can prepare stuff

rust/Cargo.toml

@@ -86,6 +86,7 @@ pca9535 = { version = "2.0.0", features = ["std"] }
 ina219 = { version = "0.2.0", features = ["std"] }
 embedded-storage = "=0.3.1"
 ekv = "1.0.0"
+embedded-can = "0.4.1"
 
 
 [patch.crates-io]

rust/src/hal/initial_hal.rs

@@ -51,6 +51,7 @@ pub(crate) fn create_initial_board(
     config: PlantControllerConfig,
     esp: Esp<'static>,
 ) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
+    println!("Start initial");
     let mut general_fault = PinDriver::input_output(free_pins.gpio6.downgrade())?;
     general_fault.set_pull(Pull::Floating)?;
     general_fault.set_low()?;

rust/src/hal/mod.rs

@@ -5,6 +5,7 @@ mod rtc;
 mod v3_hal;
 mod v4_hal;
 mod water;
+mod v4_sensor;
 
 use crate::hal::rtc::{DS3231Module, RTCModuleInteraction};
 use crate::hal::water::TankSensor;
@@ -47,11 +48,12 @@ use once_cell::sync::Lazy;
 use std::result::Result::Ok as OkStd;
 use std::sync::Mutex;
 use std::time::Duration;
+use esp_idf_hal::can::CAN;
 use esp_idf_hal::pcnt::PCNT1;
 
 //Only support for 8 right now!
 pub const PLANT_COUNT: usize = 8;
-const REPEAT_MOIST_MEASURE: usize = 1;
+
 
 const TANK_MULTI_SAMPLE: usize = 11;
 
@@ -157,6 +159,7 @@ pub struct FreePeripherals {
     pub pcnt0: PCNT0,
     pub pcnt1: PCNT1,
     pub adc1: ADC1,
+    pub can: CAN,
 }
 
 impl PlantHal {
@@ -186,6 +189,7 @@ impl PlantHal {
         boot_button.set_pull(Pull::Floating)?;
 
         let free_pins = FreePeripherals {
+            can: peripherals.can,
             adc1: peripherals.adc1,
             pcnt0: peripherals.pcnt0,
             pcnt1: peripherals.pcnt1,

rust/src/hal/v3_hal.rs

@@ -1,7 +1,7 @@
 use crate::hal::rtc::RTCModuleInteraction;
 use crate::hal::water::TankSensor;
 use crate::hal::{
-    deep_sleep, BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT, REPEAT_MOIST_MEASURE,
+    deep_sleep, BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT,
 };
 use crate::log::{log, LogMessage};
 use crate::{
@@ -64,6 +64,9 @@ const FAULT_4: usize = 21;
 const FAULT_1: usize = 22;
 const FAULT_2: usize = 23;
 
+const REPEAT_MOIST_MEASURE: usize = 1;
+
+
 pub struct V3<'a> {
     config: PlantControllerConfig,
     battery_monitor: Box<dyn BatteryInteraction + Send>,
@@ -91,6 +94,7 @@ pub(crate) fn create_v3(
     battery_monitor: Box<dyn BatteryInteraction + Send>,
     rtc_module: Box<dyn RTCModuleInteraction + Send>,
 ) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
+    println!("Start v3");
     let mut clock = PinDriver::input_output(peripherals.gpio15.downgrade())?;
     clock.set_pull(Pull::Floating)?;
     let mut latch = PinDriver::input_output(peripherals.gpio3.downgrade())?;

