From 17c8e4d2e148299639a5ea4c59e6c30806b311de Mon Sep 17 00:00:00 2001 From: Ryan Summers Date: Mon, 26 Oct 2020 16:58:29 +0100 Subject: [PATCH] Updating to new HAL --- Cargo.lock | 131 +++++++++++++++++++++++++++++++++++----------------- Cargo.toml | 3 +- src/main.rs | 77 +++++++++++++----------------- 3 files changed, 121 insertions(+), 90 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 3d3e736..fcfc491 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -10,21 +10,22 @@ dependencies = [ [[package]] name = "aligned" -version = "0.3.2" +version = "0.3.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "eb1ce8b3382016136ab1d31a1b5ce807144f8b7eb2d5f16b2108f0f07edceb94" +checksum = "c19796bd8d477f1a9d4ac2465b464a8b1359474f06a96bb3cda650b4fca309bf" dependencies = [ "as-slice", ] [[package]] name = "as-slice" -version = "0.1.3" +version = "0.1.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "37dfb65bc03b2bc85ee827004f14a6817e04160e3b1a28931986a666a9290e70" +checksum = "bb4d1c23475b74e3672afa8c2be22040b8b7783ad9b461021144ed10a46bb0e6" dependencies = [ "generic-array 0.12.3", "generic-array 0.13.2", + "generic-array 0.14.4", "stable_deref_trait", ] @@ -41,9 +42,9 @@ dependencies = [ [[package]] name = "autocfg" -version = "1.0.0" +version = "1.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f8aac770f1885fd7e387acedd76065302551364496e46b3dd00860b2f8359b9d" +checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a" [[package]] name = "bare-metal" @@ -55,10 +56,16 @@ dependencies = [ ] [[package]] -name = "bit_field" -version = "0.10.0" +name = "bare-metal" +version = "1.0.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0" +checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603" + +[[package]] +name = "bit_field" +version = "0.10.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dcb6dd1c2376d2e096796e234a70e17e94cc2d5d54ff8ce42b28cef1d0d359a4" [[package]] name = "bitfield" @@ -106,7 +113,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2be99930c99669a74d986f7fd2162085498b322e6daae8ef63a97cc9ac1dc73c" dependencies = [ "aligned", - "bare-metal", + "bare-metal 0.2.5", "bitfield", "volatile-register", ] @@ -184,7 +191,7 @@ version = "0.2.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "fa998ce59ec9765d15216393af37a58961ddcefb14c753b4816ba2191d865fcb" dependencies = [ - "nb 0.1.2", + "nb 0.1.3", "void", ] @@ -226,6 +233,16 @@ dependencies = [ "typenum", ] +[[package]] +name = "generic-array" +version = "0.14.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "501466ecc8a30d1d3b7fc9229b122b2ce8ed6e9d9223f1138d4babb253e51817" +dependencies = [ + "typenum", + "version_check", +] + [[package]] name = "hash32" version = "0.1.1" @@ -236,10 +253,16 @@ dependencies = [ ] [[package]] -name = "heapless" -version = "0.5.5" +name = "hashbrown" +version = "0.9.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "73a8a2391a3bc70b31f60e7a90daa5755a360559c0b6b9c5cfc0fee482362dc0" +checksum = "d7afe4a420e3fe79967a00898cc1f4db7c8a49a9333a29f8a4bd76a253d5cd04" + +[[package]] +name = "heapless" +version = "0.5.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "74911a68a1658cfcfb61bc0ccfbd536e3b6e906f8c2f7883ee50157e3e2184f1" dependencies = [ "as-slice", "generic-array 0.13.2", @@ -250,11 +273,12 @@ dependencies = [ [[package]] name = "indexmap" -version = "1.4.0" +version = "1.6.