figured out how to print text to the console
This commit is contained in:
parent
45affbb325
commit
d1b1bb1038
316
Cargo.lock
generated
316
Cargo.lock
generated
@ -14,6 +14,15 @@ dependencies = [
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@ -741,6 +889,34 @@ dependencies = [
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@ -766,6 +942,12 @@ dependencies = [
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@ -973,11 +1267,17 @@ dependencies = [
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@ -1088,6 +1394,16 @@ dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wide"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "41b5576b9a81633f3e8df296ce0063042a73507636cbe956c61133dd7034ab22"
|
||||
dependencies = [
|
||||
"bytemuck",
|
||||
"safe_arch",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.35"
|
||||
|
||||
20
Cargo.toml
20
Cargo.toml
@ -17,7 +17,10 @@ members = ["tflite_demo"]
|
||||
# ]
|
||||
|
||||
[workspace.dependencies]
|
||||
cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
|
||||
cortex-m = { version = "0.7.7", features = [
|
||||
"critical-section-single-core",
|
||||
"inline-asm",
|
||||
] }
|
||||
cortex-m-rt = "0.7.5"
|
||||
defmt = "0.3.10"
|
||||
defmt-rtt = "0.4.1"
|
||||
@ -54,15 +57,15 @@ panic-probe = { version = "0.3.2", features = ["print-defmt"] }
|
||||
# nrf52840-hal = "0.16.0"
|
||||
# usb-device = "0.3.2"
|
||||
# usbd-serial = "0.2.2"
|
||||
# microflow = { path = "../microflow-rs" }
|
||||
microflow = { path = "../microflow-rs" }
|
||||
# # microflow = "0.1.3"
|
||||
# nalgebra = { version = "0.33.2", default-features = false, features = [
|
||||
# "macros",
|
||||
# ] }
|
||||
# libm = "0.2"
|
||||
nalgebra = { version = "0.33.2", default-features = false, features = [
|
||||
"macros",
|
||||
] }
|
||||
libm = "0.2"
|
||||
# panic-halt = "1.0.0"
|
||||
# panic-probe = { version = "0.3.2", features = ["print-defmt"] }
|
||||
# heapless = "0.8.0"
|
||||
heapless = "0.8.0"
|
||||
# lsm6ds3tr = { path = "../lsm6ds3tr-rs" }
|
||||
|
||||
# embassy-sync = { version = "0.5.0" }
|
||||
@ -91,8 +94,9 @@ panic-probe = { version = "0.3.2", features = ["print-defmt"] }
|
||||
# embedded-storage = "0.3.0"
|
||||
embedded-hal = "1.0.0"
|
||||
embedded-hal-async = { version = "1.0.0" }
|
||||
embedded-alloc = "0.6.0"
|
||||
|
||||
# embedded-hal-bus = { version = "0.2.0", features = ["async"] }
|
||||
# embedded-alloc = "0.6.0"
|
||||
# nrf-softdevice = { version = "0.1.0", features = [
|
||||
# "defmt",
|
||||
# "ble-peripheral",
|
||||
|
||||
@ -14,8 +14,9 @@ embassy-embedded-hal.workspace = true
|
||||
embassy-futures.workspace = true
|
||||
embassy-usb.workspace = true
|
||||
embassy-usb-logger.workspace = true
|
||||
embassy-time.workspace = true
|
||||
|
||||
# embedded-alloc.workspace = true
|
||||
embedded-alloc.workspace = true
|
||||
embedded-hal.workspace = true
|
||||
embedded-hal-async.workspace = true
|
||||
|
||||
@ -29,9 +30,9 @@ defmt-rtt.workspace = true
|
||||
# usb-device.workspace = true
|
||||
# usbd-serial.workspace = true
|
||||
|
||||
# microflow.workspace = true
|
||||
# libm.workspace = true
|
||||
# nalgebra.workspace = true
|
||||
microflow.workspace = true
|
||||
libm.workspace = true
|
||||
nalgebra.workspace = true
|
||||
|
||||
# heapless.workspace = true
|
||||
# lsm6ds3tr.workspace = true
|
||||
@ -39,6 +40,7 @@ defmt-rtt.workspace = true
