Merge pull request #1705 from JuliDi/stm32h7-dac-dma-example

[STM32] H7 DAC DMA example and feature documentation

embassy-stm32/Cargo.toml

@@ -67,6 +67,7 @@ cfg-if = "1.0.0"
 embedded-io = { version = "0.4.0", features = ["async"], optional = true }
 chrono = { version = "^0.4", default-features = false, optional = true}
 bit_field = "0.10.2"
+document-features = "0.2.7"
 
 [dev-dependencies]
 critical-section = { version = "1.1", features = ["std"] }
@@ -78,40 +79,63 @@ stm32-metapac = { version = "13", default-features = false, features = ["metadat
 
 [features]
 default = ["rt"]
+
+## Enable `stm32-metapac`'s `rt` feature
 rt = ["stm32-metapac/rt"]
 
+## Use [`defmt`](https://docs.rs/defmt/latest/defmt/) for logging
 defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-embedded-hal/defmt", "embassy-hal-internal/defmt", "embedded-io?/defmt", "embassy-usb-driver?/defmt", "embassy-net-driver/defmt"]
-memory-x = ["stm32-metapac/memory-x"]
+
 exti = []
 
-# Enables additional driver features that depend on embassy-time
+## Automatically generate `memory.x` file using [`stm32-metapac`](https://docs.rs/stm32-metapac/)
+memory-x = ["stm32-metapac/memory-x"]
+
+## Enable nightly-only features
+nightly = ["embedded-hal-1", "embedded-hal-async", "embedded-storage-async", "dep:embedded-io", "dep:embassy-usb-driver", "embassy-embedded-hal/nightly"]
+
+## Re-export stm32-metapac at `embassy_stm32::pac`.
+## This is unstable because semver-minor (non-breaking) releases of embassy-stm32 may major-bump (breaking) the stm32-metapac version.
+## If this is an issue for you, you're encouraged to directly depend on a fixed version of the PAC.
+## There are no plans to make this stable.
+unstable-pac = []
+
+## Implement embedded-hal 1.0 alpha traits.
+## Implement embedded-hal-async traits if `nightly` is set as well.
+unstable-traits = ["embedded-hal-1", "dep:embedded-hal-nb"]
+
+#! ## Time
+
+## Enables additional driver features that depend on embassy-time
 time = ["dep:embassy-time"]
 
 # Features starting with `_` are for internal use only. They're not intended
 # to be enabled by other crates, and are not covered by semver guarantees.
 _time-driver = ["time"]
+
+## Use any time driver
 time-driver-any = ["_time-driver"]
+## Use TIM2 as time driver
 time-driver-tim2 = ["_time-driver"]
+## Use TIM3 as time driver
 time-driver-tim3 = ["_time-driver"]
+## Use TIM4 as time driver
 time-driver-tim4 = ["_time-driver"]
+## Use TIM5 as time driver
 time-driver-tim5 = ["_time-driver"]
+## Use TIM12 as time driver
 time-driver-tim12 = ["_time-driver"]
+## Use TIM15 as time driver
 time-driver-tim15 = ["_time-driver"]
 
-# Enable nightly-only features
-nightly = ["embedded-hal-1", "embedded-hal-async", "embedded-storage-async", "dep:embedded-io", "dep:embassy-usb-driver", "embassy-embedded-hal/nightly"]
 
-# Reexport stm32-metapac at `embassy_stm32::pac`.
+#! ## Chip-selection features
-# This is unstable because semver-minor (non-breaking) releases of embassy-stm32 may major-bump (breaking) the stm32-metapac version.
+#! Select your chip by specifying the model as a feature, e.g. `stm32c011d6`.
-# If this is an issue for you, you're encouraged to directly depend on a fixed version of the PAC.
+#! Check the `Cargo.toml` for the latest list of supported chips.
-# There are no plans to make this stable.
+#!
-unstable-pac = []
+#! **Important:** Do not forget to adapt the target chip in your toolchain,
+#! e.g. in `.cargo/config.toml`.
 
