pounder_test/src/main.rs

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#![no_std]
#![no_main]
#![feature(asm)]
// Enable returning `!`
#![feature(never_type)]
#[allow(unused_extern_crates)]
#[cfg(not(feature = "semihosting"))]
extern crate panic_abort;
#[cfg(feature = "semihosting")]
extern crate panic_semihosting;
extern crate cortex_m;
extern crate cortex_m_rt;
extern crate stm32h7;
#[macro_use]
extern crate log;
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use core::ptr;
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use core::cell::RefCell;
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use cortex_m_rt::{entry, exception};
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use stm32h7::stm32h7x3::{self as stm32, Peripherals, CorePeripherals, interrupt};
use cortex_m::interrupt::Mutex;
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mod iir;
use iir::*;
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#[cfg(not(feature = "semihosting"))]
fn init_log() {}
#[cfg(feature = "semihosting")]
fn init_log() {
use log::LevelFilter;
use cortex_m_log::log::{Logger, init};
use cortex_m_log::printer::semihosting::{InterruptOk, hio::HStdout};
static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
let logger = Logger {
inner: InterruptOk::<_>::stdout().expect("semihosting stdout"),
level: LevelFilter::Info,
};
let logger = unsafe {
LOGGER.get_or_insert(logger)
};
init(logger).expect("set logger");
}
// Pull in build information (from `built` crate)
mod build_info {
#![allow(dead_code)]
include!(concat!(env!("OUT_DIR"), "/built.rs"));
}
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fn pwr_setup(pwr: &stm32::PWR) {
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// go to VOS1 voltage scale for high perf
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pwr.pwr_cr3.write(|w|
w.sden().set_bit()
.ldoen().set_bit()
.bypass().clear_bit()
);
while pwr.pwr_csr1.read().actvosrdy().bit_is_clear() {}
pwr.pwr_d3cr.write(|w| unsafe { w.vos().bits(0b11) }); // vos1
while pwr.pwr_d3cr.read().vosrdy().bit_is_clear() {}
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}
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fn rcc_reset(rcc: &stm32::RCC) {
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// Reset all peripherals
rcc.ahb1rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb1rstr.write(|w| unsafe { w.bits(0)});
rcc.apb1lrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb1lrstr.write(|w| unsafe { w.bits(0)});
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rcc.apb1hrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb1hrstr.write(|w| unsafe { w.bits(0)});
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rcc.ahb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb2rstr.write(|w| unsafe { w.bits(0)});
rcc.apb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb2rstr.write(|w| unsafe { w.bits(0)});
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// do not reset the cpu
rcc.ahb3rstr.write(|w| unsafe { w.bits(0x7FFF_FFFF) });
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rcc.ahb3rstr.write(|w| unsafe { w.bits(0)});
rcc.apb3rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb3rstr.write(|w| unsafe { w.bits(0)});
rcc.ahb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb4rstr.write(|w| unsafe { w.bits(0)});
rcc.apb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb4rstr.write(|w| unsafe { w.bits(0)});
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}
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fn rcc_pll_setup(rcc: &stm32::RCC, flash: &stm32::FLASH) {
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// Ensure HSI is on and stable
rcc.cr.modify(|_, w| w.hsion().set_bit());
while rcc.cr.read().hsirdy().bit_is_clear() {}
// Set system clock to HSI
rcc.cfgr.modify(|_, w| unsafe { w.sw().bits(0) }); // hsi
while rcc.cfgr.read().sws().bits() != 0 {}
// Clear registers to reset value
rcc.cr.write(|w| w.hsion().set_bit());
rcc.cfgr.reset();
// Ensure HSE is on and stable
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rcc.cr.modify(|_, w|
w.hseon().set_bit()
.hsebyp().clear_bit());
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while rcc.cr.read().hserdy().bit_is_clear() {}
rcc.pllckselr.modify(|_, w| unsafe {
w.pllsrc().bits(0b10) // hse
.divm1().bits(1) // ref prescaler
