From 643d2870b59541366da84b0e9d2d2a48dfcf347f Mon Sep 17 00:00:00 2001
From: Tim Docker <tim@dockerz.net>
Date: Mon, 8 Oct 2018 10:21:06 +1100
Subject: [PATCH] sport protocol demonstration
---
sport-demo/.cargo/config | 10 ++
sport-demo/.gdbinit | 21 ++++
sport-demo/Cargo.lock | 205 +++++++++++++++++++++++++++++++++++++++
sport-demo/Cargo.toml | 49 ++++++++++
sport-demo/README.md | 11 +++
sport-demo/build.rs | 18 ++++
sport-demo/memory.x | 22 +++++
sport-demo/src/main.rs | 87 +++++++++++++++++
sport-demo/src/sbus.rs | 51 ++++++++++
9 files changed, 474 insertions(+)
create mode 100644 sport-demo/.cargo/config
create mode 100644 sport-demo/.gdbinit
create mode 100644 sport-demo/Cargo.lock
create mode 100644 sport-demo/Cargo.toml
create mode 100644 sport-demo/README.md
create mode 100644 sport-demo/build.rs
create mode 100644 sport-demo/memory.x
create mode 100644 sport-demo/src/main.rs
create mode 100644 sport-demo/src/sbus.rs
diff --git a/sport-demo/.cargo/config b/sport-demo/.cargo/config
new file mode 100644
index 0000000..d62cf99
--- /dev/null
+++ b/sport-demo/.cargo/config
@@ -0,0 +1,10 @@
+[target.thumbv7em-none-eabi]
+runner = 'arm-none-eabi-gdb'
+rustflags = [
+# "-C", "linker=arm-none-eabi-gcc",
+# "-C", "link-arg=-Wl,-Tlink.x",
+# "-C", "link-arg=-nostartfiles"
+ "-C", "link-arg=-Tlink.x"
+]
+[build]
+target = "thumbv7em-none-eabi"
diff --git a/sport-demo/.gdbinit b/sport-demo/.gdbinit
new file mode 100644
index 0000000..0c4f8c8
--- /dev/null
+++ b/sport-demo/.gdbinit
@@ -0,0 +1,21 @@
+target remote :3333
+
+# print demangled symbols by default
+set print asm-demangle on
+
+#monitor arm semihosting enable
+
+# # send captured ITM to the file itm.fifo
+# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
+# # 8000000 must match the core clock frequency
+monitor tpiu config internal itm.fifo uart off 168000000
+
+# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
+# # 2000000 is the frequency of the SWO pin
+# monitor tpiu config external uart off 8000000 2000000
+
+# # enable ITM port 0
+monitor itm port 0 on
+
+load
+step
diff --git a/sport-demo/Cargo.lock b/sport-demo/Cargo.lock
new file mode 100644
index 0000000..c66acfa
--- /dev/null
+++ b/sport-demo/Cargo.lock
@@ -0,0 +1,205 @@
+[[package]]
+name = "aligned"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "bare-metal"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "cast"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "cortex-m"
+version = "0.5.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "bare-metal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "cortex-m-rt"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "cortex-m-rt-macros 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "cortex-m-rt-macros"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.19 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand 0.5.5 (registry+https://github.com/rust-lang/crates.io-index)",
+ "syn 0.15.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "nb"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "panic-itm"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "cortex-m 0.5.7 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "0.4.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "quote"
+version = "0.6.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.19 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "r0"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "rand"
+version = "0.5.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand_core 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "sport-demo"
+version = "0.0.1"
+dependencies = [
+ "cast 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m 0.5.7 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)",
+ "embedded-hal 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "panic-itm 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "stm32f407g-disc 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "stm32f4xx-hal 0.1.0",
+]
+
+[[package]]
+name = "stm32f4"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "bare-metal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m 0.5.7 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)",
+ "vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "stm32f407g-disc"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "cortex-m 0.5.7 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)",
+ "embedded-hal 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "stm32f4xx-hal 0.1.0",
+]
+
+[[package]]
+name = "stm32f4xx-hal"
+version = "0.1.0"
+dependencies = [
+ "bare-metal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cast 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m 0.5.7 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)",
+ "embedded-hal 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "stm32f4 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "syn"
+version = "0.15.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.19 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "unicode-xid"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "vcell"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[metadata]
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+"checksum cortex-m-rt 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)" = "d86cfa89fa220d3cb7a41133693e2d302d18e9a632298ffb3738f175c8c12325"
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+"checksum quote 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)" = "dd636425967c33af890042c483632d33fa7a18f19ad1d7ea72e8998c6ef8dea5"
+"checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
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diff --git a/sport-demo/Cargo.toml b/sport-demo/Cargo.toml
new file mode 100644
index 0000000..d744fd0
--- /dev/null
+++ b/sport-demo/Cargo.toml
@@ -0,0 +1,49 @@
+# THIS FILE IS AUTOMATICALLY GENERATED BY CARGO
+#
+# When uploading crates to the registry Cargo will automatically
+# "normalize" Cargo.toml files for maximal compatibility
+# with all versions of Cargo and also rewrite `path` dependencies
+# to registry (e.g. crates.io) dependencies
+#
+# If you believe there's an error in this file please file an
+# issue against the rust-lang/cargo repository. If you're
+# editing this file be aware that the upstream Cargo.toml
+# will likely look very different (and much more reasonable)
+
+[package]
+name = "sport-demo"
+version = "0.0.1"
+authors = ["Tim Docker<tim@dockerz.net>"]
+description = "A flashing light"
+keywords = ["arm", "cortex-m"]
+categories = ["embedded", "no-std"]
+license = "MIT OR Apache-2.0"
+repository = "https://github.com/timbod7/..."
