Refactor
This commit is contained in:
parent
d88a5aeb14
commit
56c68af52e
19
Cargo.lock
generated
19
Cargo.lock
generated
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@ -70,7 +70,6 @@ checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
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dependencies = [
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"bare-metal 0.2.5",
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"bitfield",
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"critical-section",
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"embedded-hal",
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"volatile-register",
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]
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@ -138,16 +137,6 @@ version = "1.1.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
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[[package]]
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name = "embedded-alloc"
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version = "0.5.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8931e47e33c5d3194fbcf9cc82df0919193bd2fa40008f388eb1d28fd9c9ea6b"
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dependencies = [
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"critical-section",
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"linked_list_allocator",
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]
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[[package]]
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name = "embedded-dma"
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version = "0.2.0"
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@ -225,11 +214,9 @@ name = "hello-can-stm32"
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version = "0.1.0"
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dependencies = [
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"bxcan",
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"cortex-m",
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"cortex-m-rt",
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"cortex-m-rtic",
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"cortex-m-semihosting",
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"embedded-alloc",
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"embedded-hal",
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"heapless",
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"nb 1.1.0",
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@ -248,12 +235,6 @@ dependencies = [
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"hashbrown",
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]
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[[package]]
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name = "linked_list_allocator"
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version = "0.10.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
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[[package]]
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name = "lock_api"
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version = "0.4.10"
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18
Cargo.toml
18
Cargo.toml
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@ -6,18 +6,16 @@ edition = "2021"
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# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
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[dependencies]
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embedded-hal = "0.2.7"
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cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
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cortex-m-rtic = "1.1.3"
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panic-halt = "0.2.0"
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cortex-m-semihosting = { version = "0.5.0" }
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stm32f1xx-hal = { version = "0.10.0", features = ["rt", "stm32f103"] }
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shared-bus-rtic = "0.2.2"
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embedded-alloc = "0.5.0"
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nb = "1.1.0"
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cortex-m-rt = "0.7.3"
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bxcan = "0.7.0"
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cortex-m-rt = "0.7.3"
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cortex-m-rtic = "1.1.3"
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cortex-m-semihosting = { version = "0.5.0" }
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embedded-hal = "0.2.7"
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heapless = "0.7.16"
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nb = "1.1.0"
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panic-halt = "0.2.0"
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shared-bus-rtic = "0.2.2"
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stm32f1xx-hal = { version = "0.10.0", features = ["rt", "stm32f103"] }
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[features]
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default = []
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99
src/main.rs
99
src/main.rs
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@ -1,24 +1,16 @@
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#![no_std]
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#![no_main]
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use embedded_alloc::Heap;
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use panic_halt as _;
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#[global_allocator]
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static HEAP: Heap = Heap::empty();
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use core::cmp::Ordering;
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use bxcan::Frame;
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use core::cmp::Ordering;
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use heapless::binary_heap::{BinaryHeap, Max};
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use panic_halt as _;
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use stm32f1xx_hal::pac::Interrupt;
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extern crate alloc;
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#[derive(Debug)]
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pub struct PriorityFrame(Frame);
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/// Ordering is based on the Identifier and frame type (data vs. remote) and can be used to sort
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/// frames by priority.
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impl Ord for PriorityFrame {
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fn cmp(&self, other: &Self) -> Ordering {
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self.0.priority().cmp(&other.0.priority())
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@ -46,7 +38,6 @@ fn enqueue_frame(queue: &mut BinaryHeap<PriorityFrame, Max, 16>, frame: Frame) {
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#[rtic::app(device = stm32f1xx_hal::pac)]
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mod app {
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use cortex_m_semihosting::hprintln;
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use heapless::binary_heap::{BinaryHeap, Max};
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use super::{enqueue_frame, PriorityFrame};
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@ -72,7 +63,6 @@ mod app {
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can_rx: Rx0<Can<CAN1>>,
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led: Pin<'C', 13, Output>,
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delay: Delay<TIM2, 1000000>,
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counter: usize,
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}
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#[init]
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@ -80,8 +70,6 @@ mod app {
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let mut flash = ctx.device.FLASH.constrain();
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let rcc = ctx.device.RCC.constrain();
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// let clocks = rcc.cfgr.freeze(&mut flash.acr);
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let clocks = rcc
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.cfgr
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.use_hse(8.MHz())
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@ -107,7 +95,6 @@ mod app {
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can.modify_filters()
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.enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
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// Sync to the bus and start normal operation.
