Merge pull request 'Switch to embassy' (#1) from switch-to-embassy into main
Reviewed-on: #1
This commit is contained in:
commit
f16f5c8347
@ -1,8 +1,15 @@
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
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rustflags = [
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"-C",
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"link-arg=-Tlink.x",
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"-C",
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"link-arg=-Tdefmt.x",
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"-C",
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"link-arg=--nmagic",
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]
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[build]
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target = "thumbv7em-none-eabihf"
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
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rustflags = [
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"-C", "link-arg=-Tlink.x",
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"-C", "link-arg=--nmagic",
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]
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[env]
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DEFMT_LOG = "debug"
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737
Cargo.lock
generated
737
Cargo.lock
generated
File diff suppressed because it is too large
Load Diff
140
Cargo.toml
140
Cargo.toml
@ -1,74 +1,112 @@
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[workspace]
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members = ["tflite_demo"]
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[workspace.features]
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default = ["ble-l2cap", "ble-gatt-server", "ble-gatt-client", "ble-sec"]
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# [workspace.features]
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# default = ["ble-l2cap", "ble-gatt-server", "ble-gatt-client", "ble-sec"]
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ble-l2cap = ["nrf-softdevice/ble-l2cap"]
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ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
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ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
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ble-sec = ["nrf-softdevice/ble-sec"]
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# ble-l2cap = ["nrf-softdevice/ble-l2cap"]
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# ble-gatt-server = ["nrf-softdevice/ble-gatt-server"]
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# ble-gatt-client = ["nrf-softdevice/ble-gatt-client"]
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# ble-sec = ["nrf-softdevice/ble-sec"]
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nrf52840 = [
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"embassy-nrf/nrf52840",
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"nrf-softdevice/nrf52840",
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"nrf-softdevice/s140",
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"dep:nrf-softdevice-s140",
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]
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# nrf52840 = [
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# "embassy-nrf/nrf52840",
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# "nrf-softdevice/nrf52840",
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# "nrf-softdevice/s140",
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# "dep:nrf-softdevice-s140",
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# ]
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[workspace.dependencies]
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cortex-m = { version = "0.7.7", features = [
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"critical-section-single-core",
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"inline-asm",
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] }
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cortex-m-rt = "0.7.2"
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nrf52840-hal = "0.16.0"
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usb-device = "0.2.7"
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usbd-serial = "0.1.0"
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cortex-m-rt = "0.7.5"
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defmt = "0.3.10"
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defmt-rtt = "0.4.1"
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defmt-serial = "0.10.0"
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embassy-executor = { version = "0.7.0", features = [
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"arch-cortex-m",
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"defmt",
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"executor-thread",
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"executor-interrupt",
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] }
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embassy-futures = { version = "0.1.1", features = ["defmt"] }
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embassy-nrf = { version = "0.3.1", features = [
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"defmt",
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"gpiote",
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"nrf52840",
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"time",
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"time-driver-rtc1",
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"unstable-pac",
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] }
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embassy-sync = { version = "0.6.1", features = ["defmt"] }
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embassy-time = { version = "0.4.0", features = [
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"defmt",
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"defmt-timestamp-uptime",
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] }
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embassy-embedded-hal = "0.3.0"
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embassy-usb = "0.2.0"
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embassy-usb-logger = "0.2.0"
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panic-probe = { version = "0.3.2", features = ["print-defmt"] }
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# cortex-m = { version = "0.7.7", features = [
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# "critical-section-single-core",
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# "inline-asm",
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# ] }
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# cortex-m-rt = "0.7.5"
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# nrf52840-hal = "0.16.0"
