278 lines
8.6 KiB
Rust
278 lines
8.6 KiB
Rust
#![no_std]
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#![no_main]
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use arrayvec::ArrayVec;
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use core::convert::Infallible;
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use core::net::SocketAddrV4;
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use core::ops::Deref;
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use core::str::FromStr;
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use embassy_net::tcp::ConnectError;
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use embassy_net::udp::{PacketMetadata, UdpMetadata, UdpSocket};
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use embedded_io::ReadReady;
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use ag_lcd::{Blink, Cursor, Display, LcdDisplay};
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use as5600::As5600;
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use cyw43::{JoinOptions, aligned_bytes};
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use cyw43_pio::{DEFAULT_CLOCK_DIVIDER, PioSpi};
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_futures::yield_now;
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use embassy_net::tcp::client::{TcpClient, TcpClientState};
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use embassy_net::{Stack, StackResources};
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use embassy_rp::clocks::RoscRng;
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use embassy_rp::gpio::{Input, Level, Output};
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use embassy_rp::i2c::{self, Config, I2c};
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use embassy_rp::peripherals::{DMA_CH0, I2C0, PIO0};
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use embassy_rp::pio::{InterruptHandler, Pio};
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use embassy_rp::{bind_interrupts, dma};
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use embassy_rp::{peripherals::USB, usb};
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use embassy_time::{Delay, Duration, Timer};
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use static_cell::StaticCell;
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use ufmt::{uWrite, uwrite};
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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PIO0_IRQ_0 => InterruptHandler<PIO0>;
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DMA_IRQ_0 => dma::InterruptHandler<DMA_CH0>;
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USBCTRL_IRQ => usb::InterruptHandler<USB>;
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I2C0_IRQ => i2c::InterruptHandler<I2C0>;
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});
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#[embassy_executor::task]
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async fn cyw43_task(
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runner: cyw43::Runner<'static, cyw43::SpiBus<Output<'static>, PioSpi<'static, PIO0, 0>>>,
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) -> ! {
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runner.run().await
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}
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#[embassy_executor::task]
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async fn logger_task(usb: embassy_rp::Peri<'static, embassy_rp::peripherals::USB>) {
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let driver = embassy_rp::usb::Driver::new(usb, Irqs);
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embassy_usb_logger::run!(1024, log::LevelFilter::Info, driver);
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}
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#[embassy_executor::task]
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async fn net_task(mut runner: embassy_net::Runner<'static, cyw43::NetDriver<'static>>) -> ! {
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runner.run().await
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}
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const WIFI_NETWORK: &str = "aura";
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const WIFI_PASSWORD: &str = "12345678";
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#[embassy_executor::main]
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async fn main(spawner: Spawner) {
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let p = embassy_rp::init(Default::default());
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let fw = aligned_bytes!("../firmware/43439A0.bin");
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let clm = aligned_bytes!("../firmware/43439A0_clm.bin");
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let nvram = aligned_bytes!("../firmware/nvram_rp2040.bin");
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let mut rng = RoscRng;
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// To make flashing faster for development, you may want to flash the firmwares independently
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// at hardcoded addresses, instead of baking them into the program with `include_bytes!`:
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// probe-rs download ../../cyw43-firmware/43439A0.bin --binary-format bin --chip RP2040 --base-address 0x10100000
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// probe-rs download ../../cyw43-firmware/43439A0_clm.bin --binary-format bin --chip RP2040 --base-address 0x10140000
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//let fw = unsafe { core::slice::from_raw_parts(0x10100000 as *const u8, 230321) };
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//let clm = unsafe { core::slice::from_raw_parts(0x10140000 as *const u8, 4752) };
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let pwr = Output::new(p.PIN_23, Level::Low);
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let cs = Output::new(p.PIN_25, Level::High);
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let mut pio = Pio::new(p.PIO0, Irqs);
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let spi = PioSpi::new(
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&mut pio.common,
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pio.sm0,
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DEFAULT_CLOCK_DIVIDER,
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pio.irq0,
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cs,
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p.PIN_24,
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p.PIN_29,
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dma::Channel::new(p.DMA_CH0, Irqs),
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);
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static STATE: StaticCell<cyw43::State> = StaticCell::new();
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let state = STATE.init(cyw43::State::new());
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let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw, nvram).await;
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spawner.spawn(unwrap!(cyw43_task(runner)));
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spawner.spawn(unwrap!(logger_task(p.USB)));
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let edelay = &mut Delay;
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let mut lcd: LcdDisplay<_, _> = LcdDisplay::new(
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Output::new(p.PIN_14, Level::Low),
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Output::new(p.PIN_15, Level::Low),
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edelay,
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)
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.with_half_bus(
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Output::new(p.PIN_10, Level::Low),
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Output::new(p.PIN_11, Level::Low),
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Output::new(p.PIN_12, Level::Low),
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Output::new(p.PIN_13, Level::Low),
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)
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.with_display(Display::On)
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.with_blink(Blink::On)
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.with_cursor(Cursor::On)
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.with_lines(ag_lcd::Lines::TwoLines)
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// .with_autoscroll(ag_lcd::AutoScroll::On)
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.build();
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lcd.set_cursor(Cursor::Off);
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lcd.set_blink(Blink::Off);
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control.init(clm).await;
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control
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.set_power_management(cyw43::PowerManagementMode::PowerSave)
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.await;
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static RESOURCES: StaticCell<StackResources<5>> = StaticCell::new();
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let (stack, runner) = embassy_net::new(
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net_device,
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embassy_net::Config::dhcpv4(Default::default()),
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RESOURCES.init(StackResources::new()),
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rng.next_u64(),
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);
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spawner.spawn(unwrap!(net_task(runner)));
