12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182 |
- //! Interfacing the MPU9250
- #![deny(unsafe_code)]
- #![deny(warnings)]
- #![no_main]
- #![no_std]
- extern crate cortex_m;
- extern crate cortex_m_rt as rt;
- extern crate mpu9250;
- extern crate panic_semihosting;
- extern crate stm32f1xx_hal as hal;
- use cortex_m::asm;
- use hal::delay::Delay;
- use hal::prelude::*;
- use hal::spi::Spi;
- use hal::stm32f103xx;
- use mpu9250::Mpu9250;
- use rt::{entry, exception, ExceptionFrame};
- #[entry]
- fn main() -> ! {
- let cp = cortex_m::Peripherals::take().unwrap();
- let dp = stm32f103xx::Peripherals::take().unwrap();
- let mut flash = dp.FLASH.constrain();
- let mut rcc = dp.RCC.constrain();
- let clocks = rcc.cfgr.freeze(&mut flash.acr);
- let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
- let mut gpioa = dp.GPIOA.split(&mut rcc.apb2);
- // let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
- let nss = gpioa.pa4.into_push_pull_output(&mut gpioa.crl);
- // SPI1
- let sck = gpioa.pa5.into_alternate_push_pull(&mut gpioa.crl);
- let miso = gpioa.pa6;
- let mosi = gpioa.pa7.into_alternate_push_pull(&mut gpioa.crl);
- // SPI2
- // let sck = gpiob.pb13.into_alternate_push_pull(&mut gpiob.crh);
- // let miso = gpiob.pb14;
- // let mosi = gpiob.pb15.into_alternate_push_pull(&mut gpiob.crh);
- let spi = Spi::spi1(
- dp.SPI1,
- (sck, miso, mosi),
- &mut afio.mapr,
- mpu9250::MODE,
- 1.mhz(),
- clocks,
- &mut rcc.apb2,
- );
- let mut delay = Delay::new(cp.SYST, clocks);
- let mut mpu9250 = Mpu9250::marg(spi, nss, &mut delay).unwrap();
- // sanity checks
- assert_eq!(mpu9250.who_am_i().unwrap(), 0x71);
- assert_eq!(mpu9250.ak8963_who_am_i().unwrap(), 0x48);
- let _a = mpu9250.all().unwrap();
- asm::bkpt();
- loop {}
- }
- #[exception]
- fn HardFault(ef: &ExceptionFrame) -> ! {
- panic!("{:#?}", ef);
- }
- #[exception]
- fn DefaultHandler(irqn: i16) {
- panic!("Unhandled exception (IRQn = {})", irqn);
- }
|