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This commit is contained in:
Empire
2025-09-13 01:39:47 +02:00
parent 79087c9353
commit 9de85b6e37
19 changed files with 1567 additions and 1488 deletions
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419
rust/src/hal/mod.rs
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@@ -2,55 +2,33 @@ pub(crate) mod battery;
mod esp;
mod initial_hal;
mod rtc;
mod v3_hal;
mod v4_hal;
mod v4_sensor;
mod water;
//mod water;
use crate::alloc::string::ToString;
use crate::hal::rtc::{DS3231Module, RTCModuleInteraction};
use crate::hal::water::TankSensor;
use crate::hal::rtc::{RTCModuleInteraction};
//use crate::hal::water::TankSensor;
use crate::{
config::{BatteryBoardVersion, BoardVersion, PlantControllerConfig},
hal::{
battery::{print_battery_bq34z100, BatteryInteraction, NoBatteryMonitor},
battery::{BatteryInteraction, NoBatteryMonitor},
esp::Esp,
},
log::{log, LogMessage},
};
use alloc::boxed::Box;
use alloc::format;
use core::marker::PhantomData;
use anyhow::{Ok, Result};
use async_trait::async_trait;
use battery::BQ34Z100G1;
//use battery::BQ34Z100G1;
use bq34z100::Bq34z100g1Driver;
use ds323x::{DateTimeAccess, Ds323x};
use eeprom24x::{Eeprom24x, SlaveAddr, Storage};
use embassy_sync::blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex};
use embassy_sync::blocking_mutex::raw::{CriticalSectionRawMutex};
use embassy_sync::mutex::Mutex;
use embassy_sync::{LazyLock, Mutex};
use embedded_hal_bus::i2c::MutexDevice;
use esp_idf_hal::can::CAN;
use esp_idf_hal::pcnt::PCNT1;
use esp_idf_hal::{
adc::ADC1,
delay::Delay,
gpio::{
Gpio0, Gpio1, Gpio10, Gpio11, Gpio12, Gpio13, Gpio14, Gpio15, Gpio16, Gpio17, Gpio18,
Gpio2, Gpio21, Gpio22, Gpio23, Gpio24, Gpio25, Gpio26, Gpio27, Gpio28, Gpio29, Gpio3,
Gpio30, Gpio4, Gpio5, Gpio6, Gpio7, Gpio8, IOPin, PinDriver, Pull,
},
i2c::{APBTickType, I2cConfig, I2cDriver},
pcnt::PCNT0,
prelude::Peripherals,
reset::ResetReason,
units::FromValueType,
};
use esp_idf_svc::{eventloop::EspSystemEventLoop, nvs::EspDefaultNvsPartition, wifi::EspWifi};
use esp_idf_sys::{
esp_deep_sleep, esp_restart, esp_sleep_enable_ext1_wakeup,
esp_sleep_ext1_wakeup_mode_t_ESP_EXT1_WAKEUP_ANY_LOW,
};
use esp_ota::mark_app_valid;
use embassy_sync::lazy_lock::LazyLock;
use esp_hal::clock::CpuClock;
use esp_hal::timer::systimer::SystemTimer;
use measurements::{Current, Voltage};
//Only support for 8 right now!
