start of plantsensor

2025-10-06 13:18:03 +02:00
parent a3cdd92af8
commit 4ba68182e5
27 changed files with 2980 additions and 0 deletions
--- a/bootloader/.gitignore
+++ b/bootloader/.gitignore
@@ -0,0 +1,10 @@
+# ESP-IDF build artifacts
+build/
+.sdkconfig*
+CMakeFiles/
+CMakeCache.txt
+cmake-build-*/
+*.log
+*.bin
+*.elf
+*.map
--- a/bootloader/.idea/.gitignore
+++ b/bootloader/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
--- a/bootloader/.idea/bootloader.iml
+++ b/bootloader/.idea/bootloader.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="EMPTY_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
--- a/bootloader/.idea/modules.xml
+++ b/bootloader/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/bootloader.iml" filepath="$PROJECT_DIR$/.idea/bootloader.iml" />
+    </modules>
+  </component>
+</project>
--- a/bootloader/.idea/vcs.xml
+++ b/bootloader/.idea/vcs.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../website/themes/blowfish" vcs="Git" />
+  </component>
+</project>
--- a/bootloader/sdkconfig.old
+++ b/bootloader/sdkconfig.old
--- a/rust/src/webserver/.gitignore
+++ b/rust/src/webserver/.gitignore
@@ -0,0 +1,2 @@
+index.html.gz
+bundle.js.gz
--- a/rust/src_webpack/.gitignore
+++ b/rust/src_webpack/.gitignore
@@ -0,0 +1,4 @@
+index.html.gz
+bundle.js.gz
+index.html
+bundle.js
--- a/rust_can_sensor/.cargo/config.toml
+++ b/rust_can_sensor/.cargo/config.toml
@@ -0,0 +1,14 @@
+[build]
+target = "riscv32imc-unknown-none-elf"
+
+[target."riscv32imc-unknown-none-elf"]
+rustflags = [
+#  "-C", "link-arg=-Tlink.x",
+]
+# runner = "riscv64-unknown-elf-gdb -q -x openocd.gdb"
+# runner = "riscv-none-embed-gdb -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+# runner = "wlink -v flash"
+
+runner = "wlink -v flash --enable-sdi-print --watch-serial --erase"
+# runner = "wlink -v flash"
--- a/rust_can_sensor/.doomrc
+++ b/rust_can_sensor/.doomrc
@@ -0,0 +1,32 @@
+;;; .doomrc --- doom runtime config -*- mode: emacs-lisp; lexical-binding: t; -*-
+;;; Commentary:
+;;; Code:
+(require 'doom) ; be silent, byte-compiler
+
+(after! dape
+        (add-to-list
+        'dape-configs
+        `(gdb-dap-openocd
+        ensure (lambda (config)
+                (dape-ensure-command config)
+                (let* ((default-directory
+                        (or (dape-config-get config 'command-cwd)
+                                default-directory))
+                        (command (dape-config-get config 'command))
+                        (output (shell-command-to-string (format "%s --version" command)))
+                        (version (save-match-data
+                                        (when (string-match "GNU gdb \\(?:(.*) \\)?\\([0-9.]+\\)" output)
+                                        (string-to-number (match-string 1 output))))))
+                        (unless (>= version 14.1)
+                        (user-error "Requires gdb version >= 14.1"))))
+        modes ()
+        command-cwd dape-command-cwd
+        command "gdb"
+        command-args ("--interpreter=dap")
+        :request nil
+        :program nil
+        :args []
+        :stopAtBeginningOfMainSubprogram nil))
+)
+
+;;; .doomrc ends here
--- a/rust_can_sensor/.gdbinit
+++ b/rust_can_sensor/.gdbinit
@@ -0,0 +1,7 @@
+target extended-remote :3333
+set remotetimeout 2000
+
+#symbol-file target/riscv32imc-unknown-none-elf/release/ch32v203-examples
+file target/riscv32imc-unknown-none-elf/release/bms
+
+monitor reset halt
--- a/rust_can_sensor/.gitignore
