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examples/stm32f411_encoder_polling/build.rs create mode 100644 examples/stm32f411_encoder_polling/memory.x create mode 100644 examples/stm32f411_encoder_polling/src/main.rs diff --git a/examples/stm32f411_encoder_polling/.cargo/config.toml b/examples/stm32f411_encoder_polling/.cargo/config.toml new file mode 100644 index 0000000000..806f2ee95b --- /dev/null +++ b/examples/stm32f411_encoder_polling/.cargo/config.toml @@ -0,0 +1,14 @@ +[target.thumbv7em-none-eabihf] + +runner = "probe-rs run --chip STM32F411CEUx" + +rustflags = [ + "-C", "link-arg=-Tlink.x", + "-C", "link-arg=-Tdefmt.x", +] + +[build] +target = "thumbv7em-none-eabihf" + +[env] +DEFMT_LOG = "debug" \ No newline at end of file diff --git a/examples/stm32f411_encoder_polling/Cargo.lock b/examples/stm32f411_encoder_polling/Cargo.lock new file mode 100644 index 0000000000..d859605715 --- /dev/null +++ b/examples/stm32f411_encoder_polling/Cargo.lock @@ -0,0 +1,637 @@ +# This file is automatically @generated by Cargo. +# It is 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+rtic = {version = "2.1.1", features=["thumbv7-backend", "rtic-monotonics"]} +panic-halt = "0.2.0" +embedded-hal = "1.0.0" +defmt = "0.3.5" +defmt-rtt = { version = "0.4.0"} +rotary-encoder-embedded = "0.3.0" +hd44780-driver = "0.4.0" + +[dependencies.stm32f4xx-hal] +version = "0.21.0" +features = ["stm32f411"] # replace the model of your microcontroller here + +# this lets you use `cargo fix`! +[[bin]] +name = "stm32f411_encoder_polling" +test = false +bench = false + diff --git a/examples/stm32f411_encoder_polling/README.md b/examples/stm32f411_encoder_polling/README.md new file mode 100644 index 0000000000..70fb1e80ab --- /dev/null +++ b/examples/stm32f411_encoder_polling/README.md @@ -0,0 +1,64 @@ +# STM32F411CEU6 encoder polling and LCD display + +This example uses an STM32F411CEU6 microcontroller on the Blackpill board to interface with an I2C LCD display and a rotary encoder. + + +## Features + +- **Rotary Encoder Integration**: Reads input from a rotary encoder to adjust a value. +- **I2C LCD Display**: Displays the current encoder value on an I2C-connected HD44780 LCD. + + +## Working principle +The hardware task `tim2_timeout_interrupt_handler` polls the encoder state on each interrupt generated by TIM2, and updates the displayed value accordingly. + + +## Code Overview + +### Key Components + +- **Knob Struct**: Placeholder for the rotary encoder and its current value. +- **LCD I2C Communication**: Uses I2C protocol to communicate with the HD44780 LCD. +- **Timers**: Utilizes TIM1 for delays and TIM2 for polling the rotary encoder. + +### Important Constants + +- `LCD_I2C_ADDRESS`: The I2C address of the LCD display. + +### Initialization + +- **System Clock**: Configured to use an external 25 MHz clock. +- **GPIO Setup**: Configures GPIO pins for the LED, rotary encoder, and I2C communication. +- **I2C Initialization**: Sets up the I2C bus for LCD communication. +- **LCD Initialization**: Initializes the LCD and displays initial messages. +- **Timer Setup**: Configures TIM2 at 2 kHz and generate interrupts. + +### Tasks and Handlers + +- **idle**: Background task that runs when no other tasks are active. +- **tim2_timeout_interrupt_handler**: Handles interrupts generated by TIM2, updates the rotary encoder value, and displays the value on the LCD. + +### Utility Functions + +- `u8_to_str(n: u8) -> [u8; 3]`: Converts an 8-bit integer to a 3-character string representation. + + +## Dependencies + +- **hd44780-driver**: Driver for HD44780 LCD over I2C. +- **rotary_encoder_embedded**: Library for handling rotary encoders. +- **defmt**: Logging framework for embedded systems. + + +## How-to + +### Build +Run `cargo build --release` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies. + +### Run +Install `probe-rs` and configure it