commit 7a4e4a89cb6687a58bbfaffeb01de17bd5f0e04f
Author: Sebastian <sebastian@sebastians-site.de>
Date:   Thu Aug 18 23:46:01 2022 +0200

    Setup embassy, usb-serial and display drivers

diff --git a/.cargo/config.toml b/.cargo/config.toml
new file mode 100644
index 0000000..3effbd4
--- /dev/null
+++ b/.cargo/config.toml
@@ -0,0 +1,17 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-run --chip STM32F103C8"
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+]
+
+[build]
+target = "thumbv7m-none-eabi"    # Cortex-M3
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/target
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..8446d5b
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,1365 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
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+
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+dependencies = [
+ "embedded-hal 0.2.7",
+]
+
+[[package]]
+name = "stm32-metapac"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy.git#aefa5275a2ab2cac6caef599e7adb76ce1beeddd"
+dependencies = [
+ "cortex-m",
+ "cortex-m-rt",
+ "regex",
+ "stm32-metapac-gen",
+]
+
+[[package]]
+name = "stm32-metapac-gen"
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+source = "git+https://github.com/embassy-rs/embassy.git#aefa5275a2ab2cac6caef599e7adb76ce1beeddd"
+dependencies = [
+ "chiptool",
+ "proc-macro2",
+ "regex",
+ "serde",
+ "serde_yaml",
+]
+
+[[package]]
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+checksum = "697e7645ad9f5311fe3d872d094b135627b1616aea9e1573dddd28ca522579b9"
+dependencies = [
+ "anyhow",
+ "once_cell",
+ "rayon",
+ "regex",
+ "thiserror",
+ "xmltree",
+]
+
+[[package]]
+name = "syn"
+version = "1.0.99"
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+checksum = "58dbef6ec655055e20b86b15a8cc6d439cca19b667537ac6a1369572d151ab13"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
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+checksum = "bab24d30b911b2376f3a13cc2cd443142f0c81dda04c118693e35b3835757755"
+dependencies = [
+ "winapi-util",
+]
+
+[[package]]
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+checksum = "b1141d4d61095b28419e22cb0bbf02755f5e54e0526f97f1e3d1d160e60885fb"
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+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
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+checksum = "12bafc5b54507e0149cdf1b145a5d80ab80a90bcd9275df43d4fff68460f6c21"
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+ "proc-macro2",
+ "quote",
+ "syn",
+]
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+[[package]]
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+[[package]]
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+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+dependencies = [
+ "vcell",
+]
+
+[[package]]
+name = "winapi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
+
+[[package]]
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+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
+dependencies = [
+ "winapi",
+]
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "xml-rs"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c1cb601d29fe2c2ac60a2b2e5e293994d87a1f6fa9687a31a15270f909be9c2"
+dependencies = [
+ "bitflags",
+]
+
+[[package]]
+name = "xmltree"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff8eaee9d17062850f1e6163b509947969242990ee59a35801af437abe041e70"
+dependencies = [
+ "xml-rs",
+]
+
+[[package]]
+name = "yaml-rust"
+version = "0.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56c1936c4cc7a1c9ab21a1ebb602eb942ba868cbd44a99cb7cdc5892335e1c85"
+dependencies = [
+ "linked-hash-map",
+]
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..04c6f99
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,36 @@
+[package]
+name = "rotor-control-stm32"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+embassy-util = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
+embassy-executor = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "integrated-timers"] }
+embassy-time = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "defmt-timestamp-uptime", "tick-32768hz"] }
+embassy-stm32 = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"]  }
+embassy-usb = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
+embassy-usb-serial = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
+
+defmt = "0.3.2"
+defmt-rtt = "0.3.2"
+panic-probe = { version = "0.3.0"}
+
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+embedded-hal = "0.2.6"
+futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
+heapless = { version = "0.7.5", default-features = false }
