487 lines
16 KiB
Rust
487 lines
16 KiB
Rust
use crate::config::PlantControllerConfig;
|
|
use crate::hal::battery::BatteryInteraction;
|
|
use crate::hal::esp::Esp;
|
|
use crate::hal::rtc::RTCModuleInteraction;
|
|
use crate::hal::water::TankSensor;
|
|
use crate::hal::{BoardInteraction, FreePeripherals, Sensor, I2C_DRIVER, PLANT_COUNT, TIME_ACCESS};
|
|
use alloc::boxed::Box;
|
|
use alloc::string::ToString;
|
|
use async_trait::async_trait;
|
|
use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
|
|
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
|
|
use embassy_time::Timer;
|
|
use esp_hal::analog::adc::{Adc, AdcConfig, Attenuation};
|
|
use esp_hal::{twai, Blocking};
|
|
//use embedded_hal_bus::i2c::MutexDevice;
|
|
use crate::bail;
|
|
use crate::hal::v4_sensor::{SensorImpl, SensorInteraction};
|
|
use crate::fat_error::{FatError, FatResult};
|
|
use esp_hal::gpio::{Flex, Input, InputConfig, Level, Output, OutputConfig, Pull};
|
|
use esp_hal::i2c::master::I2c;
|
|
use esp_hal::pcnt::Pcnt;
|
|
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};
|
|
use crate::log::{LogMessage, LOG_ACCESS};
|
|
|
|
// Minimal esp-idf equivalent for gpio_hold on esp32c6 via ROM functions
|
|
extern "C" {
|
|
fn gpio_pad_hold(gpio_num: u32);
|
|
fn gpio_pad_unhold(gpio_num: u32);
|
|
}
|
|
|
|
#[inline(always)]
|
|
fn hold_enable(gpio_num: u8) {
|
|
unsafe { gpio_pad_hold(gpio_num as u32) }
|
|
}
|
|
|
|
#[inline(always)]
|
|
fn hold_disable(gpio_num: u8) {
|
|
unsafe { gpio_pad_unhold(gpio_num as u32) }
|
|
}
|
|
|
|
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>,
|
|
rtc_module: Box<dyn RTCModuleInteraction + Send>,
|
|
battery_monitor: Box<dyn BatteryInteraction + Send>,
|
|
config: PlantControllerConfig,
|
|
|
|
awake: Output<'a>,
|
|
light: Output<'a>,
|
|
general_fault: Output<'a>,
|
|
pump_expander: Pca9535Immediate<I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>>,
|
|
pump_ina: Option<
|
|
SyncIna219<I2cDevice<'a, CriticalSectionRawMutex, I2c<'static, Blocking>>, UnCalibrated>,
|
|
>,
|
|
sensor: SensorImpl,
|
|
extra1: Output<'a>,
|
|
extra2: Output<'a>,
|
|
}
|
|
|
|
struct InputOutput<'a> {
|
|
pin: Flex<'a>,
|
|
}
|
|
|
|
pub(crate) async fn create_v4(
|
|
peripherals: FreePeripherals<'static>,
|
|
esp: Esp<'static>,
|
|
config: PlantControllerConfig,
|
|
battery_monitor: Box<dyn BatteryInteraction + Send>,
|
|
rtc_module: Box<dyn RTCModuleInteraction + Send>,
|
|
) -> Result<Box<dyn BoardInteraction<'static> + Send + 'static>, FatError> {
|
|
log::info!("Start v4");
|
|
let mut awake = Output::new(peripherals.gpio21, Level::High, OutputConfig::default());
|
|
awake.set_high();
|
|
|
|
let mut general_fault = Output::new(peripherals.gpio23, Level::Low, OutputConfig::default());
|
|
general_fault.set_low();
|
|
|
|
let extra1 = Output::new(peripherals.gpio6, Level::Low, OutputConfig::default());
|
|
let extra2 = Output::new(peripherals.gpio15, Level::Low, OutputConfig::default());
|
|
|
|
let one_wire_pin = Flex::new(peripherals.gpio18);
|
|
let tank_power_pin = Output::new(peripherals.gpio11, Level::Low, OutputConfig::default());
|
|
let flow_sensor_pin = Input::new(
|
|
peripherals.gpio4,
|
|
InputConfig::default().with_pull(Pull::Up),
|
|
);
|
|
|
|
let tank_sensor = TankSensor::create(
|
|
one_wire_pin,
|
|
peripherals.adc1,
|
|
peripherals.gpio5,
|
|
tank_power_pin,
|
|
flow_sensor_pin,
|
|
peripherals.pcnt1,
|
|
)?;
|
|
|
|
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 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);
|
|
for pin in 0..8 {
|
|
let _ = pump_expander.pin_into_output(GPIOBank::Bank0, pin);
|
|
let _ = pump_expander.pin_into_output(GPIOBank::Bank1, pin);
|
|
let _ = pump_expander.pin_set_low(GPIOBank::Bank0, pin);
|
|
let _ = pump_expander.pin_set_low(GPIOBank::Bank1, pin);
|
|
}
|
|
|
|
let mppt_current = I2cDevice::new(I2C_DRIVER.get().await);
|
|
