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gps_rw.rs
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gps_rw.rs
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//! Serial interface read GPS one usart and write on another usart to USB-TTL console (minicom).
//!
//! usart1 connect the Tx pin pa9 to the Rx pin of a serial-usb converter
//! usart1 connect the Rx pin pa10 to the Tx pin of a serial-usb converter
//! Set up the serial console (e.g. minicom) with the same settings used here.
//! (Using 9600bps, could be higher but needs serial console to be the same.)
//!
//! GPS uses 9600bps, 8bit, odd parity, 1 stopbit. This can be confirmed by connecting GPS
//! directly to the USB-TTL and terminal with these settings (minicom 8-N-1)
//! The usart and pins for the GPS depend on the board. For specifics see setup() sections below.
//!
//! See examples/serial_char.rs for notes about connecting usart1 to
//! serial-usb converter on computer for console output.
//! That file also has for more notes regarding setup below.
#![deny(unsafe_code)]
#![no_main]
#![no_std]
#[cfg(debug_assertions)]
use panic_semihosting as _;
#[cfg(not(debug_assertions))]
use panic_halt as _;
//use cortex_m::asm;
//use eg_stm_hal::to_str;
use cortex_m_rt::entry;
//use core::fmt::Write; // for writeln
use cortex_m_semihosting::hprintln;
//use core::str;
//use core::ascii;
use nb::block;
//use eg_stm_hal::to_str;
// setup() does all hal/MCU specific setup and returns generic hal device for use in main code.
#[cfg(feature = "stm32f0xx")] // eg stm32f030xc
use stm32f0xx_hal::{
pac::Peripherals,
pac::{USART1, USART3},
prelude::*,
serial::{Rx, Serial, Tx},
};
#[cfg(feature = "stm32f0xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART3>, Rx<USART3>) {
let mut p = Peripherals::take().unwrap();
let mut rcc = p.RCC.configure().sysclk(48.mhz()).freeze(&mut p.FLASH);
let gpioa = p.GPIOA.split(&mut rcc);
let gpiob = p.GPIOB.split(&mut rcc);
let (tx1, rx1, tx3, rx3) = cortex_m::interrupt::free(move |cs| {
(
gpioa.pa9.into_alternate_af1(cs), //tx pa9
gpioa.pa10.into_alternate_af1(cs), //rx pa10
gpiob.pb10.into_alternate_af4(cs), //tx pb10
gpiob.pb11.into_alternate_af4(cs), //rx pb11
)
});
let (tx1, rx1) = Serial::usart1(p.USART1, (tx1, rx1), 9600.bps(), &mut rcc).split();
let (tx3, rx3) = Serial::usart3(p.USART3, (tx3, rx3), 9600.bps(), &mut rcc).split();
(tx1, rx1, tx3, rx3)
}
#[cfg(feature = "stm32f1xx")] // eg blue pill stm32f103
use stm32f1xx_hal::{
device::{USART1, USART3},
pac::Peripherals,
prelude::*,
serial::{Config, Rx, Serial, StopBits, Tx},
};
#[cfg(feature = "stm32f1xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART3>, Rx<USART3>) {
let p = Peripherals::take().unwrap();
let mut rcc = p.RCC.constrain();
let clocks = rcc.cfgr.freeze(&mut p.FLASH.constrain().acr);
let mut afio = p.AFIO.constrain(&mut rcc.apb2);
let mut gpioa = p.GPIOA.split(&mut rcc.apb2);
// next consumes (moves) arguments other than clocks, &mut rcc.apb2 and afio.
