firmware: Add an empty cargo project.

firmware/.cargo/config

@@ -0,0 +1,9 @@
+[target.thumbv7em-none-eabihf]
+runner = "arm-none-eabi-gdb -x openocd.gdb"
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+]
+
+[build]
+target = "thumbv7em-none-eabihf"
+

firmware/Cargo.lock

@@ -0,0 +1,407 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "aligned"
+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3a785a543aea40f5e4e2e93bb2655d31bc21bb391fff65697150973e383f16bb"
+dependencies = [
+ "as-slice",
+]
+
+[[package]]
+name = "as-slice"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "45403b49e3954a4b8428a0ac21a4b7afadccf92bfd96273f1a58cd4812496ae0"
+dependencies = [
+ "generic-array 0.12.4",
+ "generic-array 0.13.3",
+ "generic-array 0.14.4",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
+
+[[package]]
+name = "bare-metal"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
+dependencies = [
+ "rustc_version",
+]
+
+[[package]]
+name = "bitfield"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
+
+[[package]]
+name = "byteorder"
+version = "1.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+
+[[package]]
+name = "cortex-m"
+version = "0.6.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9075300b07c6a56263b9b582c214d0ff037b00d45ec9fde1cc711490c56f1bb9"
+dependencies = [
+ "aligned",
+ "bare-metal",
+ "bitfield",
+ "cortex-m 0.7.3",
+ "volatile-register",
+]
+
+[[package]]
+name = "cortex-m"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2ac919ef424449ec8c08d515590ce15d9262c0ca5f0da5b0c901e971a3b783b3"
+dependencies = [
+ "bare-metal",
+ "bitfield",
+ "embedded-hal",
+ "volatile-register",
+]
+
+[[package]]
+name = "cortex-m-rt"
+version = "0.6.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "454f278bf469e2de0a4d22ea019d169d8944f86957c8207a39e3f66c32be2fc6"
+dependencies = [
+ "cortex-m-rt-macros",
+ "r0",
+]
+
+[[package]]
+name = "cortex-m-rt-macros"
+version = "0.6.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8e3aa52243e26f5922fa522b0814019e0c98fc567e2756d715dce7ad7a81f49"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "cortex-m-rtic"
+version = "0.5.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9845c4c7f7af19e216a2d00345f7f1507b8907b85cd551e403d68baeec342bb3"
+dependencies = [
+ "cortex-m 0.6.7",
+ "cortex-m-rt",
+ "cortex-m-rtic-macros",
+ "heapless",
+ "rtic-core",
+ "version_check",
+]
+
+[[package]]
+name = "cortex-m-rtic-macros"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cc874eda99515b15e67f03562726a530388f454431096d30131051b52b840559"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "rtic-syntax",
+ "syn",
+]
+
+[[package]]
+name = "cortex-m-semihosting"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc"
+dependencies = [
+ "cortex-m 0.7.3",
+]
+
+[[package]]
+name = "embedded-dma"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46c8c02e4347a0267ca60813c952017f4c5948c232474c6010a381a337f1bda4"
+dependencies = [
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db184d3fa27bc7a2344250394c0264144dfe0bc81a4401801dcb964b8dd172ad"
+dependencies = [
+ "nb 0.1.3",
+ "void",
+]
+
+[[package]]
+name = "generic-array"
+version = "0.12.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ffdf9f34f1447443d37393cc6c2b8313aebddcd96906caf34e54c68d8e57d7bd"
+dependencies = [
+ "typenum",
+]
+
+[[package]]
+name = "generic-array"
+version = "0.13.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f797e67af32588215eaaab8327027ee8e71b9dd0b2b26996aedf20c030fce309"
+dependencies = [
+ "typenum",
+]
+
+[[package]]
+name = "generic-array"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "501466ecc8a30d1d3b7fc9229b122b2ce8ed6e9d9223f1138d4babb253e51817"
+dependencies = [
+ "typenum",
+ "version_check",
+]
+
+[[package]]
+name = "hash32"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d4041af86e63ac4298ce40e5cca669066e75b6f1aa3390fe2561ffa5e1d9f4cc"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ab5ef0d4909ef3724cc8cce6ccc8572c5c817592e9285f5464f8e86f8bd3726e"
+
+[[package]]
+name = "heapless"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "634bd4d29cbf24424d0a4bfcbf80c6960129dc24424752a7d1d1390607023422"
+dependencies = [
+ "as-slice",
+ "generic-array 0.14.4",
+ "hash32",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "indexmap"
+version = "1.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bc633605454125dec4b66843673f01c7df2b89479b32e0ed634e43a91cff62a5"
+dependencies = [
+ "autocfg",
+ "hashbrown",
+]
+
+[[package]]
+name = "multiesc-firmware"
+version = "0.1.0"
+dependencies = [
+ "cortex-m-rt",
+ "cortex-m-rtic",
+ "cortex-m-semihosting",
+ "panic-semihosting",
+ "stm32g4xx-hal",
+]
+
+[[package]]
+name = "nb"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
+dependencies = [
+ "nb 1.0.0",
+]
+
+[[package]]
+name = "nb"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
+
+[[package]]
+name = "panic-semihosting"
+version = "0.5.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3d55dedd501dfd02514646e0af4d7016ce36bc12ae177ef52056989966a1eec"
+dependencies = [
+ "cortex-m 0.7.3",
+ "cortex-m-semihosting",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "acbf547ad0c65e31259204bd90935776d1c693cec2f4ff7abb7a1bbbd40dfe58"
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c7ed8b8c7b886ea3ed7dde405212185f423ab44682667c8c6dd14aa1d9f6612"
+dependencies = [
+ "unicode-xid",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3d0b9745dc2debf507c8422de05d7226cc1f0644216dfdfead988f9b1ab32a7"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "r0"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
+
+[[package]]
+name = "rtic-core"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8bd58a6949de8ff797a346a28d9f13f7b8f54fa61bb5e3cb0985a4efb497a5ef"
+
+[[package]]
+name = "rtic-syntax"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8152fcaa845720d61e6cc570548b89144c2c307f18a480bbd97e55e9f6eeff04"
+dependencies = [
+ "indexmap",
+ "proc-macro2",
+ "syn",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+dependencies = [
+ "semver",
+]
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
+name = "stm32g4"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0154d1360931c867cf50186eb5b35c2838b57670ecb8fc8d6522a8662815cf5d"
+dependencies = [
+ "bare-metal",
+ "cortex-m 0.7.3",
+ "cortex-m-rt",
+ "vcell",
+]
+
+[[package]]
+name = "stm32g4xx-hal"
+version = "0.0.0"
+source = "git+https://github.com/stm32-rs/stm32g4xx-hal.git#e52418e7c5215852edf06d1c8f77e5091f28df36"
+dependencies = [
+ "bare-metal",
+ "cortex-m 0.7.3",
+ "embedded-dma",
+ "embedded-hal",
+ "nb 0.1.3",
+ "paste",
+ "stable_deref_trait",
+ "stm32g4",
+ "void",
+]
+
+[[package]]
+name = "syn"
+version = "1.0.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1873d832550d4588c3dbc20f01361ab00bfe741048f71e3fecf145a7cc18b29c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-xid",
+]
+
+[[package]]
+name = "typenum"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "879f6906492a7cd215bfa4cf595b600146ccfac0c79bcbd1f3000162af5e8b06"
+
+[[package]]
+name = "unicode-xid"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5fecdca9a5291cc2b8dcf7dc02453fee791a280f3743cb0905f8822ae463b3fe"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
+dependencies = [
+ "vcell",
+]

