254 lines
10 KiB
Rust
254 lines
10 KiB
Rust
#![no_std]
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#![no_main]
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#![deny(
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clippy::mem_forget,
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reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
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holding buffers for the duration of a data transfer."
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)]
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use core::{num::{self, Wrapping}, ptr::addr_of_mut};
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use alloc::{string::String, sync::Arc};
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use embassy_executor::Spawner;
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use embassy_time::{Instant, Timer};
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use esp_hal::{gpio::{Output, OutputConfig, Pin}, time::Rate, xtensa_lx::debug_break};
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use esp_hal::{
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clock::CpuClock, system::{AppCoreGuard, CpuControl, Stack}, timer::{systimer::SystemTimer, timg::{TimerGroup, Wdt}}
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};
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use embassy_sync::{
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pubsub::PubSubChannel,
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blocking_mutex::raw::NoopRawMutex
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};
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use static_cell::ConstStaticCell;
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use log::*;
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use renderbug_embassy::{events::Prediction, graphics::display::DisplayControls, logging::RenderbugLogger, tasks::{oled::{OledUI, OledUiSurfacePool, oled_ui}, safetyui::{SafetyUi, safety_ui_main}, ui::UiSurfacePool}};
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use renderbug_embassy::events::Measurement;
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use static_cell::StaticCell;
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use esp_backtrace as _;
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use esp_rtos::embassy::{Executor, InterruptExecutor};
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use esp_hal::interrupt::software::SoftwareInterruptControl;
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use renderbug_embassy::tasks::{
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motion::motion_task,
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ui::{Ui, ui_main}
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};
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use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pubsub::DynSubscriber};
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use embassy_sync::channel::Channel;
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extern crate alloc;
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// This creates a default app-descriptor required by the esp-idf bootloader.
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// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
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esp_bootloader_esp_idf::esp_app_desc!();
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#[cfg(feature="radio")]
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static WIFI_INIT: StaticCell<esp_radio::Controller<'static>> = StaticCell::new();
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#[esp_rtos::main]
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async fn main(spawner: Spawner) {
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esp_alloc::heap_allocator!(size: 128 * 1024);
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RenderbugLogger::init_logger();
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let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
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let peripherals = esp_hal::init(config);
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let sys_timer = SystemTimer::new(peripherals.SYSTIMER);
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esp_rtos::start(sys_timer.alarm0);
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info!("Embassy initialized!");
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static MOTION_BUS: StaticCell<Channel<CriticalSectionRawMutex,Measurement,5> > = StaticCell::new();
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let motion_bus = MOTION_BUS.init_with(|| { Channel::new() });
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info!("Setting up rendering pipeline");
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let mut surfaces = UiSurfacePool::default();
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let ui = Ui::new(&mut surfaces);
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let display_controls = DisplayControls::default();
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let oled_controls = DisplayControls::default();
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let mut oled_surfaces = OledUiSurfacePool::default();
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let oled_uniforms = Default::default();
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let oledui = OledUI::new(&mut oled_surfaces, oled_controls.clone(), Arc::clone(&oled_uniforms));
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let mut safety_surfaces = UiSurfacePool::default();
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let safety_ui = SafetyUi::new(&mut safety_surfaces, display_controls.clone());
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let timer0 = TimerGroup::new(peripherals.TIMG0);
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let mut wdt = timer0.wdt;
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wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(5));
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wdt.enable();
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// Spawn the rendering task as soon as possible so it can start pushing pixels
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spawner.must_spawn(renderbug_bike::tasks::render::render(peripherals.SPI2.degrade(), peripherals.DMA_CH2.degrade(), peripherals.GPIO5.degrade(), surfaces, safety_surfaces, display_controls, wdt));
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#[cfg(feature="motion")]
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{
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use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
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use esp_hal::{i2c::master::{Config, I2c}, Async};
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use embassy_sync::{blocking_mutex::raw::NoopRawMutex, mutex::Mutex};
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static I2C_BUS: StaticCell<Mutex<NoopRawMutex, I2c<'static, Async>>> = StaticCell::new();
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info!("Launching i2c sensor tasks");
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let sda = peripherals.GPIO4;
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let scl = peripherals.GPIO3;
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let i2c = I2c::new(peripherals.I2C1, Config::default()).unwrap().with_scl(scl).with_sda(sda).into_async();
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let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
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#[cfg(feature="mpu")]
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spawner.must_spawn(renderbug_embassy::tasks::mpu::mpu_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
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#[cfg(feature="gps")]
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spawner.must_spawn(renderbug_embassy::tasks::gps::gps_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
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}
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#[cfg(feature="oled")]
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{
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use esp_hal::i2c::master::{Config, I2c};
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use renderbug_embassy::graphics::ssd1306::SsdOutput;
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let rst = Output::new(peripherals.GPIO21, esp_hal::gpio::Level::Low, OutputConfig::default());
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let i2c = I2c::new(
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peripherals.I2C0,
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Config::default().with_frequency(Rate::from_khz(400))
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).unwrap().with_scl(peripherals.GPIO18).with_sda(peripherals.GPIO17).into_async();
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let output = SsdOutput::new(i2c, rst, oled_controls).await;
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spawner.must_spawn(renderbug_embassy::tasks::oled_render::oled_render(output, oled_surfaces, oled_uniforms));
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}
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#[cfg(feature="simulation")]
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{
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use esp_storage::FlashStorage;
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use renderbug_embassy::tasks::simulation::{SharedFlash, SimDataTable};
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let mut storage = SharedFlash::new(FlashStorage::new());
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let mut buf = [8; 1024];
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let partitions = esp_bootloader_esp_idf::partitions::read_partition_table(&mut storage, &mut buf).unwrap();
