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4 commits
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f7ab1c119a
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f7ab1c119a
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bd7b3fb287
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63bb5b8fea
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4945b4d777
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7 changed files with 551 additions and 106 deletions
31
controller/Cargo.lock
generated
31
controller/Cargo.lock
generated
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@ -268,6 +268,12 @@ dependencies = [
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"inout",
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]
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[[package]]
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name = "cobs"
|
||||
version = "0.2.3"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
||||
|
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[[package]]
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name = "codespan-reporting"
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version = "0.11.1"
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|
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@ -278,6 +284,15 @@ dependencies = [
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"unicode-width",
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]
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[[package]]
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name = "common"
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version = "0.1.0"
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dependencies = [
|
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"nalgebra",
|
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"postcard",
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"serde",
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]
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[[package]]
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name = "const-oid"
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version = "0.9.6"
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@ -290,6 +305,7 @@ version = "0.1.0"
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dependencies = [
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"assign-resources",
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"byte-slice-cast 1.2.2",
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"common",
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"cortex-m",
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"cortex-m-rt",
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"critical-section",
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@ -326,6 +342,7 @@ dependencies = [
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"pio 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
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"pio-proc 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
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"portable-atomic",
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"postcard",
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"rand",
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"reqwless",
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"serde",
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@ -1375,6 +1392,7 @@ dependencies = [
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"atomic-polyfill",
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"hash32 0.2.1",
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"rustc_version 0.4.1",
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"serde",
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"spin",
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"stable_deref_trait",
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]
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@ -1633,6 +1651,7 @@ dependencies = [
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"num-complex",
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"num-rational",
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"num-traits",
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"serde",
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"simba",
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"typenum",
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]
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@ -1680,6 +1699,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
|
||||
dependencies = [
|
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"num-traits",
|
||||
"serde",
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]
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[[package]]
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@ -1944,6 +1964,17 @@ dependencies = [
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"critical-section",
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]
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[[package]]
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name = "postcard"
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||||
version = "1.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "170a2601f67cc9dba8edd8c4870b15f71a6a2dc196daec8c83f72b59dff628a8"
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dependencies = [
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"cobs",
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||||
"heapless 0.7.17",
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"serde",
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]
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|
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[[package]]
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name = "ppv-lite86"
