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This commit is contained in:
baldeau
2025-06-03 13:57:39 +02:00
parent 55ed793c12
commit 1188995b80
11 changed files with 296 additions and 263 deletions
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258
Cargo.lock generated
View File

@@ -33,15 +33,6 @@ dependencies = [
"memchr",
]
[[package]]
name = "approx"
version = "0.5.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
dependencies = [
"num-traits",
]
[[package]]
name = "as-slice"
version = "0.1.5"
@@ -108,7 +99,7 @@ version = "0.2.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
dependencies = [
"rustc_version 0.2.3",
"rustc_version",
]
[[package]]
@@ -153,15 +144,6 @@ version = "1.5.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
[[package]]
name = "byterepr"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e7eb1a05c2ec66850db33d8dd2119626aef815662a074656a74bbe47a562fdf4"
dependencies = [
"bytemuck",
]
[[package]]
name = "cast"
version = "0.3.0"
@@ -639,16 +621,6 @@ dependencies = [
"typenum",
]
[[package]]
name = "flatbuffers"
version = "23.5.26"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4dac53e22462d78c16d64a1cd22371b54cc3fe94aa15e7886a2fa6e5d1ab8640"
dependencies = [
"bitflags 1.3.2",
"rustc_version 0.4.1",
]
[[package]]
name = "fnv"
version = "1.0.7"
@@ -858,7 +830,6 @@ dependencies = [
"heapless",
"libm",
"lsm6ds3tr",
"nalgebra 0.33.2",
"nrf-softdevice",
"nrf-softdevice-s140",
"nrf52840-hal",
@@ -868,89 +839,12 @@ dependencies = [
"usbd-serial",
]
[[package]]
name = "matrixmultiply"
version = "0.3.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9380b911e3e96d10c1f415da0876389aaf1b56759054eeb0de7df940c456ba1a"
dependencies = [
"autocfg",
"rawpointer",
]
[[package]]
name = "memchr"
version = "2.7.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
[[package]]
name = "microflow"
version = "0.1.3"
dependencies = [
"libm",
"microflow-macros",
"nalgebra 0.33.2",
"simba 0.9.0",
]
[[package]]
name = "microflow-macros"
version = "0.1.1"
dependencies = [
"byterepr",
"flatbuffers",
"nalgebra 0.32.6",
"proc-macro-error",
"proc-macro2",
"quote",
"simba 0.8.1",
"structmeta",
"syn 2.0.94",
]
[[package]]
name = "nalgebra"
version = "0.32.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7b5c17de023a86f59ed79891b2e5d5a94c705dbe904a5b5c9c952ea6221b03e4"
dependencies = [
"approx",
"matrixmultiply",
"nalgebra-macros",
"num-complex",
"num-rational",
"num-traits",
"simba 0.8.1",
"typenum",
]
[[package]]
name = "nalgebra"
version = "0.33.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
dependencies = [
"approx",
"nalgebra-macros",
"num-complex",
"num-rational",
"num-traits",
"simba 0.9.0",
"typenum",
]
[[package]]
name = "nalgebra-macros"
version = "0.2.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.94",
]
[[package]]
name = "nb"
version = "0.1.3"
@@ -1073,34 +967,6 @@ dependencies = [
"vcell",
]
[[package]]
name = "num-complex"
version = "0.4.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
dependencies = [
"num-traits",
]
[[package]]
name = "num-integer"
version = "0.1.46"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
dependencies = [
"num-traits",
]
[[package]]
name = "num-rational"
version = "0.4.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
dependencies = [
"num-integer",
"num-traits",
]
[[package]]
name = "num-traits"
version = "0.2.19"
@@ -1146,12 +1012,6 @@ dependencies = [
"defmt",
]
[[package]]
name = "paste"
version = "1.0.15"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
[[package]]
name = "pin-project-lite"
version = "0.2.16"
@@ -1170,30 +1030,6 @@ version = "1.10.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
[[package]]
name = "proc-macro-error"
version = "1.0.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
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"
checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
dependencies = [
"proc-macro2",
"quote",
"version_check",
]
[[package]]
name = "proc-macro-error-attr2"
version = "2.0.0"
@@ -1240,12 +1076,6 @@ version = "0.6.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
[[package]]
name = "rawpointer"
version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
[[package]]
name = "regex"
version = "1.11.1"
@@ -1293,25 +1123,7 @@ version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
dependencies = [
"semver 0.9.0",
]
[[package]]
name = "rustc_version"
version = "0.4.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
dependencies = [
"semver 1.0.24",
]
[[package]]
name = "safe_arch"
version = "0.7.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
dependencies = [
"bytemuck",
"semver",
]
[[package]]
@@ -1323,12 +1135,6 @@ dependencies = [
"semver-parser",
]
[[package]]
name = "semver"
version = "1.0.24"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3cb6eb87a131f756572d7fb904f6e7b68633f09cca868c5df1c4b8d1a694bbba"
[[package]]
name = "semver-parser"
version = "0.7.0"
@@ -1355,31 +1161,6 @@ dependencies = [
"syn 2.0.94",
]
[[package]]
name = "simba"
version = "0.8.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "061507c94fc6ab4ba1c9a0305018408e312e17c041eb63bef8aa726fa33aceae"
dependencies = [
"approx",
"num-complex",
"num-traits",
"paste",
"wide",
]
[[package]]
name = "simba"
version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
dependencies = [
"approx",
"num-complex",
"num-traits",
"paste",
]
[[package]]
name = "ssmarshal"
version = "1.0.0"
@@ -1417,29 +1198,6 @@ version = "0.11.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
[[package]]
name = "structmeta"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2e1575d8d40908d70f6fd05537266b90ae71b15dbbe7a8b7dffa2b759306d329"
dependencies = [
"proc-macro2",
"quote",
"structmeta-derive",
"syn 2.0.94",
]
[[package]]
name = "structmeta-derive"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "152a0b65a590ff6c3da95cabe2353ee04e6167c896b28e3b14478c2636c922fc"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.94",
]
[[package]]
name = "svgbobdoc"
version = "0.3.0"
@@ -1499,8 +1257,6 @@ dependencies = [
"heapless",
"libm",
"lsm6ds3tr",
"microflow",
"nalgebra 0.33.2",
"nrf-softdevice",
"nrf-softdevice-s140",
"nrf52840-hal",
@@ -1645,16 +1401,6 @@ dependencies = [
"vcell",
]
[[package]]
name = "wide"
version = "0.7.30"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "58e6db2670d2be78525979e9a5f9c69d296fd7d670549fe9ebf70f8708cb5019"
dependencies = [
"bytemuck",
"safe_arch",
]
[[package]]
name = "zerocopy"
version = "0.7.35"

