dev.md

Development

Hardware

• Gridbot
• micro-controller: Nucleo-144 STM32-F767ZI
  • pins: https://os.mbed.com/platforms/ST-Nucleo-F767ZI/
  • chip: https://www.st.com/resource/en/datasheet/stm32f767zi.pdf

Setup

Rust

With rustup installed, install the toolchain:

( https://docs.rust-embedded.org/cortex-m-quickstart/cortex_m_quickstart/ )

rustup target add thumbv7em-none-eabihf

Binary utils

sudo apt install build-essential

cargo install cargo-binutils

rustup component add llvm-tools-preview

Flash tools

sudo apt install pkg-config libusb-1.0-0-dev libudev-dev

cargo install cargo-flash

Dev tools

cargo install flip-link
cargo install probe-run

Run

Run:

cargo run

Build and Flash

Build:

cargo build --release

Flash:

cargo flash --chip --package gridbot-tahi stm32f767zitx --release

Test

Unit tests:

cargo test --lib --package robokit --target x86_64-unknown-linux-gnu

cargo test --lib --package gridbot-tahi

Integration tests:

cargo test --test integration --package gridbot-tahi

Resources

• https://github.com/knurling-rs/app-template/