From d61139b56e1093209391b954b0389c2dbd8aadf4 Mon Sep 17 00:00:00 2001
From: sheepwall <a.sve@live.se>
Date: Mon, 18 Mar 2019 18:03:31 +0100
Subject: [PATCH] ..
---
examples/bare10.rs | 150 ++++++++++++++++++++++++++++++++++++++-------
1 file changed, 129 insertions(+), 21 deletions(-)
diff --git a/examples/bare10.rs b/examples/bare10.rs
index 4ad60ca..88532d5 100644
--- a/examples/bare10.rs
+++ b/examples/bare10.rs
@@ -16,8 +16,10 @@ use crate::hal::prelude::*;
use crate::hal::serial::{config::Config, Event, Rx, Serial, Tx};
use hal::stm32::ITM;
+use crate::hal::gpio::{gpioa::PA5, Output, PushPull};
+
use nb::block;
-use rtfm::app;
+use rtfm::{app, Instant};
// Our error type
#[derive(Debug)]
@@ -27,12 +29,66 @@ pub enum Error {
UsartReceiveOverflow,
}
+enum CmdType {
+ Off,
+ On,
+ Set,
+}
+
+pub struct Cmd {
+ cmd_type: CmdType,
+ half_period: u32,
+}
+
+impl Cmd {
+ fn parse(&mut self, cmd_byte: [u8; 10], cmd_length: usize) {
+ if cmd_byte.starts_with(&[b'o', b'n', b' ']) {
+ self.cmd_type = CmdType::On;
+ self.half_period = freq_to_half_period(1);
+ } else if cmd_byte.starts_with(&[b's', b'e', b't', b' ']) {
+ let mut tmp = 0;
+ for c in &cmd_byte[4..cmd_length] {
+ if c.is_ascii_digit() {
+ tmp = 10 * tmp + (c - b'0') as u32;
+ } else {
+ return;
+ }
+ }
+ self.cmd_type = CmdType::Set;
+ self.half_period = freq_to_half_period(tmp);
+ } else {
+ self.cmd_type = CmdType::Off;
+ self.half_period = freq_to_half_period(1);
+ }
+ }
+
+ fn freq_to_half_period(freq: u32) -> u32 {
+ if freq == 0 {
+ return 1;
+ } else {
+ return SYSTEM_CLOCK_FREQ / (2 * freq);
+ }
+ }
+}
+
+const ASCII_CR: u8 = 13;
+const ASCII_LF: u8 = 10;
+
+const CMD_BUFFER_LENGTH: usize = 10;
+
+const SYSTEM_CLOCK_FREQ: u32 = 16000000;
+
#[app(device = hal::stm32)]
const APP: () = {
// Late resources
static mut TX: Tx<hal::stm32::USART2> = ();
static mut RX: Rx<hal::stm32::USART2> = ();
static mut ITM: ITM = ();
+ static mut IS_LED_ON: bool = ();
+ static mut LED: PA5<Output<PushPull>> = ();
+ static mut B: [u8; CMD_BUFFER_LENGTH] = ();
+ static mut B_INDEX: usize = ();
+ static mut CURRENT_CMD: Cmd = ();
// init runs in an interrupt free section>
#[init]
@@ -50,6 +106,9 @@ const APP: () = {
let tx = gpioa.pa2.into_alternate_af7();
let rx = gpioa.pa3.into_alternate_af7(); // try comment out
+ let mut led = gpioa.pa5.into_push_pull_output();
+ led.set_low();
+
let mut serial = Serial::usart2(
device.USART2,
(tx, rx),
@@ -67,6 +126,17 @@ const APP: () = {
TX = tx;
RX = rx;
+ // LED
+ LED = led;
+ IS_LED_ON = false;
+ CURRENT_CMD = Cmd {
+ cmd_type: CmdType::Off,
+ frequency: 1,
+ };
+ // CMD Interpretor
+ B = [0u8; 10];
