481 lines
16 KiB
Rust
481 lines
16 KiB
Rust
use crate::bail;
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use crate::config::PlantControllerConfig;
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use crate::fat_error::{FatError, FatResult};
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use crate::hal::battery::BatteryInteraction;
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use crate::hal::esp::{hold_disable, hold_enable, Esp};
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use crate::hal::rtc::RTCModuleInteraction;
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use crate::hal::v4_sensor::{SensorImpl, SensorInteraction};
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use crate::hal::water::TankSensor;
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use crate::hal::{BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT, TIME_ACCESS};
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use crate::log::{LogMessage, LOG_ACCESS};
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use alloc::boxed::Box;
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use alloc::string::ToString;
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use async_trait::async_trait;
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use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
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use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
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use embassy_time::Timer;
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use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig, Pull};
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use esp_hal::i2c::master::I2c;
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use esp_hal::pcnt::channel::CtrlMode::Keep;
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use esp_hal::pcnt::channel::EdgeMode::{Hold, Increment};
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use esp_hal::twai::TwaiMode;
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use esp_hal::{twai, Blocking};
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use ina219::address::{Address, Pin};
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use ina219::calibration::UnCalibrated;
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use ina219::configuration::{Configuration, OperatingMode, Resolution};
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use ina219::SyncIna219;
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use measurements::Resistance;
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use measurements::{Current, Voltage};
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use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
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const MPPT_CURRENT_SHUNT_OHMS: f64 = 0.05_f64;
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const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
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pub enum Charger<'a> {
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SolarMpptV1 {
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mppt_ina: SyncIna219<
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I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>,
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UnCalibrated,
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>,
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solar_is_day: Input<'a>,
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charge_indicator: Output<'a>,
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},
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ErrorInit {},
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}
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impl<'a> Charger<'a> {
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pub(crate) fn get_mppt_current(&mut self) -> FatResult<Current> {
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match self {
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Charger::SolarMpptV1 { mppt_ina, .. } => {
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let v = mppt_ina.shunt_voltage()?;
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let shunt_voltage = Voltage::from_microvolts(v.shunt_voltage_uv().abs() as f64);
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let shut_value = Resistance::from_ohms(MPPT_CURRENT_SHUNT_OHMS);
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let current = shunt_voltage.as_volts() / shut_value.as_ohms();
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Ok(Current::from_amperes(current))
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}
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Charger::ErrorInit { .. } => {
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bail!("hardware error during init");
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}
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}
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}
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pub(crate) fn get_mptt_voltage(&mut self) -> FatResult<Voltage> {
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match self {
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Charger::SolarMpptV1 { mppt_ina, .. } => {
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let v = mppt_ina.bus_voltage()?;
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Ok(Voltage::from_millivolts(v.voltage_mv() as f64))
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}
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Charger::ErrorInit { .. } => {
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bail!("hardware error during init");
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}
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}
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}
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}
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impl Charger<'_> {
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pub(crate) fn power_save(&mut self) {
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match self {
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Charger::SolarMpptV1 { mppt_ina, .. } => {
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let _ = mppt_ina
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.set_configuration(Configuration {
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reset: Default::default(),
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bus_voltage_range: Default::default(),
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shunt_voltage_range: Default::default(),
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bus_resolution: Default::default(),
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shunt_resolution: Default::default(),
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operating_mode: OperatingMode::PowerDown,
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})
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.map_err(|e| {
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log::info!(
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"Error setting ina mppt configuration during deep sleep preparation{:?}",
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e
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);
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});
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}
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_ => {}
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}
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}
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fn set_charge_indicator(&mut self, charging: bool) -> FatResult<()> {
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match self {
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Self::SolarMpptV1 {
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charge_indicator, ..
