Reading commands works
This commit is contained in:
Sebastian
parent
a7ae3731a4
commit
a7b8f1ca67
17
Cargo.lock
generated
17
Cargo.lock
generated
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@ -17,12 +17,6 @@ version = "1.0.62"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1485d4d2cc45e7b201ee3767015c96faa5904387c9d87c6efdd0fb511f12d305"
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[[package]]
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name = "arrayvec"
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version = "0.7.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6"
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[[package]]
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name = "atomic-polyfill"
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version = "0.1.10"
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@ -941,15 +935,6 @@ dependencies = [
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"unicode-ident",
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]
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[[package]]
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name = "profont"
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version = "0.6.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bd908932b251e9f146130df7566e8f7c5b0c6ddb29f6d67571f3579f59043c36"
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dependencies = [
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"embedded-graphics",
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]
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[[package]]
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name = "quote"
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version = "1.0.21"
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@ -1031,7 +1016,6 @@ dependencies = [
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name = "rotor-control-stm32"
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version = "0.1.0"
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dependencies = [
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"arrayvec",
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"cortex-m",
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"cortex-m-rt",
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"defmt",
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@ -1048,7 +1032,6 @@ dependencies = [
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"heapless",
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"nb 1.0.0",
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"panic-probe",
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"profont",
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"ssd1306",
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]
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41
Cargo.toml
41
Cargo.toml
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@ -26,11 +26,42 @@ nb = "1.0.0"
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ssd1306 = "0.7.1"
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embedded-graphics = "0.7.1"
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profont = "0.6.1"
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arrayvec = { version = "0.7.2", default-features = false}
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# cargo build/run
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[profile.dev]
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opt-level = "s"
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codegen-units = 1
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debug = 2
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debug-assertions = true # <-
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incremental = false
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opt-level = 3 # <-
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overflow-checks = true # <-
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# cargo test
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[profile.test]
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codegen-units = 1
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debug = 2
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debug-assertions = true # <-
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incremental = false
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opt-level = 3 # <-
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overflow-checks = true # <-
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# cargo build/run --release
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[profile.release]
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codegen-units = 1
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debug = 2
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debug-assertions = false # <-
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incremental = false
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#lto = 'fat'
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opt-level = 3 # <-
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overflow-checks = false # <-
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# cargo test --release
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[profile.bench]
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codegen-units = 1
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debug = 2
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debug-assertions = false # <-
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incremental = false
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lto = 'fat'
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opt-level = 3 # <-
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overflow-checks = false # <-
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@ -6,16 +6,17 @@ use embassy_stm32::time::Hertz;
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use embassy_time::{Duration, Timer};
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use embedded_graphics::{
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mono_font::MonoTextStyle,
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mono_font::{
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MonoTextStyle,
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{ascii::FONT_5X7, ascii::FONT_7X13},
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},
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pixelcolor::BinaryColor,
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prelude::*,
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primitives::{PrimitiveStyleBuilder, Rectangle},
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text::Text,
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};
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use profont::{PROFONT_12_POINT, PROFONT_7_POINT};
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use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
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use arrayvec::ArrayString;
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use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
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#[embassy_executor::task]
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pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: peripherals::PB7) {
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@ -27,9 +28,9 @@ pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: p
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.into_buffered_graphics_mode();
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display.init().unwrap();
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let text_large = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::On);
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let text_large_inv = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::Off);
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let text_small = MonoTextStyle::new(&PROFONT_7_POINT, BinaryColor::On);
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let text_large = MonoTextStyle::new(&FONT_7X13, BinaryColor::On);
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let text_large_inv = MonoTextStyle::new(&FONT_7X13, BinaryColor::Off);
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let text_small = MonoTextStyle::new(&FONT_5X7, BinaryColor::On);
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let style_filled = PrimitiveStyleBuilder::new()
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.fill_color(BinaryColor::On)
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97
src/usb.rs
97
src/usb.rs
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@ -1,3 +1,5 @@
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use defmt::Format;
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use embassy_executor::Spawner;
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use embassy_stm32::gpio::{Level, Output, Speed};
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use embassy_stm32::peripherals;
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@ -9,7 +11,9 @@ use embassy_usb::Builder;
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use embassy_usb_serial::{CdcAcmClass, State};
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use futures::future::join;
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use arrayvec::{ArrayString, ArrayVec};
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use core::fmt::Write;
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use heapless::String;
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#[embassy_executor::task]
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pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin: peripherals::PA11) {
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@ -45,13 +49,16 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
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// Build the builder.
