Updated to latest embassy version
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Sebastian
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Cargo.lock
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Cargo.lock
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12
Cargo.toml
12
Cargo.toml
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@ -6,12 +6,12 @@ edition = "2021"
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# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
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[dependencies]
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embassy-util = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
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embassy-executor = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "integrated-timers"] }
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embassy-time = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "defmt-timestamp-uptime", "tick-32768hz"] }
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embassy-stm32 = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"] }
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embassy-sync = { version = "0.2.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
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embassy-futures = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
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embassy-executor = { version = "0.2.0", git = "https://github.com/embassy-rs/embassy.git", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
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embassy-time = { version = "0.1.1", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt", "defmt-timestamp-uptime"] }
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embassy-stm32 = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any", "unstable-traits"] }
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embassy-usb = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
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embassy-usb-serial = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy.git", features = ["defmt"] }
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defmt = "0.3.2"
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defmt-rtt = "0.3.2"
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@ -20,8 +20,6 @@ panic-probe = { version = "0.3.0"}
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cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
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cortex-m-rt = "0.7.0"
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embedded-hal = "0.2.6"
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futures-util = { version = "0.3.23", default-features = false, features = ["async-await"] }
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heapless = { version = "0.7.5", default-features = false, features = ['ufmt-impl']}
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nb = "1.0.0"
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@ -1,10 +1,14 @@
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use embassy_stm32::i2c;
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use embassy_stm32::peripherals;
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use embassy_stm32::bind_interrupts;
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use embassy_stm32::dma::NoDma;
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use embassy_stm32::time::Hertz;
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use embassy_time::{Duration, Timer};
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use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_util::channel::mpmc::Receiver;
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use embassy_util::{select, Either};
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use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_sync::channel::Receiver;
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use embassy_futures::select::{select, Either};
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use embedded_graphics::{
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mono_font::{
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@ -24,6 +28,10 @@ use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
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use crate::{AzElPair, RotorState};
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bind_interrupts!(struct Irqs {
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I2C1_EV => i2c::InterruptHandler<peripherals::I2C1>;
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});
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#[embassy_executor::task]
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pub async fn display_task(
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i2c1: peripherals::I2C1,
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@ -31,7 +39,7 @@ pub async fn display_task(
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scl: peripherals::PB7,
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cmd_receiver: Receiver<'static, ThreadModeRawMutex, RotorState, 1>,
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) {
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let i2c = i2c::I2c::new(i2c1, sda, scl, Hertz::hz(100_000), i2c::Config::default());
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let i2c = i2c::I2c::new(i2c1, sda, scl, Irqs, NoDma, NoDma, Hertz(100_000), Default::default());
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let interface = I2CDisplayInterface::new(i2c);
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@ -11,8 +11,8 @@ use embassy_stm32::gpio::{Level, Output, Speed};
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use embassy_stm32::time::Hertz;
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use embassy_stm32::Config;
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use embassy_time::{Duration, Timer};
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use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_util::channel::mpmc::Channel;
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use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_sync::channel::Channel;
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mod display;
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use display::display_task;
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@ -2,10 +2,10 @@ use embassy_stm32::adc::Adc;
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use embassy_stm32::gpio::{Level, Output, Speed};
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use embassy_stm32::peripherals;
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use embassy_time::{with_timeout, Delay, Duration, Timer};
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use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_util::channel::mpmc::{Receiver, Sender};
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use embassy_util::{select, Either};
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use futures_util::future::join;
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use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_sync::channel::{Receiver, Sender};
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use embassy_futures::select::{select, Either};
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use embassy_futures::join::join;
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use heapless::Vec;
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use crate::usb::Gs232Cmd;
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@ -144,7 +144,7 @@ pub async fn movement_task(
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// Send the state to the display task and the position usb.
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// Use timeouts to prevent blocking if display or usb task are unresponsive.
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join(
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let _ = join(
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with_timeout(
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Duration::from_millis(100),
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pos_sender.send(rotor_state.actual_pos),
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26
src/usb.rs
26
src/usb.rs
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@ -1,21 +1,25 @@
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use defmt::Format;
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use embassy_stm32::interrupt;
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use embassy_stm32::peripherals;
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use embassy_stm32::{bind_interrupts, usb};
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use embassy_stm32::usb::Driver;
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use embassy_usb::Builder;
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use embassy_usb_serial::{CdcAcmClass, State};
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use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_util::channel::mpmc::{Receiver, Sender};
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use embassy_util::{select, Either};
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use futures_util::future::join;
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use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
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use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_sync::channel::{Receiver, Sender};
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use embassy_futures::select::{select, Either};
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use embassy_futures::join::join;
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use heapless::String;
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use ufmt::uwrite;
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use crate::AzElPair;
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bind_interrupts!(struct Irqs {
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USB_LP_CAN1_RX0 => usb::InterruptHandler<peripherals::USB>;
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});
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#[embassy_executor::task]
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pub async fn usb_task(
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usb: peripherals::USB,
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@ -24,8 +28,7 @@ pub async fn usb_task(
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cmd_sender: Sender<'static, ThreadModeRawMutex, Gs232Cmd, 1>,
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pos_receiver: Receiver<'static, ThreadModeRawMutex, AzElPair, 1>,
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) {
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let irq = interrupt::take!(USB_LP_CAN1_RX0);
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let driver = Driver::new(usb, irq, dp_pin, dm_pin);
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let driver = Driver::new(usb, Irqs, dp_pin, dm_pin);
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// Create embassy-usb Config
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let config = embassy_usb::Config::new(0xc0de, 0xcafe);
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@ -45,8 +48,7 @@ pub async fn usb_task(
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&mut device_descriptor,
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&mut config_descriptor,
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&mut bos_descriptor,
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&mut control_buf,
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None,
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&mut control_buf
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);
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// Create classes on the builder.
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@ -160,7 +162,7 @@ pub async fn usb_task(
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}
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defmt::info!("USB disconnected");
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// USB connection is broken, so better stop the rotor.
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cmd_sender.send(Gs232Cmd::Stop);
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cmd_sender.send(Gs232Cmd::Stop).await;
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}
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};
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