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::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;

View file

@ -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.spawn(display_task(p.I2C1, p.PB6, p.PB7)).unwrap();
spawner
.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 embassy_executor::Spawner;
use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::interrupt;
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
}