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32
README.md
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@ -2,8 +2,6 @@
Material for the beginner and advanced workshops of Oxidize Global (15.07.2020).
> TODO add license text (from commit 1?)
## Required hardware
- [nRF52840 Development Kit (DK)](https://www.nordicsemi.com/Software-and-Tools/Development-Kits/nRF52840-DK)
@ -293,7 +291,7 @@ Mass erase completed, chip unlocked
### Cargo subcommands
Install version v0.8.0 of the `cargo-flash` and `cargo-embed` subcommands, as well as the `cargo-binutils` subcommand, using the following commands:
Install version v0.8.0 of the `cargo-flash` and `cargo-embed` subcommands, as well as the `cargo-binutils` set of subcommands and the `cargo-bloat` subcommand using the following Cargo commands:
``` console
$ cargo install cargo-flash --version 0.8.0 -f
@ -307,4 +305,32 @@ Installed package `cargo-embed v0.8.0` (..)
$ cargo install cargo-binutils
(..)
Installed package `cargo-binutils v0.3.0` (..)
$ cargo install cargo-bloat
(..)
Installed package `cargo-bloat v0.9.3` (..)
```
## License
The Ferrous Systems Embedded Training Courses (this project) are distributed under the following licenses:
* The code samples and free-standing Cargo projects contained within this project are licensed under the terms of both the [MIT License] and the [Apache License v2.0].
* The written prose contained within this project is licensed under the terms of the Creative Commons [CC-BY-SA v4.0] license.
Copies of the licenses used by this project may also be found here:
* [MIT License Hosted]
* [Apache License v2.0 Hosted]
* [CC-BY-SA v4.0 Hosted]
[MIT License]: ./LICENSE-MIT
[Apache License v2.0]: ./LICENSE-APACHE
[CC-BY-SA v4.0]: ./LICENSE-CC-BY-SA
[MIT License Hosted]: https://opensource.org/licenses/MIT
[Apache License v2.0 Hosted]: http://www.apache.org/licenses/LICENSE-2.0
[CC-BY-SA v4.0 Hosted]: https://creativecommons.org/licenses/by-sa/4.0/legalcode
### Contribution
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be licensed as above, without any additional terms or conditions.

21
advanced/README.md
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@ -49,7 +49,7 @@ Bus 001 Device 003: ID 0c45:6713
Bus 001 Device 001: ID 1d6b:0002
```
The goal is to get the nRF52840 SoC to show in this list. The embedded application will use the vendor ID (VID) and product ID (PID) defined in `advanced/common/consts`; the `usb-list` tool will highlight the USB device that matches that VID PID pair.
The goal of this exercise is to get the nRF52840 SoC to show in this list. The embedded application will use the vendor ID (VID) and product ID (PID) defined in `advanced/common/consts`; the `usb-list` tool will highlight the USB device that matches that VID PID pair.
``` console
$ # expected output
@ -161,7 +161,7 @@ Open the `src/bin/resource.rs` file. The starter code shows the syntax to declar
In the starter code a resource is used to *move* (by value) the POWER peripheral from `init` to the `on_power_event` task. The POWER peripheral then becomes part of the state of the `on_power_event` task and can be persistently accessed throughout calls to `on_power_event()` through a *reference*. The resources of a task are available via the `Context` argument of the task.
To elaborate more on this *move* action: in the `svd2rust` API, peripheral types like `POWER` are *singletons* (only a single instance of the type can ever exist). The consequence of this design is that holding a peripheral instance, like `POWER`, *by value* means that the function (or task) has exclusive access, or ownership, over the peripheral. This is the case of the `init` function: it owns the `POWER` peripheral but then transfer ownership over it to a task using the resource initialization mechanism.
To elaborate more on this *move* action: in the `svd2rust` API, peripheral types like `POWER` are *singletons* (only a single instance of the type can ever exist). The consequence of this design is that holding a peripheral instance, like `POWER`, *by value* means that the function (or task) has exclusive access, or ownership, over the peripheral. This is the case of the `init` function: it owns the `POWER` peripheral but then transfers ownership over it to a task using the resource initialization mechanism.
We have moved the POWER peripheral into the task because we want to clear the USBDETECTED interrupt flag after it has been set by the hardware. If we miss this step the `on_power_event` task (function) will be called again once it returns and then again and again and again (ad infinitum).
@ -265,27 +265,18 @@ When you need to write some `no_std` code that does not involve device-specific
So that's what we'll do here. In `advanced/common/usb/lib.rs` you'll find starter code for writing a `no_std` SETUP data parser. The starter code contains some unit tests; you can run them with `cargo test` (from within the `usb` folder) or you can use Rust Analyzer's "Test" button in VS code.
If you run these tests, you'll notice this error:
```rust
error[E0599]: no variant named `Configuration` found for enum `Descriptor`
--> src/lib.rs:73:45
|
73 | descriptor: Descriptor::Configuration {index: desc_index },
| ^^^^^^^^^^^^^ variant not found in `Descriptor`
...
100 | pub enum Descriptor {
| ------------------- variant `Configuration` not found here
```
That's because the definition of `Descriptor::Configuration` has been "commented out" using an `#[cfg(TODO)]` attribute because it is not handled by the firmware yet. Delete the `#[cfg(TODO)]` so that the unit tests can access it. This pattern is used for enum members and test functions throughout this workshop, so keep it in mind should you see the error message again.
The definition of `Descriptor::Configuration` as well as the associated test has been "commented out" using an `#[cfg(TODO)]` attribute because it is not handled by the firmware yet. Delete the `#[cfg(TODO)]` so that the unit tests can access it. This pattern is used for enum members and test functions throughout this workshop, so keep it in mind should you see it again.
Now, proceed as follows:
1. **Parse GET_DESCRIPTOR requests:**
Modify `Request::parse()` in `advanced/common/usb` to recognize a GET_DESCRIPTOR request so that the `get_descriptor_device` test passes. Note that the parser already handles SET_ADDRESS requests.
Modify `Request::parse()` in `advanced/common/usb/src/lib.rs` to recognize a GET_DESCRIPTOR request so that the `get_descriptor_device` test passes. Note that the parser already handles SET_ADDRESS requests.
- check table 9-4 in the USB specification for Request Codes
- remember that you can define binary literals by prefixing them with `0b`
- you can use bit shifts (`>>`) and casts (`as u8`) to get the high/low bytes of a `u16`
See `advanced/common/usb/src/get-descriptor-device.rs` for a solution.
2. **Read incoming request information and pass it to the parser:**
modify `usb-2.rs` to read `USBD` registers and parse the SETUP data when an EPSETUP event is received.
- for a mapping of register names to the `USBD` API, check the entry for `nrf52840_hal::target::usbd` in the documentation you've created using `cargo doc`