6
Cargo.toml
View File

@@ -50,9 +50,9 @@ nrf52840-hal = "0.16.0"
usb-device = "0.2.7"
usbd-serial = "0.1.0"
microflow = { path = "../microflow-rs" }
nalgebra = { version = "0.33.2", default-features = false, features = [
"macros",
] }
# nalgebra = { version = "0.33.2", default-features = false, features = [
# "macros",
# ] }
libm = "0.2"
panic-halt = "1.0.0"
heapless = "0.8.0"

BIN
bluetooth_demo/.DS_Store vendored Normal file
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Binary file not shown.

36
bluetooth_demo/Cargo.toml Normal file
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@@ -0,0 +1,36 @@
[package]
name = "bluetooth_demo"
version = "0.1.0"
edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
cortex-m.workspace = true
cortex-m-rt.workspace = true
nrf52840-hal.workspace = true
usb-device.workspace = true
usbd-serial.workspace = true
libm.workspace = true
# nalgebra.workspace = true
heapless.workspace = true
lsm6ds3tr.workspace = true
defmt.workspace = true
defmt-rtt.workspace = true
embedded-alloc.workspace = true
embedded-hal.workspace = true
embedded-hal-async.workspace = true
nrf-softdevice.workspace = true
nrf-softdevice-s140.workspace = true
embassy-nrf.workspace = true
embassy-time.workspace = true
embassy-executor.workspace = true
embassy-sync.workspace = true
embassy-embedded-hal.workspace = true
fixed.workspace = true
atomic-pool.workspace = true
static_cell.workspace = true
embassy-usb.workspace = true
embassy-futures.workspace = true
panic-probe.workspace = true
assign-resources.workspace = true

4
bluetooth_demo/src/common.rs Normal file
View File

@@ -0,0 +1,4 @@
#![macro_use]
use defmt_rtt as _; // global logger
use embassy_nrf as _; // time driver

