90 lines
2.4 KiB
Rust
90 lines
2.4 KiB
Rust
//! ADXL343 accelerometer example
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//!
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//! Please note that the default REB1 board is not populated with the ADXL343BCCZ-RL7.
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//! To use this example, this chip needs to be soldered onto the board.
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#![no_main]
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#![no_std]
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use cortex_m_rt::entry;
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use embedded_hal::spi;
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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 va108xx_hal::{
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gpio::PinsA,
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pac::{self, interrupt},
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prelude::*,
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spi::{Spi, SpiConfig, TransferConfig},
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timer::{default_ms_irq_handler, set_up_ms_timer, Delay},
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};
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const READ_MASK: u8 = 1 << 7;
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const _MULTI_BYTE_MASK: u8 = 1 << 6;
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const DEVID_REG: u8 = 0x00;
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const POWER_CTL_REG: u8 = 0x2D;
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const PWR_MEASUREMENT_MODE_MASK: u8 = 1 << 3;
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#[entry]
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fn main() -> ! {
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rtt_init_print!();
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rprintln!("-- Vorago Accelerometer Example --");
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let mut dp = pac::Peripherals::take().unwrap();
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let tim0 = set_up_ms_timer(
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&mut dp.SYSCONFIG,
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&mut dp.IRQSEL,
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50.mhz().into(),
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dp.TIM0,
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interrupt::OC0,
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);
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let mut delay = Delay::new(tim0);
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unsafe {
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cortex_m::peripheral::NVIC::unmask(pac::Interrupt::OC0);
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}
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let pinsa = PinsA::new(&mut dp.SYSCONFIG, None, dp.PORTA);
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let spi_cfg = SpiConfig::default();
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let (sck, mosi, miso) = (
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pinsa.pa20.into_funsel_2(),
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pinsa.pa19.into_funsel_2(),
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pinsa.pa18.into_funsel_2(),
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);
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let cs_pin = pinsa.pa16.into_funsel_2();
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// Need to set the ADC chip select low
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let mut adc_cs = pinsa.pa17.into_push_pull_output();
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adc_cs
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.set_high()
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.expect("Setting ADC chip select high failed");
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let transfer_cfg = TransferConfig::new(1.mhz(), spi::MODE_3, Some(cs_pin), false, true);
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let mut spi = Spi::spib(
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dp.SPIB,
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(sck, miso, mosi),
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50.mhz(),
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spi_cfg,
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Some(&mut dp.SYSCONFIG),
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Some(&transfer_cfg.downgrade()),
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);
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let mut send_buf: [u8; 3] = [0; 3];
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send_buf[0] = READ_MASK | DEVID_REG;
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let reply = spi
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.transfer(&mut send_buf[0..2])
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.expect("Reading DEVID register failed");
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rprintln!("DEVID register: {}", reply[1]);
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send_buf[0] = POWER_CTL_REG;
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send_buf[1] = PWR_MEASUREMENT_MODE_MASK;
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spi.write(&send_buf[0..2])
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.expect("Enabling measurement mode failed");
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loop {
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delay.delay_ms(500);
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todo!("Not implemented for now, is not populated on the board..");
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}
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}
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#[interrupt]
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fn OC0() {
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default_ms_irq_handler();
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}
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