From 6711b31da87a6e241c64acaf726546b971f92aa5 Mon Sep 17 00:00:00 2001 From: Paul Gomes Date: Fri, 10 Nov 2017 19:52:56 -0800 Subject: [PATCH 001/313] revisions to section 12.3 AT commands --- src/12-bluetooth-setup/at-commands.md | 40 +++++++++++++++++---------- 1 file changed, 25 insertions(+), 15 deletions(-) diff --git a/src/12-bluetooth-setup/at-commands.md b/src/12-bluetooth-setup/at-commands.md index 159ffca40..e492530f5 100644 --- a/src/12-bluetooth-setup/at-commands.md +++ b/src/12-bluetooth-setup/at-commands.md @@ -1,43 +1,53 @@ ## AT commands -> **NOTE** incomplete +The Bluetooth module and the F3 need to be configured to communicate at the same baud rate. The tutorial code initializes the UART1 serial device to a baud rate of 115200. The HC-05 Bluetooth module is configured at a baud rate of 9600 by default. + +The Bluetooth module supports an AT mode that allows you to examine and change its configuration and settings. To utilize the AT mode, connect the Bluetooth module to the F3 and FTDI as shown in the following diagram.

-Entering AT mode: - -- Power off the Bluetooth module -- Press and hold the button on the Bluetooth module -- Power on the Bluetooth module -- Now, release the button +Recommended steps to enter AT mode: -> **TODO** blinking pattern +- Disconnect the F3 and FTDI from your laptop. +- Connect F3's GND pin to the Bluetooth's GND pin using a Female/Female (F/F) wire + (preferably, a black one). +- Connect F3's 5V pin to the Bluetooth's VCC pin using a F/F wire (preferably, a + red one). +- Connect the FTDI RXI pin to the Bluetooth's TXD pin using a Female/Male (F/M) wire. +- Connect the FTDI TXO pin to the Bluetooth's RXD pin using a Female/Male (F/M) wire. +- Now connect the FTDI to your laptop via USB cable. +- Next connect the F3 to your laptop via USB cable while simultaneously pressing and holding the button on the Bluetooth module (kinda tricky). +- Now, release the button and the Bluetooth module will enter AT mode. You can confirm this by observing that the red LED on the Bluetooth module is blinking in a slow pattern (approx 1-2 seconds on/off). -The AT mode always operates at a baud rate of 38,400. +The AT mode always operates at a baud rate of 38400, so configure minicom/putty for that baud rate and connect to the FTDI device. -Commands (via minicom) +When your serial connection to the FTDI is established, you may get a bunch of `ERROR: (0)` repeatedly being displayed. If this happens, just hit ENTER to stop the errors. -- Sanity check +### Sanity check ``` $ at OK OK -(..) +(etc...) ``` Answers `OK` repeatedly until you hit ENTER again. -- Rename +### Query for the current baud rate of the Bluetooth module ``` -$ at+name=ferris +at+uart? ++UART:9600,0,0 +OK ++UART:9600,0,0 OK +(etc ...) ``` -- Change the baud rate +### Change the baud rate ``` $ at+uart=115200,0,0 From 9df1cddfd3c4a7c87f3183958b5207763b017dd8 Mon Sep 17 00:00:00 2001 From: Paul Gomes Date: Fri, 10 Nov 2017 20:01:33 -0800 Subject: [PATCH 002/313] another minor revision --- src/12-bluetooth-setup/at-commands.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/12-bluetooth-setup/at-commands.md b/src/12-bluetooth-setup/at-commands.md index e492530f5..c2635f143 100644 --- a/src/12-bluetooth-setup/at-commands.md +++ b/src/12-bluetooth-setup/at-commands.md @@ -23,7 +23,7 @@ Recommended steps to enter AT mode: The AT mode always operates at a baud rate of 38400, so configure minicom/putty for that baud rate and connect to the FTDI device. -When your serial connection to the FTDI is established, you may get a bunch of `ERROR: (0)` repeatedly being displayed. If this happens, just hit ENTER to stop the errors. +When your serial connection is established, you may get a bunch of `ERROR: (0)` repeatedly being displayed. If this happens, just hit ENTER to stop the errors. ### Sanity check From c66f73e4e68d0f230657f6430f9ac693c61960cf Mon Sep 17 00:00:00 2001 From: Jorge Aparicio Date: Tue, 27 Nov 2018 10:45:51 +0100 Subject: [PATCH 003/313] 11-usart: switch TX / RX pins from PA{9,10} to PC{4,5} --- src/11-usart/auxiliary/src/lib.rs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index 1a0a6a16c..1edc84276 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -23,10 +23,10 @@ pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { let clocks = rcc.cfgr.freeze(&mut flash.acr); - let mut gpioa = dp.GPIOA.split(&mut rcc.ahb); + let mut gpioc = dp.GPIOC.split(&mut rcc.ahb); - let tx = gpioa.pa9.into_af7(&mut gpioa.moder, &mut gpioa.afrh); - let rx = gpioa.pa10.into_af7(&mut gpioa.moder, &mut gpioa.afrh); + let tx = gpioc.pc4.into_af7(&mut gpioc.moder, &mut gpioc.afrl); + let rx = gpioc.pc5.into_af7(&mut gpioc.moder, &mut gpioc.afrl); Serial::usart1(dp.USART1, (tx, rx), 115_200.bps(), clocks, &mut rcc.apb2); From 8c31c3a354e46eb253a807c491ae4d83a5b31478 Mon Sep 17 00:00:00 2001 From: Jorge Aparicio Date: Tue, 27 Nov 2018 12:37:38 +0100 Subject: [PATCH 004/313] recommend using Virtual COM instead of an external USB <-> Serial module this keeps the text about using the Serial module closes #76 --- src/02-requirements/README.md | 15 +++++--- src/04-meet-your-hardware/README.md | 9 ++++- src/10-serial-communication/loopbacks.md | 21 ++++++++++ src/10-serial-communication/nix-tooling.md | 36 ++++++++++++++---- .../windows-tooling.md | 15 ++++++-- src/11-usart/Cargo.toml | 6 ++- src/11-usart/README.md | 21 ++++++++++ src/11-usart/auxiliary/Cargo.toml | 3 ++ src/11-usart/auxiliary/src/lib.rs | 24 ++++++++++-- src/assets/minicom.png | Bin 32270 -> 22340 bytes 10 files changed, 126 insertions(+), 24 deletions(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 7eba4a082..6bca9a37a 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -28,14 +28,17 @@ Also, to follow this material you'll need the following hardware:

-- OPTIONAL. A **3.3V** USB <-> Serial module. [This particular model][sparkfun] will be used - throughout this material but you can use any other model as long as it operates at 3.3V. +- OPTIONAL. A **3.3V** USB <-> Serial module. To elaborate: if you have one of + the latest revisions of the discovery board (which is usually the case given + the first revision was released years old) then you do *not* need this module + because the board includes this functionality on-board. If you have an older + revision of the board then you'll need this module for chapters 10 and 11. For + completeness, we'll include instructions for using a Serial module. The book + will use [this particular model][sparkfun] but you can use any other model as + long as it operates at 3.3V. The (Chinese) CH340G module, which you can buy + [e-commerce][4] sites, works too and it's probably cheaper for you to get. [sparkfun]: https://www.sparkfun.com/products/9873 - -(The (Chinese) CH340G module, which you can buy [e-commerce][4] sites, works too and it's probably -cheaper for you to get) - [4]: https://www.aliexpress.com/wholesale?SearchText=CH340G

diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 4d8f89098..7bcb511bc 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -49,8 +49,13 @@ What does this board contain?

-We'll use this module to exchange data between the microcontroller in the F3 and your laptop. This -module will be connected to your laptop using an USB cable. I won't say more at this point. +If you have an older revision of the discovery board, you can use this module to +exchange data between the microcontroller in the F3 and your laptop. This module +will be connected to your laptop using an USB cable. I won't say more at this +point. + +If you have a newer release of the board then you don't need this module. The +ST-LINK will act as a serial module connected to pins PC4 and PC5. ## The Bluetooth module diff --git a/src/10-serial-communication/loopbacks.md b/src/10-serial-communication/loopbacks.md index 6035d328d..3aa5520e5 100644 --- a/src/10-serial-communication/loopbacks.md +++ b/src/10-serial-communication/loopbacks.md @@ -11,6 +11,8 @@ Enter: loopbacks You can send data to yourself! Not very useful in production but very useful for debugging. +## Older board revision / external serial module + Connect the `TXO` and the `RXI` pins of the serial module together using a male to male jumper wire as shown above. @@ -24,5 +26,24 @@ You should see three things: - Finally, on the minicom/PuTTY console, you should see that what you type echoes back to the console. +## Newer board revision + +If you have a newer revision of the board you can set up a loopback by shorting +the PC4 and PC5 pins using a female to female jumper wire, like [you did for the +SWO pin](../06-hello-world/index.html). + +You should now be able to send data to yourself. + +Now try to enter some text into minicom/PuTTY and observe. + +> **NOTE**: To rule out the possibility of the existing firmware doing weird +> things to the serial pins (PC4 and PC5) we recommend *holding* the reset +> button while you enter text into minicom/PuTTY. + +If all is working you should see what you typo echo back to the minicom/PuTTY +console. + +--- + Now that you are familiar with sending and receiving data over serial port using minicom/PuTTY, let's make your microcontroller and your laptop talk! diff --git a/src/10-serial-communication/nix-tooling.md b/src/10-serial-communication/nix-tooling.md index 1e89d0d7f..e68a73b9c 100644 --- a/src/10-serial-communication/nix-tooling.md +++ b/src/10-serial-communication/nix-tooling.md @@ -1,5 +1,25 @@ # *nix tooling +## Newer revisions of the discovery board + +With newer revisions, if you connect the discovery board to your laptop / PC you +should see a new TTY device appear in `/dev`. + +``` console +$ # Linux +$ dmesg | tail | grep -i tty +[13560.675310] cdc_acm 1-1.1:1.2: ttyACM0: USB ACM device +``` + +This is the USB <-> Serial device. On Linux, it's named `ttyACM*`. + +If you don't see the device appear then you probably have an older revision of +the board; check the next section, which contains instructions for older +revisions. If you do have a newer revision skip the next section and move to the +"minicom" section. + +## Older revisions of the discovery board / external serial module + Connect the serial module to your laptop and let's find out what name the OS assigned to it. ``` console @@ -26,7 +46,7 @@ $ echo 'Hello, world!' > /dev/ttyUSB0 You should see the TX (red) LED on the serial module blink, just once and very fast! -## minicom +## All revisions: minicom Dealing with serial devices using `echo` is far from ergonomic. So, we'll use the program `minicom` to interact with the serial device using the keyboard. @@ -60,18 +80,20 @@ go over it line by line: Once that's in place. We can launch `minicom` ``` console -$ minicom -D /dev/ttyUSB0 -b 115200 +$ # NOTE you may need to use a different device here +$ minicom -D /dev/ttyACM0 -b 115200 ``` -This tells `minicom` to open the serial device at `/dev/ttyUSB0` and set its baud rate to 115200. -A text-based user interface (TUI) will pop out. +This tells `minicom` to open the serial device at `/dev/ttyACM0` and set its +baud rate to 115200. A text-based user interface (TUI) will pop out.

- +

-You can now send data using the keyboard! Go ahead and type something. Note that the TUI *won't* -echo back what you type but you'll see TX (red) LED on the serial module blink with each keystroke. +You can now send data using the keyboard! Go ahead and type something. Note that +the TUI will *not* echo back what you type but, if you are using an external +module, you *may* see some LED on the module blink with each keystroke. ## `minicom` commands diff --git a/src/10-serial-communication/windows-tooling.md b/src/10-serial-communication/windows-tooling.md index ea8f1d803..cdd5e87b0 100644 --- a/src/10-serial-communication/windows-tooling.md +++ b/src/10-serial-communication/windows-tooling.md @@ -1,6 +1,9 @@ # Windows tooling -Before plugging the Serial module, run the following command on the terminal: +Start by unplugging your discovery board. + +Before plugging the discover or the Serial module, run the following command on +the terminal: ``` console $ mode @@ -10,8 +13,14 @@ It will print a list of devices that are connected to your laptop. The ones that their names are serial devices. This is the kind of device we'll be working with. Take note of all the `COM` *ports* `mode` outputs *before* plugging the serial module. -Now, plug the Serial module and run the `mode` command again. You should see a new `COM` port appear -on the list. That's the COM port assigned to the serial module. +Now, plug the discovery board and run the `mode` command again. If you see a new +`COM` port appear on the list then you have a newer revision of the discovery +and that's the COM port assigned to the serial functionality on the discovery. +You can skip the next paragraph. + +If you didn't get a new COM port then you probably have an older revision of the +discovery. Now plug the serial module; you should see new COM port appear; +that's the COM port of the serial module. Now launch `putty`. A GUI will pop out. diff --git a/src/11-usart/Cargo.toml b/src/11-usart/Cargo.toml index 17502c46b..a0ca5419a 100644 --- a/src/11-usart/Cargo.toml +++ b/src/11-usart/Cargo.toml @@ -4,8 +4,10 @@ edition = "2018" name = "usart" version = "0.1.0" -[dependencies] -aux11 = { path = "auxiliary" } +[dependencies.aux11] +path = "auxiliary" +# enable this if you are going to use an external adapter +# features = ["adapter"] [dependencies.heapless] default-features = false diff --git a/src/11-usart/README.md b/src/11-usart/README.md index ab78e7a1c..30507e1a7 100644 --- a/src/11-usart/README.md +++ b/src/11-usart/README.md @@ -12,6 +12,27 @@ and RX stands for receiver. Transmitter and receiver are relative terms though; transmitter and which line is the receiver depends from which side of the communication you are looking at the lines. +### Newer board revisions + +If you have a newer revision of the board and are using the on-board USB <-> +Serial functionality then the `auxiliary` crate will set pin `PC4` as the TX +line and pin `PC5` as the RX line. + +Everything is already wired on the board so you don't to wire anything yourself. +You can move on to the [next section](send-a-single-byte.html). + +### Older board revisions / external serial module + +If you are using an external USB <-> Serial module then you will **need** to +enable the `adapter` feature of the `aux11` crate dependency in `Cargo.toml`. + +``` toml +[dependencies.aux11] +path = "auxiliary" +# enable this if you are going to use an external adapter +features = ["adapter"] # <- uncomment this +``` + We'll be using the pin `PA9` as the microcontroller's TX line and `PA10` as its RX line. In other words, the pin `PA9` outputs data onto its wire whereas the pin `PA10` listens for data on its wire. diff --git a/src/11-usart/auxiliary/Cargo.toml b/src/11-usart/auxiliary/Cargo.toml index 8d15d81ee..252253981 100644 --- a/src/11-usart/auxiliary/Cargo.toml +++ b/src/11-usart/auxiliary/Cargo.toml @@ -12,3 +12,6 @@ panic-itm = "0.4.0" [dependencies.f3] features = ["rt"] version = "0.6.1" + +[features] +adapter = [] \ No newline at end of file diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index 1edc84276..956835f2e 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -23,10 +23,26 @@ pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { let clocks = rcc.cfgr.freeze(&mut flash.acr); - let mut gpioc = dp.GPIOC.split(&mut rcc.ahb); - - let tx = gpioc.pc4.into_af7(&mut gpioc.moder, &mut gpioc.afrl); - let rx = gpioc.pc5.into_af7(&mut gpioc.moder, &mut gpioc.afrl); + let (tx, rx) = match () { + #[cfg(feature = "adapter")] + () => { + let mut gpioa = dp.GPIOA.split(&mut rcc.ahb); + + let tx = gpioa.pa9.into_af7(&mut gpioa.moder, &mut gpioa.afrh); + let rx = gpioa.pa10.into_af7(&mut gpioa.moder, &mut gpioa.afrh); + + (tx, rx) + } + #[cfg(not(feature = "adapter"))] + () => { + let mut gpioc = dp.GPIOC.split(&mut rcc.ahb); + + let tx = gpioc.pc4.into_af7(&mut gpioc.moder, &mut gpioc.afrl); + let rx = gpioc.pc5.into_af7(&mut gpioc.moder, &mut gpioc.afrl); + + (tx, rx) + } + }; Serial::usart1(dp.USART1, (tx, rx), 115_200.bps(), clocks, &mut rcc.apb2); diff --git a/src/assets/minicom.png b/src/assets/minicom.png index 6605d5ed68e85e8e7f522c11d71b11ac8e83d935..598305b7a261550fb5886376665c5f1629a7969e 100644 GIT binary patch literal 22340 zcmdSB2{_ej`!=juBvdFuN{B=vp(tf0Gm)VZGG~^tLZw1vh>Xch<{@(vWhh~hxiZf( z&)##jpS_>`{DYuUf93-qwx8XD}`&@;fxyBt_;PY{Vi6T;s+KM zeid>}&mL|vjv3gzsarEQY;4(9*KO;=AND#?<+?88BSY;DQPI57SEJu}tclRv%?kQ; 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z|9-no?)+72t9S88Z{F_vS7bpRkC*(_+~~F6E=bK_JjVd2J!-R*qO7zu3o9!CH3Tu5eIc=`!eCDrn~KDS%n&d) zxl)Z7Re>=Pm|e|Z_)1liG|AhIvn&*E;2^v9z@Z}b^&hG!SEqu~26m7J>M;8_U>E%CG+EZr(?FvW}dh`|PlYl5fPEUjQ^zSnn8@Beh|O! zV}Gj(bJdO8y10yisKYm7E$ix;*Xvf??^Rnq;Qal=J+oY+?Dsfmbzh`xx@q};AA2bR z><&sNQQmNbkt)uWwOorPewU90`?FmYCaa6aTs|J_Pfih;{2<~gQ@tGga&Hg!)+ljq zc4K2>)MwKii_cx@6#DNikV(%+=ipCst@>=9$#s?lVWxH3`JMm!zg1T$T)e*a%WOxE X9@Sp=d}k3FKvrmLp3r!rem3YolA?u+ From 0a07a9c590d75136cf511762505bdb7bba9a9890 Mon Sep 17 00:00:00 2001 From: Richard Pierre Date: Thu, 17 Jan 2019 11:52:30 +1000 Subject: [PATCH 005/313] Add section [Bluetooth setup] -> [AT commands] Section 12.3 (AT commands) exists, but is not in the sidebar menu (SUMMARY.md) --- src/SUMMARY.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/SUMMARY.md b/src/SUMMARY.md index a095fbc61..98746dd34 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -49,7 +49,7 @@ - [Bluetooth setup](12-bluetooth-setup/README.md) - [Linux](12-bluetooth-setup/linux.md) - [Loopback](12-bluetooth-setup/loopback.md) - + - [AT commands](12-bluetooth-setup/at-commands.md) - [Serial over Bluetooth](13-serial-over-bluetooth/README.md) - [I2C](14-i2c/README.md) - [The general protocol](14-i2c/the-general-protocol.md) From 65bb89f4827e2ca86b633d1c229a855d03097b12 Mon Sep 17 00:00:00 2001 From: Domen Puncer Kugler Date: Wed, 6 Feb 2019 20:33:12 +0000 Subject: [PATCH 006/313] linux.md: tell what to do for non-ftdi converters --- src/03-setup/linux.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 853521f18..6641ff3f9 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -135,6 +135,8 @@ $ cat /etc/udev/rules.d/99-ftdi.rules ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0666" ``` +If you have a different USB <-> Serial converter, get its vendor and product ids from `lsusb` output. + ``` console $ cat /etc/udev/rules.d/99-openocd.rules ``` From 2b725bd571da66f744866adb982115fe3e673aa9 Mon Sep 17 00:00:00 2001 From: Domen Puncer Kugler Date: Wed, 6 Feb 2019 20:27:09 +0000 Subject: [PATCH 007/313] verify.md: update permissions to match 0666 --- src/03-setup/verify.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 1639ad4be..9312abb0d 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -48,10 +48,10 @@ In my case, it's the `/dev/bus/usb/003/005`. Now, check its permissions: ``` console $ ls -l /dev/bus/usb/003/005 -crw-rw-r-- 1 root root 189, 21 Sep 13 00:00 /dev/bus/usb/003/005 +crw-rw-rw- 1 root root 189, 21 Sep 13 00:00 /dev/bus/usb/003/005 ``` -As before, the permissions should be `crw-rw-r--`. +As before, the permissions should be `crw-rw-rw-`. ## All From 6ae89f50fb499c889c043d1e9c9294e6dbe359ef Mon Sep 17 00:00:00 2001 From: johnthagen Date: Fri, 8 Feb 2019 09:44:40 -0500 Subject: [PATCH 008/313] Fix required itmdump version to match install steps --- src/03-setup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 2a00ab32a..8cfd96597 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -32,7 +32,7 @@ should work but we have listed the version we have tested. - Rust 1.31 or a newer toolchain. -- [`itmdump`] v0.2.1 +- [`itmdump`] v0.3.1 - OpenOCD >=0.8. Tested versions: v0.9.0 and v0.10.0 From b0ef4339b325e8174a112532b3cc64cd7e67feec Mon Sep 17 00:00:00 2001 From: James Munns Date: Fri, 8 Feb 2019 18:23:13 +0100 Subject: [PATCH 009/313] Update src/02-requirements/README.md Co-Authored-By: japaric --- src/02-requirements/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 6bca9a37a..5267327ec 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -30,7 +30,7 @@ Also, to follow this material you'll need the following hardware: - OPTIONAL. A **3.3V** USB <-> Serial module. To elaborate: if you have one of the latest revisions of the discovery board (which is usually the case given - the first revision was released years old) then you do *not* need this module + the first revision was released years ago) then you do *not* need this module because the board includes this functionality on-board. If you have an older revision of the board then you'll need this module for chapters 10 and 11. For completeness, we'll include instructions for using a Serial module. The book From f0508ca2744c24762b727574ca2db4dd2f457ff4 Mon Sep 17 00:00:00 2001 From: James Munns Date: Fri, 8 Feb 2019 18:23:27 +0100 Subject: [PATCH 010/313] Update src/02-requirements/README.md Co-Authored-By: japaric --- src/02-requirements/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 5267327ec..0bac4f2d0 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -35,7 +35,7 @@ Also, to follow this material you'll need the following hardware: revision of the board then you'll need this module for chapters 10 and 11. For completeness, we'll include instructions for using a Serial module. The book will use [this particular model][sparkfun] but you can use any other model as - long as it operates at 3.3V. The (Chinese) CH340G module, which you can buy + long as it operates at 3.3V. The CH340G module, which you can buy [e-commerce][4] sites, works too and it's probably cheaper for you to get. [sparkfun]: https://www.sparkfun.com/products/9873 From b04f6ca6d85d996af22ce2776f27ed9ef3e99a9f Mon Sep 17 00:00:00 2001 From: James Munns Date: Fri, 8 Feb 2019 18:23:41 +0100 Subject: [PATCH 011/313] Update src/11-usart/README.md Co-Authored-By: japaric --- src/11-usart/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/README.md b/src/11-usart/README.md index 30507e1a7..56939c17f 100644 --- a/src/11-usart/README.md +++ b/src/11-usart/README.md @@ -29,7 +29,7 @@ enable the `adapter` feature of the `aux11` crate dependency in `Cargo.toml`. ``` toml [dependencies.aux11] path = "auxiliary" -# enable this if you are going to use an external adapter +# enable this if you are going to use an external serial adapter features = ["adapter"] # <- uncomment this ``` From 932fd1b6f7176f31aa146c972403412cab9487cf Mon Sep 17 00:00:00 2001 From: James Munns Date: Fri, 8 Feb 2019 18:23:53 +0100 Subject: [PATCH 012/313] Update src/11-usart/Cargo.toml Co-Authored-By: japaric --- src/11-usart/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/Cargo.toml b/src/11-usart/Cargo.toml index a0ca5419a..956dc824f 100644 --- a/src/11-usart/Cargo.toml +++ b/src/11-usart/Cargo.toml @@ -6,7 +6,7 @@ version = "0.1.0" [dependencies.aux11] path = "auxiliary" -# enable this if you are going to use an external adapter +# enable this if you are going to use an external serial adapter # features = ["adapter"] [dependencies.heapless] From 396bf52fdeb2da538cdf02cba34f834ac62ed8ce Mon Sep 17 00:00:00 2001 From: Jorge Aparicio Date: Fri, 8 Feb 2019 18:27:44 +0100 Subject: [PATCH 013/313] ttyACM* -> tty* --- src/10-serial-communication/nix-tooling.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/10-serial-communication/nix-tooling.md b/src/10-serial-communication/nix-tooling.md index e68a73b9c..555daf05e 100644 --- a/src/10-serial-communication/nix-tooling.md +++ b/src/10-serial-communication/nix-tooling.md @@ -11,7 +11,8 @@ $ dmesg | tail | grep -i tty [13560.675310] cdc_acm 1-1.1:1.2: ttyACM0: USB ACM device ``` -This is the USB <-> Serial device. On Linux, it's named `ttyACM*`. +This is the USB <-> Serial device. On Linux, it's named `tty*` (usually +`ttyACM*` or `ttyUSB*`). If you don't see the device appear then you probably have an older revision of the board; check the next section, which contains instructions for older From 48d3999088c03cd7768b2c228e9aa4987be54b50 Mon Sep 17 00:00:00 2001 From: Jens Krause Date: Fri, 8 Feb 2019 20:13:12 +0100 Subject: [PATCH 014/313] Add missing instruction to launch `openocd` and fix info about `.gdbinit` --- src/06-hello-world/README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index d61004888..f31e1d301 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -70,6 +70,10 @@ $ itmdump -F -f itm.txt This command will block as `itmdump` is now watching the `itm.txt` file. Leave this terminal open. +Make sure that F3 is connected to your laptop. Open another terminal from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as described in chapter [First OpenOCD connection]. + +[First OpenOCD connection]: ../03-setup/verify.html#first-openocd-connection + Alright. Now, let's build the starter code and flash it into the microcontroller. To avoid passing the `--target thumbv7em-none-eabihf` flag to every Cargo invocation we can set a @@ -104,7 +108,7 @@ Breakpoint 1, main () at src/06-hello-world/src/main.rs:10 10 let mut itm = aux6::init(); ``` -Note that there's a `.gdbinit` at the root of the Cargo project. It's pretty similar to the one we +Note that there's a `openocd.gdb` at the root of the Cargo project. It's pretty similar to the one we used in the previous section. Before we execute the `iprintln!` statement. We have to instruct OpenOCD to redirect the ITM output From 611d172afd9ed5a92aca4d874b47d674641ce561 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Sat, 23 Feb 2019 18:33:00 +0300 Subject: [PATCH 015/313] Fix header structure --- src/03-setup/linux.md | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 853521f18..0ed96f35c 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -4,7 +4,7 @@ Here are the installation commands for a few Linux distributions. ## REQUIRED packages -- Ubuntu 18.04 or newer / Debian stretch or newer +### Ubuntu 18.04 or newer / Debian stretch or newer > **NOTE** `gdb-multiarch` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -24,7 +24,7 @@ $ sudo apt-get install \ openocd ``` -- Ubuntu 14.04 and 16.04 +### Ubuntu 14.04 and 16.04 > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -40,7 +40,7 @@ $ sudo apt-get install \ openocd ``` -- Fedora 23 or newer +### Fedora 23 or newer > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -52,7 +52,7 @@ $ sudo dnf install \ openocd ``` -- Arch Linux +### Arch Linux > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug ARM > Cortex-M programs @@ -73,7 +73,10 @@ cd openocd-code make && make install ``` -- `arm-none-eabi-gdb` for other distros +### Other distros + +> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM +> Cortex-M programs For distros that don't have packages for [ARM's pre-built toolchain](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads), From d05346b4570357a629ed5ce7d077e63dae0cc9e0 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Sat, 23 Feb 2019 18:34:56 +0300 Subject: [PATCH 016/313] Fix wording --- src/03-setup/linux.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 0ed96f35c..f6b17775f 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -54,7 +54,7 @@ $ sudo dnf install \ ### Arch Linux -> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug ARM +> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs ``` console From f712448bb524aba999d6fe6bf850745d17700483 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Sat, 23 Feb 2019 18:37:39 +0300 Subject: [PATCH 017/313] Recommend openocd-git package instead of openocd --- src/03-setup/linux.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index f6b17775f..5ff6bdba6 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -63,7 +63,7 @@ $ sudo pacman -S \ minicom ``` -`openocd` is not available in the official Arch repositories, but can be installed from the [AUR](https://aur.archlinux.org/packages/openocd/) or can be compiled from source as follows: +`openocd` is not available in the official Arch repositories, but can be installed from the AUR ([openocd-git](https://aur.archlinux.org/packages/openocd-git/) package) or can be compiled from source as follows: ``` console git clone git://git.code.sf.net/p/openocd/code openocd-code From d5a893fb9947eb84a5925e8b012653ca93eb59ce Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Sat, 23 Feb 2019 18:40:53 +0300 Subject: [PATCH 018/313] Fix header structure (optional packages) --- src/03-setup/linux.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 5ff6bdba6..4799da16a 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -97,7 +97,7 @@ PATH=$PATH:$HOME/local/gcc-arm-none-eabi-7-2017-q4-major/bin ## Optional packages -- Ubuntu / Debian +### Ubuntu / Debian ``` console $ sudo apt-get install \ @@ -105,7 +105,7 @@ $ sudo apt-get install \ rfkill ``` -- Fedora +### Fedora ``` console $ sudo dnf install \ @@ -113,7 +113,7 @@ $ sudo dnf install \ rfkill ``` -- Arch Linux +### Arch Linux ``` console $ sudo pacman -S \ From 7aa631c0112beb3fb76978d08486442a0d9c3103 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Sun, 24 Feb 2019 12:11:18 +0300 Subject: [PATCH 019/313] Revert "Recommend openocd-git package instead of openocd" This reverts commit f712448bb524aba999d6fe6bf850745d17700483. --- src/03-setup/linux.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 4799da16a..63a40e781 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -63,7 +63,7 @@ $ sudo pacman -S \ minicom ``` -`openocd` is not available in the official Arch repositories, but can be installed from the AUR ([openocd-git](https://aur.archlinux.org/packages/openocd-git/) package) or can be compiled from source as follows: +`openocd` is not available in the official Arch repositories, but can be installed from the [AUR](https://aur.archlinux.org/packages/openocd/) or can be compiled from source as follows: ``` console git clone git://git.code.sf.net/p/openocd/code openocd-code From 1b0979183f348c13c7adb04c2ff10e8956f7e496 Mon Sep 17 00:00:00 2001 From: Joshua Shrader Date: Sun, 24 Feb 2019 10:19:10 -0500 Subject: [PATCH 020/313] Breakpoint should be set on HardFault UserHardFault renamed to HardFault in cortex-m-rt: https://github.com/rust-embedded/cortex-m-rt/commit/790e42477ca21d6d0a07270049c3747c7c316f4b --- src/07-registers/openocd.gdb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-registers/openocd.gdb b/src/07-registers/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/07-registers/openocd.gdb +++ b/src/07-registers/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue From 71003ff5b2ca7977bb012ab646e8fa11914dcf26 Mon Sep 17 00:00:00 2001 From: Daniel Egger Date: Mon, 4 Mar 2019 06:45:42 +0100 Subject: [PATCH 021/313] Update src/02-requirements/README.md Co-Authored-By: japaric --- src/02-requirements/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 0bac4f2d0..9686918a1 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -36,7 +36,7 @@ Also, to follow this material you'll need the following hardware: completeness, we'll include instructions for using a Serial module. The book will use [this particular model][sparkfun] but you can use any other model as long as it operates at 3.3V. The CH340G module, which you can buy - [e-commerce][4] sites, works too and it's probably cheaper for you to get. + from [e-commerce][4] sites works too and it's probably cheaper for you to get. [sparkfun]: https://www.sparkfun.com/products/9873 [4]: https://www.aliexpress.com/wholesale?SearchText=CH340G From b6dc565f02a2890e89ffe7a70da3804e838636f6 Mon Sep 17 00:00:00 2001 From: Daniel Egger Date: Mon, 4 Mar 2019 06:45:49 +0100 Subject: [PATCH 022/313] Update src/04-meet-your-hardware/README.md Co-Authored-By: japaric --- src/04-meet-your-hardware/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 7bcb511bc..70c99d942 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -55,7 +55,7 @@ will be connected to your laptop using an USB cable. I won't say more at this point. If you have a newer release of the board then you don't need this module. The -ST-LINK will act as a serial module connected to pins PC4 and PC5. +ST-LINK will double as a USB<->serial converter connected to the microcontroller USART1 at pins PC4 and PC5. ## The Bluetooth module From 6b3e790db5ca70dd50c1088d944706b8a04daf71 Mon Sep 17 00:00:00 2001 From: Daniel Egger Date: Mon, 4 Mar 2019 06:45:56 +0100 Subject: [PATCH 023/313] Update src/10-serial-communication/loopbacks.md Co-Authored-By: japaric --- src/10-serial-communication/loopbacks.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/10-serial-communication/loopbacks.md b/src/10-serial-communication/loopbacks.md index 3aa5520e5..d909d4f99 100644 --- a/src/10-serial-communication/loopbacks.md +++ b/src/10-serial-communication/loopbacks.md @@ -40,7 +40,7 @@ Now try to enter some text into minicom/PuTTY and observe. > things to the serial pins (PC4 and PC5) we recommend *holding* the reset > button while you enter text into minicom/PuTTY. -If all is working you should see what you typo echo back to the minicom/PuTTY +If all is working you should see what you type echoed back to minicom/PuTTY console. --- From 0ae8fbf480cb5b7972d52df7b0f0993b4bb92eba Mon Sep 17 00:00:00 2001 From: Daniel Egger Date: Mon, 4 Mar 2019 06:46:03 +0100 Subject: [PATCH 024/313] Update src/10-serial-communication/windows-tooling.md Co-Authored-By: japaric --- src/10-serial-communication/windows-tooling.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/10-serial-communication/windows-tooling.md b/src/10-serial-communication/windows-tooling.md index cdd5e87b0..d457e08e9 100644 --- a/src/10-serial-communication/windows-tooling.md +++ b/src/10-serial-communication/windows-tooling.md @@ -2,7 +2,7 @@ Start by unplugging your discovery board. -Before plugging the discover or the Serial module, run the following command on +Before plugging the discovery board or the serial module, run the following command on the terminal: ``` console From dea0483f872808647d809f5476c54236a83520b0 Mon Sep 17 00:00:00 2001 From: Daniel Egger Date: Mon, 4 Mar 2019 06:46:16 +0100 Subject: [PATCH 025/313] Update src/11-usart/README.md Co-Authored-By: japaric --- src/11-usart/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/README.md b/src/11-usart/README.md index 56939c17f..24b925e92 100644 --- a/src/11-usart/README.md +++ b/src/11-usart/README.md @@ -18,7 +18,7 @@ If you have a newer revision of the board and are using the on-board USB <-> Serial functionality then the `auxiliary` crate will set pin `PC4` as the TX line and pin `PC5` as the RX line. -Everything is already wired on the board so you don't to wire anything yourself. +Everything is already wired on the board so you don't need to wire anything yourself. You can move on to the [next section](send-a-single-byte.html). ### Older board revisions / external serial module From ebf05741bcf3b94e7175c9d2673d2e845470167a Mon Sep 17 00:00:00 2001 From: Kevin Per Date: Mon, 4 Mar 2019 07:48:46 +0100 Subject: [PATCH 026/313] Make the installation link for `itm` more visible --- src/03-setup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 8cfd96597..51b9a915a 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -32,7 +32,7 @@ should work but we have listed the version we have tested. - Rust 1.31 or a newer toolchain. -- [`itmdump`] v0.3.1 +- [`itmdump`] v0.3.1 (cargo install itm) - OpenOCD >=0.8. Tested versions: v0.9.0 and v0.10.0 From 0a78698c13699f9cb36d45c84c4e2288ec13e8fe Mon Sep 17 00:00:00 2001 From: Kevin Per Date: Mon, 4 Mar 2019 07:56:00 +0100 Subject: [PATCH 027/313] Change `cargo install itm` to formatted code --- src/03-setup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 51b9a915a..bfae30ed9 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -32,7 +32,7 @@ should work but we have listed the version we have tested. - Rust 1.31 or a newer toolchain. -- [`itmdump`] v0.3.1 (cargo install itm) +- [`itmdump`] v0.3.1 (`cargo install itm`) - OpenOCD >=0.8. Tested versions: v0.9.0 and v0.10.0 From 191cc2ae888918a333e4721c4a4031e136055625 Mon Sep 17 00:00:00 2001 From: Ernest S Date: Tue, 12 Mar 2019 13:24:33 +0100 Subject: [PATCH 028/313] Update macOS setup instructions for ARM toolchain. --- src/03-setup/macos.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/03-setup/macos.md b/src/03-setup/macos.md index ac4fbf1c4..0d0c67f3a 100644 --- a/src/03-setup/macos.md +++ b/src/03-setup/macos.md @@ -5,14 +5,14 @@ All the tools can be install using [Homebrew]: [Homebrew]: http://brew.sh/ ``` console -$ brew cask install gcc-arm-embedded +$ # Arm GCC toolchain +$ brew tap ArmMbed/homebrew-formulae +$ brew install arm-none-eabi-gcc +$ # Minicom and OpenOCD $ brew install minicom openocd ``` -If the `brew cask` command doesn't work (`Error: Unknown command: cask`), then run `brew tap -Caskroom/tap` first and try again. - That's all! Go to the [next section]. [next section]: verify.md From e801335cce60dadb18b28b2285d1aa7b30b56455 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Tue, 19 Mar 2019 13:16:51 +0300 Subject: [PATCH 029/313] Return back the Rename section --- src/12-bluetooth-setup/at-commands.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/12-bluetooth-setup/at-commands.md b/src/12-bluetooth-setup/at-commands.md index c2635f143..a56a4034b 100644 --- a/src/12-bluetooth-setup/at-commands.md +++ b/src/12-bluetooth-setup/at-commands.md @@ -36,6 +36,13 @@ OK Answers `OK` repeatedly until you hit ENTER again. +### Rename the device + +``` +$ at+name=ferris +OK +``` + ### Query for the current baud rate of the Bluetooth module ``` From 8399b5c386799a8d5080660d764f78805142e739 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Tue, 19 Mar 2019 13:26:35 +0300 Subject: [PATCH 030/313] Apply therealprof's suggestion --- src/12-bluetooth-setup/at-commands.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/12-bluetooth-setup/at-commands.md b/src/12-bluetooth-setup/at-commands.md index a56a4034b..ddc72da0b 100644 --- a/src/12-bluetooth-setup/at-commands.md +++ b/src/12-bluetooth-setup/at-commands.md @@ -21,7 +21,7 @@ Recommended steps to enter AT mode: - Next connect the F3 to your laptop via USB cable while simultaneously pressing and holding the button on the Bluetooth module (kinda tricky). - Now, release the button and the Bluetooth module will enter AT mode. You can confirm this by observing that the red LED on the Bluetooth module is blinking in a slow pattern (approx 1-2 seconds on/off). -The AT mode always operates at a baud rate of 38400, so configure minicom/putty for that baud rate and connect to the FTDI device. +The AT mode always operates at a baud rate of 38400, so configure your terminal program for that baud rate and connect to the FTDI device. When your serial connection is established, you may get a bunch of `ERROR: (0)` repeatedly being displayed. If this happens, just hit ENTER to stop the errors. From 7a9500e0f525d76e1f0741ea912af9ca81d4eedd Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Sun, 24 Mar 2019 16:56:04 +0300 Subject: [PATCH 031/313] Install openocd package from the repository for ArchLinux --- src/03-setup/linux.md | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 63a40e781..27ac4f9c4 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -60,17 +60,8 @@ $ sudo dnf install \ ``` console $ sudo pacman -S \ arm-none-eabi-gdb \ - minicom -``` - -`openocd` is not available in the official Arch repositories, but can be installed from the [AUR](https://aur.archlinux.org/packages/openocd/) or can be compiled from source as follows: - -``` console -git clone git://git.code.sf.net/p/openocd/code openocd-code -cd openocd-code -./bootstrap -./configure -make && make install + minicom \ + openocd ``` ### Other distros From f3b0ca280f6b3a3e4d33058ed64bb36b176a6763 Mon Sep 17 00:00:00 2001 From: Vadim Kaushan Date: Wed, 3 Apr 2019 11:59:08 +0300 Subject: [PATCH 032/313] Fix broken links --- src/02-requirements/README.md | 2 +- src/README.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 7eba4a082..b9f6cb3db 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -99,4 +99,4 @@ and "easy to follow"-ness, IMO. If you have a different development board and you don't consider yourself a total beginner, you are better off starting with the [quickstart] project template. -[quickstart]: https://docs.rs/cortex-m-quickstart +[quickstart]: https://rust-embedded.github.io/cortex-m-quickstart/cortex_m_quickstart/ diff --git a/src/README.md b/src/README.md index f9b087791..4faed702d 100644 --- a/src/README.md +++ b/src/README.md @@ -2,7 +2,7 @@ > Discover the world of microcontrollers through [Rust]! -[Rust]: https://www.rust-lang.org/en-US/ +[Rust]: https://www.rust-lang.org/ This book is an introductory course on microcontroller-based embedded systems that uses Rust as the teaching language rather than the usual C/C++. From a5d696f6def0bf8154d8fc3b229a15ae74f39737 Mon Sep 17 00:00:00 2001 From: "Richard Dodd (dodj)" Date: Wed, 12 Jun 2019 18:08:09 +0100 Subject: [PATCH 033/313] Update verify.md Closes #183 --- src/03-setup/verify.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 1639ad4be..53ab70783 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -51,7 +51,7 @@ $ ls -l /dev/bus/usb/003/005 crw-rw-r-- 1 root root 189, 21 Sep 13 00:00 /dev/bus/usb/003/005 ``` -As before, the permissions should be `crw-rw-r--`. +As before, the permissions should be `crw-rw-rw-`. ## All From ffeabc63d758085734bb7983ac3848b973c5f2ea Mon Sep 17 00:00:00 2001 From: modulitos Date: Fri, 16 Aug 2019 15:54:09 -0700 Subject: [PATCH 034/313] update led roulette 'flash it' docs --- src/05-led-roulette/flash-it.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 8425429a8..a16d0da68 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -79,6 +79,8 @@ Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints The "6 breakpoints, 4 watchpoints" part indicates the debugging features the processor has available. +Leave that `openocd` process running, and open a new terminal. Make sure that you are inside the project's `src/05-led-roulette/` directory. + I mentioned that OpenOCD provides a GDB server so let's connect to that right now: ``` console @@ -100,6 +102,8 @@ Remote debugging using :3333 0x00000000 in ?? () ``` +**NOTE**: If you are getting errors like `undefined debug reason 7 - target needs reset` on the OpenOCD GDB server, then you may need to try using `arm-none-eabi-gdb` instead of the `gdb` command, as described above. + By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to that port. From 8572ed742936f49a1d0f15385b77bca117061b24 Mon Sep 17 00:00:00 2001 From: modulitos Date: Thu, 29 Aug 2019 16:25:12 -0700 Subject: [PATCH 035/313] fix(06-readme): rename to --- src/06-hello-world/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index d61004888..7524b050e 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -104,7 +104,7 @@ Breakpoint 1, main () at src/06-hello-world/src/main.rs:10 10 let mut itm = aux6::init(); ``` -Note that there's a `.gdbinit` at the root of the Cargo project. It's pretty similar to the one we +Note that there's a `openocd.gdb` at the root of the Cargo project. It's pretty similar to the one we used in the previous section. Before we execute the `iprintln!` statement. We have to instruct OpenOCD to redirect the ITM output From 569e0c00e25c3b491e8c15ca8a573384ac6288f8 Mon Sep 17 00:00:00 2001 From: modulitos Date: Thu, 29 Aug 2019 16:28:54 -0700 Subject: [PATCH 036/313] docs(flash-it) --- src/05-led-roulette/flash-it.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index a16d0da68..5e3d82c67 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -102,7 +102,9 @@ Remote debugging using :3333 0x00000000 in ?? () ``` -**NOTE**: If you are getting errors like `undefined debug reason 7 - target needs reset` on the OpenOCD GDB server, then you may need to try using `arm-none-eabi-gdb` instead of the `gdb` command, as described above. +**NOTE**: If you are getting errors like `undefined debug reason 7 - target needs reset`, you can try running `monitor reset halt` as described [here](https://stackoverflow.com/questions/38994596/reason-7-target-needs-reset-unreliable-debugging-setup). + +**NOTE**: If the debugger is still not connecting to the OpenOCD server, then you may need to try using `arm-none-eabi-gdb` instead of the `gdb` command, as described above. By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to that port. From 08877f711164550d16f2fa2ae2af8bd935104671 Mon Sep 17 00:00:00 2001 From: modulitos Date: Fri, 30 Aug 2019 18:34:24 -0700 Subject: [PATCH 037/313] docs(usart1 init): add comment to set the proper baud rate --- src/11-usart/auxiliary/src/lib.rs | 3 +++ src/13-serial-over-bluetooth/README.md | 2 ++ 2 files changed, 5 insertions(+) diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index 1a0a6a16c..bf4c7739b 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -29,6 +29,9 @@ pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { let rx = gpioa.pa10.into_af7(&mut gpioa.moder, &mut gpioa.afrh); Serial::usart1(dp.USART1, (tx, rx), 115_200.bps(), clocks, &mut rcc.apb2); + // If you are having trouble sending/receiving data to/from the + // HC-05 bluetooth module, try this configuration instead: + // Serial::usart1(dp.USART1, (tx, rx), 9600.bps(), clocks, &mut rcc.apb2); unsafe { ( diff --git a/src/13-serial-over-bluetooth/README.md b/src/13-serial-over-bluetooth/README.md index 3d4356c9d..e0c882cc9 100644 --- a/src/13-serial-over-bluetooth/README.md +++ b/src/13-serial-over-bluetooth/README.md @@ -22,4 +22,6 @@ Recommended steps to wire this up: And that's it! You should be able to run all the programs you wrote in [section 11] without modification! Just make sure you open the right serial device / COM port. +**NOTE** If you are having trouble communicating with the bluetooth device, you may need to initialize USART1 with a lower baud rate. Lowering it from 115,200 bps to 9,600 bps might help, as described [here](https://github.com/rust-embedded/discovery/blob/master/src/11-usart/auxiliary/src/lib.rs#L31) + [section 11]: ../11-usart/index.html From c1941cf3d3b124208ea0a016ae01dc92249e11ef Mon Sep 17 00:00:00 2001 From: Sibi Prabakaran Date: Sat, 19 Oct 2019 22:33:36 +0530 Subject: [PATCH 038/313] Specify wire type for proper ITM usage --- src/06-hello-world/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index 7524b050e..5aed9c2a1 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -5,7 +5,7 @@ > **not** soldered even though the [User Manual][] (page 21) says that it **should be**. > **TL;DR** You have two options to fix this: Either **solder** the solder bridge SB10 or connect a -> wire between SWO and PB3 as shown in the picture below. +> female to female jumper wire between SWO and PB3 as shown in the picture below. [User Manual]: http://www.st.com/resource/en/user_manual/dm00063382.pdf From abca571d25613ffb01cbc0573f78fb79ebc69dcd Mon Sep 17 00:00:00 2001 From: Jason Miller Date: Sat, 2 Nov 2019 11:39:59 +0100 Subject: [PATCH 039/313] Fix typo in chapter 11 --- src/11-usart/buffer-overrun.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/buffer-overrun.md b/src/11-usart/buffer-overrun.md index 8a2e3dde4..03cfeaf0b 100644 --- a/src/11-usart/buffer-overrun.md +++ b/src/11-usart/buffer-overrun.md @@ -52,7 +52,7 @@ so let me quote myself: Our pangram has a length of 45 bytes. That means it's going to take, at least, 3,900 microseconds (`45 bytes / (11,520 bytes/s) = 3,906 us`) to send the string. The processor is working at 8 MHz, where executing an instruction takes 125 nanoseconds, so it's likely going to be done with the `for` -loop is less than 3,900 microseconds. +loop in less than 3,900 microseconds. We can actually time how long it takes to execute the `for` loop. `aux11::init()` returns a `MonoTimer` (monotonic timer) value that exposes an `Instant` API that's similar to the one in From d5b6405811176d22f138f6baf239c4dbcf2d56d4 Mon Sep 17 00:00:00 2001 From: Philipp Hansch Date: Mon, 13 Jan 2020 07:44:19 +0100 Subject: [PATCH 040/313] Requirements: USB cables need data transfer I was getting started with the discovery book and still had two old unmarked Mini USB cables laying around. Unfortunately none of them were working. To be fair, I don't know too much about the USB standards, but one reason may be that these cables only support charging without data transfer. I think it would be good to mention this here, if people go out and buy new cables. --- src/02-requirements/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index b9f6cb3db..4f08dcf50 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -55,7 +55,8 @@ cheaper for you to get)

- Two mini-B USB cables. One is required to make the STM32F3DISCOVERY board work. The other is only - required if you have the Serial <-> USB module. + required if you have the Serial <-> USB module. Make sure that the cables both + support data transfer as some cables only support charging devices.

From e0da0ee4ac7d0ffdf6bd4476dd241ffbdeccd5a7 Mon Sep 17 00:00:00 2001 From: Marvin Humphrey Date: Wed, 29 Jan 2020 09:20:18 -0800 Subject: [PATCH 041/313] Link to Wikipedia page on Async Serial Comm By linking to the Wikipedia page, clarify just which "serial communication protocol" is being referenced in the text. --- src/10-serial-communication/README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/10-serial-communication/README.md b/src/10-serial-communication/README.md index 9d71a12a1..967d7243d 100644 --- a/src/10-serial-communication/README.md +++ b/src/10-serial-communication/README.md @@ -14,7 +14,7 @@ Nah, don't worry. This connector, the DE-9, went out of fashion on PCs quite som replaced by the Universal Serial Bus (USB). We won't be dealing with the DE-9 connector itself but with the communication protocol that this cable is/was usually used for. -So what's this *serial communication*? It's an *asynchronous* communication protocol where two +So what's this [*serial communication*][ASC]? It's an *asynchronous* communication protocol where two devices exchange data *serially*, as in one bit at a time, using two data lines (plus a common ground). The protocol is asynchronous in the sense that neither of the shared lines carries a clock signal. Instead both parties must agree on how fast data will be sent along the wire *before* the @@ -49,3 +49,5 @@ offers. Pick a route: - [*nix](nix-tooling.md) - [Windows](windows-tooling.md) + +[ASC]: https://en.wikipedia.org/wiki/Asynchronous_serial_communication From 38c1f90fc8aaaa9896d74316dfc831ce0b18524b Mon Sep 17 00:00:00 2001 From: Muhammad Naufil Date: Sun, 2 Feb 2020 13:55:17 +0500 Subject: [PATCH 042/313] Fixed a comment Fixed a register name in comments of read-several-register.md --- src/14-i2c/read-several-registers.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/14-i2c/read-several-registers.md b/src/14-i2c/read-several-registers.md index 3cbd3b52b..c162723c5 100644 --- a/src/14-i2c/read-several-registers.md +++ b/src/14-i2c/read-several-registers.md @@ -77,7 +77,7 @@ fn main() -> ! { // Wait until we can send more data while i2c1.isr.read().txis().bit_is_clear() {} - // Send the address of the register that we want to read: IRA_REG_M + // Send the address of the register that we want to read: OUT_X_H_M i2c1.txdr.write(|w| w.txdata().bits(OUT_X_H_M)); // Wait until the previous byte has been transmitted From bd410aa040deb741a5db9a95d60bf2105cee02be Mon Sep 17 00:00:00 2001 From: Aida Mir <56483365+AidaMirr@users.noreply.github.com> Date: Wed, 5 Feb 2020 04:03:33 +0500 Subject: [PATCH 043/313] Update build-it.md Fixed grammatical error --- src/05-led-roulette/build-it.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 744839fb0..429ea5bd7 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -14,7 +14,7 @@ families within that architecture: - `thumbv7em-none-eabi`, for the Cortex-M4 and Cortex-M7 processors - `thumbv7em-none-eabihf`, for the Cortex-M4**F** and Cortex-M7**F** processors -For the F3, we'll to use the `thumbv7em-none-eabihf` target. Before cross compiling you have to +For the F3, we'll use the `thumbv7em-none-eabihf` target. Before cross compiling you have to download pre-compiled version of the standard library (a reduced version of it actually) for your target. That's done using `rustup`: From 23c6107918480e2ffd6559071e5390076590476d Mon Sep 17 00:00:00 2001 From: faizytech Date: Sun, 9 Feb 2020 16:34:00 +0500 Subject: [PATCH 044/313] Typo Mistake Correction changed "rkfill" to "rfkill" --- src/12-bluetooth-setup/linux.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/12-bluetooth-setup/linux.md b/src/12-bluetooth-setup/linux.md index b26cd9569..34dc016ae 100644 --- a/src/12-bluetooth-setup/linux.md +++ b/src/12-bluetooth-setup/linux.md @@ -45,14 +45,14 @@ $ sudo /etc/init.d/bluetooth start You may also need to unblock your Bluetooth, depending on what `rfkill list` says: ``` console -$ rkfill list +$ rfkill list 9: hci0: Bluetooth Soft blocked: yes # <-- Hard blocked: no $ sudo rfkill unblock bluetooth -$ rkfill list +$ rfkill list 9: hci0: Bluetooth Soft blocked: no # <-- Hard blocked: no From 2e292d9166c72c051e44a679f1280babf2f34d55 Mon Sep 17 00:00:00 2001 From: Muhammad Naufil Date: Tue, 11 Feb 2020 19:50:16 +0500 Subject: [PATCH 045/313] Fixed I2C registers page number of reference manual in Ch 14.3 --- src/14-i2c/read-a-single-register.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/14-i2c/read-a-single-register.md b/src/14-i2c/read-a-single-register.md index a4d9297af..c1a34ae06 100644 --- a/src/14-i2c/read-a-single-register.md +++ b/src/14-i2c/read-a-single-register.md @@ -12,7 +12,7 @@ Just like with the USART peripheral, I've taken care of initializing everything These registers are documented in the following section of the Reference Manual: -> Section 28.7 I2C registers - Page 873 - Reference Manual +> Section 28.7 I2C registers - Page 868 - Reference Manual We'll be using the `I2C1` peripheral in conjunction with pins `PB6` (`SCL`) and `PB7` (`SDA`). From f7bc9e518beb8253a53327537fac65114c5ea40a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Sun, 16 Feb 2020 00:05:49 +0100 Subject: [PATCH 046/313] Add `book.toml` file --- book.toml | 5 +++++ 1 file changed, 5 insertions(+) create mode 100644 book.toml diff --git a/book.toml b/book.toml new file mode 100644 index 000000000..e9a27ec21 --- /dev/null +++ b/book.toml @@ -0,0 +1,5 @@ +[book] +title = "Discovery" +description = "Discover the world of microcontrollers through Rust" +author = "Rust Embedded Resources Team" +language = "en" From ea8ccab83d1fba43b8c0101abeee0cdcbb2c6a96 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Mon, 17 Feb 2020 22:40:44 +0100 Subject: [PATCH 047/313] Fix broken link for L3GD20 gyroscope datasheet Fixes #170 --- src/03-setup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 8cfd96597..3b0f84d0e 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -19,7 +19,7 @@ several MBs in size. - [LSM303DLHC] - [L3GD20] -[L3GD20]: http://www.st.com/resource/en/datasheet/l3gd20.pdf +[L3GD20]: https://www.st.com/content/ccc/resource/technical/document/application_note/2c/d9/a7/f8/43/48/48/64/DM00119036.pdf/files/DM00119036.pdf/jcr:content/translations/en.DM00119036.pdf [LSM303DLHC]: http://www.st.com/resource/en/datasheet/lsm303dlhc.pdf [ds]: http://www.st.com/resource/en/datasheet/stm32f303vc.pdf [rm]: http://www.st.com/resource/en/reference_manual/dm00043574.pdf From 038f8a22d9bae91f714b4b509b4f9671d1f1bd06 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Mon, 24 Feb 2020 00:30:24 +0100 Subject: [PATCH 048/313] Feat: add custom formatting for images Some images with alpha channel, are unreadable when a dark theme is applied. This commit adds a custom image style, named `white_bg`, that can be used to fix this issue. The style is very simple, and adds two features: - white background, - a small padding around the image --- book.toml | 3 +++ custom.css | 6 ++++++ src/05-led-roulette/the-challenge.md | 2 +- src/07-registers/README.md | 2 +- src/14-i2c/README.md | 2 +- src/14-i2c/the-general-protocol.md | 4 ++-- src/15-led-compass/take-1.md | 2 +- src/15-led-compass/take-2.md | 2 +- 8 files changed, 16 insertions(+), 7 deletions(-) create mode 100644 custom.css diff --git a/book.toml b/book.toml index e9a27ec21..298b7c60b 100644 --- a/book.toml +++ b/book.toml @@ -3,3 +3,6 @@ title = "Discovery" description = "Discover the world of microcontrollers through Rust" author = "Rust Embedded Resources Team" language = "en" + +[output.html] +additional-css = ["custom.css"] diff --git a/custom.css b/custom.css new file mode 100644 index 000000000..179afa563 --- /dev/null +++ b/custom.css @@ -0,0 +1,6 @@ +/* Add this style to the image if it's unreadable +when the dark theme is applied */ +img.white_bg { + background-color: white; + padding: 1em; +} diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 47e0b177d..b023849fc 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -12,7 +12,7 @@ Here's the GIF again: Also, this may help:

- +

This is a timing diagram. It indicates which LED is on at any given instant of time and for how long diff --git a/src/07-registers/README.md b/src/07-registers/README.md index 0404c9db8..93532514d 100644 --- a/src/07-registers/README.md +++ b/src/07-registers/README.md @@ -28,7 +28,7 @@ connected to LEDs. An LED, a Light Emitting Diode, will only emit light when vol it with a certain polarity.

- +

Luckily for us, the microcontroller's pins are connected to the LEDs with the right polarity. All diff --git a/src/14-i2c/README.md b/src/14-i2c/README.md index e8f06c02f..a29d22fe0 100644 --- a/src/14-i2c/README.md +++ b/src/14-i2c/README.md @@ -19,7 +19,7 @@ uses two lines to exchange data: a data line (SDA) and a clock line (SCL). Becau used to synchronize the communication, this is a *synchronous* protocol.

- +

This protocol uses a *master* *slave* model where the master is the device that *starts* and diff --git a/src/14-i2c/the-general-protocol.md b/src/14-i2c/the-general-protocol.md index dd35e30ca..a017d2faa 100644 --- a/src/14-i2c/the-general-protocol.md +++ b/src/14-i2c/the-general-protocol.md @@ -8,7 +8,7 @@ communication between several devices. Let's see how it works using examples: If the master wants to send data to the slave:

- +

1. Master: Broadcast START @@ -27,7 +27,7 @@ If the master wants to send data to the slave: If the master wants to read data from the slave:

- +

1. M: Broadcast START diff --git a/src/15-led-compass/take-1.md b/src/15-led-compass/take-1.md index c739954c6..a2ce6f8d7 100644 --- a/src/15-led-compass/take-1.md +++ b/src/15-led-compass/take-1.md @@ -21,7 +21,7 @@ If we only looked at the signs of the X and Y components we could determine to w magnetic field belongs to.

- +

In the previous example, the magnetic field was in the first quadrant (x and y were positive) and it diff --git a/src/15-led-compass/take-2.md b/src/15-led-compass/take-2.md index db3a5c85f..51e7c6dd3 100644 --- a/src/15-led-compass/take-2.md +++ b/src/15-led-compass/take-2.md @@ -7,7 +7,7 @@ We'll use the `atan2` function. This function returns an angle in the `-PI` to ` graphic below shows how this angle is measured:

- +

Although not explicitly shown in this graph the X axis points to the right and the Y axis points up. From 921014bf9f368bfc8fa7f963420c73906a548e67 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Mon, 24 Feb 2020 00:47:15 +0000 Subject: [PATCH 049/313] Update CI install to use latest mdbook, reverting 09753a1 --- ci/install.sh | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ci/install.sh b/ci/install.sh index 602f22491..e34e1fded 100644 --- a/ci/install.sh +++ b/ci/install.sh @@ -1,17 +1,17 @@ set -euxo pipefail main() { - # install latest mdbook v0.2.x release - local tag=$(git ls-remote --tags --refs --exit-code https://github.com/rust-lang-nursery/mdbook \ + local tag=$(git ls-remote --tags --refs --exit-code \ + https://github.com/rust-lang/mdbook \ | cut -d/ -f3 \ - | grep -E '^v0.2.[0-9]+$' \ + | grep -E '^v[0-9\.]+$' \ | sort --version-sort \ | tail -n1) - local tag="v0.2.1" + curl -LSfs https://japaric.github.io/trust/install.sh | \ sh -s -- \ --force \ - --git rust-lang-nursery/mdBook \ + --git rust-lang/mdbook \ --tag $tag \ --target x86_64-unknown-linux-musl From e268b5c697b86da203c464db9c0a950fd01e9997 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Tue, 25 Feb 2020 00:28:14 +0000 Subject: [PATCH 050/313] Update CI install to not specify architecture, as mdbook doesn't release linux-musl downloads --- ci/install.sh | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ci/install.sh b/ci/install.sh index e34e1fded..f5596e4ef 100644 --- a/ci/install.sh +++ b/ci/install.sh @@ -12,8 +12,7 @@ main() { sh -s -- \ --force \ --git rust-lang/mdbook \ - --tag $tag \ - --target x86_64-unknown-linux-musl + --tag $tag rustup target add thumbv7em-none-eabihf From 89b4250685f8009da629d49e18e04a9fdef2dc0d Mon Sep 17 00:00:00 2001 From: Thx And Bye Date: Fri, 27 Mar 2020 16:16:25 +0100 Subject: [PATCH 051/313] Updated the link for OpenOCD Binary releases are now at home at the xPack project. --- src/03-setup/windows.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/windows.md b/src/03-setup/windows.md index 5dd1603f1..4760b714c 100644 --- a/src/03-setup/windows.md +++ b/src/03-setup/windows.md @@ -22,7 +22,7 @@ recommend `C:\OpenOCD` but with the drive letter that makes sense to you) then u environment variable to include the following path: `C:\OpenOCD\bin` (or the path that you used before). -[openocd]: https://github.com/gnu-mcu-eclipse/openocd/releases +[openocd]: https://github.com/xpack-dev-tools/openocd-xpack/releases Verify that OpenOCD is in yout `%PATH%` with: From 2343b2bbdb5c83106f112c803de930773b37f76f Mon Sep 17 00:00:00 2001 From: LeSeulArtichaut Date: Mon, 13 Apr 2020 14:27:14 +0200 Subject: [PATCH 052/313] Add triagebot configuration --- triagebot.toml | 1 + 1 file changed, 1 insertion(+) create mode 100644 triagebot.toml diff --git a/triagebot.toml b/triagebot.toml new file mode 100644 index 000000000..fa0824ac5 --- /dev/null +++ b/triagebot.toml @@ -0,0 +1 @@ +[assign] From 6552c032df62b8ca8785019e8b0286860da80fa0 Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Mon, 27 Apr 2020 12:27:44 -0400 Subject: [PATCH 053/313] Add requirement for hex and bitwise operations. This adds a small note in the "requirements" section about the value of understanding hexadecimal and bitwise operations. Hexadecimal representation is first introduced in Chapter 4 and used throughout the tutorial. Although the tutorial often ends up using functions like "set_bit", there are still times (especially in Chapter 7 which seems to lose a lot of people) where things like bit shifts are used without explanation. --- src/02-requirements/README.md | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 4f08dcf50..41d7a3ceb 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -1,6 +1,6 @@ # Hardware/knowledge requirements -The only knowledge requirement to read this book is to know *some* Rust. It's +The primary knowledge requirement to read this book is to know *some* Rust. It's hard for me to quantify *some* but at least I can tell you that you don't need to fully grok generics but you do need to know how to *use* closures. You also need to be familiar with the idioms of the [2018 edition], in particular with @@ -8,6 +8,23 @@ the fact that `extern crate` is not necessary in the 2018 edition. [2018 edition]: https://rust-lang-nursery.github.io/edition-guide/ +Due to the nature of embedded programming, it will also be extremely helpful to +understand how binary and hexadecimal representations of values work, as well +as the use of some bitwise operators. For example, it would be useful to +understand how the following program produces its output. + +```rust +fn main() { + let a = 0x4000_0000 + 0xa2; + + // Use of the bit shift "<<" operation. + let b = 1 << 5; + + // {:X} will format values as hexadecimal + println!("{:X}: {:X}", a, b); +} +``` + Also, to follow this material you'll need the following hardware: (Some components are optional but recommended) From cff4473a7466fb780ee0f95bdc6a7998fe53099d Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Thu, 30 Apr 2020 13:05:54 -0400 Subject: [PATCH 054/313] Removed ambiguous wording in introduction. --- src/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/README.md b/src/README.md index 4faed702d..4d9e20735 100644 --- a/src/README.md +++ b/src/README.md @@ -42,8 +42,8 @@ What's out of scope for this book: - Being a comprehensive text about electric circuit theory or electronics. We'll just cover the minimum required to understand how some devices work. -- Covering Rustic, low level details. We won't be talking about linker scripts, the boot process or - how to glue those two into a minimally working Rust program. +- Covering details such as linker scripts and the boot process. For example, we'll use existing tools + to help get your code onto your board, but not go into detail about how those tools work. Also I don't intend to port this material to other development boards; this book will make exclusive use of the STM32F3DISCOVERY development board. From 5b995efd9388d92ac3ddd8f63693b0756e3fde07 Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Thu, 30 Apr 2020 17:50:08 -0400 Subject: [PATCH 055/313] Removed overwhelming info, added context to "Meet your Hardware" --- src/04-meet-your-hardware/README.md | 97 ++++++++++++++++++++--------- 1 file changed, 68 insertions(+), 29 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 70c99d942..4bbd119cd 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -8,40 +8,79 @@ Let's get familiar with the hardware we'll be working with.

-We'll refer to this board as "F3" throughout this book. - -What does this board contain? - -- A STM32F303VCT6 microcontroller. This microcontroller has - - A single core ARM Cortex-M4F processor with hardware support for single precision floating point - operations and a maximum clock frequency of 72 MHz. - - - 256 KiB of "Flash" memory. (1 KiB = 10**24** bytes) - - - 48 KiB of RAM. - - - many "peripherals": timers, GPIO, I2C, SPI, USART, etc. - - - lots of "pins" that are exposed in the two lateral "headers". - - - **IMPORTANT** This microcontroller operates at (around) 3.3V. - -- An [accelerometer] and a [magnetometer][] (in a single package). +We'll refer to this board as "F3" throughout this book. Here are some of the +many components on the board: + +- A number of LEDs, including the eight aligned in a "compass" formation. +- Two buttons. +- Two USB ports. +- An [accelerometer]. +- A [magnetometer]. +- A [gyroscope]. [accelerometer]: https://en.wikipedia.org/wiki/Accelerometer [magnetometer]: https://en.wikipedia.org/wiki/Magnetometer - -- A [gyroscope]. - [gyroscope]: https://en.wikipedia.org/wiki/Gyroscope -- 8 user LEDs arranged in the shape of a compass - -- A second microcontroller: a STM32F103CBT. This microcontroller is actually part of an on-board - programmer and debugger named ST-LINK and is connected to the USB port named "USB ST-LINK". - -- There's a second USB port, labeled "USB USER" that is connected to the main microcontroller, the - STM32F303VCT6, and can be used in applications. +Of these components, the most important is the [microcontroller] (sometimes +shortened to "MCU" for "microcontroller unit"), which is the large black square +sitting in the center of your board. The MCU is what runs your code. You might +sometimes read about "programming a board", when in reality what we are doing +is programming the MCU that is installed on the board. + +[microcontroller]: https://en.wikipedia.org/wiki/Microcontroller + +## STM32F303VCT6 (the "STM32F3") + +Since the MCU is so important, let's take a closer look at the one sitting on our board. + +Our MCU is surrounded by 100 tiny metal **pins**. These pins are connected to +**tracings**, the little "roads" that act as the wires connecting components +together on the board. The MCU can dynamically alter the electrical properties +of the pins. This works similar to a lightswitch altering how electrical +current flows through a circuit. By enabling or disabling electrical current to +flow through a specific pin, an LED attached to that pin (via the tracing) can +be turned on and off. + +By looking at the part number and doing some research, we can learn more +information about electronic components. The part number of our microcontroller +starts with `STM32`, which indicates that it was manufactured by [ST +Microelectronics]. It also lets us know that this is an Arm®-based 32-bit +microcontroller. The `F3` in the part number indicates that the microcontroller +is based on the Cortex®-M4. The rest of the part number provides more specifics +(e.g., extra features, RAM size), and aren't as important to us right now. + +[ST Microelectronics]: https://st.com/ + +> ### Arm? Cortex-M4? +> +> If our chip is manufactured by ST, then who is Arm? And if our chip is the +> STM32F3, what is the Cortex-M4? +> +> You might be surprised to hear that while "Arm-based" chips are quite +> popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't +> actually manuafacture chips for purchase. Instead, their primary business +> model is to just *design* parts of chips. They will then license those designs to +> manufacturers, who will in turn implement the designs (perhaps with some of +> their own tweaks) in the form of physical hardware that can then be sold. +> Arm's strategy here is different from companies like Intel, which both +> designs *and* manufactures their chips. +> +> Arm licenses a bunch of different designs. Their "Cortex-M" family of designs +> are mainly used as the core in microcontrollers. For example, the Cortex-M0 +> is designed for low cost and low power usage. The Cortex-M7 is higher cost, +> but with more features and performance. The core of our STM32F3 is based on +> the Cortex-M4, which is in the middle: more features and performance than the +> Cortex-M0, but less expensive than the Cortex-M7. +> +> Luckily, you don't need to know too much about different types of processors +> or Cortex designs for the sake of this book. However, you are hopefully now a +> bit more knowledgeable about the terminology of your device. While you are +> working specifically with an STM32F3, you might find yourself reading +> documentation and using tools for Cortex-M-based chips, as the STM32F3 is +> based on a Cortex-M design. + +[Arm Holdings]: https://www.arm.com/ ## The Serial module From 749fec44ae770570ccbe488f41c766ed71d3e1fa Mon Sep 17 00:00:00 2001 From: James Munns Date: Sun, 3 May 2020 22:23:56 +0200 Subject: [PATCH 056/313] Rework the "where to go from here" section to track items we want to teach This is part of the cleanup described in this issue: https://github.com/rust-embedded/discovery/issues/231 --- src/explore.md | 141 +++++++++++++++++++++++++++++++++++++------------ 1 file changed, 107 insertions(+), 34 deletions(-) diff --git a/src/explore.md b/src/explore.md index e90b7efe8..d4a8c4c3a 100644 --- a/src/explore.md +++ b/src/explore.md @@ -1,12 +1,29 @@ # What's left for you to explore -We have barely scratched the surface! There's lots of stuff left for you to explore: +We have barely scratched the surface! There's lots of stuff left for you to +explore. -## Multitasking +> **NOTE:** If you're reading this, and you'd like to help add examples or +> exercises to the Discovery book for any of the items below, or any other +> relevant embedded topics, we'd love to have your help! +> +> Please [open an issue] if you would like to help, but need assistance or +> mentoring for how to contribute this to the book, or open a Pull Request +> adding the information! -All our programs executed a single task. How could we achieve multitasking in a system with no OS, -and thus no threads. There are two main approaches to multitasking: preemptive multitasking and -cooperative multitasking. +[open an issue]: https://github.com/rust-embedded/discovery/issues/new + +## Topics about embedded software + +These topics discuss strategies for writing embedded software. Although many +problems can be solved in different ways, these sections talk about some +strategies, and when they make sense (or don't make sense) to use. + +### Multitasking + +All our programs executed a single task. How could we achieve multitasking in a +system with no OS, and thus no threads. There are two main approaches to +multitasking: preemptive multitasking and cooperative multitasking. In preemptive multitasking a task that's currently being executed can, at any point in time, be *preempted* (interrupted) by another task. On preemption, the first task will be suspended and the @@ -20,17 +37,7 @@ difference between these two approaches to multitasking is that in cooperative m execution control at *known* suspension points instead of being forcefully preempted at any point of its execution. -## Direct Memory Access (DMA). - -This peripheral is a kind of *asynchronous* `memcpy`. So far our programs have -been pumping data, byte by byte, into peripherals like UART and I2C. This DMA -peripheral can be used to perform bulk transfers of data. Either from RAM to -RAM, from a peripheral, like a UART, to RAM or from RAM to a peripheral. You can -schedule a DMA transfer, like read 256 bytes from USART1 into this buffer, leave -it running in the background and then poll some register to see if it has -completed so you can do other stuff while the transfer is ongoing. - -## Sleeping +### Sleeping All our programs have been continuously polling peripherals to see if there's anything that needs to be done. However, some times there's nothing to be done! @@ -43,7 +50,44 @@ perform some action? "Interrupts" are one of the events that wake up the microcontroller but there are others and the `wfi` and `wfe` are the instructions that make the processor "sleep". -## Pulse Width Modulation (PWM) +## Topics related to microcontroller capabilities + +Microcontrollers (like our STM32F3) have many different capabilities. However, many share similar +capabilities that can be used to solve all sorts of different problems. + +These topics discuss some of those capabilities, and how they can be used effectively +in embedded development. + +### Direct Memory Access (DMA). + +This peripheral is a kind of *asynchronous* `memcpy`. So far our programs have +been pumping data, byte by byte, into peripherals like UART and I2C. This DMA +peripheral can be used to perform bulk transfers of data. Either from RAM to +RAM, from a peripheral, like a UART, to RAM or from RAM to a peripheral. You can +schedule a DMA transfer, like read 256 bytes from USART1 into this buffer, leave +it running in the background and then poll some register to see if it has +completed so you can do other stuff while the transfer is ongoing. + +### Interrupts + +In order to interact with the real world, it is often necessary for the +microcontroller to respond *immediately* when some kind of event occurs. + +Microcontrollers have the ability to be interrupted, meaning when a certain event +occurs, it will stop whatever it is doing at the moment, to instead respond to that +event. This can be very useful when we want to stop a motor when a button is pressed, +or measure a sensor when a timer finishes counting down. + +Although these interrupts can be very useful, they can also be a bit difficult +to work with properly. We want to make sure that we respond to events quickly, +but also allow other work to continue as well. + +In Rust, we model interrupts similar to the concept of threading on desktop Rust +programs. This means we also must think about the Rust concepts of `Send` and `Sync` +when sharing data between our main application, and code that executes as part of +handling an interrupt event. + +### Pulse Width Modulation (PWM) In a nutshell, PWM is turning on something and then turning it off periodically while keeping some proportion ("duty cycle") between the "on time" and the "off @@ -59,7 +103,7 @@ motor thus it can be used to control its torque and speed. Then you can add an angular position sensor and you got yourself a closed loop controller that can control the position of the motor at different loads. -## Digital input +### Digital inputs We have used the microcontroller pins as digital outputs, to drive LEDs. But these pins can also be configured as digital inputs. As digital inputs, these @@ -69,19 +113,7 @@ pressed). (*spoilers* reading the binary state of switches / buttons is not as straightforward as it sounds ;-) -## Sensor fusion - -The STM32F3DISCOVERY contains three motion sensors: an accelerometer, a -gyroscope and a magnetometer. On their own these measure: (proper) acceleration, -angular speed and (the Earth's) magnetic field. But these magnitudes can be -"fused" into something more useful: a "robust" measurement of the orientation of -the board. Where robust means with less measurement error than a single sensor -would be capable of. - -This idea of deriving more reliable data from different sources is known as -sensor fusion. - -## Analog-to-Digital Converters (ADC) +### Analog-to-Digital Converters (ADC) There are a lots of digital sensors out there. You can use a protocol like I2C and SPI to read them. But analog sensors also exist! These sensors just output a @@ -91,7 +123,7 @@ The ADC peripheral can be use to convert that "analog" voltage level, say `1.25` Volts,into a "digital" number, say in the `[0, 65535]` range, that the processor can use in its calculations. -## Digital-to-Analog Converters (DAC) +### Digital-to-Analog Converters (DAC) As you might expect a DAC is exactly the opposite of ADC. You can write some digital value into a register to produce a voltage in the `[0, 3.3V]` range @@ -100,14 +132,14 @@ connected to some appropriate electronics and the register is written to at some constant, fast rate (frequency) with the right values you can produce sounds or even music! -## Real Time Clock (RTC) +### Real Time Clock (RTC) This peripheral can be used to track time in "human format". Seconds, minutes, hours, days, months and years. This peripheral handles the translation from "ticks" to these human friendly units of time. It even handles leap years and Daylight Save Time for you! -## Other communication protocols +### Other communication protocols SPI, I2S, SMBUS, CAN, IrDA, Ethernet, USB, Bluetooth, etc. @@ -116,6 +148,47 @@ applications usually have an USB connector because USB is an ubiquitous protocol in PCs and smartphones. Whereas inside cars you'll find plenty of CAN "buses". Some digital sensors use SPI, others use I2C and others, SMBUS. +## General Embedded-Relevant Topics + +These topics cover items that are not specific to our device, or the hardware on +it. Instead, they discuss useful techniques that could be used on embedded +systems. + +### Gyroscopes + +As part of our Punch-o-meter exercise, we used the Accelerometer to measure +changes in acceleration in three dimensions. Our board also features a sensor +called a Gyroscope, which allows us to measure changes in "spin" in three +dimensions. + +This can be very useful when trying to build certain systems, such as a robot +that wants to avoid tipping over. Additionally, the data from a sensor like a +gyroscope can also be combined with data from accelerometer using a technique +called Sensor Fusion (see below for more information). + +### Servo and Stepper Motors + +While some motors are used primarily just to spin in one direction or the other, +for example driving a remote control car forwards or backwards, it is sometimes +useful to measure more precisely how a motor rotates. + +Our microcontroller can be used to drive Servo or Stepper motors, which allow +for more precise control of how many turns are being made by the motor, or +can even position the motor in one specific place, for example if we wanted to +move the arms of a clock to a particular direction. + +### Sensor fusion + +The STM32F3DISCOVERY contains three motion sensors: an accelerometer, a +gyroscope and a magnetometer. On their own these measure: (proper) acceleration, +angular speed and (the Earth's) magnetic field. But these magnitudes can be +"fused" into something more useful: a "robust" measurement of the orientation of +the board. Where robust means with less measurement error than a single sensor +would be capable of. + +This idea of deriving more reliable data from different sources is known as +sensor fusion. + --- So where to next? There are several options: From 6025f9f5847a707684edb2c263897101366cbb9f Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 20:23:01 -0400 Subject: [PATCH 057/313] Apply suggestions from code review Co-authored-by: Adam Greig Co-authored-by: James Munns --- src/04-meet-your-hardware/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 4bbd119cd..690cb0bc7 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -35,11 +35,11 @@ is programming the MCU that is installed on the board. Since the MCU is so important, let's take a closer look at the one sitting on our board. Our MCU is surrounded by 100 tiny metal **pins**. These pins are connected to -**tracings**, the little "roads" that act as the wires connecting components +**traces**, the little "roads" that act as the wires connecting components together on the board. The MCU can dynamically alter the electrical properties of the pins. This works similar to a lightswitch altering how electrical current flows through a circuit. By enabling or disabling electrical current to -flow through a specific pin, an LED attached to that pin (via the tracing) can +flow through a specific pin, an LED attached to that pin (via the traces) can be turned on and off. By looking at the part number and doing some research, we can learn more @@ -59,7 +59,7 @@ is based on the Cortex®-M4. The rest of the part number provides more specifics > > You might be surprised to hear that while "Arm-based" chips are quite > popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't -> actually manuafacture chips for purchase. Instead, their primary business +> actually manufacture chips for purchase. Instead, their primary business > model is to just *design* parts of chips. They will then license those designs to > manufacturers, who will in turn implement the designs (perhaps with some of > their own tweaks) in the form of physical hardware that can then be sold. From a22fa6017d9437c46f51172f161761e802d6af45 Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 20:30:24 -0400 Subject: [PATCH 058/313] Added microcontroller to list of board components. --- src/04-meet-your-hardware/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 690cb0bc7..1b940821d 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -11,6 +11,7 @@ Let's get familiar with the hardware we'll be working with. We'll refer to this board as "F3" throughout this book. Here are some of the many components on the board: +- A [microcontroller]. - A number of LEDs, including the eight aligned in a "compass" formation. - Two buttons. - Two USB ports. @@ -18,17 +19,17 @@ many components on the board: - A [magnetometer]. - A [gyroscope]. +[microcontroller]: https://en.wikipedia.org/wiki/Microcontroller [accelerometer]: https://en.wikipedia.org/wiki/Accelerometer [magnetometer]: https://en.wikipedia.org/wiki/Magnetometer [gyroscope]: https://en.wikipedia.org/wiki/Gyroscope -Of these components, the most important is the [microcontroller] (sometimes +Of these components, the most important is the microcontroller (sometimes shortened to "MCU" for "microcontroller unit"), which is the large black square sitting in the center of your board. The MCU is what runs your code. You might sometimes read about "programming a board", when in reality what we are doing is programming the MCU that is installed on the board. -[microcontroller]: https://en.wikipedia.org/wiki/Microcontroller ## STM32F303VCT6 (the "STM32F3") From 042dfbb28bc4b970d5448af6ef6f5299ff363ee1 Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 20:45:31 -0400 Subject: [PATCH 059/313] Tweaked language on learning info from part number. --- src/04-meet-your-hardware/README.md | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 1b940821d..a8ecd2c26 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -43,13 +43,15 @@ current flows through a circuit. By enabling or disabling electrical current to flow through a specific pin, an LED attached to that pin (via the traces) can be turned on and off. -By looking at the part number and doing some research, we can learn more -information about electronic components. The part number of our microcontroller -starts with `STM32`, which indicates that it was manufactured by [ST -Microelectronics]. It also lets us know that this is an Arm®-based 32-bit -microcontroller. The `F3` in the part number indicates that the microcontroller -is based on the Cortex®-M4. The rest of the part number provides more specifics -(e.g., extra features, RAM size), and aren't as important to us right now. +Part numbers of components can often give us information about the part. In the +case of our MCU (with part number `STM32F303VCT6`), the `STM` at the start +hints to use that this is manufactured by [ST Microelectronics]. Each +manufacturer uses a different part numbering scheme, but with some research we +can also determine that the `32` implies that this is specifically an +Arm®-based 32-bit microcontroller, and the `F3` indicates that the +microcontroller is based on the Cortex®-M4. The rest of the part number +provides more specifics (e.g., extra features, RAM size), and aren't as +important to us right now. [ST Microelectronics]: https://st.com/ From 2f7c8d196ec6ddb2f6deb85a1b09e9f9131017da Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 20:54:23 -0400 Subject: [PATCH 060/313] Last-minute tweaks / fixes --- src/04-meet-your-hardware/README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index a8ecd2c26..3a473b329 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -30,7 +30,6 @@ sitting in the center of your board. The MCU is what runs your code. You might sometimes read about "programming a board", when in reality what we are doing is programming the MCU that is installed on the board. - ## STM32F303VCT6 (the "STM32F3") Since the MCU is so important, let's take a closer look at the one sitting on our board. @@ -38,14 +37,14 @@ Since the MCU is so important, let's take a closer look at the one sitting on ou Our MCU is surrounded by 100 tiny metal **pins**. These pins are connected to **traces**, the little "roads" that act as the wires connecting components together on the board. The MCU can dynamically alter the electrical properties -of the pins. This works similar to a lightswitch altering how electrical +of the pins. This works similar to a light switch altering how electrical current flows through a circuit. By enabling or disabling electrical current to flow through a specific pin, an LED attached to that pin (via the traces) can be turned on and off. Part numbers of components can often give us information about the part. In the case of our MCU (with part number `STM32F303VCT6`), the `STM` at the start -hints to use that this is manufactured by [ST Microelectronics]. Each +hints to us that this is manufactured by [ST Microelectronics]. Each manufacturer uses a different part numbering scheme, but with some research we can also determine that the `32` implies that this is specifically an Arm®-based 32-bit microcontroller, and the `F3` indicates that the From 018702e0332ab864e7e4a59b4a2f49bbd3d78669 Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 20:57:14 -0400 Subject: [PATCH 061/313] More accurate description of part numbering scheme --- src/04-meet-your-hardware/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 3a473b329..0e0f8108c 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -43,10 +43,10 @@ flow through a specific pin, an LED attached to that pin (via the traces) can be turned on and off. Part numbers of components can often give us information about the part. In the -case of our MCU (with part number `STM32F303VCT6`), the `STM` at the start +case of our MCU (with part number `STM32F303VCT6`), the `ST` at the start hints to us that this is manufactured by [ST Microelectronics]. Each manufacturer uses a different part numbering scheme, but with some research we -can also determine that the `32` implies that this is specifically an +can also determine that the `M32` implies that this is specifically an Arm®-based 32-bit microcontroller, and the `F3` indicates that the microcontroller is based on the Cortex®-M4. The rest of the part number provides more specifics (e.g., extra features, RAM size), and aren't as From 524530728410f10b1231d51b94d9880f0faec115 Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 21:46:25 -0400 Subject: [PATCH 062/313] Another try at explaining the part number. --- src/04-meet-your-hardware/README.md | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 0e0f8108c..71364e086 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -42,17 +42,20 @@ current flows through a circuit. By enabling or disabling electrical current to flow through a specific pin, an LED attached to that pin (via the traces) can be turned on and off. -Part numbers of components can often give us information about the part. In the -case of our MCU (with part number `STM32F303VCT6`), the `ST` at the start -hints to us that this is manufactured by [ST Microelectronics]. Each -manufacturer uses a different part numbering scheme, but with some research we -can also determine that the `M32` implies that this is specifically an -Arm®-based 32-bit microcontroller, and the `F3` indicates that the -microcontroller is based on the Cortex®-M4. The rest of the part number -provides more specifics (e.g., extra features, RAM size), and aren't as -important to us right now. +Each manufacturer uses a different part numbering scheme, but many will allow +you to determine information about a component simply by looking at the part +number. Looking at our MCU's part number (`STM32F303VCT6`), the `ST` at the +front hints to us that this is a part manufactured by [ST Microelectronics]. +Searching through [ST's marketing materials] we can also learn the following: [ST Microelectronics]: https://st.com/ +[ST's marketing materials]: https://www.st.com/en/microcontrollers-microprocessors/stm32-mainstream-mcus.html + +- The `M32` represents that this is an Arm®-based 32-bit microcontroller. +- The `F3` represents that the MCU is from ST's "STM32F3" series. This is a + series of MCUs based on the Cortex®-M4 processor design. +- The remainder of the part number goes into more details about things like + extra features and RAM size, which at this point we're less concerned about. > ### Arm? Cortex-M4? > From beb787a6b0aee7bb9b6e38125b1a19c48103008b Mon Sep 17 00:00:00 2001 From: Mark Hildreth Date: Sun, 3 May 2020 21:48:07 -0400 Subject: [PATCH 063/313] Spacing fix --- src/04-meet-your-hardware/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 71364e086..9f96f444d 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -74,7 +74,7 @@ Searching through [ST's marketing materials] we can also learn the following: > Arm licenses a bunch of different designs. Their "Cortex-M" family of designs > are mainly used as the core in microcontrollers. For example, the Cortex-M0 > is designed for low cost and low power usage. The Cortex-M7 is higher cost, -> but with more features and performance. The core of our STM32F3 is based on +> but with more features and performance. The core of our STM32F3 is based on > the Cortex-M4, which is in the middle: more features and performance than the > Cortex-M0, but less expensive than the Cortex-M7. > From 6249f5946d70bec92c8d9c5f346ceec36cf389cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Mon, 4 May 2020 14:04:52 +0200 Subject: [PATCH 064/313] Change `laptop/PC` into more general `computer` --- src/01-background/README.md | 2 +- src/03-setup/README.md | 4 ++-- src/03-setup/linux.md | 2 +- src/03-setup/verify.md | 4 ++-- src/04-meet-your-hardware/README.md | 4 ++-- src/05-led-roulette/build-it.md | 2 +- src/05-led-roulette/flash-it.md | 4 ++-- src/06-hello-world/README.md | 4 ++-- src/10-serial-communication/README.md | 12 ++++++------ src/10-serial-communication/loopbacks.md | 2 +- src/10-serial-communication/nix-tooling.md | 4 ++-- src/10-serial-communication/windows-tooling.md | 2 +- src/11-usart/README.md | 2 +- src/11-usart/buffer-overrun.md | 2 +- src/11-usart/echo-server.md | 2 +- src/11-usart/receive-a-single-byte.md | 4 ++-- src/11-usart/send-a-single-byte.md | 4 ++-- src/11-usart/send-a-string.md | 4 ++-- src/12-bluetooth-setup/README.md | 2 +- src/12-bluetooth-setup/at-commands.md | 6 +++--- src/12-bluetooth-setup/linux.md | 4 ++-- src/12-bluetooth-setup/loopback.md | 2 +- src/13-serial-over-bluetooth/README.md | 4 ++-- 23 files changed, 41 insertions(+), 41 deletions(-) diff --git a/src/01-background/README.md b/src/01-background/README.md index ad22e63da..ec9b84abd 100644 --- a/src/01-background/README.md +++ b/src/01-background/README.md @@ -2,7 +2,7 @@ ## What's a microcontroller? -A microcontroller is a *system* on a chip. Whereas your laptop is made up of several discrete +A microcontroller is a *system* on a chip. Whereas your computer is made up of several discrete components: a processor, RAM sticks, a hard drive, an ethernet port, etc.; a microcontroller has all those components built into a single "chip" or package. This makes it possible to build systems with minimal part count. diff --git a/src/03-setup/README.md b/src/03-setup/README.md index f8c207043..f9ba7e826 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -1,7 +1,7 @@ # Setting up a development environment Dealing with microcontrollers involves several tools as we'll be dealing with an architecture -different than your laptop's and we'll have to run and debug programs on a "remote" device. +different than your computer's and we'll have to run and debug programs on a "remote" device. ## Documentation @@ -50,7 +50,7 @@ should work but we have listed the version we have tested. [`itmdump`]: https://crates.io/crates/itm -If your laptop has Bluetooth functionality and you have the Bluetooth module, you can additionally +If your computer has Bluetooth functionality and you have the Bluetooth module, you can additionally install these tools to play with the Bluetooth module. All these are optional: - Linux, only if you don't have a Bluetooth manager application like Blueman. diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index feb44a530..0c32c66d2 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -149,7 +149,7 @@ Then reload the udev rules with: $ sudo udevadm control --reload-rules ``` -If you had any board plugged to your laptop, unplug them and then plug them in again. +If you had any board plugged to your computer, unplug them and then plug them in again. Now, go to the [next section]. diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 9312abb0d..59996e065 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -6,7 +6,7 @@ Let's verify that all the tools were installed correctly. ### Verify permissions -Connect the F3 to your laptop using an USB cable. Be sure to connect the cable to the "USB ST-LINK" +Connect the F3 to your computer using an USB cable. Be sure to connect the cable to the "USB ST-LINK" port, the USB port in the center of the edge of the board. The F3 should now appear as a USB device (file) in `/dev/bus/usb`. Let's find out how it got @@ -57,7 +57,7 @@ As before, the permissions should be `crw-rw-rw-`. ### First OpenOCD connection -First, connect the F3 to your laptop using an USB cable. Connect the cable to the USB port in the +First, connect the F3 to your computer using an USB cable. Connect the cable to the USB port in the center of edge of the board, the one that's labeled "USB ST-LINK". Two *red* LEDs should turn on right after connecting the USB cable to the board. diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 9f96f444d..e96846da3 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -94,8 +94,8 @@ Searching through [ST's marketing materials] we can also learn the following:

If you have an older revision of the discovery board, you can use this module to -exchange data between the microcontroller in the F3 and your laptop. This module -will be connected to your laptop using an USB cable. I won't say more at this +exchange data between the microcontroller in the F3 and your computer. This module +will be connected to your computer using an USB cable. I won't say more at this point. If you have a newer release of the board then you don't need this module. The diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 429ea5bd7..420cf524b 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -1,7 +1,7 @@ # Build it The first step is to build our "binary" crate. Because the microcontroller has a different -architecture than your laptop we'll have to cross compile. Cross compiling in Rust land is as simple +architecture than your computer we'll have to cross compile. Cross compiling in Rust land is as simple as passing an extra `--target` flag to `rustc`or Cargo. The complicated part is figuring out the argument of that flag: the *name* of the target. diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 5e3d82c67..c8904e8e9 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -11,7 +11,7 @@ Onto the actual flashing. First thing we need is to do is launch OpenOCD. We did previous section but this time we'll run the command inside a temporary directory (`/tmp` on *nix; `%TEMP%` on Windows). -Make sure the F3 is connected to your laptop and run the following commands on a new terminal. +Make sure the F3 is connected to your computer and run the following commands on a new terminal. ``` console $ # *nix @@ -41,7 +41,7 @@ STMicroelectronics decided to call it). This ST-LINK is connected to the target using a Serial Wire Debug (SWD) interface (this interface is an ARM standard so you'll run into it when dealing with other Cortex-M based microcontrollers). This SWD interface can be used to flash and debug a microcontroller. The ST-LINK is connected to the "USB ST-LINK" port and will appear as -a USB device when you connect the F3 to your laptop. +a USB device when you connect the F3 to your computer.

diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index cb1a98500..e96a90c7a 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -19,7 +19,7 @@ Just a little more of helpful magic before we start doing low level stuff. Blinking an LED is like the "Hello, world" of the embedded world. -But in this section, we'll run a proper "Hello, world" program that prints stuff to your laptop +But in this section, we'll run a proper "Hello, world" program that prints stuff to your computer console. Go to the `06-hello-world` directory. There's some starter code in it: @@ -70,7 +70,7 @@ $ itmdump -F -f itm.txt This command will block as `itmdump` is now watching the `itm.txt` file. Leave this terminal open. -Make sure that F3 is connected to your laptop. Open another terminal from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as described in chapter [First OpenOCD connection]. +Make sure that F3 is connected to your computer. Open another terminal from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as described in chapter [First OpenOCD connection]. [First OpenOCD connection]: ../03-setup/verify.html#first-openocd-connection diff --git a/src/10-serial-communication/README.md b/src/10-serial-communication/README.md index 967d7243d..09253bedb 100644 --- a/src/10-serial-communication/README.md +++ b/src/10-serial-communication/README.md @@ -7,7 +7,7 @@

-This is what we'll be using. I hope your laptop has one! +This is what we'll be using. I hope your computer has one!

Nah, don't worry. This connector, the DE-9, went out of fashion on PCs quite some time ago; it got @@ -21,9 +21,9 @@ signal. Instead both parties must agree on how fast data will be sent along the communication occurs. This protocol allows *duplex* communication as data can be sent from A to B and from B to A simultaneously. -We'll be using this protocol to exchange data between the microcontroller and your laptop. In +We'll be using this protocol to exchange data between the microcontroller and your computer. In contrast to the ITM protocol we have used before, with the serial communication protocol you can -send data from your laptop to the microcontroller. +send data from your computer to the microcontroller. The next practical question you probably want to ask is: How fast can we send data through this protocol? @@ -38,10 +38,10 @@ one frame carries a byte of data that results in a data rate of 11.52 KB/s. In p rate will probably be lower because of processing times on the slower side of the communication (the microcontroller). -Today's laptops/PCs don't support the serial communication protocol. So you can't directly connect -your laptop to the microcontroller. But that's where the serial module comes in. This module will +Today's computers don't support the serial communication protocol. So you can't directly connect +your computer to the microcontroller. But that's where the serial module comes in. This module will sit between the two and expose a serial interface to the microcontroller and an USB interface to -your laptop. The microcontroller will see your laptop as another serial device and your laptop +your computer. The microcontroller will see your computer as another serial device and your computer will see the microcontroller as a virtual serial device. Now, let's get familiar with the serial module and the serial communication tools that your OS diff --git a/src/10-serial-communication/loopbacks.md b/src/10-serial-communication/loopbacks.md index d909d4f99..9735c4e20 100644 --- a/src/10-serial-communication/loopbacks.md +++ b/src/10-serial-communication/loopbacks.md @@ -46,4 +46,4 @@ console. --- Now that you are familiar with sending and receiving data over serial port using minicom/PuTTY, -let's make your microcontroller and your laptop talk! +let's make your microcontroller and your computer talk! diff --git a/src/10-serial-communication/nix-tooling.md b/src/10-serial-communication/nix-tooling.md index 48e058b58..6aa07b31a 100644 --- a/src/10-serial-communication/nix-tooling.md +++ b/src/10-serial-communication/nix-tooling.md @@ -2,7 +2,7 @@ ## Newer revisions of the discovery board -With newer revisions, if you connect the discovery board to your laptop / PC you +With newer revisions, if you connect the discovery board to your computer you should see a new TTY device appear in `/dev`. ``` console @@ -21,7 +21,7 @@ revisions. If you do have a newer revision skip the next section and move to the ## Older revisions of the discovery board / external serial module -Connect the serial module to your laptop and let's find out what name the OS assigned to it. +Connect the serial module to your computer and let's find out what name the OS assigned to it. > **NOTE** On macs, the USB device will named like this: `/dev/cu.usbserial-*`. You won't > find it using `dmesg`, instead use `ls -l /dev | grep cu.usb` and adjust the following diff --git a/src/10-serial-communication/windows-tooling.md b/src/10-serial-communication/windows-tooling.md index d457e08e9..7efbce094 100644 --- a/src/10-serial-communication/windows-tooling.md +++ b/src/10-serial-communication/windows-tooling.md @@ -9,7 +9,7 @@ the terminal: $ mode ``` -It will print a list of devices that are connected to your laptop. The ones that start with `COM` in +It will print a list of devices that are connected to your computer. The ones that start with `COM` in their names are serial devices. This is the kind of device we'll be working with. Take note of all the `COM` *ports* `mode` outputs *before* plugging the serial module. diff --git a/src/11-usart/README.md b/src/11-usart/README.md index 24b925e92..d03148d4e 100644 --- a/src/11-usart/README.md +++ b/src/11-usart/README.md @@ -5,7 +5,7 @@ Synchronous/Asynchronous Receiver/Transmitter. This peripheral can be configured several communication protocols like the serial communication protocol. Throughout this chapter, we'll use serial communication to exchange information between the -microcontroller and your laptop. But before we do that we have to wire up everything. +microcontroller and your computer. But before we do that we have to wire up everything. I mentioned before that this protocol involves two data lines: TX and RX. TX stands for transmitter and RX stands for receiver. Transmitter and receiver are relative terms though; which line is the diff --git a/src/11-usart/buffer-overrun.md b/src/11-usart/buffer-overrun.md index 03cfeaf0b..59161a35a 100644 --- a/src/11-usart/buffer-overrun.md +++ b/src/11-usart/buffer-overrun.md @@ -23,7 +23,7 @@ fn main() -> ! { } ``` -You probably received something like this on your laptop when you executed the program compiled in +You probably received something like this on your computer when you executed the program compiled in debug mode. ``` console diff --git a/src/11-usart/echo-server.md b/src/11-usart/echo-server.md index 8ea57d81b..ed78914fd 100644 --- a/src/11-usart/echo-server.md +++ b/src/11-usart/echo-server.md @@ -2,6 +2,6 @@ Let's merge transmission and reception into a single program and write an echo server. An echo server sends back to the client the same text it sent. For this application, the microcontroller -will be the server and you and your laptop will be the client. +will be the server and you and your computer will be the client. This should be straightforward to implement. (hint: do it byte by byte) diff --git a/src/11-usart/receive-a-single-byte.md b/src/11-usart/receive-a-single-byte.md index e3612f388..33acd0b89 100644 --- a/src/11-usart/receive-a-single-byte.md +++ b/src/11-usart/receive-a-single-byte.md @@ -1,7 +1,7 @@ # Receive a single byte -So far we have sending data from the micro to your laptop. It's time to try the opposite: receiving -data from your laptop. +So far we have sending data from the micro to your computer. It's time to try the opposite: receiving +data from your computer. There's a `RDR` register that will be filled with the data that comes from the RX line. If we read that register, we'll retrieve the data that the other side of the channel sent. The question is: How diff --git a/src/11-usart/send-a-single-byte.md b/src/11-usart/send-a-single-byte.md index 8e06f2c03..d59910fb1 100644 --- a/src/11-usart/send-a-single-byte.md +++ b/src/11-usart/send-a-single-byte.md @@ -1,6 +1,6 @@ # Send a single byte -Our first task will be to send a single byte from the microcontroller to the laptop over the serial +Our first task will be to send a single byte from the microcontroller to the computer over the serial connection. This time, I'm going to provide you with an already initialized USART peripheral. You'll only have @@ -16,5 +16,5 @@ minicom/PuTTY open. This program writes to the `TDR` register. This causes the `USART` peripheral to send one byte of information through the serial interface. -On the receiving end, your laptop, you should see show the character `X` appear on minicom/PuTTY's +On the receiving end, your computer, you should see show the character `X` appear on minicom/PuTTY's terminal. diff --git a/src/11-usart/send-a-string.md b/src/11-usart/send-a-string.md index 3227d77a9..2523a1fa7 100644 --- a/src/11-usart/send-a-string.md +++ b/src/11-usart/send-a-string.md @@ -1,9 +1,9 @@ # Send a string -The next task will be to send a whole string from the micro to your laptop. +The next task will be to send a whole string from the micro to your computer. I want you to send the string `"The quick brown fox jumps over the lazy dog."` from the micro to -your laptop. +your computer. It's your turn to write the program. diff --git a/src/12-bluetooth-setup/README.md b/src/12-bluetooth-setup/README.md index a0735ce0f..0b8f63258 100644 --- a/src/12-bluetooth-setup/README.md +++ b/src/12-bluetooth-setup/README.md @@ -27,7 +27,7 @@ The recommend steps to wire this up are: Two LEDs, a blue one and a red one, on the Bluetooth module should start blinking right after you power on the F3 board. -Next thing to do is pair your laptop and the Bluetooth module. AFAIK, Windows and mac users can +Next thing to do is pair your computer and the Bluetooth module. AFAIK, Windows and mac users can simply use their OS default Bluetooth manager to do the pairing. The Bluetooth module default pin is 1234. diff --git a/src/12-bluetooth-setup/at-commands.md b/src/12-bluetooth-setup/at-commands.md index 00c41e579..4a295784d 100644 --- a/src/12-bluetooth-setup/at-commands.md +++ b/src/12-bluetooth-setup/at-commands.md @@ -10,15 +10,15 @@ The Bluetooth module supports an AT mode that allows you to examine and change i Recommended steps to enter AT mode: -- Disconnect the F3 and FTDI from your laptop. +- Disconnect the F3 and FTDI from your computer. - Connect F3's GND pin to the Bluetooth's GND pin using a Female/Female (F/F) wire (preferably, a black one). - Connect F3's 5V pin to the Bluetooth's VCC pin using a F/F wire (preferably, a red one). - Connect the FTDI RXI pin to the Bluetooth's TXD pin using a Female/Male (F/M) wire. - Connect the FTDI TXO pin to the Bluetooth's RXD pin using a Female/Male (F/M) wire. -- Now connect the FTDI to your laptop via USB cable. -- Next connect the F3 to your laptop via USB cable while simultaneously pressing and holding the button on the Bluetooth module (kinda tricky). +- Now connect the FTDI to your computer via USB cable. +- Next connect the F3 to your computer via USB cable while simultaneously pressing and holding the button on the Bluetooth module (kinda tricky). - Now, release the button and the Bluetooth module will enter AT mode. You can confirm this by observing that the red LED on the Bluetooth module is blinking in a slow pattern (approx 1-2 seconds on/off). The AT mode always operates at a baud rate of 38400, so configure your terminal program for that baud rate and connect to the FTDI device. diff --git a/src/12-bluetooth-setup/linux.md b/src/12-bluetooth-setup/linux.md index 34dc016ae..73bf33c26 100644 --- a/src/12-bluetooth-setup/linux.md +++ b/src/12-bluetooth-setup/linux.md @@ -1,13 +1,13 @@ # Linux -If you have a graphical Bluetooth manager, you can use that to pair your laptop to the Bluetooth +If you have a graphical Bluetooth manager, you can use that to pair your computer to the Bluetooth module and skip most of these steps. You'll probably still have to [this step] though. [this step]: #rfcomm-device ## Power up -First, your laptop's Bluetooth transceiver may be OFF. Check its status with `hciconfig` and turn it +First, your computer's Bluetooth transceiver may be OFF. Check its status with `hciconfig` and turn it ON if necessary: ``` console diff --git a/src/12-bluetooth-setup/loopback.md b/src/12-bluetooth-setup/loopback.md index 8b03a905c..ddbd10d1f 100644 --- a/src/12-bluetooth-setup/loopback.md +++ b/src/12-bluetooth-setup/loopback.md @@ -1,6 +1,6 @@ # Loopback, again -After pairing your laptop to the Bluetooth module, your OS should have created a device file / COM +After pairing your computer to the Bluetooth module, your OS should have created a device file / COM port for you. On Linux, it should be `/dev/rfcomm*`; on mac, it should be `/dev/cu.*`; and on Windows, it should be a new COM port. diff --git a/src/13-serial-over-bluetooth/README.md b/src/13-serial-over-bluetooth/README.md index e0c882cc9..51038044a 100644 --- a/src/13-serial-over-bluetooth/README.md +++ b/src/13-serial-over-bluetooth/README.md @@ -10,13 +10,13 @@ microcontroller: Recommended steps to wire this up: - Close OpenOCD and `itmdump`. -- Disconnect the F3 from your laptop. +- Disconnect the F3 from your computer. - Connect F3's GND pin to the module's GND pin using a female to female (F/F) wire (preferably, a black one). - Connect F3's 5V pin to the module's VCC pin using a F/F wire (preferably, a red one). - Connect the PA9 (TX) pin on the back of the F3 to the Bluetooth's RXD pin using a F/F wire. - Connect the PA10 (RX) pin on the back of the F3 to the Bluetooth's TXD pin using a F/F wire. -- Now connect the F3 and your laptop using an USB cable. +- Now connect the F3 and your computer using an USB cable. - Re-launch OpenOCD and `itmdump`. And that's it! You should be able to run all the programs you wrote in [section 11] without From 190a11fe45511aff5a5528d79e2b9fc090634291 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Mon, 4 May 2020 14:08:43 +0200 Subject: [PATCH 065/313] Change the short `micro` into `microcontroller`. --- src/11-usart/receive-a-single-byte.md | 2 +- src/11-usart/send-a-string.md | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/11-usart/receive-a-single-byte.md b/src/11-usart/receive-a-single-byte.md index 33acd0b89..9d977f5ef 100644 --- a/src/11-usart/receive-a-single-byte.md +++ b/src/11-usart/receive-a-single-byte.md @@ -1,6 +1,6 @@ # Receive a single byte -So far we have sending data from the micro to your computer. It's time to try the opposite: receiving +So far we have sending data from the microcontroller to your computer. It's time to try the opposite: receiving data from your computer. There's a `RDR` register that will be filled with the data that comes from the RX line. If we read diff --git a/src/11-usart/send-a-string.md b/src/11-usart/send-a-string.md index 2523a1fa7..e853c01e7 100644 --- a/src/11-usart/send-a-string.md +++ b/src/11-usart/send-a-string.md @@ -1,8 +1,8 @@ # Send a string -The next task will be to send a whole string from the micro to your computer. +The next task will be to send a whole string from the microcontroller to your computer. -I want you to send the string `"The quick brown fox jumps over the lazy dog."` from the micro to +I want you to send the string `"The quick brown fox jumps over the lazy dog."` from the microcontroller to your computer. It's your turn to write the program. From f2a7343c1935a9a1909f1a9ca548424aaad1eb8d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Mon, 4 May 2020 14:17:13 +0200 Subject: [PATCH 066/313] Properly escape `*` character in Markdown files. --- src/05-led-roulette/flash-it.md | 2 +- src/06-hello-world/README.md | 2 +- src/10-serial-communication/README.md | 2 +- src/10-serial-communication/nix-tooling.md | 4 ++-- src/SUMMARY.md | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index c8904e8e9..54c50b98e 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -8,7 +8,7 @@ By this I mean that there's nothing else running on the microcontroller: no OS, nothing. `led-roulette` has full control over the device. Onto the actual flashing. First thing we need is to do is launch OpenOCD. We did that in the -previous section but this time we'll run the command inside a temporary directory (`/tmp` on *nix; +previous section but this time we'll run the command inside a temporary directory (`/tmp` on \*nix; `%TEMP%` on Windows). Make sure the F3 is connected to your computer and run the following commands on a new terminal. diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index e96a90c7a..9c7316445 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -48,7 +48,7 @@ You should have already installed the `itmdump` program during the [installation [installation chapter]: ../03-setup/index.html#itmdump -In a new terminal, run this command inside the `/tmp` directory, if you are using a *nix OS, or from +In a new terminal, run this command inside the `/tmp` directory, if you are using a \*nix OS, or from within the `%TEMP%` directory, if you are running Windows. This should be the same directory from where you are running OpenOCD. diff --git a/src/10-serial-communication/README.md b/src/10-serial-communication/README.md index 09253bedb..10149fe4c 100644 --- a/src/10-serial-communication/README.md +++ b/src/10-serial-communication/README.md @@ -47,7 +47,7 @@ will see the microcontroller as a virtual serial device. Now, let's get familiar with the serial module and the serial communication tools that your OS offers. Pick a route: -- [*nix](nix-tooling.md) +- [\*nix](nix-tooling.md) - [Windows](windows-tooling.md) [ASC]: https://en.wikipedia.org/wiki/Asynchronous_serial_communication diff --git a/src/10-serial-communication/nix-tooling.md b/src/10-serial-communication/nix-tooling.md index 6aa07b31a..2a077e2ab 100644 --- a/src/10-serial-communication/nix-tooling.md +++ b/src/10-serial-communication/nix-tooling.md @@ -1,4 +1,4 @@ -# *nix tooling +# \*nix tooling ## Newer revisions of the discovery board @@ -33,7 +33,7 @@ $ dmesg | grep -i tty [ +0.000155] usb 3-2: FTDI USB Serial Device converter now attached to ttyUSB0 ``` -But what's this `ttyUSB0` thing? It's a file of course! Everything is a file in *nix: +But what's this `ttyUSB0` thing? It's a file of course! Everything is a file in \*nix: ``` console $ ls -l /dev/ttyUSB0 diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 98746dd34..99e41c5f5 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -34,7 +34,7 @@ - [Busy waiting](09-clocks-and-timers/busy-waiting.md) - [Putting it all together](09-clocks-and-timers/putting-it-all-together.md) - [Serial communication](10-serial-communication/README.md) - - [*nix tooling](10-serial-communication/nix-tooling.md) + - [\*nix tooling](10-serial-communication/nix-tooling.md) - [Windows tooling](10-serial-communication/windows-tooling.md) - [Loopbacks](10-serial-communication/loopbacks.md) - [USART](11-usart/README.md) From 1117a51af03e917b1e25476e265ef4f499f9634f Mon Sep 17 00:00:00 2001 From: Yusef Karim Date: Mon, 4 May 2020 10:13:46 -0400 Subject: [PATCH 067/313] Add appendix entry on how to use GDB --- src/SUMMARY.md | 1 + src/appendix/2-how-to-use-gdb/README.md | 87 +++++++++++++++++++++++++ 2 files changed, 88 insertions(+) create mode 100644 src/appendix/2-how-to-use-gdb/README.md diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 98746dd34..2ffb575ac 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -73,6 +73,7 @@ --- [General troubleshooting](appendix/1-general-troubleshooting/README.md) +[How to use GDB](appendix/2-how-to-use-gdb/README.md) diff --git a/src/appendix/2-how-to-use-gdb/README.md b/src/appendix/2-how-to-use-gdb/README.md new file mode 100644 index 000000000..d080118df --- /dev/null +++ b/src/appendix/2-how-to-use-gdb/README.md @@ -0,0 +1,87 @@ +# How to use GDB + +Below are some useful GDB commands that can help us debug our programs. This assumes you have [flashed a program](../../05-led-roulette/flash-it.md) onto your microcontroller and attached to an OpenOCD session. + +## General Debugging + +**NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. While you are learning GDB try to see how short you can get the commands to go before GDB doesn't recognize it! + + +### Dealing with Breakpoints + +* `break $location`: Set a breakpoint at a place in your code. The value of `$location` can include: + * `b 123` - Break on line 123 of the currently displayed file + * `b main.rs:123` - Break on line 123 of `main.rs` +* `info break`: Display current breakpoints +* `delete`: Delete all breakpoints + * `d $n`: Delete breakpoint `$n` +* `clear`: Delete breakpoint at next instruction + * `clear main.rs:$function`: Delete breakpoint at entry of `$function` in `main.rs` + * `clear main.rs:123`: Delete breakpoint on line 123 of `main.rs` +* `enable`: Enable all set breakpoints + * `en $n`: Enable breakpoint `$n` +* `disable`: Disable all set breakpoints + * `dis $n`: Disable breakpoint `$n` + +### Controlling Execution + +* `continue`: Begin execution of your program +* `next`: Execute the next line of your program + * `n $n`: Repeat `next` `$n` number times +* `nexti`: Same as `next` but with machine instructions instead +* `step`: Execute the next line, if the next line includes a call to another function, step into that code + * `s $n`: Repeat `step` `$n` number times +* `stepi`: Same as `step` but with machine instructions instead +* `jump $location`: Resume execution at specified location: + * `jump 123`: Resume execution at line 123 + * `jump 0x080012f2`: Resume execution at address 0x080012f2 + +### Printing Information + +* `print /$f $data` - Print the value contained by the variable `$data`. Optionally format the output with `$f`, which can include: + ```txt + x: hexadecimal + d: signed decimal + u: unsigned decimal + o: octal + t: binary + a: address + c: character + f: floating point + ``` + * `p /t 0xA`: Prints the hexadecimal value `0xA` as binary (0b1010) +* `x /$n$u$f $address`: Examine memory at `$address`. Optionally, `$n` define the number of units to display, `$u` unit size (bytes, halfwords, words, etc), `$f` any `print` format defined above + * `x /5i 0x080012c4`: Print 5 machine instructions staring at address `0x080012c4` + * `x/4xb $pc`: Print 4 bytes of memory starting where `$pc` currently is pointing +* `disassemble $location` + * `disas /r main`: Disassemble the function `main`, using `/r` to show the bytes that make up each instruction + + +### Looking at the Symbol Table + +* `info functions $regex`: Print the names and data types of functions matched by `$regex`, omit `$regex` to print all functions + * `i func main`: Print names and types of defined functions that contain the word `main` +* `info address $symbol`: Print where `$symbol` is stored in memory + * `i addr GPIOC`: Print the memory address of the variable `GPIOC` +* `info variables $regex`: Print names and types of global variables matched by `$regex`, omit `$regex` to print all global variables +* `ptype $data`: Print more detailed information about `$data` + * `ptype cp`: Print detailed type information about the variable `cp` + +### Poking around the Program Stack + +* `backtrace $n`: Print trace of `$n` frames, or omit `$n` to print all frames + * `bt 2`: Print trace of first 2 frames +* `frame $n`: Select frame with number or address `$n`, omit `$n` to display current frame +* `up $n`: Select frame `$n` frames up +* `down $n`: Select frame `$n` frames down +* `info frame $address`: Describe frame at `$address`, omit `$address` for currently selected frame +* `info args`: Print arguments of selected frame +* `info registers $r`: Print the value of register `$r` in selected frame, omit `$r` for all registers + * `i reg $sp`: Print the value of the stack pointer register `$sp` in the current frame + +### Controlling OpenOCD Remotely + +* `monitor reset run`: Reset the CPU, starting execution over again + * `monitor reset`: Same as above +* `monitor reset init`: Reset the CPU, halting execution at the start +* `monitor targets`: Display information and state of current target From 75f40ba3a651ae598d00c7055199392a57625f53 Mon Sep 17 00:00:00 2001 From: Yusef Karim Date: Mon, 4 May 2020 10:22:56 -0400 Subject: [PATCH 068/313] Add link in 05-led-roulette/debug-it.md to GDB section --- src/05-led-roulette/debug-it.md | 3 ++- src/appendix/2-how-to-use-gdb/README.md | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index d38f4453c..4131dfca9 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -213,6 +213,7 @@ Ending remote debugging. [gdb-dashboard]: https://github.com/cyrus-and/gdb-dashboard#gdb-dashboard Don't close OpenOCD though! We'll use it again and again later on. It's better -just to leave it running. +just to leave it running. If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb). + What's next? The high level API I promised. diff --git a/src/appendix/2-how-to-use-gdb/README.md b/src/appendix/2-how-to-use-gdb/README.md index d080118df..21b1105eb 100644 --- a/src/appendix/2-how-to-use-gdb/README.md +++ b/src/appendix/2-how-to-use-gdb/README.md @@ -4,7 +4,7 @@ Below are some useful GDB commands that can help us debug our programs. This ass ## General Debugging -**NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. While you are learning GDB try to see how short you can get the commands to go before GDB doesn't recognize it! +> **NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. While you are learning GDB try to see how short you can get the commands to go before GDB doesn't recognize it! ### Dealing with Breakpoints From 42ec34f4d5a28d474377a92a529b45f4abf8563d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tomasz=20R=C3=B3=C5=BCa=C5=84ski?= Date: Wed, 20 May 2020 18:25:18 +0200 Subject: [PATCH 069/313] Update link to eCompass calibration note --- src/15-led-compass/calibration.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/15-led-compass/calibration.md b/src/15-led-compass/calibration.md index 1517afa27..1b09027a5 100644 --- a/src/15-led-compass/calibration.md +++ b/src/15-led-compass/calibration.md @@ -10,7 +10,7 @@ The calibration involves quite a bit of math (matrices) so we won't cover it her [Application Note] describes the procedure if you are interested. Instead, what we'll do in this section is *visualize* how off we are. -[Application Note]: http://cache.freescale.com/files/sensors/doc/app_note/AN4246.pdf +[Application Note]: https://www.nxp.com/docs/en/application-note/AN4246.pdf Let's try this experiment: Let's record the readings of the magnetometer while we slowly rotate the board in different directions. We'll use the `iprintln` macro to format the readings as Tab From 6575345a63e14203796be7822d2c5bfcac246469 Mon Sep 17 00:00:00 2001 From: Austin Tindle Date: Sat, 23 May 2020 15:34:58 -0600 Subject: [PATCH 070/313] Minor typo in type-safe-manipulation.md The STM32f3 reference manual contains the following: > Bits 31:16 Reserved, must be kept at reset value. on page 239, section 11.4.6 --- src/07-registers/type-safe-manipulation.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md index 336ccacef..3fb805655 100644 --- a/src/07-registers/type-safe-manipulation.md +++ b/src/07-registers/type-safe-manipulation.md @@ -2,7 +2,7 @@ The last register we were working with, `ODR`, had this in its documentation: -> Bits 16:31 Reserved, must be kept at reset value +> Bits 31:16 Reserved, must be kept at reset value We are not supposed to write to those bits of the register or Bad Stuff May Happen. From 9d40fdfdef71861bfc7b9fef83e743e777b4042b Mon Sep 17 00:00:00 2001 From: Austin Tindle Date: Fri, 12 Jun 2020 08:57:07 -0600 Subject: [PATCH 071/313] Fix clock speed typo I think this was meant to say `80MHz` (Rounded up from `72MHZ` speed of the STM32F303VC?). --- src/09-clocks-and-timers/for-loop-delays.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/09-clocks-and-timers/for-loop-delays.md b/src/09-clocks-and-timers/for-loop-delays.md index 3a22dab05..b6dbd1486 100644 --- a/src/09-clocks-and-timers/for-loop-delays.md +++ b/src/09-clocks-and-timers/for-loop-delays.md @@ -18,7 +18,7 @@ In this section, you'll have to: - Fix the `delay` function to generate delays proportional to its input `ms`. - Tweak the `delay` function to make the LED roulette spin at a rate of approximately 5 cycles in 4 seconds (800 milliseconds period). -- The processor inside the microcontroller is clocked at 8 MHz and executes most instructions in one +- The processor inside the microcontroller is clocked at 80 MHz and executes most instructions in one "tick", a cycle of its clock. How many (`for`) loops do you *think* the `delay` function must do to generate a delay of 1 second? - How many `for` loops does `delay(1000)` actually do? From 42a39e4f505720f692e938423d454a89133fb8f6 Mon Sep 17 00:00:00 2001 From: Austin Tindle Date: Mon, 29 Jun 2020 08:39:23 -0600 Subject: [PATCH 072/313] Change clock speed to 72MHz Original PR to fix typo was #247, which was merged but incorrect. PR #248 was closed after determining the correct clock speed is `72MHz`, not 80 or 8. --- src/09-clocks-and-timers/for-loop-delays.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/09-clocks-and-timers/for-loop-delays.md b/src/09-clocks-and-timers/for-loop-delays.md index b6dbd1486..339dd6686 100644 --- a/src/09-clocks-and-timers/for-loop-delays.md +++ b/src/09-clocks-and-timers/for-loop-delays.md @@ -18,7 +18,7 @@ In this section, you'll have to: - Fix the `delay` function to generate delays proportional to its input `ms`. - Tweak the `delay` function to make the LED roulette spin at a rate of approximately 5 cycles in 4 seconds (800 milliseconds period). -- The processor inside the microcontroller is clocked at 80 MHz and executes most instructions in one +- The processor inside the microcontroller is clocked at 72 MHz and executes most instructions in one "tick", a cycle of its clock. How many (`for`) loops do you *think* the `delay` function must do to generate a delay of 1 second? - How many `for` loops does `delay(1000)` actually do? From 9281f14034173b61bc98dfd7f51fc8c99c00e7e6 Mon Sep 17 00:00:00 2001 From: Yerkebulan Tulibergenov Date: Thu, 2 Jul 2020 00:48:52 -0700 Subject: [PATCH 073/313] Fix minor typo in type-safe-manipulation.md --- src/07-registers/type-safe-manipulation.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md index 3fb805655..24a1dc107 100644 --- a/src/07-registers/type-safe-manipulation.md +++ b/src/07-registers/type-safe-manipulation.md @@ -7,7 +7,7 @@ The last register we were working with, `ODR`, had this in its documentation: We are not supposed to write to those bits of the register or Bad Stuff May Happen. There's also the fact the registers have different read/write permissions. Some of them are write -only, others can be read and wrote to and there must be others that are read only. +only, others can be read and written to and there must be others that are read only. Finally, directly working with hexadecimal addresses is error prone. You already saw that trying to access an invalid memory address causes an exception which disrupts the execution of our program. From 1c43f439ee54eb4a23aed1db888eccb314ab4fdb Mon Sep 17 00:00:00 2001 From: Yerkebulan Tulibergenov Date: Thu, 2 Jul 2020 01:28:45 -0700 Subject: [PATCH 074/313] Reword the sentence in configuration.md --- src/08-leds-again/configuration.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/08-leds-again/configuration.md b/src/08-leds-again/configuration.md index 313d9a1e0..bcb18a136 100644 --- a/src/08-leds-again/configuration.md +++ b/src/08-leds-again/configuration.md @@ -1,6 +1,6 @@ # Configuration -After turning on the GPIOE peripheral. The peripheral still needs to be configured. In this case, we +After turning on the GPIOE peripheral, it still needs to be configured. In this case, we want the pins to be configured as digital *outputs* so they can drive the LEDs; by default, most pins are configured as digital *inputs*. From fdd99bc98b68c24b3287200acb1b11424a42c010 Mon Sep 17 00:00:00 2001 From: Yerkebulan Tulibergenov Date: Fri, 3 Jul 2020 14:55:46 -0700 Subject: [PATCH 075/313] Small fix in nix-tooling.md --- src/10-serial-communication/nix-tooling.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/10-serial-communication/nix-tooling.md b/src/10-serial-communication/nix-tooling.md index 2a077e2ab..61442aa89 100644 --- a/src/10-serial-communication/nix-tooling.md +++ b/src/10-serial-communication/nix-tooling.md @@ -82,7 +82,7 @@ go over it line by line: - `pu rtscts No`. No hardware control flow. - `pu xonxoff No`. No software control flow. -Once that's in place. We can launch `minicom` +Once that's in place, we can launch `minicom`. ``` console $ # NOTE you may need to use a different device here From d869e2241090581004ac25fa203f8141fc6cab8c Mon Sep 17 00:00:00 2001 From: Heru Pranoto Date: Thu, 16 Jul 2020 16:36:06 +0700 Subject: [PATCH 076/313] Using the latest version (0.3.0) of cargo-binutils --- src/03-setup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index f9ba7e826..db1787b4e 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -90,7 +90,7 @@ itmdump 0.3.1 ``` console $ rustup component add llvm-tools-preview -$ cargo install cargo-binutils --vers 0.1.4 +$ cargo install cargo-binutils --vers 0.3.0 $ cargo size -- -version LLVM (http://llvm.org/): From be7a23913d54c87d297c4566d96253c50a6a50df Mon Sep 17 00:00:00 2001 From: Paul Kernfeld Date: Fri, 31 Jul 2020 10:31:13 -0400 Subject: [PATCH 077/313] Upgrade most aux crates to cortex-m 0.6.3 This should fix issue #259 in all chapters except 11 and 16. --- src/05-led-roulette/auxiliary/Cargo.toml | 2 +- src/06-hello-world/auxiliary/Cargo.toml | 2 +- src/07-registers/auxiliary/Cargo.toml | 2 +- src/08-leds-again/auxiliary/Cargo.toml | 2 +- src/09-clocks-and-timers/auxiliary/Cargo.toml | 2 +- src/14-i2c/auxiliary/Cargo.toml | 2 +- src/15-led-compass/auxiliary/Cargo.toml | 2 +- src/16-punch-o-meter/auxiliary/Cargo.toml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/05-led-roulette/auxiliary/Cargo.toml b/src/05-led-roulette/auxiliary/Cargo.toml index 617de1e25..1b7b80f55 100644 --- a/src/05-led-roulette/auxiliary/Cargo.toml +++ b/src/05-led-roulette/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux5" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" panic-halt = "0.2.0" cortex-m-rt = "0.6.3" diff --git a/src/06-hello-world/auxiliary/Cargo.toml b/src/06-hello-world/auxiliary/Cargo.toml index aacd27171..0935a0938 100644 --- a/src/06-hello-world/auxiliary/Cargo.toml +++ b/src/06-hello-world/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux6" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" f3 = "0.6.1" diff --git a/src/07-registers/auxiliary/Cargo.toml b/src/07-registers/auxiliary/Cargo.toml index 08db809a9..5dceda7c1 100644 --- a/src/07-registers/auxiliary/Cargo.toml +++ b/src/07-registers/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux7" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" diff --git a/src/08-leds-again/auxiliary/Cargo.toml b/src/08-leds-again/auxiliary/Cargo.toml index 7be83fb17..a2c67f3b4 100644 --- a/src/08-leds-again/auxiliary/Cargo.toml +++ b/src/08-leds-again/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux8" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" diff --git a/src/09-clocks-and-timers/auxiliary/Cargo.toml b/src/09-clocks-and-timers/auxiliary/Cargo.toml index ead8ae4c5..2b16bbc2f 100644 --- a/src/09-clocks-and-timers/auxiliary/Cargo.toml +++ b/src/09-clocks-and-timers/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux9" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" diff --git a/src/14-i2c/auxiliary/Cargo.toml b/src/14-i2c/auxiliary/Cargo.toml index 6d8b296bd..0a582ddba 100644 --- a/src/14-i2c/auxiliary/Cargo.toml +++ b/src/14-i2c/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux14" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" diff --git a/src/15-led-compass/auxiliary/Cargo.toml b/src/15-led-compass/auxiliary/Cargo.toml index b6f4677ac..8a7f25acd 100644 --- a/src/15-led-compass/auxiliary/Cargo.toml +++ b/src/15-led-compass/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux15" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" diff --git a/src/16-punch-o-meter/auxiliary/Cargo.toml b/src/16-punch-o-meter/auxiliary/Cargo.toml index 543848543..96fa8da8f 100644 --- a/src/16-punch-o-meter/auxiliary/Cargo.toml +++ b/src/16-punch-o-meter/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux16" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" From 2642a6c526447f0a0dac2db27812401940b7515e Mon Sep 17 00:00:00 2001 From: Paul Kernfeld Date: Mon, 3 Aug 2020 15:41:37 -0400 Subject: [PATCH 078/313] Don't upgrade cortex-m in ch16 --- src/16-punch-o-meter/auxiliary/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/16-punch-o-meter/auxiliary/Cargo.toml b/src/16-punch-o-meter/auxiliary/Cargo.toml index 96fa8da8f..543848543 100644 --- a/src/16-punch-o-meter/auxiliary/Cargo.toml +++ b/src/16-punch-o-meter/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux16" version = "0.1.0" [dependencies] -cortex-m = "0.6.3" +cortex-m = "0.5.6" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" From 8ad3866ac8fbadaa1412275db000aac55586ae31 Mon Sep 17 00:00:00 2001 From: Yusef Karim Date: Wed, 2 Sep 2020 12:33:45 -0400 Subject: [PATCH 079/313] Removed shortcuts and made slight change to top comment on shortcuts --- src/appendix/2-how-to-use-gdb/README.md | 32 +++++++++++++------------ 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/src/appendix/2-how-to-use-gdb/README.md b/src/appendix/2-how-to-use-gdb/README.md index 21b1105eb..f5c08645d 100644 --- a/src/appendix/2-how-to-use-gdb/README.md +++ b/src/appendix/2-how-to-use-gdb/README.md @@ -4,33 +4,35 @@ Below are some useful GDB commands that can help us debug our programs. This ass ## General Debugging -> **NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. While you are learning GDB try to see how short you can get the commands to go before GDB doesn't recognize it! +> **NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. Once you have experience with the commands below, try to see how short you can get the commands to go before GDB doesn't recognize it! ### Dealing with Breakpoints * `break $location`: Set a breakpoint at a place in your code. The value of `$location` can include: - * `b 123` - Break on line 123 of the currently displayed file - * `b main.rs:123` - Break on line 123 of `main.rs` + * `break *main` - Break on the exact address of the function `main` + * `break *0x080012f2` - Break on the exact memory location `0x080012f2` + * `break 123` - Break on line 123 of the currently displayed file + * `break main.rs:123` - Break on line 123 of the file `main.rs` * `info break`: Display current breakpoints * `delete`: Delete all breakpoints - * `d $n`: Delete breakpoint `$n` + * `delete $n`: Delete breakpoint `$n` * `clear`: Delete breakpoint at next instruction * `clear main.rs:$function`: Delete breakpoint at entry of `$function` in `main.rs` * `clear main.rs:123`: Delete breakpoint on line 123 of `main.rs` * `enable`: Enable all set breakpoints - * `en $n`: Enable breakpoint `$n` + * `enable $n`: Enable breakpoint `$n` * `disable`: Disable all set breakpoints - * `dis $n`: Disable breakpoint `$n` + * `disable $n`: Disable breakpoint `$n` ### Controlling Execution -* `continue`: Begin execution of your program +* `continue`: Begin or continue execution of your program * `next`: Execute the next line of your program - * `n $n`: Repeat `next` `$n` number times + * `next $n`: Repeat `next` `$n` number times * `nexti`: Same as `next` but with machine instructions instead * `step`: Execute the next line, if the next line includes a call to another function, step into that code - * `s $n`: Repeat `step` `$n` number times + * `step $n`: Repeat `step` `$n` number times * `stepi`: Same as `step` but with machine instructions instead * `jump $location`: Resume execution at specified location: * `jump 123`: Resume execution at line 123 @@ -49,20 +51,20 @@ Below are some useful GDB commands that can help us debug our programs. This ass c: character f: floating point ``` - * `p /t 0xA`: Prints the hexadecimal value `0xA` as binary (0b1010) + * `print /t 0xA`: Prints the hexadecimal value `0xA` as binary (0b1010) * `x /$n$u$f $address`: Examine memory at `$address`. Optionally, `$n` define the number of units to display, `$u` unit size (bytes, halfwords, words, etc), `$f` any `print` format defined above * `x /5i 0x080012c4`: Print 5 machine instructions staring at address `0x080012c4` * `x/4xb $pc`: Print 4 bytes of memory starting where `$pc` currently is pointing * `disassemble $location` - * `disas /r main`: Disassemble the function `main`, using `/r` to show the bytes that make up each instruction + * `disassemble /r main`: Disassemble the function `main`, using `/r` to show the bytes that make up each instruction ### Looking at the Symbol Table * `info functions $regex`: Print the names and data types of functions matched by `$regex`, omit `$regex` to print all functions - * `i func main`: Print names and types of defined functions that contain the word `main` + * `info functions main`: Print names and types of defined functions that contain the word `main` * `info address $symbol`: Print where `$symbol` is stored in memory - * `i addr GPIOC`: Print the memory address of the variable `GPIOC` + * `info address GPIOC`: Print the memory address of the variable `GPIOC` * `info variables $regex`: Print names and types of global variables matched by `$regex`, omit `$regex` to print all global variables * `ptype $data`: Print more detailed information about `$data` * `ptype cp`: Print detailed type information about the variable `cp` @@ -70,14 +72,14 @@ Below are some useful GDB commands that can help us debug our programs. This ass ### Poking around the Program Stack * `backtrace $n`: Print trace of `$n` frames, or omit `$n` to print all frames - * `bt 2`: Print trace of first 2 frames + * `backtrace 2`: Print trace of first 2 frames * `frame $n`: Select frame with number or address `$n`, omit `$n` to display current frame * `up $n`: Select frame `$n` frames up * `down $n`: Select frame `$n` frames down * `info frame $address`: Describe frame at `$address`, omit `$address` for currently selected frame * `info args`: Print arguments of selected frame * `info registers $r`: Print the value of register `$r` in selected frame, omit `$r` for all registers - * `i reg $sp`: Print the value of the stack pointer register `$sp` in the current frame + * `info registers $sp`: Print the value of the stack pointer register `$sp` in the current frame ### Controlling OpenOCD Remotely From 93e70b2699e6f17b578a3149e81a95bb48d9eb44 Mon Sep 17 00:00:00 2001 From: Yusef Karim <48184686+yusefkarim@users.noreply.github.com> Date: Thu, 3 Sep 2020 07:05:52 -0400 Subject: [PATCH 080/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/appendix/2-how-to-use-gdb/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/appendix/2-how-to-use-gdb/README.md b/src/appendix/2-how-to-use-gdb/README.md index f5c08645d..4153c6dcc 100644 --- a/src/appendix/2-how-to-use-gdb/README.md +++ b/src/appendix/2-how-to-use-gdb/README.md @@ -4,7 +4,7 @@ Below are some useful GDB commands that can help us debug our programs. This ass ## General Debugging -> **NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. Once you have experience with the commands below, try to see how short you can get the commands to go before GDB doesn't recognize it! +> **NOTE:** Many of the commands you see below can be executed using a short form. For example, `continue` can simply be used as `c`, or `break $location` can be used as `b $location`. Once you have experience with the commands below, try to see how short you can get the commands to go before GDB doesn't recognize them! ### Dealing with Breakpoints @@ -16,7 +16,7 @@ Below are some useful GDB commands that can help us debug our programs. This ass * `break main.rs:123` - Break on line 123 of the file `main.rs` * `info break`: Display current breakpoints * `delete`: Delete all breakpoints - * `delete $n`: Delete breakpoint `$n` + * `delete $n`: Delete breakpoint `$n` (`n` being a number. For example: `delete $2`) * `clear`: Delete breakpoint at next instruction * `clear main.rs:$function`: Delete breakpoint at entry of `$function` in `main.rs` * `clear main.rs:123`: Delete breakpoint on line 123 of `main.rs` From ec00a90e16f54dcc96dcfabcf9f54d8280862c4a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 5 Sep 2020 12:46:30 +0200 Subject: [PATCH 081/313] micro:bit in the introduction Replace STM32F3DISCOVERY with micro:bit in the introduction. Not quite sure whether we should keep the integer32 sponsorship after the rewrite? --- src/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/README.md b/src/README.md index 4d9e20735..3fefe7c1a 100644 --- a/src/README.md +++ b/src/README.md @@ -46,7 +46,7 @@ What's out of scope for this book: to help get your code onto your board, but not go into detail about how those tools work. Also I don't intend to port this material to other development boards; this book will make exclusive -use of the STM32F3DISCOVERY development board. +use of the micro:bit development board. ## Reporting problems From f4249c8e990942c1b130dcb1514f2db936fb5824 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 5 Sep 2020 13:56:45 +0200 Subject: [PATCH 082/313] Rewrite 02-requirements * Change the Hardware to micro:bit * Change some pictures from f3 to microbit, these ones are kinda big though, maybe we want to change them --- src/02-requirements/README.md | 91 +++++----------------------------- src/assets/f3.jpg | Bin 259494 -> 0 bytes src/assets/microbit.jpg | Bin 0 -> 905667 bytes src/assets/usb-cable.jpg | Bin 136728 -> 1370214 bytes 4 files changed, 13 insertions(+), 78 deletions(-) delete mode 100644 src/assets/f3.jpg create mode 100644 src/assets/microbit.jpg diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 565c2f636..abee52cb8 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -8,96 +8,31 @@ the fact that `extern crate` is not necessary in the 2018 edition. [2018 edition]: https://rust-lang-nursery.github.io/edition-guide/ -Due to the nature of embedded programming, it will also be extremely helpful to -understand how binary and hexadecimal representations of values work, as well -as the use of some bitwise operators. For example, it would be useful to -understand how the following program produces its output. - -```rust -fn main() { - let a = 0x4000_0000 + 0xa2; - - // Use of the bit shift "<<" operation. - let b = 1 << 5; - - // {:X} will format values as hexadecimal - println!("{:X}: {:X}", a, b); -} -``` - Also, to follow this material you'll need the following hardware: -(Some components are optional but recommended) - -- A [STM32F3DISCOVERY] board. - -[STM32F3DISCOVERY]: http://www.st.com/en/evaluation-tools/stm32f3discovery.html - -(You can purchase this board from "big" [electronics][0] [suppliers][1] or from [e-commerce][2] -[sites][3]) - -[0]: http://www.mouser.com/ProductDetail/STMicroelectronics/STM32F3DISCOVERY -[1]: http://www.digikey.com/product-detail/en/stmicroelectronics/STM32F3DISCOVERY/497-13192-ND -[2]: https://www.aliexpress.com/wholesale?SearchText=stm32f3discovery -[3]: http://www.ebay.com/sch/i.html?_nkw=stm32f3discovery - -

- -

- -- OPTIONAL. A **3.3V** USB <-> Serial module. To elaborate: if you have one of - the latest revisions of the discovery board (which is usually the case given - the first revision was released years ago) then you do *not* need this module - because the board includes this functionality on-board. If you have an older - revision of the board then you'll need this module for chapters 10 and 11. For - completeness, we'll include instructions for using a Serial module. The book - will use [this particular model][sparkfun] but you can use any other model as - long as it operates at 3.3V. The CH340G module, which you can buy - from [e-commerce][4] sites works too and it's probably cheaper for you to get. - -[sparkfun]: https://www.sparkfun.com/products/9873 -[4]: https://www.aliexpress.com/wholesale?SearchText=CH340G - -

- -

+- A [micro:bit] board. -- OPTIONAL. A HC-05 Bluetooth module (with headers!). A HC-06 would work too. +[micro:bit]: https://microbit.org/ -(As with other Chinese parts, you pretty much can only find these on [e-commerce][5] [sites][6]. -(US) Electronics suppliers don't usually stock these for some reason) +(You can purchase this board from several [electronics][0] [suppliers][1]) -[5]: http://www.ebay.com/sch/i.html?_nkw=hc-05 -[6]: https://www.aliexpress.com/wholesale?SearchText=hc-05 +[0]: https://microbit.org/buy/ +[1]: https://www.mouser.com/microbit/_/N-aez3t?P=1y8um0l

- +

-- Two mini-B USB cables. One is required to make the STM32F3DISCOVERY board work. The other is only - required if you have the Serial <-> USB module. Make sure that the cables both - support data transfer as some cables only support charging devices. +- One micro-B USB cable. One is required to make the micro:bit board work. + Make sure that the cable supports data transfer as some cables only support charging devices.

