diff --git a/rp2040/.cargo/config b/rp2040/.cargo/config.toml similarity index 82% rename from rp2040/.cargo/config rename to rp2040/.cargo/config.toml index ed10a10..e548cb6 100644 --- a/rp2040/.cargo/config +++ b/rp2040/.cargo/config.toml @@ -1,13 +1,9 @@ # # Cargo Configuration for the https://github.com/rp-rs/rp-hal.git repository. # -# Copyright (c) The RP-RS Developers, 2021 -# # You might want to make a similar file in your own repository if you are # writing programs for Raspberry Silicon microcontrollers. # -# This file is MIT or Apache-2.0 as per the repository README.md file -# [build] # Set the default target to match the Cortex-M0+ in the RP2040 @@ -23,13 +19,12 @@ target = "thumbv6m-none-eabi" # script. This is usually provided by the cortex-m-rt crate, and by default # the version in that crate will include a file called `memory.x` which # describes the particular memory layout for your specific chip. -# * inline-threshold=5 makes the compiler more aggressive and inlining functions # * no-vectorize-loops turns off the loop vectorizer (seeing as the M0+ doesn't # have SIMD) rustflags = [ "-C", "link-arg=--nmagic", "-C", "link-arg=-Tlink.x", - "-C", "inline-threshold=5", + "-C", "link-arg=-Tdefmt.x", "-C", "no-vectorize-loops", ] @@ -39,4 +34,4 @@ runner = "elf2uf2-rs -d" # This runner will find a supported SWD debug probe and flash your RP2040 over # SWD: -# runner = "probe-run --chip RP2040" +# runner = "probe-rs run --chip RP2040" diff --git a/rp2040/Cargo.toml b/rp2040/Cargo.toml index 8eabb83..7225b9c 100644 --- a/rp2040/Cargo.toml +++ b/rp2040/Cargo.toml @@ -1,58 +1,68 @@ [package] name = "rp2040" -version = "0.1.0" -edition = "2021" +version = "0.2.0" +edition = "2024" [dependencies] +# rp2040_hal dependencies copied from v0.11 cortex-m = "0.7.2" -waveshare-rp2040-zero = "0.6.0" -rp2040-boot2 = { version = "0.2.0", optional = true } -rp2040-hal = { version = "0.8.0" } -cortex-m-rt = { version = "0.7", optional = true } -panic-halt= "0.2.0" -embedded-hal ="0.2.5" -log = { version = "0.4", optional = true } -fugit = "0.3.5" -nb = "1.0.0" -smart-leds = "0.3.0" -smart-leds-trait = "0.2.1" -ws2812-pio = "0.6.0" -usbd-human-interface-device = "0.4.2" -usb-device = "0.2" +cortex-m-rt = "0.7" +cortex-m-rtic = "1.1.4" +critical-section = {version = "1.2.0"} +defmt = {version = "0.3", optional=true} +defmt-rtt = "0.4.0" +dht-sensor = "0.2.1" +embedded-alloc = "0.5.1" +embedded-hal = "1.0.0" +embedded-hal-async = "1.0.0" +embedded-hal-bus = {version = "0.2.0", features = ["defmt-03"]} +embedded-io = "0.6.1" +embedded_hal_0_2 = {package = "embedded-hal", version = "0.2.5", features = ["unproven"]} +fugit = "0.3.6" +futures = {version = "0.3.30", default-features = false, features = ["async-await"]} +hd44780-driver = "0.4.0" +nb = "1.0" +panic-halt = "0.2.0" +panic-probe = {version = "0.3.1", features = ["print-defmt"]} pio = "0.2.0" -defmt = { version = "0.3", optional = true } -libm = "0.2.7" +pio-proc = "0.2.0" +portable-atomic = {version = "1.7.0", features = ["critical-section"]} +rp2040-boot2 = "0.3.0" +rp2040-hal = {version = "0.11.0", features = ["binary-info", "critical-section-impl", "rt", "defmt"]} +static_cell = "2.1.0" + +# USB hid dependencies +#usbd-human-interface-device = {version = "0.5.1", features = ["defmt"]} +usbd-human-interface-device = {version = "0.5.1"} +usb-device = "0.3" +packed_struct = { version = "0.10", default-features = false } +heapless = "0.8" + +# Other dependencies +eeprom24x = "0.7.2" +ws2812-pio = "0.9.0" dyn-smooth = "0.2.0" -eeprom24x = "0.6.0" +libm = "0.2.7" +smart-leds = "0.4.0" [features] -# This is the set of features we enable by default -default = ["boot2", "rt", "critical-section-impl", "rom-func-cache"] - -# critical section that is safe for multicore use -critical-section-impl = ["rp2040-hal/critical-section-impl"] - -# 2nd stage bootloaders for rp2040 -boot2 = ["rp2040-boot2"] - -# Minimal startup / runtime for Cortex-M microcontrollers -rt = ["cortex-m-rt","rp2040-hal/rt"] - -# This enables a fix for USB errata 5: USB device fails to exit RESET state on busy USB bus. -# Only required for RP2040 B0 and RP2040 B1, but it doesn't hurt to enable it -rp2040-e5 = ["rp2040-hal/rp2040-e5"] - -# Memoize(cache) ROM function pointers on first use to improve performance -rom-func-cache = ["rp2040-hal/rom-func-cache"] - -# Disable automatic mapping of language features (like floating point math) to ROM functions -disable-intrinsics = ["rp2040-hal/disable-intrinsics"] - -# This enables ROM functions for f64 math that were not present in the earliest RP2040s -rom-v2-intrinsics = ["rp2040-hal/rom-v2-intrinsics"] - defmt = ["dep:defmt", "usb-device/defmt"] +# [target.'cfg( target_arch = "arm" )'.dependencies] +# embassy-executor = {version = "0.5", features = ["arch-cortex-m", "executor-thread"]} + +[lints.clippy] +too_long_first_doc_paragraph = "allow" + +[profile.release] +codegen-units = 1 +debug = 2 +debug-assertions = false +incremental = false +lto = 'fat' +opt-level = 3 +overflow-checks = false + [[bin]] name = "rp2040" test = false diff --git a/rp2040/src/button_matrix.rs b/rp2040/src/button_matrix.rs index 3ccf895..0ee1340 100644 --- a/rp2040/src/button_matrix.rs +++ b/rp2040/src/button_matrix.rs @@ -6,7 +6,7 @@ use core::convert::Infallible; use cortex_m::delay::Delay; -use embedded_hal::digital::v2::*; +use embedded_hal::digital::{InputPin, OutputPin}; /// Button matrix driver /// @@ -15,7 +15,7 @@ use embedded_hal::digital::v2::*; /// let button_matrix: ButtonMatrix<4, 6, 48> = ButtonMatrix::new(row_pins, col_pins, 5); /// ``` pub struct ButtonMatrix<'a, const R: usize, const C: usize, const N: usize> { - rows: &'a [&'a dyn InputPin; R], + rows: &'a mut [&'a mut dyn InputPin; R], cols: &'a mut [&'a mut dyn OutputPin; C], pressed: [bool; N], debounce: u8, @@ -31,7 +31,7 @@ impl<'a, const R: usize, const C: usize, const N: usize> ButtonMatrix<'a, R, C, /// * `cols` - An array of references to the column pins. /// * `debounce` - The debounce time in number of scans. pub fn new( - rows: &'a [&'a dyn InputPin; R], + rows: &'a mut [&'a mut dyn InputPin; R], cols: &'a mut [&'a mut dyn OutputPin; C], debounce: u8, ) -> Self { diff --git a/rp2040/src/main.rs b/rp2040/src/main.rs index bd6208e..b89b1d4 100644 --- a/rp2040/src/main.rs +++ b/rp2040/src/main.rs @@ -72,35 +72,38 @@ use core::convert::Infallible; use