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cruisecontrol/controller/src/main.rs

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//! This example uses the RP Pico W board Wifi chip (cyw43).
//! Creates an Access point Wifi network and creates a TCP endpoint on port 1234.
#![no_std]
#![no_main]
#![allow(async_fn_in_trait)]
mod sensor_manager;
use core::array;
use core::borrow::BorrowMut;
use core::cell::RefCell;
use core::fmt::Formatter;
use core::panic::PanicInfo;
use core::str::from_utf8;
use bt_hci::cmd::info;
use cyw43_pio::PioSpi;
use embassy_rp::i2c::{Async, I2c};
use embassy_rp::multicore::spawn_core1;
use embassy_rp::pwm::{self, Pwm};
use embedded_hal_bus::i2c::RefCellDevice;
use fixed::FixedU16;
use log::*;
//use embassy_rp::i2c::InterruptHandler;
use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, StackResources};
use embassy_rp::bind_interrupts;
use embassy_rp::clocks::RoscRng;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIO0, USB};
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_rp::usb::Driver;
use embassy_time::{Delay, Duration, Timer};
use embedded_io_async::Write;
use mpu6050::Mpu6050;
use rand::RngCore;
use reqwless::response;
use sensor_manager::{sensor_manager, SensorData};
use static_cell::StaticCell;
use defmt_rtt as _;
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
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>;
});
static mut CORE1_STACK: Stack<4096> = Stack::new();
static CHANNEL: Channel<CriticalSectionRawMutex, SensorData, 1> = Channel::new();
#[embassy_executor::task]
async fn logger_task(driver: Driver<'static, USB>) {
embassy_usb_logger::run!(1024, log::LevelFilter::Debug, driver);
}
#[embassy_executor::task]
async fn cyw43_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
runner.run().await
}
#[embassy_executor::task]
async fn net_task(mut runner: embassy_net::Runner<'static, cyw43::NetDriver<'static>>) -> ! {
runner.run().await
}
#[panic_handler]
fn panic( info: &PanicInfo) -> ! {
error!("{}", info);
loop { }
}
#[embassy_executor::main]
async fn main(spawner: Spawner) {
info!("Hello World!");
let p = embassy_rp::init(Default::default());
let mut rng = RoscRng;
let driver = Driver::new(p.USB, Irqs);
spawner.spawn(logger_task(driver)).unwrap();
let mut flipper = Output::new(p.PIN_22, Level::Low);
let mut c: pwm::Config = Default::default();
c.divider = 255.into();
c.top = 8715;
c.compare_b = 7210;
c.compare_a = 2240;
let mut pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, c.clone());
flipper.set_high();
let sda = p.PIN_20;
let scl = p.PIN_21;
let config = embassy_rp::i2c::Config::default();
let bus = embassy_rp::i2c::I2c::new_async(p.I2C0, scl, sda, Irqs, config);
let sda = p.PIN_26;
let scl = p.PIN_27;
let config = embassy_rp::i2c::Config::default();
let bus1 = embassy_rp::i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, config);
let bus1 = RefCell::new(bus1);
let mut tof2enable = Output::new(p.PIN_16, Level::Low);
spawn_core1(
p.CORE1,
unsafe { &mut *core::ptr::addr_of_mut!(CORE1_STACK) },
move || {
sensor_manager(bus, tof2enable)
}
);
info!("made RefCell");
info!("2");
Timer::after_millis(1).await;