+++ b/rust_can_sensor/.gitignore
@@ -0,0 +1,2 @@
+target
+vendor
--- a/rust_can_sensor/.idea/.gitignore
+++ b/rust_can_sensor/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
--- a/rust_can_sensor/.idea/ch32-sensor.iml
+++ b/rust_can_sensor/.idea/ch32-sensor.iml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="EMPTY_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
+      <excludeFolder url="file://$MODULE_DIR$/target" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
--- a/rust_can_sensor/.idea/modules.xml
+++ b/rust_can_sensor/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/ch32-sensor.iml" filepath="$PROJECT_DIR$/.idea/ch32-sensor.iml" />
+    </modules>
+  </component>
+</project>
--- a/rust_can_sensor/.idea/vcs.xml
+++ b/rust_can_sensor/.idea/vcs.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
--- a/rust_can_sensor/Cargo.toml
+++ b/rust_can_sensor/Cargo.toml
@@ -0,0 +1,47 @@
+[package]
+name = "bms"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+ch32-hal = { path = "/home/empire/workspace/ch32-hal/", features = [
+    "ch32v203c8t6",
+    "memory-x",
+    "embassy",
+    "rt",
+    "time-driver-tim2",
+
+], default-features = false }
+
+
+
+embassy-executor = { version = "0.7.0", features = [
+    # "arch-riscv32",
+    "arch-spin", # TODO: Required for USBD to connect properl
+    "executor-thread",
+] }
+
+#embassy-time = { version = "0.3.2" }
+embassy-usb = { version = "0.3.0" }
+embassy-futures = { version = "0.1.0" }
+embassy-sync = { version = "0.6.0" }
+
+# This is okay because we should automatically use whatever ch32-hal uses
+qingke-rt = "*"
+qingke = "*"
+
+panic-halt = "1.0"
+
+
+heapless = { version = "0.8.0", features = ["portable-atomic-critical-section"] }
+embassy-time = { version = "0.4.0" }
+
+[profile.dev]
+#lto = true
+opt-level = 1
+
+[profile.release]
+strip = false   # symbols are not flashed to the microcontroller, so don't strip them.
+lto = true
+debug = false
+opt-level = "z" # Optimize for size.
--- a/rust_can_sensor/README.md
+++ b/rust_can_sensor/README.md
@@ -0,0 +1,111 @@
+# ch32v203-bms
+
+A simple battery management controller software.
+
+## WeActStudio BluePill Plus CH32 Pin Labels
+
+The BluePill Plus CH32 board from WeActStudio uses standard MCU port naming printed on the PCB silkscreen:
+
+- PAx: GPIO Port A pins, labeled PA0 .. PA15
+- PBx: GPIO Port B pins, labeled PB0 .. PB15
+- PCx: GPIO Port C pins, commonly PC13 .. PC15 are broken out
+- Other labels typically present: 3V3, 5V, G (GND), NRST (reset), BOOT (BOOT0), and SWD/RVSWD pads for programming/debug (SWCLK/SWDIO or similar).
+
+For the exact header layout and picture of the silkscreen labels, please refer to the official WeActStudio documentation:
+
+- https://github.com/WeActStudio/WeActStudio.BluePill-Plus-CH32
+
+Pins used by this firmware (as referenced in `src/main.rs`):
+
+- PA1: ADC analog input (combined Trigger/Threshold in the 555-timer example)
+- PB0: Digital output (Q in the 555-timer example)
+
+If you need to map a label to code, use the same letter+number as in the silkscreen. For example, `p.PA1` in code corresponds to pin labeled "PA1" on the PCB header, and `p.PB0` corresponds to "PB0".
+
+## Building
+
+``` sh
+cargo build --release
+```
+
+## USB CDC Console (optional)
+
+This project includes an optional software USB CDC-ACM device stack using embassy-usb. It runs on the CH32V203’s USB device peripheral but implements the protocol fully in software (no built-in USB class firmware is required).
