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Rust 是什么

Rust 是一門賦予每個人構建可靠且高效軟件能力的語言。

高性能：速度驚人且內存利用率極高
可靠性：在編譯期就能消除各種內存錯誤
生產力：出色的文檔，友好的編譯器和清晰的錯誤提示信息

為什么要用 Rust 進行嵌入式開發

Rust 的設計理念：既要安全，也要高性能。Rust 的設計理念完全是嵌入式開發所需要的。

嵌入式軟件在運行過程中出現問題，大部分是由于內存引起的。Rust 語言可以說是一門面向編譯器的語言。在編譯期間，就能夠確保你安全地使用內存。

目前，嵌入式的主流開發語言還是 C 語言，不能上來就把底層的邏輯用 Rust 重新實現一遍。但是可以在 C 代碼中嵌入 Rust 語言。

C 調用 Rust

在 C 代碼中調用 Rust 代碼，需要我們將 Rust 源代碼打包為靜態庫文件。在 C 代碼編譯時，鏈接進去。

創建 lib 庫

1、在 Clion 中使用cargo init --lib rust_to_c建立 lib 庫。添加以下代碼到 lib.rs 中，使用 Rust 語言計算兩個整數的和：

 1#![no_std]
 2usecore::PanicInfo;
 3
 4#[no_mangle]
 5pubextern"C"fnsum(a:i32,b:i32)->i32{
 6a+b
 7}
 8
 9#[panic_handler]
10fnpanic(_info:&PanicInfo)->!{
11loop{}
12}

在 Cargo.toml 文件中添加以下代碼，生成靜態庫文件：

1[lib]
2name="sum"
3crate-type=["staticlib"]
4path="src/lib.rs"

交叉編譯

1、安裝 armv7 target:

1rustuptargetaddarmv7a-none-eabi

2、生成靜態庫文件：

1PSC:UsersLiuKangDesktopRUST
ust_to_c>cargobuild--target=armv7a-none-eabi--release--verbose
2Freshrust_to_cv0.1.0(C:UsersLiuKangDesktopRUST
ust_to_c)
3Finishedrelease[optimized]target(s)in0.01s

生成頭文件

1、安裝cbindgen](https://github.com/eqrion/cbindgen)),cbindgen從 rust 庫生成 C/C++ 11 頭文件：

1cargoinstall--forcecbindgen

2、在項目文件夾下新建文件cbindgen.toml文件：

3、生成頭文件：

1cbindgen--configcbindgen.toml--craterust_to_c--outputsum.h

調用 Rust 庫文件

1、將生成的sum.h以及sum.a文件放入rt-threadspqemu-vexpress-a9applications目錄下

2、修改 SConscript 文件，添加靜態庫:

 1frombuildingimport*
 2
 3cwd=GetCurrentDir()
 4src=Glob('*.c')+Glob('*.cpp')
 5CPPPATH=[cwd]
 6
 7LIBS=["libsum.a"]
 8LIBPATH=[GetCurrentDir()]
 9
10group=DefineGroup('Applications',src,depend=[''],CPPPATH=CPPPATH,LIBS=LIBS,LIBPATH=LIBPATH)
11
12Return('group')

3、在 main 函數中調用 sum 函數, 并獲取返回值

 1#include
 2#include
 3#include
 4#include
 5#include"sum.h"
 6
 7intmain(void)
 8{
 9int32_ttmp;
10
11tmp=sum(1,2);
12printf("callrustsum(1,2)=%d
",tmp);
13
14return0;
15}

