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Initial node implementation #4

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zack merged 51 commits from develop into master 2023-07-19 18:09:13 +00:00
Conversation 0 Commits 51 Files Changed 40 +1880 -44
38 changed files with 1880 additions and 44 deletions
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32
examples/ads1256/src/bin/multiplex.rs
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@ -10,12 +10,12 @@ 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 ads1256::standard::input::SingleEnded;
use embassy_time::{Delay, Duration, Timer};
use executor::Spawner;
use stm32::dma::NoDma;
@ -57,9 +57,9 @@ impl ads1256::BlockingDelay for Ads1256Delay {
}
struct Inputs {
ai0: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
ai1: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
ai2: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
ai3: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
}
// Inputs
@ -98,8 +98,12 @@ async fn main(spawner: Spawner) {
));
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(),
@ -108,10 +112,6 @@ async fn main(spawner: Spawner) {
Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
PubSubChannel::new().into(),
),
ai3: StatefulPublisher::new(
Cell::new(f32::ElectricPotential::new::<volt>(f32::NAN)).into(),
PubSubChannel::new().into(),
),
});
spawner.spawn(log_task(inputs)).unwrap();
@ -126,7 +126,7 @@ async fn drive_inputs_task(
spi: &'static mut Spi<'static, SPI3, NoDma, NoDma>,
inputs: &'static Inputs,
) {
let Inputs { ai1, ai2, ai3 } = inputs;
let Inputs { ai0, ai1, ai2 } = inputs;
loop {
let mut accumulator = f32::ElectricPotential::new::<volt>(0.0);
@ -136,7 +136,7 @@ async fn drive_inputs_task(
.await
.unwrap()
.to_voltage(AUTOCAL_CONF.ad_control.gain());
ai1.update(voltage);
ai0.update(voltage);
accumulator += voltage;
let voltage = ads_1256
@ -144,7 +144,7 @@ async fn drive_inputs_task(
.await
.unwrap()
.to_voltage(AUTOCAL_CONF.ad_control.gain());
ai2.update(voltage);
ai1.update(voltage);
accumulator += voltage;
let voltage = ads_1256
@ -152,7 +152,7 @@ async fn drive_inputs_task(
.await
.unwrap()
.to_voltage(AUTOCAL_CONF.ad_control.gain());
ai3.update(voltage);
ai2.update(voltage);
accumulator += voltage;
let accum_volts = accumulator.get::<volt>();
@ -162,19 +162,19 @@ async fn drive_inputs_task(
#[embassy_executor::task]
async fn log_task(inputs: &'static Inputs) {
let Inputs { ai1, ai2, ai3 } = 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();
let mut ai3_sub = ai3.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);
let msg = ai3_sub.next_message_pure().await.get::<volt>();
info!("Log task ai3: {}", msg);
}
}

25
examples/ads1256/src/bin/poll.rs
View File

@ -3,6 +3,7 @@
#![feature(type_alias_impl_trait, async_fn_in_trait)]
use core::cell::Cell;
use core::ops::DerefMut;
use cortex_m::prelude::{
_embedded_hal_blocking_delay_DelayMs, _embedded_hal_blocking_delay_DelayUs,
};
@ -37,8 +38,8 @@ use embassy_sync::pubsub::PubSubChannel;
use physical_ads1256::standard::multiplexer::poll::{
AutocalPoll, AutocalPollStatePub, ModInputOnly,
};
use physical_node::transducer::{Publish, Publisher, StatefulPublisher};
use physical_node::transducer::input::Poll;
use physical_node::transducer::{Publish, Publisher, StatefulPublisher};
const AUTOCAL_CONF: Config = Config {
status: Status::setting(Buffer::Enabled, AutoCal::Enabled, BitOrder::MostSigFirst),
@ -106,7 +107,7 @@ async fn main(spawner: Spawner) {
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(Mutex::new(Spi::new(
let spi = SPI.init(Mutex::new(Spi::new(
p.SPI3,
p.PC10,
p.PC12,
@ -118,7 +119,11 @@ async fn main(spawner: Spawner) {
)));
let ads_1256 =
&*ADS_1256.init(Mutex::new(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready)));
ADS_1256.init(Mutex::new(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready)));
ads_1256
.get_mut()
.write_config(spi.get_mut(), AUTOCAL_CONF)
.unwrap();
let inputs = &*ANALOG_INPUTS.init(Inputs {
ai1: AutocalPollStatePub {
@ -161,13 +166,19 @@ async fn main(spawner: Spawner) {
spawner.spawn(log_task(&inputs.ai1, 1)).unwrap();
spawner.spawn(log_task(&inputs.ai2, 2)).unwrap();
spawner.spawn(log_task(&inputs.ai3, 3)).unwrap();
spawner.spawn(poll_task(&inputs.ai1, 1, Duration::from_secs(5))).unwrap();
spawner.spawn(poll_task(&inputs.ai2, 2, Duration::from_secs(10))).unwrap();
spawner.spawn(poll_task(&inputs.ai3, 3, Duration::from_secs(20))).unwrap();
spawner
.spawn(poll_task(&inputs.ai1, 1, Duration::from_secs(5)))
.unwrap();
spawner
.spawn(poll_task(&inputs.ai2, 2, Duration::from_secs(10)))
.unwrap();
spawner
.spawn(poll_task(&inputs.ai3, 3, Duration::from_secs(20)))
.unwrap();
}
#[embassy_executor::task(pool_size = 3)]
async fn poll_task(input: &'static ExampleInput, input_num: u8, every: Duration,) {
async fn poll_task(input: &'static ExampleInput, input_num: u8, every: Duration) {
loop {
Timer::after(every).await;
let result = input.poll().await.unwrap().get::<volt>();