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Working RTIC + UI w/separate board module

master
Levi Pearson 2022-03-09 02:03:12 -07:00
parent 7088f63c25
commit 67d19cfccd
6 changed files with 408 additions and 66 deletions
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13
.vscode/settings.json vendored Normal file
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@ -0,0 +1,13 @@
{
// override the default setting (`cargo check --all-targets`) which produces the following error
// "can't find crate for `test`" when the default compilation target is a no_std target
// with these changes RA will call `cargo check --bins` on save
"rust-analyzer.checkOnSave.allTargets": false,
"rust-analyzer.checkOnSave.extraArgs": [
"--bins"
],
"rust-analyzer.linkedProjects": [
"Cargo.toml",
"cross/Cargo.toml",
]
}

17
cross/Cargo.lock generated
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@ -54,6 +54,12 @@ version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
[[package]]
name = "bbqueue"
version = "0.5.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fd3baa8859d1a4c7411039a75c0599a4640ef1c9a8fc811e4325b00e6cfe0a55"
[[package]]
name = "bit_field"
version = "0.10.1"
@ -76,11 +82,13 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
name = "blue_pill_ui"
version = "0.1.0"
dependencies = [
"bbqueue",
"cortex-m-rtic",
"panic-rtt-target",
"rtt-target",
"ssd1306",
"stm32f1xx-hal",
"switch-hal",
"ui",
]
@ -580,6 +588,15 @@ dependencies = [
"void",
]
[[package]]
name = "switch-hal"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
dependencies = [
"embedded-hal",
]
[[package]]
name = "syn"
version = "1.0.86"

2
cross/Cargo.toml
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@ -12,6 +12,8 @@ panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] }
rtt-target = { version = "0.3.1", features = ["cortex-m"] }
stm32f1xx-hal = { version = "0.8.0", features = ["rt", "stm32f103", "medium"] }
ssd1306 = "0.7.0"
switch-hal = "0.4.0"
bbqueue = "0.5.1"
ui = { path = "../ui" }
[[bin]]

128
cross/src/bin/ui_example.rs
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@ -1,16 +1,16 @@
//! Blinks an LED
//! Blinks an LED and updates a UI based on an OLED display and rotary encoder
//!
//! This assumes that a LED is connected to pc13 as is the case on the blue pill board.
//! This demonstrates decomposing an RTIC-based project into communicating
//! tasks and breaking out lower-level hardware details into separate modules.
//!
//! Note: Without additional hardware, PC13 should not be used to drive an LED, see page 5.1.2 of
//! the reference manual for an explanation. This is not an issue on the blue pill.
//! The UI model itself is a completely separate crate, and can also be built
//! for the `embedded-graphics-simulator` on the host, allowing for rapid UI
//! development without having to re-flash.
#![deny(unsafe_code)]
#![no_std]
#![no_main]
use panic_rtt_target as _;
// RTIC requires that unused interrupts are declared in "dispatchers" when
// using software tasks; these free interrupts will be used to dispatch the
// software tasks.
@ -19,16 +19,10 @@ use panic_rtt_target as _;
// https://docs.rs/stm32f1xx-hal/0.6.1/stm32f1xx_hal/stm32/enum.Interrupt.html
#[rtic::app(device = stm32f1xx_hal::stm32, peripherals = true, dispatchers = [TAMPER])]
mod app {
use core::sync::atomic::{self, Ordering};
use rtt_target::{rprintln, rtt_init_print};
use stm32f1xx_hal::{
prelude::*,
stm32,
timer::{Event, Timer},
};
use stm32f1xx_hal::prelude::*;
use stm32f1xx_hal as hal;
use blue_pill_ui::board::{self, Board, CountDownTimer, TIM2, TIM3, Event};
// Defining this struct makes shared resources available to tasks;
// they will be initialized by the values returned from `init` and
@ -37,16 +31,23 @@ mod app {
// If you annotate a field with #[lock_free] you can opt-out of the
// mutex but it may only be shared by tasks at the same priority.
#[shared]
struct Shared {}
struct Shared {
/// This will be used to communicate control updates from the
/// control polling task to the idle thread, which manages the
/// UI model and display drawing
update: Option<(i32, bool)>,
}
// This struct defines local resources (accessed by only one task);
// they will be initialized by the values returned from `init` and
// can be accessed directly.
