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Upgrade to embedded-hal 1.0 (#2)
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* test build

* added init check to heading usage

* further testing on spu and i2c bus

* tried critical section devices

* removed inlining config

* changed pin type

* switched LCD interface to i2c-character-display

* adjusted logging

* pr fixes
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@michaelkamprath
michaelkamprath authored Sep 30, 2024
1 parent 1e9c818 commit 5e5a5eb
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Showing 14 changed files with 511 additions and 400 deletions.
2 changes: 1 addition & 1 deletion .cargo/config.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,4 +27,4 @@ rustflags = [
target = "thumbv6m-none-eabi"

[env]
DEFMT_LOG = "debug"
DEFMT_LOG = "info"
28 changes: 14 additions & 14 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,34 +12,35 @@ bench = false
[dependencies]
cortex-m = "0.7"
cortex-m-rt = "0.7"
embedded-hal = { version = "0.2", features = ["unproven"] }
embedded-sdmmc = { version = "0.6", default-features = false, features = [
critical-section = "1.1"
embedded-hal = { version = "1.0", features = ["defmt-03"] }
embedded-sdmmc = { version = "0.8", default-features = false, features = [
"defmt-log",
] }
shared-bus = { version = "0.3", features = ["cortex-m"] }
embedded-hal-bus = { version = "0.1.0", features = ["defmt-03"] }
defmt = "0.3"
defmt-rtt = "0.4"
panic-probe = { version = "0.3", features = ["print-defmt"] }
micromath = { version = "2.1", features = ["vector"] }
mpu6050 = { git = "https://github.com/michaelkamprath/mpu6050.git", branch = "micromath", features = [
mpu6050 = { git = "https://github.com/michaelkamprath/mpu6050.git", branch = "embedded-hal-upgrade", features = [
"defmt",
] }
embedded-alloc = "0.6"
adafruit-lcd-backpack = { version = "0.1", features = ["defmt"] }
i2c-character-display = { version = "0.1", features = ["defmt"] }
ini_core = "0.2"

# We're using a Pico by default on this template
rp-pico = "0.8"
rp-pico = "0.9"

# but you can use any BSP. Uncomment this to use the pro_micro_rp2040 BSP instead
# sparkfun-pro-micro-rp2040 = "0.7"

# If you're not going to use a Board Support Package you'll need these:
rp2040-hal = { version = "0.9", features = [
"rt",
"critical-section-impl",
"defmt",
] }
# rp2040-hal = { version = "0.10", features = [
# "rt",
# "critical-section-impl",
# "defmt",
# ] }
# rp2040-boot2 = "0.3"

# cargo build/run
Expand Down Expand Up @@ -94,8 +95,7 @@ incremental = false
lto = 'fat'
opt-level = 3

# [patch."https://github.com/michaelkamprath/mpu6050.git"]
[patch."https://github.com/michaelkamprath/mpu6050.git"]
# mpu6050 = { path = "../mpu6050" }

# [patch."https://github.com/michaelkamprath/adafruit-lcd-backpack-rust.git"]
# adafruit-lcd-backpack = { path = "../adafruit-lcd-backpack-rust" }
[patch.crates-io]
74 changes: 20 additions & 54 deletions src/driver.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,12 +9,11 @@ use alloc::{
};
use defmt::{debug, info, warn};
use embedded_hal::{
blocking::{
delay::{DelayMs, DelayUs},
i2c::{Write as I2cWrite, WriteRead},
},
digital::v2::{InputPin, OutputPin},
PwmPin,
delay::DelayNs,
digital::{InputPin, OutputPin},
i2c::I2c,
pwm::SetDutyCycle,
spi::SpiDevice,
};
use micromath::F32Ext;

