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//! Logs data from the motion sensors over ITM
//!
//! This example logs sensor data over ITM. The data is encoded in a binary format and logged as
//! COBS frames. The binary format is as follows:
//!
//! - Magnetometer readings
//! - `mx`: `i16`, LE (Little Endian), 2 bytes
//! - `my`: `i16`, LE, 2 bytes
//! - `mz`: `i16`, LE, 2 bytes
//!
//! - Gyroscope readings
//! - `arx`: `i16`, LE, 2 bytes
//! - `ary`: `i16`, LE, 2 bytes
//! - `arz`: `i16`, LE, 2 bytes
//!
//! - Accelerometer readings
//! - `gx`: `i16`, LE, 2 bytes
//! - `gy`: `i16`, LE, 2 bytes
//! - `gz`: `i16`, LE, 2 bytes
//!
//! The suggested way to receive this data is to connect the F3 SWO pin to a UART to USB converter
//! and then to read out the associated device file using `itmdump`. Make sure you configure the
//! serial device before calling `itmdump`. The commands to run are:
//!
//! ``` console
//! $ stty -F /dev/ttyUSB0 raw 2000000 -echo
//!
//! $ itmdump -f /dev/ttyUSB0 > data.txt
//! ```
//!
//! You can plot this data using the `plot.py` script in the root of this crate.
//!
//! ```
//! #![deny(warnings)]
//! #![no_main]
//! #![no_std]
//!
//! extern crate aligned;
//! extern crate byteorder;
//! extern crate cobs;
//! extern crate cortex_m;
//! #[macro_use(entry, exception)]
//! extern crate cortex_m_rt as rt;
//! extern crate f3;
//! #[macro_use(block)]
//! extern crate nb;
//! extern crate panic_semihosting;
//!
//! use core::ptr;
//!
//! use aligned::Aligned;
//! use byteorder::{ByteOrder, LE};
//! use cortex_m::{asm, itm};
//! use f3::hal::i2c::I2c;
//! use f3::hal::prelude::*;
//! use f3::hal::spi::Spi;
//! use f3::hal::stm32f30x;
//! use f3::hal::timer::Timer;
//! use f3::l3gd20::{self, Odr};
//! use f3::lsm303dlhc::{AccelOdr, MagOdr};
//! use f3::{L3gd20, Lsm303dlhc};
//! use rt::ExceptionFrame;
//!
//! // TRY changing the sampling frequency
//! const FREQUENCY: u32 = 220;
//! // TRY changing the number of samples
//! const NSAMPLES: u32 = 32 * FREQUENCY; // = 32 seconds
//!
//! entry!(main);
//!
//! fn main() -> ! {
//! let mut cp = cortex_m::Peripherals::take().unwrap();
//! let dp = stm32f30x::Peripherals::take().unwrap();
//!
//! let mut flash = dp.FLASH.constrain();
//! let mut rcc = dp.RCC.constrain();
//!
//! let clocks = rcc.cfgr
//! .sysclk(64.mhz())
//! .pclk1(32.mhz())
//! .freeze(&mut flash.acr);
//!
//! // enable ITM
//! // TODO this should be some high level API in the cortex-m crate
//! unsafe {
//! // enable TPIU and ITM
//! cp.DCB.demcr.modify(|r| r | (1 << 24));
//!
//! // prescaler
//! let swo_freq = 2_000_000;
//! cp.TPIU.acpr.write((clocks.sysclk().0 / swo_freq) - 1);
//!
//! // SWO NRZ
//! cp.TPIU.sppr.write(2);
//!
//! cp.TPIU.ffcr.modify(|r| r & !(1 << 1));
//!
//! // STM32 specific: enable tracing in the DBGMCU_CR register
//! const DBGMCU_CR: *mut u32 = 0xe0042004 as *mut u32;
//! let r = ptr::read_volatile(DBGMCU_CR);
//! ptr::write_volatile(DBGMCU_CR, r | (1 << 5));
//!
//! // unlock the ITM
//! cp.ITM.lar.write(0xC5ACCE55);
//!
//! cp.ITM.tcr.write(
//! (0b000001 << 16) | // TraceBusID
//! (1 << 3) | // enable SWO output
//! (1 << 0), // enable the ITM
//! );
//!
//! // enable stimulus port 0
//! cp.ITM.ter[0].write(1);
//! }
//!
//! let mut gpioa = dp.GPIOA.split(&mut rcc.ahb);
//! let mut gpiob = dp.GPIOB.split(&mut rcc.ahb);
//! let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
//!
//! // I2C
//! let scl = gpiob.pb6.into_af4(&mut gpiob.moder, &mut gpiob.afrl);
//! let sda = gpiob.pb7.into_af4(&mut gpiob.moder, &mut gpiob.afrl);
//!
//! let i2c = I2c::i2c1(dp.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1);
//!
//! // LSM303DLHC
//! let mut lsm303dlhc = Lsm303dlhc::new(i2c).unwrap();
//! lsm303dlhc.accel_odr(AccelOdr::Hz400).unwrap();
//! lsm303dlhc.mag_odr(MagOdr::Hz220).unwrap();
//!
//! // SPI
//! let mut nss = gpioe
//! .pe3
//! .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
//! nss.set_high();
//! 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(
//! dp.SPI1,
//! (sck, miso, mosi),
//! l3gd20::MODE,
//! 1.mhz(),
//! clocks,
//! &mut rcc.apb2,
//! );
//!
//! // L3GD20
//! let mut l3gd20 = L3gd20::new(spi, nss).unwrap();
//! l3gd20.set_odr(Odr::Hz380).unwrap();
//!
//! // TIMER
//! let mut timer = Timer::tim2(dp.TIM2, FREQUENCY.hz(), clocks, &mut rcc.apb1);
//!
//! // start of COBS frame
//! itm::write_all(&mut cp.ITM.stim[0], &[0]);
//!
//! // Capture N samples
//! let mut tx_buf: Aligned<u32, [u8; 20]> = Aligned([0; 20]);
//! for _ in 0..NSAMPLES {
//! block!(timer.wait()).unwrap();
//!
//! // Read sensors
//! let m = lsm303dlhc.mag().unwrap();
//! let ar = l3gd20.gyro().unwrap();
//! let g = lsm303dlhc.accel().unwrap();
//!
//! // Serialize the data
//! let mut buf = [0; 18];
//!
//! let mut start = 0;
//! LE::write_i16(&mut buf[start..start + 2], m.x);
//! start += 2;
//! LE::write_i16(&mut buf[start..start + 2], m.y);
//! start += 2;
//! LE::write_i16(&mut buf[start..start + 2], m.z);
//! start += 2;
//!
//! LE::write_i16(&mut buf[start..start + 2], ar.x);
//! start += 2;
//! LE::write_i16(&mut buf[start..start + 2], ar.y);
//! start += 2;
//! LE::write_i16(&mut buf[start..start + 2], ar.z);
//! start += 2;
//!
//! LE::write_i16(&mut buf[start..start + 2], g.x);
//! start += 2;
//! LE::write_i16(&mut buf[start..start + 2], g.y);
//! start += 2;
//! LE::write_i16(&mut buf[start..start + 2], g.z);
//!
//! // Log data
//! cobs::encode(&buf, &mut tx_buf);
//!
//! itm::write_aligned(&mut cp.ITM.stim[0], &tx_buf);
//! }
//!
//! // Done
//! 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);
//! }
//! ```
// Auto-generated. Do not modify.