mirror of
https://github.com/rtic-rs/rtic.git
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Add example to poll encoder and display value on I2C display (#963)
Co-authored-by: Milton Eduardo Sosa <milton@Miltons-MacBook-Pro.local>
This commit is contained in:
Milton Eduardo Sosa
GitHub
parent
805ea267a8
commit
87a8b74908
7 changed files with 1010 additions and 0 deletions
14
examples/stm32f411_encoder_polling/.cargo/config.toml
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examples/stm32f411_encoder_polling/.cargo/config.toml
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[target.thumbv7em-none-eabihf]
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runner = "probe-rs run --chip STM32F411CEUx"
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rustflags = [
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=-Tdefmt.x",
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]
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[build]
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target = "thumbv7em-none-eabihf"
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[env]
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DEFMT_LOG = "debug"
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examples/stm32f411_encoder_polling/Cargo.lock
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examples/stm32f411_encoder_polling/Cargo.lock
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
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|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "pin-utils"
|
||||||
|
version = "0.1.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "powerfmt"
|
||||||
|
version = "0.2.0"
|
||||||
|
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|
||||||
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "proc-macro-error"
|
||||||
|
version = "1.0.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
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|
||||||
|
dependencies = [
|
||||||
|
"proc-macro-error-attr",
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn 1.0.109",
|
||||||
|
"version_check",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "proc-macro-error-attr"
|
||||||
|
version = "1.0.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
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|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"version_check",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "proc-macro2"
|
||||||
|
version = "1.0.86"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
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|
||||||
|
dependencies = [
|
||||||
|
"unicode-ident",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "quote"
|
||||||
|
version = "1.0.36"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rand_core"
|
||||||
|
version = "0.6.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rotary-encoder-embedded"
|
||||||
|
version = "0.3.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "da300c653a5d74bd58ccad9cf160b1a22bd35f5996b824d1bb1f6abbcc7638af"
|
||||||
|
dependencies = [
|
||||||
|
"embedded-hal 0.2.7",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rtic"
|
||||||
|
version = "2.1.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
|
||||||
|
dependencies = [
|
||||||
|
"atomic-polyfill",
|
||||||
|
"bare-metal 1.0.0",
|
||||||
|
"cortex-m",
|
||||||
|
"critical-section",
|
||||||
|
"rtic-core",
|
||||||
|
"rtic-macros",
|
||||||
|
"rtic-monotonics",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rtic-common"
|
||||||
|
version = "1.0.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
|
||||||
|
dependencies = [
|
||||||
|
"critical-section",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rtic-core"
|
||||||
|
version = "1.0.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rtic-macros"
|
||||||
|
version = "2.1.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
|
||||||
|
dependencies = [
|
||||||
|
"indexmap",
|
||||||
|
"proc-macro-error",
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn 2.0.68",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rtic-monotonics"
|
||||||
|
version = "1.5.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
|
||||||
|
dependencies = [
|
||||||
|
"atomic-polyfill",
|
||||||
|
"cfg-if",
|
||||||
|
"embedded-hal 1.0.0",
|
||||||
|
"fugit",
|
||||||
|
"rtic-time",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rtic-time"
|
||||||
|
version = "1.3.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
|
||||||
|
dependencies = [
|
||||||
|
"critical-section",
|
||||||
|
"futures-util",
|
||||||
|
"rtic-common",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rustc_version"
|
||||||
|
version = "0.2.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||||
|
dependencies = [
|
||||||
|
"semver",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "semver"
|
||||||
|
version = "0.9.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||||
|
dependencies = [
|
||||||
|
"semver-parser",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "semver-parser"
|
||||||
|
version = "0.7.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stable_deref_trait"
|
||||||
|
version = "1.2.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32f4"
|
||||||
|
version = "0.15.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "fb94729242cd1aebe6dab42a2ca0131985ae93bc3ab2751b680df724bb35528d"
