114 lines
3.2 KiB
Rust
114 lines
3.2 KiB
Rust
use embassy_stm32::i2c;
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use embassy_stm32::peripherals;
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use embassy_stm32::time::Hertz;
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use embassy_time::{Duration, Timer};
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use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
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use embassy_util::channel::mpmc::Receiver;
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use embassy_util::{select, Either};
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use embedded_graphics::{
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mono_font::{
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MonoTextStyle,
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{ascii::FONT_5X7, ascii::FONT_7X13},
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},
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pixelcolor::BinaryColor,
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prelude::*,
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primitives::{PrimitiveStyleBuilder, Rectangle},
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text::Text,
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};
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use heapless::String;
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use ufmt::uwrite;
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use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
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use crate::{AzElPair, RotorState};
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#[embassy_executor::task]
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pub async fn display_task(
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i2c1: peripherals::I2C1,
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sda: peripherals::PB6,
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scl: peripherals::PB7,
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cmd_receiver: Receiver<'static, ThreadModeRawMutex, RotorState, 1>,
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) {
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let i2c = i2c::I2c::new(i2c1, sda, scl, Hertz::hz(100_000), i2c::Config::default());
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let interface = I2CDisplayInterface::new(i2c);
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let mut display = Ssd1306::new(interface, DisplaySize128x32, DisplayRotation::Rotate0)
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.into_buffered_graphics_mode();
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display.init().unwrap();
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let text_large = MonoTextStyle::new(&FONT_7X13, BinaryColor::On);
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let text_large_inv = MonoTextStyle::new(&FONT_7X13, BinaryColor::Off);
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let text_small = MonoTextStyle::new(&FONT_5X7, BinaryColor::On);
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let style_filled = PrimitiveStyleBuilder::new()
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.fill_color(BinaryColor::On)
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.build();
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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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stopped: true,
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};
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loop {
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display.clear();
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Text::new("AFG rotor ctrl v0.1.0", Point::new(0, 6), text_small)
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.draw(&mut display)
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.unwrap();
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let mut tmp: String<16> = String::new();
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uwrite!(tmp, "AZ: {}", rotor_state.actual_pos.az).unwrap();
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Text::new(&tmp, Point::new(1, 17), text_large)
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.draw(&mut display)
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.unwrap();
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tmp.clear();
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uwrite!(tmp, "EL: {}", rotor_state.actual_pos.el).unwrap();
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Text::new(&tmp, Point::new(64, 17), text_large)
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.draw(&mut display)
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.unwrap();
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if !rotor_state.stopped {
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Rectangle::new(Point::new(0, 19), Size::new(128, 23))
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.into_styled(style_filled)
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.draw(&mut display)
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.unwrap();
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};
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let setpoint_style = if !rotor_state.stopped {
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text_large_inv
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} else {
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text_large
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};
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tmp.clear();
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uwrite!(tmp, "AZ: {}", rotor_state.setpoint_pos.az).unwrap();
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Text::new(&tmp, Point::new(1, 30), setpoint_style)
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.draw(&mut display)
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.unwrap();
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tmp.clear();
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uwrite!(tmp, "EL: {}", rotor_state.setpoint_pos.el).unwrap();
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Text::new(&tmp, Point::new(64, 30), setpoint_style)
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.draw(&mut display)
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.unwrap();
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display.flush().unwrap();
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let result = select(
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Timer::after(Duration::from_millis(500)),
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cmd_receiver.recv(),
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)
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.await;
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match result {
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Either::First(_) => {}
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Either::Second(new_state) => rotor_state = new_state,
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}
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}
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}
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