diff --git a/.cargo/config b/.cargo/config
index e4946d4ddfa7c4c71ae0d85e5f65d90337e11d0f..3b7dfa1063a560f3c3750a3afa169f72e2d3debf 100644
--- a/.cargo/config
+++ b/.cargo/config
@@ -34,8 +34,8 @@ rustflags = [
# Pick ONE of these compilation targets
# target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
# target = "thumbv7m-none-eabi" # Cortex-M3
-target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
-# target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
# target = "thumbv8m.base-none-eabi" # Cortex-M23
# target = "thumbv8m.main-none-eabi" # Cortex-M33 (no FPU)
# target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU)
diff --git a/Cargo.toml b/Cargo.toml
index e9e9cc8aa7afc31ed89b859c624aa7bc9ab20101..c250d53b167bf3711da10e6ccd58242df4e3509f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -39,6 +39,7 @@ features = ["stm32f411", "rt"]
[dependencies.stm32f4xx-hal]
version = "0.8.3"
features = ["rt", "stm32f411", "usb_fs"]
+git = "https://github.com/stm32-rs/stm32f4xx-hal"
# this lets you use `cargo fix`!
[[bin]]
diff --git a/README.md b/README.md
index 884c8e68852cff04998f742b762fd6e1b27681d4..e35bb5b3e449a3b05a0ecce496fe131c5f283b70 100644
--- a/README.md
+++ b/README.md
@@ -2,20 +2,31 @@
## Resources
-- [UM1724 - stm32 Nucleo-64](https://www.st.com/resource/en/user_manual/dm00105823-stm32-nucleo64-boards-mb1136-stmicroelectronics.pdf)
+- Nucleo 64
+ - [UM1724 - stm32 Nucleo-64](https://www.st.com/resource/en/user_manual/dm00105823-stm32-nucleo64-boards-mb1136-stmicroelectronics.pdf).
+ - [Nucleo 64 Schematics](https://www.st.com/resource/en/schematic_pack/nucleo_64pins_sch.zip) (The file MB1136.pdf is the schematics in pdf.)
+ - [stm32f4xx_hal](https://docs.rs/stm32f4xx-hal/0.8.3/stm32f4xx_hal/) documentation of the HAL API, and [git repository](https://github.com/stm32-rs/stm32f4xx-hal).
-- [RM0383 - F411 Reference Manual](https://www.st.com/resource/zh/reference_manual/dm00119316-stm32f411xce-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) and [RM0368 - F401 Reference Manual](https://www.st.com/resource/en/reference_manual/dm00096844-stm32f401xbc-and-stm32f401xde-advanced-armbased-32bit-mcus-stmicroelectronics.pdf)
-- [Nucleo 64 Schematics](https://www.st.com/resource/en/schematic_pack/nucleo_64pins_sch.zip) (The file MB1136.pdf is the schematics in pdf.)
+- STM32F01/FO11
+ - [RM0383 - F411 Reference Manual](https://www.st.com/resource/zh/reference_manual/dm00119316-stm32f411xce-advanced-armbased-32bit-mcus-stmicroelectronics.pdf)
+ - [RM0368 - F401 Reference Manual](https://www.st.com/resource/en/reference_manual/dm00096844-stm32f401xbc-and-stm32f401xde-advanced-armbased-32bit-mcus-stmicroelectronics.pdf)
+ - [PM0214 - M4 Programming manual](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&ved=2ahUKEwjOtd645OTtAhXEHXcKHdwYCoQQFjAAegQIBhAC&url=https%3A%2F%2Fwww.st.com%2Fresource%2Fen%2Fprogramming_manual%2Fdm00046982-stm32-cortex-m4-mcus-and-mpus-programming-manual-stmicroelectronics.pdf&usg=AOvVaw0n3XXybtMMDbifhDZse1Pl)
-- [PM0214 - M4 Programming manual](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&ved=2ahUKEwjOtd645OTtAhXEHXcKHdwYCoQQFjAAegQIBhAC&url=https%3A%2F%2Fwww.st.com%2Fresource%2Fen%2Fprogramming_manual%2Fdm00046982-stm32-cortex-m4-mcus-and-mpus-programming-manual-stmicroelectronics.pdf&usg=AOvVaw0n3XXybtMMDbifhDZse1Pl)
+- PixArt PMW33xx Optical Navigation Chip
+ - [PMW3389DM-T3QU](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&ved=2ahUKEwicx5OA9eTtAhWC-yoKHVfKAJ0QFjAAegQIBhAC&url=https%3A%2F%2Fwww.pixart.com%2F_getfs.php%3Ftb%3Dproduct%26id%3D4%26fs%3Dck2_fs_cn&usg=AOvVaw1A1rR533Pt-7EgnVSS-_ch), optical navigation chip
+ - [Jack Enterprise Breakout Board](https://www.tindie.com/products/jkicklighter/pmw3389-motion-sensor/), an example design with software linked.