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 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,
|
|
esp,
|
|
awake,
|
|
tank_sensor,
|
|
light,
|
|
general_fault,
|
|
//pump_ina,
|
|
pump_expander,
|
|
config,
|
|
battery_monitor,
|
|
pump_ina,
|
|
charger,
|
|
extra1,
|
|
extra2,
|
|
sensor,
|
|
};
|
|
Ok(Box::new(v))
|
|
}
|
|
|
|
#[async_trait]
|
|
impl<'a> BoardInteraction<'a> for V4<'a> {
|
|
fn get_tank_sensor(&mut self) -> Result<&mut TankSensor<'a>, FatError> {
|
|
Ok(&mut self.tank_sensor)
|
|
}
|
|
|
|
fn get_esp(&mut self) -> &mut Esp<'a> {
|
|
&mut self.esp
|
|
}
|
|
|
|
fn get_config(&mut self) -> &PlantControllerConfig {
|
|
&self.config
|
|
}
|
|
|
|
fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send> {
|
|
&mut self.battery_monitor
|
|
}
|
|
|
|
fn get_rtc_module(&mut self) -> &mut Box<dyn RTCModuleInteraction + Send> {
|
|
&mut self.rtc_module
|
|
}
|
|
|
|
fn set_charge_indicator(&mut self, charging: bool) -> Result<(), FatError> {
|
|
self.charger.set_charge_indicator(charging)
|
|
}
|
|
|
|
async fn deep_sleep(&mut self, duration_in_ms: u64) -> ! {
|
|
self.awake.set_low();
|
|
//self.charger.power_save();
|
|
let rtc = TIME_ACCESS.get().await.lock().await;
|
|
self.esp.deep_sleep(duration_in_ms, rtc);
|
|
}
|
|
|
|
fn is_day(&self) -> bool {
|
|
self.charger.is_day()
|
|
}
|
|
|
|
async fn light(&mut self, enable: bool) -> Result<(), FatError> {
|
|
hold_disable(10);
|
|
self.light.set_level(enable.into());
|
|
hold_enable(10);
|
|
Ok(())
|
|
}
|
|
|
|
async fn pump(&mut self, plant: usize, enable: bool) -> FatResult<()> {
|
|
if enable {
|
|
self.pump_expander
|
|
.pin_set_high(GPIOBank::Bank0, plant as u8)?;
|
|
} else {
|
|
self.pump_expander
|
|
.pin_set_low(GPIOBank::Bank0, plant as u8)?;
|
|
}
|
|
Ok(())
|
|
}
|
|
|
|
async fn pump_current(&mut self, _plant: usize) -> Result<Current, FatError> {
|
|
// 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<()> {
|
|
if enable {
|
|
self.pump_expander
|
|
.pin_set_high(GPIOBank::Bank1, plant as u8)?;
|
|
} else {
|
|
self.pump_expander
|
|
.pin_set_low(GPIOBank::Bank1, plant as u8)?;
|
|
}
|
|
Ok(())
|
|
}
|
|
|
|
async fn measure_moisture_hz(&mut self, plant: usize, sensor: Sensor) -> Result<f32, FatError> {
|
|
self.sensor.measure_moisture_hz(plant, sensor).await
|
|
}
|
|
|
|
async fn general_fault(&mut self, enable: bool) {
|
|
hold_disable(23);
|
|
self.general_fault.set_level(enable.into());
|
|
hold_enable(23);
|
|
}
|
|
|
|
async fn test(&mut self) -> Result<(), FatError> {
|
|
self.general_fault(true).await;
|
|
Timer::after_millis(100).await;
|
|
self.general_fault(false).await;
|
|
Timer::after_millis(500).await;
|
|
self.light(true).await?;
|
|
Timer::after_millis(500).await;
|
|
self.light(false).await?;
|
|
Timer::after_millis(500).await;
|
|
for i in 0..PLANT_COUNT {
|
|
self.fault(i, true).await?;
|
|
Timer::after_millis(500).await;
|
|
self.fault(i, false).await?;
|
|
Timer::after_millis(500).await;
|
|
}
|
|
for i in 0..PLANT_COUNT {
|
|
self.pump(i, true).await?;
|
|
Timer::after_millis(100).await;
|
|
self.pump(i, false).await?;
|
|
Timer::after_millis(100).await;
|
|
}
|
|
for plant in 0..PLANT_COUNT {
|
|
let a = self.measure_moisture_hz(plant, Sensor::A).await;
|
|
let b = self.measure_moisture_hz(plant, Sensor::B).await;
|
|
let aa = match a {
|
|
Ok(a) => a as u32,
|
|
Err(_) => u32::MAX,
|
|
};
|
|
let bb = match b {
|
|
Ok(b) => b as u32,
|
|
Err(_) => u32::MAX,
|
|
};
|
|
LOG_ACCESS.lock().await.log(LogMessage::TestSensor, aa, bb, &plant.to_string(), "").await;
|
|
}
|
|
Timer::after_millis(10).await;
|
|
Ok(())
|
|
}
|
|
|
|
fn set_config(&mut self, config: PlantControllerConfig) {
|
|
self.config = config;
|
|
}
|
|
|
|
async fn get_mptt_voltage(&mut self) -> Result<Voltage, FatError> {
|
|
self.charger.get_mptt_voltage()
|
|
}
|
|
|
|
async fn get_mptt_current(&mut self) -> Result<Current, FatError> {
|
|
self.charger.get_mppt_current()
|
|
}
|
|
}
|