priec - filip user

dma_gpio/src/bin/main.rs

@@ -4,24 +4,27 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
+use embassy_stm32::dma::Request;
 use embassy_stm32::gpio::{Input, Output, Level, Pull, Speed};
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pipe::Pipe};
-use embassy_time::{Duration, Timer};
 use embassy_stm32::dma::{TransferOptions, WritableRingBuffer};
 use dma_gpio::software_uart::{
     dma_timer::{init_tim6_for_uart, init_tim7_for_uart},
-    gpio_dma_uart_tx::{write_uart_frames_to_ring, TIM6_UP_REQ},
+    gpio_dma_uart_tx::encode_uart_frames,
     gpio_dma_uart_rx::rx_dma_task,
     debug::dump_tim6_regs,
 };
 use dma_gpio::config::{BAUD, TX_PIN_BIT, RX_OVERSAMPLE, TX_OVERSAMPLE};
 use dma_gpio::config::{TX_RING_BYTES, RX_RING_BYTES, PIPE_RX_SIZE};
 use static_cell::StaticCell;
+use embassy_futures::yield_now;
 use {defmt_rtt as _, panic_probe as _};
 
+pub const TIM6_UP_REQ: Request = 4;
+
 static PIPE_RX: Pipe<CriticalSectionRawMutex, PIPE_RX_SIZE> = Pipe::new();
-static RX_RING: StaticCell<[u8; RX_RING_BYTES]> = StaticCell::new();
 static TX_RING: StaticCell<[u32; TX_RING_BYTES]> = StaticCell::new();
+static RX_RING: StaticCell<[u8; RX_RING_BYTES]> = StaticCell::new();
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
@@ -64,16 +67,26 @@ async fn main(spawner: Spawner) {
     tx_ring.start();
     info!("TX DMA ring started");
 
+    let mut frame_buf = [0u32; 4096];
+
     loop {
         info!("tick start");
-        Timer::after(Duration::from_millis(100)).await;
+        // Timer::after(Duration::from_millis(100)).await;
-        info!("tick end");
+        // info!("tick end");
-        write_uart_frames_to_ring(
+        let used = encode_uart_frames(
-            &mut tx_ring,
             TX_PIN_BIT,
             b"Hello marshmallow\r\n",
-        ).await;
+            &mut frame_buf,
+        )
+        .await;
+
+        if used == 0 {
+            info!("encode_uart_frames() produced 0 words, skipping write");
+            yield_now().await;
+            continue;
+        }
+        let _ = tx_ring.write_exact(&frame_buf[..used]).await;
         info!("text");
-        Timer::after(Duration::from_secs(1)).await;
+        yield_now().await;
     }
 }

dma_gpio/src/software_uart/gpio_dma_uart_tx.rs

@@ -1,23 +1,28 @@
 // src/software_uart/gpio_dma_uart_tx.rs
-use embassy_stm32::dma::Request;
+use embassy_futures::yield_now;
-use embassy_stm32::dma::WritableRingBuffer;
 use crate::software_uart::uart_emulation::encode_uart_byte_cfg;
 use crate::config::UART_CFG;
 
-// kapitola 17.4.11 - 2 casovace pre 2 DMA
+pub async fn encode_uart_frames<'a>(
-pub const TIM6_UP_REQ: Request = 4; // Table 137: tim6_upd_dma, strana 687 STM32U5xx datasheet
-
-/// Push UART frames into the DMA-backed TX ring
-pub async fn write_uart_frames_to_ring(
-    ring: &mut WritableRingBuffer<'static, u32>,
     pin_bit: u8,
     bytes: &[u8],
-) {
+    out_buf: &'a mut [u32],
+) -> usize {
+    let mut offset = 0;
     for &b in bytes {
         let mut frame = [0u32; 12];
         let used = encode_uart_byte_cfg(pin_bit, b, &UART_CFG, &mut frame);
 
-        // Will wait until all words are written
+        if offset + used <= out_buf.len() {
-        ring.write_exact(&frame[..used]).await.unwrap();
+            out_buf[offset..offset + used].copy_from_slice(&frame[..used]);
+            offset += used;
+        } else {
+            break;
+        }
+
+        // cooperative async yield
+        yield_now().await;
     }
+    offset
 }
+

dma_gpio2/Cargo.lock

@@ -295,7 +295,6 @@ dependencies = [
 [[package]]
 name = "embassy-embedded-hal"
 version = "0.5.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "defmt 1.0.1",
  "embassy-futures",
@@ -313,7 +312,6 @@ dependencies = [
 [[package]]
 name = "embassy-executor"
 version = "0.9.1"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "cordyceps",
  "cortex-m",
@@ -326,7 +324,6 @@ dependencies = [
 [[package]]
 name = "embassy-executor-macros"
 version = "0.7.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "darling",
  "proc-macro2",
@@ -337,17 +334,14 @@ dependencies = [
 [[package]]
 name = "embassy-executor-timer-queue"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 
 [[package]]
 name = "embassy-futures"
 version = "0.1.2"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 
 [[package]]
 name = "embassy-hal-internal"
 version = "0.3.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -358,7 +352,6 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "defmt 1.0.1",
 ]
@@ -366,7 +359,6 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver-channel"
 version = "0.3.2"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver",
@@ -376,7 +368,6 @@ dependencies = [
 [[package]]
 name = "embassy-stm32"
 version = "0.4.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "aligned",
  "bit_field",
@@ -425,7 +416,6 @@ dependencies = [
 [[package]]
 name = "embassy-sync"
 version = "0.7.2"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -439,7 +429,6 @@ dependencies = [
 [[package]]
 name = "embassy-time"
 version = "0.5.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -455,7 +444,6 @@ dependencies = [
 [[package]]
 name = "embassy-time-driver"
 version = "0.2.1"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "document-features",
 ]
@@ -463,7 +451,6 @@ dependencies = [
 [[package]]
 name = "embassy-time-queue-utils"
 version = "0.3.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "embassy-executor-timer-queue",
  "heapless 0.8.0",
@@ -472,7 +459,6 @@ dependencies = [
 [[package]]
 name = "embassy-usb"
 version = "0.5.1"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver-channel",
@@ -487,7 +473,6 @@ dependencies = [
 [[package]]
 name = "embassy-usb-driver"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "defmt 1.0.1",
  "embedded-io-async",
@@ -496,7 +481,6 @@ dependencies = [
 [[package]]
 name = "embassy-usb-synopsys-otg"
 version = "0.3.1"
-source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
 dependencies = [
  "critical-section",
  "defmt 1.0.1",

dma_gpio2/Cargo.toml

@@ -10,13 +10,13 @@ cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-sing
 cortex-m-rt = "0.7.5"
 panic-halt = "1.0.0"
 
-embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["arch-cortex-m", "executor-thread"] }
+embassy-executor = { path = "/home/filip/programs/embassy/embassy-executor", features = ["arch-cortex-m", "executor-thread"] }
-embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
+embassy-futures = { path = "/home/filip/programs/embassy/embassy-futures" }
-embassy-sync    = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
+embassy-sync = { path = "/home/filip/programs/embassy/embassy-sync" }
-embassy-time    = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["tick-hz-32_768"] }
+embassy-time = { path = "/home/filip/programs/embassy/embassy-time", features = ["tick-hz-32_768"] }
-embassy-hal-internal = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
+embassy-hal-internal = { path = "/home/filip/programs/embassy/embassy-hal-internal" }
-embassy-usb = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
+embassy-usb = { path = "/home/filip/programs/embassy/embassy-usb" }
-embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] }
+embassy-stm32 = { path = "/home/filip/programs/embassy/embassy-stm32", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] }
 
 embedded-hal = "1.0.0"
 embedded-graphics = "0.8.1"

dma_gpio2/src/bin/main.rs

@@ -1,71 +1,165 @@
 // src/bin/main.rs
-
 #![no_std]
 #![no_main]
 
