From 40d717e27a84e6bef02f3195047c6ea44164d2ae Mon Sep 17 00:00:00 2001
From: Serge Bazanski <serge@bazanski.pl>
Date: Wed, 17 Apr 2019 21:41:22 +0200
Subject: [PATCH] it works lol

---
 Cargo.lock  | 244 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 Cargo.toml  |  19 ++++
 default.nix |  12 +++
 flash.sh    |   7 ++
 memory.x    |   6 ++
 src/main.rs | 171 ++++++++++++++++++++++++++++++++++++
 6 files changed, 459 insertions(+)
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 default.nix
 create mode 100644 flash.sh
 create mode 100644 memory.x
 create mode 100644 src/main.rs

diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..06966cb
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,244 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+[[package]]
+name = "aligned"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "bare-metal"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "byteorder"
+version = "1.3.1"
+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 = "controller"
+version = "0.1.0"
+dependencies = [
+ "byteorder 1.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-semihosting 0.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "stm32f1xx-hal 0.2.1 (git+https://github.com/stm32-rs/stm32f1xx-hal?rev=9f95056273525110949923ff83c12e793eac5b5c)",
+]
+
+[[package]]
+name = "cortex-m"
+version = "0.5.8"
+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 0.2.4 (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 = "0.6.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "cortex-m-rt-macros 0.1.5 (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 = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.27 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand 0.5.6 (registry+https://github.com/rust-lang/crates.io-index)",
+ "syn 0.15.31 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "cortex-m-semihosting"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.2"
+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-halt"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "proc-macro2"
+version = "0.4.27"
+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 = "0.6.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.27 (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 = "0.5.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand_core 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand_core 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "stm32f1"
+version = "0.6.0"
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+ "cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "stm32f1xx-hal"
+version = "0.2.1"
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+dependencies = [
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+ "cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "embedded-hal 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "stm32f1 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "syn"
+version = "0.15.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.27 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 0.6.12 (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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diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..fe60af9
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "controller"
+version = "0.1.0"
+authors = ["Serge Bazanski <serge@bazanski.pl>"]
+edition = "2018"
+
+[profile.release]
+opt-level = 's'
+lto = true
+debug = true
+
+[dependencies]
+stm32f1xx-hal = {git = "https://github.com/stm32-rs/stm32f1xx-hal", rev = "9f95056273525110949923ff83c12e793eac5b5c", features = ["stm32f103", "rt"]}
+panic-halt = "0.2.0"
+nb = "0.1.1"
+cortex-m = "0.5.8"
+cortex-m-rt = "0.6.8"
+cortex-m-semihosting = "0.3.2"
+byteorder = { version = "1.3.1", default-features = false }
diff --git a/default.nix b/default.nix
new file mode 100644
index 0000000..c5144b6
--- /dev/null
+++ b/default.nix
@@ -0,0 +1,12 @@
+with import <nixpkgs> {};
+
+
+stdenv.mkDerivation rec {
+  name = "venv";
+  env = buildEnv { name = name; paths = buildInputs; };
+  buildInputs = [
+    gcc-arm-embedded 
+    rustup
+    openocd
+  ];
+}
diff --git a/flash.sh b/flash.sh
new file mode 100644
index 0000000..6029384
--- /dev/null
+++ b/flash.sh
@@ -0,0 +1,7 @@
+#!/bin/sh
+set -e
+
+cargo build --release
+arm-none-eabi-objcopy -O binary target/thumbv7m-none-eabi/release/controller controller.bin
+sudo openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c "program controller.bin 0x08000000" -c "arm semihosting enable" -c "reset run"
+
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..5727151
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,171 @@
+//! Blinks an LED
+//!
+//! This assumes that a LED is connected to pc13 as is the case on the blue pill board.
+//!
+//! Note: Without additional hardware, PC13 should not be used to drive an LED, see page 5.1.2 of
+//! the reference manaual for an explanation. This is not an issue on the blue pill.
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_std]
+#![no_main]
+
+extern crate panic_halt;
+extern crate cortex_m_semihosting;
+
+use nb::block;
+
+use stm32f1xx_hal::{
+    prelude::*,
+    pac,
+    timer::Timer,
+    serial::Serial,
+};
+use cortex_m_rt::entry;
+//use cortex_m_semihosting::hprintln;
+use stm32f1xx_hal::adc;
+
+extern crate byteorder;
+use byteorder::{ByteOrder, LittleEndian};
+
+struct RangeConverter {
+    // Input specifics
+    left: u16,
+    center: u16,
+    right: u16,
+    deadzone: u16,
+
+    // Output range
+    min: i16,
+    max: i16,
+}
+
+impl RangeConverter {
+    fn convert(&self, value: u16) -> i16 {
+        if value <= self.left {
+            return self.min
+        }
+        if value >= self.right {
+            return self.max
+        }
+
+        let cd: u16 = if value > self.center {
+            value - self.center
+        } else {
+            self.center - value
+        };
+
+        if cd <= self.deadzone {
+            return 0;
+        }
+
+        // Value outside of deadzone.