rust/src/hal/v4_hal.rs

@@ -2,18 +2,18 @@ use crate::config::PlantControllerConfig;
 use crate::hal::battery::BatteryInteraction;
 use crate::hal::esp::Esp;
 use crate::hal::rtc::RTCModuleInteraction;
+use crate::hal::v4_sensor::SensorImpl;
+use crate::hal::v4_sensor::SensorInteraction;
 use crate::hal::water::TankSensor;
 use crate::hal::{
-    deep_sleep, BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT,
+    deep_sleep, BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT
-    REPEAT_MOIST_MEASURE,
 };
 use crate::log::{log, LogMessage};
 use anyhow::bail;
 use embedded_hal::digital::OutputPin;
 use embedded_hal_bus::i2c::MutexDevice;
-use esp_idf_hal::delay::Delay;
 use esp_idf_hal::gpio::{AnyInputPin, IOPin, InputOutput, Output, PinDriver, Pull};
-use esp_idf_hal::i2c::I2cDriver;
+use esp_idf_hal::i2c::{I2cDriver, I2cError};
 use esp_idf_hal::pcnt::{
     PcntChannel, PcntChannelConfig, PcntControlMode, PcntCountMode, PcntDriver, PinIndex,
 };
@@ -23,15 +23,13 @@ use ina219::calibration::UnCalibrated;
 use ina219::configuration::{Configuration, OperatingMode};
 use ina219::SyncIna219;
 use measurements::{Current, Resistance, Voltage};
-use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
+use pca9535::{ExpanderError, GPIOBank, Pca9535Immediate, StandardExpanderInterface};
 use std::result::Result::Ok as OkStd;
-
+use embedded_can::nb::Can;
-const MS0: u8 = 1_u8;
+use embedded_can::Frame;
-const MS1: u8 = 0_u8;
+use embedded_can::StandardId;
-const MS2: u8 = 3_u8;
+use esp_idf_hal::prelude::*;
-const MS3: u8 = 4_u8;
+use esp_idf_hal::can;
-const MS4: u8 = 2_u8;
-const SENSOR_ON: u8 = 5_u8;
 
 pub enum Charger<'a> {
     SolarMpptV1 {
@@ -119,13 +117,13 @@ pub struct V4<'a> {
     rtc_module: Box<dyn RTCModuleInteraction + Send>,
     battery_monitor: Box<dyn BatteryInteraction + Send>,
     config: PlantControllerConfig,
-    signal_counter: PcntDriver<'a>,
+
     awake: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, Output>,
     light: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
     general_fault: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
     pump_expander: Pca9535Immediate<MutexDevice<'a, I2cDriver<'a>>>,
     pump_ina: Option<SyncIna219<MutexDevice<'a, I2cDriver<'a>>, UnCalibrated>>,
-    sensor_expander: Pca9535Immediate<MutexDevice<'a, I2cDriver<'a>>>,
+    sensor: SensorImpl<'a>,
     extra1: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, Output>,
     extra2: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, Output>,
 }
@@ -137,6 +135,7 @@ pub(crate) fn create_v4(
     battery_monitor: Box<dyn BatteryInteraction + Send>,
     rtc_module: Box<dyn RTCModuleInteraction + Send>,
 ) -> anyhow::Result<Box<dyn BoardInteraction<'static> + Send + 'static>> {
+    println!("Start v4");
     let mut awake = PinDriver::output(peripherals.gpio21.downgrade())?;
     awake.set_high()?;
 
@@ -163,27 +162,68 @@ pub(crate) fn create_v4(
         peripherals.pcnt1
     )?;
 
-    let mut signal_counter = PcntDriver::new(
+    let mut sensor_expander = Pca9535Immediate::new(MutexDevice::new(&I2C_DRIVER), 34);
-        peripherals.pcnt0,
+    let sensor = match  sensor_expander.pin_into_output(GPIOBank::Bank0, 0)  {
-        Some(peripherals.gpio22),
+        Ok(_) => {
-        Option::<AnyInputPin>::None,
+            println!("SensorExpander answered");
-        Option::<AnyInputPin>::None,
+            //pulse counter version
-        Option::<AnyInputPin>::None,
+            let mut signal_counter = PcntDriver::new(
-    )?;
+                peripherals.pcnt0,
+                Some(peripherals.gpio22),
+                Option::<AnyInputPin>::None,
+                Option::<AnyInputPin>::None,
+                Option::<AnyInputPin>::None,
+            )?;
+
+            signal_counter.channel_config(
+                PcntChannel::Channel0,
+                PinIndex::Pin0,
+                PinIndex::Pin1,
+                &PcntChannelConfig {
+                    lctrl_mode: PcntControlMode::Keep,
+                    hctrl_mode: PcntControlMode::Keep,
+                    pos_mode: PcntCountMode::Increment,
+                    neg_mode: PcntCountMode::Hold,
+                    counter_h_lim: i16::MAX,
+                    counter_l_lim: 0,
+                },
+            )?;
+
+            for pin in 0..8 {
+                let _ = sensor_expander.pin_into_output(GPIOBank::Bank0, pin);
+                let _ = sensor_expander.pin_into_output(GPIOBank::Bank1, pin);
+                let _ = sensor_expander.pin_set_low(GPIOBank::Bank0, pin);
+                let _ = sensor_expander.pin_set_low(GPIOBank::Bank1, pin);
+            }
+
+            SensorImpl::PulseCounter {
+                signal_counter,
+                sensor_expander,
+            }
+        }
+        Err(_) => {
+            println!("Can bus mode ");
+            let timing = can::config::Timing::B25K;
+            let config = can::config::Config::new().timing(timing);
+            let mut can = can::CanDriver::new(peripherals.can, peripherals.gpio0, peripherals.gpio2, &config).unwrap();
+
+
+            let frame = StandardId::new(0x042).unwrap();
+            let tx_frame = Frame::new(frame, &[0, 1, 2, 3, 4, 5, 6, 7]).unwrap();
+            can.transmit(&tx_frame, 1000).unwrap();
+
+            if let Ok(rx_frame) = can.receive(1000) {
+                println!("rx {:}:", rx_frame);
+            }
+            //can bus version
+            SensorImpl::CanBus {
+                can
+            }
+        }
+    };
+
+
 
