Robin Mueller
935ee9dbb1
Changed: - Move most library components to new [`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs) which is mostly re-exported in this crate. - Overhaul and simplification of several HAL APIs. The system configuration and IRQ router peripheral instance generally does not need to be passed to HAL API anymore. - All HAL drivers are now type erased. The constructors will still expect and consume the PAC singleton component for resource management purposes, but are not cached anymore. - Refactoring of GPIO library to be more inline with embassy GPIO API. Added: - I2C clock timeout feature support.
101 lines
3.3 KiB
Rust
101 lines
3.3 KiB
Rust
//! Example code for the PEB1 development board accelerometer.
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#![no_main]
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#![no_std]
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// Import panic provider.
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use panic_probe as _;
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// Import logger.
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use defmt_rtt as _;
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use accelerometer::{Accelerometer, RawAccelerometer};
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use cortex_m_rt::entry;
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use embedded_hal::delay::DelayNs;
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use simple_examples::peb1;
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use va416xx_hal::{
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clock::ClockConfigurator,
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i2c,
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pac::{self},
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prelude::*,
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timer::CountdownTimer,
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};
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use vorago_peb1::lis2dh12::{self, detect_i2c_addr, FullScale, Odr};
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pub enum DisplayMode {
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Raw,
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Normalized,
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}
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const DISPLAY_MODE: DisplayMode = DisplayMode::Normalized;
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#[entry]
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fn main() -> ! {
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let mut dp = pac::Peripherals::take().unwrap();
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defmt::println!("-- Vorago PEB1 accelerometer example --");
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// Use the external clock connected to XTAL_N.
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let clocks = ClockConfigurator::new(dp.clkgen)
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.xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
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.freeze()
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.unwrap();
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let mut i2c_master = i2c::I2cMaster::new(
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dp.i2c0,
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&clocks,
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i2c::MasterConfig::default(),
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i2c::I2cSpeed::Regular100khz,
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)
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.expect("creating I2C master failed");
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let mut delay_provider = CountdownTimer::new(dp.tim1, &clocks);
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// Detect the I2C address of the accelerometer by scanning all possible values.
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let slave_addr = detect_i2c_addr(&mut i2c_master).expect("detecting I2C address failed");
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// Create the accelerometer driver using the PEB1 BSP.
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let mut accelerometer = vorago_peb1::accelerometer::new_with_i2cm(i2c_master, slave_addr)
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.expect("creating accelerometer driver failed");
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let device_id = accelerometer.get_device_id().unwrap();
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accelerometer
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.set_mode(lis2dh12::Mode::Normal)
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.expect("setting mode failed");
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accelerometer
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.set_odr(Odr::Hz100)
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.expect("setting ODR failed");
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accelerometer
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.set_fs(FullScale::G4)
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.expect("setting full scale failed");
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// This function also enabled BDU.
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accelerometer
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.enable_temp(true)
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.expect("enabling temperature sensor failed");
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defmt::info!("Device ID: 0x{:02X}", device_id);
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// Start reading the accelerometer periodically.
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loop {
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let temperature = accelerometer
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.get_temp_outf()
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.expect("reading temperature failed");
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match DISPLAY_MODE {
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DisplayMode::Normalized => {
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let value = accelerometer
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.accel_norm()
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.expect("reading normalized accelerometer data failed");
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defmt::info!(
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"Accel Norm F32x3 {{ x: {:05}, y: {:05}, z:{:05}}} | Temp {} °C",
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value.x,
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value.y,
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value.z,
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temperature
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);
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}
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DisplayMode::Raw => {
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let value_raw = accelerometer
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.accel_raw()
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.expect("reading raw accelerometer data failed");
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defmt::info!(
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"Accel Raw I32x3 {{ x: {:05}, y: {:05}, z:{:05}}} | Temp {} °C",
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value_raw.x,
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value_raw.y,
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value_raw.z,
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temperature
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);
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}
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}
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delay_provider.delay_ms(100);
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}
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}
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