let mut tof = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
info!("3");
tof.set_address(0x32).unwrap();
info!("4");
tof2enable.set_high();
Timer::after_micros(1200).await; // DS11555 3.2
info!("5");
let mut tof2 = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
info!("6");
let mut gyro = Mpu6050::new_with_addr(bus,0x68);
Timer::after_millis(1300).await;
gyro.init(&mut Delay).unwrap();
gyro.set_gyro_range(mpu6050::device::GyroRange::D2000).unwrap();
gyro.set_accel_range(mpu6050::device::AccelRange::G16).unwrap();
info!("pinidtd");
Timer::after_millis(1300).await;
loop {
//info!("pos: {}", gyro.get_gyro().unwrap().x);
//info!("jerk: {}", gyro.get_acc().unwrap().x);
//info!("temp: {}", gyro.get_temp().unwrap() * (9./5.) + 32.);
if let Ok(dist) = tof.read_range_single_millimeters_blocking() {
info!("dist1: {dist}mm");
}
Timer::after_millis(3).await;
if let Ok(dist) = tof2.read_range_single_millimeters_blocking() {
info!("dist2: {dist}mm");
}
Timer::after_millis(23).await;
}
let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");
// To make flashing faster for development, you may want to flash the firmwares independently
// at hardcoded addresses, instead of baking them into the program with `include_bytes!`:
// probe-rs download 43439A0.bin --binary-format bin --chip RP2040 --base-address 0x10100000
// probe-rs download 43439A0_clm.bin --binary-format bin --chip RP2040 --base-address 0x10140000
//let fw = unsafe { core::slice::from_raw_parts(0x10100000 as *const u8, 230321) };
//let clm = unsafe { core::slice::from_raw_parts(0x10140000 as *const u8, 4752) };
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let mut pio = Pio::new(p.PIO0, Irqs);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
static STATE: StaticCell<cyw43::State> = StaticCell::new();
let state = STATE.init(cyw43::State::new());
let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
defmt::unwrap!(spawner.spawn(cyw43_task(runner)));
control.init(clm).await;
control
.set_power_management(cyw43::PowerManagementMode::PowerSave)
.await;
// Use a link-local address for communication without DHCP server
let config = Config::ipv4_static(embassy_net::StaticConfigV4 {
address: embassy_net::Ipv4Cidr::new(embassy_net::Ipv4Address::new(169, 254, 1, 1), 16),
dns_servers: heapless::Vec::new(),
gateway: None,
});
// Generate random seed
let seed = rng.next_u64();
// Init network stack
static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
let (stack, runner) = embassy_net::new(net_device, config, RESOURCES.init(StackResources::new()), seed);
defmt::unwrap!(spawner.spawn(net_task(runner)));
//control.start_ap_open("cyw43", 5).await;
control.start_ap_wpa2("lovesense_setup2", "password123", 5).await;
// And now we can use it!
let mut rx_buffer = [0; 4096];
let mut tx_buffer = [0; 4096];
let mut buf = [0; 4096];
//embassy_time::Timer::after_millis(7000).await;
//async fn write_to_device<'a, T,const N: usize>(bus: &mut embassy_rp::i2c::I2c<'a, T,Async>, addr: u16, data: [[u8;2];N])
//where T: embassy_rp::i2c::Instance {
// for transaction in data {
// let _ = bus.write_async(addr, transaction).await;
// }
//}
//async fn write_flag<'a, T>(bus: &mut embassy_rp::i2c::I2c<'a, T,Async>, addr: u16, reg: u8, bit: u8, value: bool)