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c398b2b113b55809ceb9ee3e753fcbac793f1956663f3c36549c1346015c2afe" +checksum = "55e2e4c765aa53a0424761bf9f41aa7a6ac1efa87238f59560640e27fca028f2" dependencies = [ "autocfg", + "hashbrown", ] [[package]] @@ -282,9 +306,12 @@ dependencies = [ [[package]] name = "nb" -version = "0.1.2" +version = "0.1.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc" +checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f" +dependencies = [ + "nb 1.0.0", +] [[package]] name = "nb" @@ -300,9 +327,9 @@ checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812" [[package]] name = "panic-semihosting" -version = "0.5.3" +version = "0.5.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c03864ac862876c16a308f5286f4aa217f1a69ac45df87ad3cd2847f818a642c" +checksum = "aed16eb761d0ee9161dd1319cb38c8007813b20f9720a5a682b283e7b8cdfe58" dependencies = [ "cortex-m", "cortex-m-semihosting", @@ -318,6 +345,12 @@ dependencies = [ "proc-macro-hack", ] +[[package]] +name = "paste" +version = "1.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ba7ae1a2180ed02ddfdb5ab70c70d596a26dd642e097bb6fe78b1bde8588ed97" + [[package]] name = "paste-impl" version = "0.1.18" @@ -329,15 +362,15 @@ dependencies = [ [[package]] name = "proc-macro-hack" -version = "0.5.16" +version = "0.5.18" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7e0456befd48169b9f13ef0f0ad46d492cf9d2dbb918bcf38e01eed4ce3ec5e4" +checksum = "99c605b9a0adc77b7211c6b1f722dcb613d68d66859a44f3d485a6da332b0598" [[package]] name = "proc-macro2" -version = "1.0.18" +version = "1.0.24" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "beae6331a816b1f65d04c45b078fd8e6c93e8071771f41b8163255bbd8d7c8fa" +checksum = "1e0704ee1a7e00d7bb417d0770ea303c1bccbabf0ef1667dae92b5967f5f8a71" dependencies = [ "unicode-xid", ] @@ -400,9 +433,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3" [[package]] name = "serde" -version = "1.0.115" +version = "1.0.117" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e54c9a88f2da7238af84b5101443f0c0d0a3bbdc455e34a5c9497b1903ed55d5" +checksum = "b88fa983de7720629c9387e9f517353ed404164b1e482c970a90c1a4aaf7dc1a" dependencies = [ "serde_derive", ] @@ -419,9 +452,9 @@ dependencies = [ [[package]] name = "serde_derive" -version = "1.0.115" +version = "1.0.117" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "609feed1d0a73cc36a0182a840a9b37b4a82f0b1150369f0536a9e3f2a31dc48" +checksum = "cbd1ae72adb44aab48f325a02444a5fc079349a8d804c1fc922aed3f7454c74e" dependencies = [ "proc-macro2", "quote", @@ -467,9 +500,9 @@ dependencies = [ [[package]] name = "stable_deref_trait" -version = "1.1.1" +version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8" +checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3" [[package]] name = "stm32h7" @@ -477,7 +510,18 @@ version = "0.11.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e9beb5e2a223c82f263c3051bba4614aebc6e98bd40217df3cd8817c83ac7bd8" dependencies = [ - "bare-metal", + "bare-metal 0.2.5", + "cortex-m", + "vcell", +] + +[[package]] +name = "stm32h7" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7571f17d1ed7d67957d0004de6c52bd1ef5e736ed5ddc2bcecf001512269f77c" +dependencies = [ + "bare-metal 0.2.5", "cortex-m", "cortex-m-rt", "vcell", @@ -500,38 +544,39 @@ version = "0.