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sensor and esp and canable call all communicate with each other.

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This commit is contained in:
Empire
2025-10-18 00:58:12 +02:00
parent ea608dfa6a
commit a446f3ace2
232 changed files with 9387 additions and 3067870 deletions
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2
Software/MainBoard/rust/Cargo.toml
View File

@@ -38,7 +38,7 @@ partition_table = "partitions.csv"
[dependencies]
# Shared CAN API
canapi = { path = "canapi" }
canapi = { path = "../../Shared/canapi" }
#ESP stuff
esp-bootloader-esp-idf = { version = "0.2.0", features = ["esp32c6"] }
esp-hal = { version = "=1.0.0-rc.0", features = [

13
Software/MainBoard/rust/src/hal/can_api.rs
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@@ -1,13 +0,0 @@
use crate::hal::Sensor;
use bincode::{Decode, Encode};
pub(crate) const SENSOR_BASE_ADDRESS: u16 = 1000;
#[derive(Debug, Clone, Copy, Encode, Decode)]
pub(crate) struct AutoDetectRequest {}
#[derive(Debug, Clone, Copy, Encode, Decode)]
pub(crate) struct ResponseMoisture {
pub plant: u8,
pub sensor: Sensor,
pub hz: u32,
}

92
Software/MainBoard/rust/src/hal/v4_sensor.rs
View File

@@ -11,13 +11,13 @@ use async_trait::async_trait;
use bincode::config;
use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_time::{Instant, Timer, WithTimeout};
use embassy_time::{Duration, Instant, Timer, WithTimeout};
use embedded_can::{Frame, Id};
use esp_hal::gpio::Output;
use esp_hal::i2c::master::I2c;
use esp_hal::pcnt::unit::Unit;
use esp_hal::twai::{EspTwaiFrame, StandardId, Twai, TwaiConfiguration};
use esp_hal::{Blocking};
use esp_hal::{Async, Blocking};
use log::{error, info, warn};
use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
@@ -148,52 +148,8 @@ impl SensorImpl {
}
let mut result = DetectionResult::default();
loop {
match as_async.receive_async().with_deadline(Instant::from_millis(100)).await {
Ok(or) => {
match or {
Ok(can_frame) => {
match can_frame.id() {
Id::Standard(id) => {
let rawid = id.as_raw();
match classify(rawid) {
None => {}
Some(msg) => {
if msg.0 == MessageKind::MoistureData {
let plant = msg.1 as usize;
let sensor = msg.2;
match sensor {
SensorSlot::A => {
result.plant[plant].sensor_a = true;
}
SensorSlot::B => {
result.plant[plant].sensor_b = true;
}
}
}
}
}
}
Id::Extended(ext) => {
warn!("Received extended ID: {:?}", ext);
}
}
}
Err(err ) => {
error!("Error receiving CAN message: {:?}", err);
break;
}
}
info!("Received CAN message: {:?}", or);
}
Err(err) => {
error!("Timeout receiving CAN message: {:?}", err);
break;
}
}
}
// Wait for messages to arrive
let _ = Self::wait_for_can_measurements(&mut as_async, &mut result).with_timeout(Duration::from_millis(5000)).await;
let config = as_async.stop().into_blocking();
can_power.set_low();
@@ -205,6 +161,46 @@ impl SensorImpl {
}
}
async fn wait_for_can_measurements(as_async: &mut Twai<'_, Async>, result: &mut DetectionResult) {
loop {
match as_async.receive_async().await {
Ok(can_frame) => {
match can_frame.id() {
Id::Standard(id) => {
info!("Received CAN message: {:?}", id);
let rawid = id.as_raw();
match classify(rawid) {
None => {}
Some(msg) => {
info!("received message of kind {:?} (plant: {}, sensor: {:?})", msg.0, msg.1, msg.2);
if msg.0 == MessageKind::MoistureData {
let plant = msg.1 as usize;
let sensor = msg.2;
match sensor {
SensorSlot::A => {
result.plant[plant].sensor_a = true;
}
SensorSlot::B => {
result.plant[plant].sensor_b = true;
}
}
}
}
}
}
Id::Extended(ext) => {
warn!("Received extended ID: {:?}", ext);
}
}
}
Err(err) => {
error!("Error receiving CAN message: {:?}", err);
break;
}
}
}
}
pub async fn inner_pulse(plant: usize, sensor: Sensor, signal_counter: &mut Unit<'_, 0>, sensor_expander: &mut Pca9535Immediate<I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Blocking>>>) -> FatResult<f32> {
let mut results = [0_f32; REPEAT_MOIST_MEASURE];

