feat(arch): add stm32 support

Cargo.toml

@@ -10,7 +10,6 @@ members = [
   "src/riot-rs-boards",
   "src/riot-rs-boards/nrf52",
   "src/riot-rs-boards/nrf52840dk",
-  "src/riot-rs-boards/nucleo-f401re",
   "src/riot-rs-chips",
   "src/riot-rs-debug",
   "src/riot-rs-macros",
@@ -43,6 +42,7 @@ embassy-net = { version = "0.4", default-features = false }
 embassy-net-driver-channel = { version = "0.2.0", default-features = false }
 embassy-nrf = { version = "0.1", default-features = false }
 embassy-rp = { version = "0.1", default-features = false }
+embassy-stm32 = { version = "0.1", default-features = false }
 embassy-sync = { version = "0.6", default-features = false }
 embassy-time = { version = "0.3", default-features = false }
 embassy-usb = { version = "0.1", default-features = false }
@@ -58,6 +58,7 @@ riot-rs = { path = "src/riot-rs", default-features = false }
 riot-rs-bench = { path = "src/riot-rs-bench", default-features = false }
 riot-rs-boards = { path = "src/riot-rs-boards", default-features = false }
 riot-rs-debug = { path = "src/riot-rs-debug", default-features = false }
+riot-rs-embassy = { path = "src/riot-rs-embassy", default-features = false }
 riot-rs-rt = { path = "src/riot-rs-rt" }
 riot-rs-runqueue = { path = "src/riot-rs-runqueue" }
 riot-rs-utils = { path = "src/riot-rs-utils", default-features = false }
@@ -97,6 +98,7 @@ embassy-net = { git = "https://github.com/kaspar030/embassy", branch = "for-riot
 embassy-rp = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }
 embassy-net-driver = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }
 embassy-net-driver-channel = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }
+embassy-stm32 = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }
 embassy-sync = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }
 embassy-time-driver = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }
 embassy-time-queue-driver = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs-240605" }

README.md

@@ -39,6 +39,9 @@ The following list of hardware is currently supported:
  - [Raspberry Pi Pico W](https://www.raspberrypi.com/products/raspberry-pi-pico/) (RP2040, Cortex-M0+)
  - [BBC Micro:Bit v2](https://tech.microbit.org/hardware/2-0-revision/) (Cortex-M4)
  - [Expressif ESP32-C6-DevKitC-1](https://docs.espressif.com/projects/espressif-esp-dev-kits/en/latest/esp32c6/esp32-c6-devkitc-1/user_guide.html) (RISC-V)
+ - [ST NUCLEO-F401RE](https://www.st.com/en/evaluation-tools/nucleo-f401re.html) (Cortex-M4)
+ - [ST NUCLEO-H755ZI-Q](https://www.st.com/en/evaluation-tools/nucleo-h755zi-q.html) (Cortex-M7)
+ - [ST NUCLEO-WB55RG](https://www.st.com/en/evaluation-tools/p-nucleo-wb55.html) (Cortex-M4)
  - and more to come soon.
 
 ## Status

_typos.toml

@@ -1,5 +1,6 @@
 [default.extend-words]
 hax = "hax"
+hsi = "hsi"
 
 [default.extend-identifiers]
 celcius = "celcius" # Until embedded-aht20 is fixed

laze-project.yml

@@ -42,13 +42,18 @@ contexts:
         -serial mon:stdio
         -semihosting-config enable=on,target=native
         -kernel
+      PROBE_RS_PROTOCOL: swd
 
     var_options:
       # this turns ${FEATURES} from a list to "--features=feature1,feature2"
       FEATURES:
         start: --features=
         joiner: ","
 
+      # this prefixes `--protocol=` to `PROBE_RS_PROTOCOL`
+      PROBE_RS_PROTOCOL:
+        start: --protocol=
+
     rules:
       - name: LINK
         description: CARGO ${out}
@@ -294,6 +299,55 @@ contexts:
       RUSTC_TARGET: riscv32imac-unknown-none-elf
       CARGO_TARGET_PREFIX: CARGO_TARGET_RISCV32IMAC_UNKNOWN_NONE_ELF
 
