230 lines
7.7 KiB
Rust
230 lines
7.7 KiB
Rust
#![deny(unsafe_code)]
|
|
#![deny(warnings)]
|
|
#![no_main]
|
|
#![no_std]
|
|
|
|
extern crate panic_semihosting;
|
|
|
|
mod led;
|
|
|
|
use crate::led::{Led, LedRing};
|
|
use core::fmt::Write;
|
|
use cortex_m_semihosting::hprintln;
|
|
use hal::block;
|
|
use hal::gpio::{Alternate, Edge, ExtiPin, Floating, Input, Output, PushPull, AF5};
|
|
use hal::prelude::*;
|
|
use hal::serial::{self, config::Config as SerialConfig, Serial};
|
|
use hal::spi::{Mode, Phase, Polarity, Spi};
|
|
use hal::stm32::{EXTI, SPI1, USART2};
|
|
use heapless::consts::U8;
|
|
use heapless::Vec;
|
|
use rtfm::app;
|
|
|
|
type Accelerometer = hal::spi::Spi<SPI1, (Spi1Sck, Spi1Miso, Spi1Mosi)>;
|
|
type AccelerometerCs = hal::gpio::gpioe::PE3<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>>;
|
|
|
|
#[app(device = hal::stm32)]
|
|
const APP: () = {
|
|
static mut button: UserButton = ();
|
|
static mut buffer: Vec<u8, U8> = ();
|
|
static mut led_ring: LedRing = ();
|
|
static mut exti: EXTI = ();
|
|
static mut serial_rx: SerialRx = ();
|
|
static mut serial_tx: SerialTx = ();
|
|
static mut accel: Accelerometer = ();
|
|
static mut accel_cs: AccelerometerCs = ();
|
|
|
|
#[init(spawn = [accel_leds, cycle_leds])]
|
|
fn init() -> init::LateResources {
|
|
// Set up the LED ring and spawn the LEDs switch task.
|
|
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 = device.EXTI;
|
|
let gpioa = device.GPIOA.split();
|
|
let mut button = gpioa.pa0.into_floating_input();
|
|
button.enable_interrupt(&mut exti);
|
|
button.trigger_on_edge(&mut exti, 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 {
|
|
button,
|
|
buffer,
|
|
exti,
|
|
led_ring,
|
|
serial_tx,
|
|
serial_rx,
|
|
accel,
|
|
accel_cs,
|
|
}
|
|
}
|
|
|
|
#[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 + LedRing::PERIOD.cycles())
|
|
.unwrap();
|
|
}
|
|
});
|
|
}
|
|
|
|
#[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.set_directions(directions);
|
|
schedule.accel_leds(scheduled + LedRing::PERIOD.cycles()).unwrap();
|
|
}
|
|
})
|
|
}
|
|
|
|
#[interrupt(binds = EXTI0, resources = [button, exti, 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);
|
|
}
|
|
|
|
#[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();
|
|
}
|
|
};
|