Module f3::examples::_08_lsm303dlhc

Interfacing the on-board LSM303DLHC (accelerometer + compass)

#![deny(unsafe_code)]
#![deny(warnings)]
#![no_std]
#![no_main]
 
#[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::i2c::I2c;
use f3::hal::prelude::*;
use f3::hal::stm32f30x;
use f3::Lsm303dlhc;
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);
 
    // The `Lsm303dlhc` 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 mut gpiob = p.GPIOB.split(&mut rcc.ahb);
    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(p.I2C1, (scl, sda), 400.khz(), clocks, &mut rcc.apb1);
 
    let mut lsm303dlhc = Lsm303dlhc::new(i2c).unwrap();
 
    let _accel = lsm303dlhc.accel().unwrap();
    let _mag = lsm303dlhc.mag().unwrap();
    let _temp = lsm303dlhc.temp().unwrap();
 
    // when you reach this breakpoint you'll be able to inspect the variables `_accel`, `_mag` and
    // `_temp` which contain the accelerometer, compass (magnetometer) and 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);
}