cortex_m::delay::Delay; use dyn_smooth::{DynamicSmootherEcoI32, I32_FRAC_BITS}; use eeprom24x::{Eeprom24x, SlaveAddr}; -use embedded_hal::adc::OneShot; -use embedded_hal::digital::v2::*; -use embedded_hal::timer::CountDown; +use embedded_hal::digital::{InputPin, OutputPin}; +use embedded_hal_0_2::adc::OneShot; +use embedded_hal_0_2::timer::CountDown; use fugit::{ExtU32, RateExtU32}; use libm::powf; use panic_halt as _; use rp2040_hal::{ + Sio, adc::Adc, - gpio::{Function, FunctionConfig, PinId, ValidPinMode}, + adc::AdcPin, + clocks::{Clock, init_clocks_and_plls}, + gpio::{AnyPin, Pins}, i2c::I2C, - pio::StateMachineIndex, + pac, + pio::{PIOExt, StateMachineIndex}, + timer::Timer, + watchdog::Watchdog, }; use status_led::{StatusMode, Ws2812StatusLed}; use usb_device::class_prelude::*; use usb_device::prelude::*; use usb_joystick_device::{JoystickConfig, JoystickReport}; use usbd_human_interface_device::prelude::*; -use waveshare_rp2040_zero::entry; -use waveshare_rp2040_zero::{ - hal::{ - clocks::{init_clocks_and_plls, Clock}, - pac, - pio::PIOExt, - timer::Timer, - watchdog::Watchdog, - Sio, - }, - Pins, XOSC_CRYSTAL_FREQ, -}; + +// The linker will place this boot block at the start of our program image. We +/// need this to help the ROM bootloader get our code up and running. +#[unsafe(link_section = ".boot2")] +#[unsafe(no_mangle)] +#[used] +pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080; + +const XTAL_FREQ_HZ: u32 = 12_000_000u32; // Public constants pub const BUTTON_ROWS: usize = 5; @@ -177,7 +180,7 @@ impl Default for GimbalAxis { } } -#[entry] +#[rp2040_hal::entry] fn main() -> ! { // Grab our singleton objects let mut pac = pac::Peripherals::take().unwrap(); @@ -187,7 +190,7 @@ fn main() -> ! { // Configure clocks and PLLs let clocks = init_clocks_and_plls( - XOSC_CRYSTAL_FREQ, + XTAL_FREQ_HZ, pac.XOSC, pac.CLOCKS, pac.PLL_SYS, @@ -213,8 +216,8 @@ fn main() -> ! { let i2c = I2C::i2c1( pac.I2C1, - pins.gp14.into_mode(), // sda - pins.gp15.into_mode(), // scl + pins.gpio14.reconfigure(), // sda + pins.gpio15.reconfigure(), // scl 400.kHz(), &mut pac.RESETS, 125_000_000.Hz(), @@ -229,27 +232,27 @@ fn main() -> ! { // Configure ADC input pins // Have not figured out hov to store the adc pins in an array yet // TODO: Find a way to store adc pins in an array - let mut adc_pin_left_x = pins.gp29.into_floating_input(); - let mut adc_pin_left_y = pins.gp28.into_floating_input(); - let mut adc_pin_right_x = pins.gp27.into_floating_input(); - let mut adc_pin_right_y = pins.gp26.into_floating_input(); + let mut adc_pin_left_x = AdcPin::new(pins.gpio29.into_floating_input()).unwrap(); + let mut adc_pin_left_y = AdcPin::new(pins.gpio28.into_floating_input()).unwrap(); + let mut adc_pin_right_x = AdcPin::new(pins.gpio27.into_floating_input()).unwrap(); + let mut adc_pin_right_y = AdcPin::new(pins.gpio26.into_floating_input()).unwrap(); // Setting up array with pins connected to button rows - let button_matrix_row_pins: &[&dyn InputPin; BUTTON_ROWS] = &[ - &pins.gp6.into_pull_up_input(), - &pins.gp8.into_pull_up_input(), - &pins.gp4.into_pull_up_input(), - &pins.gp7.into_pull_up_input(), - &pins.gp5.into_pull_up_input(), + let