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_futures::yield_now;
+use embassy_stm32::dma::Request;
 use embassy_stm32::gpio::{Input, Output, Level, Pull, Speed};
-use embassy_stm32::dma::{TransferOptions, Transfer, Priority, Request};
+use embassy_time::{Duration, Timer};
+use embassy_stm32::dma::{TransferOptions, WritableRingBuffer};
 use dma_gpio::software_uart::{
     dma_timer::init_tim6_for_uart,
     gpio_dma_uart_tx::encode_uart_frames,
     debug::dump_tim6_regs,
 };
-use dma_gpio::config::{BAUD, TX_PIN_BIT, TX_OVERSAMPLE};
+use dma_gpio::config::{BAUD, TX_PIN_BIT, TX_OVERSAMPLE, TX_RING_BYTES};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
-unsafe fn start_dma<'a>(
-    ch: embassy_hal_internal::Peri<'a, impl embassy_stm32::dma::Channel>,
-    request: Request,
-    odr_ptr: *mut u32,
-    buf: &'a [u32],
-    opts: TransferOptions,
-) -> Transfer<'a> {
-    // new_write itself is unsafe
-    unsafe { Transfer::new_write(ch, request, buf, odr_ptr, opts) }
-}
-
 pub const TIM6_UP_REQ: Request = 4;
 
-static BUF_A: StaticCell<[u32; 8]> = StaticCell::new();
+static TX_RING: StaticCell<[u32; TX_RING_BYTES]> = StaticCell::new();
-static BUF_B: StaticCell<[u32; 8]> = StaticCell::new();
 
 #[embassy_executor::main]
 async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
-    let odr_ptr = embassy_stm32::pac::GPIOA.odr().as_ptr() as *mut u32;
+    info!("Hehe");
+
+    let _rx = Input::new(p.PA3, embassy_stm32::gpio::Pull::Up);
+    let _tx = Output::new(p.PA2, Level::High, Speed::VeryHigh);
 
     init_tim6_for_uart(p.TIM6, BAUD, TX_OVERSAMPLE);
     dump_tim6_regs();
 
-    let buf_a = BUF_A.init([0u32; 8]);
+    let idle: u32 = 1u32 << TX_PIN_BIT;
-    let buf_b = BUF_B.init([0u32; 8]);
 
-    let mut opts = TransferOptions::default();
+    // Ring initialized to idle (line high).
-    opts.priority = Priority::VeryHigh;
+    let tx_ring_mem: &mut [u32; TX_RING_BYTES] = TX_RING.init([0; TX_RING_BYTES]);
-    opts.complete_transfer_ir = true;
 
-    let mut ch0 = p.GPDMA1_CH0;
+    let odr_ptr = embassy_stm32::pac::GPIOA.odr().as_ptr() as *mut u32;
-    let mut using_a = true;
+
+    let mut tx_opts = TransferOptions::default();
+    tx_opts.half_transfer_ir = true;
+    tx_opts.complete_transfer_ir = true;
+
+    let mut tx_ring = unsafe {
+        WritableRingBuffer::new(
+            p.GPDMA1_CH0,
+            TIM6_UP_REQ,
+            odr_ptr,
+            tx_ring_mem,
+            tx_opts,
+        )
+    };
+
+    {
+        // Full idle buffer matching ring capacity.
+        let idle_buf = [idle; TX_RING_BYTES];
+
+        let written = tx_ring
+            .write_exact(&idle_buf)
+            .await
+            .expect("Failed to prefill TX ring with idle");
+
+        info!(
+            "TX ring prefilled with idle via write_exact: written={} cap={}",
+            written,
+            tx_ring.capacity()
+        );
+    }
+
+    tx_ring.start();
+    info!(
+        "TX DMA ring started: cap_words={}",
+        tx_ring.capacity()
+    );
+    unsafe {
+        use embassy_stm32::pac::gpdma::Gpdma;
+        let dma = Gpdma::from_ptr(0x4002_0000 as _); // GPDMA1 base for STM32U5
+        let ch = dma.ch(0); // Channel 0
+
+        let cr = ch.cr().read();
+        let tr1 = ch.tr1().read();
+        let tr2 = ch.tr2().read();
+        let br1 = ch.br1().read();
+        let sar = ch.sar().read();
+        let dar = ch.dar().read();
+        let llr = ch.llr().read();
+        let lbar = ch.lbar().read();
+
+        info!(
+            "GPDMA1_CH0: EN={} HTIE={} TCIE={} SDW={:?} DDW={:?} SINC={} DINC={} BNDT={} SAR=0x{:08x} DAR=0x{:08x}",
+            cr.en(),
+            cr.htie(),
+            cr.tcie(),
+            tr1.sdw(),
+            tr1.ddw(),
+            tr1.sinc(),
+            tr1.dinc(),
+            br1.bndt(),
+            sar, // already u32
+            dar, // already u32
+        );
+        info!(
+            "GPDMA1_CH0: LBAR=0x{:08x} LLR=0x{:08x}",
+            lbar.lba(),
+            llr.0
+        );
+    }
+
+    let mut frame_buf = [0u32; 4096];
 
     loop {
-        let (dma_buf, cpu_buf) = if using_a {
+        info!("tick start");
-            (&*buf_a, &mut *buf_b)
+        Timer::after(Duration::from_millis(1021)).await;
-        } else {
+        //info!("tick end");
-            (&*buf_b, &mut *buf_a)
-        };
 
-        let used = encode_uart_frames(TX_PIN_BIT, b"Hello marshmallow\r\n", cpu_buf).await;
+        let used = encode_uart_frames(
+            TX_PIN_BIT,
+            b"H\r\n",
+            &mut frame_buf,
+        )
+        .await;
 
-        let transfer = unsafe {
+        if used == 0 {
-            start_dma(ch0.reborrow(), TIM6_UP_REQ, odr_ptr, &dma_buf[..used], opts)
+            info!("encode_uart_frames() produced 0 words, skipping write");
-        };
+            yield_now().await;
-        transfer.await;
+            continue;
-        using_a = !using_a;
+        }
 
+        // Debug: confirm encoded content.
+        let preview = core::cmp::min(used, 32);
+        info!(
+            "TX frame used={} words, head={=[?]}",
+            used,
+            &frame_buf[..preview]
+        );
+
+        // Now it is safe to call write_exact.
+        match tx_ring.write_exact(&frame_buf[..used]).await {
+            Ok(written) => {
+                let len = tx_ring.len().unwrap_or(0);
+                info!(
+                    "write_exact ok: written={} ring_used={} ring_cap={}",
+                    written,
+                    len,
+                    tx_ring.capacity()
+                );
+            }
+            Err(e) => {
+                let len = tx_ring.len().unwrap_or(0);
+                warn!(
+                    "write_exact error: {:?}, ring_used={} ring_cap={}",
+                    e,
+                    len,
+                    tx_ring.capacity()
+                );
+            }
+        }
+
+        info!("tick end");
         yield_now().await;
     }
 }

semestralka_1/Cargo.lock

@@ -14,6 +14,15 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "aho-corasick"
+version = "1.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "aligned"
 version = "0.4.2"
@@ -32,33 +41,6 @@ dependencies = [
  "stable_deref_trait",
 ]
 
