//! Interfacing the MPU9250
#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]
extern crate cortex_m;
extern crate cortex_m_rt as rt;
extern crate mpu9250;
extern crate panic_semihosting;
extern crate stm32f1xx_hal as hal;
use cortex_m::asm;
use hal::delay::Delay;
use hal::prelude::*;
use hal::spi::Spi;
use hal::stm32f103xx;
use mpu9250::Mpu9250;
use rt::{entry, exception, ExceptionFrame};
#[entry]
fn main() -> ! {
let cp = cortex_m::Peripherals::take().unwrap();
let dp = stm32f103xx::Peripherals::take().unwrap();
let mut flash = dp.FLASH.constrain();
let mut rcc = dp.RCC.constrain();
let clocks = rcc.cfgr.freeze(&mut flash.acr);
let mut afio = dp.AFIO.constrain();
let mut gpioa = dp.GPIOA.split();
// let mut gpiob = dp.GPIOB.split();
let nss = gpioa.pa4.into_push_pull_output(&mut gpioa.crl);
// SPI1
let sck = gpioa.pa5.into_alternate_push_pull(&mut gpioa.crl);
let miso = gpioa.pa6;
let mosi = gpioa.pa7.into_alternate_push_pull(&mut gpioa.crl);
// SPI2
// let sck = gpiob.pb13.into_alternate_push_pull(&mut gpiob.crh);
// let miso = gpiob.pb14;
// let mosi = gpiob.pb15.into_alternate_push_pull(&mut gpiob.crh);
let spi = Spi::spi1(
dp.SPI1,
(sck, miso, mosi),
&mut afio.mapr,
mpu9250::MODE,
1.MHz(),
clocks,
);
let mut delay = Delay::new(cp.SYST, &clocks);
let mut mpu9250 = Mpu9250::marg(spi, nss, &mut delay).unwrap();
// sanity checks
assert_eq!(mpu9250.who_am_i().unwrap(), 0x71);
assert_eq!(mpu9250.ak8963_who_am_i().unwrap(), 0x48);
let _a = mpu9250.all().unwrap();
asm::bkpt();
loop {}
}
#[exception]
fn HardFault(ef: &ExceptionFrame) -> ! {
panic!("{:#?}", ef);
}
#[exception]
fn DefaultHandler(irqn: i16) {
panic!("Unhandled exception (IRQn = {})", irqn);
}