paul
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stm32f4disc-demo
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Port example to RTFM version 0.5 

See https://rtfm.rs/0.5/book/en/migration.html for the migration guide.

Additional changes:
* Turned all resources into snake case (as they are struct fields now)
* Set up and enable the cycle counter (CYCCNT) for scheduling
This commit is contained in:
Paul van Tilburg 2019-12-20 12:40:38 +01:00
parent 8b7d68e41c
commit 39e043b9e9
Signed by: paul
GPG Key ID: C6DE073EDA9EEC4D
2 changed files with 93 additions and 71 deletions
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3
Cargo.toml
View File

@ -16,8 +16,7 @@ heapless = "0.4.2"
panic-semihosting = "0.5.1"
[dependencies.cortex-m-rtfm]
version = "0.4.2"
features = ["timer-queue"]
version = "0.5.0"
[dependencies.hal]
package = "stm32f4xx-hal"

161
src/main.rs
View File

@ -22,6 +22,7 @@ use heapless::{consts::U8, Vec};
#[cfg(not(test))]
use panic_semihosting as _;
use rtfm::app;
use rtfm::cyccnt::{Instant, U32Ext};
use stm32f4disc_demo::led_ring::LedRing;
type Accelerometer = hal::spi::Spi<SPI1, (Spi1Sck, Spi1Miso, Spi1Mosi)>;
@ -37,23 +38,29 @@ type UserButton = hal::gpio::gpioa::PA0<Input<Floating>>;
/// The number of cycles between LED ring updates (used by tasks).
const PERIOD: u32 = 8_000_000;
#[app(device = hal::stm32)]
#[app(device = hal::stm32, monotonic = rtfm::cyccnt::CYCCNT, peripherals = true)]
const APP: () = {
static mut ACCEL: Accelerometer = ();
static mut ACCEL_CS: AccelerometerCs = ();
static mut BUFFER: Vec<u8, U8> = ();
static mut BUTTON: UserButton = ();
static mut EXTI_CNTR: EXTI = ();
static mut LED_RING: LedRing<Led> = ();
static mut SERIAL_RX: SerialRx = ();
static mut SERIAL_TX: SerialTx = ();
struct Resources {
accel: Accelerometer,
accel_cs: AccelerometerCs,
buffer: Vec<u8, U8>,
button: UserButton,
exit_cntr: EXTI,
led_ring: LedRing<Led>,
serial_rx: SerialRx,
serial_tx: SerialTx,
}
/// Initializes the application by setting up the LED ring, user button, serial
/// interface and accelerometer.
#[init(spawn = [accel_leds, cycle_leds])]
fn init() -> init::LateResources {
fn init(mut cx: init::Context) -> init::LateResources {
// Set up and enable the monotonic timer.
cx.core.DCB.enable_trace();
cx.core.DWT.enable_cycle_counter();
// Set up the LED ring and spawn the task corresponding to the mode.
let gpiod = device.GPIOD.split();
let gpiod = cx.device.GPIOD.split();
let leds = [
gpiod.pd12.into_push_pull_output().downgrade(),
gpiod.pd13.into_push_pull_output().downgrade(),
@ -62,14 +69,14 @@ const APP: () = {
];
let led_ring = LedRing::from(leds);
if led_ring.is_mode_cycle() {
spawn.cycle_leds().unwrap();
cx.spawn.cycle_leds().unwrap();
} else if led_ring.is_mode_accel() {
spawn.accel_leds().unwrap();
cx.spawn.accel_leds().unwrap();
}
// Set up the EXTI0 interrupt for the user button.
let mut exti_cntr = device.EXTI;
let gpioa = device.GPIOA.split();
let mut exti_cntr = cx.device.EXTI;
let gpioa = cx.device.GPIOA.split();
let mut button = gpioa.pa0.into_floating_input();
button.enable_interrupt(&mut exti_cntr);
button.trigger_on_edge(&mut exti_cntr, Edge::RISING);
