it's alive
This commit is contained in:
434
rust/scratch/v3_hal.rs
Normal file
434
rust/scratch/v3_hal.rs
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@@ -0,0 +1,434 @@
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use crate::hal::rtc::RTCModuleInteraction;
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use crate::hal::water::TankSensor;
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use crate::hal::{
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deep_sleep, BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT,
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};
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use crate::log::{log, LogMessage};
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use crate::{
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config::PlantControllerConfig,
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hal::{battery::BatteryInteraction, esp::Esp},
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};
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use anyhow::{bail, Ok, Result};
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use embedded_hal::digital::OutputPin;
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use measurements::{Current, Voltage};
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use plant_ctrl2::sipo::ShiftRegister40;
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use core::result::Result::Ok as OkStd;
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use alloc::string::ToString;
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use alloc::boxed::Box;
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use esp_hall::gpio::Pull;
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const PUMP8_BIT: usize = 0;
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const PUMP1_BIT: usize = 1;
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const PUMP2_BIT: usize = 2;
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const PUMP3_BIT: usize = 3;
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const PUMP4_BIT: usize = 4;
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const PUMP5_BIT: usize = 5;
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const PUMP6_BIT: usize = 6;
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const PUMP7_BIT: usize = 7;
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const MS_0: usize = 8;
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const MS_4: usize = 9;
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const MS_2: usize = 10;
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const MS_3: usize = 11;
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const MS_1: usize = 13;
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const SENSOR_ON: usize = 12;
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const SENSOR_A_1: u8 = 7;
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const SENSOR_A_2: u8 = 6;
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const SENSOR_A_3: u8 = 5;
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const SENSOR_A_4: u8 = 4;
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const SENSOR_A_5: u8 = 3;
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const SENSOR_A_6: u8 = 2;
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const SENSOR_A_7: u8 = 1;
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const SENSOR_A_8: u8 = 0;
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const SENSOR_B_1: u8 = 8;
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const SENSOR_B_2: u8 = 9;
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const SENSOR_B_3: u8 = 10;
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const SENSOR_B_4: u8 = 11;
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const SENSOR_B_5: u8 = 12;
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const SENSOR_B_6: u8 = 13;
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const SENSOR_B_7: u8 = 14;
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const SENSOR_B_8: u8 = 15;
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const CHARGING: usize = 14;
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const AWAKE: usize = 15;
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const FAULT_3: usize = 16;
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const FAULT_8: usize = 17;
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const FAULT_7: usize = 18;
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const FAULT_6: usize = 19;
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const FAULT_5: usize = 20;
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const FAULT_4: usize = 21;
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const FAULT_1: usize = 22;
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const FAULT_2: usize = 23;
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const REPEAT_MOIST_MEASURE: usize = 1;
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pub struct V3<'a> {
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config: PlantControllerConfig,
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battery_monitor: Box<dyn BatteryInteraction + Send>,
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rtc_module: Box<dyn RTCModuleInteraction + Send>,
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esp: Esp<'a>,
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shift_register: ShiftRegister40<
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PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
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PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
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PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
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>,
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_shift_register_enable_invert:
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PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Output>,
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tank_sensor: TankSensor<'a>,
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solar_is_day: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Input>,
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light: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
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main_pump: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
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general_fault: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
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signal_counter: PcntDriver<'a>,
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}
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pub(crate) fn create_v3(
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peripherals: FreePeripherals,
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esp: Esp<'static>,
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config: PlantControllerConfig,
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battery_monitor: Box<dyn BatteryInteraction + Send>,
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rtc_module: Box<dyn RTCModuleInteraction + Send>,
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) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
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log::info!("Start v3");
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let mut clock = PinDriver::input_output(peripherals.gpio15.downgrade())?;
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clock.set_pull(Pull::Floating)?;
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let mut latch = PinDriver::input_output(peripherals.gpio3.downgrade())?;
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latch.set_pull(Pull::Floating)?;
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let mut data = PinDriver::input_output(peripherals.gpio23.downgrade())?;
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data.set_pull(Pull::Floating)?;
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let shift_register = ShiftRegister40::new(clock, latch, data);
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//disable all
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for mut pin in shift_register.decompose() {
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pin.set_low()?;
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}
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let awake = &mut shift_register.decompose()[AWAKE];
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awake.set_high()?;
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let charging = &mut shift_register.decompose()[CHARGING];
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charging.set_high()?;
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let ms0 = &mut shift_register.decompose()[MS_0];
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ms0.set_low()?;
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let ms1 = &mut shift_register.decompose()[MS_1];
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ms1.set_low()?;
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let ms2 = &mut shift_register.decompose()[MS_2];
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ms2.set_low()?;
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let ms3 = &mut shift_register.decompose()[MS_3];
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ms3.set_low()?;
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let ms4 = &mut shift_register.decompose()[MS_4];
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ms4.set_high()?;
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let one_wire_pin = peripherals.gpio18.downgrade();
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let tank_power_pin = peripherals.gpio11.downgrade();
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let flow_sensor_pin = peripherals.gpio4.downgrade();
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let tank_sensor = TankSensor::create(
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one_wire_pin,
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peripherals.adc1,
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peripherals.gpio5,
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tank_power_pin,
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flow_sensor_pin,
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peripherals.pcnt1,