#[local]
struct Local {
led1: hal::gpio::gpioc::PC13<hal::gpio::Output<hal::gpio::PushPull>>,
tmr2: hal::timer::CountDownTimer<stm32::TIM2>,
tmr3: hal::timer::CountDownTimer<stm32::TIM3>,
led: board::UserLed,
encoder: board::Encoder,
display: board::Display,
poll_timer: CountDownTimer<TIM2>,
blink_timer: CountDownTimer<TIM3>,
}
// This task does startup config; the peripherals are passed in thanks to
@ -57,72 +58,71 @@ mod app {
rtt_init_print!();
rprintln!("init begin");
// Set everything to 8MHz using the external clock
let mut flash = cx.device.FLASH.constrain();
let rcc = cx.device.RCC.constrain();
let clocks = rcc
.cfgr
.use_hse(8.mhz())
.sysclk(8.mhz())
.hclk(8.mhz())
.pclk1(8.mhz())
.pclk2(8.mhz())
.adcclk(8.mhz())
.freeze(&mut flash.acr);
let Board { encoder, display, led, mut poll_timer, mut blink_timer } = Board::init(cx.device);
poll_timer.listen(Event::Update);
blink_timer.listen(Event::Update);
// LED is on pin C13, configure it for output
let mut gpioc = cx.device.GPIOC.split();
let led1 = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
// Use TIM2 for the beat counter task
let mut tmr2 = Timer::tim2(cx.device.TIM2, &clocks).start_count_down(1.hz());
tmr2.listen(Event::Update);
// Use TIM3 for the LED blinker task
let mut tmr3 = Timer::tim3(cx.device.TIM3, &clocks).start_count_down(2.hz());
tmr3.listen(Event::Update);
let delta = 0;
let button_up = false;
let update = Some((delta, button_up));
rprintln!("init end");
(Shared {}, Local { led1, tmr2, tmr3 }, init::Monotonics())
(Shared { update }, Local { led, encoder, display, poll_timer, blink_timer }, init::Monotonics())
}
#[idle]
fn idle(_: idle::Context) -> ! {
/// The idle task never stops running, so it can hold `!Send` state like
/// our UI state. It busy-waits for updates via the shared `update`
/// resource.
#[idle(local = [display], shared = [update])]
fn idle(cx: idle::Context) -> ! {
let mut ui: ui::HelloDisplay<128,64> = ui::HelloDisplay::new();
let mut update = cx.shared.update;
loop {
// The compiler may omit this loop without the following
atomic::compiler_fence(Ordering::SeqCst);
if let Some((delta, button_up)) = update.lock(|upd| upd.take()) {
if delta != 0 {
ui.event(ui::HelloEvent::Knob(delta));
}
if button_up {
ui.event(ui::HelloEvent::Button);
}
ui.event(ui::HelloEvent::Tick);
cx.local.display.draw(&mut ui);
}
}
}
// Update the beat counter and periodically display the current count
// on the RTT channel
// Since `beat` is a local, we can have it initialized.
#[task(local = [beat: u32 = 0])]
fn beat_update(cx: beat_update::Context) {
if *cx.local.beat % 10 == 0 {
rprintln!("TIM2 beat = {}", *cx.local.beat);
// Poll the encoder and send its state to the idle task via the shared
// `update` resource. Print out the raw encoder count when the button is
// pressed.
//
// Since `count` is a local, we can have it initialized with a const expr.
#[task(local = [count: u16 = 0, encoder], shared = [update])]
fn count_update(mut cx: count_update::Context) {
let delta = cx.local.encoder.poll_count_delta();
let button_up = cx.local.encoder.poll_button_up();
if button_up {
rprintln!("Button pressed: encoder count is {}", cx.local.encoder.count());
}
*cx.local.beat += 1;
cx.shared.update.lock(|upd| upd.replace((delta, button_up)));
}
// Interrupt task for TIM2, the beat counter timer
#[task(binds = TIM2, priority = 2, local = [tmr2])]
// Interrupt task for TIM2, the control polling timer
#[task(binds = TIM2, priority = 2, local = [poll_timer])]
fn tim2(cx: tim2::Context) {
// Delegate the state update to a software task
beat_update::spawn().unwrap();
count_update::spawn().unwrap();
// Restart the timer and clear the interrupt flag
cx.local.tmr2.start(1.hz());
cx.local.tmr2.clear_update_interrupt_flag();
cx.local.poll_timer.start(60.hz());
cx.local.poll_timer.clear_update_interrupt_flag();
}
// Interrupt task for TIM3, the LED blink timer
#[task(binds = TIM3, priority = 1, local = [led1, tmr3])]
#[task(binds = TIM3, priority = 1, local = [led, blink_timer])]
fn tim3(cx: tim3::Context) {
cx.local.led1.toggle();
cx.local.tmr3.start(2.hz());
cx.local.tmr3.clear_update_interrupt_flag();
cx.local.led.toggle();
cx.local.blink_timer.start(2.hz());
cx.local.blink_timer.clear_update_interrupt_flag();
}
}

298
cross/src/board.rs Normal file
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@ -0,0 +1,298 @@
//! Hardware initialization and control wrappers
use stm32f1xx_hal as hal;
use hal::{
prelude::*,
stm32::{self, Peripherals},
timer::{Timer, Tim4NoRemap},
i2c::{BlockingI2c, DutyCycle, Mode},
qei::{Qei, QeiOptions},
};
// re-export some of the types from the HAL we're not wrapping
pub use hal::timer::{Event, CountDownTimer};
pub use stm32::{TIM2, TIM3};
use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306, mode::BufferedGraphicsMode};
// Imports for specifying the types of pins
// The Pin type takes 4 parameters; config, low/high register, bank name, and number
// E.g. Pin<Input<Floating>, CRL, 'A', 0> for PA0 in input mode with no pull resistor.
