Cargo.toml

@@ -11,7 +11,7 @@ members = [
     # Peripheral components
     "peripheral-components/ads1256/*",
     # Examples
-    "examples/playground"
+    "examples/ads1256"
 ]
 
 [workspace.package]
@@ -40,6 +40,7 @@ version = "0.4.*"
 # Serialization
 [workspace.dependencies.parity-scale-codec]
 version = "3.5.*"
+default-features = false
 # Embedded-HAL
 [workspace.dependencies.embedded-hal]
 version = "1.0.0-alpha.10"

examples/ads1256/.cargo/config.toml

@@ -0,0 +1,9 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# replace STM32F429ZITx with your chip as listed in `probe-run --list-chips`
+runner = "probe-rs-cli run --chip STM32F429ZITx"
+
+[build]
+target = "thumbv7em-none-eabi"
+
+[env]
+DEFMT_LOG = "trace"

examples/ads1256/Cargo.toml

@@ -0,0 +1,42 @@
+[package]
+name = "ads1256-examples"
+description = "Examples using the ads1256."
+version.workspace = true
+edition.workspace = true
+repository.workspace = true
+readme.workspace = true
+license.workspace = true
+
+[dependencies.physical-node]
+path = "../../node"
+features = ["embassy-sync"]
+[dependencies.physical-ads1256]
+path = "../../peripheral-components/ads1256/node"
+features = ["standard-input"]
+[dependencies.ads1256]
+workspace = true
+[dependencies.uom]
+workspace = true
+[dependencies.defmt]
+workspace = true
+[dependencies.defmt-rtt]
+workspace = true
+[dependencies.cortex-m]
+workspace = true
+features = ["critical-section-single-core"]
+[dependencies.cortex-m-rt]
+workspace = true
+[dependencies.embassy-stm32]
+workspace = true
+features = ["stm32f429zi", "memory-x", "time", "exti", "time-driver-any"]
+[dependencies.embassy-executor]
+workspace = true
+[dependencies.embassy-futures]
+workspace = true
+[dependencies.embassy-time]
+workspace = true
+features = ["tick-hz-16_000_000"]
+[dependencies.embassy-sync]
+workspace = true
+[dependencies.panic-probe]
+workspace = true

examples/ads1256/build.rs

@@ -0,0 +1,5 @@
+fn main() {
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}

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::{
+    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_ads1256::{standard_input, SingleEnded};
+use physical_node::transducer::input::RawStatePubInput;
+use physical_node::transducer::Publisher;
+
+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 {
+    ai1: RawStatePubInput<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai2: RawStatePubInput<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai3: RawStatePubInput<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));
+
+    let inputs = &*ANALOG_INPUTS.init(Inputs {
+        ai1: RawStatePubInput::new(
+            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)),
+            PubSubChannel::new(),
+        ),
+        ai2: RawStatePubInput::new(
+            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)),
+            PubSubChannel::new(),
+        ),
+        ai3: RawStatePubInput::new(
+            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)),
+            PubSubChannel::new(),
+        ),
+    });
+
+    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 { ai1, ai2, ai3 } = 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());
+        ai1.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());
+        ai2.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());
+        ai3.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 { ai1, ai2, ai3 } = inputs;
+    let mut ai1_sub = ai1.subscribe().unwrap();
+    let mut ai2_sub = ai2.subscribe().unwrap();
+    let mut ai3_sub = ai3.subscribe().unwrap();
+
+    loop {
+        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);
+
+        let msg = ai3_sub.next_message_pure().await.get::<volt>();
+        info!("Log task ai3: {}", msg);
+    }
+}

examples/playground/Cargo.toml

@@ -1,13 +0,0 @@
-[package]
-name = "playground"
-description = """The playground example is a special example meant for unstructured experimentation which can potentially
- be turned into an actual example at some point or deleted. It should always be reset to unchanged hello world before
- the working branch where the experimentation is happening is merged."""
-version.workspace = true
-edition.workspace = true
-repository.workspace = true
-readme.workspace = true
-license.workspace = true
-
-[dependencies]
-physical = { path = "../.." }

examples/playground/src/main.rs

@@ -1,7 +0,0 @@
-//! The playground example is a special example meant for unstructured experimentation which can potentially be turned
-//! into an actual example at some point or deleted. It should always be reset to unchanged hello world before the working
-//! branch where the experimentation is happening is merged.
-
-fn main() {
-    println!("Hello, world!");
-}

node/src/lib.rs

@@ -1,7 +1,7 @@
 #![no_std]
 #![feature(async_fn_in_trait)]
 
-mod transducer;
+pub mod transducer;
 
 pub mod cell {
     pub use physical::cell::*;

node/src/transducer/input.rs

@@ -1,30 +1,105 @@
 use crate::cell::CellView;
+use crate::transducer::Publisher;
+use core::cell::Cell;
 #[cfg(feature = "embassy-sync")]
 use embassy_sync::blocking_mutex::raw::RawMutex;
 #[cfg(feature = "embassy-sync")]
 use embassy_sync::pubsub::PubSubChannel;
+use embassy_sync::pubsub::{Error, PubSubBehavior, Subscriber};
 pub use physical::transducer::input::*;
+use physical::transducer::Stateful;
 