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# usb-device = "0.3.2"
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# usbd-serial = "0.2.2"
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microflow = { path = "../microflow-rs" }
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# microflow = "0.1.3"
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# # microflow = "0.1.3"
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nalgebra = { version = "0.33.2", default-features = false, features = [
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"macros",
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] }
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libm = "0.2"
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panic-halt = "1.0.0"
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panic-probe = { version = "0.3.1", features = ["print-defmt"] }
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# panic-halt = "1.0.0"
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# panic-probe = { version = "0.3.2", features = ["print-defmt"] }
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heapless = "0.8.0"
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lsm6ds3tr = { path = "../lsm6ds3tr-rs" }
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embassy-sync = { version = "0.5.0" }
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embassy-executor = { version = "0.5.0", features = [
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"arch-cortex-m",
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"executor-thread",
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"executor-interrupt",
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"defmt",
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"integrated-timers",
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] }
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embassy-time = { version = "0.3.0", features = [
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"defmt",
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"defmt-timestamp-uptime",
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] }
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embassy-nrf = { version = "0.1.0", features = [
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"defmt",
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"nrf52840",
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"time-driver-rtc1",
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"gpiote",
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"time",
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] }
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defmt = "0.3.0"
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defmt-rtt = "0.4.0"
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embedded-storage = "0.3.0"
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# lsm6ds3tr = { path = "../lsm6ds3tr-rs" }
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# embassy-sync = { version = "0.5.0" }
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# # embassy-embedded-hal = "0.3.0"
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# embassy-executor = { version = "0.5.0", features = [
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# "arch-cortex-m",
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# "executor-thread",
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# "executor-interrupt",
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# "defmt",
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# "integrated-timers",
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# ] }
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# embassy-time = { version = "0.3.0", features = [
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# "defmt",
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# "defmt-timestamp-uptime",
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# ] }
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# embassy-nrf = { version = "0.1.0", features = [
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# "defmt",
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# "nrf52840",
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# "time-driver-rtc1",
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# "gpiote",
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# "time",
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# ] }
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# defmt = "0.3.10"
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# defmt-rtt = "0.4.1"
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# embedded-storage = "0.3.0"
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embedded-hal = "1.0.0"
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embedded-hal-async = { version = "1.0.0" }
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embedded-alloc = "0.6.0"
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nrf-softdevice = { version = "0.1.0", features = [
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"defmt",
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"ble-peripheral",
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"ble-central",
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"critical-section-impl",
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"nrf52840",
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"s140",
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] }
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nrf-softdevice-s140 = { version = "0.1.1" }
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# embedded-hal-bus = { version = "0.2.0", features = ["async"] }
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# nrf-softdevice = { version = "0.1.0", features = [
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# "defmt",
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# "ble-peripheral",
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# "ble-central",
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# "critical-section-impl",
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# "nrf52840",
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# "s140",
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# ] }
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# nrf-softdevice-s140 = { version = "0.1.1" }
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fixed = "1.24.0"
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atomic-pool = "1.0.1"
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static_cell = "2.0.0"
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assign-resources = "0.4.1"
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@ -6,27 +6,44 @@ edition = "2021"
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# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
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[dependencies]
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cortex-m.workspace = true
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cortex-m-rt.workspace = true