-[[package]]
-name = "async_uart"
-version = "0.1.0"
-dependencies = [
- "cortex-m",
- "cortex-m-rt",
- "defmt 1.0.1",
- "defmt-rtt",
- "defmt-test",
- "embassy-executor",
- "embassy-futures",
- "embassy-stm32",
- "embassy-sync",
- "embassy-time",
- "embassy-usb",
- "embedded-graphics",
- "embedded-hal 1.0.0",
- "embedded-io",
- "embedded-io-async",
- "heapless 0.9.1",
- "micromath",
- "panic-halt",
- "panic-probe",
- "static_cell",
- "tinybmp",
-]
-
 [[package]]
 name = "autocfg"
 version = "1.5.0"
@@ -125,12 +107,32 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
+[[package]]
+name = "cc"
+version = "1.2.44"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37521ac7aabe3d13122dc382493e20c9416f299d2ccd5b3a5340a2570cdeb0f3"
+dependencies = [
+ "find-msvc-tools",
+ "shlex",
+]
+
 [[package]]
 name = "cfg-if"
 version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
+[[package]]
+name = "cordyceps"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "688d7fbb8092b8de775ef2536f36c8c31f2bc4006ece2e8d8ad2d17d00ce0a2a"
+dependencies = [
+ "loom",
+ "tracing",
+]
+
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -164,15 +166,6 @@ dependencies = [
  "syn 2.0.107",
 ]
 
-[[package]]
-name = "cortex-m-semihosting"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
-dependencies = [
- "cortex-m",
-]
-
 [[package]]
 name = "critical-section"
 version = "1.2.0"
@@ -266,26 +259,30 @@ dependencies = [
 ]
 
 [[package]]
-name = "defmt-test"
+name = "dma_gpio"
-version = "0.4.0"
+version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24076cc7203c365e7febfcec15d6667a9ef780bd2c5fd3b2a197400df78f299b"
 dependencies = [
+ "cortex-m",
  "cortex-m-rt",
- "cortex-m-semihosting",
  "defmt 1.0.1",
- "defmt-test-macros",
+ "defmt-rtt",
-]
+ "embassy-executor",
-
+ "embassy-futures",
-[[package]]
+ "embassy-hal-internal",
-name = "defmt-test-macros"
+ "embassy-stm32",
-version = "0.3.2"
+ "embassy-sync",
-source = "registry+https://github.com/rust-lang/crates.io-index"
+ "embassy-time",
-checksum = "fe5520fd36862f281c026abeaab153ebbc001717c29a9b8e5ba9704d8f3a879d"
+ "embassy-usb",
-dependencies = [
+ "embedded-graphics",
- "proc-macro2",
+ "embedded-hal 1.0.0",
- "quote",
+ "embedded-io",
- "syn 2.0.107",
+ "embedded-io-async",
+ "heapless 0.9.1",
+ "micromath",
+ "panic-halt",
+ "panic-probe",
+ "static_cell",
+ "tinybmp",
 ]
 
 [[package]]
@@ -300,8 +297,7 @@ dependencies = [
 [[package]]
 name = "embassy-embedded-hal"
 version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "554e3e840696f54b4c9afcf28a0f24da431c927f4151040020416e7393d6d0d8"
 dependencies = [
  "defmt 1.0.1",
  "embassy-futures",
@@ -319,9 +315,9 @@ dependencies = [
 [[package]]
 name = "embassy-executor"
 version = "0.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "06070468370195e0e86f241c8e5004356d696590a678d47d6676795b2e439c6b"
 dependencies = [
+ "cordyceps",
  "cortex-m",
  "critical-section",
  "document-features",
@@ -332,8 +328,7 @@ dependencies = [
 [[package]]
 name = "embassy-executor-macros"
 version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "dfdddc3a04226828316bf31393b6903ee162238576b1584ee2669af215d55472"
 dependencies = [
  "darling",
  "proc-macro2",
@@ -344,20 +339,17 @@ dependencies = [
 [[package]]
 name = "embassy-executor-timer-queue"
 version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "2fc328bf943af66b80b98755db9106bf7e7471b0cf47dc8559cd9a6be504cc9c"
 
 [[package]]
 name = "embassy-futures"
 version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "dc2d050bdc5c21e0862a89256ed8029ae6c290a93aecefc73084b3002cdebb01"
 
 [[package]]
 name = "embassy-hal-internal"
 version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "95285007a91b619dc9f26ea8f55452aa6c60f7115a4edc05085cd2bd3127cd7a"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -368,17 +360,15 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "524eb3c489760508f71360112bca70f6e53173e6fe48fc5f0efd0f5ab217751d"
 dependencies = [
- "defmt 0.3.100",
+ "defmt 1.0.1",
 ]
 
 [[package]]
 name = "embassy-net-driver-channel"
 version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "b7b2739fbcf6cd206ae08779c7d709087b16577d255f2ea4a45bc4bbbf305b3f"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver",
@@ -388,8 +378,7 @@ dependencies = [
 [[package]]
 name = "embassy-stm32"
 version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "0d972eab325cc96afee98f80a91ca6b00249b6356dc0fdbff68b70c200df9fae"
 dependencies = [
  "aligned",
  "bit_field",
@@ -421,6 +410,7 @@ dependencies = [
  "embedded-storage",
  "embedded-storage-async",
  "futures-util",
+ "heapless 0.9.1",
  "nb 1.1.0",
  "proc-macro2",
  "quote",
@@ -437,8 +427,7 @@ dependencies = [
 [[package]]
 name = "embassy-sync"
 version = "0.7.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "73974a3edbd0bd286759b3d483540f0ebef705919a5f56f4fc7709066f71689b"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -452,8 +441,7 @@ dependencies = [
 [[package]]
 name = "embassy-time"
 version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "f4fa65b9284d974dad7a23bb72835c4ec85c0b540d86af7fc4098c88cff51d65"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -469,8 +457,7 @@ dependencies = [
 [[package]]
 name = "embassy-time-driver"
 version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "a0a244c7dc22c8d0289379c8d8830cae06bb93d8f990194d0de5efb3b5ae7ba6"
 dependencies = [
  "document-features",
 ]
@@ -478,8 +465,7 @@ dependencies = [
 [[package]]
 name = "embassy-time-queue-utils"
 version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "80e2ee86063bd028a420a5fb5898c18c87a8898026da1d4c852af2c443d0a454"
 dependencies = [
  "embassy-executor-timer-queue",
  "heapless 0.8.0",
@@ -488,8 +474,7 @@ dependencies = [
 [[package]]
 name = "embassy-usb"
 version = "0.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "dc4462e48b19a4f401a11901bdd981aab80c6a826608016a0bdc73cbbab31954"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver-channel",
@@ -504,8 +489,7 @@ dependencies = [
 [[package]]
 name = "embassy-usb-driver"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "17119855ccc2d1f7470a39756b12068454ae27a3eabb037d940b5c03d9c77b7a"
 dependencies = [
  "defmt 1.0.1",
  "embedded-io-async",
@@ -514,8 +498,7 @@ dependencies = [
 [[package]]
 name = "embassy-usb-synopsys-otg"
 version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/embassy.git?branch=main#9b1add3d83e98c6c9ae9230bf35cd89bba530a20"
-checksum = "288751f8eaa44a5cf2613f13cee0ca8e06e6638cb96e897e6834702c79084b23"
 dependencies = [
  "critical-section",
  "defmt 1.0.1",
@@ -630,6 +613,12 @@ version = "0.3.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
+[[package]]
+name = "find-msvc-tools"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "52051878f80a721bb68ebfbc930e07b65ba72f2da88968ea5c06fd6ca3d3a127"
+
 [[package]]
 name = "float-cmp"
 version = "0.9.0"
@@ -675,6 +664,20 @@ dependencies = [
  "pin-utils",
 ]
 
