memory.x and Cargo.toml updates

CHANGELOG.md

 # Changelog
 
+
+## 2021-02-22
+
+- memory.x, reduced flash size to 128k to match light-weight target
+- Cargo.toml, updated dependencies to latest stm32f4xx-hal/pac
+
+Some experiments (wip):
+
+- examples/rtt_rtic_i2c.rs, spi emulation over i2c
+- src/pwm3389e, driver using emulated spi
+
 ## 2021-02-16
 
 - rtt_rtic_usb_mouse updated

Cargo.toml

@@ -6,7 +6,7 @@ name = "app"
 version = "0.1.0"
 
 [dependencies]
-cortex-m = "0.6.4"
+cortex-m = "0.7.1"
 cortex-m-rt = "0.6.13"
 cortex-m-semihosting = "0.3.7"
 cortex-m-rtic = "0.5.5"
@@ -17,19 +17,19 @@ usb-device = "0.2.7"
 panic-halt = "0.2.0"
 
 # Uncomment for the itm panic examples.
-panic-itm = "0.4.2"
+#panic-itm = "0.4.2"
 
 # Uncomment for the rtt-timing examples.
 panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] }
 
 # Uncomment for the semihosting examples.
-panic-semihosting = "0.5.6"
+#panic-semihosting = "0.5.6"
 
 # Tracing
 rtt-target = { version = "0.3.0", features = ["cortex-m"] }
 
 [dependencies.stm32f4]
-version = "0.12.1"
+version = "0.13.0"
 features = ["stm32f411", "rt"]
 
 # Uncomment for the allocator example.
@@ -71,7 +71,3 @@ lto = true        # better optimizations
 # test = false
 # bench = false
 
-# [profile.release]
-# codegen-units = 1 # better optimizations
-# debug = true      # symbols are nice and they don't increase the size on Flash
-# lto = true        # better optimizations

README.md

@@ -85,8 +85,12 @@ Using `vscode` just press F5 to launch and debug the program in the currently ac
 
 ## Nucleo Connections
 
+---
+
 Some of the examples need external connection to the Nucleo to work.
 
+---
+
 ### USB example
 
 | Signal | Color | Pin  | Nucleo    |
@@ -98,6 +102,8 @@ Some of the examples need external connection to the Nucleo to work.
 
 D+ used for re-enumeration. You don't need to connect the V+ from the USB cable, as the NUCLEO is self powered.
 
+---
+
 ### PWM example
 
 | Signal | Pin | Nucleo  |
@@ -105,6 +111,17 @@ D+ used for re-enumeration. You don't need to connect the V+ from the USB cable,
 | PWM1   | PA8 | CN9 - 8 |
 | PWM2   | PA9 | CN5 - 1 |
 
+---
+
+### I2C example
+
+| Signal   | Pin | Nucleo |
+| -------- | --- | ------ |
+| I2C1_SDA | PB9 | CN10-5 |
+| I2C1_SCL | PB8 | CN10-3 |
+| +3.3v    |     | CN7-16 |
+| GND      |     | Gnd    |
+
 ## Debug interface
 
 - Serial Wire debugging uses pins PA13 and PA14. So refrain from using those unless absolutely necessary.

examples/rtt_rtic_i2c.rs

@@ -6,7 +6,8 @@
 #![no_std]
 
 use cortex_m::{asm::delay, delay};
-use panic_halt as _;
+// use panic_halt as _;
+use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 
 use stm32f4xx_hal::{
@@ -20,6 +21,11 @@ use stm32f4xx_hal::{
     stm32::I2C1,
 };
 
+use app::{
+    pmw3389e::{self, Register},
+    DwtDelay,
+};
+
 #[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true)]
 const APP: () = {
     #[init]
@@ -27,18 +33,14 @@ const APP: () = {
         rtt_init_print!();
         rprintln!("init");
         let dp = cx.device;
+        let mut cp = cx.core;
 
-        // Set up the system clock, 48MHz
+        // Set up the system clock
         let rcc = dp.RCC.constrain();
-        // let clocks = rcc.cfgr.sysclk(48.mhz()).freeze();
         let clocks = rcc.cfgr.freeze();
-        // let clocks = rcc
-        //     .cfgr
-        //     .hclk(48.mhz())
-        //     .sysclk(48.mhz())
-        //     .pclk1(24.mhz())
-        //     .pclk2(24.mhz())
-        //     .freeze();
+
+        // Initialize (enable) the monotonic timer (CYCCNT)
+        cp.DCB.enable_trace();
 