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} => {
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charge_indicator.set_level(charging.into());
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}
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_ => {}
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}
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Ok(())
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}
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fn is_day(&self) -> bool {
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match self {
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Charger::SolarMpptV1 { solar_is_day, .. } => solar_is_day.is_high(),
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_ => true,
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}
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}
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}
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pub struct V4<'a> {
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esp: Esp<'a>,
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tank_sensor: TankSensor<'a>,
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charger: Charger<'a>,
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rtc_module: Box<dyn RTCModuleInteraction + Send>,
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battery_monitor: Box<dyn BatteryInteraction + Send>,
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config: PlantControllerConfig,
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awake: Output<'a>,
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light: Output<'a>,
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general_fault: Output<'a>,
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pump_expander: Pca9535Immediate<I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>>,
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pump_ina: Option<
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SyncIna219<I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>, UnCalibrated>,
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>,
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sensor: SensorImpl,
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extra1: Output<'a>,
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extra2: Output<'a>,
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}
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pub(crate) async fn create_v4(
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peripherals: FreePeripherals<'static>,
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esp: Esp<'static>,
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config: PlantControllerConfig,
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battery_monitor: Box<dyn BatteryInteraction + Send>,
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rtc_module: Box<dyn RTCModuleInteraction + Send>,
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) -> Result<Box<dyn BoardInteraction<'static> + Send + 'static>, FatError> {
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log::info!("Start v4");
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let mut awake = Output::new(peripherals.gpio21, Level::High, OutputConfig::default());
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awake.set_high();
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let mut general_fault = Output::new(peripherals.gpio23, Level::Low, OutputConfig::default());
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general_fault.set_low();
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let extra1 = Output::new(peripherals.gpio6, Level::Low, OutputConfig::default());
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let extra2 = Output::new(peripherals.gpio15, Level::Low, OutputConfig::default());
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let one_wire_pin = Flex::new(peripherals.gpio18);
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let tank_power_pin = Output::new(peripherals.gpio11, Level::Low, OutputConfig::default());
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let flow_sensor_pin = Input::new(
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peripherals.gpio4,
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InputConfig::default().with_pull(Pull::Up),
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);
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let tank_sensor = TankSensor::create(
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one_wire_pin,
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peripherals.adc1,
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peripherals.gpio5,
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tank_power_pin,
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flow_sensor_pin,
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peripherals.pcnt1,
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)?;
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let sensor_expander_device = I2cDevice::new(I2C_DRIVER.get().await);
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let mut sensor_expander = Pca9535Immediate::new(sensor_expander_device, 34);
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let sensor = match sensor_expander.pin_into_output(GPIOBank::Bank0, 0) {
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Ok(_) => {
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log::info!("SensorExpander answered");
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let signal_counter = peripherals.pcnt0;
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signal_counter.set_high_limit(Some(i16::MAX))?;
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let ch0 = &signal_counter.channel0;
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let edge_pin = Input::new(peripherals.gpio22, InputConfig::default());
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ch0.set_edge_signal(edge_pin.peripheral_input());
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ch0.set_input_mode(Hold, Increment);
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ch0.set_ctrl_mode(Keep, Keep);
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signal_counter.listen();
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for pin in 0..8 {
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let _ = sensor_expander.pin_into_output(GPIOBank::Bank0, pin);
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let _ = sensor_expander.pin_into_output(GPIOBank::Bank1, pin);
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let _ = sensor_expander.pin_set_low(GPIOBank::Bank0, pin);
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let _ = sensor_expander.pin_set_low(GPIOBank::Bank1, pin);
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}
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SensorImpl::PulseCounter {
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signal_counter,
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sensor_expander,
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}
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}
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Err(_) => {
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log::info!("Can bus mode ");
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let twai_config = Some(twai::TwaiConfiguration::new(
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peripherals.twai,
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peripherals.gpio2,
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peripherals.gpio0,
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TWAI_BAUDRATE,
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TwaiMode::Normal,
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));
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let can_power = Output::new(peripherals.gpio22, Level::Low, OutputConfig::default());
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//can bus version
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SensorImpl::CanBus {
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twai_config,
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can_power,
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}
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}
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};
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let solar_is_day = Input::new(peripherals.gpio7, InputConfig::default());
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let light = Output::new(peripherals.gpio10, Level::Low, Default::default());
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let charge_indicator = Output::new(peripherals.gpio3, Level::Low, Default::default());
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let pump_device = I2cDevice::new(I2C_DRIVER.get().await);
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let mut pump_expander = Pca9535Immediate::new(pump_device, 32);
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for pin in 0..8 {
