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rtic heartbeat

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This commit is contained in:
Gabe Venberg 2023-12-01 16:23:48 -06:00
parent eb0bda3300
commit 910010ba22
2 changed files with 261 additions and 196 deletions
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2
Cargo.toml
View file

@ -7,8 +7,10 @@ license = "MIT OR Apache-2.0"
[dependencies]
cortex-m = {version = "0.7"}
cortex-m-rt = "0.7"
cortex-m-rtic = "1.1.4"
embedded-hal = { version = "0.2.5", features = ["unproven"] }
embedded-alloc = "0.5.1"
rp2040-monotonic = "1.3.0"
defmt = "0.3"
defmt-rtt = "0.4"

155
src/main.rs
View file

@ -1,18 +1,27 @@
#![no_std]
#![no_main]
#[rtic::app(
device = rp_pico::hal::pac,
dispatchers = [TIMER_IRQ_1]
)]
mod app {
extern crate alloc;
use alloc::format;
use core::fmt::Write;
use cortex_m::delay::Delay;
use defmt_rtt as _;
use embedded_alloc::Heap;
use embedded_hal::{digital::v2::OutputPin, spi::MODE_0};
use embedded_hal::{
digital::v2::{OutputPin, ToggleableOutputPin},
spi::MODE_0,
};
use hd44780::{bus::FourBitBus, HD44780};
use panic_probe as _;
use rp2040_monotonic::{fugit::Duration, Rp2040Monotonic};
use rp_pico::{
entry,
hal::{
clocks::{init_clocks_and_plls, Clock},
fugit::RateExtU32,
@ -24,7 +33,6 @@ use rp_pico::{
},
FunctionSio, FunctionSpi, FunctionUart, Pin, PullDown, SioOutput,
},
pac,
sio::Sio,
spi::{self, Spi},
uart::{self, UartConfig, UartPeripheral},
@ -40,15 +48,9 @@ use max31855::{Max31855, Unit};
#[global_allocator]
static HEAP: Heap = Heap::empty();
fn write_lcd<T: hd44780_driver::bus::DataBus>(
lcd: &mut hd44780::HD44780<T>,
delay: &mut Delay,
string: &str,
) {
lcd.reset(delay).unwrap();
lcd.clear(delay).unwrap();
lcd.write_str(string, delay).unwrap();
}
const MONO_NUM: u32 = 1;
const MONO_DENOM: u32 = 1000000;
const ONE_SEC_TICKS: u64 = 1000000;
type Uart = UartPeripheral<
uart::Enabled,
@ -84,6 +86,9 @@ type Lcd = HD44780<
>,
>;
#[monotonic(binds = TIMER_IRQ_0, default = true)]
type Rp2040Mono = Rp2040Monotonic;
struct Thermocouple {
cs: Pin<Gpio5, FunctionSio<SioOutput>, PullDown>,
spi: ThermocoupleSpi,
@ -92,27 +97,45 @@ struct Thermocouple {
impl Thermocouple {
fn read_temp(
&mut self,
) -> Result<f32, max31855::Error<core::convert::Infallible, core::convert::Infallible>> {
) -> Result<f32, max31855::Error<core::convert::Infallible, core::convert::Infallible>>
{
self.spi.read_thermocouple(&mut self.cs, Unit::Celsius)
}
}
#[entry]
fn main() -> ! {
let mut pac = pac::Peripherals::take().unwrap();
let core = pac::CorePeripherals::take().unwrap();
let mut watchdog = Watchdog::new(pac.WATCHDOG);
let sio = Sio::new(pac.SIO);
fn write_lcd(lcd: &mut Lcd, delay: &mut Delay, string: &str) {
lcd.reset(delay).unwrap();
lcd.clear(delay).unwrap();
lcd.write_str(string, delay).unwrap();
}
#[shared]
struct Shared {
delay: Delay,
}
#[local]
struct Local {
led: Led,
thermocouple: Thermocouple,
lcd: Lcd,
external_led: ExternalLed,
}
#[init]
fn init(mut ctx: init::Context) -> (Shared, Local, init::Monotonics) {
let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
let sio = Sio::new(ctx.device.SIO);
// External high-speed crystal on the pico board is 12Mhz
let external_xtal_freq_hz = 12_000_000u32;
let clocks = init_clocks_and_plls(