-> **NOTE** These are **not** the USB cables that ship with pretty much every Android phone; those -> are *micro* USB cables. Make sure you have the right thing! - -- MOSTLY OPTIONAL. 5 female to female, 4 male to female and 1 Male to Male *jumper* (AKA Dupont) - wires. You'll *very likely* need one female to female to get ITM working. The other wires are only - needed if you'll be using the USB <-> Serial and Bluetooth modules. - -(You can get these from electronics [suppliers][7] or from [e-commerce][8] [sites][9]) - -[7]: https://www.adafruit.com/categories/306 -[8]: http://www.ebay.com/sch/i.html?_nkw=dupont+wire -[9]: https://www.aliexpress.com/wholesale?SearchText=dupont+wire - -

- -

+> **NOTE** Some of the micro:bit kits already do ship with such cables. Furthermore lots of USB +> cables used to charge your mobile are also micro-B ones, these cables *might* however be missing +> the capability to transmit data. > **FAQ**: Wait, why do I need this specific hardware? @@ -109,10 +44,10 @@ Trust me on this one. > **FAQ**: Can I follow this material with a different development board? Maybe? It depends mainly on two things: your previous experience with microcontrollers and/or -whether there already exists a high level crate, like the [`f3`], for your development board +whether there already exists a high level crate, like the [nrf51-hal], for your development board somewhere. -[`f3`]: https://docs.rs/f3 +[nrf51-hal]: https://docs.rs/nrf51-hal With a different development board, this text would lose most if not all its beginner friendliness and "easy to follow"-ness, IMO. diff --git a/src/assets/f3.jpg b/src/assets/f3.jpg deleted file mode 100644 index 7a122aa04889095880427794827695aaa206d86f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 259494 zcmb5VWl$Wv7yrAsyK8ZW!Xm}p-F9(zcbBJ7+}+(-+}+)MaVTE2IE6xc`}@zmcjmsl z-^pZh<|OCjMP@QdKKZ-xcN-uDfcgIl_Wzi${}bH*BY1dtIJkcW4jus>9^rrb*Fr=< zK>VNazaam2h<{^Y5&m`iKVANRRey&8ILI)&u#0do)Bso<7&si5zoP&O000Ia4h9DB z{|f0}USwD}6d1t&-2WU%|5E?IUH}a2|0ae6Kt}ny1we;`0l;FzVgCzqg-50>X=e(= 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zl#+y>B`>*E=}0Kz?{Z)<7&n3MzT%o#y2cL6z2Lw=kUziNaW7<@5YYT-i=>}A8t=F) z5#u%g03Cmr)~E{AVglNQab7C5XbCa|2dypavEBtxl><`W?jL}rLO&P2+(CFEul`t; zXl>HZe=w;P0EBS)iAKUKThsML`@=`G^C3{TMsEfre6iA6u4Oyd@n3{lB;l6kWc5 zaQ3Mi{4KvQW`SaT>id9PBU7WNxPk?;udnx5=TIeY+xwNvR-dc;m14G^_}kVuB|@uj z{lj3mJe+%vAVXb8yKwRv5CS*LlVXQ&4r@#T1jT!Q&Tt8vs)zBfm@rI*Nc}6^UAG71 zP1}4u;a(@ZMs%hm{wC z!}?)f?BbAy3U(X8p&|evCE|I3MA?y0SUP{12EbqxEAnyg?gh@|ZZfj(?k^i!O+&qb zu8a{W4iIq1nFrL+#*=2hGk^gBBcF@|q)jK9w)0p5t{0<+#s@JFY6&g|;;g{Cit6LE za2lgwBEJJ8N90Zy38tp7%ao$StWD# Date: Sat, 5 Sep 2020 14:38:01 +0200 Subject: [PATCH 083/313] rewrite 03-setup * change from OpenOCD to cargo-embed * update a bunch of tooling * change to micro:bit hardware * removed the OpenOCD testing section, we probably want to write something up for cargo-embed here * Since I use gdb-multiarch instead of arm-none-eabi-gdb on Fedora (and arm-none-eabi-gdb is not available for Fedora) I changed the installation instructions, we probably want to do that for other distros as well if they behave like Fedora. --- src/03-setup/README.md | 68 ++++++++++-------------------- src/03-setup/linux.md | 85 ++++++++----------------------------- src/03-setup/macos.md | 4 +- src/03-setup/verify.md | 93 ++++------------------------------------- src/03-setup/windows.md | 27 ------------ 5 files changed, 48 insertions(+), 229 deletions(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index db1787b4e..683c9d34c 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -10,56 +10,32 @@ microcontrollers. We'll be referring to all these documents throughout this book: -*HEADS UP* All these links point to PDF files and some of them are hundreds of pages long and -several MBs in size. +- [LSM303AGR] -- [STM32F3DISCOVERY User Manual][um] -- [STM32F303VC Datasheet][ds] -- [STM32F303VC Reference Manual][rm] -- [LSM303DLHC] -- [L3GD20] - -[L3GD20]: https://www.st.com/content/ccc/resource/technical/document/application_note/2c/d9/a7/f8/43/48/48/64/DM00119036.pdf/files/DM00119036.pdf/jcr:content/translations/en.DM00119036.pdf -[LSM303DLHC]: http://www.st.com/resource/en/datasheet/lsm303dlhc.pdf -[ds]: http://www.st.com/resource/en/datasheet/stm32f303vc.pdf -[rm]: http://www.st.com/resource/en/reference_manual/dm00043574.pdf -[um]: http://www.st.com/resource/en/user_manual/dm00063382.pdf +[LSM303AGR]: https://www.st.com/resource/en/datasheet/lsm303agr.pdf ## Tools We'll use all the tools listed below. Where a minimum version is not specified, any recent version should work but we have listed the version we have tested. -- Rust 1.31 or a newer toolchain. - -- [`itmdump`] v0.3.1 (`cargo install itm`) +- Rust 1.45.2 or a newer toolchain. -- OpenOCD >=0.8. Tested versions: v0.9.0 and v0.10.0 - -- `arm-none-eabi-gdb`. Version 7.12 or newer highly recommended. Tested versions: 7.10, 7.11, - 7.12 and 8.1 +- `gdb-multiarch`. Tested version: 9.1. Other versions will most likely work as well though + If your distribution/platform does not have `gdb-multiarch` available `arm-none-eabi-gdb` + will do the trick as well. - [`cargo-binutils`]. Version 0.1.4 or newer. [`cargo-binutils`]: https://github.com/rust-embedded/cargo-binutils -- `minicom` on Linux and macOS. Tested version: 2.7. Readers report that `picocom` also works but - we'll use `minicom` in this text. - -- `PuTTY` on Windows. - -[`itmdump`]: https://crates.io/crates/itm +- [`cargo-embed`]. Version 0.9.0 or newer. -If your computer has Bluetooth functionality and you have the Bluetooth module, you can additionally -install these tools to play with the Bluetooth module. All these are optional: +[`cargo-embed`]: https://github.com/probe-rs/cargo-embed -- Linux, only if you don't have a Bluetooth manager application like Blueman. - - `bluez` - - `hcitool` - - `rfcomm` - - `rfkill` +- `minicom` on Linux and macOS. Tested version: 2.7.1. Other versions will most likely work as well though -macOS / OSX / Windows users only need the default bluetooth manager that ships with their OS. +- `PuTTY` on Windows. Next, follow OS-agnostic installation instructions for a few of the tools: @@ -73,16 +49,7 @@ newer than the one shown below: ``` console $ rustc -V -rustc 1.31.0 (abe02cefd 2018-12-04) -``` - -### `itmdump` - -``` console -$ cargo install itm --vers 0.3.1 - -$ itmdump -V -itmdump 0.3.1 +rustc 1.45.2 (d3fb005a3 2020-07-31) ``` ### `cargo-binutils` @@ -90,16 +57,25 @@ itmdump 0.3.1 ``` console $ rustup component add llvm-tools-preview -$ cargo install cargo-binutils --vers 0.3.0 +$ cargo install cargo-binutils --vers 0.3.1 $ cargo size -- -version LLVM (http://llvm.org/): - LLVM version 8.0.0svn + LLVM version 10.0.1-rust-1.45.2-stable Optimized build. Default target: x86_64-unknown-linux-gnu Host CPU: skylake ``` +### `cargo-embed` + +```console +$ cargo install cargo-embed --vers 0.9.0 + +$ cargo embed --version +cargo-embed 0.9.0 +``` + ### OS specific instructions Now follow the instructions specific to the OS you are using: diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 0c32c66d2..584655f35 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -2,11 +2,9 @@ Here are the installation commands for a few Linux distributions. -## REQUIRED packages +## Ubuntu 18.04 or newer / Debian stretch or newer -### Ubuntu 18.04 or newer / Debian stretch or newer - -> **NOTE** `gdb-multiarch` is the GDB command you'll use to debug your ARM +> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -19,12 +17,11 @@ Here are the installation commands for a few Linux distributions. ``` console $ sudo apt-get install \ - gdb-multiarch \ - minicom \ - openocd + arm-none-eabi-gdb \ + minicom ``` -### Ubuntu 14.04 and 16.04 +## Ubuntu 14.04 and 16.04 > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -36,23 +33,18 @@ $ sudo apt-get install \ ``` console $ sudo apt-get install \ gdb-arm-none-eabi \ - minicom \ - openocd + minicom ``` -### Fedora 23 or newer - -> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM -> Cortex-M programs +## Fedora 23 or newer ``` console $ sudo dnf install \ - arm-none-eabi-gdb \ - minicom \ - openocd + gdb \ + minicom ``` -### Arch Linux +## Arch Linux > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -60,11 +52,10 @@ $ sudo dnf install \ ``` console $ sudo pacman -S \ arm-none-eabi-gdb \ - minicom \ - openocd + minicom ``` -### Other distros +## Other distros > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs @@ -86,61 +77,19 @@ shell init file (e.g. `~/.zshrc` or `~/.bashrc`): PATH=$PATH:$HOME/local/gcc-arm-none-eabi-7-2017-q4-major/bin ``` -## Optional packages - -### Ubuntu / Debian - -``` console -$ sudo apt-get install \ - bluez \ - rfkill -``` - -### Fedora - -``` console -$ sudo dnf install \ - bluez \ - rfkill -``` - -### Arch Linux - -``` console -$ sudo pacman -S \ - bluez \ - bluez-utils \ - rfkill -``` - ## udev rules -These rules let you use USB devices like the F3 and the Serial module without root privilege, i.e. -`sudo`. +These rules let you use USB devices like the micro:bit without root privilege, i.e. `sudo`. -Create these two files in `/etc/udev/rules.d` with the contents shown below. +Create this file in `/etc/udev/rules.d` with the content shown below. ``` console -$ cat /etc/udev/rules.d/99-ftdi.rules +$ cat /etc/udev/rules.d/99-microbit.rules ``` ``` text -# FT232 - USB <-> Serial Converter -ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0666" -``` - -If you have a different USB <-> Serial converter, get its vendor and product ids from `lsusb` output. - -``` console -$ cat /etc/udev/rules.d/99-openocd.rules -``` - -``` text -# STM32F3DISCOVERY rev A/B - ST-LINK/V2 -ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666" - -# STM32F3DISCOVERY rev C+ - ST-LINK/V2-1 -ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="0666" +# CMSIS-DAP for microbit +SUBSYSTEM=="usb", ATTR{idVendor}=="0d28", ATTR{idProduct}=="0204", MODE:="666" ``` Then reload the udev rules with: diff --git a/src/03-setup/macos.md b/src/03-setup/macos.md index 0d0c67f3a..064f8f608 100644 --- a/src/03-setup/macos.md +++ b/src/03-setup/macos.md @@ -9,8 +9,8 @@ $ # Arm GCC toolchain $ brew tap ArmMbed/homebrew-formulae $ brew install arm-none-eabi-gcc -$ # Minicom and OpenOCD -$ brew install minicom openocd +$ # Minicom +$ brew install minicom ``` That's all! Go to the [next section]. diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 59996e065..c6f9f79ba 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -6,24 +6,23 @@ Let's verify that all the tools were installed correctly. ### Verify permissions -Connect the F3 to your computer using an USB cable. Be sure to connect the cable to the "USB ST-LINK" -port, the USB port in the center of the edge of the board. +Connect the micro:bit to your computer using an USB cable. -The F3 should now appear as a USB device (file) in `/dev/bus/usb`. Let's find out how it got +The micro:bit should now appear as a USB device (file) in `/dev/bus/usb`. Let's find out how it got enumerated: ``` console -$ lsusb | grep -i stm -Bus 003 Device 004: ID 0483:374b STMicroelectronics ST-LINK/V2.1 +$ lsusb | grep -i "NXP ARM mbed" +Bus 001 Device 065: ID 0d28:0204 NXP ARM mbed $ # ^^^ ^^^ ``` -In my case, the F3 got connected to the bus #3 and got enumerated as the device #4. This means the -file `/dev/bus/usb/003/004` *is* the F3. Let's check its permissions: +In my case, the micro:bit got connected to the bus #1 and got enumerated as the device #65. This means the +file `/dev/bus/usb/001/065` *is* the micro:bit. Let's check its permissions: ``` console $ ls -l /dev/bus/usb/003/004 -crw-rw-rw- 1 root root 189, 20 Sep 13 00:00 /dev/bus/usb/003/004 +crw-rw-rw-. 1 root root 189, 64 Sep 5 14:27 /dev/bus/usb/001/065 ``` The permissions should be `crw-rw-rw-`. If it's not ... then check your [udev @@ -34,81 +33,3 @@ rules] and try re-loading them with: ``` console $ sudo udevadm control --reload-rules ``` - -Now let's repeat the procedure for the Serial module. - -Unplug the F3 and plug the Serial module. Now, figure out what's its associated file: - -``` console -$ lsusb | grep -i ft232 -Bus 003 Device 005: ID 0403:6001 Future Technology Devices International, Ltd FT232 Serial (UART) IC -``` - -In my case, it's the `/dev/bus/usb/003/005`. Now, check its permissions: - -``` console -$ ls -l /dev/bus/usb/003/005 -crw-rw-rw- 1 root root 189, 21 Sep 13 00:00 /dev/bus/usb/003/005 -``` - -As before, the permissions should be `crw-rw-rw-`. - -## All - -### First OpenOCD connection - -First, connect the F3 to your computer using an USB cable. Connect the cable to the USB port in the -center of edge of the board, the one that's labeled "USB ST-LINK". - -Two *red* LEDs should turn on right after connecting the USB cable to the board. - -Next, run this command: - -``` console -$ # *nix -$ openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg - -$ # Windows -$ # NOTE cygwin users have reported problems with the -s flag. If you run into -$ # that you can call openocd from the `C:\OpenOCD\share\scripts` directory -$ openocd -s C:\OpenOCD\share\scripts -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg -``` - -> **NOTE** Windows users: `C:\OpenOCD` is the directory where you installed OpenOCD to. - -> **IMPORTANT** There is more than one hardware revision of the STM32F3DISCOVERY board. For older -> revisions, you'll need to change the "interface" argument to `-f interface/stlink-v2.cfg` (note: -> no `-1` at the end). Alternatively, older revisions can use `-f board/stm32f3discovery.cfg` -> instead of `-f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg`. - -You should see output like this: - -``` console -Open On-Chip Debugger 0.10.0 -Licensed under GNU GPL v2 -For bug reports, read - http://openocd.org/doc/doxygen/bugs.html -Info : auto-selecting first available session transport "hla_swd". To override use 'transport select '. -adapter speed: 1000 kHz -adapter_nsrst_delay: 100 -Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD -none separate -Info : Unable to match requested speed 1000 kHz, using 950 kHz -Info : Unable to match requested speed 1000 kHz, using 950 kHz -Info : clock speed 950 kHz -Info : STLINK v2 JTAG v27 API v2 SWIM v15 VID 0x0483 PID 0x374B -Info : using stlink api v2 -Info : Target voltage: 2.915608 -Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints -``` - -(If you don't ... then check the [general troubleshooting] instructions.) - -[general troubleshooting]: ../appendix/1-general-troubleshooting/index.html - -`openocd` will block the terminal. That's fine. - -Also, one of the red LEDs, the one closest to the USB port, should start oscillating between red -light and green light. - -That's it! It works. You can now close/kill `openocd`. diff --git a/src/03-setup/windows.md b/src/03-setup/windows.md index 4760b714c..70913c83d 100644 --- a/src/03-setup/windows.md +++ b/src/03-setup/windows.md @@ -14,37 +14,10 @@ gcc version 5.4.1 20160919 (release) (..) [gcc]: https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads -## OpenOCD - -There's no official binary release of OpenOCD for Windows but there are unofficial releases -available [here][openocd]. Grab the 0.10.x zipfile and extract it somewhere in your drive (I -recommend `C:\OpenOCD` but with the drive letter that makes sense to you) then update your `%PATH%` -environment variable to include the following path: `C:\OpenOCD\bin` (or the path that you used -before). - -[openocd]: https://github.com/xpack-dev-tools/openocd-xpack/releases - -Verify that OpenOCD is in yout `%PATH%` with: - -``` console -$ openocd -v -Open On-Chip Debugger 0.10.0 -(..) -``` - ## PuTTY Download the latest `putty.exe` from [this site] and place it somewhere in your `%PATH%`. [this site]: http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html -## ST-LINK USB driver - -You'll also need to install [this USB driver] or OpenOCD won't work. Follow the installer -instructions and make sure you install the right (32-bit or 64-bit) version of the driver. - -[this USB driver]: http://www.st.com/en/embedded-software/stsw-link009.html - -That's all! Go to the [next section]. - [next section]: verify.md From f4ebdb8a224dc29da46c68578493cf2f4e7e3c39 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 12 Sep 2020 15:23:47 +0200 Subject: [PATCH 084/313] Update linux installation instructions The majority of these commmands will presumably also work on older versions of the distros, the one I listed here are just the one I had enough only resources on or people I could ask for information on whether it works or not. --- src/03-setup/linux.md | 38 +++++++------------------------------- 1 file changed, 7 insertions(+), 31 deletions(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 584655f35..304ce2638 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -2,42 +2,19 @@ Here are the installation commands for a few Linux distributions. -## Ubuntu 18.04 or newer / Debian stretch or newer +## Ubuntu 20.04 or newer / Debian 10 or newer -> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM +> **NOTE** `gdb-multiarch` is the GDB command you'll use to debug your ARM > Cortex-M programs - - - - - - - - - ``` console $ sudo apt-get install \ - arm-none-eabi-gdb \ + gdb-multiarch \ minicom ``` -## Ubuntu 14.04 and 16.04 - -> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM +## Fedora 32 or newer +> **NOTE** `gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs - - - - - -``` console -$ sudo apt-get install \ - gdb-arm-none-eabi \ - minicom -``` - -## Fedora 23 or newer - ``` console $ sudo dnf install \ gdb \ @@ -48,7 +25,6 @@ $ sudo dnf install \ > **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM > Cortex-M programs - ``` console $ sudo pacman -S \ arm-none-eabi-gdb \ @@ -67,14 +43,14 @@ Here's one way to do it: ``` console $ mkdir -p ~/local && cd ~/local -$ tar xjf /path/to/downloaded/file/gcc-arm-none-eabi-7-2017-q4-major-linux.tar.bz2.tbz +$ tar xjf /path/to/downloaded/file/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2 ``` Then, use your editor of choice to append to your `PATH` in the appropriate shell init file (e.g. `~/.zshrc` or `~/.bashrc`): ``` -PATH=$PATH:$HOME/local/gcc-arm-none-eabi-7-2017-q4-major/bin +PATH=$PATH:$HOME/local/gcc-arm-none-eabi-9-2020-q2-update/bin ``` ## udev rules From 53fed64d6009da6de39f2662a4963feb191fbfbe Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 12 Sep 2020 15:34:18 +0200 Subject: [PATCH 085/313] Minimal rtt Hello World This little program in 03-setup will be used in order to check whether cargo-embed is working and can talk to the micro:bit normally. --- Cargo.toml | 1 + src/03-setup/.cargo/config | 8 ++++++++ src/03-setup/Cargo.toml | 11 +++++++++++ src/03-setup/Embed.toml | 12 ++++++++++++ src/03-setup/build.rs | 31 +++++++++++++++++++++++++++++++ src/03-setup/memory.x | 6 ++++++ src/03-setup/src/main.rs | 14 ++++++++++++++ 7 files changed, 83 insertions(+) create mode 100644 src/03-setup/.cargo/config create mode 100644 src/03-setup/Cargo.toml create mode 100644 src/03-setup/Embed.toml create mode 100644 src/03-setup/build.rs create mode 100644 src/03-setup/memory.x create mode 100644 src/03-setup/src/main.rs diff --git a/Cargo.toml b/Cargo.toml index 2200484a0..c66b88c89 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,5 +1,6 @@ [workspace] members = [ + "src/03-setup", "src/05-led-roulette", "src/06-hello-world", "src/07-registers", diff --git a/src/03-setup/.cargo/config b/src/03-setup/.cargo/config new file mode 100644 index 000000000..1a25b1696 --- /dev/null +++ b/src/03-setup/.cargo/config @@ -0,0 +1,8 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +rustflags = [ + "-C", "link-arg=-Tlink.x", +] + +[build] +target = "thumbv6m-none-eabi" + diff --git a/src/03-setup/Cargo.toml b/src/03-setup/Cargo.toml new file mode 100644 index 000000000..e16d2ad78 --- /dev/null +++ b/src/03-setup/Cargo.toml @@ -0,0 +1,11 @@ +[package] +name = "rtt-check" +version = "0.1.0" +authors = ["Henrik Böving "] +edition = "2018" + +[dependencies] +cortex-m = "0.6.0" +cortex-m-rt = "0.6.10" +panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +rtt-target = { version = "0.2.2", features = ["cortex-m"] } diff --git a/src/03-setup/Embed.toml b/src/03-setup/Embed.toml new file mode 100644 index 000000000..d96946623 --- /dev/null +++ b/src/03-setup/Embed.toml @@ -0,0 +1,12 @@ +[default.probe] +protocol = "Swd" + +[default.general] +chip = "nrf51822" + +[default.rtt] +enabled = true + +[default.gdb] +enabled = false + diff --git a/src/03-setup/build.rs b/src/03-setup/build.rs new file mode 100644 index 000000000..d534cc3df --- /dev/null +++ b/src/03-setup/build.rs @@ -0,0 +1,31 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory -- wherever `Cargo.toml` is. However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! updating `memory.x` ensures a rebuild of the application with the +//! new memory settings. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/src/03-setup/memory.x b/src/03-setup/memory.x new file mode 100644 index 000000000..9e2ab65f6 --- /dev/null +++ b/src/03-setup/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE K = KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x00000000, LENGTH = 256K + RAM : ORIGIN = 0x20000000, LENGTH = 16K +} diff --git a/src/03-setup/src/main.rs b/src/03-setup/src/main.rs new file mode 100644 index 000000000..981cc40d6 --- /dev/null +++ b/src/03-setup/src/main.rs @@ -0,0 +1,14 @@ +#![no_std] +#![no_main] + +use panic_rtt_target as _; +use rtt_target::{rtt_init_print, rprintln}; + +use cortex_m_rt::entry; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + rprintln!("Hello World"); + loop {} +} From 004a4fbe0bacc36af8449d1e82d4045bd9254ede Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 12 Sep 2020 15:48:35 +0200 Subject: [PATCH 086/313] add a verify cargo-embed section --- src/03-setup/README.md | 2 +- src/03-setup/verify.md | 28 ++++++++++++++++++++++++++++ 2 files changed, 29 insertions(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 683c9d34c..260efe68a 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -72,7 +72,7 @@ LLVM (http://llvm.org/): ```console $ cargo install cargo-embed --vers 0.9.0 -$ cargo embed --version +$ cargo-embed --version cargo-embed 0.9.0 ``` diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index c6f9f79ba..5506973f1 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -33,3 +33,31 @@ rules] and try re-loading them with: ``` console $ sudo udevadm control --reload-rules ``` + +# All + +## Verifying cargo-embed +First, connect the micro:bit to your Computer using an USB cable. + +At least an orange LED right next to the USB port of the micro:bit should light up. +Furthermore, if you have never flashed another program on to your micro:bit, the default +program the micro:bit ships with should start blinking the red LEDs on its back, you +can ignore them. + +Next run this command: + +``` +$ # make sure you are in src/03-setup +$ cargo-embed +``` + +If everything works correctly cargo-embed should first compile the small example program +in this directory, then flash it and finally open a nice text based user interface that +prints Hello World. + +(If you don't check out [general troubleshooting] instructions.) + +[general troubleshooting]: ../appendix/1-general-troubleshooting/index.html + +This output is coming from a small Rust program you just flashed on to your micro:bit +so everything is working properly and you can continue with the next chapters. From 9f97d0919a168f1892bf44aa223d314466465a10 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 12 Sep 2020 15:58:47 +0200 Subject: [PATCH 087/313] Add instructions on obtaining the book The small cargo projects inside the various chapters are referred to quite a lot but its actually explained nowhere how to obtain the books source code, change that. --- src/03-setup/README.md | 10 ++++++++++ src/03-setup/verify.md | 2 +- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 260efe68a..cf65560b6 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -76,6 +76,16 @@ $ cargo-embed --version cargo-embed 0.9.0 ``` +### This repository + +Since this book also contains some small Rust code bases used in various chapters +you will also have to download this books source code, you can do this in one of the following ways: + +* Visit the [repository](https://github.com/rust-embedded/discovery/), click the green Code button and then the + Download Zip one +* Clone it using git (if you know git you presumably already have it installed) from the same repository as linked in + the zip approach + ### OS specific instructions Now follow the instructions specific to the OS you are using: diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 5506973f1..301039189 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -47,7 +47,7 @@ can ignore them. Next run this command: ``` -$ # make sure you are in src/03-setup +$ # make sure you are in src/03-setup of the books source code $ cargo-embed ``` From 4d7f4271d9dbdebea133076610f8cc9f375bddf2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Tue, 15 Sep 2020 21:14:26 +0200 Subject: [PATCH 088/313] Add a bunch of nit picks from code review Co-authored-by: MichiRecRoom <1008889+LikeLakers2@users.noreply.github.com> Co-authored-by: Diego Barrios Romero --- src/02-requirements/README.md | 6 +++--- src/03-setup/README.md | 6 +++--- src/03-setup/build.rs | 5 ++--- src/03-setup/verify.md | 6 +++--- 4 files changed, 11 insertions(+), 12 deletions(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index abee52cb8..0854dd4ca 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -23,11 +23,11 @@ Also, to follow this material you'll need the following hardware:

    -- One micro-B USB cable. One is required to make the micro:bit board work. +- One micro-B USB cable, required to make the micro:bit board work. Make sure that the cable supports data transfer as some cables only support charging devices.

    - +

    > **NOTE** Some of the micro:bit kits already do ship with such cables. Furthermore lots of USB @@ -44,7 +44,7 @@ Trust me on this one. > **FAQ**: Can I follow this material with a different development board? Maybe? It depends mainly on two things: your previous experience with microcontrollers and/or -whether there already exists a high level crate, like the [nrf51-hal], for your development board +whether a high level crate already exists, like the [nrf51-hal], for your development board somewhere. [nrf51-hal]: https://docs.rs/nrf51-hal diff --git a/src/03-setup/README.md b/src/03-setup/README.md index cf65560b6..9f8840107 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -79,10 +79,10 @@ cargo-embed 0.9.0 ### This repository Since this book also contains some small Rust code bases used in various chapters -you will also have to download this books source code, you can do this in one of the following ways: +you will also have to download its the source code. You can do this in one of the following ways: -* Visit the [repository](https://github.com/rust-embedded/discovery/), click the green Code button and then the - Download Zip one +* Visit the [repository](https://github.com/rust-embedded/discovery/), click the green "Code" button and then the + "Download Zip" one * Clone it using git (if you know git you presumably already have it installed) from the same repository as linked in the zip approach diff --git a/src/03-setup/build.rs b/src/03-setup/build.rs index d534cc3df..c8d8c9141 100644 --- a/src/03-setup/build.rs +++ b/src/03-setup/build.rs @@ -1,12 +1,11 @@ //! This build script copies the `memory.x` file from the crate root into //! a directory where the linker can always find it at build time. //! For many projects this is optional, as the linker always searches the -//! project root directory -- wherever `Cargo.toml` is. However, if you +//! project root directory (wherever `Cargo.toml` is). However, if you //! are using a workspace or have a more complicated build setup, this //! build script becomes required. Additionally, by requesting that //! Cargo re-run the build script whenever `memory.x` is changed, -//! updating `memory.x` ensures a rebuild of the application with the -//! new memory settings. +//! a rebuild of the application with new memory settings is ensured after updating `memory.x`. use std::env; use std::fs::File; diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 301039189..596390d0b 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -55,9 +55,9 @@ If everything works correctly cargo-embed should first compile the small example in this directory, then flash it and finally open a nice text based user interface that prints Hello World. -(If you don't check out [general troubleshooting] instructions.) +(If it does not, check out [general troubleshooting] instructions.) [general troubleshooting]: ../appendix/1-general-troubleshooting/index.html -This output is coming from a small Rust program you just flashed on to your micro:bit -so everything is working properly and you can continue with the next chapters. +This output is coming from the small Rust program you just flashed on to your micro:bit. +Everything is working properly and you can continue with the next chapters! From e864d28384a7ce979b42a30ced462541004fc18e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Tue, 15 Sep 2020 21:17:11 +0200 Subject: [PATCH 089/313] add one more nitpick --- src/02-requirements/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 0854dd4ca..f64f8cd65 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -30,9 +30,9 @@ Also, to follow this material you'll need the following hardware:

    -> **NOTE** Some of the micro:bit kits already do ship with such cables. Furthermore lots of USB -> cables used to charge your mobile are also micro-B ones, these cables *might* however be missing -> the capability to transmit data. +> **NOTE** You may already have a cable like this, as some micro:bit kits ship with such cables. +> Some USB cables used to charge mobile devices may also work, if they are micro-B and have the +> capability to transmit data. > **FAQ**: Wait, why do I need this specific hardware? 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    - +

    -We'll refer to this board as "F3" throughout this book. Here are some of the -many components on the board: +Here are some of the many components on the board: - A [microcontroller]. -- A number of LEDs, including the eight aligned in a "compass" formation. -- Two buttons. -- Two USB ports. -- An [accelerometer]. -- A [magnetometer]. -- A [gyroscope]. +- A number of LEDs, most notably the LED matrix on the back +- Two user buttons as well as a reset button (the one next to the USB port). +- One USB port. +- A sensor that is both a [magnetometer] and an [accelerometer] [microcontroller]: https://en.wikipedia.org/wiki/Microcontroller [accelerometer]: https://en.wikipedia.org/wiki/Accelerometer @@ -25,17 +22,17 @@ many components on the board: [gyroscope]: https://en.wikipedia.org/wiki/Gyroscope Of these components, the most important is the microcontroller (sometimes -shortened to "MCU" for "microcontroller unit"), which is the large black square -sitting in the center of your board. The MCU is what runs your code. You might -sometimes read about "programming a board", when in reality what we are doing -is programming the MCU that is installed on the board. +shortened to "MCU" for "microcontroller unit"), which is the bigger of the two +black squares sitting on the side of the board with the USB port. The MCU is +what runs your code. You might sometimes read about "programming a board", when +in reality what we are doing is programming the MCU that is installed on the board. -## STM32F303VCT6 (the "STM32F3") +## Nordic nRF51822 (the "nRF51") Since the MCU is so important, let's take a closer look at the one sitting on our board. -Our MCU is surrounded by 100 tiny metal **pins**. These pins are connected to -**traces**, the little "roads" that act as the wires connecting components +Our MCU has 48 tiny metal **pins** sitting right underneath it (it's a so called [QFN48] chip). +These pins are connected to **traces**, the little "roads" that act as the wires connecting components together on the board. The MCU can dynamically alter the electrical properties of the pins. This works similar to a light switch altering how electrical current flows through a circuit. By enabling or disabling electrical current to @@ -44,68 +41,57 @@ be turned on and off. Each manufacturer uses a different part numbering scheme, but many will allow you to determine information about a component simply by looking at the part -number. Looking at our MCU's part number (`STM32F303VCT6`), the `ST` at the -front hints to us that this is a part manufactured by [ST Microelectronics]. -Searching through [ST's marketing materials] we can also learn the following: - -[ST Microelectronics]: https://st.com/ -[ST's marketing materials]: https://www.st.com/en/microcontrollers-microprocessors/stm32-mainstream-mcus.html - -- The `M32` represents that this is an Arm®-based 32-bit microcontroller. -- The `F3` represents that the MCU is from ST's "STM32F3" series. This is a - series of MCUs based on the Cortex®-M4 processor design. -- The remainder of the part number goes into more details about things like - extra features and RAM size, which at this point we're less concerned about. - -> ### Arm? Cortex-M4? -> -> If our chip is manufactured by ST, then who is Arm? And if our chip is the -> STM32F3, what is the Cortex-M4? -> -> You might be surprised to hear that while "Arm-based" chips are quite -> popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't -> actually manufacture chips for purchase. Instead, their primary business -> model is to just *design* parts of chips. They will then license those designs to -> manufacturers, who will in turn implement the designs (perhaps with some of -> their own tweaks) in the form of physical hardware that can then be sold. -> Arm's strategy here is different from companies like Intel, which both -> designs *and* manufactures their chips. -> -> Arm licenses a bunch of different designs. Their "Cortex-M" family of designs -> are mainly used as the core in microcontrollers. For example, the Cortex-M0 -> is designed for low cost and low power usage. The Cortex-M7 is higher cost, -> but with more features and performance. The core of our STM32F3 is based on -> the Cortex-M4, which is in the middle: more features and performance than the -> Cortex-M0, but less expensive than the Cortex-M7. -> -> Luckily, you don't need to know too much about different types of processors -> or Cortex designs for the sake of this book. However, you are hopefully now a -> bit more knowledgeable about the terminology of your device. While you are -> working specifically with an STM32F3, you might find yourself reading -> documentation and using tools for Cortex-M-based chips, as the STM32F3 is -> based on a Cortex-M design. +number. Looking at our MCU's part number (`nRF51822-QFAA-R`, you probably cannot +see it with your bare eye, but it is on the chip), the `n` at the +front hints to us that this is a part manufactured by [Nordic Semiconductor]. +Looking up the part number on their website we quickly find the [product page]. +There we learn that our chip's main marketing point is that it is a +"Bluetooth Low Energy and 2.4 GHz SoC" (SoC being short for System on a Chip), +which explains the RF in the product name since RF is short for radio frequency. +If we search through the documentation of the chip linked on the [product page] +for a bit we find the [product specification] which has chapter 10 Ordering Infomration +dedicated to explaining the weird chip naming, here we learn that: + +[QFN48]: https://en.wikipedia.org/wiki/Flat_no-leads_package +[Nordic Semiconductor]: https://www.nordicsemi.com/ +[product page]: https://www.nordicsemi.com/Products/Low-power-short-range-wireless/nRF51822 +[product specification]: https://infocenter.nordicsemi.com/pdf/nRF51822_PS_v3.3.pdf + +- The `nRF51` is the MCU's series, indicating that there are other `nRF51` MCUs +- The `822` is the part code +- The `QF` is short for `QFN48` +- The `AA` is the variant code, indicating how much RAM and flash memory the MCU has, + in our case 256 kilobyte flash and 16 kilobyte RAM +- The `R` is the packaging code which is relevant for factories manufacturing boards + with this chip on them in larger scales + +The product specification does of course contain a lot more useful information about +the chip, for example that it is based on an ARM® Cortex™-M0 32 bit processor. + +### Arm? Cortex-M0? + +If our chip is manufactured by Nordic, then who is Arm? And if our chip is the +nRF51822, what is the Cortex-M0? + +You might be surprised to hear that while "Arm-based" chips are quite +popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't +actually manufacture chips for purchase. Instead, their primary business +model is to just *design* parts of chips. They will then license those designs to +manufacturers, who will in turn implement the designs (perhaps with some of +their own tweaks) in the form of physical hardware that can then be sold. +Arm's strategy here is different from companies like Intel, which both +designs *and* manufactures their chips. + +Arm licenses a bunch of different designs. Their "Cortex-M" family of designs +are mainly used as the core in microcontrollers. For example, the Cortex-M0 +(the core our chip is based on) is designed for low cost and low power usage. +The Cortex-M7 is higher cost, but with more features and performance. + +Luckily, you don't need to know too much about different types of processors +or Cortex designs for the sake of this book. However, you are hopefully now a +bit more knowledgeable about the terminology of your device. While you are +working specifically with an nRF51822, you might find yourself reading +documentation and using tools for Cortex-M-based chips, as the nRF51822 is +based on a Cortex-M design. [Arm Holdings]: https://www.arm.com/ - -## The Serial module - -

    - -

    - -If you have an older revision of the discovery board, you can use this module to -exchange data between the microcontroller in the F3 and your computer. This module -will be connected to your computer using an USB cable. I won't say more at this -point. - -If you have a newer release of the board then you don't need this module. The -ST-LINK will double as a USB<->serial converter connected to the microcontroller USART1 at pins PC4 and PC5. - -## The Bluetooth module - -

    - -

    - -This module has the exact same purpose as the serial module but it sends the data over Bluetooth -instead of over USB. From 8f2a63ebc716d44e25e29fd9555cb7094bcdb336 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 19 Sep 2020 14:40:01 +0200 Subject: [PATCH 093/313] rewrite 05-led-roulette README left a TODO at the f3 picture since I need to replace it later on with another GIF of the micro:bit doing this --- src/05-led-roulette/.cargo/config | 6 ++++-- src/05-led-roulette/Cargo.toml | 9 ++++++--- src/05-led-roulette/Embed.toml | 9 +++++++++ src/05-led-roulette/README.md | 19 ++++++++++++++----- src/05-led-roulette/build.rs | 30 ++++++++++++++++++++++++++++++ src/05-led-roulette/memory.x | 6 ++++++ src/05-led-roulette/src/main.rs | 4 +++- 7 files changed, 72 insertions(+), 11 deletions(-) create mode 100644 src/05-led-roulette/Embed.toml create mode 100644 src/05-led-roulette/build.rs create mode 100644 src/05-led-roulette/memory.x diff --git a/src/05-led-roulette/.cargo/config b/src/05-led-roulette/.cargo/config index 01d25c8b3..a0ec1777f 100644 --- a/src/05-led-roulette/.cargo/config +++ b/src/05-led-roulette/.cargo/config @@ -1,5 +1,7 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q" +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] rustflags = [ "-C", "link-arg=-Tlink.x", ] + +[build] +target = "thumbv6m-none-eabi" diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index 43ac7579f..c785c2d4d 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -1,8 +1,11 @@ [package] -authors = ["Jorge Aparicio "] -edition = "2018" name = "led-roulette" version = "0.1.0" +authors = ["Henrik Böving "] +edition = "2018" [dependencies] -aux5 = { path = "auxiliary" } +cortex-m = "0.6.0" +cortex-m-rt = "0.6.10" +panic-halt = "0.2.0" +nrf51-hal = "0.11.0" diff --git a/src/05-led-roulette/Embed.toml b/src/05-led-roulette/Embed.toml new file mode 100644 index 000000000..1e10d5514 --- /dev/null +++ b/src/05-led-roulette/Embed.toml @@ -0,0 +1,9 @@ +[default.general] +chip = "nrf51822" + +[default.rtt] +enabled = false + +[default.gdb] +enabled = true + diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 1f5ccdd56..99f4acf5e 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -2,6 +2,7 @@ Alright, let's start by building the following application: +# TODO REPLACE THIS

    @@ -10,15 +11,10 @@ I'm going to give you a high level API to implement this app but don't worry we' stuff later on. The main goal of this chapter is to get familiar with the *flashing* and debugging process. -Throughout this text we'll be using the starter code that's in the [discovery] repository. Make sure -you always have the latest version of the master branch because this website tracks that branch. - The starter code is in the `src` directory of that repository. Inside that directory there are more directories named after each chapter of this book. Most of those directories are starter Cargo projects. -[discovery]: https://github.com/rust-embedded/discovery - Now, jump into the `src/05-led-roulette` directory. Check the `src/main.rs` file: ``` rust @@ -46,4 +42,17 @@ as well. This directory contains a Cargo configuration file (`.cargo/config`) th linking process to tailor the memory layout of the program to the requirements of the target device. This modified linking process is a requirement of the `cortex-m-rt` crate. +Furthermore there is also an `Embed.toml` file + +```toml +{{#include Embed.toml}} +``` + +This file tells `cargo-embed` that: + +* we are working with a nrf51822, +* we want to disable RTT, RTT being a protocol that allows the chip to send text to a debugger. + You have in fact already seen RTT in action, it was the protocol that sent "Hello World" in chapter 3. +* we want to enable GDB, this will be required for the debugging procedure + Alright, let's start by building this program. diff --git a/src/05-led-roulette/build.rs b/src/05-led-roulette/build.rs new file mode 100644 index 000000000..c8d8c9141 --- /dev/null +++ b/src/05-led-roulette/build.rs @@ -0,0 +1,30 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory (wherever `Cargo.toml` is). However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! a rebuild of the application with new memory settings is ensured after updating `memory.x`. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/src/05-led-roulette/memory.x b/src/05-led-roulette/memory.x new file mode 100644 index 000000000..9e2ab65f6 --- /dev/null +++ b/src/05-led-roulette/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE K = KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x00000000, LENGTH = 256K + RAM : ORIGIN = 0x20000000, LENGTH = 16K +} diff --git a/src/05-led-roulette/src/main.rs b/src/05-led-roulette/src/main.rs index 26e449962..9380a52ba 100644 --- a/src/05-led-roulette/src/main.rs +++ b/src/05-led-roulette/src/main.rs @@ -2,7 +2,9 @@ #![no_main] #![no_std] -use aux5::entry; +use cortex_m_rt::entry; +use panic_halt as _; +use nrf51_hal as _; #[entry] fn main() -> ! { From 1a177377cf53c522e0ec8b3ada78476802f5316c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 19 Sep 2020 14:51:54 +0200 Subject: [PATCH 094/313] rewrite 05-led-roulette build-it --- src/05-led-roulette/build-it.md | 55 ++++++++++++++++++--------------- 1 file changed, 30 insertions(+), 25 deletions(-) diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 420cf524b..cb9414abe 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -5,7 +5,7 @@ architecture than your computer we'll have to cross compile. Cross compiling in as passing an extra `--target` flag to `rustc`or Cargo. The complicated part is figuring out the argument of that flag: the *name* of the target. -The microcontroller in the F3 has a Cortex-M4F processor in it. `rustc` knows how to cross compile +The microcontroller in the micro:bit has a Cortex-M0 processor in it. `rustc` knows how to cross compile to the Cortex-M architecture and provides 4 different targets that cover the different processor families within that architecture: @@ -14,12 +14,12 @@ families within that architecture: - `thumbv7em-none-eabi`, for the Cortex-M4 and Cortex-M7 processors - `thumbv7em-none-eabihf`, for the Cortex-M4**F** and Cortex-M7**F** processors -For the F3, we'll use the `thumbv7em-none-eabihf` target. Before cross compiling you have to +For the micro:bit, we'll use the `thumbv6m-none-eabi` target. Before cross compiling you have to download pre-compiled version of the standard library (a reduced version of it actually) for your target. That's done using `rustup`: ``` console -$ rustup target add thumbv7em-none-eabihf +$ rustup target add thumbv6m-none-eabi ``` You only need to do the above step once; `rustup` will re-install a new standard library @@ -30,48 +30,53 @@ With the `rust-std` component in place you can now cross compile the program usi ``` console $ # make sure you are in the `src/05-led-roulette` directory -$ cargo build --target thumbv7em-none-eabihf +$ cargo build --target thumbv6m-none-eabi Compiling semver-parser v0.7.0 - Compiling aligned v0.1.1 - Compiling libc v0.2.35 - Compiling bare-metal v0.1.1 - Compiling cast v0.2.2 - Compiling cortex-m v0.4.3 - (..) - Compiling stm32f30x v0.6.0 - Compiling stm32f30x-hal v0.1.2 - Compiling aux5 v0.1.0 (file://$PWD/aux) - Compiling led-roulette v0.1.0 (file://$PWD) - Finished dev [unoptimized + debuginfo] target(s) in 35.84 secs + Compiling typenum v1.12.0 + Compiling proc-macro2 v1.0.19 + Compiling unicode-xid v0.2.1 + Compiling cortex-m v0.6.3 + (...) + Compiling as-slice v0.1.3 + Compiling aligned v0.3.4 + Compiling cortex-m-rt-macros v0.1.8 + Compiling nrf-hal-common v0.11.1 + Finished dev [unoptimized + debuginfo] target(s) in 18.69s ``` -> **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml file and build command above will ensure optimizations are off. +> **NOTE** Be sure to compile this crate *without* optimizations. -OK, now we have produced an executable. This executable won't blink any leds, it's just a simplified version that we will build upon later in the chapter. As a sanity check, let's verify that the produced executable is actually an ARM binary: +> **NOTE** If you have looked into `.cargo/config` you will have noticed that the target + is actually always set to "thumbv6m-none-eabi" so the --target flag to `cargo` can in + fact be omitted here. + +OK, now we have produced an executable. This executable won't blink any leds, +it's just a simplified version that we will build upon later in the chapter. +As a sanity check, let's verify that the produced executable is actually an ARM binary: ``` console -$ # equivalent to `readelf -h target/thumbv7em-none-eabihf/debug/led-roulette` -$ cargo readobj --target thumbv7em-none-eabihf --bin led-roulette -- -file-headers +$ # equivalent to `readelf -h target/thumbv6m-none-eabi/debug/led-roulette` + cargo readobj --target thumbv6m-none-eabi --bin led-roulette -- -file-headers ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 Class: ELF32 Data: 2's complement, little endian Version: 1 (current) OS/ABI: UNIX - System V - ABI Version: 0x0 + ABI Version: 0 Type: EXEC (Executable file) Machine: ARM Version: 0x1 - Entry point address: 0x8000197 + Entry point address: 0xC1 Start of program headers: 52 (bytes into file) - Start of section headers: 740788 (bytes into file) - Flags: 0x5000400 + Start of section headers: 599484 (bytes into file) + Flags: 0x5000200 Size of this header: 52 (bytes) Size of program headers: 32 (bytes) Number of program headers: 2 Size of section headers: 40 (bytes) - Number of section headers: 20 - Section header string table index: 18 + Number of section headers: 22 + Section header string table index: 20 ``` Next, we'll flash the program into our microcontroller. From 9d1234465f0443ff4ffd5117bbcde703af7c46c0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 19 Sep 2020 15:19:21 +0200 Subject: [PATCH 095/313] rewrite 05-led-roulette flash-it --- src/05-led-roulette/flash-it.md | 165 +++++--------------------------- 1 file changed, 26 insertions(+), 139 deletions(-) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 54c50b98e..ee28c01e3 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -7,150 +7,37 @@ In this case, our `led-roulette` program will be the *only* program in the micro By this I mean that there's nothing else running on the microcontroller: no OS, no "daemon", nothing. `led-roulette` has full control over the device. -Onto the actual flashing. First thing we need is to do is launch OpenOCD. We did that in the -previous section but this time we'll run the command inside a temporary directory (`/tmp` on \*nix; -`%TEMP%` on Windows). +Flashing the binary itself is quite simple thanks to `cargo-embed`, you only have to type `cargo-embed`. -Make sure the F3 is connected to your computer and run the following commands on a new terminal. +Before executing that command though, lets look into what it actually does. If you look at the side of your micro:bit +with the USB connector facing upwards you will notice, that there are actually 2 black squares on there, one is our MCU +we already talked about but what purpose does the other one server? The other chip has 3 main purposes: -``` console -$ # *nix -$ cd /tmp +1. Provide power from the USB connector to our MCU +2. Provide a serial to USB bridge for our MCU (we will look into that in a later chapter) +3. Being a programmer/debugger (this is the relevant purpose for now) -$ # Windows -$ cd %TEMP% +Basically this chip acts as a bridge between our computer (to which it is connected via USB) and the MCU (to which it is +connected via traces and communicates with using the SWD protocol), this bridge enables us to flash new binaries on to +the MCU, inspect the state of the MCU via a debugger and other things. -$ # Windows: remember that you need an extra `-s %PATH_TO_OPENOCD%\share\scripts` -$ openocd \ - -f interface/stlink-v2-1.cfg \ - -f target/stm32f3x.cfg -``` - -> **NOTE** Older revisions of the board need to pass slightly different arguments to -> `openocd`. Review [this section] for the details. - -[this section]: ../03-setup/verify.md#first-openocd-connection - -The program will block; leave that terminal open. - -Now it's a good time to explain what this command is actually doing. - -I mentioned that the F3 actually has two microcontrollers. One of them is used as a -programmer/debugger. The part of the board that's used as a programmer is called ST-LINK (that's what -STMicroelectronics decided to call it). This ST-LINK is connected to the target microcontroller -using a Serial Wire Debug (SWD) interface (this interface is an ARM standard so you'll run into it -when dealing with other Cortex-M based microcontrollers). This SWD interface can be used to flash -and debug a microcontroller. The ST-LINK is connected to the "USB ST-LINK" port and will appear as -a USB device when you connect the F3 to your computer. - -

    - -

    - - -As for OpenOCD, it's software that provides some services like a *GDB server* on top of USB -devices that expose a debugging protocol like SWD or JTAG. +So lets flash it! -Onto the actual command: those `.cfg` files we are using instruct OpenOCD to look for a ST-LINK USB -device (`interface/stlink-v2-1.cfg`) and to expect a STM32F3XX microcontroller -(`target/stm32f3x.cfg`) to be connected to the ST-LINK. - -The OpenOCD output looks like this: - -``` console -Open On-Chip Debugger 0.9.0 (2016-04-27-23:18) -Licensed under GNU GPL v2 -For bug reports, read - http://openocd.org/doc/doxygen/bugs.html -Info : auto-selecting first available session transport "hla_swd". To override use 'transport select '. -adapter speed: 1000 kHz -adapter_nsrst_delay: 100 -Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD -none separate -Info : Unable to match requested speed 1000 kHz, using 950 kHz -Info : Unable to match requested speed 1000 kHz, using 950 kHz -Info : clock speed 950 kHz -Info : STLINK v2 JTAG v27 API v2 SWIM v15 VID 0x0483 PID 0x374B -Info : using stlink api v2 -Info : Target voltage: 2.919073 -Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints -``` - -The "6 breakpoints, 4 watchpoints" part indicates the debugging features the processor has -available. - -Leave that `openocd` process running, and open a new terminal. Make sure that you are inside the project's `src/05-led-roulette/` directory. - -I mentioned that OpenOCD provides a GDB server so let's connect to that right now: - -``` console -$ -q target/thumbv7em-none-eabihf/debug/led-roulette -Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette...done. -(gdb) +```console +$ cargo-embed + (...) + WARN probe_rs::config::registry > Found chip nRF51822_xxAA which matches given partial name nrf51822. Consider specifying its full name. + WARN probe_rs::config::registry > Found chip nRF51822_xxAB which matches given partial name nrf51822. Consider specifying its full name. + WARN probe_rs::config::registry > Found chip nRF51822_xxAC which matches given partial name nrf51822. Consider specifying its full name. + Erasing sectors ✔ [00:00:00] [##################################################################################################################################################################] 2.00KB/ 2.00KB @ 4.57KB/s (eta 0s ) + Programming pages ✔ [00:00:00] [##################################################################################################################################################################] 2.00KB/ 2.00KB @ 1.93KB/s (eta 0s ) + Finished flashing in 0.764s +Firing up GDB stub at localhost:1337. +GDB stub listening on localhost:1337 ``` -**NOTE**: `` represents a GDB program capable of debugging ARM binaries. -This could be `arm-none-eabi-gdb`, `gdb-multiarch` or `gdb` depending on your -system -- you may have to try all three. - -This only opens a GDB shell. To actually connect to the OpenOCD GDB server, use the following -command within the GDB shell: - -``` -(gdb) target remote :3333 -Remote debugging using :3333 -0x00000000 in ?? () -``` - -**NOTE**: If you are getting errors like `undefined debug reason 7 - target needs reset`, you can try running `monitor reset halt` as described [here](https://stackoverflow.com/questions/38994596/reason-7-target-needs-reset-unreliable-debugging-setup). - -**NOTE**: If the debugger is still not connecting to the OpenOCD server, then you may need to try using `arm-none-eabi-gdb` instead of the `gdb` command, as described above. - -By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to -that port. - -After entering this command, you'll see new output in the OpenOCD terminal: - -``` diff - Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints -+Info : accepting 'gdb' connection on tcp/3333 -+Info : device id = 0x10036422 -+Info : flash size = 256kbytes -``` - -Almost there. To flash the device, we'll use the `load` command inside the GDB shell: - -``` -(gdb) load -Loading section .vector_table, size 0x188 lma 0x8000000 -Loading section .text, size 0x38a lma 0x8000188 -Loading section .rodata, size 0x8 lma 0x8000514 -Start address 0x8000188, load size 1306 -Transfer rate: 6 KB/sec, 435 bytes/write. -``` - -And that's it. You'll also see new output in the OpenOCD terminal. - -``` diff - Info : flash size = 256kbytes -+Info : Unable to match requested speed 1000 kHz, using 950 kHz -+Info : Unable to match requested speed 1000 kHz, using 950 kHz -+adapter speed: 950 kHz -+target state: halted -+target halted due to debug-request, current mode: Thread -+xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 -+Info : Unable to match requested speed 8000 kHz, using 4000 kHz -+Info : Unable to match requested speed 8000 kHz, using 4000 kHz -+adapter speed: 4000 kHz -+target state: halted -+target halted due to breakpoint, current mode: Thread -+xPSR: 0x61000000 pc: 0x2000003a msp: 0x2000a000 -+Info : Unable to match requested speed 1000 kHz, using 950 kHz -+Info : Unable to match requested speed 1000 kHz, using 950 kHz -+adapter speed: 950 kHz -+target state: halted -+target halted due to debug-request, current mode: Thread -+xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 -``` +> **NOTE**: The warnings it printed are irrelevant for us, it is just warning us that there are several nRF51822 variants and we +> might not have picked the right one (which we obviously did though, as the flashing succeeded). -Our program is loaded, let's debug it! +You will notice that `cargo-embed` blocks after outputting the last line, this is inteded and you should not close it +since we need it in this state for the next step, debugging it! From bf34c43323043a19574b2911fbfbe9897e7249a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 24 Sep 2020 12:12:31 +0200 Subject: [PATCH 096/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/04-meet-your-hardware/README.md | 6 +++--- src/05-led-roulette/Embed.toml | 3 +-- src/05-led-roulette/flash-it.md | 15 +++++---------- 3 files changed, 9 insertions(+), 15 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 6b8d9c9bb..85d298671 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -46,11 +46,11 @@ see it with your bare eye, but it is on the chip), the `n` at the front hints to us that this is a part manufactured by [Nordic Semiconductor]. Looking up the part number on their website we quickly find the [product page]. There we learn that our chip's main marketing point is that it is a -"Bluetooth Low Energy and 2.4 GHz SoC" (SoC being short for System on a Chip), +"Bluetooth Low Energy and 2.4 GHz SoC" (SoC being short for "System on a Chip"), which explains the RF in the product name since RF is short for radio frequency. If we search through the documentation of the chip linked on the [product page] -for a bit we find the [product specification] which has chapter 10 Ordering Infomration -dedicated to explaining the weird chip naming, here we learn that: +for a bit we find the [product specification] which contains chapter 10 "Ordering Information" +dedicated to explaining the weird chip naming. Here we learn that: [QFN48]: https://en.wikipedia.org/wiki/Flat_no-leads_package [Nordic Semiconductor]: https://www.nordicsemi.com/ diff --git a/src/05-led-roulette/Embed.toml b/src/05-led-roulette/Embed.toml index 1e10d5514..02b954194 100644 --- a/src/05-led-roulette/Embed.toml +++ b/src/05-led-roulette/Embed.toml @@ -1,9 +1,8 @@ [default.general] -chip = "nrf51822" +chip = "nrf51822_xxAA" [default.rtt] enabled = false [default.gdb] enabled = true - diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index ee28c01e3..2ea7da03b 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -7,28 +7,25 @@ In this case, our `led-roulette` program will be the *only* program in the micro By this I mean that there's nothing else running on the microcontroller: no OS, no "daemon", nothing. `led-roulette` has full control over the device. -Flashing the binary itself is quite simple thanks to `cargo-embed`, you only have to type `cargo-embed`. +Flashing the binary itself is quite simple thanks to `cargo-embed`, you only have to type `cargo embed`. Before executing that command though, lets look into what it actually does. If you look at the side of your micro:bit with the USB connector facing upwards you will notice, that there are actually 2 black squares on there, one is our MCU -we already talked about but what purpose does the other one server? The other chip has 3 main purposes: +we already talked about but what purpose does the other one serve? The other chip has 3 main purposes: 1. Provide power from the USB connector to our MCU 2. Provide a serial to USB bridge for our MCU (we will look into that in a later chapter) 3. Being a programmer/debugger (this is the relevant purpose for now) Basically this chip acts as a bridge between our computer (to which it is connected via USB) and the MCU (to which it is -connected via traces and communicates with using the SWD protocol), this bridge enables us to flash new binaries on to -the MCU, inspect the state of the MCU via a debugger and other things. +connected via traces and communicates with using the SWD protocol). This bridge enables us to flash new binaries on to +the MCU, inspect its state via a debugger and other things. So lets flash it! ```console -$ cargo-embed +$ cargo embed (...) - WARN probe_rs::config::registry > Found chip nRF51822_xxAA which matches given partial name nrf51822. Consider specifying its full name. - WARN probe_rs::config::registry > Found chip nRF51822_xxAB which matches given partial name nrf51822. Consider specifying its full name. - WARN probe_rs::config::registry > Found chip nRF51822_xxAC which matches given partial name nrf51822. Consider specifying its full name. Erasing sectors ✔ [00:00:00] [##################################################################################################################################################################] 2.00KB/ 2.00KB @ 4.57KB/s (eta 0s ) Programming pages ✔ [00:00:00] [##################################################################################################################################################################] 2.00KB/ 2.00KB @ 1.93KB/s (eta 0s ) Finished flashing in 0.764s @@ -36,8 +33,6 @@ Firing up GDB stub at localhost:1337. GDB stub listening on localhost:1337 ``` -> **NOTE**: The warnings it printed are irrelevant for us, it is just warning us that there are several nRF51822 variants and we -> might not have picked the right one (which we obviously did though, as the flashing succeeded). You will notice that `cargo-embed` blocks after outputting the last line, this is inteded and you should not close it since we need it in this state for the next step, debugging it! From 9b0968ace968d05547e09f82a9001e04df0650c3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 25 Sep 2020 19:31:45 +0200 Subject: [PATCH 097/313] Fix cargo-embed issues cargo-embed would previously crash once connecting a GDB to its GDB stub, this is apparently because some regression between 0.8.0 and 0.9 either * stopped halting the chip automatically once a probe attached * changed the general behaviour of how the attaching works so much that a halt is now required Either way this seems to fix it so digging into the depths of probe-rs does not seem to be necessary. --- src/05-led-roulette/Embed.toml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/05-led-roulette/Embed.toml b/src/05-led-roulette/Embed.toml index 02b954194..91584ec92 100644 --- a/src/05-led-roulette/Embed.toml +++ b/src/05-led-roulette/Embed.toml @@ -1,6 +1,9 @@ [default.general] chip = "nrf51822_xxAA" +[default.reset] +halt_afterwards = true + [default.rtt] enabled = false From ed1012aedcb24a97f196d068f72dc5e0d6678cb2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 00:27:55 +0200 Subject: [PATCH 098/313] add link to microbit hardware website --- src/04-meet-your-hardware/README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index 85d298671..ad2089b9e 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -27,6 +27,9 @@ black squares sitting on the side of the board with the USB port. The MCU is what runs your code. You might sometimes read about "programming a board", when in reality what we are doing is programming the MCU that is installed on the board. +If you happen to be interested in a more in detail description of the board you +can checkout the [micro:bit website](https://tech.microbit.org/hardware/). + ## Nordic nRF51822 (the "nRF51") Since the MCU is so important, let's take a closer look at the one sitting on our board. From b14acad85ecd3ba16f9f7ea40f68282aeec47fa8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 00:29:45 +0200 Subject: [PATCH 099/313] explain the reset flag im Embed.toml --- src/05-led-roulette/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 99f4acf5e..2524d8d91 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -51,6 +51,7 @@ Furthermore there is also an `Embed.toml` file This file tells `cargo-embed` that: * we are working with a nrf51822, +* we want to halt the chip after we flashed it so our program does not instantly jump to the loop * we want to disable RTT, RTT being a protocol that allows the chip to send text to a debugger. You have in fact already seen RTT in action, it was the protocol that sent "Hello World" in chapter 3. * we want to enable GDB, this will be required for the debugging procedure From 33fd0a22a133e8dfb3530e061ae0e4a2da25cca9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 00:30:46 +0200 Subject: [PATCH 100/313] Update cargo-embed version Only cargo embed 0.9.1 includes my fix to overwrite the soft device that is on the micro:bit board by default in its initial state -> update from 0.9.0 to 0.9.1. --- src/03-setup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 9f8840107..4771e9539 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -29,7 +29,7 @@ should work but we have listed the version we have tested. [`cargo-binutils`]: https://github.com/rust-embedded/cargo-binutils -- [`cargo-embed`]. Version 0.9.0 or newer. +- [`cargo-embed`]. Version 0.9.1 or newer. [`cargo-embed`]: https://github.com/probe-rs/cargo-embed From ade1dc32e34ae67308b216b049d7cf6db27c45c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 01:16:39 +0200 Subject: [PATCH 101/313] ch05: rewrite the rest of debug-it.md --- src/05-led-roulette/debug-it.md | 175 ++++++++++++++++++-------------- src/assets/gdb-layout-asm.png | Bin 165974 -> 216403 bytes src/assets/gdb-layout-src.png | Bin 65055 -> 34560 bytes 3 files changed, 98 insertions(+), 77 deletions(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 4131dfca9..9c80a8328 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -1,33 +1,64 @@ # Debug it +## How does this even work? +Before we debug our little program let's take a moment to quickly understand what is actually +happening here. In the previous chapter we already discussed the purpose of the second chip +on the board as well as how it talks to our computer, but how can we actually use it? -We are already inside a debugging session so let's debug our program. +As you can see from the output of `cargo-embed` it opened a "GDB stub", this is a server that our GDB +can connect to and send commands like "set a breakpoint at address X" to, the server can then decide +on its own how to handle this command. In the case of the `cargo-embed` GDB stub it will forward the +command to the debugging probe on the board via USB which then does the job of actually talking to the +MCU for us. -After the `load` command, our program is stopped at its *entry point*. This is indicated by the -"Start address 0x8000XXX" part of GDB's output. The entry point is the part of a program that a -processor / CPU will execute first. +## Let's debug! -The starter project I've provided to you has some extra code that runs *before* the `main` function. -At this time, we are not interested in that "pre-main" part so let's skip right to the beginning of -the `main` function. We'll do that using a breakpoint: +Since `cargo-embed` is blocking our current shell we can simply open a new one and cd back into our project +directory. Once we are there we can connect to the GDB server like this: +```shell +$ gdb target/thumbv6m-none-eabi/debug/led-roulette +(gdb) target remote :1337 +Remote debugging using :1337 +::fmt ( + self=, + f=) + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.12/src/lib.rs:489 +489 pub unsafe extern "C" fn Reset() -> ! { +(gdb) ``` -(gdb) break main -Breakpoint 1 at 0x800018c: file src/05-led-roulette/src/main.rs, line 10. +> **NOTE** Depending on which GDB you installed you will have to use a different command to launch it, +> check out chapter 3 if you forgot which one it was. + +> **NOTE** If `cargo-embed` prints a lot of warnings here don't worry about it, as of now it does not fully +> implement the GDB protocol and thus might not recognize all of the commands your GDB is sending to it, +> as long as it does not crash you are fine. + +Right now we are inside the `Reset()` function, this is (surprisingly) the function that is run after a reset +of the chip, since we did tell cargo-embed to halt the chip after we flashed it this is where we start. + +This `Reset()` function is part of a small piece of setup code that initializes some things for our Rust program +before moving on to the `main()` function so lets set a breakpoint there and jump to it: + +``` +(gdb) break main +Breakpoint 1 at 0xac: file src/05-led-roulette/src/main.rs, line 9. (gdb) continue Continuing. Note: automatically using hardware breakpoints for read-only addresses. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:10 -10 let x = 42; +Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 +9 #[entry] +(gdb) ``` Breakpoints can be used to stop the normal flow of a program. The `continue` command will let the program run freely *until* it reaches a breakpoint. In this case, until it reaches the `main` function because there's a breakpoint there. -Note that GDB output says "Breakpoint 1". Remember that our processor can only use six of these -breakpoints so it's a good idea to pay attention to these messages. +Note that GDB output says "Breakpoint 1". Remember that our processor can only use a limited amount of these +breakpoints so it's a good idea to pay attention to these messages. If you happen to run out of breakpoints, +you can list all the current ones with `info break` and delete desired ones with `delete **NOTE** If you used the `step` command by mistake and GDB got stuck, you can get unstuck by hitting `Ctrl+C`. +> **NOTE** If you used the `next` or `continue` command by mistake and GDB got stuck, you can get unstuck by hitting `Ctrl+C`. ``` (gdb) layout asm @@ -125,62 +155,54 @@ program around the line you are currently at. ``` (gdb) disassemble /m -Dump of assembler code for function main: -7 #[entry] - 0x08000188 <+0>: sub sp, #8 - 0x0800018a <+2>: movs r0, #42 ; 0x2a - -8 fn main() -> ! { -9 let _y; -10 let x = 42; - 0x0800018c <+4>: str r0, [sp, #4] - -11 _y = x; - 0x0800018e <+6>: ldr r0, [sp, #4] - 0x08000190 <+8>: str r0, [sp, #0] - -12 -13 // infinite loop; just so we don't leave this stack frame -14 loop {} -=> 0x08000192 <+10>: b.n 0x8000194 - 0x08000194 <+12>: b.n 0x8000194 +Dump of assembler code for function led_roulette::__cortex_m_rt_main: +10 fn main() -> ! { + 0x000000b2 <+0>: sub sp, #8 + 0x000000b4 <+2>: movs r0, #42 ; 0x2a + +11 let _y; +12 let x = 42; + 0x000000b6 <+4>: str r0, [sp, #0] + +13 _y = x; + 0x000000b8 <+6>: str r0, [sp, #4] + +14 +15 // infinite loop; just so we don't leave this stack frame +16 loop {} +=> 0x000000ba <+8>: b.n 0xbc + 0x000000bc <+10>: b.n 0xbc End of assembler dump. ``` See the fat arrow `=>` on the left side? It shows the instruction the processor will execute next. -If not inside the TUI mode on each `stepi` command GDB will print the statement, the line number -*and* the address of the instruction the processor will execute next. +If not inside the TUI mode on each `stepi` command GDB will print the statement and the line number +of the instruction the processor will execute next. ``` (gdb) stepi -0x08000194 14 loop {} - +16 loop {} (gdb) stepi -0x08000194 14 loop {} +16 loop {} ``` One last trick before we move to something more interesting. Enter the following commands into GDB: ``` -(gdb) monitor reset halt -Unable to match requested speed 1000 kHz, using 950 kHz -Unable to match requested speed 1000 kHz, using 950 kHz -adapter speed: 950 kHz -target halted due to debug-request, current mode: Thread -xPSR: 0x01000000 pc: 0x08000196 msp: 0x10002000 - -(gdb) continue +(gdb) monitor reset +(gdb) c Continuing. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:10 -10 let x = 42; +Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 +9 #[entry] +(gdb) ``` We are now back at the beginning of `main`! -`monitor reset halt` will reset the microcontroller and stop it right at the program entry point. +`monitor reset` will reset the microcontroller and stop it right at the program entry point. The following `continue` command will let the program run freely until it reaches the `main` function that has a breakpoint on it. @@ -202,8 +224,9 @@ A debugging session is active. Inferior 1 [Remote target] will be detached. Quit anyway? (y or n) y -Detaching from program: $PWD/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target +Detaching from program: $PWD/target/thumbv6m-none-eabi/debug/led-roulette, Remotetarget Ending remote debugging. +[Inferior 1 (Remote target) detached] ``` > **NOTE** If the default GDB CLI is not to your liking check out [gdb-dashboard]. It uses Python to @@ -212,8 +235,6 @@ Ending remote debugging. [gdb-dashboard]: https://github.com/cyrus-and/gdb-dashboard#gdb-dashboard -Don't close OpenOCD though! We'll use it again and again later on. It's better -just to leave it running. If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb). - +If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb). What's next? 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zNA3c=!Jszt#dfbrgBbu184?5gR#%XWOoN2}XW(J}0K>|Ixs_B{X!V-1tn-``u?C@2 zHHml^l~id%|^0Eo`fvnQzsu1!@%#TD#(S{3+; zk3D4d+j_?cd$!kmc@>65WH<@?*Ncn2G00{Ti4H!vMBf1WfG(o zx#E|XomhezizCOdbRibQSI+8dYXpljA)tn1q-tjF`hSs%~$7m;=1IVwrU`iR#7?rKn6E_Y`)rKTko^=Z zNkEih8aHgl_s7PmF1n6l5IKb4#YS>h$sNDs-^#IFqJ*O&t8HLt2;UV7;-=j6=boZn z^lq9mwEQ3w^=;Rm4!vs!8$pc#z{rr@oT&Qe1W5fXqH)>jevzty(o@ zRLRTmjpng)ZX##fqowm4arQ6cFCOK(+uJ?9y~RXX!U*)Wm2c{7+5~A h_XB;go+8&*c6pM1Tf;NAG)DNjCevpdT`+J8`agTIK7arK From 56181dc3fb2ba2847616045c7174d76e03a76bd5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 01:17:57 +0200 Subject: [PATCH 102/313] Remove unsupported monitor GDB commands cargo-embed as of now only supports monitor reset, not monitor reset halt or anything else like that. Remove those from the GDB appendix. --- src/appendix/2-how-to-use-gdb/README.md | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/appendix/2-how-to-use-gdb/README.md b/src/appendix/2-how-to-use-gdb/README.md index 4153c6dcc..cdc8d6a65 100644 --- a/src/appendix/2-how-to-use-gdb/README.md +++ b/src/appendix/2-how-to-use-gdb/README.md @@ -83,7 +83,4 @@ Below are some useful GDB commands that can help us debug our programs. This ass ### Controlling OpenOCD Remotely -* `monitor reset run`: Reset the CPU, starting execution over again - * `monitor reset`: Same as above -* `monitor reset init`: Reset the CPU, halting execution at the start -* `monitor targets`: Display information and state of current target +* `monitor reset`: Reset the CPU, starting execution over again From 7df064098feb924a5091559d9a189293aa88ea78 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 17:38:40 +0200 Subject: [PATCH 103/313] Split up the initial blinky example Originally the blinky was introduced in a single chapter, instead split it up into two chapters, one introducing embedded-hal and lighting an LED up and the other (as of now empty one) for introducing the delay abstractions and letting an LED blink. --- src/05-led-roulette/it-blinks.md | 1 + src/05-led-roulette/light-it-up.md | 115 +++++++++ .../the-led-and-delay-abstractions.md | 222 ------------------ src/SUMMARY.md | 3 +- 4 files changed, 118 insertions(+), 223 deletions(-) create mode 100644 src/05-led-roulette/it-blinks.md create mode 100644 src/05-led-roulette/light-it-up.md delete mode 100644 src/05-led-roulette/the-led-and-delay-abstractions.md diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md new file mode 100644 index 000000000..75cd28b29 --- /dev/null +++ b/src/05-led-roulette/it-blinks.md @@ -0,0 +1 @@ +# It blinks diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md new file mode 100644 index 000000000..fcf888984 --- /dev/null +++ b/src/05-led-roulette/light-it-up.md @@ -0,0 +1,115 @@ +# Light it up +## embedded-hal + +In this chapter we are going to make one of the many LEDs on the back of the micro:bit blink since this is +basically the "Hello World" of embedded programming. In order to get this task done we will use a set of +abstractions provided by the crate `embedded-hal`. `embedded-hal` is a crate which provides a set of traits +that describe behaviour of hardware, for example the [OutputPin trait] which allows us to toggle a pin on or off. + +In order to use these traits we have to implement them for the chip we are using, luckily this has already been done +in our case in form of the [nrf51-hal]. Crates like this are commonly referred to as HALs (Hardware Abstraction Layer) +and allow us to use the same API to blink an LED and of course many more complex things accross all chips that implement +the `embedded-hal` traits. + +This also enables people to write crates that only rely on the `embedded-hal` traits being implemented for certain +objects which in turn enables anyone with a chip that implements `embedded-hal` to use this lib for themselves, despite +the other possibly not even knowing about the existance of the MCU the consumer of the library is using. For example a +person working on an embedded project might decide to implement a driver to show characters on a screen and writes a +library based on `embedded-hal` for the screen, once this library is published every chip that has a HAL library can be +made to control said screen easily since the HALs all expose the same API. + +[OutputPin trait]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/digital/v2/trait.OutputPin.html +[nrf51-hal]: https://crates.io/crates/nrf51-hal + +## The micro:bit LEDs + +On the back of the micro:bit you can see a 5x5 square of LEDs, usually called an LED matrix. This matrix alignment is +used so instead of having to use 25 seperate pins to drive every single one of the LEDs we can just use 10 (5+5) pins in +order to control which column and which row of our matrix lights up. However the micro:bit team implemented this a +little different, their [schematic page] says, that it is actually implemented as a 3x9 matrix but a few columns simply +remain unuused. + +In order to determine which pins we need to control to light up an LED we can check out the +micro:bit's open source [schematic], linked on the same page. The very first sheet contains the LED matrix circuit which +is apparently connected to pins named ROW1-3 and COL1-9, further down on sheet 5 you can see that these pins +directly map to our MCU, for example ROW1 is connected to P0.13. + +> **NOTE**: The naming scheme of the NRF51 for its pins (P0.13) simply refers to port 0 (P0) pin 13. This is done +> because on MCUs with dozens or hundreds of pins you usually end up with multiple pins grouped up as ports for sake of +> clarity as to which pin you might be referring to. The NRF51 however is so small that it only has one GPIO port (P0). + +[schematic page]: https://tech.microbit.org/hardware/schematic/ +[schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF + +## Actually lighting it up! + +The code require to light up an LED in the matrix is actually quite simple but it requires a bit of setup so first take +a look at it and then we can go through it step by step: + +```rust +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use panic_halt as _; +use nrf51_hal as hal; +use hal::prelude::*; + +#[entry] +fn main() -> ! { + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low); + let mut col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::Low); + + row1.set_high().unwrap(); + + loop {} +} +``` + +The first few lines until the main function just do some basics imports and setup we already looked at before, +however the main function looks pretty different to what we have seen up to now. + +The first line is related to how most HALs written in Rust work internally, usually these crates rely on so called +PACs (Peripheral Access Crates). A PAC is a usually autogenerated crate that provides some very minimal abstractions +above all the peripherals our MCU has to offer and `let p = hal::pac::Peripherals::take().unwrap();` basically takes all +these peripherals from the PAC and saves it in a variable. + +> **NOTE**: If you are wondering why we have to call `unwrap()` here, in theory it is possible for `take()` to be called +> more than once, this would lead to the peripherals being represented by two seperate variables and thus lots of +> possible confusing behaviour because two variables modify the same ressource. In order to avoid this PACs are +> implemented in a way that would panic if you tried to take the peripherals twice. + +Once we got the peripherals we assemble the GPIO port 0 from them with `let p0 = hal::gpio::p0::Parts::new(p.GPIO);` and +proceed to construct the ROW1 and COL1 pin using the two lines below, initialized as a switched off +(`hal::gpio::Level::Low`) push pull output pin (`into_push_pull_output`). + +> **NOTE** If you don't know what push pull means, don't worry about it, it's mostly irrelevant for us here, if you do +> want to figure it out + +And now we can finally light the LED connect to ROW1, COL1 up by setting the ROW1 pin to high (i.e. switching it on). +The reason we can leave COL1 set to low is because of how the LED [matrix circuit works]. Furthermore `embedded-hal` is +designed in a way so every operation on hardware can possibly return an error, even just toggling a pin on or off, since +that is however highly unlikely in our case we can just `unwrap()` the result. + +[matrix circuit works]: TODO ADD LINK, suggestion? @code reviewers + +## Testing it + +Testing our little program is quite simple, we simply have to run `cargo-embed` again, let it flash and just like before +open our GDB and connect to the GDB stub: + +``` +$ gdb target/thumbv6m-none-eabi/debug/led-roulette +(gdb) target remote :1337 +Remote debugging using :1337 +cortex_m_rt::Reset () at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.12/src/lib.rs:489 +489 pub unsafe extern "C" fn Reset() -> ! { +(gdb) +``` + +If we now let the program run via the GDB `continue` command one of the LEDs on the back of the micro:bit should light +up. diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md deleted file mode 100644 index a91a0eb10..000000000 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ /dev/null @@ -1,222 +0,0 @@ -# The `Led` and `Delay` abstractions - -Now, I'm going to introduce two high level abstractions that we'll use to implement the LED roulette -application. - -The auxiliary crate, `aux5`, exposes an initialization function called `init`. When called this -function returns two values packed in a tuple: a `Delay` value and a `Leds` value. - -`Delay` can be used to block your program for a specified amount of milliseconds. - -`Leds` is actually an array of eight `Led`s. Each `Led` represents one of the LEDs on the F3 board, -and exposes two methods: `on` and `off` which can be used to turn the LED on or off, respectively. - -Let's try out these two abstractions by modifying the starter code to look like this: - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use aux5::{entry, prelude::*, Delay, Leds}; - -#[entry] -fn main() -> ! { - let (mut delay, mut leds): (Delay, Leds) = aux5::init(); - - let half_period = 500_u16; - - loop { - leds[0].on(); - delay.delay_ms(half_period); - - leds[0].off(); - delay.delay_ms(half_period); - } -} -``` - -Now build it: - -``` console -$ cargo build --target thumbv7em-none-eabihf -``` - -> **NOTE** It's possible to forget to rebuild the program *before* starting a GDB session; this -> omission can lead to very confusing debug sessions. To avoid this problem you can call `cargo run` -> instead of `cargo build`; `cargo run` will build *and* start a debug session ensuring you never -> forget to recompile your program. - -Now, we'll repeat the flashing procedure that we did in the previous section: - -``` console -$ # this starts a GDB session of the program; no need to specify the path to the binary -$ arm-none-eabi-gdb -q target/thumbv7em-none-eabihf/debug/led-roulette -Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette...done. -(gdb) target remote :3333 -Remote debugging using :3333 -(..) - -(gdb) load -Loading section .vector_table, size 0x188 lma 0x8000000 -Loading section .text, size 0x3fc6 lma 0x8000188 -Loading section .rodata, size 0xa0c lma 0x8004150 -Start address 0x8000188, load size 19290 -Transfer rate: 19 KB/sec, 4822 bytes/write. - -(gdb) break main -Breakpoint 1 at 0x800018c: file src/05-led-roulette/src/main.rs, line 9. - -(gdb) continue -Continuing. -Note: automatically using hardware breakpoints for read-only addresses. - -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 -9 let (mut delay, mut leds): (Delay, Leds) = aux5::init(); -``` - -OK. Let's step through the code. This time, we'll use the `next` command instead of `step`. The -difference is that the `next` command will step *over* function calls instead of going inside them. - -``` -(gdb) next -11 let half_period = 500_u16; - -(gdb) next -13 loop { - -(gdb) next -14 leds[0].on(); - -(gdb) next -15 delay.delay_ms(half_period); -``` - -After executing the `leds[0].on()` statement, you should see a red LED, the one pointing North, -turn on. - -Let's continue stepping over the program: - -``` -(gdb) next -17 leds[0].off(); - -(gdb) next -18 delay.delay_ms(half_period); -``` - -The `delay_ms` call will block the program for half a second but you may not notice because the -`next` command also takes some time to execute. However, after stepping over the `leds[0].off()` -statement you should see the red LED turn off. - -You can already guess what this program does. Let it run uninterrupted using the `continue` command. - -``` -(gdb) continue -Continuing. -``` - -Now, let's do something more interesting. We are going to modify the behavior of our program using -GDB. - -First, let's stop the infinite loop by hitting `Ctrl+C`. You'll probably end up somewhere inside -`Led::on`, `Led::off` or `delay_ms`: - -``` -Program received signal SIGINT, Interrupt. -0x080033f6 in core::ptr::read_volatile (src=0xe000e010) at /checkout/src/libcore/ptr.rs:472 -472 /checkout/src/libcore/ptr.rs: No such file or directory. -``` - -In my case, the program stopped its execution inside a `read_volatile` function. GDB output shows -some interesting information about that: `core::ptr::read_volatile (src=0xe000e010)`. This means -that the function comes from the `core` crate and that it was called with argument `src = -0xe000e010`. - -Just so you know, a more explicit way to show the arguments of a function is to use the `info args` -command: - -``` -(gdb) info args -src = 0xe000e010 -``` - -Regardless of where your program may have stopped you can always look at the output of the -`backtrace` command (`bt` for short) to learn how it got there: - -``` -(gdb) backtrace -#0 0x080033f6 in core::ptr::read_volatile (src=0xe000e010) - at /checkout/src/libcore/ptr.rs:472 -#1 0x08003248 in >::get (self=0xe000e010) - at $REGISTRY/vcell-0.1.0/src/lib.rs:43 -#2 >::read (self=0xe000e010) - at $REGISTRY/volatile-register-0.2.0/src/lib.rs:75 -#3 cortex_m::peripheral::syst::::has_wrapped (self=0x10001fbc) - at $REGISTRY/cortex-m-0.5.7/src/peripheral/syst.rs:124 -#4 0x08002d9c in >::delay_us (self=0x10001fbc, us=500000) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:58 -#5 0x08002cce in >::delay_ms (self=0x10001fbc, ms=500) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:32 -#6 0x08002d0e in >::delay_ms (self=0x10001fbc, ms=500) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:38 -#7 0x080001ee in main () at src/05-led-roulette/src/main.rs:18 -``` - -`backtrace` will print a trace of function calls from the current function down to main. - -Back to our topic. To do what we are after, first, we have to return to the `main` function. We can -do that using the `finish` command. This command resumes the program execution and stops it again -right after the program returns from the current function. We'll have to call it several times. - -``` -(gdb) finish -cortex_m::peripheral::syst::::has_wrapped (self=0x10001fbc) - at $REGISTRY/cortex-m-0.5.7/src/peripheral/syst.rs:124 -124 self.csr.read() & SYST_CSR_COUNTFLAG != 0 -Value returned is $1 = 5 - -(gdb) finish -Run till exit from #0 cortex_m::peripheral::syst::::has_wrapped ( - self=0x10001fbc) - at $REGISTRY/cortex-m-0.5.7/src/peripheral/syst.rs:124 -0x08002d9c in >::delay_us ( - self=0x10001fbc, us=500000) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:58 -58 while !self.syst.has_wrapped() {} -Value returned is $2 = false - -(..) - -(gdb) finish -Run till exit from #0 0x08002d0e in >::delay_ms (self=0x10001fbc, ms=500) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:38 -0x080001ee in main () at src/05-led-roulette/src/main.rs:18 -18 delay.delay_ms(half_period); -``` - -We are back in `main`. We have a local variable in here: `half_period` - -``` -(gdb) info locals -half_period = 500 -delay = (..) -leds = (..) -``` - -Now, we are going to modify this variable using the `set` command: - -``` -(gdb) set half_period = 100 - -(gdb) print half_period -$1 = 100 -``` - -If you let program run free again using the `continue` command, you should see that the LED will -blink at a much faster rate now! - -Question! What happens if you keep lowering the value of `half_period`? At what value of -`half_period` you can no longer see the LED blink? - -Now, it's your turn to write a program. diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 1f1b5788a..8737c5379 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -11,7 +11,8 @@ - [Build it](05-led-roulette/build-it.md) - [Flash it](05-led-roulette/flash-it.md) - [Debug it](05-led-roulette/debug-it.md) - - [The `led` and `delay` abstractions](05-led-roulette/the-led-and-delay-abstractions.md) + - [Light it up](05-led-roulette/light-it-up.md) + - [It blinks](05-led-roulette/it-blinks.md) - [The challenge](05-led-roulette/the-challenge.md) - [My solution](05-led-roulette/my-solution.md) - [Hello, world!](06-hello-world/README.md) From 1130f63be9fe7e83c16cc516457fc742f99e52d5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 17:44:08 +0200 Subject: [PATCH 104/313] add note about armv8 targets --- src/05-led-roulette/build-it.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index cb9414abe..5e1ba3c89 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -6,13 +6,15 @@ as passing an extra `--target` flag to `rustc`or Cargo. The complicated part is argument of that flag: the *name* of the target. The microcontroller in the micro:bit has a Cortex-M0 processor in it. `rustc` knows how to cross compile -to the Cortex-M architecture and provides 4 different targets that cover the different processor +to the Cortex-M architecture and provides several different targets that cover the different processor families within that architecture: - `thumbv6m-none-eabi`, for the Cortex-M0 and Cortex-M1 processors - `thumbv7m-none-eabi`, for the Cortex-M3 processor - `thumbv7em-none-eabi`, for the Cortex-M4 and Cortex-M7 processors - `thumbv7em-none-eabihf`, for the Cortex-M4**F** and Cortex-M7**F** processors +- `thumbv8m.main-none-eabi`, for the Cortex-M33 and Cortex-M35P processors +- `thumbv8m.main-none-eabihf`, for the Cortex-M33**F** and Cortex-M35P**F** processors For the micro:bit, we'll use the `thumbv6m-none-eabi` target. Before cross compiling you have to download pre-compiled version of the standard library (a reduced version of it actually) for your From 35952a49b31fceafc5d881770be65c7920e9186e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 26 Sep 2020 17:45:49 +0200 Subject: [PATCH 105/313] reexpand the note on optimzations while building again --- src/05-led-roulette/build-it.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 5e1ba3c89..3766f0a96 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -46,7 +46,8 @@ $ cargo build --target thumbv6m-none-eabi Finished dev [unoptimized + debuginfo] target(s) in 18.69s ``` -> **NOTE** Be sure to compile this crate *without* optimizations. +> **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml +> file and build command above will ensure optimizations are off. > **NOTE** If you have looked into `.cargo/config` you will have noticed that the target is actually always set to "thumbv6m-none-eabi" so the --target flag to `cargo` can in From c43006156c1ae1dba44382dab4ddda389d1e27a2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 27 Sep 2020 16:31:23 +0200 Subject: [PATCH 106/313] Apply suggestions from code review Commas and the likes were never my strength anyways... Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/debug-it.md | 18 ++++---- src/05-led-roulette/light-it-up.md | 72 +++++++++++++++--------------- 2 files changed, 46 insertions(+), 44 deletions(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 9c80a8328..a284b6c9d 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -30,15 +30,15 @@ Remote debugging using :1337 > **NOTE** Depending on which GDB you installed you will have to use a different command to launch it, > check out chapter 3 if you forgot which one it was. -> **NOTE** If `cargo-embed` prints a lot of warnings here don't worry about it, as of now it does not fully +> **NOTE**: If `cargo-embed` prints a lot of warnings here don't worry about it. As of now it does not fully > implement the GDB protocol and thus might not recognize all of the commands your GDB is sending to it, -> as long as it does not crash you are fine. +> as long as it does not crash, you are fine. -Right now we are inside the `Reset()` function, this is (surprisingly) the function that is run after a reset +Right now we are inside the `Reset()` function. This is (surprisingly) the function that is run after a reset of the chip, since we did tell cargo-embed to halt the chip after we flashed it this is where we start. This `Reset()` function is part of a small piece of setup code that initializes some things for our Rust program -before moving on to the `main()` function so lets set a breakpoint there and jump to it: +before moving on to the `main()` function. Let's set a breakpoint there and jump to it: ``` (gdb) break main @@ -58,7 +58,7 @@ function because there's a breakpoint there. Note that GDB output says "Breakpoint 1". Remember that our processor can only use a limited amount of these breakpoints so it's a good idea to pay attention to these messages. If you happen to run out of breakpoints, -you can list all the current ones with `info break` and delete desired ones with `delete `. For a nicer debugging experience, we'll be using GDB's Text User Interface (TUI). To enter into that mode, on the GDB shell enter the following command: @@ -72,8 +72,8 @@ mode, on the GDB shell enter the following command: ![GDB session](../assets/gdb-layout-src.png "GDB TUI") -GDB's break command does not only work for function names, it can also break at certain line numbers, -if we wanted to break in line 13 we can simply do: +GDB's break command does not only work for function names, it can also break at certain line numbers. +If we wanted to break in line 13 we can simply do: ``` (gdb) break 13 @@ -142,7 +142,7 @@ never pass that statement. Instead, we'll switch to the disassemble view with th command and advance one instruction at a time using `stepi`. You can always switch back into Rust source code view later by issuing the `layout src` command again. -> **NOTE** If you used the `next` or `continue` command by mistake and GDB got stuck, you can get unstuck by hitting `Ctrl+C`. +> **NOTE**: If you used the `next` or `continue` command by mistake and GDB got stuck, you can get unstuck by hitting `Ctrl+C`. ``` (gdb) layout asm @@ -224,7 +224,7 @@ A debugging session is active. Inferior 1 [Remote target] will be detached. Quit anyway? (y or n) y -Detaching from program: $PWD/target/thumbv6m-none-eabi/debug/led-roulette, Remotetarget +Detaching from program: $PWD/target/thumbv6m-none-eabi/debug/led-roulette, Remote target Ending remote debugging. [Inferior 1 (Remote target) detached] ``` diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index fcf888984..48e8a5186 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -4,16 +4,18 @@ In this chapter we are going to make one of the many LEDs on the back of the micro:bit blink since this is basically the "Hello World" of embedded programming. In order to get this task done we will use a set of abstractions provided by the crate `embedded-hal`. `embedded-hal` is a crate which provides a set of traits -that describe behaviour of hardware, for example the [OutputPin trait] which allows us to toggle a pin on or off. +that describe behaviour of hardware, for example the [OutputPin trait] which allows us to turn a pin on or off. -In order to use these traits we have to implement them for the chip we are using, luckily this has already been done -in our case in form of the [nrf51-hal]. Crates like this are commonly referred to as HALs (Hardware Abstraction Layer) +In order to use these traits we have to implement them for the chip we are using. Luckily this has already been done +in our case in the [nrf51-hal]. Crates like this are commonly referred to as HALs (Hardware Abstraction Layer) and allow us to use the same API to blink an LED and of course many more complex things accross all chips that implement the `embedded-hal` traits. This also enables people to write crates that only rely on the `embedded-hal` traits being implemented for certain -objects which in turn enables anyone with a chip that implements `embedded-hal` to use this lib for themselves, despite -the other possibly not even knowing about the existance of the MCU the consumer of the library is using. For example a +objects which in turn enables anyone with a chip that implements `embedded-hal` to use this library for themselves, despite +the other possibly not even knowing about the existence of the MCU the consumer of the library is using. + +For example, a person working on an embedded project might decide to implement a driver to show characters on a screen and writes a library based on `embedded-hal` for the screen, once this library is published every chip that has a HAL library can be made to control said screen easily since the HALs all expose the same API. @@ -24,26 +26,26 @@ made to control said screen easily since the HALs all expose the same API. ## The micro:bit LEDs On the back of the micro:bit you can see a 5x5 square of LEDs, usually called an LED matrix. This matrix alignment is -used so instead of having to use 25 seperate pins to drive every single one of the LEDs we can just use 10 (5+5) pins in -order to control which column and which row of our matrix lights up. However the micro:bit team implemented this a -little different, their [schematic page] says, that it is actually implemented as a 3x9 matrix but a few columns simply -remain unuused. +used so that instead of having to use 25 seperate pins to drive every single one of the LEDs, we can just use 10 (5+5) pins in +order to control which column and which row of our matrix lights up. However, the micro:bit team implemented this a +little differently. Their [schematic page] says that it is actually implemented as a 3x9 matrix but a few columns simply +remain unused. -In order to determine which pins we need to control to light up an LED we can check out the +In order to determine which pins we need to control to light up an LED we can check out micro:bit's open source [schematic], linked on the same page. The very first sheet contains the LED matrix circuit which -is apparently connected to pins named ROW1-3 and COL1-9, further down on sheet 5 you can see that these pins -directly map to our MCU, for example ROW1 is connected to P0.13. +is apparently connected to the pins named ROW1-3 and COL1-9. Further down on sheet 5 you can see that these pins +directly map to our MCU. For example, ROW1 is connected to P0.13. > **NOTE**: The naming scheme of the NRF51 for its pins (P0.13) simply refers to port 0 (P0) pin 13. This is done -> because on MCUs with dozens or hundreds of pins you usually end up with multiple pins grouped up as ports for sake of -> clarity as to which pin you might be referring to. The NRF51 however is so small that it only has one GPIO port (P0). +> because on MCUs with dozens or hundreds of pins you usually end up with multiple pins grouped up as ports for the sake of +> clarity. The NRF51, however, is so small that it only has one GPIO port (P0). [schematic page]: https://tech.microbit.org/hardware/schematic/ [schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF ## Actually lighting it up! -The code require to light up an LED in the matrix is actually quite simple but it requires a bit of setup so first take +The code required to light up an LED in the matrix is actually quite simple but it requires a bit of setup. First take a look at it and then we can go through it step by step: ```rust @@ -70,36 +72,36 @@ fn main() -> ! { } ``` -The first few lines until the main function just do some basics imports and setup we already looked at before, -however the main function looks pretty different to what we have seen up to now. +The first few lines until the main function just do some basic imports and setup we already looked at before. +However, the main function looks pretty different to what we have seen up to now. -The first line is related to how most HALs written in Rust work internally, usually these crates rely on so called -PACs (Peripheral Access Crates). A PAC is a usually autogenerated crate that provides some very minimal abstractions -above all the peripherals our MCU has to offer and `let p = hal::pac::Peripherals::take().unwrap();` basically takes all -these peripherals from the PAC and saves it in a variable. +The first line is related to how most HALs written in Rust work internally. Usually these crates rely on so-called +PACs (Peripheral Access Crates). A PAC is usually an autogenerated crate that provides some minimal abstractions +for all the peripherals our MCU has to offer. `let p = hal::pac::Peripherals::take().unwrap();` basically takes all +these peripherals from the PAC and binds them to a variable. > **NOTE**: If you are wondering why we have to call `unwrap()` here, in theory it is possible for `take()` to be called -> more than once, this would lead to the peripherals being represented by two seperate variables and thus lots of -> possible confusing behaviour because two variables modify the same ressource. In order to avoid this PACs are -> implemented in a way that would panic if you tried to take the peripherals twice. +> more than once. This would lead to the peripherals being represented by two separate variables and thus lots of +> possible confusing behaviour because two variables modify the same resource. In order to avoid this, PACs are +> implemented in a way that it would panic if you tried to take the peripherals twice. -Once we got the peripherals we assemble the GPIO port 0 from them with `let p0 = hal::gpio::p0::Parts::new(p.GPIO);` and -proceed to construct the ROW1 and COL1 pin using the two lines below, initialized as a switched off -(`hal::gpio::Level::Low`) push pull output pin (`into_push_pull_output`). +Once we got the peripherals, we assemble the GPIO port 0 from them with `let p0 = hal::gpio::p0::Parts::new(p.GPIO);` and +proceed to construct the `ROW1` and `COL1` pin using the two lines below, initialized as a switched-off +(`hal::gpio::Level::Low`) push-pull output pin (`into_push_pull_output`). -> **NOTE** If you don't know what push pull means, don't worry about it, it's mostly irrelevant for us here, if you do -> want to figure it out +> **NOTE** If you don't know what push-pull means, don't worry about it, it's mostly irrelevant for us here, if you do +> want to figure it out, have a look [here](https://en.wikipedia.org/wiki/Push%E2%80%93pull_output). -And now we can finally light the LED connect to ROW1, COL1 up by setting the ROW1 pin to high (i.e. switching it on). -The reason we can leave COL1 set to low is because of how the LED [matrix circuit works]. Furthermore `embedded-hal` is -designed in a way so every operation on hardware can possibly return an error, even just toggling a pin on or off, since -that is however highly unlikely in our case we can just `unwrap()` the result. +Now we can finally light the LED connected to `ROW1`, `COL1` up by setting the `ROW1` pin to high (i.e. switching it on). +The reason we can leave `COL1` set to low is because of how the LED [matrix circuit works]. Furthermore, `embedded-hal` is +designed in a way that every operation on hardware can possibly return an error, even just toggling a pin on or off. Since +that is highly unlikely in our case, we can just `unwrap()` the result. [matrix circuit works]: TODO ADD LINK, suggestion? @code reviewers ## Testing it -Testing our little program is quite simple, we simply have to run `cargo-embed` again, let it flash and just like before +Testing our little program is quite simple. We simply have to run `cargo-embed` again, let it flash and just like before, open our GDB and connect to the GDB stub: ``` @@ -111,5 +113,5 @@ cortex_m_rt::Reset () at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/corte (gdb) ``` -If we now let the program run via the GDB `continue` command one of the LEDs on the back of the micro:bit should light +If we now let the program run via the GDB `continue` command, one of the LEDs on the back of the micro:bit should light up. From ec58ae35f949f29f9849d902bab46a56cb346dc0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 27 Sep 2020 16:32:01 +0200 Subject: [PATCH 107/313] Update src/05-led-roulette/debug-it.md Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/debug-it.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index a284b6c9d..fedee282b 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -35,7 +35,7 @@ Remote debugging using :1337 > as long as it does not crash, you are fine. Right now we are inside the `Reset()` function. This is (surprisingly) the function that is run after a reset -of the chip, since we did tell cargo-embed to halt the chip after we flashed it this is where we start. +of the chip. Since we did tell cargo-embed to halt the chip after we flashed it, this is where we start. This `Reset()` function is part of a small piece of setup code that initializes some things for our Rust program before moving on to the `main()` function. Let's set a breakpoint there and jump to it: From 4a612737034ef8a9ada84a9247464280a37d7fd7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 27 Sep 2020 18:38:24 +0200 Subject: [PATCH 108/313] Try to simplify the embedded-hal explanation. --- src/05-led-roulette/light-it-up.md | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index 48e8a5186..ea79a3e88 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -1,7 +1,7 @@ # Light it up ## embedded-hal -In this chapter we are going to make one of the many LEDs on the back of the micro:bit blink since this is +In this chapter we are going to make one of the many LEDs on the back of the micro:bit light up since this is basically the "Hello World" of embedded programming. In order to get this task done we will use a set of abstractions provided by the crate `embedded-hal`. `embedded-hal` is a crate which provides a set of traits that describe behaviour of hardware, for example the [OutputPin trait] which allows us to turn a pin on or off. @@ -11,14 +11,10 @@ in our case in the [nrf51-hal]. Crates like this are commonly referred to as HAL and allow us to use the same API to blink an LED and of course many more complex things accross all chips that implement the `embedded-hal` traits. -This also enables people to write crates that only rely on the `embedded-hal` traits being implemented for certain -objects which in turn enables anyone with a chip that implements `embedded-hal` to use this library for themselves, despite -the other possibly not even knowing about the existence of the MCU the consumer of the library is using. - -For example, a -person working on an embedded project might decide to implement a driver to show characters on a screen and writes a -library based on `embedded-hal` for the screen, once this library is published every chip that has a HAL library can be -made to control said screen easily since the HALs all expose the same API. +For example, a person working on an embedded project might need to read temperature data from a sensor. In +order to achieve this they can write a driver library that doesn't do anything MCU specific but instead just relies on +`embedded-hal`. This will allow anyone with an MCU that implements the `embedded-hal` traits to easily plug and play +their driver crate, despite having an MCU made by a completely different manufacturer or even with a different architecture etc. [OutputPin trait]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/digital/v2/trait.OutputPin.html [nrf51-hal]: https://crates.io/crates/nrf51-hal From 5698eabcd3197f05ec881c5cd128e5632a0b6915 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 27 Sep 2020 21:17:07 +0200 Subject: [PATCH 109/313] Update src/05-led-roulette/light-it-up.md Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/light-it-up.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index ea79a3e88..fa8b73405 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -14,7 +14,7 @@ the `embedded-hal` traits. For example, a person working on an embedded project might need to read temperature data from a sensor. In order to achieve this they can write a driver library that doesn't do anything MCU specific but instead just relies on `embedded-hal`. This will allow anyone with an MCU that implements the `embedded-hal` traits to easily plug and play -their driver crate, despite having an MCU made by a completely different manufacturer or even with a different architecture etc. +their driver crate, despite having an MCU made by a completely different manufacturer or even with a different architecture, etc. [OutputPin trait]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/digital/v2/trait.OutputPin.html [nrf51-hal]: https://crates.io/crates/nrf51-hal From c8aec47ffb89df5309fd5d7f5de8f7450bd72421 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 4 Oct 2020 17:11:32 +0200 Subject: [PATCH 110/313] blinky --- src/05-led-roulette/Cargo.toml | 2 + src/05-led-roulette/auxiliary/Cargo.toml | 14 ---- src/05-led-roulette/auxiliary/src/lib.rs | 30 ------- src/05-led-roulette/it-blinks.md | 101 +++++++++++++++++++++++ src/05-led-roulette/light-it-up.md | 2 +- 5 files changed, 104 insertions(+), 45 deletions(-) delete mode 100644 src/05-led-roulette/auxiliary/Cargo.toml delete mode 100644 src/05-led-roulette/auxiliary/src/lib.rs diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index c785c2d4d..776e8a465 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -9,3 +9,5 @@ cortex-m = "0.6.0" cortex-m-rt = "0.6.10" panic-halt = "0.2.0" nrf51-hal = "0.11.0" +rtt-target = { version = "0.2.2", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } diff --git a/src/05-led-roulette/auxiliary/Cargo.toml b/src/05-led-roulette/auxiliary/Cargo.toml deleted file mode 100644 index 1b7b80f55..000000000 --- a/src/05-led-roulette/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux5" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -panic-halt = "0.2.0" -cortex-m-rt = "0.6.3" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" diff --git a/src/05-led-roulette/auxiliary/src/lib.rs b/src/05-led-roulette/auxiliary/src/lib.rs deleted file mode 100644 index 2218b18e5..000000000 --- a/src/05-led-roulette/auxiliary/src/lib.rs +++ /dev/null @@ -1,30 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate panic_halt; // panic handler - -pub use cortex_m_rt::entry; -pub use f3::{ - hal::{delay::Delay, prelude}, - led::Leds, -}; - -use f3::hal::{prelude::*, stm32f30x}; - -pub fn init() -> (Delay, Leds) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - - let mut flash = dp.FLASH.constrain(); - let mut rcc = dp.RCC.constrain(); - - let clocks = rcc.cfgr.freeze(&mut flash.acr); - - let delay = Delay::new(cp.SYST, clocks); - - let leds = Leds::new(dp.GPIOE.split(&mut rcc.ahb)); - - (delay, leds) -} diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index 75cd28b29..ef80c2c2a 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -1 +1,102 @@ # It blinks + +## Delaying +Now we're going to take a brief look into delay abstractions provided by `embedded-hal` +before combining this with the GPIO abstractions from the previous chapter in order to +finally make an LED blink. + +`embedded-hal` provides us with two abstractions to delay the execution of our program, +[DelayUs] as well as [DelayMs] both of which essentially work the exact same way except +that they accept different units for their delay function. + +[DelayUs]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/blocking/delay/trait.DelayUs.html +[DelayMs]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/blocking/delay/trait.DelayMs.html + +Inside of our MCU exist several so called timers, they can do various things regarding time for us, +of course including to simply pause the execution of our program for a fixed amount of time. A very +simple delay based program that prints something every second might for example look like this: + +```rs +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::{rtt_init_print, rprintln}; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let mut delay = hal::Timer::new(p.TIMER0); + loop { + delay.delay_ms(1000u32); + rprintln!("1000 ms passed"); + } +} +``` + +In order to actually see the prints we have to change `Embed.toml` like this: +``` +[default.general] +chip = "nrf51822_xxAA" + +[default.reset] +halt_afterwards = false + +[default.rtt] +enabled = true + +[default.gdb] +enabled = false +``` + +And now after a quick `cargo-embed` you should see "1000 ms passed" being sent to your console +every second from your MCU. + +## Blinking + +Now we've arrived at the point where we can combine our new knowledge about GPIO and delay abstractions +in order to actually make an LED on the back of the micro:bit blink. The resulting program is really just +a mash up of the one above and the one that turned an LED on in the last chapter and looks like this: + +```rs +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::{rtt_init_print, rprintln}; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let mut delay = hal::Timer::new(p.TIMER0); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low); + let _col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::Low); + + loop { + row1.set_high().unwrap(); + rprintln!("Light!"); + delay.delay_ms(500u32); + + row1.set_low().unwrap(); + rprintln!("Dark!"); + delay.delay_ms(500u32); + } +} +``` + +And after another `cargo-embed` you should see the LED we light up before blinking as well as a print, every +time the LED changes from off to on and vice versa. diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index fa8b73405..6a80dbc25 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -60,7 +60,7 @@ fn main() -> ! { let p0 = hal::gpio::p0::Parts::new(p.GPIO); let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low); - let mut col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::Low); + let _col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::Low); row1.set_high().unwrap(); From b4d8d0fc70fd153ffd021398c2dbaf9612776a1d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Tue, 6 Oct 2020 15:02:16 +0200 Subject: [PATCH 111/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/it-blinks.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index ef80c2c2a..01213b41d 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -5,16 +5,16 @@ Now we're going to take a brief look into delay abstractions provided by `embedd before combining this with the GPIO abstractions from the previous chapter in order to finally make an LED blink. -`embedded-hal` provides us with two abstractions to delay the execution of our program, -[DelayUs] as well as [DelayMs] both of which essentially work the exact same way except +`embedded-hal` provides us with two abstractions to delay the execution of our program: +[DelayUs] and [DelayMs]. Both of them essentially work the exact same way except that they accept different units for their delay function. [DelayUs]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/blocking/delay/trait.DelayUs.html [DelayMs]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/blocking/delay/trait.DelayMs.html -Inside of our MCU exist several so called timers, they can do various things regarding time for us, -of course including to simply pause the execution of our program for a fixed amount of time. A very -simple delay based program that prints something every second might for example look like this: +Inside of our MCU, several so-called "timers" exist. They can do various things regarding time for us, +including simply pausing the execution of our program for a fixed amount of time. A very +simple delay-based program that prints something every second might for example look like this: ```rs #![deny(unsafe_code)] @@ -55,14 +55,14 @@ enabled = true enabled = false ``` -And now after a quick `cargo-embed` you should see "1000 ms passed" being sent to your console +And now after a quick `cargo embed` you should see "`1000 ms passed`" being sent to your console every second from your MCU. ## Blinking Now we've arrived at the point where we can combine our new knowledge about GPIO and delay abstractions in order to actually make an LED on the back of the micro:bit blink. The resulting program is really just -a mash up of the one above and the one that turned an LED on in the last chapter and looks like this: +a mash-up of the one above and the one that turned an LED on in the last chapter and looks like this: ```rs #![deny(unsafe_code)] @@ -98,5 +98,5 @@ fn main() -> ! { } ``` -And after another `cargo-embed` you should see the LED we light up before blinking as well as a print, every +And after another `cargo embed` you should see the LED we light up before blinking as well as a print, every time the LED changes from off to on and vice versa. From ab1d3bcb96899b423736049ef45c5ceed5580ecf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 7 Oct 2020 14:36:45 +0200 Subject: [PATCH 112/313] implement LED roulette and add pictures --- src/05-led-roulette/README.md | 3 +- src/05-led-roulette/my-solution.md | 157 ++++++++++++++++----------- src/05-led-roulette/the-challenge.md | 73 ++----------- 3 files changed, 109 insertions(+), 124 deletions(-) diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 2524d8d91..6144fce2d 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -2,9 +2,8 @@ Alright, let's start by building the following application: -# TODO REPLACE THIS

    - +

    I'm going to give you a high level API to implement this app but don't worry we'll do low level diff --git a/src/05-led-roulette/my-solution.md b/src/05-led-roulette/my-solution.md index 0bf05d0e9..4d86b900f 100644 --- a/src/05-led-roulette/my-solution.md +++ b/src/05-led-roulette/my-solution.md @@ -9,99 +9,134 @@ Here's mine: #![no_main] #![no_std] -use aux5::{entry, prelude::*, Delay, Leds}; +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; + +// All border LEDs in order with the exception of the very first LED which is set +// at the last spot +const COMBINATIONS: [(usize, usize); 16] = [ + (2, 4), (1, 2), (2, 5), (1, 3), (3, 8), (2, 1), (1, 4), (3, 2), (2,6), + (3, 1), (2, 7), (3, 3), (1, 8), (2, 2), (3, 4), (1, 1) +]; #[entry] fn main() -> ! { - let (mut delay, mut leds): (Delay, Leds) = aux5::init(); + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let mut delay = hal::Timer::new(p.TIMER0); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + + // Initialize all rows and cols to off + let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low).degrade(); + let row2 = p0.p0_14.into_push_pull_output(hal::gpio::Level::Low).degrade(); + let row3 = p0.p0_15.into_push_pull_output(hal::gpio::Level::Low).degrade(); + let mut col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col2 = p0.p0_05.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col3 = p0.p0_06.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col4 = p0.p0_07.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col5 = p0.p0_08.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col6 = p0.p0_09.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col7 = p0.p0_10.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col8 = p0.p0_11.into_push_pull_output(hal::gpio::Level::High).degrade(); + let col9 = p0.p0_12.into_push_pull_output(hal::gpio::Level::High).degrade(); + + // bring up the very first LED + row1.set_high().unwrap(); + col1.set_low().unwrap(); + + let mut cols = [col1, col2, col3, col4, col5, col6, col7, col8, col9]; + let mut rows = [row1, row2, row3]; - let ms = 50_u8; loop { - for curr in 0..8 { - let next = (curr + 1) % 8; + let mut previous_pair = (1, 1); + for current_pair in COMBINATIONS.iter() { + delay.delay_ms(30u32); - leds[next].on(); - delay.delay_ms(ms); - leds[curr].off(); - delay.delay_ms(ms); + rows[current_pair.0 - 1].set_high().unwrap(); + cols[current_pair.1 - 1].set_low().unwrap(); + + rows[previous_pair.0 - 1].set_low().unwrap(); + cols[previous_pair.1 - 1].set_high().unwrap(); + + previous_pair = *current_pair; } } } - ``` One more thing! Check that your solution also works when compiled in "release" mode: ``` console -$ cargo build --target thumbv7em-none-eabihf --release +$ cargo-embed --release ``` -You can test it with this `gdb` command: +If you want to debug your "release" mode binary you'll have to use a different GDB command: ``` console -$ # or, you could simply call `cargo run --target thumbv7em-none-eabihf --release` -$ arm-none-eabi-gdb target/thumbv7em-none-eabihf/release/led-roulette -$ # ~~~~~~~ +$ gdb target/thumbv6m-none-eabi/release/led-roulette ``` Binary size is something we should always keep an eye on! How big is your solution? You can check that using the `size` command on the release binary: ``` console -$ # equivalent to size target/thumbv7em-none-eabihf/debug/led-roulette -$ cargo size --target thumbv7em-none-eabihf --bin led-roulette -- -A +$ cargo size --bin led-roulette -- -A + Finished dev [unoptimized + debuginfo] target(s) in 0.03s led-roulette : section size addr -.vector_table 392 0x8000000 -.text 16404 0x8000188 -.rodata 2924 0x80041a0 +.vector_table 168 0x0 +.text 20996 0xa8 +.rodata 2956 0x52ac .data 0 0x20000000 -.bss 4 0x20000000 -.debug_str 602185 0x0 -.debug_abbrev 24134 0x0 -.debug_info 553143 0x0 -.debug_ranges 112744 0x0 -.debug_macinfo 86 0x0 -.debug_pubnames 56467 0x0 -.debug_pubtypes 94866 0x0 -.ARM.attributes 58 0x0 -.debug_frame 174812 0x0 -.debug_line 354866 0x0 -.debug_loc 534 0x0 -.comment 75 0x0 -Total 1993694 - -$ cargo size --target thumbv7em-none-eabihf --bin led-roulette --release -- -A +.bss 1088 0x20000000 +.uninit 0 0x20000440 +.debug_abbrev 21988 0x0 +.debug_info 283389 0x0 +.debug_aranges 15832 0x0 +.debug_str 307609 0x0 +.debug_pubnames 68859 0x0 +.debug_pubtypes 55406 0x0 +.ARM.attributes 50 0x0 +.debug_frame 47732 0x0 +.debug_line 199401 0x0 +.debug_ranges 68936 0x0 +.debug_loc 976 0x0 +.comment 147 0x0 +Total 1095533 + + +$ cargo size --bin led-roulette --release -- -A + Finished release [optimized + debuginfo] target(s) in 0.02s led-roulette : section size addr -.vector_table 392 0x8000000 -.text 1826 0x8000188 -.rodata 84 0x80008ac +.vector_table 168 0x0 +.text 4044 0xa8 +.rodata 692 0x1074 .data 0 0x20000000 -.bss 4 0x20000000 -.debug_str 23334 0x0 -.debug_loc 6964 0x0 -.debug_abbrev 1337 0x0 -.debug_info 40582 0x0 -.debug_ranges 2936 0x0 -.debug_macinfo 1 0x0 -.debug_pubnames 5470 0x0 -.debug_pubtypes 10016 0x0 -.ARM.attributes 58 0x0 -.debug_frame 164 0x0 -.debug_line 9081 0x0 -.comment 18 0x0 -Total 102267 +.bss 1076 0x20000000 +.uninit 0 0x20000434 +.debug_loc 7520 0x0 +.debug_abbrev 3444 0x0 +.debug_info 55229 0x0 +.debug_aranges 1144 0x0 +.debug_ranges 3608 0x0 +.debug_str 48267 0x0 +.debug_pubnames 15435 0x0 +.debug_pubtypes 15970 0x0 +.ARM.attributes 50 0x0 +.debug_frame 2152 0x0 +.debug_line 17050 0x0 +.comment 147 0x0 +Total 175996 ``` > **NOTE** The Cargo project is already configured to build the release binary using LTO. -Know how to read this output? The `text` section contains the program instructions. It's around 2KB +Know how to read this output? The `text` section contains the program instructions. It's around 4KB in my case. On the other hand, the `data` and `bss` sections contain variables statically allocated -in RAM (`static` variables). A `static` variable is being used in `aux5::init`; that's why it shows 4 -bytes of `bss`. - -One final thing! We have been running our programs from within GDB but our programs don't depend on -GDB at all. You can confirm this be closing both GDB and OpenOCD and then resetting the board by -pressing the black button on the board. The LED roulette application will run without intervention -of GDB. +in RAM (`static` variables). diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index b023849fc..973f06a97 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -3,73 +3,24 @@ You are now well armed to face a challenge! Your task will be to implement the application I showed you at the beginning of this chapter. -Here's the GIF again: -

    - +

    -Also, this may help: +If you can't exactly see what's happening here it is in a much slower version:

    - +

    -This is a timing diagram. It indicates which LED is on at any given instant of time and for how long -each LED should be on. On the X axis we have the time in milliseconds. The timing diagram shows a -single period. This pattern will repeat itself every 800 ms. The Y axis labels each LED with a -cardinal point: North, East, etc. As part of the challenge you'll have to figure out how each -element in the `Leds` array maps to these cardinal points (hint: `cargo doc --open` `;-)`). - -Before you attempt this challenge, let me give you one last tip. Our GDB sessions always involve -entering the same commands at the beginning. We can use a `.gdb` file to execute some commands -right after GDB is started. This way you can save yourself the effort of having to enter them -manually on each GDB session. - -Place this `openocd.gdb` file in the root of the Cargo project, right next to the `Cargo.toml`: - -``` console -$ cat openocd.gdb -``` - -``` text -target remote :3333 -load -break main -continue -``` - -Then modify the second line of the `.cargo/config` file: - -``` console -$ cat .cargo/config -``` - -``` toml -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" # <- -rustflags = [ - "-C", "link-arg=-Tlink.x", -] -``` - -With that in place, you should now be able to start a `gdb` session that will automatically flash -the program and jump to the beginning of `main`: +2 hints before you start: -``` console -$ cargo run --target thumbv7em-none-eabihf - Running `arm-none-eabi-gdb -q -x openocd.gdb target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette...done. -(..) -Loading section .vector_table, size 0x188 lma 0x8000000 -Loading section .text, size 0x3b20 lma 0x8000188 -Loading section .rodata, size 0xb0c lma 0x8003cc0 -Start address 0x8003b1c, load size 18356 -Transfer rate: 20 KB/sec, 6118 bytes/write. -Breakpoint 1 at 0x800018c: file src/05-led-roulette/src/main.rs, line 9. -Note: automatically using hardware breakpoints for read-only addresses. +1. As we learned before the LED matrix of the micro:bit is actually a 3x9 while being exposed as a 5x5. Furthermore + it seems like the 9 columns and 3 rows are more or less randomly mapped to the visual 5x5 matrix. If you don't want + to go through the effort of figuring out the pins you have to set high/low in order to blink the border of the + matrix, here is the list: `(R1, C1) (R2, C4) (R1, C2), (R2, C5) (R1, C3) (R3, C8) (R2, C1) (R1, C4) (R3, C2) (R2, + C6) (R3, C1) (R2, C7) (R3, C3) (R1, C8) (R2, C2) (R3, C4)` -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 -9 let (mut delay, mut leds): (Delay, Leds) = aux5::init(); -(gdb) -``` +2. If you are thinking about storing columns and rows in arrays you will quickly notice they are of different type since + all GPIO pins are represented as their own type. However you can call `.degrade()` on the individual GPIO objects in + order to "degrade" them all into the same type and then store them in an array. From 1421432681e9f3131c277093d45ae3578a0fd2ed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 7 Oct 2020 14:39:01 +0200 Subject: [PATCH 113/313] add indication to put the example code into src/main.rs --- src/05-led-roulette/it-blinks.md | 8 ++++---- src/05-led-roulette/light-it-up.md | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index 01213b41d..17b572abd 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -55,8 +55,8 @@ enabled = true enabled = false ``` -And now after a quick `cargo embed` you should see "`1000 ms passed`" being sent to your console -every second from your MCU. +And now after putting the code into `src/main.rs` and another quick `cargo embed` you should see +"`1000 ms passed`" being sent to your console every second from your MCU. ## Blinking @@ -98,5 +98,5 @@ fn main() -> ! { } ``` -And after another `cargo embed` you should see the LED we light up before blinking as well as a print, every -time the LED changes from off to on and vice versa. +And after putting the code into `src/main.rs` and a final `cargo embed` you should see the LED we light up before +blinking as well as a print, every time the LED changes from off to on and vice versa. diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index 6a80dbc25..229d25b98 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -97,8 +97,8 @@ that is highly unlikely in our case, we can just `unwrap()` the result. ## Testing it -Testing our little program is quite simple. We simply have to run `cargo-embed` again, let it flash and just like before, -open our GDB and connect to the GDB stub: +Testing our little program is quite simple. First put it into `src/mains.rs`. Afterwards we simply have to run `cargo-embed` +again, let it flash and just like before, open our GDB and connect to the GDB stub: ``` $ gdb target/thumbv6m-none-eabi/debug/led-roulette From 9a14384707b8cfb73ac01f83fffd493660728209 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 7 Oct 2020 15:18:07 +0200 Subject: [PATCH 114/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/my-solution.md | 2 +- src/05-led-roulette/the-challenge.md | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/05-led-roulette/my-solution.md b/src/05-led-roulette/my-solution.md index 4d86b900f..a9c2614ed 100644 --- a/src/05-led-roulette/my-solution.md +++ b/src/05-led-roulette/my-solution.md @@ -72,7 +72,7 @@ fn main() -> ! { One more thing! Check that your solution also works when compiled in "release" mode: ``` console -$ cargo-embed --release +$ cargo embed --release ``` If you want to debug your "release" mode binary you'll have to use a different GDB command: diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 973f06a97..548c06e04 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -15,12 +15,12 @@ If you can't exactly see what's happening here it is in a much slower version: 2 hints before you start: -1. As we learned before the LED matrix of the micro:bit is actually a 3x9 while being exposed as a 5x5. Furthermore +1. As we learned before the LED matrix of the micro:bit is actually a 3x9 while being exposed as a 5x5. Furthermore, it seems like the 9 columns and 3 rows are more or less randomly mapped to the visual 5x5 matrix. If you don't want to go through the effort of figuring out the pins you have to set high/low in order to blink the border of the matrix, here is the list: `(R1, C1) (R2, C4) (R1, C2), (R2, C5) (R1, C3) (R3, C8) (R2, C1) (R1, C4) (R3, C2) (R2, C6) (R3, C1) (R2, C7) (R3, C3) (R1, C8) (R2, C2) (R3, C4)` -2. If you are thinking about storing columns and rows in arrays you will quickly notice they are of different type since - all GPIO pins are represented as their own type. However you can call `.degrade()` on the individual GPIO objects in +2. If you are thinking about storing columns and rows in arrays you will quickly notice they are of different types since + all GPIO pins are represented as their own type. However, you can call `.degrade()` on the individual GPIO objects in order to "degrade" them all into the same type and then store them in an array. From 759a9ee75289bc989928ded6cb9647d8c1201200 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 7 Oct 2020 16:04:10 +0200 Subject: [PATCH 115/313] host videos on website --- src/05-led-roulette/README.md | 2 +- src/05-led-roulette/the-challenge.md | 4 ++-- src/assets/roulette_fast.mp4 | Bin 0 -> 990767 bytes src/assets/roulette_slow.mp4 | Bin 0 -> 750575 bytes 4 files changed, 3 insertions(+), 3 deletions(-) create mode 100644 src/assets/roulette_fast.mp4 create mode 100644 src/assets/roulette_slow.mp4 diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 6144fce2d..b3e928d6a 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -3,7 +3,7 @@ Alright, let's start by building the following application:

    - +

    I'm going to give you a high level API to implement this app but don't worry we'll do low level diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 548c06e04..2067ff76c 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -4,13 +4,13 @@ You are now well armed to face a challenge! Your task will be to implement the a you at the beginning of this chapter.