7
advanced/common/consts/Cargo.toml
View file

@ -1,9 +1,8 @@
[package]
name = "consts"
version = "0.1.0"
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
license = "MIT OR Apache-2.0"
name = "consts"
version = "0.0.0"
[dependencies]

7
advanced/common/usb/Cargo.toml
View file

@ -1,10 +1,9 @@
[package]
name = "usb"
version = "0.1.0"
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
license = "MIT OR Apache-2.0"
name = "usb"
version = "0.0.0"
[dependencies]
log = "0.4.8"

10
advanced/firmware/Cargo.lock generated
View file

@ -55,7 +55,7 @@ checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
[[package]]
name = "consts"
version = "0.1.0"
version = "0.0.0"
[[package]]
name = "cortex-m"
@ -116,7 +116,7 @@ dependencies = [
[[package]]
name = "dk"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"cortex-m",
"cortex-m-rt",
@ -138,7 +138,7 @@ dependencies = [
[[package]]
name = "firmware"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"consts",
"cortex-m",
@ -269,7 +269,7 @@ dependencies = [
[[package]]
name = "panic-log"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"cortex-m",
"log",
@ -394,7 +394,7 @@ checksum = "826e7639553986605ec5979c7dd957c7895e93eabed50ab2ffa7f6128a75097c"
[[package]]
name = "usb"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"log",
]

3
advanced/firmware/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "firmware"
version = "0.1.0"
version = "0.0.0"
[build-dependencies]
consts = { path = "../common/consts" }

2
advanced/firmware/src/bin/events.rs
View file

@ -36,7 +36,7 @@ const APP: () = {
// to show that its contents reflect our usb connection status
// (the USBDETECTED event that will trigger `on_power_event()` is derived from this information)
let vbusdetect: bool = power.usbregstatus.read().vbusdetect().bits();
// ^^^^^^^^^ bitfield name
// ^^^^^^^^^^ bitfield name
log::info!("USBREGSTATUS.VBUSDETECT: {}", vbusdetect);
}

2
advanced/firmware/src/bin/rtic-hello.rs
View file

@ -14,7 +14,7 @@ const APP: () = {
}
#[idle]
fn idle(_cx: idle::Context) -> ! {
fn main(_cx: main::Context) -> ! {
log::info!("world!");
loop {

2
advanced/firmware/src/bin/usb-4.rs
View file

@ -8,7 +8,7 @@ use dk::{
use panic_log as _; // panic handler
// use one of these
use usb2::{GetDescriptor as Descriptor, StandardRequest as Request, State};
use usb2::{GetDescriptor as Descriptor, StandardRequest as Request};
#[rtic::app(device = dk)]
const APP: () = {

4
advanced/host/print-descs/Cargo.lock generated
View file

@ -41,7 +41,7 @@ checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
[[package]]
name = "consts"
version = "0.1.0"
version = "0.0.0"
[[package]]
name = "crc32fast"
@ -104,7 +104,7 @@ checksum = "05da548ad6865900e60eaba7f589cc0783590a92e940c26953ff81ddbab2d677"
[[package]]
name = "print-descs"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"anyhow",
"consts",

7
advanced/host/print-descs/Cargo.toml
View file

@ -1,10 +1,9 @@
[package]
name = "print-descs"
version = "0.1.0"
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
license = "MIT OR Apache-2.0"
name = "print-descs"
version = "0.0.0"
[dependencies]
rusb = "0.5.5"

