removed redundant code

.gitignore

@@ -1 +1,4 @@
 *.pdf
+target/
+**/target/
+**/**/target/

semestralka_1_connected/src/bin/main.rs

@@ -68,11 +68,11 @@ async fn main(spawner: Spawner) {
     config.rcc.pll1 = Some(Pll {
         source: PllSource::HSI,
         // 16 MHz / 1 × 20 / 2 = 160 MHz
-        prediv: PllPreDiv::DIV1,      // or 1.into()
-        mul:    PllMul::MUL20,        // or 20.into()
+        prediv: PllPreDiv::DIV1,
+        mul:    PllMul::MUL20,
         divp:   None,
         divq:   None,
-        divr:   Some(PllDiv::DIV2),   // or Some(2.into())
+        divr:   Some(PllDiv::DIV2),
     });
     config.enable_independent_io_supply = true;
     config.enable_independent_analog_supply = true;
@@ -131,14 +131,12 @@ async fn main(spawner: Spawner) {
     let rx_pin = Input::new(p.PD6, Pull::Up);
     unsafe { RX_PIN = Some(rx_pin) };
 
-    // Configure TX as output (PB0)
     let mut tx_pin = Output::new(p.PB0, 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();
-    let bsrr_ptr = embassy_stm32::pac::GPIOB.bsrr().as_ptr() as *mut u32; // POZOR B REGISTER
 
+    let bsrr_ptr = embassy_stm32::pac::GPIOB.bsrr().as_ptr() as *mut u32; // POZOR B REGISTER
     spawner.spawn(tx_dma_task(p.GPDMA1_CH0, bsrr_ptr, SW_TX_RING.init([0; TX_RING_BYTES]), &PIPE_SW_TX).unwrap());
     // EDN OF SOFTWARE UART
 
@@ -148,7 +146,6 @@ async fn main(spawner: Spawner) {
     spawner.spawn(rx_dma_task(p.GPDMA1_CH1, gpio_idr, rx_ring, &PIPE_SW_RX).unwrap());
     info!("SW UART RX DMA started");
 
-    // Process decoded bytes coming from PIPE_SW_RX
     let mut buf = [0u8; 64];
     loop {
         let n = PIPE_SW_RX.read(&mut buf).await;

semestralka_1_connected/src/software_uart/dma_timer.rs

@@ -39,7 +39,8 @@ fn configure_basic_timer<T: BasicInstance>(ll: &Timer<'_, T>, baud: u32, oversam
     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;
+    // let mut arr = (f_timer / target).saturating_sub(1) as u16;
+    let mut arr = ((f_timer + target / 2) / target).saturating_sub(1) as u16;
     if arr == 0 { arr = 1; }
 
     ll.regs_basic().cr1().write(|w| {

semestralka_1_connected/src/software_uart/gpio_dma_uart_rx.rs

@@ -37,7 +37,7 @@ pub async fn rx_dma_task(
 
     // We read into the second half of a buffer, keeping "leftovers" in the first half.
     const CHUNK_SIZE: usize = 4096;
-    const HISTORY_SIZE: usize = 512; // Enough to hold a potential split frame
+    const HISTORY_SIZE: usize = 512;
     const TOTAL_BUF_SIZE: usize = HISTORY_SIZE + CHUNK_SIZE;
     
     // Logic level buffer
@@ -54,7 +54,6 @@ pub async fn rx_dma_task(
         }
         let current_end = valid_len + CHUNK_SIZE;
 
-        // 3. Decode everything we have
         let (decoded, consumed) = decode_uart_samples(
             &level_buf[..current_end], 
             RX_OVERSAMPLE, 
@@ -69,13 +68,12 @@ pub async fn rx_dma_task(
              }
         }
 
-        // 4. Shift remaining data to front
+        // Shift remaining data to front
         // We processed 'consumed' samples.
         // We keep everything from 'consumed' up to 'current_end'.
         let remaining = current_end - consumed;
         
-        // Safety check: if remaining > HISTORY_SIZE, we are in trouble (buffer too small / decoder stuck).
-        // But for now, just shift.
+        // SAFETY if remaining > HISTORY_SIZE, we are in trouble (buffer too small / decoder stuck).
         if remaining > 0 {
             level_buf.copy_within(consumed..current_end, 0);
         }

semestralka_1_connected/src/software_uart/gpio_dma_uart_tx.rs

@@ -59,14 +59,13 @@ pub async fn tx_dma_task(
 
         let used = encode_uart_frames(TX_PIN_BIT, &rx_buf[..n], &mut frame_buf).await;
         if used > 0 {
-            // Align arming to a clean TIM6 update boundary:
-            // 1) clear any pending UIF
+            // Clear pending UIF
             tim6.sr().write(|w| w.set_uif(false));
-            // 2) wait for the next UIF (next bit tick)
+            // Wait for the next UIF (next bit tick)
             while !tim6.sr().read().uif() {
                 yield_now().await;
             }
-            // 3) clear UIF so first DMA beat happens on the FOLLOWING tick
+            // Clear UIF so first DMA beat happens on the FOLLOWING tick
             tim6.sr().write(|w| w.set_uif(false));
 
             let mut tx_opts = TransferOptions::default();

semestralka_1_connected/src/software_uart/uart_emulation.rs

@@ -115,7 +115,7 @@ pub fn decode_uart_samples(
     let frame_bits = 1 + nbits + parity_bits + stop_bits_count;
     let frame_len = frame_bits * ovs;
 
-    // Helper: Majority vote over 3 samples centered at `i`
+    // Majority vote over 3 samples centered at `i`
     let get_bit = |i: usize| -> u8 {
         let mut votes = 0;
         // Check i-1, i, i+1. Saturating sub/add handles boundaries roughly.
@@ -136,7 +136,7 @@ pub fn decode_uart_samples(
         }
     };
 
-    // We loop while we have enough remaining samples for a full frame
+    // Loop while we have enough remaining samples for a full frame
     while idx + frame_len <= samples.len() {
         // Wait for falling edge (High -> Low)
         // samples[idx] == 1 (Idle/Stop) && samples[idx+1] == 0 (Start)
@@ -146,7 +146,7 @@ pub fn decode_uart_samples(
             let center_offset = 1 + (ovs / 2);
             let mut scan_idx = idx + center_offset;
 