46
Software/MainBoard/rust/src/webserver/mod.rs
View File

@@ -38,52 +38,6 @@ use embassy_net::Stack;
use embassy_time::Instant;
use embedded_io_async::{Read, Write};
use log::{error, info};
// fn ota(
// request: &mut Request<&mut EspHttpConnection>,
// ) -> Result<Option<std::string::String>, anyhow::Error> {
// let mut board = BOARD_ACCESS.lock().unwrap();
// let mut ota = OtaUpdate::begin()?;
// log::info!("start ota");
//
// //having a larger buffer is not really faster, requires more stack and prevents the progress bar from working ;)
// const BUFFER_SIZE: usize = 512;
// let mut buffer: [u8; BUFFER_SIZE] = [0; BUFFER_SIZE];
// let mut total_read: usize = 0;
// let mut lastiter = 0;
// loop {
// let read = request.read(&mut buffer)?;
// total_read += read;
// let to_write = &buffer[0..read];
// //delay for watchdog and wifi stuff
// board.board_hal.get_esp().delay.delay_ms(1);
//
// let iter = (total_read / 1024) % 8;
// if iter != lastiter {
// board.board_hal.general_fault(iter % 5 == 0);
// for i in 0..PLANT_COUNT {
// let _ = board.board_hal.fault(i, iter == i);
// }
// lastiter = iter;
// }
//
// ota.write(to_write)?;
// if read == 0 {
// break;
// }
// }
// log::info!("wrote bytes ota {total_read}");
// log::info!("finish ota");
// let partition = ota.raw_partition();
// log::info!("finalizing and changing boot partition to {partition:?}");
//
// let mut finalizer = ota.finalize()?;
// log::info!("changing boot partition");
// board.board_hal.get_esp().set_restart_to_conf(true);
// drop(board);
// finalizer.set_as_boot_partition()?;
// anyhow::Ok(None)
// }
//
struct HTTPRequestRouter {
reboot_now: Arc<AtomicBool>,

10
Software/MainBoard/rust/src_webpack/package-lock.json generated
View File

@@ -707,6 +707,7 @@
"resolved": "https://registry.npmjs.org/acorn/-/acorn-8.15.0.tgz",
"integrity": "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg==",
"license": "MIT",
"peer": true,
"bin": {
"acorn": "bin/acorn"
},
@@ -731,6 +732,7 @@
"resolved": "https://registry.npmjs.org/ajv/-/ajv-8.17.1.tgz",
"integrity": "sha512-B/gBuNg5SiMTrPkC+A2+cW0RszwxYmn6VYxB/inlBStS5nx6xHIt/ehKRhIMhqusl7a8LjQoZnjCs5vhwxOQ1g==",
"license": "MIT",
"peer": true,
"dependencies": {
"fast-deep-equal": "^3.1.3",
"fast-uri": "^3.0.1",
@@ -957,6 +959,7 @@
}
],
"license": "MIT",
"peer": true,
"dependencies": {
"baseline-browser-mapping": "^2.8.3",
"caniuse-lite": "^1.0.30001741",
@@ -2274,6 +2277,7 @@
"integrity": "sha512-V/PZeWsqhfpE27nKeX9EO2sbR+D17A+tLf6qU+ht66jdUsN0QLKJN27Z+1+gHrVMKgndBahes0PU6rRihDgHTw==",
"dev": true,
"license": "MIT",
"peer": true,
"dependencies": {
"@types/html-minifier-terser": "^6.0.0",
"html-minifier-terser": "^6.0.2",
@@ -3380,6 +3384,7 @@
"integrity": "sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==",
"dev": true,
"license": "MIT",
"peer": true,
"dependencies": {
"fast-deep-equal": "^3.1.1",
"fast-json-stable-stringify": "^2.0.0",
@@ -4338,7 +4343,8 @@
"resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
"integrity": "sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w==",
"dev": true,
"license": "0BSD"
"license": "0BSD",
"peer": true
},
"node_modules/type-is": {
"version": "1.6.18",
@@ -4360,6 +4366,7 @@
"integrity": "sha512-CWBzXQrc/qOkhidw1OzBTQuYRbfyxDXJMVJ1XNwUHGROVmuaeiEm3OslpZ1RV96d7SKKjZKrSJu3+t/xlw3R9A==",
"dev": true,
"license": "Apache-2.0",
"peer": true,
"bin": {
"tsc": "bin/tsc",
"tsserver": "bin/tsserver"
@@ -4508,6 +4515,7 @@
"resolved": "https://registry.npmjs.org/webpack/-/webpack-5.101.3.tgz",
"integrity": "sha512-7b0dTKR3Ed//AD/6kkx/o7duS8H3f1a4w3BYpIriX4BzIhjkn4teo05cptsxvLesHFKK5KObnadmCHBwGc+51A==",
"license": "MIT",
"peer": true,
"dependencies": {
"@types/eslint-scope": "^3.7.7",
"@types/estree": "^1.0.8",