let (tx1, rx1) = Serial::usart1(
p.USART1,
(
gpioa.pa9.into_alternate_push_pull(&mut gpioa.crh), //tx pa9 for console
gpioa.pa10,
), //rx pa10 for console
&mut afio.mapr,
Config::default()
.baudrate(9600.bps())
.stopbits(StopBits::STOP1), //.parity_odd()
clocks,
&mut rcc.apb2,
)
.split();
let mut gpiob = p.GPIOB.split(&mut rcc.apb2);
let (tx3, rx3) = Serial::usart3(
p.USART3,
(
gpiob.pb10.into_alternate_push_pull(&mut gpiob.crh), //tx pb10 for GPS rx
gpiob.pb11,
), //rx pb11 for GPS tx
&mut afio.mapr,
Config::default().baudrate(9_600.bps()),
clocks,
&mut rcc.apb1,
)
.split();
(tx1, rx1, tx3, rx3)
}
#[cfg(feature = "stm32f3xx")] // eg Discovery-stm32f303
use stm32f3xx_hal::{
prelude::*,
serial::{Rx, Serial, Tx},
stm32::Peripherals,
stm32::{USART1, USART2},
};
#[cfg(feature = "stm32f3xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART2>, Rx<USART2>) {
let p = Peripherals::take().unwrap();
let mut rcc = p.RCC.constrain();
let clocks = rcc.cfgr.freeze(&mut p.FLASH.constrain().acr);
//Why does next need arg, there is only one possibility?
let mut gpioa = p.GPIOA.split(&mut rcc.ahb);
let (tx1, rx1) = Serial::usart1(
p.USART1,
(
gpioa
.pa9
.into_af7_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrh), //tx pa9
gpioa
.pa10
.into_af7_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrh), //rx pa10
),
9600.Bd(),
clocks,
&mut rcc.apb2,
)
.split();
let (tx2, rx2) = Serial::usart2(
p.USART2,
(
gpioa
.pa2
.into_af7_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl), //tx pa2
gpioa
.pa3
.into_af7_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl), //rx pa3
),
115_200.Bd(), // 9600.bps(),
clocks,
&mut rcc.apb1,
)
.split();
(tx1, rx1, tx2, rx2)
}
#[cfg(feature = "stm32f4xx")] // eg Nucleo-64 stm32f411
use stm32f4xx_hal::{
pac::Peripherals,
pac::{USART1, USART2},
prelude::*,
serial::{config::Config, Rx, Serial, Tx},
};
#[cfg(feature = "stm32f4xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART2>, Rx<USART2>) {
let p = Peripherals::take().unwrap();
let clocks = p.RCC.constrain().cfgr.freeze();
let gpioa = p.GPIOA.split();
let (tx1, rx1) = Serial::usart1(
p.USART1,
(
gpioa.pa9.into_alternate_af7(), //tx pa9 for console
gpioa.pa10.into_alternate_af7(),
), //rx pa10 for console
Config::default().baudrate(9600.bps()),
clocks,
)
.unwrap()
.split();
// this probably needs fix here. rx2.read() stalls and does not return.
//p.USART2.cr1.modify(|_,w| w.rxneie().set_bit()); //need RX interrupt?
let (tx2, rx2) = Serial::usart2(
p.USART2,
(
gpioa.pa2.into_alternate_af7(), //tx pa2 for GPS
gpioa.pa3.into_alternate_af7(),
), //rx pa3 for GPS
Config::default().baudrate(9600.bps()),
clocks,
)
.unwrap()
.split();
(tx1, rx1, tx2, rx2)
}
#[cfg(feature = "stm32f7xx")]
use stm32f7xx_hal::{
pac::Peripherals,
pac::{USART1, USART2},
prelude::*,
serial::{Config, Oversampling, Rx, Serial, Tx},
};
#[cfg(feature = "stm32f7xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART2>, Rx<USART2>) {
let p = Peripherals::take().unwrap();
let clocks = p.RCC.constrain().cfgr.sysclk(216.mhz()).freeze();
