2022-08-24 20:08:51 +02:00
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use embassy_stm32::adc::Adc;
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2022-08-21 22:19:34 +02:00
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use embassy_stm32::gpio::{Level, Output, Speed};
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2022-08-21 18:11:58 +02:00
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use embassy_stm32::peripherals;
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2022-08-24 20:08:51 +02:00
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use embassy_time::{Delay, Duration, Timer};
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2022-08-21 18:11:58 +02:00
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use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_util::channel::mpmc::{Receiver, Sender};
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2022-08-21 22:19:34 +02:00
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use embassy_util::{select, Either};
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2022-08-24 20:08:51 +02:00
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use futures_util::future::join;
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use heapless::Vec;
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2022-08-21 18:11:58 +02:00
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use crate::usb::Gs232Cmd;
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use crate::{AzElPair, RotorState};
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2022-08-24 20:08:51 +02:00
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const AZ_MIN_READING: f32 = 0.0;
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const AZ_MAX_READING: f32 = 4096.0;
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const AZ_RANGE: f32 = 360.0;
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const EL_MIN_READING: f32 = 0.0;
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const EL_MAX_READING: f32 = 4096.0;
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const EL_RANGE: f32 = 90.0;
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2022-08-21 18:11:58 +02:00
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#[embassy_executor::task]
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pub async fn movement_task(
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2022-08-24 20:08:51 +02:00
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adc1: peripherals::ADC1,
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mut az_pin: peripherals::PA0,
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mut el_pin: peripherals::PA1,
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cw_pin: peripherals::PA2,
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ccw_pin: peripherals::PA3,
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up_pin: peripherals::PA4,
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down_pin: peripherals::PA5,
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2022-08-21 18:11:58 +02:00
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cmd_receiver: Receiver<'static, ThreadModeRawMutex, Gs232Cmd, 1>,
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pos_sender: Sender<'static, ThreadModeRawMutex, AzElPair, 1>,
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state_sender: Sender<'static, ThreadModeRawMutex, RotorState, 1>,
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) {
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let mut rotor_state = RotorState {
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actual_pos: AzElPair { az: 0, el: 0 },
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setpoint_pos: AzElPair { az: 0, el: 0 },
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2022-08-24 20:08:51 +02:00
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stopped: true,
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2022-08-21 18:11:58 +02:00
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};
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2022-08-24 20:08:51 +02:00
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let mut adc = Adc::new(adc1, &mut Delay);
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2022-08-21 22:19:34 +02:00
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let mut cw_pin = Output::new(cw_pin, Level::Low, Speed::Low);
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let mut ccw_pin = Output::new(ccw_pin, Level::Low, Speed::Low);
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let mut up_pin = Output::new(up_pin, Level::Low, Speed::Low);
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let mut down_pin = Output::new(down_pin, Level::Low, Speed::Low);
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2022-08-24 20:08:51 +02:00
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let az_reading = adc.read(&mut az_pin) as f32;
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let el_reading = adc.read(&mut el_pin) as f32;
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let mut az_average = Average::new(az_reading);
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let mut el_average = Average::new(el_reading);
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2022-08-21 18:11:58 +02:00
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loop {
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2022-08-21 22:19:34 +02:00
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match select(
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cmd_receiver.recv(),
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Timer::after(Duration::from_millis(100)),
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)
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.await
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{
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Either::First(cmd) => match cmd {
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Gs232Cmd::MoveTo(pair) => {
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rotor_state.setpoint_pos = pair;
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rotor_state.stopped = false;
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}
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Gs232Cmd::Stop => {
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rotor_state.stopped = true;
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}
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_ => {}
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},
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Either::Second(_) => {
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2022-08-24 20:08:51 +02:00
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let az_reading = adc.read(&mut az_pin) as f32;
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let el_reading = adc.read(&mut el_pin) as f32;
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az_average.add(az_reading);
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el_average.add(el_reading);
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let az_actual = (az_average.average() - AZ_MIN_READING)
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/ (AZ_MAX_READING - AZ_MIN_READING)
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* AZ_RANGE;
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let el_actual = (el_average.average() - EL_MIN_READING)
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/ (EL_MAX_READING - EL_MIN_READING)
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* EL_RANGE;
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rotor_state.actual_pos.az = az_actual as u16;
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rotor_state.actual_pos.el = el_actual as u16;
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2022-08-21 22:19:34 +02:00
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if !rotor_state.stopped && rotor_state.actual_pos.az < rotor_state.setpoint_pos.az {
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cw_pin.set_high();
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ccw_pin.set_low();
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} else if !rotor_state.stopped
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&& rotor_state.actual_pos.az > rotor_state.setpoint_pos.az
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{
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cw_pin.set_low();
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ccw_pin.set_high();
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} else {
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cw_pin.set_low();
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ccw_pin.set_low();
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}
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2022-08-21 18:11:58 +02:00
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2022-08-21 22:19:34 +02:00
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if !rotor_state.stopped && rotor_state.actual_pos.el < rotor_state.setpoint_pos.el {
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up_pin.set_high();
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down_pin.set_low();
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} else if !rotor_state.stopped
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&& rotor_state.actual_pos.el > rotor_state.setpoint_pos.el
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{
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up_pin.set_low();
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down_pin.set_high();
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} else {
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up_pin.set_low();
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down_pin.set_low();
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}
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join(
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pos_sender.send(rotor_state.actual_pos),
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state_sender.send(rotor_state),
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)
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.await;
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2022-08-21 18:11:58 +02:00
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}
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};
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}
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}
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2022-08-24 20:08:51 +02:00
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struct Average {
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pos: usize,
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data: Vec<f32, 10>,
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}
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impl Average {
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fn new(initial: f32) -> Average {
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let mut data: Vec<f32, 10> = Vec::new();
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data.resize(10, initial).unwrap();
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Average { pos: 0, data }
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}
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fn add(&mut self, sample: f32) {
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self.data[self.pos] = sample;
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self.pos = (self.pos + 1) % self.data.len();
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}
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fn average(&self) -> f32 {
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let mut sum = 0.0;
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for sample in &self.data {
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sum += sample;
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}
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sum / self.data.len() as f32
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}
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}
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