2
beginner/apps/.cargo/config
View file

@ -5,4 +5,4 @@ rustflags = [
]
[build]
target = "thumbv7em-none-eabi"
target = "thumbv7em-none-eabi" # = ARM Cortex-M4

6
beginner/apps/Cargo.lock generated
View file

@ -2,7 +2,7 @@
# It is not intended for manual editing.
[[package]]
name = "apps"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"cortex-m",
"cortex-m-rt",
@ -92,7 +92,7 @@ dependencies = [
[[package]]
name = "dk"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"cortex-m",
"cortex-m-rt",
@ -219,7 +219,7 @@ dependencies = [
[[package]]
name = "panic-log"
version = "0.1.0"
version = "0.0.0"
dependencies = [
"cortex-m",
"log",

3
beginner/apps/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "apps"
version = "0.1.0"
version = "0.0.0"
[dependencies]
cortex-m = "0.6.2"

3
boards/dk/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "dk"
version = "0.1.0"
version = "0.0.0"
[dependencies]
cortex-m = "0.6.2"

54
boards/dongle/Cargo.toml
View file

@ -1,54 +0,0 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
name = "dongle"
version = "0.1.0"
[dependencies]
consts = { path = "../../common/consts" }
cortex-m-rt = "0.6.12"
cortex-m-rtfm = "0.5.1"
embedded-hal = "0.2.3"
hal = { package = "nrf52840-hal", git = "https://github.com/japaric/nrf-hal", branch = "143+144" }
heapless = "0.5.5"
panic-halt = "0.2.0"
usb-device = "0.2.5"
usbd-serial = "0.1.0"
# optimize code in both profiles
[profile.dev]
codegen-units = 1
debug = 1
debug-assertions = true # !
incremental = false
lto = "fat"
opt-level = 'z' # !
overflow-checks = false
[profile.release]
codegen-units = 1
debug = 1
debug-assertions = false
incremental = false
lto = "fat"
opt-level = 3
overflow-checks = false
# faster builds from scratch
[profile.dev.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[profile.release.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[patch.crates-io.usb-device]
git = "https://github.com/jonas-schievink/usb-device.git"
branch = "inhibit-setaddr-resp"

10
boards/dongle/loopback.rs
View file

@ -16,11 +16,11 @@ use panic_abort as _;
fn main() -> ! {
let mut stx = usbd::serial();
let (mut rtx, mut rrx) = radio::claim(Channel::_20);
let mut output = String::<consts::U64>::new();
let mut output = String::::new();
output.push_str("deviceid=").ok();
write!(output, "{:08x}{:08x}", hal::deviceid1(), hal::deviceid0()).ok();
write!(output, " channel={} TxPower=+8dBm\n", rtx.channel()).ok();
write!(output, " channel={} TxPower=+8dBm app=loopback.hex\n", rtx.channel()).ok();
let task = async {
let mut packet = Packet::new().await;
@ -28,7 +28,8 @@ fn main() -> ! {
loop {
let crcres = rrx.read(&mut packet).await;
let lqi = if packet.len() >= 3 {
let len = packet.len();
let lqi = if len >= 3 {
Some(packet.lqi())
} else {
// packet is too small; LQI is not valid
@ -37,12 +38,11 @@ fn main() -> ! {
let mut busy = false;
if crcres.is_ok() {
// packet.reverse();
packet.reverse();
busy = rtx.write(&packet).await.is_err();
}
output.clear();
let len = packet.len();
write!(
&mut output,
"received {} byte{}",

