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improved sensor canbus code

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This commit is contained in:
Empire
2025-12-06 04:01:16 +01:00
parent 6ffbf710d3
commit ca2fd8a5e1
5 changed files with 97 additions and 58 deletions
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1
Software/CAN_Sensor/Cargo.lock generated
View File

@@ -66,6 +66,7 @@ dependencies = [
"embedded-can",
"heapless",
"log",
"nb 1.1.0",
"panic-halt",
"qingke",
"qingke-rt",

1
Software/CAN_Sensor/Cargo.toml
View File

@@ -28,6 +28,7 @@ embassy-usb = { version = "0.3.0" }
embassy-futures = { version = "0.1.0" }
embassy-sync = { version = "0.6.0" }
embedded-can = "0.4.1"
nb = "1.1"
embedded-alloc = { version = "0.6.0", default-features = false, features = ["llff"] }
# This is okay because we should automatically use whatever ch32-hal uses

108
Software/CAN_Sensor/src/main.rs
View File

@@ -26,7 +26,6 @@ use {ch32_hal as hal, panic_halt as _};
use embedded_alloc::LlffHeap as Heap;
use embedded_can::nb::Can as nb_can;
macro_rules! mk_static {
($t:ty,$val:expr) => {{
static STATIC_CELL: static_cell::StaticCell<$t> = static_cell::StaticCell::new();
@@ -61,9 +60,50 @@ async fn main(spawner: Spawner) {
// Build driver and USB stack using 'static buffers
let driver = Driver::new(p.USBD, Irqs, p.PA12, p.PA11);
let mut probe_gnd = Flex::new(p.PB1);
probe_gnd.set_as_input(Pull::None);
// Create GPIO for 555 Q output (PB0)
let q_out = Output::new(p.PB0, Level::Low, Speed::Low);
// Built-in LED on PB2 mirrors Q state
let mut info = Output::new(p.PB2, Level::Low, Speed::Low);
// Read configuration switches on PB3..PB7 at startup with floating detection
// PB3: Sensor A/B selector (Low=A, High=B)
// PB4..PB7: address bits (1,2,4,8)
let mut pb3 = Flex::new(p.PB3);
let mut pb4 = Flex::new(p.PB4);
let mut pb5 = Flex::new(p.PB5);
let mut pb6 = Flex::new(p.PB6);
let mut pb7 = Flex::new(p.PB7);
// Validate all config pins; if any is floating, stay in an error loop until fixed
// Try read PB3..PB7
let res_pb3 = detect_stable_pin(&mut pb3).await;
let res_pb4 = detect_stable_pin(&mut pb4).await;
let res_pb5 = detect_stable_pin(&mut pb5).await;
let res_pb6 = detect_stable_pin(&mut pb6).await;
let res_pb7 = detect_stable_pin(&mut pb7).await;
let slot = if res_pb3.unwrap_or(false) { SensorSlot::B } else { SensorSlot::A };
let mut addr: u8 = 0;
if res_pb4.unwrap_or(false) { addr |= 1; }
if res_pb5.unwrap_or(false) { addr |= 2; }
if res_pb6.unwrap_or(false) { addr |= 4; }
if res_pb7.unwrap_or(false) { addr |= 8; }
let moisture_id = plant_id(MOISTURE_DATA_OFFSET, slot, addr as u16);
let identify_id = plant_id(IDENTIFY_CMD_OFFSET, slot, addr as u16);
let invalid_config = res_pb3.is_none() || res_pb4.is_none() || res_pb5.is_none() || res_pb6.is_none() || res_pb7.is_none();
let mut config = embassy_usb::Config::new(0xC0DE, 0xCAFE);
config.manufacturer = Some("Embassy");
config.product = Some("USB-serial example");
config.manufacturer = Some("Can Sensor v0.2");
let msg = mk_static!(heapless::String<128>, heapless::String::new());;
let _ = core::fmt::Write::write_fmt(msg, format_args!("Sensor {:?} plant {}", slot, addr));
config.product = Some(msg.as_str());
config.serial_number = Some("12345678");
config.max_power = 100;
config.max_packet_size_0 = 64;
@@ -91,29 +131,9 @@ async fn main(spawner: Spawner) {
// Build USB device
let usb = mk_static!(UsbDevice<Driver<USBD>>, builder.build());
// Create GPIO for 555 Q output (PB0)
let q_out = Output::new(p.PB0, Level::Low, Speed::Low);
// Built-in LED on PB2 mirrors Q state
let mut info = Output::new(p.PB2, Level::Low, Speed::Low);
// Read configuration switches on PB3..PB7 at startup with floating detection
// PB3: Sensor A/B selector (Low=A, High=B)
// PB4..PB7: address bits (1,2,4,8)
let mut pb3 = Flex::new(p.PB3);
let mut pb4 = Flex::new(p.PB4);
let mut pb5 = Flex::new(p.PB5);
let mut pb6 = Flex::new(p.PB6);
let mut pb7 = Flex::new(p.PB7);