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "987c66628f30012ed9a41cc738421c5caece03292c0cc8fd1e99956f122735bd" dependencies = [ - "bare-metal", + "bare-metal 0.2.5", "cast", "cortex-m", "cortex-m-rt", "embedded-hal", - "nb 0.1.2", - "paste", - "stm32h7", + "nb 0.1.3", + "paste 0.1.18", + "stm32h7 0.11.0", "void", ] [[package]] name = "stm32h7xx-hal" version = "0.7.1" +source = "git+https://github.com/stm32-rs/stm32h7xx-hal#f28cf3e66c7a7fe2bdd1518f06acbf680e9b9a11" dependencies = [ - "bare-metal", + "bare-metal 1.0.0", "cast", "cortex-m", "cortex-m-rt", "embedded-hal", - "nb 0.1.2", - "paste", + "nb 1.0.0", + "paste 1.0.2", "smoltcp", - "stm32h7", + "stm32h7 0.12.1", "void", ] [[package]] name = "syn" -version = "1.0.33" +version = "1.0.48" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e8d5d96e8cbb005d6959f119f773bfaebb5684296108fb32600c00cde305b2cd" +checksum = "cc371affeffc477f42a221a1e4297aedcea33d47d19b61455588bd9d8f6b19ac" dependencies = [ "proc-macro2", "quote", @@ -546,9 +591,9 @@ checksum = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33" [[package]] name = "unicode-xid" -version = "0.2.0" +version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "826e7639553986605ec5979c7dd957c7895e93eabed50ab2ffa7f6128a75097c" +checksum = "f7fe0bb3479651439c9112f72b6c505038574c9fbb575ed1bf3b797fa39dd564" [[package]] name = "vcell" diff --git a/Cargo.toml b/Cargo.toml index 519fc08..fe4cda3 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -59,7 +59,8 @@ features = ["stm32h743v"] [dependencies.stm32h7xx-hal] features = ["stm32h743v", "rt", "unproven", "ethernet", "phy_lan8742a", "quadspi"] -path = "../stm32h7xx-hal" +git = "https://github.com/stm32-rs/stm32h7xx-hal" +# path = "../stm32h7xx-hal" [features] semihosting = ["panic-semihosting", "cortex-m-log/semihosting"] diff --git a/src/main.rs b/src/main.rs index 9be0830..3b5bfd1 100644 --- a/src/main.rs +++ b/src/main.rs @@ -36,7 +36,10 @@ use stm32h7xx_hal::prelude::*; use embedded_hal::digital::v2::{InputPin, OutputPin}; use smoltcp as net; -use hal::ethernet as ethernet; +use hal::{ + ethernet, + dma::{DmaExt, DmaChannel, DmaInternal}, +}; use heapless::{consts::*, String}; @@ -253,6 +256,8 @@ const APP: () = { afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin) }; + let mut dma_channels = dp.DMA1.split(); + // Configure the SPI interfaces to the ADCs and DACs. let adc0_spi = { let spi_miso = gpiob @@ -272,11 +277,18 @@ const APP: () = { polarity: hal::spi::Polarity::IdleHigh, phase: hal::spi::Phase::CaptureOnSecondTransition, }) - .communication_mode(hal::spi::CommunicationMode::Receiver) .manage_cs() - .transfer_size(1) .cs_delay(220e-9); + dma_channels.0.set_peripheral_address(&dp.SPI2.cr1 as *const _ as u32, false); + dma_channels.0.set_memory_address(&SPI_START_CODE as *const _ as u32, false); + dma_channels.0.set_direction(hal::dma::Direction::MemoryToPeripherial); + dma_channels.0.set_transfer_length(1); + dma_channels.0.cr().modify(|_, w| w.circ().enabled()); + dma_channels.0.dmamux().modify(|_, w| + w.dmareq_id().variant(hal::stm32::dmamux1::ccr::DMAREQ_ID_A::TIM2_UP)); + dma_channels.0.start(); + let mut spi: hal::spi::Spi<_, _, u16> = dp.SPI2.spi( (spi_sck, spi_miso, hal::spi::NoMosi), config, @@ -285,7 +297,7 @@ const APP: () = { &clocks.clocks, ); - spi.listen(hal::spi::Event::Eot); + spi.listen(hal::spi::Event::Rxp); spi }; @@ -308,11 +320,18 @@ const APP: () = { polarity: hal::spi::Polarity::IdleHigh, phase: hal::spi::Phase::CaptureOnSecondTransition, }) - .communication_mode(hal::spi::CommunicationMode::Receiver) .manage_cs() - .transfer_size(1) .cs_delay(220e-9); + dma_channels.1.set_peripheral_address(&dp.SPI3.cr1 as *const _ as u32, false); + dma_channels.1.set_memory_address(&SPI_START_CODE as *const _ as u32, false); + dma_channels.1.set_direction(hal::dma::Direction::MemoryToPeripherial); + dma_channels.1.dmamux().modify(|_, w| + w.dmareq_id().variant(hal::stm32::dmamux1::ccr::DMAREQ_ID_A::TIM2_UP)); + dma_channels.1.set_transfer_length(1); + dma_channels.1.cr().modify(|_, w| w.circ().enabled()); + dma_channels.1.start(); + let mut spi: hal::spi::Spi<_, _, u16> = dp.SPI3.spi( (spi_sck, spi_miso, hal::spi::NoMosi), config, @@ -321,7 +340,7 @@ const APP: () = { &clocks.clocks, ); - spi.listen(hal::spi::Event::Eot); + spi.listen(hal::spi::Event::Rxp); spi }; @@ -350,9 +369,7 @@ const APP: () = { polarity: hal::spi::Polarity::IdleHigh, phase: hal::spi::Phase::CaptureOnSecondTransition, }) - .communication_mode(hal::spi::CommunicationMode::Transmitter) .manage_cs() - .transfer_size(1) .swap_mosi_miso(); dp.SPI4.spi( @@ -382,9 +399,7 @@ const APP: () = { polarity: hal::spi::Polarity::IdleHigh, phase: hal::spi::Phase::CaptureOnSecondTransition, }) - .communication_mode(hal::spi::CommunicationMode::Transmitter) .manage_cs() - .transfer_size(1) .swap_mosi_miso(); dp.SPI5.spi( @@ -646,28 +661,12 @@ const APP: () = { // Utilize the cycle counter for RTIC scheduling. cp.DWT.enable_cycle_counter(); - let mut dma = hal::dma::Dma::dma(dp.DMA1, dp.DMAMUX1, clocks.peripheral.DMA1); - dma.configure_m2p_stream( - hal::dma::Stream::One, - &SPI_START_CODE as *const _ as u32, - &adc0_spi.spi.cr1 as *const _ as u32, - hal::dma::DMAREQ_ID::TIM2_CH1, - ); - - dma.configure_m2p_stream( - hal::dma::Stream::Two, - &SPI_START_CODE as *const _ as u32, - &adc1_spi.spi.cr1 as *const _ as u32, - hal::dma::DMAREQ_ID::TIM2_CH2, - ); - // Configure timer 2 to trigger conversions for the ADC - let mut timer2 = dp.TIM2.timer(50.khz(), clocks.peripheral.TIM2, &clocks.clocks); - timer2.configure_channel(hal::timer::Channel::One, 0.25); - timer2.configure_channel(hal::timer::Channel::Two, 0.75); - - timer2.listen(hal::timer::Event::ChannelOneDma); - timer2.listen(hal::timer::Event::ChannelTwoDma); + let timer2 = dp.TIM2.timer(500.khz(), clocks.peripheral.TIM2, &clocks.clocks); + { + let t2_regs = unsafe { &*hal::stm32::TIM2::ptr() }; + t2_regs.dier.modify(|_, w| w.ude().set_bit()); + } init::LateResources { afe0: afe0, @@ -690,8 +689,6 @@ const APP: () = { #[task(binds = SPI3, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)] fn spi3(c: spi3::Context) { - c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit()); - let output: u16 = { let a: u16 = c.resources.adc1.read().unwrap(); let x0 = f32::from(a as i16); @@ -700,18 +697,11 @@ const APP: () = { y0 as i16 as u16 ^ 0x8000 }; - c.resources - .dac1 - .spi - .ifcr - .write(|w| w.eotc().set_bit().txtfc().set_bit()); c.resources.dac1.send(output).unwrap(); } #[task(binds = SPI2, resources = [adc0, dac0, iir_state, iir_ch], priority = 2)] fn spi2(c: spi2::Context) { - c.resources.adc0.spi.ifcr.write(|w| w.eotc().set_bit()); - let output: u16 = { let a: u16 = c.resources.adc0.read().unwrap(); let x0 = f32::from(a as i16); @@ -720,11 +710,6 @@ const APP: () = { y0 as i16 as u16 ^ 0x8000 }; - c.resources - .dac0 - .spi - .ifcr - .write(|w| w.eotc().set_bit().txtfc().set_bit()); c.resources.dac0.send(output).unwrap(); }