//where T: embassy_rp::i2c::Instance {
// let mut initial: [u8;1] = [0];
// let _ = bus.write_read_async(addr, [reg], &mut initial).await;
// let mask = 1 << bit;
// if value {
// initial[0] |= mask;
// } else {
// initial[0] &= !mask;
// }
// let _ = bus.write_async(addr, [reg, initial[0]]).await;
//}
//let id = 0x29;
//Timer::after_millis(50).await; // sensor boot
//write_to_device(&mut bus, id, [
// [0x88, 0x00],
// [0x80, 0x01],
// [0xFF, 0x01],
// [0x00, 0x00],
//]).await;
//let mut stop: [u8;1] = [0];
//let _ = bus.write_read_async(id, [0x91], &mut stop);
//write_to_device(&mut bus, id, [
// [0x00, 0x01],
// [0xFF, 0x00],
// [0x80, 0x00],
//]).await;
//
//// disable SIGNAL_RATE_MSRC (bit 1) and SIGNAL_RATE_PRE_RANGE (bit 4) limit checks
//write_flag(&mut bus, id, 0x60, 1, true).await;
//write_flag(&mut bus, id, 0x60, 4, true).await;
//let mega_counts_per_second = 0.25;
//let mega_counts_per_second: u16 = (mega_counts_per_second * (1<<7) as f64) as u16;
//let _ = bus.write_async(id, [FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT as u8,
// (mega_counts_per_second >> 8) as u8,
// (mega_counts_per_second & 255) as u8
//]).await;
//// get spad info
//let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0xFF]).await;
//write_to_device(&mut bus, id , [
// [0x80, 0x01],
// [0xff, 0x01],
// [0x00, 0x00],
// [0xff, 0x06],
//]).await;
//write_flag(&mut bus, id, 0x83, 3, true).await;
//write_to_device(&mut bus, id , [
// [0xff, 0x07],
// [0x81, 0x01],
// [0x80, 0x01],
// [0x94, 0x6b],
// [0x83, 0x00],
//]).await;
//debug!("starting spad wait");
//loop {
// let mut wait: [u8;1] = [0];
// let _ = bus.write_read_async(id, [0x83], &mut wait).await;
// if wait[0] != 0 {
// break;
// }
// Timer::after_micros(5).await;
//}
//debug!("ended spad wait");
//let _ = bus.write_async(id, [0x83, 0x01]).await;
//let mut value: [u8;1] = [0];
//let _ = bus.write_read_async(id, [0x92], &mut value).await;
//write_to_device(&mut bus, id, [
// [0x81, 0x00],
// [0xff, 0x06],
//]).await;
//write_flag(&mut bus, id, 0x83, 3, false).await;
//write_to_device(&mut bus, id, [
// [0xff, 0x01],
// [0x00, 0x01],
// [0xff, 0x00],
// [0x80, 0x00],
//]).await;
//let count = value[0] & 0x7f;
//let is_aperture = value[0] & 0b10000000;
//let is_aperture = is_aperture != 0;
//// TODO: vl53l0x.py post line 200
//let mut spad_map: [u8;6]=[0;6];
//let _ = bus.write_read_async(id, [GLOBAL_CONFIG_SPAD_ENABLES_REF_0 as u8], &mut spad_map);
//write_to_device(&mut bus, id, [
// [0xff, 0x01],
// [DYNAMIC_SPAD_REF_EN_START_OFFSET as u8, 0x00],
// [DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD as u8, 0x2c],
// [0xff, 0x00],
// [DYNAMIC_SPAD_REF_EN_START_OFFSET as u8, 0xb4],
//]).await;
//let mut spads_enabled = 0;
//for i in 0..48 {
// if i < 12 && is_aperture || spads_enabled >= count {
// spad_map[i/8] &= !(1<< (i>>2));
// } else if (spad_map[i/8] & (1<< (i>>2))) != 0 {
// spads_enabled += 1;
// }
//}
//let mut spad_write: [u8;7] = [0;7];
//spad_write[0] = GLOBAL_CONFIG_SPAD_ENABLES_REF_0 as u8;
//spad_write[1..].clone_from_slice(&spad_map);
//let _ = bus.write_async(id, spad_write).await;
//
//write_to_device(&mut bus, id, [
