Make the M3 example work with Rust stable toolchain

Author: JalonWong

.github/workflows/ci.yml

@@ -42,8 +42,8 @@ jobs:
   freertos-rust-stable:
     name: Build freertos-rust using stable
     runs-on: ubuntu-latest
-    env:
-      RUSTFLAGS: -D warnings # Warnings disabled only in CI
+    # env:
+    #   RUSTFLAGS: -D warnings # Warnings disabled only in CI
     steps:
     - name: Clone
       uses: actions/checkout@v3
@@ -70,8 +70,8 @@ jobs:
           #  target: x86_64-pc-windows-gnu
           #- example: linux
           #  target: x86_64-unknown-linux-gnu
-          #- example: stm32-cortex-m3
-          #  target: thumbv7m-none-eabi
+          - example: stm32-cortex-m3
+            target: thumbv7m-none-eabi
           - example: stm32-cortex-m4-blackpill
             target: thumbv7em-none-eabihf
           #- example: nrf9160

README.md

@@ -13,61 +13,68 @@ In contrast to freertos.rs this crate differs in these points:
 
 ## How it works
 
-The `freertos-cargo-build` build-dependency compiles the FreeRTOS code from its original "C" sources files into an 
-archive to be linked against your Rust app. Internally it uses the [cc crate](https://docs.rs/crate/cc) and some meta 
+The `freertos-cargo-build` build-dependency compiles the FreeRTOS code from its original "C" sources files into an
+archive to be linked against your Rust app. Internally it uses the [cc crate](https://docs.rs/crate/cc) and some meta
 info provided by your apps `build.rs`:
- 
+
  1. A path to the [FreeRTOS](https://github.com/FreeRTOS/FreeRTOS-Kernel) `Sources`
  1. A path to the app specific `FreeRTOSConfig.h`
  1. A relative path to the `FreeRTOS port` to be used, e.g. for ARM Cortex-M3 cores.
  1. Optional: Additional C code to be compiled
- 
- The `freertos-rust` dependency provides an interface to access all FreeRTOS functionality from your (embedded) 
+
+ The `freertos-rust` dependency provides an interface to access all FreeRTOS functionality from your (embedded)
  Rust app.
- 
+
  ## Usage
 
-1. Checkout FreeRTOS: https://github.com/FreeRTOS/FreeRTOS-Kernel   
+1. Checkout FreeRTOS: https://github.com/FreeRTOS/FreeRTOS-Kernel
 
 1. Add dependencies to your Rust apps `Cargo.toml`
-
-    ```
+    ```toml
     [dependencies]
     freertos-rust = "*"
-    
+
     [build-dependencies]
     freertos-cargo-build = "*"
     ```
-    
+
 1. Add this snippet to your apps `build.rs`:
-    ```
+    ```rust
     fn main() {
         let mut b = freertos_cargo_build::Builder::new();
-    
+
         // Path to FreeRTOS kernel or set ENV "FREERTOS_SRC" instead
         b.freertos("path/to/FreeRTOS-Kernel");
-        b.freertos_config("src");       // Location of `FreeRTOSConfig.h` 
-        b.freertos_port("GCC/ARM_CM3"); // Port dir relativ to 'FreeRTOS-Kernel/portable' 
-        b.heap("heap_4.c");             // Set the heap_?.c allocator to use from 
-                                        // 'FreeRTOS-Kernel/portable/MemMang' (Default: heap_4.c)       
-   
+        b.freertos_config("src");       // Location of `FreeRTOSConfig.h`
+        b.freertos_port("GCC/ARM_CM3"); // Port dir relativ to 'FreeRTOS-Kernel/portable'
+        b.heap("heap_4.c");             // Set the heap_?.c allocator to use from
+                                        // 'FreeRTOS-Kernel/portable/MemMang' (Default: heap_4.c)
+
         // b.get_cc().file("More.c");   // Optional additional C-Code to be compiled
-    
+
         b.compile().unwrap_or_else(|e| { panic!("{}", e.to_string()) });
     }
-    ```   
+    ```
 
 ### Used C compiler
 `freertos-cargo-build` depends on the [cc crate](https://docs.rs/crate/cc). So the C compiler
-used can be set by using the `CC` enviroment variable or otherwise defined by internal 
+used can be set by using the `CC` enviroment variable or otherwise defined by internal
 defaults. For the ARM architecture this is the `arm-none-eabi-gcc` which can be found [here](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads).
 
