kirdy/src/device/boot.rs

use super::{gpio, usb, delay};
use crate::laser_diode::current_sources::*;
use systick_monotonic::Systick;
use fugit::ExtU32;
use log::info;
use stm32f4xx_hal::{
    pac::{CorePeripherals, Peripherals},
    rcc::RccExt,
    time::MegaHertz,
    watchdog::IndependentWatchdog,
};

#[cfg(not(feature = "semihosting"))]
const WATCHDOG_PERIOD: u32 = 1000;
#[cfg(feature = "semihosting")]
const WATCHDOG_PERIOD: u32 = 30000;

pub fn bootup(mut core_perif: CorePeripherals, perif: Peripherals) -> (IndependentWatchdog, Systick<1000_u32>) {
    core_perif.SCB.enable_icache();
    core_perif.SCB.enable_dcache(&mut core_perif.CPUID);

    let clocks = perif
        .RCC
        .constrain()
        .cfgr
        .use_hse(MegaHertz::from_raw(8).convert())
        .sysclk(MegaHertz::from_raw(168).convert())
        .hclk(MegaHertz::from_raw(168).convert())
        .pclk1(MegaHertz::from_raw(32).convert())
        .pclk2(MegaHertz::from_raw(64).convert())
        .freeze();

    let systick = Systick::new(core_perif.SYST, clocks.hclk().to_Hz());
    let delay = delay::AsmDelay::new(clocks.sysclk().to_Hz());

    let (_eth_pins, usb, current_source_phy) = gpio::setup(
        clocks,
        perif.GPIOA,
        perif.GPIOB,
        perif.GPIOC,
        perif.GPIOD,
        perif.GPIOG,
        perif.SPI2,
        perif.OTG_FS_GLOBAL,
        perif.OTG_FS_DEVICE,
        perif.OTG_FS_PWRCLK,
    );

    usb::State::setup(usb);

    let mut laser = CurrentSource {
        phy: current_source_phy,
        setting: CurrentSourceSettings {
            output_current: 0.0,
        },
    };

    laser.setup(delay);
    laser.set_current(0.1).unwrap();

    let mut wd = IndependentWatchdog::new(perif.IWDG);
    wd.start(WATCHDOG_PERIOD.millis());
    wd.feed();

    info!("Kirdy setup complete");

    (wd, systick)
}