A toy rover with a remote controller, with software written in Rust.

• The Embedded Rust Book

• stm32f401-rust-hello-world
• stm32f4xxx HAL with examples, stm32f4xx-hal crate docs
• HAL and PWM example and here
• Nucleo F410RE board manual from ST: M1724 STM32 Nucleo-64 boards (MB1136) (pdf).
• MCU manual from ST here (pdf), including table with alternate functions at p. 45.

• L293D TI Datasheet
• 74HC595 shift register
• Arduino motor shield schema
• Arduino motor shield overview and FAQ
• Arduino motor shield pic

• Motor - Motor shield (additional), connects only to Arduino pins (CN6, CN7, CN5, CN9). "used" means that the pin is legitimately used by the motor shield.
• Free? - Says if the pin is free for usage or is used by some functionality, or shield.

Left side

Right side

PWM1A and PWM2B are for servo.

Shift register to L293D mapping

• Output - Output symbol on motor shield schema.
• M - Motor(?) connection symbol on motor shield schema.
• Bit - bit in shift register.
• IC1, IC2 - inputs to each of L293D chips.
• M1, M2 - output connectors, 1Y/5 means chip output 1Y and connector screw 5
• PWM says which PWM output (from the table above) enables L293D outputs.

Should match what's in code.

ARM Chip with debug port Default:
Debug Port: DPv1, DP Designer: ARM Ltd
└── 0 MemoryAP
    └── ROM Table (Class 1), Designer: STMicroelectronics
        ├── Cortex-M4 SCS   (Generic IP component)
        │   └── CPUID
        │       ├── IMPLEMENTER: ARM Ltd
        │       ├── VARIANT: 0
        │       ├── PARTNO: Cortex-M4
        │       └── REVISION: 1
        ├── Cortex-M3 DWT   (Generic IP component)
        ├── Cortex-M3 FBP   (Generic IP component)
        ├── Cortex-M3 ITM   (Generic IP component)
        ├── Cortex-M4 TPIU  (Coresight Component)
        └── Cortex-M4 ETM   (Coresight Component)

• derive_builder macro does not support no_std without nightly tool chain.

• A monstrous generic struct is easy to use because of all the type inference in Rust.

• RTIC Local and Shared state is not generic, which makes it prohibitively cumbersome to use when we want to initialize non-trivial state in init task and pass that state to idle task. A "non-trivial state" can be, for example, a DC motor controller that depends on several Pins.

• HAL models allowed combinations of pins and peripherals with types. It is therefore not possible to use a pin with peripheral that the pin is not intended to (e.g. bad combination of GPIO, Timer and PWM Channel), the code will not compile. This is fantastic.