-# Implement embedded-hal 1.0 alpha traits.
-# Implement embedded-hal-async traits if `nightly` is set as well.
-unstable-traits = ["embedded-hal-1", "dep:embedded-hal-nb"]
-
-# Chip-selection features
 stm32c011d6 = [ "stm32-metapac/stm32c011d6" ]
 stm32c011f4 = [ "stm32-metapac/stm32c011f4" ]
 stm32c011f6 = [ "stm32-metapac/stm32c011f6" ]

embassy-stm32/src/lib.rs

@@ -1,6 +1,9 @@
 #![cfg_attr(not(test), no_std)]
 #![cfg_attr(feature = "nightly", feature(async_fn_in_trait, impl_trait_projections))]
 
+//! ## Feature flags
+#![doc = document_features::document_features!(feature_label = r#"<span class="stab portability"><code>{feature}</code></span>"#)]
+
 // This must go FIRST so that all the other modules see its macros.
 pub mod fmt;
 include!(concat!(env!("OUT_DIR"), "/_macros.rs"));

examples/stm32f7/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 # Change stm32f767zi to your chip name, if necessary.
-embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f767zi", "unstable-pac", "time-driver-any", "exti"]  }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f767zi", "memory-x", "unstable-pac", "time-driver-any", "exti"]  }
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }

examples/stm32f7/build.rs

@@ -1,43 +1,5 @@
-//! adapted from https://github.com/stm32-rs/stm32f7xx-hal/blob/master/build.rs
+fn main() {
-use std::fs::File;
-use std::io::prelude::*;
-use std::path::PathBuf;
-use std::{env, io};
-
-#[derive(Debug)]
-enum Error {
-    Env(env::VarError),
-    Io(io::Error),
-}
-
-impl From<env::VarError> for Error {
-    fn from(error: env::VarError) -> Self {
-        Self::Env(error)
-    }
-}
-
-impl From<io::Error> for Error {
-    fn from(error: io::Error) -> Self {
-        Self::Io(error)
-    }
-}
-
-fn main() -> Result<(), Error> {
-    println!("cargo:rerun-if-changed=build.rs");
-    println!("cargo:rerun-if-changed=memory.x");
-
-    let out_dir = env::var("OUT_DIR")?;
-    let out_dir = PathBuf::from(out_dir);
-
-    let memory_x = include_bytes!("memory.x").as_ref();
-    File::create(out_dir.join("memory.x"))?.write_all(memory_x)?;
-
-    // Tell Cargo where to find the file.
-    println!("cargo:rustc-link-search={}", out_dir.display());
-
     println!("cargo:rustc-link-arg-bins=--nmagic");
     println!("cargo:rustc-link-arg-bins=-Tlink.x");
     println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
-
-    Ok(())
 }

examples/stm32f7/memory.x

@@ -1,12 +0,0 @@
-/* For STM32F765,767,768,769,777,778,779 devices */
-MEMORY
-{
-  /* NOTE K = KiBi = 1024 bytes */
-  FLASH : ORIGIN = 0x08000000, LENGTH = 2M
-  RAM : ORIGIN = 0x20000000, LENGTH = 368K + 16K
-}
-
-/* This is where the call stack will be allocated. */
-/* The stack is of the full descending type. */
-/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
-_stack_start = ORIGIN(RAM) + LENGTH(RAM);

examples/stm32h5/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 # Change stm32h563zi to your chip name, if necessary.
-embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32h563zi", "time-driver-any", "exti", "unstable-pac", "unstable-traits"] }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32h563zi", "memory-x", "time-driver-any", "exti", "unstable-pac", "unstable-traits"] }
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }

examples/stm32h5/memory.x

@@ -1,5 +0,0 @@
-MEMORY
-{
-    FLASH : ORIGIN = 0x08000000, LENGTH = 0x200000
-    RAM   : ORIGIN = 0x20000000, LENGTH =  0x50000
-}

examples/stm32h7/.cargo/config.toml

@@ -1,5 +1,5 @@
 [target.thumbv7em-none-eabihf]
-runner = 'probe-rs run --chip STM32H743ZITx'
+runner = 'probe-rs run --chip STM32H7A3ZITxQ'
 