 #[cfg(feature = "embassy-sync")]
-pub struct PublishInput<
+pub struct RawPublishInput<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+{
+    pub channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+    RawPublishInput<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    #[inline(always)]
+    pub fn new(channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>) -> Self {
+        Self { channel }
+    }
+
+    #[inline(always)]
+    pub fn update(&self, value: T) {
+        self.channel.publish_immediate(value);
+    }
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+    Publisher<CAPACITY, NUM_SUBS> for RawPublishInput<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    type Value = T;
+    type Mutex = MutexT;
+
+    #[inline(always)]
+    fn subscribe(
+        &self,
+    ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, Error> {
+        self.channel.subscriber()
+    }
+}
+
+#[cfg(feature = "embassy-sync")]
+pub struct RawStatePubInput<
     T: Copy,
     MutexT: RawMutex,
     const CAPACITY: usize,
     const NUM_SUBS: usize,
-    const NUM_PUBS: usize,
 > {
-    channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, NUM_PUBS>,
+    pub state_cell: Cell<T>,
+    pub channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
 }
 
-#[cfg(feature = "embassy-sync")]
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
-pub struct StatefulPublishInput<
+    RawStatePubInput<T, MutexT, CAPACITY, NUM_SUBS>
-    'a,
+{
-    T: Copy,
+    #[inline(always)]
-    MutexT: RawMutex,
+    pub fn new(
-    const CAPACITY: usize,
+        state_cell: Cell<T>,
-    const NUM_SUBS: usize,
+        channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
-    const NUM_PUBS: usize,
+    ) -> Self {
-> {
+        Self {
-    pub state_cell: CellView<'a, T>,
+            state_cell,
-    channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, NUM_PUBS>,
+            channel,
+        }
+    }
+
+    #[inline]
+    pub fn update(&self, value: T) {
+        self.state_cell.set(value);
+        self.channel.publish_immediate(value);
+    }
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize> Stateful
+    for RawStatePubInput<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    type Value = T;
+
+    #[inline(always)]
+    fn state_cell(&self) -> CellView<Self::Value> {
+        (&self.state_cell).into()
+    }
+
+    #[inline(always)]
+    fn state(&self) -> Self::Value {
+        self.state_cell.get()
+    }
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+    Publisher<CAPACITY, NUM_SUBS> for RawStatePubInput<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    type Value = T;
+    type Mutex = MutexT;
+
+    fn subscribe(
+        &self,
+    ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, Error> {
+        self.channel.subscriber()
+    }
 }

node/src/transducer/mod.rs

@@ -1,5 +1,5 @@
-mod input;
+pub mod input;
-mod output;
+pub mod output;
 
 pub use physical::transducer::*;
 
@@ -11,17 +11,11 @@ use embassy_sync::pubsub;
 use embassy_sync::pubsub::Subscriber;
 
 #[cfg(feature = "embassy-sync")]
-pub trait Publisher {
+pub trait Publisher<const CAPACITY: usize, const NUM_SUBS: usize> {
     type Value: Copy;
     type Mutex: RawMutex;
-    const CAPACITY: usize;
-    const NUM_SUBS: usize;
-    const NUM_PUBS: usize;
 
     fn subscribe(
         &self,
-    ) -> Result<
+    ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, pubsub::Error>;
-        Subscriber<Self::Mutex, Self::Value, Self::CAPACITY, Self::NUM_SUBS, Self::NUM_PUBS>,
-        pubsub::Error,
-    >;
 }

peripheral-components/ads1256/node/Cargo.toml

@@ -8,12 +8,15 @@ readme.workspace = true
 license.workspace = true
 
 [features]
-standard-multiplexer = []
+config = ["physical-ads1256-types/config"]
+standard-input = ["physical-ads1256-types/standard-input"]
+standard-multiplexer = ["standard-input"]
 
 [dependencies.physical-node]
 path = "../../../node"
 [dependencies.physical-ads1256-types]
 path = "../types"
+features = ["defmt"]
 [dependencies.ads1256]
 workspace = true
 [dependencies.embedded-hal]

peripheral-components/ads1256/node/src/analog_input.rs

@@ -1,10 +0,0 @@
-
-struct AnalogInput {}
-
-// AnalogInputS
-// AnalogInputI
-// AnalogInputC
-// AnalogInputSI
-// AnalogInputSC
-// AnalogInputIC
-// AnalogInputSIC

peripheral-components/ads1256/node/src/lib.rs

@@ -1,4 +1,6 @@
 #![no_std]
 
 #[cfg(feature = "standard-multiplexer")]
-mod analog_input;
+mod standard_multiplexer;
+
+pub use physical_ads1256_types::*;

peripheral-components/ads1256/types/Cargo.toml

@@ -8,7 +8,8 @@ readme.workspace = true
 license.workspace = true
 
 [features]
-standard-multiplexer = []
+config = []
+standard-input = []
 