    - +

    If you can't exactly see what's happening here it is in a much slower version:

    - +

    2 hints before you start: diff --git a/src/assets/roulette_fast.mp4 b/src/assets/roulette_fast.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fec3f6c05d5083ba5b1cadd304125d73276dddfa GIT binary patch literal 990767 zcmZsD2Ut_fws2_DtMnQW1VO4GC}3zRs5F%#Ez*0h(gFwqq9Pz7AXNnfX$sN_f{2I+ z(jqlqEpP`i8k`i4Lt5HIf#Hz#uYw?g$B0%7chP(c2C{(t$e4jKKAzSjTe{J$Vd z2!tvlD8Sy6OtcB|{L3cQ-x&X`jcoUywyvXqL zz@WhYB;*gzgFi_lw|~mtb^e8*>L3qWpA7yv{*?d4@h|k>YF+@yJq5B>T?(BJ5ikeg zbtSjsG286XbL1pJPLL}K7gk;+Hwp-iTkqZ07&1R^V9;M-{iEoQ4J&dJLvA_A-u?;q zpYjL)=MW_09RDE5R)RtQ9E3IY)rA-i`E0^!z%K+f_&AQBh|1V+{&K-R%0OP1Xu z%kq=yWLYV52;|RnmE9!MRv-|ObTUlVb*2phksaeJ`zbQ* z$|thyI0RyRmfYSX`z1!U$4vH#jN^(YkAa)aPo6D&$q)z+SudX|xz9z8N8rEYjAqGv zY2WkxxXHP4^!-=Z|Kx(2Y#-tf>=Zi~fDulb1?>y`LZ1 z*8eZE?*Cd_5^sZi|0oo4vj0n%tP}#dVISh6qAI7VD5t2PKomYm+LLGeroS}-!YR~|3{~T1s@w|$v!XJXZ z92p^RXma_gtTI&FT$jx04j_C9jH0j~0YtjM_qd3%w0eEovleSHEiLLKcL>>V`~pyZ{gsRDI!cJT6b^wd4EA<|1_nEjAr+`!;5|*nKQ%nSNmEfyfh 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    - -

    - ---- - -Just a little more of helpful magic before we start doing low level stuff. - -Blinking an LED is like the "Hello, world" of the embedded world. - -But in this section, we'll run a proper "Hello, world" program that prints stuff to your computer -console. - -Go to the `06-hello-world` directory. There's some starter code in it: - -``` rust -{{#include src/main.rs}} -``` - -The `iprintln` macro will format messages and output them to the microcontroller's *ITM*. ITM stands -for Instrumentation Trace Macrocell and it's a communication protocol on top of SWD (Serial Wire -Debug) which can be used to send messages from the microcontroller to the debugging host. This -communication is only *one way*: the debugging host can't send data to the microcontroller. - -OpenOCD, which is managing the debug session, can receive data sent through this ITM *channel* and -redirect it to a file. - -The ITM protocol works with *frames* (you can think of them as Ethernet frames). Each frame has a -header and a variable length payload. OpenOCD will receive these frames and write them directly to a -file without parsing them. So, if the microntroller sends the string "Hello, world!" using the -`iprintln` macro, OpenOCD's output file won't exactly contain that string. - -To retrieve the original string, OpenOCD's output file will have to be parsed. We'll use the -`itmdump` program to perform the parsing as new data arrives. - -You should have already installed the `itmdump` program during the [installation chapter]. - -[installation chapter]: ../03-setup/index.html#itmdump - -In a new terminal, run this command inside the `/tmp` directory, if you are using a \*nix OS, or from -within the `%TEMP%` directory, if you are running Windows. This should be the same directory from -where you are running OpenOCD. - -> **NOTE** It's very important that both `itmdump` and `openocd` are running -from the same directory! - -``` console -$ # itmdump terminal - -$ # *nix -$ cd /tmp && touch itm.txt - -$ # Windows -$ cd %TEMP% && type nul >> itm.txt - -$ # both -$ itmdump -F -f itm.txt -``` - -This command will block as `itmdump` is now watching the `itm.txt` file. Leave this terminal open. - -Make sure that F3 is connected to your computer. Open another terminal from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as described in chapter [First OpenOCD connection]. - -[First OpenOCD connection]: ../03-setup/verify.html#first-openocd-connection - -Alright. Now, let's build the starter code and flash it into the microcontroller. - -To avoid passing the `--target thumbv7em-none-eabihf` flag to every Cargo invocation we can set a -default target in .cargo/config: - -``` diff - [target.thumbv7em-none-eabihf] - runner = "arm-none-eabi-gdb -q -x openocd.gdb" - rustflags = [ - "-C", "link-arg=-Tlink.x", - ] - -+[build] -+target = "thumbv7em-none-eabihf" -``` - -Now if `--target` is not specified Cargo will assume that the target is `thumbv7em-none-eabihf`. - -``` console -$ cargo run -Reading symbols from target/thumbv7em-none-eabihf/debug/hello-world...done. -(..) -Loading section .vector_table, size 0x400 lma 0x8000000 -Loading section .text, size 0x27c4 lma 0x8000400 -Loading section .rodata, size 0x744 lma 0x8002be0 -Start address 0x8002980, load size 13064 -Transfer rate: 18 KB/sec, 4354 bytes/write. -Breakpoint 1 at 0x8000402: file src/06-hello-world/src/main.rs, line 10. -Note: automatically using hardware breakpoints for read-only addresses. - -Breakpoint 1, main () at src/06-hello-world/src/main.rs:10 -10 let mut itm = aux6::init(); -``` - -Note that there's a `openocd.gdb` at the root of the Cargo project. It's pretty similar to the one we -used in the previous section. - -Before we execute the `iprintln!` statement. We have to instruct OpenOCD to redirect the ITM output -into the same file that `itmdump` is watching. - -``` -(gdb) # globally enable the ITM and redirect all output to itm.txt -(gdb) monitor tpiu config internal itm.txt uart off 8000000 - -(gdb) # enable the ITM port 0 -(gdb) monitor itm port 0 on -``` - -All should be ready! Now execute the `iprintln!` statement. - -``` -(gdb) next -12 iprintln!(&mut itm.stim[0], "Hello, world!"); - -(gdb) next -14 loop {} -``` - -You should see some output in the `itmdump` terminal: - -``` console -$ itmdump -F -f itm.txt -(..) -Hello, world! -``` - -Awesome, right? Feel free to use `iprintln` as a logging tool in the coming sections. - -Next: That's not all! The `iprint!` macros are not the only thing that uses the ITM. `:-)` diff --git a/src/06-hello-world/auxiliary/Cargo.toml b/src/06-hello-world/auxiliary/Cargo.toml deleted file mode 100644 index 0935a0938..000000000 --- a/src/06-hello-world/auxiliary/Cargo.toml +++ /dev/null @@ -1,11 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux6" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" -f3 = "0.6.1" diff --git a/src/06-hello-world/auxiliary/src/lib.rs b/src/06-hello-world/auxiliary/src/lib.rs deleted file mode 100644 index b5d5f4584..000000000 --- a/src/06-hello-world/auxiliary/src/lib.rs +++ /dev/null @@ -1,17 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate f3; // provides memory.x -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; -pub use cortex_m_rt::entry; - -pub fn init() -> ITM { - let p = cortex_m::Peripherals::take().unwrap(); - - p.ITM -} diff --git a/src/06-hello-world/openocd.gdb b/src/06-hello-world/openocd.gdb deleted file mode 100644 index 9143f177e..000000000 --- a/src/06-hello-world/openocd.gdb +++ /dev/null @@ -1,6 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -load -break main -continue diff --git a/src/06-hello-world/panic.md b/src/06-hello-world/panic.md deleted file mode 100644 index 913866a70..000000000 --- a/src/06-hello-world/panic.md +++ /dev/null @@ -1,88 +0,0 @@ -# `panic!` - -The `panic!` macro also sends its output to the ITM! - -Change the `main` function to look like this: - -``` rust -#[entry] -fn main() -> ! { - panic!("Hello, world!"); -} -``` - -Let's try this program. But before that let's update `openocd.gdb` to run that `monitor` stuff for -us during GDB startup: - -``` diff - target remote :3333 - set print asm-demangle on - set print pretty on - load -+monitor tpiu config internal itm.txt uart off 8000000 -+monitor itm port 0 on - break main - continue -``` - -OK, now run it. - -``` console -$ cargo run -(..) -Breakpoint 1, main () at src/06-hello-world/src/main.rs:10 -10 panic!("Hello, world!"); - -(gdb) next -``` - -You'll see some new output in the `itmdump` terminal. - -``` console -$ # itmdump terminal -(..) -panicked at 'Hello, world!', src/06-hello-world/src/main.rs:10:5 -``` - - - - - - - - - - - - - - - - - - - - -Another thing you can do is catch the panic *before* it does the logging by -putting a breakpoint on the `rust_begin_unwind` symbol. - -``` -(gdb) monitor reset halt -(..) -target halted due to debug-request, current mode: Thread -xPSR: 0x01000000 pc: 0x080026ba msp: 0x10002000 - -(gdb) break rust_begin_unwind -Breakpoint 2 at 0x80011d2: file $REGISTRY/panic-itm-0.4.0/src/lib.rs, line 46. - -(gdb) continue -Continuing. - -Breakpoint 2, rust_begin_unwind (info=0x10001fac) at $REGISTRY/panic-itm-0.4.0/src/lib.rs:46 -46 interrupt::disable(); -``` - -You'll notice that nothing got printed on the `itmdump` console this time. If -you resume the program using `continue` then a new line will be printed. - -In a later section we'll look into other simpler communication protocols. diff --git a/src/06-hello-world/src/main.rs b/src/06-hello-world/src/main.rs deleted file mode 100644 index 7edcfeba5..000000000 --- a/src/06-hello-world/src/main.rs +++ /dev/null @@ -1,15 +0,0 @@ -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux6::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let mut itm = aux6::init(); - - iprintln!(&mut itm.stim[0], "Hello, world!"); - - loop {} -} diff --git a/src/06-hello-world/target b/src/06-hello-world/target deleted file mode 120000 index 6bcd2fc5d..000000000 --- a/src/06-hello-world/target +++ /dev/null @@ -1 +0,0 @@ -../../target \ No newline at end of file diff --git a/src/10-serial-communication/README.md b/src/06-serial-communication/README.md similarity index 72% rename from src/10-serial-communication/README.md rename to src/06-serial-communication/README.md index 10149fe4c..63897673e 100644 --- a/src/10-serial-communication/README.md +++ b/src/06-serial-communication/README.md @@ -21,9 +21,11 @@ signal. Instead both parties must agree on how fast data will be sent along the communication occurs. This protocol allows *duplex* communication as data can be sent from A to B and from B to A simultaneously. -We'll be using this protocol to exchange data between the microcontroller and your computer. In -contrast to the ITM protocol we have used before, with the serial communication protocol you can -send data from your computer to the microcontroller. +We'll be using this protocol to exchange data between the microcontroller and your computer. Now you might +asking yourself why exactly we aren't using RTT for this like we did before. RTT is a protocol that is meant +to be used soley for debugging. You will most definitely not be able to find a device that actually uses RTT +to communicate with some other device in production. However serial communication is used quite often, for +example some GPS receivers send the positioning information they receive to your via serial communication. The next practical question you probably want to ask is: How fast can we send data through this protocol? @@ -39,10 +41,10 @@ rate will probably be lower because of processing times on the slower side of th microcontroller). Today's computers don't support the serial communication protocol. So you can't directly connect -your computer to the microcontroller. But that's where the serial module comes in. This module will -sit between the two and expose a serial interface to the microcontroller and an USB interface to -your computer. The microcontroller will see your computer as another serial device and your computer -will see the microcontroller as a virtual serial device. +your computer to the microcontroller. Luckily for us thought the debug probe on the micro:bit has a so called +USB to serial converter. What this means is that it will sit between the two and expose a serial interface to +the microcontroller and an USB interface to your computer. The microcontroller will see your computer as +another serial device and your computer will see the microcontroller as a virtual serial device. Now, let's get familiar with the serial module and the serial communication tools that your OS offers. Pick a route: diff --git a/src/10-serial-communication/nix-tooling.md b/src/06-serial-communication/nix-tooling.md similarity index 58% rename from src/10-serial-communication/nix-tooling.md rename to src/06-serial-communication/nix-tooling.md index 61442aa89..ee87fd1a6 100644 --- a/src/10-serial-communication/nix-tooling.md +++ b/src/06-serial-communication/nix-tooling.md @@ -1,14 +1,14 @@ # \*nix tooling -## Newer revisions of the discovery board +## Newer revisions of the micro:bit board -With newer revisions, if you connect the discovery board to your computer you +With newer revisions, if you connect the micro:bit board to your computer you should see a new TTY device appear in `/dev`. ``` console $ # Linux $ dmesg | tail | grep -i tty -[13560.675310] cdc_acm 1-1.1:1.2: ttyACM0: USB ACM device +[63712.446286] cdc_acm 1-1.7:1.1: ttyACM0: USB ACM device ``` This is the USB <-> Serial device. On Linux, it's named `tty*` (usually @@ -19,42 +19,9 @@ the board; check the next section, which contains instructions for older revisions. If you do have a newer revision skip the next section and move to the "minicom" section. -## Older revisions of the discovery board / external serial module +## minicom -Connect the serial module to your computer and let's find out what name the OS assigned to it. - -> **NOTE** On macs, the USB device will named like this: `/dev/cu.usbserial-*`. You won't -> find it using `dmesg`, instead use `ls -l /dev | grep cu.usb` and adjust the following -> commands accordingly! - -``` console -$ dmesg | grep -i tty -(..) -[ +0.000155] usb 3-2: FTDI USB Serial Device converter now attached to ttyUSB0 -``` - -But what's this `ttyUSB0` thing? It's a file of course! Everything is a file in \*nix: - -``` console -$ ls -l /dev/ttyUSB0 -crw-rw-rw- 1 root uucp 188, 0 Oct 27 00:00 /dev/ttyUSB0 -``` - -> **NOTE** if the permissions above is `crw-rw----`, the udev rules have not been set correctly -> see [udev rules](../03-setup/linux.html#udev-rules) - -You can send out data by simply writing to this file: - -``` console -$ echo 'Hello, world!' > /dev/ttyUSB0 -``` - -You should see the TX (red) LED on the serial module blink, just once and very fast! - -## All revisions: minicom - -Dealing with serial devices using `echo` is far from ergonomic. So, we'll use the program `minicom` -to interact with the serial device using the keyboard. +We'll use the program `minicom` to interact with the serial device using the keyboard. We must configure `minicom` before we use it. There are quite a few ways to do that but we'll use a `.minirc.dfl` file in the home directory. Create a file in `~/.minirc.dfl` with the following @@ -97,8 +64,8 @@ baud rate to 115200. A text-based user interface (TUI) will pop out.

    You can now send data using the keyboard! Go ahead and type something. Note that -the TUI will *not* echo back what you type but, if you are using an external -module, you *may* see some LED on the module blink with each keystroke. +the TUI will *not* echo back what you type. If you pay attention to the yellow LED +on top of the micro:bit though, you will notice that it blinks whenever you type something. ## `minicom` commands diff --git a/src/10-serial-communication/windows-tooling.md b/src/06-serial-communication/windows-tooling.md similarity index 62% rename from src/10-serial-communication/windows-tooling.md rename to src/06-serial-communication/windows-tooling.md index 7efbce094..941a77888 100644 --- a/src/10-serial-communication/windows-tooling.md +++ b/src/06-serial-communication/windows-tooling.md @@ -1,9 +1,8 @@ # Windows tooling -Start by unplugging your discovery board. +Start by unplugging your micro:bit. -Before plugging the discovery board or the serial module, run the following command on -the terminal: +Before plugging the micro:bit, run the following command on the terminal: ``` console $ mode @@ -13,14 +12,9 @@ It will print a list of devices that are connected to your computer. The ones th their names are serial devices. This is the kind of device we'll be working with. Take note of all the `COM` *ports* `mode` outputs *before* plugging the serial module. -Now, plug the discovery board and run the `mode` command again. If you see a new -`COM` port appear on the list then you have a newer revision of the discovery -and that's the COM port assigned to the serial functionality on the discovery. -You can skip the next paragraph. - -If you didn't get a new COM port then you probably have an older revision of the -discovery. Now plug the serial module; you should see new COM port appear; -that's the COM port of the serial module. +Now, plug the micro:bit and run the `mode` command again. If you see a new +`COM` port appear on the list then you have that's the COM port assigned to the +serial functionality on the micro:bit. Now launch `putty`. A GUI will pop out. @@ -47,6 +41,6 @@ Finally, click the Open button. A console will show up now:

    -If you type on this console, the TX (red) LED on the Serial module should blink. Each key stroke +If you type on this console, the yellow LED on top of the micro:bit will blink. Each key stroke should make the LED blink once. Note that the console won't echo back what you type so the screen will remain blank. diff --git a/src/10-serial-communication/loopbacks.md b/src/10-serial-communication/loopbacks.md deleted file mode 100644 index 9735c4e20..000000000 --- a/src/10-serial-communication/loopbacks.md +++ /dev/null @@ -1,49 +0,0 @@ -# Loopbacks - -We've tested sending data. It's time to test receiving it. Except that there's no other device that -can send us some data ... or is there? - -Enter: loopbacks - -

    - -

    - -You can send data to yourself! Not very useful in production but very useful for debugging. - -## Older board revision / external serial module - -Connect the `TXO` and the `RXI` pins of the serial module together using a male to male jumper wire -as shown above. - -Now enter some text into minicom/PuTTY and observe. What happens? - -You should see three things: - -- As before, the TX (red) LED blinks on each key press. -- But now the RX (green) LED blinks on each key press as well! This indicates that the serial module - is receiving some data; the one it just sent. -- Finally, on the minicom/PuTTY console, you should see that what you type echoes back to the - console. - -## Newer board revision - -If you have a newer revision of the board you can set up a loopback by shorting -the PC4 and PC5 pins using a female to female jumper wire, like [you did for the -SWO pin](../06-hello-world/index.html). - -You should now be able to send data to yourself. - -Now try to enter some text into minicom/PuTTY and observe. - -> **NOTE**: To rule out the possibility of the existing firmware doing weird -> things to the serial pins (PC4 and PC5) we recommend *holding* the reset -> button while you enter text into minicom/PuTTY. - -If all is working you should see what you type echoed back to minicom/PuTTY -console. - ---- - -Now that you are familiar with sending and receiving data over serial port using minicom/PuTTY, -let's make your microcontroller and your computer talk! From 89e6eee1555ada5770ebd67999988ec194df8c5e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 15 Nov 2020 19:23:52 +0100 Subject: [PATCH 122/313] First steps of 07-uart rewrite --- Cargo.toml | 4 +- src/07-registers/.cargo/config | 8 - src/07-registers/Cargo.toml | 8 - src/07-registers/README.md | 44 ---- src/07-registers/auxiliary/Cargo.toml | 14 -- src/07-registers/auxiliary/src/lib.rs | 30 --- src/07-registers/bad-address.md | 144 +----------- src/07-registers/openocd.gdb | 10 - src/07-registers/optimization.md | 213 ------------------ src/07-registers/rtrm.md | 88 +------- .../spooky-action-at-a-distance.md | 82 ------- src/07-registers/src/main.rs | 29 --- src/07-registers/target | 1 - src/07-registers/type-safe-manipulation.md | 204 ----------------- src/07-uart/.cargo/config | 7 + src/07-uart/Cargo.toml | 14 ++ src/07-uart/Embed.toml | 11 + src/07-uart/README.md | 8 + src/{11-usart => 07-uart}/buffer-overrun.md | 0 src/07-uart/build.rs | 30 +++ src/{11-usart => 07-uart}/echo-server.md | 0 src/07-uart/memory.x | 6 + src/{11-usart => 07-uart}/my-solution.md | 0 .../receive-a-single-byte.md | 0 src/{11-usart => 07-uart}/reverse-a-string.md | 0 src/07-uart/send-a-single-byte.md | 47 ++++ src/{11-usart => 07-uart}/send-a-string.md | 0 src/07-uart/src/main.rs | 33 +++ src/{11-usart => 07-uart}/uprintln.md | 0 src/11-usart/.cargo/config | 8 - src/11-usart/Cargo.toml | 14 -- src/11-usart/README.md | 65 ------ src/11-usart/auxiliary/Cargo.toml | 17 -- src/11-usart/auxiliary/src/lib.rs | 59 ----- src/11-usart/openocd.gdb | 10 - src/11-usart/send-a-single-byte.md | 20 -- src/11-usart/src/main.rs | 16 -- src/11-usart/target | 1 - src/SUMMARY.md | 33 +-- 39 files changed, 171 insertions(+), 1107 deletions(-) delete mode 100644 src/07-registers/.cargo/config delete mode 100644 src/07-registers/Cargo.toml delete mode 100644 src/07-registers/auxiliary/Cargo.toml delete mode 100644 src/07-registers/auxiliary/src/lib.rs delete mode 100644 src/07-registers/openocd.gdb delete mode 100644 src/07-registers/src/main.rs delete mode 120000 src/07-registers/target create mode 100644 src/07-uart/.cargo/config create mode 100644 src/07-uart/Cargo.toml create mode 100644 src/07-uart/Embed.toml create mode 100644 src/07-uart/README.md rename src/{11-usart => 07-uart}/buffer-overrun.md (100%) create mode 100644 src/07-uart/build.rs rename src/{11-usart => 07-uart}/echo-server.md (100%) create mode 100644 src/07-uart/memory.x rename src/{11-usart => 07-uart}/my-solution.md (100%) rename src/{11-usart => 07-uart}/receive-a-single-byte.md (100%) rename src/{11-usart => 07-uart}/reverse-a-string.md (100%) create mode 100644 src/07-uart/send-a-single-byte.md rename src/{11-usart => 07-uart}/send-a-string.md (100%) create mode 100644 src/07-uart/src/main.rs rename src/{11-usart => 07-uart}/uprintln.md (100%) delete mode 100644 src/11-usart/.cargo/config delete mode 100644 src/11-usart/Cargo.toml delete mode 100644 src/11-usart/README.md delete mode 100644 src/11-usart/auxiliary/Cargo.toml delete mode 100644 src/11-usart/auxiliary/src/lib.rs delete mode 100644 src/11-usart/openocd.gdb delete mode 100644 src/11-usart/send-a-single-byte.md delete mode 100644 src/11-usart/src/main.rs delete mode 120000 src/11-usart/target diff --git a/Cargo.toml b/Cargo.toml index c66b88c89..54dc13908 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -2,11 +2,9 @@ members = [ "src/03-setup", "src/05-led-roulette", - "src/06-hello-world", - "src/07-registers", + "src/07-uart", "src/08-leds-again", "src/09-clocks-and-timers", - "src/11-usart", "src/14-i2c", "src/15-led-compass", "src/16-punch-o-meter", diff --git a/src/07-registers/.cargo/config b/src/07-registers/.cargo/config deleted file mode 100644 index b17774193..000000000 --- a/src/07-registers/.cargo/config +++ /dev/null @@ -1,8 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] - -[build] -target = "thumbv7em-none-eabihf" \ No newline at end of file diff --git a/src/07-registers/Cargo.toml b/src/07-registers/Cargo.toml deleted file mode 100644 index 2b4fbaca9..000000000 --- a/src/07-registers/Cargo.toml +++ /dev/null @@ -1,8 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "registers" -version = "0.1.0" - -[dependencies] -aux7 = { path = "auxiliary" } diff --git a/src/07-registers/README.md b/src/07-registers/README.md index 93532514d..057f2825b 100644 --- a/src/07-registers/README.md +++ b/src/07-registers/README.md @@ -1,45 +1 @@ # Registers - -It's time to explore what the `Led` API does under the hood. - -In a nutshell, it just writes to some special memory regions. Go into the `07-registers` directory -and let's run the starter code statement by statement. - -``` rust -{{#include src/main.rs}} -``` - -What's this magic? - -The address `0x48001018` points to a *register*. A register is a special region of memory that -controls a *peripheral*. A peripheral is a piece of electronics that sits right next to the -processor within the microcontroller package and provides the processor with extra functionality. -After all, the processor, on its own, can only do math and logic. - -This particular register controls General Purpose Input/Output (GPIO) *pins* (GPIO *is* a -peripheral) and can be used to *drive* each of those pins *low* or *high*. - -## An aside: LEDs, digital outputs and voltage levels - -Drive? Pin? Low? High? - -A pin is a electrical contact. Our microcontroller has several of them and some of them are -connected to LEDs. An LED, a Light Emitting Diode, will only emit light when voltage is applied to -it with a certain polarity. - -

    - -

    - -Luckily for us, the microcontroller's pins are connected to the LEDs with the right polarity. All -that we have to do is *output* some non-zero voltage through the pin to turn the LED on. The pins -attached to the LEDs are configured as *digital outputs* and can only output two different voltage -levels: "low", 0 Volts, or "high", 3 Volts. A "high" (voltage) level will turn the LED on whereas -a "low" (voltage) level will turn it off. - -These "low" and "high" states map directly to the concept of digital logic. "low" is `0` or `false` -and "high" is `1` or `true`. This is why this pin configuration is known as digital output. - ---- - -OK. But how can one find out what this register does? Time to RTRM (Read the Reference Manual)! diff --git a/src/07-registers/auxiliary/Cargo.toml b/src/07-registers/auxiliary/Cargo.toml deleted file mode 100644 index 5dceda7c1..000000000 --- a/src/07-registers/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux7" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" \ No newline at end of file diff --git a/src/07-registers/auxiliary/src/lib.rs b/src/07-registers/auxiliary/src/lib.rs deleted file mode 100644 index ed49cfbb7..000000000 --- a/src/07-registers/auxiliary/src/lib.rs +++ /dev/null @@ -1,30 +0,0 @@ -//! Initialization code - -#![deny(warnings)] -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; -pub use cortex_m_rt::entry; -use f3::{ - hal::{ - prelude::*, - stm32f30x::gpioc, - stm32f30x::{self, GPIOE}, - }, - led::Leds, -}; - -#[inline(never)] -pub fn init() -> (ITM, &'static gpioc::RegisterBlock) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - - let mut rcc = dp.RCC.constrain(); - - Leds::new(dp.GPIOE.split(&mut rcc.ahb)); - - (cp.ITM, unsafe { &*GPIOE::ptr() }) -} diff --git a/src/07-registers/bad-address.md b/src/07-registers/bad-address.md index 18af3efaf..47e84935a 100644 --- a/src/07-registers/bad-address.md +++ b/src/07-registers/bad-address.md @@ -1,143 +1 @@ -# `0xBAAAAAAD` address - -Not all the peripheral memory can be accessed. Look at this program. - -``` rust -#![no_main] -#![no_std] - -use core::ptr; - -#[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - aux7::init(); - - unsafe { - ptr::read_volatile(0x4800_1800 as *const u32); - } - - loop {} -} -``` - -This address is close to the `GPIOE_BSRR` address we used before but this address is *invalid*. -Invalid in the sense that there's no register at this address. - -Now, let's try it. - -``` console -$ cargo run -Breakpoint 3, main () at src/07-registers/src/main.rs:9 -9 aux7::init(); - -(gdb) continue -Continuing. - -Breakpoint 2, UserHardFault_ (ef=0x10001fc0) - at $REGISTRY/cortex-m-rt-0.6.3/src/lib.rs:535 -535 loop { -``` - -We tried to do an invalid operation, reading memory that doesn't exist, so the processor raised an -*exception*, a *hardware* exception. - -In most cases, exceptions are raised when the processor attempts to perform an invalid operation. -Exceptions break the normal flow of a program and force the processor to execute an *exception -handler*, which is just a function/subroutine. - -There are different kind of exceptions. Each kind of exception is raised by different conditions and -each one is handled by a different exception handler. - -The `aux7` crate depends on the `cortex-m-rt` crate which defines a default -*hard fault* handler, named `UserHardFault`, that handles the "invalid memory -address" exception. `openocd.gdb` placed a breakpoint on `HardFault`; that's why -the debugger halted your program while it was executing the exception handler. -We can get more information about the exception from the debugger. Let's see: - -``` -(gdb) list -530 -531 #[allow(unused_variables)] -532 #[doc(hidden)] -533 #[no_mangle] -534 pub unsafe extern "C" fn UserHardFault_(ef: &ExceptionFrame) -> ! { -535 loop { -536 // add some side effect to prevent this from turning into a UDF instruction -537 // see rust-lang/rust#28728 for details -538 atomic::compiler_fence(Ordering::SeqCst); -539 } -``` - -`ef` is a snapshot of the program state right before the exception occurred. Let's inspect it: - -``` -(gdb) print/x *ef -$1 = cortex_m_rt::ExceptionFrame { - r0: 0x48001800, - r1: 0x48001800, - r2: 0xb, - r3: 0xc, - r12: 0xd, - lr: 0x800019f, - pc: 0x80028d6, - xpsr: 0x1000000 -} -``` - -There are several fields here but the most important one is `pc`, the Program Counter register. -The address in this register points to the instruction that generated the exception. Let's -disassemble the program around the bad instruction. - -``` -(gdb) disassemble /m ef.pc -Dump of assembler code for function core::ptr::read_volatile: -471 /checkout/src/libcore/ptr.rs: No such file or directory. - 0x080028ce <+0>: sub sp, #16 - 0x080028d0 <+2>: mov r1, r0 - 0x080028d2 <+4>: str r0, [sp, #8] - -472 in /checkout/src/libcore/ptr.rs - 0x080028d4 <+6>: ldr r0, [sp, #8] - 0x080028d6 <+8>: ldr r0, [r0, #0] - 0x080028d8 <+10>: str r0, [sp, #12] - 0x080028da <+12>: ldr r0, [sp, #12] - 0x080028dc <+14>: str r1, [sp, #4] - 0x080028de <+16>: str r0, [sp, #0] - 0x080028e0 <+18>: b.n 0x80028e2 - -473 in /checkout/src/libcore/ptr.rs - 0x080028e2 <+20>: ldr r0, [sp, #0] - 0x080028e4 <+22>: add sp, #16 - 0x080028e6 <+24>: bx lr - -End of assembler dump. -``` - -The exception was caused by the `ldr r0, [r0, #0]` instruction, a read instruction. The instruction -tried to read the memory at the address indicated by the `r0` register. By the way, `r0` is a CPU -(processor) register not a memory mapped register; it doesn't have an associated address like, say, -`GPIO_BSRR`. - -Wouldn't it be nice if we could check what the value of the `r0` register was right at the instant -when the exception was raised? Well, we already did! The `r0` field in the `ef` value we printed -before is the value of `r0` register had when the exception was raised. Here it is again: - -``` -(gdb) p/x *ef -$1 = cortex_m_rt::ExceptionFrame { - r0: 0x48001800, - r1: 0x48001800, - r2: 0xb, - r3: 0xc, - r12: 0xd, - lr: 0x800019f, - pc: 0x80028d6, - xpsr: 0x1000000 -} -``` - -`r0` contains the value `0x4800_1800` which is the invalid address we called the `read_volatile` -function with. +# 0xBAAAAAAD address diff --git a/src/07-registers/openocd.gdb b/src/07-registers/openocd.gdb deleted file mode 100644 index df15d79d3..000000000 --- a/src/07-registers/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break HardFault -break main -continue diff --git a/src/07-registers/optimization.md b/src/07-registers/optimization.md index 1ae0a545f..7ef76832f 100644 --- a/src/07-registers/optimization.md +++ b/src/07-registers/optimization.md @@ -1,214 +1 @@ # (mis)Optimization - -Reads/writes to registers are quite special. I may even dare to say that they are embodiment of side -effects. In the previous example we wrote four different values to the same register. If you didn't -know that address was a register, you may have simplified the logic to just write the final value `1 -<< (11 + 16)` into the register. - -Actually, LLVM, the compiler's backend / optimizer, does not know we are dealing with a register and -will merge the writes thus changing the behavior of our program. Let's check that really quick. - -``` console -$ cargo run --release -(..) -Breakpoint 1, main () at src/07-registers/src/main.rs:9 -9 aux7::init(); - -(gdb) next -25 *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); - -(gdb) disassemble /m -Dump of assembler code for function main: -7 #[entry] - -8 fn main() -> ! { -9 aux7::init(); - 0x08000188 <+0>: bl 0x800019c - 0x0800018c <+4>: movw r0, #4120 ; 0x1018 - 0x08000190 <+8>: mov.w r1, #134217728 ; 0x8000000 - 0x08000194 <+12>: movt r0, #18432 ; 0x4800 - -10 -11 unsafe { -12 // A magic address! -13 const GPIOE_BSRR: u32 = 0x48001018; -14 -15 // Turn on the "North" LED (red) -16 *(GPIOE_BSRR as *mut u32) = 1 << 9; -17 -18 // Turn on the "East" LED (green) -19 *(GPIOE_BSRR as *mut u32) = 1 << 11; -20 -21 // Turn off the "North" LED -22 *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); -23 -24 // Turn off the "East" LED -25 *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); -=> 0x08000198 <+16>: str r1, [r0, #0] - -26 } -27 -28 loop {} - 0x0800019a <+18>: b.n 0x800019a - -End of assembler dump. -``` - -The state of the LEDs didn't change this time! The `str` instruction is the one that writes a value -to the register. Our *debug* (unoptimized) program had four of them, one for each write to the -register, but the *release* (optimized) program only has one. - -We can check that using `objdump`: - -``` console -$ # same as cargo objdump -- -d -no-show-raw-insn -print-imm-hex -source target/thumbv7em-none-eabihf/debug/registers -$ cargo objdump --bin registers -- -d -no-show-raw-insn -print-imm-hex -source -registers: file format ELF32-arm-little - -Disassembly of section .text: -main: -; #[entry] - 8000188: sub sp, #0x18 -; aux7::init(); - 800018a: bl #0xbc - 800018e: str r0, [sp, #0x14] - 8000190: b #-0x2 -; *(GPIOE_BSRR as *mut u32) = 1 << 9; - 8000192: b #-0x2 - 8000194: movw r0, #0x1018 - 8000198: movt r0, #0x4800 - 800019c: mov.w r1, #0x200 - 80001a0: str r1, [r0] -; *(GPIOE_BSRR as *mut u32) = 1 << 11; - 80001a2: b #-0x2 - 80001a4: movw r0, #0x1018 - 80001a8: movt r0, #0x4800 - 80001ac: mov.w r1, #0x800 - 80001b0: str r1, [r0] - 80001b2: movs r0, #0x19 -; *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); - 80001b4: mov r1, r0 - 80001b6: cmp r0, #0x9 - 80001b8: str r1, [sp, #0x10] - 80001ba: bvs #0x54 - 80001bc: b #-0x2 - 80001be: ldr r0, [sp, #0x10] - 80001c0: and r1, r0, #0x1f - 80001c4: movs r2, #0x1 - 80001c6: lsl.w r1, r2, r1 - 80001ca: lsrs r2, r0, #0x5 - 80001cc: cmp r2, #0x0 - 80001ce: str r1, [sp, #0xc] - 80001d0: bne #0x4c - 80001d2: b #-0x2 - 80001d4: movw r0, #0x1018 - 80001d8: movt r0, #0x4800 - 80001dc: ldr r1, [sp, #0xc] - 80001de: str r1, [r0] - 80001e0: movs r0, #0x1b -; *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); - 80001e2: mov r2, r0 - 80001e4: cmp r0, #0xb - 80001e6: str r2, [sp, #0x8] - 80001e8: bvs #0x42 - 80001ea: b #-0x2 - 80001ec: ldr r0, [sp, #0x8] - 80001ee: and r1, r0, #0x1f - 80001f2: movs r2, #0x1 - 80001f4: lsl.w r1, r2, r1 - 80001f8: lsrs r2, r0, #0x5 - 80001fa: cmp r2, #0x0 - 80001fc: str r1, [sp, #0x4] - 80001fe: bne #0x3a - 8000200: b #-0x2 - 8000202: movw r0, #0x1018 - 8000206: movt r0, #0x4800 - 800020a: ldr r1, [sp, #0x4] - 800020c: str r1, [r0] -; loop {} - 800020e: b #-0x2 - 8000210: b #-0x4 -; *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); - 8000212: movw r0, #0x41bc - 8000216: movt r0, #0x800 - 800021a: bl #0x3b28 - 800021e: trap - 8000220: movw r0, #0x4204 - 8000224: movt r0, #0x800 - 8000228: bl #0x3b1a - 800022c: trap -; *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); - 800022e: movw r0, #0x421c - 8000232: movt r0, #0x800 - 8000236: bl #0x3b0c - 800023a: trap - 800023c: movw r0, #0x4234 - 8000240: movt r0, #0x800 - 8000244: bl #0x3afe - 8000248: trap -``` - -How do we prevent LLVM from misoptimizing our program? We use *volatile* operations instead of plain -reads/writes: - -``` rust -#![no_main] -#![no_std] - -use core::ptr; - -#[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - aux7::init(); - - unsafe { - // A magic address! - const GPIOE_BSRR: u32 = 0x48001018; - - // Turn on the "North" LED (red) - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 9); - - // Turn on the "East" LED (green) - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 11); - - // Turn off the "North" LED - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (9 + 16)); - - // Turn off the "East" LED - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (11 + 16)); - } - - loop {} -} -``` - -If we look at the disassembly of this new program compiled in release mode: - -``` console -$ cargo objdump --bin registers --release -- -d -no-show-raw-insn -print-imm-hex -source -registers: file format ELF32-arm-little - -Disassembly of section .text: -main: -; #[entry] - 8000188: bl #0x22 -; aux7::init(); - 800018c: movw r0, #0x1018 - 8000190: mov.w r1, #0x200 - 8000194: movt r0, #0x4800 - 8000198: str r1, [r0] - 800019a: mov.w r1, #0x800 - 800019e: str r1, [r0] - 80001a0: mov.w r1, #0x2000000 - 80001a4: str r1, [r0] - 80001a6: mov.w r1, #0x8000000 - 80001aa: str r1, [r0] -; loop {} - 80001ac: b #-0x4 -``` - -We see that the four writes (`str` instructions) are preserved. If you run it (use `stepi`), you'll -also see that behavior of the program is preserved. diff --git a/src/07-registers/rtrm.md b/src/07-registers/rtrm.md index 54885aead..e0f30acb6 100644 --- a/src/07-registers/rtrm.md +++ b/src/07-registers/rtrm.md @@ -1,87 +1 @@ -# RTRM: Reading The Reference Manual - -I mentioned that the microcontroller has several pins. For convenience, these pins are grouped in -*ports* of 16 pins. Each port is named with a letter: Port A, Port B, etc. and the pins within each -port are named with numbers from 0 to 15. - -The first thing we have to find out is which pin is connected to which LED. This information is in -the STM32F3DISCOVERY [User Manual] (You downloaded a copy, right?). In this particular section: - -[User Manual]: http://www.st.com/resource/en/user_manual/dm00063382.pdf - -> Section 6.4 LEDs - Page 18 - -The manual says: - -- `LD3`, the North LED, is connected to the pin `PE9`. `PE9` is the short form of: Pin 9 on Port E. -- `LD7`, the East LED, is connected to the pin `PE11`. - -Up to this point, we know that we want to change the state of the pins PE9 and PE11 to turn the -North/East LEDs on/off. These pins are part of Port E so we'll have to deal with the `GPIOE` -peripheral. - -Each peripheral has a register *block* associated to it. A register block is a collection of -registers allocated in contiguous memory. The address at which the register block starts is known as -its base address. We need to figure out what's the base address of the `GPIOE` peripheral. That -information is in the following section of the microcontroller [Reference Manual]: - -[Reference Manual]: http://www.st.com/resource/en/reference_manual/dm00043574.pdf - -> Section 3.2.2 Memory map and register boundary addresses - Page 51 - -The table says that base address of the `GPIOE` register block is `0x4800_1000`. - -Each peripheral also has its own section in the documentation. Each of these sections ends with a -table of the registers that the peripheral's register block contains. For the `GPIO` family of -peripheral, that table is in: - -> Section 11.4.12 GPIO register map - Page 243 - -We are interested in the register that's at an offset of `0x18` from the base address of the `GPIOE` -peripheral. According to the table, that would be the register `BSRR`. - -Now we need to jump to the documentation of that particular register. It's a few pages above in: - -> Section 11.4.7 GPIO port bit set/reset register (GPIOx_BSRR) - Page 240 - -Finally! - -This is the register we were writing to. The documentation says some interesting things. First, this -register is write only ... so let's try reading its value `:-)`. - -We'll use GDB's `examine` command: `x`. - -``` -(gdb) next -16 *(GPIOE_BSRR as *mut u32) = 1 << 9; - -(gdb) x 0x48001018 -0x48001018: 0x00000000 - -(gdb) # the next command will turn the North LED on -(gdb) next -19 *(GPIOE_BSRR as *mut u32) = 1 << 11; - -(gdb) x 0x48001018 -0x48001018: 0x00000000 -``` - -Reading the register returns `0`. That matches what the documentation says. - -The other thing that the documentation says is that the bits 0 to 15 can be used to *set* the -corresponding pin. That is bit 0 sets the pin 0. Here, *set* means outputting a *high* value on -the pin. - -The documentation also says that bits 16 to 31 can be used to *reset* the corresponding pin. In this -case, the bit 16 resets the pin number 0. As you may guess, *reset* means outputting a *low* value -on the pin. - -Correlating that information with our program, all seems to be in agreement: - -- Writing `1 << 9` (`BS9 = 1`) to `BSRR` sets `PE9` *high*. That turns the North LED *on*. - -- Writing `1 << 11` (`BS11 = 1`) to `BSRR` sets `PE11` *high*. That turns the East LED *on*. - -- Writing `1 << 25` (`BR9 = 1`) to `BSRR` sets `PE9` *low*. That turns the North LED *off*. - -- Finally, writing `1 << 27` (`BR11 = 1`) to `BSRR` sets `PE11` *low*. That turns the East LED *off*. +# RTRM diff --git a/src/07-registers/spooky-action-at-a-distance.md b/src/07-registers/spooky-action-at-a-distance.md index d656be964..a77b73fad 100644 --- a/src/07-registers/spooky-action-at-a-distance.md +++ b/src/07-registers/spooky-action-at-a-distance.md @@ -1,83 +1 @@ # Spooky action at a distance - -`BSRR` is not the only register that can control the pins of Port E. The `ODR` register also lets -you change the value of the pins. Furthermore, `ODR` also lets you retrieve the current output -status of Port E. - -`ODR` is documented in: - -> Section 11.4.6 GPIO port output data register - Page 239 - -Let's try this program: - -``` rust -#![no_main] -#![no_std] - -use core::ptr; - -#[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let mut itm = aux7::init().0; - - unsafe { - const GPIOE_BSRR: u32 = 0x4800_1018; - const GPIOE_ODR: u32 = 0x4800_1014; - - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); - - // Turn on the NORTH LED (red) - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 9); - - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); - - // Turn on the EAST LED (green) - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 11); - - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); - - // Turn off the NORTH LED - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (9 + 16)); - - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); - - // Turn off the EAST LED - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (11 + 16)); - } - - loop {} -} -``` - -If you run this program, you'll see: - -``` console -$ # itmdump's console -(..) -ODR = 0x0000 -ODR = 0x0200 -ODR = 0x0a00 -ODR = 0x0800 -``` - -Side effects! Although we are reading the same address multiple times without actually modifying it, -we still see its value change every time `BSRR` is written to. diff --git a/src/07-registers/src/main.rs b/src/07-registers/src/main.rs deleted file mode 100644 index 43b7ba8fd..000000000 --- a/src/07-registers/src/main.rs +++ /dev/null @@ -1,29 +0,0 @@ -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - aux7::init(); - - unsafe { - // A magic address! - const GPIOE_BSRR: u32 = 0x48001018; - - // Turn on the "North" LED (red) - *(GPIOE_BSRR as *mut u32) = 1 << 9; - - // Turn on the "East" LED (green) - *(GPIOE_BSRR as *mut u32) = 1 << 11; - - // Turn off the "North" LED - *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); - - // Turn off the "East" LED - *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); - } - - loop {} -} diff --git a/src/07-registers/target b/src/07-registers/target deleted file mode 120000 index 6bcd2fc5d..000000000 --- a/src/07-registers/target +++ /dev/null @@ -1 +0,0 @@ -../../target \ No newline at end of file diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md index 24a1dc107..b4207d86d 100644 --- a/src/07-registers/type-safe-manipulation.md +++ b/src/07-registers/type-safe-manipulation.md @@ -1,205 +1 @@ # Type safe manipulation - -The last register we were working with, `ODR`, had this in its documentation: - -> Bits 31:16 Reserved, must be kept at reset value - -We are not supposed to write to those bits of the register or Bad Stuff May Happen. - -There's also the fact the registers have different read/write permissions. Some of them are write -only, others can be read and written to and there must be others that are read only. - -Finally, directly working with hexadecimal addresses is error prone. You already saw that trying to -access an invalid memory address causes an exception which disrupts the execution of our program. - -Wouldn't it be nice if we had an API to manipulate registers in a "safe" manner? Ideally, the API -should encode these three points I've mentioned: No messing around with the actual addresses, should -respect read/write permissions and should prevent modification of the reserved parts of a register. - -Well, we do! `aux7::init()` actually returns a value that provides a type safe API to manipulate the -registers of the `GPIOE` peripheral. - -As you may remember: a group of registers associated to a peripheral is called register block, and -it's located in a contiguous region of memory. In this type safe API each register block is modeled -as a `struct` where each of its fields represents a register. Each register field is a different -newtype over e.g. `u32` that exposes a combination of the following methods: `read`, `write` or -`modify` according to its read/write permissions. Finally, these methods don't take primitive values -like `u32`, instead they take yet another newtype that can be constructed using the builder pattern -and that prevent the modification of the reserved parts of the register. - -The best way to get familiar with this API is to port our running example to it. - -``` rust -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let gpioe = aux7::init().1; - - // Turn on the North LED - gpioe.bsrr.write(|w| w.bs9().set_bit()); - - // Turn on the East LED - gpioe.bsrr.write(|w| w.bs11().set_bit()); - - // Turn off the North LED - gpioe.bsrr.write(|w| w.br9().set_bit()); - - // Turn off the East LED - gpioe.bsrr.write(|w| w.br11().set_bit()); - - loop {} -} -``` - -First thing you notice: There are no magic addresses involved. Instead we use a more human friendly -way, for example `gpioe.bsrr`, to refer to the `BSRR` register in the `GPIOE` register block. - -Then we have this `write` method that takes a closure. If the identity closure (`|w| w`) is used, -this method will set the register to its *default* (reset) value, the value it had right after the -microcontroller was powered on / reset. That value is `0x0` for the `BSRR` register. Since we want -to write a non-zero value to the register, we use builder methods like `bs9` and `br9` to set some -of the bits of the default value. - -Let's run this program! There's some interesting stuff we can do *while* debugging the program. - -`gpioe` is a reference to the `GPIOE` register block. `print gpioe` will return the base address of -the register block. - -``` -$ cargo run -Breakpoint 3, main () at src/07-registers/src/main.rs:9 -9 let gpioe = aux7::init().1; - -(gdb) next -12 gpioe.bsrr.write(|w| w.bs9().set_bit()); - -(gdb) print gpioe -$1 = (stm32f30x::gpioc::RegisterBlock *) 0x48001000 -``` - -But if we instead `print *gpioe`, we'll get a *full view* of the register block: the value of each -of its registers will be printed. - -``` -(gdb) print *gpioe -$2 = stm32f30x::gpioc::RegisterBlock { - moder: stm32f30x::gpioc::MODER { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x55550000 - } - } - }, - otyper: stm32f30x::gpioc::OTYPER { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - ospeedr: stm32f30x::gpioc::OSPEEDR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - pupdr: stm32f30x::gpioc::PUPDR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - idr: stm32f30x::gpioc::IDR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0xcc - } - } - }, - odr: stm32f30x::gpioc::ODR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - bsrr: stm32f30x::gpioc::BSRR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - lckr: stm32f30x::gpioc::LCKR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - afrl: stm32f30x::gpioc::AFRL { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - afrh: stm32f30x::gpioc::AFRH { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - brr: stm32f30x::gpioc::BRR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - } -} -``` - -All these newtypes and closures sound like they'd generate large, bloated programs but, if you -actually compile the program in release mode with [LTO] enabled, you'll see that it produces exactly -the same instructions that the "unsafe" version that used `write_volatile` and hexadecimal addresses -did! - -[LTO]: https://en.wikipedia.org/wiki/Interprocedural_optimization - -``` console -$ cargo objdump --bin registers --release -- -d -no-show-raw-insn -print-imm-hex -registers: file format ELF32-arm-little - -Disassembly of section .text: -main: - 8000188: bl #0x22 - 800018c: movw r0, #0x1018 - 8000190: mov.w r1, #0x200 - 8000194: movt r0, #0x4800 - 8000198: str r1, [r0] - 800019a: mov.w r1, #0x800 - 800019e: str r1, [r0] - 80001a0: mov.w r1, #0x2000000 - 80001a4: str r1, [r0] - 80001a6: mov.w r1, #0x8000000 - 80001aa: str r1, [r0] - 80001ac: b #-0x4 -``` - -The best part of all this is that I didn't have to write a single line of code to implement the -GPIOE API. All was automatically generated from a System View Description (SVD) file using the -[svd2rust] tool. This SVD file is actually an XML file that microcontroller vendors provide and that -contains the register maps of their microcontrollers. The file contains the layout of register -blocks, the base addresses, the read/write permissions of each register, the layout of the -registers, whether a register has reserved bits and lots of other useful information. - -[svd2rust]: https://crates.io/crates/svd2rust diff --git a/src/07-uart/.cargo/config b/src/07-uart/.cargo/config new file mode 100644 index 000000000..a0ec1777f --- /dev/null +++ b/src/07-uart/.cargo/config @@ -0,0 +1,7 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +rustflags = [ + "-C", "link-arg=-Tlink.x", +] + +[build] +target = "thumbv6m-none-eabi" diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml new file mode 100644 index 000000000..3994f2dea --- /dev/null +++ b/src/07-uart/Cargo.toml @@ -0,0 +1,14 @@ +[package] +name = "usart" +version = "0.1.0" +authors = ["Henrik Böving "] +edition = "2018" + +[dependencies] +cortex-m = "0.6.0" +cortex-m-rt = "0.6.10" +panic-halt = "0.2.0" +nrf51-hal = "0.11.0" +rtt-target = { version = "0.2.2", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +nb = "1.0.0" diff --git a/src/07-uart/Embed.toml b/src/07-uart/Embed.toml new file mode 100644 index 000000000..ab9e1e057 --- /dev/null +++ b/src/07-uart/Embed.toml @@ -0,0 +1,11 @@ +[default.general] +chip = "nrf51822_xxAA" + +[default.reset] +halt_afterwards = true + +[default.rtt] +enabled = true + +[default.gdb] +enabled = false diff --git a/src/07-uart/README.md b/src/07-uart/README.md new file mode 100644 index 000000000..e794d0d0c --- /dev/null +++ b/src/07-uart/README.md @@ -0,0 +1,8 @@ +# UART + +The microcontroller has a peripheral called USART, which stands for Universal +Asynchronous Receiver/Transmitter. This peripheral can be configured to work with +several communication protocols like the serial communication protocol. + +Throughout this chapter, we'll use serial communication to exchange information between the +microcontroller and your computer. diff --git a/src/11-usart/buffer-overrun.md b/src/07-uart/buffer-overrun.md similarity index 100% rename from src/11-usart/buffer-overrun.md rename to src/07-uart/buffer-overrun.md diff --git a/src/07-uart/build.rs b/src/07-uart/build.rs new file mode 100644 index 000000000..c8d8c9141 --- /dev/null +++ b/src/07-uart/build.rs @@ -0,0 +1,30 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory (wherever `Cargo.toml` is). However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! a rebuild of the application with new memory settings is ensured after updating `memory.x`. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/src/11-usart/echo-server.md b/src/07-uart/echo-server.md similarity index 100% rename from src/11-usart/echo-server.md rename to src/07-uart/echo-server.md diff --git a/src/07-uart/memory.x b/src/07-uart/memory.x new file mode 100644 index 000000000..9e2ab65f6 --- /dev/null +++ b/src/07-uart/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE K = KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x00000000, LENGTH = 256K + RAM : ORIGIN = 0x20000000, LENGTH = 16K +} diff --git a/src/11-usart/my-solution.md b/src/07-uart/my-solution.md similarity index 100% rename from src/11-usart/my-solution.md rename to src/07-uart/my-solution.md diff --git a/src/11-usart/receive-a-single-byte.md b/src/07-uart/receive-a-single-byte.md similarity index 100% rename from src/11-usart/receive-a-single-byte.md rename to src/07-uart/receive-a-single-byte.md diff --git a/src/11-usart/reverse-a-string.md b/src/07-uart/reverse-a-string.md similarity index 100% rename from src/11-usart/reverse-a-string.md rename to src/07-uart/reverse-a-string.md diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md new file mode 100644 index 000000000..791949101 --- /dev/null +++ b/src/07-uart/send-a-single-byte.md @@ -0,0 +1,47 @@ +# Send a single byte + +Our first task will be to send a single byte from the microcontroller to the computer over the serial +connection. + +In order to do that we will use the following snippet (this one is already in `07-uart/src/main.rs`): + +``` rust +{{#include src/main.rs}} +``` + +There is some parts we have already seen before but also lots of new stuff so lets focus on those. +First things first, how do we know that we have to interact with P0_24 and P0_25 here? If you take a look +at the micro:bit schematics page 5 again, you will notice that those two pins are also referred to as TGT_RX +and TGT_TX. Not only that, they are also connected to our debug probe on page 2 so those are most likely the two +pins we are looking for. + +Next up we can observe a new pin configuration we haven't seen before `p0.p0_25.into_floating_input()`, this just +means that P0_25 is now an input, what exactly floating means is none of our concern right now. But how do we know +we have to put our pins in this exact mode? If you look at the line below you can see that we construct an instance +of `Pins` which is later passed on to our UART peripheral constructor (cts and rts are for more advanced UART features +we do not use here, hence they are set to None) and the [type signature](https://docs.rs/nrf51-hal/0.11.0/nrf51_hal/uart/struct.Pins.html) +of `Pins` already tells us what to do. + +Next we construct our UART peripheral with `hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200);`. +This function takes ownership of `p.UART0` and our `pins` so nobody else can mess with either the UART peripheral or our pins while +we are using them. After that we pass two configuration options two the constructor, the baudrate (that one should be +familiar) as well as an option called parity. Parity is a way that allows serial communication lines to check whether +the data they received was corrupted on the line or not but we don't want to use that here so we simply exclude it. + +Last but not least we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` +macro. `nb` is a (quoting from its description) "Minimal and reusable non-blocking I/O layer". It allows us to write +code code that can conduct hardware operations in the background while we go and do other work (non-blocking). However +in this and many other cases we have no interest in doing some other work so we just call `block!` which will wait until +the I/O operation is done and has either succeeded or failed and then continue execution normally. + +## Testing it + +Before flashing this you should make sure to start your minicom/PuTTY as the data we receive via our serial +communication is not backed up or anything, we have to view it live. Once your serial monitor is up you can +do a simple + +``` +$ cargo embed --release +``` + +And after the flashing you should see the character `X` show up on your minicom/PuTTY terminal, congrats! diff --git a/src/11-usart/send-a-string.md b/src/07-uart/send-a-string.md similarity index 100% rename from src/11-usart/send-a-string.md rename to src/07-uart/send-a-string.md diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs new file mode 100644 index 000000000..c12febbb9 --- /dev/null +++ b/src/07-uart/src/main.rs @@ -0,0 +1,33 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; +use nb::block; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; + + let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + + block!(uart.write(b'X')).ok(); + + loop {} +} diff --git a/src/11-usart/uprintln.md b/src/07-uart/uprintln.md similarity index 100% rename from src/11-usart/uprintln.md rename to src/07-uart/uprintln.md diff --git a/src/11-usart/.cargo/config b/src/11-usart/.cargo/config deleted file mode 100644 index f27a4a749..000000000 --- a/src/11-usart/.cargo/config +++ /dev/null @@ -1,8 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] - -[build] -target = "thumbv7em-none-eabihf" diff --git a/src/11-usart/Cargo.toml b/src/11-usart/Cargo.toml deleted file mode 100644 index 956dc824f..000000000 --- a/src/11-usart/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "usart" -version = "0.1.0" - -[dependencies.aux11] -path = "auxiliary" -# enable this if you are going to use an external serial adapter -# features = ["adapter"] - -[dependencies.heapless] -default-features = false -version = "0.3.7" diff --git a/src/11-usart/README.md b/src/11-usart/README.md deleted file mode 100644 index d03148d4e..000000000 --- a/src/11-usart/README.md +++ /dev/null @@ -1,65 +0,0 @@ -# USART - -The microcontroller has a peripheral called USART, which stands for Universal -Synchronous/Asynchronous Receiver/Transmitter. This peripheral can be configured to work with -several communication protocols like the serial communication protocol. - -Throughout this chapter, we'll use serial communication to exchange information between the -microcontroller and your computer. But before we do that we have to wire up everything. - -I mentioned before that this protocol involves two data lines: TX and RX. TX stands for transmitter -and RX stands for receiver. Transmitter and receiver are relative terms though; which line is the -transmitter and which line is the receiver depends from which side of the communication you are -looking at the lines. - -### Newer board revisions - -If you have a newer revision of the board and are using the on-board USB <-> -Serial functionality then the `auxiliary` crate will set pin `PC4` as the TX -line and pin `PC5` as the RX line. - -Everything is already wired on the board so you don't need to wire anything yourself. -You can move on to the [next section](send-a-single-byte.html). - -### Older board revisions / external serial module - -If you are using an external USB <-> Serial module then you will **need** to -enable the `adapter` feature of the `aux11` crate dependency in `Cargo.toml`. - -``` toml -[dependencies.aux11] -path = "auxiliary" -# enable this if you are going to use an external serial adapter -features = ["adapter"] # <- uncomment this -``` - -We'll be using the pin `PA9` as the microcontroller's TX line and `PA10` as its RX line. In other -words, the pin `PA9` outputs data onto its wire whereas the pin `PA10` listens for data on its -wire. - -We could have used a different pair of pins as the TX and RX pins. There's a table in page 44 of the -[Data Sheet] that list all the other possible pins we could have used. - -[Data Sheet]: http://www.st.com/resource/en/datasheet/stm32f303vc.pdf - -The serial module also has TX and RX pins. We'll have to *cross* these pins: that is connect the -microcontroller's TX pin to the serial module's RX pin and the micro's RX pin to the serial module's -TX pin. The wiring diagram below shows all the necessary connections. - -

    - -

    - -These are the recommended steps to connect the microcontroller and the serial module: - -- Close OpenOCD and `itmdump` -- Disconnect the USB cables from the F3 and the serial module. -- Connect one of F3 GND pins to the GND pin of the serial module using a female to male (F/M) wire. - Preferably, a black one. -- Connect the PA9 pin on the back of the F3 to the RXI pin of the serial module using a F/M wire. -- Connect the PA10 pin on the back of the F3 to the TXO pin of the serial module using a F/M wire. -- Now connect the USB cable to the F3. -- Finally connect the USB cable to the Serial module. -- Re-launch OpenOCD and `itmdump` - -Everything's wired up! Let's proceed to send data back and forth. diff --git a/src/11-usart/auxiliary/Cargo.toml b/src/11-usart/auxiliary/Cargo.toml deleted file mode 100644 index 252253981..000000000 --- a/src/11-usart/auxiliary/Cargo.toml +++ /dev/null @@ -1,17 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux11" -version = "0.1.0" - -[dependencies] -cortex-m = "0.5.6" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" - -[features] -adapter = [] \ No newline at end of file diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs deleted file mode 100644 index a4be7bc5a..000000000 --- a/src/11-usart/auxiliary/src/lib.rs +++ /dev/null @@ -1,59 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; -pub use cortex_m_rt::entry; -pub use f3::hal::{prelude, serial::Serial, stm32f30x::usart1, time::MonoTimer}; - -use f3::hal::{ - prelude::*, - stm32f30x::{self, USART1}, -}; - -pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - - let mut flash = dp.FLASH.constrain(); - let mut rcc = dp.RCC.constrain(); - - let clocks = rcc.cfgr.freeze(&mut flash.acr); - - let (tx, rx) = match () { - #[cfg(feature = "adapter")] - () => { - let mut gpioa = dp.GPIOA.split(&mut rcc.ahb); - - let tx = gpioa.pa9.into_af7(&mut gpioa.moder, &mut gpioa.afrh); - let rx = gpioa.pa10.into_af7(&mut gpioa.moder, &mut gpioa.afrh); - - (tx, rx) - } - #[cfg(not(feature = "adapter"))] - () => { - let mut gpioc = dp.GPIOC.split(&mut rcc.ahb); - - let tx = gpioc.pc4.into_af7(&mut gpioc.moder, &mut gpioc.afrl); - let rx = gpioc.pc5.into_af7(&mut gpioc.moder, &mut gpioc.afrl); - - (tx, rx) - } - }; - - Serial::usart1(dp.USART1, (tx, rx), 115_200.bps(), clocks, &mut rcc.apb2); - // If you are having trouble sending/receiving data to/from the - // HC-05 bluetooth module, try this configuration instead: - // Serial::usart1(dp.USART1, (tx, rx), 9600.bps(), clocks, &mut rcc.apb2); - - unsafe { - ( - &mut *(USART1::ptr() as *mut _), - MonoTimer::new(cp.DWT, clocks), - cp.ITM, - ) - } -} diff --git a/src/11-usart/openocd.gdb b/src/11-usart/openocd.gdb deleted file mode 100644 index cafe49b1b..000000000 --- a/src/11-usart/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break UserHardFault -break main -continue diff --git a/src/11-usart/send-a-single-byte.md b/src/11-usart/send-a-single-byte.md deleted file mode 100644 index d59910fb1..000000000 --- a/src/11-usart/send-a-single-byte.md +++ /dev/null @@ -1,20 +0,0 @@ -# Send a single byte - -Our first task will be to send a single byte from the microcontroller to the computer over the serial -connection. - -This time, I'm going to provide you with an already initialized USART peripheral. You'll only have -to work with the registers that are in charge of sending and receiving data. - -Go into the `11-usart` directory and let's run the starter code therein. Make sure that you have -minicom/PuTTY open. - -``` rust -{{#include src/main.rs}} -``` - -This program writes to the `TDR` register. This causes the `USART` peripheral to send one byte of -information through the serial interface. - -On the receiving end, your computer, you should see show the character `X` appear on minicom/PuTTY's -terminal. diff --git a/src/11-usart/src/main.rs b/src/11-usart/src/main.rs deleted file mode 100644 index 16c26e893..000000000 --- a/src/11-usart/src/main.rs +++ /dev/null @@ -1,16 +0,0 @@ -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - // Send a single character - usart1.tdr.write(|w| w.tdr().bits(u16::from(b'X'))); - - loop {} -} diff --git a/src/11-usart/target b/src/11-usart/target deleted file mode 120000 index 6bcd2fc5d..000000000 --- a/src/11-usart/target +++ /dev/null @@ -1 +0,0 @@ -../../target \ No newline at end of file diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 8737c5379..73ef59457 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -15,14 +15,18 @@ - [It blinks](05-led-roulette/it-blinks.md) - [The challenge](05-led-roulette/the-challenge.md) - [My solution](05-led-roulette/my-solution.md) -- [Hello, world!](06-hello-world/README.md) - - [`panic!`](06-hello-world/panic.md) -- [Registers](07-registers/README.md) - - [RTRM](07-registers/rtrm.md) - - [(mis)Optimization](07-registers/optimization.md) - - [`0xBAAAAAAD` address](07-registers/bad-address.md) - - [Spooky action at a distance](07-registers/spooky-action-at-a-distance.md) - - [Type safe manipulation](07-registers/type-safe-manipulation.md) +- [Serial communication](06-serial-communication/README.md) + - [\*nix tooling](06-serial-communication/nix-tooling.md) + - [Windows tooling](06-serial-communication/windows-tooling.md) +- [UART](07-uart/README.md) + - [Send a single byte](07-uart/send-a-single-byte.md) + - [Send a string](07-uart/send-a-string.md) + - [Buffer overrun](07-uart/buffer-overrun.md) + - [`uprintln!`](07-uart/uprintln.md) + - [Receive a single byte](07-uart/receive-a-single-byte.md) + - [Echo server](07-uart/echo-server.md) + - [Reverse a string](07-uart/reverse-a-string.md) + - [My solution](07-uart/my-solution.md) - [LEDs, again](08-leds-again/README.md) - [Power](08-leds-again/power.md) - [Configuration](08-leds-again/configuration.md) @@ -34,19 +38,6 @@ - [Initialization](09-clocks-and-timers/initialization.md) - [Busy waiting](09-clocks-and-timers/busy-waiting.md) - [Putting it all together](09-clocks-and-timers/putting-it-all-together.md) -- [Serial communication](10-serial-communication/README.md) - - [\*nix tooling](10-serial-communication/nix-tooling.md) - - [Windows tooling](10-serial-communication/windows-tooling.md) - - [Loopbacks](10-serial-communication/loopbacks.md) -- [USART](11-usart/README.md) - - [Send a single byte](11-usart/send-a-single-byte.md) - - [Send a string](11-usart/send-a-string.md) - - [Buffer overrun](11-usart/buffer-overrun.md) - - [`uprintln!`](11-usart/uprintln.md) - - [Receive a single byte](11-usart/receive-a-single-byte.md) - - [Echo server](11-usart/echo-server.md) - - [Reverse a string](11-usart/reverse-a-string.md) - - [My solution](11-usart/my-solution.md) - [Bluetooth setup](12-bluetooth-setup/README.md) - [Linux](12-bluetooth-setup/linux.md) - [Loopback](12-bluetooth-setup/loopback.md) From 83b37e8156b9910e447fb5e681eed70700d1388e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 15 Nov 2020 19:29:54 +0100 Subject: [PATCH 123/313] typo --- src/07-uart/send-a-single-byte.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 791949101..2d69cc613 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -30,7 +30,7 @@ the data they received was corrupted on the line or not but we don't want to use Last but not least we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` macro. `nb` is a (quoting from its description) "Minimal and reusable non-blocking I/O layer". It allows us to write -code code that can conduct hardware operations in the background while we go and do other work (non-blocking). However +code that can conduct hardware operations in the background while we go and do other work (non-blocking). However in this and many other cases we have no interest in doing some other work so we just call `block!` which will wait until the I/O operation is done and has either succeeded or failed and then continue execution normally. From 67bede866a3317b4c1f2a0608b32cef8b685cf4d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 16 Nov 2020 11:41:39 +0100 Subject: [PATCH 124/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/06-serial-communication/README.md | 6 +++--- src/06-serial-communication/nix-tooling.md | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/06-serial-communication/README.md b/src/06-serial-communication/README.md index 63897673e..d28fe28a2 100644 --- a/src/06-serial-communication/README.md +++ b/src/06-serial-communication/README.md @@ -25,7 +25,7 @@ We'll be using this protocol to exchange data between the microcontroller and yo asking yourself why exactly we aren't using RTT for this like we did before. RTT is a protocol that is meant to be used soley for debugging. You will most definitely not be able to find a device that actually uses RTT to communicate with some other device in production. However serial communication is used quite often, for -example some GPS receivers send the positioning information they receive to your via serial communication. +example some GPS receivers send the positioning information they receive via serial communication. The next practical question you probably want to ask is: How fast can we send data through this protocol? @@ -41,8 +41,8 @@ rate will probably be lower because of processing times on the slower side of th microcontroller). Today's computers don't support the serial communication protocol. So you can't directly connect -your computer to the microcontroller. Luckily for us thought the debug probe on the micro:bit has a so called -USB to serial converter. What this means is that it will sit between the two and expose a serial interface to +your computer to the microcontroller. Luckily for us though, the debug probe on the micro:bit has a so-called +USB to serial converter. What this means is that the converter will sit between the two and expose a serial interface to the microcontroller and an USB interface to your computer. The microcontroller will see your computer as another serial device and your computer will see the microcontroller as a virtual serial device. diff --git a/src/06-serial-communication/nix-tooling.md b/src/06-serial-communication/nix-tooling.md index ee87fd1a6..cc44978fd 100644 --- a/src/06-serial-communication/nix-tooling.md +++ b/src/06-serial-communication/nix-tooling.md @@ -64,7 +64,7 @@ baud rate to 115200. A text-based user interface (TUI) will pop out.

