Change controller to ch32v203f6p6
and use CAN for communication
This commit is contained in:
Jakob Lechner
parent
a764ab89ec
commit
5912a547ba
3 changed files with 120 additions and 52 deletions
29
Cargo.lock
generated
29
Cargo.lock
generated
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@ -32,6 +32,7 @@ version = "0.1.0"
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dependencies = [
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"ch32-hal",
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"embassy-executor",
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"embassy-time",
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"embedded-hal 1.0.0",
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"fugit",
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"panic-halt",
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@ -42,7 +43,7 @@ dependencies = [
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[[package]]
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name = "ch32-hal"
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version = "0.1.0"
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source = "git+https://github.com/ch32-rs/ch32-hal#2f176c867c6f1c152e6cec6954ebc2758b637fd1"
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source = "git+https://github.com/paval-shlyk/ch32-hal?rev=ace32859924ab0d5e411521a8f392df01ce262ff#ace32859924ab0d5e411521a8f392df01ce262ff"
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dependencies = [
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"ch32-metapac",
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"critical-section",
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@ -52,6 +53,7 @@ dependencies = [
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"embassy-time",
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"embassy-time-driver",
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"embassy-usb-driver",
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"embedded-can",
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"embedded-hal 0.2.7",
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"embedded-hal 1.0.0",
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"embedded-hal-async",
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@ -83,9 +85,9 @@ checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
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[[package]]
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name = "darling"
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version = "0.20.10"
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version = "0.20.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6f63b86c8a8826a49b8c21f08a2d07338eec8d900540f8630dc76284be802989"
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checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
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dependencies = [
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"darling_core",
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"darling_macro",
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@ -93,9 +95,9 @@ dependencies = [
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[[package]]
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name = "darling_core"
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version = "0.20.10"
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version = "0.20.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "95133861a8032aaea082871032f5815eb9e98cef03fa916ab4500513994df9e5"
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checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
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dependencies = [
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"fnv",
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"ident_case",
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@ -107,9 +109,9 @@ dependencies = [
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[[package]]
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name = "darling_macro"
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version = "0.20.10"
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version = "0.20.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d336a2a514f6ccccaa3e09b02d41d35330c07ddf03a62165fcec10bb561c7806"
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checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
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dependencies = [
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"darling_core",
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"quote",
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@ -218,6 +220,15 @@ version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4fc247028eae04174b6635104a35b1ed336aabef4654f5e87a8f32327d231970"
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[[package]]
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name = "embedded-can"
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version = "0.4.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e9d2e857f87ac832df68fa498d18ddc679175cf3d2e4aa893988e5601baf9438"
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dependencies = [
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"nb 1.1.0",
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]
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[[package]]
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name = "embedded-hal"
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version = "0.2.7"
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@ -467,9 +478,9 @@ dependencies = [
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[[package]]
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name = "proc-macro2"
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version = "1.0.94"
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version = "1.0.95"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a31971752e70b8b2686d7e46ec17fb38dad4051d94024c88df49b667caea9c84"
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checksum = "02b3e5e68a3a1a02aad3ec490a98007cbc13c37cbe84a3cd7b8e406d76e7f778"
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dependencies = [
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"unicode-ident",
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]
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17
Cargo.toml
17
Cargo.toml
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@ -10,10 +10,12 @@ bench = false
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[dependencies]
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panic-halt = "1.0.0"
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ch32-hal = {git = "https://github.com/ch32-rs/ch32-hal", features = [
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"ch32v003f4p6",
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# https://github.com/ch32-rs/ch32-hal/pull/75
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ch32-hal = {git = "https://github.com/paval-shlyk/ch32-hal", rev="ace32859924ab0d5e411521a8f392df01ce262ff", features = [
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"ch32v203f6p6",
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"embassy",
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"time-driver-tim2",
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"time-driver-tim1",
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]}
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qingke-rt = { version = "0.5.0", features = ["highcode"] }
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qingke = "0.5.0"
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@ -23,10 +25,17 @@ embassy-executor = {version = "0.6.0", features = [
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"integrated-timers",
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"arch-spin",
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"executor-thread",
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"task-arena-size-320", # see https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena-size
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# see https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena-size
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#"task-arena-size-64",
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"task-arena-size-128"
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#"task-arena-size-192",
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#"task-arena-size-256",
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]}
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fugit = "0.3.7"
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embassy-time = { version = "0.3.0" }
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[profile.release]
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strip = true
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opt-level = "z"
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126
src/main.rs
126
src/main.rs
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@ -4,67 +4,115 @@
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#![feature(impl_trait_in_assoc_type)]
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use ch32_hal as hal;
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use hal::bind_interrupts;
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use hal::println;
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use hal::time::Hertz;
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use hal::timer::low_level::CountingMode;
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use hal::timer::simple_pwm::{PwmPin, SimplePwm};
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use hal::usart;
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use hal::can::{Can, CanFifo, CanFilter, CanFrame, CanMode, StandardId};
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use embassy_executor::Spawner;
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bind_interrupts!(struct Irqs {