button_matrix_row_pins: &mut [&mut dyn InputPin; BUTTON_ROWS] = &mut [ + &mut pins.gpio6.into_pull_up_input(), + &mut pins.gpio8.into_pull_up_input(), + &mut pins.gpio4.into_pull_up_input(), + &mut pins.gpio7.into_pull_up_input(), + &mut pins.gpio5.into_pull_up_input(), ]; // Setting up array with pins connected to button columns let button_matrix_col_pins: &mut [&mut dyn OutputPin; BUTTON_COLS] = &mut [ - &mut pins.gp9.into_push_pull_output(), - &mut pins.gp10.into_push_pull_output(), - &mut pins.gp11.into_push_pull_output(), - &mut pins.gp12.into_push_pull_output(), - &mut pins.gp13.into_push_pull_output(), + &mut pins.gpio9.into_push_pull_output(), + &mut pins.gpio10.into_push_pull_output(), + &mut pins.gpio11.into_push_pull_output(), + &mut pins.gpio12.into_push_pull_output(), + &mut pins.gpio13.into_push_pull_output(), ]; // Create button matrix object that scans all buttons @@ -260,13 +263,13 @@ fn main() -> ! { button_matrix.init_pins(); // Setup extra buttons (connected to TX/RX pins) - let left_extra_button = pins.gp1.into_pull_up_input(); - let right_extra_button = pins.gp0.into_pull_up_input(); + let mut left_extra_button = pins.gpio1.into_pull_up_input(); + let mut right_extra_button = pins.gpio0.into_pull_up_input(); // Create status LED let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS); let mut status_led = Ws2812StatusLed::new( - pins.neopixel.into_mode(), + pins.gpio16.into_function(), &mut pio, sm0, clocks.peripheral_clock.freq(), @@ -290,7 +293,7 @@ fn main() -> ! { } // Create timers - let timer = Timer::new(pac.TIMER, &mut pac.RESETS); + let timer = Timer::new(pac.TIMER, &mut pac.RESETS, &clocks); let mut status_led_count_down = timer.count_down(); status_led_count_down.start(250.millis()); @@ -393,7 +396,7 @@ fn main() -> ! { ]; // Configure USB - let usb_bus = UsbBusAllocator::new(waveshare_rp2040_zero::hal::usb::UsbBus::new( + let usb_bus = UsbBusAllocator::new(rp2040_hal::usb::UsbBus::new( pac.USBCTRL_REGS, pac.USBCTRL_DPRAM, clocks.usb_clock, @@ -406,9 +409,11 @@ fn main() -> ! { .build(&usb_bus); let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x1209, 0x0002)) - .manufacturer("CMtec") - .product("CMDR Joystick 25") - .serial_number("0001") + .strings(&[StringDescriptors::default() + .manufacturer("CMtec") + .product("CMDR Joystick 25") + .serial_number("0001")]) + .unwrap() .build(); // Read calibration data from eeprom @@ -678,9 +683,8 @@ fn update_status_led( calibration_active: &bool, throttle_hold_enable: &bool, ) where - P: PIOExt + FunctionConfig, - I: PinId, - Function

: ValidPinMode, + I: AnyPin, + P: PIOExt, SM: StateMachineIndex, { if *calibration_active { diff --git a/rp2040/src/status_led.rs b/rp2040/src/status_led.rs index f5a23ec..1656e02 100644 --- a/rp2040/src/status_led.rs +++ b/rp2040/src/status_led.rs @@ -5,10 +5,10 @@ //! License: Please refer to LICENSE in root directory use rp2040_hal::{ - gpio::{Function, FunctionConfig, Pin, PinId, ValidPinMode}, - pio::{PIOExt, StateMachineIndex, UninitStateMachine, PIO}, + gpio::AnyPin, + pio::{PIO, PIOExt, StateMachineIndex, UninitStateMachine}, }; -use smart_leds::{SmartLedsWrite, RGB8}; +use smart_leds::{RGB8, SmartLedsWrite}; use ws2812_pio::Ws2812Direct; /// Status LED modes @@ -35,8 +35,6 @@ pub enum StatusMode { Bootloader = 9, } #[warn(dead_code)] - -/// Status LED driver /// This driver uses the PIO state machine to drive a WS2812 LED /// /// # Example @@ -51,9 +49,8 @@ pub enum StatusMode { /// ``` pub struct Ws2812StatusLed where - I: PinId, - P: PIOExt + FunctionConfig, - Function