+[[package]]
+name = "generator"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "605183a538e3e2a9c1038635cc5c2d194e2ee8fd0d1b66b8349fad7dbacce5a2"
+dependencies = [
+ "cc",
+ "cfg-if",
+ "libc",
+ "log",
+ "rustversion",
+ "windows",
+]
+
 [[package]]
 name = "hash32"
 version = "0.3.1"
@@ -719,6 +722,18 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
+[[package]]
+name = "lazy_static"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+
+[[package]]
+name = "libc"
+version = "0.2.177"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2874a2af47a2325c2001a6e6fad9b16a53b802102b528163885171cf92b15976"
+
 [[package]]
 name = "litrs"
 version = "0.4.2"
@@ -731,6 +746,34 @@ version = "0.4.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "34080505efa8e45a4b816c349525ebe327ceaa8559756f0356cba97ef3bf7432"
 
+[[package]]
+name = "loom"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "419e0dc8046cb947daa77eb95ae174acfbddb7673b4151f56d1eed8e93fbfaca"
+dependencies = [
+ "cfg-if",
+ "generator",
+ "scoped-tls",
+ "tracing",
+ "tracing-subscriber",
+]
+
+[[package]]
+name = "matchers"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1525a2a28c7f4fa0fc98bb91ae755d1e2d1505079e05539e35bc876b5d65ae9"
+dependencies = [
+ "regex-automata",
+]
+
+[[package]]
+name = "memchr"
+version = "2.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
+
 [[package]]
 name = "micromath"
 version = "2.1.0"
@@ -752,6 +795,15 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
+[[package]]
+name = "nu-ansi-term"
+version = "0.50.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7957b9740744892f114936ab4a57b3f487491bbeafaf8083688b16841a4240e5"
+dependencies = [
+ "windows-sys",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -853,6 +905,23 @@ version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
 
+[[package]]
+name = "regex-automata"
+version = "0.4.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5276caf25ac86c8d810222b3dbb938e512c55c6831a10f3e6ed1c93b84041f1c"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-syntax"
+version = "0.8.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"
+
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -862,6 +931,18 @@ dependencies = [
  "semver",
 ]
 
+[[package]]
+name = "rustversion"
+version = "1.0.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
+
+[[package]]
+name = "scoped-tls"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294"
+
 [[package]]
 name = "sdio-host"
 version = "0.9.0"
@@ -912,6 +993,27 @@ dependencies = [
  "syn 2.0.107",
 ]
 
+[[package]]
+name = "sharded-slab"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f40ca3c46823713e0d4209592e8d6e826aa57e928f09752619fc696c499637f6"
+dependencies = [
+ "lazy_static",
+]
+
+[[package]]
+name = "shlex"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
+
+[[package]]
+name = "smallvec"
+version = "1.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
+
 [[package]]
 name = "ssmarshal"
 version = "1.0.0"
@@ -955,8 +1057,7 @@ dependencies = [
 [[package]]
 name = "stm32-metapac"
 version = "18.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/embassy-rs/stm32-data-generated?tag=stm32-data-b9f6b0c542d85ee695d71c35ced195e0cef51ac0#9b8fb67703361e2237b6c1ec4f1ee5949223d412"
-checksum = "6fd8ec3a292a0d9fc4798416a61b21da5ae50341b2e7b8d12e662bf305366097"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
@@ -1011,6 +1112,15 @@ dependencies = [
  "syn 2.0.107",
 ]
 
+[[package]]
+name = "thread_local"
+version = "1.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f60246a4944f24f6e018aa17cdeffb7818b76356965d03b07d6a9886e8962185"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "tinybmp"
 version = "0.6.0"
@@ -1020,6 +1130,67 @@ dependencies = [
  "embedded-graphics",
 ]
 
+[[package]]
+name = "tracing"
+version = "0.1.41"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "784e0ac535deb450455cbfa28a6f0df145ea1bb7ae51b821cf5e7927fdcfbdd0"
+dependencies = [
+ "pin-project-lite",
+ "tracing-attributes",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-attributes"
+version = "0.1.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "81383ab64e72a7a8b8e13130c49e3dab29def6d0c7d76a03087b3cf71c5c6903"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.107",
+]
+
+[[package]]
+name = "tracing-core"
+version = "0.1.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b9d12581f227e93f094d3af2ae690a574abb8a2b9b7a96e7cfe9647b2b617678"
+dependencies = [
+ "once_cell",
+ "valuable",
+]
+
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-subscriber"
+version = "0.3.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
+dependencies = [
+ "matchers",
+ "nu-ansi-term",
+ "once_cell",
+ "regex-automata",
+ "sharded-slab",
+ "smallvec",
+ "thread_local",
+ "tracing",
+ "tracing-core",
+ "tracing-log",
+]
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.19"
@@ -1073,6 +1244,12 @@ dependencies = [
  "usbd-hid-descriptors",
 ]
 
+[[package]]
+name = "valuable"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
+
 [[package]]
 name = "vcell"
 version = "0.1.3"
@@ -1100,6 +1277,132 @@ dependencies = [
  "vcell",
 ]
 
+[[package]]
+name = "windows"
+version = "0.61.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9babd3a767a4c1aef6900409f85f5d53ce2544ccdfaa86dad48c91782c6d6893"
+dependencies = [
+ "windows-collections",
+ "windows-core",
+ "windows-future",
+ "windows-link 0.1.3",
+ "windows-numerics",
+]
+
+[[package]]
+name = "windows-collections"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3beeceb5e5cfd9eb1d76b381630e82c4241ccd0d27f1a39ed41b2760b255c5e8"
+dependencies = [
+ "windows-core",
+]
+
+[[package]]
+name = "windows-core"
+version = "0.61.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c0fdd3ddb90610c7638aa2b3a3ab2904fb9e5cdbecc643ddb3647212781c4ae3"
+dependencies = [
+ "windows-implement",
+ "windows-interface",
+ "windows-link 0.1.3",
+ "windows-result",
+ "windows-strings",
+]
+
+[[package]]
+name = "windows-future"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fc6a41e98427b19fe4b73c550f060b59fa592d7d686537eebf9385621bfbad8e"
+dependencies = [
+ "windows-core",
+ "windows-link 0.1.3",
+ "windows-threading",
+]
+
+[[package]]
+name = "windows-implement"
+version = "0.60.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.107",
+]
+
+[[package]]
+name = "windows-interface"
+version = "0.59.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.107",
+]
+
+[[package]]
+name = "windows-link"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e6ad25900d524eaabdbbb96d20b4311e1e7ae1699af4fb28c17ae66c80d798a"
+
+[[package]]
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+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
+
+[[package]]
+name = "windows-numerics"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9150af68066c4c5c07ddc0ce30421554771e528bde427614c61038bc2c92c2b1"
+dependencies = [
+ "windows-core",
+ "windows-link 0.1.3",
+]
+
+[[package]]
+name = "windows-result"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56f42bd332cc6c8eac5af113fc0c1fd6a8fd2aa08a0119358686e5160d0586c6"
+dependencies = [
+ "windows-link 0.1.3",
+]
+
+[[package]]
+name = "windows-strings"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56e6c93f3a0c3b36176cb1327a4958a0353d5d166c2a35cb268ace15e91d3b57"
+dependencies = [
+ "windows-link 0.1.3",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.61.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+dependencies = [
+ "windows-link 0.2.1",
+]
+
+[[package]]
+name = "windows-threading"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b66463ad2e0ea3bbf808b7f1d371311c80e115c0b71d60efc142cafbcfb057a6"
+dependencies = [
+ "windows-link 0.1.3",
+]
+
 [[package]]
 name = "zerocopy"
 version = "0.8.27"

semestralka_1/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 authors = ["Priec <filippriec@gmail.com>"]
-name = "async_uart"
+name = "dma_gpio"
 edition = "2024"
 version = "0.1.0"
 