 [build]
 target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)

examples/stm32h7/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 # Change stm32h743bi to your chip name, if necessary.
-embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32h743bi", "time-driver-any", "exti", "unstable-pac", "unstable-traits"] }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32h743bi", "time-driver-any", "exti", "memory-x", "unstable-pac", "unstable-traits"] }
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }

examples/stm32h7/memory.x

@@ -1,5 +0,0 @@
-MEMORY
-{
-    FLASH : ORIGIN = 0x8000000, LENGTH = 1024K
-    RAM : ORIGIN = 0x24000000, LENGTH = 384K
-}

examples/stm32h7/src/bin/dac_dma.rs

@@ -0,0 +1,140 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::dac::{DacChannel, ValueArray};
+use embassy_stm32::pac::timer::vals::{Mms, Opm};
+use embassy_stm32::peripherals::{TIM6, TIM7};
+use embassy_stm32::rcc::low_level::RccPeripheral;
+use embassy_stm32::time::{mhz, Hertz};
+use embassy_stm32::timer::low_level::Basic16bitInstance;
+use micromath::F32Ext;
+use {defmt_rtt as _, panic_probe as _};
+
+pub type Dac1Type =
+    embassy_stm32::dac::DacCh1<'static, embassy_stm32::peripherals::DAC1, embassy_stm32::peripherals::DMA1_CH3>;
+
+pub type Dac2Type =
+    embassy_stm32::dac::DacCh2<'static, embassy_stm32::peripherals::DAC1, embassy_stm32::peripherals::DMA1_CH4>;
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let mut config = embassy_stm32::Config::default();
+    config.rcc.sys_ck = Some(mhz(400));
+    config.rcc.hclk = Some(mhz(100));
+    config.rcc.pll1.q_ck = Some(mhz(100));
+
+    // Initialize the board and obtain a Peripherals instance
+    let p: embassy_stm32::Peripherals = embassy_stm32::init(config);
+
+    // Obtain two independent channels (p.DAC1 can only be consumed once, though!)
+    let (dac_ch1, dac_ch2) = embassy_stm32::dac::Dac::new(p.DAC1, p.DMA1_CH3, p.DMA1_CH4, p.PA4, p.PA5).split();
+
+    spawner.spawn(dac_task1(dac_ch1)).ok();
+    spawner.spawn(dac_task2(dac_ch2)).ok();
+}
+
+#[embassy_executor::task]
+async fn dac_task1(mut dac: Dac1Type) {
+    let data: &[u8; 256] = &calculate_array::<256>();
+
+    info!("TIM6 frequency is {}", TIM6::frequency());
+    const FREQUENCY: Hertz = Hertz::hz(200);
+
+    // Compute the reload value such that we obtain the FREQUENCY for the sine
+    let reload: u32 = (TIM6::frequency().0 / FREQUENCY.0) / data.len() as u32;
+
+    // Depends on your clock and on the specific chip used, you may need higher or lower values here
+    if reload < 10 {
+        error!("Reload value {} below threshold!", reload);
+    }
+
+    dac.select_trigger(embassy_stm32::dac::Ch1Trigger::Tim6).unwrap();
+    dac.enable_channel().unwrap();
+
+    TIM6::enable();
+    TIM6::regs().arr().modify(|w| w.set_arr(reload as u16 - 1));
+    TIM6::regs().cr2().modify(|w| w.set_mms(Mms::UPDATE));
+    TIM6::regs().cr1().modify(|w| {
+        w.set_opm(Opm::DISABLED);
+        w.set_cen(true);
+    });
+
+    debug!(
+        "TIM6 Frequency {}, Target Frequency {}, Reload {}, Reload as u16 {}, Samples {}",
+        TIM6::frequency(),
+        FREQUENCY,
+        reload,
+        reload as u16,
+        data.len()
+    );
+
+    // Loop technically not necessary if DMA circular mode is enabled
+    loop {
+        info!("Loop DAC1");
+        if let Err(e) = dac.write(ValueArray::Bit8(data), true).await {
+            error!("Could not write to dac: {}", e);
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn dac_task2(mut dac: Dac2Type) {
+    let data: &[u8; 256] = &calculate_array::<256>();
+
+    info!("TIM7 frequency is {}", TIM7::frequency());
+
+    const FREQUENCY: Hertz = Hertz::hz(600);
+    let reload: u32 = (TIM7::frequency().0 / FREQUENCY.0) / data.len() as u32;
+
+    if reload < 10 {
+        error!("Reload value {} below threshold!", reload);
+    }
+
+    TIM7::enable();
+    TIM7::regs().arr().modify(|w| w.set_arr(reload as u16 - 1));
+    TIM7::regs().cr2().modify(|w| w.set_mms(Mms::UPDATE));
+    TIM7::regs().cr1().modify(|w| {
+        w.set_opm(Opm::DISABLED);
+        w.set_cen(true);
+    });
+
+    dac.select_trigger(embassy_stm32::dac::Ch2Trigger::Tim7).unwrap();
+
+    debug!(
+        "TIM7 Frequency {}, Target Frequency {}, Reload {}, Reload as u16 {}, Samples {}",
+        TIM7::frequency(),
+        FREQUENCY,
+        reload,
+        reload as u16,
+        data.len()
+    );
+
+    if let Err(e) = dac.write(ValueArray::Bit8(data), true).await {
+        error!("Could not write to dac: {}", e);
+    }
+}
+
+fn to_sine_wave(v: u8) -> u8 {
+    if v >= 128 {
+        // top half
+        let r = 3.14 * ((v - 128) as f32 / 128.0);
+        (r.sin() * 128.0 + 127.0) as u8
+    } else {
+        // bottom half
+        let r = 3.14 + 3.14 * (v as f32 / 128.0);
+        (r.sin() * 128.0 + 127.0) as u8
+    }
+}
+
+fn calculate_array<const N: usize>() -> [u8; N] {
+    let mut res = [0; N];
+    let mut i = 0;
+    while i < N {
+        res[i] = to_sine_wave(i as u8);
+        i += 1;
+    }
+    res
+}