|
||||
# nrf-softdevice-s140.workspace = true
|
||||
fixed.workspace = true
|
||||
atomic-pool.workspace = true
|
||||
heapless.workspace = true
|
||||
|
||||
panic-probe.workspace = true
|
||||
defmt-serial.workspace = true
|
||||
|
||||
@ -3,25 +3,29 @@
|
||||
|
||||
mod lsm6ds3tr;
|
||||
|
||||
use defmt::{info, panic};
|
||||
use core::fmt::Write;
|
||||
use defmt::{info, panic, unwrap};
|
||||
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::usb::vbus_detect::HardwareVbusDetect;
|
||||
use embassy_nrf::usb::Driver;
|
||||
use embassy_nrf::{bind_interrupts, pac, peripherals, twim, usb};
|
||||
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
|
||||
use embassy_sync::mutex::Mutex;
|
||||
use embassy_time::{Duration, Timer};
|
||||
use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
|
||||
use embassy_usb::driver::EndpointError;
|
||||
use embassy_usb::{Builder, Config};
|
||||
use embassy_usb::{Builder, Config, UsbDevice};
|
||||
use embedded_alloc::LlffHeap;
|
||||
|
||||
use lsm6ds3tr::interface::i2c::I2cInterface;
|
||||
// use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
|
||||
use static_cell::StaticCell;
|
||||
|
||||
use heapless::String;
|
||||
|
||||
use {defmt_serial as _, panic_probe as _};
|
||||
|
||||
static I2C_BUS: StaticCell<Mutex<NoopRawMutex, Twim<TWISPI0>>> = StaticCell::new();
|
||||
@ -31,8 +35,91 @@ bind_interrupts!(struct Irqs {
|
||||
CLOCK_POWER => usb::vbus_detect::InterruptHandler;
|
||||
});
|
||||
|
||||
type MyDriver = Driver<'static, peripherals::USBD, HardwareVbusDetect>;
|
||||
|
||||
#[global_allocator]
|
||||
static HEAP: LlffHeap = LlffHeap::empty();
|
||||
|
||||
#[embassy_executor::task]
|
||||
async fn usb_task(mut device: UsbDevice<'static, MyDriver>) {
|
||||
device.run().await;
|
||||
}
|
||||
|
||||
#[embassy_executor::task]
|
||||
async fn echo_task(mut class: CdcAcmClass<'static, MyDriver>) {
|
||||
loop {
|
||||
class.wait_connection().await;
|
||||
info!("Connected");
|
||||
let _ = echo(&mut class).await;
|
||||
info!("Disconnected");
|
||||
}
|
||||
}
|
||||
|
||||
#[embassy_executor::task]
|
||||
// async fn write_task(
|
||||
// mut class: CdcAcmClass<'static, MyDriver>,
|
||||
// mut imu: lsm6ds3tr::LSM6DS3TR<
|
||||
// I2cInterface<I2cDevice<'static, NoopRawMutex, Twim<'static, TWISPI0>>>,
|
||||
// >,
|
||||
// ) {
|
||||
// loop {
|
||||
// class.wait_connection().await;
|
||||
// info!("Connected");
|
||||
|
||||
// // Read accelerometer data from the IMU
|
||||
// let accel_data = imu.read_accel().await.unwrap();
|
||||
|
||||
// let mut data = String::<32>::new();
|
||||
// if write!(
|
||||
// data,
|
||||
// "Accel: x={}, y={}, z={}\r\n",
|
||||
// accel_data.x, accel_data.y, accel_data.z
|
||||
// )
|
||||
// .is_ok()
|
||||
// {
|
||||
// if let Err(e) = class.write_packet(data.as_bytes()).await {
|
||||
// info!("Failed to write to serial console: {:?}", e);
|
||||
// }
|
||||
// }
|
||||
|
||||
// // // Format the accelerometer data
|
||||
// // let message = format!(
|
||||
// // "Accel: x={}, y={}, z={}\r\n",
|
||||
// // accel_data.x, accel_data.y, accel_data.z
|
||||
// // );
|
||||
// // if let Err(e) = class.write_packet(message.as_bytes()).await {
|
||||
// // info!("Failed to write to serial console: {:?}", e);
|
||||
// // }
|
||||
|
||||
// // Add a delay of 1 second
|
||||
