switch to bulk measurements

rust/Cargo.toml

@@ -37,6 +37,8 @@ partition_table = "partitions.csv"
 
 
 [dependencies]
+# Shared CAN API
+canapi = { path = "canapi" }
 #ESP stuff
 esp-bootloader-esp-idf = { version = "0.2.0", features = ["esp32c6"] }
 esp-hal = { version = "=1.0.0-rc.0", features = [

rust/build.rs

@@ -1,5 +1,3 @@
-use std::process::Command;
-
 use vergen::EmitBuilder;
 
 fn linker_be_nice() {
@@ -50,72 +48,6 @@ fn linker_be_nice() {
 }
 
 fn main() {
-    //webpack();
     linker_be_nice();
     let _ = EmitBuilder::builder().all_git().all_build().emit();
 }
-
-fn webpack() {
-    //println!("cargo:rerun-if-changed=./src/src_webpack");
-    Command::new("rm")
-        .arg("./src/webserver/bundle.js.gz")
-        .output()
-        .unwrap();
-
-    match Command::new("cmd").spawn() {
-        Ok(_) => {
-            println!("Assuming build on windows");
-            let output = Command::new("cmd")
-                .arg("/K")
-                .arg("npx")
-                .arg("webpack")
-                .current_dir("./src_webpack")
-                .output()
-                .unwrap();
-            println!("status: {}", output.status);
-            println!("stdout: {}", String::from_utf8_lossy(&output.stdout));
-            println!("stderr: {}", String::from_utf8_lossy(&output.stderr));
-            assert!(output.status.success());
-
-            // move webpack results to rust webserver src
-            let _ = Command::new("cmd")
-                .arg("/K")
-                .arg("move")
-                .arg("./src_webpack/bundle.js.gz")
-                .arg("./src/webserver")
-                .output()
-                .unwrap();
-            let _ = Command::new("cmd")
-                .arg("/K")
-                .arg("move")
-                .arg("./src_webpack/index.html.gz")
-                .arg("./src/webserver")
-                .output()
-                .unwrap();
-        }
-        Err(_) => {
-            println!("Assuming build on linux");
-            let output = Command::new("npx")
-                .arg("webpack")
-                .current_dir("./src_webpack")
-                .output()
-                .unwrap();
-            println!("status: {}", output.status);
-            println!("stdout: {}", String::from_utf8_lossy(&output.stdout));
-            println!("stderr: {}", String::from_utf8_lossy(&output.stderr));
-            assert!(output.status.success());
-
-            // move webpack results to rust webserver src
-            let _ = Command::new("mv")
-                .arg("./src_webpack/bundle.js.gz")
-                .arg("./src/webserver")
-                .output()
-                .unwrap();
-            let _ = Command::new("mv")
-                .arg("./src_webpack/index.html.gz")
-                .arg("./src/webserver")
-                .output()
-                .unwrap();
-        }
-    }
-}

rust/canapi/Cargo.toml

@@ -0,0 +1,14 @@
+[package]
+name = "canapi"
+version = "0.1.0"
+edition = "2021"
+
+[lib]
+name = "canapi"
+path = "src/lib.rs"
+
+[features]
+default = []
+
+[dependencies]
+bincode = { version = "2.0.1", default-features = false, features = ["derive"] }

