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base: C3MA:50b2e994ca624769b301bb265e7ff964c56d5339
Branches Tags
C3MA:develop
C3MA:goodby-espidf
C3MA:can
C3MA:ollo-dev
C3MA:v2.x
C3MA:v1.x
C3MA:V3.0_first_run
C3MA:0.7-final
C3MA:0.9-final
..
compare: C3MA:d650358bab045cd7628523d79ae4b16407bc561d
Branches Tags
C3MA:goodby-espidf
C3MA:develop
C3MA:can
C3MA:ollo-dev
C3MA:v2.x
C3MA:v1.x
C3MA:V3.0_first_run
C3MA:0.7-final
C3MA:0.9-final

No commits in common. "50b2e994ca624769b301bb265e7ff964c56d5339" and "d650358bab045cd7628523d79ae4b16407bc561d" have entirely different histories.
50b2e994ca ... d650358bab

7 changed files with 133 additions and 232 deletions
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44
board/PlantCtrlESP32.kicad_pcb
View File

@ -18281,7 +18281,7 @@
(type default)
)
(layer "F.SilkS")
(uuid "46d24a82-3182-48c8-8e4a-4cd27dd2c4e0")
(uuid "45f4b7ae-d94d-46a8-b133-6c94ff08cebe")
)
(fp_line
(start -45 24)
@ -18291,7 +18291,7 @@
(type default)
)
(layer "F.SilkS")
(uuid "1acd392a-edf0-453a-b4ea-80c286d57f01")
(uuid "3f1ebb3a-e120-48a5-a2b3-0f3991ad318a")
)
(fp_line
(start -44 24)
@ -18301,7 +18301,7 @@
(type default)
)
(layer "F.SilkS")
(uuid "b21db6c0-4242-449b-87d0-a7705aa786df")
(uuid "49c6ddd0-2438-484d-bdc7-b184dd56e005")
)
(fp_line
(start 41 -18)
@ -18311,7 +18311,7 @@
(type default)
)
(layer "F.SilkS")
(uuid "227b10d5-7b48-413f-84d8-72e74d474200")
(uuid "3e55468a-fc5a-4912-8104-b18b5f9c809e")
)
(fp_line
(start 41 24)
@ -18321,7 +18321,7 @@
(type default)
)
(layer "F.SilkS")
(uuid "cbc4f5c3-2761-4d98-86ed-5202a0b3f2e9")
(uuid "8ed77c24-2a0f-4e95-9927-23a96ccc1224")
)
(fp_text user "${REFERENCE}"
(at -43 -16 90)
@ -18424,8 +18424,8 @@
)
(pad "9" thru_hole rect
(at 39.5 22.5)
(size 1.7 1.7)
(drill 1)
(size 0.85 0.85)
(drill 0.5)
(layers "*.Cu" "*.Mask")
(remove_unused_layers no)
(net 48 "GND")
@ -18435,8 +18435,8 @@
)
(pad "10" thru_hole rect
(at -0.5 15)
(size 1.7 1.7)
(drill 1)
(size 0.85 0.85)
(drill 0.5)
(layers "*.Cu" "*.Mask")
(remove_unused_layers no)
(net 48 "GND")
@ -18446,8 +18446,8 @@
)
(pad "11" thru_hole rect
(at -43 22.5)
(size 1.7 1.7)
(drill 1)
(size 0.85 0.85)
(drill 0.5)
(layers "*.Cu" "*.Mask")
(remove_unused_layers no)
(net 48 "GND")
@ -18457,8 +18457,8 @@
)
(pad "12" thru_hole rect
(at -0.5 -12)
(size 1.7 1.7)
(drill 1)
(size 0.85 0.85)
(drill 0.5)
(layers "*.Cu" "*.Mask")
(remove_unused_layers no)
(net 48 "GND")
@ -18468,8 +18468,8 @@
)
(pad "13" thru_hole rect
(at 39.5 -16)
(size 1.7 1.7)
(drill 1)
(size 0.85 0.85)
(drill 0.5)
(layers "*.Cu" "*.Mask")
(remove_unused_layers no)
(net 48 "GND")
@ -24623,18 +24623,6 @@
(layer "Edge.Cuts")
(uuid "cd80f150-3b94-43f9-b21f-3c1636daec3c")
)
(gr_text "GND Can+ Can- Prb SCL SDA VBat 3V3"
(at 185.08 95.67 90)
(layer "F.SilkS")
(uuid "01f6cf85-f52a-4d4b-9dba-782fa63caa6e")
(effects
(font
(size 0.9 0.6)
(thickness 0.15)
)
(justify left bottom)
)
)
(gr_text "3V3 S GND"
(at 171.38 93.67 90)
(layer "F.SilkS")
@ -24746,7 +24734,7 @@
(justify left bottom)
)
)
(gr_text "PlantCtrl V4.0\nBackplane V1.3"
(gr_text "PlantCtrl V4.0\nBackplane V1.2"
(at 224.18 89.87 0)
(layer "F.SilkS")
(uuid "5ed408bf-a427-4794-bcf8-6f61a0d34323")