+
+[dependencies.cast]
+version = "0.2.2"
+default-features = false
+
+[dependencies.stm32f407g-disc]
+version = "0.1.0"
+
+[dependencies.embedded-hal]
+version = "0.2.1"
+
+[dependencies.cortex-m]
+version = "0.5.7"
+
+[dependencies.cortex-m-rt]
+version = "0.6.4"
+
+[dependencies.panic-itm]
+version = "0.4.0"
+
+[dependencies.nb]
+version = "0.1.1"
+
+[dependencies.stm32f4xx-hal]
+version = "0.1.0"
+
+[patch.crates-io]
+stm32f4xx-hal = { path = "../../repos-3rd-party/stm32f4xx-hal" }
\ No newline at end of file
diff --git a/sport-demo/README.md b/sport-demo/README.md
new file mode 100644
index 0000000..abd47ca
--- /dev/null
+++ b/sport-demo/README.md
@@ -0,0 +1,11 @@
+Run the binary on the stm32f407 discovery board as per normal. With
+the gdb configuration as in this directory, an itm.fifo file will be
+written.
+
+Run this command:
+
+```
+itmdump -F -f itm.fifo
+```
+
+to follow it.
diff --git a/sport-demo/build.rs b/sport-demo/build.rs
new file mode 100644
index 0000000..98f603e
--- /dev/null
+++ b/sport-demo/build.rs
@@ -0,0 +1,18 @@
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+ // Put the linker script somewhere the linker can find it
+ 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());
+
+ // Only re-run the build script when memory.x is changed,
+ // instead of when any part of the source code changes.
+ println!("cargo:rerun-if-changed=memory.x");
+}
diff --git a/sport-demo/memory.x b/sport-demo/memory.x
new file mode 100644
index 0000000..f4df782
--- /dev/null
+++ b/sport-demo/memory.x
@@ -0,0 +1,22 @@
+MEMORY
+{
+ /* NOTE K = KiBi = 1024 bytes */
+ FLASH : ORIGIN = 0x08000000, LENGTH = 256K
+ RAM : ORIGIN = 0x20000000, LENGTH = 40K
+}
+
+/* This is where the call stack will be allocated. */
+/* The stack is of the full descending type. */
+/* You may want to use this variable to locate the call stack and static
+ variables in different memory regions. Below is shown the default value */
+/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
+
+/* You can use this symbol to customize the location of the .text section */
+/* If omitted the .text section will be placed right after the .vector_table
+ section */
+/* This is required only on microcontrollers that store some configuration right
+ after the vector table */
+/* _stext = ORIGIN(FLASH) + 0x400; */
+
+/* Size of the heap (in bytes) */
+/* _heap_size = 1024; */
diff --git a/sport-demo/src/main.rs b/sport-demo/src/main.rs
new file mode 100644
index 0000000..2d924ac
--- /dev/null
+++ b/sport-demo/src/main.rs
@@ -0,0 +1,87 @@
+#![no_main]
+#![no_std]
+
+extern crate cortex_m;
+extern crate cortex_m_rt;
+extern crate panic_itm;
+
+extern crate stm32f407g_disc as board;
+extern crate embedded_hal as hal;
+
+use cortex_m_rt::entry;
+
+use board::hal::delay::Delay;
+use board::hal::prelude::*;
+use board::hal::stm32;
+use board::gpio;
+use board::gpio::gpiod::{PD12, PD13, PD14, PD15};
+use board::hal::serial;
+use board::hal::serial::{Serial};
+
+#[macro_use(block)]
+extern crate nb;
+mod sbus;
+