@@ -10,12 +10,13 @@ cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-sing
 cortex-m-rt = "0.7.5"
 panic-halt = "1.0.0"
 
-embassy-executor = { version = "0.9.1", features = ["arch-cortex-m", "executor-thread"] }
+embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["arch-cortex-m", "executor-thread"] }
-embassy-futures = "0.1.2"
+embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
-embassy-stm32 = { version = "0.4.0", features = ["unstable-pac", "stm32u575zi", "time-driver-any", "memory-x", "defmt"] }
+embassy-sync    = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
-embassy-sync = "0.7.2"
+embassy-time    = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["tick-hz-32_768"] }
-embassy-time = { version = "0.5.0", features = ["tick-hz-32_768"] }
+embassy-hal-internal = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
-embassy-usb = "0.5.1"
+embassy-usb = { git = "https://github.com/embassy-rs/embassy.git", branch = "main" }
+embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", branch = "main", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] }
 
 embedded-hal = "1.0.0"
 embedded-graphics = "0.8.1"
@@ -26,8 +27,5 @@ panic-probe = { version = "1.0.0", features = ["defmt"] }
 defmt-rtt = "1.1.0"
 defmt = "1.0.1"
 static_cell = "2.1.1"
-embedded-io-async = "0.6.0"
 embedded-io = "0.6.1"
-
+embedded-io-async = "0.6.1"
-[dev-dependencies]
-defmt-test = "0.4.0"

semestralka_1/datasheet.txt

@@ -1 +0,0 @@
-https://www.ti.com/lit/ug/sprugp1/sprugp1.pdf?ts=1761641486453

semestralka_1/src/bin/main.rs

@@ -1,157 +1,94 @@
 // src/bin/main.rs
-
 #![no_std]
 #![no_main]
+
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::bind_interrupts;
+use embassy_time::Instant;
-use embassy_stm32::peripherals;
+use embassy_stm32::dma::Request;
-use embassy_stm32::peripherals::{PA2, PA3};
+use embassy_stm32::gpio::{Input, Output, Level, Pull, Speed};
-use embassy_stm32::gpio::{Input, Output, Pull, Speed, Level};
+use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pipe::Pipe};
-use embassy_stm32::Peripherals;
+use dma_gpio::software_uart::{
-use embassy_stm32::usart::{BufferedInterruptHandler, BufferedUart, Config};
+    dma_timer::{init_tim6_for_uart, init_tim7_for_uart},
-use embassy_stm32::timer::low_level::Timer as HardwareTimer;
+    gpio_dma_uart_rx::rx_dma_task,
-use embassy_stm32::interrupt::{self, typelevel::TIM2 as TIM2_IRQ, Priority};
+    debug::dump_tim6_regs,
-use embassy_stm32::peripherals::TIM2;
+};
-use embedded_io_async::{Read, Write};
+use dma_gpio::config::{BAUD, RX_OVERSAMPLE, TX_OVERSAMPLE};
-use embassy_stm32::time::Hertz;
+use dma_gpio::config::{TX_RING_BYTES, RX_RING_BYTES, PIPE_RX_SIZE};
-use embassy_time::{Timer, Duration, Instant};
+use dma_gpio::software_uart::gpio_dma_uart_tx::tx_dma_task;
-use embassy_futures::yield_now;
-use embassy_futures::select::{select, Either};
-use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_sync::pipe::Pipe;
-use embassy_sync::signal::Signal;
 use static_cell::StaticCell;
+use embassy_futures::yield_now;
+use dma_gpio::hw_uart_pc::usart1;
+use dma_gpio::hw_uart_pc::driver::uart_task;
+use embassy_stm32::usart::{BufferedUart, Config, BufferedInterruptHandler};
+use embassy_stm32::peripherals;
+use embassy_stm32::bind_interrupts;
 use {defmt_rtt as _, panic_probe as _};
-use async_uart::safety::{preflight_and_suggest_yield_period, RX_PIPE_CAP, TX_PIPE_CAP};
 
-static UART_TX: Pipe<CriticalSectionRawMutex, TX_PIPE_CAP> = Pipe::new();
+bind_interrupts!(struct Irqs {
-static UART_RX: Pipe<CriticalSectionRawMutex, RX_PIPE_CAP> = Pipe::new();
+    USART1 => BufferedInterruptHandler<peripherals::USART1>;
-static TIM2_TICK: Signal<CriticalSectionRawMutex, ()> = Signal::new();
+});
 
-bind_interrupts!(
+// Software uart
-    struct Irqs {
+pub const TIM6_UP_REQ: Request = 4;
-        USART1 => BufferedInterruptHandler<peripherals::USART1>;
+static PIPE_RX: Pipe<CriticalSectionRawMutex, PIPE_RX_SIZE> = Pipe::new();
-    }
+static TX_RING: StaticCell<[u32; TX_RING_BYTES]> = StaticCell::new();
-);
+static RX_RING: StaticCell<[u8; RX_RING_BYTES]> = StaticCell::new();
-
-#[embassy_executor::task]
-async fn uart_task(mut uart: BufferedUart<'static>) {
-    let mut rx_byte = [0u8; 1];
-    let mut tx_buf = [0u8; 64];
-    loop {
-        // Wait for either RX or TX events.
-        let rx_fut = uart.read(&mut rx_byte);
-        let tx_fut = async {
-            // Until there's outgoing data in TX pipe
-            let n = UART_TX.read(&mut tx_buf).await;
-            n
-        };
-        match select(rx_fut, tx_fut).await {
-            // Incoming data from UART hardware
-            Either::First(res) => {
-                if let Ok(_) = res {
-                    // Forward to RX pipe
-                    let _ = UART_RX.write(&rx_byte).await;
-                    let _ = UART_TX.try_write(&rx_byte);
-                }
-            }
-            // Outgoing data waiting in TX pipe
-            Either::Second(n) => {
-                unwrap!(uart.write(&tx_buf[..n]).await);
-            }
-        }
-    }
-}
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
-    info!("tititititi");
+    info!("boot");
     let p = embassy_stm32::init(Default::default());
-    static TX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
+    info!("init m8");
-    static RX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
+
-    let tx_buf = TX_BUF.init([0; 256]);
+    // HARDWARE UART to the PC
-    let rx_buf = RX_BUF.init([0; 256]);
+
     let mut cfg = Config::default();
     cfg.baudrate = 230_400;
-
+    static TX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
-    // Call preflight and get the computed yield period
+    static RX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
-    let yield_period = preflight_and_suggest_yield_period(cfg.baudrate);
+    let uart = BufferedUart::new(
-
-    let usart = BufferedUart::new(
         p.USART1,
-        p.PA10, // RX
+        p.PA10, // RX pin
-        p.PA9,  // TX
+        p.PA9,  // TX pin
-        tx_buf,
+        TX_BUF.init([0; 256]),
-        rx_buf,
+        RX_BUF.init([0; 256]),
         Irqs,
         cfg,
     ).unwrap();
-    info!("starting uart task");
+    let (handle, yield_period) = usart1::setup_and_spawn(BAUD);
-    spawner.spawn(uart_task(usart)).unwrap();
+    spawner.spawn(uart_task(uart, handle.tx, handle.rx).unwrap());
+    // END OF HARDWARE UART to the PC
+
+    // SOFTWARE UART 
+    let _rx = Input::new(p.PA3, Pull::Up);
+    let _tx = Output::new(p.PA2, Level::High, Speed::VeryHigh);
+    init_tim6_for_uart(p.TIM6, BAUD, TX_OVERSAMPLE);
+    init_tim7_for_uart(p.TIM7, BAUD, RX_OVERSAMPLE);
+    dump_tim6_regs();
+
+    // Safe one-time init from StaticCell
+    let rx_ring: &mut [u8; RX_RING_BYTES] = RX_RING.init([0; RX_RING_BYTES]);
+    let tx_ring_mem: &mut [u32; TX_RING_BYTES] = TX_RING.init([0; TX_RING_BYTES]);
+    spawner.spawn(rx_dma_task(p.GPDMA1_CH1, rx_ring, &PIPE_RX).unwrap());
+
+    // Create and start the TX DMA ring in main.
+    // let bsrr_ptr = embassy_stm32::pac::GPIOA.bsrr().as_ptr() as *mut u32;
+    let odr_ptr = embassy_stm32::pac::GPIOA.odr().as_ptr() as *mut u32;
+    spawner.spawn(tx_dma_task(p.GPDMA1_CH0, odr_ptr, tx_ring_mem, &PIPE_RX).unwrap());
+    // EDN OF SOFTWARE UART 
 
