91 lines
2.3 KiB
Rust
91 lines
2.3 KiB
Rust
use stm32f1xx_hal::{
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delay::Delay,
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i2c,
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pac::Interrupt,
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prelude::*,
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serial::{Config, Serial},
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stm32,
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timer::{Event, Timer},
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};
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use nmea0183::Parser;
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use crate::application::App;
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use crate::time;
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pub fn setup(cp: cortex_m::peripheral::Peripherals, dp: stm32::Peripherals) -> App {
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// Take ownership over the raw flash and rcc devices and convert them into the corresponding
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// HAL structs
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let mut flash = dp.FLASH.constrain();
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let mut rcc = dp.RCC.constrain();
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// Freeze the configuration of all the clocks in the system and store the frozen frequencies in
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// `clocks`
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let clocks = rcc
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.cfgr
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.use_hse(8.mhz())
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.sysclk(72.mhz())
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.pclk1(36.mhz())
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.freeze(&mut flash.acr);
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defmt::info!("Clock Setup done");
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// Acquire the GPIOC peripheral
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let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
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let mut gpioc = dp.GPIOC.split(&mut rcc.apb2);
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let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
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let board_led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
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let delay = Delay::new(cp.SYST, clocks);
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// USART3
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// Configure pb10 as a push_pull output, this will be the tx pin
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let tx = gpiob.pb10.into_alternate_push_pull(&mut gpiob.crh);
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// Take ownership over pb11
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let rx = gpiob.pb11;
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// Set up the usart device. Taks ownership over the USART register and tx/rx pins. The rest of
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// the registers are used to enable and configure the device.
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let serial = Serial::usart3(
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dp.USART3,
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(tx, rx),
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&mut afio.mapr,
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Config::default().baudrate(9600.bps()),
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clocks,
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&mut rcc.apb1,
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);
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let gps_parser = Parser::new();
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let scl = gpiob.pb6.into_alternate_open_drain(&mut gpiob.crl);
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let sda = gpiob.pb7.into_alternate_open_drain(&mut gpiob.crl);
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let mut i2c = i2c::BlockingI2c::i2c1(
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dp.I2C1,
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(scl, sda),
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&mut afio.mapr,
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i2c::Mode::Standard {
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frequency: 400_000.hz(),
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},
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clocks,
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&mut rcc.apb1,
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5,
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1,
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5,
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5,
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);
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time::setup(dp.TIM2, &clocks, &mut rcc.apb1);
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App {
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delay,
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board_led,
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serial,
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i2c,
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gps_parser,
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locator: arrayvec::ArrayString::new(),
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}
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}
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