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version = "0.2.20"
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|
|
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@ -26,6 +26,7 @@ fixed-macro = "1.2"
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# for web request example
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reqwless = { version = "0.12.0", features = ["defmt",]}
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serde = { version = "1.0.203", default-features = false, features = ["derive"] }
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postcard = "1.0.0"
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serde-json-core = "0.5.1"
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# for assign resources example
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@ -61,7 +62,8 @@ embedded-sdmmc = "0.7.0"
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hex = { version = "0.4.3", default-features=false }
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mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
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vl53l0x = "1.0.1"
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nalgebra = { version = "0.31.2", default-features=false }
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nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
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common = { path = "../common" }
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|
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[profile.release]
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|
|
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@ -34,12 +34,14 @@ use embassy_rp::gpio::{Level, Output};
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use embassy_rp::peripherals::{DMA_CH0, PIO0, USB};
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use embassy_rp::pio::{InterruptHandler, Pio};
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use embassy_rp::usb::Driver;
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use embassy_time::{Delay, Duration, Timer};
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use embedded_io_async::Write;
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use embassy_time::{Delay, Duration, Instant, Timer};
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use embedded_io_async::{Read, Write};
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use mpu6050::Mpu6050;
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use nalgebra::clamp;
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use rand::RngCore;
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use reqwless::response;
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use sensor_manager::{sensor_manager, SensorData, SensorHardware};
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use sensor_manager::{sensor_manager, SensorHardware};
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use common::{ControlPacket, SensorData, TelemetryPacket};
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use static_cell::StaticCell;
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use defmt_rtt as _;
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|
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|
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@ -51,7 +53,7 @@ bind_interrupts!(struct Irqs {
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});
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static mut CORE1_STACK: Stack<4096> = Stack::new();
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pub static CHANNEL: Channel<CriticalSectionRawMutex, SensorData, 1> = Channel::new();
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pub static CHANNEL: Channel<CriticalSectionRawMutex, (SensorData, Instant), 1> = Channel::new();
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#[embassy_executor::task]
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async fn logger_task(driver: Driver<'static, USB>) {
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@ -175,16 +177,17 @@ async fn main(spawner: Spawner) {
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let mut rx_buffer = [0; 4096];
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let mut tx_buffer = [0; 4096];
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let mut buf = [0; 4096];
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let mut telem_buf = [0; 4096];
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loop {
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let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
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socket.set_timeout(Some(Duration::from_secs(3)));
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let mut c: pwm::Config = Default::default();
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c.divider = 255.into();
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c.top = 8715;
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c.compare_b = 0;
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c.compare_a = 0;
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c.divider = 40.into();
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c.top = 62500; // 20ms
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c.compare_b = 4687; // 1.5ms
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c.compare_a = 4687; // 1.5ms
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drive_pwm.set_config(&c);
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flipper.set_low();
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@ -200,59 +203,41 @@ async fn main(spawner: Spawner) {
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control.gpio_set(0, true).await;
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||||
loop {
