Rust Apache NuttX RTOS嵌入式HAL

此crate为Apache NuttX RTOS提供Rust嵌入式HAL接口（GPIO、I2C、SPI和延时）。

有关NuttX Rust应用程序示例，请参阅rust-i2c-nuttx和rust_test

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更多关于NuttX嵌入式HAL的信息...

• "Rust在Apache NuttX RTOS上讨论I2C"

• "Rust在Apache NuttX操作系统上"

GPIO输出

//  Import Output Pin Trait
use embedded_hal::digital::v2::OutputPin;

//  Open /dev/gpio1 for GPIO Output
let mut gpio = nuttx_embedded_hal::OutputPin
    ::new("/dev/gpio1")
    .expect("open gpio failed");

//  Set Chip Select to Low
gpio.set_low()
    .expect("set gpio failed");

//  Set Chip Select to High
gpio.set_high()
    .expect("set gpio failed");

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(实现)

GPIO输入

//  Import Input Pin Trait
use embedded_hal::digital::v2::InputPin;

//  Open /dev/gpio0 for GPIO Input
let gpio = nuttx_embedded_hal::InputPin
    ::new("/dev/gpio0")
    .expect("open gpio failed");

//  True if GPIO is High
let is_high = gpio.is_high()
    .expect("read gpio failed");

//  True if GPIO is Low
let is_low = gpio.is_low()
    .expect("read gpio failed");

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GPIO中断

尚未支持中断回调。

//  Import Input Pin Trait
use embedded_hal::digital::v2::InputPin;

//  Open /dev/gpio2 for GPIO Interrupt
let gpio = nuttx_hal::InterruptPin
    ::new("/dev/gpio2");
    .expect("open gpio failed");

//  True if GPIO is High
let is_high = gpio.is_high()
    .expect("read gpio failed");

//  True if GPIO is Low
let is_low = gpio.is_low()
    .expect("read gpio failed");

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I2C

//  Import I2C Trait
use embedded_hal::blocking::i2c;

//  Open I2C Port /dev/i2c0
let mut i2c = nuttx_embedded_hal::I2c::new(
    "/dev/i2c0",  //  I2C Port
    400000,       //  I2C Frequency: 400 kHz
).expect("open failed");

//  Buffer for received I2C data
let mut buf = [0 ; 1];

//  Read register 0xD0 from I2C Address 0x77
i2c.write_read(
    0x77,     //  I2C Address
    &[0xD0],  //  Register ID
    &mut buf  //  Buffer to be received
).expect("read register failed");

//  Print the register value
println!("Register value is 0x{:02x}", buf[0]);

//  Write 0xA0 to Register 0xF5
i2c.write(
    0x77,          //  I2C Address
    &[0xF5, 0xA0]  //  Register ID and value
).expect("write register failed");

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(实现)

SPI

SPI接口需要安装SPI测试驱动程序(/dev/spitest0)

• SPI测试驱动程序

SPI设置在SPI测试驱动程序中配置。

//  Import SPI Trait
use embedded_hal::blocking::spi;

//  Open SPI Bus /dev/spitest0
let mut spi = nuttx_embedded_hal::Spi
    ::new("/dev/spitest0")
    .expect("open spi failed");

//  Open GPIO Output /dev/gpio1 for Chip Select
let mut cs = nuttx_embedded_hal::OutputPin
    ::new("/dev/gpio1")
    .expect("open gpio failed");

//  Set Chip Select to Low
cs.set_low()
    .expect("cs failed");

//  Transmit and receive SPI data
let mut data: [ u8; 5 ] = [ 0x1d, 0x00, 0x08, 0x00, 0x00 ];
spi.transfer(&mut data)
    .expect("spi failed");

//  Show the received SPI data
for i in 0..data.len() {
    println!("{:02x}", data[i as usize]);
}

//  Set Chip Select to High
cs.set_high()
    .expect("cs failed");

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(实现)

延时

//  Import Delay Trait (milliseconds)
use embedded_hal::blocking::delay::DelayMs;

//  Get a Delay Interface
let mut delay = nuttx_embedded_hal::Delay;

//  Wait 500 milliseconds
delay.delay_ms(500_u32);

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