let gpioa = p.GPIOA.split();
let (tx1, rx1) = Serial::new(
p.USART1,
(
gpioa.pa9.into_alternate_af7(), //tx pa9 for console
gpioa.pa10.into_alternate_af7(),
), //rx pa10 for console
clocks,
Config {
baud_rate: 9600.bps(),
oversampling: Oversampling::By16,
character_match: None,
},
)
.split();
let (tx2, rx2) = Serial::new(
p.USART2,
(
gpioa.pa2.into_alternate_af7(), //tx pa2 for GPS
gpioa.pa3.into_alternate_af7(),
), //rx pa3 for GPS
clocks,
Config {
baud_rate: 9600.bps(),
oversampling: Oversampling::By16,
character_match: None,
},
)
.split();
(tx1, rx1, tx2, rx2)
}
#[cfg(feature = "stm32h7xx")]
use stm32h7xx_hal::{
pac::Peripherals,
pac::{USART1, USART2},
prelude::*,
serial::{Rx, Tx},
};
#[cfg(feature = "stm32h7xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART2>, Rx<USART2>) {
let p = Peripherals::take().unwrap();
let pwr = p.PWR.constrain();
let vos = pwr.freeze();
let rcc = p.RCC.constrain();
let ccdr = rcc.sys_ck(160.mhz()).freeze(vos, &p.SYSCFG);
let clocks = ccdr.clocks;
let gpioa = p.GPIOA.split(ccdr.peripheral.GPIOA);
let (tx1, rx1) = p
.USART1
.serial(
(
gpioa.pa9.into_alternate_af7(), //tx pa9
gpioa.pa10.into_alternate_af7(),
), //rx pa10
9600.bps(),
ccdr.peripheral.USART1,
&clocks,
)
.unwrap()
.split();
let (tx2, rx2) = p
.USART2
.serial(
(
gpioa.pa2.into_alternate_af7(), //tx pa2
gpioa.pa3.into_alternate_af7(),
), //rx pa3
9600.bps(),
ccdr.peripheral.USART2,
&clocks,
)
.unwrap()
.split();
(tx1, rx1, tx2, rx2)
}
#[cfg(feature = "stm32l0xx")]
use stm32l0xx_hal::{
pac::Peripherals,
pac::{USART1, USART2},
prelude::*,
rcc, // for ::Config but note name conflict with serial
serial::{Config, Rx, Serial1Ext, Serial2Ext, Tx},
};
#[cfg(feature = "stm32l0xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART2>, Rx<USART2>) {
let p = Peripherals::take().unwrap();
let mut rcc = p.RCC.freeze(rcc::Config::hsi16());
let gpioa = p.GPIOA.split(&mut rcc);
let (tx1, rx1) = p
.USART1
.usart(
gpioa.pa9, //tx pa9 for console
gpioa.pa10, //rx pa10 for console
Config::default().baudrate(9600.bps()),
&mut rcc,
)
.unwrap()
.split();
let (tx2, rx2) = p
.USART2
.usart(
gpioa.pa2, //tx pa2 for GPS
gpioa.pa3, //rx pa3 for GPS
Config::default().baudrate(9600.bps()),
&mut rcc,
)
.unwrap()
.split();
(tx1, rx1, tx2, rx2)
}
#[cfg(feature = "stm32l1xx")] // eg Discovery kit stm32l100 and Heltec lora_node STM32L151CCU6
use stm32l1xx_hal::{
prelude::*,
rcc, // for ::Config but note name conflict with next
serial::{Config, Rx, SerialExt, Tx},
stm32::Peripherals,
stm32::{USART1, USART2},
};
// The Heltec lora_node 151 uses USART2 and USART3 pins for on board LoRa connections and power
// detection. See
// https://resource.heltec.cn/download/LoRa_Node_151/LoRa_Node_151_Pinout_Diagram.pdf.
// So only USART1 is available and this example cannot work on Heltec lora_node 151 as
// it needs 2 USARTs. USART1 is used for the GPS as oled_gps and lora_gps examples might work.
// For simplicity of this example the same setup is used on the Discovery kit stm32l100.
