Upgrade to latest HAL

Laixer · Jan 28, 2024 · b8387c6 · b8387c6
1 parent dd0dbe1
commit b8387c6
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Showing 10 changed files with 132 additions and 113 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
@@ -1,13 +1,14 @@
+[profile.release]
+lto = true        # better optimizations
+codegen-units = 1 # better optimizations
+opt-level = "s"   # optimize for size
+debug = true      # symbols are nice and they don't increase the size on Flash
+
 [workspace]
+resolver = "2"
 members = [
   "hcu",
   "m-ecu",
   "v-ecu",
   "vecraft"
 ]
-
-[profile.release]
-opt-level = "s"   # optimize for size
-codegen-units = 1 # better optimizations
-debug = true      # symbols are nice and they don't increase the size on Flash
-lto = true        # better optimizations
diff --git a/hcu/Cargo.toml b/hcu/Cargo.toml
@@ -7,8 +7,8 @@ edition = "2021"
 panic-halt = "0.2.0"
 systick-monotonic = "1.0"
 cortex-m-rtic = { version = "1.1.4" }
-stm32h7xx-hal = { version = "0.12.2", features = ["stm32h743v", "rt", "can"] }
-fdcan = { version = "0.1.0", features = ["fdcan_h7"] }
+stm32h7xx-hal = { version = "0.15.1", features = ["stm32h743v", "rt", "can"] }
+fdcan = { version = "0.2.0", features = ["fdcan_h7"] }
 vecraft = { version = "0.1.0", path = "../vecraft" }
 
 [[bin]]

diff --git a/hcu/src/main.rs b/hcu/src/main.rs
@@ -27,7 +27,7 @@ mod app {
     use stm32h7xx_hal::gpio::{self};
     use stm32h7xx_hal::prelude::*;
     use stm32h7xx_hal::rcc;
-    use stm32h7xx_hal::watchdog::{Event::EarlyWakeup, SystemWindowWatchdog};
+    use stm32h7xx_hal::system_watchdog::{Event::EarlyWakeup, SystemWindowWatchdog};
     use systick_monotonic::Systick;
 
     /// 100 Hz / 10 ms granularity
@@ -73,10 +73,10 @@ mod app {
             .freeze(pwrcfg, &ctx.device.SYSCFG);
 
         // Switch adc_ker_ck_input multiplexer to per_ck
-        ccdr.peripheral.kernel_adc_clk_mux(rcc::rec::AdcClkSel::PER);
+        ccdr.peripheral.kernel_adc_clk_mux(rcc::rec::AdcClkSel::Per);
 
         ccdr.peripheral
-            .kernel_usart234578_clk_mux(rcc::rec::Usart234578ClkSel::PLL3_Q);
+            .kernel_usart234578_clk_mux(rcc::rec::Usart234578ClkSel::Pll3Q);
 
         let mut watchdog = SystemWindowWatchdog::new(ctx.device.WWDG, &ccdr);
 
@@ -103,7 +103,7 @@ mod app {
         let fdcan_prec = ccdr
             .peripheral
             .FDCAN
-            .kernel_clk_mux(rcc::rec::FdcanClkSel::PLL1_Q);
+            .kernel_clk_mux(rcc::rec::FdcanClkSel::Pll1Q);
 
         let canbus1 = {
             let rx = gpiod.pd0.into_alternate().speed(gpio::Speed::VeryHigh);
@@ -201,8 +201,9 @@ mod app {
             lockout0: pwr_swtich1,
             lockout1: pwr_swtich2,
         };
+        gate_lock.lock();
 
