stm32f446re/
main.rs

1#![deny(unsafe_code)]
2#![no_main]
3#![cfg_attr(not(test), no_std)]
4
5use defmt::*;
6use embassy_executor::{Spawner, main, task};
7use embassy_stm32::gpio::{Output, Level, Speed};
8use embassy_stm32::i2c::{self, I2c};
9use embassy_stm32::mode::Async;
10use embassy_stm32::bind_interrupts;
11use embassy_stm32::peripherals;
12use embassy_stm32::time::Hertz;
13use embassy_time::Timer;
14use {defmt_rtt as _, panic_probe as _};
15
16use l6360::{self, L6360, HardwareAccess};
17use iol::master;
18
19use embassy_sync::mutex::Mutex;
20use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
21
22mod l6360_hw;
23use l6360_hw::L6360_HW;
24
25mod iol_master_actions;
26use iol_master_actions::MasterActions;
27
28static IOL_TRANSCEIVER: Mutex<CriticalSectionRawMutex, Option<L6360<I2c<Async>, L6360_HW>>> = Mutex::new(None);
29
30#[main]
31async fn main(spawner: Spawner) {
32    setup_hardware(spawner).await;
33
34    // initialize iol transceiver
35    let mut iol_transceiver_ref = IOL_TRANSCEIVER.lock().await;
36    let iol_transceiver = iol_transceiver_ref.as_mut().unwrap();
37    iol_transceiver.init().await.unwrap();
38
39    // set some blink pattern (just for fun)
40    iol_transceiver.set_led_pattern(l6360::Led::LED1, 0xFFF0).await.unwrap();
41    iol_transceiver.set_led_pattern(l6360::Led::LED2, 0x000F).await.unwrap();
42
43    // power the connected iol-device
44    iol_transceiver.hw.enl_plus(l6360::PinState::High);
45    //spawner.spawn(measure_ready_pulse(l6360.pins.out_cq)).unwrap();
46    drop(iol_transceiver_ref);
47
48    // setup iol stack and run
49    let master = master::Master::new(MasterActions);
50    spawner.spawn(run_master(master)).unwrap();
51
52    // test code
53    Timer::after_millis(2_000).await;
54    info!("startup");
55    master::Master::<MasterActions>::dl_set_mode_startup().await;
56    Timer::after_millis(100_000).await;
57}
58
59#[task]
60async fn run_master(mut master: master::Master<MasterActions>) {
61    info!("run master");
62    master.run().await;
63}
64
65fn heartbeat_led(spawner: Spawner, pin: peripherals::PA5) {
66    let led = Output::new(pin, Level::High, Speed::Low);
67    spawner.spawn(blink(led)).unwrap();
68
69    #[task]
70    async fn blink(mut led: Output<'static>) -> ! {
71        loop {
72            //info!("high");
73            led.set_high();
74            Timer::after_millis(2000).await;
75
76            //info!("low");
77            led.set_low();
78            Timer::after_millis(2000).await;
79        }
80    }
81}
82
83async fn setup_hardware(spawner: Spawner) {
84    let p = embassy_stm32::init(Default::default());
85
86    heartbeat_led(spawner, p.PA5);
87
88    bind_interrupts!(struct I2cIrqs {
89        I2C1_EV => i2c::EventInterruptHandler<peripherals::I2C1>;
90        I2C1_ER => i2c::ErrorInterruptHandler<peripherals::I2C1>;
91    });
92
93    let i2c = I2c::new(
94        p.I2C1,
95        p.PB8,
96        p.PB9,
97        I2cIrqs,
98        p.DMA1_CH6,
99        p.DMA1_CH0,
100        Hertz(400_000),
101        {
102            let mut i2c_config = i2c::Config::default();
103            i2c_config.sda_pullup = true;
104            i2c_config.scl_pullup = true;
105            i2c_config.timeout = embassy_time::Duration::from_millis(1000);
106            i2c_config
107        },
108    );
109
110    let l6360_hw = L6360_HW::new(p.USART1, p.PA9, p.PA10, p.PA6, p.PC0);
111
112    let config = l6360::Config {
113        configuration_register: l6360::ConfigurationRegister {
114            cq_output_stage_configuration: l6360::CqOutputStageConfiguration::PushPull,
115        },
116        control_register_1: l6360::ControlRegister1 {
117            en_cgq_cq_pull_down: l6360::EN_CGQ_CQ_PullDown::ON_IfEnCq0,
118        }
119    };
120
121    *IOL_TRANSCEIVER.lock().await = Some(L6360::new(i2c, l6360_hw, 0b1100_000, config).unwrap());
122}
stm32f446re/main.rs

stm32f446re/
main.rs