 [dependencies.ads1256-types]
 workspace = true

peripheral-components/ads1256/types/src/config.rs

@@ -0,0 +1,2 @@
+use ads1256_types::{Buffer, Config, DataRate, Gain};
+

peripheral-components/ads1256/types/src/lib.rs

@@ -1 +1,11 @@
 #![no_std]
+
+#[cfg(feature = "standard-input")]
+pub mod standard_input;
+#[cfg(feature = "config")]
+mod config;
+
+#[cfg(feature = "config")]
+pub use config::*;
+#[cfg(feature = "standard-input")]
+pub use standard_input::*;

peripheral-components/ads1256/types/src/standard_input.rs

@@ -0,0 +1,39 @@
+use ads1256_types::{Buffer, Config, DataRate, Gain, Multiplexer, MuxInput};
+
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+#[repr(u8)]
+pub enum Differential {
+    AIn0 = Multiplexer::setting(MuxInput::AIn0, MuxInput::AIn1).0,
+    AIn1 = Multiplexer::setting(MuxInput::AIn2, MuxInput::AIn3).0,
+    AIn2 = Multiplexer::setting(MuxInput::AIn4, MuxInput::AIn5).0,
+    AIn3 = Multiplexer::setting(MuxInput::AIn6, MuxInput::AIn7).0,
+}
+
+impl Into<Multiplexer> for Differential {
+    #[inline(always)]
+    fn into(self) -> Multiplexer {
+        Multiplexer(self as u8)
+    }
+}
+
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+#[repr(u8)]
+pub enum SingleEnded {
+    AIn0 = Multiplexer::setting(MuxInput::AIn0, MuxInput::Common).0,
+    AIn1 = Multiplexer::setting(MuxInput::AIn1, MuxInput::Common).0,
+    AIn2 = Multiplexer::setting(MuxInput::AIn2, MuxInput::Common).0,
+    AIn3 = Multiplexer::setting(MuxInput::AIn3, MuxInput::Common).0,
+    AIn4 = Multiplexer::setting(MuxInput::AIn4, MuxInput::Common).0,
+    AIn5 = Multiplexer::setting(MuxInput::AIn5, MuxInput::Common).0,
+    AIn6 = Multiplexer::setting(MuxInput::AIn6, MuxInput::Common).0,
+    AIn7 = Multiplexer::setting(MuxInput::AIn7, MuxInput::Common).0,
+}
+
+impl Into<Multiplexer> for SingleEnded {
+    #[inline(always)]
+    fn into(self) -> Multiplexer {
+        Multiplexer(self as u8)
+    }
+}

src/cell.rs

@@ -6,13 +6,14 @@ use core::cell::Cell;
 pub struct CellView<'a, T: Copy>(&'a Cell<T>);
 
 impl<T: Copy> CellView<'_, T> {
-    #[inline]
+    #[inline(always)]
     pub fn get(self) -> T {
         self.0.get()
     }
 }
 
 impl<'a, T: Copy> From<&'a Cell<T>> for CellView<'a, T> {
+    #[inline(always)]
     fn from(value: &'a Cell<T>) -> Self {
         CellView(value)
     }

src/transducer/input.rs

@@ -1,3 +1,4 @@
+use core::cell::Cell;
 use crate::cell::CellView;
 use crate::transducer::Stateful;
 
@@ -5,19 +6,31 @@ pub trait Poll<T: Copy> {
     async fn poll() -> T;
 }
 
-pub struct StatefulInput<'a, T: Copy> {
+pub struct RawStatefulInput<T: Copy> {
-    pub state_cell: CellView<'a, T>,
+    pub state_cell: Cell<T>,
 }
 
-impl<'a, T: Copy> Stateful for StatefulInput<'a, T> {
+impl<T: Copy> RawStatefulInput<T> {
+    #[inline(always)]
+    pub fn new(state_cell: Cell<T>) -> Self {
+        Self { state_cell }
+    }
+
+    #[inline(always)]
+    pub fn raw_update(&self, value: T) {
+        self.state_cell.set(value);
+    }
+}
+
+impl<T: Copy> Stateful for RawStatefulInput<T> {
     type Value = T;
 
     #[inline(always)]
-    fn state_cell(&self) -> CellView<'a, Self::Value> {
+    fn state_cell(&self) -> CellView<Self::Value> {
-        self.state_cell
+        (&self.state_cell).into()
     }
 
-    #[inline]
+    #[inline(always)]
     fn state(&self) -> Self::Value {
         self.state_cell.get()
     }

src/transducer/mod.rs

@@ -2,6 +2,7 @@ use crate::cell::CellView;
 
 pub mod input;
 pub mod output;
+mod conversion;
 
 // Initialisation will always be async and won't complete until a state is available for all
 // stateful transducers.
@@ -10,5 +11,8 @@ pub trait Stateful {
 
     fn state_cell(&self) -> CellView<Self::Value>;
 
-    fn state(&self) -> Self::Value;
+    #[inline(always)]
+    fn state(&self) -> Self::Value {
+        self.state_cell().get()
+    }
 }