112
boards/dongle/puzzle.rs Normal file
View file

@ -0,0 +1,112 @@
// f6c27c0a5af464795d1a64c45fa1b3039f44a62a
#![deny(unused_must_use)]
#![no_main]
#![no_std]
use core::fmt::Write as _;
use hal::{radio::{self, Packet, Channel}, usbd, led};
use heapless::{consts, LinearMap, String};
use panic_abort as _;
static FROM: &[u8] = &[
// <redacted>
];
static TO: &[u8] = &[
// <redacted>
];
// store the secret rather than the plaintext -- otherwise `strings $elf` will reveal the answer
static SECRET: &[u8] = b"<redacted>";
#[no_mangle]
fn main() -> ! {
// so we can visually differentiate this one from `loopback.hex`
led::Green.on();
let mut stx = usbd::serial();
let (mut rtx, mut rrx) = radio::claim(Channel::_25);
let mut output = String::<consts::U128>::new();
let mut dict = LinearMap::<_, _, consts::U128>::new();
for (&from, &to) in FROM.iter().zip(TO.iter()) {
dict.insert(from, to).ok();
}
output.push_str("deviceid=").ok();
write!(output, "{:08x}{:08x}", hal::deviceid1(), hal::deviceid0()).ok();
write!(output, " channel={} TxPower=+8dBm app=puzzle.hex\n", rtx.channel()).ok();
let task = async {
let mut packet = Packet::new().await;
stx.write(output.as_bytes());
loop {
let crcres = rrx.read(&mut packet).await;
let len = packet.len();
let lqi = if len >= 3 {
Some(packet.lqi())
} else {
// packet is too small; LQI is not valid
None
};
let mut busy = false;
if crcres.is_ok() {
if packet.is_empty() {
packet.copy_from_slice(SECRET);
} else if packet.len() == 1 {
let p = packet[0];
let c = dict.get(&p).unwrap_or(&p);
packet.copy_from_slice(&[*c]);
} else {
// encrypt
for slot in packet.iter_mut() {
if let Some(c) = dict.get(slot) {
*slot = *c;
}
}
let matches = &packet[..] == SECRET;
packet.copy_from_slice(if matches {
b"correct"
} else {
b"incorrect"
});
}
busy = rtx.write(&packet).await.is_err();
}
output.clear();
write!(
&mut output,
"received {} byte{}",
len,
if len == 1 { "" } else { "s" }
)
.ok();
let (res, crc) = match crcres {
Ok(x) => ("Ok", x),
Err(x) => ("Err", x),
};
write!(&mut output, " (CRC={}({:#06x})", res, crc).ok();
if let Some(lqi) = lqi {
write!(&mut output, ", LQI={}", lqi).ok();
}
output.push_str(")\n").ok();
if busy {
output.push_str("didn't reply -- channel was busy\n").ok();
stx.write(output.as_bytes());
}
stx.write(output.as_bytes());
}
};
executor::run!(task)
}

203
boards/dongle/src/bin/dual.rs
View file

@ -1,203 +0,0 @@
//! `radio` & `usb` apps merged into a single application
#![no_std]
#![no_main]
use core::fmt::Write as _;
use core::sync::atomic::{AtomicBool, Ordering};
use embedded_hal::digital::v2::{OutputPin as _, StatefulOutputPin as _};
use hal::{
clocks::{Clocks, ExternalOscillator, Internal, LfOscStopped},
gpio::{
p0::{self, P0_06, P0_12},
Level, Output, PushPull,
},
ieee802154::{Packet, Radio},
target::USBD,
usbd::Usbd,
};
use heapless::String;
use panic_halt as _; // panic handler
use usb_device::{bus::UsbBusAllocator, prelude::*};
use usbd_serial::{SerialPort, USB_CLASS_CDC};
// TODO make channel configurable via a single `const`ant
#[rtfm::app(device = hal::target, peripherals = true)]
const APP: () = {
struct Resources {
blue: P0_12<Output<PushPull>>,
configured: AtomicBool,
green: P0_06<Output<PushPull>>,
radio: Radio<'static>,
serial_port: SerialPort<'static, Usbd<'static>>,
usb_dev: UsbDevice<'static, Usbd<'static>>,
}
#[init]
fn init(cx: init::Context) -> init::LateResources {
static mut EP_BUF: [u8; 1024] = [0; 1024];
static mut CLOCKS: Option<Clocks<ExternalOscillator, Internal, LfOscStopped>> = None;
static mut USB_BUS: Option<UsbBusAllocator<Usbd<'static>>> = None;
let periph = cx.device;
let port = p0::Parts::new(periph.P0);
// P0.6: green LED indicates USB is working
// P0.12: blue LED is toggled on each new packet
let green = port.p0_06.into_push_pull_output(Level::High);
let blue = port.p0_12.into_push_pull_output(Level::High);
let clocks = Clocks::new(periph.CLOCK);
// extend lifetime to `'static`
let clocks = CLOCKS.get_or_insert(clocks.enable_ext_hfosc());
let mut radio = Radio::init(periph.RADIO, clocks);
// set TX power to its maximum value
radio.set_txpower(8);
// these loops should always terminate
// detected USB power? (device is USB powered)
while !periph
.POWER
.usbregstatus
.read()
.vbusdetect()
.is_vbus_present()
{}
// wait until USB 3.3V supply (internal regulator) is stable
while !periph
.POWER
.events_usbpwrrdy
.read()
.events_usbpwrrdy()
.bit_is_clear()
{}
// enable all interrupts
periph.USBD.intenset.write(|w| {
w.endepin0().set_bit();
w.endepin1().set_bit();
w.endepin2().set_bit();
w.endepout0().set_bit();
w.endepout1().set_bit();
w.endepout2().set_bit();
w.ep0datadone().set_bit();
w.ep0setup().set_bit();
w.epdata().set_bit();
w.usbevent().set_bit();
w.usbreset().set_bit();
w.sof().set_bit();
w
});
let usb_bus = USB_BUS.get_or_insert(Usbd::new_alloc(periph.USBD, EP_BUF, clocks));
let serial_port = SerialPort::new(usb_bus);
let usb_dev = UsbDeviceBuilder::new(usb_bus, UsbVidPid(consts::VID, consts::PID))
.device_class(USB_CLASS_CDC)
.max_packet_size_0(64) // (makes control transfers 8x faster)
.build();
init::LateResources {
blue,
green,
configured: AtomicBool::new(false),
radio,
usb_dev,
serial_port,
}
}
#[idle(resources = [blue, &configured, radio, serial_port])]
fn idle(cx: idle::Context) -> ! {
let blue = cx.resources.blue;
let configured = cx.resources.configured;
let mut serial_port = cx.resources.serial_port;
let radio = cx.resources.radio;
// TODO run Radio in parallel to the USBD task
let mut packet = Packet::new();
let mut buf = String::<heapless::consts::U64>::new();
loop {
// let res = radio.recv(&mut packet);
// let lqi = packet.lqi();
// let len = packet.len();
// if res.is_ok() {
// if blue.is_set_low() == Ok(true) {
// blue.set_high().ok();
// } else {
// blue.set_low().ok();
// }
// // loopback the packet
// radio.send(&packet);
// }
let is_configured = configured.load(Ordering::Relaxed);
if is_configured {
blue.set_low().ok();
// buf.clear();
// // TODO switch to a single `uwriteln!`
// if res.is_ok() {
// buf.push_str("CRC OK").ok()
// } else {
// buf.push_str("BAD CRC").ok()
// };
// buf.push_str(" - LQI: ").ok();
// write!(buf, "{}", lqi).ok();
// buf.push_str(" - payload: ").ok();
// write!(buf, "{}", len).ok();
// buf.push_str(" bytes\n").ok();
// serial_port.lock(|port| port.write(buf.as_bytes()).ok());
}
}
}
#[task(binds = USBD, resources = [&configured, green, usb_dev, serial_port])]
fn usbd(cx: usbd::Context) {
let configured = cx.resources.configured;
let green = cx.resources.green;
let serial_port = cx.resources.serial_port;
let usb_dev = cx.resources.usb_dev;
usb_dev.poll(&mut [serial_port]);
if !configured.load(Ordering::Relaxed) {
if usb_dev.state() == UsbDeviceState::Configured {
// off
green.set_high().ok();
configured.store(true, Ordering::Relaxed);
let _ = serial_port.write(b"bChannel: 20\nTX power: +8 dBm\n");
}
} else {
// blink until configured
if green.is_set_low() == Ok(true) {
green.set_high().ok();
} else {
green.set_low().ok();
}
}
// FIXME `hal::Usbd` is not clearing all EVENTS?
let usbd: USBD = unsafe { core::mem::transmute(()) };
if usbd.events_epdata.read().bits() != 0 && usbd.epdatastatus.read().bits() == 0 {
usbd.events_epdata.reset();
}
if usbd.events_sof.read().bits() != 0 {
usbd.events_sof.reset();
}
// usbd.events_endepout[0].reset();
// usbd.events_endepout[1].reset();
// usbd.events_endepout[2].reset();
// usbd.events_ep0setup.reset();
// usbd.events_ep0datadone.reset();
// usbd.events_epdata.reset();
// usbd.events_usbevent.reset();
// usbd.events_usbreset.reset();
}
};