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.divm2().bits(1) // ref prescaler
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});
// Configure PLL1: 8MHz /1 *100 /2 = 400 MHz
rcc.pllcfgr.modify(|_, w| unsafe {
w.pll1vcosel().clear_bit() // 192-836 MHz VCO
.pll1rge().bits(0b11) // 8-16 MHz PFD
.pll1fracen().clear_bit()
.divp1en().set_bit()
.pll2vcosel().set_bit() // 150-420 MHz VCO
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.pll2rge().bits(0b11) // 8-16 MHz PFD
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.pll2fracen().clear_bit()
.divp2en().set_bit()
.divq2en().set_bit()
});
rcc.pll1divr.write(|w| unsafe {
w.divn1().bits(100 - 1) // feebdack divider
.divp1().bits(2 - 1) // p output divider
});
rcc.cr.modify(|_, w| w.pll1on().set_bit());
while rcc.cr.read().pll1rdy().bit_is_clear() {}
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// Configure PLL2: 8MHz /1 *25 / 2 = 100 MHz
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rcc.pll2divr.write(|w| unsafe {
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w.divn1().bits(25 - 1) // feebdack divider
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.divp1().bits(2 - 1) // p output divider
.divq1().bits(2 - 1) // q output divider
});
rcc.cr.modify(|_, w| w.pll2on().set_bit());
while rcc.cr.read().pll2rdy().bit_is_clear() {}
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// hclk 200 MHz, pclk 100 MHz
let dapb = 0b100;
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rcc.d1cfgr.write(|w| unsafe {
w.d1cpre().bits(0) // sys_ck not divided
.hpre().bits(0b1000) // rcc_hclk3 = sys_d1cpre_ck / 2
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.d1ppre().bits(dapb) // rcc_pclk3 = rcc_hclk3 / 2
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});
rcc.d2cfgr.write(|w| unsafe {
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w.d2ppre1().bits(dapb) // rcc_pclk1 = rcc_hclk3 / 2
.d2ppre2().bits(dapb) // rcc_pclk2 = rcc_hclk3 / 2
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});
rcc.d3cfgr.write(|w| unsafe {
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w.d3ppre().bits(dapb) // rcc_pclk4 = rcc_hclk3 / 2
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});
// 2 wait states, 0b10 programming delay
// 185-210 MHz
flash.acr.write(|w| unsafe {
w.wrhighfreq().bits(2)
.latency().bits(2)
});
while flash.acr.read().latency().bits() != 2 {}
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// CSI for I/O compensationc ell
rcc.cr.modify(|_, w| w.csion().set_bit());
while rcc.cr.read().csirdy().bit_is_clear() {}
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// Set system clock to pll1_p
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rcc.cfgr.modify(|_, w| unsafe { w.sw().bits(0b011) }); // pll1p
while rcc.cfgr.read().sws().bits() != 0b011 {}
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rcc.d1ccipr.write(|w| unsafe {
w.ckpersrc().bits(1) // hse_ck
});
rcc.d2ccip1r.modify(|_, w| unsafe {
w.spi123src().bits(1) // pll2_p
.spi45src().bits(1) // pll2_q
});
rcc.d3ccipr.modify(|_, w| unsafe {
w.spi6src().bits(1) // pll2_q
});
}
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fn io_compensation_setup(syscfg: &stm32::SYSCFG) {
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syscfg.cccsr.modify(|_, w|
w.en().set_bit()
.cs().clear_bit()
.hslv().clear_bit()
);
while syscfg.cccsr.read().ready().bit_is_clear() {}
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}
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fn gpio_setup(gpioa: &stm32::GPIOA, gpiob: &stm32::GPIOB, gpiod: &stm32::GPIOD,
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gpioe: &stm32::GPIOE, gpiof: &stm32::GPIOF, gpiog: &stm32::GPIOG) {
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// FP_LED0
gpiod.otyper.modify(|_, w| w.ot5().push_pull());
gpiod.moder.modify(|_, w| w.moder5().output());
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gpiod.odr.modify(|_, w| w.odr5().clear_bit());
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// FP_LED1
gpiod.otyper.modify(|_, w| w.ot6().push_pull());
gpiod.moder.modify(|_, w| w.moder6().output());
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gpiod.odr.modify(|_, w| w.odr6().clear_bit());
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// LED_FP2
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gpiog.otyper.modify(|_, w| w.ot4().push_pull());