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nrf52840-hal.workspace = true
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usb-device.workspace = true
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usbd-serial.workspace = true
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microflow.workspace = true
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libm.workspace = true
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nalgebra.workspace = true
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heapless.workspace = true
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lsm6ds3tr.workspace = true
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defmt.workspace = true
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defmt-rtt.workspace = true
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embassy-nrf.workspace = true
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# embassy-time.workspace = true
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embassy-executor.workspace = true
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embassy-sync.workspace = true
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embassy-embedded-hal.workspace = true
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embassy-futures.workspace = true
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embassy-usb.workspace = true
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embassy-usb-logger.workspace = true
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embassy-time.workspace = true
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embedded-alloc.workspace = true
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embedded-hal.workspace = true
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embedded-hal-async.workspace = true
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nrf-softdevice.workspace = true
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nrf-softdevice-s140.workspace = true
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embassy-nrf.workspace = true
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embassy-time.workspace = true
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embassy-executor.workspace = true
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embassy-sync.workspace = true
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cortex-m.workspace = true
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cortex-m-rt.workspace = true
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defmt.workspace = true
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defmt-rtt.workspace = true
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# nrf52840-hal.workspace = true
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# usb-device.workspace = true
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# usbd-serial.workspace = true
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microflow.workspace = true
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libm.workspace = true
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nalgebra.workspace = true
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# heapless.workspace = true
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# lsm6ds3tr.workspace = true
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# nrf-softdevice.workspace = true
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# nrf-softdevice-s140.workspace = true
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fixed.workspace = true
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atomic-pool.workspace = true
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heapless.workspace = true
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panic-probe.workspace = true
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defmt-serial.workspace = true
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static_cell.workspace = true
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assign-resources.workspace = true
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# embassy-embedded-hal.workspace = true
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@ -1,4 +0,0 @@
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#![macro_use]
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use defmt_rtt as _; // global logger
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use embassy_nrf as _; // time driver
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@ -1,16 +0,0 @@
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// Hypothetical I2C implementation (replace with your actual hardware I2C)
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// struct MyI2c;
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|
||||
// impl I2c for MyI2c {
|
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// // type Error = I2cError;
|
||||
|
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// fn read(&mut self, _address: u8, _buffer: &mut [u8]) -> Result<(), Self::Error> {
|
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// // Simulate reading data
|
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// Ok(())
|
||||
// }
|
||||
|
||||
// fn write(&mut self, _address: u8, _bytes: &[u8]) -> Result<(), Self::Error> {
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// // Simulate writing data
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// Ok(())
|
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// }
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// }
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@ -277,264 +277,3 @@ impl<const BITS_NUM: u8, const BITS_POS: u8> From<bool> for RegisterBits<BITS_NU
|
||||
Self::from(value as u8)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
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||||
use super::{RegisterBits, RegisterValue};
|
||||
|
||||
#[test]
|
||||
fn new_1_0() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 0;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_1_1() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 1;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_1_2() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 2;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_2_0() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 0;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_2_1() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 1;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_2_2() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 2;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn shifted_1_0() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 0;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn shifted_1_1() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 1;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b10);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn shifted_1_2() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 2;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b100);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn shifted_2_1() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 1;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b110);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn shifted_2_2() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 2;
