Module f3::examples::_07_l3gd20 [−][src]
Interfacing the on-board L3GD20 (gyroscope)
#![deny(unsafe_code)] #![deny(warnings)] #![no_main] #![no_std] #[macro_use(entry, exception)] extern crate cortex_m_rt as rt; extern crate cortex_m; extern crate f3; extern crate panic_semihosting; use cortex_m::asm; use f3::hal::prelude::*; use f3::hal::spi::Spi; use f3::hal::stm32f30x; use f3::{l3gd20, L3gd20}; use rt::ExceptionFrame; entry!(main); fn main() -> ! { let p = stm32f30x::Peripherals::take().unwrap(); let mut flash = p.FLASH.constrain(); let mut rcc = p.RCC.constrain(); // TRY the other clock configuration let clocks = rcc.cfgr.freeze(&mut flash.acr); // let clocks = rcc.cfgr.sysclk(64.mhz()).pclk1(32.mhz()).freeze(&mut flash.acr); let mut gpioa = p.GPIOA.split(&mut rcc.ahb); let mut gpioe = p.GPIOE.split(&mut rcc.ahb); let mut nss = gpioe .pe3 .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper); nss.set_high(); // The `L3gd20` abstraction exposed by the `f3` crate requires a specific pin configuration to // be used and won't accept any configuration other than the one used here. Trying to use a // different pin configuration will result in a compiler error. let sck = gpioa.pa5.into_af5(&mut gpioa.moder, &mut gpioa.afrl); let miso = gpioa.pa6.into_af5(&mut gpioa.moder, &mut gpioa.afrl); let mosi = gpioa.pa7.into_af5(&mut gpioa.moder, &mut gpioa.afrl); let spi = Spi::spi1( p.SPI1, (sck, miso, mosi), l3gd20::MODE, 1.mhz(), clocks, &mut rcc.apb2, ); let mut l3gd20 = L3gd20::new(spi, nss).unwrap(); // sanity check: the WHO_AM_I register always contains this value assert_eq!(l3gd20.who_am_i().unwrap(), 0xD4); let _m = l3gd20.all().unwrap(); // when you reach this breakpoint you'll be able to inspect the variable `_m` which contains the // gyroscope and the temperature sensor readings asm::bkpt(); loop {} } exception!(HardFault, hard_fault); fn hard_fault(ef: &ExceptionFrame) -> ! { panic!("{:#?}", ef); } exception!(*, default_handler); fn default_handler(irqn: i16) { panic!("Unhandled exception (IRQn = {})", irqn); }