245 lines
8.6 KiB
Rust
245 lines
8.6 KiB
Rust
//! STM32F4DISCOVERY demo application
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//!
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//! This demo application sports a serial command-interface for controlling what the LED
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//! ring does: cycle clock-wise, counter clock-wise, or follow the accelerometer.
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#![deny(unsafe_code)]
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#![deny(warnings)]
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#![no_main]
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#![no_std]
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mod led_ring;
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use crate::led_ring::{Led, LedRing};
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use core::fmt::Write;
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use cortex_m_semihosting::hprintln;
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use hal::{
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block,
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gpio::{Alternate, Edge, ExtiPin, Floating, Input, Output, PushPull, AF5},
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prelude::*,
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serial::{self, config::Config as SerialConfig, Serial},
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spi::{Mode, Phase, Polarity, Spi},
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stm32::{EXTI, SPI1, USART2},
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};
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use heapless::{consts::U8, Vec};
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#[cfg(not(test))]
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use panic_semihosting as _;
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use rtfm::app;
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type Accelerometer = hal::spi::Spi<SPI1, (Spi1Sck, Spi1Miso, Spi1Mosi)>;
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type AccelerometerCs = hal::gpio::gpioe::PE3<Output<PushPull>>;
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type SerialTx = hal::serial::Tx<USART2>;
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type SerialRx = hal::serial::Rx<USART2>;
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type Spi1Sck = hal::gpio::gpioa::PA5<Alternate<AF5>>;
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type Spi1Miso = hal::gpio::gpioa::PA6<Alternate<AF5>>;
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type Spi1Mosi = hal::gpio::gpioa::PA7<Alternate<AF5>>;
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type UserButton = hal::gpio::gpioa::PA0<Input<Floating>>;
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#[app(device = hal::stm32)]
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const APP: () = {
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static mut button: UserButton = ();
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static mut buffer: Vec<u8, U8> = ();
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static mut led_ring: LedRing = ();
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static mut exti: EXTI = ();
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static mut serial_rx: SerialRx = ();
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static mut serial_tx: SerialTx = ();
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static mut accel: Accelerometer = ();
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static mut accel_cs: AccelerometerCs = ();
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/// Initializes the application by setting up the LED ring, user button, serial
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/// interface and accelerometer.
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#[init(spawn = [accel_leds, cycle_leds])]
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fn init() -> init::LateResources {
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// Set up the LED ring and spawn the task corresponding to the mode.
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let gpiod = device.GPIOD.split();
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let leds = [
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gpiod.pd12.into_push_pull_output().downgrade(),
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gpiod.pd13.into_push_pull_output().downgrade(),
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gpiod.pd14.into_push_pull_output().downgrade(),
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gpiod.pd15.into_push_pull_output().downgrade(),
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];
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let led_ring = LedRing::from(leds);
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if led_ring.is_mode_cycle() {
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spawn.cycle_leds().unwrap();
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} else if led_ring.is_mode_accel() {
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spawn.accel_leds().unwrap();
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}
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// Set up the EXTI0 interrupt for the user button.
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let mut exti = device.EXTI;
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let gpioa = device.GPIOA.split();
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let mut button = gpioa.pa0.into_floating_input();
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button.enable_interrupt(&mut exti);
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button.trigger_on_edge(&mut exti, Edge::RISING);
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// Set up the serial interface and the USART2 interrupt.
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let tx = gpioa.pa2.into_alternate_af7();
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let rx = gpioa.pa3.into_alternate_af7();
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let config = SerialConfig::default().baudrate(115_200.bps());
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let rcc = device.RCC.constrain();
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let clocks = rcc.cfgr.freeze();
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let mut serial = Serial::usart2(device.USART2, (tx, rx), config, clocks).unwrap();
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serial.listen(serial::Event::Rxne);
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let (mut serial_tx, serial_rx) = serial.split();
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// Set up the serial interface command buffer.
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let buffer = Vec::new();
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// Set up the accelerometer.
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let sck = gpioa.pa5.into_alternate_af5();
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let miso = gpioa.pa6.into_alternate_af5();
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let mosi = gpioa.pa7.into_alternate_af5();
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let mode = Mode {
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polarity: Polarity::IdleHigh,
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phase: Phase::CaptureOnSecondTransition,
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};
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let mut accel = Spi::spi1(device.SPI1, (sck, miso, mosi), mode, 100.hz(), clocks);
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let gpioe = device.GPIOE.split();
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let mut accel_cs = gpioe.pe3.into_push_pull_output();
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// Initialize the accelerometer.
