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Robin Müller 2024-05-19 21:44:09 +02:00
parent 1c78be6e90
commit f1a1cd6054
Signed by: muellerr
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1
Cargo.toml
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@ -10,5 +10,6 @@ members = [
exclude = [
"embedded-examples/stm32f3-disco-rtic",
"embedded-examples/stm32h7-rtic",
]

3
embedded-examples/stm32h7-rtic/.gitignore vendored Normal file
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@ -0,0 +1,3 @@
/target
/.cargo/config*
/.vscode

412
embedded-examples/stm32h7-rtic/Cargo.lock generated Normal file
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@ -0,0 +1,412 @@
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64
embedded-examples/stm32h7-rtic/Cargo.toml Normal file
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@ -0,0 +1,64 @@
[package]
authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
name = "satrs-stm32h7-rtic"
edition = "2021"
version = "0.1.0"
default-run = "satrs-stm32h7-rtic"
[lib]
harness = false
# needed for each integration test
[[test]]
name = "integration"
harness = false
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
defmt = "0.3"
defmt-rtt = "0.4"
panic-probe = { version = "0.3", features = ["print-defmt"] }
cortex-m-semihosting = "0.5.0"
stm32h7xx-hal = { version="0.16", features= ["stm32h743v"] }
[dev-dependencies]
defmt-test = "0.3"
# cargo build/run
[profile.dev]
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = 'z' # <-
overflow-checks = true # <-
# cargo test
[profile.test]
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = 3 # <-
overflow-checks = true # <-
# cargo build/run --release
[profile.release]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = 3 # <-
overflow-checks = false # <-
# cargo test --release
[profile.bench]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = 3 # <-
overflow-checks = false # <-

201
embedded-examples/stm32h7-rtic/LICENSE-APACHE Normal file
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@ -0,0 +1,201 @@
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on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
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Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
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Permission is hereby granted, free of charge, to any
person obtaining a copy of this software and associated
documentation files (the "Software"), to deal in the
Software without restriction, including without
limitation the rights to use, copy, modify, merge,
publish, distribute, sublicense, and/or sell copies of
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The above copyright notice and this permission notice
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
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SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

