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commit 92857fae5f9b4364ea377048239d603f2f19ba54 Author: Daniel P. <daniel@steew.eu> Date: Sun Oct 26 00:43:54 2025 +0000 pre: cortex-m commit diff --git a/fw/RustFM/Cargo.toml b/fw/RustFM/Cargo.toml index ffdc8fe..cc073b6 100644 --- a/fw/RustFM/Cargo.toml +++ b/fw/RustFM/Cargo.toml @@ -515 +516 @@ edition = "2021"    [dependencies]  embedded-hal = "0.2.7" -nb = "1" -cortex-m = {version = "0.7.7", features = ["critical-section-single-core"]} +nb = "1.1.0" +cortex-m = {git = "https://github.com/rust-embedded/cortex-m", features = ["critical-section-single-core"]}  critical-section = { version = "1.2.0" }  cortex-m-rt ="0.7.5"  panic-halt = "0.2.0"  panic-semihosting = "0.6.0"  cortex-m-semihosting = "0.5.0" -mpu6050 = "0.1.6" -embedded-hal-compat = "0.13.0" +# mpu6050 = "0.1.6" +mpu6050-dmp = "0.6.1" +# embedded-hal-compat = "0.13.0"  rtic = {version = "2.2.0", features=["thumbv7-backend"]}  rtic-sync = "1.4.0"  # rtic-monotonics = {version = "2.1.0", features = ["stm32_tim3", "stm32l431rc"]} diff --git a/fw/RustFM/src/main.rs b/fw/RustFM/src/main.rs index 8cc2272..cff9f16 100644 --- a/fw/RustFM/src/main.rs +++ b/fw/RustFM/src/main.rs @@ -1123 +1159 @@ use cortex_m_rt::ExceptionFrame;    #[rtic::app(device = stm32l4xx_hal::pac, peripherals = true, dispatchers = [SAI1, ADC1_2, SPI1])]  mod app { - - use mpu6050::Mpu6050; - use rtic_sync::{channel::{Receiver, Sender}, make_channel}; - use stm32l4xx_hal::{delay::Delay, flash::FlashExt, gpio::{Alternate, OpenDrain, Output, Pin, PushPull, PA6, PC14, PC15}, i2c::{self, I2c, SclPin, SdaPin}, pac::{dma1::ccr1::PL_A, I2C1, TIM7}, prelude::*, pwr::PwrExt, rcc::{ClockSecuritySystem, CrystalBypass, RccExt}, timer::{Event, Timer}}; + + use cortex_m_semihosting::hprintln; - use critical_section::*; - + use embedded_hal_compat::{ForwardCompat, ReverseCompat}; + // use critical_section::*; + // use mpu6050::{device::CLKSEL, Mpu6050}; + use mpu6050_dmp::{address::Address, sensor::Mpu6050}; + use rtic_sync::{ + channel::{Receiver, Sender}, + make_channel, + }; + use stm32l4xx_hal::{ + delay::Delay, + flash::FlashExt, + gpio::{ + Alternate, Input, OpenDrain, Output, PullDown, PushPull, PA10, PA12, PA6, PA9, + PC14, PC15, + }, + i2c::{self, I2c}, + pac::{I2C1, NVIC, TIM7}, + prelude::*, + pwr::PwrExt, + rcc::{ClockSecuritySystem, CrystalBypass, RccExt}, + stm32, + timer::{Event, Timer}, + }; + + #[allow(non_camel_case_types)] + #[repr(u8)] + // MPU6050 registers + pub enum MpuRegs { + INT_PIN_CFG = 55, + INT_ENABLE = 56, + INT_STATUS = 58, + } + + pub enum MpuFields {} + + impl From<MpuRegs> for u8 { + fn from(r: MpuRegs) -> u8 { + r as u8 + } + } + pub enum LEDS { RED, - GREEN + GREEN, }   // Led blink speeds in Hz #[derive(Copy, Clone)] pub enum BlinkSpeed { - SLOW = 1, - MEDIUM = 3, + SLOW = 1, MEDIUM = 3, FAST = 5, HOLD = 0, } @@ -387 +747 @@ mod app { OK, FAIL, BOOT, - TX + TX, }   #[shared] @@ -4834 +8438 @@ mod app {   #[local] struct Local { - - timer7: Timer<TIM7>, // led blink timer - led_ok: PC14<Output<PushPull>>, // green led - led_fail: PC15<Output<PushPull>>, // red led - txpin: PA6<Output<PushPull>>, // outgoing transmit data - // mpu: Mpu6050<I2c<I2C1, (Alternate<OpenDrain, 4>, Alternate<OpenDrain, 4>)>> - mpu: Mpu6050<I2c<I2C1, (SclPin, SdaPin)>> - + timer7: Timer<TIM7>, // led blink timer + led_ok: PC14<Output<PushPull>>, // green led + led_fail: PC15<Output<PushPull>>, // red led + txpin: PA6<Output<PushPull>>, // outgoing transmit data + imu_int: PA12<Input<PullDown>>, + mpu: Mpu6050<I2c<I2C1, (PA9<Alternate<OpenDrain, 4>>, PA10<Alternate<OpenDrain, 4>>)>>, + // mpu: Mpu6050<I2c>, }   const CAPACITY: usize = 1; #[init] fn init(c: init::Context) -> (Shared, Local) { - let dp = c.device; + let mut dp = c.device; let mut flash = dp.FLASH.constrain(); // .constrain(); let mut rcc = dp.RCC.constrain(); let mut pwr = dp.PWR.constrain(&mut rcc.apb1r1);   - let clocks = rcc.cfgr - .hse(12.MHz(), CrystalBypass::Disable, ClockSecuritySystem::Disable) + let clocks = rcc + .cfgr + .hse( + 12.MHz(), + CrystalBypass::Disable, + ClockSecuritySystem::Disable, + ) .sysclk(48.MHz()) .pclk1(24.MHz()) .pclk2(48.MHz()) .freeze(&mut flash.acr, &mut pwr); - + let mut timer7 = Timer::tim7(dp.TIM7, 1.Hz(), clocks, &mut rcc.apb1r1); timer7.listen(stm32l4xx_hal::timer::Event::TimeOut); - + let mut gpioc = dp.GPIOC.split(&mut rcc.ahb2); let mut gpioa = dp.GPIOA.split(&mut rcc.ahb2); let led_ok = gpioc @@ -8737 +12776 @@ mod app { let txpin = gpioa .pa6 .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper); - + // initialize i2c peripheral - let scl = gpioa - .pa9 - .into_alternate_open_drain::<4>(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrh); - let sda = gpioa - .pa10 - .into_alternate_open_drain::<4>(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrh); - - let iic = i2c::I2c::i2c1(dp.I2C1, (scl, sda), i2c::Config::new(400.kHz(), clocks), &mut rcc.apb1r1); + let scl = gpioa.pa9.into_alternate_open_drain::<4>( + &mut gpioa.moder, + &mut gpioa.otyper, + &mut gpioa.afrh, + ); + let sda = gpioa.pa10.into_alternate_open_drain::<4>( + &mut gpioa.moder, + &mut gpioa.otyper, + &mut gpioa.afrh, + ); + + // Configure the external interrupt for MPU6050 data + let mut imu_int = gpioa + .pa12 + .into_pull_down_input(&mut gpioa.moder, &mut gpioa.pupdr); + imu_int.make_interrupt_source(&mut dp.SYSCFG, &mut rcc.apb2); + imu_int.trigger_on_edge(&mut dp.EXTI, stm32l4xx_hal::gpio::Edge::Rising); + imu_int.enable_interrupt(&mut dp.EXTI); + unsafe { + NVIC::unmask(stm32::interrupt::EXTI15_10); + } + + let iic = i2c::I2c::i2c1( + dp.I2C1, + (scl, sda), + i2c::Config::new(400.kHz(), clocks), + &mut rcc.apb1r1, + ); let mut mpu_slave_add_lsb = gpioa .pa11 .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper); // Force low the address of the I2C IMU peripheral - mpu_slave_add_lsb.set_low(); - let mut mpu = Mpu6050::new(iic); - let mut timer = Delay::new(c.core.SYST, clocks); + // mpu_slave_add_lsb.set_low(); + // let mut mpu = Mpu6050::new(iic); + // let mut timer = Delay::new(c.core.SYST, clocks); + + // let init_result = mpu.init(&mut timer); + // // Set the mpu clock source to the x axis gyroscope + // mpu.set_clock_source(CLKSEL::GXAXIS).unwrap(); + // hprintln!("Initialized MPU peripheral: {:?}", init_result); + + // // Enable clear interrupt on read operation + // mpu.write_bit(MpuRegs::INT_PIN_CFG.into(), 4, true).unwrap(); + // // Enable interrupt on data ready + // mpu.write_bit(MpuRegs::INT_ENABLE.into(), 0, false).unwrap();   - let init_result = mpu.init(&mut timer); - hprintln!("Initialized MPU peripheral: {:?}", init_result); + let mut mpu = Mpu6050::new(iic, Address::default()).unwrap(); - let status = SysStatus::FAIL; let (send, receive) = make_channel!