blinky, working systick and delay

Cargo.lock

@@ -41,6 +41,12 @@ dependencies = [
  "stable_deref_trait",
 ]
 
+[[package]]
+name = "autocfg"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+
 [[package]]
 name = "bare-metal"
 version = "0.2.5"
@@ -253,12 +259,16 @@ dependencies = [
  "cortex-m-log",
  "cortex-m-rt",
  "cortex-m-semihosting 0.5.0",
+ "fugit",
  "log",
  "nb 1.0.0",
+ "num-traits",
  "panic-halt",
  "smoltcp",
  "stm32-eth",
  "stm32f4xx-hal",
+ "usb-device",
+ "usbd-serial",
 ]
 
 [[package]]
@@ -267,6 +277,12 @@ version = "0.2.135"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "68783febc7782c6c5cb401fbda4de5a9898be1762314da0bb2c10ced61f18b0c"
 
+[[package]]
+name = "libm"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "292a948cd991e376cf75541fe5b97a1081d713c618b4f1b9500f8844e49eb565"
+
 [[package]]
 name = "log"
 version = "0.4.17"
@@ -297,6 +313,16 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
 
+[[package]]
+name = "num-traits"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+dependencies = [
+ "autocfg",
+ "libm",
+]
+
 [[package]]
 name = "num_threads"
 version = "0.1.6"
@@ -482,6 +508,17 @@ version = "0.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
 
+[[package]]
+name = "usbd-serial"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db75519b86287f12dcf0d171c7cf4ecc839149fe9f3b720ac4cfce52959e1dfe"
+dependencies = [
+ "embedded-hal 0.2.7",
+ "nb 0.1.3",
+ "usb-device",
+]
+
 [[package]]
 name = "vcell"
 version = "0.1.3"

Cargo.toml

@@ -25,6 +25,10 @@ cortex-m-log = { version = "0.7.0", features = ["log-integration", "semihosting"
 stm32f4xx-hal = { version = "0.13.2", features = ["rt", "stm32f407", "usb_fs"] }
 stm32-eth = { version = "0.3.0", features = ["stm32f407"] }
 smoltcp = { version = "0.8.0", default-features = false, features = ["proto-ipv4", "socket-tcp", "log", "medium-ethernet"] }
+num-traits = { version = "0.2.15", default-features = false, features = ["libm"] }
+usb-device = "0.2.9"
+usbd-serial = "0.1.1"
+fugit = "0.3.6"
 
 
 [features]

flake.lock

@@ -18,16 +18,16 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1659446231,
-        "narHash": "sha256-hekabNdTdgR/iLsgce5TGWmfIDZ86qjPhxDg/8TlzhE=",
+        "lastModified": 1666164185,
+        "narHash": "sha256-5v+YB4ijeUfg5LCz9ck4gIpCPhIS+qn02OyPJO48bCE=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "eabc38219184cc3e04a974fe31857d8e0eac098d",
+        "rev": "c5203abb1329f7ea084c04acda330ca75d5b9fb5",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixos-21.11",
+        "ref": "nixos-22.05",
         "repo": "nixpkgs",
         "type": "github"
       }

flake.nix

@@ -1,7 +1,7 @@
 {
   description = "Firmware for kirdy";
 
-  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-21.11;
+  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-22.05;
   inputs.mozilla-overlay = { url = github:mozilla/nixpkgs-mozilla; flake = false; };
 
   outputs = { self, nixpkgs, mozilla-overlay }:

src/device/gpio.rs

@@ -0,0 +1,87 @@
+use stm32f4xx_hal::{
+    adc::Adc,
+    gpio::{
+        AF5, Alternate, AlternateOD, Analog, Floating, Input,
+        gpioa::*,
+        gpiob::*,
+        gpioc::*,
+        gpioe::*,
+        gpiof::*,
+        gpiog::*,
+        GpioExt,
+        Output, PushPull,
+    },
+    hal::{self, blocking::spi::Transfer, digital::v2::OutputPin},
+    otg_fs::USB,
+    rcc::Clocks,
+    pwm::{self, PwmChannels},
+    spi::{Spi, NoMiso, TransferModeNormal},
+    pac::{
+        ADC1,
+        GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG,
+        OTG_FS_GLOBAL, OTG_FS_DEVICE, OTG_FS_PWRCLK,
+        SPI1, SPI2, SPI3,
+        TIM4
+    },
+    timer::Timer,
+    time::U32Ext,
+};
+
+use stm32_eth::EthPins;
+pub type EthernetPins = EthPins<
+    PA1<Input<Floating>>,
+    PA7<Input<Floating>>,
+    PB11<Input<Floating>>,
+    PG13<Input<Floating>>,
+    PB13<Input<Floating>>,
+    PC4<Input<Floating>>,
+    PC5<Input<Floating>>,
+>;
+
+impl thermostatPins for thermostat {
+    type DacSpi = Dac0Spi;
+    type DacSync = PE4<Output<PushPull>>;
+    type Shdn = PE10<Output<PushPull>>;
+    type VRefPin = PA0<Analog>;
+    type ItecPin = PA6<Analog>;
+    type DacFeedbackPin = PA4<Analog>;
+    type TecUMeasPin = PC2<Analog>;
+}
+
+pub struct thermostatPinSet {
+    pub dac_spi: Transfer<u8>,
+    pub dac_sync: OutputPin,
+    pub shdn: OutputPin,
+    pub vref_pin: VRefPin,
+    pub itec_pin: ItecPin,
+    pub dac_feedback_pin: DacFeedbackPin,
+    pub tec_u_meas_pin: TecUMeasPin,
+}
+
+pub struct Pins {
+    pub thermostat: thermostatPinSet,
+}
+
+impl Pins {
+
+    pub fn setup(
+        clocks: Clocks,
+        tim4: TIM4,
+        gpioa: GPIOA, gpiob: GPIOB, gpioc: GPIOC, gpiod: GPIOD, gpioe: GPIOE, gpiof: GPIOF, gpiog: GPIOG,
+        spi1: SPI1, spi2: SPI2, spi3: SPI3,
+        adc1: ADC1,
+        otg_fs_global: OTG_FS_GLOBAL, otg_fs_device: OTG_FS_DEVICE, otg_fs_pwrclk: OTG_FS_PWRCLK,
+    ) -> (Self, EthernetPins, USB) {
+        let gpioa = gpioa.split();
+        let gpiob = gpiob.split();
+        let gpioc = gpioc.split();
+        let gpiod = gpiod.split();
+        let gpioe = gpioe.split();
+        let gpiof = gpiof.split();
+        let gpiog = gpiog.split();
+
+        
+
+    }
+
+}

src/device/log.rs

@@ -1,4 +1,14 @@
+#[cfg(not(feature = "semihosting"))]
+use super::usb;
 
+#[cfg(not(feature = "semihosting"))]
+pub fn init_log() {
+    static USB_LOGGER: usb::Logger = usb::Logger;
+    let _ = log::set_logger(&USB_LOGGER);
+    log::set_max_level(log::LevelFilter::Debug);
+}
+
+#[cfg(feature = "semihosting")]
 pub fn init_log() {
     use log::LevelFilter;
     use cortex_m_log::log::{Logger, init};

src/device/mod.rs

@@ -0,0 +1,4 @@
+pub mod log;
+pub mod usb;
+pub mod timer;
+// pub mod init_gpio;

src/device/timer.rs

@@ -0,0 +1,51 @@
+use core::cell::RefCell;
+use core::ops::Deref;
+use cortex_m::interrupt::Mutex;
+use cortex_m::peripheral::syst::SystClkSource;
+use cortex_m_rt::exception;
+use stm32f4xx_hal::{
+    rcc::Clocks,
+    pac::SYST,
+};
+
+/// Rate in Hz
+const TIMER_RATE: u32 = 1000;
+/// Interval duration in milliseconds
+const TIMER_DELTA: u32 = 1000 / TIMER_RATE;
+/// Elapsed time in milliseconds
+static TIMER_MS: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
+
+/// Setup SysTick exception
+pub fn setup(mut syst: SYST, clocks: Clocks) {    
+    syst.set_clock_source(SystClkSource::Core);
+    syst.set_reload(clocks.hclk().to_Hz() / TIMER_RATE - 1);
+    syst.enable_counter();
+    syst.enable_interrupt();
+}
+
+/// SysTick exception (Timer)
+#[exception]
+fn SysTick() {
+    cortex_m::interrupt::free(|cs| {
+        *TIMER_MS.borrow(cs)
+            .borrow_mut() += TIMER_DELTA;
+    });
+}
+
+/// Obtain current time in milliseconds
+pub fn now() -> u32 {
+    cortex_m::interrupt::free(|cs| {
+        *TIMER_MS.borrow(cs)
+            .borrow()
+            .deref()
+    })
+}
+
+/// block for `amount` milliseconds
+pub fn sleep(amount: u32) {
+    if amount == 0 {
+        return;
+    }
+    let start = now();
+    while now() - start <= amount - 1 {}
+}