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# `app-template`
> Quickly set up a [`probe-rs`] + [`defmt`] + [`flip-link`] embedded project
[`probe-rs`]: https://crates.io/crates/probe-rs
[`defmt`]: https://github.com/knurling-rs/defmt
[`flip-link`]: https://github.com/knurling-rs/flip-link
## Dependencies
#### 1. `flip-link`:
```console
$ cargo install flip-link
```
#### 2. `probe-rs`:
``` console
$ # make sure to install v0.2.0 or later
$ cargo install probe-rs --features cli
```
#### 3. [`cargo-generate`]:
``` console
$ cargo install cargo-generate
```
[`cargo-generate`]: https://crates.io/crates/cargo-generate
> *Note:* You can also just clone this repository instead of using `cargo-generate`, but this involves additional manual adjustments.
## Setup
#### 1. Initialize the project template
``` console
$ cargo generate \
--git https://github.com/knurling-rs/app-template \
--branch main \
--name my-app
```
If you look into your new `my-app` folder, you'll find that there are a few `TODO`s in the files marking the properties you need to set.
Let's walk through them together now.
#### 2. Set `probe-rs` chip
Pick a chip from ` probe-rs chip list` and enter it into `.cargo/config.toml`.
If, for example, you have a nRF52840 Development Kit from one of [our workshops], replace `{{chip}}` with `nRF52840_xxAA`.
[our workshops]: https://github.com/ferrous-systems/embedded-trainings-2020
``` diff
# .cargo/config.toml
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "probe-rs run --chip {{chip}}"
+runner = "probe-rs run --chip nRF52840_xxAA"
```
#### 2.1 Pass custom log format
You need to use an array of strings instead of a single string for the `runner` if you use a custom log format.
```toml
runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
```
#### 3. Adjust the compilation target
In `.cargo/config.toml`, pick the right compilation target for your board.
``` diff
# .cargo/config.toml
[build]
-target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
-# target = "thumbv7m-none-eabi" # Cortex-M3
-# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
-# target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F (with FPU)
```
Add the target with `rustup`.
``` console
$ rustup target add thumbv7em-none-eabihf
```
#### 4. Add a HAL as a dependency
In `Cargo.toml`, list the Hardware Abstraction Layer (HAL) for your board as a dependency.
For the nRF52840 you'll want to use the [`nrf52840-hal`].
[`nrf52840-hal`]: https://crates.io/crates/nrf52840-hal
``` diff
# Cargo.toml
[dependencies]
-# some-hal = "1.2.3"
+nrf52840-hal = "0.14.0"
```
⚠️ Note for RP2040 users ⚠️
You will need to not just specify the `rp-hal` HAL, but a BSP (board support crate) which includes a second stage bootloader. Please find a list of available BSPs [here](https://github.com/rp-rs/rp-hal-boards#packages).
#### 5. Import your HAL
Now that you have selected a HAL, fix the HAL import in `src/lib.rs`
``` diff
// my-app/src/lib.rs
-// use some_hal as _; // memory layout
+use nrf52840_hal as _; // memory layout
```
#### (6. Get a linker script)
Some HAL crates require that you manually copy over a file called `memory.x` from the HAL to the root of your project. For nrf52840-hal, this is done automatically so no action is needed. For other HAL crates, you can get it from your local Cargo folder, the default location is under:
```
~/.cargo/registry/src/
```
Not all HALs provide a `memory.x` file, you may need to write it yourself. Check the documentation for the HAL you are using.
#### 7. Run!
You are now all set to `cargo-run` your first `defmt`-powered application!
There are some examples in the `src/bin` directory.
Start by `cargo run`-ning `my-app/src/bin/hello.rs`:
``` console
$ # `rb` is an alias for `run --bin`
$ cargo rb hello
Finished dev [optimized + debuginfo] target(s) in 0.03s
flashing program ..
DONE
resetting device
0.000000 INFO Hello, world!
(..)
$ echo $?
0
```
If you're running out of memory (`flip-link` bails with an overflow error), you can decrease the size of the device memory buffer by setting the `DEFMT_RTT_BUFFER_SIZE` environment variable. The default value is 1024 bytes, and powers of two should be used for optimal performance:
``` console
$ DEFMT_RTT_BUFFER_SIZE=64 cargo rb hello
```
#### (8. Set `rust-analyzer.linkedProjects`)
If you are using [rust-analyzer] with VS Code for IDE-like features you can add following configuration to your `.vscode/settings.json` to make it work transparently across workspaces. Find the details of this option in the [RA docs].
```json
{
"rust-analyzer.linkedProjects": [
"Cargo.toml",
"firmware/Cargo.toml",
]
}
```
[RA docs]: https://rust-analyzer.github.io/manual.html#configuration
[rust-analyzer]: https://rust-analyzer.github.io/
## Running tests
The template comes configured for running unit tests and integration tests on the target.
Unit tests reside in the library crate and can test private API; the initial set of unit tests are in `src/lib.rs`.
`cargo test --lib` will run those unit tests.
``` console
$ cargo test --lib
(1/1) running `it_works`...
└─ app::unit_tests::__defmt_test_entry @ src/lib.rs:33
all tests passed!
└─ app::unit_tests::__defmt_test_entry @ src/lib.rs:28
```
Integration tests reside in the `tests` directory; the initial set of integration tests are in `tests/integration.rs`.
`cargo test --test integration` will run those integration tests.
Note that the argument of the `--test` flag must match the name of the test file in the `tests` directory.
``` console
$ cargo test --test integration
(1/1) running `it_works`...
└─ integration::tests::__defmt_test_entry @ tests/integration.rs:13
all tests passed!
└─ integration::tests::__defmt_test_entry @ tests/integration.rs:8
```
Note that to add a new test file to the `tests` directory you also need to add a new `[[test]]` section to `Cargo.toml`.
## Support
`app-template` is part of the [Knurling] project, [Ferrous Systems]' effort at
improving tooling used to develop for embedded systems.
If you think that our work is useful, consider sponsoring it via [GitHub
Sponsors].
## License
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 http://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.
[Knurling]: https://knurling.ferrous-systems.com
[Ferrous Systems]: https://ferrous-systems.com/
[GitHub Sponsors]: https://github.com/sponsors/knurling-rs

