Connected usb task to display for testing

src/display.rs

@@ -1,9 +1,9 @@
-use core::fmt::Write;
-
 use embassy_stm32::i2c;
 use embassy_stm32::peripherals;
 use embassy_stm32::time::Hertz;
 use embassy_time::{Duration, Timer};
+use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_util::channel::mpmc::Receiver;
 
 use embedded_graphics::{
     mono_font::{
@@ -16,10 +16,20 @@ use embedded_graphics::{
     text::Text,
 };
 
+use core::fmt::Write;
+use heapless::String;
+
 use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
 
+use crate::AzElPair;
+
 #[embassy_executor::task]
-pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: peripherals::PB7) {
+pub async fn display_task(
+    i2c1: peripherals::I2C1,
+    sda: peripherals::PB6,
+    scl: peripherals::PB7,
+    cmd_receiver: Receiver<'static, ThreadModeRawMutex, AzElPair, 1>,
+) {
     let i2c = i2c::I2c::new(i2c1, sda, scl, Hertz::hz(100_000), i2c::Config::default());
 
     let interface = I2CDisplayInterface::new(i2c);
@@ -37,6 +47,8 @@ pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: p
         .build();
 
     loop {
+        let pair = cmd_receiver.recv().await;
+
         display.clear();
 
         Text::new("AFG rotor ctrl v0.1.0", Point::new(0, 6), text_small)
@@ -56,24 +68,18 @@ pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: p
             .draw(&mut display)
             .unwrap();
 
-        Text::new("AZ: 23", Point::new(1, 30), text_large_inv)
+        let mut tmp: String<16> = String::new();
+        write!(tmp, "AZ: {}", pair.az).unwrap();
+        Text::new(&tmp, Point::new(1, 30), text_large_inv)
             .draw(&mut display)
             .unwrap();
 
-        Text::new("EL: 42", Point::new(64, 30), text_large_inv)
+        tmp.clear();
+        write!(tmp, "EL: {}", pair.el).unwrap();
+        Text::new(&tmp, Point::new(64, 30), text_large_inv)
             .draw(&mut display)
             .unwrap();
 
-        /*
-                let now = Instant::now().as_millis();
-
-
-                let mut buf = ArrayString::<20>::new();
-                write!(&mut buf, "{}", now).expect("Can't write");
-                Text::new(&buf, Point::new(0, 20), text_large)
-                    .draw(&mut display)
-                    .unwrap();
-        */
         display.flush().unwrap();
 
         Timer::after(Duration::from_millis(500)).await;

src/main.rs

@@ -4,7 +4,7 @@
 
 use core::fmt::Write;
 
-use defmt::panic;
+use defmt::{panic, Format};
 use defmt_rtt as _;
 use panic_probe as _;
 
@@ -13,6 +13,9 @@ use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::Config;
 use embassy_time::{Duration, Timer};
+use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_util::channel::mpmc::Channel;
+use embassy_util::Forever;
 
 mod display;
 use display::display_task;
@@ -20,8 +23,17 @@ use display::display_task;
 mod usb;
 use usb::usb_task;
 
+#[derive(PartialEq, Format)]
+pub struct AzElPair {
+    az: u16,
+    el: u16,
+}
+
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
+    static CMD_CHAN: Channel<ThreadModeRawMutex, AzElPair, 1> = Channel::new();
+    static POS_CHAN: Channel<ThreadModeRawMutex, AzElPair, 1> = Channel::new();
+
     let mut config = Config::default();
     config.rcc.hse = Some(Hertz(8_000_000));
     config.rcc.sys_ck = Some(Hertz(48_000_000));
@@ -39,6 +51,10 @@ async fn main(spawner: Spawner) {
         Timer::after(Duration::from_millis(10)).await;
     }
 
-    spawner.spawn(usb_task(p.USB, p.PA12, p.PA11)).unwrap();
+    spawner
-    spawner.spawn(display_task(p.I2C1, p.PB6, p.PB7)).unwrap();
+        .spawn(usb_task(p.USB, p.PA12, p.PA11, CMD_CHAN.sender()))
+        .unwrap();
+    spawner
+        .spawn(display_task(p.I2C1, p.PB6, p.PB7, CMD_CHAN.receiver()))
+        .unwrap();
 }

src/usb.rs

@@ -1,22 +1,27 @@
 use defmt::Format;
 
-use embassy_executor::Spawner;
+use embassy_stm32::interrupt;
-use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::peripherals;
-use embassy_stm32::time::Hertz;
 use embassy_stm32::usb::Driver;
-use embassy_stm32::{interrupt, Config};
-use embassy_time::{Duration, Timer};
 use embassy_usb::Builder;
 use embassy_usb_serial::{CdcAcmClass, State};
+use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_util::channel::mpmc::Sender;
+
 use futures::future::join;
 
 use core::fmt::Write;
-
 use heapless::String;
 
+use crate::AzElPair;
+
 #[embassy_executor::task]
-pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin: peripherals::PA11) {
+pub async fn usb_task(
+    usb: peripherals::USB,
+    dp_pin: peripherals::PA12,
+    dm_pin: peripherals::PA11,
+    cmd_sender: Sender<'static, ThreadModeRawMutex, AzElPair, 1>,
+) {
     let irq = interrupt::take!(USB_LP_CAN1_RX0);
     let driver = Driver::new(usb, irq, dp_pin, dm_pin);
 
@@ -98,7 +103,8 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
                         Gs232Cmd::GetAlEz => {
                             write!(&mut resp, "AZ={} EL={}\r", az_actual, el_actual).unwrap();
                         }
-                        Gs232Cmd::MoveTo(_az, _el) => {
+                        Gs232Cmd::MoveTo(pair) => {
+                            cmd_sender.send(pair).await;
                             resp.push_str("\r").unwrap();
                         }
                         Gs232Cmd::Stop => {
@@ -133,7 +139,7 @@ enum Gs232Cmd {
     GetAl,
     GetEz,
     GetAlEz,
-    MoveTo(u16, u16),
+    MoveTo(AzElPair),
     Stop,
 }
 
@@ -161,7 +167,7 @@ fn parse_command(data: &str) -> Gs232Cmd {
             if data.len() == 8 {
                 if let Ok(az) = data[1..4].parse::<u16>() {
                     if let Ok(el) = data[5..].parse::<u16>() {
-                        Gs232Cmd::MoveTo(az, el)
+                        Gs232Cmd::MoveTo(AzElPair { az: az, el: el })
                     } else {
                         Gs232Cmd::Unkown
                     }