embassy blinky for stm32g474
This commit is contained in:
Joe Ardent
commit
b2cf4fd3bb
10 changed files with 1737 additions and 0 deletions
28
.cargo/config.toml
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28
.cargo/config.toml
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
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runner = ["probe-rs", "run", "--chip", "STM32G474RE", "--log-format=oneline"]
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# If you have an nRF52, you might also want to add "--allow-erase-all" to the list
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rustflags = [
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"-C", "linker=flip-link",
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=-Tdefmt.x",
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# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
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# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
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"-C", "link-arg=--nmagic",
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]
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[build]
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# Select the correct target for your processor:
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# target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
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# target = "thumbv7m-none-eabi" # Cortex-M3
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# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
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target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
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[env]
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DEFMT_LOG = "trace"
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[alias]
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# `cargo rb foo` will expand to `cargo run --bin foo`
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rb = "run --bin"
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# `cargo rrb foo` will expand to `cargo run --release --bin foo`
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rrb = "run --release --bin"
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1
.gitignore
vendored
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1
.gitignore
vendored
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/target
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1201
Cargo.lock
generated
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1201
Cargo.lock
generated
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59
Cargo.toml
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59
Cargo.toml
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[package]
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authors = ["Joe Ardent <code@ardent.nebcorp.com>"]
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name = "treatbot-5k"
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edition = "2024"
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version = "50.0.0"
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default-run = "treatbot-5k"
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# To run all the tests via `cargo test` the tests need to be explicitly disabled for the binary targets
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# If you use a standard main.rs file the following is sufficient:
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[[bin]]
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name = "treatbot-5k"
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test = false
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[lib]
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harness = false
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# needed for each integration test
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[[test]]
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name = "integration"
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harness = false
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[dependencies]
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cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
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cortex-m-rt = "0.7"
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defmt = "1.0"
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defmt-rtt = "1.0"
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embassy-executor = { version = "0.10.0", features = ["defmt", "platform-cortex-m", "executor-thread"] }
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embassy-futures = "0.1.2"
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embassy-stm32 = { version = "0.6.0", features = ["defmt", "stm32g474re", "memory-x", "unstable-pac", "exti", "dual-bank", "stm32-hrtim", "time-driver-any"] }
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embassy-sync = { version = "0.8.0", features = ["defmt"] }
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embassy-time = { version = "0.5.1", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
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panic-probe = { version = "1.0", features = ["print-defmt"] }
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semihosting = "0.1.20"
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# stm32g4xx-hal = { version = "0.1.0", features = ["defmt", "stm32g474", "hrtim"] }
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[dev-dependencies]
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defmt-test = "0.3"
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# cargo build/run
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[profile.dev]
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# default is opt-level = '0', but that makes very
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# verbose machine code
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opt-level = 's'
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# trade compile speed for slightly better optimisations
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codegen-units = 1
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# cargo build/run --release
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[profile.release]
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# default is opt-level = '3', but that makes quite
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# verbose machine code
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opt-level = 's'
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# trade compile speed for slightly better optimisations
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codegen-units = 1
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# Use Link Time Optimisations to further inline things across
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# crates
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lto = 'fat'
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# Leave the debug symbols in (default is no debug info)
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debug = 2
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build.rs
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build.rs
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//! This build script copies the `memory.x` file from the crate root into
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//! a directory where the linker can always find it at build time.
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//! For many projects this is optional, as the linker always searches the
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//! project root directory -- wherever `Cargo.toml` is. However, if you
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//! are using a workspace or have a more complicated build setup, this
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//! build script becomes required. Additionally, by requesting that
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//! Cargo re-run the build script whenever `memory.x` is changed,
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//! updating `memory.x` ensures a rebuild of the application with the
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//! new memory settings.
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//!
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//! The build script also sets the linker flags to tell it which link script to use.
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use std::env;
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use std::fs::File;
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use std::io::Write;
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use std::path::PathBuf;
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fn main() {
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// Put `memory.x` in our output directory and ensure it's
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// on the linker search path.
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let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
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File::create(out.join("memory.x"))
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.unwrap()
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.write_all(include_bytes!("memory.x"))
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.unwrap();
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println!("cargo:rustc-link-search={}", out.display());
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// By default, Cargo will re-run a build script whenever
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// any file in the project changes. By specifying `memory.x`
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// here, we ensure the build script is only re-run when
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// `memory.x` is changed.