|
||||
let rb = RegisterBits::<BITS, POS>::new(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b1100);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_from_reg_1_0() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 0;
|
||||
let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_from_reg_1_1() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 1;
|
||||
let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b10);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_from_reg_2_0() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 0;
|
||||
let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_from_reg_2_1() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 1;
|
||||
let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b110);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn new_from_reg_2_2() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 2;
|
||||
let rb = RegisterBits::<BITS, POS>::from_reg(0b11111111);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b1100);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn from_reg_1_0() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 0;
|
||||
let mut rb = RegisterBits::<BITS, POS>::default();
|
||||
let reg: u8 = 0b11111111;
|
||||
rb.set_from_reg(reg);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn from_reg_1_1() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 1;
|
||||
let mut rb = RegisterBits::<BITS, POS>::default();
|
||||
let reg: u8 = 0b11111111;
|
||||
rb.set_from_reg(reg);
|
||||
assert_eq!(rb.value, 0b1);
|
||||
assert_eq!(rb.shifted(), 0b10);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn from_reg_2_0() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 0;
|
||||
let mut rb = RegisterBits::<BITS, POS>::default();
|
||||
let reg: u8 = 0b11111111;
|
||||
rb.set_from_reg(reg);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn from_reg_2_1() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 1;
|
||||
let mut rb = RegisterBits::<BITS, POS>::default();
|
||||
let reg: u8 = 0b11111111;
|
||||
rb.set_from_reg(reg);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b110);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn from_reg_2_2() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 2;
|
||||
let mut rb = RegisterBits::<BITS, POS>::default();
|
||||
let reg: u8 = 0b11111111;
|
||||
rb.set_from_reg(reg);
|
||||
assert_eq!(rb.value, 0b11);
|
||||
assert_eq!(rb.shifted(), 0b1100);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_mask_1_0() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 0;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_mask(), 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_mask_2_0() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 0;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_mask(), 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_mask_3_0() {
|
||||
const BITS: u8 = 3;
|
||||
const POS: u8 = 0;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_mask(), 0b111);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_shifted_mask_1_0() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 0;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_shifted_mask_1_1() {
|
||||
const BITS: u8 = 1;
|
||||
const POS: u8 = 1;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b10);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_shifted_mask_2_0() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 0;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b11);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_shifted_mask_2_1() {
|
||||
const BITS: u8 = 2;
|
||||
const POS: u8 = 1;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b110);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_shifted_mask_3_0() {
|
||||
const BITS: u8 = 3;
|
||||
const POS: u8 = 0;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b111);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bit_shifted_mask_3_1() {
|
||||
const BITS: u8 = 3;
|
||||
const POS: u8 = 1;
|
||||
assert_eq!(RegisterBits::<BITS, POS>::bit_shifted_mask(), 0b1110);
|
||||
}
|
||||
}
|
||||
@ -1,265 +1,213 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
mod common;
|
||||
mod i2c;
|
||||
mod lsm6ds;
|
||||
mod lsm6ds3tr;
|
||||
|
||||
use core::fmt::Write;
|
||||
use defmt::{info, panic, unwrap};
|
||||
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
|
||||
use embassy_executor::Spawner;
|
||||
use embassy_nrf::peripherals::TWISPI0;
|
||||
use embassy_nrf::twim::Twim;
|
||||
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, UsbDevice};
|
||||
use embedded_alloc::LlffHeap;
|
||||
use libm::sinf;
|
||||
use lsm6ds::Lsm6ds33;
|
||||
// use lsm6ds3tr::{
|
||||
// interface::{I2cInterface, SpiInterface},
|
||||
// LsmSettings, LSM6DS3TR,
|
||||
// };
|
||||
// use lsm6ds3tr::{interface::SpiInterface, AccelScale, LsmSettings, LSM6DS3TR};
|
||||
use microflow::model;
|
||||
use nalgebra::matrix;
|
||||
use nrf52840_hal::{self as hal, twim, Spim, Twim};
|
||||
// use nrf_softdevice::{
|
||||
// ble::{EncryptionInfo, IdentityKey, MasterId, Uuid},
|
||||
// Softdevice,
|
||||
// };
|
||||
use usb_device::class_prelude::UsbBusAllocator;
|
||||
|
||||
use nrf52840_hal::{
|
||||
gpio::Level,
|
||||
prelude::{OutputPin, PinState, _embedded_hal_timer_CountDown},
|
||||
uarte::{Baudrate, Parity, Pins, Uarte},
|
||||
Rtc,
|
||||
};
|
||||
use lsm6ds3tr::interface::i2c::I2cInterface;
|
||||
// use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
|
||||
use static_cell::StaticCell;
|
||||
|
||||
use heapless::String;
|
||||
|
||||
// const BATTERY_SERVICE: Uuid = Uuid::new_16(0x180f);
|
||||
// const BATTERY_LEVEL: Uuid = Uuid::new_16(0x2a19);
|
||||
use {defmt_serial as _, panic_probe as _};
|
||||
|
||||
// const LED_SERVICE_UUID: Uuid = Uuid::new_16(0x112f);
|
||||
// const LED_CONTROL_CHAR_UUID: Uuid = Uuid::new_16(0x321f);
|
||||
static I2C_BUS: StaticCell<Mutex<NoopRawMutex, Twim<TWISPI0>>> = StaticCell::new();
|
||||
|
||||
const RTC_FREQ_MHZ: f32 = 0.032_768;
|
||||
bind_interrupts!(struct Irqs {
|
||||
USBD => usb::InterruptHandler<peripherals::USBD>;
|
||||
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 softdevice_task(sd: &'static Softdevice) {
|
||||
// sd.run().await;
|
||||
// }
|
||||
|
||||
// #[derive(Debug, Clone, Copy)]
|
||||
// struct Peer {
|
||||
// master_id: MasterId,
|
||||
// key: EncryptionInfo,
|
||||
// peer_id: IdentityKey,
|
||||
// }
|
||||
|
||||
#[panic_handler] // panicking behavior
|
||||
fn panic(_: &core::panic::PanicInfo) -> ! {
|
||||
reset_into_dfu();
|
||||
#[embassy_executor::task]
|
||||
async fn usb_task(mut device: UsbDevice<'static, MyDriver>) {
|
||||
device.run().await;
|
||||
}
|
||||
|
||||
#[model("tflite_demo/models/sine.tflite")]
|
||||
struct Sine;
|
||||
|
||||
#[model("tflite_demo/models/speech.tflite")]
|
||||
struct Speech;
|
||||
|
||||
/// Resets the device into Device Firmware Update mode (DFU).
