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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_std] //! //! extern crate aligned; //! extern crate byteorder; //! extern crate cobs; //! extern crate cortex_m; //! extern crate f3; //! #[macro_use(block)] //! extern crate nb; //! //! 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}; //! //! // TRY changing the sampling frequency //! const FREQUENCY: u32 = 220; //! // TRY changing the number of samples //! const NSAMPLES: u32 = 32 * FREQUENCY; // = 32 seconds //! //! 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(); //! } //! ``` // Auto-generated. Do not modify.