gpiog.moder.modify(|_, w| w.moder4().output());
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gpiog.odr.modify(|_, w| w.odr4().clear_bit());
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// LED_FP3
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gpiod.otyper.modify(|_, w| w.ot12().push_pull());
gpiod.moder.modify(|_, w| w.moder12().output());
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gpiod.odr.modify(|_, w| w.odr12().clear_bit());
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// AFE0_A0,1: PG2,PG3
gpiog.otyper.modify(|_, w|
w.ot2().push_pull()
.ot3().push_pull()
);
gpiog.moder.modify(|_, w|
w.moder2().output()
.moder3().output()
);
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gpiog.odr.modify(|_, w|
w.odr2().clear_bit()
.odr3().clear_bit()
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);
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// ADC0
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// SCK: PG11
gpiog.moder.modify(|_, w| w.moder11().alternate());
gpiog.otyper.modify(|_, w| w.ot11().push_pull());
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gpiog.ospeedr.modify(|_, w| w.ospeedr11().very_high_speed());
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gpiog.afrh.modify(|_, w| w.afr11().af5());
// MOSI: PD7
// MISO: PA6
gpioa.moder.modify(|_, w| w.moder6().alternate());
gpioa.afrl.modify(|_, w| w.afr6().af5());
// NSS: PG10
gpiog.moder.modify(|_, w| w.moder10().alternate());
gpiog.otyper.modify(|_, w| w.ot10().push_pull());
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gpiog.ospeedr.modify(|_, w| w.ospeedr10().very_high_speed());
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gpiog.afrh.modify(|_, w| w.afr10().af5());
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// DAC0
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// SCK: PB10
gpiob.moder.modify(|_, w| w.moder10().alternate());
gpiob.otyper.modify(|_, w| w.ot10().push_pull());
gpiob.ospeedr.modify(|_, w| w.ospeedr10().very_high_speed());
gpiob.afrh.modify(|_, w| w.afr10().af5());
// MOSI: PB15
gpiob.moder.modify(|_, w| w.moder15().alternate());
gpiob.otyper.modify(|_, w| w.ot15().push_pull());
gpiob.ospeedr.modify(|_, w| w.ospeedr15().very_high_speed());
gpiob.afrh.modify(|_, w| w.afr15().af5());
// MISO: PB14
// NSS: PB9
gpiob.moder.modify(|_, w| w.moder9().alternate());
gpiob.otyper.modify(|_, w| w.ot9().push_pull());
gpiob.ospeedr.modify(|_, w| w.ospeedr9().very_high_speed());
gpiob.afrh.modify(|_, w| w.afr9().af5());
// DAC0_LDAC: PE11
gpioe.moder.modify(|_, w| w.moder11().output());
gpioe.otyper.modify(|_, w| w.ot11().push_pull());
gpioe.odr.modify(|_, w| w.odr11().clear_bit());
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// DAC_CLR: PE12
gpioe.moder.modify(|_, w| w.moder12().output());
gpioe.otyper.modify(|_, w| w.ot12().push_pull());
gpioe.odr.modify(|_, w| w.odr12().set_bit());
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// AFE1_A0,1: PD14,PD15
gpiod.otyper.modify(|_, w|
w.ot14().push_pull()
.ot15().push_pull()
);
gpiod.moder.modify(|_, w|
w.moder14().output()
.moder15().output()
);
gpiod.odr.modify(|_, w|
w.odr14().clear_bit()
.odr15().clear_bit()
);
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// ADC1
// SCK: PF6
gpiof.moder.modify(|_, w| w.moder7().alternate());
gpiof.otyper.modify(|_, w| w.ot7().push_pull());
gpiof.ospeedr.modify(|_, w| w.ospeedr7().very_high_speed());
gpiof.afrl.modify(|_, w| w.afr7().af5());
// MOSI: PF9
// MISO: PF7
gpiof.moder.modify(|_, w| w.moder8().alternate());
gpiof.afrh.modify(|_, w| w.afr8().af5());
// NSS: PF8
gpiof.moder.modify(|_, w| w.moder6().alternate());
gpiof.otyper.modify(|_, w| w.ot6().push_pull());
gpiof.ospeedr.modify(|_, w| w.ospeedr6().very_high_speed());
gpiof.afrl.modify(|_, w| w.afr6().af5());
// DAC1
// SCK: PE2
gpioe.moder.modify(|_, w| w.moder2().alternate());
gpioe.otyper.modify(|_, w| w.ot2().push_pull());
gpioe.ospeedr.modify(|_, w| w.ospeedr2().very_high_speed());
gpioe.afrl.modify(|_, w| w.afr2().af5());
// MOSI: PE6
gpioe.moder.modify(|_, w| w.moder6().alternate());
gpioe.otyper.modify(|_, w| w.ot6().push_pull());
gpioe.ospeedr.modify(|_, w| w.ospeedr6().very_high_speed());
gpioe.afrl.modify(|_, w| w.afr6().af5());
// MISO: PE5
// NSS: PE4
gpioe.moder.modify(|_, w| w.moder4().alternate());
gpioe.otyper.modify(|_, w| w.ot4().push_pull());