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let mut n = match socket.read(&mut buf).await {
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Ok(0) => {
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warn!("read EOF");
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break;
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}
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Ok(n) => n,
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Err(e) => {
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warn!("read error: {:?}", e);
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break;
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}
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};
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info!("rxd {}", from_utf8(&buf[..n]).unwrap());
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Timer::after_millis(30).await;
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let mut segs = buf[..n].trim_ascii().split(|c| *c == ' ' as u8);
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match char::from_u32(segs.next().unwrap()[0] as u32).unwrap() {
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'D' => {
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let left: [u8;2] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
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let right: [u8;2] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
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info!("left {:?}, right {left:?}", right);
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let left = u16::from_be_bytes(left);
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c.compare_a = left;
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let right = u16::from_be_bytes(right);
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c.compare_b = right;
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info!("left {:?}, right {left:?}", right);
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drive_pwm.set_config(&c);
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},
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'F' => {
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flipper.set_high();
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},
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'L' => {
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flipper.set_low();
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},
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_ => {}
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let mut len: [u8; 4] = [0;4];
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if let Err(e) = socket.read_exact(&mut len).await {
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warn!("read err: {e:?}");
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}
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let len = u32::from_be_bytes(len) as usize;
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let data = &mut buf[0..len];
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if let Err(e) = socket.read_exact(data).await {
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warn!("read err: {e:?}");
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break;
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}
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//let mut response: [u8;2] = [0;2];
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//let _ = bus.read_async(0xC0u16, &mut response).await;
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//let _ = hex::encode_to_slice(response, &mut buf);
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match socket.write_all(&buf[..n]).await {
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Ok(()) => {}
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Err(e) => {
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warn!("write error: {:?}", e);
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break;
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if let Ok(data) = postcard::from_bytes::<ControlPacket>(&data) {
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info!("got {data:?}");
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match data {
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ControlPacket::Twist(forward, right) => {
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info!("left to {}", clamp(forward+right, -1., 1.));
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info!("right to {}", clamp(forward-right, -1., 1.));
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},
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d => {error!("unimplemented: {d:?}")} // TODO
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||||
}
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||||
};
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}
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if let Ok((data, _ts)) = CHANNEL.try_receive() {
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let telem = TelemetryPacket {
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sensors: data,
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voltage: 0.0, // TODO
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||||
};
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||||
|
||||
if let Ok(telem) = postcard::to_slice(&telem, &mut telem_buf) {
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if let Err(e) = socket.write_all(&telem).await {
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warn!("write error: {:?}", e);
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||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
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||||
|
|
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@ -2,6 +2,7 @@ use core::sync::atomic::{AtomicU8, Ordering};
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use core::task::Poll;