rust/canapi/src/lib.rs

@@ -0,0 +1,138 @@
+#![no_std]
+//! CAN bus API shared crate for PlantCtrl sensors and controller.
+//! Addressing and messages are defined here to be reused by all bus participants.
+
+use bincode::{Decode, Encode};
+
+/// Total plants supported by addressing (0..=15)
+pub const MAX_PLANTS: u8 = 16;
+
+/// Sensors per plant: 0..=1 => A/B
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Encode, Decode)]
+#[repr(u8)]
+pub enum SensorSlot {
+    A = 0,
+    B = 1,
+}
+
+impl SensorSlot {
+    pub const fn from_index(idx: u8) -> Option<Self> {
+        match idx {
+            0 => Some(SensorSlot::A),
+            1 => Some(SensorSlot::B),
+            _ => None,
+        }
+    }
+}
+
+/// Legacy sensor base address kept for compatibility with existing code.
+/// Each plant uses SENSOR_BASE_ADDRESS + plant_index (0..PLANT_COUNT-1).
+/// 11-bit standard ID space, safe range.
+pub const SENSOR_BASE_ADDRESS: u16 = 1000;
+
+/// Typed topics within the SENSOR_BASE space.
+/// Additional offsets allow distinct message semantics while keeping plant-indexed layout.
+pub mod id {
+    use crate::{SensorSlot, MAX_PLANTS, SENSOR_BASE_ADDRESS};
+
+    /// Number of plants addressable per sensor slot group
+    pub const PLANTS_PER_GROUP: u16 = MAX_PLANTS as u16; // 16
+    /// Offset applied for SensorSlot::B within a message group
+    pub const B_OFFSET: u16 = PLANTS_PER_GROUP; // 16
+
+    // Message group base offsets relative to SENSOR_BASE_ADDRESS
+    pub const MOISTURE_DATA_OFFSET: u16 = 0; // periodic data from sensor (sensor -> controller)
+    pub const IDENTIFY_CMD_OFFSET: u16 = 32; // identify LED command (controller -> sensor)
+
+    // Convenience constants for per-slot base offsets
+    pub const IDENTIFY_CMD_OFFSET_A: u16 = IDENTIFY_CMD_OFFSET + 0;
+    pub const IDENTIFY_CMD_OFFSET_B: u16 = IDENTIFY_CMD_OFFSET + B_OFFSET;
+
+    #[inline]
+    pub const fn plant_id(message_type_offset: u16, sensor: SensorSlot, plant: u16) -> u16 {
+        match sensor {
+            SensorSlot::A => SENSOR_BASE_ADDRESS + message_type_offset + plant,
+            SensorSlot::B => SENSOR_BASE_ADDRESS + message_type_offset + B_OFFSET + plant,
+        }
+    }
+
+    /// Kinds of message spaces recognized by the addressing scheme.
+    #[derive(Debug, Clone, Copy, PartialEq, Eq)]
+    pub enum MessageKind {
+        MoistureData,  // sensor -> controller
+        IdentifyCmd,   // controller -> sensor
+    }
+
+    /// Try to classify a received 11-bit standard ID into a known message kind and extract plant and sensor slot.
+    /// Returns (kind, plant, slot) on success.
+    #[inline]
+    pub const fn classify(id: u16) -> Option<(MessageKind, u8, SensorSlot)> {
+        // Ensure the ID is within our base space
+        if id < SENSOR_BASE_ADDRESS {
+            return None;
+        }
+        let rel = id - SENSOR_BASE_ADDRESS;
+
+        // Helper: decode within a given group offset
+        const fn decode_in_group(rel: u16, group_base: u16) -> Option<(u8, SensorSlot)> {
+            if rel < group_base { return None; }
+            let inner = rel - group_base;
+            if inner < PLANTS_PER_GROUP { // A slot
+                Some((inner as u8, SensorSlot::A))
+            } else if inner >= B_OFFSET && inner < B_OFFSET + PLANTS_PER_GROUP { // B slot
+                Some(((inner - B_OFFSET) as u8, SensorSlot::B))
+            } else {
+                None
+            }
+        }
+
+        // Check known groups in order
+        if let Some((plant, slot)) = decode_in_group(rel, MOISTURE_DATA_OFFSET) {
+            return Some((MessageKind::MoistureData, plant, slot));
+        }
+        if let Some((plant, slot)) = decode_in_group(rel, IDENTIFY_CMD_OFFSET) {
+            return Some((MessageKind::IdentifyCmd, plant, slot));
+        }
+        None
+    }
+
+    /// Returns Some((plant, slot)) regardless of message kind, if the id falls into any known group; otherwise None.
+    #[inline]
+    pub const fn extract_plant_slot(id: u16) -> Option<(u8, SensorSlot)> {
+        match classify(id) {
+            Some((_kind, plant, slot)) => Some((plant, slot)),
+            None => None,
+        }
+    }
+
+    /// Check if an id corresponds exactly to the given message kind, plant and slot.
+    #[inline]
+    pub const fn is_identify_for(id: u16, plant: u8, slot: SensorSlot) -> bool {
+        id == plant_id(IDENTIFY_CMD_OFFSET, slot, plant as u16)
+    }
+
+    #[inline]
+    pub const fn is_moisture_data_for(id: u16, plant: u8, slot: SensorSlot) -> bool {
+        id == plant_id(MOISTURE_DATA_OFFSET, slot, plant as u16)
+    }
+}
+
+/// Periodic moisture data sent by sensors.
+/// Fits into 5 bytes with bincode-v2 (no varint): u8 + u8 + u16 = 4, alignment may keep 4.
+#[derive(Debug, Clone, Copy, Encode, Decode)]
+pub struct MoistureData {
+    pub plant: u8,         // 0..MAX_PLANTS-1
+    pub sensor: SensorSlot, // A/B
+    pub hz: u16,           // measured frequency of moisture sensor
+}
+
+/// Request a sensor to report immediately (controller -> sensor).
+#[derive(Debug, Clone, Copy, Encode, Decode)]
+pub struct MoistureRequest {
+    pub plant: u8,
+    pub sensor: SensorSlot, // target sensor (sensor filters by this)
+}
+
+/// Control a sensor's identify LED, if received by sensor, blink for a few seconds
+#[derive(Debug, Clone, Copy, Encode, Decode)]
+pub struct IdentifyLed {}

rust/src/hal/battery.rs

@@ -1,6 +1,5 @@
 use crate::fat_error::{FatError, FatResult};
 use crate::hal::Box;
-use alloc::string::String;
 use async_trait::async_trait;
 use bq34z100::{Bq34z100g1, Bq34z100g1Driver, Flags};
 use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
@@ -37,12 +36,6 @@ pub struct BatteryInfo {
     pub temperature: u16,
 }
 
-#[derive(Debug, Serialize)]
-pub enum BatteryError {
-    NoBatteryMonitor,
-    CommunicationError(String),
-}
-
 #[derive(Debug, Serialize)]
 pub enum BatteryState {
     Unknown,

rust/src/hal/esp.rs

@@ -595,8 +595,7 @@ impl Esp<'_> {
         if duration_in_ms == 0 {
             software_reset();
         } else {
-            ///let timer = TimerWakeupSource::new(core::time::Duration::from_millis(duration_in_ms));
+            let timer = TimerWakeupSource::new(core::time::Duration::from_millis(duration_in_ms));
-            let timer = TimerWakeupSource::new(core::time::Duration::from_millis(5000));
             let mut wake_pins: [(&mut dyn RtcPinWithResistors, WakeupLevel); 1] =
                 [(&mut self.wake_gpio1, WakeupLevel::Low)];
             let ext1 = esp_hal::rtc_cntl::sleep::Ext1WakeupSource::new(&mut wake_pins);

rust/src/hal/initial_hal.rs

@@ -3,7 +3,7 @@ use crate::fat_error::{FatError, FatResult};
 use crate::hal::esp::Esp;
 use crate::hal::rtc::{BackupHeader, RTCModuleInteraction};
 use crate::hal::water::TankSensor;
-use crate::hal::{BoardInteraction, FreePeripherals, Sensor, TIME_ACCESS};
+use crate::hal::{BoardInteraction, FreePeripherals, Moistures, TIME_ACCESS};
 use crate::{
     bail,
     config::PlantControllerConfig,
@@ -117,14 +117,11 @@ impl<'a> BoardInteraction<'a> for Initial<'a> {
         bail!("Please configure board revision")
     }
 
-    async fn measure_moisture_hz(
+    async fn measure_moisture_hz(&mut self) -> Result<Moistures, FatError> {
-        &mut self,
-        _plant: usize,
-        _sensor: Sensor,
-    ) -> Result<f32, FatError> {
         bail!("Please configure board revision")
     }
 