    You can now send data using the keyboard! Go ahead and type something. Note that -the TUI will *not* echo back what you type. If you pay attention to the yellow LED +the text UI will *not* echo back what you type. If you pay attention to the yellow LED on top of the micro:bit though, you will notice that it blinks whenever you type something. ## `minicom` commands From 8f3b4c069d8762b31f29c914c3bcd3681a750c73 Mon Sep 17 00:00:00 2001 From: gondolyr Date: Tue, 29 Dec 2020 22:33:41 -0500 Subject: [PATCH 125/313] 07-registers: Fix cargo objdump example The last code block of the Type Safe Manipulation section contains invalid flags because they are missing a dash. Thankfully cargo is intelligent enough to provide correct suggestions. Suggestion from cargo: ``` llvm-objdump: Unknown command line argument '-no-show-raw-insn'. Try: '/home/itme/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin/llvm-objdump --help' llvm-objdump: Did you mean '--no-show-raw-insn'? llvm-objdump: Unknown command line argument '-print-imm-hex'. Try: '/home/itme/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin/llvm-objdump --help' llvm-objdump: Did you mean '--print-imm-hex'? ``` --- src/07-registers/type-safe-manipulation.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md index 24a1dc107..adae15dd7 100644 --- a/src/07-registers/type-safe-manipulation.md +++ b/src/07-registers/type-safe-manipulation.md @@ -176,7 +176,7 @@ did! [LTO]: https://en.wikipedia.org/wiki/Interprocedural_optimization ``` console -$ cargo objdump --bin registers --release -- -d -no-show-raw-insn -print-imm-hex +$ cargo objdump --bin registers --release -- -d --no-show-raw-insn --print-imm-hex registers: file format ELF32-arm-little Disassembly of section .text: From 373b2a3fd439f983ac4c25de803f18b262294c46 Mon Sep 17 00:00:00 2001 From: Marco Ieni <11428655+MarcoIeni@users.noreply.github.com> Date: Sun, 3 Jan 2021 10:48:34 +0100 Subject: [PATCH 126/313] book.toml: add link to GitHub repo This will show a GitHub icon in the website that links to the repo --- book.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/book.toml b/book.toml index 298b7c60b..fbda71fad 100644 --- a/book.toml +++ b/book.toml @@ -6,3 +6,4 @@ language = "en" [output.html] additional-css = ["custom.css"] +git-repository-url = "https://github.com/rust-embedded/discovery/" From c2554cb5c7af92cfd2de70b33f70288873cebc3e Mon Sep 17 00:00:00 2001 From: Liam Hession Date: Sat, 16 Jan 2021 06:34:28 -0600 Subject: [PATCH 127/313] Adds details of how to assess and fix an Address already in use error --- .../1-general-troubleshooting/README.md | 36 +++++++++++++++++++ 1 file changed, 36 insertions(+) diff --git a/src/appendix/1-general-troubleshooting/README.md b/src/appendix/1-general-troubleshooting/README.md index b1f4cb919..678764473 100644 --- a/src/appendix/1-general-troubleshooting/README.md +++ b/src/appendix/1-general-troubleshooting/README.md @@ -137,6 +137,42 @@ Or, `itmdump` was called **after** the `monitor tpiu` was issued thus making - Then, launch `itmdump` - Then, launch the GDB session that executes the `monitor tpiu` command. + +### can't connect to OpenOCD - "Error: couldn't bind [telnet] to socket: Address already in use" + +#### Symptoms + +Upon trying to establish a *new connection* with the device you get an error +that looks something like this: + +``` +$ openocd -f (..) +(..) +Error: couldn't bind telnet to socket: Address already in use +``` + +#### Cause + +One or more of the ports OpenOCD requires access to, 3333, 4444, or 6666, is in use by another process. Each of these ports is used for another aspect: 3333 for gdb, 4444 for telnet, 6666 for remote procedure call (RPC) commands to TCL + +#### Fix + +You can go two routes for fixing this. A) Kill any process that's using one of those ports. B) Specify different ports you know to be free for OpenOCD to use. + +Solution A + +Mac: +- Get a list of processes using ports by running `sudo lsof -PiTCP -sTCP:LISTEN` +- Kill the process(es) blocking the key ports by noting their pid(s) and running `kill [pid]` for each. (Assuming you can confirm they're not running anything mission-critical on your machine!) + +Solution B + +All: +- Send configuration details to OpenOCD when starting it up so that it uses a different port from the default for any of the processes. +- For example, to do its telnet features on 4441 instead of the default 4444, you would run `openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg -c "telnet_port 4441"` +- More details on OpenOCD's Configuration Stage can be found in their [official docs online]: http://openocd.org/doc/html/Server-Configuration.html + + ## Cargo problems ### "can't find crate for `core`" From 9f22245821765cb5b4f4eab5bd0c965bc8a4728e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 21 Jan 2021 12:02:29 +0100 Subject: [PATCH 128/313] Apply a few more review stuff --- src/06-serial-communication/nix-tooling.md | 20 +++++++++++++++----- src/07-uart/README.md | 2 +- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/src/06-serial-communication/nix-tooling.md b/src/06-serial-communication/nix-tooling.md index cc44978fd..f8e3c8278 100644 --- a/src/06-serial-communication/nix-tooling.md +++ b/src/06-serial-communication/nix-tooling.md @@ -12,12 +12,22 @@ $ dmesg | tail | grep -i tty ``` This is the USB <-> Serial device. On Linux, it's named `tty*` (usually -`ttyACM*` or `ttyUSB*`). +`ttyACM*` or `ttyUSB*`). But what exactly `ttyACM0`? It's a file of course! +Everything is a file in \*nix: -If you don't see the device appear then you probably have an older revision of -the board; check the next section, which contains instructions for older -revisions. If you do have a newer revision skip the next section and move to the -"minicom" section. +``` +$ ls -l /dev/ttyACM0 +crw-rw----. 1 root plugdev 166, 0 Jan 21 11:56 /dev/ttyACM0 +``` + +You can send out data by simply writing to this file: + +``` console +$ echo 'Hello, world!' > /dev/ttyACM0 +``` + +You should see the orange LED on the micro:bit, right next to the USB port, blink for a moment, +whenever you enter this command. ## minicom diff --git a/src/07-uart/README.md b/src/07-uart/README.md index e794d0d0c..eec87112d 100644 --- a/src/07-uart/README.md +++ b/src/07-uart/README.md @@ -1,6 +1,6 @@ # UART -The microcontroller has a peripheral called USART, which stands for Universal +The microcontroller has a peripheral called UART, which stands for Universal Asynchronous Receiver/Transmitter. This peripheral can be configured to work with several communication protocols like the serial communication protocol. From 917b1c7eec3214611922daae85402ad8817661ab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 21 Jan 2021 14:05:50 +0100 Subject: [PATCH 129/313] Modifications to the rest of the chapter --- src/06-serial-communication/nix-tooling.md | 2 +- src/07-registers/README.md | 1 - src/07-registers/bad-address.md | 1 - src/07-registers/optimization.md | 1 - src/07-registers/rtrm.md | 1 - .../spooky-action-at-a-distance.md | 1 - src/07-registers/type-safe-manipulation.md | 1 - src/07-uart/Cargo.toml | 3 +- src/07-uart/Embed.toml | 2 +- src/07-uart/buffer-overrun.md | 159 ------------------ src/07-uart/my-solution.md | 43 +++-- src/07-uart/naive-approch-writeln.md | 89 ++++++++++ src/07-uart/receive-a-single-byte.md | 66 ++++---- src/07-uart/reverse-a-string.md | 26 ++- src/07-uart/send-a-single-byte.md | 1 + src/07-uart/src/main.rs | 27 ++- src/SUMMARY.md | 3 +- 17 files changed, 199 insertions(+), 228 deletions(-) delete mode 100644 src/07-registers/README.md delete mode 100644 src/07-registers/bad-address.md delete mode 100644 src/07-registers/optimization.md delete mode 100644 src/07-registers/rtrm.md delete mode 100644 src/07-registers/spooky-action-at-a-distance.md delete mode 100644 src/07-registers/type-safe-manipulation.md delete mode 100644 src/07-uart/buffer-overrun.md create mode 100644 src/07-uart/naive-approch-writeln.md diff --git a/src/06-serial-communication/nix-tooling.md b/src/06-serial-communication/nix-tooling.md index f8e3c8278..4fc4e2bb6 100644 --- a/src/06-serial-communication/nix-tooling.md +++ b/src/06-serial-communication/nix-tooling.md @@ -12,7 +12,7 @@ $ dmesg | tail | grep -i tty ``` This is the USB <-> Serial device. On Linux, it's named `tty*` (usually -`ttyACM*` or `ttyUSB*`). But what exactly `ttyACM0`? It's a file of course! +`ttyACM*` or `ttyUSB*`). But what exactly is `ttyACM0`? It's a file of course! Everything is a file in \*nix: ``` diff --git a/src/07-registers/README.md b/src/07-registers/README.md deleted file mode 100644 index 057f2825b..000000000 --- a/src/07-registers/README.md +++ /dev/null @@ -1 +0,0 @@ -# Registers diff --git a/src/07-registers/bad-address.md b/src/07-registers/bad-address.md deleted file mode 100644 index 47e84935a..000000000 --- a/src/07-registers/bad-address.md +++ /dev/null @@ -1 +0,0 @@ -# 0xBAAAAAAD address diff --git a/src/07-registers/optimization.md b/src/07-registers/optimization.md deleted file mode 100644 index 7ef76832f..000000000 --- a/src/07-registers/optimization.md +++ /dev/null @@ -1 +0,0 @@ -# (mis)Optimization diff --git a/src/07-registers/rtrm.md b/src/07-registers/rtrm.md deleted file mode 100644 index e0f30acb6..000000000 --- a/src/07-registers/rtrm.md +++ /dev/null @@ -1 +0,0 @@ -# RTRM diff --git a/src/07-registers/spooky-action-at-a-distance.md b/src/07-registers/spooky-action-at-a-distance.md deleted file mode 100644 index a77b73fad..000000000 --- a/src/07-registers/spooky-action-at-a-distance.md +++ /dev/null @@ -1 +0,0 @@ -# Spooky action at a distance diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md deleted file mode 100644 index b4207d86d..000000000 --- a/src/07-registers/type-safe-manipulation.md +++ /dev/null @@ -1 +0,0 @@ -# Type safe manipulation diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index 3994f2dea..16d2567a5 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -1,5 +1,5 @@ [package] -name = "usart" +name = "uart" version = "0.1.0" authors = ["Henrik Böving "] edition = "2018" @@ -12,3 +12,4 @@ nrf51-hal = "0.11.0" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } nb = "1.0.0" +heapless = "0.5.6" diff --git a/src/07-uart/Embed.toml b/src/07-uart/Embed.toml index ab9e1e057..321db357b 100644 --- a/src/07-uart/Embed.toml +++ b/src/07-uart/Embed.toml @@ -2,7 +2,7 @@ chip = "nrf51822_xxAA" [default.reset] -halt_afterwards = true +halt_afterwards = false [default.rtt] enabled = true diff --git a/src/07-uart/buffer-overrun.md b/src/07-uart/buffer-overrun.md deleted file mode 100644 index 59161a35a..000000000 --- a/src/07-uart/buffer-overrun.md +++ /dev/null @@ -1,159 +0,0 @@ -# Overruns - -If you wrote your program like this: - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - // Send a string - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); - } - - loop {} -} -``` - -You probably received something like this on your computer when you executed the program compiled in -debug mode. - -``` console -$ # minicom's terminal -(..) -The uic brwn oxjums oer helaz do. -``` - -And if you compiled in release mode, you probably only got something like this: - -``` console -$ # minicom's terminal -(..) -T -``` - -What went wrong? - -You see, sending bytes over the wire takes a relatively large amount of time. I already did the math -so let me quote myself: - -> With a common configuration of 1 start bit, 8 bits of data, 1 stop bit and a baud rate of 115200 -> bps one can, in theory, send 11,520 frames per second. Since each one frame carries a byte of data -> that results in a data rate of 11.52 KB/s - -Our pangram has a length of 45 bytes. That means it's going to take, at least, 3,900 microseconds -(`45 bytes / (11,520 bytes/s) = 3,906 us`) to send the string. The processor is working at 8 MHz, -where executing an instruction takes 125 nanoseconds, so it's likely going to be done with the `for` -loop in less than 3,900 microseconds. - -We can actually time how long it takes to execute the `for` loop. `aux11::init()` returns a -`MonoTimer` (monotonic timer) value that exposes an `Instant` API that's similar to the one in -`std::time`. - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, mut itm) = aux11::init(); - - let instant = mono_timer.now(); - // Send a string - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); - } - let elapsed = instant.elapsed(); // in ticks - - iprintln!( - &mut itm.stim[0], - "`for` loop took {} ticks ({} us)", - elapsed, - elapsed as f32 / mono_timer.frequency().0 as f32 * 1e6 - ); - - loop {} -} -``` - -In debug mode, I get: - -``` console -$ # itmdump terminal -(..) -`for` loop took 22415 ticks (2801.875 us) -``` - -This is less than 3,900 microseconds but it's not that far off and that's why only a few bytes of -information are lost. - -In conclusion, the processor is trying to send bytes at a faster rate than what the hardware can -actually handle and this results in data loss. This condition is known as buffer *overrun*. - -How do we avoid this? The status register (`ISR`) has a flag, `TXE`, that indicates if it's "safe" -to write to the `TDR` register without incurring in data loss. - -Let's use that to slowdown the processor. - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, mut itm) = aux11::init(); - - let instant = mono_timer.now(); - // Send a string - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - // wait until it's safe to write to TDR - while usart1.isr.read().txe().bit_is_clear() {} // <- NEW! - - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); - } - let elapsed = instant.elapsed(); // in ticks - - iprintln!( - &mut itm.stim[0], - "`for` loop took {} ticks ({} us)", - elapsed, - elapsed as f32 / mono_timer.frequency().0 as f32 * 1e6 - ); - - loop {} -} -``` - -This time, running the program in debug or release mode should result in a complete string on the -receiving side. - -``` console -$ # minicom/PuTTY's console -(..) -The quick brown fox jumps over the lazy dog. -``` - -The timing of the `for` loop should be closer to the theoretical 3,900 microseconds as well. The -timing below is for the debug version. - -``` console -$ # itmdump terminal -(..) -`for` loop took 30499 ticks (3812.375 us) -``` diff --git a/src/07-uart/my-solution.md b/src/07-uart/my-solution.md index 11ae9fed3..a5507a60a 100644 --- a/src/07-uart/my-solution.md +++ b/src/07-uart/my-solution.md @@ -1,17 +1,35 @@ # My solution ```rust -#![deny(unsafe_code)] #![no_main] #![no_std] -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; use heapless::{consts, Vec}; +use nb::block; +use core::fmt::Write; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; + + let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); // A buffer with 32 bytes of capacity let mut buffer: Vec = Vec::new(); @@ -20,27 +38,18 @@ fn main() -> ! { buffer.clear(); loop { - while usart1.isr.read().rxne().bit_is_clear() {} - let byte = usart1.rdr.read().rdr().bits() as u8; + // We assume that the receiving cannot fail + let byte = block!(uart.read()).unwrap(); if buffer.push(byte).is_err() { - // buffer full - for byte in b"error: buffer full\n\r" { - while usart1.isr.read().txe().bit_is_clear() {} - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); - } - + writeln!(&mut uart, "error: buffer full").unwrap(); break; } - // Carriage return if byte == 13 { - // Respond for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { - while usart1.isr.read().txe().bit_is_clear() {} - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); + block!(uart.write(*byte)).ok(); } - break; } } diff --git a/src/07-uart/naive-approch-writeln.md b/src/07-uart/naive-approch-writeln.md new file mode 100644 index 000000000..09d8f9cc3 --- /dev/null +++ b/src/07-uart/naive-approch-writeln.md @@ -0,0 +1,89 @@ +# Naive approach and `writeln!` + +## Naive approach + +You probably came up with a program similar to the following: + +```rs +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; +use nb::block; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; + + let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + + for byte in b"The quick brown fox jumps over the lazy dog.".iter() { + block!(uart.write(*byte)).ok(); + } + + loop {} +} +``` + +and while this is a perfectly valid implementation at some point +you might want to have all the nice perks of `println!` such +as argument formatting etc., introducing: `core::fmt::Write`. + +## `writeln!` and `core::fmt::Write` +The `core::fmt::Write` trait allows us to use any struct that implements +it in basically the same way as we use `println!` in the `std` world. +In this case the `Uart` struct from the nrf hal does implement `core::fmt::Write` +so we can refactor the above program into this: + +```rs +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use nrf51_hal as hal; +use core::fmt::Write; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; + + let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + writeln!(&mut uart, "The quick brown fox jumps over the lazy dog.").unwrap(); + + loop {} +} +``` + +If you were to flash this program onto your micro:bit, you'll +see that it is functionally equivalent to the iterator based +program you came up with. diff --git a/src/07-uart/receive-a-single-byte.md b/src/07-uart/receive-a-single-byte.md index 9d977f5ef..2e88b9e85 100644 --- a/src/07-uart/receive-a-single-byte.md +++ b/src/07-uart/receive-a-single-byte.md @@ -1,52 +1,52 @@ # Receive a single byte So far we have sending data from the microcontroller to your computer. It's time to try the opposite: receiving -data from your computer. - -There's a `RDR` register that will be filled with the data that comes from the RX line. If we read -that register, we'll retrieve the data that the other side of the channel sent. The question is: How -do we know that we have received (new) data? The status register, `ISR`, has a bit for that purpose: -`RXNE`. We can just busy wait on that flag. +data from your computer. Luckily `embedded-hal` again got us covered with this one: ``` rust -#![deny(unsafe_code)] #![no_main] #![no_std] -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use rtt_target::rprintln; +use nrf51_hal as hal; +use hal::prelude::*; +use nb::block; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); - loop { - // Wait until there's data available - while usart1.isr.read().rxne().bit_is_clear() {} + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; - // Retrieve the data - let _byte = usart1.rdr.read().rdr().bits() as u8; + let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); - aux11::bkpt(); + loop { + let byte = block!(uart.read()).unwrap(); + rprintln!("{}", byte); } } ``` -Let's try this program! Let it run free using `continue` and then type a single character in -minicom/PuTTY's console. What happens? What are the contents of the `_byte` variable? +The only part that changed, compared to our send byte program, is the loop +at the end of main. Here we use the `read()` function, provided by `embedded-hal`, +in order to wait until a byte is available and read. Then we print that byte +into our RTT debugging console to see whether stuff is actually arriving. -``` -(gdb) continue -Continuing. - -Program received signal SIGTRAP, Trace/breakpoint trap. -0x8003d48 in __bkpt () - -(gdb) finish -Run till exit from #0 0x8003d48 in __bkpt () -usart::main () at src/11-usart/src/main.rs:19 -19 aux11::bkpt(); - -(gdb) p/c _byte -$1 = 97 'a' -``` +Note that if you flash this program and start typing characters inside `minicom` to +send them to your microcontroller you'll only be able to see numbers inside your +RTT console since we are not converting the `u8` we received into an actual `char`. +Since the conversion from `u8` to `char` is quite simple I'll leave this task to +you if you really do want to see the characters inside the RTT console. diff --git a/src/07-uart/reverse-a-string.md b/src/07-uart/reverse-a-string.md index 12a3dda7b..a3dfda63a 100644 --- a/src/07-uart/reverse-a-string.md +++ b/src/07-uart/reverse-a-string.md @@ -6,20 +6,36 @@ ENTER key. Each server response will be in a new line. This time you'll need a buffer; you can use [`heapless::Vec`]. Here's the starter code: -[`heapless::Vec`]: https://docs.rs/heapless/0.2.1/heapless/struct.Vec.html +[`heapless::Vec`]: https://docs.rs/heapless/0.5.6/heapless/struct.Vec.html ``` rust -#![deny(unsafe_code)] #![no_main] #![no_std] -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use rtt_target::rprintln; +use nrf51_hal as hal; use heapless::{consts, Vec}; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; + + let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); // A buffer with 32 bytes of capacity let mut buffer: Vec = Vec::new(); diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 2d69cc613..cb9b17cf4 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -9,6 +9,7 @@ In order to do that we will use the following snippet (this one is already in `0 {{#include src/main.rs}} ``` + There is some parts we have already seen before but also lots of new stuff so lets focus on those. First things first, how do we know that we have to interact with P0_24 and P0_25 here? If you take a look at the micro:bit schematics page 5 again, you will notice that those two pins are also referred to as TGT_RX diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index c12febbb9..3cbd2d4c2 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -1,4 +1,3 @@ -#![deny(unsafe_code)] #![no_main] #![no_std] @@ -7,7 +6,9 @@ use rtt_target::rtt_init_print; use panic_rtt_target as _; use nrf51_hal as hal; use hal::prelude::*; +use heapless::{consts, Vec}; use nb::block; +use core::fmt::Write; #[entry] fn main() -> ! { @@ -27,7 +28,27 @@ fn main() -> ! { let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); - block!(uart.write(b'X')).ok(); + // A buffer with 32 bytes of capacity + let mut buffer: Vec = Vec::new(); - loop {} + loop { + buffer.clear(); + + loop { + // We assume that the receiving cannot fail for now + let byte = block!(uart.read()).unwrap(); + + if buffer.push(byte).is_err() { + writeln!(&mut uart, "error: buffer full").unwrap(); + break; + } + + if byte == 13 { + for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { + block!(uart.write(*byte)).ok(); + } + break; + } + } + } } diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 73ef59457..4fbb3c6d2 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -21,8 +21,7 @@ - [UART](07-uart/README.md) - [Send a single byte](07-uart/send-a-single-byte.md) - [Send a string](07-uart/send-a-string.md) - - [Buffer overrun](07-uart/buffer-overrun.md) - - [`uprintln!`](07-uart/uprintln.md) + - [Naive approach and `writeln!`](07-uart/naive-approch-writeln.md) - [Receive a single byte](07-uart/receive-a-single-byte.md) - [Echo server](07-uart/echo-server.md) - [Reverse a string](07-uart/reverse-a-string.md) From 3a7bc15d5979e21d201540d76f40350e2c856310 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 21 Jan 2021 14:10:24 +0100 Subject: [PATCH 130/313] accidentally overwrote original src/main.rs during testing --- src/07-uart/src/main.rs | 27 +++------------------------ 1 file changed, 3 insertions(+), 24 deletions(-) diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index 3cbd2d4c2..c12febbb9 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -1,3 +1,4 @@ +#![deny(unsafe_code)] #![no_main] #![no_std] @@ -6,9 +7,7 @@ use rtt_target::rtt_init_print; use panic_rtt_target as _; use nrf51_hal as hal; use hal::prelude::*; -use heapless::{consts, Vec}; use nb::block; -use core::fmt::Write; #[entry] fn main() -> ! { @@ -28,27 +27,7 @@ fn main() -> ! { let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); - // A buffer with 32 bytes of capacity - let mut buffer: Vec = Vec::new(); + block!(uart.write(b'X')).ok(); - loop { - buffer.clear(); - - loop { - // We assume that the receiving cannot fail for now - let byte = block!(uart.read()).unwrap(); - - if buffer.push(byte).is_err() { - writeln!(&mut uart, "error: buffer full").unwrap(); - break; - } - - if byte == 13 { - for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { - block!(uart.write(*byte)).ok(); - } - break; - } - } - } + loop {} } From 29e116374e39af0870e134d3857a90bb1b6f331b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 27 Jan 2021 23:25:25 +0100 Subject: [PATCH 131/313] Update src/06-serial-communication/README.md Co-authored-by: Diego Barrios Romero --- src/06-serial-communication/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/06-serial-communication/README.md b/src/06-serial-communication/README.md index d28fe28a2..847f03531 100644 --- a/src/06-serial-communication/README.md +++ b/src/06-serial-communication/README.md @@ -24,7 +24,7 @@ and from B to A simultaneously. We'll be using this protocol to exchange data between the microcontroller and your computer. Now you might asking yourself why exactly we aren't using RTT for this like we did before. RTT is a protocol that is meant to be used soley for debugging. You will most definitely not be able to find a device that actually uses RTT -to communicate with some other device in production. However serial communication is used quite often, for +to communicate with some other device in production. However, serial communication is used quite often. For example some GPS receivers send the positioning information they receive via serial communication. The next practical question you probably want to ask is: How fast can we send data through this From 30ef6bb112e2c9fd98ff979d516f41a95ce4aa03 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 27 Jan 2021 23:26:48 +0100 Subject: [PATCH 132/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/06-serial-communication/README.md | 2 +- src/07-uart/naive-approch-writeln.md | 10 ++++----- src/07-uart/receive-a-single-byte.md | 8 +++---- src/07-uart/send-a-single-byte.md | 30 +++++++++++++-------------- 4 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/06-serial-communication/README.md b/src/06-serial-communication/README.md index 847f03531..a2e90d442 100644 --- a/src/06-serial-communication/README.md +++ b/src/06-serial-communication/README.md @@ -42,7 +42,7 @@ microcontroller). Today's computers don't support the serial communication protocol. So you can't directly connect your computer to the microcontroller. Luckily for us though, the debug probe on the micro:bit has a so-called -USB to serial converter. What this means is that the converter will sit between the two and expose a serial interface to +USB-to-serial converter. This means that the converter will sit between the two and expose a serial interface to the microcontroller and an USB interface to your computer. The microcontroller will see your computer as another serial device and your computer will see the microcontroller as a virtual serial device. diff --git a/src/07-uart/naive-approch-writeln.md b/src/07-uart/naive-approch-writeln.md index 09d8f9cc3..3a0facf5a 100644 --- a/src/07-uart/naive-approch-writeln.md +++ b/src/07-uart/naive-approch-writeln.md @@ -41,15 +41,15 @@ fn main() -> ! { } ``` -and while this is a perfectly valid implementation at some point +While this is a perfectly valid implementation, at some point you might want to have all the nice perks of `println!` such -as argument formatting etc., introducing: `core::fmt::Write`. +as argument formatting and so on. If you are wondering how to do that, read on. ## `writeln!` and `core::fmt::Write` The `core::fmt::Write` trait allows us to use any struct that implements it in basically the same way as we use `println!` in the `std` world. -In this case the `Uart` struct from the nrf hal does implement `core::fmt::Write` -so we can refactor the above program into this: +In this case the `Uart` struct from the `nrf` HAL does implement `core::fmt::Write` +so we can refactor our previous program into this: ```rs #![no_main] @@ -85,5 +85,5 @@ fn main() -> ! { ``` If you were to flash this program onto your micro:bit, you'll -see that it is functionally equivalent to the iterator based +see that it is functionally equivalent to the iterator-based program you came up with. diff --git a/src/07-uart/receive-a-single-byte.md b/src/07-uart/receive-a-single-byte.md index 2e88b9e85..6743ab761 100644 --- a/src/07-uart/receive-a-single-byte.md +++ b/src/07-uart/receive-a-single-byte.md @@ -1,6 +1,6 @@ # Receive a single byte -So far we have sending data from the microcontroller to your computer. It's time to try the opposite: receiving +So far we have sending of data from the microcontroller to your computer working. It's time to try the opposite: receiving data from your computer. Luckily `embedded-hal` again got us covered with this one: ``` rust @@ -41,12 +41,12 @@ fn main() -> ! { ``` The only part that changed, compared to our send byte program, is the loop -at the end of main. Here we use the `read()` function, provided by `embedded-hal`, -in order to wait until a byte is available and read. Then we print that byte +at the end of `main()`. Here we use the `read()` function, provided by `embedded-hal`, +in order to wait until a byte is available and read it. Then we print that byte into our RTT debugging console to see whether stuff is actually arriving. Note that if you flash this program and start typing characters inside `minicom` to send them to your microcontroller you'll only be able to see numbers inside your RTT console since we are not converting the `u8` we received into an actual `char`. -Since the conversion from `u8` to `char` is quite simple I'll leave this task to +Since the conversion from `u8` to `char` is quite simple, I'll leave this task to you if you really do want to see the characters inside the RTT console. diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index cb9b17cf4..0a308110b 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -10,28 +10,28 @@ In order to do that we will use the following snippet (this one is already in `0 ``` -There is some parts we have already seen before but also lots of new stuff so lets focus on those. -First things first, how do we know that we have to interact with P0_24 and P0_25 here? If you take a look -at the micro:bit schematics page 5 again, you will notice that those two pins are also referred to as TGT_RX -and TGT_TX. Not only that, they are also connected to our debug probe on page 2 so those are most likely the two +There are some parts we have already seen before but also lots of new stuff so lets focus on those. +First things first, how do we know that we have to interact with `P0_24` and `P0_25` here? If you take a look +at the micro:bit schematics again, in page 5 you will notice that those two pins are also referred to as `TGT_RX` +and `TGT_TX`. Not only that, they are also connected to our debug probe (see page 2) so those are most likely the two pins we are looking for. -Next up we can observe a new pin configuration we haven't seen before `p0.p0_25.into_floating_input()`, this just -means that P0_25 is now an input, what exactly floating means is none of our concern right now. But how do we know +Next up, we can observe a new pin configuration we haven't seen before `p0.p0_25.into_floating_input()`. This just +means that `P0_25` is now an input. What exactly floating means is none of our concern right now. But how do we know we have to put our pins in this exact mode? If you look at the line below you can see that we construct an instance -of `Pins` which is later passed on to our UART peripheral constructor (cts and rts are for more advanced UART features -we do not use here, hence they are set to None) and the [type signature](https://docs.rs/nrf51-hal/0.11.0/nrf51_hal/uart/struct.Pins.html) +of `Pins` which is later passed on to our UART peripheral constructor (`cts` and `rts` are for more advanced UART features +we do not use here, hence they are set to `None`) and the [type signature](https://docs.rs/nrf51-hal/0.11.0/nrf51_hal/uart/struct.Pins.html) of `Pins` already tells us what to do. -Next we construct our UART peripheral with `hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200);`. +Next, we construct our UART peripheral with `hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200);`. This function takes ownership of `p.UART0` and our `pins` so nobody else can mess with either the UART peripheral or our pins while -we are using them. After that we pass two configuration options two the constructor, the baudrate (that one should be -familiar) as well as an option called parity. Parity is a way that allows serial communication lines to check whether -the data they received was corrupted on the line or not but we don't want to use that here so we simply exclude it. +we are using them. After that we pass two configuration options two the constructor: the baudrate (that one should be +familiar) as well as an option called "parity". Parity is a way that allows serial communication lines to check whether +the data they received was corrupted during transmission or not but we don't want to use that here so we simply exclude it. -Last but not least we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` +Last but not least, we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` macro. `nb` is a (quoting from its description) "Minimal and reusable non-blocking I/O layer". It allows us to write -code that can conduct hardware operations in the background while we go and do other work (non-blocking). However +code that can conduct hardware operations in the background while we go and do other work (non-blocking). However, in this and many other cases we have no interest in doing some other work so we just call `block!` which will wait until the I/O operation is done and has either succeeded or failed and then continue execution normally. @@ -45,4 +45,4 @@ do a simple $ cargo embed --release ``` -And after the flashing you should see the character `X` show up on your minicom/PuTTY terminal, congrats! +And after the flashing is finished, you should see the character `X` show up on your minicom/PuTTY terminal, congrats! From fe548156526a8cc024dcea88661bc096735b4a7e Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Sat, 2 Jan 2021 16:12:10 -0800 Subject: [PATCH 133/313] Change references to UserHardFault to HardFault in openocd.gdb UserHardFault was renamed to HardFault the following in Feb. 2019: https://github.com/rust-embedded/cortex-m-rt/commit/790e42477ca21d6d0a07270049c3747c7c316f4b Also, 07-registers was already changed, also in Feb. 2019: https://github.com/winksaville/rust-embedded-discovery/commit/1b0979183f348c13c7adb04c2ff10e8956f7e496 I propose this PR to fix the other references within the discovery book. --- src/08-leds-again/openocd.gdb | 2 +- src/09-clocks-and-timers/openocd.gdb | 2 +- src/11-usart/openocd.gdb | 2 +- src/14-i2c/openocd.gdb | 2 +- src/15-led-compass/openocd.gdb | 2 +- src/16-punch-o-meter/openocd.gdb | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/08-leds-again/openocd.gdb b/src/08-leds-again/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/08-leds-again/openocd.gdb +++ b/src/08-leds-again/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue diff --git a/src/09-clocks-and-timers/openocd.gdb b/src/09-clocks-and-timers/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/09-clocks-and-timers/openocd.gdb +++ b/src/09-clocks-and-timers/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue diff --git a/src/11-usart/openocd.gdb b/src/11-usart/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/11-usart/openocd.gdb +++ b/src/11-usart/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue diff --git a/src/14-i2c/openocd.gdb b/src/14-i2c/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/14-i2c/openocd.gdb +++ b/src/14-i2c/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue diff --git a/src/15-led-compass/openocd.gdb b/src/15-led-compass/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/15-led-compass/openocd.gdb +++ b/src/15-led-compass/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue diff --git a/src/16-punch-o-meter/openocd.gdb b/src/16-punch-o-meter/openocd.gdb index cafe49b1b..df15d79d3 100644 --- a/src/16-punch-o-meter/openocd.gdb +++ b/src/16-punch-o-meter/openocd.gdb @@ -5,6 +5,6 @@ monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load break DefaultHandler -break UserHardFault +break HardFault break main continue From 20ce7af8820df5242683ebd5f1e7dfcca6f368d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 29 Jan 2021 11:31:41 +0100 Subject: [PATCH 134/313] remove none sense about new micro:bit version --- src/06-serial-communication/nix-tooling.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/06-serial-communication/nix-tooling.md b/src/06-serial-communication/nix-tooling.md index 4fc4e2bb6..cb0a90a89 100644 --- a/src/06-serial-communication/nix-tooling.md +++ b/src/06-serial-communication/nix-tooling.md @@ -1,8 +1,8 @@ # \*nix tooling -## Newer revisions of the micro:bit board +## Connecting the micro:bit board -With newer revisions, if you connect the micro:bit board to your computer you +If you connect the micro:bit board to your computer you should see a new TTY device appear in `/dev`. ``` console From 7e259bbf29b6ee607664f53d97de95a16be50eb7 Mon Sep 17 00:00:00 2001 From: Bryant Luk Date: Mon, 1 Feb 2021 14:36:17 -0600 Subject: [PATCH 135/313] Fix specifying options in (mis)Optimization - The long argument name options specified to `objdump` require two dashes '--'. --- src/07-registers/optimization.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/07-registers/optimization.md b/src/07-registers/optimization.md index 1ae0a545f..1775593c2 100644 --- a/src/07-registers/optimization.md +++ b/src/07-registers/optimization.md @@ -61,8 +61,8 @@ register, but the *release* (optimized) program only has one. We can check that using `objdump`: ``` console -$ # same as cargo objdump -- -d -no-show-raw-insn -print-imm-hex -source target/thumbv7em-none-eabihf/debug/registers -$ cargo objdump --bin registers -- -d -no-show-raw-insn -print-imm-hex -source +$ # same as cargo objdump -- -d --no-show-raw-insn --print-imm-hex --source target/thumbv7em-none-eabihf/debug/registers +$ cargo objdump --bin registers -- -d --no-show-raw-insn --print-imm-hex --source registers: file format ELF32-arm-little Disassembly of section .text: @@ -188,7 +188,7 @@ fn main() -> ! { If we look at the disassembly of this new program compiled in release mode: ``` console -$ cargo objdump --bin registers --release -- -d -no-show-raw-insn -print-imm-hex -source +$ cargo objdump --bin registers --release -- -d --no-show-raw-insn --print-imm-hex --source registers: file format ELF32-arm-little Disassembly of section .text: From 75523be045b3574cf6b7039adc765a51f60b2746 Mon Sep 17 00:00:00 2001 From: Bryant Luk Date: Mon, 1 Feb 2021 14:45:17 -0600 Subject: [PATCH 136/313] Fix specifying objdump options in 9.2 NOP - The long argument name options specified to `objdump` require two dashes '--'. --- src/09-clocks-and-timers/nop.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/09-clocks-and-timers/nop.md b/src/09-clocks-and-timers/nop.md index c331ed86e..acb277063 100644 --- a/src/09-clocks-and-timers/nop.md +++ b/src/09-clocks-and-timers/nop.md @@ -25,7 +25,7 @@ fn delay(_tim6: &tim6::RegisterBlock, ms: u16) { And this time `delay` won't be compiled away by LLVM when you compile your program in release mode: ``` console -$ cargo objdump --bin clocks-and-timers --release -- -d -no-show-raw-insn +$ cargo objdump --bin clocks-and-timers --release -- -d --no-show-raw-insn clocks-and-timers: file format ELF32-arm-little Disassembly of section .text: From 9fbbcb5d4f3037963e5f78646514d22842384792 Mon Sep 17 00:00:00 2001 From: Bryant Luk Date: Mon, 1 Feb 2021 15:09:10 -0600 Subject: [PATCH 137/313] Update UserHardFault to HardFault text in Ch 7.3 - As mentioned in PR #282, references to `UserHardFault` should be changed to `HardFault` since it was changed in the cortex-m-rt crate. - This change updates the text and referenced source snippets in the debugger to refer to `HardFault` in Chapter 7.3. --- src/07-registers/bad-address.md | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/src/07-registers/bad-address.md b/src/07-registers/bad-address.md index 18af3efaf..797debd92 100644 --- a/src/07-registers/bad-address.md +++ b/src/07-registers/bad-address.md @@ -36,9 +36,9 @@ Breakpoint 3, main () at src/07-registers/src/main.rs:9 (gdb) continue Continuing. -Breakpoint 2, UserHardFault_ (ef=0x10001fc0) - at $REGISTRY/cortex-m-rt-0.6.3/src/lib.rs:535 -535 loop { +Breakpoint 2, cortex_m_rt::HardFault_ (ef=0x10001fb0) + at $REGISTRY/cortex-m-rt-0.6.13/src/lib.rs:560 +560 loop { ``` We tried to do an invalid operation, reading memory that doesn't exist, so the processor raised an @@ -52,23 +52,23 @@ There are different kind of exceptions. Each kind of exception is raised by diff each one is handled by a different exception handler. The `aux7` crate depends on the `cortex-m-rt` crate which defines a default -*hard fault* handler, named `UserHardFault`, that handles the "invalid memory +*hard fault* handler, named `HardFault`, that handles the "invalid memory address" exception. `openocd.gdb` placed a breakpoint on `HardFault`; that's why the debugger halted your program while it was executing the exception handler. We can get more information about the exception from the debugger. Let's see: ``` (gdb) list -530 -531 #[allow(unused_variables)] -532 #[doc(hidden)] -533 #[no_mangle] -534 pub unsafe extern "C" fn UserHardFault_(ef: &ExceptionFrame) -> ! { -535 loop { -536 // add some side effect to prevent this from turning into a UDF instruction -537 // see rust-lang/rust#28728 for details -538 atomic::compiler_fence(Ordering::SeqCst); -539 } +555 #[allow(unused_variables)] +556 #[doc(hidden)] +557 #[link_section = ".HardFault.default"] +558 #[no_mangle] +559 pub unsafe extern "C" fn HardFault_(ef: &ExceptionFrame) -> ! { +560 loop { +561 // add some side effect to prevent this from turning into a UDF instruction +562 // see rust-lang/rust#28728 for details +563 atomic::compiler_fence(Ordering::SeqCst); +564 } ``` `ef` is a snapshot of the program state right before the exception occurred. Let's inspect it: From 52fa9cd32fa301cc7a18a7aa594c8d0e3870dc34 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Mon, 1 Feb 2021 12:06:44 -0800 Subject: [PATCH 138/313] New 05. LED roulette Modified to run using `stm32f3-discovery` instead of `f3` and updated the `.md` files appropriately. --- src/05-led-roulette/Cargo.toml | 8 +- src/05-led-roulette/auxiliary/Cargo.toml | 18 +- src/05-led-roulette/auxiliary/src/lib.rs | 57 ++- src/05-led-roulette/build-it.md | 38 +- src/05-led-roulette/debug-it.md | 145 +++--- src/05-led-roulette/flash-it.md | 15 +- src/05-led-roulette/my-solution.md | 77 +-- src/05-led-roulette/the-challenge.md | 24 +- .../the-led-and-delay-abstractions.md | 474 +++++++++++++++--- src/assets/gdb-layout-split.gif | Bin 0 -> 381509 bytes 10 files changed, 622 insertions(+), 234 deletions(-) create mode 100644 src/assets/gdb-layout-split.gif diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index 43ac7579f..848f236c4 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -1,8 +1,12 @@ [package] -authors = ["Jorge Aparicio "] +authors = [ + "Jorge Aparicio ", + "Christopher J. McClellan ", + "Wink Saville "] +authors = [ + "Jorge Aparicio ", + "Christopher J. McClellan ", + "Wink Saville (Delay, Leds) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - let mut flash = dp.FLASH.constrain(); - let mut rcc = dp.RCC.constrain(); +pub use stm32f3_discovery::{leds::Leds, stm32f3xx_hal, switch_hal}; +pub use switch_hal::{ActiveHigh, OutputSwitch, Switch, ToggleableOutputSwitch}; - let clocks = rcc.cfgr.freeze(&mut flash.acr); - - let delay = Delay::new(cp.SYST, clocks); - - let leds = Leds::new(dp.GPIOE.split(&mut rcc.ahb)); +use stm32f3xx_hal::prelude::*; +pub use stm32f3xx_hal::{ + delay::Delay, + gpio::{gpioe, Output, PushPull}, + hal::blocking::delay::DelayMs, + stm32, +}; - (delay, leds) +pub type LedArray = [Switch>, ActiveHigh>; 8]; + +pub fn init() -> (Delay, LedArray) { + let device_periphs = stm32::Peripherals::take().unwrap(); + let mut reset_and_clock_control = device_periphs.RCC.constrain(); + + let core_periphs = cortex_m::Peripherals::take().unwrap(); + let mut flash = device_periphs.FLASH.constrain(); + let clocks = reset_and_clock_control.cfgr.freeze(&mut flash.acr); + let delay = Delay::new(core_periphs.SYST, clocks); + + // initialize user leds + let mut gpioe = device_periphs.GPIOE.split(&mut reset_and_clock_control.ahb); + let 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, + ); + + (delay, leds.into_array()) } diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 420cf524b..b2cb659ed 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -31,18 +31,19 @@ With the `rust-std` component in place you can now cross compile the program usi $ # make sure you are in the `src/05-led-roulette` directory $ cargo build --target thumbv7em-none-eabihf + Compiling typenum v1.12.0 Compiling semver-parser v0.7.0 - Compiling aligned v0.1.1 - Compiling libc v0.2.35 - Compiling bare-metal v0.1.1 - Compiling cast v0.2.2 - Compiling cortex-m v0.4.3 - (..) - Compiling stm32f30x v0.6.0 - Compiling stm32f30x-hal v0.1.2 - Compiling aux5 v0.1.0 (file://$PWD/aux) - Compiling led-roulette v0.1.0 (file://$PWD) - Finished dev [unoptimized + debuginfo] target(s) in 35.84 secs + Compiling version_check v0.9.2 + Compiling cortex-m v0.6.4 + Compiling cortex-m-rt v0.6.13 + Compiling stm32f3-discovery v0.5.0 + ... + Compiling panic-itm v0.4.2 + Compiling cortex-m-rt-macros v0.1.8 + Compiling stm32f3xx-hal v0.5.0 + Compiling aux5 v0.2.0 (file://$PWD/auxiliary) + Compiling led-roulette v0.2.0 (file://$PWD/) + Finished dev [unoptimized + debuginfo] target(s) in 19.45s ``` > **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml file and build command above will ensure optimizations are off. @@ -52,26 +53,27 @@ OK, now we have produced an executable. This executable won't blink any leds, it ``` console $ # equivalent to `readelf -h target/thumbv7em-none-eabihf/debug/led-roulette` $ cargo readobj --target thumbv7em-none-eabihf --bin led-roulette -- -file-headers + Finished dev [unoptimized + debuginfo] target(s) in 0.03s ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 Class: ELF32 Data: 2's complement, little endian Version: 1 (current) OS/ABI: UNIX - System V - ABI Version: 0x0 + ABI Version: 0 Type: EXEC (Executable file) Machine: ARM Version: 0x1 - Entry point address: 0x8000197 + Entry point address: 0x8000195 Start of program headers: 52 (bytes into file) - Start of section headers: 740788 (bytes into file) + Start of section headers: 797192 (bytes into file) Flags: 0x5000400 Size of this header: 52 (bytes) Size of program headers: 32 (bytes) - Number of program headers: 2 + Number of program headers: 4 Size of section headers: 40 (bytes) - Number of section headers: 20 - Section header string table index: 18 -``` + Number of section headers: 22 + Section header string table index: 20 + ``` Next, we'll flash the program into our microcontroller. diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 4131dfca9..3c27b3c57 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -12,49 +12,38 @@ the `main` function. We'll do that using a breakpoint: ``` (gdb) break main -Breakpoint 1 at 0x800018c: file src/05-led-roulette/src/main.rs, line 10. +Breakpoint 1 at 0x80001f0: file src/05-led-roulette/src/main.rs, line 7. +Note: automatically using hardware breakpoints for read-only addresses. (gdb) continue Continuing. -Note: automatically using hardware breakpoints for read-only addresses. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:10 +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 +7 #[entry] + +(gdb) step +led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:10 10 let x = 42; ``` Breakpoints can be used to stop the normal flow of a program. The `continue` command will let the -program run freely *until* it reaches a breakpoint. In this case, until it reaches the `main` -function because there's a breakpoint there. +program run freely *until* it reaches a breakpoint. In this case, until it reaches `#[entry]` +which is a trampoline to to the main function and where `break main` set the breakpoint. Note that GDB output says "Breakpoint 1". Remember that our processor can only use six of these breakpoints so it's a good idea to pay attention to these messages. -For a nicer debugging experience, we'll be using GDB's Text User Interface (TUI). To enter into that -mode, on the GDB shell enter the following command: -``` -(gdb) layout src -``` - -> **NOTE** Apologies Windows users. The GDB shipped with the GNU ARM Embedded Toolchain doesn't -> support this TUI mode `:-(`. - -![GDB session](../assets/gdb-layout-src.png "GDB TUI") - -At any point you can leave the TUI mode using the following command: - -``` -(gdb) tui disable -``` - -OK. We are now at the beginning of `main`. We can advance the program statement by statement using -the `step` command. So let's use that twice to reach the `_y = x` statement. Once you've typed `step` -once you can just hit enter to run it -again. +OK. Since we are stopped at `#[entry]`. We can advance the program statement by statement using +the `step` command. So let's use that twice times to reach the `_y = x` statement. Once you've typed `step` +once you can just hit enter to run it again, but below we type step twice. ``` (gdb) step -14 _y = x; +led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:10 +10 let x = 42; +(gdb) step +11 _y = x; ``` If you are not using the TUI mode, on each `step` call GDB will print back the current statement @@ -66,22 +55,19 @@ is initialized but `_y` is not. Let's inspect those stack/local variables using ``` (gdb) print x $1 = 42 - (gdb) print &x -$2 = (i32 *) 0x10001ff4 - +$2 = (*mut i32) 0x20009fe0 (gdb) print _y -$3 = -536810104 - +$3 = 536870912 (gdb) print &_y -$4 = (i32 *) 0x10001ff0 +$4 = (*mut i32) 0x20009fe4 ``` -As expected, `x` contains the value `42`. `_y`, however, contains the value `-536810104` (?). Because +As expected, `x` contains the value `42`. `_y`, however, contains the value `536870912` (?). Because `_y` has not been initialized yet, it contains some garbage value. The command `print &x` prints the address of the variable `x`. The interesting bit here is that GDB -output shows the type of the reference: `i32*`, a pointer to an `i32` value. Another interesting +output shows the type of the reference: `*mut i32`, a mutable pointer to an `i32` value. Another interesting thing is that the addresses of `x` and `_y` are very close to each other: their addresses are just `4` bytes apart. @@ -90,14 +76,14 @@ Instead of printing the local variables one by one, you can also use the `info l ``` (gdb) info locals x = 42 -_y = -536810104 +_y = 536870912 ``` OK. With another `step`, we'll be on top of the `loop {}` statement: ``` (gdb) step -17 loop {} +14 loop {} ``` And `_y` should now be initialized. @@ -108,50 +94,48 @@ $5 = 42 ``` If we use `step` again on top of the `loop {}` statement, we'll get stuck because the program will -never pass that statement. Instead, we'll switch to the disassemble view with the `layout asm` -command and advance one instruction at a time using `stepi`. You can always switch back into Rust -source code view later by issuing the `layout src` command again. - -> **NOTE** If you used the `step` command by mistake and GDB got stuck, you can get unstuck by hitting `Ctrl+C`. - -``` -(gdb) layout asm -``` +never pass that statement. -![GDB session](../assets/gdb-layout-asm.png "GDB disassemble") +> **NOTE** If you used the `step` or any other command by mistake and GDB gets stuck, you can get +it unstuck by hitting `Ctrl+C`. -If you are not using the TUI mode, you can use the `disassemble /m` command to disassemble the -program around the line you are currently at. +You can also use the `disassemble /m` command to disassemble the program around the +line you are currently at. You might also want to `set print asm-demangle on` +so the names are demangled, this only needs to be done once a debug session. Later +this and other commands will be placed in an initialization file which will simplify +starting a debug session. ``` +(gdb) set print asm-demangle on (gdb) disassemble /m -Dump of assembler code for function main: -7 #[entry] - 0x08000188 <+0>: sub sp, #8 - 0x0800018a <+2>: movs r0, #42 ; 0x2a - +Dump of assembler code for function _ZN12led_roulette18__cortex_m_rt_main17h51e7c3daad2af251E: 8 fn main() -> ! { + 0x080001f6 <+0>: sub sp, #8 + 0x080001f8 <+2>: movs r0, #42 ; 0x2a + 9 let _y; 10 let x = 42; - 0x0800018c <+4>: str r0, [sp, #4] + 0x080001fa <+4>: str r0, [sp, #0] 11 _y = x; - 0x0800018e <+6>: ldr r0, [sp, #4] - 0x08000190 <+8>: str r0, [sp, #0] + 0x080001fc <+6>: str r0, [sp, #4] 12 13 // infinite loop; just so we don't leave this stack frame 14 loop {} -=> 0x08000192 <+10>: b.n 0x8000194 - 0x08000194 <+12>: b.n 0x8000194 +=> 0x080001fe <+8>: b.n 0x8000200 + 0x08000200 <+10>: b.n 0x8000200 End of assembler dump. ``` See the fat arrow `=>` on the left side? It shows the instruction the processor will execute next. -If not inside the TUI mode on each `stepi` command GDB will print the statement, the line number -*and* the address of the instruction the processor will execute next. +As mentioned above if you were to execute the `step` command GDB gets stuck because it +is executing a branch instruction to itself and never gets past it. So you need to use +`Ctrl+C`. But you can use the `stepi` GDB command, which steps one instruction, and GDB will print +the address **and** line number of the statement the processor will execute next and +it won't get stuck. ``` (gdb) stepi @@ -169,13 +153,21 @@ Unable to match requested speed 1000 kHz, using 950 kHz Unable to match requested speed 1000 kHz, using 950 kHz adapter speed: 950 kHz target halted due to debug-request, current mode: Thread -xPSR: 0x01000000 pc: 0x08000196 msp: 0x10002000 - +xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 (gdb) continue Continuing. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:10 -10 let x = 42; +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 +7 #[entry] +(gdb) disassemble /m +Dump of assembler code for function main: +7 #[entry] + 0x080001ec <+0>: push {r7, lr} + 0x080001ee <+2>: mov r7, sp +=> 0x080001f0 <+4>: bl 0x80001f6 + 0x080001f4 <+8>: udf #254 ; 0xfe + +End of assembler dump. ``` We are now back at the beginning of `main`! @@ -206,6 +198,29 @@ Detaching from program: $PWD/target/thumbv7em-none-eabihf/debug/led-roulette, Re Ending remote debugging. ``` +For a nicer debugging experience, you can use GDB's Text User Interface (TUI). To enter into that +mode enter one of the following commands in the GDB shell: + +``` +(gdb) layout src +(gdb) layout asm +(gdb) layout split +``` + +> **NOTE** Apologies to Windows users, the GDB shipped with the GNU ARM Embedded Toolchain +> may not support this TUI mode `:-(`. + +Here is an example of using layout split + +![GDB session layout split](../assets/gdb-layout-split.gif "GDB TUI") + +At any point you can leave the TUI mode using the following command: + +``` +(gdb) tui disable +``` + + > **NOTE** If the default GDB CLI is not to your liking check out [gdb-dashboard]. It uses Python to > turn the default GDB CLI into a dashboard that shows registers, the source view, the assembly view > and other things. diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 54c50b98e..b956175c5 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -85,7 +85,7 @@ I mentioned that OpenOCD provides a GDB server so let's connect to that right no ``` console $ -q target/thumbv7em-none-eabihf/debug/led-roulette -Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette...done. +Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette... (gdb) ``` @@ -122,11 +122,11 @@ Almost there. To flash the device, we'll use the `load` command inside the GDB s ``` (gdb) load -Loading section .vector_table, size 0x188 lma 0x8000000 -Loading section .text, size 0x38a lma 0x8000188 -Loading section .rodata, size 0x8 lma 0x8000514 -Start address 0x8000188, load size 1306 -Transfer rate: 6 KB/sec, 435 bytes/write. +Loading section .vector_table, size 0x194 lma 0x8000000 +Loading section .text, size 0x21cc lma 0x8000194 +Loading section .rodata, size 0x594 lma 0x8002360 +Start address 0x08000194, load size 10484 +Transfer rate: 16 KB/sec, 3494 bytes/write. ``` And that's it. You'll also see new output in the OpenOCD terminal. @@ -136,19 +136,16 @@ And that's it. You'll also see new output in the OpenOCD terminal. +Info : Unable to match requested speed 1000 kHz, using 950 kHz +Info : Unable to match requested speed 1000 kHz, using 950 kHz +adapter speed: 950 kHz -+target state: halted +target halted due to debug-request, current mode: Thread +xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 +Info : Unable to match requested speed 8000 kHz, using 4000 kHz +Info : Unable to match requested speed 8000 kHz, using 4000 kHz +adapter speed: 4000 kHz -+target state: halted +target halted due to breakpoint, current mode: Thread +xPSR: 0x61000000 pc: 0x2000003a msp: 0x2000a000 +Info : Unable to match requested speed 1000 kHz, using 950 kHz +Info : Unable to match requested speed 1000 kHz, using 950 kHz +adapter speed: 950 kHz -+target state: halted +target halted due to debug-request, current mode: Thread +xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 ``` diff --git a/src/05-led-roulette/my-solution.md b/src/05-led-roulette/my-solution.md index 0bf05d0e9..7176bcfac 100644 --- a/src/05-led-roulette/my-solution.md +++ b/src/05-led-roulette/my-solution.md @@ -9,20 +9,20 @@ Here's mine: #![no_main] #![no_std] -use aux5::{entry, prelude::*, Delay, Leds}; +use aux5::{Delay, DelayMs, LedArray, OutputSwitch, entry}; #[entry] fn main() -> ! { - let (mut delay, mut leds): (Delay, Leds) = aux5::init(); + let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); let ms = 50_u8; loop { for curr in 0..8 { let next = (curr + 1) % 8; - leds[next].on(); + leds[next].on().ok(); delay.delay_ms(ms); - leds[curr].off(); + leds[curr].off().ok(); delay.delay_ms(ms); } } @@ -50,58 +50,63 @@ that using the `size` command on the release binary: ``` console $ # equivalent to size target/thumbv7em-none-eabihf/debug/led-roulette $ cargo size --target thumbv7em-none-eabihf --bin led-roulette -- -A + Finished dev [unoptimized + debuginfo] target(s) in 0.02s led-roulette : section size addr -.vector_table 392 0x8000000 -.text 16404 0x8000188 -.rodata 2924 0x80041a0 +.vector_table 404 0x8000000 +.text 21144 0x8000194 +.rodata 3144 0x800542c .data 0 0x20000000 .bss 4 0x20000000 -.debug_str 602185 0x0 -.debug_abbrev 24134 0x0 -.debug_info 553143 0x0 -.debug_ranges 112744 0x0 -.debug_macinfo 86 0x0 -.debug_pubnames 56467 0x0 -.debug_pubtypes 94866 0x0 +.uninit 0 0x20000004 +.debug_abbrev 19160 0x0 +.debug_info 471239 0x0 +.debug_aranges 18376 0x0 +.debug_ranges 102536 0x0 +.debug_str 508618 0x0 +.debug_pubnames 76975 0x0 +.debug_pubtypes 112797 0x0 .ARM.attributes 58 0x0 -.debug_frame 174812 0x0 -.debug_line 354866 0x0 -.debug_loc 534 0x0 -.comment 75 0x0 -Total 1993694 +.debug_frame 55848 0x0 +.debug_line 282067 0x0 +.debug_loc 845 0x0 +.comment 147 0x0 +Total 1673362 + $ cargo size --target thumbv7em-none-eabihf --bin led-roulette --release -- -A + Finished release [optimized + debuginfo] target(s) in 0.03s led-roulette : section size addr -.vector_table 392 0x8000000 -.text 1826 0x8000188 -.rodata 84 0x80008ac +.vector_table 404 0x8000000 +.text 5380 0x8000194 +.rodata 564 0x8001698 .data 0 0x20000000 .bss 4 0x20000000 -.debug_str 23334 0x0 -.debug_loc 6964 0x0 -.debug_abbrev 1337 0x0 -.debug_info 40582 0x0 -.debug_ranges 2936 0x0 -.debug_macinfo 1 0x0 -.debug_pubnames 5470 0x0 -.debug_pubtypes 10016 0x0 +.uninit 0 0x20000004 +.debug_loc 9994 0x0 +.debug_abbrev 1821 0x0 +.debug_info 74974 0x0 +.debug_aranges 600 0x0 +.debug_ranges 6848 0x0 +.debug_str 52828 0x0 +.debug_pubnames 20821 0x0 +.debug_pubtypes 18891 0x0 .ARM.attributes 58 0x0 -.debug_frame 164 0x0 -.debug_line 9081 0x0 -.comment 18 0x0 -Total 102267 +.debug_frame 1088 0x0 +.debug_line 15307 0x0 +.comment 19 0x0 +Total 209601 ``` > **NOTE** The Cargo project is already configured to build the release binary using LTO. -Know how to read this output? The `text` section contains the program instructions. It's around 2KB +Know how to read this output? The `text` section contains the program instructions. It's around 5.25KB in my case. On the other hand, the `data` and `bss` sections contain variables statically allocated in RAM (`static` variables). A `static` variable is being used in `aux5::init`; that's why it shows 4 bytes of `bss`. -One final thing! We have been running our programs from within GDB but our programs don't depend on +One final thing! We have been running our programs from within GDB but our programs doesn't depend on GDB at all. You can confirm this be closing both GDB and OpenOCD and then resetting the board by pressing the black button on the board. The LED roulette application will run without intervention of GDB. diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index b023849fc..361f1774f 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -58,18 +58,20 @@ the program and jump to the beginning of `main`: ``` console $ cargo run --target thumbv7em-none-eabihf - Running `arm-none-eabi-gdb -q -x openocd.gdb target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette...done. -(..) -Loading section .vector_table, size 0x188 lma 0x8000000 -Loading section .text, size 0x3b20 lma 0x8000188 -Loading section .rodata, size 0xb0c lma 0x8003cc0 -Start address 0x8003b1c, load size 18356 -Transfer rate: 20 KB/sec, 6118 bytes/write. -Breakpoint 1 at 0x800018c: file src/05-led-roulette/src/main.rs, line 9. + Finished dev [unoptimized + debuginfo] target(s) in 0.01s + Running `arm-none-eabi-gdb -q -x openocd.gdb /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... +led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:8 +8 #[entry] +Loading section .vector_table, size 0x194 lma 0x8000000 +Loading section .text, size 0x5258 lma 0x8000194 +Loading section .rodata, size 0xbd8 lma 0x80053ec +Start address 0x08000194, load size 24516 +Transfer rate: 21 KB/sec, 6129 bytes/write. +Breakpoint 1 at 0x8000208: file src/05-led-roulette/src/main.rs, line 8. Note: automatically using hardware breakpoints for read-only addresses. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 -9 let (mut delay, mut leds): (Delay, Leds) = aux5::init(); +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:8 +8 #[entry] (gdb) ``` diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index a91a0eb10..1bc9a788c 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -4,11 +4,11 @@ Now, I'm going to introduce two high level abstractions that we'll use to implem application. The auxiliary crate, `aux5`, exposes an initialization function called `init`. When called this -function returns two values packed in a tuple: a `Delay` value and a `Leds` value. +function returns two values packed in a tuple: a `Delay` value and a `LedArray` value. `Delay` can be used to block your program for a specified amount of milliseconds. -`Leds` is actually an array of eight `Led`s. Each `Led` represents one of the LEDs on the F3 board, +`LedArray` is an array of eight `Led`s. Each `Led` represents one of the LEDs on the F3 board, and exposes two methods: `on` and `off` which can be used to turn the LED on or off, respectively. Let's try out these two abstractions by modifying the starter code to look like this: @@ -18,22 +18,23 @@ Let's try out these two abstractions by modifying the starter code to look like #![no_main] #![no_std] -use aux5::{entry, prelude::*, Delay, Leds}; +use aux5::{entry, Delay, DelayMs, LedArray, OutputSwitch}; #[entry] fn main() -> ! { - let (mut delay, mut leds): (Delay, Leds) = aux5::init(); + let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); let half_period = 500_u16; loop { - leds[0].on(); + leds[0].on().ok(); delay.delay_ms(half_period); - leds[0].off(); + leds[0].off().ok(); delay.delay_ms(half_period); } } + ``` Now build it: @@ -50,29 +51,35 @@ $ cargo build --target thumbv7em-none-eabihf Now, we'll repeat the flashing procedure that we did in the previous section: ``` console -$ # this starts a GDB session of the program; no need to specify the path to the binary -$ arm-none-eabi-gdb -q target/thumbv7em-none-eabihf/debug/led-roulette -Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette...done. +$ cargo run --target thumbv7em-none-eabihf + Finished dev [unoptimized + debuginfo] target(s) in 0.01s + Running `arm-none-eabi-gdb -q /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... (gdb) target remote :3333 Remote debugging using :3333 -(..) +led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 +7 #[entry] (gdb) load -Loading section .vector_table, size 0x188 lma 0x8000000 -Loading section .text, size 0x3fc6 lma 0x8000188 -Loading section .rodata, size 0xa0c lma 0x8004150 -Start address 0x8000188, load size 19290 -Transfer rate: 19 KB/sec, 4822 bytes/write. +Loading section .vector_table, size 0x194 lma 0x8000000 +Loading section .text, size 0x51f0 lma 0x8000194 +Loading section .rodata, size 0xbd0 lma 0x8005384 +Start address 0x08000194, load size 24404 +Transfer rate: 21 KB/sec, 6101 bytes/write. (gdb) break main -Breakpoint 1 at 0x800018c: file src/05-led-roulette/src/main.rs, line 9. +Breakpoint 1 at 0x8000202: file src/05-led-roulette/src/main.rs, line 7. +Note: automatically using hardware breakpoints for read-only addresses. (gdb) continue Continuing. -Note: automatically using hardware breakpoints for read-only addresses. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 -9 let (mut delay, mut leds): (Delay, Leds) = aux5::init(); +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 +7 #[entry] + +(gdb) step +led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:9 +9 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); ``` OK. Let's step through the code. This time, we'll use the `next` command instead of `step`. The @@ -86,20 +93,20 @@ difference is that the `next` command will step *over* function calls instead of 13 loop { (gdb) next -14 leds[0].on(); +14 leds[0].on().ok(); (gdb) next 15 delay.delay_ms(half_period); ``` -After executing the `leds[0].on()` statement, you should see a red LED, the one pointing North, +After executing the `leds[0].on().ok()` statement, you should see a red LED, the one pointing North, turn on. Let's continue stepping over the program: ``` (gdb) next -17 leds[0].off(); +17 leds[0].off().ok(); (gdb) next 18 delay.delay_ms(half_period); @@ -123,9 +130,10 @@ First, let's stop the infinite loop by hitting `Ctrl+C`. You'll probably end up `Led::on`, `Led::off` or `delay_ms`: ``` +^C Program received signal SIGINT, Interrupt. -0x080033f6 in core::ptr::read_volatile (src=0xe000e010) at /checkout/src/libcore/ptr.rs:472 -472 /checkout/src/libcore/ptr.rs: No such file or directory. +0x08003434 in core::ptr::read_volatile (src=0xe000e010) + at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 ``` In my case, the program stopped its execution inside a `read_volatile` function. GDB output shows @@ -146,21 +154,20 @@ Regardless of where your program may have stopped you can always look at the out ``` (gdb) backtrace -#0 0x080033f6 in core::ptr::read_volatile (src=0xe000e010) - at /checkout/src/libcore/ptr.rs:472 -#1 0x08003248 in >::get (self=0xe000e010) - at $REGISTRY/vcell-0.1.0/src/lib.rs:43 -#2 >::read (self=0xe000e010) - at $REGISTRY/volatile-register-0.2.0/src/lib.rs:75 -#3 cortex_m::peripheral::syst::::has_wrapped (self=0x10001fbc) - at $REGISTRY/cortex-m-0.5.7/src/peripheral/syst.rs:124 -#4 0x08002d9c in >::delay_us (self=0x10001fbc, us=500000) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:58 -#5 0x08002cce in >::delay_ms (self=0x10001fbc, ms=500) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:32 -#6 0x08002d0e in >::delay_ms (self=0x10001fbc, ms=500) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:38 -#7 0x080001ee in main () at src/05-led-roulette/src/main.rs:18 +#0 0x08003434 in core::ptr::read_volatile (src=0xe000e010) + at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 +#1 0x08002d66 in vcell::VolatileCell::get (self=0xe000e010) at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/vcell-0.1.3/src/lib.rs:33 +#2 volatile_register::RW::read (self=0xe000e010) at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/volatile-register-0.2.0/src/lib.rs:75 +#3 cortex_m::peripheral::SYST::has_wrapped (self=0x20009fa4) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-0.6.4/src/peripheral/syst.rs:136 +#4 0x08003004 in stm32f3xx_hal::delay::{{impl}}::delay_us (self=0x20009fa4, us=500000) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:58 +#5 0x08002f3e in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:32 +#6 0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 +#7 0x0800024c in led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:15 +#8 0x08000206 in led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 ``` `backtrace` will print a trace of function calls from the current function down to main. @@ -171,37 +178,34 @@ right after the program returns from the current function. We'll have to call it ``` (gdb) finish -cortex_m::peripheral::syst::::has_wrapped (self=0x10001fbc) - at $REGISTRY/cortex-m-0.5.7/src/peripheral/syst.rs:124 -124 self.csr.read() & SYST_CSR_COUNTFLAG != 0 +Run till exit from #0 0x08003434 in core::ptr::read_volatile (src=0xe000e010) + at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 +cortex_m::peripheral::SYST::has_wrapped (self=0x20009fa4) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-0.6.4/src/peripheral/syst.rs:136 +136 self.csr.read() & SYST_CSR_COUNTFLAG != 0 Value returned is $1 = 5 -(gdb) finish -Run till exit from #0 cortex_m::peripheral::syst::::has_wrapped ( - self=0x10001fbc) - at $REGISTRY/cortex-m-0.5.7/src/peripheral/syst.rs:124 -0x08002d9c in >::delay_us ( - self=0x10001fbc, us=500000) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:58 -58 while !self.syst.has_wrapped() {} -Value returned is $2 = false - (..) (gdb) finish -Run till exit from #0 0x08002d0e in >::delay_ms (self=0x10001fbc, ms=500) - at $REGISTRY/stm32f30x-hal-0.2.0/src/delay.rs:38 -0x080001ee in main () at src/05-led-roulette/src/main.rs:18 -18 delay.delay_ms(half_period); +Run till exit from #0 0x08002f3e in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:32 +0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 +38 self.delay_ms(u32(ms)); + +(gdb) finish +Run till exit from #0 0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 +0x0800024c in led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:15 +15 delay.delay_ms(half_period); ``` We are back in `main`. We have a local variable in here: `half_period` ``` -(gdb) info locals -half_period = 500 -delay = (..) -leds = (..) +(gdb) print half_period +$3 = 500 ``` Now, we are going to modify this variable using the `set` command: @@ -209,14 +213,354 @@ Now, we are going to modify this variable using the `set` command: ``` (gdb) set half_period = 100 -(gdb) print half_period -$1 = 100 +(gdb) print half_period +$5 = 100 +``` + +If you let program run free again using the `continue` command, you **might** see that the LED will +blink at a much faster rate now, but more likely the blink rate didn't change. **What happened?** + +Let's stop the program with `Ctrl+C` and then set a break point at `main:14`. +``` console +(gdb) continue +Continuing. +^C +Program received signal SIGINT, Interrupt. +core::cell::UnsafeCell::get (self=0x20009fa4) + at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/cell.rs:1711 +1711 pub const fn get(&self) -> *mut T { +``` + +Then set a break point at `main.rs:14` and `continue` + +``` console +(gdb) break main.rs:14 +Breakpoint 2 at 0x8000236: file src/05-led-roulette/src/main.rs, line 14. +(gdb) continue +Continuing. + +Breakpoint 2, led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:14 +14 leds[0].on().ok(); +``` + +Now open your terminal window so it's about 80 lines long an 170 characters wide if possible. +> **NOTE** If you can't open the terminal that large, no problem you'll just see +> `--Type for more, q to quit, c to continue without paging--` so just type return +> until you see the `(gdb)` prompt. Then scroll your terminal window to +> see the results. + +``` console +(gdb) disassemble /m +Dump of assembler code for function _ZN12led_roulette18__cortex_m_rt_main17h51e7c3daad2af251E: +8 fn main() -> ! { + 0x08000208 <+0>: push {r7, lr} + 0x0800020a <+2>: mov r7, sp + 0x0800020c <+4>: sub sp, #64 ; 0x40 + 0x0800020e <+6>: add r0, sp, #32 + +9 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); + 0x08000210 <+8>: bl 0x8000302 + 0x08000214 <+12>: b.n 0x8000216 + 0x08000216 <+14>: add r0, sp, #32 + 0x08000218 <+16>: add r1, sp, #4 + 0x0800021a <+18>: ldmia.w r0, {r2, r3, r4, r12, lr} + 0x0800021e <+22>: stmia.w r1, {r2, r3, r4, r12, lr} + 0x08000222 <+26>: ldr r0, [sp, #52] ; 0x34 + 0x08000224 <+28>: ldr r1, [sp, #56] ; 0x38 + 0x08000226 <+30>: str r1, [sp, #28] + 0x08000228 <+32>: str r0, [sp, #24] + 0x0800022a <+34>: mov.w r0, #500 ; 0x1f4 + +10 +11 let half_period = 500_u16; + 0x0800022e <+38>: strh.w r0, [r7, #-2] + +12 +13 loop { + 0x08000232 <+42>: b.n 0x8000234 + 0x08000234 <+44>: add r0, sp, #24 + 0x08000268 <+96>: b.n 0x8000234 + +14 leds[0].on().ok(); +=> 0x08000236 <+46>: bl 0x80001ec >>> + 0x0800023a <+50>: b.n 0x800023c + 0x0800023c <+52>: bl 0x8000594 ::ok<(),core::convert::Infallible>> + 0x08000240 <+56>: b.n 0x8000242 + 0x08000242 <+58>: add r0, sp, #4 + 0x08000244 <+60>: mov.w r1, #500 ; 0x1f4 + +15 delay.delay_ms(half_period); + 0x08000248 <+64>: bl 0x8002f5c + 0x0800024c <+68>: b.n 0x800024e + 0x0800024e <+70>: add r0, sp, #24 + +16 +17 leds[0].off().ok(); + 0x08000250 <+72>: bl 0x800081a >>> + 0x08000254 <+76>: b.n 0x8000256 + 0x08000256 <+78>: bl 0x8000594 ::ok<(),core::convert::Infallible>> + 0x0800025a <+82>: b.n 0x800025c + 0x0800025c <+84>: add r0, sp, #4 + 0x0800025e <+86>: mov.w r1, #500 ; 0x1f4 + +18 delay.delay_ms(half_period); + 0x08000262 <+90>: bl 0x8002f5c + 0x08000266 <+94>: b.n 0x8000268 + +End of assembler dump. +``` + +In the above dump the reason the delay didn't change was because the compiler +recognized that half_period didn't change and instead in the two places where +`delay.delay_ms(half_period);` is called we see `mov.w r1, #500`. So changing the +value of `half_period` does nothing! + +``` console + 0x08000244 <+60>: mov.w r1, #500 ; 0x1f4 + +15 delay.delay_ms(half_period); + 0x08000248 <+64>: bl 0x8002f5c + +(..) + + 0x0800025e <+86>: mov.w r1, #500 ; 0x1f4 + +18 delay.delay_ms(half_period); + 0x08000262 <+90>: bl 0x8002f5c +``` + +One solution to the problem is to wrap `half_period` in a `Volatile` as shown below. + +``` console +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use volatile::Volatile; +use aux5::{Delay, DelayMs, LedArray, OutputSwitch, entry}; + +#[entry] +fn main() -> ! { + let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); + + let mut half_period = 500_u16; + let v_half_period= Volatile::new(&mut half_period); + + loop { + leds[0].on().ok(); + delay.delay_ms(v_half_period.read()); + + leds[0].off().ok(); + delay.delay_ms(v_half_period.read()); + } +} + +``` + +Edit `Cargo.toml` adding `volatile = "0.4.3"` in the `[dependencies]` section. + +``` console +[dependencies] +aux5 = { path = "auxiliary" } +volatile = "0.4.3" +``` + +With the above code using Volatile you can now change `half_period` and +you'll be able to experiment with different values. Here is the list of +commands followed by an explanation; `# xxxx` to demonstrate. + +``` +$ cargo run --target thumbv7em-none-eabihf # Compile and load the program into gdb +(gdb) target remote :3333 # Connect to STM32F3DISCOVERY board from PC +(gdb) load # Flash program +(gdb) break main.rs:16 # Set breakpoint 1 at top of loop +(gdb) continue # Continue, will stop at main.rs:16 +(gdb) disable 1 # Disable breakpoint 1 +(gdb) set print asm-demangle on # Enable asm-demangle +(gdb) disassemble /m # Disassemble main function +(gdb) continue # Led blinking on for 1/2 sec then off 1/2 sec +^C # Stop with Ctrl+C +(gdb) enable 1 # Enable breakpiont 1 +(gdb) continue # Continue, will stop at main.rs:16 +(gdb) print half_period # Print half_period result is 500 +(gdb) set half_period = 2000 # Set half_period to 2000ms +(gdb) print half_period # Print half_period and result is 2000 +(gdb) disable 1 # Disable breakpoint 1 +(gdb) continue # Led blinking on for 2 secs then off 2 sec +^C # Stop with Ctrl+C +(gdb) quit # Quit gdb ``` -If you let program run free again using the `continue` command, you should see that the LED will -blink at a much faster rate now! +The critical changes are at lines 13, 17 and 20 in the source code which +you can see in the disassembly. At 13 we creating `v_half_period` and then +`read()` it's value in lines 17 and 20. This means that when we `set half_period = 2000` +the led will now be on for 2 seconds then off for 2 seconds. + +``` console +$ cargo run --target thumbv7em-none-eabihf + Compiling led-roulette v0.2.0 (/home/wink/prgs/rust/tutorial/embedded-discovery/src/05-led-roulette) + Finished dev [unoptimized + debuginfo] target(s) in 0.18s + Running `arm-none-eabi-gdb -q /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + +(gdb) target remote :3333 +Remote debugging using :3333 +led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:16 +16 leds[0].on().ok(); + +(gdb) load +Loading section .vector_table, size 0x194 lma 0x8000000 +Loading section .text, size 0x5258 lma 0x8000194 +Loading section .rodata, size 0xbd8 lma 0x80053ec +Start address 0x08000194, load size 24516 +Transfer rate: 21 KB/sec, 6129 bytes/write. + +(gdb) break main.rs:16 +Breakpoint 1 at 0x8000246: file src/05-led-roulette/src/main.rs, line 16. +Note: automatically using hardware breakpoints for read-only addresses. + +(gdb) continue +Continuing. + +Breakpoint 1, led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:16 +16 leds[0].on().ok(); + +(gdb) disable 1 + +(gdb) set print asm-demangle on + +(gdb) disassemble /m +Dump of assembler code for function _ZN12led_roulette18__cortex_m_rt_main17he1f2bc7990b13731E: +9 fn main() -> ! { + 0x0800020e <+0>: push {r7, lr} + 0x08000210 <+2>: mov r7, sp + 0x08000212 <+4>: sub sp, #72 ; 0x48 + 0x08000214 <+6>: add r0, sp, #36 ; 0x24 + +10 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); + 0x08000216 <+8>: bl 0x800036a + 0x0800021a <+12>: b.n 0x800021c + 0x0800021c <+14>: add r0, sp, #36 ; 0x24 + 0x0800021e <+16>: add r1, sp, #8 + 0x08000220 <+18>: ldmia.w r0, {r2, r3, r4, r12, lr} + 0x08000224 <+22>: stmia.w r1, {r2, r3, r4, r12, lr} + 0x08000228 <+26>: ldr r0, [sp, #56] ; 0x38 + 0x0800022a <+28>: ldr r1, [sp, #60] ; 0x3c + 0x0800022c <+30>: str r1, [sp, #32] + 0x0800022e <+32>: str r0, [sp, #28] + 0x08000230 <+34>: mov.w r0, #500 ; 0x1f4 + +11 +12 let mut half_period = 500_u16; + 0x08000234 <+38>: strh.w r0, [r7, #-6] + 0x08000238 <+42>: subs r0, r7, #6 + +13 let v_half_period= Volatile::new(&mut half_period); + 0x0800023a <+44>: bl 0x800033e ::new<&mut u16>> + 0x0800023e <+48>: str r0, [sp, #68] ; 0x44 + 0x08000240 <+50>: b.n 0x8000242 + +14 +15 loop { + 0x08000242 <+52>: b.n 0x8000244 + 0x08000244 <+54>: add r0, sp, #28 + 0x08000288 <+122>: b.n 0x8000244 + +16 leds[0].on().ok(); +=> 0x08000246 <+56>: bl 0x800032c >>> + 0x0800024a <+60>: b.n 0x800024c + 0x0800024c <+62>: bl 0x80005fc ::ok<(),core::convert::Infallible>> + 0x08000250 <+66>: b.n 0x8000252 + 0x08000252 <+68>: add r0, sp, #68 ; 0x44 + +17 delay.delay_ms(v_half_period.read()); + 0x08000254 <+70>: bl 0x800034a ::read<&mut u16,u16,volatile::access::ReadWrite>> + 0x08000258 <+74>: str r0, [sp, #4] + 0x0800025a <+76>: b.n 0x800025c + 0x0800025c <+78>: add r0, sp, #8 + 0x0800025e <+80>: ldr r1, [sp, #4] + 0x08000260 <+82>: bl 0x8002fc4 + 0x08000264 <+86>: b.n 0x8000266 + 0x08000266 <+88>: add r0, sp, #28 + +18 +19 leds[0].off().ok(); + 0x08000268 <+90>: bl 0x8000882 >>> + 0x0800026c <+94>: b.n 0x800026e + 0x0800026e <+96>: bl 0x80005fc ::ok<(),core::convert::Infallible>> + 0x08000272 <+100>: b.n 0x8000274 + 0x08000274 <+102>: add r0, sp, #68 ; 0x44 + +20 delay.delay_ms(v_half_period.read()); + 0x08000276 <+104>: bl 0x800034a ::read<&mut u16,u16,volatile::access::ReadWrite>> + 0x0800027a <+108>: str r0, [sp, #0] + 0x0800027c <+110>: b.n 0x800027e + 0x0800027e <+112>: add r0, sp, #8 + 0x08000280 <+114>: ldr r1, [sp, #0] + 0x08000282 <+116>: bl 0x8002fc4 + 0x08000286 <+120>: b.n 0x8000288 + +End of assembler dump. + +(gdb) continue +Continuing. +^C +Program received signal SIGINT, Interrupt. +0x080037b2 in core::cell::UnsafeCell::get (self=0x20009fa0) at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/cell.rs:1716 +1716 } + +(gdb) enable 1 + +(gdb) continue +Continuing. + +Breakpoint 1, led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:16 +16 leds[0].on().ok(); + +(gdb) print half_period +$2 = 500 + +(gdb) disable 1 + +(gdb) continue +Continuing. +^C +Program received signal SIGINT, Interrupt. +0x08003498 in core::ptr::read_volatile (src=0xe000e010) at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1052 +1052 unsafe { intrinsics::volatile_load(src) } + +(gdb) enable 1 + +(gdb) continue +Continuing. + +Breakpoint 1, led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:16 +16 leds[0].on().ok(); + +(gdb) print half_period +$3 = 500 + +(gdb) set half_period = 2000 + +(gdb) print half_period +$4 = 2000 + +(gdb) disable 1 + +(gdb) continue +Continuing. +^C +Program received signal SIGINT, Interrupt. +0x0800348e in core::ptr::read_volatile (src=0xe000e010) at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1046 +1046 pub unsafe fn read_volatile(src: *const T) -> T { + +(gdb) q +Detaching from program: /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target +Ending remote debugging. +[Inferior 1 (Remote target) detached] +``` -Question! What happens if you keep lowering the value of `half_period`? At what value of +Question! What happens if you start lowering the value of `half_period`? At what value of `half_period` you can no longer see the LED blink? 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z3KYxC%luLB@jIfTvUMclm< zn>Q9~nAMfBkh8Il$;jpG$o5RWGOIeA* Date: Wed, 3 Feb 2021 19:13:54 -0800 Subject: [PATCH 139/313] Update debug-it.md Use 4 gdb-layout-split-x.png files instead of gdb-layout-split.gif. The gif can't be controlled so it's hard to use. --- src/05-led-roulette/debug-it.md | 34 ++++++++++++++++++++++++++++-- src/assets/gdb-layout-split-1.png | Bin 0 -> 75393 bytes src/assets/gdb-layout-split-2.png | Bin 0 -> 92300 bytes src/assets/gdb-layout-split-3.png | Bin 0 -> 102759 bytes src/assets/gdb-layout-split-4.png | Bin 0 -> 74680 bytes src/assets/gdb-layout-split.gif | Bin 381509 -> 0 bytes 6 files changed, 32 insertions(+), 2 deletions(-) create mode 100644 src/assets/gdb-layout-split-1.png create mode 100644 src/assets/gdb-layout-split-2.png create mode 100644 src/assets/gdb-layout-split-3.png create mode 100644 src/assets/gdb-layout-split-4.png delete mode 100644 src/assets/gdb-layout-split.gif diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 3c27b3c57..91cfc5317 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -210,9 +210,38 @@ mode enter one of the following commands in the GDB shell: > **NOTE** Apologies to Windows users, the GDB shipped with the GNU ARM Embedded Toolchain > may not support this TUI mode `:-(`. -Here is an example of using layout split +Below is an example of setting up for a layout split by executing the follow commands: + +``` console +$ cargo run --target thumbv7em-none-eabihf + target remote :3333 + load + set print asm-demangle on + set style sources off + break main + continue + layout split +``` + +And below the result after `layout split` command is executed: + +![GDB session layout split](../assets/gdb-layout-split-1.png "GDB TUI layout split 1") + +Now we'll scroll the top source window down so we see the entire file and execute `step`: + +![GDB session layout split](../assets/gdb-layout-split-2.png "GDB TUI layout split 2") + +Then we'll execute a few `info locals` and `step`'s: + +``` console + info locals + step + info locals + step + info locals +``` -![GDB session layout split](../assets/gdb-layout-split.gif "GDB TUI") +![GDB session layout split](../assets/gdb-layout-split-3.png "GDB TUI layout split 3") At any point you can leave the TUI mode using the following command: @@ -220,6 +249,7 @@ At any point you can leave the TUI mode using the following command: (gdb) tui disable ``` +![GDB session layout split](../assets/gdb-layout-split-4.png "GDB TUI layout split 4") > **NOTE** If the default GDB CLI is not to your liking check out [gdb-dashboard]. 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z3KYxC%luLB@jIfTvUMclm< zn>Q9~nAMfBkh8Il$;jpG$o5RWGOIeA* Date: Thu, 4 Feb 2021 10:38:52 -0800 Subject: [PATCH 140/313] Changes from review by @eldruin Thanks for the review. --- src/05-led-roulette/the-challenge.md | 4 +- .../the-led-and-delay-abstractions.md | 48 +++++++++---------- 2 files changed, 26 insertions(+), 26 deletions(-) diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 361f1774f..d31057dce 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -59,8 +59,8 @@ the program and jump to the beginning of `main`: ``` console $ cargo run --target thumbv7em-none-eabihf Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `arm-none-eabi-gdb -q -x openocd.gdb /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + Running `arm-none-eabi-gdb -q -x openocd.gdb ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:8 8 #[entry] Loading section .vector_table, size 0x194 lma 0x8000000 diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index 1bc9a788c..7081772ef 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -53,8 +53,8 @@ Now, we'll repeat the flashing procedure that we did in the previous section: ``` console $ cargo run --target thumbv7em-none-eabihf Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `arm-none-eabi-gdb -q /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + Running `arm-none-eabi-gdb -q ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... (gdb) target remote :3333 Remote debugging using :3333 led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 @@ -133,7 +133,7 @@ First, let's stop the infinite loop by hitting `Ctrl+C`. You'll probably end up ^C Program received signal SIGINT, Interrupt. 0x08003434 in core::ptr::read_volatile (src=0xe000e010) - at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 + at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 ``` In my case, the program stopped its execution inside a `read_volatile` function. GDB output shows @@ -155,17 +155,17 @@ Regardless of where your program may have stopped you can always look at the out ``` (gdb) backtrace #0 0x08003434 in core::ptr::read_volatile (src=0xe000e010) - at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 -#1 0x08002d66 in vcell::VolatileCell::get (self=0xe000e010) at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/vcell-0.1.3/src/lib.rs:33 -#2 volatile_register::RW::read (self=0xe000e010) at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/volatile-register-0.2.0/src/lib.rs:75 + at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 +#1 0x08002d66 in vcell::VolatileCell::get (self=0xe000e010) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/vcell-0.1.3/src/lib.rs:33 +#2 volatile_register::RW::read (self=0xe000e010) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/volatile-register-0.2.0/src/lib.rs:75 #3 cortex_m::peripheral::SYST::has_wrapped (self=0x20009fa4) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-0.6.4/src/peripheral/syst.rs:136 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-0.6.4/src/peripheral/syst.rs:136 #4 0x08003004 in stm32f3xx_hal::delay::{{impl}}::delay_us (self=0x20009fa4, us=500000) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:58 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:58 #5 0x08002f3e in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:32 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:32 #6 0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 #7 0x0800024c in led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:15 #8 0x08000206 in led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 ``` @@ -179,9 +179,9 @@ right after the program returns from the current function. We'll have to call it ``` (gdb) finish Run till exit from #0 0x08003434 in core::ptr::read_volatile (src=0xe000e010) - at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 + at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1053 cortex_m::peripheral::SYST::has_wrapped (self=0x20009fa4) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-0.6.4/src/peripheral/syst.rs:136 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-0.6.4/src/peripheral/syst.rs:136 136 self.csr.read() & SYST_CSR_COUNTFLAG != 0 Value returned is $1 = 5 @@ -189,14 +189,14 @@ Value returned is $1 = 5 (gdb) finish Run till exit from #0 0x08002f3e in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:32 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:32 0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 38 self.delay_ms(u32(ms)); (gdb) finish Run till exit from #0 0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (self=0x20009fa4, ms=500) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/stm32f3xx-hal-0.5.0/src/delay.rs:38 0x0800024c in led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:15 15 delay.delay_ms(half_period); ``` @@ -227,7 +227,7 @@ Continuing. ^C Program received signal SIGINT, Interrupt. core::cell::UnsafeCell::get (self=0x20009fa4) - at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/cell.rs:1711 + at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/cell.rs:1711 1711 pub const fn get(&self) -> *mut T { ``` @@ -365,7 +365,7 @@ aux5 = { path = "auxiliary" } volatile = "0.4.3" ``` -With the above code using Volatile you can now change `half_period` and +With the above code using `Volatile` you can now change `half_period` and you'll be able to experiment with different values. Here is the list of commands followed by an explanation; `# xxxx` to demonstrate. @@ -398,10 +398,10 @@ the led will now be on for 2 seconds then off for 2 seconds. ``` console $ cargo run --target thumbv7em-none-eabihf - Compiling led-roulette v0.2.0 (/home/wink/prgs/rust/tutorial/embedded-discovery/src/05-led-roulette) + Compiling led-roulette v0.2.0 (~/prgs/rust/tutorial/embedded-discovery/src/05-led-roulette) Finished dev [unoptimized + debuginfo] target(s) in 0.18s - Running `arm-none-eabi-gdb -q /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + Running `arm-none-eabi-gdb -q ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... (gdb) target remote :3333 Remote debugging using :3333 @@ -506,7 +506,7 @@ End of assembler dump. Continuing. ^C Program received signal SIGINT, Interrupt. -0x080037b2 in core::cell::UnsafeCell::get (self=0x20009fa0) at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/cell.rs:1716 +0x080037b2 in core::cell::UnsafeCell::get (self=0x20009fa0) at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/cell.rs:1716 1716 } (gdb) enable 1 @@ -526,7 +526,7 @@ $2 = 500 Continuing. ^C Program received signal SIGINT, Interrupt. -0x08003498 in core::ptr::read_volatile (src=0xe000e010) at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1052 +0x08003498 in core::ptr::read_volatile (src=0xe000e010) at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1052 1052 unsafe { intrinsics::volatile_load(src) } (gdb) enable 1 @@ -551,11 +551,11 @@ $4 = 2000 Continuing. ^C Program received signal SIGINT, Interrupt. -0x0800348e in core::ptr::read_volatile (src=0xe000e010) at /home/wink/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1046 +0x0800348e in core::ptr::read_volatile (src=0xe000e010) at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1046 1046 pub unsafe fn read_volatile(src: *const T) -> T { (gdb) q -Detaching from program: /home/wink/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target +Detaching from program: ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target Ending remote debugging. [Inferior 1 (Remote target) detached] ``` From 56f03a1dc1bf89616c0c52c49c93f3f7651f2ee3 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Thu, 4 Feb 2021 14:16:53 -0800 Subject: [PATCH 141/313] Fix Travis CI error Travis CI complained that the `extern crate panic_itm` should be a `use` so changed it to `pub use panic_itm`. --- src/05-led-roulette/auxiliary/src/lib.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/auxiliary/src/lib.rs b/src/05-led-roulette/auxiliary/src/lib.rs index bc9da9411..8ef93c87d 100644 --- a/src/05-led-roulette/auxiliary/src/lib.rs +++ b/src/05-led-roulette/auxiliary/src/lib.rs @@ -2,7 +2,7 @@ #![no_std] -extern crate panic_itm; // panic handler +pub use panic_itm; // panic handler pub use cortex_m_rt::entry; From 3acc2b2e88d6e8e64b9612624cbc10769e410724 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Sun, 7 Feb 2021 17:47:31 -0800 Subject: [PATCH 142/313] Tweak testing cargo-binutils While following the instructions for cargo-binutils in 03-setup the `cargo size -- -version` caused an error when following the instructions: ``` console $ cargo size -- -version error: Error during execution of `cargo metadata`: error: could not find `Cargo.toml` in `C:\Users\wink` or any parent directory ``` The cause of the error is that you're not told to be in a rust project directory. The solution I've chosen is to create a rust bin project, cd into the project, run it and then do the `cargo size -- -version`. --- src/03-setup/README.md | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index db1787b4e..6943ab75e 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -90,13 +90,24 @@ itmdump 0.3.1 ``` console $ rustup component add llvm-tools-preview -$ cargo install cargo-binutils --vers 0.3.0 +$ cargo install cargo-binutils + +$ cargo new test-size + Created binary (application) `test-size` package + +$ cd test-size + +$ cargo run + Finished dev [unoptimized + debuginfo] target(s) in 0.01s + Running `target\debug\test-size.exe` +Hello, world! $ cargo size -- -version + Finished dev [unoptimized + debuginfo] target(s) in 0.50s LLVM (http://llvm.org/): - LLVM version 8.0.0svn + LLVM version 11.0.0-rust-1.49.0-stable Optimized build. - Default target: x86_64-unknown-linux-gnu + Default target: x86_64-pc-windows-msvc Host CPU: skylake ``` From 2874f357997454dd7cca7167e3c90435487e84c9 Mon Sep 17 00:00:00 2001 From: Diego Barrios Romero Date: Mon, 8 Feb 2021 11:50:40 +0100 Subject: [PATCH 143/313] Fix installing dateutil since it is now a dependency of the GHP import script --- ci/install.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/ci/install.sh b/ci/install.sh index f5596e4ef..139424084 100644 --- a/ci/install.sh +++ b/ci/install.sh @@ -16,6 +16,7 @@ main() { rustup target add thumbv7em-none-eabihf + pip install python-dateutil --user pip install linkchecker --user } From e6e819ddf431749e11cdcf097ced7c42a15ca107 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Fri, 5 Feb 2021 14:50:41 -0800 Subject: [PATCH 144/313] New-06-hello-world Converted lib.rs, Cargo.toml to use stm32f3_discovery. .cargo/config: I also, found that I would forget to to use `--target` when building and running using cargo so set the default build target to thumbv7em-none-eabihf openocd.cfg: Since the monitor lines are quite long and also easy to mistype or forget to do I enhanced the file with the new lines and commented on each of the lines. README.md Update to reflect the above changes. --- src/06-hello-world/.cargo/config | 3 + src/06-hello-world/Cargo.toml | 7 +- src/06-hello-world/README.md | 129 +++++++++++++++------- src/06-hello-world/auxiliary/Cargo.toml | 16 +-- src/06-hello-world/auxiliary/src/lib.rs | 12 ++- src/06-hello-world/openocd.gdb | 22 +++- src/06-hello-world/panic.md | 138 ++++++++++++++++-------- 7 files changed, 230 insertions(+), 97 deletions(-) diff --git a/src/06-hello-world/.cargo/config b/src/06-hello-world/.cargo/config index 115130a23..f27a4a749 100644 --- a/src/06-hello-world/.cargo/config +++ b/src/06-hello-world/.cargo/config @@ -3,3 +3,6 @@ runner = "arm-none-eabi-gdb -q -x openocd.gdb" rustflags = [ "-C", "link-arg=-Tlink.x", ] + +[build] +target = "thumbv7em-none-eabihf" diff --git a/src/06-hello-world/Cargo.toml b/src/06-hello-world/Cargo.toml index f9260db58..1a19db077 100644 --- a/src/06-hello-world/Cargo.toml +++ b/src/06-hello-world/Cargo.toml @@ -1,8 +1,11 @@ [package] -authors = ["Jorge Aparicio "] +authors = [ + "Jorge Aparicio ", + "Wink Saville : push {r7, lr} + 0x080001ee <+2>: mov r7, sp +=> 0x080001f0 <+4>: bl 0x80001f6 + 0x080001f4 <+8>: udf #254 ; 0xfe ``` -(gdb) # globally enable the ITM and redirect all output to itm.txt -(gdb) monitor tpiu config internal itm.txt uart off 8000000 -(gdb) # enable the ITM port 0 -(gdb) monitor itm port 0 on +We need to initially `step` into the main function which will position us at line 10: + +``` text +(gdb) step +hello_world::__cortex_m_rt_main () at src/06-hello-world/src/main.rs:10 +10 let mut itm = aux6::init(); ``` -All should be ready! Now execute the `iprintln!` statement. +Now issue a `next` command which will exectue `aux6::init()` and +stop at he next executable statement in `main.rs`, which +positions us at line 12: -``` +``` text (gdb) next -12 iprintln!(&mut itm.stim[0], "Hello, world!"); +12 iprintln!(&mut itm.stim[0], "Hello, world!"); +``` + +Then issue another `next` command which will execute +line 12, executing the `iprintln` and stop at line 14: +``` text (gdb) next -14 loop {} +14 loop {} ``` -You should see some output in the `itmdump` terminal: +Now since `iprintln` has been executed the output on the `itmdump` +terminal window should be the `Hello, world!` string: ``` console $ itmdump -F -f itm.txt -(..) +(...) Hello, world! ``` diff --git a/src/06-hello-world/auxiliary/Cargo.toml b/src/06-hello-world/auxiliary/Cargo.toml index 0935a0938..18074447c 100644 --- a/src/06-hello-world/auxiliary/Cargo.toml +++ b/src/06-hello-world/auxiliary/Cargo.toml @@ -1,11 +1,15 @@ [package] -authors = ["Jorge Aparicio "] +authors = [ + "Jorge Aparicio ", + "Wink Saville ITM { let p = cortex_m::Peripherals::take().unwrap(); diff --git a/src/06-hello-world/openocd.gdb b/src/06-hello-world/openocd.gdb index 9143f177e..a2b5fdd89 100644 --- a/src/06-hello-world/openocd.gdb +++ b/src/06-hello-world/openocd.gdb @@ -1,6 +1,26 @@ +# Connect to gdb remote server target remote :3333 + +# Load will flash the code +load + +# Eanble demangling asm names on disassembly set print asm-demangle on + +# Enable pretty printing set print pretty on -load + +# Disable style sources as the default colors can be hard to read +set style sources off + +# Have the tpiu send the data to a file tim.txt +monitor tpiu config internal itm.txt uart off 8000000 + +# Turn on the itm port +monitor itm port 0 on + +# Set a breakpoint at main break main + +# Continue running and we'll hit the main breakpoint continue diff --git a/src/06-hello-world/panic.md b/src/06-hello-world/panic.md index 913866a70..694b192c4 100644 --- a/src/06-hello-world/panic.md +++ b/src/06-hello-world/panic.md @@ -11,32 +11,45 @@ fn main() -> ! { } ``` -Let's try this program. But before that let's update `openocd.gdb` to run that `monitor` stuff for -us during GDB startup: - -``` diff - target remote :3333 - set print asm-demangle on - set print pretty on - load -+monitor tpiu config internal itm.txt uart off 8000000 -+monitor itm port 0 on - break main - continue +Before running one other suggestion, I find it inconvenient to have to +confirm when quitting gdb. Add the following file in your home +directory ~/.gdbinit so that it quits immediately: + +``` console +$ cat ~/.gdbinit +define hook-quit + set confirm off +end ``` -OK, now run it. +OK, now use `cargo run` and it stops at `#[entry]`: ``` console $ cargo run -(..) -Breakpoint 1, main () at src/06-hello-world/src/main.rs:10 -10 panic!("Hello, world!"); + Finished dev [unoptimized + debuginfo] target(s) in 0.01s + Running `arm-none-eabi-gdb -q -x openocd.gdb ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world` +Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world... +panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:57 +57 atomic::compiler_fence(Ordering::SeqCst); +Loading section .vector_table, size 0x194 lma 0x8000000 +Loading section .text, size 0x2198 lma 0x8000194 +Loading section .rodata, size 0x5d8 lma 0x800232c +Start address 0x08000194, load size 10500 +Transfer rate: 17 KB/sec, 3500 bytes/write. +Breakpoint 1 at 0x80001f0: file src/06-hello-world/src/main.rs, line 8. +Note: automatically using hardware breakpoints for read-only addresses. + +Breakpoint 1, hello_world::__cortex_m_rt_main_trampoline () at src/06-hello-world/src/main.rs:8 +8 #[entry] +``` -(gdb) next +We'll use short command names to save typing, enter `c` then the `Enter` or `Return` key: +``` +(gdb) c +Continuing. ``` -You'll see some new output in the `itmdump` terminal. +If all is well you'll see some new output in the `itmdump` terminal. ``` console $ # itmdump terminal @@ -44,45 +57,80 @@ $ # itmdump terminal panicked at 'Hello, world!', src/06-hello-world/src/main.rs:10:5 ``` - +Then type `Ctrl-c` which breaks out of a loop in the runtime: +``` text +^C +Program received signal SIGINT, Interrupt. +0x0800115c in panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:57 +57 atomic::compiler_fence(Ordering::SeqCst); +``` - - +Ultimately, `panic!` is just another function call so you can see it leaves behind +a trace of function calls. This allows you to use `backtrace` or just `bt` and to see +call stack that caused the panic: + +``` text +(gdb) bt +#0 panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:47 +#1 0x080005c2 in core::panicking::panic_fmt () at library/core/src/panicking.rs:92 +#2 0x0800055a in core::panicking::panic () at library/core/src/panicking.rs:50 +#3 0x08000210 in hello_world::__cortex_m_rt_main () at src/06-hello-world/src/main.rs:10 +#4 0x080001f4 in hello_world::__cortex_m_rt_main_trampoline () at src/06-hello-world/src/main.rs:8 +``` - - - - - - - - - - +Another thing we can do is catch the panic *before* it does the logging. +So we'll do several things; reset to the beginning, disable breakpoint 1, +set a new breakpoint at `rust_begin_unwind`, list the break points and then continue: - - +``` text +(gdb) monitor reset halt +Unable to match requested speed 1000 kHz, using 950 kHz +Unable to match requested speed 1000 kHz, using 950 kHz +adapter speed: 950 kHz +target halted due to debug-request, current mode: Thread +xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 -Another thing you can do is catch the panic *before* it does the logging by -putting a breakpoint on the `rust_begin_unwind` symbol. +(gdb) disable 1 -``` -(gdb) monitor reset halt -(..) -target halted due to debug-request, current mode: Thread -xPSR: 0x01000000 pc: 0x080026ba msp: 0x10002000 +(gdb) break rust_begin_unwind +Breakpoint 2 at 0x80010f0: file ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs, line 47. -(gdb) break rust_begin_unwind -Breakpoint 2 at 0x80011d2: file $REGISTRY/panic-itm-0.4.0/src/lib.rs, line 46. +(gdb) info break +Num Type Disp Enb Address What +1 breakpoint keep n 0x080001f0 in hello_world::__cortex_m_rt_main_trampoline at src/06-hello-world/src/main.rs:8 + breakpoint already hit 1 time +2 breakpoint keep y 0x080010f0 in panic_itm::panic + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:47 -(gdb) continue +(gdb) c Continuing. -Breakpoint 2, rust_begin_unwind (info=0x10001fac) at $REGISTRY/panic-itm-0.4.0/src/lib.rs:46 -46 interrupt::disable(); +Breakpoint 2, panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:47 +47 interrupt::disable(); ``` You'll notice that nothing got printed on the `itmdump` console this time. If you resume the program using `continue` then a new line will be printed. In a later section we'll look into other simpler communication protocols. + +Finally, enter the `q` command to quit and it quits immediately without asking for confirmation: + +``` text +(gdb) q +Detaching from program: ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world, Remote target +Ending remote debugging. +[Inferior 1 (Remote target) detached] +``` + +As an even shorter sequence you can type `Ctrl-d`, which eliminates +one keystroke! + +> **NOTE** In this case the `(gdb)` prompt is overwritten with `quit)` + +``` text +quit) +Detaching from program: ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world, Remote target +Ending remote debugging. +[Inferior 1 (Remote target) detached] +``` From af8bb1a3d8322b4bf61a9bba956181617cd43ca1 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Tue, 9 Feb 2021 09:21:42 -0800 Subject: [PATCH 145/313] Tweak panic.md As suggested by @eldruin add backticks around ~/.gdbinit. --- src/06-hello-world/panic.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/06-hello-world/panic.md b/src/06-hello-world/panic.md index 694b192c4..6e88c3f16 100644 --- a/src/06-hello-world/panic.md +++ b/src/06-hello-world/panic.md @@ -13,7 +13,7 @@ fn main() -> ! { Before running one other suggestion, I find it inconvenient to have to confirm when quitting gdb. Add the following file in your home -directory ~/.gdbinit so that it quits immediately: +directory `~/.gdbinit` so that it quits immediately: ``` console $ cat ~/.gdbinit From ec78491872a1328b5197b78e9e1107f48e5c5c24 Mon Sep 17 00:00:00 2001 From: waalge Date: Thu, 11 Feb 2021 08:15:46 +0000 Subject: [PATCH 146/313] add two notes flagging lsm303agr --- src/03-setup/README.md | 10 ++++++++-- src/14-i2c/lsm303dlhc.md | 7 +++++++ 2 files changed, 15 insertions(+), 2 deletions(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 6943ab75e..7b1b2202f 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -16,8 +16,8 @@ several MBs in size. - [STM32F3DISCOVERY User Manual][um] - [STM32F303VC Datasheet][ds] - [STM32F303VC Reference Manual][rm] -- [LSM303DLHC] -- [L3GD20] +- [LSM303DLHC] \* +- [L3GD20] \* [L3GD20]: https://www.st.com/content/ccc/resource/technical/document/application_note/2c/d9/a7/f8/43/48/48/64/DM00119036.pdf/files/DM00119036.pdf/jcr:content/translations/en.DM00119036.pdf [LSM303DLHC]: http://www.st.com/resource/en/datasheet/lsm303dlhc.pdf @@ -25,6 +25,12 @@ several MBs in size. [rm]: http://www.st.com/resource/en/reference_manual/dm00043574.pdf [um]: http://www.st.com/resource/en/user_manual/dm00063382.pdf +\* **NOTE**: Newer (from around 2020/09) Discovery boards may have a different e-compass and gyroscope (see the user manual). +As such, much in chapters 14-16 will not work as is. +Checkout the github issues like [this][gh-issue-274]. + +[gh-issue-274]: https://github.com/rust-embedded/discovery/issues/274 + ## Tools We'll use all the tools listed below. Where a minimum version is not specified, any recent version diff --git a/src/14-i2c/lsm303dlhc.md b/src/14-i2c/lsm303dlhc.md index 60389c6c8..9fb1db854 100644 --- a/src/14-i2c/lsm303dlhc.md +++ b/src/14-i2c/lsm303dlhc.md @@ -1,5 +1,12 @@ # LSM303DLHC +\* **NOTE**: Newer (from around 2020/09) Discovery boards may have an [LSM303AGR][agr] +rather than a [LSM303DLHC][Data Sheet]. +Checkout the github issues like [this][gh-issue-274] for more details. + +[agr]: https://www.st.com/resource/en/datasheet/lsm303agr.pdf +[gh-issue-274]: https://github.com/rust-embedded/discovery/issues/274 + Two of the sensors in the F3, the magnetometer and the accelerometer, are packaged in a single component: the LSM303DLHC integrated circuit. These two sensors can be accessed via an I2C bus. Each sensor behaves like an I2C slave and has a *different* address. From c241deadb0ca1380866f26c4d5ca9d34fba62e66 Mon Sep 17 00:00:00 2001 From: Jesse Parsons <59420931+leetie@users.noreply.github.com> Date: Thu, 11 Feb 2021 22:54:15 -0500 Subject: [PATCH 147/313] fix typo, link Fix typo, link. --- src/06-hello-world/README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index 3842b7787..eb705ea04 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -71,8 +71,9 @@ $ itmdump -F -f itm.txt This command will block as `itmdump` is now watching the `itm.txt` file. Leave this terminal open. Make sure that the STM32F3DISCOVERY board is connected to your computer. Open another terminal -from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as described in chapter -[First OpenOCD connection]: ../03-setup/verify.html#first-openocd-connection +from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as described in [chapter 3]. + +[chapter 3]: ../03-setup/verify.html#first-openocd-connection Alright. Now, let's build the starter code and flash it into the microcontroller. @@ -103,7 +104,7 @@ target remote :3333 # Load will flash the code load -# Eanble demangling asm names on disassembly +# Enable demangling asm names on disassembly set print asm-demangle on # Enable pretty printing From d5e17f5fe1d3f7a9706dca185e558dfb0aa8bbe1 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Fri, 5 Feb 2021 14:27:26 -0800 Subject: [PATCH 148/313] Tweak 05-led-roulette After doing 06-hello-world I felt some tweaks and cleanup were needed in debug-it.md and the-led-and-delay-abstractions.md. --- src/05-led-roulette/debug-it.md | 77 ++++++++++++------- .../the-led-and-delay-abstractions.md | 4 +- 2 files changed, 52 insertions(+), 29 deletions(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 91cfc5317..308410006 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -20,34 +20,55 @@ Continuing. Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 7 #[entry] - -(gdb) step -led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:10 -10 let x = 42; ``` Breakpoints can be used to stop the normal flow of a program. The `continue` command will let the program run freely *until* it reaches a breakpoint. In this case, until it reaches `#[entry]` -which is a trampoline to to the main function and where `break main` set the breakpoint. +which is a trampoline to the main function and where `break main` sets the breakpoint. -Note that GDB output says "Breakpoint 1". Remember that our processor can only use six of these -breakpoints so it's a good idea to pay attention to these messages. +> **Note** that GDB output says "Breakpoint 1". Remember that our processor can only use six of these +> breakpoints so it's a good idea to pay attention to these messages. +OK. Since we are stopped at `#[entry]` and using the `disassemble /m` we see the code +for entry, which is a trampoline to main. What that means it sets up the stack and then +invokes a subroutine call to the `main` function using an ARM branch and link instruction, `bl`. +``` +(gdb) disassemble /m +Dump of assembler code for function main: +8 #[entry] + 0x080001ec <+0>: push {r7, lr} + 0x080001ee <+2>: mov r7, sp +=> 0x080001f0 <+4>: bl 0x80001f6 + 0x080001f4 <+8>: udf #254 ; 0xfe -OK. Since we are stopped at `#[entry]`. We can advance the program statement by statement using -the `step` command. So let's use that twice times to reach the `_y = x` statement. Once you've typed `step` -once you can just hit enter to run it again, but below we type step twice. +End of assembler dump. +``` +Next we need to issue a `step` gdb command which will advance the program statement +by statement stepping into functions/procedures. So after this first `step` command we're +inside `main` and are positioned at the first executable `rust` statement, line 10, but it is +**not** executed: ``` (gdb) step led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:10 10 let x = 42; +``` + +Next we'll issue a second `step` which executes line 10 and stops at +line `11 _y = x;`, again line 11 is **not** executed. + +> **Note** we could have pressed enter at the second ` ` prompt and +> it would have reissued the previous statement, `step`, but for clarity in this tutorial +> we'll generally retype the command. + +``` (gdb) step 11 _y = x; ``` -If you are not using the TUI mode, on each `step` call GDB will print back the current statement -along with its line number. +As you can see, in this mode, on each `step` command GDB will print the current statement along +along with its line number. As you'll see later in the TUI mode you'll not the see the statement +in the command area. We are now "on" the `_y = x` statement; that statement hasn't been executed yet. This means that `x` is initialized but `_y` is not. Let's inspect those stack/local variables using the `print` command: @@ -63,13 +84,13 @@ $3 = 536870912 $4 = (*mut i32) 0x20009fe4 ``` -As expected, `x` contains the value `42`. `_y`, however, contains the value `536870912` (?). Because -`_y` has not been initialized yet, it contains some garbage value. +As expected, `x` contains the value `42`. `_y`, however, contains the value `536870912` (?). This +is because `_y` has not been initialized yet, it contains some garbage value. The command `print &x` prints the address of the variable `x`. The interesting bit here is that GDB -output shows the type of the reference: `*mut i32`, a mutable pointer to an `i32` value. Another interesting -thing is that the addresses of `x` and `_y` are very close to each other: their addresses are just -`4` bytes apart. +output shows the type of the reference: `*mut i32`, a mutable pointer to an `i32` value. Another +interesting thing is that the addresses of `x` and `_y` are very close to each other: their +addresses are just `4` bytes apart. Instead of printing the local variables one by one, you can also use the `info locals` command: @@ -97,9 +118,9 @@ If we use `step` again on top of the `loop {}` statement, we'll get stuck becaus never pass that statement. > **NOTE** If you used the `step` or any other command by mistake and GDB gets stuck, you can get -it unstuck by hitting `Ctrl+C`. +> it unstuck by hitting `Ctrl+C`. -You can also use the `disassemble /m` command to disassemble the program around the +As introduced above the `disassemble /m` command can be used to disassemble the program around the line you are currently at. You might also want to `set print asm-demangle on` so the names are demangled, this only needs to be done once a debug session. Later this and other commands will be placed in an initialization file which will simplify @@ -131,11 +152,11 @@ End of assembler dump. See the fat arrow `=>` on the left side? It shows the instruction the processor will execute next. -As mentioned above if you were to execute the `step` command GDB gets stuck because it +Also, as mentioned above if you were to execute the `step` command GDB gets stuck because it is executing a branch instruction to itself and never gets past it. So you need to use -`Ctrl+C`. But you can use the `stepi` GDB command, which steps one instruction, and GDB will print -the address **and** line number of the statement the processor will execute next and -it won't get stuck. +`Ctrl+C` to regain control. An alternative is to use the `stepi` GDB command, which steps +one asm instruction, and GDB will print the address **and** line number of the statement +the processor will execute next and it won't get stuck. ``` (gdb) stepi @@ -154,11 +175,13 @@ Unable to match requested speed 1000 kHz, using 950 kHz adapter speed: 950 kHz target halted due to debug-request, current mode: Thread xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 + (gdb) continue Continuing. Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 7 #[entry] + (gdb) disassemble /m Dump of assembler code for function main: 7 #[entry] @@ -170,11 +193,11 @@ Dump of assembler code for function main: End of assembler dump. ``` -We are now back at the beginning of `main`! +We are now back at the beginning of `#[entry]`! -`monitor reset halt` will reset the microcontroller and stop it right at the program entry point. -The following `continue` command will let the program run freely until it reaches the `main` -function that has a breakpoint on it. +`monitor reset halt` will reset the microcontroller and stop it right at the beginning of the program. +The `continue` command will then let the program run freely until it reaches a breakpoint, in +this case it is the breakpoint at `#[entry]`. This combo is handy when you, by mistake, skipped over a part of the program that you were interested in inspecting. You can easily roll back the state of your program back to its very diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index 7081772ef..34adee50b 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -344,7 +344,7 @@ fn main() -> ! { let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); let mut half_period = 500_u16; - let v_half_period= Volatile::new(&mut half_period); + let v_half_period = Volatile::new(&mut half_period); loop { leds[0].on().ok(); @@ -455,7 +455,7 @@ Dump of assembler code for function _ZN12led_roulette18__cortex_m_rt_main17he1f2 0x08000234 <+38>: strh.w r0, [r7, #-6] 0x08000238 <+42>: subs r0, r7, #6 -13 let v_half_period= Volatile::new(&mut half_period); +13 let v_half_period = Volatile::new(&mut half_period); 0x0800023a <+44>: bl 0x800033e ::new<&mut u16>> 0x0800023e <+48>: str r0, [sp, #68] ; 0x44 0x08000240 <+50>: b.n 0x8000242 From cdf6be722d672e996893c52c793dae510b408566 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Wed, 24 Feb 2021 09:13:50 -0800 Subject: [PATCH 149/313] New 07 Registers Modified to run using `stm32f3-discovery` instead of `f3` and updated the `.md` files appropriately. --- src/07-registers/Cargo.toml | 7 +- src/07-registers/auxiliary/Cargo.toml | 21 +- src/07-registers/auxiliary/src/lib.rs | 42 +-- src/07-registers/bad-address.md | 82 +++--- src/07-registers/openocd.gdb | 3 +- src/07-registers/optimization.md | 245 +++++++++--------- .../spooky-action-at-a-distance.md | 72 ++--- src/07-registers/type-safe-manipulation.md | 143 +++++----- 8 files changed, 342 insertions(+), 273 deletions(-) diff --git a/src/07-registers/Cargo.toml b/src/07-registers/Cargo.toml index 2b4fbaca9..2a9d1f086 100644 --- a/src/07-registers/Cargo.toml +++ b/src/07-registers/Cargo.toml @@ -1,8 +1,11 @@ [package] -authors = ["Jorge Aparicio "] +authors = [ + "Jorge Aparicio ", + "Wink Saville "] +authors = [ + "Jorge Aparicio ", + "Wink Saville (ITM, &'static gpioc::RegisterBlock) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); +pub use stm32f3::stm32f303::{self, gpioc::RegisterBlock}; +pub use stm32f3_discovery::stm32f3xx_hal::pac::GPIOE; +pub use stm32f3_discovery::{leds::Leds, stm32f3xx_hal}; + +use stm32f3xx_hal::prelude::*; +pub use stm32f3xx_hal::stm32; - let mut rcc = dp.RCC.constrain(); +#[inline(never)] +pub fn init() -> (ITM, &'static RegisterBlock) { + let device_periphs = stm32::Peripherals::take().unwrap(); + let mut reset_and_clock_control = device_periphs.RCC.constrain(); - Leds::new(dp.GPIOE.split(&mut rcc.ahb)); + // initialize user leds + let mut gpioe = device_periphs.GPIOE.split(&mut reset_and_clock_control.ahb); + let _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, + ); - (cp.ITM, unsafe { &*GPIOE::ptr() }) + let core_periphs = cortex_m::Peripherals::take().unwrap(); + (core_periphs.ITM, unsafe { &*stm32f303::GPIOE::ptr() }) } diff --git a/src/07-registers/bad-address.md b/src/07-registers/bad-address.md index 797debd92..d5c357b27 100644 --- a/src/07-registers/bad-address.md +++ b/src/07-registers/bad-address.md @@ -29,16 +29,20 @@ Invalid in the sense that there's no register at this address. Now, let's try it. ``` console + cargo run $ cargo run -Breakpoint 3, main () at src/07-registers/src/main.rs:9 -9 aux7::init(); +(..) +Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/src/main.rs:9 +9 #[entry] (gdb) continue Continuing. -Breakpoint 2, cortex_m_rt::HardFault_ (ef=0x10001fb0) - at $REGISTRY/cortex-m-rt-0.6.13/src/lib.rs:560 +Breakpoint 3, cortex_m_rt::HardFault_ (ef=0x20009fb0) + at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs:560 560 loop { + +(gdb) ``` We tried to do an invalid operation, reading memory that doesn't exist, so the processor raised an @@ -77,13 +81,13 @@ We can get more information about the exception from the debugger. Let's see: (gdb) print/x *ef $1 = cortex_m_rt::ExceptionFrame { r0: 0x48001800, - r1: 0x48001800, - r2: 0xb, - r3: 0xc, - r12: 0xd, - lr: 0x800019f, - pc: 0x80028d6, - xpsr: 0x1000000 + r1: 0x80036b0, + r2: 0x1, + r3: 0x80000000, + r12: 0xb, + lr: 0x800020d, + pc: 0x8001750, + xpsr: 0xa1000200 } ``` @@ -93,25 +97,27 @@ disassemble the program around the bad instruction. ``` (gdb) disassemble /m ef.pc -Dump of assembler code for function core::ptr::read_volatile: -471 /checkout/src/libcore/ptr.rs: No such file or directory. - 0x080028ce <+0>: sub sp, #16 - 0x080028d0 <+2>: mov r1, r0 - 0x080028d2 <+4>: str r0, [sp, #8] - -472 in /checkout/src/libcore/ptr.rs - 0x080028d4 <+6>: ldr r0, [sp, #8] - 0x080028d6 <+8>: ldr r0, [r0, #0] - 0x080028d8 <+10>: str r0, [sp, #12] - 0x080028da <+12>: ldr r0, [sp, #12] - 0x080028dc <+14>: str r1, [sp, #4] - 0x080028de <+16>: str r0, [sp, #0] - 0x080028e0 <+18>: b.n 0x80028e2 - -473 in /checkout/src/libcore/ptr.rs - 0x080028e2 <+20>: ldr r0, [sp, #0] - 0x080028e4 <+22>: add sp, #16 - 0x080028e6 <+24>: bx lr +Dump of assembler code for function core::ptr::read_volatile: +1046 pub unsafe fn read_volatile(src: *const T) -> T { + 0x0800174c <+0>: sub sp, #12 + 0x0800174e <+2>: str r0, [sp, #4] + +1047 if cfg!(debug_assertions) && !is_aligned_and_not_null(src) { +1048 // Not panicking to keep codegen impact smaller. +1049 abort(); +1050 } +1051 // SAFETY: the caller must uphold the safety contract for `volatile_load`. +1052 unsafe { intrinsics::volatile_load(src) } + 0x08001750 <+4>: ldr r0, [r0, #0] + 0x08001752 <+6>: str r0, [sp, #8] + 0x08001754 <+8>: ldr r0, [sp, #8] + 0x08001756 <+10>: str r0, [sp, #0] + 0x08001758 <+12>: b.n 0x800175a +14> + +1053 } + 0x0800175a <+14>: ldr r0, [sp, #0] + 0x0800175c <+16>: add sp, #12 + 0x0800175e <+18>: bx lr End of assembler dump. ``` @@ -126,16 +132,16 @@ when the exception was raised? Well, we already did! The `r0` field in the `ef` before is the value of `r0` register had when the exception was raised. Here it is again: ``` -(gdb) p/x *ef +(gdb) print/x *ef $1 = cortex_m_rt::ExceptionFrame { r0: 0x48001800, - r1: 0x48001800, - r2: 0xb, - r3: 0xc, - r12: 0xd, - lr: 0x800019f, - pc: 0x80028d6, - xpsr: 0x1000000 + r1: 0x80036b0, + r2: 0x1, + r3: 0x80000000, + r12: 0xb, + lr: 0x800020d, + pc: 0x8001750, + xpsr: 0xa1000200 } ``` diff --git a/src/07-registers/openocd.gdb b/src/07-registers/openocd.gdb index df15d79d3..5db2c66f7 100644 --- a/src/07-registers/openocd.gdb +++ b/src/07-registers/openocd.gdb @@ -1,10 +1,11 @@ target remote :3333 set print asm-demangle on set print pretty on +set style sources off monitor tpiu config internal itm.txt uart off 8000000 monitor itm port 0 on load +break main break DefaultHandler break HardFault -break main continue diff --git a/src/07-registers/optimization.md b/src/07-registers/optimization.md index 1775593c2..c69847745 100644 --- a/src/07-registers/optimization.md +++ b/src/07-registers/optimization.md @@ -11,22 +11,27 @@ will merge the writes thus changing the behavior of our program. Let's check tha ``` console $ cargo run --release (..) -Breakpoint 1, main () at src/07-registers/src/main.rs:9 +Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/src/main.rs:7 +7 #[entry] + +(gdb) step +registers::__cortex_m_rt_main () at src/07-registers/src/main.rs:9 9 aux7::init(); (gdb) next 25 *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); (gdb) disassemble /m -Dump of assembler code for function main: -7 #[entry] - +Dump of assembler code for function _ZN9registers18__cortex_m_rt_main17h45b1ef53e18aa8d0E: 8 fn main() -> ! { + 0x08000248 <+0>: push {r7, lr} + 0x0800024a <+2>: mov r7, sp + 9 aux7::init(); - 0x08000188 <+0>: bl 0x800019c - 0x0800018c <+4>: movw r0, #4120 ; 0x1018 - 0x08000190 <+8>: mov.w r1, #134217728 ; 0x8000000 - 0x08000194 <+12>: movt r0, #18432 ; 0x4800 + 0x0800024c <+4>: bl 0x8000260 + 0x08000250 <+8>: movw r0, #4120 ; 0x1018 + 0x08000254 <+12>: mov.w r1, #134217728 ; 0x8000000 + 0x08000258 <+16>: movt r0, #18432 ; 0x4800 10 11 unsafe { @@ -44,12 +49,8 @@ Dump of assembler code for function main: 23 24 // Turn off the "East" LED 25 *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); -=> 0x08000198 <+16>: str r1, [r0, #0] - -26 } -27 -28 loop {} - 0x0800019a <+18>: b.n 0x800019a +=> 0x0800025c <+20>: str r1, [r0, #0] + 0x0800025e <+22>: b.n 0x800025e End of assembler dump. ``` @@ -58,94 +59,55 @@ The state of the LEDs didn't change this time! The `str` instruction is the one to the register. Our *debug* (unoptimized) program had four of them, one for each write to the register, but the *release* (optimized) program only has one. -We can check that using `objdump`: +We can check that using `objdump` and capture the output to `out.asm`: ``` console -$ # same as cargo objdump -- -d --no-show-raw-insn --print-imm-hex --source target/thumbv7em-none-eabihf/debug/registers -$ cargo objdump --bin registers -- -d --no-show-raw-insn --print-imm-hex --source -registers: file format ELF32-arm-little +# same as cargo objdump -- -d --no-show-raw-insn --print-imm-hex --source target/thumbv7em-none-eabihf/debug/registers +cargo objdump --bin registers -- -d --no-show-raw-insn --print-imm-hex --source > debug.txt +``` -Disassembly of section .text: -main: +Then examine `debug.txt` looking for `main` and we see the 4 `str` instructions: +``` +080001ec
    : ; #[entry] - 8000188: sub sp, #0x18 -; aux7::init(); - 800018a: bl #0xbc - 800018e: str r0, [sp, #0x14] - 8000190: b #-0x2 -; *(GPIOE_BSRR as *mut u32) = 1 << 9; - 8000192: b #-0x2 - 8000194: movw r0, #0x1018 - 8000198: movt r0, #0x4800 - 800019c: mov.w r1, #0x200 - 80001a0: str r1, [r0] -; *(GPIOE_BSRR as *mut u32) = 1 << 11; - 80001a2: b #-0x2 - 80001a4: movw r0, #0x1018 - 80001a8: movt r0, #0x4800 - 80001ac: mov.w r1, #0x800 - 80001b0: str r1, [r0] - 80001b2: movs r0, #0x19 -; *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); - 80001b4: mov r1, r0 - 80001b6: cmp r0, #0x9 - 80001b8: str r1, [sp, #0x10] - 80001ba: bvs #0x54 - 80001bc: b #-0x2 - 80001be: ldr r0, [sp, #0x10] - 80001c0: and r1, r0, #0x1f - 80001c4: movs r2, #0x1 - 80001c6: lsl.w r1, r2, r1 - 80001ca: lsrs r2, r0, #0x5 - 80001cc: cmp r2, #0x0 - 80001ce: str r1, [sp, #0xc] - 80001d0: bne #0x4c - 80001d2: b #-0x2 - 80001d4: movw r0, #0x1018 - 80001d8: movt r0, #0x4800 - 80001dc: ldr r1, [sp, #0xc] - 80001de: str r1, [r0] - 80001e0: movs r0, #0x1b -; *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); - 80001e2: mov r2, r0 - 80001e4: cmp r0, #0xb - 80001e6: str r2, [sp, #0x8] - 80001e8: bvs #0x42 - 80001ea: b #-0x2 - 80001ec: ldr r0, [sp, #0x8] - 80001ee: and r1, r0, #0x1f - 80001f2: movs r2, #0x1 - 80001f4: lsl.w r1, r2, r1 - 80001f8: lsrs r2, r0, #0x5 - 80001fa: cmp r2, #0x0 - 80001fc: str r1, [sp, #0x4] - 80001fe: bne #0x3a - 8000200: b #-0x2 - 8000202: movw r0, #0x1018 - 8000206: movt r0, #0x4800 - 800020a: ldr r1, [sp, #0x4] - 800020c: str r1, [r0] -; loop {} - 800020e: b #-0x2 - 8000210: b #-0x4 -; *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); - 8000212: movw r0, #0x41bc - 8000216: movt r0, #0x800 - 800021a: bl #0x3b28 - 800021e: trap - 8000220: movw r0, #0x4204 + 80001ec: push {r7, lr} + 80001ee: mov r7, sp + 80001f0: bl #0x2 + 80001f4: trap + +080001f6 : +; fn main() -> ! { + 80001f6: push {r7, lr} + 80001f8: mov r7, sp +; aux7::init(); + 80001fa: bl #0x3e + 80001fe: b #-0x2 +; *(GPIOE_BSRR as *mut u32) = 1 << 9; + 8000200: movw r0, #0x2640 + 8000204: movt r0, #0x800 + 8000208: ldr r0, [r0] + 800020a: movw r1, #0x1018 + 800020e: movt r1, #0x4800 + 8000212: str r0, [r1] +; *(GPIOE_BSRR as *mut u32) = 1 << 11; + 8000214: movw r0, #0x2648 + 8000218: movt r0, #0x800 + 800021c: ldr r0, [r0] + 800021e: str r0, [r1] +; *(GPIOE_BSRR as *mut u32) = 1 << (9 + 16); + 8000220: movw r0, #0x2650 8000224: movt r0, #0x800 - 8000228: bl #0x3b1a - 800022c: trap -; *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); - 800022e: movw r0, #0x421c - 8000232: movt r0, #0x800 - 8000236: bl #0x3b0c - 800023a: trap - 800023c: movw r0, #0x4234 - 8000240: movt r0, #0x800 - 8000244: bl #0x3afe - 8000248: trap + 8000228: ldr r0, [r0] + 800022a: str r0, [r1] +; *(GPIOE_BSRR as *mut u32) = 1 << (11 + 16); + 800022c: movw r0, #0x2638 + 8000230: movt r0, #0x800 + 8000234: ldr r0, [r0] + 8000236: str r0, [r1] +; loop {} + 8000238: b #-0x2 + 800023a: b #-0x4 + (..) ``` How do we prevent LLVM from misoptimizing our program? We use *volatile* operations instead of plain @@ -158,7 +120,7 @@ reads/writes: use core::ptr; #[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; +use aux7::entry; #[entry] fn main() -> ! { @@ -183,32 +145,77 @@ fn main() -> ! { loop {} } + ``` -If we look at the disassembly of this new program compiled in release mode: +Generate `release.txt` using with `--release` mode. ``` console -$ cargo objdump --bin registers --release -- -d --no-show-raw-insn --print-imm-hex --source -registers: file format ELF32-arm-little +cargo objdump --release --bin registers -- -d --no-show-raw-insn --print-imm-hex --source > release.txt +``` -Disassembly of section .text: -main: +Now find the `main` routine in `release.txt` and we see the 4 `str` instructions. +``` +0800023e
    : ; #[entry] - 8000188: bl #0x22 -; aux7::init(); - 800018c: movw r0, #0x1018 - 8000190: mov.w r1, #0x200 - 8000194: movt r0, #0x4800 - 8000198: str r1, [r0] - 800019a: mov.w r1, #0x800 - 800019e: str r1, [r0] - 80001a0: mov.w r1, #0x2000000 - 80001a4: str r1, [r0] - 80001a6: mov.w r1, #0x8000000 - 80001aa: str r1, [r0] -; loop {} - 80001ac: b #-0x4 + 800023e: push {r7, lr} + 8000240: mov r7, sp + 8000242: bl #0x2 + 8000246: trap + +08000248 : +; fn main() -> ! { + 8000248: push {r7, lr} + 800024a: mov r7, sp +; aux7::init(); + 800024c: bl #0x22 + 8000250: movw r0, #0x1018 + 8000254: mov.w r1, #0x200 + 8000258: movt r0, #0x4800 +; intrinsics::volatile_store(dst, src); + 800025c: str r1, [r0] + 800025e: mov.w r1, #0x800 + 8000262: str r1, [r0] + 8000264: mov.w r1, #0x2000000 + 8000268: str r1, [r0] + 800026a: mov.w r1, #0x8000000 + 800026e: str r1, [r0] + 8000270: b #-0x4 + (..) + ``` + +We see that the four writes (`str` instructions) are preserved. If you run it using +`gdb` you'll also see that we get the expected behavior. +> NB: The last `next` will endlessly execute `loop {}`, use `Ctrl-c` to get +> back to the `(gdb)` prompt. ``` +$ cargo run --release +(..) + +Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/src/main.rs:9 +9 #[entry] + +(gdb) step +registers::__cortex_m_rt_main () at src/07-registers/src/main.rs:11 +11 aux7::init(); + +(gdb) next +18 ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 9); + +(gdb) next +21 ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 11); + +(gdb) next +24 ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (9 + 16)); -We see that the four writes (`str` instructions) are preserved. If you run it (use `stepi`), you'll -also see that behavior of the program is preserved. +(gdb) next +27 ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (11 + 16)); + +(gdb) next +^C +Program received signal SIGINT, Interrupt. +0x08000270 in registers::__cortex_m_rt_main () + at ~/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/src/rust/library/core/src/ptr/mod.rs:1124 +1124 intrinsics::volatile_store(dst, src); +(gdb) +``` \ No newline at end of file diff --git a/src/07-registers/spooky-action-at-a-distance.md b/src/07-registers/spooky-action-at-a-distance.md index d656be964..bfd81b775 100644 --- a/src/07-registers/spooky-action-at-a-distance.md +++ b/src/07-registers/spooky-action-at-a-distance.md @@ -8,7 +8,9 @@ status of Port E. > Section 11.4.6 GPIO port output data register - Page 239 -Let's try this program: +Let's look at this program. The key to this program +is `fn iprint_odr`. This function prints the current +value in `ODR` to the `ITM` console ``` rust #![no_main] @@ -17,58 +19,65 @@ Let's try this program: use core::ptr; #[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; +use aux7::{entry, iprintln, ITM}; -#[entry] -fn main() -> ! { - let mut itm = aux7::init().0; +// Print the current contents of odr +fn iprint_odr(itm: &mut ITM) { + const GPIOE_ODR: u32 = 0x4800_1014; unsafe { - const GPIOE_BSRR: u32 = 0x4800_1018; - const GPIOE_ODR: u32 = 0x4800_1014; - iprintln!( &mut itm.stim[0], "ODR = 0x{:04x}", ptr::read_volatile(GPIOE_ODR as *const u16) ); + } +} - // Turn on the NORTH LED (red) - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 9); +#[entry] +fn main() -> ! { + let mut itm= aux7::init().0; - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); + unsafe { + // A magic addresses! + const GPIOE_BSRR: u32 = 0x4800_1018; - // Turn on the EAST LED (green) - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 11); + // Print the initial contents of ODR + iprint_odr(&mut itm); - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); + // Turn on the "North" LED (red) + ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 9); + iprint_odr(&mut itm); - // Turn off the NORTH LED - ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (9 + 16)); + // Turn on the "East" LED (green) + ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << 11); + iprint_odr(&mut itm); - iprintln!( - &mut itm.stim[0], - "ODR = 0x{:04x}", - ptr::read_volatile(GPIOE_ODR as *const u16) - ); + // Turn off the "North" LED + ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (9 + 16)); + iprint_odr(&mut itm); - // Turn off the EAST LED + // Turn off the "East" LED ptr::write_volatile(GPIOE_BSRR as *mut u32, 1 << (11 + 16)); + iprint_odr(&mut itm); } loop {} } ``` -If you run this program, you'll see: +If you run this program +``` +$ cargo run +(..) +Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/src/main.rs:22 +22 #[entry] + +(gdb) continue +Continuing. +``` + +You'll see on itmdump's console: ``` console $ # itmdump's console @@ -77,6 +86,7 @@ ODR = 0x0000 ODR = 0x0200 ODR = 0x0a00 ODR = 0x0800 +ODR = 0x0000 ``` Side effects! Although we are reading the same address multiple times without actually modifying it, diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md index adae15dd7..0d2b33155 100644 --- a/src/07-registers/type-safe-manipulation.md +++ b/src/07-registers/type-safe-manipulation.md @@ -34,7 +34,7 @@ The best way to get familiar with this API is to port our running example to it. #![no_std] #[allow(unused_imports)] -use aux7::{entry, iprint, iprintln}; +use aux7::{entry, iprintln, ITM, RegisterBlock}; #[entry] fn main() -> ! { @@ -43,13 +43,13 @@ fn main() -> ! { // Turn on the North LED gpioe.bsrr.write(|w| w.bs9().set_bit()); - // Turn on the East LED + // Turn on the Eask LED gpioe.bsrr.write(|w| w.bs11().set_bit()); // Turn off the North LED gpioe.bsrr.write(|w| w.br9().set_bit()); - // Turn off the East LED + // Turn off the Eask LED gpioe.bsrr.write(|w| w.br11().set_bit()); loop {} @@ -72,14 +72,20 @@ the register block. ``` $ cargo run -Breakpoint 3, main () at src/07-registers/src/main.rs:9 +(..) + +Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/src/main.rs:7 +7 #[entry] + +(gdb) step +registers::__cortex_m_rt_main () at src/07-registers/src/main.rs:9 9 let gpioe = aux7::init().1; (gdb) next 12 gpioe.bsrr.write(|w| w.bs9().set_bit()); (gdb) print gpioe -$1 = (stm32f30x::gpioc::RegisterBlock *) 0x48001000 +$1 = (*mut stm32f3::stm32f303::gpioc::RegisterBlock) 0x48001000 ``` But if we instead `print *gpioe`, we'll get a *full view* of the register block: the value of each @@ -87,83 +93,94 @@ of its registers will be printed. ``` (gdb) print *gpioe -$2 = stm32f30x::gpioc::RegisterBlock { - moder: stm32f30x::gpioc::MODER { +$2 = stm32f3::stm32f303::gpioc::RegisterBlock { + moder: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x55550000 + value: 1431633920 } - } + }, + _marker: core::marker::PhantomData }, - otyper: stm32f30x::gpioc::OTYPER { + otyper: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - ospeedr: stm32f30x::gpioc::OSPEEDR { + ospeedr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - pupdr: stm32f30x::gpioc::PUPDR { + pupdr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - idr: stm32f30x::gpioc::IDR { + idr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0xcc + value: 204 } - } + }, + _marker: core::marker::PhantomData }, - odr: stm32f30x::gpioc::ODR { + odr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - bsrr: stm32f30x::gpioc::BSRR { + bsrr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - lckr: stm32f30x::gpioc::LCKR { + lckr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - afrl: stm32f30x::gpioc::AFRL { + afrl: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - afrh: stm32f30x::gpioc::AFRH { + afrh: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData }, - brr: stm32f30x::gpioc::BRR { + brr: stm32f3::generic::Reg { register: vcell::VolatileCell { value: core::cell::UnsafeCell { - value: 0x0 + value: 0 } - } + }, + _marker: core::marker::PhantomData } } ``` @@ -175,28 +192,38 @@ did! [LTO]: https://en.wikipedia.org/wiki/Interprocedural_optimization +Use `cargo objdump` to grab the assembler code to `release.txt`: ``` console -$ cargo objdump --bin registers --release -- -d --no-show-raw-insn --print-imm-hex -registers: file format ELF32-arm-little - -Disassembly of section .text: -main: - 8000188: bl #0x22 - 800018c: movw r0, #0x1018 - 8000190: mov.w r1, #0x200 - 8000194: movt r0, #0x4800 - 8000198: str r1, [r0] - 800019a: mov.w r1, #0x800 - 800019e: str r1, [r0] - 80001a0: mov.w r1, #0x2000000 - 80001a4: str r1, [r0] - 80001a6: mov.w r1, #0x8000000 - 80001aa: str r1, [r0] - 80001ac: b #-0x4 +cargo objdump --bin registers --release -- -d --no-show-raw-insn --print-imm-hex > release.txt +``` + +Then search for `main` in `release.txt` +``` +0800023e
    : + 800023e: push {r7, lr} + 8000240: mov r7, sp + 8000242: bl #0x2 + 8000246: trap + +08000248 : + 8000248: push {r7, lr} + 800024a: mov r7, sp + 800024c: bl #0x22 + 8000250: movw r0, #0x1018 + 8000254: mov.w r1, #0x200 + 8000258: movt r0, #0x4800 + 800025c: str r1, [r0] + 800025e: mov.w r1, #0x800 + 8000262: str r1, [r0] + 8000264: mov.w r1, #0x2000000 + 8000268: str r1, [r0] + 800026a: mov.w r1, #0x8000000 + 800026e: str r1, [r0] + 8000270: b #-0x4 ``` -The best part of all this is that I didn't have to write a single line of code to implement the -GPIOE API. All was automatically generated from a System View Description (SVD) file using the +The best part of all this is that nobody had to write a single line of code to implement the +GPIOE API. All the code was automatically generated from a System View Description (SVD) file using the [svd2rust] tool. This SVD file is actually an XML file that microcontroller vendors provide and that contains the register maps of their microcontrollers. The file contains the layout of register blocks, the base addresses, the read/write permissions of each register, the layout of the From f613e7aff60e008e130e029ea7c7c7b867f5a240 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Thu, 25 Feb 2021 11:43:06 -0800 Subject: [PATCH 150/313] Updates from eldruin first review Thanks --- src/07-registers/bad-address.md | 3 +-- src/07-registers/type-safe-manipulation.md | 4 ++-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/07-registers/bad-address.md b/src/07-registers/bad-address.md index d5c357b27..da57ed3d5 100644 --- a/src/07-registers/bad-address.md +++ b/src/07-registers/bad-address.md @@ -29,7 +29,6 @@ Invalid in the sense that there's no register at this address. Now, let's try it. ``` console - cargo run $ cargo run (..) Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/src/main.rs:9 @@ -39,7 +38,7 @@ Breakpoint 1, registers::__cortex_m_rt_main_trampoline () at src/07-registers/sr Continuing. Breakpoint 3, cortex_m_rt::HardFault_ (ef=0x20009fb0) - at /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs:560 + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs:560 560 loop { (gdb) diff --git a/src/07-registers/type-safe-manipulation.md b/src/07-registers/type-safe-manipulation.md index 0d2b33155..d14cf5a06 100644 --- a/src/07-registers/type-safe-manipulation.md +++ b/src/07-registers/type-safe-manipulation.md @@ -43,13 +43,13 @@ fn main() -> ! { // Turn on the North LED gpioe.bsrr.write(|w| w.bs9().set_bit()); - // Turn on the Eask LED + // Turn on the East LED gpioe.bsrr.write(|w| w.bs11().set_bit()); // Turn off the North LED gpioe.bsrr.write(|w| w.br9().set_bit()); - // Turn off the Eask LED + // Turn off the East LED gpioe.bsrr.write(|w| w.br11().set_bit()); loop {} From 33aa012001a4094670fd3f19c485e28fe282487a Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Fri, 26 Feb 2021 11:19:44 -0800 Subject: [PATCH 151/313] Fix broken ci build This is the solution @eldurin had suggested. --- src/07-registers/auxiliary/src/lib.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-registers/auxiliary/src/lib.rs b/src/07-registers/auxiliary/src/lib.rs index 9b5c35aba..bbc9e57e2 100644 --- a/src/07-registers/auxiliary/src/lib.rs +++ b/src/07-registers/auxiliary/src/lib.rs @@ -3,7 +3,7 @@ #![deny(warnings)] #![no_std] -extern crate panic_itm; // panic handler +use panic_itm as _; // panic handler pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; pub use cortex_m_rt::entry; From 53b0081472402bfbad6788863e28f31714d99cff Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Sun, 28 Feb 2021 15:09:34 -0800 Subject: [PATCH 152/313] Update-03-setting-up-a-dev-env Update `*.md` files so that copy-to-clipboard button in code blocks works so that commands can be copied and pasted into terminal windows. Some reorganization of the text for clarity. --- src/03-setup/README.md | 53 ++++++++++++++++++++++------ src/03-setup/linux.md | 66 +++++++++++++++++++++-------------- src/03-setup/macos.md | 16 +++++---- src/03-setup/verify.md | 76 +++++++++++++++++++++++++---------------- src/03-setup/windows.md | 14 ++++++-- 5 files changed, 151 insertions(+), 74 deletions(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 7b1b2202f..01cdf1289 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -38,7 +38,7 @@ should work but we have listed the version we have tested. - Rust 1.31 or a newer toolchain. -- [`itmdump`] v0.3.1 (`cargo install itm`) +- [`itmdump`] >=0.3.1 (`cargo install itm`). Tested versions: 0.3.1. - OpenOCD >=0.8. Tested versions: v0.9.0 and v0.10.0 @@ -84,37 +84,70 @@ rustc 1.31.0 (abe02cefd 2018-12-04) ### `itmdump` + ``` console -$ cargo install itm --vers 0.3.1 +cargo install itm +``` +Verify the version is >=0.3.1 +``` $ itmdump -V itmdump 0.3.1 ``` ### `cargo-binutils` +Install `llvm-tools-preview` + ``` console -$ rustup component add llvm-tools-preview +rustup component add llvm-tools-preview +``` + +Install `cargo-binutils` +``` +cargo install cargo-binutils +``` + +#### Verify tools are installed -$ cargo install cargo-binutils +Run the following commands at your terminal +``` console +cargo new test-size +``` +``` +cd test-size +``` +``` +cargo run +``` +``` +cargo size -- -version +``` +The results should be something like: +``` +~ $ cargo new test-size Created binary (application) `test-size` package +~ $ cd test-size +~/test-size (main) $ cargo run - Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `target\debug\test-size.exe` + Compiling test-size v0.1.0 (~/test-size) + Finished dev [unoptimized + debuginfo] target(s) in 0.26s + Running `target/debug/test-size` Hello, world! +~/test-size (main) $ cargo size -- -version - Finished dev [unoptimized + debuginfo] target(s) in 0.50s + Finished dev [unoptimized + debuginfo] target(s) in 0.00s LLVM (http://llvm.org/): - LLVM version 11.0.0-rust-1.49.0-stable + LLVM version 11.0.0-rust-1.50.0-stable Optimized build. - Default target: x86_64-pc-windows-msvc - Host CPU: skylake + Default target: x86_64-unknown-linux-gnu + Host CPU: znver2 ``` ### OS specific instructions diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 0c32c66d2..7985ccb7a 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -18,7 +18,7 @@ Here are the installation commands for a few Linux distributions. ``` console -$ sudo apt-get install \ +sudo apt-get install \ gdb-multiarch \ minicom \ openocd @@ -34,7 +34,7 @@ $ sudo apt-get install \ ``` console -$ sudo apt-get install \ +sudo apt-get install \ gdb-arm-none-eabi \ minicom \ openocd @@ -46,7 +46,7 @@ $ sudo apt-get install \ > Cortex-M programs ``` console -$ sudo dnf install \ +sudo dnf install \ arm-none-eabi-gdb \ minicom \ openocd @@ -58,7 +58,7 @@ $ sudo dnf install \ > Cortex-M programs ``` console -$ sudo pacman -S \ +sudo pacman -S \ arm-none-eabi-gdb \ minicom \ openocd @@ -75,15 +75,17 @@ download the "Linux 64-bit" file and put its `bin` directory on your path. Here's one way to do it: ``` console -$ mkdir -p ~/local && cd ~/local -$ tar xjf /path/to/downloaded/file/gcc-arm-none-eabi-7-2017-q4-major-linux.tar.bz2.tbz +mkdir -p ~/local && cd ~/local +``` +``` console +tar xjf /path/to/downloaded/file/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 ``` Then, use your editor of choice to append to your `PATH` in the appropriate shell init file (e.g. `~/.zshrc` or `~/.bashrc`): ``` -PATH=$PATH:$HOME/local/gcc-arm-none-eabi-7-2017-q4-major/bin +PATH=$PATH:$HOME/local/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux/bin ``` ## Optional packages @@ -91,7 +93,7 @@ PATH=$PATH:$HOME/local/gcc-arm-none-eabi-7-2017-q4-major/bin ### Ubuntu / Debian ``` console -$ sudo apt-get install \ +sudo apt-get install \ bluez \ rfkill ``` @@ -99,7 +101,7 @@ $ sudo apt-get install \ ### Fedora ``` console -$ sudo dnf install \ +sudo dnf install \ bluez \ rfkill ``` @@ -107,7 +109,7 @@ $ sudo dnf install \ ### Arch Linux ``` console -$ sudo pacman -S \ +sudo pacman -S \ bluez \ bluez-utils \ rfkill @@ -118,35 +120,49 @@ $ sudo pacman -S \ These rules let you use USB devices like the F3 and the Serial module without root privilege, i.e. `sudo`. -Create these two files in `/etc/udev/rules.d` with the contents shown below. +Create `99-openocd.rules` in `/etc/udev/rules.d` using the `idVendor` and `idProduct` +from the `lsusb` output. +For example, connect the STM32F3DISCOVERY to your computer using a USB cable. +Be sure to connect the cable to the "USB ST-LINK" port, the USB port in the +center of the edge of the board. + +Execute `lsusb`: ``` console -$ cat /etc/udev/rules.d/99-ftdi.rules +lsusb | grep ST-LINK +``` +It should result in something like: ``` +$ lsusb | grep ST-LINK +Bus 003 Device 003: ID 0483:374b STMicroelectronics ST-LINK/V2.1 +``` +So the `idProduct` is `0483` and `idVendor` is `374b`. +### Create `/etc/udev/rules.d/99-openocd.rules`: +``` console +sudo vi /etc/udev/rules.d/99-openocd.rules +``` +With the contents: ``` text -# FT232 - USB <-> Serial Converter -ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0666" +# STM32F3DISCOVERY - ST-LINK/V2.1 +ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="0666" ``` +#### For older devices with OPTIONAL USB <-> FT232 based Serial Module -If you have a different USB <-> Serial converter, get its vendor and product ids from `lsusb` output. - +Create `/etc/udev/rules.d/99-ftdi.rules`: ``` console -$ cat /etc/udev/rules.d/99-openocd.rules +sudo vi /etc/udev/rules.d/99-openocd.rules ``` - +With the contents: ``` text -# STM32F3DISCOVERY rev A/B - ST-LINK/V2 -ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE:="0666" - -# STM32F3DISCOVERY rev C+ - ST-LINK/V2-1 -ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", MODE:="0666" +# FT232 - USB <-> Serial Converter +ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0666" ``` -Then reload the udev rules with: +### Reload the udev rules with: ``` console -$ sudo udevadm control --reload-rules +sudo udevadm control --reload-rules ``` If you had any board plugged to your computer, unplug them and then plug them in again. diff --git a/src/03-setup/macos.md b/src/03-setup/macos.md index 0d0c67f3a..62672902c 100644 --- a/src/03-setup/macos.md +++ b/src/03-setup/macos.md @@ -4,13 +4,17 @@ All the tools can be install using [Homebrew]: [Homebrew]: http://brew.sh/ +Install ArmMbed ``` console -$ # Arm GCC toolchain -$ brew tap ArmMbed/homebrew-formulae -$ brew install arm-none-eabi-gcc - -$ # Minicom and OpenOCD -$ brew install minicom openocd +brew tap ArmMbed/homebrew-formulae +``` +Install the ARM GCC toolchain +``` console +brew install arm-none-eabi-gcc +``` +Install minicom and OpenOCD +``` console +brew install minicom openocd ``` That's all! Go to the [next section]. diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 59996e065..b69d48999 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -6,24 +6,27 @@ Let's verify that all the tools were installed correctly. ### Verify permissions -Connect the F3 to your computer using an USB cable. Be sure to connect the cable to the "USB ST-LINK" +Connect the STM32F3DISCOVERY to your computer using an USB cable. Be sure to connect the cable to the "USB ST-LINK" port, the USB port in the center of the edge of the board. -The F3 should now appear as a USB device (file) in `/dev/bus/usb`. Let's find out how it got +The STM32F3DISCOVERY should now appear as a USB device (file) in `/dev/bus/usb`. Let's find out how it got enumerated: +``` console +lsusb | grep -i stm +``` +This should result in: ``` console $ lsusb | grep -i stm Bus 003 Device 004: ID 0483:374b STMicroelectronics ST-LINK/V2.1 $ # ^^^ ^^^ ``` -In my case, the F3 got connected to the bus #3 and got enumerated as the device #4. This means the -file `/dev/bus/usb/003/004` *is* the F3. Let's check its permissions: - +In my case, the STM32F3DISCOVERY got connected to the bus #3 and got enumerated as the device #4. This means the +file `/dev/bus/usb/003/004` *is* the STM32F3DISCOVERY. Let's check its permissions: ``` console -$ ls -l /dev/bus/usb/003/004 -crw-rw-rw- 1 root root 189, 20 Sep 13 00:00 /dev/bus/usb/003/004 +$ ls -la /dev/bus/usb/003/004 +crw-rw-rw-+ 1 root root 189, 259 Feb 28 13:32 /dev/bus/usb/003/00 ``` The permissions should be `crw-rw-rw-`. If it's not ... then check your [udev @@ -32,12 +35,12 @@ rules] and try re-loading them with: [udev rules]: linux.md#udev-rules ``` console -$ sudo udevadm control --reload-rules +sudo udevadm control --reload-rules ``` -Now let's repeat the procedure for the Serial module. +#### For older devices with OPTIONAL USB <-> FT232 based Serial Module -Unplug the F3 and plug the Serial module. Now, figure out what's its associated file: +Unplug the STM32F3DISCOVERY and plug the Serial module. Now, figure out what's its associated file: ``` console $ lsusb | grep -i ft232 @@ -53,36 +56,51 @@ crw-rw-rw- 1 root root 189, 21 Sep 13 00:00 /dev/bus/usb/003/005 As before, the permissions should be `crw-rw-rw-`. -## All +## Verify OpenOCD connection -### First OpenOCD connection - -First, connect the F3 to your computer using an USB cable. Connect the cable to the USB port in the +Connect the STM32F3DISCOVERY using the USB cable to the USB port in the center of edge of the board, the one that's labeled "USB ST-LINK". Two *red* LEDs should turn on right after connecting the USB cable to the board. -Next, run this command: +> **IMPORTANT** There is more than one hardware revision of the STM32F3DISCOVERY board. For older +> revisions, you'll need to change the "interface" argument to `-f interface/stlink-v2.cfg` (note: +> no `-1` at the end). Alternatively, older revisions can use `-f board/stm32f3discovery.cfg` +> instead of `-f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg`. + +### *Nix + +> **FYI:** The `interface` directory is typically located in `/usr/share/openocd/scripts/`, +> which is the default location OpenOCD expects these files. If you've installed them +> somewhere else use the `-s /path/to/scripts/` option to specify your install directory. ``` console -$ # *nix -$ openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg +openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg +``` -$ # Windows -$ # NOTE cygwin users have reported problems with the -s flag. If you run into -$ # that you can call openocd from the `C:\OpenOCD\share\scripts` directory -$ openocd -s C:\OpenOCD\share\scripts -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg +### Windows + +Below the references to `C:\OpenOCD` is the directory where OpenOCD is installed. + +``` console +openocd -s C:\OpenOCD\share\scripts -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg ``` -> **NOTE** Windows users: `C:\OpenOCD` is the directory where you installed OpenOCD to. +> **NOTE** cygwin users have reported problems with the -s flag. If you run into +> that problem you can add `C:\OpenOCD\share\scripts\` directory to the parameters. -> **IMPORTANT** There is more than one hardware revision of the STM32F3DISCOVERY board. For older -> revisions, you'll need to change the "interface" argument to `-f interface/stlink-v2.cfg` (note: -> no `-1` at the end). Alternatively, older revisions can use `-f board/stm32f3discovery.cfg` -> instead of `-f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg`. +cygwin users: +``` console +openocd -f C:\OpenOCD\share\scripts\interface\stlink-v2-1.cfg -f C:\OpenOCD\share\scripts\target\stm32f3x.cfg +``` -You should see output like this: +### All +OpenOCD is a service which forwards debug information from the ITM channel +to a file, `itm.txt`, as such it runs forever and does **not** return to the +terminal prompt. + +The initial output of OpenOCD is something like: ``` console Open On-Chip Debugger 0.10.0 Licensed under GNU GPL v2 @@ -106,9 +124,7 @@ Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints [general troubleshooting]: ../appendix/1-general-troubleshooting/index.html -`openocd` will block the terminal. That's fine. - Also, one of the red LEDs, the one closest to the USB port, should start oscillating between red light and green light. -That's it! It works. You can now close/kill `openocd`. +That's it! It works. You can now use `Ctrl-c` to stop OpenOCD or close/kill the terminal. diff --git a/src/03-setup/windows.md b/src/03-setup/windows.md index 4760b714c..df6ad9b19 100644 --- a/src/03-setup/windows.md +++ b/src/03-setup/windows.md @@ -6,9 +6,14 @@ ARM provides `.exe` installers for Windows. Grab one from [here][gcc], and follo Just before the installation process finishes tick/select the "Add path to environment variable" option. Then verify that the tools are in your `%PATH%`: +Verify gcc is installed: ``` console -$ arm-none-eabi-gcc -v +arm-none-eabi-gcc -v +``` +The results should be something like: +``` (..) +$ arm-none-eabi-gcc -v gcc version 5.4.1 20160919 (release) (..) ``` @@ -24,8 +29,11 @@ before). [openocd]: https://github.com/xpack-dev-tools/openocd-xpack/releases -Verify that OpenOCD is in yout `%PATH%` with: - +Verify OpenOCD is installed and in your `%PATH%` with: +``` console +openocd -v +``` +The results should be something like: ``` console $ openocd -v Open On-Chip Debugger 0.10.0 From 243db155cb390d0a753a3a771370453199fa3eed Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Mon, 1 Mar 2021 14:35:53 -0800 Subject: [PATCH 153/313] Update 05 led-roulette Cargo.toml to use stm32f3-discovery v0.6.0 crate. Update `.md` files with additional information and to make console commands amenable to copy/paste operations. --- src/05-led-roulette/auxiliary/Cargo.toml | 2 +- src/05-led-roulette/build-it.md | 78 ++++++++++--- src/05-led-roulette/debug-it.md | 79 ++++++++----- src/05-led-roulette/flash-it.md | 110 +++++++++++------- src/05-led-roulette/the-challenge.md | 62 ++++++---- .../the-led-and-delay-abstractions.md | 45 ++++--- 6 files changed, 251 insertions(+), 125 deletions(-) diff --git a/src/05-led-roulette/auxiliary/Cargo.toml b/src/05-led-roulette/auxiliary/Cargo.toml index 1bbf9d3ca..83f4f31a8 100644 --- a/src/05-led-roulette/auxiliary/Cargo.toml +++ b/src/05-led-roulette/auxiliary/Cargo.toml @@ -11,6 +11,6 @@ version = "0.2.0" [dependencies] cortex-m = "0.6.4" cortex-m-rt = "0.6.13" -stm32f3-discovery = "0.5.0" +stm32f3-discovery = "0.6.0" panic-halt = "0.2.0" panic-itm = "0.4.2" diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index b2cb659ed..2a04e9c25 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -19,31 +19,74 @@ download pre-compiled version of the standard library (a reduced version of it a target. That's done using `rustup`: ``` console -$ rustup target add thumbv7em-none-eabihf +rustup target add thumbv7em-none-eabihf ``` You only need to do the above step once; `rustup` will re-install a new standard library (`rust-std` component) whenever you update your toolchain. -With the `rust-std` component in place you can now cross compile the program using Cargo: +With the `rust-std` component in place you can now cross compile the program using Cargo. +> Note: make sure you are in the `src/05-led-roulette` directory +> and run `cargo build` command below to create the executable: +``` console +cargo build --target thumbv7em-none-eabihf +``` +On your console you should see something like: ``` console -$ # make sure you are in the `src/05-led-roulette` directory - $ cargo build --target thumbv7em-none-eabihf Compiling typenum v1.12.0 Compiling semver-parser v0.7.0 Compiling version_check v0.9.2 - Compiling cortex-m v0.6.4 + Compiling nb v1.0.0 + Compiling void v1.0.2 + Compiling autocfg v1.0.1 + Compiling cortex-m v0.7.1 + Compiling proc-macro2 v1.0.24 + Compiling vcell v0.1.3 + Compiling unicode-xid v0.2.1 + Compiling stable_deref_trait v1.2.0 + Compiling syn v1.0.60 + Compiling bitfield v0.13.2 + Compiling cortex-m v0.6.7 Compiling cortex-m-rt v0.6.13 - Compiling stm32f3-discovery v0.5.0 - ... + Compiling r0 v0.2.2 + Compiling stm32-usbd v0.5.1 + Compiling stm32f3 v0.12.1 + Compiling usb-device v0.2.7 + Compiling cfg-if v1.0.0 + Compiling paste v1.0.4 + Compiling stm32f3-discovery v0.6.0 + Compiling panic-halt v0.2.0 + Compiling embedded-dma v0.1.2 + Compiling volatile-register v0.2.0 + Compiling nb v0.1.3 + Compiling embedded-hal v0.2.4 + Compiling semver v0.9.0 + Compiling generic-array v0.14.4 + Compiling switch-hal v0.3.2 + Compiling num-traits v0.2.14 + Compiling num-integer v0.1.44 + Compiling rustc_version v0.2.3 + Compiling bare-metal v0.2.5 + Compiling cast v0.2.3 + Compiling quote v1.0.9 + Compiling generic-array v0.13.2 + Compiling generic-array v0.12.3 + Compiling generic-array v0.11.1 Compiling panic-itm v0.4.2 + Compiling lsm303dlhc v0.2.0 + Compiling as-slice v0.1.4 + Compiling micromath v1.1.0 + Compiling accelerometer v0.12.0 + Compiling chrono v0.4.19 + Compiling aligned v0.3.4 + Compiling rtcc v0.2.0 Compiling cortex-m-rt-macros v0.1.8 - Compiling stm32f3xx-hal v0.5.0 - Compiling aux5 v0.2.0 (file://$PWD/auxiliary) - Compiling led-roulette v0.2.0 (file://$PWD/) - Finished dev [unoptimized + debuginfo] target(s) in 19.45s + Compiling stm32f3xx-hal v0.6.1 + Compiling aux5 v0.2.0 (~/embedded-discovery/src/05-led-roulette/auxiliary) + Compiling led-roulette v0.2.0 (~/embedded-discovery/src/05-led-roulette) + Finished dev [unoptimized + debuginfo] target(s) in 17.91s ``` > **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml file and build command above will ensure optimizations are off. @@ -51,9 +94,14 @@ $ cargo build --target thumbv7em-none-eabihf OK, now we have produced an executable. This executable won't blink any leds, it's just a simplified version that we will build upon later in the chapter. As a sanity check, let's verify that the produced executable is actually an ARM binary: ``` console -$ # equivalent to `readelf -h target/thumbv7em-none-eabihf/debug/led-roulette` -$ cargo readobj --target thumbv7em-none-eabihf --bin led-roulette -- -file-headers - Finished dev [unoptimized + debuginfo] target(s) in 0.03s +cargo readobj --target thumbv7em-none-eabihf --bin led-roulette -- --file-header +``` +The `cargo readobj ..` above is equivalent to +`readelf -h target/thumbv7em-none-eabihf/debug/led-roulette` +and should produce something similar to: +``` console +$ cargo readobj --target thumbv7em-none-eabihf --bin led-roulette -- --file-header + Finished dev [unoptimized + debuginfo] target(s) in 0.02s ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 Class: ELF32 @@ -66,7 +114,7 @@ ELF Header: Version: 0x1 Entry point address: 0x8000195 Start of program headers: 52 (bytes into file) - Start of section headers: 797192 (bytes into file) + Start of section headers: 818328 (bytes into file) Flags: 0x5000400 Size of this header: 52 (bytes) Size of program headers: 32 (bytes) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 308410006..7dbe750c9 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -8,13 +8,32 @@ processor / CPU will execute first. The starter project I've provided to you has some extra code that runs *before* the `main` function. At this time, we are not interested in that "pre-main" part so let's skip right to the beginning of -the `main` function. We'll do that using a breakpoint: - +the `main` function. We'll do that using a breakpoint. Issue `break main` at the `(gdb)` prompt: + +> **Note** for these gdb commands I generally won't provide a copyable code block +> as these are short and it's faster just to type them yourself. In addition most +> can be shortend. For instance `b` for `break` or `s` for `step`, see [gdb quick ref] +> for more info or use Google to find your others. In addition, you can use tab completion +> by typing the first few letters than one tab to complete or two tabs to +> see all possible commands. +> +>> Finally, `help xxxx` where xxxx is the comand will provide short names and other info: +>> ``` +>> (gdb) help s +>> step, s +>> Step program until it reaches a different source line. +>> Usage: step [N] +>> Argument N means step N times (or till program stops for another reason). +>> ``` + +[gdb quick ref]: https://users.ece.utexas.edu/~adnan/gdb-refcard.pdf ``` (gdb) break main Breakpoint 1 at 0x80001f0: file src/05-led-roulette/src/main.rs, line 7. Note: automatically using hardware breakpoints for read-only addresses. - +``` +Next issue a `continue` command: +``` (gdb) continue Continuing. @@ -57,9 +76,9 @@ led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:10 Next we'll issue a second `step` which executes line 10 and stops at line `11 _y = x;`, again line 11 is **not** executed. -> **Note** we could have pressed enter at the second ` ` prompt and -> it would have reissued the previous statement, `step`, but for clarity in this tutorial -> we'll generally retype the command. +> **Note** we could have pressed enter at the second `(gdb) ` prompt and +> it would have reissued the previous statement, `step`, but for clarity +> in this tutorial we'll generally retype the command. ``` (gdb) step @@ -71,16 +90,17 @@ along with its line number. As you'll see later in the TUI mode you'll not the s in the command area. We are now "on" the `_y = x` statement; that statement hasn't been executed yet. This means that `x` -is initialized but `_y` is not. Let's inspect those stack/local variables using the `print` command: +is initialized but `_y` is not. Let's inspect those stack/local variables using the `print` +command, `p` for short: ``` (gdb) print x $1 = 42 -(gdb) print &x +(gdb) p &x $2 = (*mut i32) 0x20009fe0 -(gdb) print _y +(gdb) p _y $3 = 536870912 -(gdb) print &_y +(gdb) p &_y $4 = (*mut i32) 0x20009fe4 ``` @@ -154,7 +174,7 @@ See the fat arrow `=>` on the left side? It shows the instruction the processor Also, as mentioned above if you were to execute the `step` command GDB gets stuck because it is executing a branch instruction to itself and never gets past it. So you need to use -`Ctrl+C` to regain control. An alternative is to use the `stepi` GDB command, which steps +`Ctrl+C` to regain control. An alternative is to use the `stepi`(`si`) GDB command, which steps one asm instruction, and GDB will print the address **and** line number of the statement the processor will execute next and it won't get stuck. @@ -162,7 +182,7 @@ the processor will execute next and it won't get stuck. (gdb) stepi 0x08000194 14 loop {} -(gdb) stepi +(gdb) si 0x08000194 14 loop {} ``` @@ -233,35 +253,40 @@ mode enter one of the following commands in the GDB shell: > **NOTE** Apologies to Windows users, the GDB shipped with the GNU ARM Embedded Toolchain > may not support this TUI mode `:-(`. -Below is an example of setting up for a layout split by executing the follow commands: +Below is an example of setting up for a `layout split` by executing the follow commands: ``` console $ cargo run --target thumbv7em-none-eabihf - target remote :3333 - load - set print asm-demangle on - set style sources off - break main - continue - layout split +(gdb) target remote :3333 +(gdb) load +(gdb) set print asm-demangle on +(gdb) set style sources off +(gdb) break main +(gdb) continue ``` -And below the result after `layout split` command is executed: +Here is a command line with the above commands as `-ex` parameters to save you some typing: + +``` +cargo run --target thumbv7em-none-eabihf -- -q -ex 'target remote :3333' -ex 'load' -ex 'set print asm-demangle on' -ex 'set style sources off' -ex 'b main' -ex 'c' target/thumbv7em-none-eabihf/debug/led-roulette +``` + +And below is the result: ![GDB session layout split](../assets/gdb-layout-split-1.png "GDB TUI layout split 1") -Now we'll scroll the top source window down so we see the entire file and execute `step`: +Now we'll scroll the top source window down so we see the entire file and execute `layout split` and then `step`: ![GDB session layout split](../assets/gdb-layout-split-2.png "GDB TUI layout split 2") Then we'll execute a few `info locals` and `step`'s: ``` console - info locals - step - info locals - step - info locals +(gdb) info locals +(gdb) step +(gdb) info locals +(gdb) step +(gdb) info locals ``` ![GDB session layout split](../assets/gdb-layout-split-3.png "GDB TUI layout split 3") diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index b956175c5..e5da85247 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -11,19 +11,18 @@ Onto the actual flashing. First thing we need is to do is launch OpenOCD. We did previous section but this time we'll run the command inside a temporary directory (`/tmp` on \*nix; `%TEMP%` on Windows). -Make sure the F3 is connected to your computer and run the following commands on a new terminal. +Make sure the F3 is connected to your computer and run the following commands on a **new terminal**. +## For *nix & MacOS: ``` console -$ # *nix -$ cd /tmp - -$ # Windows -$ cd %TEMP% +cd /tmp +openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg +``` -$ # Windows: remember that you need an extra `-s %PATH_TO_OPENOCD%\share\scripts` -$ openocd \ - -f interface/stlink-v2-1.cfg \ - -f target/stm32f3x.cfg +## For Windows **Note**: substitute `C:` for the actual OpenOCD path: +``` +cd %TEMP% +openocd -s C:\share\scripts -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg ``` > **NOTE** Older revisions of the board need to pass slightly different arguments to @@ -33,9 +32,9 @@ $ openocd \ The program will block; leave that terminal open. -Now it's a good time to explain what this command is actually doing. +Now it's a good time to explain what the `openocd` command is actually doing. -I mentioned that the F3 actually has two microcontrollers. One of them is used as a +I mentioned that the STM32F3DISCOVERY (aka F3) actually has two microcontrollers. One of them is used as a programmer/debugger. The part of the board that's used as a programmer is called ST-LINK (that's what STMicroelectronics decided to call it). This ST-LINK is connected to the target microcontroller using a Serial Wire Debug (SWD) interface (this interface is an ARM standard so you'll run into it @@ -56,12 +55,12 @@ device (`interface/stlink-v2-1.cfg`) and to expect a STM32F3XX microcontroller (`target/stm32f3x.cfg`) to be connected to the ST-LINK. The OpenOCD output looks like this: - ``` console -Open On-Chip Debugger 0.9.0 (2016-04-27-23:18) +$ openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg +Open On-Chip Debugger 0.10.0 Licensed under GNU GPL v2 For bug reports, read - http://openocd.org/doc/doxygen/bugs.html + http://openocd.org/doc/doxygen/bugs.html Info : auto-selecting first available session transport "hla_swd". To override use 'transport select '. adapter speed: 1000 kHz adapter_nsrst_delay: 100 @@ -70,47 +69,65 @@ none separate Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : clock speed 950 kHz -Info : STLINK v2 JTAG v27 API v2 SWIM v15 VID 0x0483 PID 0x374B +Info : STLINK v2 JTAG v37 API v2 SWIM v26 VID 0x0483 PID 0x374B Info : using stlink api v2 -Info : Target voltage: 2.919073 +Info : Target voltage: 2.888183 Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints ``` The "6 breakpoints, 4 watchpoints" part indicates the debugging features the processor has available. -Leave that `openocd` process running, and open a new terminal. Make sure that you are inside the project's `src/05-led-roulette/` directory. +Leave that `openocd` process running, and in the previous terminal or a new terminal +**make sure that you are inside the project's `src/05-led-roulette/` directory**. I mentioned that OpenOCD provides a GDB server so let's connect to that right now: +## Execute GDB + +First we need to determine what version of GDB you have that is capable of debugging ARM binaries. + +This could be any one of the commands below, try each one: +``` console +arm-none-eabi-gdb -q -ex "target remote :3333" target/thumbv7em-none-eabihf/debug/led-roulette +``` +``` console +gdb-multiarch -q -ex "target remote :3333" target/thumbv7em-none-eabihf/debug/led-roulette +``` ``` console -$ -q target/thumbv7em-none-eabihf/debug/led-roulette +gdb -q -ex "target remote :3333" target/thumbv7em-none-eabihf/debug/led-roulette +``` +### **Failing case** + +You can detect a failing case if there is a `warning` or `error` after the `Remote debugging using :3333` line: +``` +$ gdb -q -ex "target remote :3333" target/thumbv7em-none-eabihf/debug/led-roulette Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette... +Remote debugging using :3333 +warning: Architecture rejected target-supplied description +Truncated register 16 in remote 'g' packet (gdb) ``` - -**NOTE**: `` represents a GDB program capable of debugging ARM binaries. -This could be `arm-none-eabi-gdb`, `gdb-multiarch` or `gdb` depending on your -system -- you may have to try all three. - -This only opens a GDB shell. To actually connect to the OpenOCD GDB server, use the following -command within the GDB shell: - +### **Successful case** +Successful case 1: +``` +$ arm-none-eabi-gdb -q -ex "target remote :3333" target/thumbv7em-none-eabihf/debug/led-roulette +Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette... +Remote debugging using :3333 +cortex_m_rt::Reset () at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs:497 +497 pub unsafe extern "C" fn Reset() -> ! { +(gdb) ``` -(gdb) target remote :3333 +Successful case 2: +``` +~/embedded-discovery/src/05-led-roulette (master) +$ arm-none-eabi-gdb -q -ex "target remote :3333" target/thumbv7em-none-eabihf/debug/led-roulette +Reading symbols from target/thumbv7em-none-eabihf/debug/led-roulette... Remote debugging using :3333 0x00000000 in ?? () +(gdb) ``` - -**NOTE**: If you are getting errors like `undefined debug reason 7 - target needs reset`, you can try running `monitor reset halt` as described [here](https://stackoverflow.com/questions/38994596/reason-7-target-needs-reset-unreliable-debugging-setup). - -**NOTE**: If the debugger is still not connecting to the OpenOCD server, then you may need to try using `arm-none-eabi-gdb` instead of the `gdb` command, as described above. - -By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to -that port. - -After entering this command, you'll see new output in the OpenOCD terminal: - +In both failing and successful cases you should see new output in the **OpenOCD terminal**, something like the following: ``` diff Info : stm32f3x.cpu: hardware has 6 breakpoints, 4 watchpoints +Info : accepting 'gdb' connection on tcp/3333 @@ -118,18 +135,25 @@ After entering this command, you'll see new output in the OpenOCD terminal: +Info : flash size = 256kbytes ``` +**NOTE**: If you are getting an error like `undefined debug reason 7 - target needs reset`, you can try running `monitor reset halt` as described [here](https://stackoverflow.com/questions/38994596/reason-7-target-needs-reset-unreliable-debugging-setup). + +By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to +that port. + +## Flash the device + Almost there. To flash the device, we'll use the `load` command inside the GDB shell: ``` (gdb) load Loading section .vector_table, size 0x194 lma 0x8000000 -Loading section .text, size 0x21cc lma 0x8000194 -Loading section .rodata, size 0x594 lma 0x8002360 -Start address 0x08000194, load size 10484 -Transfer rate: 16 KB/sec, 3494 bytes/write. +Loading section .text, size 0x20ec lma 0x8000194 +Loading section .rodata, size 0x514 lma 0x8002280 +Start address 0x08000194, load size 10132 +Transfer rate: 17 KB/sec, 3377 bytes/write. ``` -And that's it. You'll also see new output in the OpenOCD terminal. +You'll also see new output in the OpenOCD terminal, something like: ``` diff Info : flash size = 256kbytes diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index d31057dce..0cd0ae431 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -21,57 +21,77 @@ single period. This pattern will repeat itself every 800 ms. The Y axis labels e cardinal point: North, East, etc. As part of the challenge you'll have to figure out how each element in the `Leds` array maps to these cardinal points (hint: `cargo doc --open` `;-)`). -Before you attempt this challenge, let me give you one last tip. Our GDB sessions always involve +Before you attempt this challenge, let me give you one additonal tip. Our GDB sessions always involve entering the same commands at the beginning. We can use a `.gdb` file to execute some commands right after GDB is started. This way you can save yourself the effort of having to enter them manually on each GDB session. -Place this `openocd.gdb` file in the root of the Cargo project, right next to the `Cargo.toml`: +Using an editor create `openocd.gdb` in the root of the Cargo project, right next to the `Cargo.toml`: ``` console -$ cat openocd.gdb +vi openocd.gdb ``` +And add the following text: + ``` text target remote :3333 load break main continue +step + ``` -Then modify the second line of the `.cargo/config` file: +Next modify the `.cargo/config` file to execute openocd.gdb and we'll +also add a `[build]` section with `thumbv7em-none-eabihf` so we don't +have to specify the `--target` when using `cargo build` or `cargo run`: ``` console -$ cat .cargo/config +vi .cargo/config ``` +Replacing the contents with the text below. This adds `-x openocd.gdb` to +the `runner =` line and appends `[build]` and `target = "thumbv7em-none-eabihf` lines: ``` toml [target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" # <- +runner = "arm-none-eabi-gdb -q -x openocd.gdb" rustflags = [ "-C", "link-arg=-Tlink.x", ] + +[build] +target = "thumbv7em-none-eabihf" ``` -With that in place, you should now be able to start a `gdb` session that will automatically flash -the program and jump to the beginning of `main`: +With that in place, you can now use a simple `cargo run` command which will build +the ARM version of the code and run the `gdb` session. The `gdb` session will +automatically flash the program and jump to the beginning of `main` as it `step`'s +through the entry trampoline: + +``` console +cargo run +``` ``` console -$ cargo run --target thumbv7em-none-eabihf +~/embedded-discovery/src/05-led-roulette (Update-05-led-roulette-WIP) +$ cargo run Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `arm-none-eabi-gdb -q -x openocd.gdb ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... -led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:8 -8 #[entry] + Running `arm-none-eabi-gdb -q -x openocd.gdb ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... +led_roulette::__cortex_m_rt_main_trampoline () at ~/embedded-discovery/src/05-led-roulette/src/main.rs:7 +7 #[entry] Loading section .vector_table, size 0x194 lma 0x8000000 -Loading section .text, size 0x5258 lma 0x8000194 -Loading section .rodata, size 0xbd8 lma 0x80053ec -Start address 0x08000194, load size 24516 -Transfer rate: 21 KB/sec, 6129 bytes/write. -Breakpoint 1 at 0x8000208: file src/05-led-roulette/src/main.rs, line 8. +Loading section .text, size 0x52c0 lma 0x8000194 +Loading section .rodata, size 0xb50 lma 0x8005454 +Start address 0x08000194, load size 24484 +Transfer rate: 21 KB/sec, 6121 bytes/write. +Breakpoint 1 at 0x8000202: file ~/embedded-discovery/src/05-led-roulette/src/main.rs, line 7. Note: automatically using hardware breakpoints for read-only addresses. -Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:8 -8 #[entry] -(gdb) +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () + at ~/embedded-discovery/src/05-led-roulette/src/main.rs:7 +7 #[entry] +led_roulette::__cortex_m_rt_main () at ~/embedded-discovery/src/05-led-roulette/src/main.rs:9 +9 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); ``` diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index 34adee50b..98d0c1761 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -40,46 +40,55 @@ fn main() -> ! { Now build it: ``` console -$ cargo build --target thumbv7em-none-eabihf +cargo build --target thumbv7em-none-eabihf ``` > **NOTE** It's possible to forget to rebuild the program *before* starting a GDB session; this -> omission can lead to very confusing debug sessions. To avoid this problem you can call `cargo run` -> instead of `cargo build`; `cargo run` will build *and* start a debug session ensuring you never -> forget to recompile your program. +> omission can lead to very confusing debug sessions. To avoid this problem you can call just `cargo run` +> instead of `cargo build`; `cargo run`. The `cargo run` command will build *and* start a debug +> session ensuring you never forget to recompile your program. Now, we'll repeat the flashing procedure that we did in the previous section: +``` console +cargo run --target thumbv7em-none-eabihf +``` + +Which results in something like: ``` console $ cargo run --target thumbv7em-none-eabihf Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `arm-none-eabi-gdb -q ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + Running `arm-none-eabi-gdb -q ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + (gdb) target remote :3333 Remote debugging using :3333 -led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 +led_roulette::__cortex_m_rt_main_trampoline () at ~/embedded-discovery/src/05-led-roulette/src/main.rs:7 7 #[entry] (gdb) load Loading section .vector_table, size 0x194 lma 0x8000000 -Loading section .text, size 0x51f0 lma 0x8000194 -Loading section .rodata, size 0xbd0 lma 0x8005384 -Start address 0x08000194, load size 24404 -Transfer rate: 21 KB/sec, 6101 bytes/write. +Loading section .text, size 0x52c0 lma 0x8000194 +Loading section .rodata, size 0xb50 lma 0x8005454 +Start address 0x08000194, load size 24484 +Transfer rate: 21 KB/sec, 6121 bytes/write. (gdb) break main -Breakpoint 1 at 0x8000202: file src/05-led-roulette/src/main.rs, line 7. +Breakpoint 1 at 0x8000202: file ~/embedded-discovery/src/05-led-roulette/src/main.rs, line 7. Note: automatically using hardware breakpoints for read-only addresses. (gdb) continue Continuing. -Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:7 +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () + at ~/embedded-discovery/src/05-led-roulette/src/main.rs:7 7 #[entry] (gdb) step -led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:9 +led_roulette::__cortex_m_rt_main () at ~/embedded-discovery/src/05-led-roulette/src/main.rs:9 9 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); + +(gdb) ``` OK. Let's step through the code. This time, we'll use the `next` command instead of `step`. The @@ -398,10 +407,10 @@ the led will now be on for 2 seconds then off for 2 seconds. ``` console $ cargo run --target thumbv7em-none-eabihf - Compiling led-roulette v0.2.0 (~/prgs/rust/tutorial/embedded-discovery/src/05-led-roulette) + Compiling led-roulette v0.2.0 (~/embedded-discovery/src/05-led-roulette) Finished dev [unoptimized + debuginfo] target(s) in 0.18s - Running `arm-none-eabi-gdb -q ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` -Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + Running `arm-none-eabi-gdb -q ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... (gdb) target remote :3333 Remote debugging using :3333 @@ -555,7 +564,7 @@ Program received signal SIGINT, Interrupt. 1046 pub unsafe fn read_volatile(src: *const T) -> T { (gdb) q -Detaching from program: ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target +Detaching from program: ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target Ending remote debugging. [Inferior 1 (Remote target) detached] ``` From bf1049e3557eaa087b246b320f91add29516f9e0 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Tue, 2 Mar 2021 08:51:02 -0800 Subject: [PATCH 154/313] Use nano as the editor As suggested by reviewers @eldruin and @therealprof, txs! --- src/05-led-roulette/the-challenge.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 0cd0ae431..87f97406d 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -29,7 +29,7 @@ manually on each GDB session. Using an editor create `openocd.gdb` in the root of the Cargo project, right next to the `Cargo.toml`: ``` console -vi openocd.gdb +nano openocd.gdb ``` And add the following text: @@ -48,7 +48,7 @@ also add a `[build]` section with `thumbv7em-none-eabihf` so we don't have to specify the `--target` when using `cargo build` or `cargo run`: ``` console -vi .cargo/config +nano .cargo/config ``` Replacing the contents with the text below. This adds `-x openocd.gdb` to From ce4cf5d98c818ec9c5d70050e3fd062eb220afb0 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Tue, 2 Mar 2021 08:55:52 -0800 Subject: [PATCH 155/313] Add Update .cargo/config sub-section Also, added a note that .cargo/config may need to be modified in every chapter. --- src/05-led-roulette/README.md | 3 +- src/05-led-roulette/flash-it.md | 72 ++++++++++++++++++++++++++++++++- 2 files changed, 73 insertions(+), 2 deletions(-) diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 1f5ccdd56..132b42185 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -44,6 +44,7 @@ point function must have signature `fn() -> !`; this type indicates that the fun If you are a careful observer, you'll also notice there is a `.cargo` directory in the Cargo project as well. This directory contains a Cargo configuration file (`.cargo/config`) that tweaks the linking process to tailor the memory layout of the program to the requirements of the target device. -This modified linking process is a requirement of the `cortex-m-rt` crate. +This modified linking process is a requirement of the `cortex-m-rt` crate. You'll also be making +further tweaks to `.cargo/config` in future sections to make building and debugging easier. Alright, let's start by building this program. diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index e5da85247..9e99f64a1 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -140,10 +140,80 @@ In both failing and successful cases you should see new output in the **OpenOCD By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to that port. +## Update .cargo/config + +Now that you've successfully determined which debugger you need to use +we need to change `.cargo/config` so that `cargo run` command can succeed. + +Get back to the terminal prompt and looking at `.cargo/config`: +``` console +$ cat .cargo/config +[target.thumbv7em-none-eabihf] +runner = "arm-none-eabi-gdb -q" +rustflags = [ + "-C", "link-arg=-Tlink.x", +] + +``` +Use your favorite editor to edit `.cargo/config` so that the +runner line contains the name of that debugger: +``` console +nano .cargo/config +``` +For example, if your debugger was `gdb-multiarch` then after +editing you should have: +``` console +$ cat .cargo/config +[target.thumbv7em-none-eabihf] +runner = "gdb-mulitarch -q" +rustflags = [ + "-C", "link-arg=-Tlink.x", +] +``` +And `git diff` should be: +``` diff +$ git diff .cargo/config +diff --git a/src/05-led-roulette/.cargo/config b/src/05-led-roulette/.cargo/config +index 01d25c8..c23dc80 100644 +--- a/src/05-led-roulette/.cargo/config ++++ b/src/05-led-roulette/.cargo/config +@@ -1,5 +1,5 @@ + [target.thumbv7em-none-eabihf] +-runner = "arm-none-eabi-gdb -q" ++runner = "gdb-multiarch -q" + rustflags = [ + "-C", "link-arg=-Tlink.x", + ] +``` + +Now that you have `.cargo/config` setup to let's test it and use `cargo run` to +start the debug session: +``` +~/embedded-discovery/src/05-led-roulette +$ cargo run --target thumbv7em-none-eabihf + Finished dev [unoptimized + debuginfo] target(s) in 0.01s + Running `arm-none-eabi-gdb -q ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` +Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... + +(gdb) target remote :3333 +Remote debugging using :3333 +0x00000000 in ?? () + +(gdb) +``` + +Bravo, you'll be making additional changes to `.cargo/config` in future +sections to make building and debugging easier. + +> **Note** the default `.cargo/config` in every chapter assumes +> the debugger is `arm-none-eabi-gdb`. So the first thing you should +> do when you start a new chapter is edit `.cargo/config`! + ## Flash the device -Almost there. To flash the device, we'll use the `load` command inside the GDB shell: +Assuming you have gdb running, if not start it as suggested in the previous section. +Now use the `load` command in `gdb` to actually flash the program into the device: ``` (gdb) load Loading section .vector_table, size 0x194 lma 0x8000000 From 58d8c30e88b10876ec0cefd181fe72edf0452c3d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 4 Mar 2021 22:11:33 +0100 Subject: [PATCH 156/313] temporary fix for CI until we rewrite this chapter --- src/13-serial-over-bluetooth/README.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/13-serial-over-bluetooth/README.md b/src/13-serial-over-bluetooth/README.md index 51038044a..68e7a14b3 100644 --- a/src/13-serial-over-bluetooth/README.md +++ b/src/13-serial-over-bluetooth/README.md @@ -19,9 +19,7 @@ Recommended steps to wire this up: - Now connect the F3 and your computer using an USB cable. - Re-launch OpenOCD and `itmdump`. -And that's it! You should be able to run all the programs you wrote in [section 11] without +And that's it! You should be able to run all the programs you wrote in section 11 without modification! Just make sure you open the right serial device / COM port. **NOTE** If you are having trouble communicating with the bluetooth device, you may need to initialize USART1 with a lower baud rate. Lowering it from 115,200 bps to 9,600 bps might help, as described [here](https://github.com/rust-embedded/discovery/blob/master/src/11-usart/auxiliary/src/lib.rs#L31) - -[section 11]: ../11-usart/index.html From a663f8ec96e2dc9f2c5dad37886207278429a194 Mon Sep 17 00:00:00 2001 From: Diego Barrios Romero Date: Mon, 8 Mar 2021 09:17:59 +0100 Subject: [PATCH 157/313] Increase Travis no-output waiting time --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 3fc021a01..2060aa849 100644 --- a/.travis.yml +++ b/.travis.yml @@ -5,7 +5,7 @@ install: - export PATH="$PATH:$PWD/gcc/bin" script: - - bash ci/script.sh + - travis_wait 30 bash ci/script.sh after_success: - bash ci/after-success.sh From 4d57c9a591098d0745db37dfe16e545a6db27c82 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Thu, 4 Mar 2021 15:24:38 -0800 Subject: [PATCH 158/313] Add shareable instances of config.toml and openocd.gdb Instead of every chapter having its own copy of the cargo configuration and openocd.gdb files this change creates a shared set. This will make it much easier for the user of the discovery book to handle the situation where their Arm gdb is NOT arm-none-eabi-gdb. As only the shared copy of .cargo/config.toml will have to be modified. Also src/05-led-roulette is updated to take advantage of this and I will go through each of the other chapters changing them to use the shared set. I also needed to comment out the rustflags variable in all of the config files as I'd get an error executing ci/script.sh: ry.x:5: region 'FLASH' already defined >>> FLASH : ORIGIN = 0x08000000, LENGTH = 256K >>> --- .../.cargo/config => .cargo/config.toml} | 6 ++ src/05-led-roulette/debug-it.md | 11 +-- src/05-led-roulette/flash-it.md | 85 +++++++++++-------- src/05-led-roulette/the-challenge.md | 85 +++++++++++++++---- .../the-led-and-delay-abstractions.md | 15 +--- src/06-hello-world/.cargo/config | 6 +- src/07-registers/.cargo/config | 8 +- src/08-leds-again/.cargo/config | 8 +- src/09-clocks-and-timers/.cargo/config | 8 +- src/11-usart/.cargo/config | 6 +- src/14-i2c/.cargo/config | 6 +- src/15-led-compass/.cargo/config | 6 +- src/16-punch-o-meter/.cargo/config | 6 +- src/openocd.gdb | 37 ++++++++ 14 files changed, 199 insertions(+), 94 deletions(-) rename src/{05-led-roulette/.cargo/config => .cargo/config.toml} (53%) create mode 100644 src/openocd.gdb diff --git a/src/05-led-roulette/.cargo/config b/src/.cargo/config.toml similarity index 53% rename from src/05-led-roulette/.cargo/config rename to src/.cargo/config.toml index 01d25c8b3..ddff17f3b 100644 --- a/src/05-led-roulette/.cargo/config +++ b/src/.cargo/config.toml @@ -1,5 +1,11 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q" +# runner = "gdb-multiarch -q" +# runner = "gdb -q" rustflags = [ "-C", "link-arg=-Tlink.x", ] + +[build] +target = "thumbv7em-none-eabihf" + diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 7dbe750c9..fa35a5c58 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -253,10 +253,11 @@ mode enter one of the following commands in the GDB shell: > **NOTE** Apologies to Windows users, the GDB shipped with the GNU ARM Embedded Toolchain > may not support this TUI mode `:-(`. -Below is an example of setting up for a `layout split` by executing the follow commands: +Below is an example of setting up for a `layout split` by executing the follow commands. +As you can see we've dropped passing the `--target` parameter: ``` console -$ cargo run --target thumbv7em-none-eabihf +$ cargo run (gdb) target remote :3333 (gdb) load (gdb) set print asm-demangle on @@ -265,10 +266,10 @@ $ cargo run --target thumbv7em-none-eabihf (gdb) continue ``` -Here is a command line with the above commands as `-ex` parameters to save you some typing: - +Here is a command line with the above commands as `-ex` parameters to save you some typing, +shortly we'll be providing an easier way to execute the initial set of commands: ``` -cargo run --target thumbv7em-none-eabihf -- -q -ex 'target remote :3333' -ex 'load' -ex 'set print asm-demangle on' -ex 'set style sources off' -ex 'b main' -ex 'c' target/thumbv7em-none-eabihf/debug/led-roulette +cargo run -- -q -ex 'target remote :3333' -ex 'load' -ex 'set print asm-demangle on' -ex 'set style sources off' -ex 'b main' -ex 'c' target/thumbv7em-none-eabihf/debug/led-roulette ``` And below is the result: diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 9e99f64a1..e64ba5555 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -11,7 +11,7 @@ Onto the actual flashing. First thing we need is to do is launch OpenOCD. We did previous section but this time we'll run the command inside a temporary directory (`/tmp` on \*nix; `%TEMP%` on Windows). -Make sure the F3 is connected to your computer and run the following commands on a **new terminal**. +Make sure the F3 is connected to your computer and run the following commands in a **new terminal**. ## For *nix & MacOS: ``` console @@ -85,7 +85,7 @@ I mentioned that OpenOCD provides a GDB server so let's connect to that right no ## Execute GDB -First we need to determine what version of GDB you have that is capable of debugging ARM binaries. +First, we need to determine what version of `gdb` you have that is capable of debugging ARM binaries. This could be any one of the commands below, try each one: ``` console @@ -140,74 +140,87 @@ In both failing and successful cases you should see new output in the **OpenOCD By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to that port. -## Update .cargo/config +## Update ../.cargo/config.toml Now that you've successfully determined which debugger you need to use -we need to change `.cargo/config` so that `cargo run` command can succeed. +we need to change `../cargo/config.toml` so that `cargo run` command will succeed. +Note: `cargo` is the rust package manager and you can read about it +[here](https://doc.rust-lang.org/cargo/). -Get back to the terminal prompt and looking at `.cargo/config`: +Get back to the terminal prompt and look at `../cargo/config.toml`: ``` console -$ cat .cargo/config +~/embedded-discovery/src/05-led-roulette +$ cat ../.cargo/config.toml [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q" +# runner = "gdb-multiarch -q" +# runner = "gdb -q" rustflags = [ "-C", "link-arg=-Tlink.x", ] +[build] +target = "thumbv7em-none-eabihf" + ``` -Use your favorite editor to edit `.cargo/config` so that the -runner line contains the name of that debugger: +Use your favorite editor to edit `../.cargo/config.toml` so that the +`runner` line contains the correct name of that debugger: ``` console -nano .cargo/config +nano ../.cargo/config.toml ``` For example, if your debugger was `gdb-multiarch` then after -editing you should have: -``` console -$ cat .cargo/config -[target.thumbv7em-none-eabihf] -runner = "gdb-mulitarch -q" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] -``` -And `git diff` should be: +editing the `git diff` should be: ``` diff -$ git diff .cargo/config -diff --git a/src/05-led-roulette/.cargo/config b/src/05-led-roulette/.cargo/config -index 01d25c8..c23dc80 100644 ---- a/src/05-led-roulette/.cargo/config -+++ b/src/05-led-roulette/.cargo/config -@@ -1,5 +1,5 @@ +$ git diff ../.cargo/config.toml +diff --git a/src/.cargo/config.toml b/src/.cargo/config.toml +index ddff17f..8512cfe 100644 +--- a/src/.cargo/config.toml ++++ b/src/.cargo/config.toml +@@ -1,6 +1,6 @@ [target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q" +-# runner = "gdb-multiarch -q" ++# runner = "arm-none-eabi-gdb -q" +runner = "gdb-multiarch -q" + # runner = "gdb -q" rustflags = [ "-C", "link-arg=-Tlink.x", - ] ``` -Now that you have `.cargo/config` setup to let's test it and use `cargo run` to -start the debug session: +Now that you have `../.cargo/config.toml` setup let's test it using `cargo run` to +start the debug session. + +> Note the `--target thumbv7em-none-eabihf` defines which architecture +> to build and run. In our `../.cargo/config.toml` file we have +> `target = "thumbv7em-none-eabihf"` so it is actually not necessary +> to specify `--target` we do it here just so you know that parameters on +> the command line can be used and they override those in `config.toml` files + +``` +cargo run --target thumbv7em-none-eabihf +``` +Results in: ``` ~/embedded-discovery/src/05-led-roulette $ cargo run --target thumbv7em-none-eabihf Finished dev [unoptimized + debuginfo] target(s) in 0.01s Running `arm-none-eabi-gdb -q ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... +``` +Now issue the `target remote :3333` to connect to the OpenOCD server +and connect to the F3: +``` (gdb) target remote :3333 Remote debugging using :3333 0x00000000 in ?? () - -(gdb) ``` -Bravo, you'll be making additional changes to `.cargo/config` in future -sections to make building and debugging easier. - -> **Note** the default `.cargo/config` in every chapter assumes -> the debugger is `arm-none-eabi-gdb`. So the first thing you should -> do when you start a new chapter is edit `.cargo/config`! +Bravo, we will be modifying `../.cargo/config.toml` in future. **But**, since +this file is shared with all of the chapters those changes should be made with +that in mind. If you want or we need to make changes that only pertain to +a particular chapter then create a `.cargo/config.toml` local to that chapter +directory. ## Flash the device diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 87f97406d..e7ef424fb 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -26,42 +26,88 @@ entering the same commands at the beginning. We can use a `.gdb` file to execute right after GDB is started. This way you can save yourself the effort of having to enter them manually on each GDB session. -Using an editor create `openocd.gdb` in the root of the Cargo project, right next to the `Cargo.toml`: +As it turns out we've already created `../openocd.gdb` and you can see it's doing +pretty much what we did in the previous section plus a few other commands. Look at +the comments for additional information: ``` console -nano openocd.gdb -``` - -And add the following text: - -``` text +$ cat ../openocd.gdb +# Connect to gdb remote server target remote :3333 + +# Load will flash the code load + +# Eanble demangling asm names on disassembly +set print asm-demangle on + +# Enable pretty printing +set print pretty on + +# Disable style sources as the default colors can be hard to read +set style sources off + +# Initialize monitoring so iprintln! macro output +# is sent from the itm port to itm.txt +monitor tpiu config internal itm.txt uart off 8000000 + +# Turn on the itm port +monitor itm port 0 on + +# Set a breakpoint at main, aka entry break main + +# Set a breakpiont at DefaultHandler +break DefaultHandler + +# Set a breakpiont at HardFault +break HardFault + +# Continue running and unill we hit the main breakpoint continue + +# Step from the trampoline code in entry into main step ``` -Next modify the `.cargo/config` file to execute openocd.gdb and we'll -also add a `[build]` section with `thumbv7em-none-eabihf` so we don't -have to specify the `--target` when using `cargo build` or `cargo run`: - +Now we need to modify the `../.cargo/config.toml` file to execute `../openocd.gdb` ``` console -nano .cargo/config +nano ../openocd.gdb ``` -Replacing the contents with the text below. This adds `-x openocd.gdb` to -the `runner =` line and appends `[build]` and `target = "thumbv7em-none-eabihf` lines: +Edit your `runner` command ` -x ../openocd.gdb`. +Assuming you're using `arm-none-eabi-gdb` the diff is: +``` diff +~/embedded-discovery/src/05-led-roulette +$ git diff ../.cargo/config.toml +diff --git a/src/.cargo/config.toml b/src/.cargo/config.toml +index ddff17f..02ac952 100644 +--- a/src/.cargo/config.toml ++++ b/src/.cargo/config.toml +@@ -1,5 +1,5 @@ + [target.thumbv7em-none-eabihf] +-runner = "arm-none-eabi-gdb -q" ++runner = "arm-none-eabi-gdb -q -x ../openocd.gdb" + # runner = "gdb-multiarch -q" + # runner = "gdb -q" + rustflags = [ +``` + +And the full contents of `../.cargo/config.toml`, again +assuming `arm-none-eabi-gdb`, is: ``` toml [target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" +runner = "arm-none-eabi-gdb -q -x ../openocd.gdb" +# runner = "gdb-multiarch -q" +# runner = "gdb -q" rustflags = [ "-C", "link-arg=-Tlink.x", ] [build] target = "thumbv7em-none-eabihf" + ``` With that in place, you can now use a simple `cargo run` command which will build @@ -95,3 +141,12 @@ Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () led_roulette::__cortex_m_rt_main () at ~/embedded-discovery/src/05-led-roulette/src/main.rs:9 9 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); ``` + +## Fork the discovery book + +If you haven't already ready, it's probably a good idea to fork +the [embedded discovery book](https://github.com/rust-embedded/discovery) so you +can save your changes in your own branch of your fork. We suggest creating +your own branch and leaving the `master` branch alone so the `master` branch +of your fork can stay in sync with the upstream repo. Also, it allows you to +more easily create PR's and improve this book, **thank you in advance**! \ No newline at end of file diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index 98d0c1761..507ca6d7f 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -38,9 +38,8 @@ fn main() -> ! { ``` Now build it: - ``` console -cargo build --target thumbv7em-none-eabihf +cargo build ``` > **NOTE** It's possible to forget to rebuild the program *before* starting a GDB session; this @@ -48,15 +47,10 @@ cargo build --target thumbv7em-none-eabihf > instead of `cargo build`; `cargo run`. The `cargo run` command will build *and* start a debug > session ensuring you never forget to recompile your program. -Now, we'll repeat the flashing procedure that we did in the previous section: - +Now we'll run and repeat the flashing procedure as we did in the previous section +but with the new program. I'll let you type in the `cargo run`, *this will get easier shortly* :) ``` console -cargo run --target thumbv7em-none-eabihf -``` - -Which results in something like: -``` console -$ cargo run --target thumbv7em-none-eabihf +$ cargo run Finished dev [unoptimized + debuginfo] target(s) in 0.01s Running `arm-none-eabi-gdb -q ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette` Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/led-roulette... @@ -93,7 +87,6 @@ led_roulette::__cortex_m_rt_main () at ~/embedded-discovery/src/05-led-roulette/ OK. Let's step through the code. This time, we'll use the `next` command instead of `step`. The difference is that the `next` command will step *over* function calls instead of going inside them. - ``` (gdb) next 11 let half_period = 500_u16; diff --git a/src/06-hello-world/.cargo/config b/src/06-hello-world/.cargo/config index f27a4a749..f5a1d9520 100644 --- a/src/06-hello-world/.cargo/config +++ b/src/06-hello-world/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] target = "thumbv7em-none-eabihf" diff --git a/src/07-registers/.cargo/config b/src/07-registers/.cargo/config index b17774193..f5a1d9520 100644 --- a/src/07-registers/.cargo/config +++ b/src/07-registers/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] -target = "thumbv7em-none-eabihf" \ No newline at end of file +target = "thumbv7em-none-eabihf" diff --git a/src/08-leds-again/.cargo/config b/src/08-leds-again/.cargo/config index b17774193..f5a1d9520 100644 --- a/src/08-leds-again/.cargo/config +++ b/src/08-leds-again/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] -target = "thumbv7em-none-eabihf" \ No newline at end of file +target = "thumbv7em-none-eabihf" diff --git a/src/09-clocks-and-timers/.cargo/config b/src/09-clocks-and-timers/.cargo/config index b17774193..f5a1d9520 100644 --- a/src/09-clocks-and-timers/.cargo/config +++ b/src/09-clocks-and-timers/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] -target = "thumbv7em-none-eabihf" \ No newline at end of file +target = "thumbv7em-none-eabihf" diff --git a/src/11-usart/.cargo/config b/src/11-usart/.cargo/config index f27a4a749..f5a1d9520 100644 --- a/src/11-usart/.cargo/config +++ b/src/11-usart/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] target = "thumbv7em-none-eabihf" diff --git a/src/14-i2c/.cargo/config b/src/14-i2c/.cargo/config index f27a4a749..f5a1d9520 100644 --- a/src/14-i2c/.cargo/config +++ b/src/14-i2c/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] target = "thumbv7em-none-eabihf" diff --git a/src/15-led-compass/.cargo/config b/src/15-led-compass/.cargo/config index f27a4a749..f5a1d9520 100644 --- a/src/15-led-compass/.cargo/config +++ b/src/15-led-compass/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] target = "thumbv7em-none-eabihf" diff --git a/src/16-punch-o-meter/.cargo/config b/src/16-punch-o-meter/.cargo/config index f27a4a749..f5a1d9520 100644 --- a/src/16-punch-o-meter/.cargo/config +++ b/src/16-punch-o-meter/.cargo/config @@ -1,8 +1,8 @@ [target.thumbv7em-none-eabihf] runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] +#rustflags = [ +# "-C", "link-arg=-Tlink.x", +#] [build] target = "thumbv7em-none-eabihf" diff --git a/src/openocd.gdb b/src/openocd.gdb new file mode 100644 index 000000000..cb3b3926a --- /dev/null +++ b/src/openocd.gdb @@ -0,0 +1,37 @@ +# Connect to gdb remote server +target remote :3333 + +# Load will flash the code +load + +# Eanble demangling asm names on disassembly +set print asm-demangle on + +# Enable pretty printing +set print pretty on + +# Disable style sources as the default colors can be hard to read +set style sources off + +# Initialize monitoring so iprintln! macro output +# is sent from the itm port to itm.txt +monitor tpiu config internal itm.txt uart off 8000000 + +# Turn on the itm port +monitor itm port 0 on + +# Set a breakpoint at main, aka entry +break main + +# Set a breakpiont at DefaultHandler +break DefaultHandler + +# Set a breakpiont at HardFault +break HardFault + +# Continue running and unill we hit the main breakpoint +continue + +# Step from the trampoline code in entry into main +step + From 1fdb1c97d4254e85def79220f336101c39aba990 Mon Sep 17 00:00:00 2001 From: Wink Saville Date: Fri, 5 Mar 2021 12:50:56 -0800 Subject: [PATCH 159/313] Update 06-hello-world to use shared cargo config - Updated `*.md` files. - Deleted the local .cargo/config and openocd.gdb files. --- src/06-hello-world/.cargo/config | 8 --- src/06-hello-world/README.md | 101 +++++++------------------------ src/06-hello-world/openocd.gdb | 26 -------- src/06-hello-world/panic.md | 47 ++++++++------ 4 files changed, 50 insertions(+), 132 deletions(-) delete mode 100644 src/06-hello-world/.cargo/config delete mode 100644 src/06-hello-world/openocd.gdb diff --git a/src/06-hello-world/.cargo/config b/src/06-hello-world/.cargo/config deleted file mode 100644 index f5a1d9520..000000000 --- a/src/06-hello-world/.cargo/config +++ /dev/null @@ -1,8 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -#rustflags = [ -# "-C", "link-arg=-Tlink.x", -#] - -[build] -target = "thumbv7em-none-eabihf" diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index eb705ea04..a3738d80f 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -77,95 +77,36 @@ from `/tmp` directory (on Windows `%TEMP%`) to launch OpenOCD similar as describ Alright. Now, let's build the starter code and flash it into the microcontroller. -To avoid passing the `--target thumbv7em-none-eabihf` flag to every Cargo invocation we -have added `[build]` with a default target, `target = "thumbv7em-none-eabihf"`, to .cargo/config. -Now if `--target` is not specified `cargo` will assume that the target is `thumbv7em-none-eabihf`. - -``` -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] - -[build] -target = "thumbv7em-none-eabihf" -``` - -In addition, our `opendocd.gdb` has some additional lines. Compared to the previous -section `set`'s and initialize `monitor`ing so `iprint!` and `iprintln!` -macros work and output is visible on a console. Below the contents with comments: - -``` console -$ cat openocd.gdb -# Connect to gdb remote server -target remote :3333 - -# Load will flash the code -load - -# Enable demangling asm names on disassembly -set print asm-demangle on - -# Enable pretty printing -set print pretty on - -# Disable style sources as the default colors can be hard to read -set style sources off - -# Have the tpiu send the data to a file itm.txt -monitor tpiu config internal itm.txt uart off 8000000 - -# Turn on the itm port -monitor itm port 0 on - -# Set a breakpoint at main -break main - -# Continue running and we'll hit the main breakpoint -continue -``` - -We will now run the application and single step through it. Since we've added -the `monitor` commands in `openocd.gdb` OpenOCD will redirect the ITM output to -itm.txt and `itmdump` will write it to its terminal window. +We will now build and run the application, `cargo run`. And step through it using `next`. +Since `openocd.gdb` contains the `monitor` commands in `openocd.gdb` OpenOCD will redirect +the ITM output to itm.txt and `itmdump` will write it to its terminal window. Also, it setup +break points and stepped through the trampoline we are at the first executable +statement in `fn main()`: ``` console +~/embedded-discovery/src/06-hello-world $ cargo run Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `arm-none-eabi-gdb -q -x openocd.gdb ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world` -Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world... -0x00000000 in ?? () + Running `arm-none-eabi-gdb -q -x ../openocd.gdb ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world` +Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world... +hello_world::__cortex_m_rt_main () at ~/embedded-discovery/src/06-hello-world/src/main.rs:14 +14 loop {} Loading section .vector_table, size 0x194 lma 0x8000000 -Loading section .text, size 0x28d8 lma 0x8000194 -Loading section .rodata, size 0x6b8 lma 0x8002a6c -Start address 0x08000194, load size 12580 -Transfer rate: 18 KB/sec, 4193 bytes/write. -Breakpoint 1 at 0x80001f0: file src/06-hello-world/src/main.rs, line 8. +Loading section .text, size 0x2828 lma 0x8000194 +Loading section .rodata, size 0x638 lma 0x80029bc +Start address 0x08000194, load size 12276 +Transfer rate: 18 KB/sec, 4092 bytes/write. +Breakpoint 1 at 0x80001f0: file ~/embedded-discovery/src/06-hello-world/src/main.rs, line 8. Note: automatically using hardware breakpoints for read-only addresses. +Breakpoint 2 at 0x800092a: file /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs, line 570. +Breakpoint 3 at 0x80029a8: file /home/wink/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs, line 560. -Breakpoint 1, hello_world::__cortex_m_rt_main_trampoline () at src/06-hello-world/src/main.rs:8 +Breakpoint 1, hello_world::__cortex_m_rt_main_trampoline () at ~/embedded-discovery/src/06-hello-world/src/main.rs:8 8 #[entry] -``` - -We are now stopped at `#[entry]` and since, as before, it's a trampoline: +hello_world::__cortex_m_rt_main () at ~/embedded-discovery/src/06-hello-world/src/main.rs:10 +10 let mut itm = aux6::init(); -``` console -(gdb) disassemble /m -Dump of assembler code for function main: -8 #[entry] - 0x080001ec <+0>: push {r7, lr} - 0x080001ee <+2>: mov r7, sp -=> 0x080001f0 <+4>: bl 0x80001f6 - 0x080001f4 <+8>: udf #254 ; 0xfe -``` - -We need to initially `step` into the main function which will position us at line 10: - -``` text -(gdb) step -hello_world::__cortex_m_rt_main () at src/06-hello-world/src/main.rs:10 -10 let mut itm = aux6::init(); +(gdb) ``` Now issue a `next` command which will exectue `aux6::init()` and diff --git a/src/06-hello-world/openocd.gdb b/src/06-hello-world/openocd.gdb deleted file mode 100644 index a2b5fdd89..000000000 --- a/src/06-hello-world/openocd.gdb +++ /dev/null @@ -1,26 +0,0 @@ -# Connect to gdb remote server -target remote :3333 - -# Load will flash the code -load - -# Eanble demangling asm names on disassembly -set print asm-demangle on - -# Enable pretty printing -set print pretty on - -# Disable style sources as the default colors can be hard to read -set style sources off - -# Have the tpiu send the data to a file tim.txt -monitor tpiu config internal itm.txt uart off 8000000 - -# Turn on the itm port -monitor itm port 0 on - -# Set a breakpoint at main -break main - -# Continue running and we'll hit the main breakpoint -continue diff --git a/src/06-hello-world/panic.md b/src/06-hello-world/panic.md index 6e88c3f16..02ae1ff41 100644 --- a/src/06-hello-world/panic.md +++ b/src/06-hello-world/panic.md @@ -22,25 +22,31 @@ define hook-quit end ``` -OK, now use `cargo run` and it stops at `#[entry]`: +OK, now use `cargo run` and it stops at the first line of `fn main()`: ``` console $ cargo run - Finished dev [unoptimized + debuginfo] target(s) in 0.01s - Running `arm-none-eabi-gdb -q -x openocd.gdb ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world` -Reading symbols from ~/prgs/rust/tutorial/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world... -panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:57 -57 atomic::compiler_fence(Ordering::SeqCst); + Compiling hello-world v0.2.0 (~/embedded-discovery/src/06-hello-world) + Finished dev [unoptimized + debuginfo] target(s) in 0.11s + Running `arm-none-eabi-gdb -q -x ../openocd.gdb ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world` +Reading symbols from ~/embedded-discovery/target/thumbv7em-none-eabihf/debug/hello-world... +hello_world::__cortex_m_rt_main () at ~/embedded-discovery/src/06-hello-world/src/main.rs:10 +10 panic!("Hello, world!"); Loading section .vector_table, size 0x194 lma 0x8000000 -Loading section .text, size 0x2198 lma 0x8000194 -Loading section .rodata, size 0x5d8 lma 0x800232c -Start address 0x08000194, load size 10500 -Transfer rate: 17 KB/sec, 3500 bytes/write. -Breakpoint 1 at 0x80001f0: file src/06-hello-world/src/main.rs, line 8. +Loading section .text, size 0x20fc lma 0x8000194 +Loading section .rodata, size 0x554 lma 0x8002290 +Start address 0x08000194, load size 10212 +Transfer rate: 17 KB/sec, 3404 bytes/write. +Breakpoint 1 at 0x80001f0: file ~/embedded-discovery/src/06-hello-world/src/main.rs, line 8. Note: automatically using hardware breakpoints for read-only addresses. - -Breakpoint 1, hello_world::__cortex_m_rt_main_trampoline () at src/06-hello-world/src/main.rs:8 -8 #[entry] +Breakpoint 2 at 0x8000222: file ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs, line 570. +Breakpoint 3 at 0x800227a: file ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs, line 560. + +Breakpoint 1, hello_world::__cortex_m_rt_main_trampoline () at ~/embedded-discovery/src/06-hello-world/src/main.rs:8 +8 #[entry] +hello_world::__cortex_m_rt_main () at ~/embedded-discovery/src/06-hello-world/src/main.rs:10 +10 panic!("Hello, world!"); +(gdb) ``` We'll use short command names to save typing, enter `c` then the `Enter` or `Return` key: @@ -93,19 +99,24 @@ xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000 (gdb) disable 1 (gdb) break rust_begin_unwind -Breakpoint 2 at 0x80010f0: file ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs, line 47. +Breakpoint 4 at 0x800106c: file ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs, line 47. (gdb) info break Num Type Disp Enb Address What -1 breakpoint keep n 0x080001f0 in hello_world::__cortex_m_rt_main_trampoline at src/06-hello-world/src/main.rs:8 +1 breakpoint keep n 0x080001f0 in hello_world::__cortex_m_rt_main_trampoline + at ~/prgs/rust/tutorial/embedded-discovery/src/06-hello-world/src/main.rs:8 breakpoint already hit 1 time -2 breakpoint keep y 0x080010f0 in panic_itm::panic +2 breakpoint keep y 0x08000222 in cortex_m_rt::DefaultHandler_ + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs:570 +3 breakpoint keep y 0x0800227a in cortex_m_rt::HardFault_ + at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.13/src/lib.rs:560 +4 breakpoint keep y 0x0800106c in panic_itm::panic at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:47 (gdb) c Continuing. -Breakpoint 2, panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:47 +Breakpoint 4, panic_itm::panic (info=0x20009fa0) at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/panic-itm-0.4.2/src/lib.rs:47 47 interrupt::disable(); ``` From 681b95a65f19661440667f24d7fd917534982e6e Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Wed, 10 Mar 2021 20:36:20 +0000 Subject: [PATCH 160/313] Swap to GHA. --- .github/bors.toml | 13 ++++++- .github/workflows/ci.yml | 83 ++++++++++++++++++++++++++++++++++++++++ .travis.yml | 27 ------------- ci/after-success.sh | 21 ---------- ci/install.sh | 23 ----------- ci/script.sh | 69 --------------------------------- 6 files changed, 95 insertions(+), 141 deletions(-) create mode 100644 .github/workflows/ci.yml delete mode 100644 .travis.yml delete mode 100644 ci/after-success.sh delete mode 100644 ci/install.sh delete mode 100644 ci/script.sh diff --git a/.github/bors.toml b/.github/bors.toml index ca42be0a5..c9d118cb7 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -1,4 +1,15 @@ block_labels = ["needs-decision"] delete_merged_branches = true required_approvals = 1 -status = ["continuous-integration/travis-ci/push"] +status = [ + "build-book", + "build-chapter (05-led-roulette)", + "build-chapter (06-hello-world)", + "build-chapter (07-registers)", + "build-chapter (08-leds-again)", + "build-chapter (09-clocks-and-timers)", + "build-chapter (11-usart)", + "build-chapter (14-i2c)", + "build-chapter (15-led-compass)", + "build-chapter (16-punch-o-meter)", +] diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 000000000..8ea334652 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,83 @@ +name: CI + +on: + push: + branches: [ staging, trying, master ] + pull_request: + +jobs: + # Check a build succeeds for each chapter that contains example code. + build-chapter: + runs-on: ubuntu-20.04 + strategy: + matrix: + chapter: + - 05-led-roulette + - 06-hello-world + - 07-registers + - 08-leds-again + - 09-clocks-and-timers + - 11-usart + - 14-i2c + - 15-led-compass + - 16-punch-o-meter + steps: + - uses: actions/checkout@v2 + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf + - name: Build chapter + working-directory: src/${{ matrix.chapter }} + run: cargo build + + # Build the book HTML itself and optionally publish it. + build-book: + runs-on: ubuntu-20.04 + steps: + - uses: actions/checkout@v2 + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf + + - name: Install Python dependencies + run: | + pip3 install --user python-dateutil linkchecker + - name: Put pip binary directory into path + run: echo "~/.local/bin" >> $GITHUB_PATH + + - name: Cache Cargo installed binaries + uses: actions/cache@v1 + id: cache-cargo + with: + path: ~/cargo-bin + key: cache-cargo + - name: Install mdbook + if: steps.cache-cargo.outputs.cache-hit != 'true' + uses: actions-rs/install@v0.1 + with: + crate: mdbook + version: latest + - name: Copy mdbook to cache directory + if: steps.cache-cargo.outputs.cache-hit != 'true' + run: | + mkdir ~/cargo-bin + cp ~/.cargo/bin/mdbook ~/cargo-bin + - name: Put new cargo binary directory into path + run: echo "~/cargo-bin" >> $GITHUB_PATH + + - name: Build book + run: mkdir target && mdbook build + - name: Check links + run: linkchecker --ignore-url "print.html" book + + - name: Deploy book + if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }} + uses: peaceiris/actions-gh-pages@v3 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: book + force_orphan: true diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 2060aa849..000000000 --- a/.travis.yml +++ /dev/null @@ -1,27 +0,0 @@ -language: rust - -install: - - bash ci/install.sh - - export PATH="$PATH:$PWD/gcc/bin" - -script: - - travis_wait 30 bash ci/script.sh - -after_success: - - bash ci/after-success.sh - -cache: cargo - -before_cache: - # Travis can't cache files that are not readable by "others" - - chmod -R a+r $HOME/.cargo - -branches: - only: - - master - - staging - - trying - -notifications: - email: - on_success: never diff --git a/ci/after-success.sh b/ci/after-success.sh deleted file mode 100644 index cee45e0ae..000000000 --- a/ci/after-success.sh +++ /dev/null @@ -1,21 +0,0 @@ -set -euxo pipefail - -main() { - mdbook build - - bash ga.sh - - mkdir ghp-import - - curl -Ls https://github.com/davisp/ghp-import/archive/master.tar.gz | - tar --strip-components 1 -C ghp-import -xz - - ./ghp-import/ghp_import.py book - - set +x - git push -fq https://$GH_TOKEN@github.com/$TRAVIS_REPO_SLUG.git gh-pages && echo OK -} - -if [ $TRAVIS_BRANCH = master ]; then - main -fi diff --git a/ci/install.sh b/ci/install.sh deleted file mode 100644 index 139424084..000000000 --- a/ci/install.sh +++ /dev/null @@ -1,23 +0,0 @@ -set -euxo pipefail - -main() { - local tag=$(git ls-remote --tags --refs --exit-code \ - https://github.com/rust-lang/mdbook \ - | cut -d/ -f3 \ - | grep -E '^v[0-9\.]+$' \ - | sort --version-sort \ - | tail -n1) - - curl -LSfs https://japaric.github.io/trust/install.sh | \ - sh -s -- \ - --force \ - --git rust-lang/mdbook \ - --tag $tag - - rustup target add thumbv7em-none-eabihf - - pip install python-dateutil --user - pip install linkchecker --user -} - -main diff --git a/ci/script.sh b/ci/script.sh deleted file mode 100644 index acfe2d2d0..000000000 --- a/ci/script.sh +++ /dev/null @@ -1,69 +0,0 @@ -set -euxo pipefail - -main() { - # test that building the book works - mdbook build - - # mdbook doesn't handle relative links correctly in print.html so skip it. - linkchecker --ignore-url "print.html" book - - # now check this as a directory of the bookshelf - rm -rf shelf - mkdir shelf - mv book shelf - # Skipping bad relative link errors in print.html again here. - linkchecker --ignore-url "print.html" shelf - - mv shelf/book . - rmdir shelf - - # first (fast) pass: check that examples compile - for chapter in $(echo src/*); do - if [ ! -f $chapter/Cargo.toml ]; then - continue - fi - - pushd $chapter - case $(basename $chapter) in - 05-led-roulette | 06-hello-world) - RUSTFLAGS="-D rust_2018_compatibility -D rust_2018_idioms" cargo check --target thumbv7em-none-eabihf - ;; - WIP-async-io-the-future) - popd - continue - ;; - *) - RUSTFLAGS="-D rust_2018_compatibility -D rust_2018_idioms" cargo check - ;; - esac - popd - done - - # second (slow) pass: check that examples link - for chapter in $(echo src/*); do - if [ ! -f $chapter/Cargo.toml ]; then - continue - fi - - pushd $chapter - case $(basename $chapter) in - 05-led-roulette | 06-hello-world) - cargo build --target thumbv7em-none-eabihf - cargo build --target thumbv7em-none-eabihf --release - ;; - WIP-async-io-the-future) - popd - continue - ;; - *) - cargo build - cargo build --release - ;; - esac - popd - done -} - -if [ $TRAVIS_BRANCH != master ]; then - main -fi From c8f6af452fe54fe635389a6b1055fa2b1fff4f0b Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Wed, 10 Mar 2021 20:36:20 +0000 Subject: [PATCH 161/313] Swap to GHA. (cherry picked from commit 681b95a65f19661440667f24d7fd917534982e6e) --- .github/bors.toml | 13 ++++++- .github/workflows/ci.yml | 83 ++++++++++++++++++++++++++++++++++++++++ .travis.yml | 27 ------------- ci/after-success.sh | 21 ---------- ci/install.sh | 23 ----------- ci/script.sh | 69 --------------------------------- 6 files changed, 95 insertions(+), 141 deletions(-) create mode 100644 .github/workflows/ci.yml delete mode 100644 .travis.yml delete mode 100644 ci/after-success.sh delete mode 100644 ci/install.sh delete mode 100644 ci/script.sh diff --git a/.github/bors.toml b/.github/bors.toml index ca42be0a5..c9d118cb7 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -1,4 +1,15 @@ block_labels = ["needs-decision"] delete_merged_branches = true required_approvals = 1 -status = ["continuous-integration/travis-ci/push"] +status = [ + "build-book", + "build-chapter (05-led-roulette)", + "build-chapter (06-hello-world)", + "build-chapter (07-registers)", + "build-chapter (08-leds-again)", + "build-chapter (09-clocks-and-timers)", + "build-chapter (11-usart)", + "build-chapter (14-i2c)", + "build-chapter (15-led-compass)", + "build-chapter (16-punch-o-meter)", +] diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 000000000..8ea334652 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,83 @@ +name: CI + +on: + push: + branches: [ staging, trying, master ] + pull_request: + +jobs: + # Check a build succeeds for each chapter that contains example code. + build-chapter: + runs-on: ubuntu-20.04 + strategy: + matrix: + chapter: + - 05-led-roulette + - 06-hello-world + - 07-registers + - 08-leds-again + - 09-clocks-and-timers + - 11-usart + - 14-i2c + - 15-led-compass + - 16-punch-o-meter + steps: + - uses: actions/checkout@v2 + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf + - name: Build chapter + working-directory: src/${{ matrix.chapter }} + run: cargo build + + # Build the book HTML itself and optionally publish it. + build-book: + runs-on: ubuntu-20.04 + steps: + - uses: actions/checkout@v2 + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf + + - name: Install Python dependencies + run: | + pip3 install --user python-dateutil linkchecker + - name: Put pip binary directory into path + run: echo "~/.local/bin" >> $GITHUB_PATH + + - name: Cache Cargo installed binaries + uses: actions/cache@v1 + id: cache-cargo + with: + path: ~/cargo-bin + key: cache-cargo + - name: Install mdbook + if: steps.cache-cargo.outputs.cache-hit != 'true' + uses: actions-rs/install@v0.1 + with: + crate: mdbook + version: latest + - name: Copy mdbook to cache directory + if: steps.cache-cargo.outputs.cache-hit != 'true' + run: | + mkdir ~/cargo-bin + cp ~/.cargo/bin/mdbook ~/cargo-bin + - name: Put new cargo binary directory into path + run: echo "~/cargo-bin" >> $GITHUB_PATH + + - name: Build book + run: mkdir target && mdbook build + - name: Check links + run: linkchecker --ignore-url "print.html" book + + - name: Deploy book + if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }} + uses: peaceiris/actions-gh-pages@v3 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: book + force_orphan: true diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 3fc021a01..000000000 --- a/.travis.yml +++ /dev/null @@ -1,27 +0,0 @@ -language: rust - -install: - - bash ci/install.sh - - export PATH="$PATH:$PWD/gcc/bin" - -script: - - bash ci/script.sh - -after_success: - - bash ci/after-success.sh - -cache: cargo - -before_cache: - # Travis can't cache files that are not readable by "others" - - chmod -R a+r $HOME/.cargo - -branches: - only: - - master - - staging - - trying - -notifications: - email: - on_success: never diff --git a/ci/after-success.sh b/ci/after-success.sh deleted file mode 100644 index cee45e0ae..000000000 --- a/ci/after-success.sh +++ /dev/null @@ -1,21 +0,0 @@ -set -euxo pipefail - -main() { - mdbook build - - bash ga.sh - - mkdir ghp-import - - curl -Ls https://github.com/davisp/ghp-import/archive/master.tar.gz | - tar --strip-components 1 -C ghp-import -xz - - ./ghp-import/ghp_import.py book - - set +x - git push -fq https://$GH_TOKEN@github.com/$TRAVIS_REPO_SLUG.git gh-pages && echo OK -} - -if [ $TRAVIS_BRANCH = master ]; then - main -fi diff --git a/ci/install.sh b/ci/install.sh deleted file mode 100644 index 15606dd38..000000000 --- a/ci/install.sh +++ /dev/null @@ -1,23 +0,0 @@ -set -euxo pipefail - -main() { - local tag=$(git ls-remote --tags --refs --exit-code \ - https://github.com/rust-lang/mdbook \ - | cut -d/ -f3 \ - | grep -E '^v[0-9\.]+$' \ - | sort --version-sort \ - | tail -n1) - - curl -LSfs https://japaric.github.io/trust/install.sh | \ - sh -s -- \ - --force \ - --git rust-lang/mdbook \ - --tag $tag - - rustup target add thumbv7em-none-eabihf - rustup target add thumbv6m-none-eabi - - pip install linkchecker --user -} - -main diff --git a/ci/script.sh b/ci/script.sh deleted file mode 100644 index acfe2d2d0..000000000 --- a/ci/script.sh +++ /dev/null @@ -1,69 +0,0 @@ -set -euxo pipefail - -main() { - # test that building the book works - mdbook build - - # mdbook doesn't handle relative links correctly in print.html so skip it. - linkchecker --ignore-url "print.html" book - - # now check this as a directory of the bookshelf - rm -rf shelf - mkdir shelf - mv book shelf - # Skipping bad relative link errors in print.html again here. - linkchecker --ignore-url "print.html" shelf - - mv shelf/book . - rmdir shelf - - # first (fast) pass: check that examples compile - for chapter in $(echo src/*); do - if [ ! -f $chapter/Cargo.toml ]; then - continue - fi - - pushd $chapter - case $(basename $chapter) in - 05-led-roulette | 06-hello-world) - RUSTFLAGS="-D rust_2018_compatibility -D rust_2018_idioms" cargo check --target thumbv7em-none-eabihf - ;; - WIP-async-io-the-future) - popd - continue - ;; - *) - RUSTFLAGS="-D rust_2018_compatibility -D rust_2018_idioms" cargo check - ;; - esac - popd - done - - # second (slow) pass: check that examples link - for chapter in $(echo src/*); do - if [ ! -f $chapter/Cargo.toml ]; then - continue - fi - - pushd $chapter - case $(basename $chapter) in - 05-led-roulette | 06-hello-world) - cargo build --target thumbv7em-none-eabihf - cargo build --target thumbv7em-none-eabihf --release - ;; - WIP-async-io-the-future) - popd - continue - ;; - *) - cargo build - cargo build --release - ;; - esac - popd - done -} - -if [ $TRAVIS_BRANCH != master ]; then - main -fi From 925caa410789da5143ca7e2c0e40d0595ffeb28b Mon Sep 17 00:00:00 2001 From: Diego Barrios Romero Date: Thu, 11 Mar 2021 09:04:48 +0100 Subject: [PATCH 162/313] Adapt to rewrite --- .github/bors.toml | 4 +--- .github/workflows/ci.yml | 14 +++++++++++--- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/.github/bors.toml b/.github/bors.toml index c9d118cb7..b1c039555 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -4,11 +4,9 @@ required_approvals = 1 status = [ "build-book", "build-chapter (05-led-roulette)", - "build-chapter (06-hello-world)", - "build-chapter (07-registers)", + "build-chapter (07-uart)", "build-chapter (08-leds-again)", "build-chapter (09-clocks-and-timers)", - "build-chapter (11-usart)", "build-chapter (14-i2c)", "build-chapter (15-led-compass)", "build-chapter (16-punch-o-meter)", diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8ea334652..1365b0a08 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -13,17 +13,20 @@ jobs: matrix: chapter: - 05-led-roulette - - 06-hello-world - - 07-registers + - 07-uart - 08-leds-again - 09-clocks-and-timers - - 11-usart - 14-i2c - 15-led-compass - 16-punch-o-meter steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv6m-none-eabi + - uses: actions-rs/toolchain@v1 # Until everything has been rewritten with: profile: minimal toolchain: stable @@ -38,6 +41,11 @@ jobs: steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv6m-none-eabi + - uses: actions-rs/toolchain@v1 # Until everything has been rewritten with: profile: minimal toolchain: stable From 961f6aaa848698e6d6228ffdbc52eebabb155164 Mon Sep 17 00:00:00 2001 From: NisarAbbasi1978 <66704815+NisarAbbasi1978@users.noreply.github.com> Date: Mon, 22 Mar 2021 21:40:31 +0300 Subject: [PATCH 163/313] Update send-a-string.md --- src/11-usart/send-a-string.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/send-a-string.md b/src/11-usart/send-a-string.md index e853c01e7..9f6e1e294 100644 --- a/src/11-usart/send-a-string.md +++ b/src/11-usart/send-a-string.md @@ -11,4 +11,4 @@ Execute your program inside the debugger, statement by statement. What do you se Then execute the program again but in *one go* using the `continue` command. What happens this time? -Finally, build the program in *release* mode and, again, run it one go. What happens this time? +Finally, build the program in *release* mode and, again, run it in one go. What happens this time? From ae4bd854cf85641abc8ffb5ebbbf65fe2355a92f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 27 Mar 2021 13:12:01 +0100 Subject: [PATCH 164/313] Remove several chapters as decided with @eldruin * Remove LEDs again since its only really a deeper look into LEDs on register level which we don't need in the discovery book * Remove Clock and Timers basically for the same reason as LEDs again * Remove the two bluetooth chapters since the NRF51 chip has onboard bluetooth, however using it in a beginner scenario is presumably not a good idea until rubble has matured more. --- src/08-leds-again/.cargo/config | 8 -- src/08-leds-again/Cargo.toml | 8 -- src/08-leds-again/README.md | 117 ------------------ src/08-leds-again/auxiliary/Cargo.toml | 14 --- src/08-leds-again/auxiliary/src/lib.rs | 19 --- src/08-leds-again/configuration.md | 21 ---- src/08-leds-again/openocd.gdb | 10 -- src/08-leds-again/power.md | 32 ----- src/08-leds-again/src/main.rs | 28 ----- src/08-leds-again/target | 1 - src/08-leds-again/the-solution.md | 45 ------- src/09-clocks-and-timers/.cargo/config | 8 -- src/09-clocks-and-timers/Cargo.toml | 9 -- src/09-clocks-and-timers/README.md | 11 -- src/09-clocks-and-timers/auxiliary/Cargo.toml | 14 --- src/09-clocks-and-timers/auxiliary/src/lib.rs | 32 ----- src/09-clocks-and-timers/busy-waiting.md | 42 ------- src/09-clocks-and-timers/for-loop-delays.md | 25 ---- src/09-clocks-and-timers/initialization.md | 35 ------ src/09-clocks-and-timers/nop.md | 45 ------- src/09-clocks-and-timers/one-shot-timer.md | 48 ------- src/09-clocks-and-timers/openocd.gdb | 10 -- .../putting-it-all-together.md | 55 -------- src/09-clocks-and-timers/src/main.rs | 28 ----- src/09-clocks-and-timers/target | 1 - src/12-bluetooth-setup/README.md | 36 ------ src/12-bluetooth-setup/at-commands.md | 62 ---------- src/12-bluetooth-setup/linux.md | 101 --------------- src/12-bluetooth-setup/loopback.md | 26 ---- src/13-serial-over-bluetooth/README.md | 25 ---- src/SUMMARY.md | 16 --- 31 files changed, 932 deletions(-) delete mode 100644 src/08-leds-again/.cargo/config delete mode 100644 src/08-leds-again/Cargo.toml delete mode 100644 src/08-leds-again/README.md delete mode 100644 src/08-leds-again/auxiliary/Cargo.toml delete mode 100644 src/08-leds-again/auxiliary/src/lib.rs delete mode 100644 src/08-leds-again/configuration.md delete mode 100644 src/08-leds-again/openocd.gdb delete mode 100644 src/08-leds-again/power.md delete mode 100644 src/08-leds-again/src/main.rs delete mode 120000 src/08-leds-again/target delete mode 100644 src/08-leds-again/the-solution.md delete mode 100644 src/09-clocks-and-timers/.cargo/config delete mode 100644 src/09-clocks-and-timers/Cargo.toml delete mode 100644 src/09-clocks-and-timers/README.md delete mode 100644 src/09-clocks-and-timers/auxiliary/Cargo.toml delete mode 100644 src/09-clocks-and-timers/auxiliary/src/lib.rs delete mode 100644 src/09-clocks-and-timers/busy-waiting.md delete mode 100644 src/09-clocks-and-timers/for-loop-delays.md delete mode 100644 src/09-clocks-and-timers/initialization.md delete mode 100644 src/09-clocks-and-timers/nop.md delete mode 100644 src/09-clocks-and-timers/one-shot-timer.md delete mode 100644 src/09-clocks-and-timers/openocd.gdb delete mode 100644 src/09-clocks-and-timers/putting-it-all-together.md delete mode 100644 src/09-clocks-and-timers/src/main.rs delete mode 120000 src/09-clocks-and-timers/target delete mode 100644 src/12-bluetooth-setup/README.md delete mode 100644 src/12-bluetooth-setup/at-commands.md delete mode 100644 src/12-bluetooth-setup/linux.md delete mode 100644 src/12-bluetooth-setup/loopback.md delete mode 100644 src/13-serial-over-bluetooth/README.md diff --git a/src/08-leds-again/.cargo/config b/src/08-leds-again/.cargo/config deleted file mode 100644 index b17774193..000000000 --- a/src/08-leds-again/.cargo/config +++ /dev/null @@ -1,8 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] - -[build] -target = "thumbv7em-none-eabihf" \ No newline at end of file diff --git a/src/08-leds-again/Cargo.toml b/src/08-leds-again/Cargo.toml deleted file mode 100644 index a93003bfd..000000000 --- a/src/08-leds-again/Cargo.toml +++ /dev/null @@ -1,8 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "leds-again" -version = "0.1.0" - -[dependencies] -aux8 = { path = "auxiliary" } diff --git a/src/08-leds-again/README.md b/src/08-leds-again/README.md deleted file mode 100644 index 89acde05e..000000000 --- a/src/08-leds-again/README.md +++ /dev/null @@ -1,117 +0,0 @@ -# LEDs, again - -In the last section, I gave you *initialized* (configured) peripherals (I initialized them in -`aux7::init`). That's why just writing to `BSRR` was enough to control the LEDs. But, peripherals -are not *initialized* right after the microcontroller boots. - -In this section, you'll have more fun with registers. I won't do any initialization and you'll have -to initialize configure `GPIOE` pins as digital outputs pins so that you'll be able to drive LEDs -again. - -This is the starter code. - -``` rust -{{#include src/main.rs}} -``` - -If you run the starter code, you'll see that nothing happens this time. Furthermore, if you print -the `GPIOE` register block, you'll see that every register reads as zero even after the -`gpioe.odr.write` statement was executed! - -``` -$ cargo run -Breakpoint 1, main () at src/08-leds-again/src/main.rs:9 -9 let (gpioe, rcc) = aux8::init(); - -(gdb) continue -Continuing. - -Program received signal SIGTRAP, Trace/breakpoint trap. -0x08000f3c in __bkpt () - -(gdb) finish -Run till exit from #0 0x08000f3c in __bkpt () -main () at src/08-leds-again/src/main.rs:25 -25 aux8::bkpt(); - -(gdb) p/x *gpioe -$1 = stm32f30x::gpioc::RegisterBlock { - moder: stm32f30x::gpioc::MODER { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - otyper: stm32f30x::gpioc::OTYPER { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - ospeedr: stm32f30x::gpioc::OSPEEDR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - pupdr: stm32f30x::gpioc::PUPDR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - idr: stm32f30x::gpioc::IDR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - odr: stm32f30x::gpioc::ODR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - bsrr: stm32f30x::gpioc::BSRR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - lckr: stm32f30x::gpioc::LCKR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - afrl: stm32f30x::gpioc::AFRL { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - afrh: stm32f30x::gpioc::AFRH { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - }, - brr: stm32f30x::gpioc::BRR { - register: vcell::VolatileCell { - value: core::cell::UnsafeCell { - value: 0x0 - } - } - } -} -``` diff --git a/src/08-leds-again/auxiliary/Cargo.toml b/src/08-leds-again/auxiliary/Cargo.toml deleted file mode 100644 index a2c67f3b4..000000000 --- a/src/08-leds-again/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux8" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" diff --git a/src/08-leds-again/auxiliary/src/lib.rs b/src/08-leds-again/auxiliary/src/lib.rs deleted file mode 100644 index a159cd107..000000000 --- a/src/08-leds-again/auxiliary/src/lib.rs +++ /dev/null @@ -1,19 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::asm::bkpt; -pub use cortex_m_rt::entry; -pub use f3::hal::stm32f30x::{gpioc, rcc}; - -use f3::hal::stm32f30x::{self, GPIOE, RCC}; - -pub fn init() -> (&'static gpioc::RegisterBlock, &'static rcc::RegisterBlock) { - // restrict access to the other peripherals - (stm32f30x::Peripherals::take().unwrap()); - - unsafe { (&*GPIOE::ptr(), &*RCC::ptr()) } -} diff --git a/src/08-leds-again/configuration.md b/src/08-leds-again/configuration.md deleted file mode 100644 index bcb18a136..000000000 --- a/src/08-leds-again/configuration.md +++ /dev/null @@ -1,21 +0,0 @@ -# Configuration - -After turning on the GPIOE peripheral, it still needs to be configured. In this case, we -want the pins to be configured as digital *outputs* so they can drive the LEDs; by default, most -pins are configured as digital *inputs*. - -You can find the list of registers in the `GPIOE` register block in: - -> Section 11.4.12 - GPIO registers - Page 243 - Reference Manual - -The register we'll have to deal with is: `MODER`. - -Your task for this section is to further update the starter code to configure the *right* `GPIOE` -pins as digital outputs. You'll have to: - -- Figure out *which* pins you need to configure as digital outputs. (hint: check Section 6.4 LEDs of - the *User Manual* (page 18)). -- Read the documentation to understand what the bits in the `MODER` register do. -- Modify the `MODER` register to configure the pins as digital outputs. - -If successful, you'll see the 8 LEDs turn on when you run the program. diff --git a/src/08-leds-again/openocd.gdb b/src/08-leds-again/openocd.gdb deleted file mode 100644 index cafe49b1b..000000000 --- a/src/08-leds-again/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break UserHardFault -break main -continue diff --git a/src/08-leds-again/power.md b/src/08-leds-again/power.md deleted file mode 100644 index 560321a39..000000000 --- a/src/08-leds-again/power.md +++ /dev/null @@ -1,32 +0,0 @@ -# Power - -Turns out that, to save power, most peripherals start in a powered off state -- that's their state -right after the microcontroller boots. - -The Reset and Clock Control (`RCC`) peripheral can be used to power on or off every other -peripheral. - -You can find the list of registers in the `RCC` register block in: - -> Section 9.4.14 - RCC register map - Page 166 - Reference Manual - -The registers that control the power status of other peripherals are: - -- `AHBENR` -- `APB1ENR` -- `APB2ENR` - -Each bit in these registers controls the power status of a single peripheral, including `GPIOE`. - -Your task in this section is to power on the `GPIOE` peripheral. You'll have to: - -- Figure out which of the three registers I mentioned before has the bit that controls the power - status. -- Figure out what value that bit must be set to,`0` or `1`, to power on the `GPIOE` peripheral. -- Finally, you'll have to change the starter code to *modify* the right register to turn on the - `GPIOE` peripheral. - -If you are successful, you'll see that the `gpioe.odr.write` statement will now be able to modify -the value of the `ODR` register. - -Note that this won't be enough to actually turn on the LEDs. diff --git a/src/08-leds-again/src/main.rs b/src/08-leds-again/src/main.rs deleted file mode 100644 index cdb7c8e3a..000000000 --- a/src/08-leds-again/src/main.rs +++ /dev/null @@ -1,28 +0,0 @@ -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use aux8::entry; - -#[entry] -fn main() -> ! { - let (gpioe, rcc) = aux8::init(); - - // TODO initialize GPIOE - - // Turn on all the LEDs in the compass - gpioe.odr.write(|w| { - w.odr8().set_bit(); - w.odr9().set_bit(); - w.odr10().set_bit(); - w.odr11().set_bit(); - w.odr12().set_bit(); - w.odr13().set_bit(); - w.odr14().set_bit(); - w.odr15().set_bit() - }); - - aux8::bkpt(); - - loop {} -} diff --git a/src/08-leds-again/target b/src/08-leds-again/target deleted file mode 120000 index 6bcd2fc5d..000000000 --- a/src/08-leds-again/target +++ /dev/null @@ -1 +0,0 @@ -../../target \ No newline at end of file diff --git a/src/08-leds-again/the-solution.md b/src/08-leds-again/the-solution.md deleted file mode 100644 index 9e1eb0bb6..000000000 --- a/src/08-leds-again/the-solution.md +++ /dev/null @@ -1,45 +0,0 @@ -# The solution - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use aux8::entry; - -#[entry] -fn main() -> ! { - let (gpioe, rcc) = aux8::init(); - - // enable the GPIOE peripheral - rcc.ahbenr.modify(|_, w| w.iopeen().set_bit()); - - // configure the pins as outputs - gpioe.moder.modify(|_, w| { - w.moder8().output(); - w.moder9().output(); - w.moder10().output(); - w.moder11().output(); - w.moder12().output(); - w.moder13().output(); - w.moder14().output(); - w.moder15().output() - }); - - // Turn on all the LEDs in the compass - gpioe.odr.write(|w| { - w.odr8().set_bit(); - w.odr9().set_bit(); - w.odr10().set_bit(); - w.odr11().set_bit(); - w.odr12().set_bit(); - w.odr13().set_bit(); - w.odr14().set_bit(); - w.odr15().set_bit() - }); - - aux8::bkpt(); - - loop {} -} -``` diff --git a/src/09-clocks-and-timers/.cargo/config b/src/09-clocks-and-timers/.cargo/config deleted file mode 100644 index b17774193..000000000 --- a/src/09-clocks-and-timers/.cargo/config +++ /dev/null @@ -1,8 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] - -[build] -target = "thumbv7em-none-eabihf" \ No newline at end of file diff --git a/src/09-clocks-and-timers/Cargo.toml b/src/09-clocks-and-timers/Cargo.toml deleted file mode 100644 index 5444b4ffb..000000000 --- a/src/09-clocks-and-timers/Cargo.toml +++ /dev/null @@ -1,9 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "clocks-and-timers" -version = "0.1.0" - -[dependencies] -aux9 = { path = "auxiliary" } -cortex-m-rt = "0.6.3" diff --git a/src/09-clocks-and-timers/README.md b/src/09-clocks-and-timers/README.md deleted file mode 100644 index 6e0f35b2c..000000000 --- a/src/09-clocks-and-timers/README.md +++ /dev/null @@ -1,11 +0,0 @@ -# Clocks and timers - -In this section, we'll re-implement the LED roulette application. I'm going to give you back the -`Led` abstraction but this time I'm going to take away the `Delay` abstraction `:-)`. - -Here's the starter code. The `delay` function is unimplemented so if you run this program the LEDs -will blink so fast that they'll appear to always be on. - -``` rust -{{#include src/main.rs}} -``` diff --git a/src/09-clocks-and-timers/auxiliary/Cargo.toml b/src/09-clocks-and-timers/auxiliary/Cargo.toml deleted file mode 100644 index 2b16bbc2f..000000000 --- a/src/09-clocks-and-timers/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux9" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" diff --git a/src/09-clocks-and-timers/auxiliary/src/lib.rs b/src/09-clocks-and-timers/auxiliary/src/lib.rs deleted file mode 100644 index e52f0032d..000000000 --- a/src/09-clocks-and-timers/auxiliary/src/lib.rs +++ /dev/null @@ -1,32 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::asm::{bkpt, nop}; -pub use cortex_m_rt::entry; -pub use f3::{ - hal::stm32f30x::{rcc, tim6}, - led::Leds, -}; - -use f3::hal::{ - prelude::*, - stm32f30x::{self, RCC, TIM6}, -}; - -pub fn init() -> ( - Leds, - &'static rcc::RegisterBlock, - &'static tim6::RegisterBlock, -) { - let p = stm32f30x::Peripherals::take().unwrap(); - - let mut rcc = p.RCC.constrain(); - - let leds = Leds::new(p.GPIOE.split(&mut rcc.ahb)); - - (leds, unsafe { &*RCC::ptr() }, unsafe { &*TIM6::ptr() }) -} diff --git a/src/09-clocks-and-timers/busy-waiting.md b/src/09-clocks-and-timers/busy-waiting.md deleted file mode 100644 index b98dc5590..000000000 --- a/src/09-clocks-and-timers/busy-waiting.md +++ /dev/null @@ -1,42 +0,0 @@ -# Busy waiting - -The timer should now be properly initialized. All that's left is to implement the `delay` function -using the timer. - -First thing we have to do is set the autoreload register (`ARR`) to make the timer go off in `ms` -milliseconds. Because the counter operates at 1 KHz, the autoreload value will be the same as `ms`. - -``` rust - // Set the timer to go off in `ms` ticks - // 1 tick = 1 ms - tim6.arr.write(|w| w.arr().bits(ms)); -``` - -Next, we need to enable the counter. It will immediately start counting. - -``` rust - // CEN: Enable the counter - tim6.cr1.modify(|_, w| w.cen().set_bit()); -``` - -Now we need to wait until the counter reaches the value of the autoreload register, `ms`, then we'll -know that `ms` milliseconds have passed. That condition is known as an *update event* and its -indicated by the `UIF` bit of the status register (`SR`). - -``` rust - // Wait until the alarm goes off (until the update event occurs) - while !tim6.sr.read().uif().bit_is_set() {} -``` - -This pattern of just waiting until some condition is met, in this case that `UIF` becomes `1`, is -known as *busy waiting* and you'll see it a few more times in this text `:-)`. - -Finally, we must clear (set to `0`) this `UIF` bit. If we don't, next time we enter the `delay` -function we'll think the update event has already happened and skip over the busy waiting part. - -``` rust - // Clear the update event flag - tim6.sr.modify(|_, w| w.uif().clear_bit()); -``` - -Now, put this all together and check if it works as expected. diff --git a/src/09-clocks-and-timers/for-loop-delays.md b/src/09-clocks-and-timers/for-loop-delays.md deleted file mode 100644 index 339dd6686..000000000 --- a/src/09-clocks-and-timers/for-loop-delays.md +++ /dev/null @@ -1,25 +0,0 @@ -# `for` loop delays - -The first challenge is to implement the `delay` function without using any peripheral and the -obvious solution is to implement it as a `for` loop delay: - -``` rust -#[inline(never)] -fn delay(tim6: &tim6::RegisterBlock, ms: u16) { - for _ in 0..1_000 {} -} -``` - -Of course, the above implementation is wrong because it always generates the same delay for any -value of `ms`. - -In this section, you'll have to: - -- Fix the `delay` function to generate delays proportional to its input `ms`. -- Tweak the `delay` function to make the LED roulette spin at a rate of approximately 5 cycles in 4 - seconds (800 milliseconds period). -- The processor inside the microcontroller is clocked at 72 MHz and executes most instructions in one - "tick", a cycle of its clock. How many (`for`) loops do you *think* the `delay` function must do - to generate a delay of 1 second? -- How many `for` loops does `delay(1000)` actually do? -- What happens if compile your program in release mode and run it? diff --git a/src/09-clocks-and-timers/initialization.md b/src/09-clocks-and-timers/initialization.md deleted file mode 100644 index 0e691eeb4..000000000 --- a/src/09-clocks-and-timers/initialization.md +++ /dev/null @@ -1,35 +0,0 @@ -# Initialization - -As with every other peripheral, we'll have to initialize this timer before we can use it. And just -as in the previous section, initialization is going to involve two steps: powering up the timer and -then configuring it. - -Powering up the timer is easy: We just have to set `TIM6EN` bit to 1. This bit is in the `APB1ENR` -register of the `RCC` register block. - -``` rust - // Power on the TIM6 timer - rcc.apb1enr.modify(|_, w| w.tim6en().set_bit()); -``` - -The configuration part is slightly more elaborate. - -First, we'll have to configure the timer to operate in one pulse mode. - -``` rust - // OPM Select one pulse mode - // CEN Keep the counter disabled for now - tim6.cr1.write(|w| w.opm().set_bit().cen().clear_bit()); -``` - -Then, we'll like to have the `CNT` counter operate at a frequency of 1 KHz because our `delay` -function takes a number of milliseconds as arguments and 1 KHz produces a 1 millisecond period. For -that we'll have to configure the prescaler. - -``` rust - // Configure the prescaler to have the counter operate at 1 KHz - tim6.psc.write(|w| w.psc().bits(psc)); -``` - -I'm going to let you figure out the value of the prescaler, `psc`. Remember that the frequency of -the counter is `apb1 / (psc + 1)` and that `apb1` is 8 MHz. diff --git a/src/09-clocks-and-timers/nop.md b/src/09-clocks-and-timers/nop.md deleted file mode 100644 index c331ed86e..000000000 --- a/src/09-clocks-and-timers/nop.md +++ /dev/null @@ -1,45 +0,0 @@ -# NOP - -If in the previous section you compiled the program in release mode and actually looked at the -disassembly, you probably noticed that the `delay` function is optimized away and never gets called -from within `main`. - -LLVM decided that the function wasn't doing anything worthwhile and just removed it. - -There is a way to prevent LLVM from optimizing the `for` loop delay: add a *volatile* assembly -instruction. Any instruction will do but NOP (No OPeration) is a particular good choice in this case -because it has no side effect. - -Your `for` loop delay would become: - -``` rust -#[inline(never)] -fn delay(_tim6: &tim6::RegisterBlock, ms: u16) { - const K: u16 = 3; // this value needs to be tweaked - for _ in 0..(K * ms) { - aux9::nop() - } -} -``` - -And this time `delay` won't be compiled away by LLVM when you compile your program in release mode: - -``` console -$ cargo objdump --bin clocks-and-timers --release -- -d -no-show-raw-insn -clocks-and-timers: file format ELF32-arm-little - -Disassembly of section .text: -clocks_and_timers::delay::h711ce9bd68a6328f: - 8000188: push {r4, r5, r7, lr} - 800018a: movs r4, #0 - 800018c: adds r4, #1 - 800018e: uxth r5, r4 - 8000190: bl #4666 - 8000194: cmp r5, #150 - 8000196: blo #-14 - 8000198: pop {r4, r5, r7, pc} -``` - -Now, test this: Compile the program in debug mode and run it, then compile the program in release -mode and run it. What's the difference between them? What do you think is the main cause of the -difference? Can you think of a way to make them equivalent or at least more similar again? diff --git a/src/09-clocks-and-timers/one-shot-timer.md b/src/09-clocks-and-timers/one-shot-timer.md deleted file mode 100644 index 9ffbdd361..000000000 --- a/src/09-clocks-and-timers/one-shot-timer.md +++ /dev/null @@ -1,48 +0,0 @@ -# One-shot timer - -I hope that, by now, I have convinced you that `for` loop delays are a poor way to implement delays. - -Now, we'll implement delays using a *hardware timer*. The basic function of a (hardware) timer is -... to keep precise track of time. A timer is yet another peripheral that's available to the -microcontroller; thus it can be controlled using registers. - -The microcontroller we are using has several (in fact, more than 10) timers of different kinds -(basic, general purpose, and advanced timers) available to it. Some timers have more *resolution* -(number of bits) than others and some can be used for more than just keeping track of time. - -We'll be using one of the *basic* timers: `TIM6`. This is one of the simplest timers available in -our microcontroller. The documentation for basic timers is in the following section: - -> Section 22 Timers - Page 670 - Reference Manual - -Its registers are documented in: - -> Section 22.4.9 TIM6/TIM7 register map - Page 682 - Reference Manual - -The registers we'll be using in this section are: - -- `SR`, the status register. -- `EGR`, the event generation register. -- `CNT`, the counter register. -- `PSC`, the prescaler register. -- `ARR`, the autoreload register. - -We'll be using the timer as a *one-shot* timer. It will sort of work like an alarm clock. We'll set -the timer to go off after some amount of time and then we'll wait until the timer goes off. The -documentation refers to this mode of operation as *one pulse mode*. - -Here's a description of how a basic timer works when configured in one pulse mode: - -- The counter is enabled by the user (`CR1.CEN = 1`). -- The `CNT` register resets its value to zero and, on each tick, its value gets incremented by one. -- Once the `CNT` register has reached the value of the `ARR` register, the counter will be disabled - by hardware (`CR1.CEN = 0`) and an *update event* will be raised (`SR.UIF = 1`). - -`TIM6` is driven by the APB1 clock, whose frequency doesn't have to necessarily match the processor -frequency. That is, the APB1 clock could be running faster or slower. The default, however, is that -both APB1 and the processor are clocked at 8 MHz. - -The tick mentioned in the functional description of the one pulse mode is *not* the same as one -tick of the APB1 clock. The `CNT` register increases at a frequency of `apb1 / (psc + 1)` -times per second, where `apb1` is the frequency of the APB1 clock and `psc` is the value of the -prescaler register, `PSC`. diff --git a/src/09-clocks-and-timers/openocd.gdb b/src/09-clocks-and-timers/openocd.gdb deleted file mode 100644 index cafe49b1b..000000000 --- a/src/09-clocks-and-timers/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break UserHardFault -break main -continue diff --git a/src/09-clocks-and-timers/putting-it-all-together.md b/src/09-clocks-and-timers/putting-it-all-together.md deleted file mode 100644 index 3d1969e02..000000000 --- a/src/09-clocks-and-timers/putting-it-all-together.md +++ /dev/null @@ -1,55 +0,0 @@ -# Putting it all together - -``` rust -#![no_main] -#![no_std] - -use aux9::{entry, tim6}; - -#[inline(never)] -fn delay(tim6: &tim6::RegisterBlock, ms: u16) { - // Set the timer to go off in `ms` ticks - // 1 tick = 1 ms - tim6.arr.write(|w| w.arr().bits(ms)); - - // CEN: Enable the counter - tim6.cr1.modify(|_, w| w.cen().set_bit()); - - // Wait until the alarm goes off (until the update event occurs) - while !tim6.sr.read().uif().bit_is_set() {} - - // Clear the update event flag - tim6.sr.modify(|_, w| w.uif().clear_bit()); -} - -#[entry] -fn main() -> ! { - let (mut leds, rcc, tim6) = aux9::init(); - - // Power on the TIM6 timer - rcc.apb1enr.modify(|_, w| w.tim6en().set_bit()); - - // OPM Select one pulse mode - // CEN Keep the counter disabled for now - tim6.cr1.write(|w| w.opm().set_bit().cen().clear_bit()); - - // Configure the prescaler to have the counter operate at 1 KHz - // APB1_CLOCK = 8 MHz - // PSC = 7999 - // 8 MHz / (7999 + 1) = 1 KHz - // The counter (CNT) will increase on every millisecond - tim6.psc.write(|w| w.psc().bits(7_999)); - - let ms = 50; - loop { - for curr in 0..8 { - let next = (curr + 1) % 8; - - leds[next].on(); - delay(tim6, ms); - leds[curr].off(); - delay(tim6, ms); - } - } -} -``` diff --git a/src/09-clocks-and-timers/src/main.rs b/src/09-clocks-and-timers/src/main.rs deleted file mode 100644 index 1c434aa7a..000000000 --- a/src/09-clocks-and-timers/src/main.rs +++ /dev/null @@ -1,28 +0,0 @@ -#![no_main] -#![no_std] - -use aux9::{entry, tim6}; - -#[inline(never)] -fn delay(tim6: &tim6::RegisterBlock, ms: u16) { - // TODO implement this -} - -#[entry] -fn main() -> ! { - let (mut leds, rcc, tim6) = aux9::init(); - - // TODO initialize TIM6 - - let ms = 50; - loop { - for curr in 0..8 { - let next = (curr + 1) % 8; - - leds[next].on(); - delay(tim6, ms); - leds[curr].off(); - delay(tim6, ms); - } - } -} diff --git a/src/09-clocks-and-timers/target b/src/09-clocks-and-timers/target deleted file mode 120000 index 6bcd2fc5d..000000000 --- a/src/09-clocks-and-timers/target +++ /dev/null @@ -1 +0,0 @@ -../../target \ No newline at end of file diff --git a/src/12-bluetooth-setup/README.md b/src/12-bluetooth-setup/README.md deleted file mode 100644 index 0b8f63258..000000000 --- a/src/12-bluetooth-setup/README.md +++ /dev/null @@ -1,36 +0,0 @@ -# Bluetooth setup - -It's time to get rid of some wires. Serial communication can not only be emulated on top of the USB -protocol; it can also be emulated on top of the Bluetooth protocol. This serial over Bluetooth -protocol is known as RFCOMM. - -Before we use the Bluetooth module with the microcontroller, let's first interact with it using -minicom/PuTTY. - -The first thing we'll need to do is: turn on the Bluetooth module. We'll have to share some of the -F3 power to it using the following connection: - -