|
||||
fn reset_into_dfu() -> ! {
|
||||
// Via https://devzone.nordicsemi.com/f/nordic-q-a/50839/start-dfu-mode-or-open_bootloader-from-application-by-function-call
|
||||
unsafe {
|
||||
(*hal::pac::POWER::PTR).gpregret.write(|w| w.bits(0xB1));
|
||||
};
|
||||
|
||||
hal::pac::SCB::sys_reset()
|
||||
}
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
enum LightState {
|
||||
Red = 0,
|
||||
Green = 1,
|
||||
Blue = 2,
|
||||
}
|
||||
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
{
|
||||
use core::mem::MaybeUninit;
|
||||
const HEAP_SIZE: usize = 1024;
|
||||
static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
|
||||
unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
|
||||
}
|
||||
|
||||
let p = hal::pac::Peripherals::take().unwrap();
|
||||
let port0 = hal::gpio::p0::Parts::new(p.P0);
|
||||
let mut led_red = port0.p0_26.into_push_pull_output(Level::Low);
|
||||
let mut led_green = port0.p0_30.into_push_pull_output(Level::Low);
|
||||
let mut led_blue = port0.p0_06.into_push_pull_output(Level::Low);
|
||||
|
||||
let clocks = hal::clocks::Clocks::new(p.CLOCK);
|
||||
let clocks = clocks.enable_ext_hfosc();
|
||||
let usb_peripheral = hal::usbd::UsbPeripheral::new(p.USBD, &clocks);
|
||||
let usb_bus = UsbBusAllocator::new(hal::usbd::Usbd::new(usb_peripheral));
|
||||
let mut serial_port = usbd_serial::SerialPort::new(&usb_bus);
|
||||
|
||||
// let spiclk = port0.p0_24.into_push_pull_output(Level::Low).degrade();
|
||||
// let spimosi = port0.p0_23.into_push_pull_output(Level::Low).degrade();
|
||||
// let spimiso = port0.p0_22.into_floating_input().degrade();
|
||||
|
||||
// let pins = nrf52840_hal::spim::Pins {
|
||||
// sck: Some(spiclk),
|
||||
// miso: Some(spimiso),
|
||||
// mosi: Some(spimosi),
|
||||
// };
|
||||
|
||||
// let spim = Spim::new(
|
||||
// p.SPIM2,
|
||||
// pins,
|
||||
// nrf52840_hal::spim::Frequency::K125,
|
||||
// nrf52840_hal::spim::MODE_0,
|
||||
// 0,
|
||||
// );
|
||||
|
||||
// let spi_interface = SpiInterface::new(spim);
|
||||
|
||||
// let settings = LsmSettings::basic();
|
||||
// let mut imu = LSM6DS3TR::new(spi_interface);
|
||||
// imu.init().expect("Couldn't initialize the LSM6 sensor!");
|
||||
|
||||
// let scl = port0.p0_27.into_floating_input().degrade();
|
||||
// let sda = port0.p0_07.into_floating_input().degrade();
|
||||
|
||||
// let pins = twim::Pins { scl: scl, sda: sda };
|
||||
|
||||
// let i2c = Twim::new(p.TWIM0, pins, twim::Frequency::K100);
|
||||
|
||||
// let i2c_interface = I2cInterface::new(i2c);
|
||||
|
||||
// let mut imu = LSM6DS3TR::new(I2cInterface::new(""));
|
||||
|
||||
// let mut imu = Lsm6ds33::new(i2c, addr);
|
||||
|
||||
let rtc = Rtc::new(p.RTC0, 0).unwrap();
|
||||
rtc.enable_counter();
|
||||
|
||||
let mut usb_device = usb_device::device::UsbDeviceBuilder::new(
|
||||
&usb_bus,
|
||||
usb_device::device::UsbVidPid(0x16c0, 0x27dd),
|
||||
)
|
||||
.manufacturer("HSRW")
|
||||
.product("HSRW Pet Tracker nRF52840")