-    let mut transfer: u32 = 16;
-    let mut rx_buf = [0u8; 64];
     let mut last_yield = Instant::now();
 
-    // Software UART bits init
-    let mut tx = Output::new(p.PA2, Level::Low, Speed::Low);
-    let _rx = Input::new(p.PA3, Pull::Up);
-
-    let tim = HardwareTimer::new(p.TIM2);
-
-    // Configure for 230_400 Hz
-    tim.set_frequency(Hertz(cfg.baudrate*transfer));
-    tim.enable_update_interrupt(true);
-    tim.start();
-
-    tx.set_high();
     loop {
+        info!("tick start");
+        // Timer::after(Duration::from_millis(100)).await;
+        // info!("tick end");
 
-        TIM2_TICK.wait().await;
+        if Instant::now().duration_since(last_yield) >= handle.yield_period {
-        tx.set_low();
+            embassy_futures::yield_now().await;
-        TIM2_TICK.wait().await;
-
-        Timer::after(Duration::from_millis(1000)).await;
-        // Poll RX pipe for new data (non-blocking)
-        if let Ok(n) = UART_RX.try_read(&mut rx_buf) {
-            if n > 0 {
-                if let Ok(s) = core::str::from_utf8(&rx_buf[..n]) {
-                    info!("RX got: {}", s);
-                } else {
-                    info!("RX got (non‑utf8): {:?}", &rx_buf[..n]);
-                }
-            }
-        }
-
-        // Guaranteed to yield before ISR RX buffer can overflow
-        if Instant::now().duration_since(last_yield) >= yield_period {
-            yield_now().await;
             last_yield = Instant::now();
-            // info!("Yield mf {}", counter);
         }
-        // Timer::after(Duration::from_micros(1)).await;
+
-        // Timer::after(Duration::from_secs(5)).await;
-    }
-}
-
-#[embassy_stm32::interrupt]
-fn TIM2() {
-    use embassy_stm32::timer::CoreInstance;
-
-    // Access TIM2 core registers directly.
-    let regs = unsafe {
-        embassy_stm32::pac::timer::TimCore::from_ptr(
-            <peripherals::TIM2 as CoreInstance>::regs(),
-        )
-    };
-
-    // Clear update flag to avoid retriggering.
-    let sr = regs.sr().read();
-    if sr.uif() {
-        regs.sr().modify(|r| r.set_uif(false));
-
-        // Signal the waiting task that a tick occurred.
-        TIM2_TICK.signal(());
     }
 }

semestralka_1/src/config.rs

@@ -0,0 +1,16 @@
+// src/config.rs
+use crate::software_uart::uart_emulation::{Parity, StopBits, UartConfig};
+
+pub const BAUD: u32 = 115_200;
+pub const TX_PIN_BIT: u8 = 2; // PA2
+pub const TX_OVERSAMPLE: u16 = 1;
+pub const RX_OVERSAMPLE: u16 = 16;
+pub const RX_RING_BYTES: usize = 4096;
+pub const TX_RING_BYTES: usize = 4096;
+pub const PIPE_RX_SIZE: usize = 256;
+
+pub const UART_CFG: UartConfig = UartConfig {
+    data_bits: 8,
+    parity: Parity::None,
+    stop_bits: StopBits::One,
+};

semestralka_1/src/hw_uart_pc/driver.rs

@@ -0,0 +1,47 @@
+// src/uart/driver.rs
+use defmt::unwrap;
+use embassy_futures::select::{select, Either};
+use embassy_stm32::usart::BufferedUart;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::pipe::Pipe;
+use embassy_time::Duration;
+use embedded_io_async::{Read, Write};
+
+use crate::hw_uart_pc::safety::{RX_PIPE_CAP, TX_PIPE_CAP};
+
+pub struct UartHandle {
+    pub tx: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
+    pub rx: &'static Pipe<CriticalSectionRawMutex, RX_PIPE_CAP>,
+    pub yield_period: Duration,
+}
+
+#[embassy_executor::task]
+pub async fn uart_task(
+    mut uart: BufferedUart<'static>,
+    tx_pipe: &'static Pipe<CriticalSectionRawMutex, TX_PIPE_CAP>,
+    rx_pipe: &'static Pipe<CriticalSectionRawMutex, RX_PIPE_CAP>,
+) {
+    let mut rx_byte = [0u8; 1];
+    let mut tx_buf = [0u8; 64];
+
+    loop {
+        let rx_fut = uart.read(&mut rx_byte);
+        let tx_fut = async {
+            let n = tx_pipe.read(&mut tx_buf).await;
+            n
+        };
+
+        match select(rx_fut, tx_fut).await {
+            // Incoming data from UART hardware
+            Either::First(res) => {
+                if let Ok(_) = res {
+                    let _ = rx_pipe.write(&rx_byte).await;
+                }
+            }
+            // Outgoing data waiting in TX pipe
+            Either::Second(n) => {
+                unwrap!(uart.write(&tx_buf[..n]).await);
+            }
+        }
+    }
+}

semestralka_1/src/hw_uart_pc/mod.rs

@@ -0,0 +1,4 @@
+// src/uart/mod.rs
+pub mod driver;
+pub mod usart1;
+pub mod safety;

semestralka_1/src/hw_uart_pc/usart1.rs

@@ -0,0 +1,24 @@
+// src/uart/usart1.rs
+use defmt::info;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::pipe::Pipe;
+use embassy_time::Duration;
+
+use crate::hw_uart_pc::safety::{preflight_and_suggest_yield_period, RX_PIPE_CAP, TX_PIPE_CAP};
+use crate::hw_uart_pc::driver::UartHandle;
+
+// Static pipes and buffers
+static UART1_TX_PIPE: Pipe<CriticalSectionRawMutex, TX_PIPE_CAP> = Pipe::new();
+static UART1_RX_PIPE: Pipe<CriticalSectionRawMutex, RX_PIPE_CAP> = Pipe::new();
+
+pub fn setup_and_spawn(baudrate: u32,) -> (UartHandle, Duration) {
+    let yield_period: Duration = preflight_and_suggest_yield_period(baudrate);
+    info!("HW USART1 safe");
+    let handle = UartHandle {
+        tx: &UART1_TX_PIPE,
+        rx: &UART1_RX_PIPE,
+        yield_period,
+    };
+
+    (handle, yield_period)
+}

