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# Rust en Arduino: La manera díficil
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<img src="Pasted image 20221208231749.png" alt="" style="width: 300px; object-fit: fill">
## Kirbylife (Gabriel)
Ingeniero de software en Intel
Programo en Python 🐍 por comida y en Rust 🦀 por dopamina.
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## Preparación del ambiente
1. avr-gcc
2. avr-bintuils
3. avr-dude
4. avr-atmel328p.json
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Notación numérica
| Prefijo | Sistema | Ejemplo |
| ------- | ----------- | -------------- |
| 0x | Hexadecimal | **0x**25 = 37 |
| | | **0x**FF = 255 |
| 0b | Binario | **0b**101 = 5 |
| | | **0b**1010101 = 85 |
| \<Nada> | Decimal | 10, 5, 240 |
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## Registros
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<img src="arduino_secciones2.jpg" alt="" style="object-fit: scale-down">
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Cada sección de pines tiene asignados 3 registros:
- Registro de control
- Registro de OUTPUTs
- Registro de INPUTs
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### Ejemplo:
- Se hará con la 3ra sección de pines
- El registro de control será el AA
- El registro de OUTPUTs será el AB
- El registro de INPUTs será el AC
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```
OUTPUT = 1
INPUT = 0
```
<img src="Pasted image 20221124222324.png" alt="" style="object-fit: scale-down">
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```
Registro Binario Decimal Hexadecimal
AA 0b00001111 15 0x0f
```
<img src="Pasted image 20221124223245.png" alt="" style="object-fit: scale-down">
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```
Registro Binario Decimal Hexadecimal
AB 0b00000001 1 0x01
```
<img src="Pasted image 20221124225301.png" alt="" style="object-fit: scale-down">
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| Operación | Registro | Valor |
| --------- | -------- | ---------- |
| Escribir | AA | 0b00001111 |
| Escribir | AB | 0b00000001 |
| Leer | AC | 0b00100000 |
<img src="Pasted image 20221124235204.png" alt="" style="width: 400px; object-fit: fill">
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## main.rs
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```Rust
#![no_std]
#![no_main]
#[no_mangle]
pub extern "C" fn main() {}
#[panic_handler]
fn panic(_info: &::core::panic::PanicInfo) -> ! {
loop {}
}
```
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```Rust
#![no_std]
#![no_main]
```
\---
- `#![no_std]`: Evita que se incluya la biblioteca estándar
- `#![no_main]`: Delega a la persona que programa el punto de entrada
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```Rust
#[no_mangle]
pub fn extern "C" main() {
}
```
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```Rust
#[no_mangle]
```
Sin `no_mangle`:
<img src="Pasted image 20221120225932.png" alt="" style="object-fit: scale-down">
Con `no_mangle`:
<img src="Pasted image 20221120230036.png" alt="" style="object-fit: scale-down">
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```Rust
pub fn extern "C" main() {}
```
- `pub`: Indica que esa función puede ser accedida fuera del `main.rs`
- `extern "C"`: Indica que esa función utilizará el ABI de C
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```Rust
#[panic_handler]
fn panic(_info: &::core::panic::PanicInfo) -> ! {
loop {}
}
```
- `#[panic_handler]`: Le indica al compilador que esa función sea la que se ejecuta cuando suceda un `panic!`
- `core::panic::PanicInfo`: Contiene la información del `panic!` en cuestión
- `!`: Le indica al compilador que esa función será infinita
- `loop`: Ciclo infinito del que no se puede salir hasta reiniciar
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## Cargo.toml
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```toml
[profile.release]
lto = true
panic = "abort"
```
- `lto = true`: Optimización del linker (workarround por un bug en LLVM)
- `panic = "abourt"`: Coloca un `eh_personality` genérico que no tiene ningún efecto
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## Compilación
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`cargo build -Z build-std=core --target avr-atmega328p.json --release`
\---
- `-Z build-std=core`: Indica al compilador que agregue el crate `core`
- `--target avr-atmega328p.json`: Indica que se hara compilación cruzada
- `--release`: Se compilará con el perfil release
\---
###### \*Debe hacerse con la versión nocturna
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<img src="2022-11-22--1669097803_1358x141_scrot.png" alt="" style="object-fit: scale-down">
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## Especificaciones del ATmega328p
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### 3 tipos de regitros
1. DDR (Data Direction Register): Indican en que modo está cada pin
2. PORT: Contiene la propia información de salida (el de escritura)
3. PIN: Contiene la propia información de entrada (el de lectura)
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### Contruir el nombre de un pin:
`{Registro}{Letra indicativa}{N° de pin}`
#### Exemplos:
| Con Registros | En processing |
| ------------- | ------------------ |
| PORTC5 | A5 |
| DDRB2 | 10 |
| PIND6 | 6 |
| PORTD | Del 0 al 7 |
| PORTB5 | Led incrustrado 💡 |
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`PORTB = 0x25`
`DDRB = 0x24`
`PINB = 0x23`
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```Rust
use core::ptr::{read_volatile, write_volatile};
const DDRB: *mut u8 = 0x24 as *mut u8;
const PORTB: *mut u8 = 0x25 as *mut u8;
#[no_mangle]
pub extern "C" fn main() {
unsafe { write_volatile(DDRB, 0b11111111) };
unsafe { write_volatile(PORTB, 0b00100000) };
}
```
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Coloca todos los pines de la sección B en modo OUTPUT:
```Rust
76543210
unsafe { write_volatile(DDRB, 0b11111111) };
```
Pone voltaje alto en el pin 5 de la sección B:
```Rust
76543210
unsafe { write_volatile(PORTB, 0b00100000) };
```
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### Compilando
<img src="2022-11-22--1669182946_1084x249_scrot.png" alt="" style="object-fit: scale-down">
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## ¿Cómo subir el resultado al Arduino?
