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message decoder

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This commit is contained in:
Andy Killorin 2025-01-30 17:43:05 -05:00
parent 5b29c12d05
commit 90b88607fc
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
3 changed files with 69 additions and 5 deletions
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14
southbridge/Cargo.lock generated
View file

@ -1073,6 +1073,9 @@ name = "portable-atomic"
version = "1.10.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
dependencies = [
"critical-section",
]
[[package]]
name = "postcard"
@ -1368,8 +1371,10 @@ dependencies = [
"log",
"mpu6050",
"nalgebra",
"portable-atomic",
"postcard",
"serde",
"static_cell",
]
[[package]]
@ -1397,6 +1402,15 @@ version = "1.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
[[package]]
name = "static_cell"
version = "2.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d89b0684884a883431282db1e4343f34afc2ff6996fe1f4a1664519b66e14c1e"
dependencies = [
"portable-atomic",
]
[[package]]
name = "string_cache"
version = "0.8.7"

2
southbridge/Cargo.toml
View file

@ -28,3 +28,5 @@ mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
serde = { version = "1.0.203", default-features = false, features = ["derive"] }
postcard = "1.0.0"
static_cell = "2.1"
portable-atomic = { version = "1.5", features = ["critical-section"] }

58
southbridge/src/main.rs
View file

@ -3,16 +3,24 @@
use core::panic::PanicInfo;
use common::Command;
use embassy_executor::Spawner;
use embassy_rp::{bind_interrupts, peripherals::USB, pwm::{self, Pwm}, usb::Driver};
use embassy_rp::{bind_interrupts, peripherals::{UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, Config}, usb::Driver};
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel};
use embassy_time::{Duration, Timer};
use log::{error, info};
use embedded_io_async::{BufRead, Read};
use framed::{bytes, FRAME_END_SYMBOL};
use log::{error, info, warn};
use static_cell::{ConstStaticCell, StaticCell};
bind_interrupts!(struct Irqs {
I2C0_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C0>;
I2C1_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C1>;
USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
UART1_IRQ => BufferedInterruptHandler<UART1>;
});
pub static COMMANDS: Channel<CriticalSectionRawMutex, Command, 5> = Channel::new();
#[embassy_executor::task]
async fn logger_task(driver: Driver<'static, USB>) {
embassy_usb_logger::run!(1024, log::LevelFilter::Debug, driver);
@ -36,13 +44,53 @@ async fn main(spawner: Spawner) {
drive_conf.top = 62500; // 20ms
drive_conf.compare_b = 4687; // 1.5ms
drive_conf.compare_a = 4687; // 1.5ms
let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, drive_conf.clone());
let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, drive_conf.clone());
let config = embassy_rp::i2c::Config::default();
let bus = embassy_rp::i2c::I2c::new_async(p.I2C0, p.PIN_21, p.PIN_20, Irqs, config);
let bus = embassy_rp::i2c::I2c::new_async(p.I2C1, p.PIN_19, p.PIN_18, Irqs, config);
static TX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0u8;1024]);
let tx_buf = TX_BUF.take();
static RX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0u8;1024]);
let rx_buf = RX_BUF.take();
let uart = BufferedUart::new(p.UART1, Irqs, p.PIN_20, p.PIN_21, tx_buf, rx_buf, Config::default());
let (mut tx,rx) = uart.split();
spawner.spawn(decoder(rx)).unwrap();
loop {
info!("Blink");
Timer::after(Duration::from_millis(100)).await;
}
}
/// Receive data from the pi 0 over UART and deserialize it
#[embassy_executor::task]
async fn decoder(mut rx: BufferedUartRx<'static, UART1>) {
info!("Reading...");
let mut codec = framed::bytes::Config::default().to_codec();
loop {
let data = rx.fill_buf().await.unwrap();
let Some(end) = data.iter().position(|e| *e == FRAME_END_SYMBOL) else { continue; };
let data = &data[..end];
let mut buf = [0u8; 1024];
let Ok(len) = codec.decode_to_slice(data, &mut buf) else {
error!("frame decode fail");
continue;
};
let Ok(data) = postcard::from_bytes::<Command>(&buf[..len]) else {
error!("message decode fail");
continue;
};
COMMANDS.send(data).await;
rx.consume(end);
}
}