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This commit is contained in:
Empire Phoenix
2025-09-23 20:51:59 +02:00
parent b594a02870
commit d010c5d12a
6 changed files with 569 additions and 453 deletions
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438
rust/src/hal/v4_hal.rs
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@@ -8,99 +8,114 @@ use alloc::boxed::Box;
use async_trait::async_trait;
use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use esp_hal::Blocking;
use esp_hal::{twai, Blocking};
//use embedded_hal_bus::i2c::MutexDevice;
use crate::bail;
use crate::hal::v4_sensor::SensorImpl;
use crate::FatError::{FatError, FatResult};
use esp_hal::gpio::{Flex, Level, Output, OutputConfig};
use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig};
use esp_hal::i2c::master::I2c;
use esp_hal::twai::{EspTwaiFrame, StandardId, TwaiMode};
use esp_println::println;
use ina219::address::{Address, Pin};
use ina219::calibration::UnCalibrated;
use ina219::configuration::{Configuration, OperatingMode, Resolution};
use ina219::SyncIna219;
use measurements::Resistance;
use measurements::{Current, Voltage};
use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
// pub enum Charger<'a> {
// SolarMpptV1 {
// mppt_ina: SyncIna219<MutexDevice<'a, I2cDriver<'a>>, UnCalibrated>,
// solar_is_day: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Input>,
// charge_indicator: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
// },
// ErrorInit {},
// }
//
// impl Charger<'_> {
// pub(crate) fn power_save(&mut self) {
// match self {
// Charger::SolarMpptV1 { mppt_ina, .. } => {
// let _ = mppt_ina
// .set_configuration(Configuration {
// reset: Default::default(),
// bus_voltage_range: Default::default(),
// shunt_voltage_range: Default::default(),
// bus_resolution: Default::default(),
// shunt_resolution: Default::default(),
// operating_mode: OperatingMode::PowerDown,
// })
// .map_err(|e| {
// log::info!(
// "Error setting ina mppt configuration during deep sleep preparation{:?}",
// e
// );
// });
// }
// _ => {}
// }
// }
// fn set_charge_indicator(&mut self, charging: bool) -> anyhow::Result<()> {
// match self {
// Self::SolarMpptV1 {
// charge_indicator, ..
// } => {
// charge_indicator.set_state(charging.into())?;
// }
// _ => {}
// }
// Ok(())
// }
//
// fn is_day(&self) -> bool {
// match self {
// Charger::SolarMpptV1 { solar_is_day, .. } => solar_is_day.get_level().into(),
// _ => true,
// }
// }
//
// fn get_mptt_voltage(&mut self) -> anyhow::Result<Voltage> {
// let voltage = match self {
// Charger::SolarMpptV1 { mppt_ina, .. } => mppt_ina
// .bus_voltage()
// .map(|v| Voltage::from_millivolts(v.voltage_mv() as f64))?,
// _ => {
// bail!("hardware error during init")
// }
// };
// Ok(voltage)
// }
//
// fn get_mptt_current(&mut self) -> anyhow::Result<Current> {
// let current = match self {
// Charger::SolarMpptV1 { mppt_ina, .. } => mppt_ina.shunt_voltage().map(|v| {
// let shunt_voltage = Voltage::from_microvolts(v.shunt_voltage_uv().abs() as f64);
// let shut_value = Resistance::from_ohms(0.05_f64);
// let current = shunt_voltage.as_volts() / shut_value.as_ohms();
// Current::from_amperes(current)
// })?,
// _ => {
// bail!("hardware error during init")
// }
// };
// Ok(current)
// }
// }
const MPPT_CURRENT_SHUNT_OHMS: f64 = 0.05_f64;
const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
pub enum Charger<'a> {
SolarMpptV1 {
mppt_ina: SyncIna219<
I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>,