#[cfg(feature = "stm32l1xx")]
fn setup() -> (Tx<USART2>, Rx<USART2>, Tx<USART1>, Rx<USART1>) {
let p = Peripherals::take().unwrap();
let mut rcc = p.RCC.freeze(rcc::Config::hsi());
//let clocks = rcc.cfgr.freeze();
let gpioa = p.GPIOA.split();
let (txc, rxc) = p
.USART2
.usart(
(
gpioa.pa2, //tx pa2 for console
gpioa.pa3,
), //rx pa3 for console
Config::default().baudrate(115_200.bps()),
&mut rcc,
)
.unwrap()
.split();
let (txg, rxg) = p
.USART1
.usart(
(
gpioa.pa9, //tx pa9 for GPS rx
gpioa.pa10,
), //rx pa10 for GPS tx
Config::default().baudrate(9600.bps()),
&mut rcc,
)
.unwrap()
.split();
(txc, rxc, txg, rxg)
}
#[cfg(feature = "stm32l4xx")]
use stm32l4xx_hal::{
pac::Peripherals,
pac::{USART1, USART2},
prelude::*,
serial::{Config, Rx, Serial, Tx},
};
#[cfg(feature = "stm32l4xx")]
fn setup() -> (Tx<USART1>, Rx<USART1>, Tx<USART2>, Rx<USART2>) {
let p = Peripherals::take().unwrap();
let mut flash = p.FLASH.constrain();
let mut rcc = p.RCC.constrain();
let mut pwr = p.PWR.constrain(&mut rcc.apb1r1);
let clocks = rcc
.cfgr
.sysclk(80.mhz())
.pclk1(80.mhz())
.pclk2(80.mhz())
.freeze(&mut flash.acr, &mut pwr);
let mut gpioa = p.GPIOA.split(&mut rcc.ahb2);
let (tx1, rx1) = Serial::usart1(
p.USART1,
(
gpioa.pa9.into_af7(&mut gpioa.moder, &mut gpioa.afrh), //tx pa9 for console
gpioa.pa10.into_af7(&mut gpioa.moder, &mut gpioa.afrh),
), //rx pa10 for console
Config::default().baudrate(9600.bps()),
clocks,
&mut rcc.apb2,
)
.split();
let (tx2, rx2) = Serial::usart2(
p.USART2,
(
gpioa.pa2.into_af7(&mut gpioa.moder, &mut gpioa.afrl), //tx pa2 for GPS
gpioa.pa3.into_af7(&mut gpioa.moder, &mut gpioa.afrl),
), //rx pa3 for GPS
Config::default().baudrate(9600.bps()),
clocks,
&mut rcc.apb1r1,
)
.split();
(tx1, rx1, tx2, rx2)
}
// End of hal/MCU specific setup. Following should be generic code.
#[entry]
fn main() -> ! {
//hprintln!("{}", to_str("just checking to_str".as_bytes())).expect("hprintln error.");
//hprintln!("{:?}", "just checking to_str".as_bytes()).expect("hprintln error.");
let (mut tx_con, mut _rx_con, mut _tx_gps, mut rx_gps) = setup(); // console, GPS
//writeln!(tx_con, "\r\nconsole connect check.\r\n").unwrap();
for byte in b"\r\nconsole connect check.\r\n" {
block!(tx_con.write(*byte)).ok();
}
// read gps on usart2
hprintln!("about to read GPS").unwrap();
// byte buffer up to 80 u8 elements on stack
let mut buffer: heapless::Vec<u8, 80> = heapless::Vec::new();
hprintln!("buffer at {} of {}", buffer.len(), buffer.capacity()).unwrap(); //0 of 80
buffer.clear();
// while (i < r.len()) && !buffer.push(r[i]).is_err() {
hprintln!("going into write/read loop ^C to exit ...").unwrap();
// note that putting hprintln! in loop slows it too much and loses data.
let e: u8 = 9;
let mut good = false;
loop {
let byte = match block!(rx_gps.read()) {
Ok(byt) => byt,
Err(_error) => e,
};
block!(tx_con.write(byte)).ok();
if byte == 36 {
// $ is 36. start of a line
buffer.clear();
good = true; //start capturing line
};
if good {
if buffer.push(byte).is_err() || byte == 13 {
// \r is 13, \n is 10
//writeln!(tx_con, "{}", to_str(&buffer)).unwrap();
for byte in &buffer {
block!(tx_con.write(*byte)).ok();
}
//hprintln!("buffer at {} of {}", buffer.len(), buffer.capacity()).unwrap();
buffer.clear();
good = false;
//break;
};
};
}
}