using the [debugging extension for VScode](https://probe.rs/docs/tools/debugger/). +The output should look like this: + +[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/nn75gWDhHn0/0.jpg)](https://www.youtube.com/watch?v=nn75gWDhHn0) + + diff --git a/examples/stm32f411_encoder_polling/build.rs b/examples/stm32f411_encoder_polling/build.rs new file mode 100644 index 0000000000..d534cc3df6 --- /dev/null +++ b/examples/stm32f411_encoder_polling/build.rs @@ -0,0 +1,31 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory -- wherever `Cargo.toml` is. However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! updating `memory.x` ensures a rebuild of the application with the +//! new memory settings. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + 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()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); +} diff --git a/examples/stm32f411_encoder_polling/memory.x b/examples/stm32f411_encoder_polling/memory.x new file mode 100644 index 0000000000..f77e9f2c75 --- /dev/null +++ b/examples/stm32f411_encoder_polling/memory.x @@ -0,0 +1,6 @@ +MEMORY +{ + /* NOTE 1 K = 1 KiBi = 1024 bytes */ + FLASH : ORIGIN = 0x08000000, LENGTH = 512K + RAM : ORIGIN = 0x20000000, LENGTH = 96K +} \ No newline at end of file diff --git a/examples/stm32f411_encoder_polling/src/main.rs b/examples/stm32f411_encoder_polling/src/main.rs new file mode 100644 index 0000000000..29a294708b --- /dev/null +++ b/examples/stm32f411_encoder_polling/src/main.rs @@ -0,0 +1,228 @@ +#![deny(unsafe_code)] +#![deny(warnings)] +#![no_main] +#![no_std] + +use panic_halt as _; + +#[rtic::app(device = stm32f4xx_hal::pac, peripherals = true)] +mod app { + + use stm32f4xx_hal::i2c::I2c; + use stm32f4xx_hal::i2c::Mode; + use stm32f4xx_hal::{ + gpio::{self, Input, Output, PushPull}, + pac::{Peripherals, I2C1, TIM1, TIM2}, + prelude::*, + timer, + timer::{CounterHz, Event, Timer2}, + }; + + use rotary_encoder_embedded::standard::StandardMode; + use rotary_encoder_embedded::{Direction, RotaryEncoder}; + + use hd44780_driver::bus::I2CBus; + use hd44780_driver::{Cursor, CursorBlink, Display, DisplayMode, HD44780}; + + use defmt_rtt as _; + + pub struct Knob { + rotary_encoder: RotaryEncoder, gpio::PB13>, + value: u8, + } + + impl Knob { + pub fn new( + rotary_encoder: RotaryEncoder, gpio::PB13>, + ) -> Knob { + Knob { + rotary_encoder: rotary_encoder, + value: 0_u8, + } + } + } + + // Set the I2C address of the PCF8574 located on the back of the HD44780. + // Check the the jumpers A0, A1 and A2 and datasheet + const LCD_I2C_ADDRESS: u8 = 0x27; + + // Resources shared between tasks + #[shared] + struct Shared { + delay: timer::DelayMs, + lcd: HD44780>>, + } + + // Local resources to specific tasks (cannot be shared) + #[local] + struct Local { + led: gpio::PC13>, + tim2_timer: CounterHz, + knob_1: Knob, + } + + #[init] + fn init(ctx: init::Context) -> (Shared, Local) { + let dp: Peripherals = ctx.device; + + // Configure and obtain handle for delay abstraction using TIM1 + // Promote RCC structure to HAL to be able to configure clocks + let rcc = dp.RCC.constrain(); + + // Configure the system clocks 25 MHz must be used for HSE + // on the Blackpill-STM32F411CE board according to manual + let clocks = rcc.cfgr.use_hse(25.MHz()).freeze(); + + let mut delay = dp.TIM1.delay_ms(&clocks); + + // Configure the LED pin as a push pull output and obtain handle + // On the Blackpill STM32F411CEU6 there is an on-board LED connected to pin PC13 + // Promote the GPIOC PAC struct + let gpioc = dp.GPIOC.split(); + let led = gpioc.pc13.into_push_pull_output(); + + // Configure the button pin as input and obtain handle + // On the Blackpill STM32F411CEU6 there is a button connected to pin PA0 + // Promote the GPIOB PAC struct + let gpiob = dp.GPIOB.split(); + + // Configure Pins connected to encoder as floating input (only if your