63
boards/dongle/src/bin/radio.rs
View file

@ -1,63 +0,0 @@
//! Test program, mainly for debugging purposes
#![no_main]
#![no_std]
use cortex_m_rt::entry;
use embedded_hal::digital::v2::{OutputPin as _, StatefulOutputPin as _};
use hal::{
clocks::Clocks,
gpio::{p0, Level},
ieee802154::{Packet, Radio},
target as pac,
};
use panic_halt as _;
#[entry]
fn main() -> ! {
let periph = pac::Peripherals::take().unwrap();
let clocks = Clocks::new(periph.CLOCK);
let clocks = clocks.enable_ext_hfosc();
let port = p0::Parts::new(periph.P0);
// NOTE LEDs turn on when the output level is low (0V)
let mut green = port.p0_06.into_push_pull_output(Level::High); // LD1
let mut blue = port.p0_12.into_push_pull_output(Level::High); // LD2 (RGB LED)
let mut red = port.p0_08.into_push_pull_output(Level::High); // LD2 (RGB LED)
let mut radio = Radio::init(periph.RADIO, &clocks);
// turn on green LED to indicate the radio has been initialized
green.set_low().ok();
// set TX power to its maximum value
radio.set_txpower(8);
let mut packet = Packet::new();
loop {
let res = radio.recv(&mut packet);
if res.is_ok() {
// CRC check passed
// clear visual error state (turn off the red LED)
red.set_high().ok();
// toggle blue LED on each successfully received packet
if blue.is_set_low() == Ok(true) {
blue.set_high().ok();
} else {
blue.set_low().ok();
}
// return packet with the contents unchanged
radio.send(&packet);
} else {
// CRC check failed
// indicate error using the red LED
red.set_low().ok();
}
}
}