@@ -58,24 +36,27 @@ pub const PLANT_COUNT: usize = 8;
const TANK_MULTI_SAMPLE: usize = 11;
pub static I2C_DRIVER: LazyLock<Mutex<I2cDriver<'static>>> = LazyLock::new(PlantHal::create_i2c);
//pub static I2C_DRIVER: LazyLock<Mutex<CriticalSectionRawMutex,I2cDriver<'static>>> = LazyLock::new(PlantHal::create_i2c);
fn deep_sleep(duration_in_ms: u64) -> ! {
unsafe {
//if we don't do this here, we might just revert newly flashed firmware
mark_app_valid();
//allow early wakeup by pressing the boot button
if duration_in_ms == 0 {
esp_restart();
} else {
//configure gpio 1 to wakeup on low, reused boot button for this
esp_sleep_enable_ext1_wakeup(
0b10u64,
esp_sleep_ext1_wakeup_mode_t_ESP_EXT1_WAKEUP_ANY_LOW,
);
esp_deep_sleep(duration_in_ms);
//unsafe {
// //if we don't do this here, we might just revert newly flashed firmware
// mark_app_valid();
// //allow early wakeup by pressing the boot button
// if duration_in_ms == 0 {
// esp_restart();
// } else {
// //configure gpio 1 to wakeup on low, reused boot button for this
// esp_sleep_enable_ext1_wakeup(
// 0b10u64,
// esp_sleep_ext1_wakeup_mode_t_ESP_EXT1_WAKEUP_ANY_LOW,
// );
// esp_deep_sleep(duration_in_ms);
// }
loop {
todo!()
}
};
//};
}
#[derive(Debug, PartialEq)]
@@ -92,7 +73,7 @@ pub struct HAL<'a> {
#[async_trait]
pub trait BoardInteraction<'a> {
fn get_tank_sensor(&mut self) -> Option<&mut TankSensor>;
//fn get_tank_sensor(&mut self) -> Option<&mut TankSensor>;
fn get_esp(&mut self) -> &mut Esp<'a>;
fn get_config(&mut self) -> &PlantControllerConfig;
fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send>;
@@ -114,13 +95,14 @@ pub trait BoardInteraction<'a> {
async fn get_mptt_current(&mut self) -> anyhow::Result<Current>;
}
impl dyn BoardInteraction<'_> {
//the counter is just some arbitrary number that increases whenever some progress was made, try to keep the updates < 10 per second for ux reasons
async fn _progress(&mut self, counter: u32) {
let even = counter % 2 == 0;
let current = counter / (PLANT_COUNT as u32);
for led in 0..PLANT_COUNT {
self.fault(led, current == led as u32).unwrap();
self.fault(led, current == led as u32).await.unwrap();
}
let _ = self.general_fault(even.into());
}
@@ -128,134 +110,138 @@ impl dyn BoardInteraction<'_> {
#[allow(dead_code)]
pub struct FreePeripherals {
pub gpio0: Gpio0,
pub gpio1: Gpio1,
pub gpio2: Gpio2,
pub gpio3: Gpio3,
pub gpio4: Gpio4,
pub gpio5: Gpio5,
pub gpio6: Gpio6,
pub gpio7: Gpio7,
pub gpio8: Gpio8,
//config button here
pub gpio10: Gpio10,
pub gpio11: Gpio11,
pub gpio12: Gpio12,
pub gpio13: Gpio13,
pub gpio14: Gpio14,
pub gpio15: Gpio15,
pub gpio16: Gpio16,
pub gpio17: Gpio17,
pub gpio18: Gpio18,
//i2c here
pub gpio21: Gpio21,
pub gpio22: Gpio22,
pub gpio23: Gpio23,
pub gpio24: Gpio24,
pub gpio25: Gpio25,
pub gpio26: Gpio26,
pub gpio27: Gpio27,
pub gpio28: Gpio28,
pub gpio29: Gpio29,
pub gpio30: Gpio30,
pub pcnt0: PCNT0,
pub pcnt1: PCNT1,
pub adc1: ADC1,
pub can: CAN,
// pub gpio0: Gpio0,
// pub gpio1: Gpio1,
// pub gpio2: Gpio2,
// pub gpio3: Gpio3,
// pub gpio4: Gpio4,
// pub gpio5: Gpio5,
// pub gpio6: Gpio6,
// pub gpio7: Gpio7,
// pub gpio8: Gpio8,
// //config button here
// pub gpio10: Gpio10,
// pub gpio11: Gpio11,