UnCalibrated,
>,
solar_is_day: Input<'a>,
charge_indicator: Output<'a>,
},
ErrorInit {},
}
impl<'a> Charger<'a> {
pub(crate) fn get_mppt_current(&mut self) -> FatResult<Current> {
match self {
Charger::SolarMpptV1 { mppt_ina, .. } => {
let v = mppt_ina.shunt_voltage()?;
let shunt_voltage = Voltage::from_microvolts(v.shunt_voltage_uv().abs() as f64);
let shut_value = Resistance::from_ohms(MPPT_CURRENT_SHUNT_OHMS);
let current = shunt_voltage.as_volts() / shut_value.as_ohms();
Ok(Current::from_amperes(current))
}
Charger::ErrorInit { .. } => {
bail!("hardware error during init");
}
}
}
pub(crate) fn get_mptt_voltage(&mut self) -> FatResult<Voltage> {
match self {
Charger::SolarMpptV1 { mppt_ina, .. } => {
let v = mppt_ina.bus_voltage()?;
Ok(Voltage::from_millivolts(v.voltage_mv() as f64))
}
Charger::ErrorInit { .. } => {
bail!("hardware error during init");
}
}
}
}
impl Charger<'_> {
pub(crate) fn power_save(&mut self) {
match self {
Charger::SolarMpptV1 { mppt_ina, .. } => {
let _ = mppt_ina
.set_configuration(Configuration {
reset: Default::default(),
bus_voltage_range: Default::default(),
shunt_voltage_range: Default::default(),
bus_resolution: Default::default(),
shunt_resolution: Default::default(),
operating_mode: OperatingMode::PowerDown,
})
.map_err(|e| {
log::info!(
"Error setting ina mppt configuration during deep sleep preparation{:?}",
e
);
});
}
_ => {}
}
}
fn set_charge_indicator(&mut self, charging: bool) -> FatResult<()> {
match self {
Self::SolarMpptV1 {
charge_indicator, ..
} => {
charge_indicator.set_level(charging.into());
}
_ => {}
}
Ok(())
}
fn is_day(&self) -> bool {
match self {
Charger::SolarMpptV1 { solar_is_day, .. } => solar_is_day.is_high(),
_ => true,
}
}
}
pub struct V4<'a> {
esp: Esp<'a>,
tank_sensor: TankSensor<'a>,
//charger: Charger<'a>,
charger: Charger<'a>,
rtc_module: Box<dyn RTCModuleInteraction + Send>,
battery_monitor: Box<dyn BatteryInteraction + Send>,
config: PlantControllerConfig,
@@ -109,8 +124,10 @@ pub struct V4<'a> {
light: Output<'a>,
general_fault: Output<'a>,
pump_expander: Pca9535Immediate<I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>>,
//pump_ina: Option<SyncIna219<MutexDevice<'a, I2cDriver<'a>>, UnCalibrated>>,
//sensor: SensorImpl<'a>,
pump_ina: Option<
SyncIna219<I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>, UnCalibrated>,
>,
sensor: SensorImpl,
extra1: Output<'a>,
extra2: Output<'a>,
}
@@ -148,73 +165,71 @@ pub(crate) async fn create_v4(
//flow_sensor_pin,
//peripherals.pcnt1,
)?;
//
// let mut sensor_expander = Pca9535Immediate::new(MutexDevice::new(&I2C_DRIVER), 34);
// let sensor = match sensor_expander.pin_into_output(GPIOBank::Bank0, 0) {
// Ok(_) => {
// log::info!("SensorExpander answered");
// //pulse counter version
// let mut signal_counter = PcntDriver::new(
// peripherals.pcnt0,
// Some(peripherals.gpio22),
// Option::<AnyInputPin>::None,
// Option::<AnyInputPin>::None,
// Option::<AnyInputPin>::None,
// )?;
//
// signal_counter.channel_config(
// PcntChannel::Channel0,
// PinIndex::Pin0,
// PinIndex::Pin1,
// &PcntChannelConfig {
// lctrl_mode: PcntControlMode::Keep,
// hctrl_mode: PcntControlMode::Keep,
// pos_mode: PcntCountMode::Increment,
// neg_mode: PcntCountMode::Hold,
// counter_h_lim: i16::MAX,
// counter_l_lim: 0,
// },
// )?;
//
// for pin in 0..8 {
// let _ = sensor_expander.pin_into_output(GPIOBank::Bank0, pin);
// let _ = sensor_expander.pin_into_output(GPIOBank::Bank1, pin);
// let _ = sensor_expander.pin_set_low(GPIOBank::Bank0, pin);