4、在 env 環境下，使用 scons 編譯工程：

 1LiuKang@DESKTOP-538H6DED:
epogithub
t-threadspqemu-vexpress-a9
 2$scons-j6
 3scons:ReadingSConscriptfiles...
 4scons:donereadingSConscriptfiles.
 5
 6scons:warning:youdonotseemtohavethepywin32extensionsinstalled;
 7parallel(-j)buildsmaynotworkreliablywithopenPythonfiles.
 8File"D:softwareenv_released_1.2.0env	oolsPython27Scriptsscons.py",line204,in<module>
 9scons:Buildingtargets...
10scons:buildingassociatedVariantDirtargets:build
11LINKrtthread.elf
12arm-none-eabi-objcopy-Obinaryrtthread.elfrtthread.bin
13arm-none-eabi-sizertthread.elf
14textdatabssdechexfilename
15628220214886700717068af10crtthread.elf
16scons:donebuildingtargets.
17
18LiuKang@DESKTOP-538H6DED:
epogithub
t-threadspqemu-vexpress-a9
19$qemu.bat
20WARNING:Imageformatwasnotspecifiedfor'sd.bin'andprobingguessedraw.
21Automaticallydetectingtheformatisdangerousforrawimages,writeoperationsonblock0willberestricted.
22Specifythe'raw'formatexplicitlytoremovetherestrictions.
23
24|/
25-RT-ThreadOperatingSystem
26/|4.0.4buildJul282021
272006-2021Copyrightbyrt-threadteam
28lwIP-2.1.2initialized!
29[I/sal.skt]SocketAbstractionLayerinitializesuccess.
30[I/SDIO]SDcardcapacity65536KB.
31[I/SDIO]switchingcardtohighspeedfailed!
32callrustsum(1,2)=3
33msh/>

加減乘除

1、在 lib.rs 文件中，使用 rust 語言實現加減乘除運算：

 1#![no_std]
 2usecore::PanicInfo;
 3
 4
 5#[no_mangle]
 6pubextern"C"fnadd(a:i32,b:i32)->i32{
 7a+b
 8}
 9
10#[no_mangle]
11pubextern"C"fnsubtract(a:i32,b:i32)->i32{
12a-b
13}
14
15#[no_mangle]
16pubextern"C"fnmultiply(a:i32,b:i32)->i32{
17a*b
18}
19
20#[no_mangle]
21pubextern"C"fndivide(a:i32,b:i32)->i32{
22a/b
23}
24
25#[panic_handler]
26fnpanic(_info:&PanicInfo)->!{
27loop{}
28}

2、生成庫文件和頭文件并放在 application 目錄下

3、使用 scons 編譯，鏈接時報錯，在 rust github 倉庫的 issues 中找到了解決辦法（https://github.com/rust-lang/compiler-builtins/issues/353）：

1LINKrtthread.elf
2d:/software/env_released_1.2.0/env/tools/gnu_gcc/arm_gcc/mingw/bin/../lib/gcc/arm-none-eabi/5.4.1/armv7-ar/thumblibgcc.a(_arm_addsubdf3.o):Infunction`__aeabi_ul2d':
3(.text+0x304):multipledefinitionof`__aeabi_ul2d'
4applicationslibsum.a(compiler_builtins-9b744f6fddf5e719.compiler_builtins.20m0qzjq-cgu.117.rcgu.o):/cargo/registry/src/github.com-1ecc6299db9ec823/compiler_builtins-0.1.35/src/float/conv.rs:143:firstdefinedhere
5collect2.exe:error:ldreturned1exitstatus
6scons:***[rtthread.elf]Error1
7scons:buildingterminatedbecauseoferrors.

4、修改rtconfig.py文件，添加鏈接參數--allow-multiple-definition：

1DEVICE='-march=armv7-a-marm-msoft-float'
2CFLAGS=DEVICE+'-Wall'
3AFLAGS='-c'+DEVICE+'-xassembler-with-cpp-D__ASSEMBLY__-I.'
4LINK_SCRIPT='link.lds'
5LFLAGS=DEVICE+'-nostartfiles-Wl,--gc-sections,-Map=rtthread.map,-cref,-u,system_vectors,--allow-multiple-definition'+
6'-T%s'%LINK_SCRIPT
7
8CPATH=''
9LPATH=''

5、編譯并運行 qemu：

 1LiuKang@DESKTOP-538H6DED:
epogithub
t-threadspqemu-vexpress-a9
 2$scons-j6
 3scons:ReadingSConscriptfiles...
 4scons:donereadingSConscriptfiles.
 5
 6scons:warning:youdonotseemtohavethepywin32extensionsinstalled;
 7parallel(-j)buildsmaynotworkreliablywithopenPythonfiles.
 8File"D:softwareenv_released_1.2.0env	oolsPython27Scriptsscons.py",line204,in<module>
 9scons:Buildingtargets...
10scons:buildingassociatedVariantDirtargets:build
11LINKrtthread.elf
12arm-none-eabi-objcopy-Obinaryrtthread.elfrtthread.bin
13arm-none-eabi-sizertthread.elf
14textdatabssdechexfilename
15628756214886700717604af324rtthread.elf
16scons:donebuildingtargets.
17
18LiuKang@DESKTOP-538H6DED:
epogithub
t-threadspqemu-vexpress-a9
19$qemu.bat
20WARNING:Imageformatwasnotspecifiedfor'sd.bin'andprobingguessedraw.
21Automaticallydetectingtheformatisdangerousforrawimages,writeoperationsonblock0willberestricted.
22Specifythe'raw'formatexplicitlytoremovetherestrictions.
23
24|/
25-RT-ThreadOperatingSystem
26/|4.0.4buildJul282021
272006-2021Copyrightbyrt-threadteam
28lwIP-2.1.2initialized!
29[I/sal.skt]SocketAbstractionLayerinitializesuccess.
30[I/SDIO]SDcardcapacity65536KB.
31[I/SDIO]switchingcardtohighspeedfailed!
32callrustsum(1,2)=3
33callrustsubtract(2,1)=1
34callrustmultiply(2,2)=4
35callrustdivide(4,2)=2

Rust 調用 C

可以在 C 代碼中調用 Rust，那么在 Rust 中也可以調用 C 代碼。我們在 Rust 代碼中調用 rt_kprintf 函數：

修改 lib.rs 文件

 1//導入的rt-thread函數列表
 2extern"C"{
 3pubfnrt_kprintf(format:*constu8,...);
 4}
 5
 6#[no_mangle]
 7pubextern"C"fnadd(a:i32,b:i32)->i32{
 8unsafe{
 9rt_kprintf(b"thisisfromrust
"as*constu8);
10}
11a+b
12}

生成庫文件

1cargobuild--target=armv7a-none-eabi--release--verbose
2Compilingrust_to_cv0.1.0(C:UsersLiuKangDesktopRUST
ust_to_c)
3Running`rustc--crate-namesum--edition=2018src/lib.rs--error-format=json--json=diagnostic-rendered-ansi--crate-typestaticlib--emit=dep-info,link-Copt-level=3-Cembed-bitcode=no-Cmetadata=a
40723fa112c78339-Cextra-filename=-a0723fa112c78339--out-dirC:UsersLiuKangDesktopRUST
ust_to_c	argetarmv7a-none-eabi
eleasedeps--targetarmv7a-none-eabi-Ldependency=C:UsersLiuKangDesktopRUS
5T
ust_to_c	argetarmv7a-none-eabi
eleasedeps-Ldependency=C:UsersLiuKangDesktopRUST
ust_to_c	arget
eleasedeps`
6Finishedrelease[optimized]target(s)in0.11s

運行

復制 rust 生成的庫文件到 application 目錄下。

 1LiuKang@DESKTOP-538H6DED:
epogithub
t-threadspqemu-vexpress-a9
 2$scons-j6
 3scons:ReadingSConscriptfiles...
 4scons:donereadingSConscriptfiles.
 5scons:warning:youdonotseemtohavethepywin32extensionsinstalled;
 6parallel(-j)buildsmaynotworkreliablywithopenPythonfiles.
 7File"D:softwareenv_released_1.2.0env	oolsPython27Scriptsscons.py",line204,in<module>
 8scons:Buildingtargets...
 9scons:buildingassociatedVariantDirtargets:build
10LINKrtthread.elf
11arm-none-eabi-objcopy-Obinaryrtthread.elfrtthread.bin
12arm-none-eabi-sizertthread.elf
13textdatabssdechexfilename
14628812214890796721756b035crtthread.elf
15scons:donebuildingtargets.
16
17LiuKang@DESKTOP-538H6DED:
epogithub
t-threadspqemu-vexpress-a9
18$qemu.bat
19WARNING:Imageformatwasnotspecifiedfor'sd.bin'andprobingguessedraw.
20Automaticallydetectingtheformatisdangerousforrawimages,writeoperationsonblock0willberestricted.
21Specifythe'raw'formatexplicitlytoremovetherestrictions.
22
23|/
24-RT-ThreadOperatingSystem
25/|4.0.4buildJul282021
262006-2021Copyrightbyrt-threadteam
27lwIP-2.1.2initialized!
28[I/sal.skt]SocketAbstractionLayerinitializesuccess.
29[I/SDIO]SDcardcapacity65536KB.
30[I/SDIO]switchingcardtohighspeedfailed!
31thisisfromrust
32callrustsum(1,2)=3
33callrustsubtract(2,1)=1
34callrustmultiply(2,2)=4
35callrustdivide(4,2)=2
36msh/>