// pub gpio12: Gpio12,
// pub gpio13: Gpio13,
// pub gpio14: Gpio14,
// pub gpio15: Gpio15,
// pub gpio16: Gpio16,
// pub gpio17: Gpio17,
// pub gpio18: Gpio18,
// //i2c here
// pub gpio21: Gpio21,
// pub gpio22: Gpio22,
// pub gpio23: Gpio23,
// pub gpio24: Gpio24,
// pub gpio25: Gpio25,
// pub gpio26: Gpio26,
// pub gpio27: Gpio27,
// pub gpio28: Gpio28,
// pub gpio29: Gpio29,
// pub gpio30: Gpio30,
// pub pcnt0: PCNT0,
// pub pcnt1: PCNT1,
// pub adc1: ADC1,
// pub can: CAN,
}
impl PlantHal {
fn create_i2c() -> Mutex<I2cDriver<'static>> {
let peripherals = unsafe { Peripherals::new() };
let config = I2cConfig::new()
.scl_enable_pullup(true)
.sda_enable_pullup(true)
.baudrate(100_u32.kHz().into())
.timeout(APBTickType::from(Duration::from_millis(100)));
let i2c = peripherals.i2c0;
let scl = peripherals.pins.gpio19.downgrade();
let sda = peripherals.pins.gpio20.downgrade();
Mutex::new(I2cDriver::new(i2c, sda, scl, &config).unwrap())
}
// fn create_i2c() -> Mutex<CriticalSectionRawMutex, I2cDriver<'static>> {
// let peripherals = unsafe { Peripherals::new() };
//
// let config = I2cConfig::new()
// .scl_enable_pullup(true)
// .sda_enable_pullup(true)
// .baudrate(100_u32.kHz().into())
// .timeout(APBTickType::from(Duration::from_millis(100)));
//
// let i2c = peripherals.i2c0;
// let scl = peripherals.pins.gpio19.downgrade();
// let sda = peripherals.pins.gpio20.downgrade();
//
// Mutex::new(I2cDriver::new(i2c, sda, scl, &config).unwrap())
// }
pub fn create() -> Result<Mutex<CriticalSectionRawMutex, HAL<'static>>> {
let peripherals = Peripherals::take()?;
let sys_loop = EspSystemEventLoop::take()?;
let nvs = EspDefaultNvsPartition::take()?;
let wifi_driver = EspWifi::new(peripherals.modem, sys_loop, Some(nvs))?;
let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
let peripherals = esp_hal::init(config);
let mut boot_button = PinDriver::input(peripherals.pins.gpio9.downgrade())?;
boot_button.set_pull(Pull::Floating)?;
esp_alloc::heap_allocator!(size: 64 * 1024);
let timer0 = SystemTimer::new(peripherals.SYSTIMER);
esp_hal_embassy::init(timer0.alarm0);
let free_pins = FreePeripherals {
can: peripherals.can,
adc1: peripherals.adc1,
pcnt0: peripherals.pcnt0,
pcnt1: peripherals.pcnt1,
gpio0: peripherals.pins.gpio0,
gpio1: peripherals.pins.gpio1,
gpio2: peripherals.pins.gpio2,
gpio3: peripherals.pins.gpio3,
gpio4: peripherals.pins.gpio4,
gpio5: peripherals.pins.gpio5,
gpio6: peripherals.pins.gpio6,
gpio7: peripherals.pins.gpio7,
gpio8: peripherals.pins.gpio8,
gpio10: peripherals.pins.gpio10,
gpio11: peripherals.pins.gpio11,
gpio12: peripherals.pins.gpio12,
gpio13: peripherals.pins.gpio13,
gpio14: peripherals.pins.gpio14,
gpio15: peripherals.pins.gpio15,
gpio16: peripherals.pins.gpio16,
gpio17: peripherals.pins.gpio17,
gpio18: peripherals.pins.gpio18,
gpio21: peripherals.pins.gpio21,
gpio22: peripherals.pins.gpio22,
gpio23: peripherals.pins.gpio23,
gpio24: peripherals.pins.gpio24,
gpio25: peripherals.pins.gpio25,
gpio26: peripherals.pins.gpio26,
gpio27: peripherals.pins.gpio27,
gpio28: peripherals.pins.gpio28,
gpio29: peripherals.pins.gpio29,
gpio30: peripherals.pins.gpio30,
};
// let mut boot_button = PinDriver::input(peripherals.pins.gpio9.downgrade())?;