firmware/Cargo.toml

@@ -0,0 +1,12 @@
+[package]
+name = "multiesc-firmware"
+version = "0.1.0"
+authors = ["Mathias Gottschlag <mgottschlag@gmail.com>"]
+edition = "2018"
+
+[dependencies]
+cortex-m-rt = "0.6.14"
+cortex-m-rtic = "0.5.7"
+cortex-m-semihosting = "0.3.7"
+panic-semihosting = "0.5.6"
+stm32g4xx-hal = { git = "https://github.com/stm32-rs/stm32g4xx-hal.git", features = ["stm32g474", "rt"] }

firmware/build.rs

@@ -0,0 +1,15 @@
+use std::env;
+use std::fs;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put the linker script somewhere the linker can find it
+    let out_dir = PathBuf::from(env::var("OUT_DIR").unwrap());
+    fs::File::create(out_dir.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out_dir.display());
+    println!("cargo:rerun-if-changed=memory.x");
+}

firmware/memory.x

@@ -0,0 +1,7 @@
+/* STM32G474RE */
+MEMORY
+{
+  FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
+  RAM  (rwx) : ORIGIN = 0x20000000, LENGTH =  96K
+  SRAM2 (rw) : ORIGIN = 0x10000000, LENGTH =  32K
+}

firmware/openocd.cfg

@@ -0,0 +1,6 @@
+source [find interface/stlink.cfg]
+source [find target/stm32g4x.cfg]
+targets
+# reset halt
+# halt
+

firmware/openocd.gdb

@@ -0,0 +1,25 @@
+set history save on
+set confirm off
+target extended-remote :3333
+monitor arm semihosting enable
+monitor reset halt
+
+# print demangled symbols
+set print asm-demangle on
+
+# set backtrace limit to not have infinite backtrace loops
+set backtrace limit 32
+
+# detect unhandled exceptions, hard faults and panics
+break DefaultHandler
+break HardFault
+#break rust_begin_unwind
+
+#break main
+
+load
+continue
+# monitor verify
+# monitor reset
+# quit
+

firmware/src/main.rs

@@ -0,0 +1,57 @@
+#![no_main]
+#![no_std]
+
+use panic_semihosting as _;
+use stm32g4xx_hal::cortex_m::asm;
+
+#[rtic::app(device = stm32g4xx_hal::stm32, peripherals = true)]
+const APP: () = {
+    struct Resources {
+        tbd: i32,
+        // TODO
+    }
+
+    #[init]
+    fn init(_ctx: init::Context) -> init::LateResources {
+        // TODO
+        init::LateResources { tbd: 0 }
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            asm::nop()
+        }
+    }
+};
+
+/*enum Motor {
+    Motor1,
+    Motor2,
+    Motor3,
+    Motor4,
+}
+
+struct Motors {}
+
+impl Motors {
+    fn init() {
+        // TODO
+    }
+
+    fn set_rpm(motor: Motor, rpm: Option<i32>) {
+        // TODO
+    }
+
+    fn get_rpm(motor: Motor) -> Option<i32> {
+        // TODO
+    }
+
+    fn get_avg_current(motor: Motor) -> u32 {
+        // TODO
+    }
+}
+
+fn main() {
+    println!("Hello, world!");
+}*/