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rotor-control-stm32
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Reading commands works

This commit is contained in:
Sebastian 2022-08-20 19:55:14 +02:00
parent a7ae3731a4
commit a7b8f1ca67
4 changed files with 108 additions and 62 deletions
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17
Cargo.lock generated
View File

@ -17,12 +17,6 @@ version = "1.0.62"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1485d4d2cc45e7b201ee3767015c96faa5904387c9d87c6efdd0fb511f12d305"
[[package]]
name = "arrayvec"
version = "0.7.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6"
[[package]]
name = "atomic-polyfill"
version = "0.1.10"
@ -941,15 +935,6 @@ dependencies = [
"unicode-ident",
]
[[package]]
name = "profont"
version = "0.6.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bd908932b251e9f146130df7566e8f7c5b0c6ddb29f6d67571f3579f59043c36"
dependencies = [
"embedded-graphics",
]
[[package]]
name = "quote"
version = "1.0.21"
@ -1031,7 +1016,6 @@ dependencies = [
name = "rotor-control-stm32"
version = "0.1.0"
dependencies = [
"arrayvec",
"cortex-m",
"cortex-m-rt",
"defmt",
@ -1048,7 +1032,6 @@ dependencies = [
"heapless",
"nb 1.0.0",
"panic-probe",
"profont",
"ssd1306",
]

41
Cargo.toml
View File

@ -26,11 +26,42 @@ nb = "1.0.0"
ssd1306 = "0.7.1"
embedded-graphics = "0.7.1"
profont = "0.6.1"
arrayvec = { version = "0.7.2", default-features = false}
# cargo build/run
[profile.dev]
opt-level = "s"
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = 3 # <-
overflow-checks = true # <-
# cargo test
[profile.test]
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = 3 # <-
overflow-checks = true # <-
# cargo build/run --release
[profile.release]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
#lto = 'fat'
opt-level = 3 # <-
overflow-checks = false # <-
# cargo test --release
[profile.bench]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = 3 # <-
overflow-checks = false # <-

15
src/display.rs
View File

@ -6,16 +6,17 @@ use embassy_stm32::time::Hertz;
use embassy_time::{Duration, Timer};
use embedded_graphics::{
mono_font::MonoTextStyle,
mono_font::{
MonoTextStyle,
{ascii::FONT_5X7, ascii::FONT_7X13},
},
pixelcolor::BinaryColor,
prelude::*,
primitives::{PrimitiveStyleBuilder, Rectangle},
text::Text,
};
use profont::{PROFONT_12_POINT, PROFONT_7_POINT};
use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
use arrayvec::ArrayString;
use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
#[embassy_executor::task]
pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: peripherals::PB7) {
@ -27,9 +28,9 @@ pub async fn display_task(i2c1: peripherals::I2C1, sda: peripherals::PB6, scl: p
.into_buffered_graphics_mode();
display.init().unwrap();
let text_large = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::On);
let text_large_inv = MonoTextStyle::new(&PROFONT_12_POINT, BinaryColor::Off);
let text_small = MonoTextStyle::new(&PROFONT_7_POINT, BinaryColor::On);
let text_large = MonoTextStyle::new(&FONT_7X13, BinaryColor::On);
let text_large_inv = MonoTextStyle::new(&FONT_7X13, BinaryColor::Off);
let text_small = MonoTextStyle::new(&FONT_5X7, BinaryColor::On);
let style_filled = PrimitiveStyleBuilder::new()
.fill_color(BinaryColor::On)

