First end-to-end movement

This commit is contained in:
Sebastian 2024-12-04 18:25:26 +01:00
parent f7483fe42a
commit 1498fd27ff
6 changed files with 436 additions and 92 deletions

267
Cargo.lock generated
View file

@ -53,7 +53,7 @@ version = "1.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6d36fc52c7f6c869915e99412912f22093507da8d9e942ceaf66fe4b7c14422a"
dependencies = [
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
@ -63,7 +63,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5bf74e1b6e971609db8ca7a9ce79fd5768ab6ae46441c572e46cf596f59e57f8"
dependencies = [
"anstyle",
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
@ -230,9 +230,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
[[package]]
name = "bytes"
version = "1.6.1"
version = "1.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b"
[[package]]
name = "cc"
@ -319,7 +319,7 @@ dependencies = [
"lazy_static",
"libc",
"unicode-width",
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
@ -612,42 +612,92 @@ dependencies = [
]
[[package]]
name = "futures-channel"
version = "0.3.30"
name = "futures"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
dependencies = [
"futures-channel",
"futures-core",
"futures-executor",
"futures-io",
"futures-sink",
"futures-task",
"futures-util",
]
[[package]]
name = "futures-channel"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
dependencies = [
"futures-core",
"futures-sink",
]
[[package]]
name = "futures-core"
version = "0.3.30"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
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[[package]]
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name = "futures-executor"
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[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
name = "futures-util"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"futures-core",
"futures-task",
"futures-util",
]
[[package]]
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[[package]]
name = "futures-macro"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"proc-macro2",
"quote",
"syn 2.0.72",
]
[[package]]
name = "futures-sink"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
name = "futures-task"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
name = "futures-util"
version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
dependencies = [
"futures-channel",
"futures-core",
"futures-io",
"futures-macro",
"futures-sink",
"futures-task",
"memchr",
"pin-project-lite",
"pin-utils",
"slab",
]
[[package]]
@ -872,7 +922,7 @@ checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
dependencies = [
"hermit-abi",
"libc",
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
@ -980,6 +1030,15 @@ version = "2.7.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
[[package]]
name = "memoffset"
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source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5de893c32cde5f383baa4c04c5d6dbdd735cfd4a794b0debdb2bb1b421da5ff4"
dependencies = [
"autocfg",
]
[[package]]
name = "mime"
version = "0.3.17"
@ -1011,6 +1070,18 @@ dependencies = [
"adler",
]
[[package]]
name = "mio"
version = "0.8.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
dependencies = [
"libc",
"log",
"wasi",
"windows-sys 0.48.0",
]
[[package]]
name = "mio"
version = "1.0.1"
@ -1020,7 +1091,20 @@ dependencies = [
"hermit-abi",
"libc",
"wasi",
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
name = "mio-serial"
version = "5.0.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "20a4c60ca5c9c0e114b3bd66ff4aa5f9b2b175442be51ca6c4365d687a97a2ac"
dependencies = [
"log",
"mio 0.8.11",
"nix",
"serialport",
"winapi",
]
[[package]]
@ -1047,6 +1131,8 @@ dependencies = [
"bitflags 1.3.2",
"cfg-if",
"libc",
"memoffset",
"pin-utils",
]
[[package]]
@ -1194,7 +1280,7 @@ dependencies = [
"libc",
"redox_syscall",
"smallvec",
"windows-targets",
"windows-targets 0.52.6",
]
[[package]]
@ -1365,9 +1451,12 @@ version = "0.1.0"
dependencies = [
"anyhow",
"axum",
"bytes",
"clap",
"dfu-libusb",
"fern",
"futures",
"futures-util",
"humantime",
"indicatif",
"libusb1-sys",
@ -1380,6 +1469,8 @@ dependencies = [
"serialport",
"tokio",
"tokio-macros 0.2.6",
"tokio-serial",
"tokio-util",
"tower-http",
"tracing",
"tracing-subscriber",
@ -1631,6 +1722,15 @@ dependencies = [
"libc",
]
[[package]]
name = "slab"
version = "0.4.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
dependencies = [
"autocfg",
]
[[package]]
name = "smallvec"
version = "1.13.2"
@ -1644,7 +1744,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
dependencies = [
"libc",
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
@ -1810,13 +1910,13 @@ dependencies = [
"backtrace",
"bytes",
"libc",
"mio",
"mio 1.0.1",
"parking_lot",
"pin-project-lite",
"signal-hook-registry",
"socket2",
"tokio-macros 2.4.0",
"windows-sys",
"windows-sys 0.52.0",
]
[[package]]
@ -1842,14 +1942,31 @@ dependencies = [
]
[[package]]
name = "tokio-util"
version = "0.7.11"
name = "tokio-serial"
version = "5.4.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
checksum = "aa6e2e4cf0520a99c5f87d5abb24172b5bd220de57c3181baaaa5440540c64aa"
dependencies = [
"bytes",
"cfg-if",
"futures",
"log",
"mio-serial",
"tokio",
"tokio-util",
]
[[package]]
name = "tokio-util"
version = "0.7.13"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078"
dependencies = [
"bytes",
"futures-core",
"futures-sink",
"futures-util",
"hashbrown",
"pin-project-lite",
"tokio",
]
@ -2117,13 +2234,37 @@ version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
[[package]]
name = "windows-sys"
version = "0.48.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
dependencies = [
"windows-targets 0.48.5",
]
[[package]]
name = "windows-sys"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
dependencies = [
"windows-targets",
"windows-targets 0.52.6",
]
[[package]]
name = "windows-targets"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
dependencies = [
"windows_aarch64_gnullvm 0.48.5",
"windows_aarch64_msvc 0.48.5",
"windows_i686_gnu 0.48.5",
"windows_i686_msvc 0.48.5",
"windows_x86_64_gnu 0.48.5",
"windows_x86_64_gnullvm 0.48.5",
"windows_x86_64_msvc 0.48.5",
]
[[package]]
@ -2132,28 +2273,46 @@ version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
dependencies = [
"windows_aarch64_gnullvm",
"windows_aarch64_msvc",
"windows_i686_gnu",
"windows_aarch64_gnullvm 0.52.6",
"windows_aarch64_msvc 0.52.6",
"windows_i686_gnu 0.52.6",
"windows_i686_gnullvm",
"windows_i686_msvc",
"windows_x86_64_gnu",
"windows_x86_64_gnullvm",
"windows_x86_64_msvc",
"windows_i686_msvc 0.52.6",
"windows_x86_64_gnu 0.52.6",
"windows_x86_64_gnullvm 0.52.6",
"windows_x86_64_msvc 0.52.6",
]
[[package]]
name = "windows_aarch64_gnullvm"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
[[package]]
name = "windows_aarch64_gnullvm"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
[[package]]
name = "windows_aarch64_msvc"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
[[package]]
name = "windows_aarch64_msvc"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
[[package]]
name = "windows_i686_gnu"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
[[package]]
name = "windows_i686_gnu"
version = "0.52.6"
@ -2166,24 +2325,48 @@ version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
[[package]]
name = "windows_i686_msvc"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
[[package]]
name = "windows_i686_msvc"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
[[package]]
name = "windows_x86_64_gnu"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
[[package]]
name = "windows_x86_64_gnu"
version = "0.52.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
name = "windows_x86_64_msvc"
version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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version = "0.52.6"