+  - name: stm32
+    help: STM32 support (based on embassy-stm32)
+    parent: riot-rs
+    selects:
+      - ?probe-rs
+    env:
+      OPENOCD_ARGS: foo
+      RUSTFLAGS:
+        - --cfg context=\"stm32\"
+
+  - name: stm32f401retx
+    parent: stm32
+    selects:
+      - thumbv7em-none-eabi # actually eabihf, but riot-rs doesn't support hard float yet
+    env:
+      PROBE_RS_CHIP: STM32F401RETx
+      PROBE_RS_PROTOCOL: swd
+      RUSTFLAGS:
+        - --cfg context=\"stm32f401retx\"
+      CARGO_ENV:
+        # This ISR is unused on a naked board. Configured here for testing.
+        - CONFIG_SWI=USART2
+
+  - name: stm32wb55rgvx
+    parent: stm32
+    selects:
+      - thumbv7em-none-eabi # actually eabihf, but riot-rs doesn't support hard float yet
+    env:
+      PROBE_RS_CHIP: STM32WB55RGVx
+      PROBE_RS_PROTOCOL: swd
+      RUSTFLAGS:
+        - --cfg context=\"stm32wb55rgvx\"
+      CARGO_ENV:
+        # This ISR is unused on a naked board. Configured here for testing.
+        - CONFIG_SWI=LPUART1
+
+  - name: stm32h755zitx
+    parent: stm32
+    selects:
+      - thumbv7em-none-eabi # actually eabihf, but riot-rs doesn't support hard float yet
+    env:
+      PROBE_RS_CHIP: STM32H755ZITx
+      PROBE_RS_PROTOCOL: swd
+      RUSTFLAGS:
+        - --cfg context=\"stm32h755zitx\"
+      CARGO_ENV:
+        # This ISR is unused on a naked board. Configured here for testing.
+        - CONFIG_SWI=UART5
+
 modules:
   - name: cortex-m
     env:
@@ -485,7 +539,7 @@ modules:
       - ?debug-console
     env:
       global:
-        CARGO_RUNNER: "'probe-rs run --chip ${PROBE_RS_CHIP}'"
+        CARGO_RUNNER: "'probe-rs run ${PROBE_RS_PROTOCOL} --chip ${PROBE_RS_CHIP}'"
 
   - name: probe-rs-run
     help: "deprecated alias for `probe-rs`"
@@ -528,6 +582,8 @@ modules:
       - rpi-pico
       - rpi-pico-w
       - particle-xenon
+      - st-nucleo-h755zi-q
+      - st-nucleo-wb55
     env:
       global:
         RUSTFLAGS:
@@ -714,6 +770,15 @@ builders:
   - name: nrf5340dk
     parent: nrf5340
 
+  - name: st-nucleo-f401re
+    parent: stm32f401retx
+
+  - name: st-nucleo-h755zi-q
+    parent: stm32h755zitx
+
+  - name: st-nucleo-wb55
+    parent: stm32wb55rgvx
+
 apps:
   # define a dummy host application so the host tasks work
   - name: host

src/riot-rs-boards/Cargo.toml

@@ -22,11 +22,14 @@ nrf52840-mdk = { optional = true, path = "nrf52840-mdk" }
 nrf52840dk = { optional = true, path = "nrf52840dk" }
 nrf52dk = { optional = true, path = "nrf52dk" }
 nrf5340dk = { optional = true, path = "nrf5340dk" }
-nucleo-f401re = { optional = true, path = "nucleo-f401re" }
+st-nucleo-f401re = { optional = true, path = "st-nucleo-f401re" }
+st-nucleo-wb55 = { optional = true, path = "st-nucleo-wb55" }
 rpi-pico = { optional = true, path = "rpi-pico" }
 particle-xenon = { optional = true, path = "particle-xenon" }
+st-nucleo-h755zi-q = { optional = true, path = "st-nucleo-h755zi-q" }
 
 [features]
 # Allows to have no boards selected, useful to run platform-independent tooling
 no-boards = []
+# both "rpi-pico" and "rpi-pico-w" are valid, so no "dep:rpi-pico"
 rpi-pico-w = ["rpi-pico/rpi-pico-w"]

src/riot-rs-boards/src/lib.rs

@@ -31,6 +31,12 @@ cfg_if! {
     } else if #[cfg(feature = "rpi-pico-w")] {
         // sharing rpi-pico
         pub use rpi_pico as board;
+    } else if #[cfg(feature = "st-nucleo-f401re")] {
+        pub use st_nucleo_f401re as board;
+    } else if #[cfg(feature = "st-nucleo-wb55")] {
+        pub use st_nucleo_wb55 as board;
+    } else if #[cfg(feature = "st-nucleo-h755zi-q")] {
+        pub use st_nucleo_h755zi_q as board;
     } else if #[cfg(feature = "no-boards")] {
         // Do nothing
     } else {

src/riot-rs-boards/nucleo-f401re/Cargo.toml → src/riot-rs-boards/st-nucleo-f401re/Cargo.toml

@@ -1,9 +1,11 @@
 [package]
-name = "nucleo-f401re"
+name = "st-nucleo-f401re"
 version = "0.1.0"
 authors = ["Kaspar Schleiser <kaspar@schleiser.de>"]
 edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-stm32f4xx = { path = "../../riot-rs-chips/stm32f4xx", features = ["stm32f401"] }
+embassy-stm32 = { workspace = true, features = ["stm32f401re"] }
+riot-rs-debug = { workspace = true, features = ["rtt-target"] }
+riot-rs-rt.workspace = true

src/riot-rs-boards/st-nucleo-f401re/build.rs

@@ -0,0 +1,15 @@
+use std::env;
+use std::fs::copy;
+use std::path::PathBuf;
+
+fn main() {
+    // Put the linker script somewhere the linker can find it
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+
+    copy("memory.x", out.join("memory.x")).unwrap();
+
+    println!("cargo:rustc-link-search={}", out.display());
+
+    println!("cargo:rerun-if-changed=memory.x");
+    println!("cargo:rerun-if-changed=build.rs");
+}

