allow mppt module to fail during startup without aborting

rust/src/hal/v4_hal.rs

@@ -8,11 +8,12 @@ use crate::hal::{
     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,
 };
@@ -20,6 +21,7 @@ use esp_idf_sys::{gpio_hold_dis, gpio_hold_en};
 use ina219::address::{Address, Pin};
 use ina219::calibration::UnCalibrated;
 use ina219::configuration::{Configuration, OperatingMode};
+use ina219::errors::InitializationError;
 use ina219::SyncIna219;
 use measurements::{Current, Resistance, Voltage};
 use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
@@ -38,6 +40,7 @@ pub enum Charger<'a> {
         solar_is_day: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Input>,
         charge_indicator: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
     },
+    ErrorInit {},
 }
 
 impl Charger<'_> {
@@ -60,6 +63,7 @@ impl Charger<'_> {
                 );
                     });
             }
+            _ => {}
         }
     }
     fn set_charge_indicator(&mut self, charging: bool) -> anyhow::Result<()> {
@@ -69,6 +73,7 @@ impl Charger<'_> {
             } => {
                 charge_indicator.set_state(charging.into())?;
             }
+            _ => {}
         }
         Ok(())
     }
@@ -76,6 +81,7 @@ impl Charger<'_> {
     fn is_day(&self) -> bool {
         match self {
             Charger::SolarMpptV1 { solar_is_day, .. } => solar_is_day.get_level().into(),
+            _ => true,
         }
     }
 
@@ -84,6 +90,9 @@ impl Charger<'_> {
             Charger::SolarMpptV1 { mppt_ina, .. } => mppt_ina
                 .bus_voltage()
                 .map(|v| Voltage::from_millivolts(v.voltage_mv() as f64))?,
+            _ => {
+                bail!("hardware error during init")
+            }
         };
         Ok(voltage)
     }
@@ -96,6 +105,9 @@ impl Charger<'_> {
                 let current = shunt_voltage.as_volts() / shut_value.as_ohms();
                 Current::from_amperes(current)
             })?,
+            _ => {
+                bail!("hardware error during init")
+            }
         };
         Ok(current)
     }
@@ -179,8 +191,8 @@ pub(crate) fn create_v4(
     let mut charge_indicator = PinDriver::input_output(peripherals.gpio3.downgrade())?;
     charge_indicator.set_pull(Pull::Floating)?;
     charge_indicator.set_low()?;
+
     let mut pump_expander = Pca9535Immediate::new(MutexDevice::new(&I2C_DRIVER), 32);
-    //todo error handing if init error
     for pin in 0..8 {
         let _ = pump_expander.pin_into_output(GPIOBank::Bank0, pin);
         let _ = pump_expander.pin_into_output(GPIOBank::Bank1, pin);
@@ -196,12 +208,13 @@ pub(crate) fn create_v4(
         let _ = sensor_expander.pin_set_low(GPIOBank::Bank1, pin);
     }
 
-    //TODO error handling is not done nicely here, should not break if ina is not responsive
     let mut mppt_ina = SyncIna219::new(
         MutexDevice::new(&I2C_DRIVER),
         Address::from_pins(Pin::Vcc, Pin::Gnd),
-    )?;
+    );
 
+    let charger = match mppt_ina {
+        Ok(mut mppt_ina) => {
             mppt_ina.set_configuration(Configuration {
                 reset: Default::default(),
                 bus_voltage_range: Default::default(),
@@ -210,6 +223,7 @@ pub(crate) fn create_v4(
                 shunt_resolution: ina219::configuration::Resolution::Avg128,
                 operating_mode: Default::default(),
             })?;
+
             //TODO this is probably already done until we are ready first time?, maybe add startup time comparison on access?
             esp.delay.delay_ms(
                 mppt_ina
@@ -219,10 +233,13 @@ pub(crate) fn create_v4(
                     .as_millis() as u32,
             );
 
-    let charger = Charger::SolarMpptV1 {
+            Charger::SolarMpptV1 {
                 mppt_ina,
                 solar_is_day,
                 charge_indicator,
+            }
+        }
+        Err(_) => Charger::ErrorInit {},
     };
 
     let v = V4 {