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||||
use core::{cell::RefCell, mem::transmute};
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||||
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||||
use common::SensorData;
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use embassy_executor::Executor;
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use embassy_rp::peripherals::{I2C0, I2C1};
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use embassy_time::{Delay, Duration, Instant, Timer};
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@ -37,19 +38,6 @@ enum PollState {
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|||
Gyro,
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||||
}
|
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|
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#[derive(Clone, Debug)]
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pub struct SensorData {
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/// distance, mm
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tof1: Option<u16>,
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/// distance, mm
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tof2: Option<u16>,
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/// acceleration, rad/s
|
||||
gyro: Option<Vector3<f32>>,
|
||||
/// acceleration, g
|
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accel: Option<Vector3<f32>>,
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updated: Instant,
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||||
}
|
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|
||||
#[embassy_executor::task]
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||||
async fn init_sensors(mut hardware: SensorHardware) {
|
||||
let bus = RefCell::new(hardware.bus_tof);
|
||||
|
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@ -72,8 +60,8 @@ async fn init_sensors(mut hardware: SensorHardware) {
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|||
tof2: None,
|
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gyro: None,
|
||||
accel: None,
|
||||
updated: Instant::now(),
|
||||
};
|
||||
let mut updated_ts = Instant::now();
|
||||
|
||||
loop {
|
||||
let mut updated = false;
|
||||
|
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@ -102,10 +90,10 @@ async fn init_sensors(mut hardware: SensorHardware) {
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updated = true;
|
||||
}
|
||||
if updated {
|
||||
data.updated = Instant::now();
|
||||
updated_ts = Instant::now();
|
||||
}
|
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POLL_STATE.store(PollState::None as u8, Ordering::SeqCst);
|
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|
||||
CHANNEL.send(data.clone()).await;
|
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CHANNEL.send((data.clone(), updated_ts.clone())).await;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
378
interface/Cargo.lock
generated
378
interface/Cargo.lock
generated
|
|
@ -2,6 +2,21 @@
|
|||
# It is not intended for manual editing.
|
||||
version = 4
|
||||
|
||||
[[package]]
|
||||
name = "addr2line"
|
||||
version = "0.24.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "dfbe277e56a376000877090da837660b4427aad530e3028d44e0bffe4f89a1c1"
|
||||
dependencies = [
|
||||
"gimli",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "adler2"
|
||||
version = "2.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
|
||||
|
||||
[[package]]
|
||||
name = "aho-corasick"
|
||||
version = "1.1.3"
|
||||
|
|
@ -48,6 +63,24 @@ version = "1.0.95"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "34ac096ce696dc2fcabef30516bb13c0a68a11d30131d3df6f04711467681b04"
|
||||
|
||||
[[package]]
|
||||
name = "approx"
|
||||
version = "0.5.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "atty"
|
||||
version = "0.2.14"
|
||||
|
|
@ -65,6 +98,21 @@ version = "1.4.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
|
||||
|
||||
[[package]]
|
||||
name = "backtrace"
|
||||
version = "0.3.74"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
|
||||
dependencies = [
|
||||
"addr2line",
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"miniz_oxide",
|
||||
"object",
|
||||
"rustc-demangle",
|
||||
"windows-targets 0.52.6",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "bindgen"
|
||||
version = "0.70.1"
|
||||
|
|
@ -101,6 +149,12 @@ version = "3.16.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
|
||||
[[package]]
|
||||
name = "bytes"
|
||||
version = "1.9.0"
|
||||
|
|
@ -165,6 +219,12 @@ dependencies = [
|
|||
"vec_map",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
||||
|
||||
[[package]]
|
||||
name = "combine"
|
||||
version = "4.6.7"
|
||||
|
|
@ -175,6 +235,15 @@ dependencies = [
|
|||
"memchr",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "common"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"nalgebra",
|
||||
"postcard",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "core-foundation-sys"
|
||||
version = "0.8.7"
|
||||
|
|
@ -224,6 +293,12 @@ dependencies = [
|
|||
"windows",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
|
||||
|
||||
[[package]]
|
||||
name = "dasp_sample"
|
||||
version = "0.11.0"
|
||||
|
|
@ -242,18 +317,47 @@ version = "1.0.1"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
|
||||
|
||||
[[package]]
|
||||
name = "gimli"
|
||||
version = "0.31.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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[[package]]
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@ -364,6 +473,16 @@ dependencies = [
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||||
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[[package]]
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||||
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|
@ -459,6 +614,16 @@ dependencies = [
