Rotating blinky

.vscode/launch.json

@@ -14,7 +14,7 @@
             "cwd": "${workspaceRoot}",
             "preLaunchTask": "Cargo Build (debug)",
             "runToEntryPoint": "main",
-            "executable": "./target/thumbv7m-none-eabi/debug/{{project-name}}",
+            "executable": "./target/thumbv7m-none-eabi/debug/embedded-rs",
             /* Run `cargo build --example hello` and uncomment this line to run semi-hosting example */
             //"executable": "./target/thumbv7m-none-eabi/debug/examples/hello",
             "cpu": "cortex-m3",
@@ -29,7 +29,7 @@
             "cwd": "${workspaceRoot}",
             "preLaunchTask": "Cargo Build (debug)",
             "runToEntryPoint": "main",
-            "executable": "./target/thumbv7em-none-eabihf/debug/{{project-name}}",
+            "executable": "./target/thumbv7em-none-eabihf/debug/embedded-rs",
             /* Run `cargo build --example itm` and uncomment this line to run itm example */
             // "executable": "./target/thumbv7em-none-eabihf/debug/examples/itm",
             "device": "STM32F303VCT6",
@@ -44,9 +44,17 @@
                 "swoFrequency": 2000000,
                 "source": "probe",
                 "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
+                    {
+                        "type": "console",
+                        "label": "ITM",
+                        "port": 0
+                    }
                 ]
-            }
+            },
+            "gdbPath": "gdb",
+            "postLaunchCommands": [
+                "monitor arm semihosting enable"
+            ]
         }
     ]
-}
+}

.vscode/tasks.json

@@ -10,9 +10,11 @@
              * so we can invoke it from the debug launcher.
              */
             "label": "Cargo Build (debug)",
-            "type": "process",
+            "type": "shell",
             "command": "cargo",
-            "args": ["build"],
+            "args": [
+                "build"
+            ],
             "problemMatcher": [
                 "$rustc"
             ],
@@ -23,9 +25,12 @@
         },
         {
             "label": "Cargo Build (release)",
-            "type": "process",
+            "type": "shell",
             "command": "cargo",
-            "args": ["build", "--release"],
+            "args": [
+                "build",
+                "--release"
+            ],
             "problemMatcher": [
                 "$rustc"
             ],
@@ -34,8 +39,11 @@
         {
             "label": "Cargo Build Examples (debug)",
             "type": "process",
-            "command": "cargo",
-            "args": ["build","--examples"],
+            "command": "shell",
+            "args": [
+                "build",
+                "--examples"
+            ],
             "problemMatcher": [
                 "$rustc"
             ],
@@ -43,9 +51,13 @@
         },
         {
             "label": "Cargo Build Examples (release)",
-            "type": "process",
+            "type": "shell",
             "command": "cargo",
-            "args": ["build","--examples", "--release"],
+            "args": [
+                "build",
+                "--examples",
+                "--release"
+            ],
             "problemMatcher": [
                 "$rustc"
             ],
@@ -53,9 +65,11 @@
         },
         {
             "label": "Cargo Clean",
-            "type": "process",
+            "type": "shell",
             "command": "cargo",
-            "args": ["clean"],
+            "args": [
+                "clean"
+            ],
             "problemMatcher": [],
             "group": "build"
         },

Cargo.toml

@@ -10,7 +10,10 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
 cortex-m-semihosting = "0.5"
 panic-halt = "1.0.0"
-# stm32f3 = "0.7.1"
+panic-semihosting = "0.6"
+stm32f3 = { version = "0.16.0", features = ["stm32f303"] }
+stm32f3xx-hal = { version = "0.10.0", features = ["stm32f303xc"] }
+switch-hal = "0.4.0"
 