encoder + // board already has pull-up resistors, use 'into_pull_up_input' otherwise) + // and Obtain Handle. + let enc_1_a = gpiob.pb12.into_floating_input(); + let enc_1_b = gpiob.pb13.into_floating_input(); + + // Instantiate RotaryEncoder struct + let encoder_1 = RotaryEncoder::new(enc_1_a, enc_1_b).into_standard_mode(); + + // Instantiate Knob struct to hold 'encoder_1' and its current value + let knob_1 = Knob::new(encoder_1); + + // Instantiate TIM2 that will be used to poll the encoders + let tim2_timer = Timer2::new(dp.TIM2, &clocks); + let mut tim2_timer = tim2_timer.counter_hz(); + + // Get SDA and SCL pins for I2C1 + let sda = gpiob.pb7; + let scl = gpiob.pb6; + + // Instantiate I2C1 bus that will be used to communicate with the + // LCD display. + let i2c = I2c::new( + dp.I2C1, + (scl, sda), + Mode::Standard { + frequency: 400.kHz(), + }, + &clocks, + ); + + let mut lcd = HD44780::new_i2c(i2c, LCD_I2C_ADDRESS, &mut delay).expect("Init LCD failed"); + + let _ = lcd.reset(&mut delay); + let _ = lcd.clear(&mut delay); + let _ = lcd.set_display_mode( + DisplayMode { + display: Display::On, + cursor_visibility: Cursor::Invisible, + cursor_blink: CursorBlink::Off, + }, + &mut delay, + ); + let _ = lcd.set_cursor_pos(57, &mut delay); + let _ = lcd.write_str("RTIC + I2C + Encoder", &mut delay); + delay.delay_ms(1500); + + let _ = lcd.clear(&mut delay); + let _ = lcd.set_cursor_pos(68, &mut delay); + let _ = lcd.write_str("Encoder 1", &mut delay); + + // Start the timer at 2 kHz + tim2_timer.start(2000.Hz()).unwrap(); + + // Generate an interrupt when the timer expires + tim2_timer.listen(Event::Update); + + ( + // Initialization of shared resources. + Shared { delay, lcd }, + // Initialization of task local resources + Local { + led, + tim2_timer, + knob_1, + }, + ) + } + + // Background task, runs whenever no other tasks are running + #[idle(shared = [])] + fn idle(mut _ctx: idle::Context) -> ! { + loop {} + } + + // Handle the IRQ generated when the TIM2 times out + #[task(binds = TIM2, local=[led, tim2_timer, knob_1], shared=[lcd, delay])] + fn tim2_timeout_interrupt_handler(mut ctx: tim2_timeout_interrupt_handler::Context) { + ctx.local.tim2_timer.clear_all_flags(); + let led = &mut ctx.local.led; + led.toggle(); + + //Obtain 2 shared resources: lcd and delay. + let delay = &mut ctx.shared.delay; + let lcd = &mut ctx.shared.lcd; + + // Update the encoder, which will compute and return its direction + match ctx.local.knob_1.rotary_encoder.update() { + Direction::Clockwise => { + if ctx.local.knob_1.value < 255 { + ctx.local.knob_1.value += 1; + defmt::info!("Going UP! {:?}", ctx.local.knob_1.value); + let current_value = ctx.local.knob_1.value; + (delay, lcd).lock(|delay, lcd| { + //Move cursor to the middle of the third line and update value + let _ = lcd.set_cursor_pos(27, delay); + let _ = lcd.write_bytes(&u8_to_str(current_value), delay); + }) + } + } + Direction::Anticlockwise => { + if ctx.local.knob_1.value > 0 { + ctx.local.knob_1.value -= 1; + defmt::info!("Going DN! {:?}", ctx.local.knob_1.value); + let current_value = ctx.local.knob_1.value; + (delay, lcd).lock(|delay, lcd| { + //Move cursor to the middle of the third line and update value + let _ = lcd.set_cursor_pos(27, delay); + let _ = lcd.write_bytes(&u8_to_str(current_value), delay); + }) + } + } + Direction::None => { + // Do nothing + } + } + } + + // This auxiliary function is in charge of converting a u8 number into + // a 3-char string representation without doing memory allocation. + // 0 is represented as "000" + // 84 is represented as "084" + fn u8_to_str(n: u8) -> [u8; 3] { + let mut buffer = [b'0'; 3]; // Initialize the buffer with '0' + let mut num = n; + let mut i = 2; + + // Fill the buffer with digits from the end to the start + loop { + buffer[i] = (num % 10) + b'0'; + num /= 10; + if num == 0 { + break; + } + i -= 1; + } + + buffer + } +}