+
+How to enable:
+- Build with the `usb-cdc` feature: `cargo build --release --features usb-cdc`
+- Wire the MCU’s USB pins to a USB connector:
+  - D+ (PA12)
+  - D− (PA11)
+  - GND and 5V (as appropriate for your board; ensure you have a data-capable cable)
+
+After flashing and powering via USB, your OS should enumerate a virtual serial port (e.g., /dev/ttyACM0 on Linux, COMx on Windows, /dev/tty.usbmodem* on macOS). Open it with any terminal program (baud setting is ignored by CDC but 115200 is fine).
+
+Example:
+- Linux: `screen /dev/ttyACM0 115200`
+- macOS: `screen /dev/tty.usbmodemXXXX 115200`
+- Windows: Use PuTTY on the shown COM port.
+
+Notes:
+- The firmware currently implements an echo console: bytes you type are echoed back. You can extend it to print logs or interact with your application.
+- If you don’t see a device, ensure D+ (PA12) and D− (PA11) are connected and the cable supports data.
+
+## Flash
+
+You can flash the built ELF using wchisp (WCH ISP tool):
+
+``` sh
+wchisp flash target/riscv32imc-unknown-none-elf/release/bms
+# or, if using a wrapper on your system/container, the command may be:
+# wchip wchisp flash target/riscv32imc-unknown-none-elf/release/bms
+```
+
+## Unlock / Remove MCU Protection (fix "checksum error")
+
+Some CH32 devices ship with flash protection enabled. When protected, tools may report a checksum error and refuse to program. You can clear the protection by performing a full chip erase with wchisp. This will erase all flash contents.
+
+Steps:
+
+- Ensure WCH-Link/WCH-LinkE is connected to the target and your OS has permissions to access it.
+- Verify connection and current status:
+
+``` sh
+wchisp info
+```
+
+- Mass erase the chip (this also clears protection/lock bits):
+
+``` sh
+* start the device (while pressing boot)
+wchisp erase
+* powercycle the device (while pressing boot)
+wchisp config reset
+* powercycle the device again (while pressing boot), flash should not work
+```
+
+- Flash your firmware again:
+
+``` sh
+wchisp flash target/riscv32imc-unknown-none-elf/release/bms
+```
+
+Notes:
+- The target used in this project is CH32V203C8T6; wchisp detects it automatically with WCH-Link.
+- If your wchisp version differs, run `wchisp --help`, `wchisp erase --help`, or consult the tool's README for the exact flag name.
+- If the tool still reports protection, look for commands named `unprotect` or `protect --off` in `wchisp --help`. The mass/chip erase is the typical way to clear protection.
+
+## Debugging
+
+For debugging purposes a container file is provided together with wrapper scripts to start the containerized `openocd` and `riscv-gdb` transparently. The wrapper scripts assume that `podman` is setup.
+
+Starting Debug server 
+
+```
+./bin/openocd
+```
+
+Connecting with gdb for interactive debugging
+
+```
+./bin/gdb -f target/riscv32imc-unknown-none-elf/release/bms
+```
--- a/rust_can_sensor/bin/build-wch-tools-container.sh
+++ b/rust_can_sensor/bin/build-wch-tools-container.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+CONTAINER_NAME="localhost/wch-dev-tools:latest"
+CONTAINER_TOOLS_BASEDIR="$(dirname "$(readlink -f "$0")")"
+
+pushd "$CONTAINER_TOOLS_BASEDIR"
+podman build -t "$CONTAINER_NAME" -f "../wch-tools.Containerfile" .
