+ motors.move_both(forward, Movement::Stop);
+ Timer::after_secs(1).await;
+ defmt::info!("Left motor, backward 10%");
+ motors.move_both(backward, Movement::Stop);
+ Timer::after_secs(1).await;
+ defmt::info!("Right motor, forward 10%");
+ motors.move_both(Movement::Stop, forward);
+ Timer::after_secs(1).await;
+ defmt::info!("Right motor, backward 10%");
+ motors.move_both(Movement::Stop, backward);
+ Timer::after_secs(1).await;
+ for i in 0..100 {
+ let val = max * i / 100;
+ motors.move_both(Movement::Advance(val), Movement::Advance(val));
+ Timer::after_millis(30).await;
}
+ motors.move_both(Movement::Brake, Movement::Brake);
+ defmt::info!("Returning to standby mode");
+ motors.standby_enter();
+}
- #[task]
- async fn debug_encoders(_cx: debug_encoders::Context, mut encoders: Encoders) {
- loop {
- let (left, right) = encoders.read();
- defmt::info!(
- "left = {:?}, right = {:?}",
- defmt::Debug2Format(&left),
- defmt::Debug2Format(&right)
- );
- defmt::info!("ticks = {:?}", encoders.ticks());
- Systick::delay(100.millis()).await;
- }
+#[embassy_executor::task]
+async fn debug_encoders(mut encoders: Encoders<'static>) {
+ loop {
+ let (left, right) = encoders.read();
+ defmt::info!(
+ "left = {:?}, right = {:?}",
+ defmt::Debug2Format(&left),
+ defmt::Debug2Format(&right)
+ );
+ defmt::info!("ticks = {:?}", encoders.ticks());
+ Timer::after_millis(100).await;
}
}
diff --git a/src/tb6612fng.rs b/src/tb6612fng.rs
index ff637ec..1661e5e 100644
--- a/src/tb6612fng.rs
+++ b/src/tb6612fng.rs
@@ -1,27 +1,22 @@
use core::ops::Neg;
-use rtic_monotonics::systick::fugit::Hertz;
-use stm32f1xx_hal::{
- afio::MAPR,
- gpio::{Alternate, Cr, Output, Pin, PinState, PA10, PA11, PA4, PA5, PB5, PB6, PB8},
- pac::TIM1,
- prelude::*,
- rcc::Clocks,
- timer::{Ch, Channel, PwmHz, Tim1NoRemap},
+use embassy_stm32::{
+ gpio::{Level, Output, OutputType, Speed},
+ peripherals::{PA10, PA11, PA4, PA5, PB5, PB6, PB8, TIM1},
+ time::Hertz,
+ timer::{
+ simple_pwm::{PwmPin, SimplePwm},
+ Channel,
+ },
};
-pub struct Tb6612fng {
- pwm: PwmHz<
- TIM1,
- Tim1NoRemap,
- (Ch<2>, Ch<3>),
- (Pin<'A', 10, Alternate>, Pin<'A', 11, Alternate>),
- >,
- a1: PA4<Output>,
- a2: PA5<Output>,
- b1: PB5<Output>,
- b2: PB6<Output>,
- standby: PB8<Output>,
+pub struct Tb6612fng<'a> {
+ pwm: SimplePwm<'a, TIM1>,
+ a1: Output<'a>,
+ a2: Output<'a>,
+ b1: Output<'a>,
+ b2: Output<'a>,
+ standby: Output<'a>,
}
#[derive(Clone, Copy)]
@@ -43,7 +38,8 @@ impl Neg for Movement {
}
}
-impl Tb6612fng {
+impl Tb6612fng<'_> {
+ #[allow(clippy::too_many_arguments)]
pub fn new(
pa4: PA4,
pa5: PA5,
@@ -52,27 +48,28 @@ impl Tb6612fng {
pb5: PB5,
pb6: PB6,
pb8: PB8,
- gpioa_crl: &mut Cr<'A', false>,
- gpioa_crh: &mut Cr<'A', true>,
- gpiob_crl: &mut Cr<'B', false>,
- gpiob_crh: &mut Cr<'B', true>,
- mapr: &mut MAPR,
tim1: TIM1,
- clocks: &Clocks,
- freq: Hertz<u32>,
+ freq: Hertz,
) -> Self {