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let mut usb = builder.build();
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let az_actual: u16 = 0;
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let el_actual: u16 = 0;
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// Do stuff with the class!
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let usb_handler_fut = async {
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loop {
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class.wait_connection().await;
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defmt::info!("USB connected");
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let mut packet = [0; 64];
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let mut buffer = ArrayVec::<u8, 64>::new();
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let mut buffer: String<64> = String::new();
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loop {
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let n = match class.read_packet(&mut packet).await {
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@ -62,39 +69,56 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
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}
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};
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if buffer.try_extend_from_slice(&packet[..n]).is_err() {
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buffer.clear();
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buffer.try_extend_from_slice(&packet[..n]).unwrap();
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}
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let mut line_end = 0;
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for i in 0..buffer.len() {
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if buffer[i] == '\r' as u8 {
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line_end = i;
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break;
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for byte in &packet[..n] {
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if buffer.len() == 64 {
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buffer.clear();
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}
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buffer.push(*byte as char).unwrap();
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}
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defmt::info!("Line end: {}", line_end);
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defmt::info!("buffer: {}", buffer.as_slice());
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let line_end = match buffer.rfind('\r') {
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Some(n) => n,
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_ => continue,
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};
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defmt::info!("Line buffer: {:x}", buffer.as_bytes());
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if line_end > 0 {
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let cmd = parse_command(&buffer.as_slice()[..line_end]);
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for _ in 0..line_end + 1 {
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buffer.remove(0);
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}
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defmt::info!("truncated buffer");
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let cmd = parse_command(&buffer.as_str()[..line_end]);
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defmt::info!("Command: {}", cmd);
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if cmd != Gs232Cmd::Unkown {
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match class.write_packet(b"\r").await {
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Ok(_) => {}
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Err(err) => {
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defmt::error!("Unable to write packet: {}", err);
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break;
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}
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};
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let mut resp: String<16> = String::new();
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match cmd {
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Gs232Cmd::GetAl => {
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write!(&mut resp, "AZ={}\r", az_actual).unwrap();
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}
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Gs232Cmd::GetEz => {
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write!(&mut resp, "EL={}\r", el_actual).unwrap();
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}
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Gs232Cmd::GetAlEz => {
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write!(&mut resp, "AZ={} EL={}\r", az_actual, el_actual).unwrap();
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}
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Gs232Cmd::MoveTo(_az, _el) => {
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resp.push_str("\r").unwrap();
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}
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Gs232Cmd::Stop => {
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resp.push_str("\r").unwrap();
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}
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_ => {
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defmt::error!("Uknown command: {}", &buffer.as_str()[..line_end]);
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resp.push_str("Unkown command!\r").unwrap();
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}
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}
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match class.write_packet(resp.as_bytes()).await {
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Ok(_) => {}
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Err(err) => {
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defmt::error!("Unable to write packet: {}", err);
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break;
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}
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};
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}
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buffer = String::from(&buffer.as_str()[line_end + 1..]);
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}
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defmt::info!("USB disconnected");
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}
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@ -103,7 +127,7 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
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join(usb.run(), usb_handler_fut).await;
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}
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#[derive(PartialEq)]
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#[derive(Format, PartialEq)]
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enum Gs232Cmd {
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Unkown,
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GetAl,
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@ -113,8 +137,8 @@ enum Gs232Cmd {
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Stop,
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}
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fn parse_command(data: &[u8]) -> Gs232Cmd {
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match data[0] as char {
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fn parse_command(data: &str) -> Gs232Cmd {
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match data.chars().nth(0).unwrap() {
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'B' => {
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if data.len() == 1 {
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Gs232Cmd::GetAl
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@ -124,7 +148,7 @@ fn parse_command(data: &[u8]) -> Gs232Cmd {
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}
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'C' => {
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if data.len() == 2 && data[1] as char == '2' {
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if data.len() == 2 && data.chars().nth(1).unwrap() as char == '2' {
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Gs232Cmd::GetAlEz
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} else if data.len() == 1 {
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Gs232Cmd::GetEz
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@ -135,8 +159,15 @@ fn parse_command(data: &[u8]) -> Gs232Cmd {
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'W' => {
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if data.len() == 8 {
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Gs232Cmd::Unkown
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if let Ok(az) = data[1..4].parse::<u16>() {
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if let Ok(el) = data[5..].parse::<u16>() {
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Gs232Cmd::MoveTo(az, el)
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} else {
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Gs232Cmd::Unkown
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}
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} else {
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Gs232Cmd::Unkown
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}
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} else {
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Gs232Cmd::Unkown
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}
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