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remove: comment out unused plant visibility logic, update moisture sensor processing, and enhance plant ID handling in TWAI communication

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This commit is contained in:
Empire
2026-02-13 23:24:21 +01:00
parent 979f982565
commit c909b33af0
2 changed files with 52 additions and 47 deletions
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20
Software/MainBoard/rust/src/hal/v4_hal.rs
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@@ -23,6 +23,7 @@ use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig, Pull}
use esp_hal::i2c::master::I2c;
use esp_hal::twai::{EspTwaiError, EspTwaiFrame, StandardId, Twai, TwaiConfiguration, TwaiMode};
use esp_hal::{twai, Async, Blocking};
use esp_println::println;
use ina219::address::{Address, Pin};
use ina219::calibration::UnCalibrated;
use ina219::configuration::{Configuration, OperatingMode, Resolution};
@@ -385,9 +386,10 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
for plant in 0..PLANT_COUNT {
for sensor in [Sensor::A, Sensor::B] {
let target =
StandardId::new(plant_id(IDENTIFY_CMD_OFFSET, sensor.into(), plant as u16))
StandardId::new(plant_id(IDENTIFY_CMD_OFFSET, sensor.into(), (plant +1) as u16))
.context(">> Could not create address for sensor! (plant: {}) <<")?;
let can_buffer = [0_u8; 0];
info!("Sending test message to plant {} sensor {sensor:?} with id {}", plant +1, target.as_raw());
if let Some(frame) = EspTwaiFrame::new(target, &can_buffer) {
// Try a few times; we intentionally ignore rx here and rely on stub logic
let resu = twai
@@ -396,11 +398,10 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
.await;
match resu {
Ok(_) => {
info!("Sent test message to plant {plant} sensor {sensor:?}");
}
Err(err) => {
info!(
"Error sending test message to plant {plant} sensor {sensor:?}: {err:?}"
"Error sending test message to plant {} sensor {sensor:?}: {err:?}", plant +1
);
}
}
@@ -471,7 +472,7 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
LOG_ACCESS
.lock()
.await
.log(LogMessage::TestSensor, a, b, &plant.to_string(), "")
.log(LogMessage::TestSensor, a, b, &(plant+1).to_string(), "")
.await;
}
Timer::after_millis(10).await;
@@ -522,16 +523,19 @@ async fn wait_for_can_measurements(
let plant = msg.1 as usize;
let sensor = msg.2;
let data = can_frame.data();
if data.len() == 2 {
let frequency = u16::from_be_bytes([data[0], data[1]]);
info!("Received moisture data: {:?}", data);
if let Ok(bytes) = data.try_into() {
let frequency = u32::from_be_bytes(bytes);
match sensor {
SensorSlot::A => {
moistures.sensor_a_hz[plant] = Some(frequency as f32);
moistures.sensor_a_hz[plant-1] = Some(frequency as f32);
}
SensorSlot::B => {
moistures.sensor_b_hz[plant] = Some(frequency as f32);
moistures.sensor_b_hz[plant-1] = Some(frequency as f32);
}
}
} else {
error!("Received moisture data with invalid length: {} (expected 4)", data.len());
}
}
}