(usize, CAPACITY); transmitter::spawn(receive).unwrap(); sender1::spawn(send).unwrap(); - (Shared {status}, Local {timer7, led_ok, led_fail, txpin, mpu}) + let status = SysStatus::FAIL; + ( + Shared { status }, + Local { + timer7, + led_ok, + led_fail, + txpin, + imu_int, + mpu, + }, + ) }   #[idle] - fn idle (_: idle::Context) -> ! { + fn idle(_: idle::Context) -> ! { loop {} }   @@ -12714 +20625 @@ mod app { sender.send(1).await.unwrap(); }   - #[task(priority = 7, local = [mpu])] - async fn mpu_read(c: mpu_read::Context) { + #[task(binds = EXTI15_10, priority = 7, local = [imu_int])] + fn mpu_read(c: mpu_read::Context) { let acc = c.local.mpu.get_acc(); hprintln!("Read MPU value: {:?}", acc.unwrap()); + hprintln!("Read TEMP value: {:?}", c.local.mpu.get_temp().unwrap()); + + c.local.imu_int.clear_interrupt_pending_bit(); + // Clear the interrupt after reading the INT status register + c.local + .mpu + .read_bits(MpuRegs::INT_STATUS.into(), 0, 0) + .unwrap(); } - + #[task(priority = 5, local = [txpin], shared = [status])] - async fn transmitter(mut ctx: transmitter::Context, mut receiver: Receiver<'static, usize, CAPACITY>) { + async fn transmitter( + mut ctx: transmitter::Context, + mut receiver: Receiver<'static, usize, CAPACITY>, + ) { hprintln!("Waiting for data to transmit"); // Wait until we receive data to send while let Ok(data) = receiver.recv().await { @@ -14638 +23635 @@ mod app { ctx.shared.status.lock(|s| { *s = SysStatus::IDLE; }); - }   #[task(binds = TIM7, local = [led_ok, led_fail, timer7], shared = [status])] - fn status_leds (mut ctx: status_leds::Context) { + fn status_leds(mut ctx: status_leds::Context) { let mut led: LEDS = LEDS::RED; let mut speed: BlinkSpeed = BlinkSpeed::FAST;   // Match the curren system status and assign a led and speed - ctx.shared.status.lock(|status| { - match status { - SysStatus::IDLE => { - led = LEDS::GREEN; - speed = BlinkSpeed::SLOW; - }, - SysStatus::FAIL => { - led = LEDS::RED; - speed = BlinkSpeed::HOLD; - }, - SysStatus::BOOT => { - led = LEDS::GREEN; - speed = BlinkSpeed::MEDIUM; - }, - SysStatus::TX => { - led = LEDS::GREEN; - speed = BlinkSpeed::FAST; - }, - - _ => { - led = LEDS::RED; - speed = BlinkSpeed::HOLD; - } + ctx.shared.status.lock(|status| match status { + SysStatus::IDLE => { + led = LEDS::GREEN; + speed = BlinkSpeed::SLOW; + } + SysStatus::FAIL => { + led = LEDS::RED; + speed = BlinkSpeed::HOLD; + } + SysStatus::BOOT => { + led = LEDS::GREEN; + speed = BlinkSpeed::MEDIUM; + } + SysStatus::TX => { + led = LEDS::GREEN; + speed = BlinkSpeed::FAST; + } + + _ => { + led = LEDS::RED; + speed = BlinkSpeed::HOLD; } });   @@ -1867 +2737 @@ mod app { LEDS::GREEN => { ctx.local.led_ok.toggle(); ctx.local.led_fail.set_low(); - }, + } LEDS::RED => { ctx.local.led_fail.toggle(); ctx.local.led_ok.set_low(); @@ -1977 +2846 @@ mod app { // hprintln!("{}", speed as u32); ctx.local.timer7.start((speed as u32).Hz()); ctx.local.timer7.listen(Event::TimeOut); - }  }   @@ -2469 +3329 @@ mod app {  // .into_push_pull_output(&mut gpioa.moder, &mut gpioa.otyper);    // // mpu_slave_add_lsb.set_low(); -// let mut mpu = Mpu6050::new(iic); +// let mut mpu = Mpu6050::new(iic);  // let init_result = mpu.init(&mut timer); - +  // loop {  // writeln!(hstdout,"r/p: {:?}", acc);