gpioe.ospeedr.modify(|_, w| w.ospeedr4().very_high_speed());
gpioe.afrl.modify(|_, w| w.afr4().af5());
// DAC1_LDAC: PE15
gpioe.moder.modify(|_, w| w.moder15().output());
gpioe.otyper.modify(|_, w| w.ot15().push_pull());
gpioe.odr.modify(|_, w| w.odr15().clear_bit());
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}
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// ADC0
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fn spi1_setup(spi1: &stm32::SPI1) {
spi1.cfg1.modify(|_, w| unsafe {
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w.mbr().bits(1) // clk/4
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.dsize().bits(16 - 1)
.fthvl().bits(1 - 1) // one data
});
spi1.cfg2.modify(|_, w| unsafe {
w.afcntr().set_bit()
.ssom().set_bit() // ss deassert between frames during midi
.ssoe().set_bit() // ss output enable
.ssiop().clear_bit() // ss active low
.ssm().clear_bit() // PAD counts
.cpol().set_bit()
.cpha().set_bit()
.lsbfrst().clear_bit()
.master().set_bit()
.sp().bits(0) // motorola
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.comm().bits(0b10) // simplex receiver
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.ioswp().clear_bit()
.midi().bits(0) // master inter data idle
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.mssi().bits(6) // master SS idle
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});
spi1.cr2.modify(|_, w| unsafe {
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w.tsize().bits(1)
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});
spi1.cr1.write(|w| w.spe().set_bit());
}
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// ADC1
fn spi5_setup(spi5: &stm32::SPI5) {
spi5.cfg1.modify(|_, w| unsafe {
w.mbr().bits(1) // clk/4
.dsize().bits(16 - 1)
.fthvl().bits(1 - 1) // one data
});
spi5.cfg2.modify(|_, w| unsafe {
w.afcntr().set_bit()
.ssom().set_bit() // ss deassert between frames during midi
.ssoe().set_bit() // ss output enable
.ssiop().clear_bit() // ss active low
.ssm().clear_bit() // PAD counts
.cpol().set_bit()
.cpha().set_bit()
.lsbfrst().clear_bit()
.master().set_bit()
.sp().bits(0) // motorola
.comm().bits(0b10) // simplex receiver
.ioswp().clear_bit()
.midi().bits(0) // master inter data idle
.mssi().bits(6) // master SS idle
});
spi5.cr2.modify(|_, w| unsafe {
w.tsize().bits(1)
});
spi5.cr1.write(|w| w.spe().set_bit());
}
// DAC0
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fn spi2_setup(spi2: &stm32::SPI2) {
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spi2.cfg1.modify(|_, w| unsafe {
w.mbr().bits(0) // clk/2
.dsize().bits(16 - 1)
.fthvl().bits(1 - 1) // one data
});
spi2.cfg2.modify(|_, w| unsafe {
w.afcntr().set_bit()
.ssom().set_bit() // ss deassert between frames during midi
.ssoe().set_bit() // ss output enable
.ssiop().clear_bit() // ss active low
.ssm().clear_bit() // PAD counts
.cpol().clear_bit()
.cpha().clear_bit()
.lsbfrst().clear_bit()
.master().set_bit()
.sp().bits(0) // motorola
.comm().bits(0b01) // simplex transmitter
.ioswp().clear_bit()
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.midi().bits(0) // master inter data idle
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.mssi().bits(0) // master SS idle
});
spi2.cr2.modify(|_, w| unsafe {
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w.tsize().bits(0)
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});
spi2.cr1.write(|w| w.spe().set_bit());
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spi2.cr1.modify(|r, w| unsafe { w.bits(r.bits() | (1 << 9)) });
}
// DAC1
fn spi4_setup(spi4: &stm32::SPI4) {
spi4.cfg1.modify(|_, w| unsafe {
w.mbr().bits(0) // clk/2
.dsize().bits(16 - 1)
.fthvl().bits(1 - 1) // one data
});
spi4.cfg2.modify(|_, w| unsafe {
w.afcntr().set_bit()
.ssom().set_bit() // ss deassert between frames during midi
.ssoe().set_bit() // ss output enable
.ssiop().clear_bit() // ss active low
.ssm().clear_bit() // PAD counts
.cpol().clear_bit()
.cpha().clear_bit()
.lsbfrst().clear_bit()
.master().set_bit()
.sp().bits(0) // motorola
.comm().bits(0b01) // simplex transmitter
.ioswp().clear_bit()
.midi().bits(0) // master inter data idle
.mssi().bits(0) // master SS idle
});
spi4.cr2.modify(|_, w| unsafe {
w.tsize().bits(0)
});
spi4.cr1.write(|w| w.spe().set_bit());
spi4.cr1.modify(|r, w| unsafe { w.bits(r.bits() | (1 << 9)) });
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}