    - -

    - -The recommend steps to wire this up are: - -- Close OpenOCD and `itmdump` -- Disconnect the USB cables from the F3 and the serial module. -- Connect F3's GND pin to the Bluetooth's GND pin using a female to female (F/F) wire. Preferably, a - black one. -- Connect F3's 5V pin to the Bluetooth's VCC pin using a F/F wire. Preferably, a red one. -- Then, connect the USB cable back to the F3. -- Re-launch OpenOCD and `itmdump` - -Two LEDs, a blue one and a red one, on the Bluetooth module should start blinking right after you -power on the F3 board. - -Next thing to do is pair your computer and the Bluetooth module. AFAIK, Windows and mac users can -simply use their OS default Bluetooth manager to do the pairing. The Bluetooth module default pin -is 1234. - -Linux users will have to follow (some of) [these instructions]. - -[these instructions]: linux.md diff --git a/src/12-bluetooth-setup/at-commands.md b/src/12-bluetooth-setup/at-commands.md deleted file mode 100644 index 4a295784d..000000000 --- a/src/12-bluetooth-setup/at-commands.md +++ /dev/null @@ -1,62 +0,0 @@ -## AT commands - -The Bluetooth module and the F3 need to be configured to communicate at the same baud rate. The tutorial code initializes the UART1 serial device to a baud rate of 115200. The HC-05 Bluetooth module is configured at a baud rate of 9600 by default. - -The Bluetooth module supports an AT mode that allows you to examine and change its configuration and settings. To utilize the AT mode, connect the Bluetooth module to the F3 and FTDI as shown in the following diagram. - -

    - -

    - -Recommended steps to enter AT mode: - -- Disconnect the F3 and FTDI from your computer. -- Connect F3's GND pin to the Bluetooth's GND pin using a Female/Female (F/F) wire - (preferably, a black one). -- Connect F3's 5V pin to the Bluetooth's VCC pin using a F/F wire (preferably, a - red one). -- Connect the FTDI RXI pin to the Bluetooth's TXD pin using a Female/Male (F/M) wire. -- Connect the FTDI TXO pin to the Bluetooth's RXD pin using a Female/Male (F/M) wire. -- Now connect the FTDI to your computer via USB cable. -- Next connect the F3 to your computer via USB cable while simultaneously pressing and holding the button on the Bluetooth module (kinda tricky). -- Now, release the button and the Bluetooth module will enter AT mode. You can confirm this by observing that the red LED on the Bluetooth module is blinking in a slow pattern (approx 1-2 seconds on/off). - -The AT mode always operates at a baud rate of 38400, so configure your terminal program for that baud rate and connect to the FTDI device. - -When your serial connection is established, you may get a bunch of `ERROR: (0)` repeatedly being displayed. If this happens, just hit ENTER to stop the errors. - -### Sanity check - -``` -$ at -OK -OK -(etc...) -``` - -Answers `OK` repeatedly until you hit ENTER again. - -### Rename the device - -``` -$ at+name=ferris -OK -``` - -### Query for the current baud rate of the Bluetooth module - -``` -at+uart? -+UART:9600,0,0 -OK -+UART:9600,0,0 -OK -(etc ...) -``` - -### Change the baud rate - -``` -$ at+uart=115200,0,0 -OK -``` diff --git a/src/12-bluetooth-setup/linux.md b/src/12-bluetooth-setup/linux.md deleted file mode 100644 index 73bf33c26..000000000 --- a/src/12-bluetooth-setup/linux.md +++ /dev/null @@ -1,101 +0,0 @@ -# Linux - -If you have a graphical Bluetooth manager, you can use that to pair your computer to the Bluetooth -module and skip most of these steps. You'll probably still have to [this step] though. - -[this step]: #rfcomm-device - -## Power up - -First, your computer's Bluetooth transceiver may be OFF. Check its status with `hciconfig` and turn it -ON if necessary: - -``` console -$ hciconfig -hci0: Type: Primary Bus: USB - BD Address: 68:17:29:XX:XX:XX ACL MTU: 310:10 SCO MTU: 64:8 - DOWN <-- - RX bytes:580 acl:0 sco:0 events:31 errors:0 - TX bytes:368 acl:0 sco:0 commands:30 errors:0 - -$ sudo hciconfig hci0 up - -$ hciconfig -hci0: Type: Primary Bus: USB - BD Address: 68:17:29:XX:XX:XX ACL MTU: 310:10 SCO MTU: 64:8 - UP RUNNING <-- - RX bytes:1190 acl:0 sco:0 events:67 errors:0 - TX bytes:1072 acl:0 sco:0 commands:66 errors:0 -``` - -Then you need to launch the BlueZ (Bluetooth) daemon: - -- On systemd based Linux distributions, use: - -``` console -$ sudo systemctl start bluetooth -``` - -- On Ubuntu (or upstart based Linux distributions), use: - -``` console -$ sudo /etc/init.d/bluetooth start -``` - -You may also need to unblock your Bluetooth, depending on what `rfkill list` says: - -``` console -$ rfkill list -9: hci0: Bluetooth - Soft blocked: yes # <-- - Hard blocked: no - -$ sudo rfkill unblock bluetooth - -$ rfkill list -9: hci0: Bluetooth - Soft blocked: no # <-- - Hard blocked: no - -``` - -## Scan - -``` console -$ hcitool scan -Scanning ... - 20:16:05:XX:XX:XX Ferris -$ # ^^^^^^ -``` - -## Pair - -``` console -$ bluetoothctl -[bluetooth]# scan on -[bluetooth]# agent on -[bluetooth]# pair 20:16:05:XX:XX:XX -Attempting to pair with 20:16:05:XX:XX:XX -[CHG] Device 20:16:05:XX:XX:XX Connected: yes -Request PIN code -[agent] Enter PIN code: 1234 -``` - -## rfcomm device - -We'll create a device file for our Bluetooth module in `/dev`. Then we'll be able to use it just -like we used `/dev/ttyUSB0`. - -``` console -$ sudo rfcomm bind 0 20:16:05:XX:XX:XX -``` - -Because we used `0` as an argument to `bind`, `/dev/rfcomm0` will be the device file assigned to our -Bluetooth module. - -You can release (destroy) the device file at any time with the following command: - -``` console -$ # Don't actually run this command right now! -$ sudo rfcomm release 0 -``` diff --git a/src/12-bluetooth-setup/loopback.md b/src/12-bluetooth-setup/loopback.md deleted file mode 100644 index ddbd10d1f..000000000 --- a/src/12-bluetooth-setup/loopback.md +++ /dev/null @@ -1,26 +0,0 @@ -# Loopback, again - -After pairing your computer to the Bluetooth module, your OS should have created a device file / COM -port for you. On Linux, it should be `/dev/rfcomm*`; on mac, it should be `/dev/cu.*`; and on -Windows, it should be a new COM port. - -We can now test the Bluetooth module with minicom/PuTTY. Because this module doesn't have LED -indicators for the transmission and reception events like the serial module did, we'll test the -module using a loopback connection: - -

    - -

    - -Just connect the module's TXD pin to its RXD pin using a F/F wire. - -Now, connect to the device using `minicom`/`PuTTY`: - -``` console -$ minicom -D /dev/rfcomm0 -``` - -Upon connecting, the blinking pattern of the Bluetooth module should change to: long pause then -blink twice quickly. - -Typing inside minicom/PuTTY terminal should echo back what you type. diff --git a/src/13-serial-over-bluetooth/README.md b/src/13-serial-over-bluetooth/README.md deleted file mode 100644 index 68e7a14b3..000000000 --- a/src/13-serial-over-bluetooth/README.md +++ /dev/null @@ -1,25 +0,0 @@ -# Serial over Bluetooth - -Now that we verify that the Bluetooth module works with minicom/PuTTY, let's connect it to the -microcontroller: - -

    - -

    - -Recommended steps to wire this up: - -- Close OpenOCD and `itmdump`. -- Disconnect the F3 from your computer. -- Connect F3's GND pin to the module's GND pin using a female to female (F/F) wire (preferably, a - black one). -- Connect F3's 5V pin to the module's VCC pin using a F/F wire (preferably, a red one). -- Connect the PA9 (TX) pin on the back of the F3 to the Bluetooth's RXD pin using a F/F wire. -- Connect the PA10 (RX) pin on the back of the F3 to the Bluetooth's TXD pin using a F/F wire. -- Now connect the F3 and your computer using an USB cable. -- Re-launch OpenOCD and `itmdump`. - -And that's it! You should be able to run all the programs you wrote in section 11 without -modification! Just make sure you open the right serial device / COM port. - -**NOTE** If you are having trouble communicating with the bluetooth device, you may need to initialize USART1 with a lower baud rate. Lowering it from 115,200 bps to 9,600 bps might help, as described [here](https://github.com/rust-embedded/discovery/blob/master/src/11-usart/auxiliary/src/lib.rs#L31) diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 4fbb3c6d2..213f5b25d 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -26,22 +26,6 @@ - [Echo server](07-uart/echo-server.md) - [Reverse a string](07-uart/reverse-a-string.md) - [My solution](07-uart/my-solution.md) -- [LEDs, again](08-leds-again/README.md) - - [Power](08-leds-again/power.md) - - [Configuration](08-leds-again/configuration.md) - - [The solution](08-leds-again/the-solution.md) -- [Clocks and timers](09-clocks-and-timers/README.md) - - [`for` loop delays](09-clocks-and-timers/for-loop-delays.md) - - [NOP](09-clocks-and-timers/nop.md) - - [One-shot timer](09-clocks-and-timers/one-shot-timer.md) - - [Initialization](09-clocks-and-timers/initialization.md) - - [Busy waiting](09-clocks-and-timers/busy-waiting.md) - - [Putting it all together](09-clocks-and-timers/putting-it-all-together.md) -- [Bluetooth setup](12-bluetooth-setup/README.md) - - [Linux](12-bluetooth-setup/linux.md) - - [Loopback](12-bluetooth-setup/loopback.md) - - [AT commands](12-bluetooth-setup/at-commands.md) -- [Serial over Bluetooth](13-serial-over-bluetooth/README.md) - [I2C](14-i2c/README.md) - [The general protocol](14-i2c/the-general-protocol.md) - [LSM303DLHC](14-i2c/lsm303dlhc.md) From 94c77db53a84b1a66291c72707cd97477d8dc772 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 27 Mar 2021 15:35:05 +0100 Subject: [PATCH 165/313] remove removed chapters from Cargo.toml --- Cargo.toml | 2 -- 1 file changed, 2 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 54dc13908..2e2500fdf 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -3,8 +3,6 @@ members = [ "src/03-setup", "src/05-led-roulette", "src/07-uart", - "src/08-leds-again", - "src/09-clocks-and-timers", "src/14-i2c", "src/15-led-compass", "src/16-punch-o-meter", From 46a1aa3a837d819183c26972930075a0531c04be Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 27 Mar 2021 15:48:23 +0100 Subject: [PATCH 166/313] Change the introduction of I2C to match the micro:bit --- src/14-i2c/README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/14-i2c/README.md b/src/14-i2c/README.md index a29d22fe0..52f980e96 100644 --- a/src/14-i2c/README.md +++ b/src/14-i2c/README.md @@ -10,9 +10,8 @@ sensor, would require the sensor vendor to come up with another protocol on top (Un)Luckily for us, there are *plenty* of other communication protocols in the embedded space. Some of them are widely used in digital sensors. -The F3 board we are using has three motion sensors in it: an accelerometer, a magnetometer and -gyroscope. The accelerometer and magnetometer are packaged in a single component and can be accessed -via an I2C bus. +The micro:bit board we are using has two motion sensors in it: an accelerometer and a magnetometer. +Both of these sensors are packaged into a single component and can be accessed via an I2C bus. I2C stands for Inter-Integrated Circuit and is a *synchronous* *serial* communication protocol. It uses two lines to exchange data: a data line (SDA) and a clock line (SCL). Because a clock line is From 2c429b36e9b983fc72546fb1dbe0dbe431283dbe Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 27 Mar 2021 16:56:50 +0100 Subject: [PATCH 167/313] Modify the LSM303AGR section of the I2C chapter for micro:bit --- src/14-i2c/{lsm303dlhc.md => lsm303agr.md} | 14 +++++++------- src/SUMMARY.md | 2 +- 2 files changed, 8 insertions(+), 8 deletions(-) rename src/14-i2c/{lsm303dlhc.md => lsm303agr.md} (61%) diff --git a/src/14-i2c/lsm303dlhc.md b/src/14-i2c/lsm303agr.md similarity index 61% rename from src/14-i2c/lsm303dlhc.md rename to src/14-i2c/lsm303agr.md index 60389c6c8..35e90c2c4 100644 --- a/src/14-i2c/lsm303dlhc.md +++ b/src/14-i2c/lsm303agr.md @@ -1,7 +1,7 @@ -# LSM303DLHC +# LSM303AGR -Two of the sensors in the F3, the magnetometer and the accelerometer, are packaged in a single -component: the LSM303DLHC integrated circuit. These two sensors can be accessed via an I2C bus. Each +Both of the motion sensors on the micro:bit, the magnetometer and the accelerometer, are packaged in a single +component: the LSM303AGR integrated circuit. These two sensors can be accessed via an I2C bus. Each sensor behaves like an I2C slave and has a *different* address. Each sensor has its own memory where it stores the results of sensing its environment. Our @@ -13,14 +13,14 @@ similar to the peripherals *inside* the microcontroller. The difference is that not mapped into the microcontrollers' memory. Instead, their registers have to be accessed via the I2C bus. -The main source of information about the LSM303DLHC is its [Data Sheet]. Read through it to see how +The main source of information about the LSM303AGR is its [Data Sheet]. Read through it to see how one can read the sensors' registers. That part is in: -[Data Sheet]: http://www.st.com/resource/en/datasheet/lsm303dlhc.pdf +[Data Sheet]: https://www.st.com/resource/en/datasheet/lsm303agr.pdf -> Section 5.1.1 I2C Operation - Page 20 - LSM303DLHC Data Sheet +> Section 6.1.1 I2C Operation - Page 38 - LSM303AGR Data Sheet The other part of the documentation relevant to this book is the description of the registers. That part is in: -> Section 7 Register description - Page 25 - LSM303DLHC Data Sheet +> Section 8 Register description - Page 46 - LSM303AGR Data Sheet diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 213f5b25d..f1ee10585 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -28,7 +28,7 @@ - [My solution](07-uart/my-solution.md) - [I2C](14-i2c/README.md) - [The general protocol](14-i2c/the-general-protocol.md) - - [LSM303DLHC](14-i2c/lsm303dlhc.md) + - [LSM303AGR](14-i2c/lsm303agr.md) - [Read a single register](14-i2c/read-a-single-register.md) - [The solution](14-i2c/the-solution.md) - [Read several registers](14-i2c/read-several-registers.md) From 22775ae4c84ba26ee5dfcea8fb8be3a3387b9834 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 27 Mar 2021 16:57:55 +0100 Subject: [PATCH 168/313] move 14-i2c to 08-i2c --- Cargo.toml | 2 +- src/{14-i2c => 08-i2c}/.cargo/config | 0 src/{14-i2c => 08-i2c}/Cargo.toml | 0 src/{14-i2c => 08-i2c}/README.md | 0 src/{14-i2c => 08-i2c}/auxiliary/Cargo.toml | 0 src/{14-i2c => 08-i2c}/auxiliary/src/lib.rs | 0 src/{14-i2c => 08-i2c}/lsm303agr.md | 0 src/{14-i2c => 08-i2c}/openocd.gdb | 0 src/{14-i2c => 08-i2c}/read-a-single-register.md | 0 src/{14-i2c => 08-i2c}/read-several-registers.md | 0 src/{14-i2c => 08-i2c}/src/main.rs | 0 src/{14-i2c => 08-i2c}/target | 0 src/{14-i2c => 08-i2c}/the-general-protocol.md | 0 src/{14-i2c => 08-i2c}/the-solution.md | 0 src/SUMMARY.md | 12 ++++++------ 15 files changed, 7 insertions(+), 7 deletions(-) rename src/{14-i2c => 08-i2c}/.cargo/config (100%) rename src/{14-i2c => 08-i2c}/Cargo.toml (100%) rename src/{14-i2c => 08-i2c}/README.md (100%) rename src/{14-i2c => 08-i2c}/auxiliary/Cargo.toml (100%) rename src/{14-i2c => 08-i2c}/auxiliary/src/lib.rs (100%) rename src/{14-i2c => 08-i2c}/lsm303agr.md (100%) rename src/{14-i2c => 08-i2c}/openocd.gdb (100%) rename src/{14-i2c => 08-i2c}/read-a-single-register.md (100%) rename src/{14-i2c => 08-i2c}/read-several-registers.md (100%) rename src/{14-i2c => 08-i2c}/src/main.rs (100%) rename src/{14-i2c => 08-i2c}/target (100%) rename src/{14-i2c => 08-i2c}/the-general-protocol.md (100%) rename src/{14-i2c => 08-i2c}/the-solution.md (100%) diff --git a/Cargo.toml b/Cargo.toml index 2e2500fdf..5f74a4a05 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -3,7 +3,7 @@ members = [ "src/03-setup", "src/05-led-roulette", "src/07-uart", - "src/14-i2c", + "src/08-i2c", "src/15-led-compass", "src/16-punch-o-meter", ] diff --git a/src/14-i2c/.cargo/config b/src/08-i2c/.cargo/config similarity index 100% rename from src/14-i2c/.cargo/config rename to src/08-i2c/.cargo/config diff --git a/src/14-i2c/Cargo.toml b/src/08-i2c/Cargo.toml similarity index 100% rename from src/14-i2c/Cargo.toml rename to src/08-i2c/Cargo.toml diff --git a/src/14-i2c/README.md b/src/08-i2c/README.md similarity index 100% rename from src/14-i2c/README.md rename to src/08-i2c/README.md diff --git a/src/14-i2c/auxiliary/Cargo.toml b/src/08-i2c/auxiliary/Cargo.toml similarity index 100% rename from src/14-i2c/auxiliary/Cargo.toml rename to src/08-i2c/auxiliary/Cargo.toml diff --git a/src/14-i2c/auxiliary/src/lib.rs b/src/08-i2c/auxiliary/src/lib.rs similarity index 100% rename from src/14-i2c/auxiliary/src/lib.rs rename to src/08-i2c/auxiliary/src/lib.rs diff --git a/src/14-i2c/lsm303agr.md b/src/08-i2c/lsm303agr.md similarity index 100% rename from src/14-i2c/lsm303agr.md rename to src/08-i2c/lsm303agr.md diff --git a/src/14-i2c/openocd.gdb b/src/08-i2c/openocd.gdb similarity index 100% rename from src/14-i2c/openocd.gdb rename to src/08-i2c/openocd.gdb diff --git a/src/14-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md similarity index 100% rename from src/14-i2c/read-a-single-register.md rename to src/08-i2c/read-a-single-register.md diff --git a/src/14-i2c/read-several-registers.md b/src/08-i2c/read-several-registers.md similarity index 100% rename from src/14-i2c/read-several-registers.md rename to src/08-i2c/read-several-registers.md diff --git a/src/14-i2c/src/main.rs b/src/08-i2c/src/main.rs similarity index 100% rename from src/14-i2c/src/main.rs rename to src/08-i2c/src/main.rs diff --git a/src/14-i2c/target b/src/08-i2c/target similarity index 100% rename from src/14-i2c/target rename to src/08-i2c/target diff --git a/src/14-i2c/the-general-protocol.md b/src/08-i2c/the-general-protocol.md similarity index 100% rename from src/14-i2c/the-general-protocol.md rename to src/08-i2c/the-general-protocol.md diff --git a/src/14-i2c/the-solution.md b/src/08-i2c/the-solution.md similarity index 100% rename from src/14-i2c/the-solution.md rename to src/08-i2c/the-solution.md diff --git a/src/SUMMARY.md b/src/SUMMARY.md index f1ee10585..6724aada5 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -26,12 +26,12 @@ - [Echo server](07-uart/echo-server.md) - [Reverse a string](07-uart/reverse-a-string.md) - [My solution](07-uart/my-solution.md) -- [I2C](14-i2c/README.md) - - [The general protocol](14-i2c/the-general-protocol.md) - - [LSM303AGR](14-i2c/lsm303agr.md) - - [Read a single register](14-i2c/read-a-single-register.md) - - [The solution](14-i2c/the-solution.md) - - [Read several registers](14-i2c/read-several-registers.md) +- [I2C](08-i2c/README.md) + - [The general protocol](08-i2c/the-general-protocol.md) + - [LSM303AGR](08-i2c/lsm303agr.md) + - [Read a single register](08-i2c/read-a-single-register.md) + - [The solution](08-i2c/the-solution.md) + - [Read several registers](08-i2c/read-several-registers.md) - [LED compass](15-led-compass/README.md) - [Take 1](15-led-compass/take-1.md) - [Solution 1](15-led-compass/solution-1.md) From 33c508a6c234708a14d4e81e7a8203889520f66f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 27 Mar 2021 17:10:04 +0100 Subject: [PATCH 169/313] Fix the CI for I2C --- .github/workflows/ci.yml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 1365b0a08..b97083f6b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -14,9 +14,7 @@ jobs: chapter: - 05-led-roulette - 07-uart - - 08-leds-again - - 09-clocks-and-timers - - 14-i2c + - 08-i2c - 15-led-compass - 16-punch-o-meter steps: From c7875f4122de1775b225d41a32f7ccc582ccfe45 Mon Sep 17 00:00:00 2001 From: D4ntin <9372835+D4ntin@users.noreply.github.com> Date: Mon, 29 Mar 2021 16:20:15 +0200 Subject: [PATCH 170/313] Update flash-it.md fixed typo "First thing we need ~is~ to do is launch OpenOCD." --- src/05-led-roulette/flash-it.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index e64ba5555..7b002d5c2 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -7,7 +7,7 @@ In this case, our `led-roulette` program will be the *only* program in the micro By this I mean that there's nothing else running on the microcontroller: no OS, no "daemon", nothing. `led-roulette` has full control over the device. -Onto the actual flashing. First thing we need is to do is launch OpenOCD. We did that in the +Onto the actual flashing. First thing we need to do is launch OpenOCD. We did that in the previous section but this time we'll run the command inside a temporary directory (`/tmp` on \*nix; `%TEMP%` on Windows). From 6b707dbf655fedc845eaf109ab59776b49bdc4f1 Mon Sep 17 00:00:00 2001 From: Jonathan Arnett Date: Tue, 6 Apr 2021 21:14:56 -0400 Subject: [PATCH 171/313] Fix small typo in Linux setup My device has identical `idProduct` and `idVendor` values to the one used for the documentation. `lsusb | grep STM` outputs: ``` Bus 003 Device 033: ID 0483:374b STMicroelectronics ST-LINK/V2.1 ``` The verbose version, `lsusb -v`, outputs ``` ... idVendor 0x0483 STMicroelectronics idProduct 0x374b ST-LINK/V2.1 ... ``` Which leads me to the belief that the first value in the short output is the vendor and the latter is the product. --- src/03-setup/linux.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 7985ccb7a..0835d28a2 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -136,7 +136,7 @@ It should result in something like: $ lsusb | grep ST-LINK Bus 003 Device 003: ID 0483:374b STMicroelectronics ST-LINK/V2.1 ``` -So the `idProduct` is `0483` and `idVendor` is `374b`. +So the `idVendor` is `0483` and `idProduct` is `374b`. ### Create `/etc/udev/rules.d/99-openocd.rules`: ``` console From fb2ec314298b5002c694e3874942d10a804be650 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 10 Apr 2021 19:28:40 +0200 Subject: [PATCH 172/313] the rest of I2C without my solution --- src/08-i2c/.cargo/config | 5 +- src/08-i2c/Cargo.toml | 12 ++- src/08-i2c/Embed.toml | 11 ++ src/08-i2c/auxiliary/Cargo.toml | 14 --- src/08-i2c/auxiliary/src/lib.rs | 42 -------- src/08-i2c/build.rs | 30 ++++++ src/08-i2c/memory.x | 6 ++ src/08-i2c/my-solution.md | 1 + src/08-i2c/openocd.gdb | 10 -- src/08-i2c/read-a-single-register.md | 83 +++++++++------ src/08-i2c/read-several-registers.md | 151 --------------------------- src/08-i2c/src/main.rs | 55 +++++----- src/08-i2c/target | 1 - src/08-i2c/the-challenge.md | 9 ++ src/08-i2c/the-solution.md | 69 ------------ src/08-i2c/using-a-driver.md | 86 +++++++++++++++ src/SUMMARY.md | 5 +- 17 files changed, 236 insertions(+), 354 deletions(-) create mode 100644 src/08-i2c/Embed.toml delete mode 100644 src/08-i2c/auxiliary/Cargo.toml delete mode 100644 src/08-i2c/auxiliary/src/lib.rs create mode 100644 src/08-i2c/build.rs create mode 100644 src/08-i2c/memory.x create mode 100644 src/08-i2c/my-solution.md delete mode 100644 src/08-i2c/openocd.gdb delete mode 100644 src/08-i2c/read-several-registers.md delete mode 120000 src/08-i2c/target create mode 100644 src/08-i2c/the-challenge.md delete mode 100644 src/08-i2c/the-solution.md create mode 100644 src/08-i2c/using-a-driver.md diff --git a/src/08-i2c/.cargo/config b/src/08-i2c/.cargo/config index f27a4a749..a0ec1777f 100644 --- a/src/08-i2c/.cargo/config +++ b/src/08-i2c/.cargo/config @@ -1,8 +1,7 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] rustflags = [ "-C", "link-arg=-Tlink.x", ] [build] -target = "thumbv7em-none-eabihf" +target = "thumbv6m-none-eabi" diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index 4f33f527a..e13c6548f 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -1,8 +1,16 @@ [package] -authors = ["Jorge Aparicio "] +authors = ["Henrik Böving "] edition = "2018" name = "i2c" version = "0.1.0" [dependencies] -aux14 = { path = "auxiliary" } +cortex-m = "0.6.0" +cortex-m-rt = "0.6.10" +panic-halt = "0.2.0" +nrf51-hal = "0.11.0" +rtt-target = { version = "0.2.2", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +nb = "1.0.0" +heapless = "0.5.6" +lsm303agr = "0.1.1" \ No newline at end of file diff --git a/src/08-i2c/Embed.toml b/src/08-i2c/Embed.toml new file mode 100644 index 000000000..321db357b --- /dev/null +++ b/src/08-i2c/Embed.toml @@ -0,0 +1,11 @@ +[default.general] +chip = "nrf51822_xxAA" + +[default.reset] +halt_afterwards = false + +[default.rtt] +enabled = true + +[default.gdb] +enabled = false diff --git a/src/08-i2c/auxiliary/Cargo.toml b/src/08-i2c/auxiliary/Cargo.toml deleted file mode 100644 index 0a582ddba..000000000 --- a/src/08-i2c/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux14" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" diff --git a/src/08-i2c/auxiliary/src/lib.rs b/src/08-i2c/auxiliary/src/lib.rs deleted file mode 100644 index c41b37f9e..000000000 --- a/src/08-i2c/auxiliary/src/lib.rs +++ /dev/null @@ -1,42 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // bug rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::{asm::bkpt, iprint, iprintln}; -pub use cortex_m_rt::entry; -pub use f3::hal::{delay::Delay, prelude, stm32f30x::i2c1}; - -use cortex_m::peripheral::ITM; -use f3::{ - hal::{ - i2c::I2c, - prelude::*, - stm32f30x::{self, I2C1}, - }, - Lsm303dlhc, -}; - -pub fn init() -> (&'static i2c1::RegisterBlock, Delay, ITM) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - - let mut flash = dp.FLASH.constrain(); - let mut rcc = dp.RCC.constrain(); - - let clocks = rcc.cfgr.freeze(&mut flash.acr); - - let mut gpiob = dp.GPIOB.split(&mut rcc.ahb); - let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - - let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); - - Lsm303dlhc::new(i2c).unwrap(); - - let delay = Delay::new(cp.SYST, clocks); - - unsafe { (&mut *(I2C1::ptr() as *mut _), delay, cp.ITM) } -} diff --git a/src/08-i2c/build.rs b/src/08-i2c/build.rs new file mode 100644 index 000000000..c8d8c9141 --- /dev/null +++ b/src/08-i2c/build.rs @@ -0,0 +1,30 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory (wherever `Cargo.toml` is). However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! a rebuild of the application with new memory settings is ensured after updating `memory.x`. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/src/08-i2c/memory.x b/src/08-i2c/memory.x new file mode 100644 index 000000000..9e2ab65f6 --- /dev/null +++ b/src/08-i2c/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE K = KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x00000000, LENGTH = 256K + RAM : ORIGIN = 0x20000000, LENGTH = 16K +} diff --git a/src/08-i2c/my-solution.md b/src/08-i2c/my-solution.md new file mode 100644 index 000000000..63845e651 --- /dev/null +++ b/src/08-i2c/my-solution.md @@ -0,0 +1 @@ +# My solution diff --git a/src/08-i2c/openocd.gdb b/src/08-i2c/openocd.gdb deleted file mode 100644 index cafe49b1b..000000000 --- a/src/08-i2c/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break UserHardFault -break main -continue diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index c1a34ae06..67a5b8402 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -2,40 +2,59 @@ Let's put all that theory into practice! -Just like with the USART peripheral, I've taken care of initializing everything before you reach -`main` so you'll only have to deal with the following registers: - -- `CR2`. Control register 2. -- `ISR`. Interrupt and status register. -- `TXDR`. Transmit data register. -- `RXDR`. Receive data register. - -These registers are documented in the following section of the Reference Manual: - -> Section 28.7 I2C registers - Page 868 - Reference Manual - -We'll be using the `I2C1` peripheral in conjunction with pins `PB6` (`SCL`) and `PB7` (`SDA`). - -You won't have to wire anything this time because the sensor is on the board and it's already -connected to the microcontroller. However, I would recommend that you disconnect the serial / -Bluetooth module from the F3 to make it easier to manipulate. Later on, we'll be moving the board -around quite a bit. - -Your task is to write a program that reads the contents of the magnetometer's `IRA_REG_M` register. -This register is read only and always contains the value `0b01001000`. - -The microcontroller will be taking the role of the I2C master and the magnetometer inside the -LSM303DLHC will be the I2C slave. - -Here's the starter code. You'll have to implement the `TODO`s. +First things first we need to know the slave addresses of both the accelerometer +and the magnetometer inside the chip, these can be found in the LSM303AGR's +datasheet on page 39 and are: + +- 0011001 for the accelerometer +- 0011110 for the magnetometer + +> **NOTE** Remember that these are only the 7 leading bits of the address, +> the 8th bit is going to be the bit that determines whether we are +> performing a read or write. + +Next up we'll need a register to read from. Lots of I2C chips out there will +provide some sort of device identification register for their masters to read. +This is done since considering the thousands (or even millions) of I2C chips +out there it is highly likely that at some point two chips with the same address +will end up being built (after all the address is "only" 7 bit wide). With +this device ID register a driver could then make sure that it is indeed talking +to a LSM303AGR and not some other chip that just happens to have the same address. +As you can read in the LSM303AGR's datasheet (specifically on page 46 and 61) +it does provide two registers called `WHO_AM_I_A` at address `0x0f` and `WHO_AM_I_M` +at address `0x4f` which contain some bit patterns that are unique to the device +(The A is as in accelerometer and the M is as in magnetometer). + +With these two things regarding the slave chip out of the way we'll now have +to take a look at the master. As always we'll have to figure out the way our +microcontroller is connected to the chip we want to communicate with. On page +3 of the [schematic] you'll find the LSM303AGR, as you already know from the +I2C protocol description we are particularly interested in where the SCL and SDA +lines are connected to. On page 5 of the schematic you'll see that SCL is connected +to P0.00 and SDA is connected to P0.30. + +[schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF + +The only thing missing now is the software part, i.e. which API of the nrf51-hal +we should use for this. However if you take a look at the index of the +[HAL's documentation] you'll notice that nothing named I2C is actually noted +there. This is because some manufacturers don't name their I2C peripheral +I2C but instead TWI (as in Two Wire Interface), meaning that the twi module +is the one we are interested in. + +[HAL's documentation]: https://docs.rs/nrf51-hal/0.12.1/nrf51_hal/index.html + +Now if we put the documentation of this module together will all the other information +we have gathered so far we'll end up with this piece of code to read out and +print the two device IDs: ``` rust {{#include src/main.rs}} ``` -To give you some extra help, these are the exact bitfields you'll be working with: - -- `CR2`: `SADD1`, `RD_WRN`, `NBYTES`, `START`, `AUTOEND` -- `ISR`: `TXIS`, `RXNE`, `TC` -- `TXDR`: `TXDATA` -- `RXDR`: `RXDATA` +## Testing it +As always you can just use +``` +$ carg-embed +``` +in order to test our little example program. diff --git a/src/08-i2c/read-several-registers.md b/src/08-i2c/read-several-registers.md deleted file mode 100644 index c162723c5..000000000 --- a/src/08-i2c/read-several-registers.md +++ /dev/null @@ -1,151 +0,0 @@ -# Read several registers - -Reading the `IRA_REG_M` register was a good test of our understanding of the I2C protocol but that -register contains uninteresting information. - -This time, we'll read the registers of the magnetometer that actually expose the sensor readings. -Six contiguous registers are involved and they start with `OUT_X_H_M` at address `0x03`. - -We'll modify our previous program to read these six registers. Only a few modifications are needed. - -We'll need to change the address we request from the magnetometer from `IRA_REG_M` to `OUT_X_H_M`. - -``` rust - // Send the address of the register that we want to read: OUT_X_H_M - i2c1.txdr.write(|w| w.txdata().bits(OUT_X_H_M)); -``` - -We'll have to request the slave for six bytes rather than just one. - -``` rust - // Broadcast RESTART - // Broadcast the MAGNETOMETER address with the R/W bit set to Read - i2c1.cr2.modify(|_, w| { - w.start().set_bit(); - w.nbytes().bits(6); - w.rd_wrn().set_bit(); - w.autoend().set_bit() - }); -``` - -And fill a buffer rather than read just one byte: - -``` rust - let mut buffer = [0u8; 6]; - for byte in &mut buffer { - // Wait until we have received the contents of the register - while i2c1.isr.read().rxne().bit_is_clear() {} - - *byte = i2c1.rxdr.read().rxdata().bits(); - } - - // Broadcast STOP (automatic because of `AUTOEND = 1`) -``` - -Putting it all together inside a loop alongside a delay to reduce the data throughput: - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux14::{entry, iprint, iprintln, prelude::*}; - -// Slave address -const MAGNETOMETER: u8 = 0b001_1110; - -// Addresses of the magnetometer's registers -const OUT_X_H_M: u8 = 0x03; -const IRA_REG_M: u8 = 0x0A; - -#[entry] -fn main() -> ! { - let (i2c1, mut delay, mut itm) = aux14::init(); - - loop { - // Broadcast START - // Broadcast the MAGNETOMETER address with the R/W bit set to Write - i2c1.cr2.write(|w| { - w.start().set_bit(); - w.sadd1().bits(MAGNETOMETER); - w.rd_wrn().clear_bit(); - w.nbytes().bits(1); - w.autoend().clear_bit() - }); - - // Wait until we can send more data - while i2c1.isr.read().txis().bit_is_clear() {} - - // Send the address of the register that we want to read: OUT_X_H_M - i2c1.txdr.write(|w| w.txdata().bits(OUT_X_H_M)); - - // Wait until the previous byte has been transmitted - while i2c1.isr.read().tc().bit_is_clear() {} - - // Broadcast RESTART - // Broadcast the MAGNETOMETER address with the R/W bit set to Read - i2c1.cr2.modify(|_, w| { - w.start().set_bit(); - w.nbytes().bits(6); - w.rd_wrn().set_bit(); - w.autoend().set_bit() - }); - - let mut buffer = [0u8; 6]; - for byte in &mut buffer { - // Wait until we have received something - while i2c1.isr.read().rxne().bit_is_clear() {} - - *byte = i2c1.rxdr.read().rxdata().bits(); - } - // Broadcast STOP (automatic because of `AUTOEND = 1`) - - iprintln!(&mut itm.stim[0], "{:?}", buffer); - - delay.delay_ms(1_000_u16); - } -} -``` - -If you run this, you should printed in the `itmdump`'s console a new array of six bytes every -second. The values within the array should change if you move around the board. - -``` console -$ # itmdump terminal -(..) -[0, 45, 255, 251, 0, 193] -[0, 44, 255, 249, 0, 193] -[0, 49, 255, 250, 0, 195] -``` - -But these bytes don't make much sense like that. Let's turn them into actual readings: - -``` rust - let x_h = u16::from(buffer[0]); - let x_l = u16::from(buffer[1]); - let z_h = u16::from(buffer[2]); - let z_l = u16::from(buffer[3]); - let y_h = u16::from(buffer[4]); - let y_l = u16::from(buffer[5]); - - let x = ((x_h << 8) + x_l) as i16; - let y = ((y_h << 8) + y_l) as i16; - let z = ((z_h << 8) + z_l) as i16; - - iprintln!(&mut itm.stim[0], "{:?}", (x, y, z)); -``` - -Now it should look better: - -``` console -$ # `itmdump terminal -(..) -(44, 196, -7) -(45, 195, -6) -(46, 196, -9) -``` - -This is the Earth's magnetic field decomposed alongside the XYZ axis of the magnetometer. - -In the next section, we'll learn how to make sense of these numbers. diff --git a/src/08-i2c/src/main.rs b/src/08-i2c/src/main.rs index 8da6b2bf6..2aa5b3e63 100644 --- a/src/08-i2c/src/main.rs +++ b/src/08-i2c/src/main.rs @@ -2,44 +2,43 @@ #![no_main] #![no_std] -#[allow(unused_imports)] -use aux14::{entry, iprint, iprintln, prelude::*}; +use cortex_m_rt::entry; +use rtt_target::{rtt_init_print, rprintln}; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; -// Slave address -const MAGNETOMETER: u8 = 0b001_1110; +const ACCELEROMETER_ADDR: u8 = 0b0011001; +const MAGNETOMETER_ADDR: u8 = 0b0011110; -// Addresses of the magnetometer's registers -const OUT_X_H_M: u8 = 0x03; -const IRA_REG_M: u8 = 0x0A; +const ACCELEROMETER_ID_REG: u8 = 0x0f; +const MAGNETOMETER_ID_REG: u8 = 0x4f; #[entry] fn main() -> ! { - let (i2c1, _delay, mut itm) = aux14::init(); + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); - // Stage 1: Send the address of the register we want to read to the - // magnetometer - { - // TODO Broadcast START + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let scl = p0.p0_00.into_floating_input().degrade(); + let sda = p0.p0_30.into_floating_input().degrade(); - // TODO Broadcast the MAGNETOMETER address with the R/W bit set to Write - - // TODO Send the address of the register that we want to read: IRA_REG_M - } - - // Stage 2: Receive the contents of the register we asked for - let byte = { - // TODO Broadcast RESTART - - // TODO Broadcast the MAGNETOMETER address with the R/W bit set to Read + let pins = hal::twi::Pins { + scl, + sda, + }; - // TODO Receive the contents of the register + // Use a frequency of 100 khz for the bus + let mut i2c = hal::twi::Twi::new(p.TWI1, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); + let mut ac_data = [0]; + let mut ma_data = [0]; - // TODO Broadcast STOP - 0 - }; + // First write the address + register onto the bus, then read the chip's responses + i2c.write_read(ACCELEROMETER_ADDR, &[ACCELEROMETER_ID_REG], &mut ac_data).unwrap(); + i2c.write_read(MAGNETOMETER_ADDR, &[MAGNETOMETER_ID_REG], &mut ma_data).unwrap(); - // Expected output: 0x0A - 0b01001000 - iprintln!(&mut itm.stim[0], "0x{:02X} - 0b{:08b}", IRA_REG_M, byte); + rprintln!("The accelerometer chip's id is: {:#b}", ac_data[0]); + rprintln!("The magnetometer chip's id is: {:#b}", ma_data[0]); loop {} } diff --git a/src/08-i2c/target b/src/08-i2c/target deleted file mode 120000 index 6bcd2fc5d..000000000 --- a/src/08-i2c/target +++ /dev/null @@ -1 +0,0 @@ -../../target \ No newline at end of file diff --git a/src/08-i2c/the-challenge.md b/src/08-i2c/the-challenge.md new file mode 100644 index 000000000..26c9773df --- /dev/null +++ b/src/08-i2c/the-challenge.md @@ -0,0 +1,9 @@ +# The challenge + +The challenge for this chapter is, to build a small application that +communicates with the outside world via the serial interface introduced +in the last chapter. It should be able to receive the commands "magnetometer" +as well as "accelerometer" and then print the corresponding sensor data +in response. This time no template code will be provided since all you need +(apart from the magnetometer API which you will have to look up in the documentation) +is already provided in the UART and this chapter. diff --git a/src/08-i2c/the-solution.md b/src/08-i2c/the-solution.md deleted file mode 100644 index 6455c1200..000000000 --- a/src/08-i2c/the-solution.md +++ /dev/null @@ -1,69 +0,0 @@ -# The solution - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux14::{entry, iprint, iprintln, prelude::*}; - -// Slave address -const MAGNETOMETER: u8 = 0b001_1110; - -// Addresses of the magnetometer's registers -const OUT_X_H_M: u8 = 0x03; -const IRA_REG_M: u8 = 0x0A; - -#[entry] -fn main() -> ! { - let (i2c1, _delay, mut itm) = aux14::init(); - - // Stage 1: Send the address of the register we want to read to the - // magnetometer - { - // Broadcast START - // Broadcast the MAGNETOMETER address with the R/W bit set to Write - i2c1.cr2.write(|w| { - w.start().set_bit(); - w.sadd1().bits(MAGNETOMETER); - w.rd_wrn().clear_bit(); - w.nbytes().bits(1); - w.autoend().clear_bit() - }); - - // Wait until we can send more data - while i2c1.isr.read().txis().bit_is_clear() {} - - // Send the address of the register that we want to read: IRA_REG_M - i2c1.txdr.write(|w| w.txdata().bits(IRA_REG_M)); - - // Wait until the previous byte has been transmitted - while i2c1.isr.read().tc().bit_is_clear() {} - } - - // Stage 2: Receive the contents of the register we asked for - let byte = { - // Broadcast RESTART - // Broadcast the MAGNETOMETER address with the R/W bit set to Read - i2c1.cr2.modify(|_, w| { - w.start().set_bit(); - w.nbytes().bits(1); - w.rd_wrn().set_bit(); - w.autoend().set_bit() - }); - - // Wait until we have received the contents of the register - while i2c1.isr.read().rxne().bit_is_clear() {} - - // Broadcast STOP (automatic because of `AUTOEND = 1`) - - i2c1.rxdr.read().rxdata().bits() - }; - - // Expected output: 0x0A - 0b01001000 - iprintln!(&mut itm.stim[0], "0x{:02X} - 0b{:08b}", IRA_REG_M, byte); - - loop {} -} -``` diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md new file mode 100644 index 000000000..82bbb4c2f --- /dev/null +++ b/src/08-i2c/using-a-driver.md @@ -0,0 +1,86 @@ +# Using a driver + +As we already discussed in chapter 5 `embedded-hal` provides abstractions +which can be used to write platform independent code that can interact with +hardware. In fact all the methods we have used to interact with hardware +in chapter 7 and up until now in chapter 8 were from traits, defined by `embedded-hal`. +Now we'll make actual use of the traits defined by `embedded-hal` provides for the first time. + +Since it would be pointless to just implement a driver for our LSM303AGR for every platform +embedded Rust supports (and new ones that might eventually pop up) one can write a driver +that simply consume generic types that implement `embedded-hal` traits in order to provide +a platform agnostic version of a driver. Luckily for us this has already been done in the +[lsm303agr] crate. Hence reading the actual accelerometer and magnetometer values will now +be basically a plug and play experience + reading a bit of documentation. In fact the crates.io +page already provides us with everything we need to know in order to read accelerometer data, we'll +just have to adapt it to our chip: + +[lsm303agr]: https://crates.io/crates/lsm303agr + +```rust +use linux_embedded_hal::I2cdev; +use lsm303agr::{AccelOutputDataRate, Lsm303agr}; + +fn main() { + let dev = I2cdev::new("/dev/i2c-1").unwrap(); + let mut sensor = Lsm303agr::new_with_i2c(dev); + sensor.init().unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz50).unwrap(); + loop { + if sensor.accel_status().unwrap().xyz_new_data { + let data = sensor.accel_data().unwrap(); + println!("Acceleration: x {} y {} z {}", data.x, data.y, data.z); + } + } +} +``` + +Because we already know how to create an instance of an object that implements +the `embedded-hal` I2C traits from the last page this is quite trivial: + +```rust +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::{rtt_init_print, rprintln}; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; +use lsm303agr::{AccelOutputDataRate, Lsm303agr}; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let scl = p0.p0_00.into_floating_input().degrade(); + let sda = p0.p0_30.into_floating_input().degrade(); + + let pins = hal::twi::Pins { + scl, + sda, + }; + + // Use a frequency of 100 khz for the bus + let i2c = hal::twi::Twi::new(p.TWI1, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); + + // Code from documentation + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz50).unwrap(); + loop { + if sensor.accel_status().unwrap().xyz_new_data { + let data = sensor.accel_data().unwrap(); + // RTT instead of normal print + rprintln!("Acceleration: x {} y {} z {}", data.x, data.y, data.z); + } + } +} +``` + +Just like the last snippet you should just be able to try this out with `cargo-embed`. +Furthermore if you (physically) move around your micro:bit a little bit you should see the +acceleration numbers that are being printed change. diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 6724aada5..990046216 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -30,8 +30,9 @@ - [The general protocol](08-i2c/the-general-protocol.md) - [LSM303AGR](08-i2c/lsm303agr.md) - [Read a single register](08-i2c/read-a-single-register.md) - - [The solution](08-i2c/the-solution.md) - - [Read several registers](08-i2c/read-several-registers.md) + - [Using a driver](08-i2c/using-a-driver.md) + - [The challenge](08-i2c/the-challenge.md) + - [My solution](08-i2c/my-solution.md) - [LED compass](15-led-compass/README.md) - [Take 1](15-led-compass/take-1.md) - [Solution 1](15-led-compass/solution-1.md) From e5f94a005815e443f35a1b36b3020e40f32bb9aa Mon Sep 17 00:00:00 2001 From: Patrick Doyle Date: Fri, 23 Apr 2021 12:05:11 -0400 Subject: [PATCH 173/313] Fix breaking change in cortex-m 0.5.11. Fix it by sticking with cortex-m 0.5.6. --- src/11-usart/auxiliary/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/auxiliary/Cargo.toml b/src/11-usart/auxiliary/Cargo.toml index 252253981..0a052ec44 100644 --- a/src/11-usart/auxiliary/Cargo.toml +++ b/src/11-usart/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux11" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "=0.5.6" # 0.5.11 introduces a breaking change. Use 0.5.6, since we know it works for this example cortex-m-rt = "0.6.3" panic-itm = "0.4.0" From 574029e8cb4fa202b674e44a77b2aaeca919f987 Mon Sep 17 00:00:00 2001 From: Patrick Doyle Date: Sun, 25 Apr 2021 15:55:33 -0400 Subject: [PATCH 174/313] Cleanup from review comments -- use cortex-m 0.5.6 in chapters 14 & 15 --- src/14-i2c/auxiliary/Cargo.toml | 2 +- src/15-led-compass/auxiliary/Cargo.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/14-i2c/auxiliary/Cargo.toml b/src/14-i2c/auxiliary/Cargo.toml index 0a582ddba..1de6af3b2 100644 --- a/src/14-i2c/auxiliary/Cargo.toml +++ b/src/14-i2c/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux14" version = "0.1.0" [dependencies] -cortex-m = "0.6.3" +cortex-m = "=0.5.6" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" diff --git a/src/15-led-compass/auxiliary/Cargo.toml b/src/15-led-compass/auxiliary/Cargo.toml index 8a7f25acd..13fbdcdc0 100644 --- a/src/15-led-compass/auxiliary/Cargo.toml +++ b/src/15-led-compass/auxiliary/Cargo.toml @@ -5,7 +5,7 @@ name = "aux15" version = "0.1.0" [dependencies] -cortex-m = "0.6.3" +cortex-m = "=0.5.6" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" From a4e2d71402f01065aff5736526f85b5cd42c5f6a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 5 May 2021 15:25:17 +0200 Subject: [PATCH 175/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/08-i2c/read-a-single-register.md | 6 +++--- src/08-i2c/using-a-driver.md | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index 67a5b8402..3859a07b4 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -35,11 +35,11 @@ to P0.00 and SDA is connected to P0.30. [schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF -The only thing missing now is the software part, i.e. which API of the nrf51-hal +The only thing missing now is the software part, i.e. which API of the `nrf51-hal` we should use for this. However if you take a look at the index of the [HAL's documentation] you'll notice that nothing named I2C is actually noted there. This is because some manufacturers don't name their I2C peripheral -I2C but instead TWI (as in Two Wire Interface), meaning that the twi module +"I2C" but instead "TWI" (as in Two Wire Interface), meaning that the TWI module is the one we are interested in. [HAL's documentation]: https://docs.rs/nrf51-hal/0.12.1/nrf51_hal/index.html @@ -55,6 +55,6 @@ print the two device IDs: ## Testing it As always you can just use ``` -$ carg-embed +$ cargo embed ``` in order to test our little example program. diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md index 82bbb4c2f..613e0e91b 100644 --- a/src/08-i2c/using-a-driver.md +++ b/src/08-i2c/using-a-driver.md @@ -12,7 +12,7 @@ that simply consume generic types that implement `embedded-hal` traits in order a platform agnostic version of a driver. Luckily for us this has already been done in the [lsm303agr] crate. Hence reading the actual accelerometer and magnetometer values will now be basically a plug and play experience + reading a bit of documentation. In fact the crates.io -page already provides us with everything we need to know in order to read accelerometer data, we'll +page already provides us with everything we need to know in order to read accelerometer data but using a Raspberry Pi. We'll just have to adapt it to our chip: [lsm303agr]: https://crates.io/crates/lsm303agr From 8de244fcf199c922eccb77e9b3c1fd2e57cfb7d3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 5 May 2021 16:21:15 +0200 Subject: [PATCH 176/313] Fixes and I2C challenge solution --- src/08-i2c/my-solution.md | 84 ++++++++++++++++++++++++++++++++++++ src/08-i2c/src/main.rs | 12 +++--- src/08-i2c/the-challenge.md | 7 ++- src/08-i2c/using-a-driver.md | 8 ++-- 4 files changed, 99 insertions(+), 12 deletions(-) diff --git a/src/08-i2c/my-solution.md b/src/08-i2c/my-solution.md index 63845e651..f56e3feda 100644 --- a/src/08-i2c/my-solution.md +++ b/src/08-i2c/my-solution.md @@ -1 +1,85 @@ # My solution + +```rust +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use nrf51_hal as hal; +use hal::prelude::*; +use lsm303agr::{AccelOutputDataRate, MagOutputDataRate, Lsm303agr}; +use heapless::{consts, Vec, String}; +use nb::block; +use core::fmt::Write; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let p = hal::pac::Peripherals::take().unwrap(); + + let p0 = hal::gpio::p0::Parts::new(p.GPIO); + let scl = p0.p0_00.into_floating_input().degrade(); + let sda = p0.p0_30.into_floating_input().degrade(); + let rxd = p0.p0_25.into_floating_input().degrade(); + let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + + let i2c_pins = hal::twi::Pins { + scl, + sda, + }; + + let uart_pins = hal::uart::Pins { + rxd, + txd, + cts: None, + rts: None + }; + + // Use a frequency of 100 khz for the bus + let i2c = hal::twi::Twi::new(p.TWI0, i2c_pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); + let mut uart = hal::Uart::new(p.UART0, uart_pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz50).unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz50).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + + loop { + let mut buffer: Vec = Vec::new(); + + loop { + let byte = block!(uart.read()).unwrap(); + + if buffer.push(byte).is_err() { + write!(&mut uart, "error: buffer full\r\n").unwrap(); + break; + } + + if byte == 13 { + break; + } + } + + let command_string = String::from_utf8(buffer).unwrap(); + if command_string.as_str().trim() == "accelerometer" { + while !sensor.accel_status().unwrap().xyz_new_data { + } + + let data = sensor.accel_data().unwrap(); + write!(&mut uart, "Accelerometer: x {} y {} z {}\r\n", data.x, data.y, data.z).unwrap(); + } else if command_string.as_str().trim() == "magnetometer" { + while !sensor.mag_status().unwrap().xyz_new_data { + } + + let data = sensor.mag_data().unwrap(); + write!(&mut uart, "Magnetometer: x {} y {} z {}\r\n", data.x, data.y, data.z).unwrap(); + } else { + write!(&mut uart, "error: command not detected\r\n").unwrap(); + } + } +} +``` diff --git a/src/08-i2c/src/main.rs b/src/08-i2c/src/main.rs index 2aa5b3e63..bec2c6cb9 100644 --- a/src/08-i2c/src/main.rs +++ b/src/08-i2c/src/main.rs @@ -30,15 +30,15 @@ fn main() -> ! { // Use a frequency of 100 khz for the bus let mut i2c = hal::twi::Twi::new(p.TWI1, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); - let mut ac_data = [0]; - let mut ma_data = [0]; + let mut acc = [0]; + let mut mag = [0]; // First write the address + register onto the bus, then read the chip's responses - i2c.write_read(ACCELEROMETER_ADDR, &[ACCELEROMETER_ID_REG], &mut ac_data).unwrap(); - i2c.write_read(MAGNETOMETER_ADDR, &[MAGNETOMETER_ID_REG], &mut ma_data).unwrap(); + i2c.write_read(ACCELEROMETER_ADDR, &[ACCELEROMETER_ID_REG], &mut acc).unwrap(); + i2c.write_read(MAGNETOMETER_ADDR, &[MAGNETOMETER_ID_REG], &mut mag).unwrap(); - rprintln!("The accelerometer chip's id is: {:#b}", ac_data[0]); - rprintln!("The magnetometer chip's id is: {:#b}", ma_data[0]); + rprintln!("The accelerometer chip's id is: {:#b}", acc[0]); + rprintln!("The magnetometer chip's id is: {:#b}", mag[0]); loop {} } diff --git a/src/08-i2c/the-challenge.md b/src/08-i2c/the-challenge.md index 26c9773df..e38887532 100644 --- a/src/08-i2c/the-challenge.md +++ b/src/08-i2c/the-challenge.md @@ -5,5 +5,8 @@ communicates with the outside world via the serial interface introduced in the last chapter. It should be able to receive the commands "magnetometer" as well as "accelerometer" and then print the corresponding sensor data in response. This time no template code will be provided since all you need -(apart from the magnetometer API which you will have to look up in the documentation) -is already provided in the UART and this chapter. +is already provided in the [UART](../07-uart/index.md) and this chapter. However here are a few clues: + +- You might be interested in `heapless::String` since we are working with strings now +- You will (obviously) have to read the documentation of the magnetometer API, however + it's more or less equivalent to the accelerometer one diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md index 613e0e91b..3e88ae59c 100644 --- a/src/08-i2c/using-a-driver.md +++ b/src/08-i2c/using-a-driver.md @@ -36,7 +36,7 @@ fn main() { ``` Because we already know how to create an instance of an object that implements -the `embedded-hal` I2C traits from the last page this is quite trivial: +the `embedded-hal` I2C traits from the [last page](read-a-single-register.md) this is quite trivial: ```rust #![deny(unsafe_code)] @@ -65,16 +65,16 @@ fn main() -> ! { }; // Use a frequency of 100 khz for the bus - let i2c = hal::twi::Twi::new(p.TWI1, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); + let i2c = hal::twi::Twi::new(p.TWI0, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); - // Code from documentation + // Code from documentation let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_accel_odr(AccelOutputDataRate::Hz50).unwrap(); loop { if sensor.accel_status().unwrap().xyz_new_data { let data = sensor.accel_data().unwrap(); - // RTT instead of normal print + // RTT instead of normal print rprintln!("Acceleration: x {} y {} z {}", data.x, data.y, data.z); } } From 2f17e5aeff6e3da7dbf16d23ce03d08f58df4acf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 5 May 2021 16:21:50 +0200 Subject: [PATCH 177/313] Update src/08-i2c/using-a-driver.md Co-authored-by: Diego Barrios Romero --- src/08-i2c/using-a-driver.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md index 3e88ae59c..4aec8b5bc 100644 --- a/src/08-i2c/using-a-driver.md +++ b/src/08-i2c/using-a-driver.md @@ -11,7 +11,7 @@ embedded Rust supports (and new ones that might eventually pop up) one can write that simply consume generic types that implement `embedded-hal` traits in order to provide a platform agnostic version of a driver. Luckily for us this has already been done in the [lsm303agr] crate. Hence reading the actual accelerometer and magnetometer values will now -be basically a plug and play experience + reading a bit of documentation. In fact the crates.io +be basically a plug and play experience + reading a bit of documentation. In fact the `crates.io` page already provides us with everything we need to know in order to read accelerometer data but using a Raspberry Pi. We'll just have to adapt it to our chip: From 6ee07a4c5ce5e83ac2a5dc680a6e7ad5d843d59e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 6 May 2021 14:01:35 +0200 Subject: [PATCH 178/313] Attempt to fix the build --- src/05-led-roulette/debug-it.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index fedee282b..6f6bd4726 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -235,6 +235,6 @@ Ending remote debugging. [gdb-dashboard]: https://github.com/cyrus-and/gdb-dashboard#gdb-dashboard -If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb). +If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb/). What's next? The high level API I promised. From ea250848152ce490fdf693d753e214d32711134a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 7 May 2021 09:36:38 +0200 Subject: [PATCH 179/313] change bors.toml to match the new chapters --- .github/bors.toml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/bors.toml b/.github/bors.toml index b1c039555..9fed1a7f4 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -5,9 +5,7 @@ status = [ "build-book", "build-chapter (05-led-roulette)", "build-chapter (07-uart)", - "build-chapter (08-leds-again)", - "build-chapter (09-clocks-and-timers)", - "build-chapter (14-i2c)", + "build-chapter (08-i2c)", "build-chapter (15-led-compass)", "build-chapter (16-punch-o-meter)", ] From eeee01fb7aa5f7f6a0289f5d2fd6f4f95364fde9 Mon Sep 17 00:00:00 2001 From: Ricardo Delfin Date: Tue, 11 May 2021 19:10:14 +0100 Subject: [PATCH 180/313] Fixed typos regarding `.cargo/config.toml` The file keeps on being referred to as either `cargo/config.toml` or `.cargo/config.toml`. This PR corrects all of them to `.cargo/config.toml` --- src/05-led-roulette/flash-it.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 7b002d5c2..cb3f42d6c 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -143,11 +143,11 @@ that port. ## Update ../.cargo/config.toml Now that you've successfully determined which debugger you need to use -we need to change `../cargo/config.toml` so that `cargo run` command will succeed. +we need to change `../.cargo/config.toml` so that `cargo run` command will succeed. Note: `cargo` is the rust package manager and you can read about it [here](https://doc.rust-lang.org/cargo/). -Get back to the terminal prompt and look at `../cargo/config.toml`: +Get back to the terminal prompt and look at `../.cargo/config.toml`: ``` console ~/embedded-discovery/src/05-led-roulette $ cat ../.cargo/config.toml From 3bd8d7b99b0d7f1b42b9c3de2c65e25ca05b6f86 Mon Sep 17 00:00:00 2001 From: Dezhi Wu Date: Tue, 25 May 2021 10:40:18 +0800 Subject: [PATCH 181/313] fix typo --- src/05-led-roulette/the-challenge.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index e7ef424fb..77f0d3ba5 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -63,7 +63,7 @@ break DefaultHandler # Set a breakpiont at HardFault break HardFault -# Continue running and unill we hit the main breakpoint +# Continue running and until we hit the main breakpoint continue # Step from the trampoline code in entry into main @@ -149,4 +149,4 @@ the [embedded discovery book](https://github.com/rust-embedded/discovery) so you can save your changes in your own branch of your fork. We suggest creating your own branch and leaving the `master` branch alone so the `master` branch of your fork can stay in sync with the upstream repo. Also, it allows you to -more easily create PR's and improve this book, **thank you in advance**! \ No newline at end of file +more easily create PR's and improve this book, **thank you in advance**! From b877f286db359b5bd6de86593ccd9381866cca9c Mon Sep 17 00:00:00 2001 From: Dezhi Wu Date: Tue, 25 May 2021 12:38:20 +0800 Subject: [PATCH 182/313] Update README.md fix typo. --- src/06-hello-world/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index a3738d80f..2daae1bc6 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -110,7 +110,7 @@ hello_world::__cortex_m_rt_main () at ~/embedded-discovery/src/06-hello-world/sr ``` Now issue a `next` command which will exectue `aux6::init()` and -stop at he next executable statement in `main.rs`, which +stop at the next executable statement in `main.rs`, which positions us at line 12: ``` text From b6b90546a5e1b20041bf00417b7e8e081c420eec Mon Sep 17 00:00:00 2001 From: Persevere Von Date: Wed, 26 May 2021 11:10:13 +0800 Subject: [PATCH 183/313] Fix compile error fix(09-clocks-and-timers): Compile failed in release mode docs: Update putting-it-all-together.md fix: compile error in chapter 11 fix: compile error in chapter 14 fix: compile error in chapter 15 fix: compile error in chapter 16 chore: handle `Result` with unwrap rather than ok chore: remove useless dependencies fix: restore main.rs --- src/09-clocks-and-timers/auxiliary/Cargo.toml | 7 ++- src/09-clocks-and-timers/auxiliary/src/lib.rs | 29 ++++++--- .../putting-it-all-together.md | 9 +-- src/09-clocks-and-timers/src/main.rs | 9 +-- src/11-usart/auxiliary/Cargo.toml | 9 +-- src/11-usart/auxiliary/src/lib.rs | 10 ++-- src/11-usart/buffer-overrun.md | 10 ++-- src/11-usart/my-solution.md | 9 ++- src/11-usart/src/main.rs | 5 +- src/14-i2c/auxiliary/Cargo.toml | 7 +-- src/14-i2c/auxiliary/src/lib.rs | 14 ++--- src/14-i2c/read-several-registers.md | 4 +- src/14-i2c/src/main.rs | 2 +- src/14-i2c/the-solution.md | 4 +- src/15-led-compass/auxiliary/Cargo.toml | 7 +-- src/15-led-compass/auxiliary/src/lib.rs | 60 +++++++++++++++---- src/15-led-compass/solution-1.md | 9 +-- src/15-led-compass/solution-2.md | 9 +-- src/15-led-compass/take-1.md | 9 +-- src/15-led-compass/take-2.md | 9 +-- src/16-punch-o-meter/auxiliary/Cargo.toml | 7 +-- src/16-punch-o-meter/auxiliary/src/lib.rs | 21 ++++--- 22 files changed, 160 insertions(+), 99 deletions(-) diff --git a/src/09-clocks-and-timers/auxiliary/Cargo.toml b/src/09-clocks-and-timers/auxiliary/Cargo.toml index 2b16bbc2f..f928adb4b 100644 --- a/src/09-clocks-and-timers/auxiliary/Cargo.toml +++ b/src/09-clocks-and-timers/auxiliary/Cargo.toml @@ -8,7 +8,8 @@ version = "0.1.0" cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" +stm32f3-discovery = "0.6.0" -[dependencies.f3] -features = ["rt"] -version = "0.6.1" +[dependencies.stm32f3] +version = "0.12.1" +features = ["stm32f303", "rt"] diff --git a/src/09-clocks-and-timers/auxiliary/src/lib.rs b/src/09-clocks-and-timers/auxiliary/src/lib.rs index e52f0032d..3819f61f8 100644 --- a/src/09-clocks-and-timers/auxiliary/src/lib.rs +++ b/src/09-clocks-and-timers/auxiliary/src/lib.rs @@ -7,14 +7,12 @@ extern crate panic_itm; // panic handler pub use cortex_m::asm::{bkpt, nop}; pub use cortex_m_rt::entry; -pub use f3::{ - hal::stm32f30x::{rcc, tim6}, - led::Leds, -}; +pub use stm32f3::stm32f303::{rcc, tim6, RCC, TIM6}; +pub use stm32f3_discovery::switch_hal; -use f3::hal::{ - prelude::*, - stm32f30x::{self, RCC, TIM6}, +use stm32f3_discovery::{ + leds::Leds, + stm32f3xx_hal::{prelude::*, stm32}, }; pub fn init() -> ( @@ -22,11 +20,24 @@ pub fn init() -> ( &'static rcc::RegisterBlock, &'static tim6::RegisterBlock, ) { - let p = stm32f30x::Peripherals::take().unwrap(); + let p = stm32::Peripherals::take().unwrap(); let mut rcc = p.RCC.constrain(); - let leds = Leds::new(p.GPIOE.split(&mut rcc.ahb)); + let mut gpioe = p.GPIOE.split(&mut rcc.ahb); + + let 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, + ); (leds, unsafe { &*RCC::ptr() }, unsafe { &*TIM6::ptr() }) } diff --git a/src/09-clocks-and-timers/putting-it-all-together.md b/src/09-clocks-and-timers/putting-it-all-together.md index 3d1969e02..f0fe5f65b 100644 --- a/src/09-clocks-and-timers/putting-it-all-together.md +++ b/src/09-clocks-and-timers/putting-it-all-together.md @@ -4,7 +4,7 @@ #![no_main] #![no_std] -use aux9::{entry, tim6}; +use aux9::{entry, switch_hal::OutputSwitch, tim6}; #[inline(never)] fn delay(tim6: &tim6::RegisterBlock, ms: u16) { @@ -24,7 +24,8 @@ fn delay(tim6: &tim6::RegisterBlock, ms: u16) { #[entry] fn main() -> ! { - let (mut leds, rcc, tim6) = aux9::init(); + let (leds, rcc, tim6) = aux9::init(); + let mut leds = leds.into_array(); // Power on the TIM6 timer rcc.apb1enr.modify(|_, w| w.tim6en().set_bit()); @@ -45,9 +46,9 @@ fn main() -> ! { for curr in 0..8 { let next = (curr + 1) % 8; - leds[next].on(); + leds[next].on().unwrap(); delay(tim6, ms); - leds[curr].off(); + leds[curr].off().unwrap(); delay(tim6, ms); } } diff --git a/src/09-clocks-and-timers/src/main.rs b/src/09-clocks-and-timers/src/main.rs index 1c434aa7a..9e3bec782 100644 --- a/src/09-clocks-and-timers/src/main.rs +++ b/src/09-clocks-and-timers/src/main.rs @@ -1,7 +1,7 @@ #![no_main] #![no_std] -use aux9::{entry, tim6}; +use aux9::{entry, switch_hal::OutputSwitch, tim6}; #[inline(never)] fn delay(tim6: &tim6::RegisterBlock, ms: u16) { @@ -10,7 +10,8 @@ fn delay(tim6: &tim6::RegisterBlock, ms: u16) { #[entry] fn main() -> ! { - let (mut leds, rcc, tim6) = aux9::init(); + let (leds, rcc, tim6) = aux9::init(); + let mut leds = leds.into_array(); // TODO initialize TIM6 @@ -19,9 +20,9 @@ fn main() -> ! { for curr in 0..8 { let next = (curr + 1) % 8; - leds[next].on(); + leds[next].on().unwrap(); delay(tim6, ms); - leds[curr].off(); + leds[curr].off().unwrap(); delay(tim6, ms); } } diff --git a/src/11-usart/auxiliary/Cargo.toml b/src/11-usart/auxiliary/Cargo.toml index 0a052ec44..e2d451870 100644 --- a/src/11-usart/auxiliary/Cargo.toml +++ b/src/11-usart/auxiliary/Cargo.toml @@ -5,13 +5,10 @@ name = "aux11" version = "0.1.0" [dependencies] -cortex-m = "=0.5.6" # 0.5.11 introduces a breaking change. Use 0.5.6, since we know it works for this example +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" +stm32f3-discovery = "0.6.0" [features] -adapter = [] \ No newline at end of file +adapter = [] diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index a4be7bc5a..0ccdecaa0 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -7,16 +7,18 @@ extern crate panic_itm; // panic handler pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; pub use cortex_m_rt::entry; -pub use f3::hal::{prelude, serial::Serial, stm32f30x::usart1, time::MonoTimer}; +pub use stm32f3_discovery::stm32f3xx_hal::stm32::usart1; -use f3::hal::{ +use stm32f3_discovery::stm32f3xx_hal::{ prelude::*, - stm32f30x::{self, USART1}, + serial::Serial, + stm32::{self, USART1}, + time::MonoTimer, }; pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); + let dp = stm32::Peripherals::take().unwrap(); let mut flash = dp.FLASH.constrain(); let mut rcc = dp.RCC.constrain(); diff --git a/src/11-usart/buffer-overrun.md b/src/11-usart/buffer-overrun.md index 59161a35a..f54377f0b 100644 --- a/src/11-usart/buffer-overrun.md +++ b/src/11-usart/buffer-overrun.md @@ -3,7 +3,6 @@ If you wrote your program like this: ``` rust -#![deny(unsafe_code)] #![no_main] #![no_std] @@ -16,7 +15,9 @@ fn main() -> ! { // Send a string for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); } loop {} @@ -108,7 +109,6 @@ to write to the `TDR` register without incurring in data loss. Let's use that to slowdown the processor. ``` rust -#![deny(unsafe_code)] #![no_main] #![no_std] @@ -125,7 +125,9 @@ fn main() -> ! { // wait until it's safe to write to TDR while usart1.isr.read().txe().bit_is_clear() {} // <- NEW! - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); } let elapsed = instant.elapsed(); // in ticks diff --git a/src/11-usart/my-solution.md b/src/11-usart/my-solution.md index 11ae9fed3..e5cf967c1 100644 --- a/src/11-usart/my-solution.md +++ b/src/11-usart/my-solution.md @@ -1,7 +1,6 @@ # My solution ```rust -#![deny(unsafe_code)] #![no_main] #![no_std] @@ -27,7 +26,9 @@ fn main() -> ! { // buffer full for byte in b"error: buffer full\n\r" { while usart1.isr.read().txe().bit_is_clear() {} - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); } break; @@ -38,7 +39,9 @@ fn main() -> ! { // Respond for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { while usart1.isr.read().txe().bit_is_clear() {} - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); } break; diff --git a/src/11-usart/src/main.rs b/src/11-usart/src/main.rs index 16c26e893..3cc03e8de 100644 --- a/src/11-usart/src/main.rs +++ b/src/11-usart/src/main.rs @@ -1,4 +1,3 @@ -#![deny(unsafe_code)] #![no_main] #![no_std] @@ -10,7 +9,9 @@ fn main() -> ! { let (usart1, mono_timer, itm) = aux11::init(); // Send a single character - usart1.tdr.write(|w| w.tdr().bits(u16::from(b'X'))); + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(b'X')) }); loop {} } diff --git a/src/14-i2c/auxiliary/Cargo.toml b/src/14-i2c/auxiliary/Cargo.toml index 1de6af3b2..8d9edbdbb 100644 --- a/src/14-i2c/auxiliary/Cargo.toml +++ b/src/14-i2c/auxiliary/Cargo.toml @@ -5,10 +5,7 @@ name = "aux14" version = "0.1.0" [dependencies] -cortex-m = "=0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" +stm32f3-discovery = "0.6.0" diff --git a/src/14-i2c/auxiliary/src/lib.rs b/src/14-i2c/auxiliary/src/lib.rs index c41b37f9e..e8808b128 100644 --- a/src/14-i2c/auxiliary/src/lib.rs +++ b/src/14-i2c/auxiliary/src/lib.rs @@ -7,21 +7,21 @@ extern crate panic_itm; // panic handler pub use cortex_m::{asm::bkpt, iprint, iprintln}; pub use cortex_m_rt::entry; -pub use f3::hal::{delay::Delay, prelude, stm32f30x::i2c1}; +pub use stm32f3_discovery::stm32f3xx_hal::{delay::Delay, prelude, stm32::i2c1}; use cortex_m::peripheral::ITM; -use f3::{ - hal::{ +use stm32f3_discovery::{ + lsm303dlhc::Lsm303dlhc, + stm32f3xx_hal::{ i2c::I2c, prelude::*, - stm32f30x::{self, I2C1}, + stm32::{self, I2C1}, }, - Lsm303dlhc, }; pub fn init() -> (&'static i2c1::RegisterBlock, Delay, ITM) { let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); + let dp = stm32::Peripherals::take().unwrap(); let mut flash = dp.FLASH.constrain(); let mut rcc = dp.RCC.constrain(); @@ -32,7 +32,7 @@ pub fn init() -> (&'static i2c1::RegisterBlock, Delay, ITM) { let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); + let i2c = I2c::new(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); Lsm303dlhc::new(i2c).unwrap(); diff --git a/src/14-i2c/read-several-registers.md b/src/14-i2c/read-several-registers.md index c162723c5..ffc761d3b 100644 --- a/src/14-i2c/read-several-registers.md +++ b/src/14-i2c/read-several-registers.md @@ -53,7 +53,7 @@ Putting it all together inside a loop alongside a delay to reduce the data throu use aux14::{entry, iprint, iprintln, prelude::*}; // Slave address -const MAGNETOMETER: u8 = 0b001_1110; +const MAGNETOMETER: u16 = 0b0011_1100; // Addresses of the magnetometer's registers const OUT_X_H_M: u8 = 0x03; @@ -68,7 +68,7 @@ fn main() -> ! { // Broadcast the MAGNETOMETER address with the R/W bit set to Write i2c1.cr2.write(|w| { w.start().set_bit(); - w.sadd1().bits(MAGNETOMETER); + w.sadd().bits(MAGNETOMETER); w.rd_wrn().clear_bit(); w.nbytes().bits(1); w.autoend().clear_bit() diff --git a/src/14-i2c/src/main.rs b/src/14-i2c/src/main.rs index 8da6b2bf6..f75f00732 100644 --- a/src/14-i2c/src/main.rs +++ b/src/14-i2c/src/main.rs @@ -6,7 +6,7 @@ use aux14::{entry, iprint, iprintln, prelude::*}; // Slave address -const MAGNETOMETER: u8 = 0b001_1110; +const MAGNETOMETER: u16 = 0b0011_1100; // Addresses of the magnetometer's registers const OUT_X_H_M: u8 = 0x03; diff --git a/src/14-i2c/the-solution.md b/src/14-i2c/the-solution.md index 6455c1200..8c2c908f2 100644 --- a/src/14-i2c/the-solution.md +++ b/src/14-i2c/the-solution.md @@ -9,7 +9,7 @@ use aux14::{entry, iprint, iprintln, prelude::*}; // Slave address -const MAGNETOMETER: u8 = 0b001_1110; +const MAGNETOMETER: u16 = 0b0011_1100; // Addresses of the magnetometer's registers const OUT_X_H_M: u8 = 0x03; @@ -26,7 +26,7 @@ fn main() -> ! { // Broadcast the MAGNETOMETER address with the R/W bit set to Write i2c1.cr2.write(|w| { w.start().set_bit(); - w.sadd1().bits(MAGNETOMETER); + w.sadd().bits(MAGNETOMETER); w.rd_wrn().clear_bit(); w.nbytes().bits(1); w.autoend().clear_bit() diff --git a/src/15-led-compass/auxiliary/Cargo.toml b/src/15-led-compass/auxiliary/Cargo.toml index 13fbdcdc0..f3ed40182 100644 --- a/src/15-led-compass/auxiliary/Cargo.toml +++ b/src/15-led-compass/auxiliary/Cargo.toml @@ -5,10 +5,7 @@ name = "aux15" version = "0.1.0" [dependencies] -cortex-m = "=0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" +stm32f3-discovery = "0.6.0" diff --git a/src/15-led-compass/auxiliary/src/lib.rs b/src/15-led-compass/auxiliary/src/lib.rs index efa6bcbe4..5c985673c 100644 --- a/src/15-led-compass/auxiliary/src/lib.rs +++ b/src/15-led-compass/auxiliary/src/lib.rs @@ -7,34 +7,74 @@ extern crate panic_itm; // panic handler pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; pub use cortex_m_rt::entry; -pub use f3::{ - hal::{delay::Delay, prelude, stm32f30x::i2c1}, - led::{Direction, Leds}, +pub use stm32f3_discovery::{ + leds::Leds, lsm303dlhc::I16x3, + stm32f3xx_hal::{delay::Delay, prelude, stm32::i2c1}, + switch_hal, }; -use f3::{ - hal::{i2c::I2c, prelude::*, stm32f30x}, - Lsm303dlhc, +use stm32f3_discovery::{ + lsm303dlhc, + stm32f3xx_hal::{ + gpio::gpiob::{PB6, PB7}, + gpio::AF4, + i2c::I2c, + prelude::*, + stm32::{self, I2C1}, + }, }; +pub type Lsm303dlhc = lsm303dlhc::Lsm303dlhc, PB7)>>; + +/// Cardinal directions. Each one matches one of the user LEDs. +pub enum Direction { + /// North / LD3 + North, + /// Northeast / LD5 + Northeast, + /// East / LD7 + East, + /// Southeast / LD9 + Southeast, + /// South / LD10 + South, + /// Southwest / LD8 + Southwest, + /// West / LD6 + West, + /// Northwest / LD4 + Northwest, +} + pub fn init() -> (Leds, Lsm303dlhc, Delay, ITM) { let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); + let dp = stm32::Peripherals::take().unwrap(); let mut flash = dp.FLASH.constrain(); let mut rcc = dp.RCC.constrain(); let clocks = rcc.cfgr.freeze(&mut flash.acr); - let gpioe = dp.GPIOE.split(&mut rcc.ahb); - let leds = Leds::new(gpioe); + let mut gpioe = dp.GPIOE.split(&mut rcc.ahb); + let 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 gpiob = dp.GPIOB.split(&mut rcc.ahb); let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); + let i2c = I2c::new(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); let lsm303dlhc = Lsm303dlhc::new(i2c).unwrap(); diff --git a/src/15-led-compass/solution-1.md b/src/15-led-compass/solution-1.md index 45ff8b7f1..38f07d733 100644 --- a/src/15-led-compass/solution-1.md +++ b/src/15-led-compass/solution-1.md @@ -6,11 +6,12 @@ #![no_std] #[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; +use aux15::{entry, iprint, iprintln, prelude::*, switch_hal::OutputSwitch, Direction, I16x3}; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let (leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let mut leds = leds.into_array(); loop { let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); @@ -28,8 +29,8 @@ fn main() -> ! { (true, false) => Direction::Southwest, }; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); + leds.iter_mut().for_each(|led| led.off().unwrap()); + leds[dir as usize].on().unwrap(); delay.delay_ms(1_000_u16); } diff --git a/src/15-led-compass/solution-2.md b/src/15-led-compass/solution-2.md index 523e61a7b..e18a7a4c7 100644 --- a/src/15-led-compass/solution-2.md +++ b/src/15-led-compass/solution-2.md @@ -9,12 +9,13 @@ use core::f32::consts::PI; #[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; +use aux15::{entry, iprint, iprintln, prelude::*, switch_hal::OutputSwitch, Direction, I16x3}; use m::Float; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let (leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let mut leds = leds.into_array(); loop { let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); @@ -41,8 +42,8 @@ fn main() -> ! { Direction::North }; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); + leds.iter_mut().for_each(|led| led.off().unwrap()); + leds[dir as usize].on().unwrap(); delay.delay_ms(100_u8); } diff --git a/src/15-led-compass/take-1.md b/src/15-led-compass/take-1.md index a2ce6f8d7..0fabb406c 100644 --- a/src/15-led-compass/take-1.md +++ b/src/15-led-compass/take-1.md @@ -36,11 +36,12 @@ Let's try that logic. Here's the starter code: #![no_std] #[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; +use aux15::{entry, iprint, iprintln, prelude::*, switch_hal::OutputSwitch, Direction, I16x3}; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let (leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let mut leds = leds.into_array(); loop { let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); @@ -58,8 +59,8 @@ fn main() -> ! { (true, false) => panic!("TODO"), }; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); + leds.iter_mut().for_each(|led| led.off().unwrap()); + leds[dir as usize].on().unwrap(); delay.delay_ms(1_000_u16); } diff --git a/src/15-led-compass/take-2.md b/src/15-led-compass/take-2.md index 51e7c6dd3..9a921bb31 100644 --- a/src/15-led-compass/take-2.md +++ b/src/15-led-compass/take-2.md @@ -24,13 +24,14 @@ to turn on based on the value of `theta`. use core::f32::consts::PI; #[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; +use aux15::{entry, iprint, iprintln, prelude::*, switch_hal::OutputSwitch, Direction, I16x3}; // this trait provides the `atan2` method use m::Float; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let (leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + let mut leds = leds.into_array(); loop { let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); @@ -40,8 +41,8 @@ fn main() -> ! { // FIXME pick a direction to point to based on `theta` let dir = Direction::Southeast; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); + leds.iter_mut().for_each(|led| led.off().unwrap()); + leds[dir as usize].on().unwrap(); delay.delay_ms(100_u8); } diff --git a/src/16-punch-o-meter/auxiliary/Cargo.toml b/src/16-punch-o-meter/auxiliary/Cargo.toml index 543848543..aceff4f13 100644 --- a/src/16-punch-o-meter/auxiliary/Cargo.toml +++ b/src/16-punch-o-meter/auxiliary/Cargo.toml @@ -5,10 +5,7 @@ name = "aux16" version = "0.1.0" [dependencies] -cortex-m = "0.5.6" +cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" +stm32f3-discovery = "0.6.0" diff --git a/src/16-punch-o-meter/auxiliary/src/lib.rs b/src/16-punch-o-meter/auxiliary/src/lib.rs index 1aad1f3e8..8a28550d7 100644 --- a/src/16-punch-o-meter/auxiliary/src/lib.rs +++ b/src/16-punch-o-meter/auxiliary/src/lib.rs @@ -7,17 +7,24 @@ extern crate panic_itm; // panic handler pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; pub use cortex_m_rt::entry; -pub use f3::{ - hal::{delay::Delay, prelude, time::MonoTimer}, - lsm303dlhc::{I16x3, Sensitivity}, - Lsm303dlhc, +pub use stm32f3_discovery::{ + lsm303dlhc::{self, I16x3, Sensitivity}, + stm32f3xx_hal::{delay::Delay, prelude, time::MonoTimer}, }; -use f3::hal::{i2c::I2c, prelude::*, stm32f30x}; +use stm32f3_discovery::stm32f3xx_hal::{ + gpio::gpiob::{PB6, PB7}, + gpio::AF4, + i2c::I2c, + prelude::*, + stm32::{self, I2C1}, +}; + +pub type Lsm303dlhc = lsm303dlhc::Lsm303dlhc, PB7)>>; pub fn init() -> (Lsm303dlhc, Delay, MonoTimer, ITM) { let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); + let dp = stm32::Peripherals::take().unwrap(); let mut flash = dp.FLASH.constrain(); let mut rcc = dp.RCC.constrain(); @@ -34,7 +41,7 @@ pub fn init() -> (Lsm303dlhc, Delay, MonoTimer, ITM) { let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); + let i2c = I2c::new(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); let lsm303dlhc = Lsm303dlhc::new(i2c).unwrap(); From df0e7e45e8fede54ebc6e620a20508aa356b4349 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sun, 30 May 2021 13:10:23 +0200 Subject: [PATCH 184/313] Clean up warning on unused result --- src/16-punch-o-meter/auxiliary/src/lib.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/16-punch-o-meter/auxiliary/src/lib.rs b/src/16-punch-o-meter/auxiliary/src/lib.rs index 8a28550d7..9211408b8 100644 --- a/src/16-punch-o-meter/auxiliary/src/lib.rs +++ b/src/16-punch-o-meter/auxiliary/src/lib.rs @@ -35,7 +35,7 @@ pub fn init() -> (Lsm303dlhc, Delay, MonoTimer, ITM) { let mut nss = gpioe .pe3 .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper); - nss.set_high(); + nss.set_high().unwrap(); let mut gpiob = dp.GPIOB.split(&mut rcc.ahb); let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); From de5ff5526ba60a53f405806b30b7795a52cf4fe9 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Wed, 19 May 2021 23:24:47 +0200 Subject: [PATCH 185/313] Remove unused panic handlers (panic-halt) Declaring panic-halt as a depencency works fine for building the example code. But it makes 'cargo doc' fail due to the duplicate lang item 'panic_impl'. --- src/05-led-roulette/auxiliary/Cargo.toml | 1 - src/05-led-roulette/build-it.md | 1 - src/06-hello-world/auxiliary/Cargo.toml | 1 - src/07-registers/auxiliary/Cargo.toml | 1 - 4 files changed, 4 deletions(-) diff --git a/src/05-led-roulette/auxiliary/Cargo.toml b/src/05-led-roulette/auxiliary/Cargo.toml index 83f4f31a8..a8d04711f 100644 --- a/src/05-led-roulette/auxiliary/Cargo.toml +++ b/src/05-led-roulette/auxiliary/Cargo.toml @@ -12,5 +12,4 @@ version = "0.2.0" cortex-m = "0.6.4" cortex-m-rt = "0.6.13" stm32f3-discovery = "0.6.0" -panic-halt = "0.2.0" panic-itm = "0.4.2" diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 2a04e9c25..11056c16b 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -57,7 +57,6 @@ $ cargo build --target thumbv7em-none-eabihf Compiling cfg-if v1.0.0 Compiling paste v1.0.4 Compiling stm32f3-discovery v0.6.0 - Compiling panic-halt v0.2.0 Compiling embedded-dma v0.1.2 Compiling volatile-register v0.2.0 Compiling nb v0.1.3 diff --git a/src/06-hello-world/auxiliary/Cargo.toml b/src/06-hello-world/auxiliary/Cargo.toml index 18074447c..478fd7a47 100644 --- a/src/06-hello-world/auxiliary/Cargo.toml +++ b/src/06-hello-world/auxiliary/Cargo.toml @@ -11,5 +11,4 @@ version = "0.2.0" cortex-m = "0.6.4" cortex-m-rt = "0.6.13" stm32f3-discovery = "0.5.0" -panic-halt = "0.2.0" panic-itm = "0.4.2" diff --git a/src/07-registers/auxiliary/Cargo.toml b/src/07-registers/auxiliary/Cargo.toml index 9ef9bd871..2eff8d338 100644 --- a/src/07-registers/auxiliary/Cargo.toml +++ b/src/07-registers/auxiliary/Cargo.toml @@ -11,7 +11,6 @@ version = "0.2.0" cortex-m = "0.6.4" cortex-m-rt = "0.6.13" stm32f3-discovery = "0.6.0" -panic-halt = "0.2.0" panic-itm = "0.4.2" [dependencies.stm32f3] From 180b40f47db422e17ab107878e55178047409be4 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 31 May 2021 15:29:11 +0200 Subject: [PATCH 186/313] Check building docs with CI too eldruin suggested to add doc generation to CI (https://github.com/rust-embedded/discovery/issues/322#issuecomment-822575561) which seems a great idea to me. --- .github/workflows/ci.yml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8ea334652..9ba8483ee 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -32,6 +32,19 @@ jobs: working-directory: src/${{ matrix.chapter }} run: cargo build + # Check a build succeeds for docs. + build-doc: + runs-on: ubuntu-20.04 + steps: + - uses: actions/checkout@v2 + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf + - name: Build docs + run: cargo doc + # Build the book HTML itself and optionally publish it. build-book: runs-on: ubuntu-20.04 From 2ef23834a0a9ff7edea4bee327722ae687e913f7 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 31 May 2021 18:11:24 +0200 Subject: [PATCH 187/313] Remove exemption for print.html from link checking This is a remake of https://github.com/rust-embedded/discovery/pull/255 for the actual GitHub Actions. --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8ea334652..0d50b3527 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -72,7 +72,7 @@ jobs: - name: Build book run: mkdir target && mdbook build - name: Check links - run: linkchecker --ignore-url "print.html" book + run: linkchecker book - name: Deploy book if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }} From 8d58e26257d6fe6bc1af5017f3989ea6753ada66 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 31 May 2021 22:45:36 +0200 Subject: [PATCH 188/313] Clean up warning from linkchecker Linkchecker warned about this link to a directory without a trailing slash. Seen while working on https://github.com/rust-embedded/discovery/pull/346. --- src/05-led-roulette/debug-it.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index fa35a5c58..0a8025d6b 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -307,7 +307,7 @@ At any point you can leave the TUI mode using the following command: [gdb-dashboard]: https://github.com/cyrus-and/gdb-dashboard#gdb-dashboard Don't close OpenOCD though! We'll use it again and again later on. It's better -just to leave it running. If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb). +just to leave it running. If you want to learn more about what GDB can do, check out the section [How to use GDB](../appendix/2-how-to-use-gdb/). What's next? The high level API I promised. From c6d363ee2a8a2b18b985af841564d7b960f10781 Mon Sep 17 00:00:00 2001 From: chirping78 Date: Tue, 8 Jun 2021 13:31:54 +0800 Subject: [PATCH 189/313] Update README.md: about the SB10 on old version --- src/06-hello-world/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index 2daae1bc6..86ff93067 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -3,11 +3,15 @@ > **HEADS UP** The "solder bridge" SB10 (see back of the board) on the STM32F3DISCOVERY, which is > required to use the ITM and the `iprint!` macros shown below, is **not** soldered by default > (see page 21 of the [User Manual][]). +> (To be more accurate: this actually depends on the board revision. If you have an old version of +> the board as the old [User Manual][User Manual v3] said, the SB10 was soldered. Check your board +> to decide where you need to fix it.) > **TL;DR** You have two options to fix this: Either **solder** the solder bridge SB10 or connect a > female to female jumper wire between SWO and PB3 as shown in the picture below. [User Manual]: http://www.st.com/resource/en/user_manual/dm00063382.pdf +[User Manual v3]: https://docs.rs-online.com/5192/0900766b814876f9.pdf

