Implemented basic protocol parsing
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7a4e4a89cb
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a7ae3731a4
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@ -0,0 +1,80 @@
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use core::fmt::Write;
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use embassy_stm32::i2c;
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use embassy_stm32::peripherals;
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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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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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#[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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let i2c = i2c::I2c::new(i2c1, sda, scl, Hertz::hz(100_000), i2c::Config::default());
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let interface = I2CDisplayInterface::new(i2c);
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let mut display = Ssd1306::new(interface, DisplaySize128x32, DisplayRotation::Rotate0)
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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 style_filled = PrimitiveStyleBuilder::new()
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.fill_color(BinaryColor::On)
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.build();
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loop {
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display.clear();
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Text::new("AFG rotor ctrl v0.1.0", Point::new(0, 6), text_small)
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.draw(&mut display)
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.unwrap();
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Text::new("AZ: 23", Point::new(1, 17), text_large)
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.draw(&mut display)
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.unwrap();
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Text::new("EL: 42", Point::new(64, 17), text_large)
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.draw(&mut display)
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.unwrap();
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Rectangle::new(Point::new(0, 19), Size::new(128, 23))
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.into_styled(style_filled)
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.draw(&mut display)
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.unwrap();
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Text::new("AZ: 23", Point::new(1, 30), text_large_inv)
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.draw(&mut display)
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.unwrap();
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Text::new("EL: 42", Point::new(64, 30), text_large_inv)
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.draw(&mut display)
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.unwrap();
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/*
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let now = Instant::now().as_millis();
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let mut buf = ArrayString::<20>::new();
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write!(&mut buf, "{}", now).expect("Can't write");
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Text::new(&buf, Point::new(0, 20), text_large)
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.draw(&mut display)
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.unwrap();
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*/
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display.flush().unwrap();
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Timer::after(Duration::from_millis(500)).await;
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}
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}
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135
src/main.rs
135
src/main.rs
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@ -11,24 +11,17 @@ use panic_probe as _;
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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::time::Hertz;
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use embassy_stm32::usb::{Driver, Instance};
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use embassy_stm32::{i2c, interrupt, Config};
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use embassy_time::{Duration, Instant, Timer};
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use embassy_usb::driver::EndpointError;
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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 embassy_stm32::Config;
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use embassy_time::{Duration, Timer};
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use embedded_graphics::{
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mono_font::MonoTextStyle, pixelcolor::BinaryColor, prelude::*, text::Text,
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};
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use profont::PROFONT_12_POINT;
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use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
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mod display;
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use display::display_task;
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use arrayvec::ArrayString;
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mod usb;
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use usb::usb_task;
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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async fn main(spawner: Spawner) {
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let mut config = Config::default();
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config.rcc.hse = Some(Hertz(8_000_000));
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config.rcc.sys_ck = Some(Hertz(48_000_000));
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@ -46,116 +39,6 @@ async fn main(_spawner: Spawner) {
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Timer::after(Duration::from_millis(10)).await;
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}
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// Create the driver, from the HAL.
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let irq = interrupt::take!(USB_LP_CAN1_RX0);
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let driver = Driver::new(p.USB, irq, p.PA12, p.PA11);
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// Create embassy-usb Config
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let config = embassy_usb::Config::new(0xc0de, 0xcafe);
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//config.max_packet_size_0 = 64;
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// Create embassy-usb DeviceBuilder using the driver and config.
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// It needs some buffers for building the descriptors.
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let mut device_descriptor = [0; 256];
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let mut config_descriptor = [0; 256];
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let mut bos_descriptor = [0; 256];
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let mut control_buf = [0; 7];
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let mut state = State::new();
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let mut builder = Builder::new(
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driver,
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config,
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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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);
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// Create classes on the builder.
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let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
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// Build the builder.
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let mut usb = builder.build();
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// Run the USB device.