         // Set up I2C.
         let gpiob = dp.GPIOB.split();
@@ -49,7 +51,7 @@ const APP: () = {
         rprintln!("i2c configured");
 
         use embedded_hal::spi::MODE_3;
-        use SC18IS602::{Function, Order, Speed, SH18IS602};
+        use SC18IS602::{Order, Speed, SH18IS602};
         let mut spi_emu =
             SH18IS602::new(i2c, 0, Order::MsbFirst, MODE_3, Speed::Speed1843kHz, true);
 
@@ -66,7 +68,7 @@ const APP: () = {
         // try split transaction
         rprintln!("try split transaction");
         // the write part
-        spi_emu.set_low().ok();
+        spi_emu.set_low().unwrap();
         let mut req = [0x00];
         spi_emu.transfer(&mut req).unwrap();
         rprintln!("id request {:02x?}", req);
@@ -77,11 +79,11 @@ const APP: () = {
         spi_emu.transfer(&mut req).unwrap();
         rprintln!("id resp {:02x?}", req);
 
-        spi_emu.set_high().ok();
+        spi_emu.set_high().unwrap();
 
         rprintln!("try split transaction");
         // the write part
-        spi_emu.set_low().ok();
+        spi_emu.set_low().unwrap();
         let mut req = [0x01];
         spi_emu.transfer(&mut req).unwrap();
         rprintln!("version request {:02x?}", req);
@@ -92,7 +94,12 @@ const APP: () = {
         spi_emu.transfer(&mut req).unwrap();
         rprintln!("version resp {:02x?}", req);
 
-        spi_emu.set_high().ok();
+        spi_emu.set_high().unwrap();
+
+        let delay = DwtDelay::new(&mut cp.DWT, clocks);
+        let pmw3389 = pmw3389e::Pmw3389e::new(spi_emu, delay).unwrap();
+
+        rprintln!("success");
     }
 
     #[idle]
@@ -251,6 +258,8 @@ mod SC18IS602 {
         }
     }
 
+    // impl<I2C> Default for SH18IS602<I2C> where I2C: i2c::Write + i2c::Read {}
+
     impl<I2C> Transfer<u8> for SH18IS602<I2C>
     where
         I2C: i2c::Write + i2c::Read,
@@ -272,18 +281,20 @@ mod SC18IS602 {
             // perform the transaction on words.len() + 1 bytes
             // the actual SPI transfer should be words.len()
 
-            rprintln!("transfer_write {:02x?}", &self.buff[0..words.len() + 1]);
+            // rprintln!("transfer_write {:02x?}", &self.buff[0..words.len() + 1]);
 
             self.i2c
                 .write(self.addr, &self.buff[0..words.len() + 1])
                 .map_err(|_| panic!())
                 .ok();
-            cortex_m::asm::delay(100_000);
+
+            // A short delay is needed
+            // For improved performance use write if result is not needed
+            cortex_m::asm::delay(1000);
 
             self.i2c.read(self.addr, words).map_err(|_| panic!()).ok();
-            cortex_m::asm::delay(100_000);
 
-            rprintln!("transfer_read {:02x?}", words);
+            // rprintln!("transfer_read {:02x?}", words);
 
             Ok(words)
         }
@@ -304,6 +315,7 @@ mod SC18IS602 {
                     .write(self.addr, &[Function::GpioWrite.id(), 0x0])
                     .map_err(|_| panic!())
                     .ok();
+                cortex_m::asm::delay(100_000);
                 Ok(())
             }
         }

memory.x

@@ -3,7 +3,7 @@ MEMORY
   /* NOTE 1 K = 1 KiBi = 1024 bytes */
   /* TODO Adjust these memory regions to match your device memory layout */
   /* These values correspond to the STM32F411 */
-  FLASH : ORIGIN = 0x08000000, LENGTH = 256K
+  FLASH : ORIGIN = 0x08000000, LENGTH = 128K
   RAM : ORIGIN = 0x20000000, LENGTH = 64K
 }
 

src/lib.rs

 #![no_std]
 
 pub mod pmw3389;
+pub mod pmw3389e;
 
 use stm32f4xx_hal::{prelude::*, rcc::Clocks, stm32};
 