// boot_button.set_pull(Pull::Floating)?;
//
// let free_pins = FreePeripherals {
// can: peripherals.can,
// adc1: peripherals.adc1,
// pcnt0: peripherals.pcnt0,
// pcnt1: peripherals.pcnt1,
// gpio0: peripherals.pins.gpio0,
// gpio1: peripherals.pins.gpio1,
// gpio2: peripherals.pins.gpio2,
// gpio3: peripherals.pins.gpio3,
// gpio4: peripherals.pins.gpio4,
// gpio5: peripherals.pins.gpio5,
// gpio6: peripherals.pins.gpio6,
// gpio7: peripherals.pins.gpio7,
// gpio8: peripherals.pins.gpio8,
// gpio10: peripherals.pins.gpio10,
// gpio11: peripherals.pins.gpio11,
// gpio12: peripherals.pins.gpio12,
// gpio13: peripherals.pins.gpio13,
// gpio14: peripherals.pins.gpio14,
// gpio15: peripherals.pins.gpio15,
// gpio16: peripherals.pins.gpio16,
// gpio17: peripherals.pins.gpio17,
// gpio18: peripherals.pins.gpio18,
// gpio21: peripherals.pins.gpio21,
// gpio22: peripherals.pins.gpio22,
// gpio23: peripherals.pins.gpio23,
// gpio24: peripherals.pins.gpio24,
// gpio25: peripherals.pins.gpio25,
// gpio26: peripherals.pins.gpio26,
// gpio27: peripherals.pins.gpio27,
// gpio28: peripherals.pins.gpio28,
// gpio29: peripherals.pins.gpio29,
// gpio30: peripherals.pins.gpio30,
// };
//
let mut esp = Esp {
mqtt_client: None,
wifi_driver,
boot_button,
delay: Delay::new(1000),
};
mqtt_client: None,
dummy: PhantomData::default()
// wifi_driver,
// boot_button
};
//init,reset rtc memory depending on cause
let mut init_rtc_store: bool = false;
let mut to_config_mode: bool = false;
let reasons = ResetReason::get();
match reasons {
ResetReason::Software => {}
ResetReason::ExternalPin => {}
ResetReason::Watchdog => {
init_rtc_store = true;
}
ResetReason::Sdio => init_rtc_store = true,
ResetReason::Panic => init_rtc_store = true,
ResetReason::InterruptWatchdog => init_rtc_store = true,
ResetReason::PowerOn => init_rtc_store = true,
ResetReason::Unknown => init_rtc_store = true,
ResetReason::Brownout => init_rtc_store = true,
ResetReason::TaskWatchdog => init_rtc_store = true,
ResetReason::DeepSleep => {}
ResetReason::USBPeripheral => {
init_rtc_store = true;
to_config_mode = true;
}
ResetReason::JTAG => init_rtc_store = true,
};
let reasons = "";
// let reasons = ResetReason::get();
// match reasons {
// ResetReason::Software => {}
// ResetReason::ExternalPin => {}
// ResetReason::Watchdog => {
// init_rtc_store = true;
// }
// ResetReason::Sdio => init_rtc_store = true,
// ResetReason::Panic => init_rtc_store = true,
// ResetReason::InterruptWatchdog => init_rtc_store = true,
// ResetReason::PowerOn => init_rtc_store = true,
// ResetReason::Unknown => init_rtc_store = true,
// ResetReason::Brownout => init_rtc_store = true,
// ResetReason::TaskWatchdog => init_rtc_store = true,
// ResetReason::DeepSleep => {}
// ResetReason::USBPeripheral => {
// init_rtc_store = true;
// to_config_mode = true;
// }
// ResetReason::JTAG => init_rtc_store = true,
// };
log(
LogMessage::ResetReason,
init_rtc_store as u32,
@@ -270,70 +256,76 @@ impl PlantHal {
let config = esp.load_config();
log::info!("Init rtc driver");
let mut rtc = Ds323x::new_ds3231(MutexDevice::new(&I2C_DRIVER));
// let mut rtc = Ds323x::new_ds3231(MutexDevice::new(&I2C_DRIVER));
