Setup embassy, usb-serial and display drivers

.cargo/config.toml

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+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-run --chip STM32F103C8"
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+]
+
+[build]
+target = "thumbv7m-none-eabi"    # Cortex-M3
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"

.gitignore

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+/target

Cargo.toml

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+[package]
+name = "rotor-control-stm32"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+embassy-util = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
+embassy-executor = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "integrated-timers"] }
+embassy-time = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "defmt-timestamp-uptime", "tick-32768hz"] }
+embassy-stm32 = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"]  }
+embassy-usb = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
+embassy-usb-serial = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
+
+defmt = "0.3.2"
+defmt-rtt = "0.3.2"
+panic-probe = { version = "0.3.0"}
+
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+embedded-hal = "0.2.6"
+futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
+heapless = { version = "0.7.5", default-features = false }
+nb = "1.0.0"
+
+ssd1306 = "0.7.1"
+embedded-graphics = "0.7.1"
+profont = "0.6.1"
+arrayvec = { version = "0.7.2", default-features = false}
+
+
+
+
+[profile.dev]
+opt-level = "s"

memory.x

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+/* Linker script for the STM32F103C8T6 */
+MEMORY
+{
+  FLASH : ORIGIN = 0x08000000, LENGTH = 64K
+  RAM : ORIGIN = 0x20000000, LENGTH = 20K
+}

src/main.rs

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+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::fmt::Write;
+
+use defmt::panic;
+use defmt_rtt as _;
+use panic_probe as _;
+
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Speed};
+use embassy_stm32::time::Hertz;
+use embassy_stm32::usb::{Driver, Instance};
+use embassy_stm32::{i2c, interrupt, Config};
+use embassy_time::{Duration, Instant, Timer};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::Builder;
+use embassy_usb_serial::{CdcAcmClass, State};
+use futures::future::join;
+
+use embedded_graphics::{
+    mono_font::MonoTextStyle, pixelcolor::BinaryColor, prelude::*, text::Text,
+};
+use profont::PROFONT_12_POINT;
+use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
+
+use arrayvec::ArrayString;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut config = Config::default();
+    config.rcc.hse = Some(Hertz(8_000_000));
+    config.rcc.sys_ck = Some(Hertz(48_000_000));
+    config.rcc.pclk1 = Some(Hertz(24_000_000));
+    let mut p = embassy_stm32::init(config);
+
+    defmt::info!("Startup");
+
+    {
+        // BluePill board has a pull-up resistor on the D+ line.
+        // Pull the D+ pin down to send a RESET condition to the USB bus.
+        // This forced reset is needed only for development, without it host
+        // will not reset your device when you upload new firmware.
+        let _dp = Output::new(&mut p.PA12, Level::Low, Speed::Low);
+        Timer::after(Duration::from_millis(10)).await;
+    }
+
+    // Create the driver, from the HAL.
+    let irq = interrupt::take!(USB_LP_CAN1_RX0);
+    let driver = Driver::new(p.USB, irq, p.PA12, p.PA11);
+
+    // Create embassy-usb Config
+    let config = embassy_usb::Config::new(0xc0de, 0xcafe);
+    //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 device_descriptor = [0; 256];
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    let mut control_buf = [0; 7];
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut device_descriptor,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut control_buf,
+        None,
+    );
+
+    // 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();
+
+    let i2c = i2c::I2c::new(
+        p.I2C1,
+        p.PB6,
+        p.PB7,
+        Hertz::hz(100_000),
+        i2c::Config::default(),
+    );
+
+    let interface = I2CDisplayInterface::new(i2c);
+
+    let display_fut = async {
+        let mut display = Ssd1306::new(interface, DisplaySize128x32, DisplayRotation::Rotate0)
+            .into_buffered_graphics_mode();
+        display.init().unwrap();
+
+        let text_style = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::On);
+
+        loop {
+            display.clear();
+
+            Text::new("Hello world", Point::new(0, 7), text_style)
+                .draw(&mut display)
+                .unwrap();
+
+            let now = Instant::now().as_millis();
+
+            let mut buf = ArrayString::<20>::new();
+            write!(&mut buf, "{}", now).expect("Can't write");
+            Text::new(&buf, Point::new(0, 20), text_style)
+                .draw(&mut display)
+                .unwrap();
+
+            display.flush().unwrap();
+
+            Timer::after(Duration::from_millis(500)).await;
+        }
+    };
+
+    // Do stuff with the class!
+    let echo_fut = async {
+        loop {
+            class.wait_connection().await;
+            defmt::info!("Connected");
+            let _ = echo(&mut class).await;
+            defmt::info!("Disconnected");
+        }
+    };
+
+    // Run everything concurrently.
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(join(usb_fut, display_fut), echo_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 echo<'d, T: Instance + 'd>(
+    class: &mut CdcAcmClass<'d, Driver<'d, T>>,
+) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        defmt::info!("data: {:x}", data);
+        class.write_packet(">".as_bytes()).await?;
+        class.write_packet(data).await?;
+        class.write_packet("\n".as_bytes()).await?;
+    }
+}