src/pmw3389e.rs

+/// PWM3389 gaming mouse sensor driver
+use embedded_hal::spi::MODE_3;
+use rtic::cyccnt::{Instant, U32Ext as _};
+use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};
+
+use crate::DwtDelay;
+
+use embedded_hal::blocking::spi::{Transfer, Write};
+use embedded_hal::digital::v2::OutputPin;
+use stm32f4xx_hal::prelude::*;
+
+use rtt_target::{rprint, rprintln};
+
+// struct SPI_EMU<SPI, E>
+// where
+//     SPI: Transfer<u8, Error = E> + OutputPin,
+// {
+//     spi_emu: SPI,
+// }
+
+#[allow(dead_code)]
+#[derive(Clone, Copy)]
+pub enum Register {
+    ProductId = 0x00,
+    RevisionId = 0x01,
+    Motion = 0x02,
+    DeltaXL = 0x03,
+    DeltaXH = 0x04,
+    DeltaYL = 0x05,
+    DeltaYH = 0x06,
+    SQUAL = 0x07,
+    RawDataSum = 0x08,
+    MaximumRawdata = 0x09,
+    MinimumRawdata = 0x0A,
+    ShutterLower = 0x0B,
+    ShutterUpper = 0x0C,
+    RippleControl = 0x0D,
+    ResolutionL = 0x0E,
+    ResolutionH = 0x0F,
+    Config2 = 0x10,
+    AngleTune = 0x11,
+    FrameCapture = 0x12,
+    SROMEnable = 0x13,
+    RunDownshift = 0x14,
+    Rest1RateLower = 0x15,
+    Rest1RateUpper = 0x16,
+    Rest1Downshift = 0x17,
+    Rest2RateLower = 0x18,
+    Rest2RateUpper = 0x19,
+    Rest2Downshift = 0x1A,
+    Rest3RateLower = 0x1B,
+    Rest3RateUpper = 0x1C,
+    Observation = 0x24,
+    DataOutLower = 0x25,
+    DataOutUpper = 0x26,
+    RawDataDump = 0x29,
+    SROMId = 0x2A,
+    MinSQRun = 0x2B,
+    RawDataThreshold = 0x2C,
+    Control2 = 0x2D,
+    Config5L = 0x2E,
+    Config5H = 0x2F,
+    PowerUpReset = 0x3A,
+    Shutdown = 0x3B,
+    InverseProductID = 0x3F,
+    LiftCutoffTune3 = 0x41,
+    AngleSnap = 0x42,
+    LiftCutoffTune1 = 0x4A,
+    MotionBurst = 0x50,
+    LiftCutoffTune1Timeout = 0x58,
+    LiftCutoffTune1MinLength = 0x5A,
+    SROMLoadBurst = 0x62,
+    LiftConfig = 0x63,
+    RawDataBurst = 0x64,
+    LiftCutoffTune2 = 0x65,
+    LiftCutoffTune2Timeout = 0x71,
+    LiftCutoffTune2MinLength = 0x72,
+    PWMPeriodCnt = 0x73,
+    PWMWidthCnt = 0x74,
+}
+
+impl Register {
+    fn addr(self) -> u8 {
+        self as u8
+    }
+}
+
+pub struct Pmw3389e<SPI, E>
+where
+    SPI: Transfer<u8, Error = E> + OutputPin,
+{
+    spi: SPI,
+    delay: DwtDelay,
+}
+
+impl<SPI, E> Pmw3389e<SPI, E>
+where
+    SPI: Transfer<u8, Error = E> + OutputPin,
+{
+    fn com_begin(&mut self) {
+        self.spi.set_low().ok();
+    }
+
+    fn com_end(&mut self) {
+        self.spi.set_high().ok();
+    }
+
+    /// Creates a new driver from a SPI peripheral and a NCS pin
+    pub fn new(spi: SPI, delay: DwtDelay) -> Result<Self, E> {
+        let mut pmw3389 = Pmw3389e { spi, delay };
+
+        rprintln!("pmw3389 - new");
+
+        // ensure SPI is reset
+        pmw3389.com_end();
+        pmw3389.delay.delay_us(40);
+        pmw3389.com_begin();
+        pmw3389.delay.delay_us(40);
+        pmw3389.com_end();
+
+        // read product id
+        let id = pmw3389.product_id()?;
+        rprintln!("product_id 0x{:x}", id);
+
+        let srom_id = pmw3389.read_register(Register::SROMId)?;
+        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
+
+        rprintln!("reset");
+
+        // force reset
+        pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
+
+        // wait for reboot
+        pmw3389.delay.delay_ms(50);
+
+        // read product id
+        let id = pmw3389.product_id()?;
+        rprintln!("product_id 0x{:x}", id);
+
+        let srom_id = pmw3389.read_register(Register::SROMId)?;
+        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
+
+        // read registers 0x02 to 0x06 (and discard the data)
+        pmw3389.read_register(Register::Motion)?;
+        pmw3389.read_register(Register::DeltaXL)?;
+        pmw3389.read_register(Register::DeltaXH)?;
+        pmw3389.read_register(Register::DeltaYL)?;
+        pmw3389.read_register(Register::DeltaYH)?;
+
+        pmw3389.upload_firmware()?;
+
+        // pmw3389.delay.delay_ms(1000);
+
+        // rprintln!("Optical Chip Initialized");
+
+        // // read product id
+        // let id = pmw3389.product_id()?;
+        // rprintln!("product_id 0x{:x}", id);
+
+        // let srom_id = pmw3389.read_register(Register::SROMId)?;
+        // rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