use hal::gpio::{Pin, Input, Output, Floating, PushPull, CRL, CRH, Alternate, OpenDrain};
//
// The Board peripheral collection
//
/// The managed peripherals for this Blue Pill project board
pub struct Board {
pub encoder: Encoder,
pub display: Display,
pub led: UserLed,
pub poll_timer: CountDownTimer<TIM2>,
pub blink_timer: CountDownTimer<TIM3>,
}
impl Board {
/// Set up clocks and pin mappings for peripherals on the board
///
/// This returns a plain struct containing all the managed
/// peripherals so that it can be destructured.
pub fn init(periphs: Peripherals) -> Self {
// Set up board clocks
let mut flash = periphs.FLASH.constrain();
let rcc = periphs.RCC.constrain();
let clocks = rcc
.cfgr
.use_hse(8.mhz())
.sysclk(72.mhz())
.hclk(72.mhz())
.pclk1(36.mhz())
.pclk2(72.mhz())
.adcclk(12.mhz())
.freeze(&mut flash.acr);
// LED is on pin C13, configure it for output
let mut gpioc = periphs.GPIOC.split();
let led_pin = gpioc.pc13;
let led = UserLed::new(led_pin, &mut gpioc.crh);
let mut gpiob = periphs.GPIOB.split();
// Rotary encoder uses TIM4 on B6 and B7, and B8 as the encoder button.
let enc_clk = gpiob.pb6;
let enc_dt = gpiob.pb7;
let enc_button = gpiob.pb8;
let mut afio = periphs.AFIO.constrain();
let encoder = Encoder::new(
periphs.TIM4,
enc_clk,
enc_dt,
enc_button,
&mut afio.mapr,
&clocks,
);
// Use TIM2 for the control polling task
let poll_timer = Timer::tim2(periphs.TIM2, &clocks).start_count_down(1.hz());
// Use TIM3 for the LED blinker task
let blink_timer = Timer::tim3(periphs.TIM3, &clocks).start_count_down(2.hz());
// I2C for display is on gpiob B10 and B11
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(
periphs.I2C2,
(scl, sda),
Mode::Fast {
frequency: 400_000.hz(),
duty_cycle: DutyCycle::Ratio2to1,
},
clocks,
1000,
10,
1000,
1000,
);
let display = Display::new(i2c);
Self {
encoder,
display,
led,
poll_timer,
blink_timer,
}
}
}
/// The user-controllable green LED
pub struct UserLed(Pin<Output<PushPull>, CRH, 'C', 13>);
impl UserLed {
/// Create the LED controller from the pin it is attached to
///
/// Requires both the pin and a mutable reference to its control register
pub fn new(pin: Pin<Input<Floating>, CRH, 'C', 13>, cr: &mut hal::gpio::Cr<CRH, 'C'>) -> Self {
let led = pin.into_push_pull_output(cr);
Self(led)
}
/// Toggle the state of the LED
///
/// The state is managed in the hardware; the HAL api this calls will read,
/// modify, and write the control register to change the state.
pub fn toggle(&mut self) {
self.0.toggle();
}
}
//
// Rotary Encoder
//
use switch_hal::{Switch, ActiveLow, InputSwitch, IntoSwitch};
type EncoderQei = Qei<
stm32::TIM4,
Tim4NoRemap,
(Pin<Input<Floating>, CRL, 'B', 6>,
Pin<Input<Floating>, CRL, 'B', 7>)
>;
/// A rotary encoder peripheral with a push-button shaft
///
/// This can return the current readings of the shaft count and buttons and
/// also statefully poll for rotation deltas and "button up" events.