examples/stm32l4/Cargo.toml

@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 # Change stm32l4s5vi to your chip name, if necessary.
-embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l4s5vi", "time-driver-any", "exti", "unstable-traits", "chrono"]  }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l4s5vi", "memory-x", "time-driver-any", "exti", "unstable-traits", "chrono"]  }
 embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }

examples/stm32l4/build.rs

@@ -1,34 +1,4 @@
-//! This build script copies the `memory.x` file from the crate root into
-//! a directory where the linker can always find it at build time.
-//! For many projects this is optional, as the linker always searches the
-//! project root directory -- wherever `Cargo.toml` is. However, if you
-//! are using a workspace or have a more complicated build setup, this
-//! build script becomes required. Additionally, by requesting that
-//! Cargo re-run the build script whenever `memory.x` is changed,
-//! updating `memory.x` ensures a rebuild of the application with the
-//! new memory settings.
-
-use std::env;
-use std::fs::File;
-use std::io::Write;
-use std::path::PathBuf;
-
 fn main() {
-    // Put `memory.x` in our output directory and ensure it's
-    // on the linker search path.
-    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
-    File::create(out.join("memory.x"))
-        .unwrap()
-        .write_all(include_bytes!("memory.x"))
-        .unwrap();
-    println!("cargo:rustc-link-search={}", out.display());
-
-    // By default, Cargo will re-run a build script whenever
-    // any file in the project changes. By specifying `memory.x`
-    // here, we ensure the build script is only re-run when
-    // `memory.x` is changed.
-    println!("cargo:rerun-if-changed=memory.x");
-
     println!("cargo:rustc-link-arg-bins=--nmagic");
     println!("cargo:rustc-link-arg-bins=-Tlink.x");
     println!("cargo:rustc-link-arg-bins=-Tdefmt.x");

examples/stm32l4/memory.x

@@ -1,7 +0,0 @@
-MEMORY
-{
-  /* NOTE 1 K = 1 KiBi = 1024 bytes */
-  /* These values correspond to the STM32L4S5 */
-  FLASH : ORIGIN = 0x08000000, LENGTH = 1024K
-  RAM : ORIGIN = 0x20000000, LENGTH = 128K
-}