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can.enable_interrupts(
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Interrupts::TRANSMIT_MAILBOX_EMPTY | Interrupts::FIFO0_MESSAGE_PENDING,
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);
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@ -133,7 +120,6 @@ mod app {
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can_rx,
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led,
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delay,
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counter: 0,
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},
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init::Monotonics(),
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)
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@ -145,75 +131,21 @@ mod app {
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}
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#[idle(shared = [can_tx_queue, tx_count], local = [delay])]
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fn idle(mut cx: idle::Context) -> ! {
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fn idle(cx: idle::Context) -> ! {
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let mut tx_queue = cx.shared.can_tx_queue;
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loop {
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for speed in 0..=30 {
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tx_queue.lock(|mut tx_queue| {
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enqueue_frame(
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&mut tx_queue,
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Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(speed * 1000)),
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);
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});
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cx.local.delay.delay(100.millis());
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}
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for _ in 0..10 {
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tx_queue.lock(|mut tx_queue| {
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enqueue_frame(
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&mut tx_queue,
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Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(30000)),
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);
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});
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cx.local.delay.delay(100.millis());
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}
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for speed in 0..=30 {
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for sign in [1, -1] {
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for speed in (0..=30)
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.chain((0..10).map(|_| 30))
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.chain((0..=30).map(|i| 30 - i))
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{
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tx_queue.lock(|mut tx_queue| {
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enqueue_frame(
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&mut tx_queue,
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Frame::new_data(
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StandardId::new(0x1FF).unwrap(),
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speed2array(30000 - (speed * 1000)),
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),
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);
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});
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cx.local.delay.delay(100.millis());
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}
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for speed in 0..=30 {
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tx_queue.lock(|mut tx_queue| {
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enqueue_frame(
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&mut tx_queue,
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Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(speed * 1000 * -1)),
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);
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});
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cx.local.delay.delay(100.millis());
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}
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for _ in 0..10 {
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tx_queue.lock(|mut tx_queue| {
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enqueue_frame(
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&mut tx_queue,
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Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(30000 * -1)),
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);
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});
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cx.local.delay.delay(100.millis());
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}
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for speed in 0..=30 {
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tx_queue.lock(|mut tx_queue| {
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enqueue_frame(
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&mut tx_queue,
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Frame::new_data(
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StandardId::new(0x1FF).unwrap(),
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speed2array(( 30000 - (speed * 1000) ) * -1),
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speed2array(speed * 1000 * sign),
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),
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);
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});
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@ -222,8 +154,8 @@ mod app {
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}
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}
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}
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}
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// This ISR is triggered by each finished frame transmission.
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#[task(binds = USB_HP_CAN_TX, local = [can_tx, led], shared = [can_tx_queue, tx_count])]
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fn can_tx(cx: can_tx::Context) {
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let tx = cx.local.can_tx;
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@ -232,8 +164,6 @@ mod app {
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tx.clear_interrupt_flags();
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// There is now a free mailbox. Try to transmit pending frames until either
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// the queue is empty or transmission would block the execution of this ISR.
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(&mut tx_queue, &mut tx_count).lock(|tx_queue, tx_count| {
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while let Some(frame) = tx_queue.peek() {
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match tx.transmit(&frame.0) {
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@ -256,15 +186,14 @@ mod app {
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}
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#[task(binds = USB_LP_CAN_RX0, local = [can_rx], shared = [can_tx_queue])]
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fn can_rx0(mut cx: can_rx0::Context) {
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// Echo back received packages with correct priority ordering.
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fn can_rx0(cx: can_rx0::Context) {
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loop {
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match cx.local.can_rx.receive() {
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Ok(frame) => {
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// let data = frame.data().unwrap();
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Ok(_frame) => {
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// ここがデータきたときのあれ。
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}
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Err(nb::Error::WouldBlock) => break,
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Err(nb::Error::Other(_)) => {} // Ignore overrun errors.
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Err(nb::Error::Other(_)) => {}
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}
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}
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}
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