+use hal::digital::OutputPin;
+
+use cortex_m::iprintln;
+use cortex_m::peripheral::Peripherals;
+
+struct Leds {
+ green: PD12<gpio::Output<gpio::PushPull>>,
+ orange: PD13<gpio::Output<gpio::PushPull>>,
+ red: PD14<gpio::Output<gpio::PushPull>>,
+ blue: PD15<gpio::Output<gpio::PushPull>>,
+}
+
+#[entry]
+fn main() -> ! {
+ if let (Some(p), Some(cp)) = (stm32::Peripherals::take(), Peripherals::take()) {
+ let gpiod = p.GPIOD.split();
+ let mut itm = cp.ITM;
+
+ // Constrain clock registers
+ let mut rcc = p.RCC.constrain();
+
+ // Configure clock to 168 MHz (i.e. the maximum) and freeze it
+ let clocks = rcc.cfgr.sysclk(168.mhz()).freeze();
+
+ // USART2 at PD5 (TX) and PD6(RX)
+ let txpin = gpiod.pd5.into_alternate_af7();
+ let rxpin = gpiod.pd6.into_alternate_af7();
+ let config = serial::config::Config::default()
+ .baudrate(100_000.bps())
+ .parity_even()
+ .wordlength_9()
+ .stopbits(serial::config::StopBits::STOP2);
+ let serial = Serial::usart2(p.USART2, (txpin, rxpin), config, clocks).unwrap();
+
+ let (mut tx, mut rx) = serial.split();
+
+ // Get delay provider
+ let mut delay = Delay::new(cp.SYST, clocks);
+
+ iprintln!(&mut itm.stim[0], "start" );
+
+ let mut state = sbus::SbusReadState::default();
+
+ loop {
+ let received = block!(rx.read());
+ match received {
+ Ok(c) => {
+ let complete = sbus::process_char(&mut state, c);
+ if complete {
+ iprintln!(&mut itm.stim[0], "{} {}", state.frame.channels[0], state.frame.channels[1] );
+ }
+ },
+ Err(e) => {
+ iprintln!(&mut itm.stim[0], "err" );
+
+ },
+ }
+
+ }
+ }
+
+ loop {}
+}
\ No newline at end of file
diff --git a/sport-demo/src/sbus.rs b/sport-demo/src/sbus.rs
new file mode 100644
index 0000000..d9c0876
--- /dev/null
+++ b/sport-demo/src/sbus.rs
@@ -0,0 +1,51 @@
+#[derive(Default)]
+pub struct SbusFrame {
+ pub channels: [u16; 16],
+ pub channel17: bool,
+ pub channel18: bool,
+ pub frame_lost: bool,
+ pub failsafe: bool
+}
+
+#[derive(Default)]
+pub struct SbusReadState {
+ pub bytei: u16,
+ pub frame: SbusFrame,
+}
+
+pub fn process_idle(state: &mut SbusReadState) {
+ *state = SbusReadState::default();
+}
+
+pub fn process_char(state: &mut SbusReadState, c: u8) -> bool {
+ if state.bytei == 0 {
+ if c == 0x0f {
+ state.bytei = state.bytei + 1;
+ state.frame = SbusFrame::default();
+ }
+ false
+ } else if state.bytei < 23 {
+ let c16: u16 = c.into();
+ let biti = (state.bytei - 1) * 8;
+ let x = c16 << (biti % 11);
+ let y = x >> 11;
+ let ci: usize = (biti / 11).into();
+ state.frame.channels[ci] = (state.frame.channels[ci] | x) & 0b11111111111;
+ if y != 0 {
+ state.frame.channels[ci+1] |= y;
+ }
+ state.bytei = state.bytei + 1;
+ false
+ } else if state.bytei == 23 {
+ state.frame.channel17 = c & 1 != 0;
+ state.frame.channel18 = c & 2 != 0;
+ state.frame.frame_lost = c & 4 != 0;
+ state.frame.failsafe = c & 8 != 0;
+ state.bytei = state.bytei + 1;
+ false
+ } else {
+ state.bytei = 0;
+ // success if the last byte was 0
+ c == 0
+ }
+}
\ No newline at end of file
--
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