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println!("cargo:rerun-if-changed=memory.x");
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// we're setting linker args in .cargo/config.toml via rustc flags
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}
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232
generated.md
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generated.md
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# `app-template`
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> Quickly set up a [`probe-rs`] + [`defmt`] + [`flip-link`] embedded project
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[`probe-rs`]: https://crates.io/crates/probe-rs
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[`defmt`]: https://github.com/knurling-rs/defmt
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[`flip-link`]: https://github.com/knurling-rs/flip-link
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## Dependencies
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### 1. `flip-link`:
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```bash
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cargo install flip-link
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```
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### 2. `probe-rs`:
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Install probe-rs by following the instructions at <https://probe.rs/docs/getting-started/installation/>.
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### 3. [`cargo-generate`]:
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```bash
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cargo install cargo-generate
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```
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[`cargo-generate`]: https://crates.io/crates/cargo-generate
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> *Note:* You can also just clone this repository instead of using `cargo-generate`, but this involves additional manual adjustments.
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## Setup
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### 1. Initialize the project template
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```bash
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cargo generate \
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--git https://github.com/knurling-rs/app-template \
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--branch main \
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--name my-app
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```
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If you look into your new `my-app` folder, you'll find that there are a few `TODO`s in the files marking the properties you need to set.
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Let's walk through them together now.
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### 2. Set `probe-rs` chip
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Pick a chip from ` probe-rs chip list` and enter it into `.cargo/config.toml`.
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If, for example, you have a nRF52840 Development Kit as used in one of [our exercises], replace `{{chip}}` with `nRF52840_xxAA`.
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[our workshops]: https://rust-exercises.ferrous-systems.com
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||||||
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```diff
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# .cargo/config.toml
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-runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format=oneline"]
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+runner = ["probe-rs", "run", "--chip", "nRF52840_xxAA", "--log-format=oneline"]
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```
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### 3. Adjust the compilation target
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In `.cargo/config.toml`, pick the right compilation target for your board.
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||||||
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```diff
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# .cargo/config.toml
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[build]
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||||||
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-target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
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-# target = "thumbv7m-none-eabi" # Cortex-M3
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-# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
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-# target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
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+target = "thumbv7em-none-eabihf" # Cortex-M4F (with FPU)
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||||||
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```
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||||||
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Add the target with `rustup`.
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||||||
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```bash
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rustup target add thumbv7em-none-eabihf
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```
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||||||
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||||||
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### 4. Add a HAL as a dependency
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||||||
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In `Cargo.toml`, list the Hardware Abstraction Layer (HAL) for your board as a dependency.
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|
|
||||||
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For the nRF52840 you'll want to use the [`nrf52840-hal`].
|
||||||
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||||||
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[`nrf52840-hal`]: https://crates.io/crates/nrf52840-hal
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||||||
|
|
||||||
|
```diff
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# Cargo.toml
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[dependencies]
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-# some-hal = "1.2.3"
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||||||
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+nrf52840-hal = "0.14.0"
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||||||
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```
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||||||
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⚠️ Note for RP2040 users ⚠️
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||||||
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||||||
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You will need to not just specify the `rp-hal` HAL, but a BSP (board support crate) which includes a second stage bootloader. Please find a list of available BSPs [here](https://github.com/rp-rs/rp-hal-boards#packages).
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||||||
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### 5. Import your HAL
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Now that you have selected a HAL, fix the HAL import in `src/lib.rs`
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||||||
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```diff
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// my-app/src/lib.rs
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-// use some_hal as _; // memory layout
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+use nrf52840_hal as _; // memory layout
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```
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||||||
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### (6. Get a linker script)
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||||||
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||||||
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Some HAL crates require that you manually copy over a file called `memory.x` from the HAL to the root of your project. For nrf52840-hal, this is done automatically so no action is needed. For other HAL crates, see their documentation on where to find an example file.
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||||||
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The `memory.x` file should look something like:
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|
||||||
|
```text
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|
MEMORY
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||||||
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{
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FLASH : ORIGIN = 0x00000000, LENGTH = 1024K
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RAM : ORIGIN = 0x20000000, LENGTH = 256K
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||||||
|
}
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||||||
|
```
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||||||
|
|
||||||
|
The `memory.x` file is included in the `cortex-m-rt` linker script `link.x`, and so `link.x` is the one you should tell `rustc` to use (see the `.cargo/config.toml` file where we do that).
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||||||
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### 7. Run!
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|
||||||
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You are now all set to `cargo-run` your first `defmt`-powered application!
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||||||
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There are some examples in the `src/bin` directory.
