Add example to poll encoder and display value on I2C display (#963)

Co-authored-by: Milton Eduardo Sosa <milton@Miltons-MacBook-Pro.local>

7 files changed, 1010 insertions, 0 deletions

diff --git a/examples/stm32f411_encoder_polling/.cargo/config.toml b/examples/stm32f411_encoder_polling/.cargo/config.toml
new file mode 100644
index 0000000..806f2ee
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/.cargo/config.toml
@@ -0,0 +1,14 @@
+[target.thumbv7em-none-eabihf]
+
+runner = "probe-rs run --chip STM32F411CEUx"
+
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+]
+
+[build]
+target = "thumbv7em-none-eabihf"
+
+[env]
+DEFMT_LOG = "debug"
\ No newline at end of file
diff --git a/examples/stm32f411_encoder_polling/Cargo.lock b/examples/stm32f411_encoder_polling/Cargo.lock
new file mode 100644
index 0000000..d859605
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/Cargo.lock
@@ -0,0 +1,637 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "atomic-polyfill"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "bare-metal"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
+dependencies = [
+ "rustc_version",
+]
+
+[[package]]
+name = "bare-metal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+
+[[package]]
+name = "bitfield"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
+
+[[package]]
+name = "bitflags"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "cortex-m"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
+dependencies = [
+ "bare-metal 0.2.5",
+ "bitfield",
+ "critical-section",
+ "embedded-hal 0.2.7",
+ "volatile-register",
+]
+
+[[package]]
+name = "cortex-m-rt"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+dependencies = [
+ "cortex-m-rt-macros",
+]
+
+[[package]]
+name = "cortex-m-rt-macros"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "critical-section"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+
+[[package]]
+name = "defmt"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+dependencies = [
+ "bitflags",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.68",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "defmt-rtt"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bab697b3dbbc1750b7c8b821aa6f6e7f2480b47a99bc057a2ed7b170ebef0c51"
+dependencies = [
+ "critical-section",
+ "defmt",
+]
+
+[[package]]
+name = "deranged"
+version = "0.3.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b42b6fa04a440b495c8b04d0e71b707c585f83cb9cb28cf8cd0d976c315e31b4"
+dependencies = [
+ "powerfmt",
+]
+
+[[package]]
+name = "document-features"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef5282ad69563b5fc40319526ba27e0e7363d552a896f0297d54f767717f9b95"
+dependencies = [
+ "litrs",
+]
+
+[[package]]
+name = "embedded-dma"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
+dependencies = [
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
+dependencies = [
+ "nb 0.1.3",
+ "void",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "embedded-hal-nb"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
+dependencies = [
+ "embedded-hal 1.0.0",
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "embedded-storage"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
+
+[[package]]
+name = "enumflags2"
+version = "0.7.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d232db7f5956f3f14313dc2f87985c58bd2c695ce124c8cdd984e08e15ac133d"
+dependencies = [
+ "enumflags2_derive",
+]
+
+[[package]]
+name = "enumflags2_derive"
+version = "0.7.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.68",
+]
+
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "fugit"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
+dependencies = [
+ "gcd",
+]
+
+[[package]]
+name = "fugit-timer"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9607bfc4c388f9d629704f56ede4a007546cad417b3bcd6fc7c87dc7edce04a"
+dependencies = [
+ "fugit",
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "futures-core"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
+
+[[package]]
+name = "hashbrown"
+version = "0.14.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+
+[[package]]
+name = "hd44780-driver"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aab2b13fdeaed7dde9133a57c28b2cbde4a8fc8c3196b5631428aad114857d3a"
+dependencies = [
+ "embedded-hal 0.2.7",
+]
+
+[[package]]
+name = "indexmap"
+version = "2.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+dependencies = [
+ "equivalent",
+ "hashbrown",
+]
+
+[[package]]
+name = "litrs"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
+
+[[package]]
+name = "nb"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