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uwrite!(lcd, "con.");
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while let Err(err) = control
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.join(WIFI_NETWORK, JoinOptions::new(WIFI_PASSWORD.as_bytes()))
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.await
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{
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lcd.clear();
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let num = match err {
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cyw43::JoinError::AuthenticationFailure => 200,
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cyw43::JoinError::JoinFailure(e) => e,
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cyw43::JoinError::NetworkNotFound => 201,
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};
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uwrite!(lcd, "join {}", num);
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}
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uwrite!(lcd, "link.");
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stack.wait_link_up().await;
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lcd.clear();
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// lcd.home();
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uwrite!(lcd, "dhcp.");
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stack.wait_config_up().await;
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let cfg = wait_for_config(stack).await;
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let local_addr = cfg.address.address();
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info!("IP address: {:?}", local_addr);
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// uwrite!(lcd, "IP address: {:?}", local_addr.octets());
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let i2c = I2c::new_async(p.I2C0, p.PIN_5, p.PIN_4, Irqs, Config::default());
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let mut as5600 = As5600::new(i2c);
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let mut led = Output::new(p.PIN_1, Level::Low);
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let in1 = Input::new(p.PIN_18, embassy_rp::gpio::Pull::Up);
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let in2 = Input::new(p.PIN_19, embassy_rp::gpio::Pull::Up);
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let in3 = Input::new(p.PIN_20, embassy_rp::gpio::Pull::Up);
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let in4 = Input::new(p.PIN_21, embassy_rp::gpio::Pull::Up);
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let mut rx_buffer = [0; 4096];
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let mut rx_meta = [PacketMetadata::EMPTY; 16];
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let mut tx_buffer = [0; 4096];
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let mut tx_meta = [PacketMetadata::EMPTY; 16];
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let mut socket = UdpSocket::new(
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stack,
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&mut rx_meta,
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&mut rx_buffer,
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&mut tx_meta,
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&mut tx_buffer,
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);
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socket.bind(7070).unwrap();
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let host_addr = embassy_net::Ipv4Address::from_str("192.168.12.1").unwrap();
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let target = UdpMetadata::from(SocketAddrV4::new(host_addr, 7070));
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uwrite!(lcd, "udp.");
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let delay = Duration::from_millis(100);
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let mut buffer = WriteBuffer::<1024>::new();
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loop {
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let in1 = in1.is_low();
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let in2 = in2.is_low();
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let in3 = in3.is_low();
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let in4 = in4.is_low();
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let angle = as5600.angle().unwrap_or(0);
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{
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use embedded_io::Write;
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let _ = core::writeln!(
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&mut buffer,
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"in1={} in2={} in3={} in4={} angle={}",
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in1,
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in2,
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in3,
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in4,
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angle
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);
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}
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{
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let _ = socket.send_to(&*buffer, target).await;
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buffer.0.clear();
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}
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if socket.may_recv() {
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let mut rx_buffer = [0; 4096];
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let (n, ep) = socket.recv_from(&mut rx_buffer).await.unwrap();
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if n > 0 {
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lcd.clear();
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lcd.home();
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let s = core::str::from_utf8(&rx_buffer[..n]).unwrap_or("");
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let npos = s.find('\n').unwrap_or(n);
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let display_text = &s[..npos];
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lcd.write_str(display_text).ok();
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Timer::after(Duration::from_micros(100)).await;
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lcd.set_position(0, 1);
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lcd.write_str(&s[npos..]);
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}
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}
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Timer::after(delay).await;
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}
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}
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struct WriteBuffer<const CAP: usize>(ArrayVec<u8, CAP>);
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impl<const CAP: usize> Deref for WriteBuffer<CAP> {
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type Target = [u8];
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fn deref(&self) -> &Self::Target {
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&self.0
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}
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}
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impl<const CAP: usize> WriteBuffer<CAP> {
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fn new() -> Self {
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Self(ArrayVec::new())
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}
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}
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impl<const CAP: usize> embedded_io::ErrorType for WriteBuffer<CAP> {
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type Error = Infallible;
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}
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impl<const CAP: usize> embedded_io::Write for WriteBuffer<CAP> {
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#[inline]
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fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
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let _ = self.0.try_extend_from_slice(buf); //silently fails!
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Ok(buf.len())
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}
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#[inline]
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fn write_all(&mut self, buf: &[u8]) -> Result<(), Self::Error> {
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self.write(buf)?;
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Ok(())
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}
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#[inline]
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fn flush(&mut self) -> Result<(), Self::Error> {
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Ok(())
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}
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}
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async fn wait_for_config(stack: Stack<'static>) -> embassy_net::StaticConfigV4 {
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loop {
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if let Some(config) = stack.config_v4() {
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return config.clone();
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}
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yield_now().await;
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}
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}
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