Expand All @@ -28,25 +27,16 @@ pub struct Driver<
INA2: OutputPin,
INB1: OutputPin,
INB2: OutputPin,
ENA: PwmPin<Duty = u16>,
ENB: PwmPin<Duty = u16>,
ENA: SetDutyCycle,
ENB: SetDutyCycle,
BUTT1: InputPin,
BUTT2: InputPin,
TWI,
TWI_ERR,
SPI,
CS: OutputPin,
DELAY,
TWI: I2c,
SPI_DEV: SpiDevice<u8>,
DELAY: DelayNs + Clone,
LED1: OutputPin,
> where
TWI: I2cWrite<Error = TWI_ERR> + WriteRead<Error = TWI_ERR>,
TWI_ERR: defmt::Format,
SPI: embedded_hal::blocking::spi::Transfer<u8> + embedded_hal::blocking::spi::Write<u8>,
<SPI as embedded_hal::blocking::spi::Transfer<u8>>::Error: core::fmt::Debug,
<SPI as embedded_hal::blocking::spi::Write<u8>>::Error: core::fmt::Debug,
DELAY: DelayMs<u16> + DelayUs<u16> + DelayMs<u8> + DelayUs<u8> + Copy,
{
robot: Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, TWI_ERR, SPI, CS, DELAY>,
> {
robot: Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>,
delay: DELAY,
led1: LED1,
selected_path: Option<String>,
Expand All @@ -58,42 +48,18 @@ impl<
INA2: OutputPin,
INB1: OutputPin,
INB2: OutputPin,
ENA: PwmPin<Duty = u16>,
ENB: PwmPin<Duty = u16>,
ENA: SetDutyCycle,
ENB: SetDutyCycle,
BUTT1: InputPin,
BUTT2: InputPin,
TWI,
TWI_ERR,
SPI,
CS: OutputPin,
DELAY,
TWI: I2c,
SPI_DEV: SpiDevice<u8>,
DELAY: DelayNs + Clone,
LED1: OutputPin,
> Driver<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, TWI_ERR, SPI, CS, DELAY, LED1>
where
TWI: I2cWrite<Error = TWI_ERR> + WriteRead<Error = TWI_ERR>,
TWI_ERR: defmt::Format,
SPI: embedded_hal::blocking::spi::Transfer<u8> + embedded_hal::blocking::spi::Write<u8>,
<SPI as embedded_hal::blocking::spi::Transfer<u8>>::Error: core::fmt::Debug,
<SPI as embedded_hal::blocking::spi::Write<u8>>::Error: core::fmt::Debug,
DELAY: DelayMs<u16> + DelayUs<u16> + DelayMs<u8> + DelayUs<u8> + Copy,
> Driver<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY, LED1>
{
pub fn new(
robot: Robot<
'a,
INA1,
INA2,
INB1,
INB2,
ENA,
ENB,
BUTT1,
BUTT2,
TWI,
TWI_ERR,
SPI,
CS,
DELAY,
>,
robot: Robot<'a, INA1, INA2, INB1, INB2, ENA, ENB, BUTT1, BUTT2, TWI, SPI_DEV, DELAY>,
delay: DELAY,
led1_pin: LED1,
) -> Self {
Expand All @@ -111,7 +77,7 @@ where
let start_millis = millis();
while millis() - start_millis < ms {
self.robot.handle_loop();
self.delay.delay_us(500_u16);
self.delay.delay_us(500);
}
}

Expand Down
100 changes: 51 additions & 49 deletions src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,45 +5,36 @@ mod model;
mod robot;
mod system;

use bsp::{
entry,
hal::{fugit::HertzU32, gpio},
};
use core::cell::RefCell;
use defmt::{error, info, panic};
use defmt_rtt as _;
use panic_probe as _;
use rp2040_hal::{
gpio::{
bank0::{Gpio0, Gpio2, Gpio3, Gpio4, Gpio5},
FunctionI2c, FunctionSpi, Pin, PullDown,
},
pac::{I2C0, SPI0},
};

// Provide an alias for our BSP so we can switch targets quickly.
// Uncomment the BSP you included in Cargo.toml, the rest of the code does not need to change.
use rp_pico as bsp;
// use sparkfun_pro_micro_rp2040 as bsp;

use crate::robot::Robot;
use bsp::{
entry,
hal::fugit::HertzU32,
hal::{
clocks::{init_clocks_and_plls, Clock},
gpio::{FunctionI2C, Pin, PullUp},
pac,
pwm::Slices,
sio::Sio,
watchdog::Watchdog,
},
};
use driver::Driver;
use system::millis::init_millis;
extern crate alloc;

use embedded_alloc::TlsfHeap as Heap;

#[global_allocator]
static HEAP: Heap = Heap::empty();

use bsp::hal::{
clocks::{init_clocks_and_plls, Clock},
pac,
pwm::Slices,
sio::Sio,
watchdog::Watchdog,
};

use driver::Driver;
use robot::Robot;
use system::millis::init_millis;

