1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
|
#![no_std]
#![no_main]
#![feature(impl_trait_in_assoc_type)]
extern crate alloc;
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,
embedded_hal_async::spi::{
Operation,
SpiDevice as _,
},
embedded_sdmmc_async::{
VolumeIdx,
VolumeManager,
},
genlog,
genlog::defmt,
heapless,
pal::StaticOutput,
};
use ocularium_common::{
Downlink,
Sensor,
};
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]
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_common::Uplink,
&usb::UPLINK,
&usb::COBS_UPLINK,
ocularium_common::Downlink,
&usb::DOWNLINK,
&usb::COBS_DOWNLINK
);
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));
}
loop {
molybdos::embassy_time::Timer::after(molybdos::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))));
}
}
}
|