View file

@ -24,3 +24,8 @@ libusb1-sys = "0.6"
rusb = "0.9"
clap = { version = "4.5.19", features = ["derive"] }
indicatif = "0.17.8"
tokio-serial = {version = "5.4.4", features = ["codec", "rt"] }
tokio-util = { version = "0.7.13", features = ["codec", "rt"] }
bytes = "1.9.0"
futures-util = "0.3.31"
futures = "0.3.31"

View file

@ -1,7 +1,16 @@
use anyhow::Result;
use anyhow::{anyhow, Context};
use axum::{
extract::State,
http::StatusCode,
routing::{get, post},
Json, Router,
};
use clap::Parser;
use fern::colors::{Color, ColoredLevelConfig};
use log::{debug, error, info, warn, Level};
use serde_json::{json, Value};
use std::time::Duration;
use std::{borrow::Borrow, io};
use tokio::{
self,
@ -10,13 +19,7 @@ use tokio::{
sync::{mpsc, watch},
task::JoinSet,
};
use axum::{
extract::State,
http::StatusCode,
routing::{get, post},
Json, Router,
};
use tokio_serial;
use tower_http::{
services::{ServeDir, ServeFile},
trace::TraceLayer,
@ -86,16 +89,61 @@ struct AxumAppState {
pos_rx: watch::Receiver<(f32, f32)>,
}
#[derive(Parser)]
struct Cli {
/// The usb serial number of the radom-controller
#[arg(short, long)]
serialnumber: String,
/// Listen address for the webserver
#[arg(short, long, default_value = "0.0.0.0:8000")]
web_listen_address: String,
/// Listen address for rotctl
#[arg(short, long, default_value = "0.0.0.0:1337")]
rotctl_listen_address: String,
}
#[tokio::main]
async fn main() -> Result<()> {
setup_logger()?;
let args = Cli::parse();
let ports = tokio_serial::available_ports().unwrap_or(Vec::<serialport::SerialPortInfo>::new());
let mut radom_port: Option<String> = None;
for port in ports {
match port.port_type {
serialport::SerialPortType::UsbPort(usb_port_info) => {
match usb_port_info.serial_number {
Some(serial) => {
debug!("Found a serial port with: {}", serial);
if serial == args.serialnumber {
radom_port = Some(port.port_name.to_owned());
info!("Found radom-controller as {}", port.port_name)
}
}
None => continue,
}
}
_ => continue,
}
}
let radom_port = match radom_port {
Some(port) => port,
_ => {
return Err(anyhow!("No matching port found."));
}
};
let (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
let mut tasks = JoinSet::new();
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx, radom_port).await });
let state = AxumAppState {
pos_rx: pos_rx.clone(),
@ -108,14 +156,14 @@ async fn main() -> Result<()> {
.with_state(state)
.layer(TraceLayer::new_for_http());
let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
let listener = tokio::net::TcpListener::bind(args.web_listen_address).await?;
axum::serve(listener, app).await?;
Ok(())
});
tasks.spawn(async move {
let listener = TcpListener::bind("127.0.0.1:1337").await?;
let listener = TcpListener::bind(args.rotctl_listen_address).await?;
loop {
let (socket, _) = listener.accept().await?;