///
/// Monitoring the position is handled by the TIM4 timer in quadrature encoder
/// mode, which provides clean and accurate positioning with no software
/// overhead.
pub struct Encoder {
qei: EncoderQei,
button: Switch<Pin<Input<Floating>, CRH, 'B', 8>, ActiveLow>,
last_count: u16,
last_active: bool,
}
impl Encoder {
/// Create a new encoder manager
///
/// You must supply the following:
/// + The timer control register
/// + 2 pins attached to the timer for monitoring rotation
/// + 1 gpio pin for monitoring the button (active low)
/// + Mutable reference to the `MAPR` register
/// + Shared reference to `Clocks`
pub fn new(
timer: stm32::TIM4,
clk_pin: Pin<Input<Floating>, CRL, 'B', 6>,
dt_pin: Pin<Input<Floating>, CRL, 'B', 7>,
button_pin: Pin<Input<Floating>, CRH, 'B', 8>,
mapr: &mut hal::afio::MAPR,
&clocks: &hal::rcc::Clocks,
) -> Self {
let qei = Timer::tim4(timer, &clocks)
.qei((clk_pin, dt_pin), mapr, QeiOptions::default());
let button = button_pin.into_active_low_switch();
Self {
qei,
button,
last_count: 0,
last_active: false,
}
}
/// Get the current count from the encoder
///
/// Each tick of the counter represents one of the tactile detents, which
/// occur once every 4 of the raw counts.
pub fn count(&self) -> u16 {
self.qei.count() / 4
}
/// Get the current depressed state of the shaft button of the encoder
///
/// This will be `true` while the shaft is being pressed down and `false`
/// when it is not being depressed.
pub fn is_pressed(&self) -> bool {
self.button.is_active().unwrap()
}
/// Statefully get the number of ticks the shaft has turned since last poll
///
/// Each poll stores the current position and returns the delta between the
/// current position and the last one.
pub fn poll_count_delta(&mut self) -> i32 {
let prev = self.last_count;
let current = self.count();
self.last_count = current;
i32::from(current) - i32::from(prev)
}
/// Statefully poll for "button up" events
///
/// Each poll stores the current button state and returns whether the
/// button returned to the inactive state from the active state since
/// the previous poll.
pub fn poll_button_up(&mut self) -> bool {
let prev = self.last_active;
let current = self.button.is_active().unwrap();
self.last_active = current;
!current && prev
}
}
//
// OLED Display
//
type DisplayI2c = BlockingI2c<
stm32::I2C2,
(Pin<Alternate<OpenDrain>, CRH, 'B', 10>,
Pin<Alternate<OpenDrain>, CRH, 'B', 11>)
>;
type DisplayController = Ssd1306<
I2CInterface<DisplayI2c>,
DisplaySize128x64,
BufferedGraphicsMode<DisplaySize128x64>
>;
/// An I2C-attached SSD1306 128x64 OLED display
///
/// This manages the I2C communication with the controller, providing `draw`
/// and `flush` methods for interacting with the `embedded-graphics` crate.
pub struct Display {
controller: DisplayController,
}
impl Display {
/// Create the OLED display manager
///
/// This requires a pre-configred `BlockingI2c` bus manager. It initializes
/// the controller upon construction but doesn't flush it.
///
/// The underlying `Ssd1306` controller is configured for buffered graphics
/// mode.
pub fn new(i2c: DisplayI2c) -> Self {
let interface = I2CDisplayInterface::new(i2c);
let mut controller = Ssd1306::new(interface, DisplaySize128x64, DisplayRotation::Rotate0)
.into_buffered_graphics_mode();
controller.init().unwrap();
Self {
controller,
}
}
/// Flush the buffered graphics operations to the display
pub fn flush(&mut self) {
self.controller.flush().ok();
}
/// Draw the current state of the UI model to the display
///
/// This includes a flush operation.
pub fn draw(&mut self, model: &mut ui::HelloDisplay<128,64>) {
model.draw(&mut self.controller).ok();
self.controller.flush().ok();
}
}
// Implement Deref and DerefMut so we can treat Display as a DisplayController
use core::ops::{Deref, DerefMut};
impl Deref for Display {
type Target = DisplayController;
fn deref(&self) -> &Self::Target {
&self.controller
}
}
impl DerefMut for Display {
fn deref_mut(&mut self) -> &mut Self::Target {
&mut self.controller
}
}

12
cross/src/lib.rs Normal file
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@ -0,0 +1,12 @@
//! Blue Pill Rust project with UI and RTIC
//!
//! This is the core library of the firmware that runs on the Blue Pill itself
#![no_std]
#![no_main]
use panic_rtt_target as _;
use stm32f1xx_hal as _; // memory layout
pub mod board;