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|
#![no_std]
#![no_main]
#![feature(impl_trait_in_assoc_type)]
use crate::usb::COBS_DOWNLINK;
use molybdos::{
embassy_embedded_hal::shared_bus::asynch::spi::SpiDevice,
embassy_executor,
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,
},
embedded_hal_async::spi::{
Operation,
SpiDevice as _,
},
embedded_sdmmc_async::{
VolumeIdx,
VolumeManager,
},
genlog,
genlog::defmt,
heapless,
pal::StaticOutput,
};
use ocularium::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]
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));
let (acm,) = 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),
}
);
molybdos::lib::usb::start!(molybdos::pal::UsbDriver, acm, &usb::UPLINK, &usb::DOWNLINK);
molybdos::lib::util::cobs::start!(
ocularium::Uplink,
&usb::UPLINK,
&usb::COBS_UPLINK,
ocularium::Downlink,
&usb::DOWNLINK,
&usb::COBS_DOWNLINK
);
let mut spidev = SpiDevice::new(bme_spi, bme_cs);
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_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;
}
},
};
}
}
spawner.must_spawn(drain_pipe());
spawner.must_spawn(run_i2s(i2s, i2s_dma));
loop {
molybdos::embassy_time::Timer::after(molybdos::embassy_time::Duration::from_secs(1)).await;
}
}
#[::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
}
#[::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::PDM(heapless::Vec::from_slice(elem).unwrap()));
}
}
}
|