View file

@ -1,5 +1,11 @@
use anyhow::Result;
use bytes::{BufMut, BytesMut};
use futures::{stream::StreamExt, SinkExt};
use log::{debug, error, info, warn};
use postcard::{from_bytes_cobs, to_stdvec_cobs};
use radomctl_protocol::{HostMessage, PositionTarget, RadomMessage};
use std::{env, io, str, time::Duration};
use tokio::time::sleep;
use tokio::{
self,
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
@ -7,46 +13,82 @@ use tokio::{
sync::{self, mpsc, watch},
time,
};
use tokio_serial::SerialPortBuilderExt;
use tokio_util::codec::{Decoder, Encoder};
use crate::rotctlprotocol::{parse_command, Command};
struct ProtocolCodec;
impl Decoder for ProtocolCodec {
type Item = RadomMessage;
type Error = io::Error;
fn decode(&mut self, src: &mut BytesMut) -> Result<Option<Self::Item>, Self::Error> {
let frame_end = src.as_ref().iter().position(|b| *b == 0);
if let Some(n) = frame_end {
let mut frame = src.split_to(n + 1);
let host_msg = from_bytes_cobs::<RadomMessage>(&mut frame).unwrap();
return Ok(Some(host_msg));
}
Ok(None)
}
}
impl Encoder<HostMessage> for ProtocolCodec {
type Error = io::Error;
fn encode(&mut self, item: HostMessage, dst: &mut BytesMut) -> Result<(), Self::Error> {
let msg_bytes = to_stdvec_cobs(&item).unwrap();
dst.put(msg_bytes.as_slice());
dst.put_u8(0);
Ok(())
}
}
pub async fn control_rotor(
mut rx_cmd: mpsc::Receiver<Command>,
pos_tx: watch::Sender<(f32, f32)>,
radom_port: String,
) -> Result<()> {
let mut actual_az = 0.0;
let mut actual_el = 0.0;
let port = tokio_serial::new(radom_port, 115_200)
.timeout(Duration::from_millis(10))
.open_native_async()
.expect("Failed to open port");
let mut target_az = 0.0;
let mut target_el = 0.0;
let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
loop {
tokio::select! {
Some(command) = rx_cmd.recv() => {
match command {
Command::SetPos(az, el) => {
info!("Received set pos {} {}", az, el);
target_az = az;
target_el = el;
//info!("Received set pos {} {}", az, el);
port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
}
_ => {}
}
},
_ = time::sleep(time::Duration::from_millis(100)) => {
if target_az < actual_az {
actual_az -= 1.0;
} else if target_az > actual_az {
actual_az += 1.0;
}
if target_el < actual_el {
actual_el -= 1.0;
} else if target_el > actual_el {
actual_el += 1.0;
}
pos_tx.send((actual_az, actual_el)).unwrap();
//info!("Requesting status");
port_writer.send(HostMessage::RequestStatus).await?;
},
msg = port_reader.next() => {
match msg {
Some(Ok(msg)) => {
match msg {
RadomMessage::Status(status) => {
//info!("Received status {:?}", status);
pos_tx.send((status.position.az, status.position.el)).unwrap();
}
_ => {}
}
}
_ => {}
}
}
else => return Ok(())
};
}

