path: root/src/main.rs

#![no_std]
#![no_main]
#![feature(impl_trait_in_assoc_type)]
#![feature(try_blocks)]

extern crate alloc;

use core::net::{
    IpAddr,
    Ipv4Addr,
};
use embassy_net::tcp::client::TcpClientState;
use molybdos::{
    embassy_embedded_hal::shared_bus::asynch::{
        i2c::I2cDevice,
        spi::SpiDevice,
    },
    embassy_net::StackResources,
    embassy_rp,
    embassy_rp::{
        i2c::{
            self,
            I2c,
        },
        peripherals::{
            I2C0,
            I2C1,
            PIO0,
            SPI0,
            SPI1,
        },
        spi::{
            self,
            Spi,
        },
    },
    embassy_sync::{
        blocking_mutex::raw::{
            CriticalSectionRawMutex,
            ThreadModeRawMutex,
        },
        pipe::Pipe,
        pubsub,
        pubsub::PubSubBehavior,
    },
    embassy_time,
    embassy_usb,
    embassy_usb::class::{
        cdc_ncm,
        cdc_ncm::embassy_net::Device,
    },
    embedded_hal_async,
    embedded_hal_async::spi::{
        Operation,
        SpiDevice as _,
    },
    embedded_io_async::Write,
    embedded_sdmmc_async::{
        VolumeIdx,
        VolumeManager,
    },
    genlog,
    genlog::{
        defmt,
        defmt::unwrap,
    },
    heapless,
    pal::StaticOutput,
    static_cell::{
        ConstStaticCell,
        StaticCell,
    },
};
use ocularium_common::{
    Downlink,
    Sensor,
};
use reqwless::request::Method;

use crate::usb::COBS_DOWNLINK;

mod bringup;
mod usb;

pub type BMESpi = Spi<'static, SPI1, spi::Async>;
pub type BMESpiDev = SpiDevice<'static, CriticalSectionRawMutex, BMESpi, StaticOutput>;
pub type SdSpi = Spi<'static, SPI0, spi::Async>;
pub type SdSpiDev = SpiDevice<'static, CriticalSectionRawMutex, SdSpi, StaticOutput>;

pub type SensorI2c = I2c<'static, I2C1, i2c::Async>;

pub static I2S_PIPE: Pipe<ThreadModeRawMutex, 1024> = Pipe::new();

#[::embassy_executor::main]
#[inline]
async fn main(spawner: embassy_executor::Spawner) {
    _main(spawner).await
}

async fn _main(spawner: embassy_executor::Spawner) {
    molybdos::pal::heap::init();

    defmt::info!("boot");

    let bringup::Split {
        sd_spi,
        sd_cs,
        bme_spi,
        bme_cs,
        wdt,
        usb,
        i2s,
        i2s_dma,
        ..
    } = bringup::split(Default::default());

    defmt::info!("split ok");

    // spawner.must_spawn(molybdos::pal::watchdog(wdt));

    const MTU: usize = 1514;
    const MAC: [u8; 6] = [0, 0, 0, 0, 0, 0];

    let (acm, ncm) = molybdos::lib::usb::bringup!(
        spawn,
        usb,
        molybdos::pal::UsbDriver,
        molybdos::lib::usb::config("npry", "ocularium", 0x8888, 0x0011),
        endpoints = {
            acm => |builder| molybdos::lib::usb::acm!(builder),
            ncm => |builder| {
                static STATE: StaticCell<cdc_ncm::State> = StaticCell::new();
                let state =
                    StaticCell::init(&STATE, cdc_ncm::State::new());
                cdc_ncm::CdcNcmClass::new(builder, state, MAC, 64)
            },
        }
    );

    #[embassy_executor::task]
    async fn ncm_task(
        runner: cdc_ncm::embassy_net::Runner<
            'static,
            embassy_rp::usb::Driver<'static, embassy_rp::peripherals::USB>,
            MTU,
        >,
    ) -> ! {
        runner.run().await
    }

    molybdos::lib::usb::start!(molybdos::pal::UsbDriver, acm, &usb::UPLINK, &usb::DOWNLINK);

    static NET_STATE: ConstStaticCell<cdc_ncm::embassy_net::State<MTU, 2, 2>> =
        ConstStaticCell::new(cdc_ncm::embassy_net::State::new());
    let (runner, dev) = ncm.into_embassy_net_device::<MTU, 2, 2>(NET_STATE.take(), MAC);

    spawner.must_spawn(ncm_task(runner));

    let config = molybdos::embassy_net::Config::dhcpv4(Default::default());
    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
    let (stack, runner) =
        molybdos::embassy_net::new(dev, config, RESOURCES.init(StackResources::new()), 0);