-- [PMW3389DM-T3QU](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&ved=2ahUKEwicx5OA9eTtAhWC-yoKHVfKAJ0QFjAAegQIBhAC&url=https%3A%2F%2Fwww.pixart.com%2F_getfs.php%3Ftb%3Dproduct%26id%3D4%26fs%3Dck2_fs_cn&usg=AOvVaw1A1rR533Pt-7EgnVSS-_ch), optical navigation chip
+- General Embedded
+ - [Introduction to SPI](https://www.analog.com/en/analog-dialogue/articles/introduction-to-spi-interface.html#), a short introduction to the SPI interface.
-- [Jack Enterprise Breakout Board](https://www.tindie.com/products/jkicklighter/pmw3389-motion-sensor/), an example design with software linked.
-- [Introduction to SPI](https://www.analog.com/en/analog-dialogue/articles/introduction-to-spi-interface.html#), a short introduction to the SPI interface.
-
+
+
+---
+
+## Connections
+
- [USB Cable]
| Signl | Color | Pin |
diff --git a/examples/rtic_blinky.rs b/examples/rtic_blinky.rs
index 9bf9bb2945c580cafd74bb905c80b1251fbfb683..6828905fca45542e24bfe0afb8c522a4bee1b25b 100644
--- a/examples/rtic_blinky.rs
+++ b/examples/rtic_blinky.rs
@@ -5,7 +5,7 @@
use cortex_m::peripheral::DWT;
use cortex_m_semihosting::hprintln;
-use panic_halt as _;
+use panic_rtt_target as _;
use rtic::cyccnt::{Instant, U32Ext as _};
use stm32f4xx_hal::stm32;
diff --git a/examples/rtt-pwm.rs b/examples/rtt-pwm.rs
new file mode 100644
index 0000000000000000000000000000000000000000..b43031579ef74f5fb0964eace2b82b17f96924e2
--- /dev/null
+++ b/examples/rtt-pwm.rs
@@ -0,0 +1,53 @@
+//! examples/rtt_timing.rs
+//! cargo run --examples rtt-pwm
+
+#![deny(unsafe_code)]
+// #![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m::{asm, peripheral::DWT};
+use panic_halt as _;
+use rtt_target::{rprintln, rtt_init_print};
+use stm32f4xx_hal::{dma, gpio::Speed, prelude::*, pwm, stm32};
+
+#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true)]
+const APP: () = {
+ #[init]
+ fn init(mut cx: init::Context) {
+ rtt_init_print!();
+ rprintln!("init");
+ let dp = cx.device;
+
+ // Initialize (enable) the monotonic timer (CYCCNT)
+ cx.core.DCB.enable_trace();
+ cx.core.DWT.enable_cycle_counter();
+
+ // Set up the system clock. 16 MHz?
+ let rcc = dp.RCC.constrain();
+ let clocks = rcc.cfgr.freeze();
+
+ let gpioa = dp.GPIOA.split();
+ let channels = (
+ gpioa.pa8.into_alternate_af1().set_speed(Speed::Low),
+ gpioa.pa9.into_alternate_af1(),
+ );
+
+ let pwm = pwm::tim1(dp.TIM1, channels, clocks, 1u32.khz());
+ let (mut ch1, mut ch2) = pwm;
+ let max_duty = ch1.get_max_duty();
+ rprintln!("max_duty {}", max_duty);
+ ch1.set_duty(max_duty / 2);
+ ch1.enable();
+ ch2.set_duty((max_duty * 1) / 2);
+ ch2.enable();
+ }
+
+ #[idle]
+ fn idle(_cx: idle::Context) -> ! {
+ rprintln!("idle");
+ loop {
+ continue;
+ }
+ }
+};
diff --git a/examples/rtt-timing.rs b/examples/rtt-timing.rs
index 2f601f7a7fc4c594c9572765a539d7e72d1b0db4..720e79982a954295b6e7d3501f4385444feb1065 100644
--- a/examples/rtt-timing.rs
+++ b/examples/rtt-timing.rs
@@ -1,4 +1,5 @@
//! examples/rtt_timing.rs
+//! cargo run --examples rtt-timing
#![deny(unsafe_code)]
#![deny(warnings)]
diff --git a/openocd.cfg b/openocd.cfg
index 1c082fe51c8ec2d4641dd92be4071ac6a4c2bcaa..577828f1224ae32378f9ee9ba8f6869af3d07a29 100644
--- a/openocd.cfg
+++ b/openocd.cfg
@@ -1,4 +1,4 @@
-# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
+# Sample OpenOCD configuration for the STM Nucleo-F401RE/F411RE development board
# Depending on the hardware revision you got you'll have to pick ONE of these
# interfaces. At any time only one interface should be commented out.
diff --git a/openocd.gdb b/openocd.gdb
index 918dff9a0af41e51057d4a16a4958c9459ab4ee0..1623a86cd3930d71776af1709ded3b30298c7e32 100644
--- a/openocd.gdb
+++ b/openocd.gdb
@@ -32,7 +32,7 @@ monitor tpiu config internal itm.txt uart off 16000000
# monitor tpiu config external uart off 8000000 2000000
# # enable ITM port 0
-# monitor itm port 0 on
+monitor itm port 0 on
load