 # Uncomment for the panic example.
 # panic-itm = "0.4.1"
@@ -21,9 +24,9 @@ panic-halt = "1.0.0"
 # Uncomment for the device example.
 # Update `memory.x`, set target to `thumbv7em-none-eabihf` in `.cargo/config`,
 # and then use `cargo build --example device` to build it.
-[dependencies.stm32f3]
-features = ["stm32f303", "rt"]
-version = "^0.16.0"
+# [dependencies.stm32f3]
+# features = ["stm32f303", "rt"]
+# version = "^0.16.0"
 
 # this lets you use `cargo fix`!
 [[bin]]

src/main.rs

@@ -1,51 +1,193 @@
 #![no_std]
 #![no_main]
 
+use core::fmt::Write;
+use core::slice::Iter;
+
+use cortex_m_semihosting::hprintln;
 // pick a panicking behavior
-use panic_halt as _; // you can put a breakpoint on `rust_begin_unwind` to catch panics
-                     // use panic_abort as _; // requires nightly
-                     // use panic_itm as _; // logs messages over ITM; requires ITM support
-                     // use panic_semihosting as _; // logs messages to the host stderr; requires a debugger
+// use panic_halt as _; // you can put a breakpoint on `rust_begin_unwind` to catch panics
+// use panic_abort as _; // requires nightly
+// use panic_itm as _; // logs messages over ITM; requires ITM support
+use panic_semihosting as _; // logs messages to the host stderr; requires a debugger
 
 use cortex_m::peripheral::{syst, Peripherals};
 use cortex_m_rt::entry;
 
-use stm32f3::stm32f303;
+use stm32f3xx_hal::delay;
+use stm32f3xx_hal::serial::Serial;
+use stm32f3xx_hal::{
+    gpio::{self, gpioe},
+    pac,
+    prelude::*,
+};
+use switch_hal::{ActiveHigh, IntoSwitch, OutputSwitch, Switch};
+
+enum Direction {
+    North,
+    NorthEast,
+    East,
+    SouthEast,
+    South,
+    SouthWest,
+    West,
+    NorthWest,
+}
+
+impl Direction {
+    pub fn iter() -> Iter<'static, Direction> {
+        static DIRECTIONS: [Direction; 8] = [
+            Direction::North,
+            Direction::NorthEast,
+            Direction::East,
+            Direction::SouthEast,
+            Direction::South,
+            Direction::SouthWest,
+            Direction::West,
+            Direction::NorthWest,
+        ];
+        DIRECTIONS.iter()
+    }
+}
+
+type Led = Switch<gpioe::PEx<gpio::Output<gpio::PushPull>>, ActiveHigh>;
+struct Leds {
+    ld3: Led,
+    ld4: Led,
+    ld5: Led,
+    ld6: Led,
+    ld7: Led,
+    ld8: Led,
+    ld9: Led,
+    ld10: Led,
+}
+
+impl Leds {
+    fn new<PE8Mode, PE9Mode, PE10Mode, PE11Mode, PE12Mode, PE13Mode, PE14Mode, PE15Mode>(
+        pe8: gpioe::PE8<PE8Mode>,
+        pe9: gpioe::PE9<PE9Mode>,
+        pe10: gpioe::PE10<PE10Mode>,
+        pe11: gpioe::PE11<PE11Mode>,
+        pe12: gpioe::PE12<PE12Mode>,
+        pe13: gpioe::PE13<PE13Mode>,
+        pe14: gpioe::PE14<PE14Mode>,
+        pe15: gpioe::PE15<PE15Mode>,
+        moder: &mut gpioe::MODER,
+        otyper: &mut gpioe::OTYPER,
+    ) -> Self {
+        let mut leds = Self {
+            ld3: pe9
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld4: pe8
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld5: pe10
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld6: pe15
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld7: pe11
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld8: pe14
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld9: pe12
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+            ld10: pe13
+                .into_push_pull_output(moder, otyper)
+                .downgrade()
+                .into_active_high_switch(),
+        };
+        for dir in Direction::iter() {
+            leds.for_direction(dir).off().ok();
+        }
+        leds
+    }
+
+    pub fn for_direction(&mut self, direction: &Direction) -> &mut Led {
+        match direction {
+            Direction::North => &mut self.ld3,
+            Direction::NorthEast => &mut self.ld5,
+            Direction::East => &mut self.ld7,
+            Direction::SouthEast => &mut self.ld9,
+            Direction::South => &mut self.ld10,
+            Direction::SouthWest => &mut self.ld8,
+            Direction::West => &mut self.ld6,
+            Direction::NorthWest => &mut self.ld4,
+        }
+    }
+}
 