-            // 1. Validate Start Bit (Must be 0)
+            // Validate Start Bit
             if get_bit(scan_idx) != 0 {
                 idx += 1; // False start (noise), move on
                 continue;
@@ -155,7 +155,7 @@ pub fn decode_uart_samples(
             // Move to center of first data bit
             scan_idx += ovs;
 
-            // 2. Read Data Bits
+            // Read Data Bits
             let mut data: u8 = 0;
             for bit in 0..nbits {
                 if get_bit(scan_idx) == 1 {
@@ -164,22 +164,22 @@ pub fn decode_uart_samples(
                 scan_idx += ovs;
             }
 
-            // 3. Skip Parity (if any)
+            // Skip Parity
             if cfg.parity != Parity::None {
                 scan_idx += ovs;
             }
 
-            // 4. Validate Stop Bit (Must be 1)
+            // Validate Stop Bit (Must be 1)
             // If stop bit is 0, it's a framing error. We reject the whole byte.
             if get_bit(scan_idx) == 0 {
-                idx += 1; // Try to find a real start bit on the next sample
+                idx += 1; // Next sample
                 continue;
             }
 
-            // 5. Byte is valid
+            // Byte is valid
             let _ = out.push(data);
 
-            // 6. Active Resync: Fast-forward through the stop bit(s) and idle time
+            // Active Resync: Fast-forward through the stop bit(s) and idle time
             // scan_idx is currently at the center of the Stop bit.
             idx = scan_idx;
             // Advance while we are reading High (1).

semestralka_1_final_crate/software_uart/.cargo/config.toml

@@ -0,0 +1,2 @@
+[build]
+target = "thumbv8m.main-none-eabihf"

semestralka_1_final_crate/software_uart/.gitignore

@@ -0,0 +1 @@
+target/

semestralka_1_final_crate/software_uart/Cargo.toml

@@ -0,0 +1,36 @@
+[package]
+name = "software_uart"
+version = "1.0.0"
+edition = "2024"
+license = "MIT OR Apache-2.0"
+
+[dependencies]
+cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = "0.7.5"
+panic-halt = "1.0.0"
+embassy-executor = { path = "/home/priec/programs/embassy/embassy-executor", features = ["arch-cortex-m", "executor-thread"] }
+embassy-futures = { path = "/home/priec/programs/embassy/embassy-futures" }
+embassy-sync = { path = "/home/priec/programs/embassy/embassy-sync" }
+embassy-time = { path = "/home/priec/programs/embassy/embassy-time", features = ["tick-hz-32_768"] }
+embassy-hal-internal = { path = "/home/priec/programs/embassy/embassy-hal-internal" }
+embassy-usb = { path = "/home/priec/programs/embassy/embassy-usb" }
+embassy-stm32 = { path = "/home/priec/programs/embassy/embassy-stm32", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] }
+
+embedded-hal = "1.0.0"
+embedded-graphics = "0.8.1"
+heapless = { version = "0.9.1", default-features = false }
+micromath = "2.1.0"
+tinybmp = "0.6.0"
+panic-probe = { version = "1.0.0", features = ["defmt"] }
+defmt-rtt = "1.1.0"
+defmt = "1.0.1"
+static_cell = "2.1.1"
+embedded-io = "0.6.1"
+embedded-io-async = "0.6.1"
+
+[dev-dependencies]
+defmt-test = "0.4.0"
+
+[profile.dev]
+opt-level = 3
+codegen-units = 1

semestralka_1_final_crate/software_uart/src/debug.rs

@@ -0,0 +1,43 @@
+// src/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_final_crate/software_uart/src/dma_timer.rs

@@ -0,0 +1,39 @@
+// src/dma_timer.rs
+
+use embassy_stm32::{
+    peripherals::{TIM6, TIM7},
+    timer::low_level::Timer,
+    Peri,
+    time::Hertz,
+};
+use core::mem;
+use embassy_stm32::timer::BasicInstance;
+
+/// 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) {
+    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) {
+    let ll = Timer::new(tim7);
+    configure_basic_timer(&ll, baud, oversample);
+    ll.enable_update_interrupt(false); //Disable CPU interrupts
+    mem::forget(ll);
+}
+
+fn configure_basic_timer<T: BasicInstance>(ll: &Timer<'_, T>, baud: u32, oversample: u16) {
+    let target = baud.saturating_mul(oversample.max(1) as u32).max(1);
+    let target_freq = Hertz(target);
+
+    ll.stop();
+    ll.set_frequency(target_freq);
+    ll.enable_update_dma(true);
+
+    ll.clear_update_interrupt();
+    ll.start();
+}

semestralka_1_final_crate/software_uart/src/gpio_dma_uart_rx.rs

@@ -0,0 +1,100 @@
+// src/gpio_dma_uart_rx.rs
+
+use embassy_executor::task;
+use embassy_stm32::{
+    dma::Request,
+    peripherals::GPDMA1_CH1,
+    Peri,
+};
+use embassy_stm32::dma::{
+    ReadableRingBuffer,
+    TransferOptions,
+};
+use crate::decode_uart_samples;
+use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pipe::Pipe};
+use embassy_futures::yield_now;
+use crate::UartConfig;
+use defmt::info;
+
+// 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>,
+    register: *mut u8,
+    ring: &'static mut [u8],
+    pipe_rx: &'static Pipe<CriticalSectionRawMutex, 4096>,
+    rx_pin_bit: u8,
+    rx_oversample: u16,
+    uart_cfg: &'static UartConfig,
+) {
+    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,
+            register,
+            ring,
+            opts
+        )
+    };
+    rx.start();
+
+    const CHUNK_SIZE: usize = 4096;
+    const HISTORY_SIZE: usize = 512;
+    const TOTAL_BUF_SIZE: usize = HISTORY_SIZE + CHUNK_SIZE;
+    
+    let mut level_buf = [0u8; TOTAL_BUF_SIZE];
+    let mut valid_len = 0usize; 
+
+    let mut raw_chunk = [0u8; CHUNK_SIZE];
+
+    loop {
+        let _ = rx.read_exact(&mut raw_chunk).await;
+
+        // Extract Rx pin value from IDR
+        for (i, b) in raw_chunk.iter().enumerate() {
+             level_buf[valid_len + i] = ((*b >> rx_pin_bit) & 1) as u8;
+        }
+        let current_end = valid_len + CHUNK_SIZE;
+
+        let (decoded, consumed) = decode_uart_samples(
+            &level_buf[..current_end], 
+            rx_oversample,
+            uart_cfg
+        );
+
+        if !decoded.is_empty() {
+             pipe_rx.write(decoded.as_slice()).await;
+
+             // for byte in decoded.as_slice() {
+                 // info!("DMA BUFFER CHAR: {} (ASCII: {})", *byte, *byte as char);
+             // }
+        }
+
+        // Shift remaining data to front
+        // We processed 'consumed' samples.
+        // Keeping the rest of the data
+        let remaining = current_end - consumed;
+        
+        if remaining > 0 {
+            level_buf.copy_within(consumed..current_end, 0);
+        }
+        valid_len = remaining;
+        
+        // SAFETY if decoder is stuck and buffer is filling up, discard old data
+        if valid_len >= HISTORY_SIZE {
+             let keep = HISTORY_SIZE / 2;
+             level_buf.copy_within(valid_len - keep..valid_len, 0);
+             valid_len = keep;
+        }
+
+        yield_now().await;
+    }
+}

