90 lines
2.3 KiB
Rust
90 lines
2.3 KiB
Rust
#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use defmt::Format;
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use defmt_rtt as _;
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use panic_probe as _;
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use embassy_executor::Spawner;
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use embassy_stm32::gpio::{Level, Output, Speed};
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use embassy_stm32::time::Hertz;
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use embassy_stm32::Config;
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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::Channel;
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mod display;
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use display::display_task;
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mod usb;
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use usb::{usb_task, Gs232Cmd};
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mod movement;
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use movement::movement_task;
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#[derive(PartialEq, Format, Copy, Clone)]
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pub struct AzElPair {
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az: u16,
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el: u16,
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}
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#[derive(PartialEq, Format, Copy, Clone)]
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pub struct RotorState {
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actual_pos: AzElPair,
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setpoint_pos: AzElPair,
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stopped: bool,
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}
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#[embassy_executor::main]
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async fn main(spawner: Spawner) {
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static CMD_CHAN: Channel<ThreadModeRawMutex, Gs232Cmd, 1> = Channel::new();
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static POS_CHAN: Channel<ThreadModeRawMutex, AzElPair, 1> = Channel::new();
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static STATE_CHAN: Channel<ThreadModeRawMutex, RotorState, 1> = Channel::new();
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let mut config = Config::default();
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config.rcc.hse = Some(Hertz(8_000_000));
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config.rcc.sys_ck = Some(Hertz(48_000_000));
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config.rcc.pclk1 = Some(Hertz(24_000_000));
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let mut p = embassy_stm32::init(config);
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defmt::info!("Startup");
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{
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// BluePill board has a pull-up resistor on the D+ line.
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// Pull the D+ pin down to send a RESET condition to the USB bus.
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// This forced reset is needed only for development, without it host
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// will not reset your device when you upload new firmware.
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let _dp = Output::new(&mut p.PA12, Level::Low, Speed::Low);
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Timer::after(Duration::from_millis(10)).await;
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}
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spawner
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.spawn(usb_task(
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p.USB,
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p.PA12,
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p.PA11,
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CMD_CHAN.sender(),
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POS_CHAN.receiver(),
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))
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.unwrap();
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spawner
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.spawn(movement_task(
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p.ADC1,
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p.PA0,
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p.PA1,
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p.PA2,
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p.PA3,
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p.PA4,
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p.PA5,
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CMD_CHAN.receiver(),
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POS_CHAN.sender(),
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STATE_CHAN.sender(),
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))
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.unwrap();
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spawner
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.spawn(display_task(p.I2C1, p.PB6, p.PB7, STATE_CHAN.receiver()))
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.unwrap();
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}
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