+popd
--- a/rust_can_sensor/bin/gdb
+++ b/rust_can_sensor/bin/gdb
@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+CONTAINER_IMAGE="localhost/wch-dev-tools:latest"
+CONTAINER_TOOLS_BASEDIR="$(dirname "$(readlink -f "$0")")"
+
+function _fatal {
+	echo -e "\e[31mERROR\e[0m   $(</dev/stdin)$*" 1>&2
+	exit 1
+}
+
+declare -a PODMAN_ARGS=(
+	"--rm" "-i" "--log-driver=none"
+    "--network=host"
+    "--pid=host"
+	"-v" "$PWD:$PWD:rw"
+	"-w" "$PWD"
+)
+
+[[ -t 1 ]] && PODMAN_ARGS+=("-t")
+
+if ! podman image exists "$CONTAINER_IMAGE"; then
+    #attempt to build container
+    "$CONTAINER_TOOLS_BASEDIR/build-wch-tools-container.sh" 1>&2 ||
+        _fatal "faild to build local image, cannot continue! … please ensure you have an internet connection"
+fi
+
+podman run "${PODMAN_ARGS[@]}" --entrypoint riscv-none-elf-gdb-py3 "$CONTAINER_IMAGE" "$@"
--- a/rust_can_sensor/bin/openocd
+++ b/rust_can_sensor/bin/openocd
@@ -0,0 +1,44 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+CONTAINER_IMAGE="localhost/wch-dev-tools:latest"
+CONTAINER_TOOLS_BASEDIR="$(dirname "$(readlink -f "$0")")"
+
+function _fatal {
+	echo -e "\e[31mERROR\e[0m   $(</dev/stdin)$*" 1>&2
+	exit 1
+}
+
+declare -a PODMAN_ARGS=(
+	"--rm" "-i" "--log-driver=none"
+    "--network=host"
+	"-v" "$PWD:$PWD:rw"
+	"-w" "$PWD"
+)
+
+for device in /dev/bus/usb/*/*; do
+    if udevadm info "$device" | grep -q "ID_VENDOR=wch.cn" && \
+       udevadm info "$device" | grep -q "ID_MODEL=WCH-Link"; then
+        DEBUGGER_DEV_PATH="$device"
+        break
+    fi
+done
+
+if [[ -z "${DEBUGGER_DEV_PATH:-}" ]]; then
+    echo "Could not find hardware debugger … Exiting!" 1>&2
+    exit 1
+else
+    # add jlink to podman device
+    PODMAN_ARGS+=("--device=$DEBUGGER_DEV_PATH")
+fi
+
+[[ -t 1 ]] && PODMAN_ARGS+=("-t")
+
+if ! podman image exists "$CONTAINER_IMAGE"; then
+    #attempt to build container
+    "$CONTAINER_TOOLS_BASEDIR/build-wch-tools-container.sh" 1>&2 ||
+        _fatal "faild to build local image, cannot continue! … please ensure you have an internet connection"
+fi
+
+podman run "${PODMAN_ARGS[@]}" --entrypoint openocd "$CONTAINER_IMAGE" "$@"
--- a/rust_can_sensor/build.rs
+++ b/rust_can_sensor/build.rs
@@ -0,0 +1,11 @@
+fn main() {
+    // println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    // println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+
+    let out_dir = std::env::var("OUT_DIR").unwrap();
+    let out_dir = std::path::PathBuf::from(out_dir);
+    std::fs::write(out_dir.join("memory.x"), include_bytes!("memory.x")).unwrap();
+    println!("cargo:rustc-link-search={}", out_dir.display());
+    println!("cargo:rerun-if-changed=memory.x");
+}
--- a/rust_can_sensor/memory.x
+++ b/rust_can_sensor/memory.x
@@ -0,0 +1,125 @@
+/* CH32V203c8t6 */
+MEMORY
+{
+    FLASH : ORIGIN = 0x00000000, LENGTH =   64K /* BANK_1 */
+    RAM   : ORIGIN = 0x20000000, LENGTH =   20K
+}
+REGION_ALIAS("REGION_TEXT", FLASH);
+REGION_ALIAS("REGION_RODATA", FLASH);
+REGION_ALIAS("REGION_DATA", RAM);
+REGION_ALIAS("REGION_BSS", RAM);
+REGION_ALIAS("REGION_HEAP", RAM);
+REGION_ALIAS("REGION_STACK", RAM);
+
+/* fault handlers */
+
+PROVIDE(InstructionMisaligned = ExceptionHandler);
+PROVIDE(InstructionFault = ExceptionHandler);
+PROVIDE(IllegalInstruction = ExceptionHandler);
+PROVIDE(Breakpoint = ExceptionHandler);