semestralka_1/src/lib.rs

@@ -1,3 +1,5 @@
 #![no_std]
-pub mod safety;
+
-// pub mod software_uart;
+pub mod software_uart;
+pub mod config;
+pub mod hw_uart_pc;

semestralka_1/src/software_uart/debug.rs

@@ -0,0 +1,43 @@
+// src/software_uart/debug.rs
+use defmt::info;
+
+pub fn dump_tim6_regs() {
+    use embassy_stm32::pac::timer::TimBasic;
+    let tim = unsafe { TimBasic::from_ptr(0x4000_1000usize as _) };
+    let sr = tim.sr().read();
+    let dier = tim.dier().read();
+    let cr1 = tim.cr1().read();
+    let arr = tim.arr().read().arr();
+    let psc = tim.psc().read();
+    info!(
+        "TIM6: CR1.CEN={} DIER.UDE={} SR.UIF={} PSC={} ARR={}",
+        cr1.cen(),
+        dier.ude(),
+        sr.uif(),
+        psc,
+        arr
+    );
+}
+
+pub fn dump_dma_ch0_regs() {
+    use embassy_stm32::pac::gpdma::Gpdma;
+    let dma = unsafe { Gpdma::from_ptr(0x4002_0000usize as _) };
+    let ch = dma.ch(0);
+    let cr = ch.cr().read();
+    let tr1 = ch.tr1().read();
+    let tr2 = ch.tr2().read();
+    let br1 = ch.br1().read();
+    info!(
+        "GPDMA1_CH0: EN={} PRIO={} SDW={} DDW={} SINC={} DINC={} REQSEL={} SWREQ={} DREQ={} BNDT={}",
+        cr.en(),
+        cr.prio(),
+        tr1.sdw(),
+        tr1.ddw(),
+        tr1.sinc(),
+        tr1.dinc(),
+        tr2.reqsel(),
+        tr2.swreq(),
+        tr2.dreq(),
+        br1.bndt()
+    );
+}

semestralka_1/src/software_uart/dma_timer.rs

@@ -0,0 +1,58 @@
+// src/dma_timer.rs
+
+use embassy_stm32::{
+    peripherals::{TIM6, TIM7},
+    rcc,
+    timer::low_level::Timer,
+    Peri,
+};
+use core::mem;
+use embassy_stm32::timer::BasicInstance;
+use embassy_stm32::pac::timer::vals::Urs;
+
+/// Initializes TIM6 to tick at `baud * oversample` frequency.
+/// Each TIM6 update event triggers one DMA beat.
+pub fn init_tim6_for_uart<'d>(tim6: Peri<'d, TIM6>, baud: u32, oversample: u16) {
+    rcc::enable_and_reset::<TIM6>();
+    let ll = Timer::new(tim6);
+    configure_basic_timer(&ll, baud, oversample);
+    mem::forget(ll);
+}
+
+/// Initializes TIM7 to tick at `baud * oversample` frequency.
+/// Each TIM7 update event triggers one DMA beat.
+pub fn init_tim7_for_uart<'d>(tim7: Peri<'d, TIM7>, baud: u32, oversample: u16) {
+    rcc::enable_and_reset::<TIM7>();
+    let ll = Timer::new(tim7);
+    configure_basic_timer(&ll, baud, oversample);
+    mem::forget(ll);
+}
+
+// Shared internal helper — identical CR1/ARR setup
+fn configure_basic_timer<T: BasicInstance>(ll: &Timer<'_, T>, baud: u32, oversample: u16) {
+    let f_timer = rcc::frequency::<T>().0;
+    let target = baud.saturating_mul(oversample.max(1) as u32).max(1);
+
+    // Compute ARR (prescaler = 0)
+    let mut arr = (f_timer / target).saturating_sub(1) as u16;
+    if arr == 0 { arr = 1; }
+
+    ll.regs_basic().cr1().write(|w| {
+        w.set_cen(false);
+        w.set_opm(false);
+        w.set_udis(false);
+        w.set_urs(Urs::ANY_EVENT);
+    });
+
+    ll.regs_basic().psc().write_value(0u16);
+    ll.regs_basic().arr().write(|w| w.set_arr(arr));
+    ll.regs_basic().dier().modify(|w| w.set_ude(true));
+    ll.regs_basic().egr().write(|w| w.set_ug(true));
+
+    ll.regs_basic().cr1().write(|w| {
+        w.set_opm(false);
+        w.set_cen(true);
+        w.set_udis(false);
+        w.set_urs(Urs::ANY_EVENT);
+    });
+}

semestralka_1/src/software_uart/gpio_dma_uart_rx.rs

@@ -0,0 +1,44 @@
+// src/software_uart/runtime.rs
+use embassy_executor::task;
+use embassy_stm32::{
+    dma::Request,
+    peripherals::GPDMA1_CH1,
+    Peri,
+};
+use embassy_stm32::dma::{
+    ReadableRingBuffer,
+    TransferOptions,
+};
+use crate::config::{RX_OVERSAMPLE, UART_CFG};
+use crate::software_uart::decode_uart_samples;
+use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pipe::Pipe};
+use embassy_futures::yield_now;
+
+// datasheet tabulka 137
+pub const TIM7_UP_REQ: Request = 5;
+
+/// RX DMA task: reads GPIO samples paced by TIM7 and fills PIPE_RX
+#[task]
+pub async fn rx_dma_task(
+    ch: Peri<'static, GPDMA1_CH1>,
+    ring: &'static mut [u8],
+    pipe_rx: &'static Pipe<CriticalSectionRawMutex, 256>,
+) {
+    let gpioa_idr = embassy_stm32::pac::GPIOA.idr().as_ptr() as *mut u8;
+
+    let mut opts = TransferOptions::default();
+    opts.half_transfer_ir = true;
+    opts.complete_transfer_ir = true;
+
+    // SAFETY: ring is exclusive to this task
+    let mut rx = unsafe { ReadableRingBuffer::new(ch, TIM7_UP_REQ, gpioa_idr, ring, opts) };
+    rx.start();
+
+    let mut chunk = [0u8; 256];
+    loop {
+        let _ = rx.read_exact(&mut chunk).await;
+        let decoded = decode_uart_samples(&chunk, RX_OVERSAMPLE, &UART_CFG);
+        pipe_rx.write(&decoded).await;
+        yield_now().await;
+    }
+}

