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Moved driver to own module and finished it.
Added leds task. Started on measure task.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| use core::pin::pin; | ||
|
|
||
| use embassy_futures::select::{select3, Either3}; | ||
| use embassy_stm32::{ | ||
| peripherals::TIM1, | ||
| time::Hertz, | ||
| timer::{complementary_pwm::ComplementaryPwm, Channel}, | ||
| }; | ||
| use futures::StreamExt; | ||
|
|
||
| use crate::modbus; | ||
|
|
||
| #[embassy_executor::task] | ||
| pub async fn driver(mut driver_pwm: ComplementaryPwm<'static, TIM1>) -> ! { | ||
| let mut enable_listener = pin!(modbus::ENABLE.get_listener().await); | ||
| let mut frequency_listener = pin!(modbus::DRIVE_FREQUENCY.get_listener().await); | ||
| let mut dutycycle_listener = pin!(modbus::COIL_POWER_DUTYCYCLE.get_listener().await); | ||
|
|
||
| // We want the timer to be able to trigger the ADC. | ||
| // For that we set the MMS2 to `0101: Compare - OC2REFC signal is used as trigger output (TRGO2)` | ||
| // The adc can then trigger on the TRGO2 signal | ||
| unsafe { &*stm32g0::stm32g030::TIM1::PTR } | ||
| .cr2 | ||
| .modify(|_, w| w.mms2().variant(0b0101)); | ||
|
|
||
| driver_pwm.set_dead_time(0); | ||
|
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| modbus::ENABLE.write(false).await; | ||
| modbus::DRIVE_FREQUENCY.write(40_000).await; | ||
| modbus::COIL_POWER_DUTYCYCLE.write(1.0).await; | ||
|
|
||
| loop { | ||
| let result = select3( | ||
| enable_listener.next(), | ||
| frequency_listener.next(), | ||
| dutycycle_listener.next(), | ||
| ) | ||
| .await; | ||
|
|
||
| match result { | ||
| Either3::First(Some(enable)) => { | ||
| if enable { | ||
| driver_pwm.enable(Channel::Ch2); | ||
| } else { | ||
| driver_pwm.disable(Channel::Ch2); | ||
| } | ||
|
|
||
| modbus::LED_GREEN.write(enable).await; | ||
| } | ||
| Either3::Second(Some(frequency)) => { | ||
| driver_pwm.set_freq(Hertz(frequency)); | ||
| let dutycycle = modbus::COIL_POWER_DUTYCYCLE.read().await; | ||
| driver_pwm.set_duty( | ||
| Channel::Ch2, | ||
| (driver_pwm.get_max_duty() as f32 * dutycycle.clamp(0.0, 1.0)) as u16, | ||
| ); | ||
| } | ||
| Either3::Third(Some(dutycycle)) => { | ||
| driver_pwm.set_duty( | ||
| Channel::Ch2, | ||
| (driver_pwm.get_max_duty() as f32 * dutycycle.clamp(0.0, 1.0)) as u16, | ||
| ); | ||
| } | ||
| _ => defmt::unreachable!(), | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| use core::pin::pin; | ||
|
|
||
| use crate::modbus; | ||
| use embassy_futures::select::{select, Either}; | ||
| use embassy_stm32::{ | ||
| gpio::OutputOpenDrain, | ||
| peripherals::{PA1, PA2}, | ||
| }; | ||
| use futures::StreamExt; | ||
|
|
||
| #[embassy_executor::task] | ||
| pub async fn leds( | ||
| mut led_g: OutputOpenDrain<'static, PA2>, | ||
| mut led_r: OutputOpenDrain<'static, PA1>, | ||
| ) -> ! { | ||
| let mut led_g_listener = pin!(modbus::LED_GREEN.get_listener().await); | ||
| let mut led_r_listener = pin!(modbus::LED_RED.get_listener().await); | ||
|
|
||
| modbus::LED_GREEN.write(false).await; | ||
| modbus::LED_RED.write(false).await; | ||
|
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| loop { | ||
| let result = select(led_g_listener.next(), led_r_listener.next()).await; | ||
|
|
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| match result { | ||
| Either::First(Some(value)) => led_g.set_level(value.into()), | ||
| Either::Second(Some(value)) => led_r.set_level(value.into()), | ||
| _ => defmt::unreachable!(), | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| use embassy_stm32::{dma::TransferOptions, pac::ADC1, peripherals}; | ||
| use embassy_time::Duration; | ||
|
|
||
| use crate::modbus; | ||
|
|
||
| #[embassy_executor::task] | ||
| pub async fn measure( | ||
| _measure_adc: peripherals::ADC1, | ||
| _measure_pin: peripherals::PA0, | ||
| mut measure_dma: peripherals::DMA1_CH3, | ||
| ) -> ! { | ||
| // What we need from the ADC is not implemented in embassy, so we'll have to control the registers ourselves. | ||
| // We take the peripherals nonetheless so we know we've got exclusive access | ||
|
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| modbus::COIL_MEASURE_FREQUENCY.write(10).await; | ||
|
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| let mut adc_sample_buffer = [0u16; 64]; | ||
|
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| // TODO: Configure the ADC and the pin | ||
|
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| loop { | ||
| embassy_time::Timer::after(Duration::from_hz( | ||
| modbus::COIL_MEASURE_FREQUENCY.read().await.clamp(1, 1000) as u64, | ||
| )) | ||
| .await; | ||
|
|
||
| if !modbus::ENABLE.read().await { | ||
| continue; | ||
| } | ||
|
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| // TODO: Make the ADC start on the next TRGO2 (either rising edge or falling edge, needs figuring out) | ||
|
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| let dma_transfer = unsafe { | ||
| embassy_stm32::dma::Transfer::new_read::<u16>( | ||
| &mut measure_dma, | ||
| 5, // ADC request | ||
| ADC1.dr().as_ptr().cast(), // The result register of the adc | ||
| &mut adc_sample_buffer, | ||
| TransferOptions::default(), | ||
| ) | ||
| }; | ||
|
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| dma_transfer.await; | ||
|
|
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| // TODO: Do ADC cleanup | ||
| // TODO: Take the samples and do the calculations | ||
| } | ||
| } |
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