    #[embassy_executor::task]
    async fn net_task(
        mut runner: molybdos::embassy_net::Runner<'static, Device<'static, MTU>>,
    ) -> ! {
        runner.run().await
    }

    spawner.must_spawn(net_task(runner));

    molybdos::lib::util::cobs::start!(
        ocularium_common::Uplink,
        &usb::UPLINK,
        &usb::COBS_UPLINK,
        ocularium_common::Downlink,
        &usb::DOWNLINK,
        &usb::COBS_DOWNLINK
    );

    // let mut vemldev = I2cDevice::new(&);

    let mut spidev = SpiDevice::new(bme_spi, bme_cs);
    manually_check_bme_id(&mut spidev).await;

    let config = drogue_bme680_async::Configuration::default();

    let bme = drogue_bme680_async::Sensor::new_spi(spidev).await.unwrap();

    let mut bme = drogue_bme680_async::Controller::new(
        bme,
        molybdos::embassy_time::Delay,
        config,
        drogue_bme680_async::StaticProvider(23),
    )
    .await
    .unwrap();

    let meas = bme.measure_default().await.unwrap().unwrap();
    defmt::info!("got bme measurement: {}", defmt::Debug2Format(&meas));

    #[cfg(not(feature = "disable_sd"))]
    {
        let vm = molybdos::rt::sd::bringup!(sd_spi, SdSpi, sd_cs);

        {
            let vol = match VolumeManager::open_volume(vm, VolumeIdx(0)).await {
                Ok(x) => x,
                Err(e) => {
                    defmt::error!("opening volume: {}", defmt::Debug2Format(&e));

                    loop {
                        molybdos::embassy_time::Timer::after(
                            molybdos::embassy_time::Duration::from_secs(1),
                        )
                        .await;
                    }
                },
            };
        }
    }

    #[cfg(not(feature = "disable_i2s"))]
    {
        spawner.must_spawn(drain_pipe());
        spawner.must_spawn(run_i2s(i2s, i2s_dma));
    }

    let state = TcpClientState::new();
    let client = embassy_net::tcp::client::TcpClient::<1>::new(stack, &state);

    let dns = embassy_net::dns::DnsSocket::new(stack);

    let mut client = reqwless::client::HttpClient::new(&client, &dns);

    let mut headers_buf = [0; 512];

    loop {
        let _result: Result<(), reqwless::Error> = try {
            let mut req = client.request(Method::GET, "http://httpbin.org/anything").await?;
            let resp = req.send(&mut headers_buf).await?;

            let body = resp.body().read_to_end().await?;
            let body_str = core::str::from_utf8(&body).unwrap();

            defmt::info!("got response: {}", body_str);
        };

        embassy_time::Timer::after(embassy_time::Duration::from_secs(1)).await;
    }
}

async fn manually_check_bme_id(spidev: &mut impl embedded_hal_async::spi::SpiDevice) {
    let data = &mut [0u8];

    let result = spidev
        .transaction(&mut [Operation::Write(&[0x50 | (1 << 7)]), Operation::Read(data)])
        .await;
    if let Err(e) = result {
        defmt::error!("reading spi dev: {}", defmt::Debug2Format(&e));
    } else {
        defmt::info!("read chipid: {:x}", data[0]);
    }
}

#[cfg(not(feature = "disable_i2s"))]
#[::embassy_executor::task]
async fn run_i2s(mut i2s: bringup::StaticI2S<PIO0, 0>, dma: embassy_rp::peripherals::DMA_CH5) {
    i2s.run::<960>(dma, &I2S_PIPE).await
}

#[cfg(not(feature = "disable_i2s"))]
#[::embassy_executor::task]
async fn drain_pipe() {
    let publ = COBS_DOWNLINK.publisher().expect("getting publisher");

    loop {
        let buf = &mut [0u8; 960];
        let n = I2S_PIPE.read(buf).await;

        for elem in (&buf[..n]).chunks(48) {
            publ.publish_immediate(Downlink::Sensor(Sensor::Pdm(alloc::vec::Vec::from(elem))));
        }
    }
}