+dependencies = [
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "nb"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
+
+[[package]]
+name = "num-conv"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "51d515d32fb182ee37cda2ccdcb92950d6a3c2893aa280e540671c2cd0f3b1d9"
+
+[[package]]
+name = "panic-halt"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
+[[package]]
+name = "powerfmt"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
+
+[[package]]
+name = "proc-macro-error"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+dependencies = [
+ "proc-macro-error-attr",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro-error-attr"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.86"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rand_core"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
+
+[[package]]
+name = "rotary-encoder-embedded"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da300c653a5d74bd58ccad9cf160b1a22bd35f5996b824d1bb1f6abbcc7638af"
+dependencies = [
+ "embedded-hal 0.2.7",
+]
+
+[[package]]
+name = "rtic"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+ "rtic-monotonics",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "rtic-core"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
+
+[[package]]
+name = "rtic-macros"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+dependencies = [
+ "indexmap",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.68",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+dependencies = [
+ "semver",
+]
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
+name = "stm32f4"
+version = "0.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fb94729242cd1aebe6dab42a2ca0131985ae93bc3ab2751b680df724bb35528d"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "cortex-m-rt",
+ "vcell",
+]
+
+[[package]]
+name = "stm32f411_encoder_polling"
+version = "0.1.0"
+dependencies = [
+ "cortex-m",
+ "cortex-m-rt",
+ "defmt",
+ "defmt-rtt",
+ "embedded-hal 1.0.0",
+ "hd44780-driver",
+ "panic-halt",
+ "rotary-encoder-embedded",
+ "rtic",
+ "stm32f4xx-hal",
+]
+
+[[package]]
+name = "stm32f4xx-hal"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ceed60591531f4da636d828701c74861a3d100e5c4e36677cadbd2eb6f46eb67"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "cortex-m-rt",
+ "document-features",
+ "embedded-dma",
+ "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-nb",
+ "embedded-storage",
+ "enumflags2",
+ "fugit",
+ "fugit-timer",
+ "nb 1.1.0",
+ "rand_core",
+ "stm32f4",
+ "time",
+ "vcell",
+ "void",
+]
+
+[[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 = "2.0.68"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "901fa70d88b9d6c98022e23b4136f9f3e54e4662c3bc1bd1d84a42a9a0f0c1e9"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.61"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.61"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.68",
+]
+
+[[package]]
+name = "time"
+version = "0.3.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885"
+dependencies = [
+ "deranged",
+ "num-conv",
+ "powerfmt",
+ "time-core",
+]
+
+[[package]]
+name = "time-core"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
+dependencies = [
+ "vcell",
+]
diff --git a/examples/stm32f411_encoder_polling/Cargo.toml b/examples/stm32f411_encoder_polling/Cargo.toml
new file mode 100644
index 0000000..1114393
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/Cargo.toml
@@ -0,0 +1,30 @@
+[workspace]
+
+[package]
+authors = ["<Milton Sosa <milton.eduardo.sosa@gmail.com>"]
+edition = "2018"
+readme = "README.md"
+name = "stm32f411_encoder_polling"
+version = "0.1.0"
+
+[dependencies]
+cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.1"
+rtic = {version = "2.1.1", features=["thumbv7-backend", "rtic-monotonics"]}
+panic-halt = "0.2.0"
+embedded-hal = "1.0.0"
+defmt = "0.3.5"
+defmt-rtt = { version = "0.4.0"}
+rotary-encoder-embedded = "0.3.0"
+hd44780-driver = "0.4.0"
+
+[dependencies.stm32f4xx-hal]
+version = "0.21.0"
+features = ["stm32f411"] # replace the model of your microcontroller here
+
+# this lets you use `cargo fix`!
+[[bin]]
+name = "stm32f411_encoder_polling"
+test = false
+bench = false
+
diff --git a/examples/stm32f411_encoder_polling/README.md b/examples/stm32f411_encoder_polling/README.md
new file mode 100644
index 0000000..70fb1e8
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/README.md
@@ -0,0 +1,64 @@
+# STM32F411CEU6 encoder polling and LCD display 
+
+This example uses an STM32F411CEU6 microcontroller on the Blackpill board to interface with an I2C LCD display and a rotary encoder.