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||||||
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Start by `cargo run`-ning `my-app/src/bin/hello.rs`:
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|
|
||||||
|
```console
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||||||
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$ # `rb` is an alias for `run --bin`
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$ cargo rb hello
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Finished `dev` profile [optimized + debuginfo] target(s) in 0.01s
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||||||
|
Running `probe-rs run --chip nrf52840_xxaa --log-format=oneline target/thumbv6m-none-eabi/debug/hello`
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||||||
|
Erasing ✔ 100% [####################] 8.00 KiB @ 15.79 KiB/s (took 1s)
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||||||
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Programming ✔ 100% [####################] 8.00 KiB @ 13.19 KiB/s (took 1s) Finished in 1.11s
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||||||
|
Hello, world!
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||||||
|
|
||||||
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$ echo $?
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0
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||||||
|
```
|
||||||
|
|
||||||
|
If you're running out of memory (`flip-link` bails with an overflow error), you can decrease the size of the device memory buffer by setting the `DEFMT_RTT_BUFFER_SIZE` environment variable. The default value is 1024 bytes, and powers of two should be used for optimal performance:
|
||||||
|
|
||||||
|
```console
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||||||
|
$ DEFMT_RTT_BUFFER_SIZE=64 cargo rb hello
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||||||
|
```
|
||||||
|
|
||||||
|
### (8. Set `rust-analyzer.linkedProjects`)
|
||||||
|
|
||||||
|
If you are using [rust-analyzer] with VS Code for IDE-like features you can add following configuration to your `.vscode/settings.json` to make it work transparently across workspaces. Find the details of this option in the [RA docs].
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"rust-analyzer.linkedProjects": [
|
||||||
|
"Cargo.toml",
|
||||||
|
"firmware/Cargo.toml",
|
||||||
|
]
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
[RA docs]: https://rust-analyzer.github.io/manual.html#configuration
|
||||||
|
[rust-analyzer]: https://rust-analyzer.github.io/
|
||||||
|
|
||||||
|
## Running tests
|
||||||
|
|
||||||
|
The template comes configured for running unit tests and integration tests on the target.
|
||||||
|
|
||||||
|
Unit tests reside in the library crate and can test private API; the initial set of unit tests are in `src/lib.rs`.
|
||||||
|
`cargo test --lib` will run those unit tests.
|
||||||
|
|
||||||
|
```console
|
||||||
|
$ cargo test --lib
|
||||||
|
Compiling example v0.1.0 (./knurling-rs/example)
|
||||||
|
Finished `test` profile [optimized + debuginfo] target(s) in 0.15s
|
||||||
|
Running unittests src/lib.rs (target/thumbv6m-none-eabi/debug/deps/example-2b0d0e25d141bf57)
|
||||||
|
Erasing ✔ 100% [####################] 8.00 KiB @ 15.99 KiB/s (took 1s)
|
||||||
|
Programming ✔ 100% [####################] 8.00 KiB @ 13.33 KiB/s (took 1s) Finished in 1.10s
|
||||||
|
(1/1) running `it_works`...
|
||||||
|
all tests passed!
|
||||||
|
```
|
||||||
|
|
||||||
|
Integration tests reside in the `tests` directory; the initial set of integration tests are in `tests/integration.rs`.
|
||||||
|
`cargo test --test integration` will run those integration tests.
|
||||||
|
Note that the argument of the `--test` flag must match the name of the test file in the `tests` directory.
|
||||||
|
|
||||||
|
```console
|
||||||
|
$ cargo test --test integration
|
||||||
|
Compiling example v0.1.0 (./knurling-rs/example)
|
||||||
|
Finished `test` profile [optimized + debuginfo] target(s) in 0.10s
|
||||||
|
Running tests/integration.rs (target/thumbv6m-none-eabi/debug/deps/integration-aaaff41151f6a722)
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||||||
|
Erasing ✔ 100% [####################] 8.00 KiB @ 16.03 KiB/s (took 0s)
|
||||||
|
Programming ✔ 100% [####################] 8.00 KiB @ 13.19 KiB/s (took 1s) Finished in 1.11s
|
||||||
|
(1/1) running `it_works`...
|
||||||
|
all tests passed!
|
||||||
|
```
|
||||||
|
|
||||||
|
Note that to add a new test file to the `tests` directory you also need to add a new `[[test]]` section to `Cargo.toml`.
|
||||||
|
|
||||||
|
To run all the tests via `cargo test` the tests need to be explicitly disabled for all the existing binary targets.
|
||||||
|
See `Cargo.toml` for details on how to do this.
|
||||||
|
|
||||||
|
## Support
|
||||||
|
|
||||||
|
`app-template` is part of the [Knurling] project, [Ferrous Systems]' effort at
|
||||||
|
improving tooling used to develop for embedded systems.