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fn tim2_setup(tim2: &stm32::TIM2) {
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tim2.psc.write(|w| unsafe { w.psc().bits(200 - 1) }); // from 200 MHz
tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // µs
tim2.dier.write(|w| w.ude().set_bit().uie().set_bit()); // FIXME
tim2.egr.write(|w| w.ug().set_bit());
tim2.cr1.modify(|_, w|
w.dir().clear_bit() // up
.cen().set_bit()); // enable
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}
fn dma1_setup(dma1: &stm32::DMA1, dmamux1: &stm32::DMAMUX1, ma: usize, pa: usize) {
// info!("{:#x} {:#x}", pa, unsafe { *(pa as *const u32) });
dma1.s0cr.modify(|_, w| w.en().clear_bit());
while dma1.s0cr.read().en().bit_is_set() {}
dma1.s0par.write(|w| unsafe { w.pa().bits(pa as u32) });
dma1.s0m0ar.write(|w| unsafe { w.m0a().bits(ma as u32) });
dma1.s0ndtr.write(|w| unsafe { w.ndt().bits(1) });
dmamux1.dmamux1_c0cr.modify(|_, w| unsafe { w.dmareq_id().bits(22) }); // tim2_up
dma1.s0cr.modify(|_, w| unsafe {
w.pl().bits(0b11) // very high
.circ().set_bit() // reload ndtr
.msize().bits(0b10) // 32
.minc().clear_bit()
.mburst().bits(0b00)
.psize().bits(0b10) // 32
.pinc().clear_bit()
.pburst().bits(0b00)
.dbm().clear_bit()
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.dir().bits(0b01) // memory_to_peripheral
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.pfctrl().clear_bit() // dma is FC
});
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dma1.s0fcr.modify(|_, w| w.dmdis().clear_bit());
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dma1.s0cr.modify(|_, w| w.en().set_bit());
}
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static SPIP: Mutex<RefCell<Option<(
stm32::SPI1, stm32::SPI2, stm32::SPI4, stm32::SPI5)>>> =
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Mutex::new(RefCell::new(None));
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#[link_section = ".sram1"]
static mut DAT: u32 = (1 << 9) | (1 << 0);
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#[entry]
fn main() -> ! {
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let mut cp = CorePeripherals::take().unwrap();
let dp = Peripherals::take().unwrap();
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let rcc = dp.RCC;
rcc_reset(&rcc);
init_log();
// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
// info!("Built on {}", build_info::BUILT_TIME_UTC);
// info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
pwr_setup(&dp.PWR);
rcc_pll_setup(&rcc, &dp.FLASH);
rcc.apb4enr.modify(|_, w| w.syscfgen().set_bit());
io_compensation_setup(&dp.SYSCFG);
cp.SCB.enable_icache();
cp.SCB.enable_dcache(&mut cp.CPUID);
cp.DWT.enable_cycle_counter();
rcc.ahb4enr.modify(|_, w|
w.gpioaen().set_bit()
.gpioben().set_bit()
.gpioden().set_bit()
.gpioeen().set_bit()
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.gpiofen().set_bit()
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.gpiogen().set_bit()
);
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gpio_setup(&dp.GPIOA, &dp.GPIOB, &dp.GPIOD, &dp.GPIOE, &dp.GPIOF, &dp.GPIOG);
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rcc.apb1lenr.modify(|_, w| w.spi2en().set_bit());
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let spi2 = dp.SPI2;
spi2_setup(&spi2);
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rcc.apb2enr.modify(|_, w| w.spi4en().set_bit());
let spi4 = dp.SPI4;
spi4_setup(&spi4);
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rcc.apb2enr.modify(|_, w| w.spi1en().set_bit());
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let spi1 = dp.SPI1;
spi1_setup(&spi1);
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spi1.ier.write(|w| w.eotie().set_bit());
rcc.apb2enr.modify(|_, w| w.spi5en().set_bit());
let spi5 = dp.SPI5;
spi5_setup(&spi5);
// spi5.ier.write(|w| w.eotie().set_bit());
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rcc.ahb2enr.modify(|_, w| w.sram1en().set_bit());
rcc.ahb1enr.modify(|_, w| w.dma1en().set_bit());
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unsafe { DAT = (1 << 9) | (1 << 0) }; // init SRAM1 rodata can't load with sram1 disabled
cortex_m::asm::dsb();
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let dat_addr = unsafe { &DAT as *const _ } as usize;
cp.SCB.clean_dcache_by_address(dat_addr, 4);
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// TODO: also SPI4/ADC0