+
+
+## Features
+
+- **Rotary Encoder Integration**: Reads input from a rotary encoder to adjust a value.
+- **I2C LCD Display**: Displays the current encoder value on an I2C-connected HD44780 LCD.
+
+
+## Working principle
+The hardware task `tim2_timeout_interrupt_handler` polls the encoder state on each interrupt generated by TIM2, and updates the displayed value accordingly.
+
+
+## Code Overview
+
+### Key Components
+
+- **Knob Struct**: Placeholder for the rotary encoder and its current value.
+- **LCD I2C Communication**: Uses I2C protocol to communicate with the HD44780 LCD.
+- **Timers**: Utilizes TIM1 for delays and TIM2 for polling the rotary encoder.
+
+### Important Constants
+
+- `LCD_I2C_ADDRESS`: The I2C address of the LCD display.
+
+### Initialization
+
+- **System Clock**: Configured to use an external 25 MHz clock.
+- **GPIO Setup**: Configures GPIO pins for the LED, rotary encoder, and I2C communication.
+- **I2C Initialization**: Sets up the I2C bus for LCD communication.
+- **LCD Initialization**: Initializes the LCD and displays initial messages.
+- **Timer Setup**: Configures TIM2 at 2 kHz and generate interrupts.
+
+### Tasks and Handlers
+
+- **idle**: Background task that runs when no other tasks are active.
+- **tim2_timeout_interrupt_handler**: Handles interrupts generated by TIM2, updates the rotary encoder value, and displays the value on the LCD.
+
+### Utility Functions
+
+- `u8_to_str(n: u8) -> [u8; 3]`: Converts an 8-bit integer to a 3-character string representation.
+
+
+## Dependencies
+
+- **hd44780-driver**: Driver for HD44780 LCD over I2C.
+- **rotary_encoder_embedded**: Library for handling rotary encoders.
+- **defmt**: Logging framework for embedded systems.
+
+
+## How-to
+
+### Build
+Run `cargo build --release` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
+
+### Run
+Install `probe-rs` and configure it using the [debugging extension for VScode](https://probe.rs/docs/tools/debugger/).  
+The output should look like this:
+
+[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/nn75gWDhHn0/0.jpg)](https://www.youtube.com/watch?v=nn75gWDhHn0)
+
+
diff --git a/examples/stm32f411_encoder_polling/build.rs b/examples/stm32f411_encoder_polling/build.rs
new file mode 100644
index 0000000..d534cc3
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/build.rs
@@ -0,0 +1,31 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+}
diff --git a/examples/stm32f411_encoder_polling/memory.x b/examples/stm32f411_encoder_polling/memory.x
new file mode 100644
index 0000000..f77e9f2
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/memory.x
@@ -0,0 +1,6 @@
+MEMORY
+{
+  /* NOTE 1 K = 1 KiBi = 1024 bytes */
+  FLASH : ORIGIN = 0x08000000, LENGTH = 512K
+  RAM : ORIGIN = 0x20000000, LENGTH = 96K
+}
\ No newline at end of file
diff --git a/examples/stm32f411_encoder_polling/src/main.rs b/examples/stm32f411_encoder_polling/src/main.rs
new file mode 100644
index 0000000..29a2947
--- /dev/null
+++ b/examples/stm32f411_encoder_polling/src/main.rs
@@ -0,0 +1,228 @@
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+#[rtic::app(device = stm32f4xx_hal::pac, peripherals = true)]
+mod app {
+
+    use stm32f4xx_hal::i2c::I2c;
+    use stm32f4xx_hal::i2c::Mode;
+    use stm32f4xx_hal::{
+        gpio::{self, Input, Output, PushPull},
+        pac::{Peripherals, I2C1, TIM1, TIM2},
+        prelude::*,
+        timer,
+        timer::{CounterHz, Event, Timer2},
+    };
+
+    use rotary_encoder_embedded::standard::StandardMode;
+    use rotary_encoder_embedded::{Direction, RotaryEncoder};
+
+    use hd44780_driver::bus::I2CBus;
+    use hd44780_driver::{Cursor, CursorBlink, Display, DisplayMode, HD44780};
+
+    use defmt_rtt as _;
+
+    pub struct Knob {
+        rotary_encoder: RotaryEncoder<StandardMode, gpio::PB12<Input>, gpio::PB13<Input>>,
+        value: u8,
+    }
+
+    impl Knob {
+        pub fn new(
+            rotary_encoder: RotaryEncoder<StandardMode, gpio::PB12<Input>, gpio::PB13<Input>>,
+        ) -> Knob {
+            Knob {
+                rotary_encoder: rotary_encoder,
+                value: 0_u8,
+            }
+        }
+    }
+
+    // Set the I2C address of the PCF8574 located on the back of the HD44780.
