xiao_pet_tracker_rust/tflite_demo/src/main.rs

#![no_main]
#![no_std]

mod lsm6ds3tr;

use defmt::{info, panic};
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_executor::Spawner;
use embassy_futures::join::join;
use embassy_nrf::peripherals::TWISPI0;
use embassy_nrf::twim::Twim;
use embassy_nrf::usb::vbus_detect::{HardwareVbusDetect, VbusDetect};
use embassy_nrf::usb::{Driver, Instance};
use embassy_nrf::{bind_interrupts, pac, peripherals, twim, usb};
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::mutex::Mutex;
use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
use embassy_usb::driver::EndpointError;
use embassy_usb::{Builder, Config};

use lsm6ds3tr::interface::i2c::I2cInterface;
// use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
use static_cell::StaticCell;

use {defmt_serial as _, panic_probe as _};

static I2C_BUS: StaticCell<Mutex<NoopRawMutex, Twim<TWISPI0>>> = StaticCell::new();

bind_interrupts!(struct Irqs {
    USBD => usb::InterruptHandler<peripherals::USBD>;
    CLOCK_POWER => usb::vbus_detect::InterruptHandler;
});

#[embassy_executor::main]
async fn main(_spawner: Spawner) {
    let p = embassy_nrf::init(Default::default());

    info!("Enabling ext hfosc...");
    pac::CLOCK.tasks_hfclkstart().write_value(1);
    while pac::CLOCK.events_hfclkstarted().read() != 1 {}

    // Create the driver, from the HAL.
    let driver = Driver::new(p.USBD, Irqs, HardwareVbusDetect::new(Irqs));

    // Create embassy-usb Config
    let mut config = Config::new(0xc0de, 0xcafe);
    config.manufacturer = Some("Embassy");
    config.product = Some("USB-serial example");
    config.serial_number = Some("12345678");
    config.max_power = 100;
    config.max_packet_size_0 = 64;

    // Create embassy-usb DeviceBuilder using the driver and config.
    // It needs some buffers for building the descriptors.
    let mut config_descriptor = [0; 256];
    let mut bos_descriptor = [0; 256];
    let mut msos_descriptor = [0; 256];
    let mut control_buf = [0; 64];

    let mut state = State::new();

    let mut builder = Builder::new(
        driver,
        config,
        &mut config_descriptor,
        &mut bos_descriptor,
        &mut msos_descriptor,
        &mut control_buf,
    );

    // Create classes on the builder.
    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);

    // Build the builder.
    let mut usb = builder.build();

    // Run the USB device.
    let usb_fut = usb.run();

    // Do stuff with the class!
    let echo_fut = async {
        loop {
            class.wait_connection().await;
            info!("Connected");
            let _ = echo(&mut class).await;
            info!("Disconnected");
        }
    };

    // Run everything concurrently.
    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
    join(usb_fut, echo_fut).await;

    // let config = twim::Config::default();
    // let i2c = embassy_nrf::twim::Twim::new(p.TWISPI0, Irqs2, p.P0_07, p.P0_27, config);

    let i2c_bus = {
        use embassy_nrf::{
            bind_interrupts,
            peripherals::{self},
        };
        // bind_interrupts!(struct Irqs {
        //     SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 => twim::InterruptHandler<peripherals::TWISPI0>;
        // });
        bind_interrupts!(struct Irqs2 {
            TWISPI0 => twim::InterruptHandler<peripherals::TWISPI0>;
        });
        let config = twim::Config::default();
        let i2c = Twim::new(p.TWISPI0, Irqs2, p.P0_07, p.P0_27, config);
        let i2c_bus = Mutex::<NoopRawMutex, _>::new(i2c);
        I2C_BUS.init(i2c_bus)
    };

    let i2c = I2cDevice::new(i2c_bus);

    let interface = I2cInterface::new(i2c);
    let imu = lsm6ds3tr::LSM6DS3TR::new(interface);

    // let mut serial_port = usbd_serial::SerialPort::new(&usb);

    loop {
        info!("Hello, world!");
    }
}

struct Disconnected {}

impl From<EndpointError> for Disconnected {
    fn from(val: EndpointError) -> Self {
        match val {
            EndpointError::BufferOverflow => panic!("Buffer overflow"),
            EndpointError::Disabled => Disconnected {},
        }
    }
}

async fn echo<'d, T: Instance + 'd, P: VbusDetect + 'd>(
    class: &mut CdcAcmClass<'d, Driver<'d, T, P>>,
) -> Result<(), Disconnected> {
    let mut buf = [0; 64];
    loop {
        let n = class.read_packet(&mut buf).await?;
        let data = &buf[..n];
        info!("data: {:x}", data);
        class.write_packet(data).await?;
    }
}