// let _ = sensor_expander.pin_set_low(GPIOBank::Bank1, pin);
// }
//
// SensorImpl::PulseCounter {
// signal_counter,
// sensor_expander,
// }
// }
// Err(_) => {
// log::info!("Can bus mode ");
// let timing = can::config::Timing::B25K;
// let config = can::config::Config::new().timing(timing);
// let can = can::CanDriver::new(
// peripherals.can,
// peripherals.gpio0,
// peripherals.gpio2,
// &config,
// )
// .unwrap();
//
// let frame = StandardId::new(0x042).unwrap();
// let tx_frame = Frame::new(frame, &[0, 1, 2, 3, 4, 5, 6, 7]).unwrap();
// can.transmit(&tx_frame, 1000).unwrap();
//
// if let Ok(rx_frame) = can.receive(1000) {
// log::info!("rx {:}:", rx_frame);
// }
// //can bus version
// SensorImpl::CanBus { can }
// }
// };
let mut solar_is_day = Output::new(peripherals.gpio7, Level::Low, Default::default());
let mut light = Output::new(peripherals.gpio10, Level::Low, Default::default());
let mut charge_indicator = Output::new(peripherals.gpio3, Level::Low, Default::default());
let sensor_expander_device = I2cDevice::new(I2C_DRIVER.get().await);
let mut sensor_expander = Pca9535Immediate::new(sensor_expander_device, 34);
let sensor = match sensor_expander.pin_into_output(GPIOBank::Bank0, 0) {
Ok(_) => {
log::info!("SensorExpander answered");
//pulse counter version
// let mut signal_counter = PcntDriver::new(
// peripherals.pcnt0,
// Some(peripherals.gpio22),
// Option::<AnyInputPin>::None,
// Option::<AnyInputPin>::None,
// Option::<AnyInputPin>::None,
// )?;
//
// signal_counter.channel_config(
// PcntChannel::Channel0,
// PinIndex::Pin0,
// PinIndex::Pin1,
// &PcntChannelConfig {
// lctrl_mode: PcntControlMode::Keep,
// hctrl_mode: PcntControlMode::Keep,
// pos_mode: PcntCountMode::Increment,
// neg_mode: PcntCountMode::Hold,
// counter_h_lim: i16::MAX,
// counter_l_lim: 0,
// },
// )?;
for pin in 0..8 {
let _ = sensor_expander.pin_into_output(GPIOBank::Bank0, pin);
let _ = sensor_expander.pin_into_output(GPIOBank::Bank1, pin);
let _ = sensor_expander.pin_set_low(GPIOBank::Bank0, pin);
let _ = sensor_expander.pin_set_low(GPIOBank::Bank1, pin);
}
SensorImpl::PulseCounter {
// signal_counter,
sensor_expander,
}
}
Err(_) => {
log::info!("Can bus mode ");
let mut twai_config = twai::TwaiConfiguration::new(
peripherals.twai,
peripherals.gpio0,
peripherals.gpio2,
TWAI_BAUDRATE,
TwaiMode::Normal,
);
let mut twai = twai_config.start();
let frame = EspTwaiFrame::new(StandardId::ZERO, &[1, 2, 3]).unwrap();
twai.transmit(&frame).unwrap();
let frame = twai.receive().unwrap();
println!("Received a frame: {frame:?}");
//can bus version
SensorImpl::CanBus { twai }
}
};
let solar_is_day = Input::new(peripherals.gpio7, InputConfig::default());
let light = Output::new(peripherals.gpio10, Level::Low, Default::default());
let charge_indicator = Output::new(peripherals.gpio3, Level::Low, Default::default());
let pump_device = I2cDevice::new(I2C_DRIVER.get().await);
let mut pump_expander = Pca9535Immediate::new(pump_device, 32);
@@ -226,38 +241,53 @@ pub(crate) async fn create_v4(
}
let mppt_current = I2cDevice::new(I2C_DRIVER.get().await);
let mppt_ina = SyncIna219::new(mppt_current, Address::from_pins(Pin::Vcc, Pin::Gnd));
let mppt_ina = match SyncIna219::new(mppt_current, Address::from_pins(Pin::Vcc, Pin::Gnd)) {
Ok(mut ina) => {
// Prefer higher averaging for more stable readings
let _ = ina.set_configuration(Configuration {
reset: Default::default(),
bus_voltage_range: Default::default(),
shunt_voltage_range: Default::default(),