- let standby = pb8.into_push_pull_output_with_state(gpiob_crh, PinState::Low);
- let a1 = pa4.into_push_pull_output_with_state(gpioa_crl, PinState::Low);
- let a2 = pa5.into_push_pull_output_with_state(gpioa_crl, PinState::Low);
- let b1 = pb5.into_push_pull_output_with_state(gpiob_crl, PinState::Low);
- let b2 = pb6.into_push_pull_output_with_state(gpiob_crl, PinState::Low);
- let ch3 = pa10.into_alternate_push_pull(gpioa_crh);
- let ch4 = pa11.into_alternate_push_pull(gpioa_crh);
- let pins = (ch3, ch4);
- let mut pwm = tim1.pwm_hz(pins, mapr, freq, clocks);
- pwm.enable(Channel::C3);
- pwm.enable(Channel::C4);
- Tb6612fng {
+ let standby = Output::new(pb8, Level::Low, Speed::Low);
+ let a1 = Output::new(pa4, Level::Low, Speed::Low);
+ let a2 = Output::new(pa5, Level::Low, Speed::Low);
+ let b1 = Output::new(pb5, Level::Low, Speed::Low);
+ let b2 = Output::new(pb6, Level::Low, Speed::Low);
+ let ch3 = PwmPin::new_ch3(pa10, OutputType::PushPull);
+ let ch4 = PwmPin::new_ch4(pa11, OutputType::PushPull);
+ let mut pwm = SimplePwm::new(
+ tim1,
+ None,
+ None,
+ Some(ch3),
+ Some(ch4),
+ freq,
+ Default::default(),
+ );
+ pwm.enable(Channel::Ch3);
+ pwm.enable(Channel::Ch4);
+ Self {
pwm,
a1,
a2,
@@ -96,17 +93,17 @@ impl Tb6612fng {
}
pub fn move_right(&mut self, value: Movement) {
- let (i1, i2, duty) = self.into_command(value);
- self.a1.set_state(i1);
- self.a2.set_state(i2);
- self.pwm.set_duty(Channel::C3, duty);
+ let (i1, i2, duty) = self.make_command(value);
+ self.a1.set_level(i1);
+ self.a2.set_level(i2);
+ self.pwm.set_duty(Channel::Ch3, duty);
}
pub fn move_left(&mut self, value: Movement) {
- let (i1, i2, duty) = self.into_command(-value);
- self.b1.set_state(i1);
- self.b2.set_state(i2);
- self.pwm.set_duty(Channel::C4, duty);
+ let (i1, i2, duty) = self.make_command(-value);
+ self.b1.set_level(i1);
+ self.b2.set_level(i2);
+ self.pwm.set_duty(Channel::Ch4, duty);
}
pub fn move_both(&mut self, left: Movement, right: Movement) {
@@ -114,17 +111,13 @@ impl Tb6612fng {
self.move_right(right);
}
- fn into_command(&self, movement: Movement) -> (PinState, PinState, u16) {
+ fn make_command(&self, movement: Movement) -> (Level, Level, u16) {
let max_duty = self.max_pwm();
match movement {
- Movement::Brake | Movement::Advance(0) => {
- (PinState::High, PinState::High, max_duty as u16)
- }
- Movement::Stop => (PinState::Low, PinState::Low, 0),
- Movement::Advance(v) if v > 0 => {
- (PinState::High, PinState::Low, v.min(max_duty) as u16)
- }
- Movement::Advance(v) => (PinState::Low, PinState::High, (-v).min(max_duty) as u16),
+ Movement::Brake | Movement::Advance(0) => (Level::High, Level::High, max_duty as u16),
+ Movement::Stop => (Level::Low, Level::Low, 0),
+ Movement::Advance(v) if v > 0 => (Level::High, Level::Low, v.min(max_duty) as u16),
+ Movement::Advance(v) => (Level::Low, Level::High, (-v).min(max_duty) as u16),
}
}
}
--
GitLab