+ B_INDEX = 0;
+
// For debugging
ITM = core.ITM;
}
@@ -79,24 +149,65 @@ const APP: () = {
}
}
- #[task(priority = 1, capacity = 4, resources = [ITM])]
- fn trace_data(byte: u8) {
- // let stim = &mut resources.ITM.stim[0];
- // iprintln!(stim, "data {}", byte);
- // for _ in 0..10000 {
- // asm::nop();
- // }
- }
-
- #[task(priority = 1, spawn = [echo, trace_error])]
+ #[task(priority = 1, capacity = 10, resources = [IS_LED_ON, B, B_INDEX, CURRENT_CMD, ITM], spawn = [echo, on, off])]
fn cmd_interpretor(byte: u8) {
-
- let send: u8 = match byte as char {
- 'a' => byte + 1,
- _ => byte,
+ let is_led_on = *resources.IS_LED_ON;
+ let mut b = *resources.B;
+ let mut b_i = *resources.B_INDEX;
+ let mut cmd = resources.CURRENT_CMD;
+
+ if b_i >= CMD_BUFFER_LENGTH {
+ b = [0u8; 10];
+ b_i = 0;
+ }
+
+ match byte {
+ ASCII_CR => {
+ cmd.parse(b, b_i);
+ b = [0u8; 10];
+ b_i = 0;
+ },
+ ASCII_LF => {
+ cmd.parse(b, b_i);
+ b = [0u8; 10];
+ b_i = 0;
+ },
+ _ => {
+ b[b_i] = byte;
+ b_i += 1;
+ },
};
- let _ = spawn.echo(send);
+ let stim = &mut resources.ITM.stim[0];
+ iprintln!(stim, "byte: {:?}", byte);
+ iprintln!(stim, "B: {:?}", b);
+ iprintln!(stim, "B INDEX: {:?}", b_i);
+ iprintln!(stim, "IS_LED_ON: {:?}", is_led_on);
+
+ match cmd.cmd_type {
+ CmdType::Off => iprintln!(stim, "CURRENT_CMD: off, {:?}", cmd.frequency),
+ CmdType::On => iprintln!(stim, "CURRENT_CMD: on, {:?}", cmd.frequency),
+ CmdType::Set => iprintln!(stim, "CURRENT_CMD: set, {:?}", cmd.frequency),
+ }
+
+ let _ = spawn.on();
+
+ *resources.B = b;
+ *resources.B_INDEX = b_i;
+ }
+
+ #[task(priority = 1, schedule = [off], resources = [LED, IS_LED_ON])]
+ fn on() {
+ if
+ schedule.off(Instant::now + )
+ resources.LED.set_high();
+ *resources.IS_LED_ON = true;
+ }
+
+ #[task(priority = 1, resources = [LED, IS_LED_ON])]
+ fn off() {
+ resources.LED.set_low();
+ *resources.IS_LED_ON = false;
}
#[task(priority = 1, resources = [ITM])]
@@ -112,17 +223,15 @@ const APP: () = {
if block!(tx.write(byte)).is_err() {
let _ = spawn.trace_error(Error::UsartSendOverflow);
}
-
}
- #[interrupt(priority = 3, resources = [RX], spawn = [trace_data, trace_error, cmd_interpretor])]
+ #[interrupt(priority = 3, resources = [RX], spawn = [trace_error, cmd_interpretor])]
fn USART2() {
let rx = resources.RX;
match rx.read() {
Ok(byte) => {
- let _ = spawn.cmd_interpretor(byte);
- if spawn.trace_data(byte).is_err() {
+ if spawn.cmd_interpretor(byte).is_err() {
let _ = spawn.trace_error(Error::RingBufferOverflow);
}
}
@@ -137,7 +246,6 @@ const APP: () = {
extern "C" {
fn EXTI0();
fn EXTI1();
- fn EXTI2();
}
};
--
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