pm-kit: defmt+probe-rs diagnostics + flip-link toolchain
Adopt proper embedded tooling for the blank-screen debug (user has a Pi Debug Probe):
- flip-link linker (baked into pm-rust:2): stack overflow faults cleanly instead of
silently corrupting .bss/.data (the SPI buffer -> black screen class of bug).
- defmt + defmt-rtt + panic-probe: firmware logs boot/heap-free/display/parse/loop
heartbeat over RTT; panics print message+location. .cargo runner = probe-rs run.
- Restore the full live metronome (from 08b0940) as the instrumented target.
- deploy + serve pm-kit.elf (probe-rs decodes defmt strings from the ELF).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Me Here
parent
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commit
8f4264f4d2
8 changed files with 175 additions and 15 deletions
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@ -53,6 +53,12 @@ if [[ -f "$SRC_DIR/rust/pm-kit/pm-kit.uf2" ]]; then
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cp "$SRC_DIR/rust/pm-kit/pm-kit.uf2" "$DEST_DIR/pm-kit.uf2"
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echo " pm-kit.uf2 ($(stat -c '%s' "$DEST_DIR/pm-kit.uf2") bytes) # Rust RP2350 firmware (alpha live metronome)"
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fi
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# ELF with defmt info — `probe-rs run --chip RP235x pm-kit.elf` flashes over the Debug Probe and
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# streams logs/panics. Needed locally (not the uf2) because defmt decodes log strings from the ELF.
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if [[ -f "$SRC_DIR/rust/pm-kit/pm-kit.elf" ]]; then
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cp "$SRC_DIR/rust/pm-kit/pm-kit.elf" "$DEST_DIR/pm-kit.elf"
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echo " pm-kit.elf ($(stat -c '%s' "$DEST_DIR/pm-kit.elf") bytes) # probe-rs flash + defmt RTT logging"
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fi
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cp "$DIST_DIR/pm_k1_circuitpy.zip" "$DEST_DIR/pm_k1_circuitpy.zip"; echo " pm_k1_circuitpy.zip ($(stat -c '%s' "$DEST_DIR/pm_k1_circuitpy.zip") bytes)" # PM_K-1 CircuitPython bundle
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cp "$DIST_DIR/pico-cp-app.py" "$DEST_DIR/pico-cp-app.py"; echo " pico-cp-app.py ($(stat -c '%s' "$DEST_DIR/pico-cp-app.py") bytes)" # served for version reading + reference
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cp "$DIST_DIR/pico-cp-app.mpy" "$DEST_DIR/pico-cp-app.mpy"; echo " pico-cp-app.mpy ($(stat -c '%s' "$DEST_DIR/pico-cp-app.mpy") bytes)" # precompiled firmware the editor pushes (base64)
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@ -3,6 +3,8 @@
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FROM docker.io/library/rust:1-slim
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# Cortex-M33 target for the eventual RP2350 firmware. Harmless for the host tests.
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RUN rustup target add thumbv8m.main-none-eabihf
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RUN rustup target add thumbv8m.main-none-eabihf \
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&& rustup component add llvm-tools-preview \
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&& cargo install flip-link # stack-overflow-safe linker (overflow faults instead of corrupting statics)
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WORKDIR /work/rust
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@ -2,7 +2,16 @@
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target = "thumbv8m.main-none-eabihf"
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[target.thumbv8m.main-none-eabihf]
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# flip-link: places the stack BELOW the statics so a stack overflow hits a guard region
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# and faults cleanly instead of silently corrupting .bss/.data (e.g. the SPI buffer → black screen).
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linker = "flip-link"
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# `cargo run` flashes over the Raspberry Pi Debug Probe and streams defmt logs/panics via RTT.
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runner = "probe-rs run --chip RP235x"
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rustflags = [
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"-C", "link-arg=--nmagic",
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=-Tdefmt.x", # defmt's linker section for log-string interning
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]
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[env]
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DEFMT_LOG = "debug"
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1
rust/pm-kit/.gitignore
vendored
1
rust/pm-kit/.gitignore
vendored
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@ -2,3 +2,4 @@ target/
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Cargo.lock
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*.uf2
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*.bin
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*.elf
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@ -5,9 +5,11 @@ edition = "2021"
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description = "PM_K-1 firmware (RP2350 / Pico 2). Stage 3 bring-up: boot blink → display → drivers + pm-core."