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let _ = pump_expander.pin_into_output(GPIOBank::Bank0, pin);
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let _ = pump_expander.pin_into_output(GPIOBank::Bank1, pin);
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let _ = pump_expander.pin_set_low(GPIOBank::Bank0, pin);
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let _ = pump_expander.pin_set_low(GPIOBank::Bank1, pin);
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}
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let mppt_current = I2cDevice::new(I2C_DRIVER.get().await);
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let mppt_ina = match SyncIna219::new(mppt_current, Address::from_pins(Pin::Vcc, Pin::Gnd)) {
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Ok(mut ina) => {
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// Prefer higher averaging for more stable readings
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let _ = ina.set_configuration(Configuration {
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reset: Default::default(),
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bus_voltage_range: Default::default(),
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shunt_voltage_range: Default::default(),
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bus_resolution: Default::default(),
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shunt_resolution: Resolution::Avg128,
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operating_mode: Default::default(),
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});
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Some(ina)
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}
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Err(err) => {
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log::info!("Error creating mppt ina: {:?}", err);
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None
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}
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};
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let pump_current_dev = I2cDevice::new(I2C_DRIVER.get().await);
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let pump_ina = match SyncIna219::new(pump_current_dev, Address::from_pins(Pin::Gnd, Pin::Sda)) {
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Ok(ina) => Some(ina),
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Err(err) => {
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log::info!("Error creating pump ina: {:?}", err);
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None
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}
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};
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let charger = match mppt_ina {
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Some(mut mppt_ina) => {
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mppt_ina.set_configuration(Configuration {
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reset: Default::default(),
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bus_voltage_range: Default::default(),
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shunt_voltage_range: Default::default(),
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bus_resolution: Default::default(),
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shunt_resolution: ina219::configuration::Resolution::Avg128,
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operating_mode: Default::default(),
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})?;
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Charger::SolarMpptV1 {
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mppt_ina,
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solar_is_day,
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charge_indicator,
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}
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}
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None => Charger::ErrorInit {},
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};
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let v = V4 {
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rtc_module,
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esp,
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awake,
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tank_sensor,
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light,
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general_fault,
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pump_expander,
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config,
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battery_monitor,
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pump_ina,
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charger,
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extra1,
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extra2,
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sensor,
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};
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Ok(Box::new(v))
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}
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#[async_trait(?Send)]
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impl<'a> BoardInteraction<'a> for V4<'a> {
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fn get_tank_sensor(&mut self) -> Result<&mut TankSensor<'a>, FatError> {
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Ok(&mut self.tank_sensor)
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}
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fn get_esp(&mut self) -> &mut Esp<'a> {
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&mut self.esp
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}
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fn get_config(&mut self) -> &PlantControllerConfig {
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&self.config
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}
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fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send> {
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&mut self.battery_monitor
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}
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fn get_rtc_module(&mut self) -> &mut Box<dyn RTCModuleInteraction + Send> {
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&mut self.rtc_module
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}
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async fn set_charge_indicator(&mut self, charging: bool) -> Result<(), FatError> {
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self.charger.set_charge_indicator(charging)
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}
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async fn deep_sleep(&mut self, duration_in_ms: u64) -> ! {
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self.awake.set_low();
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self.charger.power_save();
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let rtc = TIME_ACCESS.get().await.lock().await;
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self.esp.deep_sleep(duration_in_ms, rtc);
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}
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fn is_day(&self) -> bool {
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self.charger.is_day()
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}
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async fn light(&mut self, enable: bool) -> Result<(), FatError> {
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hold_disable(10);
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self.light.set_level(enable.into());
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hold_enable(10);
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Ok(())
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}
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async fn pump(&mut self, plant: usize, enable: bool) -> FatResult<()> {
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if enable {
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self.pump_expander
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.pin_set_high(GPIOBank::Bank0, plant as u8)?;
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} else {
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self.pump_expander
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.pin_set_low(GPIOBank::Bank0, plant as u8)?;
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}
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Ok(())
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}
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async fn pump_current(&mut self, _plant: usize) -> Result<Current, FatError> {
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// sensor is shared for all pumps, ignore plant id
