Connected usb task to display for testing

This commit is contained in:
Sebastian 2022-08-21 00:51:24 +02:00
parent a7b8f1ca67
commit ace48440f3
3 changed files with 56 additions and 28 deletions

View file

@ -1,9 +1,9 @@
use core::fmt::Write;
use embassy_stm32::i2c; use embassy_stm32::i2c;
use embassy_stm32::peripherals; use embassy_stm32::peripherals;
use embassy_stm32::time::Hertz; use embassy_stm32::time::Hertz;
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};
use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_util::channel::mpmc::Receiver;
use embedded_graphics::{ use embedded_graphics::{
mono_font::{ mono_font::{
@ -16,10 +16,20 @@ use embedded_graphics::{
text::Text, text::Text,
}; };
use core::fmt::Write;
use heapless::String;
use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306}; use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
use crate::AzElPair;
#[embassy_executor::task] #[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 i2c = i2c::I2c::new(i2c1, sda, scl, Hertz::hz(100_000), i2c::Config::default());
let interface = I2CDisplayInterface::new(i2c); let interface = I2CDisplayInterface::new(i2c);
@ -37,6 +47,8 @@ pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: p
.build(); .build();
loop { loop {
let pair = cmd_receiver.recv().await;
display.clear(); display.clear();
Text::new("AFG rotor ctrl v0.1.0", Point::new(0, 6), text_small) 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) .draw(&mut display)
.unwrap(); .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) .draw(&mut display)
.unwrap(); .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) .draw(&mut display)
.unwrap(); .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(); display.flush().unwrap();
Timer::after(Duration::from_millis(500)).await; Timer::after(Duration::from_millis(500)).await;

View file

@ -4,7 +4,7 @@
use core::fmt::Write; use core::fmt::Write;
use defmt::panic; use defmt::{panic, Format};
use defmt_rtt as _; use defmt_rtt as _;
use panic_probe as _; use panic_probe as _;
@ -13,6 +13,9 @@ use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::time::Hertz; use embassy_stm32::time::Hertz;
use embassy_stm32::Config; use embassy_stm32::Config;
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};
use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_util::channel::mpmc::Channel;
use embassy_util::Forever;
mod display; mod display;
use display::display_task; use display::display_task;
@ -20,8 +23,17 @@ use display::display_task;
mod usb; mod usb;
use usb::usb_task; use usb::usb_task;
#[derive(PartialEq, Format)]
pub struct AzElPair {
az: u16,
el: u16,
}
#[embassy_executor::main] #[embassy_executor::main]
async fn main(spawner: Spawner) { 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(); let mut config = Config::default();
config.rcc.hse = Some(Hertz(8_000_000)); config.rcc.hse = Some(Hertz(8_000_000));
config.rcc.sys_ck = Some(Hertz(48_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; 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();
} }

View file

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