+    // Check the the jumpers A0, A1 and A2 and datasheet
+    const LCD_I2C_ADDRESS: u8 = 0x27;
+
+    // Resources shared between tasks
+    #[shared]
+    struct Shared {
+        delay: timer::DelayMs<TIM1>,
+        lcd: HD44780<I2CBus<I2c<I2C1>>>,
+    }
+
+    // Local resources to specific tasks (cannot be shared)
+    #[local]
+    struct Local {
+        led: gpio::PC13<Output<PushPull>>,
+        tim2_timer: CounterHz<TIM2>,
+        knob_1: Knob,
+    }
+
+    #[init]
+    fn init(ctx: init::Context) -> (Shared, Local) {
+        let dp: Peripherals = ctx.device;
+
+        // Configure and obtain handle for delay abstraction using TIM1
+        // Promote RCC structure to HAL to be able to configure clocks
+        let rcc = dp.RCC.constrain();
+
+        // Configure the system clocks 25 MHz must be used for HSE
+        // on the Blackpill-STM32F411CE board according to manual
+        let clocks = rcc.cfgr.use_hse(25.MHz()).freeze();
+
+        let mut delay = dp.TIM1.delay_ms(&clocks);
+
+        // Configure the LED pin as a push pull output and obtain handle
+        // On the Blackpill STM32F411CEU6 there is an on-board LED connected to pin PC13
+        // Promote the GPIOC PAC struct
+        let gpioc = dp.GPIOC.split();
+        let led = gpioc.pc13.into_push_pull_output();
+
+        // Configure the button pin as input and obtain handle
+        // On the Blackpill STM32F411CEU6 there is a button connected to pin PA0
+        // Promote the GPIOB PAC struct
+        let gpiob = dp.GPIOB.split();
+
+        // Configure Pins connected to encoder as floating input (only if your encoder
+        // board already has pull-up resistors, use 'into_pull_up_input' otherwise)
+        // and Obtain Handle.
+        let enc_1_a = gpiob.pb12.into_floating_input();
+        let enc_1_b = gpiob.pb13.into_floating_input();
+
+        // Instantiate RotaryEncoder struct
+        let encoder_1 = RotaryEncoder::new(enc_1_a, enc_1_b).into_standard_mode();
+
+        // Instantiate Knob struct to hold 'encoder_1' and its current value
+        let knob_1 = Knob::new(encoder_1);
+
+        // Instantiate TIM2 that will be used to poll the encoders
+        let tim2_timer = Timer2::new(dp.TIM2, &clocks);
+        let mut tim2_timer = tim2_timer.counter_hz();
+
+        // Get SDA and SCL pins for I2C1
+        let sda = gpiob.pb7;
+        let scl = gpiob.pb6;
+
+        // Instantiate I2C1 bus that will be used to communicate with the
+        // LCD display.