+Install:
+```shell
+# on Ubuntu
+sudo apt-get install -y gcc-arm-none-eabi
+# on Windows
+scoop install gcc-arm-none-eabi
+```
+
 ## Examples
 To get started there are examples in [freertos-rust-examples](freertos-rust-examples) for:
 
 * Cortex M33 (nRF9160)
-* Cortex M3 (STM32L151CBU6A)
-* Cortex M4 (STM32F411CEU6)
+* Cortex M3 (STM32F103C8)
+* Cortex M4 (STM32F411CE)
 * Windows
 * ...more to come...
 
@@ -80,7 +87,3 @@ To get started there are examples in [freertos-rust-examples](freertos-rust-exam
 This repository is using the MIT License. Some parts might state different licenses that need to be respected when used.
 
 * The [Linux port](https://github.com/michaelbecker/freertos-addons) is licensed under GPLv2
-
-
-
-

freertos-rust-examples/Cargo.toml

@@ -18,8 +18,7 @@ cortex-m-rt = "0.7"
 
 # Example: stm32-cortex-m3
 [target.thumbv7m-none-eabi.dependencies]
-panic-halt = "0.2.0"
-stm32l1xx-hal = {version = "0.1.0", features = ["stm32l151"], default-features = false}
+stm32f1xx-hal = {version = "0.10", features = ["rt", "stm32f103", "medium"]}
 
 # Example: stm32-cortex-m4-blackpill
 [target.thumbv7em-none-eabihf.dependencies]

freertos-rust-examples/README.md

@@ -80,16 +80,14 @@ Run the example
 
 ### Run STM32 Cortex-M3 Demo
 
-we need the nightly build for some features like allocator_api:
+We use stable toolchain and the target is thumbv7m-none-eabi:
 
-    rustup default nightly-x86_64-pc-windows-gnu // TODO: Build does not finish with GNU Toolchain
-    rustup default nightly-x86_64-pc-windows-msvc
     rustup target add thumbv7m-none-eabi
-    
+
 Build the binary:
 
     cargo build --package freertos-rust-examples --example stm32-cortex-m3 --target thumbv7m-none-eabi
-    
+
 Create hex file to be flashed:
 
     cargo objcopy --example stm32-cortex-m3 --target thumbv7m-none-eabi -- -O ihex stm32-cortex-m3.hex

freertos-rust-examples/examples/stm32-cortex-m3/FreeRTOSConfig.h

@@ -93,7 +93,7 @@ extern void vAssertCalled( const char * const pcFileName, unsigned long ulLine )
 #define configUSE_PREEMPTION			1
 #define configUSE_IDLE_HOOK				0
 #define configUSE_TICK_HOOK				0
-#define configCPU_CLOCK_HZ				( 4200000UL ) //also systick runs at this frequency
+#define configCPU_CLOCK_HZ				( 72000000UL ) //also systick runs at this frequency
 #define configTICK_RATE_HZ				( ( TickType_t ) 1000 ) //1000=1ms per tick, 100=10ms per tick
 #define configMAX_PRIORITIES			( 5 )
 #define configMINIMAL_STACK_SIZE		( ( unsigned short ) 80 )
@@ -104,7 +104,7 @@ extern void vAssertCalled( const char * const pcFileName, unsigned long ulLine )
 #define configIDLE_SHOULD_YIELD			1
 #define configUSE_MUTEXES				1
 #define configQUEUE_REGISTRY_SIZE		5
-#define configCHECK_FOR_STACK_OVERFLOW	2
+#define configCHECK_FOR_STACK_OVERFLOW	0
 #define configUSE_RECURSIVE_MUTEXES		0
 #define configUSE_MALLOC_FAILED_HOOK	0 //TR
 #define configUSE_APPLICATION_TASK_TAG	0

freertos-rust-examples/examples/stm32-cortex-m3/layout.ld

@@ -1,121 +1,75 @@
 #![no_std]
 #![no_main]
-// For allocator
-#![feature(lang_items)]
-#![feature(alloc_error_handler)]
-
-extern crate panic_halt; // you can put a breakpoint on `rust_begin_unwind` to catch panics
 
+use core::panic::PanicInfo;
 use cortex_m::asm;
 use cortex_m_rt::exception;
 use cortex_m_rt::{entry, ExceptionFrame};
 use freertos_rust::*;
-use core::alloc::Layout;
-use stm32l1xx_hal as hal;
-use stm32l1xx_hal::hal::digital::v2::*;
-use stm32l1xx_hal::gpio::*;
-use stm32l1xx_hal::gpio::gpioa::PA1;
-
+use stm32f1xx_hal::{gpio::PinState, pac, prelude::*};
 
 #[global_allocator]
 static GLOBAL: FreeRtosAllocator = FreeRtosAllocator;
 