+
     async fn general_fault(&mut self, enable: bool) {
         self.general_fault.set_level(enable.into());
     }

rust/src/hal/mod.rs

@@ -1,5 +1,5 @@
 pub(crate) mod battery;
-mod can_api;
+// mod can_api; // replaced by external canapi crate
 pub mod esp;
 mod initial_hal;
 mod little_fs2storage_adapter;
@@ -7,7 +7,7 @@ pub(crate) mod rtc;
 mod v3_hal;
 mod v3_shift_register;
 mod v4_hal;
-mod v4_sensor;
+pub(crate) mod v4_sensor;
 mod water;
 use crate::alloc::string::ToString;
 use crate::hal::rtc::{DS3231Module, RTCModuleInteraction};
@@ -60,6 +60,7 @@ use bincode::{Decode, Encode};
 use bq34z100::Bq34z100g1Driver;
 use chrono::{DateTime, FixedOffset, Utc};
 use core::cell::RefCell;
+use canapi::SensorSlot;
 use ds323x::ic::DS3231;
 use ds323x::interface::I2cInterface;
 use ds323x::{DateTimeAccess, Ds323x};
@@ -105,6 +106,8 @@ use littlefs2::fs::{Allocation, Filesystem as lfs2Filesystem};
 use littlefs2::object_safe::DynStorage;
 use log::{error, info, warn};
 use portable_atomic::AtomicBool;
+use serde::Serialize;
+
 
 pub static TIME_ACCESS: OnceLock<Mutex<CriticalSectionRawMutex, Rtc>> = OnceLock::new();
 
@@ -124,6 +127,15 @@ pub enum Sensor {
     B,
 }
 
+impl Into<SensorSlot> for Sensor {
+    fn into(self) -> SensorSlot {
+        match self {
+            Sensor::A => SensorSlot::A,
+            Sensor::B => SensorSlot::B,
+        }
+    }
+}
+
 pub struct PlantHal {}
 
 pub struct HAL<'a> {
@@ -142,19 +154,19 @@ pub trait BoardInteraction<'a> {
 
     fn is_day(&self) -> bool;
     //should be multsampled
-    async fn light(&mut self, enable: bool) -> Result<(), FatError>;
+    async fn light(&mut self, enable: bool) -> FatResult<()>;
-    async fn pump(&mut self, plant: usize, enable: bool) -> Result<(), FatError>;
+    async fn pump(&mut self, plant: usize, enable: bool) -> FatResult<()>;
-    async fn pump_current(&mut self, plant: usize) -> Result<Current, FatError>;
+    async fn pump_current(&mut self, plant: usize) -> FatResult<Current>;
-    async fn fault(&mut self, plant: usize, enable: bool) -> Result<(), FatError>;
+    async fn fault(&mut self, plant: usize, enable: bool) -> FatResult<()>;
-    async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError>;
+    async fn measure_moisture_hz(&mut self) -> Result<Moistures, FatError>;
     async fn general_fault(&mut self, enable: bool);
-    async fn test(&mut self) -> Result<(), FatError>;
+    async fn test(&mut self) -> FatResult<()>;
     fn set_config(&mut self, config: PlantControllerConfig);
-    async fn get_mptt_voltage(&mut self) -> Result<Voltage, FatError>;
+    async fn get_mptt_voltage(&mut self) -> FatResult<Voltage>;
-    async fn get_mptt_current(&mut self) -> Result<Current, FatError>;
+    async fn get_mptt_current(&mut self) -> FatResult<Current>;
 
     // Return JSON string with autodetected sensors per plant. Default: not supported.
-    async fn detect_sensors(&mut self) -> Result<alloc::string::String, FatError> {
+    async fn detect_sensors(&mut self) -> FatResult<DetectionResult> {
         bail!("Autodetection is only available on v4 HAL with CAN bus");
     }
 
@@ -685,3 +697,19 @@ pub async fn esp_set_time(time: DateTime<FixedOffset>) -> FatResult<()> {
         .set_rtc_time(&time.to_utc())
         .await
 }
+
+#[derive(Debug, Clone, Copy, PartialEq, Default, Serialize)]
+pub struct Moistures{
+    pub sensor_a_hz: [f32; PLANT_COUNT],
+    pub sensor_b_hz: [f32; PLANT_COUNT],
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Default, Serialize)]
+pub struct DetectionResult {
+    plant: [DetectionSensorResult; crate::hal::PLANT_COUNT]
+}
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Default, Serialize)]
+pub struct DetectionSensorResult{
+    sensor_a: bool,
+    sensor_b: bool,
+}

rust/src/hal/v3_hal.rs

@@ -4,7 +4,7 @@ use crate::hal::esp::{hold_disable, hold_enable};
 use crate::hal::rtc::RTCModuleInteraction;
 use crate::hal::v3_shift_register::ShiftRegister40;
 use crate::hal::water::TankSensor;
-use crate::hal::{BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT, TIME_ACCESS};
+use crate::hal::{BoardInteraction, FreePeripherals, Moistures, Sensor, PLANT_COUNT, TIME_ACCESS};
 use crate::log::{LogMessage, LOG_ACCESS};
 use crate::{
     config::PlantControllerConfig,
@@ -170,6 +170,112 @@ pub(crate) fn create_v3(
     }))
 }
 