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[dependencies]
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rp235x-hal = { version = "0.3", features = ["binary-info", "critical-section-impl", "rt"] }
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rp235x-hal = { version = "0.3", features = ["binary-info", "critical-section-impl", "rt", "defmt"] }
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cortex-m-rt = "0.7"
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panic-halt = "1"
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defmt = "0.3"
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defmt-rtt = "0.4"
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panic-probe = { version = "0.3", features = ["print-defmt"] }
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embedded-hal = "1"
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embedded-hal-0-2 = { package = "embedded-hal", version = "0.2.7" } # ADC OneShot trait (rp235x-hal ADC)
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embedded-hal-bus = "0.2"
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@ -10,7 +10,7 @@ set -euo pipefail
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DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" # rust/pm-kit
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REPO="$(cd "$DIR/../.." && pwd)" # repo root
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RUNTIME="${RUNTIME:-podman}"
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IMG="pm-rust:1"
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IMG="pm-rust:2"
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"$RUNTIME" run --rm -v "$REPO":/work:Z -w /work/rust/pm-kit "$IMG" bash -c '
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set -e
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@ -23,7 +23,9 @@ use mipidsi::interface::{Interface, SpiInterface};
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use mipidsi::models::ST7796;
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use mipidsi::options::{ColorInversion, ColorOrder, Orientation};
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use mipidsi::Builder;
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use panic_halt as _;
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use defmt::info;
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use defmt_rtt as _; // global defmt logger over RTT (read by `probe-rs run`)
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use panic_probe as _; // panic handler that prints the message + location over defmt, then halts
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use rp235x_hal as hal;
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use hal::fugit::RateExtU32;
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use hal::Clock;
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@ -57,12 +59,13 @@ impl OutputPin for NoCs {
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#[hal::entry]
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fn main() -> ! {
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// heap for track parsing (track-format uses alloc). RP2350 has 520 KB SRAM.
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const HEAP_SIZE: usize = 96 * 1024;
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{
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use core::mem::MaybeUninit;
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const HEAP_SIZE: usize = 16 * 1024;
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static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
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unsafe { HEAP.init(core::ptr::addr_of_mut!(HEAP_MEM) as usize, HEAP_SIZE) }
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}
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info!("== pm-kit boot == heap {}KB, {} free", HEAP_SIZE / 1024, HEAP.free());
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let mut pac = hal::pac::Peripherals::take().unwrap();
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let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
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@ -149,24 +152,161 @@ fn main() -> ! {
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.orientation(Orientation::new().flip_horizontal())
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.init(&mut timer)
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.unwrap();
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info!("display init ok, {} free", HEAP.free());
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// ---- MINIMAL ISOLATION ----
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// Heap is initialised above. Exercise the allocator once (parse), then just draw the
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// confirmed-working pattern in a loop. No inputs/audio/clock. If the screen shows blue +
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// corners → heap + parse + display are all fine and the bug is in the metronome loop logic.
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// If still black → the heap/parse path breaks the display.
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// (parse removed for this test — heap init only)
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// ---- inputs + speaker ----
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let mut btn_a = pins.gpio15.into_pull_up_input(); // A = play/stop
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let mut btn_b = pins.gpio14.into_pull_up_input(); // B = grid/notation view
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let mut adc = hal::adc::Adc::new(pac.ADC, &mut pac.RESETS);
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let mut joy_x = hal::adc::AdcPin::new(pins.gpio26).unwrap();
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let mut joy_y = hal::adc::AdcPin::new(pins.gpio27).unwrap();
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let pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
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let mut spk = pwm_slices.pwm6; // GP13 = PWM slice 6, channel B
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spk.set_div_int(125);
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spk.set_top(600); // ~2 kHz click
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spk.enable();
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spk.channel_b.output_to(pins.gpio13);
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// ---- built-in grooves ----
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const GROOVES: [&str; 4] = [
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"t120;kick:4=X.x.;snare:4=.X.X;hatClosed:4/2=xxxxxxxx",
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"t92;kick:4/3=X....x...x..;snare:4/3=..gg.gX.gg.g;hatClosed:4/3=X.xX.xX.xX.x",
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"t140;kick:4=X..x;snare:4=.X.X;hatClosed:4/4=xxxxxxxxxxxxxxxx",
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"t100;kick:4=Xxxx;claves:5=Xxxxx~",
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];
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const NAMES: [&str; 4] = ["Four on the floor", "Half-time shuffle", "Driving 16ths", "5 over 4"];
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let mut idx = 0usize;
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let mut track = track_format::parse(GROOVES[idx]);
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info!("parsed groove 0: bpm={} lanes={}, {} free", track.bpm, track.lanes.len(), HEAP.free());
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let mut tempo: i64 = track.bpm;
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let mut playing = true;
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let mut notation = false;
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let mut bar_start = timer.get_counter().ticks();
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let mut last_step = usize::MAX;
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let mut click_off_us: u64 = 0;
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let (mut pa, mut pb) = (false, false);
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let mut joy_zone = 0i8;
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let mut full_redraw = true;
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let mut last_draw_us = 0u64;
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let mut hb = false;
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let mut hb_us = 0u64;
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let mut last_draw_ok = false;
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led.set_low().unwrap();
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info!("entering main loop");
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loop {
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pm_ui::draw_ui(&mut display).ok();
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let now = timer.get_counter().ticks();
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// ---- inputs ----
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let a = btn_a.is_low().unwrap_or(false);
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let b = btn_b.is_low().unwrap_or(false);