-fn delay() {
-    let mut _i = 0;
-    for _ in 0..2_00 {
-        _i += 1;
-    }
-}
-
-fn delay_n(n: i32) {
-    for _ in 0..n {
-        delay();
-    }
+#[entry]
+fn main() -> ! {
+    Task::new()
+        .name("default")
+        .stack_size(1000)
+        .start(move |_| {
+            app_main();
+        })
+        .unwrap();
+    FreeRtosUtils::start_scheduler();
 }
 
-static mut LED: Option<PA1<Output<PushPull>>> = None;
-
-fn set_led(on: bool) {
-    unsafe {
-        let mut led = LED.take().unwrap();
-        if on {
-            led.set_low();
-        } else {
-            led.set_high();
-        }
-    }
-}
+fn app_main() -> ! {
+    let dp = pac::Peripherals::take().unwrap();
+    let mut flash = dp.FLASH.constrain();
+    let rcc = dp.RCC.constrain();
+    let _clocks = rcc
+        .cfgr
+        .use_hse(8.MHz())
+        .sysclk(72.MHz())
+        .freeze(&mut flash.acr);
+
+    let mut gpio = dp.GPIOB.split();
+    let mut led = gpio
+        .pb0
+        .into_open_drain_output_with_state(&mut gpio.crl, PinState::High);
 
-// Setup IO for the LED and blink, does not return.
-fn do_blink_forever() -> ! {
     loop {
-        delay();
-        set_led(true);
-        delay();
-        set_led(false);
+        CurrentTask::delay(Duration::ms(500));
+        led.set_low();
+        CurrentTask::delay(Duration::ms(500));
+        led.set_high();
     }
 }
 
-#[entry]
-fn main() -> ! {
-    let dp = hal::stm32::Peripherals::take().unwrap();
-
-    // Set up the LED, it's connected to pin PA1.
-    let gpioa: stm32l1xx_hal::gpio::gpioa::Parts = dp.GPIOA.split();
-    unsafe { LED = Some(gpioa.pa1.into_push_pull_output()); }
-
-    // Initial blink
-    set_led(true);
-    delay_n(10);
-    set_led(false);
-    delay_n(10);
-
-    // Just blink (does NOT work!)
-    do_blink_forever();
-
-    // TODO: What comes now does not work yet!
-    // Initialize Tasks and start FreeRTOS
-    Task::new().name("hello").stack_size(128).priority(TaskPriority(1)).start(|_this_task| {
-        // Just blink
-        freertos_rust::CurrentTask::delay(Duration::ms(1000));
-        set_led(true);
-        freertos_rust::CurrentTask::delay(Duration::ms(1000));
-        set_led(false);
-    }).unwrap();
-
-
-    // TODO: Starting the scheduler fails, we need debugging to find the issue
-    // Seems like we don't even get an assert
-    FreeRtosUtils::start_scheduler();
-}
-
+#[allow(non_snake_case)]
 #[exception]
-fn DefaultHandler(_irqn: i16) {
-// custom default handler
-// irqn is negative for Cortex-M exceptions
-// irqn is positive for device specific (line IRQ)
-// set_led(true);(true);
-// panic!("Exception: {}", irqn);
+unsafe fn DefaultHandler(_irqn: i16) {
+    // custom default handler
+    // irqn is negative for Cortex-M exceptions
+    // irqn is positive for device specific (line IRQ)
+    // set_led(true);(true);
+    // panic!("Exception: {}", irqn);
+    asm::bkpt();
+    loop {}
 }
 
-
+#[allow(non_snake_case)]
 #[exception]
-fn HardFault(_ef: &ExceptionFrame) -> ! {
-// Blink 3 times long when exception occures
-    delay_n(10);
-    for _ in 0..3 {
-        set_led(true);
-        delay_n(10);
-        set_led(false);
-        delay_n(5);
-    }
+unsafe fn HardFault(_ef: &ExceptionFrame) -> ! {
+    // Blink 3 times long when exception occures
+    asm::bkpt();
     loop {}
 }
 
-// define what happens in an Out Of Memory (OOM) condition
-#[alloc_error_handler]
-fn alloc_error(_layout: Layout) -> ! {
-    set_led(true);
+// We no longer need to use #[alloc_error_handler] since v1.68.
+// It will automatically call the panic handler.
+#[panic_handler]
+fn panic(_info: &PanicInfo) -> ! {
     asm::bkpt();
     loop {}
-}
+}

freertos-rust-examples/examples/stm32-cortex-m3/main.rs

@@ -1,5 +1,5 @@
 MEMORY
 {
-  FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128K
-  RAM (rwx)  : ORIGIN = 0x20000000, LENGTH = 32K
-}
+  FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 64K
+  RAM (rwx)  : ORIGIN = 0x20000000, LENGTH = 20K
+}