97
src/usb.rs
View File

@ -1,3 +1,5 @@
use defmt::Format;
use embassy_executor::Spawner;
use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::peripherals;
@ -9,7 +11,9 @@ use embassy_usb::Builder;
use embassy_usb_serial::{CdcAcmClass, State};
use futures::future::join;
use arrayvec::{ArrayString, ArrayVec};
use core::fmt::Write;
use heapless::String;
#[embassy_executor::task]
pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin: peripherals::PA11) {
@ -45,13 +49,16 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
// Build the builder.
let mut usb = builder.build();
let az_actual: u16 = 0;
let el_actual: u16 = 0;
// Do stuff with the class!
let usb_handler_fut = async {
loop {
class.wait_connection().await;
defmt::info!("USB connected");
let mut packet = [0; 64];
let mut buffer = ArrayVec::<u8, 64>::new();
let mut buffer: String<64> = String::new();
loop {
let n = match class.read_packet(&mut packet).await {
@ -62,39 +69,56 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
}
};
if buffer.try_extend_from_slice(&packet[..n]).is_err() {
buffer.clear();
buffer.try_extend_from_slice(&packet[..n]).unwrap();
}
let mut line_end = 0;
for i in 0..buffer.len() {
if buffer[i] == '\r' as u8 {
line_end = i;
break;
for byte in &packet[..n] {
if buffer.len() == 64 {
buffer.clear();
}
buffer.push(*byte as char).unwrap();
}
defmt::info!("Line end: {}", line_end);
defmt::info!("buffer: {}", buffer.as_slice());
let line_end = match buffer.rfind('\r') {
Some(n) => n,
_ => continue,
};
defmt::info!("Line buffer: {:x}", buffer.as_bytes());
if line_end > 0 {
let cmd = parse_command(&buffer.as_slice()[..line_end]);
for _ in 0..line_end + 1 {
buffer.remove(0);
}
defmt::info!("truncated buffer");
let cmd = parse_command(&buffer.as_str()[..line_end]);
defmt::info!("Command: {}", cmd);
if cmd != Gs232Cmd::Unkown {
match class.write_packet(b"\r").await {
Ok(_) => {}
Err(err) => {
defmt::error!("Unable to write packet: {}", err);
break;
}
};
let mut resp: String<16> = String::new();
match cmd {
Gs232Cmd::GetAl => {
write!(&mut resp, "AZ={}\r", az_actual).unwrap();
}
Gs232Cmd::GetEz => {
write!(&mut resp, "EL={}\r", el_actual).unwrap();
}
Gs232Cmd::GetAlEz => {
write!(&mut resp, "AZ={} EL={}\r", az_actual, el_actual).unwrap();
}
Gs232Cmd::MoveTo(_az, _el) => {
resp.push_str("\r").unwrap();
}
Gs232Cmd::Stop => {
resp.push_str("\r").unwrap();
}
_ => {
defmt::error!("Uknown command: {}", &buffer.as_str()[..line_end]);
resp.push_str("Unkown command!\r").unwrap();
}
}
match class.write_packet(resp.as_bytes()).await {
Ok(_) => {}
Err(err) => {
defmt::error!("Unable to write packet: {}", err);
break;
}
};
}
buffer = String::from(&buffer.as_str()[line_end + 1..]);
}
defmt::info!("USB disconnected");
}
@ -103,7 +127,7 @@ pub async fn usb_task(usb: peripherals::USB, dp_pin: peripherals::PA12, dm_pin:
join(usb.run(), usb_handler_fut).await;
}
#[derive(PartialEq)]
#[derive(Format, PartialEq)]
enum Gs232Cmd {
Unkown,
GetAl,
@ -113,8 +137,8 @@ enum Gs232Cmd {
Stop,
}
fn parse_command(data: &[u8]) -> Gs232Cmd {
match data[0] as char {
fn parse_command(data: &str) -> Gs232Cmd {
match data.chars().nth(0).unwrap() {
'B' => {
if data.len() == 1 {
Gs232Cmd::GetAl
@ -124,7 +148,7 @@ fn parse_command(data: &[u8]) -> Gs232Cmd {
}
'C' => {
if data.len() == 2 && data[1] as char == '2' {
if data.len() == 2 && data.chars().nth(1).unwrap() as char == '2' {
Gs232Cmd::GetAlEz
} else if data.len() == 1 {
Gs232Cmd::GetEz
@ -135,8 +159,15 @@ fn parse_command(data: &[u8]) -> Gs232Cmd {
'W' => {
if data.len() == 8 {
Gs232Cmd::Unkown
if let Ok(az) = data[1..4].parse::<u16>() {
if let Ok(el) = data[5..].parse::<u16>() {
Gs232Cmd::MoveTo(az, el)
} else {
Gs232Cmd::Unkown
}
} else {
Gs232Cmd::Unkown
}
} else {
Gs232Cmd::Unkown
}