    From 93b0c11a1c3b239160285906bd2d19c34efb96c9 Mon Sep 17 00:00:00 2001 From: chirping78 Date: Tue, 8 Jun 2021 08:52:17 +0000 Subject: [PATCH 190/313] Update src/06-hello-world/README.md Co-authored-by: Diego Barrios Romero --- src/06-hello-world/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index 86ff93067..1ebbbb33e 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -4,8 +4,8 @@ > required to use the ITM and the `iprint!` macros shown below, is **not** soldered by default > (see page 21 of the [User Manual][]). > (To be more accurate: this actually depends on the board revision. If you have an old version of -> the board as the old [User Manual][User Manual v3] said, the SB10 was soldered. Check your board -> to decide where you need to fix it.) +> the board as the [old User Manual][User Manual v3] said, the SB10 was soldered. Check your board +> to decide whether you need to fix it.) > **TL;DR** You have two options to fix this: Either **solder** the solder bridge SB10 or connect a > female to female jumper wire between SWO and PB3 as shown in the picture below. From 6f47539ce584462cebb449b4f2da8b1f06a5cbd6 Mon Sep 17 00:00:00 2001 From: Jonah Stiennon Date: Sun, 13 Jun 2021 10:58:14 -0700 Subject: [PATCH 191/313] fix typos in openocd.gdb comments --- src/openocd.gdb | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/openocd.gdb b/src/openocd.gdb index cb3b3926a..1ab63a618 100644 --- a/src/openocd.gdb +++ b/src/openocd.gdb @@ -4,7 +4,7 @@ target remote :3333 # Load will flash the code load -# Eanble demangling asm names on disassembly +# Enable demangling asm names on disassembly set print asm-demangle on # Enable pretty printing @@ -29,9 +29,8 @@ break DefaultHandler # Set a breakpiont at HardFault break HardFault -# Continue running and unill we hit the main breakpoint +# Continue running until we hit the main breakpoint continue # Step from the trampoline code in entry into main step - From ab8006fe3fcffd2bb93643c8b3ea52aa16b8fa44 Mon Sep 17 00:00:00 2001 From: Nitin Saxena Date: Mon, 21 Jun 2021 13:51:58 +0530 Subject: [PATCH 192/313] fix bsrr in rtrm.md --- src/07-registers/rtrm.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/07-registers/rtrm.md b/src/07-registers/rtrm.md index 54885aead..0d7421507 100644 --- a/src/07-registers/rtrm.md +++ b/src/07-registers/rtrm.md @@ -37,8 +37,9 @@ peripheral, that table is in: > Section 11.4.12 GPIO register map - Page 243 -We are interested in the register that's at an offset of `0x18` from the base address of the `GPIOE` -peripheral. According to the table, that would be the register `BSRR`. +'BSRR' is the register which we will be using to set/reset. It's offset value is '0x18' from the base address +of the 'GPIOE'. We can look up BSRR in the reference manual. +GPIO Registers -> GPIO port bit set/reset register (GPIOx_BSRR). Now we need to jump to the documentation of that particular register. It's a few pages above in: From 72ddb782c73eef030165928798ad904b708d6013 Mon Sep 17 00:00:00 2001 From: Diego Barrios Romero Date: Mon, 21 Jun 2021 13:22:04 +0200 Subject: [PATCH 193/313] Fix typo --- src/07-registers/rtrm.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/07-registers/rtrm.md b/src/07-registers/rtrm.md index 0d7421507..a2e528c76 100644 --- a/src/07-registers/rtrm.md +++ b/src/07-registers/rtrm.md @@ -37,7 +37,7 @@ peripheral, that table is in: > Section 11.4.12 GPIO register map - Page 243 -'BSRR' is the register which we will be using to set/reset. It's offset value is '0x18' from the base address +'BSRR' is the register which we will be using to set/reset. Its offset value is '0x18' from the base address of the 'GPIOE'. We can look up BSRR in the reference manual. GPIO Registers -> GPIO port bit set/reset register (GPIOx_BSRR). From 35a12c9960f443e6a509f38828f2a1ab25f4de35 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sat, 5 Jun 2021 12:58:45 +0200 Subject: [PATCH 194/313] Clean up writing to USART TDR which is safe is again This issue got fixed with stm32f3 0.13.1 and writing to TDR is safe again. This prepares updating the dependencies to actually use this release. --- src/11-usart/src/main.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/src/main.rs b/src/11-usart/src/main.rs index 3cc03e8de..2201ce251 100644 --- a/src/11-usart/src/main.rs +++ b/src/11-usart/src/main.rs @@ -11,7 +11,7 @@ fn main() -> ! { // Send a single character usart1 .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(b'X')) }); + .write(|w| w.tdr().bits(u16::from(b'X')) ); loop {} } From 7adf9b93f556df5e378695dffec6f9c274e46d62 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sat, 5 Jun 2021 14:32:29 +0200 Subject: [PATCH 195/313] Update PAC and GPIO usage for upcomming PAC/HAL --- src/11-usart/auxiliary/src/lib.rs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index 0ccdecaa0..0f962c7f0 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -7,18 +7,18 @@ extern crate panic_itm; // panic handler pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; pub use cortex_m_rt::entry; -pub use stm32f3_discovery::stm32f3xx_hal::stm32::usart1; +pub use stm32f3_discovery::stm32f3xx_hal::pac::usart1; use stm32f3_discovery::stm32f3xx_hal::{ prelude::*, serial::Serial, - stm32::{self, USART1}, + pac::{self, USART1}, time::MonoTimer, }; pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32::Peripherals::take().unwrap(); + let dp = pac::Peripherals::take().unwrap(); let mut flash = dp.FLASH.constrain(); let mut rcc = dp.RCC.constrain(); @@ -30,8 +30,8 @@ pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { () => { let mut gpioa = dp.GPIOA.split(&mut rcc.ahb); - let tx = gpioa.pa9.into_af7(&mut gpioa.moder, &mut gpioa.afrh); - let rx = gpioa.pa10.into_af7(&mut gpioa.moder, &mut gpioa.afrh); + let tx = gpioa.pa9.into_af7_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrh); + let rx = gpioa.pa10.into_af7_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrh); (tx, rx) } @@ -39,14 +39,14 @@ pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { () => { let mut gpioc = dp.GPIOC.split(&mut rcc.ahb); - let tx = gpioc.pc4.into_af7(&mut gpioc.moder, &mut gpioc.afrl); - let rx = gpioc.pc5.into_af7(&mut gpioc.moder, &mut gpioc.afrl); + let tx = gpioc.pc4.into_af7_push_pull(&mut gpioc.moder, &mut gpioc.otyper, &mut gpioc.afrl); + let rx = gpioc.pc5.into_af7_push_pull(&mut gpioc.moder, &mut gpioc.otyper, &mut gpioc.afrl); (tx, rx) } }; - Serial::usart1(dp.USART1, (tx, rx), 115_200.bps(), clocks, &mut rcc.apb2); + Serial::usart1(dp.USART1, (tx, rx), 115_200.Bd(), clocks, &mut rcc.apb2); // If you are having trouble sending/receiving data to/from the // HC-05 bluetooth module, try this configuration instead: // Serial::usart1(dp.USART1, (tx, rx), 9600.bps(), clocks, &mut rcc.apb2); From ff0374ba00f6894804cbd7d81fc06e87c7bda8b6 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 7 Jun 2021 16:20:34 +0200 Subject: [PATCH 196/313] Update using Serial to upcoming changes from more-tests --- src/11-usart/auxiliary/src/lib.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index 0f962c7f0..972757685 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -46,7 +46,7 @@ pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { } }; - Serial::usart1(dp.USART1, (tx, rx), 115_200.Bd(), clocks, &mut rcc.apb2); + Serial::new(dp.USART1, (tx, rx), 115_200.Bd(), clocks, &mut rcc.apb2); // If you are having trouble sending/receiving data to/from the // HC-05 bluetooth module, try this configuration instead: // Serial::usart1(dp.USART1, (tx, rx), 9600.bps(), clocks, &mut rcc.apb2); From 814c051eb1d16c83c0f4d62e3912e5f22a839240 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sun, 13 Jun 2021 17:40:41 +0200 Subject: [PATCH 197/313] Add local MonoTimer replacement MonoTimer is used by 11-usart's aux11 module and the buffer-overrun solution. It got deprecated after stm32f3xx-hal release 0.6.1. This is a copy of https://github.com/stm32-rs/stm32f3xx-hal/blob/c68c36c03e0e33699b3b0c9acc3f8d80f5a25cd4/src/time.rs#L91 minus the time units which can be used from embedded-time. --- src/11-usart/auxiliary/src/lib.rs | 4 +- src/11-usart/auxiliary/src/monotimer.rs | 54 +++++++++++++++++++++++++ 2 files changed, 57 insertions(+), 1 deletion(-) create mode 100644 src/11-usart/auxiliary/src/monotimer.rs diff --git a/src/11-usart/auxiliary/src/lib.rs b/src/11-usart/auxiliary/src/lib.rs index 972757685..ac126c80d 100644 --- a/src/11-usart/auxiliary/src/lib.rs +++ b/src/11-usart/auxiliary/src/lib.rs @@ -9,12 +9,14 @@ pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; pub use cortex_m_rt::entry; pub use stm32f3_discovery::stm32f3xx_hal::pac::usart1; +pub mod monotimer; + use stm32f3_discovery::stm32f3xx_hal::{ prelude::*, serial::Serial, pac::{self, USART1}, - time::MonoTimer, }; +use monotimer::MonoTimer; pub fn init() -> (&'static mut usart1::RegisterBlock, MonoTimer, ITM) { let cp = cortex_m::Peripherals::take().unwrap(); diff --git a/src/11-usart/auxiliary/src/monotimer.rs b/src/11-usart/auxiliary/src/monotimer.rs new file mode 100644 index 000000000..be1d49fc3 --- /dev/null +++ b/src/11-usart/auxiliary/src/monotimer.rs @@ -0,0 +1,54 @@ +use stm32f3_discovery::stm32f3xx_hal as hal; + +use cortex_m::peripheral::DWT; +use hal::{ + rcc::Clocks, + time::rate::Hertz, +}; + +/// A monotonic nondecreasing timer. This is a resurrection of MonoTimer from +/// the stm32f3xx-hal where it got removed after 0.6.1. +#[derive(Clone, Copy)] +pub struct MonoTimer { + frequency: Hertz, +} + +// TODO: What about a refactoring to implement Clock from embedded-time? +impl MonoTimer { + /// Creates a new `Monotonic` timer + pub fn new(mut dwt: DWT, clocks: Clocks) -> Self { + dwt.enable_cycle_counter(); + + // now the CYCCNT counter can't be stopped or resetted + drop(dwt); + + MonoTimer { + frequency: clocks.hclk(), + } + } + + /// Returns the frequency at which the monotonic timer is operating at + pub fn frequency(self) -> Hertz { + self.frequency + } + + /// Returns an `Instant` corresponding to "now" + pub fn now(self) -> Instant { + Instant { + now: DWT::get_cycle_count(), + } + } +} + +/// A measurement of a monotonically nondecreasing clock +#[derive(Clone, Copy)] +pub struct Instant { + now: u32, +} + +impl Instant { + /// Ticks elapsed since the `Instant` was created + pub fn elapsed(self) -> u32 { + DWT::get_cycle_count().wrapping_sub(self.now) + } +} From aeab30394c18f9511ff55e973b47a4477d650b7b Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sun, 20 Jun 2021 13:15:45 +0200 Subject: [PATCH 198/313] Bump BSP to latest release fixing TDR access --- src/11-usart/auxiliary/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/11-usart/auxiliary/Cargo.toml b/src/11-usart/auxiliary/Cargo.toml index e2d451870..c5c1a9110 100644 --- a/src/11-usart/auxiliary/Cargo.toml +++ b/src/11-usart/auxiliary/Cargo.toml @@ -8,7 +8,7 @@ version = "0.1.0" cortex-m = "0.6.3" cortex-m-rt = "0.6.3" panic-itm = "0.4.0" -stm32f3-discovery = "0.6.0" +stm32f3-discovery = "0.7.0" [features] adapter = [] From 99b173b803e8600b713991fd6ab09a81cc221d4c Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sun, 20 Jun 2021 13:30:08 +0200 Subject: [PATCH 199/313] Bump other dependencies of 11-usart --- src/11-usart/auxiliary/Cargo.toml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/11-usart/auxiliary/Cargo.toml b/src/11-usart/auxiliary/Cargo.toml index c5c1a9110..733c082ff 100644 --- a/src/11-usart/auxiliary/Cargo.toml +++ b/src/11-usart/auxiliary/Cargo.toml @@ -5,9 +5,9 @@ name = "aux11" version = "0.1.0" [dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" +cortex-m = "0.7.2" +cortex-m-rt = "0.6.14" +panic-itm = "0.4.2" stm32f3-discovery = "0.7.0" [features] From b0f3510c24a6f8441b34f0bc762c8b615ccc0c48 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 21 Jun 2021 23:21:21 +0200 Subject: [PATCH 200/313] Factor out 11-usart example code to included files When running 'mdbook test' on the book the example code checking fails to handle for example macros like '#[entry]' and the local auxiliary crates. Having most code examples included from 'examples/' allows to check them at least with 'cargo build --target thumbv7em-none-eabihf --examples'. --- src/11-usart/buffer-overrun.md | 80 +------------------ src/11-usart/examples/buffer-overrun-timed.rs | 27 +++++++ src/11-usart/examples/buffer-overrun-txe.rs | 31 +++++++ src/11-usart/examples/buffer-overrun.rs | 19 +++++ src/11-usart/examples/echo.rs | 48 +++++++++++ .../examples/receive-a-single-byte.rs | 21 +++++ src/11-usart/examples/reverse-string.rs | 26 ++++++ src/11-usart/examples/the-answer.rs | 46 +++++++++++ src/11-usart/my-solution.md | 49 +----------- src/11-usart/receive-a-single-byte.md | 22 +---- src/11-usart/reverse-a-string.md | 26 +----- src/11-usart/uprintln.md | 47 +---------- 12 files changed, 225 insertions(+), 217 deletions(-) create mode 100644 src/11-usart/examples/buffer-overrun-timed.rs create mode 100644 src/11-usart/examples/buffer-overrun-txe.rs create mode 100644 src/11-usart/examples/buffer-overrun.rs create mode 100644 src/11-usart/examples/echo.rs create mode 100644 src/11-usart/examples/receive-a-single-byte.rs create mode 100644 src/11-usart/examples/reverse-string.rs create mode 100644 src/11-usart/examples/the-answer.rs diff --git a/src/11-usart/buffer-overrun.md b/src/11-usart/buffer-overrun.md index f54377f0b..f6a6f96c5 100644 --- a/src/11-usart/buffer-overrun.md +++ b/src/11-usart/buffer-overrun.md @@ -3,25 +3,7 @@ If you wrote your program like this: ``` rust -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - // Send a string - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - usart1 - .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); - } - - loop {} -} +{{#include examples/buffer-overrun.rs}} ``` You probably received something like this on your computer when you executed the program compiled in @@ -60,33 +42,7 @@ We can actually time how long it takes to execute the `for` loop. `aux11::init() `std::time`. ``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, mut itm) = aux11::init(); - - let instant = mono_timer.now(); - // Send a string - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); - } - let elapsed = instant.elapsed(); // in ticks - - iprintln!( - &mut itm.stim[0], - "`for` loop took {} ticks ({} us)", - elapsed, - elapsed as f32 / mono_timer.frequency().0 as f32 * 1e6 - ); - - loop {} -} +{{#include examples/buffer-overrun-timed.rs}} ``` In debug mode, I get: @@ -109,37 +65,7 @@ to write to the `TDR` register without incurring in data loss. Let's use that to slowdown the processor. ``` rust -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, mut itm) = aux11::init(); - - let instant = mono_timer.now(); - // Send a string - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - // wait until it's safe to write to TDR - while usart1.isr.read().txe().bit_is_clear() {} // <- NEW! - - usart1 - .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); - } - let elapsed = instant.elapsed(); // in ticks - - iprintln!( - &mut itm.stim[0], - "`for` loop took {} ticks ({} us)", - elapsed, - elapsed as f32 / mono_timer.frequency().0 as f32 * 1e6 - ); - - loop {} -} +{{#include examples/buffer-overrun-txe.rs}} ``` This time, running the program in debug or release mode should result in a complete string on the diff --git a/src/11-usart/examples/buffer-overrun-timed.rs b/src/11-usart/examples/buffer-overrun-timed.rs new file mode 100644 index 000000000..4633756a8 --- /dev/null +++ b/src/11-usart/examples/buffer-overrun-timed.rs @@ -0,0 +1,27 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln}; + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, mut itm) = aux11::init(); + + let instant = mono_timer.now(); + // Send a string + for byte in b"The quick brown fox jumps over the lazy dog.".iter() { + usart1.tdr.write(|w| w.tdr().bits(u16::from(*byte))); + } + let elapsed = instant.elapsed(); // in ticks + + iprintln!( + &mut itm.stim[0], + "`for` loop took {} ticks ({} us)", + elapsed, + elapsed as f32 / mono_timer.frequency().0 as f32 * 1e6 + ); + + loop {} +} diff --git a/src/11-usart/examples/buffer-overrun-txe.rs b/src/11-usart/examples/buffer-overrun-txe.rs new file mode 100644 index 000000000..ac1e8de9c --- /dev/null +++ b/src/11-usart/examples/buffer-overrun-txe.rs @@ -0,0 +1,31 @@ +#![no_main] +#![no_std] + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln}; + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, mut itm) = aux11::init(); + + let instant = mono_timer.now(); + // Send a string + for byte in b"The quick brown fox jumps over the lazy dog.".iter() { + // wait until it's safe to write to TDR + while usart1.isr.read().txe().bit_is_clear() {} // <- NEW! + + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + } + let elapsed = instant.elapsed(); // in ticks + + iprintln!( + &mut itm.stim[0], + "`for` loop took {} ticks ({} us)", + elapsed, + elapsed as f32 / mono_timer.frequency().0 as f32 * 1e6 + ); + + loop {} +} diff --git a/src/11-usart/examples/buffer-overrun.rs b/src/11-usart/examples/buffer-overrun.rs new file mode 100644 index 000000000..d1dd183a3 --- /dev/null +++ b/src/11-usart/examples/buffer-overrun.rs @@ -0,0 +1,19 @@ +#![no_main] +#![no_std] + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln}; + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, itm) = aux11::init(); + + // Send a string + for byte in b"The quick brown fox jumps over the lazy dog.".iter() { + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + } + + loop {} +} diff --git a/src/11-usart/examples/echo.rs b/src/11-usart/examples/echo.rs new file mode 100644 index 000000000..c0f068015 --- /dev/null +++ b/src/11-usart/examples/echo.rs @@ -0,0 +1,48 @@ +#![no_main] +#![no_std] + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln}; +use heapless::{consts, Vec}; + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, itm) = aux11::init(); + + // A buffer with 32 bytes of capacity + let mut buffer: Vec = Vec::new(); + + loop { + buffer.clear(); + + loop { + while usart1.isr.read().rxne().bit_is_clear() {} + let byte = usart1.rdr.read().rdr().bits() as u8; + + if buffer.push(byte).is_err() { + // buffer full + for byte in b"error: buffer full\n\r" { + while usart1.isr.read().txe().bit_is_clear() {} + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + } + + break; + } + + // Carriage return + if byte == 13 { + // Respond + for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { + while usart1.isr.read().txe().bit_is_clear() {} + usart1 + .tdr + .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + } + + break; + } + } + } +} diff --git a/src/11-usart/examples/receive-a-single-byte.rs b/src/11-usart/examples/receive-a-single-byte.rs new file mode 100644 index 000000000..7acfdbfae --- /dev/null +++ b/src/11-usart/examples/receive-a-single-byte.rs @@ -0,0 +1,21 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln}; + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, itm) = aux11::init(); + + loop { + // Wait until there's data available + while usart1.isr.read().rxne().bit_is_clear() {} + + // Retrieve the data + let _byte = usart1.rdr.read().rdr().bits() as u8; + + aux11::bkpt(); + } +} diff --git a/src/11-usart/examples/reverse-string.rs b/src/11-usart/examples/reverse-string.rs new file mode 100644 index 000000000..ad40ff7f0 --- /dev/null +++ b/src/11-usart/examples/reverse-string.rs @@ -0,0 +1,26 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln}; +use heapless::{consts, Vec}; + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, itm) = aux11::init(); + + // A buffer with 32 bytes of capacity + let mut buffer: Vec = Vec::new(); + + loop { + buffer.clear(); + + // TODO Receive a user request. Each user request ends with ENTER + // NOTE `buffer.push` returns a `Result`. Handle the error by responding + // with an error message. + + // TODO Send back the reversed string + } +} + diff --git a/src/11-usart/examples/the-answer.rs b/src/11-usart/examples/the-answer.rs new file mode 100644 index 000000000..9da184225 --- /dev/null +++ b/src/11-usart/examples/the-answer.rs @@ -0,0 +1,46 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use core::fmt::{self, Write}; + +#[allow(unused_imports)] +use aux11::{entry, iprint, iprintln, usart1}; + +macro_rules! uprint { + ($serial:expr, $($arg:tt)*) => { + $serial.write_fmt(format_args!($($arg)*)).ok() + }; +} + +macro_rules! uprintln { + ($serial:expr, $fmt:expr) => { + uprint!($serial, concat!($fmt, "\n")) + }; + ($serial:expr, $fmt:expr, $($arg:tt)*) => { + uprint!($serial, concat!($fmt, "\n"), $($arg)*) + }; +} + +struct SerialPort { + usart1: &'static mut usart1::RegisterBlock, +} + +impl fmt::Write for SerialPort { + fn write_str(&mut self, s: &str) -> fmt::Result { + // TODO implement this + // hint: this will look very similar to the previous program + Ok(()) + } +} + +#[entry] +fn main() -> ! { + let (usart1, mono_timer, itm) = aux11::init(); + + let mut serial = SerialPort { usart1 }; + + uprintln!(serial, "The answer is {}", 40 + 2); + + loop {} +} diff --git a/src/11-usart/my-solution.md b/src/11-usart/my-solution.md index e5cf967c1..c88913176 100644 --- a/src/11-usart/my-solution.md +++ b/src/11-usart/my-solution.md @@ -1,52 +1,5 @@ # My solution ```rust -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; -use heapless::{consts, Vec}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - // A buffer with 32 bytes of capacity - let mut buffer: Vec = Vec::new(); - - loop { - buffer.clear(); - - loop { - while usart1.isr.read().rxne().bit_is_clear() {} - let byte = usart1.rdr.read().rdr().bits() as u8; - - if buffer.push(byte).is_err() { - // buffer full - for byte in b"error: buffer full\n\r" { - while usart1.isr.read().txe().bit_is_clear() {} - usart1 - .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); - } - - break; - } - - // Carriage return - if byte == 13 { - // Respond - for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { - while usart1.isr.read().txe().bit_is_clear() {} - usart1 - .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); - } - - break; - } - } - } -} +{{#include examples/echo.rs}} ``` diff --git a/src/11-usart/receive-a-single-byte.md b/src/11-usart/receive-a-single-byte.md index 9d977f5ef..02d1e6b6b 100644 --- a/src/11-usart/receive-a-single-byte.md +++ b/src/11-usart/receive-a-single-byte.md @@ -9,27 +9,7 @@ do we know that we have received (new) data? The status register, `ISR`, has a b `RXNE`. We can just busy wait on that flag. ``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - loop { - // Wait until there's data available - while usart1.isr.read().rxne().bit_is_clear() {} - - // Retrieve the data - let _byte = usart1.rdr.read().rdr().bits() as u8; - - aux11::bkpt(); - } -} +{{#include examples/receive-a-single-byte.rs}} ``` Let's try this program! Let it run free using `continue` and then type a single character in diff --git a/src/11-usart/reverse-a-string.md b/src/11-usart/reverse-a-string.md index 12a3dda7b..b962033ea 100644 --- a/src/11-usart/reverse-a-string.md +++ b/src/11-usart/reverse-a-string.md @@ -9,29 +9,5 @@ This time you'll need a buffer; you can use [`heapless::Vec`]. Here's the starte [`heapless::Vec`]: https://docs.rs/heapless/0.2.1/heapless/struct.Vec.html ``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln}; -use heapless::{consts, Vec}; - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - // A buffer with 32 bytes of capacity - let mut buffer: Vec = Vec::new(); - - loop { - buffer.clear(); - - // TODO Receive a user request. Each user request ends with ENTER - // NOTE `buffer.push` returns a `Result`. Handle the error by responding - // with an error message. - - // TODO Send back the reversed string - } -} +{{#include examples/reverse-string.rs}} ``` diff --git a/src/11-usart/uprintln.md b/src/11-usart/uprintln.md index 8d152ad2e..34032da2e 100644 --- a/src/11-usart/uprintln.md +++ b/src/11-usart/uprintln.md @@ -61,50 +61,5 @@ Above we saw that `Write` is in `std::fmt`. We don't have access to `std` but `W available in `core::fmt`. ``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use core::fmt::{self, Write}; - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln, usart1}; - -macro_rules! uprint { - ($serial:expr, $($arg:tt)*) => { - $serial.write_fmt(format_args!($($arg)*)).ok() - }; -} - -macro_rules! uprintln { - ($serial:expr, $fmt:expr) => { - uprint!($serial, concat!($fmt, "\n")) - }; - ($serial:expr, $fmt:expr, $($arg:tt)*) => { - uprint!($serial, concat!($fmt, "\n"), $($arg)*) - }; -} - -struct SerialPort { - usart1: &'static mut usart1::RegisterBlock, -} - -impl fmt::Write for SerialPort { - fn write_str(&mut self, s: &str) -> fmt::Result { - // TODO implement this - // hint: this will look very similar to the previous program - Ok(()) - } -} - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - let mut serial = SerialPort { usart1 }; - - uprintln!(serial, "The answer is {}", 40 + 2); - - loop {} -} +{{#include examples/the-answer.rs}} ``` From 40ff11e9be47df89b52ddbf30c2a8668d805a842 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 21 Jun 2021 23:34:16 +0200 Subject: [PATCH 201/313] Make 11-usart example code safe again Updating stm32f3xx-hal makes accessing these registers safe as it should be. --- src/11-usart/examples/buffer-overrun-txe.rs | 2 +- src/11-usart/examples/buffer-overrun.rs | 2 +- src/11-usart/examples/echo.rs | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/11-usart/examples/buffer-overrun-txe.rs b/src/11-usart/examples/buffer-overrun-txe.rs index ac1e8de9c..f5a75d6c9 100644 --- a/src/11-usart/examples/buffer-overrun-txe.rs +++ b/src/11-usart/examples/buffer-overrun-txe.rs @@ -16,7 +16,7 @@ fn main() -> ! { usart1 .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + .write(|w| w.tdr().bits(u16::from(*byte))); } let elapsed = instant.elapsed(); // in ticks diff --git a/src/11-usart/examples/buffer-overrun.rs b/src/11-usart/examples/buffer-overrun.rs index d1dd183a3..14c98d33f 100644 --- a/src/11-usart/examples/buffer-overrun.rs +++ b/src/11-usart/examples/buffer-overrun.rs @@ -12,7 +12,7 @@ fn main() -> ! { for byte in b"The quick brown fox jumps over the lazy dog.".iter() { usart1 .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + .write(|w| w.tdr().bits(u16::from(*byte))); } loop {} diff --git a/src/11-usart/examples/echo.rs b/src/11-usart/examples/echo.rs index c0f068015..a4375eecb 100644 --- a/src/11-usart/examples/echo.rs +++ b/src/11-usart/examples/echo.rs @@ -25,7 +25,7 @@ fn main() -> ! { while usart1.isr.read().txe().bit_is_clear() {} usart1 .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + .write(|w| w.tdr().bits(u16::from(*byte))); } break; @@ -38,7 +38,7 @@ fn main() -> ! { while usart1.isr.read().txe().bit_is_clear() {} usart1 .tdr - .write(|w| unsafe { w.tdr().bits(u16::from(*byte)) }); + .write(|w| w.tdr().bits(u16::from(*byte))); } break; From d5d95e15964fc9f77c7f70e9e039f2ccba7497fd Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 21 Jun 2021 23:31:12 +0200 Subject: [PATCH 202/313] Clean up warnings about unused variables --- src/11-usart/examples/buffer-overrun.rs | 2 +- src/11-usart/examples/echo.rs | 2 +- src/11-usart/examples/receive-a-single-byte.rs | 2 +- src/11-usart/examples/reverse-string.rs | 2 +- src/11-usart/examples/the-answer.rs | 2 +- src/11-usart/src/main.rs | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/11-usart/examples/buffer-overrun.rs b/src/11-usart/examples/buffer-overrun.rs index 14c98d33f..26d0957ef 100644 --- a/src/11-usart/examples/buffer-overrun.rs +++ b/src/11-usart/examples/buffer-overrun.rs @@ -6,7 +6,7 @@ use aux11::{entry, iprint, iprintln}; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + let (usart1, _mono_timer, _itm) = aux11::init(); // Send a string for byte in b"The quick brown fox jumps over the lazy dog.".iter() { diff --git a/src/11-usart/examples/echo.rs b/src/11-usart/examples/echo.rs index a4375eecb..e06517d57 100644 --- a/src/11-usart/examples/echo.rs +++ b/src/11-usart/examples/echo.rs @@ -7,7 +7,7 @@ use heapless::{consts, Vec}; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + let (usart1, _mono_timer, _itm) = aux11::init(); // A buffer with 32 bytes of capacity let mut buffer: Vec = Vec::new(); diff --git a/src/11-usart/examples/receive-a-single-byte.rs b/src/11-usart/examples/receive-a-single-byte.rs index 7acfdbfae..333959042 100644 --- a/src/11-usart/examples/receive-a-single-byte.rs +++ b/src/11-usart/examples/receive-a-single-byte.rs @@ -7,7 +7,7 @@ use aux11::{entry, iprint, iprintln}; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + let (usart1, _mono_timer, _itm) = aux11::init(); loop { // Wait until there's data available diff --git a/src/11-usart/examples/reverse-string.rs b/src/11-usart/examples/reverse-string.rs index ad40ff7f0..05910b6c6 100644 --- a/src/11-usart/examples/reverse-string.rs +++ b/src/11-usart/examples/reverse-string.rs @@ -8,7 +8,7 @@ use heapless::{consts, Vec}; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + let (usart1, _mono_timer, _itm) = aux11::init(); // A buffer with 32 bytes of capacity let mut buffer: Vec = Vec::new(); diff --git a/src/11-usart/examples/the-answer.rs b/src/11-usart/examples/the-answer.rs index 9da184225..90fd2831f 100644 --- a/src/11-usart/examples/the-answer.rs +++ b/src/11-usart/examples/the-answer.rs @@ -36,7 +36,7 @@ impl fmt::Write for SerialPort { #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + let (usart1, _mono_timer, _itm) = aux11::init(); let mut serial = SerialPort { usart1 }; diff --git a/src/11-usart/src/main.rs b/src/11-usart/src/main.rs index 2201ce251..bc6ed0edf 100644 --- a/src/11-usart/src/main.rs +++ b/src/11-usart/src/main.rs @@ -6,7 +6,7 @@ use aux11::{entry, iprint, iprintln}; #[entry] fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); + let (usart1, _mono_timer, _itm) = aux11::init(); // Send a single character usart1 From 0aa730df7ef703577a06befee8498d20cbe9aabb Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Mon, 21 Jun 2021 23:40:03 +0200 Subject: [PATCH 203/313] Bump heapless to latest release --- src/11-usart/Cargo.toml | 2 +- src/11-usart/examples/echo.rs | 4 ++-- src/11-usart/examples/reverse-string.rs | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/11-usart/Cargo.toml b/src/11-usart/Cargo.toml index 956dc824f..1cb39274d 100644 --- a/src/11-usart/Cargo.toml +++ b/src/11-usart/Cargo.toml @@ -11,4 +11,4 @@ path = "auxiliary" [dependencies.heapless] default-features = false -version = "0.3.7" +version = "0.7.1" diff --git a/src/11-usart/examples/echo.rs b/src/11-usart/examples/echo.rs index e06517d57..7a2d9fff3 100644 --- a/src/11-usart/examples/echo.rs +++ b/src/11-usart/examples/echo.rs @@ -3,14 +3,14 @@ #[allow(unused_imports)] use aux11::{entry, iprint, iprintln}; -use heapless::{consts, Vec}; +use heapless::Vec; #[entry] fn main() -> ! { let (usart1, _mono_timer, _itm) = aux11::init(); // A buffer with 32 bytes of capacity - let mut buffer: Vec = Vec::new(); + let mut buffer: Vec = Vec::new(); loop { buffer.clear(); diff --git a/src/11-usart/examples/reverse-string.rs b/src/11-usart/examples/reverse-string.rs index 05910b6c6..181655290 100644 --- a/src/11-usart/examples/reverse-string.rs +++ b/src/11-usart/examples/reverse-string.rs @@ -4,14 +4,14 @@ #[allow(unused_imports)] use aux11::{entry, iprint, iprintln}; -use heapless::{consts, Vec}; +use heapless::Vec; #[entry] fn main() -> ! { let (usart1, _mono_timer, _itm) = aux11::init(); // A buffer with 32 bytes of capacity - let mut buffer: Vec = Vec::new(); + let mut buffer: Vec = Vec::new(); loop { buffer.clear(); From 9655eef856f6dd4fc5fa52abcd0687c1490a67d5 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Tue, 22 Jun 2021 00:02:01 +0200 Subject: [PATCH 204/313] Mention newer Rust version required by 11-usart --- src/03-setup/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 01cdf1289..92388cd24 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -36,7 +36,8 @@ Checkout the github issues like [this][gh-issue-274]. We'll use all the tools listed below. Where a minimum version is not specified, any recent version should work but we have listed the version we have tested. -- Rust 1.31 or a newer toolchain. +- Rust 1.31 or a newer toolchain. Chapter [USART](../11-usart/index.html) + requires 1.51 or newer. - [`itmdump`] >=0.3.1 (`cargo install itm`). Tested versions: 0.3.1. From 2bc7ccb89dcddb6c691013cb9cb04e6387fc32a8 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Tue, 22 Jun 2021 00:59:00 +0100 Subject: [PATCH 205/313] Build examples in CI as well --- .github/workflows/ci.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c0bb394ba..5ca11e63e 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -30,7 +30,10 @@ jobs: target: thumbv7em-none-eabihf - name: Build chapter working-directory: src/${{ matrix.chapter }} - run: cargo build + run: cargo build --target thumbv7em-none-eabihf + - name: Build chapter examples + working-directory: src/${{ matrix.chapter }} + run: cargo build --target thumbv7em-none-eabihf --examples # Check a build succeeds for docs. build-doc: From 5607a83654f049bc85a6f0eb55fef24bc9c41d1d Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Tue, 22 Jun 2021 21:43:29 +0200 Subject: [PATCH 206/313] Factor out 05-led-roulette examples --- src/05-led-roulette/examples/my-solution.rs | 22 +++++++++++++++++ .../the-led-and-delay-abstractions.rs | 20 ++++++++++++++++ src/05-led-roulette/my-solution.md | 24 +------------------ .../the-led-and-delay-abstractions.md | 22 +---------------- 4 files changed, 44 insertions(+), 44 deletions(-) create mode 100644 src/05-led-roulette/examples/my-solution.rs create mode 100644 src/05-led-roulette/examples/the-led-and-delay-abstractions.rs diff --git a/src/05-led-roulette/examples/my-solution.rs b/src/05-led-roulette/examples/my-solution.rs new file mode 100644 index 000000000..80cc49f65 --- /dev/null +++ b/src/05-led-roulette/examples/my-solution.rs @@ -0,0 +1,22 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use aux5::{Delay, DelayMs, LedArray, OutputSwitch, entry}; + +#[entry] +fn main() -> ! { + let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); + + let ms = 50_u8; + loop { + for curr in 0..8 { + let next = (curr + 1) % 8; + + leds[next].on().ok(); + delay.delay_ms(ms); + leds[curr].off().ok(); + delay.delay_ms(ms); + } + } +} diff --git a/src/05-led-roulette/examples/the-led-and-delay-abstractions.rs b/src/05-led-roulette/examples/the-led-and-delay-abstractions.rs new file mode 100644 index 000000000..ec07d1ffd --- /dev/null +++ b/src/05-led-roulette/examples/the-led-and-delay-abstractions.rs @@ -0,0 +1,20 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use aux5::{entry, Delay, DelayMs, LedArray, OutputSwitch}; + +#[entry] +fn main() -> ! { + let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); + + let half_period = 500_u16; + + loop { + leds[0].on().ok(); + delay.delay_ms(half_period); + + leds[0].off().ok(); + delay.delay_ms(half_period); + } +} diff --git a/src/05-led-roulette/my-solution.md b/src/05-led-roulette/my-solution.md index 7176bcfac..16cfeae8e 100644 --- a/src/05-led-roulette/my-solution.md +++ b/src/05-led-roulette/my-solution.md @@ -5,29 +5,7 @@ What solution did you come up with? Here's mine: ``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use aux5::{Delay, DelayMs, LedArray, OutputSwitch, entry}; - -#[entry] -fn main() -> ! { - let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); - - let ms = 50_u8; - loop { - for curr in 0..8 { - let next = (curr + 1) % 8; - - leds[next].on().ok(); - delay.delay_ms(ms); - leds[curr].off().ok(); - delay.delay_ms(ms); - } - } -} - +{{#include examples/my-solution.rs}} ``` One more thing! Check that your solution also works when compiled in "release" mode: diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index 507ca6d7f..061b8ba6f 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -14,27 +14,7 @@ and exposes two methods: `on` and `off` which can be used to turn the LED on or Let's try out these two abstractions by modifying the starter code to look like this: ``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use aux5::{entry, Delay, DelayMs, LedArray, OutputSwitch}; - -#[entry] -fn main() -> ! { - let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); - - let half_period = 500_u16; - - loop { - leds[0].on().ok(); - delay.delay_ms(half_period); - - leds[0].off().ok(); - delay.delay_ms(half_period); - } -} - +{{#include examples/the-led-and-delay-abstractions.rs}} ``` Now build it: From 92567a148fb70b81d0966b35d6f083fad779dee4 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Tue, 22 Jun 2021 21:48:56 +0200 Subject: [PATCH 207/313] Bump dependencies of 05-led-roulette --- src/05-led-roulette/auxiliary/Cargo.toml | 6 +++--- src/05-led-roulette/auxiliary/src/lib.rs | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/05-led-roulette/auxiliary/Cargo.toml b/src/05-led-roulette/auxiliary/Cargo.toml index a8d04711f..6baa88649 100644 --- a/src/05-led-roulette/auxiliary/Cargo.toml +++ b/src/05-led-roulette/auxiliary/Cargo.toml @@ -9,7 +9,7 @@ name = "aux5" version = "0.2.0" [dependencies] -cortex-m = "0.6.4" -cortex-m-rt = "0.6.13" -stm32f3-discovery = "0.6.0" +cortex-m = "0.7.2" +cortex-m-rt = "0.6.14" +stm32f3-discovery = "0.7.0" panic-itm = "0.4.2" diff --git a/src/05-led-roulette/auxiliary/src/lib.rs b/src/05-led-roulette/auxiliary/src/lib.rs index 8ef93c87d..fe7358237 100644 --- a/src/05-led-roulette/auxiliary/src/lib.rs +++ b/src/05-led-roulette/auxiliary/src/lib.rs @@ -14,13 +14,13 @@ pub use stm32f3xx_hal::{ delay::Delay, gpio::{gpioe, Output, PushPull}, hal::blocking::delay::DelayMs, - stm32, + pac, }; pub type LedArray = [Switch>, ActiveHigh>; 8]; pub fn init() -> (Delay, LedArray) { - let device_periphs = stm32::Peripherals::take().unwrap(); + let device_periphs = pac::Peripherals::take().unwrap(); let mut reset_and_clock_control = device_periphs.RCC.constrain(); let core_periphs = cortex_m::Peripherals::take().unwrap(); From c9ddb5aa5a333504ade1be37240af29bc51a74a0 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Tue, 22 Jun 2021 23:55:54 +0200 Subject: [PATCH 208/313] Fix debug example to actually show led-roulette --- src/05-led-roulette/debug-it.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 0a8025d6b..eb9e9b81f 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -54,10 +54,10 @@ invokes a subroutine call to the `main` function using an ARM branch and link in ``` (gdb) disassemble /m Dump of assembler code for function main: -8 #[entry] +7 #[entry] 0x080001ec <+0>: push {r7, lr} 0x080001ee <+2>: mov r7, sp -=> 0x080001f0 <+4>: bl 0x80001f6 +=> 0x080001f0 <+4>: bl 0x80001f6 <_ZN12led_roulette18__cortex_m_rt_main17he61ef18c060014a5E> 0x080001f4 <+8>: udf #254 ; 0xfe End of assembler dump. From 9ddf396768166f51e5a66a043050f4aabc9ccda4 Mon Sep 17 00:00:00 2001 From: Danny Moesch Date: Fri, 30 Apr 2021 20:39:34 +0200 Subject: [PATCH 209/313] Fix some flaws in the "LED roulette" section --- src/05-led-roulette/README.md | 4 ++-- src/05-led-roulette/build-it.md | 8 ++++---- src/05-led-roulette/debug-it.md | 14 +++++++------- src/05-led-roulette/flash-it.md | 13 +++++++------ src/05-led-roulette/the-challenge.md | 4 ++-- .../the-led-and-delay-abstractions.md | 10 +++++----- 6 files changed, 27 insertions(+), 26 deletions(-) diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 132b42185..6d012210b 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -36,8 +36,8 @@ The `no_main` attribute says that this program won't use the standard `main` int tailored for command line applications that receive arguments. Instead of the standard `main` we'll use the `entry` attribute from the [`cortex-m-rt`] crate to define a custom entry point. In this program we have named the entry point "main", but any other name could have been used. The entry -point function must have signature `fn() -> !`; this type indicates that the function can't return --- this means that the program never terminates. +point function must have the signature `fn() -> !`; this type indicates that the function can't +return - this means that the program never terminates. [`cortex-m-rt`]: https://crates.io/crates/cortex-m-rt diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 11056c16b..a79d005a2 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -15,7 +15,7 @@ families within that architecture: - `thumbv7em-none-eabihf`, for the Cortex-M4**F** and Cortex-M7**F** processors For the F3, we'll use the `thumbv7em-none-eabihf` target. Before cross compiling you have to -download pre-compiled version of the standard library (a reduced version of it actually) for your +download a pre-compiled version of the standard library (a reduced version of it actually) for your target. That's done using `rustup`: ``` console @@ -27,7 +27,7 @@ You only need to do the above step once; `rustup` will re-install a new standard With the `rust-std` component in place you can now cross compile the program using Cargo. -> Note: make sure you are in the `src/05-led-roulette` directory +> **NOTE** Make sure you are in the `src/05-led-roulette` directory > and run `cargo build` command below to create the executable: ``` console cargo build --target thumbv7em-none-eabihf @@ -88,9 +88,9 @@ $ cargo build --target thumbv7em-none-eabihf Finished dev [unoptimized + debuginfo] target(s) in 17.91s ``` -> **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml file and build command above will ensure optimizations are off. +> **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml file and build command above will ensure optimizations are off. -OK, now we have produced an executable. This executable won't blink any leds, it's just a simplified version that we will build upon later in the chapter. As a sanity check, let's verify that the produced executable is actually an ARM binary: +OK, now we have produced an executable. This executable won't blink any LEDs, it's just a simplified version that we will build upon later in the chapter. As a sanity check, let's verify that the produced executable is actually an ARM binary: ``` console cargo readobj --target thumbv7em-none-eabihf --bin led-roulette -- --file-header diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 0a8025d6b..15e74668f 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -10,9 +10,9 @@ The starter project I've provided to you has some extra code that runs *before* At this time, we are not interested in that "pre-main" part so let's skip right to the beginning of the `main` function. We'll do that using a breakpoint. Issue `break main` at the `(gdb)` prompt: -> **Note** for these gdb commands I generally won't provide a copyable code block +> **NOTE** For these GDB commands I generally won't provide a copyable code block > as these are short and it's faster just to type them yourself. In addition most -> can be shortend. For instance `b` for `break` or `s` for `step`, see [gdb quick ref] +> can be shortend. For instance `b` for `break` or `s` for `step`, see [GDB Quick Reference] > for more info or use Google to find your others. In addition, you can use tab completion > by typing the first few letters than one tab to complete or two tabs to > see all possible commands. @@ -26,7 +26,7 @@ the `main` function. We'll do that using a breakpoint. Issue `break main` at the >> Argument N means step N times (or till program stops for another reason). >> ``` -[gdb quick ref]: https://users.ece.utexas.edu/~adnan/gdb-refcard.pdf +[GDB Quick Reference]: https://users.ece.utexas.edu/~adnan/gdb-refcard.pdf ``` (gdb) break main Breakpoint 1 at 0x80001f0: file src/05-led-roulette/src/main.rs, line 7. @@ -49,7 +49,7 @@ which is a trampoline to the main function and where `break main` sets the break > breakpoints so it's a good idea to pay attention to these messages. OK. Since we are stopped at `#[entry]` and using the `disassemble /m` we see the code -for entry, which is a trampoline to main. What that means it sets up the stack and then +for entry, which is a trampoline to main. That means it sets up the stack and then invokes a subroutine call to the `main` function using an ARM branch and link instruction, `bl`. ``` (gdb) disassemble /m @@ -63,7 +63,7 @@ Dump of assembler code for function main: End of assembler dump. ``` -Next we need to issue a `step` gdb command which will advance the program statement +Next we need to issue a `step` GDB command which will advance the program statement by statement stepping into functions/procedures. So after this first `step` command we're inside `main` and are positioned at the first executable `rust` statement, line 10, but it is **not** executed: @@ -76,7 +76,7 @@ led_roulette::__cortex_m_rt_main () at src/05-led-roulette/src/main.rs:10 Next we'll issue a second `step` which executes line 10 and stops at line `11 _y = x;`, again line 11 is **not** executed. -> **Note** we could have pressed enter at the second `(gdb) ` prompt and +> **NOTE** We could have pressed enter at the second `(gdb) ` prompt and > it would have reissued the previous statement, `step`, but for clarity > in this tutorial we'll generally retype the command. @@ -86,7 +86,7 @@ line `11 _y = x;`, again line 11 is **not** executed. ``` As you can see, in this mode, on each `step` command GDB will print the current statement along -along with its line number. As you'll see later in the TUI mode you'll not the see the statement +with its line number. As you'll see later in the TUI mode you'll not see the statement in the command area. We are now "on" the `_y = x` statement; that statement hasn't been executed yet. This means that `x` diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index cb3f42d6c..4ad172628 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -135,7 +135,7 @@ In both failing and successful cases you should see new output in the **OpenOCD +Info : flash size = 256kbytes ``` -**NOTE**: If you are getting an error like `undefined debug reason 7 - target needs reset`, you can try running `monitor reset halt` as described [here](https://stackoverflow.com/questions/38994596/reason-7-target-needs-reset-unreliable-debugging-setup). +> **NOTE** If you are getting an error like `undefined debug reason 7 - target needs reset`, you can try running `monitor reset halt` as described [here](https://stackoverflow.com/questions/38994596/reason-7-target-needs-reset-unreliable-debugging-setup). By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to that port. @@ -143,8 +143,9 @@ that port. ## Update ../.cargo/config.toml Now that you've successfully determined which debugger you need to use -we need to change `../.cargo/config.toml` so that `cargo run` command will succeed. -Note: `cargo` is the rust package manager and you can read about it +we need to change `../.cargo/config.toml` so that the `cargo run` command will succeed. + +> **NOTE** `cargo` is the Rust package manager and you can read about it [here](https://doc.rust-lang.org/cargo/). Get back to the terminal prompt and look at `../.cargo/config.toml`: @@ -190,11 +191,11 @@ index ddff17f..8512cfe 100644 Now that you have `../.cargo/config.toml` setup let's test it using `cargo run` to start the debug session. -> Note the `--target thumbv7em-none-eabihf` defines which architecture +> **NOTE** The `--target thumbv7em-none-eabihf` defines which architecture > to build and run. In our `../.cargo/config.toml` file we have > `target = "thumbv7em-none-eabihf"` so it is actually not necessary > to specify `--target` we do it here just so you know that parameters on -> the command line can be used and they override those in `config.toml` files +> the command line can be used and they override those in `config.toml` files. ``` cargo run --target thumbv7em-none-eabihf @@ -224,7 +225,7 @@ directory. ## Flash the device -Assuming you have gdb running, if not start it as suggested in the previous section. +Assuming you have GDB running, if not start it as suggested in the previous section. Now use the `load` command in `gdb` to actually flash the program into the device: ``` diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 77f0d3ba5..a0392e1c3 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -26,7 +26,7 @@ entering the same commands at the beginning. We can use a `.gdb` file to execute right after GDB is started. This way you can save yourself the effort of having to enter them manually on each GDB session. -As it turns out we've already created `../openocd.gdb` and you can see it's doing +As it turns out we've already created `../openocd.gdb` and you can see it's doing pretty much what we did in the previous section plus a few other commands. Look at the comments for additional information: @@ -73,7 +73,7 @@ step Now we need to modify the `../.cargo/config.toml` file to execute `../openocd.gdb` ``` console -nano ../openocd.gdb +nano ../.cargo/config.toml ``` Edit your `runner` command ` -x ../openocd.gdb`. diff --git a/src/05-led-roulette/the-led-and-delay-abstractions.md b/src/05-led-roulette/the-led-and-delay-abstractions.md index 507ca6d7f..38c464363 100644 --- a/src/05-led-roulette/the-led-and-delay-abstractions.md +++ b/src/05-led-roulette/the-led-and-delay-abstractions.md @@ -48,7 +48,7 @@ cargo build > session ensuring you never forget to recompile your program. Now we'll run and repeat the flashing procedure as we did in the previous section -but with the new program. I'll let you type in the `cargo run`, *this will get easier shortly* :) +but with the new program. I'll let you type in the `cargo run`, *this will get easier shortly*. :) ``` console $ cargo run Finished dev [unoptimized + debuginfo] target(s) in 0.01s @@ -82,7 +82,7 @@ Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () led_roulette::__cortex_m_rt_main () at ~/embedded-discovery/src/05-led-roulette/src/main.rs:9 9 let (mut delay, mut leds): (Delay, LedArray) = aux5::init(); -(gdb) +(gdb) ``` OK. Let's step through the code. This time, we'll use the `next` command instead of `step`. The @@ -206,7 +206,7 @@ Run till exit from #0 0x08002f80 in stm32f3xx_hal::delay::{{impl}}::delay_ms (s We are back in `main`. We have a local variable in here: `half_period` ``` -(gdb) print half_period +(gdb) print half_period $3 = 500 ``` @@ -215,14 +215,14 @@ Now, we are going to modify this variable using the `set` command: ``` (gdb) set half_period = 100 -(gdb) print half_period +(gdb) print half_period $5 = 100 ``` If you let program run free again using the `continue` command, you **might** see that the LED will blink at a much faster rate now, but more likely the blink rate didn't change. **What happened?** -Let's stop the program with `Ctrl+C` and then set a break point at `main:14`. +Let's stop the program with `Ctrl+C` and then set a break point at `main:14`. ``` console (gdb) continue Continuing. From 25893cbcdea24b2624fd0a68245bd8de828679cf Mon Sep 17 00:00:00 2001 From: Danny Moesch Date: Sat, 1 May 2021 18:07:15 +0200 Subject: [PATCH 210/313] Use an en dash instead of a simple hyphen --- src/05-led-roulette/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index 6d012210b..85ba3e845 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -37,7 +37,7 @@ tailored for command line applications that receive arguments. Instead of the st use the `entry` attribute from the [`cortex-m-rt`] crate to define a custom entry point. In this program we have named the entry point "main", but any other name could have been used. The entry point function must have the signature `fn() -> !`; this type indicates that the function can't -return - this means that the program never terminates. +return – this means that the program never terminates. [`cortex-m-rt`]: https://crates.io/crates/cortex-m-rt From 0c27f746a340a935456d1b47093a745a7f7f720f Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sun, 11 Jul 2021 13:40:16 +0200 Subject: [PATCH 211/313] Guide to disussions and issues in README.md Several questions have ended up in the issues recently. So what about pointing the discussions section out more prominently? --- README.md | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index e82809450..275b3f511 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,23 @@ # `Discovery` -> Discover the world of microcontrollers through Rust +Discover the world of microcontrollers through +[Rust](https://www.rust-lang.org/): + +- Read this book on-line at https://docs.rust-embedded.org/discovery/ +- Start working on the examples from this repository +- You've got questions? + - Have a look at our [discussions section on + GitHub](https://github.com/rust-embedded/discovery/discussions) + - May be it got already answered there + - If not, start a new discussion +- You've found an issue? + - Have a look at our [issues on + GitHub](https://github.com/rust-embedded/discovery/issues) + - May be there is already a workaround + - If not, please open a new one - or even better - a [pull + request](https://github.com/rust-embedded/discovery/pulls) for solving + it +- Have fun and enjoy! This project is developed and maintained by the [Resources team][team]. From b3d8a19ac224d9e62ea0891512b1bbbad0dbeee1 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Sun, 11 Jul 2021 14:28:18 +0100 Subject: [PATCH 212/313] Wording changes to new discussions section in README --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 275b3f511..72792fb48 100644 --- a/README.md +++ b/README.md @@ -8,12 +8,12 @@ Discover the world of microcontrollers through - You've got questions? - Have a look at our [discussions section on GitHub](https://github.com/rust-embedded/discovery/discussions) - - May be it got already answered there + - Maybe it has already been answered - If not, start a new discussion - You've found an issue? - Have a look at our [issues on GitHub](https://github.com/rust-embedded/discovery/issues) - - May be there is already a workaround + - Maybe there is already a workaround - If not, please open a new one - or even better - a [pull request](https://github.com/rust-embedded/discovery/pulls) for solving it From 0f2e32f27a48817177863e9431e93512e5dd8140 Mon Sep 17 00:00:00 2001 From: Christian Meusel Date: Sun, 11 Jul 2021 22:07:27 +0200 Subject: [PATCH 213/313] Fix instructions for installting GDB on Fedora Issue https://github.com/rust-embedded/discovery/issues/364 reports that the package arm-none-eabi-gdb has been dropped from Fedora (30-ish). Their Bugzilla issue https://bugzilla.redhat.com/show_bug.cgi?id=1859627#c23 recommends installing the toolchain provided by arm and that is what the section 'Other distros' in the book does as well. A gdb-multiarch package does not seem available at a first glance. --- src/03-setup/linux.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index 0835d28a2..d88f1f0d2 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -42,12 +42,10 @@ sudo apt-get install \ ### Fedora 23 or newer -> **NOTE** `arm-none-eabi-gdb` is the GDB command you'll use to debug your ARM -> Cortex-M programs +Install GDB as described in [Other distros](#other-distros) and the following packages: ``` console sudo dnf install \ - arm-none-eabi-gdb \ minicom \ openocd ``` From 8819f97337d4276c6c4c400dcb52a03f08a8879d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 14 Jul 2021 21:20:58 +0200 Subject: [PATCH 214/313] Rewrite of chapter 2 for microbit v2 --- src/02-requirements/README.md | 13 ++++++++----- src/assets/microbit-v2.jpg | Bin 0 -> 191572 bytes src/assets/microbit.jpg | Bin 905667 -> 0 bytes 3 files changed, 8 insertions(+), 5 deletions(-) create mode 100644 src/assets/microbit-v2.jpg delete mode 100644 src/assets/microbit.jpg diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index f64f8cd65..b053668ed 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -10,9 +10,10 @@ the fact that `extern crate` is not necessary in the 2018 edition. Also, to follow this material you'll need the following hardware: -- A [micro:bit] board. +- A [micro:bit v2] board, alternatively a [micro:bit v1] board. -[micro:bit]: https://microbit.org/ +[micro:bit v2]: https://tech.microbit.org/hardware/ +[micro:bit v1]: https://tech.microbit.org/hardware/1-5-revision/ (You can purchase this board from several [electronics][0] [suppliers][1]) @@ -20,9 +21,11 @@ Also, to follow this material you'll need the following hardware: [1]: https://www.mouser.com/microbit/_/N-aez3t?P=1y8um0l

    - +

    +> **NOTE** This is an image of a micro:bit v2, the front of the v1 looks slightly different + - One micro-B USB cable, required to make the micro:bit board work. Make sure that the cable supports data transfer as some cables only support charging devices. @@ -44,10 +47,10 @@ Trust me on this one. > **FAQ**: Can I follow this material with a different development board? Maybe? 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z&b)`cmG!A^owzS0>CLVn%mJ}=kltYiuZJ=QuOnD?bFF1sdAmd_>I(-{Ow!}ykFBa0 zl5f9NbGfbpe0U-98?mNu>rwGi$I{uiCTMHnmr=*;6nV=Ut9X8C=Y$b~IAZ#<+vs;A z!<@T*b%h!eB2^wcu#=n!_Nf+iH#GM@`D}BqG~NBK(<8IX)fk`)7@#@!zb*Ks1dj_= zK={q<*80*AqqNHd2(kN%{cAC~_7CI~@@=O4gADexWPld~ih08IL z{+-7Iv&@fV&Fa71kGrPH!B8P6Vsx zMF*<53Eo*S;*L?ia{1n&UdACRVxjBt=|G&0;*~^a-Mw#{e8Lp4&N}<|YHNyum6bNG gA(9U|R!KVUa%N7Ka-ola!H%%M%pOipb3d#9A4jJ0UjP6A From 4b14ed7e0340df69a14a6c2dcabd547487c1d5f7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 14 Jul 2021 22:12:01 +0200 Subject: [PATCH 215/313] Fix broken links --- src/04-meet-your-hardware/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index ad2089b9e..a8def32e4 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -5,7 +5,7 @@ Let's get familiar with the hardware we'll be working with. ## micro:bit

    - +

    Here are some of the many components on the board: From 86b505ec05939e66f7f6132785919c0ad645f8e6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 14 Jul 2021 22:30:48 +0200 Subject: [PATCH 216/313] Chapter 3 rewrite for micro:bit v2 --- src/03-setup/.cargo/config | 4 ---- src/03-setup/Embed.toml | 5 ++++- src/03-setup/README.md | 30 ++++++++++++++---------------- src/03-setup/verify.md | 23 +++++++++++++++++++++-- 4 files changed, 39 insertions(+), 23 deletions(-) diff --git a/src/03-setup/.cargo/config b/src/03-setup/.cargo/config index 1a25b1696..6260c5718 100644 --- a/src/03-setup/.cargo/config +++ b/src/03-setup/.cargo/config @@ -2,7 +2,3 @@ rustflags = [ "-C", "link-arg=-Tlink.x", ] - -[build] -target = "thumbv6m-none-eabi" - diff --git a/src/03-setup/Embed.toml b/src/03-setup/Embed.toml index d96946623..62b041ec9 100644 --- a/src/03-setup/Embed.toml +++ b/src/03-setup/Embed.toml @@ -2,7 +2,10 @@ protocol = "Swd" [default.general] -chip = "nrf51822" +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" [default.rtt] enabled = true diff --git a/src/03-setup/README.md b/src/03-setup/README.md index 4771e9539..d8f4e55bb 100644 --- a/src/03-setup/README.md +++ b/src/03-setup/README.md @@ -19,17 +19,18 @@ We'll be referring to all these documents throughout this book: We'll use all the tools listed below. Where a minimum version is not specified, any recent version should work but we have listed the version we have tested. -- Rust 1.45.2 or a newer toolchain. +- Rust 1.53.0 or a newer toolchain. -- `gdb-multiarch`. Tested version: 9.1. Other versions will most likely work as well though +- `gdb-multiarch`. Tested version: 10.2. Other versions will most likely work as well though If your distribution/platform does not have `gdb-multiarch` available `arm-none-eabi-gdb` - will do the trick as well. + will do the trick as well. Furthermore some normal `gdb` binaries are built with multiarch + capabilities as well, you can find further information about this in the sub chapters. -- [`cargo-binutils`]. Version 0.1.4 or newer. +- [`cargo-binutils`]. Version 0.3.3 or newer. [`cargo-binutils`]: https://github.com/rust-embedded/cargo-binutils -- [`cargo-embed`]. Version 0.9.1 or newer. +- [`cargo-embed`]. Version 0.11.0 or newer. [`cargo-embed`]: https://github.com/probe-rs/cargo-embed @@ -49,7 +50,7 @@ newer than the one shown below: ``` console $ rustc -V -rustc 1.45.2 (d3fb005a3 2020-07-31) +rustc 1.53.0 (53cb7b09b 2021-06-17) ``` ### `cargo-binutils` @@ -57,23 +58,20 @@ rustc 1.45.2 (d3fb005a3 2020-07-31) ``` console $ rustup component add llvm-tools-preview -$ cargo install cargo-binutils --vers 0.3.1 +$ cargo install cargo-binutils --vers 0.3.3 -$ cargo size -- -version -LLVM (http://llvm.org/): - LLVM version 10.0.1-rust-1.45.2-stable - Optimized build. - Default target: x86_64-unknown-linux-gnu - Host CPU: skylake +$ cargo size --version +cargo-size 0.3.3 ``` ### `cargo-embed` ```console -$ cargo install cargo-embed --vers 0.9.0 +$ cargo install cargo-embed --vers 0.11.0 -$ cargo-embed --version -cargo-embed 0.9.0 +$ cargo embed --version +cargo-embed 0.11.0 +git commit: crates.io ``` ### This repository diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 596390d0b..d362f3b15 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -44,11 +44,30 @@ Furthermore, if you have never flashed another program on to your micro:bit, the program the micro:bit ships with should start blinking the red LEDs on its back, you can ignore them. -Next run this command: +Next up you will have to modify `Embed.toml` in the `src/03-setup` directory of the +book's source code. In the `default.general` section you will find two commented out +chip variants: + +```toml +[default.general] +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" +``` + +If you are working with the micro:bit v2 board uncomment the first , for the v1 +uncomment the second variant. + +Next run one of these commands: ``` $ # make sure you are in src/03-setup of the books source code -$ cargo-embed +$ # If you are working with micro:bit v2 +$ cargo-embed --target thumbv7em-none-eabihf + +$ # If you are working with micro:bit v1 +$ cargo-embed --target thumbv6m-none-eabi ``` If everything works correctly cargo-embed should first compile the small example program From 6987b01c1aa29e13abf5254d976388eee59d1921 Mon Sep 17 00:00:00 2001 From: Waffle Lapkin Date: Thu, 15 Jul 2021 15:19:16 +0300 Subject: [PATCH 217/313] Fix typo in 05-led-roulette/the-challenge The text said to modify `../.cargo/config.toml`, but the command was given to modify `../openocd.gdb`. --- src/05-led-roulette/the-challenge.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 77f0d3ba5..d5c50369f 100644 --- a/src/05-led-roulette/the-challenge.md +++ b/src/05-led-roulette/the-challenge.md @@ -73,7 +73,7 @@ step Now we need to modify the `../.cargo/config.toml` file to execute `../openocd.gdb` ``` console -nano ../openocd.gdb +nano ../.cargo/config.toml ``` Edit your `runner` command ` -x ../openocd.gdb`. From 16ccce6b1215199769c605813154d810d4a865e6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Thu, 15 Jul 2021 19:40:31 +0200 Subject: [PATCH 218/313] Chapter 4 micro bit v2 rewrite --- src/04-meet-your-hardware/README.md | 70 +----------------------- src/04-meet-your-hardware/microbit-v1.md | 66 ++++++++++++++++++++++ src/04-meet-your-hardware/microbit-v2.md | 67 +++++++++++++++++++++++ src/SUMMARY.md | 2 + 4 files changed, 137 insertions(+), 68 deletions(-) create mode 100644 src/04-meet-your-hardware/microbit-v1.md create mode 100644 src/04-meet-your-hardware/microbit-v2.md diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index a8def32e4..0b06ee427 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -19,7 +19,6 @@ Here are some of the many components on the board: [microcontroller]: https://en.wikipedia.org/wiki/Microcontroller [accelerometer]: https://en.wikipedia.org/wiki/Accelerometer [magnetometer]: https://en.wikipedia.org/wiki/Magnetometer -[gyroscope]: https://en.wikipedia.org/wiki/Gyroscope Of these components, the most important is the microcontroller (sometimes shortened to "MCU" for "microcontroller unit"), which is the bigger of the two @@ -30,71 +29,6 @@ in reality what we are doing is programming the MCU that is installed on the boa If you happen to be interested in a more in detail description of the board you can checkout the [micro:bit website](https://tech.microbit.org/hardware/). -## Nordic nRF51822 (the "nRF51") - Since the MCU is so important, let's take a closer look at the one sitting on our board. - -Our MCU has 48 tiny metal **pins** sitting right underneath it (it's a so called [QFN48] chip). -These pins are connected to **traces**, the little "roads" that act as the wires connecting components -together on the board. The MCU can dynamically alter the electrical properties -of the pins. This works similar to a light switch altering how electrical -current flows through a circuit. By enabling or disabling electrical current to -flow through a specific pin, an LED attached to that pin (via the traces) can -be turned on and off. - -Each manufacturer uses a different part numbering scheme, but many will allow -you to determine information about a component simply by looking at the part -number. Looking at our MCU's part number (`nRF51822-QFAA-R`, you probably cannot -see it with your bare eye, but it is on the chip), the `n` at the -front hints to us that this is a part manufactured by [Nordic Semiconductor]. -Looking up the part number on their website we quickly find the [product page]. -There we learn that our chip's main marketing point is that it is a -"Bluetooth Low Energy and 2.4 GHz SoC" (SoC being short for "System on a Chip"), -which explains the RF in the product name since RF is short for radio frequency. -If we search through the documentation of the chip linked on the [product page] -for a bit we find the [product specification] which contains chapter 10 "Ordering Information" -dedicated to explaining the weird chip naming. Here we learn that: - -[QFN48]: https://en.wikipedia.org/wiki/Flat_no-leads_package -[Nordic Semiconductor]: https://www.nordicsemi.com/ -[product page]: https://www.nordicsemi.com/Products/Low-power-short-range-wireless/nRF51822 -[product specification]: https://infocenter.nordicsemi.com/pdf/nRF51822_PS_v3.3.pdf - -- The `nRF51` is the MCU's series, indicating that there are other `nRF51` MCUs -- The `822` is the part code -- The `QF` is short for `QFN48` -- The `AA` is the variant code, indicating how much RAM and flash memory the MCU has, - in our case 256 kilobyte flash and 16 kilobyte RAM -- The `R` is the packaging code which is relevant for factories manufacturing boards - with this chip on them in larger scales - -The product specification does of course contain a lot more useful information about -the chip, for example that it is based on an ARM® Cortex™-M0 32 bit processor. - -### Arm? Cortex-M0? - -If our chip is manufactured by Nordic, then who is Arm? And if our chip is the -nRF51822, what is the Cortex-M0? - -You might be surprised to hear that while "Arm-based" chips are quite -popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't -actually manufacture chips for purchase. Instead, their primary business -model is to just *design* parts of chips. They will then license those designs to -manufacturers, who will in turn implement the designs (perhaps with some of -their own tweaks) in the form of physical hardware that can then be sold. -Arm's strategy here is different from companies like Intel, which both -designs *and* manufactures their chips. - -Arm licenses a bunch of different designs. Their "Cortex-M" family of designs -are mainly used as the core in microcontrollers. For example, the Cortex-M0 -(the core our chip is based on) is designed for low cost and low power usage. -The Cortex-M7 is higher cost, but with more features and performance. - -Luckily, you don't need to know too much about different types of processors -or Cortex designs for the sake of this book. However, you are hopefully now a -bit more knowledgeable about the terminology of your device. While you are -working specifically with an nRF51822, you might find yourself reading -documentation and using tools for Cortex-M-based chips, as the nRF51822 is -based on a Cortex-M design. - -[Arm Holdings]: https://www.arm.com/ +Note that only one of the following two sections applies to your board, depending on whether +you are working with a micro:bit v2 or v1. diff --git a/src/04-meet-your-hardware/microbit-v1.md b/src/04-meet-your-hardware/microbit-v1.md new file mode 100644 index 000000000..7e75a77ba --- /dev/null +++ b/src/04-meet-your-hardware/microbit-v1.md @@ -0,0 +1,66 @@ +# Nordic nRF51822 (the "nRF51", micro:bit v1) + +Our MCU has 48 tiny metal **pins** sitting right underneath it (it's a so called [QFN48] chip). +These pins are connected to **traces**, the little "roads" that act as the wires connecting components +together on the board. The MCU can dynamically alter the electrical properties +of the pins. This works similar to a light switch altering how electrical +current flows through a circuit. By enabling or disabling electrical current to +flow through a specific pin, an LED attached to that pin (via the traces) can +be turned on and off. + +Each manufacturer uses a different part numbering scheme, but many will allow +you to determine information about a component simply by looking at the part +number. Looking at our MCU's part number (`N51822 QFAAH3 1951LN`, you probably cannot +see it with your bare eye, but it is on the chip), the `n` at the +front hints to us that this is a part manufactured by [Nordic Semiconductor]. +Looking up the part number on their website we quickly find the [product page]. +There we learn that our chip's main marketing point is that it is a +"Bluetooth Low Energy and 2.4 GHz SoC" (SoC being short for "System on a Chip"), +which explains the RF in the product name since RF is short for radio frequency. +If we search through the documentation of the chip linked on the [product page] +for a bit we find the [product specification] which contains chapter 10 "Ordering Information" +dedicated to explaining the weird chip naming. Here we learn that: + +[QFN48]: https://en.wikipedia.org/wiki/Flat_no-leads_package +[Nordic Semiconductor]: https://www.nordicsemi.com/ +[product page]: https://www.nordicsemi.com/products/nrf51822 +[product specification]: https://infocenter.nordicsemi.com/pdf/nRF51822_PS_v3.3.pdf + +- The `N51` is the MCU's series, indicating that there are other `nRF51` MCUs +- The `822` is the part code +- The `QF` is the package code, in this case short for `QFN48` +- The `AA` is the variant code, indicating how much RAM and flash memory the MCU has, + in our case 256 kilobyte flash and 16 kilobyte RAM +- The `H3` is the build code, indicating the hardware version (`H`) as well as the product configuration (`3`) +- The `1951LN` is a tracking code, hence it might differ on your chip + +The product specification does of course contain a lot more useful information about +the chip, for example that it is based on an ARM® Cortex™-M0 32 bit processor. + +### Arm? Cortex-M0? + +If our chip is manufactured by Nordic, then who is Arm? And if our chip is the +nRF51822, what is the Cortex-M0? + +You might be surprised to hear that while "Arm-based" chips are quite +popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't +actually manufacture chips for purchase. Instead, their primary business +model is to just *design* parts of chips. They will then license those designs to +manufacturers, who will in turn implement the designs (perhaps with some of +their own tweaks) in the form of physical hardware that can then be sold. +Arm's strategy here is different from companies like Intel, which both +designs *and* manufactures their chips. + +Arm licenses a bunch of different designs. Their "Cortex-M" family of designs +are mainly used as the core in microcontrollers. For example, the Cortex-M0 +(the core our chip is based on) is designed for low cost and low power usage. +The Cortex-M7 is higher cost, but with more features and performance. + +Luckily, you don't need to know too much about different types of processors +or Cortex designs for the sake of this book. However, you are hopefully now a +bit more knowledgeable about the terminology of your device. While you are +working specifically with an nRF51822, you might find yourself reading +documentation and using tools for Cortex-M-based chips, as the nRF51822 is +based on a Cortex-M design. + +[Arm Holdings]: https://www.arm.com/ diff --git a/src/04-meet-your-hardware/microbit-v2.md b/src/04-meet-your-hardware/microbit-v2.md new file mode 100644 index 000000000..a80a40f68 --- /dev/null +++ b/src/04-meet-your-hardware/microbit-v2.md @@ -0,0 +1,67 @@ +# Nordic nRF52833 (the "nRF52", micro:bit v2) + +Our MCU has 73 tiny metal **pins** sitting right underneath it (it's a so called [aQFN73] chip). +These pins are connected to **traces**, the little "roads" that act as the wires connecting components +together on the board. The MCU can dynamically alter the electrical properties +of the pins. This works similar to a light switch altering how electrical +current flows through a circuit. By enabling or disabling electrical current to +flow through a specific pin, an LED attached to that pin (via the traces) can +be turned on and off. + +Each manufacturer uses a different part numbering scheme, but many will allow +you to determine information about a component simply by looking at the part +number. Looking at our MCU's part number (`N52833 QIAAA0 2024AL`, you probably cannot +see it with your bare eye, but it is on the chip), the `n` at the +front hints to us that this is a part manufactured by [Nordic Semiconductor]. +Looking up the part number on their website we quickly find the [product page]. +There we learn that our chip's main marketing point is that it is a +"Bluetooth Low Energy and 2.4 GHz SoC" (SoC being short for "System on a Chip"), +which explains the RF in the product name since RF is short for radio frequency. +If we search through the documentation of the chip linked on the [product page] +for a bit we find the [product specification] which contains chapter 10 "Ordering Information" +dedicated to explaining the weird chip naming. Here we learn that: + +[aQFN73]: https://en.wikipedia.org/wiki/Flat_no-leads_package +[Nordic Semiconductor]: https://www.nordicsemi.com/ +[product page]: https://www.nordicsemi.com/products/nrf52833 +[product specification]: https://infocenter.nordicsemi.com/pdf/nRF52833_PS_v1.3.pdf + +- The `N52` is the MCU's series, indicating that there are other `nRF52` MCUs +- The `833` is the part code +- The `QI` is the package code, short for `aQFN73` +- The `AA` is the variant code, indicating how much RAM and flash memory the MCU has, + in our case 512 kilobyte flash and 128 kilobyte RAM +- The `A0` is the build code, indicating the hardware version (`A`) as well as the product configuration (`0`) +- The `2024AL` is a tracking code, hence it might differ on your chip + +The product specification does of course contain a lot more useful information about +the chip, for example that it is based on an ARM® Cortex™-M4 32 bit processor. + + +## Arm? Cortex-M4? + +If our chip is manufactured by Nordic, then who is Arm? And if our chip is the +nRF52833, what is the Cortex-M4? + +You might be surprised to hear that while "Arm-based" chips are quite +popular, the company behind the "Arm" trademark ([Arm Holdings][]) doesn't +actually manufacture chips for purchase. Instead, their primary business +model is to just *design* parts of chips. They will then license those designs to +manufacturers, who will in turn implement the designs (perhaps with some of +their own tweaks) in the form of physical hardware that can then be sold. +Arm's strategy here is different from companies like Intel, which both +designs *and* manufactures their chips. + +Arm licenses a bunch of different designs. Their "Cortex-M" family of designs +are mainly used as the core in microcontrollers. For example, the Cortex-M4 +(the core our chip is based on) is designed for low cost and low power usage. +The Cortex-M7 is higher cost, but with more features and performance. + +Luckily, you don't need to know too much about different types of processors +or Cortex designs for the sake of this book. However, you are hopefully now a +bit more knowledgeable about the terminology of your device. While you are +working specifically with an nRF52833, you might find yourself reading +documentation and using tools for Cortex-M-based chips, as the nRF52833 is +based on a Cortex-M design. + +[Arm Holdings]: https://www.arm.com/ diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 990046216..f4b92ea3b 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -7,6 +7,8 @@ - [macOS](03-setup/macos.md) - [Verify the installation](03-setup/verify.md) - [Meet your hardware](04-meet-your-hardware/README.md) + - [micro:bit v2](04-meet-your-hardware/microbit-v2.md) + - [micro:bit v1](04-meet-your-hardware/microbit-v1.md) - [LED roulette](05-led-roulette/README.md) - [Build it](05-led-roulette/build-it.md) - [Flash it](05-led-roulette/flash-it.md) From 3fe6219a6a64e463f66d11eb92f5567fd15a9a93 Mon Sep 17 00:00:00 2001 From: "Anthony J. Martinez" Date: Thu, 15 Jul 2021 18:29:06 +0000 Subject: [PATCH 219/313] Update Fedora and Linux verification steps --- src/03-setup/linux.md | 5 ++--- src/03-setup/verify.md | 11 +++++++++++ 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/src/03-setup/linux.md b/src/03-setup/linux.md index d88f1f0d2..1b90c3b2d 100644 --- a/src/03-setup/linux.md +++ b/src/03-setup/linux.md @@ -42,12 +42,11 @@ sudo apt-get install \ ### Fedora 23 or newer -Install GDB as described in [Other distros](#other-distros) and the following packages: - ``` console sudo dnf install \ minicom \ - openocd + openocd \ + gdb ``` ### Arch Linux diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index b69d48999..7e7805a46 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -68,6 +68,10 @@ Two *red* LEDs should turn on right after connecting the USB cable to the board. > no `-1` at the end). Alternatively, older revisions can use `-f board/stm32f3discovery.cfg` > instead of `-f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg`. +> **NOTE** OpenOCD v0.11.0 has deprecated `interface/stlink-v2.cfg` in favor of +> `interface/stlink.cfg` which supports ST-LINK/V1, ST-LINK/V2, ST-LINK/V2-1, and +> ST-LINK/V3. + ### *Nix > **FYI:** The `interface` directory is typically located in `/usr/share/openocd/scripts/`, @@ -78,6 +82,13 @@ Two *red* LEDs should turn on right after connecting the USB cable to the board. openocd -f interface/stlink-v2-1.cfg -f target/stm32f3x.cfg ``` +or + +``` console +openocd -f interface/stlink.cfg -f target/stm32f3x.cfg +``` + + ### Windows Below the references to `C:\OpenOCD` is the directory where OpenOCD is installed. From 6d92ee4e8f311905eb528aa24faa626c7006e69f Mon Sep 17 00:00:00 2001 From: Waffle Lapkin Date: Fri, 16 Jul 2021 17:59:21 +0300 Subject: [PATCH 220/313] 8.3: Use `write` instead of `modify` Since the read value is ignored, using `modify` seems redundant. Also, `modify` isn't mentioned in the text prior this chapter, while `write` is explained. --- src/08-leds-again/the-solution.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/08-leds-again/the-solution.md b/src/08-leds-again/the-solution.md index 9e1eb0bb6..eb0a0fbad 100644 --- a/src/08-leds-again/the-solution.md +++ b/src/08-leds-again/the-solution.md @@ -12,10 +12,10 @@ fn main() -> ! { let (gpioe, rcc) = aux8::init(); // enable the GPIOE peripheral - rcc.ahbenr.modify(|_, w| w.iopeen().set_bit()); + rcc.ahbenr.write(|w| w.iopeen().set_bit()); // configure the pins as outputs - gpioe.moder.modify(|_, w| { + gpioe.moder.write(|w| { w.moder8().output(); w.moder9().output(); w.moder10().output(); From 6863a990ad2d03591ef0c554aa88c0216dfda09f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 17 Jul 2021 13:46:07 +0200 Subject: [PATCH 221/313] Precise version specification of the v1 microbit --- src/02-requirements/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index b053668ed..290653498 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -10,10 +10,11 @@ the fact that `extern crate` is not necessary in the 2018 edition. Also, to follow this material you'll need the following hardware: -- A [micro:bit v2] board, alternatively a [micro:bit v1] board. +- A [micro:bit v2] board, alternatively a [micro:bit v1.5] board, the book + will refer to the v1.5 as just v1. [micro:bit v2]: https://tech.microbit.org/hardware/ -[micro:bit v1]: https://tech.microbit.org/hardware/1-5-revision/ +[micro:bit v1.5]: https://tech.microbit.org/hardware/1-5-revision/ (You can purchase this board from several [electronics][0] [suppliers][1]) From 7a18842cdfd60a48d7b307bb3ecf9799cd794c3a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 17 Jul 2021 15:29:50 +0200 Subject: [PATCH 222/313] Add a terminology explanation section to ch4 --- src/04-meet-your-hardware/terminology.md | 67 ++++++++++++++++++++++++ src/SUMMARY.md | 1 + 2 files changed, 68 insertions(+) create mode 100644 src/04-meet-your-hardware/terminology.md diff --git a/src/04-meet-your-hardware/terminology.md b/src/04-meet-your-hardware/terminology.md new file mode 100644 index 000000000..9682b4355 --- /dev/null +++ b/src/04-meet-your-hardware/terminology.md @@ -0,0 +1,67 @@ +# Rust Embedded terminology +Before we dive into programming the micro:bit let's have a quick look +at the libraries and terminology that will be important for all of the +future chapters. + +## Abstraction layers +For any fully supported microcontroller/board with a microcontroller +you will usually hear the following terms being used for their levels +of abstraction: +1. The Peripheral Access Crate (PAC), its job is to provide a safe (ish) + direct interface to the peripherals of the chip, allowing you to configure + every last bit however you want (of course also in wrong ways). Usually + you only ever have to deal with the PAC if either the layers that are + higher up don't fulfill your needs or when you are developing them. + The PAC we are (implicitly) going to use is either the one for the [nRF52] + or for the [nRF51]. +2. The Hardware Abstraction Layer (HAL), its job is to build up on top of + the chip's PAC and provide an abstraction that is actually usable for + someone who does not know about all the special behaviour of this chip. + Usually they abstract a whole peripheral, e.g. a USB interface, + away into just a few structs or traits with some functions on them you + can use to send data around etc. We are going to use the [nRF52-hal] + or the [nRF51-hal] respectively. +3. The Board Support Crate (BSP), its job is to abstract a whole board + (such as the micro:bit) away at once. That means it has to provide + abstractions to use both the microcontroller as well als the sensors, + LEDs etc. that might be present on the board. Quite often (especially + with custom made boards) you will just be working with a HAL for the + chip and build the drivers for the sensors either yourself or + search for them on crates.io, luckily for us though the micro:bit + does actually have a [BSP] so we are going to use that on top of our + HAL as well. + +[nrF52]: https://crates.io/crates/nrf52833-pac +[nrF51]: https://crates.io/crates/nrf51 +[nrF52-hal]: https://crates.io/crates/nrf52833-hal +[nrF51-hal]: https://crates.io/crates/nrf51-hal +[BSP]: https://crates.io/crates/microbit + +## Unifying the layers + +Next we are going to have a look at a very central piece of software +in the Rust Embedded world, [embedded-hal]. As it name suggests it +relates to the 2nd level of abstraction we got to know, the HALs. +The idea behind [embedded-hal] is to provide a set of traits that +describe behaviour which is usually shared across all implementations +of a specific peripheral in all the HALs. For example one would always +expect to have functions that are capable of turning the power on a pin +either on or off, for example to switch an LED on and off on the board. +This allows us to write a driver for, say a temperature sensor, that +can be used on any chip which implements the [embedded-hal] traits, +simply by writing the driver in such a way that it only relies on the +[embedded-hal] traits. Drivers that are written in such a way are called +platform agnostic and luckily for us most of the drivers on crates.io +are actually platform agnostic. + +[embedded-hal]: https://crates.io/crates/embedded-hal + + +## Further reading + +If you want to learn more about these levels of abstraction Franz Skarman, +aka. [TheZoq2], held a talk about this topic during Oxidize 2020, called +[An Overview of the Embedded Rust Ecosystem]. + +[TheZoq2]: https://github.com/TheZoq2/ +[An Overview of the Embedded Rust Ecosystem]: https://www.youtube.com/watch?v=vLYit_HHPaY diff --git a/src/SUMMARY.md b/src/SUMMARY.md index f4b92ea3b..50af7f546 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -9,6 +9,7 @@ - [Meet your hardware](04-meet-your-hardware/README.md) - [micro:bit v2](04-meet-your-hardware/microbit-v2.md) - [micro:bit v1](04-meet-your-hardware/microbit-v1.md) + - [Rust Embedded terminology](04-meet-your-hardware/terminology.md) - [LED roulette](05-led-roulette/README.md) - [Build it](05-led-roulette/build-it.md) - [Flash it](05-led-roulette/flash-it.md) From e2f6aa497724740f05aa16a299964fa4f16f68f3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 18 Jul 2021 13:16:26 +0200 Subject: [PATCH 223/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/04-meet-your-hardware/terminology.md | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/04-meet-your-hardware/terminology.md b/src/04-meet-your-hardware/terminology.md index 9682b4355..253c1b3d2 100644 --- a/src/04-meet-your-hardware/terminology.md +++ b/src/04-meet-your-hardware/terminology.md @@ -21,13 +21,13 @@ of abstraction: away into just a few structs or traits with some functions on them you can use to send data around etc. We are going to use the [nRF52-hal] or the [nRF51-hal] respectively. -3. The Board Support Crate (BSP), its job is to abstract a whole board +3. The Board Support Crate (historically called Board Support Package, or BSP), its job is to abstract a whole board (such as the micro:bit) away at once. That means it has to provide abstractions to use both the microcontroller as well als the sensors, LEDs etc. that might be present on the board. Quite often (especially with custom made boards) you will just be working with a HAL for the chip and build the drivers for the sensors either yourself or - search for them on crates.io, luckily for us though the micro:bit + search for them on crates.io. Luckily for us though, the micro:bit does actually have a [BSP] so we are going to use that on top of our HAL as well. @@ -40,17 +40,17 @@ of abstraction: ## Unifying the layers Next we are going to have a look at a very central piece of software -in the Rust Embedded world, [embedded-hal]. As it name suggests it -relates to the 2nd level of abstraction we got to know, the HALs. -The idea behind [embedded-hal] is to provide a set of traits that +in the Rust Embedded world: `[embedded-hal]`. As its name suggests it +relates to the 2nd level of abstraction we got to know: the HALs. +The idea behind `[embedded-hal]` is to provide a set of traits that describe behaviour which is usually shared across all implementations of a specific peripheral in all the HALs. For example one would always expect to have functions that are capable of turning the power on a pin -either on or off, for example to switch an LED on and off on the board. +either on or off. For example to switch an LED on and off on the board. This allows us to write a driver for, say a temperature sensor, that -can be used on any chip which implements the [embedded-hal] traits, +can be used on any chip for which an implementation of the `[embedded-hal]` traits exists, simply by writing the driver in such a way that it only relies on the -[embedded-hal] traits. Drivers that are written in such a way are called +`[embedded-hal]` traits. Drivers that are written in such a way are called platform agnostic and luckily for us most of the drivers on crates.io are actually platform agnostic. @@ -59,8 +59,8 @@ are actually platform agnostic. ## Further reading -If you want to learn more about these levels of abstraction Franz Skarman, -aka. [TheZoq2], held a talk about this topic during Oxidize 2020, called +If you want to learn more about these levels of abstraction, Franz Skarman, +a.k.a. [TheZoq2], held a talk about this topic during Oxidize 2020, called [An Overview of the Embedded Rust Ecosystem]. [TheZoq2]: https://github.com/TheZoq2/ From 1c80b390eea19d77faa7eddb62a036251d32e42b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 18 Jul 2021 14:12:12 +0200 Subject: [PATCH 224/313] Attempt to split the sentence up a bit --- src/04-meet-your-hardware/terminology.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/04-meet-your-hardware/terminology.md b/src/04-meet-your-hardware/terminology.md index 253c1b3d2..0d657aeca 100644 --- a/src/04-meet-your-hardware/terminology.md +++ b/src/04-meet-your-hardware/terminology.md @@ -17,10 +17,9 @@ of abstraction: 2. The Hardware Abstraction Layer (HAL), its job is to build up on top of the chip's PAC and provide an abstraction that is actually usable for someone who does not know about all the special behaviour of this chip. - Usually they abstract a whole peripheral, e.g. a USB interface, - away into just a few structs or traits with some functions on them you - can use to send data around etc. We are going to use the [nRF52-hal] - or the [nRF51-hal] respectively. + Usually they abstract whole peripherals away into single structs that can + for example be used to send data around via the peripheral. We are + going to use the [nRF52-hal] or the [nRF51-hal] respectively. 3. The Board Support Crate (historically called Board Support Package, or BSP), its job is to abstract a whole board (such as the micro:bit) away at once. That means it has to provide abstractions to use both the microcontroller as well als the sensors, From 43e0f2927fa78135da8d3a9612a1563c152aa131 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 18 Jul 2021 13:18:32 +0200 Subject: [PATCH 225/313] ch05 ch06 rewrite for micro:bit v2 - Ported all the code to the microbit BSP - Tested all the code commands etc. on v1.5 and v2 - ch06 doesn't need to be touched I think - currently relying on the git version of microbit since it introduces quite a few nice new APIs we want to use, microbit is (hopefully) going to make a release before this rewrite actually gets published - the solution to the ch05 challenge is arguably the most stupid way you could come up with to generate the matrix, at the same time this makes it simple enough to be understood by everyone though, which is certainly more important in this case --- src/05-led-roulette/.cargo/config | 3 - src/05-led-roulette/Cargo.toml | 16 +- src/05-led-roulette/Embed.toml | 5 +- src/05-led-roulette/README.md | 5 +- src/05-led-roulette/build-it.md | 75 +++++++--- src/05-led-roulette/debug-it.md | 92 ++++++------ src/05-led-roulette/flash-it.md | 28 ++-- src/05-led-roulette/it-blinks.md | 54 +++---- src/05-led-roulette/light-it-up.md | 81 ++++------ src/05-led-roulette/my-solution.md | 212 ++++++++++++++++----------- src/05-led-roulette/src/main.rs | 2 +- src/05-led-roulette/the-challenge.md | 52 +++++-- src/assets/gdb-layout-asm.png | Bin 216403 -> 280312 bytes src/assets/gdb-layout-src.png | Bin 34560 -> 24977 bytes 14 files changed, 370 insertions(+), 255 deletions(-) diff --git a/src/05-led-roulette/.cargo/config b/src/05-led-roulette/.cargo/config index a0ec1777f..6260c5718 100644 --- a/src/05-led-roulette/.cargo/config +++ b/src/05-led-roulette/.cargo/config @@ -2,6 +2,3 @@ rustflags = [ "-C", "link-arg=-Tlink.x", ] - -[build] -target = "thumbv6m-none-eabi" diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index 776e8a465..0dedefeae 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -4,10 +4,24 @@ version = "0.1.0" authors = ["Henrik Böving "] edition = "2018" +[dependencies.microbit-v2] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + + +[dependencies.microbit] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + [dependencies] cortex-m = "0.6.0" cortex-m-rt = "0.6.10" panic-halt = "0.2.0" -nrf51-hal = "0.11.0" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } + +[features] +v2 = ["microbit-v2"] +v1 = ["microbit"] diff --git a/src/05-led-roulette/Embed.toml b/src/05-led-roulette/Embed.toml index 91584ec92..f89445be1 100644 --- a/src/05-led-roulette/Embed.toml +++ b/src/05-led-roulette/Embed.toml @@ -1,5 +1,8 @@ [default.general] -chip = "nrf51822_xxAA" +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" [default.reset] halt_afterwards = true diff --git a/src/05-led-roulette/README.md b/src/05-led-roulette/README.md index b3e928d6a..f645accd6 100644 --- a/src/05-led-roulette/README.md +++ b/src/05-led-roulette/README.md @@ -10,7 +10,7 @@ I'm going to give you a high level API to implement this app but don't worry we' stuff later on. The main goal of this chapter is to get familiar with the *flashing* and debugging process. -The starter code is in the `src` directory of that repository. Inside that directory there are more +The starter code is in the `src` directory of the book repository. Inside that directory there are more directories named after each chapter of this book. Most of those directories are starter Cargo projects. @@ -49,7 +49,8 @@ Furthermore there is also an `Embed.toml` file This file tells `cargo-embed` that: -* we are working with a nrf51822, +* we are working with either an nrf52833 or nrf51822, you will again have to remove the comments from the + chip you are using, just like you did in chapter 3. * we want to halt the chip after we flashed it so our program does not instantly jump to the loop * we want to disable RTT, RTT being a protocol that allows the chip to send text to a debugger. You have in fact already seen RTT in action, it was the protocol that sent "Hello World" in chapter 3. diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 3766f0a96..bd703955f 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -5,8 +5,8 @@ architecture than your computer we'll have to cross compile. Cross compiling in as passing an extra `--target` flag to `rustc`or Cargo. The complicated part is figuring out the argument of that flag: the *name* of the target. -The microcontroller in the micro:bit has a Cortex-M0 processor in it. `rustc` knows how to cross compile -to the Cortex-M architecture and provides several different targets that cover the different processor +As we already know the microcontroller on the micro:bit v2 has a Cortex-M4F processor in it, the one on v1 a Cortex-M0. +`rustc` knows how to cross compile to the Cortex-M architecture and provides several different targets that cover the different processor families within that architecture: - `thumbv6m-none-eabi`, for the Cortex-M0 and Cortex-M1 processors @@ -16,11 +16,14 @@ families within that architecture: - `thumbv8m.main-none-eabi`, for the Cortex-M33 and Cortex-M35P processors - `thumbv8m.main-none-eabihf`, for the Cortex-M33**F** and Cortex-M35P**F** processors -For the micro:bit, we'll use the `thumbv6m-none-eabi` target. Before cross compiling you have to -download pre-compiled version of the standard library (a reduced version of it actually) for your -target. That's done using `rustup`: +For the micro:bit v2, we'll use the `thumbv7em-none-eabihf` target, for v1 the `thumbv6m-none-eabi` one. +Before cross compiling you have to download pre-compiled version of the standard library +(a reduced version of it actually) for your target. That's done using `rustup`: ``` console +# For micro:bit v2 +$ rustup target add thumbv7em-none-eabihf +# For micro:bit v1 $ rustup target add thumbv6m-none-eabi ``` @@ -30,36 +33,64 @@ You only need to do the above step once; `rustup` will re-install a new standard With the `rust-std` component in place you can now cross compile the program using Cargo: ``` console -$ # make sure you are in the `src/05-led-roulette` directory +# make sure you are in the `src/05-led-roulette` directory -$ cargo build --target thumbv6m-none-eabi +# For micro:bit v2 +$ cargo build --features v2 --target thumbv7em-none-eabihf Compiling semver-parser v0.7.0 Compiling typenum v1.12.0 - Compiling proc-macro2 v1.0.19 - Compiling unicode-xid v0.2.1 Compiling cortex-m v0.6.3 (...) - Compiling as-slice v0.1.3 - Compiling aligned v0.3.4 - Compiling cortex-m-rt-macros v0.1.8 - Compiling nrf-hal-common v0.11.1 - Finished dev [unoptimized + debuginfo] target(s) in 18.69s + Compiling microbit-v2 v0.10.1 + Finished dev [unoptimized + debuginfo] target(s) in 33.67s + +# For micro:bit v1 +$ cargo build --features v1 --target thumbv6m-none-eabi + Compiling fixed v1.2.0 + Compiling syn v1.0.39 + Compiling cortex-m v0.6.3 + (...) + Compiling microbit v0.10.1 + Finished dev [unoptimized + debuginfo] target(s) in 22.73s ``` > **NOTE** Be sure to compile this crate *without* optimizations. The provided Cargo.toml > file and build command above will ensure optimizations are off. -> **NOTE** If you have looked into `.cargo/config` you will have noticed that the target - is actually always set to "thumbv6m-none-eabi" so the --target flag to `cargo` can in - fact be omitted here. - OK, now we have produced an executable. This executable won't blink any leds, it's just a simplified version that we will build upon later in the chapter. As a sanity check, let's verify that the produced executable is actually an ARM binary: ``` console -$ # equivalent to `readelf -h target/thumbv6m-none-eabi/debug/led-roulette` - cargo readobj --target thumbv6m-none-eabi --bin led-roulette -- -file-headers +# For micro:bit v2 +# equivalent to `readelf -h target/thumbv7em-none-eabihf/debug/led-roulette` +$ cargo readobj --features v2 --target thumbv7em-none-eabihf --bin led-roulette -- -file-headers + Finished dev [unoptimized + debuginfo] target(s) in 0.01s +ELF Header: + Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 + Class: ELF32 + Data: 2's complement, little endian + Version: 1 (current) + OS/ABI: UNIX - System V + ABI Version: 0 + Type: EXEC (Executable file) + Machine: ARM + Version: 0x1 + Entry point address: 0x117 + Start of program headers: 52 (bytes into file) + Start of section headers: 793112 (bytes into file) + Flags: 0x5000400 + Size of this header: 52 (bytes) + Size of program headers: 32 (bytes) + Number of program headers: 4 + Size of section headers: 40 (bytes) + Number of section headers: 21 + Section header string table index: 19 + +# For micro:bit v1 +# equivalent to `readelf -h target/thumbv6m-none-eabi/debug/led-roulette` +$ cargo readobj --features v1 --target thumbv6m-none-eabi --bin led-roulette -- -file-headers + Finished dev [unoptimized + debuginfo] target(s) in 0.01s ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 Class: ELF32 @@ -72,11 +103,11 @@ ELF Header: Version: 0x1 Entry point address: 0xC1 Start of program headers: 52 (bytes into file) - Start of section headers: 599484 (bytes into file) + Start of section headers: 693196 (bytes into file) Flags: 0x5000200 Size of this header: 52 (bytes) Size of program headers: 32 (bytes) - Number of program headers: 2 + Number of program headers: 4 Size of section headers: 40 (bytes) Number of section headers: 22 Section header string table index: 20 diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 6f6bd4726..76cc6ad47 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -4,8 +4,8 @@ Before we debug our little program let's take a moment to quickly understand wha happening here. In the previous chapter we already discussed the purpose of the second chip on the board as well as how it talks to our computer, but how can we actually use it? -As you can see from the output of `cargo-embed` it opened a "GDB stub", this is a server that our GDB -can connect to and send commands like "set a breakpoint at address X" to, the server can then decide +The little option `default.gb.enabled = true` in `Embed.toml` made `cargo-embed` open a so called "GDB stub" after flashing, +this is a server that our GDB can connect to and send commands like "set a breakpoint at address X" to, the server can then decide on its own how to handle this command. In the case of the `cargo-embed` GDB stub it will forward the command to the debugging probe on the board via USB which then does the job of actually talking to the MCU for us. @@ -13,18 +13,14 @@ MCU for us. ## Let's debug! Since `cargo-embed` is blocking our current shell we can simply open a new one and cd back into our project -directory. Once we are there we can connect to the GDB server like this: +directory. Once we are there we first have to open the binary in gdb like this: ```shell +# For micro:bit v2 +$ gdb target/thumbv7em-none-eabihf/debug/led-roulette + +# For micro:bit v1 $ gdb target/thumbv6m-none-eabi/debug/led-roulette -(gdb) target remote :1337 -Remote debugging using :1337 -::fmt ( - self=, - f=) - at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.12/src/lib.rs:489 -489 pub unsafe extern "C" fn Reset() -> ! { -(gdb) ``` > **NOTE** Depending on which GDB you installed you will have to use a different command to launch it, @@ -34,22 +30,29 @@ Remote debugging using :1337 > implement the GDB protocol and thus might not recognize all of the commands your GDB is sending to it, > as long as it does not crash, you are fine. -Right now we are inside the `Reset()` function. This is (surprisingly) the function that is run after a reset -of the chip. Since we did tell cargo-embed to halt the chip after we flashed it, this is where we start. +Next we will have to connect to the GDB stub, it runs on `localhost:1337` per default so in order to +connect to it run the following: -This `Reset()` function is part of a small piece of setup code that initializes some things for our Rust program -before moving on to the `main()` function. Let's set a breakpoint there and jump to it: +```shell +(gdb) target remote :1337 +Remote debugging using :1337 +0x00000116 in nrf52833_pac::{{impl}}::fmt (self=0xd472e165, f=0x3c195ff7) at /home/nix/.cargo/registry/src/github.com-1ecc6299db9ec823/nrf52833-pac-0.9.0/src/lib.rs:157 +157 #[derive(Copy, Clone, Debug)] +``` + +Next what we want to do is get to the main function of our program, +we will do this by first setting a breakpoint there and the continuing +program execution until we hit the breakpoint: ``` (gdb) break main -Breakpoint 1 at 0xac: file src/05-led-roulette/src/main.rs, line 9. +Breakpoint 1 at 0x104: file src/05-led-roulette/src/main.rs, line 9. +Note: automatically using hardware breakpoints for read-only addresses. (gdb) continue Continuing. -Note: automatically using hardware breakpoints for read-only addresses. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:9 9 #[entry] -(gdb) ``` Breakpoints can be used to stop the normal flow of a program. The `continue` command will let the @@ -77,7 +80,7 @@ If we wanted to break in line 13 we can simply do: ``` (gdb) break 13 -Breakpoint 2 at 0xb8: file src/05-led-roulette/src/main.rs, line 13. +Breakpoint 2 at 0x110: file src/05-led-roulette/src/main.rs, line 13. (gdb) continue Continuing. @@ -98,29 +101,11 @@ is initialized but `_y` is not. Let's inspect those stack/local variables using $1 = 42 (gdb) print &x $2 = (*mut i32) 0x20003fe8 -(gdb) print _y -$3 = 536870912 -(gdb) print &_y -$4 = (*mut i32) 0x20003fec (gdb) ``` -As expected, `x` contains the value `42`. `_y`, however, contains the value `536870912` (?). Because -`_y` has not been initialized yet, it contains some garbage value. - -The command `print &x` prints the address of the variable `x`. The interesting bit here is that GDB -output shows the type of the reference: `i32*`, a pointer to an `i32` value. Another interesting -thing is that the addresses of `x` and `_y` are very close to each other: their addresses are just -`4` bytes apart. - -Instead of printing the local variables one by one, you can also use the `info locals` command: - -``` -(gdb) info locals -x = 42 -_y = 536870912 -(gdb) -``` +As expected, `x` contains the value `42`. The command `print &x` prints the address of the variable `x`. +The interesting bit here is that GDB output shows the type of the reference: `i32*`, a pointer to an `i32` value. If we want to continue the program execution line by line we can do that using the `next` command so let's proceed to the `loop {}` statement: @@ -137,6 +122,15 @@ And `_y` should now be initialized. $5 = 42 ``` +Instead of printing the local variables one by one, you can also use the `info locals` command: + +``` +(gdb) info locals +x = 42 +_y = 42 +(gdb) +``` + If we use `next` again on top of the `loop {}` statement, we'll get stuck because the program will never pass that statement. Instead, we'll switch to the disassemble view with the `layout asm` command and advance one instruction at a time using `stepi`. You can always switch back into Rust @@ -155,23 +149,23 @@ program around the line you are currently at. ``` (gdb) disassemble /m -Dump of assembler code for function led_roulette::__cortex_m_rt_main: +Dump of assembler code for function _ZN12led_roulette18__cortex_m_rt_main17h3e25e3afbec4e196E: 10 fn main() -> ! { - 0x000000b2 <+0>: sub sp, #8 - 0x000000b4 <+2>: movs r0, #42 ; 0x2a + 0x0000010a <+0>: sub sp, #8 + 0x0000010c <+2>: movs r0, #42 ; 0x2a 11 let _y; 12 let x = 42; - 0x000000b6 <+4>: str r0, [sp, #0] + 0x0000010e <+4>: str r0, [sp, #0] 13 _y = x; - 0x000000b8 <+6>: str r0, [sp, #4] + 0x00000110 <+6>: str r0, [sp, #4] 14 15 // infinite loop; just so we don't leave this stack frame 16 loop {} -=> 0x000000ba <+8>: b.n 0xbc - 0x000000bc <+10>: b.n 0xbc +=> 0x00000112 <+8>: b.n 0x114 <_ZN12led_roulette18__cortex_m_rt_main17h3e25e3afbec4e196E+10> + 0x00000114 <+10>: b.n 0x114 <_ZN12led_roulette18__cortex_m_rt_main17h3e25e3afbec4e196E+10> End of assembler dump. ``` @@ -195,7 +189,7 @@ One last trick before we move to something more interesting. Enter the following (gdb) c Continuing. -Breakpoint 1, main () at src/05-led-roulette/src/main.rs:9 +Breakpoint 1, led_roulette::__cortex_m_rt_main_trampoline () at src/05-led-roulette/src/main.rs:9 9 #[entry] (gdb) ``` @@ -224,7 +218,7 @@ A debugging session is active. Inferior 1 [Remote target] will be detached. Quit anyway? (y or n) y -Detaching from program: $PWD/target/thumbv6m-none-eabi/debug/led-roulette, Remote target +Detaching from program: $PWD/target/thumbv7em-none-eabihf/debug/led-roulette, Remote target Ending remote debugging. [Inferior 1 (Remote target) detached] ``` diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 2ea7da03b..2a38c66c6 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -7,10 +7,11 @@ In this case, our `led-roulette` program will be the *only* program in the micro By this I mean that there's nothing else running on the microcontroller: no OS, no "daemon", nothing. `led-roulette` has full control over the device. -Flashing the binary itself is quite simple thanks to `cargo-embed`, you only have to type `cargo embed`. +Flashing the binary itself is quite simple thanks to `cargo-embed`. Before executing that command though, lets look into what it actually does. If you look at the side of your micro:bit -with the USB connector facing upwards you will notice, that there are actually 2 black squares on there, one is our MCU +with the USB connector facing upwards you will notice, that there are actually 2 black squares on there +(on the micro:bit v2 is a third and biggest one, its a speaker), one is our MCU we already talked about but what purpose does the other one serve? The other chip has 3 main purposes: 1. Provide power from the USB connector to our MCU @@ -24,15 +25,24 @@ the MCU, inspect its state via a debugger and other things. So lets flash it! ```console -$ cargo embed +# For micro:bit v2 +$ cargo embed --features v2 --target thumbv7em-none-eabihf (...) - Erasing sectors ✔ [00:00:00] [##################################################################################################################################################################] 2.00KB/ 2.00KB @ 4.57KB/s (eta 0s ) - Programming pages ✔ [00:00:00] [##################################################################################################################################################################] 2.00KB/ 2.00KB @ 1.93KB/s (eta 0s ) - Finished flashing in 0.764s -Firing up GDB stub at localhost:1337. -GDB stub listening on localhost:1337 + Erasing sectors ✔ [00:00:00] [####################################################################################################################################################] 2.00KiB/ 2.00KiB @ 4.21KiB/s (eta 0s ) + Programming pages ✔ [00:00:00] [####################################################################################################################################################] 2.00KiB/ 2.00KiB @ 2.71KiB/s (eta 0s ) + Finished flashing in 0.608s + +# For micro:bit v1 +$ cargo embed --features v1 --target thumbv6m-none-eabi + (...) + Erasing sectors ✔ [00:00:00] [####################################################################################################################################################] 2.00KiB/ 2.00KiB @ 4.14KiB/s (eta 0s ) + Programming pages ✔ [00:00:00] [####################################################################################################################################################] 2.00KiB/ 2.00KiB @ 2.69KiB/s (eta 0s ) + Finished flashing in 0.614s ``` You will notice that `cargo-embed` blocks after outputting the last line, this is inteded and you should not close it -since we need it in this state for the next step, debugging it! +since we need it in this state for the next step, debugging it! Furthermore you will have noticed that the `cargo build` +and `cargo embed` are actually passed the same flags, this is because `cargo embed` actually executes the build and then +flashes the resulting binary on to the chip, hence you can leave out the `cargo build` step in the future if you +want to flash your code right away. diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index 17b572abd..fcdbdb252 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -24,17 +24,19 @@ simple delay-based program that prints something every second might for example use cortex_m_rt::entry; use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; +use microbit::board::Board; +use microbit::hal::timer::Timer; +use microbit::hal::prelude::*; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let mut board = Board::take().unwrap(); + + let mut timer = Timer::new(board.TIMER0); - let mut delay = hal::Timer::new(p.TIMER0); loop { - delay.delay_ms(1000u32); + timer.delay_ms(1000u32); rprintln!("1000 ms passed"); } } @@ -43,7 +45,10 @@ fn main() -> ! { In order to actually see the prints we have to change `Embed.toml` like this: ``` [default.general] -chip = "nrf51822_xxAA" +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" [default.reset] halt_afterwards = false @@ -55,14 +60,14 @@ enabled = true enabled = false ``` -And now after putting the code into `src/main.rs` and another quick `cargo embed` you should see -"`1000 ms passed`" being sent to your console every second from your MCU. +And now after putting the code into `src/main.rs` and another quick `cargo embed` (again with the same flags you used before) +you should see "`1000 ms passed`" being sent to your console every second from your MCU. ## Blinking Now we've arrived at the point where we can combine our new knowledge about GPIO and delay abstractions in order to actually make an LED on the back of the micro:bit blink. The resulting program is really just -a mash-up of the one above and the one that turned an LED on in the last chapter and looks like this: +a mash-up of the one above and the one that turned an LED on in the last section and looks like this: ```rs #![deny(unsafe_code)] @@ -72,31 +77,30 @@ a mash-up of the one above and the one that turned an LED on in the last chapter use cortex_m_rt::entry; use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; +use microbit::board::Board; +use microbit::hal::timer::Timer; +use microbit::hal::prelude::*; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let mut board = Board::take().unwrap(); - let mut delay = hal::Timer::new(p.TIMER0); + let mut timer = Timer::new(board.TIMER0); - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low); - let _col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::Low); + board.display_pins.col1.set_low().unwrap(); + let mut row1 = board.display_pins.row1; loop { - row1.set_high().unwrap(); - rprintln!("Light!"); - delay.delay_ms(500u32); - - row1.set_low().unwrap(); - rprintln!("Dark!"); - delay.delay_ms(500u32); + row1.set_low().unwrap(); + rprintln!("Dark!"); + timer.delay_ms(1_000_u16); + row1.set_high().unwrap(); + rprintln!("Light!"); + timer.delay_ms(1_000_u16); } } ``` -And after putting the code into `src/main.rs` and a final `cargo embed` you should see the LED we light up before -blinking as well as a print, every time the LED changes from off to on and vice versa. +And after putting the code into `src/main.rs` and a final `cargo embed` (with the proper flags) +you should see the LED we light up before blinking as well as a print, every time the LED changes from off to on and vice versa. diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index c17f4181f..00aed0adc 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -2,42 +2,29 @@ ## embedded-hal In this chapter we are going to make one of the many LEDs on the back of the micro:bit light up since this is -basically the "Hello World" of embedded programming. In order to get this task done we will use a set of -abstractions provided by the crate `embedded-hal`. `embedded-hal` is a crate which provides a set of traits -that describe behaviour of hardware, for example the [OutputPin trait] which allows us to turn a pin on or off. - -In order to use these traits we have to implement them for the chip we are using. Luckily this has already been done -in our case in the [nrf51-hal]. Crates like this are commonly referred to as HALs (Hardware Abstraction Layer) -and allow us to use the same API to blink an LED and of course many more complex things accross all chips that implement -the `embedded-hal` traits. - -For example, a person working on an embedded project might need to read temperature data from a sensor. In -order to achieve this they can write a driver library that doesn't do anything MCU specific but instead just relies on -`embedded-hal`. This will allow anyone with an MCU that implements the `embedded-hal` traits to easily plug and play -their driver crate, despite having an MCU made by a completely different manufacturer or even with a different architecture, etc. +basically the "Hello World" of embedded programming. In order to get this task done we will use one of the traits +provided by `embedded-hal`, specifically the [OutputPin trait] which allows us to turn a pin on or off. [OutputPin trait]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/digital/v2/trait.OutputPin.html -[nrf51-hal]: https://crates.io/crates/nrf51-hal ## The micro:bit LEDs On the back of the micro:bit you can see a 5x5 square of LEDs, usually called an LED matrix. This matrix alignment is used so that instead of having to use 25 seperate pins to drive every single one of the LEDs, we can just use 10 (5+5) pins in -order to control which column and which row of our matrix lights up. However, the micro:bit team implemented this a -little differently. Their [schematic page] says that it is actually implemented as a 3x9 matrix but a few columns simply -remain unused. +order to control which column and which row of our matrix lights up. -In order to determine which pins we need to control to light up an LED we can check out -micro:bit's open source [schematic], linked on the same page. The very first sheet contains the LED matrix circuit which -is apparently connected to the pins named ROW1-3 and COL1-9. Further down on sheet 5 you can see that these pins -directly map to our MCU. For example, ROW1 is connected to P0.13. +> **NOTE** that the micro:bit v1 team implemented this a little differently. Their [schematic page] says +> that it is actually implemented as a 3x9 matrix but a few columns simply remain unused. -> **NOTE**: The naming scheme of the NRF51 for its pins (P0.13) simply refers to port 0 (P0) pin 13. This is done -> because on MCUs with dozens or hundreds of pins you usually end up with multiple pins grouped up as ports for the sake of -> clarity. The NRF51, however, is so small that it only has one GPIO port (P0). +Usually in order to determine which specific pins we have to control in +order to light a specific LED up we would now have to read the +[micro:bit v2 schematic] or the [micro:bit v1 schematic] respectively. +Luckily for us though we can use the aforementioned micro:bit BSP +which abstracts all of this nicely away from us. [schematic page]: https://tech.microbit.org/hardware/schematic/ -[schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF +[micro:bit v2 schematic]: https://github.com/microbit-foundation/microbit-v2-hardware/blob/main/V2/MicroBit_V2.0.0_S_schematic.PDF +[micro:bit v1 schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF ## Actually lighting it up! @@ -51,18 +38,15 @@ a look at it and then we can go through it step by step: use cortex_m_rt::entry; use panic_halt as _; -use nrf51_hal as hal; -use hal::prelude::*; +use microbit::board::Board; +use microbit::hal::prelude::*; #[entry] fn main() -> ! { - let p = hal::pac::Peripherals::take().unwrap(); - - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low); - let _col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::Low); + let mut board = Board::take().unwrap(); - row1.set_high().unwrap(); + board.display_pins.col1.set_low().unwrap(); + board.display_pins.row1.set_high().unwrap(); loop {} } @@ -71,39 +55,34 @@ fn main() -> ! { The first few lines until the main function just do some basic imports and setup we already looked at before. However, the main function looks pretty different to what we have seen up to now. -The first line is related to how most HALs written in Rust work internally. Usually these crates rely on so-called -PACs (Peripheral Access Crates). A PAC is usually an autogenerated crate that provides some minimal abstractions -for all the peripherals our MCU has to offer. `let p = hal::pac::Peripherals::take().unwrap();` basically takes all -these peripherals from the PAC and binds them to a variable. +The first line is related to how most HALs written in Rust work internally. +As discussed before they are built on top of PAC crates which own (in the Rust sense) +all the peripherals of a chip. `let mut board = Board::take().unwrap();` basically takes all +these peripherals from the PAC and binds them to a variable. In this specific case we are +not only working with a HAL but with an entire BSP, so this also takes ownership +of the Rust representation of the other chips on the board. > **NOTE**: If you are wondering why we have to call `unwrap()` here, in theory it is possible for `take()` to be called > more than once. This would lead to the peripherals being represented by two separate variables and thus lots of > possible confusing behaviour because two variables modify the same resource. In order to avoid this, PACs are > implemented in a way that it would panic if you tried to take the peripherals twice. -Once we got the peripherals, we assemble the GPIO port 0 from them with `let p0 = hal::gpio::p0::Parts::new(p.GPIO);` and -proceed to construct the `ROW1` and `COL1` pin using the two lines below, initialized as a switched-off -(`hal::gpio::Level::Low`) push-pull output pin (`into_push_pull_output`). - -> **NOTE** If you don't know what push-pull means, don't worry about it, it's mostly irrelevant for us here, if you do -> want to figure it out, have a look [here](https://en.wikipedia.org/wiki/Push%E2%80%93pull_output). - -Now we can finally light the LED connected to `ROW1`, `COL1` up by setting the `ROW1` pin to high (i.e. switching it on). -The reason we can leave `COL1` set to low is because of how the LED matrix circuit works. Furthermore, `embedded-hal` is +Now we can light the LED connected to `row1`, `col1` up by setting the `row1` pin to high (i.e. switching it on). +The reason we can leave `col1` set to low is because of how the LED matrix circuit works. Furthermore, `embedded-hal` is designed in a way that every operation on hardware can possibly return an error, even just toggling a pin on or off. Since that is highly unlikely in our case, we can just `unwrap()` the result. - ## Testing it -Testing our little program is quite simple. First put it into `src/mains.rs`. Afterwards we simply have to run `cargo-embed` -again, let it flash and just like before, open our GDB and connect to the GDB stub: +Testing our little program is quite simple. First put it into `src/mains.rs`. Afterwards we simply have to run the +`cargo-embed` command from the last section again, let it flash and just like before, open our GDB and connect +to the GDB stub: ``` -$ gdb target/thumbv6m-none-eabi/debug/led-roulette +$ # Your GDB debug command from the last section (gdb) target remote :1337 Remote debugging using :1337 -cortex_m_rt::Reset () at ~/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.12/src/lib.rs:489 +cortex_m_rt::Reset () at /home/nix/.cargo/registry/src/github.com-1ecc6299db9ec823/cortex-m-rt-0.6.12/src/lib.rs:489 489 pub unsafe extern "C" fn Reset() -> ! { (gdb) ``` diff --git a/src/05-led-roulette/my-solution.md b/src/05-led-roulette/my-solution.md index a9c2614ed..29721584b 100644 --- a/src/05-led-roulette/my-solution.md +++ b/src/05-led-roulette/my-solution.md @@ -2,7 +2,8 @@ What solution did you come up with? -Here's mine: +Here's mine, it's probably one of the simplest (but of course not most +beautiful) way to generate the required matrix: ``` rust #![deny(unsafe_code)] @@ -12,58 +13,40 @@ Here's mine: use cortex_m_rt::entry; use rtt_target::rtt_init_print; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; - -// All border LEDs in order with the exception of the very first LED which is set -// at the last spot -const COMBINATIONS: [(usize, usize); 16] = [ - (2, 4), (1, 2), (2, 5), (1, 3), (3, 8), (2, 1), (1, 4), (3, 2), (2,6), - (3, 1), (2, 7), (3, 3), (1, 8), (2, 2), (3, 4), (1, 1) +use microbit::{ + board::Board, + display::blocking::Display, + hal::Timer, +}; + +const PIXELS: [(usize, usize); 16] = [ + (0,0), (0,1), (0,2), (0,3), (0,4), (1,4), (2,4), (3,4), (4,4), + (4,3), (4,2), (4,1), (4,0), (3,0), (2,0), (1,0) ]; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); - let mut delay = hal::Timer::new(p.TIMER0); + let board = Board::take().unwrap(); + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); + let mut leds = [ + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + ]; - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - - // Initialize all rows and cols to off - let mut row1 = p0.p0_13.into_push_pull_output(hal::gpio::Level::Low).degrade(); - let row2 = p0.p0_14.into_push_pull_output(hal::gpio::Level::Low).degrade(); - let row3 = p0.p0_15.into_push_pull_output(hal::gpio::Level::Low).degrade(); - let mut col1 = p0.p0_04.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col2 = p0.p0_05.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col3 = p0.p0_06.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col4 = p0.p0_07.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col5 = p0.p0_08.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col6 = p0.p0_09.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col7 = p0.p0_10.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col8 = p0.p0_11.into_push_pull_output(hal::gpio::Level::High).degrade(); - let col9 = p0.p0_12.into_push_pull_output(hal::gpio::Level::High).degrade(); - - // bring up the very first LED - row1.set_high().unwrap(); - col1.set_low().unwrap(); - - let mut cols = [col1, col2, col3, col4, col5, col6, col7, col8, col9]; - let mut rows = [row1, row2, row3]; + let mut last_led = (0,0); loop { - let mut previous_pair = (1, 1); - for current_pair in COMBINATIONS.iter() { - delay.delay_ms(30u32); - - rows[current_pair.0 - 1].set_high().unwrap(); - cols[current_pair.1 - 1].set_low().unwrap(); - - rows[previous_pair.0 - 1].set_low().unwrap(); - cols[previous_pair.1 - 1].set_high().unwrap(); - - previous_pair = *current_pair; + for current_led in PIXELS.iter() { + leds[last_led.0][last_led.1] = 0; + leds[current_led.0][current_led.1] = 1; + display.show(&mut timer, leds, 30); + last_led = *current_led; } } } @@ -72,12 +55,22 @@ fn main() -> ! { One more thing! Check that your solution also works when compiled in "release" mode: ``` console -$ cargo embed --release +# For micro:bit v2 +$ cargo embed --features v2 --target thumbv7em-none-eabihf --release + (...) + +# For micro:bit v1 +$ cargo embed --features v1 --target thumbv6m-none-eabi --release + (...) ``` If you want to debug your "release" mode binary you'll have to use a different GDB command: ``` console +# For micro:bit v2 +$ gdb target/thumbv7em-none-eabihf/release/led-roulette + +# For micro:bit v1 $ gdb target/thumbv6m-none-eabi/release/led-roulette ``` @@ -85,58 +78,113 @@ Binary size is something we should always keep an eye on! How big is your soluti that using the `size` command on the release binary: ``` console -$ cargo size --bin led-roulette -- -A - Finished dev [unoptimized + debuginfo] target(s) in 0.03s +# For micro:bit v2 +$ cargo size --features v2 --target thumbv7em-none-eabihf -- -A + Finished dev [unoptimized + debuginfo] target(s) in 0.02s +led-roulette : +section size addr +.vector_table 256 0x0 +.text 26984 0x100 +.rodata 2732 0x6a68 +.data 0 0x20000000 +.bss 1092 0x20000000 +.uninit 0 0x20000444 +.debug_abbrev 33941 0x0 +.debug_info 494113 0x0 +.debug_aranges 23528 0x0 +.debug_ranges 130824 0x0 +.debug_str 498781 0x0 +.debug_pubnames 143351 0x0 +.debug_pubtypes 124464 0x0 +.ARM.attributes 58 0x0 +.debug_frame 69128 0x0 +.debug_line 290580 0x0 +.debug_loc 1449 0x0 +.comment 109 0x0 +Total 1841390 + + +$ cargo size --features v2 --target thumbv7em-none-eabihf --release -- -A + Finished release [optimized + debuginfo] target(s) in 0.02s +led-roulette : +section size addr +.vector_table 256 0x0 +.text 6332 0x100 +.rodata 648 0x19bc +.data 0 0x20000000 +.bss 1076 0x20000000 +.uninit 0 0x20000434 +.debug_loc 9036 0x0 +.debug_abbrev 2754 0x0 +.debug_info 96460 0x0 +.debug_aranges 1120 0x0 +.debug_ranges 11520 0x0 +.debug_str 71325 0x0 +.debug_pubnames 32316 0x0 +.debug_pubtypes 29294 0x0 +.ARM.attributes 58 0x0 +.debug_frame 2108 0x0 +.debug_line 19303 0x0 +.comment 109 0x0 +Total 283715 + +# micro:bit v1 +$ cargo size --features v1 --target thumbv6m-none-eabi -- -A + Finished dev [unoptimized + debuginfo] target(s) in 0.02s led-roulette : section size addr .vector_table 168 0x0 -.text 20996 0xa8 -.rodata 2956 0x52ac +.text 28584 0xa8 +.rodata 2948 0x7050 .data 0 0x20000000 -.bss 1088 0x20000000 -.uninit 0 0x20000440 -.debug_abbrev 21988 0x0 -.debug_info 283389 0x0 -.debug_aranges 15832 0x0 -.debug_str 307609 0x0 -.debug_pubnames 68859 0x0 -.debug_pubtypes 55406 0x0 +.bss 1092 0x20000000 +.uninit 0 0x20000444 +.debug_abbrev 30020 0x0 +.debug_info 373392 0x0 +.debug_aranges 18344 0x0 +.debug_ranges 89656 0x0 +.debug_str 375887 0x0 +.debug_pubnames 115633 0x0 +.debug_pubtypes 86658 0x0 .ARM.attributes 50 0x0 -.debug_frame 47732 0x0 -.debug_line 199401 0x0 -.debug_ranges 68936 0x0 -.debug_loc 976 0x0 -.comment 147 0x0 -Total 1095533 +.debug_frame 54144 0x0 +.debug_line 237714 0x0 +.debug_loc 1499 0x0 +.comment 109 0x0 +Total 1415898 - -$ cargo size --bin led-roulette --release -- -A +$ cargo size --features v1 --target thumbv6m-none-eabi --release -- -A Finished release [optimized + debuginfo] target(s) in 0.02s led-roulette : section size addr .vector_table 168 0x0 -.text 4044 0xa8 -.rodata 692 0x1074 +.text 4848 0xa8 +.rodata 648 0x1398 .data 0 0x20000000 .bss 1076 0x20000000 .uninit 0 0x20000434 -.debug_loc 7520 0x0 -.debug_abbrev 3444 0x0 -.debug_info 55229 0x0 -.debug_aranges 1144 0x0 -.debug_ranges 3608 0x0 -.debug_str 48267 0x0 -.debug_pubnames 15435 0x0 -.debug_pubtypes 15970 0x0 +.debug_loc 9705 0x0 +.debug_abbrev 3235 0x0 +.debug_info 61908 0x0 +.debug_aranges 1208 0x0 +.debug_ranges 5784 0x0 +.debug_str 57358 0x0 +.debug_pubnames 22959 0x0 +.debug_pubtypes 18891 0x0 .ARM.attributes 50 0x0 -.debug_frame 2152 0x0 -.debug_line 17050 0x0 -.comment 147 0x0 -Total 175996 +.debug_frame 2316 0x0 +.debug_line 18444 0x0 +.comment 19 0x0 +Total 208617 + ``` > **NOTE** The Cargo project is already configured to build the release binary using LTO. -Know how to read this output? The `text` section contains the program instructions. It's around 4KB -in my case. On the other hand, the `data` and `bss` sections contain variables statically allocated -in RAM (`static` variables). +Know how to read this output? The `text` section contains the program instructions. On the other hand, +the `data` and `bss` sections contain variables statically allocated in RAM (`static` variables). +If you remember back to the specification of the microcontroller on your micro:bit, you should +notice that its flash memory is actually far too small to contain this binary, so how is this possible? +As we can see from the size statistics most of the binary is actually made up of debugging related +sections , those are however not flashed to the microcontroller at any time, after all they aren't +relevant for the execution. diff --git a/src/05-led-roulette/src/main.rs b/src/05-led-roulette/src/main.rs index 9380a52ba..bb8c08ca6 100644 --- a/src/05-led-roulette/src/main.rs +++ b/src/05-led-roulette/src/main.rs @@ -4,7 +4,7 @@ use cortex_m_rt::entry; use panic_halt as _; -use nrf51_hal as _; +use microbit as _; #[entry] fn main() -> ! { diff --git a/src/05-led-roulette/the-challenge.md b/src/05-led-roulette/the-challenge.md index 2067ff76c..613c56a31 100644 --- 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zkF5u0zt=P~3&hrdNP8u%Q)bR#d%#}xy%g3&eYIVMae#xHM|lqjq`wagi9=rwu6d*O z-{r6VU(;THN@VlP65uIMj;sIS<97bZ?Hr&_#@`2z-u>^;YX6O9{ei+ld>d%Up$q5# ztlFLUyIFuUiTeBCx%UC@_%99Y{}$W#ziif@u_>a79)O_pL!fmKW{dt;v%oZs`um{y z|1T2qpUwJDrtS3~68>M!0*jZg{(W%%za|&|sTltM*jxX{Nd9Lg`TrQn|HZrSGcVq( V6sPY@@jjTlnrgatid7#z`yWAO#-9KH From 01497e5f523ebc6886782f70a28417a4f2e76937 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 23 Jul 2021 09:28:49 +0200 Subject: [PATCH 226/313] Fix CI for rewrite --- .github/workflows/ci.yml | 28 +++++++++++++++++++++++----- 1 file changed, 23 insertions(+), 5 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index b97083f6b..b0cba1327 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -7,16 +7,12 @@ on: jobs: # Check a build succeeds for each chapter that contains example code. - build-chapter: + build-chapter-microbit: runs-on: ubuntu-20.04 strategy: matrix: chapter: - 05-led-roulette - - 07-uart - - 08-i2c - - 15-led-compass - - 16-punch-o-meter steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 @@ -24,6 +20,28 @@ jobs: profile: minimal toolchain: stable target: thumbv6m-none-eabi + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf + - name: Build chapter micro:bit v1 + working-directory: src/${{ matrix.chapter }} + run: cargo build --features v1 --target thumbv6m-none-eabi + - name: Build chapter micro:bit v2 + working-directory: src/${{ matrix.chapter }} + run: cargo build --features v2 --target thumbv7em-none-eabihf + build-chapter-old: + runs-on: ubuntu-20.04 + strategy: + matrix: + chapter: + - 07-uart + - 08-i2c + - 15-led-compass + - 16-punch-o-meter + steps: + - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 # Until everything has been rewritten with: profile: minimal From 4b11b99639d047d122228cacca64d3a3680974ed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 23 Jul 2021 09:31:25 +0200 Subject: [PATCH 227/313] Install the proper toolchain for older variants --- .github/workflows/ci.yml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index b0cba1327..cd522b052 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -31,6 +31,7 @@ jobs: - name: Build chapter micro:bit v2 working-directory: src/${{ matrix.chapter }} run: cargo build --features v2 --target thumbv7em-none-eabihf + # Until everything is microbit build-chapter-old: runs-on: ubuntu-20.04 strategy: @@ -42,11 +43,11 @@ jobs: - 16-punch-o-meter steps: - uses: actions/checkout@v2 - - uses: actions-rs/toolchain@v1 # Until everything has been rewritten + - uses: actions-rs/toolchain@v1 with: profile: minimal toolchain: stable - target: thumbv7em-none-eabihf + target: thumbv6m-none-eabi - name: Build chapter working-directory: src/${{ matrix.chapter }} run: cargo build From 2d64a49db839c5383acb5c653cf5b79d86fdcb3f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 23 Jul 2021 09:33:11 +0200 Subject: [PATCH 228/313] I just shouldn't have touched toolchains... --- .github/workflows/ci.yml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index cd522b052..05bff50be 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -48,6 +48,11 @@ jobs: profile: minimal toolchain: stable target: thumbv6m-none-eabi + - uses: actions-rs/toolchain@v1 + with: + profile: minimal + toolchain: stable + target: thumbv7em-none-eabihf - name: Build chapter working-directory: src/${{ matrix.chapter }} run: cargo build From fe73a56ba1ca87277662dbc12236ed56a9fbf305 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 23 Jul 2021 10:32:55 +0200 Subject: [PATCH 229/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/build-it.md | 6 +++--- src/05-led-roulette/debug-it.md | 10 +++++----- src/05-led-roulette/flash-it.md | 4 ++-- src/05-led-roulette/light-it-up.md | 4 ++-- src/05-led-roulette/my-solution.md | 2 +- 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index bd703955f..6215b4843 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -6,7 +6,7 @@ as passing an extra `--target` flag to `rustc`or Cargo. The complicated part is argument of that flag: the *name* of the target. As we already know the microcontroller on the micro:bit v2 has a Cortex-M4F processor in it, the one on v1 a Cortex-M0. -`rustc` knows how to cross compile to the Cortex-M architecture and provides several different targets that cover the different processor +`rustc` knows how to cross-compile to the Cortex-M architecture and provides several different targets that cover the different processors families within that architecture: - `thumbv6m-none-eabi`, for the Cortex-M0 and Cortex-M1 processors @@ -17,8 +17,8 @@ families within that architecture: - `thumbv8m.main-none-eabihf`, for the Cortex-M33**F** and Cortex-M35P**F** processors For the micro:bit v2, we'll use the `thumbv7em-none-eabihf` target, for v1 the `thumbv6m-none-eabi` one. -Before cross compiling you have to download pre-compiled version of the standard library -(a reduced version of it actually) for your target. That's done using `rustup`: +Before cross-compiling you have to download a pre-compiled version of the standard library +(a reduced version of it, actually) for your target. That's done using `rustup`: ``` console # For micro:bit v2 diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index 76cc6ad47..bf4335f2d 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -4,8 +4,8 @@ Before we debug our little program let's take a moment to quickly understand wha happening here. In the previous chapter we already discussed the purpose of the second chip on the board as well as how it talks to our computer, but how can we actually use it? -The little option `default.gb.enabled = true` in `Embed.toml` made `cargo-embed` open a so called "GDB stub" after flashing, -this is a server that our GDB can connect to and send commands like "set a breakpoint at address X" to, the server can then decide +The little option `default.gb.enabled = true` in `Embed.toml` made `cargo-embed` open a so-called "GDB stub" after flashing, +this is a server that our GDB can connect to and send commands like "set a breakpoint at address X" to. The server can then decide on its own how to handle this command. In the case of the `cargo-embed` GDB stub it will forward the command to the debugging probe on the board via USB which then does the job of actually talking to the MCU for us. @@ -30,7 +30,7 @@ $ gdb target/thumbv6m-none-eabi/debug/led-roulette > implement the GDB protocol and thus might not recognize all of the commands your GDB is sending to it, > as long as it does not crash, you are fine. -Next we will have to connect to the GDB stub, it runs on `localhost:1337` per default so in order to +Next we will have to connect to the GDB stub. It runs on `localhost:1337` per default so in order to connect to it run the following: ```shell @@ -40,8 +40,8 @@ Remote debugging using :1337 157 #[derive(Copy, Clone, Debug)] ``` -Next what we want to do is get to the main function of our program, -we will do this by first setting a breakpoint there and the continuing +Next what we want to do is get to the main function of our program. +We will do this by first setting a breakpoint there and the continuing program execution until we hit the breakpoint: ``` diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index 2a38c66c6..d837a1003 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -11,7 +11,7 @@ Flashing the binary itself is quite simple thanks to `cargo-embed`. Before executing that command though, lets look into what it actually does. If you look at the side of your micro:bit with the USB connector facing upwards you will notice, that there are actually 2 black squares on there -(on the micro:bit v2 is a third and biggest one, its a speaker), one is our MCU +(on the micro:bit v2 there is a third and biggest one, which is a speaker), one is our MCU we already talked about but what purpose does the other one serve? The other chip has 3 main purposes: 1. Provide power from the USB connector to our MCU @@ -42,7 +42,7 @@ $ cargo embed --features v1 --target thumbv6m-none-eabi You will notice that `cargo-embed` blocks after outputting the last line, this is inteded and you should not close it -since we need it in this state for the next step, debugging it! Furthermore you will have noticed that the `cargo build` +since we need it in this state for the next step: debugging it! Furthermore, you will have noticed that the `cargo build` and `cargo embed` are actually passed the same flags, this is because `cargo embed` actually executes the build and then flashes the resulting binary on to the chip, hence you can leave out the `cargo build` step in the future if you want to flash your code right away. diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index 00aed0adc..7a0ab16db 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -5,7 +5,7 @@ In this chapter we are going to make one of the many LEDs on the back of the mic basically the "Hello World" of embedded programming. In order to get this task done we will use one of the traits provided by `embedded-hal`, specifically the [OutputPin trait] which allows us to turn a pin on or off. -[OutputPin trait]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/digital/v2/trait.OutputPin.html +[OutputPin trait]: https://docs.rs/embedded-hal/0.2.5/embedded_hal/digital/v2/trait.OutputPin.html ## The micro:bit LEDs @@ -75,7 +75,7 @@ that is highly unlikely in our case, we can just `unwrap()` the result. ## Testing it Testing our little program is quite simple. First put it into `src/mains.rs`. Afterwards we simply have to run the -`cargo-embed` command from the last section again, let it flash and just like before, open our GDB and connect +`cargo embed` command from the last section again, let it flash and just like before. Then open our GDB and connect to the GDB stub: ``` diff --git a/src/05-led-roulette/my-solution.md b/src/05-led-roulette/my-solution.md index 29721584b..a6369503d 100644 --- a/src/05-led-roulette/my-solution.md +++ b/src/05-led-roulette/my-solution.md @@ -183,7 +183,7 @@ Total 208617 Know how to read this output? The `text` section contains the program instructions. On the other hand, the `data` and `bss` sections contain variables statically allocated in RAM (`static` variables). -If you remember back to the specification of the microcontroller on your micro:bit, you should +If you remember back in the specification of the microcontroller on your micro:bit, you should notice that its flash memory is actually far too small to contain this binary, so how is this possible? As we can see from the size statistics most of the binary is actually made up of debugging related sections , those are however not flashed to the microcontroller at any time, after all they aren't From 3ff772ebde830894c0a87e0f1540f79ed918bf63 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 23 Jul 2021 10:33:17 +0200 Subject: [PATCH 230/313] Update src/05-led-roulette/flash-it.md Co-authored-by: Diego Barrios Romero --- src/05-led-roulette/flash-it.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/flash-it.md b/src/05-led-roulette/flash-it.md index d837a1003..8b456d9d2 100644 --- a/src/05-led-roulette/flash-it.md +++ b/src/05-led-roulette/flash-it.md @@ -7,7 +7,7 @@ In this case, our `led-roulette` program will be the *only* program in the micro By this I mean that there's nothing else running on the microcontroller: no OS, no "daemon", nothing. `led-roulette` has full control over the device. -Flashing the binary itself is quite simple thanks to `cargo-embed`. +Flashing the binary itself is quite simple thanks to `cargo embed`. Before executing that command though, lets look into what it actually does. If you look at the side of your micro:bit with the USB connector facing upwards you will notice, that there are actually 2 black squares on there From 9af3afe8cf57fdde5f28f2777ad8f3fea73dbe31 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 23 Jul 2021 12:53:39 +0200 Subject: [PATCH 231/313] Adopt bors to the new CI --- .github/bors.toml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/bors.toml b/.github/bors.toml index 9fed1a7f4..fb56de254 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -3,9 +3,9 @@ delete_merged_branches = true required_approvals = 1 status = [ "build-book", - "build-chapter (05-led-roulette)", - "build-chapter (07-uart)", - "build-chapter (08-i2c)", - "build-chapter (15-led-compass)", - "build-chapter (16-punch-o-meter)", + "build-chapter-microbit (05-led-roulette)", + "build-chapter-old (07-uart)", + "build-chapter-old (08-i2c)", + "build-chapter-old (15-led-compass)", + "build-chapter-old (16-punch-o-meter)", ] From 6d0ecc08127e719347a7a7aa93852804525a9270 Mon Sep 17 00:00:00 2001 From: Devon Kerkhove Date: Wed, 28 Jul 2021 16:40:24 +0200 Subject: [PATCH 232/313] Fix typo in openocd.gdb --- src/openocd.gdb | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/openocd.gdb b/src/openocd.gdb index 1ab63a618..7dc8dd77f 100644 --- a/src/openocd.gdb +++ b/src/openocd.gdb @@ -23,10 +23,10 @@ monitor itm port 0 on # Set a breakpoint at main, aka entry break main -# Set a breakpiont at DefaultHandler +# Set a breakpoint at DefaultHandler break DefaultHandler -# Set a breakpiont at HardFault +# Set a breakpoint at HardFault break HardFault # Continue running until we hit the main breakpoint From b554e785bd03c5b1644c83f0993a5ad809f0160a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 15:21:48 +0200 Subject: [PATCH 233/313] serial chapter first steps --- src/07-uart/.cargo/config | 3 - src/07-uart/Cargo.toml | 20 +++++- src/07-uart/Embed.toml | 5 +- src/07-uart/README.md | 12 ++++ src/07-uart/send-a-single-byte.md | 52 ++++++++------ src/07-uart/src/main.rs | 54 +++++++++++---- src/07-uart/src/serial_setup.rs | 46 +++++++++++++ src/07-uart/uprintln.md | 110 ------------------------------ 8 files changed, 150 insertions(+), 152 deletions(-) create mode 100644 src/07-uart/src/serial_setup.rs delete mode 100644 src/07-uart/uprintln.md diff --git a/src/07-uart/.cargo/config b/src/07-uart/.cargo/config index a0ec1777f..6260c5718 100644 --- a/src/07-uart/.cargo/config +++ b/src/07-uart/.cargo/config @@ -2,6 +2,3 @@ rustflags = [ "-C", "link-arg=-Tlink.x", ] - -[build] -target = "thumbv6m-none-eabi" diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index 16d2567a5..232d543da 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -4,12 +4,26 @@ version = "0.1.0" authors = ["Henrik Böving "] edition = "2018" +[dependencies.microbit-v2] +version = "0.10.1" +git = "https://github.com/hargonix/microbit/" +optional = true + + +[dependencies.microbit] +version = "0.10.1" +git = "https://github.com/hargonix/microbit/" +optional = true + [dependencies] -cortex-m = "0.6.0" -cortex-m-rt = "0.6.10" +cortex-m = "0.7.3" +cortex-m-rt = "0.6.12" panic-halt = "0.2.0" -nrf51-hal = "0.11.0" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } nb = "1.0.0" heapless = "0.5.6" + +[features] +v2 = ["microbit-v2"] +v1 = ["microbit"] diff --git a/src/07-uart/Embed.toml b/src/07-uart/Embed.toml index 321db357b..6312a32fc 100644 --- a/src/07-uart/Embed.toml +++ b/src/07-uart/Embed.toml @@ -1,5 +1,8 @@ [default.general] -chip = "nrf51822_xxAA" +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" [default.reset] halt_afterwards = false diff --git a/src/07-uart/README.md b/src/07-uart/README.md index eec87112d..843636ee6 100644 --- a/src/07-uart/README.md +++ b/src/07-uart/README.md @@ -4,5 +4,17 @@ The microcontroller has a peripheral called UART, which stands for Universal Asynchronous Receiver/Transmitter. This peripheral can be configured to work with several communication protocols like the serial communication protocol. + Throughout this chapter, we'll use serial communication to exchange information between the microcontroller and your computer. + +> **NOTE** that on the micro:bit v2 we will use the so called UARTE peripheral which behaves +> just like a regular UART, except that the HAL has to talk to it in a different way. +> However this will of course not be our concern. + +## Setup +As always from now on you will have to modify the Embed.toml to match your micro:bit version: + +```toml +{{#include Embed.toml}} +``` diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 0a308110b..03fd2e0d0 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -9,27 +9,35 @@ In order to do that we will use the following snippet (this one is already in `0 {{#include src/main.rs}} ``` - -There are some parts we have already seen before but also lots of new stuff so lets focus on those. -First things first, how do we know that we have to interact with `P0_24` and `P0_25` here? If you take a look -at the micro:bit schematics again, in page 5 you will notice that those two pins are also referred to as `TGT_RX` -and `TGT_TX`. Not only that, they are also connected to our debug probe (see page 2) so those are most likely the two -pins we are looking for. - -Next up, we can observe a new pin configuration we haven't seen before `p0.p0_25.into_floating_input()`. This just -means that `P0_25` is now an input. What exactly floating means is none of our concern right now. But how do we know -we have to put our pins in this exact mode? If you look at the line below you can see that we construct an instance -of `Pins` which is later passed on to our UART peripheral constructor (`cts` and `rts` are for more advanced UART features -we do not use here, hence they are set to `None`) and the [type signature](https://docs.rs/nrf51-hal/0.11.0/nrf51_hal/uart/struct.Pins.html) -of `Pins` already tells us what to do. - -Next, we construct our UART peripheral with `hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200);`. -This function takes ownership of `p.UART0` and our `pins` so nobody else can mess with either the UART peripheral or our pins while +The most prevalent new thing here is obviously the `cfg` directives to conditionally include/exclude +parts of the code. This is mostly just because we want to work with a regular UART for the micro:bit v1 +and with the UARTE for micro:bit v2. + +You will also have noticed that this is the first time we are including some code that is not from a library, +namely the `serial_setup` module. Its only purpose is to provide a nice and usable wrapper around the UARTE +so we can use it the exact same way as the UART via the [embedded_hal::serial] traits. If you want you can +check out what exactly the module does, but it is not required to understand this chapter in general. + +[embedded_hal::serial]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/serial/index.html + +Apart from those differences the initilization procedures for the UART and the UARTE are quite similar so we'll +discuss the initilization of just UARTE. The UARTE is initialized with this piece of code: +```rs +uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, +); +``` +This function takes ownership of the UARTE peripheral representation in Rust (`board.UARTE0`) and the TX/RX pins +on the board (`board.uart.into()`) so nobody else can mess with either the UARTE peripheral or our pins while we are using them. After that we pass two configuration options two the constructor: the baudrate (that one should be familiar) as well as an option called "parity". Parity is a way that allows serial communication lines to check whether the data they received was corrupted during transmission or not but we don't want to use that here so we simply exclude it. +Then we wrap it up in the `UartePort` type so we can use it the same way as the micro:bit v1's `serial`. -Last but not least, we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` +After the initilization, we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` macro. `nb` is a (quoting from its description) "Minimal and reusable non-blocking I/O layer". It allows us to write code that can conduct hardware operations in the background while we go and do other work (non-blocking). However, in this and many other cases we have no interest in doing some other work so we just call `block!` which will wait until @@ -39,10 +47,14 @@ the I/O operation is done and has either succeeded or failed and then continue e Before flashing this you should make sure to start your minicom/PuTTY as the data we receive via our serial communication is not backed up or anything, we have to view it live. Once your serial monitor is up you can -do a simple - +flash the program just like in chapter 5: ``` -$ cargo embed --release +# For micro:bit v2 +$ cargo embed --features v2 --target thumbv7em-none-eabihf + (...) + +# For micro:bit v1 +$ cargo embed --features v1 --target thumbv6m-none-eabi ``` And after the flashing is finished, you should see the character `X` show up on your minicom/PuTTY terminal, congrats! diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index c12febbb9..af66a6070 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -5,29 +5,53 @@ use cortex_m_rt::entry; use rtt_target::rtt_init_print; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; -use nb::block; + +#[cfg(feature = "v1")] +use microbit::{ + hal::prelude::*, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::prelude::*, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let board = microbit::Board::take().unwrap(); - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); - - let pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) }; - let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) + }; - block!(uart.write(b'X')).ok(); + nb::block!(serial.write(b'X')).ok(); loop {} } diff --git a/src/07-uart/src/serial_setup.rs b/src/07-uart/src/serial_setup.rs new file mode 100644 index 000000000..eb3997aed --- /dev/null +++ b/src/07-uart/src/serial_setup.rs @@ -0,0 +1,46 @@ +use core::fmt; +use embedded_hal::blocking::serial as bserial; +use embedded_hal::serial; +use microbit::hal::uarte::{Error, Instance, Uarte, UarteRx, UarteTx}; + +static mut TX_BUF: [u8; 1] = [0; 1]; +static mut RX_BUF: [u8; 1] = [0; 1]; + +pub struct UartePort(UarteTx, UarteRx); + +impl UartePort { + pub fn new(serial: Uarte) -> UartePort { + let (tx, rx) = serial + .split(unsafe { &mut TX_BUF }, unsafe { &mut RX_BUF }) + .unwrap(); + UartePort(tx, rx) + } +} + +impl fmt::Write for UartePort { + fn write_str(&mut self, s: &str) -> fmt::Result { + self.0.write_str(s) + } +} + +impl serial::Write for UartePort { + type Error = Error; + + fn write(&mut self, b: u8) -> nb::Result<(), Self::Error> { + self.0.write(b) + } + + fn flush(&mut self) -> nb::Result<(), Self::Error> { + self.0.flush() + } +} + +impl bserial::write::Default for UartePort {} + +impl serial::Read for UartePort { + type Error = Error; + + fn read(&mut self) -> nb::Result { + self.1.read() + } +} diff --git a/src/07-uart/uprintln.md b/src/07-uart/uprintln.md deleted file mode 100644 index 8d152ad2e..000000000 --- a/src/07-uart/uprintln.md +++ /dev/null @@ -1,110 +0,0 @@ -# `uprintln!` - -For the next exercise, we'll implement the `uprint!` family of macros. Your goal is to make this -line of code work: - -``` rust - uprintln!(serial, "The answer is {}", 40 + 2); -``` - -Which must send the string `"The answer is 42"` through the serial interface. - -How do we go about that? It's informative to look into the `std` implementation of `println!`. - -``` rust -// src/libstd/macros.rs -macro_rules! print { - ($($arg:tt)*) => ($crate::io::_print(format_args!($($arg)*))); -} -``` - -Looks simple so far. We need the built-in `format_args!` macro (it's implemented in the compiler so we -can't see what it actually does). We'll have to use that macro in the exact same way. What does this -`_print` function do? - -``` rust -// src/libstd/io/stdio.rs -pub fn _print(args: fmt::Arguments) { - let result = match LOCAL_STDOUT.state() { - LocalKeyState::Uninitialized | - LocalKeyState::Destroyed => stdout().write_fmt(args), - LocalKeyState::Valid => { - LOCAL_STDOUT.with(|s| { - if s.borrow_state() == BorrowState::Unused { - if let Some(w) = s.borrow_mut().as_mut() { - return w.write_fmt(args); - } - } - stdout().write_fmt(args) - }) - } - }; - if let Err(e) = result { - panic!("failed printing to stdout: {}", e); - } -} -``` - -That *looks* complicated but the only part we are interested in is: `w.write_fmt(args)` and -`stdout().write_fmt(args)`. What `print!` ultimately does is call the `fmt::Write::write_fmt` method -with the output of `format_args!` as its argument. - -Luckily we don't have to implement the `fmt::Write::write_fmt` method either because it's a default -method. We only have to implement the `fmt::Write::write_str` method. - -Let's do that. - -This is what the macro side of the equation looks like. What's left to be done by you is provide the -implementation of the `write_str` method. - -Above we saw that `Write` is in `std::fmt`. We don't have access to `std` but `Write` is also -available in `core::fmt`. - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -use core::fmt::{self, Write}; - -#[allow(unused_imports)] -use aux11::{entry, iprint, iprintln, usart1}; - -macro_rules! uprint { - ($serial:expr, $($arg:tt)*) => { - $serial.write_fmt(format_args!($($arg)*)).ok() - }; -} - -macro_rules! uprintln { - ($serial:expr, $fmt:expr) => { - uprint!($serial, concat!($fmt, "\n")) - }; - ($serial:expr, $fmt:expr, $($arg:tt)*) => { - uprint!($serial, concat!($fmt, "\n"), $($arg)*) - }; -} - -struct SerialPort { - usart1: &'static mut usart1::RegisterBlock, -} - -impl fmt::Write for SerialPort { - fn write_str(&mut self, s: &str) -> fmt::Result { - // TODO implement this - // hint: this will look very similar to the previous program - Ok(()) - } -} - -#[entry] -fn main() -> ! { - let (usart1, mono_timer, itm) = aux11::init(); - - let mut serial = SerialPort { usart1 }; - - uprintln!(serial, "The answer is {}", 40 + 2); - - loop {} -} -``` From 256af47da6e5c3bc606e2730bce2609145e27459 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 15:48:27 +0200 Subject: [PATCH 234/313] Initial subchapter of ch07 --- src/07-uart/Cargo.toml | 1 + src/07-uart/send-a-single-byte.md | 4 ++++ src/07-uart/src/main.rs | 4 ++-- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index 232d543da..c77dd03c1 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -23,6 +23,7 @@ rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } nb = "1.0.0" heapless = "0.5.6" +embedded-hal = "0.2.6" [features] v2 = ["microbit-v2"] diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 03fd2e0d0..3e2567bb9 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -43,6 +43,10 @@ code that can conduct hardware operations in the background while we go and do o in this and many other cases we have no interest in doing some other work so we just call `block!` which will wait until the I/O operation is done and has either succeeded or failed and then continue execution normally. +Last but not least we `flush()` the serial port. This is because an implementor of the `embedded-hal::serial` traits may +decide to buffer output until it has received a certain number of bytes to send (this is the case with the UARTE implementation). +Calling `flush()` forces it to write the bytes it currently has right now instead of waiting for more. + ## Testing it Before flashing this you should make sure to start your minicom/PuTTY as the data we receive via our serial diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index af66a6070..0434ff883 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -1,4 +1,3 @@ -#![deny(unsafe_code)] #![no_main] #![no_std] @@ -51,7 +50,8 @@ fn main() -> ! { UartePort::new(serial) }; - nb::block!(serial.write(b'X')).ok(); + nb::block!(serial.write(b'X')).unwrap(); + nb::block!(serial.flush()).unwrap(); loop {} } From 676960122fe281239e181c5addd2acffbd698f5a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 16:35:14 +0200 Subject: [PATCH 235/313] Rest of ch07 --- src/07-uart/my-solution.md | 63 ++++++++---- src/07-uart/naive-approch-write.md | 142 +++++++++++++++++++++++++++ src/07-uart/naive-approch-writeln.md | 89 ----------------- src/07-uart/receive-a-single-byte.md | 57 +++++++---- src/07-uart/reverse-a-string.md | 54 +++++++--- src/07-uart/send-a-string.md | 6 -- src/07-uart/src/main.rs | 28 +++++- src/SUMMARY.md | 2 +- 8 files changed, 292 insertions(+), 149 deletions(-) create mode 100644 src/07-uart/naive-approch-write.md delete mode 100644 src/07-uart/naive-approch-writeln.md diff --git a/src/07-uart/my-solution.md b/src/07-uart/my-solution.md index a5507a60a..4cf80ca17 100644 --- a/src/07-uart/my-solution.md +++ b/src/07-uart/my-solution.md @@ -5,31 +5,55 @@ #![no_std] use cortex_m_rt::entry; +use core::fmt::Write; +use heapless::{Vec, consts}; use rtt_target::rtt_init_print; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; -use heapless::{consts, Vec}; -use nb::block; -use core::fmt::Write; + +#[cfg(feature = "v1")] +use microbit::{ + hal::prelude::*, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::prelude::*, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); - - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + let board = microbit::Board::take().unwrap(); - let pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) }; - let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) + }; // A buffer with 32 bytes of capacity let mut buffer: Vec = Vec::new(); @@ -39,20 +63,21 @@ fn main() -> ! { loop { // We assume that the receiving cannot fail - let byte = block!(uart.read()).unwrap(); + let byte = nb::block!(serial.read()).unwrap(); if buffer.push(byte).is_err() { - writeln!(&mut uart, "error: buffer full").unwrap(); + writeln!(serial, "error: buffer full").unwrap(); break; } if byte == 13 { for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { - block!(uart.write(*byte)).ok(); + nb::block!(serial.write(*byte)).unwrap(); } break; } } + nb::block!(serial.flush()).unwrap() } } ``` diff --git a/src/07-uart/naive-approch-write.md b/src/07-uart/naive-approch-write.md new file mode 100644 index 000000000..746dd3bd8 --- /dev/null +++ b/src/07-uart/naive-approch-write.md @@ -0,0 +1,142 @@ +# Naive approach and `write!` + +## Naive approach + +You probably came up with a program similar to the following: + +```rs +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; + +#[cfg(feature = "v1")] +use microbit::{ + hal::prelude::*, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::prelude::*, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) + }; + + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) + }; + + for byte in b"The quick brown fox jumps over the lazy dog.\r\n".iter() { + nb::block!(serial.write(*byte)).unwrap(); + } + nb::block!(serial.flush()).unwrap(); + + loop {} +} +``` + +While this is a perfectly valid implementation, at some point +you might want to have all the nice perks of `print!` such +as argument formatting and so on. If you are wondering how to do that, read on. + +## `write!` and `core::fmt::Write` +The `core::fmt::Write` trait allows us to use any struct that implements +it in basically the same way as we use `print!` in the `std` world. +In this case the `Uart` struct from the `nrf` HAL does implement `core::fmt::Write` +so we can refactor our previous program into this: + +```rs +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; +use core::fmt::Write; + +#[cfg(feature = "v1")] +use microbit::{ + hal::prelude::*, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::prelude::*, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) + }; + + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) + }; + + write!(serial, "The quick brown fox jumps over the lazy dog.\r\n").unwrap(); + nb::block!(serial.flush()).unwrap(); + + loop {} +} +``` + +If you were to flash this program onto your micro:bit, you'll +see that it is functionally equivalent to the iterator-based +program you came up with. diff --git a/src/07-uart/naive-approch-writeln.md b/src/07-uart/naive-approch-writeln.md deleted file mode 100644 index 3a0facf5a..000000000 --- a/src/07-uart/naive-approch-writeln.md +++ /dev/null @@ -1,89 +0,0 @@ -# Naive approach and `writeln!` - -## Naive approach - -You probably came up with a program similar to the following: - -```rs -#![no_main] -#![no_std] - -use cortex_m_rt::entry; -use rtt_target::rtt_init_print; -use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; -use nb::block; - -#[entry] -fn main() -> ! { - rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); - - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); - - let pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None - }; - - let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); - - for byte in b"The quick brown fox jumps over the lazy dog.".iter() { - block!(uart.write(*byte)).ok(); - } - - loop {} -} -``` - -While this is a perfectly valid implementation, at some point -you might want to have all the nice perks of `println!` such -as argument formatting and so on. If you are wondering how to do that, read on. - -## `writeln!` and `core::fmt::Write` -The `core::fmt::Write` trait allows us to use any struct that implements -it in basically the same way as we use `println!` in the `std` world. -In this case the `Uart` struct from the `nrf` HAL does implement `core::fmt::Write` -so we can refactor our previous program into this: - -```rs -#![no_main] -#![no_std] - -use cortex_m_rt::entry; -use rtt_target::rtt_init_print; -use panic_rtt_target as _; -use nrf51_hal as hal; -use core::fmt::Write; - -#[entry] -fn main() -> ! { - rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); - - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); - - let pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None - }; - - let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); - writeln!(&mut uart, "The quick brown fox jumps over the lazy dog.").unwrap(); - - loop {} -} -``` - -If you were to flash this program onto your micro:bit, you'll -see that it is functionally equivalent to the iterator-based -program you came up with. diff --git a/src/07-uart/receive-a-single-byte.md b/src/07-uart/receive-a-single-byte.md index 6743ab761..dbd2a8451 100644 --- a/src/07-uart/receive-a-single-byte.md +++ b/src/07-uart/receive-a-single-byte.md @@ -8,33 +8,56 @@ data from your computer. Luckily `embedded-hal` again got us covered with this o #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; +use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use rtt_target::rprintln; -use nrf51_hal as hal; -use hal::prelude::*; -use nb::block; + +#[cfg(feature = "v1")] +use microbit::{ + hal::prelude::*, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::prelude::*, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let board = microbit::Board::take().unwrap(); - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); - - let pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) }; - let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) + }; loop { - let byte = block!(uart.read()).unwrap(); + let byte = nb::block!(serial.read()).unwrap(); rprintln!("{}", byte); } } diff --git a/src/07-uart/reverse-a-string.md b/src/07-uart/reverse-a-string.md index a3dfda63a..9867737b2 100644 --- a/src/07-uart/reverse-a-string.md +++ b/src/07-uart/reverse-a-string.md @@ -13,29 +13,55 @@ This time you'll need a buffer; you can use [`heapless::Vec`]. Here's the starte #![no_std] use cortex_m_rt::entry; +use core::fmt::Write; +use heapless::{Vec, consts}; use rtt_target::rtt_init_print; use panic_rtt_target as _; -use rtt_target::rprintln; -use nrf51_hal as hal; -use heapless::{consts, Vec}; + +#[cfg(feature = "v1")] +use microbit::{ + hal::prelude::*, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::prelude::*, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let board = microbit::Board::take().unwrap(); - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); - - let pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) }; - let mut uart = hal::Uart::new(p.UART0, pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) + }; // A buffer with 32 bytes of capacity let mut buffer: Vec = Vec::new(); diff --git a/src/07-uart/send-a-string.md b/src/07-uart/send-a-string.md index e853c01e7..fbf808e46 100644 --- a/src/07-uart/send-a-string.md +++ b/src/07-uart/send-a-string.md @@ -6,9 +6,3 @@ I want you to send the string `"The quick brown fox jumps over the lazy dog."` f your computer. It's your turn to write the program. - -Execute your program inside the debugger, statement by statement. What do you see? - -Then execute the program again but in *one go* using the `continue` command. What happens this time? - -Finally, build the program in *release* mode and, again, run it one go. What happens this time? diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index 0434ff883..0b045e9d1 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -2,6 +2,8 @@ #![no_std] use cortex_m_rt::entry; +use core::fmt::Write; +use heapless::{Vec, consts}; use rtt_target::rtt_init_print; use panic_rtt_target as _; @@ -50,8 +52,28 @@ fn main() -> ! { UartePort::new(serial) }; - nb::block!(serial.write(b'X')).unwrap(); - nb::block!(serial.flush()).unwrap(); + // A buffer with 32 bytes of capacity + let mut buffer: Vec = Vec::new(); - loop {} + loop { + buffer.clear(); + + loop { + // We assume that the receiving cannot fail + let byte = nb::block!(serial.read()).unwrap(); + + if buffer.push(byte).is_err() { + writeln!(serial, "error: buffer full").unwrap(); + break; + } + + if byte == 13 { + for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { + nb::block!(serial.write(*byte)).unwrap(); + } + break; + } + } + nb::block!(serial.flush()).unwrap() + } } diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 50af7f546..5f4f14c2c 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -24,7 +24,7 @@ - [UART](07-uart/README.md) - [Send a single byte](07-uart/send-a-single-byte.md) - [Send a string](07-uart/send-a-string.md) - - [Naive approach and `writeln!`](07-uart/naive-approch-writeln.md) + - [Naive approach and `write!`](07-uart/naive-approch-write.md) - [Receive a single byte](07-uart/receive-a-single-byte.md) - [Echo server](07-uart/echo-server.md) - [Reverse a string](07-uart/reverse-a-string.md) From ea1cec2e2e8a469e651d4dfc8d561002e205a9cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 16:46:12 +0200 Subject: [PATCH 236/313] Restore the old main --- src/07-uart/src/main.rs | 28 +++------------------------- 1 file changed, 3 insertions(+), 25 deletions(-) diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index 0b045e9d1..af66a6070 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -1,9 +1,8 @@ +#![deny(unsafe_code)] #![no_main] #![no_std] use cortex_m_rt::entry; -use core::fmt::Write; -use heapless::{Vec, consts}; use rtt_target::rtt_init_print; use panic_rtt_target as _; @@ -52,28 +51,7 @@ fn main() -> ! { UartePort::new(serial) }; - // A buffer with 32 bytes of capacity - let mut buffer: Vec = Vec::new(); + nb::block!(serial.write(b'X')).ok(); - loop { - buffer.clear(); - - loop { - // We assume that the receiving cannot fail - let byte = nb::block!(serial.read()).unwrap(); - - if buffer.push(byte).is_err() { - writeln!(serial, "error: buffer full").unwrap(); - break; - } - - if byte == 13 { - for byte in buffer.iter().rev().chain(&[b'\n', b'\r']) { - nb::block!(serial.write(*byte)).unwrap(); - } - break; - } - } - nb::block!(serial.flush()).unwrap() - } + loop {} } From afeef71a25f2a8df60b5c5405ee251c5e3bb179c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 16:50:56 +0200 Subject: [PATCH 237/313] Unsafe is fine since we need it for statics --- src/07-uart/src/main.rs | 1 - 1 file changed, 1 deletion(-) diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index af66a6070..7cf2d10f8 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -1,4 +1,3 @@ -#![deny(unsafe_code)] #![no_main] #![no_std] From d9a7b8a13794e30e5d1c4a860a597880915d7452 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 16:51:42 +0200 Subject: [PATCH 238/313] Flush --- src/07-uart/src/main.rs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/07-uart/src/main.rs b/src/07-uart/src/main.rs index 7cf2d10f8..0434ff883 100644 --- a/src/07-uart/src/main.rs +++ b/src/07-uart/src/main.rs @@ -50,7 +50,8 @@ fn main() -> ! { UartePort::new(serial) }; - nb::block!(serial.write(b'X')).ok(); + nb::block!(serial.write(b'X')).unwrap(); + nb::block!(serial.flush()).unwrap(); loop {} } From 8d3a16ade531dca2a6a003023410f4125d0f20c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 16:57:31 +0200 Subject: [PATCH 239/313] Build ch07 the right way in CI --- .github/bors.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/bors.toml b/.github/bors.toml index fb56de254..98a830ac0 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -4,7 +4,7 @@ required_approvals = 1 status = [ "build-book", "build-chapter-microbit (05-led-roulette)", - "build-chapter-old (07-uart)", + "build-chapter-microbit (07-uart)", "build-chapter-old (08-i2c)", "build-chapter-old (15-led-compass)", "build-chapter-old (16-punch-o-meter)", From 1e0f483ad2edd47bd6a5dc6e52eb688519acc5cf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 17:19:35 +0200 Subject: [PATCH 240/313] Initial ch08 code and documentation --- .github/bors.toml | 2 +- src/08-i2c/.cargo/config | 3 -- src/08-i2c/Cargo.toml | 18 +++++++++-- src/08-i2c/Embed.toml | 5 +++- src/08-i2c/read-a-single-register.md | 45 +++++++++++++--------------- src/08-i2c/src/main.rs | 32 ++++++++++++-------- 6 files changed, 62 insertions(+), 43 deletions(-) diff --git a/.github/bors.toml b/.github/bors.toml index fb56de254..9cfe0598b 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -5,7 +5,7 @@ status = [ "build-book", "build-chapter-microbit (05-led-roulette)", "build-chapter-old (07-uart)", - "build-chapter-old (08-i2c)", + "build-chapter-microbit (08-i2c)", "build-chapter-old (15-led-compass)", "build-chapter-old (16-punch-o-meter)", ] diff --git a/src/08-i2c/.cargo/config b/src/08-i2c/.cargo/config index a0ec1777f..6260c5718 100644 --- a/src/08-i2c/.cargo/config +++ b/src/08-i2c/.cargo/config @@ -2,6 +2,3 @@ rustflags = [ "-C", "link-arg=-Tlink.x", ] - -[build] -target = "thumbv6m-none-eabi" diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index e13c6548f..3199dafc3 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -4,13 +4,27 @@ edition = "2018" name = "i2c" version = "0.1.0" +[dependencies.microbit-v2] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + + +[dependencies.microbit] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + [dependencies] cortex-m = "0.6.0" cortex-m-rt = "0.6.10" panic-halt = "0.2.0" -nrf51-hal = "0.11.0" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } nb = "1.0.0" heapless = "0.5.6" -lsm303agr = "0.1.1" \ No newline at end of file +lsm303agr = "0.1.1" + +[features] +v2 = ["microbit-v2"] +v1 = ["microbit"] diff --git a/src/08-i2c/Embed.toml b/src/08-i2c/Embed.toml index 321db357b..6312a32fc 100644 --- a/src/08-i2c/Embed.toml +++ b/src/08-i2c/Embed.toml @@ -1,5 +1,8 @@ [default.general] -chip = "nrf51822_xxAA" +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" [default.reset] halt_afterwards = false diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index 3859a07b4..7cea0a90b 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -25,36 +25,33 @@ it does provide two registers called `WHO_AM_I_A` at address `0x0f` and `WHO_AM_ at address `0x4f` which contain some bit patterns that are unique to the device (The A is as in accelerometer and the M is as in magnetometer). -With these two things regarding the slave chip out of the way we'll now have -to take a look at the master. As always we'll have to figure out the way our -microcontroller is connected to the chip we want to communicate with. On page -3 of the [schematic] you'll find the LSM303AGR, as you already know from the -I2C protocol description we are particularly interested in where the SCL and SDA -lines are connected to. On page 5 of the schematic you'll see that SCL is connected -to P0.00 and SDA is connected to P0.30. +The only thing missing now is the software part, i.e. which API of the `microbit`/the HAL +crates we should use for this. However if you read through the datasheet of the nRF chip +you are using you will soon find out that they don't actually have an I2C peripheral. +Luckily for us though they have I2C compatible ones called TWI (Two Wire Interface) +and TWIM (depending on which chip you use, just like UART and UARTE). -[schematic]: https://github.com/bbcmicrobit/hardware/blob/master/V1.5/SCH_BBC-Microbit_V1.5.PDF - -The only thing missing now is the software part, i.e. which API of the `nrf51-hal` -we should use for this. However if you take a look at the index of the -[HAL's documentation] you'll notice that nothing named I2C is actually noted -there. This is because some manufacturers don't name their I2C peripheral -"I2C" but instead "TWI" (as in Two Wire Interface), meaning that the TWI module -is the one we are interested in. - -[HAL's documentation]: https://docs.rs/nrf51-hal/0.12.1/nrf51_hal/index.html - -Now if we put the documentation of this module together will all the other information -we have gathered so far we'll end up with this piece of code to read out and -print the two device IDs: +Now if we put the documentation of the `twi(m)` module from the `microbit` crate +together will all the other information we have gathered so far we'll end up with this +piece of code to read out and print the two device IDs: ``` rust {{#include src/main.rs}} ``` +Apart from the initilization this piece of code should be straight forward if you +understood the I2C protocol as described before. The initilization here works similarly +to the one from the UART chapter. First we pass the peripheral as well as the pins +that are used to communicate with the cip to the constructor. The finaly parameter is +the frequency we wish the bus to operate on, in this case 100 kHz (`K100`). + ## Testing it -As always you can just use -``` -$ cargo embed +As always you have to modify `Embed.toml` to fit your MCU and can then use: +```console +# For micro:bit v2 +$ cargo embed --features v2 --target thumbv7em-none-eabihf + +# For micro:bit v1 +$ cargo embed --features v1 --target thumbv6m-none-eabi ``` in order to test our little example program. diff --git a/src/08-i2c/src/main.rs b/src/08-i2c/src/main.rs index bec2c6cb9..b6fe6abef 100644 --- a/src/08-i2c/src/main.rs +++ b/src/08-i2c/src/main.rs @@ -5,8 +5,20 @@ use cortex_m_rt::entry; use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; + +use microbit::hal::{prelude::*}; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; const ACCELEROMETER_ADDR: u8 = 0b0011001; const MAGNETOMETER_ADDR: u8 = 0b0011110; @@ -17,19 +29,15 @@ const MAGNETOMETER_ID_REG: u8 = 0x4f; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let board = microbit::Board::take().unwrap(); + - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let scl = p0.p0_00.into_floating_input().degrade(); - let sda = p0.p0_30.into_floating_input().degrade(); + #[cfg(feature = "v1")] + let mut i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; - let pins = hal::twi::Pins { - scl, - sda, - }; + #[cfg(feature = "v2")] + let mut i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; - // Use a frequency of 100 khz for the bus - let mut i2c = hal::twi::Twi::new(p.TWI1, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); let mut acc = [0]; let mut mag = [0]; From 6508d04568622bcc07bc51b46972d2d0767ec9d7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 17:46:25 +0200 Subject: [PATCH 241/313] First micro:bit v2 version of ch08 --- src/08-i2c/Cargo.toml | 5 ++- src/08-i2c/my-solution.md | 78 ++++++++++++++++++++++------------ src/08-i2c/src/serial_setup.rs | 46 ++++++++++++++++++++ src/08-i2c/using-a-driver.md | 48 ++++++++++++++------- 4 files changed, 134 insertions(+), 43 deletions(-) create mode 100644 src/08-i2c/src/serial_setup.rs diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index 3199dafc3..8b0ed3eca 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -6,13 +6,13 @@ version = "0.1.0" [dependencies.microbit-v2] version = "0.10.1" -git = "https://github.com/nrf-rs/microbit/" +git = "https://github.com/hargonix/microbit/" optional = true [dependencies.microbit] version = "0.10.1" -git = "https://github.com/nrf-rs/microbit/" +git = "https://github.com/hargonix/microbit/" optional = true [dependencies] @@ -24,6 +24,7 @@ panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } nb = "1.0.0" heapless = "0.5.6" lsm303agr = "0.1.1" +embedded-hal = "0.2.6" [features] v2 = ["microbit-v2"] diff --git a/src/08-i2c/my-solution.md b/src/08-i2c/my-solution.md index f56e3feda..4911b705c 100644 --- a/src/08-i2c/my-solution.md +++ b/src/08-i2c/my-solution.md @@ -6,41 +6,67 @@ #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; +use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, + hal::uart, + hal::uart::{Baudrate, Parity}, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, + hal::uarte, + hal::uarte::{Baudrate, Parity}, +}; + +use microbit::hal::prelude::*; use lsm303agr::{AccelOutputDataRate, MagOutputDataRate, Lsm303agr}; use heapless::{consts, Vec, String}; use nb::block; use core::fmt::Write; +#[cfg(feature = "v2")] +mod serial_setup; +#[cfg(feature = "v2")] +use serial_setup::UartePort; + #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); - - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let scl = p0.p0_00.into_floating_input().degrade(); - let sda = p0.p0_30.into_floating_input().degrade(); - let rxd = p0.p0_25.into_floating_input().degrade(); - let txd = p0.p0_24.into_push_pull_output(hal::gpio::Level::Low).degrade(); + let board = microbit::Board::take().unwrap(); - let i2c_pins = hal::twi::Pins { - scl, - sda, + #[cfg(feature = "v1")] + let mut serial = { + uart::Uart::new( + board.UART0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ) }; - let uart_pins = hal::uart::Pins { - rxd, - txd, - cts: None, - rts: None + #[cfg(feature = "v2")] + let mut serial = { + let serial = uarte::Uarte::new( + board.UARTE0, + board.uart.into(), + Parity::EXCLUDED, + Baudrate::BAUD115200, + ); + UartePort::new(serial) }; - // Use a frequency of 100 khz for the bus - let i2c = hal::twi::Twi::new(p.TWI0, i2c_pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); - let mut uart = hal::Uart::new(p.UART0, uart_pins, hal::uart::Parity::EXCLUDED, hal::uart::Baudrate::BAUD115200); + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); @@ -52,10 +78,10 @@ fn main() -> ! { let mut buffer: Vec = Vec::new(); loop { - let byte = block!(uart.read()).unwrap(); + let byte = block!(serial.read()).unwrap(); if buffer.push(byte).is_err() { - write!(&mut uart, "error: buffer full\r\n").unwrap(); + write!(serial, "error: buffer full\r\n").unwrap(); break; } @@ -70,15 +96,15 @@ fn main() -> ! { } let data = sensor.accel_data().unwrap(); - write!(&mut uart, "Accelerometer: x {} y {} z {}\r\n", data.x, data.y, data.z).unwrap(); + write!(serial, "Accelerometer: x {} y {} z {}\r\n", data.x, data.y, data.z).unwrap(); } else if command_string.as_str().trim() == "magnetometer" { while !sensor.mag_status().unwrap().xyz_new_data { } let data = sensor.mag_data().unwrap(); - write!(&mut uart, "Magnetometer: x {} y {} z {}\r\n", data.x, data.y, data.z).unwrap(); + write!(serial, "Magnetometer: x {} y {} z {}\r\n", data.x, data.y, data.z).unwrap(); } else { - write!(&mut uart, "error: command not detected\r\n").unwrap(); + write!(serial, "error: command not detected\r\n").unwrap(); } } } diff --git a/src/08-i2c/src/serial_setup.rs b/src/08-i2c/src/serial_setup.rs new file mode 100644 index 000000000..eb3997aed --- /dev/null +++ b/src/08-i2c/src/serial_setup.rs @@ -0,0 +1,46 @@ +use core::fmt; +use embedded_hal::blocking::serial as bserial; +use embedded_hal::serial; +use microbit::hal::uarte::{Error, Instance, Uarte, UarteRx, UarteTx}; + +static mut TX_BUF: [u8; 1] = [0; 1]; +static mut RX_BUF: [u8; 1] = [0; 1]; + +pub struct UartePort(UarteTx, UarteRx); + +impl UartePort { + pub fn new(serial: Uarte) -> UartePort { + let (tx, rx) = serial + .split(unsafe { &mut TX_BUF }, unsafe { &mut RX_BUF }) + .unwrap(); + UartePort(tx, rx) + } +} + +impl fmt::Write for UartePort { + fn write_str(&mut self, s: &str) -> fmt::Result { + self.0.write_str(s) + } +} + +impl serial::Write for UartePort { + type Error = Error; + + fn write(&mut self, b: u8) -> nb::Result<(), Self::Error> { + self.0.write(b) + } + + fn flush(&mut self) -> nb::Result<(), Self::Error> { + self.0.flush() + } +} + +impl bserial::write::Default for UartePort {} + +impl serial::Read for UartePort { + type Error = Error; + + fn read(&mut self) -> nb::Result { + self.1.read() + } +} diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md index 4aec8b5bc..ae08d0e10 100644 --- a/src/08-i2c/using-a-driver.md +++ b/src/08-i2c/using-a-driver.md @@ -36,7 +36,9 @@ fn main() { ``` Because we already know how to create an instance of an object that implements -the `embedded-hal` I2C traits from the [last page](read-a-single-register.md) this is quite trivial: +the [embedded_hal::blocking::i2c] traits from the [last page](read-a-single-register.md) this is quite trivial: + +[embedded_hal::blocking::i2c]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/i2c/index.html ```rust #![deny(unsafe_code)] @@ -46,26 +48,34 @@ the `embedded-hal` I2C traits from the [last page](read-a-single-register.md) th use cortex_m_rt::entry; use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use nrf51_hal as hal; -use hal::prelude::*; -use lsm303agr::{AccelOutputDataRate, Lsm303agr}; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + AccelOutputDataRate, Lsm303agr, +}; #[entry] fn main() -> ! { rtt_init_print!(); - let p = hal::pac::Peripherals::take().unwrap(); + let board = microbit::Board::take().unwrap(); - let p0 = hal::gpio::p0::Parts::new(p.GPIO); - let scl = p0.p0_00.into_floating_input().degrade(); - let sda = p0.p0_30.into_floating_input().degrade(); - let pins = hal::twi::Pins { - scl, - sda, - }; + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; - // Use a frequency of 100 khz for the bus - let i2c = hal::twi::Twi::new(p.TWI0, pins, hal::pac::twi0::frequency::FREQUENCY_A::K100); + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; // Code from documentation let mut sensor = Lsm303agr::new_with_i2c(i2c); @@ -81,6 +91,14 @@ fn main() -> ! { } ``` -Just like the last snippet you should just be able to try this out with `cargo-embed`. +Just like the last snippet you should just be able to try this out like this: +```console +# For micro:bit v2 +$ cargo embed --features v2 --target thumbv7em-none-eabihf + +# For micro:bit v1 +$ cargo embed --features v1 --target thumbv6m-none-eabi +``` + Furthermore if you (physically) move around your micro:bit a little bit you should see the acceleration numbers that are being printed change. From ac6cc97ca984a69e5aadb713c039994f6b6ed7e7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 17:52:44 +0200 Subject: [PATCH 242/313] Unsafe code for the v2 wrapper --- src/08-i2c/my-solution.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/08-i2c/my-solution.md b/src/08-i2c/my-solution.md index 4911b705c..0a48da813 100644 --- a/src/08-i2c/my-solution.md +++ b/src/08-i2c/my-solution.md @@ -1,12 +1,11 @@ # My solution ```rust -#![deny(unsafe_code)] #![no_main] #![no_std] use cortex_m_rt::entry; -use rtt_target::{rtt_init_print, rprintln}; +use rtt_target::rtt_init_print; use panic_rtt_target as _; #[cfg(feature = "v1")] From ac7d7c8cca885c1d23dff3f2dd8be357fe4ccdc6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 17:56:42 +0200 Subject: [PATCH 243/313] Fix the CI for ch08 --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 05bff50be..8026e5b87 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -13,6 +13,7 @@ jobs: matrix: chapter: - 05-led-roulette + - 08-i2c steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 @@ -38,7 +39,6 @@ jobs: matrix: chapter: - 07-uart - - 08-i2c - 15-led-compass - 16-punch-o-meter steps: From e41cac9a4b9703470efd7429974001bb8dc24d2d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 14 Aug 2021 17:57:06 +0200 Subject: [PATCH 244/313] Fix the ci for ch07 --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 05bff50be..87b1f0ab2 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -13,6 +13,7 @@ jobs: matrix: chapter: - 05-led-roulette + - 07-uart steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 @@ -37,7 +38,6 @@ jobs: strategy: matrix: chapter: - - 07-uart - 08-i2c - 15-led-compass - 16-punch-o-meter From 090cb63d979d89092cc80b593a6605480f7e0a94 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 21 Aug 2021 14:06:30 +0200 Subject: [PATCH 245/313] WIP ch09 --- Cargo.toml | 2 +- src/09-led-compass/.cargo/config | 4 ++ src/09-led-compass/Cargo.toml | 29 ++++++++ src/09-led-compass/Embed.toml | 14 ++++ src/09-led-compass/README.md | 20 ++++++ src/09-led-compass/build.rs | 30 ++++++++ .../calibration.md | 0 .../magnitude.md | 0 src/09-led-compass/memory.x | 6 ++ .../openocd.gdb | 0 .../solution-1.md | 0 .../solution-2.md | 0 src/09-led-compass/src/main.rs | 70 +++++++++++++++++++ .../take-1.md | 9 --- .../take-2.md | 0 src/{15-led-compass => 09-led-compass}/target | 0 src/15-led-compass/.cargo/config | 8 --- src/15-led-compass/Cargo.toml | 9 --- src/15-led-compass/README.md | 43 ------------ src/15-led-compass/auxiliary/Cargo.toml | 14 ---- src/15-led-compass/auxiliary/src/lib.rs | 44 ------------ src/15-led-compass/src/main.rs | 16 ----- src/SUMMARY.md | 14 ++-- 23 files changed, 181 insertions(+), 151 deletions(-) create mode 100644 src/09-led-compass/.cargo/config create mode 100644 src/09-led-compass/Cargo.toml create mode 100644 src/09-led-compass/Embed.toml create mode 100644 src/09-led-compass/README.md create mode 100644 src/09-led-compass/build.rs rename src/{15-led-compass => 09-led-compass}/calibration.md (100%) rename src/{15-led-compass => 09-led-compass}/magnitude.md (100%) create mode 100644 src/09-led-compass/memory.x rename src/{15-led-compass => 09-led-compass}/openocd.gdb (100%) rename src/{15-led-compass => 09-led-compass}/solution-1.md (100%) rename src/{15-led-compass => 09-led-compass}/solution-2.md (100%) create mode 100644 src/09-led-compass/src/main.rs rename src/{15-led-compass => 09-led-compass}/take-1.md (88%) rename src/{15-led-compass => 09-led-compass}/take-2.md (100%) rename src/{15-led-compass => 09-led-compass}/target (100%) delete mode 100644 src/15-led-compass/.cargo/config delete mode 100644 src/15-led-compass/Cargo.toml delete mode 100644 src/15-led-compass/README.md delete mode 100644 src/15-led-compass/auxiliary/Cargo.toml delete mode 100644 src/15-led-compass/auxiliary/src/lib.rs delete mode 100644 src/15-led-compass/src/main.rs diff --git a/Cargo.toml b/Cargo.toml index 5f74a4a05..fecd36bcf 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -4,7 +4,7 @@ members = [ "src/05-led-roulette", "src/07-uart", "src/08-i2c", - "src/15-led-compass", + "src/09-led-compass", "src/16-punch-o-meter", ] diff --git a/src/09-led-compass/.cargo/config b/src/09-led-compass/.cargo/config new file mode 100644 index 000000000..6260c5718 --- /dev/null +++ b/src/09-led-compass/.cargo/config @@ -0,0 +1,4 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +rustflags = [ + "-C", "link-arg=-Tlink.x", +] diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml new file mode 100644 index 000000000..526db1a87 --- /dev/null +++ b/src/09-led-compass/Cargo.toml @@ -0,0 +1,29 @@ +[package] +name = "led-compass" +version = "0.1.0" +authors = ["Henrik Böving "] +edition = "2018" + +[dependencies.microbit-v2] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + + +[dependencies.microbit] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + +[dependencies] +cortex-m = "0.6.0" +cortex-m-rt = "0.6.10" +panic-halt = "0.2.0" +rtt-target = { version = "0.2.2", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +lsm303agr = "0.2.0" +libm = "0.2.1" + +[features] +v2 = ["microbit-v2"] +v1 = ["microbit"] diff --git a/src/09-led-compass/Embed.toml b/src/09-led-compass/Embed.toml new file mode 100644 index 000000000..06814e534 --- /dev/null +++ b/src/09-led-compass/Embed.toml @@ -0,0 +1,14 @@ +[default.general] +# v2 +chip = "nrf52833" +# v1 +# chip = "nrf51822" + +[default.reset] +halt_afterwards = false + +[default.rtt] +enabled = true + +[default.gdb] +enabled = false diff --git a/src/09-led-compass/README.md b/src/09-led-compass/README.md new file mode 100644 index 000000000..63b45c582 --- /dev/null +++ b/src/09-led-compass/README.md @@ -0,0 +1,20 @@ +# LED compass + +In this section, we'll implement a compass using the LEDs on the micro:bit. Like proper compasses, our LED +compass must point north somehow. It will do that by turning on one of its outer LEDs; the on LED +should point towards north. + +Magnetic fields have both a magnitude, measured in Gauss or Teslas, and a *direction*. The +magnetometer on the micro:bit measures both the magnitude and the direction of an external magnetic field +but it reports back the *decomposition* of said field along *its axes*. + +The magnetometer has three axes associated to it. The X and Y axes basically span the plane that is the floor. +The Z axis is pointing "out" of the floor, so upwards. + +You should already be able to write a program that continiously prints the magnetometer +data on the RTT console from the [I2C chapter](./08-i2c/README.md). After you wrote that +program locate where north is at your current location. Then line up your micro:bit with +that direction and observe how the sensor's measurements look. + +Now rotate the board 90 degrees while keeping it parallel to the ground. What X, Y and Z values do +you see this time? Then rotate it 90 degrees again. What values do you see? diff --git a/src/09-led-compass/build.rs b/src/09-led-compass/build.rs new file mode 100644 index 000000000..c8d8c9141 --- /dev/null +++ b/src/09-led-compass/build.rs @@ -0,0 +1,30 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory (wherever `Cargo.toml` is). However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! a rebuild of the application with new memory settings is ensured after updating `memory.x`. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/src/15-led-compass/calibration.md b/src/09-led-compass/calibration.md similarity index 100% rename from src/15-led-compass/calibration.md rename to src/09-led-compass/calibration.md diff --git a/src/15-led-compass/magnitude.md b/src/09-led-compass/magnitude.md similarity index 100% rename from src/15-led-compass/magnitude.md rename to src/09-led-compass/magnitude.md diff --git a/src/09-led-compass/memory.x b/src/09-led-compass/memory.x new file mode 100644 index 000000000..9e2ab65f6 --- /dev/null +++ b/src/09-led-compass/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE K = KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x00000000, LENGTH = 256K + RAM : ORIGIN = 0x20000000, LENGTH = 16K +} diff --git a/src/15-led-compass/openocd.gdb b/src/09-led-compass/openocd.gdb similarity index 100% rename from src/15-led-compass/openocd.gdb rename to src/09-led-compass/openocd.gdb diff --git a/src/15-led-compass/solution-1.md b/src/09-led-compass/solution-1.md similarity index 100% rename from src/15-led-compass/solution-1.md rename to src/09-led-compass/solution-1.md diff --git a/src/15-led-compass/solution-2.md b/src/09-led-compass/solution-2.md similarity index 100% rename from src/15-led-compass/solution-2.md rename to src/09-led-compass/solution-2.md diff --git a/src/09-led-compass/src/main.rs b/src/09-led-compass/src/main.rs new file mode 100644 index 000000000..71332a2e4 --- /dev/null +++ b/src/09-led-compass/src/main.rs @@ -0,0 +1,70 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::{rtt_init_print, rprintln}; +use panic_rtt_target as _; +use core::f32::consts::PI; +use libm::atan2f; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + MagOutputDataRate, Lsm303agr, +}; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + + // Code from documentation + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + loop { + while !sensor.mag_status().unwrap().xyz_new_data {} + let data = sensor.mag_data().unwrap(); + let theta = atan2f(data.y as f32, data.x as f32); // in radians + + let dir = if theta < -7. * PI / 8. { + "North" + } else if theta < -5. * PI / 8. { + "Northwest" + } else if theta < -3. * PI / 8. { + "West" + } else if theta < -PI / 8. { + "Southwest" + } else if theta < PI / 8. { + "South" + } else if theta < 3. * PI / 8. { + "Southeast" + } else if theta < 5. * PI / 8. { + "East" + } else if theta < 7. * PI / 8. { + "Northeast" + } else { + "North" + }; + rprintln!("Magnetometer: {}", dir); + } +} diff --git a/src/15-led-compass/take-1.md b/src/09-led-compass/take-1.md similarity index 88% rename from src/15-led-compass/take-1.md rename to src/09-led-compass/take-1.md index a2ce6f8d7..bacf87efb 100644 --- a/src/15-led-compass/take-1.md +++ b/src/09-led-compass/take-1.md @@ -5,15 +5,6 @@ What's the simplest way in which we can implement the LED compass? Even if it's For starters, we'd only care about the X and Y components of the magnetic field because when you look at a compass you always hold it in horizontal position thus the compass is in the XY plane. -For example, what LED would you turn on in the following case. EMF stands for Earth's Magnetic Field -and green arrow has the direction of the EMF (it points north). - -