+impl V3<'_> {
+
+    async fn inner_measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError> {
+        let mut results = [0_f32; REPEAT_MOIST_MEASURE];
+        for repeat in 0..REPEAT_MOIST_MEASURE {
+            self.signal_counter.pause();
+            self.signal_counter.clear();
+            //Disable all
+            {
+                let shift_register = self.shift_register.lock().await;
+                shift_register.decompose()[MS_4].set_high()?;
+            }
+
+            let sensor_channel = match sensor {
+                Sensor::A => match plant {
+                    0 => SENSOR_A_1,
+                    1 => SENSOR_A_2,
+                    2 => SENSOR_A_3,
+                    3 => SENSOR_A_4,
+                    4 => SENSOR_A_5,
+                    5 => SENSOR_A_6,
+                    6 => SENSOR_A_7,
+                    7 => SENSOR_A_8,
+                    _ => bail!("Invalid plant id {}", plant),
+                },
+                Sensor::B => match plant {
+                    0 => SENSOR_B_1,
+                    1 => SENSOR_B_2,
+                    2 => SENSOR_B_3,
+                    3 => SENSOR_B_4,
+                    4 => SENSOR_B_5,
+                    5 => SENSOR_B_6,
+                    6 => SENSOR_B_7,
+                    7 => SENSOR_B_8,
+                    _ => bail!("Invalid plant id {}", plant),
+                },
+            };
+
+            let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
+            {
+                let shift_register = self.shift_register.lock().await;
+                let pin_0 = &mut shift_register.decompose()[MS_0];
+                let pin_1 = &mut shift_register.decompose()[MS_1];
+                let pin_2 = &mut shift_register.decompose()[MS_2];
+                let pin_3 = &mut shift_register.decompose()[MS_3];
+                if is_bit_set(0) {
+                    pin_0.set_high()?;
+                } else {
+                    pin_0.set_low()?;
+                }
+                if is_bit_set(1) {
+                    pin_1.set_high()?;
+                } else {
+                    pin_1.set_low()?;
+                }
+                if is_bit_set(2) {
+                    pin_2.set_high()?;
+                } else {
+                    pin_2.set_low()?;
+                }
+                if is_bit_set(3) {
+                    pin_3.set_high()?;
+                } else {
+                    pin_3.set_low()?;
+                }
+
+                shift_register.decompose()[MS_4].set_low()?;
+                shift_register.decompose()[SENSOR_ON].set_high()?;
+            }
+            let measurement = 100; //how long to measure and then extrapolate to hz
+            let factor = 1000f32 / measurement as f32; //scale raw cound by this number to get hz
+
+            //give some time to stabilize
+            Timer::after_millis(10).await;
+            self.signal_counter.resume();
+            Timer::after_millis(measurement).await;
+            self.signal_counter.pause();
+            {
+                let shift_register = self.shift_register.lock().await;
+                shift_register.decompose()[MS_4].set_high()?;
+                shift_register.decompose()[SENSOR_ON].set_low()?;
+            }
+            Timer::after_millis(10).await;
+            let unscaled = self.signal_counter.value();
+            let hz = unscaled as f32 * factor;
+            LOG_ACCESS
+                .lock()
+                .await
+                .log(
+                    LogMessage::RawMeasure,
+                    unscaled as u32,
+                    hz as u32,
+                    &plant.to_string(),
+                    &format!("{sensor:?}"),
+                )
+                .await;
+            results[repeat] = hz;
+        }
+        results.sort_by(|a, b| a.partial_cmp(b).unwrap()); // floats don't seem to implement total_ord
+
+        let mid = results.len() / 2;
+        let median = results[mid];
+        Ok(median)
+    }
+}
+
 #[async_trait(?Send)]
 impl<'a> BoardInteraction<'a> for V3<'a> {
     fn get_tank_sensor(&mut self) -> Result<&mut TankSensor<'a>, FatError> {
@@ -275,108 +381,24 @@ impl<'a> BoardInteraction<'a> for V3<'a> {
         Ok(())
     }
 
-    async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError> {
+    async fn measure_moisture_hz(&mut self) -> Result<Moistures, FatError> {
-        let mut results = [0_f32; REPEAT_MOIST_MEASURE];
+        let mut result = Moistures::default();
-        for repeat in 0..REPEAT_MOIST_MEASURE {
+        for plant in 0..PLANT_COUNT {
-            self.signal_counter.pause();
+            let a = self.inner_measure_moisture_hz(plant, Sensor::A).await;
-            self.signal_counter.clear();
+            let b = self.inner_measure_moisture_hz(plant, Sensor::B).await;
-            //Disable all
+            let aa = a.unwrap_or_else(|_| u32::MAX as f32);
-            {
+            let bb = b.unwrap_or_else(|_| u32::MAX as f32);
-                let shift_register = self.shift_register.lock().await;
-                shift_register.decompose()[MS_4].set_high()?;
-            }
-
-            let sensor_channel = match sensor {
-                Sensor::A => match plant {
-                    0 => SENSOR_A_1,
-                    1 => SENSOR_A_2,
-                    2 => SENSOR_A_3,
-                    3 => SENSOR_A_4,
-                    4 => SENSOR_A_5,
-                    5 => SENSOR_A_6,
-                    6 => SENSOR_A_7,
-                    7 => SENSOR_A_8,
-                    _ => bail!("Invalid plant id {}", plant),
-                },
-                Sensor::B => match plant {
-                    0 => SENSOR_B_1,
-                    1 => SENSOR_B_2,
-                    2 => SENSOR_B_3,
-                    3 => SENSOR_B_4,
-                    4 => SENSOR_B_5,
-                    5 => SENSOR_B_6,
-                    6 => SENSOR_B_7,
-                    7 => SENSOR_B_8,
-                    _ => bail!("Invalid plant id {}", plant),
-                },
-            };
-
-            let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
-            {
-                let shift_register = self.shift_register.lock().await;
-                let pin_0 = &mut shift_register.decompose()[MS_0];
-                let pin_1 = &mut shift_register.decompose()[MS_1];
-                let pin_2 = &mut shift_register.decompose()[MS_2];
-                let pin_3 = &mut shift_register.decompose()[MS_3];
-                if is_bit_set(0) {
-                    pin_0.set_high()?;
-                } else {
-                    pin_0.set_low()?;
-                }
-                if is_bit_set(1) {
-                    pin_1.set_high()?;
-                } else {
-                    pin_1.set_low()?;
-                }
-                if is_bit_set(2) {
-                    pin_2.set_high()?;
-                } else {
-                    pin_2.set_low()?;
-                }
-                if is_bit_set(3) {
-                    pin_3.set_high()?;
-                } else {
-                    pin_3.set_low()?;
-                }
-
-                shift_register.decompose()[MS_4].set_low()?;
-                shift_register.decompose()[SENSOR_ON].set_high()?;
-            }
-            let measurement = 100; //how long to measure and then extrapolate to hz
-            let factor = 1000f32 / measurement as f32; //scale raw cound by this number to get hz
-
-            //give some time to stabilize
-            Timer::after_millis(10).await;
-            self.signal_counter.resume();
-            Timer::after_millis(measurement).await;
-            self.signal_counter.pause();
-            {
-                let shift_register = self.shift_register.lock().await;
-                shift_register.decompose()[MS_4].set_high()?;
-                shift_register.decompose()[SENSOR_ON].set_low()?;
-            }
-            Timer::after_millis(10).await;
-            let unscaled = self.signal_counter.value();
-            let hz = unscaled as f32 * factor;
             LOG_ACCESS
                 .lock()
                 .await
-                .log(
+                .log(LogMessage::TestSensor, aa as u32, bb as u32, &plant.to_string(), "")
-                    LogMessage::RawMeasure,
-                    unscaled as u32,
-                    hz as u32,
-                    &plant.to_string(),
-                    &format!("{sensor:?}"),
-                )
                 .await;
-            results[repeat] = hz;
+            result.sensor_a_hz[plant] = aa;
+            result.sensor_b_hz[plant] = bb;
+        }
+        Ok(result)
     }
-        results.sort_by(|a, b| a.partial_cmp(b).unwrap()); // floats don't seem to implement total_ord
 
