px4flow_bsp

Rust no_std embedded hal board support package for the PX4FLOW optical flow sensor hardware.

Usage

See the example to an example that has been tested with the PX4FLOW hardware.

Interrupt Handling

Currently you need to configure your application to forward interrupts from app-level interrupt handlers, ie:

```rust /// should be called whenever DMA2 completes a transfer

[interrupt]

fn DMA2STREAM1() { dcmi::dma2stream1_irqhandler(); }

/// should be called whenever DCMI completes a frame

[interrupt]

fn DCMI() { dcmi::dcmi_irqhandler(); } ```

This assumes you are using the cortex-m-rt crate to construct your embedded application, and using its #[interrupt] to handle interrupts.

Status

Work in progress

• [x] Does not overwrite the default PX4FLOW bootloader that typically ships with the board
• [x] Example that sets up DCMI to read from the camera
• [x] Support for spi2 (l3gd20 gyro)
• [x] Support for i2c1 (offboard i2c communication)
• [x] Support for i2c2 (MT9V034 configuration port, and eeprom)
• [x] Support for USART2, USART3, and UART4 (sonar)
• [x] Support for serial eeprom on i2c2
• [x] Initial setup of DCMI peripheral
• [x] Initial setup of DMA2
• [ ] Fully working DCMI->DMA2-> image buffer pipeline

Notes

• The only supported mode for debugging is RTT with the rttdebug feature. This is because the PX4FLOW v2.3 only makes the SWD interface available (no easy ITM solution).
• The breakout feature is intended for library development and debugging purposes. Currently it's setup to work with the "DevEBox STM32F4XX_M Ver:3.0" board, which does not include a l3gd20 gyro or eeprom, and eg the Arducam MT9V034 breakout board ("UC-396 RevA")
• This has been tested with the CUAV PX4FLOW v2.3. On this particular board, the SWD and SWCLK pads noted on the bottom of the board appear to be swapped

MCU Pin Map

| Pin | Configuration | | :--- | :--- | | PA0 | UART4TX ("TIM5CH1" - N/C) | | PA1 | "TIM5CH2" (unused - N/C) | | PA2 | TIM5CH3EXPOSURE (pulled low) | | PA3 | TIM5CH4STANDBY (pulled low) | | PA4 | DCMIHSYNC | | PA5 | CAMNRESET (tied to high) | | PA6 | DCMIPIXCK | | PB6 | DCMID5 | | PB7 | DCMIVSYNC | | PB8 | I2C1 SCL | | PB9 | I2C1 SDA | | PB10 | I2C2 SCL | | PB11 | I2C2 SDA | | PB12 | spicsgyro | | PB13 | SPI2 SCLK | | PB14 | SPI2 CIPO | | PB15 | SPI2 COPI | | PC6 | DCMID0 | | PC7 | DCMID1 | | PC8 | XCLK | | PC9 | "TIM8CH4LEDOUT" (unused) | | PC10 | DCMID8 | | PC11 | UART4RX | | PC12 | DCMID9 | | PD0 | TBD | | PD5 | TBD | | PD6 | TBD | | PD7 | TBD | | PD15 | TBD | | PE0 | DCMID2 | | PE1 | DCMID3 | | PE2 | userled0 | | PE3 | userled1 | | PE4 | DCMID4 | | PE5 | DCMID6 | | PE6 | DCMID7 | | PE7 | userled2 |