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- #![cfg_attr(test, allow(unused_imports))]
- #![cfg_attr(not(test), no_std)]
- #![cfg_attr(not(test), no_main)]
- // #![feature(generic_const_exprs)]
- #![feature(half_open_range_patterns)]
- #![feature(exclusive_range_pattern)]
- #![allow(dead_code)]
- // custom panic handler
- #[cfg(not(test))]
- use core::panic::PanicInfo;
- use core::{cell::RefCell, ops::DerefMut};
- // use cortex_m::asm;
- use cortex_m::{interrupt::free, interrupt::Mutex, peripheral::NVIC};
- use cortex_m_rt::entry;
- // use cortex_m_semihosting::hprintln;
- use stm32l4xx_hal::{
- delay::Delay,
- device::I2C1,
- gpio::{Alternate, Edge, Input, OpenDrain, Output, PullUp, PushPull, AF4, PA3, PC15},
- gpio::{State, PA10, PA9},
- i2c::I2c,
- interrupt, pac,
- prelude::*,
- rcc,
- stm32::Interrupt,
- };
- mod ds3231;
- // mod pca9685;
- mod tusb322;
- static FAULT_INT: Mutex<RefCell<Option<PA3<Input<PullUp>>>>> = Mutex::new(RefCell::new(None));
- static FAULT_LED: Mutex<RefCell<Option<PC15<Output<PushPull>>>>> = Mutex::new(RefCell::new(None));
- static I2C: Mutex<
- RefCell<
- Option<
- I2c<
- I2C1,
- (
- PA9<Alternate<AF4, Output<OpenDrain>>>,
- PA10<Alternate<AF4, Output<OpenDrain>>>,
- ),
- >,
- >,
- >,
- > = Mutex::new(RefCell::new(None));
- const DS3231_ADDR: u8 = 0x68;
- const TUSB322_ADDR: u8 = 0x47;
- // NewType wrapper for the
- // unsafe fn any_as_u8_slice<T: Sized>(p: &T) -> &[u8] {
- // core::slice::from_raw_parts(
- // (p as *const T) as *const u8,
- // core::mem::size_of::<T>(),
- // )
- // }
- // pub fn concat<T: Copy + Default, const A: usize, const B: usize>(a: &[T; A], b: &[T; B]) -> [T; A+B] {
- // let mut whole: [T; A+B] = [Default::default(); A+B];
- // let (one, two) = whole.split_at_mut(A);
- // one.copy_from_slice(a);
- // two.copy_from_slice(b);
- // whole
- // }
- #[cfg(not(test))]
- #[entry]
- fn main() -> ! {
- // Semihosting only works if debugger is connected.
- // See https://github.com/rust-embedded/cortex-m/issues/289
- // hprintln!("Hello, world!").unwrap();
- // Acquire a singleton instance for the chip's peripherals
- let mut dp = pac::Peripherals::take().unwrap();
- let cp = pac::CorePeripherals::take().unwrap();
- // Consume the raw peripheral and return a new object that implements a higher level API
- let mut flash = dp.FLASH.constrain();
- let mut rcc = dp.RCC.constrain();
- let mut pwr = dp.PWR.constrain(&mut rcc.apb1r1);
- // Configure clocks to run at maximum frequency off internal oscillator
- let clocks = rcc
- .cfgr
- .pll_source(rcc::PllSource::HSI16)
- .sysclk(80.mhz())
- .hclk(80.mhz())
- .pclk1(80.mhz())
- .pclk2(80.mhz())
- .freeze(&mut flash.acr, &mut pwr);
- // Split GPIO peripheral into independent pins and registers
- // let mut gpiob = dp.GPIOB.split(&mut rcc.ahb2);
- let mut gpioa = dp.GPIOA.split(&mut rcc.ahb2);
- let mut gpioc = dp.GPIOC.split(&mut rcc.ahb2);
- // Configure fault LED output on PC15
- let fault_led = gpioc.pc15.into_push_pull_output_with_state(