#[entry]
fn main() -> ! {
// Initialize the allocator BEFORE you use it
Expand Down Expand Up @@ -100,35 +91,43 @@ fn main() -> ! {
channel_a.output_to(pins.gpio8);
channel_b.output_to(pins.gpio9);

// Configure two pins as being I²C, not GPIO
let sda_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio4.reconfigure();
let scl_pin: Pin<_, FunctionI2C, PullUp> = pins.gpio5.reconfigure();
// set up I2C
let i2c = bsp::hal::I2C::new_controller(
pac.I2C0,
pins.gpio4.into_function::<gpio::FunctionI2c>(),
pins.gpio5.into_function::<gpio::FunctionI2c>(),
sda_pin,
scl_pin,
HertzU32::from_raw(400_000),
&mut pac.RESETS,
clocks.system_clock.freq(),
);
let i2c_manager: &'static _ = shared_bus::new_cortexm!(rp2040_hal::I2C<I2C0, (Pin<Gpio4, FunctionI2c, PullDown>, Pin<Gpio5, FunctionI2c, PullDown>)> = i2c).unwrap();
let i2c_ref_cell = RefCell::new(i2c);
let i2c_mutex = critical_section::Mutex::new(i2c_ref_cell);

// set up SPI
#[allow(clippy::type_complexity)]
let spi: rp_pico::hal::Spi<
rp_pico::hal::spi::Disabled,
SPI0,
(
rp_pico::hal::gpio::Pin<Gpio3, FunctionSpi, PullDown>,
rp_pico::hal::gpio::Pin<Gpio0, FunctionSpi, PullDown>,
rp_pico::hal::gpio::Pin<Gpio2, FunctionSpi, PullDown>,
),
> = bsp::hal::Spi::new(
pac.SPI0,
(
pins.gpio3.into_function::<gpio::FunctionSpi>(),
pins.gpio0.into_function::<gpio::FunctionSpi>(),
pins.gpio2.into_function::<gpio::FunctionSpi>(),
),
);
// let spi: rp_pico::hal::Spi<
// rp_pico::hal::spi::Disabled,
// SPI0,
// (
// rp_pico::hal::gpio::Pin<Gpio3, FunctionSpi, PullDown>,
// rp_pico::hal::gpio::Pin<Gpio0, FunctionSpi, PullDown>,
// rp_pico::hal::gpio::Pin<Gpio2, FunctionSpi, PullDown>,
// ),
// > = bsp::hal::Spi::new(
// pac.SPI0,
// (
// pins.gpio3.into_function::<gpio::FunctionSpi>(),
// pins.gpio0.into_function::<gpio::FunctionSpi>(),
// pins.gpio2.into_function::<gpio::FunctionSpi>(),
// ),
// );
let spi_mosi = pins.gpio3.into_function::<bsp::hal::gpio::FunctionSpi>();
let spi_miso = pins.gpio0.into_function::<bsp::hal::gpio::FunctionSpi>();
let spi_sclk = pins.gpio2.into_function::<bsp::hal::gpio::FunctionSpi>();
let spi = bsp::hal::spi::Spi::<_, _, _, 8>::new(pac.SPI0, (spi_mosi, spi_miso, spi_sclk));

// Exchange the uninitialised SPI driver for an initialised one
let spi = spi.init(
Expand All @@ -139,16 +138,19 @@ fn main() -> ! {
);

let sd = crate::robot::file_storage::FileStorage::new(
spi,
pins.gpio1.into_push_pull_output(),
crate::robot::file_storage::sd_card_spi_device::SDCardSPIDevice::new(
spi,
pins.gpio1.into_push_pull_output(),
timer,
),
timer,
);

// If SD card is successfully initialized, we can increase the SPI speed
match sd.spi(|spi| {
spi.set_baudrate(
spi.bus.set_baudrate(
clocks.peripheral_clock.freq(),
HertzU32::from_raw(20_000_000),
HertzU32::from_raw(16_000_000),
)
}) {
Some(speed) => {
Expand All @@ -168,7 +170,7 @@ fn main() -> ! {
channel_b,
pins.gpio14.into_pull_up_input(),
pins.gpio15.into_pull_up_input(),
i2c_manager,
&i2c_mutex,
pins.gpio21.into_pull_up_input(),
pins.gpio20.into_pull_up_input(),
sd,
Expand Down
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