|
||||
.serial_number("pet1")
|
||||
.device_class(usbd_serial::USB_CLASS_CDC)
|
||||
.max_packet_size_0(64) // makes control transfers 8x faster says https://github.com/nrf-rs/nrf-hal/blob/master/examples/usb/src/bin/serial.rs
|
||||
.build();
|
||||
|
||||
let x = 0.5;
|
||||
let start = rtc.get_counter();
|
||||
let y_predicted = Sine::predict(matrix![x])[0];
|
||||
let end = rtc.get_counter();
|
||||
let y_exact = sinf(x);
|
||||
|
||||
// TIMER0 is reserved by Softdevice
|
||||
// https://devzone.nordicsemi.com/f/nordic-q-a/1160/soft-device-and-timers---how-do-they-work-together
|
||||
let mut timer = hal::Timer::new(p.TIMER1).into_periodic();
|
||||
timer.start(hal::Timer::<hal::pac::TIMER0>::TICKS_PER_SECOND);
|
||||
|
||||
let mut light = LightState::Red;
|
||||
|
||||
#[embassy_executor::task]
|
||||
async fn echo_task(mut class: CdcAcmClass<'static, MyDriver>) {
|
||||
loop {
|
||||
light = match light {
|
||||
LightState::Red => LightState::Green,
|
||||
LightState::Green => LightState::Blue,
|
||||
LightState::Blue => LightState::Red,
|
||||
};
|
||||
match light {
|
||||
LightState::Red => {
|
||||
led_red.set_state(PinState::Low).unwrap();
|
||||
led_green.set_state(PinState::High).unwrap();
|
||||
led_blue.set_state(PinState::High).unwrap();
|
||||
}
|
||||
LightState::Green => {
|
||||
led_red.set_state(PinState::High).unwrap();
|
||||
led_green.set_state(PinState::Low).unwrap();
|
||||
led_blue.set_state(PinState::High).unwrap();
|
||||
}
|
||||
LightState::Blue => {
|
||||
led_red.set_state(PinState::High).unwrap();
|
||||
led_green.set_state(PinState::High).unwrap();
|
||||
led_blue.set_state(PinState::Low).unwrap();
|
||||
//reset_into_dfu();
|
||||
}
|
||||
class.wait_connection().await;
|
||||
info!("Connected");
|
||||
let _ = echo(&mut class).await;
|
||||
info!("Disconnected");
|
||||
}
|
||||
}
|
||||
|
||||
// if !usb_dev.poll(&mut [&mut serial]) {
|
||||
// continue;
|
||||
// }
|
||||
#[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");
|
||||
|
||||
let mut buf = [0u8; 64];
|
||||
// // Read accelerometer data from the IMU
|
||||
// let accel_data = imu.read_accel().await.unwrap();
|
||||
|
||||
match serial_port.read(&mut buf) {
|
||||
Ok(count) if count > 0 => {
|
||||
// Check if received data equals to 'reset'
|
||||
for i in 0..count - 4 {
|
||||
if buf[i] == b'r'
|
||||
&& buf[i + 1] == b'e'
|
||||
&& buf[i + 2] == b's'
|
||||
&& buf[i + 3] == b'e'
|
||||
&& buf[i + 4] == b't'
|
||||
{
|
||||
reset_into_dfu();
|
||||
}
|
||||
}
|
||||
// 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);
|
||||
// }
|
||||
// }
|
||||
|
||||
if buf[..12].iter().all(|&x| x == 0) {
|
||||
reset_into_dfu();
|
||||
}
|
||||
// // // 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);
|
||||
// // }
|
||||
|
||||
// Echo back in upper case
|
||||
for c in buf[0..count].iter_mut() {
|
||||
if 0x61 <= *c && *c <= 0x7a {
|
||||
*c &= !0x20;
|
||||
}
|
||||
}
|
||||