// [0xFF, 0x01],
// [0x00, 0x00],
// [0xFF, 0x00],
// [0x09, 0x00],
// [0x10, 0x00],
// [0x11, 0x00],
// [0x24, 0x01],
// [0x25, 0xFF],
// [0x75, 0x00],
// [0xFF, 0x01],
// [0x4E, 0x2C],
// [0x48, 0x00],
// [0x30, 0x20],
// [0xFF, 0x00],
// [0x30, 0x09],
// [0x54, 0x00],
// [0x31, 0x04],
// [0x32, 0x03],
// [0x40, 0x83],
// [0x46, 0x25],
// [0x60, 0x00],
// [0x27, 0x00],
// [0x50, 0x06],
// [0x51, 0x00],
// [0x52, 0x96],
// [0x56, 0x08],
// [0x57, 0x30],
// [0x61, 0x00],
// [0x62, 0x00],
// [0x64, 0x00],
// [0x65, 0x00],
// [0x66, 0xA0],
// [0xFF, 0x01],
// [0x22, 0x32],
// [0x47, 0x14],
// [0x49, 0xFF],
// [0x4A, 0x00],
// [0xFF, 0x00],
// [0x7A, 0x0A],
// [0x7B, 0x00],
// [0x78, 0x21],
// [0xFF, 0x01],
// [0x23, 0x34],
// [0x42, 0x00],
// [0x44, 0xFF],
// [0x45, 0x26],
// [0x46, 0x05],
// [0x40, 0x40],
// [0x0E, 0x06],
// [0x20, 0x1A],
// [0x43, 0x40],
// [0xFF, 0x00],
// [0x34, 0x03],
// [0x35, 0x44],
// [0xFF, 0x01],
// [0x31, 0x04],
// [0x4B, 0x09],
// [0x4C, 0x05],
// [0x4D, 0x04],
// [0xFF, 0x00],
// [0x44, 0x00],
// [0x45, 0x20],
// [0x47, 0x08],
// [0x48, 0x28],
// [0x67, 0x00],
// [0x70, 0x04],
// [0x71, 0x01],
// [0x72, 0xFE],
// [0x76, 0x00],
// [0x77, 0x00],
// [0xFF, 0x01],
// [0x0D, 0x01],
// [0xFF, 0x00],
// [0x80, 0x01],
// [0x01, 0xF8],
// [0xFF, 0x01],
// [0x8E, 0x01],
// [0x00, 0x01],
// [0xFF, 0x00],
// [0x80, 0x00],
// [SYSTEM_INTERRUPT_CONFIG_GPIO as u8, 0x04],
//]).await;
////write_flag(&mut bus, id, GPIO_HV_MUX_ACTIVE_HIGH as u8, 4, false).await;
////let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0x01]).await;
////calibrate(&mut bus, id, 0x40).await;
////let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0x02]).await;
////calibrate(&mut bus, id, 0x00).await;
////let _ = bus.write_async(id, [SYSTEM_SEQUENCE_CONFIG as u8, 0xe8]).await;
//async fn calibrate<'a, T>(bus: &mut embassy_rp::i2c::I2c<'a, T,Async>, addr: u16, data: u8)
//where T: embassy_rp::i2c::Instance {
// let _ = bus.write_async(addr, [SYSRANGE_START as u8 ,data | 0x01]).await;
// debug!("started calib wait");
// loop {
// let mut wait: [u8;1] = [0];
// let _ = bus.write_read_async(addr, [0x13], &mut wait).await;
// if wait[0] & 0x07 != 0 {
// break;
// }
// Timer::after_micros(5).await;
// }
// debug!("ended calib wait");
// write_to_device(bus, addr, [
// [SYSTEM_INTERRUPT_CLEAR as u8, 0x01],
// [SYSRANGE_START as u8, 0x00],
// ]).await;
//}
////TODO VL53L0X.cpp L 236-280
//// start continuous mode
//write_to_device(&mut bus, id, [
// [0x80, 0x01],
// [0xFF, 0x01],
// [0x00, 0x00],
// [0x91, stop[0]],
// [0x00, 0x01],
// [0xFF, 0x00],
// [0x80, 0x00],
// //[0x04, 0x00], // measurement delay
// [0x00, 0x02], // back to back shots
//]).await;
////let _ = bus.write_async(0x88u16, [0x00]).await;
////let _ = bus.write_async(0x80u16, [0x01]).await;
////let _ = bus.write_async(0xFFu16, [0x01]).await;
////let _ = bus.write_async(0x00u16, [0x00]).await;
////let _ = bus.write_async(0x00u16, [0x01]).await;
////let _ = bus.write_async(0xFFu16, [0x00]).await;
////let _ = bus.write_async(0x80u16, [0x00]).await;
//
////loop {
//// debug!("starting wait part 1");
//// loop {
//// let mut wait: [u8;1] = [0];