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dma1_setup(&dp.DMA1, &dp.DMAMUX1, dat_addr,
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&spi1.cr1 as *const _ as usize);
rcc.apb1lenr.modify(|_, w| w.tim2en().set_bit());
tim2_setup(&dp.TIM2);
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unsafe { IIR_CH[0].pi(0.1, 10.*2e-6/2., 0.).expect("bad coefficients"); }
unsafe { IIR_CH[1].pi(-0.1, 10.*2e-6/2., 0.).expect("bad coefficients"); }
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cortex_m::interrupt::free(|cs| {
cp.NVIC.enable(stm32::Interrupt::SPI1);
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cp.NVIC.enable(stm32::Interrupt::TIM2); // FIXME
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SPIP.borrow(cs).replace(Some((spi1, spi2, spi4, spi5)));
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});
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loop {
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for _ in 0..1000000 { cortex_m::asm::wfi(); }
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let (x0, y0, x1, y1) = unsafe {
(IIR_STATE[0][0], IIR_STATE[0][2], IIR_STATE[1][0], IIR_STATE[1][2]) };
info!("x0={} y0={} x1={} y1={}", x0, y0, x1, y1);
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}
}
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#[interrupt]
fn TIM2() { // FIXME
let dp = unsafe { Peripherals::steal() };
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dp.TIM2.sr.write(|w| w.uif().clear_bit()); // rc_w0
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dp.SPI1.cr1.write(|w| unsafe { w.bits(0x201) }); // ADC0
dp.SPI5.cr1.write(|w| unsafe { w.bits(0x201) }); // ADC1
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}
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const SCALE: f32 = ((1 << 15) - 1) as f32;
static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2];
static mut IIR_CH: [IIR; 2] = [
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IIR{ y_offset: 0., x_offset: 0., ba: [0., 0., 0., 0., 0.], scale: SCALE },
IIR{ y_offset: 0., x_offset: 0., ba: [0., 0., 0., 0., 0.], scale: SCALE }];
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#[interrupt]
fn SPI1() {
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#[cfg(feature = "bkpt")]
cortex_m::asm::bkpt();
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cortex_m::interrupt::free(|cs| {
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let spip = SPIP.borrow(cs).borrow();
let (spi1, spi2, spi4, spi5) = spip.as_ref().unwrap();
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let sr = spi1.sr.read();
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if sr.eot().bit_is_set() {
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spi1.ifcr.write(|w| w.eotc().set_bit());
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}
if sr.rxp().bit_is_set() {
let rxdr1 = &spi1.rxdr as *const _ as *const u16;
let a = unsafe { ptr::read_volatile(rxdr1) };
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let x0 = a as i16 as f32;
let y0 = unsafe { IIR_CH[0].update(&mut IIR_STATE[0], x0) };
let d = y0 as i16 as u16 ^ 0x8000;
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let txdr2 = &spi2.txdr as *const _ as *mut u16;
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unsafe { ptr::write_volatile(txdr2, d) };
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}
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let sr = spi5.sr.read();
if sr.eot().bit_is_set() {
spi5.ifcr.write(|w| w.eotc().set_bit());
}
if sr.rxp().bit_is_set() {
let rxdr1 = &spi5.rxdr as *const _ as *const u16;
let a = unsafe { ptr::read_volatile(rxdr1) };
let x0 = a as i16 as f32;
let y0 = unsafe { IIR_CH[1].update(&mut IIR_STATE[1], x0) };
let d = y0 as i16 as u16 ^ 0x8000;
let txdr2 = &spi4.txdr as *const _ as *mut u16;
unsafe { ptr::write_volatile(txdr2, d) };
}
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});
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#[cfg(feature = "bkpt")]
cortex_m::asm::bkpt();
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}
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#[exception]
fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
panic!("HardFault at {:#?}", ef);
}
#[exception]
fn DefaultHandler(irqn: i16) {
panic!("Unhandled exception (IRQn = {})", irqn);
}