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accel_cs.set_low();
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let _ = accel.transfer(&mut [0x20, 0b01000111]).unwrap();
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accel_cs.set_high();
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// Output to the serial interface that initialisation is finished.
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writeln!(serial_tx, "init\r").unwrap();
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init::LateResources {
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button,
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buffer,
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exti,
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led_ring,
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serial_tx,
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serial_rx,
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accel,
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accel_cs,
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}
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}
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/// Task that advances the LED ring one step and schedules the next trigger (if enabled).
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#[task(schedule = [cycle_leds], resources = [led_ring])]
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fn cycle_leds() {
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resources.led_ring.lock(|led_ring| {
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if led_ring.is_mode_cycle() {
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led_ring.advance();
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schedule
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.cycle_leds(scheduled + LedRing::PERIOD.cycles())
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.unwrap();
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}
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});
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}
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/// Task that performs an accelerometers measurement and adjusts the LED ring accordingly
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/// and schedules the next trigger (if enabled).
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#[task(schedule = [accel_leds], resources = [accel, accel_cs, led_ring, serial_tx])]
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fn accel_leds() {
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resources.accel_cs.set_low();
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let read_command = (1 << 7) | (1 << 6) | 0x29;
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let mut commands = [read_command, 0x0, 0x0, 0x0];
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let result = resources.accel.transfer(&mut commands[..]).unwrap();
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let acc_x = result[1] as i8;
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let acc_y = result[3] as i8;
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resources.accel_cs.set_high();
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if acc_x == 0 && acc_y == 0 {
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resources
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.serial_tx
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.lock(|serial_tx| writeln!(serial_tx, "level\r").unwrap());
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}
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resources.led_ring.lock(|led_ring| {
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if led_ring.is_mode_accel() {
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let directions = [acc_y < 0, acc_x < 0, acc_y > 0, acc_x > 0];
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led_ring.specific_on(directions);
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schedule
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.accel_leds(scheduled + LedRing::PERIOD.cycles())
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.unwrap();
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}
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})
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}
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/// Interrupt handler that writes that the button is pressed to the serial interface
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/// and reverses the LED ring cycle direction.
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#[interrupt(binds = EXTI0, resources = [button, exti, led_ring, serial_tx])]
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fn button_pressed() {
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resources.led_ring.lock(|led_ring| led_ring.reverse());
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// Write the fact that the button has been pressed to the serial port.
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resources
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.serial_tx
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.lock(|serial_tx| writeln!(serial_tx, "button\r").unwrap());
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resources.button.clear_interrupt_pending_bit(resources.exti);
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}
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/// Interrupt handler that reads data from the serial connection and handles commands
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/// once an appropriate command is in the buffer.
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#[interrupt(
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binds = USART2,
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priority = 2,
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resources = [buffer, led_ring, serial_rx, serial_tx],
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spawn = [accel_leds, cycle_leds]
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)]
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fn handle_serial() {
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let buffer = resources.buffer;
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// Read a byte from the serial port and write it back.
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let byte = resources.serial_rx.read().unwrap();
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block!(resources.serial_tx.write(byte)).unwrap();
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//hprintln!("serial: {}", byte).unwrap();
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// Handle the command in the buffer for newline or backspace, otherwise append to the
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// buffer.
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if byte == b'\r' {
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block!(resources.serial_tx.write(b'\n')).unwrap();
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match &buffer[..] {
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b"flip" => {
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resources.led_ring.reverse();
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}
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b"stop" => {
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resources.led_ring.disable();
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}
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b"cycle" => {
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resources.led_ring.enable_cycle();
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spawn.cycle_leds().unwrap();
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}
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b"accel" => {
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resources.led_ring.enable_accel();
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spawn.accel_leds().unwrap();
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}
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b"off" => {
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resources.led_ring.disable();
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resources.led_ring.all_off();
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}
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b"on" => {
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resources.led_ring.disable();
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resources.led_ring.all_on();
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}
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_ => {
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writeln!(resources.serial_tx, "?\r").unwrap();
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}
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}
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buffer.clear();
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} else if byte == 0x7F {
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buffer.pop();
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block!(resources.serial_tx.write(b'\r')).unwrap();
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for byte in buffer {
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block!(resources.serial_tx.write(*byte)).unwrap();
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}
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} else {
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if buffer.push(byte).is_err() {
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hprintln!("Serial read buffer full!").unwrap();
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}
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}
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//hprintln!("buffer: {:?}", buffer).unwrap();
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}
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extern "C" {
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fn TIM2();
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fn TIM3();
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}
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};
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