|
||||||
|
|
||||||
|
If you think that our work is useful, consider sponsoring it via [GitHub
|
||||||
|
Sponsors].
|
||||||
|
|
||||||
|
## License
|
||||||
|
|
||||||
|
Licensed under either of
|
||||||
|
|
||||||
|
- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
|
||||||
|
http://www.apache.org/licenses/LICENSE-2.0)
|
||||||
|
|
||||||
|
- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
|
||||||
|
|
||||||
|
at your option.
|
||||||
|
|
||||||
|
### Contribution
|
||||||
|
|
||||||
|
Unless you explicitly state otherwise, any contribution intentionally submitted
|
||||||
|
for inclusion in the work by you, as defined in the Apache-2.0 license, shall be
|
||||||
|
licensed as above, without any additional terms or conditions.
|
||||||
|
|
||||||
|
[Knurling]: https://knurling.ferrous-systems.com
|
||||||
|
[Ferrous Systems]: https://ferrous-systems.com/
|
||||||
|
[GitHub Sponsors]: https://github.com/sponsors/knurling-rs
|
||||||
33
memory.x
Normal file
33
memory.x
Normal file
|
|
@ -0,0 +1,33 @@
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
/* NOTE 1 K = 1 KiBi = 1024 bytes */
|
||||||
|
|
||||||
|
FLASH : ORIGIN = 0x8000000, LENGTH = 256K
|
||||||
|
RAM : ORIGIN = 0x20000000, LENGTH = 80K
|
||||||
|
}
|
||||||
|
|
||||||
|
/* This is where the call stack will be allocated. */
|
||||||
|
/* The stack is of the full descending type. */
|
||||||
|
/* You may want to use this variable to locate the call stack and static
|
||||||
|
variables in different memory regions. Below is shown the default value */
|
||||||
|
/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
|
||||||
|
|
||||||
|
/* You can use this symbol to customize the location of the .text section */
|
||||||
|
/* If omitted the .text section will be placed right after the .vector_table
|
||||||
|
section */
|
||||||
|
/* This is required only on microcontrollers that store some configuration right
|
||||||
|
after the vector table */
|
||||||
|
/* _stext = ORIGIN(FLASH) + 0x400; */
|
||||||
|
|
||||||
|
/* Example of putting non-initialized variables into custom RAM locations. */
|
||||||
|
/* This assumes you have defined a region RAM2 above, and in the Rust
|
||||||
|
sources added the attribute `#[link_section = ".ram2bss"]` to the data
|
||||||
|
you want to place there. */
|
||||||
|
/* Note that the section will not be zero-initialized by the runtime! */
|
||||||
|
/* SECTIONS {
|
||||||
|
.ram2bss (NOLOAD) : ALIGN(4) {
|
||||||
|
*(.ram2bss);
|
||||||
|
. = ALIGN(4);
|
||||||
|
} > RAM2
|
||||||
|
} INSERT AFTER .bss;
|
||||||
|
*/
|
||||||
43
src/lib.rs
Normal file
43
src/lib.rs
Normal file
|
|
@ -0,0 +1,43 @@
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
// use defmt_rtt as _; // global logger
|
||||||
|
|
||||||
|
// use panic_probe as _;
|
||||||
|
|
||||||
|
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||||
|
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||||
|
#[defmt::panic_handler]
|
||||||
|
fn panic() -> ! {
|
||||||
|
cortex_m::asm::udf()
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||||
|
/// with status code 0.
|
||||||
|
pub fn exit() -> ! {
|
||||||
|
semihosting::process::exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Hardfault handler.
|
||||||
|
///
|
||||||
|
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||||
|
/// with an error. This seems better than the default, which is to spin in a
|
||||||
|
/// loop.