1
rust/Cargo.toml
View File

@ -86,7 +86,6 @@ pca9535 = { version = "2.0.0", features = ["std"] }
ina219 = { version = "0.2.0", features = ["std"] }
embedded-storage = "=0.3.1"
ekv = "1.0.0"
embedded-can = "0.4.1"
[patch.crates-io]

1
rust/src/hal/initial_hal.rs
View File

@ -51,7 +51,6 @@ pub(crate) fn create_initial_board(
config: PlantControllerConfig,
esp: Esp<'static>,
) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
println!("Start initial");
let mut general_fault = PinDriver::input_output(free_pins.gpio6.downgrade())?;
general_fault.set_pull(Pull::Floating)?;
general_fault.set_low()?;

6
rust/src/hal/mod.rs
View File

@ -5,7 +5,6 @@ mod rtc;
mod v3_hal;
mod v4_hal;
mod water;
mod v4_sensor;
use crate::hal::rtc::{DS3231Module, RTCModuleInteraction};
use crate::hal::water::TankSensor;
@ -48,12 +47,11 @@ use once_cell::sync::Lazy;
use std::result::Result::Ok as OkStd;
use std::sync::Mutex;
use std::time::Duration;
use esp_idf_hal::can::CAN;
use esp_idf_hal::pcnt::PCNT1;
//Only support for 8 right now!
pub const PLANT_COUNT: usize = 8;
const REPEAT_MOIST_MEASURE: usize = 1;
const TANK_MULTI_SAMPLE: usize = 11;
@ -159,7 +157,6 @@ pub struct FreePeripherals {
pub pcnt0: PCNT0,
pub pcnt1: PCNT1,
pub adc1: ADC1,
pub can: CAN,
}
impl PlantHal {
@ -189,7 +186,6 @@ impl PlantHal {
boot_button.set_pull(Pull::Floating)?;
let free_pins = FreePeripherals {
can: peripherals.can,
adc1: peripherals.adc1,
pcnt0: peripherals.pcnt0,
pcnt1: peripherals.pcnt1,

6
rust/src/hal/v3_hal.rs
View File

@ -1,7 +1,7 @@
use crate::hal::rtc::RTCModuleInteraction;
use crate::hal::water::TankSensor;
use crate::hal::{
deep_sleep, BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT,
deep_sleep, BoardInteraction, FreePeripherals, Sensor, PLANT_COUNT, REPEAT_MOIST_MEASURE,
};
use crate::log::{log, LogMessage};
use crate::{
@ -64,9 +64,6 @@ const FAULT_4: usize = 21;
const FAULT_1: usize = 22;
const FAULT_2: usize = 23;
const REPEAT_MOIST_MEASURE: usize = 1;
pub struct V3<'a> {
config: PlantControllerConfig,
battery_monitor: Box<dyn BatteryInteraction + Send>,
@ -94,7 +91,6 @@ pub(crate) fn create_v3(
battery_monitor: Box<dyn BatteryInteraction + Send>,
rtc_module: Box<dyn RTCModuleInteraction + Send>,
) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
println!("Start v3");
let mut clock = PinDriver::input_output(peripherals.gpio15.downgrade())?;
clock.set_pull(Pull::Floating)?;
let mut latch = PinDriver::input_output(peripherals.gpio3.downgrade())?;