semestralka_1_final_crate/software_uart/src/gpio_dma_uart_tx.rs

@@ -0,0 +1,92 @@
+// src/gpio_dma_uart_tx.rs
+use embassy_executor::task;
+use embassy_stm32::{
+    dma::{Request, Transfer, TransferOptions},
+    peripherals::GPDMA1_CH0,
+    Peri,
+};
+use embassy_futures::yield_now;
+use defmt::info;
+
+use crate::UartConfig;
+use embassy_sync::pipe::Pipe;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use crate::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],
+    uart_cfg: &UartConfig,
+) -> 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;
+        }
+
+        yield_now().await;
+    }
+    offset
+}
+
+#[task]
+pub async fn tx_dma_task(
+    mut ch: Peri<'static, GPDMA1_CH0>,
+    register: *mut u32, // GPIOx_BSRR
+    tx_ring_mem: &'static mut [u32],
+    pipe_rx: &'static Pipe<CriticalSectionRawMutex, 1024>,
+    tx_pin_bit: u8,
+    uart_cfg: &'static UartConfig,
+) {
+    info!("TX DMA task ready (One‑shot)");
+    let mut frame_buf = [0u32; 4096];
+    let mut rx_buf = [0u8; 256];
+    let tim6 = embassy_stm32::pac::TIM6;
+
+    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, uart_cfg).await;
+        if used > 0 {
+            // Clear pending UIF
+            tim6.sr().write(|w| w.set_uif(false));
+            // Wait for the next UIF (next bit tick)
+            while !tim6.sr().read().uif() {
+                yield_now().await;
+            }
+            // Clear UIF so first DMA beat happens on the FOLLOWING tick
+            tim6.sr().write(|w| w.set_uif(false));
+
+            let mut tx_opts = TransferOptions::default();
+            tx_opts.half_transfer_ir = false;
+            tx_opts.complete_transfer_ir = true;
+
+            unsafe {
+                let transfer = Transfer::new_write(
+                    ch.reborrow(),
+                    TIM6_UP_REQ,
+                    &frame_buf[..used],
+                    register,
+                    tx_opts,
+                );
+                transfer.await;
+            }
+        }
+
+        // info!("tx_dma_task sent {} words", used);
+        yield_now().await;
+    }
+}

semestralka_1_final_crate/software_uart/src/lib.rs

@@ -0,0 +1,15 @@
+// src/lib.rs
+
+#![no_std]
+
+pub mod gpio_dma_uart_tx;
+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_final_crate/software_uart/src/uart_emulation.rs

@@ -0,0 +1,207 @@
+// src/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 }; // ODR
+    let set_low = |bit: u8| -> u32 { 1u32 << (bit as u32 + 16) }; // BSRR
+
+    let nbits = cfg.data_bits;
+    let mut idx = 0usize;
+
+    // START bit (LOW)
+    out[idx] = set_low(pin_bit);
+    idx += 1;
+
+    // Data bits, LSB-first
+    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 => 1,
+        StopBits::Two => 2,
+    };
+    for _ in 0..stop_ticks {
+        out[idx] = set_high(pin_bit);
+        idx += 1;
+    }
+
+    idx
+}
+
+/// Decode an oversampled stream of logic levels into UART bytes.
+/// Returns (decoded bytes, number of samples consumed/processed).
+pub fn decode_uart_samples(
+    samples: &[u8],
+    oversample: u16,
+    cfg: &UartConfig,
+) -> (heapless::Vec<u8, 256>, usize) {
+    let mut out = Vec::<u8, 256>::new();
+    let mut idx = 0usize;
+    let nbits = cfg.data_bits as usize;
+    let ovs = oversample as usize;
+
+    // Calculate total frame width in samples to ensure we have enough data
+    // 1 start + n data + parity? + stops
+    let parity_bits = match cfg.parity {
+        Parity::None => 0,
+        _ => 1,
+    };
+    let stop_bits_count = match cfg.stop_bits {
+        StopBits::One => 1,
+        StopBits::Two => 2,
+    };
+    let frame_bits = 1 + nbits + parity_bits + stop_bits_count;
+    let frame_len = frame_bits * ovs;
+
+    // Get sample in the middle of the bit
+    let get_bit = |i: usize| -> u8 {
+        if samples[i] != 0 { 1 } else { 0 }
+    };
+
+    // Decode while remaining samples for a full frame
+    while idx + frame_len <= samples.len() {
+        // Start - idle HIGH to start LOW
+        if samples[idx] != 0 && samples[idx + 1] == 0 {
+            let center_offset = ovs / 2;
+            let mut scan_idx = idx + center_offset;
+
+            // Validate Start Bit
+            if get_bit(scan_idx) != 0 {
+                idx += 1; // False start (noise), move on
+                continue;
+            }
+
+            // Move to center of first data bit
+            scan_idx += ovs;
+
+            // Read Data Bits
+            let mut data: u8 = 0;
+            for bit in 0..nbits {
+                if get_bit(scan_idx) == 1 {
+                    data |= 1 << bit;
+                }
+                scan_idx += ovs;
+            }
+
+            let mut error_data = false;
+            if cfg.parity != Parity::None {
+                let expected_parity = calculate_parity(data, cfg.parity, cfg.data_bits);
+                let actual_parity = get_bit(scan_idx);
+                if expected_parity != actual_parity {
+                    // Parity error
+                    error_data = true;
+                }
+                scan_idx += ovs;
+            }
+
+            for _ in 0..stop_bits_count {
+                if get_bit(scan_idx) == 0 {
+                    // Framing error
+                    error_data = true;
+                    break;
+                }
+                scan_idx += ovs;
+            }
+            if error_data {
+                idx += 1;
+                continue;  // Skip this frame completely
+            }
+
+            let _ = out.push(data);
+            idx = scan_idx;
+
+            // Next startbit reach
+            while idx < samples.len() && samples[idx] != 0 {
+                idx += 1;
+            }
+
+            // Mensi hack
+            if idx > 0 {
+                idx -= 1;
+            }
+        } else {
+            // No start bit detected here, move to next sample
+            idx += 1;
+        }
+    }
+
+    (out, idx)
+}
+
+/// Calculate the expected parity bit (0 or 1) for the given data and parity mode
+fn calculate_parity(data: u8, parity: Parity, data_bits: u8) -> u8 {
+    match parity {
+        Parity::None => 0,
+        Parity::Even | Parity::Odd => {
+            let ones = data.count_ones() & 1;
+            match parity {
+                Parity::Even => ones as u8,  // If ones=1 (odd), emit 1 to make even
+                Parity::Odd => (ones ^ 1) as u8,  // XOR - If ones=1 (odd), emit 0 to keep odd
+                _ => 0,
+            }
+        }
+    }
+}