// Validate all config pins; if any is floating, stay in an error loop until fixed
// Try read PB3..PB7
let res_pb3 = detect_stable_pin(&mut pb3).await;
let res_pb4 = detect_stable_pin(&mut pb4).await;
let res_pb5 = detect_stable_pin(&mut pb5).await;
let res_pb6 = detect_stable_pin(&mut pb6).await;
let res_pb7 = detect_stable_pin(&mut pb7).await;
if res_pb3.is_none() || res_pb4.is_none() || res_pb5.is_none() || res_pb6.is_none() || res_pb7.is_none() {
if invalid_config {
// At least one floating: report and blink code for the first one found.
let mut msg: heapless::String<128> = heapless::String::new();
let code = if res_pb4.is_none() { 1 } else if res_pb5.is_none() { 2 } else if res_pb6.is_none() { 3 } else if res_pb7.is_none() { 4 } else { 5 }; // PB3 -> 5
@@ -122,16 +142,10 @@ async fn main(spawner: Spawner) {
log(msg);
blink_error(&mut info, code).await;
};
let slot = if res_pb3.unwrap() { SensorSlot::B } else { SensorSlot::A };
let mut addr: u8 = 0;
if res_pb4.unwrap() { addr |= 1; }
if res_pb5.unwrap() { addr |= 2; }
if res_pb6.unwrap() { addr |= 4; }
if res_pb7.unwrap() { addr |= 8; }
// Log startup configuration and derived CAN IDs
let moisture_id = plant_id(MOISTURE_DATA_OFFSET, slot, addr as u16);
let identify_id = plant_id(IDENTIFY_CMD_OFFSET, slot, addr as u16);
{
let mut msg: heapless::String<128> = heapless::String::new();
let slot_chr = match slot { SensorSlot::A => 'a', SensorSlot::B => 'b' };
@@ -161,7 +175,7 @@ async fn main(spawner: Spawner) {
spawner.spawn(usb_task(usb)).unwrap();
spawner.spawn(usb_writer(class)).unwrap();
// move Q output, LED, ADC and analog input into worker task
spawner.spawn(worker(q_out, info, adc, ain, can, StandardId::new(moisture_id).unwrap(), StandardId::new(identify_id).unwrap())).unwrap();
spawner.spawn(worker(probe_gnd, q_out, info, adc, ain, can, StandardId::new(moisture_id).unwrap(), StandardId::new(identify_id).unwrap())).unwrap();
// Prevent main from exiting
core::future::pending::<()>().await;
@@ -195,6 +209,7 @@ async fn blink_error(mut info_led: &mut Output<'static>, code: u8) -> !{
#[task]
async fn worker(
mut probe_gnd: Flex<'static>,
mut q: Output<'static>,
mut info: Output<'static>,
mut adc: Adc<'static, hal::peripherals::ADC1>,
@@ -215,8 +230,8 @@ async fn worker(
.unwrap()
.set(identify_id.into(), Default::default());
can.add_filter(filter);
//can.add_filter(CanFilter::accept_all());
//can.add_filter(filter);
can.add_filter(CanFilter::accept_all());
loop {
// Count rising edges of Q in a 100 ms window
@@ -224,6 +239,8 @@ async fn worker(
let mut pulses: u32 = 0;
let mut last_q = q_high;
probe_gnd.set_as_output(Speed::Low);
probe_gnd.set_low();
while Instant::now()
.checked_duration_since(start)
.unwrap_or(Duration::from_millis(0))
@@ -258,6 +275,7 @@ async fn worker(
// Yield to allow USB and other tasks to run
yield_now().await;
}
probe_gnd.set_as_input(Pull::None);
// Compute frequency from 100 ms window
let freq_hz = pulses; // pulses per 0.1s => Hz
@@ -270,7 +288,7 @@ async fn worker(
);
log(msg);
let mut moisture = CanFrame::new(moisture_id, &[freq_hz as u8]).unwrap();
let mut moisture = CanFrame::new(moisture_id, &(freq_hz as u16).to_be_bytes()).unwrap();
match can.transmit(&mut moisture) {
Ok(..) => {
let mut msg: heapless::String<128> = heapless::String::new();
@@ -278,6 +296,12 @@ async fn worker(
log(msg);
}
Err(err) => {
for _ in 0..3 {
info.set_high();
Timer::after_millis(100).await;
info.set_low();
Timer::after_millis(100).await;
}
let mut msg: heapless::String<128> = heapless::String::new();
let _ = write!(&mut msg, "err {:?}", err);
log(msg);
@@ -285,6 +309,15 @@ async fn worker(
}
loop {
let mut msg: heapless::String<128> = heapless::String::new();
let _ = write!(
&mut msg,
"Check identity addr received: {:#x} \r\n",
identify_id.as_raw()
);
log(msg);
yield_now().await;
match can.receive() {
Ok(frame) => match frame.id() {
@@ -307,7 +340,8 @@ async fn worker(
}
Id::Extended(_) => {}
},
_ => {
Err(err) => {
break;
}
}