+PROVIDE(LoadMisaligned = ExceptionHandler);
+PROVIDE(LoadFault = ExceptionHandler);
+PROVIDE(StoreMisaligned = ExceptionHandler);
+PROVIDE(StoreFault = ExceptionHandler);;
+PROVIDE(UserEnvCall = ExceptionHandler);
+PROVIDE(SupervisorEnvCall = ExceptionHandler);
+PROVIDE(MachineEnvCall = ExceptionHandler);
+PROVIDE(InstructionPageFault = ExceptionHandler);
+PROVIDE(LoadPageFault = ExceptionHandler);
+PROVIDE(StorePageFault = ExceptionHandler);
+
+/* core interrupt handlers */
+
+PROVIDE(NonMaskableInt = DefaultHandler);
+PROVIDE(Software = DefaultHandler);
+
+/* external interrupt handlers */
+
+PROVIDE(WWDG = DefaultHandler);
+PROVIDE(PVD = DefaultHandler);
+PROVIDE(TAMPER = DefaultHandler);
+PROVIDE(RTC = DefaultHandler);
+PROVIDE(FLASH = DefaultHandler);
+PROVIDE(RCC = DefaultHandler);
+PROVIDE(EXTI0 = DefaultHandler);
+PROVIDE(EXTI1 = DefaultHandler);
+PROVIDE(EXTI2 = DefaultHandler);
+PROVIDE(EXTI3 = DefaultHandler);
+PROVIDE(EXTI4 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL1 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL2 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL3 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL4 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL5 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL6 = DefaultHandler);
+PROVIDE(DMA1_CHANNEL7 = DefaultHandler);
+PROVIDE(ADC = DefaultHandler);
+PROVIDE(USB_HP_CAN1_TX = DefaultHandler);
+/*PROVIDE(USB_LP_CAN1_RX0 = DefaultHandler);*/
+PROVIDE(CAN1_RX1 = DefaultHandler);
+PROVIDE(CAN1_SCE = DefaultHandler);
+PROVIDE(EXTI9_5 = DefaultHandler);
+PROVIDE(TIM1_BRK = DefaultHandler);
+PROVIDE(TIM1_UP_ = DefaultHandler);
+PROVIDE(TIM1_TRG_COM = DefaultHandler);
+PROVIDE(TIM1_CC = DefaultHandler);
+PROVIDE(TIM2 = DefaultHandler);
+PROVIDE(TIM3 = DefaultHandler);
+PROVIDE(TIM4 = DefaultHandler);
+PROVIDE(I2C1_EV = DefaultHandler);
+PROVIDE(I2C1_ER = DefaultHandler);
+PROVIDE(I2C2_EV = DefaultHandler);
+PROVIDE(I2C2_ER = DefaultHandler);
+PROVIDE(SPI1 = DefaultHandler);
+PROVIDE(SPI2 = DefaultHandler);
+PROVIDE(USART1 = DefaultHandler);
+PROVIDE(USART2 = DefaultHandler);
+PROVIDE(USART3 = DefaultHandler);
+PROVIDE(EXTI15_10 = DefaultHandler);
+PROVIDE(RTCALARM = DefaultHandler);
+PROVIDE(USBWAKE_UP = DefaultHandler);
+PROVIDE(TIM8_BRK = DefaultHandler);
+PROVIDE(TIM8_UP_ = DefaultHandler);
+PROVIDE(TIM8_TRG_COM = DefaultHandler);
+PROVIDE(TIM8_CC = DefaultHandler);
+PROVIDE(RNG = DefaultHandler);
+PROVIDE(FSMC = DefaultHandler);
+PROVIDE(SDIO = DefaultHandler);
+PROVIDE(TIM5 = DefaultHandler);
+PROVIDE(SPI3 = DefaultHandler);
+PROVIDE(UART4 = DefaultHandler);
+PROVIDE(UART5 = DefaultHandler);
+PROVIDE(TIM6 = DefaultHandler);
+PROVIDE(TIM7 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL1 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL2 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL3 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL4 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL5 = DefaultHandler);
+PROVIDE(ETH = DefaultHandler);
+PROVIDE(ETH_WKUP = DefaultHandler);
+PROVIDE(CAN2_TX = DefaultHandler);
+PROVIDE(CAN2_RX0 = DefaultHandler);
+PROVIDE(CAN2_RX1 = DefaultHandler);
+PROVIDE(CAN2_SCE = DefaultHandler);
+PROVIDE(OTG_FS = DefaultHandler);
+PROVIDE(USBHSWAKEUP = DefaultHandler);
+PROVIDE(USBHS = DefaultHandler);
+PROVIDE(DVP = DefaultHandler);