semestralka_1_final_lib/.cargo/config.toml

@@ -0,0 +1,15 @@
+[build]
+target = "thumbv8m.main-none-eabihf"
+
+[target.thumbv8m.main-none-eabihf]
+runner = "probe-rs run --chip STM32U575ZITxQ"
+
+rustflags = [
+  "-C", "linker=rust-lld",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  "-C", "link-arg=--nmagic",
+]
+
+[package.metadata.cargo-flash]
+chip = "STM32U575ZIT"

semestralka_1_final_lib/.gitignore

@@ -0,0 +1 @@
+/target

semestralka_1_final_lib/Cargo.toml

@@ -0,0 +1,50 @@
+[package]
+authors = ["Priec <filippriec@gmail.com>"]
+name = "dma_gpio"
+edition = "2024"
+version = "0.1.0"
+
+
+[dependencies]
+cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = "0.7.5"
+panic-halt = "1.0.0"
+embassy-executor = { path = "/home/priec/programs/embassy/embassy-executor", features = ["arch-cortex-m", "executor-thread"] }
+embassy-futures = { path = "/home/priec/programs/embassy/embassy-futures" }
+embassy-sync = { path = "/home/priec/programs/embassy/embassy-sync" }
+embassy-time = { path = "/home/priec/programs/embassy/embassy-time", features = ["tick-hz-32_768"] }
+embassy-hal-internal = { path = "/home/priec/programs/embassy/embassy-hal-internal" }
+embassy-usb = { path = "/home/priec/programs/embassy/embassy-usb" }
+embassy-stm32 = { path = "/home/priec/programs/embassy/embassy-stm32", features = ["unstable-pac", "stm32u575zi", "time-driver-tim2", "memory-x", "defmt"] }
+
+embedded-hal = "1.0.0"
+embedded-graphics = "0.8.1"
+heapless = { version = "0.9.1", default-features = false }
+micromath = "2.1.0"
+tinybmp = "0.6.0"
+panic-probe = { version = "1.0.0", features = ["defmt"] }
+defmt-rtt = "1.1.0"
+defmt = "1.0.1"
+static_cell = "2.1.1"
+embedded-io = "0.6.1"
+embedded-io-async = "0.6.1"
+software_uart = { path = "../semestralka_1_final_crate/software_uart" }
+
+[dev-dependencies]
+defmt-test = "0.4.0"
+
+[[test]]
+name = "uart_emulation"
+harness = false
+
+[lib]
+test = false
+
+[[bin]]
+name = "main"
+path = "src/bin/main.rs"
+test = false
+
+[profile.dev]
+opt-level = 3
+codegen-units = 1

semestralka_1_final_lib/LICENSE-APACHE

@@ -0,0 +1,201 @@
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semestralka_1_final_lib/LICENSE-MIT

@@ -0,0 +1,23 @@
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

semestralka_1_final_lib/Makefile

@@ -0,0 +1,23 @@
+TARGET = thumbv8m.main-none-eabihf
+CHIP = STM32U575ZI
+BIN = stm32u5-blinky
+MODE ?= release
+TARGET_DIR = target/$(TARGET)/$(MODE)
+ELF = $(TARGET_DIR)/$(BIN)
+PROBE = probe-rs
+
+.PHONY: all build flash clean empty
+
+all: build
+
+build:
+	cargo build --$(MODE)
+
+flash: build
+	$(PROBE) run --chip $(CHIP) $(ELF)
+
+empty:
+	$(PROBE) erase --chip $(CHIP)
+
+clean:
+	cargo clean

