kai/pounder_test
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rtfm: continue work

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This commit is contained in:
Robert Jördens 2019-05-30 16:18:59 +00:00
parent 7501ea1963
commit 6be0ccfc6a
1 changed files with 13 additions and 18 deletions
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31
src/main.rs
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@ -495,7 +495,6 @@ const SCALE: f32 = ((1 << 15) - 1) as f32;
#[link_section = ".sram1.datspi"]
static mut DAT: u32 = 0x201; // EN | CSTART
static TIME: AtomicU32 = AtomicU32::new(0);
static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
#[link_section = ".sram3.eth"]
@ -531,7 +530,7 @@ const APP: () = {
// static IFACE: net::iface::EthernetInterface<'static, 'static, 'static, eth::Device> = ();
// static SOCKETS: net::socket::SocketSet<'static, 'static, 'static> = ();
#[init]
#[init(schedule = [tick])]
fn init(c: init::Context) -> init::LateResources {
let dp = c.device;
let cp = c.core;
@ -549,15 +548,6 @@ const APP: () = {
rcc.apb4enr.modify(|_, w| w.syscfgen().set_bit());
io_compensation_setup(&dp.SYSCFG);
// 100 MHz
/*
cp.SYST.set_clock_source(cortex_m::peripheral::syst::SystClkSource::Core);
cp.SYST.set_reload(cortex_m::peripheral::SYST::get_ticks_per_10ms()*200/10);
cp.SYST.enable_counter();
cp.SYST.enable_interrupt();
unsafe { cp.SCB.shpr[11].write(128); } // systick exception priority
*/
cp.SCB.enable_icache();
// TODO: ETH DMA coherence issues
// cp.SCB.enable_dcache(&mut cp.CPUID);
@ -639,6 +629,8 @@ const APP: () = {
tim2_setup(&dp.TIM2);
c.schedule.tick(rtfm::Instant::now()).unwrap();
init::LateResources {
SPI: (spi1, spi2, spi4, spi5),
// IFACE: iface,
@ -653,6 +645,13 @@ const APP: () = {
}
}
#[task(schedule = [tick])]
fn tick(c: tick::Context) {
// let now = rtfm::Instant::now();
const PERIOD: u32 = 200_000_000;
c.schedule.tick(c.scheduled + PERIOD.cycles()).unwrap();
}
// seems to slow it down
// #[link_section = ".data.spi1"]
#[interrupt(resources = [SPI, IIR_STATE, IIR_CH], priority = 1)]
@ -671,7 +670,7 @@ const APP: () = {
let rxdr = &spi1.rxdr as *const _ as *const u16;
let a = unsafe { ptr::read_volatile(rxdr) };
let x0 = f32::from(a as i16);
let y0 = unsafe { iir_ch[0].update(&mut iir_state[0], x0) };
let y0 = iir_ch[0].update(&mut iir_state[0], x0);
let d = y0 as i16 as u16 ^ 0x8000;
let txdr = &spi2.txdr as *const _ as *mut u16;
unsafe { ptr::write_volatile(txdr, d) };
@ -685,7 +684,7 @@ const APP: () = {
let rxdr = &spi5.rxdr as *const _ as *const u16;
let a = unsafe { ptr::read_volatile(rxdr) };
let x0 = f32::from(a as i16);
let y0 = unsafe { iir_ch[1].update(&mut iir_state[1], x0) };
let y0 = iir_ch[1].update(&mut iir_state[1], x0);
let d = y0 as i16 as u16 ^ 0x8000;
let txdr = &spi4.txdr as *const _ as *mut u16;
unsafe { ptr::write_volatile(txdr, d) };
@ -702,6 +701,7 @@ const APP: () = {
}
extern "C" {
// hw interrupt handlers for RTFM to use for scheduling tasks, one per priority
fn DCMI();
fn JPEG();
fn SDMMC();
@ -834,11 +834,6 @@ struct Status {
x1: f32,
y1: f32
}
#[exception]
fn SysTick() {
TIME.fetch_add(1, Ordering::Relaxed);
}
*/
#[exception]