89
bluetooth_demo/src/main.rs Normal file
View File

@@ -0,0 +1,89 @@
#![no_main]
#![no_std]
use assign_resources::assign_resources;
use core::fmt::Write;
use defmt::{dbg, info, unwrap};
use embassy_executor::Spawner;
use embassy_nrf::gpio::{Level, Output, OutputDrive};
use embassy_nrf::usb::vbus_detect::HardwareVbusDetect;
use embassy_nrf::usb::Driver;
use embassy_nrf::{bind_interrupts, peripherals, twim, usb, Peripherals};
use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_sync::mutex::Mutex;
use embassy_time::{Duration, Timer};
use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
use embassy_usb::driver::EndpointError;
use embassy_usb::{Builder, Config, UsbDevice};
use heapless::String;
use lsm6ds3tr::interface::I2cInterface;
use lsm6ds3tr::{
registers::{GyroSampleRate, GyroScale},
AccelSampleRate, AccelScale, AccelSettings, GyroSettings, LsmSettings, LSM6DS3TR,
};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
mod usb_dfu;
bind_interrupts!(struct Irqs {
USBD => usb::InterruptHandler<peripherals::USBD>;
CLOCK_POWER => usb::vbus_detect::InterruptHandler;
});
assign_resources! {
imu: ImuResources {
spi: SPI2,
}
}
bind_interrupts!(struct IrqsTest {
// SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => twim::InterruptHandler<TWISPI0>;
TWISPI0 => twim::InterruptHandler<peripherals::TWISPI0>;
});
static I2C_BUS: StaticCell<Mutex<ThreadModeRawMutex, twim::Twim<peripherals::TWISPI0>>> =
StaticCell::new();
type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = embassy_nrf::init(Default::default());
// let resources = split_resources!(p);
// Create the driver, from the HAL.
let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));
let mut config = Config::new(0xc0de, 0xcafe);
config.manufacturer = Some("Umbrella Corporation");
config.product = Some("Secret Project");
config.serial_number = Some("11880");
config.max_power = 100;
config.max_packet_size_0 = 64;
static STATE: StaticCell<State> = StaticCell::new();
let state = STATE.init(State::new());
// Create embassy-usb DeviceBuilder using the driver and config.
static CONFIG_DESC: StaticCell<[u8; 256]> = StaticCell::new();
static BOS_DESC: StaticCell<[u8; 256]> = StaticCell::new();
static MSOS_DESC: StaticCell<[u8; 128]> = StaticCell::new();
static CONTROL_BUF: StaticCell<[u8; 128]> = StaticCell::new();
let mut builder = Builder::new(
driver,
config,
&mut CONFIG_DESC.init([0; 256])[..],
&mut BOS_DESC.init([0; 256])[..],
&mut MSOS_DESC.init([0; 128])[..],
&mut CONTROL_BUF.init([0; 128])[..],
);
// Create classes on the builder.
let mut class = CdcAcmClass::new(&mut builder, state, 64);
// Build the builder.
let usb = builder.build();
unwrap!(spawner.spawn(usb_task(usb)));
}

