Module stm32f103xx_hal::examples::_07_mpu9250

Interfacing the MPU9250

 
#![deny(unsafe_code)]
#![deny(warnings)]
#![no_std]
 
extern crate cortex_m;
extern crate mpu9250;
extern crate panic_abort;
extern crate stm32f103xx_hal as hal;
 
use cortex_m::asm;
use hal::delay::Delay;
use hal::prelude::*;
use hal::spi::Spi;
use hal::stm32f103xx;
use mpu9250::Mpu9250;
 
fn main() {
    let cp = cortex_m::Peripherals::take().unwrap();
    let dp = stm32f103xx::Peripherals::take().unwrap();
 
    let mut flash = dp.FLASH.constrain();
    let mut rcc = dp.RCC.constrain();
 
    let clocks = rcc.cfgr.freeze(&mut flash.acr);
 
    let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
 
    let mut gpioa = dp.GPIOA.split(&mut rcc.apb2);
    // let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
 
    let nss = gpioa.pa4.into_push_pull_output(&mut gpioa.crl);
 
    // SPI1
    let sck = gpioa.pa5.into_alternate_push_pull(&mut gpioa.crl);
    let miso = gpioa.pa6;
    let mosi = gpioa.pa7.into_alternate_push_pull(&mut gpioa.crl);
 
    // SPI2
    // let sck = gpiob.pb13.into_alternate_push_pull(&mut gpiob.crh);
    // let miso = gpiob.pb14;
    // let mosi = gpiob.pb15.into_alternate_push_pull(&mut gpiob.crh);
 
    let spi = Spi::spi1(
        dp.SPI1,
        (sck, miso, mosi),
        &mut afio.mapr,
        mpu9250::MODE,
        1.mhz(),
        clocks,
        &mut rcc.apb2,
    );
 
    let mut delay = Delay::new(cp.SYST, clocks);
 
    let mut mpu9250 = Mpu9250::marg(spi, nss, &mut delay).unwrap();
 
    // sanity checks
    assert_eq!(mpu9250.who_am_i().unwrap(), 0x71);
    assert_eq!(mpu9250.ak8963_who_am_i().unwrap(), 0x48);
 
    let _a = mpu9250.all().unwrap();
 
    asm::bkpt();
}