semestralka_1_final_lib/README.md

@@ -0,0 +1,232 @@
+# `app-template`
+
+> Quickly set up a [`probe-rs`] + [`defmt`] + [`flip-link`] embedded project
+
+[`probe-rs`]: https://crates.io/crates/probe-rs
+[`defmt`]: https://github.com/knurling-rs/defmt
+[`flip-link`]: https://github.com/knurling-rs/flip-link
+
+## Dependencies
+
+### 1. `flip-link`:
+
+```bash
+cargo install flip-link
+```
+
+### 2. `probe-rs`:
+
+Install probe-rs by following the instructions at <https://probe.rs/docs/getting-started/installation/>.
+
+### 3. [`cargo-generate`]:
+
+```bash
+cargo install cargo-generate
+```
+
+[`cargo-generate`]: https://crates.io/crates/cargo-generate
+
+> *Note:* You can also just clone this repository instead of using `cargo-generate`, but this involves additional manual adjustments.
+
+## Setup
+
+### 1. Initialize the project template
+
+```bash
+cargo generate \
+    --git https://github.com/knurling-rs/app-template \
+    --branch main \
+    --name my-app
+```
+
+If you look into your new `my-app` folder, you'll find that there are a few `TODO`s in the files marking the properties you need to set.
+
+Let's walk through them together now.
+
+### 2. Set `probe-rs` chip
+
+Pick a chip from ` probe-rs chip list` and enter it into `.cargo/config.toml`.
+
+If, for example, you have a nRF52840 Development Kit as used in one of [our exercises], replace `{{chip}}` with `nRF52840_xxAA`.
+
+[our workshops]: https://rust-exercises.ferrous-systems.com
+
+```diff
+ # .cargo/config.toml
+-runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format=oneline"]
++runner = ["probe-rs", "run", "--chip", "nRF52840_xxAA", "--log-format=oneline"]
+```
+
+### 3. Adjust the compilation target
+
+In `.cargo/config.toml`, pick the right compilation target for your board.
+
+```diff
+ # .cargo/config.toml
+ [build]
+-target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
+-# target = "thumbv7m-none-eabi"    # Cortex-M3
+-# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
+-# target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
++target = "thumbv7em-none-eabihf" # Cortex-M4F (with FPU)
+```
+
+Add the target with `rustup`.
+
+```bash
+rustup target add thumbv7em-none-eabihf
+```
+
+### 4. Add a HAL as a dependency
+
+In `Cargo.toml`, list the Hardware Abstraction Layer (HAL) for your board as a dependency.
+
+For the nRF52840 you'll want to use the [`nrf52840-hal`].
+
+[`nrf52840-hal`]: https://crates.io/crates/nrf52840-hal
+
+```diff
+ # Cargo.toml
+ [dependencies]
+-# some-hal = "1.2.3"
++nrf52840-hal = "0.14.0"
+```
+
+⚠️ Note for RP2040 users ⚠️
+
+You will need to not just specify the `rp-hal` HAL, but a BSP (board support crate) which includes a second stage bootloader. Please find a list of available BSPs [here](https://github.com/rp-rs/rp-hal-boards#packages).
+
+### 5. Import your HAL
+
+Now that you have selected a HAL, fix the HAL import in `src/lib.rs`
+
+```diff
+ // my-app/src/lib.rs
+-// use some_hal as _; // memory layout
++use nrf52840_hal as _; // memory layout
+```
+
+### (6. Get a linker script)
+
+Some HAL crates require that you manually copy over a file called `memory.x` from the HAL to the root of your project. For nrf52840-hal, this is done automatically so no action is needed. For other HAL crates, see their documentation on where to find an example file.
+
+The `memory.x` file should look something like:
+
+```text
+MEMORY
+{
+  FLASH : ORIGIN = 0x00000000, LENGTH = 1024K
+  RAM   : ORIGIN = 0x20000000, LENGTH = 256K
+}
+```
+
+The `memory.x` file is included in the `cortex-m-rt` linker script `link.x`, and so `link.x` is the one you should tell `rustc` to use (see the `.cargo/config.toml` file where we do that).
+
+### 7. Run!
+
+You are now all set to `cargo-run` your first `defmt`-powered application!
+There are some examples in the `src/bin` directory.
+
+Start by `cargo run`-ning `my-app/src/bin/hello.rs`:
+
+```console
+$ # `rb` is an alias for `run --bin`
+$ cargo rb hello
+    Finished `dev` profile [optimized + debuginfo] target(s) in 0.01s
+     Running `probe-rs run --chip nrf52840_xxaa --log-format=oneline target/thumbv6m-none-eabi/debug/hello`
+      Erasing ✔ 100% [####################]   8.00 KiB @  15.79 KiB/s (took 1s)
+  Programming ✔ 100% [####################]   8.00 KiB @  13.19 KiB/s (took 1s)                                                                                                                        Finished in 1.11s
+Hello, world!
+
+$ echo $?
+0
+```
+
+If you're running out of memory (`flip-link` bails with an overflow error), you can decrease the size of the device memory buffer by setting the `DEFMT_RTT_BUFFER_SIZE` environment variable. The default value is 1024 bytes, and powers of two should be used for optimal performance:
+
+```console
+$ DEFMT_RTT_BUFFER_SIZE=64 cargo rb hello
+```
+
+### (8. Set `rust-analyzer.linkedProjects`)
+
+If you are using [rust-analyzer] with VS Code for IDE-like features you can add following configuration to your `.vscode/settings.json` to make it work transparently across workspaces. Find the details of this option in the [RA docs].
+
+```json
+{
+    "rust-analyzer.linkedProjects": [
+        "Cargo.toml",
+        "firmware/Cargo.toml",
+    ]
+}
+```
+
+[RA docs]: https://rust-analyzer.github.io/manual.html#configuration
+[rust-analyzer]: https://rust-analyzer.github.io/
+
+## Running tests
+
+The template comes configured for running unit tests and integration tests on the target.
+
+Unit tests reside in the library crate and can test private API; the initial set of unit tests are in `src/lib.rs`.
+`cargo test --lib` will run those unit tests.
+
+```console
+$ cargo test --lib
+   Compiling example v0.1.0 (./knurling-rs/example)
+    Finished `test` profile [optimized + debuginfo] target(s) in 0.15s
+     Running unittests src/lib.rs (target/thumbv6m-none-eabi/debug/deps/example-2b0d0e25d141bf57)
+      Erasing ✔ 100% [####################]   8.00 KiB @  15.99 KiB/s (took 1s)
+  Programming ✔ 100% [####################]   8.00 KiB @  13.33 KiB/s (took 1s)                                                                                                                        Finished in 1.10s
+(1/1) running `it_works`...
+all tests passed!
+```
+
+Integration tests reside in the `tests` directory; the initial set of integration tests are in `tests/integration.rs`.
+`cargo test --test integration` will run those integration tests.
+Note that the argument of the `--test` flag must match the name of the test file in the `tests` directory.
+
+```console
+$ cargo test --test integration
+   Compiling example v0.1.0 (./knurling-rs/example)
+    Finished `test` profile [optimized + debuginfo] target(s) in 0.10s
+     Running tests/integration.rs (target/thumbv6m-none-eabi/debug/deps/integration-aaaff41151f6a722)
+      Erasing ✔ 100% [####################]   8.00 KiB @  16.03 KiB/s (took 0s)
+  Programming ✔ 100% [####################]   8.00 KiB @  13.19 KiB/s (took 1s)                                                                                                                        Finished in 1.11s
+(1/1) running `it_works`...
+all tests passed!
+```
+
+Note that to add a new test file to the `tests` directory you also need to add a new `[[test]]` section to `Cargo.toml`.
+
+To run all the tests via `cargo test` the tests need to be explicitly disabled for all the existing binary targets.
+See `Cargo.toml` for details on how to do this.
+
+## Support
+
+`app-template` is part of the [Knurling] project, [Ferrous Systems]' effort at
+improving tooling used to develop for embedded systems.
+
+If you think that our work is useful, consider sponsoring it via [GitHub
+Sponsors].
+
+## License
+
+Licensed under either of
+
+- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
+  http://www.apache.org/licenses/LICENSE-2.0)
+
+- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
+
+at your option.
+
+### Contribution
+
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in the work by you, as defined in the Apache-2.0 license, shall be
+licensed as above, without any additional terms or conditions.
+
+[Knurling]: https://knurling.ferrous-systems.com
+[Ferrous Systems]: https://ferrous-systems.com/
+[GitHub Sponsors]: https://github.com/sponsors/knurling-rs