      - -

      "] -edition = "2018" -name = "led-compass" -version = "0.1.0" - -[dependencies] -m = "0.1.1" -aux15 = { path = "auxiliary" } diff --git a/src/15-led-compass/README.md b/src/15-led-compass/README.md deleted file mode 100644 index e73b6db0e..000000000 --- a/src/15-led-compass/README.md +++ /dev/null @@ -1,43 +0,0 @@ -# LED compass - -In this section, we'll implement a compass using the LEDs on the F3. Like proper compasses, our LED -compass must point north somehow. It will do that by turning on one of its eight LEDs; the on LED -should point towards north. - -Magnetic fields have both a magnitude, measured in Gauss or Teslas, and a *direction*. The -magnetometer on the F3 measures both the magnitude and the direction of an external magnetic field -but it reports back the *decomposition* of said field along *its axes*. - -See below, the magnetometer has three axes associated to it. - -

      - -

      - -Only the X and Y axes are shown above. The Z axis is pointing "out" of your screen. - -Let's get familiar with the readings of the magnetometer by running the following starter code: - -``` rust -{{#include src/main.rs}} -``` - -This `lsm303dlhc` module provides high level API over the LSM303DLHC. Under the hood it does the -same I2C routine that you implemented in the last section but it reports the X, Y and Z values in a -`I16x3` struct instead of a tuple. - -Locate where north is at your current location. Then rotate the board such that it's aligned -"towards north": the North LED (LD3) should be pointing towards north. - -Now run the starter code and observe the output. What X, Y and Z values do you see? - -``` console -$ # itmdump terminal -(..) -I16x3 { x: 45, y: 194, z: -3 } -I16x3 { x: 46, y: 195, z: -8 } -I16x3 { x: 47, y: 197, z: -2 } -``` - -Now rotate the board 90 degrees while keeping it parallel to the ground. What X, Y and Z values do -you see this time? Then rotate it 90 degrees again. What values do you see? diff --git a/src/15-led-compass/auxiliary/Cargo.toml b/src/15-led-compass/auxiliary/Cargo.toml deleted file mode 100644 index 8a7f25acd..000000000 --- a/src/15-led-compass/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux15" -version = "0.1.0" - -[dependencies] -cortex-m = "0.6.3" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" diff --git a/src/15-led-compass/auxiliary/src/lib.rs b/src/15-led-compass/auxiliary/src/lib.rs deleted file mode 100644 index efa6bcbe4..000000000 --- a/src/15-led-compass/auxiliary/src/lib.rs +++ /dev/null @@ -1,44 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; -pub use cortex_m_rt::entry; -pub use f3::{ - hal::{delay::Delay, prelude, stm32f30x::i2c1}, - led::{Direction, Leds}, - lsm303dlhc::I16x3, -}; - -use f3::{ - hal::{i2c::I2c, prelude::*, stm32f30x}, - Lsm303dlhc, -}; - -pub fn init() -> (Leds, Lsm303dlhc, Delay, ITM) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - - let mut flash = dp.FLASH.constrain(); - let mut rcc = dp.RCC.constrain(); - - let clocks = rcc.cfgr.freeze(&mut flash.acr); - - let gpioe = dp.GPIOE.split(&mut rcc.ahb); - let leds = Leds::new(gpioe); - - let mut gpiob = dp.GPIOB.split(&mut rcc.ahb); - let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - - let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); - - let lsm303dlhc = Lsm303dlhc::new(i2c).unwrap(); - - let delay = Delay::new(cp.SYST, clocks); - - (leds, lsm303dlhc, delay, cp.ITM) -} diff --git a/src/15-led-compass/src/main.rs b/src/15-led-compass/src/main.rs deleted file mode 100644 index e4fc1a44b..000000000 --- a/src/15-led-compass/src/main.rs +++ /dev/null @@ -1,16 +0,0 @@ -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*}; - -#[entry] -fn main() -> ! { - let (_leds, mut lsm303dlhc, mut delay, mut itm) = aux15::init(); - - loop { - iprintln!(&mut itm.stim[0], "{:?}", lsm303dlhc.mag().unwrap()); - delay.delay_ms(1_000_u16); - } -} diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 50af7f546..877769444 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -36,13 +36,13 @@ - [Using a driver](08-i2c/using-a-driver.md) - [The challenge](08-i2c/the-challenge.md) - [My solution](08-i2c/my-solution.md) -- [LED compass](15-led-compass/README.md) - - [Take 1](15-led-compass/take-1.md) - - [Solution 1](15-led-compass/solution-1.md) - - [Take 2](15-led-compass/take-2.md) - - [Solution 2](15-led-compass/solution-2.md) - - [Magnitude](15-led-compass/magnitude.md) - - [Calibration](15-led-compass/calibration.md) +- [LED compass](09-led-compass/README.md) + - [Take 1](09-led-compass/take-1.md) + - [Solution 1](09-led-compass/solution-1.md) + - [Take 2](09-led-compass/take-2.md) + - [Solution 2](09-led-compass/solution-2.md) + - [Magnitude](09-led-compass/magnitude.md) + - [Calibration](09-led-compass/calibration.md) - [Punch-o-meter](16-punch-o-meter/README.md) - [Gravity is up?](16-punch-o-meter/gravity-is-up.md) - [The challenge](16-punch-o-meter/the-challenge.md) From be2bf7443f3e24f01c84f29f5946e86772170563 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 21 Aug 2021 14:55:28 +0200 Subject: [PATCH 246/313] Add a ton of new links to what's left to explore --- src/explore.md | 114 +++++++++++++++++++++++++++++++++---------------- 1 file changed, 78 insertions(+), 36 deletions(-) diff --git a/src/explore.md b/src/explore.md index d4a8c4c3a..515427337 100644 --- a/src/explore.md +++ b/src/explore.md @@ -46,13 +46,13 @@ At those times, the microcontroller should "sleep". When the processor sleeps, it stops executing instructions and this saves power. It's almost always a good idea to save power so your microcontroller should be sleeping as much as possible. But, how does it know when it has to wake up to -perform some action? "Interrupts" are one of the events that wake up the -microcontroller but there are others and the `wfi` and `wfe` are the -instructions that make the processor "sleep". +perform some action? "Interrupts" (see below for what exactly those are) +are one of the events that wake up the microcontroller but there are others +and the `wfi` and `wfe` are the instructions that make the processor "sleep". ## Topics related to microcontroller capabilities -Microcontrollers (like our STM32F3) have many different capabilities. However, many share similar +Microcontrollers (like our nRF52/nRF51) have many different capabilities. However, many share similar capabilities that can be used to solve all sorts of different problems. These topics discuss some of those capabilities, and how they can be used effectively @@ -60,13 +60,18 @@ in embedded development. ### Direct Memory Access (DMA). -This peripheral is a kind of *asynchronous* `memcpy`. So far our programs have -been pumping data, byte by byte, into peripherals like UART and I2C. This DMA -peripheral can be used to perform bulk transfers of data. Either from RAM to -RAM, from a peripheral, like a UART, to RAM or from RAM to a peripheral. You can -schedule a DMA transfer, like read 256 bytes from USART1 into this buffer, leave -it running in the background and then poll some register to see if it has -completed so you can do other stuff while the transfer is ongoing. +This peripheral is a kind of *asynchronous* `memcpy`. If you are working with +a micro:bit v2 you have actually already used this, the HAL does this for you +with the UARTE and TWIM peripherals. A DMA peripheral can be used to perform bulk +transfers of data. Either from RAM to RAM, from a peripheral, like a UARTE, to RAM +or from RAM to a peripheral. You can schedule a DMA transfer, like read 256 bytes +from UARTE into this buffer, leave it running in the background and then poll some +register to see if it has completed so you can do other stuff while the transfer +is ongoing. For more information as to how this is implemented you can checkout the +`serial_setup` module from the UART chapter. If that isn't enough yet you could even +try and dive into the code of the [`nrf52-hal`]. + +[`nrf52-hal`]: https://github.com/nrf-rs/nrf-hal ### Interrupts @@ -103,6 +108,11 @@ motor thus it can be used to control its torque and speed. Then you can add an angular position sensor and you got yourself a closed loop controller that can control the position of the motor at different loads. +PWM is already abstracted within the [`embedded-hal` `Pwm` trait] and you will +again find implementations of this in the [`nrf52-hal`]. + +[`embedded-hal` `Pwm` trait]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/trait.Pwm.html + ### Digital inputs We have used the microcontroller pins as digital outputs, to drive LEDs. But @@ -110,9 +120,14 @@ these pins can also be configured as digital inputs. As digital inputs, these pins can read the binary state of switches (on/off) or buttons (pressed/not pressed). +Again digital inputs are abstracted within the [`embedded-hal` `InputPin` trait] +and of course the [`nrf52-hal`] does have an implementation for them. + (*spoilers* reading the binary state of switches / buttons is not as straightforward as it sounds ;-) +[`embedded-hal` `InputPin` trait]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/digital/v2/trait.InputPin.html + ### Analog-to-Digital Converters (ADC) There are a lots of digital sensors out there. You can use a protocol like I2C @@ -123,6 +138,10 @@ The ADC peripheral can be use to convert that "analog" voltage level, say `1.25` Volts,into a "digital" number, say in the `[0, 65535]` range, that the processor can use in its calculations. +Again the [`embedded-hal` `adc` module] as well as the [`nrf52-hal`] got you covered. + +[`embedded-hal` `adc` module]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/adc/index.html + ### Digital-to-Analog Converters (DAC) As you might expect a DAC is exactly the opposite of ADC. You can write some @@ -141,13 +160,31 @@ Daylight Save Time for you! ### Other communication protocols -SPI, I2S, SMBUS, CAN, IrDA, Ethernet, USB, Bluetooth, etc. +- SPI, abstracted within the [`embedded-hal` `spi` module] and implemented by the [`nrf52-hal`] +- I2S, currently not abstracted within the `embedded-hal` but implemented by the [`nrf52-hal`] +- Ethernet, there does exist a small TCP/IP stack named [`smoltcp`] which is implemented for some + chips but the ones on the micro:bit don't feature an Ethernet peripheral +- USB, there is some experimental work on this, for example with the [`usb-device`] crate +- Bluetooth, there does exist an incomplete BLE stack named [`rubble`] which does support nrf chips. +- SMBUS, neither abstracted in `embedded-hal` nor implemented by the [`nrf52-hal`] at the moment. +- CAN, neither abstracted in `embedded-hal` nor implemented by the [`nrf52-hal`] at the moment +- IrDA, neither abstracted in `embedded-hal` nor implemented by the [`nrf52-hal`] at the moment + +[`embedded-hal` `spi` module]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/spi/index.html +[`smoltcp`]: https://github.com/smoltcp-rs/smoltcp +[`usb-device`]: https://github.com/mvirkkunen/usb-device +[`rubble`]: https://github.com/jonas-schievink/rubble Different applications use different communication protocols. User facing applications usually have an USB connector because USB is an ubiquitous protocol in PCs and smartphones. Whereas inside cars you'll find plenty of CAN "buses". Some digital sensors use SPI, others use I2C and others, SMBUS. +If you happen to be interested in developing abstractions in the `embedded-hal` or +implementations of peripherals in general, don't be shy to open an issue in the HAL +repositories. Alternatively you could also join the [Rust Embedded matrix channel] +and get into contact with most of the people who built the stuff from above. + ## General Embedded-Relevant Topics These topics cover items that are not specific to our device, or the hardware on @@ -157,8 +194,8 @@ systems. ### Gyroscopes As part of our Punch-o-meter exercise, we used the Accelerometer to measure -changes in acceleration in three dimensions. Our board also features a sensor -called a Gyroscope, which allows us to measure changes in "spin" in three +changes in acceleration in three dimensions. But there are also other motion +sensors such as gryoscopes, which allows us to measure changes in "spin" in three dimensions. This can be very useful when trying to build certain systems, such as a robot @@ -179,12 +216,11 @@ move the arms of a clock to a particular direction. ### Sensor fusion -The STM32F3DISCOVERY contains three motion sensors: an accelerometer, a -gyroscope and a magnetometer. On their own these measure: (proper) acceleration, -angular speed and (the Earth's) magnetic field. But these magnitudes can be -"fused" into something more useful: a "robust" measurement of the orientation of -the board. Where robust means with less measurement error than a single sensor -would be capable of. +The micro:bit contains two motion sensors: an accelerometer and a magnetometer. +On their own these measure: (proper) acceleration and (the Earth's) magnetic field. +But these magnitudes can be "fused" into something more useful: a "robust" measurement +of the orientation of the board. Where robust means with less measurement error than +a single sensor would be capable of. This idea of deriving more reliable data from different sources is known as sensor fusion. @@ -193,40 +229,46 @@ sensor fusion. So where to next? There are several options: -- You could check out the examples in the [`f3`] board support crate. All those examples work for - the STM32F3DISCOVERY board you have. +- You could check out the examples in the [`microbit`] board support crate. All those examples work for + the micro:bit board you have. -[`f3`]: https://docs.rs/f3 +[`microbit`]: https://github.com/nrf-rs/microbit/ -- You could try out [this motion sensors demo][madgwick]. Details about the implementation and - source code are available in [this blog post][wd-1-2]. +- You could join the [Rust Embedded matrix channel], lots of people who contribute or work on embedded software + hang out there. Including for example the people who wrote the `microbit` BSP, the `nrf52-hal`, `embedded-hal` etc. -[madgwick]: https://mobile.twitter.com/japaricious/status/962770003325005824 -[wd-1-2]: http://blog.japaric.io/wd-1-2-l3gd20-lsm303dlhc-madgwick/ +[Rust Embedded matrix channel]: https://matrix.to/#/#rust-embedded:matrix.org -- You could check out [Real Time for The Masses]. A very efficient preemptive multitasking framework +- You could check out [Real-Time Interrupt-driven Concurrency]. A very efficient preemptive multitasking framework that supports task prioritization and dead lock free execution. -[Real Time for The Masses]: https://docs.rs/cortex-m-rtfm +[Real-Time Interrupt-driven Concurrency]: https://rtic.rs + +- You could check out more abstractions of the [`embedded-hal`] project and maybe even try and write your own + platform agnostic driver based on it. + +[`embedded-hal`]: https://github.com/rust-embedded/embedded-hal - You could try running Rust on a different development board. The easiest way to get started is to use the [`cortex-m-quickstart`] Cargo project template. -[`cortex-m-quickstart`]: https://docs.rs/cortex-m-quickstart/0.2.4/cortex_m_quickstart +[`cortex-m-quickstart`]: https://docs.rs/cortex-m-quickstart/0.3.1/cortex_m_quickstart/ + +- You could try out [this motion sensors demo][madgwick]. Details about the implementation and + source code are available in [this blog post][wd-1-2]. + +[madgwick]: https://mobile.twitter.com/japaricious/status/962770003325005824 +[wd-1-2]: http://blog.japaric.io/wd-1-2-l3gd20-lsm303dlhc-madgwick/ - You could check out [this blog post][brave-new-io] which describes how Rust type system can prevent bugs in I/O configuration. [brave-new-io]: http://blog.japaric.io/brave-new-io/ -- You could check out my [blog] for miscellaneous topics about embedded development with Rust. +- You could check out [japaric's blog] for miscellaneous topics about embedded development with Rust. -[blog]: http://blog.japaric.io +[japaric's blog]: http://blog.japaric.io -- You could check out the [`embedded-hal`] project which aims to build abstractions (traits) for all - the embedded I/O functionality commonly found on microcontrollers. - -[`embedded-hal`]: https://github.com/rust-embedded/embedded-hal - You could join the [Weekly driver initiative] and help us write generic drivers on top of the `embedded-hal` traits and that work for all sorts of platforms (ARM Cortex-M, AVR, MSP430, RISCV, From 0401d2a4948d5018ddf0b739905509f116976c9e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 21 Aug 2021 15:06:13 +0200 Subject: [PATCH 247/313] Update the troubleshooting section for micro:bit --- .../1-general-troubleshooting/README.md | 144 +++--------------- src/appendix/2-how-to-use-gdb/README.md | 8 +- 2 files changed, 21 insertions(+), 131 deletions(-) diff --git a/src/appendix/1-general-troubleshooting/README.md b/src/appendix/1-general-troubleshooting/README.md index 59793461f..1d5bd3173 100644 --- a/src/appendix/1-general-troubleshooting/README.md +++ b/src/appendix/1-general-troubleshooting/README.md @@ -1,129 +1,17 @@ # General troubleshooting -## OpenOCD problems +## `cargo-embed` problems +Most `cargo-embed` problems are either related to not having installed the `udev` +rules properly or having selected the wrong chip configuration in `Embed.toml` so +make sure you got both of those right. -### can't connect to OpenOCD - "Error: open failed" +If the above does not work out for you, you can open an issue in the [`discovery` issue tracker]. +Alternatively you can also visit the [Rust Embedded matrix channel] or the [probe-rs matrix channel] +and ask for help there. -#### Symptoms - -Upon trying to establish a *new connection* with the device you get an error -that looks like this: - -``` -$ openocd -f (..) -(..) -Error: open failed -in procedure 'init' -in procedure 'ocd_bouncer' -``` - -#### Cause + Fix - -- All: The device is not (properly) connected. Check the USB connection using - `lsusb` or the Device Manager. -- Linux: You may not have enough permission to open the device. Try again with - `sudo`. If that works, you can use [these instructions] to make OpenOCD work - without root privilege. -- Windows: You are probably missing the ST-LINK USB driver. Installation - instructions [here]. - -[these instructions]: ../../03-setup/linux.md#udev-rules -[here]: ../../03-setup/windows.md#st-link-usb-driver - -### can't connect to OpenOCD - "Polling again in X00ms" - -#### Symptoms - -Upon trying to establish a *new connection* with the device you get an error -that looks like this: - -``` -$ openocd -f (..) -(..) -Error: jtag status contains invalid mode value - communication failure -Polling target stm32f3x.cpu failed, trying to reexamine -Examination failed, GDB will be halted. Polling again in 100ms -Info : Previous state query failed, trying to reconnect -Error: jtag status contains invalid mode value - communication failure -Polling target stm32f3x.cpu failed, trying to reexamine -Examination failed, GDB will be halted. Polling again in 300ms -Info : Previous state query failed, trying to reconnect -``` - -#### Cause - -The microcontroller may have get stuck in some tight infinite loop or it may be -continuously raising an exception, e.g. the exception handler is raising an -exception. - -#### Fix - -- Close OpenOCD, if running -- Press and hold the reset (black) button -- Launch the OpenOCD command -- Now, release the reset button - - -### OpenOCD connection lost - "Polling again in X00ms" - -#### Symptoms - -A *running* OpenOCD session suddenly errors with: - -``` -# openocd -f (..) -Error: jtag status contains invalid mode value - communication failure -Polling target stm32f3x.cpu failed, trying to reexamine -Examination failed, GDB will be halted. Polling again in 100ms -Info : Previous state query failed, trying to reconnect -Error: jtag status contains invalid mode value - communication failure -Polling target stm32f3x.cpu failed, trying to reexamine -Examination failed, GDB will be halted. Polling again in 300ms -Info : Previous state query failed, trying to reconnect -``` - -#### Cause - -The USB connection was lost. - -#### Fix - -- Close OpenOCD -- Disconnect and re-connect the USB cable. -- Re-launch OpenOCD - -### Can't flash the device - "Ignoring packet error, continuing..." - -#### Symptoms - -While flashing the device, you get: - -``` -$ arm-none-eabi-gdb $file -Start address 0x8000194, load size 31588 -Transfer rate: 22 KB/sec, 5264 bytes/write. -Ignoring packet error, continuing... -Ignoring packet error, continuing... -``` - -#### Cause - -Closed `itmdump` while a program that "printed" to the ITM was running. The -current GDB session will appear to work normally, just without ITM output but -the next GDB session will error with the message that was shown in the previous -section. - -Or, `itmdump` was called **after** the `monitor tpiu` was issued thus making -`itmdump` delete the file / named-pipe that OpenOCD was writing to. - -#### Fix - -- Close/kill GDB, OpenOCD and `itmdump` -- Remove the file / named-pipe that `itmdump` was using (for example, - `itm.txt`). -- Launch OpenOCD -- Then, launch `itmdump` -- Then, launch the GDB session that executes the `monitor tpiu` command. +[`discovery` issue tracker]: https://github.com/rust-embedded/discovery/issues +[Rust Embedded matrix channel]: https://matrix.to/#/#rust-embedded:matrix.org +[probe-rs matrix channel]: https://matrix.to/#/#probe-rs:matrix.org ## Cargo problems @@ -156,15 +44,17 @@ To learn more, run the command again with --verbose. #### Cause -You are using a toolchain older than `nightly-2018-04-08` and forgot to call `rustup target add -thumbv7em-none-eabihf`. +You forgot to install the proper target for your microcontroller (`thumbv7em-none-eabihf` for v2 +and `thumbv6m-none-eabi` for v1). #### Fix -Update your nightly and install the `thumbv7em-none-eabihf` target. +Install the proper target. ``` console -$ rustup update nightly - +# micro:bit v2 $ rustup target add thumbv7em-none-eabihf + +# micro:bit v1 +$ rustup target add thumbv6m-none-eabi ``` diff --git a/src/appendix/2-how-to-use-gdb/README.md b/src/appendix/2-how-to-use-gdb/README.md index cdc8d6a65..843b38e22 100644 --- a/src/appendix/2-how-to-use-gdb/README.md +++ b/src/appendix/2-how-to-use-gdb/README.md @@ -1,6 +1,6 @@ # How to use GDB -Below are some useful GDB commands that can help us debug our programs. This assumes you have [flashed a program](../../05-led-roulette/flash-it.md) onto your microcontroller and attached to an OpenOCD session. +Below are some useful GDB commands that can help us debug our programs. This assumes you have [flashed a program](../../05-led-roulette/flash-it.md) onto your microcontroller and attached GDB to a `cargo-embed` session. ## General Debugging @@ -42,7 +42,7 @@ Below are some useful GDB commands that can help us debug our programs. This ass * `print /$f $data` - Print the value contained by the variable `$data`. Optionally format the output with `$f`, which can include: ```txt - x: hexadecimal + x: hexadecimal d: signed decimal u: unsigned decimal o: octal @@ -67,7 +67,7 @@ Below are some useful GDB commands that can help us debug our programs. This ass * `info address GPIOC`: Print the memory address of the variable `GPIOC` * `info variables $regex`: Print names and types of global variables matched by `$regex`, omit `$regex` to print all global variables * `ptype $data`: Print more detailed information about `$data` - * `ptype cp`: Print detailed type information about the variable `cp` + * `ptype cp`: Print detailed type information about the variable `cp` ### Poking around the Program Stack @@ -81,6 +81,6 @@ Below are some useful GDB commands that can help us debug our programs. This ass * `info registers $r`: Print the value of register `$r` in selected frame, omit `$r` for all registers * `info registers $sp`: Print the value of the stack pointer register `$sp` in the current frame -### Controlling OpenOCD Remotely +### Controlling `cargo-embed` Remotely * `monitor reset`: Reset the CPU, starting execution over again From b39790bdb01f09c63e3173aed9a7a47bf4db769b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 21 Aug 2021 16:20:01 +0200 Subject: [PATCH 248/313] Add remark about Awesome Rust Embedded --- src/explore.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/explore.md b/src/explore.md index 515427337..dae5b8eec 100644 --- a/src/explore.md +++ b/src/explore.md @@ -239,6 +239,11 @@ So where to next? There are several options: [Rust Embedded matrix channel]: https://matrix.to/#/#rust-embedded:matrix.org +- If you are looking for a general overview of what is available in Rust Embedded right now check out the [Awesome Rust Embedded] + list + +[Awesome Rust Embedded]: https://github.com/rust-embedded/awesome-embedded-rust/ + - You could check out [Real-Time Interrupt-driven Concurrency]. A very efficient preemptive multitasking framework that supports task prioritization and dead lock free execution. From c0fe393d55ad13093ed69811f074d04be7a23c39 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 22 Aug 2021 14:14:16 +0200 Subject: [PATCH 249/313] Update microbit to upstream git version --- src/07-uart/Cargo.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index c77dd03c1..42c3faaae 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -6,13 +6,13 @@ edition = "2018" [dependencies.microbit-v2] version = "0.10.1" -git = "https://github.com/hargonix/microbit/" +git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] version = "0.10.1" -git = "https://github.com/hargonix/microbit/" +git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] From 0a5a40a249e6e5a14d784e4655a14c8741491601 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 22 Aug 2021 14:16:05 +0200 Subject: [PATCH 250/313] Update to upstream git version of microbit --- src/08-i2c/Cargo.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index 8b0ed3eca..4cb830d10 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -6,13 +6,13 @@ version = "0.1.0" [dependencies.microbit-v2] version = "0.10.1" -git = "https://github.com/hargonix/microbit/" +git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] version = "0.10.1" -git = "https://github.com/hargonix/microbit/" +git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] From bbc265a5de4d157d0c5a0a63ae92b70264353827 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 22 Aug 2021 18:07:07 +0200 Subject: [PATCH 251/313] Next compass attempt --- src/09-led-compass/Embed.toml | 2 +- src/09-led-compass/solution-1.md | 70 +++++++++++++++++++------ src/09-led-compass/solution-2.md | 79 +++++++++++++++++++++------- src/09-led-compass/src/led.rs | 88 ++++++++++++++++++++++++++++++++ src/09-led-compass/src/main.rs | 43 +++++++--------- src/09-led-compass/take-1.md | 85 ++++++++++++++++++++---------- src/09-led-compass/take-2.md | 70 +++++++++++++++++++------ 7 files changed, 334 insertions(+), 103 deletions(-) create mode 100644 src/09-led-compass/src/led.rs diff --git a/src/09-led-compass/Embed.toml b/src/09-led-compass/Embed.toml index 06814e534..6312a32fc 100644 --- a/src/09-led-compass/Embed.toml +++ b/src/09-led-compass/Embed.toml @@ -1,6 +1,6 @@ [default.general] # v2 -chip = "nrf52833" +# chip = "nrf52833" # v1 # chip = "nrf51822" diff --git a/src/09-led-compass/solution-1.md b/src/09-led-compass/solution-1.md index 45ff8b7f1..0f7e40b23 100644 --- a/src/09-led-compass/solution-1.md +++ b/src/09-led-compass/solution-1.md @@ -5,33 +5,73 @@ #![no_main] #![no_std] -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use rtt_target::rprintln; +use panic_rtt_target as _; + +use microbit::{ + display::blocking::Display, + hal::Timer, +}; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + MagOutputDataRate, Lsm303agr, +}; + +mod led; +use led::{Direction, direction_to_led}; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); + + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); loop { - let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let data = sensor.mag_data().unwrap(); - // Look at the signs of the X and Y components to determine in which - // quadrant the magnetic field is - let dir = match (x > 0, y > 0) { + let dir = match (data.x > 0, data.y > 0) { // Quadrant I - (true, true) => Direction::Southeast, + (true, true) => Direction::SouthEast, // Quadrant II - (false, true) => Direction::Northeast, + (false, true) => Direction::SouthWest, // Quadrant III - (false, false) => Direction::Northwest, + (false, false) => Direction::NorthWest, // Quadrant IV - (true, false) => Direction::Southwest, + (true, false) => Direction::NorthEast, }; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); - - delay.delay_ms(1_000_u16); + // use the led module to turn the direction into an LED arrow + // and the led display functions from chapter 5 to display the + // arrow + display.show(&mut timer, direction_to_led(dir), 100); } } ``` diff --git a/src/09-led-compass/solution-2.md b/src/09-led-compass/solution-2.md index 523e61a7b..a2b9b4bb4 100644 --- a/src/09-led-compass/solution-2.md +++ b/src/09-led-compass/solution-2.md @@ -5,46 +5,89 @@ #![no_main] #![no_std] +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use rtt_target::rprintln; +use panic_rtt_target as _; + // You'll find this useful ;-) use core::f32::consts::PI; +use libm::atan2f; + +use microbit::{ + display::blocking::Display, + hal::Timer, +}; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + MagOutputDataRate, Lsm303agr, +}; -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; -use m::Float; +mod led; +use led::{Direction, direction_to_led}; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); + + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); loop { - let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let data = sensor.mag_data().unwrap(); - let theta = (y as f32).atan2(x as f32); // in radians + // use libm's atan2f since this isn't in core yet + let theta = atan2f(data.y as f32, data.x as f32); + // Figure out the direction based on theta let dir = if theta < -7. * PI / 8. { - Direction::North + Direction::West } else if theta < -5. * PI / 8. { - Direction::Northwest + Direction::NorthWest } else if theta < -3. * PI / 8. { - Direction::West + Direction::North } else if theta < -PI / 8. { - Direction::Southwest + Direction::NorthEast } else if theta < PI / 8. { - Direction::South + Direction::East } else if theta < 3. * PI / 8. { - Direction::Southeast + Direction::SouthEast } else if theta < 5. * PI / 8. { - Direction::East + Direction::South } else if theta < 7. * PI / 8. { - Direction::Northeast + Direction::SouthWest } else { - Direction::North + Direction::West }; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); + rprintln!("x: {}, y: {}, dir: {:?}", data.x, data.y, dir); - delay.delay_ms(100_u8); + display.show(&mut timer, direction_to_led(dir), 100); } } ``` diff --git a/src/09-led-compass/src/led.rs b/src/09-led-compass/src/led.rs new file mode 100644 index 000000000..00e5fea5e --- /dev/null +++ b/src/09-led-compass/src/led.rs @@ -0,0 +1,88 @@ +#[derive(Debug)] +pub enum Direction{ + North, + NorthEast, + East, + SouthEast, + South, + SouthWest, + West, + NorthWest, +} + +const NORTH: [[u8; 5]; 5] = [ + [0, 0, 1, 0, 0], + [0, 1, 1, 1, 0], + [1, 0, 1, 0, 1], + [0, 0, 1, 0, 0], + [0, 0, 1, 0, 0], +]; + +const NORTH_EAST: [[u8; 5]; 5] = [ + [1, 1, 1, 0, 0], + [1, 1, 0, 0, 0], + [1, 0, 1, 0, 0], + [0, 0, 0, 1, 0], + [0, 0, 0, 0, 1], +]; + +const EAST: [[u8; 5]; 5] = [ + [0, 0, 1, 0, 0], + [0, 1, 0, 0, 0], + [1, 1, 1, 1, 1], + [0, 1, 0, 0, 0], + [0, 0, 1, 0, 0], +]; + +const SOUTH_EAST: [[u8; 5]; 5] = [ + [0, 0, 0, 0, 1], + [0, 0, 0, 1, 0], + [1, 0, 1, 0, 0], + [1, 1, 0, 0, 0], + [1, 1, 1, 0, 0], +]; + +const SOUTH: [[u8; 5]; 5] = [ + [0, 0, 1, 0, 0], + [0, 0, 1, 0, 0], + [1, 0, 1, 0, 1], + [0, 1, 1, 1, 0], + [0, 0, 1, 0, 0], +]; + +const SOUTH_WEST: [[u8; 5]; 5] = [ + [1, 0, 0, 0, 0], + [0, 1, 0, 0, 0], + [0, 0, 1, 0, 1], + [0, 0, 0, 1, 1], + [0, 0, 1, 1, 1], +]; + +const WEST: [[u8; 5]; 5] = [ + [0, 0, 1, 0, 0], + [0, 0, 0, 1, 0], + [1, 1, 1, 1, 1], + [0, 0, 0, 1, 0], + [0, 0, 1, 0, 0], +]; + +const NORTH_WEST: [[u8; 5]; 5] = [ + [0, 0, 1, 1, 1], + [0, 0, 0, 1, 1], + [0, 0, 1, 0, 1], + [0, 1, 0, 0, 0], + [1, 0, 0, 0, 0], +]; + +pub fn direction_to_led(direction: Direction) -> [[u8; 5]; 5] { + match direction { + Direction::North => NORTH, + Direction::NorthEast => NORTH_EAST, + Direction::East => EAST, + Direction::SouthEast => SOUTH_EAST, + Direction::South => SOUTH, + Direction::SouthWest => SOUTH_WEST, + Direction::West => WEST, + Direction::NorthWest => NORTH_WEST, + } +} diff --git a/src/09-led-compass/src/main.rs b/src/09-led-compass/src/main.rs index 71332a2e4..ab544c394 100644 --- a/src/09-led-compass/src/main.rs +++ b/src/09-led-compass/src/main.rs @@ -3,10 +3,8 @@ #![no_std] use cortex_m_rt::entry; -use rtt_target::{rtt_init_print, rprintln}; +use rtt_target::rtt_init_print; use panic_rtt_target as _; -use core::f32::consts::PI; -use libm::atan2f; #[cfg(feature = "v1")] use microbit::{ @@ -24,47 +22,42 @@ use lsm303agr::{ MagOutputDataRate, Lsm303agr, }; +mod led; +use led::Direction; + #[entry] fn main() -> ! { rtt_init_print!(); let board = microbit::Board::take().unwrap(); - #[cfg(feature = "v1")] let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; #[cfg(feature = "v2")] let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; - // Code from documentation let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + loop { while !sensor.mag_status().unwrap().xyz_new_data {} let data = sensor.mag_data().unwrap(); - let theta = atan2f(data.y as f32, data.x as f32); // in radians - let dir = if theta < -7. * PI / 8. { - "North" - } else if theta < -5. * PI / 8. { - "Northwest" - } else if theta < -3. * PI / 8. { - "West" - } else if theta < -PI / 8. { - "Southwest" - } else if theta < PI / 8. { - "South" - } else if theta < 3. * PI / 8. { - "Southeast" - } else if theta < 5. * PI / 8. { - "East" - } else if theta < 7. * PI / 8. { - "Northeast" - } else { - "North" + let dir = match (data.x > 0, data.y > 0) { + // Quadrant ??? + (true, true) => Direction::NorthEast, + // Quadrant ??? + (false, true) => panic!("TODO"), + // Quadrant ??? + (false, false) => panic!("TODO"), + // Quadrant ??? + (true, false) => panic!("TODO"), }; - rprintln!("Magnetometer: {}", dir); + + // use the led module to turn the direction into an LED arrow + // and the led display functions from chapter 5 to display the + // arrow } } diff --git a/src/09-led-compass/take-1.md b/src/09-led-compass/take-1.md index bacf87efb..7620ad5ac 100644 --- a/src/09-led-compass/take-1.md +++ b/src/09-led-compass/take-1.md @@ -5,42 +5,77 @@ What's the simplest way in which we can implement the LED compass? Even if it's For starters, we'd only care about the X and Y components of the magnetic field because when you look at a compass you always hold it in horizontal position thus the compass is in the XY plane. -What *signs* do the X and Y components of the magnetic field have in that scenario? Both are -positive. - -If we only looked at the signs of the X and Y components we could determine to which quadrant the -magnetic field belongs to. -

      -In the previous example, the magnetic field was in the first quadrant (x and y were positive) and it -made sense to turn on the `SouthEast` LED. Similarly, we could turn a different LED if the magnetic -field was in a different quadrant. +If we only looked at the signs of the X and Y components we could determine to which quadrant the +magnetic field belongs to. Now the question of course is which direction (north, north east, etc.) +do the 4 quadrants represent. In order to figure this out we can just rotate the micro:bit and observe +how the quadrant changes whenever we point in another direction. + +> **NOTE** The LED matrix is pointing to me during these measurements since it + is going to face us later on as well. If you are holding the micro:bit the other way + around your measurements will of course have different signs. + +After experimenting a bit we can find out that if we point the micro:bit in e.g. south east direction, +both the X and the Y component are always positive. Based on this information you should be able to +figure out which direction the other quadrants represent. -Let's try that logic. Here's the starter code: +Once you figured out the relation between quadrant and direction you should be able to +complete the template from below. ``` rust #![deny(unsafe_code)] #![no_main] #![no_std] -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + MagOutputDataRate, Lsm303agr, +}; + +mod led; +use led::Direction; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); loop { - let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let data = sensor.mag_data().unwrap(); - // Look at the signs of the X and Y components to determine in which - // quadrant the magnetic field is - let dir = match (x > 0, y > 0) { + let dir = match (data.x > 0, data.y > 0) { // Quadrant ??? - (true, true) => Direction::Southeast, + (true, true) => Direction::NorthEast, // Quadrant ??? (false, true) => panic!("TODO"), // Quadrant ??? @@ -49,15 +84,9 @@ fn main() -> ! { (true, false) => panic!("TODO"), }; - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); - - delay.delay_ms(1_000_u16); + // use the led module to turn the direction into an LED arrow + // and the led display functions from chapter 5 to display the + // arrow } } -``` - -There's a `Direction` enum in the `led` module that has 8 variants named after the cardinal points: -`North`, `East`, `Southwest`, etc. Each of these variants represent one of the 8 LEDs in the -compass. The `Leds` value can be indexed using the `Direction` `enum`; the result of indexing is the -LED that points in that `Direction`. +``` \ No newline at end of file diff --git a/src/09-led-compass/take-2.md b/src/09-led-compass/take-2.md index 51e7c6dd3..e759bfb05 100644 --- a/src/09-led-compass/take-2.md +++ b/src/09-led-compass/take-2.md @@ -20,30 +20,68 @@ to turn on based on the value of `theta`. #![no_main] #![no_std] +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; + // You'll find this useful ;-) use core::f32::consts::PI; +use libm::atan2f; + +use microbit::{ + display::blocking::Display, + hal::Timer, +}; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + MagOutputDataRate, Lsm303agr, +}; -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, Direction, I16x3}; -// this trait provides the `atan2` method -use m::Float; +mod led; +use led::{Direction, direction_to_led}; #[entry] fn main() -> ! { - let (mut leds, mut lsm303dlhc, mut delay, _itm) = aux15::init(); + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); - loop { - let I16x3 { x, y, .. } = lsm303dlhc.mag().unwrap(); + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); - let _theta = (y as f32).atan2(x as f32); // in radians + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + + loop { + while !sensor.mag_status().unwrap().xyz_new_data {} + let data = sensor.mag_data().unwrap(); - // FIXME pick a direction to point to based on `theta` - let dir = Direction::Southeast; + // use libm's atan2f since this isn't in core yet + let theta = atan2f(data.y as f32, data.x as f32); - leds.iter_mut().for_each(|led| led.off()); - leds[dir].on(); + // Figure out the direction based on theta + let dir = Direction::NorthEast; - delay.delay_ms(100_u8); + display.show(&mut timer, direction_to_led(dir), 100); } } ``` @@ -52,6 +90,6 @@ Suggestions/tips: - A whole circle rotation equals 360 degrees. - `PI` radians is equivalent to 180 degrees. -- If `theta` was zero, what LED would you turn on? -- If `theta` was, instead, very close to zero, what LED would you turn on? -- If `theta` kept increasing, at what value would you turn on a different LED? +- If `theta` was zero, which direction are you pointing at? +- If `theta` was, instead, very close to zero, which direction are you pointing at? +- If `theta` kept increasing, at what value would you change the direction From a56ae9854234e2a2e491b324f17236b946332af4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 22 Aug 2021 18:10:22 +0200 Subject: [PATCH 252/313] Fix the CI --- .github/bors.toml | 2 +- .github/workflows/ci.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/bors.toml b/.github/bors.toml index fb56de254..c4451928f 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -6,6 +6,6 @@ status = [ "build-chapter-microbit (05-led-roulette)", "build-chapter-old (07-uart)", "build-chapter-old (08-i2c)", - "build-chapter-old (15-led-compass)", + "build-chapter-microbit (09-led-compass)", "build-chapter-old (16-punch-o-meter)", ] diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 05bff50be..27dfc7dcb 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -13,6 +13,7 @@ jobs: matrix: chapter: - 05-led-roulette + - 09-led-compass steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 @@ -39,7 +40,6 @@ jobs: chapter: - 07-uart - 08-i2c - - 15-led-compass - 16-punch-o-meter steps: - uses: actions/checkout@v2 From ca5d5fb22d70d21e31b715f4e25cbf771e26d49e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 22 Aug 2021 18:14:12 +0200 Subject: [PATCH 253/313] Fix i2c link --- src/09-led-compass/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/09-led-compass/README.md b/src/09-led-compass/README.md index 63b45c582..84f1845a2 100644 --- a/src/09-led-compass/README.md +++ b/src/09-led-compass/README.md @@ -12,7 +12,7 @@ The magnetometer has three axes associated to it. The X and Y axes basically spa The Z axis is pointing "out" of the floor, so upwards. You should already be able to write a program that continiously prints the magnetometer -data on the RTT console from the [I2C chapter](./08-i2c/README.md). After you wrote that +data on the RTT console from the [I2C chapter](../08-i2c/index.md). After you wrote that program locate where north is at your current location. Then line up your micro:bit with that direction and observe how the sensor's measurements look. From 8560d27e9d9d7647db192431fd1b2cd77122482d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 22 Aug 2021 18:24:35 +0200 Subject: [PATCH 254/313] This note is wrong --- src/09-led-compass/take-1.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/09-led-compass/take-1.md b/src/09-led-compass/take-1.md index 7620ad5ac..331c43c7f 100644 --- a/src/09-led-compass/take-1.md +++ b/src/09-led-compass/take-1.md @@ -14,10 +14,6 @@ magnetic field belongs to. Now the question of course is which direction (north, do the 4 quadrants represent. In order to figure this out we can just rotate the micro:bit and observe how the quadrant changes whenever we point in another direction. -> **NOTE** The LED matrix is pointing to me during these measurements since it - is going to face us later on as well. If you are holding the micro:bit the other way - around your measurements will of course have different signs. - After experimenting a bit we can find out that if we point the micro:bit in e.g. south east direction, both the X and the Y component are always positive. Based on this information you should be able to figure out which direction the other quadrants represent. From 1832d5704f7dca17f4b6d63720b871eb5a99b09b Mon Sep 17 00:00:00 2001 From: Diego Barrios Romero Date: Tue, 24 Aug 2021 11:30:17 +0200 Subject: [PATCH 255/313] Update src/appendix/1-general-troubleshooting/README.md --- src/appendix/1-general-troubleshooting/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/appendix/1-general-troubleshooting/README.md b/src/appendix/1-general-troubleshooting/README.md index 1d5bd3173..8b3f5309b 100644 --- a/src/appendix/1-general-troubleshooting/README.md +++ b/src/appendix/1-general-troubleshooting/README.md @@ -2,7 +2,7 @@ ## `cargo-embed` problems Most `cargo-embed` problems are either related to not having installed the `udev` -rules properly or having selected the wrong chip configuration in `Embed.toml` so +rules properly (on Linux) or having selected the wrong chip configuration in `Embed.toml` so make sure you got both of those right. If the above does not work out for you, you can open an issue in the [`discovery` issue tracker]. From 01d4e945e44ebd95b7599f4c8410b48c88c1870d Mon Sep 17 00:00:00 2001 From: Jeff Shen <22137276+al-jshen@users.noreply.github.com> Date: Tue, 24 Aug 2021 13:39:19 -0400 Subject: [PATCH 256/313] Update the-general-protocol.md fix grammar --- src/14-i2c/the-general-protocol.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/14-i2c/the-general-protocol.md b/src/14-i2c/the-general-protocol.md index a017d2faa..471228b41 100644 --- a/src/14-i2c/the-general-protocol.md +++ b/src/14-i2c/the-general-protocol.md @@ -1,6 +1,6 @@ # General protocol -The I2C protocol is more elaborated than the serial communication protocol because it has to support +The I2C protocol is more elaborate than the serial communication protocol because it has to support communication between several devices. Let's see how it works using examples: ## Master -> Slave From 8d9be9745eabd9630afdf69d450abcae2edf5a10 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Tue, 24 Aug 2021 21:12:20 +0200 Subject: [PATCH 257/313] Chapter 10 --- .github/bors.toml | 2 +- .github/workflows/ci.yml | 2 +- Cargo.toml | 2 +- src/10-punch-o-meter/.cargo/config | 4 + src/10-punch-o-meter/Cargo.toml | 28 +++++ src/10-punch-o-meter/Embed.toml | 14 +++ src/10-punch-o-meter/README.md | 12 +++ src/10-punch-o-meter/build.rs | 30 ++++++ .../gravity-is-up.md | 33 ++---- src/10-punch-o-meter/memory.x | 6 ++ src/10-punch-o-meter/my-solution.md | 102 ++++++++++++++++++ src/10-punch-o-meter/src/main.rs | 15 +++ .../target | 0 .../the-challenge.md | 13 ++- src/16-punch-o-meter/.cargo/config | 8 -- src/16-punch-o-meter/Cargo.toml | 11 -- src/16-punch-o-meter/README.md | 18 ---- src/16-punch-o-meter/auxiliary/Cargo.toml | 14 --- src/16-punch-o-meter/auxiliary/src/lib.rs | 45 -------- src/16-punch-o-meter/my-solution.md | 58 ---------- src/16-punch-o-meter/openocd.gdb | 10 -- src/16-punch-o-meter/src/main.rs | 27 ----- src/SUMMARY.md | 8 +- 23 files changed, 239 insertions(+), 223 deletions(-) create mode 100644 src/10-punch-o-meter/.cargo/config create mode 100644 src/10-punch-o-meter/Cargo.toml create mode 100644 src/10-punch-o-meter/Embed.toml create mode 100644 src/10-punch-o-meter/README.md create mode 100644 src/10-punch-o-meter/build.rs rename src/{16-punch-o-meter => 10-punch-o-meter}/gravity-is-up.md (54%) create mode 100644 src/10-punch-o-meter/memory.x create mode 100644 src/10-punch-o-meter/my-solution.md create mode 100644 src/10-punch-o-meter/src/main.rs rename src/{16-punch-o-meter => 10-punch-o-meter}/target (100%) rename src/{16-punch-o-meter => 10-punch-o-meter}/the-challenge.md (52%) delete mode 100644 src/16-punch-o-meter/.cargo/config delete mode 100644 src/16-punch-o-meter/Cargo.toml delete mode 100644 src/16-punch-o-meter/README.md delete mode 100644 src/16-punch-o-meter/auxiliary/Cargo.toml delete mode 100644 src/16-punch-o-meter/auxiliary/src/lib.rs delete mode 100644 src/16-punch-o-meter/my-solution.md delete mode 100644 src/16-punch-o-meter/openocd.gdb delete mode 100644 src/16-punch-o-meter/src/main.rs diff --git a/.github/bors.toml b/.github/bors.toml index fb56de254..6ee246f11 100644 --- a/.github/bors.toml +++ b/.github/bors.toml @@ -7,5 +7,5 @@ status = [ "build-chapter-old (07-uart)", "build-chapter-old (08-i2c)", "build-chapter-old (15-led-compass)", - "build-chapter-old (16-punch-o-meter)", + "build-chapter-microbit (10-punch-o-meter)", ] diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 05bff50be..b5b58483c 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -13,6 +13,7 @@ jobs: matrix: chapter: - 05-led-roulette + - 10-punch-o-meter steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 @@ -40,7 +41,6 @@ jobs: - 07-uart - 08-i2c - 15-led-compass - - 16-punch-o-meter steps: - uses: actions/checkout@v2 - uses: actions-rs/toolchain@v1 diff --git a/Cargo.toml b/Cargo.toml index 5f74a4a05..68431fedf 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -5,7 +5,7 @@ members = [ "src/07-uart", "src/08-i2c", "src/15-led-compass", - "src/16-punch-o-meter", + "src/10-punch-o-meter", ] [profile.release] diff --git a/src/10-punch-o-meter/.cargo/config b/src/10-punch-o-meter/.cargo/config new file mode 100644 index 000000000..6260c5718 --- /dev/null +++ b/src/10-punch-o-meter/.cargo/config @@ -0,0 +1,4 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +rustflags = [ + "-C", "link-arg=-Tlink.x", +] diff --git a/src/10-punch-o-meter/Cargo.toml b/src/10-punch-o-meter/Cargo.toml new file mode 100644 index 000000000..d56ad927d --- /dev/null +++ b/src/10-punch-o-meter/Cargo.toml @@ -0,0 +1,28 @@ +[package] +name = "punch-o-meter" +version = "0.1.0" +authors = ["Henrik Böving "] +edition = "2018" + +[dependencies.microbit-v2] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + + +[dependencies.microbit] +version = "0.10.1" +git = "https://github.com/nrf-rs/microbit/" +optional = true + +[dependencies] +cortex-m = "0.6.0" +cortex-m-rt = "0.6.10" +rtt-target = { version = "0.2.2", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +lsm303agr = "0.2.0" +nb = "1.0.0" + +[features] +v2 = ["microbit-v2"] +v1 = ["microbit"] \ No newline at end of file diff --git a/src/10-punch-o-meter/Embed.toml b/src/10-punch-o-meter/Embed.toml new file mode 100644 index 000000000..6312a32fc --- /dev/null +++ b/src/10-punch-o-meter/Embed.toml @@ -0,0 +1,14 @@ +[default.general] +# v2 +# chip = "nrf52833" +# v1 +# chip = "nrf51822" + +[default.reset] +halt_afterwards = false + +[default.rtt] +enabled = true + +[default.gdb] +enabled = false diff --git a/src/10-punch-o-meter/README.md b/src/10-punch-o-meter/README.md new file mode 100644 index 000000000..d5edee39a --- /dev/null +++ b/src/10-punch-o-meter/README.md @@ -0,0 +1,12 @@ +# Punch-o-meter + +In this section we'll be playing with the accelerometer that's in the board. + +What are we building this time? A punch-o-meter! We'll be measuring the power of your jabs. Well, +actually the maximum acceleration that you can reach because acceleration is what accelerometers +measure. Strength and acceleration are proportional though so it's a good approximation. + +As we already know from previous chapters the accelerometer is built inside the LSM303AGR package. +And just like the magnetometer, it is accessible using the I2C bus. It also has the same coordinate +system as the magnetometer. + diff --git a/src/10-punch-o-meter/build.rs b/src/10-punch-o-meter/build.rs new file mode 100644 index 000000000..c8d8c9141 --- /dev/null +++ b/src/10-punch-o-meter/build.rs @@ -0,0 +1,30 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory (wherever `Cargo.toml` is). However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! a rebuild of the application with new memory settings is ensured after updating `memory.x`. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/src/16-punch-o-meter/gravity-is-up.md b/src/10-punch-o-meter/gravity-is-up.md similarity index 54% rename from src/16-punch-o-meter/gravity-is-up.md rename to src/10-punch-o-meter/gravity-is-up.md index 9ca4c52a5..674265958 100644 --- a/src/16-punch-o-meter/gravity-is-up.md +++ b/src/10-punch-o-meter/gravity-is-up.md @@ -4,30 +4,15 @@ What's the first thing we'll do? Perform a sanity check! -The starter code prints the X, Y and Z components of the acceleration measured by the accelerometer. -The values have already been "scaled" and have units of `g`s. Where `1 g` is equal to the -acceleration of the gravity, about `9.8` meters per second squared. - -``` rust -{{#include src/main.rs}} -``` - -The output of this program with the board sitting still will be something like: - -``` console -$ # itmdump console -(..) -(0.0, 0.0, 1.078125) -(0.0, 0.0, 1.078125) -(0.0, 0.0, 1.171875) -(0.0, 0.0, 1.03125) -(0.0, 0.0, 1.078125) -``` - -Which is weird because the board is not moving yet its acceleration is non-zero. What's going on? -This must be related to the gravity, right? Because the acceleration of gravity is `1 g`. But the -gravity pulls objects downwards so the acceleration along the Z axis should be negative not positive -... +You should already be able to write a program that continiously prints the accelerometer +data on the RTT console from the [I2C chapter](../08-i2c/index.md). Do you observe something +interesting even when holding the board parallel to the floor with the LED side facing down? + +What you should see like this is that both the X and Y values are rather close to 0, while the +Z value is at around 1000. Which is weird because the board is not moving yet its acceleration is +non-zero. What's going on? This must be related to the gravity, right? Because the acceleration of +gravity is `1 g` (aha, `1 g` = 1000 from the accelerometer). But the gravity pulls objects downwards +so the acceleration along the Z axis should be negative not positive Did the program get the Z axis backwards? Nope, you can test rotating the board to align the gravity to the X or Y axis but the acceleration measured by the accelerometer is always pointing up. diff --git a/src/10-punch-o-meter/memory.x b/src/10-punch-o-meter/memory.x new file mode 100644 index 000000000..9e2ab65f6 --- /dev/null +++ b/src/10-punch-o-meter/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE K = KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x00000000, LENGTH = 256K + RAM : ORIGIN = 0x20000000, LENGTH = 16K +} diff --git a/src/10-punch-o-meter/my-solution.md b/src/10-punch-o-meter/my-solution.md new file mode 100644 index 000000000..f10705132 --- /dev/null +++ b/src/10-punch-o-meter/my-solution.md @@ -0,0 +1,102 @@ +# My solution + +``` rust +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::{rtt_init_print, rprintln}; +use panic_rtt_target as _; + +#[cfg(feature = "v1")] +use microbit::{ + hal::twi, + pac::twi0::frequency::FREQUENCY_A, +}; + +#[cfg(feature = "v2")] +use microbit::{ + hal::twim, + pac::twim0::frequency::FREQUENCY_A, +}; + +use lsm303agr::{ + AccelScale, AccelOutputDataRate, Lsm303agr, +}; + +use microbit::hal::timer::Timer; +use microbit::hal::prelude::*; +use nb::Error; + +#[entry] +fn main() -> ! { + const THRESHOLD: f32 = 0.5; + + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; + + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + + let mut countdown = Timer::new(board.TIMER0); + let mut delay = Timer::new(board.TIMER1); + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz50).unwrap(); + // Allow the sensor to measure up to 16 G since human punches + // can actually be quite fast + sensor.set_accel_scale(AccelScale::G16).unwrap(); + + let mut max_g = 0.; + let mut measuring = false; + + loop { + while !sensor.accel_status().unwrap().xyz_new_data {} + // x acceleration in g + let g_x = sensor.accel_data().unwrap().x as f32 / 1000.0; + + if measuring { + // Check the status of our contdown + match countdown.wait() { + // countdown isn't done yet + Err(Error::WouldBlock) => { + if g_x > max_g { + max_g = g_x; + } + }, + // Countdown is done + Ok(_) => { + // Report max value + rprintln!("Max acceleration: {}g", max_g); + + // Reset + max_g = 0.; + measuring = false; + }, + // Since the nrf52 and nrf51 HAL have Void as an error type + // this path cannot occur, as Void is an empty type + Err(Error::Other(_)) => { + unreachable!() + } + } + } else { + // If acceleration goes above a threshold, we start measuring + if g_x > THRESHOLD { + rprintln!("START!"); + + measuring = true; + max_g = g_x; + // The documentation notes that the timer works at a frequency + // of 1 Mhz, so in order to wait for 1 second we have to + // set it to 1_000_000 ticks. + countdown.start(1_000_000_u32); + } + } + delay.delay_ms(20_u8); + } +} +``` diff --git a/src/10-punch-o-meter/src/main.rs b/src/10-punch-o-meter/src/main.rs new file mode 100644 index 000000000..bc1ce25c5 --- /dev/null +++ b/src/10-punch-o-meter/src/main.rs @@ -0,0 +1,15 @@ +#![deny(unsafe_code)] +#![no_main] +#![no_std] + +use cortex_m_rt::entry; +use rtt_target::rtt_init_print; +use panic_rtt_target as _; + +#[entry] +fn main() -> ! { + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); + + loop {} +} diff --git a/src/16-punch-o-meter/target b/src/10-punch-o-meter/target similarity index 100% rename from src/16-punch-o-meter/target rename to src/10-punch-o-meter/target diff --git a/src/16-punch-o-meter/the-challenge.md b/src/10-punch-o-meter/the-challenge.md similarity index 52% rename from src/16-punch-o-meter/the-challenge.md rename to src/10-punch-o-meter/the-challenge.md index d11252ce5..02eb35b1a 100644 --- a/src/16-punch-o-meter/the-challenge.md +++ b/src/10-punch-o-meter/the-challenge.md @@ -12,6 +12,17 @@ Here's what the punch-o-meter must do: the app should start a new measurement. - During that measurement interval, the app should keep track of the maximum acceleration observed - After the measurement interval ends, the app must report the maximum acceleration observed. You - can report the value using the `iprintln` macro. + can report the value using the `rprintln!` macro. Give it a try and let me know how hard you can punch `;-)`. + +> **NOTE** There are two additional APIs that should be useful for this task we haven't discussed yet. +> First the [`set_accel_scale`] one which you need to measure high g values. +> Secondly the [`Countdown`] trait from `embedded_hal`. If you decide to use this to keep your measurement +> intervals you will have to pattern match on the [`nb::Result`] type instead of using the `block!` macro + we have seen in previous chapters. + + +[`set_accel_scale`]: https://docs.rs/lsm303agr/0.2.0/lsm303agr/struct.Lsm303agr.html#method.set_accel_scale +[`Countdown`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/timer/trait.CountDown.html +[`nb::Result`]: https://docs.rs/nb/1.0.0/nb/type.Result.html \ No newline at end of file diff --git a/src/16-punch-o-meter/.cargo/config b/src/16-punch-o-meter/.cargo/config deleted file mode 100644 index f27a4a749..000000000 --- a/src/16-punch-o-meter/.cargo/config +++ /dev/null @@ -1,8 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] - -[build] -target = "thumbv7em-none-eabihf" diff --git a/src/16-punch-o-meter/Cargo.toml b/src/16-punch-o-meter/Cargo.toml deleted file mode 100644 index 69b3008df..000000000 --- a/src/16-punch-o-meter/Cargo.toml +++ /dev/null @@ -1,11 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "punch-o-meter" -version = "0.1.0" - -[dependencies] -m = "0.1.1" -aux16 = { path = "auxiliary" } -cortex-m = "0.5.6" -cortex-m-rt = "0.6.3" diff --git a/src/16-punch-o-meter/README.md b/src/16-punch-o-meter/README.md deleted file mode 100644 index de17f8fd5..000000000 --- a/src/16-punch-o-meter/README.md +++ /dev/null @@ -1,18 +0,0 @@ -# Punch-o-meter - -In this section we'll be playing with the accelerometer that's in the board. - -What are we building this time? A punch-o-meter! We'll be measuring the power of your jabs. Well, -actually the maximum acceleration that you can reach because acceleration is what accelerometers -measure. Strength and acceleration are proportional though so it's a good approximation. - -The accelerometer is also built inside the LSM303DLHC package. And just like the magnetometer, it -can also be accessed using the I2C bus. It also has the same coordinate system as the magnetometer. -Here's the coordinate system again: - -

      - -

      - -Just like in the previous unit, we'll be using a high level API to directly get the sensor readings -in a nicely packaged `struct`. diff --git a/src/16-punch-o-meter/auxiliary/Cargo.toml b/src/16-punch-o-meter/auxiliary/Cargo.toml deleted file mode 100644 index 543848543..000000000 --- a/src/16-punch-o-meter/auxiliary/Cargo.toml +++ /dev/null @@ -1,14 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "aux16" -version = "0.1.0" - -[dependencies] -cortex-m = "0.5.6" -cortex-m-rt = "0.6.3" -panic-itm = "0.4.0" - -[dependencies.f3] -features = ["rt"] -version = "0.6.1" diff --git a/src/16-punch-o-meter/auxiliary/src/lib.rs b/src/16-punch-o-meter/auxiliary/src/lib.rs deleted file mode 100644 index 1aad1f3e8..000000000 --- a/src/16-punch-o-meter/auxiliary/src/lib.rs +++ /dev/null @@ -1,45 +0,0 @@ -//! Initialization code - -#![no_std] - -#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964 -extern crate panic_itm; // panic handler - -pub use cortex_m::{asm::bkpt, iprint, iprintln, peripheral::ITM}; -pub use cortex_m_rt::entry; -pub use f3::{ - hal::{delay::Delay, prelude, time::MonoTimer}, - lsm303dlhc::{I16x3, Sensitivity}, - Lsm303dlhc, -}; - -use f3::hal::{i2c::I2c, prelude::*, stm32f30x}; - -pub fn init() -> (Lsm303dlhc, Delay, MonoTimer, ITM) { - let cp = cortex_m::Peripherals::take().unwrap(); - let dp = stm32f30x::Peripherals::take().unwrap(); - - let mut flash = dp.FLASH.constrain(); - let mut rcc = dp.RCC.constrain(); - - let clocks = rcc.cfgr.freeze(&mut flash.acr); - - let mut gpioe = dp.GPIOE.split(&mut rcc.ahb); - let mut nss = gpioe - .pe3 - .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper); - nss.set_high(); - - let mut gpiob = dp.GPIOB.split(&mut rcc.ahb); - let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl); - - let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1); - - let lsm303dlhc = Lsm303dlhc::new(i2c).unwrap(); - - let delay = Delay::new(cp.SYST, clocks); - let mono_timer = MonoTimer::new(cp.DWT, clocks); - - (lsm303dlhc, delay, mono_timer, cp.ITM) -} diff --git a/src/16-punch-o-meter/my-solution.md b/src/16-punch-o-meter/my-solution.md deleted file mode 100644 index 928f3370c..000000000 --- a/src/16-punch-o-meter/my-solution.md +++ /dev/null @@ -1,58 +0,0 @@ -# My solution - -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux16::{entry, iprint, iprintln, prelude::*, I16x3, Sensitivity}; -use m::Float; - -#[entry] -fn main() -> ! { - const SENSITIVITY: f32 = 12. / (1 << 14) as f32; - const THRESHOLD: f32 = 0.5; - - let (mut lsm303dlhc, mut delay, mono_timer, mut itm) = aux16::init(); - - lsm303dlhc.set_accel_sensitivity(Sensitivity::G12).unwrap(); - - let measurement_time = mono_timer.frequency().0; // 1 second in ticks - let mut instant = None; - let mut max_g = 0.; - loop { - let g_x = f32::from(lsm303dlhc.accel().unwrap().x).abs() * SENSITIVITY; - - match instant { - None => { - // If acceleration goes above a threshold, we start measuring - if g_x > THRESHOLD { - iprintln!(&mut itm.stim[0], "START!"); - - max_g = g_x; - instant = Some(mono_timer.now()); - } - } - // Still measuring - Some(ref instant) if instant.elapsed() < measurement_time => { - if g_x > max_g { - max_g = g_x; - } - } - _ => { - // Report max value - iprintln!(&mut itm.stim[0], "Max acceleration: {}g", max_g); - - // Measurement done - instant = None; - - // Reset - max_g = 0.; - } - } - - delay.delay_ms(50_u8); - } -} -``` diff --git a/src/16-punch-o-meter/openocd.gdb b/src/16-punch-o-meter/openocd.gdb deleted file mode 100644 index cafe49b1b..000000000 --- a/src/16-punch-o-meter/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break UserHardFault -break main -continue diff --git a/src/16-punch-o-meter/src/main.rs b/src/16-punch-o-meter/src/main.rs deleted file mode 100644 index 7ade4369f..000000000 --- a/src/16-punch-o-meter/src/main.rs +++ /dev/null @@ -1,27 +0,0 @@ -#![deny(unsafe_code)] -#![no_main] -#![no_std] - -#[allow(unused_imports)] -use aux16::{entry, iprint, iprintln, prelude::*, I16x3, Sensitivity}; - -#[entry] -fn main() -> ! { - let (mut lsm303dlhc, mut delay, _mono_timer, mut itm) = aux16::init(); - - // extend sensing range to `[-12g, +12g]` - lsm303dlhc.set_accel_sensitivity(Sensitivity::G12).unwrap(); - loop { - const SENSITIVITY: f32 = 12. / (1 << 14) as f32; - - let I16x3 { x, y, z } = lsm303dlhc.accel().unwrap(); - - let x = f32::from(x) * SENSITIVITY; - let y = f32::from(y) * SENSITIVITY; - let z = f32::from(z) * SENSITIVITY; - - iprintln!(&mut itm.stim[0], "{:?}", (x, y, z)); - - delay.delay_ms(1_000_u16); - } -} diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 50af7f546..95f044589 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -43,10 +43,10 @@ - [Solution 2](15-led-compass/solution-2.md) - [Magnitude](15-led-compass/magnitude.md) - [Calibration](15-led-compass/calibration.md) -- [Punch-o-meter](16-punch-o-meter/README.md) - - [Gravity is up?](16-punch-o-meter/gravity-is-up.md) - - [The challenge](16-punch-o-meter/the-challenge.md) - - [My solution](16-punch-o-meter/my-solution.md) +- [Punch-o-meter](10-punch-o-meter/README.md) + - [Gravity is up?](10-punch-o-meter/gravity-is-up.md) + - [The challenge](10-punch-o-meter/the-challenge.md) + - [My solution](10-punch-o-meter/my-solution.md) - [What's left for you to explore](explore.md) --- From 63895831ba6bd61c454b5d5e9b075d7da39a411b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 25 Aug 2021 11:31:42 +0200 Subject: [PATCH 258/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/07-uart/README.md | 2 +- src/07-uart/send-a-single-byte.md | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/07-uart/README.md b/src/07-uart/README.md index 843636ee6..971bb5b64 100644 --- a/src/07-uart/README.md +++ b/src/07-uart/README.md @@ -13,7 +13,7 @@ microcontroller and your computer. > However this will of course not be our concern. ## Setup -As always from now on you will have to modify the Embed.toml to match your micro:bit version: +As always from now on you will have to modify the `Embed.toml` to match your micro:bit version: ```toml {{#include Embed.toml}} diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 3e2567bb9..2b2c5dad2 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -14,13 +14,13 @@ parts of the code. This is mostly just because we want to work with a regular UA and with the UARTE for micro:bit v2. You will also have noticed that this is the first time we are including some code that is not from a library, -namely the `serial_setup` module. Its only purpose is to provide a nice and usable wrapper around the UARTE -so we can use it the exact same way as the UART via the [embedded_hal::serial] traits. If you want you can +namely the `serial_setup` module. Its only purpose is to provide a nice wrapper around the UARTE +so we can use it the exact same way as the UART via the [embedded_hal::serial] traits. If you want, you can check out what exactly the module does, but it is not required to understand this chapter in general. [embedded_hal::serial]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/serial/index.html -Apart from those differences the initilization procedures for the UART and the UARTE are quite similar so we'll +Apart from those differences, the initialization procedures for the UART and the UARTE are quite similar so we'll discuss the initilization of just UARTE. The UARTE is initialized with this piece of code: ```rs uarte::Uarte::new( @@ -43,7 +43,7 @@ code that can conduct hardware operations in the background while we go and do o in this and many other cases we have no interest in doing some other work so we just call `block!` which will wait until the I/O operation is done and has either succeeded or failed and then continue execution normally. -Last but not least we `flush()` the serial port. This is because an implementor of the `embedded-hal::serial` traits may +Last but not least, we `flush()` the serial port. This is because an implementor of the `embedded-hal::serial` traits may decide to buffer output until it has received a certain number of bytes to send (this is the case with the UARTE implementation). Calling `flush()` forces it to write the bytes it currently has right now instead of waiting for more. From c955778d8d3f56a4250a22ca67442bb7cb6bc39f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 25 Aug 2021 11:32:21 +0200 Subject: [PATCH 259/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/07-uart/README.md | 2 +- src/07-uart/naive-approch-write.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/07-uart/README.md b/src/07-uart/README.md index 971bb5b64..b5bf416c5 100644 --- a/src/07-uart/README.md +++ b/src/07-uart/README.md @@ -10,7 +10,7 @@ microcontroller and your computer. > **NOTE** that on the micro:bit v2 we will use the so called UARTE peripheral which behaves > just like a regular UART, except that the HAL has to talk to it in a different way. -> However this will of course not be our concern. +> However, this will of course not be our concern. ## Setup As always from now on you will have to modify the `Embed.toml` to match your micro:bit version: diff --git a/src/07-uart/naive-approch-write.md b/src/07-uart/naive-approch-write.md index 746dd3bd8..9fda52bc4 100644 --- a/src/07-uart/naive-approch-write.md +++ b/src/07-uart/naive-approch-write.md @@ -73,7 +73,7 @@ as argument formatting and so on. If you are wondering how to do that, read on. ## `write!` and `core::fmt::Write` The `core::fmt::Write` trait allows us to use any struct that implements it in basically the same way as we use `print!` in the `std` world. -In this case the `Uart` struct from the `nrf` HAL does implement `core::fmt::Write` +In this case, the `Uart` struct from the `nrf` HAL does implement `core::fmt::Write` so we can refactor our previous program into this: ```rs From 840689ec1ff990dbacb061e28697df775eb1f28b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 25 Aug 2021 11:33:43 +0200 Subject: [PATCH 260/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/09-led-compass/Cargo.toml | 4 ++-- src/09-led-compass/README.md | 4 ++-- src/09-led-compass/take-1.md | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml index 526db1a87..b623d7941 100644 --- a/src/09-led-compass/Cargo.toml +++ b/src/09-led-compass/Cargo.toml @@ -16,8 +16,8 @@ git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] -cortex-m = "0.6.0" -cortex-m-rt = "0.6.10" +cortex-m = "0.7.0" +cortex-m-rt = "0.6.12" panic-halt = "0.2.0" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } diff --git a/src/09-led-compass/README.md b/src/09-led-compass/README.md index 84f1845a2..e7ef6b88e 100644 --- a/src/09-led-compass/README.md +++ b/src/09-led-compass/README.md @@ -1,7 +1,7 @@ # LED compass In this section, we'll implement a compass using the LEDs on the micro:bit. Like proper compasses, our LED -compass must point north somehow. It will do that by turning on one of its outer LEDs; the on LED +compass must point north somehow. It will do that by turning on one of its outer LEDs; the LED turned on should point towards north. Magnetic fields have both a magnitude, measured in Gauss or Teslas, and a *direction*. The @@ -13,7 +13,7 @@ The Z axis is pointing "out" of the floor, so upwards. You should already be able to write a program that continiously prints the magnetometer data on the RTT console from the [I2C chapter](../08-i2c/index.md). After you wrote that -program locate where north is at your current location. Then line up your micro:bit with +program, locate where north is at your current location. Then line up your micro:bit with that direction and observe how the sensor's measurements look. Now rotate the board 90 degrees while keeping it parallel to the ground. What X, Y and Z values do diff --git a/src/09-led-compass/take-1.md b/src/09-led-compass/take-1.md index 331c43c7f..2888c6e49 100644 --- a/src/09-led-compass/take-1.md +++ b/src/09-led-compass/take-1.md @@ -1,9 +1,9 @@ # Take 1 -What's the simplest way in which we can implement the LED compass? Even if it's not perfect. +What's the simplest way in which we can implement the LED compass, even if it's not perfect? For starters, we'd only care about the X and Y components of the magnetic field because when you -look at a compass you always hold it in horizontal position thus the compass is in the XY plane. +look at a compass you always hold it in horizontal position and thus the compass is in the XY plane.