-        let mid = results.len() / 2;
-        let median = results[mid];
-        Ok(median)
-    }
 
     async fn general_fault(&mut self, enable: bool) {
         hold_disable(6);
@@ -410,23 +432,7 @@ impl<'a> BoardInteraction<'a> for V3<'a> {
             self.pump(i, false).await?;
             Timer::after_millis(100).await;
         }
-        for plant in 0..PLANT_COUNT {
+        self.measure_moisture_hz().await?;
-            let a = self.measure_moisture_hz(plant, Sensor::A).await;
-            let b = self.measure_moisture_hz(plant, Sensor::B).await;
-            let aa = match a {
-                Ok(a) => a as u32,
-                Err(_) => u32::MAX,
-            };
-            let bb = match b {
-                Ok(b) => b as u32,
-                Err(_) => u32::MAX,
-            };
-            LOG_ACCESS
-                .lock()
-                .await
-                .log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "")
-                .await;
-        }
         Timer::after_millis(10).await;
         Ok(())
     }

rust/src/hal/v4_hal.rs

@@ -6,7 +6,7 @@ use crate::hal::esp::{hold_disable, hold_enable, Esp};
 use crate::hal::rtc::RTCModuleInteraction;
 use crate::hal::v4_sensor::{SensorImpl, SensorInteraction};
 use crate::hal::water::TankSensor;
-use crate::hal::{BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT, TIME_ACCESS};
+use crate::hal::{BoardInteraction, DetectionResult, FreePeripherals, Moistures, I2C_DRIVER, PLANT_COUNT, TIME_ACCESS};
 use crate::log::{LogMessage, LOG_ACCESS};
 use alloc::boxed::Box;
 use alloc::string::ToString;
@@ -387,8 +387,8 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         Ok(())
     }
 
-    async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError> {
+    async fn measure_moisture_hz(&mut self) -> Result<Moistures, FatError> {
-        self.sensor.measure_moisture_hz(plant, sensor).await
+        self.sensor.measure_moisture_hz().await
     }
 
     async fn general_fault(&mut self, enable: bool) {
@@ -426,21 +426,14 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
             self.pump(i, false).await?;
             Timer::after_millis(100).await;
         }
+        let moisture = self.measure_moisture_hz().await?;
         for plant in 0..PLANT_COUNT {
-            let a = self.measure_moisture_hz(plant, Sensor::A).await;
+            let a = moisture.sensor_a_hz[plant] as u32;
-            let b = self.measure_moisture_hz(plant, Sensor::B).await;
+            let b = moisture.sensor_b_hz[plant] as u32;
-            let aa = match a {
-                Ok(a) => a as u32,
-                Err(_) => u32::MAX,
-            };
-            let bb = match b {
-                Ok(b) => b as u32,
-                Err(_) => u32::MAX,
-            };
             LOG_ACCESS
                 .lock()
                 .await
-                .log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "")
+                .log(LogMessage::TestSensor, a, b, &plant.to_string(), "")
                 .await;
         }
         Timer::after_millis(10).await;
@@ -451,30 +444,15 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         self.config = config;
     }
 
-    async fn get_mptt_voltage(&mut self) -> Result<Voltage, FatError> {
+    async fn get_mptt_voltage(&mut self) -> FatResult<Voltage> {
         self.charger.get_mptt_voltage()
     }
 
-    async fn get_mptt_current(&mut self) -> Result<Current, FatError> {
+    async fn get_mptt_current(&mut self) -> FatResult<Current> {
         self.charger.get_mppt_current()
     }
 
-    async fn detect_sensors(&mut self) -> Result<alloc::string::String, FatError> {
+    async fn detect_sensors(&mut self) -> FatResult<DetectionResult> {
-        // Delegate to sensor autodetect and build JSON
+        self.sensor.autodetect().await
-        let detected = self.sensor.autodetect().await?;
-        // Build JSON manually to avoid exposing internal types
-        let mut s = alloc::string::String::from("{\"plants\":[");
-        for (i, (a, b)) in detected.iter().enumerate() {
-            if i != 0 {
-                s.push(',');
-            }
-            s.push_str("{\"a\":");
-            s.push_str(if *a { "true" } else { "false" });
-            s.push_str(",\"b\":");
-            s.push_str(if *b { "true" } else { "false" });
-            s.push('}');
-        }
-        s.push_str("]}");
-        Ok(s)
     }
 }

rust/src/hal/v4_sensor.rs

@@ -1,31 +1,33 @@
+use canapi::id::{classify, plant_id, MessageKind, IDENTIFY_CMD_OFFSET};
 use crate::bail;
 use crate::fat_error::{ContextExt, FatError, FatResult};
-use crate::hal::can_api::ResponseMoisture;
+use canapi::{SensorSlot};
-use crate::hal::Sensor;
+use crate::hal::{DetectionResult, Moistures, Sensor};
-use crate::hal::{can_api, Box};
+use crate::hal::Box;
 use crate::log::{LogMessage, LOG_ACCESS};
 use alloc::format;
 use alloc::string::ToString;
 use async_trait::async_trait;
 use bincode::config;
-use bincode::error::DecodeError;
 use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_time::{Instant, Timer, WithTimeout};
-use embedded_can::Frame;
+use embedded_can::{Frame, Id};
 use esp_hal::gpio::Output;
 use esp_hal::i2c::master::I2c;
 use esp_hal::pcnt::unit::Unit;
 use esp_hal::twai::{EspTwaiFrame, StandardId, Twai, TwaiConfiguration};
-use esp_hal::{Async, Blocking};
+use esp_hal::{Blocking};
-use log::info;
+use log::{error, info, warn};
 use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
 
 const REPEAT_MOIST_MEASURE: usize = 10;
 
+
+
 #[async_trait(?Send)]
 pub trait SensorInteraction {
-    async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> FatResult<f32>;
+    async fn measure_moisture_hz(&mut self) -> FatResult<Moistures>;
 }
 
 const MS0: u8 = 1_u8;
@@ -49,13 +51,162 @@ pub enum SensorImpl {
 
 #[async_trait(?Send)]
 impl SensorInteraction for SensorImpl {
-    async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> FatResult<f32> {
+    async fn measure_moisture_hz(&mut self) -> FatResult<Moistures> {
         match self {
             SensorImpl::PulseCounter {
                 signal_counter,
                 sensor_expander,
                 ..
             } => {
+                let mut result = Moistures::default();
+                for plant in 0..crate::hal::PLANT_COUNT{
+                    result.sensor_a_hz[plant] =  Self::inner_pulse(plant, Sensor::A, signal_counter, sensor_expander).await?;
+                    info!("Sensor {} {:?}: {}", plant, Sensor::A, result.sensor_a_hz[plant]);
+                    result.sensor_b_hz[plant] =  Self::inner_pulse(plant, Sensor::B, signal_counter, sensor_expander).await?;
+                    info!("Sensor {} {:?}: {}", plant, Sensor::B, result.sensor_b_hz[plant]);
+                }
+                Ok(result)
+            }
+
+            SensorImpl::CanBus {
+                twai_config,
+                can_power,
+            } => {
+                can_power.set_high();
+                let config = twai_config.take().expect("twai config not set");
+                let mut twai = config.start();
+
+                loop {
+                    let rec = twai.receive();
+                    match rec {
+                        Ok(_) => {}
+                        Err(err) => {
+                            info!("Error receiving CAN message: {:?}", err);
+                            break;
+                        }
+                    }
+                }
+
+                Timer::after_millis(10).await;
+                let can = Self::inner_can(&mut twai).await;
+
+                can_power.set_low();
+
+                let config = twai.stop();
+                twai_config.replace(config);
+
+                let value = can?;
+                Ok(value)
+            }
+        }
+    }
+}
+
+
+
+impl SensorImpl {
+    pub async fn autodetect(&mut self) -> FatResult<DetectionResult> {
+        match self {
+            SensorImpl::PulseCounter { .. } => {
+                bail!("Only CAN bus implementation supports autodetection")
+            }
+            SensorImpl::CanBus {
+                twai_config,
+                can_power,
+            } => {
+                // Power on CAN transceiver and start controller
+                can_power.set_high();
+                let config = twai_config.take().expect("twai config not set");
+                let mut as_async = config.into_async().start();
+                // Give CAN some time to stabilize
+                Timer::after_millis(10).await;
+
+                // Send a few test messages per potential sensor node
+                for plant in 0..crate::hal::PLANT_COUNT {
+                    for sensor in [Sensor::A, Sensor::B] {
+                        let target = StandardId::new(plant_id(IDENTIFY_CMD_OFFSET, sensor.into(),  plant as u16)).context(">> Could not create address for sensor! (plant: {}) <<")?;
+                        let can_buffer = [0_u8; 0];
+                        if let Some(frame) = EspTwaiFrame::new(target, &can_buffer) {
+                            // Try a few times; we intentionally ignore rx here and rely on stub logic
+                            let resu = as_async.transmit_async(&frame).await;
+                            match resu {
+                                Ok(_) => {
+                                    info!(
+                                        "Sent test message to plant {} sensor {:?}",
+                                        plant, sensor
+                                    );
+                                }
+                                Err(err) => {
+                                    info!("Error sending test message to plant {} sensor {:?}: {:?}", plant, sensor, err);
+                                }
+                            }
+                        } else {
+                            info!("Error building CAN frame");
+                        }
+
+                    }
+                }
+
+                let mut result = DetectionResult::default();
+                loop {
+                    match as_async.receive_async().with_deadline(Instant::from_millis(100)).await {
+                        Ok(or) => {
+                            match or {
+                                Ok(can_frame) => {
+                                    match can_frame.id() {
+                                        Id::Standard(id) => {
+                                            let rawid = id.as_raw();
+                                            match classify(rawid) {
+                                                None => {}
+                                                Some(msg) => {
+                                                    if msg.0 == MessageKind::MoistureData {
+                                                        let plant = msg.1 as usize;
+                                                        let sensor = msg.2;
+                                                        match sensor {
+                                                            SensorSlot::A => {
+                                                                result.plant[plant].sensor_a = true;
+                                                            }
+                                                            SensorSlot::B => {
+                                                                result.plant[plant].sensor_b = true;
+                                                            }
+                                                        }
+                                                    }
+                                                }
+                                            }
+                                        }
+                                        Id::Extended(ext) => {
+                                            warn!("Received extended ID: {:?}", ext);
+                                        }
+                                    }
+
+                                }
+                                Err(err ) => {
+                                    error!("Error receiving CAN message: {:?}", err);
+                                    break;
+                                }
+                            }
+                            info!("Received CAN message: {:?}", or);
+
+                        }
+                        Err(err) => {
+                            error!("Timeout receiving CAN message: {:?}", err);
+                            break;
+                        }
+                    }
+                }
+
+                let config = as_async.stop().into_blocking();
+                can_power.set_low();
+                twai_config.replace(config);
+
+                info!("Autodetection result: {:?}", result);
+                Ok(result)
+            }
+        }
+    }
+
+    pub async fn inner_pulse(plant: usize, sensor: Sensor, signal_counter: &mut Unit<'_, 0>, sensor_expander: &mut Pca9535Immediate<I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Blocking>>>) -> FatResult<f32> {
+
     let mut results = [0_f32; REPEAT_MOIST_MEASURE];
     for repeat in 0..REPEAT_MOIST_MEASURE {
     signal_counter.pause();
@@ -131,138 +282,11 @@ impl SensorInteraction for SensorImpl {
     Ok(median)
 }
 