// // Add a delay of 1 second
|
||||
// Timer::after(Duration::from_secs(1)).await;
|
||||
|
||||
let mut write_offset = 0;
|
||||
while write_offset < count {
|
||||
match serial_port.write(&buf[write_offset..count]) {
|
||||
Ok(len) if len > 0 => {
|
||||
write_offset += len;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
}
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
// info!("Disconnected");
|
||||
// }
|
||||
// }
|
||||
async fn write_task(mut class: CdcAcmClass<'static, MyDriver>) {
|
||||
let mut count = 1;
|
||||
loop {
|
||||
class.wait_connection().await;
|
||||
info!("Connected");
|
||||
|
||||
let text = y_predicted.to_bits();
|
||||
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;
|
||||
|
||||
let text2 = y_exact.to_bits();
|
||||
let mut data2 = String::<32>::new();
|
||||
// Add a delay of 1 second
|
||||
Timer::after(Duration::from_secs(1)).await;
|
||||
|
||||
let _ = serial_port.write("Hello World\n".as_bytes());
|
||||
info!("Disconnected");
|
||||
}
|
||||
}
|
||||
|
||||
let _ = serial_port.write("Predicted Y: ".as_bytes());
|
||||
let _ = write!(data, "data:{text}");
|
||||
let _ = serial_port.write(data.as_bytes());
|
||||
let _ = serial_port.write("\n".as_bytes());
|
||||
#[embassy_executor::main]
|
||||
async fn main(spawner: Spawner) {
|
||||
let p = embassy_nrf::init(Default::default());
|
||||
|
||||
let _ = serial_port.write("Exact Y: ".as_bytes());
|
||||
let _ = write!(data2, "data:{text2}");
|
||||
let _ = serial_port.write(data2.as_bytes());
|
||||
let _ = serial_port.write("\n".as_bytes());
|
||||
info!("Enabling ext hfosc...");
|
||||
pac::CLOCK.tasks_hfclkstart().write_value(1);
|
||||
while pac::CLOCK.events_hfclkstarted().read() != 1 {}
|
||||
|
||||
while timer.wait().is_err() {
|
||||
// TODO: sleep.
|
||||
// Spec says poll needs to be called at least every 10ms.
|
||||
usb_device.poll(&mut [&mut serial_port]);
|
||||
continue;
|
||||
// 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;
|
||||
|
||||
static STATE: StaticCell<State> = StaticCell::new();
|
||||
let state = STATE.init(State::new());
|
||||
|
||||
// Create embassy-usb DeviceBuilder using the driver and config.
|
||||
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_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 class = CdcAcmClass::new(&mut builder, state, 64);
|
||||
|
||||
// Build the builder.
|
||||
let usb = builder.build();
|
||||
|
||||
unwrap!(spawner.spawn(usb_task(usb)));
|
||||
|
||||
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 mut imu = lsm6ds3tr::LSM6DS3TR::new(interface);
|
||||
|
||||
// imu.init().await.unwrap();
|
||||
|
||||
// imu.read_accel().await.unwrap();
|
||||
|
||||
unwrap!(spawner.spawn(write_task(class)));
|
||||
}
|
||||
|
||||
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(class: &mut CdcAcmClass<'static, MyDriver>) -> 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?;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user