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match self.pump_ina.as_mut() {
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None => {
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bail!("pump current sensor not available");
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}
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Some(pump_ina) => {
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let v = pump_ina
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.shunt_voltage()
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.map_err(|e| FatError::String {
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error: alloc::format!("{:?}", e),
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})
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.map(|v| {
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let shunt_voltage =
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Voltage::from_microvolts(v.shunt_voltage_uv().abs() as f64);
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let shut_value = Resistance::from_ohms(0.05_f64);
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let current = shunt_voltage.as_volts() / shut_value.as_ohms();
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Current::from_amperes(current)
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})?;
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Ok(v)
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}
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}
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}
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async fn fault(&mut self, plant: usize, enable: bool) -> FatResult<()> {
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if enable {
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self.pump_expander
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.pin_set_high(GPIOBank::Bank1, plant as u8)?;
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} else {
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self.pump_expander
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.pin_set_low(GPIOBank::Bank1, plant as u8)?;
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}
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Ok(())
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}
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async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError> {
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self.sensor.measure_moisture_hz(plant, sensor).await
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}
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async fn general_fault(&mut self, enable: bool) {
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hold_disable(23);
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self.general_fault.set_level(enable.into());
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hold_enable(23);
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}
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async fn test(&mut self) -> Result<(), FatError> {
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self.general_fault(true).await;
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Timer::after_millis(100).await;
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self.general_fault(false).await;
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Timer::after_millis(500).await;
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self.extra1.set_high();
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Timer::after_millis(500).await;
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self.extra1.set_low();
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Timer::after_millis(500).await;
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self.extra2.set_high();
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Timer::after_millis(500).await;
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self.extra2.set_low();
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Timer::after_millis(500).await;
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self.light(true).await?;
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Timer::after_millis(500).await;
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self.light(false).await?;
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Timer::after_millis(500).await;
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for i in 0..PLANT_COUNT {
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self.fault(i, true).await?;
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Timer::after_millis(500).await;
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self.fault(i, false).await?;
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Timer::after_millis(500).await;
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}
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for i in 0..PLANT_COUNT {
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self.pump(i, true).await?;
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Timer::after_millis(100).await;
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self.pump(i, false).await?;
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Timer::after_millis(100).await;
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}
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for plant in 0..PLANT_COUNT {
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let a = self.measure_moisture_hz(plant, Sensor::A).await;
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let b = self.measure_moisture_hz(plant, Sensor::B).await;
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let aa = match a {
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Ok(a) => a as u32,
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Err(_) => u32::MAX,
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};
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let bb = match b {
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Ok(b) => b as u32,
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Err(_) => u32::MAX,
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};
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LOG_ACCESS
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.lock()
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.await
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.log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "")
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.await;
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}
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Timer::after_millis(10).await;
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Ok(())
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}
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fn set_config(&mut self, config: PlantControllerConfig) {
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self.config = config;
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}
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async fn get_mptt_voltage(&mut self) -> Result<Voltage, FatError> {
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self.charger.get_mptt_voltage()
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}
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async fn get_mptt_current(&mut self) -> Result<Current, FatError> {
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self.charger.get_mppt_current()
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}
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async fn detect_sensors(&mut self) -> Result<alloc::string::String, FatError> {
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// Delegate to sensor autodetect and build JSON
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let detected = self.sensor.autodetect().await?;
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// Build JSON manually to avoid exposing internal types
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let mut s = alloc::string::String::from("{\"plants\":[");
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for (i, (a, b)) in detected.iter().enumerate() {
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if i != 0 {
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s.push(',');
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}
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s.push_str("{\"a\":");
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s.push_str(if *a { "true" } else { "false" });
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s.push_str(",\"b\":");
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s.push_str(if *b { "true" } else { "false" });
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s.push('}');
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}
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s.push_str("]}");
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Ok(s)
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}
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}
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