semestralka_1_final_lib/src/bin/main.rs

@@ -0,0 +1,206 @@
+// src/bin/main.rs
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use core::cell::RefCell;
+use cortex_m::interrupt::Mutex;
+use embassy_executor::Spawner;
+use embassy_futures::yield_now;
+use embassy_sync::{
+    blocking_mutex::raw::CriticalSectionRawMutex,
+    channel::Channel,
+    pipe::Pipe,
+};
+use embassy_time::{Duration, Instant, Timer};
+use embassy_stm32::{
+    bind_interrupts,
+    dma::Request,
+    gpio::{Input, Level, Output, Pull, Speed},
+    interrupt,
+    pac,
+    peripherals,
+    rcc::{self, Pll, PllDiv, PllMul, PllPreDiv, PllSource, Sysclk},
+    usart::{BufferedInterruptHandler, BufferedUart, Config},
+    Config as CPUConfig,
+};
+use static_cell::StaticCell;
+use dma_gpio::config::{
+    BAUD, PIPE_HW_RX, PIPE_HW_TX, PIPE_INT_RX, PIPE_INT_TX, PIPE_SW_RX,
+    PIPE_SW_TX, RX_OVERSAMPLE, RX_RING_BYTES, TX_OVERSAMPLE, TX_RING_BYTES,
+    UART_CFG,
+};
+use dma_gpio::hw_uart_pc::{driver::uart_task, usart1};
+use dma_gpio::hw_uart_internal::{
+    driver::uart_task as uart_task_internal,
+    usart2,
+};
+use software_uart::{
+    debug::dump_tim6_regs,
+    decode_uart_samples,
+    dma_timer::{init_tim6_for_uart, init_tim7_for_uart},
+    gpio_dma_uart_rx::rx_dma_task,
+    gpio_dma_uart_tx::tx_dma_task,
+};
+use dma_gpio::config::{TX_PIN_BIT, RX_PIN_BIT};
+use {defmt_rtt as _, panic_probe as _};
+
+static PD6_BITS: Channel<CriticalSectionRawMutex, u8, 16384> = Channel::new();
+
+bind_interrupts!(struct Irqs {
+    USART1 => BufferedInterruptHandler<peripherals::USART1>;
+});
+bind_interrupts!(struct Irqs2 {
+    USART2 => BufferedInterruptHandler<peripherals::USART2>;
+});
+
+// Software uart
+pub const TIM6_UP_REQ: Request = 4;
+static SW_TX_RING: StaticCell<[u32; TX_RING_BYTES]> = StaticCell::new();
+static SW_RX_RING: StaticCell<[u8; RX_RING_BYTES]> = StaticCell::new();
+static mut RX_PIN: Option<Input<'static>> = None;
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    info!("boot");
+    let mut config = CPUConfig::default();
+    config.rcc.hsi = true;
+    config.rcc.sys = Sysclk::PLL1_R;
+    config.rcc.pll1 = Some(Pll {
+        source: PllSource::HSI,
+        // 16 MHz / 1 × 20 / 2 = 160 MHz
+        prediv: PllPreDiv::DIV1,
+        mul:    PllMul::MUL20,
+        divp:   None,
+        divq:   None,
+        divr:   Some(PllDiv::DIV2),
+    });
+    config.enable_independent_io_supply = true;
+    config.enable_independent_analog_supply = true;
+
+    let p = embassy_stm32::init(config);
+    let f_tim7 = rcc::frequency::<embassy_stm32::peripherals::TIM7>().0;
+    info!("TIM7 clock after PLL config = {} Hz", f_tim7);
+    let f_tim6 = rcc::frequency::<embassy_stm32::peripherals::TIM6>().0;
+    info!("TIM6 clock after PLL config = {} Hz", f_tim6);
+
+    // HARDWARE UART to the PC
+    let mut cfg = Config::default();
+    cfg.baudrate = BAUD;
+    static TX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
+    static RX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
+    let uart = BufferedUart::new(
+        p.USART1,
+        p.PA10, // RX pin
+        p.PA9,  // TX pin
+        TX_BUF.init([0; 256]),
+        RX_BUF.init([0; 256]),
+        Irqs,
+        cfg,
+    ).unwrap();
+    let yield_period = usart1::setup_and_spawn(BAUD);
+    spawner.spawn(uart_task(uart, &PIPE_HW_TX, &PIPE_HW_RX).unwrap());
+    // END OF HARDWARE UART to the PC
+
+    // INTERNAL HARDWARE UART (USART2)
+    let mut cfg2 = Config::default();
+    cfg2.baudrate = BAUD;
+    static TX_BUF2: StaticCell<[u8; 256]> = StaticCell::new();
+    static RX_BUF2: StaticCell<[u8; 256]> = StaticCell::new();
+
+    let uart2 = BufferedUart::new(
+        p.USART2,
+        p.PA3, // RX
+        p.PA2, // TX
+        TX_BUF2.init([0; 256]),
+        RX_BUF2.init([0; 256]),
+        Irqs2,
+        cfg2,
+    ).unwrap();
+    let yield_period2 = usart2::setup_and_spawn(BAUD);
+    spawner.spawn(uart_task_internal(uart2, &PIPE_INT_TX, &PIPE_INT_RX).unwrap());
+    info!("USART2 ready");
+    // END OF INTERNAL HARDWARE UART (USART2)
+    
+    // USART1 <-> USART2 bridge
+    spawner.spawn(bridge_usart1_rx_to_usart2_tx(&PIPE_HW_RX, &PIPE_INT_TX).unwrap());
+    spawner.spawn(bridge_usart2_rx_to_usart1_tx(&PIPE_INT_RX, &PIPE_HW_TX).unwrap());
+    info!("USART1 <-> USART2 bridge active");
+    // END OF USART1 <-> USART2 bridge 
+
+    // SOFTWARE UART 
+    let rx_pin = Input::new(p.PD6, Pull::Up);
+    unsafe { RX_PIN = Some(rx_pin) };
+
+    let mut tx_pin = Output::new(p.PB0, 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();
+
+    let bsrr_ptr = embassy_stm32::pac::GPIOB.bsrr().as_ptr() as *mut u32; // POZOR B REGISTER
+    spawner.spawn(tx_dma_task(
+            p.GPDMA1_CH0,
+            bsrr_ptr,
+            SW_TX_RING.init([0; TX_RING_BYTES]),
+            &PIPE_SW_TX,
+            TX_PIN_BIT,
+            &UART_CFG,
+    ).unwrap());
+    // EDN OF SOFTWARE UART
+
+
+    let rx_ring = SW_RX_RING.init([0u8; RX_RING_BYTES]);
+    let gpio_idr = embassy_stm32::pac::GPIOD.idr().as_ptr() as *mut u8;
+    spawner.spawn(rx_dma_task(
+            p.GPDMA1_CH1,
+            gpio_idr,
+            rx_ring,
+            &PIPE_SW_RX,
+            RX_PIN_BIT,
+            RX_OVERSAMPLE,
+            &UART_CFG,
+    ).unwrap());
+    info!("SW UART RX DMA started");
+
+    let mut buf = [0u8; 64];
+    loop {
+        let n = PIPE_SW_RX.read(&mut buf).await;
+        if n > 0 {
+            let _ = PIPE_SW_TX.write(&buf[..n]).await;
+            // info!("SW UART decoded: {:a}", &buf[..n]);
+        }
+        yield_now().await;
+    }
+}
+
+#[embassy_executor::task]
+pub async fn bridge_usart1_rx_to_usart2_tx(
+    usart1_rx: &'static Pipe<CriticalSectionRawMutex, 1024>,
+    usart2_tx: &'static Pipe<CriticalSectionRawMutex, 1024>,
+) {
+    let mut buf = [0u8; 64];
+    loop {
+        let n = usart1_rx.read(&mut buf).await;
+        if n > 0 {
+            let _ = usart2_tx.write(&buf[..n]).await;
+            // info!("bridge USART1 - USART2 sent:{} bytes: {}", n, &buf[..n]);
+        }
+        yield_now().await;
+    }
+}
+
+#[embassy_executor::task]
+pub async fn bridge_usart2_rx_to_usart1_tx(
+    usart2_rx: &'static Pipe<CriticalSectionRawMutex, 1024>,
+    usart1_tx: &'static Pipe<CriticalSectionRawMutex, 1024>,
+) {
+    let mut buf = [0u8; 64];
+    loop {
+        let n = usart2_rx.read(&mut buf).await;
+        if n > 0 {
+            let _ = usart1_tx.write(&buf[..n]).await;
+            // info!("bridge: USART2 -> USART1 sent {} bytes", n);
+        }
+        yield_now().await;
+    }
+}

