V2 Board Support, Health Manager, Radio Receive, and Cleanup

Cargo.toml

@@ -13,6 +13,10 @@ default-members = [
     "examples/*"
 ]
 
+[workspace.dependencies.stm32h7xx-hal]
+git = "https://github.com/stm32-rs/stm32h7xx-hal" 
+features = ["sdmmc-fatfs", "can", "defmt", "stm32h735"]
+
 [workspace.dependencies.atsamd-hal]
 git = "https://github.com/atsamd-rs/atsamd"
 features = ["same51j", "same51j-rt", "dma", "can"]

boards/sensor/Cargo.toml

@@ -20,4 +20,4 @@ messages = { path = "../../libraries/messages" }
 sbg-rs = {path = "../../libraries/sbg-rs"}
 embedded-sdmmc = "0.3.0" # port to v5
 typenum = "1.16.0"
-embedded-alloc = "0.5.0"
+embedded-alloc = "0.5.0"

boards/sensor_v2/Cargo.toml

@@ -0,0 +1,24 @@
+[package]
+name = "sensor_v2"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+fugit = "0.3.5"
+embedded-hal = { version = "0.2.6", features = ["unproven"] }
+embedded-dma = "0.2.0"
+panic-halt = "0.2.0" 
+cortex-m = { workspace = true }
+cortex-m-rt = "^0.7.0"
+cortex-m-rtic = "1.1.3"
+#common-arm = {path = "../../libraries/common-arm"}
+stm32h7xx-hal = { workspace = true }
+void = { version = "1.0.2", default-features = false }
+cast = { version = "0.3.0", default-features = false }
+nb = "1.0.0"
+paste = "1.0.1"
+bare-metal = "1.0.0"
+sdio-host = { version = "0.9", optional = true }
+embedded-storage = "0.3"

boards/sensor_v2/src/main.rs

@@ -0,0 +1,60 @@
+#![no_std]
+#![no_main]
+
+use stm32h7xx_hal::gpio::gpioc::{PC13, PC3};
+use stm32h7xx_hal::gpio::{Edge, ExtiPin, Input};
+use stm32h7xx_hal::gpio::{Output, PushPull};
+use stm32h7xx_hal::prelude::*;
+
+use panic_halt as _;
+
+#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true)]
+mod app {
+    use super::*;
+
+    #[shared]
+    struct SharedResources {}
+    #[local]
+    struct LocalResources {
+        button: PC13<Input>,
+        led: PC3<Output<PushPull>>,
+    }
+
+    #[init]
+    fn init(
+        mut ctx: init::Context,
+    ) -> (SharedResources, LocalResources, init::Monotonics) {
+        let pwr = ctx.device.PWR.constrain();
+        // We could use smps, but the board is not designed for it
+        // let pwrcfg = example_power!(pwr).freeze();
+        let pwrcfg = pwr.freeze();
+
+        // RCC
+        let rcc = ctx.device.RCC.constrain();
+        let ccdr = rcc.sys_ck(100.MHz()).freeze(pwrcfg, &ctx.device.SYSCFG);
+
+        // GPIO
+        let gpioc = ctx.device.GPIOC.split(ccdr.peripheral.GPIOC);
+
+        // Button
+        let mut button = gpioc.pc13.into_floating_input();
+        button.make_interrupt_source(&mut ctx.device.SYSCFG);
+        button.trigger_on_edge(&mut ctx.device.EXTI, Edge::Rising);
+        button.enable_interrupt(&mut ctx.device.EXTI);
+
+        (
+            SharedResources {},
+            LocalResources {
+                button,
+                led: gpioc.pc3.into_push_pull_output(),
+            },
+            init::Monotonics(),
+        )
+    }
+
+    #[task(binds = EXTI15_10, local = [button, led])]
+    fn button_click(ctx: button_click::Context) {
+        ctx.local.button.clear_interrupt_pending_bit();
+        ctx.local.led.toggle();
+    }
+}