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for sim_data in SimDataTable::open(storage, partitions).expect("Could not find sim data!") {
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let srcid = sim_data.srcid();
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info!("Found simulation data for {srcid:?}");
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if spawner.spawn(renderbug_embassy::tasks::simulation::simulation_task(sim_data, motion_bus.dyn_sender())).is_err() {
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error!("Unable to spawn simulation task for {srcid:?}! Increase the task pool size.");
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}
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}
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}
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#[cfg(feature="radio")]
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let (wifi, network_device, ble) = {
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info!("Configuring wifi");
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esp_radio::wifi_set_log_verbose();
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let wifi_init = WIFI_INIT.init_with(|| {esp_radio::init().expect("Failed to initialize radio controller")});
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let ble = esp_radio::ble::controller::BleConnector::new(wifi_init, peripherals.BT, esp_radio::ble::Config::default()).unwrap();
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let (wifi, interfaces) = esp_radio::wifi::new(wifi_init, peripherals.WIFI, esp_radio::wifi::Config::default())
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.expect("Failed to initialize WIFI!");
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(wifi, interfaces.sta, ble)
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};
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let core2_main = |spawner: Spawner| {
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info!("Starting application tasks");
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static PREDICTIONS: StaticCell<PubSubChannel<NoopRawMutex, Prediction, 15, 6, 1>> = StaticCell::new();
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let predictions = PREDICTIONS.init(PubSubChannel::new());
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#[cfg(not(feature="demo"))]
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{
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info!("Launching motion engine");
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spawner.must_spawn(motion_task(motion_bus.dyn_receiver(), predictions.dyn_publisher().unwrap()));
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}
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#[cfg(feature="demo")]
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{
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warn!("Launching with demo sequencer");
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spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(predictions.dyn_publisher().unwrap()));
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}
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info!("Launching Safety UI");
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spawner.must_spawn(safety_ui_main(predictions.dyn_subscriber().unwrap(), safety_ui));
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info!("Launching UI");
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spawner.must_spawn(ui_main(predictions.dyn_subscriber().unwrap(), ui));
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info!("Launching OLED UI");
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spawner.must_spawn(oled_ui(predictions.dyn_subscriber().unwrap(), oledui));
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#[cfg(feature="radio")]
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{
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use embassy_net::StackResources;
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use esp_hal::rng::Rng;
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use static_cell::ConstStaticCell;
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info!("Setting up networking stack");
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static RESOURCES: ConstStaticCell<StackResources<5>> = ConstStaticCell::new(StackResources::new());
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let config = embassy_net::Config::dhcpv4(Default::default());
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let seed = Rng::new().random() as i32;
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let (stack, runner) = embassy_net::new(network_device, config, RESOURCES.take(), seed as u64);
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info!("Launching network services");
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//spawner.must_spawn(renderbug_embassy::tasks::wifi::net_task(runner));
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info!("Starting connectivity task");
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//spawner.must_spawn(renderbug_embassy::tasks::wifi::wifi_connect_task(wifi, stack, motion_bus.dyn_sender()));
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info!("Launching HTTP telemetry");
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//spawner.must_spawn(renderbug_embassy::tasks::wifi::http_telemetry_task(predictions.dyn_subscriber().unwrap(), stack));
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info!("Starting BLE services");
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spawner.must_spawn(renderbug_embassy::tasks::ble::ble_task(ble, predictions.dyn_subscriber().unwrap(), spawner));
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}
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#[cfg(feature="dual-core")]
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{
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info!("Launching core 2 watchdog");
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let timer1 = TimerGroup::new(peripherals.TIMG1);
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let mut ui_wdt = timer1.wdt;
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ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
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#[cfg(feature="dual-core")]
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ui_wdt.enable();
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spawner.must_spawn(wdt_task(ui_wdt));
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}
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spawner.must_spawn(print_telemetry(predictions.dyn_subscriber().unwrap()));
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info!("System is ready in {}ms", Instant::now().as_millis());
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};
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#[cfg(feature="dual-core")]
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{
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static mut CORE2_STACK: Stack<16384> = Stack::new();
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let swi = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
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esp_rtos::start_second_core(peripherals.CPU_CTRL, swi.software_interrupt0, swi.software_interrupt1, unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
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info!("Second CPU core started");
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static CORE2_EXEC: StaticCell<Executor> = StaticCell::new();
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let exec = CORE2_EXEC.init_with(|| { Executor::new() });
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exec.run(core2_main);
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});
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}
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#[cfg(not(feature="dual-core"))]
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core2_main(spawner);
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info!("Ready to rock and roll");
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}
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#[embassy_executor::task]
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async fn wdt_task(mut wdt: Wdt<esp_hal::peripherals::TIMG1<'static>>) {
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loop {
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// Watchdog is set to trip after 5 seconds, so we wait just long enough before it trips
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// TODO: We should maybe extend this timeout to 30s or 1m when the system is sleeping
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trace!("Bark wdt");
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wdt.feed();
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Timer::after_secs(3).await;
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}
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}
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#[embassy_executor::task]
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async fn print_telemetry(mut events: DynSubscriber<'static, Prediction>) {
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info!("telemetry ready");
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let mut num_events = Wrapping(0usize);
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loop {
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let next = events.next_message_pure().await;
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trace!("idx={} predict={next:?}", num_events.0);
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num_events += 1;
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}
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} |