Rust on STM32 Blue Pill

This repository is a hands-on Rust and robotics workshop for the STM32F103C8T6 Blue Pill. The workshop builds the software shape of a small soccer robot step by step:

Hardware Baseline

• Board: STM32F103C8T6 Blue Pill
• Core: Cortex-M3
• Default target: thumbv7m-none-eabi
• Default probe-rs chip name: STM32F103C8
• Onboard LED: usually PC13, active-low on most Blue Pill boards

See docs/blue-pill.md for wiring notes.

Workshop Chapters

• 00_check - toolchain and sanity check
• 01_rust_basics - values, functions, mutation
• 02_ownership - ownership and borrowing
• 03_types - domain types, enums and Result
• 04_first_firmware - first STM32 firmware loop
• 05_rgb_output - RGB LED status output
• 06_button_events - 5-way button as fake sensor rig
• 07_events - event priority and safety-first interpretation
• 08_state_machine - robot state machine and status LED
• 09_sensor_pipeline - fake camera and ultrasonic pipeline
• 10_motor_commands - motion intent to wheel speeds
• 11_kinematics - geometry and inverse kinematics
• 12_embassy - async Embassy loop and timers

Start With Nix

nix develop

The shell provides Rust, probe-rs, flip-link, and aliases for the workshop flow.

Typical first commands:

fmt
check
verify
run-00
run-01
run-02
run-03

Start With Rustup

If you do not want Nix, use the pinned toolchain directly:

rustup toolchain install 1.95.0
rustup target add thumbv7m-none-eabi

You also need flip-link and probe-rs on your PATH for embedded builds and flashing.

Then run the host chapter bins with Cargo:

cargo run --bin 00_check
cargo run --bin 01_rust_basics
cargo run --bin 02_ownership
cargo run --bin 03_types

For the Blue Pill chapters:

cargo build --target thumbv7m-none-eabi --bin 04_first_firmware
probe-rs run --chip STM32F103C8 target/thumbv7m-none-eabi/debug/04_first_firmware
cargo build --target thumbv7m-none-eabi --bin 12_embassy
probe-rs run --chip STM32F103C8 target/thumbv7m-none-eabi/debug/12_embassy

Probe Wiring

Typical SWD wiring:

• SWDIO -> SWDIO
• SWCLK -> SWCLK
• GND -> GND
• 3V3 -> 3V3 reference

Keep BOOT0 low for normal flash-and-run.

Troubleshooting

See docs/troubleshooting.md.