+        let cv: i16 = (cd - self.deadzone) as i16;
+        if value > self.center {
+            let md: i32 = ((self.right - self.center) - self.deadzone) as i32;
+            let val: i32 = (self.max as i32) * (cv as i32) / md;
+            return val as i16;
+        } else {
+            let md: i32 = ((self.center - self.left) - self.deadzone) as i32;
+            let val: i32 = (self.min as i32) * (cv as i32) / md;
+            return val as i16;
+        }
+    }
+}
+
+#[entry]
+fn main() -> ! {
+    // Get access to the core peripherals from the cortex-m crate
+    let cp = cortex_m::Peripherals::take().unwrap();
+    // Get access to the device specific peripherals from the peripheral access crate
+    let dp = pac::Peripherals::take().unwrap();
+
+    // Take ownership over the raw flash and rcc devices and convert them into the corresponding
+    // HAL structs
+    let mut flash = dp.FLASH.constrain();
+    let mut rcc = dp.RCC.constrain();
+    let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
+
+    // Freeze the configuration of all the clocks in the system and store the frozen frequencies in
+    // `clocks`
+    let clocks = rcc.cfgr.adcclk(2.mhz()).freeze(&mut flash.acr);
+    //hprintln!("adc freq: {}", clocks.adcclk().0).unwrap();
+
+    // Acquire the GPIOC peripheral
+    let mut gpioa = dp.GPIOA.split(&mut rcc.apb2);
+    let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
+    let mut gpioc = dp.GPIOC.split(&mut rcc.apb2);
+
+    // Configure gpio C pin 13 as a push-pull output. The `crh` register is passed to the function
+    // in order to configure the port. For pins 0-7, crl should be passed instead.
+    let mut led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
+    // Configure the syst timer to trigger an update every second
+    let mut timer = Timer::syst(cp.SYST, 30.hz(), clocks);
+
+    let mut adc1 = adc::Adc::adc1(dp.ADC1, &mut rcc.apb2);
+
+    let mut ch0 = gpiob.pb0.into_analog(&mut gpiob.crl);
+    let mut ch1 = gpiob.pb1.into_analog(&mut gpiob.crl);
+    let mut ch2 = gpioa.pa0.into_analog(&mut gpioa.crl);
+
+    let fire = gpioc.pc14.into_pull_up_input(&mut gpioc.crh);
+    let tx = gpioa.pa2.into_alternate_push_pull(&mut gpioa.crl);
+    let rx = gpioa.pa3;
+    let serial = Serial::usart2(
+        dp.USART2,
+        (tx, rx),
+        &mut afio.mapr,
+        19_200.bps(),
+        clocks,
+        &mut rcc.apb1,
+    );
+    let (mut tx, mut _rx) = serial.split();
+
+    let rcx = RangeConverter{
+        left: 2064,
+        center: 3026,
+        right: 4096,
+        deadzone: 300,
+
+        min: -1000,
+        max: 1000,
+    };
+    let rcy = RangeConverter{
+        left: 2250,
+        center: 3000,
+        right: 4096,
+        deadzone: 100,
+
+        min: -1000,
+        max: 1000,
+    };
+
+    // Wait for the timer to trigger an update and change the state of the LED
+    loop {
+        block!(timer.wait()).unwrap();
+        led.set_high();
+        block!(timer.wait()).unwrap();
+        led.set_low();
+
+        let data0: u16 = adc1.read(&mut ch0).unwrap();
+        let data1: u16 = adc1.read(&mut ch1).unwrap();
+        let _data2: u16 = adc1.read(&mut ch2).unwrap();
+
+        let x: i16 = -rcx.convert(data0);
+        let y: i16 = rcy.convert(data1);
+
+        let mut bufx = [0, 0];
+        let mut bufy = [0, 0];
+        if fire.is_low() {
+            LittleEndian::write_i16(&mut bufx, x);
+            LittleEndian::write_i16(&mut bufy, y);
+        } else {
+            LittleEndian::write_i16(&mut bufx, 0);
+            LittleEndian::write_i16(&mut bufy, 0);
+        };
+        block!(tx.write(bufx[0])).ok();
+        block!(tx.write(bufx[1])).ok();
+        block!(tx.write(bufy[0])).ok();
+        block!(tx.write(bufy[1])).ok();
+    }
+}