 #[entry]
 fn main() -> ! {
     let cortex_peripherals = Peripherals::take().unwrap();
+    let dp = pac::Peripherals::take().unwrap();
+    let mut rcc = dp.RCC.constrain();
+    let mut flash = dp.FLASH.constrain();
+    let clocks = rcc.cfgr.sysclk(8.MHz()).freeze(&mut flash.acr);
+
+    // The HAL Serial example does this -- but where does Systick come from?
+    // https://github.com/stm32-rs/stm32f3xx-hal/blob/b0cead18208099b94a085fb634d0db4e75ac6e4d/examples/serial_echo_rtic.rs
+    // let mono = Systick::new(systick, 8_000_000);
     let mut systick = cortex_peripherals.SYST;
     systick.set_clock_source(syst::SystClkSource::Core);
     systick.set_reload(8_000_000); // 1s
     systick.clear_current();
 
-    let device_peripherals = stm32f303::Peripherals::take().unwrap();
-    let rcc = device_peripherals.RCC;
-    rcc.ahbenr().write(|w| w.iopeen().set_bit());
-    // PE9: LD3 (red)
-    // PE8: LD4 (blue)
-    // PE10: LD5 (orange)
-    let gpioe = device_peripherals.GPIOE;
-    gpioe
-        .moder()
-        .write(|w| w.moder9().output().moder8().output().moder10().output());
-    gpioe.bsrr().write(|w| w.bs9().set_bit());
-    gpioe.bsrr().write(|w| w.bs8().set_bit());
-    gpioe.bsrr().write(|w| w.bs10().set_bit());
+    let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
+    let mut leds = Leds::new(
+        gpioe.pe8,
+        gpioe.pe9,
+        gpioe.pe10,
+        gpioe.pe11,
+        gpioe.pe12,
+        gpioe.pe13,
+        gpioe.pe14,
+        gpioe.pe15,
+        &mut gpioe.moder,
+        &mut gpioe.otyper,
+    );
+
+    let mut gpioc = dp.GPIOC.split(&mut rcc.ahb);
+    let pins = (
+        gpioc
+            .pc4
+            // The specific AF number is fixed by the type arguments for Serial::new():
+            // impl<Otype> TxPin<USART1> for gpioc::PC4<AF7<Otype>> {}
+            .into_af_push_pull(&mut gpioc.moder, &mut gpioc.otyper, &mut gpioc.afrl),
+        gpioc
+            .pc5
+            .into_af_push_pull(&mut gpioc.moder, &mut gpioc.otyper, &mut gpioc.afrl),
+    );
+
+    let mut uart = Serial::new(dp.USART1, pins, 115200.Bd(), clocks, &mut rcc.apb2);
+
+    let mut delay = delay::Delay::new(systick, clocks);
 
-    systick.enable_counter();
     let mut enabled = true;
     loop {
-        while !systick.has_wrapped() {}
         enabled = !enabled;
-        gpioe.odr().write(|w| {
-            w.odr8()
-                .bit(enabled)
-                .odr9()
-                .bit(enabled)
-                .odr10()
-                .bit(enabled)
-        });
+        for dir in Direction::iter() {
+            let led = leds.for_direction(dir);
+            if enabled {
+                led.on().ok();
+            } else {
+                led.off().ok();
+            }
+            delay.delay_ms(50u16);
+        }
+        uart.write_str("Loop\r\n").unwrap();
+        hprintln!("Loop");
     }
 }