Initial node implementation (#4)

Reviewed-on: #4
Co-authored-by: Zack <zack@bfpower.io>
Co-committed-by: Zack <zack@bfpower.io>

examples/ads1256/src/bin/multiplex.rs

@@ -0,0 +1,181 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait, async_fn_in_trait)]
+
+use core::cell::Cell;
+use cortex_m::prelude::{
+    _embedded_hal_blocking_delay_DelayMs, _embedded_hal_blocking_delay_DelayUs,
+};
+use {defmt_rtt as _, panic_probe as _};
+
+use {embassy_executor as executor, embassy_stm32 as stm32};
+
+use ads1256::standard::input::SingleEnded;
+use ads1256::{
+    AdControl, Ads1256, AutoCal, BitOrder, BlockingDelay, Buffer, ClockOut, Config, DState,
+    DataRate, DigitalIo, DigitalIoDirection, DigitalIoState, DioDirection, Gain, Multiplexer,
+    MuxInput, OutputPin, Sdcs, SpiBus, Status, Wait,
+};
+use embassy_time::{Delay, Duration, Timer};
+use executor::Spawner;
+use stm32::dma::NoDma;
+use stm32::exti::ExtiInput;
+use stm32::gpio::{Input, Level, Output, Pull, Speed};
+use stm32::spi::Spi;
+use stm32::time::Hertz;
+use stm32::{pac, spi};
+
+use uom::si::electric_potential::volt;
+use uom::si::f32;
+
+use defmt::{debug, error, info, trace, unwrap};
+use embassy_executor::_export::StaticCell;
+use embassy_stm32::peripherals::{EXTI6, PF6, PF7, SPI3};
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::pubsub::PubSubChannel;
+use physical_node::transducer::{Publish, StatefulPublisher};
+
+const AUTOCAL_CONF: Config = Config {
+    status: Status::setting(Buffer::Enabled, AutoCal::Enabled, BitOrder::MostSigFirst),
+    multiplexer: Multiplexer::setting(MuxInput::AIn0, MuxInput::Common),
+    ad_control: AdControl::setting(Gain::X2, Sdcs::Off, ClockOut::Off),
+    data_rate: DataRate::Sps2_5,
+    digital_io: DigitalIo::setting(DigitalIoState::default(), DigitalIoDirection::default()),
+};
+
+struct Ads1256Delay;
+
+impl ads1256::BlockingDelay for Ads1256Delay {
+    #[inline]
+    fn t6_delay(&mut self) {
+        Delay.delay_us(1u32);
+    }
+
+    fn t11_1_delay(&mut self) {}
+
+    fn t11_2_delay(&mut self) {}
+}
+
+struct Inputs {
+    ai0: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai1: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai2: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+}
+
+// Inputs
+static ANALOG_INPUTS: StaticCell<Inputs> = StaticCell::new();
+static ADS_1256: StaticCell<Ads1256<Ads1256Delay, Output<PF7>, ExtiInput<PF6>>> = StaticCell::new();
+static SPI: StaticCell<Spi<SPI3, NoDma, NoDma>> = StaticCell::new();
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    unsafe {
+        pac::FLASH.acr().modify(|v| {
+            v.set_prften(true);
+            v.set_icen(true);
+            v.set_dcen(true);
+        });
+    }
+
+    let p = embassy_stm32::init(Default::default());
+
+    let mut spi_conf = spi::Config::default();
+    spi_conf.mode = spi::MODE_1;
+    spi_conf.bit_order = spi::BitOrder::MsbFirst;
+
+    let ads1256_data_ready = ExtiInput::new(Input::new(p.PF6, Pull::Up), p.EXTI6);
+    let select_ads1256 = Output::new(p.PF7, Level::High, Speed::VeryHigh);
+
+    let spi = SPI.init(Spi::new(
+        p.SPI3,
+        p.PC10,
+        p.PC12,
+        p.PC11,
+        NoDma,
+        NoDma,
+        Hertz(ads1256::defaults::SPI_CLK_HZ),
+        spi_conf,
+    ));
+
+    let ads_1256 = ADS_1256.init(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready));
+    ads_1256.write_config(spi, AUTOCAL_CONF).unwrap();
+
+    let inputs = &*ANALOG_INPUTS.init(Inputs {
+        ai0: StatefulPublisher::new(
+            Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
+            PubSubChannel::new().into(),
+        ),
+        ai1: StatefulPublisher::new(
+            Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
+            PubSubChannel::new().into(),
+        ),
+        ai2: StatefulPublisher::new(
+            Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
+            PubSubChannel::new().into(),
+        ),
+    });
+
+    spawner.spawn(log_task(inputs)).unwrap();
+    spawner
+        .spawn(drive_inputs_task(ads_1256, spi, inputs))
+        .unwrap();
+}
+
+#[embassy_executor::task]
+async fn drive_inputs_task(
+    ads_1256: &'static mut Ads1256<Ads1256Delay, Output<'static, PF7>, ExtiInput<'static, PF6>>,
+    spi: &'static mut Spi<'static, SPI3, NoDma, NoDma>,
+    inputs: &'static Inputs,
+) {
+    let Inputs { ai0, ai1, ai2 } = inputs;
+
+    loop {
+        let mut accumulator = f32::ElectricPotential::new::<volt>(0.0);
+
+        let voltage = ads_1256
+            .autocal_convert(spi, SingleEnded::AIn0.into(), None, None, None, false)
+            .await
+            .unwrap()
+            .to_voltage(AUTOCAL_CONF.ad_control.gain());
+        ai0.update(voltage);
+        accumulator += voltage;
+
+        let voltage = ads_1256
+            .autocal_convert(spi, SingleEnded::AIn1.into(), None, None, None, false)
+            .await
+            .unwrap()
+            .to_voltage(AUTOCAL_CONF.ad_control.gain());
+        ai1.update(voltage);
+        accumulator += voltage;
+
+        let voltage = ads_1256
+            .autocal_convert(spi, SingleEnded::AIn2.into(), None, None, None, false)
+            .await
+            .unwrap()
+            .to_voltage(AUTOCAL_CONF.ad_control.gain());
+        ai2.update(voltage);
+        accumulator += voltage;
+
+        let accum_volts = accumulator.get::<volt>();
+        info!("Immediate loop iteration result, combined volts: {}", accum_volts);
+    }
+}
+
+#[embassy_executor::task]
+async fn log_task(inputs: &'static Inputs) {
+    let Inputs { ai0, ai1, ai2 } = inputs;
+    let mut ai0_sub = ai0.subscribe().unwrap();
+    let mut ai1_sub = ai1.subscribe().unwrap();
+    let mut ai2_sub = ai2.subscribe().unwrap();
+
+    loop {
+        let msg = ai0_sub.next_message_pure().await.get::<volt>();
+        info!("Log task ai0: {}", msg);
+
+        let msg = ai1_sub.next_message_pure().await.get::<volt>();
+        info!("Log task ai1: {}", msg);
+
+        let msg = ai2_sub.next_message_pure().await.get::<volt>();
+        info!("Log task ai2: {}", msg);
+    }
+}