external_xtal_freq_hz,
pac.XOSC,
pac.CLOCKS,
pac.PLL_SYS,
pac.PLL_USB,
&mut pac.RESETS,
ctx.device.XOSC,
ctx.device.CLOCKS,
ctx.device.PLL_SYS,
ctx.device.PLL_USB,
&mut ctx.device.RESETS,
&mut watchdog,
)
.ok()
@ -126,19 +149,20 @@ fn main() -> ! {
unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
}
let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
let mut delay =
cortex_m::delay::Delay::new(ctx.core.SYST, clocks.system_clock.freq().to_Hz());
let pins = Pins::new(
pac.IO_BANK0,
pac.PADS_BANK0,
ctx.device.IO_BANK0,
ctx.device.PADS_BANK0,
sio.gpio_bank0,
&mut pac.RESETS,
&mut ctx.device.RESETS,
);
let mut uart: Uart = UartPeripheral::new(
pac.UART0,
ctx.device.UART0,
(pins.gpio0.into_function(), pins.gpio1.into_function()),
&mut pac.RESETS,
&mut ctx.device.RESETS,
)
.enable(
UartConfig::new(
@ -158,8 +182,8 @@ fn main() -> ! {
let mut external_led_pin: ExternalLed = pins.gpio14.into_push_pull_output();
//cs
let thermometer_spi_device = pac.SPI0;
let mut thermocouple = Thermocouple {
let thermometer_spi_device = ctx.device.SPI0;
let thermocouple = Thermocouple {
cs: pins
.gpio5
.into_push_pull_output_in_state(gpio::PinState::Low),
@ -175,7 +199,12 @@ fn main() -> ! {
pins.gpio2.into_function::<gpio::FunctionSpi>(),
),
)
.init(&mut pac.RESETS, 125_000_000u32.Hz(), 4u32.MHz(), MODE_0),
.init(
&mut ctx.device.RESETS,
125_000_000u32.Hz(),
4u32.MHz(),
MODE_0,
),
};
let mut lcd: Lcd = hd44780::HD44780::new_4bit(
@ -189,20 +218,54 @@ fn main() -> ! {
)
.unwrap();
let mono = Rp2040Mono::new(ctx.device.TIMER);
write_lcd(&mut lcd, &mut delay, "Starting");
loop {
led_pin.set_high().unwrap();
external_led_pin.set_low().unwrap();
delay.delay_ms(500);
led_pin.set_low().unwrap();
external_led_pin.set_high().unwrap();
delay.delay_ms(500);
match thermocouple.read_temp() {
Ok(v) => {
writeln!(uart, "Current: {} \r", v).unwrap();
write_lcd(&mut lcd, &mut delay, &format!("{:02.2} C", v))
(
Shared { delay },
Local {
led: led_pin,
thermocouple,
lcd,
external_led: external_led_pin,
},
init::Monotonics(mono),
)
// loop {
// led_pin.set_high().unwrap();
// external_led_pin.set_low().unwrap();
// delay.delay_ms(500);
// led_pin.set_low().unwrap();
// external_led_pin.set_high().unwrap();
// delay.delay_ms(500);
// match thermocouple.read_temp() {
// Ok(v) => {
// writeln!(uart, "Current: {} \r", v).unwrap();
// write_lcd(&mut lcd, &mut delay, &format!("{:02.2} C", v))
// }
// Err(e) => defmt::error!("error reading temp {}", defmt::Debug2Format(&e)),
// };
// }
}
Err(e) => defmt::error!("error reading temp {}", defmt::Debug2Format(&e)),
};
#[task(local = [led])]
fn heartbeat(ctx: heartbeat::Context) {
// Flicker the built-in LED
ctx.local.led.toggle().unwrap();
// Re-spawn this task after 1 second
let one_second = Duration::<u64, MONO_NUM, MONO_DENOM>::from_ticks(ONE_SEC_TICKS);
heartbeat::spawn_after(one_second).unwrap();
}
#[task(local = [external_led])]
fn second_heartbeat(ctx: second_heartbeat::Context) {
// Flicker the built-in LED
ctx.local.external_led.toggle().unwrap();
// Re-spawn this task after 1 second
let one_and_one_half_second =
Duration::<u64, MONO_NUM, MONO_DENOM>::from_ticks((ONE_SEC_TICKS as f32 * 1.5) as u64);
heartbeat::spawn_after(one_and_one_half_second).unwrap();
}
}