canbus sensor stub and pcnt impl

rust/src/hal/v4_hal.rs

@@ -1,28 +1,25 @@
+use crate::bail;
 use crate::config::PlantControllerConfig;
+use crate::fat_error::{FatError, FatResult};
 use crate::hal::battery::BatteryInteraction;
 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::log::{LogMessage, LOG_ACCESS};
 use alloc::boxed::Box;
 use alloc::string::ToString;
 use async_trait::async_trait;
 use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_time::Timer;
-use esp_hal::{twai, Blocking};
-//use embedded_hal_bus::i2c::MutexDevice;
-use crate::bail;
-use crate::fat_error::{FatError, FatResult};
-use crate::hal::v4_sensor::{SensorImpl, SensorInteraction};
-use crate::log::{LogMessage, LOG_ACCESS};
 use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig, Pull};
 use esp_hal::i2c::master::I2c;
 use esp_hal::pcnt::channel::CtrlMode::Keep;
 use esp_hal::pcnt::channel::EdgeMode::{Hold, Increment};
-use esp_hal::pcnt::Pcnt;
-use esp_hal::twai::{EspTwaiFrame, StandardId, TwaiMode};
-use esp_println::println;
+use esp_hal::twai::TwaiMode;
+use esp_hal::{twai, Blocking};
 use ina219::address::{Address, Pin};
 use ina219::calibration::UnCalibrated;
 use ina219::configuration::{Configuration, OperatingMode, Resolution};
@@ -179,7 +176,6 @@ pub(crate) async fn create_v4(
 
             let signal_counter = peripherals.pcnt0;
 
-            signal_counter.set_low_limit(Some(0))?;
             signal_counter.set_high_limit(Some(i16::MAX))?;
 
             let ch0 = &signal_counter.channel0;
@@ -203,23 +199,20 @@ pub(crate) async fn create_v4(
         }
         Err(_) => {
             log::info!("Can bus mode ");
-            let twai_config = twai::TwaiConfiguration::new(
+            let twai_config = Some(twai::TwaiConfiguration::new(
                 peripherals.twai,
                 peripherals.gpio0,
                 peripherals.gpio2,
                 TWAI_BAUDRATE,
                 TwaiMode::Normal,
-            );
+            ));
+            let can_power = Output::new(peripherals.gpio22, Level::Low, OutputConfig::default());
 
-            let mut twai = twai_config.start();
-            let frame = EspTwaiFrame::new(StandardId::ZERO, &[1, 2, 3]).unwrap();
-
-            twai.transmit(&frame).unwrap();
-
-            //            let frame = twai.receive().unwrap();
-            println!("Received a frame: {frame:?}");
             //can bus version
-            SensorImpl::CanBus { twai }
+            SensorImpl::CanBus {
+                twai_config,
+                can_power,
+            }
         }
     };
 
@@ -409,6 +402,14 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         Timer::after_millis(100).await;
         self.general_fault(false).await;
         Timer::after_millis(500).await;
+        self.extra1.set_high();
+        Timer::after_millis(500).await;
+        self.extra1.set_low();
+        Timer::after_millis(500).await;
+        self.extra2.set_high();
+        Timer::after_millis(500).await;
+        self.extra2.set_low();
+        Timer::after_millis(500).await;
         self.light(true).await?;
         Timer::after_millis(500).await;
         self.light(false).await?;