// Timer::after(Duration::from_secs(1)).await;
|
||||
|
||||
// info!("Disconnected");
|
||||
// }
|
||||
// }
|
||||
async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
|
||||
let mut count = 1;
|
||||
loop {
|
||||
class.wait_connection().await;
|
||||
info!("Connected");
|
||||
|
||||
let mut data = String::<32>::new();
|
||||
if write!(data, "Count: {}\r\n", count).is_ok() {
|
||||
if let Err(e) = class.write_packet(data.as_bytes()).await {
|
||||
info!("Failed to write to serial console: {:?}", e);
|
||||
}
|
||||
}
|
||||
count += 1;
|
||||
|
||||
// Add a delay of 1 second
|
||||
Timer::after(Duration::from_secs(1)).await;
|
||||
|
||||
info!("Disconnected");
|
||||
}
|
||||
}
|
||||
|
||||
#[embassy_executor::main]
|
||||
async fn main(_spawner: Spawner) {
|
||||
async fn main(spawner: Spawner) {
|
||||
let p = embassy_nrf::init(Default::default());
|
||||
|
||||
info!("Enabling ext hfosc...");
|
||||
@ -50,49 +137,30 @@ async fn main(_spawner: Spawner) {
|
||||
config.max_power = 100;
|
||||
config.max_packet_size_0 = 64;
|
||||
|
||||
static STATE: StaticCell<State> = StaticCell::new();
|
||||
let state = STATE.init(State::new());
|
||||
|
||||
// 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();
|
||||
|
||||
static CONFIG_DESC: StaticCell<[u8; 256]> = StaticCell::new();
|
||||
static BOS_DESC: StaticCell<[u8; 256]> = StaticCell::new();
|
||||
static MSOS_DESC: StaticCell<[u8; 128]> = StaticCell::new();
|
||||
static CONTROL_BUF: StaticCell<[u8; 128]> = StaticCell::new();
|
||||
let mut builder = Builder::new(
|
||||
driver,
|
||||
config,
|
||||
&mut config_descriptor,
|
||||
&mut bos_descriptor,
|
||||
&mut msos_descriptor,
|
||||
&mut control_buf,
|
||||
&mut CONFIG_DESC.init([0; 256])[..],
|
||||
&mut BOS_DESC.init([0; 256])[..],
|
||||
&mut MSOS_DESC.init([0; 128])[..],
|
||||
&mut CONTROL_BUF.init([0; 128])[..],
|
||||
);
|
||||
|
||||
// Create classes on the builder.
|
||||
let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
|
||||
let class = CdcAcmClass::new(&mut builder, state, 64);
|
||||
|
||||
// Build the builder.
|
||||
let mut usb = builder.build();
|
||||
let 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);
|
||||
unwrap!(spawner.spawn(usb_task(usb)));
|
||||
|
||||
let i2c_bus = {
|
||||
use embassy_nrf::{
|
||||
@ -114,13 +182,13 @@ async fn main(_spawner: Spawner) {
|
||||
let i2c = I2cDevice::new(i2c_bus);
|
||||
|
||||
let interface = I2cInterface::new(i2c);
|
||||
let imu = lsm6ds3tr::LSM6DS3TR::new(interface);
|
||||
let mut imu = lsm6ds3tr::LSM6DS3TR::new(interface);
|
||||
|
||||
// let mut serial_port = usbd_serial::SerialPort::new(&usb);
|
||||
// imu.init().await.unwrap();
|
||||
|
||||
loop {
|
||||
info!("Hello, world!");
|
||||
}
|
||||
// imu.read_accel().await.unwrap();
|
||||
|
||||
unwrap!(spawner.spawn(write_task(class)));
|
||||
}
|
||||
|
||||
struct Disconnected {}
|
||||
@ -134,9 +202,7 @@ impl From<EndpointError> for Disconnected {
|
||||
}
|
||||
}
|
||||
|
||||
async fn echo<'d, T: Instance + 'd, P: VbusDetect + 'd>(
|
||||
class: &mut CdcAcmClass<'d, Driver<'d, T, P>>,
|
||||
) -> Result<(), Disconnected> {
|
||||
async fn echo(class: &mut CdcAcmClass<'static, MyDriver>) -> Result<(), Disconnected> {
|
||||
let mut buf = [0; 64];
|
||||
loop {
|
||||
let n = class.read_packet(&mut buf).await?;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user