From a43f95d21a70f9a10cb4285cf94d95624fcfedff Mon Sep 17 00:00:00 2001
From: 2ndbeam <2ndbeam@disroot.org>
Date: Thu, 21 May 2026 16:28:28 +0300
Subject: [PATCH] boba

---
 Cargo.lock      | 118 +++++++++++++++++++++++++++++++++++++++++++++++-
 Cargo.toml      |   2 +
 src/bin/i2c.rs  |  64 ++++++++++++++++++++++++++
 src/bin/uart.rs |  26 ++++++++++-
 4 files changed, 206 insertions(+), 4 deletions(-)
 create mode 100644 src/bin/i2c.rs

diff --git a/Cargo.lock b/Cargo.lock
index 8270f41..582faf5 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -23,6 +23,12 @@ version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
 
+[[package]]
+name = "bitflags"
+version = "2.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4512299f36f043ab09a583e57bceb5a5aab7a73db1805848e8fef3c9e8c78b3"
+
 [[package]]
 name = "bytemuck"
 version = "1.25.0"
@@ -76,7 +82,7 @@ checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -180,6 +186,67 @@ dependencies = [
  "stable_deref_trait",
 ]
 
+[[package]]
+name = "libm"
+version = "0.2.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6d2cec3eae94f9f509c767b45932f1ada8350c4bdb85af2fcab4a3c14807981"
+
+[[package]]
+name = "lsm303agr"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f24b486ceef047c043c19c24669379f1049269927430c09f0444aac4685d2c2f"
+dependencies = [
+ "bitflags",
+ "embedded-hal 1.0.0",
+ "maybe-async-cfg",
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "manyhow"
+version = "0.11.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b33efb3ca6d3b07393750d4030418d594ab1139cee518f0dc88db70fec873587"
+dependencies = [
+ "manyhow-macros",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "syn 2.0.117",
+]
+
+[[package]]
+name = "manyhow-macros"
+version = "0.11.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46fce34d199b78b6e6073abf984c9cf5fd3e9330145a93ee0738a7443e371495"
+dependencies = [
+ "proc-macro-utils",
+ "proc-macro2",
+ "quote",
+]
+
+[[package]]
+name = "maybe-async-cfg"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8dbfaa67a76e2623580df07d6bb5e7956c0a4bae4b418314083a9c619bd66627"
+dependencies = [
+ "manyhow",
+ "proc-macro2",
+ "pulldown-cmark",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "memchr"
+version = "2.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
+
 [[package]]
 name = "microbit"
 version = "0.1.0"
@@ -189,6 +256,8 @@ dependencies = [
  "embedded-hal 1.0.0",
  "embedded-io",
  "heapless 0.9.3",
+ "libm",
+ "lsm303agr",
  "microbit-v2",
  "panic-halt",
 ]
@@ -294,6 +363,17 @@ version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c33a9471896f1c69cecef8d20cbe2f7accd12527ce60845ff44c153bb2a21b49"
 
+[[package]]
+name = "proc-macro-utils"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eeaf08a13de400bc215877b5bdc088f241b12eb42f0a548d3390dc1c56bb7071"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "smallvec",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.106"
@@ -303,6 +383,17 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "pulldown-cmark"
+version = "0.11.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "679341d22c78c6c649893cbd6c3278dcbe9fc4faa62fea3a9296ae2b50c14625"
+dependencies = [
+ "bitflags",
+ "memchr",
+ "unicase",
+]
+
 [[package]]
 name = "quote"
 version = "1.0.45"
@@ -342,12 +433,29 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
+[[package]]
+name = "smallvec"
+version = "1.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
 
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
 [[package]]
 name = "syn"
 version = "2.0.117"
@@ -371,6 +479,12 @@ version = "1.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "40ce102ab67701b8526c123c1bab5cbe42d7040ccfd0f64af1a385808d2f43de"
 