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USART1 => usart::InterruptHandler<hal::peripherals::USART1>;
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});
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const READ_BUF_SIZE: usize = 128;
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use embassy_time::{Duration, Ticker};
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#[embassy_executor::main(entry = "qingke_rt::entry")]
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async fn main(_spawner: Spawner) -> ! {
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hal::debug::SDIPrint::enable();
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let config = hal::Config::default();
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let p = hal::init(config);
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let p = hal::init(hal::Config::default());
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let mut uart_conf = usart::Config::default();
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uart_conf.baudrate = 19200;
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let uart = usart::Uart::new(p.USART1, p.PD6, p.PD5, Irqs, p.DMA1_CH4, p.DMA1_CH5, uart_conf).unwrap(); // TX = PD5, RX = PD6
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let (mut tx, mut rx) = uart.split();
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println!("setting up can");
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let can = Can::new(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo1, CanMode::Normal, 500_000).expect("Valid");
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println!("setting up can filter");
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let mut filter = CanFilter::new_id_list();
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filter
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.get(0)
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.unwrap()
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.set(StandardId::new(0x580 | 0x42).unwrap().into(), Default::default());
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let pin_cw = PwmPin::new_ch3::<0>(p.PC3);
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let pin_ww = PwmPin::new_ch4::<0>(p.PC4);
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let mut pwm = SimplePwm::new(
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p.TIM1,
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println!("adding can filter");
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can.add_filter(CanFilter::accept_all());
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println!("setting up pwm");
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let pin_r = PwmPin::new_ch2::<0>(p.PA1);
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let pin_g = PwmPin::new_ch3::<0>(p.PA2);
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let pin_b = PwmPin::new_ch4::<0>(p.PA3);
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let mut pwm_rgb = SimplePwm::new(
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p.TIM2,
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None,
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None,
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Some(pin_cw),
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Some(pin_ww),
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Some(pin_r),
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Some(pin_g),
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Some(pin_b),
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Hertz::khz(1),
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CountingMode::default(),
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);
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let (ch_cw, ch_ww) = (hal::timer::Channel::Ch3, hal::timer::Channel::Ch4);
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let _max_duty = pwm.get_max_duty();
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pwm.set_duty(ch_ww, 100);
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pwm.enable(ch_ww);
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let (ch_r, ch_g, ch_b) = (hal::timer::Channel::Ch2, hal::timer::Channel::Ch3, hal::timer::Channel::Ch4);
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pwm_rgb.set_duty(ch_r, 0);
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pwm_rgb.enable(ch_r);
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pwm_rgb.set_duty(ch_g, 0);
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pwm_rgb.enable(ch_g);
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pwm_rgb.set_duty(ch_b, 0);
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pwm_rgb.enable(ch_b);
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pwm.set_duty(ch_cw, 50);
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pwm.enable(ch_cw);
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let pin_cw = PwmPin::new_ch1::<0>(p.PA6);
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let pin_ww = PwmPin::new_ch2::<0>(p.PA7);
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let mut pwm_w = SimplePwm::new(
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p.TIM3,
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Some(pin_cw),
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Some(pin_ww),
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None,
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None,
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Hertz::khz(1),
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CountingMode::default(),
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);
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let (ch_cw, ch_ww) = (hal::timer::Channel::Ch1, hal::timer::Channel::Ch2);
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let _ = tx.write(b"ready!\r\n").await;
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let _max_duty = pwm_w.get_max_duty();
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pwm_w.set_duty(ch_ww, 0);
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pwm_w.enable(ch_ww);
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pwm_w.set_duty(ch_cw, 0);
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pwm_w.enable(ch_cw);
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let mut ticker = Ticker::every(Duration::from_millis(25));
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//let mut ticker = Ticker::every(Duration::from_millis(250));
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println!("entering main loop");
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let mut rbuf: [u8; READ_BUF_SIZE] = [0u8; READ_BUF_SIZE];
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let msg: [u8; 8] = [0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF];
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loop {
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println!("wfd");
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let r = rx.read_until_idle(&mut rbuf).await;
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match r {
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Ok(len) => {
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println!("got {} bytes", len);
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for i in 0..len {
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println!(" {}: {:#x}", i, rbuf[i]);
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}
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}
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Err(e) => println!("RX Error: {:?}", e),
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/*
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let frame = CanFrame::new(StandardId::new(0x42).unwrap(), &msg).unwrap();
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match can.transmit(&frame) {
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Ok(_) => println!("Sent CAN message {:?}", msg),
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Err(_) => println!("Error sending CAN message"),
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};
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let _ = can.transmit(&frame);
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println!("-");
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match can.try_recv() {
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Err(_) => println!("Receive error"),
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Ok(recv_msg) => println!("Received: {:?}", recv_msg),
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}
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println!(".");
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*/
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for x in 0..100 {
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pwm_w.set_duty(ch_cw, x*8);
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ticker.next().await;
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}
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for x in 0..100 {
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pwm_w.set_duty(ch_cw, (100-x)*8);
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ticker.next().await;
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}
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for x in 0..100 {
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pwm_w.set_duty(ch_ww, x*8);
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ticker.next().await;
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}
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for x in 0..100 {
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pwm_w.set_duty(ch_ww, (100-x)*8);
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ticker.next().await;
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}
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ticker.next().await;
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}
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}
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