+nb = "1.0.0"
+
+ssd1306 = "0.7.1"
+embedded-graphics = "0.7.1"
+profont = "0.6.1"
+arrayvec = { version = "0.7.2", default-features = false}
+
+
+
+
+[profile.dev]
+opt-level = "s"
diff --git a/memory.x b/memory.x
new file mode 100644
index 0000000..71f245d
--- /dev/null
+++ b/memory.x
@@ -0,0 +1,6 @@
+/* Linker script for the STM32F103C8T6 */
+MEMORY
+{
+  FLASH : ORIGIN = 0x08000000, LENGTH = 64K
+  RAM : ORIGIN = 0x20000000, LENGTH = 20K
+}
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..a9aad47
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,161 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::fmt::Write;
+
+use defmt::panic;
+use defmt_rtt as _;
+use panic_probe as _;
+
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Speed};
+use embassy_stm32::time::Hertz;
+use embassy_stm32::usb::{Driver, Instance};
+use embassy_stm32::{i2c, interrupt, Config};
+use embassy_time::{Duration, Instant, Timer};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::Builder;
+use embassy_usb_serial::{CdcAcmClass, State};
+use futures::future::join;
+
+use embedded_graphics::{
+    mono_font::MonoTextStyle, pixelcolor::BinaryColor, prelude::*, text::Text,
+};
+use profont::PROFONT_12_POINT;
+use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
+
+use arrayvec::ArrayString;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut config = Config::default();
+    config.rcc.hse = Some(Hertz(8_000_000));
+    config.rcc.sys_ck = Some(Hertz(48_000_000));
+    config.rcc.pclk1 = Some(Hertz(24_000_000));
+    let mut p = embassy_stm32::init(config);
+
+    defmt::info!("Startup");
+
+    {
+        // BluePill board has a pull-up resistor on the D+ line.
+        // Pull the D+ pin down to send a RESET condition to the USB bus.
+        // This forced reset is needed only for development, without it host
+        // will not reset your device when you upload new firmware.
+        let _dp = Output::new(&mut p.PA12, Level::Low, Speed::Low);
+        Timer::after(Duration::from_millis(10)).await;
+    }
+
+    // Create the driver, from the HAL.
+    let irq = interrupt::take!(USB_LP_CAN1_RX0);
+    let driver = Driver::new(p.USB, irq, p.PA12, p.PA11);
+
+    // Create embassy-usb Config
+    let config = embassy_usb::Config::new(0xc0de, 0xcafe);
+    //config.max_packet_size_0 = 64;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut device_descriptor = [0; 256];
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    let mut control_buf = [0; 7];
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut device_descriptor,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut control_buf,
+        None,
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    let i2c = i2c::I2c::new(
+        p.I2C1,
+        p.PB6,
+        p.PB7,
+        Hertz::hz(100_000),
+        i2c::Config::default(),
+    );
+
+    let interface = I2CDisplayInterface::new(i2c);
+
+    let display_fut = async {
+        let mut display = Ssd1306::new(interface, DisplaySize128x32, DisplayRotation::Rotate0)
+            .into_buffered_graphics_mode();
+        display.init().unwrap();
+
+        let text_style = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::On);
+
+        loop {
+            display.clear();
+
+            Text::new("Hello world", Point::new(0, 7), text_style)
+                .draw(&mut display)
+                .unwrap();
+
+            let now = Instant::now().as_millis();
+
+            let mut buf = ArrayString::<20>::new();
+            write!(&mut buf, "{}", now).expect("Can't write");
+            Text::new(&buf, Point::new(0, 20), text_style)
+                .draw(&mut display)
+                .unwrap();
+
+            display.flush().unwrap();
+
+            Timer::after(Duration::from_millis(500)).await;
+        }
+    };
+
+    // Do stuff with the class!
+    let echo_fut = async {
+        loop {
+            class.wait_connection().await;
+            defmt::info!("Connected");
+            let _ = echo(&mut class).await;
+            defmt::info!("Disconnected");
+        }
+    };
+
+    // Run everything concurrently.
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(join(usb_fut, display_fut), echo_fut).await;
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn echo<'d, T: Instance + 'd>(
+    class: &mut CdcAcmClass<'d, Driver<'d, T>>,
+) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        defmt::info!("data: {:x}", data);
+        class.write_packet(">".as_bytes()).await?;
+        class.write_packet(data).await?;
+        class.write_packet("\n".as_bytes()).await?;
+    }
+}