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+ +critical-section = "1.2.0" +esp-alloc = "0.9.0" +rtt-target = "0.6.2" + + +[profile.dev] +# Rust debug is too slow. +# For debug builds always builds with some optimization +opt-level = "s" + +[profile.release] +codegen-units = 1 # LLVM can perform better optimizations using a single thread +debug = 2 +debug-assertions = false +incremental = false +lto = 'fat' +opt-level = 's' +overflow-checks = false diff --git a/spinnyboy_rust/build.rs b/spinnyboy_rust/build.rs new file mode 100644 index 0000000..ace34e7 --- /dev/null +++ b/spinnyboy_rust/build.rs @@ -0,0 +1,56 @@ +fn main() { + linker_be_nice(); + // make sure linkall.x is the last linker script (otherwise might cause problems with flip-link) + println!("cargo:rustc-link-arg=-Tlinkall.x"); +} + +fn linker_be_nice() { + let args: Vec = std::env::args().collect(); + if args.len() > 1 { + let kind = &args[1]; + let what = &args[2]; + + match kind.as_str() { + "undefined-symbol" => match what.as_str() { + "_defmt_timestamp" => { + eprintln!(); + eprintln!( + "💡 `defmt` not found - make sure `defmt.x` is added as a linker script and you have included `use defmt_rtt as _;`" + ); + eprintln!(); + } + "_stack_start" => { + eprintln!(); + eprintln!("💡 Is the linker script `linkall.x` missing?"); + eprintln!(); + } + "esp_rtos_initialized" | "esp_rtos_yield_task" | "esp_rtos_task_create" => { + eprintln!(); + eprintln!( + "💡 `esp-radio` has no scheduler enabled. Make sure you have initialized `esp-rtos` or provided an external scheduler." + ); + eprintln!(); + } + "embedded_test_linker_file_not_added_to_rustflags" => { + eprintln!(); + eprintln!( + "💡 `embedded-test` not found - make sure `embedded-test.x` is added as a linker script for tests" + ); + eprintln!(); + } + _ => (), + }, + // we don't have anything helpful for "missing-lib" yet + _ => { + std::process::exit(1); + } + } + + std::process::exit(0); + } + + println!( + "cargo:rustc-link-arg=--error-handling-script={}", + std::env::current_exe().unwrap().display() + ); +} diff --git a/spinnyboy_rust/rust-toolchain.toml b/spinnyboy_rust/rust-toolchain.toml new file mode 100644 index 0000000..fc10d6a --- /dev/null +++ b/spinnyboy_rust/rust-toolchain.toml @@ -0,0 +1,4 @@ +[toolchain] +channel = "stable" +components = ["rust-src"] +targets = ["riscv32imac-unknown-none-elf"] diff --git a/spinnyboy_rust/shell.nix b/spinnyboy_rust/shell.nix new file mode 100644 index 0000000..8570f2f --- /dev/null +++ b/spinnyboy_rust/shell.nix @@ -0,0 +1,19 @@ +{ pkgs ? import {}}: +let rust-toolchain = with pkgs; symlinkJoin { + name = "rust-toolchain"; + paths = [ + probe-rs-tools + rustup + rustc + cargo + rustfmt + rust-analyzer + clippy + rustPlatform.rustcSrc + ]; + }; +in pkgs.mkShell { + buildInputs = [rust-toolchain]; + RUST_SRC_PATH = "${pkgs.rust.packages.stable.rustPlatform.rustLibSrc}"; + RUST_BACKTRACE = 1; +} diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs new file mode 100644 index 0000000..a4fc937 --- /dev/null +++ b/spinnyboy_rust/src/bin/main.rs @@ -0,0 +1,84 @@ +#![no_std] +#![no_main] +#![deny( + clippy::mem_forget, + reason = "mem::forget is generally not safe to do with esp_hal types, especially those \ + holding buffers for the duration of a data transfer." +)] + +use esp_hal::clock::CpuClock; +use esp_hal::mcpwm::operator::PwmPinConfig; +use esp_hal::mcpwm::timer::PwmWorkingMode; +use esp_hal::time::Rate; +use esp_hal::timer::timg::TimerGroup; +use esp_hal::main; +use esp_hal::time::{Duration, Instant}; +use esp_hal::delay::Delay; +use rtt_target::rprintln; +#[panic_handler] +fn panic(_: &core::panic::PanicInfo) -> ! { + loop {} +} + +extern crate alloc; + +// This creates a default app-descriptor required by the esp-idf bootloader. +// For more information see: +esp_bootloader_esp_idf::esp_app_desc!(); + +#[main] +fn main() -> ! { + // generator version: 1.0.1 + + rtt_target::rtt_init_print!(); + + let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max()); + let peripherals = esp_hal::init(config); + let system = peripherals.SYSTEM; + let mut delay = Delay::new(); + + esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536); + let clock_config = esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap(); + let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config); + mcpwm.operator0.set_timer(&mcpwm.timer0); + let pin = peripherals.GPIO18; + + let mut pwm_pin = mcpwm.operator0.with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH); + let timer_clock_cfg = clock_config + .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50)) + .unwrap(); + mcpwm.timer0.start(timer_clock_cfg); + + pwm_pin.set_timestamp(1000); + delay.delay_millis(3000); + rprintln!("WUT?"); + pwm_pin.set_timestamp(1121); + delay.delay_millis(1000); + + pwm_pin.set_timestamp(1055); + delay.delay_millis(3000); + + // Example: Ramp from 0% to 50% throttle + //the afro esc starts turning at roughly setup gets a PWM at + //loop{ + // for pulse in 1120..1500 { + // rprintln!("pulse:{}",pulse); + // pwm_pin.set_timestamp(pulse); + // Timer::after_millis(3000).await; + // } + + // Timer::after_millis(1000).await; + + // // Return to idle + // pwm_pin.set_timestamp(1000); + // Timer::after_millis(1000).await; + // } + + loop { + rprintln!("Hello world!"); + delay.delay_millis(3000); + + } + + // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin +} diff --git a/spinnyboy_rust/src/lib.rs b/spinnyboy_rust/src/lib.rs new file mode 100644 index 0000000..0c9ac1a --- /dev/null +++ b/spinnyboy_rust/src/lib.rs @@ -0,0 +1 @@ +#![no_std]