-            SensorImpl::CanBus {
-                twai_config,
-                can_power,
-            } => {
-                can_power.set_high();
-                let config = twai_config.take().expect("twai config not set");
-                let mut twai = config.start();
-
-                loop {
-                    let rec = twai.receive();
-                    match rec {
-                        Ok(_) => {}
-                        Err(err) => {
-                            info!("Error receiving CAN message: {:?}", err);
-                            break;
-                        }
-                    }
-                }
-
-                Timer::after_millis(10).await;
-                let can = Self::inner_can(plant, sensor, &mut twai).await;
-
-                can_power.set_low();
-
-                let config = twai.stop();
-                twai_config.replace(config);
-
-                let value = can?;
-                Ok(value)
-            }
-        }
-    }
-}
-
-impl SensorImpl {
-    pub async fn autodetect(&mut self) -> FatResult<[(bool, bool); crate::hal::PLANT_COUNT]> {
-        match self {
-            SensorImpl::PulseCounter { .. } => {
-                bail!("Only CAN bus implementation supports autodetection")
-            }
-            SensorImpl::CanBus {
-                twai_config,
-                can_power,
-            } => {
-                // Power on CAN transceiver and start controller
-                can_power.set_high();
-                let mut config = twai_config.take().expect("twai config not set");
-                let mut as_async = config.into_async().start();
-                // Give CAN some time to stabilize
-                Timer::after_millis(10).await;
-
-                // Send a few test messages per potential sensor node
-                for plant in 0..crate::hal::PLANT_COUNT {
-                    for sensor in [Sensor::A, Sensor::B] {
-                        // Reuse CAN addressing scheme from moisture request
-                        let can_buffer = [0_u8; 8];
-                        let cfg = config::standard();
-                        if let Some(address) =
-                            StandardId::new(can_api::SENSOR_BASE_ADDRESS + plant as u16)
-                        {
-                            if let Some(frame) = EspTwaiFrame::new(address, &can_buffer) {
-                                // Try a few times; we intentionally ignore rx here and rely on stub logic
-                                let resu = as_async.transmit_async(&frame).await;
-                                match resu {
-                                    Ok(_) => {
-                                        info!(
-                                            "Sent test message to plant {} sensor {:?}",
-                                            plant, sensor
-                                        );
-                                    }
-                                    Err(err) => {
-                                        info!("Error sending test message to plant {} sensor {:?}: {:?}", plant, sensor, err);
-                                    }
-                                }
-                            } else {
-                                info!("Error building CAN frame");
-                            }
-                        } else {
-                            info!("Error creating address for sensor");
-                        }
-                    }
-                }
-                // Poll for messages for ~100 ms
-                let detect_timeout = Instant::now()
-                    .checked_add(embassy_time::Duration::from_millis(100))
-                    .unwrap();
-
-                loop {
-                    match as_async.receive() {
-                        Ok(or) => {
-                            info!("Received CAN message: {:?}", or);
-                        }
-                        Err(nb::Error::WouldBlock) => {
-                            if Instant::now() > detect_timeout {
-                                break;
-                            }
-                            Timer::after_millis(10).await;
-                        }
-                        Err(nb::Error::Other(err)) => {
-                            info!("Error receiving CAN message: {:?}", err);
-                            break;
-                        }
-                    }
-                }
-
-                let config = as_async.stop().into_blocking();
-                can_power.set_low();
-                twai_config.replace(config);
-
-                // Stub: return no detections yet
-                let mut result = [(false, false); crate::hal::PLANT_COUNT];
-                Ok(result)
-            }
-        }
-    }
-
     async fn inner_can(
-        plant: usize,
-        sensor: Sensor,
         twai: &mut Twai<'static, Blocking>,
-    ) -> FatResult<f32> {
+    ) -> FatResult<Moistures> {
-        let can_sensor: Sensor = sensor.into();
+        [0_u8; 8];
-        //let request = RequestMoisture { sensor: can_sensor };
+        config::standard();
-        let can_buffer = [0_u8; 8];
-        let config = config::standard();
-        //let encoded = bincode::encode_into_slice(&request, &mut can_buffer, config)?;
-
-        let address = StandardId::new(can_api::SENSOR_BASE_ADDRESS + plant as u16)
-            .context(">> Could not create address for sensor! (plant: {}) <<")?;
-        let request =
-            EspTwaiFrame::new(address, &can_buffer[0..8]).context("Error building CAN frame")?;
-        twai.transmit(&request)?;
 
         let timeout = Instant::now()
             .checked_add(embassy_time::Duration::from_millis(100))
@@ -271,26 +295,7 @@ impl SensorImpl {
             let answer = twai.receive();
             match answer {
                 Ok(answer) => {
-                    let data = EspTwaiFrame::data(&answer);
+                    info!("Received CAN message: {:?}", answer);
-                    let response: Result<(ResponseMoisture, usize), DecodeError> =
-                        bincode::decode_from_slice(&data, config);
-                    info!("Can answer {response:?}");
-                    let value = response?.0;
-                    if (value.plant as usize) != plant {
-                        bail!(
-                            "Received answer for wrong plant! Expected: {}, got: {}",
-                            plant,
-                            value.plant
-                        );
-                    }
-                    if value.sensor != can_sensor {
-                        bail!(
-                            "Received answer for wrong sensor! Expected: {:?}, got: {:?}",
-                            can_sensor,
-                            value.sensor
-                        );
-                    }
-                    return Ok(value.hz as f32);
                 }
                 Err(error) => match error {
                     nb::Error::Other(error) => {

rust/src/main.rs

@@ -399,15 +399,17 @@ async fn safe_main(spawner: Spawner) -> FatResult<()> {
 
     publish_tank_state(&mut board, &tank_state, water_temp).await;
 
