src/main.rs

@@ -1,142 +1,73 @@
 #![no_std]
 #![no_main]
 
-use core::sync::atomic::{AtomicBool, AtomicU32, Ordering::Relaxed};
 use defmt::unwrap;
 use embassy_executor::Spawner;
 use embassy_stm32::{
     adc::{Adc, SampleTime},
-    gpio::OutputType::PushPull,
+    gpio::{AnyPin, Level, Output, Speed},
-    peripherals::{ADC1, PA0, TIM3},
+    peripherals::{ADC1, PA0},
-    time::Hertz,
-    timer::{
-        low_level::CountingMode::EdgeAlignedUp,
-        simple_pwm::{PwmPin, SimplePwm},
-    },
     Config, Peri,
 };
-use embassy_time::{Duration, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
-static SERVO_HZ: Hertz = Hertz::hz(60);
-static SERVO_MIN_USECS: f32 = 490.0;
-static SERVO_MAX_USECS: f32 = 2000.0;
-static SERVO_MIN_DEG: f32 = -90.0;
-static SERVO_MAX_DEG: f32 = 90.0;
-static SERVO_SLOPE: f32 = (SERVO_MAX_USECS - SERVO_MIN_USECS) / (SERVO_MAX_DEG - SERVO_MIN_DEG);
-
-static SENSOR_VALUE: AtomicU32 = AtomicU32::new(4095);
-static SHOULD_EXIT: AtomicBool = AtomicBool::new(false);
-
-fn degrees2duty(degrees: f32, max_dur: Duration, max_duty: u32) -> u32 {
-    let degrees = degrees.clamp(SERVO_MIN_DEG, SERVO_MAX_DEG);
-    let micros = 0.5 + SERVO_MIN_USECS + SERVO_SLOPE * (degrees - SERVO_MIN_DEG);
-    ((micros / max_dur.as_micros() as f32) * max_duty as f32) as u32
-}
-
-fn sensor2duty(sensor: u32, max_dur: Duration, max_duty: u32) -> u32 {
-    let slope = 180.0 / (4095.0 - 300.0);
-    let degrees = SERVO_MIN_DEG + slope * (sensor as f32 - 300.00);
-    defmt::debug!("degrees {}", degrees);
-    degrees2duty(degrees, max_dur, max_duty)
-}
-
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
-    let config = config();
-
-    let peripherals = embassy_stm32::init(config);
-
-    let pwm_pin = PwmPin::new(peripherals.PC7, PushPull);
-    let pwm = SimplePwm::new(
-        peripherals.TIM3,
-        None,
-        Some(pwm_pin),
-        None,
-        None,
-        SERVO_HZ,
-        EdgeAlignedUp,
-    );
-
-    let adc1 = Adc::new(peripherals.ADC1, Default::default());
-
-    let sensor_input = peripherals.PA0.into();
-    spawner.spawn(unwrap!(read_adc1_pa0(adc1, sensor_input)));
-
-    spawner.spawn(unwrap!(servo_loop(pwm)));
-
-    // calls the global exit after 30 seconds
-    spawner.spawn(unwrap!(exit()));
-}
-
-#[embassy_executor::task]
-async fn servo_loop(mut pwm: SimplePwm<'static, TIM3>) {
-    let mut pwm_channel = pwm.ch2();
-    pwm_channel.enable();
-
-    let max_duty = pwm_channel.max_duty_cycle();
-    let max_dur = Duration::from_hz(SERVO_HZ.0 as u64);
-
-    let zero = degrees2duty(0.0, max_dur, max_duty);
-    pwm_channel.set_duty_cycle(zero);
-    Timer::after_millis(500).await;
-
-    defmt::info!(
-        "max duty: {}",
-        degrees2duty(SERVO_MAX_DEG, max_dur, max_duty)
-    );
-    let min_duty = degrees2duty(SERVO_MIN_DEG, max_dur, max_duty);
-    defmt::info!("min duty: {}", min_duty);
-
-    //
-    loop {
-        if SHOULD_EXIT.load(Relaxed) {
-            break;
-        }
-        let sensor = SENSOR_VALUE.load(Relaxed);
-        let duty = sensor2duty(sensor, max_dur, max_duty);
-        defmt::info!("duty: {}", duty);
-        pwm_channel.set_duty_cycle(duty);
-        Timer::after_millis(100).await;
-    }
-
-    pwm_channel.set_duty_cycle(degrees2duty(0.0, max_dur, max_duty));
-    Timer::after_millis(600).await;
-
-    treatbot_5k::exit();
-}
-
-#[embassy_executor::task]
-async fn exit() {
-    Timer::after_secs(30).await;
-    SHOULD_EXIT.store(true, Relaxed);
-}
-
-#[embassy_executor::task]
-async fn read_adc1_pa0(mut adc1: Adc<'static, ADC1>, mut channel: Peri<'static, PA0>) {
-    loop {
-        let val = adc1.blocking_read(&mut channel.reborrow(), SampleTime::CYCLES640_5);
-        defmt::info!("sensor val: {}", val);
-        SENSOR_VALUE.store(val as u32, Relaxed);
-        Timer::after_millis(100).await;
-    }
-}
-
-fn config() -> Config {
-    use embassy_stm32::rcc::{mux, Pll, PllMul, PllPreDiv, PllRDiv, PllSource, Sysclk};
-
     let mut config = Config::default();
-    config.rcc.pll = Some(Pll {
-        source: PllSource::HSI,
-        prediv: PllPreDiv::DIV4,
-        mul: PllMul::MUL85,
-        divp: None,
-        divq: None,
-        // Main system clock at 170 MHz
-        divr: Some(PllRDiv::DIV2),
-    });
-    config.rcc.mux.adc12sel = mux::Adcsel::SYS;
-    config.rcc.sys = Sysclk::PLL1_R;
 
-    config
+    config.rcc.mux.adc12sel = embassy_stm32::rcc::mux::Adcsel::SYS;
+
+    let p = embassy_stm32::init(config);
+
+    let mut a = Adc::new(p.ADC1, Default::default());
+
+    let mut temp = a.enable_temperature();
+
+    let t = a.blocking_read(&mut temp, SampleTime::CYCLES247_5);
+    defmt::info!("got temp: {}", t);
+
+    let channel = p.PA0.into();
+    spawner.spawn(unwrap!(read_adc1_pa0(a, channel)));
+
+    spawner.spawn(unwrap!(blinky(p.PA5.into())));
+
+    Timer::after_secs(5).await;
+    treatbot_5k::exit()
+}
+
+#[embassy_executor::task]
+async fn read_adc1_pa0(mut a: Adc<'static, ADC1>, mut channel: Peri<'static, PA0>) {
+    loop {
+        let val = a.blocking_read(&mut channel, SampleTime::CYCLES12_5);
+        defmt::info!("read {}", val);
+        Timer::after_secs(1).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn blinky(p: Peri<'static, AnyPin>) {
+    let mut led = Output::new(p, Level::High, Speed::Low);
+
+    led.set_low();
+
+    loop {
+        led.set_high();
+        Timer::after_millis(300).await;
+
+        led.set_low();
+        Timer::after_millis(300).await;
+
+        led.set_high();
+        Timer::after_millis(300).await;
+
+        led.set_low();
+        Timer::after_millis(300).await;
+
+        led.set_high();
+        Timer::after_millis(600).await;
+
+        led.set_low();
+        Timer::after_millis(300).await;
+    }
 }