src/device/usb.rs

@@ -0,0 +1,103 @@
+use core::{fmt::{self, Write}, mem::MaybeUninit};
+use cortex_m::interrupt::free;
+use stm32f4xx_hal::{
+    otg_fs::{USB, UsbBus as Bus},
+    pac::{interrupt, Interrupt, NVIC},
+};
+use usb_device::{
+    class_prelude::{UsbBusAllocator},
+    prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
+};
+use usbd_serial::SerialPort;
+use log::{Record, Log, Metadata};
+
+static mut EP_MEMORY: [u32; 1024] = [0; 1024];
+
+static mut BUS: MaybeUninit<UsbBusAllocator<Bus<USB>>> = MaybeUninit::uninit();
+// static mut SERIAL_DEV: Option<(SerialPort<'static, Bus<USB>>, UsbDevice<'static, Bus<USB>>)> = None;
+static mut STATE: Option<State> = None;
+
+pub struct State {
+    serial: SerialPort<'static, Bus<USB>>,
+    dev: UsbDevice<'static, Bus<USB>>,
+}
+
+impl State {
+    pub fn setup(usb: USB) {
+        unsafe { BUS.write(Bus::new(usb, &mut EP_MEMORY)) };
+
+        let bus = unsafe { BUS.assume_init_ref() };
+        let serial = SerialPort::new(bus);
+        let dev = UsbDeviceBuilder::new(bus, UsbVidPid(0x16c0, 0x27dd))
+            .manufacturer("M-Labs")
+            .product("thermostat")
+            .device_release(0x20)
+            .self_powered(true)
+            .device_class(usbd_serial::USB_CLASS_CDC)
+            .build();
+
+        free(|_| {
+            unsafe { STATE = Some(State { serial, dev }); }
+        });
+
+        unsafe {
+            NVIC::unmask(Interrupt::OTG_FS);
+        }
+    }
+
+    pub fn get() -> Option<&'static mut Self> {
+        unsafe { STATE.as_mut() }
+    }
+
+    pub fn poll() {
+        if let Some(ref mut s) = Self::get() {
+            if s.dev.poll(&mut [&mut s.serial]) {
+                // discard any input
+                let mut buf = [0u8; 64];
+                let _ = s.serial.read(&mut buf);
+            }
+        }
+    }
+}
+
+#[interrupt]
+fn OTG_FS() {
+    free(|_| {
+        State::poll();
+    });
+}
+
+pub struct Logger;
+
+impl Log for Logger {
+    fn enabled(&self, _: &Metadata) -> bool {
+        true
+    }
+
+    fn log(&self, record: &Record) {
+        if self.enabled(record.metadata()) {
+            let mut output = SerialOutput;
+            let _ = writeln!(&mut output, "{} - {}", record.level(), record.args());
+        }
+    }
+
+    fn flush(&self) {
+        if let Some(ref mut state) = State::get() {
+            let _ = free(|_| state.serial.flush());
+        }
+    }
+}
+
+pub struct SerialOutput;
+
+impl Write for SerialOutput {
+    fn write_str(&mut self, s: &str) -> core::result::Result<(), core::fmt::Error> {
+        if let Some(ref mut state) = State::get() {
+            for chunk in s.as_bytes().chunks(16) {
+                free(|_| state.serial.write(chunk))
+                    .map_err(|_| fmt::Error)?;
+            }
+        }
+        Ok(())
+    }
+}

src/main.rs

@@ -3,16 +3,57 @@
 
 use panic_halt as _;
 use cortex_m_rt::entry;
-use stm32f4xx_hal as _;
-use log::{info};
+use stm32f4xx_hal::{
+    watchdog::IndependentWatchdog,
+    rcc::RccExt,
+    pac::{CorePeripherals, Peripherals},
+    time::MegaHertz, prelude::_stm32f4xx_hal_gpio_GpioExt,
+};
+use log::info;
+use fugit::ExtU32;
+mod device;
+use device::log::init_log;
+// use setup::init_gpio::Pins;
 
-mod init_log;
-use init_log::init_log;
+use device::timer;
+
+#[cfg(not(feature = "semihosting"))]
+const WATCHDOG_PERIOD: u32 = 1000;
+#[cfg(feature = "semihosting")]
+const WATCHDOG_PERIOD: u32 = 30000;
 
 #[entry]
 fn main() -> ! {
     init_log();
     info!("Kirdy init");
 
-    loop {}
+    let mut core_perif = CorePeripherals::take().unwrap();
+    core_perif.SCB.enable_icache();
+    core_perif.SCB.enable_dcache(&mut core_perif.CPUID);
+
+    let perif = Peripherals::take().unwrap();
+    let clocks = perif.RCC.constrain()
+        .cfgr
+        .use_hse(MegaHertz::from_raw(8).convert())
+        .sysclk(MegaHertz::from_raw(168).convert())
+        .hclk(MegaHertz::from_raw(168).convert())
+        .pclk1(MegaHertz::from_raw(32).convert())
+        .pclk2(MegaHertz::from_raw(64).convert())
+        .freeze();
+    
+    let mut wd = IndependentWatchdog::new(perif.IWDG);
+    wd.start(WATCHDOG_PERIOD.millis());
+    wd.feed();
+    
+    timer::setup(core_perif.SYST, clocks);
+
+    let gpioc = perif.GPIOC.split();
+    let mut pc9 = gpioc.pc9.into_push_pull_output();
+
+    loop {
+        pc9.toggle();
+        timer::sleep(1);
+        wd.feed();
+    }
+
 }