semestralka_1_final_lib/src/config.rs

@@ -0,0 +1,35 @@
+// src/config.rs
+use software_uart::uart_emulation::{Parity, StopBits, UartConfig};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::pipe::Pipe;
+
+pub const BAUD: u32 = 9_600;
+// pub const TX_PIN_BIT: u8 = 2; // PA2
+// pub const RX_PIN_BIT: u8 = 3; // PA3
+pub const TX_PIN_BIT: u8 = 0; // PB2
+pub const RX_PIN_BIT: u8 = 6; // PC3
+pub const TX_OVERSAMPLE: u16 = 1;
+pub const RX_OVERSAMPLE: u16 = 13;
+
+pub const RX_RING_BYTES: usize = 32768;
+pub const TX_RING_BYTES: usize = 4096;
+
+pub const PIPE_HW_TX_SIZE: usize = 1024;
+pub const PIPE_HW_RX_SIZE: usize = 1024;
+pub const PIPE_SW_TX_SIZE: usize = 1024;
+pub const PIPE_SW_RX_SIZE: usize = 4096;
+pub const PIPE_INT_TX_SIZE: usize = 1024;
+pub const PIPE_INT_RX_SIZE: usize = 1024;
+
+pub static PIPE_HW_TX: Pipe<CriticalSectionRawMutex, PIPE_HW_TX_SIZE> = Pipe::new();
+pub static PIPE_HW_RX: Pipe<CriticalSectionRawMutex, PIPE_HW_RX_SIZE> = Pipe::new();
+pub static PIPE_SW_TX: Pipe<CriticalSectionRawMutex, PIPE_SW_TX_SIZE> = Pipe::new();
+pub static PIPE_SW_RX: Pipe<CriticalSectionRawMutex, PIPE_SW_RX_SIZE> = Pipe::new();
+pub static PIPE_INT_TX: Pipe<CriticalSectionRawMutex, PIPE_INT_TX_SIZE> = Pipe::new();
+pub static PIPE_INT_RX: Pipe<CriticalSectionRawMutex, PIPE_INT_RX_SIZE> = Pipe::new();
+
+pub const UART_CFG: UartConfig = UartConfig {
+    data_bits: 8,
+    parity: Parity::None,
+    stop_bits: StopBits::One,
+};