157
bluetooth_demo/src/usb_dfu.rs Normal file
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@@ -0,0 +1,157 @@
use crate::Irqs;
use core::fmt::Write;
use defmt::{info, unwrap};
use embassy_executor::Spawner;
use embassy_futures::join::join;
use embassy_nrf::peripherals::USBD;
use embassy_nrf::usb::vbus_detect::{HardwareVbusDetect, VbusDetect};
use embassy_nrf::usb::{Driver, Instance};
use embassy_nrf::{pac, peripherals};
use embassy_time::{Duration, Timer};
use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
use embassy_usb::driver::EndpointError;
use embassy_usb::{Builder, Config};
use heapless::String;
use {defmt_rtt as _, panic_probe as _};
const MAGIC_REBOOT_MESSAGE: &str = "bootloader";
type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
/// Creates a usb serial device.
/// Sending it [MAGIC_REBOOT_MESSAGE] will reboot the device
/// into serial-only-dfu mode.
pub fn setup_dfu_over_usb(spawner: &Spawner, usbd: USBD) {
spawner.spawn(dfu_over_usb(usbd, *spawner)).unwrap();
}
#[embassy_executor::task]
async fn dfu_over_usb(usbd: USBD, spawner: Spawner) {
pac::CLOCK.tasks_hfclkstart().write_value(1);
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
// Create the driver, from the HAL.
let driver = Driver::new(usbd, Irqs, HardwareVbusDetect::new(Irqs));
// Create embassy-usb Config
let mut config = Config::new(0xc0de, 0xcafe);
config.manufacturer = Some("Embassy");
config.product = Some("USB-serial example");
config.serial_number = Some("12345678");
config.max_power = 100;
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 config_descriptor = [0; 256];
let mut bos_descriptor = [0; 256];
let mut msos_descriptor = [0; 256];
let mut control_buf = [0; 64];
let mut state = State::new();
let mut builder = Builder::new(
driver,
config,
&mut config_descriptor,
&mut bos_descriptor,
&mut msos_descriptor,
&mut control_buf,
);
// 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();
// Do stuff with the class!
// let reboot_fut = async {
// loop {
// class.wait_connection().await;
// let _ = reboot_on_magic_message(&mut class).await;
// }
// };
let print_fut = async {
let mut count = 1;
loop {
class.wait_connection().await;
info!("Connected");
let mut data = String::<32>::new();
if write!(data, "Count: {}\r\n", count).is_ok() {
if let Err(e) = class.write_packet(data.as_bytes()).await {
info!("Failed to write to serial console: {:?}", e);
}
}
count += 1;
// Add a delay of 1 second
Timer::after(Duration::from_secs(1)).await;
info!("Disconnected");
}
};
join(usb_fut, print_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 reboot_on_magic_message<'d, T: Instance + 'd, P: VbusDetect + 'd>(
class: &mut CdcAcmClass<'d, Driver<'d, T, P>>,
) -> Result<(), Disconnected> {
let mut buf = [0; 64];
loop {
let n = class.read_packet(&mut buf).await?;
let data = &buf[..n];
if data == MAGIC_REBOOT_MESSAGE.as_bytes() {
// Reboot the controller in DFU mode.
// The magic number has been taken from the arduino bootloader:
// https://github.com/mike1808/PIO_SEEED_Adafruit_nRF52_Arduino/blob/master/cores/nRF5/wiring.c#L26
let dfu_magic_serial_only_reset = 0x4E;
pac::POWER
.gpregret()
.write(|w| w.0 = dfu_magic_serial_only_reset);
cortex_m::peripheral::SCB::sys_reset();
}
}
}
#[embassy_executor::task]
async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
let mut count = 1;
loop {
class.wait_connection().await;
info!("Connected");
let mut data = String::<32>::new();
if write!(data, "Count: {}\r\n", count).is_ok() {
if let Err(e) = class.write_packet(data.as_bytes()).await {
info!("Failed to write to serial console: {:?}", e);
}
}
count += 1;
// Add a delay of 1 second
Timer::after(Duration::from_secs(1)).await;
info!("Disconnected");
}
}

2
build_and_flash.sh
View File

@@ -1,7 +1,7 @@
#!/bin/bash
set -e
COM_PORT=/dev/cu.usbmodem2101
COM_PORT=/dev/cu.usbmodem1101
echo -e "bootloader" > $COM_PORT

2
lsm6ds3tr_demo/Cargo.toml
View File

@@ -12,7 +12,7 @@ nrf52840-hal.workspace = true
usb-device.workspace = true
usbd-serial.workspace = true
libm.workspace = true
nalgebra.workspace = true
# nalgebra.workspace = true
heapless.workspace = true
lsm6ds3tr.workspace = true
defmt.workspace = true

1
lsm6ds3tr_demo/src/main.rs
View File

@@ -22,6 +22,7 @@ use lsm6ds3tr::{
AccelSampleRate, AccelScale, AccelSettings, GyroSettings, LsmSettings, LSM6DS3TR,
};
use static_cell::StaticCell;
use usb_dfu::setup_dfu_over_usb;
use {defmt_rtt as _, panic_probe as _};
mod usb_dfu;

4
tflite_demo/Cargo.toml
View File

@@ -11,9 +11,9 @@ cortex-m-rt.workspace = true
nrf52840-hal.workspace = true
usb-device.workspace = true
usbd-serial.workspace = true
microflow.workspace = true
# microflow.workspace = true
libm.workspace = true
nalgebra.workspace = true
# nalgebra.workspace = true
heapless.workspace = true
lsm6ds3tr.workspace = true
defmt.workspace = true