View file

@ -43,7 +43,7 @@ mod app {
use qmc5883l::{self, QMC5883L};
use radomctl_protocol::*;
use radomctl_protocol::{HostMessage, *};
use crate::bootloader;
use rtic_monotonics::systick::prelude::*;
@ -57,6 +57,10 @@ mod app {
struct Shared {
az_angle: i32,
az_compass: i32,
az_target: i32,
el_angle: i32,
el_target: i32,
}
// Local resources go here
@ -223,10 +227,14 @@ mod app {
poll_i2c::spawn().ok();
poll_spi::spawn().ok();
move_az::spawn().ok();
move_el::spawn().ok();
(
Shared {
az_angle: 0,
az_target: 0,
el_angle: 0,
el_target: 0,
az_compass: 0,
},
Local {
@ -332,16 +340,18 @@ mod app {
}
}
#[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle])]
#[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle, el_angle])]
async fn poll_spi(mut cx: poll_spi::Context) {
let spi1 = cx.local.spi1;
let encoder_az = cx.local.encoder_az;
let encoder_el = cx.local.encoder_el;
loop {
/*
let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
defmt::info!("diag: {:08b} gain: {}", diag, gain);
defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
*/
let raw_angle = encoder_az.angle(spi1).unwrap();
let angle_deg = raw_angle as i32 * 3600 / 16384;
@ -349,24 +359,29 @@ mod app {
*az_angle = angle_deg;
});
defmt::info!("angle: {:?}", angle_deg);
defmt::info!("az angle: {:?}", angle_deg);
let raw_angle = encoder_el.angle(spi1).unwrap();
let angle_deg = raw_angle as i32 * 3600 / 16384;
cx.shared.el_angle.lock(|el_angle| {
*el_angle = angle_deg;
});
defmt::info!("el angle: {:?}", angle_deg);
Mono::delay(1.millis()).await;
}
}
#[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_compass])]
#[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_target])]
async fn move_az(mut cx: move_az::Context) {
let az_enable = cx.local.az_enable;
let az_dir = cx.local.az_dir;
let az_step = cx.local.az_step;
let mut counter = 0;
let mut az_target = 0;
loop {
//let az_target = 1800; //cx.shared.az_compass.lock(|az_compass| *az_compass);
let az_target = cx.shared.az_target.lock(|az_target| *az_target);
let az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
let diff = az_angle - az_target;
@ -385,7 +400,7 @@ mod app {
1.millis()
};
if diff.abs() > 5 {
if diff.abs() > 50 {
az_enable.set_low();
if diff < 0 {
az_dir.set_high();
@ -401,16 +416,56 @@ mod app {
az_enable.set_high();
Mono::delay(delay).await;
}
}
}
counter = (counter + 1) % 1000;
if counter == 0 {
az_target = (az_target + 450) % 3600;
#[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
async fn move_el(mut cx: move_el::Context) {
let el_enable = cx.local.el_enable;
let el_dir = cx.local.el_dir;
let el_step = cx.local.el_step;
loop {
let el_target = cx.shared.el_target.lock(|el_target| *el_target);
let el_angle = cx.shared.el_angle.lock(|el_angle| *el_angle);
let diff = el_angle - el_target;
defmt::info!(
"angle diff/target/actual: {:?}/{:?}/{:?}",
diff,
el_target,
el_angle
);
let delay = if diff.abs() < 10 {
10.millis()
} else if diff < 100 {
5.millis()
} else {
1.millis()
};
if diff.abs() > 50 {
el_enable.set_low();
if diff < 0 {
el_dir.set_high();
} else {
el_dir.set_low();
}
el_step.set_low();
Mono::delay(delay / 2).await;
el_step.set_high();
Mono::delay(delay / 2).await;
} else {
el_enable.set_high();
Mono::delay(delay).await;
}
}
}
#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
fn usb_fs(cx: usb_fs::Context) {
#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer], shared=[az_target, el_target, az_angle, el_angle])]
fn usb_fs(mut cx: usb_fs::Context) {
let usb_dev = cx.local.usb_dev;
let serial = cx.local.usb_serial;
let buffer = cx.local.usb_buffer;
@ -443,8 +498,8 @@ mod app {
HostMessage::RequestStatus => {
let status = StatusMessage {
position: Position {
az: 42.0,
el: 23.0,
az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
el: cx.shared.el_angle.lock(|el| (*el / 10) as f32),
az_endcoder: 0.0,
el_encoder: 0.0,
az_magnetic: 0.0,
@ -457,6 +512,10 @@ mod app {
to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
serial.write(bytes.as_slice()).unwrap();
}
HostMessage::SetTarget(pos) => {
cx.shared.az_target.lock(|az| *az = (pos.az * 10.0) as i32);
cx.shared.el_target.lock(|el| *el = (pos.el * 10.0) as i32);
}
HostMessage::TriggerDFUBootloader => {
bootloader::reboot_to_bootloader();
}

View file

@ -11,6 +11,7 @@ pub enum RadomMessage {
#[derive(Serialize, Deserialize, Debug, PartialEq)]
pub enum HostMessage {
RequestStatus,
SetTarget(PositionTarget),
TriggerDFUBootloader,
}
@ -35,3 +36,9 @@ pub enum Alarm {
AZEncoderFault,
ELEncoderFault,
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
pub struct PositionTarget {
pub az: f32,
pub el: f32,
}