|
||||||
|
dependencies = [
|
||||||
|
"bare-metal 1.0.0",
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"vcell",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32f411_encoder_polling"
|
||||||
|
version = "0.1.0"
|
||||||
|
dependencies = [
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"defmt",
|
||||||
|
"defmt-rtt",
|
||||||
|
"embedded-hal 1.0.0",
|
||||||
|
"hd44780-driver",
|
||||||
|
"panic-halt",
|
||||||
|
"rotary-encoder-embedded",
|
||||||
|
"rtic",
|
||||||
|
"stm32f4xx-hal",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32f4xx-hal"
|
||||||
|
version = "0.21.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ceed60591531f4da636d828701c74861a3d100e5c4e36677cadbd2eb6f46eb67"
|
||||||
|
dependencies = [
|
||||||
|
"bare-metal 1.0.0",
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"document-features",
|
||||||
|
"embedded-dma",
|
||||||
|
"embedded-hal 0.2.7",
|
||||||
|
"embedded-hal 1.0.0",
|
||||||
|
"embedded-hal-nb",
|
||||||
|
"embedded-storage",
|
||||||
|
"enumflags2",
|
||||||
|
"fugit",
|
||||||
|
"fugit-timer",
|
||||||
|
"nb 1.1.0",
|
||||||
|
"rand_core",
|
||||||
|
"stm32f4",
|
||||||
|
"time",
|
||||||
|
"vcell",
|
||||||
|
"void",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "syn"
|
||||||
|
version = "1.0.109"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"unicode-ident",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "syn"
|
||||||
|
version = "2.0.68"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "901fa70d88b9d6c98022e23b4136f9f3e54e4662c3bc1bd1d84a42a9a0f0c1e9"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"unicode-ident",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "thiserror"
|
||||||
|
version = "1.0.61"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
|
||||||
|
dependencies = [
|
||||||
|
"thiserror-impl",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "thiserror-impl"
|
||||||
|
version = "1.0.61"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn 2.0.68",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "time"
|
||||||
|
version = "0.3.36"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885"
|
||||||
|
dependencies = [
|
||||||
|
"deranged",
|
||||||
|
"num-conv",
|
||||||
|
"powerfmt",
|
||||||
|
"time-core",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "time-core"
|
||||||
|
version = "0.1.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "unicode-ident"
|
||||||
|
version = "1.0.12"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "vcell"
|
||||||
|
version = "0.1.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "version_check"
|
||||||
|
version = "0.9.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "void"
|
||||||
|
version = "1.0.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "volatile-register"
|
||||||
|
version = "0.2.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||||
|
dependencies = [
|
||||||
|
"vcell",
|
||||||
|
]
|
||||||
30
examples/stm32f411_encoder_polling/Cargo.toml
Normal file
30
examples/stm32f411_encoder_polling/Cargo.toml
Normal file
|
|
@ -0,0 +1,30 @@
|
||||||
|
[workspace]
|
||||||
|
|
||||||
|
[package]
|
||||||
|
authors = ["<Milton Sosa <milton.eduardo.sosa@gmail.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
readme = "README.md"
|
||||||
|
name = "stm32f411_encoder_polling"
|
||||||
|
version = "0.1.0"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
|
||||||
|
cortex-m-rt = "0.7.1"
|
||||||
|
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
|
||||||
|
|
||||||
64
examples/stm32f411_encoder_polling/README.md
Normal file
64
examples/stm32f411_encoder_polling/README.md
Normal file
|
|
@ -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:
|
||||||
|
|
||||||
|
[](https://www.youtube.com/watch?v=nn75gWDhHn0)
|
||||||
|
|
||||||
|
|
||||||
31
examples/stm32f411_encoder_polling/build.rs
Normal file
31
examples/stm32f411_encoder_polling/build.rs
Normal file
|
|
@ -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");
|
||||||
|
}
|
||||||
6
examples/stm32f411_encoder_polling/memory.x
Normal file
6
examples/stm32f411_encoder_polling/memory.x
Normal file
|
|
@ -0,0 +1,6 @@
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
/* NOTE 1 K = 1 KiBi = 1024 bytes */
|
||||||
|
FLASH : ORIGIN = 0x08000000, LENGTH = 512K
|
||||||
|
RAM : ORIGIN = 0x20000000, LENGTH = 96K
|
||||||
|
}
|
||||||
228
examples/stm32f411_encoder_polling/src/main.rs
Normal file
228
examples/stm32f411_encoder_polling/src/main.rs
Normal file
|
|
@ -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<StandardMode, gpio::PB12<Input>, gpio::PB13<Input>>,
|
||||||
|
value: u8,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Knob {
|
||||||
|
pub fn new(
|
||||||
|
rotary_encoder: RotaryEncoder<StandardMode, gpio::PB12<Input>, gpio::PB13<Input>>,
|
||||||
|
) -> 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<TIM1>,
|
||||||
|
lcd: HD44780<I2CBus<I2c<I2C1>>>,
|
||||||
|
}
|
||||||
|
|
||||||
|
// Local resources to specific tasks (cannot be shared)
|
||||||
|
#[local]
|
||||||
|
struct Local {
|
||||||
|
led: gpio::PC13<Output<PushPull>>,
|
||||||
|
tim2_timer: CounterHz<TIM2>,
|
||||||
|
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
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in a new issue