51 lines
1.5 KiB
Rust
51 lines
1.5 KiB
Rust
// src/bin/main.rs
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#![no_std]
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#![no_main]
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_stm32::spi::{Config, Spi};
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use embassy_stm32::gpio::{Level, Speed, Output};
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use embassy_time::{Duration, Timer};
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use {defmt_rtt as _, panic_probe as _};
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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info!("tititi");
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let p = embassy_stm32::init(Default::default());
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let mut spi = Spi::new_blocking(p.SPI1, p.PB3, p.PB5, p.PB4, Config::default());
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let mut cs = Output::new(p.PA4, Level::High, Speed::VeryHigh);
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cs.set_low();
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let _ = spi.blocking_write(&[0x01u8, 0x79u8]);
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cs.set_high();
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loop {
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let mut data = [0u8; 10];
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data[0] = 0xA4;
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cs.set_low();
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let result = spi.blocking_transfer_in_place(&mut data);
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cs.set_high();
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match result {
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Ok(_) => {
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let raw = &data[1..];
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// 1. Correct 24-bit Signed Conversion (Minimal change)
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let x = (((raw[0] as i32) << 24) | ((raw[1] as i32) << 16) | ((raw[2] as i32) << 8)) >> 8;
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let y = (((raw[3] as i32) << 24) | ((raw[4] as i32) << 16) | ((raw[5] as i32) << 8)) >> 8;
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let z = (((raw[6] as i32) << 24) | ((raw[7] as i32) << 16) | ((raw[8] as i32) << 8)) >> 8;
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// 2. Display in Relevant Decimal Format
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info!("X: {} Y: {} Z: {}", x, y, z);
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}
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Err(e) => error!("SPI error: {:?}", e),
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}
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Timer::after(Duration::from_millis(10)).await;
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}
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}
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