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command deserialization

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Andy Killorin 2025-07-12 11:42:44 -05:00
parent 028458d80b
commit 5e31ad2e24
Signed by: ank
GPG key ID: 80BA307A6BD7A7E4
3 changed files with 384 additions and 8 deletions
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Cargo.lock generated Normal file
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@ -0,0 +1,315 @@
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3
Cargo.toml
View file

@ -15,6 +15,9 @@ panic-halt = "1.0.0"
ufmt = "0.2.0"
nb = "1.1.0"
embedded-hal = "1.0"
avr-device = "0.7.0"
serde-json-core = "0.6.0"
serde = { version = "1.0.219", default-features = false, features = ["serde_derive", "derive"] }
[dependencies.arduino-hal]
git = "https://github.com/rahix/avr-hal"

74
src/main.rs
View file

@ -2,6 +2,7 @@
#![no_main]
#![feature(abi_avr_interrupt)]
use core::cell::RefCell;
use core::mem::MaybeUninit;
use arduino_hal::clock::MHz16;
@ -10,7 +11,10 @@ use arduino_hal::hal::usart::UsartReader;
use arduino_hal::pac::USART0;
use arduino_hal::port::mode::*;
use arduino_hal::prelude::*;
use avr_device::interrupt::{self, Mutex};
use panic_halt as _;
use serde::Deserialize;
use serde_json_core::from_str;
fn shift_out(data_pin: &mut Pin<Output, PB0>, clock_pin: &mut Pin<Output, PD4>, data: &u8) {
for i in 0..8 {
@ -42,11 +46,30 @@ fn update_shift_register(
static mut UART_RX: MaybeUninit<UsartReader<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit();
#[avr_device::interrupt(atmega328p)]
fn USART_RX() {
let rx = unsafe{ &mut *UART_RX.as_mut_ptr() };
static INPUT_LINE: Mutex<RefCell<[u8; 20]>> = Mutex::new(RefCell::new([0;20]));
rx.read();
#[avr_device::interrupt(atmega328p)]
unsafe fn USART_RX() {
let rx = &mut *UART_RX.as_mut_ptr();
static mut BUF: [u8; 20] = [0;20];
static mut N: usize = 0; // index into line
if let Ok(val) = rx.read() {
if val == b'\n' {
interrupt::free(|cs| {
let mut line = INPUT_LINE.borrow(cs).borrow_mut();
*line = BUF;
line[N] = b'\0';
});
N = 0;
} else {
BUF[N] = val;
N += 1;
}
}
}
@ -102,15 +125,50 @@ fn main() -> ! {
led.toggle();
// fwd left
shift_register |= LEFT_FWD | RIGHT_FWD;
let command = decode_command();
if command.left > 0. {
shift_register |= LEFT_FWD;
}
if command.left < 0. {
shift_register |= LEFT_REV;
}
if command.right > 0. {
shift_register |= RIGHT_FWD;
}
if command.right < 0. {
shift_register |= RIGHT_REV;
}
fn to_pwm(val: f32) -> u8 {
(val.abs() * 255.0) as u8
}
// 16/255
tc2.ocr2a.write(|w| w.bits(000)); // left
tc2.ocr2b.write(|w| w.bits(000)); // right
tc2.ocr2a.write(|w| w.bits(to_pwm(command.left))); // left
tc2.ocr2b.write(|w| w.bits(to_pwm(command.right))); // right
update_shift_register(&mut data_pin, &mut latch_pin, &mut clock_pin, &shift_register);
arduino_hal::delay_ms(1000);
}
}
#[derive(Deserialize, Default)]
struct Command {
left: f32,
right: f32,
}
fn decode_command() -> Command {
let input = interrupt::free(|cs| {
INPUT_LINE.borrow(cs).borrow().clone()
});
let Some(length) = input.iter().position(|n| *n == 0) else { return Default::default() };
let Ok(input) = str::from_utf8(&input[..length]) else { return Default::default() };
from_str(input.trim()).unwrap_or((Default::default(),0)).0
}