+    let moisture = board.board_hal.measure_moisture_hz().await?;
+
     let plantstate: [PlantState; PLANT_COUNT] = [
-        PlantState::read_hardware_state(0, &mut board).await,
+        PlantState::read_hardware_state(moisture,0, &mut board).await,
-        PlantState::read_hardware_state(1, &mut board).await,
+        PlantState::read_hardware_state(moisture,1, &mut board).await,
-        PlantState::read_hardware_state(2, &mut board).await,
+        PlantState::read_hardware_state(moisture,2, &mut board).await,
-        PlantState::read_hardware_state(3, &mut board).await,
+        PlantState::read_hardware_state(moisture,3, &mut board).await,
-        PlantState::read_hardware_state(4, &mut board).await,
+        PlantState::read_hardware_state(moisture,4, &mut board).await,
-        PlantState::read_hardware_state(5, &mut board).await,
+        PlantState::read_hardware_state(moisture,5, &mut board).await,
-        PlantState::read_hardware_state(6, &mut board).await,
+        PlantState::read_hardware_state(moisture,6, &mut board).await,
-        PlantState::read_hardware_state(7, &mut board).await,
+        PlantState::read_hardware_state(moisture,7, &mut board).await,
     ];
 
     publish_plant_states(&mut board, &timezone_time.clone(), &plantstate).await;

rust/src/plant_state.rs

@@ -1,9 +1,9 @@
+use crate::hal::Moistures;
 use crate::{
     config::PlantConfig,
-    hal::{Sensor, HAL},
+    hal::HAL,
     in_time_range,
 };
-use alloc::string::{String, ToString};
 use chrono::{DateTime, TimeDelta, Utc};
 use chrono_tz::Tz;
 use serde::{Deserialize, Serialize};
@@ -15,7 +15,6 @@ const MOIST_SENSOR_MIN_FREQUENCY: f32 = 150.; // this is really, really dry, thi
 pub enum MoistureSensorError {
     ShortCircuit { hz: f32, max: f32 },
     OpenLoop { hz: f32, min: f32 },
-    BoardError(String),
 }
 
 #[derive(Debug, PartialEq, Serialize)]
@@ -116,14 +115,10 @@ fn map_range_moisture(
 }
 
 impl PlantState {
-    pub async fn read_hardware_state(plant_id: usize, board: &mut HAL<'_>) -> Self {
+    pub async fn read_hardware_state(moistures: Moistures, plant_id: usize, board: &mut HAL<'_>) -> Self {
         let sensor_a = if board.board_hal.get_config().plants[plant_id].sensor_a {
-            match board
+            let raw = moistures.sensor_a_hz[plant_id];
-                .board_hal
+            match map_range_moisture(
-                .measure_moisture_hz(plant_id, Sensor::A)
-                .await
-            {
-                Ok(raw) => match map_range_moisture(
                 raw,
                     board.board_hal.get_config().plants[plant_id].moisture_sensor_min_frequency,
                     board.board_hal.get_config().plants[plant_id].moisture_sensor_max_frequency,
@@ -133,22 +128,14 @@ impl PlantState {
                         moisture_percent,
                     },
                     Err(err) => MoistureSensorState::SensorError(err),
-                },
-                Err(err) => MoistureSensorState::SensorError(MoistureSensorError::BoardError(
-                    err.to_string(),
-                )),
                 }
         } else {
             MoistureSensorState::Disabled
         };
 
         let sensor_b = if board.board_hal.get_config().plants[plant_id].sensor_b {
-            match board
+            let raw = moistures.sensor_b_hz[plant_id];
-                .board_hal
+            match map_range_moisture(
-                .measure_moisture_hz(plant_id, Sensor::B)
-                .await
-            {
-                Ok(raw) => match map_range_moisture(
                 raw,
                 board.board_hal.get_config().plants[plant_id].moisture_sensor_min_frequency,
                 board.board_hal.get_config().plants[plant_id].moisture_sensor_max_frequency,
@@ -158,10 +145,6 @@ impl PlantState {
                     moisture_percent,
                 },
                 Err(err) => MoistureSensorState::SensorError(err),
-                },
-                Err(err) => MoistureSensorState::SensorError(MoistureSensorError::BoardError(
-                    err.to_string(),
-                )),
             }
         } else {
             MoistureSensorState::Disabled

rust/src/webserver/get_json.rs

@@ -37,9 +37,10 @@ where
     T: Read + Write,
 {
     let mut board = BOARD_ACCESS.get().await.lock().await;
+    let moistures = board.board_hal.measure_moisture_hz().await?;
     let mut plant_state = Vec::new();
     for i in 0..PLANT_COUNT {
-        plant_state.push(PlantState::read_hardware_state(i, &mut board).await);
+        plant_state.push(PlantState::read_hardware_state(moistures, i, &mut board).await);
     }
     let a = Vec::from_iter(plant_state.iter().map(|s| match &s.sensor_a {
         MoistureSensorState::Disabled => "disabled".to_string(),

rust/src/webserver/post_json.rs

@@ -52,7 +52,8 @@ pub(crate) async fn board_test() -> FatResult<Option<String>> {
 
 pub(crate) async fn detect_sensors() -> FatResult<Option<String>> {
     let mut board = BOARD_ACCESS.get().await.lock().await;
-    let json = board.board_hal.detect_sensors().await?;
+    let result = board.board_hal.detect_sensors().await?;
+    let json = serde_json::to_string(&result)?;
     Ok(Some(json))
 }