timer, PWM and I2C module

examples/simple/examples/peb1-accelerometer.rs

@@ -0,0 +1,88 @@
+//! Example code for the PEB1 development board accelerometer.
+#![no_main]
+#![no_std]
+
+use accelerometer::{Accelerometer, RawAccelerometer};
+use cortex_m_rt::entry;
+use embedded_hal::delay::DelayNs;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use simple_examples::peb1;
+use va416xx_hal::{
+    i2c,
+    pac::{self},
+    prelude::*,
+    pwm::CountdownTimer,
+};
+use vorago_peb1::lis2dh12::{self, detect_i2c_addr, FullScale, Odr};
+
+pub enum DisplayMode {
+    Raw,
+    Normalized,
+}
+
+const DISPLAY_MODE: DisplayMode = DisplayMode::Normalized;
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    let mut dp = pac::Peripherals::take().unwrap();
+    rprintln!("-- Vorago PEB1 accelerometer example --");
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    let mut i2c_master = i2c::I2cMaster::new(
+        dp.i2c0,
+        &mut dp.sysconfig,
+        i2c::MasterConfig::default(),
+        &clocks,
+        i2c::I2cSpeed::Regular100khz,
+    )
+    .expect("creating I2C master failed");
+    let mut delay_provider = CountdownTimer::new(&mut dp.sysconfig, dp.tim1, &clocks);
+    // Detect the I2C address of the accelerometer by scanning all possible values.
+    let slave_addr = detect_i2c_addr(&mut i2c_master).expect("detecting I2C address failed");
+    // Create the accelerometer driver using the PEB1 BSP.
+    let mut accelerometer = vorago_peb1::accelerometer::new_with_i2cm(i2c_master, slave_addr)
+        .expect("creating accelerometer driver failed");
+    let device_id = accelerometer.get_device_id().unwrap();
+    accelerometer
+        .set_mode(lis2dh12::reg::Mode::Normal)
+        .expect("setting mode failed");
+    accelerometer
+        .set_odr(Odr::Hz100)
+        .expect("setting ODR failed");
+    accelerometer
+        .set_fs(FullScale::G4)
+        .expect("setting full scale failed");
+    // This function also enabled BDU.
+    accelerometer
+        .enable_temp(true)
+        .expect("enabling temperature sensor failed");
+    rprintln!("Device ID: 0x{:02X}", device_id);
+    // Start reading the accelerometer periodically.
+    loop {
+        let temperature = accelerometer
+            .get_temp_outf()
+            .expect("reading temperature failed");
+        match DISPLAY_MODE {
+            DisplayMode::Normalized => {
+                let value = accelerometer
+                    .accel_norm()
+                    .expect("reading normalized accelerometer data failed");
+                rprintln!("Accel Norm F32x3: {:.06?} | Temp {} °C", value, temperature);
+            }
+            DisplayMode::Raw => {
+                let value_raw = accelerometer
+                    .accel_raw()
+                    .expect("reading raw accelerometer data failed");
+                rprintln!("Accel Raw F32x3: {:?} | Temp {} °C", value_raw, temperature);
+            }
+        }
+        delay_provider.delay_ms(100);
+    }
+}