+        let i2c = I2c::new(
+            dp.I2C1,
+            (scl, sda),
+            Mode::Standard {
+                frequency: 400.kHz(),
+            },
+            &clocks,
+        );
+
+        let mut lcd = HD44780::new_i2c(i2c, LCD_I2C_ADDRESS, &mut delay).expect("Init LCD failed");
+
+        let _ = lcd.reset(&mut delay);
+        let _ = lcd.clear(&mut delay);
+        let _ = lcd.set_display_mode(
+            DisplayMode {
+                display: Display::On,
+                cursor_visibility: Cursor::Invisible,
+                cursor_blink: CursorBlink::Off,
+            },
+            &mut delay,
+        );
+        let _ = lcd.set_cursor_pos(57, &mut delay);
+        let _ = lcd.write_str("RTIC + I2C + Encoder", &mut delay);
+        delay.delay_ms(1500);
+
+        let _ = lcd.clear(&mut delay);
+        let _ = lcd.set_cursor_pos(68, &mut delay);
+        let _ = lcd.write_str("Encoder 1", &mut delay);
+
+        // Start the timer at 2 kHz
+        tim2_timer.start(2000.Hz()).unwrap();
+
+        // Generate an interrupt when the timer expires
+        tim2_timer.listen(Event::Update);
+
+        (
+            // Initialization of shared resources.
+            Shared { delay, lcd },
+            // Initialization of task local resources
+            Local {
+                led,
+                tim2_timer,
+                knob_1,
+            },
+        )
+    }
+
+    // Background task, runs whenever no other tasks are running
+    #[idle(shared = [])]
+    fn idle(mut _ctx: idle::Context) -> ! {
+        loop {}
+    }
+
+    // Handle the IRQ generated when the TIM2 times out
+    #[task(binds = TIM2, local=[led, tim2_timer, knob_1], shared=[lcd, delay])]
+    fn tim2_timeout_interrupt_handler(mut ctx: tim2_timeout_interrupt_handler::Context) {
+        ctx.local.tim2_timer.clear_all_flags();
+        let led = &mut ctx.local.led;
+        led.toggle();
+
+        //Obtain 2 shared resources: lcd and delay.
+        let delay = &mut ctx.shared.delay;
+        let lcd = &mut ctx.shared.lcd;
+
+        // Update the encoder, which will compute and return its direction
+        match ctx.local.knob_1.rotary_encoder.update() {
+            Direction::Clockwise => {
+                if ctx.local.knob_1.value < 255 {
+                    ctx.local.knob_1.value += 1;
+                    defmt::info!("Going UP! {:?}", ctx.local.knob_1.value);
+                    let current_value = ctx.local.knob_1.value;
+                    (delay, lcd).lock(|delay, lcd| {
+                        //Move cursor to the middle of the third line and update value
+                        let _ = lcd.set_cursor_pos(27, delay);
+                        let _ = lcd.write_bytes(&u8_to_str(current_value), delay);
+                    })
+                }
+            }
+            Direction::Anticlockwise => {
+                if ctx.local.knob_1.value > 0 {
+                    ctx.local.knob_1.value -= 1;
+                    defmt::info!("Going DN! {:?}", ctx.local.knob_1.value);
+                    let current_value = ctx.local.knob_1.value;
+                    (delay, lcd).lock(|delay, lcd| {
+                        //Move cursor to the middle of the third line and update value
+                        let _ = lcd.set_cursor_pos(27, delay);
+                        let _ = lcd.write_bytes(&u8_to_str(current_value), delay);
+                    })
+                }
+            }
+            Direction::None => {
+                // Do nothing
+            }
+        }
+    }
+
+    // This auxiliary function is in charge of converting a u8 number into
+    // a 3-char string representation without doing memory allocation.
+    // 0  is represented as "000"
+    // 84 is represented as "084"
+    fn u8_to_str(n: u8) -> [u8; 3] {
+        let mut buffer = [b'0'; 3]; // Initialize the buffer with '0'
+        let mut num = n;
+        let mut i = 2;
+
+        // Fill the buffer with digits from the end to the start
+        loop {
+            buffer[i] = (num % 10) + b'0';
+            num /= 10;
+            if num == 0 {
+                break;
+            }
+            i -= 1;
+        }
+
+        buffer
+    }
+}