libraries/common-arm/Cargo.toml

@@ -9,14 +9,14 @@ edition = "2021"
 [dependencies]
 cortex-m = { workspace = true }
 postcard = { version = "1.0.2", features = ["use-defmt"] }
+atsamd-hal = {workspace = true}
 defmt = "0.3.2"
 defmt-rtt = "0.4.0"
 heapless = "0.7.16"
 derive_more = "0.99.17"
-atsamd-hal = { workspace = true }
 cortex-m-rt = "^0.7.0"
 embedded-sdmmc = "0.3.0"
 embedded-hal = "0.2.7"
 mcan = "0.3"
 nb = "1.1.0"
-messages = { path = "../messages" }
+messages = { path = "../messages" }

libraries/common-arm/src/sd_manager.rs

@@ -1,6 +1,5 @@
 use core::{marker::PhantomData, fmt::Debug};
 use defmt::{info, warn};
-use atsamd_hal::gpio::{Output, Pin, PushPull, PB14};
 use embedded_sdmmc as sd;
 use embedded_hal as hal;
 use cortex_m;
@@ -142,4 +141,4 @@ unsafe impl<SPI, CS> Send for SdManager<SPI, CS>
 where 
     SPI: hal::spi::FullDuplex<u8>, <SPI as FullDuplex<u8>>::Error: Debug,
     CS: hal::digital::v2::OutputPin,
-{}
+{}

memory.x

@@ -0,0 +1,63 @@
+MEMORY
+{
+  /* FLASH and RAM are mandatory memory regions */
+
+  /* STM32H742xI/743xI/753xI       */
+  /* STM32H745xI/747xI/755xI/757xI */
+  /* STM32H7A3xI/7B3xI             */
+  FLASH  : ORIGIN = 0x08000000, LENGTH = 2M
+
+  /* STM32H742xG/743xG       */
+  /* STM32H745xG/STM32H747xG */
+  /* STM32H7A3xG             */
+  /* FLASH  : ORIGIN = 0x08000000, LENGTH = 512K */
+  /* FLASH1 : ORIGIN = 0x08100000, LENGTH = 512K */
+
+  /* STM32H750xB   */
+  /* STM32H7B0     */
+  /* FLASH  : ORIGIN = 0x08000000, LENGTH = 128K */
+
+  /* DTCM  */
+  RAM    : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* AXISRAM */
+  AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
+
+  /* SRAM */
+  SRAM1 : ORIGIN = 0x30000000, LENGTH = 128K
+  SRAM2 : ORIGIN = 0x30020000, LENGTH = 128K
+  SRAM3 : ORIGIN = 0x30040000, LENGTH = 32K
+  SRAM4 : ORIGIN = 0x38000000, LENGTH = 64K
+
+  /* Backup SRAM */
+  BSRAM : ORIGIN = 0x38800000, LENGTH = 4K
+
+  /* Instruction TCM */
+  ITCM  : ORIGIN = 0x00000000, LENGTH = 64K
+}
+
+/* The location of the stack can be overridden using the
+   `_stack_start` symbol.  Place the stack at the end of RAM */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+
+/* The location of the .text section can be overridden using the
+   `_stext` symbol.  By default it will place after .vector_table */
+/* _stext = ORIGIN(FLASH) + 0x40c; */
+
+/* These sections are used for some of the examples */
+SECTIONS {
+  .axisram (NOLOAD) : ALIGN(8) {
+    *(.axisram .axisram.*);
+    . = ALIGN(8);
+    } > AXISRAM
+  /* The SRAM1 and SRAM2 section are commonly used as the stack and heap for the
+     CM4 core in dualcore versions and should thus not be used in examples*/
+  .sram3 (NOLOAD) : ALIGN(4) {
+    *(.sram3 .sram3.*);
+    . = ALIGN(4);
+    } > SRAM3
+  .sram4 (NOLOAD) : ALIGN(4) {
+    *(.sram4 .sram4.*);
+    . = ALIGN(4);
+    } > SRAM4
+};