245 lines
8.7 KiB
Rust
245 lines
8.7 KiB
Rust
//! STM32F4DISCOVERY demo application
|
|
//!
|
|
//! This demo application sports a serial command-interface for controlling what the LED
|
|
//! ring does: cycle clock-wise, counter clock-wise, or follow the accelerometer.
|
|
|
|
#![deny(unsafe_code)]
|
|
#![no_main]
|
|
#![no_std]
|
|
|
|
use core::fmt::Write;
|
|
|
|
use cortex_m_semihosting::hprintln;
|
|
use hal::{
|
|
block,
|
|
gpio::{Alternate, Edge, ExtiPin, Floating, Input, Output, PushPull, AF5},
|
|
prelude::*,
|
|
serial::{self, config::Config as SerialConfig, Serial},
|
|
spi::{Mode, Phase, Polarity, Spi},
|
|
stm32::{EXTI, SPI1, USART2},
|
|
};
|
|
use heapless::{consts::U8, Vec};
|
|
#[cfg(not(test))]
|
|
use panic_semihosting as _;
|
|
use rtfm::app;
|
|
use stm32f4disc_demo::led_ring::LedRing;
|
|
|
|
type Accelerometer = hal::spi::Spi<SPI1, (Spi1Sck, Spi1Miso, Spi1Mosi)>;
|
|
type AccelerometerCs = hal::gpio::gpioe::PE3<Output<PushPull>>;
|
|
type Led = hal::gpio::gpiod::PD<Output<PushPull>>;
|
|
type SerialTx = hal::serial::Tx<USART2>;
|
|
type SerialRx = hal::serial::Rx<USART2>;
|
|
type Spi1Sck = hal::gpio::gpioa::PA5<Alternate<AF5>>;
|
|
type Spi1Miso = hal::gpio::gpioa::PA6<Alternate<AF5>>;
|
|
type Spi1Mosi = hal::gpio::gpioa::PA7<Alternate<AF5>>;
|
|
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)]
|
|
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 = ();
|
|
|
|
/// 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 {
|
|
// Set up the LED ring and spawn the task corresponding to the mode.
|
|
let gpiod = device.GPIOD.split();
|
|
let leds = [
|
|
gpiod.pd12.into_push_pull_output().downgrade(),
|
|
gpiod.pd13.into_push_pull_output().downgrade(),
|
|
gpiod.pd14.into_push_pull_output().downgrade(),
|
|
gpiod.pd15.into_push_pull_output().downgrade(),
|
|
];
|
|
let led_ring = LedRing::from(leds);
|
|
if led_ring.is_mode_cycle() {
|
|
spawn.cycle_leds().unwrap();
|
|
} else if led_ring.is_mode_accel() {
|
|
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 button = gpioa.pa0.into_floating_input();
|
|
button.enable_interrupt(&mut exti_cntr);
|
|
button.trigger_on_edge(&mut exti_cntr, Edge::RISING);
|
|
|
|
// Set up the serial interface and the USART2 interrupt.
|
|
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 clocks = rcc.cfgr.freeze();
|
|
let mut serial = Serial::usart2(device.USART2, (tx, rx), config, clocks).unwrap();
|
|
serial.listen(serial::Event::Rxne);
|
|
let (mut serial_tx, serial_rx) = serial.split();
|
|
|
|
// Set up the serial interface command buffer.
|
|
let buffer = Vec::new();
|
|
|
|
// Set up the accelerometer.
|
|
let sck = gpioa.pa5.into_alternate_af5();
|
|
let miso = gpioa.pa6.into_alternate_af5();
|
|
let mosi = gpioa.pa7.into_alternate_af5();
|
|
let mode = Mode {
|
|
polarity: Polarity::IdleHigh,
|
|
phase: Phase::CaptureOnSecondTransition,
|
|
};
|
|
let mut accel = Spi::spi1(device.SPI1, (sck, miso, mosi), mode, 100.hz(), clocks);
|
|
|
|
let gpioe = device.GPIOE.split();
|
|
let mut accel_cs = gpioe.pe3.into_push_pull_output();
|
|
|
|
// Initialize the accelerometer.
|
|
accel_cs.set_low();
|
|
let _ = accel.transfer(&mut [0x20, 0b01000111]).unwrap();
|
|
accel_cs.set_high();
|
|
|
|
// Output to the serial interface that initialisation is finished.
|
|
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,
|
|
}
|
|
}
|
|
|
|
/// 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| {
|
|
if led_ring.is_mode_cycle() {
|
|
led_ring.advance();
|
|
schedule.cycle_leds(scheduled + 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();
|
|
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 acc_x = result[1] as i8;
|
|
let acc_y = result[3] as i8;
|
|
resources.ACCEL_CS.set_high();
|
|
|
|
if acc_x == 0 && acc_y == 0 {
|
|
resources
|
|
.SERIAL_TX
|
|
.lock(|serial_tx| writeln!(serial_tx, "level\r").unwrap());
|
|
}
|
|
|
|
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();
|
|
}
|
|
})
|
|
}
|
|
|
|
/// 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());
|
|
|
|
// Write the fact that the button has been pressed to the serial port.
|
|
resources
|
|
.SERIAL_TX
|
|
.lock(|serial_tx| writeln!(serial_tx, "button\r").unwrap());
|
|
|
|
resources
|
|
.BUTTON
|
|
.clear_interrupt_pending_bit(resources.EXTI_CNTR);
|
|
}
|
|
|
|
/// Interrupt handler that reads data from the serial connection and handles commands
|
|
/// once an appropriate command is in the buffer.
|
|
#[interrupt(
|
|
binds = USART2,
|
|
priority = 2,
|
|
resources = [BUFFER, LED_RING, SERIAL_RX, SERIAL_TX],
|
|
spawn = [accel_leds, cycle_leds]
|
|
)]
|
|
fn handle_serial() {
|
|
let buffer = 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();
|
|
//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();
|
|
match &buffer[..] {
|
|
b"flip" => {
|
|
resources.LED_RING.reverse();
|
|
}
|
|
b"stop" => {
|
|
resources.LED_RING.disable();
|
|
}
|
|
b"cycle" => {
|
|
resources.LED_RING.enable_cycle();
|
|
spawn.cycle_leds().unwrap();
|
|
}
|
|
b"accel" => {
|
|
resources.LED_RING.enable_accel();
|
|
spawn.accel_leds().unwrap();
|
|
}
|
|
b"off" => {
|
|
resources.LED_RING.disable();
|
|
resources.LED_RING.all_off();
|
|
}
|
|
b"on" => {
|
|
resources.LED_RING.disable();
|
|
resources.LED_RING.all_on();
|
|
}
|
|
_ => {
|
|
writeln!(resources.SERIAL_TX, "?\r").unwrap();
|
|
}
|
|
}
|
|
|
|
buffer.clear();
|
|
} else if byte == 0x7F {
|
|
buffer.pop();
|
|
block!(resources.SERIAL_TX.write(b'\r')).unwrap();
|
|
for byte in buffer {
|
|
block!(resources.SERIAL_TX.write(*byte)).unwrap();
|
|
}
|
|
} else {
|
|
if buffer.push(byte).is_err() {
|
|
hprintln!("Serial read buffer full!").unwrap();
|
|
}
|
|
}
|
|
//hprintln!("buffer: {:?}", buffer).unwrap();
|
|
}
|
|
|
|
extern "C" {
|
|
fn TIM2();
|
|
fn TIM3();
|
|
}
|
|
};
|