96
boards/dongle/src/bin/usb.rs
View file

@ -1,96 +0,0 @@
//! Test program used to debug the `serial-term` tool
#![no_main]
#![no_std]
use cortex_m_rt::entry;
use embedded_hal::digital::v2::OutputPin as _;
use hal::{
clocks::Clocks,
gpio::{p0, Level},
target as pac,
usbd::Usbd,
};
use panic_halt as _;
use usb_device::device::{UsbDeviceBuilder, UsbDeviceState, UsbVidPid};
use usbd_serial::{SerialPort, USB_CLASS_CDC};
#[entry]
fn main() -> ! {
static mut EP_BUF: [u8; 1024] = [0; 1024];
let periph = pac::Peripherals::take().unwrap();
let clocks = Clocks::new(periph.CLOCK);
let clocks = clocks.enable_ext_hfosc();
let port = p0::Parts::new(periph.P0);
// NOTE LEDs turn on when the output level is low (0V)
let mut green = port.p0_06.into_push_pull_output(Level::High); // LD1
let mut blue = port.p0_12.into_push_pull_output(Level::High); // LD2 (RGB LED)
let mut red = port.p0_08.into_push_pull_output(Level::High); // LD2 (RGB LED)
// these loops should always terminate
// detected USB power? (device is USB powered)
while !periph
.POWER
.usbregstatus
.read()
.vbusdetect()
.is_vbus_present()
{
continue;
}
// wait until USB 3.3V supply (internal regulator) is stable
while !periph
.POWER
.events_usbpwrrdy
.read()
.events_usbpwrrdy()
.bit_is_clear()
{
continue;
}
// turn on green LED to show the program is working
green.set_low().ok();
let usb_bus = Usbd::new_alloc(periph.USBD, EP_BUF, &clocks);
let mut serial_port = SerialPort::new(&usb_bus);
let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(consts::VID, consts::PID))
.device_class(USB_CLASS_CDC)
.max_packet_size_0(64) // (makes control transfers 8x faster)
.build();
let mut buf = [0; 64];
let mut once = true;
loop {
if !usb_dev.poll(&mut [&mut serial_port]) {
continue;
}
if usb_dev.state() == UsbDeviceState::Configured {
// turn on the blue LED to show the device has been configured
blue.set_low().ok();
if once {
once = false;
serial_port.write(b"Hello, world!\n").ok();
serial_port.flush().ok();
}
if serial_port.read(&mut buf).is_ok() {
// received data from the PC. I'm interpreting this as an error but it may actually
// be part of the CDC/ACM protocol? -- we never send data to the device
red.set_low().ok();
}
} else {
// otherwise turn it off
blue.set_high().ok();
}
}
}

3
common/panic-log/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "panic-log"
version = "0.1.0"
version = "0.0.0"
[dependencies]
cortex-m = "0.6.2"

12
embedded-workshop-book/src/SUMMARY.md
View file

@ -3,11 +3,11 @@
- [Intro](./intro.md)
- [Hardware](./hardware.md)
- [Beginner Workbook](./beginner-workbook.md)
- [Parts of an Embedded Program](./parts-embedded-programm.md)
- [Building an Embedded Program](./building-programm.md)
- [Flashing the Program](./flashing-programm.md)
- [Parts of an Embedded Program](./parts-embedded-program.md)
- [Building an Embedded Program](./building-program.md)
- [Flashing the Program](./flashing-program.md)
- [Viewing Logs](./viewing-logs.md)
- [Runnging the Program from VS Code](./running-from-vsc.md)
- [Running the Program from VS Code](./running-from-vsc.md)
- [Panicking](./panicking.md)
- [Using a Hardware Abstraction Layer](./using-hal.md)
- [Timers and Time](./time.md)
@ -15,7 +15,7 @@
- [Radio Out](./radio-out.md)
- [Radio In ](./radio-in.md)
- [Radio Puzzle](./radio-puzzle.md)
- [Starting a Project from Scatch](./from-scatch.md)
- [Starting a Project from Scratch](./from-scratch.md)
- [Advanced Workbook](./advanced-workbook.md)
- [Code Organization](./code-organisation.md)
- [Listing USB Devices](./listing-usb-devices.md)
@ -46,4 +46,4 @@
- [Next Steps](./next-steps.md)
- [String Descriptors](./string-descriptors.md)
- [Custom Control Transfers](./custom-control-transfers.md)
- [References and Ressources](./references-ressources.md)
- [References and Resources](./references-resources.md)