152
rust/src/hal/v4_hal.rs
View File

@ -2,18 +2,18 @@ use crate::config::PlantControllerConfig;
use crate::hal::battery::BatteryInteraction;
use crate::hal::esp::Esp;
use crate::hal::rtc::RTCModuleInteraction;
use crate::hal::v4_sensor::SensorImpl;
use crate::hal::v4_sensor::SensorInteraction;
use crate::hal::water::TankSensor;
use crate::hal::{
deep_sleep, BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT
deep_sleep, BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT,
REPEAT_MOIST_MEASURE,
};
use crate::log::{log, LogMessage};
use anyhow::bail;
use embedded_hal::digital::OutputPin;
use embedded_hal_bus::i2c::MutexDevice;
use esp_idf_hal::delay::Delay;
use esp_idf_hal::gpio::{AnyInputPin, IOPin, InputOutput, Output, PinDriver, Pull};
use esp_idf_hal::i2c::{I2cDriver, I2cError};
use esp_idf_hal::i2c::I2cDriver;
use esp_idf_hal::pcnt::{
PcntChannel, PcntChannelConfig, PcntControlMode, PcntCountMode, PcntDriver, PinIndex,
};
@ -23,13 +23,15 @@ use ina219::calibration::UnCalibrated;
use ina219::configuration::{Configuration, OperatingMode};
use ina219::SyncIna219;
use measurements::{Current, Resistance, Voltage};
use pca9535::{ExpanderError, GPIOBank, Pca9535Immediate, StandardExpanderInterface};
use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
use std::result::Result::Ok as OkStd;
use embedded_can::nb::Can;
use embedded_can::Frame;
use embedded_can::StandardId;
use esp_idf_hal::prelude::*;
use esp_idf_hal::can;
const MS0: u8 = 1_u8;
const MS1: u8 = 0_u8;
const MS2: u8 = 3_u8;
const MS3: u8 = 4_u8;
const MS4: u8 = 2_u8;
const SENSOR_ON: u8 = 5_u8;
pub enum Charger<'a> {
SolarMpptV1 {
@ -117,13 +119,13 @@ pub struct V4<'a> {
rtc_module: Box<dyn RTCModuleInteraction + Send>,
battery_monitor: Box<dyn BatteryInteraction + Send>,
config: PlantControllerConfig,
signal_counter: PcntDriver<'a>,
awake: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, Output>,
light: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
general_fault: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
pump_expander: Pca9535Immediate<MutexDevice<'a, I2cDriver<'a>>>,
pump_ina: Option<SyncIna219<MutexDevice<'a, I2cDriver<'a>>, UnCalibrated>>,
sensor: SensorImpl<'a>,
sensor_expander: Pca9535Immediate<MutexDevice<'a, I2cDriver<'a>>>,
extra1: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, Output>,
extra2: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, Output>,
}
@ -135,7 +137,6 @@ pub(crate) fn create_v4(
battery_monitor: Box<dyn BatteryInteraction + Send>,
rtc_module: Box<dyn RTCModuleInteraction + Send>,
) -> anyhow::Result<Box<dyn BoardInteraction<'static> + Send + 'static>> {
println!("Start v4");
let mut awake = PinDriver::output(peripherals.gpio21.downgrade())?;
awake.set_high()?;
@ -162,11 +163,6 @@ pub(crate) fn create_v4(
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(_) => {
println!("SensorExpander answered");
//pulse counter version
let mut signal_counter = PcntDriver::new(
peripherals.pcnt0,
Some(peripherals.gpio22),
@ -189,42 +185,6 @@ pub(crate) fn create_v4(
},
)?;
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(_) => {
println!("Can bus mode ");
let timing = can::config::Timing::B25K;
let config = can::config::Config::new().timing(timing);
let mut 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) {
println!("rx {:}:", rx_frame);
}
//can bus version
SensorImpl::CanBus {
can
}
}
};
let mut solar_is_day = PinDriver::input(peripherals.gpio7.downgrade())?;
solar_is_day.set_pull(Pull::Floating)?;
@ -243,7 +203,13 @@ pub(crate) fn create_v4(
let _ = pump_expander.pin_set_low(GPIOBank::Bank1, pin);
}
let mut sensor_expander = Pca9535Immediate::new(MutexDevice::new(&I2C_DRIVER), 34);
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);
}
let mppt_ina = SyncIna219::new(
MutexDevice::new(&I2C_DRIVER),
@ -286,16 +252,17 @@ pub(crate) fn create_v4(
esp,
awake,
tank_sensor,
signal_counter,
light,
general_fault,
pump_ina,
pump_expander,
sensor_expander,
config,
battery_monitor,
charger,
extra1,
extra2,
sensor,
};
Ok(Box::new(v))
}
@ -383,7 +350,78 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
}
fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> anyhow::Result<f32> {
self.sensor.measure_moisture_hz(plant, sensor)
let mut results = [0_f32; REPEAT_MOIST_MEASURE];
for repeat in 0..REPEAT_MOIST_MEASURE {
self.signal_counter.counter_pause()?;
self.signal_counter.counter_clear()?;
//Disable all
self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
let sensor_channel = match sensor {
Sensor::A => plant as u32,
Sensor::B => (15 - plant) as u32,
};
let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
if is_bit_set(0) {
self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS0)?;
} else {
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
}
if is_bit_set(1) {
self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS1)?;
} else {
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
}
if is_bit_set(2) {
self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS2)?;
} else {
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
}
if is_bit_set(3) {
self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS3)?;
} else {
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
}
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS4)?;
self.sensor_expander
.pin_set_high(GPIOBank::Bank0, SENSOR_ON)?;
let delay = Delay::new_default();
let measurement = 100; // TODO what is this scaling factor? what is its purpose?
let factor = 1000f32 / measurement as f32;
//give some time to stabilize
delay.delay_ms(10);
self.signal_counter.counter_resume()?;
delay.delay_ms(measurement);
self.signal_counter.counter_pause()?;
self.sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
self.sensor_expander
.pin_set_low(GPIOBank::Bank0, SENSOR_ON)?;
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
self.sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
delay.delay_ms(10);
let unscaled = self.signal_counter.get_counter_value()? as i32;
let hz = unscaled as f32 * factor;
log(
LogMessage::RawMeasure,
unscaled as u32,
hz as u32,
&plant.to_string(),
&format!("{sensor:?}"),
);
results[repeat] = hz;
}
results.sort_by(|a, b| a.partial_cmp(b).unwrap()); // floats don't seem to implement total_ord
let mid = results.len() / 2;
let median = results[mid];
anyhow::Ok(median)
}
fn general_fault(&mut self, enable: bool) {