+PROVIDE(UART6 = DefaultHandler);
+PROVIDE(UART7 = DefaultHandler);
+PROVIDE(UART8 = DefaultHandler);
+PROVIDE(TIM9_BRK = DefaultHandler);
+PROVIDE(TIM9_UP_ = DefaultHandler);
+PROVIDE(TIM9_TRG_COM = DefaultHandler);
+PROVIDE(TIM9_CC = DefaultHandler);
+PROVIDE(TIM10_BRK = DefaultHandler);
+PROVIDE(TIM10_UP_ = DefaultHandler);
+PROVIDE(TIM10_TRG_COM = DefaultHandler);
+PROVIDE(TIM10_CC = DefaultHandler);
+PROVIDE(DMA2_CHANNEL6 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL7 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL8 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL9 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL10 = DefaultHandler);
+PROVIDE(DMA2_CHANNEL11 = DefaultHandler);
--- a/rust_can_sensor/openocd.cfg
+++ b/rust_can_sensor/openocd.cfg
@@ -0,0 +1,17 @@
+set _CHIPNAME ch32v203
+set _TARGETNAME $_CHIPNAME.cpu
+
+#bindto 0.0.0.0
+
+adapter driver wlinke
+adapter speed 6000
+transport select sdi
+
+sdi newtap $_CHIPNAME cpu -irlen 5 --expected-id 0x00001
+target create $_TARGETNAME.0 wch_riscv -chain-position $_TARGETNAME
+$_TARGETNAME.0 configure -work-area-phys 0x20000000 -work-area-size 10000 -work-area-backup 1
+set _FLASHNAME $_CHIPNAME.flash
+
+flash bank $_FLASHNAME wch_rsicv 0x00000000 0 0 0 $_TARGETNAME.0
+
+init
--- a/rust_can_sensor/rust-toolchain.toml
+++ b/rust_can_sensor/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+channel = "nightly"
--- a/rust_can_sensor/src/main.rs
+++ b/rust_can_sensor/src/main.rs
@@ -0,0 +1,207 @@
+#![no_std]
+#![no_main]
+
+use core::fmt::Write as _;
+use ch32_hal::gpio::{Level, Output, Speed};
+use ch32_hal::adc::{Adc, SampleTime, ADC_MAX};
+use ch32_hal::peripherals::USBD;
+// use ch32_hal::delay::Delay;
+use embassy_executor::{Spawner, task};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::{Builder, UsbDevice};
+use embassy_futures::yield_now;
+use hal::usbd::{Driver};
+use hal::{bind_interrupts};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::{Channel, TrySendError};
+use embassy_time::{Timer, Instant, Duration};
+use heapless::String;
+use {ch32_hal as hal, panic_halt as _};
+
+bind_interrupts!(struct Irqs {
+    USB_LP_CAN1_RX0 => hal::usbd::InterruptHandler<hal::peripherals::USBD>;
+});
+
+// 'static storage for USB descriptors and state so we can spawn tasks
+static mut USB_CONFIG_DESCRIPTOR: [u8; 256] = [0; 256];
+static mut USB_BOS_DESCRIPTOR: [u8; 256] = [0; 256];
+static mut USB_CONTROL_BUF: [u8; 64] = [0; 64];
+static mut CDC_STATE: core::mem::MaybeUninit<State<'static>> = core::mem::MaybeUninit::uninit();
+static mut USB_DEVICE: core::mem::MaybeUninit<UsbDevice<'static, Driver<'static, hal::peripherals::USBD>>> = core::mem::MaybeUninit::uninit();
+static mut CDC_CLASS: core::mem::MaybeUninit<CdcAcmClass<'static, Driver<'static, hal::peripherals::USBD>>> = core::mem::MaybeUninit::uninit();
+
+static LOG_CH: Channel<CriticalSectionRawMutex, heapless::String<128>, 8> = Channel::new();
+
+#[embassy_executor::main(entry = "qingke_rt::entry")]
+async fn main(spawner: Spawner) {
+    let p = hal::init(hal::Config {
+        rcc: hal::rcc::Config::SYSCLK_FREQ_144MHZ_HSI,
+        ..Default::default()
+    });
+
+
+
+    // Build driver and USB stack using 'static buffers
+    let driver = Driver::new(p.USBD, Irqs, p.PA12, p.PA11);
+