62
embedded-workshop-book/src/building-program.md Normal file
View file

@ -0,0 +1,62 @@
# Building an Embedded Program
The following command cross compiles the program to the ARM Cortex-M4 architecture.
``` console
$ cargo build --bin hello
```
The default in a Cargo project is to compile for the host (native compilation) but the `beginner/apps` project has been configured for cross compilation. This configuration can be seen in the Cargo configuration file (`.cargo/config`):
``` text
# .cargo/config
[build]
target = "thumbv7em-none-eabi" # = ARM Cortex-M4
```
The output of the compilation process will be an ELF (Executable and Linkable Format) file. The file will be placed in the `target/thumbv7em-none-eabi` directory.
``` console
$ file target/thumbv7em-none-eabi/debug/hello
hello: ELF 32-bit LSB executable, ARM, EABI5 version 1 (SYSV), statically linked, with debug_info, not stripped
```
## Binary size
ELF files contain metadata like debug information so their size on disk is not a good indication of the amount of Flash the program will use once it's loaded on the target device's memory.
To display the amount of Flash the program will occupy on the target device use the `cargo-size` tool (part of the `cargo-binutils` package):
``` console
$ cargo size --bin hello -- -A
hello :
section size addr
.vector_table 256 0x0
.text 9740 0x100
.rodata 4568 0x270c
.data 8 0x20000000
.bss 2124 0x20000008
.uninit 0 0x20000854
```
This gives you a breakdown of the program's static memory usage per *linker section*.
The `.vector_table` section contains the *vector table*, a data structure required by the Cortex-M ISA. The `.text` section contains the instructions the program will execute. The `.rodata` section contains constants like strings literals. These three sections are contiguously located in Flash memory -- Flash memory spans from address `0x0000_0000` to `0x0010_0000` (1 MB).
The next three sections, `.data`, `.bss` and `.uninit`, are located in RAM -- RAM memory spans the address range `0x2000_0000` - `0x2004_0000` (256 KB). These sections contain statically allocated variables (`static` variables).
Another other useful tool to analyze the binary size of a program is `cargo-bloat`:
``` console
$ cargo bloat --bin hello
File .text Size Crate Name
0.7% 13.5% 1.3KiB std <char as core::fmt::Debug>::fmt
0.5% 9.6% 928B hello hello::__cortex_m_rt_main
0.4% 8.4% 804B std core::str::slice_error_fail
0.4% 8.0% 768B std core::fmt::Formatter::pad
0.3% 6.4% 614B std core::fmt::num::<impl core::fmt::Debug for usize>::fmt
(..)
5.1% 100.0% 9.4KiB .text section size, the file size is 184.5KiB
```
This breakdowns the size of the `.text` section by function. This breakdown can be used to identify the largest functions in the program; those could then be modified to make them smaller.

63
embedded-workshop-book/src/building-programm.md
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@ -1,63 +0,0 @@
# Building an Embedded Program
[❗️Intro ]
[❗️Do you want the people to use this command?]
The following command cross compiles the program to the ARM Cortex-M4 architecture. The `--target` arguments instructs Cargo to cross compile the program.
``` console
$ cargo build --target thumbv7em-none-eabi --bin hello
```
The default in a new Cargo project is to compile for the host (native compilation). Within the `beginner/apps` folder you can however omit the `--target ` flag and Cargo will still cross compile for the ARM Cortex-M4 architecture.
``` console
$ cargo build --bin hello
```
The reason for this is that the default compilation target has been set to ARM Cortex-M4 in the Cargo configuration file (`.cargo/config`):
``` text
# .cargo/config
[build]
target = "thumbv7em-none-eabi"
```
The output of the compilation process will be an ELF (Executable and Linkable Format) file. The file will be placed in the `beginner/apps/target` directory. To display the amount of Flash the program will occupy on the target device use the `rust-size` tool (part of the `cargo-binutils` package):
``` console
$ rust-size target/thumbv7em-none-eabi/debug/hello
text data bss dec hex filename
14564 8 2124 16696 4138 target/thumbv7em-none-eabi/debug/hello
```
`14460` bytes is the amount of Flash memory the program will occupy.
Alternatively, you can run the `cargo-size` subcommand, which will build the program before displaying the size of the binary.
``` console
$ cargo size --bin hello
text data bss dec hex filename
14564 8 2124 16696 4138 hello
```
Passing the `-A` flag to `rust-size` or `cargo-size` will give a more detailed breakdown of the static memory usage:
``` console
$ # omit the `--` flag if using `rust-size`
$ cargo size --bin hello -- -A
hello :
section size addr
.vector_table 256 0x0
.text 9740 0x100
.rodata 4568 0x270c
.data 8 0x20000000
.bss 2124 0x20000008
.uninit 0 0x20000854
```
The `.vector_table` section contains the *vector table*, a data structure required by the Cortex-M ISA. The `.text` section contains the instructions the program will execute. The `.rodata` section contains constants like strings literals. These three sections are contiguously located in Flash memory -- Flash memory spans from address `0x0000_0000` to `0x0010_0000` (1 MB).
The next three sections, `.data`, `.bss` and `.uninit`, are located in RAM -- RAM memory spans the address range `0x2000_0000` - `0x2004_0000` (256 KB). These sections contain statically allocated variables (`static` variables).