|
||||||
|
#[cortex_m_rt::exception]
|
||||||
|
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||||
|
semihosting::process::exit(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||||
|
// once within a crate. the module can be in any file but there can only be at most
|
||||||
|
// one `#[tests]` module in this library crate
|
||||||
|
#[cfg(test)]
|
||||||
|
#[defmt_test::tests]
|
||||||
|
mod unit_tests {
|
||||||
|
use defmt::assert;
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn it_works() {
|
||||||
|
assert!(true)
|
||||||
|
}
|
||||||
|
}
|
||||||
89
src/main.rs
Normal file
89
src/main.rs
Normal file
|
|
@ -0,0 +1,89 @@
|
||||||
|
#![no_std]
|
||||||
|
#![no_main]
|
||||||
|
|
||||||
|
use defmt::{info, unwrap};
|
||||||
|
use embassy_executor::Spawner;
|
||||||
|
use embassy_stm32::flash::{Flash, InterruptHandler};
|
||||||
|
use embassy_stm32::gpio::{AnyPin, Level, Output, Speed};
|
||||||
|
use embassy_stm32::{bind_interrupts, Peri};
|
||||||
|
use embassy_time::Timer;
|
||||||
|
use {defmt_rtt as _, panic_probe as _};
|
||||||
|
|
||||||
|
bind_interrupts!(struct Irqs {
|
||||||
|
FLASH => InterruptHandler;
|
||||||
|
});
|
||||||
|
|
||||||
|
#[embassy_executor::main]
|
||||||
|
async fn main(spawner: Spawner) {
|
||||||
|
let p = embassy_stm32::init(Default::default());
|
||||||
|
info!("Hello Flash!");
|
||||||
|
|
||||||
|
// Led should blink uninterrupted during erase operation
|
||||||
|
spawner.spawn(unwrap!(blinky(p.PA5.into())));
|
||||||
|
|
||||||
|
// let mut f = Flash::new(p.FLASH, Irqs);
|
||||||
|
// // Test on bank 2 so the CPU doesn't stall (code runs from bank 1).
|
||||||
|
// // G474RE in dual-bank mode: bank 2 starts at 256KB offset.
|
||||||
|
// // Erase 4KB (2 pages at 2KB each in dual-bank mode).
|
||||||
|
// test_flash(&mut f, 256 * 1024, 4 * 1024).await;
|
||||||
|
|
||||||
|
//treatbot_5k::exit()
|
||||||
|
}
|
||||||
|
|
||||||
|
#[embassy_executor::task]
|
||||||
|
async fn blinky(p: Peri<'static, AnyPin>) {
|
||||||
|
let mut led = Output::new(p, Level::High, Speed::Low);
|
||||||
|
|
||||||
|
loop {
|
||||||
|
info!("high");
|
||||||
|
led.set_high();
|
||||||
|
Timer::after_millis(300).await;
|
||||||
|
|
||||||
|
info!("low");
|
||||||
|
led.set_low();
|
||||||
|
Timer::after_millis(300).await;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
async fn _test_flash(f: &mut Flash<'_>, offset: u32, size: u32) {
|
||||||
|
info!("Testing offset: {=u32:#X}, size: {=u32:#X}", offset, size);
|
||||||
|
|
||||||
|
info!("Reading...");
|
||||||
|
let mut buf = [0u8; 32];
|
||||||
|
unwrap!(f.blocking_read(offset, &mut buf));
|
||||||
|
info!("Read: {=[u8]:x}", buf);
|
||||||
|
|
||||||
|
info!("Erasing...");
|
||||||
|
unwrap!(f.erase(offset, offset + size).await);
|
||||||
|
|
||||||
|
info!("Reading...");
|
||||||
|
let mut buf = [0u8; 32];
|
||||||
|
unwrap!(f.blocking_read(offset, &mut buf));
|
||||||
|
info!("Read after erase: {=[u8]:x}", buf);
|
||||||
|
|
||||||
|
info!("Writing...");
|
||||||
|
unwrap!(
|
||||||
|
f.write(
|
||||||
|
offset,
|
||||||
|
&[
|
||||||
|
1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23,
|
||||||
|
24, 25, 26, 27, 28, 29, 30, 31, 32
|
||||||
|
]
|
||||||
|
)
|
||||||
|
.await
|
||||||
|
);
|
||||||
|
|
||||||
|
info!("Reading...");
|
||||||
|
let mut buf = [0u8; 32];
|
||||||
|
unwrap!(f.blocking_read(offset, &mut buf));
|
||||||
|
info!("Read: {=[u8]:x}", buf);
|
||||||
|
assert_eq!(
|
||||||
|
&buf[..],
|
||||||
|
&[
|
||||||
|
1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24,
|
||||||
|
25, 26, 27, 28, 29, 30, 31, 32
|
||||||
|
]
|
||||||
|
);
|
||||||
|
|
||||||
|
info!("Flash async test passed!");
|
||||||
|
}
|
||||||
16
tests/integration.rs
Normal file
16
tests/integration.rs
Normal file
|
|
@ -0,0 +1,16 @@
|
||||||
|
#![no_std]
|
||||||
|
#![no_main]
|
||||||
|
|
||||||
|
use treatbot_5k as _; // memory layout + panic handler
|
||||||
|
|
||||||
|
// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
|
||||||
|
// feature)
|
||||||
|
#[defmt_test::tests]
|
||||||
|
mod tests {
|
||||||
|
use defmt::assert;
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn it_works() {
|
||||||
|
assert!(true)
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in a new issue