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if a && !pa {
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playing = !playing;
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if playing {
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bar_start = now;
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last_step = usize::MAX;
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}
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full_redraw = true;
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}
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if b && !pb {
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notation = !notation;
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full_redraw = true;
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}
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pa = a;
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pb = b;
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let jx = adc.read(&mut joy_x).unwrap_or(2048);
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let jy = adc.read(&mut joy_y).unwrap_or(2048);
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// rotate the joystick reading 90° CCW for control
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let rx = jy as i32;
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let ry = 4095 - jx as i32;
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let zone: i8 = if ry > 3200 { 1 } else if ry < 900 { 2 } else if rx > 3200 { 3 } else if rx < 900 { 4 } else { 0 };
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if zone != 0 && joy_zone == 0 {
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match zone {
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1 => tempo = (tempo + 4).min(300), // up → tempo+
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2 => tempo = (tempo - 4).max(30), // down → tempo-
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3 => {
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idx = (idx + 1) % GROOVES.len(); // right → next groove
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track = track_format::parse(GROOVES[idx]);
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tempo = track.bpm;
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bar_start = now;
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last_step = usize::MAX;
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}
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4 => {
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idx = (idx + GROOVES.len() - 1) % GROOVES.len(); // left → prev
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track = track_format::parse(GROOVES[idx]);
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tempo = track.bpm;
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bar_start = now;
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last_step = usize::MAX;
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}
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_ => {}
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}
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full_redraw = true;
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}
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joy_zone = zone;
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// ---- clock ----
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let master = &track.lanes[0];
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let msteps = master.levels.len().max(1) as u64;
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let beats = master.groups.iter().map(|&g| g as u64).sum::<u64>().max(1);
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let bar_us = 60_000_000u64 * beats / tempo.max(1) as u64;
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let step_us = (bar_us / msteps).max(1);
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let elapsed = now.wrapping_sub(bar_start) % bar_us;
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let cur_step = (elapsed / step_us) as usize;
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let phase = elapsed as f32 / bar_us as f32;
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// ---- audio: click on a new step that has a hit ----
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if playing && cur_step != last_step {
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let lvl = master.levels[cur_step.min(msteps as usize - 1)];
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if lvl > 0 {
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let _ = spk.channel_b.set_duty_cycle(if lvl == 2 { 380 } else { 240 });
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click_off_us = now + if lvl == 2 { 28_000 } else { 14_000 };
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}
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last_step = cur_step;
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}
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if now >= click_off_us {
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let _ = spk.channel_b.set_duty_cycle(0);
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}
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// ---- draw: on change, and periodically (so a draw lost right after init reappears, and
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// the playhead advances). ~7 fps; partial/playhead-only redraw is the next optimization. ----
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if full_redraw || now.wrapping_sub(last_draw_us) > 140_000 {
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let lanes: Vec<pm_ui::LaneView> = track
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.lanes
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.iter()
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.map(|l| pm_ui::LaneView {
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name: &l.sound,
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levels: &l.levels,
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beats: l.groups.iter().map(|&g| g as u32).sum::<u32>().min(255) as u8,
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poly: l.poly,
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muted: l.mute,
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})
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.collect();
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let screen = pm_ui::Screen { name: NAMES[idx], bpm: tempo, playing, phase, lanes: &lanes };
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last_draw_ok = if notation {
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pm_ui::draw_notation(&mut display, &screen).is_ok()
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} else {
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pm_ui::draw_metronome(&mut display, &screen).is_ok()
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};
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full_redraw = false;
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last_draw_us = now;
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}
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// heartbeat LED + log (~2 Hz) — confirms the loop is alive and the last draw returned Ok
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if now.wrapping_sub(hb_us) > 500_000 {
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hb = !hb;
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let _ = if hb { led.set_high() } else { led.set_low() };
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info!("alive: idx={} step={} playing={} draw_ok={} free={}", idx, cur_step, playing, last_draw_ok, HEAP.free());
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hb_us = now;
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}
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timer.delay_ms(50);
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timer.delay_ms(8);
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}
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}
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/// picotool metadata (visible via `picotool info`).
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#[link_section = ".bi_entries"]
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#[used]
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pub static PICOTOOL_ENTRIES: [hal::binary_info::EntryAddr; 1] =
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[hal::binary_info::rp_program_name!(c"pm-kit display")];
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@ -8,7 +8,7 @@
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# Override the runtime with RUNTIME=docker ./run.sh ...
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set -euo pipefail
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IMG="pm-rust:1"
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IMG="pm-rust:2"
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RUST_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" # rust/
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REPO_DIR="$(cd "$RUST_DIR/.." && pwd)" # repo root
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RUNTIME="${RUNTIME:-podman}"
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