- &mut gpioc.moder,
- &mut gpioc.otyper,
- State::Low,
- );
- // Store fault LED in global static variable as it is accessed in interrupts
- free(|cs| {
- FAULT_LED.borrow(cs).replace(Some(fault_led));
- });
- // Configure fault input interrupt on PA3
- let mut fault_int = gpioa
- .pa3
- .into_pull_up_input(&mut gpioa.moder, &mut gpioa.pupdr);
- fault_int.make_interrupt_source(&mut dp.SYSCFG, &mut rcc.apb2);
- fault_int.enable_interrupt(&mut dp.EXTI);
- fault_int.trigger_on_edge(&mut dp.EXTI, Edge::FALLING);
- // Sanity check that fault pin isn't already set (active low) before enabling interrupt
- if fault_int.is_high().unwrap() {
- // Configure NVIC mask to enable interrupt source
- unsafe {
- NVIC::unmask(Interrupt::EXTI3);
- }
- // Store fault input in global static variable as it is accessed in interrupt
- free(|cs| {
- FAULT_INT.borrow(cs).replace(Some(fault_int));
- });
- } else {
- panic!();
- }
- // Start with HV PSU disabled (enable pin on PA2)
- let mut _hv_en =
- gpioa
- .pa2
- .into_push_pull_output_with_state(&mut gpioa.moder, &mut gpioa.otyper, State::Low);
- // Configure I2C SCL
- let scl = gpioa
- .pa9
- .into_open_drain_output(&mut gpioa.moder, &mut gpioa.otyper);
- let scl = scl.into_af4(&mut gpioa.moder, &mut gpioa.afrh);
- // Configure I2C SDA
- let sda = gpioa
- .pa10
- .into_open_drain_output(&mut gpioa.moder, &mut gpioa.otyper);
- let sda = sda.into_af4(&mut gpioa.moder, &mut gpioa.afrh);
- // Initialize I2C
- let mut i2c = I2c::i2c1(dp.I2C1, (scl, sda), 100.khz(), clocks, &mut rcc.apb1r1);
- tusb322::init(TUSB322_ADDR, &mut i2c);
- ds3231::init(DS3231_ADDR, &mut i2c);
- free(|cs| {
- I2C.borrow(cs).replace(Some(i2c));
- });
- // Configure abstract timer that operates off systick timer
- let mut timer = Delay::new(cp.SYST, clocks);
- loop {
- timer.delay_ms(1000_u32);
- set_fault_led(State::High);
- timer.delay_ms(1000_u32);
- set_fault_led(State::Low);
- }
- }
- fn set_fault_led(state: State) {
- free(|cs| {
- let mut led_ref = FAULT_LED.borrow(cs).borrow_mut();
- if let Some(ref mut led) = led_ref.deref_mut() {
- match state {
- State::High => led.set_high().unwrap(),
- State::Low => led.set_low().unwrap(),
- };
- }
- });
- }
- #[interrupt]
- fn EXTI3() {
- free(|cs| {
- let mut nfault_ref = FAULT_INT.borrow(cs).borrow_mut();
- if let Some(ref mut nfault) = nfault_ref.deref_mut() {
- if nfault.check_interrupt() {
- // hprintln!("Fault pin interrupt triggered!").unwrap();
- // nfault.clear_interrupt_pending_bit();
- panic!();
- }
- }
- });
- }
- #[panic_handler]
- #[cfg(not(test))]
- /// Custom panic handler
- fn panic(_info: &PanicInfo) -> ! {
- // if let Some(location) = info.location() {
- // hprintln!(
- // "Panic in file '{}' at line {}",
- // location.file(),
- // location.line()
- // )
- // .unwrap();
- // } else {
- // hprintln!("Panic'd!").unwrap();
- // }
- set_fault_led(State::High);
- loop {
- continue;
- }
- }
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