src/riot-rs-boards/st-nucleo-f401re/src/lib.rs

@@ -0,0 +1,5 @@
+#![no_std]
+
+pub fn init() {
+    riot_rs_debug::println!("boards::st-nucleo-f401re::init()");
+}

src/riot-rs-boards/st-nucleo-h755zi-q/Cargo.toml

@@ -0,0 +1,15 @@
+[package]
+name = "st-nucleo-h755zi-q"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+embassy-stm32 = { workspace = true, features = [
+  "stm32h755zi-cm7",
+  "memory-x",
+  "rt",
+] }
+riot-rs-debug = { workspace = true, features = ["rtt-target"] }
+riot-rs-embassy = { workspace = true, features = ["stm32-usb-synopsis"] }
+riot-rs-rt.workspace = true
+stm32 = { path = "../../riot-rs-chips/stm32" }

src/riot-rs-boards/st-nucleo-h755zi-q/src/lib.rs

@@ -0,0 +1,7 @@
+#![no_std]
+
+use riot_rs_debug::println;
+
+pub fn init() {
+    println!("st-nucleo-h755zi-q::init()");
+}

src/riot-rs-boards/st-nucleo-wb55/Cargo.toml

@@ -0,0 +1,12 @@
+[package]
+name = "st-nucleo-wb55"
+version = "0.1.0"
+authors = ["Kaspar Schleiser <kaspar@schleiser.de>"]
+edition = "2021"
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+embassy-stm32 = { workspace = true, features = ["stm32wb55rg"] }
+riot-rs-embassy = { workspace = true, features = ["stm32-usb"] }
+riot-rs-debug = { workspace = true, features = ["rtt-target"] }
+riot-rs-rt.workspace = true

src/riot-rs-boards/st-nucleo-wb55/build.rs

@@ -0,0 +1,15 @@
+use std::env;
+use std::fs::copy;
+use std::path::PathBuf;
+
+fn main() {
+    // Put the linker script somewhere the linker can find it
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+
+    copy("memory.x", out.join("memory.x")).unwrap();
+
+    println!("cargo:rustc-link-search={}", out.display());
+
+    println!("cargo:rerun-if-changed=memory.x");
+    println!("cargo:rerun-if-changed=build.rs");
+}

src/riot-rs-boards/st-nucleo-wb55/memory.x

@@ -0,0 +1,5 @@
+MEMORY
+{
+    FLASH : ORIGIN = 0x08000000, LENGTH = 1024K /* BANK_1 */
+    RAM   : ORIGIN = 0x20000000, LENGTH =  192K
+}

src/riot-rs-boards/st-nucleo-wb55/src/lib.rs

@@ -0,0 +1,5 @@
+#![no_std]
+
+pub fn init() {
+    riot_rs_debug::println!("boards::st-nucleo-wb55::init()");
+}

src/riot-rs-chips/stm32/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "stm32"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[target.'cfg(context = "stm32h7b0")'.dependencies]
+riot-rs-embassy = { path = "../../riot-rs-embassy" }
+riot-rs-rt = { path = "../../riot-rs-rt", features = ["rtt-target"] }

src/riot-rs-chips/stm32/src/lib.rs

@@ -0,0 +1 @@
+#![no_std]

src/riot-rs-embassy/Cargo.toml

@@ -41,6 +41,7 @@ cyw43-pio = { version = "0.1.0", features = ["overclock"], optional = true }
 
 # listed here for conditional feature selection
 embassy-nrf = { workspace = true, default-features = false, optional = true }
+embassy-stm32 = { workspace = true, default-features = false, optional = true }
 esp-hal = { workspace = true, default-features = false, optional = true }
 esp-hal-embassy = { workspace = true, default-features = false, optional = true }
 esp-wifi = { workspace = true, optional = true }
@@ -104,6 +105,13 @@ esp-wifi = { workspace = true, default-features = false, features = [
   "esp32c6",
 ], optional = true }
 
+[target.'cfg(context = "stm32")'.dependencies]
+embassy-stm32 = { workspace = true, features = [
+  "rt",
+  "time-driver-any",
+  "unstable-pac",
+] }
+
 [features]
 time = ["dep:embassy-time", "embassy-executor/integrated-timers"]
 usb = ["dep:embassy-usb"]
@@ -138,7 +146,13 @@ executor-none = []
 defmt = [
   "embassy-net?/defmt",
   "embassy-nrf?/defmt",
+  "embassy-stm32?/defmt",
   "embassy-time?/defmt",
   "embassy-usb?/defmt",
   "esp-wifi?/defmt",
 ]
+
+# These are chosen automatically by riot-rs-boards and select the correct stm32
+# usb peripheral support.
+stm32-usb = []
+stm32-usb-synopsis = []