semestralka_1_final_lib/src/hw_uart_internal/driver.rs

@@ -0,0 +1,41 @@
+// src/hw_uart_internal/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 embedded_io_async::{Read, Write};
+use crate::hw_uart_pc::safety::{RX_PIPE_CAP, TX_PIPE_CAP};
+use embassy_futures::yield_now;
+
+#[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);
+            }
+        }
+        yield_now().await;
+    }
+}

semestralka_1_final_lib/src/hw_uart_internal/mod.rs

@@ -0,0 +1,4 @@
+// src/hw_uart_internal/mod.rs
+
+pub mod driver;
+pub mod usart2;

semestralka_1_final_lib/src/hw_uart_internal/usart2.rs

@@ -0,0 +1,11 @@
+// src/hw_uart_internal/usart2.rs
+use defmt::info;
+use embassy_time::Duration;
+
+use crate::hw_uart_pc::safety::preflight_and_suggest_yield_period;
+
+pub fn setup_and_spawn(baudrate: u32) -> Duration {
+    let yield_period = preflight_and_suggest_yield_period(baudrate);
+    info!("HW USART2 safe");
+    yield_period
+}

semestralka_1_final_lib/src/hw_uart_pc/driver.rs

@@ -0,0 +1,41 @@
+// src/hw_uart_pc/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 embedded_io_async::{Read, Write};
+use crate::hw_uart_pc::safety::{RX_PIPE_CAP, TX_PIPE_CAP};
+use embassy_futures::yield_now;
+
+#[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);
+            }
+        }
+        yield_now().await;
+    }
+}

semestralka_1_final_lib/src/hw_uart_pc/mod.rs

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

semestralka_1_final_lib/src/hw_uart_pc/safety.rs

@@ -0,0 +1,57 @@
+// src/safety.rs
+use defmt::info;
+use embassy_time::Duration;
+
+// ISR RX ring capacity = RX_BUF len
+const ISR_RX_BUF_CAP: usize = 256;
+// Yield 1/2 the time it takes to fill ISR RX ring.
+const YIELD_MARGIN_NUM: u32 = 1;
+const YIELD_MARGIN_DEN: u32 = 2;
+// Ensure RX_PIPE_CAP can hold this.
+const WORST_MAIN_LATENCY_MS: u32 = 20;
+
+pub const TX_PIPE_CAP: usize = 1024;
+pub const RX_PIPE_CAP: usize = 1024;
+
+
+
+/// Perform safety checks and compute yield timing to avoid buffer overflow.
+///
+/// # Panics
+/// Panics if pipe capacities are too small for the configured baud.
+pub fn preflight_and_suggest_yield_period(baud: u32) -> Duration {
+    // Approx bytes per second for 8N1 (10 bits per byte on the wire)
+    let bytes_per_sec = (baud / 10).max(1);
+
+    // Time until ISR RX ring fills, in microseconds.
+    let t_fill_us = (ISR_RX_BUF_CAP as u64) * 1_000_000u64 / (bytes_per_sec as u64);
+
+    // Choose a yield period as a fraction of t_fill.
+    let yield_us = (t_fill_us as u64)
+        .saturating_mul(YIELD_MARGIN_NUM as u64)
+        / (YIELD_MARGIN_DEN as u64);
+
+    // Verify RX pipe can absorb a worst-case app latency so uart_task
+    // can always forward without dropping when it runs.
+    let required_rx_pipe = (bytes_per_sec as u64) * (WORST_MAIN_LATENCY_MS as u64) / 1000;
+
+    if (RX_PIPE_CAP as u64) < required_rx_pipe {
+        core::panic!(
+            "RX pipe too small: have {}B, need >= {}B for {}ms at {} bps",
+            RX_PIPE_CAP, required_rx_pipe, WORST_MAIN_LATENCY_MS, baud
+        );
+    }
+
+    info!(
+        "Preflight: baud={}, rx_isr={}B, rx_pipe={}B, bytes/s={}, t_fill_us={}, yield_us={}",
+        baud,
+        ISR_RX_BUF_CAP,
+        RX_PIPE_CAP,
+        bytes_per_sec,
+        t_fill_us,
+        yield_us
+    );
+
+    // Never choose zero.
+    Duration::from_micros(yield_us.max(1) as u64)
+}

semestralka_1_final_lib/src/hw_uart_pc/usart1.rs

@@ -0,0 +1,12 @@
+// src/uart/usart1.rs
+use defmt::info;
+use embassy_time::Duration;
+
+use crate::hw_uart_pc::safety::preflight_and_suggest_yield_period;
+
+pub fn setup_and_spawn(baudrate: u32,) -> Duration {
+    let yield_period: Duration = preflight_and_suggest_yield_period(baudrate);
+    info!("HW USART1 safe");
+
+    yield_period
+}

semestralka_1_final_lib/src/lib.rs

@@ -0,0 +1,5 @@
+#![no_std]
+
+pub mod config;
+pub mod hw_uart_pc;
+pub mod hw_uart_internal;

semestralka_1_final_lib/tests/uart_emulation.rs

@@ -0,0 +1,41 @@
+#![no_std]
+#![no_main]
+
+use dma_gpio as _;
+use panic_probe as _;
+use defmt_rtt as _;
+
+#[defmt_test::tests]
+mod tests {
+    use defmt::assert_eq;
+    use dma_gpio::software_uart::uart_emulation::{
+        encode_uart_byte_cfg, UartConfig, Parity, StopBits
+    };
+
+    const TX_PIN_BIT: u8 = 2;
+
+    #[test]
+    fn test_encode_8n1() {
+        let cfg = UartConfig::default();
+        let mut frame = [0u32; 12];
+        let used = encode_uart_byte_cfg(TX_PIN_BIT, 0x55, &cfg, &mut frame);
+        
+        assert_eq!(used, 10);
+        assert_eq!(frame[0], 1u32 << 18); // Start LOW
+        assert_eq!(frame[9], 1u32 << 2);  // Stop HIGH
+    }
+
+    #[test]
+    fn test_encode_parity() {
+        let cfg = UartConfig {
+            data_bits: 8,
+            parity: Parity::Even,
+            stop_bits: StopBits::One,
+        };
+        
+        let mut frame = [0u32; 12];
+        let used = encode_uart_byte_cfg(TX_PIN_BIT, 0x00, &cfg, &mut frame);
+        
+        assert_eq!(used, 11);
+    }
+}