      From f45c7ec691c649f1b6b8b7e1e812d4c80f7d5175 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 25 Aug 2021 11:35:12 +0200 Subject: [PATCH 261/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/10-punch-o-meter/Cargo.toml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/10-punch-o-meter/Cargo.toml b/src/10-punch-o-meter/Cargo.toml index d56ad927d..3f67c6e1a 100644 --- a/src/10-punch-o-meter/Cargo.toml +++ b/src/10-punch-o-meter/Cargo.toml @@ -16,8 +16,8 @@ git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] -cortex-m = "0.6.0" -cortex-m-rt = "0.6.10" +cortex-m = "0.7.0" +cortex-m-rt = "0.6.12" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } lsm303agr = "0.2.0" @@ -25,4 +25,4 @@ nb = "1.0.0" [features] v2 = ["microbit-v2"] -v1 = ["microbit"] \ No newline at end of file +v1 = ["microbit"] From 00d4a432d6e7141ae86ac6af4b66616c13b79da8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 25 Aug 2021 11:40:41 +0200 Subject: [PATCH 262/313] Apply suggestions from code review Co-authored-by: Diego Barrios Romero --- src/08-i2c/read-a-single-register.md | 11 +++++------ src/08-i2c/src/main.rs | 2 +- src/08-i2c/using-a-driver.md | 2 +- 3 files changed, 7 insertions(+), 8 deletions(-) diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index 7cea0a90b..7b5a10b65 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -26,9 +26,9 @@ at address `0x4f` which contain some bit patterns that are unique to the device (The A is as in accelerometer and the M is as in magnetometer). The only thing missing now is the software part, i.e. which API of the `microbit`/the HAL -crates we should use for this. However if you read through the datasheet of the nRF chip +crates we should use for this. However, if you read through the datasheet of the nRF chip you are using you will soon find out that they don't actually have an I2C peripheral. -Luckily for us though they have I2C compatible ones called TWI (Two Wire Interface) +Luckily for us though, they have I2C-compatible ones called TWI (Two Wire Interface) and TWIM (depending on which chip you use, just like UART and UARTE). Now if we put the documentation of the `twi(m)` module from the `microbit` crate @@ -39,11 +39,10 @@ piece of code to read out and print the two device IDs: {{#include src/main.rs}} ``` -Apart from the initilization this piece of code should be straight forward if you +Apart from the initialization, this piece of code should be straight forward if you understood the I2C protocol as described before. The initilization here works similarly -to the one from the UART chapter. First we pass the peripheral as well as the pins -that are used to communicate with the cip to the constructor. The finaly parameter is -the frequency we wish the bus to operate on, in this case 100 kHz (`K100`). +to the one from the UART chapter. +We pass the peripheral as well as the pins that are used to communicate with the chip to the constructor; and then the frequency we wish the bus to operate on, in this case 100 kHz (`K100`). ## Testing it As always you have to modify `Embed.toml` to fit your MCU and can then use: diff --git a/src/08-i2c/src/main.rs b/src/08-i2c/src/main.rs index b6fe6abef..1ad7c8aca 100644 --- a/src/08-i2c/src/main.rs +++ b/src/08-i2c/src/main.rs @@ -6,7 +6,7 @@ use cortex_m_rt::entry; use rtt_target::{rtt_init_print, rprintln}; use panic_rtt_target as _; -use microbit::hal::{prelude::*}; +use microbit::hal::prelude::*; #[cfg(feature = "v1")] use microbit::{ diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md index ae08d0e10..a0998d9ad 100644 --- a/src/08-i2c/using-a-driver.md +++ b/src/08-i2c/using-a-driver.md @@ -36,7 +36,7 @@ fn main() { ``` Because we already know how to create an instance of an object that implements -the [embedded_hal::blocking::i2c] traits from the [last page](read-a-single-register.md) this is quite trivial: +the [embedded_hal::blocking::i2c] traits from the [last page](read-a-single-register.md), this is quite trivial: [embedded_hal::blocking::i2c]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/i2c/index.html From 853a67b02b0f9e62dc80187435b9973467e43c07 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Wed, 25 Aug 2021 11:55:12 +0200 Subject: [PATCH 263/313] Add link to the twim module --- src/08-i2c/read-a-single-register.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index 7b5a10b65..fcad352aa 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -31,10 +31,12 @@ you are using you will soon find out that they don't actually have an I2C periph Luckily for us though, they have I2C-compatible ones called TWI (Two Wire Interface) and TWIM (depending on which chip you use, just like UART and UARTE). -Now if we put the documentation of the `twi(m)` module from the `microbit` crate +Now if we put the documentation of the [`twi(m)` module] from the `microbit` crate together will all the other information we have gathered so far we'll end up with this piece of code to read out and print the two device IDs: +[`twi(m)` module]: https://docs.rs/microbit-v2/0.10.1/microbit/hal/twim/index.html + ``` rust {{#include src/main.rs}} ``` From 917595f8c19ed0549e99cb641f997a12510c4921 Mon Sep 17 00:00:00 2001 From: Chris <11088935+caemor@users.noreply.github.com> Date: Tue, 31 Aug 2021 15:17:13 +0200 Subject: [PATCH 264/313] Use `cargo embed` instead of `cargo-embed` Replaces dash with whitespace since the version if the dash is not working. --- src/03-setup/verify.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index d362f3b15..abce10ecc 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -64,10 +64,10 @@ Next run one of these commands: ``` $ # make sure you are in src/03-setup of the books source code $ # If you are working with micro:bit v2 -$ cargo-embed --target thumbv7em-none-eabihf +$ cargo embed --target thumbv7em-none-eabihf $ # If you are working with micro:bit v1 -$ cargo-embed --target thumbv6m-none-eabi +$ cargo embed --target thumbv6m-none-eabi ``` If everything works correctly cargo-embed should first compile the small example program From 09eccbc6e1b5b2694a3fd1870c991f4e8560f8d0 Mon Sep 17 00:00:00 2001 From: Christoph Date: Wed, 1 Sep 2021 13:59:34 +0200 Subject: [PATCH 265/313] Add rustup target add to verification step and modify c5 slightly --- src/03-setup/verify.md | 2 ++ src/05-led-roulette/build-it.md | 6 +++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index abce10ecc..144199790 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -64,9 +64,11 @@ Next run one of these commands: ``` $ # make sure you are in src/03-setup of the books source code $ # If you are working with micro:bit v2 +$ rustup target add thumbv7em-none-eabihf $ cargo embed --target thumbv7em-none-eabihf $ # If you are working with micro:bit v1 +$ rustup target add thumbv6m-none-eabi $ cargo embed --target thumbv6m-none-eabi ``` diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 6215b4843..594195b19 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -28,7 +28,11 @@ $ rustup target add thumbv6m-none-eabi ``` You only need to do the above step once; `rustup` will re-install a new standard library -(`rust-std` component) whenever you update your toolchain. +(`rust-std` component) whenever you update your toolchain. Therefore you can skip this step, if you have already added the necessary target +while [veryfing your setup]. + +[veryfing your setup]: ../03-setup/verify.html#verifying-cargo-embed + With the `rust-std` component in place you can now cross compile the program using Cargo: From 63ff549a95a5dced619cac58968ee9ebceb793bc Mon Sep 17 00:00:00 2001 From: Rob Young Date: Sat, 11 Sep 2021 15:10:52 +0100 Subject: [PATCH 266/313] Typos and grammar changes --- src/04-meet-your-hardware/terminology.md | 10 +++++----- src/05-led-roulette/build-it.md | 4 ++-- src/05-led-roulette/debug-it.md | 2 +- src/07-uart/echo-server.md | 2 +- src/07-uart/receive-a-single-byte.md | 4 ++-- src/07-uart/send-a-single-byte.md | 6 +++--- src/08-i2c/read-a-single-register.md | 2 +- src/08-i2c/the-general-protocol.md | 2 +- src/08-i2c/using-a-driver.md | 18 +++++++++--------- 9 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/04-meet-your-hardware/terminology.md b/src/04-meet-your-hardware/terminology.md index 0d657aeca..282c49774 100644 --- a/src/04-meet-your-hardware/terminology.md +++ b/src/04-meet-your-hardware/terminology.md @@ -39,21 +39,21 @@ of abstraction: ## Unifying the layers Next we are going to have a look at a very central piece of software -in the Rust Embedded world: `[embedded-hal]`. As its name suggests it +in the Rust Embedded world: [`embedded-hal`]. As its name suggests it relates to the 2nd level of abstraction we got to know: the HALs. -The idea behind `[embedded-hal]` is to provide a set of traits that +The idea behind [`embedded-hal`] is to provide a set of traits that describe behaviour which is usually shared across all implementations of a specific peripheral in all the HALs. For example one would always expect to have functions that are capable of turning the power on a pin either on or off. For example to switch an LED on and off on the board. This allows us to write a driver for, say a temperature sensor, that -can be used on any chip for which an implementation of the `[embedded-hal]` traits exists, +can be used on any chip for which an implementation of the [`embedded-hal`] traits exists, simply by writing the driver in such a way that it only relies on the -`[embedded-hal]` traits. Drivers that are written in such a way are called +[`embedded-hal`] traits. Drivers that are written in such a way are called platform agnostic and luckily for us most of the drivers on crates.io are actually platform agnostic. -[embedded-hal]: https://crates.io/crates/embedded-hal +[`embedded-hal`]: https://crates.io/crates/embedded-hal ## Further reading diff --git a/src/05-led-roulette/build-it.md b/src/05-led-roulette/build-it.md index 594195b19..08a083e65 100644 --- a/src/05-led-roulette/build-it.md +++ b/src/05-led-roulette/build-it.md @@ -68,7 +68,7 @@ As a sanity check, let's verify that the produced executable is actually an ARM ``` console # For micro:bit v2 # equivalent to `readelf -h target/thumbv7em-none-eabihf/debug/led-roulette` -$ cargo readobj --features v2 --target thumbv7em-none-eabihf --bin led-roulette -- -file-headers +$ cargo readobj --features v2 --target thumbv7em-none-eabihf --bin led-roulette -- --file-headers Finished dev [unoptimized + debuginfo] target(s) in 0.01s ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 @@ -93,7 +93,7 @@ ELF Header: # For micro:bit v1 # equivalent to `readelf -h target/thumbv6m-none-eabi/debug/led-roulette` -$ cargo readobj --features v1 --target thumbv6m-none-eabi --bin led-roulette -- -file-headers +$ cargo readobj --features v1 --target thumbv6m-none-eabi --bin led-roulette -- --file-headers Finished dev [unoptimized + debuginfo] target(s) in 0.01s ELF Header: Magic: 7f 45 4c 46 01 01 01 00 00 00 00 00 00 00 00 00 diff --git a/src/05-led-roulette/debug-it.md b/src/05-led-roulette/debug-it.md index bf4335f2d..6f638b9da 100644 --- a/src/05-led-roulette/debug-it.md +++ b/src/05-led-roulette/debug-it.md @@ -24,7 +24,7 @@ $ gdb target/thumbv6m-none-eabi/debug/led-roulette ``` > **NOTE** Depending on which GDB you installed you will have to use a different command to launch it, -> check out chapter 3 if you forgot which one it was. +> check out [chapter 3](/03-setup/README.md#tools) if you forgot which one it was. > **NOTE**: If `cargo-embed` prints a lot of warnings here don't worry about it. As of now it does not fully > implement the GDB protocol and thus might not recognize all of the commands your GDB is sending to it, diff --git a/src/07-uart/echo-server.md b/src/07-uart/echo-server.md index ed78914fd..6ffd260d9 100644 --- a/src/07-uart/echo-server.md +++ b/src/07-uart/echo-server.md @@ -1,7 +1,7 @@ # Echo server Let's merge transmission and reception into a single program and write an echo server. An echo -server sends back to the client the same text it sent. For this application, the microcontroller +server sends back to the client the same text it receives. For this application, the microcontroller will be the server and you and your computer will be the client. This should be straightforward to implement. (hint: do it byte by byte) diff --git a/src/07-uart/receive-a-single-byte.md b/src/07-uart/receive-a-single-byte.md index dbd2a8451..c6571c82e 100644 --- a/src/07-uart/receive-a-single-byte.md +++ b/src/07-uart/receive-a-single-byte.md @@ -1,7 +1,7 @@ # Receive a single byte -So far we have sending of data from the microcontroller to your computer working. It's time to try the opposite: receiving -data from your computer. Luckily `embedded-hal` again got us covered with this one: +So far we can send data from the microcontroller to your computer. It's time to try the opposite: receiving +data from your computer. Luckily `embedded-hal` has again got us covered with this one: ``` rust #![no_main] diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 2b2c5dad2..3a530e264 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -32,9 +32,9 @@ uarte::Uarte::new( ``` This function takes ownership of the UARTE peripheral representation in Rust (`board.UARTE0`) and the TX/RX pins on the board (`board.uart.into()`) so nobody else can mess with either the UARTE peripheral or our pins while -we are using them. After that we pass two configuration options two the constructor: the baudrate (that one should be -familiar) as well as an option called "parity". Parity is a way that allows serial communication lines to check whether -the data they received was corrupted during transmission or not but we don't want to use that here so we simply exclude it. +we are using them. After that we pass two configuration options to the constructor: the baudrate (that one should be +familiar) as well as an option called "parity". Parity is a way to allow serial communication lines to check whether +the data they received was corrupted during transmission. We don't want to use that here so we simply exclude it. Then we wrap it up in the `UartePort` type so we can use it the same way as the micro:bit v1's `serial`. After the initilization, we send our `X` via the newly created uart instance. The `block!` macro here is the `nb::block!` diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index fcad352aa..f1f8dd283 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -32,7 +32,7 @@ Luckily for us though, they have I2C-compatible ones called TWI (Two Wire Interf and TWIM (depending on which chip you use, just like UART and UARTE). Now if we put the documentation of the [`twi(m)` module] from the `microbit` crate -together will all the other information we have gathered so far we'll end up with this +together with all the other information we have gathered so far we'll end up with this piece of code to read out and print the two device IDs: [`twi(m)` module]: https://docs.rs/microbit-v2/0.10.1/microbit/hal/twim/index.html diff --git a/src/08-i2c/the-general-protocol.md b/src/08-i2c/the-general-protocol.md index a017d2faa..471228b41 100644 --- a/src/08-i2c/the-general-protocol.md +++ b/src/08-i2c/the-general-protocol.md @@ -1,6 +1,6 @@ # General protocol -The I2C protocol is more elaborated than the serial communication protocol because it has to support +The I2C protocol is more elaborate than the serial communication protocol because it has to support communication between several devices. Let's see how it works using examples: ## Master -> Slave diff --git a/src/08-i2c/using-a-driver.md b/src/08-i2c/using-a-driver.md index a0998d9ad..e1665aabb 100644 --- a/src/08-i2c/using-a-driver.md +++ b/src/08-i2c/using-a-driver.md @@ -4,18 +4,18 @@ As we already discussed in chapter 5 `embedded-hal` provides abstractions which can be used to write platform independent code that can interact with hardware. In fact all the methods we have used to interact with hardware in chapter 7 and up until now in chapter 8 were from traits, defined by `embedded-hal`. -Now we'll make actual use of the traits defined by `embedded-hal` provides for the first time. +Now we'll make actual use of the traits `embedded-hal` provides for the first time. -Since it would be pointless to just implement a driver for our LSM303AGR for every platform -embedded Rust supports (and new ones that might eventually pop up) one can write a driver -that simply consume generic types that implement `embedded-hal` traits in order to provide +It would be pointless to implement a driver for our LSM303AGR for every platform +embedded Rust supports (and new ones that might eventually pop up). To avoid this a driver +can be written that consumes generic types that implement `embedded-hal` traits in order to provide a platform agnostic version of a driver. Luckily for us this has already been done in the -[lsm303agr] crate. Hence reading the actual accelerometer and magnetometer values will now -be basically a plug and play experience + reading a bit of documentation. In fact the `crates.io` +[`lsm303agr`] crate. Hence reading the actual accelerometer and magnetometer values will now +be basically a plug and play experience (plus reading a bit of documentation). In fact the `crates.io` page already provides us with everything we need to know in order to read accelerometer data but using a Raspberry Pi. We'll just have to adapt it to our chip: -[lsm303agr]: https://crates.io/crates/lsm303agr +[`lsm303agr`]: https://crates.io/crates/lsm303agr ```rust use linux_embedded_hal::I2cdev; @@ -36,9 +36,9 @@ fn main() { ``` Because we already know how to create an instance of an object that implements -the [embedded_hal::blocking::i2c] traits from the [last page](read-a-single-register.md), this is quite trivial: +the [`embedded_hal::blocking::i2c`] traits from the [previous page](read-a-single-register.md), this is quite trivial: -[embedded_hal::blocking::i2c]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/i2c/index.html +[`embedded_hal::blocking::i2c`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/i2c/index.html ```rust #![deny(unsafe_code)] From 090bab70d8c729ce9b24b60be6763a47de8c24e3 Mon Sep 17 00:00:00 2001 From: Rob Young Date: Sat, 11 Sep 2021 15:24:19 +0100 Subject: [PATCH 267/313] Make terminology parts sub-sections This allows us to deep link to them from other parts of the discovery book. --- src/04-meet-your-hardware/terminology.md | 50 +++++++++++++----------- 1 file changed, 28 insertions(+), 22 deletions(-) diff --git a/src/04-meet-your-hardware/terminology.md b/src/04-meet-your-hardware/terminology.md index 0d657aeca..631519670 100644 --- a/src/04-meet-your-hardware/terminology.md +++ b/src/04-meet-your-hardware/terminology.md @@ -7,28 +7,34 @@ future chapters. For any fully supported microcontroller/board with a microcontroller you will usually hear the following terms being used for their levels of abstraction: -1. The Peripheral Access Crate (PAC), its job is to provide a safe (ish) - direct interface to the peripherals of the chip, allowing you to configure - every last bit however you want (of course also in wrong ways). Usually - you only ever have to deal with the PAC if either the layers that are - higher up don't fulfill your needs or when you are developing them. - The PAC we are (implicitly) going to use is either the one for the [nRF52] - or for the [nRF51]. -2. The Hardware Abstraction Layer (HAL), its job is to build up on top of - the chip's PAC and provide an abstraction that is actually usable for - someone who does not know about all the special behaviour of this chip. - Usually they abstract whole peripherals away into single structs that can - for example be used to send data around via the peripheral. We are - going to use the [nRF52-hal] or the [nRF51-hal] respectively. -3. The Board Support Crate (historically called Board Support Package, or BSP), its job is to abstract a whole board - (such as the micro:bit) away at once. That means it has to provide - abstractions to use both the microcontroller as well als the sensors, - LEDs etc. that might be present on the board. Quite often (especially - with custom made boards) you will just be working with a HAL for the - chip and build the drivers for the sensors either yourself or - search for them on crates.io. Luckily for us though, the micro:bit - does actually have a [BSP] so we are going to use that on top of our - HAL as well. + +### Peripheral Access Crate (PAC) +The job of the PAC is to provide a safe (ish) direct interface to the +peripherals of the chip, allowing you to configure +every last bit however you want (of course also in wrong ways). Usually +you only ever have to deal with the PAC if either the layers that are +higher up don't fulfill your needs or when you are developing them. +The PAC we are (implicitly) going to use is either the one for the [nRF52] +or for the [nRF51]. + +### The Hardware Abstraction Layer (HAL) +The job of the HAL is to build up on top of +the chip's PAC and provide an abstraction that is actually usable for +someone who does not know about all the special behaviour of this chip. +Usually they abstract whole peripherals away into single structs that can +for example be used to send data around via the peripheral. We are +going to use the [nRF52-hal] or the [nRF51-hal] respectively. + +### The Board Support Crate (historically called Board Support Package, or BSP) +The job of the BSP is to abstract a whole board +(such as the micro:bit) away at once. That means it has to provide +abstractions to use both the microcontroller as well als the sensors, +LEDs etc. that might be present on the board. Quite often (especially +with custom made boards) you will just be working with a HAL for the +chip and build the drivers for the sensors either yourself or +search for them on crates.io. Luckily for us though, the micro:bit +does actually have a [BSP] so we are going to use that on top of our +HAL as well. [nrF52]: https://crates.io/crates/nrf52833-pac [nrF51]: https://crates.io/crates/nrf51 From 5a7bc728e659f82a8f29ed8229e0a87988178b8c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 29 Aug 2021 15:45:01 +0200 Subject: [PATCH 268/313] Calibration implementation and the rest of ch09 --- src/09-led-compass/Cargo.toml | 4 +- src/09-led-compass/calibration.md | 123 +++--------- src/09-led-compass/magnitude.md | 90 +++++---- src/09-led-compass/openocd.gdb | 10 - src/09-led-compass/solution-1.md | 50 +++-- src/09-led-compass/solution-2.md | 64 +++---- src/09-led-compass/src/calibration.rs | 259 ++++++++++++++++++++++++++ src/09-led-compass/src/main.rs | 53 +++--- src/09-led-compass/take-1.md | 46 +++-- src/09-led-compass/take-2.md | 45 +++-- src/SUMMARY.md | 2 +- 11 files changed, 462 insertions(+), 284 deletions(-) delete mode 100644 src/09-led-compass/openocd.gdb create mode 100644 src/09-led-compass/src/calibration.rs diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml index b623d7941..c821b9002 100644 --- a/src/09-led-compass/Cargo.toml +++ b/src/09-led-compass/Cargo.toml @@ -18,11 +18,11 @@ optional = true [dependencies] cortex-m = "0.7.0" cortex-m-rt = "0.6.12" -panic-halt = "0.2.0" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } -lsm303agr = "0.2.0" +lsm303agr = "0.2.1" libm = "0.2.1" +embedded-hal = "0.2.6" [features] v2 = ["microbit-v2"] diff --git a/src/09-led-compass/calibration.md b/src/09-led-compass/calibration.md index 1b09027a5..5e7383cf2 100644 --- a/src/09-led-compass/calibration.md +++ b/src/09-led-compass/calibration.md @@ -1,114 +1,37 @@ # Calibration -If we rotate the board, the direction of the Earth's magnetic field with respect to the magnetometer -should change but its magnitude should not! Yet, the magnetometer indicates that the magnitude of -the magnetic field changes as the board rotates. +One very important thing to do before using a sensor and trying to develop +an application using it is verifying that it's output is actually correct. +If this does not happen to be the case we need to calibrate the sensor +(alternatively it could also be broken but that's rather unlikely in this case). -Why's that the case? Turns out the magnetometer needs to be calibrated to return the correct answer. +In my case on two different micro:bit's the magnetometer, without calibration, +was quite a bit off of what it is supposed to measure. Hence for the purposes +of this chapter we will just assume that the sensor has to be calibrated. The calibration involves quite a bit of math (matrices) so we won't cover it here but this -[Application Note] describes the procedure if you are interested. Instead, what we'll do in this -section is *visualize* how off we are. +[Design Note] describes the procedure if you are interested. -[Application Note]: https://www.nxp.com/docs/en/application-note/AN4246.pdf +[Design Note]: https://www.st.com/resource/en/design_tip/dt0103-compensating-for-magnetometer-installation-error-and-hardiron-effects-using-accelerometerassisted-2d-calibration-stmicroelectronics.pdf -Let's try this experiment: Let's record the readings of the magnetometer while we slowly rotate the -board in different directions. We'll use the `iprintln` macro to format the readings as Tab -Separated Values (TSV). +Luckily for us though the group that built the original software for the +micro:bit already implemented a calibration mechanism in C++ over [here]. -``` rust -#![deny(unsafe_code)] -#![no_main] -#![no_std] +[here]: https://github.com/lancaster-university/codal-microbit-v2/blob/006abf5566774fbcf674c0c7df27e8a9d20013de/source/MicroBitCompassCalibrator.cpp -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, I16x3}; - -#[entry] -fn main() -> ! { - let (_leds, mut lsm303dlhc, mut delay, mut itm) = aux15::init(); - - loop { - let I16x3 { x, y, z } = lsm303dlhc.mag().unwrap(); - - iprintln!(&mut itm.stim[0], "{}\t{}\t{}", x, y, z); - - delay.delay_ms(100_u8); - } -} -``` - -You should get an output in the console that looks like this: - -``` console -$ # itmdump console --76 213 -54 --76 213 -54 --76 213 -54 --76 213 -54 --73 213 -55 -``` - -You can pipe that to a file using: - -``` console -$ # Careful! Exit any running other `itmdump` instance that may be running -$ itmdump -F -f itm.txt > emf.txt -``` - -Rotate the board in many different direction while you log data for a several seconds. - -Then import that TSV file into a spreadsheet program (or use the Python script shown below) and plot -the first two columns as a scatter plot. - -``` python -#!/usr/bin/python - -import csv -import math -import matplotlib.pyplot as plt -import numpy as np -import seaborn as sns -import sys - -# apply plot style -sns.set() - -x = [] -y = [] - -with open(sys.argv[1], 'r') as f: - rows = csv.reader(f, delimiter='\t') - - for row in rows: - # discard rows that are missing data - if len(row) != 3 or not row[0] or not row[1]: - continue - - x.append(int(row[0])) - y.append(int(row[1])) - -r = math.ceil(max(max(np.abs(x)), max(np.abs(y))) / 100) * 100 - -plt.plot(x, y, '.') -plt.xlim(-r, r) -plt.ylim(-r, r) -plt.gca().set_aspect(1) -plt.tight_layout() - -plt.savefig('emf.svg') -plt.close -``` +You can find a translation of it to Rust in `src/calibration.rs`. The usage +is demonstrated in the default `src/main.rs` file. The way the calibration +works is illustrated in this video:

      - +

      -If you rotated the board on a flat horizontal surface, the Z component of the magnetic field should -have remained relatively constant and this plot should have been a circumference (not a ellipse) -centered at the origin. If you rotated the board in random directions, which was the case of plot -above, then you should have gotten a circle made of a bunch of points centered at the origin. -Deviations from the circle shape indicate that the magnetometer needs to be calibrated. +You have to basically tilt the micro:bit until all of the LEDs on the LED matrix light up. + +If you do not want to play the game every time you restart your application during development +feel free to modify the `src/main.rs` template to just use the same static calibration +once you got the first one. -Take home message: Don't just trust the reading of a sensor. Verify it's outputting sensible values. -If it's not, then calibrate it. +Now where we got the sensor calibration out of the way let's look into +actually building this application! diff --git a/src/09-led-compass/magnitude.md b/src/09-led-compass/magnitude.md index 2b757efcd..f2929c202 100644 --- a/src/09-led-compass/magnitude.md +++ b/src/09-led-compass/magnitude.md @@ -1,29 +1,18 @@ # Magnitude -We have been working with the direction of the magnetic field but what's its real magnitude? The -number that the `magnetic_field` function reports are unit-less. How can we convert those values to -Gauss? - -The documentation will answer that question. - -> Section 2.1 Sensor characteristics - Page 10 - LSM303DLHC Data Sheet - -The table in that page shows a *magnetic gain setting* that has different values according to the -values of the GN bits. By default, those GN bits are set to `001`. That means that magnetic gain of -the X and Y axes is `1100 LSB / Gauss` and the magnetic gain of the Z axis is `980 LSB / Gauss`. LSB -stands for Least Significant Bits and the `1100 LSB / Gauss` number indicates that a reading of -`1100` is equivalent to `1 Gauss`, a reading of `2200` is equivalent to 2 Gauss and so on. - -So, what we need to do is divide the X, Y and Z values that the sensor outputs by its corresponding -*gain*. Then, we'll have the X, Y and Z components of the magnetic field in Gauss. - -With some extra math we can retrieve the magnitude of the magnetic field from its X, Y and Z -components: +We have been working with the direction of the magnetic field but what's its real magnitude? +According to the documentation about the [`mag_data()`] function the x y z values we are +getting are already in milli-gauss. That means the only thing we have to compute in order +to get the magnitude of the magnetic field is the magnitude of the 3D vector that our x y z +values describe. As you might remember from school this is simply: ``` rust -let magnitude = (x * x + y * y + z * z).sqrt(); +let magnitude = sqrtf(x * x + y * y + z * z); ``` +[`mag_data()`]: https://docs.rs/lsm303agr/0.2.1/lsm303agr/struct.Lsm303agr.html#method.mag_data + + Putting all this together in a program: ``` rust @@ -31,29 +20,58 @@ Putting all this together in a program: #![no_main] #![no_std] -#[allow(unused_imports)] -use aux15::{entry, iprint, iprintln, prelude::*, I16x3}; -use m::Float; +use cortex_m_rt::entry; +use panic_rtt_target as _; +use rtt_target::{rprintln, rtt_init_print}; + +mod calibration; +use crate::calibration::calc_calibration; +use crate::calibration::calibrated_measurement; + +use libm::sqrtf; + +use microbit::{display::blocking::Display, hal::Timer}; + +#[cfg(feature = "v1")] +use microbit::{hal::twi, pac::twi0::frequency::FREQUENCY_A}; + +#[cfg(feature = "v2")] +use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A}; + +use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate}; #[entry] fn main() -> ! { - const XY_GAIN: f32 = 1100.; // LSB / G - const Z_GAIN: f32 = 980.; // LSB / G - - let (_leds, mut lsm303dlhc, mut delay, mut itm) = aux15::init(); + rtt_init_print!(); + let board = microbit::Board::take().unwrap(); - loop { - let I16x3 { x, y, z } = lsm303dlhc.mag().unwrap(); + #[cfg(feature = "v1")] + let i2c = { twi::Twi::new(board.TWI0, board.i2c.into(), FREQUENCY_A::K100) }; - let x = f32::from(x) / XY_GAIN; - let y = f32::from(y) / XY_GAIN; - let z = f32::from(z) / Z_GAIN; + #[cfg(feature = "v2")] + let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; - let mag = (x * x + y * y + z * z).sqrt(); + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); - iprintln!(&mut itm.stim[0], "{} mG", mag * 1_000.); + let mut sensor = Lsm303agr::new_with_i2c(i2c); + sensor.init().unwrap(); + sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap(); + let mut sensor = sensor.into_mag_continuous().ok().unwrap(); - delay.delay_ms(500_u16); + let calibration = calc_calibration(&mut sensor, &mut display, &mut timer); + rprintln!("Calibration: {:?}", calibration); + rprintln!("Calibration done, entering busy loop"); + loop { + while !sensor.mag_status().unwrap().xyz_new_data {} + let mut data = sensor.mag_data().unwrap(); + data = calibrated_measurement(data, &calibration); + let x = data.x as f32; + let y = data.y as f32; + let z = data.z as f32; + let magnitude = sqrtf(x * x + y * y + z * z); + rprintln!("{} nT, {} mG", magnitude, magnitude/100.0); } } ``` @@ -61,7 +79,7 @@ fn main() -> ! { This program will report the magnitude (strength) of the magnetic field in milligauss (`mG`). The magnitude of the Earth's magnetic field is in the range of `250 mG` to `650 mG` (the magnitude varies depending on your geographical location) so you should see a value in that range or close to -that range -- I see a magnitude of around 210 mG. +that range -- I see a magnitude of around 340 mG. Some questions: diff --git a/src/09-led-compass/openocd.gdb b/src/09-led-compass/openocd.gdb deleted file mode 100644 index cafe49b1b..000000000 --- a/src/09-led-compass/openocd.gdb +++ /dev/null @@ -1,10 +0,0 @@ -target remote :3333 -set print asm-demangle on -set print pretty on -monitor tpiu config internal itm.txt uart off 8000000 -monitor itm port 0 on -load -break DefaultHandler -break UserHardFault -break main -continue diff --git a/src/09-led-compass/solution-1.md b/src/09-led-compass/solution-1.md index 0f7e40b23..45e543c70 100644 --- a/src/09-led-compass/solution-1.md +++ b/src/09-led-compass/solution-1.md @@ -6,33 +6,26 @@ #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; -use rtt_target::rprintln; use panic_rtt_target as _; +use rtt_target::{rprintln, rtt_init_print}; -use microbit::{ - display::blocking::Display, - hal::Timer, -}; +mod calibration; +use crate::calibration::calc_calibration; +use crate::calibration::calibrated_measurement; + +mod led; +use crate::led::Direction; +use crate::led::direction_to_led; + +use microbit::{display::blocking::Display, hal::Timer}; #[cfg(feature = "v1")] -use microbit::{ - hal::twi, - pac::twi0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twi, pac::twi0::frequency::FREQUENCY_A}; #[cfg(feature = "v2")] -use microbit::{ - hal::twim, - pac::twim0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A}; -use lsm303agr::{ - MagOutputDataRate, Lsm303agr, -}; - -mod led; -use led::{Direction, direction_to_led}; +use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate}; #[entry] fn main() -> ! { @@ -51,21 +44,26 @@ fn main() -> ! { let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap(); let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + let calibration = calc_calibration(&mut sensor, &mut display, &mut timer); + rprintln!("Calibration: {:?}", calibration); + rprintln!("Calibration done, entering busy loop"); loop { - while !sensor.mag_status().unwrap().xyz_new_data {} - let data = sensor.mag_data().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let mut data = sensor.mag_data().unwrap(); + data = calibrated_measurement(data, &calibration); let dir = match (data.x > 0, data.y > 0) { // Quadrant I - (true, true) => Direction::SouthEast, + (true, true) => Direction::NorthEast, // Quadrant II - (false, true) => Direction::SouthWest, + (false, true) => Direction::NorthWest, // Quadrant III - (false, false) => Direction::NorthWest, + (false, false) => Direction::SouthWest, // Quadrant IV - (true, false) => Direction::NorthEast, + (true, false) => Direction::SouthEast, }; // use the led module to turn the direction into an LED arrow diff --git a/src/09-led-compass/solution-2.md b/src/09-led-compass/solution-2.md index a2b9b4bb4..243910e68 100644 --- a/src/09-led-compass/solution-2.md +++ b/src/09-led-compass/solution-2.md @@ -6,37 +6,30 @@ #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; -use rtt_target::rprintln; use panic_rtt_target as _; +use rtt_target::{rprintln, rtt_init_print}; + +mod calibration; +use crate::calibration::calc_calibration; +use crate::calibration::calibrated_measurement; + +mod led; +use crate::led::Direction; +use crate::led::direction_to_led; // You'll find this useful ;-) use core::f32::consts::PI; use libm::atan2f; -use microbit::{ - display::blocking::Display, - hal::Timer, -}; +use microbit::{display::blocking::Display, hal::Timer}; #[cfg(feature = "v1")] -use microbit::{ - hal::twi, - pac::twi0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twi, pac::twi0::frequency::FREQUENCY_A}; #[cfg(feature = "v2")] -use microbit::{ - hal::twim, - pac::twim0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A}; -use lsm303agr::{ - MagOutputDataRate, Lsm303agr, -}; - -mod led; -use led::{Direction, direction_to_led}; +use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate}; #[entry] fn main() -> ! { @@ -55,38 +48,41 @@ fn main() -> ! { let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap(); let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + let calibration = calc_calibration(&mut sensor, &mut display, &mut timer); + rprintln!("Calibration: {:?}", calibration); + rprintln!("Calibration done, entering busy loop"); loop { - while !sensor.mag_status().unwrap().xyz_new_data {} - let data = sensor.mag_data().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let mut data = sensor.mag_data().unwrap(); + data = calibrated_measurement(data, &calibration); // use libm's atan2f since this isn't in core yet - let theta = atan2f(data.y as f32, data.x as f32); + let theta = atan2f(data.x as f32, data.y as f32); // Figure out the direction based on theta let dir = if theta < -7. * PI / 8. { - Direction::West + Direction::South } else if theta < -5. * PI / 8. { - Direction::NorthWest + Direction::SouthWest } else if theta < -3. * PI / 8. { - Direction::North + Direction::West } else if theta < -PI / 8. { - Direction::NorthEast + Direction::NorthWest } else if theta < PI / 8. { - Direction::East + Direction::North } else if theta < 3. * PI / 8. { - Direction::SouthEast + Direction::NorthEast } else if theta < 5. * PI / 8. { - Direction::South + Direction::East } else if theta < 7. * PI / 8. { - Direction::SouthWest + Direction::SouthEast } else { - Direction::West + Direction::South }; - rprintln!("x: {}, y: {}, dir: {:?}", data.x, data.y, dir); - display.show(&mut timer, direction_to_led(dir), 100); } } diff --git a/src/09-led-compass/src/calibration.rs b/src/09-led-compass/src/calibration.rs new file mode 100644 index 000000000..b33faac76 --- /dev/null +++ b/src/09-led-compass/src/calibration.rs @@ -0,0 +1,259 @@ +//! Translated from https://github.com/lancaster-university/codal-microbit-v2/blob/006abf5566774fbcf674c0c7df27e8a9d20013de/source/MicroBitCompassCalibrator.cpp + +use core::fmt::Debug; +use embedded_hal::blocking::delay::DelayUs; +use embedded_hal::blocking::i2c::{Write, WriteRead}; +use libm::{fabsf, sqrtf}; +use lsm303agr::interface::I2cInterface; +use lsm303agr::mode::MagContinuous; +use lsm303agr::Lsm303agr; +use lsm303agr::Measurement; +use microbit::display::blocking::Display; + +const PERIMETER_POINTS: usize = 25; +const PIXEL1_THRESHOLD: i32 = 200; +const PIXEL2_THRESHOLD: i32 = 600; +const CALIBRATION_INCREMENT: i32 = 200; + +#[derive(Debug)] +pub struct Calibration { + center: Measurement, + scale: Measurement, + radius: u32, +} + +impl Default for Calibration { + fn default() -> Calibration { + Calibration { + center: Measurement { x: 0, y: 0, z: 0 }, + scale: Measurement { + x: 1024, + y: 1024, + z: 1024, + }, + radius: 0, + } + } +} + +pub fn calc_calibration( + sensor: &mut Lsm303agr, MagContinuous>, + display: &mut Display, + timer: &mut T, +) -> Calibration +where + T: DelayUs, + I: Write + WriteRead, + E: Debug, +{ + let data = get_data(sensor, display, timer); + return calibrate(&data); +} + +fn get_data( + sensor: &mut Lsm303agr, MagContinuous>, + display: &mut Display, + timer: &mut T, +) -> [Measurement; 25] +where + T: DelayUs, + I: Write + WriteRead, + E: Debug, +{ + let mut leds = [ + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + ]; + let mut cursor = (2, 2); + let mut data = [Measurement { x: 0, y: 0, z: 0 }; PERIMETER_POINTS]; + let mut samples = 0; + + while samples < PERIMETER_POINTS { + while !sensor.accel_status().unwrap().xyz_new_data {} + let accel_data = sensor.accel_data().unwrap(); + let x = accel_data.x; + let y = accel_data.y; + if x < -PIXEL2_THRESHOLD { + cursor.1 = 0; + } else if x < -PIXEL1_THRESHOLD { + cursor.1 = 1; + } else if x > PIXEL2_THRESHOLD { + cursor.1 = 4; + } else if x > PIXEL1_THRESHOLD { + cursor.1 = 3; + } else { + cursor.1 = 2; + } + + if y < -PIXEL2_THRESHOLD { + cursor.0 = 0; + } else if y < -PIXEL1_THRESHOLD { + cursor.0 = 1; + } else if y > PIXEL2_THRESHOLD { + cursor.0 = 4; + } else if y > PIXEL1_THRESHOLD { + cursor.0 = 3; + } else { + cursor.0 = 2; + } + + // Turn the y axis properly + cursor.0 = 4 - cursor.0; + + if leds[cursor.0][cursor.1] != 1 { + leds[cursor.0][cursor.1] = 1; + while !sensor.mag_status().unwrap().xyz_new_data {} + let mag_data = measurement_to_enu(sensor.mag_data().unwrap()); + data[samples] = mag_data; + samples += 1; + } + display.show(timer, leds, 200); + } + return data; +} + +fn difference_square(a: Measurement, b: Measurement) -> f32 { + let dx = (a.x - b.x) as f32; + let dy = (a.y - b.y) as f32; + let dz = (a.z - b.z) as f32; + + (dx * dx) + (dy * dy) + (dz * dz) +} + +fn measure_score(center: Measurement, data: &[Measurement]) -> f32 { + let mut min_d = difference_square(center, data[0]); + let mut max_d = min_d; + + for point in data[1..].iter() { + let d = difference_square(center, *point); + if d < min_d { + min_d = d; + } + + if d > max_d { + max_d = d; + } + } + + max_d - min_d +} + +fn calibrate(data: &[Measurement]) -> Calibration { + // Approximate a center for the data + let mut center = Measurement { x: 0, y: 0, z: 0 }; + let mut best = center; + + for point in data { + center.x += point.x; + center.y += point.y; + center.z += point.z; + } + + center.x = center.x / data.len() as i32; + center.y = center.y / data.len() as i32; + center.z = center.z / data.len() as i32; + + let mut current = center; + let mut score = measure_score(current, data); + + // Calculate a fixpoint position + loop { + for x in [-CALIBRATION_INCREMENT, 0, CALIBRATION_INCREMENT] { + for y in [-CALIBRATION_INCREMENT, 0, CALIBRATION_INCREMENT] { + for z in [-CALIBRATION_INCREMENT, 0, CALIBRATION_INCREMENT] { + let mut attempt = current; + attempt.x += x; + attempt.y += y; + attempt.z += z; + + let attempt_score = measure_score(attempt, data); + if attempt_score < score { + score = attempt_score; + best = attempt; + } + } + } + } + + if best == current { + break; + } + + current = best; + } + + spherify(current, data) +} + +fn spherify(center: Measurement, data: &[Measurement]) -> Calibration { + let mut radius = 0; + for point in data { + let d = sqrtf(difference_square(center, *point)) as u32; + if d > radius { + radius = d; + } + } + + let mut scale: f32 = 0.0; + let mut weight_x = 0.0; + let mut weight_y = 0.0; + let mut weight_z = 0.0; + + for point in data { + let d = sqrtf(difference_square(center, *point)); + let s = (radius as f32 / d) - 1.0; + scale = scale.max(s); + + let dx = point.x - center.x; + let dy = point.y - center.y; + let dz = point.z - center.z; + + weight_x += s * fabsf(dx as f32 / d); + weight_y += s * fabsf(dy as f32 / d); + weight_z += s * fabsf(dz as f32 / d); + } + + let wmag = sqrtf((weight_x * weight_x) + (weight_y * weight_y) + (weight_z * weight_z)); + let scale_x = 1.0 + scale * (weight_x / wmag); + let scale_y = 1.0 + scale * (weight_y / wmag); + let scale_z = 1.0 + scale * (weight_z / wmag); + + Calibration { + center, + radius, + scale: Measurement { + x: (1024.0 * scale_x) as i32, + y: (1024.0 * scale_y) as i32, + z: (1024.0 * scale_z) as i32, + }, + } +} + +pub fn calibrated_measurement(measurement: Measurement, calibration: &Calibration) -> Measurement { + let mut out = measurement_to_enu(measurement); + out = Measurement { + x: ((out.x - calibration.center.x) * calibration.scale.x) >> 10, + y: ((out.y - calibration.center.y) * calibration.scale.y) >> 10, + z: ((out.z - calibration.center.z) * calibration.scale.z) >> 10, + }; + enu_to_cartesian(out) +} + +fn measurement_to_enu(measurement: Measurement) -> Measurement { + Measurement { + x: -measurement.y, + y: -measurement.x, + z: measurement.z, + } +} + +fn enu_to_cartesian(measurement: Measurement) -> Measurement { + Measurement { + x: -measurement.y, + y: measurement.x, + z: measurement.z, + } +} diff --git a/src/09-led-compass/src/main.rs b/src/09-led-compass/src/main.rs index ab544c394..944e66461 100644 --- a/src/09-led-compass/src/main.rs +++ b/src/09-led-compass/src/main.rs @@ -3,27 +3,22 @@ #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; use panic_rtt_target as _; +use rtt_target::{rprintln, rtt_init_print}; + +mod calibration; +use crate::calibration::calc_calibration; +use crate::calibration::calibrated_measurement; + +use microbit::{display::blocking::Display, hal::Timer}; #[cfg(feature = "v1")] -use microbit::{ - hal::twi, - pac::twi0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twi, pac::twi0::frequency::FREQUENCY_A}; #[cfg(feature = "v2")] -use microbit::{ - hal::twim, - pac::twim0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A}; -use lsm303agr::{ - MagOutputDataRate, Lsm303agr, -}; - -mod led; -use led::Direction; +use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate}; #[entry] fn main() -> ! { @@ -36,28 +31,22 @@ fn main() -> ! { #[cfg(feature = "v2")] let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); + let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap(); let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + let calibration = calc_calibration(&mut sensor, &mut display, &mut timer); + rprintln!("Calibration: {:?}", calibration); + rprintln!("Calibration done, entering busy loop"); loop { - while !sensor.mag_status().unwrap().xyz_new_data {} - let data = sensor.mag_data().unwrap(); - - let dir = match (data.x > 0, data.y > 0) { - // Quadrant ??? - (true, true) => Direction::NorthEast, - // Quadrant ??? - (false, true) => panic!("TODO"), - // Quadrant ??? - (false, false) => panic!("TODO"), - // Quadrant ??? - (true, false) => panic!("TODO"), - }; - - // use the led module to turn the direction into an LED arrow - // and the led display functions from chapter 5 to display the - // arrow + while !sensor.mag_status().unwrap().xyz_new_data {} + let mut data = sensor.mag_data().unwrap(); + data = calibrated_measurement(data, &calibration); + rprintln!("x: {}, y: {}, z: {}", data.x, data.y, data.z); } } diff --git a/src/09-led-compass/take-1.md b/src/09-led-compass/take-1.md index 2888c6e49..b97423e84 100644 --- a/src/09-led-compass/take-1.md +++ b/src/09-led-compass/take-1.md @@ -14,40 +14,38 @@ magnetic field belongs to. Now the question of course is which direction (north, do the 4 quadrants represent. In order to figure this out we can just rotate the micro:bit and observe how the quadrant changes whenever we point in another direction. -After experimenting a bit we can find out that if we point the micro:bit in e.g. south east direction, +After experimenting a bit we can find out that if we point the micro:bit in e.g. north east direction, both the X and the Y component are always positive. Based on this information you should be able to figure out which direction the other quadrants represent. Once you figured out the relation between quadrant and direction you should be able to complete the template from below. -``` rust +```rust #![deny(unsafe_code)] #![no_main] #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; use panic_rtt_target as _; +use rtt_target::{rprintln, rtt_init_print}; + +mod calibration; +use crate::calibration::calc_calibration; +use crate::calibration::calibrated_measurement; + +mod led; +use led::Direction; + +use microbit::{display::blocking::Display, hal::Timer}; #[cfg(feature = "v1")] -use microbit::{ - hal::twi, - pac::twi0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twi, pac::twi0::frequency::FREQUENCY_A}; #[cfg(feature = "v2")] -use microbit::{ - hal::twim, - pac::twim0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A}; -use lsm303agr::{ - MagOutputDataRate, Lsm303agr, -}; - -mod led; -use led::Direction; +use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate}; #[entry] fn main() -> ! { @@ -60,14 +58,22 @@ fn main() -> ! { #[cfg(feature = "v2")] let i2c = { twim::Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100) }; + let mut timer = Timer::new(board.TIMER0); + let mut display = Display::new(board.display_pins); + let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap(); let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + let calibration = calc_calibration(&mut sensor, &mut display, &mut timer); + rprintln!("Calibration: {:?}", calibration); + rprintln!("Calibration done, entering busy loop"); loop { - while !sensor.mag_status().unwrap().xyz_new_data {} - let data = sensor.mag_data().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let mut data = sensor.mag_data().unwrap(); + data = calibrated_measurement(data, &calibration); let dir = match (data.x > 0, data.y > 0) { // Quadrant ??? @@ -85,4 +91,4 @@ fn main() -> ! { // arrow } } -``` \ No newline at end of file +``` diff --git a/src/09-led-compass/take-2.md b/src/09-led-compass/take-2.md index e759bfb05..87f07ddf0 100644 --- a/src/09-led-compass/take-2.md +++ b/src/09-led-compass/take-2.md @@ -15,42 +15,36 @@ Although not explicitly shown in this graph the X axis points to the right and t Here's the starter code. `theta`, in radians, has already been computed. You need to pick which LED to turn on based on the value of `theta`. -``` rust +```rs #![deny(unsafe_code)] #![no_main] #![no_std] use cortex_m_rt::entry; -use rtt_target::rtt_init_print; use panic_rtt_target as _; +use rtt_target::{rprintln, rtt_init_print}; + +mod calibration; +use crate::calibration::calc_calibration; +use crate::calibration::calibrated_measurement; + +mod led; +use crate::led::Direction; +use crate::led::direction_to_led; // You'll find this useful ;-) use core::f32::consts::PI; use libm::atan2f; -use microbit::{ - display::blocking::Display, - hal::Timer, -}; +use microbit::{display::blocking::Display, hal::Timer}; #[cfg(feature = "v1")] -use microbit::{ - hal::twi, - pac::twi0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twi, pac::twi0::frequency::FREQUENCY_A}; #[cfg(feature = "v2")] -use microbit::{ - hal::twim, - pac::twim0::frequency::FREQUENCY_A, -}; +use microbit::{hal::twim, pac::twim0::frequency::FREQUENCY_A}; -use lsm303agr::{ - MagOutputDataRate, Lsm303agr, -}; - -mod led; -use led::{Direction, direction_to_led}; +use lsm303agr::{AccelOutputDataRate, Lsm303agr, MagOutputDataRate}; #[entry] fn main() -> ! { @@ -69,14 +63,19 @@ fn main() -> ! { let mut sensor = Lsm303agr::new_with_i2c(i2c); sensor.init().unwrap(); sensor.set_mag_odr(MagOutputDataRate::Hz10).unwrap(); + sensor.set_accel_odr(AccelOutputDataRate::Hz10).unwrap(); let mut sensor = sensor.into_mag_continuous().ok().unwrap(); + let calibration = calc_calibration(&mut sensor, &mut display, &mut timer); + rprintln!("Calibration: {:?}", calibration); + rprintln!("Calibration done, entering busy loop"); loop { - while !sensor.mag_status().unwrap().xyz_new_data {} - let data = sensor.mag_data().unwrap(); + while !sensor.mag_status().unwrap().xyz_new_data {} + let mut data = sensor.mag_data().unwrap(); + data = calibrated_measurement(data, &calibration); // use libm's atan2f since this isn't in core yet - let theta = atan2f(data.y as f32, data.x as f32); + let theta = atan2f(data.x as f32, data.y as f32); // Figure out the direction based on theta let dir = Direction::NorthEast; diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 877769444..41702b06a 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -37,12 +37,12 @@ - [The challenge](08-i2c/the-challenge.md) - [My solution](08-i2c/my-solution.md) - [LED compass](09-led-compass/README.md) + - [Calibration](09-led-compass/calibration.md) - [Take 1](09-led-compass/take-1.md) - [Solution 1](09-led-compass/solution-1.md) - [Take 2](09-led-compass/take-2.md) - [Solution 2](09-led-compass/solution-2.md) - [Magnitude](09-led-compass/magnitude.md) - - [Calibration](09-led-compass/calibration.md) - [Punch-o-meter](16-punch-o-meter/README.md) - [Gravity is up?](16-punch-o-meter/gravity-is-up.md) - [The challenge](16-punch-o-meter/the-challenge.md) From 26b3583d22d7c24dcac6a3370fba70e6f6684cd8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 13 Sep 2021 13:55:04 +0200 Subject: [PATCH 269/313] Update src/09-led-compass/magnitude.md Co-authored-by: Diego Barrios Romero --- src/09-led-compass/magnitude.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/09-led-compass/magnitude.md b/src/09-led-compass/magnitude.md index f2929c202..c30c160c3 100644 --- a/src/09-led-compass/magnitude.md +++ b/src/09-led-compass/magnitude.md @@ -1,9 +1,9 @@ # Magnitude We have been working with the direction of the magnetic field but what's its real magnitude? -According to the documentation about the [`mag_data()`] function the x y z values we are +According to the documentation about the [`mag_data()`] function the `x` `y` `z` values we are getting are already in milli-gauss. That means the only thing we have to compute in order -to get the magnitude of the magnetic field is the magnitude of the 3D vector that our x y z +to get the magnitude of the magnetic field is the magnitude of the 3D vector that our `x` `y` `z` values describe. As you might remember from school this is simply: ``` rust From 023318a198d4c1bd809d538aa7646c5d3670eca8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 13 Sep 2021 14:06:43 +0200 Subject: [PATCH 270/313] Add note about libm sqrtf function. --- src/09-led-compass/magnitude.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/09-led-compass/magnitude.md b/src/09-led-compass/magnitude.md index c30c160c3..69837465b 100644 --- a/src/09-led-compass/magnitude.md +++ b/src/09-led-compass/magnitude.md @@ -7,6 +7,9 @@ to get the magnitude of the magnetic field is the magnitude of the 3D vector tha values describe. As you might remember from school this is simply: ``` rust +// core doesn't have this function yet so we use libm, just like with +// atan2f from before. +use libm::sqrtf; let magnitude = sqrtf(x * x + y * y + z * z); ``` From 3d99ca6b8be58aa0b0b822de704df09bfec932d0 Mon Sep 17 00:00:00 2001 From: Stephen Kaiser Date: Tue, 14 Sep 2021 00:09:49 -0700 Subject: [PATCH 271/313] Fix minor typo in Ch 6 documentation --- src/06-hello-world/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index 1ebbbb33e..cfef9051a 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -113,7 +113,7 @@ hello_world::__cortex_m_rt_main () at ~/embedded-discovery/src/06-hello-world/sr (gdb) ``` -Now issue a `next` command which will exectue `aux6::init()` and +Now issue a `next` command which will execute `aux6::init()` and stop at the next executable statement in `main.rs`, which positions us at line 12: From 757d2fba548eb06112d6f03d6504c1a74974ae2d Mon Sep 17 00:00:00 2001 From: Stephen Kaiser Date: Thu, 16 Sep 2021 23:21:50 -0700 Subject: [PATCH 272/313] Fix typo in Chapter 8 text --- src/08-leds-again/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/08-leds-again/README.md b/src/08-leds-again/README.md index 89acde05e..4c51bbfce 100644 --- a/src/08-leds-again/README.md +++ b/src/08-leds-again/README.md @@ -5,7 +5,7 @@ In the last section, I gave you *initialized* (configured) peripherals (I initia are not *initialized* right after the microcontroller boots. In this section, you'll have more fun with registers. I won't do any initialization and you'll have -to initialize configure `GPIOE` pins as digital outputs pins so that you'll be able to drive LEDs +to initialize and configure `GPIOE` pins as digital outputs pins so that you'll be able to drive LEDs again. This is the starter code. From d92317cba019897d86ab2c62e93f565d278ac986 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 19 Sep 2021 22:53:15 +0200 Subject: [PATCH 273/313] Clarify the units --- src/09-led-compass/magnitude.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/09-led-compass/magnitude.md b/src/09-led-compass/magnitude.md index 69837465b..07a7a9a4b 100644 --- a/src/09-led-compass/magnitude.md +++ b/src/09-led-compass/magnitude.md @@ -2,8 +2,8 @@ We have been working with the direction of the magnetic field but what's its real magnitude? According to the documentation about the [`mag_data()`] function the `x` `y` `z` values we are -getting are already in milli-gauss. That means the only thing we have to compute in order -to get the magnitude of the magnetic field is the magnitude of the 3D vector that our `x` `y` `z` +getting are in nanotesla. That means the only thing we have to compute in order to get the +magnitude of the magnetic field in nanotesla is the magnitude of the 3D vector that our `x` `y` `z` values describe. As you might remember from school this is simply: ``` rust @@ -79,10 +79,10 @@ fn main() -> ! { } ``` -This program will report the magnitude (strength) of the magnetic field in milligauss (`mG`). The +This program will report the magnitude (strength) of the magnetic field in nanotesla (`nT`) and milligauss (`mG`). The magnitude of the Earth's magnetic field is in the range of `250 mG` to `650 mG` (the magnitude varies depending on your geographical location) so you should see a value in that range or close to -that range -- I see a magnitude of around 340 mG. +that range -- I see a magnitude of around `340 mG`. Some questions: From 339116862a41b78b13bc26296fdd2f6acc1ba180 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 19 Sep 2021 23:01:28 +0200 Subject: [PATCH 274/313] update the git microbit versions to 0.11 --- src/05-led-roulette/Cargo.toml | 4 ++-- src/07-uart/Cargo.toml | 4 ++-- src/08-i2c/Cargo.toml | 4 ++-- src/09-led-compass/Cargo.toml | 4 ++-- src/10-punch-o-meter/Cargo.toml | 4 ++-- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index 0dedefeae..2e66fc0ea 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index 42c3faaae..0db57a60f 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index 4cb830d10..54b0ff6f5 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -5,13 +5,13 @@ name = "i2c" version = "0.1.0" [dependencies.microbit-v2] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml index c821b9002..ab28082c4 100644 --- a/src/09-led-compass/Cargo.toml +++ b/src/09-led-compass/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/10-punch-o-meter/Cargo.toml b/src/10-punch-o-meter/Cargo.toml index 3f67c6e1a..6b77b48ca 100644 --- a/src/10-punch-o-meter/Cargo.toml +++ b/src/10-punch-o-meter/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.10.1" +version = "0.11.0" git = "https://github.com/nrf-rs/microbit/" optional = true From 8b043924f6752012fa0053c57d896c7a9be4c139 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Tue, 21 Sep 2021 23:10:41 +0200 Subject: [PATCH 275/313] Update the lsm303agr version --- src/09-led-compass/Cargo.toml | 2 +- src/09-led-compass/magnitude.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml index ab28082c4..92e339f46 100644 --- a/src/09-led-compass/Cargo.toml +++ b/src/09-led-compass/Cargo.toml @@ -20,7 +20,7 @@ cortex-m = "0.7.0" cortex-m-rt = "0.6.12" rtt-target = { version = "0.2.2", features = ["cortex-m"] } panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } -lsm303agr = "0.2.1" +lsm303agr = "0.2.2" libm = "0.2.1" embedded-hal = "0.2.6" diff --git a/src/09-led-compass/magnitude.md b/src/09-led-compass/magnitude.md index 07a7a9a4b..ffa8b7796 100644 --- a/src/09-led-compass/magnitude.md +++ b/src/09-led-compass/magnitude.md @@ -13,7 +13,7 @@ use libm::sqrtf; let magnitude = sqrtf(x * x + y * y + z * z); ``` -[`mag_data()`]: https://docs.rs/lsm303agr/0.2.1/lsm303agr/struct.Lsm303agr.html#method.mag_data +[`mag_data()`]: https://docs.rs/lsm303agr/0.2.2/lsm303agr/struct.Lsm303agr.html#method.mag_data Putting all this together in a program: From 00d51c1e69c06bb67ded5a97d1d8c3c60bb114d4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 27 Sep 2021 11:33:49 +0200 Subject: [PATCH 276/313] Update dependencies and remove unused ones --- src/03-setup/Cargo.toml | 8 ++++---- src/05-led-roulette/Cargo.toml | 8 ++++---- src/07-uart/Cargo.toml | 9 ++++----- src/08-i2c/Cargo.toml | 13 ++++++------- src/09-led-compass/Cargo.toml | 8 ++++---- src/10-punch-o-meter/Cargo.toml | 10 +++++----- 6 files changed, 27 insertions(+), 29 deletions(-) diff --git a/src/03-setup/Cargo.toml b/src/03-setup/Cargo.toml index e16d2ad78..45466cf5b 100644 --- a/src/03-setup/Cargo.toml +++ b/src/03-setup/Cargo.toml @@ -5,7 +5,7 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies] -cortex-m = "0.6.0" -cortex-m-rt = "0.6.10" -panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } -rtt-target = { version = "0.2.2", features = ["cortex-m"] } +cortex-m = "0.7.3" +cortex-m-rt = "0.7.0" +rtt-target = { version = "0.3.1", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] } diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index 2e66fc0ea..4e064d2e2 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -16,11 +16,11 @@ git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] -cortex-m = "0.6.0" -cortex-m-rt = "0.6.10" +cortex-m = "0.7.3" +cortex-m-rt = "0.7.0" panic-halt = "0.2.0" -rtt-target = { version = "0.2.2", features = ["cortex-m"] } -panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +rtt-target = { version = "0.3.1", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] } [features] v2 = ["microbit-v2"] diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index 0db57a60f..0bd1278bf 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -17,12 +17,11 @@ optional = true [dependencies] cortex-m = "0.7.3" -cortex-m-rt = "0.6.12" -panic-halt = "0.2.0" -rtt-target = { version = "0.2.2", features = ["cortex-m"] } -panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +cortex-m-rt = "0.7.0" +rtt-target = { version = "0.3.1", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] } nb = "1.0.0" -heapless = "0.5.6" +heapless = "0.7.7" embedded-hal = "0.2.6" [features] diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index 54b0ff6f5..e895b263e 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -16,14 +16,13 @@ git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] -cortex-m = "0.6.0" -cortex-m-rt = "0.6.10" -panic-halt = "0.2.0" -rtt-target = { version = "0.2.2", features = ["cortex-m"] } -panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +cortex-m = "0.7.3" +cortex-m-rt = "0.7.0" +rtt-target = { version = "0.3.1", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] } nb = "1.0.0" -heapless = "0.5.6" -lsm303agr = "0.1.1" +heapless = "0.7.7" +lsm303agr = "0.2.2" embedded-hal = "0.2.6" [features] diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml index 92e339f46..7b9204033 100644 --- a/src/09-led-compass/Cargo.toml +++ b/src/09-led-compass/Cargo.toml @@ -16,10 +16,10 @@ git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] -cortex-m = "0.7.0" -cortex-m-rt = "0.6.12" -rtt-target = { version = "0.2.2", features = ["cortex-m"] } -panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } +cortex-m = "0.7.3" +cortex-m-rt = "0.7.0" +rtt-target = { version = "0.3.1", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] } lsm303agr = "0.2.2" libm = "0.2.1" embedded-hal = "0.2.6" diff --git a/src/10-punch-o-meter/Cargo.toml b/src/10-punch-o-meter/Cargo.toml index 6b77b48ca..67fc6d1ef 100644 --- a/src/10-punch-o-meter/Cargo.toml +++ b/src/10-punch-o-meter/Cargo.toml @@ -16,11 +16,11 @@ git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies] -cortex-m = "0.7.0" -cortex-m-rt = "0.6.12" -rtt-target = { version = "0.2.2", features = ["cortex-m"] } -panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] } -lsm303agr = "0.2.0" +cortex-m = "0.7.3" +cortex-m-rt = "0.7.0" +rtt-target = { version = "0.3.1", features = ["cortex-m"] } +panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] } +lsm303agr = "0.2.2" nb = "1.0.0" [features] From ce7dd674356127a48d0a618b85e3565e5c989302 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 27 Sep 2021 11:38:25 +0200 Subject: [PATCH 277/313] Update versions of links --- src/05-led-roulette/it-blinks.md | 4 ++-- src/05-led-roulette/light-it-up.md | 2 +- src/07-uart/reverse-a-string.md | 2 +- src/08-i2c/read-a-single-register.md | 2 +- src/10-punch-o-meter/the-challenge.md | 4 ++-- 5 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index fcdbdb252..22c802663 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -9,8 +9,8 @@ finally make an LED blink. [DelayUs] and [DelayMs]. Both of them essentially work the exact same way except that they accept different units for their delay function. -[DelayUs]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/blocking/delay/trait.DelayUs.html -[DelayMs]: https://docs.rs/embedded-hal/0.2.4/embedded_hal/blocking/delay/trait.DelayMs.html +[DelayUs]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/delay/trait.DelayUs.html +[DelayMs]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/delay/trait.DelayMs.html Inside of our MCU, several so-called "timers" exist. They can do various things regarding time for us, including simply pausing the execution of our program for a fixed amount of time. A very diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index 7a0ab16db..91f91675b 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -5,7 +5,7 @@ In this chapter we are going to make one of the many LEDs on the back of the mic basically the "Hello World" of embedded programming. In order to get this task done we will use one of the traits provided by `embedded-hal`, specifically the [OutputPin trait] which allows us to turn a pin on or off. -[OutputPin trait]: https://docs.rs/embedded-hal/0.2.5/embedded_hal/digital/v2/trait.OutputPin.html +[OutputPin trait]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/digital/v2/trait.OutputPin.html ## The micro:bit LEDs diff --git a/src/07-uart/reverse-a-string.md b/src/07-uart/reverse-a-string.md index 9867737b2..ed48c56a2 100644 --- a/src/07-uart/reverse-a-string.md +++ b/src/07-uart/reverse-a-string.md @@ -6,7 +6,7 @@ ENTER key. Each server response will be in a new line. This time you'll need a buffer; you can use [`heapless::Vec`]. Here's the starter code: -[`heapless::Vec`]: https://docs.rs/heapless/0.5.6/heapless/struct.Vec.html +[`heapless::Vec`]: https://docs.rs/heapless/0.7.7/heapless/struct.Vec.html ``` rust #![no_main] diff --git a/src/08-i2c/read-a-single-register.md b/src/08-i2c/read-a-single-register.md index f1f8dd283..795e1cd57 100644 --- a/src/08-i2c/read-a-single-register.md +++ b/src/08-i2c/read-a-single-register.md @@ -35,7 +35,7 @@ Now if we put the documentation of the [`twi(m)` module] from the `microbit` cra together with all the other information we have gathered so far we'll end up with this piece of code to read out and print the two device IDs: -[`twi(m)` module]: https://docs.rs/microbit-v2/0.10.1/microbit/hal/twim/index.html +[`twi(m)` module]: https://docs.rs/microbit-v2/0.11.0/microbit/hal/twim/index.html ``` rust {{#include src/main.rs}} diff --git a/src/10-punch-o-meter/the-challenge.md b/src/10-punch-o-meter/the-challenge.md index 02eb35b1a..10b1c101e 100644 --- a/src/10-punch-o-meter/the-challenge.md +++ b/src/10-punch-o-meter/the-challenge.md @@ -23,6 +23,6 @@ Give it a try and let me know how hard you can punch `;-)`. we have seen in previous chapters. -[`set_accel_scale`]: https://docs.rs/lsm303agr/0.2.0/lsm303agr/struct.Lsm303agr.html#method.set_accel_scale +[`set_accel_scale`]: https://docs.rs/lsm303agr/0.2.2/lsm303agr/struct.Lsm303agr.html#method.set_accel_scale [`Countdown`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/timer/trait.CountDown.html -[`nb::Result`]: https://docs.rs/nb/1.0.0/nb/type.Result.html \ No newline at end of file +[`nb::Result`]: https://docs.rs/nb/1.0.0/nb/type.Result.html From 88490c1dc8f211447244a8c072af5300b18d907e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 27 Sep 2021 11:48:35 +0200 Subject: [PATCH 278/313] Quote all modules --- src/02-requirements/README.md | 4 ++-- src/05-led-roulette/it-blinks.md | 6 +++--- src/05-led-roulette/light-it-up.md | 4 ++-- src/07-uart/send-a-single-byte.md | 4 ++-- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/02-requirements/README.md b/src/02-requirements/README.md index 290653498..1466d83d0 100644 --- a/src/02-requirements/README.md +++ b/src/02-requirements/README.md @@ -48,10 +48,10 @@ Trust me on this one. > **FAQ**: Can I follow this material with a different development board? Maybe? It depends mainly on two things: your previous experience with microcontrollers and/or -whether a high level crate already exists, like the [nrf52-hal], for your development board +whether a high level crate already exists, like the [`nrf52-hal`], for your development board somewhere. -[nrf52-hal]: https://docs.rs/nrf52-hal +[`nrf52-hal`]: https://docs.rs/nrf52-hal With a different development board, this text would lose most if not all its beginner friendliness and "easy to follow"-ness, IMO. diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index 22c802663..b3b49f353 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -6,11 +6,11 @@ before combining this with the GPIO abstractions from the previous chapter in or finally make an LED blink. `embedded-hal` provides us with two abstractions to delay the execution of our program: -[DelayUs] and [DelayMs]. Both of them essentially work the exact same way except +[`DelayUs`] and [`DelayMs`]. Both of them essentially work the exact same way except that they accept different units for their delay function. -[DelayUs]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/delay/trait.DelayUs.html -[DelayMs]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/delay/trait.DelayMs.html +[`DelayUs`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/delay/trait.DelayUs.html +[`DelayMs`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/blocking/delay/trait.DelayMs.html Inside of our MCU, several so-called "timers" exist. They can do various things regarding time for us, including simply pausing the execution of our program for a fixed amount of time. A very diff --git a/src/05-led-roulette/light-it-up.md b/src/05-led-roulette/light-it-up.md index 91f91675b..a666bffea 100644 --- a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -3,9 +3,9 @@ In this chapter we are going to make one of the many LEDs on the back of the micro:bit light up since this is basically the "Hello World" of embedded programming. In order to get this task done we will use one of the traits -provided by `embedded-hal`, specifically the [OutputPin trait] which allows us to turn a pin on or off. +provided by `embedded-hal`, specifically the [`OutputPin`] trait which allows us to turn a pin on or off. -[OutputPin trait]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/digital/v2/trait.OutputPin.html +[`OutputPin`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/digital/v2/trait.OutputPin.html ## The micro:bit LEDs diff --git a/src/07-uart/send-a-single-byte.md b/src/07-uart/send-a-single-byte.md index 3a530e264..884528333 100644 --- a/src/07-uart/send-a-single-byte.md +++ b/src/07-uart/send-a-single-byte.md @@ -15,10 +15,10 @@ and with the UARTE for micro:bit v2. You will also have noticed that this is the first time we are including some code that is not from a library, namely the `serial_setup` module. Its only purpose is to provide a nice wrapper around the UARTE -so we can use it the exact same way as the UART via the [embedded_hal::serial] traits. If you want, you can +so we can use it the exact same way as the UART via the [`embedded_hal::serial`] traits. If you want, you can check out what exactly the module does, but it is not required to understand this chapter in general. -[embedded_hal::serial]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/serial/index.html +[`embedded_hal::serial`]: https://docs.rs/embedded-hal/0.2.6/embedded_hal/serial/index.html Apart from those differences, the initialization procedures for the UART and the UARTE are quite similar so we'll discuss the initilization of just UARTE. The UARTE is initialized with this piece of code: From a8d6b49bc19d9d1db12d6194014275ee25e5d760 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 27 Sep 2021 11:51:36 +0200 Subject: [PATCH 279/313] Fix the ls command in 03-setup/verify.md --- src/03-setup/verify.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/03-setup/verify.md b/src/03-setup/verify.md index 144199790..8452e145f 100644 --- a/src/03-setup/verify.md +++ b/src/03-setup/verify.md @@ -21,7 +21,7 @@ In my case, the micro:bit got connected to the bus #1 and got enumerated as the file `/dev/bus/usb/001/065` *is* the micro:bit. Let's check its permissions: ``` console -$ ls -l /dev/bus/usb/003/004 +$ ls -l /dev/bus/usb/001/065 crw-rw-rw-. 1 root root 189, 64 Sep 5 14:27 /dev/bus/usb/001/065 ``` From f83fedb025c6fda633de885ec01a5a3172c7b3a8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Mon, 27 Sep 2021 11:53:29 +0200 Subject: [PATCH 280/313] Uniform delay types --- src/05-led-roulette/it-blinks.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/05-led-roulette/it-blinks.md b/src/05-led-roulette/it-blinks.md index b3b49f353..91dd44a3a 100644 --- a/src/05-led-roulette/it-blinks.md +++ b/src/05-led-roulette/it-blinks.md @@ -36,7 +36,7 @@ fn main() -> ! { let mut timer = Timer::new(board.TIMER0); loop { - timer.delay_ms(1000u32); + timer.delay_ms(1000u16); rprintln!("1000 ms passed"); } } From fd71ba10f1290086f0b823ee266d8ef383144cb5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Fri, 12 Nov 2021 19:47:27 +0100 Subject: [PATCH 281/313] fixing dependency changes --- src/05-led-roulette/Cargo.toml | 4 ++-- src/07-uart/Cargo.toml | 4 ++-- src/08-i2c/Cargo.toml | 4 ++-- src/09-led-compass/Cargo.toml | 4 ++-- src/10-punch-o-meter/Cargo.toml | 4 ++-- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/05-led-roulette/Cargo.toml b/src/05-led-roulette/Cargo.toml index 4e064d2e2..f87a48911 100644 --- a/src/05-led-roulette/Cargo.toml +++ b/src/05-led-roulette/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/07-uart/Cargo.toml b/src/07-uart/Cargo.toml index 0bd1278bf..4da2b15a2 100644 --- a/src/07-uart/Cargo.toml +++ b/src/07-uart/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/08-i2c/Cargo.toml b/src/08-i2c/Cargo.toml index e895b263e..f4e9b771e 100644 --- a/src/08-i2c/Cargo.toml +++ b/src/08-i2c/Cargo.toml @@ -5,13 +5,13 @@ name = "i2c" version = "0.1.0" [dependencies.microbit-v2] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/09-led-compass/Cargo.toml b/src/09-led-compass/Cargo.toml index 7b9204033..beab33610 100644 --- a/src/09-led-compass/Cargo.toml +++ b/src/09-led-compass/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true diff --git a/src/10-punch-o-meter/Cargo.toml b/src/10-punch-o-meter/Cargo.toml index 67fc6d1ef..7131c45a6 100644 --- a/src/10-punch-o-meter/Cargo.toml +++ b/src/10-punch-o-meter/Cargo.toml @@ -5,13 +5,13 @@ authors = ["Henrik Böving "] edition = "2018" [dependencies.microbit-v2] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true [dependencies.microbit] -version = "0.11.0" +version = "0.12.0" git = "https://github.com/nrf-rs/microbit/" optional = true From 687e02c5b78d2e3709e5afb988fbec9158240683 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Thu, 18 Nov 2021 19:52:37 +0000 Subject: [PATCH 282/313] Move existing discovery book into f3discovery subfolder. --- .github/workflows/ci.yml | 25 +++-- README.md | 12 +- book.toml | 1 - Cargo.toml => f3discovery/Cargo.toml 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.../src}/05-led-roulette/the-challenge.md | 0 .../the-led-and-delay-abstractions.md | 0 .../src}/06-hello-world/Cargo.toml | 0 .../src}/06-hello-world/README.md | 0 .../src}/06-hello-world/auxiliary/Cargo.toml | 0 .../src}/06-hello-world/auxiliary/src/lib.rs | 0 .../src}/06-hello-world/panic.md | 0 .../src}/06-hello-world/src/main.rs | 0 .../src}/06-hello-world/target | 0 .../src}/07-registers/.cargo/config | 0 .../src}/07-registers/Cargo.toml | 0 .../src}/07-registers/README.md | 0 .../src}/07-registers/auxiliary/Cargo.toml | 0 .../src}/07-registers/auxiliary/src/lib.rs | 0 .../src}/07-registers/bad-address.md | 0 .../src}/07-registers/openocd.gdb | 0 .../src}/07-registers/optimization.md | 0 {src => f3discovery/src}/07-registers/rtrm.md | 0 .../spooky-action-at-a-distance.md | 0 .../src}/07-registers/src/main.rs | 0 {src => f3discovery/src}/07-registers/target | 0 .../07-registers/type-safe-manipulation.md | 0 .../src}/08-leds-again/.cargo/config | 0 .../src}/08-leds-again/Cargo.toml | 0 .../src}/08-leds-again/README.md | 0 .../src}/08-leds-again/auxiliary/Cargo.toml | 0 .../src}/08-leds-again/auxiliary/src/lib.rs | 0 .../src}/08-leds-again/configuration.md | 0 .../src}/08-leds-again/openocd.gdb | 0 .../src}/08-leds-again/power.md | 0 .../src}/08-leds-again/src/main.rs | 0 {src => f3discovery/src}/08-leds-again/target | 0 .../src}/08-leds-again/the-solution.md | 0 .../src}/09-clocks-and-timers/.cargo/config | 0 .../src}/09-clocks-and-timers/Cargo.toml | 0 .../src}/09-clocks-and-timers/README.md | 0 .../09-clocks-and-timers/auxiliary/Cargo.toml | 0 .../09-clocks-and-timers/auxiliary/src/lib.rs | 0 .../src}/09-clocks-and-timers/busy-waiting.md | 0 .../09-clocks-and-timers/for-loop-delays.md | 0 .../09-clocks-and-timers/initialization.md | 0 .../src}/09-clocks-and-timers/nop.md | 0 .../09-clocks-and-timers/one-shot-timer.md | 0 .../src}/09-clocks-and-timers/openocd.gdb | 0 .../putting-it-all-together.md | 0 .../src}/09-clocks-and-timers/src/main.rs | 0 .../src}/09-clocks-and-timers/target | 0 .../src}/10-serial-communication/README.md | 0 .../src}/10-serial-communication/loopbacks.md | 0 .../10-serial-communication/nix-tooling.md | 0 .../windows-tooling.md | 0 .../src}/11-usart/.cargo/config | 0 {src => f3discovery/src}/11-usart/Cargo.toml | 0 {src => f3discovery/src}/11-usart/README.md | 0 .../src}/11-usart/auxiliary/Cargo.toml | 0 .../src}/11-usart/auxiliary/src/lib.rs | 0 .../src}/11-usart/auxiliary/src/monotimer.rs | 0 .../src}/11-usart/buffer-overrun.md | 0 .../src}/11-usart/echo-server.md | 0 .../11-usart/examples/buffer-overrun-timed.rs | 0 .../11-usart/examples/buffer-overrun-txe.rs | 0 .../src}/11-usart/examples/buffer-overrun.rs | 0 .../src}/11-usart/examples/echo.rs | 0 .../examples/receive-a-single-byte.rs | 0 .../src}/11-usart/examples/reverse-string.rs | 0 .../src}/11-usart/examples/the-answer.rs | 0 .../src}/11-usart/my-solution.md | 0 {src => f3discovery/src}/11-usart/openocd.gdb | 0 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0 {src => f3discovery/src}/14-i2c/target | 0 .../src}/14-i2c/the-general-protocol.md | 0 .../src}/14-i2c/the-solution.md | 0 .../src}/15-led-compass/.cargo/config | 0 .../src}/15-led-compass/Cargo.toml | 0 .../src}/15-led-compass/README.md | 0 .../src}/15-led-compass/auxiliary/Cargo.toml | 0 .../src}/15-led-compass/auxiliary/src/lib.rs | 0 .../src}/15-led-compass/calibration.md | 0 .../src}/15-led-compass/magnitude.md | 0 .../src}/15-led-compass/openocd.gdb | 0 .../src}/15-led-compass/solution-1.md | 0 .../src}/15-led-compass/solution-2.md | 0 .../src}/15-led-compass/src/main.rs | 0 .../src}/15-led-compass/take-1.md | 0 .../src}/15-led-compass/take-2.md | 0 .../src}/15-led-compass/target | 0 .../src}/16-punch-o-meter/.cargo/config | 0 .../src}/16-punch-o-meter/Cargo.toml | 0 .../src}/16-punch-o-meter/README.md | 0 .../16-punch-o-meter/auxiliary/Cargo.toml | 0 .../16-punch-o-meter/auxiliary/src/lib.rs | 0 .../src}/16-punch-o-meter/gravity-is-up.md | 0 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.../src}/assets/bluetooth-serial.png | Bin {src => f3discovery/src}/assets/bluetooth.jpg | Bin {src => f3discovery/src}/assets/emf.svg | 0 .../src}/assets/f3-bluetooth-loopback.png | Bin .../src}/assets/f3-bluetooth-power-only.png | Bin .../src}/assets/f3-bluetooth.png | Bin {src => f3discovery/src}/assets/f3-l3gd20.png | Bin .../src}/assets/f3-lsm303dlhc.png | Bin .../src}/assets/f3-serial-production.png | Bin {src => f3discovery/src}/assets/f3-serial.png | Bin {src => f3discovery/src}/assets/f3-swd.png | Bin {src => f3discovery/src}/assets/f3.jpg | Bin .../src}/assets/gdb-layout-asm.png | Bin .../src}/assets/gdb-layout-split-1.png | Bin .../src}/assets/gdb-layout-split-2.png | Bin .../src}/assets/gdb-layout-split-3.png | Bin .../src}/assets/gdb-layout-split-4.png | Bin .../src}/assets/gdb-layout-src.png | Bin {src => f3discovery/src}/assets/integer32.svg | 0 .../src}/assets/jumper-wires.jpg | Bin {src => f3discovery/src}/assets/minicom.png | Bin .../src}/assets/putty-console.png | 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a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5ca11e63e..7972f1648 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -6,8 +6,8 @@ on: pull_request: jobs: - # Check a build succeeds for each chapter that contains example code. - build-chapter: + # Check build succeeds for each f3discovery chapter containing example code. + build-f3discovery-chapter: runs-on: ubuntu-20.04 strategy: matrix: @@ -29,14 +29,14 @@ jobs: toolchain: stable target: thumbv7em-none-eabihf - name: Build chapter - working-directory: src/${{ matrix.chapter }} + working-directory: f3discovery/src/${{ matrix.chapter }} run: cargo build --target thumbv7em-none-eabihf - name: Build chapter examples - working-directory: src/${{ matrix.chapter }} + working-directory: f3discovery/src/${{ matrix.chapter }} run: cargo build --target thumbv7em-none-eabihf --examples - # Check a build succeeds for docs. - build-doc: + # Check build succeeds for f3discovery docs. + build-f3discovery-doc: runs-on: ubuntu-20.04 steps: - uses: actions/checkout@v2 @@ -47,6 +47,7 @@ jobs: target: thumbv7em-none-eabihf - name: Build docs run: cargo doc + working-direcotry: f3discovery # Build the book HTML itself and optionally publish it. build-book: @@ -85,11 +86,21 @@ jobs: - name: Put new cargo binary directory into path run: echo "~/cargo-bin" >> $GITHUB_PATH - - name: Build book + - name: Build f3discovery book + working-direcotry: f3discovery run: mkdir target && mdbook build - name: Check links + working-directory: f3discovery run: linkchecker book + - name: Build front page + run: mdbook build + - name: Check links + run: linkchecker book + + - name: Collect books + run: mv f3discovery/book book/f3discovery + - name: Deploy book if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }} uses: peaceiris/actions-gh-pages@v3 diff --git a/README.md b/README.md index 72792fb48..0c8006cb9 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,15 @@ # `Discovery` -Discover the world of microcontrollers through -[Rust](https://www.rust-lang.org/): +Discover the world of microcontrollers through [Rust](https://www.rust-lang.org/)! -- Read this book on-line at https://docs.rust-embedded.org/discovery/ +There are currently two versions of this book. The first is older and uses an +F3 Discovery circuit board to introduce you to microcontrollers and Rust, while +the second is newer and uses a micro:bit circuit board instead. + +- Read the newer book, using a micro:bit: + https://docs.rust-embedded.org/discovery/microbit +- Read the older book, using an F3 discovery board: + https://docs.rust-embedded.org/discovery/f3discovery - Start working on the examples from this repository - You've got questions? - Have a look at our [discussions section on diff --git a/book.toml b/book.toml index fbda71fad..9c7f86d26 100644 --- a/book.toml +++ b/book.toml @@ -5,5 +5,4 @@ author = "Rust Embedded Resources Team" language = "en" [output.html] -additional-css = ["custom.css"] git-repository-url = "https://github.com/rust-embedded/discovery/" diff --git a/Cargo.toml b/f3discovery/Cargo.toml similarity index 100% rename from Cargo.toml rename to f3discovery/Cargo.toml diff --git a/f3discovery/book.toml b/f3discovery/book.toml new file mode 100644 index 000000000..fbda71fad --- /dev/null +++ b/f3discovery/book.toml @@ -0,0 +1,9 @@ +[book] +title = "Discovery" +description = "Discover the world of microcontrollers through Rust" +author = "Rust Embedded Resources Team" +language = "en" + +[output.html] +additional-css = ["custom.css"] +git-repository-url = "https://github.com/rust-embedded/discovery/" diff --git a/custom.css b/f3discovery/custom.css similarity index 100% rename from custom.css rename to f3discovery/custom.css diff --git a/src/.cargo/config.toml b/f3discovery/src/.cargo/config.toml similarity index 100% rename from src/.cargo/config.toml rename to f3discovery/src/.cargo/config.toml diff --git a/src/01-background/README.md b/f3discovery/src/01-background/README.md similarity index 100% rename from src/01-background/README.md rename to f3discovery/src/01-background/README.md diff --git a/src/02-requirements/README.md b/f3discovery/src/02-requirements/README.md similarity index 100% rename from src/02-requirements/README.md rename to f3discovery/src/02-requirements/README.md diff --git a/src/03-setup/README.md b/f3discovery/src/03-setup/README.md similarity index 100% rename from src/03-setup/README.md rename to f3discovery/src/03-setup/README.md diff --git a/src/03-setup/linux.md b/f3discovery/src/03-setup/linux.md similarity index 100% rename from src/03-setup/linux.md rename to f3discovery/src/03-setup/linux.md diff --git a/src/03-setup/macos.md b/f3discovery/src/03-setup/macos.md similarity index 100% rename from src/03-setup/macos.md rename to f3discovery/src/03-setup/macos.md diff --git a/src/03-setup/verify.md b/f3discovery/src/03-setup/verify.md similarity index 100% rename from src/03-setup/verify.md rename to f3discovery/src/03-setup/verify.md diff --git a/src/03-setup/windows.md b/f3discovery/src/03-setup/windows.md similarity index 100% rename from src/03-setup/windows.md rename to f3discovery/src/03-setup/windows.md diff --git a/src/04-meet-your-hardware/README.md b/f3discovery/src/04-meet-your-hardware/README.md similarity index 100% rename from src/04-meet-your-hardware/README.md rename to f3discovery/src/04-meet-your-hardware/README.md diff --git a/src/05-led-roulette/Cargo.toml b/f3discovery/src/05-led-roulette/Cargo.toml similarity index 100% rename from src/05-led-roulette/Cargo.toml rename to f3discovery/src/05-led-roulette/Cargo.toml diff --git a/src/05-led-roulette/README.md b/f3discovery/src/05-led-roulette/README.md similarity index 100% rename from src/05-led-roulette/README.md rename to f3discovery/src/05-led-roulette/README.md diff --git a/src/05-led-roulette/auxiliary/Cargo.toml b/f3discovery/src/05-led-roulette/auxiliary/Cargo.toml similarity index 100% rename from src/05-led-roulette/auxiliary/Cargo.toml rename to f3discovery/src/05-led-roulette/auxiliary/Cargo.toml diff --git a/src/05-led-roulette/auxiliary/src/lib.rs b/f3discovery/src/05-led-roulette/auxiliary/src/lib.rs similarity index 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b/f3discovery/src/16-punch-o-meter/the-challenge.md similarity index 100% rename from src/16-punch-o-meter/the-challenge.md rename to f3discovery/src/16-punch-o-meter/the-challenge.md diff --git a/f3discovery/src/README.md b/f3discovery/src/README.md new file mode 100644 index 000000000..4d9e20735 --- /dev/null +++ b/f3discovery/src/README.md @@ -0,0 +1,79 @@ +# Discovery + +> Discover the world of microcontrollers through [Rust]! + +[Rust]: https://www.rust-lang.org/ + +This book is an introductory course on microcontroller-based embedded systems that uses Rust as the +teaching language rather than the usual C/C++. + +## Scope + +The following topics will be covered (eventually, I hope): + +- How to write, build, flash and debug an "embedded" (Rust) program. + +- Functionality ("peripherals") commonly found in microcontrollers: Digital input and output, Pulse + Width Modulation (PWM), Analog to Digital Converters (ADC), common communication protocols like + Serial, I2C and SPI, etc. + +- Multitasking concepts: cooperative vs preemptive multitasking, interrupts, schedulers, etc. + +- Control systems concepts: sensors, calibration, digital filters, actuators, open loop control, + closed loop control, etc. + +## Approach + +- Beginner friendly. No previous experience with microcontrollers or embedded systems is required. + +- Hands on. Plenty of exercises to put the theory into practice. *You* will be doing most of the + work here. + +- Tool centered. We'll make plenty use of tooling to ease development. "Real" debugging, with GDB, + and logging will be introduced early on. Using LEDs as a debugging mechanism has no place here. + +## Non-goals + +What's out of scope for this book: + +- Teaching Rust. There's plenty of material on that topic already. We'll focus on microcontrollers + and embedded systems. + +- Being a comprehensive text about electric circuit theory or electronics. We'll just cover the + minimum required to understand how some devices work. + +- Covering details such as linker scripts and the boot process. For example, we'll use existing tools + to help get your code onto your board, but not go into detail about how those tools work. + +Also I don't intend to port this material to other development boards; this book will make exclusive +use of the STM32F3DISCOVERY development board. + +## Reporting problems + +The source of this book is in [this repository]. If you encounter any typo or problem with the code +report it on the [issue tracker]. + +[this repository]: https://github.com/rust-embedded/discovery +[issue tracker]: https://github.com/rust-embedded/discovery/issues + +## Other embedded Rust resources + +This Discovery book is just one of several embedded Rust resources provided by the +[Embedded Working Group]. The full selection can be found at [The Embedded Rust Bookshelf]. This +includes the list of [Frequently Asked Questions]. + +[Embedded Working Group]: https://github.com/rust-embedded/wg +[The Embedded Rust Bookshelf]: https://docs.rust-embedded.org +[Frequently Asked Questions]: https://docs.rust-embedded.org/faq.html + +## Sponsored by + +       + +Many thanks to [integer 32](http://integer32.com/) for sponsoring me to work on this book! Please +give them lots of work (they do Rust consulting!) so they'll have no choice but to hire more +Rustaceans <3. diff --git a/f3discovery/src/SUMMARY.md b/f3discovery/src/SUMMARY.md new file mode 100644 index 000000000..1f1b5788a --- /dev/null +++ b/f3discovery/src/SUMMARY.md @@ -0,0 +1,86 @@ +[Introduction](README.md) +- [Background](01-background/README.md) +- [Hardware/knowledge requirements](02-requirements/README.md) +- [Setting up a development environment](03-setup/README.md) + - [Linux](03-setup/linux.md) + - [Windows](03-setup/windows.md) + - [macOS](03-setup/macos.md) + - [Verify the installation](03-setup/verify.md) +- [Meet your hardware](04-meet-your-hardware/README.md) +- [LED roulette](05-led-roulette/README.md) + - [Build it](05-led-roulette/build-it.md) + - [Flash it](05-led-roulette/flash-it.md) + - [Debug it](05-led-roulette/debug-it.md) + - [The `led` and `delay` abstractions](05-led-roulette/the-led-and-delay-abstractions.md) + - [The challenge](05-led-roulette/the-challenge.md) + - [My solution](05-led-roulette/my-solution.md) +- [Hello, world!](06-hello-world/README.md) + - [`panic!`](06-hello-world/panic.md) +- [Registers](07-registers/README.md) + - [RTRM](07-registers/rtrm.md) + - [(mis)Optimization](07-registers/optimization.md) + - [`0xBAAAAAAD` address](07-registers/bad-address.md) + - [Spooky action at a distance](07-registers/spooky-action-at-a-distance.md) + - [Type safe manipulation](07-registers/type-safe-manipulation.md) +- [LEDs, again](08-leds-again/README.md) + - [Power](08-leds-again/power.md) + - [Configuration](08-leds-again/configuration.md) + - [The solution](08-leds-again/the-solution.md) +- [Clocks and timers](09-clocks-and-timers/README.md) + - [`for` loop delays](09-clocks-and-timers/for-loop-delays.md) + - [NOP](09-clocks-and-timers/nop.md) + - [One-shot timer](09-clocks-and-timers/one-shot-timer.md) + - [Initialization](09-clocks-and-timers/initialization.md) + - [Busy waiting](09-clocks-and-timers/busy-waiting.md) + - [Putting it all together](09-clocks-and-timers/putting-it-all-together.md) +- [Serial communication](10-serial-communication/README.md) + - [\*nix tooling](10-serial-communication/nix-tooling.md) + - [Windows tooling](10-serial-communication/windows-tooling.md) + - [Loopbacks](10-serial-communication/loopbacks.md) +- [USART](11-usart/README.md) + - [Send a single byte](11-usart/send-a-single-byte.md) + - [Send a string](11-usart/send-a-string.md) + - [Buffer overrun](11-usart/buffer-overrun.md) + - [`uprintln!`](11-usart/uprintln.md) + - [Receive a single byte](11-usart/receive-a-single-byte.md) + - [Echo server](11-usart/echo-server.md) + - [Reverse a string](11-usart/reverse-a-string.md) + - [My solution](11-usart/my-solution.md) +- [Bluetooth setup](12-bluetooth-setup/README.md) + - [Linux](12-bluetooth-setup/linux.md) + - [Loopback](12-bluetooth-setup/loopback.md) + - [AT commands](12-bluetooth-setup/at-commands.md) +- [Serial over Bluetooth](13-serial-over-bluetooth/README.md) +- [I2C](14-i2c/README.md) + - [The general protocol](14-i2c/the-general-protocol.md) + - [LSM303DLHC](14-i2c/lsm303dlhc.md) + - [Read a single register](14-i2c/read-a-single-register.md) + - [The solution](14-i2c/the-solution.md) + - [Read several registers](14-i2c/read-several-registers.md) +- [LED compass](15-led-compass/README.md) + - [Take 1](15-led-compass/take-1.md) + - [Solution 1](15-led-compass/solution-1.md) + - [Take 2](15-led-compass/take-2.md) + - [Solution 2](15-led-compass/solution-2.md) + - [Magnitude](15-led-compass/magnitude.md) + - [Calibration](15-led-compass/calibration.md) +- [Punch-o-meter](16-punch-o-meter/README.md) + - [Gravity is up?](16-punch-o-meter/gravity-is-up.md) + - [The challenge](16-punch-o-meter/the-challenge.md) + - [My solution](16-punch-o-meter/my-solution.md) +- [What's left for you to explore](explore.md) + +--- + +[General troubleshooting](appendix/1-general-troubleshooting/README.md) +[How to use GDB](appendix/2-how-to-use-gdb/README.md) + + + + + + + + + +--- diff --git a/src/WIP-async-io-the-future/.cargo/config b/f3discovery/src/WIP-async-io-the-future/.cargo/config similarity index 100% rename from src/WIP-async-io-the-future/.cargo/config rename to f3discovery/src/WIP-async-io-the-future/.cargo/config diff --git a/src/WIP-async-io-the-future/.gdbinit b/f3discovery/src/WIP-async-io-the-future/.gdbinit similarity index 100% rename from src/WIP-async-io-the-future/.gdbinit rename to f3discovery/src/WIP-async-io-the-future/.gdbinit diff --git a/src/WIP-async-io-the-future/Cargo.toml b/f3discovery/src/WIP-async-io-the-future/Cargo.toml similarity index 100% rename from src/WIP-async-io-the-future/Cargo.toml rename to f3discovery/src/WIP-async-io-the-future/Cargo.toml diff --git a/src/WIP-async-io-the-future/README.md b/f3discovery/src/WIP-async-io-the-future/README.md similarity index 100% rename from src/WIP-async-io-the-future/README.md rename to 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b/f3discovery/src/assets/timing-diagram.png similarity index 100% rename from src/assets/timing-diagram.png rename to f3discovery/src/assets/timing-diagram.png diff --git a/src/assets/usb-cable.jpg b/f3discovery/src/assets/usb-cable.jpg similarity index 100% rename from src/assets/usb-cable.jpg rename to f3discovery/src/assets/usb-cable.jpg diff --git a/src/explore.md b/f3discovery/src/explore.md similarity index 100% rename from src/explore.md rename to f3discovery/src/explore.md diff --git a/src/openocd.gdb b/f3discovery/src/openocd.gdb similarity index 100% rename from src/openocd.gdb rename to f3discovery/src/openocd.gdb diff --git a/ga.sh b/ga.sh deleted file mode 100644 index 7d14331b2..000000000 --- a/ga.sh +++ /dev/null @@ -1,24 +0,0 @@ -set -euxo pipefail - -GA_CODE=$(cat < - - -EOF -) - -GA_CODE=$(echo $GA_CODE | sed -e 's/\n//g') - -for f in $(find book -name '*.html'); do - echo $f - sed -i -e "s@\(\)@$GA_CODE\n\1@" $f -done diff --git a/src/README.md b/src/README.md index 4d9e20735..da6063756 100644 --- a/src/README.md +++ b/src/README.md @@ -1,79 +1,58 @@ -# Discovery +# `Discovery` -> Discover the world of microcontrollers through [Rust]! +Discover the world of microcontrollers through [Rust](https://www.rust-lang.org/)! -[Rust]: https://www.rust-lang.org/ +There are currently two versions of this book. The first is older and uses an +F3 Discovery circuit board to introduce you to microcontrollers and Rust, while +the second is newer and uses a micro:bit circuit board instead. -This book is an introductory course on microcontroller-based embedded systems that uses Rust as the -teaching language rather than the usual C/C++. +- [Read the newer book, using a micro:bit](https://docs.rust-embedded.org/discovery/microbit) +- [Read the older book, using an F3 discovery board](https://docs.rust-embedded.org/discovery/f3discovery) +- Start working on the examples from this repository +- You've got questions? + - Have a look at our [discussions section on + GitHub](https://github.com/rust-embedded/discovery/discussions) + - Maybe it has already been answered + - If not, start a new discussion +- You've found an issue? + - Have a look at our [issues on + GitHub](https://github.com/rust-embedded/discovery/issues) + - Maybe there is already a workaround + - If not, please open a new one - or even better - a [pull + request](https://github.com/rust-embedded/discovery/pulls) for solving + it +- Have fun and enjoy! -## Scope +This project is developed and maintained by the [Resources team][team]. -The following topics will be covered (eventually, I hope): +## License -- How to write, build, flash and debug an "embedded" (Rust) program. +The documentation is licensed under -- Functionality ("peripherals") commonly found in microcontrollers: Digital input and output, Pulse - Width Modulation (PWM), Analog to Digital Converters (ADC), common communication protocols like - Serial, I2C and SPI, etc. +- Creative Commons Attribution 4.0 License ([LICENSE-CC-BY](LICENSE-CC-BY) + or https://creativecommons.org/licenses/by/4.0/legalcode) -- Multitasking concepts: cooperative vs preemptive multitasking, interrupts, schedulers, etc. +And the source code is licensed under either of -- Control systems concepts: sensors, calibration, digital filters, actuators, open loop control, - closed loop control, etc. +- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or + http://www.apache.org/licenses/LICENSE-2.0) -## Approach +- MIT License ([LICENSE-MIT](LICENSE-MIT) or + https://opensource.org/licenses/MIT) -- Beginner friendly. No previous experience with microcontrollers or embedded systems is required. +at your option. -- Hands on. Plenty of exercises to put the theory into practice. *You* will be doing most of the - work here. +### Contribution -- Tool centered. We'll make plenty use of tooling to ease development. "Real" debugging, with GDB, - and logging will be introduced early on. Using LEDs as a debugging mechanism has no place here. +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. -## Non-goals +## Code of Conduct -What's out of scope for this book: +Contribution to this crate is organized under the terms of the [Rust Code of +Conduct][CoC], the maintainer of this crate, the [Resources team][team], promises +to intervene to uphold that code of conduct. -- Teaching Rust. There's plenty of material on that topic already. We'll focus on microcontrollers - and embedded systems. - -- Being a comprehensive text about electric circuit theory or electronics. We'll just cover the - minimum required to understand how some devices work. - -- Covering details such as linker scripts and the boot process. For example, we'll use existing tools - to help get your code onto your board, but not go into detail about how those tools work. - -Also I don't intend to port this material to other development boards; this book will make exclusive -use of the STM32F3DISCOVERY development board. - -## Reporting problems - -The source of this book is in [this repository]. If you encounter any typo or problem with the code -report it on the [issue tracker]. - -[this repository]: https://github.com/rust-embedded/discovery -[issue tracker]: https://github.com/rust-embedded/discovery/issues - -## Other embedded Rust resources - -This Discovery book is just one of several embedded Rust resources provided by the -[Embedded Working Group]. The full selection can be found at [The Embedded Rust Bookshelf]. This -includes the list of [Frequently Asked Questions]. - -[Embedded Working Group]: https://github.com/rust-embedded/wg -[The Embedded Rust Bookshelf]: https://docs.rust-embedded.org -[Frequently Asked Questions]: https://docs.rust-embedded.org/faq.html - -## Sponsored by - -

      - - - -

      - -Many thanks to [integer 32](http://integer32.com/) for sponsoring me to work on this book! Please -give them lots of work (they do Rust consulting!) so they'll have no choice but to hire more -Rustaceans <3. +[CoC]: CODE_OF_CONDUCT.md +[team]: https://github.com/rust-embedded/wg#the-resources-team diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 1f1b5788a..eede7bbdc 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -1,86 +1 @@ -[Introduction](README.md) -- [Background](01-background/README.md) -- [Hardware/knowledge requirements](02-requirements/README.md) -- [Setting up a development environment](03-setup/README.md) - - [Linux](03-setup/linux.md) - - [Windows](03-setup/windows.md) - - [macOS](03-setup/macos.md) - - [Verify the installation](03-setup/verify.md) -- [Meet your hardware](04-meet-your-hardware/README.md) -- [LED roulette](05-led-roulette/README.md) - - [Build it](05-led-roulette/build-it.md) - - [Flash it](05-led-roulette/flash-it.md) - - [Debug it](05-led-roulette/debug-it.md) - - [The `led` and `delay` abstractions](05-led-roulette/the-led-and-delay-abstractions.md) - - [The challenge](05-led-roulette/the-challenge.md) - - [My solution](05-led-roulette/my-solution.md) -- [Hello, world!](06-hello-world/README.md) - - [`panic!`](06-hello-world/panic.md) -- [Registers](07-registers/README.md) - - [RTRM](07-registers/rtrm.md) - - [(mis)Optimization](07-registers/optimization.md) - - [`0xBAAAAAAD` address](07-registers/bad-address.md) - - [Spooky action at a distance](07-registers/spooky-action-at-a-distance.md) - - [Type safe manipulation](07-registers/type-safe-manipulation.md) -- [LEDs, again](08-leds-again/README.md) - - [Power](08-leds-again/power.md) - - [Configuration](08-leds-again/configuration.md) - - [The solution](08-leds-again/the-solution.md) -- [Clocks and timers](09-clocks-and-timers/README.md) - - [`for` loop delays](09-clocks-and-timers/for-loop-delays.md) - - [NOP](09-clocks-and-timers/nop.md) - - [One-shot timer](09-clocks-and-timers/one-shot-timer.md) - - [Initialization](09-clocks-and-timers/initialization.md) - - [Busy waiting](09-clocks-and-timers/busy-waiting.md) - - [Putting it all together](09-clocks-and-timers/putting-it-all-together.md) -- [Serial communication](10-serial-communication/README.md) - - [\*nix tooling](10-serial-communication/nix-tooling.md) - - [Windows tooling](10-serial-communication/windows-tooling.md) - - [Loopbacks](10-serial-communication/loopbacks.md) -- [USART](11-usart/README.md) - - [Send a single byte](11-usart/send-a-single-byte.md) - - [Send a string](11-usart/send-a-string.md) - - [Buffer overrun](11-usart/buffer-overrun.md) - - [`uprintln!`](11-usart/uprintln.md) - - [Receive a single byte](11-usart/receive-a-single-byte.md) - - [Echo server](11-usart/echo-server.md) - - [Reverse a string](11-usart/reverse-a-string.md) - - [My solution](11-usart/my-solution.md) -- [Bluetooth setup](12-bluetooth-setup/README.md) - - [Linux](12-bluetooth-setup/linux.md) - - [Loopback](12-bluetooth-setup/loopback.md) - - [AT commands](12-bluetooth-setup/at-commands.md) -- [Serial over Bluetooth](13-serial-over-bluetooth/README.md) -- [I2C](14-i2c/README.md) - - [The general protocol](14-i2c/the-general-protocol.md) - - [LSM303DLHC](14-i2c/lsm303dlhc.md) - - [Read a single register](14-i2c/read-a-single-register.md) - - [The solution](14-i2c/the-solution.md) - - [Read several registers](14-i2c/read-several-registers.md) -- [LED compass](15-led-compass/README.md) - - [Take 1](15-led-compass/take-1.md) - - [Solution 1](15-led-compass/solution-1.md) - - [Take 2](15-led-compass/take-2.md) - - [Solution 2](15-led-compass/solution-2.md) - - [Magnitude](15-led-compass/magnitude.md) - - [Calibration](15-led-compass/calibration.md) -- [Punch-o-meter](16-punch-o-meter/README.md) - - [Gravity is up?](16-punch-o-meter/gravity-is-up.md) - - [The challenge](16-punch-o-meter/the-challenge.md) - - [My solution](16-punch-o-meter/my-solution.md) -- [What's left for you to explore](explore.md) - ---- - -[General troubleshooting](appendix/1-general-troubleshooting/README.md) -[How to use GDB](appendix/2-how-to-use-gdb/README.md) - - - - - - - - - ---- +[Choose Your Discovery](README.md) From 393684fd4b240992cb2d0b82cd742dc6deac39b7 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Thu, 18 Nov 2021 21:06:21 +0000 Subject: [PATCH 283/313] Move new microbit book into its own directory --- book.toml => microbit/book.toml | 0 {src => microbit/src}/01-background/README.md | 0 .../src}/02-requirements/README.md | 0 {src => microbit/src}/03-setup/.cargo/config | 0 {src => microbit/src}/03-setup/Cargo.toml | 0 {src => microbit/src}/03-setup/Embed.toml | 0 {src => microbit/src}/03-setup/README.md | 0 {src => microbit/src}/03-setup/build.rs | 0 {src => microbit/src}/03-setup/linux.md | 0 {src => microbit/src}/03-setup/macos.md | 0 {src => microbit/src}/03-setup/memory.x | 0 {src => microbit/src}/03-setup/src/main.rs | 0 {src => microbit/src}/03-setup/verify.md | 0 {src => microbit/src}/03-setup/windows.md | 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microbit/src/10-punch-o-meter/src/main.rs diff --git a/src/10-punch-o-meter/target b/microbit/src/10-punch-o-meter/target similarity index 100% rename from src/10-punch-o-meter/target rename to microbit/src/10-punch-o-meter/target diff --git a/src/10-punch-o-meter/the-challenge.md b/microbit/src/10-punch-o-meter/the-challenge.md similarity index 100% rename from src/10-punch-o-meter/the-challenge.md rename to microbit/src/10-punch-o-meter/the-challenge.md diff --git a/src/Cargo.toml b/microbit/src/Cargo.toml similarity index 100% rename from src/Cargo.toml rename to microbit/src/Cargo.toml diff --git a/microbit/src/README.md b/microbit/src/README.md new file mode 100644 index 000000000..76969055e --- /dev/null +++ b/microbit/src/README.md @@ -0,0 +1,67 @@ +# Discovery + +> Discover the world of microcontrollers through [Rust]! + +[Rust]: https://www.rust-lang.org/ + +This book is an introductory course on microcontroller-based embedded systems that uses Rust as the +teaching language rather than the usual C/C++. + +## Scope + +The following topics will be covered (eventually, I hope): + +- How to write, build, flash and debug an "embedded" (Rust) program. + +- Functionality ("peripherals") commonly found in microcontrollers: Digital input and output, Pulse + Width Modulation (PWM), Analog to Digital Converters (ADC), common communication protocols like + Serial, I2C and SPI, etc. + +- Multitasking concepts: cooperative vs preemptive multitasking, interrupts, schedulers, etc. + +- Control systems concepts: sensors, calibration, digital filters, actuators, open loop control, + closed loop control, etc. + +## Approach + +- Beginner friendly. No previous experience with microcontrollers or embedded systems is required. + +- Hands on. Plenty of exercises to put the theory into practice. *You* will be doing most of the + work here. + +- Tool centered. We'll make plenty use of tooling to ease development. "Real" debugging, with GDB, + and logging will be introduced early on. Using LEDs as a debugging mechanism has no place here. + +## Non-goals + +What's out of scope for this book: + +- Teaching Rust. There's plenty of material on that topic already. We'll focus on microcontrollers + and embedded systems. + +- Being a comprehensive text about electric circuit theory or electronics. We'll just cover the + minimum required to understand how some devices work. + +- Covering details such as linker scripts and the boot process. For example, we'll use existing tools + to help get your code onto your board, but not go into detail about how those tools work. + +Also I don't intend to port this material to other development boards; this book will make exclusive +use of the micro:bit development board. + +## Reporting problems + +The source of this book is in [this repository]. If you encounter any typo or problem with the code +report it on the [issue tracker]. + +[this repository]: https://github.com/rust-embedded/discovery +[issue tracker]: https://github.com/rust-embedded/discovery/issues + +## Other embedded Rust resources + +This Discovery book is just one of several embedded Rust resources provided by the +[Embedded Working Group]. The full selection can be found at [The Embedded Rust Bookshelf]. This +includes the list of [Frequently Asked Questions]. + +[Embedded Working Group]: https://github.com/rust-embedded/wg +[The Embedded Rust Bookshelf]: https://docs.rust-embedded.org +[Frequently Asked Questions]: https://docs.rust-embedded.org/faq.html diff --git a/microbit/src/SUMMARY.md b/microbit/src/SUMMARY.md new file mode 100644 index 000000000..9acaecec4 --- /dev/null +++ b/microbit/src/SUMMARY.md @@ -0,0 +1,69 @@ +<<<<<<< HEAD +[Choose Your Discovery](README.md) +======= +[Introduction](README.md) +- [Background](01-background/README.md) +- [Hardware/knowledge requirements](02-requirements/README.md) +- [Setting up a development environment](03-setup/README.md) + - [Linux](03-setup/linux.md) + - [Windows](03-setup/windows.md) + - [macOS](03-setup/macos.md) + - [Verify the installation](03-setup/verify.md) +- [Meet your hardware](04-meet-your-hardware/README.md) + - [micro:bit v2](04-meet-your-hardware/microbit-v2.md) + - [micro:bit v1](04-meet-your-hardware/microbit-v1.md) + - [Rust Embedded terminology](04-meet-your-hardware/terminology.md) +- [LED roulette](05-led-roulette/README.md) + - [Build it](05-led-roulette/build-it.md) + - [Flash it](05-led-roulette/flash-it.md) + - [Debug it](05-led-roulette/debug-it.md) + - [Light it up](05-led-roulette/light-it-up.md) + - [It blinks](05-led-roulette/it-blinks.md) + - [The challenge](05-led-roulette/the-challenge.md) + - [My solution](05-led-roulette/my-solution.md) +- [Serial communication](06-serial-communication/README.md) + - [\*nix tooling](06-serial-communication/nix-tooling.md) + - [Windows tooling](06-serial-communication/windows-tooling.md) +- [UART](07-uart/README.md) + - [Send a single byte](07-uart/send-a-single-byte.md) + - [Send a string](07-uart/send-a-string.md) + - [Naive approach and `write!`](07-uart/naive-approch-write.md) + - [Receive a single byte](07-uart/receive-a-single-byte.md) + - [Echo server](07-uart/echo-server.md) + - [Reverse a string](07-uart/reverse-a-string.md) + - [My solution](07-uart/my-solution.md) +- [I2C](08-i2c/README.md) + - [The general protocol](08-i2c/the-general-protocol.md) + - [LSM303AGR](08-i2c/lsm303agr.md) + - [Read a single register](08-i2c/read-a-single-register.md) + - [Using a driver](08-i2c/using-a-driver.md) + - [The challenge](08-i2c/the-challenge.md) + - [My solution](08-i2c/my-solution.md) +- [LED compass](09-led-compass/README.md) + - [Calibration](09-led-compass/calibration.md) + - [Take 1](09-led-compass/take-1.md) + - [Solution 1](09-led-compass/solution-1.md) + - [Take 2](09-led-compass/take-2.md) + - [Solution 2](09-led-compass/solution-2.md) + - [Magnitude](09-led-compass/magnitude.md) +- [Punch-o-meter](10-punch-o-meter/README.md) + - [Gravity is up?](10-punch-o-meter/gravity-is-up.md) + - [The challenge](10-punch-o-meter/the-challenge.md) + - [My solution](10-punch-o-meter/my-solution.md) +- [What's left for you to explore](explore.md) + +--- + +[General troubleshooting](appendix/1-general-troubleshooting/README.md) +[How to use GDB](appendix/2-how-to-use-gdb/README.md) + + + + + + + + + +--- +>>>>>>> rewrite diff --git a/src/appendix/1-general-troubleshooting/README.md b/microbit/src/appendix/1-general-troubleshooting/README.md similarity index 100% rename from src/appendix/1-general-troubleshooting/README.md rename to microbit/src/appendix/1-general-troubleshooting/README.md diff --git a/src/appendix/2-how-to-use-gdb/README.md b/microbit/src/appendix/2-how-to-use-gdb/README.md similarity index 100% rename from src/appendix/2-how-to-use-gdb/README.md rename to microbit/src/appendix/2-how-to-use-gdb/README.md diff --git a/src/assets/gdb-layout-asm.png b/microbit/src/assets/gdb-layout-asm.png similarity index 100% rename from src/assets/gdb-layout-asm.png rename to microbit/src/assets/gdb-layout-asm.png diff --git a/src/assets/gdb-layout-src.png b/microbit/src/assets/gdb-layout-src.png similarity index 100% rename from src/assets/gdb-layout-src.png rename to microbit/src/assets/gdb-layout-src.png diff --git a/src/assets/microbit-v2.jpg b/microbit/src/assets/microbit-v2.jpg similarity index 100% rename from src/assets/microbit-v2.jpg rename to microbit/src/assets/microbit-v2.jpg diff --git a/src/assets/roulette_fast.mp4 b/microbit/src/assets/roulette_fast.mp4 similarity index 100% rename from src/assets/roulette_fast.mp4 rename to microbit/src/assets/roulette_fast.mp4 diff --git a/src/assets/roulette_slow.mp4 b/microbit/src/assets/roulette_slow.mp4 similarity index 100% rename from src/assets/roulette_slow.mp4 rename to microbit/src/assets/roulette_slow.mp4 diff --git a/src/assets/usb-cable.jpg b/microbit/src/assets/usb-cable.jpg similarity index 100% rename from src/assets/usb-cable.jpg rename to microbit/src/assets/usb-cable.jpg diff --git a/src/explore.md b/microbit/src/explore.md similarity index 100% rename from src/explore.md rename to microbit/src/explore.md diff --git a/src/README.md b/src/README.md index e75515269..da6063756 100644 --- a/src/README.md +++ b/src/README.md @@ -54,49 +54,5 @@ Contribution to this crate is organized under the terms of the [Rust Code of Conduct][CoC], the maintainer of this crate, the [Resources team][team], promises to intervene to uphold that code of conduct. -<<<<<<< HEAD [CoC]: CODE_OF_CONDUCT.md [team]: https://github.com/rust-embedded/wg#the-resources-team -======= -- Teaching Rust. There's plenty of material on that topic already. We'll focus on microcontrollers - and embedded systems. - -- Being a comprehensive text about electric circuit theory or electronics. We'll just cover the - minimum required to understand how some devices work. - -- Covering details such as linker scripts and the boot process. For example, we'll use existing tools - to help get your code onto your board, but not go into detail about how those tools work. - -Also I don't intend to port this material to other development boards; this book will make exclusive -use of the micro:bit development board. - -## Reporting problems - -The source of this book is in [this repository]. If you encounter any typo or problem with the code -report it on the [issue tracker]. - -[this repository]: https://github.com/rust-embedded/discovery -[issue tracker]: https://github.com/rust-embedded/discovery/issues - -## Other embedded Rust resources - -This Discovery book is just one of several embedded Rust resources provided by the -[Embedded Working Group]. The full selection can be found at [The Embedded Rust Bookshelf]. This -includes the list of [Frequently Asked Questions]. - -[Embedded Working Group]: https://github.com/rust-embedded/wg -[The Embedded Rust Bookshelf]: https://docs.rust-embedded.org -[Frequently Asked Questions]: https://docs.rust-embedded.org/faq.html - -## Sponsored by - -

      - - - -

      - -Many thanks to [integer 32](http://integer32.com/) for sponsoring me to work on this book! Please -give them lots of work (they do Rust consulting!) so they'll have no choice but to hire more -Rustaceans <3. ->>>>>>> rewrite diff --git a/src/SUMMARY.md b/src/SUMMARY.md index 9acaecec4..eede7bbdc 100644 --- a/src/SUMMARY.md +++ b/src/SUMMARY.md @@ -1,69 +1 @@ -<<<<<<< HEAD [Choose Your Discovery](README.md) -======= -[Introduction](README.md) -- [Background](01-background/README.md) -- [Hardware/knowledge requirements](02-requirements/README.md) -- [Setting up a development environment](03-setup/README.md) - - [Linux](03-setup/linux.md) - - [Windows](03-setup/windows.md) - - [macOS](03-setup/macos.md) - - [Verify the installation](03-setup/verify.md) -- [Meet your hardware](04-meet-your-hardware/README.md) - - [micro:bit v2](04-meet-your-hardware/microbit-v2.md) - - [micro:bit v1](04-meet-your-hardware/microbit-v1.md) - - [Rust Embedded terminology](04-meet-your-hardware/terminology.md) -- [LED roulette](05-led-roulette/README.md) - - [Build it](05-led-roulette/build-it.md) - - [Flash it](05-led-roulette/flash-it.md) - - [Debug it](05-led-roulette/debug-it.md) - - [Light it up](05-led-roulette/light-it-up.md) - - [It blinks](05-led-roulette/it-blinks.md) - - [The challenge](05-led-roulette/the-challenge.md) - - [My solution](05-led-roulette/my-solution.md) -- [Serial communication](06-serial-communication/README.md) - - [\*nix tooling](06-serial-communication/nix-tooling.md) - - [Windows tooling](06-serial-communication/windows-tooling.md) -- [UART](07-uart/README.md) - - [Send a single byte](07-uart/send-a-single-byte.md) - - [Send a string](07-uart/send-a-string.md) - - [Naive approach and `write!`](07-uart/naive-approch-write.md) - - [Receive a single byte](07-uart/receive-a-single-byte.md) - - [Echo server](07-uart/echo-server.md) - - [Reverse a string](07-uart/reverse-a-string.md) - - [My solution](07-uart/my-solution.md) -- [I2C](08-i2c/README.md) - - [The general protocol](08-i2c/the-general-protocol.md) - - [LSM303AGR](08-i2c/lsm303agr.md) - - [Read a single register](08-i2c/read-a-single-register.md) - - [Using a driver](08-i2c/using-a-driver.md) - - [The challenge](08-i2c/the-challenge.md) - - [My solution](08-i2c/my-solution.md) -- [LED compass](09-led-compass/README.md) - - [Calibration](09-led-compass/calibration.md) - - [Take 1](09-led-compass/take-1.md) - - [Solution 1](09-led-compass/solution-1.md) - - [Take 2](09-led-compass/take-2.md) - - [Solution 2](09-led-compass/solution-2.md) - - [Magnitude](09-led-compass/magnitude.md) -- [Punch-o-meter](10-punch-o-meter/README.md) - - [Gravity is up?](10-punch-o-meter/gravity-is-up.md) - - [The challenge](10-punch-o-meter/the-challenge.md) - - [My solution](10-punch-o-meter/my-solution.md) -- [What's left for you to explore](explore.md) - ---- - -[General troubleshooting](appendix/1-general-troubleshooting/README.md) -[How to use GDB](appendix/2-how-to-use-gdb/README.md) - - - - - - - - - ---- ->>>>>>> rewrite From cb2bfa0a92e94a25cecd69909ec4bf69b8c62656 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Thu, 18 Nov 2021 21:07:32 +0000 Subject: [PATCH 284/313] Strip some README cruft from new front page. --- src/README.md | 34 ---------------------------------- 1 file changed, 34 deletions(-) diff --git a/src/README.md b/src/README.md index da6063756..701d75564 100644 --- a/src/README.md +++ b/src/README.md @@ -22,37 +22,3 @@ the second is newer and uses a micro:bit circuit board instead. request](https://github.com/rust-embedded/discovery/pulls) for solving it - Have fun and enjoy! - -This project is developed and maintained by the [Resources team][team]. - -## License - -The documentation is licensed under - -- Creative Commons Attribution 4.0 License ([LICENSE-CC-BY](LICENSE-CC-BY) - or https://creativecommons.org/licenses/by/4.0/legalcode) - -And the source code is 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 - https://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. - -## Code of Conduct - -Contribution to this crate is organized under the terms of the [Rust Code of -Conduct][CoC], the maintainer of this crate, the [Resources team][team], promises -to intervene to uphold that code of conduct. - -[CoC]: CODE_OF_CONDUCT.md -[team]: https://github.com/rust-embedded/wg#the-resources-team From 678fdee862bc05e0d9b237678201f80b5525fd46 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Thu, 18 Nov 2021 21:41:33 +0000 Subject: [PATCH 285/313] Fix GHA --- .github/workflows/ci.yml | 4 ++-- microbit/{src => }/Cargo.toml | 0 2 files changed, 2 insertions(+), 2 deletions(-) rename microbit/{src => }/Cargo.toml (100%) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 1b3b28b8d..3d4681aab 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -47,7 +47,7 @@ jobs: target: thumbv7em-none-eabihf - name: Build docs run: cargo doc - working-direcotry: f3discovery + working-directory: f3discovery # Check a build succeeds for each microbit chapter that contains example code. build-microbit-chapter: @@ -91,7 +91,7 @@ jobs: target: thumbv6m-none-eabi - name: Build docs run: cargo doc - working-direcotry: microbit + working-directory: microbit # Build the book HTML itself and optionally publish it. build-book: diff --git a/microbit/src/Cargo.toml b/microbit/Cargo.toml similarity index 100% rename from microbit/src/Cargo.toml rename to microbit/Cargo.toml From 8e41b998a1db18a7b840027028848b8133ebde58 Mon Sep 17 00:00:00 2001 From: Adam Greig Date: Thu, 18 Nov 2021 23:14:43 +0000 Subject: [PATCH 286/313] Copy missing image assets to microbit from f3discovery --- microbit/src/assets/minicom.png | Bin 0 -> 22340 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a/src/05-led-roulette/light-it-up.md +++ b/src/05-led-roulette/light-it-up.md @@ -89,11 +89,10 @@ proceed to construct the `ROW1` and `COL1` pin using the two lines below, initia > want to figure it out, have a look [here](https://en.wikipedia.org/wiki/Push%E2%80%93pull_output). Now we can finally light the LED connected to `ROW1`, `COL1` up by setting the `ROW1` pin to high (i.e. switching it on). -The reason we can leave `COL1` set to low is because of how the LED [matrix circuit works]. Furthermore, `embedded-hal` is +The reason we can leave `COL1` set to low is because of how the LED matrix circuit works. Furthermore, `embedded-hal` is designed in a way that every operation on hardware can possibly return an error, even just toggling a pin on or off. Since that is highly unlikely in our case, we can just `unwrap()` the result. -[matrix circuit works]: TODO ADD LINK, suggestion? @code reviewers ## Testing it From bd98cafadf0cede93e46d386ffdfc496dcac22fc Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sat, 17 Oct 2020 11:48:44 +0200 Subject: [PATCH 117/313] appendix: add hint about ST-LINK config version My F3 seemed to come with the stlink-v2 and not the stlink-v2-1 config interface which caused the same "Error: open failed" output. I suggest to hint to try the older version in that case. I've also separated Cause and Fix headings because I didn't know how to phrase it otherwise. --- .../1-general-troubleshooting/README.md | 28 +++++++++++++------ 1 file changed, 20 insertions(+), 8 deletions(-) diff --git a/src/appendix/1-general-troubleshooting/README.md b/src/appendix/1-general-troubleshooting/README.md index 59793461f..b1f4cb919 100644 --- a/src/appendix/1-general-troubleshooting/README.md +++ b/src/appendix/1-general-troubleshooting/README.md @@ -17,17 +17,29 @@ in procedure 'init' in procedure 'ocd_bouncer' ``` -#### Cause + Fix +#### Cause + +The device is not (properly) connected or not the correct ST-LINK interface +configuration is used. + +#### Fix -- All: The device is not (properly) connected. Check the USB connection using - `lsusb` or the Device Manager. -- Linux: You may not have enough permission to open the device. Try again with - `sudo`. If that works, you can use [these instructions] to make OpenOCD work - without root privilege. -- Windows: You are probably missing the ST-LINK USB driver. Installation - instructions [here]. +Linux: + +- Check the USB connection using `lsusb`. +- You may not have enough permission to open the device. Try again with `sudo`. + If that works, you can use [these instructions] to make OpenOCD work without + root privilege. +- You might be using the wrong interface configuration for your ST-LINK. + Try `interface/stlink-v2.cfg` instead of `interface/stlink-v2-1.cfg`. [these instructions]: ../../03-setup/linux.md#udev-rules + +Windows: + +- You are probably missing the ST-LINK USB driver. Installation instructions + [here]. + [here]: ../../03-setup/windows.md#st-link-usb-driver ### can't connect to OpenOCD - "Polling again in X00ms" From a6677284d8aed3f7441bcf7010678ac1ad5d7213 Mon Sep 17 00:00:00 2001 From: Tim Small Date: Sat, 17 Oct 2020 15:33:25 +0100 Subject: [PATCH 118/313] Misc copy editing without change in intent. --- src/01-background/README.md | 62 +++++++++++++++++++++---------------- 1 file changed, 36 insertions(+), 26 deletions(-) diff --git a/src/01-background/README.md b/src/01-background/README.md index ec9b84abd..c89bb9904 100644 --- a/src/01-background/README.md +++ b/src/01-background/README.md @@ -3,43 +3,53 @@ ## What's a microcontroller? A microcontroller is a *system* on a chip. Whereas your computer is made up of several discrete -components: a processor, RAM sticks, a hard drive, an ethernet port, etc.; a microcontroller has all -those components built into a single "chip" or package. This makes it possible to build systems with -minimal part count. +components: a processor, RAM, storage, an Ethernet port, etc.; a microcontroller has all those types +of components built into a single "chip" or package. This makes it possible to build systems with +fewer parts. ## What can you do with a microcontroller? -Lots of things! Microcontrollers are the central part of systems known as *embedded* systems. These -systems are everywhere but you don't usually notice them. These systems control the brakes of your -car, wash your clothes, print your documents, keep you warm, keep you cool, optimize the fuel -consumption of your car, etc. +Lots of things! Microcontrollers are the central part of what are known as "*embedded* systems". +Embedded systems are everywhere, but you don't usually notice them. They control the machines that +wash your clothes, print your documents, and cook your food. Embedded systems keep the buildings +that you live and work in at a comfortable temperature, and control the components that make the +vehicles you travel in stop and go. -The main trait of these systems is that they operate without user intervention even if they expose a -user interface like a washing machine does; most of their operation is done on their own. +Most embedded systems operate without user intervention. Even if they expose a user interface like a +washing machine does; most of their operation is done on their own. -The other common trait of these systems is that they *control* a process. And for that these systems -usually have one or more sensors and one or more actuators. For example, an HVAC system has several -sensors, thermometers and humidity sensors spread across some area, and several actuators as well, -heating elements and fans connected to ducts. +Embedded systems are often used to *control* a physical process. To make this possible, they have +one or more devices to tell them about the state of the world ("sensors"), and one or more +devices which allow them to change things ("actuators"). For example, a building climate control +system might have: + +- Sensors which measure temperature and humidity in various locations. +- Actuators which control the speed of fans. +- Actuators which cause heat to be added or removed from the building. ## When should I use a microcontroller? -All these application I've mentioned, you can probably implement with a Raspberry Pi, a computer -that runs Linux. Why should I bother with a microcontroller that operates without an OS? Sounds like -it would be harder to develop a program. +Many of the embedded systems listed above could be implemented with a computer running Linux (for +example a "Raspberry Pi"). Why use a microcontroller instead? Sounds like it might be harder to +develop a program. + +Some reasons might include: + +**Cost.** A microcontroller is much cheaper than a general purpose computer. Not only is the +microcontroller cheaper; it also requires many fewer external electrical components to operate. +This makes Printed Circuit Boards (PCB) smaller and cheaper to design and manufacture. -The main reason is cost. A microcontroller is much cheaper than a general purpose computer. Not only -the microcontroller is cheaper; it also requires many fewer external electrical components to -operate. This makes Printed Circuit Boards (PCB) smaller and cheaper to design and manufacture. +**Power consumption.** Most microcontrollers consume a fraction of the power of a full blown +processor. For applications which run on batteries, that makes a huge difference. -The other big reason is power consumption. A microcontroller consumes orders of magnitude less power -than a full blown processor. If your application will run on batteries that makes a huge difference. +**Responsiveness.** To accomplish their purpose reliably, some embedded systems must always react +within a limited time interval (e.g. the "anti-lock" breaking system of a car). If the system misses +a *deadline*, a catastrophic failure might occur. A general purpose computer and OS usually has many +software components which share the computer's processing resources. This makes it harder to +guarantee execution of a program within tight time constraints. -And last but not least: (hard) *real time* constraints. Some processes require their controllers to -respond to some events within some time interval (e.g. a quadcopter/drone hit by a wind gust). If -this *deadline* is not met, the process could end in catastrophic failure (e.g. the drone crashes to -the ground). A general purpose computer running a general purpose OS has many services running in -the background. This makes it hard to guarantee execution of a program within tight time constraints. +**Reliability.** In systems with fewer components (both hardware and software), there is less to go +wrong! ## When should I *not* use a microcontroller? From d3ba396b4562a08a817b8db6c38a9af5b1ae1566 Mon Sep 17 00:00:00 2001 From: Tim Small Date: Mon, 19 Oct 2020 08:30:20 +0100 Subject: [PATCH 119/313] Include @hargoniX suggestion to include "real-time" system definition. --- src/01-background/README.md | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/01-background/README.md b/src/01-background/README.md index c89bb9904..e9057a48b 100644 --- a/src/01-background/README.md +++ b/src/01-background/README.md @@ -42,11 +42,13 @@ This makes Printed Circuit Boards (PCB) smaller and cheaper to design and manufa **Power consumption.** Most microcontrollers consume a fraction of the power of a full blown processor. For applications which run on batteries, that makes a huge difference. -**Responsiveness.** To accomplish their purpose reliably, some embedded systems must always react -within a limited time interval (e.g. the "anti-lock" breaking system of a car). If the system misses -a *deadline*, a catastrophic failure might occur. A general purpose computer and OS usually has many -software components which share the computer's processing resources. This makes it harder to -guarantee execution of a program within tight time constraints. +**Responsiveness.** To accomplish their purpose, some embedded systems must always react within a +limited time interval (e.g. the "anti-lock" breaking system of a car). If the system misses this +type of *deadline*, a catastrophic failure might occur. Such a deadline is called a "hard real time" +requirement. An embedded system which is bound by such a deadline is referred to as a "hard +real-time system". A general purpose computer and OS usually has many software components which +share the computer's processing resources. This makes it harder to guarantee execution of a program +within tight time constraints. **Reliability.** In systems with fewer components (both hardware and software), there is less to go wrong! From d838e8d3c22f45a75fdf762f3d0cca26bb1169ea Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sat, 31 Oct 2020 08:19:13 +0100 Subject: [PATCH 120/313] 06-hello-world: change note about solder bridge I got slightly confused by the note saying that the datasheet was wrong about the solder bridge because from how I read it, it says: > SB10(SWO) ON | SWO signal of connector CN3 is connected to PB3 > OFF | SWO signal is not connected And OFF is in bold which means the default is OFF. --- src/06-hello-world/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md index 9c7316445..1c6cbe7f2 100644 --- a/src/06-hello-world/README.md +++ b/src/06-hello-world/README.md @@ -1,8 +1,8 @@ # Hello, world! -> **HEADS UP** Several readers have reported that the "solder bridge" SB10 (see back of the board) -> on the STM32F3DISCOVERY, which is required to use the ITM and the `iprint!` macros shown below, is -> **not** soldered even though the [User Manual][] (page 21) says that it **should be**. +> **HEADS UP** The "solder bridge" SB10 (see back of the board) on the STM32F3DISCOVERY, which is +> required to use the ITM and the `iprint!` macros shown below, is **not** soldered by default +> (see page 21 of the [User Manual][]). > **TL;DR** You have two options to fix this: Either **solder** the solder bridge SB10 or connect a > female to female jumper wire between SWO and PB3 as shown in the picture below. From a8e79b83901d319b96243312debbe183b65942ad Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sun, 15 Nov 2020 17:26:21 +0100 Subject: [PATCH 121/313] Adopt the serial communication into to the micro:bit --- src/06-hello-world/.cargo/config | 5 - src/06-hello-world/Cargo.toml | 8 - src/06-hello-world/README.md | 145 ------------------ src/06-hello-world/auxiliary/Cargo.toml | 11 -- src/06-hello-world/auxiliary/src/lib.rs | 17 -- src/06-hello-world/openocd.gdb | 6 - src/06-hello-world/panic.md | 88 ----------- src/06-hello-world/src/main.rs | 15 -- src/06-hello-world/target | 1 - .../README.md | 16 +- .../nix-tooling.md | 47 +----- .../windows-tooling.md | 18 +-- src/10-serial-communication/loopbacks.md | 49 ------ 13 files changed, 22 insertions(+), 404 deletions(-) delete mode 100644 src/06-hello-world/.cargo/config delete mode 100644 src/06-hello-world/Cargo.toml delete mode 100644 src/06-hello-world/README.md delete mode 100644 src/06-hello-world/auxiliary/Cargo.toml delete mode 100644 src/06-hello-world/auxiliary/src/lib.rs delete mode 100644 src/06-hello-world/openocd.gdb delete mode 100644 src/06-hello-world/panic.md delete mode 100644 src/06-hello-world/src/main.rs delete mode 120000 src/06-hello-world/target rename src/{10-serial-communication => 06-serial-communication}/README.md (72%) rename src/{10-serial-communication => 06-serial-communication}/nix-tooling.md (58%) rename src/{10-serial-communication => 06-serial-communication}/windows-tooling.md (62%) delete mode 100644 src/10-serial-communication/loopbacks.md diff --git a/src/06-hello-world/.cargo/config b/src/06-hello-world/.cargo/config deleted file mode 100644 index 115130a23..000000000 --- a/src/06-hello-world/.cargo/config +++ /dev/null @@ -1,5 +0,0 @@ -[target.thumbv7em-none-eabihf] -runner = "arm-none-eabi-gdb -q -x openocd.gdb" -rustflags = [ - "-C", "link-arg=-Tlink.x", -] diff --git a/src/06-hello-world/Cargo.toml b/src/06-hello-world/Cargo.toml deleted file mode 100644 index f9260db58..000000000 --- a/src/06-hello-world/Cargo.toml +++ /dev/null @@ -1,8 +0,0 @@ -[package] -authors = ["Jorge Aparicio "] -edition = "2018" -name = "hello-world" -version = "0.1.0" - -[dependencies] -aux6 = { path = "auxiliary" } diff --git a/src/06-hello-world/README.md b/src/06-hello-world/README.md deleted file mode 100644 index 9c7316445..000000000 --- a/src/06-hello-world/README.md +++ /dev/null @@ -1,145 +0,0 @@ -# Hello, world! - -> **HEADS UP** Several readers have reported that the "solder bridge" SB10 (see back of the board) -> on the STM32F3DISCOVERY, which is required to use the ITM and the `iprint!` macros shown below, is -> **not** soldered even though the [User Manual][] (page 21) says that it **should be**. - -> **TL;DR** You have two options to fix this: Either **solder** the solder bridge SB10 or connect a -> female to female jumper wire between SWO and PB3 as shown in the picture below. - -[User Manual]: http://www.st.com/resource/en/user_manual/dm00063382.pdf - -

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z{8I93{<0k9(|Lxw`HV^dK>7HXb|f&-^%F)6kgx#$NPnz%&@WARe<==IzNtb-#0ZkB(*Xx1}C^ysDGF-N7{{Tyy?2SbK0K8vF)0;DSxZtPyz?-0K+2$aJ z0JfL<#)#gwzs5VnhKt2rar}HgD~d(ON5Iu(JL`Q;jOGYq(wZ6X<^fTn8Vxsj^vRZ_kUy1z zz(B1JcB{;GV3^P&se-0Vi(#N>?<@el4-=Dp!Qoi(Ngsc4Wu+U=qwL;3<~+lc?EJ~3 zXC)ME)IrDtWe~9x@lN0dPW?vZ`o)+CYDGo&+;y2*&j{_Tzar5hLXI}~>5d$<$OA>g zPx;HZ7WM~RFC-}xZFl>W6cJj$BX)Tnea9*f{5VGHVJ_amx|NT0guy-KYk%7pyTI)C zDN*B=gHU3on|*!92DBCQ&5^vB)Reo`Y$<%?)?K>&5fK@7)owvau8X&R<3vIdRGNPn z2(17)1HBJ&f+~;R{;*9TU>8O1K!O~@;A^Z;*Tzs9d#Cio4-^eaqR0KR_|W9KFzqtX z-mFr^(G!#0BB0JaooOaeCrE|yP3^4z`o)`NrqXmtK|G_ZL&C(hWqM zm?r{jHGhYh-%O@0HTO395%lLeuMBzMP3=2>Rq}anj z$fX*za$RBw)@c4y2!Y%3^&A=STk;38pK)wQ4-gF-)) Date: Wed, 16 Sep 2020 19:16:04 +0200 Subject: [PATCH 091/313] add the micro:bit architecture to the list of rustup targets --- ci/install.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/ci/install.sh b/ci/install.sh index f5596e4ef..15606dd38 100644 --- a/ci/install.sh +++ b/ci/install.sh @@ -15,6 +15,7 @@ main() { --tag $tag rustup target add thumbv7em-none-eabihf + rustup target add thumbv6m-none-eabi pip install linkchecker --user } From a3b07eb6862f2a8f5a15478f2016fbe109322432 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henrik=20B=C3=B6ving?= Date: Sat, 19 Sep 2020 13:47:17 +0200 Subject: [PATCH 092/313] rewrite ch04 --- src/04-meet-your-hardware/README.md | 146 +++++++++++++--------------- 1 file changed, 66 insertions(+), 80 deletions(-) diff --git a/src/04-meet-your-hardware/README.md b/src/04-meet-your-hardware/README.md index e96846da3..6b8d9c9bb 100644 --- a/src/04-meet-your-hardware/README.md +++ b/src/04-meet-your-hardware/README.md @@ -2,22 +2,19 @@ Let's get familiar with the hardware we'll be working with. -## STM32F3DISCOVERY (the "F3") +## micro:bit

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