examples/simple/examples/pwm.rs

@@ -0,0 +1,81 @@
+//! Simple PWM example
+#![no_main]
+#![no_std]
+
+use cortex_m_rt::entry;
+use embedded_hal::{delay::DelayNs, pwm::SetDutyCycle};
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use simple_examples::peb1;
+use va416xx_hal::{
+    gpio::PinsA,
+    pac,
+    prelude::*,
+    pwm::{self, get_duty_from_percent, CountdownTimer, PwmA, PwmB, ReducedPwmPin},
+};
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    rprintln!("-- VA108xx PWM example application--");
+    let mut dp = pac::Peripherals::take().unwrap();
+
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+
+    let pinsa = PinsA::new(&mut dp.sysconfig, dp.porta);
+    let mut pwm = pwm::PwmPin::new(
+        (pinsa.pa3.into_funsel_1(), dp.tim3),
+        &mut dp.sysconfig,
+        &clocks,
+        10.Hz(),
+    );
+    let mut delay_timer = CountdownTimer::new(&mut dp.sysconfig, dp.tim0, &clocks);
+    let mut current_duty_cycle = 0.0;
+    pwm.set_duty_cycle(get_duty_from_percent(current_duty_cycle))
+        .unwrap();
+    pwm.enable();
+
+    // Delete type information, increased code readibility for the rest of the code
+    let mut reduced_pin = ReducedPwmPin::from(pwm);
+    loop {
+        let mut counter = 0;
+        // Increase duty cycle continuously
+        while current_duty_cycle < 1.0 {
+            delay_timer.delay_ms(400);
+            current_duty_cycle += 0.02;
+            counter += 1;
+            if counter % 10 == 0 {
+                rprintln!("current duty cycle: {}", current_duty_cycle);
+            }
+
+            reduced_pin
+                .set_duty_cycle(get_duty_from_percent(current_duty_cycle))
+                .unwrap();
+        }
+
+        // Switch to PWMB and decrease the window with a high signal from 100 % to 0 %
+        // continously
+        current_duty_cycle = 0.0;
+        let mut upper_limit = 1.0;
+        let mut lower_limit = 0.0;
+        let mut pwmb: ReducedPwmPin<PwmB> = ReducedPwmPin::from(reduced_pin);
+        pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
+        pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
+        while lower_limit < 0.5 {
+            delay_timer.delay_ms(400);
+            lower_limit += 0.01;
+            upper_limit -= 0.01;
+            pwmb.set_pwmb_lower_limit(get_duty_from_percent(lower_limit));
+            pwmb.set_pwmb_upper_limit(get_duty_from_percent(upper_limit));
+            rprintln!("Lower limit: {}", pwmb.pwmb_lower_limit());
+            rprintln!("Upper limit: {}", pwmb.pwmb_upper_limit());
+        }
+        reduced_pin = ReducedPwmPin::<PwmA>::from(pwmb);
+    }
+}

examples/simple/examples/spi.rs

@@ -63,7 +63,7 @@ fn main() -> ! {
     let transfer_cfg =
         TransferConfig::new_no_hw_cs(SPI_SPEED_KHZ.kHz(), SPI_MODE, BLOCKMODE, false);
     // Create SPI peripheral.
-    let mut spi0 = Spi::spi0(
+    let mut spi0 = Spi::new(
         dp.spi0,
         (sck, miso, mosi),
         &clocks,

examples/simple/examples/timer-ticks.rs

@@ -0,0 +1,68 @@
+//! MS and Second counter implemented using the TIM0 and TIM1 peripheral
+#![no_main]
+#![no_std]
+
+use core::cell::Cell;
+use cortex_m::interrupt::Mutex;
+use cortex_m_rt::entry;
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+use simple_examples::peb1;
+use va416xx_hal::{
+    pac::{self, interrupt},
+    prelude::*,
+    timer::{default_ms_irq_handler, set_up_ms_tick, CountdownTimer, MS_COUNTER},
+};
+
+#[allow(dead_code)]
+enum LibType {
+    Pac,
+    Hal,
+}
+
+static SEC_COUNTER: Mutex<Cell<u32>> = Mutex::new(Cell::new(0));
+
+#[entry]
+fn main() -> ! {
+    rtt_init_print!();
+    let mut dp = pac::Peripherals::take().unwrap();
+    let mut last_ms = 0;
+    rprintln!("-- Vorago system ticks using timers --");
+    // Use the external clock connected to XTAL_N.
+    let clocks = dp
+        .clkgen
+        .constrain()
+        .xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
+        .freeze(&mut dp.sysconfig)
+        .unwrap();
+    let _ = set_up_ms_tick(&mut dp.sysconfig, dp.tim0, &clocks);
+    let mut second_timer = CountdownTimer::new(&mut dp.sysconfig, dp.tim1, &clocks);
+    second_timer.start(1.Hz());
+    second_timer.listen();
+    loop {
+        let current_ms = cortex_m::interrupt::free(|cs| MS_COUNTER.borrow(cs).get());
+        if current_ms - last_ms >= 1000 {
+            last_ms = current_ms;
+            rprintln!("MS counter: {}", current_ms);
+            let second = cortex_m::interrupt::free(|cs| SEC_COUNTER.borrow(cs).get());
+            rprintln!("Second counter: {}", second);
+        }
+        cortex_m::asm::delay(10000);
+    }
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM0() {
+    default_ms_irq_handler()
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn TIM1() {
+    cortex_m::interrupt::free(|cs| {
+        let mut sec = SEC_COUNTER.borrow(cs).get();
+        sec += 1;
+        SEC_COUNTER.borrow(cs).set(sec);
+    });
+}

examples/simple/examples/uart.rs

@@ -32,7 +32,7 @@ fn main() -> ! {
     let tx = gpiob.pg0.into_funsel_1();
     let rx = gpiob.pg1.into_funsel_1();
 
-    let uart0 = uart::Uart::uart0(
+    let uart0 = uart::Uart::new(
         dp.uart0,
         (tx, rx),
         Hertz::from_raw(115200),