+    let mut config = embassy_usb::Config::new(0xC0DE, 0xCAFE);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-serial example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Windows compatibility requires these; CDC-ACM
+    config.device_class = 0x02;
+    config.device_sub_class = 0x02;
+    config.device_protocol = 0x00;
+    config.composite_with_iads = false;
+
+    let usb = unsafe {
+        let mut builder = Builder::new(
+            driver,
+            config,
+            &mut USB_CONFIG_DESCRIPTOR,
+            &mut USB_BOS_DESCRIPTOR,
+            &mut [], // no msos descriptors
+            &mut USB_CONTROL_BUF,
+        );
+
+        // Initialize CDC state and create CDC-ACM class
+        CDC_STATE.write(State::new());
+        let class = {
+            let state_ref: &mut State<'static> = CDC_STATE.assume_init_mut();
+            CdcAcmClass::new(&mut builder, state_ref, 64)
+        };
+        CDC_CLASS.write(class);
+
+        // Build USB device
+        let dev = builder.build();
+        USB_DEVICE.write(dev);
+
+        USB_DEVICE.assume_init_mut()
+    };
+
+    // Create GPIO for 555 Q output (PB0)
+    let q_out = Output::new(p.PB0, Level::Low, Speed::Low);
+    // Built-in LED on PB2 mirrors Q state
+    let led = Output::new(p.PB2, Level::Low, Speed::Low);
+
+    // Create ADC on ADC1 and use PA1 as analog input (Threshold/Trigger)
+    let adc = Adc::new(p.ADC1, Default::default());
+    let ain = p.PA1;
+
+    // Spawn independent tasks using 'static references
+    unsafe {
+        let class = CDC_CLASS.assume_init_mut();
+        spawner.spawn(usb_task(usb)).unwrap();
+        spawner.spawn(usb_writer(class)).unwrap();
+        // move Q output, LED, ADC and analog input into worker task
+        spawner.spawn(worker(q_out, led, adc, ain)).unwrap();
+    }
+
+    // Prevent main from exiting
+    core::future::pending::<()>().await;
+}
+
+#[task]
+async fn worker(
+    mut q: Output<'static>,
+    mut led: Output<'static>,
+    mut adc: Adc<'static, hal::peripherals::ADC1>,
+    mut ain: hal::peripherals::PA1,
+) {
+    // 555 emulation state: Q initially Low
+    let mut q_high = false;
+    let low_th: u16 = (ADC_MAX as u16) / 3;       // ~1/3 Vref
+    let high_th: u16 = ((ADC_MAX as u32 * 2) / 3) as u16; // ~2/3 Vref
+
+    loop {
+        // Count rising edges of Q in a 100 ms window
+        let start = Instant::now();
+        let mut pulses: u32 = 0;
+        let mut last_q = q_high;
+
+        while Instant::now().checked_duration_since(start).unwrap_or(Duration::from_millis(0))
+            < Duration::from_millis(1000)
+        {
+            // Sample the analog input (Threshold/Trigger on A1)
+            let val: u16 = adc.convert(&mut ain, SampleTime::CYCLES28_5);
+
+            // 555 core behavior:
+            // - If input <= 1/3 Vref => set Q high (trigger)
+            // - If input >= 2/3 Vref => set Q low (threshold)
+            // - Otherwise keep previous Q state (hysteresis)
+            if val <= low_th {
+                q_high = true;
+            } else if val >= high_th {
+                q_high = false;
+            }
+
+            // Drive output pin accordingly
+            if q_high {
+                q.set_high();
+                led.set_high();
+            } else {
+                q.set_low();
+                led.set_low();
+            }
+