-    signal_counter.channel_config(
-        PcntChannel::Channel0,
-        PinIndex::Pin0,
-        PinIndex::Pin1,
-        &PcntChannelConfig {
-            lctrl_mode: PcntControlMode::Keep,
-            hctrl_mode: PcntControlMode::Keep,
-            pos_mode: PcntCountMode::Increment,
-            neg_mode: PcntCountMode::Hold,
-            counter_h_lim: i16::MAX,
-            counter_l_lim: 0,
-        },
-    )?;
 
     let mut solar_is_day = PinDriver::input(peripherals.gpio7.downgrade())?;
     solar_is_day.set_pull(Pull::Floating)?;
@@ -203,13 +243,7 @@ pub(crate) fn create_v4(
         let _ = pump_expander.pin_set_low(GPIOBank::Bank1, pin);
     }
 
-    let mut sensor_expander = Pca9535Immediate::new(MutexDevice::new(&I2C_DRIVER), 34);
+
-    for pin in 0..8 {
-        let _ = sensor_expander.pin_into_output(GPIOBank::Bank0, pin);
-        let _ = sensor_expander.pin_into_output(GPIOBank::Bank1, pin);
-        let _ = sensor_expander.pin_set_low(GPIOBank::Bank0, pin);
-        let _ = sensor_expander.pin_set_low(GPIOBank::Bank1, pin);
-    }
 
     let mppt_ina = SyncIna219::new(
         MutexDevice::new(&I2C_DRIVER),
@@ -252,17 +286,16 @@ pub(crate) fn create_v4(
         esp,
         awake,
         tank_sensor,
-        signal_counter,
         light,
         general_fault,
         pump_ina,
         pump_expander,
-        sensor_expander,
         config,
         battery_monitor,
         charger,
         extra1,
         extra2,
+        sensor,
     };
     Ok(Box::new(v))
 }
@@ -350,78 +383,7 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
     }
 
     fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> anyhow::Result<f32> {
-        let mut results = [0_f32; REPEAT_MOIST_MEASURE];
+        self.sensor.measure_moisture_hz(plant, sensor)
-        for repeat in 0..REPEAT_MOIST_MEASURE {
-            self.signal_counter.counter_pause()?;
-            self.signal_counter.counter_clear()?;
-
-            //Disable all
-            self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
-
-            let sensor_channel = match sensor {
-                Sensor::A => plant as u32,
-                Sensor::B => (15 - plant) as u32,
-            };
-
-            let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
-            if is_bit_set(0) {
-                self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS0)?;
-            } else {
-                self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
-            }
-            if is_bit_set(1) {
-                self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS1)?;
-            } else {
-                self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
-            }
-            if is_bit_set(2) {
-                self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS2)?;
-            } else {
-                self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
-            }
-            if is_bit_set(3) {
-                self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS3)?;
-            } else {
-                self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
-            }
-
-            self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS4)?;
-            self.sensor_expander
-                .pin_set_high(GPIOBank::Bank0, SENSOR_ON)?;
-
-            let delay = Delay::new_default();
-            let measurement = 100; // TODO what is this scaling factor? what is its purpose?
-            let factor = 1000f32 / measurement as f32;
-
-            //give some time to stabilize
-            delay.delay_ms(10);
-            self.signal_counter.counter_resume()?;
-            delay.delay_ms(measurement);
-            self.signal_counter.counter_pause()?;
-            self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
-            self.sensor_expander
-                .pin_set_low(GPIOBank::Bank0, SENSOR_ON)?;
-            self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
-            self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
-            self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
-            self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
-            delay.delay_ms(10);
-            let unscaled = self.signal_counter.get_counter_value()? as i32;
-            let hz = unscaled as f32 * factor;
-            log(
-                LogMessage::RawMeasure,
-                unscaled as u32,
-                hz as u32,
-                &plant.to_string(),
-                &format!("{sensor:?}"),
-            );
-            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];
-        anyhow::Ok(median)
     }
 