6
embedded-workshop-book/src/dongle.md
View file

@ -14,9 +14,9 @@ When put in bootloader mode the Dongle will run a bootloader program instead of
To put the Dongle in bootloader mode connect it to your laptop / PC / mac and then press its *reset* button. The Dongle has two buttons: a round-ish user button (SW1) and a square-ish reset button (RESET); the latter is mounted "sideways". The buttons are next to each other. The RESET button is mounted closer to the edge of the board that has the Nordic logo on silkscreen and the actual button is facing towards that edge. The opposite edge of the board is narrower and has the surface USB connector; this is the end that goes into your PC USB port.
When the Dongle is in bootloader mode its red LED will oscillate in intensity. The Dongle will also appear as a USB CDC ACM device with vendor ID `0x1915` and product ID `0x521f`.
When the Dongle is in bootloader mode its red LED will oscillate in intensity. Alternatively, the status can be checked using the `usb-list` tool introduced below. The Dongle will also appear as a USB CDC ACM device with vendor ID `0x1915` and product ID `0x521f`.
In the `tools` folder you'll find `usb-list`: a minimal cross-platform version of the `lsusb` tool. Run it (`cargo run` from `tools/usb-list`) to list all USB devices; the Dongle will be highlighted in the output.
In the `tools` folder you'll find `usb-list`: a minimal cross-platform version of the `lsusb` tool. Run it (`cargo run` from `tools/usb-list`) to list all USB devices; the Dongle will be highlighted in the output, along with a note if in bootloader mode.
``` console
@ -62,4 +62,4 @@ deviceid=588c06af0877c8f2 channel=20 TxPower=+8dBm
This line is printed by the `loopback` app on boot. It contains the device ID of the dongle, a 64-bit unique identifier (so everyone will see a different number); the radio channel that the device will use to communicate; and the transmission power of the radio in dBm.
Leave the Dongle connected and the `serial-term` application running. Now we'll switch back to the Development Kit.
Leave the Dongle connected and the `serial-term` application running. Now we'll switch back to the Development Kit.

2
embedded-workshop-book/src/from-scatch.md → embedded-workshop-book/src/from-scratch.md
View file

@ -1,4 +1,4 @@
# Starting a Project from Scatch
# Starting a Project from Scratch
So far we have been using a pre-made Cargo project to work with the nRF52840 DK. In this section we'll see how to create a new embedded project for any microcontroller.

2
embedded-workshop-book/src/references-ressources.md → embedded-workshop-book/src/references-resources.md
View file

@ -1,4 +1,4 @@
# References and Ressources
# References and Resources
## Beginner Material

4
embedded-workshop-book/src/running-from-vsc.md
View file

@ -1,4 +1,4 @@
# Runnging the Program from VS Code
# Running the Program from VS Code
Both `cargo-embed` and `cargo-flash` are tools based on the `probe-rs` library. This library exposes an API to communicate with the J-Link and perform all the operations exposed by the JTAG protocol. For this workshop we have developed a small Cargo runner that uses the `probe-rs` library to streamline the process of running a program and printing logs, like `cargo-embed`, while also having better integration into VS code.
@ -26,4 +26,4 @@ stack backtrace:
`cargo run` will compile the application and then invoke the `dk-run` tool with its argument set to the path of the output ELF file.
Unlike `cargo-embed`, `dk-run` will terminate when the program reaches a breakpoint (`asm::bkpt`) that halts the device. Before exiting, `dk-run` will print a stack backtrace of the program starting from the breakpoint. This can be used to write small test programs that are meant to perform some work and then terminate.
Unlike `cargo-embed`, `dk-run` will terminate when the program reaches a breakpoint (`asm::bkpt`) that halts the device. Before exiting `dk-run` will print a stack backtrace of the program starting from the breakpoint. This can be used to write small test programs that are meant to perform some work and then terminate.

2
embedded-workshop-book/src/viewing-logs.md
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@ -16,4 +16,4 @@ This command will bring up a Text User Interface (TUI). You should see "Hello, w
chip = "nRF52840_xxAA"
```
Logging is implemented using the Real Time Transfer (RTT) protocol. Under this protocol the target device writes log messages to a ring buffer stored in RAM; the PC communicates with the J-Link to read out log messages from this ring buffer. This logging approach is non-blocking in the sense that the target device does not have to wait for physical IO (USB comm, serial interface, etc.) to complete while logging messages since they are written to memory. It is possible, however, for the target device to overrun the ring buffer; this causes old log messages to be overwritten.
Logging is implemented using the Real Time Transfer (RTT) protocol. Under this protocol the target device writes log messages to a ring buffer stored in RAM; the PC communicates with the J-Link to read out log messages from this ring buffer. This logging approach is non-blocking in the sense that the target device does not have to wait for physical IO (USB comm, serial interface, etc.) to complete while logging messages since they are written to memory. It is possible, however, for the target device to run out of space in its logging ring buffer; this causes old log messages to be overwritten.

3
tools/dk-run/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "dk-run"
version = "0.1.0"
version = "0.0.0"
[dependencies]
anyhow = "1.0.31"

3
tools/dongle-flash/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "dongle-flash"
version = "0.1.0"
version = "0.0.0"
[dependencies]
anyhow = "1.0.31"

3
tools/serial-term/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "serial-term"
version = "0.1.0"
version = "0.0.0"
[dependencies]
anyhow = "1.0.30"

3
tools/usb-list/Cargo.toml
View file

@ -1,8 +1,9 @@
[package]
authors = ["Jorge Aparicio <jorge.aparicio@ferrous-systems.com>"]
edition = "2018"
license = "MIT OR Apache-2.0"
name = "usb-list"
version = "0.1.0"
version = "0.0.0"
[dependencies]
consts = { path = "../../advanced/common/consts" }