From 0e7a8065f8163bf52179d5e0d0bf7626a9cf726a Mon Sep 17 00:00:00 2001 From: David Beechey Date: Fri, 25 Oct 2024 15:36:05 +0100 Subject: [PATCH] INFRA - Add STM32F767ZI board support (#35) --- .github/workflows/ci.yml | 2 + Cargo.toml | 1 + boards/stm32f767zi/.cargo/config.toml | 9 + boards/stm32f767zi/Cargo.lock | 905 ++++++++++++++++++++ boards/stm32f767zi/Cargo.toml | 27 + boards/stm32f767zi/build.rs | 5 + boards/stm32f767zi/src/bin/keyence_test.rs | 16 + boards/stm32f767zi/src/bin/temp_test.rs | 16 + boards/stm32f767zi/src/io.rs | 2 + boards/stm32f767zi/src/io/gpio.rs | 20 + boards/stm32f767zi/src/io/i2c.rs | 51 ++ boards/stm32f767zi/src/lib.rs | 4 + boards/stm32f767zi/src/tasks.rs | 2 + boards/stm32f767zi/src/tasks/keyence.rs | 17 + boards/stm32f767zi/src/tasks/temperature.rs | 45 + boards/stm32l476rg/Cargo.toml | 12 - boards/stm32l476rg/src/io/gpio.rs | 4 +- lib/io/src/gpio.rs | 4 +- lib/io/src/i2c.rs | 6 +- lib/sensors/src/keyence.rs | 6 +- 20 files changed, 1132 insertions(+), 22 deletions(-) create mode 100644 boards/stm32f767zi/.cargo/config.toml create mode 100644 boards/stm32f767zi/Cargo.lock create mode 100644 boards/stm32f767zi/Cargo.toml create mode 100644 boards/stm32f767zi/build.rs create mode 100644 boards/stm32f767zi/src/bin/keyence_test.rs create mode 100644 boards/stm32f767zi/src/bin/temp_test.rs create mode 100644 boards/stm32f767zi/src/io.rs create mode 100644 boards/stm32f767zi/src/io/gpio.rs create mode 100644 boards/stm32f767zi/src/io/i2c.rs create mode 100644 boards/stm32f767zi/src/lib.rs create mode 100644 boards/stm32f767zi/src/tasks.rs create mode 100644 boards/stm32f767zi/src/tasks/keyence.rs create mode 100644 boards/stm32f767zi/src/tasks/temperature.rs diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 262f3c8..1be9d12 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -25,3 +25,5 @@ jobs: - run: rustup target add thumbv7em-none-eabihf - run: cargo build --verbose working-directory: boards/stm32l476rg + - run: cargo build --verbose + working-directory: boards/stm32f767zi diff --git a/Cargo.toml b/Cargo.toml index a560826..158ab8e 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -5,5 +5,6 @@ members = [ ] exclude = [ "boards/stm32l476rg", + "boards/stm32f767zi", ] resolver = "2" \ No newline at end of file diff --git a/boards/stm32f767zi/.cargo/config.toml b/boards/stm32f767zi/.cargo/config.toml new file mode 100644 index 0000000..def2492 --- /dev/null +++ b/boards/stm32f767zi/.cargo/config.toml @@ -0,0 +1,9 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +# replace STM32F429ZITx with your chip as listed in `probe-rs chip list` +runner = "probe-rs run --chip STM32F767ZITx" + +[build] +target = "thumbv7em-none-eabihf" + +[env] +DEFMT_LOG = "debug,smoltcp=info" diff --git a/boards/stm32f767zi/Cargo.lock b/boards/stm32f767zi/Cargo.lock new file mode 100644 index 0000000..0a1abc3 --- /dev/null +++ b/boards/stm32f767zi/Cargo.lock @@ -0,0 +1,905 @@ +# This 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a/boards/stm32f767zi/Cargo.toml b/boards/stm32f767zi/Cargo.toml new file mode 100644 index 0000000..a2c008b --- /dev/null +++ b/boards/stm32f767zi/Cargo.toml @@ -0,0 +1,27 @@ +[package] +name = "hyped_boards_stm32f767zi" +version = "0.1.0" +edition = "2021" + +[dependencies] +embassy-stm32 = { version = "0.1.0", features = ["defmt", "stm32f767zi", "memory-x", "unstable-pac", "time-driver-any", "exti"] , git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"} +embassy-sync = { version = "0.6.0", features = ["defmt"], git = "https://github.com/embassy-rs/embassy"} +embassy-executor = { version = "0.6.0", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"} +embassy-time = { version = "0.3.1", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"} +embassy-net = { version = "0.4.0", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"} +embassy-futures = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"} + +defmt = "0.3" +defmt-rtt = "0.4" + +cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] } +cortex-m-rt = "0.7.0" +embedded-hal = "0.2.6" +panic-probe = { version = "0.3", features = ["print-defmt"] } +rand_core = "0.6.3" +critical-section = "1.1" +embedded-storage = "0.3.1" +static_cell = "2" + +hyped_io = { path = "../../lib/io" } +hyped_sensors = { path = "../../lib/sensors" } diff --git a/boards/stm32f767zi/build.rs b/boards/stm32f767zi/build.rs new file mode 100644 index 0000000..8cd32d7 --- /dev/null +++ b/boards/stm32f767zi/build.rs @@ -0,0 +1,5 @@ +fn main() { + println!("cargo:rustc-link-arg-bins=--nmagic"); + println!("cargo:rustc-link-arg-bins=-Tlink.x"); + println!("cargo:rustc-link-arg-bins=-Tdefmt.x"); +} diff --git a/boards/stm32f767zi/src/bin/keyence_test.rs b/boards/stm32f767zi/src/bin/keyence_test.rs new file mode 100644 index 0000000..1d876fb --- /dev/null +++ b/boards/stm32f767zi/src/bin/keyence_test.rs @@ -0,0 +1,16 @@ +#![no_std] +#![no_main] + +use embassy_executor::Spawner; +use embassy_time::{Duration, Timer}; +use hyped_boards_stm32f767zi::tasks::keyence::read_keyence; +use {defmt_rtt as _, panic_probe as _}; + +#[embassy_executor::main] +async fn main(spawner: Spawner) -> ! { + spawner.spawn(read_keyence()).unwrap(); + + loop { + Timer::after(Duration::from_secs(1)).await; + } +} diff --git a/boards/stm32f767zi/src/bin/temp_test.rs b/boards/stm32f767zi/src/bin/temp_test.rs new file mode 100644 index 0000000..a8ac34c --- /dev/null +++ b/boards/stm32f767zi/src/bin/temp_test.rs @@ -0,0 +1,16 @@ +#![no_std] +#![no_main] + +use embassy_executor::Spawner; +use embassy_time::{Duration, Timer}; +use hyped_boards_stm32f767zi::tasks::temperature::read_temp; +use {defmt_rtt as _, panic_probe as _}; + +#[embassy_executor::main] +async fn main(spawner: Spawner) -> ! { + spawner.spawn(read_temp()).unwrap(); + + loop { + Timer::after(Duration::from_secs(1)).await; + } +} diff --git a/boards/stm32f767zi/src/io.rs b/boards/stm32f767zi/src/io.rs new file mode 100644 index 0000000..c296886 --- /dev/null +++ b/boards/stm32f767zi/src/io.rs @@ -0,0 +1,2 @@ +pub mod gpio; +pub mod i2c; diff --git a/boards/stm32f767zi/src/io/gpio.rs b/boards/stm32f767zi/src/io/gpio.rs new file mode 100644 index 0000000..f95577c --- /dev/null +++ b/boards/stm32f767zi/src/io/gpio.rs @@ -0,0 +1,20 @@ +use embassy_stm32::gpio::Input; +use hyped_io::gpio::HypedGpioPin; + +/// A GPIO pin on the STM32L476RG. +pub struct Stm32f767ziGpio { + pin: Input<'static>, +} + +impl HypedGpioPin for Stm32f767ziGpio { + fn is_high(&mut self) -> bool { + self.pin.is_high() + } +} + +impl Stm32f767ziGpio { + /// Create a new instance of our GPIO implementation for the STM32L476RG + pub fn new(pin: Input<'static>) -> Self { + Self { pin } + } +} diff --git a/boards/stm32f767zi/src/io/i2c.rs b/boards/stm32f767zi/src/io/i2c.rs new file mode 100644 index 0000000..844212b --- /dev/null +++ b/boards/stm32f767zi/src/io/i2c.rs @@ -0,0 +1,51 @@ +use embassy_stm32::{i2c::I2c, mode::Blocking}; +use hyped_io::i2c::{HypedI2c, I2cError}; + +pub struct Stm32f767ziI2c<'d> { + i2c: I2c<'d, Blocking>, +} + +impl<'d> HypedI2c for Stm32f767ziI2c<'d> { + /// Read a byte from a register on a device + fn read_byte(&mut self, device_address: u8, register_address: u8) -> Option { + let mut read = [0]; + let result = + self.i2c + .blocking_write_read(device_address, [register_address].as_ref(), &mut