: ValidPinMode, + I: AnyPin, + P: PIOExt, SM: StateMachineIndex, { ws2812_direct: Ws2812Direct, @@ -63,9 +60,8 @@ where impl Ws2812StatusLed where - I: PinId, - P: PIOExt + FunctionConfig, - Function

: ValidPinMode, + I: AnyPin, + P: PIOExt, SM: StateMachineIndex, { /// Creates a new instance of this driver. @@ -77,7 +73,7 @@ where /// * `sm` - PIO state machine /// * `clock_freq` - PIO clock frequency pub fn new( - pin: Pin>, + pin: I, pio: &mut PIO

, sm: UninitStateMachine<(P, SM)>, clock_freq: fugit::HertzU32, @@ -99,7 +95,6 @@ where self.mode } #[warn(dead_code)] - /// Update status LED /// Depending on the mode, the LED will be set to a different colour /// diff --git a/rp2040/src/usb_joystick_device.rs b/rp2040/src/usb_joystick_device.rs index b13ff26..553b51c 100644 --- a/rp2040/src/usb_joystick_device.rs +++ b/rp2040/src/usb_joystick_device.rs @@ -6,11 +6,11 @@ use core::default::Default; use fugit::ExtU32; +// use packed_struct::prelude::*; use usb_device::bus::UsbBus; use usb_device::class_prelude::UsbBusAllocator; use usbd_human_interface_device::usb_class::prelude::*; -// Fetched from https://github.com/embassy-rs/embassy/blob/e3efda2249640e0b4881289aa609c96a26a7479a/embassy-hal-common/src/fmt.rs #[cfg(feature = "defmt")] macro_rules! unwrap { ($($x:tt)*) => { @@ -68,7 +68,7 @@ impl Try for Result { } // Based on example device from https://github.com/dlkj/usbd-human-interface-device/blob/main/src/device/joystick.rs -// Updated to 6x 12bit axis, 25x buttons and 4x hat switches +// Updated to 6x 12bit axis, 32x buttons and 4x hat switches #[rustfmt::skip] pub const JOYSTICK_DESCRIPTOR: &[u8] = &[ 0x05, 0x01, // Usage Page (Generic Desktop) @@ -131,12 +131,11 @@ pub struct Joystick<'a, B: UsbBus> { interface: Interface<'a, B, InBytes16, OutNone, ReportSingle>, } -impl<'a, B: UsbBus> Joystick<'a, B> { +impl Joystick<'_, B> { pub fn write_report(&mut self, report: &JoystickReport) -> Result<(), UsbHidError> { let mut data: [u8; 15] = [0; 15]; // Did not make the packed struct work, so doing it manually - // TODO: make this work with packed struct data[0] = report.x as u8; data[1] = ((report.x >> 8) as u8) | ((report.y << 4) as u8); data[2] = (report.y >> 4) as u8; @@ -178,14 +177,16 @@ pub struct JoystickConfig<'a> { interface: InterfaceConfig<'a, InBytes16, OutNone, ReportSingle>, } -impl<'a> Default for JoystickConfig<'a> { +impl Default for JoystickConfig<'_> { #[must_use] fn default() -> Self { Self::new( - unwrap!(unwrap!(InterfaceBuilder::new(JOYSTICK_DESCRIPTOR)) - .boot_device(InterfaceProtocol::None) - .description("Joystick") - .in_endpoint(10.millis())) + unwrap!( + unwrap!(InterfaceBuilder::new(JOYSTICK_DESCRIPTOR)) + .boot_device(InterfaceProtocol::None) + .description("Joystick") + .in_endpoint(10.millis()) + ) .without_out_endpoint() .build(), )