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<img src="2022-11-23--1669183468_622x338_scrot.png" alt="" style="object-fit: scale-down">
Arduino IDE > Herramientas > Puerto > "Arduino UNO".
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### Convertir el .elf a un .hex
```Bash
avr-objcopy -O ihex -R .eeprom path/al/archivo.elf <output>.hex
```
<img src="2022-11-23--1669183799_769x60_scrot.png" alt="" style="object-fit: scale-down">
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### Subir el archivo .hex
```Bash
avrdude -p atmega328p -c arduino -P <puerto> -U flash:w:<archivo.hex>:i
```
<img src="2022-11-23--1669184095_683x461_scrot.png" alt="" style="object-fit: scale-down">
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```Rust
pub extern "C" fn main() {
unsafe { write_volatile(DDRB, 0b11111111) };
unsafe { write_volatile(PORTB, 0b00000000) };
}
```
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## std::thread\::sleep??
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```Rust
#![feature(asm_experimental_arch)]
use core::arch::asm;
const CPU_SPEED: u32 = 16_000_000;
fn sleep(time: u32) {
for _ in 0..(CPU_SPEED / 10 * time) {
unsafe { asm!("nop") }
}
}
```
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```Rust
#[no_mangle]
pub extern "C" fn main() -> ! {
unsafe { write_volatile(DDRB, 0b11111111) };
loop {
unsafe { write_volatile(PORTB, 0b00000000) };
sleep(1);
unsafe { write_volatile(PORTB, 0b00100000) };
sleep(1);
}
}
fn sleep(time: u32) { ... }
```
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```Rust
#[no_mangle]
loop {
let mut portb_value = unsafe { read_volatile(PORTB) };
portb_value = portb_value ^ ( 1 << 5 );
unsafe { write_volatile(PORTB, portb_value) };
sleep(1);
}
```
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### Operador XOR (^)
| Entrada A | Entrada B | Salida |
| --------- | --------- | ------ |
| 0 | 0 | 0 |
| 0 | 1 | 1 |
| 1 | 0 | 1 |
| 1 | 1 | 0 |
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### Operador shift left ( << )
| Entrada A | Entrada B | Salida |
| --------- | --------- | ---------- |
| 0b1 | 2 | 0b100 |
| 0b101 | 5 | 0b10100000 |
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Compilamos, convertimos, subimos y...
✨`\._.\ \._./ /._./`✨
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## PEEEEERO
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## ✨ HAL ✨
#### (Capa de abstracción de hardware)
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### embedded-hal 🤖
```Rust
trait OutputPin {
fn set_high();
fn set_low();
fn toggle();
...
}
trait InputPin {
fn is_low() -> bool;
fn is_high() -> bool;
}
SpiDevice, I2c, Serial, UART, Delay, etc...
```
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### Biblioteca 📜
```Rust
fn blink(pin: &mut OutputPin, delay: &mut DelayUs) -> ! {
pin.set_high();
loop {
pin.toggle();
delay.delay_ms(1000);
}
}
```
###### solo para fines ilustrativos, no sirve este código
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### arduino-hal ⚡
```Rust
struct Pin {
ddr: *mut u8;
port: *mut u8;
number: u8;
}
impl embedded_hal::OutputPin for Pin {
fn set_high(&self) {
let mut pin_value = unsafe { read_volatile(self.port) };
pin_value = pin_value | (1 << self.number);
unsafe { write_volatile(self.port, pin_value) };
}
fn set_low(&self) { ... }
fn set_toggle(&self) { ... }
}
```
###### solo para fines ilustrativos, no sirve este código
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### Firmware 💻
```Rust
#[arduino_hal::entry]
fn main() -> ! {
let mut led_pin = arduino_hal::pins::B5;
led_pin.set_output();
blink::blink(led_pin);
}
```
###### solo para fines ilustrativos, no sirve este código
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<img src="diagrama-hal.png" alt="" style="width: 600px; object-fit: fill">
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```Rust
use panic_halt as _;
#[arduino_hal::entry]
fn main() -> ! {
let peripherals = arduino_hal::Peripherals::take().unwrap();
let pins = arduino_hal::pins!(peripherals);
let mut led = pins.d13.into_output();
led.set_high();
loop {
led.toggle();
delay_ms(1000);
}
}
```
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Compilamos, convertimos, subimos y...
✨`\._.\ \._./ /._./`✨
(De nuevo)
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## Mis redes :)
**Telegram:** @kirbylife
**Mastodon:** @kirbylife\@mstdn.mx
**Twitter:** @kirbylife
**e-mail:** hola\@kirbylife.dev
**Repositorio:** https:\//gitlab.com/kirbylife/arduino_blinkrs
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