semestralka_1/src/software_uart/gpio_dma_uart_tx.rs

@@ -0,0 +1,83 @@
+// src/software_uart/gpio_dma_uart_tx.rs
+use embassy_executor::task;
+use embassy_stm32::{
+    dma::{Request, TransferOptions, WritableRingBuffer},
+    peripherals::GPDMA1_CH0,
+    Peri,
+};
+use embassy_futures::yield_now;
+use defmt::info;
+
+use embassy_sync::pipe::Pipe;
+use crate::config::{TX_PIN_BIT, UART_CFG};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use crate::software_uart::uart_emulation::encode_uart_byte_cfg;
+
+pub const TIM6_UP_REQ: Request = 4;
+
+pub async fn encode_uart_frames<'a>(
+    pin_bit: u8,
+    bytes: &[u8],
+    out_buf: &'a mut [u32],
+) -> usize {
+    let mut offset = 0;
+    for &b in bytes {
+        let mut frame = [0u32; 12];
+        let used = encode_uart_byte_cfg(pin_bit, b, &UART_CFG, &mut frame);
+
+        if offset + used <= out_buf.len() {
+            out_buf[offset..offset + used].copy_from_slice(&frame[..used]);
+            offset += used;
+        } else {
+            break;
+        }
+
+        // cooperative async yield
+        yield_now().await;
+    }
+    offset
+}
+
+/// TX DMA task: encodes UART frames and sends them via DMA at TIM6 rate
+#[task]
+pub async fn tx_dma_task(
+    ch: Peri<'static, GPDMA1_CH0>,
+    odr_ptr: *mut u32,
+    tx_ring_mem: &'static mut [u32],
+    pipe_rx: &'static Pipe<CriticalSectionRawMutex, 256>,
+) {
+    let mut tx_opts = TransferOptions::default();
+    tx_opts.half_transfer_ir = true;
+    tx_opts.complete_transfer_ir = true;
+
+    // SAFETY: tx_ring is exclusive to this task
+    let mut tx_ring = unsafe {
+        WritableRingBuffer::new(
+            ch,
+            TIM6_UP_REQ,
+            odr_ptr,
+            tx_ring_mem,
+            tx_opts,
+        )
+    };
+
+    tx_ring.start();
+    info!("TX DMA ring started");
+
+    let mut frame_buf = [0u32; 4096];
+    let mut rx_buf = [0u8; 256];
+
+    loop {
+        let n = pipe_rx.read(&mut rx_buf).await;
+        if n == 0 {
+            yield_now().await;
+            continue;
+        }
+
+        let used = encode_uart_frames(TX_PIN_BIT, &rx_buf[..n], &mut frame_buf).await;
+        if used > 0 {
+            let _ = tx_ring.write_exact(&frame_buf[..used]).await;
+        }
+        yield_now().await;
+    }
+}

semestralka_1/src/software_uart/mod.rs

@@ -1,4 +1,13 @@
 // src/software_uart/mod.rs
 
-pub mod suart;
+pub mod gpio_dma_uart_tx;
-pub use suart::*;
+pub mod gpio_dma_uart_rx;
+pub mod dma_timer;
+pub mod uart_emulation;
+pub mod debug;
+
+pub use gpio_dma_uart_tx::*;
+pub use gpio_dma_uart_rx::*;
+pub use dma_timer::*;
+pub use uart_emulation::*;
+pub use debug::*;

semestralka_1/src/software_uart/suart.rs

@@ -1,19 +0,0 @@
-// src/software_uart/suart.rs
-
-use embassy_stm32::peripherals::{PA2, PA3};
-use embassy_stm32::gpio::{Input, Output, Pull, Speed, Level};
-use embassy_stm32::Peripherals;
-use embassy_time::Timer;
-
-pub async fn suart_test(mut tx_pin: PA2, rx_pin: PA3) {
-    let mut tx = Output::new(tx_pin.into(), Level::Low, Speed::Low);
-    let _rx = Input::new(rx_pin.into(), Pull::Up);
-
-    loop {
-        tx.set_high();
-        Timer::after_millis(500).await;
-
-        tx.set_low();
-        Timer::after_millis(500).await;
-    }
-}

semestralka_1/src/software_uart/uart_emulation.rs

@@ -0,0 +1,151 @@
+// src/software_uart/uart_emulation.rs
+use heapless::Vec;
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+pub enum Parity {
+    None,
+    Even,
+    Odd,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+pub enum StopBits {
+    One,
+    Two,
+}
+
+#[derive(Clone, Copy, Debug)]
+pub struct UartConfig {
+    pub data_bits: u8,
+    pub parity: Parity,
+    pub stop_bits: StopBits,
+}
+
+impl Default for UartConfig {
+    fn default() -> Self {
+        Self {
+            data_bits: 8,
+            parity: Parity::None,
+            stop_bits: StopBits::One,
+        }
+    }
+}
+
+/// Encodes one byte into a sequence of GPIO BSRR words
+pub fn encode_uart_byte_cfg(
+    pin_bit: u8,
+    data: u8,
+    cfg: &UartConfig,
+    out: &mut [u32; 12],
+) -> usize {
+    // GPIOx_BSRR register str. 636 kap. 13.4.7
+    let set_high = |bit: u8| -> u32 { 1u32 << bit };
+    let set_low = |bit: u8| -> u32 { 0 };
+    // let set_low = |bit: u8| -> u32 { 1u32 << (bit as u32 + 16) };
+
+    let mut idx = 0usize;
+
+    // START bit (LOW)
+    out[idx] = set_low(pin_bit);
+    idx += 1;
+
+    // Data bits, LSB-first
+    let nbits = cfg.data_bits.clamp(5, 8);
+    for i in 0..nbits {
+        let one = ((data >> i) & 1) != 0;
+        out[idx] = if one { set_high(pin_bit) } else { set_low(pin_bit) };
+        idx += 1;
+    }
+
+    // Parity
+    match cfg.parity {
+        Parity::None => {}
+        Parity::Even | Parity::Odd => {
+            let mask: u8 = if nbits == 8 { 0xFF } else { (1u16 << nbits) as u8 - 1 };
+            let ones = (data & mask).count_ones() & 1;
+            let par_bit_is_one = match cfg.parity {
+                Parity::Even => ones == 1,
+                Parity::Odd => ones == 0,
+                _ => false,
+            };
+            out[idx] = if par_bit_is_one {
+                set_high(pin_bit)
+            } else {
+                set_low(pin_bit)
+            };
+            idx += 1;
+        }
+    }
+
+    // STOP bits (HIGH)
+    let stop_ticks = match cfg.stop_bits {
+        StopBits::One => 1usize,
+        StopBits::Two => 2usize,
+    };
+    for _ in 0..stop_ticks {
+        out[idx] = set_high(pin_bit);
+        idx += 1;
+    }
+
+    idx
+}
+
+/// Decode an oversampled stream of logic levels into UART bytes.
+pub fn decode_uart_samples(
+    samples: &[u8],
+    oversample: u16,
+    cfg: &UartConfig,
+) -> heapless::Vec<u8, 256> {
+
+    let mut out = Vec::<u8, 256>::new();
+    let mut idx = 0usize;
+    let nbits = cfg.data_bits as usize;
+
+    while idx + (oversample as usize * (nbits + 3)) < samples.len() {
+        // Wait for start bit (falling edge: high -> low)
+        if samples[idx] != 0 && samples[idx + 1] == 0 {
+            // Align to middle of start bit
+            idx += (oversample / 2) as usize;
+
+            // Sanity check start bit really low
+            if samples.get(idx).copied().unwrap_or(1) != 0 {
+                idx += 1;
+                continue;
+            }
+
+            // Sample data bits
+            let mut data: u8 = 0;
+            for bit in 0..nbits {
+                idx += oversample as usize;
+                let bit_val = samples
+                    .get(idx)
+                    .map(|&b| if b != 0 { 1u8 } else { 0u8 })
+                    .unwrap_or(1);
+                data |= bit_val << bit;
+            }
+
+            // Parity: skip / verify
+            match cfg.parity {
+                Parity::None => {}
+                Parity::Even | Parity::Odd => {
+                    idx += oversample as usize;
+                    // You can optionally add parity check here if needed
+                }
+            }
+
+            // Move past stop bits
+            let stop_skip = match cfg.stop_bits {
+                StopBits::One => oversample as usize,
+                StopBits::Two => (oversample * 2) as usize,
+            };
+            idx += stop_skip;
+
+            // Push decoded byte
+            let _ = out.push(data);
+        } else {
+            idx += 1;
+        }
+    }
+
+    out
+}

semestralka_1/tests/integration.rs

@@ -1,6 +1,8 @@
 #![no_std]
 #![no_main]
 
+use stm32u5_blinky as _; // memory layout + panic handler
+
 // See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
 // feature)
 #[defmt_test::tests]