@ -78,9 +85,9 @@ const APP: () = {
let tx = gpioa.pa2.into_alternate_af7();
let rx = gpioa.pa3.into_alternate_af7();
let config = SerialConfig::default().baudrate(115_200.bps());
let rcc = device.RCC.constrain();
let rcc = cx.device.RCC.constrain();
let clocks = rcc.cfgr.freeze();
let mut serial = Serial::usart2(device.USART2, (tx, rx), config, clocks).unwrap();
let mut serial = Serial::usart2(cx.device.USART2, (tx, rx), config, clocks).unwrap();
serial.listen(serial::Event::Rxne);
let (mut serial_tx, serial_rx) = serial.split();
@ -95,9 +102,9 @@ const APP: () = {
polarity: Polarity::IdleHigh,
phase: Phase::CaptureOnSecondTransition,
};
let mut accel = Spi::spi1(device.SPI1, (sck, miso, mosi), mode, 100.hz(), clocks);
let mut accel = Spi::spi1(cx.device.SPI1, (sck, miso, mosi), mode, 100.hz(), clocks);
let gpioe = device.GPIOE.split();
let gpioe = cx.device.GPIOE.split();
let mut accel_cs = gpioe.pe3.into_push_pull_output();
// Initialize the accelerometer.
@ -109,125 +116,141 @@ const APP: () = {
writeln!(serial_tx, "init\r").unwrap();
init::LateResources {
ACCEL: accel,
ACCEL_CS: accel_cs,
BUFFER: buffer,
BUTTON: button,
EXTI_CNTR: exti_cntr,
LED_RING: led_ring,
SERIAL_RX: serial_rx,
SERIAL_TX: serial_tx,
accel: accel,
accel_cs: accel_cs,
buffer: buffer,
button: button,
exit_cntr: exti_cntr,
led_ring: led_ring,
serial_rx: serial_rx,
serial_tx: serial_tx,
}
}
/// Task that advances the LED ring one step and schedules the next trigger (if enabled).
#[task(schedule = [cycle_leds], resources = [LED_RING])]
fn cycle_leds() {
resources.LED_RING.lock(|led_ring| {
#[task(schedule = [cycle_leds], resources = [led_ring])]
fn cycle_leds(mut cx: cycle_leds::Context) {
let reschedule = cx.resources.led_ring.lock(|led_ring| {
if led_ring.is_mode_cycle() {
led_ring.advance();
schedule.cycle_leds(scheduled + PERIOD.cycles()).unwrap();
true
} else {
false
}
});
if reschedule {
cx.schedule
.cycle_leds(Instant::now() + PERIOD.cycles())
.unwrap();
}
}
/// Task that performs an accelerometers measurement and adjusts the LED ring accordingly
/// and schedules the next trigger (if enabled).
#[task(schedule = [accel_leds], resources = [ACCEL, ACCEL_CS, LED_RING, SERIAL_TX])]
fn accel_leds() {
resources.ACCEL_CS.set_low();
#[task(schedule = [accel_leds], resources = [accel, accel_cs, led_ring, serial_tx])]
fn accel_leds(mut cx: accel_leds::Context) {
cx.resources.accel_cs.set_low();
let read_command = (1 << 7) | (1 << 6) | 0x29;
let mut commands = [read_command, 0x0, 0x0, 0x0];
let result = resources.ACCEL.transfer(&mut commands[..]).unwrap();
let result = cx.resources.accel.transfer(&mut commands[..]).unwrap();
let acc_x = result[1] as i8;
let acc_y = result[3] as i8;
resources.ACCEL_CS.set_high();
cx.resources.accel_cs.set_high();
if acc_x == 0 && acc_y == 0 {
resources
.SERIAL_TX
cx.resources
.serial_tx
.lock(|serial_tx| writeln!(serial_tx, "level\r").unwrap());
}
resources.LED_RING.lock(|led_ring| {
let reschedule = cx.resources.led_ring.lock(|led_ring| {
if led_ring.is_mode_accel() {
let directions = [acc_y < 0, acc_x < 0, acc_y > 0, acc_x > 0];
led_ring.specific_on(directions);