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let usb_fut = usb.run();
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let i2c = i2c::I2c::new(
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p.I2C1,
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p.PB6,
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p.PB7,
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Hertz::hz(100_000),
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i2c::Config::default(),
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);
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let interface = I2CDisplayInterface::new(i2c);
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let display_fut = async {
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let mut display = Ssd1306::new(interface, DisplaySize128x32, DisplayRotation::Rotate0)
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.into_buffered_graphics_mode();
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display.init().unwrap();
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let text_style = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::On);
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loop {
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display.clear();
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Text::new("Hello world", Point::new(0, 7), text_style)
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.draw(&mut display)
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.unwrap();
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let now = Instant::now().as_millis();
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let mut buf = ArrayString::<20>::new();
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write!(&mut buf, "{}", now).expect("Can't write");
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Text::new(&buf, Point::new(0, 20), text_style)
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.draw(&mut display)
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.unwrap();
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display.flush().unwrap();
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Timer::after(Duration::from_millis(500)).await;
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}
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};
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// Do stuff with the class!
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let echo_fut = async {
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loop {
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class.wait_connection().await;
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defmt::info!("Connected");
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let _ = echo(&mut class).await;
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defmt::info!("Disconnected");
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}
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};
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// Run everything concurrently.
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// If we had made everything `'static` above instead, we could do this using separate tasks instead.
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join(join(usb_fut, display_fut), echo_fut).await;
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}
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struct Disconnected {}
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impl From<EndpointError> for Disconnected {
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fn from(val: EndpointError) -> Self {
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match val {
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EndpointError::BufferOverflow => panic!("Buffer overflow"),
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EndpointError::Disabled => Disconnected {},
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}
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}
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}
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async fn echo<'d, T: Instance + 'd>(
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class: &mut CdcAcmClass<'d, Driver<'d, T>>,
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) -> Result<(), Disconnected> {
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let mut buf = [0; 64];
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loop {
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let n = class.read_packet(&mut buf).await?;
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let data = &buf[..n];
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defmt::info!("data: {:x}", data);
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class.write_packet(">".as_bytes()).await?;
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class.write_packet(data).await?;
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class.write_packet("\n".as_bytes()).await?;
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}
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spawner.spawn(usb_task(p.USB, p.PA12, p.PA11)).unwrap();
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spawner.spawn(display_task(p.I2C1, p.PB6, p.PB7)).unwrap();
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}
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@ -0,0 +1,155 @@
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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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use embassy_stm32::time::Hertz;
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use embassy_stm32::usb::Driver;
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use embassy_stm32::{interrupt, Config};
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use embassy_time::{Duration, Timer};
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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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#[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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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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// Create embassy-usb Config
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let config = embassy_usb::Config::new(0xc0de, 0xcafe);
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//config.max_packet_size_0 = 64;
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// Create embassy-usb DeviceBuilder using the driver and config.
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// It needs some buffers for building the descriptors.
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let mut device_descriptor = [0; 256];
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let mut config_descriptor = [0; 256];
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let mut bos_descriptor = [0; 256];
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let mut control_buf = [0; 7];
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let mut state = State::new();
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let mut builder = Builder::new(
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driver,
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config,
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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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);
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// Create classes on the builder.
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let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
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// Build the builder.
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let mut usb = builder.build();
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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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loop {
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let n = match class.read_packet(&mut packet).await {
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Ok(n) => n,
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Err(err) => {
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defmt::error!("Unable to read packet: {}", err);
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break;
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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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}
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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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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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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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}
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}
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}
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defmt::info!("USB disconnected");
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}
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};
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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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enum Gs232Cmd {
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Unkown,
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GetAl,
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GetEz,
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GetAlEz,
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MoveTo(u16, u16),
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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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'B' => {
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if data.len() == 1 {
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Gs232Cmd::GetAl
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} else {
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Gs232Cmd::Unkown
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}
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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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Gs232Cmd::GetAlEz
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} else if data.len() == 1 {
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Gs232Cmd::GetEz
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} else {
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Gs232Cmd::Unkown
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}
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}
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'W' => {
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if data.len() == 8 {
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Gs232Cmd::Unkown
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} else {
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Gs232Cmd::Unkown
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}
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}
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'S' => {
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if data.len() == 1 {
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Gs232Cmd::Stop
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} else {
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Gs232Cmd::Unkown
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}
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}
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_ => Gs232Cmd::Unkown,
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}
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}
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