read); + match result { + Ok(_) => Some(read[0]), + Err(_) => None, + } + } + + /// Write a byte to a register on a device + fn write_byte_to_register( + &mut self, + device_address: u8, + register_address: u8, + data: u8, + ) -> Result<(), I2cError> { + let result = self + .i2c + .blocking_write(device_address, [register_address, data].as_ref()); + match result { + Ok(_) => Ok(()), + Err(e) => Err(match e { + embassy_stm32::i2c::Error::Bus => I2cError::Bus, + embassy_stm32::i2c::Error::Arbitration => I2cError::Arbitration, + embassy_stm32::i2c::Error::Nack => I2cError::Nack, + embassy_stm32::i2c::Error::Timeout => I2cError::Timeout, + embassy_stm32::i2c::Error::Crc => I2cError::Crc, + embassy_stm32::i2c::Error::Overrun => I2cError::Overrun, + embassy_stm32::i2c::Error::ZeroLengthTransfer => I2cError::ZeroLengthTransfer, + }), + } + } +} + +impl<'d> Stm32f767ziI2c<'d> { + /// Create a new instance of our I2C implementation for the STM32L476RG + pub fn new(i2c: I2c<'d, Blocking>) -> Self { + Self { i2c } + } +} diff --git a/boards/stm32f767zi/src/lib.rs b/boards/stm32f767zi/src/lib.rs new file mode 100644 index 0000000..bf7c872 --- /dev/null +++ b/boards/stm32f767zi/src/lib.rs @@ -0,0 +1,4 @@ +#![no_std] + +pub mod io; +pub mod tasks; diff --git a/boards/stm32f767zi/src/tasks.rs b/boards/stm32f767zi/src/tasks.rs new file mode 100644 index 0000000..a557c36 --- /dev/null +++ b/boards/stm32f767zi/src/tasks.rs @@ -0,0 +1,2 @@ +pub mod keyence; +pub mod temperature; diff --git a/boards/stm32f767zi/src/tasks/keyence.rs b/boards/stm32f767zi/src/tasks/keyence.rs new file mode 100644 index 0000000..baaa447 --- /dev/null +++ b/boards/stm32f767zi/src/tasks/keyence.rs @@ -0,0 +1,17 @@ +use crate::io::gpio::Stm32f767ziGpio; +use embassy_stm32::gpio::{Input, Pull}; +use embassy_time::{Duration, Timer}; +use hyped_sensors::keyence::Keyence; + +/// Test task that just continually updates the stripe count from the Keyence sensor (or other GPIO pin input) +#[embassy_executor::task] +pub async fn read_keyence() -> ! { + let p = embassy_stm32::init(Default::default()); + let mut keyence = Keyence::new(Stm32f767ziGpio::new(Input::new(p.PC13, Pull::Down))); + + loop { + keyence.update_stripe_count(); + defmt::info!("Stripe count: {}", keyence.get_stripe_count()); + Timer::after(Duration::from_millis(100)).await; + } +} diff --git a/boards/stm32f767zi/src/tasks/temperature.rs b/boards/stm32f767zi/src/tasks/temperature.rs new file mode 100644 index 0000000..1d33940 --- /dev/null +++ b/boards/stm32f767zi/src/tasks/temperature.rs @@ -0,0 +1,45 @@ +use crate::io::i2c::Stm32f767ziI2c; +use defmt_rtt as _; +use embassy_stm32::i2c::I2c; +use embassy_stm32::time::Hertz; +use hyped_sensors::temperature::{Status, Temperature, TemperatureAddresses}; + +/// Test task that just reads the temperature from the sensor and prints it to the console +#[embassy_executor::task] +pub async fn read_temp() -> ! { + let p = embassy_stm32::init(Default::default()); + let i2c = I2c::new_blocking(p.I2C1, p.PB8, p.PB9, Hertz(100_000), Default::default()); + let hyped_i2c = Stm32f767ziI2c::new(i2c); + + let mut temperature_sensor = Temperature::new(hyped_i2c, TemperatureAddresses::Address3f) + .expect( + "Failed to create temperature sensor. Check the wiring and the I2C address of the sensor.", + ); + + loop { + match temperature_sensor.check_status() { + Status::TempOverUpperLimit => { + defmt::error!("Temperature is over the upper limit."); + } + Status::TempUnderLowerLimit => { + defmt::error!("Temperature is under the lower limit."); + } + Status::Busy => { + defmt::warn!("Temperature sensor is busy."); + } + Status::Unknown => { + panic!("Could not get the status of the temperature sensor.") + } + Status::Ok => {} + } + + match temperature_sensor.read() { + Some(temperature) => { + defmt::info!("Temperature: {:?}", temperature); + } + None => { + defmt::info!("Failed to read temperature."); + } + } + } +} diff --git a/boards/stm32l476rg/Cargo.toml b/boards/stm32l476rg/Cargo.toml index 3e87bbe..55a129f 100644 --- a/boards/stm32l476rg/Cargo.toml +++ b/boards/stm32l476rg/Cargo.toml @@ -25,15 +25,3 @@ static_cell = "2" hyped_io = { path = "../../lib/io" } hyped_sensors = { path = "../../lib/sensors" } - -[lib] -name = "hyped_boards_stm32l476rg" -path = "src/lib.rs" -test = false -doctest = false - -[[bin]] -name = "test_temp" -path = "src/bin/temp_test.rs" -test = false -doctest = false diff --git a/boards/stm32l476rg/src/io/gpio.rs b/boards/stm32l476rg/src/io/gpio.rs index 7326a4a..8bef3ad 100644 --- a/boards/stm32l476rg/src/io/gpio.rs +++ b/boards/stm32l476rg/src/io/gpio.rs @@ -1,12 +1,12 @@ use embassy_stm32::gpio::Input; -use hyped_io::gpio::GpioPin; +use hyped_io::gpio::HypedGpioPin; /// A GPIO pin on the STM32L476RG. pub struct Stm32l476rgGpio { pin: Input<'static>, } -impl GpioPin for Stm32l476rgGpio { +impl HypedGpioPin for Stm32l476rgGpio { fn is_high(&mut self) -> bool { self.pin.is_high() } diff --git a/lib/io/src/gpio.rs b/lib/io/src/gpio.rs index 0829cda..15e7707 100644 --- a/lib/io/src/gpio.rs +++ b/lib/io/src/gpio.rs @@ -1,5 +1,5 @@ /// Abstraction for a GPIO pin so that sensors can be tested with a mock GPIO pin -pub trait GpioPin { +pub trait HypedGpioPin { fn is_high(&mut self) -> bool; } @@ -12,7 +12,7 @@ pub mod mock_gpio { next_values: Vec, } - impl crate::gpio::GpioPin for MockGpio { + impl crate::gpio::HypedGpioPin for MockGpio { fn is_high(&mut self) -> bool { let next_value = self.next_values.pop().unwrap_or(self.current_value); self.current_value = next_value; diff --git a/lib/io/src/i2c.rs b/lib/io/src/i2c.rs index 8d636ce..451287e 100644 --- a/lib/io/src/i2c.rs +++ b/lib/io/src/i2c.rs @@ -1,8 +1,7 @@ -/// I2C trait used to abstract the I2C peripheral - +/// I2C errors that can occur +/// From: https://docs.embassy.dev/embassy-stm32/git/stm32g031c8/i2c/enum.Error.html #[derive(Debug)] pub enum I2cError { - // Error codes nased https://docs.embassy.dev/embassy-stm32/git/stm32g031c8/i2c/enum.Error.html Bus, Arbitration, Nack, @@ -13,6 +12,7 @@ pub enum I2cError { Unknown, } +/// I2C trait used to abstract the I2C peripheral pub trait HypedI2c { fn read_byte(&mut self, device_address: u8, register_address: u8) -> Option; fn write_byte_to_register( diff --git a/lib/sensors/src/keyence.rs b/lib/sensors/src/keyence.rs index 65b8f29..25d5f61 100644 --- a/lib/sensors/src/keyence.rs +++ b/lib/sensors/src/keyence.rs @@ -1,11 +1,11 @@ use hyped_core::types::DigitalSignal; -use hyped_io::gpio::GpioPin; +use hyped_io::gpio::HypedGpioPin; /// Keyence represents a Keyence sensor which keeps track of the number of stripes that have passed /// by the sensor. The Keyence sensor is connected to a GPIO pin which reads a high signal when a /// stripe is detected and a low signal when no stripe is detected. The stripe count is updated /// whenever the signal changes from low to high (positive edge). -pub struct Keyence { +pub struct Keyence { /// The number of stripes that have passed by the sensor. stripe_count: u32, /// The last signal that was read from the sensor. @@ -13,7 +13,7 @@ pub struct Keyence { gpio: T, } -impl Keyence { +impl Keyence { /// Creates a new Keyence sensor with an initial stripe count of 0 and a last signal of low. pub fn new(gpio: T) -> Keyence { Keyence {