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MEMORY
{
/* FLASH and RAM are mandatory memory regions */
/* STM32H742xI/743xI/753xI */
/* STM32H745xI/747xI/755xI/757xI */
/* STM32H7A3xI/7B3xI */
FLASH : ORIGIN = 0x08000000, LENGTH = 2M
/* STM32H742xG/743xG */
/* STM32H745xG/STM32H747xG */
/* STM32H7A3xG */
/* FLASH : ORIGIN = 0x08000000, LENGTH = 512K */
/* FLASH1 : ORIGIN = 0x08100000, LENGTH = 512K */
/* STM32H750xB */
/* STM32H7B0 */
/* FLASH : ORIGIN = 0x08000000, LENGTH = 128K */
/* DTCM */
RAM : ORIGIN = 0x20000000, LENGTH = 128K
/* AXISRAM */
AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
/* SRAM */
SRAM1 : ORIGIN = 0x30000000, LENGTH = 128K
SRAM2 : ORIGIN = 0x30020000, LENGTH = 128K
SRAM3 : ORIGIN = 0x30040000, LENGTH = 32K
SRAM4 : ORIGIN = 0x38000000, LENGTH = 64K
/* Backup SRAM */
BSRAM : ORIGIN = 0x38800000, LENGTH = 4K
/* Instruction TCM */
ITCM : ORIGIN = 0x00000000, LENGTH = 64K
}
/* The location of the stack can be overridden using the
`_stack_start` symbol. Place the stack at the end of RAM */
_stack_start = ORIGIN(RAM) + LENGTH(RAM);
/* The location of the .text section can be overridden using the
`_stext` symbol. By default it will place after .vector_table */
/* _stext = ORIGIN(FLASH) + 0x40c; */
/* These sections are used for some of the examples */
SECTIONS {
.axisram (NOLOAD) : ALIGN(8) {
*(.axisram .axisram.*);
. = ALIGN(8);
} > AXISRAM
/* The SRAM1 and SRAM2 section are commonly used as the stack and heap for the
CM4 core in dualcore versions and should thus not be used in examples*/
.sram3 (NOLOAD) : ALIGN(4) {
*(.sram3 .sram3.*);
. = ALIGN(4);
} > SRAM3
.sram4 (NOLOAD) : ALIGN(4) {
*(.sram4 .sram4.*);
. = ALIGN(4);
} > SRAM4
};

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#![no_main]
#![no_std]
use satrs_stm32h7_rtic as _; // global logger + panicking-behavior + memory layout
#[cortex_m_rt::entry]
fn main() -> ! {
defmt::println!("Hello, world!");
satrs_stm32h7_rtic::exit()
}

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#![no_main]
#![no_std]
use cortex_m_semihosting::debug;
use defmt_rtt as _; // global logger
// TODO(5) adjust HAL import
use stm32h7xx_hal as _; // memory layout
use panic_probe as _;
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
cortex_m::asm::udf()
}
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with status code 0.
pub fn exit() -> ! {
loop {
debug::exit(debug::EXIT_SUCCESS);
}
}
/// Hardfault handler.
///
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with an error. This seems better than the default, which is to spin in a
/// loop.
#[cortex_m_rt::exception]
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
loop {
debug::exit(debug::EXIT_FAILURE);
}
}
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
// once within a crate. the module can be in any file but there can only be at most
// one `#[tests]` module in this library crate
#[cfg(test)]
#[defmt_test::tests]
mod unit_tests {
use defmt::assert;
#[test]
fn it_works() {
assert!(true)
}
}

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#![no_main]
#![no_std]
use satrs_stm32h7_rtic as _; // global logger + panicking-behavior + memory layout
#[cortex_m_rt::entry]
fn main() -> ! {
defmt::println!("Hello, world!");
satrs_stm32h7_rtic::exit()
}

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#![no_std]
#![no_main]
use stm32h7_testapp as _; // memory layout + panic handler
// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
// feature)
#[defmt_test::tests]
mod tests {
use defmt::assert;
#[test]
fn it_works() {
assert!(true)
}
}

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/settings.json
/.cortex-debug.*

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{
// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
// List of extensions which should be recommended for users of this workspace.
"recommendations": [
"rust-lang.rust",
"probe-rs.probe-rs-debugger"
],
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
"unwantedRecommendations": []
}

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{
"version": "0.2.0",
"configurations": [
{
"preLaunchTask": "${defaultBuildTask}",
"type": "probe-rs-debug",
"request": "launch",
"name": "probe-rs Debugging ",
"flashingConfig": {
"flashingEnabled": true
},
"chip": "STM32H743ZITx",
"coreConfigs": [
{
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-rtic",
"rttEnabled": true,
"svdFile": "STM32H743.svd"
}
]
}
]
}

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{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"label": "cargo build",
"type": "shell",
"command": "~/.cargo/bin/cargo", // note: full path to the cargo
"args": [
"build"
],
"group": {
"kind": "build",
"isDefault": true
}
},
]
}