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|
//! BLE interface.
#![no_std]
#![no_main]
mod ble;
mod i2c;
mod logger;
mod macros;
mod rtc;
mod uarte1;
use clint::HandlerArray;
use core::mem;
use cortex_m::{asm::wfi, peripheral::NVIC};
use cortex_m_rt::{entry, exception, ExceptionFrame};
use log::{info, log, trace, Level as LogLevel, LevelFilter};
#[allow(unused_imports)]
extern crate panic_semihosting;
use nrf52840_mdk_bsp::{
hal::{
gpio::{Floating, Input, Level, Output, Pin, PushPull},
target::{interrupt, Interrupt, UARTE0},
twis::{self, Twis},
uarte::{self, Baudrate as UartBaudrate, Parity as UartParity, Uarte},
Clocks, Rtc,
},
Board,
};
const I2C_ADDR: u8 = 4;
// TODO:
// * bluetooth
// Interrupt handler table.
static HANDLERS: HandlerArray = HandlerArray::new();
#[entry]
fn main() -> ! {
let nrf52 = Board::take().unwrap();
let uart_wrapped = logger::WriteWrapper::new(nrf52.cdc);
let logger = logger::SerialLogger::new(uart_wrapped);
let logger_ref: &'static logger::SerialLogger<UARTE0> = unsafe { mem::transmute(&logger) };
log::set_logger(logger_ref).expect("setting logger");
log::set_max_level(LevelFilter::Trace);
// TODO: use hal interface for this.
nrf52
.CLOCK
.tasks_hfclkstart
.write(|w| w.tasks_hfclkstart().set_bit());
while nrf52
.CLOCK
.events_hfclkstarted
.read()
.events_hfclkstarted()
.bit_is_clear()
{}
nrf52.RTC0.intenset.write(|w| w.tick().set());
let mut rtc_handler = rtc::setup(Rtc::new(nrf52.RTC0), Clocks::new(nrf52.CLOCK));
let (mut twis_reader, mut twis_handler) = i2c::setup(Twis::new(
I2C_ADDR,
nrf52.TWIS0,
twis::Pins {
scl: nrf52.pins.P0_06.into_floating_input().degrade(),
sda: nrf52.pins.P0_07.into_floating_input().degrade(),
},
));
let txp = nrf52
.pins
.P0_26
.into_push_pull_output(Level::High)
.degrade();
let rxp = nrf52.pins.P0_25.into_floating_input().degrade();
let uarte1 = uarte1(nrf52.UARTE1, txp, rxp);
let (mut uarte1_reader, mut uarte1_handler) = uarte1::setup(uarte1);
let mut resp = ble::setup(nrf52.RADIO, nrf52.TIMER0, nrf52.FICR);
HANDLERS.with_overrides(|hs| {
hs.register(0, &mut rtc_handler);
hs.register(1, &mut twis_handler);
hs.register(2, &mut uarte1_handler);
unsafe {
NVIC::unmask(Interrupt::RTC0);
NVIC::unmask(Interrupt::SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
NVIC::unmask(Interrupt::UARTE1);
NVIC::unmask(Interrupt::TIMER0);
NVIC::unmask(Interrupt::RADIO);
}
info!("Bootstrap complete.");
// Buffer is just scratch space that always gets written to
// before it's read.
let mut buf: [u8; 256] =
unsafe { core::mem::MaybeUninit::<[u8; 256]>::uninit().assume_init() };
// TODO: there's some kind of weird multi-millisecond latency
// somewhere. It may be in one of the interrupt handlers, so
// maybe stick a counter on them for every time they're fired
// and then spit out stats once/second from here.
//
// May need to keep total-time-spent inside the handlers as
// well. This lag is infuriatingly hidden.
loop {
let mut len = twis_reader.shift_into(&mut buf);
while len > 0 {
info!("i²c data: {:?}", &buf[0..len]);
len = twis_reader.shift_into(&mut buf);
}
let mut len = uarte1_reader.shift_into(&mut buf);
while len > 0 {
log!(target: "usb", LogLevel::Info,
"{}",
core::str::from_utf8(&buf[0..len]).expect("utf8conv")
);
len = uarte1_reader.shift_into(&mut buf);
}
if resp.has_work() {
trace!("ble responder has work");
resp.process_one().expect("ble response processing");
}
wfi();
}
});
unreachable!();
}
fn uarte1<U>(uarte: U, tx: Pin<Output<PushPull>>, rx: Pin<Input<Floating>>) -> Uarte<U>
where
U: uarte::Instance,
{
Uarte::new(
uarte,
uarte::Pins {
txd: tx,
rxd: rx,
cts: None,
rts: None,
},
UartParity::EXCLUDED,
UartBaudrate::BAUD115200,
)
}
#[exception]
fn HardFault(ef: &ExceptionFrame) -> ! {
log::logger().flush();
logln_now!("!!! Hard Fault - ef: {:?} !!!", ef);
logln_now!("flushing log");
loop {
log::logger().flush();
wfi()
}
}
#[interrupt]
fn RTC0() {
HANDLERS.call(0);
}
#[interrupt]
fn SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0() {
HANDLERS.call(1);
}
#[interrupt]
fn UARTE1() {
HANDLERS.call(2);
}
|