bus_resolution: Default::default(),
shunt_resolution: Resolution::Avg128,
operating_mode: Default::default(),
});
Some(ina)
}
Err(err) => {
log::info!("Error creating mppt ina: {:?}", err);
None
}
};
// let charger = match mppt_ina {
// Ok(mut mppt_ina) => {
// mppt_ina.set_configuration(Configuration {
// reset: Default::default(),
// bus_voltage_range: Default::default(),
// shunt_voltage_range: Default::default(),
// bus_resolution: Default::default(),
// shunt_resolution: ina219::configuration::Resolution::Avg128,
// operating_mode: Default::default(),
// })?;
//
// Charger::SolarMpptV1 {
// mppt_ina,
// solar_is_day,
// charge_indicator,
// }
// }
// Err(_) => Charger::ErrorInit {},
// };
//
// let pump_ina = match SyncIna219::new(
// MutexDevice::new(&I2C_DRIVER),
// Address::from_pins(Pin::Gnd, Pin::Sda),
// ) {
// Ok(pump_ina) => Some(pump_ina),
// Err(err) => {
// log::info!("Error creating pump ina: {:?}", err);
// None
// }
// };
let pump_current_dev = I2cDevice::new(I2C_DRIVER.get().await);
let pump_ina = match SyncIna219::new(pump_current_dev, Address::from_pins(Pin::Gnd, Pin::Sda)) {
Ok(ina) => Some(ina),
Err(err) => {
log::info!("Error creating pump ina: {:?}", err);
None
}
};
let charger = match mppt_ina {
Some(mut mppt_ina) => {
mppt_ina.set_configuration(Configuration {
reset: Default::default(),
bus_voltage_range: Default::default(),
shunt_voltage_range: Default::default(),
bus_resolution: Default::default(),
shunt_resolution: ina219::configuration::Resolution::Avg128,
operating_mode: Default::default(),
})?;
Charger::SolarMpptV1 {
mppt_ina,
solar_is_day,
charge_indicator,
}
}
None => Charger::ErrorInit {},
};
let v = V4 {
rtc_module,
@@ -270,10 +300,11 @@ pub(crate) async fn create_v4(
pump_expander,
config,
battery_monitor,
//charger,
pump_ina,
charger,
extra1,
extra2,
//sensor,
sensor,
};
Ok(Box::new(v))
}
@@ -336,22 +367,27 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
}
async fn pump_current(&mut self, _plant: usize) -> Result<Current, FatError> {
bail!("not implemented");
// //sensore is shared for all pumps, ignore plant id
// match self.pump_ina.as_mut() {
// None => {
// bail!("pump current sensor not available");
// }
// Some(pump_ina) => {
// let v = pump_ina.shunt_voltage().map(|v| {
// let shunt_voltage = Voltage::from_microvolts(v.shunt_voltage_uv().abs() as f64);
// let shut_value = Resistance::from_ohms(0.05_f64);
// let current = shunt_voltage.as_volts() / shut_value.as_ohms();
// Current::from_amperes(current)
// })?;
// Ok(v)
// }
// }
// sensor is shared for all pumps, ignore plant id
match self.pump_ina.as_mut() {
None => {
bail!("pump current sensor not available");
}
Some(pump_ina) => {
let v = pump_ina
.shunt_voltage()
.map_err(|e| FatError::String {
error: alloc::format!("{:?}", e),
})
.map(|v| {
let shunt_voltage =
Voltage::from_microvolts(v.shunt_voltage_uv().abs() as f64);
let shut_value = Resistance::from_ohms(0.05_f64);
let current = shunt_voltage.as_volts() / shut_value.as_ohms();
Current::from_amperes(current)
})?;
Ok(v)
}
}
}
async fn fault(&mut self, plant: usize, enable: bool) -> FatResult<()> {
@@ -419,12 +455,10 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
}
async fn get_mptt_voltage(&mut self) -> Result<Voltage, FatError> {
bail!("not implemented");
//self.charger.get_mptt_voltage()
self.charger.get_mptt_voltage()
}
async fn get_mptt_current(&mut self) -> Result<Current, FatError> {
bail!("not implemented");
//self.charger.get_mptt_current()
self.charger.get_mppt_current()
}
}