+            // Count rising edges
+            if !last_q && q_high {
+                pulses = pulses.saturating_add(1);
+            }
+            last_q = q_high;
+
+            // Yield to allow USB and other tasks to run
+            yield_now().await;
+        }
+
+        // Compute frequency from 100 ms window
+        let freq_hz = pulses; // pulses per 0.1s => Hz
+
+        let mut msg: heapless::String<128> = heapless::String::new();
+        let _ = write!(
+            &mut msg,
+            "555 window=100ms pulses={} freq={} Hz (A1->Q on PB0)\r\n",
+            pulses, freq_hz
+        );
+        log(msg);
+    }
+}
+
+fn log(message: heapless::String<128>) {
+    match LOG_CH.try_send(message) {
+        Ok(_) => {}
+        Err(_) => {}
+    }
+}
+
+#[task]
+async fn usb_task(usb: &'static mut UsbDevice<'static, Driver<'static, hal::peripherals::USBD>>) {
+    usb.run().await;
+}
+
+#[task]
+async fn usb_writer(
+    class: &'static mut CdcAcmClass<'static, Driver<'static, hal::peripherals::USBD>>
+) {
+    loop {
+
+        class.wait_connection().await;
+        printer(class).await;
+    }
+}
+
+async fn printer(class: &mut CdcAcmClass<'static, Driver<'static, USBD>>) {
+    loop {
+        let msg = LOG_CH.receive().await;
+        match class.write_packet(msg.as_bytes()).await {
+            Ok(_) => {}
+            Err(_) => {
+                // Disconnected or endpoint disabled
+                return;
+            }
+        }
+    }
+}
--- a/rust_can_sensor/wch-tools.Containerfile
+++ b/rust_can_sensor/wch-tools.Containerfile
@@ -0,0 +1,27 @@
+FROM debian:bookworm
+
+RUN apt update -y && apt upgrade -y && apt install git libjaylink-dev libusb-1.0-0 unzip curl libhidapi-hidraw0 xz-utils -y
+
+RUN cd /root && \
+    curl -L -o mrs-toolchain.tar.xz "https://github.com/ch32-riscv-ug/MounRiver_Studio_Community_miror/releases/download/1.92-toolchain/MRS_Toolchain_Linux_x64_V1.92.tar.xz" && \
+    mkdir mrs-toolchain && \
+    tar -xvf mrs-toolchain.tar.xz -C mrs-toolchain --strip-components=1 && \
+    mv mrs-toolchain/OpenOCD/bin/openocd /usr/local/bin && \
+    mv mrs-toolchain/OpenOCD/share/openocd /usr/local/share && \
+    # mv mrs-toolchain/RISC-V_Embedded_GCC12/bin/riscv-none-elf-gdb /usr/local/bin && \                     # both toolchains in MRS are to old to work with emacs dape
+    # mv mrs-toolchain/RISC-V_Embedded_GCC12/libexec /usr/local && \                                        # both toolchains in MRS are to old to work with emacs dape
+    rm -rf mrs-toolchain mrs-toolchain.tar.xz && \
+    # Use up to date xpack toolchains for gdb
+    curl -L -o xpack-riscv-toolchain.tar.gz "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v14.2.0-3/xpack-riscv-none-elf-gcc-14.2.0-3-linux-x64.tar.gz" && \
+    mkdir xpack-toolchain && \
+    tar -xvf xpack-riscv-toolchain.tar.gz -C xpack-toolchain --strip-components=1 && \
+    mv xpack-toolchain/bin/* /usr/local/bin && \
+    mv xpack-toolchain/lib/ /usr/local && \
+    mv xpack-toolchain/lib64/ /usr/local && \
+    mv xpack-toolchain/libexec /usr/local && \
+    mv xpack-toolchain/riscv-none-elf /usr/local && \
+    rm -rf xpack-toolchain xpack-riscv-toolchain.tar.gz
+
+RUN mkdir -p /root/.config/gdb && echo "set auto-load safe-path /" >> /root/.config/gdb/gdbinit
+
+ENTRYPOINT [ "/usr/bin/bash" ]