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)?;
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let mut signal_counter = PcntDriver::new(
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peripherals.pcnt0,
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Some(peripherals.gpio22),
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Option::<AnyInputPin>::None,
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Option::<AnyInputPin>::None,
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Option::<AnyInputPin>::None,
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)?;
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signal_counter.channel_config(
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PcntChannel::Channel0,
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PinIndex::Pin0,
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PinIndex::Pin1,
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&PcntChannelConfig {
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lctrl_mode: PcntControlMode::Keep,
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hctrl_mode: PcntControlMode::Keep,
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pos_mode: PcntCountMode::Increment,
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neg_mode: PcntCountMode::Hold,
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counter_h_lim: i16::MAX,
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counter_l_lim: 0,
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},
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)?;
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let mut solar_is_day = PinDriver::input(peripherals.gpio7.downgrade())?;
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solar_is_day.set_pull(Pull::Floating)?;
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let mut light = PinDriver::input_output(peripherals.gpio10.downgrade())?;
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light.set_pull(Pull::Floating)?;
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let mut main_pump = PinDriver::input_output(peripherals.gpio2.downgrade())?;
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main_pump.set_pull(Pull::Floating)?;
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main_pump.set_low()?;
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let mut general_fault = PinDriver::input_output(peripherals.gpio6.downgrade())?;
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general_fault.set_pull(Pull::Floating)?;
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general_fault.set_low()?;
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let mut shift_register_enable_invert = PinDriver::output(peripherals.gpio21.downgrade())?;
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unsafe { gpio_hold_dis(shift_register_enable_invert.pin()) };
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shift_register_enable_invert.set_low()?;
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unsafe { gpio_hold_en(shift_register_enable_invert.pin()) };
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Ok(Box::new(V3 {
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config,
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battery_monitor,
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rtc_module,
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esp,
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shift_register,
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_shift_register_enable_invert: shift_register_enable_invert,
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tank_sensor,
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solar_is_day,
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light,
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main_pump,
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general_fault,
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signal_counter,
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}))
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}
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impl<'a> BoardInteraction<'a> for V3<'a> {
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fn get_tank_sensor(&mut self) -> Option<&mut TankSensor<'a>> {
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Some(&mut self.tank_sensor)
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}
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fn get_esp(&mut self) -> &mut Esp<'a> {
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&mut self.esp
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}
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fn get_config(&mut self) -> &PlantControllerConfig {
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&self.config
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}
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fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send + 'static> {
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&mut self.battery_monitor
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}
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fn get_rtc_module(&mut self) -> &mut Box<dyn RTCModuleInteraction + Send> {
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&mut self.rtc_module
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}
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fn set_charge_indicator(&mut self, charging: bool) -> Result<()> {
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Ok(self.shift_register.decompose()[CHARGING].set_state(charging.into())?)
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}
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fn deep_sleep(&mut self, duration_in_ms: u64) -> ! {
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let _ = self.shift_register.decompose()[AWAKE].set_low();
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deep_sleep(duration_in_ms)
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}
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fn is_day(&self) -> bool {
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self.solar_is_day.get_level().into()
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}
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fn light(&mut self, enable: bool) -> Result<()> {
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unsafe { gpio_hold_dis(self.light.pin()) };
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self.light.set_state(enable.into())?;
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unsafe { gpio_hold_en(self.light.pin()) };
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Ok(())
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}
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fn pump(&mut self, plant: usize, enable: bool) -> Result<()> {
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if enable {
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self.main_pump.set_high()?;
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}
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let index = match plant {
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0 => PUMP1_BIT,
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1 => PUMP2_BIT,
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2 => PUMP3_BIT,
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3 => PUMP4_BIT,
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4 => PUMP5_BIT,
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5 => PUMP6_BIT,
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6 => PUMP7_BIT,
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7 => PUMP8_BIT,
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_ => bail!("Invalid pump {plant}",),
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};
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self.shift_register.decompose()[index].set_state(enable.into())?;
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if !enable {
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self.main_pump.set_low()?;
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}
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Ok(())
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}
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fn pump_current(&mut self, _plant: usize) -> Result<Current> {
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bail!("Not implemented in v3")
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}
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fn fault(&mut self, plant: usize, enable: bool) -> Result<()> {
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let index = match plant {
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0 => FAULT_1,
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1 => FAULT_2,
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2 => FAULT_3,
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3 => FAULT_4,
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4 => FAULT_5,
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5 => FAULT_6,
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6 => FAULT_7,
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7 => FAULT_8,
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_ => panic!("Invalid plant id {}", plant),
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};
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self.shift_register.decompose()[index].set_state(enable.into())?;
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Ok(())
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}
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fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32> {
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let mut results = [0_f32; REPEAT_MOIST_MEASURE];
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for repeat in 0..REPEAT_MOIST_MEASURE {
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self.signal_counter.counter_pause()?;
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self.signal_counter.counter_clear()?;
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//Disable all
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self.shift_register.decompose()[MS_4].set_high()?;
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let sensor_channel = match sensor {
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Sensor::A => match plant {
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0 => SENSOR_A_1,