//
// log::info!("Init rtc eeprom driver");
// let eeprom = {
// Eeprom24x::new_24x32(
// MutexDevice::new(&I2C_DRIVER),
// SlaveAddr::Alternative(true, true, true),
// )
// };
// let rtc_time = rtc.datetime();
// match rtc_time {
// OkStd(tt) => {
// log::info!("Rtc Module reports time at UTC {}", tt);
// }
// Err(err) => {
// log::info!("Rtc Module could not be read {:?}", err);
// }
// }
log::info!("Init rtc eeprom driver");
let eeprom = {
Eeprom24x::new_24x32(
MutexDevice::new(&I2C_DRIVER),
SlaveAddr::Alternative(true, true, true),
)
};
let rtc_time = rtc.datetime();
match rtc_time {
OkStd(tt) => {
log::info!("Rtc Module reports time at UTC {}", tt);
}
Err(err) => {
log::info!("Rtc Module could not be read {:?}", err);
}
}
let storage = Storage::new(eeprom, Delay::new(1000));
let rtc_module: Box<dyn RTCModuleInteraction + Send> =
Box::new(DS3231Module { rtc, storage }) as Box<dyn RTCModuleInteraction + Send>;
// let storage = Storage::new(eeprom, Delay::new(1000));
//let rtc_module: Box<dyn RTCModuleInteraction + Send> =
// Box::new(DS3231Module { rtc, storage }) as Box<dyn RTCModuleInteraction + Send>;
let hal = match config {
Result::Ok(config) => {
let battery_interaction: Box<dyn BatteryInteraction + Send> =
match config.hardware.battery {
BatteryBoardVersion::Disabled => Box::new(NoBatteryMonitor {}),
BatteryBoardVersion::BQ34Z100G1 => {
let mut battery_driver = Bq34z100g1Driver {
i2c: MutexDevice::new(&I2C_DRIVER),
delay: Delay::new(0),
flash_block_data: [0; 32],
};
let status = print_battery_bq34z100(&mut battery_driver);
match status {
OkStd(_) => {}
Err(err) => {
log(
LogMessage::BatteryCommunicationError,
0u32,
0,
"",
&format!("{err:?})"),
);
}
}
Box::new(BQ34Z100G1 { battery_driver })
}
// BatteryBoardVersion::BQ34Z100G1 => {
// let mut battery_driver = Bq34z100g1Driver {
// i2c: MutexDevice::new(&I2C_DRIVER),
// delay: Delay::new(0),
// flash_block_data: [0; 32],
// };
// let status = print_battery_bq34z100(&mut battery_driver);
// match status {
// Ok(_) => {}
// Err(err) => {
// log(
// LogMessage::BatteryCommunicationError,
// 0u32,
// 0,
// "",
// &format!("{err:?})"),
// );
// }
// }
// Box::new(BQ34Z100G1 { battery_driver })
// }
BatteryBoardVersion::WchI2cSlave => {
// TODO use correct implementation once availible
Box::new(NoBatteryMonitor {})
}
_ => {
todo!()
}
};
let board_hal: Box<dyn BoardInteraction + Send> = match config.hardware.board {
BoardVersion::INITIAL => {
initial_hal::create_initial_board(free_pins, fs_mount_error, config, esp)?
initial_hal::create_initial_board(fs_mount_error, config, esp)?
}
BoardVersion::V3 => {
v3_hal::create_v3(free_pins, esp, config, battery_interaction, rtc_module)?
}
BoardVersion::V4 => {
v4_hal::create_v4(free_pins, esp, config, battery_interaction, rtc_module)?
// BoardVersion::V3 => {
// v3_hal::create_v3(free_pins, esp, config, battery_interaction, rtc_module)?
// }
// BoardVersion::V4 => {
// v4_hal::create_v4(free_pins, esp, config, battery_interaction, rtc_module)?
// }
_ => {
todo!()
}
};
@@ -349,7 +341,6 @@ impl PlantHal {
);
HAL {
board_hal: initial_hal::create_initial_board(
free_pins,
fs_mount_error,
PlantControllerConfig::default(),
esp,