+
+        // // loop {
+        // //     pmw3389.write_register(Register::Motion, 0x01)?;
+
+        // //     let motion = pmw3389.read_register(Register::Motion)?;
+        // //     let xl = pmw3389.read_register(Register::DeltaXL)?;
+        // //     let xh = pmw3389.read_register(Register::DeltaXH)?;
+        // //     let yl = pmw3389.read_register(Register::DeltaYL)?;
+        // //     let yh = pmw3389.read_register(Register::DeltaYH)?;
+
+        // //     let x = (xl as u16 + (xh as u16) << 8) as i16;
+        // //     let y = (yl as u16 + (yh as u16) << 8) as i16;
+
+        // //     let surface = motion & 0x08;
+        // //     let motion_detect = motion & 0x80;
+
+        // //     rprintln!(
+        // //         "motion {}, surface {}, (x, y) {:?}",
+        // //         motion_detect,
+        // //         surface,
+        // //         (x, y),
+        // //     );
+        // //     pmw3389.delay.delay_ms(200);
+        // // }
+
+        // // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
+        // // self.delay.delay_ms(35); // waits for tSRAD
+
+        // // loop {
+        // //     pmw3389.read_status(itm)?;
+        // //     pmw3389.delay.delay_ms(10);
+        // // }
+
+        Ok(pmw3389)
+    }
+
+    pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
+        self.com_begin();
+
+        let mut buffer = [reg.addr() & 0x7f];
+        self.spi.transfer(&mut buffer)?;
+
+        // tSRAD
+        self.delay.delay_us(100);
+        self.delay.delay_us(120);
+
+        let mut buffer = [0];
+        self.spi.transfer(&mut buffer)?;
+
+        // tSCLK-NCS for read operation is 120ns
+        self.delay.delay_us(1);
+
+        self.com_end();
+
+        // tSRW/tSRR (=20us) minus tSCLK-NCS
+        self.delay.delay_us(19);
+        self.delay.delay_us(120);
+
+        Ok(buffer[0])
+    }
+
+    pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
+        self.com_begin();
+
+        let mut buffer = [reg.addr() | 0x80];
+        self.spi.transfer(&mut buffer)?;
+
+        // send
+        let mut buffer = [byte];
+        self.spi.transfer(&mut buffer)?;
+
+        // tSCLK-NCS for write operation
+        self.delay.delay_us(20);
+
+        self.com_end();
+        // tSWW/tSWR (=120us) minus tSCLK-NCS.
+        // Could be shortened, but is looks like a safe lower bound
+
+        self.delay.delay_us(100);
+
+        Ok(())
+    }
+
+    /// Reads the ProductId register; should return `0x47`
+    pub fn product_id(&mut self) -> Result<u8, E> {
+        self.read_register(Register::ProductId)
+    }
+
+    // /// Read status
+    // pub fn read_status(&mut self) -> Result<(), E> {
+    //     self.com_begin();
+
+    //     // self.write_register(Register::Motion, 0x01)?;
+
+    //     self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
+    //     // self.write_register(Register::MotionBurst, 0x00);
+
+    //     self.delay.delay_us(35); // waits for tSRAD
+
+    //     // read burst buffer
+    //     let mut buf = [0u8; 12];
+    //     self.spi.transfer(&mut buf)?;
+
+    //     // tSCLK-NCS for read operation is 120ns
+    //     self.delay.delay_us(120);
+
+    //     self.com_end();
+
+    //     rprint!("burst [");
+    //     for j in buf.iter() {
+    //         rprint!("0x{:02x}, ", j);
+    //     }
+    //     rprintln!("]");
+
+    //     //     SPI.endTransaction(); // Per:Not sure what it does
+    //     //     /*
+    //     //     BYTE[00] = Motion    = if the 7th bit is 1, a motion is detected.
+    //     //            ==> 7 bit: MOT (1 when motion is detected)
+    //     //            ==> 3 bit: 0 when chip is on surface / 1 when off surface
+    //     //            ] = Observation
+    //     //     BYTE[02] = Delta_X_L = dx (LSB)
+    //     //     BYTE[03] = Delta_X_H = dx (MSB)
+    //     //     BYTE[04] = Delta_Y_L = dy (LSB)
+    //     //     BYTE[05] = Delta_Y_H = dy (MSB)
+    //     //     BYTE[06] = SQUAL     = Surface Quality register, max 0x80
+    //     //                          - Number of features on the surface = SQUAL * 8
+    //     //     BYTE[07] = Raw_Data_Sum   = It reports the upper byte of an 18‐bit counter which sums all 1296 raw data in the current frame;