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1 => SENSOR_A_2,
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2 => SENSOR_A_3,
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3 => SENSOR_A_4,
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4 => SENSOR_A_5,
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5 => SENSOR_A_6,
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6 => SENSOR_A_7,
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7 => SENSOR_A_8,
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_ => bail!("Invalid plant id {}", plant),
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},
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Sensor::B => match plant {
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0 => SENSOR_B_1,
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1 => SENSOR_B_2,
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2 => SENSOR_B_3,
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3 => SENSOR_B_4,
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4 => SENSOR_B_5,
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5 => SENSOR_B_6,
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6 => SENSOR_B_7,
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7 => SENSOR_B_8,
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_ => bail!("Invalid plant id {}", plant),
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},
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};
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let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
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let pin_0 = &mut self.shift_register.decompose()[MS_0];
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let pin_1 = &mut self.shift_register.decompose()[MS_1];
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let pin_2 = &mut self.shift_register.decompose()[MS_2];
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let pin_3 = &mut self.shift_register.decompose()[MS_3];
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if is_bit_set(0) {
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pin_0.set_high()?;
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} else {
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pin_0.set_low()?;
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}
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if is_bit_set(1) {
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pin_1.set_high()?;
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} else {
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pin_1.set_low()?;
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}
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if is_bit_set(2) {
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pin_2.set_high()?;
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} else {
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pin_2.set_low()?;
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}
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if is_bit_set(3) {
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pin_3.set_high()?;
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} else {
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pin_3.set_low()?;
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}
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self.shift_register.decompose()[MS_4].set_low()?;
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self.shift_register.decompose()[SENSOR_ON].set_high()?;
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let measurement = 100; //how long to measure and then extrapolate to hz
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let factor = 1000f32 / measurement as f32; //scale raw cound by this number to get hz
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//give some time to stabilize
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self.esp.delay.delay_ms(10);
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self.signal_counter.counter_resume()?;
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self.esp.delay.delay_ms(measurement);
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self.signal_counter.counter_pause()?;
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self.shift_register.decompose()[MS_4].set_high()?;
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self.shift_register.decompose()[SENSOR_ON].set_low()?;
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self.esp.delay.delay_ms(10);
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let unscaled = self.signal_counter.get_counter_value()? as i32;
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let hz = unscaled as f32 * factor;
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log(
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LogMessage::RawMeasure,
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unscaled as u32,
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hz as u32,
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&plant.to_string(),
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&format!("{sensor:?}"),
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);
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results[repeat] = hz;
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}
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results.sort_by(|a, b| a.partial_cmp(b).unwrap()); // floats don't seem to implement total_ord
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let mid = results.len() / 2;
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let median = results[mid];
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Ok(median)
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}
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fn general_fault(&mut self, enable: bool) {
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unsafe { gpio_hold_dis(self.general_fault.pin()) };
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self.general_fault.set_state(enable.into()).unwrap();
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unsafe { gpio_hold_en(self.general_fault.pin()) };
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}
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fn test(&mut self) -> Result<()> {
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self.general_fault(true);
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self.esp.delay.delay_ms(100);
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self.general_fault(false);
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self.esp.delay.delay_ms(100);
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self.light(true)?;
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self.esp.delay.delay_ms(500);
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self.light(false)?;
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self.esp.delay.delay_ms(500);
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for i in 0..PLANT_COUNT {
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self.fault(i, true)?;
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self.esp.delay.delay_ms(500);
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self.fault(i, false)?;
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self.esp.delay.delay_ms(500);
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}
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for i in 0..PLANT_COUNT {
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self.pump(i, true)?;
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self.esp.delay.delay_ms(100);
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self.pump(i, false)?;
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self.esp.delay.delay_ms(100);
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}
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for plant in 0..PLANT_COUNT {
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let a = self.measure_moisture_hz(plant, Sensor::A);
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let b = self.measure_moisture_hz(plant, Sensor::B);
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let aa = match a {
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OkStd(a) => a as u32,
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Err(_) => u32::MAX,
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};
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let bb = match b {
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OkStd(b) => b as u32,
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Err(_) => u32::MAX,
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};
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log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "");
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}
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self.esp.delay.delay_ms(10);
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Ok(())
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}
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fn set_config(&mut self, config: PlantControllerConfig) -> Result<()> {
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self.config = config;
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self.esp.save_config(&self.config)?;
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anyhow::Ok(())
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}
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fn get_mptt_voltage(&mut self) -> Result<Voltage> {
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//assuming module to work, these are the hardware set values
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if self.is_day() {
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Ok(Voltage::from_volts(15_f64))
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} else {
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Ok(Voltage::from_volts(0_f64))
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}
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}
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fn get_mptt_current(&mut self) -> Result<Current> {
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bail!("Board does not have current sensor")
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}
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}
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Reference in New Issue
Block a user