schedule.accel_leds(scheduled + PERIOD.cycles()).unwrap();
true
} else {
false
}
})
});
if reschedule {
cx.schedule
.accel_leds(Instant::now() + PERIOD.cycles())
.unwrap();
}
}
/// Interrupt handler that writes that the button is pressed to the serial interface
/// and reverses the LED ring cycle direction.
#[interrupt(binds = EXTI0, resources = [BUTTON, EXTI_CNTR, LED_RING, SERIAL_TX])]
fn button_pressed() {
resources.LED_RING.lock(|led_ring| led_ring.reverse());
#[task(binds = EXTI0, resources = [button, exit_cntr, led_ring, serial_tx])]
fn button_pressed(mut cx: button_pressed::Context) {
cx.resources.led_ring.lock(|led_ring| led_ring.reverse());
// Write the fact that the button has been pressed to the serial port.
resources
.SERIAL_TX
cx.resources
.serial_tx
.lock(|serial_tx| writeln!(serial_tx, "button\r").unwrap());
resources
.BUTTON
.clear_interrupt_pending_bit(resources.EXTI_CNTR);
cx.resources
.button
.clear_interrupt_pending_bit(cx.resources.exit_cntr);
}
/// Interrupt handler that reads data from the serial connection and handles commands
/// once an appropriate command is in the buffer.
#[interrupt(
#[task(
binds = USART2,
priority = 2,
resources = [BUFFER, LED_RING, SERIAL_RX, SERIAL_TX],
resources = [buffer, led_ring, serial_rx, serial_tx],
spawn = [accel_leds, cycle_leds]
)]
fn handle_serial() {
let buffer = resources.BUFFER;
fn handle_serial(cx: handle_serial::Context) {
let buffer = cx.resources.buffer;
// Read a byte from the serial port and write it back.
let byte = resources.SERIAL_RX.read().unwrap();
block!(resources.SERIAL_TX.write(byte)).unwrap();
let byte = cx.resources.serial_rx.read().unwrap();
block!(cx.resources.serial_tx.write(byte)).unwrap();
//hprintln!("serial: {}", byte).unwrap();
// Handle the command in the buffer for newline or backspace, otherwise append to the
// buffer.
if byte == b'\r' {
block!(resources.SERIAL_TX.write(b'\n')).unwrap();
block!(cx.resources.serial_tx.write(b'\n')).unwrap();
match &buffer[..] {
b"flip" => {
resources.LED_RING.reverse();
cx.resources.led_ring.reverse();
}
b"stop" => {
resources.LED_RING.disable();
cx.resources.led_ring.disable();
}
b"cycle" => {
resources.LED_RING.enable_cycle();
spawn.cycle_leds().unwrap();
cx.resources.led_ring.enable_cycle();
cx.spawn.cycle_leds().unwrap();
}
b"accel" => {
resources.LED_RING.enable_accel();
spawn.accel_leds().unwrap();
cx.resources.led_ring.enable_accel();
cx.spawn.accel_leds().unwrap();
}
b"off" => {
resources.LED_RING.disable();
resources.LED_RING.all_off();
cx.resources.led_ring.disable();
cx.resources.led_ring.all_off();
}
b"on" => {
resources.LED_RING.disable();
resources.LED_RING.all_on();
cx.resources.led_ring.disable();
cx.resources.led_ring.all_on();
}
_ => {
writeln!(resources.SERIAL_TX, "?\r").unwrap();
writeln!(cx.resources.serial_tx, "?\r").unwrap();
}
}
buffer.clear();
} else if byte == 0x7F {
buffer.pop();
block!(resources.SERIAL_TX.write(b'\r')).unwrap();
block!(cx.resources.serial_tx.write(b'\r')).unwrap();
for byte in buffer {
block!(resources.SERIAL_TX.write(*byte)).unwrap();
block!(cx.resources.serial_tx.write(*byte)).unwrap();
}
} else {
if buffer.push(byte).is_err() {