115
rust/src/hal/v4_sensor.rs
View File

@ -1,115 +0,0 @@
use embedded_hal_bus::i2c::MutexDevice;
use esp_idf_hal::can::CanDriver;
use esp_idf_hal::delay::Delay;
use esp_idf_hal::i2c::I2cDriver;
use esp_idf_hal::pcnt::PcntDriver;
use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
use crate::hal::Sensor;
use crate::log::{log, LogMessage};
const REPEAT_MOIST_MEASURE: usize = 10;
pub trait SensorInteraction {
fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> anyhow::Result<f32>;
}
const MS0: u8 = 1_u8;
const MS1: u8 = 0_u8;
const MS2: u8 = 3_u8;
const MS3: u8 = 4_u8;
const MS4: u8 = 2_u8;
const SENSOR_ON: u8 = 5_u8;
pub enum SensorImpl<'a> {
PulseCounter{
signal_counter: PcntDriver<'a>,
sensor_expander: Pca9535Immediate<MutexDevice<'a, I2cDriver<'a>>>,
},
CanBus{
can: CanDriver<'a>
}
}
impl SensorInteraction for SensorImpl<'_> {
fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> anyhow::Result<f32> {
match self {
SensorImpl::PulseCounter { signal_counter, sensor_expander, .. } => {
let mut results = [0_f32; REPEAT_MOIST_MEASURE];
for repeat in 0..REPEAT_MOIST_MEASURE {
signal_counter.counter_pause()?;
signal_counter.counter_clear()?;
//Disable all
sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
let sensor_channel = match sensor {
Sensor::A => plant as u32,
Sensor::B => (15 - plant) as u32,
};
let is_bit_set = |b: u8| -> bool { sensor_channel & (1 << b) != 0 };
if is_bit_set(0) {
sensor_expander.pin_set_high(GPIOBank::Bank0, MS0)?;
} else {
sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
}
if is_bit_set(1) {
sensor_expander.pin_set_high(GPIOBank::Bank0, MS1)?;
} else {
sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
}
if is_bit_set(2) {
sensor_expander.pin_set_high(GPIOBank::Bank0, MS2)?;
} else {
sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
}
if is_bit_set(3) {
sensor_expander.pin_set_high(GPIOBank::Bank0, MS3)?;
} else {
sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
}
sensor_expander.pin_set_low(GPIOBank::Bank0, MS4)?;
sensor_expander
.pin_set_high(GPIOBank::Bank0, SENSOR_ON)?;
let delay = Delay::new_default();
let measurement = 100; // TODO what is this scaling factor? what is its purpose?
let factor = 1000f32 / measurement as f32;
//give some time to stabilize
delay.delay_ms(10);
signal_counter.counter_resume()?;
delay.delay_ms(measurement);
signal_counter.counter_pause()?;
sensor_expander.pin_set_high(GPIOBank::Bank0, MS4)?;
sensor_expander
.pin_set_low(GPIOBank::Bank0, SENSOR_ON)?;
sensor_expander.pin_set_low(GPIOBank::Bank0, MS0)?;
sensor_expander.pin_set_low(GPIOBank::Bank0, MS1)?;
sensor_expander.pin_set_low(GPIOBank::Bank0, MS2)?;
sensor_expander.pin_set_low(GPIOBank::Bank0, MS3)?;
delay.delay_ms(10);
let unscaled = signal_counter.get_counter_value()? as i32;
let hz = unscaled as f32 * factor;
log(
LogMessage::RawMeasure,
unscaled as u32,
hz as u32,
&plant.to_string(),
&format!("{sensor:?}"),
);
results[repeat] = hz;
}
results.sort_by(|a, b| a.partial_cmp(b).unwrap()); // floats don't seem to implement total_ord
let mid = results.len() / 2;
let median = results[mid];
anyhow::Ok(median)
}
SensorImpl::CanBus { .. } => {
todo!()
}
}
}
}