-        let gate_control = vecraft::lsgc::GateControl {
+        let mut gate_control = vecraft::lsgc::GateControl {
             gate0,
             gate1,
             gate2,
@@ -212,7 +213,7 @@ mod app {
             gate6,
             gate7,
         };
-        gate_lock.lock();
+        gate_control.reset();
 
         motd::spawn().ok();
         firmware_state::spawn().ok();

diff --git a/m-ecu/Cargo.toml b/m-ecu/Cargo.toml
@@ -7,8 +7,8 @@ edition = "2021"
 panic-halt = "0.2.0"
 systick-monotonic = "1.0"
 cortex-m-rtic = { version = "1.1.4" }
-stm32h7xx-hal = { version = "0.12.2", features = ["stm32h743v", "rt", "can"] }
-fdcan = { version = "0.1.0", features = ["fdcan_h7"] }
+stm32h7xx-hal = { version = "0.15.1", features = ["stm32h743v", "rt", "can"] }
+fdcan = { version = "0.2.0", features = ["fdcan_h7"] }
 vecraft = { version = "0.1.0", path = "../vecraft" }
 
 [[bin]]

diff --git a/m-ecu/src/main.rs b/m-ecu/src/main.rs
@@ -29,7 +29,7 @@ mod app {
     use stm32h7xx_hal::gpio::{self};
     use stm32h7xx_hal::prelude::*;
     use stm32h7xx_hal::rcc;
-    use stm32h7xx_hal::watchdog::SystemWindowWatchdog;
+    use stm32h7xx_hal::system_watchdog::SystemWindowWatchdog;
     use systick_monotonic::Systick;
 
     /// 100 Hz / 10 ms granularity
@@ -83,10 +83,10 @@ mod app {
             .freeze(pwrcfg, &ctx.device.SYSCFG);
 
         // Switch adc_ker_ck_input multiplexer to per_ck
-        ccdr.peripheral.kernel_adc_clk_mux(rcc::rec::AdcClkSel::PER);
+        ccdr.peripheral.kernel_adc_clk_mux(rcc::rec::AdcClkSel::Per);
 
         ccdr.peripheral
-            .kernel_usart234578_clk_mux(rcc::rec::Usart234578ClkSel::PLL3_Q);
+            .kernel_usart234578_clk_mux(rcc::rec::Usart234578ClkSel::Pll3Q);
 
         let mut watchdog = SystemWindowWatchdog::new(ctx.device.WWDG, &ccdr);
 
@@ -113,7 +113,7 @@ mod app {
         let fdcan_prec = ccdr
             .peripheral
             .FDCAN
-            .kernel_clk_mux(rcc::rec::FdcanClkSel::PLL1_Q);
+            .kernel_clk_mux(rcc::rec::FdcanClkSel::Pll1Q);
 
         let canbus1 = {
             let rx = gpiod.pd0.into_alternate().speed(gpio::Speed::VeryHigh);
@@ -132,10 +132,16 @@ mod app {
         // ADC
         use stm32h7xx_hal::adc::{Adc, AdcSampleTime, Resolution};
 
-        let mut adc1 =
-            Adc::adc1(ctx.device.ADC1, &mut k, ccdr.peripheral.ADC12, &ccdr.clocks).enable();
+        let mut adc1 = Adc::adc1(
+            ctx.device.ADC1,
+            4.MHz(),
+            &mut k,
+            ccdr.peripheral.ADC12,
+            &ccdr.clocks,
+        )
+        .enable();
 
-        adc1.set_resolution(Resolution::TWELVEBITV);
+        adc1.set_resolution(Resolution::TwelveBit);
         adc1.set_sample_time(AdcSampleTime::T_387);
 
         let channel1 = gpioc.pc2.into_analog();

diff --git a/v-ecu/Cargo.toml b/v-ecu/Cargo.toml
@@ -7,8 +7,8 @@ edition = "2021"
 panic-halt = "0.2.0"
 systick-monotonic = "1.0"
 cortex-m-rtic = { version = "1.1.4" }
-stm32h7xx-hal = { version = "0.12.2", features = ["stm32h743v", "rt", "can", "usb_hs"] }
-fdcan = { version = "0.1.0", features = ["fdcan_h7"] }
+stm32h7xx-hal = { version = "0.15.1", features = ["stm32h743v", "rt", "can", "usb_hs"] }
+fdcan = { version = "0.2.0", features = ["fdcan_h7"] }
 vecraft = { version = "0.1.0", path = "../vecraft" }
 usb-device = "0.2.9"