     fn general_fault(&mut self, enable: bool) {

rust/src/hal/v4_sensor.rs

@@ -0,0 +1,115 @@
+use embedded_hal_bus::i2c::MutexDevice;
+use esp_idf_hal::can::CanDriver;
+use esp_idf_hal::delay::Delay;
+use esp_idf_hal::i2c::I2cDriver;
+use esp_idf_hal::pcnt::PcntDriver;
+use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
+use crate::hal::Sensor;
+use crate::log::{log, LogMessage};
+
+const REPEAT_MOIST_MEASURE: usize = 10;
+
+pub trait SensorInteraction {
+    fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> anyhow::Result<f32>;
+}
+
+const MS0: u8 = 1_u8;
+const MS1: u8 = 0_u8;
+const MS2: u8 = 3_u8;
+const MS3: u8 = 4_u8;
+const MS4: u8 = 2_u8;
+const SENSOR_ON: u8 = 5_u8;
+
+pub enum SensorImpl<'a> {
+    PulseCounter{
+        signal_counter: PcntDriver<'a>,
+        sensor_expander: Pca9535Immediate<MutexDevice<'a, I2cDriver<'a>>>,
+    },
+    CanBus{
+        can: CanDriver<'a>
+    }
+}
+
+impl SensorInteraction for SensorImpl<'_> {
+    fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> anyhow::Result<f32> {
+        match self {
+            SensorImpl::PulseCounter { signal_counter, sensor_expander, .. } => {
+                let mut results = [0_f32; REPEAT_MOIST_MEASURE];
+                for repeat in 0..REPEAT_MOIST_MEASURE {
+                    signal_counter.counter_pause()?;
+                    signal_counter.counter_clear()?;
+
+                    //Disable all
+                    sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
+
+                    let sensor_channel = match sensor {
+                        Sensor::A => plant as u32,
+                        Sensor::B => (15 - plant) as u32,
+                    };
+
+                    let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
+                    if is_bit_set(0) {
+                        sensor_expander.pin_set_high(GPIOBank::Bank0, MS0)?;
+                    } else {
+                        sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
+                    }
+                    if is_bit_set(1) {
+                        sensor_expander.pin_set_high(GPIOBank::Bank0, MS1)?;
+                    } else {
+                        sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
+                    }
+                    if is_bit_set(2) {
+                        sensor_expander.pin_set_high(GPIOBank::Bank0, MS2)?;
+                    } else {
+                        sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
+                    }
+                    if is_bit_set(3) {
+                        sensor_expander.pin_set_high(GPIOBank::Bank0, MS3)?;
+                    } else {
+                        sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
+                    }
+
+                    sensor_expander.pin_set_low(GPIOBank::Bank0, MS4)?;
+                    sensor_expander
+                        .pin_set_high(GPIOBank::Bank0, SENSOR_ON)?;
+
+                    let delay = Delay::new_default();
+                    let measurement = 100; // TODO what is this scaling factor? what is its purpose?
+                    let factor = 1000f32 / measurement as f32;
+
+                    //give some time to stabilize
+                    delay.delay_ms(10);
+                    signal_counter.counter_resume()?;
+                    delay.delay_ms(measurement);
+                    signal_counter.counter_pause()?;
+                    sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
+                    sensor_expander
+                        .pin_set_low(GPIOBank::Bank0, SENSOR_ON)?;
+                    sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
+                    sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
+                    sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
+                    sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
+                    delay.delay_ms(10);
+                    let unscaled = signal_counter.get_counter_value()? as i32;
+                    let hz = unscaled as f32 * factor;
+                    log(
+                        LogMessage::RawMeasure,
+                        unscaled as u32,
+                        hz as u32,
+                        &plant.to_string(),
+                        &format!("{sensor:?}"),
+                    );
+                    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];
+                anyhow::Ok(median)
+            }
+            SensorImpl::CanBus { .. } => {
+                todo!()
+            }
+        }
+    }
+}