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|||
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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[[package]]
|
||||
name = "windows-sys"
|
||||
version = "0.59.0"
|
||||
|
|
|
|||
|
|
@ -7,4 +7,9 @@ edition = "2021"
|
|||
anyhow = "1.0.95"
|
||||
cpal = "0.15.3"
|
||||
pitch-detection = "0.3"
|
||||
postcard = "1.1.1"
|
||||
rust-music-theory = {git = "https://github.com/the-drunk-coder/rust-music-theory", rev = "a062d65"}
|
||||
serde = "1.0.217"
|
||||
tokio = { version = "1.43.0", features = ["full"] }
|
||||
common = {path = "../common"}
|
||||
heapless = "0.7.0"
|
||||
|
|
|
|||
|
|
@ -1,10 +1,12 @@
|
|||
#![feature(iter_collect_into)]
|
||||
use std::{sync::mpsc, thread::sleep, time::Duration};
|
||||
use std::{thread::sleep, time::Duration};
|
||||
|
||||
use anyhow::{Context, Ok, Result};
|
||||
use common::{ControlPacket, TelemetryPacket};
|
||||
use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
|
||||
use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils};
|
||||
use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning};
|
||||
use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, sync::mpsc};
|
||||
|
||||
fn main() -> Result<()> {
|
||||
// assumes pulseaudio system with f32 samples and 2204 sample packets
|
||||
|
|
@ -17,10 +19,10 @@ fn main() -> Result<()> {
|
|||
dbg!(config.sample_format());
|
||||
let rate = config.sample_rate();
|
||||
|
||||
let (sender, notes) = mpsc::channel();
|
||||
let (sender, notes) = mpsc::channel(2);
|
||||
|
||||
const POWER_THRESHOLD: f32 = 5.0;
|
||||
const CLARITY_THRESHOLD: f32 = 0.7;
|
||||
const CLARITY_THRESHOLD: f32 = 0.85;
|
||||
const PACKET_LEN: usize = 2204;
|
||||
|
||||
let stream = device.build_input_stream(&config.into(),
|
||||
|
|
@ -31,7 +33,7 @@ fn main() -> Result<()> {
|
|||
// reinitialized every packet as it is not thread safe
|
||||
let mut detctor = McLeodDetector::new(PACKET_LEN, PACKET_LEN/2);
|
||||
let vol = utils::buffer::square_sum(data);
|
||||
sender.send((detctor.get_pitch(data, rate.0 as usize, POWER_THRESHOLD, CLARITY_THRESHOLD),vol)).unwrap();
|
||||
sender.blocking_send((detctor.get_pitch(data, rate.0 as usize, POWER_THRESHOLD, CLARITY_THRESHOLD),vol)).unwrap();
|
||||
|
||||
},
|
||||
move |err| {eprintln!("{err}")} ,
|
||||
|
|
@ -39,37 +41,91 @@ fn main() -> Result<()> {
|
|||
|
||||
stream.play()?;
|
||||
|
||||
for (note,vol) in notes {
|
||||
if let Some(note) = note {
|
||||
//dbg!(note.frequency);
|
||||
dbg!(note.clarity);
|
||||
dbg!(vol);
|
||||
let note = Note::from_freq(note.frequency, Tuning::EqualTemperament);
|
||||
match note.pitch {
|
||||
Pitch { letter: NoteLetter::A, accidental: 0} => {
|
||||
println!("forward");
|
||||
}
|
||||
Pitch { letter: NoteLetter::A, accidental: 1} => {
|
||||
println!("backward");
|
||||
}
|
||||
Pitch { letter: NoteLetter::C, accidental: 0} => {
|
||||
println!("right");
|
||||
}
|
||||
Pitch { letter: NoteLetter::C, accidental: 1} => {
|
||||
println!("left");
|
||||
}
|
||||
Pitch { letter: NoteLetter::G, accidental: 0} => {
|
||||
println!("fire");
|
||||
}
|
||||
pitch => {
|
||||
dbg!(pitch);
|
||||
}
|
||||
let executor = tokio::runtime::Runtime::new()?;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
let control = executor.block_on(async {
|
||||
let cruisecontrol = TcpStream::connect("169.254.1.1:1234").await?;
|
||||
cruisecontrol.set_nodelay(true)?;
|
||||
let (telem, control) = cruisecontrol.into_split();
|
||||
|
||||
tokio::spawn(telemetry_handler(telem));
|
||||
|
||||
Ok(control)
|
||||
})?;
|
||||
|
||||
|
||||
executor.block_on(controller(notes, control)).unwrap();
|
||||
|
||||
drop(stream);
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn telemetry_handler(mut telem: OwnedReadHalf) -> Result<()> {
|
||||
let mut buf = vec![0; 2048];
|
||||
loop {
|
||||
let len = telem.read_u32().await.context("bad length")? as usize;
|
||||
let data = &mut buf[0..len];
|
||||
telem.read_exact(data).await?;
|
||||
let telem: TelemetryPacket = postcard::from_bytes(&data)?;
|
||||
|
||||
println!("telem: {telem:?}");
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf) -> Result<()> {
|
||||
let mut controller = BufWriter::new(controller);
|
||||
loop {
|
||||
let mut control = ControlPacket::Stop;
|
||||
|
||||
let (note,vol) = notes.recv().await.context("channel closed")?;
|
||||
if let Some(note) = note {
|
||||
//dbg!(note.frequency);
|
||||
//dbg!(note.clarity);
|
||||
//dbg!(vol);
|
||||
let note = Note::from_freq(note.frequency, Tuning::EqualTemperament);
|
||||
match note.pitch {
|
||||
Pitch { letter: NoteLetter::A, accidental: 0} => {
|
||||
println!("forward");
|
||||
control = ControlPacket::Twist(1.0, 0.0);
|
||||
}
|
||||
Pitch { letter: NoteLetter::A, accidental: 1} => {
|
||||
println!("backward");
|
||||
control = ControlPacket::Twist(-1.0, 0.0);
|
||||
}
|
||||
Pitch { letter: NoteLetter::C, accidental: 0} => {
|
||||
println!("right");
|
||||
control = ControlPacket::Twist(0.0, 1.0);
|
||||
}
|
||||
Pitch { letter: NoteLetter::C, accidental: 1} => {
|
||||
println!("left");
|
||||
control = ControlPacket::Twist(0.0, -1.0);
|
||||
}
|
||||
Pitch { letter: NoteLetter::G, accidental: 0} => {
|
||||
println!("fire");
|
||||
control = ControlPacket::Fire;
|
||||
}
|
||||
Pitch { letter: NoteLetter::E, accidental: 0} => {
|
||||
println!("fire");
|
||||
control = ControlPacket::Fire;
|
||||
}
|
||||
_pitch => {
|
||||
if vol > 3000. {
|
||||
println!("fire");
|
||||
control = ControlPacket::FireOverride(1.0);
|
||||
} else {
|
||||
//dbg!(pitch);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
let control: heapless::Vec<u8, 2048> = postcard::to_vec(&control)?;
|
||||
controller.write_u32(control.len() as u32).await?;
|
||||
controller.write_all(&control).await?;
|
||||
controller.flush().await?;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue