blue_pill_more/src/main.rs

#![no_std]
#![no_main]

use core::{
    cell::RefCell,
    fmt::Write,
};

use panic_halt as _;

use cortex_m_rt::entry;

use cortex_m::{
    interrupt::Mutex,
};

use stm32f1xx_hal::{
    afio,
    device::{EXTI, NVIC},
    delay::Delay,
    i2c::{BlockingI2c, DutyCycle, Mode},
    gpio::{
        Input,
        Floating,
        ExtiPin,
        Edge,
        gpioa::{PA8, PA9},
    },
    pac::{
        CorePeripherals,
        Peripherals,
        Interrupt,
        interrupt,
    },
    prelude::*,
};

use embedded_hal::digital::v2::InputPin;

use switch_hal::{IntoSwitch, InputSwitch, OutputSwitch, ToggleableOutputSwitch};

use ssd1306::{
    prelude::*,
    Builder,
};

use embedded_graphics::{
    fonts::{Font6x8, Text},
    pixelcolor::BinaryColor,
    prelude::*,
    primitives::Circle,
    style::{PrimitiveStyle, TextStyle},
};

use arrayvec::ArrayString;

type CLKPIN = PA8<Input<Floating>>;
type DTPIN = PA9<Input<Floating>>;

static CLK_PIN: Mutex<RefCell<Option<CLKPIN>>> = Mutex::new(RefCell::new(None));
static DT_PIN: Mutex<RefCell<Option<DTPIN>>> = Mutex::new(RefCell::new(None));
static COUNT: Mutex<RefCell<i32>> = Mutex::new(RefCell::new(0));

#[entry]
fn main() -> ! {
    // Get access to the core peripherals from the cortex-m crate
    let mut core_periph = CorePeripherals::take().unwrap();

    // Get access to the device specific peripherals from the peripheral access crate
    let dev_periph = Peripherals::take().unwrap();

    // RCC is the primary clock control peripheral, but FLASH is also involved in setting
    // up clock speed because the wait states must be increased at higher clock rates
    let mut rcc = dev_periph.RCC.constrain();
    let mut flash = dev_periph.FLASH.constrain();
    let mut afio = dev_periph.AFIO.constrain(&mut rcc.apb2);

    // Peripherals often need to know the clock settings to be properly configured, so
    // we configure the clock and "freeze" the configuration so we can pass it
    let clocks = rcc
        .cfgr
        .use_hse(8.mhz()) // Use High Speed External 8Mhz crystal oscillator
        .sysclk(72.mhz()) // Use the PLL to multiply SYSCLK to 72MHz
        .hclk(72.mhz())   // Leave AHB prescaler at /1
        .pclk1(36.mhz())  // Use the APB1 prescaler to divide the clock to 36MHz (max supported)
        .pclk2(72.mhz())  // Leave the APB2 prescaler at /1
        .adcclk(12.mhz()) // ADC prescaler of /6 (max speed of 14MHz, but /4 gives 18MHz)
        .freeze(&mut flash.acr);

    // In order to have precisely-timed delays, we can use the core SysTick clock as a
    // delay provider
    let mut delay = Delay::new(core_periph.SYST, clocks);

    // Acquire the necessary gpio peripherals
    let mut gpioa = dev_periph.GPIOA.split(&mut rcc.apb2);
    let mut gpiob = dev_periph.GPIOB.split(&mut rcc.apb2);
    let mut gpioc = dev_periph.GPIOC.split(&mut rcc.apb2);

    // Configure the rotary encoder pins A8, A9 and switch pin A10
    let clk = gpioa.pa8
        .into_floating_input(&mut gpioa.crh);
    let dt = gpioa.pa9
        .into_floating_input(&mut gpioa.crh);
    let sw = gpioa.pa10
        .into_floating_input(&mut gpioa.crh)
        .into_active_low_switch();
    init_encoder_pins(clk, dt, &mut afio, &dev_periph.EXTI);

    // Configure pin C13 to drive the "PC13" LED as an active-low switch
    let mut led = gpioc.pc13
        .into_push_pull_output(&mut gpioc.crh)
        .into_active_low_switch();

    // Configure the I2C pins we are using to the correct mode
    let scl = gpiob.pb10.into_alternate_open_drain(&mut gpiob.crh);
    let sda = gpiob.pb11.into_alternate_open_drain(&mut gpiob.crh);

    // Configure the I2C peripheral itself
    let i2c = BlockingI2c::i2c2(
        dev_periph.I2C2,
        (scl, sda),
        Mode::Fast {
            frequency: 400_000.hz(),
            duty_cycle: DutyCycle::Ratio2to1,
        },
        clocks,
        &mut rcc.apb1,
        1000,
        10,
        1000,
        1000,
    );

    // Turn the LED on via the OutputPin trait
    led.on().unwrap();

    // Initialize the display
    let mut display: GraphicsMode<_> = Builder::new()
        .with_i2c_addr(0x3c)
        .connect_i2c(i2c)
        .into();
    display.init().unwrap();

    // Every set of commands to the display is buffered until we flush it
    display.flush().unwrap();

    // We will draw a fixed message on the screen and also a moving circle

    const C_RADIUS: i32 = 8;
    const DISPLAY_W: i32 = 128;
    const DISPLAY_H: i32 = 64;

    let mut cx = 20;
    let mut cy = 20;
    let t = Text::new("Hello Rust!", Point::new(20, 16))
        .into_styled(TextStyle::new(Font6x8, BinaryColor::On));

    // Very brief delay before the loop, just to show how
    delay.delay_us(10_u8);

    // Enable interrupts
    unsafe {
        core_periph.NVIC.set_priority(Interrupt::EXTI9_5, 1);
        NVIC::unmask(Interrupt::EXTI9_5);
    }
    NVIC::unpend(Interrupt::EXTI9_5);

    let mut button_last = false;
    // Microcontroller programs never exit main, so we must loop!
    loop {
        // Check our inputs
        let button = sw.is_active().unwrap();
        let counter = cortex_m::interrupt::free(|cs| *COUNT.borrow(cs).borrow());
        if button_last && !button {
            led.toggle().unwrap();
        }
        button_last = button;

        let c = Circle::new(Point::new(cx, cy), C_RADIUS as u32)
            .into_styled(PrimitiveStyle::with_fill(BinaryColor::On));

        // Show the position of the knob and thus the ball
        let mut textbuf = ArrayString::<[u8; 15]>::new();
        write!(&mut textbuf, "count: {}", counter).unwrap();
        let count = Text::new(&textbuf, Point::new(20, 36))
            .into_styled(TextStyle::new(Font6x8, BinaryColor::On));

        display.clear();
        c.draw(&mut display);
        t.draw(&mut display);
        count.draw(&mut display);
        display.flush().unwrap();

        // Control the horizontal position with the knob
        cx = counter.min(0).max(DISPLAY_W);
        // Wrap the ball back to the top when it falls off the bottom
        cy += 1;
        if cy > (DISPLAY_H + C_RADIUS) { cy = -C_RADIUS };

    }
}

fn init_encoder_pins(
    mut clk: PA8<Input<Floating>>,
    dt: PA9<Input<Floating>>,
    afio: &mut afio::Parts,
    exti: &EXTI,
) {
    cortex_m::interrupt::free(|cs| {
        clk.make_interrupt_source(afio);
        clk.trigger_on_edge(exti, Edge::RISING_FALLING);
        clk.enable_interrupt(exti);

        CLK_PIN.borrow(cs).replace(Some(clk)).unwrap();
        DT_PIN.borrow(cs).replace(Some(dt)).unwrap();
    });
}

#[interrupt]
fn EXTI9_5() {
    static mut CLK: Option<CLKPIN> = None;
    static mut DT: Option<DTPIN> = None;
    static mut PREV_A: bool = false;
    static mut PREV_C: bool = false;

    let clk_pin = CLK.get_or_insert_with(|| {
        cortex_m::interrupt::free(|cs| {
            CLK_PIN.borrow(cs).replace(None).unwrap()
        })
    });
    let dt_pin = DT.get_or_insert_with(|| {
        cortex_m::interrupt::free(|cs| {
            DT_PIN.borrow(cs).replace(None).unwrap()
        })
    });

    if clk_pin.check_interrupt() {
        let a = clk_pin.is_high().unwrap();
        let b = dt_pin.is_high().unwrap();
        // When A is changing, B should be stable
        if a != *PREV_A {
            *PREV_A = a;
            // Capture B as C whenever it changes from C's last value
            if b != *PREV_C {
                *PREV_C = b;
                if a == b { // Up
                    cortex_m::interrupt::free(|cs| {
                        COUNT
                            .borrow(cs)
                            .replace_with(|count| count.wrapping_add(1))
                    });
                } else {    // Down
                    cortex_m::interrupt::free(|cs| {
                        COUNT
                            .borrow(cs)
                            .replace_with(|count| count.wrapping_add(-1))
                    });
                }
            }
        }
        clk_pin.clear_interrupt_pending_bit();
    }
}