+    //     //                                * Avg value = Raw_Data_Sum * 1024 / 1296
+    //     //     BYTE[08] = Maximum_Raw_Data  = Max raw data value in current frame, max=127
+    //     //     BYTE[09] = Minimum_Raw_Data  = Min raw data value in current frame, max=127
+    //     //     BYTE[10] = Shutter_Upper     = Shutter LSB
+    //     //     BYTE[11] = Shutter_Lower     = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
+    //     //     */
+    //     //     int motion = (burstBuffer[0] & 0x80) > 0;
+    //     let motion = buf[0] & 0x80;
+    //     let surface = buf[0] & 0x08;
+    //     // 0 if on surface / 1 if off surface
+
+    //     let x = buf[2] as u16 + (buf[3] as u16) << 8;
+    //     let y = buf[4] as u16 + (buf[5] as u16) << 8;
+
+    //     let squal = buf[6];
+
+    //     rprintln!(
+    //         "motion {}, surface {}, (x, y) {:?}, squal {}",
+    //         motion,
+    //         surface,
+    //         (x, y),
+    //         squal
+    //     );
+
+    //     Ok(())
+    //}
+
+    // Upload the firmware
+    pub fn upload_firmware(&mut self) -> Result<(), E> {
+        // send the firmware to the chip, cf p.18 of the datasheet
+        // Serial.println("Uploading firmware...");
+        rprintln!("Uploading firmware...");
+
+        //Write 0 to Rest_En bit of Config2 register to disable Rest mode.
+        // adns_write_reg(Config2, 0x20);
+        // is this correct?
+        self.write_register(Register::Config2, 0x00)?;
+
+        // write 0x1d in SROM_enable reg for initializing
+        // adns_write_reg(SROM_Enable, 0x1d);
+        self.write_register(Register::SROMEnable, 0x1d)?;
+
+        // wait for more than one frame period
+        // delay(10);
+        // assume that the frame rate is as low as 100fps...
+        // even if it should never be that low
+        self.delay.delay_ms(10);
+
+        // write 0x18 to SROM_enable to start SROM download
+        // adns_write_reg(SROM_Enable, 0x18);
+        self.write_register(Register::SROMEnable, 0x18)?;
+
+        rprintln!("Begin transfer...");
+
+        // write the SROM file (=firmware data)
+        // adns_com_begin();
+        self.com_begin();
+
+        // write burst destination address
+        // SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination address
+        // delayMicroseconds(15);
+
+        self.spi
+            .transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;
+
+        self.delay.delay_us(15);
+
+        // send all bytes of the firmware
+        // unsigned char c;
+        // for(int i = 0; i < firmware_length; i++){
+        //   c = (unsigned char)pgm_read_byte(firmware_data + i);
+        //   SPI.transfer(c);
+        //   delayMicroseconds(15);
+        // }
+
+        for i in Self::FIRMWARE.iter() {
+            let mut buff = [*i];
+            // iprintln!(stim, "0x{:x}", buff[0]);
+            self.spi.transfer(&mut buff)?;
+            self.delay.delay_us(15); // 15
+        }
+
+        // // Per: added this, seems adequate
+        self.delay.delay_us(105);
+
+        self.com_end();
+
+        //Read the SROM_ID register to verify the ID before any other register reads or writes.
+        // adns_read_reg(SROM_ID);
+
+        let srom_id = self.read_register(Register::SROMId)?;
+        rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
+
+        // //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
+        // // adns_write_reg(Config2, 0x00);
+        self.write_register(Register::Config2, 0x20)?;
+
+        // // set initial CPI resolution
+        // // adns_write_reg(Config1, 0x15);
+
+        //            self.write_register(Register::ResolutionL, 0x15)?;
+        self.write_register(Register::ResolutionL, 0x5)?;
+        // self.write_register(Register::ResolutionH, 0x15)?;
+        self.write_register(Register::ResolutionH, 0x00)?;
+
+        // adns_com_end(); // why the CS is already high
+        self.com_end();
+        Ok(())
+    }
+
+    // const unsigned char firmware_data[] PROGMEM
+    pub const FIRMWARE: [u8; 4094] = [
+        0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
+        0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
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+}