//// let _ = bus.write_read_async(id, [SYSRANGE_START as u8], &mut wait).await;
//// debug!("{wait:?}");
//// if wait[0] & 0x01 != 0 {
//// break;
//// }
//// Timer::after_micros(5).await;
//// }
//// debug!("starting wait part 2");
//// loop {
//// let mut wait: [u8;1] = [0];
//// let _ = bus.write_read_async(id, [RESULT_INTERRUPT_STATUS as u8], &mut wait).await;
//// if wait[0] & 0x07 != 0 {
//// break;
//// }
//// Timer::after_micros(5).await;
//// }
//// debug!("ending wait part 2");
//// let mut output: [u8; 2] = [0;2];
//// let _ = bus.write_read_async(id, [0x14], &mut output).await;
//// let _ = bus.write_async(id, [0x0B, 0x01]).await;
//// info!("out: {:?}",output);
//// Timer::after_millis(20).await;
////}
loop {
let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
socket.set_timeout(Some(Duration::from_secs(3)));
let mut c: pwm::Config = Default::default();
c.divider = 255.into();
c.top = 8715;
c.compare_b = 0;
c.compare_a = 0;
pwm.set_config(&c);
flipper.set_low();
control.gpio_set(0, false).await;
info!("Listening on TCP:1234...");
if let Err(e) = socket.accept(1234).await {
warn!("accept error: {:?}", e);
continue;
}
info!("Received connection from {:?}", socket.remote_endpoint());
control.gpio_set(0, true).await;
loop {
let mut n = match socket.read(&mut buf).await {
Ok(0) => {
warn!("read EOF");
break;
}
Ok(n) => n,
Err(e) => {
warn!("read error: {:?}", e);
break;
}
};
info!("rxd {}", from_utf8(&buf[..n]).unwrap());
Timer::after_millis(30).await;
let mut segs = buf[..n].trim_ascii().split(|c| *c == ' ' as u8);
match char::from_u32(segs.next().unwrap()[0] as u32).unwrap() {
'W' => {
let addr: [u8;1] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
let reg: [u8;1] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
let data: [u8;1] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
info!("writing {:?}", reg);
Timer::after_millis(30).await;
bus.write_async(addr[0] as u16, [reg[0], data[0]]).await.unwrap();
buf[0] = b"O"[0];
buf[1] = b"K"[0];
n=2;
},
'R' => {
let addr: [u8;1] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
let reg: [u8;1] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
info!("writing {:?}, addr {addr:?}", reg);
let mut response: [u8;2] = [0;2];
let _ = bus.write_read_async(addr[0] as u16, reg, &mut response).await;
info!("recd {:?}", response);
info!("recd {:#02x}", response[0]);
let _ = hex::encode_to_slice(response, &mut buf);
n = 4;
},
'D' => {
let left: [u8;2] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
let right: [u8;2] = hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
info!("left {:?}, right {left:?}", right);
let left = u16::from_be_bytes(left);
c.compare_a = left;
let right = u16::from_be_bytes(right);
c.compare_b = right;
info!("left {:?}, right {left:?}", right);
pwm.set_config(&c);
},
'F' => {
flipper.set_high();
},
'L' => {
flipper.set_low();
},
_ => {}
}
//let mut response: [u8;2] = [0;2];
//let _ = bus.read_async(0xC0u16, &mut response).await;
//let _ = hex::encode_to_slice(response, &mut buf);
match socket.write_all(&buf[..n]).await {
Ok(()) => {}
Err(e) => {
warn!("write error: {:?}", e);
break;
}
};
}
}
}
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