+[[package]]
+name = "unicase"
+version = "2.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dbc4bc3a9f746d862c45cb89d705aa10f187bb96c76001afab07a0d35ce60142"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.24"
@@ -425,5 +539,5 @@ checksum = "70e3cd084b1788766f53af483dd21f93881ff30d7320490ec3ef7526d203bad4"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
diff --git a/Cargo.toml b/Cargo.toml
index 1105d7d..4686acc 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -11,3 +11,5 @@ panic-halt = "1.0.0"
 cortex-m = "0.7.7"
 embedded-io = "0.7.1"
 heapless = "0.9.3"
+lsm303agr = "1.1.0"
+libm = "0.2.16"
diff --git a/src/bin/i2c.rs b/src/bin/i2c.rs
new file mode 100644
index 0000000..c9a8de2
--- /dev/null
+++ b/src/bin/i2c.rs
@@ -0,0 +1,64 @@
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use embedded_io::{Read, Write};
+use heapless::Vec;
+use lsm303agr::{AccelMode, AccelOutputDataRate, Lsm303agr, MagMode, MagOutputDataRate};
+use microbit::{hal::{Timer, Twim, uarte::{self, Baudrate, Parity}}, pac::twim0::frequency::FREQUENCY_A};
+use panic_halt as _;
+
+#[entry]
+fn main() -> ! {
+    let board = microbit::Board::take().unwrap();
+
+    let i2c = Twim::new(board.TWIM0, board.i2c_internal.into(), FREQUENCY_A::K100);
+    let mut timer = Timer::new(board.TIMER0);
+
+    let mut sensor = Lsm303agr::new_with_i2c(i2c);
+    sensor.init().unwrap();
+    sensor.set_accel_mode_and_odr(&mut timer, AccelMode::HighResolution, AccelOutputDataRate::Hz50).unwrap();
+    sensor.set_mag_mode_and_odr(&mut timer, MagMode::HighResolution, MagOutputDataRate::Hz50).unwrap();
+    let mut sensor = sensor.into_mag_continuous().ok().unwrap();
+
+    let tx_buf = cortex_m::singleton!(TX_BUF: [u8; 1] = [0u8; 1]).unwrap();
+    let rx_buf = cortex_m::singleton!(RX_BUF: [u8; 1] = [0u8; 1]).unwrap();
+
+    let serial = uarte::Uarte::new(
+        board.UARTE0,
+        board.uart.into(),
+        Parity::EXCLUDED,
+        Baudrate::BAUD115200,
+    );
+    
+
+    let (mut tx, mut rx) = serial.split(tx_buf, rx_buf).unwrap();
+
+    let mut buffer: Vec<u8, 4> = Vec::new();
+
+    
+
+    loop {
+        let mut b = [0u8;1];
+        rx.read(&mut b).unwrap();
+
+        if buffer.push(b[0]).is_err() {
+            buffer.remove(0);
+            buffer.push(b[0]).unwrap();
+        }
+
+        if buffer.ends_with(b"mag\r") {
+            let (x, y, z) = sensor.magnetic_field()
+                .unwrap()
+                .xyz_nt();
+            write!(tx, "X={x} Y={y} Z={z}\r\n")
+                .unwrap();
+            tx.flush()
+                .unwrap();
+        } else if buffer.ends_with(b"acc\r") {
+            let (x, y, z) = sensor.acceleration().unwrap().xyz_mg();
+            write!(tx, "X={x} Y={y} Z={z}\r\n").unwrap();
+            tx.flush().unwrap();
+        }
+    }
+}
diff --git a/src/bin/uart.rs b/src/bin/uart.rs
index a843398..fc86930 100644
--- a/src/bin/uart.rs
+++ b/src/bin/uart.rs
@@ -7,6 +7,14 @@ use heapless::Vec;
 use microbit::{hal::uarte::{self, Baudrate, Parity}};
 use panic_halt as _;
 
+fn reverse(v: &mut Vec<u8, 32>) {
+    // remove \r\n
+    v.remove(v.len() - 1);
+    v.reverse();
+    let _ = v.push(b'\r');
+    let _ = v.push(b'\n');
+}
+
 #[entry]
 fn main() -> ! {
     let board = microbit::Board::take().unwrap();
@@ -22,11 +30,25 @@ fn main() -> ! {
     );
     
 
-    let (_tx, mut rx) = serial.split(tx_buf, rx_buf).unwrap();
+    let (mut tx, mut rx) = serial.split(tx_buf, rx_buf).unwrap();
 
     let mut buffer: Vec<u8, 32> = Vec::new();
 
     loop {
-        rx.read(buffer.as_mut_slice()).unwrap();
+        let mut b = [0u8;1];
+        rx.read(&mut b).unwrap();
+
+        if buffer.push(b[0]).is_err() {
+            buffer.remove(0);
+            buffer.push(b[0]).unwrap();
+        }
+
+        if buffer.ends_with(b"\r") {
+            reverse(&mut buffer);
+            let out = unsafe { str::from_utf8_unchecked(buffer.as_slice()) };
+            write!(tx, "{out}").unwrap();
+            buffer.clear();
+        }
+        tx.flush().unwrap();
     }
 }