Robin Mueller
5d1740efea
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Monorepo for Rust support of VA416XX family of radiation hardened MCUs
89 lines
3.0 KiB
Rust
89 lines
3.0 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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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 panic_rtt_target as _;
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use rtt_target::{rprintln, rtt_init_print};
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use simple_examples::peb1;
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use va416xx_hal::{
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i2c,
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pac::{self},
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prelude::*,
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pwm::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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rtt_init_print!();
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let mut dp = pac::Peripherals::take().unwrap();
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rprintln!("-- Vorago PEB1 accelerometer example --");
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// Use the external clock connected to XTAL_N.
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let clocks = dp
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.clkgen
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.constrain()
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.xtal_n_clk_with_src_freq(peb1::EXTCLK_FREQ)
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.freeze(&mut dp.sysconfig)
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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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&mut dp.sysconfig,
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i2c::MasterConfig::default(),
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&clocks,
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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(&mut dp.sysconfig, 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::reg::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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rprintln!("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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rprintln!("Accel Norm F32x3: {:.06?} | Temp {} °C", value, temperature);
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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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rprintln!("Accel Raw F32x3: {:?} | Temp {} °C", value_raw, temperature);
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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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